Mitsubishi Electric MR-J2- A Instruction manual

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310

IB (NA) 67286-E (0005) MEE Printed in Japan

This instruction manual uses recycled paper.

Specifications subject to change without notice.

List of Corrections Made to the MR-J2-A Specifications and Installation Guide

The specifications of the connector used with the TE1 of the servo amplifier MR-J2-A have been changed.

The Phoenix Contact make connector that was previously used with the TE1 has been changed for an equivalent product. Hence, please note that the descriptions of Phoenix Contact make in the MR-J2-A

Specifications and Installation Guide (IB(NA)67286-E) are corrected as given in this manual.

Description Location

Page 3-3

1) Control circuit terminal block in the table in

Section 3-1-1

(1)

1)

Controk circuit terminal block

(TE2)

Front

Rear

P

L

21

L

11

C

D

(Phoenix Contact make)

Front

Rear

N

P

L

21

L

11

C

D


Description of Phoenix

Contact make is deleted.

Page 3-4

Title in

Section 3-1-1

(3)

1)

Controk circuit terminal block

(TE2)

Front

Rear

P

L

21

L

11

C

D

Front

Rear

N

P

L

21

L

11

C

D

(3) How to use the control circuit terminal block (Phoenix contact make)

(3) How to use the control circuit terminal block

Page 3-4

Table at bottom

Cable Size

[mm

2

] AWG

0.25

0.5

24

20

Bar Terminal Type

For 1 cable For 2 cables

AI0.25-6YE

AI0.25-8YE

AI0.5-6WH

AI0.5-8WH

0.75

1

18

18

AI0.75-6GY

AI0.75-8GY

AI1-6RD

AI1-8RD

AI-TWIN2

AI-TWIN2

AI-TWIN2

AI-TWIN2

0.75-8GY

0.75-10GY

1-8RD

1-10RD

1.5

2.5

16

14

AI1.5-6BK

AI1.5-8BK

AI2.5-8BU

AI2.5-8BU-1000

AI-TWIN2 1.5-10BK

AI-TWIN2 1.5-12BK

AI-TWIN2 2.5-10BU

AI-TWIN2 2.5-13BU

Crimping tool

CRIMPFOX-

UD6

Recommended terminals are changed.

Cable Size

[mm

2

1.25

1.5

] AWG

16

16

Bar Terminal Type

For 1 cable For 2 cables

BT1.25-9-1

TUB-1.25

AI1.5-8BK

AI-TWIN2 1.5-8BK

AI-TWIN2 1.5-12BK

2

14

BT2-9-1

TUB-2

2.5

14

AI2.5-8BU

AI2.5-8BK-1000

AI-TWIN2 2.5-10BU

AI-TWIN2 2.5-13BU

Crimping tool Maker

NH1

YHT-2210

CRIMPFOX-

UD6

NH1

YHT-2210

CRIMPFOX-

UD6

NICHIFU

JST

Phoenix Contact

NICHIFU

JST

Phoenix Contact

BCN-B32107-026A(0210)

Location

Page 3-5

Sentence on the second line in 2)

Connection method

(Tightening torque: 0.5 to 0.6 N m)

Description

Tightening torque is changed.

Page 3-5

2) Connection method

Page 10-16

Explanation of

TE2

(Tightening torque: 0.3 to 0.4 N m)

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a

Phillips bit, please consult us.

Product

Torque screwdriver

Bit for torque screwdriver

Model

N6L TDK

B-30, flat-blade,

H3.5 X 73L

Maker/Representative

Nakamura Seisakusho

Shiro Sangyo

Explanation of torque screwdriver is added newly.

Description of Phoenix

Contact make is deleted.

TE2

D

Front

C P L21 L11

FRONT MSTB2, 5/5-ST-5, 08


Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])

TE2

Front

D C P L21 L11

Tightening torque: 0.3 to 0.4 [N m] (2.7 to 3.5 [Ib in])

Page 10-17

Explanation of

TE2

TE2

D

Front

C P L21 L11 N

FRONT MSTB2, 5/6-ST-5, 08


Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])

TE2

Front

D C P L21 L11 N

Tightening torque: 0.3 to 0.4 [N m] (2.7 to 3.5 [Ib in])

BCN-B32107-026A(0210)

Addition to the MR-J2-A Specifications and Installation Guide

For the servo amplifier MR-J2-A, explanations are added as below.

EEP-ROM life

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

Write to the EEP-ROM due to parameter setting changes

Home position setting in the absolute position detection system

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table changes

BCN-B32107-022A(0210)

MEMO

Thank you for choosing this Mitsubishi AC servo. This Installation guide gives handling information and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an unexpected fault. Before using the servo amplifier and servo motor, please read this Installation guide carefully to use the equipment to its optimum.

Please forward this Installation guide to the end user.

Safety Instructions

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

In this Installation guide, the safety instruction levels are classified into "WARNING" and "CAU-

TION".

WARNING

CAUTION

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.

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

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

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

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

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

In this Installation guide, instructions at a lower level than the above, instructions for other functions, and so on are classified into "NOTICE", "INFORMATION" and "MEMORANDUM".

NOTICE

Indicates that incorrect handling may cause the servo amplifier to be faulty and may not lead to physical damage.

INFOR-

MATION

Indicates that parameter setting change, etc. will provide another function or there are other usages.

MEMO-

RANDUM

Indicates information needed for use of this equipment.

– 1 –

SAFETY INSTRCUTIONS

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the servo amplifier and servo motor to ground.

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

Do not attempt to wire the servo amplifier and servo motor until they have been installed.

Otherwise, you may get an electric shock.

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

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

2. To prevent fire, note the following:

CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles. Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off.

Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the following:

CAUTION

Only the voltage specified in the Installation guide should be applied to each terminal,,

Otherwise,, a burst,, damage,, etc. may occur.

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

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

During power-on or for some time after power-off, do not touch the servo amplifier fins, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt.

– 2 –

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly acordng to their weights.

Stacking in excess of the specified number of products is not allowed.

Do not carry the motor by the cables, shaft or encoder.

Do not hold the front cover to transport the controller. The controller may drop.

Install the servo amplifier in a load-bearing place in accordance with the Installation guide.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The controller and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

– 3 –

CAUTION

Use the servo amplifier and servo motor under the following environmental conditions:

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Ambience

Altitude

Vibration

Environmen

[

°

C]

[

°

F]

[

°

C]

[

°

F]

[m/s

2

]

[ft/s

2

]

Servo Amplifier

0 to +55 (non-freezing)

Conditions

Servo Motor


32 to 131

(non-freezing)

90%RH or less

(non-condensing)

-20 to +65

(non-freezing)

-4 to 149 (non-freezing)

90%RH or less (non-condensing)

32 to 104

(non-freezing)

80%RH or less

(non-condensing)

-15 to +70

(non-freezing)

5 to 158 (non-freezing)

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft) above sea level

5.9 (0.6G) or less

MC-MF series

HA-FF series X • Y: 19.6

19.4 or less

HU-UF13 to 43

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

HC-RF series

HC-UF72 • 152

HC-SF121 • 201

HC-SF202 • 352

HC-SF203 • 353

HC-UF202

HC-SF301

MC-MF series

HA-FF series

HU-UF13 to 43

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

HC-RF series

HC-UF72 • 152

HC-SF121 • 201

HC-SF202 • 352

HC-SF203 • 353

HC-UF202

HC-SF301

X: 9.8

Y: 24.5

X: 19.6

Y: 49

X: 11.7 Y: 29.4

X • Y: 64

X: 32

Y: 80

X: 64

Y: 161

X: 39 Y: 96

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

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

For safety of personnel, always cover rotating and moving parts.

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

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

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

– 4 –

(2) Wiring

CAUTION

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

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

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

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

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

Servo

Amplifier

Servo

Amplifier

COM

(24VDC)

Control output signal

RA

COM

(24VDC)


RA

(3) Test run adjustment

CAUTION

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

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

(4) Usage

CAUTION

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

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

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

Do not modify the equipment.

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

Use the servo amplifier with the specified servo motor.

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 service life and mechanical structure (e.g. where a ballscrew 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

– 5 –

(5) Corrective actions

CAUTION

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

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

Contacts must be open when ser vo is off or when an alarm (trouble) is present.

Servo motor

C i r c u i t m u s t b e o p e n e d d u r i n g emergency stop.

RA1

EMG

24VDC

Electromagnetic brake

When any alarm has occurred,, eliminate its cause,, ensure safety,, then reset the alarm,, before restar ting operation.

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

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(7) Disposal

CAUTION

Dispose of the product as general industrial waste.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Installation guide 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

Installation guide.

– 6 –

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies to a machine/equipment which incorporates the servo, not to the servo alone. Hence, the EMC filter must be used to make this machine/equipment which incorporates the servo comply with the EMC Directive. For specific methods to comply with the EMC

Directive, refer to the "EMC Installation Guidelines" (IB(NA)67310).

This servo has been approved by TUV, third-party evaluation organization, which confirmed that it can comply with the EMC Directive in the methods given in the "EMC Installation Guidelines".

(2) Low voltage directive

The low voltage directive applies also to the servo alone. Therefore, our servo is designed to comply with the Low Voltate Directive.

This servo has been approved by TUV, third-par ty evalution organization, which confirmed that it complies with the Low Voltage Directive.

(3) Machinery directive

Since the servo amplifiers are not machines, they need not comply with this derective.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used

Use the following models of servo amplifiers and servo motors:

Servo amplifier series: MR-J2-10A to MR-J2-350A

Servo motor series : HC-KF -UE

HC-MF -UE

HC-SF

HC-RF

HC-UF

Control box

(2) Structure

Reinforced insulating transformer

No-fuse breaker

Magnetic contactor

Reinforced insulating type

24VDC power supply

NFB MC

Servo amplifier

Servo motor

SM

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set for th in IEC664. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

1) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN

Standard should be used in the power input section.

2) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.

– 7 –

(5) Grounding

1) To prevent an electric shock, always connect the protective ear th (PE) terminals (marked ) of the servo amplifier to the protective earth (PE) of the control box.

2) Do not connect two ground cables to the same protective earth (PE) terminal as shown at right below. Always connect the cables to the terminals one-to-one.

PE terminals PE terminals

3) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring

1) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

2) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the servo amplifier. Do not connect cables directly.

Terminal block

3) Use the servo motor side power connector which complies with the EN Standard. The EN

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

(7) Auxiliary equipment and options

1) The no-fuse breaker and magnetic contactor used should be the EN or IEC Standard-compliant products of the models described in Section 6-2-1.

2) The sizes of the cables described in Section 6-2-2 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1.

• Ambient temperature: 40 (104) [

°

C(

°

F)]

• Sheath: PVC (polyvinyl chloride)

• Installed on wall surface or open table tray

3) Use the EMC filter for noise reduction. The radio noise filter (FR-BIF) is not needed.

(8) Servo motor

For outline dimension drawings not shown, contact Mitsubishi.

(9) Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.

For the other EMC Directive guidelines on the servo amplifier, refer to the "EMC INSTALLA-

TION GUIDELINES (IB(NA)67310)".

– 8 –

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used

Use the following models of servo amplifiers and servo motors:

Servo amplifier series : MR-J2-10A to MR-J2-350A

Servo motor series : HC-KF -UE

HC-MF -UE

HC-SF

HC-RF

HC-UF

(2) Installation

Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.

(3) Shor t-circuit rating

Having been subjected to UL's short-circuit test with an AC circuit whose peak current is limited to 5000A max., this servo amplifier complies with this circuit.

(4) Flange

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect:

Flange Size

[mm]

150 x 150 x 6

250 x 250 x 6

250 x 250 x 12

300 x 300 x 12

300 x 300 x 20

550 x 550 x 30

650 x 650 x 35

HC-MF -UE HA-FF C-UE

053 • 13

23

053 • 13

23 • 33

Servo Motor

HC-SF

43 43 • 63

81

52 to 152

53 to 153

HC-RF

103 to 203

73

121 to 301

202 • 352

203 • 353

HC-UF

13

23

43

73

301

72 • 152

202

(5) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 10 minutes after power-off.

Servo Amplifier

MR-J2-10A(1)•20A(1)

MR-J2-40A(1)•60A

MR-J2-70A~350A

Discharge Time [min]

1

2

3

(6) Options and auxiliary equipment

Use products which conform to the UL/C-UL Standard.

– 9 –

CONTENTS

CHAPTER 1 INTRODUCTION .................................................................................................. 1-1~1-17

1-1 Inspection at delivery ................................................................................................................. 1-2

1-1-1 Packing list ................................................................................................................... 1-2

1-1-2 Model definition ........................................................................................................... 1-2

1-1-3 Combination with servo motor ..................................................................................... 1-7

1-2 Parts identification and applications .......................................................................................... 1-8

1-2-1 Servo amplifier ............................................................................................................. 1-8

1-2-2 Servo motor ............................................................................................................... 1-13

1-3 Function list .............................................................................................................................. 1-14

1-4 Basic configuration .................................................................................................................. 1-15

1-4-1 MR-J2-100A or less ................................................................................................... 1-15

1-4-2 MR-J2-200A or more ................................................................................................. 1-17

CHAPTER 2 OPERATION ......................................................................................................... 2-1~2-54

2-1 Standard connection examples ................................................................................................. 2-2

2-1-1 Position control mode .................................................................................................. 2-2

2-1-2 Speed control mode .................................................................................................... 2-6

2-1-3 Torque control mode .................................................................................................... 2-8

2-2 Operation ................................................................................................................................. 2-10

2-2-1 Pre-operation checks ................................................................................................. 2-10

2-2-2 Start-up ...................................................................................................................... 2-11

2-3 Display and operation .............................................................................................................. 2-18

2-3-1 Display flowchart ....................................................................................................... 2-18

2-3-2 Status display ............................................................................................................ 2-19

2-3-3 Diagnostic mode ........................................................................................................ 2-20

2-3-4 Alarm mode ............................................................................................................... 2-27

2-3-5 Parameter mode ........................................................................................................ 2-28

2-4 Adjustments ................................................................................................................................. 2-50

2-4-1 Auto tuning ................................................................................................................ 2-50

2-4-2 Manual gain adjustment ............................................................................................ 2-50

2-4-3 Slight vibration suppression control ........................................................................... 2-54

CHAPTER 3 WIRING ................................................................................................................. 3-1~3-62

3-1 Servo amplifier ........................................................................................................................... 3-3

3-1-1 Terminal blocks ............................................................................................................ 3-3

3-1-2 Signal connectors ....................................................................................................... 3-6

3-1-3 Detailed information on I/O signals ............................................................................ 3-18

3-1-4 Interfaces ................................................................................................................... 3-32

3-2 Connection of servo amplifier and servo motor ....................................................................... 3-36

3-2-1 Connection instructions ............................................................................................. 3-36

3-2-2 Connection diagram .................................................................................................. 3-37

3-2-3 I/O terminals .............................................................................................................. 3-38

3-2-4 Connectors used for servo motor wiring .................................................................... 3-41

3-3 Common line ............................................................................................................................ 3-55

3-4 Grounding ................................................................................................................................ 3-56

3-5 Power supply circuit ................................................................................................................. 3-57

3-6 Alarm occurrence timing chart ................................................................................................. 3-59

3-7 Servo motor with electromagnetic brake ................................................................................. 3-60

CHAPTER 4 INSTALLATION ..................................................................................................... 4-1~4-9

4-1 Servo amplifier ........................................................................................................................... 4-2

4-2 Servo motor ............................................................................................................................... 4-5 i

CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM ................................................ 5-1~5-6

CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT ...................................................... 6-1~6-27

6-1 Dedicated options ...................................................................................................................... 6-2

6-1-1 Regenerative brake options .................................................................................... 6-2

6-1-2 Cable connectors ...................................................................................................... 6-7

6-1-3 Junction terminal block .......................................................................................... 6-14

6-1-4 Maintenance junction card .................................................................................... 6-15

6-1-5 Set-up software (will be released soon) ............................................................. 6-16

6-2 Auxiliary equipment ................................................................................................................. 6-17

6-2-1 Cables ...................................................................................................................... 6-17

6-2-2 No-fuse breakers, fuses, magnetic contactors .................................................. 6-17

6-2-3 Power factor improving reactors .......................................................................... 6-18

6-2-4 Relays ....................................................................................................................... 6-18

6-2-5 Surge absorbers ..................................................................................................... 6-19

6-2-6 Noise reduction techniques ................................................................................... 6-20

6-2-7 Leakage current breaker ....................................................................................... 6-25

6-2-8 Battery (MR-BAT, A6BAT) ..................................................................................... 6-26

6-2-9 Setting potentiometers for analog inputs ............................................................ 6-27

CHAPTER 7 INSPECTION .......................................................................................................... 7-1~7-3

CHAPTER 8 TROUBLESHOOTING ......................................................................................... 8-1~8-13

8-1 Troubleshooting at start-up ................................................................................................... 8-2

8-1-1 Position control mode .............................................................................................. 8-2

8-1-2 Speed control mode ..................................................................................................... 8-4

8-1-3 Torque control mode .................................................................................................... 8-5

8-2 Alarms and warnings .............................................................................................................. 8-6

8-2-1 Alarm and warning list ............................................................................................. 8-6

8-2-2 Alarms ........................................................................................................................ 8-7

8-2-3 Warnings .................................................................................................................. 8-13

CHAPTER 9 CHARACTERISTICS ........................................................................................... 9-1~9-12

9-1 Overload protection characteristics ..................................................................................... 9-2

9-2 Losses generated in the servo amplifier ............................................................................. 9-4

9-3 Electromagnetic brake characteristics ................................................................................. 9-6

9-4 Dynamic brake characteristics ............................................................................................ 9-10

9-5 Vibration rank ........................................................................................................................ 9-12

CHAPTER 10 SPECIFICATIONS ........................................................................................ 10-1~10-110

10-1 Standard specifications ........................................................................................................ 10-2

10-2 Torque characteristics .......................................................................................................... 10-6

10-3 Servo motors with reduction gears .................................................................................. 10-10

10-4 Servo motors with special shafts ...................................................................................... 10-14

10-5 Outline dimension drawings .............................................................................................. 10-16

10-5-1 Servo amplifiers .................................................................................................... 10-16

10-5-2 Servo motors ......................................................................................................... 10-19

10-5-3 Servo motors (in inches) ..................................................................................... 10-61

10-5-4 Cable side plugs ................................................................................................ 10-103 ii

CHAPTER 11 SELECTION ..................................................................................................... 11-1~11-13

11-1 Specification symbol list ...................................................................................................... 11-2

11-2 Position resolution and electronic gear setting ................................................................ 11-3

11-3 Speed and command pulse frequency .............................................................................. 11-4

11-4 Stopping characteristics ...................................................................................................... 11-5

11-5 Capacity selection ................................................................................................................. 11-6

11-6 Load torque equations ......................................................................................................... 11-8

11-7 Load inertia moment equations .......................................................................................... 11-9

11-8 Precautions for zeroing ...................................................................................................... 11-10

11-9 Selection example ............................................................................................................... 11-11 iii

CHAPTER 1

INTRODUCTION

This chapter provides basic information needed to use this servo.

1-1 Inspection at delivery

1-1-1 Packing list

1-1-2 Model definition

1-1-3 Combination with servo motor

1-2 Parts identification and applications

1-2-1 Servo amplifier

1-2-2 Servo motor

1-3 Function list

1-4 Basic configuration

1-4-1 MR-J2-100A or less

1-4-2 MR-J2-200A or more

INTRODUCTION

OPERATION

WIRING

INSTALLATION

ABSOLUTE POSITION DETECTION SYSTEM

OPTIONS AND AUXILIARY EQUIPMENT

INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

1– 1

1. INTRODUCTION

1-1 Inspection at delivery

After unpacking, check the name plate to make sure that the servo amplifier and servo motor received are as ordered by the customer.

1-1-1 Packing list

1) Servo amplifier

Item

Servo amplifier

Qty

1

(Note)Control circuit connector

Specifications and installation guide

1

1

Note: Not supplied to the servo amplifier of MR-J2-200A or more.

1-1-2 Model definition

(1) Servo amplifier

1) Name plate

MITSUBISHI

MODEL MR-J2-60A

POWER : 600W

3.2A 3PH+1PH 200-230V 50Hz

3PH+1PH200-230V 60Hz

5.5A 1PH230V 50/60Hz

OUTPUT : 170V 0-360Hz 3.6A

SERIAL : TC3XXAAAAG52

PASSED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

2) Model

2) Servo motor

Item

Servo motor

Safety Instructions for Use of AC Servo

Qty

1

1

Model

Capacity

Applicable power supply

Rated output current

Current status + serial number

MR-J2-100A or less MR-J2-200A•350A

MR-J2A

Series

Symbol Power Supply

Three-phase AC200~230V

None

(Note 1) 1

(Note 2) Single-phase AC230V

Single-phase AC100V

Note: 1. Not supplied to the servo amplifier of MR-J2-60A or more.

Note: 2. Not supplied to the servo amplifier of MR-J2-100A or more.

General-purpose Interface

Rated output

Rated

Symbol output [W]

10

20

40

60

100

200

400

600

Symbol

Rated output [W]

70

100

200

350

750

1000

2000

3500

Name plate Name plate

1– 2

1. INTRODUCTION

(2) Servo Motors

1) Name plate

AC SERVO MOTOR

HC-MF13

SERIAL

DATE


MADE IN JAPAN or

AC SERVO MOTOR

HC-RF153

INPUT 3AC 145V 8.2A

OUTPUT 1.5Kw IEC34-1 1994

SPEED 3000r/min

SER.No. 001 DATE


MADE IN JAPAN

Model

Serial number

Date of manufacture

Model

Input power

Rated output

Rated speed

Serial number

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

HC-MF 3

Series name

Appearance

1) Compliance with Standard

Symbol

None

-UE

Specifications

Standard model (Japan)

EN • UL/C-UL Standard

3) Reduction gear

Symbol

None

G1

G2

Reduction Gear

Without

For general industrial machine

For precision application

2) Shaft type

Symbol

None

K

D

Note: With key

Shaft Shape

Standard

(Straight shaft)

(Note) With keyway

D-cut shaft

HC-MF

053 to 73

23 to 73

53 • 13

4) Electromagnetic brake

Symbol

None

B

Electromagnetic Brake

Without

With

5) Rated speed

3000 [r/min]

6) Rated output

Symbol

05

1

2

4

7

Rated Output [W]

50

100

200

400

750

1

1– 3

1. INTRODUCTION

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

HA-FF 3

Series name

Appearance

1) Compliance with Standard

Symbol

None

-UE

Specifications

Standard model (Japan)

EN • UL/C-UL Standard

3) Reduction gear

Symbol

None

G1

G2

Reduction Gear

Without



2) Shaft type

Symbol

None

D

Shaft Shape

(Note) Standard

D-cut shaft

HA-FF

053 to 73

053 • 13

Note: The Standard shafts of the HA-FF23 to

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

5) Input power supply form

Symbol

None

C

Standard model

EN • UL/C-UL Standardcompliant model

Lead

Cannon connector


Symbol

None

B


Without

With

6) Rated speed

3000 [r/min]

7) Rated output

Symbol

05

1

2

Rated Output [W]

50

100

200

Symbol

3

4

6

Rated Output [W]

300

400

600

1– 4

1. INTRODUCTION

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

HC-SF

Series name

Appearance

1) Shaft type

Symbol

None

K

Note: Without key

Shaft shape

Standard

(Straight shaft)

With keyway

2) Reduction gear

Symbol

None

G1

G1H

(Note) Reduction Gear

Without


(flange type)


(leg type)

For precision application G2

Note: Not provided for 1000r/min and

3000r/min series.

4) Rated speed

Symbol

1

2

3

Speed [r/min]

1000

2000

3000


Symbol

None

B


Without

With

5) Rated output

Symbol

5

8

10

12

15

20

30

35

Rated Output [W]

500

850

1000

1200

1500

2000

3000

3500

1000 [r/min] 2000 [r/min] 3000 [r/min]

1

1– 5

1. INTRODUCTION

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

HC-RF 3

Series name

1) Shaft type

Symbol

None

K

Note: Without key

Shaft Shape

Standard

(Straight shaft)

With keyway

2) Reduction gear

Symbol

None

G2

Reduction Gear

Without


Appearance

4) Rated speed

3000 [r/min]

5) Rated output

Symbol

10

15

20

Rated Output [W]

1000

1500

2000


Symbol

None

B


Without

With e. HC-UF series (pancake type small capacity)

HC-UF 3

Series name

1) Shaft type

Symbol

None

K

D

Note: Without key

Shaft Shape

Standard

(Straight shaft)

With keyway

D-cut shaft

HU-UF

13 to 43

72 to 202

13

Appearance


Symbol

None

B


Without

With

3) Rated speed

Symbol

2

3

Speed [r/min]

2000

3000

4) Rated output

Symbol

1

2

4

7

15

20

Rated Output [W]

100

200

400

750

1500

2000

1– 6

1. INTRODUCTION

1-1-3 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes, the models with reduction gears, the EN Standardcompliant models and UL/C-UL Standard-compliant models.

Servo Amplifier

MR–J2–10A (1)

MR–J2–20A (1)

MR–J2–40A (1)

MR–J2–60A

MR–J2–70A

MR–J2–100A

MR–J2–200A

MR–J2–350A

HC-MF

053 • 13

23

43

73

HA-FF

053 • 13

23

33 • 43

63

1000r/min

81

121 • 201

301

Servo Motors

HC-SF (Note)

2000r/min

52

102

152 • 202

352

3000r/min

53

103

153 • 203

353

HC-RF

103 • 153

203

HC-UF (Note)

2000r/min 3000r/min

72

152

202

13

23

43

73

Note The HC-UF73 • HC-SF203 • HC-SF353 may not be connected depending on the production timing of the servo amplifier. Please contact us.

1

1– 7

1. INTRODUCTION

1-2 Parts identification and applications

1-2-1 Servo amplifier

(1) MR-J2-200A or less

1– 8

1. INTRODUCTION

Name/Application

Battery holder

Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data backup.

Display

The four-digit, seven-segment LED shows the servo status and alarm number.

Operation section

Used to perform status display, diagnostic, alarm and parameter setting operations.

Refer To

Chapter 5(5)

Chapter 5(5)

Section 6-2-8

Section 2-3

MODE UP DOWN SET

Used to set parameter

data.

Used to change the display or data in each

mode.

Used to change the

mode.

I/O signal connector (CN1A)

Used to connect digital I/O signals.

I/O signal connector (CN1B)


Communication connector (CN3)

Used to connect a personal computer or output analog monitor.

Name plate

Charge lamp

Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder connector (CN2)

Connector for connection of the servo motor encoder

Main circuit terminal block (TE1)

Used to connect the input power supply and servo motor.

Control circuit terminal block (TE2)

Used to connect the control circuit power supply and regenerative brake option.

Section 2-3

Section 3-1-2

Section 3-1-2

Section 3-1-2

Section 6-1-5

Section 1-1

Section 3-1-2

Section 3-1-1

Section 3-1-1

Protective earth (PE) terminal ( )

Ground terminal.

Section 3-4

1

1– 9

1. INTRODUCTION

(2) MR-J2-200A or more

MODE

UP DOWN

SET

The servo amplifier is shown without the front cover. For removal of the front cover, refer to page 1-12.

1– 10

Installation notch (4 places)

Cooling fan

1. INTRODUCTION


Battery holder

Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data backup.

Display

The four-digit, seven-segment LED shows the servo status and alarm number.

Operation section

Used to perform status display, diagnostic, alarm and parameter setting operations.

Refer To

Chapter 5(5)

Chapter 5(5)

Section 6-2-8

Section 2-3

MODE UP DOWN SET

Used to set parameter

data.

Used to change the display or data in each

mode.

Used to change the

mode.

Section 2-3

I/O signal connector (CN1A)


I/O signal connector (CN1B)


Communication connector (CN3)

Used to connect a personal computer or output analog monitor.

Name plate

Charge lamp

Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder connector (CN2)

Connector for connection of the servo motor encoder

Control circuit terminal block (TE2)

Used to connect the control circuit power supply and regenerative brake option.Control circuit terminal

Main circuit terminal block (TE1)

Used to connect the input power supply and servo motor.

Section 3-1-2

Section 3-1-2

Section 3-1-2

Section 6-1-5

Section 1-1

Section 3-1-2

Section 3-1-1

Section 3-1-1

Protective earth (PE) terminal ( )

Ground terminal.

Section 3-4

1

1– 11

1. INTRODUCTION

Removal of the front cover q w

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover w

Front cover hook

(2 places) q

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

Front cover socket (2 places)

1– 12

1. INTRODUCTION

1-2-2 Servo motor


Encoder cable

Encoder connector for HC-SF/HC-RF

Encoder

Power cable

• Power leads (U, V, W)

• Earth lead

• Brake lead

(For motor with electromagnetic brake)

Power supply connector for HC-SF/HC-RF

Servo motor shaft

Refer To

Section 6-1-2

Section 3-2

Section 10-1

Section 3-2

Section 4-2 (4)

Section 10-4

1

1– 13

1. INTRODUCTION

1-3 Function list

Function Description

(Note)

Control Mode

Refer To

Position control mode

Speed control mode

Torque control mode

MR-J2-A is used as position control servo.

MR-J2-A is used as speed control servo.

MR-J2-A is used as torque control servo.

P

S

T

Section 2-1-1

Section 2-2-2 (2)

Section 3-1-3 (1)

Section 2-1-2

Section 2-2-2 (3)

Section 3-1-3 (2)

Section 2-1-3

Section 2-2-2 (4)

Section 3-1-3 (3)

Position/speed control change mode

Speed/torque control change mode

Torque/position control change mode

Using external input signal, control can be switched between position control and speed control.

Using external input signal, control can be switched between speed control and torque control.

Using external input signal, control can be switched between torque control and position control.

Absolute position detection system

Slight vibration suppression control

Return to home position is not required at each power on after it has been made once.

Suppresses vibration of

±

1 pulse produced at a servo motor stop.

Electronic gear

Input pulses can be multiplied by 1/50 to 50.

P/S

S/T

T/P

P

P

Section 3-1-3 (4)

Section 3-1-3 (5)

Section 3-1-3 (6)

Chapter 5

Section 2-4-3

P

Parameters No. 3, 4

Real-time auto tuning

Smoothing

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Speed can be increased smoothly in response to input pulse.

S-pattern acceleration/ deceleration time constant

Analog monitor output

Speed can be increased and decreased smoothly.

Alarm history clear

Servo status is output in terms of voltage in real time.

Alarm history is cleared.

Restart after instantaneous power failure

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.

Command pulse selection

Input signal selection

Command pulse train form can be selected from among four different types.

Forward rotation start, reverse rotation start, servo on and other input signals can be assigned to any pins.

P, S

P

S

P, S, T

P, S, T

S

P

Section 2-4-1

Parameter No. 2

Parameter No. 7

Parameter No. 13

Parameter No. 17

Parameter No. 16

Parameter No. 20

Parameter No. 21

Torque limit

Speed limit

Servo motor-generated torque can be limited to any value.

Servo motor speed can be limited to any value.

P, S, T

P, S

T

Parameters No. 43 to

48

Section 3-1-3 (1) q

Parameter No. 28

Section 3-1-3 (3) e

Parameter No. 8~10

Status display

External I/O display

Output signal forced output

Automatic VC offset

Test operation mode

Regenerative brake option

Servo configuration software

Alarm code output

Servo status is shown on the 4-digit, 7-segment LED display.

ON/OFF statuses of external I/O signals are shown on the display.

Output signal can be forced on/off independently of the servo status.

Use this function for output signal wiring check, etc.

Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command

(VC) or analog speed limit (VLA) of 0V.

Servo motor can be run from the operation section of the servo amplifier without the start signal entered.

Used when the built-in regenerative brake resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

If an alarm has occurred, the corresponding alarm number is output in 3-bit code.

P, S, T

P, S, T

P, S, T

S, T

P, S, T

P, S, T

P, S, T

P, S, T

Section 2-3-2

Section 2-3-3 (1)

Section 2-3-3 (2)

Section 2-3-3

Section 2-3-3 (3)

Section 6-1-1

Section 6-1-5

Section 8-2-1

Note: P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position

control change mode

1– 14

1. INTRODUCTION

1-4 Basic configuration

WARNING

To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.

1-4-1 MR-J2-100A or less

(1) Three-phase 200V or single-phase 230V power supply models

(Note 2)

Power supply

3-phase AC200

~230V or

1-phase AC230V

No-fuse breaker

(NFB) or fuse

Servo amplifier

MR-J2- A

Options and Auxiliary Equipment

No-fuse breaker

Magnetic contactor

Set-up software


Cables

Power factor improving reactors

Refer To

Section 6-2-2

Section 6-2-2

Section 6-1-5

Section 6-1-1

Section 6-2-1

Section 6-2-3

Positioning unit

MR-J2-60A

To CN1A

Magnetic

contactor

(MC)

To CN1B

Junction terminal block

To CN3

CHARGE

Power factor improring reactors

(FR-BAL)

To CN2

L1

L2

L3

U V

W

Personal computer

Set-up software

Protective earth (PE) terminal

(Note 1)

Encoder cable

Control circuit terminal block

D

L

21

L

11

P


C

Note: 1. The HA-FF C-UE, HC-SF series have Cannon connectors.

(Refer to Section 3-2-2.)

Note: 2. A single-phase AC230V power supply may be used with the servo amplifier of MR-J2-70A or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

U

V

W

1– 15

(Note 1)

Power leads

Servo motor

1

1. INTRODUCTION

(2) Single-phase 100V power supply model

1-phase AC100V power supply

No-fuse breaker

(NFB) or fuse


No-fuse breaker

Magnetic contactor

Set-up software


Cables


MR-J2- A1

Refer To

Section 6-2-2

Section 6-2-2

Section 6-1-5

Section 6-1-1

Section 6-2-1

Section 6-2-3

Positioning unit

MR-J2-60A

To CN1A

Magnetic

contactor

(MC)

To CN1B


To CN3

CHARGE


(FR-BAL)

To CN2

L1

L2

U V

W

Personal computer

Set-up software

Protective earth (PE) terminal

(Note)

Encoder cable

D

U

V

W

(Note)

Power leads


L

21

L

11

P


C

Note: The HA-FF C-UE series have Cannon connectors.

(Refer to Section 3-2-2.)

1– 16

Servo motor

1. INTRODUCTION

1-4-2 MR-J2-200A or more

3-phase AC200

~230V power supply

No-fuse breaker

(NFB) or fuse

Magnetic

contactor

(MC)


(FR-BAL)

L1

L2

L3

To CN2

L11

L21


No-fuse breaker

Magnetic contactor

Set-up software


Cables


Refer To

Section 6-2-2

Section 6-2-2

Section 6-1-5

Section 6-1-1

Section 6-2-1

Section 6-2-3

Servo amplifier

Positioning unit

To CN1A

To CN1B

To CN3


Personal computer Set-up software

U V W P C


1

1– 17

CHAPTER 2

OPERATION

This chapter gives basic connection examples and operation procedures.

2-1 Standard connection examples

2-1-1 Position control mode

2-1-2 Speed control mode

2-1-3 Torque control mode

2-2 Operation

2-2-1 Pre-operation checks

2-2-2 Start-up

2-3 Display and operation

2-3-1 Display flowchar t

2-3-2 Status display

2-3-3 Diagnostic mode

2-3-4 Alarm mode

2-3-5 Parameter mode

2-4 Adjustments

2-4-1 Auto tuning

2-4-2 Manual gain adjustment

2-4-3 Slight vibration suppression control

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

2 – 1

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

2. OPERATION

2-1 Standard connection examples

CAUTION

Always follow the instructions in Chapter 3.

2-1-1 Position control mode

(1) Connection with the FX-1GM

For single-phase 100V power supply

CAUTION

Make up a sequence which switches off the MC at alarm occurrence or emergency stop.

Power supply

Single-phase 100VAC

NFB

MC

Servo amplifier

MR – J2 – A1

L1

TE1

L2

L11

L21

CAUTION


NFB

MC

Power supply

3-phase 200~230VAC or

(Note 13) 1-phase 230VAC

24+

COM1

SVRDY

Signal

SV END

COM2

PG0

COM5

CLR

FP

COM4

RP

(Note 4)

Regenerative

brake option

(Note 3, 7) External emergency stop

Servo on

Reset

Proportion control

Torque limit

(Note 7) Forward rotation stroke end

Reverse rotation stroke end

EMG

SON

RES

PC

TL

LSP

LSN

SG

SG

10m (32ft) or less

Do not connect when external power supply is used.

(Note 2, 6)

VDD

COM

(Note 9) Trouble

RA1

ALM

Zero speed

RA2

ZSP

Limiting torque

Upper limit setting

Analog torque limit

+10V/max. torque

OPC

COM

RD

INP

P15R

OP

SG

CR

PP

SG

NP

SD

(Note 11)

2m (6.5ft) or less

RA3

2m (6.5ft) or less

TLC

P15R

TLA

LG

SD

Servo amplifier

MR – J2 – A

L1

TE1

L2

U

V

L3

W

U (Red)

V (White)

W(Black)

Servo motor

SM

(Green)

L11

L21

C

D

P

TE2

(Note 1)

24VDC

CN1A(Note 5, 8)

11

9

19

(Note 5, 8)

CN2

18

4

14

10

20

2

8

3

Plate

(Note 5, 8, 10)

Encoder cable

(Option)

Communication cable

(Option)

B1

B2

EMG

To be shut off when servo-on signal switches off or alarm signal is given.


Encoder

Personal computer

+

Windows 3.1 • 95

CN1B(Note 5, 8)

15

5

14

16

17

10

20

8

9

(Note 5, 8, 10)

CN3

4

3

14

13

Plate

CN1B(Note 5, 8)

3

13

18

19

6

11

12

1

Plate

(Note 5, 8)

CN1A

5

15

6

16

7

17

1

14

4

Plate

15m (49ft) or less

LZ

LZR

LA

LAR

LB

LBR

LG

OP

P15R

SD

MO1

LG

MO2

LG

SD

A

A

10k

10k

2m (6.5ft) or less

Ω

Ω

(Note 12)

Monitor output

Max. +1mA meter

Reading in both directions

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (open collector)

2– 2

2. OPERATION

WARNING

CAUTION

Note: 1. To prevent an electric shock, always connect the protective earth(PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.

Note: 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

3. The emergency stop switch must be installed.

NOTICE

Note: 4. When using the regenerative brake option, always remove the lead from across D-P.

5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

6. The sum of currents that flow in the external relays should be

80mA max. If it exceeds 80mA, supply interface power from external.

MEMORANDUM

Note: 7. When star ting operation, always connect the external emergency stop signal (EMG) and forward/reverse rotation stroke end signal

(LSN/LSP) with SG. (Normally closed contacts)

8. The pins with the same signal name are connected in the servo amplifier.

9. The trouble (ALM) signal is on when there is no alarm, i.e. in the normal state.

When this signal is switched off (at occurrence of an alarm), the output of the controller should be stopped by the sequence program.

10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).

(Refer to Section 6-1-4)

11. This length applies to the command pulse train input in the opencollector system. It is 10m (32 ft) or less in the differential line driver system.

12. The connection method changes with the servo motor series.

Refer to Section 3-2-2.

13. A single-phase 230V power supply may be used with the servo amplifier of MR-J2-70A or less. Connect the power supply to L1 and L2 terminals and leave L3 open.

14. When using the relay terminal block (MR-TB20), connect it to

CN1A-10.

2

2– 3

2. OPERATION

(2) Connection with the AD75P /A1SD75P


CAUTION


Power supply

Single-phase 100VAC

NFB

MC

Servo amplifier

MR – J2 – A1

L1

TE1

L2

CAUTION


NFB

MC

Power supply



(Note 4)

Regenerative

brake option

Signal Pin No.

PULSE F+

PULSE F -

PULSE R+

PULSE R -

CLEAR

CLEAR COM

READY

COM

INPS

5

23

7

26

8

3

21

4

22

OPC

PP

PG

NP

NG

CR

SG

RD

COM

INP

Servo amplifier

MR – J2 – A

TE1

L1

L2

U

V

L3

W

U (Red)

V (White)

W(Black)

Servo motor

SM

(Green)

C

D

P

L11

L21

TE2

(Note 1)

24VDC

B1

B2


CN1A

(Note 5, 8)

(Note 5, 8)

CN2

19

9

18

11

3

13

2

12

8

10

(Note 5, 8, 10)

CN3

EMG


Encoder cable

(Option)

Communication cable

(Option)

Encoder

Personal computer

+

Windows 3.1 • 95

5

15

Plate

15m (49ft) or less

PG0(+5V)

PG0 COM

24

25

LZ

LZR

SD

(Note 11)

10m (32ft) or less


Servo on

Reset

Proportion control

Torque limit



EMG

SON

RES

PC

TL

LSP

LSN

SG

SG

10m (32ft) or less


(Note 2, 6)

VDD

COM

(Note 9) Trouble

RA1

ALM

Zero speed RA2

ZSP

Limiting torque

Upper limit setting

Analog torque limit

±

10V/max. current

RA3

2m (6.5ft) or less

TLC

P15R

TLA

LG

SD

L11

L21

(Note 12)

CN1B(Note 5, 8)

15

5

14

8

9

16

17

10

20

(Note 5, 8, 10)

CN3

4

3

14

13

Plate

CN1B(Note 5, 8)

3

13

18

19

6

11

12

1

Plate

(Note 5, 8)

CN1A

5

15

6

16

7

17

1

14

4

Plate

LZ

LZR

LA

LAR

LB

LBR

LG

OP

P15R

SD

MO1

LG

MO2

LG

SD

A

A

10k

10k

Ω

Ω

2m (6.5ft) or less

Monitor output

Max. +1mA meter





Control common


2– 4

2. OPERATION

WARNING

CAUTION

NOTICE

Note: 1. To prevent an electric shock, always connect the protective earth

(PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.







MEMORANDUM

Note: 7. When starting operation, always connect the external emergency stop signal (EMG) and forward/reverse rotation stroke end signal







11. This length applies to the command pulse train input in the differential line driver system. Though the command pulse train input may be in the open collector system, we recommend the differential line driver system which is less affected by external noises. The length is 2m (6.5ft) or less in the open collector system.




2

2– 5

2. OPERATION

2-1-2 Speed control mode


CAUTION


Power supply

Single-phase 100VAC

NFB

MC

Servo amplifier

MR – J2 – A1

L1

TE1

L2

Ready

Speed reached

(Note 7) Limiting torque

Upper limit setting

(Note 14) Analog speed command

±

10V/Rated speed

Upper limit setting

(Note 11) Analog command limit

±

10V/max. torque

COM

SP1

SG

RD

SA

VC

LG

TLA

SD

L11

L21

CAUTION


Power supply


(Note) 1-phase 230VAC

(Note 4)

Regenerative

brake option

Speed selection 1


Servo on

Reset

Speed selection 2

Forward rotation start

Reverse rotation start



EMG

SON

RES

SP2

ST1

ST2

LSP

LSN

SG

SG


10m (32ft) or less

(Note 2, 6)

VDD

COM

(Note 9) Trouble

RA1

ALM

Zero speed

NFB

RA2

RA3

RA4

RA5

MC

10m (32ft) or less

SG

ZSP

TLC

P15R

Servo amplifier

MR – J2 – A

L1

L2

L3

TE1

U

V

W

U(Red)

V(White)

W(Black)

(Green)

Servo motor

SM

L11

L21

C TE2

D

P

(Note 1)

24VDC

B1

B2

EMG



(Note 12)

(Note 5, 8)

CN1A

9

8

(Note 5, 8)

CN2

10

19

Encoder cable

(Option)

Encoder

18

20

(Note 5, 8, 10)

CN3

CN1B(Note 5, 8)

Communication cable

(Option)

15

5

14

7

16

17

10

20

8

9

3

13

18

19

6

11

2

1

12

(Note 5, 8, 10)

CN3

CN1B(Note 5, 8)

4

3

14

13

15m (49ft) or less

MO1

LG

MO2

LG

Plate

SD

A

A

10k

Ω

10k

Ω

Personal computer

+

Windows 3.1 • 95

Monitor output

Max. +1mA meter


2m (6.5ft) or less

(Note 5, 8)

CN1A

5

15

6

16

7

17

1

LZ

LZR

LA

LAR

LB

LBR

LG

14

4

OP

P15R

Plate

SD




Control common


Plate

2m (6.5ft) or less

2– 6

2. OPERATION

WARNING

CAUTION





NOTICE





MEMORANDUM

Note: 7. When star ting operation, always connect the external emergency stop signal (EMG) and forward/reverse rotation stroke end signal







11. TLA can be used by setting any of parameters No. 43 to 48 to make TL available.




14. When inputting a negative voltage, use the external power supply.

2

2– 7

2. OPERATION

2-1-3 Torque control mode


CAUTION


Power supply

Single-phase 100VAC

NFB

MC

Servo amplifier

MR – J2 – A1

L1

TE1

L2

CAUTION


L11

L21

Power supply



Speed selection 1

Ready


Servo on

Reset

Speed selection 2

Forward rotation selection

Reverse rotation selection

EMG

SON

RES

SP2

RS1

RS2

SG

SG


10m (32ft) or less

(Note 2, 6)

VDD

COM

(Note 9) Trouble

RA1

ALM

Zero speed

RA2

ZSP

Limiting speed

Upper limit setting

Analog torque command

±

8V/max. torque

Upper limit setting

Analog speed command

0 to +10V/rated speed

NFB

(Note 4)

Regenerative

brake option

MC

10m (32ft) or less

RA3

RA4

COM

SP1

SG

RD

SG

VLC

P15R

TC

LG

VLA

SD

2m (6.5ft) or less

Servo amplifier

MR – J2 – A

TE1 U

L1

L2

L3

V

W

U(Red)

V(White)

W(Black)

Servo motor

SM

(Green)

L11

L21

C TE2

(Note 1)

24VDC

B1


(Note 11)

B2

D

P

EMG


(Note 5, 8)

CN1A

9

8

(Note 5, 8)

CN2

10

19

20

Encoder cable

(Option)

Encoder

CN1B

(Note 5, 8)

15

5

14

7

(Note 5, 8, 10)

CN3

9

8

Communication cable

(Option)

Personal computer

+

Windows 3.1 • 95

15m (49ft) or less

10

20

(Note 5, 8, 10)

CN3

CN1B(Note 5, 8)

4

3

3

13

18

19

6

11

12

1

2

Plate

14

MO1

LG

MO2

13 LG

Plate

SD

A

A

10k

Ω

10k

Ω

Monitor output

Max. +1mA meter


2m (6.5ft) or less

(Note 5, 8)

CN1A

5

15

6

16

7

17

1

14

4 P15R

Plate SD

LZ

LZR

LA

LAR

LB

LBR

LG

OP




Control common


For notes, refer to page 2-6.

2– 8

2. OPERATION

WARNING

CAUTION

NOTICE






5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will ead to a fault.



MEMORANDUM

Note: 7. When starting operation, always connect the external emergency stop signal (EMG) with SG. (Normally closed contacts)




10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-

J2CN3TM). (Refer to Section 6-1-4)




2

2– 9

2. OPERATION

2-2 Operation

2-2-1 Pre-operation checks

Before starting operation, check the following:

(1) Wiring

1) A correct power supply is connected to the power input ter minals (three-phase 200V: L1, L2, L3; single-phase 230V: L1, L2; single-phase 100V: L1,

L2) of the servo amplifier.

2) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

3) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the power input terminals (L1, L2, L3) of the servo amplifier.

4) The servo amplifier and servo motor are grounded securely.

5) When the regenerative brake option is used, the lead has been removed across D-P of the control circuit terminal block. Also, twisted cables are used for its wiring.

6) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during operation.

7) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.

8) SD and SG of connectors CN1A and CN1B are not shorted.

9) The wiring cables are free from excessive force.

Three-phase

200 to 230V

50/60Hz

Single-phase

230V

50/60Hz

Single-phase

100 to 120V

50/60Hz

(2) Environment

Signal cables and power cables are not shorted by wire offcuts,metallic dust or the like.

(3) Machine

1) The screws in the servo motor installation par t and shaft-to-machine connection are tight.

2) The servo motor and the machine connected with the servo motor can be operated.

Servo amplifier

MR – J2 A

L

1

U

U

L

2

V

V

W

L

3

L

11

L

21

W

Servo motor

SM

Servo amplifier

MR – J2 A

L

1

U

U

L

2

V

V

W

L

3

L

11

L

21

W

Servo motor

SM

Servo amplifier

MR – J2 A1

L

1

U

L

2

L

11

L

21

V

W

L

L

1

2

U

V

L

3

W

Servo amplifier

U

Servo motor

V

W

SM

Servo motor

SM

Servo amplifier

SD

SG

2– 10

2. OPERATION

2-2-2 Start-up

WARNING

Do not operate the switches with wet hands. You may get an electric shock.

CAUTION

1. Before starting operation, check the parameters. Some machines may perform unexpected operation.

2. During power-on or soon after power-off, do not touch the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. as they may be at high temperatures. You may get burnt.

(1) Selection of control mode

With parameter No. 0, select the control mode to be used. This parameter is made valid by setting it and switching power off once, then on again.

Parameter No. 0

Set Value

2

3

4

5

0

1

Control Mode


Position/speed control change mode

Speed control mode

Speed/torque control change mode

Torque control mode

Torque/position control change mode

2

2– 11

2. OPERATION

(2) Position control mode

Disconnect the servo motor from the machine, make sure that it operates properly, and reconnect it with the machine.

Power on

1) S w i t c h o f f t h e s e r vo - o n s i g n a l

(SON).

2) When power (NFB) is switched on, the display shows C (cumulative feedback pulses).

Test operation

In the test operation mode, make sure that the servomotor runs.

(Refer to (3) in Section 2-3-3.)

Parameter setting

Set the required parameters. (Refer to Section 2-3-5.)

The servo amplifier and servo motor need not be set in parameters as they are set automatically.

• Setting example

Parameter Set Value

No.0

0 3 0 0

Description

Control mode


: Position

: MR-RB12 used.

No.1

0 0 0

No.2

No.3

No.4

0 1 0 1

2

1

Electromagnetic brake interlock signal

: Not used.

Positioning system

: Incremental

Auto tuning

Response level

Machine

Used or not used

Electronic gear (CMX/CDV)

: Low

: Ordinary

: Used

: 2/1

2– 12

2. OPERATION

Servo on

When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate and the servo motor shaft is locked. (Servo lock state)

If the shaft is not servo-locked, SON is not on. Check the external sequence on the diagnostic display.

Checking procedure

Power on

Press MODE once.

Command pulse train input

Switch SON on.

• • • •

This display appears when SON switches on.

• When a pulse train is input from the positioning unit, the ser vo motor starts rotating. First, run the servo motor at low speed and check the rotation direction, etc. If the servo motor does not run as expected, recheck the input signals.

Forward rotation

CCW

Reverse rotation

CW

• On the status display monitor, check the servo motor speed, command pulse frequency, load ratios, etc

• When machine operation check is over, confirm automatic operation with the positioning unit program.

• This servo amplifier has the real-time auto tuning function under model adaptive control. Therefore, starting servo operation automatically makes gain adjustment.

Using parameter No. 2, response level setting can be adjusted to provide the optimum tuning according to machine rigidity.

2

Stop

Operation is suspended and stopped by:

1) Ser vo-on signal off ... The base circuit is shut off and the servo motor coasts.

2) Stroke end signal off ... The servo motor comes to a sudden stop and is servo-locked. The servo motor is allowed to run in the opposite direction.

3) A l a r m o c c u r r e n c e ... When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

4) Emergency stop signal ... The base circuit is shut off and the off dynamic brake is operated to bring the servo motor to a sudden stop. The display shows A.E6.

2– 13

2. OPERATION

(3) Speed control mode


Power on


(SON).

2) When power (NFB) is switched on, the display shows r (motor speed).

Test operation

In the test operation mode, make sure that the servo motor runs. (Refer to (3) in Section 2-3-3.)




• Setting example


No.0

0 0 0 2

No.1

No.2

No.8

No.9

No.10

No.11

No.12

No.13

Description

Control mode


: Speed

: Not used.

0 0 1

0 1 0 1

1000

1500

2000

1000

500

0

Electromagnetic brake interlock signal : Used.

Auto tuning

Response level

Machine

Used or not used

Internal speed command 1


: Low

: Ordinary

: Used

: 1000r/min

: 1500r/min


Acceleration time constant

Deceleration time constant

S-pattern acceleration/deceleration time constant

: 2000r/min

: 1s

: 0.5s

: 0s (not used)

2– 14

2. OPERATION

Servo on

When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate and the servo motor shaft is locked. (Servo lock state) If the shaft is not servo-locked, SON is not on. Check the external sequence on the diagnostic display.

Checking procedure

Power on

Press MODE once.

Start

Stop

Switch SON on.

• • • •

This display appears when SON switches on.

• By selecting speeds (analog speed c o m m a n d , i n t e r n a l s p e e d c o m mands 1 to 3) with the speed selection 1 signal (SP1) and speed selection 2 signal (SP2) and switching on the start signal (ST1/ST2), the servo motor starts rotating.

First, run the servo motor at low

Forward rotation

CCW

Reverse rotation

CW speed and check the rotation direction, etc. If the servo motor does not run as expected, check the input signals and parameters.

• On the status display monitor, check the servo motor speed, load ratios, etc.

• When machine operation check is over, confirm automatic operation with the host controller or the like.

• This servo amplifier has the real-time auto tuning function under model adaptive control. Therefore, starting servo operation automatically makes gain adjustment. Using parameter No. 2, response level setting can be adjusted to provide the optimum tuning according to machine rigidity.

2


1) S e r vo - o n s i g n a l o f f ... The base circuit is shut off and the servo motor coasts.

2) Stroke end signal off ... The servo motor comes to a sudden stop and is servo-locked. The servo motor is allowed to run in the opposite direction.


4) Emergency stop signal ... The base circuit is shut off and the dyoff namic brake is operated to bring the servo motor to a sudden stop. The display shows A.E6.

2– 15

2. OPERATION

(4) Torque control mode


Power on


(SON).

2) When power (NFB) is switched on, the display shows U (torque command voltage).

Test operation

In the test operation mode, make sure that the servo motor runs.

(Refer to (3) in Section 2-3-3.)




• Setting example


No.0

0 0 0 4

Description

Control mode


: Torque

: Not used.

No.1

0 0 0

No.8

No.9

No.10

No.11

No.12

No.13

No.14

No.28

1000

1500

2000

1000

500

0

2000

50

Electromagnetic brake interlock signal : Not used.




: 1000r/min

: 1500r/min

: 2000r/min

Acceleration time constant

Deceleration time constant

: 1s

: 0.5s

S-pattern acceleration/deceleration time constant : 0s (not used)

Torque command time constant

Internal torque limit 1

: 2s

: Controlled to 50% output.

2– 16

2. OPERATION

Servo on

When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate.Check the external sequence on the diagnostic display.

Checking procedure

Power on

Press MODE once.

Start

Switch SON on.

• • • •

This display appears

when SON switches on.

• B y s e l e c t i n g s p e e d s ( a n a l o g speed command, internal speed commands 1 to 3) with the speed s e l e c t i o n 1 s i g n a l ( S P 1 ) a n d

Forward rotation

CCW speed selection 2 signal (SP2) and switching on the forward/

Reverse reverse rotation selection signal rotation

( R S 1 / R S 2 ) , t h e s e r v o m o t o r

CW starts rotating. For the torque generation direction, refer to (3) in

Section 3-1-3.First, set the limit speed to low speed and check the rotation direction, etc. If the servo motor does not run as expected, recheck the input signals.

• On the status display monitor, check the servo motor speed, load ratios, etc.

• When machine operation check is over, confirm automatic operation with the host controller or the like.

2

Stop


1) Servo-on signal off ... The base circuit is shut off and the servo motor coasts.


3) Emergency stop signal ... The base circuit is shut off and the dynamic off brake is operated to bring the servo motor to a sudden stop. The display shows A.E6.

2– 17

2. OPERATION

2-3 Display and operation

2-3-1 Display flowchart

Use the display (4-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the

MODE

,

UP

or

DOWN

button once to move to the next screen. In the position control mode, switching power on displays the symbol C of the cumulative feedback pulses.

To refer to and/or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable).

Status display Diagnosis

MODE button

Alarm

Basic parameters Expansion parameters

(Note)

Cumulative feedback pulses

[pulse]

Motor speed

[r/min]

Droop pulses

[pulse]

Cumulative command pulses

[pulse]

Command pulse frequency

[kpps]

Speed command voltage

Speed limit voltage[mV]

Torque limit voltage

Torque command voltage[mV]

Regenerative load ratio

[%]

Effective load ratio

[%]

Peak load ratio

[%]

Within one-revolution position

[pulse]

ABS counter

[rev]

Load inertia moment ratio

[times]

Sequence

External I/O signal display

Output signal forced output

Test operation

Jog feed

Test operation

Positioning operation

Test operation

Motor-less operation

Software version L

Software version H

Automatic VC offset

Current alarm

Last alarm

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Sixth alarm in past

Parameter error No.

Servo type

Selective function 1

Status display

Parameter write disable



Input signal selection 7

UP

Output signal selection 1

DOWN

Note: The initial status display at power-on depends on the control mode.

Control Mode

Position

Speed

Torque

Initial Display

Cumulative feedback pulses (C)

Motor speed (r)

Torque command voltage (U)

2– 18

2. OPERATION

2-3-2 Status display

The servo status during operation is shown on the 4-digit, 7-segment

LED display.Press the

UP

or

DOWN

button to change display data as desired.

When the required data is selected, the corresponding symbol is displayed. Press the

SET

button to display that data.

Name Symbol

Display

Range


Servo motor speed

Droop pulses

Cumulative command pulses

Command pulse frequency

Analog speed command voltage

Analog speed limit voltage

Analog torque command voltage

Analog torque limit voltage

Regenerative load ratio

Effective load ratio

Peak load ratio

Within one-revolution position

ABS counter

Load inertia moment ratio

C r

E

P n

F

U

L

J b

Cy

LS dc

-9999 to

9999

-5400 to

5400

-9999 to

9999

-9999 to

9999

-400 to

400

-10.00

to

10.00

-10.00

to

10.00

0 to

100

0 to

300

0 to

400

-9999 to

9999

-9999 to

9999

0.0

to

100.0

Unit Description

Feedback pulses from the servo motor encoder are counted anddisplayed.When the value exceeds 9999, it begins with pulse r/min pulse pulse kpps

V

V

%

%

% pulse rev

Times

When the servo motor is rotating in the reverse direction, the decimal points in the upper 3 digits are lit.

The servo motor speed is displayed.When the servo motor is rotating in the reverse direction, the decimal points in the upper 3 digits are lit.The value rounded off is displayed in x 0.1r/min.

The number of droop pulses in the deviation counter is displayed. When the value exceeds

±

9999, it begins with zero.When the servo motor is rotating in the reverse direction, the decimal points in the upper 3 digits are lit.

The number of pulses to be displayed is the value obtained before it is multiplied by the electronic gear.

The position command input pulses are counted and displayed.As this value is displayed before it is multiplied by the electronic gear (CMX/CDV), it may not match the cumulative feedback pulses.Press the button to reset the display value

SET to zero. When the servo motor is rotating in the reverse direction, the decimal points in the upper 3 digits are lit.

The frequency of the position command input pulses is displayed. This value is displayed before it is multiplied by the electronic gear (CMX/CDV). When the servo motor is rotating in the reverse direction, the decimal points in the upper 3 digits are lit.

Analog speed command voltage or analog speed limit voltage is displayed.

Analog speed command : -10.00 ~ +10.00V

Analog speed limit : 0 ~ +10.00V

Analog torque command voltage or analog torque limit voltage is displayed.

Analog torque command : -10.00 ~ +10.00V

Analog torque limit : 0 ~ +10.00V

The ratio of regenerative power to permissible regenerative power is displayed in %.As the permissible regenerative power depends on whether there is the regenerative brake option or not, set parameter No. 0 correctly.

The continuous effective load torque is displayed.When rated torque is generated, this value is 100%. The effective value for the past 15 seconds is displayed.

The maximum torque generated during acceleration/deceleration, etc. is When rated torque is generated, this value is 100%.The peak torque for the past 15 seconds is displayed.

Position within one revolution is displayed in encoder pulses.When the value exceeds 9999, it begins with 0.

Counted when it is rotated counterclockwise.

Travel value from the home position (0) in the absolute position detection system is displayed in terms of the absolute position detector's counter value.

The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

2

2– 19

2. OPERATION

2-3-3 Diagnostic mode

Name

Sequence

External I/O signal display

Output signal forced

output

Jog feed

Input signals

Output signals

Display

CN1B

9

CN1A

14

Description

Not ready.

Indicates that the servo amplifier is being initialized or an alarm has

CN1B

8

CN1B

7

Ready.

Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.

CN1A

8

CN1B

14

CN1B

5

CN1B

17

CN1B

15

CN1B

16

Indicates the ON-OFF states of the external I/O signals.

The upper segments correspond to the input signals and the lower segments to the output signals.

Lit: ON

Extinguished: OFF

CN1B

18

CN1B

4

CN1B

6

CN1B

19

CN1A

18

CN1A

19

NOTICE

The I/O signals can be changed using parameters

No. 43 to 49.

The digital output signal can be forced on/off. For more information, refer to (2) in this section.

The servo motor can be jogged without pulse train input. During jog feed, the servo amplifier acts as speed control servo.

The status display values of the droop pulses, cumulative command pulses and command pulse frequency do not change.

For details, refer to (3) in this section.

