Mitsubishi Electric Rotary Servo Motor User Manual

Mitsubishi Electric AC Servo System

Rotary Servo Motor

User's Manual

(HK Series)

-HK-KT_

-HK-MT_

-HK-ST_

-HK-RT_

SAFETY INSTRUCTIONS

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

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

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety.

Forbidden actions and required actions are indicated by the following diagrammatic symbols.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other information are shown separately in the "POINT" area.

After reading this manual, keep it accessible to the operator.

1

2

[Installation/wiring]

WARNING

● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for converter units/drive units) before starting wiring and/or inspection.

● To prevent an electric shock, ground the rotary servo motor securely.

● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

● To prevent an electric shock, do not attempt to wire the rotary servo motor until it has been mounted.

● To prevent an electric shock, do not touch the conductive parts.

[Installation/wiring]

CAUTION

● To prevent injury, do not touch the rotor of the rotary servo motor during operation.

● To prevent injury, transport the products correctly according to their mass.

● To prevent injury when handling the rotary servo motor, do not touch sharp edges such as the sharp edges of the rotary servo motor and the shaft keyway with bare hands.

[Maintenance]

WARNING

● To prevent an electric shock, any person who is involved in inspection should be fully competent to do the work.

DISPOSAL OF WASTE

Please dispose of this product and other options according to your local laws and regulations.

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.

e-Manuals enable the following:

• Searching for desired information in multiple manuals at the same time (manual cross searching)

• Jumping from a link in a manual to another manual for reference

• Browsing for hardware specifications by scrolling over the components shown in product illustrations

• Bookmarking frequently referenced information

• Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For the related manuals, refer to the User's Manual (Introduction).

Introduction

This manual is necessary primarily for installing, wiring, and using options.

Hardware

Rotary Servo Motor

Linear Servo Motor

Direct Drive Motor

Partner Encoder

Function

The manual is necessary for operation of servo amplifiers.

For the usage of each function, refer to this manual.

Communication Function The manual is necessary for using communication functions.

Adjustment

Troubleshooting

The manual is necessary for adjustment of operation status.

The manual is necessary for specifying the causes of alarms and warnings.

It describes the parameters of the servo amplifier.

Parameters

Object Dictionary It describes the objects for the servo amplifier.

When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".

CABLES USED FOR WIRING

Cables mentioned in this manual are selected based on an ambient temperature of 40 °C.

3

4

U.S. CUSTOMARY UNITS

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

Quantity

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2 )]

1 [N]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [inch]

141.6 [oz•inch]

5.4675 [oz•inch 2 ]

0.2248 [lbf]

N [°F]

CONTENTS

SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

CABLES USED FOR WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

CHAPTER 1 INTRODUCTION

1.5

1.6

1.7

1.8

1.9

1.1

1.2

1.3

1.4

10

Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Rotary servo motor shaft shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Servo motors with functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Instructions on storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Instructions on maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Instructions on protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

CHAPTER 2 INSTALLATION 18

2.1

2.2

2.3

2.4

2.5

2.6

2.7

Mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Load mounting/dismounting precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Permissible load for the shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Protection from oil and water. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Rotary servo motors with an oil seal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.8

2.9

Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Machine accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.10

Instructions on swing rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.11

Mounting rotary servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

CHAPTER 3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.1

3.2

3.3

27

Selection of connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Wiring connectors (connector configuration A). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Wiring connectors (connector configurations B/C/D/E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

CHAPTER 4 CONNECTING THE SERVO AMPLIFIER AND

ROTARY SERVO MOTOR

4.1

4.2

4.3

34

Precautions for wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

HK-ST/HK-RT (3.5 kW - 7.0 kW). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

CHAPTER 5 WIRING OPTION

5.1

59

Cables/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Combinations of cables/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5

6

5.2

5.3

5.4

5.5

Cable and connector list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Motor cables/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_-L. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

MR-AEPB1CBL_M-_-_/MR-AEP1CBL_M-_-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

MR-AEKCBL_M-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

MR-AENSCBL_M-_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

MR-J3ENSCBL_M-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Wires for option cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Precautions for option cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

MR-AEPB2CBL_M-_-L/MR-AEPB2CBL_M-_-H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

MR-AEP2CBL_M-_-L/MR-AEP2CBL_M-_-H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

MR-AEPB2J20CBL03M-_-L/MR-AEPB2J10CBL03M-_-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

MR-AEP2J20CBL03M-_-L/MR-AEP2J10CBL03M-_-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

MR-AEPB1CBL_M-_-L/MR-AEP1CBL_M-_-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

MR-AEPB1CBL_M-_-H/MR-AEP1CBL_M-_-H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

MR-AENSCBL_M-L/MR-AENSCBL_M-H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

MR-AEKCBL_M-L/MR-AEKCBL_M-H. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Shielding CN2, CN2A, CN2B, and CN2C connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Cable flex life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

CHAPTER 6 HK-KT SERIES

6.1

6.2

6.3

6.4

6.5

6.6

6.7

6.8

6.9

102

Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Standard specifications list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Permissible load for the output shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

The graph of overload protection characteristics of rotary servo motor . . . . . . . . . . . . . . . . . . . . . . . . . 120

Characteristics of electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Restrictions on the flange size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Restrictions on the ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Restrictions on the altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Rotary servo motors with special shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

D-cut shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

L-cut shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Keyed shaft (with double round-ended key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Keyed shaft (without key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Geared servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

For general industrial machine (G1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

For high precision applications (G5/G7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Mounting connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Without gear reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

With gear reducer for general industrial machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

With flange-output type gear reducer for high precision applications, flange mounting . . . . . . . . . . . . . . . . . . 141

With shaft-output type gear reducer for high precision applications, flange mounting . . . . . . . . . . . . . . . . . . . 143

Cable direction: Load side/opposite direction of the load side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Cable direction: Vertical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

CHAPTER 7 HK-MT SERIES

7.1

7.2

7.3

7.4

7.5

7.6

7.7

147

Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Standard specifications list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Permissible load for the output shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Characteristics of electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Restrictions on the flange size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Restrictions on the ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Restrictions on the altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Rotary servo motors with special shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

D-cut shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

L-cut shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Keyed shaft (with double round-ended key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Keyed shaft (without key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Mounting connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

CHAPTER 8 HK-ST SERIES

8.1

8.2

8.3

8.4

8.5

8.6

8.7

8.8

8.9

165

Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Standard specifications list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Permissible load for the output shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

The graph of overload protection characteristics of rotary servo motor . . . . . . . . . . . . . . . . . . . . . . . . . 182

Characteristics of electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Restrictions on the flange size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Restrictions on the ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Restrictions on the altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Rotary servo motors with special shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Keyed shaft (with double round-ended key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Keyed shaft (without key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Geared servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

For general industrial machine (G1/G1H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

For high precision applications (G5/G7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Mounting connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

One-touch lock fitting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Screw fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Without gear reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

With gear reducer for general industrial machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

With gear reducer for general industrial machine (foot-mounting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

With flange-output type gear reducer for high precision applications, flange mounting . . . . . . . . . . . . . . . . . . 213

With shaft-output type gear reducer for high precision applications, flange mounting . . . . . . . . . . . . . . . . . . . 216

7

8

CHAPTER 9 HK-RT SERIES

9.1

9.2

9.3

9.4

9.5

9.6

9.7

219

Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Standard specifications list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Torque characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

Permissible load for the output shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Characteristics of electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

Restrictions on the flange size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

Restrictions on the ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Restrictions on the altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Rotary servo motors with special shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Keyed shaft (with double round-ended key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Keyed shaft (without key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Mounting connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Cable direction: Load side/opposite direction of the load side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

Cable direction: Vertical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

CHAPTER 10 COMPLIANCE WITH EACH REGION 238

10.1

Compliance with CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

For compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

10.2

Compliance with UL/CSA standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Flange size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Selection example of wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

CHAPTER 11 APPENDIX 242

11.1

Rotary servo motor ID codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

11.2

Selection example of rotary servo motor power cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

11.3

Connector dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

MT50W-8D/2D4ES-CVLD(7.5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

MT50W-8D/2D4ES-CVL(11.9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

MT50W-8D/2D4ES-CVSD(7.5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

MT50W-8D/2D4ES-CVS(11.9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

CMV1-SP10S-M_/CMV1-SP2S-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

CMV1-AP10S-M_/CMV1-AP2S-_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

CMV1S-SP10S-M_/CMV1S-SP2S-_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

CMV1S-AP10S-M_/CMV1S-AP2S-_. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

JL10-6A_-_SE-EB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

JL10-8A_-_SE-EB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

JL04V-6A_-_SE-EB-R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

JL04V-8A_-_SE-EBH-R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

JL04-_CK(_)-_-R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

11.4

Fabricating the encoder cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

11.5

Gear reducer model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

HK-KT_G1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

HK-KT_G5/G7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

HK-ST_G1/G1H. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

HK-ST_G5/G7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .255

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .256

9

1

INTRODUCTION

The HK-MT series servo motors will be available in the near future.

1.1

Rating plate

Products proven to comply with the standards set by a given Certification Body are marked with the appropriate certification marks. The marks vary for each Certification Body.

The date of manufacture of the rotary servo motor are indicated in the serial number on the rating plate.

For the date of manufacture, the last two digits of the year and the month in numerical format [1 to 9, X (10), Y (11), and Z

(12)] are displayed.

For April 2019, the serial number would be "SER. _ _ _ _ _ _ _ _ _ 194".

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

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

Manufacturer

AC SERVO MOTOR

SERVO MOTEUR AC

TOKYO 100-8310 , JAPAN

CI. F

3AC CONT

40°C

Input power supply

Insulation class and maximum ambient temperature

Model

Rated output, rated current, rated voltage, and power factor

Induced voltage constant and rated speed

Serial number, IP rating, and mass

HK-KT13W

0.1kW

18 mV/min -1

1.2 A 72 V P.F. 98 %

3000 r/min 0-250 Hz

SER. M00001234 194 IP67 0.37 k

E319824

IEC60034-1

IEC61800-3

Country of origin

10 1 INTRODUCTION

1.1 Rating plate

HK-ST/HK-RT (3.5 kW - 7.0 kW)

The rating plate indicates the characteristic values for when the torque has been increased by changing the servo amplifier.

For the characteristics in combination with each servo amplifier, refer to "Servo amplifier/motor combinations" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

1

Model

Input power, rated voltage, rated current, and rated output

Mass and insulation class

Rated speed

Induced voltage constant and maximum ambient temperature

Power factor and IP rating

Serial number

Country of origin

Manufacturer

AC SERVO MOTOR

SERVO MOTEUR AC

3AC

5.2

1500

58

HK-ST102W

102 V

CI.

F

7.0

A r/min 0Hz

P.F.

%

SER.

mV/min -1 40°C

98 IP67

125

M00001234 194

IEC60034-1

IEC61800-3

1kW

CONT

TOKYO 100-8310 , JAPAN

1.2

Environment

Condition

Ambient temperature

Ambient humidity

Ambience *1

Altitude

Vibration resistance

Operation

0 ˚ C to 60 ˚

C (non-freezing)

*2

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

Transportation/storage

-15 ˚ C to 70 ˚ C (non-freezing)

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

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust, nor high magnetic field

2000 m or less

*3

Refer to the following.



Page 104 Standard specifications



Page 148 Standard specifications



Page 167 Standard specifications



Page 220 Standard specifications

10 mT or less External magnetic field

*1 Do not use in an environment where there is exposure to oil mist, oil, and water.

*2 Refer to the following for restrictions on the ambient temperature.



Page 121 Derating



Page 157 Derating



Page 183 Derating



Page 228 Derating

*3 Refer to the following for restrictions on using this product at an altitude exceeding 1000 m and up to 2000 m.



Page 121 Derating



Page 157 Derating



Page 183 Derating



Page 228 Derating

1 INTRODUCTION

1.2 Environment

11

1.3

Parts identification

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

■ Without an electromagnetic brake

Power supply/encoder connector

Motor shaft

Encoder

■ With an electromagnetic brake

Power supply/brake/encoder connector

Motor shaft

Encoder

HK-ST/HK-RT (3.5 kW - 7.0 kW)

■ Without an electromagnetic brake

Power connector Encoder connector

Encoder

Motor shaft

■ With an electromagnetic brake

Power connector

Electromagnetic brake connector

Encoder connector

Encoder

Motor shaft

12 1 INTRODUCTION

1.3 Parts identification

1.4

Electromagnetic brake

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

Precautions

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

• Incorrect wiring, service life, or the mechanical structure (e.g. where a ball screw and the rotary servo motor are coupled via a timing belt) may cause the electromagnetic brake to be unable to hold the motor shaft. To ensure safety, install a stopper on the machine side.

• If it is assumed that a power failure or product malfunction may result in a hazardous situation, use a rotary servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

• Configure an electromagnetic brake circuit that interlocks with the external emergency stop switch.

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

Rotary servo motor

RA

Electromagnetic brake

B

U

Contacts must be opened with the emergency stop switch.

24 V DC

1

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

• The electromagnetic brake has a release delay time. Ensure enough time between releasing the electromagnetic brake and starting the rotary servo motor. Check the release delay time with an actual machine.

• For details of the circuit configuration, refer to "Servo motor with an electromagnetic brake" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

• For details of the timing chart, refer to "Electromagnetic brake interlock function" in the following manual.

 MR-J5 User's Manual (Function)

• When the electromagnetic brake is released, the temperature of the rotary servo motor may increase regardless of driving.

• The service life of the brake may be shortened under sudden acceleration/deceleration conditions.

Electromagnetic brake power supply

Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake terminals (B1 and

B2) have no polarity.

24 V DC power supply for electromagnetic brake

Switch

VAR

U

B1

B or

24 V DC power supply for electromagnetic brake

Switch

VAR

U

B1

B

B2 B2

A surge absorber (VAR) must be installed between B1 and B2. For a selection example of surge absorbers, refer to

"Characteristics of electromagnetic brake" in chapters 6 and 7.

When a diode is used as a surge absorber, the electromagnetic braking time becomes longer.

1 INTRODUCTION

1.4 Electromagnetic brake

13

Sound generation

The brake lining may rattle during a low-speed operation; however, it poses no functional problem.

The noise may be reduced or eliminated by the machine resonance suppression filter set with the servo parameters. For details, refer to "Machine resonance suppression filter" in the following manual.

 MR-J5 User's Manual (Adjustment)

Selection of surge absorbers for electromagnetic brake circuit

The following shows an example of how to select a varistor as a surge absorber.

■ Selection condition

Item

Electromagnetic brake specification

Desired suppression voltage

Durable surge application time

Condition

R [ Ω ]: Resistance

L [H]: Inductance

Vb [V]: Power supply voltage

Vs [V] or less

N times

Relay

24 V DC

U

Varistor Brake coil

■ Tentative selection and verification of surge absorber

• Maximum permissible circuit voltage of varistor

Tentatively select a varistor whose maximum permissible voltage is larger than Vb [V].

• Brake current (Ib)

Ib =

Vb

R

[A]

• Energy (E) generated by brake coil

E =

L × Ib 2

2

[J]

• Varistor limit voltage (Vi)

From the energy (E) generated in the brake coil and the varistor characteristic diagram, calculate the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during opening of the circuit.

Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed voltage (Vs) [V].

If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.

• Surge current width ( τ )

Given that the varistor absorbs all energies, the surge current width ( τ ) is as follows.

τ =

E

Vi × Ib

[S]

• Examining surge life of varistor

From the varistor characteristic diagram, find the guaranteed current value (Ip) in which the number of the surge application life is N at the surge current width ( τ ). Calculate the guaranteed current value (Ip) ratio (Ip/Ib) to brake current (Ib).

If a sufficient margin is ensured for Ip/Ib, the number of the surge application life N [time] can be considered as favorable.

Other precautions

A leakage magnetic flux occurs at the shaft end of the servo motor with an electromagnetic brake. Note that chips, screws, and other debris are attracted.

14 1 INTRODUCTION

1.4 Electromagnetic brake

1.5

Rotary servo motor shaft shapes

Do not use shafts other than the straight shaft for frequent start/stop applications. Use a friction coupling or the like when coupling the shaft with a machine.

There are six shaft shape types for the rotary servo motor: straight shaft, D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), keyed shaft (without key), and keyed shaft (with single pointed key).

The keyed shaft (with single pointed key) supports only geared servo motors for high precision applications.

Straight shaft

1

D-cut shaft

L-cut shaft

Keyed shaft (with double round-ended key)

A

A

Section AA

1 INTRODUCTION

1.5 Rotary servo motor shaft shapes

15

Keyed shaft (without key)

A

A

Section AA

Keyed shaft (with single pointed key)

16 1 INTRODUCTION

1.5 Rotary servo motor shaft shapes

1.6

Servo motors with functional safety

The HK-KT series, HK-ST series, and HK-RT series support servo motors with functional safety. The specifications and dimensions of servo motors with functional safety are not changed.

For the available safety-sub functions and the achievable safety levels, refer to "Functional safety" in the User's Manual

(Introduction).

1.7

Instructions on storage

Precautions

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

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

• When storing in a dusty and humid area, take measures such as covering the whole product.

• If the insulation resistance of the magnet wire decreases, reconsider how the equipment is being stored.

• Although the servo motor has been given rust prevention treatment with paint and preventive oil before shipment, rust may still appear depending on the storage period and conditions. If the servo motor is to be stored for longer than six months, apply rust prevention oil again, especially to the machined surfaces of the shaft and other parts.

• Before using the product after an extended storage, hand-turn the rotary servo motor output shaft and check to ensure that there is no abnormality. For the rotary servo motor with an electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply.

• When the product has been stored for an extended period of time, contact your local sales office.

1.8

Instructions on maintenance

Precautions

• To prevent the scuffed surface, do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent.

• For repair and parts replacement, contact your local sales office.

1.9

Instructions on protection

Precautions

• Provide adequate protection to prevent an unexpected restart after an instantaneous power failure.

1

1 INTRODUCTION

1.6 Servo motors with functional safety

17

2

INSTALLATION

The HK-MT series servo motors will be available in the near future.

18 2 INSTALLATION

Precautions

• Install the rotary servo motor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire.

• Provide adequate protection so as to prevent conductive matter (such as screws and metal fragments) and combustible matter (such as oil) from entering the rotary servo motor.

• The temperature of the rotary servo motor may exceed 100 °C depending on the operating method. Take safety measures such as providing covers.

• The eyebolts of the rotary servo motor are only for transportation of the rotary servo motor.

• Do not use them to transport the rotary servo motor when it is mounted on a machine.

• Be sure to install the geared servo motor in the specified direction. Not doing so will cause oil leakage which may lead to a fire and malfunction.

• Do not overtighten the eyebolts of the rotary servo motor. To prevent damage to the tap, avoid tightening too hard.

• Do not stack in excess of the specified number of product packages.

• Do not carry the rotary servo motor by the cables, connectors, or encoder. Doing so may cause the rotary servo motor to drop.

• When installing the rotary servo motor, follow the user's manual and install the motor in a place that can support its weight.

• Do not install or operate any rotary servo motor that is missing parts or is damaged.

• Securely fix the rotary servo motor to a machine. If attached insecurely, the motor may come off during operation.

• To prevent a connection failure, malfunction, or similar problem, do not strike the connector.

• Be sure to measure the vibration level with the rotary servo motor mounted on the machine. A great vibration may cause early damage to a bearing, encoder, brake, and gear reducer, and poor connector connection or bolt looseness.

• For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause early damage to the rotary servo motor.

• Use the product within the specified environment. For the environment, refer to the specifications of the rotary servo motor series.

• To prevent an encoder malfunction from occurring, do not apply shocks, e.g. hit with a hammer, when coupling the shaft end of the rotary servo motor.

• To prevent the shaft from being broken, do not subject the shaft of the rotary servo motor to more than the permissible load.

• To prevent the shaft from being broken and bearing from being worn out, do not use a rigid coupling when coupling a load to the rotary servo motor.

• To prevent vibration during rotary servo motor operation and to prevent damage to the bearings and encoder, the balance level of the load needs to be as even as possible.

• To prevent a malfunction, do not use the rotary servo motor where the shaft-through portion may be subject to pressure

(e.g. compressed air).

• Take safety measures such as providing covers to avoid accidentally touching the rotor of rotary servo motor during operation.

• Do not get on the equipment or put a heavy load on it.

• Do not drop or strike the rotary servo motor.

• To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the rotary servo motor in accordance with the user's manual.

• To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or modified products are not covered under warranty.

• The equipment must be installed in the specified direction.

• Do not use the product in environments where it is exposed to strong magnetic fields, electric fields, or radiation. Doing so may cause operation failure or malfunction.

2

2 INSTALLATION 19

2.1

Mounting direction

The mounting direction of the rotary servo motor is shown in the following table.

Rotary servo motor series

HK-KT

HK-MT

HK-ST

HK-RT

Mounting direction

Any direction

It is recommended to set the connector section downward if the rotary servo motor is mounted horizontally. Examine the cable clamping method, and give a gentle slack to the connection cable, to prevent excessive load from being applied to the connector and cable connection part.

Slack

Rotary servo motor with an electromagnetic brake

The rotary servo motor with an electromagnetic brake can also be mounted in the same directions as the one without an electromagnetic brake. When the servo motor with an electromagnetic brake is mounted with the shaft end upward, the brake plate may generate sliding sound but it is not a fault.

Geared servo motor

The installing direction of the geared servo motor varies depending on the type of the gear reducer. Be sure to install the geared servo motor in the specified direction. For details, refer to chapters 6 and 7.

20 2 INSTALLATION

2.1 Mounting direction

2.2

Load mounting/dismounting precautions

• When mounting a pulley to the rotary servo motor with a keyed shaft, use the screw hole in the shaft end. To fit the pulley, first insert a double-end bolt 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.

Rotary servo motor

Double-end stud

2

Nut

Washer

Pulley

• For shafts without a keyway, use a friction coupling or the like for coupling the rotary servo motor with a load.

• When removing the pulley, use a pulley remover to protect the shaft from excessive load and impact.

• To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft.

• When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales office.

• The direction of the encoder on the rotary servo motor cannot be changed.

• When mounting the rotary servo motor, use spring washers or similar parts and fully tighten the bolts so that they do not become loose due to vibration.

• The part A of the shaft has a grinding clearance shaped as shown in the detailed figure of the part A, and the part B of the shaft has the center hole shaped as shown in the detailed figure of the part B. As these dimensions vary widely depending on the products and cannot be guaranteed, do not use the dimensions for positioning pulleys or washers. In addition, approximately C0.4 of the shaft edge is trimmed off (the dimensions may vary depending on the products).

A

B

Detailed figure of part A

Clearance shape

Detailed figure of part B

Center hole shape

Precautions

• To prevent a malfunction on the encoder, the shaft end must not be hammered during assembling.

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

2 INSTALLATION

2.2 Load mounting/dismounting precautions

21

2.3

Permissible load for the shaft

For the permissible load for the shaft specific to the rotary servo motor, refer to chapters 6 and 7.

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

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

• Exceeding the permissible load can cause deterioration of the bearing and damage to the shaft.

• The load indicated in this section is a static load in a single direction and does not include eccentric loads. To prevent the rotary servo motor being damaged, make eccentric loads as small as possible.

Precautions

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

2.4

Protection from oil and water

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

• Do not use the rotary servo motor with its cable soaked in oil or water.

Cover

Rotary servo motor

Oil/water pool

Capillary action

• When the servo motor is to be installed with the shaft end upward, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc.

Gear

Lubricating oil

Rotary servo motor

• If oil such as cutting oil splashes on the servo motor, the sealant, packing, cable, and other parts may be affected depending on the oil type.

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

22 2 INSTALLATION

2.3 Permissible load for the shaft

2.5

Cable

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

Precautions

The cables should not be damaged, stressed, loaded, or pinched.

2.6

Rotary servo motors with an oil seal

For rotary servo motors with an oil seal, the oil seal prevents the entry of oil into the rotary servo motor. Make sure to install it in accordance with this section.

Even if the oil seal on the rotary servo motor makes noises during operation, it does not indicate a problem with the functions.

Pressure and oil level

Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. If the oil level is higher than the oil seal lip, the oil enters the rotary servo motor and may cause a malfunction. Refer to chapters 6 and

7 for the height above oil level.

2

Gear Shaft

Rotary servo motor

Height above oil level

Lip

Oil seal

High pressure against the oil seal causes abrasion, which shortens the service life of the product. Keep constant internal pressure by equipping a ventilator to the gear box.

Temperature

If the oil seal lip reaches a high temperature, the service life of the oil seal will be shortened. The maximum applicable temperature of material of the oil lip is 100 ˚ C, and the temperature of the oil lip increases by 10 ˚ C to 15 ˚ C at maximum rotation. Keep high-temperature oil away from the oil lip.

2 INSTALLATION

2.5 Cable

23

2.7

Inspection items

• To prevent a malfunction, do not perform an insulation resistance test (megger test) on the rotary servo motor.

• Customers must not disassemble and/or repair the equipment.

Periodic inspection

Perform the following inspections.

• Check the bearings, brake section, and the like for unusual noise.

• Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions especially when the cables are movable.

• Check the rotary servo motor shaft and coupling for misalignment.

• Check the power connector and encoder connector tightening screws for looseness.

2.8

Parts with a service life

The service life of the following parts is listed below. If any fault is found in a part, replace it immediately because its service life varies. For parts replacement, please contact your local sales office.

Part name

Bearings

Encoder

Oil seal

Gear reducer

Recommended service life

20000 hours to 30000 hours

20000 hours to 30000 hours

5000 hours

10000 hours to 20000 hours

Bearings

When the motor is run at rated speed and at rated load, bearings should be changed every 20000 to 30000 hours as a guideline. As this differs depending on the operating conditions, the bearings must also be changed if unusual noise or vibration occurs during inspection.

Oil seal

Oil seals must be changed in 5000 hours of operation at rated speed as a guideline. This differs depending on the operating conditions. The oil seals must also be changed if oil leakage a similar problem is found during inspection.

Even if the oil seal on the rotary servo motor makes noises during operation, it does not indicate a problem with the functions.

24 2 INSTALLATION

2.7 Inspection items

2.9

Machine accuracy

The following table shows the machine accuracy of the output shaft and mounting parts of the rotary servo motor.

Accuracy [mm]

Runout of flange surface to output shaft

Runout of fitting OD of flange surface

Runout of output shaft end

Measuring position a) b) c)

Flange size

□ 90 or less

0.05

0.04

0.02

□ 130

0.06

0.04

0.02

□ 176

0.08

0.06

0.03

a) A b) A c)

A

2

2.10

Instructions on swing rotation

If the rotary servo motor performs a swing rotation (moves continuously in both the positive and negative direction) within a small angle, rotate the rotary servo motor by equal to or more than the smallest swing angle in the following, at least once a day to keep the bearings lubricated.

Flange size

□ 40, □ 60

□ 80, □ 90, □ 130

□ 176

Minimum oscillation angle

140°

120°

110°

2 INSTALLATION

2.9 Machine accuracy

25

2.11

Mounting rotary servo motors

Be sure to use the rotary servo motor within the specified environment, and mount the rotary servo motor on a machine having the equivalent heat dissipation effect as the following aluminum flange.

The temperature rise value of the rotary servo motor changes depending on its mounting environment, operating conditions, and other factors. Make sure that alarms do not occur on the actual machine before operation.