Test operation mode

Positioning operation

Motorless operation

Software version Low

NOTICE

The set-up software (MRZJW3-SETUP31) is required for positioning operation. This operation cannot be performed from the operation section of the servo amplifier.

The servo motor can be positioned without pulse train input.

Without connection of the servo motor, the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal. This function can be used to make a sequence check on the host positioning unit, etc.

For more information, refer to 2), (3) in this section.

Indicates the version of the software.

Software version High

Automatic VC offset

Indicates the system number of the software.

If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at the analog speed command (VC) or analog speed limit (VLA) of 0V, this function automatically makes zero-adjustment of offset using the button or , and press again to make the

UP DOWN SET automatic VC offset function valid. When this function is executed, the automatically offset value is set to parameter No.

29.

If the input voltage of VC or VLA is

±

0.4V or higher, this function cannot be used.

2– 20

2. OPERATION

(1) External I/O signal display

The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.

1) Operation

Call the display screen shown after power-on.

Press MODE once.

Press UP once.

• • • • • • • •

External I/O signal display screen

2) Display definition

CN1B

9

CN1B

8

CN1B

7

CN1A

8

CN1B

14

CN1B CN1B

5 17

CN1B

15

CN1B

16

Input signals

Lit: ON

Extinguished: OFF

Output signals

CN1A

14

CN1B

18

CN1B

4

CN1B

6

CN1B

19

CN1A

18

CN1A

19

The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output signal.The signals corresponding to the pins in the respective control modes are indicated below:

2

2– 21

2. OPERATION

a. Control modes and I/O signals

Connector Pin No.

Signal

Input/Output

(Note 1) I/O P

(Note 2) Symbols of I/O Signals in Control Modes

P/S

S S/T T

CN1A

CN1B

8

14

(Note 6,8)18

(Note 8)19

(Note 9)4

(Note 7)5

(Note 6)6

(Note 7)7

(Note 7)8

(Note 7)9

(Note 7)14

15

16

17

(Note 6)18

(Note 6, 8)19

I

I

I

I

O

I

O

I

O

I

I

O

O

O

I

O

CR

OP

INP

RD

DO1

SON

TLC

PC

TL

RES

EMG

LSP

LSN

ALM

ZSP

T/P

CR/SP1 (Note 3)SP1

OP OP

INP/SA

RD

SA

RD

SP1

OP

SA/

RD

(Note 3)SP1 SP1/CR

OP OP

RD

/INP

RD

DO1

SON

TLC

DO1

SON

TLC

DO1

SON

TLC/VLC

DO1

SON

VLC

DO1

SON

VLC/TLC

LOP SP2 LOP SP2 LOP

PC/ST1 (Note 4)ST1 ST1/RS2 (Note 4)RS2 RS2/PC

TL/ST2 (Note 5)ST2 ST2/RS1 (Note 5)RS1 RS1/TL

RES RES RES RES RES

EMG

LSP

EMG

LSP

EMG

LSP/

EMG EMG

/LSP

LSN

ALM

ZSP

LSN

ALM

ZSP

LSN/

ALM

ZSP

ALM

ZSP

/LSN

ALM

ZSP

Note: 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/ speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

3. Set parameter No. 45 to use CR.

4. Set parameter No. 47 to use PC.

5. Set parameter No. 48 to use TL.

6. Set parameter No. 49 to use WNG and BWNG.

7. Set parameters No. 43 to 48 to change signals.

8. Set parameter No. 49 to output the alarm code. (Refer to Chapter 8.)

9. The signal of CN1A-18 is always output.

b. Symbols and signal names

Symbol

SON

LSP

LSN

CR

SP1

SP2

PC

ST1

ST2

RS1

RS2

TL

RES

Signal Name

Servo on

Forward rotation stroke end


Clear

Speed selection 1

Speed selection 2

Proportion control





Torque limit

Reset

Symbol

EMG

LOP

TLC

VLC

RD

ZSP

INP

SA

ALM

WNG

OP

BWNG

Signal Name

Emergency stop

Control change

Limiting torque

Limiting speed

Ready

Zero speed

In position

Speed reached

Trouble

Warning


Battery warning

2– 22

2. OPERATION

3) Default signal indications a. Position control mode

Input signals

Output signals

TL (CN 1 B-9) Torque limit

PC (CN 1 B-8) Proportional control

CR (CN 1 A-8) Clear

RES (CN 1 B-14) Reset

SON (CN 1 B-5) Servo on

LSN (CN 1 B-17)


EMG (CN1B-15)

Emergency stop

LSP (CN 1 B-16)


Lit: ON

Extinguished: OFF

RD (CN 1 A-19) Ready

LNP (CN 1 A-18) In position

ZSP (CN 1 B-19) Zero speed

TLC (CN 1 B-6) Limiting torque

DO1 (CN 1 B-4) In position

ALM (CN 1 B-18) Trouble

OP (CN 1 A-14) Encoder Z-phase pulse b. Speed control mode

Input signals

Output signals

ST2 (CN 1 B-9) Reverse rotation start

ST1 (CN 1 B-8) Forward rotation start

SP2 (CN 1 B-7) Speed selection 2

SP1 (CN 1 A-8) Speed selection 1



LSN (CN 1 B-17)

External emergency stop

Emergency stop

EMG (CN 1 B-15)

LSP (CN 1 B-16)


Lit: ON

Extinguished: OFF


SA (CN 1 A-18) Limiting speed


TLC (CN 1 B-6) Limiting torque

DO1 (CN 1 B-4) In position


OP (CN 1 A-14) Encoder Z-phase pulse c. Torque control mode

RS1 (CN 1 B-9) Forward rotation selection

RS2 (CN 1 B-8) Reverse rotation selection

SP2 (CN 1 B-7) Speed selection 2

SP1 (CN 1 A-8) Speed selection 1



EMG (CN 1 B-15) Emergency stop

Input signals

Output signals

Lit: ON

Extinguished: OFFF



VLC (CN 1 B-6) Speed reached


OP (CN 1 A-14) Encoder Z-phase pulse

2– 23

2

2. OPERATION

(2) Output signal forced output

The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state

(SON signal off).

Operation


Press MODE once.

Press UP twice.

CN1A

14

CN1B

18

CN1B

4

CN1B

6

CN1B

19

CN1A

18

CN1A

19

Press SET for more than 2 seconds.

• • • • • • •

Switch on/off the signal below the lit segment.

• • • • • • •

Indicates the ON/OFF of the output signal. The correspondences between segments and signals are as in the output signals of the external I/O signal display.

(Lit: ON, extinguished: OFF)

Press MODE once.

• • • • • • • The segment above CN1A-pin 18 is lit.

Press UP twice.

• • • • • • •

CN1A-pin 18 is switched on.

(CN1A-pin 18-SG conduct.)

Press DOWN once.

• • • • • • •

CN1A-pin 18 is switched off.


2– 24

2. OPERATION

(3) Test operation mode

CAUTION

1. The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. Always use the servo motor alone.

2. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal.

MEMORANDUM

This mode cannot be used for the absolute position detection system.

Set parameter No. 1 to select the incremental positioning system.

1) Jog feed

Jog feed can be performed without pulse train input from acommand unit or the like.

a. Mode change


Press MODE once.

Press UP three times.


• • • • • • •

When this screen appears, jog feed can be performed.

Flickers in the test operation mode.

b. Starting method

Perform the following operation to rotate the servo motor at 200r/min.At this time, the acceleration/deceleration time constant is 1s. Whenperforming jog feed, connect EMG-

SG and VDD-COM (when internal power supply is used).

Rotation

Direction

Operation

CCW

UP

Press

CW

DOWN

Press

To stop, release the corresponding button.

c. Status display

Press

MODE

to display the servo status during test operation. The display data is the same as in the status display in Section 2-3-2.

d. Termination of jog feed

To terminate the jog feed, switch power off once or call the and press

SET

for more than 2s.

screen using

MODE

2– 25

2

2. OPERATION

2) Motor-less operation

Without connection of the servo motor, the servo amplifier can provide output signals and display the status as if the servo motor is running actually in response to the external input signal. This function can be used to make a sequence check on the host positioning unit, etc. Switch off the servo-on signal.

a. Mode change


Press MODE once.

Press UP five times.


• • • • • • •

When this screen is displayed, motor-less operation can be performed.

Flickers in the test operation mode.

b. Operation method

As in ordinary operation, provide the start signal.

c. Status display

Press

MODE

to shift to the status display screen, on which the status of servo motor rotation is indicated in simulative value. The display data is the same as in the status display in Section 2-3-2.

d. Termination of motor-less operation

To terminate the motor-less operation, switch power off.

2– 26

2. OPERATION

2-3-4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower

2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.

Name

Current alarm

Display Description

Indicates no occurrence of an alarm.

Indicates the occurrence of alarm 33 (overvoltage).

Flickers at occurrence of the alarm.

Indicates that the last alarm is alarm 50 (overload 1).

Alarm history

Indicates that the second alarm in the past is alarm 33

(overvoltage).

Indicates that the third alarm in the past is alarm 10

(undervoltage).

Indicates that the fourth alarm in the past is alarm 31

(overspeed).

Indicates that there is no fifth alarm in the past.

Indicates that there is no sixth alarm in the past.

Indicates no occurrence of alarm 37 (parameter error).

Parameter error

Indicates that the data of parameter No. 1 is faulty.

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth digit flickers.

(3) To clear any alarm, switch power off, then on or press the

SET

button on the current alarm screen. Note that this should be done after removing the cause of the alarm.

(4) Use parameter No. 16 to clear the alarm history.

2

2– 27

2. OPERATION

2-3-5 Parameter mode

The servo amplifier is factory-set in the position control mode. Change the parameter settings when:

1) The control mode is changed;

2) The regenerative brake option is used;

3) The number of pulses per servo motor revolution is changed

(When the number of pulses per servo motor revolution has been set to the position command unit, set the number of pulses in the parameter of the position command unit unless the maximum number of pulses is restricted); or

4) The machine mounted with the servo motor hunts or operational performance is further improved.

(1) Operation example

1) 4-digit parameter

The following example shows the operation procedure performed after power-on to place the servo in the speed control mode:

Press MODE three times.

• • • • • • •

The parameter number is displayed.

Press

UP or

DOWN

to change the number.

Press SET twice.

• • • • • • •

The set value of the specified parameter number flickers.

Press UP once.

• • • • • • •

During flickering, the set value can be changed.

Use

UP

(

or

DOWN

.

2: Speed control mode)

Press SET to enter.

To shift to the next parameter, press the

UP

/

DOWN

button.

When changing the parameter No. 0 setting, change its set value, then switch power off once and switch it on again to make the new value valid.

2– 28

2. OPERATION

2) 5-digit parameter

The following example shows the operation procedure performed to change the electronic gear denominator (parameter No. 4) into "12345":


Fifth digit setting

Press MODE three times. Select parameter No. 4 with UP / DOWN .

Press SET once.

Lower 4 digits setting

Press MODE once.

Press SET once.

• • • •

The screen flickers.

• • • •

Change the set value with UP / DOWN.

2

• • •

The set value is entered.

• • •

Press SET once.

Press UP or DOWN.

To the next parameter

2– 29

2. OPERATION

(2) Expansion parameters

To use the expansion parameters, change the setting of parameter No. 19 (parameter write disable). After setting parameter No. 19, switch power off once, then switch it on again to make the parameter valid.

The table below shows the parameters referenced and write enabled by the setting of parameter No. 19. Those parameters marked can be operated.

Set Value Operation

Basic Parameters

No.0~19

Expansion Parameters

No.20~49

0000

(initial value)

Reference

Write

Reference Allowed for No. 19 only

000A

Write

Reference

Allowed for No. 19 only

000B

000C

Write

Reference

Write

2– 30

2. OPERATION

(3) Parameter list

For any parameter whose symbol is preceded by *, set the parameter and switch power off once, then switch it on again to make that parameter valid.

The symbols in the Control Mode field represent parameters used in the corresponding modes.

(P: Position control mode, S: Speed control mode, T: Torque control mode)

6

7

4

5

8

0

1

2

3

15

16

17

18

19

11

12

13

14

No. Symbol

9

10

Name

*STY Control mode, regenerative brake option selection

*OP1 Function selection 1

ATU Auto tuning

CMX Electronic gear (Command pulse multiplying factor numerator)

CDV Electronic gear (Command pulse multiplying factor denominator)

INP In-position range

PG1 Position loop gain 1

PST Position command acceleration/deceleration time constant (Position smoothing)

SC1 Internal speed command 1

Internal speed limit 1





STA Acceleration time constant

STB Deceleration time constant

STC S-pattern acceleration/deceleration time constant

TQC Torque command time constant

For manufacture setting

*BPS Communication baudrate selection, alarm history clear

MOD Analog monitor output

*DMD Status display selection

*BLK Parameter block

Control

Mode

S

T

S • T

S • T

S

T

S

T

S • T

T

P • S • T

P • S • T

P • S

P

P

P

P

P

P • S • T

P • S • T

P • S • T

P • S • T

Initial

Value

Unit

0000

0002

0102

1

1

100 pulse

36

3 rad/s ms

100 r / min

100 r / min

500 r / min

500 r / min

1000 r / min

1000 r / min

0

0

0

0 ms ms ms ms

0

0000

0100

0000

0000

Customer

Setting

2

2– 31

2. OPERATION

No. Symbol Name

20

21

22

23

24

25

26

27

28

29

30

43

44

45

46

39

40

41

42

47

48

49

35

36

37

38

31

32

33

34


*OP3 Function selection 3 (Command pulse selection)


FFC Feed forward gain

ZSP Zero speed

VCM Analog speed command maximum speed

Analog speed limit maximum speed

TLC Analog torque command maximum output

*ENR Encoder output pulses

TL1 Internal torque limit 1

VCO Analog speed command offset

Analog speed limit offset

TLO Analog torque command offset

Analog torque limit offset

MO1 Analog monitor offset 1

MO2 Analog monitor offset 2

MBR Electromagnetic brake sequence output

GD2 Ratio of load inertia moment to servo motor inertia moment

PG2

VG1

VG2

VIC

VDC

*DIA

*DI1

*DI2

*DI3

*DI4

*DI5

*DI6

*DI7

*DO1

Position loop gain 2

Speed loop gain 1

Speed loop gain 2

Speed integral compensation

Speed differential compensation

For manufacturer setting

Input signal automatic ON selection

Input signal selection 1

Input signal selection 2 (CN1B-pin 5)


Input signal selection 4 (CN1A-pin 8)




Output signal selection 1

Note: 1. 0: Rated servo motor speed

2. Depends on the servo amplifier.

Control

Mode

P • S • T

P

Initial

Value

0000

0000

Unit

P • S • T

P

0000

0 %

P • S • T

S

50 r/min

(Note1)0 (r/min)

Customer

Setting

P • S • T

P • S • T

P • S • T

P • S • T

P • S • T

P • S • T

P • S • T

P • S • T

P • S • T

T

T

P • S • T

P • S • T

S

T

T

S

P • S • T

P • S • T

P • S • T

P • S

P

P • S

(Note1)0 (r/min)

100 %

4000

100

(Note2)

(Note2)

0

0

0

0

100

70 pulse

% mV mV mV mV mV mV ms

0.1 times

30 rad/s

P • S

P • S

P • S

216 rad/s

714 rad/s

20

980 ms

0

0000

0003

0111

0222

0665

0770

0883

0994

0000

2– 32

2. OPERATION

(4) Detailed explanation of the parameters

To make the parameter marked * valid, set the parameter and switch power off once, then switch it on again.

The symbols in the Control Mode field represent parameters used in the corresponding modes.

(P: Position control mode, S: Speed control mode, T: Torque control mode)

Class No. Symbol Name and Function

0 *STY Control mode, regenerative brake option selection

Used to select the control mode and regenerative brake option.

0 0

Initial

Value

Unit

0000

Select the control mode.

0: Position

1: Position and speed

2: Speed

3: Speed and torque

4: Torque

5: Torque and position

Select the regenerative brake option.

0: Not used

1: Reserved (do not set)

2: MR – RB032

3: MR – RB12

4: MR – RB32

5: MR – RB30

6: MR – RB50

NOTICE

Wrong setting may cause the regenerative brake option to burn.

MEMORANDUM

If the regenerative brake option selected is not for use with the servo amplifier, parameter error

(A. 37) occurs.

1 *OP1 Function selection 1:

Used to select the input signal filter, CN1B-pin 19's

output signal and absolute position detection system.

0002

0

Input signal filter

0: None

1: 1.77ms

2: 3.55ms

CN1B-pin 19's function selection

0: Zero speed detection signal

1: Electromagnetic brake interlock signal

Positioning system

0: Used in incremental positioning system

1: Used in absolute position detection system

Setting

Range

0000h to

0605h

Control

Mode

P • S • T

0000h to

1012h

P • S • T

P

2

2– 33

2. OPERATION

Class No. Symbol

2

Name and Function

ATU Auto tuning:

Used to set the response level, etc. for execution of auto tuning.

0

Auto tuning response level setting

Set Value

3

4

1

2

5

Response Level

Low response to

Middle response to

High response

• If the machine hunts or generates large gear sound, decrease the set value.

• To improve performance, e.g. shorten the settling time, increase the set value.

Initial

Value

0102

Unit

Setting

Range

0001h to

0215h

Control

Mode

P • S

Select the machine.

For example, used to improve the position settling characteristic when friction is large.

0: Normal

1: Friction is large

Auto tuning selection

0: Interpolation axis control(speed loop only)

1: Executed for both position and speed loops

2: No.

3

CMX

Electronic gear (Command pulse multiplying factor numerator):

Used to set the multiplier of the command pulse input.

Command pulse input f

1

CMX

CDV

Position command f

2 = f

1 •

CMX

CDV

CMX

Note: Set in the range of 1/50< <50.

CDV

The setting of the number of input pulses per servo motor revolution can be changed by the following formula:HC-MF series: 8192 pulses/rev)

CDV

CMX

1 1 to 32767 P

CAUTION

Wrong setting will rotate the servo motor at unexpectedly high speed, leading to injury.

2– 34

2. OPERATION

Class No. Symbol

4

Name and Function

CDV

Electronic gear (Command pulse multiplying factor denominator):

Used to set the divisor of the command pulse input.

Initial

Value

Unit

1

Setting

Range

1 to 32767

Control

Mode

P

5

100 pulse

0 to 10000

P INP

In-position range:

Used to set the droop pulse range in which the inposition (INP) signal will be output.

36 rad/s

4 to 1000

P

6

PG1

Position loop gain 1:

Used to set the gain of position loop 1.

Increase the gain to improve trackability in response to the position command.

ms

0 to 20000

P

7

PST

Position command acceleration/deceleration time constant (Position smoothing):

Used to set the time constant of a low pass filter in response to the position command.

Example: When a command is given from a synchronizing detector, synchronous operation can be started smoothly if started during line operation.

3

Synchronizing detector

Start

Servo amplifier

Servo motor

Without time constant setting

Servo motor speed

Start

ON

OFF

With time constant setting t

8 SC1

Internal speed command 1:

Used to set speed 1 of internal speed commands.

9

Internal speed limit 1:

Used to set speed 1 of internal speed limits.

SC2





100 r/min

0 to instantaneous permissible speed

S

T

500 r/min


S

T

2

2– 35

2. OPERATION


10

SC3





11

STA

Acceleration time constant:

Used to set the acceleration time required to reach the rated speed from zero speed in response to the analog speed command and internal speed commands 1 to 3.

Speed

Rated speed

If the preset command speed is lower than the rated speed, acceleration/deceleration time

will be shorter.

0

Initial

Value

1000

Unit

Setting

Range

r/min


Control

Mode

S

T ms

0 to 20000

S • T

Zero speed

Time

Parameter

No. 11 setting

Parameter

No. 12 setting

Example

Set 3000 (3s) to accelerate the HC-MF series servo motor (rated speed: 3000r/min) from 0r/min to 1000 r/min in 1 second.

12

STB

Deceleration time constant:

Used to set the deceleration time required to reach zero speed from the rated speed in response to the analog speed command and internal speed commands

1 to 3.

13 STC

S-pattern acceleration/deceleration time constant:

Used to smooth start/stop of the servo motor.

0

0

Command speed ms

0 to 1000

S • T

Servo motor speed

Zero speed

STC

STB STC

Time

STC

STA

STC

STA: Acceleration time constant (parameter No. 11)

STB: Deceleration time constant (parameter No. 12)

STC: S-pattern acceleration/deceleration time con-

stant (parameter No. 13)

2– 36

2. OPERATION


14

TQC

Torque command time constant:

Used to set the constant of a low pass filter in response to the torque command.

Initial

Value

0

Unit

ms

Torque

Torque command

Setting

Range

0 to 20000

Control

Mode

T

After filtered

TQC TQC

TQC: Torque command time constant

Time

15

16 *BPS


Must not be change.

0

Communication baudrate selection, alarm history clear:

Used to select the communication baudrate for use of the set-up software and to clear the alarm history.

0000

0 0

Selection of baudrate for RS-232C

0: 9600 [bps]

1: 19200 [bps]

Alarm history clear

0: Invalid

1: Valid

When alarm history clear is made

valid, the alarm history is cleared

at next power-on. After the alarm

history is cleared, the setting is

automatically made invalid (reset to 0).

0000h to

0011h

P • S • T

2

2– 37

2. OPERATION


17 MOD

Analog monitor output:

Used to set the signal output for analog monitor.

0 0

Analog monitor CH1 output selectionThe set values and their definitions are as in analog monitor CH2.

Analog monitor CH2 output selection

0: Servo motor speed

(

±

8V/max. speed)

1: Torque (

±

8V/max. torque)


(+8V/max. speed)

3: Torque (+8V/max. torque)

4: Current command output

(

±

8V/max. current command)

5: Command pulse frequency

(

±

8/400kpps)

6: Droop pulses 1/1

(

±

10V/128 pulses)

7: Droop pulses 1/16

(

±

10V/2048 pulses)


(

±

10V/8192 pulses)


(

±

10V/32768 pulses)


(

±

10V/131072 pulses)

Initial

Value

Unit

0100

Setting

Range

0000h to

0A0Ah

Control

Mode

P • S • T

2– 38

2. OPERATION


18 *DMD Status display selection:

Used to select the status display shown at power-on.

Initial

Value

Unit

0000

Setting

Range

0000h to

001Ch

Control

Mode

P • S • T

0 0

Selection of status display at power-on

0: Cumulative feedback pulses


2: Droop pulses

3: Cumulative command pulses

4: Command pulse frequency

5: Analog speed command voltage

(Note 1)

6: Analog torque command voltage

(Note 2)

7: Regenerative load ratio

8: Effective load ratio

9: Peak load ratio

A: Within one-revolution position

B: ABS counter

C: Load inertia moment ratio

Note: 1. In speed control mode. Analog

speed limit voltage in torque

control mode.

2. In torque control mode. Analog

torque limit voltage in speed or

position control mode.

Status display at power-on in corresponding control mode

0: Depends on the control mode.

Control

Mode

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position

Status Display at Power-On


Cumulative feedback pulses/servo motor speed

Servo motor speed

Servo motor speed/analog torque command voltage

Analog torque command voltage

Analog torque command voltage/cumulative feedback pulses

1: Depends on the first digit setting of this parameter.

2

2– 39

2. OPERATION


Initial

Value

Unit

19 *BLK Parameter block:

Used to select the reference and write ranges of the parameters.

0000

Set Value

0000

000A

000B

000C

Reference Range

No.0 to 19

No.19

No.0 to 49

No.0 to 49

Write Range

No.0 to 19

No.19

No.0 to 19

No.0 to 49

20 *OP2

Function selection 2:

Used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration suppression control.

0

0000

Restart after instantaneous power failure

If the input power supply voltage had reduced in the speed control mode to stop the servo motor due to the undervoltage alarm (A. 10) but the supply voltage has returned to normal, the servo motor can be restarted by merely switching on the start signal without resetting the alarm.

0: Invalid

1: Valid

Stop-time servo lock selection

The shaft can be servo-locked to remain still at a stop in the speed control mode.

0: Valid

1: Invalid

Slight vibration suppression control

Used to suppress vibration at a stop.

0: Invalid

1: Valid

Setting

Range

0000h to

000Ch

Control

Mode

P • S • T

0000h to

0111h

S

P

2– 40

2. OPERATION


21 *OP3 Function selection 3 (Command pulse selection):

Used to select the input form of the pulse train input signal.

(Refer to Section 3-3 (1) 4).)

Initial

Value

Unit

0000

0 0

Command pulse train input form

0: Forward/reverse rotation pulse train

1: Signed pulse train

2: A/B phase pulse train

Pulse train logic selection

0: Positive logic

1: Negative logic

Command Pulse

Train Form

Input Waveform

Forward rotation Reverse rotation

Forward rotation pulse train

Reverse rotation pulse train

(Set value 0010)

Pulse train positive sign

Setting

Range

0000h to

0012h

Control

Mode

P

(Set value 0011)

A-phase pulse train

B-phase pulse train

(Set value 0012)



(Set value 0000)

Pulse train positive sign

(Set value 0001)

A-phase pulse train

B-phase pulse train

(Set value 0002)

2

2– 41

2. OPERATION


22 *OP4 Function selection 4:

0

Selection of servo motor stop pattern at LSP/LSN signal off

0: Sudden stop

1: Slow stop

• In the position control mode, the servo motor is decelerated to a stop according to parameter

No. 7 setting.

• In the speed control mode, the servo motor is decelerated to a stop according to parameter

No. 12 setting.

VC/VLA/TC/TLA voltage averaging

Used to set the filtering time when the analog speed command (VC) voltage or analog speed limit (VLA), Analog command (TC) or analog torque limit

(TLA) is imported. Set 0 to vary the speed to voltage fluctuation in real time.

Increase the set value to vary the speed slower to voltage fluctuation.

Initial

Value

Unit

0000

Setting

Range

0000h to

7301h

Control

Mode

P • S • T

Set Value Filtering Time [ms]

0 0

1

2

3

1.77

3.55

7.11

Machine resonance suppression filter

Used to set the frequency that matches the resonance frequency of the mechanical system. (Refer to Section 2-4-2.)

Set value Notch Frequency [Hz]

0 Not used

1

2

1125

563

3

4

5

6

7

375

282

225

188

161

2– 42

2. OPERATION


23

FFC

Feed forward gain:

Used to set the feed forward gain in position control.

By setting 100% for constant-speed operation, droop pulses will not be generated. Note that sudden acceleration/deceleration will increase overshoot. (As a guideline, acceleration/deceleration time to/from rated speed is 1s or longer when the set value is 100.)

Initial

Value

Unit

0

%

MEMORANDUM

When setting this parameter, always set auto tuning to "No"

(parameter No. 2).

Setting

Range

0 to 100

Control

Mode

P

24 ZSP

Zero speed:

Used to set the output range of the zero speed signal (ZSP).

25 VCM

Analog speed command maximum speed:

Used to set the speed at the maximum input voltage

(10V) of the analog speed command (VC).

When it is set to 0, the speed comes to the rated speed of the servo motor connected.

50

0

0

Analog speed limit maximum speed:

Used to set the speed at the maximum input voltage

(10V) of the analog speed limit (VLA).

When it is set to 0, the speed comes to the rated speed of the servo motor connected.

26

TLC

Analog torque command maximum output:

Used to set the output torque at the analog torque command voltage (TC=

±

8V) of +8V on the assumption that the maximum torque is 100[%]. For example, set

50 to output (maximum torque x 50/100) at the TC of

+8V.

100 r/min

0 to 10000 P • S • T r/min

0

1 to 10000 r/min

0

1 to 10000

%

0 to 1000

S

T

T

27 *ENR

Encoder output pulses:

Used to set the number of output pulses per encoder revolution output by the servo amplifier.

4000

28

TL1

Internal torque limit 1:

Set this parameter to limit servo motor-generated torque on the assumption that the maximum torque is 100[%].

When 0 is set, torque is not produced.

When analog monitor output is used to output torque, this set value is the maximum output voltage (+8V).

100 pulse

%

5 to 16384 P • S • T

0 to 100

T

P • S

Internal torque limit 1:

Set this parameter to limit servo motor-generated torque on the assumption that the maximum torque is 100[%].

When 0 is set, torque is not produced.

Across TL-SG

Open

Short

Torque Limit

Internal torque limit 1 (Parameter No. 28)

Torque limit relationship

Analog torque limit < internal torque limit 1

Analog torque limit > internal torque limit 1

Valid torque limit

Analog torque limit


When analog monitor output is used to output torque, this set value is the maximum output voltage (+8V).

2

2– 43

2. OPERATION


Initial

Value

Unit

29

VCO

Analog speed command offset:

Depends

Used to set the offset voltage of the analog speed on servo command (VC). When automatic VC offset is used, the amplifier.

automatically offset value is set to this parameter.

(See section 2-3-3.)

The initial value is the value provided by the automatic VC offset function before shipment at the VC-LG voltage of 0V.

mV

Setting

Range

—999 to 999

Control

Mode

S

Analog speed limit offset:

Used to set the offset voltage of the analog speed limit

(VLA). When automatic VC offset is used, the automatically offset value is set to this parameter.

(See section 2-3-3.)

The initial value is the value provided by the automatic VC offset function before shipment at the VLA-LG voltage of 0V.

T

30 TLO

Analog torque command offset:

Used to set the offset voltage of the analog torque command (TC).

0 mV

—999 to 999 T

Analog torque limit offset:

Used to set the offset voltage of the analog torque limit

(TLA).

31

MO1

Analog monitor 1 offset:

Used to set the offset voltage of the analog monitor 1 output (MO1).

0

32

MO2

Analog monitor 2 offset:

Used to set the offset voltage of the analog monitor 2 output (MO2).

0

33

MBR

Electromagnetic brake sequence output:

Used to set the delay time between when the electromagnetic brake interlock signal (MBR) switches off and when the base circuit is shut off.

100 mV mV ms

—999 to 999 P • S • T

—999 to 999

0 to 1000

34

GD2

Ratio of load inertia moment to servo motor inertia moment:

Used to set the ratio of the load inertia moment to the servo motor inertia moment. Note that when auto tuning is selected, the result of auto tuning is automatically set.

70

35

PG2

Position loop gain 2:

Used to set the gain of the position loop.

Set this parameter to increase position response to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise.

30

0.1 times

0 to 1000 rad/s

1 to 500 rad/s

20 to 5000 36

VG1

Speed loop gain 1:

Normally this parameter setting need not be changed.

Higher setting increases the response level but is liable to generate vibration and/or noise.

216

37

VG2

Speed loop gain 2:

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise.

714 rad/s

20 to 8000

S

P • S • T

P • S

P

P • S

P • S

2– 44

2. OPERATION


38 VIC


Used to set the constant of integral compensation.

39

VDC

Speed differential compensation:

Used to set the differential compensation value.

40


Must not be change

41 *DIA Input signal automatic ON selection:

Used to set automatic ON of SON, LSP and LSN.

0

Servo on signal (SON) input selection

0: Switched on/off by external input.

1: Switched on automatically in servo: amplifier.

(No need of external wiring)

Initial

Value

Unit

20 ms

980

0000

Setting

Range

1 to 1000

Control

Mode

P • S

0 to 1000

0000h to

0111h

P • S

P • S • T

Forward rotation stroke end signal

(LSP) input selection


1: Switched on automatically in servo amplifier.


Reverse rotation stroke end signal (LSN) input selection


1: Switched on automatically in servo amplifier.


42 *DI1 Input signal selection 1:

Used to assign the control mode changing signal input pins and to set the clear signal.

0003

0 0

Set Value

0

1

2

3

4

5

Control change signal (LOP) input pin assignment

Used to set the control mode change signal input connector pins. Note that this parameter is made valid when parameter No.

0 is set to select the position/speed, speed/torque or torque/position change mode.


CN1B – 5

CN1B – 14

CN1A – 8

CN1B – 7

CN1B – 8

CN1B – 9

Clear signal (CR) selection

0: Droop pulses are cleared on the leading edge.

1: Always cleared while on.

0000h to

0015h

P • S

P/S

S/T

T/P

P • S • T

2

2– 45

2. OPERATION


43 *DI2 Input signal selection 2 (CN1B-pin 5):

MEMORANDUM

This parameter is unavailable when parameter No. 42 is set to assign the control change signal

(LOP) to CN 1B-pin 5.

Initial

Value

Unit

0111

Allows any input signal to be assigned to CN1B-pin 5.

Note that the setting digit and assigned signal differ according to the control mode.

Setting

Range

0000h to

0999h

Control

Mode

P • S • T

0


Speed control mode

Torque control mode

Input signals of

CN1B-pin 5 selected.

Signals that may be assigned in each control mode are indicated below by their symbols. Diagonally shaded area indicates invalid setting.

Set Value

P

(Note) Control Mode

S T

4

5

6

0

1

2

3

7

8

9

SON

RES

PC

TL

CR

Note: P: Position control mode

S: Speed control mode

T: Torque control mode

SON

RES

PC

TL

CR

SP1

SP2

ST1

ST2

SON

RES

TL

CR

SP1

SP2

RS2

RS1

2– 46

2. OPERATION




The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Initial

Value

Unit

0222

Setting

Range

Control

Mode

P • S • T 0000h to

0999h

0


Speed control mode

Torque control mode

Input signals of


MEMORANDUM


(LOP) to CN1B-pin 14.

0000h to

0999h

P • S • T 45 *DI4 Input signal selection 4 (CN1A-pin 8):

Allows any input signal to be assigned to CN1A-pin 8.


0665

0


Speed control mode

Torque control mode

Input signals of

CN1A-pin 8 selected.

MEMORANDUM


(LOP) to CN1 A-pin 8.




0770

0


Speed control mode

Torque control mode

Input signals of


MEMORANDUM


(LOP) to CN1 B-pin 7.

0000h to

0999h

P • S • T

2

2– 47

2. OPERATION


Initial

Value

Unit




0883

0


Speed control mode

Torque control mode

Input signals of


Setting

Range

0000h to

0999h

Control

Mode

P • S • T

MEMORANDUM



When "Use in absolute position detection system" is selected with parameter No. 1, the CN1B-8 pin comes into the ABS transfer mode (ABSM).




0994 0000h to

0999h

P • S • T

0


Speed control mode

Torque control mode

Input signals of


MEMORANDUM



When "Use in absolute position detection system" is selected with parameter No. 1, the CN1B-9 pin comes into the ABS transfer mode (ABSM).

2– 48

2. OPERATION


49 *DO1 Output signal selection 1:

Used to select the connector pins to output the alarm code, warning (WNG) and battery warning (BWNG).

Initial

Value

Unit

0000

0

Setting of alarm code output

Set Value

0

1

Connector Pins

CN1B-19 CN1A-18 CN1A-19

ZSP INP or SA RD

Alarm code is output at alarm occurrence.

(Note) Alarm Code

CN1B CN1A CN1A pin 19 pin 18 pin 19

Alarm

Display

0

0

0

0

1

1

1

0

0

1

1

0

0

1

0

1

0

1

0

1

0

8888

A. 11

A. 12

A. 13

A. 15

A. 17

A. 18

A. 37

A. 8E

A. 30

A. 33

A. 10

A. 46

A. 50

A. 51

A. 24

A. 32

A. 31

A. 35

A. 52

A. 16

A. 20

A. 25

Name

Watchdog

Board error 1

Memory error 1

Clock error

Memory error 2

Board error 2

Board error 3

Parameter error

RS-232C error

Regenerative fault

Overvoltage

Undervoltage

Motor overheat

Overload 1

Overload 2

Ground fault

Overcurrent

Overspeed

Command pulse fault

Error excessive

Encoder error 1

Encoder error 2

Absolute position erasure

Note: 0:OFF

1:ON

Setting of warning (WNG) output

Select the connector pin to output warning. The old signal before selection will be unavailable.

Set Value

0

1

2

3

4

5


Not output.

CN1A-19

CN1B-18

CN1A-18

CN1B-19

CN1B-6

Setting of battery warning (BWNG) output

Select the connector pin to output battery warning. The old signal before selection will be unavailable.

Set this function as in the second digit of this parameter.

Setting

Range

0000h to

0551h

Control

Mode

P • S • T

2

2– 49

2. OPERATION

2-4 Adjustments

2-4-1 Auto tuning

In general machines, gains are automatically adjusted by auto tuning. As the corresponding parameter is factory-set to make auto tuning valid, merely running the servo motor will automatically set the optimum gains for the machine without special operation or setting.

However, if you are not satisfied with machine motions during operation, change and adjust the response level setting (parameter No. 2) of auto tuning in the following procedure.

Actual Machine Motion

Settling time is long (Note)

Overshoot occurs at a stop.

Ideal Machine Motion

Shorter settling time

Less overshoot

Gear noise is generated from the machine. Smaller gear noise

Parameter No. 2 Setting Method

Increase the set value of the response level.

Decrease the set value of the response level.

Select "large friction" in machine selection.

Decrease the set value of the response level.

Note: Settling time indicates a period of time from when the command pulse value is

zeroed to when the servo motor comes to a stop.

2-4-2 Manual gain adjustment

In most machines, gains can be adjusted automatically by auto tuning.

In the following cases, however, the gains should be adjusted manually.

Manual Gain Adjustment Is Required When

1)

2)

Phenomenon Adjustment Procedure

The machine vibrates at a low-range

The servo motor shaft vibrates at a high resonance frequency.

frequency (10Hz or more) a. When the machine generates large noise and vibrates, the motion of the servo

Adjustment 1 motor shaft is invisible.

b. When the response level setting is

Adjustment 2 increased by auto tuning, vibration increases.

The servo motor vibrates on a machine The servo motor shaft vibrates at a low

Adjustment 3 whose ratio of load inertia moment to frequency (5Hz or less).

servo motor inertia moment is 20 or more times.

a. When vibration occurs, the lateral vibration of the servo motor shaft is visible.

b. The ratio of load inertia moment to servo motor inertia moment is extremely large.

Adjustment 4

3)

The settling time provided by auto tuning should be further decreased.

4)

The position control gain of each axis should be set to the same for interpolation operation with two or more axes.

Adjustment 5

2– 50

2. OPERATION

The following parameters are used for manual gain adjustment. Note that 000C should be set in parameter No. 19 (parameter write disable) to make the expansion parameters valid.

Parameter No.

No. 2

No.34

No.22

No.6

No.35

No.36

No.37

No.38

Name

Auto tuning

Ratio of load inertia moment to servo motor inertia moment

Function selection 4 (Machine resonance suppression filter)



Speed loop gain 1

Speed loop gain 2


Adjustment 1

Step

1

2

3

4

5

Operation

Set 0101 in parameter No. 2.

Description

Auto tuning is selected.


Response is set to low level.

Machine resonance frequency: 1125Hz

Switch servo on and perform operation several Auto tuning is performed.

times.

Check to see if vibration reduced.

Increase the setting of the fourth digit in The optimum value is achieved just before parameter No. 22 sequentially and execute step 3.

To reduce the settling time, increase the vibration begins to increase.

response level of parameter No. 2 sequentially and execute steps 2 to 4.

2

2– 51

2. OPERATION

Adjustment 2

Step

1

2

3

4

Operation


Description



Set the machine's load inertia moment to servo When this parameter value is set, the following motor inertia moment in parameter No. 34. parameter values are set automatically. Each value

(When it is unclear, set an approximate value.) provides an ideal, hunting-less gain for parameter

No. 34 if machine resonance does not occur.

• Parameter No. 6

• Parameter No. 35





Auto tuning is made invalid to enable manual setting of parameters No. 6 • 35 to 38.

In parameter No. 37, set a value about 100 smaller than the value set automatically in step 3.

The optimum value is achieved just before vibration begins to increase.

5

6

7

Execute steps 2 to 4 of Adjustment 1.

When machine response does not occur any Set a value which is about 50 to 100 smaller than more, confirm the operating status, and at the the set value at which gear noise and/or vibration same time, gradually increase the setting of begins to be generated by machine resonance.

parameter No. 37 reduced in step 4.

To reduce the settling time, increase the response level of parameter No. 2 sequentially and execute steps 1 to 6.

Adjustment 3

Step

1

2

3

4

5

Operation


Description



Set the machine's load inertia moment to servo motor inertia moment in parameter No. 34. parameter values are set automatically. Each

(When it is unclear, set an approximate value.)

When this parameter value is set, the following value provides an ideal, hunting-less gain for parameter No. 34 if machine resonance does not occur.

• Parameter No. 6





Switch servo on and perform operation several Auto tuning is performed.

If vibration still persists, execute steps 2 and 3.

If vibration occurs due to machine resonance, make adjustment in the procedure of Adjustment 1 or 2.

2– 52

2. OPERATION

Adjustment 4

Step

1

2

3

4

5

Operation


Description



Switch servo on and perform operation several times.

Auto tuning is performed.

Check to see if vibration reduced.

Make gain adjustment in either of the following methods 1) and 2).

Temporary adjustment

1) Set the machine's load inertia moment to When this parameter value is set, the following servo motor inertia moment in parameter No. parameter values are

34. (When it is unclear, set an approximate set automatically. Each value provides an value.) ideal, hunting-less gain for

parameter No. 34 if machine resonance does not occur.

• Parameter No. 6





2) Switch servo on and perform operation Auto tuning is performed.


Auto tuning is made invalid to enable manual setting of parameters No. 6 • 35 to 38.

While confirming the operating status, adjust The optimum value is achieved just before the following parameters: vibration begins to increase.

• Parameter No. 6





Increase the setting to reduce the settling time.

Note that overshoot is more liable to occur.

Increase the setting to improve servo response.

Note that vibration is more liable to occur.

Decrease the setting to keep the speed constant to load disturbance and increase holding force at a stop (servo rigidity). Note that overshoot

Adjustment 5

Step

1

Operation Description

Adjust the gains of all axes in any of The gains of each axis are adjusted.

Adjustment 1 to 4 procedures.The gains of each axis are adjusted.

Set 0 or 2 in parameter No. 2.

0 "interpolation axis control": The values of parameters No. 34 • 35 • 37 • 38 will change in subsequent operation.

2

3

2 "no": Auto tuning is made invalid to enable manual setting of parameters

No. 6 • 35 to 38.

Set the following parameter of each axis to the minimum value of all interpolation-controlled the same value.

axes: • Parameter No. 6

The gains for operation of all axes are set to

2

2– 53

2. OPERATION

2-4-3 Slight vibration suppression control

The slight vibration suppression control mode is used to reduce servo-specific

±

1 pulse vibration at the time of a stop. This mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment is small (2 to 5 times). Note that when vibration is attributable to looseness (such as gear backlash) or machine resonance, use the machine resonance suppression filter in parameter No. 22. The slight vibration suppression control mode should be used after real-time auto tuning or manual gain adjustment.

Usage

First, perform real-time auto tuning or manual gain adjustment so that vibration falls within

±

2 to 3 pulses.

Set 1 in parameter No. 20 to enter the slight vibration suppression mode at the time of a stop.

Parameter No. 20

1

Slight vibration suppression control execution

2– 54

CHAPTER 3

WIRING

This chapter provides information required for wiring of connectors, terminals, etc. Before doing wiring work, always read this chapter.

3-1 Servo amplifier

3-1-1 Terminal blocks

3-1-2 Signal connectors

3-1-3 Detailed information on I/O signals

3-1-4 Interfaces

3-2 Connection of servo amplifier and servo motor

3-2-1 Connection instructions

3-2-2 Connection diagram

3-2-3 I/O terminals

3-2-4 Connectors used for servo motor wiring

3-3 Common line

3-4 Grounding

3-5 Power supply circuit

3-6 Alarm occurrence timing chart

3-7 Servo motor with electromagnetic brake

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

3– 1

3.WIRING

WARNING

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

2. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock.

3. Ground the servo amplifier and the servo motor securely.

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

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

CAUTION

1. Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury.

2. Connect cables to correct terminals to prevent a burst, fault, etc.

3. Ensure that polarity (+, -) is correct. Otherwise, a burst, damage, etc.

may occur.

4. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the emergency stop and other protective circuits.

Servo

Amplifier

COM

(24VDC)

COM

(24VDC)


RA


RA

Servo amplifier

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

6. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF option) with the power line of the servo motor.

7. When using the regenerative brake resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

8. Do not modify the equipment.

NOTICE

CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a failure. Connect them correctly.

3– 2

3.WIRING

3-1 Servo amplifier

CAUTION

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

3-1-1 Terminal blocks

(1) Signal arrangement

Terminal block signals are as listed below:

Servo Amplifiers

Terminals

MR–J2–10A to

MR–J2–60A

MR–J2–10A1 to

MR–J2–40A1

MR–J2–70A

MR–J2–100A

MR–J2–200A

MR–J2–350A

Terminal positions

2)

Control circuit

1) terminalblock

(TE2)

Front

Rear

L

11

L

21

P

C

D


1)

3)

3)

Front

Rear

L

11

L

21

P

C

D

N


L11 L21 D P C N

1)

2)

L1 L2 L3

L1 L2 L3

Main circuit

2) terminal block

(TE1)

U V W

L1 L2

U V W U V W

L1 L2 L3 U V W

3)

Protective earth(PE) terminals

3

3– 3

3.WIRING

(2) Signals

Symbol

L1, L2, L3

L11, L21

P, C, D

U, V, W

N

Signal

Main circuit power supply

Control circuit power supply


Servo motor output

Protective earth (PE)

Description

Main circuit power input terminals

Supply L1, L2 and L3 with the following power:

For single-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.

Power supply

Servo amplifier MR-J2-10A to 70A

3-phase 200 to 230VAC, 50/60Hz

MR-J2-100A

L1•L2•L3 to 350A

(Note) Single-phase 230VAC, 50/60Hz

Single-phase 100 to 120VAC, 50/60Hz

L1•L2

MR-J2-10A1 to 40A1

L1•L2

Note: Cannot be used for combination with the servo motor HC-SF52.

Control circuit power input terminals

Supply L11 and L21 with the following power:

Power supply

Servo amplifier



MR-J2-10A to 350A

L11•L21

MR-J2-10A1 to 40A1

L11•L21

L11 and L21 should be in phase with L1 and L2, respectively.

Regenerative brake option connection terminals

C and D are factory-connected.

When using the regenerative brake option, always remove wiring from across P-D and connect the regenerative brake option across P-C.

Servo motor power output terminals

Connect to the servo motor power supply terminals (U, V, W).

Do not connect.

Ground terminal

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

(3) How to use the control circuit terminal block (Phoenix Contact make)

1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm

2

)

Approx. 10mm

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. (Cable size: 0.2 to 2.5mm

2

)

Alternatively, a bar terminal may be used to put the wires together.


Bar terminal for 1 cable

(Bar terminal ferrule with insulation sleeve)

Bar terminal for 2 cables

(Twin ferrule with insulation sleeve)

Cable Size

0.25

0.5

0.75

1

1.5

2.5

Bar Terminal Type

Crimping

Tool

AWG

For 1 cable

24

20

18

18

16

14

Al0.25-6YE

Al0.25-8YE

Al0.5-6WH

Al0.5-8WH

Al0.75-6GY

Al0.75-8GY

Al1-6RD

Al1-8RD

Al1.5-6BK

Al1.5-8BK

Al2.5-8BU

Al2.5-8BU-1000

For 2 cables

Al-TWIN2 0.75-8GY

Al-TWIN2 0.75-10GY

CRIMPFOX-UD6

Al-TWIN2 1-8RD

Al-TWIN2 1-10RD

Al-TWIN2 1.5-8BK

Al-TWIN2 1.5-12BK

Al-TWIN2 2.5-10BU

Al-TWIN2 2.5-13BU

3– 4

3.WIRING

2) Connection

Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N

• m)

Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose.

When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.

Flat-blade screwdriver

• Tip thickness 0.4 to 0.6mm

• Overall width 2.5 to 3.5mm

To loosen.

To tighten.

Cable

Opening


3

3– 5

3.WIRING

3-1-2 Signal connectors

(1) Signal arrangement

All connectors are half-pitch connectors (Molex 52986-2011 or equivalent).CN1A and CN1B signals change with the control mode. Refer to (2) in this section.

CN1A

2

4

6

8

10

1

3

5

7

9

11

12

13

14

16

18

17

19

20

15

MITSUBISHI

MELSERVO–J2

CN1B

2

4

6

8

10

1

3

5

7

9

11

12

13

14

16

18

17

19

20

15

CN2

2

LG

4

1

LG

3

LG

5

12

LG

14

11

LG

13

15

6 16

MD

8

10

P5

7

MR

9

BAT

MDR

18

17

MRR

P5

19

20

P5

P5

The connector frames

are connected with the

PE terminal inside the

servo amplifier.

CN3

2

RXD

4

MO1

6

1

LG

3

LG

5

LG

7

8

11

12

TXD

LG

13

14

MO2

16

LG

15

LG

17

18

9 19

10

20

P5

MEMORANDUM

The connector pin-outs shown above are viewed from the cable connector wiring section side.

3– 6

3.WIRING

(2) CN1A and CN1B signal assignment


Signal Input/Output

(Note 1) I/O

CN1A

CN1B

1

2

3

(Note 10)

4

(Note 8)5

(Note 7)6

(Note 8)7

(Note 8)8

(Note 8)9

10

11

12

13

(Note 8)

14

15

16

17

(Note 7)

18

(Note 7,

9, 11)19

20

13

14

15

9

10

11

12

16

17

(Note 7, 9)

18

(Note 7, 9)

19

20

3

4

1

2

5

6

7

(Note 8)8

I

I

O

O

O

I

I

O

O

I

I

I

I

I

I

I

I

I

O

O

I

I

O

O

O

O

O

O

VDD

DO1

SON

TLC

RES

EMG

LSP

LSN

ALM

ZPS

SG

PC

TL

SG

P15R

TLA

COM

COM

SG

OPC

NG

PG

OP

LZR

P

LG

NP

PP

P15R

LZ

LA

LB

CR

LAR

LBR

INP

RD

SG

LG

Pin assignment

(Note 2) Symbols of I/O Signals in Control Modes

P/S

LG

NP/

PP/

P15R/P15R

S

LG

P15R

S/T

LG

P15R

T

LG

P15R

LZ

LA

LB

CR/SP1

COM

SG

OPC/

NG/

LZ

LA

LB

(Note 3)SP1

COM

SG

LZ

LA

LB

SP1/SP1

COM

SG

LZ

LA

LB

(Note 3)SP1

COM

SG

PG/

OP

LZR

LAR

LBR

INP/SA

RD

SG

OP

LZR

LAR

LBR

SA

RD

SG

OP

LZR

LAR

LBR

SA/

RD

SG

OP

LZR

LAR

LBR

RD

SG

LG

/VC

VDD

DO1

SON

TLC

LG

VC

VDD

DO1

SON

TLC

LG

VC/VLA

VDD

DO1

SON

TLC/VLC

LOP

PC/ST1

TL/ST2

SG

SP2

(Note 4)ST1

(Note 5)ST2

SG

LOP

ST1/RS2

ST2/RS1

SG

P15R P15R P15R

TLA/TLA(Note 6) (Note 6)TLA (Note 6)TLA/TC

COM COM COM

RES

EMG

LSP

LSN

ALM

ZSP

SG

RES

EMG

LSP

LSN

ALM

ZSP

SG

RES

EMG

LSP/

LSN/

ALM

ZSP

SG

LG

VLA

VDD

DO1

SON

VLC

SP2

(Note 4)RS2

(Note 5)RS1

SG

P15R

TC

COM

RES

EMG

ALM

ZSP

SG

LG

VLA/

VDD

DO1

SON

VLC/TLC

LOP

RS2/PC

RS1/TL

SG

P15R

TC/TLA

COM

RES

EMG

/LSP

/LSN

ALM

ZSP

SG

T/P

LG

/NP

/PP

P15R

LZ

LA

LB

SP1/CR

COM

SG

/OPC

/NG

/PG

OP

LZR

LAR

LBR

/INP

RD

SG

For notes, refer to the next page.

3

3– 7

3.WIRING

Note: 1. I: Input signal, O: Output signal, -: Others (e.g. power)

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque

control change mode, T/P: Torque/position control change mode

3. Set parameter No. 45 to use CR.

4. Set parameter No. 47 to use PC.

5. Set parameter No. 48 to use TL.

6. By setting parameters No. 43 to 48 to make TL available, TLA can be used.

7. Set parameter No. 49 to use WNG and BWNG.

8. Set parameters No. 43 to 48 to change signals.

9. Set parameter No. 49 to select alarm codes. (Refer to Chapter 8.)

10. The signal of CN1A-18 is always output.

11. Set parameter No. 1 to select MBR.

(3) Symbols and signal names

ST2

TL

RES

EMG

LOP

VC

VLA

TLA

SON

LSP

LSN

CR

SP1

SP2

PC

ST1

TC

RS1

RS2

PP

NP

PG

NG

Symbol Signal Name

Servo on



Clear

Speed selection 1

Speed selection 2

Proportion control



Torque limit selection

Reset

Emergency stop

Control change


Analog speed limit

Analog torque limit




Forward/reverse rotation pulse train

TLC Limiting torque

Symbol

OP

MBR

LZ

LZR

LA

LAR

LB

LBR

VLC

RD

ZSP

INP

SA

ALM

WNG

BWNG

MO1

MO2

VDD

COM

OPC

SG

P15R

LG

SD

Signal Name

Limiting speed

Ready

Zero speed

In position

Speed reached

Trouble

Warning

Battery warning


Electromagnetic brake interlock

Encoder Z-phase pulse

(differential line driver)

Encoder A-phase pulse


Encoder B-phase pulse


Analog Monitor output 1


I/F internal power supply

Digital I/F power supply input

Open collector power input

Digital I/F common

DC15V power supply

Control common

Shield

3– 8

3.WIRING

(4) Signal explanations

In the Control Mode field of the table

: Denotes that the signal may be used in the initial setting status.

: Denotes that the signal may be used by setting the corresponding parameter among parameters No. 1 and 43 to 49.

The pin No. in the connector pin No. column is the number under initial status.

1) Input signals

Signal Symbol

Connector Pin

No.

Functions/Applications

I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

Servo on DI–1 SON CN1B

5

Connect SON-SG to switch on the base circuit and make the servo amplifier ready to operate (servo on).

Disconnect SON-SG to shut off the base circuit (servo off) andcoast the servo motor.

Set 1 in parameter No. 41 to switch this signal on

(keep terminals connected) automatically in the servo amplifier.

Reset RES CN1B

14

Disconnect RES-SG for more than 50ms to reset the alarm.

During alarm resetting, the base circuit is shut off.

The following alarms cannot be reset:

DI–1


Display

A. 11

A. 12

A. 13

A. 15

A. 16

A. 17

A. 18

Name

Board error 1

Memory error 1

Clock error

Memory error 2

Encoder error 1

Board error 2

Board error 3

Display

A. 20

A. 25

A. 30

A. 37

A. 50

A. 51

Name

Encoder error 2

Absolute position erase

Regenerative error

Parameter error

Overload 1

Overload 2

Also, the regenerative error (A. 30) and overload 1 (A. 50) cannot be reset until the regenerative brake resistor and power transistor are cooled to proper temperatures, respectively.

If the line between RES and SG is short-circuited during the operation and no alarm is given, the status will come to the base and the servo motor will freely run to a stop.

LSP CN1B

16

The forward and/or reverse rotation stroke end signal must be ON to run the servo motor. If the signal is switched off, the servo motor will stop suddenly and servo-locked. By setting 1 in parameter No. 22, the servo motor will come to a slow stop when the signal is switched off.

Relationships between signal status and operation are as follows:

DI–1


LSN CN1B

17

Across

LSP-SG

Across

LSN-SG

Short Short

Operation

CCW direction

CW direction

Forward rotation

CCW

Open Short

Short Open

Open Open

Reverse rotation

CW

Set parameter No. 41 as indicated below to switch on the signals

(keep terminals connected) automatically in the servo amplifier:

Parameter No. 41

1

1

Automatic ON

LSP

LSN

Note: 1. Refer to Section 3-1-4.

2. P: Position control mode, S: Speed control mode, T: Torque control mode

3– 9

3

3.WIRING

Signal

Torque limit

Symbol

Connector Pin

No.

TL CN1B

9


Connect TL-SG to limit torque according to the voltage level (max. torque: +8V) of analog torque limit (TLA).

Across TL-SG

Open

Torque Limit

Internal torque limit 1 (parameter No. 28)

Short

Torque limit relationship

Analog torque limit

internal torque limit 1

Analog torque limit

internal torque limit 1

Valid torque limit

Analog torque limit


I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

DI–1





ST1 CN1B

8

Used to start the servo motor in any of the following directions:

ST2 CN1B

9

Across

ST1-SG

Open

Short

Open

Short

Across

ST2-SG

Open

Open

Short

Short

Servo Motor Starting Direction

Stop (servo lock)

CCW

CW

Stop (servo lock)

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No. 12 setting and servo-locked. When the analog speed command (VC) is 0V, starting the servo motor will not generate servo lock torque.

DI–1

DI–1 RS1 CN1B

9

Used to select any of the following servo motor torque generation directions:

RS2 CN1B

8

Across RS1-SG Across RS2-SG Torque Generation Direction Rotation Direction

Open

Short

Open

Short

Open

Open

Short

Short

No torque

Forward rotation in driving mode / reverse rotation in regenerative mode

Reverse rotation in driving mode / forward rotation in regenerative mode

No torque

Stop

CCW

CW

Stop


2. P: Position control mode, S: Speed control mode, T: Torque control

3– 10

3.WIRING

Signal

Speed selection 1

Speed selection 2

Symbol

Connector Pin

No.

Speed Command

SP1 CN1A

8

<Speed control mode>

Used to select the command speed for operation.

Across

SP1-SG

Open

Short

Open

Short

Across

SP2-SG

Open

Open

Short

Short


Analog speed command (VC)


(parameter No. 8)


(parameter No. 9)


(parameter No. 10)

<Torque control mode>

Used to select the limit speed for operation.

Across

SP1-SG

Across

SP2-SG

Speed Limit

Open Open Analog speed limit (VLA)

Short

Open

Open

Short

Internal speed limit 1 (parameter No. 8)


SP2 CN1B

7

Short Short Internal speed limit 3 (parameter No. 10)

<Position/speed, speed/torque, torque/position control change mode>

As CN1B-7 acts as a control change signal, the speed selected when the speed or torque control mode is selected is as follows:

• When speed control mode is selected

Across

SP1-SG

Speed Command

Open Analog speed command (VC)

Short Internal speed command 1 (parameter No. 8)

I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

DI–1

• When torque control mode is selected

Across

SP1-SG

Speed Limit

Open Analog speed limit (VLA)

Short Internal speed limit 1 (parameter No. 8)



3

3– 11

3.WIRING

Signal

Proportion control

Symbol

Connector

Pin No.


I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

PC CN1B

8

Connect PC-SG to switch the speed amplifier from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control signal (PC) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

When the shaft is to be locked for a long time, switch on the proportion control signal and torque control signal (TL) at the same time to make the torque less than the rated by the analog torque limit.

DI–1

Emergency stop

Clear

Control change

EMG CN1B

15

Disconnect EMG-SG to bring the servo motor to an emergency stop state, in which the servo is switched off and the dynamic brake is operated.

Connect EMG-SG in the emergency stop state to reset that state.

DI–1

CR CN1A

8

Connect CR-SG to clear the position control counter on the leading edge of the signal. The pulse width should be 10ms or more.

DI–1

LOP CN1B

7

<Position/speed control change mode>

Used to select the control mode in the position/speed control change mode.

DI–1

Across LOP-SG Control Mode

Open

Short

Position

Speed

<Speed/torque control change mode>

Used to select the control mode in the speed/torque control change mode.


Open

Short

Speed

Torque

<Torque/position control mode>

Used to select the control mode in the torque/position control change mode.


Open

Short

Torque

Position



3– 12

3.WIRING

Signal Symbol

Connector

Pin No.

Analog torque limit TLA CN1B

12

NOTICE


To use this signal in the speed control mode, set any of parameters No. 43 to

48 to make TL available.

I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

Analog input



TC CN1B

12

When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range. Apply 0 to +10

VDC across TLA-LG. Connect the positive terminal of the power supply to TLA. Maximum torque is generated at +10

V. (Refer to 1), (1) in Section 3-1-3.))

Resolution: 10 bit

Used to control torque in the full servo motor output torque range.

Apply -8 to +8VDC across TC-LG. Maximum torque is generated at +8V.

(Refer to 1), (1) in Section 3-1-3.) Resolution: 10 bit

Analog input

VC CN1B

2

Apply -10 to +10VDC across VC-LG. Speed set in parameter No. 25 is provided at +10V. (Refer to 1), (2) in

Section 3-1-3.)

Resolution: 12 bit or equivalent

Analog

input

Analog speed limit VLA CN1B

2

Apply -10 to +10VDC across VLA-LG. Speed set in parameter No. 25 is provided at +10V. (Refer to 1), (3) in

Section 3-1-3.)

Resolution: 12 bit or equivalent

Analog input



PP

NP

PG

NG

CN1A

3

CN1A

2

CN1A

13

CN1A

12

Used to enter a command pulse train.

• In the open collector system (max. input frequency

200kpps):

Forward rotation pulse train across PP-SG

Reverse rotation pulse train across NP-SG

• In the differential receiver system (max. input frequency

400kpps):

Forward rotation pulse train across PG-PP

Reverse rotation pulse train across NG-NP

The command pulse train form can be changed using parameter No. 21.



DI–2

3

3– 13

3.WIRING

2) Output signals

Signal

Trouble

Symbol

Connector

Pin No.


I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

ALM CN1B

18

ALM-SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit.

Without alarm, ALM-SG are connected within 1 second after power on. Connect the regenerative brake option or the like with a temperature detector to make up a protective circuit.