Flange size

[mm]

250 × 250 × 6

250 × 250 × 12

300 × 300 × 12

300 × 300 × 20

550 × 550 × 30

650 × 650 × 35

Rotary servo motor

HK-KT

053W

13W

1M3W

13UW

23W

43(4)W

63(4)W

23UW

43UW

63(4)UW

7M3(4)W

103(4)W

7M3UW

103(4)UW

153(4)W

203(4)W

202(4)W





HK-MT

053(V)W

13(V)W

1M3(V)W

23(V)W

43(V)W

63(V)W

7M3(V)W

103(V)W







HK-ST





52(4)W

102(4)W

172(4)W

202(4)AW

302(4)W

202(4)W

352(4)W

353(4)W

503(4)W

502(4)W

702(4)W

HK-RT





103(4)W

153(4)W

203(4)W



353(4)W

503(4)W

703(4)W



26 2 INSTALLATION

2.11 Mounting rotary servo motors

3

CONNECTORS USED FOR ROTARY SERVO

MOTOR WIRING

The HK-MT series servo motors will be available in the near future.

Precautions

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

• The fitting warranty is applied only to the option cables and the connectors manufactured by the manufacturers introduced in this manual.

3.1

Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the rotary servo motor.

Refer to the following for the compatible connector configuration products.



Page 29 Wiring connectors (connector configuration A)



Page 30 Wiring connectors (connector configurations B/C/D/E)

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

Power supply/brake/encoder connector

3

Rotary servo motor

HK-KT_

HK-MT_

HK-RT103(4)W

HK-RT153(4)W

HK-RT203(4)W

Wiring connector

For encoder

Connector configuration A

For electromagnetic brake For power supply

3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.1 Selection of connectors

27

HK-ST/HK-RT (3.5 kW - 7.0 kW)

Power connector

Electromagnetic brake connector

Encoder connector

Rotary servo motor

HK-ST52(4)W

HK-ST102(4)W

HK-ST172(4)W

HK-ST202(4)AW

HK-ST302(4)W

HK-ST353(4)W

HK-ST503(4)W

HK-ST202(4)W

HK-ST352(4)W

HK-ST502(4)W

HK-ST702(4)W

HK-RT353(4)W

HK-RT503(4)W

HK-RT703(4)W

Wiring connector

For encoder

Connector configuration B

For electromagnetic brake

Connector configuration C

For power supply

Connector configuration D

*1

Connector configuration E

*1 To make the HK-ST503W comply with the UL/CSA standard, the connector configuration D cannot be used. Refer to the following for details.



Page 241 HK-ST series

28 3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.1 Selection of connectors

3.2

Wiring connectors (connector configuration A)

Load-side lead/opposite to load-side lead

Two cable type

Connector configuration

Feature Plug (Hirose Electric)

Type Connector

One cable type

Contact

A IP67 Dual cable MT50W-8D/2D4ES-CVLD(7.5)

Single cable

MT50W-8D/2D4ES-CVL(11.9)

(1) For power supply

Contact model: MT50E-1820SCFA

Applicable wire size: AWG 20 to 18

Crimping tool: HT802/MT50E-1820S

(2) For electromagnetic brake/encoder

Contact model: MT50D-2224SCFA

Applicable wire size: AWG 24 to 22

Crimping tool: HT802/MT50D-2224S

*1 The connector to be mated.

Vertical lead

Applicable cable OD

φ 7.5 ± 0.3

φ 11.9 ± 0.3

Rotary servo motor-side connector

*1

MT50W-8D/

2D3E-PE-FL

3

Two cable type

Connector configuration

Feature Plug (Hirose Electric)

Type Connector

One cable type

Contact

A IP67 Dual cable MT50W-8D/2D4ES-CVSD(7.5)

Single cable

MT50W-8D/2D4ES-CVS(11.9)

(1) For power supply

Contact model: MT50E-1820SCFA

Applicable wire size: AWG 20 to 18

Crimping tool: HT802/MT50E-1820S

(2) For electromagnetic brake/encoder

Contact model: MT50D-2224SCFA

Applicable wire size: AWG 24 to 22

Crimping tool: HT802/MT50D-2224S

*1 The connector to be mated.

Applicable cable OD

φ 7.5 ± 0.3

φ 11.9 ± 0.3

Rotary servo motor-side connector

*1

MT50W-8D/

2D3E-PE-FL

3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.2 Wiring connectors (connector configuration A)

29

3.3

Wiring connectors (connector configurations B/C/

D/E)

Angle plug

(one-touch connection type)

Angle plug

(screw type)

Straight plug

(one-touch connection type)

Straight plug

(screw type)

Connector configuration

B

Feature

IP67

Plug (DDK)

Type

Angle

Plug Socket contact

Straight CMV1-SP10S-M1

(One-touch connection type)

CMV1S-SP10S-M1

(Screw type)

CMV1-#22ASC-

S1-100

CMV1-#22ASC-

C1-100

CMV1-#22ASC-

C2-100

CMV1-SP10S-M2

(One-touch connection type)

CMV1S-SP10S-M2

(Screw type)

CMV1-#22ASC-

S1-100

CMV1-#22ASC-

C1-100

CMV1-#22ASC-

C2-100

CMV1-AP10S-M1

(One-touch connection type)

CMV1S-AP10S-M1

(Screw type)

CMV1-#22ASC-

S1-100

CMV1-#22ASC-

C1-100

CMV1-#22ASC-

C2-100

CMV1-AP10S-M2

(One-touch connection type)

CMV1S-AP10S-M2

(Screw type)

CMV1-#22ASC-

S1-100

CMV1-#22ASC-

C1-100

CMV1-#22ASC-

C2-100

Contact shape Cable OD

[mm]

(reference)

5.5 to 7.5

Solder type

Applicable wire size: AWG 20 or less

Crimping type

Applicable wire size: AWG 24 to 20

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

Crimping type

Applicable wire size: AWG 28 to 24

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

Solder type

Applicable wire size: AWG 20 or less

Crimping type

Applicable wire size: AWG 24 to 20

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

Crimping type

Applicable wire size: AWG 28 to 24

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

Solder type

Applicable wire size: AWG 20 or less

Crimping type

Applicable wire size: AWG 24 to 20

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

Crimping type

Applicable wire size: AWG 28 to 24

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

Solder type

Applicable wire size: AWG 20 or less

Crimping type

Applicable wire size: AWG 24 to 20

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

Crimping type

Applicable wire size: AWG 28 to 24

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

7.0 to 9.0

5.5 to 7.5

7.0 to 9.0

Rotary servo motor encoder connector

*1

CMV1-R10P

*1 The connector to be mated.

30 3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations B/C/D/E)

Straight plug

(one-touch connection type)

Straight plug

(screw type)

Angle plug

(one-touch connection type)

Angle plug

(screw type)

Connector configuration

C

Feature

IP67

Plug (DDK)

Type Plug

Straight CMV1-SP2S-S

(One-touch connection type)

CMV1S-SP2S-S

(Screw type)

Angle

CMV1-SP2S-M1

(One-touch connection type)

CMV1S-SP2S-M1

(Screw type)

CMV1-SP2S-M2

(One-touch connection type)

CMV1S-SP2S-M2

(Screw type)

CMV1-SP2S-L

(One-touch connection type)

CMV1S-SP2S-L

(Screw type)

CMV1-AP2S-S

(One-touch connection type)

CMV1S-AP2S-S

(Screw type)

CMV1-AP2S-M1

(One-touch connection type)

CMV1S-AP2S-M1

(Screw type)

CMV1-AP2S-M2

(One-touch connection type)

CMV1S-AP2S-M2

(Screw type)

CMV1-AP2S-L

(One-touch connection type)

CMV1S-AP2S-L

(Screw type)

Socket contact

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

CMV1-#22BSC-

S2-100

CMV1-#22BSC-

C3-100

Contact shape Cable OD

[mm]

(reference)

Rotary servo motor electromagn etic brake connector

*1

CMV1-R2P Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

Solder type

Applicable wire size: AWG 16 or less

Crimping type

Applicable wire size: AWG 20 to 16

The crimping tool (357J-53164T) is required.

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

*1 The connector to be mated.

3

3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations B/C/D/E)

31

Straight plug Cable clamp Angle plug Cable clamp

Connector configuration

Feature Plug (JAE)

Type Connector

Cable clamp (JAE)

Model

*1

Cable OD [mm]

(reference)

Rotary servo motor-side connector

*2

D IP67

EN compliant

One-touch connection type

Straight

One-touch connection type

Angle

Screw type

Straight

Screw type

Angle

JL10-6A18-10SE-EB

Applicable wire size: 3.5 mm

2

(AWG 12) or less

JL10-8A18-10SE-EB

Applicable wire size: 3.5 mm 2

(AWG 12) or less

JL04V-6A18-10SE-EB-R

Applicable wire size: 3.5 mm 2

(AWG 12) or less

JL04V-8A18-10SE-EBH-R

Applicable wire size: 3.5 mm 2

(AWG 12) or less

JL04-18CK(10)-_-R

JL04-18CK(13)-_-R

JL04-18CK(10)-_-R

JL04-18CK(13)-_-R

JL04-18CK(10)-_-R

JL04-18CK(13)-_-R

JL04-18CK(10)-_-R

JL04-18CK(13)-_-R

8 to 11

11 to 14.1

8 to 11

11 to 14.1

8 to 11

11 to 14.1

8 to 11

11 to 14.1

JL10-2E18-10PCE

*1 "_" in the model names are replaced with the following symbols which designate the materials of the rubber bushing for the cable clamps:

Blank: Nitrile rubber

CR: chloroprene rubber

EPDM: terpolymer rubber of ethylene, propylene, and dimethylene

*2 The connector to be mated.

32 3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations B/C/D/E)

Straight plug Cable clamp Angle plug Cable clamp

Connector configuration

E

Feature

IP67

EN compliant

Plug (JAE)

Type

One-touch connection type

Straight

One-touch connection type

Angle

Screw type

Straight

Screw type

Angle

Connector

JL10-6A22-22SE-EB

Applicable wire size: 8 mm 2

(AWG 8) or less

JL10-8A22-22SE-EB

Applicable wire size: 8 mm 2

(AWG 8) or less

JL04V-6A22-22SE-EB-R

Applicable wire size: 8 mm

2

(AWG 8) or less

JL04V-8A22-22SE-EBH-R

Applicable wire size: 8 mm

2

(AWG 8) or less

Cable clamp (JAE)

Model

*1

JL04-2022CK(12)-_-R

JL04-2022CK(14)-_-R

JL04-2022CK(12)-_-R

JL04-2022CK(14)-_-R

JL04-2022CK(12)-_-R

JL04-2022CK(14)-_-R

JL04-2022CK(12)-_-R

JL04-2022CK(14)-_-R

Cable OD [mm]

(reference)

9.5 to 13

12.9 to 16

9.5 to 13

12.9 to 16

9.5 to 13

12.9 to 16

9.5 to 13

12.9 to 16

Rotary servo motor-side connector

*2

JL10-2E22-22PCE

*1 "_" in the model names are replaced with the following symbols which designate the materials of the rubber bushing for the cable clamps:

Blank: Nitrile rubber

CR: chloroprene rubber

EPDM: terpolymer rubber of ethylene, propylene, and dimethylene

*2 The connector to be mated.

3

3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations B/C/D/E)

33

4

CONNECTING THE SERVO AMPLIFIER AND

ROTARY SERVO MOTOR

The HK-MT series servo motors will be available in the near future.

Precautions

• Insulate the conductive parts of the terminals.

• To prevent unexpected operation of the rotary servo motor, wire the equipment correctly and securely.

• Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Failing to do so may cause the cables and connectors to disconnect during operation.

• To prevent abnormal operation and malfunction, connect the servo amplifier power outputs (U/V/W) to the rotary servo motor power inputs (U/V/W) directly. Do not connect a magnetic contactor or the like between the servo amplifier power output and the rotary servo motor power input.

Servo amplifier

U

V

W

Rotary servo motor

U

V

M

W

Servo amplifier

U

V

W

Rotary servo motor

U

V

M

W

• To prevent a malfunction, do not connect the AC power supply directly to the rotary servo motor.

• When the wires are not properly secured to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to secure the wires with the specified torque.

• Use the rotary servo motor with the specified servo amplifier.

• Do not modify the equipment.

• To prevent malfunction, eliminate static electricity before wiring, switch operation, or similar operations.

• To prevent failure and malfunction, only the power/signal specified in the user's manual should be connected to each terminal.

• We recommend using HIV wires to connect the servo amplifier to the rotary servo motor. Therefore, the recommended wire sizes may be different from those of the wires used for previous generation rotary servo motors.

34 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.1

Precautions for wiring

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

Cabinet

Servo amplifier Rotary servo motor

E ( )

( )

(E)

4

Protective earth

(PE) terminal

Precautions

• Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.

• To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and the rotary servo motor.

• Do not use the 24 V DC interface power supply for the electromagnetic brake. To prevent malfunction, use the power supply designed exclusively for the electromagnetic brake.

• For encoder cable selection, refer to the following.



Page 59 WIRING OPTION

• Refer to chapters 6 and 7 for the selection of a surge absorber for the electromagnetic brake.

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.1 Precautions for wiring

35

4.2

Wiring

To wire to the servo amplifier, use connectors packed with the servo amplifier or optional connectors.

For connectors of the MR-J5-_/MR-J5W_-_, refer to "Wiring CNP1, CNP2, and CNP3" in the following manual.

 MR-J5 User's Manual (Hardware)

For connectors of the MR-J5D_-_, refer to "Wiring CNP3" in the following manual.

 MR-J5D User's Manual (Hardware)

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

Servo amplifier

1-axis

Multi axis

Cable type

Dual cable

Single cable

Dual cable

Single cable

Cable length

10 m or less

Longer than 10 m

10 m or less

10 m or less

Longer than 10 m

10 m or less

○

×

○

×

○

○

×

○

×

○

Electromagnetic brake cable

×

×

IP rating with extension cable





IP20

IP65

IP20

IP65









IP20

IP65

IP20

IP65





Connection diagram

Connection diagram 1

Connection diagram 2

Connection diagram 3

Connection diagram 4

Connection diagram 5

Connection diagram 6

Connection diagram 7

Connection diagram 8

Connection diagram 9

Connection diagram 10

Connection diagram 11

Connection diagram 12

Connection diagram 13

Connection diagram 14

Connection diagram 15

Connection diagram 16

Connection diagram 1

Servo amplifier

CNP3

U

V

W

CN2/CN2A

(Red)

(White)

(Black)

(Green/yellow) *5

B1 (yellow)

B2 (brown)

U

10 m or shorter

24 V DC power supply for electromagnetic brake *3

MBR

(Electromagnetic ALM brake interlock) (Malfunction)

MR-AEPB2CBL_M-A1-L

MR-AEPB2CBL_M-A1-H

MR-AEPB2CBL_M-A2-L

MR-AEPB2CBL_M-A2-H

MR-AEPB2CBL_M-A5-L

MR-AEPB2CBL_M-A5-H

*1

Rotary servo motor

B Electromagnetic brake *2

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For the MR-J5D1-_, connect the wire to "E" of CNP3.

36 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 2

10 m or shorter

Servo amplifier Rotary servo motor

CNP3

U

V

W

(Red)

(White)

(Black)

(Green/yellow) *1

M

MR-AEP2CBL_M-A1-L

MR-AEP2CBL_M-A1-H

MR-AEP2CBL_M-A2-L

MR-AEP2CBL_M-A2-H

MR-AEP2CBL_M-A5-L

MR-AEP2CBL_M-A5-H

CN2/CN2A

Encoder

*1 For the MR-J5D1-_, connect the wire to "E" of CNP3.

Connection diagram 3

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

24 V DC power supply for electromagnetic brake *3

50 m or shorter

Extension cable

MBR

(Electromagnetic ALM brake interlock) (Malfunction) *1

U

*4

CNP3

U

V

W

CN2/CN2A

MR-AEKCBL_M-L *5

MR-AEKCBL_M-H *5

Junction connector for extension cable

MR-AEPB2J10CBL03M-A1-L

MR-AEPB2J10CBL03M-A2-L

MR-AEPB2J10CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *6

Junction connector for motor power cable

Rotary servo motor

B

Electromagnetic

brake

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For MR-AEKCBL_M-_, refer to the following.



Page 81 MR-AEKCBL_M-_

*6 For the MR-J5D1-_, connect the wire to "E" of CNP3.

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

37

Connection diagram 4

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

24 V DC power supply for electromagnetic brake

*3

50 m or shorter

Extension cable

MBR

(Electromagnetic ALM brake interlock) (Malfunction) *1

U

*4

CNP3

U

V

W

CN2/CN2A a) Junction connector for extension cable *6

MR-AENSCBL_M-L

MR-AENSCBL_M-H

MR-AEPB2J20CBL03M-A1-L

MR-AEPB2J20CBL03M-A2-L

MR-AEPB2J20CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *7 b) Junction connector for motor power cable *6

Rotary servo motor

B

Electromagnetic brake

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For MR-AENSCBL_M-_, refer to the following.



Page 84 MR-AENSCBL_M-_

*6 Use of the following connectors is recommended:

Junction connector a) Junction connector for extension cable

Description

Connector: CE05-6A22-23SD-D-BSS

Cord clamp: CE3057-12A-2-D

(DDK Ltd.) The number varies depending on the cable OD.

b) Junction connector for motor power cable

Connector: D/MS3101A22-23P(D263)

Backshell: CE02-22BS-S-D

Cord clamp: CE3057-12A-3-D

(DDK Ltd.) The number varies depending on the cable OD.

*7 For the MR-J5D1-_, connect the wire to "E" of CNP3.

IP rating

IP67

IP67

38 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 5

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

50 m or shorter

Extension cable

CNP3

U

V

W

CN2/CN2A

MR-AEKCBL_M-L *1

MR-AEKCBL_M-H *1

Junction connector for extension cable

MR-AEP2J10CBL03M-A1-L

MR-AEP2J10CBL03M-A2-L

MR-AEP2J10CBL03M-A5-L

Rotary servo motor

U (red)

V (white)

W (black)

E (green/yellow) *2

Junction connector for motor power cable

M

Encoder

*1 For MR-AEKCBL_M-_, refer to the following.



Page 81 MR-AEKCBL_M-_

*2 For the MR-J5D1-_, connect the wire to "E" of CNP3.

Connection diagram 6

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

50 m or shorter

Extension cable

CNP3

U

V

W

CN2/CN2A

MR-AEP2J20CBL03M-A1-L

MR-AEP2J20CBL03M-A2-L

MR-AEP2J20CBL03M-A5-L

Rotary servo motor a) Junction connector

MR-AENSCBL_M-L *1 for extension cable *2

MR-AENSCBL_M-H *1

U (red)

V (white)

W (black)

E (green/yellow) *3 b) Junction connector for motor power cable *2

M

Encoder

4

*1 For MR-AENSCBL_M-_, refer to the following.



Page 84 MR-AENSCBL_M-_

*2 Use of the following connectors is recommended:

Junction connector a) Junction connector for extension cable

Description

Connector: CE05-6A18-10SD-D-BSS

Cord clamp: CE3057-10A-2-D

(DDK Ltd.) The number varies depending on the cable OD.

b) Junction connector for motor power cable

Connector: D/MS3101A18-10P(D263)

Backshell: CE02-18BS-S-D

Cord clamp: CE3057-10A-3-D

(DDK Ltd.) The number varies depending on the cable OD.

*3 For the MR-J5D1-_, connect the wire to "E" of CNP3.

IP rating

IP67

IP67

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

39

Connection diagram 7

Servo amplifier

CNP3

U

V

W

CN2/CN2A

(Red)

(White)

(Black)

(Green/yellow) *5

B1 (yellow)

B2 (brown) U

10 m or shorter

24 V DC power supply for electromagnetic brake *3

MBR

(Electromagnetic ALM brake interlock) (Malfunction)

*4

MR-AEPB1CBL_M-A1-L

MR-AEPB1CBL_M-A1-H

MR-AEPB1CBL_M-A2-L

MR-AEPB1CBL_M-A2-H

MR-AEPB1CBL_M-A5-L

MR-AEPB1CBL_M-A5-H

*1

Rotary servo motor

B Electromagnetic brake *2

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For the MR-J5D1-_, connect the wire to "E" of CNP3.

Connection diagram 8

10 m or shorter

Servo amplifier

CNP3

U

V

W

(Red)

(White)

(Black)

(Green/yellow) *1

CN2/CN2A

MR-AEP1CBL_M-A1-L

MR-AEP1CBL_M-A1-H

MR-AEP1CBL_M-A2-L

MR-AEP1CBL_M-A2-H

MR-AEP1CBL_M-A5-L

MR-AEP1CBL_M-A5-H

Rotary servo motor

M

Encoder

*1 For the MR-J5D1-_, connect the wire to "E" of CNP3.

40 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 9

Servo amplifier

CNP3A

U

V

W

10 m or shorter

24 V DC power supply for electromagnetic brake

*3

*1

CALM

(AND malfunction)

MBR-A

(Electromagnetic brake interlock for A-axis)

U

*4

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *6

MR-AEPB2CBL_M-A1-L

MR-AEPB2CBL_M-A1-H

MR-AEPB2CBL_M-A2-L

MR-AEPB2CBL_M-A2-H

MR-AEPB2CBL_M-A5-L

MR-AEPB2CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

CN2A

Encoder

4

CNP3B

U

V

W

CN2B

MBR-B

(Electromagnetic brake interlock for B-axis)

U

*4

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *6

MR-AEPB2CBL_M-A1-L

MR-AEPB2CBL_M-A1-H

MR-AEPB2CBL_M-A2-L

MR-AEPB2CBL_M-A2-H

MR-AEPB2CBL_M-A5-L

MR-AEPB2CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

Encoder

CNP3C

U

V

W

CN2C

MBR-C

(Electromagnetic brake interlock for C-axis)

U

*4

*5

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *6

MR-AEPB2CBL_M-A1-L

MR-AEPB2CBL_M-A1-H

MR-AEPB2CBL_M-A2-L

MR-AEPB2CBL_M-A2-H

MR-AEPB2CBL_M-A5-L

MR-AEPB2CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*6 For the MR-J5D1-_, connect the wire to "E" of CNP3.

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

41

Connection diagram 10

Servo amplifier

CNP3A

U

V

W

U (red)

V (white)

W (black)

E (green/yellow) *2

CN2A

10 m or shorter

MR-AEP2CBL_M-A1-L

MR-AEP2CBL_M-A1-H

MR-AEP2CBL_M-A2-L

MR-AEP2CBL_M-A2-H

MR-AEP2CBL_M-A5-L

MR-AEP2CBL_M-A5-H

MR-AEP2CBL_M-A1-L

MR-AEP2CBL_M-A1-H

MR-AEP2CBL_M-A2-L

MR-AEP2CBL_M-A2-H

MR-AEP2CBL_M-A5-L

MR-AEP2CBL_M-A5-H

CNP3B

U

V

W

U (red)

V (white)

W (black)

E (green/yellow) *2

CN2B

CNP3C

U

V

W

U (red)

V (white)

W (black)

E (green/yellow) *2

CN2C

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 For the MR-J5D1-_, connect the wire to "E" of CNP3.

MR-AEP2CBL_M-A1-L

MR-AEP2CBL_M-A1-H

MR-AEP2CBL_M-A2-L

MR-AEP2CBL_M-A2-H

MR-AEP2CBL_M-A5-L

MR-AEP2CBL_M-A5-H

Rotary servo motor

M

Encoder

Rotary servo motor

M

Encoder

*1

Rotary servo motor

M

Encoder

42 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 11

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

24 V DC power supply for electromagnetic brake *3

*1

50 m or shorter

Extension cable

MBR-A

CALM

(AND malfunction)

(Electromagnetic brake interlock for A-axis)

*4

U

CNP3A

U

V

W

CN2A

MR-AEKCBL_M-L *5

MR-AEKCBL_M-H *5

Junction connector for extension cable

MR-AEPB2J10CBL03M-A1-L

MR-AEPB2J10CBL03M-A2-L

MR-AEPB2J10CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *7

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable

Encoder

4

CNP3B

U

V

W

CN2B

MR-AEKCBL_M-L *5

MR-AEKCBL_M-H *5

MBR-B

(Electromagnetic brake interlock for B-axis)

U

*4

Junction connector for extension cable

MR-AEPB2J10CBL03M-A1-L

MR-AEPB2J10CBL03M-A2-L

MR-AEPB2J10CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *7

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable

Encoder

CNP3C

U

V

W

CN2C

MR-AEKCBL_M-L *5

MR-AEKCBL_M-H *5

MBR-C

(Electromagnetic brake interlock for C-axis)

U

*4

Junction connector for extension cable

*6

MR-AEPB2J10CBL03M-A1-L

MR-AEPB2J10CBL03M-A2-L

MR-AEPB2J10CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *7

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For MR-AEKCBL_M-_, refer to the following.



Page 81 MR-AEKCBL_M-_

*6 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*7 For the MR-J5D1-_, connect the wire to "E" of CNP3.

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

43

Connection diagram 12

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

Servo amplifier

24 V DC power supply for electromagnetic brake *3

*1

50 m or shorter

Extension cable

MBR-A

CALM

(AND malfunction)

(Electromagnetic brake interlock for A-axis)

*4

U

CNP3A

U

V

W

CN2A

MR-AENSCBL_M-L *5

MR-AENSCBL_M-H *5

Junction connector for extension cable *6

MR-AEPB2J20CBL03M-A1-L

MR-AEPB2J20CBL03M-A2-L

MR-AEPB2J20CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *8

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable *6

Encoder

CNP3B

U

V

W

CN2B

CNP3C

U

V

W

CN2C

MR-AENSCBL_M-L *5

MR-AENSCBL_M-H *5

MBR-B

(Electromagnetic brake interlock for B-axis)

U

*4

Junction connector for extension cable *6

MR-AEPB2J20CBL03M-A1-L

MR-AEPB2J20CBL03M-A2-L

MR-AEPB2J20CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *8

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable *6

Encoder

MR-AENSCBL_M-L *5

MR-AENSCBL_M-H *5

MBR-C

(Electromagnetic brake interlock for C-axis)

U

*4

Junction connector for extension cable *6

*7

MR-AEPB2J20CBL03M-A1-L

MR-AEPB2J20CBL03M-A2-L

MR-AEPB2J20CBL03M-A5-L

B1 (yellow) *2

B2 (brown)

U (red)

V (white)

W (black)

E (green/yellow) *8

Rotary servo motor

B

Electromagnetic brake

M

Junction connector for motor power cable *6

Encoder

44 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 For MR-AENSCBL_M-_, refer to the following.



Page 84 MR-AENSCBL_M-_

*6 Use of the following connectors is recommended:

Junction connector a) Junction connector for extension cable

Description

Connector: CE05-6A22-23SD-D-BSS

Cord clamp: CE3057-12A-2-D

(DDK Ltd.) The number varies depending on the cable OD.

b) Junction connector for motor power cable

Connector: D/MS3101A22-23P(D263)

Backshell: CE02-22BS-S-D

Cord clamp: CE3057-12A-3-D

(DDK Ltd.) The number varies depending on the cable OD.

*7 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*8 For the MR-J5D1-_, connect the wire to "E" of CNP3.

IP rating

IP67

IP67

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

45

Connection diagram 13

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

50 m or shorter

Extension cable

Servo amplifier

CNP3A

U

V

W

CN2A

MR-AEKCBL_M-L *1

MR-AEKCBL_M-H *1

MR-AEP2J10CBL03M-A1-L

MR-AEP2J10CBL03M-A2-L

MR-AEP2J10CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable

U (red)

V (white)

W (black)

E (green/yellow) *3

Junction connector for motor power cable

M

Encoder

CNP3B

U

V

W

CN2B

MR-AEKCBL_M-L *1

MR-AEKCBL_M-H *1

MR-AEP2J10CBL03M-A1-L

MR-AEP2J10CBL03M-A2-L

MR-AEP2J10CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable

U (red)

V (white)

W (black)

E (green/yellow) *3

Junction connector for motor power cable

M

Encoder

CNP3C

U

V

W

CN2C

MR-AEKCBL_M-L *1

MR-AEKCBL_M-H *1

*1 For MR-AEKCBL_M-_, refer to the following.



Page 81 MR-AEKCBL_M-_

*2 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*3 For the MR-J5D1-_, connect the wire to "E" of CNP3.

*2

MR-AEP2J10CBL03M-A1-L

MR-AEP2J10CBL03M-A2-L

MR-AEP2J10CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable

U (red)

V (white)

W (black)

E (green/yellow) *3

Junction connector for motor power cable

M

Encoder

46 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 14

Fabricate an extension cable as shown below.

Refer to the following for the wires used for the extension cable.



Page 56 Selection example of wires

50 m or shorter

Extension cable

Servo amplifier

CNP3A

U

V

W

CN2A

MR-AENSCBL_M-L *1

MR-AENSCBL_M-H *1

MR-AEP2J20CBL03M-A1-L

MR-AEP2J20CBL03M-A2-L

MR-AEP2J20CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable *2

U (red)

V (white)

W (black)

E (green/yellow) *4

Junction connector for motor power cable *2

M

Encoder

4

CNP3B

U

V

W

CN2B

CNP3C

U

V

W

CN2C

MR-AENSCBL_M-L *1

MR-AENSCBL_M-H *1

MR-AENSCBL_M-L *1

MR-AENSCBL_M-H *1

MR-AEP2J20CBL03M-A1-L

MR-AEP2J20CBL03M-A2-L

MR-AEP2J20CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable *2

U (red)

V (white)

W (black)

E (green/yellow) *4

Junction connector for motor power cable *2

M

Encoder

*3

MR-AEP2J20CBL03M-A1-L

MR-AEP2J20CBL03M-A2-L

MR-AEP2J20CBL03M-A5-L

Rotary servo motor

Junction connector for extension cable *2

U (red)

V (white)

W (black)

E (green/yellow) *4

Junction connector for motor power cable *2

M

Encoder

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

47

*1 For MR-AENSCBL_M-_, refer to the following.



Page 84 MR-AENSCBL_M-_

*2 Use of the following connectors is recommended:

Junction connector a) Junction connector for extension cable

Description

Connector: CE05-6A18-10SD-D-BSS

Cord clamp: CE3057-10A-2-D

(DDK Ltd.) The number varies depending on the cable OD.

b) Junction connector for motor power cable

Connector: D/MS3101A18-10P(D263)

Backshell: CE02-18BS-S-D

Cord clamp: CE3057-10A-3-D

(DDK Ltd.) The number varies depending on the cable OD.

*3 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*4 For the MR-J5D1-_, connect the wire to "E" of CNP3.

IP rating

IP67

IP67

48 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Connection diagram 15

Servo amplifier

CNP3A

U

V

W

10 m or shorter

24 V DC power supply for electromagnetic brake

*3

B2 (brown)

(Red)

(White)

(Black)

(Green/yellow) *6

*1

CALM

(AND malfunction)

MBR-A

(Electromagnetic brake interlock for A-axis)

*4

U

B1 (yellow) *2

MR-AEPB1CBL_M-A1-L

MR-AEPB1CBL_M-A1-H

MR-AEPB1CBL_M-A2-L

MR-AEPB1CBL_M-A2-H

MR-AEPB1CBL_M-A5-L

MR-AEPB1CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

CN2A

Encoder

4

CNP3B

U

V

W

CN2B

B2 (brown)

(Red)

(White)

(Black)

(Green/yellow) *6

MBR-B

(Electromagnetic brake interlock for B-axis)

U

*4

B1 (yellow) *2

MR-AEPB1CBL_M-A1-L

MR-AEPB1CBL_M-A1-H

MR-AEPB1CBL_M-A2-L

MR-AEPB1CBL_M-A2-H

MR-AEPB1CBL_M-A5-L

MR-AEPB1CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

Encoder

CNP3C

U

V

W

CN2C

B2 (brown)

(Red)

(White)

(Black)

(Green/yellow) *6

MBR-C

(Electromagnetic brake interlock for C-axis)

U

*4

B1 (yellow) *2

*5

MR-AEPB1CBL_M-A1-L

MR-AEPB1CBL_M-A1-H

MR-AEPB1CBL_M-A2-L

MR-AEPB1CBL_M-A2-H

MR-AEPB1CBL_M-A5-L

MR-AEPB1CBL_M-A5-H

Rotary servo motor

B Electromagnetic brake

M

Encoder

*1 Configure a circuit which interlocks with an emergency stop switch to shut off.

*2 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*4 Connect a surge absorber as close to the rotary servo motor as possible.

*5 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*6 For the MR-J5D1-_, connect the wire to "E" of CNP3.

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

49

Connection diagram 16

Servo amplifier

CNP3A

U

V

W

(Red)

(White)

(Black)

(Green/yellow) *2

CN2A

CNP3B

U

V

W

(Red)

(White)

(Black)

(Green/yellow) *2

CN2B

CNP3C

U

V

W

(Red)

(White)

(Black)

(Green/yellow) *2

CN2C

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 For the MR-J5D1-_, connect the wire to "E" of CNP3.

10 m or shorter

MR-AEP1CBL_M-A1-L

MR-AEP1CBL_M-A1-H

MR-AEP1CBL_M-A2-L

MR-AEP1CBL_M-A2-H

MR-AEP1CBL_M-A5-L

MR-AEP1CBL_M-A5-H

Rotary servo motor

M

Encoder

MR-AEP1CBL_M-A1-L

MR-AEP1CBL_M-A1-H

MR-AEP1CBL_M-A2-L

MR-AEP1CBL_M-A2-H

MR-AEP1CBL_M-A5-L

MR-AEP1CBL_M-A5-H

Rotary servo motor

M

Encoder

*1

MR-AEP1CBL_M-A1-L

MR-AEP1CBL_M-A1-H

MR-AEP1CBL_M-A2-L

MR-AEP1CBL_M-A2-H

MR-AEP1CBL_M-A5-L

MR-AEP1CBL_M-A5-H

Rotary servo motor

M

Encoder

50 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

HK-ST/HK-RT (3.5 kW - 7.0 kW)

Refer to the following for the wires used for wiring.



Page 56 Selection example of wires

Wiring diagram

■ Connecting with a 1-axis servo amplifier

50 m or shorter

Servo amplifier

CNP3

U

V

W

Rotary servo motor

U

V

W

E *5

M

24 V DC power supply for electromagnetic brake

*2

MBR

(Electromagnetic brake interlock)

RA2

ALM

(Malfunction)

RA1 RA3 *3

U

B1

B2

B *1 *4

*1 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*3 Configure a circuit which interlocks with an emergency stop switch to shut off.

*4 Some rotary servo motors do not have an electromagnetic brake. Refer to chapters 6 and 7.

*5 For the MR-J5D1-_, connect the wire to "E" of CNP3.

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

51

■ Connecting with a multi-axis servo amplifier

50 m or shorter

Servo amplifier

CNP3A

U

V

W

A-axis rotary servo motor

24 V DC power supply for electromagnetic brake

*2

*3

CALM

(AND malfunction)

RA1

MBR-A

(Electromagnetic brake interlock for A-axis)

RA2

U

V

W

E *5

U

B1

B2

M

B *1

MBR-B

(Electromagnetic brake interlock for B-axis)

RA3

B-axis rotary servo motor

U

B1

B2

B *1

CNP3B

U

V

W

U

V

W

E *5

M

*4

MBR-C

(Electromagnetic brake interlock for C-axis)

RA4

C-axis rotary servo motor

U

B1

B2

B *1

CNP3C

U

V

W

U

V

W

E *5

M

*1 The electromagnetic brake terminals (B1 and B2) have no polarity.

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

*3 Configure a circuit which interlocks with an emergency stop switch to shut off.

*4 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*5 For the MR-J5D1-_, connect the wire to "E" of CNP3.

52 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

Rotary servo motor terminal section

The rotary servo motor terminal section is shown in the following table.

Refer to the following for the details of the connectors.



Page 54 Details of the rotary servo motor connectors

The connector fitting the rotary servo motor is prepared as options.

Refer to the following for details of the options.



Page 59 WIRING OPTION

For types other than those prepared as options, refer to the following.



Page 27 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

■ HK-ST/HK-RT (3.5 kW - 7.0 kW)

Rotary servo motor Rotary servo motor terminal section

Encoder Power supply

Connector A Connector B HK-ST52(4)W

HK-ST102(4)W

HK-ST172(4)W

HK-ST202(4)AW

HK-ST302(4)W

HK-ST353(4)W

HK-ST503(4)W

HK-ST202(4)W

HK-ST352(4)W

HK-ST502(4)W

HK-ST702(4)W

HK-RT353(4)W

HK-RT503(4)W

HK-RT703(4)W

Connector C

Electromagnetic brake

Connector D

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

53

Details of the rotary servo motor connectors

The following figures show the encoder connector, power connector, and electromagnetic brake connector which are viewed from the connection side.

■ Connector A

Encoder connector

CMV1-R10P

10

9

8

7

6

5

4

3

2

1

Terminal No.

1

4

5

2

3

8

9

6

7

10

■ Connector B

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

Signal

MR

MRR





LG





P5



SHD

C

B

D

A

Terminal No.

C

D

A

B

Signal

U

V

W

E

54 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

■ Connector C

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

C

B

D

A

Terminal No.

C

D

A

B

■ Connector D

Electromagnetic brake connector

CMV1-R2P

Signal

U

V

W

E

2 1

1

2

Terminal No.

Signal

B1 *1

B2

*1

*1 Supply electromagnetic brake power (24 V DC). There is no polarity.

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.2 Wiring

55

4.3

Selection example of wires

Wires indicated in this section are separated wires. When using a cable for power line (U/V/W) between the servo amplifier and rotary servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For cable selection, refer to the following.

 Page 244 Selection example of rotary servo motor power cable

To comply with the UL/CSA standard, use the wires shown in the following for wiring.

 Page 239 Compliance with UL/CSA standard

To comply with other standards, use wires that comply with each standard.

Selection requirements for the wire size are as follows.

• Construction requirements: Single wire set in midair

• Wiring length: 30 m or less

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

Servo amplifier

1) Rotary servo motor power lead

Servo motor

U

V

W

U

V

W

E *1

Motor

2) Electromagnetic brake lead

B1

B2

Electromagnetic brake

Encoder

Encoder cable

*1 For the MR-J5D1-_, connect the wire to "E" of CNP3.

56 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.3 Selection example of wires

Selection examples for the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) are indicated below.

Even when the maximum torque is increased, the applicable wire sizes are the same.

HK-KT series

Rotary servo motor

HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

HK-KT23W

HK-KT43W

HK-KT63W

HK-KT23UW

HK-KT43UW

HK-KT7M3W

HK-KT103W

HK-KT63UW

HK-KT7M3UW

HK-KT103UW

HK-KT153W

HK-KT203W

HK-KT202W

HK-KT434W

HK-KT634W

HK-KT7M34W

HK-KT1034W

HK-KT634UW

HK-KT1034UW

HK-KT1534W

HK-KT2034W

Wire [mm 2 ]

1) U/V/W/E

0.75 (AWG 18)

*1 *2

0.75 (AWG 18)

*1 *3

0.75 (AWG 18)

*1 *2

2) B1/B2

0.2 (AWG 24) *2 *4

HK-KT2024W

*1 For the motor power connector wiring, use fluorine resin wire of 0.75 mm 2 (AWG 18).

*2 This applies when the wire length is 10 m or less. When fabricating an extension cable, use 1.25 mm

2

(AWG 16).

*3 This applies when the wire length is 10 m or less. When fabricating an extension cable, use 2.0 mm 2 (AWG 14).

*4 For wiring of the electromagnetic brake, use fluorine resin wire of 0.2 mm

2

(AWG 24).

HK-MT series

Rotary servo motor

HK-MT053(V)W

HK-MT13(V)W

HK-MT1M3(V)W

HK-MT23(V)W

HK-MT43(V)W

HK-MT63(V)W

HK-MT7M3(V)W

Wire [mm

2

]

1) U/V/W/E

0.75 (AWG 18)

*1 *2

2) B1/B2

0.2 (AWG 24) *2 *3

HK-MT103(V)W

*1 For the motor power connector wiring, use fluorine resin wire of 0.75 mm

2

(AWG 18).

*2 This applies when the wire length is 10 m or less. When fabricating an extension cable, use 1.25 mm

2

(AWG 16).

*3 For wiring of the electromagnetic brake, use fluorine resin wire of 0.2 mm

2

(AWG 24).

4

4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.3 Selection example of wires

57

HK-ST series

Rotary servo motor

HK-ST52W

HK-ST102W

HK-ST172W

HK-ST202AW

HK-ST302W

HK-ST353W

HK-ST503W

HK-ST202W

HK-ST352W

HK-ST502W

HK-ST702W

HK-ST524W

HK-ST1024W

HK-ST1724W

HK-ST2024AW

HK-ST3024W

HK-ST3534W

HK-ST5034W

HK-ST2024W

HK-ST3524W

HK-ST5024W

HK-ST7024W

Wire [mm 2 ]

1) U/V/W/E

1.25 (AWG 16)

1.25 (AWG 16)

2 (AWG 14)

2 (AWG 14)

2 (AWG 14)

3.5 (AWG 12)

3.5 (AWG 12)

2 (AWG 14)

3.5 (AWG 12)

8 (AWG 8)

8 (AWG 8)

1.25 (AWG 16)

1.25 (AWG 16)

1.25 (AWG 16)

1.25 (AWG 16)

1.25 (AWG 16)

2 (AWG 14)

2 (AWG 14)

1.25 (AWG 16)

2 (AWG 14)

3.5 (AWG 12)

3.5 (AWG 12)

2) B1/B2

1.25 (AWG 16)

HK-RT series

Rotary servo motor

HK-RT103W

HK-RT153W

HK-RT203W

HK-RT353W

HK-RT503W

HK-RT703W

HK-RT1034W

HK-RT1534W

HK-RT2034W

HK-RT3534W

HK-RT5034W

Wire [mm

2

]

1) U/V/W/E

0.75 (AWG 18)

*1*2

0.75 (AWG 18)

*1*3

3.5 (AWG 12)

5.5 (AWG 10)

5.5 (AWG 10)

0.75 (AWG 18)

*1*2

2) B1/B2

0.2 (AWG 24) *4

1.25 (AWG 16)

0.2 (AWG 24) *2 *4

1.25 (AWG 16)

2 (AWG 14)

1.25 (AWG 16)

HK-RT7034W 2 (AWG 14)

*1 For the motor power connector wiring, use fluorine resin wire of 0.75 mm

2

(AWG 18).

*2 This applies when the wire length is 10 m or less. When fabricating an extension cable, use 1.25 mm

2

(AWG 16).

*3 This applies when the wire length is 10 m or less. When fabricating an extension cable, use 2 mm

2

*4 For wiring of the electromagnetic brake, use fluorine resin wire of 0.2 mm

2

(AWG 24).

(AWG 14).

58 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

4.3 Selection example of wires

5

WIRING OPTION

The HK-MT series servo motors will be available in the near future.

Precautions

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

• MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. As using contacts for other plugs may damage the connector, use the enclosed contacts.

• To prevent an electric shock, fire, or injury, correctly wire options and peripheral equipment, etc. in the correct combination.

• We recommend using HIV wires to wire the rotary servo motors, options, and peripheral equipment. Therefore, the recommended wire sizes may be different from those of the wires used for previous generation rotary servo motors.

• The fitting warranty is applied only to the option cables and the connectors manufactured by the manufacturers introduced in this chapter.

5.1

Cables/connector sets

5

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

Please purchase the cable and connector options indicated in this section for the rotary servo motor. When fabricating an encoder cable, refer to the following.



Page 251 Fabricating the encoder cable

5 WIRING OPTION

5.1 Cables/connector sets

59

Combinations of cables/connector sets

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

1-axis servo amplifier

Junction connection

To 24 V DC power supply for electromagnetic brake

(13) (14)

CNP3

CN2/

CN2A

*1

Junction connection

To 24 V DC power supply for electromagnetic brake

(20) (21) (22) (23)

CNP3A

CNP3B

CNP3C

*2

Multi-axis servo amplifier

CN2A

CN2B

CN2C

*2

Direct connection

To 24 V DC power supply for electromagnetic brake

To 24 V DC power supply for electromagnetic brake

(9) (10) (11) (12)

(46) (47)

(15)

(16) (17) (18) (19)

(48) (49)

(24)

(1) (2) (3) (4) (5) (6) (7) (8) (42) (43)

(44) (45)

(25) (26) (27) (28) (29) (30)

(31) (32) (50) (51) (52) (53)

Rotary servo motor

*1 Connectors for 3.5 kW or less.

*2 This connection is for the MR-J5W3-_ and MR-J5D3-_.

HK-ST/HK-RT (3.5 kW - 7.0 kW)

1-axis servo amplifier

CNP3

CN2/

CN2A

(24) (39) (40) (41)

(20) (21) (22) (23)

(33) (34)

(35) (36) (37) (38)

CNP3A

CNP3B

CNP3C

*1

Multi-axis servo amplifier

CN2A

CN2B

CN2C

*1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

Power connector

Electromagnetic brake connector

Encoder connector

60 5 WIRING OPTION

5.1 Cables/connector sets

Cable and connector list

No.

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

Product name

Motor cables

(Dual cable type/ direct connection

type)

*1

Motor side: IP65

Application

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Flex type Cable length

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

Model

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

Description/IP rating/Cable direction

MR-AEPB2CBL2M-A1-L

MR-AEPB2CBL5M-A1-L

MR-AEPB2CBL10M-A1-L

MR-AEPB2CBL2M-A1-H

MR-AEPB2CBL5M-A1-H

MR-AEPB2CBL10M-A1-H

IP65

Load-side lead

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

MR-AEP2CBL2M-A1-L

MR-AEP2CBL5M-A1-L

MR-AEP2CBL10M-A1-L

MR-AEP2CBL2M-A1-H

MR-AEP2CBL5M-A1-H

MR-AEP2CBL10M-A1-H

IP65

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

Load-side lead

MR-AEPB2CBL2M-A2-L

MR-AEPB2CBL5M-A2-L

MR-AEPB2CBL10M-A2-L

MR-AEPB2CBL2M-A2-H

MR-AEPB2CBL5M-A2-H

MR-AEPB2CBL10M-A2-H

IP65

Opposite to load-side lead

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

MR-AEP2CBL2M-A2-L

MR-AEP2CBL5M-A2-L

MR-AEP2CBL10M-A2-L

MR-AEP2CBL2M-A2-H

MR-AEP2CBL5M-A2-H

MR-AEP2CBL10M-A2-H

IP65

Opposite to load-side lead

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

5

5 WIRING OPTION

5.1 Cables/connector sets

61

No.

(9)

(10)

(11)

(12)

(13)

(14)

(15)

Product name

Motor cables

(Dual cable type/ junction connection type)

Motor side: IP65

Junction side:

IP20

Application

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Flex type Cable length

Standard

(for fixed parts)

0.3 m

Model

MR-AEPB2J10CBL03M-

A1-L

0.3 m MR-AEP2J10CBL03M-

A1-L

Description/IP rating/Cable direction

IP20

IP65

Load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

IP20

0.3 m MR-AEPB2J10CBL03M-

A2-L

Load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

0.3 m MR-AEP2J10CBL03M-

A2-L

Opposite to load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

Encoder cable

Junction side:

IP20

Opposite to load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

IP20

Encoder connector set

Junction side:

IP20

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Standard

(for fixed parts)

High flex life

(for moving parts)

20 m

30 m



20 m

30 m

40 m

50 m



MR-AEKCBL20M-L

MR-AEKCBL30M-L

MR-AEKCBL20M-H

MR-AEKCBL30M-H

MR-AEKCBL40M-H

MR-AEKCBL50M-H

MR-ECNM

Refer to the following for details.

 Page 81 MR-AEKCBL_M-_

Refer to the following for details.

 Page 81 MR-AEKCBL_M-_

IP20

IP20

IP20

62 5 WIRING OPTION

5.1 Cables/connector sets

No.

(16)

(17)

(18)

(19)

(20)

(21)

(22)

(23)

Product name

Motor cables

(Dual cable type/ junction connection type)

Motor side: IP65

Junction side:

IP65

Application

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Flex type Cable length

Standard

(for fixed parts)

0.3 m

Model

MR-AEPB2J20CBL03M-

A1-L

0.3 m MR-AEP2J20CBL03M-

A1-L

Description/IP rating/Cable direction

IP65

IP65

Load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

IP65

0.3 m MR-AEPB2J20CBL03M-

A2-L

Load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

0.3 m MR-AEP2J20CBL03M-

A2-L

Opposite to load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

Encoder cable

Junction side:

IP67

Opposite to load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

IP67

For the HK-KT series

For the HK-MT series

For the HK-ST series

For the HK-RT series

Standard

(for fixed parts)

High flex life

(for moving parts)

30 m

2 m

5 m

10 m

2 m

5 m

10 m

20 m

20 m

30 m

40 m

50 m

MR-J3ENSCBL2M-L

MR-J3ENSCBL5M-L

MR-J3ENSCBL10M-L

MR-AENSCBL20M-L

MR-AENSCBL30M-L

MR-J3ENSCBL2M-H

MR-J3ENSCBL5M-H

MR-J3ENSCBL10M-H

MR-AENSCBL20M-H

MR-AENSCBL30M-H

MR-AENSCBL40M-H

MR-AENSCBL50M-H

Refer to the following for details.

 Page 84 MR-AENSCBL_M-_

 Page 87 MR-J3ENSCBL_M-_

IP65

IP65

5

5 WIRING OPTION

5.1 Cables/connector sets

63

No.

(24)

(25)

(26)

(27)

(28)

(29)

(30)

(31)

(32)

(33)

Product name

Encoder connector set

(One-touch connection type)

Junction side:

IP67

Motor cables

(Single cable type/direct connection type)

Motor side: IP65

Application Flex type Cable length

  For the HK-KT series

For the HK-MT series

For the HK-ST series

For the HK-RT series

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

Model

MR-J3SCNS

*2

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m



Description/IP rating/Cable direction

Refer to the following for details.

 Page 84 MR-AENSCBL_M-_

 Page 87 MR-J3ENSCBL_M-_

IP67

MR-AEPB1CBL2M-A1-L

MR-AEPB1CBL5M-A1-L

MR-AEPB1CBL10M-A1-L

MR-AEPB1CBL2M-A1-H

MR-AEPB1CBL5M-A1-H

MR-AEPB1CBL10M-A1-H

IP65

Load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

MR-AEP1CBL2M-A1-L

MR-AEP1CBL5M-A1-L

MR-AEP1CBL10M-A1-L

MR-AEP1CBL2M-A1-H

MR-AEP1CBL5M-A1-H

MR-AEP1CBL10M-A1-H

IP65

Load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

MR-AEPB1CBL2M-A2-L

MR-AEPB1CBL5M-A2-L

MR-AEPB1CBL10M-A2-L

MR-AEPB1CBL2M-A2-H

MR-AEPB1CBL5M-A2-H

MR-AEPB1CBL10M-A2-H

IP65

Opposite to load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

MR-AEP1CBL2M-A2-L

MR-AEP1CBL5M-A2-L

MR-AEP1CBL10M-A2-L

MR-AEP1CBL2M-A2-H

MR-AEP1CBL5M-A2-H

MR-AEP1CBL10M-A2-H

IP65

Opposite to load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

MR-APWCNS4

IP67

Power connector set

(One-touch connection type)

HK-ST52(4)W

HK-ST102(4)W

HK-ST172(4)W

HK-

ST202(4)AW

HK-ST302(4)W

HK-ST353(4)W

HK-ST503(4)W

*3



Plug: JL10-6A18-10SE-EB

Cable clamp: JL04-18CK(13)-_-R

(JAE)

Applicable cable

Applicable wire size: 3.5 mm 2 (AWG 12) or less

Cable OD: 11 mm to 14.1 mm

64 5 WIRING OPTION

5.1 Cables/connector sets

No.

(34)

Product name Application

Power connector set

(One-touch connection type)

HK-ST202(4)W

HK-ST352(4)W

HK-ST502(4)W

HK-ST702(4)W

HK-RT353(4)W

HK-RT503(4)W

HK-RT703(4)W

Flex type Cable length

 

Model

MR-APWCNS5

 MR-BKCNS1

*2

(35) Electromagnetic brake connector set

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



(36) Electromagnetic brake connector set

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series

  MR-BKCNS1A

*2

(37) Electromagnetic brake connector set

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



(38) Electromagnetic brake connector set

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



 MR-BKCNS2

 MR-BKCNS2A

(39) Encoder connector set

(Screw type)

Junction side:

IP67

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



(40) Encoder connector set

(One-touch connection type)

Junction side:

IP67

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



(41) Encoder connector set

(Screw type)

Junction side:

IP67

For the HK-ST series

For the HK-RT

(3.5 kW - 7.0 kW) series



 MR-ENCNS2



MR-J3SCNSA *2

 MR-ENCNS2A

Description/IP rating/Cable direction

IP67

Plug: JL10-6A22-22SE-EB

Cable clamp: JL04-2022CK(14)-_-R

(JAE)

Applicable cable

Applicable wire size: 8 mm 2 (AWG 8) or less

Cable OD: 12.9 mm to 16 mm

IP67

Straight plug: CMV1-SP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

IP67

Angle plug: CMV1-AP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

IP67

Straight plug: CMV1S-SP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

IP67

Angle plug: CMV1S-AP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

IP67

Refer to the following for details.

 Page 84 MR-AENSCBL_M-_

 Page 87 MR-J3ENSCBL_M-_

IP67

Refer to the following for details.

 Page 84 MR-AENSCBL_M-_

 Page 87 MR-J3ENSCBL_M-_

IP67

Refer to the following for details.

 Page 84 MR-AENSCBL_M-_

 Page 87 MR-J3ENSCBL_M-_

5

5 WIRING OPTION

5.1 Cables/connector sets

65

No.

(42)

(43)

(44)

(45)

(46)

(47)

Product name

Motor cables

(Dual cable type/ direct connection

type) *1

Motor side: IP65

Application

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Flex type Cable length

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

Model

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

High flex life

(for moving parts)

2 m

5 m

10 m

2 m

5 m

10 m

0.3 m

Description/IP rating/Cable direction

MR-AEPB2CBL2M-A5-L

MR-AEPB2CBL5M-A5-L

MR-AEPB2CBL10M-A5-L

MR-AEPB2CBL2M-A5-H

MR-AEPB2CBL5M-A5-H

MR-AEPB2CBL10M-A5-H

IP65

Load-side lead

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

MR-AEP2CBL2M-A5-L

MR-AEP2CBL5M-A5-L

MR-AEP2CBL10M-A5-L

MR-AEP2CBL2M-A5-H

MR-AEP2CBL5M-A5-H

MR-AEP2CBL10M-A5-H

IP65

Load-side lead

Refer to the following for details.

 Page 68 MR-AEPB2CBL_M-_-_/MR-

AEP2CBL_M-_-_

MR-AEPB2J10CBL03M-

A5-L

Motor cables

(Dual cable type/ junction connection type)

Motor side: IP65

Junction side:

IP20

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

IP20

IP65

Load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

0.3 m MR-AEP2J10CBL03M-

A5-L

IP20

IP65

Load-side lead

Refer to the following for details.