DO–1

Ready

In position

Speed reached

Limiting speed

Zero speed

Limiting torque


RD CN1A

19

RD-SG are connected when the servo is switched on and the servo amplifier is ready to operate.

DO–1

INP CN1A

18

INP-SG are connected when the number of droop pulses is in the preset in-position range. The in-position range can be changed using parameter No. 5.

When the in-position range is increased, INP-SG may be kept connected during low-speed rotation.

DO–1

SA CN1A

18

SA-SG are connected when the servo motor speed has nearly reached the preset speed. When the preset speed is

50r/min or less, SA-SG are kept connected.

DO–1

VLC CN1B

6

VLC-SG are connected when speed reaches the value set to any of the internal speed limits 1 to 3 (parameters No. 8 to 10) or the analog speed limit (VLA) in the torque control mode. They are disconnected when the servo-on signal

(SON) switches off.

ZSP CN1B

19

ZSP-SG are connected when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. 24.

DO–1

DO–1

TLC CN1B

6

TLC-SG are connected when the torque generated reaches the value set to the internal torque limit 1 (parameter No. 28) or analog torque limit (TLA). They are disconnected when the servo-on signal (SON) switches off.

DO–1

MBR CN1B

19

DO–1

NOTICE

Set 1 in parameter No. 1 to use this parameter. Note that ZSP will be made unavailable.

In the servo-off or alarm status, MBR-SG are disconnected.

When an alarm occurs, they are disconnected at zero speed or less, independently of the base circuit status.

Warning WNG

NOTICE

Set 1 in parameter No. 49 to use this signal.

When warning has occurred, WNG-SG are connected.

When there is no warning, WNG-SG are disconnected within

1 second after power-on.



DO–1

3– 14

3.WIRING

Signal

Battery warning

Symbol

Connector

Pin No.

BWNG


I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

DO–1

NOTICE

Set 1 in parameter No. 49 to use this signal.

BWNG-SG are connected when battery cable breakage warning (A. 92) or battery warning (A. 9F) has occurred.

When there is no battery warning, BWNG-SG are disconnected within 1 second after power-on.

Alarm code CN1A

19

CN1A

18

CN1B

19

NOTICE

To use this signal, set 1 in parameter

No. 49.

This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.

Alarm codes and alarm names are listed below:

DO–1


CN1B

19 Pin

CN1A

18 Pin

CN1A

19 Pin

Alarm

Display

Name

0

0

0

0

1

1

1

0

0

1

1

0

0

1

0

1

0

1

0

1

0

A. 8E

A. 30

A. 33

A. 10

A. 46

A. 50

A. 51

A. 24

8888

A. 11

A. 12

A. 13

A. 15

A. 17

A. 18

A. 37

A. 32

A. 31

A. 35

A. 52

A. 16

A. 20

A. 25

Note: 0: Each pin and SG are disconnected (OFF).

1: Each pin and SG are connected (ON)

Watchdog

Board error 1

Memory error 1

Clock error

Memory error 2

Board error 2

Board error 3

Parameter error

RS-232C error

Regenerative error

Overvoltage

Undervoltage

Motor overheat

Overload 1

Overload 2

Motor output ground fault

Acceleration

Overspeed

Command pulse frequency alarm

Error excessive

Encoder error 1

Encoder error 2




3

3– 15

3.WIRING

Signal

Encoder Z-phase pulse

(Open collector)

Symbol

Connector

Pin No.


OP CN1A

14

Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point position is reached. ( Negative logic)

Min. pulse width is about 800

µ s. For zeroing using this pulse, set the creep speed to 100r/min. or less.

I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

DO–2

Encoder A-phase pulse

(Differential line driver)

Encoder B-phase pulse


LA

LAR

CN1A

6

CN1A

16

Outputs pulses per servo motor revolution set in parameter

No. 27 in the differential line driver system. The encoder

B-phase pulse lags the encoder A-phase pulse by a phase angle of

π

/2.

DO–2

LB

LBR

CN1A

7

CN1A

17

DO–2 Encoder Z-phase pulse


LZ

LZR

CN1A

5

CN1A

15

The same signal as OP is output in the differential line driver system.



MO1 CN3

MO2

4

CN3

14

Data specified for CH1 in parameter No. 17 is output to across MO1-LG in analog form.

Data specified for CH2 in parameter No. 17 is output to across MO2-LG in analog form.



Analog output

Analog output

3– 16

3.WIRING

3) Power supply

Signal Symbol

Connector

Pin No.


I/F internal power supply

VDD CN1B

3

Used to output 24VDC for input interface.

Connect with COM to use this power supply.

Permissible current: 80mA

Digital I/F power supply input

Open collector power input

Digital I/F common

COM CN1A

9

CN1B

13

OPC CN1A

11

Used to input 24VDC for input interface.

Connect the positive terminal of the 24VDC external power supply.

Connect with VDD to use the internal power supply.

24VDC

±

10%

When inputting a pulse train in the open collector system, supply this terminal with the positive (+) power of 24VDC.

SG CN1A

10

20

CN1B

10

20

Common terminal for VDD and COM. Pins are connected internally.

Separated from LG.

I/O

Division

(Note 1)

Control

Mode

(Note 2)

P S T

DC15V power supply

P15R CN1A

4

CN1B

11

Used to output 15VDC. Available as power for TC, TLA, VC,

VLA.

Permissible current: 30mA

Control common LG CN1A

1

CN1B

1

CN3

1

3

5

11

13

15

SD

Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP,

MO1, MO2 and P15R.

Pins are connected internally.

Plate Connect the external conductor of the shield cable.

Shield



3

3– 17

3.WIRING

3-1-3 Detailed information on I/O signals

(1) Position control mode

1) Torque limit a. Torque limit and generated torque

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor-generated torque is shown in Fig. 3-1.

A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown in Fig. 3-2. Generated torque limit values will vary about 5% relative to the voltage depending on products.

At the voltage of less than 0.05V, generated torque may vary as it may not be limited sufficiently. Therefore, use this function at the voltage of 0.05V or more.

Max. torque 100

0

0

Torque limit value [%]

100

Fig. 3-1 Torque Limit Value vs.

Generated Torque

b. Connection diagram

Connect as shown in Fig. 3-3.

Servo amplifier

2k

Ω

1k

Ω

Japan Resistor

RRS10 or equivalent

TL

SG

P15R

TLA

LG

SD

Fig. 3-3 Connection Example

±

5%

0

0 0.05

TLA applied voltage [V]

10

Fig. 3-2 TLA Applied Voltage vs.

Torque Limit Value

3– 18

3.WIRING

c. Torque limit signal (TL) and valid torque limit

Use the torque limit signal (TL) to select the torque limit made valid by internal torque limit

1 or analog torque limit (TLA) as indicated in Table 3-1:

Table 3-1 TL and Valid Torque Limit Value

Across TL-SG

Open

Short

Valid Torque Limit Value

Internal torque limit 1 (parameter No. 28)

Analog torque limit (TLA) if analog torque limit (TLA) < internal torque limit 1Internal torque limit 1 (TL1) if analog torque limit (TLA) > internal torque limit 1 d. Limiting torque (TLC)

TLC-SG are connected when the torque generated by the servo motor reaches the torque set to internal torque limit 1 or analog torque limit.

2) In position (INP)

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). When the in-position range setting is large,

PF-SG may remain connected during low-speed operation.

ON

Servo on (SON)

OFF

Alarm

Yes

No

In-position range

Droop pulses

ON

In position (INP)

OFF

3) Ready (RD)

Servo on (SON)

ON

OFF

Alarm

Yes

No

Ready (RD)

ON

OFF

80ms or less 10ms or less 10ms or less

3

3– 19

3.WIRING

4) Pulse train input

Encoder pulses can be input in any of three different forms and are available in positive or negative logic. Use parameter No. 21 to set the command pulse train form.

The arrow or in the following table indicates the timing of importing the pulse train.

Pulse Train Form



Pulse train + sign

A–phase pulse train

B–phase pulse train


For Forward Rotation For Reverse Rotation Parameter No. 21

PP

0010

NP

PP

0011

L

H

NP

PP

0012

NP

PP

0000

NP

Pulse train + sign

A–phase pulse train

B–phase pulse train

PP

NP

PP

NP

H

L

0001

0002

3– 20

3.WIRING

a. Open collector system

Servo amplifier

DC24V VDD

OPC

PP

Approx. 1.2k

Ω

Approx. 1k

Ω

NP

SG

SD

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table on the preceding page are voltage waveforms of PP and NP based on SG. Their relationships with transistor ON/OFF are as follows:


(transistor)


(transistor)

(OFF) (ON) (OFF) (ON)

(OFF)

(OFF)

(ON) (OFF) (ON) (OFF) (ON) b. Differential line driver system

Servo amplifier

PP

PG

NP

NG

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). In the differential line driver system, the waveforms in the table on the preceding page are as follows. The waveforms of PP, PG, NP and NG are waveforms based on the ground of the differential line driver.


PP

PG


NP

NG

3

3– 21

3.WIRING

(2) Speed control mode1

1) Speed setting a. Speed command and speed

The servo motor is run at the speeds set in parameters No. 8 to 10 (internal speed commands 1 to 3) or at the speed set in the applied voltage of the analog speed command

(VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown in Fig. 3-4. The rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are indicated in Table 3-

2.

Rated speed [r/min]

-10

Speed

[r/min]

CCW direction

0 +10

VC applied voltage [V]

CW direction

Forward rotation

CCW

Rated speed

Fig. 3-4 VC Applied Voltage vs. Speed (ST1=ON)

Reverse rotation CW

Table 3-2 ST1/ST2 and Rotation Directions

Across

ST1-SG

Across

ST2-SG

Rotation Direction

Analog speed command (VC)

+ polarity 0V - polarity

Open Open

Stop

(Servo lock)

Short

Open

Short

Open

Short

Short

Stop

(Servo lock)

CCW

CW

Stop

(Servo lock)

Stop

(No servo lock)

Stop

(Servo lock)

Stop

(Servo lock)

CW

CCW

Stop

(Servo lock)

Internal speed commands 1 to 3

Stop

(Servo lock)

CCW

CW

Stop

(Servo lock) b. Connection diagram

Generally connect as shown in Fig. 3-5. When a precision speed command is required, connect as shown in Fig. 3-6. In this case, the temperature fluctuation of the command voltage is

±

0.002%/

°

C. Note that as the maximum value of the command voltage is approx.

+6V, adjust the maximum value with parameter No. 25.

Servo amplifier

2k

Ω

2k

Ω

Japan Resistor

RRS10 or equivalent

SP1

SP2

SG

P15R

VC

LG

SD

Fig. 3-5 Connection Example 1

1/2W

860k

Ω

Servo amplifier

15V

NEC

1SZ52 or equivalent

2k

Ω

Japan Resistor

RRS10 or equivalent

VC

LG

SD


3– 22

3.WIRING

c. Speed selection 1 (SP1)/speed selection 2 (SP2) and speed command values

Use speed selection 1 (SP1) and speed selection 2 (SP2) to select the speed from among those set to the internal speed commands 1 to 3 and set to the analog speed command

(VC) as indicated in Table 3-3.

When the speed is changed during rotation, it is increased or decreased according to the value set in parameter No. 11 or 12.

When the internal speed commands 1 to 3 are used to command the speed, the speed does not vary with the ambient temperature.

Table 3-3 SP1/SP2 and Speed Command Values

Across SP1-SG Across SP2-SG Speed Command Value

Open

Short

Open

Short

Open

Open

Short

Short


Internal speed command 1 (parameter No. 8)



2) Speed reached (SA)

SA-SG are connected when the servo motor speed has nearly reached the speed set to any of the internal speed commands 1 to 3 or to the analog speed command.

Preset speed selection

Start(ST1 • ST2)

ON

OFF



Servo motor speed

Speed reached (SA)

ON

OFF

3) Torque limit

Same as in 1), (1) in this section. To use the analog torque limit (TLA), set any of parameters

No. 43 to 48 to make the torque limit (TL) available.

3

3– 23

3.WIRING

(3) Torque control mode

1) Torque control a. Torque command and generated torque

A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown in Fig. 3-7. Generated torque limit values will vary about 5% relative to the voltage depending on products.

Generated torque may vary at the voltage of -0.05V to +0.05V. Table 3-4 shows the torque generation directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.

Max. torque

(Note)

-8

Torque

-0.05

CCW direction

CCW direction

+8

+0.05

TC applied voltage [V]

Forward rotation

CW direction

Max. torque (Note)

Note: Set using parameter No. 26.

Fig. 3-7 Torque Control Level (RS1=ON)

Reverse rotation

Table 3-4 Torque Generation Directions

Across

RS1-SG

Across

RS2-SG

+ polarity

Rotation Direction

Analog torque command (TC)

0V – polarity

Open

Short

Open

Open

No torque

CCW (forward rotation in driving mode/ reverse rotation in regenerative mode)

No torque

No torque

CW (reverse rotation in driving mode/ forward rotation in regenerative mode)

Open

Short

Short

Short

CW (reverse rotation in driving mode/ forward rotation in regenerative mode)

No torque

CCW (forward rotation in driving mode/ reverse rotation in regenerative mode)

No torque b. Connection diagram

Connect as shown in Fig. 3-8.

Servo amplifier

-8V to +8V

RS1

RS2

SG

TC

LG

SD


3– 24

3.WIRING

c. Analog torque command offset

Using parameter No. 30, the offset voltage of -999 to 999mV can be added to the TC applied voltage as shown in Fig. 3-9.

Max. torque

Generated torque

Parameter No. 30 offset range

-999~+999mV

0

TC applied voltage [V]

+8

Fig. 3-9 Analog Torque Command Offset Range

2) Torque limit

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor-generated torque is as in 1), (1) in this section. Note that the analog torque limit (TLA) is unavailable.

3) Speed limit a. Speed limit value and speed

The speed is limited to the values set in parameters No. 8 to 10 (internal speed limits 1 to

3) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is shown in Fig. 3-10. The limit directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) are indicated in Table 3-5.

Rated speed

Speed

CW direction

CCW direction

-10

(r/min)

0 +10

VLA applied voltage [V]

Rated speed

Forward rotation

Fig. 3-10 VLA Applied Voltage vs. Speed (RS1=ON)

Reverse rotation

Table 3-5 RS1/RS2 and Speed Limit Directions

Across

RS1-SG

Across

RS2-SG

Speed Limit Direction

Analog speed limit (VLA)

+ polarity - polarity

Internal speed commands 1 to 3

Short

Open

Open

Short

CCW

CW

CW

CCW

CCW

CW

3

3– 25

3.WIRING


Generally connect as shown in Fig. 3-11. When a precision speed command is required, connect as shown in Fig. 3-12. In this case, the temperature fluctuation of the command voltage is

±

0.002%/

°

C. Note that as the maximum value of the command voltage is approx.

+6V, adjust the maximum value using parameter No. 25.

Servo amplifier

2k

Ω

2k

Ω

Japan Resistor

RRS10 or equivalent

SP1

SP2

SG

P15R

VLA

LG

SD


1/2W

860k

Ω

Servo amplifier

15V

NEC

1SZ52 or equivalent

2k

Ω

Japan Resistor

RRS10 or equivalent

VLA

LG

SD


c. Speed selection 1 (SP1)/speed selection 2 (SP2) and speed command values

Use speed selection 1 (SP1) and speed selection 2 (SP2) to select the speed from among those set to the internal speed commands 1 to 3 and set to the analog speed limit (VLA) as indicated in Table 3-6.

When the internal speed commands 1 to 3 are used to command the speed, the speed does not vary with the ambient temperature.

Table 3-6 SP1/SP2 and Speed Command Values

Across SP1-SG Across SP2-SG Speed Command Value

Open

Short

Open

Short

Open

Open

Short

Short

Analog speed limit (VLA)



Internal speed limit 3 (parameter No. 10) d. Limiting speed (VLC)

VLC-SG are connected when the servo motor speed reaches the limit speed set to any of the internal speed limits 1 to 3 or analog speed limit.

3– 26

3.WIRING

(4) Position/speed control change mode

Set 1 in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system.

1) Control change (LOP)

Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-7.

Table 3-7 Control Selection

Across LOP-SG Servo Control Mode

Open

Short


Speed control mode

The control mode may be changed in the zero-speed status. Before changing control to the other mode, make sure that the zero speed signal (ZSP) is on. To ensure safety, change control after the servo motor has stopped. When position control is changed to speed control, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown in Fig. 3-13.

Position control mode Speed control mode Position control mode

Servo motor speed

Zero speed level

Zero speed (ZSP)

ON

OFF

Control change (LOP)

ON

OFF

(Note)

(Note)

Note: When ZSP is not on, control cannot be changed if LOP is switched

on-off. If ZSP switches on after that, control cannot not be changed.

Fig. 3-13 P/S Change Timing Chart

2) Torque limit in position control mode

As in 1), (1) in this section.

3

3– 27

3.WIRING

3) Speed setting in speed control mode a. Speed command and speed

The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in 1)a, (2) in this section.


Generally connect as shown in Fig. 3-14. When a precision speed command is required, refer to 1)b, (2) in this section.

Servo amplifier

2k

Ω

2k

Ω

Japan Resistor

RRS10 or equivalent

SP1

SG

P15R

VC

LG

SD


c. Speed selection 1 (SP1) and speed command value

Use speed selection 1 (SP1) to select between the speed set to the internal speed command 1 and the speed set to the analog speed command (VC) as indicated in Table 3-8.

When the speed is changed during rotation, it is increased or decreased according to the value set in parameter No. 11 or 12.

When the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature.

Table 3-8 SP1 and Speed Command Value

Across SP1-SG Speed Command Value

Open

Short


Internal speed command 1 (parameter No. 8) d. Speed reached (SA)


4) Torque limit in torque control mode


3– 28

3.WIRING

(5) Speed/torque control change mode

Set 3 in parameter No. 0 to switch to the speed/torque control change mode.


Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-9.


Across LOP-SG Servo Control Mode

Open

Short

Speed control mode

Torque control mode

The control mode may be changed at any time. A change timing chart is shown in Fig. 3-15.

Speed control mode Torque control mode Speed control mode

Servo motor speed

10V

Analog torque command (TC)

0


ON

OFF

(Note)

Load torque

Forward rotation in driving mode

Note: When the start signal (ST1/ST2) is switched off as soon as the mode is changed to speed control, the servo motor comes to a stop according to the deceleration time constant.

Fig. 3-15 S/T Change Timing Chart

2) Speed setting in speed control mode

As in 1)a, (2) in this section.

3) Torque limit in speed control mode


3

3– 29

3.WIRING

4) Speed limit in torque control mode a. Speed limit value and speed

The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in 3)a, (3) in this section.


Generally connect as shown in Fig. 3-16. When a precision speed command is required, refer to 3b, (3) in this section.

Servo amplifier

2k

Ω

2k

Ω

Japan Resistor

RRS10 or equivalent

SP1

SG

P15R

VLA

LG

SD


c. Speed selection 1 (SP1) and speed limit value

Use speed selection 1 (SP1) to select between the speed set to the internal speed limit 1 and the speed set to the analog speed limit (VLA) as indicated in Table 3-10.

When the internal speed limit 1 is used to command the speed, the speed does not vary with the ambient temperature.

Table 3-10 SP1 and Speed Limit Value

Across SP1-SG Speed Command Value

Open

Short

Analog speed limit (VLA)

Internal speed limit 1 (parameter No. 8) d. Limiting speed (VLC)

As in 3)d, (3) in this section.

5) Torque control in torque control mode




3– 30

3.WIRING

(6) Torque/position control change mode

Set 5 in parameter No. 0 to switch to the torque/position control change mode. This function is not available for the absolute position detection system.


Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-11.


Across LOP-SG

Open

Short

Servo Control Mode

Torque control mode


The control mode may be changed in the zero-speed status. Before changing control to the other mode, make sure that the zero speed signal (ZSP) is on. To ensure safety, droop pulses are reset when the mode is changed after the servo motor has stopped. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown in Fig. 3-17.

Servo motor speed

Position control mode Torque control mode Position control mode

Zero speed level

Analog torque command (TLA)

10V

0V

Zero speed (ZSP)

ON

OFF


ON

OFF

Fig. 3-17 T/P Change Timing Chart

2) Speed limit in torque control mode


3) Torque control in torque control mode




5) Torque limit in position control mode


3

3– 31

3.WIRING

3-1-4 Interfaces

The details of the interfaces (refer to I/O Division in the table) to the signals indicated in Section 3-

1-2 (4) are given below. Refer to the following and connect the interfaces with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Source input is also possible. Refer to (7) in this section.

For use of external power supply For use of internal power supply

Servo amplifier

24VDC

VDD

COM

R: Approx. 4.7k

Ω

Do not connect

VDD-COM.

Servo amplifier

VDD

24VDC

200mA or more

COM

24VDC

R: Approx. 4.7

Ω

For a transistor

Approx. 5mA

SON, etc.

TR

V

CES

1.0V

I

CEO

100

µ

A

Switch

SG

SON, etc.

Switch

SG

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less)

1) Inductive load

For use of internal power supply

Servo amplifier

24VDC

VDD

COM

ALM, etc.

SG

Load

If the diode is not connected as shown, the servo amplifier will be damaged.

For use of external power supply

Servo amplifier

24VDC

VDD

COM

Do not connect

VDD-COM.

Load

24VDC

±

10%

ALM, etc.

SG

If the diode is not connected as shown, the servo amplifier will be damaged.

3– 32

3.WIRING

2) Lamp load


Servo amplifier

24VDC

VDD

COM

R

ALM, etc.

SG


Servo amplifier

24VDC

VDD

COM

Do not connect

VDD-COM.

R

24VDC

±

10%

ALM, etc.

SG

(3) Pulse train input interface DI-2

1) Open collector system

• Interface example


(Note)

Servo amplifier

VDD

24VDC

OPC

Max. input pulse frequency 200kpps

About 1.2k

PP, NP

SG

SD

Note: COM of CN1A and COM of CN1B are connected in the servo amplifier. When connecting VDD and

OPC, VDD and COM may be connected at CN1A, and OPC and COM connected at CN1B.

• Conditions of the input pulse tc tHL

PP

0.9

0.1

tc tLH tF

PN tLH=tHL<0.2

µ s tc>2

µ s tF>3

µ s


Do not connect

VDD-COM.

24VDC

Servo amplifier

VDD

24VDC

OPC

Max. input pulse frequency 200kpps

About 1.2k

PP, NP

SG

SD

3

3– 33

3.WIRING

2) Differential line driver system

• Interface example • Conditions of the input pulse

Servo amplifier

Max. input pulse frequency 400kpps tc tHL tLH=tHL<0.1

µ s tc>1

µ s tF>3

µ s

PP-PG

0.9

0.1

Am26LS31

PG(NG)

Approx. 100

Ω tc tLH tF

PP(NP)

NP•NG

SD

(4) Encoder pulse output DO-2

1) Open collector system


Max. output current: 35mA

Servo amplifier Servo amplifier 5 to 24VDC

OP

LG

SD

2) Differential line driver system


Max. output current: 35mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

Servo amplifier

LA

(LB, LZ)

150

Ω

LAR

(LBR, LZR)

LG

LAR

(LBR, LZR)

SD SD

OP

LG

SD

• Output signal waveform

Servo motor CCW rotation

Photocoupler

1.2k

Ω

High-speed photocoupler

LA

LAR

LB

LBR

π

/2

LZ

LZR

Off

OP

On

T

400

µ s or more

LZ signal varies

±

3/8T on its leading edge.

3– 34

3.WIRING

(5) Analog input

2k

Ω

Upper limit setting 2k

Input impedance

10 ~ 12K

Ω

Servo amplifier

Ω

P15R

VC‚ etc

LG

Approx.

10k

Ω

SD

15VDC

(6) Analog output

Output

±

10V

Max. 1mA

Servo amplifier

MO1

(MO2)

LG

10k

Ω

Reading in one or both directions

1mA meter

A

SD

(7) Source input interface

When using the input interface of source type, all DI-1 input signals are of source type.

Source output cannot be provided.


Servo amplifier

SG

COM

R: Approx. 4.7k

Ω


Servo amplifier

SG

R: Approx. 4.7k

Ω

COM

(Note)

For a transistor

Approx. 5mA

SON, etc.

Switch

Switch

TR

VDD

V

CES

1.0V

I

CEO

100

µ

A

Note: This also applies to the use of the external power supply.

24VDC

200mA or more

SON, etc.

3

3– 35

3.WIRING

3-2 Connection of servo amplifier and servo motor

3-2-1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric shock.

CAUTION

1. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly.

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

(1) Wind an insulation tape around the connection several times.For the EN Standard-compliant model, connect via a fixed terminal block.

Servo amplifier side

Wind insulation tape three or four times.

Servo motor side

(2) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box.

Do not connect them directly to the protective earth of the control panel.

(3) Do not share the 24VDC power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake.

Control box

Servo amplifier

PE terminal

Servo motor

3– 36

3.WIRING

3-2-2 Connection diagram

The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 6-2-1.

For encoder cable connection, refer to Section 6-1-2.

For the connectors of the servo motor, refer to Chapter 3 of the servo motor instruction manual.

Servo Motor

HC–MF053 (B) (–UE) to

73 (B) (–UE)

HA–FF053 (B) to 63 (B)

HC–UF13 (B) to 73 (B)

Connection Diagram

Servo amplifier

U

V

W

(Note 1)

U (Red)

V (White)

W

(Black)

(Green)

(Note 3)

24VDC

B1

Servo motor

Motor

EMG

B2

To be shut off when servo on signal switches off or by alam signal

(Note 2)


CN2

Encorder cable

Encorder

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

3. For the HA-FF series, connect the ground cable to the earth terminal of the servo motor.

Servo amplifier Servo motor

U

V

W

U

V

W

Motor

HA–FF053 (B)–UE to

63 (B)–UE

HC–SF121 (B) to 301 (B)

HC–SF202 (B)• 352 (B)

HC–SF203 (B)• 353 (B)

HC–UF202 (B)

(Note 1)

24VDC

B1

B2

EMG


(Note 2)


CN2

Encorder cable

Encorder



Servo amplifier Servo motor

U

V

W

U

V

W

Motor

HC–SF81 (B)

HC–SF52 (B) to 152 (B)

HC–SF53 (B) to 153 (B)

HC–RF103 (B) to 203 (B)

HC–UF72 (B) • 152 (B)

(Note 1)

24VDC

B1

B2

EMG


(Note 2)


CN2

Encorder cable

Encorder



3– 37

3

3.WIRING

3-2-3 I/O terminals

(1) HC–MF(–UE) series

Power supply lead

4–0.5

2

0.3m

With end-insulated round crimping terminal 1.25-4

Red : U phase

White : V phase

Black : W phase

Green : Earth

Encoder cable 0.3m

With connector 172169-9

(AMP make)

Brake cable

2–0.5

2

0.3m


(2) HA–FF series

Earth terminal, M3 screw

Encoder connector signal arrangement

1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

6

8 9

LG SHD


1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

6

8 9

LG SHD

Encoder cable 0.3m


(AMP make)

Power supply cable

VCTF3–1.25

2

0.5m


Red : U phase

White : V phase

Black : W phase

Brake cable

VCTF2–0.5

2

0.5m


3– 38

3.WIRING

(3) HA–FFC–UE series

Encoder connector

MS3102A20–29P

Servo Motor

Power supply connector

CE05–2A14S–2PD–B

For power supply

Connector

For encorder

Brake connector

MS3102E10SL–4P

For brake

HA–FF053C(B)–UE to

HA–FF63C(B)–UE

CE05–2A14S–2PD–B MS3102A20–29


MS3102E10SL–4P

MS3102A20–29P

Key

L

M

K

J

T

N

A

S R

P

B

C

E

D

H

G

F

Pin

E

F

G

H

J

A

B

C

D

Signal

MD

MDR

MR

MRR

BAT

LG

Pin

P

R

S

T

K

L

M

N

Signal

SHD

LG

P5

Power supply connector signal arrangement


Key

D A

Pin

A

B

C

D

Signal

U

V

W

(Earth)

C B

Brake connector signal arrangement

MS3102A10SL–4P

Key

A

B

Pin

A

B

Signal

(Note) B1

(Note) B2

Note: 24VDC without

polarity.

(4) HC–UF 3000r/min series

Encorder cable 0.3m

With connector

172169-9 (AMP make)

Bottom

Top

Power supply lead 4-AWG19 0.3m

(With end-insulated round

Brake cable

VCTF 2-0.5

2

0.5m

(With end-insulated round crimping terminal 1.25-4) crimping terminal 1.25-4)

Red : U phase

White : V phase

Black : W phase

Green / yellow : Earth

Encorder connector signal arrangement

1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

6

8 9

LG SHD

3

3– 39

3.WIRING

(5) HC–SF/HC–RF•HC–UF 2000r/min series

Motor plate

(Opposite side)

Encoder connector

Down

Up

Brake connector Power supply connector

Servo Motor

Servo Motor Side Connectors

Electromagnetic

For power supply For encoder

Brake Connector

HC–SF81(B)

HC–SF52(B) to 152(B)


HC–SF121(B) to 301(B)

HC–SF202(B) • 352(B)

HC–SF203(B) • 353(B)

CE05–2A22–

23PD–B

CE05–2A24–

10PD–B

HC–RF103(B) to 203(B)

HC–UF72(B) • 152(B)

HC–UF202(B)

CE05–2A22–

23PD–B

CE05–2A22–

23PD–B

CE05–2A24–

10PD–B

MS3102A20–

29P

MS3102A20–

29P

MS3102A20–

29P

The connector for power is shared.

MS3102A10SL–4P



MS3102A10SL–4P

Power supply connector signal arrangement

CE05–2A22–23PD–B

Key

F

E

G

H

D

A

C

B

Pin

D

E

F

G

H

A

B

C

Signal

U

V

W

(Earth)

(Note) B1

(Note) B2

Note: 24VDC without polarity

CE05–2A24–10PD–B

Key

E

F

D

G

A

C

B

Pin

E

F

G

A

B

C

D

Signal

U

V

W

(Earth)


MS3102A20–29P

Key

L

M

K

J

T

N

A

S R

P

B

C

H

G

F

E

D

Pin

E

F

G

H

J

A

B

C

D

Signal

MD

MDR

MR

MRR

BAT

LG

Pin

P

R

S

T

K

L

M

N

Signal

SHD

LG

P5

Electromagnetic brake connector signal pin-outs

MS3102A10SL–4P

Key

A

B

Pin

A

B

Signal

(Note) B1

(Note) B2

Note: 24VDC without polarity

3– 40

3.WIRING

3-2-4 Connectors used for servo motor wiring

The connector make-ups classified by the operating environment are given below.

Use the models of the manufactures given or equivalent.

(1) HC–MF(–UE) • HA–FF • HC–UF3000r/min series

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

Servo Motor

Servo Motor Side

Connector(AMP)

Housing

(AMP)

Encode Cable Connector

Connector pins

(AMP)

Cable clamp

(Toa Denki Kogyo)

HC–MF (B)

HC–MF (B)–UE

HA–FF (B)

HC–UF13 to 73(B)

172169–9 1–172161–9 170363–1 MTI–0002

(2) HA–FF C–UE series

Use of the waterproof connector would not improve the degree of ingress protection (IP54) of the HA–FF C(B)–UE.

1) Non–waterproof/UL/C–UL Standard-compliant a.When using cable type cables

• For power supply connection q

Plug w

Cable clamp

Cable q

Plug w

Cable clamp

Cable

Servo Motor

HA–FF C(B)–UE

Servo Motor

Side Connector


• For encoder connection q

Plug w

Cable clamp

Cable q

Plug (Daiichi Denshi Kogyo)

Type

Straight

Angle

Model

MS3106B14S–2S

MS3108B14S–2S w

Cable clamp

(Daiichi Denshi Kogyo)

MS3057–6A q

Plug w

Cable clamp

Cable

3

Servo Motor

HA–FF C(B)–UE

Servo Motor Side Connector

MS3102A20–29P q


Type

Straight

Angle

Model

MS3106B20–29S

MS3108B20–29S w

Cable clamp


MS3057–12A

3– 41

3.WIRING

• For brake connection q

Plug Cable w

Cable Connector

Cable q

Plug w

Cable Connector

Servo Motor

HA–FF C(B)–UE

Servo Motor

Side Connector

q

Plug


MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w

Cable connector

Maker Cable OD Model

4 to 8 ACS–08RL–MS10F

Nippon Flex

Daiwa Dengyo

8 to 12

5 to 8.3

ACS–12RL–MS10F

YS010–5 to 8

Nippon Flex

Daiwa Dengyo

4 to 8

8 to 12

5 to 8.3

ACA–08RL–MS10F

ACA–12RL–MS10F

YL010–5 to 8 a.When using flexible conduits


Plug Conduit w

Conduit

Connector Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug


HA–FF C(B)–UE CE05–2A14S–2PD–B MS3106A14S–2S(D190)

Type

Straight

Angle w

Conduit Connector

Maker

Nippon Flex

Size Model

Conduit

Model ID

1/4 RCC–102RL–MS14F VF–02 8.3

3/8 RCC–103RL–MS14F VF–03 10.6

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

1/2

10

12

1/4

3/8

1/2

10

12

RCC–104RL–MS14F VF–04 14.0

MSA–10–14 FCV10 10.0

MSA–12–14 FCV12 12.3

RCC–302RL–MS14F VF–02 8.3

RCC–303RL–MS14F VF–03 10.6

RCC–304RL–MS14F VF–04 14.0

MAA–10–14 FCV10 10.0

MAA–12–14 FCV12 12.3

3– 42

3.WIRING


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug


HA–FF C(B)–UE MS3102A20–29P MS3106A20–29S(D190)

Type

Straight

Angle w


Maker

Nippon Flex

Size Model

Conduit

Model ID

1/2 RCC–104RL–MS20F VF–04 14.0

3/4 RCC–106RL–MS20F VF–06 19.0

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

16

22

1/2

3/4

16

22

MSA–16–20 FCV16 15.8

MSA–22–20 FCV22 20.8

RCC–304RL–MS20F VF–04 14.0

RCC–306RL–MS20F VF–06 19.0

MAA–16–20 FCV16 15.8

MAA–22–20 FCV22 20.3


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug


HA–FF C(B)–UE MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w


Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Size

1/4

10

1/4

10

MSA–10–10

RCC–302RL–MS10F

MAA–10–10

Conduit

Model

RCC–102RL–MS10F

Model ID

VF–02 8.3

FCV10 10.0

VF–02 8.3

FCV10 10.0

3

3– 43

3.WIRING

2) EN Standard/UL/C-UL Standard-compliant a. When using cabtyre cables


Plug

Cable w

Cable Connector

Cable q

Plug w

Cable Connector

Servo Motor

HA–FF C(B)–UE

Servo Motor

Side Connector

q

Plug


CE05–2A14S–2PD–B CE05–6A14S–2SD–B

Maker

Nippon Flex

Daiwa Dengyo w

Cable connector

Type Cable OD

Straight

Model

ACS–08RL–MS14F

ACS–12RL–MS14F

ACA–08RL–MS14F

Angle

4 to 8

8 to 12

4 to 8

8 to 12

5 to 8.3

Straight

ACA–12RL–MS14F

YS014–5 to 8

8.3 to 11.3

YS014–9 to 11

5 to 8.3

YL014–5 to 8

Angle

8.3 to 11.3

YS014–9 to 11


Plug e

Cable clamp Cable w

Back shell

Cable q

Plug w

Back shell e

Cable clamp

Servo Motor

Servo Motor

Side Connector

q

Plug


w

Back shell


Type Model


Straight CE02–20BS–S w

Cable clamp


Cable OD Model

6.8 to 10 CE3057–12A–3

Angle CE–20BA–S

3– 44

3.WIRING


Plug

Cable w

Cable Connector Cable q

Plug w

Cable Connector

Servo Motor

HA–FF C(B)–UE

Servo Motor

Side Connector

q

Plug


MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w

Cable Connector

Maker Cable OD

Nippon Flex

4 to 8

8 to 12

Model

ACS–08RL–MS10F

ACS–12RL–MS10F

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

5 to 8.3

4 to 8

8 to 12

5 to 8.3

YS0–10–5 to 8

ACA–08RL–MS10F

ACA–12RL–MS10F

YL010–5 to 8 b. When using flexible conduits


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug


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

Type

Straight

Angle w


Maker Size

Nippon Flex

1/4

3/8

Model

Conduit

Model ID


RCC–103RL–MS14F VF–03 10.6

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

1/2

10

12

1/4

3/8

1/2

10

12

RCC–104RL–MS14F VF–04 14.0

MSA–10–14 FCV10 10.0

MSA–12–14 FCV12 12.3


RCC–303RL–MS14F

RCC–304RL–MS14F

MAA–10–14

MAA–12–14

VF–03

VF–04

10.6

14.0

FCV10 10.0

FCV12 12.3

3

3– 45

3.WIRING


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug



Type

Straight

Angle w


Maker Size

1/2

Conduit

Model Model ID

RCC–104RL–MS20F VF–04 14.0

Nippon Flex

3/4

16

RCC–106RL–MS20F VF–06 19.0

MSA–16–20 FCV16 15.8

Daiwa Dengyo

22

1/2

MSA–22–20 FCV22 20.8

RCC–304RL–MS20F VF–04 14.0

NIppon Flex

3/4

16

RCC–306RL–MS20F VF–06 19.0

MAA–16–20 FCV16 15.8

Daiwa Dengyo

22 MAA–22–20 FCV22 20.8


Plug Conduit w

Conduit

Connector Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug


HA–FF C(B)–UE MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w


Maker Size

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

1/4

10

1/4

10

Model


MSA–10–10 FCV10 10.0

RCC–302RL–MS10F

MAA–10–10

Conduit

Model

VF–02

ID

8.3

FCV10 10.0

3– 46

3.WIRING

(3) HA–SF•HC–RF•HC–UF 2000r/min series

1) Non–waterproof/UL/C–UL Standard-compliant a.When using cable type cables


Plug w

Cable

Clamp

Cable q

Plug w

Cable

Clamp

Cable

Servo Motor


HC–RF103(B) to 203(B)

HC–UF72(B) • 152(B)

HC–SF202(B) to 502(B)

HC–RF353(B) to 503(B)

HC–UF202(B) to 502(B)

HC–SF702(B)

Servo Motor

Side Connector

CE05–2A22–23PD–B

CE05–2A24–10PD–B

CE05–2A32–17PD–B q


Type Model

Straight MS3106B22–23S w

Cable clamp


MS3057–12A

Angle MS3108B22–23S

Straight MS3106B24–10S

MS3057–16A

Angle

Straight

Angle

MS3108B24–10S

MS3106B32–17S

MS3108B32–17S

MS3057–20A


Plug w

Cable

Clamp

Cable q

Plug w

Cable

Clamp

Cable

Servo Motor


HC–RF103(B) to 503(B)

HC–UF72(B) to 502(B)

Servo Motor

Side Connector

MS3102A20–29P q


Type Model

w

Cable Clamp


Straight MS3106B20–29S

MS3057–12A

Angle MS3108B20–29S

3

3– 47

3.WIRING


Plug Cable w

Cable Connector

Cable q

Plug w

Cable Connector

Servo Motor

HC–SF202(B) to 702(B)

HC–UF202(B) to 502(B)

Servo Motor

Side Connector

q

Plug


MS3102A10SL–4P MS3106A10SL–4S

Type

Straight

Angle w

Cable Connector

Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Cable OD

4 to 8

Model

ACS–08RL–MS10F

8 to 12

5 to 8.3

4 to 8

8 to 12

5 to 8.3

ACS–12RL–MS10F

YS010–5 to 8

ACA–08RL–MS10F

ACA–12RL–MS10F

YL010–5 to 8

3– 48

3.WIRING

b. When using flexible conduits


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

Side Connector

q

Plug



HC–RF103(B) to 203(B)

HC–UF72(B) • 152(B)

HC–SF202(B) to 502(B)

HC–RF353(B) to 503(B)

HC–UF202(B) to 502(B)

HC–SF702(B)

CE05–2A22–23PD–B

CE05–2A24–10PD–B

CE05–2A32–17PD–B

MS3106A22–23S(D190)

MS3106A24–10S(D190)

MS3106A32–17S(D190)

Type

Straight

Angle

Straight

Angle

Straight

Angle w


Maker Size Model

Conduit

Model ID

1/2 RCC–104RL–MS22F VF–04 14.0

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

3/4

1

16

22

28

1/2

3/4

1

16

22

RCC–106RL–MS22F

RCC–108RL–MS22F

VF–06 19.0

VF–08 24.4

MSA–16–22 FCV16 15.8

MSA–22–22 FCV22 20.8

MSA–28–22

RCC–304RL–MS22F VF–04 14.0

RCC–306RL–MS22F VF–06 19.0

RCC–308RL–MS22F VF–08 24.4

MAA–16–14

MAA–22–22

FCV28 26.4

FCV16 15.8

FCV22 20.8

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

3/4

1

16

22

28 MAA–28–22 FCV28 26.4

1/2 RCC–104RL–MS24F VF–04 14.0

RCC–106RL–MS24F VF–06 19.0

RCC–108RL–MS24F VF–08 24.4

MSA–16–24

MSA–22–24

FCV16 15.8

FCV22 20.8

28 MSA–28–24 FCV28 26.4

1/2 RCC–304RL–MS24F VF–04 14.0

3/4 RCC–306RL–MS24F VF–06 19.0

1 RCC–308RL–MS24F VF–08 24.4

16

22

MAA–16–24

MAA–22–24

FCV16 15.8

FCV22 20.8

28 MAA–28–24 FCV28 26.4

3/4 RCC–106RL–MS32F VF–06 19.0

1 RCC–108RL–MS32F VF–08 24.4

3/4 RCC–306RL–MS32F VF–06 19.0

1 RCC–308RL–MS32F VF–08 24.4

3

3– 49

3.WIRING


Plug Conduit w

Conduit

Connector Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

q

Plug

Side Connector (Daiichi Denshi Kogyo)


HC–RF103(B) to 503(B)


MS3102A20–29P MS3106A20–29S(D190)

Type

Straight

Angle w


Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Size

1/2

3/4

16

22

1/2

3/4

16

22

Conduit

Model Model ID

RCC–104RL–MS20F VF–04 14.0

RCC–106RL–MS20F VF–06 19.0

MSA–16–20

MSA–22–20

FCV16 15.8

FCV22 20.8

RCC–304RL–MS20F VF–04 14.0

RCC–306RL–MS20F VF–06 19.0

MAA–16–20

MAA–22–20

FCV16 15.8

FCV22 20.8


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

q

Plug


HC–SF202(B) to 702(B)

HC–UF202(B) to 502(B)

MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w


Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Size

1/4

10

Model

Conduit

Model ID

1/4 RCC–102RL–MS10F VF–02 8.3

10 MSA–10–10 FCV10 10.0

RCC–302RL–MS10F

MAA–10–10

VF–02 8.3

FCV10 10.0

3– 50

3.WIRING

2) Waterproof (IP65)/EN Standard/UL/C-UL Standard-compliant a. When using cable type cables


Plug w

Cable

Clamp

Cable q

Plug w

Cable

Clamp

Cable

Servo Motor

Servo Motor

Side Connector


HC–RF103(B) to 203(B)

HC–UF72(B) • 152(B)

HC–SF202(B) to 502(B)

HC–RF353(B) to 503(B)

HC–UF202(B) to 502(B)

CE05–2A22–23PD–B

CE05–2A24–10PD–B

HC–SF702(B) q


Type Model

Straight CE05–6A22–23SD–B–BSS

Angle

Straight

CE05–2A32–17PD–B

Angle

Straight

Angle

CE05–8A22–23SD–B–BAS

CE05–6A24–10SD–B–BSS

CE05–8A24–10SD–B–BAS

CE05–6A32–17SD–B–BSS

CE05–8A32–17SD–B–BAS w

Cable Clamp (Daiichi Denshi Kogyo)

Cable OD

9.5 to 13

12.5 to 16

13 to 15.5

15 to 19.1

22 to 23.8

22 to 23.8

Model

CE3057–12A–2(D265)

CE3057–12A–1(D265)

CE3057–16A–2(D265)

CE3057–16A–1(D265)

CE3057–20A–1(D265)

CE3057–20A–1(D265)


Plug e

Cable

Clamp

Cable w

Back shell Cable q

Plug w

Back shell e

Cable Clamp

Servo Motor

Servo Motor

Side Connector

q

Plug


w

Back shell


Type Model

w

Cable Clamp


Cable OD Model


HC–RF103(B) to 503(B)

HA–UF72(B) to 502(B)

MS3102A20–29P MS3106A20–29S(D190)

Straight

Angle

CE02–20BS–S

CE–20BA–S

6.8 to 10 CE3057–12A–3(D265)

3

3– 51

3.WIRING


Plug Cable w

Cable Connector

Cable q

Plug w

Cable Connector

Servo Motor

Servo Motor

Side Connector

q

Plug


HC–SF202(B) to 702(B)

MS3102A10SL–4P MS3106A10SL–4S(D190)

HC–UF202(B) to 502(B)

Type

Straight

Angle w

Cable Connector

Maker Cable OD

4 to 8

Model

ACS–08RL–MS10F

Nippon Flex

Daiwa Dengyo

8 to 12

5 to 8.3

ACS–12RL–MS10F

YS0–10–5 to 8

Nippon Flex

Daiwa Dengyo

4 to 8

8 to 12

5 to 8.3

ACA–08RL–MS10F

ACA–12RL–MS10F

YL0–10–5 to 8

3– 52

3.WIRING

b. When using flexible conduits


Plug Conduit w

Conduit

Connctor Conduit w

Conduit Connector q

Plug

Servo Motor

q

Plug

Servo Motor

Side Connector


Model


HC–RF103(B) to 203(B)

HC–UF72(B) • 152(B)

HC–SF202(B) to 502(B)

HC–RF353(B) to 503(B)

HC–UF202(B) to 502(B)

HC–SF702(B)

CE05–2A22–23PD–B

CE05–2A24–10PD–B

CE05–2A32–17PD–B

CE05–6A22–23SD–B

CE05–6A24–10SD–B

CE05–6A32–17SD–B w

Conduit Connector Conduit

Type

Straight

Angle

Straight

Angle

Straight

Angle

Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

3/4

1

16

22

16

22

28

1/2

Size Model Model ID

1/2 RCC–104RL–MS22F VF–04 14.0

3/4

1

RCC–106RL–MS22F

RCC–108RL–MS22F

VF–06 19.0

VF–08 24.4

MSA–16–22 FCV16 15.8

MSA–22–22 FCV22 20.8

MSA–28–22 FCV28 26.4

RCC–304RL–MS22F VF–04 14.0

RCC–306RL–MS22F VF–06 19.0

RCC–308RL–MS22F VF–08 24.4

MAA–16–22

MAA–22–22

FCV16 15.8

FCV22 20.8

3/4

1

16

22

28 MAA–28–22 FCV28 26.4

1/2 RCC–104RL–MS24F VF–04 14.0

RCC–106RL–MS24F VF–06 19.0

RCC–108RL–MS24F VF–08 24.4

MSA–16–24

MSA–22–24

FCV16 15.8

FCV22 20.8

28 MSA–28–24 FCV28 26.4

1/2 RCC–304RL–MS24F VF–04 14.0

3/4 RCC–306RL–MS24F VF–06 19.0

1 RCC–308RL–MS24F VF–08 24.4

16

22

MAA–16–24

MAA–22–24

FCV16 15.8

FCV22 20.8

28 MAA–28–24 FCV28 26.4

3/4 RCC–106RL–MS32F VF–06 19.0

1 RCC–108RL–MS32F VF–08 24.4

3/4 RCC–306RL–MS32F VF–06 19.0

1 RCC–308RL–MS32F VF–08 24.4

3

3– 53

3.WIRING


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

q

Plug

Servo Motor

Side Connector


Model


HC–RF103(B) to 503(B)


MS3102A20–29P MS3106A20–29S(D190) w

Conduit Connector Conduit

Type

Straight

Angle

Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

16

22

1/2

3/4

16

22

Size Model Model ID

1/2 RCC–104RL–MS20F VF–04 14.0

3/4 RCC–106RL–MS20F VF–06 19.0

MSA–16–20

MSA–22–20

FCV16 15.8

FCV22 20.8

RCC–304RL–MS20F VF–04 14.0

RCC–306RL–MS20F VF–06 19.0

MAA–16–20

MAA–22–20

FCV16 15.8

FCV22 20.8


Plug Conduit w

Conduit

Connector

Conduit w

Conduit Connector q

Plug

Servo Motor

Servo Motor

q

Plug


HC–SF202(B) to 702(B)

HC–UF202(B) to 502(B)

MS3102A10SL–4P MS3106A10SL–4S(D190)

Type

Straight

Angle w


Maker

Nippon Flex

Daiwa Dengyo

Nippon Flex

Daiwa Dengyo

Size

1/4

10

1/4

10

Model Model ID


MSA–10–10 FCV10 10.0


MAA–10–10

Conduit

FCV10 10.0

3– 54

3.WIRING

3-3 Common line

The power supply and its common line are shown below.

Digital input

For open collector pulse train input

Analog input

(+10V/max. current)

CN1A

CN1B

For differential line driver pulse train input

VDD

COM

SON

RES, etc.

SG

24VDC

ALM, etc.

CN1A

CN1B

RA

Digital output

OPC

PG • NG

PP • PN

SG

SD

SG

OPC

PG • NG

PP • PN

Isolated

P15R(permissible 30mA, 15V

±

10%)

TLA

VC, etc.

MO1

MO2

LG LG

CN3

Analog monitor output

Open collector output

35mA or less

OP

LG

LA, etc.

Differential line driver output

35mA or less

LAR, etc.

Servo motor encoder

MRP

MRP

CN2

Servo motor

SM

SD

Earth

3– 55

3

3.WIRING

3-4 Grounding

WARNING

1. Ground the servo amplifier and servo motor securely.

2. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier with the protective ear th

(PE) of the control box.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. In order to prevent such trouble from occurring, ensure to connect an earth referring to the drawing shown below.

To conform to the EMC Directive, refer to the EMC INSTALLATION GUIDELINES (IB(NA)67310).

(Note)

Three-phase

200 to 230VAC or

Single-phase

230VAC

NFB

Control box

MC

Servo amplifier

L1

CN2

L2

L3

L11

L21

CN1A CN1B

U

V

W

Servo motor

Encoder

U

V

W

SM

Always connect it to PE terminal of servo amplifier.

Do not connect it directly to protective earth of control box.

Protective earth (PE)

Outer box

Note: When using a power supply of 230VAC, single phase, connect it to L1 and L2 terminals, but do not connect anything to L3 terminal.

3– 56

3.WIRING

3-5 Power supply circuit

CAUTION

1. When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire.

2. Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

(1) Power-on sequence

1) Always wire the power supply as shown below using magnetic contactors with the main circuit power supply (three-phase 200V: L1, L2, L3; single-phase 230V: L1, L2; single-phase

100V: L1, L2).

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the three-phase power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.

5) For the structure of the external circuit, refer to Section 2-1.

(2) Connection example

Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the input cables of the power supply. Immediately after the occurrence of alarm is detected and the power supply is cut out, the servo ON signal must be turned off.

For single-phase 100V

MR–J2– A1

NFB MC

Single-phase AC

100~120V

L1

L2

L11

L21

RA

External emergency stop

OFF ON

MC

MC

SK

NFB MC

(Note) Three-phase

200 to 230AC

or

Single-phase

230VAC

Emergency stop Servo on

RA

EMG

SON

SG

VDD

COM

ALM

L1

L2

L3

L11

L21

Servo amplifier

MR-J2- A

Note: When using a power supply of 230VAC, single phase, connect it to L1 and L2 terminals, but do not connect anything to L3 terminal.

Trouble

3– 57

3

3.WIRING

(3) Timing chart

SON accepted

(1s)

3-phase power supply

Base circuit

Servo on

(SON)

Reset

(RES)

Ready

(RD)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

10ms

20ms 10ms

60ms

20ms

10ms

10ms

60ms

20ms 10ms

Power ON Timing Chart

(4) Emergency stop

To ensure safety, always install an emergency stop switch across EMG-SG. By disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop.

At this time, the display shows the servo emergency stop warning (A. E6).

During ordinary operation, do not use the emergency stop signal to alternate stop and run. The service life of the servo amplifier may be shortened. Also, if the start signal is on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.

Servo amplifier

VDD

COM

EMG

SG

3– 58

3.WIRING

3-6 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply off, then on.

However, the alarm cannot be reset unless its cause of occurrence is removed.

Control power supply

Ready

(RD)

ON

OFF

ON

Base circuit

Dynamic brake

Servo on

(SON)

OFF

Valid

Invalid

ON

OFF

ON

Trouble

(ALM)

OFF

ON

OFF

Reset

(RES)

ON

OFF

1s

Brake operation

Power off

Brake operation

Power on

Instantaneous power failure alarm

15ms or more

50ms or more

Alarm occurs.

Remove cause of trouble.

Precautions for alarm occurrence

1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent

(A. 32), overload 1 (A. 50) or overload 2 (A. 51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise.

Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (A. 30) alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an accident.

3) Instantaneous power failure

Undervoltage (A. 10) occurs if power is restored after a 100ms or loger power failure of the control power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists further, the control power switches off. When the power failure is reset in this state, the alarm is reset and the servo motor will start suddenly if the servo-on signal (SON) is on. To prevent hazard, make up a sequence which will switch off the servo-on signal (SON) if an alarm occurs.

4) Position control mode

When an alarm occurs, the home position is lost. When resuming operation after resetting the alarm, make a return to home position.

3

3– 59

3.WIRING

3-7 Servo motor with electromagnetic brake

CAUTION

1. Make up the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal.

Shut off by servo-on signal OFF, alarm or electromagnetic brake signal.

Shut off by emergency stop signal (EMG).

Servo motor

RA EMG


24VDC

2. The electromagnetic brake is provided for holding the motor shaft. Do not use it for ordinary braking.

Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (ver tical lift applications):

1) Set 1 in parameter No. 1 to make the electromagnetic brake interlock signal (MBR) valid. Note that this will make the zero speed signal (ZSP) unavailable.

2) Do not share the 24VDC power supply between the interface and electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

3) The brake will operate when the power (24VDC) switches off.

4) Turn off the servo on signal after the servo motor has stopped.

(1) Connection diagram

Servo motor Servo amplifier

VDD

COM

MBR RA

RA Emergency stop

B1

Z

24VDC B2

(2) Setting procedure

1) Set 1 valid.

in parameter No. 1 to make the electromagnetic brake interlock signal (MBR)

2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in this section.

3– 60

3.WIRING

(3) Timing charts

(a) Servo-on signal (SON) ON/OFF

Tb (ms) after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a ver tical lift application or the like, set

Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.

Coasting

Servo motor speed

0 r/min

Tb

(80ms)

ON

Base circuit

OFF

Invalid(ON)

(80ms)

Electromagnetic brake interlock(MBR)

Valid(OFF)

Servo on (SON)

ON

OFF

Electromagnetic brake operation delay time

(b) Emergency stop signal (EMG) ON/OFF

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

(10ms)

ON

OFF

Invalid (ON)

Valid (OFF)

Invalid (ON)

Emergency stop (EMG)

Valid (OFF)

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)


(180ms)

3

3– 61

3.WIRING

(c) Alarm occurrence

Servo motor speed

Dynamic brake

Dynamic brake



(10ms)

Base circuit

ON

OFF

Electromagnetic brake interlock (MBR)

Invalid(ON)

Valid(OFF)

Trouble (ALM)

No(ON)

Yes(OFF)


(d) Both main and control circuit power supplies off

Servo motor speed (Note)

15 to 100ms

(10ms)

Dynamic brake

Dynamic brake



Base circuit

ON

OFF

Electromagnetic brake interlock(MBR)

Invalid(ON)

Valid(OFF)

Trouble (ALM)

Main circuit power

Control circuit

No(ON)

Yes(OFF)

ON

OFF

(10ms or less)


(Note 2)

Note: Changes with the operating status.

(e) Only main circuit power supply off (control circuit power supply remains on)

Servo motor speed

(10ms)

(Note 1)

15ms or more

Dynamic brake

Dynamic brake



ON

Base circuit

OFF

10ms or less


(MBR)

Invalid(ON)

Valid(OFF)

Trouble (ALM)

No(ON)

Yes(OFF)


(Note 2)

ON

Main circuit power supply

OFF

Note: 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (A.E9) occurs and the ALM signal does not turn off.

3– 62

CHAPTER 4

INSTALLATION

This chapter deals with the installation method and environmental conditions. Follow the instructions in this chapter when installing the equipment.

4-1 Servo amplifier

4-2 Servo motor

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

4– 1

4.INSTALLATION

CAUTION

1. Stacking in excess of the limited number of products is not allowed.

2. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.

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

Installation Guide.

4. Do not get on or put heavy load on the equipment to prevent injury.

5. Use the equipment within the specified environmental condition range.

6. Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier.

7. Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

8. Do not subject the servo amplifier and servo motor to drop impact or shock loads as they are precision equipment.

9. Do not install or operate a faulty servo amplifier or servo motor.

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

4-1 Servo amplifier

CAUTION

1. The equipment must be installed in the specified direction. Otherwise, a fault may occur.

2. Leave specified clearances between the servo amplifier and control box inside walls or other equipment.

(1) Environmental conditions

Environment

Ambient temperature

Ambient humidity storage temperature storage humidity

Ambient

Altitud

Vibration

Conditions

0 to +55 [

°

C] (non-freezing)

32 to +131 [

°

F] (non-freezing)


–20 to +65 [

°

C] (non-freezing)

–4 to +149 [

°

F] (non-freezing)




Max. 1000m (3280 ft) above sea level

5.9 [m/s

2

] or less

19.4 [ft/s

2

] or less

4– 2

4.INSTALLATION

(2) Installation direction and clearances

1) Installation of one servo amplifier

Control box

40mm

(1.6 in.) or more

10mm

(0.4 in.) or more

Control box

10mm

(0.4 in.) or more

Wiring clearance

70mm

(2.8 in.)

Top

Bottom

MR – J2

40mm

(1.6 in.) or more

2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

100mm

(4.0 in.) or more

10mm

(0.4 in.) or more

30mm

(1.2 in.) or more

30mm

(1.2 in.) or more

4

MR – J2

40mm

(1.6 in.) or more

4– 3

4.INSTALLATION

3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected.

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

(2) Keep out foreign materials

1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.

2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a fan installed on the ceiling.

3) When positioning the control panel in a place where there is much harmful gas or dust, perform an air purge (force-feed clean air from the outside of the control panel to increase the inside air pressure more than the outside air pressure) to prevent harmful gas or dust from entering the control panel.

4– 4

4.INSTALLATION

4-2 Servo motor

CAUTION

1. Do not hold the cable, shaft or encoder to carry the servo motor.

Otherwise, a fault or injury may occur.

2. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury.

3. When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty.

4. Cover the shaft of the servo motor to make its rotary part completely inaccessible during operation.

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

(1) Environmental conditions

Environment

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Ambient

Altitude

Vibration

[

[

[

[

°

°

°

°

C]

F]

C]

F]

Conditions




–15 to +70 (non-freezing)

5 to 158 (non-freezing)




[m/s

2

]

[ft/s

2

]

Max. 1000m (3280ft) above sea level

MC-MF series

X·Y: 19.6

HA-FF series

HU-UF13 to 73

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

X: 9.8

Y: 24.5

HC-RF series

HC-UF72·152

HC-SF121·201

HC-SF202·352

HC-SF203·353

HC-UF202

X: 19.6

Y: 49

HC-SF301

X: 11.7

Y: 29.4

MC-MF series

HA-FF series

HU-UF13 to 73

HC-SF81

HC-SF52 to 152

HC-SF53 to 153

HC-RF series

HC-UF72·152

HC-SF121·201

HC-SF202·352

HC-SF203·353

HC-UF202

HC-SF301

X·Y: 64

X: 32

Y: 80

X: 64

Y: 161

X: 38 Y: 96

Graph of vibration servo amplitude vs. speed

X

Vibration

Servo motor

Y

4

4– 5

4.INSTALLATION

200

100

80

60

50

40

30

20

500 1000 1500 2000 2500 3000 3500

Speed [r/min]

(2) Transportation

Do not hold the encoder or shaft to carry the servo motor.

(3) Load mounting precautions (Prevention of impact on shaft)

1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. To fit the pulley, first inser t 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.

2) For the servo motor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a keyway, use a friction coupling or the like.

3) When removing the pulley, use a pulley remover to protect the shaft from impact.

4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft.

5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us.

6) During assembling, the shaft end must not be hammered.

7) The orientation of the encoder on the servo motor cannot be changed.

8) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration.

(4) Permissible load for the shaft

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

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

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

Servo motor

Pulley

Double-end stud

Nut

Washer

4– 6

4.INSTALLATION

L Radial load Thrust load

Serbo Motor

HC–MF

HA–FF

053·13

23·43

73

053

13

23 · 33

43 · 63

81

121 to 301

HC–SF

52 to 152

202·352

53 to 153

203·353

HC–RF 103 to 203

72·152

202

HC–UF 13

23·43

73

65

25

30

40

55

79

45

55

55

79

55

79

30

30

30

40

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

25 1.0

88 19.8

59 13.3

30

40

1.2

1.6

245 55.1

392 88.2

98 22.0

147 33.1

1.2

1.2

1.2

1.6

108

118

24.3

26.5

98

98

22.0

22.0

176 39.6

147 33.1

323 72.7

284 63.9

2.17

980 220 490 110

3.11

2.2

3.1

2058

980

463 980 220

2058 463.0

980 220.5

2.17

980

220.5

490

220 490

110.2

110

3.11

2058

1.8

686

2.17

637

463 980

154.3

196

143 490

220

44.1

110

2.56

882

0.98

88

1.18

245

1.57

392

198 784

20

55

88

59

98

147

176

13

22

33

Note: For the symbols in the table, refer to the following diagram:

L

Radial load

Thrust load

L: Distance from flange mounting surface to

load center

(5) Protection from oil and water

1) The HC-MF/HA-FF series servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water.