 Page 72 MR-AEPB2J10CBL03M-_-L/MR-

AEP2J10CBL03M-_-L

66 5 WIRING OPTION

5.1 Cables/connector sets

No.

(48)

Product name

Motor cables

(Dual cable type/ junction connection type)

Motor side: IP65

Junction side:

IP65

Application

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Flex type Cable length

Standard

(for fixed parts)

0.3 m

Model

MR-AEPB2J20CBL03M-

A5-L

Description/IP rating/Cable direction

IP65

IP65

Load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

(49) For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

0.3 m MR-AEP2J20CBL03M-

A5-L

IP65

IP65

Load-side lead

Refer to the following for details.

 Page 75 MR-AEPB2J20CBL03M-_-L/MR-

AEP2J20CBL03M-_-L

(50) Motor cables

(Single cable type/direct connection type)

Motor side: IP65

For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

With electromagnetic brake cable

Standard

(for fixed parts)

2 m

5 m

10 m

MR-AEPB1CBL2M-A5-L

MR-AEPB1CBL5M-A5-L

MR-AEPB1CBL10M-A5-L

IP65

(51) High flex life

(for moving parts)

2 m

5 m

MR-AEPB1CBL2M-A5-H

MR-AEPB1CBL5M-A5-H

10 m MR-AEPB1CBL10M-A5-H

Load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

(52) For the HK-KT/

HK-MT/HK-RT

(1.0 kW - 2.0 kW) series

Without electromagnetic brake cable

Standard

(for fixed parts)

2 m

5 m

10 m

MR-AEP1CBL2M-A5-L

MR-AEP1CBL5M-A5-L

MR-AEP1CBL10M-A5-L

IP65

(53) High flex life

(for moving parts)

2 m

5 m

MR-AEP1CBL2M-A5-H

MR-AEP1CBL5M-A5-H

10 m MR-AEP1CBL10M-A5-H

Load-side lead

Refer to the following for details.

 Page 78 MR-AEPB1CBL_M-_-_/MR-

AEP1CBL_M-_-_

*1 When IP67 cables are needed, contact your local sales office.

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

*3 To make the HK-ST503W comply with the UL/CSA standard, the MR-APWCNS4 cannot be used. Refer to the following for details.



Page 241 HK-ST series

5

5 WIRING OPTION

5.1 Cables/connector sets

67

5.2

Motor cables/connector sets

MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E P B 2 C B L 2 M A 1 L

Flex type

Symbol Flex type

L

H

Standard (for fixed parts)

High flex life (for moving parts)

Outlet direction

Symbol Outlet direction

A1

A2

A5

Load-side lead

Opposite to load-side lead

Vertical lead

Cable length

Symbol Cable length [m]

2 2

5

10

5

10

Electromagnetic brake cable

Symbol Electromagnetic brake cable

×

B

×

○

Connecting the servo amplifier and rotary servo motor

1-axis servo amplifier

CN2/

CN2A

MR-AEPB2CBL_M-_-_

MR-AEP2CBL_M-_-_

*2

Multi-axis servo amplifier

(1)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

(2)

Rotary servo motor

68 5 WIRING OPTION

5.2 Motor cables/connector sets

CN2, CN2A, CN2B, and CN2C side connector (1)

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

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



Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M or equivalent)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

9

7

Connector set: 54599-1016

(Molex)

5

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

5 WIRING OPTION

5.2 Motor cables/connector sets

69

Motor-side connector (2)

■ Load-side lead/opposite to load-side lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVLD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

• Load-side lead

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

5 6

B1 B2

3 4

W V

1

E

2

U

E mark

• Opposite to load-side lead

Polarity mark

2

U

4

V

6

B2

1

E

3

W

5

B1

8 7

10 9

12

MR

14

MRR

11

P5

13

LG

Polarity mark

E mark

Power supply

Power supply

Polarity mark

Encoder

70 5 WIRING OPTION

5.2 Motor cables/connector sets

■ Vertical lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVSD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

Lever

Power supply

5 6

B1 B2

3 4

W V

1

E

2

U

E mark Polarity mark

Cable internal wiring diagram

CN2, CN2A, CN2B, and

CN2C side connector

P5

LG

MR

MRR

1

2

3

4

9

(Red)

(White)

(Green)

(Blue)

(Purple)

Motor-side connector

11

13

12

14

10

P5

LG

MR

MRR

U

V

W

E

B1

B2

Shell

(Red)

(White)

(Black)

(Green/yellow)

(Yellow)

(Brown)

Shell

3

1

2

4

5

6

U

V

W

E

B1

*1

B2

*1 B1 and B2 are the wiring for electromagnetic brake. Wire when MR-AEPB2CBL_M-_-_ is used. If MR-AEP2CBL_M-_-_ is used, B1 and

B2 do not need to be wired as MR-AEP2CBL_M-_-_ do not have B1 and B2.

5

5 WIRING OPTION

5.2 Motor cables/connector sets

71

MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L

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

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E P B 2 J 1 0 C B L 0 3 M A 1 L

Flex type

Symbol Flex type

L Standard (for fixed parts)

Outlet direction

Symbol Outlet direction

A1

A2

A5

Load-side lead

Opposite to load-side lead

Vertical lead

Cable length

Symbol Cable length [m]

03 0.3

Electromagnetic brake cable

Symbol Electromagnetic brake cable

×

B

×

○

Connecting the servo amplifier and rotary servo motor

1-axis servo amplifier

CN2/

CN2A

MR-AEKCBL_M-_

*2

MR-AEPB2J10CBL03M-_-L

MR-AEP2J10CBL03M-_-L

Multi-axis servo amplifier

(1)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

(2)

Rotary servo motor

72 5 WIRING OPTION

5.2 Motor cables/connector sets

Junction connector (1)

The following shows the view from the wiring side.

Housing: 1-172169-9

Contact: 170361-4

Cable clamp: 316454-1

Crimping tool: 91529-1

(TE Connectivity)

3

6

2

MRR

5

1

MR

4

9

SHD

8

LG

7

P5

Motor-side connector (2)

■ Load-side lead/opposite to load-side lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVLD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

• Load-side lead

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

5 6

B1 B2

3 4

W V

1

E

2

U

E mark

• Opposite to load-side lead

Polarity mark

2

U

4

V

6

B2

1

E

3

W

5

B1

8 7

10 9

12

MR

14

MRR

11

P5

13

LG

Polarity mark

E mark

Power supply

Power supply

Polarity mark

Encoder

5

5 WIRING OPTION

5.2 Motor cables/connector sets

73

■ Vertical lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVSD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

Lever

Power supply

5 6

B1 B2

3 4

W V

1

E

2

U

E mark Polarity mark

Cable internal wiring diagram

Junction connector

P5

LG

MR

MRR

SHD

7

8

1

2

4

5

3

6

9

(Red)

(White)

(Green)

(Blue)

(Gray)

(Black)

(Purple)

(Orange)

Motor-side connector

P5

LG

MR

MRR

7

9

10

8

11

13

12

14

Shell

U

V

W

E

B1

B2

(Red)

(White)

(Black)

(Green/yellow)

(Yellow)

(Brown)

3

1

2

4

5

6

U

V

W

E

B1

*1

B2

*1 B1 and B2 are the wiring for electromagnetic brake. Wire when MR-AEPB2J10CBL03M-_-L is used. If MR-AEP2J10CBL03M-_-L is used, B1 and B2 do not need to be wired as MR-AEP2J10CBL03M-_-L do not have B1 and B2.

74 5 WIRING OPTION

5.2 Motor cables/connector sets

MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_-L

The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo amplifier-side encoder cables (MR-AENSCBL_M-_ and MR-J3ENSCBL_M-_) are required.

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E P B 2 J 2 0 C B L 0 3 M A 1 L

Flex type

Symbol Flex type

L Standard (for fixed parts)

Outlet direction

Symbol Outlet direction

A1

A2

A5

Load-side lead

Opposite to load-side lead

Vertical lead

Cable length

Symbol Cable length [m]

03 0.3

Electromagnetic brake cable

Symbol Electromagnetic brake cable

×

B

×

○

5

Connecting the servo amplifier and rotary servo motor

1-axis servo amplifier

CN2/

CN2A

MR-AENSCBL_M-_

MR-J3ENSCBL_M-_

*2

MR-AEPB2J20CBL03M-_-L

MR-AEP2J20CBL03M-_-L

Multi-axis servo amplifier

(1)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

(2)

Rotary servo motor

5 WIRING OPTION

5.2 Motor cables/connector sets

75

Junction connector (1)

The following shows the view from the wiring side.

Receptacle: CMV1-CR10P-M2

(DDK)

Applicable wire size: AWG 20 or lower

4

1

MR

2

MRR

5

LG

6

3

7

8

P5

9 10

SHD

Motor-side connector (2)

■ Load-side lead/opposite to load-side lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVLD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

• Load-side lead

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

5 6

B1 B2

3 4

W V

1

E

2

U

E mark

• Opposite to load-side lead

Polarity mark

2

U

4

V

6

B2

1

E

3

W

5

B1

8 7

10 9

12

MR

14

MRR

11

P5

13

LG

Polarity mark

E mark

Power supply

Power supply

Polarity mark

Encoder

76 5 WIRING OPTION

5.2 Motor cables/connector sets

■ Vertical lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVSD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Encoder

Lever

Power supply

5 6

B1 B2

3 4

W V

1

E

2

U

E mark Polarity mark

Cable internal wiring diagram

Junction connector

P5

LG

MR

MRR

SHD

8

5

1

2

6

7

4

3

10

(Red)

(White)

(Green)

(Blue)

(Gray)

(Black)

(Purple)

(Orange)

Motor-side connector

P5

LG

MR

MRR

7

9

10

8

11

13

12

14

Shell

U

V

W

E

B1

B2

(Red)

(White)

(Black)

(Green/yellow)

(Yellow)

(Brown)

3

1

2

4

5

6

U

V

W

E

B1

*1

B2

*1 B1 and B2 are the wiring for electromagnetic brake. Wire when MR-AEPB2J20CBL03M-_-L is used. If MR-AEP2J20CBL03M-_-L is used, B1 and B2 do not need to be wired as MR-AEP2J20CBL03M-_-L do not have B1 and B2.

5

5 WIRING OPTION

5.2 Motor cables/connector sets

77

MR-AEPB1CBL_M-_-_/MR-AEP1CBL_M-_-_

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E P B 1 C B L 2 M A 1 L

Flex type

Symbol Flex type

L

H

Standard (for fixed parts)

High flex life (for moving parts)

Outlet direction

Symbol Outlet direction

A1

A2

A5

Load-side lead

Opposite to load-side lead

Vertical lead

Cable length

Symbol Cable length [m]

2

5

10

2

5

10

Electromagnetic brake cable

Symbol Electromagnetic brake cable

×

B

×

○

Connecting the servo amplifier and rotary servo motor

1-axis servo amplifier

CN2/

CN2A

MR-AEPB1CBL_M-_-_

MR-AEP1CBL_M-_-_

*2

Multi-axis servo amplifier

(1)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

(2)

Rotary servo motor

78 5 WIRING OPTION

5.2 Motor cables/connector sets

CN2, CN2A, CN2B, and CN2C side connector (1)

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

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



Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M or equivalent)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

9

7

Connector set: 54599-1016

(Molex)

5

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

Motor-side connector (2)

■ Load-side lead/opposite to load-side lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVL(11.9)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

• Load-side lead

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

5 6

B1 B2

3 4

W V

1

E

2

U

E mark Polarity mark

5 WIRING OPTION

5.2 Motor cables/connector sets

79

• Opposite to load-side lead

Polarity mark

4

V

2

U

6

B2

1

E

3

W

5

B1

8 7

10 9

12

MR

14

MRR

11

P5

13

LG

E mark

Polarity mark

■ Vertical lead

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

Connector set: MT50W-8D/2D4ES-CVSD(7.5)

Contact (for motor power supply): MT50E-1820SCFA

Contact (for encoder and electromagnetic brake): MT50D-2224SCFA

(Hirose Electric)

Polarity mark

13

LG

11

P5

9

14

MRR

12

MR

10

7 8

Lever

5 6

B1 B2

3 4

W V

1

E

2

U

E mark Polarity mark

Cable internal wiring diagram

CN2, CN2A, CN2B, and

CN2C side connector

P5

LG

MR

MRR

1

2

3

4

9

(Red)

(White)

(Green)

(Blue)

(Purple)

Motor-side connector

11

13

12

14

10

P5

LG

MR

MRR

U

V

W

E

B1

B2

Shell

(Red)

(White)

(Black)

(Green/yellow)

(Yellow)

(Brown)

Shell

3

1

2

4

5

6

U

V

W

E

B1

B2

*1

*1 B1 and B2 are the wiring for electromagnetic brake. Wire when MR-AEPB1CBL_M-_-_ is used. If MR-AEP1CBL_M-_-_ is used, B1 and

B2 do not need to be wired as MR-AEP1CBL_M-_-_ do not have B1 and B2.

80 5 WIRING OPTION

5.2 Motor cables/connector sets

5.3

Encoder cable

MR-AEKCBL_M-_

The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The motor cables for rotary servo motors (MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L) are required.

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E K C B L 2 0 M L

Flex type

Symbol Flex type

L

H

Standard (for fixed parts)

High flex life (for moving parts)

20

30

40

50

Cable length

Symbol Cable length [m]

20

30

40

50

5

Connecting the servo amplifier and rotary servo motor

This connection is for when electromagnetic brake cable is included.

1-axis servo amplifier

CN2/

CN2A

*2

MR-AEPB2J10CBL03M-_-L

MR-AEP2J10CBL03M-_-L

Multi-axis servo amplifier

MR-AEKCBL_M-_

(1) (2)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

Rotary servo motor

5 WIRING OPTION

5.3 Encoder cable

81

CN2, CN2A, CN2B, and CN2C side connector (1)

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

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



Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M or equivalent)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

9

7

Connector set: 54599-1016

(Molex)

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

Junction connector (2)

The following shows the view from the wiring side.

Housing: 1-172161-9

Connector pin: 170359-1

Crimping tool: 91529-1

(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industrial)

1

MR

4

2

MRR

5

3

6

7

P5

8 9

LG SHD

82 5 WIRING OPTION

5.3 Encoder cable

Internal wiring diagram

The cable colors in the connection diagram apply to the following cables:

HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation

CN2, CN2A, CN2B, and

CN2C side connector

P5

LG

MR

MRR

SD

1

2

3

4

9

Plate

(Red)

(White)

(Green)

(Blue)

(Purple)

Encoder-side connector

7

8

1

2

3

9

P5

LG

MR

MRR

SHD

When fabricating an encoder cable

Prepare the following parts, and fabricate the cable in accordance with the following.



Page 83 Internal wiring diagram

Refer to the following for the specifications of the cable to use.



Page 90 Wires for option cables

Parts

(Connector set)

Description

CN2, CN2A, CN2B, and CN2C side connector

Junction connector

MR-ECNM

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M) or

Connector set: 54599-1019

(Molex)

Housing: 1-172161-9

Connector pin: 170359-1

(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industrial)

5

5 WIRING OPTION

5.3 Encoder cable

83

MR-AENSCBL_M-_

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R A E N S C B L 2 0 M L

Flex type

Symbol Flex type

L

H

Standard (for fixed parts)

High flex life (for moving parts)

20

30

40

50

Cable length

Symbol Cable length [m]

20

30

40

50

Connecting the servo amplifier and rotary servo motor

■ HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

This connection is for when electromagnetic brake cable is included.

1-axis servo amplifier

CN2/

CN2A

MR-AENSCBL_M-_

*2

MR-AEPB2J20CBL03M-_-L

MR-AEP2J20CBL03M-_-L

Multi-axis servo amplifier

(1) (2)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

■ HK-ST/HK-RT (3.5 kW - 7.0 kW)

1-axis servo amplifier

CN2/

CN2A

Rotary servo motor

84

MR-AENSCBL_M-_

Multi-axis servo amplifier

(1) (2)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

5 WIRING OPTION

5.3 Encoder cable

Rotary servo motor

CN2, CN2A, CN2B, and CN2C side connector (1)

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

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



Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M or equivalent)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

9

7

Connector set: 54599-1016

(Molex)

5

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

Junction connector (2)

Plug (DDK)

Straight plug

CMV1-SP10S-M2

The following shows the view from the wiring side.

7

3

6

2

MRR

1

MR

5

LG

4

10

SHD

9 8

P5

Socket contact

CMV1-#22ASC-S1-100

Applicable wire size:

AWG 20 or lower

5 WIRING OPTION

5.3 Encoder cable

85

Cable internal wiring diagram

The cable colors in the connection diagram apply to the following cables:

HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation

CN2, CN2A, CN2B, and

CN2C side connector

(Red)

P5

LG

1

2

(White)

(Green)

MR

MRR

3

4

(Blue)

(Purple)

SD

9

Plate

Encoder-side connector

8

5

1

2

4

10

P5

LG

MR

MRR

SHD

When fabricating an encoder cable

Prepare the following parts, and fabricate the cable in accordance with the following diagram.



Page 86 Cable internal wiring diagram

Refer to the following for the specifications of the cable to use.



Page 90 Wires for option cables

Parts

(Connector set)

Description

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

MR-J3SCNS

(One-touch connection type)

*1

MR-ENCNS2

(Screw type) *1

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M) or

Connector set: 54599-1019

(Molex)

Straight plug: CMV1-SP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

Straight plug: CMV1S-SP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

MR-J3SCNSA

(One-touch connection type)

*1

Angle plug: CMV1-AP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

MR-ENCNS2A

(Screw type) *1

Angle plug: CMV1S-AP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

*1 Cable clamps and bushings for cables with an outer diameter of 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm are included.

86 5 WIRING OPTION

5.3 Encoder cable

MR-J3ENSCBL_M-_

Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

M R J 3 E N S C B L 2 M L

Flex type

Symbol Flex type

L

H

Standard (for fixed parts)

High flex life (for moving parts)

Cable length

Symbol Cable length [m]

2

5

10

2

5

10

Connecting the servo amplifier and rotary servo motor

■ HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW)

This connection is for when electromagnetic brake cable is included.

1-axis servo amplifier

CN2/

CN2A

MR-J3ENSCBL_M-_

*2

MR-AEPB2J20CBL03M-_-L

MR-AEP2J20CBL03M-_-L

Multi-axis servo amplifier

(1) (2)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

*2 Refer to the following for connection of the power connector.



Page 36 Wiring

■ HK-ST/HK-RT (3.5 kW - 7.0 kW)

1-axis servo amplifier

CN2/

CN2A

Rotary servo motor

MR-J3ENSCBL_M-_

Multi-axis servo amplifier

(1) (2)

CN2A

CN2B

CN2C *1

*1 This connection is for the MR-J5W3-_ and MR-J5D3-_.

Rotary servo motor

5 WIRING OPTION

5.3 Encoder cable

87

5

CN2, CN2A, CN2B, and CN2C side connector (1)

The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line.

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



Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M or equivalent)

2

LG 4

MRR

1

P5 3

MR

6

5

8

10

9

7

Connector set: 54599-1019

(Molex)

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

Junction connector (2)

Plug (DDK)

Straight plug

CMV1-SP10S-M1

Socket contact

CMV1-#22ASC-C1-100

Applicable wire size:

AWG 24 to 20

Crimping tool: 357J-53162T

The following shows the view from the wiring side.

7

3

6

2

MRR

1

MR

5

LG

4

10

SHD

9 8

P5

88 5 WIRING OPTION

5.3 Encoder cable

Cable internal wiring diagram

• MR-J3ENSCBL2M-L

• MR-J3ENSCBL5M-L

• MR-J3ENSCBL10M-L

• MR-J3ENSCBL2M-H

• MR-J3ENSCBL5M-H

• MR-J3ENSCBL10M-H

CN2, CN2A, CN2B, and

CN2C side connector

P5

LG

MR

MRR

SD

1

2

3

4

9

Plate

Encoder-side connector

8

5

1

2

4

10

P5

LG

MR

MRR

SHD

When fabricating an encoder cable

Prepare the following parts, and fabricate the cable in accordance with the following diagram.



Page 89 Cable internal wiring diagram

Refer to the following for the specifications of the cable to use.



Page 90 Wires for option cables

Parts

(Connector set)

Description

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

MR-J3SCNS

(One-touch connection type)

*1

MR-ENCNS2

(Screw type) *1

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M) or

Connector set: 54599-1019

(Molex)

Straight plug: CMV1-SP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

Straight plug: CMV1S-SP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

MR-J3SCNSA

(One-touch connection type)

*1

Angle plug: CMV1-AP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

MR-ENCNS2A

(Screw type) *1

Angle plug: CMV1S-AP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG 20 or lower

*1 Cable clamps and bushings for cables with an outer diameter of 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm are included.

5

5 WIRING OPTION

5.3 Encoder cable

89

5.4

Wires for option cables

Precautions for option cables

When wiring the cables, leave the minimum bending radius or more to prevent stress from being applied to the cables.

Refer to the following for the cable flex life.



Page 101 Cable flex life

If special length shielded cables or shielded power cables are required, use the HK series motor cables manufactured by

Mitsubishi Electric System & Service Co., Ltd. that meet the following specifications.

• UL 758 (AWM) (For encoder: UL style 20276 For power supply/brake: UL style 2586)

• Flame retardant UL 1581 VW-1

For the detailed specifications, contact your local sales office.

90 5 WIRING OPTION

5.4 Wires for option cables

MR-AEPB2CBL_M-_-L/MR-AEPB2CBL_M-_-H

Item

MR-AEPB2CBL_M-_-L

MR-AEPB2CBL_M-_-H

Item

MR-AEPB2CBL_M-_-L

MR-AEPB2CBL_M-_-H

Item

MR-AEPB2CBL_M-_-L

MR-AEPB2CBL_M-_-H

For encoder

For power supply/brake

For encoder

For power supply/brake

For encoder

For power supply/brake

For encoder

For power supply/brake

For encoder

For power supply/brake

For encoder

For power supply/brake

Cable length

[m]

2 to 10

2 to 10

Flex type

Standard (for fixed parts)

High flex life (for moving parts)

Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 20276

UL style 2586

UL style 20276

UL style 2586

Flame retardant

UL 1581

VW-1

VW-1

VW-1

VW-1

Physical characteristics

Conductor construction Braided shielding material

AWG 22 × 3 pairs

AWG 18 × 4 cores

AWG 24 × 2 cores

AWG 22 × 3 pairs

AWG 18 × 4 cores

AWG 24 × 2 cores

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

0.76 (AWG 22)

1.21 (AWG 18)

0.6 (AWG 24)

0.77 (AWG 22)

1.36 (AWG 18)

0.61 (AWG 24)

7.5

7.5

7.5

7.5

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

10 or more

100 or more

100 or more

100 or more

Color

Black

Black

Black

Black

Withstand voltage

[Vac/min]

500

2000

500

2000

Item

MR-AEPB2CBL_M-_-L

MR-AEPB2CBL_M-_-H

3 2

For encoder

For power supply/brake

For encoder

For power supply/brake

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80 55.0 or less

105

80

105

HRZVV-SB-C18465(20276)/RMFEV-SB-C18466(20276)

Reference diagram

1

Shield braid

AWG 22

1: Red and white

2: Green and blue

3: Purple and orange

Rated voltage

[V]

Recommended product

Model Manufacturer

21.8 or less

92.2 or less

55.0 or less

25.6 or less

97.6 or less

30

600

30

600

HRZVV-SB-C18465

(20276)

HRZFEV-C18213

(2586)

RMFEV-SB-C18466

(20276)

RMFEV-C18211

(2586)

Dyden

HRZFEV-C18213(2586)/RMFEV-C18211(2586)

Reference diagram

6

4

1

3

2

5

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Electromagnetic brake (AWG

24)

5: Brown

6: Yellow

5

5 WIRING OPTION

5.4 Wires for option cables

91

MR-AEP2CBL_M-_-L/MR-AEP2CBL_M-_-H

Item

MR-AEP2CBL_M-_-L

MR-AEP2CBL_M-_-H

For encoder

For power supply

For encoder

For power supply

Cable length

[m]

2 to 10

2 to 10

Flex type

Standard (for fixed parts)

High flex life (for moving parts)

Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 20276

UL style 2586

UL style 20276

UL style 2586

Flame retardant

UL 1581

VW-1

VW-1

VW-1

VW-1

Item

MR-AEP2CBL_M-_-L

MR-AEP2CBL_M-_-H

Item

For encoder

For power supply

For encoder

For power supply

Physical characteristics

Conductor construction Braided shielding material

AWG 22 × 3 pairs

AWG 18 × 4 cores

AWG 22 × 3 pairs

AWG 18 × 4 cores

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

0.76 (AWG 22)

1.21 (AWG 18)

0.77 (AWG 22)

1.36 (AWG 18)

7.5

7.5

7.5

7.5

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

10 or more

100 or more

100 or more

100 or more

Color

Black

Black

Black

Black

Withstand voltage

[Vac/min]

500

2000

500

2000

MR-AEP2CBL_M-_-L

MR-AEP2CBL_M-_-H

For encoder

For power supply

For encoder

For power supply

Item

MR-AEP2CBL_M-_-L

MR-AEP2CBL_M-_-H

For encoder

For power supply

For encoder

For power supply

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80 55.0 or less

105

80

105

HRZVV-SB-C18465(20276)/RMFEV-SB-C18466(20276)

Reference diagram

1

Shield braid

AWG 22

1: Red and white

2: Green and blue

3: Purple and orange

Rated voltage

[V]

Recommended product

Model Manufacturer

21.8 or less

55.0 or less

25.6 or less

30

600

30

600

HRZVV-SB-C18465

(20276)

HRZFEV-C18355

(2586)

RMFEV-SB-C18466

(20276)

RMFEV-C18353

(2586)

Dyden

HRZFEV-C18355(2586)/RMFEV-C18353(2586)

Reference diagram

1

AWG 18

1: Black

2: White

3: Red

4: Green/yellow

4 2

3 2

3

92 5 WIRING OPTION

5.4 Wires for option cables

MR-AEPB2J20CBL03M-_-L/MR-AEPB2J10CBL03M-_-L

Item

MR-AEPB2J20CBL03M-_-L For encoder

For power supply/brake

MR-AEPB2J10CBL03M-_-L For encoder

For power supply/brake

Item

MR-AEPB2J20CBL03M-_-L For encoder

MR-AEPB2J10CBL03M-_-L For encoder

Item

HRZVV-SB-C18467(20276)

Reference diagram

For power supply/brake

MR-AEPB2J20CBL03M-_-L For encoder

For power supply/brake

MR-AEPB2J10CBL03M-_-L For encoder

For power supply/brake

Item

For power supply/brake

MR-AEPB2J20CBL03M-_-L For encoder

For power supply/brake

MR-AEPB2J10CBL03M-_-L For encoder

4

3

1

2

For power supply/brake

Shield braid

Cable length

[m]

0.3

0.3

Flex type Applicable standard

For wiring between devices

UL 758 (AWM)

Standard (for fixed parts) UL style 20276

UL style 2586

Standard (for fixed parts) UL style 20276

UL style 2586

Physical characteristics

Conductor construction

AWG 24 × 4 pairs

AWG 18 × 4 cores

AWG 24 × 2 cores

AWG 24 × 4 pairs

AWG 18 × 4 cores

AWG 24 × 2 cores

Braided shielding material

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Wire specifications

Conductor OD

[mm]

Cable OD

*1

[mm]

0.6 (AWG 24)

1.21 (AWG 18)

0.6 (AWG 24)

0.6 (AWG 24)

1.21 (AWG 18)

0.6 (AWG 24)

7.5

7.5

7.5

7.5

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

10 or more

100 or more

10 or more

100 or more

Color

Black

Black

Black

Black

Withstand voltage

[Vac/min]

500

2000

500

2000

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80 92.2 or less

105

80

105

21.8 or less

92.2 or less

92.2 or less

21.8 or less

92.2 or less

Rated voltage [V]

30

600

30

600

HRZFEV-C18213(2586)

Reference diagram

HRZVV-SB-C18467

(20276)

HRZFEV-C18213

(2586)

HRZVV-SB-C18467

(20276)

HRZFEV-C18213

(2586)

Flame retardant

UL 1581

VW-1

VW-1

VW-1

VW-1

Recommended product

Model Manufacturer

Dyden

AWG 24

1: Red and white

2: Green and blue

3: Purple and orange

4: Gray and black

6

4

1

3

2

5

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Electromagnetic brake (AWG

24)

5: Brown

6: Yellow

5

5 WIRING OPTION

5.4 Wires for option cables

93

MR-AEP2J20CBL03M-_-L/MR-AEP2J10CBL03M-_-L

Item

MR-AEP2J20CBL03M-_-L

MR-AEP2J10CBL03M-_-L

Item

MR-AEP2J20CBL03M-_-L

MR-AEP2J10CBL03M-_-L

Item

MR-AEP2J20CBL03M-_-L

MR-AEP2J10CBL03M-_-L

Item

MR-AEP2J20CBL03M-_-L

MR-AEP2J10CBL03M-_-L

HRZVV-SB-C18467(20276)

Reference diagram

1

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

For encoder

For power supply

Shield braid

Cable length

[m]

0.3

0.3

105

80

105

Flex type

Standard (for fixed parts)

Standard (for fixed parts)

21.8 or less

92.2 or less

21.8 or less

600

30

600

Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 20276

UL style 2586

UL style 20276

UL style 2586

Physical characteristics

Conductor construction Braided shielding material

AWG 24 × 4 pairs

AWG 18 × 4 cores

AWG 24 × 4 pairs

AWG 18 × 4 cores

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

 Flame-retardant and oilresistant PVC

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

0.6 (AWG 24)

1.21 (AWG 18)

0.6 (AWG 24)

1.21 (AWG 18)

7.5

7.5

7.5

7.5

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

10 or more

100 or more

10 or more

100 or more

Color

Black

Black

Black

Black

Withstand voltage

[Vac/min]

500

2000

500

2000

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80 92.2 or less

Rated voltage

[V]

Recommended product

Model Manufacturer

30 HRZVV-SB-C18467

(20276)

HRZFEV-C18355

(2586)

HRZVV-SB-C18467

(20276)

HRZFEV-C18355

(2586)

Flame retardant

UL 1581

VW-1

VW-1

VW-1

VW-1

Dyden

HRZFEV-C18355(2586)

Reference diagram AWG 24

1: Red and white

2: Green and blue

3: Purple and orange

4: Gray and black

1

AWG 18

1: Black

2: White

3: Red

4: Green/yellow

4 2 4 2

3

3

94 5 WIRING OPTION

5.4 Wires for option cables

MR-AEPB1CBL_M-_-L/MR-AEP1CBL_M-_-L

Item Cable length

[m]

2 to 10

Flex type Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 2586

Flame retardant

UL 1581

VW-1 MR-AEPB1CBL_M-_-L

MR-AEP1CBL_M-_-L

For encoder/power supply/brake

For encoder/power supply

2 to 10

Standard (for fixed parts)

Standard (for fixed parts) UL style 2586 VW-1

Item

MR-AEPB1CBL_M-_-L

MR-AEP1CBL_M-_-L

Item

MR-AEPB1CBL_M-_-L

For encoder/power supply/brake

For encoder/power supply

For encoder/power supply/brake

Physical characteristics

Conductor construction Braided shielding material

AWG 18 × 4 cores

AWG 24 × 2 cores

AWG 22 × 3 pairs

AWG 18 × 4 cores

AWG 22 × 3 pairs

Tinned annealed copper wire

(encoder cables only)

Tinned annealed copper wire

(encoder cables only)

Sheath material

Flame-retardant and oilresistant PVC

Flame-retardant and oilresistant PVC

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

1.21 (AWG 18)

0.6 (AWG 24)

0.76 (AWG 22)

1.21 (AWG 18)

0.76 (AWG 22)

11.9

11.9

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

100 or more

100 or more

Color

Black

Black

Withstand voltage

[Vac/min]

2000

2000 MR-AEP1CBL_M-_-L For encoder/power supply

Item

MR-AEPB1CBL_M-_-L For encoder/power supply/brake

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

105

105

21.8 or less

92.2 or less

55.0 or less

21.8 or less

55.0 or less

MR-AEP1CBL_M-_-L For encoder/power supply

HRZFEV-ESB-C18785(2586)

Reference diagram

4

7

3

5

2

6

1

Shield braid

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Encoder (AWG 22)

5: Red and white

6: Green and blue

7: Purple and orange

HRZFEV-ESB-C18737(2586)

Reference diagram

6

4

9

3

Rated voltage

[V]

600

600

7

2

8

1

5

Recommended product

Model

HRZFEV-ESB-

C18737 (2586)

HRZFEV-ESB-

C18785 (2586)

Shield braid

Manufacturer

Dyden

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Electromagnetic brake (AWG

24)

5: Brown

6: Yellow

Encoder (AWG 22)

7: Red and white

8: Green and blue

9: Purple and orange

5

5 WIRING OPTION

5.4 Wires for option cables

95

MR-AEPB1CBL_M-_-H/MR-AEP1CBL_M-_-H

Item

MR-AEPB1CBL_M-_-H

MR-AEP1CBL_M-_-H

Item

MR-AEPB1CBL_M-_-H

MR-AEP1CBL_M-_-H

Item

MR-AEPB1CBL_M-_-H

For encoder/power supply/brake

For encoder/power supply

For encoder/power supply/brake

For encoder/power supply

For encoder/power supply/brake

Cable length

[m]

Flex type Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 2586

Flame retardant

UL 1581

VW-1 2 to 10

2 to 10

High flex life (for moving parts)

High flex life (for moving parts)

UL style 2586 VW-1

Physical characteristics

Conductor construction Braided shielding material

AWG 18 × 4 cores

AWG 24 × 2 cores

AWG 22 × 3 pairs

AWG 18 × 4 cores

AWG 22 × 3 pairs

Tinned annealed copper wire

(encoder cables only)

Tinned annealed copper wire

(encoder cables only)

Sheath material

Flame-retardant and oilresistant PVC

Flame-retardant and oilresistant PVC

Color

Black

Black

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

1.36 (AWG 18)

0.61 (AWG 24)

0.77 (AWG 22)

1.36 (AWG 18)

0.77 (AWG 22)

11.9

11.9

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

100 or more

100 or more

Withstand voltage

[Vac/min]

2000

2000 MR-AEP1CBL_M-_-H For encoder/power supply

Item

MR-AEPB1CBL_M-_-H For encoder/power supply/brake

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

105

105

25.6 or less

97.6 or less

55.0 or less

25.6 or less

55.0 or less

MR-AEP1CBL_M-_-H For encoder/power supply

RMFEV-ESB-C18786(2586)

Reference diagram

4

7

3

5

2

6

1

Shield braid

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Encoder (AWG 22)

5: Red and white

6: Green and blue

7: Purple and orange 6

4

9

3

Rated voltage

[V]

600

600

RMFEV-ESB-C18222(2586)

Reference diagram

7

2

8

Recommended product

Model Manufacturer

RMFEV-ESB-C18222

(2586)

Dyden

Shield braid

1

5

RMFEV-ESB-C18786

(2586)

Power supply (AWG 18)

1: Black

2: White

3: Red

4: Green/yellow

Electromagnetic brake (AWG

24)

5: Brown

6: Yellow

Encoder (AWG 22)

7: Red and white

8: Green and blue

9: Purple and orange

96 5 WIRING OPTION

5.4 Wires for option cables

MR-AENSCBL_M-L/MR-AENSCBL_M-H

Item

MR-AENSCBL_M-L

MR-AENSCBL_M-H

Item

MR-AENSCBL_M-L

MR-AENSCBL_M-H

Item

MR-AENSCBL_M-L

MR-AENSCBL_M-H

Item

MR-AENSCBL_M-L

MR-AENSCBL_M-H

HRZDEV-SLAB-C18448(20276)

Reference diagram

4

2

1

5

3

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

Shield braid

Cable length

[m]

20, 30

20 to 50

Flex type

Standard (for fixed parts)

High flex life (for moving parts)

Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 20276

UL style 20276

Flame retardant

UL 1581

VW-1

VW-1

Physical characteristics

Conductor construction Braided shielding material

AWG 15 × 2 cores

AWG 22 × 2 pairs

AWG 24 × 1 pair

AWG 15 × 2 cores

AWG 23 × 2 pairs

AWG 24 × 1 pair

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

Color

Black

Black

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

100 or more

Withstand voltage

[Vac/min]

500 1.83 (AWG 15)

0.78 (AWG 22)

0.6 (AWG 24)

2.0 (AWG 15)

0.72 (AWG 23)

0.61 (AWG 24)

8.6

8.7

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80

80

10.5 or less

55.5 or less

93.9 or less

11.0 or less

72.9 or less

99.4 or less

4 times the cable OD

Rated voltage

[V]

30

30

100 or more

Recommended product

Model

HRZDEV-SLAB-

C18448 (20276)

RMDCV-SLAB-

C18451 (20276)

500

Manufacturer

Dyden

RMDCV-SLAB-C18451(20276)

Reference diagram AWG 15

1: Red

2: White

AWG 22

3: Green and blue

4: Gray and black

AWG 24

5: Purple and orange

4

1

3

Shield braid

AWG 15

1: Red

2: White

AWG 23

3: Green and blue

4: Gray and black

AWG 24

5: Purple and orange

2 5

5

5 WIRING OPTION

5.4 Wires for option cables

97

MR-AEKCBL_M-L/MR-AEKCBL_M-H

Item

MR-AEKCBL_M-L

MR-AEKCBL_M-H

Item

MR-AEKCBL_M-L

MR-AEKCBL_M-H

Item

MR-AEKCBL_M-L

MR-AEKCBL_M-H

Item

MR-AEKCBL_M-L

MR-AEKCBL_M-H

HRZDEV-SLAB-C18448(20276)

Reference diagram

4

2

1

5

3

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

Shield braid

Cable length

[m]

20, 30

20 to 50

Flex type

Standard (for fixed parts)

High flex life (for moving parts)

Applicable standard

For wiring between devices

UL 758 (AWM)

UL style 20276

UL style 20276

Flame retardant

UL 1581

VW-1

VW-1

Physical characteristics

Conductor construction Braided shielding material

AWG 15 × 2 cores

AWG 22 × 2 pairs

AWG 24 × 1 pair

AWG 15 × 2 cores

AWG 23 × 2 pairs

AWG 24 × 1 pair

Sheath material

Tinned annealed copper wire Flame-retardant and oilresistant PVC

Tinned annealed copper wire Flame-retardant and oilresistant PVC

Color

Black

Black

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

Minimum bending radius [mm]

(recommended value)

4 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

100 or more

Withstand voltage

[Vac/min]

500 1.83 (AWG 15)

0.78 (AWG 22)

0.6 (AWG 24)

2.0 (AWG 15)

0.72 (AWG 23)

0.61 (AWG 24)

8.6

8.7

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80

80

10.5 or less

55.5 or less

93.9 or less

11.0 or less

72.9 or less

99.4 or less

4 times the cable OD

Rated voltage

[V]

30

30

100 or more

Recommended product

Model

HRZDEV-SLAB-

C18448 (20276)

RMDCV-SLAB-

C18451 (20276)

500

Manufacturer

Dyden

RMDCV-SLAB-C18451(20276)

Reference diagram AWG 15

1: Red

2: White

AWG 22

3: Green and blue

4: Gray and black

AWG 24

5: Purple and orange

4

1

3

Shield braid

AWG 15

1: Red

2: White

AWG 23

3: Green and blue

4: Gray and black

AWG 24

5: Purple and orange

2 5

98 5 WIRING OPTION

5.4 Wires for option cables

MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H

Item

MR-J3ENSCBL_M-L

MR-J3ENSCBL_M-H

Item

MR-J3ENSCBL_M-L

MR-J3ENSCBL_M-H

Item

MR-J3ENSCBL_M-L

MR-J3ENSCBL_M-H

Item

MR-J3ENSCBL_M-L

MR-J3ENSCBL_M-H

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

For encoder

VSVP 7/0.26 (AWG#22 or equivalent)-3P KB-1655

TPE•SVP 70/0.08 (AWG#22 or equivalent)-3P KB-2237

Reference diagram

1

2

AWG 22

1: Black

2: White

3: Red

4: Green

5: Yellow

6: Brown

5 3

Shield braid

6 4

Cable length

[m]

2 to 10

2 to 10

Flex type

Standard (for fixed parts)

High flex life (for moving parts)

Applicable standard

For wiring between devices

UL 758 (AWM)





Flame retardant

UL 1581





Physical characteristics

Conductor construction Braided shielding material

AWG 22 × 3 pairs

AWG 22 × 3 pairs

Sheath material Color

Tinned annealed copper wire Lead-free heat resistant PVC Black

Tinned annealed copper wire Lead-free heat resistant PVC Black

Wire specifications

Conductor OD [mm] Cable OD

*1

[mm]

0.78 (AWG 22)

0.77 (AWG 22)

7.2

7.2

Wire specifications

Rated temperature

[°C]

Conductor resistance

(at 20 °C)

[ Ω /km]

80 53.0 or less

Minimum bending radius [mm]

(recommended value)

8 times the cable OD

8 times the cable OD

Insulation resistance

(at 20 °C)

[M Ω /km]

10 or more

10 or more

Withstand voltage

[Vac/min]

500

500

Rated voltage

[V]

Recommended product

Model Manufacturer

30 Bando Densen

80 56.0 or less 30

VSVP 7/0.26

(AWG#22 or equivalent)-3P

KB-1655

TPE•SVP 70/0.08

(AWG#22 or equivalent)-3P

KB-2237

5

*1 Standard OD. The maximum OD is about 10 % greater.

5 WIRING OPTION

5.4 Wires for option cables

99

Shielding CN2, CN2A, CN2B, and CN2C connectors

When wiring the CN2, CN2A, CN2B, and CN2C side connectors, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Ground plate

Cable

Screw

100 5 WIRING OPTION

5.4 Wires for option cables

5.5

Cable flex life

The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life is the value for complete disconnection and calculated by estimating conductor disconnection and insulator breakage, excluding electric characteristic deterioration, sheath abrasion, and insulator abrasion. Thus, provide a slight allowance for this value.

1 × 10 8

5 × 10 7 a

1 × 10 7

5 × 10 6 a: High flex life cable (for moving parts)

1 × 10 6

5 × 10 5 b: Standard cable (for fixed parts)

1 × 10 5

5 × 10 4

5

1 × 10 4

5 × 10 3 b

1 × 10 3

4 7 10 20 40

Bend radius [mm]

70 100 200

5 WIRING OPTION

5.5 Cable flex life

101

6

HK-KT SERIES

This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-KT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.

For the combinations of servo amplifiers and servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the servo motor, refer to "Servo amplifier/motor combinations" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

102 6 HK-KT SERIES

6.1

Model designation

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

H K - K T 4 3 4 W B

Oil seal

Symbol Oil seal

None

J

Not attached

Attached

Electromagnetic brake

Symbol Electromagnetic brake

None

B

Not attached

Attached

Structure specification

Symbol Structure

None

U

Standard

Flat type

Special specifications

Symbol Special specifications

None

WS

Standard

Functional safety supported

Shaft type

Symbol Shaft shape

None

D

L

K

N

Standard (straight shaft)

D-cut shaft

L-cut shaft

Keyed shaft (with key)

Keyed shaft (without key)

Gear reducer

Symbol Gear reducer

None

G1

None

For general industrial machine

(flange-mounting)

G5 Flange-mounting flange output type for high precision application

G7 Flange-mounting shaft output type for high precision application

Symbol Symbol Motor type

None W

When connected with 200 V class servo amplifier When connected with 400 V class servo amplifier

Standard specifications High speed specifications

(Increased torque in high speed area)

4 Standard specifications

None

4

None

Low speed high torque specification

(Reduced capacity of combined servo amplifier)

Standard specifications





Standard specifications

Rated speed

Symbol Rated speed [r/min]

2

3

2000

3000

4

6

7M

10

15

20

Rated output

Symbol Rated output [kW]

05

1

1M

2

0.05

0.1

0.15

0.2

0.4

0.6

0.75

1.0

1.5

2.0

6

6 HK-KT SERIES

6.1 Model designation

103

6.2

Standard specifications

Standard specifications list

When connected with 200 V servo amplifier

Series

Flange size

Rotary servo motor model HK-

KT

HK-KT_W (Low inertia/small capacity)

□ 40

053W(B) 13W(B) 1M3W(B)

□ 60

13UW(B) 23W(B)

Power supply capacity

Power supply voltage [V]

Continuous

running duty

*1

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1 [r/min]

Maximum speed

*1

[r/min]

0.05

0.16

0.56 (0.72)

3000

6700

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

6.4

5.8

Rated current [A]

Maximum current

*8

[A]

Moment of inertia

J [× 10

-4

kg•m

2

]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

200 V AC (3-phase 200 V AC to 240 V AC)

1.3

4.6 (6.2)

0.0394

0.0434

20 times or less

0.1

0.32

1.1 (1.4)

14.8

14.0

1.2

4.6 (6.0)

0.0686

0.0725

*11

0.15

0.48

1.7 (2.1)

23.3

22.4

1.2

4.5 (6.0)

0.0977

0.102

20 times or less

0.1

0.32

1.1 (1.4)

8.4

6.6

1.1

4.6 (6.0)

0.121

0.153

10 times or

less *11

0.2

0.64

2.2 (2.9)

19.4

16.0

1.4

5.4 (7.1)

0.209

0.254

23 times or less

*10

Speed/position detector

Type

Oil seal *7

Insulation class

Structure

Vibration resistance

*4

[m/s

2

]

Vibration rank

*5

Permissible load for the shaft

*6*13

L [mm]

Radial [N]

Thrust [N]

Mass

*12

[kg] Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9*14

X: 49, Y: 49

V10

25 30

88

59

0.27

0.37

0.47

0.57

245

98

0.77

0.53

0.63

0.73

0.79

1.2

43W(B)

0.4

1.3

4.5 (5.7)

39.5

36.7

2.6

9.8 (14)

0.410

0.442

23 times or less

1.2

1.6

63W(B)

0.6

1.9

6.7 (8.6)

61.0

58.0

4.5

19 (25)

0.598

0.629

25 times or less

1.5

1.9

104 6 HK-KT SERIES

6.2 Standard specifications

Series

Flange size

HK-KT_W (Low inertia/small capacity)

□ 80 □ 90

Rotary servo motor model HK-

KT

23UW(

B)

43UW(

B)

7M3W(

B)

103W(

B)

63UW(

B)

7M3U

W(B)

103UW

(B)

153W(

B)

203W(

B)

Power supply capacity

Maximum speed *8

[r/min]

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1*8

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1*8

[r/min]

200 V AC (3-phase 200 V AC to 240 V AC)

0.2

0.64

1.9 (2.5)

3000

0.4

1.3

4.5 (5.7)

0.75

2.4

8.4

(10.7)

1.0

3.2

11.1

(14.3)

6700

9.7

22.3

41.6

6500

60.3

0.6

1.9 (2.4)

6.3

(10.3)

3000

(2400)

6000

(6700)

17.3

(27.0)

0.75

2.4

8.4

(10.7)

3000

6700

27.0

1.0

3.2

11.1

(14.3)

6000

37.0

Power rate at continuous rated

torque *8

[kW/s]

With an electromagnetic brake

Rated current

*8

[A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

Without an electromagnetic brake

With an electromagnetic brake

7.3

1.5

5.9 (9.0)

0.419

0.557

18.8

2.1

9.2 (13)

0.726

0.864

37.7

4.7

20 (26)

1.37

1.51

56.0

5.0

21 (28)

1.68

1.81

14.9

(23.3)

3.2 (4.0)

12 (20)

2.11

2.45

23.3

4.0

16 (22)

2.11

2.45

32.9

4.9

21 (27)

2.74

3.08

Recommended load to motor inertia ratio

*2

Speed/position detector

1.5

4.8

16.7

(21.5)

6700

52.0

48.3

8.7

34 (46)

4.38

4.72

10 times or less 16 times or less

17 times or less

10 times or less 15 times or less

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*13

Mass

*12

[kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9*14

X: 49, Y: 49

V10

30

245

98

1.2

1.5

40

392

147

2.2

2.4

X: 24.5, Y: 49

2.3

2.3

2.7

2.0

6.4

19.1

(25.5)

11

34 (48)

5.65

X: 24.5, Y: 24.5

3.6

6000

71.7

67.7

5.99

4.4

With an electromagnetic brake

1.6

1.9

2.9

3.1

2.9

2.9

3.3

4.7

5.5

202W(

B)

2.0

9.5

28.6

(38.2)

2000

3000

111

107

9.0

30 (41)

8.18

8.53

5.9

7.0

6

6 HK-KT SERIES

6.2 Standard specifications

105

Series

Flange size

Rotary servo motor model HK-

KT

HK-KT_4_W (Low inertia/small capacity)

□ 60

434W(B) 634W(B)

□ 80

7M34W(B) 1034W(B)

□ 90

1534W(B) 2034W(B)

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

200 V AC (3-phase 200 V AC to 240 V AC)

0.2

1.3

4.5 (5.7)

1500

3500

0.3

1.9

6.7 (8.6)

0.375

2.4

8.4 (10.7)

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

39.5

36.7

61.0

58.0

41.6

37.7

0.5

3.2

11.1 (14.3)

3000

60.3

56.0

0.75

4.8

19.1 (21.5)

52.0

48.3

Rated current [A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Speed/position detector

1.3

4.9 (6.6)

0.410

0.442

25 times or less

2.3

9.1 (13)

0.598

0.629

2.4

9.7 (13)

1.37

1.51

17 times or less

2.5

11 (14)

1.68

1.81

4.4

20 (23)

4.38

4.72

15 times or less

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

Mass [kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 49, Y: 49

V10

X: 24.5, Y: 24.5

30

245

98

1.2

1.6

1.5

1.9

40

392

147

2.2

2.9

2.4

3.1

3.6

4.7

1.0

6.4

22.3 (25.5)

71.7

67.7

5.3

21 (24)

5.65

5.99

4.4

5.5

2024W(B)

1.0

9.5

38.2

1000

1500

111

107

4.5

21

8.18

8.53

5.9

7.0

106 6 HK-KT SERIES

6.2 Standard specifications

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

*4 The vibration directions are shown in the following figure. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the rotary servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value. However, the description above is not applied to a geared servo motor is used.

Rotary servo motor

X

Top

Y

Vibration

1000

100

10

1

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 118 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names. The HK-KT053W with an oil seal can be used at a derating rate of 80

%.

*8 The values in ( ) are for when the torque is increased.

*9 When IP67 cables are needed, contact your local sales office.

*10 If at 6000 r/min or less, the ratio will be 28 times or less.

*11 This is a recommended load to motor inertia ratio that is applicable when the servo motor is operated at the rated speed in combination with the servo amplifier with a capacity of 100 W. When the servo motor is to be operated at a speed exceeding the rated speed, check whether a regenerative option is required by using Drive System Capacity Selection Software Motorizer. The servo motor can be combined with servo amplifiers with larger capacity.

*12 Refer to the following for geared servo motors.



Page 127 Geared servo motor

*13 Refer to the following for geared servo motors.



Page 127 Geared servo motor

*14 When a geared servo motor is used, the IP rating for the gear reducer area is equivalent to IP44.

6

6 HK-KT SERIES

6.2 Standard specifications

107

When connected with 400 V servo amplifier

Series

Flange size

HK-KT_W (Low inertia/small capacity)

□ 40

Rotary servo motor model HK-

KT

053W(B) 13W(B) 1M3W(B)

Power supply capacity

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

400 V AC (3-phase 380 V AC to 480 V AC)

0.05

0.16

0.56 (0.72)

3000

6700

0.1

0.32

1.1 (1.4)

6.4

14.8

Rated current [A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

With an electromagnetic brake

Without an electromagnetic brake

5.8

1.3

4.6 (6.2)

0.0394

14.0

1.2

4.6 (6.0)

0.0686

With an electromagnetic brake

Recommended load to motor

inertia ratio *2

MR-J5

MR-J5D

Speed/position detector

0.0434

20 times or less

20 times or less

0.0725

Type

Oil seal

*7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

Mass [kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

V10

25

88

59

0.27

0.15

0.48

1.7 (2.1)

23.3

22.4

1.2

4.5 (6.0)

0.0977

0.102

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 49, Y: 49

0.53

0.37

0.63

0.47

0.73

108 6 HK-KT SERIES

6.2 Standard specifications

Series

Flange size

Rotary servo motor model HK-

KT

HK-KT_4_W (Low inertia/small capacity)

□ 60 □ 80

434W(B) 634W(B) 7M34W(

B)

1034W(

B)

□ 90

634UW(

B)

1034UW

(B)

1534W(

B)

Power supply capacity

Maximum speed *1

[r/min]

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1*8

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

400 V AC (3-phase 380 V AC to 480 V AC)

0.4

1.3

4.5 (5.7)

0.6

1.9

6.7 (8.6)

0.75

2.4

8.4 (10.7)

1.0

3.2

11.1

(14.3)

Rated speed

*1

[r/min]

3000

6700

39.5

61.0

41.6

6500

60.3

0.6

1.9 (2.4)

6.3 (10.3)

3000

(2400)

6000

(6700)

17.3

(27.0)

1.0

3.2

11.1

(14.3)

3000

6000

37.0

Power rate at continuous rated

torque *8

[kW/s]

With an electromagnetic brake

Rated current

*8

[A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

Without an electromagnetic brake

With an electromagnetic brake

36.7

1.3

4.9 (6.6)

0.410

0.442

58.0

2.3

9.1 (13)

0.598

0.629

37.7

2.4

9.7 (13)

1.37

1.51

56.0

2.5

11 (14)

1.68

1.81

14.9

(23.3)

1.6 (2.0)

5.6 (9.7)

2.11

2.45

32.9

2.5

9.7 (14)

2.74

3.08

Recommended load to motor

inertia ratio

*2

MR-J5

MR-J5D

Speed/position detector

1.5

4.8

16.7

(21.5)

6700

52.0

48.3

4.4

17 (23)

4.38

4.72

23 times or less

23 times or less

20 times or less

*10

30 times or less

9 times or less

*11

20 times or less

7 times or

less

*10

30 times or less

10 times or less

10 times or less

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

11 times

or less

*10

10 times or less

Type

Oil seal

*7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

L [mm]

Radial [N]

Thrust [N]

Mass [kg] Without an electromagnetic brake

With an electromagnetic brake

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 49, Y: 49

V10

30

245

98

1.2

1.6

1.5

1.9

40

392

147

2.2

2.9

2.4

3.1

X: 24.5, Y: 49

2.3

2.9

2.7

3.3

3.6

4.7

2034W(

B)

2.0

6.4

19.1

(25.5)

6000

71.7

67.7

5.3

17 (24)

5.65

5.99

2024W(

B)

2.0

9.5

28.6

(38.2)

2000

4.5

15 (21)

8.18

10 times

or less

*10

9 times or less

15 times or less

15 times or less

4.4

5.5

3000

111

107

8.53

5.9

7.0

6

6 HK-KT SERIES

6.2 Standard specifications

109

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

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

Rotary servo motor

X

Y

Vibration

1000

100

10

1

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Top

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 118 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names. The HK-KT053W with an oil seal can be used at a derating rate of 80

%.