Oil or water

Servo Motor Series

HC – MF•HA – FF

HC – SF•HA – RF

Protection

IP44

IP65

Servo motor

4

4– 7

4.INSTALLATION

2) When the gear box is mounted horizontally, the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault. Also, provide a breathing hole in the gear box to hold the internal pressure low.

The HC-MF series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side.

Some HA-FF series servo motors are equipped with an oil seal. Please contact Mitsubishi.

Servo Motor

053 · 13

HA–FF 23 · 33

43 · 63

81

121 to 301

HC–SF

52 to 152

202 · 352

53 to 153

203 · 353

HC–RF 103 to 203

72 · 152

202 to 502

HC–UF

13

23 · 43

73

Height above Oil Level h [mm] ([in])

8 (0.32)

12 (0.48)

14 (0.56)

20 (0.79)

25 (0.98)

20 (0.79)

25 (0.99)

20 (0.79)

25 (0.98)

20 (0.79)

20 (0.79)

25 (0.98)

12 (0.47)

14 (0.55)

20 (0.79)

Height above oil level h

Gear

Lip

V ring

Servo motor

3) When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically or obliquely, provide a trap for the cable.

Cable trap

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

Cover

5) When the servo motor is to be installed with the shaft end at top, provide measures to prevent oil from entering the servo motor from the gear box, etc.

Servo motor

Oil/water pool

<Incorrect> Capillary phenomenon

Gear

Lubricating oil

Servo motor

4– 8

4.INSTALLATION

(6) Installation orientation

The servo motor may be installed in any orientation. When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. Refer to Section 10-3 for the installation orientation of the servo motor with reduction gear.

(7) Cable stress

1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.

2) In any application where the servo motor moves, the cables should be free from excessive stress. When using the servo motor in an application where the servo motor itself may cause a movement, design the cable so that the service life of the bent part of the cable comes within the service life of the bent part of the detector cable. Fix the encoder cable and power cable of the servo motor.

3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

4) The flexing lives of the cables are shown below. In actuality, provide a little allowance for these values. For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible.

1 x 10

8

5 x 10

7 a

1 x 10

7

5 x 10

6

1 x 10

6

5 x 10

5

1 x 10

5

5 x 10

4

Flexing life [times] a : Long flexing-life encoder cabl

MR–JCCBL M–H

MR–JHSCBL M–H b : Standard encoder cable

MR–JCCBL M–L

MR–JHSCBL M–L

1 x 10

4

5 x 10

3 b

1 x 10

3

4 7 10 20 40 70 100

Flexing radius [mm]

200

Note: This graph gives calculated values which are not guaranteed.

Flexing Lives of Encoder Cables

4

4– 9

CHAPTER 5


This chapter provides how to build an absolute position detection system.

This servo amplifier will make up an absolute position detection system by merely installing a battery.

For more information, refer to the MR-J2-A Absolute Position Detection System Installation Guide (IB(NA)67309).

(1) Restrictions on absolute position detection system

(2) Specifications

(3) Structure

(4) Overview of absolute position detection data communication

(5) Battery installation procedure

(6) Parameter setting


INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

5 – 1

5.ABSOLUTE POSITION DETECTION SYSTEM

(1) Restrictions on absolute position detection system

An absolute position detection system cannot be built under the following conditions:

1) Speed control or torque control operation

2) Control change mode (position/speed, position/torque)

3) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning.

4) Restart after instantaneous power failure is made valid for operation.

5) Use of alarm code output

(2) Specifications

Item Description

System

Battery

Encoder resolution

Maximum revolution range

(Note 1) Maximum speed at power failure

Electronic battery backup system

1 piece of lithium battery (primary battery, nominal + 3.6V)

Type: MR-BAT or A6BAT

Refer to (2) in Section 10-1.

Home position

±

32767 rev.

500r/min

Approx. 10,000 hours (battery life with power off)

(Note 2) Battery backup time

(Note 3) Data holding time during battery

replacement

Battery storage period

2 hours at delivery, 1 hour in 5 years after delivery

5 years from date of manufacture

Note: 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.

2. Time to hold data by a battery with power off.

3. Period during which data can be held by the super capacitor in the encoder

after power-off, with the battery voltage low or the battery removed, or during

which data can be held with the encoder cable disconnected. Battery

replacement should be finished within this period.

(3) Structure

1) Components

Component

Servo amplifier

Servo motor

Battery

Encoder cable

General-purpose programmable controller

Description

Use standard models.

MR-BAT or A6BAT

Use a standard model.

When fabricating, refer to (2), Section 6-1-2.

Use I/O unit (3 input points, 2 output points) to transfer absolute position detection data.

5– 2


2) Applicable general-purpose programmable controller units

Positioning Unit

AD71 · AD71S2 · AD71S7

A1SD71S2 · A1SD71S7

AD75P · A1SD75P

FX–1PG · FX–1GM

FX(E)–20GM · FX–10GM

AX40 · 41 · 42

AY40 · 41 · 42

FX2–32MT

I/O Unit

Note: 1. The A0J2CPU cannot be used.

2. For the availability of the units not listed above, consult Mitsubishi.

3. The absolute position detection program is not required for the FX-1GM,

FX(E)-20GM and FX-10GM.

Configuration


AD75 or the like

Servo amplifier

Battery

Servo motor

CN1A

CN1B CN2

I/O

(4) Overview of absolute position detection data communication

1) System block diagram

As shown below, the encoder consists of not only the position controlling A, B and Z phase signals but also a counter designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

Whether the general-purpose programmable controller power is on or off, the absolute position detection system keeps the absolute position of the machine detected and battery-backed.

Therefore, once the home position has been set during machine installation, dog type zeroing is not needed thereafter at power-on, ensuring ease of recovery after a power failure or fault.

Also, battery-backed by the super capacitor in the encoder, absolute position data can be held if cable disconnection or cable breakage occurs within the specified time (data holding time during battery replacement).


CPU Positioning unit

Pulse train command

Current position

Current position read

I/O unit

Input

Output

Zeroing data

EEPROM memory

LSO

1XO

Backup at power off

Battery MR–BAT

Servo amplifier

LS

Speed

Current position detection

1X

Detection of position within one revolution

Speed control

Position control

5

Servo motor

1P/rev Cumulative revolution counter

Super capacitor

Within one-revolution counter

A, B, Z phase signals

(Encoder)

High-speed serial

5– 3


2) Communication sequence

Programmable controller

Step 1

Requests ABS transfer mode.

Servo amplifier

Changes DI/DO function for

ABS transfer I/O signal.

DI/DO is used to transfer ABS data between servo amplifier and programmable controller.

Step 2 Receives ready to send.

Step 3

Outputs ABS data request signal.

Step 4

Receives 2 bits of ABS data.

(ABS processing complete)

Reads ABS data from encoder, creates current position data, and outputs ready to send.

Receives ABS data request signal.

2-bit data is sent 19 times

(32 bits of data + 6 bits of checksum = total of 38 bits).

These steps are repeated

19 times to make up data.

Outputs 2 bits of ABS data.

(5) Battery installation procedure

NOTICE

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions:

1. Ground human body and work bench.

2. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

1) Open the operation window. (When the model used is the MR-J2-200A or more, also remove the front cover.)

2) Install the battery in the battery holder.

3) Insert the battery connector into CON1 until it clicks.

Battery connector

Operation window

Battery connector

CON1

CON1

Battery Battery holder

For MR-J2-200A or more

(6) Parameter setting

Set 1 in parameter No. 1 to make the absolute position detection system valid.

Battery

Battery holder

For MR-J2-200A or more

1

Parameter No. 1

Positioning system

0: Incremental

1: Absolute position detection system

5– 4



This diagram shows connection between the MELSEC-A1SD75 (AD75) and servo amplifier.

Power supply

A1S62P

600mA

LG

INPUT

AC100/200

+24

24G

FG


A1SCPU

A1SX40

A1SY40

COM1

COM2

-

8

9

A

B

+

-

0

1

2

5

6

7

+

3

4

A1SD75-P

DOG

FLS

RLS

STOP

CHG

START

Common

Common

11

12

13

14

15

16

35

36

2

3

0

1

4

5

6

7

COM

8

9

A

B

C

Alarm reset

Emergency stop

Servo ON

Home position return

Operation mode I

Operation mode II

Position start

Position stop

JOG+

JOG-

D

E

F

COM

NC

NC

(Note 1)

Proximity signal

RDY

INPS

Common

CLEAR

Common

7

8

26

5

23

(Note 2)

PGO

PULSE-F

PULSE-R

PLS COM

PLS COM

24

25

21

3

22

4

19

20

(Note 6)

ABS data bit 0

ABS data bit 1/zero speed

Readying to send data/limiting torque

Trouble

(Note 3)

Upper limit

Lower limit

Operation Mode

Operating Status

1 2

OFF OFF

OFF

ON

ON

ON

OFF

ON

JOG

Home position return

Positioning

Servo ON

ABS transfer mode

ABS request

Alarm reset

RA2

Electromagnetic brake output

(Note 4)

Servo alarm

ABS communication error

ABS checksum error

(Note 2)

Ready

Positioning completion

(Note 5)

MR–J2–A

CN1B

VDD

COM

SG

SG

3

13

10

20

ABS bit0

ABS bit1

ABS busy

ALM

4

19

6

18

EMG 15

LSP

LSN

16

17

SON

ABSM

ABSR

RES

5

8

9

14

CN1A

COM

RD

INP

9

19

18

CR

SG

SG

LZ

LZR

PG

PP

NG

NP

LG

SD

15

13

3

12

2

1

Plate

8

10

20

5

For notes, refer to page 5-6.

5– 5


Note: 1. For dog type home position return. Do not connect when homeposition return is of the data set type.

2. If the servo motor provided with the zero point signal is started, the A1SD75 (AD75) will output the deviation counter clear signal. Therefore, do not connect the clear signal of the MR-J2-A to the

A1SD75 (AD75) but connect it to the output module of the programmable contoroller.

3. This circuit is for your reference.

4. The electromagnetic brake output should be controlled via a relayconnected to the programmable controller output.

5. Use the differential line driver system for pulse input. Do not use the open collector system.

6. To reinforce noise suppression, connect LG and pulse output COM.

5– 6

CHAPTER 6


This chapter offers how to use various options and auxiliary equipment.

6-1 Dedicated options

6-1-1 Regenerative brake options

6-1-2 Cable connectors

6-1-3 Junction terminal block

6-1-4 Maintenance junction card

6-1-5 Set-up software

6-2 Auxiliary equipment

6-2-1 Cables

6-2-2 No-fuse breakers, fuses, magnetic contactors

6-2-3 Power factor improving reactors

6-2-4 Relays

6-2-5 Surge absorbers

6-2-6 Noise reduction techniques

6-2-7 Leakage current breaker

6-2-8 Battery (MR-BAT, A6BAT)

6-2-9 Setting potentiometers for analog inputs

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

6– 1

6. OPTIONS AND AUXILIARY EQUIPMENT

WARNING

Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock.

CAUTION

Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.

6-1 Dedicated options

6-1-1 Regenerative brake options

CAUTION

The specified combinations of regenerative brake options and servo amplifiers may only be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

(Note) Regenerative Power[W]

Servo Amplifier

Model

Built-in regenerative brake resistor

MR–RB032

[40

Ω

]

MR–RB12

[40

Ω

]

MR–RB32

[40

Ω

]

MR–RB30

[13

Ω

]

MR–RB50

[13

Ω

]

MR–J2–10A(1)

MR–J2–20A(1)

MR–J2–40A(1)

MR–J2–60A

MR–J2–70A

MR–J2–100A

Without

10

10

10

20

20

30

30

30

30

30

30

100

100

100

100

100

300

300

MR–J2–200A 100 300 500

MR–J2–350A 100 300 500

Note: These values indicate the regenerative powers caused by the resister, not the rated powers.

(2) Selection of the regenerative brake option

1) Simple selection method

In horizontal motion applications, select the regenerative brake option as described below:

When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indicated in the standard specifications (Section 10-1).

For the servo motor with a load, the permissible duty changes according to the iner tia moment of the load and can be calculated by the following formula:

Permissible duty= permissible duty for servo motor with no load (value indicated in Section 10-1) x rated speed

( running speed

2

)

[times/minute]

(m+1) where m = load inertia moment/servo motor inertia moment

From the permissible duty, find whether the regenerative brake option is required or not.

Permissible duty < number of positioning times n1 [times/minute]

Select the regenerative brake option out of the combinations in (1) in this section.

6– 2


2) To make selection according to regenerative energy

Use the following method when regeneration occurs continuously in ver tical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a. Regenerative energy calculation

Use the following table to calculate the regenerative energy.

Servo motor speed

Generated torque

Formulas for Calculating Torque and Energy in Operation

M

Regenerative

Power

Torque applied to servo motor [N • m] Energy [J]

Friction torque

1)

T

1

=

(J

L

+ J

M

)•No

4

9.55 x 10

1

•

T

Psa1

+ T

U

+ T

F

E

1

=

0.1047

2

•No•T

1

•T

Psa1

T

F

2)

T

2

= T

U

+ T

F

E

2

= 0.1047•No•T

2

•t

1

Unbalance torque

T

U tf(1 cycle)

No

3)

T

3

=

(J

L

+ J

M

)•No

4

9.55 x 10

•

1

T

Psd1

+ T

U

+ T

F

E

3

=

0.1047

2

•No•T

3

•T

Psd1

Up

4), 8)

T

4

= T

U

E

4

0 (Not regenerative)

( + ) t

1 q

T psa

1

T psd

1

(Driving) w t

2 r

Down

T psa

2 t

3

Time t

4

T psd

2 i

5)

6)

T

5

=

(J

L

+ J

M

)•No

4

9.55 x 10

1

•

T

Psa2

- T

U

+ T

F

T

6

= T

U

+ T

F

E

5

=

0.1047

2

•No•T

5

•T

Psa2

E

6

= 0.1047•No•T

6

•t

3 t

7)

T

7

=

(J

L

+ J

M

)•No

4

9.55 x 10

1

•

T

Psd2

- T

U

+ T

F

E

7

=

0.1047

2

•No•T

7

•T

Psd2 y e

(Regenerative) u

Sum total of regenerative energies

Sum total of negative energies in 1) to 8)

( - ) b. Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.

Servo Amplifier Inverse Efficiency[%] Capacitor Charging[J]

MR–J2–10A(1)

MR–J2–20A(1)

MR–J2–40A(1)

MR–J2–60A

MR–J2–70A

MR–J2–100A

MR–J2–200A

MR–J2–350A

80

80

85

85

55

70

85

85

18

18

40

40

9

9

11

11

Inverse efficiency (

η

) : Efficiency including some efficiencies of the servo motor and ser vo amplifier when rated (regenerative) torque is generated at rated speed.

Since the efficiency varies with the speed and generated torque, allow for about 10%.

Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo amplifier.

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option.

E

R

[J] =

η

• Es–Ec

Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.

P

R

[W] = E

R

/tf ...................................................................................... (6-1)

6

6– 3


(3) Connection of the regenerative brake option

When using the regenerative brake option, always remove wiring from across P-D and install the regenerative brake option across P-C. Set parameter No.0 according to the option to be used. The regenerative brake option will generate heat of about 100

°

C. Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use fire-retarding cables and keep them clear of the regenerative brake option body. Always use twisted cables of max. 5m length for connection with the servo amplifier.

Parameter No. 0

Selection of regenerative brake option

0: Not used.

2: MR – RB 032

3: MR – RB 12

4: MR – RB 32

5: MR – RB 30

6: MR – RB 50

CAUTION

Servo amplifier

D

P

C


P

C

G3

(Note)

G4

5m (16.4 ft) max.

A l way s r e m ove t h e lead from across P-D.

G3 • G4: Thermal protector terminals.

Abnormal heating will dis-

connect G3-G4.

Note: Make up a sequence which will switch off the magnetic contactor

(MC) when abnormal heating occurs.

6– 4


(4) Outline drawing

1) MR-RB032•MR-RB12

[Unit: mm (in)]

LB

LA

ø6 (0.24) mounting hole

MR-RB

5 (0.20)

TE1

G3

G4

P

C

6 (0.23)

1.6 (0.06)

20

(0.79)

LC

LD

Regenerative

Brake Option

Regenerative

Power[W]

Resistance

[

Ω

]

MR – RB032

30 40

Variable Dimensions Weight

LA LB LC LD

30

(1.18)

15

(0.59)

119

(4.69)

99

(3.9)

[kg] [lb]

0.5

1.1

MR – RB12

100 40

40

(1.57)

15

(0.59)

169

(6.65)

149

(5.87)

1.1

2.4

6

6– 5


2) MR-RB32•MR-RB30

[Unit: mm (in)]

79

(7.05)

3.2(0.13)

318(12.52)

17

(0.67)

Terminal block

10

(0.39)

7(0.28)

90

(3.54)

100(3.94)

Regenerative

Brake Option

Regenerative

Power

[W]

[

Ω

]

MR–RB32 300 40

[kg] [lb]

2.9

6.4

MR–RB30 300 13 2.9

6.4

3) MR-RB50

[Unit: mm (in)]

7 X 14 slot

Terminal block

2.3(0.09)

200(7.87)

12

(0.47)

7(0.28)

116(4.57)

128(5.04) 17(0.67)

Regenerative

Brake Option

Regenerative

Power

[W]

[

Ω

]

MR–RB50 500

[kg] [lb]

13 5.6

12.3

6– 6


6-1-2 Cable connectors

(1) Cable selection

• Use the encoder cable 1) or 2) or 3) or 4) after confirming the required wiring length. To fabricate the encoder cable, use the encoder connector set 5) or 6) and refer to (2) in this section.

• The control signals may either be exported directly using the control signal connector 7) or to the junction terminal block 12) via the junction terminal block cable 8). Use the options according to the connection method.

• When using the personal computer during operation, use the maintenance junction card 9) and also use the communication cable 10) or 11).

• For the outline drawing of each connector, refer to Section 10-5-4.

Servo amplifier

7)

Operation panel

CN1A CN1B

CN2 CN3

10) 11)

13)

Positioning unit

8)

To CN1A

1) 2)

9)

Personal computer

12)

8)

To CN1B

5)

HC–MF/HA–FF servo motor

12)

3) 4)

6)

HC–SF/HC–RF servo motor

For

CN2 1)

Product Model

Standard

HC–MF/HA–FF

HC–UF 3000r/min

MR–JCCBL M–L encoder cable for Cable length in

: 2, 5, 10, 20, 30[m]

Description

Servo amplifier side connector (3M or equivalent)

10120–3000VE (Connector)

10320–52F0-008 (Shell kit)

Servo motor encoder side connector (AMP)

1-172161–9 (Connector)

2)

Long flexing-life MR–JCCBL M–H encoder cable for Cable length in

HC–MF/HA–FF

HC–UF 3000r/min

: 2, 5, 10, 20, 30,

40, 50[m]

3)

Standard

MR–JHSCBL M–L encoder cable for

Cable length in

HC–SF/HC–RF

: 2, 5, 10, 20, 30,

HC–UF 2000r/min

40, 50[m]



10320–52F0-008 (Shell kit)

Servo motor encoder side connector

(Japan Aviation Electronics)

MS3106B20-29S (Straight plug)

MS-3057-12A (Cable clamp)

4)

Long flexing-life

MR–JHSCBL M–H encoder cable for

Cable length in

HC–SF/HC–RF

: 2, 5, 10, 20, 30,

HC–UF 2000r/min

40, 50[m]

6

6– 7


For

CN2

Product Model

5)

Encoder connector set for

HC–MF/HA–FF

MR–J2CNM

Description



10320–52F0-008 (Shell kit)

Servo motor encoder side connector (AMP)

1-172161–9 (Housing)

170359–1 (Connector pin)

MTI-0002 (Clamp)

6)

Encoder connector set for

HC–SF

MR–J2CNS



10320–52F0-008 (Shell kit)

Servo motor encoder side connector (Japan Aviation Electronics)

MS3106B20-29S (Straight plug)

MS-3057-12A (Cable clamp)

For

CN1A,

CN1B 7)

Control signal connector

MR–J2CN1



10320–52F0-008 (Shell kit)

Qty: 2 each

8)

Junction terminal block cable

MR–J2TBL M

Length: 0.5[m]


10120–6000EL (Connector)

10320–3210-000 (Shell kit)

Junction terminal block side connector

HIF3BA–20D–2.54R (Hirose Electric)

For

CN3

9)

Maintenance junction card

MR–J2CN3TM

Refer to Section 6–1–4.

10)

Communication

MR–CPC98CBL3M cable for PC98

Cable length: 3[m]



10320–3210-000 (Shell kit)

PC98 series personal computer side connector


Connector: DE-25PF-N

Case: DB-C2-J9

11)

Communication cable for DOS/V

MR–CPCATCBL3M

Cable length: 3[m]



10320–3210-000 (Shell kit)

DOS/V personal computer side connector


Connector: DE-9SF-N

Case: DE-C1-J6-S6

12)


MR–TB20

13) Bus cable


MR–J2HBUS M

Cable length in

:0.5, 1, 5[m]


10320–3210-000 (Shell kit)

10120-6000EL (Connector)

10320-3210-000 (Shell kit)

6– 8


(2) Standard encoder cable

The specifications and connection of each cable are indicated below. A fabricated cable should be as specified in the following table or equivalent and connected correctly.

Core Size

[mm

2

] x Pair

Core Insulation Sheath OD

(Note) d [mm]

Recommended Cable Model

0.08 x 7

0.08 x 10

0.2 x 7

0.3 x 7

0.9 to 1.27

UL20276

AWG28 7pair (BLACK)

UL20276

AWG28 10pair (BLACK)

UL20276

AWG24 7pair (BLACK)

UL20276

AWG22 7pair (BLACK)

Cable Type

Standard encoder cable

Communication cable

Bus cable



Note: d is as shown below.

d

Sectional view of cor

Conductor

Insulation sheath

Core Size

x Pair

[mm

2

]

Characteristics of One Core

Structure

[pcs./mm]

Conductor resistance[

Ω

/km]

Recommended Cable Model

0.2 x 6 40/0.08

105 max.

(Note)

A14B2343

Cable Type

Flexing, long-life encoder cable

Note: Junkosha make, purchased from Toa Electric

For the control signal connector, connect the external conductor of the shielded cable to the ground plate securely as shown below.

a. Termination of external conductor

External conductor Sheath

Strip the sheath.

b. Fitting of the ground plate

Screw

Core Sheath

External conductor

Pull back the external conductor to cover the sheath

Cable

6

Ground plate

Screw

6– 9


1) Encoder cable connection diagrams

CAUTION

If you have fabricated the encoder cable, connect it correctly.

Otherwise, misoperation or explosion may occur.

a. For HC–MF/HA–FF

Optional cables

MR–JCCBL2M–L

MR–JCCBL5M–L

MR–JCCBL2M–H

MR–JCCBL5M–H

Servo amplifier side Encoder side

MR–JCCBL10M–L to

MR–JCCBL30M–L

Servo amplifier side Encoder side

MR–JCCBL10M–H

Servo amplifier side to

MR–JCCBL50M–H

Encoder side

7 7 7 P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

MR

MRR

MD

MDR

BAT

LG

SD

7

17

6

16

9

1

Plate

2

4

8

1

5

3

9

MR

MRR

MD

MDR

BAT

LG

7

17

6

16

9

1

SD Plate

2

4

8

1

5

3

9

MR

MRR

MD

MDR

BAT

LG

SD

7

17

6

16

9

1

Plate

2

4

8

1

5

3

9

For fabrication

When fabricating an encoder cable, fabricate it as shown below. The cable of max. 50m length may be fabricated. When the user manufactures the detector cable, there is no need to connect

"MD" and "MDR" signals.

For use of AWG24 For use of AWG22


P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7


P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7

MR 7

MRR 17

8

1

2

MR 7

MRR 17

8

1

2

BAT

LG

9

1

SD Plate

3

9

BAT

LG

9

1

SD Plate

3

9

6– 10


b. For HC–SF/HC–RF

When fabricating an encoder cable, fabricate it as shown below:

MR – JHSCBL2M – L


MR – JHSCBL2M – H


MR – JHSCBL10M – L to


MR – JHSCBL10M – H to



9

1

7

17

18

2

19

11

20

12

P5

LG

P5

LG

MR

MRR

P5

LG

BAT

LG

SD Plate

Encoder side Servo amplifier side

S

R

C

D

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

F

G

N

MR

MRR

7

17

BAT

LG

9

1

SD Plate

Encoder side Servo amplifier side

S P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

R

C

D

MR

MRR

7

17

Encoder side

S

R

C

D

F

G

N

BAT

LG

SD

9

1

Plate

F

G

N

AWG24 used

(For less than 10m)

AWG22 used

(For 10 to 50m)

AWG24 used

(For 10 to 50m)

In addition to the above, the customer may also fabricate the cable of the following length:

For use of AWG28 (5m or less)


9

1

12

7

17

18

2

19

11

20

P5

LG

P5

LG

MR

MRR

P5

LG

BAT

LG

SD Plate

Encoder side

S

R

C

D

F

G

N

6

6– 11


2) Junction terminal block cable

MR–J2TBL M

Symbol Cable Length [m (inch)]

0.5

1

0.5 (19.68)

1 (39.37)

Junction terminal block side

(Note) Abbreviated Signal Code

Position Control Mode Speed Control Mode Torque Control Mode

Junction Terminal

Block Terminal No.

Pin

No.


(CN1A, CN1B side)

Pin

No.

COM

SG

OPC

NG

PG

OP

LZR

LAR

LG

NP

PP

P15R

LZ

LA

LB

CR

LBR

INP

RD

SD

EMG

LSP

LSN

ALM

ZSP

SD

PC

TLC

SG

P15R

TLA

COM

RES

LG

VC

VDD

DO1

SON

TLC

LG

P15R

LZ

LA

LB

SP1

COM

SG

OP

LZR

LAR

LBR

SA

RD

SD

ST2

SG

P15R

TLA

COM

RES

EMG

LSP

LG

VC

VDD

DO1

SON

TLC

SP2

ST1

LSN

ALM

ZSP

SD

LG

P15R

LZ

LA

LB

SP1

COM

SG

OP

LZR

LAR

LBR

RD

SD

RS1

SG

P15R

TC

COM

RES

EMG

LG

VLA

VDD

DO1

SON

VLC

SP2

RS2

ALM

ZSP

SD

Note: The label furnished with the relay terminal block is for position control mode. When using the relay terminal block in the speed control mode or torque control mode, use the furnished signal seal to change the abbreviated signal code.

3) Bus cable

MR – J2HBUS05M

MR – J2HBUS1M

MR – J2HBUS5M

Plate

B7

A7

B8

A8

B5

A5

B6

A6

B9

A9

B10

A10

B3

A3

B4

A4

B1

A1

B2

A2

5

16

6

17

3

14

4

15

7

18

8

19

9

1

12

2

13

10

0

11

13

14

15

16

9

10

11

12

17

18

19

20

7

8

5

6

3

4

1

2

Servo amplifier side connector


10320-3210-000 (Shell kit)

Servo amplifier side connector


10320-3210-000 (Shell kit)

7

17

8

18

5

15

6

16

9

19

10

20

3

13

4

14

1

11

2

12

Plate

7

17

8

18

5

15

6

16

9

19

10

20

3

13

4

14

1

11

2

12

Plate

6– 12


4) Communication cable

NOTICE

This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable.

Select the communication cable according to the shape of the RS-232C connector of the personal computer used. When fabricating the cable, refer to the connection diagram in this section. The following must be observed in fabrication:

• Always use a shielded, multi-core cable and connect the shield with FG securely.

• The optional communication cable is 3m (10 ft) long. When the cable is fabricated, its maximum length is 15m (49 ft) in offices of good environment with minimal noise.

Connection diagram

• MR–CPC98CBL3M

Personal computer side

SD

RD

SG

RS

CS

2


Plate

2

1

12

11

FG

RXD

GND

TXD

GND

• MR–CPCATCBL3M

Personal computer side

TXD 3


Plate

2

1

12

11

FG

RXD

GND

TXD

GND

3

7

4

5

RXD

GND

RTS

CTS

DSR

DTR

7

8

2

5

6

4

D-SUB9 pins D-SUB25 pins

(Note)

Half-pitch 20 pins Half-pitch 20 pins

Note: The PC98 Notes having the connector of half-pitch 14 pins are also available. Confirm the shape of the RS-232C connector of the personal computer used.

6

6– 13


6-1-3 Junction terminal block

POINT

When using the relay terminal, "SG" of CN1A-20 and CN1B-20 cannot be used. Use "SG" of CN1A-4 and CN1B-4.

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-

J2TBL05M) as a set. A connection example is shown below:

Servo amplifier

Cable clamp

(AERSBAN–ESET)


MR–TB20

CN1A or

CN1B

Junction terminal block cable

(MR–J2TBL05M)

Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to

(3), Section 6-2-6.

(2) Terminal labels

The junction terminal block has three terminal block labels which indicate signal arrangement.

Out of these labels, use the two for MR-J2-A. These two labels are for use in the position control mode. When the parameter settings of I/O signals have been changed or the position control mode is switched to the speed or torque control mode, refer to (2) in Section 6-1-2 or (2) in Section 3-1-2 and apply the accessory signal seals to the labels.

1) For CN1A

LG PP LZ LB COM OPC PG LZR LBR RD

NP P15R LA CR SG NG OP LAR INP SD

2) For CN1B

LG VDD SON TL P15R COM EMG LSN ZSP

VC DO1 TLC PC SG TLA RES LSP ALM SD

(3) Outline drawing

126 (4.96)

117 (4.61)

[Unit: mm]

([Unit: in.])

MITSUBISHI

MR-TB20

2-ø4.5 (0.18)

6– 14


6-1-4 Maintenance junction card

(1) Usage

The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time.

Servo amplifier

Bus cable

MR – J2HBUS M

Maintenance junction card (MR–J2CN3TM)

Communication cable

CN3B

CN3 CN3A

CN3C

A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6

VDD COM EMI DI MBR EMGO SG PE LG LG MO1 MO2

Not used in MR–J2–A.

Analog monitor output 2

Analog monitor output 1

(2) Connection diagram

B5

B6

A5

A6

TE1

LG

LG

MO1

MO2

CN3A

13

14

15

16

9

10

11

12

17

18

19

20

5

6

7

8

1

2

3

4

Shell

(3) Outline drawing

CN3B

13

14

15

16

9

10

11

12

17

18

19

20

5

6

7

8

1

2

3

4

Shell

CN3C

1

13

14

15

16

9

10

11

12

17

18

19

20

5

6

7

8

1

2

3

4

10

13

14

15

19

20

3

4

5

Shell

A1

A2

A3

A4

B4

B3

B2

B1

VDD

COM

EMI

DI

MBR

EMG0

SG

PE

Not used in MR–J2–A.

[Unit: mm]

([Unit: in])

CN3A CN3B CN3C

2-ø5.3(0.21)(mounting hole)

6

A1

B1

TE1

88(3.47)

100(3.94)

6– 15

A6

B6

41.5(1.63)

Weight: 110g (0.24 lb)

3(0.12)


6-1-5 Set-up software (will be released soon)

NOTICE

Some functions of the setup software may not be used depending on versions.

For details, contact us.

The setup software (MRZJW3-SETUP31E or later) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

(1) Specifications

Item

Communication signal

Baudrate

Monitor

Alarm

Diagnostic

Parameters

Test operation

Description

Conforms to RS-232C.

19200bps, 9600bps

Batch display, high-speed display, graph display

Alarm display, alarm history, data display at alarm occurrence

(Minimum resolution changes according to the processing speed of the personal computer)

External I/O signal display, no-rotation reason display, cumulative power-on time display, software number display, tuning data display, ABS data display, automatic VC offset display

Data setting, list display, change list display, detailed information display

Jog mode, positioning mode, motor-less operation, output signal forced output, program operation in simple language

File operation

Others

Data read, save, print

Automatic operation, help display

Note: On some personal computers, this software may not run properly.

(2) System configuration

1) Components

To use this software, the following components are required in addition to the servo amplifier and servo motor:

Model

Personal computer

OS

Display

Keyboard

Mouse

Printer

Communication cable

Description

Which contains a 80386 or higher CPU and on which Windows 3.1•95 runs

(80486 or higher recommended).Memory: 8MB or more, hard disk free space: 1MB or more, serial port used.

Windows 3.1

640 x 400 or more color or 16-scale monochrome display which can be used with Windows 3.1•95.

Which can be connected to the personal computer.

Which can be used with Windows 3.1•95. Note that a serial mouse is not used.

Which can be used with Windows 3.1•95.

MR – CPC98CBL3M • MR – CPCATCBL3M

When these cannot be used, refer to Section 6-1-2 and fabricate.

Note: Windows is a trade mark of Microsoft Corporation.

2) Configuration diagram

Personal computer

Communication cable

Servo amplifier

U

V

W

CN3 CN2

To RS-232C connector

Servo motor

6– 16


6-2 Auxiliary equipment

The auxiliary equipment used must be those indicated in this section or equivalent. To comply with the EN Standard or UL/C-UL Standard, use the auxiliary equipment which conform to the corresponding standard.

6-2-1 Cables

Servo Amplifier

Model

MR – J2 – 10A a

MR – J2 – 20A a

MR – J2 – 40A a

MR – J2 – 60A

MR – J2 – 70A

MR – J2 – 100A

MR – J2 – 200A

MR – J2 – 350A

L1•L2•L3

2

(AWG14)

3.5(AWG12)

5.5(AWG10)

1.25

(Note 1) Cables

L11 • L21

(AWG16)

1.25

(AWG16)

2(AWG14)

U • V • W•

3.5(AWG12)

5.5(AWG10)

[mm

2

]

P • C • D

(Note 2)

2

(AWG14)

B1 • B2

1.25

(AWG16)

(Note 3) Crimping Terminal

Model

32959

32968

Tool

47387

59239

Note: 1. The cables are based on the 600V vinyl cables. The cables (U, V, W) in the table assume that the distance

Note: 1.

between the servo motor and servo amplifier is 30m or less.

Note: 2. Twist the cables for connection of the regenerative brake option (P, C).

Note: 3. Used with the UL/C-UL Standard-compliant models. (AMP make)

6-2-2 No-fuse breakers, fuses, magnetic contactors

Ensure to use one circuit breaker and electromagnetic contactor for each servo amplifier. When using a fuse in place of the circuit breaker, use a fuse of the rating specified in this section.

Servo Amplifier No-Fuse Breaker

MR – J2 – 10A a

MR – J2 – 20A

MR – J2 – 40A•20A1

MR – J2 – 60A•40A1

MR – J2 – 70A

MR – J2 – 100A

MR – J2 – 200A

MR – J2 – 350A

NF30 type 5A

NF30 type 5A

NF30 type 10A

NF30 type 15A

NF30 type 15A

NF30 type 15A

NF30 type 20A

NF30 type 30A

Class

K5

K5

K5

K5

K5

K5

K5

K5

Fuse

Current[A]

10

10

15

20

20

25

40

70

Voltage[V]

AC250

Magnetic

Contactor

S-N10

S-N18

S-N20

6

6– 17


6-2-3 Power factor improving reactors

The input power factor is improved to about 90%. For use with a single-phase power supply, it may be slightly lower than 90%.

MR – J2 – A

NFB

R

FR – BAL

X

L

1

Single-phase AC

200~230V

S Y

L

2

R X S Y T Z

T Z

L

3

D

Terminal block

Specification number

Serial number

A

F mounting screw

Single-phase AC

230V

Single-phase AC

100~120V

NFB

NFB

R

FR – BAL

X

Servo amplifier

MR – J2 – A

L

1

S Y

L

2

T Z

L

3

R

FR – BAL

X

Servo amplifier

MR – J2 – A1

L

1

S Y

L

2

T Z

Servo amplifier Model

MR–J2–10(1)•20A(1)

MR–J2–40A(1)

MR–J2–60A•70A

MR–J2–100A

MR–J2–200A

MR–J2–350A

Dimensions [mm (in)]

Model

FR–BAL–0.4K

A B C D E

135

(5.31)

64

(2.25)

120

(4.72)

120

(4.72)

45

(1.77)

FR–BAL–0.75K

135

(5.31)

74

(2.91)

120

(4.72)

120

(4.72)

57

(2.24)

FR–BAL–1.5K

FR–BAL–2.2K

FR–BAL–3.7K

FR–BAL–7.5K

160

(6.30)

76

(2.99)

145

(5.71)

145

(5.71)

55

(2.17)

160

(6.30)

96

(3.78)

145

(5.71)

145

(5.71)

75

(2.95)

220

(8.66)

95

(3.74)

200

(7.87)

200

(7.87)

70

(2.76)

220

(8.66)

125

(4.92)

205

(8.07)

200

(7.87)

100

(3.94)

F

M4

M4

M4

M4

M5

M5

Weight

[kg(lb)]

6

(13.2)

8.5

(18.7)

14.5

(32.0)

2

(4.4)

3

(6.6)

4

(8.8)

6-2-4 Relays

The following relays should be used with the interfaces:

Interface

Relay used especially for switching on-off analog input command and digital input command (interface DI-1) signals

Relay used for digital output signals (interface DO-1)

Selection Example

To prevent defective contacts, use a relay for small signal

(twin contacts).

(Ex.) OMRON: type G2A, MY

Small relay with 12VDC or 24VDC of 40mA or less

(Ex.) OMRON: type MY

6– 18


6-2-5 Surge absorbers

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.

Insulate the wiring as shown in the diagram.

Permissible circuit voltage

AC[V ma

]

Maximum Rating

DC[V]

Surge immunity

140 180

[A]

(Note)

500/time

Energy immunity

[J]

5

Note: 1 time = 8 x 20

µ s

Rated power

[W]

0.4

Maximum

Limit Voltage

[A]

25

[V]

360

Static

Capacity

(Reference value)

[pF]

300

Varistor Voltage

Rating (Range)

V

1m

A

[V]

220

(198 to 242)

(Example) ERZV10D221 (Matsushita Electric)

TNR-12G221K (Marcon Electronics)

Outline drawing [mm] ( [in] ) (ERZ–C10DK221)

13.5 (0.53) 4.7

±

1.0 (0.19

±

0.04)

ø0.8 (0.03)

Vinyl tube

Crimping terminal for M4 screw

6

6– 19


6-2-6 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission.

1) General reduction techniques

• Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables.

• Use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the SD terminal.

• Ground the servo amplifier, servo motor, etc. together at one point (refer to Section 3-4).

2) Reduction techniques for external noises that cause the servo amplifier to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

• Provide surge absorbers on the noise sources to suppress noises.

• Attach data line filters to the signal cables.

• Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

3) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction

Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.

Noises produced by servo amplifier

Noises transmitted in the air

Noise radiated directly from servo amplifier

…Route 1)

Noise radiated from the power supply cable

…Route 2)

Noise radiated from servo motor cable

Magnetic induction noise

…Routes 4) and 5)

Static induction noise

…Route 6)

…Route 3)

Noises transmitted through electric channels

Noise transmitted through power supply cable

…Route 7)

Noise sneaking from grounding cable due to leakage current

…Route 8)

6– 20


5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor power supply

Sensor

8)

3)

Servo motor

SM

Noise Transmission Route

1) 2) 3)

Suppression Techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.

(1) Provide maximum clearance between easily affected devices and the servo amplifier.

(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together.

(4) Insert a line noise filter to the I/O cables or a radio noise filter on the input line.

(5) Use shielded wires for signal and power cables or put cables in separate metal conduits.

4) 5) 6)

When the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required.

(1) Provide maximum clearance between easily affected devices and the servo amplifier.

(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier.

(3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together.

(4) Use shielded wires for signal and power cables or put the cables in separate metal conduits.

7)

8)

When the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

(1) Insert the radio noise filter (FR-BIF) on the power cables (Input line) of the servo amplifier.

(2) Insert the line noise filter (FR-BSF01) on the power cables of the servo amplifier.

When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device.

6

6– 21


(1) Data line filter

Noise can be prevented by installing a data line filter onto the encoder cable, etc.

Example: Data line filter:ZCAT3035-1330 [TDK]

ESD-SR-25 [Tokin]

Impedance specifications (ZCAT3035-1330)

Impedance[

Ω

]

10 to 100MHZ 100 to 500MHZ

80 150

[Unit: mm] ([Unit: in.])

39

±

1 (1.54

±

0.04)

34

±

1

(1.34

±

0.04)

Loop for fixing the cable band

The above impedances are reference values and not guaranteed values.

TDK

Product name

Lot number

Outline drawing (ZCAT3035-1330)

(2) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent.

MS

Surge suppressor

Surge suppressor

Rated

Voltage

AC[V]

C

[

µ

F]

R

[

Ω

]

200 0.5

50

(1W)

Test Voltage

AC[V]

Across T-C

1000(1 to 5s)

Relay

Surge suppressor

This distance should be short

(within 20cm (0.79 in.)).

(Ex.) 972A-2003 504 11

(Matsuo Electric Co., Ltd. - 200VAC rating)

Outline Drawing [Unit: mm] ([Unit: in.])

Blue vinyl cord

Vinyl sheath

Red vinyl cord

6 (0.24)

18

±

1.5

(0.71

±

0.06)

10

±

3

(0.39

±

0.12)

10 (0.39) or less

200 (7.87) or more

15

48

±

±

1 (0.59

±

1.5 (1.89

10 (0.39) or less

0.04)

±

0.06)

200 (7.87)

10

±

3

(0.39

±

0.12) or more

ø4 (0.16)

31 (1.22)

Note that a diode should be installed to a DC relay, DC valve or the like.

Maximum voltage: Not less than 4 times the drive voltage of the relay or the like

Maximum current: Not less than twice the drive current of the relay or the like

–

RA

Diode

+

6– 22


(3) Cable clamp fitting (AERSBAN- SET)

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below.

Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch.

The clamp comes as a set with the ear th plate.

Strip the cable sheath of the clamped area.

Cutter

Cable

Cable clamp

(A, B)

Cable

Earth plate

• Outline drawing

Earth plate

2 – ø5(0.20) hole

Installation hole

17.5 (0.69)

External conductor

Clamp section diagram

[Unit: mm]

([Unit: in.])

Clamp section diagram

L or less 10 (0.39)

(Note) M4 screw

6

(0.24)

22 (0.87)

35 (1.38)

Note: Screw hole for grounding. Connect it to the earth plate of the control box.

Type

AERSBAN – DSET

AERSBAN – ESET

A

100

(3.94)

70

(2.76)

B

86

(3.39)

56

(2.20)

C

30

(1.18)

Accessory Fittings

clamp A: 2pcs.

clamp B: 1pc.

Clamp Fitting

A

B

L

70

(2.76)

45

(1.77)

6– 23

6


(4) Line noise filter (FR-BLF, FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

Connection Diagram Outline Drawing [Unit: mm] ([Unit: in.])

Wind the three-phase wires by the equal number of times in the same direction, and connect the filter to the power supply side and output side of the servo amplifier.

The effect of the filter on the power supply side is higher as the number of winds is larger. The number of turns is generally four. If the wires are too thick to be wound, use two or more filters and make the total number of turns as mentioned above.

On the output side, the number of turns must be four or less.

Do not wind the grounding wire together with the threephase wires. The filter effect will decrease. Use a separate wire for grounding.

FR – BLF(MR – J2 – 350A)

ø7 (0.28)

130 (5.12)

85 (3.35)

160 (6.30)

180 (7.09)

Example 1

NFB

(for MR-J2-200A or less)

Power supply

L

1

L

2

110 (4.33)

95 (3.74)

L

3

2– ø5 (0.20)

Example 2

NFB

Power supply

(Number of turns: 4)

Servo amplifier

Line noise filter

Two filters are used

(Total number of turns: 4)

L

1

L

2

L

3

65 (2.56)

ø33 (1.3)

(5) Radio noise filter (FR-BIF)...for the input side only

This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the input only.

Connection Diagram

Make the connection cables as short as possible.

Grounding is always required.

Servo amplifier

NFB

L

1

Power supply

L

2

L

3

Outline Drawing (Unit: mm) ([Unit: in.])

Leakage current: 4mA

Red White Blue Green

29 (1.14)

ø5 (0.20) hole

Radio noise filter FR-BIF

58 (2.28)

29 (1.14)

44 (1.73)

7 (0.28)

6– 24


6-2-7 Leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.

Make the input and output cables as shor t as possible, and also make the grounding cable as long as possible (about 30cm (11.8 in)) to minimize leakage currents.

Rated sensitivity current 10 • {Ig1+Ign+Iga+K • (Ig2+Igm)} [mA]…(6-2)

Cable

NV

Noise filter

Servo amplifier

Ig1 Ign Iga

Cable

Ig2

SM

Igm

K: Constant considering the harmonic contents

Leakage current breaker

Type

Mitsubishi products

Models provided with harmonic and surge reduction techniques

General models

NV – SF

NV – CF

NV – CA

NV – CS

NV – SS

K

1

3

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 6-1.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 6-1.)

Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)

Iga: Leakage current of the servo amplifier (Found from Table 6-2.)

Igm: Leakage current of the servo motor (Found from Table 6-1.)

120

100

80

60

[mA]

40

20

0

2 3.5 5.5 8 14 22 38 80 150

30 60 100

Cable size[mm

2

]

Fig. 6-1 Leakage Current Example

(Ig1, Ig2) for CV Cable Run

in Metal Conduit

Table 6-1 Servo Motor's Leakage

Current Example (Igm)

Table 6-2 Servo Amplifier's

Leakage Current

Example (Iga)

Servo Motor

Output [kW]

Leakage

Current [mA]

0.05 to 0.5

0.6 to 1.0

1.2 to 2.2

3 • 3.5

0.1

0.1

0.2

0.3

Servo Amplifier

Capacity [kW]

Leakage

Current [mA]

0.1 to 0.6

0.7 to 3.5

0.1

0.15

Table 6-3 Leakage Circuit Breaker

Selection Example

Servo

Amplifier

MR – J2 – 10A to

MR – J2 – 350A

MR – J2 – 10A1 to

MR – J2 – 40A1

Rated Sensitivity

Current of Leakage

Circuit Breaker

15 [mA]

6

6– 25


(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions:

2mm

2

x 5m 2mm

2

x 5m

NV

Servo amplifier

MR–J2–60A

SM

HA–FF63

Ig1 Iga Ig2 Igm

Use a leakage current breaker generally available.

Find the terms of Equation (6-2) from the diagram:

5

Ig1 = 20 • =0.1[mA]

1000

5

Ig2 = 20 • =0.1[mA]

1000

Ign = 0 (not used)

Iga = 0.1[mA]

Igm = 0.1[mA]

Inser t these values in Equation (6-2):

Ig 10 • {0.1 + 0 + 0.1 + 3 • (0.1 + 0.1)}

8.0[mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 8.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-CA/CS/SS series.

6-2-8 Battery (MR-BAT, A6BAT)

Use the battery to build an absolute position detection system.

6– 26


6-2-9 Setting potentiometers for analog inputs

The following variable resistors are available for use with analog inputs such as analog speed and torque commands:

Model: WA2WYA2SEBK2K

Ω

Model: Wire-wound variable resistor 2W2K

Ω

B

Model: characteristicShaft rotary angle

Note: Manufacturer (Japan Resistor) standard

Note: WA2W usableConnection diagram

Connection diagram

Outline dimension drawing [Unit: mm] ([Unit: in.])

1 2 3

20(0.79) 25(0.98)

2.5(0.10)

10(0.39)

1.6

(0.06)

30(1.18)

ø2.8(0.11)

Panel hole machining diagram [Unit: mm] ([Unit: in.])

ø3.6 (0.14) hole

ø10 (0.37) hole

M9 x 0.75(0.03)

R25(0.98)

3-ø1.54 (0.56) hole

1

30 °

2

3

(0.12)

30

°

3

Rated

Power

Resistance

2W 2k

Ω

Resistance

Tolerance

Dielectric Strength

(for 1 minute)

Insulation

Resistance

Mechanical

Rotary Angle

±

10%

700V A.C

100M

Ω

or more

300

°±

5

°

Rotary Torque

10 to 100g-cm or less

Model: Helical pot RRS10(M) 2K

Model: Japan Resistor make

Ω

Connection diagram

1

3

Outline dimension drawing [Unit: mm] ([Unit: in.])

CW

2

A

15 (0.59)

15 (0.59)

ø2 (0.08) hole

Panel hole machining diagram [Unit: mm] ([Unit: in.])

Panel thickness: 2 to 6 (0.08 to 0.24)

13 (0.51) 10

(0.39)

3 1 2

21.5 (0.85)

24 (0.94) 1.5 (0.06)

ø9.5 (0.37) hole

ø2.2 (0.09) hole

Rated

Power

Resistance

1W 2k

Ω

Resistance

Tolerance

±

10%

Dielectric Strength

(for 1 minute)

Insulation

Resistance

700V A.C

1000M

Ω or more

Mechanical

Rotary Angle

3600

°

+ 10

°

- 0

°

Rotary Torque

100g-cm or less

6

6– 27

CHAPTER 7

INSPECTION

This chapter describes inspection items.

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

7 – 1

7.INSPECTION

WARNING

1. Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock.

2. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

NOTICE

1. Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty.

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

(1) Inspection

It is recommended to make the following checks periodically:

1) Check for loose terminal block screws. Retighten any loose screws.

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

3) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions.

4) Check the servo motor shaft and coupling for misalignment.

(2) Life

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

When using the servo motor in an atmosphere where there is much oil mist or dust, clean and inspect the motor every three months.

For parts replacement, please contact your sales representative.

Part Name

Smoothing capacitor

Servo amplifier

Relay

Cooling fan

Servo motor

Absolute position battery

Bearings

Encoder

Oil seal, V ring

Standard Life

10 years

The number of power inputs reaches 100,000 times.

10,000 to 30,000 hours (2 to 3 years)

Refer to Chapter 5 (2).

20,000 to 30,000 hours

20,000 to 30,000 hours

5,000 hours

7– 2

7.INSPECTION

1) Smoothing capacitor : Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment.

2) Relays : Their contacts will wear due to switching currents and contact faults occur. Depending on the capacity of the power supply, the service life terminates when the number of power inputs reaches 100,000 times.

3) Servo amplifier cooling fan : The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the fan must be changed in a few years of continuous operation as a guideline.

It must also be changed if unusual noise or vibration is found during inspection.

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

5) Servo motor oil seal, V ring : Must be changed in 5,000 hours of operation at rated speed as a guideline. This differs on the operating conditions. These parts must also be changed if oil leakage, etc. is found during inspection.

7– 3

CHAPTER 8

TROUBLESHOOTING

This chapter gives troubleshooting at start-up and corrective actions for alarms and warnings. When any fault has occurred, refer to this chapter and take the corresponding action.

8-1 Troubleshooting at star t-up

8-1-1 Position control mode

8-1-2 Speed control mode

8-1-3 Torque control mode

8-2 Alarms and warnings

8-2-1 Alarm and warning list

8-2-2 Alarms

8-2-3 Warnings

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

8– 1

8. TROUBLESHOOTING

8-1 Troubleshooting at start-up

CAUTION

Excessive adjustment or change of parameter setting must not be made as it will make operation instable.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

8-1-1 Position control mode

(1) Troubleshooting

No. Start-Up Sequence

1 Power on

Fault

• LED is not lit.

• LED flickers.

2 Switch on servo-on signal.

Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked

(is free).

Investigation Possible Cause

Not improved if connectors

CN1A, CN1B and CN2 are disconnected.

1) Power supply voltage fault

2) Servo amplifier is faulty.

Improved when connectors

CN1A and CN1B are disconnected.

Power supply of CN1 cabling is shorted.

Improved when connector

CN2 is disconnected.

1) Power supply of encoder

cabling is shorted.

2) Encoder is faulty.



Power supply is shorted.

Refer to Section 8-2 and remove cause.


1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication to see if the servo-on (SON) signal is ON.

1) Servo on signal is not

input. (Wiring mistake)

2) 24VDC power is not

supplied to COM.

Refer To

Section 8-2

Section 8-2

(1), Section 2-3-3

3 Enter input command.

(Test operation)

Servo motor does not rotate.

Check cumulative command pulses.

1) Wiring mistake

(a) For open collector

pulse train input,

24VDC power is not

supplied to OPC.

(b) LSP/LSN-SG are not

connected.

2) No pulse is input.

Section 2-3-2

4 Gain adjustment

5 Cyclic operation

Rotational ripples

(speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor to oscillate side to side.

Position shift occurs.

Make gain adjustment in the following procedure:

1) Increase the auto

tuning response level.

2) Repeat acceleration

and deceleration

several times to

complete auto tuning.


If the servo motor may

be run with safety,

repeat acceleration and

deceleration several

times to complete auto tuning.

Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position.

Gain adjustment fault


Pulse counting error, etc.

due to noise.

Section 2-4

Section 2-4

(2) in this section

8– 2


(2) How to find the cause of position shift

Positioning unit a) Output

pulse

counter

Servo amplifier

Electronic gear (parameters No. 3, 4)

Q P

CMX

CDV a)

C) Servo on (SON),

stroke end

(LSP/LSN) input b) Cumulative command

pulses

C

C) Cumulative feedback pulses

Machine

Servo motor

SM

L d) Machine stop

position M

B)

Encoder

When a position shift occurs, check a) output pulse counter, b) cumulative command pulse display, c) cumulative feedback pulse display, and d) machine stop position in the above diagram.

A), B) and C) indicate position shift causes. For example, A) indicates that noise entered the wiring between positioning unit and servo amplifier, causing pulses to be mis-counted.

In a normal status without position shift, there are the following relationships:

1) Q = P (positioning unit's output counter = servo amplifier's cumulative command pulses)

2) P •

CMX (parameter No. 3)

CDV (parameter No. 4)

= C (cumulative command pulses x electronic gear = cumulative feedback pulses)

3) C •

∆ l=M (cumulative feedback pulses x travel per pulse = machine position)

Check for a position shift in the following sequence:

1) When Q

≠

P

Noise entered the pulse train signal wiring between positioning unit and servo amplifier, causing pulses to be mis-counted. (Cause A)

Make the following check or take the following measures:

• Check how the shielding is done.

• Change the open collector system to the differential line driver system.

• Run wiring away from the power circuit.

• Install a data line filter. (Refer to Section 6.2.6 (1).)

2) When P •

CMX

CDV

≠

C

During operation, the servo on signal (SON) or forward/reverse rotation stroke end signal was switched off or the clear signal (CR) and the reset signal (RES) switched on. (Cause C)

If a malfunction may occur due to much noise, increase the input filter setting (parameter

No. 1).

3) When C •

∆ l

≠

M

Mechanical slip occurred between the servo motor and machine. (Cause B)

8

8– 3


8-1-2 Speed control mode


1 Power on

Fault

• LED is not lit.

• LED flickers.


Alarm occurs.

Alarm occurs.

Servo motor shaft is free.


Not improved if connectors CN1A, CN1B and CN2 are disconnected.

1) Power supply voltage

fault

2) Servo amplifier faulty.

Improved when connectors CN1A and

CN1B are disconnected.




1) Power supply of

encoder cabling is

shorted.




1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication to see if the servo-on (SON) signal is ON.

(Wiring mistake)

2) 24VDC power is not

supplied to COM.

Refer To

Section 8-2

Section 8-2

(1), Section 2-3-3

3

Switch on forward rotation start (ST1) or reverse rotation start (ST2).


4 Gain adjustment

Call the status display and check the input voltage of the analog speed command.

Analog speed command is 0V.

Section 2-3-2

Call the external I/O signal display and check the ON/OFF status of the input signal.

LSP, LSN, ST1 or ST2 is off.

Check the internal speed commands 1 to 3

(parameters No. 8 to 10).

Check the internal torque limit 1 (parameter No. 28).

Set value is 0.

Set value is 0.

(1), Section 2-3-3

(3), Section 2-3-5

Rotational ripples

(speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor to oscillate side to side.


1) Increase the auto tuning

response level.

2) Repeat acceleration and

deceleration several

times to complete auto

tuning.



If the servo motor may be

run with safety, repeat

acceleration and

deceleration several times

to complete auto tuning.


Section 2-4

Section 2-4

8– 4


8-1-3 Torque control mode


1 Power on

Fault

• LED is not lit.

• LED flickers.


3 Switch on forward rotation start (RS1) or reverse rotation start (RS2).

Alarm occurs.

Alarm occurs.



Not improved if connectors

CN1A, CN1B and CN2 are disconnected.

1) Power supply voltage

fault

2) Servo amplifier faulty.

Improved when connectors

CN1A and CN1B are disconnected.




1) Power supply of encoder

cabling is shorted.




Refer To

Section 8-2

Section 8-2

Call the status display and check the analog torque command.

Analog torque command is 0V.

Call the external I/O signal display and check the

ON/OFF status of the input signal.

RS1 or RS2 is off.

Check the internal speed limits 1 to 3

(parameters No. 8 to 10).

Set value is 0.

Check the internal torque limit 1 (parameter No. 28).

Set value is 0.

Section 2-3-2

(1), Section 2-3-3

(3), Section 2-3-5

8

8– 5


8-2 Alarms and warnings

8-2-1 Alarm and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8-2-2 or 8-2-3 and take the appropriate action.Set

1 in parameter No. 49 to output the alarm code in ON/OFF status across the corresponding pin and SG. Warnings (A. 92 to A. EA) have no codes. Any alarm code is output at occurrence of the corresponding alarm. In the normal status, the signals available before alarm code setting

(CN1B-19: ZSP, CN1A-18:INP or SA, CN1A-19: RD) are output.


Display

CN1B-

19 pin

A. 96

A. 9F

A. E0

A. E1

A. E3

A. E5

A. E6

A. E9

A. EA

A. 37

A. 46

A. 50

A. 51

A. 52

A. 8E

8888

A. 92

A. 20

A. 24

A. 25

A. 30

A. 31

A. 32

A. 33

A. 35

A. 10

A. 11

A. 12

A. 13

A. 15

A. 16

A. 17

A. 18

NOTE, 0:OFF 1:ON

0

1

1

1

1

0

1

1

0

0

0

1

0

0

0

0

1

0

0

0

0

0

0

CN1A-

18 pin

0

0

0

0

1

0

1

0

0

0

0

1

0

0

1

0

0

0

0

1

1

0

1

CN1A-

19 pin

1

1

1

0

0

1

0

0

0

0

0

0

0

0

0

0

1

0

0

1

1

0

1

Name

Undervoltage

Board error1

Memory error1

Clock error

Memory error2

Encoder error1

Board error2

Board error3

Encoder error2

Ground fault

Absolute positiom erase

Regenerative error

Overspeed

Overcurrent

Overvoltage

Command pulse frequency alarm

Parameter error

Servo motor overheat

Overload1

Overload2

Error excessive

RS-232C error

Watchdog

Open battery cable warning

Zero setting error

Battery warning

Excessive regenerative load warning

Overload warning

Absolute position counter warning

ABS time-out warning

Servo emergency stop

Main circuit off warning

ABS servo on warning

8– 6


8-2-2 Alarms

WARNING

1. When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur.

2. If an absolute position erase alarm (A. 25) occurred, always make home position setting again. Otherwise, misoperation may occur.

NOTICE

When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation. If operation is repeated by switching control circuit power off, then on to reset the alarm, the servo amplifier, servo motor and regenerative brake option may become faulty.

• Regenerative error (A. 30)

• Overload 1 (A. 50)

• Overload 2 (A. 51)

When an alarm occurs, the trouble signal (ALM) switches off and the dynamic brake is operated to stop the servomotor. At this time, the display indicates the alarm No.

Alarm Code

Display CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 10 0 1 0

Name Definition Cause

Undervoltage Power supply voltage dropped.

MR-J2- A:160V or less

MR-J2- A1: 83V or less

1. Power supply voltage is low.

2. Power failed instantaneously

for 15ms or longer.

3. Shortage of power supply

capacity caused the power

supply voltage to drop at start,

etc.

4. Power switched on within 5

seconds after it had switched off.

Action

Review the power supply.

5. Faulty parts in the servo amplifier

Checking method

Alarm (A. 10) occurs if power is switched on after CN1A, CN1B, and CN3 connectors are disconnected.

Change the servo amplifier.

A. 11 0 0 0

A. 12

A. 13

A. 15

A. 16

0

0

0

1

0

0

0

1

0

0

0

0

Board error 1 Printed board faulty

Memory error 1

Clock error

RAM, ROM memory fault

Printed board fault

Memory error 2

Encoder error 1

EEPROM fault

Communication error occurred between encoder and servo amplifier.

Faulty parts in the servo amplifier Change the servo amplifier.

Checking method

Alarm (any of A. 11 to 15) occurs if power is switched on after CN1A, CN1B, and CN3 connectors are disconnected.

1. Encode connector disconnected. Connect correctly.

2. Encoder fault Change the servo motor.

3. Encoder cable faulty

(Wire breakage or short)

Repair or change cable.