*8 The values in ( ) are for when the torque is increased.

*9 When IP67 cables are needed, contact your local sales office.

*10 If at 3000 r/min or less, the ratio will be 30 times or less.

*11 If at 3000 r/min or less, the ratio will be 20 times or less.

110 6 HK-KT SERIES

6.2 Standard specifications

Torque characteristics

• For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70

% or lower of the rated torque.

When connected with 200 V servo amplifier

When the power supply voltage drops, the torque decreases.

range for 3-phase 170 V AC

: A rough indication of the possible continuous running

: 3-phase 200 VAC

: 1-phase 200 VAC

■ HK-KT_W

[HK-KT053W]

Standard torque

0.8

0.7

0.6

0.5

Short-duration running range

0.4

0.3

0.2

0.1

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1M3W]

Standard torque

2.5

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT23W]

Standard torque

3.0

6000 6700

[HK-KT053W]

Torque increased

0.8

0.7

0.6

Short-duration running range

0.5

0.4

0.3

0.2

0.1

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1M3W]

Torque increased

2.5

2.0

1.5

1.0

Short-duration running range

6000 6700

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT23W]

Torque increased

3.0

6000 6700

[HK-KT13W]

Standard torque

1.6

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT13UW]

Standard torque

1.6

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT43W]

Standard torque

6.0

6000 6700

[HK-KT13W]

Torque increased

1.6

1.4

1.2

Short-duration running range

1.0

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT13UW]

Torque increased

1.6

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT43W]

Torque increased

6.0

6000 6700

6000 6700

2.5

2.5

2.0

Short-duration running range

1.5

1.0

2.0

Short-duration running range

1.5

1.0

5.0

4.0

Short-duration running range

3.0

2.0

5.0

4.0

Short-duration running range

3.0

2.0

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

1.0

0.0

0

Continuous running range

2000 4000 6000 6700

1.0

0.0

0

Continuous running range

2000 4000 6000 6700

6

6 HK-KT SERIES

6.2 Standard specifications

111

[HK-KT63W]

Standard torque

9.0

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT43UW]

Standard torque

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT103W]

Standard torque

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M3UW]

Standard torque

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT63W]

Torque increased

9.0

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT43UW]

Torque increased

6.0

5.0

4.0

3.0

Short-duration running range

2.0

6000 6700

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6500

[HK-KT103W]

Torque increased

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M3UW]

Torque increased

12.0

10.0

8.0

Short-duration running range

6.0

4.0

6000 6700

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT23UW]

Standard torque

3.0

2.5

2.0

1.5

Short-duration running range

1.0

[HK-KT23UW]

Torque increased

3.0

2.5

2.0

1.5

Short-duration running range

1.0

6000 6700

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M3W]

Standard torque

12.0

10.0

8.0

Short-duration running range

6.0

4.0

6000 6700

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT63UW]

Standard torque

12.0

6000 6700

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M3W]

Torque increased

12.0

10.0

8.0

Short-duration running range

6.0

4.0

6000 6700

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT63UW]

Torque increased

12.0

6000 6700

6000 6700

10.0

8.0

6.0

4.0

Short-duration running range

10.0

8.0

6.0

Short-duration running range

4.0

6000 6500

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT103UW]

Standard torque

16.0

14.0

12.0

10.0

Short-duration running range

8.0

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

6000

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT103UW]

Torque increased

16.0

14.0

12.0

10.0

Short-duration running range

8.0

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

6000

112 6 HK-KT SERIES

6.2 Standard specifications

[HK-KT153W]

Standard torque

25.0

[HK-KT153W]

Torque increased

25.0

[HK-KT203W]

Standard torque

30.0

20.0

15.0

Short-duration running range

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT202W]

Standard torque

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

6000 6700

3000

25.0

20.0

15.0

Short-duration running range

10.0

20.0

15.0

Short-duration running range

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT202W]

Torque increased

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

6000 6700



5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

3000

[HK-KT203W]

Torque increased

30.0

25.0

20.0

Short-duration running range

15.0

10.0

6000



5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

6

6 HK-KT SERIES

6.2 Standard specifications

113

■ HK-KT_4_W

[HK-KT434W]

Standard torque

6.0

5.0

4.0

3.0

2.0

Short-duration running range

1.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT7M34W]

Standard torque

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT1534W]

Standard torque

25.0

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

[HK-KT2024W]

Standard torque

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

3000



[HK-KT434W]

Torque increased

6.0

5.0

4.0

3.0

2.0

Short-duration running range

1.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT634W]

Standard torque

9.0

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT7M34W]

Torque increased

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT1034W]

Standard torque

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000

[HK-KT1534W]

Standard torque

25.0

[HK-KT2034W]

Standard torque

30.0

[HK-KT634W]

Torque increased

9.0

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 3500

[HK-KT1034W]

Torque increased

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

[HK-KT2034W]

Standard torque

30.0

3000

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

25.0

20.0

15.0

Short-duration running range

10.0

3000



5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

25.0

20.0

Short-duration running range

15.0

10.0

3000



5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000

1500

114 6 HK-KT SERIES

6.2 Standard specifications

When connected with 400 V servo amplifier

When the power supply voltage drops, the torque decreases.

range for 3-phase 323 V AC

: A rough indication of the possible continuous running

: 3-phase 400 VAC

: 3-phase 380 VAC

■ HK-KT_W

[HK-KT053W]

Standard torque

0.8

0.7

0.6

0.5

Short-duration running range

0.4

0.3

0.2

0.1

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1M3W]

Standard torque

2.5

6000 6700

[HK-KT053W]

Torque increased

0.8

0.7

0.6

0.5

Short-duration running range

0.4

0.3

0.2

0.1

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1M3W]

Torque increased

2.5

6000 6700

[HK-KT13W]

Standard torque

1.6

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]



6000 6700

[HK-KT13W]

Torque increased

1.6

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

0.0

0

Continuous running range

2000 4000

Speed [r/min]



6000 6700

2.0

2.0

1.5

1.0

Short-duration running range

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

6

6 HK-KT SERIES

6.2 Standard specifications

115

■ HK-KT_4_W

[HK-KT434W]

Standard torque

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M34W]

Standard torque

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT634UW]

Standard torque

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1534W]

Standard torque

25.0

20.0

15.0

10.0

Short-duration running range

6000 6700

6000 6700

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT634UW]

Torque increased

12.0

6000 6700

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT1534W]

Torque increased

25.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT434W]

Torque increased

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-KT7M34W]

Torque increased

12.0

10.0

8.0

6.0

Short-duration running range

4.0

10.0

8.0

6.0

Short-duration running range

4.0

6000 6700

[HK-KT634W]

Standard torque

9.0

8.0

7.0

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT1034W]

Standard torque

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT1034UW]

Standard torque

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

[HK-KT634W]

Torque increased

9.0

8.0

7.0

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6500

[HK-KT1034W]

Torque increased

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-KT1034UW]

Torque increased

16.0

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

6000 6500

6000

[HK-KT2034W]

Standard torque

30.0

[HK-KT2034W]

Torque increased

30.0

25.0

25.0

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000 6700

20.0

15.0

Short-duration running range

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

20.0

15.0

Short-duration running range

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

116 6 HK-KT SERIES

6.2 Standard specifications

[HK-KT2024W]

Standard torque

40.0

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

[HK-KT2024W]

Torque increased

40.0

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

 

6

6 HK-KT SERIES

6.2 Standard specifications

117

Permissible load for the output shaft

The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently.

Distance L from flange mounting surface to load center

Radial load

Thrust load

In case where the load position changes, calculate the permissible radial load from the distance measured from the flange mounting surface to the center of the load, and make the load equal to or less than the permissible radial load, referring to the graph shown in the following.

Model Radial load

Load position L

[mm]

25

Thrust load

Load [N] Load [N]

88 59

The graph of the relation between the load and the load position

HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

125

120

115

110

105

100

95

90

85

80

0 5 10 15 20

Distance L from flange surface [mm]

25

HK-KT23W

HK-KT43(4)W

HK-KT63(4)W

HK-KT23UW

HK-KT43UW

30 245 98

340

320

300

280

260

240

220

0 5 10 15 20 25

Distance L from flange surface [mm]

30

118 6 HK-KT SERIES

6.2 Standard specifications

Model

HK-KT7M3(4)W

HK-KT103(4)W

HK-KT63(4)UW

HK-KT7M3UW

HK-KT103(4)UW

Radial load

Load position L

[mm]

40

Thrust load

Load [N] Load [N]

392 147

The graph of the relation between the load and the load position

600

550

500

450

400

350

0 10 20 30

Distance L from flange surface [mm]

40

HK-KT153(4)W

HK-KT203(4)W

HK-KT202(4)W

40 392 147

500

480

460

440

420

400

380

360

0 10 20 30

Distance L from flange surface [mm]

40

6

6 HK-KT SERIES

6.2 Standard specifications

119

6.3

The graph of overload protection characteristics of rotary servo motor

Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later.

Refer to "Overload protection characteristics" in the following manual.

 MR-J5 User's Manual (Hardware)

6.4

Characteristics of electromagnetic brake

Before operating the servo motor, confirm that the electromagnetic brake operates properly.

The operation time of the electromagnetic brake varies depending on the power supply circuit being used.

Check the operation delay time with an actual machine.

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

Item HK-KT053WB

HK-KT13WB

HK-

KT1M3WB

HK-

KT13UWB

HK-KT23WB

HK-

KT43(4)WB

HK-

KT63(4)WB

HK-

KT23UWB

HK-

KT43UWB

HK-

KT7M3(4)WB

HK-

KT103(4)WB

HK-

KT63(4)UW

HK-

KT7M3UWB

HK-

KT103(4)UW

B

Type *1

Rated voltage

*4

Spring actuated type safety brake

24 V DC (-10 % to 0 %)

Power consumption at 20 °C [W]

Coil resistance *5

[ Ω ]

Inductance

*5

[H]

Brake static friction torque

*7

[N•m]

Release delay time

*2

[s]

Braking delay time

[s]

DC off

*2

Permissible braking work [J]

Brake life

*3

Per braking

Per hour

Brake looseness at servo motor shaft

*5

[degree]

Number of braking times [times]

Selection example of surge absorbers to be

used *6

For the suppressed voltage 350 V

6.4

91

0.14

0.48 or more

0.03

0.01

5.6

56

2.5

20000

7.9

73

0.20

1.9 or more

0.03

0.02

22

220

1.2

20000

8.2

70

0.19

1.3 or more

0.03

0.02

22

220

0.9

20000

10

57

0.16

3.2 or more

0.04

0.02

64

640

0.9

20000

Work per braking [J] 5.6

For the suppressed voltage 125 V

22 22 64

TND20V-680KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

TND10V-221KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

9.0

64

0.23

3.2 or more

0.03

0.03

66

660

0.9

20000

33

HK-

KT153(4)WB

HK-

KT203(4)WB

HK-

KT202(4)WB

13.8

42

0.15

9.5 or more

0.09

0.03

64

640

0.9

5000

64

*1 This type does not have a manual release mechanism. Use a 24 V DC power supply to release the brake electrically.

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

*3 Brake lining wear due to braking will increase the brake gap, but the gap is not adjustable. Therefore, the brake life indicates the number of times the brake can be applied before gap adjustment becomes necessary.

*4 Prepare a power supply exclusively for the electromagnetic brake.

*5 The values are design values. These are not the guaranteed values.

*6 Select the electromagnetic brake control relay properly, in consideration of the characteristics of the electromagnetic brake and surge absorber. When a diode is used as a surge absorber, the electromagnetic braking time becomes longer.

*7 The value of the brake static friction torque is the lower limit in the initial state at 20 °C.

120 6 HK-KT SERIES

6.3 The graph of overload protection characteristics of rotary servo motor

6.5

Derating

The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL.

046 Servo motor overheat] does not occur on the actual machine before use.

If [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] occurs, consider the following measures:

• Lower the effective load ratio of the rotary servo motor.

• Review the heat dissipation conditions.

To use this product under conditions with multiple derating, calculate the multiplication of each derating rate, and use at the calculated derating rate or lower.

For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When applying the derating rate in the conditions above, calculate the multiplication of the derating rate of 70 % in the unbalanced torque and the derating rate of each condition, and use this product at the calculated derating rate or lower.

6

6 HK-KT SERIES

6.5 Derating

121

Restrictions on the flange size

When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions:

120

100

80

60

40

20

0

0

HK-KT053W *1 /HK-KT13W

HK-KT1M3W

50 100 150

Flange size (6 mm thick) [mm]

200 250

120

100

80

60

40

20

HK-KT43(4)W

HK-KT63(4)W

0

0 50 100 150 200

Flange size (12 mm thick) [mm]

250

120

100

HK-KT63(4)UW/HK-KT7M3UW/HK-KT103(4)UW

300

80

60

40

20

120

100

80

60

40

20

0

0

HK-KT13UW/HK-KT23W

50 100 150

Flange size (6 mm thick) [mm]

200 250

120

100

80

60

40

20

HK-KT23UW/HK-KT43UW

HK-KT7M3(4)W/HK-KT103(4)W

0

0 50 100 150 200

Flange size (12 mm thick) [mm]

250

120

100

HK-KT153(4)W/HK-KT203(4)W/HK-KT202(4)W

300

80

60

40

20

0

0 50 100 150 200

Flange size (12 mm thick) [mm]

250 300

0

0 50 100 150 200

Flange size (20 mm thick) [mm]

250 300

*1 The HK-KT053W with an oil seal can be used at a derating rate of 80 %. When applying the derating in the conditions above, calculate the multiplication of the derating rate of 80 % with an oil seal and the derating rate of each condition, and use the servo motor at the calculated derating rate or lower.

122 6 HK-KT SERIES

6.5 Derating

Restrictions on the ambient temperature

When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions:

120 120

HK-KT13UW

HK-KT053W *1 /HK-KT13W

100 100

80

60

40

20

HK-KT1M3W

80

60

40

20

HK-KT63(4)W

HK-KT23W/HK-KT43(4)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

0

0 10 20 30 40

Ambient temperature [°C]

50 60

120

100

HK-KT23UW/HK-KT43UW

120

100

HK-KT63(4)UW/HK-KT7M3UW/HK-KT103(4)UW

80 80

HK-KT103(4)W

60 60

40

20

HK-KT7M3(4)W

40

20

HK-KT203(4)W

HK-KT153(4)W

HK-KT202(4)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

0

0 10 20 30 40

Ambient temperature [°C]

50 60

*1 The HK-KT053W with an oil seal can be used at a derating rate of 80 %. When applying the derating in the conditions above, calculate the multiplication of the derating rate of 80 % with an oil seal and the derating rate of each condition, and use the servo motor at the calculated derating rate or lower.

Restrictions on the altitude

To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions:

[%]

100

95

6

0

0 1000

Altitude

2000 [m]

6 HK-KT SERIES

6.5 Derating

123

6.6

Rotary servo motors with special shafts

For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key).

To prevent an accident such as motor shaft fracture, do not use a servo motor with a D-cut shaft, L-cut shaft, or keyed shaft for frequent start/stop applications.

For geared servo motors with special shafts, refer to the following.



Page 133 Servo motor with special shaft

Rotary servo motor Shaft shape

D-cut shaft L-cut shaft

D L

Keyed shaft

With double roundended key

K

Without key

N HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

HK-KT23W

HK-KT43(4)W

HK-KT63(4)W

HK-KT23UW

HK-KT43UW

HK-KT7M3(4)W

HK-KT103(4)W

HK-KT63(4)UW

HK-KT7M3UW

HK-KT103(4)UW

HK-KT153(4)W

HK-KT203(4)W

HK-KT202(4)W

  K N

D-cut shaft

25

Q1

Q2

φ 8 0

-0.009

[Unit: mm]

Rotary servo motor Variable dimensions

Q

21.5

HK-KT053WD

HK-KT13WD

HK-KT1M3WD

HK-KT13UWD 21

Q2

20.5

20

124 6 HK-KT SERIES

6.6 Rotary servo motors with special shafts

L-cut shaft

25

Q1

Q2

0 -0.009

0.5

Rotary servo motor

HK-KT053WL

HK-KT13WL

HK-KT1M3WL

HK-KT13UWL

Variable dimensions

Q1

21.5

Q2

20.5

21 20

Keyed shaft (with double round-ended key)

R

Q

QK

A

QL

U Y

A T

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

8 0

-0.009

25

Q

21.5

HK-KT053WK

HK-KT13WK

HK-KT1M3WK

HK-KT13UWK

HK-KT23WK

HK-KT43(4)WK

HK-KT63(4)WK

HK-KT23UWK

HK-KT43UWK

HK-KT7M3(4)WK

HK-KT103(4)WK

HK-KT63(4)UWK

HK-KT7M3UWK

HK-KT103(4)UWK

HK-KT153(4)WK

HK-KT203(4)WK

HK-KT202(4)WK

14 0

-0.011

19 0

-0.013

30

40

21

26

36

W

3

5

6

QK

14

20

25

QL

5

3

5

U

1.8

3

3.5

T

3

5

6

Y

M3

Screw hole depth

8

M4

Screw hole depth

15

M5

Screw hole depth

20

6

6 HK-KT SERIES

6.6 Rotary servo motors with special shafts

125

Keyed shaft (without key)

R

Q

QK QL

U Y

A

A r

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

8 0

-0.009

25

Q

21.5

HK-KT053WN

HK-KT13WN

HK-KT1M3WN

HK-KT13UWN

HK-KT23WN

HK-KT43(4)WN

HK-KT63(4)WN

HK-KT23UWN

HK-KT43UWN

HK-KT7M3(4)WN

HK-KT103(4)WN

HK-KT63(4)UWN

HK-KT7M3UWN

HK-KT103(4)UWN

HK-KT153(4)WN

HK-KT203(4)WN

HK-KT202(4)WN

14 0

-0.011

19 0

-0.013

30

40

21

26

36

W

3 -0.004

-0.029

QK

14

5 0

-0.03

20

6 0

-0.03

25

QL

5

3

5

U

1.8

+0.1

0 r

1.5

3 +0.1

0

2.5

3.5

+0.1

0

3

Y

M3

Screw hole depth

8

M4

Screw hole depth

15

M5

Screw hole depth

20

126 6 HK-KT SERIES

6.6 Rotary servo motors with special shafts

6.7

Geared servo motor

When using an oil-lubricated geared servo motor, remove the oil when transporting and mounting the servo motor. If the geared servo motor is tipped over while filled with oil, oil leakage may occur.

Do not attach a gear reducer removed from a geared servo motor to a rotary servo motor that originally does not have a gear reducer. If the geared servo motor being used requires repair, contact your local sales office.

The geared servo motors are for general industrial machine and for high precision applications.

Some geared rotary servo motors also have an electromagnetic brake.

For general industrial machine (G1)

Common specifications

Item

Mounting method

Mounting direction

Lubrication method

Output shaft rotation direction

Backlash

*3

Permissible load to motor inertia ratio

(converted into equivalent value on rotary servo motor shaft)

*1

Maximum torque

*4

Maximum speed

(For rotary servo motor shaft)

IP rating (gear reducer area)

Gear reducer efficiency

*2

Description

Flange-mounting

Any direction

Grease lubrication (lubricant filled from the factory)

The same direction as the rotary servo motor

60 arc minutes or less on the gear reducer output shaft

For 50 W/100 W/750 W: 5 times or less

For 200 W/400 W: 7 times or less

3 times the rated torque for the rotary servo motor

4500 r/min

Equivalent to IP44

40 % to 85 %

*1 If the permissible load to motor inertia ratio exceeds the indicated values, contact your local sales office.

*2 The gear reducer efficiency varies depending on the reduction ratio. The gear reducer efficiency also varies depending on the operating conditions such as output torque, speed, and temperature. The values in the table are the representative values at the rated torque, rated speed, and the room temperature, and are not guaranteed values.

*3 The unit of backlash is calculated as follows: 1 arc minute = 0.0167 °

*4 The maximum torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity.

6

6 HK-KT SERIES

6.7 Geared servo motor

127

Exclusive specifications

Rotary servo motor

HK-KT053G1

HK-KT13G1

HK-KT23G1

HK-KT43G1

HK-KT7M3G1

Reduction ratio

Actual reduction ratio

1/20

1/5

1/12

1/20

1/5

1/12

1/20

1/12

1/20

1/5

1/12

1/5

1/12

1/20

1/5

9/44

49/576

25/484

9/44

49/576

25/484

19/96

961/11664

513/9984

19/96

961/11664

7/135

1/5

7/87

625/12544

Moment of inertia

*1

[× 10

-4

kg•m

2

]

Without an electromagn etic brake

0.375

0.564

0.695

0.687

1.79

1.85

2.52

0.0764

0.0984

0.0804

0.106

0.128

0.110

0.363

0.494

With an electromagn etic brake

0.420

0.596

0.727

0.719

1.93

1.99

2.66

0.0804

0.1024

0.0844

0.110

0.132

0.114

0.408

0.539

Permissible load

Permissible radial load

[N]

780

330

710

760

430

620

970

240

370

330

710

150

240

370

150

*2*3

Permissible thrust load

[N]

780

350

720

760

430

620

960

320

450

350

720

200

320

450

200

5.4

6.5

9.4

3.8

3.5

4.1

5.2

1.9

1.9

3.2

3.8

1.4

1.8

1.8

1.5

Mass

[kg]

Without an electromagn etic brake

With an electromagn etic brake

6.1

7.2

11

4.2

3.9

4.5

5.6

2.1

2.1

3.6

4.2

1.6

2.0

2.0

1.7

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

*3 The permissible radial loads in the table are the values at the center of the gear reducer output shaft. Refer to the following for the shaft length.



Page 136 Dimensions

Q/2

Q: Length of axis

Q

128 6 HK-KT SERIES

6.7 Geared servo motor

Servo motor with special shaft

The rotary servo motors for general industrial machine (G1) have a keyed shaft (with double round-ended key).

Model

HK-KT053(B)G1K

HK-KT13(B)G1K

HK-KT23(B)G1K

HK-KT43(B)G1K

HK-KT7M3(B)G1K

Reduction ratio

(actual reduction ratio)

1/5 (9/44)

1/12 (49/576)

1/20 (25/484)

1/5 (9/44)

1/12 (49/576)

1/20 (25/484)

1/5 (19/96)

1/12 (961/11664)

1/20 (513/9984)

1/5 (19/96)

1/12 (961/11664)

1/20 (7/135)

1/5 (1/5)

1/12 (7/87)

1/20 (625/12544)

Variable dimensions

S Q

16 0

-0.011

25 0

-0.013

32 0

-0.016

25

35

50

60

W

5

8

10

12

QK

20

30

40

50

U

3

4

5

T

5

7

8

40 0

-0.016

Y

M4X8

M6X12

M8X16

M10X20

Q

QK

U

Y

T

[Unit: mm]

6

6 HK-KT SERIES

6.7 Geared servo motor

129

For high precision applications (G5/G7)

Common specifications

Item

Mounting method

Mounting direction

Lubrication method

Output shaft rotation direction

Backlash

*3

Permissible load to motor inertia ratio

(converted into equivalent value on rotary servo motor shaft) *1

Maximum torque *4

Maximum speed

(For rotary servo motor shaft)

IP rating (gear reducer area)

Gear reducer efficiency

*2

Description

Flange-mounting

Any direction

Grease lubrication (lubricant filled from the factory)

The same direction as the rotary servo motor

3 arc minutes or less on the gear reducer output shaft

For 50 W/100 W/750 W: 10 times or less

For 200 W/400 W: 14 times or less

3 times the rated torque for the rotary servo motor

6000 r/min

Equivalent to IP44

For 50 W (gear reducer model 14A): 1/5, 12 %; 1/11 to 1/45, 22 % to 34 %

For 50 W (gear reducer model 11B)/100 W/200 W/400 W/750 W: 48 % to 84

%

*1 If the permissible load to motor inertia ratio exceeds the indicated values, contact your local sales office.

*2 The gear reducer efficiency varies depending on the reduction ratio. The gear reducer efficiency also varies depending on the operating conditions such as output torque, speed, and temperature. The values in the table are the representative values at the rated torque, rated speed, and the room temperature, and are not guaranteed values.

*3 The unit of backlash is calculated as follows: 1 arc minute = 0.0167 °

*4 The maximum torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity.

130 6 HK-KT SERIES

6.7 Geared servo motor

Exclusive specifications

■ With flange-output type gear reducer for high precision applications, flange mounting: G5

Rotary servo motor

Reduction ratio

Gear reducer model

Moment of inertia *1

[× 10

-4

kg•m

2

]

Permissible load

*2*3

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

Radial load point

L [mm]

Permissible radial load

[N]

Permissible thrust load

[N]

Without an electromag netic brake

With an electromag netic brake

HK-

KT053G5

11B 0.0429

0.0469

17 93 431 0.48

0.66

HK-

KT13G5

HK-

KT23G5

HK-

KT43G5

HK-

KT7M3G5

1/5

1/11

1/21

1/33

1/45

1/11

1/21

1/33

1/45

1/21

1/33

1/45

1/5

1/33

1/45

1/5

1/11

1/5

( □

60 *4

)

1/11

1/21

1/11

1/21

1/33

1/45

1/5

( □

40

*4

)

1/5

( □

60 *4

)

1/9

1/5

( □

40 *4

)

14A

11B

14A

11B

14A

20A

14A

20A

14A

20A

32A

20A

32A

0.1074

3.7

3.7

5.8

5.8

3.3

3.3

3.3

2.1

1.3

1.3

2.5

2.5

1.7

1.8

4.2

4.5

6.6

6.6

6.6

2254

2581

2833

706

1856

2254

4992

5478

895

1087

2581

2833

706

895

1465

1856

4359

4992

5478

640

733

804

177

527

640

1252

1374

224

272

733

804

177

224

416

527

1094

1252

1374

32

32

57

57

32

32

32

23

23

23

32

32

23

23

32

32

57

57

57

0.752

0.706

0.705

0.643

1.02

0.940

0.992

0.986

0.133

0.124

0.135

0.134

0.455

0.457

2.16

2.07

2.26

2.04

2.04

0.707

0.661

0.660

0.611

0.986

0.908

0.960

0.954

0.129

0.120

0.131

0.130

0.410

0.412

2.02

1.93

2.12

1.90

1.90

0.0419

0.0994

0.0904

0.0844

0.0844

0.0721

0.137

0.1114

0.0459

0.1034

0.0944

0.0884

0.0884

0.076

0.141

23

17

23

23

23

23

17

23

177

111

224

272

311

342

93

177

706

514

895

1087

1244

1366

431

706

1.1

0.49

1.2

1.2

1.2

1.2

0.58

1.2

1.3

0.67

1.4

1.4

1.4

1.4

0.76

1.4

4.1

4.1

6.2

6.2

3.7

3.7

3.7

2.5

1.5

1.5

2.7

2.7

2.1

2.2

4.9

5.2

7.3

7.3

7.3

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

*3 The radial load points of high-precision gear reducers are as follows.

L

6

L: Distance between reducer end face and load center

*4 The value in ( ) indicates the flange dimensions.