4. Combination of servo amplifier and servo motor is not proper.

Use correct combination

8

8– 7


Alarm Code

Display CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 17 0 0 0

Name Definition

Board error 2 CPU/parts fault

A. 18 0 0 0 Board error 3

Cause Action

Faulty parts in the servo amplifier

Checking method

Alarm (A. 17 or A. 18) occurs if

power is switched on after

CN1A, CN1B, and CN3 connectors have been disconnected.


A. 20 1 1 0

A. 24 1 0 0

Encoder error 2

Motor output ground fault

Communication error occurred between encoder and servo amplifier.

1. Encoder connector disconnected. Connect correctly.

2. Encoder cable faulty

(wire breakage or short)

Repair or change the cable.

Connect correctly.

Ground fault occurred at servo motor outputs

(U, V, W phases) of servo amplifier.

1. Power input wires and servo motor

output wires are in contact at main

circuit terminal block (TE1).

2. The servo motor power line cover is deteriorated, and causes earthing.

Replace the line.

3. The main circuit of the servo amplifier is broken.

Investigating method

Disconnect the U, V, and W power lines from the servo amplifier, and turn on the servo motor. A. 24 still occurs.

Replace the servo amplifier.

A. 25 1 1 0

A. 30 0 0 1


Regenerative error

Absolute position data in error

1. Reduced voltage of super

capacitor in encoder

After leaving the alarm occurring for a few minutes, switch power off, then on again.

Ensure to make home position return again.

2. Battery voltage low

3. Battery cable or battery is

faulty.

Change battery.

Ensure to make home position return again.

Power was switched on for the first time in the absolute position detection system.

4. Super capacitor of the absolute position encoder is not charged

After leaving the alarm occurring for a few minutes, switch power off, then on again. Home position setting must be made again.

The permissible regenerative power of the built-in regenerative brake resistor or regenerative brake option is exceeded.

1. Wrong setting of parameter No. 0 Set correctly.

2. Built-in regenerative brake

resistor or regenerative brake

option is not connected.

Connect correctly.

3. High-duty operation or continuous

regenerative operation caused the

permissible regenerative power of

the regenerative brake option to be

exceeded.

Checking method

Call the status display and check the regenerative load ratio.

1. Reduce the

frequency of

positioning.

2. Use the

regenerative

brake option of

larger capacity.

3. Reduce the load.

Regenerative transistor fault

4. Power supply voltage

increased to 260V or more.

Review power supply.

5. Regenerative transistor faulty.

Change the servo

Checking method amplifier.

1) The regenerative brake option

has overheated abnormally.

2) The alarm occurs after removal of the built-in regenerative brake resistor or regenerative brake option.

8– 8

6. Built-in regenerative brake

resistor or regenerative brake

option faulty.

Change servo amplifier or regenerative brake option.


Display

Alarm Code

CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 31 1 0 1

Name

Overspeed

Definition Cause Action

Speed has exceeded the instantaneous permissible speed.

1. Input command pulse frequency

exceeded the permissible

instantaneous speed frequency.

Set command pulses correctly.

2. Small acceleration/deceleration

time constant caused overshoot

to be large.

3. Servo system is instable to

cause overshoot.

Increase the acceleration/ deceleration time constant.

1. Re-set servo

gain to proper

value.

2. If servo gain

cannot be set

to proper value:

1) Reduce load

inertia moment

ratio; or

2) Reexamine

acceleration/

deceleration

time constant.

A. 32

A. 33

1

0

0

0

0

1

Overcurrent

4. Electronic gear ratio is large

(parameters No. 3, 4).

5. Encoder faulty.

Set correctly.

Change the servo motor.

Current that flew is higher than the permissible current of the servo amplifier.

1. Short occurred in servo amplifier

output phases U, V and W.

2. Transistor (IPM) of the servo

amplifier faulty.

Checking method

Alarm (A. 32) occurs if power is switched on after U,V and W connectors are disconnected.

Correct the wiring.


Overvoltage Converter bus voltage exceeded

400V.

3. Ground fault occurred in servo

amplifier output phases U, V and W.

Correct the wiring.

4. External noise caused the overcurrent

detection circuit to misoperate.

Take noise suppression

measures.

1. Lead of built-in regenerative

brake resistor or regenerative

brake option is open or

disconnected.

1. Change lead.

2. Connect

correctly.

2. Regenerative transistor faulty.

Change servo amplifier.

3. Wire breakage of built-in

regenerative brake resistor or

regenerative brake option

1. For wire breakage of

built-in regenerative

brake resistor,

change servo

amplifier.

2. For wire breakage of

regenerative brake

option, change

regenerative brake

option.

4. Capacity of built-in regenerative

brake resistor or regenerative

brake option is insufficient.

Add regenerative brake option or increase capacity.

8

8– 9


Alarm Code

Display

CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 35 1 0 1

Name

Command pulse alarm

A. 37 0 0 0 Parameter error

Definition

Cause

Action

Input command pulses are too high.

1. Command pulse frequency is

too high.

2. Regenerative brake option not used with servo amplifier was selected in parameter No. 0.

Reduce the command pulse frequency to proper value.

2. Noise entered command pulses. Take measures against noise.

3. Command unit faulty.

Change the command unit.

Parameter setting is wrong.

1. Servo amplifier fault caused the

parameter setting to be

rewritten.


Set parameter

No. 0 correctly.

A. 46 0 1 1 Servo motor overheat

Servo motor temperature rise actuated the thermal protector.

1. Ambient temperature of servo

motor is over 40

°

C.

2. Servo motor is overloaded.

Review environment so that ambient temperature is

0 to 40

°

C.

1. Reduce load.

2. Review operation

pattern.

3. Use servo motor

that provides

larger output.

A. 50

0

1 1 Overload 1

3. Thermal protector in encoder is

faulty.

Load exceeded overload protection characteristic of servo amplifier.

1. Servo amplifier is used in

excess of its continuous output

current.

Load ratio 300%:

2.5s or more

Load ratio 200%:

100s or more

2. Servo system is instable and

hunting.

Change servo motor.

1. Reduce load.

2. Review operation

pattern.

3. Use servo motor

that provides

larger output.

1. Repeat

acceleration/

deceleration to

execute auto

tuning.

2. Change auto

tuning response

level setting.

3. Set auto tuning to

OFF and make

gain adjustment

manually.

3. Machine struck something.

1. Review

operation

pattern.

2. Install limit

switches.

8– 10


Alarm Code

Display CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 50 0 1 1

Name

Overload 1


4. Wrong connection of servo

motor. Servo amplifier's output

terminals U, V, W do not match

servo motor's input terminals

U, V, W.

5. Encoder faulty.

Connect correctly.


Checking method

When the servo motor shaft is rotated slowly with the servo off, the cumulative feedback pulses should vary in proportion to the rotary angle. If the indication skips or returns midway, the encoder is faulty.

A. 51 0 1 1 Overload 2 Machine collision or the like caused max. output current to flow successively for several seconds.

Servo motor

locked:

1s or more


2. Wrong connection of servo

motor. Servo amplifier's output

terminals U, V, W do not match

servo motor's input terminals

U, V, W.

3. Servo system is instable and

hunting.

1. Review

operation

pattern.

2. Install limit

switches.

Connect correctly.

1. Repeat acceleration/

deceleration to execute

auto tuning.

2. Change auto tuning

response level setting.

3. Set auto tuning to OFF

and make gain

adjustment manually.

4. Encoder faulty.

Checking method

When the servo motor shaft is rotated slowly with the servo off, the cumulative feedback pulses should vary in proportion to the rotary angle. If the indication skips or returns midway, the encoder is faulty.


8

8– 11


Alarm Code

Display CN1B-

19 pin

CN1A-

18 pin

CN1A-

19 pin

A. 52 1 0 1

Name

Error excessive


Droop pulse value of the deviation counter exceeded

80k pulses.

1. Acceleration/deceleration time

constant is too small.

2. Torque limit value (parameter

No. 28) is too small.

3. Start not allowed because of

torque shortage due to power

supply voltage drop.

Increase the acceleration/ deceleration time constant.

Increase the torque limit value.

1. Review the

power supply

capacity.

2. Use servo motor

that provides larger

output.

4. Position control gain 1

(parameter No. 6) value is small.

Increase set value and adjust to ensure proper operation.

5. Servo motor shaft was rotated

by external force.

1. When torque is

limited, increase

the limit value.

2. Reduce load.

3. Use servo

motor that pro-

vides larger

output.

A. 8E

0 0

8888 0 0

0

RS-232C alarm

0 Watchdog


1. Review opera-

tion pattern.

2. Install limit

switches.

7. Encoder faulty.


8. Wrong connection of servo motor.

Servo amplifier's output terminals

U, V, W do not match servo mo-

tor's input terminals U, V, W.

Connect correctly.

Communication fault occurred between servo amplifier and personal computer.

1. Communication connector is disconnected.

2. Communication cable faulty.

(Wire breakage or short)

3. Personal computer faulty.

Connect correctly.

Repair or change cable.

Change personal computer.

CPU, parts faulty Fault of parts in servo amplifier

Checking method

Alarm (8888) occurs if power is switched on after CN1A, CN1B, and CN3 connectors are disconnected.

Change servo amplifier.

8– 12


8-2-3 Warnings

If a warning occurs, the servo amplifier does not go into a servo off status. However, if operation is continued in the warning status, an alarm may occur or proper operation not performed. Eliminate the cause of the warning according to this section. Use the optional set-up software to refer to the cause of warning.

Display Name Definition Cause Action

A. 92

A. 96

A. 9F

A. E0

Open battery cable warning

Absolute position detection system battery voltage is low.

Zero setting error 1. For incremental, return to

origin point could not be

performed.

2. For absolute position

detection system, origin

point setting could not be

performed.

Battery warning

Excessive regenerative load warning

1. Battery cable is open.

1. Command pulses were input

after droop pulses had been

cleared.

2. Droop pulses remaining are

greater than in-position range

setting.

Repair cable or change battery.

2. Battery voltage dropped to 2.8V

or less.

Change battery.

Make provisions so that command pulses are not input after droop pulses are cleared.

Absolute position detection system battery voltage is low.

There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative brake resistor or regenerative brake option.

3. Creep speed is high.

Battery voltage dropped to 3.2V or less.

Regenerative power increased to

85% or more of permissible regenerative power of built-in regenerative brake resistor or regenerative brake option.

Checking method

Call the status display and check regenerative load ratio.

Reduce creep speed.

Change battery.

1. Reduce frequency

of positioning.

2. Change regenerative

brake option for the

one with larger

capacity.

3. Reduce load.

A. E1 Overload warning There is a possibility that over-

load alarm 1 or 2 may occur.

Load increased to 85% or more of overload alarm 1 or 2 occurrence level.

Refer to A. 50, 51.

Cause, checking method

Refer to A. 50, 51.

1. Noise entered the encoder.

A. E3

A. E5

A. E6

A. E9

A. EA

Absolute position counter warning

Absolute position encoder pulses faulty.

ABS time-out warning

Servo emergency stop

Main circuit off warning

ABS servo on warning

Absolute position data transfer fault

EMG-SG are open.

2. Encoder faulty.

1. Programmable controller's

ladder program error

2. Mis-wiring of CN1B-9 pin,

CN1B-6 pin

External emergency stop was made valid. (EMG-SG were opened.)

Servo on signal (SON) was switched on with main circuit power off.

Servo on signal (SON) was not switched on within 1s after servo amplifier went into absolute position data transfer mode.

Servo on signal (SON) was switched on with main circuit power off.

1. Programmable controller's

ladder program error

2. Mis-wiring of SON signal

Take noise suppression measures.

Change servo motor.

Correct program.

Connect correctly.

After ensuring safety, reset emergency stop.

Switch on main circuit power.

Correct program

Connect correctly.

8

8– 13

CHAPTER 9

CHARACTERISTICS

This chapter provides various characteristics and data of the servo.

9-1 Overload protection characteristics

9-2 Losses generated in the servo amplifier

9-3 Electromagnetic brake characteristics

9-4 Dynamic brake characteristics

9-5 Vibration rank

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

9– 1

9.CHARACTERISTICS

9-1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below.Overload 1 alarm (A. 50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (A. 51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph.

In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.

(1) MR—J2—10A to MR—J2—100A a: HC-MF series

HA-FF series

(300W or more)

HC-SF series

HC-RF series

1000

100

During rotation

During stop

10

1

0.1

0 50 150

Load ratio [%]

200 250 300 b: HA-FF series

(200W or less)

1000

100

During rotation

10

During stop

1

0.1

0 50 100 150

Load ratio [%]

200 250 300

9– 2


(2) MR—J2—200A and MR—J2—350A

HC-SF Series

HC-RF Series

HC-UF Series

1000

100

10

During stop

During rotation

1

0.1

0 50 100 150

Load ratio [%]

200 250 300

9– 3

9


9-2 Losses generated in the servo amplifier

(1) Amount of heat generated by the servo amplifier

Table 9-1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 9-1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and zero torque according to the duty used during operation. When the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Table 9-1 Power Supply Capacity and Generated Heat Per Servo Amplifier at Rated Output

Servo Amplifier Servo Motor

(Note 1) Power

Supply

Capacity [kVA]

MR-J2-10A(1)

MR-J2-20A(1)

MR-J2-40A(1)

MR-J2-60A

MR-J2-70A

MR-J2-100A

MR-J2-200A

MR-J2-350A

2.5

3.5

1.7

2.5

1.7

1.7

2.1

3.5

2.5

4.8

5.5

3.5

3.5

1.0

1.0

1.3

1.3

0.7

0.9

0.9

1.1

0.3

0.3

0.3

0.5

0.5

0.5

0.9

HC-MF053·13

HA-FF053·13

HC-UF13

HC-MF23

HA-FF23

HC-UF23

HC-MF43

HA-FF33

HA-FF43

HC-UF43

HA-FF63

HC-SF52

HC-SF53

HC-MF73

HC-UF72·73

HC-SF81

HC-SF102·103

HC-SF121

HC-SF201

HC-SF152·153

HC-SF202·203

HC-RF103

HC-RF153

HC-UF152

HC-SF301

HC-SF352·353

HC-RF203

HC-UF202

90

90

90

90

50

50

90

90

90

120

130

90

90

(Note 2) Servo Amplifier-Generated Heat Area Required for

At rated torque With servo off

Heat Dissipation

[W] [W] [m 2 ] [ft

2

]

25 15 0.5

5.4

25

25

15

15

0.5

0.5

5.4

5.4

25

25

25

35

15

15

15

15

0.5

0.5

0.5

0.7

5.4

5.4

5.4

7.5

40

40

50

50

35

35

35

40

15

15

15

15

15

15

15

15

0.7

0.7

0.7

0.8

0.8

1.0

1.0

1.0

8.6

10.8

10.8

10.8

7.5

7.5

7.5

8.6

15

15

20

20

20

20

20

20

20

20

20

20

20

1.0

1.0

1.8

1.8

1.8

1.8

1.8

1.8

1.8

2.7

2.7

1.8

1.8

10.8

10.8

19.4

19.4

19.4

19.4

19.4

19.4

19.4

29.1

29.1

19.4

19.4

Note: 1. Note that the power supply capacity will vary according to the power supply impedance.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat.

To calculate heat generated by the regenerative brake option, use Equation 6-1 in Section 6-1-1.

9– 4


(2) Heat dissipation area for enclosed servo amplifier

The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10

°

C at the ambient temperature of 40

°

C. (With a 5

°

C (41

°

F) safety margin, the system should operate within a maximum 55

°

C (131

°

F) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 9-1:

A =

P

K •

∆

T

........................................

(9-1)

(Outside)

(Inside) where, A: Heat dissipation area [m

2

]

P: Loss generated in the control box [W]

∆

T: Difference between internal and ambient temperatures [

°

C]

Air flow

K: Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with

Equation 9-1, assume that P is the sum of all losses generated in the enclosure. Refer to

Fig. 9-1 Temperature Distribution in

Enclosure

Table 9-1 for heat generated by the servo amplifier. "A" indicates the effective area for heat

When air flows along the outer wall of the enclosure, effective heat exchange will dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount be possible, because the temperature slope inside and outside the enclosure will be steeper.

must be added to the enclosure's surface area.

The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a fan should be considered.

Table 9-1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40

°

C (104

°

F) under rated load.

9

9– 5


9-3 Electromagnetic brake characteristics

CAUTION

The electromagnetic brake is designed to hold a load. Do not use it for braking.

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

Though the brake lining may rattle during low-speed operation, it poses no functional problem.

Though the brake lining may rattle during operation, it poses no functional problem.A leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake.

(1) Characteristics

Item

(Note 1) Type

(Note 4)

Rated voltage

Rated current at 20

°

C [A]

Excitation coil resistance at 20

°

C [

Ω

]

Capacity [W]

ON current [A]

OFF current [A]

Static friction torque

[N•m]

[oz•in]

(Note 2) Release delay time [S]

Braking delay time AC off (Fig. a)

(Note 2) [s]

Permissible braking work

DC off (Fig.s b, c)

[J]

Per braking

[oz•in]

Per hour

[J]

[oz•in]

Brake looseness at servo motor shaft

[degrees]

Brake life

Number of braking cycles [times]

(Note 3)

Work per braking

[J]

[oz•in]

Table 9-2 Electromagnetic Brake Characteristics

Servo Motor

053B

13B

HC-MF Series

23B

43B

0.32

45.3

0.03

0.08

0.01

5.6

793.6

56

7936

0.26

91

6.3

0.18

0.06

0.33

73

7.9

0.18

0.11

1.3

184.2

0.03

0.1

0.02

22.0

3117.6

220

31176

73B

0.42

57

10

0.2

0.12

2.4

340

0.03

0.12

0.03

64.0

9069.3

640

90693

053B

13B

HA-FF Series

23B

33B

43B

63B

HC-SF Series HC-RF Series

81B

52B to 152B

53B to 153B

121B to 301B

202B to 352B

202B·352B

103B to 203B

0.39

55.3

0.03

0.08

0.01

3.9

552.7

39

5527

Spring-loaded safety brake

0.22

24VDC

0.31

0.46

111

7

0.15

0.06

78

7.4

0.2

0.06

52

11

0.3

0.1

1.18

167

0.03

0.1

0.03

18.0

2550.7

180

25507

2.3

326

0.03

0.12

0.03

46.0

6518.6

460

65186

0.8

29

19

0.2

0.08

8.3

1176

0.04

0.12

0.03

400

1.4

16.8

34

0.4

0.2

43.1

6108

0.1

0.12

0.03

4500

0.8

30

19

0.25

0.085

56683.3

637687.1

56683.3

4000 45000 4000

566833 6376871 566833

6.8

964

0.03

0.12

0.03

400

0.19 to 2.5

0.12 to 1.2

0.1 to 0.9

0.3 to 3.5

0.2 to 2.0

0.2 to 1.3

0.2 to 0.6

0.2 to 0.6

0.2 to 0.6

20000

4

567

20000

15

2126

20000

32

4535

30000

4

567

30000

18

2551

30000

47

6660

20000

200

28342

20000

100

141708

20000

200

28342

9– 6


Servo Motor

13B 23B

43B

HC-UF Series

73B 72B

152B

Spring-loaded safety brake

202B

Item

(Note 1) Type

(Note 4)

Rated voltage

Rated current at 20

°

C [A]

Excitation coil resistance at 20

°

C [

Ω

]

Capacity [W]

ON current [A]

OFF current [A]

Static friction torque

[N•m]

[oz•in]

(Note 2) Release delay time [S]

Braking delay time AC off (Fig. a)

(Note 2) [s] DC off (Fig.s b, c)

[J]

Per braking

[oz•in]

Permissible braking work

[J]

Per hour

[oz•in]

Brake looseness at servo motor shaft

[degrees]

Number of braking cycles [times]

Brake life

(Note 3)

Work per braking

[J]

[oz•in]

0.32

45

0.03

0.08

0.01

5.6

793.6

56

7936

0.26

91

6.3

0.18

0.06

0.33

73

7.9

0.18

0.11

1.3

184

0.03

0.1

0.02

22

3117.6

220

31176

0.42

57

10

0.2

0.12

2.4

340

0.03

0.12

0.03

64

9069.3

640

90693

0.8

29

19

0.2

0.08

8.3

1176

0.04

0.12

0.03

400

56683.3

637687.1

4000

566833

1.4

16.8

34

0.4

0.2

43.1

6108

0.1

0.12

0.03

4500

45000

6376871

0.19 to 2.5

0.12 to 1.2

0.1 to 0.9

0.2 to 0.6

0.2 to 0.6

20000

4

567

20000

15

2126

20000

32

4535

20000

200

28342

20000

1000

141708

Note: 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24VDC 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. 24VDC of the internal power output for interface (VDD) cannot be used. Always use a separate power supply.

9

9– 7


(2) Electromagnetic brake power supply

24VDC of the internal power output for interface (VDD) cannot be used. Prepare the following power supply for use with the electromagnetic brake only.Examples of connection of the brake exciting power supply are shown in Fig. 9-3 (a) to (c). (a) is for AC off, and (b) and (c) for DC off. When DC is switched off, the braking delay time will be shortened, but a surge absorber must be installed on the brake terminal. For the selection of the surge absorber, refer to Section 6-2-5.

100V AC or

200V AC

T

28V AC

Switch

RF


100V AC or

200V AC

T

24V DC

(a)


Switch

VAR

(b)

T : Transformer

RF : Rectifier

VAR : Surge absorber

RF


Switch

VAR

(c)

Fig. 9-2 Connection Examples

(3) Coasting distance

At an emergency stop, the servo motor will decelerate to a stop in the pattern shown in Fig. 9-

4. Here, the maximum coasting distance (during fast feed), Lmax, will be the area shown with the diagonal line in the figure and can be calculated approximately with Equation 9-2. The effect of the load torque is greater near the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in the equation.

Emergency stop

Brake current t

1 t

2 t

3

Machine speed

V

0

Fig. 9-3 Coasting Distance at Emergency Stop

9– 8


L max

=

Vo

60

• t1 + t2 + t3

2

........................................................ (9-2)

Where,

Lmax: Maximum coasting distance

Vo: Machine's fast feed speed t

1

: Delay time of control section t

2

: t

3

:

Braking delay time of brake (Note)

Braking time

t

3

=

(J

L

+ J

M

)

•

N

O

9.55 x 10

4 •

(T

L

+ 0.8T

B

)

JL

JM

No

TL

TB

: Load inertia moment converted into equivalent

value on servo motor shaft

: Servo motor inertia moment

: Servomotor speed during fast feed

: Load torque converted into equivalent

value on servo motor shaft

: Brake static friction torque (Note)

[mm]

[mm/min]

[s]

[s]

[s]

[kg • cm

2

]

[kg • cm

2

]

[r/min]

[N • m]

[N • m]

Note: t

2

and TB are the values noted in Table 9-2 Characteristics. JL is the machine's inertia moment at the servo motor shaft.

9– 9

9


9-4 Dynamic brake characteristics

When an alarm, emergency stop or power failure occurs, the dynamic brake is operated to bring the servo motor to a sudden stop. Fig. 9-5 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 9-3 to calculate an approximate coasting distance to a stop. The dynamic brake time constant

τ

varies with the servo motor and machine operation speeds as indicated in Table 9-3 and as shown in Fig. 9-6 to Fig. 9-12.

Emergency stop (EMG)

ON

OFF

Time constant

τ

Machine speed

V

0

Time t e

L max

=

V o

60

• te +

τ

(1 +

Fig. 9-4 Dynamic Brake Operation Diagram

J

L

J

M

)

.................................................... (9-3)

Lmax : Maximum coasting distance

Vo : Machine rapid feedrate

JM : Servo motor inertial moment

JL : Load inertia moment converted into equivalent value

τ on servo motor shaft

: Brake time constant (Fig. 9-6 to 9-12

• te : Delay time of control section (Fig. 9-5)

Table 9-3)

(There is internal relay delay time of about 30ms.)

[mm][in]

[mm/min][in/min]

[kg

• cm

2

][oz

• in

2

]

[kg

• cm

2

][oz

• in

2

]

[s]

[s]

0.02

0.018

0.016

0.014

0.012

0.01

0.008

0.006

0.004

0.002

0

0

23

73

053

43

13

500 1000 1500 2000 2500 3000

Speed [r/min]

Fig. 9-5 HC-MF Dynamic Brake

Time Constant

0.04

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0

0

121

201

301

81

50 500

Speed [r/min]

1000

Fig. 9-6 HC-SF1000r/min Dynamic

Brake Time Constant

9– 10


0.045

0.04

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0

0

352

202

500 1000

Speed [r/min]

102

1500

52

152

2000



0.12

0.1

0.08

0.06

0.04

0.02

0

0

203

53

353

103

153

50 500 1000 1500 2000 2500 3000

Speed [r/min]



0.018

0.016

0.014

0.012

0.01

0.008

0.006

0.004

0.002

0

0

103

153

203

500 1000 1500 2000 2500 3000

Speed [r/min]

Fig. 9-9 HC-RF Dynamic Brake

Time Constant

0.1

0.09

0.08

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0

0

72

152

202

500 1000 1500 2000

Speed [r/min]

Fig. 9-10 HC-UF2000r/min Dynamic

BrakeTime Constant

0.07

0.06

0.05

0.04

0.03

0.02

0.01

73

13

23

43

0

0 50 500 1000 15002000 2500 3000

Speed [r/min]

Fig. 9-11 HC-UF3000r/min Dynamic


Table 9-3 HA-FF Dynamic Brake

Time Constant

Servo Motor Brake Time Constant

τ

[s]

HA—FF053 · 13 0.02

HA—FF23

HA—FF33

HA—FF43

HA—FF63

0.05

0.07

0.09

0.12

9

9– 11


Use the dynamic brake at the load inertia moment indicated on the right. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed, contact Mitsubishi.

Servo Amplifier

MR—J2—10A

to

MR—J2—200A

MR—J2—10A1

to

MR—J2—40A1

MR—J2—350A

Load Inertia Moment

Ratio [times]

30

16

9-5 Vibration rank

The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below.

Servo motor

Top

Bottom

Measuring position

Servo Motor Vibration

Measuring Conditions

9– 12

CHAPTER 10

SPECIFICATIONS

This chapter gives the specifications of the servo.

10-1 Standard specifications

10-2 Torque characteristics

10-3 Servo motors with reduction gears

10-4 Servo motors with special shafts

10-5 Outline dimension drawings

10-5-1 Servo amplifiers

10-5-2 Servo motors

10-5-3 Servo motors (in inches)

10-5-4 Cable side plugs

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

10– 1

10. SPECIFICATIONS

10-1 Standard specifications

(1) Servo amplifiers

Item

Servo Amplifier

MR-J2-

10A 20A 40A 60A 70A 100A 200A 350A 10A1 20A1 40A1

Power supply

V o l t a g e / f r e q u e n c y

Permissible voltage fluctuation

Three-phase 200 to 230VAC, 50/60Hz or single-phase 230VAC, 50/60Hz (Note1)

Three-phase 200 to 230VAC: 170 to 253VAC

Single-phase 230VAC: 207 to 253VAC

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

Three-phase 170 to 253VAC

±

5%


Sine-wave PWM control, current control system

Built-in

Single-phase 85 to 127VAC

Permissible frequency fluctuation

System

Dynamic brake

Protective functions

Speed frequency response

Torque limit input

Max. input pulse frequency

Position control specifications

Command pulse multiplying factor

In-position range setting

Error excessive

Speed control range

Speed control specifications

Analog speed command input

Speed fluctuation ratio

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder

fault protection, regenerative fault protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

250Hz or more

0 to

±

10VDC/max. current (except torque control mode)

400kpps (for differential receiver), 200kpps (for open collector)

Electronic gear A/B, A, B: 1 to 32767, 1/50 < A/B < 50

0~

±

10000 pulse

±

80 kpulse

Analog speed command 1: 1000, internal speed command 1:5000

DC0~

±

10V

-0.03% or less (load fluctuation 0 to 100%)

±

0.02% or less (power fluctuation

±

10%)

±

3% or less

Torque control specifications

Structure

Environmental conditions

Weight

Analog torque command input

[A]

[kg]

[lb]

0.7

1.5

0.7

1.5

1.1

2.4

1.1

2.4

DC0 to

±

8V

Open (IP00)

Refer to (1) in Section 4-1.

1.7

3.75

1.7

3.75

2.0

4.4

2.0

4.4

0.7

1.5

Note: The single-phase 230VAC power supply applies to a combination with the HC-MF/HA-FF series servo motor.

0.7

1.5

1.1

2.4

(2) Servo motors

Servo Motor

Item

Applicable servo amplifier MR–J2–

(Note 1)

Continuous running duty

Rated output

Rated torque

[kW]

[N·m]

[oz·in]

Rated speed (Note 1)

Maximum speed

Permissible instantaneous speed

[r/min]

[r/min]

[r/min]

[N·m]

Maximum torque

[oz·in]

Power rate at continuous rated torque

(Note 7)

Inertia moment

[kW/s]

J[kg·cm

2

]

WK[oz·in]

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 6)

HC-MF Series

(Ultra low inertia, small capacity)

053

10A(1)

0.05

0.16

0.1

0.32

22.7

0.48

68.0

13.47

0.019

0.104

13

45.3

0.95

135

34.13

0.03

0.16

23 43

20A(1)

0.2

0.64

40A(1)

0.4

1.3

184 90.7

3000

4500

5175

1.9

269

41.8

0.088

0.48

3.8

538

116.55

0.143

0.78

73

70A

0.75

2.4

340

7.2

1020

94.43

0.6

3.28

30 times or less

053

HA-FF Series

(Low inertia, middle capacity)

10A(1)

0.05

0.16

22.7

0.48

68.0

4.0

0.063

0.344

13

0.1

0.32

45.3

0.95

135

10.2

0.095

0.52

23

20A(1)

0.2

0.64

33

0.3

0.95

90.7

3000

135

43

40A(1)

0.4

1.3

184

1.9

269

11.7

0.35

1.91

4000

4600

2.9

411

18.1

0.50

2.73

3.8

538

17.2

0.98

5.36

10 times or less

63

60A

0.6

1.9

269

5.7

808

30.1

1.2

6.56

(Note 4)

Regenerative brake duty

[times/min]

Servo amplifier' built-in regenerativebrake resistor

MR–RB032(30W)

MR–RB12(30W)

(Note 3) Power supply capacity

[kVA]

Rated current

[A]

Maximum current

[A]

Speed/position detector

Accessories

Structure

(Note 5) (Note 5) (Note 5) 1010

0.3

0.85

2.6

0.3

0.5

1.5

5.0

3000

(Note 5)

0.9

2.8

9.0

400

600

2400

1.3

5.1

18

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

0.3

0.6

1.8

0.3

1.1

3.3

0.5

1.3

3.9

320

950

3200

0.7

1.9

5.7

150

450

1500

0.9

2.5

7.5

120

360

1200

1.1

3.6

10.8

Encoder (resolution 8192 pulses/rev)

Encoder

Totally-enclosed, self-cooled

(protection type: IP44 with the exception of through-shaft portion(Note8))

Encoder, V ring

Totally-enclosed, self-cooled (protection type: IP44)

(Note 2) Environmental conditions

(Note 7) Weight

[kg]

[lb]

0.4

0.53

0.99

0.88

1.17

2.18

1.45

3.2

Refer to (1), Section 4-2.

3.0

1.3

1.5

6.6

2.87

3.31

2.3

2.6

4.2

4.8

5.07

5.73

9.26

10.6

10– 2


Servo Motor

HC-SF 1000r/min Series

(Middle inertia, middle capacity)

81 121 201 301

Item

Applicable servo amplifier

MR–J2–

(Note 1)


Rated output

Rated torque

[kW]

[N • m]

[oz • in]

(Note 1)Rated speed

Maximum speed

[r/min]

[r/min]


Maximum torque

[r/min]

[N

[oz

•

• m] in]


(Note 7)

Inertia moment

J

WK

2

[kW/s]

[x10

-4 kg • cm

2

]

[oz • in

2

]

(Note 6)Recommended ratio of load inertia

moment to servo motor shaft inertia moment

Servo amplifier' built-in regenerative brake resistor

(Note 4)


[times/min]

MR–RB032(30W)

MR–RB12(100W)

MR–RB32(300W)

MR–RB30(300W)

MR–RB50(500W)


Rated current

Maximum current


Accessories

[kVA]

[A]

[A]

Structure


(Note 7) Weight

[kg]

[lb]

100A

0.85

8.12

1151

1500

1725

24.4

3458

32.9

20.0

109

140

220

740

2220

200A 200A

1.2

11.5

2.0

19.1

1630 2707

1000

34.4

4875

30.9

42.5

232

70

110

350

1040

1200

1380

57.3

8120

44.5

82

448

15 times or less

100

350A

3.0

28.6

4053

85.9

12173

81.3

101

552

84

330

550

250

430

1.5

5.1

2.1

7.1

3.5

9.6

4.8

16

15.3

21.3

28.8

48

Encoder (resolution : 16384 pulses/rev)

Encoder • oil seal


(protection type: IP65)


9.0

19.8

12

26.5

19

41.9

23

50.7



52

60A

0.5

2.39

339

7.16

1015

8.7

6.6

36.1

56

165

560

102

100A

1.0

4.78

677

3000

345

14.4

2041

16.7

13.7

74.9

54

152

200A

1.5

7.16

1015

2000

21.6

3061

25.6

20.0

109

15 times or less

136

202

200A

2.0

9.55

1353

28.5

2500

2850

4039

21.5

4.5

232

64

352

350A

3.5

16.7

2367

50.1

7100

34.1

82.0

448

31

1.0

3.2

1.7

6

408

680

2.5

9

192

320

3.5

11

9.6

18 27 33





51

95

158

5.5

17

5.0

11.0

80

270

810


7.0

9.0

12.0

15.4

19.8

26.5

19.0

41.9

10

10– 3


Servo Motor

Item


MR–J2–

(Note 1)


Rated output

Rated torque

[kW]

[N • m]

[oz • in]

(Note 1)Rated speed

Maximum speed

[r/min]

[r/min]


Maximum torque

[r/min]

[N

[oz

•

• m] in]


(Note 7)

J

[kW/s]

[

×

10

-4 kg • cm

2

]

Inertia moment

WK

2

[oz • in

2

]




(Note 4)


[times/min]

MR–RB032(30W)

MR–RB12(100W)

MR–RB32(300W)

MR–RB30(300W)

MR–RB50(500W)


Rated current

Maximum current


Accessories

[kVA]

[A]

[A]

Structure


(Note 7) Weight

[kg]

[lb]

53



103 153 (Note9) 203 (Note9) 353

HC-RF Series

(Low inertia, small capacity)

103 153 203

60A

0.5

1.59

225

4.77

676

3.8

6.6

36.1

100A

1.0

3.18

451

9.55

1353

7.4

13.7

74.9

200A

1.5

4.78

677

3000

3000

3450

14.3

2026

11.4

20.0

109.3

200A

2.0

6.37

903

19.1

2707

9.5

42.5

232.4

15 times or less

350A

3.5

11.1

1573

33.4

4733

15.1

82.0

448.3

200A

1.0

3.18

451

7.95

1127

67.4

1.5

8.2

200A

1.5

4.78

677

3000

4500

5175

11.9

1686

120

1.9

10.4

350A

2.0

6.37

903

15.9

2253

176

2.3

12.6

5 times or less

25 24 82 24 14 1090 860 710

73

250

36

120

360

250

410

70

110

42

70

1.0

3.2

1.7

5.3

2.5

8.6

3.5

10.4

5.5

16.4

9.6

15.9

25.8

31.2

49.2






5.0

11.0

7.0

15.4

9.0

19.8

12

26.5

19

41.9

3270

5450

1.8

6.1

2580

4300

2.5

8.8

2130

3550

3.5

14

18.4

23.4

37






3.9

5.0

6.2

8.6

11.0

13.7

10– 4


Servo Motor

HC-UF 2000r/min Series

(Pancake type middle capacity)

72 152 202

HC-UF 3000r/min Series

(Pancake type small capacity)

13 23 43 (Note9) 73

Item


MR–J2–

(Note 1)


Rated output

Rated torque

[kW]

[N • m]

[oz • in]

(Note 1)Rated speed

Maximum speed

[r/min]

[r/min]


Maximum torque

[r/min]

[N

[oz

•

• m] in]


(Note 7)

J

[kW/s]

[

×

10

-4 kg • cm

2

]

Inertia moment

WK

2

[oz • in

2

]




(Note 4)


[times/min]

MR–RB032(30W)

MR–RB12(100W)

MR–RB32(300W)

MR–RB30(300W)

MR–RB50(500W)


Rated current

Maximum current


Accessories

[kVA]

[A]

[A]

Structure


(Note 7) Weight

[kg]

[lb]

70A

0.75

3.58

507

10.7

1516

12.3

10.4

56.9

53

200A

1.5

7.16

1015

2000

3000

3450

21.6

3061

23.2

22.1

120.8

350A

2.0

9.55

1353

28.5

4039

23.9

38.2

208.9

15 times or less

124 68

10A

0.1

0.32

45

0.95

135

15.5

0.066

0.4

(Note5)

20A

0.2

0.64

91

1.9

269

19.2

1.3

3000

4500

5175

0.241

40A

0.4

1.3

184

3.8

538

47.7

0.365

2.0

15 times or less

(Note5) 410

70A

0.75

2.4

340

7.2

1020

9.66

5.90

32.3

41

79

87

791

372

620

203

338

1.3

5.4

2.5

9.7

3.5

14

16.2

29.1

42

Encoder (resolution 16384 pulses/rev)



(protection type: IP65(Note9))


8.0

17.6

11.0

24.3

16.0

35.3

1230

4106

62

206

0.3

0.76

0.5

1.5

0.9

2.8

1.3

4.3

2.5

4.95

9.24

12.9




(protection type: IP65(Note9))

0.8

1.8


1.5

1.7

5.0

3.3

3.7

11.0

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

2. When the equipment is to be used in places where it is subjected to oil and/or water, such as on machine field sites, optional features apply to the equipment. Please contact.

3. The power supply capacity depends on the power supply impedance.

4. The regenerative brake duty indicated is the permissible duty when the servo motor running without load at the rated speed is decelerated to a stop. When a load is connected, the value in the table is multiplied by 1/(m + 1), where m = load inertia moment/motor inertia moment. At the speed higher than the rated, the permissible number of times is in inverse proportion to the square of (running speed/rated speed). When the running speed varies frequently or when the regenerative mode continues as in ver tical feed, calculate regenerative heat generated during operation. Provisions must be made to keep this generated heat below the permissible value.

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

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

7. When the servo motor is equipped with reduction gear or electromagnetic brake, refer to the corresponding outline dimension drawing. For the EN Standard- and UL/C-UL Standard-compliant models, please consult us.

8. Except for the shaft-through portion and connector.

9. HC-UF73, HC-SF203, and HC-SF353 may not be connected depending on the production period of the servo amplifier. For details, contact us.

10

10– 5


10-2 Torque characteristics

CAUTION

If load is opplied at stop (during servo lock), 70% of the rated torque must not be exceeded.

(1) HC-MF series

(HC–MF053)

0.6

0.4

Short-duration operation region

0.2

Continuous operation region

0

1000 2000 3000 4000 4500

Speed [r/min]

(2) HA-FF series

(HA–FF053)

0.6


0.4

0.2


0

1000 2000 3000 4000

Speed [r/min]

(HA–FF23)

2.0

(HC–MF13)

1.0

0.75


(Note)

0.5

(HC–MF23)

2.0

1.5


0.25


0

1000 2000 3000 4000 4500

Speed [r/min]

(HA–FF13)

1.0

0.75

0.5


0.25


0

1000 2000 3000 4000

Speed [r/min]

(HA–FF33)

3

(HA–FF43)

4.0

(HC–MF43)

4.0

3.0


1.0

2.0

0.5


(Note)

1.0


(Note)

0

1000 2000 3000 4000 4500

Speed [r/min]

(HC–MF73)

8.0

6.0


0

1000 2000 3000 4000 4500

Speed [r/min]

4.0

2.0


Note: The broken line indicates the torque characteristic of the servo motor used with the single-phase

100V power supply series servo amplifier.

0

1000 2000 3000 4000 4500

Speed [r/min]

(HA–FF63)

6.0

1.5


2


3.0


4.0


1.0

2.0

(Note) (Note) (Note)

1

2.0

0.5


0

1000 2000 3000 4000

Speed [r/min]


0

1000 2000 3000 4000

Speed [r/min]

1.0


0

1000 2000 3000 4000

Speed [r/min]


0

1000 2000 3000 4000

Speed [r/min]

Note: The broken line indicates the torque characteristic of the servo motor used with the single-phase 100V power supply series servo amplifier.

10– 6


(3) HC-SF series

(HC–SF81)

300

20


10


0

500 1000

Speed [r/min]

1500

(HC–SF301)

100

75

50


25


0

500 1000

Speed [r/min]

(HC–SF52)

9

6


(HC–SF121)

40

30

20


10


0

500 1000

Speed [r/min]

(HC–SF102)

15

10


3


0

1000 2000

Speed [r/min]

3000

(HC–SF202)

30

20


10


0

1000 2000

Speed [r/min]

5


0

1000 2000

Speed [r/min]

3000

(HC–SF352)

60

40


20


0

1000 2000

Speed [r/min]

10– 7

(HC–SF201)

60

40


20


0

500 1000

Speed [r/min]

(HC–SF152)

24

16


8


0

1000 2000

Speed [r/min]

3000

10

2


0

1000 2000

Speed [r/min]

3000

(HC–SF203)

21


14

7


0

1000 2000

Speed [r/min]

3000

(4) HC-RF series

(HC–RF103)

9

6


3


0

1000 2000 3000 4000

Speed [r/min]


(HC–SF53)

6

(HC–SF103)

12

4


8


4


0

1000 2000

Speed [r/min]

3000

(HC–SF353)

39


26

13


0

1000 2000

Speed [r/min]

3000

(HC–RF153)

15

10


5


0

1000 2000 3000 4000

Speed [r/min]

(HC–SF153)

15


10

5


0

1000 2000

Speed [r/min]

3000

(HC–RF203)

18

12


6


0

1000 2000 3000 4000

Speed [r/min]

10– 8

4


0

1000 2000

Speed [r/min]

3000

(HC–UF13)

1.0

0.75


0.5

0.25


0

1000 2000 3000 4000 4500

Speed [r/min]

(HC–UF73)

8

6


4

2


0

1000 2000 3000 4000 4500

Speed [r/min]


(5) HC-UF series

(HC–UF72)

12

8


(HC–UF152)

24

16


8


0

1000 2000

Speed [r/min]

3000

(HC–UF23)

2.0

1.5


1.0

0.5


0

1000 2000 3000 4000 4500

Speed [r/min]

(HC–UF202)

30

20


10


0

1000 2000

Speed [r/min]

3000

(HC–UF43)

4.0

3.0


2.0

1.0


0

1000 2000 3000 4000 4500

Speed [r/min]

10– 9

10


10-3 Servo motors with reduction gears

Servo motors are available with reduction gears designed for: 1) general industrial machines; and

2) precision applications.

Servo motors with electromagnetic brakes are also available.

(1) Manufacturing range of servo motor with reduction gear

Servo motors with reduction gears that may be manufactured are indicated by symbols (G1 (H),

G2) in the following table. G1 (H) and G2 are symbols appended to the servo motor models.

(Refer to 2), (2) in Section 1-1.)

Reduction Gear Series

Reduction ratio

Servo motor

HC–MF053 to 73

HA–FF053

HA–FF13

HA–FF23

HA–FF33

HA–FF43 • 63

HC–SF52 to 202

HC–SF352

(Note)

1/5

G1

G1

G1

G1

G1

G1

G1

(H)

G1

(H)

1/6

1) For General Industrial Machines

(Note) (Note) (Note) (Note)

1/10 1/11 1/12

G1

1/17 1/20

G1

1/29 1/30 1/35 1/43 1/59

G1

G1

G1

G1

G1

G1

G1

G1

G1

G1

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

G1

(H)

1/5

G2

G2

G2

G2

G2

G2

G2

G2

2) For Precision Applications

1/9

G2

G2

G2

G2

1/10 1/15 1/20 1/25

G2

1/29 1/45

G2

G2

G2

G2

G2

G2

G2

G2 G2

G2

G2

G2

G2

G2

G2

G2

G2

G2

G2

G2

G2

G2

G2 G2

HC–RF103 to 203

G2 G2 G2 G2 G2

Note: Reduction ratios for general industrial machines are nominal values. For actual reduction ratios, refer to (2) and (3) in this section.

Not

(2) HC-MF series


Mounting Method

Mounting direction

Lubrication

Recommended grease

For General Industrial Machines

(HC-MF G1)

For Precision Applications

(HC-MF G2)

Grease lubrication (Already packed)

50 • 100W

Flange mounting

In any directions


200 to 750W

Mobilplex 46

Mobil Oil

Mobiltac 81

Mobil Oil

LDR101BV

American Oil Center Research

Output shaft rotating direction

With electromagnetic brake

Backlash

Permissible load inertia moment ratio

(when converting into the servo motor shaft)

Same as the servo motor output shaft direction.

Available

60 minutes or less at reduction gear output shaft 3 minutes or less at reduction gear output shaft

25 times or less 25 times or less

Permissible speed

(at servo motor shaft)

4500 r/min

The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below:

Servo Motor

Nominal

Reduction Ratio

1/5

1/12

1/20

HC–MF053(B)G1 HC–MF13(B)G1

9/44

49/576

25/484

HC–MF23(B)G1 HC–MF43(B)G1

19/96

25/288

253/5000

HC–MF73(B)G1

1/5

525/6048

625/12544

10– 10


(3) HA-FF series

Reduction Gear


(HA-FF G1)


(HA-FF G2)

Mounting Method

Mounting direction

Lubrication

Flange mounting

In any directions

Grease lubrication (Already packed) Grease lubrication (Already packed)

50 • 100W 200 to 600W

Recommended greas

SUMICO LUBRICANT

MOLY PS GREASE No.2

PYRONOC UNIVERSAL No.000

NIPPON PETRQLEUM

LDR101BJ

American Oil Center Research


Servo motor shaft and reduction gear output shaft rotate in the same direction. For the

HA-FF053G1 1/30 and HA-FF3G1 1/30, however, the servo motor shaft and reduction gear output shaft rotate in the opposite directions.

Servo motor shaft and reduction gear outputshaft rotate in the same direction.


Backlash



Permissible speed


40 minutes to 1.5

°

Available

5 times or less

3000 r/min

Within 3 minutes

The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below:

Nominal

Reduction Ratio

Servo Motor

1/5

1/10

1/30

HA–FF053G1 HA–FF13G1 HA–FF23G1 HA–FF33G1 HA–FF43G1 HA–FF63G1

9/44

3/29

144/4205

57/280

39/400

1/30

19/94

39/376

11/329

10/49

243/2401

27/784

10

10– 11


(4) HC-SF series


Mounting method

Mounting direction

Lubrication

Recommended grease



Backlash


(HC-SF G1(H))


(HC-SF G2)

As in 1) in this section



Flange mounting

In any directions


LDR101BJ of American Oil Center


Research make

Opposite direction to the servo motor shaft

Available

Same direction as the servo motor shaft

40 minutes to 2

°

at reduction gear output shaft

3 minutes or less at reduction gear output shaft



Permissible speed


4 times or less

2000[r/min]

5 times or less

0.5 to 1.5kW:3000[r/min]

2 to 3.5kW:2500[r/min]

1) Lubrication of reduction gears for general industrial machines

Oil lubrication cannot be used in applications where the servo motor will move. Specify grease lubrication.

For grease lubrication, the reduction gear is already grease-packed.

For oil lubrication, pack the reduction gear with oil on the customer side.

Mounting

Direction

Reduction gear

model

Reduction gear frame No.

4105

4115

4135

4165

4175

Shaft in Any Direction

CNHM

(leg type)

Grease

Grease

CNVM

(flange type)

Grease

Grease

Shaft Horizontal

CHHM CHVM

(leg type) (flange type)

(Note) Oil

(Note) Oil

Oil

(Note) Oil

(Note) Oil

Oil

Shaft Downward

(Note) Oil

(Note) Oil

Oil

(Note) Oil

(Note) Oil

Oil

Shaft Upward

CVHM CVVM


CWHM CWVM


Grease

Grease

Grease

Grease

Note: Grease-lubricated type is also available.

The reduction gear frame numbers are as follows:

Servo Motor

HC-SF52(B)G1 (H)

HC-SF102(B)G1 (H)

HC-SF152(B)G1 (H)

HC-SF202(B)G1 (H)

HC-SF352(B)G1 (H)

1/6 1/11

4115

4115

4135

4105

1/17

Reduction Ratio

1/29 1/35

4115

4135

4165

4165

1/43

4115

4135

4165

1/59

4165

4175

10– 12


2) Recommended lubricants a. Grease:

(Changing intervals: 20000 hours or 4 to 5 years) b. Lubricating oil

Ambient Nisseki IDEMITSU

Temperature

°

C

10 to 5

0 to 35

30 to 50

COSMO OIL Mitsubishi KOSAN

Oil CO., LTD

COSMO

GEAR

SE

68

BONNOC

SP

68

DIAMOND

GEAR LUBE

SP

68

DAPHNE CE

68S

DAPHNE SUPER

GEAR OIL

68

COSMO

GEAR

SE

100, 150

BONNOC

SP

100, 150

DIAMOND

GEAR LUBE

SP

100, 150

DAPHNE CE

100S,150S

DAPHNE SUPER

GEAR OIL

100, 150

COSMO

GEAR

SE

200,320,460

BONNOC

SP

200 to 460

DIAMOND

GEAR LUBE

SP

220 to 460

DAPHNE CE

220S to 460S

GENERAL

OIL

GENERAL

SP

GEAROL

100, 150

GENERAL

SP

GEAROL

200 to 260

Showa

Shell

Sekiyu

Omala Oils

68

Omala Oils

100, 150

Omala Oils

200 to 460

ESSO OIL Mobil OIL

SPARTAN

EP

68

SPARTAN

EP150

SPARTAN

EP

220 to 460

Mobilgear

626

(ISO VG68)

Mobilgear

629

(ISO VG150)

Mobilgear

630 to 634

(ISO VG

220 to 460)

Japan

Energy

JOMO.

Reductus

68

JOMO.

Reductus

100, 150

JOMO.

Reductus

200 to 460

Lubricating oil fill amount ( r

)

Reduction gear frame No.

Fill amount

Horizontal type

Vertical type

(5) HC-RF series

Mounting method

Mounting direction

Lubrication


Recommended grease



Backlash



Permissible speed (at servo motor shaft)

4135

0.7

1.1

4165

1.4

1.0

4175

1.9

1.9

For Precision Applications (HC-RF G2)

Flange mounting

In any directions


LDR101BJ of American Oil Center Research make

Same direction as the servo motor shaft

Available

Within 3 minutes at reduction gear output shaft

5 times or less

4000[r/min]

10

10– 13


10-4 Servo motors with special shafts

The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available.

These shafts are not appropriate for applications where the servo motor is star ted and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.

Servo Motor Model

Shaft Shape

Keyway D cut

HC—MF053 · 13

HC—MF23 to 73 (Note 1)

HA—FF053 · 13

HA—FF23 to 63 (Note 2)

Note: 1. With a key.

2. Standard with a key. For shape, refer to Section 10-5-2.

Servo Motor Model

HC—SF53 to 353

HC—SF53 to 352

HC—SF81 to 301

HC—RF103 to 203

HC—UF72 to 202

HC—UF13

HC—UF23 to 73

Shaft Shape

Keyway D cut

(Note1)

Machining Dimension Diagram

With key

[Unit: mm]

([Unit: in])

R

Q R

Q

QK QL

A

QK QL

A

A A

HC—MF23K to 73K HC—UF23K to 73K

W

øS

Y

Section A-A

Variable Dimension List

Servo Motor

Model

S R Q W

Variable Dimensions

QK QL U H Y

HC—MF23K · 43K

14h6

(14)

30 27 5 20 3 3 5

(1.18) (1.06) (0.20) (0.79) (0.12) (0.12) (0.20)

M4

Depth 15 (0.59)

HC—MF73K

19h6

(19)

40 37 6 25 5 3.5

6

(1.57) (1.46) (0.24) (0.98) (0.20) (0.14) (0.24)

M5

Depth 20 (0.79)

HC—UF23K · 43K

14h6

(14)

30 23.5

5 20 3 3 5

(1.18) (0.93) (0.20) (0.79) (0.12) (0.12) (0.20)

M4

Depth 15 (0.59)

HC—UF73K

19h6

(19)

40 36.5

6 25 5 3.5

6

(1.57) (1.44) (0.24) (0.98) (0.20) (0.14) (0.24)

M5

Depth 20 (0.79)

10– 14


Keyway

R

Q

QK

A

A

[Unit: mm]

([Unit: in])

QL r

U

Depth 20 (0.787)

Section A-A

Servo Motor

Model

HC—SF81K

HC—SF52K to 152K

HC—SF53K to 153K

HC—SF121K to 301K

HC—SF202K to 352K

HC—SF203K · 353K

HC—RF103K to 203K

HC—UF72K

S

24h6

(0.94)

R

35

(1.38)

79

(3.11)


Q

55 50

(2.17) (1.97)

W QK QL

0

8

(0.31)

36 5

(1.42) (0.20)

U

+0.2

4

(0.16)

r

4

(0.16)

0

10

(0.39)

55 5

(2.17) (0.20)

5

+0.2

0

(0.20)

5

(0.20)

24h6

(0.94)

22h6

(0.87)

45 40

(1.77) (1.57)

55

(2.17)

50

(1.97)

0

8

(0.31)

25 5

(0.98) (0.20)

5

+0.2

0

(0.16)

4

(0.16)

0

6

(0.24)

42 3

(1.65) (0.12)

+0.2

3.5

(0.14)

3

(0.12)

HC—UF152K

28h6

(1.10)

55 50

(2.17) (1.97)

0

8

(0.31)

45 5

(1.77) (0.20)

4

+0.2

0

(0.16)

4

(0.16)

HC—UF202K to 502K

35h6

(1.38)

65 60

(2.56) (2.36)

0

10

(0.39)

55 5

(2.17) (0.20)

5

+0.2

0

(0.20)

5

(0.20)

D cut

R

QK

ø8h6

Servo Motor

Model

HC—MF053D · 13D

[Unit: mm]

([Unit: in])


R QK

25

(0.98)

20.5

(0.81)

HA—FF053D · 13D

HC—UF13D

30

(1.178)

25

(0.98)

25.5

(1.00)

17.5

(0.69)

10

10– 15


10-5 Outline dimension drawings

10-5-1 Servo amplifiers

(1)

MR – J2 – 10A to MR – J2 – 60A

MR – J2 – 10A1 to MR – J2 – 40A1

A 70(2.76)

ø6(ø0.24) mounting hole

B

MITSUBISHI

135(5.32)

[Unit: mm]

([Unit:in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

1

A

C

N

2

E

N

C

L1 L2 L3

(Note)

C

N

3

C

N

1

B

U V W

Name plate

TE1

6

(0.24)

PE terminal

Servo Amplifier

Model

MR–J2–10A a

MR–J2–20A a

MR–J2–40A a

MR–J2–60A


A

50

(1.97)

70

(2.76)

B

6

(0.24)

22

(0.87)

Weight

[kg]([lb])

0.7

(1.54)

1.1

(2.43)

TE2

4(0.16)

Note: This data applies to the three-phase 200V and single-phase 230V power supply models.

For the single-phase 100V power supply models, refer to Section 3-1-1.

OPEN

E

N

C

C

N

2

C

N

1

A

C

N

1

B

C

N

3

TE1

• For three-phase 200V and single-phase 230V

L1

U

L2

V

L3

W

Terminal screw: M4 x 0.7

Tightening torque: 1.24 [N • m] (175.6 [oz • in])

• For single-phase 100V

L1

U V

L2

W



TE2

Front

D C P L21 L11

Tightening torque: 0.5 to 0.6 [N • m] (70.8 to 85.0 [oz • in])

FRONT MSTB2,5/5-ST-5,08


PE terminals



10– 16


(2)MR – J2 – 70A • MR – J2 – 100A

70(2.76)

ø6 (ø0.24) mounting hole

22

(0.87)

70(2.76)

MITSUBISHI

OPEN

C

N

1

A

E

N

C

C

N

2

L1 L2 L3

C

N

3

C

N

1

B

190(7.48)

Name plate

U V W

PE terminal

6(0.24)

22

(0.87)

42

(1.65)

Servo Amplifier

Model

MR–J2–70A

MR–J2–100A

6(0.24)

Weight

[kg]([lb])

1.7

(3.75)

TE2

TE1

L1

U

L2

V

L3

W



TE2

Front

D C P L21 L11 N

Tightening torque: 0.5 to 0.6 [N • m] (70.8 to 85.0 [oz • in])

PE terminals

FRONT MSTB2,5/6-ST-5,08


[Unit: mm]

([Unit:in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

2

E

N

C

C

N

1

A

C

N

3

C

N

1

B

TE1

6(0.24)



10

10– 17


(3)MR – J2 – 200A • MR – J2 – 350A

ø 6 (ø0.24) mounting hole

6

(0.24)

90(3.54)

78(3.07)

70(2.76) 195(7.68)

[Unit : mm]

([Unit: in])

Terminal layout

TE2

12-M4 screw

TE1

3-M4 screw

PE terminal

Servo Amplifier

Model

MR–J2–200A

MR–J2–350A

Weight

[kg]([lb])

2.0

(4.41)

TE1

L1 L2 L3 U V W



TE2

L11 L21 D P C N



PE terminals



10– 18


10-5-2 Servo motors

(1) HC-MF series

1) Standard (Without electromagnetic brake, without reduction gear)

Model

HC–MF053

HC–MF13

Output

(W)

50

100

Variable

Dimensions

L

81.5

96.5

KL

29.5

44.5

Inertia Moment

J( 10

-4 kg•m

2

)

0.019

0.03

Weight

(kg)

0.40

0.53

Moter plate

Bottom

Top

Caution plate

Encoder cable 0.3m

With connctor 1-172169-9

(AMP make)

42

Bottom

Top

25.2

6.8

40.5

L

Moter plate

(Opposite side)

5

25

2.5

9.9

Bottom

Top

KL



crimping terminal 1.25-4)

Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

2-ø4.5

45

°

[Unit: mm]

40

20

ø46

BC12031 *

(BC12034 *)

Motor plate

Bottom

Top

Model

HC–MF23

HC–MF43

Output

(W)

200

400

Variable

Dimensions

L

99.5

124.5

KL

49.1

72.1

Inertia Moment

J( 10

-4 kg•m

2

)

0.088

0.143

Weight

(kg)

0.99

1.45

4-ø5.8

45

°

60

[Unit: mm]

62

41

2.7

L

Motor plate

(Opposite side)

7 3

30

Bottom

Top ø70

Caution plate

Bottom

Top

25.2

10.6

Encoder cable 0.3m

With connector 1-172169-9

(AMP make)

9.9

10– 19

KL


(With end-insulated round crimping terminal 1.25-4)

Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

BC12032 *

(BC12035 *)

10


Model

HC–MF73

Output

(W)

750

Inertia Moment

J( 10

-4 kg•m

2

)

0.6

Weight

(kg)

3

82

Motor plate

Bottom

Top

Caution plate

Bottom

Top

25.2

11

Encoder cable 0.3m


(AMP make)

39

2.7

142

Motor plate

(Opposite side)

8 3

40

Bottom

Top

9.9

86.7



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

4-ø6.6

45

°

80

[Unit: mm]

ø90

20

BC12033 *

2) With electromagnetic brake

Model

HC–MF053B

HC–MF13B

Output

(W)

50

100

Variable

Dimensions

L

109.5

124.5

KL

29.5

44.5

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

0.32

0.32

0.022

0.032

Weight

(kg)

0.75

0.89

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

42

Bottom

Top

25.2

6.8

40.5

L

Motor plate

(Opposite side)

5

25

2.5

2-ø4.5

45˚

[Unit: mm]

40

Bottom

Top

ø46

65.5

Brake lead



9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

BC12036 *

(BC12039 *)

10– 20


Model

HC–MF23B

HC–MF43B

Output

(W)

200

400

Variable

Dimensions

L

131.5

156.5

KL

49.1

72.1

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

1.3

1.3

0.136

0.191

Weight

(kg)

1.6

2.1

62

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

Bottom

Top

25.2

41

2.7

L

Motor plate

(Opposite side)

7

3

30

4-ø5.8

45

°

[Unit: mm]

60

Bottom

Top

10.6

68

Brake lead

2-0.3

2

0.3m



9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

ø70

BC12037 *

(BC12039 *)

Model

HC–MF73B

Output

(W)

750

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

2.4

0.725

Weight

(kg)

4.0

Motor plate

Bottom

Top

Caution plate

82

39

2.7

177.5

Motor plate

(Opposite side)

8 3

40

4-ø6.6

45

°

80

[Unit: mm]

ø90

Bottom

Top

Bottom

Top

25.2

11

Encoder cable 0.3m


(AMP make)

72

Brake lead



9.9

86.7



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

19.5

20

BC12038 *

10

10– 21


3) With reduction gear for general industrial machine a) Without electromagnetic brake

Model

HC–MF053G1

HC–MF053G1

HC–MF053G1

Output

(W)

50

50

50

Variable

Dimensions

L

126

KL

74

144

144

92

92

Reduction

Gear Model

Reduction Ratio

(Actual Reduction Ratio)

Inertia Moment

J( 10

-4 kg•m

2

)

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.055

0.077

0.059

Backlash

Weight

(kg)

60min. max.

60min. max.

60min. max.