6 HK-KT SERIES

6.7 Geared servo motor

131

■ With shaft-output type gear reducer for high precision applications, flange mounting: G7

Rotary servo motor

Reduction ratio

Gear reducer model

Moment of inertia

*1

[× 10 -4 kg•m 2 ]

Permissible load

*2*3

Mass

[kg]

Without an electromagn etic brake

With an electromagn etic brake

Permissible radial load

[N]

Permissible thrust load

[N]

Without an electromagn etic brake

With an electromagn etic brake

HK-KT053G7 11B 0.0456

0.0496

93 431 0.51

0.69

HK-KT13G7

HK-KT23G7

HK-KT43G7

HK-KT7M3G7

1/45

1/5

1/11

1/21

1/5

1/11

1/21

1/33

1/33

1/45

1/11

1/21

1/33

1/45

1/21

1/33

1/45

1/5

1/5

( □ 40

*4 )

1/5

( □ 60

*4 )

1/9

1/11

1/21

1/33

1/45

1/5

( □ 40

*4 )

1/5

( □ 60

*4 )

1/11

14A

11B

14A

11B

14A

20A

14A

20A

14A

20A

32A

20A

32A

0.113

2.2

4.1

4.1

7.2

1.8

3.7

3.7

3.7

1.3

1.3

2.8

2.8

1.7

7.2

4.6

4.9

8.0

8.0

8.0

895

2254

2581

2833

706

1856

2254

4992

895

1087

2581

2833

706

5478

1465

1856

4359

4992

5478

224

640

733

804

177

527

640

1252

224

272

733

804

177

1374

416

527

1094

1252

1374

0.457

0.754

0.707

0.705

0.649

1.03

0.942

0.998

0.134

0.124

0.136

0.134

0.461

0.989

2.20

2.08

2.28

2.05

2.04

0.412

0.709

0.662

0.660

0.617

0.994

0.910

0.966

0.130

0.120

0.132

0.130

0.416

0.957

2.06

1.94

2.14

1.91

1.90

0.0436

0.100

0.0904

0.0844

0.0844

0.0748

0.143

0.117

0.0476

0.104

0.0944

0.0884

0.0884

0.0787

0.147

177

111

224

272

311

342

93

177

706

514

895

1087

1244

1366

431

706

1.1

0.51

1.2

1.2

1.2

1.2

0.61

1.2

1.3

0.69

1.4

1.4

1.4

1.4

0.79

1.4

2.6

4.5

4.5

7.6

2.3

4.1

4.1

4.1

1.5

1.5

3.0

3.0

2.2

7.6

5.3

5.6

8.7

8.7

8.7

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

*3 The radial load points of high-precision gear reducers are as follows. Refer to the following for the shaft length.



Page 136 Dimensions

Q/2

Q: Length of axis

Q

*4 The value in ( ) indicates the flange dimensions.

132 6 HK-KT SERIES

6.7 Geared servo motor

Servo motor with special shaft

The flange-mounting shaft output type rotary servo motors for high precision application (G7) have a keyed shaft (with single pointed key).

[Unit: mm]

Rotary servo motor Q φ S W T QK U Y

HK-KT_G7K

Gear reducer model

11B

14A

20A

32A

20

28

42

82

10h7

16h7

25h7

40h7

4

5

8

12

7

8

4

5

15

25

36

70

4

5

2.5

3

M3 screw hole depth 6

M4 screw hole depth 8

M6 screw hole depth 12

M10 screw hole depth 20

Y

Q

QK

T

6

6 HK-KT SERIES

6.7 Geared servo motor

133

6.8

Mounting connectors

Mount the connectors in the procedure shown below. If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. The receptacle connector has a splash-proof seal (O-ring). When mounting, use care to prevent the seal from dropping and being pinched.

Unlocking jigs can also be used to release the plug connector lever. For the unlocking jigs, contact Hirose Electric co., ltd.

1.

Insertion

The insertion direction of the plug connector varies depending on the cable direction which is the load side, opposite to load side, and vertical. Check the insertion direction of the plug connector and the mating part before inserting the plug connector.

Insert the plug connector (cable side) into the receptacle connector (motor side). The plug connector will stop in the midway of the insertion hole if inserted in an incorrect direction. Continuing to insert the plug connector forcefully even after the stop may damage the plug connector and the receptacle connector.

Plug connector

Lever

O-ring

Load-side lead

Receptacle connector

The following shows the view from the connected side.

Signal Power supply

Power supply

Signal

Opposite to load-side lead

Signal

Load-side lead

Power supply

Opposite to load-side lead

Vertical lead Vertical lead

134 6 HK-KT SERIES

6.8 Mounting connectors

2.

Starting to lock

Pull the lever. Pulling the lever firmly inserts the plug into the receptacle connector. If the plug is pushed forcefully without pulling the lever, the components may damage. If the plug is inserted diagonally or twisted hard while being inserted, the plug may be deformed or come off or the O-ring may be deformed, which may prevent the splash-proof effect. Insert the plug connector as straight as possible.

Lever

3.

Finishing locking

Pull the lever properly until it clicks. It can be felt to the touch when the plug connector is properly locked. After pulling the lever, pull the plug connector lightly to check that the connector is firmly connected.

6

Lever

6 HK-KT SERIES

6.8 Mounting connectors

135

6.9

Dimensions

• When running the cables to the load side, take care to avoid interference with the machine.

• The dimensions in this section are for the cables run to the opposite direction of the load-side. When running the cables vertically or to the opposite direction of the load-side, and for the dimensions for single cable type cables, refer to the following.



Page 145 Cable direction: Load side/opposite direction of the load side



Page 146 Cable direction: Vertical

• Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C. Since the values of the dimensions may vary depending on the ambient temperature, allow some margin when designing the machine side.

• The dimensions are the same, regardless of whether the servo motor has an oil seal or not.

• Use a friction coupling for coupling the servo motor with a load.

Without gear reducer

HK-KT053W(B)/HK-KT13W(B)/HK-KT1M3W(B)

Model

HK-KT053W(B)

HK-KT13W(B)

HK-KT1M3W(B)

Variable dimensions

*1

L

55.5 (90.5)

68 (103)

80.5 (115.5)

KL

42.8 (77.8)

55.3 (90.3)

67.8 (102.8)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L 25

5 2.5

21.5

2φ 4.5 mounting hole

Use hexagon socket head cap screw.

45°

□ 40

φ

46

0 -0.021

0 -0.009

36

2

Connector

11.5

12.7

31.5

KL

[Unit: mm]

136 6 HK-KT SERIES

6.9 Dimensions

HK-KT13UW(B)

Model

HK-KT13UW(B)

Variable dimensions

*1

L

58.5 (82)

KL

46.8 (70.3)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L

7 3

25

21

4φ 5.5 mounting hole

Use hexagon socket head cap screw.

45°

□ 60

φ

70

0 -0.025

0 -0.009

36

3.8

Connector

11.5

11.7

31.5

KL

[Unit: mm]

HK-KT23W(B)/HK-KT43W(B)/HK-KT63W(B)/HK-KT434W(B)/HK-KT634W(B)

Model

HK-KT23W(B)

HK-KT43W(B)

HK-KT434W(B)

HK-KT63W(B)

HK-KT634W(B)

Variable dimensions

*1

L

67.5 (102.1)

85.5 (120.1)

103.5 (138.1)

KL

55.8 (90.4)

73.8 (108.4)

91.8 (126.4)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L

7 3

30

26

4φ 5.5 mounting hole

Use hexagon socket head cap screw.

45°

□ 60

φ

70

0 -0.025

0 -0.011

[Unit: mm]

36

3.8

Connector

11.5

11.7

31.5

KL

6

6 HK-KT SERIES

6.9 Dimensions

137

HK-KT23UW(B)/HK-KT43UW(B)

Model

HK-KT23UW(B)

HK-KT43UW(B)

Variable dimensions

*1

L

65.5 (87.5)

74.5 (96.5)

KL

53.8 (75.8)

62.8 (84.8)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L

8 3

30

26

4φ 6.6 mounting hole

Use hexagon socket head cap screw.

45°

□ 80

φ

90

0 -0.03

Connector

0 -0.011

36 11.5

11.7

31.5

KL

[Unit: mm]

HK-KT7M3W(B)/HK-KT103W(B)/HK-KT7M34W(B)/HK-KT1034W(B)

Model

HK-KT7M3W(B)

HK-KT7M34W(B)

HK-KT103W(B)

HK-KT1034W(B)

Variable dimensions

*1

L

92.5 (128)

101.5 (137)

KL

80.8 (116.3)

89.8 (125.3)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L

8 3

40

36

4φ 6.6 mounting hole

Use hexagon socket head cap screw.

45°

□ 80

φ

90

0 -0.03

[Unit: mm]

36

Connector

11.5

11.7

31.5

KL

0 -0.013

138 6 HK-KT SERIES

6.9 Dimensions

HK-KT63UW(B)/HK-KT7M3UW(B)/HK-KT103UW(B)/HK-KT153W(B)/HK-KT203W(B)/HK-

KT202W(B)/HK-KT634UW(B)/HK-KT1034UW(B)/HK-KT1534W(B)/HK-KT2034W(B)/HK-

KT2024W(B)

Model

HK-KT63UW(B)

HK-KT634UW(B)

HK-KT7M3UW(B)

HK-KT103UW(B)

HK-KT1034UW(B)

HK-KT153W(B)

HK-KT1534W(B)

HK-KT203W(B)

HK-KT2034W(B)

HK-KT202W(B)

HK-KT2024W(B)

Variable dimensions

*1

L

83.5 (111)

92.5 (120)

118.9 (158.3)

136.9 (176.3)

172.9 (212.3)

KL

71.8 (99.3)

80.8 (108.3)

107.2 (146.6)

125.2 (164.6)

161.2 (200.6)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

□ 90

L

10 3

40

36

4φ 6.6 mounting hole

Use hexagon socket head cap screw.

45°

φ

100

6

0 -0.03

0 -0.013

[Unit: mm]

36

Connector

11.5

11.7

31.5

KL

6 HK-KT SERIES

6.9 Dimensions

139

With gear reducer for general industrial machine

HK-KT053(B)G1/HK-KT13(B)G1/HK-KT23(B)G1/HK-KT43(B)G1/HK-KT7M3(B)G1

Model

HK-KT053(B)G1

Reduction ratio

(actual reduction ratio)

1/5

(9/44)

Variable dimensions

*1

L LA LC LD LE S

99.2

(134.2)

75

60 0

-0.03

65 50

LH LK KL

16 0

-0.011

6.5

8 86.5

(121.5)

LG Q

34.5

25

LR M

60.5

7

KA LT

36.8

12.7

1/12

(49/576)

118

(153)

105.3

(140.3)

HK-KT13(B)G1

HK-KT23(B)G1

HK-KT43(B)G1

HK-KT7M3(B)G1

1/20

(25/484)

1/5

(9/44)

1/12

(49/576)

1/20

(25/484)

1/5

(19/96)

1/12

(961/11664)

1/20

(513/9984)

1/5

(19/96)

1/12

(961/11664)

1/20

(7/135)

1/5

(1/5)

1/12

(7/87)

1/20

(625/12544)

111.7

(146.7)

130.5

(165.5)

120.7

(155.3)

140.5

(175.1)

157.5

(193)

179.5

(215)

192.5

(228)

138.7

(173.3)

158.5

(193.1)

162.5

(197.1)

100

115

82 0

-0.035

90 75

95 0

-0.035

100 83

140

115 0

-0.035

120 98

25 0

-0.013

8

32 0

-0.016

9.5

10

40 0

-0.016

11.5

15

99 (134)

117.8

(152.8)

109

(143.6)

128.8

(163.4)

127

(161.6)

146.8

(181.4)

150.8

(185.4)

145.8

(181.3)

167.8

(203.3)

180.8

(216.3)

38

39

35

50

44.5

60

74

90

9

105.

5

14

46.6

11.7

56.6

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

□ KC

L

LK LG

LH

LR

(R3)

Q

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

4φ M 45°

φ

LA

M4X8 φ

88

[Unit: mm]

36

140 6 HK-KT SERIES

6.9 Dimensions

Connector

11.5

LT

31.5

KL

With flange-output type gear reducer for high precision applications, flange mounting

HK-KT053(B)G5/HK-KT13(B)G5

Model Reduction ratio

HK-

KT053(

B)G5

1/5

( □ 40)

Variable dimensions

*1

L LA LB LC

95

(130)

46 18

LD LE LF

40 0

-0.025

40 24

LG

5 +0.012

0

15 +0.25

0.20

1/5

( □ 60)

119.5

(154.5)

70 30

56 0

-0.03

60 40

14 +0.018

0

21 +0.4

0.5

3

LH LK LM KL

2.5

5 34.5

82.3

(117.3)

8 56 106.8

(141.8)

T N P R M KA LT

3 3 M4 6 3.4

36.8

12.7

5 6 7 5.5

1/9

1/11

1/21

1/33

1/45

1/5

( □ 40)

95

(130)

119.5

(154.5)

46

70

18

30

40 0

-0.025

40

56 0

-0.03

60

24

40

5 +0.012

0

15 +0.25

0.20

14 +0.018

0

21 +0.4

0.5

2.5

5

3 8

34.5

82.3

(117.3)

56 106.8

(141.8)

HK-

KT13(

B)G5

1/5

( □ 60)

1/11

1/21

1/33

1/45

107.5

(142.5)

132

(167)

134.5

(169.5)

46

70

18

30

105 45

40 0

-0.025

40

56 0

-0.03

60

85 0

-0.035

90

24

40

59

5 +0.012

0

15 +0.25

0.20

14 +0.018

0

21 +0.4

0.5

24 +0.021

0

27 +0.4

0.5

2.5

5

3

8

8

10

34.5

94.8

(129.8)

56 119.3

(154.3)

56.5

121.8

(156.8)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

3 3

5 6

3 3

5 6

6

7

6

7

3.4

5.5

3.4

5.5

M6 10 9

□ KC L

LM LK

LG

LH

T

Rotation direction

Under reverse rotation command

Under forward rotation command

N-P screw hole depth R

4φ M

□ LD

45°

φ

LA

120°

0.5X40°

6

φ

LB

[Unit: mm]

36

Connector

11.5

LT

31.5

117.3

6 HK-KT SERIES

6.9 Dimensions

141

HK-KT23(B)G5/HK-KT43(B)G5/HK-KT7M3(B)G5

Model Reduction ratio

HK-

KT23(

B)G5

HK-

KT43(

B)G5

1/5

1/11

1/21

1/33

1/45

1/5

Variable dimensions

*1

L

131.5

(166.1)

LA

70

LB

30

LC

56 0

-0.03

138.5

(173.1)

149.5

(184.1)

156.5

(191.1)

105 45

70 30

105 45

85 0

-0.035

90

56 0

-0.03

LD LE LF

60 40

LG

14 +0.018

0

21 +0.4

0.5

60

85 0

-0.035

90

59

40

59

24 +0.021

0

27 +0.4

0.5

14 +0.018

0

21 +0.4

0.5

24 +0.021

0

27 +0.4

0.5

HK-

KT7M3

(B)G5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

168.5

(203.1)

170.5

(206)

180.5

(216)

135 60

105 45

135 60

115 0

-0.035

120 84

85 0

-0.035

90 59

115 0

-0.035

120 84

32 +0.025

0

35 +0.4

0.5

24 +0.021

0

27 +0.4

0.5

32 +0.025

0

35 +0.4

0.5

LH LK LM KL

3 8 56 119.8

(154.4)

8

3

8

13

8

13

10

8

10

13

10

13

61

56

61

70

68

75

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

126.8

(161.4)

137.8

(172.4)

144.8

(179.4)

156.8

(191.4)

158.8

(194.3)

168.8

(204.3)

T N P R M KA LT

5 6 M4 7 5.5

46.6

11.7

M6 10 9

M4 7 5.5

M6 10 9

M8 12 11

M6 10 9

M8 12 11

56.6

□ KC L

LM LK

LG

LH

Rotation direction

Under reverse rotation command

Under forward rotation command

N-P screw hole depth R

4φ M

□ LD

T 45°

φ

LA

120°

0.5X40°

φ

LB

[Unit: mm]

36

Connector

11.5

LT

31.5

117.3

142 6 HK-KT SERIES

6.9 Dimensions

With shaft-output type gear reducer for high precision applications, flange mounting

HK-KT053(B)G7/HK-KT13(B)G7

Model Reduction ratio

Variable dimensions

*1

L LA LC LD LE S

HK-

KT053(B)

G7

1/5

( □ 40)

1/5

( □ 60)

95

(130)

119.5

(154.5)

46

70

40 0

-0.025

56 0

-0.03

40

60

29

40

10 0

-0.015

16 0

-0.018

LG LH Q

15 2.5

20

21 3 28

1/9 95

(130)

46

40 0

-0.025

40 29

10 0

-0.015

15 2.5

20 42

1/11

1/21

1/33

1/45

1/5

( □ 40)

119.5

(154.5)

70

56 0

-0.03

60 40

16 0

-0.018

21 3 28 58

HK-

KT13(B)G

7

107.5

(142.5)

46

40 0

-0.025

40 29

10 0

-0.015

15 2.5

20 42

1/5

( □ 60)

1/11

1/21

1/33

1/45

132

(167)

134.5

(169.5)

70

105

56 0

-0.03

85 0

-0.035

60

90

40

59

16 0

-0.018

25 0

-0.021

21

27

3

8

28

42

58

80

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

5

8

5

8

10

LR LK LM KL

42 5 34.5

82.3

(117.3)

58 8 56 106.8

(141.8)

34.5

82.3

(117.3)

56 106.8

(141.8)

34.5

94.8

(129.8)

56 119.3

(154.3)

56.5

121.8

(156.8)

M

3.4

5.5

3.4

5.5

3.4

5.5

9

KA LT

36.8

12.7

□ KC L

LM

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

LK

LG

LH

LR

Q

4φ M

45°

φ

LA

6

R0.4

[Unit: mm]

36

2

Connector

11.5

LT

31.5

KL

6 HK-KT SERIES

6.9 Dimensions

143

HK-KT43(B)G7/HK-KT7M3(B)G7

Model

HK-

KT23(B)G

7

HK-

KT43(B)G

7

Reduction ratio

1/5

1/11

1/21

1/33

1/45

1/5

Variable dimensions

*1

L

131.5

(166.1)

LA

70

LC

56 0

-0.03

LD LE S

60 40

16 0

-0.018

138.5

(173.1)

149.5

(184.1)

105

70

85 0

-0.035

56 0

-0.03

90

60

59

40

25 0

-0.021

16 0

-0.018

HK-

KT7M3(B)

G7

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

156.5

(191.1)

168.5

(203.1)

170.5

(206)

180.5

(216)

105

135

105

135

85 0

-0.035

115 0

-0.035

85 0

-0.035

115 0

-0.035

90

90

59

120 84

59

120 84

25 0

-0.021

40 0

-0.025

25 0

-0.021

40 0

-0.025

LG LH Q

21 3 28

27

21

27

35

27

35

8

3

8

13

8

13

42

28

42

82

42

82

LR LK LM KL

58 8 56 119.8

(154.4)

80

58

80

133 13

80

133 13

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

10

8

10

10

61

56

61

70

68

75

126.8

(161.4)

137.8

(172.4)

144.8

(179.4)

156.8

(191.4)

158.8

(194.3)

168.8

(204.3)

M

5.5

9

5.5

9

11

9

11

□ KC L

LM

KA LT

46.6

11.7

56.6

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

LK

LG

LH

LR

Q

4φ M

45°

φ

LA

R0.4

[Unit: mm]

36

2

Connector

11.5

LT

31.5

KL

144 6 HK-KT SERIES

6.9 Dimensions

Cable direction: Load side/opposite direction of the load side

Model

HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

HK-KT23W

HK-KT43(4)W

HK-KT63(4)W

HK-KT23UW

HK-KT43UW

HK-KT7M3(4)W

HK-KT103(4)W

HK-KT63(4)UW

HK-KT7M3UW

HK-KT103(4)UW

HK-KT153(4)W

HK-KT203(4)W

HK-KT202(4)W

Variable dimensions

Dual cable

A

36.8

B

36

46.6

56.6

61.6

C

12.7

11.7

D

31.5

Single cable

A B

39.6

32

49.4

59.4

64.4

C

12.7

11.7

D

40

6

B

*1

Connector

11.5

C

D C

D 11.5

Cable direction: Load side *1 Cable direction: Opposite direction of the load side *1

[Unit: mm]

*1 The figures are for dual cable type motor cables.

6 HK-KT SERIES

6.9 Dimensions

145

Cable direction: Vertical

Model Variable dimensions

Dual cable

A

63.4

B

36 HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

HK-KT23W

HK-KT43(4)W

HK-KT63(4)W

HK-KT23UW

HK-KT43UW

HK-KT7M3(4)W

HK-KT103(4)W

HK-KT63(4)UW

HK-KT7M3UW

HK-KT103(4)UW

HK-KT153(4)W

HK-KT203(4)W

HK-KT202(4)W

73.2

83.2

88.2

C

12.7

11.7

91.7

96.7

Single cable

A

71.9

B

32

81.7

C

12.7

11.7

B

*1

Connector

*1

11.1

C

14.5

[Unit: mm]

*1 The figures are for dual cable type motor cables.

146 6 HK-KT SERIES

6.9 Dimensions

7

HK-MT SERIES

The HK-MT series servo motors will be available in the near future.

This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-MT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.

For the combinations of servo amplifiers and servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the servo motor, refer to "Servo amplifier/motor combinations" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

7.1

Model designation

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

H K M T 4 3 V W B

Shaft type

Symbol Shaft shape

None

D

L

K

N

Standard (straight shaft)

D-cut shaft

L-cut shaft

Keyed shaft (with key)

Keyed shaft (without key)

Oil seal

Symbol Oil seal

None

J

Not attached

Attached

Electromagnetic brake

Symbol Electromagnetic brake

None

B

Not attached

Attached

Maximum speed

Symbol Structure

None

V

Standard

Maximum speed increased/

Incremental encoder

Rated speed

Symbol Rated speed [r/min]

3 3000

Rated output

Symbol Rated output [kW]

05

1

1M

2

0.05

0.1

0.15

0.2

4

6

7M

10

0.4

0.6

0.75

1.0

7

7 HK-MT SERIES

7.1 Model designation

147

7.2

Standard specifications

Standard specifications list

When connected with 200 V servo amplifier

Series

Flange size

Rotary servo motor model HK-

MT

HK-MT_W (Ultra-low inertia/small capacity)

□ 40

053W(B) 13W(B) 1M3W(B)

□ 60

23W(B) 43W(B) 63W(B)

Power supply capacity

Power supply voltage [V]

Continuous

running duty

*1

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1 [r/min]

Maximum speed

*1

[r/min]

0.05

0.16

0.48 (0.64)

3000

6700

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

12.5

10.4

Rated current [A]

Maximum current

*8

[A]

Moment of inertia

J [× 10

-4

kg•m

2

]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

200 V AC (3-phase 200 V AC to 240 V AC)

1.2

4.3 (6.3)

0.0203

0.0243

0.1

0.32

0.95 (1.3)

31.7

28.1

1.2

4.6 (5.9)

0.0320

0.0360

35 times or less *1

0.15

0.48

1.4 (1.9)

52.2

47.8

1.2

4.6 (6.5)

0.0437

0.0477

0.2

0.64

1.9 (2.3)

41.5

31.2

1.6

6.3 (9.8)

0.0976

0.130

35 times or less

0.4

1.3

3.8 (4.5)

101.3

84.4

2.5

9.7 (13)

0.160

0.192

0.6

1.9

5.7 (7.1)

155.9

137.2

5.3

21 (28)

0.234

0.266

Speed/position detector

Type

Oil seal *7

Insulation class

Structure

Vibration resistance

*4

[m/s

2

]

Vibration rank

*5

Permissible load for the shaft

*6

L [mm]

Mass [kg]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 49, Y: 49

V10

25 30

88

59

0.31

0.43

0.54

245

98

0.92

1.4

1.8

0.59

0.74

0.82

1.4

1.8

2.2

□ 80

7M3W(B) 103W(B)

40

392

147

2.8

0.75

2.4

7.2 (8.8)

104.6

83.4

5.8

21 (31)

0.545

0.683

3.5

1.0

3.2

9.5 (12.4)

142.5

119.3

5.4

20 (31)

0.711

0.849

3.3

3.9

148 7 HK-MT SERIES

7.2 Standard specifications

Series

Flange size

Rotary servo motor model HK-

MT

HK-MT_VW (Ultra-low inertia/small capacity)

□ 40

053VW(B) 13VW(B) 1M3VW(B

)

□ 60

23VW(B) 43VW(B) 63VW(B)

□ 80

7M3VW(B

)

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

Rated torque

[N•m]

Maximum torque *8

[N•m]

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

200 V AC (3-phase 200 V AC to 240 V AC)

0.05

0.16

0.48 (0.64)

3000

10000

0.1

0.32

0.95 (1.3)

0.15

0.48

1.4 (1.9)

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

12.5

10.4

31.7

28.1

52.2

47.8

0.2

0.64

1.9 (2.3)

41.5

31.2

0.4

1.3

3.8 (4.5)

101.3

84.4

0.6

1.9

5.7 (7.1)

155.9

137.2

Rated current [A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Speed/position detector

1.2

4.3 (6.3)

0.0203

0.0243

1.2

4.6 (5.9)

0.0320

0.0360

24 times or less

*1

1.2

4.6 (6.5)

0.0437

0.0477

1.6

6.3 (9.8)

0.0976

0.130

24 times or less

3.0

12 (15)

0.160

0.192

5.3

21 (28)

0.234

0.266

0.75

2.4

7.2 (8.8)

104.6

83.4

5.8

21 (31)

0.545

0.683

30 times or less

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

Mass [kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to incremental detection systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 49, Y: 49

V10

25

88

59

0.31

0.59

0.43

0.74

0.54

0.82

30

245

98

0.92

1.40

1.4

1.8

1.8

2.2

40

392

147

2.8

3.5

103VW(B)

1.0

3.2

9.5 (11.5)

142.5

119.3

8.1

30 (37)

0.711

0.849

3.3

3.9

7

7 HK-MT SERIES

7.2 Standard specifications

149

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

*4 The vibration directions are shown in the following figure. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the rotary servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value. However, the description above is not applied to a geared servo motor is used.

Rotary servo motor

X

Y

Top

Vibration

1000

100

10

1

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 154 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names. The HK-MT053(V)W with an oil seal can be used at a derating rate of

80 %.

*8 The values in ( ) are for when the torque is increased.

*9 When IP67 cables are needed, contact your local sales office.

150 7 HK-MT SERIES

7.2 Standard specifications

Torque characteristics

• For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70

% or lower of the rated torque.