1.4

1.8

1.8

[Unit: mm]

"Rotation direction"

For reverse rotation command

For forward rotation command

L

42

40.5

8 6.5

28

60.5

25

65

45

°

Motor plate

(Opposite side)

Motor plate

4-ø7

ø75

ø88

Bottom

Top

Bottom

Top

Bottom

Top

6.8

Caution plate

9.9

25.2

KL

Model

HC–MF13G1

HC–MF13G1

HC–MF13G1

Output

(W)

100

100

100

Encoder cable 0.3m


(AMP make)

Variable

Dimensions

L

141

KL

89

159

159

107

107



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

Reduction

Gear Model

Reduction Ratio


Inertia Moment

J( 10

-4 kg•m

2

)

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.067

0.089

0.071

Backlash

60min. max.

60min. max.

60min. max.

20

M4 threads, depth 8

BC12066 *

(BC12086 *)

Weight

(kg)

1.5

1.9

1.9

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

42

Bottom

Top

25.2

6.8

40.5

L

Motor plate

(Opposite side)

8 6.5

28

60.5

25

Bottom

Top

9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

[Unit: mm]




4-ø7

65

45

°

ø88

ø75

20

M4 threads, depth 8

BC12067 *

(BC12087 *)

10– 22


Model

HC–MF23G1

HC–MF23G1

HC–MF23G1

Output

(W)

200

200

200

L

153

173

173

Variable

Dimensions

KL

102.6

122.6

122.6

Reduction

Gear Model

Reduction Ratio


Inertia Moment

J( 10

-4 kg•m

2

)

K9005

K9012

K9020

1/5(19/96)

1/12(25/288)

1/20(253/5000)

0.249

0.293

0.266

Weight

(kg)

3.3

3.9

3.9

62

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

Bottom

Top

25.2

10.6

41

2.7

L

Motor plate

(Opposite side)

9.9

10 8

30

74

Bottom

Top

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

35

[Unit: mm]


"Rotation

For forward rotation command direction"

90

45

°

4-ø9

20

M6 threads, depth12

BC12068 *

(BC12088 *)

Model

HC–MF43G1

HC–MF43G1

Output

(W)

400

400

Variable

Dimensions

L

178

198

KL

125.6

145.6

Reduction

Gear Model

Reduction Ratio


Inertia Moment

J( 10

-4 kg•m

2

)

K9005

K9012

1/5(19/96)

1/12(25/288)

0.296

0.339

Weight

(kg)

3.8

4.4

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

62

Bottom

Top

25.2

10.6

41

2.7

Motor plate

(Opposite side)

L

Bottom

Top

9.9

10 8

30

74

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

35

[Unit: mm]


"Rotation


direction"

90

4-ø9

45

°

ø1

00

ø114

20

M6 threads, depth12

BC12069 *

(BC12089 *)

10

10– 23


Model

HC–MF43G1

HC–MF73G1

HC–MF73G1

HC–MF73G1

Output Reduction Gear

(W) Model

Reduction Radio

Normal Reduction ratio Actual Reduction ratio

400

750

K10020

K10005

1/20

1/5

253/5000

1/5

750

750

K10012

K12020

1/12

1/20

525/6048

625/12544

Inertia Moment

J( 10

-4 kg•m

2

)

0.653

1.02

1.686

1.75

Backlash

60min. max.

60min. max.

60min. max.

60min. max.

Weight

(kg)

5.5

6.2

7.3

10.1

Model

HC–MF43G1

HC–MF73G1

HC–MF73G1

HC–MF73G1

Output

(W)

400

750


D LH LK LT H LA LB LC LD LE LF LG LM LN LP

62 38.4

41 10.6

42.8

115 95 132 100

82 48.7

39 11 58.1

115 95 132 100

10 73 10 13 16

10 73 10 13 16

86 201.5

90

86

L LR KL LZ

207 90

149.1

151.7

9

9

Q

50 32 M8 16

50

S

32

P R

M8 16

(Reduction

Ratio)

1/20

1/5

750

750

82 48.7

39 11 58.1

115 95 132 100

82 48.7

39 11 58.1

140 115 162 120

10 73 10 13 16

12 90 15 13 20

86

104

229 90

242 106

173.7

9

186.7

14

50

60

32

40

M8 16

M10 20

1/12

1/20

D

Motor plate

Bottom

Top

Caution plate

Encoder cable 0.3m


(AMP make)

Bottom

Top

25.2

LT

LK

2.7

Motor plate

(Opposite side)

L

9.9

Bottom

Top

LG LE

LM LM

LR

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

Q

[Unit: mm]




LD

45

°

ø

LA

øLC

20

P threads, depth R

BC12070 *

10– 24


b) With electromagnetic brake

Model

HC–MF053BG1

HC–MF053BG1

HC–MF053BG1

Output

(W)

50

50

50

L

154

172

172

Variable

Dimensions

KL

74

92

92

Braking Force

(N•m)

Reduction

Gear Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

0.32

0.32

0.32

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.058

0.080

0.062

Backlash

60min. max.

60min. max.

60min. max.

Weight

(kg)

1.8

2.2

2.2

8 6.5

28

60.5

25

[Unit: mm]




4-ø7

65

45

°

42

Motor plate

40.5

L

Motor plate

(Opposite side)

ø75

ø88

Bottom

Top

Caution plate

Bottom

Top

25.2

68

Bottom

Top

9.9

65.5

KL

Brake lead




Red: Phase U

White: Phase V

Encoder cable 0.3m


(AMP make)

Black: Phase W

Green/yellow: Earth

20

M4 threads, depth 8

BC12071

(BC12091 *)

Model

HC–MF13BG1

HC–MF13BG1

HC–MF13BG1

Output

(W)

100

100

100

Variable

Dimensions

L

169

KL

89

187

187

107

107

Braking Force

(N•m)

Reduction

Gear Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

0.32

0.32

0.32

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.069

0.091

0.073

Backlash

60min. max.

60min. max.

60min. max.

Weight

(kg)

1.9

2.3

2.3

Motor plate

Bottom

Top

Caution plate

42

40.5

L

Motor plate

(Opposite side)

8 6.5

28

60.5

25

[Unit: mm]




4- 7

65

45

°

ø88

ø7

5

Bottom

Top

Bottom

Top

25.2

6.8

9.9

65.5

Brake lead


Encoder cable 0.3m


(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

M4 threads, depth 8

BC12072 *

(BC12092 *)

10

10– 25


Model

HC–MF23BG1

HC–MF23BG1

HC–MF23BG1

Output

(W)

200

200

200

L

185

205

205

Variable

Dimensions

KL

102.6

122.6

122.6

Reduction

Gear Model

Reduction Ratio


Inertia Moment

J( 10

-4 kg•m

2

)

K9005

K9012

K9020

1/5(19/96)

1/12(25/288)

1/20(253/5000)

0.289

0.333

0.306

Weight

(kg)

3.9

4.5

4.5

62

Motor plate

Bottom

Top

Caution plate

Bottom

Top

25.2

10.6

41

2.7

68

L

Motor plate

(Opposite side)

Bottom

Top

9.9

KL

Encoder cable 0.3m


(AMP make)



10 8

30

74

35



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

[Unit: mm]




4-ø 9

90

45

°

ø114

ø1

00

M6 threads, depth 12

20

BC12073 *

(BC120793 *)

Model

HC–MF43BG1

HC–MF43BG1

Output

(W)

400

400

Variable

Dimensions

L

210

230

KL

125.6

145.6

Reduction

Gear Model

Reduction Ratio


Inertia Moment

J( 10

-4 kg•m

2

)

K9005

K9012

1/5(19/96)

1/12(25/288)

0.344

0.388

Weight

(kg)

4.4

5.0

10 8

30

74

35

[Unit: mm]




4-ø9

90

45

°

Motor plate

(Opposite side)

L

62

41

2.7

Motor plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

25.2

10.6

68

9.9

2

Brake lead 2-0.3 0.3m



Encoder cable 0.3m


(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø114

ø100

20

M6 threads, depth 12

BC12074 *

(BC12094 *)

10– 26


Model

HC–MF43BG1

HC–MF73BG1

HC–MF73BG1

Output

(W)

400

750

Brake Force

(N•m)

1.3

2.4

Reduction Reduction Radio

Gear Model


K10020

1/20 253/5000

K10005

1/5 1/5

Inertia Moment

J( 10

-4 kg•m

2

)

Backlash

0.700

1.145

60min. max.

60min. max.

750 2.4

K10012

1/12 525/6048

1.811

60min. max.

HC–MF73BG1 750 2.4

K12020

1/20 625/12544

1.875

60min. max.

Weight

(kg)

6.1

7.2

8.3

11.1

Model

HC–MF43BG1

HC–MF73BG1

HC–MF73BG1

HC–MF73BG1

Output

(W)

400

750


D LH LK LT LX H LA LB LC LD LE LF LG LM LN LP

62 38.4

41 10.6

68 42.8

115 95 132 100 10 73 10 13 16

L LR KL LZ

86 232.5

90 149.1

9

Q S P R

50 32 M8 16

82 48.7

39 11 72 58.1

115 95 132 100 10 73 10 13 16 86 242.5

90 151.7

9 50 32 M8 16

(Reduction

Ratio)

1/20

1/5

750

750

82 48.7

39 11 72 58.1

115 95 132 100

82 48.7

39 11 72 58.1

140 115 162 120

10 73 10 13

12 90 15 13

16

20

86 264.5

90

104 277.5

173.7

106 186.7

9

14

50

60

32

40

M8 16

M10 20

1/12

1/20

Motor plate

Bottom

Top

Caution plate

D

LK

2.7

Motor plate

(Opposite side)

L

LG LE

LM

LN

LR

Q

[Unit: mm]




4-øLZ

LD

45

°

øLA

øLC

Bottom

Top

Bottom

Top

25.2

LT

Encoder cable 0.3m


(AMP make)

LX KL

9.9

2

Brake lead 2-0.3 0.3m





Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

P threads, depth R

BC12075 *

10

10– 27


Motor plate

Bottom

Top

Caution plate

4) With reduction gear for precision application a) Without electromagnetic brake

Model

HC–MF053G2

HC–MF053G2

HC–MF053G2

HC–MF053G2

Output

(W)

50

50

50

50

Variable

Dimensions

L

130

KL

78

146

146

146

94

94

94

Reduction

Gear Model

BK1-05B-A5MEKA

BK1-09B-A5MEKA

BK1-20B-A5MEKA

BK1-29B-A5MEKA

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

1/5

1/9

1/20

1/29

0.067

0.060

0.069

0.057

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(kg)

1.4

1.7

1.8

1.8

42

40.5

Motor plate

(Opposite side)

L

8 6

23

55

25

4-ø6.6

[Unit: mm]




70

45

°

Bottom

Top

25.2

6.8

9.9

Bottom

Top

ø80

ø9

5

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth Encoder cable 0.3m


(AMP make)

20

M4 threads, depth 8

BC12076 *

(BC12096 *)

10– 28


Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Backlash

100

100

100

100

BK1-05B-01MEKA

BK1-09B-01MEKA

BK1-20B-01MEKA

BK1-29B-01MEKA

1/5

1/9

1/20

1/29

0.078

0.072

0.122

0.096

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(kg)

1.5

1.8

3.0

3.0

Motor plate

Bottom

Top

Caution plate

Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

100

100

100

100

LA

80

80

100

100

LB

65

65

80

80

LC

95

95

115

115

LD

70

70

85

85

LE

6

6

6

6


LF

48

48

65

65

LG

8

8

10

10

LH

60

60

74

74

LK

23

23

33

33

L

145

161

167

167

LR

55

55

75

75

KL

93

LZ

6.6

109 6.6

115 6.6

115 6.6

Q

25

25

35

35

S

16

16

20

20

P

M4

M4

M5

M5

R

8

8

10

10

(Reduction

Ratio)

1/5

1/9

1/20

1/29

42

40.5

L

Motor plate

(Opposite side)

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

Bottom

Top

25.2

6.8

9.9

Bottom

Top

øLA

øLC

Encoder cable 0.3m


(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

P threads,

depth R

BC12077 *

(BC12097 *)

10

10– 29


Motor plate

Bottom

Top

Caution plate

Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

200

200

200

200

BK1-05B-02MEKA

BK2-09B-02MEKA

BK3-20B-02MEKA

BK3-29B-02MEKA

1/5

1/9

1/20

1/29

0.191

0.208

0.357

0.276

2.1

3.5

5.0

5.0

Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

200

200

200

200

LA

80

100

115

115

LB

65

80

95

95

LC

95

LD

70

115 85

135 100

135 100

LE

6

6

8

8


LF

48

65

75

75

LG

8

10

10

10

LH

60

74

85

85

LK

23

33

35

35

L

157

175

180

180

LR

55

KL LZ

106.6

6.6

75

85

85

124.6

6.6

129.6

129.6

9

9

Q

25

35

40

40

S

16

20

25

25

P

M4

M5

M6

M6

R

8

10

12

12

(Reduction

Ratio)

1/5

1/9

1/20

1/29

62

41

2.7

Motor plate

(Opposite side)

L

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

Bottom

Top

25.2

10.6

9.9

Bottom

Top

øLA

øLC

Encoder cable 0.3m


(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

P threads,

depth R

BC12078 *

(BC12098 *)

10– 30


Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

400

400

400

400

BK2-05B-04MEKA

BK3-09B-04MEKA

BK4-20B-04MEKA

BK4-29B-04MEKA

1/5

1/9

1/20

1/29

0.295

0.323

0.426

0.338

3.7

5.3

7.5

7.5

Motor plate

Bottom

Top

Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

LA

100 400

400

400

400

115

135

LB

80

95

135 110

110

LC

115

135

LD

85

100

155 115

155 115

LE

6

8

8

8


LF

65

75

90

90

LG

10

10

12

12

LH

74

85

100

100

LK

33

L

184

35

40

40

205

211

211

LR

75

85

KL

131.6

6.6

152.6

100 158.6

100 158.6

LZ

9

11

11

Q

35

40

50

50

S

20

25

32

32

P

M5

M6

M8

M8

R

10

12

16

16

(Reduction

Ratio)

1/5

1/9

1/20

1/29

62

41

2.7

Motor plate

(Opposite side)

L

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45 °

Bottom

Top

øLA

øLC

Caution plate

Bottom

Top

25.2

10.6

9.9

Encoder cable 0.3m


(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

P threads, depth R

BC12079

(BC12099 *)

10

10– 31


Motor plate

Bottom

Top

Model

HC–MF73G2

HC–MF73G2

HC–MF73G2

HC–MF73G2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

750

750

750

750

BK3-05B-08MEKA

BK4-09B-08MEKA

BK5-20B-08MEKA

BK5-29B-08MEKA

1/5

1/9

1/20

1/29

0.973

0.980

1.016

0.910

6.3

8.6

12.0

12.0

Model

HC–MF73G2

HC–MF73G2

HC–MF73G2

HC–MF73G2

Output

(W)

LA

115 750

750

750

750

135

150

150

LB

95

110

125

125

LC

135

155

175

LD

100

115

130

175 130


LE

8

8

10

10

LF

75

90

105

105

LG

10

12

15

15

LH

85

100

115

115

LK

35

40

43

43

L

212

248

248

248

LR

85

100

115

KL

156.7

192.7

192.7

115 192.7

LZ

9

11

14

14

Q

40

50

60

60

S

25

32

40

40

P

M6

M8

M10

M10

R

12

16

20

20

(Reduction

Ratio)

1/5

1/9

1/20

1/29

82 39

2.7

Motor plate

(Opposite side)

L

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

øLAøLC

Caution plate

Bottom

Top

Bottom

Top

25.2

11

Encoder cable 0.3m


(AMP make)

9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

P threads,

depth R

BC12080 *

10– 32


Motor plate b) With electromagnetic brake

Model

HC–MF053BG2

HC–MF053BG2

HC–MF053BG2

HC–MF053BG2

Output

(W)

50

50

50

50

L

158

174

174

174

Variable

Dimensions

KL

78

94

94

94

Braking Force

(N•m)

0.32

0.32

0.32

0.32

Reduction

Gear Model

BK1-05B-A5MEKA

BK1-09B-A5MEKA

BK1-20B-A5MEKA

BK1-29B-A5MEKA

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

1/5

1/9

1/20

1/20

0.070

0.063

0.072

0.060

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(kg)

1.8

2.1

2.2

2.2

42

40.5

L

Motor plate

(Opposite side)

8 6

23

55

25

[Unit: mm]




70

4-ø6.6

45

°

ø80

ø95

Bottom

Top

Caution plate

Bottom

Top

6.8

25.2

Bottom

Top

Encoder cable 0.3m


(AMP make)

65.5

Brake lead



Blue: B1,B2

9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

M4 threads, depth 8

BC12081 *

(BC12100 *)

10– 33

10


Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

Braking Force

(N•m)

Reduction Gear

Model

100

100

100

100

0.32

0.32

0.32

0.32

BK1-05B-01MEKA

BK1-09B-01MEKA

BK2-20B-01MEKA

BK2-29B-01MEKA

Reduction

Ratio

1/5

1/9

1/20

1/29

Inertia Moment

J( 10

-4 kg•m

2

)

0.080

0.074

0.124

0.098

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(kg)

1.9

2.2

3.4

3.4

Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

100

100

100

100

LA

80

80

100

100

LB

65

65

80

80

LC

95

95

115

115

LD

70

70

85

85

LE

6

6

6

6


LF

48

48

65

65

LG

8

8

10

10

LH

60

60

74

74

LK

23

23

33

33

L

173

189

195

195

LR

55

55

75

75

KL

93

LZ

6.6

109 6.6

115 6.6

115 6.6

Q

25

25

35

35

S

16

16

20

20

P

M4

M4

M5

M5

R

8

8

10

10

(Reduction

Ratio)

1/5

1/9

1/20

1/29

Motor plate

Bottom

Top

Caution plate

42

40.5

L

Motor plate

(Opposite side)

LG LE

LK

LR

Q

Bottom

Bottom

Top

Top

6.8

25.2

Encoder cable 0.3m


(AMP make)

65.5

Brake lead



KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

[Unit: mm]




LD

4-øLZ

45

°

øLA

øLC

20

P threads,

depth R

BC12082 *

(BC12101 *)

10– 34


Motor plate

Bottom

Top

Caution plate

Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

Braking Force

(N•m)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

200

200

200

200

1.3

1.3

1.3

1.3

BK1-05B-02MEKA

BK2-09B-02MEKA

BK3-20B-02MEKA

BK3-29B-02MEKA

1/5

1/9

1/20

1/29

0.239

0.256

0.405

0.324

2.7

4.1

5.6

5.6

Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

200

200

200

200

LA

80

100

115

115

LB

65

80

95

95

LC

95

LD

70

115 85

135 100

135 100

LE

6

6

8

8


LF

48

65

75

75

LG

8

10

10

10

LH

60

74

85

85

LK

23

33

35

35

L

189

207

212

212

LR

55

KL LZ

106.6

6.6

75

85

85

124.6

6.6

129.6

129.6

9

9

Q

25

35

40

40

S

16

20

25

25

P

M4

M5

M6

M6

R

8

10

12

12

(Reduction

Ratio)

1/5

1/9

1/20

1/29

62

41

2.7

L

Motor plate

(Opposite side)

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

Bottom

Top

Bottom

Top 10.6

2.52

68

Brake lead

Encoder cable 0.3m




(AMP make)

9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

øLA

øLC

20

P threads, depth R

BC12083 *

(BC12102 *)

10

10– 35


Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

Braking Force

(N•m)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

400

400

400

400

1.3

1.3

1.3

1.3

BK2-05B-04MEKA

BK3-09B-04MEKA

BK4-20B-04MEKA

BK4-29B-04MEKA

1/5

1/9

1/20

1/29

0.344

0.372

0.475

0.386

4.3

5.9

8.1

8.1

Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

LA

100 400

400

400

400

115

135

LB

80

95

135 110

110

LC

115

135

LD

85

100

155 115

155 115

LE

6

8

8

8


LF

65

75

90

90

LG

10

10

12

12

LH

74

85

100

100

LK

33

L

216

35

40

40

237

243

243

LR

75

85

KL

131.6

6.6

152.6

100 158.6

100 158.6

LZ

9

11

11

Q

35

40

50

50

S

20

25

32

32

P

M5

M6

M8

M8

R

10

12

16

16

(Reduction

Ratio)

1/5

1/9

1/20

1/29

Motor plate

62

41

2.7

Motor plate

(Opposite side)

LK

Bottom

Top

Caution plate

Bottom

Bottom

Top

Top

68

25.2

10.6

Encoder cable 0.3m


(AMP make)

Brake lead

2

2-0.3 0.3m


9.9

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

ø

LA

øLC

20

P threads, depth R

BC12084 *

(BC12103 *)

10– 36


Model

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

Output

(W)

Braking Force

(N•m)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

750

750

750

750

2.4

2.4

2.4

2.4

BK3-05B-08MEKA

BK4-09B-08MEKA

BK5-20B-08MEKA

BK5-29B-08MEKA

1/5

1/9

1/20

1/29

1.098

1.105

1.141

1.035

7.3

9.6

13.0

13.0

Model

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

Output

(W)

LA

115 750

750

750

750

135

150

150

LB

95

110

125

125

LC

135

155

175

LD

100

115

130

175 130


LE

8

8

10

10

LF

75

90

105

105

LG

10

12

15

15

LH

85

100

115

115

LK

35

40

43

43

L

247.5

283.5

283.5

283.5

LR

85

100

115

KL

156.7

192.7

192.7

115 192.7

LZ

9

11

14

14

Q

40

50

60

60

S

25

32

40

40

P

M6

M8

M10

M10

R

12

16

20

20

(Reduction

Ratio)

1/5

1/9

1/20

1/29

Motor plate

82

39

2.7

Motor plate

(Opposite side)

L

LG LE

LK

LR

Q

[Unit: mm]




LD

4-øLZ

45

°

øL

A

øLC

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

25.2

11

72

9.9

Encoder cable 0.3m


(AMP make)

Brake lead



KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

P threads, depth R

BC12085 *

10

10– 37


(2) HC-MF-UE series


Model

HC–MF053-UE

HC–MF13-UE

Output

(W)

50

100

Variable

Dimensions

L

89.5

104.5

KL

37.5

52.5

Inertia Moment

J( 10

-4 kg•m

2

)

0.019

0.03

Weight

(kg)

0.5

0.6

42

Motor plate

Bottom

Top

Caution plate

Bottom

Top

25.2

Encoder cable

0.3m

6.8

40.5

L

Motor plate

(Opposite side)

5 2.5

25

Bottom

Top

Bottom

Top

9.9

TUV plate

KL

V ring

V-10A



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

Encoder cable 0.3m


(AMP make)

2-ø4.5

Model

HC–MF23-UE

HC–MF43-UE

Output

(W)

200

400

Variable

Dimensions

L

108.5

133.5

KL

58

81

Inertia Moment

J( 10

-4 kg•m

2

)

0.09

0.14

Weight

(kg)

1.2

1.7

TUV plate

62

41

2.7

L

Motor plate

(Opposite side)

7 3

30

45

°

ø46

40

[Unit: mm]

20

BC07328A

4-ø5.8

45

°

30

[Unit: mm]

Motor plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

25.2

10.6

Bottom

Top

V ring

V-16A

9.9

KL

Encoder cable 0.3m


(AMP make)



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

ø70

BC07329A

10– 38


Model

HC–MF73-UE

Output

(W)

750

Inertia Moment

J( 10

-4 kg•m

2

)

0.675

Weight

(kg)

3.1

[Unit: mm]

TUV plate

Motor plate

Caution plate

82

Bottom

Top

Bottom

Top

25.2

11

Encoder cable 0.3m


(AMP make)

39

2.7

150

Motor plate

(Opposite side)

8 3

40

Bottom

9.9

Top

V ring

V-25A

95



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

4-ø6.6

45

°

80

ø90

20

BC07330A


Model

HC–MF053B-UE

HC–MF13B-UE

Output

(W)

50

100

Variable

Dimensions

L

117.5

132.5

KL

37.5

52.5

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

0.32

0.32

0.022

0.032

Weight

(kg)

0.9

1

Motor plate

Bottom

Top

Caution plate

42

Bottom

Top

25.2

6.8

40.5

Encoder cable 0.3m


(AMP make)

Brake lead

2-0.3

2

0.3m



B1,B2

L

Motor plate

(Opposite side)

TUV plate

5

25

2.5

2-ø4.5

Bottom

Top

Bottom

Top

V ring

V-10A

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

45

°

ø46

20

40

[Unit: mm]

BC07369A

10

10– 39


Model

HC–MF23B-UE

HC–MF43B-UE

Output

(W)

200

400

Variable

Dimensions

L

140.5

165.5

KL

58

81

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

1.3

1.3

0.136

0.191

Weight

(kg)

1.7

2.2

[Unit: mm]

Motor plate

Bottom

Top

Caution plate

TUV plate

62

Bottom

Top

Bottom

Top

25.2

41

2.7

L

Motor plate

(Opposite side)

7 3

30

4-ø5.8

10.6

Encoder cable 0.3m


(AMP make)

Brake lead



B1,B2

9.9

Bottom

Top

V ring

V-16A

95



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

45

°

60

20

ø70

BC07354A

Model

HC–MF73B-UE

Output

(W)

750

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

2.4

0.75

Weight

(kg)

4.2

TUV plate

Motor plate

Caution plate

82

Bottom

Top

Bottom

Top

11

25.2

Encoder cable 0.3m


(AMP make)

[Unit: mm]

39

2.7

185.5

Motor plate

(Opposite side)

8 3

40

4-ø6.6

45

°

80

Bottom

Top

9.9

95

Brake lead

2

2-0.3 0.3m



B1,B2

ø90

V ring

V-25A



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

BC07606A

10– 40


(3) HA-FF series

1) Standard

1)

HA – FF053 • HA – FF13

Caution plate

Top

Bottom

HA – FF23 to HA – FF63

Caution plate

Bottom

Top

Earth terminal M3 screw

Encoder cable 0.3m


(AMP make)

LL


(Opposite side)

6

30

2.5

[Unit: mm]

54

45

°

ø

68

ø

60

V ring

Top Bottom

Motor plate

Power supply cable

VCTF 3-1.25

2

0.5m

4–


ø

4.5

Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

Servo Motor

Model

Inertia

Moment

J[ 10

-4 kg•m

2

]

Variable

Dimensions

Weight

LL

[kg]

HA–FF053

HA–FF13

0.063

0.10

106

123

1.3

1.5

[Unit: mm]

LL

LG

3

LR

LD

45 °

Q

A

ø

LA

A

V ring

Top Bottom

Motor plate

W

Power supply cable

VCTF 3-1.25

2

0.5m

(With end-insulated round crimping terminal

1.25-4)

ø

Sh6

Red: Phase U

White: Phase V

Black: Phase W

Section AA

P screw, depth R

4–

ø

LZ

ø

LC

Servo Motor

Model

Inertia

Moment

J[ 10

-4 kg•m

2

]

LA LB LC LD LG


LJ LL LR LZ H Q

HA–FF23

HA–FF33

HA–FF43

HA–FF63

0.35

0.5

0.98

1.2

90

90

115 95 135 100 10

115

70 100

70 100

95 135

76

76

100

8

8

10

50 131 30 5.5

50 148 30 5.5

62

62

154.5

169.5

40

40

9

9

4

4

5

5 35

S

16

U

3

W

5

P

M5 x 0.8

R

25 11 2.5

25 11 2.5

35 16 3

4

4

M4 x 0.7

M4 x 0.7

15

15

5 M5 x 0.8

20

20

Weight

[kg]

2.3

2.6

4.2

4.8

10

10– 41



HA – FF053B • HA – FF13B

Caution plate

LL


(Opposite side)

6

30

2.5

54

45

[Unit: mm]

4–

ø

4.5

Bottom

Top

Top

Bottom ø

68

ø

60

Encoder cable 0.3m


(AMP make)

Top Bottom

Motor plate

Brake cable

VCTF 2–0.5

2 0.5m


Power supply cable

VCTF 3-1.25

2

0.5m


Red: Phase U

White: Phase V

Black: Phase W

Servo Motor

Inertia

Model

Moment

J[ 10

-4 kg•m

2

]

Variable

Dimensions

Weight

[kg]

LL

HA–FF053 0.08

140.5

1.6

HA–FF13B 0.11

157.5

1.8

HA – FF23B to HA – FF63B

Caution plate

LL

LG 3

LR

Q

QK QL

A

4–

ø

LZ

LD

45

°

[Unit: mm]

ø

LA

Bottom

Top


Encoder cable 0.3m


(AMP make)

A

V ring

W

Top Bottom

Motor plate

Brake cable

VCTF 2–0.5

2 0.5m


Power supply cable

VCTF 3-1.25

2

0.5m


Red: Phase U

White: Phase V

Black: Phase W

ø

Sh6

Section AA

P screw, depth R

Servo Motor

Model

Inertia

Moment

J[ 10

-4 kg•m

2

]

LA LB LC LD LG LJ LL


LR LZ H Q S U W QK QL

HA–FF23B

HA–FF33B

0.48

0.63

90

90

70

70

100 76

100 76

8

8

50 167.5

30 5.5

50 185 30 5.5

8

8

25 11 2.5

25 11 2.5

4

4

16

16

4

4

P R

M4 x 0.7

15

M4 x 0.7

15

Weight

[kg]

2.9

3.2

HA–FF43B

HA–FF63B

1.33

1.55

115 95 135 100 10

115 95 135 100 10

62 191.5

40

62 206.5

40

9

9

5

5

35

35

16

16

3

3

5 25 5 M5 x 0.8

20

5 25 5 M5 x 0.8

20

5.0

5.6

ø

LC

10– 42


3) With reduction gear for general industrial machine

HA – FF053(B)G1 • HA – FF13(B)G1

LL

3

38

Caution plate


(Opposite side)

33

27.5

A

45

°

90

[Unit: mm]

Bottom

A

ø

104

Top

Caution plate

Top Bottom

Motor plate

5

Power supply cable

VCTF 3-1.25

2 0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø

15h6

Section AA

4–

ø

6.5

Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear Model

(Note 1)

Inertia Moment

J[ 10

-4 kg•m

2

]

0.068 (0.084)

(Note 1) Variable

Dimensions

LL

183 (217.5)

(Note 1) Weight

[kg]

2.5 (2.8)

HA–FF053

(B)G1

1/10 GR–S–10 0.068 (0.084) 183 (217.5) 2.5 (2.8)

1/30 0.063 (0.080) 183 (217.5) 2.5 (2.8)

HA–FF13

(B)G1

1/5

1/10

1/30

GR–S–10

0.10 (0.115)

0.10 (0.115)

0.095 (0.11)

200 (234.5)

200 (234.5)

200 (234.5)

2.7 (3.0)

2.7 (3.0)

2.7 (3.0)

Note: 1. Values in parentheses are those for the servo motors with electromagnetic brakes.

Note: 2. Nominal reduction ratios. For actual reduction ratios, refer to Section 10-3.

HA

–

FF23(B)G1

215 32.5

[Unit: mm]

4–

ø

10

145

12 3

45 °


(Opposite side)

25

24

A

ø

180

Bottom

Top

A

5

Top Bottom

Motor plate

Power supply cable

VCTF 3-1.25

2 0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø

16h6

Section AA

Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

HA–FF23

1/10

(B)G1

1/30

M6 screw, depth 10

Reduction

Gear Model

GR–S–20

(Note 1)

Inertia Moment

J[ 10

-4 kg•m

2

]

0.373 (0.502)

0.373 (0.502)

0.37 (0.50)

(Note 1) Weight

[kg]

5.0 (5.6)

5.0 (5.6)

5.0 (5.6)

Note: 1. Values in parentheses are those for the servo motors with electro-

Note: 1. magnetic brakes.

Note: 2. Nominal reduction ratios. For actual reduction ratios, refer to Section

Note: 1. 10-3.

10

10– 43


HA – FF33(B)G1 • HA – FF43(B)G1

LL

12

37.5

3

145

[Unit: mm]

4–

ø

10

45 °

Caution plate


(Opposite side)

28

25

A

Bottom

6

A

Top

Top Bottom

Motor plate

Power supply cable

VCTF 3-1.25

2

0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø

19h6

M6 screw, depth 12

Section AA

ø

180

Servo Motor

Model

HA–FF33

(B)G1

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear

Model

1/10

1/30

GR–S–30

HA–FF43

(B)G1

1/5

1/10

1/30

GR–S–40

(Note 1)

Inertia Moment

J[ 10

-4 kg•m

2

]

0.545 (0.678)


Dimensions

LL

(Note 1) Weight

[kg]

250 (287) 6.5 (7.2)

0.545 (0.678)

0.538 (0.670)

1.02 (1.37)

1.02 (1.37)

1.01 (1.36)

250 (287)

250 (287)

259 (295.5)

259 (295.5)

259 (295.5)

6.5 (7.2)

6.5 (7.2)

8.0 (8.9)

8.0 (8.9)

8.0 (8.9)



HA – FF63(B)G1

[Unit: mm]

4–

ø

12

274.5(311.5)

12

46.5

3

185

45

°


(Opposite side)

Caution plate

36

32

A

ø

225

6

Bottom

A

Top

Top

Bottom

Motor plate

Power supply cable

VCTF 3-1.25

2

0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø

22h6

Section AA

M6 screw, depth 10

Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear

Model

HA–FF63

(B)G1

1/10

1/30

GR–S–60

(Note 1)

Inertia Moment

J[ 10

-4 kg•m

2

]

(Note 1) Weight

[kg]

1.34 (1.69)

1.34 (1.69)

1.32 (1.67)

13.0 (13.9)

13.0 (13.9)

13.0 (13.9)

Note: 1. Values in parentheses are those for the servo motors with

Note: 1. electromagnetic brakes.

Note: 2. Nominal reduction ratios. For actual reduction ratios, refer to

Note: 1. Section 10-3.

10– 44


4) With reduction gear for precision application

LL

Caution plate


(Opposite side) 200W or more


(Opposite side) 100W or less

LG

LR

LE

LM

Q

Bottom

Top

Top Bottom

Motor plate

Power supply cable

VCTF 3-1.25

2 0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

[Unit: mm]

LD

45

°

ø

LC

ø

LA

4–

ø

LZ

Servo Motor

Model

Reduction

Ratio

Reduction

Gear Model

HA–FF053

(B)G2

HA–FF13

(B)G2

HA–FF23

(B)G2

HA–FF33

(B)G2

HA–FF43

(B)G2

1/5

1/10

1/15

1/25

1/5

1/10

1/15

1/25

1/5

1/10

1/15

1/5

1/10

1/5

BM4–25B

–01MES

BM3–05B

–02MES

BM4–10B

–02MES

BM4–15B

–02MES

BM4–05B

–03MES

BM4–10B

–03MES

BM4–05B

–04MES

BM2–05B

–A5MES

BM2–10B

–A5MES

BM2–15B

–A5MES

BM3–25B

–A5MES

BM2–05B

–01MES

BM3–10B

–01MES

BM3–15B

–01MES

0.29

(0.308)

0.425

(0.558)

0.645

(0.778)

0.618

(0.75)

0.818

(0.95)

0.795

(0.928)

1.293

(1.643)

(Note)

Inertia

Moment

J[ 10

-4 kg•m

2

]

0.11

(0.128)

0.108

(0.125)

0.105

(0.123)

0.111

(0.120)

0.143

(0.160)

0.165

(0.160)

0.155

(0.153)

LA

78

78

78

90

78

90

90

90

LB

62

62

62

76

62

76

76

76

LC

89

89

89

102

89

102

102

102

LD

74

74

74

87

74

87

87

122 100 140 118

87

122 100 140 118

122 100 140 118

122 100 140 118

122 100 140 118

122 100 140 118

(Note) Variable Dimensions

LE

2

2

2

2

2

2

2

3

2

3

3

3

3

3

LF

33

33

33

41

33

41

41

61

41

61

61

61

61

61

LG

6

6

6

8

6

8

8

10

8

10

10

10

10

10

LK

75

75

75

87

75

87

87

118

87

118

118

118

118

118

LL

205

(240)

205

(239.5)

205

(239.5)

213

(247.5)

222

(256.5)

230

(264.5)

230

(264.5)

262

(296.5)

240

(277)

270

(306.5)

270

(306.5)

287

(324.5)

287

(324.5)

304

(340.5)

LM

9

9

9

9

9

9

9

14

9

14

14

14

14

14

LR

30

30

30

35

30

35

35

55

35

55

55

55

55

55

LZ

4.5

4.5

4.5

5.5

4.5

5.5

5.5

6.6

5.5

6.6

6.6

6.6

6.6

6.6

Q S

20 10

20 10

20 10

25 14

20 10

25 14

25 14

40 22

25 14

40 22

40 22

40 22

40 22

40 22

(Note)

Weight

[kg]

2.5

(2.8)

3.0

(3.4)

3.0

(3.4)

5.0

(5.3)

3.8

(4.4)

2.3

(2.6)

2.3

(2.6)

2.3

(2.6)

2.8

(3.2)

5.8

(6.4)

5.8

(6.4)

6.1

(6.7)

6.1

(6.7)

7.7

(8.5)

Note: Values in parentheses are those for the servo motors with electromagnetic brakes.

10

10– 45


LL

Caution plate





Bottom

Top

LG

Motor plate

Power supply cable

VCTF 3-1.25

2 0.5m


Encoder cable 0.3m


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

3

43

LR

Q

LD

45

°

[Unit: mm]

4–

ø

12

Servo Motor

Model

HA–FF13

(B)G2

HA–FF23

(B)G2

HA–FF33

(B)G2

HA–FF43

(B)G2

HA–FF63

(B)G2

BL2–20B

–04MES

BL2–29B

–04MES

BL2–45B

–04MES

BL1–05B

–06MES

BL1–09B

–06MES

BL2–20B

–06MES

BL2–29B

–06MES

BL1–45B

–01MES

BL1–20B

–02MES

BL1–29B

–02MES

BL2–45B

–02MES

BL1–20B

–03MES

BL2–29B

–03MES

BL2–45B

–03MES

BL1–09B

–04MES

Reduction

Ratio

Reduction

Gear Model

1/45

1/20

1/29

1/45

1/20

1/29

1/45

1/9

1/20

1/29

1/45

1/5

1/9

1/20

1/29

1.535

(1.668)

0.913

(1.045)

1.193

(1.543)

2.378

(2.623)

2.01

(2.36)

1.388

(1.738)

(Note)

Inertia

Moment

J[ 10

-4 kg•m

2

]

0.293

(0.298)

0.730

(0.885)

0.633

(0.765)

0.763

(0.895)

0.880

(1.013)

1.283

(1.858)

1.418

(1.768)

2.603

(2.953)

2.235

(2.585)

LA LB LC LD

130 100 155 120

130 100 155 120

130 100 155 120

160 130 185 140

130 100 155 120

160 130 185 140

160 130 185 140

130 100 155 120

160 130 185 140

160 130 185 140

160 130 185 140

130 100 155 120

130 100 155 120

160 130 185 140

160 130 185 140

(Note) Variable Dimensions

LF

70

70

70

94

70

94

94

70

94

94

94

70

70

94

94

LG

10

10

10

12

10

12

12

10

12

12

12

10

10

12

12

LK

102

102

102

132

102

132

132

102

132

132

132

102

102

132

132

LL

274

(308.5)

278

(311.5)

278

(314.5)

299

(336)

295

(329.5)

316

(353.5)

316

(363.5)

295.5

(332.5)

323.5

(360.5)

323.5

(360.5)

333.5

(370.5)

300.5

(337.5)

310.5

(347.5)

338.5

(375.5)

338.5

(375.5)

LR

85

85

85

100

85

100

100

85

100

100

100

85

85

100

100

Q

40

40

40

55

40

55

55

40

55

55

55

40

40

55

55

S

25

25

25

35

25

35

35

25

35

35

35

25

25

35

35


(Note)

Weight

[kg]

12.6

(13.2)

12.6

(13.2)

8.2

(9.0)

14.2

(15)

14.2

(15)

6

(6.3)

6.8

(7.4)

6.8

(7.4)

12.3

(12.9)

7.1

(7.7)

14.2

(15)

8.8

(9.6)

8.8

(9.6)

14.8

(15.6)

14.8

(15.6)

ø

LA

ø

LC

10– 46


HA – FF63(B)G2 1/45

39

371(407.5)

201

15 5

140

75

Caution plate

Bottom

Top


(Opposite side)

Top Bottom

Motor plate

Encoder cable 0.3m


(AMP make)

Power supply cable

VCTF 3-1.25

2

0.5m


Red: Phase U

White: Phase V

Black: Phase W

63

Reduction

Gear Model

BL3–45B–06MES

Reduction

Ratio

1/45

(Note)

Inertia

Moment

J[ 10

-4 kg•m

2

]

3.13

(3.475)

(Note)

Weight [kg]

29.8

(33.7)


ø

220

6–

ø

12

[Unit: mm]

ø

245

60

°

10

10– 47


(4) HA-FFC-UE series

1) Standard (without electromagnetic brake, without reduction gear)

1)

HA – FF053C – UE [Unit: mm]

46

120

12

30

2.5

25

54

45

°

4–

ø

4.5

Bottom

ø

60

ø

68

Caution plate

(English)

Top

Bottom

TUV plate

Top

Encoder connector

MS3102A20-29P

20

41

32

Top Bottom

Motor plate

Oil seal

GM10204B

49.5


CE05-2A14S-2PD-B(D17)

Model

Output Inertia Moment

[W]

J[ 10

-4 kg•m

2

]

Weight

[kg]

Note: 1. For the pin-outs of the power supply and encoder connectors, refer to (3), Section 3-2-3.

2. For horizontal installation, it is recommended to face the power supply and encoder

connectors down.

HA–FF053C–UE 50 0.063

1.8

HA – FF13C – UE

[Unit: mm]

46

137

12

30

2.5

25

54

45 °

4–

ø

4.5

Bottom

Caution plate

(English)

Top

Bottom

Top

TUV plate

Encoder connector

MS3102A20-29P

20

41

32

Top Bottom

Motor plate

66.5


CE05-2A14S-2PD-B(D17)

Oil seal

S10207B

ø

60

ø

68


2. For horizontal installation, it is recommended to face the power supply and

encoder connectors down.

Model

Output

[W]

Inertia Moment

J[ 10

-4 kg•m

2

]

Weight

[kg]

HA–FF13C–UE 100 0.10

2

10– 48


1)

HA – FF23C – UE • HA – FF33C – UE

46

L

14 3

30

25

16 4

A

76

45 °

[Unit: mm]

4–

ø

5.5

Bottom

Caution plate

(English)

Top

Bottom

TUV plate

Top

Encoder connector

MS3102A20-29P

20

41

A

Oil seal

S15307B

32

Top Bottom

Motor plate

KL


CE05-2A14S-2PD-B(D17)

2.5

Note: 1. For the pin-outs of the power supply and encoder connectors,

refer to (3), Section 3-2-3.

2. For horizontal installation, it is recommended to face the power

supply and encoder connectors down.

ø

ø

90

100

4

Section AA

M4 x 0.7 threads, depth 15

Model

Output

[W]


L KL

Inertia Moment Weight

J[ 10

-4 kg•m

2

] [kg]

HA–FF23C–UE

HA–FF33C–UE

200

300

145

162

71.5

89

0.35

0.50

2.6

2.9


[Unit: mm]

Caution plate

(English)

47

L

16 3

40

35

25

A

5

ø

135

100

45

°

4–

ø

9

ø

115

TUV plate

Bottom

Top

EC

Bottom

Top

44

Encoder connector

MS3102A20-29P

41

20

32

Top Bottom

Motor plate

KL


CE05-2A14S-2PD-B(D17)

A

Oil seal

S17308B

3





5

Section AA


Model

HA–FF43C–UE

HA–FF63C–UE

Output

[W]


L KL


J[ 10

-4 kg•m

2

] [kg]

400

600

169

184

93

108

0.98

1.2

4.7

5.3

10

10– 49



HA – FF053CB – UE [Unit: mm]

Caution plate

47

155

Motor plate

(Opposite side)

12

30

2.5

25

54

45

°

4–

ø

4.5

TUV plate

CE

Bottom

Top

Bottom

Top

44

20

Encoder connector

MS3102A20-29P

41





Top Bottom

Oil seal

GM10204B

32 28

35.5

84


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P

ø

68

ø

60

Model

HA–FF053CB–UE


[W]

J[ 10

-4 kg•m

2

]

Braking

Force

[N

• m]

Weight

[kg]

50 0.08

0.39

2.1

HA – FF13CB – UE

[Unit: mm]

Caution plate

47

172

12

30

2.5

25

ø

68

54

45

°

ø

60

4–

ø

4.5

TUV plate

CE

Bottom

Top

Bottom

Top

44

Encoder connector

MS3102A20-29P

20

41





Oil seal

S10207B

32

Top Bottom

Motor plate

28

35.5

101


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P

Model

HA–FF13CB–UE


[W]

J[ 10

-4 kg•m

2

]

Braking

Force

[N

• m]

Weight

[kg]

100 0.11

0.39

2.3

10– 50


HA – FF23CB – UE • HA – FF33CB – UE

L

46

Bottom

Caution plate

(English)

TUV plate

Top

Bottom

Top

20

41

Encoder connector

MS3102A20-29P

14 3

30

25

16 4

A

32

Top Bottom

Motor plate

28

38.5

KL


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P

A

Oil seal

S15307B

2.5

[Unit: mm]

76

45 °

ø

90

ø

100

4–

ø

5.5





Model

HA–FF23CB–UE

HA–FF33CB–UE

4

Section AA


Output

[W]


L KL

Braking Force

[N

• m]

Inertia Moment

J[ 10

-4 kg•m

2

]

Weight

[kg]

200

300

182

200

109

127

1.2

0.48

0.63

3.5

3.8


Caution plate

(English)

47

L 40

16 3

35

25

A

5

100

45 °

[Unit: mm]

4–

ø

9

ø

135

ø

115

Bottom

Top

CE

Bottom

Top

TUV plate

44

41

20

Encoder connector

MS3102A20-29P


CE05-2A14S-2PD-B(D17)

32 Top Bottom

Motor plate

28

42.5

KL

Brake connector

MS3102E10SL-4P

A

Oil seal

S17308B

3





Model

HA–FF43CB–UE

HA–FF63CB–UE

5


Section AA

Output

[W]


L KL

Braking Force

[N

• m]

Inertia Moment

J[ 10

-4 kg•m

2

]

Weight

[kg]

400

600

206

221

130

145

2.3

1.33

1.55

5.8

6.4

10

10– 51


(5) HC-SF series


Model

Output

(kW)

0.5

Variable

Dimensions

L KL

Inertia Moment

J( 10

-4 kg•m

2

)

120 51.5

6.6

Weight

(kg)

5.0

HC—SF52

HC—SF53

HC—SF102

HC—SF103

HC—SF81

HC—SF152

HC—SF153

1.0

0.85

1.5

145

170

76.5

101.5

13.7

20

7.0

9.0

L

55

39.5

Moter plate

(Opposite side)

12 3

50

Bottom

Top

Model

HC—SF121

HC—SF202

HC—SF203

HC—SF201

HC—SF352

HC—SF353

Bottom

Top

Oil seal

S30457B

Output

(kW)

1.2

2.0

2.0

3.5

19.5

Encoder connector

MS3102A20-29P

KL


CE05-2A22-23P

Motor flange direction

Earth

E

F

G

H

D

A

B

C

U

V

W

Power supply connector layout

CE05-2A22-23P

Variable

Dimensions

L KL

Inertia Moment

J( 10

-4 kg•m

2

)

Weight

(kg)

145

187

68.5

110.5

42.5

82.0

12.0

19.0

39.5

Moter plate

(Opposite side)

L

18 3

79

75

41

130

45

°

[Unit: mm]

4-ø9 mounting hole

Use hexagon socket head cap screw.

ø145

ø165

176

Z694854 *

[Unit: mm]

ø200

Bottom

Top

Bottom

Top

Oil seal

S40608B

19.5

Encoder connector

MS3102A20-29P

KL


CE05-2A24-10P

10– 52


U

E

F

G

D

C

A

B

W

V

Earth


CE05-2A24-10P

ø230

45

4-ø13.5 mounting hole


Z695393A


Model

HC—SF301

Output

(kW)

3.0

Inertia Moment

J( 10

-4 kg·m

2

)

101

Weight

(kg)

23

[Unit: mm]

39.5

208

Moter plate

(Opposite side)

18 3

79

75

176

45

°

ø200

Bottom

Top

Bottom

Top

Oil seal

S40608B

ø230

19.5

Encoder connector

MS3102A20-29P

131.5


CE05-2A2-10P


U

Earth

E

F

G

D

C

A

B

W

V


CE05-2A24-10P

Note: 1. For connection with a load, use a locking element or the like.


Model

Output

(kW)

Variable

Dimensions

L KL

HC—SF52B

HC—SF53B

0.5

153 51.5

HC—SF102B

HC—SF103B

HC—SF81B

HC—SF152B

HC—SF153B

1.0

0.85

1.5

178

203

76.5

101.5

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

8.5

8.5

8.5

8.3

15.4

21.7

7.5

9.5

45

Weight

(kg)

L

Moter plate

(Opposite side)

12 3

55

50



BC10628 *

11.5

[Unit: mm]

130

4-ø9 mounting hole


45

°

ø145

ø165

Bottom

Top

19.5

Encoder connector

MS3102A20-29P

KL


CE05-2A22-23P

Oil seal

S30457B


Brake

G

U

V

F

E H

D

C

A

B

Earth

W


CE05-2A22-23P

41

Z695005

10

10– 53


Bottom

Top

Model

HC—SF121B

HC—SF202B

HC—SF203B

HC—SF201B

HC—SF352B

HC—SF353B

Output

(kW)

1.2

2.0

2.0

3.5

Variable

Dimensions

L KL

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

193 68.5

43.1

52.5

235

39.5

110.5

43.1

L

Moter plate

(Opposite side)

18 3

79

92.0

Weight

(kg)

18.0

25.0

176

45

°

[Unit: mm]

ø230

75

ø200

Bottom

Top

Oil seal

S40608B

19.5

89

Encoder connector

MS3102A20-29P

Brake connector

MS3102A10SL-4P


KL

U

F

G

V


CE05-2A24-10P E D

A

B

C

F W

Earth


CE05-2A24-10P

A B

Brake

Brake connector layout

MS3102A10SL-4P

Model

HC—SF301B

Output

(kW)

3.0

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

43.1

111

Weight

(kg)

29.0



Z695319D

[Unit: mm]

39.5

256

Moter plate

(Opposite side)

18 3

79

75

176



45 °

ø200

Bottom

Top

Bottom

Top

Oil seal

S40608B

19.5

89

Encoder connector

MS3102A20-29P

Brake connector

MS3102A10SL-4P


CE05-2A24-10P


131.5

A B

U

Brake

Earth

E

F

G

D

C

A

B

W

V


MS3102A10SL-4P


CE05-2A24-10P

45

ø230

BC10823 *

10– 54


(6) HC-RF series


39.5

L 45

10

Motor plate

(Opposite side)

3

40

Bottom

Top

[Unit: mm]

100

45

°

4-

ø

9 mounting hole


Bottom

Top

19.5

Encoder connector

MS3102A20–29P

KL


CE05–2A22–23P

Model

HC–RF103

HC–RF153

HC–RF203

Output

(kW)

1.0

1.5

2.0

ø

115

Oil seal

S30457B

Motor flange directon

G

U

V

F

A

Earth

E

H

D

C

B

W


(CE05–2A22–23P)

Variable

Dimensions

41

Inertia Moment

J( 10

-4 kg•m

2

)

L

147

172

197

KL

71

96

121

1.5

1.9

2.3

ø

135

Weight

(kg)

3.9

5.0

6.2

Bottom

Top


19.5

Encoder connector

MS3102A20–29P

Model

HC–RF103B

HC–RF153B

HC–RF203B

Output

(kW)

1.0

1.5

2.0

[Unit: mm]

L 45

10

Motor plate

(Opposite side)

3

40

100

45

°

ø

115

ø

135

4-

ø

9 mounting hole

(Use hexagon socket head cap screw.)

Bottom

Top

KL


CE05–2A22–23P

Oil seal

S30457B


Brake

G

U

V

A

Earth

F

E H

D

C

B

W


(CE05–2A22–23P)

L

185

210

235

Variable

Dimensions

KL

71

96

121

Barking Force

(N•m)

Inertia Moment

J( 10

-4 kg•m

2

)

7

7

7

1.85

2.25

2.65

41

Weight

(kg)

6.0

7.0

8.3

10

10– 55


(7) HC-UF series

1) Standard (without electromagnetic brake)

Model

HC–UF72

Output

(kW)

0.75

Inertia Moment

J( 10

-4 kg·m

2

)

10.4

Weight

(kg)

8

Bottom

Top

39.5

110.5

Moter plate

(Opposite side)

13 3

55

50

Bottom

Top

Oil seal

S30457B

2-M6 screw

40

°

ø215

176

45

°

19.5

Encoder connector

MS3102A20-29P

38


CE05-2A22-23P


Earth

U

V

F

G

H

E

D

C

A

B

W


CE05-2A22-23P

44

ø200

ø230

[Unit: mm]



Z695911 *

Model

HC–UF152

Output

(kW)

1.5

Inertia Moment

J( 10

-4 kg·m

2

)

22.1

Weight

(kg)

11

[Unit: mm]

Bottom

Top

39.5

120

Moter plate

(Opposite side)

13 3

55

2-M6 screw

40

°

ø215

50

19.5

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


47.5


CE05-2A22-23P

Earth

F

G

H

A

E

D

C

B

U

V

W


CE05-2A22-23P

176

44

45

°

ø200

ø230



Z695912A

10– 56


Model

HC–UF202

Output

(kW)

2.0

Variable

Dimensions

L

118

KL

42.5

Inertia Moment

J( 10

-4 kg·m

2

)

38.2

Weight

(kg)

16

39.5

L

16 4

65

2-M8 screw

60

37.5

°

ø

250

220

Bottom

Top

ø235

[Unit: mm]

Bottom

Top

19.5

Encoder connector

MS3102A20-29P

Oil seal

S40608B

19.5


CE05-2A24-10P


U

E

F

G

D

C

A

B

W

V


CE06-2A24-10P

45

°

ø270

47



Z695914 *

Model

HC–UF13

Output

(kW)

100

Inertia Moment

J( 10

-4 kg·m

2

)

0.66

Weight

(kg)

0.8

60

[Unit: mm]

Motor plate

TUV plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

26.9

Encoder cable 0.3m


(AMP make)

70

Motor plate

(Opposite side)

5 6

3

25

4-ø5.8

Bottom

Top

9.9

33

Oil seal

S10207



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø

70

20

BC11740A

10

10– 57


Model

HC–UF23

HC–UF43

Motor plate

TUV plate

Output

(W)

200

400

Variable

Dimensions

L

77

92

KL

43.8

58.8

Inertia Moment

J( 10

-4 kg·m

2

)

0.241

0.365

L

Motor plate

(Opposite side)

8 6.5

3

30

4-ø6.6

Weight

(kg)

1.5

1.7

Bottom

Top

Bottom

Top

Bottom

Top

ø90

80

[Unit: mm]

26.9

Encoder cable 0.3m


(AMP make)

9.9

KL

Oil seal

SC15307



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

BC11513A

Model

HC–UF73

Output (W)

750

Inertia Moment J( 10

-4 kg·m

2

)

5.9

Weight (kg)

5.0

[Unit: mm]

85

10

Motor plate

(Opposite side)

40

3.5

2.5

32.5

123

45

°

4-ø9

TUV plate

Motor plate

ø

145

ø1

65

Bottom

Top

Bottom

Top

Bottom

Top

Oil seal

SC20357

Caution plate

26.9

Encoder cable 0.3m


(AMP make)

55.5

70



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

20

BC11357A


Model

HC–UF72B

Output (kW) Braking Force (N·m)

0.75

8.5

Inertia Moment J( 10

-4 kg·m

2

)

12.4

Weight (kg)

10

176 [Unit: mm]

39.5

144

Moter plate

(Opposite side)

13 3

55

2-M6 screw

40

°

ø

215

ø200

Bottom

Top

19.5

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


38


CE05-2A22-23P

Brake

U

V

Earth

F H

E

D

C

A

B

W


CE05-2A22-23P

44

45

°

ø230



Z695981A

10– 58


Model

HC–UF152B

Output

(kW)

1.5

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

8.5

28.9

Weight

(kg)

13

39.5

153.5

Moter plate

(Opposite side)

13 3

55

2-M6 screw

176

[Unit: mm]

40

°

ø

215

ø200

Bottom

Top

Model

HC–UF202B

Output

(kW)

2.0

19.5

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


47.5


CE05-2A22-23P

Brake

Earth

G

F H

E

D

C

A

B

U

V

W


CE05-2A22-23P

Variable

Dimensions

L

161

KL

42.5

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

43.1

46.8

Weight

(kg)

22

44

45

°

ø230



Z695982A

[Unit: mm]

Bottom

Top

42

37.5

°

220

L

Moter plate

(Opposite side)

16 4

65

60

2-M8 screw

ø

250

ø235

Bottom

Top

Oil seal

S40608B

19.5

KL


Encoder connector

MS3102A20-29P

A B

Brake


MS3102A10SL-4P

Brake connector

H/MS3102A10SL-4P


CE05-2A24-10P


U

F

G

A

V

B

W

Earth

E D

C


CE05-2A24-10P

47

45

°

ø270



BC10647A

10

10– 59


Model

HC–UF13B

Output

(kW)

100

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

0.32

0.074

Weight

(kg)

1.2

Motor plate TUV plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

26.9

Encoder cable 0.3m


(AMP make)

100

Motor plate

(Opposite side)

5 6

3

25

4-ø5.8

45˚

Bottom

Top

33

Oil seal

SC10207

46.7

Brake cable

9.9



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth


ø70

60

[Unit: mm]

20

R5

BC11767A

Model

HC–UF23B

HC–UF43B

Output

(W)

200

400

Variable

Dimensions

L

111

126

KL

43.8

58.8

Braking Force

(N·m)

Inertia Moment

J( 10

-4 kg·m

2

)

1.3

1.3

0.323

0.477

Weight

(kg)

2.2

2.4

Motor plate

TUV plate

L

Motor plate

(Opposite side)

8 6.5

3

30

4-ø6.6

45˚

80

[Unit: mm]

R7

Bottom

Top

ø

90

Bottom

Top

Bottom

Top

26.9

Encoder cable 0.3m


(AMP make)

47.2

Brake cable

Tough-rubber sheath cable



KL

Oil seal

SC15307



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

24

BC11515A

10– 60


10-5-3 Servo motors (in inches)

(1) HC-MF series


Model

HC–MF053

HC–MF13

Output

(W)

50

100

Variable

Dimensions (in)

Inertia Moment

WK

2

(oz•in

2

)

L KL

3.21

3.80

1.16

0.18

0.10

0.16

Weight

(lb)

0.9

1.2

L

1.654

1.594

0.984

Moter plate

(Opposite side)

0.197

0.098

Moter plate

Bottom

Top

Bottom

Top Bottom

Top

0.268

Caution plate

Encoder cable 11.8in

With connctor 1-172169-9

(AMP make)

0.992

0.390

KL

Power supply lead 4-AWG19 11.8in



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

2-ø0.177

45

°

Model

HC–MF23

HC–MF43

Output

(W)

200

400

Variable

Dimensions (in)

Inertia Moment

WK

2

(oz•in

2

)

L KL

3.92

4.90

1.93

0.06

0.48

0.78

Weight

(lb)

2.2

3.2

[Unit: in]

1.575

ø1.811

0.787

BC12031 *

(BC12034 *)

[Unit: in]

2.362

2.441

1.614

0.106

L

Motor plate

(Opposite side)

0.276

1.181

0.118

4-ø0.228

45

°

Motor plate

Bottom

Top

Bottom

Top

ø2.756

Caution plate

Bottom

Top

0.992

0.417

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787



(AMP make)

BC12032 *

(BC12035 *)

10

10– 61


Model

HC–MF73

Output

(W)

750

Inertia Moment

WK

2

(oz•in

2

)

3.28

Weight

(lb)

6.6

3.228

Motor plate

Bottom

Top

Caution plate

Bottom

Top

0.992

0.433



(AMP make)

1.535

0.106

5.591

Motor plate

(Opposite side)

Bottom

Top

3.413

0.315

1.575

0.118

0.390



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

4-ø0.260

45

°

3.150

[Unit: in]

ø3.543

0.787

BC12033 *


Model

HC–MF053B

HC–MF13B

Output

(W)

50

100

Variable

Dimensions (in)

Braking Force

(oz•in)

L KL

Inertia Moment

WK

2

(oz•in

2

)

4.31

4.90

1.16

1.75

45.32

45.32

0.12

0.18

Weight

(lb)

1.7

2.0

1.654

1.594

L 0.984

Motor plate

(Opposite side)

0.197

0.098

2-ø0.177

45

°

1.575

[Unit: in]

Motor plate

Bottom

Top

Caution plate



(AMP make)

Bottom

Top

0.992

0.268

Bottom

Top

ø1.811

2.579

Brake lead



0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

BC12036 *

(BC12039 *)

10– 62


Model

HC–MF23B

HC–MF43B

Output

(W)

200

400

Variable

Dimensions (in)

Braking Force

(oz•in)

L KL

Inertia Moment

WK

2

(oz•in

2

)

5.18

6.16

1.03

2.84

184

184

0.74

1.04

Weight

(lb)

3.5

4.6

2.441

1.614

0.106

L

Motor plate

(Opposite side)

1.181

0.276

0.118

4-ø0.228

45

°

2.362

[Unit: in]

Motor plate

Bottom

Top

Caution plate



(AMP make)

Bottom

Top

0.992

Bottom

Top ø2.756

0.417

2.677

Brake lead

2-0.3

2

11.8in



0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

BC12037 *

(BC12039 *)

Model

HC–MF73B

Output

(W)

750

Braking Force

(oz•in)

Inertia Moment

WK

2

(oz•in

2

)

340 3.96

Weight

(lb)

8.8

[Unit: in]

Motor plate

Bottom

Top

Caution plate

3.228

1.535

0.106

6.988

Motor plate

(Opposite side)

1.575

0.315

0.118

4-ø0.260

45

°

3.150

ø3.543

Bottom

Top

Bottom

Top

0.992

0.433



(AMP make)

2.835

Brake lead



0.390

3.413



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.768

0.787

BC12038 *

10

10– 63


3) With reduction gear for general industrial machine a) Without electromagnetic brake

Model

HC–MF053G1

HC–MF053G1

HC–MF053G1

Output

(W)

50

50

50

Variable

Dimensions (in)

L

4.96

KL

2.91

5.669

5.669

3.62

3.62

Reduction

Gear Model

K6505

K6512

K6520

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.30

0.42

0.32

Backlash

60min. max.

60min. max.

60min. max.

Weight

(lb)

3.1

4.0

4.0

[Unit: in]

1.654

1.594

L

0.315

0.256

1.102

2.382

0.984




2.559

45 °

4-ø0.276

Motor plate

(Opposite side)

Motor plate

ø3.46

5

Bottom

Top

Caution plate

Model

HC–MF13G1

HC–MF13G1

HC–MF13G1

Bottom

Top

0.992

0.268

0.390

Bottom

Top

KL

Output

(W)

100

100

100



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787



(AMP make)

Variable

Dimensions (in)

L

5.551

KL

3.5

6.26

6.26

4.21

4.21

Reduction

Gear Model

K6505

K6512

K6520

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

1/5(9/44)

1/12(49/576)

1/20(25/484)

0.36

0.48

0.38

Backlash

60min. max.

60min. max.

60min. max.

M4 threads, depth 0.315

BC12066 *

(BC12086 *)

Weight

(lb)

3.3

4.2

4.2

[Unit: in]




4- 0.276

2.559

45

°

Motor plate

Bottom

Top

Caution plate



(AMP make)

1.654

Bottom

Top

0.992

0.268

1.594

L

Motor plate

(Opposite side)

Bottom

Top

0.315

0.256

1.102

2.382

0.984

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø3.465

ø2.953

0.787


BC12067 *

(BC12087 *)

10– 64


Motor plate

Bottom

Top

Caution plate

Model

HC–MF23G1

HC–MF23G1

HC–MF23G1

Output

(W)

200

200

200

Variable

Dimensions (in)

L

6.02

6.81

6.81

KL

4.04

4.83

4.83

Reduction

Gear Model

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

K9005

K9012

K9020

1/5(19/96)

1/12(25/288)

1/20(253/5000)

1.36

1.60

1.45

Weight

(lb)

7.3

8.6

8.6

2.441

L

1.614

0.106

Motor plate

(Opposite side)

0.394 0.315

1.181

2.913

1.378

[Unit: in]




3.543

45

˚

4-ø0.354

Bottom

Top

0.992

0.417

0.390

Bottom

Top



(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

M6 threads, depth0.472

BC12068 *

(BC12088 *)

Motor plate

Bottom

Top

Caution plate

Model

HC–MF43G1

HC–MF43G1

Output

(W)

400

400

Variable

Dimensions (lb)

L

7.01

7.80

KL

4.95

5.73

Reduction

Gear Model

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

K9005

K9012

1/5(19/96)

1/12(25/288)

1.62

1.85

Weight

(lb)

8.4

9.7

2.441

1.614

0.106

Motor plate

(Opposite side)

L

0.394 0.315

1.181

2.913

1.378

[Unit: in]


"Rotation


direction"

3.543

45

°

4-ø0.354



(AMP make)

Bottom

Top

0.992

0.417

0.390

Bottom

Top

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø4.4

88

0.787

M6 threads, depth0.472

BC12069 *

(BC12089 *)

10

10– 65


Model

HC–MF43G1

HC–MF73G1

HC–MF73G1

HC–MF73G1

Output Reduction Gear

(W) Model

Reduction Radio


400

750

K10020

K10005

1/20

1/5

253/5000

1/5

750

750

K10012

K12020

1/12

1/20

525/6048

625/12544

Inertia Moment

WK

2

(oz•in

2

)

3.57

5.58

9.22

9.57

Backlash

60min. max.

60min. max.

60min. max.

60min. max.

Weight

(lb)

12.13

13.67

16.09

22.27

Model

HC–MF43G1

HC–MF73G1

HC–MF73G1

HC–MF73G1

Output

(W)

400

750

D

2.362

1.50

1.61

0.42

1.69

4.53

3.74

5.20

3.94

0.39

2.87

0.39

0.512

0.63

3.39

7.933

3.54

5.87

0.35

1.97

1.26

M8 0.63

3.15

LH LK

1.89

1.54

LT

0.43

H

2.29

LA LB LC LD LE

4.53

3.74

5.20

Variable Dimensions (in)

3.94

0.39

LF LG LM LN LP

2.87

0.39

0.512

0.63

3.39

L

8.15

LR KL LZ

3.54

5.97

0.35

Q

1.97

S

1.26

P

M8

R

0.63

(Reduction

Ratio)

1/20

1/5

750

750

3.15

3.15

1.89

1.89

1.54

1.54

0.43

0.43

2.29

2.29

4.53

5.51

3.74

4.53

5.20

6.38

3.94

4.72

0.39

0.47

2.87

3.54

0.39

0.59

0.512

0.512

0.63

0.787

3.39

4.09

9.016

9.528

3.54

6.84

4.17

7.35

0.35

1.97

0.35

2.36

1.26

M8

1.57

M10

0.63

0.79

1/12

1/20

D

Motor plate

Bottom

Top

Caution plate



(AMP make)

Bottom

Top

0.992

LT

LK

0.106

Motor plate

(Opposite side)

L

0.390

Bottom

Top

LG LE

LM LM

LR

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

Q

[Unit: in]


4-øLZ



LD

45

°

øLA

øLC

0.787

P threads, depth R

BC12070 *

10– 66


b) With electromagnetic brake

Model

HC–MF053BG1

HC–MF053BG1

HC–MF053BG1

Output

(W)

50

50

50

Variable

Dimensions (in)

Braking Force

(oz•in)

L KL

6.06

2.91

45

6.77

6.77

3.62

3.62

45

45

Reduction

Gear Model

Reduction

Ratio

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

Inertia Moment

WK

2

(oz•in

2

)

0.32

0.44

0.34

Backlash

60min. max.

60min. max.

60min. max.

Weight

(lb)

4.0

4.9

4.9

[Unit: in]

0.315

0.256

2.382

1.102

0.984




4- 0.276

2.559

45

°

1.654

Motor plate

1.594

L

Motor plate

(Opposite side)

ø2.953ø3.465

Bottom

Top

Caution plate

Bottom

Top

0.992

0.268

Bottom

Top

0.390

2.579

KL

Brake lead




Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth



(AMP make)

Model

HC–MF13BG1

HC–MF13BG1

HC–MF13BG1

Output

(W)

100

100

100

Variable

Dimensions (in)

Braking Force

(oz•in)

L KL

6.65

7.36

7.36

3.43

4.21

4.21

45

45

45

Reduction

Gear Model

Reduction

Ratio

K6505

K6512

K6520

1/5(9/44)

1/12(49/576)

1/20(25/484)

Inertia Moment

WK

2

(oz•in

2

)

0.38

0.50

0.40

Backlash

60min. max.

60min. max.

60min. max.

0.787


BC12071 *

(BC12091 *)

Weight

(lb)

4.2

5.1

5.1

Motor plate

1.654

1.594

L

Motor plate

(Opposite side)

[Unit: in]

0.315

2.382

0.256

1.102

0.984




4- 0.276

2.559

45

°

ø3.465

ø2.953

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

0.992

0.268

2.579

Brake lead




(AMP make)

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth


0.787

BC12072 *

(BC12092 *)

10

10– 67


Model

HC–MF23BG1

HC–MF23BG1

HC–MF23BG1

Output

(W)

200

200

200

Variable

Dimensions (in)

L

6.65

7.36

7.36

KL

4.04

4.23

4.23

Reduction

Gear Model

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

K9005

K9012

K9020

1/5(19/96)

1/12(25/288)

1/20(253/5000)

1.58

1.82

1.67

Weight

(lb)

8.6

9.9

9.9

2.441

Motor plate

Bottom

Top

Caution plate

Bottom

Top

0.992

0.417

1.614

0.106

2.677

L

Motor plate

(Opposite side)

Bottom

Top

0.390

KL



(AMP make)



0.394 0.315

1.181

2.913

1.378



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

[Unit: in]




4- 0.354

3.543

45

°

ø4.488

ø3

.93

7


0.787

BC12073 *

(BC120793 *)

Model

HC–MF43BG1

HC–MF43BG1

Output

(W)

400

400

Variable

Dimensions (in)

Braking Force

(oz•in)

L KL

Reduction

Gear Model

8.27

9.06

4.95

5.73

184

184

K9005

K9012

Reduction Ratio


Inertia Moment

WK

2

(oz•in

2

)

1/5(19/96)

1/12(25/288)

1.88

2.12

Weight

(lb)

9.7

11.0

[Unit: in]

0.394 0.315

1.181

2.913

1.378




4- 0.354

3.543

45

°

Motor plate

Bottom

Top

2.441

Caution plate

Bottom

Top

0.992

0.417

1.614

0.106

2.677

Motor plate

(Opposite side)

L

Bottom

Top

0.390

KL





(AMP make)



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø4.488

ø3

.93

7

0.787


BC12074 *

(BC12094 *)

10– 68


Model

HC–MF43BG1

HC–MF73BG1

HC–MF73BG1

Output

(W)

400

750

Brake Force

(oz•in)

184

340

Reduction Reduction Radio

Gear Model


K10020

1/20 253/5000

K10005

1/5 1/5

Inertia Moment

WK

2

(oz•in

2

)

Backlash

3.83

6.26

60min. max.

60min. max.

750 340 K10012

1/12 525/6048

9.90

60min. max.

HC–MF73BG1 750 340 K12020

1/20 625/12544

10.25

60min. max.

Weight

(lb)

13.4

15.9

18.3

25.8

Model

HC–MF43BG1

HC–MF73BG1

HC–MF73BG1

HC–MF73BG1

Output

(W)

400

750

D LH LK LT LX H LA LB LC LD LE LF LG LM LN LP L LR KL LZ Q S P R

2.44

1.51

1.64

0.14

2.68

1.69

4.53

3.74

5.20

3.94

0.39

2.87

0.39

0.512

0.63

3.39

9.19

3.54

5.87

0.35

1.97

1.26

M8 0.63

3.23

1.92

1.54

0.43

2.84

1.69

4.53

3.74


5.20

3.94

0.39

2.87

0.39

0.512

0.63

3.39

9.55

3.54

5.92

0.35

1.97

1.26

M8 0.63

(Reduction

Ratio)

1/20

1/5

750

750

3.23

3.23

1.92

1.92

1.54

1.54

0.43

0.43

2.84

2.84

1.69

1.69

4.53

5.51

3.74

4.53

5.20

6.38

3.94

4.72

0.39

0.47

2.87

3.54

0.39

0.39

0.512

0.63

0.512

0.787

3.39

4.09

10.41

10.93

3.54

6.84

4.17

7.35

0.35

0.55

1.97

1.26

2.36

1.57

M8 0.63

M10 0.79

1/12

1/20

Motor plate

Bottom

Top

Caution plate

D

LK

0.106

Motor plate

(Opposite side)

L

Bottom

Top

Bottom

Top

0.992

LT



(AMP make)

LX

0.390

KL

2

Brake lead 2-0.3 11.8in



LG LE

LM

LN

LR

Q

[Unit: in]



4-øLZ


LD

45

°

øL

A

øLC



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

P threads, depth R

BC12075 *

10

10– 69


4) With reduction gear for precision application a) Without electromagnetic brake

Model

HC–MF053G2

HC–MF053G2

HC–MF053G2

HC–MF053G2

Output

(W)

50

50

50

50

Variable

Dimensions (in)

L

5.12

KL

3.07

5.75

5.75

5.75

3.70

3.70

3.70

Reduction

Gear Model

BK1-05B-A5MEKA

BK1-09B-A5MEKA

BK1-20B-A5MEKA

BK1-29B-A5MEKA

Reduction Ratio

Inertia Moment

WK

2

(oz•in

2

)

1/5

1/9

1/20

1/29

0.36

0.33

0.38

0.31

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(lb)

3.1

3.7

4.0

4.0

1.654

Motor plate

Bottom

Top

Caution plate

Bottom

Top

0.992

0.268

1.594

Motor plate

(Opposite side)

L

0.390

Bottom

Top

KL

Power supply lead 4-AWG19 0.3m11.8in


Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth



(AMP make)

0.315

0.256

0.906

2.382

0.984

4-ø0.260

[Unit: in]




2.756

45

°

ø3

.15

0

ø3.740

0.787


BC12076 *

(BC12096 *)

10– 70


Model

HC–MF13G2

HC–MF13G2

HC–MF13G2

HC–MF13G2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Backlash

100

100

100

100

BK1-05B-01MEKA

BK1-09B-01MEKA

BK2-20B-01MEKA

BK2-29B-01MEKA

1/5

1/9

1/20

1/29

0.43

0.39

0.66

0.52

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(lb)

3.3

4.0

6.6

6.6

Model

HC–MF13G2

HC–MF13G2

HC–MF13G2

HC–MF13G2

Output

(W)

100

100

LA LB LC LD LE LF LG LH LK L LR KL LZ Q S

3.15

2.56

3.74

2.76

0.24

1.89

0.31

2.362

0.906

5.71

2.17

3.66

0.26

0.98

0.63

3.15

2.56

3.74

2.76

0.24

1.89


0.31

2.362

0.906

6.34

2.17

4.29

0.26

0.98

0.63

100

100

3.94

3.94

3.15

3.15

4.53

4.53

3.35

3.35

0.24

2.559

0.24

2.559

0.39

2.913

0.39

2.913

2.913

6.57

2.913

6.57

2.95

4.53

2.95

4.53

0.26

0.26

1.38

1.38

0.79

0.79

P R

M4 0.31

M4 0.31

(Reduction

Ratio)

1/5

1/9

M5

M5

0.39

0.39

1/20

1/29

Motor plate

Bottom

Top

Caution plate

LG LE

LK

LR

Q

[Unit: in]




4-øLZ

LD

45

°

1.654

Bottom

Top

0.992

0.268

1.594

L

Motor plate

(Opposite side)

Bottom

Top

0.390

KL

Power supply lead 4-AWG19 118in


Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth



(AMP make)

øLA

øLC

0.787

P threads,

depth R

BC12077 *

(BC12097 *)

10

10– 71


Model

HC–MF23G2

HC–MF23G2

HC–MF23G2

HC–MF23G2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

200

200

200

200

BK1-05B-02MEKA

BK2-09B-02MEKA

BK3-20B-02MEKA

BK3-29B-02MEKA

1/5

1/9

1/20

1/29

1.04

1.14

1.95

1.51

4.6

7.7

11.0

11.0

Motor plate

Bottom

Top

Caution plate

Model

HC–MF23G2

HC–MF23G2

HC–MF23G2

HC–MF23G2

Output

(W)

200

200


3.15

2.56

3.74

2.76

0.24

1.89

0.31

2.362

0.906

6.18

2.17

4.20

0.26

0.98

0.63

3.94

3.15

4.53


3.35

0.24

2.559

0.39

2.913

1.299

6.89

2.95

4.91

0.26

1.38

0.79

200

200

4.53

4.53

3.74

3.74

5.31

5.31

3.94

0.31

2.953

0.39

3.94

0.31

2.953

0.39

3.346

1.378

7.09

3.35

3.346

1.378

7.09

3.35

5.10

0.35

5.10

0.35

1.57

0.98

1.57

0.98

P R

M4 0.31

M5 0.39

(Reduction

Ratio)

1/5

1/9

M6

M6

0.47

0.47

1/20

1/29

2.441

1.614

0.106

Motor plate

(Opposite side)

L

LG LE

LK

LR

Q

[Unit: in]




LD

4-øLZ

45

°

øL

A

øLC

Bottom

Top

Bottom

Top

0.992

0.417

0.390



(AMP make)

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

P threads,

depth R

BC12078 *

(BC12098 *)

10– 72


Model

HC–MF43G2

HC–MF43G2

HC–MF43G2

HC–MF43G2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

400

400

400

400

BK2-05B-04MEKA

BK3-09B-04MEKA

BK4-20B-04MEKA

BK4-29B-04MEKA

1/5

1/9

1/20

1/29

1.61

1.77

2.33

1.85

8.2

11.7

16.5

16.5

Model

HC–MF43G2

HC–MF43G2

HC–MF43G2

HC–MF43G2

Output

(W)

400

400

400

400



3.94

3.15

4.53

3.35

0.24

2.56

0.39

2.91

1.3

7.24

2.95

5.18

0.26

1.38

0.79

4.53

5.32

3.94

6.10

4.53

0.31

3.54

0.47

3.94

1.58

8.31

3.94

6.24

0.43

1.97

1.26

5.32

3.74

4.33

5.32

6.10

3.94

4.53

0.31

2.95

0.31

3.54

0.39

3.35

0.47

3.94

1.38

8.07

1.58

8.31

3.35

6.01

3.94

6.24

0.35

0.43

1.58

1.97

0.98

1.26

P R

M5 0.39

M6 0.47

(Reduction

Ratio)

1/5

1/9

M8

M8

0.63

0.63

1/20

1/29

Motor plate

Bottom

Top

Caution plate

2.441

1.614

0.106

Motor plate

(Opposite side)

L

Bottom

Top

Bottom

Top

0.992

0.417



(AMP make)

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

LG LE

LK

LR

Q

[Unit: in]




4-øLZ

LD

45

°

øLA

øLC

0.787

P threads, depth R

BC12079 *

(BC12099 *)

10

10– 73


Motor plate

Bottom

Top

Model

HC–MF73G2

HC–MF73G2

HC–MF73G2

HC–MF73G2

Output

(W)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

750

750

750

750

BK3-05B-08MEKA

BK4-09B-08MEKA

BK5-20B-08MEKA

BK5-29B-08MEKA

1/5

1/9

1/20

1/29

5.32

5.36

5.55

4.97

13.89

18.96

26.46

26.46

Model

HC–MF73G2

HC–MF73G2

HC–MF73G2

HC–MF73G2

Output

(W)

750

750


4.53

3.74

5.31

3.94

0.31

2.953

0.39

3.346

1.378

8.35

3.35

6.17

0.35

1.57

0.98

5.31

4.33

6.10


4.53

0.31

3.543

0.47

3.937

1.575

9.76

3.94

7.59

0.43

1.97

1.26

750

750

5.91

5.91

4.92

4.92

6.89

6.89

5.12

0.39

4.134

0.59

5.12

0.39

4.134

0.59

4.528

1.693

9.76

4.53

4.528

1.693

9.76

4.53

7.59

0.55

7.59

0.55

2.36

1.57

2.36

1.57

P R

M6 0.47

M8 0.63

(Reduction

Ratio)

1/5

1/9

M10

M10

0.79

0.79

1/20

1/29

3.228

1.535

0.106

Motor plate

(Opposite side)

L

[Unit: in]

LG LE

LK

LR

Q




LD

4-øLZ

45

°

øLA

øLC

Caution plate

Bottom

Top

Bottom

Top

0.992

0.433



(AMP make)

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

P threads,

depth R

BC12080 *

10– 74


Motor plate b) With electromagnetic brake

Model

HC–MF053BG2

HC–MF053BG2

HC–MF053BG2

HC–MF053BG2

Output

(W)

50

50

50

50

Variable

Dimensions (in)

Braking Force

(oz•m)

L KL

6.22

3.07

45

6.85

6.85

3.70

3.70

45

45

6.85

3.70

45

Reduction

Gear Model

BK1-05B-A5MEKA

BK1-09B-A5MEKA

BK1-20B-A5MEKA

BK1-29B-A5MEKA

Reduction

Ratio

1/5

1/9

1/20

1/20

Inertia Moment

WK

2

(oz•in

2

)

0.38

0.34

0.39

0.33

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(lb)

4.0

4.6

4.9

4.9

1.654

1.594

L

Motor plate

(Opposite side)

[Unit: in]




0.315

0.256

1.102

2.382

0.984

4-ø0.260

2.756

45

°

ø3.150ø3.740

Bottom

Top

Bottom

Top

Caution plate

Bottom

Top

0.992

0.268



(AMP make)

2.579

Brake lead



Blue: B1,B2

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787


BC12081 *

(BC12100 *)

10– 75

10


Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

Braking Force

(oz•in)

Reduction Gear

Model

100

100

100

100

45

45

45

45

BK1-05B-01MEKA

BK1-09B-01MEKA

BK2-20B-01MEKA

BK2-29B-01MEKA

Reduction

Ratio

1/5

1/9

1/20

1/29

Inertia Moment

WK

2

(oz•in

2

)

0.44

0.40

0.68

0.53

Backlash

3 min. max.

3 min. max.

3 min. max.

3 min. max.

Weight

(lb)

4.2

4.9

7.5

7.5

Model

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

HC–MF13BG2

Output

(W)

100

100


3.15

2.56

3.74

2.76

0.24

1.89

0.31

2.362

0.906

6.81

2.17

3.66

0.26

0.98

0.63

3.15

2.56

3.74


2.76

0.24

1.89

0.31

2.362

0.906

7.44

2.17

4.29

0.26

0.98

0.63

100

100

3.94

3.94

3.15

3.15

4.53

4.53

3.35

0.24

2.559

0.39

3.35

0.24

2.559

0.39

2.913

1.299

7.68

2.95

2.913

1.299

7.68

2.95

4.53

0.26

4.53

0.26

1.38

0.79

1.38

0.79

P R

M4 0.31

M4 0.31

(Reduction

Ratio)

1/5

1/9

M5

M5

0.39

0.39

1/20

1/29

Motor plate

Bottom

Top

Caution plate

1.654

[Unit: in]

LG LE

LK

LR

Q




4-øLZ

LD

45

°

1.594

L

Motor plate

(Opposite side)

Bottom

Bottom

Top

Top

0.268

0.992



(AMP make)

2.579

Brake lead



KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

øLA

øLC

0.787

P threads,

depth R

BC12082 *

(BC12101 *)

10– 76


Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

Braking Force

(oz•in)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

200

200

200

200

184

184

184

184

BK1-05B-02MEKA

BK2-09B-02MEKA

BK3-20B-02MEKA

BK3-29B-02MEKA

1/5

1/9

1/20

1/29

1.31

1.40

2.21

1.77

6.0

9.0

12.3

12.3

Model

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

HC–MF23BG2

Output

(W)

200

200


3.15

2.56

3.74

2.76

0.24

1.89

0.31

2.362

0.906

7.44

2.17

4.20

0.26

0.98

0.63

3.94

3.15

4.53

3.35

0.24

2.559


0.39

2.913

1.299

8.15

2.95

4.91

0.26

1.38

0.79

200

200

4.53

4.53

3.74

3.74

5.31

5.31

3.94

3.94

0.31

2.953

0.31

2.953

0.39

3.346

0.39

3.346

1.378

8.35

1.378

8.35

3.35

5.10

3.35

5.10

0.35

0.35

1.57

1.57

0.98

0.98

P R

M4

0.31

M5 0.39

(Reduction

Ratio)

1/5

1/9

M6

M6

0.47

0.47

1/20

1/29

LG LE

LK

LR

Q

[Unit: in]




LD

4-øLZ

45

°

Motor plate

Bottom

Top

Caution plate

2.441

1.614

0.106

L

Motor plate

(Opposite side)

Bottom

Top

Bottom

Top

0.417

0.992

2.677

Brake lead





(AMP make)

0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

ø

LA

øLC

0.787

P threads, depth R

BC12083 *

(BC12102 *)

10

10– 77


Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

Braking Force

(oz•in)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

400

400

400

400

184

184

184

184

BK2-05B-04MEKA

BK3-09B-04MEKA

BK4-20B-04MEKA

BK4-29B-04MEKA

1/5

1/9

1/20

1/29

1.88

2.03

2.59

2.11

9.5

13.0

17.9

17.9

Model

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

HC–MF43BG2

Output

(W)

400

400


3.94

3.15

4.53

3.35

0.24

2.559

0.39

2.913

1.299

8.50

2.95

5.18

0.26

1.38

0.79

4.53

3.74

5.31


3.94

0.31

2.953

0.39

3.346

1.378

9.33

3.35

6.01

0.35

1.57

0.98

400

400

5.31

5.31

4.33

4.33

6.10

6.10

4.53

0.31

3.543

0.47

4.53

0.31

3.543

0.47

3.937

1.575

9.57

3.94

3.937

1.575

9.57

3.94

6.24

0.43

6.24

0.43

1.97

1.26

1.97

1.26

P R

M5 0.39

M6 0.47

(Reduction

Ratio)

1/5

1/9

M8

M8

0.63

0.63

1/20

1/29

Motor plate

2.441

1.614

0.106

Motor plate

(Opposite side)

LK

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

2.677

0.992

0.417



(AMP make)

Brake lead


0.390

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

LG LE

LK

LR

Q

[Unit: in]




LD

4-øLZ

45

°

øLA

øLC

0.787

P threads, depth R

BC12084 *

(BC12103 *)

10– 78


Model

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

Output

(W)

Braking Force

(oz•in)

Reduction Gear

Model

Reduction

Ratio

Inertia Moment

WK

2

(oz•in

2

)

Weight

(lb)

750

750

750

750

340

340

340

340

BK3-05B-08MEKA

BK4-09B-08MEKA

BK5-20B-08MEKA

BK5-29B-08MEKA

1/5

1/9

1/20

1/29

6.00

6.04

6.24

5.66

16.1

21.2

28.7

28.7

Model

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

HC–MF73BG2

Output

(W)

750

750

750

750

LA

4.53

5.31

5.91

4.92

6.89

5.12

0.39

4.134

0.59

4.528

1.693

11.16

4.53

7.59

0.55

2.36

1.57

5.91

LB

3.74

4.33

4.92

LC

5.31

6.10

6.89

LD

3.94

4.53

5.12

LE LF

0.31

2.953

0.31

3.543


LG LH

0.39

3.346

0.47

3.937

0.39

4.134

0.59

4.528

LK L

1.378

9.74

1.575

11.16

LR KL

3.35

6.17

3.94

7.59

1.693

11.16

4.53

7.59

LZ

0.35

0.43

Q

1.57

1.97

0.55

2.36

S

0.98

1.26

1.57

P R

M6 0.47

M8 0.63

(Reduction

Ratio)

1/5

1/9

M10

M10

0.79

0.79

1/20

1/29

LG LE

LK

LR

Q

[Unit: in]




LD

4- LZ 45

°

Motor plate

3.228

1.535

0.106

Motor plate

(Opposite side)

L

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

0.992

0.433

2.835



(AMP make)

Brake lead

0.390



KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

øLA

øLC

P threads, depth R

BC12085 *

10

10– 79


(2) HC-MF-UE series


Model

HC–MF053-UE

HC–MF13-UE

Output

(W)

50

100

Variable

Dimensions (in)

Inertia Moment

WK

2

(oz•in

2

)

L KL

3.52

1.48

0.10

4.11

2.07

0.16

Weight

(lb)

1.1

1.3

Motor plate

Bottom

Top

Caution plate

1.654

Bottom

Top

0.992

Encoder cable

11.8in

0.268

1.594

L

Motor plate

(Opposite side)

0.197

0.984

0.098

Bottom

Top

Bottom

Top

0.390

TUV plate

KL

V ring

V-10A



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth



(AMP make)

2-ø0.177

45

°

[Unit: in]

1.575

ø1.811

0.787

BC07328A

Motor plate

Model

HC–MF23-UE

HC–MF43-UE

Output

(W)

200

400

Variable

Dimensions (in)

Inertia Moment

WK

2

(oz•in

2

)

L KL

4.27

2.28

0.49

5.26

3.19

0.77

Weight

(lb)

2.6

3.7

TUV

2.441

plate

1.614

0.106

L

Motor plate

(Opposite side)

1.181

0.276

0.118

4-ø0.228

45

°

2.362

[Unit: in]

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

0.992

0.417

Bottom

Top

V ring

V-16A

KL

0.390



(AMP make)



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

ø2.756

BC07329A

10– 80


Model

HC–MF73-UE

Output

(W)

750

Inertia Moment

WK

2

(oz•in

2

)

3.69

Weight

(lb)

6.8

TUV plate

Motor plate

Caution plate

3.228

Bottom

Top

Bottom

Top

0.992

0.433



(AMP make)

1.535

0.106

5.905

Motor plate

(Opposite side)

0.315

1.575

0.118

Bottom

Top

0.390

V ring

V-25A

3.740



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

4-ø0.260

[Unit: in]

45

°

3.150

ø3.543

0.787

BC07330A


Model

HC–MF053B-UE

HC–MF13B-UE

Output

(W)

50

100

Variable

Dimensions (in)

Barking Force

(oz•in)

L KL

4.63

1.48

45

5.22

2.08

45

Inertia Moment

WK

2

(oz•in

2

)

0.12

0.18

Weight

(lb)

2.0

2.2

Motor plate

Bottom

Top

Caution plate

1.654

Bottom

Top

0.992

0.268

1.594



(AMP make)

Brake lead

2-0.3

2

11.8in



B1,B2

L

Motor plate

(Opposite side)

[Unit: in]

TUV plate

0.197

0.984

0.098

Bottom

Top

Bottom

Top

KL

V ring

V-10A



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

2-ø0.177

45

˚

ø1.811

1.575

0.787

BC07369A

10

10– 81


Model

HC–MF23B-UE

HC–MF43B-UE

Output

(W)

200

400

Variable

Dimensions (in)

Barking Force

(oz•in)

L KL

5.53

2.28

184

6.52

3.19

184

Inertia Moment

WK

2

(oz•in

2

)

0.47

1.04

Weight

(lb)

3.7

4.9

1.614

0.106

L

Motor plate

(Opposite side)

0.276

1.181

0.118

4-ø0.228

45

°

[Unit: in]

2.362

Motor plate

Bottom

Top

TUV plate

2.441

Bottom

Caution plate

Top

Bottom

Top

0.992

0.417



(AMP make)

Brake lead

2

2-0.3 11.8in



0.390

B1,B2

Bottom

Top

V ring

V-16A

KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

ø2.7

56

BC07354A

Model

HC–MF73B-UE

Output

(W)

750

Barking Force

(oz•in)

Inertia Moment

WK

2

(oz•in

2

)

340 4.10

Weight

(lb)

9.3

TUV plate

Motor plate

Caution plate

[Unit: in]

3.228

Bottom

Top

Bottom

Top

0.433

0.992



(AMP make)

1.535

0.106

7.303

Motor plate

(Opposite side)

0.315

1.575

0.118

4-ø0.260

45

°

3.150

Bottom

Top

0.390

3.740

Brake lead

2-0.3

2

11.8in



B1,B2

ø3.5

43

V ring

V-25A



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787

BC07606A

10– 82


(3) HA-FF series

1) Standard

1)

HA – FF053 • HA – FF13

Caution plate

Top

Bottom

HA – FF23 to HA – FF63

Caution plate

Bottom

Top




(AMP make)

LL


(Opposite side)

0.24

1.18

0.1

2.13

45

°

ø2.68

ø2.36

[Unit: in]

V ring

Top Bottom

Motor plate

Power supply cable

VCTF 3-0.02

2

19.7in

4 – ø0.18

(With end-insulated round crimping terminal0.05-4)



(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

Servo Motor

Model

Inertia

Moment

WK

2

[oz•in

2

]

Variable

Dimensions

LL

Weight

[lb]

HA–FF053

HA–FF13

0.342

0.519

4.17

4.84

2.9

3.3

[Unit: in]

LL

LD

LG

LR

0.12

45

°

Q

A

øLA

A

V ring

Top Bottom

Motor plate

W

Power supply cable

VCTF 3-0.05

2

19.7in

(With end-insulated round crimping terminal

0.05-4)

Red: Phase U

øS

White: Phase V

Black: Phase W

Section AA

P screw, depth R

4–øLZ

øLC

Servo Motor

Model

Inertia

Moment

WK

2

[oz•in

2

]

LA LB LC LD LG


LJ LL LR LZ H Q S U W P R

3.54

2.76

3.94

2.99

0.31

1.97

5.16

1.18

0.22

0.16

0.98

0.43

0.10

0.16

M4 0.59

Weight

[lb]

HA–FF23

HA–FF33

1.91

2.73

3.54

2.76

3.94

2.99

0.31

1.97

5.83

1.18

0.22

0.16

0.98

0.43

0.10

0.16

M4 0.59

5.1

5.7

HA–FF43

HA–FF63

5.33

6.56

4.53

3.74

5.31

3.94

0.39

2.44

6.08

1.57

0.35

0.20

1.38

0.63

0.12

0.20

M5 0.79

4.53

3.74

5.31

3.94

0.39

2.44

6.67

1.57

0.35

0.20

1.38

0.63

0.12

0.20

M5 0.79

9.3

10.6

10

10– 83



HA – FF053B • HA – FF13B

Caution plate

LL


(Opposite side)

0.24

1.18

0.10

2.13

45

[Unit: in]

4–ø0.18

Bottom

Top

Top

Bottom

ø2.68

ø2.36



(AMP make)

Top Bottom

Motor plate

Brake cable

VCTF 2–0.02

2

19.7in


Power supply cable

VCTF 3-0.05

2

19.7in


Red: Phase U

White: Phase V

Black: Phase W

Servo Motor

Model

Inertia

Moment

WK2[oz•in2]

Variable

Dimensions

LL

Weight

[lb]

HA–FF053

HA–FF13B

0.437

0.615

5.53

6.20

3.5

4.0

HA – FF23B to HA – FF63B

Caution plate

LL

LG

LR

0.12

Q

QK QL

A

4–øLZ

LD

45

°

[Unit: in]

øLA

Bottom

Top



(AMP make)

A

V ring

W

Top Bottom

Motor plate

Brake cable

VCTF 2–0.02

2 19.7in


Power supply cable

VCTF 3-0.05

2

19.7in


øS

Red: Phase U

White: Phase V

Black: Phase W

Section AA

P screw, depth R

Servo Motor

Model

Inertia

Moment

WK

2

[oz•in

2

]

HA–FF23B

HA–FF33B

2.64

3.46

LA LB LC LD LG

Variable Dimensions [in]

LJ LL LR LZ H Q S U W P R

3.54

2.76

3.94

2.99

0.31

1.97

6.59

1.18

0.22

0.16

0.98

0.43

0.10

0.16

M4 0.59

Weight

[lb]

3.54

2.76

3.94

2.99

0.31

1.97

7.28

1.18

0.22

0.16

0.98

0.43

0.10

0.16

M4 0.59

6.4

7.1

HA–FF43B

HA–FF63B

7.24

8.47

4.53

3.74

5.31

3.94

4.53

3.74

5.31

3.94

0.39

2.44

7.54

1.57

0.39

2.44

8.13

1.57

0.35

0.20

1.38

0.63

0.35

0.20

1.38

0.63

0.12

0.20

0.12

0.20

M5

M5

0.79

0.79

11.0

12.3

øLC

10– 84


3) With reduction gear for general industrial machine

HA – FF053(B)G1 • HA – FF13(B)G1

LL

0.12

Caution plate


(Opposite side)

1.5

1.3

0.11

A

45

°

3.54

[Unit: in]

A

Bottom

Top

ø4.09

Caution plate

Top Bottom

Motor plate

0.2

Power supply cable

VCTF 3-0.05

2 19.7in




(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø0.59

Section AA

4–ø0.26

Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear Model

Inertia Moment

WK

2

[oz•in

2

]

0.369 (0.465)


Dimensions

LL

7.20 (8.56)

(Note 1) Weight

[lb]

5.5 (6.2)

HA–FF053

(B)G1

1/10 GR – S – 10 0.369 (0.465) 7.20 (8.56) 5.5 (6.2)

1/30 0.342 (0.437) 7.20 (8.56) 5.5 (6.2)

HA–FF13

(B)G1

1/5

1/10

1/30

GR – S – 10

0.547 (0.629)

0.547 (0.629)

0.519 (0.601)

7.87 (9.23)

7.87 (9.23)

7.87 (9.23)

6.0 (6.6)

6.0 (6.6)

6.0 (6.6)



HA – FF23(B)G1

8.46

1.28

[Unit: in]

4–ø0.39

5.71

0.47

0.12

45

°


(Opposite side)

0.98

0.94

A

ø7.09

Bottom

Top

A

0.2

Top Bottom

Motor plate

Power supply cable

VCTF 3-0.05

2 19.7in




(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø0.63

Section AA

Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

HA–FF23

1/10

(B)G1

1/30

M6 screw, depth 0.39

Reduction

Gear Model

GR–S–20

Inertia Moment

WK

2

[oz•in

2

]

2.037 (4.114)

2.037 (4.114)

2.037 (4.114)

(Note 1) Weight

[lb]

11 (12.3)

11 (12.3)

11 (12.3)

Note: 1. Values in parentheses are those for the servo motors with electro-

Note: 1. magnetic brakes.

Note: 2. Nominal reduction ratios. For actual reduction ratios, refer to Section

Note: 1. 10-3.

10

10– 85


HA – FF33(B)G1 • HA – FF43(B)G1

LL

1.48

0.47

0.12

5.71

[Unit: in]

4–ø0.39

45

°

Caution plate


(Opposite side)

1.1

0.98

A

Bottom

0.24

A

Top

Top Bottom

Motor plate

Power supply cable

VCTF 3-0.05

2

19.7in




(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø0.75


Section AA

ø7.09

Servo Motor

Model

HA–FF33

(B)G1

HA–FF43

(B)G1

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear

Model

1/10

1/30

GR–S–30

1/5

1/10

1/30

GR–S–40

Inertia Moment

WK

2

[oz•in

2

]

2.980 (3.704)

2.980 (3.704)

2.939 (3.663)

5.577 (7.490)

5.577 (7.490)

5.536 (7.449)


Dimensions

LL

(Note 1) Weight

[lb]

9.84 (11.3) 14.3 (15.9)

9.84 (11.3)

9.84 (11.3)

10.2 (11.63)

10.2 (11.63)

10.2 (11.63)

14.3 (15.9)

14.3 (15.9)

17.6 (19.6)

17.6 (19.6)

17.6 (19.6)



HA – FF63(B)G1

[Unit: in]

4–ø0.47

10.81(12.26)

0.47

1.83

0.12

7.28

45

°


(Opposite side)

Caution plate

1.42

1.26

A

ø8.86

0.24

Bottom

Top

A

Top

Bottom

Motor plate

Power supply cable

VCTF 3-0.05

2 19.7in




(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

ø0.87

Section AA


Servo Motor

Model

(Note 2)

Reduction

Ratio

1/5

Reduction

Gear

Model

HA–FF63

(B)G1

1/10

1/30

GR–S–60

Inertia Moment

WK

2

[oz•in

2

]

(Note 1) Weight

[lb]

7.326 (9.240)

7.326 (9.240)

7.217 (9.131)

28.7 (30.6)

28.7 (30.6)

28.7 (30.6)

Note: 1. Values in parentheses are those for the servo motors with

Note: 1. electromagnetic brakes.

Note: 2. Nominal reduction ratios. For actual reduction ratios, refer to

Note: 1. Section 10-3.

10– 86


4) With reduction gear for precision application

Caution plate

LL





Bottom

Top

LG

Top Bottom

Motor plate

Power supply cable

VCTF 3-0.05

2 19.7in




(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

LR

LE

LM

Q

LD

45

°

øLC

øLA

4–øLZ

Servo Motor

Model

Reduction

Ratio

Reduction

Gear Model

HA–FF053

(B)G2

HA–FF13

(B)G2

HA–FF23

(B)G2

HA–FF33

(B)G2

HA–FF43

(B)G2

1/5

1/10

1/15

1/25

1/5

1/10

1/15

1/25

1/5

1/10

1/15

1/5

1/10

1/5

BM2–05B

–A5MES

BM2–10B

–A5MES

BM2–15B

–A5MES

BM3–25B

–A5MES

BM2–05B

–01MES

BM3–10B

–01MES

BM3–15B

–01MES

BM4–25B

–01MES

BM3–05B

–02MES

BM4–10B

–02MES

BM4–15B

–02MES

BM4–05B

–03MES

BM4–10B

–03MES

BM4–05B

–04MES

1.59

(1.68)

2.32

(3.05)

3.53

(4.25)

3.38

(4.10)

4.47

(5.19)

4.35

(5.07)

7.07

(8.98)

(Note)

Inertia

Moment

WK

2

[oz•in

2

]

0.60

(0.70)

0.59

(0.68)

0.57

(0.67)

0.60

(0.66)

0.78

(0.87)

0.90

(0.87)

0.85

(0.83)

LA LB LC LD

(Note) Variable Dimensions [in]

LE LF LG LK

LL

LM LR LZ Q S

3.07

2.44

3.50

2.91

0.08

1.30

0.24

2.95

3.07

2.44

3.50

2.91

0.08

1.30

0.24

2.95

3.07

2.44

3.50

2.91

0.08

1.30

0.24

2.95

3.54

2.99

4.02

3.43

0.08

1.61

0.31

3.54

3.07

2.44

3.50

2.91

0.08

1.30

0.24

2.95

3.54

2.99

4.02

3.43

0.08

1.61

0.31

3.54

3.54

2.99

4.02

3.43

0.08

1.61

0.31

3.54

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

3.54

2.99

4.02

3.43

0.08

1.61

0.31

3.54

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

4.80

3.94

5.51

4.65

0.12

2.40

0.39

4.65

9.45

(10.91)

10.63

(12.07)

10.63

(12.07)

11.30

(12.78)

11.30

(12.78)

11.97

(13.41)

8.74

(10.10)

9.06

(10.41)

9.06

(10.41)

10.31

(11.67)

8.07

(9.45)

8.07

(9.43)

8.07

(9.43)

8.39

(9.74)

0.35

1.18

0.18

0.79

10.0

0.35

1.18

0.18

0.79

10.0

0.35

1.18

0.18

0.79

10.0

0.35

1.38

0.22

0.98

14.0

0.35

1.18

0.18

0.79

10.0

0.35

1.38

0.22

0.98

14.0

0.35

1.38

0.22

0.98

14.0

0.55

2.17

0.26

1.57

22.0

0.35

1.38

0.22

0.98

14.0

0.55

2.17

0.26

1.57

22.0

0.55

2.17

0.26

1.57

22.0

0.55

2.17

0.26

1.57

22.0

0.55

2.17

0.26

1.57

22.0

0.55

2.17

0.26

1.57

22.0

(Note)

Weight

[lb]

8.4

(9.7)

12.8

(14.1)

12.8

(14.1)

13.4

(14.8)

13.4

(14.8)

17.0

(18.7)

5.5

(6.2)

6.6

(7.5)

6.6

(7.5)

11.0

(11.7)

5.1

(5.7)

5.1

(5.7)

5.1

(5.7)

6.2

(7.1)


10

10– 87


LL

Caution plate





Bottom

Top

LG

Motor plate

Power supply cable

VCTF 3-0.05

2 19.7


Encoder cable 11.8


(AMP make)

Red: Phase U

White: Phase V

Black: Phase W

1.69

0.12

LR

Q

LD

45

°

4–ø0.47

øLA

Servo Motor

Model

HA–FF13

(B)G2

HA–FF23

(B)G2

HA–FF33

(B)G2

HA–FF43

(B)G2

HA–FF63

(B)G2

Reduction

Ratio

1/45

1/20

1/29

1/45

1/20

1/29

1/45

1/9

1/20

1/29

1/45

1/5

1/9

1/20

1/29

Reduction

Gear Model

BL2–20B

–04MES

BL2–29B

–04MES

BL2–45B

–04MES

BL1–05B

–06MES

BL1–09B

–06MES

BL2–20B

–06MES

BL2–29B

–06MES

BL1–45B

–01MES

BL1–20B

–02MES

BL1–29B

–02MES

BL2–45B

–02MES

BL1–20B

–03MES

BL2–29B

–03MES

BL2–45B

–03MES

BL1–09B

–04MES

(Note)

Inertia

Moment

WK

2

[oz•in

2

]

1.60

(1.63)

3.99

(4.84)

3.46

(4.18)

4.17

(4.89)

4.81

(5.54)

8.39

(9.12)

4.99

(5.71)

6.52

(8.43)

13.00

(14.91)

10.99

(12.90)

7.59

(9.50)

7.01

(10.16)

7.75

(9.66)

14.23

(16.14)

12.22

(14.13)

Variable Dimensions [in]

LA LB LC LD LF LG LK LL LR Q S

5.12

3.94

6.10

4.72

2.76

0.39

4.02

5.12

3.94

6.10

4.72

2.76

0.39

4.02

5.12

3.94

6.10

4.72

2.76

0.39

4.02

6.30

5.12

7.28

5.51

3.70

0.47

5.20

5.12

3.94

6.10

4.72

2.76

0.39

4.02

6.30

5.12

7.28

5.51

3.70

0.47

5.20

6.30

5.12

7.28

5.51

3.70

0.47

5.20

5.12

3.94

6.10

4.72

2.76

0.39

4.02

6.30

5.12

7.28

5.51

3.70

0.47

5.20

6.30

5.12

7.28

5.51

3.70

0.47

5.20

6.30

5.12

7.28

5.51

3.70

0.47

5.20

5.12

3.94

6.10

4.72

2.76

0.39

4.02

5.12

3.94

6.10

4.72

2.76

0.39

4.02

6.30

5.12

7.28

5.51

3.70

0.47

5.20

6.30

5.12

7.28

5.51

3.70

0.47

5.20

12.74

(14.19)

12.74

(14.19)

13.13

(14.59)

11.83

(13.29)

12.22

(13.68)

13.33

(14.78)

13.33

(14.78)

10.79

(12.15)

10.94

(12.26)

10.94

(12.38)

11.77

(13.23)

11.61

(12.97)

12.44

(13.92)

12.44

(14.31)

11.63

(13.09)

3.35

1.57

0.98

3.35

1.57

0.98

3.35

1.57

0.98

3.94

2.17

1.38

3.35

1.57

0.98

3.94

2.17

1.38

3.94

2.17

1.38

3.35

1.57

0.98

3.94

2.17

1.38

3.94

2.17

1.38

3.94

2.17

1.38

3.35

1.57

0.98

3.35

1.57

0.98

3.94

2.17

1.38

3.94

2.17

1.38


Weight

[lb]

31.3

(33.1)

31.3

(33.1)

31.3

(33.1)

19.4

(21.2)

19.4

(21.2)

32.6

(34.4)

32.6

(34.4)

15.7

(17.0)

27.8

(29.1)

27.8

(29.1)

18.1

(19.8)

13.2

(13.9)

15.0

(16.3)

15.0

(16.3)

27.1

(28.4)

øLC

10– 88


HA – FF63(B)G2 1/45

1.54

14.61(16.04)

7.91

0.59

0.20

5.51

2.95

Caution plate

Bottom

Top


(Opposite side)

Top Bottom

Motor plate

Encoder cable 11.8


(AMP make)

Power supply cable

VCTF 3-0.05

2

19.7


Red: Phase U

White: Phase V

Black: Phase W

2.48

Reduction

Gear Model

BL3–45B–06MES

Reduction

Ratio

1/45

(Note)

Inertia

Moment

2 2

WK [oz • in ]

17.11

(19.00)

(Note)

Weight [lb]

65.7

(74.3)


ø8.66

6–ø0.47

[Unit: in]

ø9.65

60

°

10

10– 89


(4) HA-FFC-UE series


1)

HA – FF053C – UE

1.81

4.72

0.42

1.18

0.1

0.98

[Unit: in]

2.13

45

˚ 4–ø0.18

Bottom

ø2.36

ø2.68

Caution plate

(English)

Top

Bottom

TUV plate

Top

1.61

Encoder connector

MS3102A20-29P

0.79

Oil seal

GM10204B

1.26

Top Bottom

Motor plate

1.95


CE05-2A14S-2PD-B(D17)

Model


[W] WK

2

[oz

• in

2

]

Weight

[lb]


2. For horizontal installation, it is recommended to face the power supply and encoder

connectors down.

HA–FF053C–UE 50 0.342

4.0

HA – FF13C – UE

[Unit: in]

1.81

5.39

0.47

1.18

0.1

0.98

2.13

45

˚

4–ø0.18

Bottom

Caution plate

(English)

Top

Bottom

Top

TUV plate

Encoder connector

MS3102A20-29P

0.79

1.61

1.26

Top Bottom

Motor plate

2.62


CE05-2A14S-2PD-B(D17)

Oil seal

S10207B

ø2.36

ø2.68


2. For horizontal installation, it is recommended to face the power supply and

encoder connectors down.

Model

Output

[W]

Inertia Moment

WK

2

[oz

• in

2

]

Weight

[lb]

HA–FF13C–UE 100 0.519

4.4

10– 90


1)


1.81

L

0.55

1.18

0.12

0.98

0.63 0.16

A

2.99

45

˚

[Unit: in]

4–ø0.22

Bottom

Caution plate

(English)

Top

Bottom

TUV plate

Top

1.61

0.79

Encoder connector

MS3102A20-29P

A

Oil seal

S15307B

1.26

Top Bottom

Motor plate

KL


CE05-2A14S-2PD-B(D17)

0.10





ø3.54

ø3.94

0.16

Section AA


Model

Output

[W]



WK

2

[oz

• in

2

] [lb]

L KL

HA–FF23C–UE 200

HA–FF33C–UE 300

5.71

6.38

2.82

3.50

1.91

2.73

5.7

6.4

HA—FF43C—UE • HA—FF63C—UE

[Unit: in]

Caution plate

(English)

1.85

3.94

45

˚

TUV plate

Bottom

Top

EC

Bottom

Top

1.732

Encoder connector

MS3102A20-29P

1.61

0.79

L 1.57

0.63 0.12

1.38

0.98

0.20

A

1.26

Top Bottom

Motor plate

KL


CE05-2A14S-2PD-B(D17)

A

Oil seal

S17308B

0.12

ø5.31

ø4.53

4–ø0.35





0.20

Section AA


Model

HA–FF43C–UE

Output

[W]


L KL


WK

2

[oz

• in

2

] [lb]

400

HA–FF63C–UE 600

6.65

7.24

3.66

4.25

5.33

6.56

10.4

11.7

10

10– 91



HA – FF053CB – UE [Unit: in]

Caution plate

1.85

6.10

1.18

Motor plate

(Opposite side)

0.47

0.1

0.98

2.13

45

˚

4–ø0.18

TUV plate

EC

Bottom

Top

Bottom

Top

1.73

1.61

0.79

Encoder connector

MS3102A20-29P





Top Bottom

Oil seal

GM10204B

1.26

1.10

1.40

3.31


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P

ø2.68

ø2.3

6

Model

HA–FF053CB–UE


[W] WK

2

[oz

• in

2

]

Braking

Force

[oz

• in]

Weight

[lb]

50 0.437

55 4.6

HA – FF13CB – UE

[Unit: in]

Caution plate

1.85

6.77

1.18

0.43

0.1

0.98

2.13

45

˚

ø2.68

ø2.36

4–ø0.18

TUV plate

EC

Bottom

Top

Bottom

Top

1.73

0.79

Encoder connector

MS3102A20-29P

1.61

Oil seal

S10207B

1.26

1.10

Motor plate

1.40

3.98


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P





Model

HA–FF13CB–UE


[W] WK

2

[oz

• in

2

]

Braking

Force

[oz

• in]

Weight

[lb]

100 0.615

55 5.1

10– 92



L

1.81

Caution plate

(English)

TUV plate

1.61

Encoder connector

MS3102A20-29P

0.79

1.18

0.55 0.12

0.98

0.63 0.16

A

1.26

Top Bottom

Motor plate

1.10

1.52

KL


CE05-2A14S-2PD-B(D17)

Brake connector

MS3102E10SL-4P

A

Oil seal

S15307B

0.10

[Unit: in]

2.99

45

˚

4–ø0.22

ø3.54

ø3.94





Model

0.16

Section AA


Output

[W]


L KL

Braking Force

[oz

• in]

Inertia Moment

WK

2

[oz

• in

2

]

Weight

[lb]

HA–FF23CB–UE 200


7.17

7.87

4.29

5.0

170

2.64

3.46

7.7

8.4


[Unit: in]

Caution plate

(English)

1.85

L 1.57

0.63 0.12

1.38

0.98

0.20

A

3.94

45

˚

ø5.31

ø4.53

4–ø0.35

Bottom

Top

CE

Bottom

Top

TUV plate

1.732

1.61

0.79

Encoder connector

MS3102A20-29P


CE05-2A14S-2PD-B(D17)

1.26

Top Bottom

Motor plate

1.10

1.67

KL

Brake connector

MS3102E10SL-4P

A

Oil seal

S17308B

0.12





Model

HA–FF43CB–UE

0.20


Section AA

Output

[W]


L KL

Braking Force

[oz

• in]

Inertia Moment

WK

2

[oz

• in

2

]

Weight

[lb]

400


8.11

8.70

5.12

5.71

326

7.24

8.47

12.8

14.1

10

10– 93


(5) HC-SF series


Model

Output

(kW)

0.5

Variable

Dimensions (in)

L KL

Inertia Moment

WK

2

(oz·in

2

)

4.7

2.03

36.22

Weight

(lb)

11.0

HC–SF52

HC–SF53

HC–SF102

HC–SF103

HC–SF81

HC–SF152

HC–SF153

1.0

0.85

1.5

5.71

6.69

3.02

4.00

74.90

109.08

15.4

19.8

L

2.165

1.56

Moter plate

(Opposite side)

0.47 0.12

1.97

5.12

45 °

[Unit: in]



ø5.71

ø6.50

Bottom

Top

Model

HC–SF121

HC–SF202

HC–SF203

HC–SF201

HC–SF352

HC–SF353

Bottom

Top

Oil seal

S30457B

Output

(kW)

1.2

2.0

2.0

3.5

0.77

Encoder connector

MS3102A20-29P

KL


CE05-2A22-23P


Earth

E

F

G

H

D

A

B

C

U

V

W


CE05-2A22-23P

Variable

Dimensions (in)

L KL

Inertia Moment

WK

2

(oz·in

2

)

Weight

(lb)

5.71

7.36

2.70

4.35

232.37

448.33

26.5

41.9

1.56

Moter plate

(Opposite side)

L

0.71 0.12

3.11

2.95

1.61

6.93

Z694854 *

[Unit: in]

ø7.87

Bottom

Top

Bottom

Top

Oil seal

S40608B

0.77

Encoder connector

MS3102A20-29P

KL


CE05-2A24-10P

10– 94


U

E

F

G

D

C

A

B

W

V

Earth


CE05-2A24-10P

ø9.06

1.81



Z695393A


Model

HC–SF301

Output

(kW)

3.0

Inertia Moment

WK

2

(oz·in

2

)

552.212

Weight

(lb)

50.7

[Unit: in]

1.56

8.189

Moter plate

(Opposite side)

0.71 0.12

3.11

2.95

6.93

45

°

ø7.87

Bottom

Top

Bottom

Top

Oil seal

S40608B

ø9.06

0.77

Encoder connector

MS3102A20-29P

5.157


CE05-2A2-10P


U

Earth

E

F

G

D

C

A

B

W

V


CE05-2A24-10P


Model

Output

(kW)

Variable

Dimensions (in)

L KL

Braking Force

(oz·in)

Inertia Moment

WK

2

(oz·in

2

)

HC–SF52B

HC–SF53B

HC–SF102B

HC–SF103B

HC–SF81B

HC–SF152B

HC–SF153B

0.5

1.0

0.85

1.5

6.02

7.01

7.99

2.03

3.02

4.00

1204

1204

1204

45.52

84.20

118.37

1.81

Weight

(lb)

16.535

20.944

L

Moter plate

(Opposite side)

0.47 0.12

2.165

1.97



BC10628 *

25.353

[Unit: in]

4-ø0.35mounting hole


5.12

45

°

ø5.71

ø6.50

Bottom

Top

0.77

Encoder connector

MS3102A20-29P


CE05-2A22-23P

Oil seal

S30457B


Brake

G

U

V

F

E H

D

C

A

B

Earth

W


CE05-2A22-23P

1.61

Z695005

10

10– 95


Bottom

Top

Model

HC–SF121B

HC–SF202B

HC–SF203B

HC–SF201B

HC–SF352B

HC–SF253B

Output

(kW)

1.2

2.0

2.0

3.5

Variable

Dimensions (in)

L KL

Braking Force

(oz·in)

Inertia Moment

WK

2

(oz·in

2

)

Weight

(lb)

7.60

2.70

9.25

4.35

6103

6103

287.04

503.01

39.683

55.115

1.56

L

Moter plate

(Opposite side)

0.71 0.12

3.11

6.93

45

°

[Unit: in]

ø9.06

2.95

ø7.87

Bottom

Top

Oil seal

S40608B

0.77

2.72

Encoder connector

MS3102A20-29P

Brake connector

MS3102A10SL-4P

KL



U

F

G

V


CE05-2A24-10P E D

A

B

C

F W

Earth


CE05-2A24-10P

A B

Brake


MS3102A10SL-4P

Model

HC–SF301B

Output

(kW)

3.0

Braking Force

(oz·in)

Inertia Moment

WK

2

(oz·in

2

)

6103 606.886

Weight

(lb)

63.9



Z695319D

[Unit: in]

1.56

10.079

Moter plate

(Opposite side)

0.71 0.12

3.11

2.95

6.93

4-ø0.53mounting hole


45 °

ø7.87

Bottom

Top

Bottom

Top

Oil seal

S40608B

0.77

2.72

Encoder connector

MS3102A20-29P

Brake connector

MS3102A10SL-4P


CE05-2A24-10P

5.177


U


A B

Brake

Earth

E

F

G

D

C

A

B

W

V


MS3102A10SL-4P


CE05-2A24-10P

1.811

ø9.06

BC10823 *

10– 96


(6) HC-RF series


L 1.77

1.56

0.39

Motor plate

(Opposite side)

0.12

1.58

[Unit: in]

3.94

45

°

4-ø0.35 mounting hole Use hexagon socket head cap screw.

Bottom

Top

Bottom

Top

0.77

Encoder connector

MS3102A20–29P

KL


CE05–2A22–23P

Model

HC–RF103

HC–RF153

HC–RF203

Output

(kW)

1.0

1.5

2.0

ø4.53

Oil seal

S30457B

Motor flange directon

U

F

G

A

V

Earth

E

H

D

C

B

W


(CE05–2A22–23P)

Variable

Dimensions [in]

1.61

Inertia Moment

WK

2

[oz•in

2

]

L

5.79

6.77

7.76

KL

2.80

3.78

4.76

8.20

10.39

12.58

ø5.32

Weight

[lb]

8.6

11.0

13.7

Bottom

Top

2) Without electromagnetic brake

1.56

L 1.77

0.39

Motor plate

(Opposite side)

0.12

1.58

[Unit: in]

3.94

45

°

4-ø0.35 mounting hole Use hexagon socket head cap screw.

0.77

Encoder connector

MS3102A20–29P

Model

HC–RF103B

HC–RF153B

HC–RF203B

Output

(kW)

1.0

1.5

2.0

Bottom

Top

KL


CE05–2A22–23P

Oil seal

S30457B


Brake

G

U

V

A

Earth

F

E H

D

C

B

W


(CE05–2A22–23P)

ø4.53

1.61

ø5.32

Variable

Dimensions [in]

L

7.28

8.27

9.25

KL

2.80

3.78

4.76

Barking Force

[oz•in]

Inertia Moment

WK

2

[oz•in

2

]

991

991

991

10.12

12.30

14.49

10– 97

Weight

[lb]

13.2

15.4

18.3

10


(7) HC-UF series

1) Standard (without electromagnetic brake)

Model

HC–UF72

Output

(kW)

0.75

Inertia Moment

WK

2

(oz·in

2

)

56.861

Weight

(lb)

17.6

Bottom

Top

1.56

4.35

Moter plate

(Opposite side)

0.512 0.12

2.165

1.97

Bottom

Top

Oil seal

S30457B

2-M6 screw

40

°

ø

8.465

6.93

45

°

0.77

Encoder connector

MS3102A20-29P

1.496


CE05-2A22-23P


Earth

U

V

F

G

H

E

D

C

A

B

W


CE05-2A22-23P

1.732

ø7.87

ø9.055

[Unit: in]



Z695911 *

Model

HC–UF152

Output

(kW)

1.5

Inertia Moment

WK

2

(oz·in

2

)

120.831

Weight

(lb)

24.3

[Unit: in]

Bottom

Top

1.56

4.724

Moter plate

(Opposite side)

2.165

0.512 0.12

2-M6 screw

40

°

ø

8.465

1.97

0.77

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


1.87


CE05-2A22-23P

Earth

F

G

H

A

E

D

C

B

U

V

W


CE05-2A22-23P

6.93

1.732

ø7.87

45

°

ø9.055



Z695912A

10– 98


Model

HC–UF202

Output

(kW)

2.0

Variable

Dimensions

L

4.646

KL

1.673

Inertia Moment

WK

2

(oz·in

2

)

208.856

Weight

(lb)

35.3

1.56

L

Motor plate

(Opposite side)

0.63 0.157

2.559

2.362

2-M8 screw

37.5

°

ø

9.843

8.661

Bottom

Top

Bottom

Top

0.77

Encoder connector

MS3102A20-29P

Oil seal

S40608B

KL


CE05-2A24-10P


U

E

F

G

D

C

A

B

W

V


CE05-2A24-10P

[Unit: in]

ø9.252

45

°

ø10.63

1.85



Z695914 *

Model

HC–UF13

Output

(kW)

100

Inertia Moment

WK

2

(oz·in

2

)

0.361

Weight

(lb)

1.8

Motor plate

TUV plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

1.059



(AMP make)

2.756

Motor plate

(Opposite side)

0.20 0.23

0.984

0.12

Bottom

Top

0.390

1.299

Oil seal

S10207



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

4- 0.228

45

°

ø2

.75

6

2.362

0.787

[Unit: in]

R5

BC11740A

10

10– 99


Model

HC–UF23

HC–UF43

Motor plate

TUV plate

Output

(W)

200

400

Variable

Dimensions (in)

Inertia Moment

WK

2

(oz·in

2

)

L KL

2.953

3.543

1.724

2.315

1.318

1.996

L

Motor plate

(Opposite side)

0.315 0.256

1.181

0.12

Bottom

Top

Bottom

Top

Bottom

Top

Weight

(lb)

3.3

3.7

4-ø0.26

45

°

ø3.543

3.15

[Unit: in]

R7

1.059



(AMP make)

0.390

KL

Oil seal

SC15307



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.945

BC11513A

Model

HC–UF73

Output (W)

750

Inertia Moment WK

2

(oz·in

2

)

32.258

Weight (lb)

11.0

3.35

0.39

Motor plate

(Opposite side)

1.58

0.138

0.10

1.28

TUV plate

Motor plate

Bottom

Top

Bottom

Top

Bottom

Top

Bottom

Top

Oil seal

S20357

Caution plate

1.059



(AMP make)

0.219

2.76



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.787


Model

HC–UF72B

Output (kW) Braking Force (oz·in)

0.75

1204

Inertia Moment WK

2

(oz·in

2

)

67.796

[Unit: in]

4.84

45

°

4-ø0.35

ø

5.71

ø6.50

BC11357A

Weight (lb)

22.0

6.93

1.56

5.669

Moter plate

(Opposite side)

0.512 0.12

2.165

2-M6 screw

40

°

ø

8.465

[Unit: in]

ø7.87

Bottom

Top

0.77

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


1.496


CE05-2A22-23P

Brake

U

V

Earth

F H

E

D

C

A

B

W


CE05-2A22-23P

1.732

45

°

ø9.055



Z695981A

10– 100


Model

HC–UF152B

Output

(kW)

1.5

Braking Force

(oz·in)

Inertia Moment

WK

2

(oz·in

2

)

1204 158.009

Weight

(lb)

28.7

1.56

6.043

Moter plate

(Opposite side)

0.512 0.12

2.165

2-M6 screw

40

°

ø

8.465

6.93

[Unit: in]

ø7.87

Bottom

Top

0.77

Encoder connector

MS3102A20-29P

Bottom

Top

Oil seal

S30457B


1.87


CE05-2A22-23P

Brake

U

V

Earth

G

F H

E

D

C

A

B

W


CE05-2A22-23P

45

°

ø9.055

Model

HC–UF202B

Output

(kW)

2.0

Variable

Dimensions (in)

Braking Force

(oz·in)

L KL

6.339

1.673

6103

Inertia Moment

WK

2

(oz·in

2

)

255.876

Weight

(lb)

48.5

1.732



Z695982

[Unit: in]

Bottom

Top

37.5

°

8.661

L

Moter plate

(Opposite side)

2.559

0.63 0.157

2.362

2-M8 screw

ø

9.843

ø9.252

1.654

Bottom

Top

Oil seal

S40608B

0.77

KL


Encoder connector

MS3102A20-29P

A B

Brake

Brake connector

H/MS3102A10SL-4P


CE05-2A24-10P


MS3102A10SL-4P


U

F

G

A

V

B

W

Earth

E D

C


CE05-2A24-10P

1.85

45

°

ø10.63



BC10647A

10

10– 101


Model

HC–UF13B

Output

(kW)

100

Braking Force

(oz·in)

Inertia Moment

WK

2

(oz·in

2

)

45 0.405

Weight

(lb)

2.6

Motor plate

TUV plate

Bottom

Top

Caution plate

Bottom

Top

Bottom

Top

1.059



(AMP make)

3.937

Motor plate

(Opposite side)

0.20

0.23

0.984

0.12

4-¿0.228

45ß

2.362

[Unit: in]

R5

¿2.756

Bottom

Top

1.299

Oil seal

SC10207

1.839

Brake cable

0.390



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth


0.787

BC11767A

Model

HC–UF23B

HC–UF43B

Output

(kW)

200

400

Variable

Dimensions (in)

Braking Force

(oz·in)

L KL

Inertia Moment

WK

2

(oz·in

2

)

4.291

4.882

1.724

2.315

184

184

1.766

2.444

Weight

(lb)

4.9

5.3

Motor plate

TUV plate

L

Motor plate

(Opposite side)

0.315

0.256

1.181

0.12

4-¿0.26

45ß

3.150

[Unit: in]

R

7

Bottom

Top

3.543

Bottom

Top

Bottom

Top

1.059



(AMP make)

Oil seal

SC15307

1.858

0.390

Brake cable

Tough-rubber sheath cable


KL



Red: Phase U

White: Phase V

Black: Phase W

Green/yellow: Earth

0.945

BC11515A

10– 102


10-5-4 Cable side plugs

(1)Servo amplifier connector

Signal connector

<Sumitomo 3M make>

Model

Connector : 10120-3000VE

Shell kit : 10320-52F0-008

12.0

(0.47)

[Unit: mm]

([Unit: in])

22.0 (0.87) 14.0

(0.55)

Logo, etc. are indicated here.

Model

Connector : 10120-6000EL

Shell kit : 10320-3210-000

NOTICE

[Unit: mm]

([Unit: in])

This connector is not optional.

ø6.7

(ø0.26)

20.9 (0.82)

2-ø0.5 (0.02)

Logo, etc. are indicated here.

33.3 (1.31)

12.7

(0.50)

(2)HC- MF/HA-FF encoder junction connector

<Nippon AMP make>

Model

Housing

Connector pin

Crimping tool

: 1-172161-9

: 170359-1

: 755330-1

[Unit: mm]

([Unit: in])

14 (0.55)

23.7 (0.93)

29.7 (1.17)

MEMORANDUM

The crimping tool is required for wiring to the connector.

For the crimping tool, contact Nippon

AMP.

4.2 (0.17)

10

10– 103


(3) Servo motor encoder side plugs

(a) Connectors

<Daiichi Denshi Kogyo make>

CE05-6A14S-2SD-B

3

4

-20UNEF-2A threads

D terminal

7

8

-20UNEF-2B threads

CL1

A

14S-2

D

DDK

B

CE05

C

CL2

5.6 (0.22) 24 (0.94)

W

D or less

7.85 (0.31) or more

A

[Unit: mm]

([Unit: in])

[Unit: mm]

([Unit: in])

Model

CE05-6A22-23SD-B-BSS



A B C D W

1

3

/

8

-18UNEF-2B

40.48

(1.59)

38.3

(1.51)

61

(2.40)

1

3

/

16

-18UNEF-2A

1 1 /

2

-18UNEF-2B

43.63

(1.72)

42.0

(1.65)

68

(2.68)

1 7 /

16

-18UNEF-2A

2-18UNS-2S

56.33

(2.22)

54.2

(2.13)

79

(3.11)

1

3

/

4

-18UNS-2A

10– 104


D or less A

W

Gasket

J A

Model

CE05-8A22-23SD-B-BAS



[Unit: mm]

([Unit: in])

A B

1 3 /

8

-18UNEF-2B

40.48

(1.59)

1 1 /

2

-18UNEF-2B

43.63

(1.72)

2-18UNS-2B

56.33

(2.22)

D W R

75.5

(2.97)

1 3 /

16

-18UNEF-2A

16.3

(0.64)

86.3

(3.40)

18.2

1 7 /

16

-18UNEF-2A

(0.72)

93.5

(3.68)

1 3 /

4

-18UNS-2A

24.6

(0.97)

U

33.3

(1.31)

36.5

(1.44)

44.5

(1.75)

S Y

49.6

(1.95)

7.5

(0.30)

54.7

(2.15)

7.5

(0.30)

61.9

(2.44)

8.5

(0.34)

D

H or less

E

C

[Unit: mm]

([Unit: in])

Model

MS3106A10SL-4S(D190)

A B C D E G J

5

/

8

-24UNEF-2B

22.22

(0.87)

23.3

(0.92)

9

/

16

-24UNEF-2A

7.5

(0.30)

12.5

(0.49)

13.49

(0.53)

MS3106A14S-2S(D190) 7 /

8

-20UNEF-2B

28.57

(1.13)

24.34

(0.96)

3 /

4

-20UNEF-2A

8.46

(0.33)

17.0

(0.67)

13.49

(0.53)

MS3106A20S-29S(D190) 1

1

/

4

-18UNEF-2B

37.28

(1.47)

34.11

(1.34)

1

1

/

8

-18UNEF-2A

12.16

(0.48)

26.8

(1.06)

18.26

(0.72)

MS3106A22S-23S(D190) 1 3 /

8

-18UNEF-2B

40.48

(1.59)

34.11

(1.34)

12.15

1 1 /

4

-18UNEF-2A

(0.48)

29.9

(1.18)

18.26

(0.72)

MS3106A24S-10S(D190) 1

1

/

2

-18UNEF-2B

43.63

(1.72)

36.58

(1.44)

1

3

/

8

-18UNEF-2A

13.42

(0.53)

32.9

(1.30)

18.26

(0.72)

MS3106A32S-17S(D190) 2-18UNS-2B

56.33

(2.22)

36.95

(1.46)

1 7 /

8

-16UN-2A

13.14

(0.52)

45.3

(1.78)

18.26

(0.72)

H

#16

Contact Size

#12 #8 #4 #0

8 or less 8 or less 10 or less 13 or less 13 or less

10

10– 105


W or more

L or less

A

J

V

L or less

V

A

J

[Unit: mm]

([Unit: in])

Model

MS3106B14S-2S

MS3106B24-10S

MS3106B32-17S

A J L Q

7 /

8

-20UNEF

13.49

42.88

28.57

(0.53) (1.69) (1.13)

3

V

/

4

-20UNEF

W Y

8.0

30

(0.32) (1.18)

MS3106B20-29S

MS3106B22-23S

1

1

/

4

-18UNEF

18.26

55.57

37.28

(0.72) (2.19) (1.47)

1

3

/

16

-18UNEF

9.53

47

(0.38) (1.85)

1 3 /

8

-18UNEF

18.26

55.57

40.48

(0.72) (2.19) (1.59)

1 3 /

16

-18UNEF

9.53

50

(0.38) (1.97)

1 3 /

2

-8UNEF

18.26

58.72

43.63

(0.72) (2.31) (1.72)

1 7 /

16

-18UNEF

9.53

53

(0.38) (2.09)

2-18UNS

18.26

61.92

56.33

(0.72) (2.44) (2.22)

1 3 /

4

-18UNS

11.13

66

(0.44) (2.60)

[Unit: mm]

([Unit: in])

Model A J L Q R U V W

MS3106B14S-2S

MS3106B20-29S

7

/

8

-20UNEF

13.49

53.97

28.57

14.9

27.0

(0.53) (2.13) (1.13) (0.59) (1.06)

3

/

4

-20UNEF

9.53

(0.38)

1 1 /

4

-18UNEF

18.26

79.68

37.28

22.5

33.3

(0.72) (3.03) (1.47) (0.89) (1.31)

1 3 /

16

-18UNEF

9.53

(0.38)

MS3106B22-23S

MS3106B24-10S

MS3106B32-17S

1 3 /

8

-18UNEF

18.26

76.98

40.48

24.1

33.3

(0.72) (3.03) (1.59) (0.95) (1.31)

1 3 /

16

-18UNEF

9.53

(0.38)

1 3 /

2

-8UNEF

18.26

86.51

43.63

25.6

36.5

(0.72) (3.41) (1.72) (1.01) (1.44)

1 7 /

16

-18UNEF

9.53

(0.38)

2-18UNS

18.26

95.25

56.33

32.8

44.4

(0.72) (3.75) (2.22) (1.29) (1.75)

1

3

/

4

-18UNS

11.13

(0.44)

2) Flexible conduit connectors

<Daiwa Dengyo make>

MSA MAA

L1

A0

L

Model

MSA10-10 • MAA10-10

MSA10-14 • MAA10-14

MSA12-14 • MAA12-14

MSA16-20 • MAA16-20

MSA16-22 • MAA16-22

MSA16-24 • MAA16-24

MSA22-20 • MAA22-20

MSA22-22 • MAA22-22

MSA22-24 • MAA22-24

MSA28-22 • MAA28-22

MSA28-24 • MAA28-24

D2 A0

[Unit: mm]

([Unit: in])

A0

9

/

16

-24UNEF-2B

C L L

1

L

2

D D

1

D

2

8.2

44 35.5

45 27 29 26

(0.32) (1.73) (1.40) (1.77) (1.06) (1.14) (1.02)

3

3

/

4

-20UNEF-2B

/

4

-20UNEF-2B

8.2

45 39.5

46 27 29 35

(0.32) (1.77) (1.56) (1.18) (1.06) (1.14) (1.38)

10.7

45 39.5

46 27 29 35

(0.42) (1.77) (1.56) (1.18) (1.06) (1.14) (1.38)

1 1 /

8

-18UNEF-2B

14 4.95

47 52 36 38 39

(0.55) (1.95) (1.85) (2.05) (1.42) (1.50) (1.54)

1

1

/

4

-18UNEF-2B

14 4.95

47 52 38 42 39

(0.55) (1.95) (1.85) (2.05) (1.50) (1.65) (1.54)

1 3 /

8

-18UNEF-2B

14 4.95

51 54 41 43 47

(0.55) (1.95) (2.01) (2.13) (1.61) (1.69) (1.85)

1 1 /

8

-18UNEF-2B

18.9

4.95

47 54 36 39 39

(0.74) (1.95) (1.85) (2.13) (1.42) (1.54) (1.54)

1 1 /

4

-18UNEF-2B

18.9

4.95

47 54 38 42 39

(0.74) (1.95) (1.85) (2.13) (1.50) (1.65) (1.54)

1

3

/

8

-18UNEF-2B

18.9

4.95

51 56 41 43 47

(0.74) (1.95) (2.01) (2.21) (1.61) (1.69) (1.85)

1 1 /

4

-18UNEF-2B

24.5

51 53 64 46 50 47

(0.97) (2.01) (2.09) (2.52) (1.18) (1.97) (1.85)

1 3 /

8

-18UNEF-2B

24.5

51 53 66 46 50 47

(0.97) (2.01) (2.09) (2.60) (1.18) (1.97) (1.85)

10– 106


A

L(1)

L1(2)

A1

E

G

Threads C

[Unit: mm]

([Unit: in])

Model Threads C A A

1 d

RCC-102RL-MS10F

RCC-102RL-MS14F

RCC-103RL-MS14F

RCC-104RL-MS14F

9 /

16

-24UNEF-2B

6

(0.24)

3

3

3

/

4

-20UNEF-2B

/

4

-20UNEF-2B

/

4

-20UNEF-2B

7

(0.28)

7

(0.28)

7

(0.28)

RCC-104RL-MS20F 11 /

8

-18UNEF-2B

9

(0.35)


4

-18UNEF-2B

9

(0.35)


8

-18UNEF-2B

10

(0.39)


8

-18UNEF-2B

9

(0.35)


4

-18UNEF-2B

9

(0.35)

RCC-106RL-MS24F

RCC-106RL-MS32F

13 /

8

-18UNEF-2B

10

(0.39)

17 /

8

-16UN-2B

11

(0.43)


4

-18UNEF-2B

9

(0.35)

RCC-108RL-MS24F

RCC-108RL-MS32F

1-

3

/

8

-18UNEF-2B

10

(0.39)

17 /

8

-16UN-2B

11

(0.43)

15

(0.59)

8.3

(0.33)

15

(0.59)

8.3

(0.33)

15

(0.59)

10.6

(0.42)

15

(0.59)

14.0

(0.55)

15

(0.59)

14.0

(0.55)

15

(0.59)

14.0

(0.55)

20

(0.79)

14.0

(0.55)

15

(0.59)

19.0

(0.75)

15

(0.59)

19.0

(0.75)

20

(0.79)

19.0

(0.75)

20

(0.79)

19.0

(0.75)

15

(0.59)

24.4

(0.96)

20

(0.79)

24.4

(0.96)

20

(0.79)

24.4

(0.96)

37

(1.46)

45

(1.77)

45

(1.77)

45

(1.77)

30

(1.18)

37

(1.46)

37

(1.46)

37

(1.46)

42.5

(1.67)

27.0

(1.06)

30.0

(1.18)

42.5

(1.67)

30.0

(1.18)

24.0

(0.95)

27.0

(1.06)

30.0

(1.18)

Jam Nut Lock Nut d

1

11.0

(0.43)

E F

Width across

flats

Width across corners

G

Number of corners

E'

Width across

flats

F'


G'


24

(0.94)

26.4

(1.04)

6

24

(0.94)

26.4

(1.04)

6

L

39

(1.54)

15.0

(0.59)

15.0

(0.59)

15.0

(0.59)

24.0

(0.95)

27.0

(1.06)

24

(0.94)

27

(1.06)

30

(1.18)

30

(1.18)

30

(1.18)

26.4

(1.04)

29.7

(1.17)

33.0

(1.30)

33.0

(1.30)

33.0

(1.30)

6

6

6

6

6

24

(0.94)

26

(1.02)

30

(1.18)

32

(1.26)

36

(1.42)

26.4

(1.04)

28.6

(1.13)

33.0

(1.30)

35.2

(1.39)

39.6

(1.56)

6

6

6

6

6

40

(1.57)

44

(1.73)

45

(1.77)

47

(1.85)

47

(1.85)

33.0

(1.30)

40.7

(1.60)

40.7

(1.60)

40.7

(1.60)

40.7

(1.60)

47.3

(1.86)

47.3

(1.86)

47.3

(1.86)

6

6

6

6

6

8

8

8

40

(1.58)

36

(1.42)

36

(1.42)

40

(1.58)

52

(2.05)

44

(1.73)

44

(1.73)

52

(2.05)

42.5

(1.67)

39.6

(1.56)

39.6

(1.56)

42.5

(1.67)

54.5

(2.15)

46.3

(1.82)

46.3

(1.82)

54.5

(2.15)

6

6

6

8

8

8

8

8

57

(2.24)

55

(2.17)

60

(2.36)

61

(2.40)

54

(2.13)

50

(1.97)

50

(1.97)

56

(2.21)

L

1

46

(1.81)

52

(2.05)

53

(2.09)

50

(1.97)

55

(2.17)

56

(2.21)

44

(1.73)

44

(1.73)

50

(1.97)

46

(1.81)

36

(1.42)

37

(1.46)

41

(1.61)

42

(1.65)

10

10– 107


90

°

L

A1 A

E' G'

Threads C

ød

E F G

[Unit: mm]

([Unit: in])

Model

Threads C

A A

1

RCC-302RL-MS10F

RCC-302RL-MS14F

9

3

/

16

-24UNEF-2B

/

4

-20UNEF-2B

6

(0.24)

15

(0.59)

7

(0.28)

15

(0.59)

RCC-303RL-MS14F

RCC-304RL-MS14F

3

3

/

4

-20UNEF-2B

/

4

-20UNEF-2B


8

-18UNEF-2B

7

(0.28)

15

(0.59)

7

(0.28)

9

(0.35)

15

(0.59)

15

(0.59)


4

-18UNEF-2B

9

(0.35)

15

(0.59)

RCC-304RL-MS24F

RCC-306RL-MS20F

1-

1-

3

1

/

/

8

8

-18UNEF-2B

-18UNEF-2B

10

(0.39)

9

(0.35)

20

(0.79)

15

(0.59)

RCC-306RL-MS22F

1-

1

/

4

-18UNEF-2B

9

(0.35)

15

(0.59)


8

-18UNEF-2B

10

(0.39)

20

(0.79)

RCC-306RL-MS32F 7 /

8

-16UN-2B

RCC-308RL-MS22F

1-

1

/

4

-18UNEF-2B


8

-18UNEF-2B

RCC-308RL-MS32F

1-

17 /

8

-16UN-2B

11

(0.43)

20

(0.79)

9

(0.35)

10

(0.39)

15

(0.59)

20

(0.79)

11

(0.43)

20

(0.79)

d

14.0

(0.55)

19.0

(0.75)

19.0

(0.75)

19.0

(0.75)

19.0

(0.75)

24.4

(0.96)

24.4

(0.96)

24.4

(0.96)

14.0

(0.55)

14.0

(0.55)

14.0

(0.55)

8.3

(0.33)

8.3

(0.33)

10.6

(0.42)

30

(1.18)

37

(1.46)

37

(1.46)

37

(1.46)

37

(1.46)

45

(1.77)

45

(1.77)

45

(1.77)

28.7

(1.13)

23.2

(0.91)

26.5

(1.04)

28.7

(1.13)

40.6

(1.60)

26.5

(1.04)

28.7

(1.13)

40.6

(1.60)

Jam Nut Lock Nut d

1

10.0

(0.39)

E

Width across

flats

F


G


E'

Width across

flats

F'


G'


24

(0.94)

26.4

(1.04)

6

20

(0.79)

22.0

(0.87)

6

L

35

(1.38)

13.8

(0.54)

13.8

(0.54)

13.8

(0.54)

23.2

(0.91)

26.5

(1.04)

24

(0.94)

27

(1.06)

30

(1.18)

30

(1.18)

30

(1.18)

26.4

(1.04)

29.7

(1.17)

33.0

(1.30)

33.0

(1.30)

33.0

(1.30)

6

6

6

6

6

23

(0.91)

23

(0.91)

23

(0.91)

32

(1.26)

36

(1.42)

25.3

(1.0)

25.3

(1.0)

25.3

(1.0)

35.2

(1.39)

39.6

(1.56)

6

6

6

6

6

35

(1.38)

37

(1.46)

39

(1.54)

41

(1.61)

41

(1.61)

33.0

(1.30)

40.7

(1.60)

40.7

(1.60)

40.7

(1.60)

40.7

(1.60)

47.3

(1.86)

47.3

(1.86)

47.3

(1.86)

6

6

6

6

6

8

8

8

40

(1.58)

32

(1.26)

36

(1.42)

40

(1.58)

54

(2.13)

36

(1.42)

40

(1.58)

54

(2.13)

42.5

(1.67)

35.2

(1.39)

39.6

(1.56)

42.5

(1.67)

56.7

(2.23)

39.6

(1.56)

42.5

(1.67)

56.7

(2.23)

8

6

6

8

8

6

8

8

47

(1.85)

45

(1.77)

45

(1.77)

51

(2.01)

52

(2.05)

49

(1.93)

56

(2.21)

62

(2.44)

L

1

L

1

43

(1.69)

40

(1.58)

40

(1.58)

45

(1.77)

45

(1.77)

45

(1.77)

45

(1.77)

45

(1.77)

35

(1.38)

35

(1.38)

35

(1.38)

30

(1.18)

30

(1.18)

34

(1.34)

46

(1.81)

44

(1.73)

44

(1.73)

49

(1.93)

49

(1.93)

50

(1.97)

50

(1.97)

50

(1.97)

38

(1.50)

38

(1.50)

38

(1.50)

33

(1.30)

33

(1.30)

37

(1.46)

3) Back shell


CE02-20BS-S CE-20BA-S

±

35 (1.38)

10.9

1

3/16

-18UNEF-2A

CL

50.5 (1.99) or less

39.6 (1.56) or less

1

1/8

-18UNEF-2B

O ring

1

1/8

-18UNEF-2B

O ring

CL

7.85 (0.31) or more

Effective thread length

31.6 (1.24)

(Spanner fitting)

1

3/16

-18UNEF-2A

10– 108


4) Cable clamps



A

10.3 (0.41)

øE (Bushing ID)

øD (Cable clamp ID)

1.6 (0.06)

V

F (Movable range)

Model

MS3057-6A

MS3057-12A

MS3057-16A

MS3057-16A

Shell Size

14S

A B C D E F G

22.2

24.6

10.3

11.2

7.9

2.0

27.0

(0.87) (0.97) (0.41) (0.44) (0.31) (0.08) (1.06)

20, 22

3

V

/

4

-20UNEF

23.8

35.0

10.3

19.0

15.9

4.0

37.8

(0.94) (1.38) (0.41) (0.75) (0.63) (0.16) (1.47)

1 3 /

16

-18UNEF

24, 28

32

26.2

42.1

10.3

23.8

15.9

(0.63) 4.8

42.9

(1.03) (1.66) (0.41) (0.94)

19.1

(0.75)

(0.19) (1.69)

1

7

/

16

-18UNEF

27.8

51.6

11.9

31.7

19.1

(0.75) 6.3

51.6

(1.09) (2.03) (0.47) (1.25)

23.8

(0.94)

(0.25) (2.03)

1 3 /

4

-18UNS

[Unit: mm]

([Unit: in])

Bushing

AN3420-6

AN3420-12

AN3420-12

AN3420-16

AN3420-16

AN3420-20

A

D


C

V threads

1.6 (0.06)

øE

(Cable clamp ID)

H

(One-side movable range)

[Unit: mm]

([Unit: in])

Model Shell Size A B C D E F G H V Bushing Cable Range

CE3057-12A-1

CE3057-12A-2

CE3057-12A-3

CE3057-16A-1

CE3057-16A-2

CE3057-20A-2

20

22

24

32

23.8

(0.94)

35.0

(1.38)

10.3

(0.41)

41.3

(1.63)

26.2

(1.03)

42.1

(1.66)

10.3

(0.41)

41.3

(1.63)

27.8

(1.09)

51.6

(2.03)

11.9

(0.47)

43

(1.69)

19.0

(0.75)

23.8

(0.94)

31.7

(1.25)

16

(0.63)

13

(0.51)

10

(0.39)

19.1

(0.75)

15.5

(0.61)

23.8

(0.94)

37.3

(1.47)

4

(0.16)

42.9

(1.69)

4.8

(0.19)

51.6

(2.03)

6.3

(0.25)

1 3

1 7 /

16

-18UNEF-2B

1

/

16

3 /

4

-18UNEF-2B

-18UNS-2B

CE3420-12-1

CE3420-12-2

CE3420-12-3

CE3420-16-1

CE3420-16-2

CE3420-20-1

ø12.5 to ø16

ø9.5 to ø13

ø6.8 to ø10

ø15 to ø19.1

ø13 to ø15.5

ø22 to ø23.8

<Daiwa Dengyo make>

L1

O ring

AO

L

Model Acceptable OD

YSO10-5 to 8 • YLO10-5 to 8

ø5 to 8.3

(ø0.20 to 0.33)

AO

9 /

16

-24UNEF-2B

YSO14-5 to 8 • YLO14-5 to 8

ø5 to 8.3

(ø0.20 to 0.33)

YSO14-9 to 11 • YLO14-9 to 11

ø8.3 to 11.3

(ø0.33 to 0.45)

3 /

4

-20UNEF-2B

D2

O ring

AO

[Unit: mm]

([Unit: in])

L

43

(1.69)

L

1

39

(1.54)

L

2

42.5

(1.67)

D

24

(0.94)

D

1

26

(1.02)

D

2

26

(1.02)

44

(1.73)

43.5

(1.71)

44.5

(1.75)

26

(1.02)

28

(1.10)

35

(1.38)

10– 109

10


<Nippon Flex make>

A

L(1)

L1(2)

15

(0.59)

E

G

Threads C

Model

ACS-08RL-MS10F

ACS-08RL-MS14F

ACS-12RL-MS10F

ACS-12RL-MS14F

[Unit: mm]

([Unit: in])

Threads C

Applicable

Cable Diameter

A

9

/

16

-24UNEF-2B

ø4.0 to ø8.0

(ø0.16 to 0.32)

3 /

4

-20UNEF-2B

ø4.0 to ø8.0

(ø0.16 to 0.32)

6

(0.24)

7

(0.28)

9

/

16

-20UNEF-2B

ø8.0 to ø12.0

(ø0.32 to 0.47)

3 /

4

-20UNEF-2B

ø8.0 to ø12.0

(ø0.32 to 0.47)

6

(0.24)

7

(0.28)

Tightening Nut Nipple Body d

11.0

(0.43)

E

Width across

flats

F


G


E' F'

Width across

flats


G'


20

(0.79)

22.0

(0.87)

6

20

(0.79)

22.0

(0.87)

6

L

45

(1.77)

L

1

40

(1.57)

15.0

(0.59)

11.0

(0.43)

15.0

(0.59)

20

(0.79)

24

(0.94)

24

(0.94)

22.0

(0.87)

26.4

(1.04)

26.4

(1.04)

6

6

6

22

(0.87)

24

(0.94)

36

(1.42)

24.2

(0.95)

26.4

(1.04)

28.6

(1.13)

6

6

6

46

(1.81)

46

(1.81)

46

(1.81)

41

(1.61)

41

(1.61)

41

(1.61)

90

°

L

15

(0.59)

A

E' G'

Threads C

Model

E F G

ACA-08RL-MS10F

ACA-08RL-MS14F

ACA-12RL-MS10F

ACA-12RL-MS14F

[Unit: mm]

([Unit: in])

9

3

/

Threads C

16

-24UNEF-2B

/

4

-20UNEF-2B

Applicable

Cable Diameter

ø4.0 to ø8.0

(ø0.16 to 0.32)

ø4.0 to ø8.0

(ø0.16 to 0.32)

9 /

16

-20UNEF-2B

ø8.0 to ø12.0

(ø0.32 to 0.47)

3 /

4

-20UNEF-2B

ø8.0 to ø12.0

(ø0.32 to 0.47)

A

6

(0.24)

7

(0.28)

6

(0.24)

Tightening Nut Lock Nut d

10.0

(0.39)

E F

Width across

flats


G E'


Width across

flats

F' G'



20

(0.79)

22.0

(0.87)

6

20

(0.79)

22.0

(0.87)

6

L

35

(1.38)

13.8

(0.54)

10.0

(0.39)

20

(0.79)

24

(0.94)

22.0

(0.87)

26.4

(1.04)

6

6

23

(0.91)

20

(0.79)

25.3

(1.00)

22.0

(0.87)

6

6

36

(1.42)

40

(1.57)

7

(0.28)

13.8

(0.54)

24

(0.94)

26.4

(1.04)

6

23

(0.91)

25.3

(1.00)

6

41

(1.61)

L

1

L

2

37

(1.46)

37

(1.46)

43

(1.69)

43

(1.69)

32

(1.26)

32

(1.26)

38

(1.50)

38

(1.50)

10– 110

CHAPTER 11

SELECTION

This chapter describes how to calculate the capacity of the servo motor needed for the machine used.

11-1 Specification symbol list

11-2 Position resolution and electronic gear setting

11-3 Speed and command pulse frequency

11-4 Stopping characteristics

11-5 Capacity selection

11-6 Load torque equations

11-7 Load inertia moment equations

11-8 Precautions for zeroing

11-9 Selection example

INTRODUCTION

OPERATION

WIRING

INSTALLATION



INSPECTION

TROUBLESHOOTING

CHARACTERISTICS

SPECIFICATIONS

SELECTION

CHAPTER 1

CHAPTER 2

CHAPTER 3

CHAPTER 4

CHAPTER 5

CHAPTER 6

CHAPTER 7

CHAPTER 8

CHAPTER 9

CHAPTER 10

CHAPTER 11

11 – 1

11.SELECTION

11-1 Specification symbol list

The following symbols are required for selecting the proper servo:

T a

T b

: Acceleration torque [N • m]

: Deceleration torque [N • m]

T

Ma

: Servo motor torque necessary for acceleration

T

Mb

: Servo motor torque necessary for deceleration

T

LH

: Torque applied during servo motor stop

T

L

: Load torque converted into equivalent value on servo motor shaft

T

LM

: Load torque converted into equivalent value on servo motor shaft during stop

T

U

T

F

: Unbalance torque

: Load friction torque

T

LO

: Load torque on load shaft

T rms

:Continuous effective load torque converted into equivalent value

J

L on servo motor shaft

: Load inertia moment converted

[N • m]

[N • m]

[N • m]

[N • m]

[N • m]

[N • m]

[N • m]

[N • m]

[N • m]

[kg • cm

2

] into equivalent value on servo motor shaft

J

LO

: Load inertia moment on load shaft

J

M

N

: Servo motor's rotor inertia moment

: Servo motor speed

[kg • cm

2

]

[kg • cm

2

]

[r/min]

N

O

: Servo motor speed during fast feed

N

LO

: Load shaft speed during fast feed

V : Moving part speed

V

O

P

B

Z

Z n

η g

1

2

: Moving part speed during fast feed

: Ball screw lead

[r/min]

[r/min]

[mm/min]

: Number of gear teeth on servo motor shaft

: Number of gear teeth on load gear

: Gear ratio n =

Z

2

Z

1

Speed reduced when n>1,

Speed increased when n<1

: Drive system efficiency

: Gravitational acceleration (9.8[m/s

2

])

[mm/min]

[mm]

µ

π

P t

: Friction coefficient

: Circle ratio (3.14)

: Number of feedback pulses in position control mode f : Input pulse frequency in position control mode

: Input pulse frequency during fast f o feed in position control mode

T psa

: Acceleration time constant of

[pulse/rev]

[pps]

[pps]

[s] frequency command in position control mode

T psb

: Deceleration time constant of pulse frequency command in position control mode

[s]

K p

T p

K v

: Position control gain 1

: Position control time constant (Tp=1/Kp)

: Speed control gain

[rad/s]

[s]

[rad/s]

T v

: Speed control time constant (Tv=1/Kv)

∆

R : Feed per feedback pulse in position control mode

∆

R o

: Feed per command pulse in position

[s]

[mm/pulse]

[mm/pulse] control mode

R

P

: Feed

: Number of input command pulses in

[mm]

[pulse] ts to position control mode

: Settling time in position control mode

: Positioning time

[s]

[s] tc : Time at constant speed of servo

motor in 1 cycle

[s] t

R

: Stopping time in 1 cycle

∆ε

: Positioning accuracy

ε

∆θ

: Number of droop pulses

: Load shaft rotation angle per pulse in position

[s]

[mm]

[pulse] control mode [degree/pulse] e : Euler constant = 2.718278

∆

S : Feed per servo motor revolution [mm/rev]

11– 2

11.SELECTION

11-2 Position resolution and electronic gear setting

Position resolution (travel per pulse

∆

R

) is determined by travel per servo motor revolution

∆

S and the number of encoder feedback pulses Pt, and is represented by Equation 11-1:

∆

R

=

∆

S

P t

............................................................................................................................................ (11-1)

∆

R

: Travel per pulse

∆

S : Travel per servo motor revolution

Pt : Number of feedback pulses

[mm]

[mm/rev]

[pulse/rev]

Note: As these values depend on the servo motor series, confirm them in the specifications.

Since

∆

R has the relationship represented by Equation 11-1, its value is fixed in the control system after the drive system and encoder have been determined. However, travel per command pulse can be set as desired using the parameters.

Command pulse train f0

CMX

CDV

+

-

Deviation counter

SM

Electronic gear

P t =

8192pulse/rev

(Parameters No. 3, 4)

Encoder

As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control pulses. Travel per command pulse

∆

R

is expressed by Equation 11-2:

∆

R o=

P t

∆

S

•

CMX

CDV

∆

R

•

CMX

CDV

................................................................................................... (11-2)

CMX: Electronic gear (Command pulse multiplication numerator)

CDV: Electronic gear (Command pulse multiplication denominator)

Using the above relationship, travel per command pulse can be set to a value without fraction.

[Setting example]

Find a parameter value for

∆

R o=0.01 [mm] in a drive system where ball screw lead PB = 10 [mm] and reduction ratio 1/n = 1.

The encoder feedback pulses Pt of the HC-MF = 8192 [pulses/rev].

Since

∆ s = 10 [mm/rev], the following is obtained according to Equation 11-2:

CMX

CDV

=

∆

R o •

P t

∆

S

= 0.01 •

8192

10

=

1024

125

<Relationship between position resolution

∆

R

and overall accuracy>

Overall accuracy (positioning accuracy of machine) is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that overall errors are not affected by electrical system errors. As a guideline, Equation 11-3 should be satisfied:

1

5 to

1

10

•

∆ε

..................................................................................................................... (11-3) where,

∆

R

: Travel per feedback pulse [mm/pulse]

∆ε

:Positioning accuracy [mm]

11

11– 3

11.SELECTION

11-3 Speed and command pulse frequency

The servo motor is run at a speed where the command pulses and feedback pulses are equivalent.

Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The relation including the parameter settings (CMX, CDV) is as indicated below (refer to the following diagram): f o

•

CMX

CDV

= P t

•

N o

60

.....................................................................................................

(11-4)

Electronic gear fo

CMX

CDV

Feedback pulse frequency

Servo motor f o

: Command pulse frequency [pps]

(Open collector system)

CMX : Electronic gear (Command pulse multiplication

numerator)

CDV : Electronic gear (Command pulse multiplication

denominator)

N o

: Servo motor speed [r/min]

P t

: Number of feedback pulses [pulses/rev]

(P t

= 8192 for HC-MF)

According to Equation 11-4, the following equations may be used to obtain the electronic gear and command pulse frequency to rotate the servo motor at No.

• Electronic gear

CMX

CDV

= P •

N o

•

60

1 f o

................................................................................................................... (11-5)

• Command pulse frequency f o

= P t

•

N o

60

•

CDV

CMX

.................................................................................................

(11-6)

[Setting example]

Obtain the command pulse frequency required to run the HC-MF at 3000r/min.

When the electronic gear ratio 1 (initial parameter value) is used, the following result is found according to Equation 11-6: f o

= 8192 t

•

N o t

•

60

CDV

CMX

(Command pulse frequency)

= 8192 t

•

3000 t

• 1

60

= 409600[pps]

However, as the maximum input command pulse frequency in the open collector system is

200kpps, 409600pps cannot be entered.

To run the servo motor at the speed of 3000r/min at not more than 200kpps, the electronic gear setting must be changed. This electronic gear is found by Equation 11-5:

CMX

CDV

= 8192 •

3000

60

1

•

200 x 10

3

(Electronic gear)

=

256

125

Therefore, the parameters are set to CMX=256 and CDV=125.

11– 4

11.SELECTION

11-4 Stopping characteristics

(

1) Droop pulses (

ε

)

When a pulse train command is used to run the servo motor, there is a relationship between the command pulse frequency and servo motor speed as shown in the figure. The difference between the command pulses and feedback pulses during acceleration are called droop pulses, which are accumulated in the servo amplifier's deviation counter. Equation 11-7 defines a relationship between the command pulse frequency (f) and position control gain 1 (Kp).

ε f o

K p

[pulse] ............................................................................................................................................... (11-7)

Supposing that the value of position control gain 1 is 70 [rad/s], the droop pulses during operation will be as follows at the command pulse frequency of 200 [kpps] according to Equation 11-7:

ε

200 x 10

3

2858[pulse]

70

Command Droop pulses

Servo motor speed

[r/min] f

[pps]

0

Tpsa Tpsd ts ts 3 x

0.04

1

70

Time

0.04s

Settling time

(2) Settling time (ts) during linear acceleration/deceleration

Since droop pulses still exist when there are no command pulses, settling time (ts) is required until the servo motor stops. Set the operation pattern in consideration for the settling time.

The ts value is obtained according to Equation 11-8: t s

3 • T p

= 3 •

1

K p

[s] .................................................................................................................................................. (11-8)

*When K p

=70 [rad/s], ts 0.04 [s]. (Refer to the above diagram.)

Note: The settling time (ts) indicates the time required for the servo motor to stop in the necessary positioning accuracy range. This does not always mean that the servo motor has stopped completely. Thus, especially when the servo motor is used in high-duty operation and positioning accuracy has no margin for travel per pulse (

∆

R

), the value obtained by Equation

11-8 must be increased.

ts will vary with the moving part conditions. Especially when the load friction torque is large, movement may be unstable near the stopping position.

11

11– 5

11.SELECTION

11-5 Capacity selection

As a first step, temporarily select the servo motor capacity by calculating the load conditions. Next, determine the command pattern, calculate required torques according to the following equations, and confirm that the servo motor of the initially selected capacity may be used for operation.

(1) Initial selection of servo motor capacity

After calculating the load torque (T

L

) and load inertia moment (J

L

), select a servo motor which will satisfy the following two relationships:

Servo motor's rated torque > T

L

Servo motor J

M

> J

L

/m m=3 m=5

: High duty (more than 100 times/min.)

Settling time 40ms or less

: Middle duty (60 to 100 times/min.)

Settling time 100ms or less m= permissible load inertia moment : Low duty (less than 60 times/min.)

Settling time more than 100ms

Find the acceleration and deceleration torques and continuous effective load torque as described in (2) to make a final selection. For high-duty positioning, the J

L

value should be as small as possible. If positioning is infrequent as in line control, the J

L

value may be slightly larger than in the above conditions.

(2) Acceleration and deceleration torques

The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern:

Nofo

Command

Servo motor speed

[r/min] f

[pps]

0

Tpsa Tpsd

Time

Acceleration torque

Ta

Deceleration torque Td

0

Time

• Acceleration torque T a

=

(J

L

+J

M

) • N o

9.55 x 10

4

•

1

Tpsa

........................................................................ (11-9)

• Deceleration torque T b

=

(J

L

+J

M

) • N o

9.55 x 10

4

1

•

Tpsd

...................................................................... (11-10)

(3) Torques required for operation

Torques required for the servo motor are the highest during acceleration. If any of the torques obtained with Equations 11-9 to 11-13 exceeds the maximum servo motor torque, the servo motor speed cannot be increased as commanded. Confirm that the calculated value is lower than the servo motor's maximum torque. Since a friction load is normally applied during deceleration, only the acceleration torque needs to be considered.

11– 6

11.SELECTION

Nofo

Command

Servo motor speed

[r/min] f

[pps]

0

Tpsa

T

1

Tpsd

Time

T

Ma

T

L

0

T

Md

T

2

Ta

Td Time

T

1

= T

Ma

+ T a

+ T

L ..........................................................................................................................................................................

(11-11)

T

2

= T

L ....................................................................................................................................................................................................

(11-12)

T

3

= T

Md

= - T d

+ T

L

.................................................................................................................... (11-13)

Note: In the regenerative mode, the value found by Equation 11-13 is negative.

(

4) Continuous effective load torque

If the torque required for the servo motor changes with time, the continuous effective load torque should be lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system. To simplify the calculation, however, it is assumed that constant acceleration and deceleration torques are applied during Tpsa and Tpsd. The following equation is used to calculate the continuous effective load torque in the following operation pattern:

N

[r/min]

0

Time

0

T

Ma

Tpsa

Ta

T

L tc

Td

T

Md

Tpsd

Tf (1 cycle)

T

LH

T r

Time

T rms

=

2 2 2

T

Ma

• T psa

+ T

L

• t c

+ T

Md

• T psd

+ T

LH

• t

R t f

......................................................... (11-14)

Note: T

LH

indicates the torque applied during a servo motor stop. A large torque may be applied especially during a stop in vertical motion applications, and this must be fully taken into consideration. During vertical drive, the unbalanced torque T

U

will become T

LH

.

11

11– 7

11.SELECTION

11-6 Load torque equations

Typical load torque equations are indicated below:

Load Torque Equations

Type Mechanism

T

L

=

F

2 x 10

3

•

π

•

η

•

Equation

V

N

=

F •

∆

S

2 x 10

3

•

π

•

η

.............................................................. (11-15)

Linear movement

Servo motor

Z

2

η

Z

1

W

F

C

F

O

F : Force in the axial direction of the machine in linear motion [N]

F in Equation 11-15 is obtained with Equation 11-16 when the table is moved, for example, as shown in the left diagram.

F = F c

+

µ

• (W • g + F

O

) .................................... (11-16)

F c

: Force applied in the axial direction of the moving part [N]

F

G

: Tightening force of the table guide surface [N]

W : Full weight of the moving part [kg]

Rotary movement

Z

1

T

LO

T

L

=

1 n

•

1

η

• T

LO

+ T

F

................................

(11-17)

T

F

: Load friction torque converted into equivalent value on servo motor shaft [N • m]

Z

2

Servo motor

Vertical movement

Servo motor

1/n

Guide

Load

W

2

Counter weight

W

1

During rise

T

L

= T

U

+ T

F

....................................................

(11-18)

During fall

T

L

= - T

U

•

η

2 + T

F

...........................................

(11-19)

T

F

: Friction torque of the moving part [N • m]

T

U

=

(W

1

- W

2

) • g

2 x 10

3

•

π

•

η

V

• =

N

(W

1

- W

2

) • g •

∆

S

2 • 10

3

•

π

•

η

.......................................................... (11-20)

T

F

=

µ

(W

1

+ W

2

)

2 x 10

3

• g

•

∆

S

•

π

•

η

......................

W

1

: Weight of load [kg]

W

2

: Weight of counterweight [kg]

(11-21)

11– 8

11.SELECTION

11-7 Load inertia moment equations

Typical load inertia moment equations are indicated below:

Load Inertia Moment Equations

Type Mechanism Equation

Axis of rotation is on the cylinder center

øD

1

øD

2

J

LO

=

π

•

ρ

• L

32

4 4

• (D - D ) =

W

8

2 2

• (D + D )

ρ

: Cylinder material density [kg/cm

3

]

L : Cylinder length [cm]

D

1

: Cylinder outside diameter [cm]

D

2

: Cylinder inside diameter [cm]

W : Cylinder weight [kg]

......

(11-22)

Cylinder

Axis of rotation

Reference data: material density

Iron : 7.8

x 10

-3

[kg/cm

3

]

Aluminum : 2.7

x 10

-3

[kg/cm

3

]

Copper : 8.96 x 10

-3

[kg/cm

3

]

Axis of rotation is off the cylinder center

R

J

LO

=

W

• (D

+

8R

2

)

8

............................................

(11-23)

Square block

Axis of rotation

D

R a a

Axis of rotation b b

J

LO

=

W • a

2

+ b

2

+ R

2

3

.........................................

(11-24)

W : Square block weight [kg] a, b, R : Left diagram [cm]

Object which moves linearly

Servo motor

N

Object that is hung with pulley

Converted load

D

W

V

Servo motor

N

3

J

21

J

B

W

J

31

J

11

J

22

N

1

Load A

J

A

N

2

J

L

=

W •

V

600 •

ω

= W •

2 •

1

π

• N

•

V

10

2

= W •

∆

S

20 •

π

2

........................ (11-25)

V : Speed of object moving linearly [mm/min]

∆

S : Moving distance of object moving linearly per servo motor revolution [mm/rev]

W : Object weight [kg]

J

L

=

W •

D

2

+ J

P

...................................................

(11-26)

2

J

P

: Pulley inertia moment [kg • cm

2

]

D : Pulley diameter [cm]

W : Object weight [kg]

J

L

=

J

11

=

(J

21

+

J

22

+

J

A

)

•

N

2

N

1

2

+

(J

31

+

J

B

)

•

N

3

N

1

2

.................

(11-27)

J

A

, J

B

: Inertia moments of loads A, B [kg • cm

2

]

J

11

to J

31

: Inertia moments [kg • cm

2

]

N

1

to N

3

: Speed of each shaft [r/min]

11

11– 9

11.SELECTION

11-8 Precautions for zeroing

To return the system to the home position, use a zeroing dog or actuator. The method and precautions for setting the mechanical origin are given below.

In the following zeroing, an actuator and the zero pulse signal (encoder Z-phase pulse OP) of a servo motor encoder are used to set the mechanical origin.The state of ON/OFF of encoder Zphase pulse signal (OP) can be confirmed by using external I/Q signal display function. When a general positioning unit is used, the sequence of events is as shown in Fig. 11-1.

Zeroing speed V

1

Deceleration started by actuator signal

Creep speed V

2

Zero pulse signal

ON

Actuator signal

OFF

Clear signal

When determining the ON duration of the actuator, consider the deceleration time so that the speed reaches the creep speed.

Considering the variations of the actuator signal, adjust the actuator so that it switches off near the center of the High of the zero pulse signal.

About 15ms

Fig. 11-1 Zeroing Using the Actuator

(1) When determining the ON duration of the actuator, consider the delay time of the control section and the deceleration time so that the creep speed is attained. If the actuator signal switches off during deceleration, precise home position return cannot be performed.

Zeroing speed V

1

Travel distance gained after detecting the zeroing dog until the creep speed is reached L

1

• Travel distance L1 in the chart can be obtained by

Equation 11-28

• ON duration of the actuator LD [mm] must be longer than L1 obtained by Equation 11-28, as indicated in Equation 11-29.

Creep speed V

2

L

1

=

1

60

• V

1

• t

1

+

1

120

• V

1

• t d

{

( )

V

1

2

}

+

1

60

• V

1

• Tp

........ (11-28)

Deceleration time t d

Control delay time t

1

ON duration of the actuator L

D

L

D

> L

1

.................................................................. (11-29) where,

V

1

, V

2

: As shown in the chart [mm/min] t

1

, t d

: As shown in the chart [s]

L

1

L

D

: As shown in the chart [mm]

: As shown in the chart [mm]

(2) Set the end (OFF position) of the actuator signal at the middle of two ON positions (Lows) of the zero pulse signal. If it is set near either ON position of the zero pulse signal, the positioning unit is liable to misdetect the zero pulse signal. In this case, a fault will occur, e.g. the home position will shift by one revolution of the servo motor.

The zero pulse output position can be confirmed by OP (encoder Z-phase pulse) on the external

I/O signal display.

(3) Set the creep speed at which the machine is not shocked at a stop.

The machine will stop suddenly as the clear (CR) signal is given to the servo amplifier on detection of the zero pulse signal.

11– 10

11.SELECTION

11-9 Selection example

Machine specifications

Servo motor

Gear ratio 5:8

Servo amplifier

Pulse train

FX – 1GM

Speed of moving part during fast feed V o

= 30000mm/min

Travel per pulse

∆

R = 0.005mm

Travel

Positioning time

R = 400mm t o

= within 1s

Number of feeds

Operation cycle

Gear ratio

Moving part weight

Drive system efficiency

Friction coefficient

Ball screw lead

Ball screw diameter

Ball screw length

Gear diameter (servo motor)

Gear diameter (load shaft)

Gear face width

40 times/min.

t f

= 1.5 s n = 8/5

W = 60kg

η

= 0.8

µ

= 0.2

P b

= 16mm

20mm

500mm

25mm

40mm

10mm

(1) Selection of control parameters

1) Setting of electronic gear (command pulse multiplication numerator, denominator)

There is the following relationship between the multiplication setting and travel per pulse

∆

R

.

∆

R =

(ball screw lead)

8192 x (gear ratio) x

(

CMX

)

CDV

When the above machining specifications are substituted in the above equation:

CMX

CDV

= 0.005 •

8192 • 8/5

16

=

512

125

Acceptable as CMX/CDV is within 1/50 to 20.

2) Input pulse train frequency for rapid feed fo f

O

=

V o

60 •

∆

R

=

30000

60 • 0.005

=100000 [pps]

Acceptable as f o

is not more than 200kpps.

(2) Servo motor speed

N

O

=

V o

P b

• n = 3000[r/min]

(3) Acceleration/deceleration time constant

T psa

= T psd

= to -

R

V o

/60

- ts = 0.05 [s]

*ts: settling time. (Here, this is assumed to be 0.15s.)

11

11– 11

11.SELECTION

(4) Operation pattern

3000

Time[s]

0.05

Tpsa

0.05

Tpsd t s

0.15

t o

= 1.0

[r/min] t f

= 1.5

(5) Load torque (converted into equivalent value on servo motor shaft)

Travel per servo motor revolution

∆

S = P

B

•

1 n

= 10[mm]

T

L

=

µ

• W • g •

∆

S

2 x 10 •

π

•

η

= 0.23[N • m]

(6) Load inertia moment (converted into equivalent value on servo motor shaft)

Moving part

J

L1

= W •

(

∆

S

)

20

π

2

= 1.52[kg • cm

2

]

Ball screw

J

L2

=

π

•

ρ

• L

32

4

• D •

( ) 2 n

= 0.24[kg • cm

2

]

*

ρ

= 7.8 x 10

-3

[kg/cm

3

]

Gear (servo motor shaft)

J

L3

=

π

•

ρ

• L

32

Gear (load shaft)

4

• D = 0.03[kg • cm 2

]

J

L4

=

π

•

ρ

• L

32

4

• D •

( )

2 n

= 0.8[kg • cm

2

]

Full load inertia moment (converted into equivalent value on servo motor shaft)

J

L

= J

L1

+ J

L2

+ J

L3

+ J

L4

= 1.9[kg • cm

2

]

(7) Temporary selection of servo motor

Selection conditions

1) Load torque < servo motor's rated torque

2) Full load inertia moment < 30 x servo motor inertia moment

From the above, the HC-MF23 (200W) is temporarily selected.

11– 12

11.SELECTION

(8) Acceleration and deceleration torques

Torque required for servo motor during acceleration

T

Ma

=

(J

L

+ J

M

) • N o

9.55 x 10 • T psa

+ T

L

= 1.7[N • m]

Torque required for servo motor during deceleration

T

Md

(J

L

+ J

M

) • N o

= = -1.2[N • m]

9.55 x 10 • T psd

The torque required for the servo motor during deceleration must be lower than the servo motor's maximum torque.

(9) Continuous effective load torque

T rms

=

2 2 2

T

Ma

• T psa

+ T

L

• tc + T

Md

• T psd t f

= 0.41[N • m]

The continuous effective load torque must be lower than the servo motor's rated torque.

(10) Torque pattern

1.7

[N•m]

0.23

Time[s]

0.05

0.75

0.05

0.15

-1.2

1.5

(11) Selection results

The HC-MF23 servo motor and MR-J2-20A servo amplifier are selected.

1) Electronic gear setting

512

125

Parameter No. 3

Parameter No. 4

Command pulse multiplication numerator (CMX)

Command pulse multiplication denominator (CDV)

2) During rapid feed

• Servo motor speed ......................N

o

= 3000 [r/min]

• Input pulse train frequency........... f o

= 100 [kpps]

3) Acceleration/deceleration time constant

T psa

= T psd

= 0.05[s]

11– 13

11

REVISIONS

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

Print Data *Manual Number Revision

Nov.,1996 IB(NA)67286-A

Mar.,1997 IB(NA)67286-B

First edition

Addition of servo amplifiers MR-J2-70 to 350A and single-phase

100V power supply models

Addition of servo motors HC-MF73, HC-SF series and HC-RF series

Section 2-1

Section 2-2-2

Section 2-3-2

Addition of notes on servo motor connection

Addition of stop by reset signal

Correction to display range for position within one revolution

3), (1), Section 2-3-3 Addition of default indications

(4), Section 2-3-5 Parameter No. 0: Addition of MR-RB30,

MR-RB50

Parameter No. 11, 13: Changes to

Section 2-4-2

(2), Section 3-1-2 diagrams

Changes to Step 2 in Adjustment 5

Corrections to errors in writing of signals in table

(4), Section 3-1-2 Signals which can be used by parameter setting are indicated by

∆

.

1), (4), section 3-1-2 Addition of sentence to Reset

2), (4), section 3-1-2 Changes to sentences on encoder A-, Band Z-phase pulses

1), (3), Section 3-1-4 Addition of note

Section 3-2-2 Overall change

Section 3-2-3

Section 3-2-4

Section 3-3

(2), Section 3-5

Overall change

Additions

Corrections to errors in diagram

Addition of sentence

(2), Section 4-1

(7), Section 4-2

(7) Chapter 5

(1), Section 6-1-1

Changes to installation clearances

Changes to graph

Changes to sentence in Note 5

Changes to table

(5), Section 6-1-1

(1), Section 6-1-2

Addition of MR-RB30 and 50 diagrams

Connector outline drawings are moved to

(2), Section 6-1-2

Section 10-5-3.

Addition of UL20276AWG227 pair (BLACK) b, 1), (2), Section 6-1-2 Addition of connection diagram for use of

AWG28

3), (2), Section 6-1-2 Addition of bus cable

Section 6-1-4

Section 6-2-5

Addition of maintenance junction card

Change to Matsushita Electric's varistor

Section 10-5-1 model number

Entry of terminal signal arrangement

Section 10-5-4 Entry of cable side plug outline drawings

REVISIONS



Oct.,1997 IB(NA)67286-C

Nov.,1998 IB(NA)67286-D

Instructions added for compliance with the UL/C-UL Standard

Addition of single-phase 230VAC input power supply

Section 2-2-2, (2) to (4) Deletion of reset-on stop operation

Section 2-3-5, (4) Correction made to LSP/LSN signal stop pattern selection in parameter No. 22

Section 3-1-2, (4), 2) Correction made to description of encoder

Z-phase pulse functions and applications

Section 3-1-4, (7)

Section 3-2-3, (4)

Addition of source input interface

Addition of electromagnetic brake

Section 3-3 connector

Change in P15R connection

Section 3-5, (2), (4) Addition of VDD-COM connection

Section 3-7, (3), 2) Deletion of reset signal ON/OFF

Section 6-1-2, (2), 1) Change in connection diagram

Section 6-1-2, (2), 3) Change in connector type

Section 6-2-1 Change in UVW cable size

Section 6-2-2

Section 9-2

Section 9-3

Deletion of text

Change in Note 1

Addition of electromagnetic brake characteristics of HC-SF/HC-RF

Section 9-4

Section 10-2, (3)

Section 10-3

Change in dynamic brake's brakable load inertia moment ratio

Correction made to HC-SF graph

Addition of reduction gears for use with HC-

Section 10-4

Section 10-5-2

SF/HC-RF

Change in shaft end machining diagram for

HC-SF/HC-RF

Addition of HC-SF/HC-RF servo motors with electromagnetic brakes

Changes made to the instructions for compliance with the UL/C-UL Standard

Section 1-1, (2)

Section 1-1-2

Deletion of model explanation

Addition of model makeup

Section 1-1-3 Addition of combinations with servo motors

Section 3-1-3, (1), 4) Addition of pulse train input

Section 3-1-3, (3), 1), a Reconsideration of rotation direction for negative polarity in Table 3-4

Section 3-2-2

Section 3-2-3, (3)

Deletion of servo motor shape

Addition of HC-UF3000r/min series

Section 3-2-3, (5)

Ex-Section 3-2-4

Section 3-2-4

Section 6-2-2

Addition of HC-UF2000r/min series

Deletion of selection of the cable plug

Addition of connectors used for servo motor wiring

Deletion of fuse models

Section 9-1, (2)

Section 9-2

Addition of data for MR-J2-200C/350C

Addition of HC-SF81 to 301/HC-SF103 to

353/HC-UF72 to 202/HC-UF13 to 73

Addition of HC-SF81 to 301/HC-SF103 to Section 9-3

353/HC-UF72 to 202/HC-UF13 to 73

Section 10-5-2, (5) Addition of HC-SF81 to 301/HC-SF103 to 353

Section 10-5-2, (7) Addition of HC-UF series

REVISIONS



May,2000 IB(NA)67286-E Addition of compliance to EC directive 1 (1), (2), (3)

Addition of 2. Cautions for appliance (1) Servo amplifier and servo motor to be used to EC directive

Addition of (6) e

.

UL/C-UL Standard (1) Addition of servo amplifier and servo motor to be used

UL/C-UL Standard (4) Change in flange table

UL/C-UL Standard (2) Addition of optional parts and peripheral

Section 1-1-2 (1)

Section 2-3-5 (4) devices

Change in rating name plate

Change of parameter detail description

No. 2 initial value to 0002

Addition of some text to parameter No. 47

Addition of some text to parameter No. 48

Chapter 3 Addition of caution drawing

Section 3-1-2 (4) q

Change to emergency stop

Section 3-1-2 (4) w

Change in max. pulse width of detector Z-

Section 3-1-3 (6)

Section 3-1-4 (1)

Section 3-1-4 (2)

Section 3-1-4 (3)

Section 3-2-4 (1) phase pulse to 400

Addition to figure of timing chart for switching

Partial change in drawing of digital interface

D1-1

Partial change in figure


Change of servo motor side connector to

1-172169-9

Section 3-3

Section 3-6

Partial deletion of figure

Partial change in figure of timing chart at the

Section 3-7

Section 3-7 (1)

Section 3-7 (3) (a)

Section 3-7 (3) (b)

Section 3-7 (3) (c)

Section 3-7 (3) (d) time of occurrence of alarm

Addition of point

Partial change in connection diagram

Change in text




Section 4-2 (4) Deletion of shaft allowable load table (kgf)

Section 6-1-2 (2) w

Change of signals listed in relay terminal block

Section 6-1-3

Section 6-2-6 (2)

Section 8-1-1 (2)

Section 8-2-2

Section 9-3 (1)

Section 10-1 (2)

Section 10-5-2 (1)

Section 10-5-2 (2)

Section 10-5-2 (5)

Section 10-5-3 (3) side table of detector cable connection diagram to those abbreviated

Addition of point

Change in diode mounting drawing


Addition of some text

Addition of A. 25 Trouble, Cause Remedy

Deletion of Table 9-2 (kgf.cm)

Deletion of Table (kgf.cm)

Change in all HC-MF series

Change in HC-MF-UE series

Change in HC-UF3000 rpm series

Change of servo motor detector plug