When connected with 200 V servo amplifier

When the power supply voltage drops, the torque decreases.

range for 3-phase 170 V AC

: A rough indication of the possible continuous running

: 3-phase 200 VAC

: 1-phase 200 VAC

■ HK-MT_W

[HK-MT053W]

Standard torque

0.7

0.6

0.5

0.4

Short-duration running range

0.3

0.2

0.1

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-MT1M3W]

Standard torque

2.5

6000

[HK-MT053W]

Torque increased

0.7

0.6

0.5

0.4

Short-duration running range

0.3

0.2

0.1

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-MT1M3W]

Torque increased

2.5

6000

[HK-MT13W]

Standard torque

1.4

1.2

1.0

0.8

Short-duration running range

0.6

0.4

0.2

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-MT23W]

Standard torque

2.5

6000

[HK-MT13W]

Torque increased

1.4

1.2

1.0

Short-duration running range

0.8

0.6

0.4

0.2

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-MT23W]

Torque increased

2.5

6000

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-MT43W]

Standard torque

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

Short-duration running range

1.0

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

6000

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-MT43W]

Torque increased

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

Short-duration running range

1.0

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

6000

2.0

1.5

Short-duration running range

1.0

0.5

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-MT63W]

Standard torque

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

6000

2.0

1.5

Short-duration running range

1.0

0.5

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-MT63W]

Torque increased

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

6000

7

7 HK-MT SERIES

7.2 Standard specifications

151

[HK-MT7M3W]

Standard torque

10.0

9.0

8.0

7.0

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-MT7M3W]

Torque increased

10.0

9.0

8.0

7.0

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-MT103W]

Standard torque

14.0

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

[HK-MT103W]

Torque increased

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

152 7 HK-MT SERIES

7.2 Standard specifications

■ HK-MT_VW

[HK-MT053VW]

Standard torque

0.7

0.6

0.5

0.4

Short-duration running range

0.3

0.2

0.1

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT1M3VW]

Standard torque

2.5

9000

2.0

1.5

1.0

0.5

Short-duration running range

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT43VW]

Standard torque

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

Short-duration running range

1.0

0.5

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT7M3VW]

Standard torque

10.0

9.0

8.0

7.0

6.0

5.0

4.0

3.0

Short-duration running range

2.0

1.0

0.0

0

Continuous running range

3000 6000

Speed [r/min]

9000

9000

9000

[HK-MT053VW]

Torque increased

0.7

0.6

0.5

Short-duration running range

0.4

0.3

0.2

0.1

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT1M3VW]

Torque increased

2.5

9000

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT43VW]

Torque increased

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

Short-duration running range

1.0

0.5

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT7M3VW]

Torque increased

10.0

9.0

8.0

7.0

6.0

5.0

Short-duration running range

4.0

3.0

2.0

1.0

0.0

0

Continuous running range

3000 6000

Speed [r/min]

9000

9000

9000

[HK-MT13VW]

Standard torque

1.4

1.2

1.0

0.8

Short-duration running range

0.6

0.4

0.2

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT23VW]

Standard torque

2.5

9000

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT63VW]

Standard torque

8.0

7.0

6.0

5.0

4.0

Short-duration running range

3.0

2.0

1.0

Continuous running range

0.0

0 3000 6000

Speed [r/min]

[HK-MT103VW]

Standard torque

14.0

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

3000 6000

Speed [r/min]

9000

9000

9000

[HK-MT13VW]

Torque increased

1.4

1.2

1.0

0.8

Short-duration running range

0.6

0.4

0.2

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT23VW]

Torque increased

2.5

9000

2.0

1.5

1.0

Short-duration running range

0.5

0.0

0

Continuous running range

3000 6000

Speed [r/min]

[HK-MT63VW]

Torque increased

8.0

7.0

6.0

5.0

4.0

Short-duration running range

3.0

2.0

1.0

Continuous running range

0.0

0 3000 6000

Speed [r/min]

[HK-MT103VW]

Torque increased

14.0

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

3000 6000

Speed [r/min]

9000

9000

9000

7

7 HK-MT SERIES

7.2 Standard specifications

153

Permissible load for the output shaft

The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently.

Distance L from flange mounting surface to load center

Radial load

Thrust load

In case where the load position changes, calculate the permissible radial load from the distance measured from the flange mounting surface to the center of the load, and make the load equal to or less than the permissible radial load, referring to the graph shown in the following.

Model Radial load

Load position L

[mm]

25

Thrust load

Load [N] Load [N]

88 59

The graph of the relation between the load and the load position

HK-MT053W

HK-MT13W

HK-MT1M3W

125

120

115

110

105

100

95

90

85

80

0 5 10 15 20

Distance L from flange surface [mm]

25

HK-MT23W

HK-MT43W

HK-MT63W

30 245 98

340

320

300

280

260

240

220

0 5 10 15 20 25

Distance L from flange surface [mm]

30

154 7 HK-MT SERIES

7.2 Standard specifications

Model

HK-MT7M3W

HK-MT103W

Radial load

Load position L

[mm]

40

Thrust load

Load [N] Load [N]

392 147

The graph of the relation between the load and the load position

600

550

500

450

400

350

0 10 20 30

Distance L from flange surface [mm]

40

7

7 HK-MT SERIES

7.2 Standard specifications

155

7.3

Characteristics of electromagnetic brake

Before operating the servo motor, confirm that the electromagnetic brake operates properly.

The operation time of the electromagnetic brake varies depending on the power supply circuit being used.

Check the operation delay time with an actual machine.

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

Item HK-MT053WB

HK-MT13WB

HK-MT1M3WB

HK-MT23WB

HK-MT43WB

HK-MT63WB

HK-KT7M3WB

HK-KT103WB

Type *1

Rated voltage

*4

Power consumption at 20 °C [W]

Coil resistance

*6

[ Ω ]

Inductance

*6 [H]

Brake static friction torque

*7

[N•m]

Release delay time

*2

[s]

Braking delay time [s]

DC off

*2

Permissible braking work [J]

Brake life

*3

Per braking

Per hour

Brake looseness at servo motor shaft *5

[degree]

Number of braking times [times]

Selection example of surge absorbers to be

used *6

Spring actuated type safety brake

24 V DC (-10 % to 0 %)

6.4

91

0.14

0.48 or more

0.03

0.01

5.6

56

2.5

20000

7.9

73

0.20

1.9 or more

0.03

0.02

22

220

1.2

20000

10

57

0.16

3.2 or more

0.04

0.02

64

640

0.9

20000

Work per braking [J] 5.6

For the suppressed voltage 125 V

22 64

TND20V-680KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

For the suppressed voltage 350 V

TND10V-221KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

*1 This type does not have a manual release mechanism. Use a 24 V DC power supply to release the brake electrically.

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

*3 Brake lining wear due to braking will increase the brake gap, but the gap is not adjustable. Therefore, the brake life indicates the number of times the brake can be applied before gap adjustment becomes necessary.

*4 Prepare a power supply exclusively for the electromagnetic brake.

*5 The values are design values. These are not the guaranteed values.

*6 Select the electromagnetic brake control relay properly, in consideration of the characteristics of the electromagnetic brake and surge absorber. When a diode is used as a surge absorber, the electromagnetic braking time becomes longer.

*7 The value of the brake static friction torque is the lower limit in the initial state at 20 °C.

156 7 HK-MT SERIES

7.3 Characteristics of electromagnetic brake

7.4

Derating

The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL.

046 Servo motor overheat] does not occur on the actual machine before use.

If [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] occurs, consider the following measures:

• Lower the effective load ratio of the rotary servo motor.

• Review the heat dissipation conditions.

To use this product under conditions with multiple derating, calculate the multiplication of each derating rate, and use at the calculated derating rate or lower.

For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When applying the derating rate in the conditions above, calculate the multiplication of the derating rate of 70 % in the unbalanced torque and the derating rate of each condition, and use this product at the calculated derating rate or lower.

7

7 HK-MT SERIES

7.4 Derating

157

Restrictions on the flange size

When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions:

120 120

100

80

60

40

20

HK-MT053(V)W *1 /HK-MT13(V)W

HK-MT1M3(V)W

100

80

60

40

20

HK-MT23(V)W

0

0 50 100 150

Flange size (6 mm thick) [mm]

200 250

0

0 50 100 150

Flange size (6 mm thick) [mm]

200 250

120

100

80

60

40

20

HK-MT43(V)W

HK-MT63(V)W

120

100

80

60

40

20

HK-MT7M3(V)W/HK-MT103(V)W

0

0 50 100 150 200

Flange size (12 mm thick) [mm]

250 300

0

0 50 100 150 200

Flange size (12 mm thick) [mm]

250 300

*1 The HK-MT053(V)W with an oil seal can be used at a derating rate of 80 %. When applying the derating in the conditions above, calculate the multiplication of the derating rate of 80 % with an oil seal and the derating rate of each condition, and use the servo motor at the calculated derating rate or lower.

158 7 HK-MT SERIES

7.4 Derating

120

100

80

60

40

20

Restrictions on the ambient temperature

When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions:

120 120

HK-MT23(V)W/HK-MT43(V)W

HK-MT053(V)W *1 /HK-MT13(V)W

100 100

80

60

40

20

HK-MT1M3(V)W

80

60

40

20

HK-MT63(V)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

0

0 10 20 30 40

Ambient temperature [°C]

50 60

HK-MT7M3(V)W

HK-MT103(V)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

*1 The HK-MT053(V)W with an oil seal can be used at a derating rate of 80 %. When applying the derating in the conditions above, calculate the multiplication of the derating rate of 80 % with an oil seal and the derating rate of each condition, and use the servo motor at the calculated derating rate or lower.

Restrictions on the altitude

To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions:

[%]

100

95

7

0

0 1000

Altitude

2000 [m]

7 HK-MT SERIES

7.4 Derating

159

7.5

Rotary servo motors with special shafts

For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key).

To prevent an accident such as motor shaft fracture, do not use a servo motor with a D-cut shaft, L-cut shaft, or keyed shaft for frequent start/stop applications.

For geared servo motors with special shafts, refer to the following.



Page 160 Rotary servo motors with special shafts

Rotary servo motor Shaft shape

D-cut shaft L-cut shaft

D L

Keyed shaft

With double roundended key

K

Without key

N HK-MT053(V)W

HK-MT13(V)W

HK-MT1M3(V)W

HK-MT23(V)W

HK-MT43(V)W

HK-MT63(V)W

HK-MT7M3(V)W

HK-MT103(V)W

  K N

D-cut shaft

25

Q1

Q2

φ 8 0

-0.009

[Unit: mm]

Rotary servo motor

HK-MT053(V)WD

HK-MT13(V)WD

HK-MT1M3(V)WD

L-cut shaft

Variable dimensions

Q

21.5

25

Q1

Q2

0 -0.009

0.5

Q2

20.5

Rotary servo motor Variable dimensions

Q1

21.5

HK-MT053(V)WL

HK-MT13(V)WL

HK-MT1M3(V)WL

160 7 HK-MT SERIES

7.5 Rotary servo motors with special shafts

Q2

20.5

Keyed shaft (with double round-ended key)

R

Q

QK

A

QL

U Y

A T

Section A-A

[Unit: mm]

Rotary servo motor

HK-MT053(V)WK

HK-MT13(V)WK

HK-MT1M3(V)WK

Variable dimensions

S R

8 0

-0.009

25

Q

21.5

HK-MT23(V)WK

HK-MT43(V)WK

HK-MT63(V)WK

14 0

-0.011

30 26

HK-MT7M3(V)WK

HK-MT103(V)WK

19 0

-0.013

40 36

W

3

5

6

QK

14

20

25

QL

5

3

5

Keyed shaft (without key)

R

Q

QK QL

U Y

A

A r

Section A-A

[Unit: mm]

Rotary servo motor

HK-MT053(V)WN

HK-MT13(V)WN

HK-MT1M3(V)WN

Variable dimensions

S R

8 0

-0.009

25

Q

21.5

HK-MT23(V)WN

HK-MT43(V)WN

HK-MT63(V)WN

HK-MT23U(V)WN

HK-MT43U(V)WN

HK-MT7M3(V)WN

HK-MT103(V)WN

14 0

-0.011

19 0

-0.013

30

40

26

36

W

3 -0.004

-0.029

QK

14

5 0

-0.03

20

6 0

-0.03

25

QL

5

3

5

U

1.8

3

3.5

3.5

+0.1

0

3

T

3

5

6

U

1.8

+0.1

0 r

1.5

3 +0.1

0

2.5

Y

M3

Screw hole depth

8

M4

Screw hole depth

15

M5

Screw hole depth

20

Y

M3

Screw hole depth

8

M4

Screw hole depth

15

M5

Screw hole depth

20

7

7 HK-MT SERIES

7.5 Rotary servo motors with special shafts

161

7.6

Mounting connectors

Refer to the following page for information on mounting connectors.



Page 134 Mounting connectors

162 7 HK-MT SERIES

7.6 Mounting connectors

7.7

Dimensions

• When running the cables to the load side, take care to avoid interference with the machine.

• The dimensions in this section are for the cables run to the opposite direction of the load-side. When running the cables vertically or to the opposite direction of the load-side, and for the dimensions for single cable type cables, refer to the following.



Page 145 Cable direction: Load side/opposite direction of the load side



Page 146 Cable direction: Vertical

• Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C. Since the values of the dimensions may vary depending on the ambient temperature, allow some margin when designing the machine side.

• The dimensions are the same, regardless of whether the servo motor has an oil seal or not.

• Use a friction coupling for coupling the servo motor with a load.

HK-MT053(V)W(B)/HK-MT13(V)W(B)/HK-MT1M3(V)W(B)

Model Variable dimensions

*1

L

HK-MT053(V)W(B)

HK-MT13(V)W(B)

HK-MT1M3(V)W(B)

61.3 (96.3)

74.8 (109.8)

88.3 (123.3)

KL

48.6 (83.6)

62.1 (97.1)

75.6 (110.6)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

L 25

5 2.5

21.5

2φ 4.5 mounting hole

Use hexagon socket head cap screw.

45°

□ 40

φ

46

7

0 -0.021

0 -0.009

36

2

Connector

11.5

12.7

31.5

KL

[Unit: mm]

7 HK-MT SERIES

7.7 Dimensions

163

HK-MT23(V)W(B)/HK-MT43(V)W(B)/HK-MT63(V)W(B)

Model

HK-MT23(V)W(B)

HK-MT43(V)W(B)

HK-MT434(V)W(B)

HK-MT63(V)W(B)

HK-MT634(V)W(B)

Variable dimensions

*1

L

76.6 (111.2)

96.1 (130.7)

118.6 (153.2)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

KL

64.9 (99.5)

84.4 (119)

106.9 (141.5)

L

7 3

30

26

4φ 5.5 mounting hole

Use hexagon socket head cap screw.

45°

□ 60

φ

70

0 -0.025

0 -0.011

[Unit: mm]

36

3.8

Connector

11.5

11.7

31.5

KL

164 7 HK-MT SERIES

7.7 Dimensions

8

HK-ST SERIES

This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-ST series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.

For the combinations of servo amplifiers and servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the servo motor, refer to "Servo amplifier/motor combinations" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

8

8 HK-ST SERIES 165

8.1

Model designation

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

H K - S T 2 0 2 4 A W B

Oil seal

Symbol Oil seal

None

J

Not attached

Attached

Electromagnetic brake

Symbol Electromagnetic brake

None

B

Not attached

Attached

Structure specification

Symbol Structure

None

A

Standard

Long type (small flange)

Special specifications

Symbol Special specifications

None

WS

Standard

Functional safety supported

Shaft type

Symbol Shaft shape

None

K

N

Standard (straight shaft)

Keyed shaft (with key)

Keyed shaft (without key)

Gear reducer

Symbol Gear reducer

None

G1

None

For general industrial machine

(flange-mounting)

G1H For general industrial machine

(foot-mounting)

G5

G7

Flange-mounting flange output type for high precision application

Flange-mounting shaft output type for high precision application

Symbol

None

4

None

4

Symbol Motor type

W

When connected with 200 V class servo amplifier When connected with 400 V class servo amplifier

Standard specifications High speed specifications

(Increased torque in high speed area)

Standard specifications

None

Low speed high torque specification

(Reduced capacity of combined servo amplifier)

Standard specifications



Rated speed

Symbol Rated speed [r/min]

2 2000



Standard specifications

20

30

35

50

70

Rated output

Symbol Rated output [kW]

5

10

15

17

0.5

1.0

1.5

1.75

2.0

3.0

3.5

5.0

7.0

166 8 HK-ST SERIES

8.1 Model designation

8.2

Standard specifications

Standard specifications list

When connected with 200 V servo amplifier

Series

Flange size

Rotary servo motor model HK-

ST

HK-ST_W (Medium inertia/medium capacity)

□ 130

52W(B) 102W(B) 172W(B) 202AW(B) 302W(B)

Power supply capacity

Power supply voltage [V]

Continuous

running duty

*1*8

Rated output [kW] 0.5

Rated torque [N•m] 2.4 (3.2)

Maximum torque *8

[N•m] 7.2 (12.7)

Rated speed

*1*8 [r/min]

Maximum speed

*1

[r/min]

2000 (1500)

4000

Power rate at continuous rated

torque

*8

[kW/s]

Without an electromagnetic brake

9.7 (17.2)

With an electromagnetic brake

Rated current

*8 [A]

Maximum current

*8

[A]

Moment of inertia

J [× 10

-4

kg•m

2

]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

200 V AC (3-phase 200 V AC to 240 V AC)

7.0 (12.4)

3.0 (4.0)

11 (19)

5.90

8.15

15 times or less

*9

1.0

4.8 (6.4)

14.3 (19.1)

2000 (1500)

26.3 (46.8)

20.9 (37.2)

5.3 (7.0)

18 (24)

8.65

10.9

23 times or less

1.75

8.4

25.1

2000

61.2

51.1

9.3

32

11.4

13.7

24 times or less

2.0

9.5 (11.6)

28.6 (34.7)

2000 (1650)

53.9 (79.2)

47.8 (70.3)

11 (13)

34 (42)

16.9

19.1

3.0

14.3

43.0 (50.1)

2000

2500

91.5

83.6

11

34 (40)

22.4

24.5

Speed/position detector

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*14

L [mm]

Radial [N]

Thrust [N]

Mass

*13

[kg] Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*15

X: 24.5, Y: 49

V10

55

980

490

5.0

6.0

7.1

9.1

11

6.8

7.8

8.8

11 13

353W(B)

2.6 (3.5)

8.3 (11.1)

24.8 (44.6)

3000

6700

40.5 (73.4)

35.9 (65.0)

14 (19)

43 (83)

16.9

19.1

10 times or less

9.1

11

503W(B)

5.0

15.9

47.8 (63.7)

3000

6000

91.5

84.7

23

73 (100)

27.7

29.9

13

15

8

8 HK-ST SERIES

8.2 Standard specifications

167

Series

Flange size

HK-ST_W (Medium inertia/medium capacity)

□ 176

Rotary servo motor model HK-

ST

202W(B) 352W(B) 502W(B)

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1*8

Rated output [kW]

Rated speed

*1*8

[r/min]

Maximum speed *1

[r/min]

200 V AC (3-phase 200 V AC to 240 V AC)

2.0

Rated torque [N•m] 9.5 (12.7)

Maximum torque *8

[N•m] 28.6 (38.2)

2000 (1500)

4000

3.5

16.7 (20.3)

50.1 (60.8)

2000 (1650)

3500

25.1 (44.6) 52.1 (76.5) Power rate at continuous rated

torque *8

[kW/s]

With an electromagnetic brake

Rated current

*8

[A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

Without an electromagnetic brake

With an electromagnetic brake

22.0 (39.2)

10 (14)

32 (45)

36.4

41.4

47.7 (70.0)

16 (19)

52 (66)

53.6

58.6

15 times or less

*10

12 times or less

*11

Recommended load to motor inertia ratio

*2

Speed/position detector

5.0

23.9 (28.9)

72.3 (86.8)

2000 (1650)

4000

80.4 (118)

75.2 (110)

27 (32)

90 (100)

70.8

75.8

10 times or less

*12

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Type

Oil seal *7

Permanent magnet synchronous motor

×

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*14

Mass

*13

[kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*15

X: 24.5, Y: 49

V10

79

2058

980

13 16

18 21

X: 24.5, Y: 29.4

20

25

702W(B)

7.0

33.4

100

2000

3000

106

101

28

102

105

110

8 times or less

*12

27

31

168 8 HK-ST SERIES

8.2 Standard specifications

Series

Flange size

HK-ST_4_W (Medium inertia/medium capacity)

□ 130

Rotary servo motor model HK-

ST

524W(B) 1024W(B) 1724W(B) 2024AW(B)

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

Rated torque [N•m] 2.9

Maximum torque *8

[N•m] 11.5

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

200 V AC (3-phase 200 V AC to 240 V AC)

0.3

1000

2000

0.6

5.7

17.2 (20.1)

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

13.9

10.1

37.9

30.1

0.85

8.1

24.4

57.8

48.3

1.0

9.5

33.4

53.9

47.8

1.8

8.3

5.90

3.2

11 (13)

8.65

4.5

17

11.4

5.2

20

16.9

Rated current [A]

Maximum current [A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Speed/position detector

8.15

15 times or less

10.9

24 times or less

13.7

19.1

20 times or less

Type

Oil seal

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*14

Mass

*13

*7

[kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*15

X: 24.5, Y: 49

V10

55

980

490

5.0

6.8

6.0

7.8

7.1

8.8

9.1

11

3024W(B)

1.5

14.3

43.0

1200

91.5

83.6

5.1

17

22.4

24.5

24 times or less

11

13

8

8 HK-ST SERIES

8.2 Standard specifications

169

Series

Flange size

HK-ST_4_W (Medium inertia/medium capacity)

□ 176

Rotary servo motor model HK-

ST

2024W(B) 3524W(B) 5024W

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

200 V AC (3-phase 200 V AC to 240 V AC)

1.2

Rated torque [N•m] 11.5

Maximum torque *8

[N•m] 40.1

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

1000

2000

2.0

19.1

57.3 (66.8)

1500

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

36.1

31.7

68.0

62.3

3.0

28.6

85.9

2000

116

108

Rated current [A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

Speed/position detector

6.0

24

36.4

41.4

23 times or less

9.0

32 (37)

53.6

58.6

16

52

70.8

75.8

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*14

Mass

*13

[kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*15

X: 24.5, Y: 49

V10

X: 24.5, Y: 29.4

79

2058

980

13

18

16

21

20

25

7024W

4.2

40.1

120

1500

153

146

17

60

105

110

27

31

170 8 HK-ST SERIES

8.2 Standard specifications

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

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

Rotary servo motor

X

Vibration

1000

Y

100

10

0 1000 2000

Speed [r/min]

3000 4000

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Top

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 181 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names.

*8 The values in ( ) are for when the torque is increased.

*9 If at 3000 r/min or less, the ratio will be 19 times or less.

*10 If at 3000 r/min or less, the ratio will be 20 times or less.

*11 If at 3000 r/min or less, the ratio will be 22 times or less.

*12 If at 2000 r/min or less, the ratio will be 22 times or less.

*13 Refer to the following for geared servo motors.



Page 187 Geared servo motor

*14 Refer to the following for geared servo motors.



Page 187 Geared servo motor

*15 When a geared servo motor is used, the IP rating for the gear reducer area is equivalent to IP44.

8

8 HK-ST SERIES

8.2 Standard specifications

171

When connected with 400 V servo amplifier

Series

Flange size

HK-ST_4_W (Medium inertia/medium capacity)

□ 130

Rotary servo motor model HK-

ST

524W(B) 1024W(B) 1724W(B) 2024AW(B) 3024W(B)

Power supply capacity

Power rate at continuous rated

torque *8

[kW/s]

Without an electromagnetic brake

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1*8

Rated output [kW]

400 V AC (3-phase 380 V AC to 480 V AC)

0.5

Rated torque [N•m] 2.4 (3.2)

Maximum torque

*8

[N•m]

Rated speed

*1*8

[r/min]

Maximum speed *1

[r/min]

7.2 (12.7)

2000 (1500)

4000

1.0

4.8 (6.4)

14.3 (19.1)

2000 (1500)

1.75

8.4

25.1

2000

9.7 (17.2) 26.3 (46.8) 61.2

2.0

9.5 (11.6)

28.6 (34.7)

2000 (1650)

53.9 (79.2)

3.0

14.3

43.0 (50.1)

2000

2500

91.5

7.0 (12.4) 20.9 (37.2) 51.1

47.8 (70.3) 83.6

With an electromagnetic brake

Rated current

*8

[A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

With an electromagnetic brake

MR-J5 Recommended load to motor

inertia ratio

*2

MR-J5D

Speed/position detector

1.5 (2.0)

5.1 (9.3)

5.90

8.15

4 times or less

19 times or less

*12

2.7 (3.5)

8.8 (12)

8.65

10.9

4 times or less less

*15

16 times or

4.7

16

11.4

13.7

4 times or less

*16

11 times or less

5.2 (6.3)

17 (21)

16.9

19.1

8 times or

less

*16

7 times or

less *16

5.1

17 (20)

22.4

24.5

24 times or less

24 times or less

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Type

Oil seal *7

Insulation class

Structure

Vibration resistance

*4

[m/s

2

]

Vibration rank

*5

Permissible load for the shaft

*6*10

L [mm]

Radial [N]

Mass

*9

[kg]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*11

X: 24.5, Y: 49

V10

55

980

490

5.0

6.0

7.1

9.1

6.8

7.8

8.8

11

11

13

3534W(B)

2.6 (3.5)

8.3 (11.1)

24.8 (44.6)

3000

6700

40.5 (73.4)

35.9 (65.0)

6.9 (9.2)

22 (42)

16.9

19.1

10 times or less

3 times or less

*21

9.1

11

5034W(B)

5.0

15.9

47.8 (63.7)

3000

6000

91.5

84.7

12

37 (52)

27.7

29.9



2 times or less

*22

13

15

172 8 HK-ST SERIES

8.2 Standard specifications

Series

Flange size

HK-ST_4_W (Medium inertia/medium capacity)

□ 176

Rotary servo motor model HK-

ST

2024W(B) 3524W(B) 5024W(B)

Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1*8

Rated output [kW]

Rated speed

*1*8

[r/min]

Maximum speed *1

[r/min]

400 V AC (3-phase 380 V AC to 480 V AC)

2.0

Rated torque [N•m] 9.5 (12.7)

Maximum torque *8

[N•m] 28.6 (38.2)

2000 (1500)

4000

3.5

16.7 (20.3)

50.1 (60.8)

2000 (1650)

3500

25.1 (44.6) 52.1 (76.5) Power rate at continuous rated

torque *8

[kW/s]

With an electromagnetic brake

Rated current

*8

[A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

Without an electromagnetic brake

Without an electromagnetic brake

With an electromagnetic brake

22.0 (39.2)

5.0 (6.7)

16 (23)

36.4

41.4

47.7 (70.0)

7.9 (9.5)

26 (33)

53.6

58.6

Recommended load to motor

inertia ratio

*2

MR-J5

MR-J5D

Speed/position detector

4 times or less

*13

2 times or less

*17

5 times or less

*14

4 times or less

*18

5.0

23.9 (28.9)

71.6 (86.8)

2000 (1650)

4000

80.4 (118)

75.2 (110)

14 (16)

45 (55)

70.8

75.8



2 times or less *19

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Type

Oil seal *7

Permanent magnet synchronous motor

×

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6*10

Mass

*9

[kg]

L [mm]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*11

X: 24.5, Y: 49

V10

79

2058

980

13 16

18 21

X: 24.5, Y: 29.4

20

25

7024W(B)

7.0

33.4

100

2000

3000

106

101

14

59

105

110



2 times or less

*20

27

31

8

8 HK-ST SERIES

8.2 Standard specifications

173

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

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

Rotary servo motor

X

Vibration

1000

Y

100

10

0 1000 2000

Speed [r/min]

3000 4000

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Top

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 181 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names.

*8 The values in ( ) are for when the torque is increased.

*9 Refer to the following for geared servo motors.



Page 187 Geared servo motor

*10 Refer to the following for geared servo motors.



Page 187 Geared servo motor

*11 When a geared servo motor is used, the IP rating for the gear reducer area is equivalent to IP44.

*12 If at 2000 r/min or less, the ratio will be 19 times or less.

*13 If at 2000 r/min or less, the ratio will be 20 times or less.

*14 If at 2000 r/min or less, the ratio will be 22 times or less.

*15 If at 2000 r/min or less, the ratio will be 23 times or less.

*16 If at 2000 r/min or less, the ratio will be 24 times or less.

*17 If at 2000 r/min or less, the ratio will be 12 times or less.

*18 If at 2000 r/min or less, the ratio will be 14 times or less.

*19 If at 2000 r/min or less, the ratio will be 10 times or less.

*20 If at 2000 r/min or less, the ratio will be 7 times or less.

*21 If at 3000 r/min or less, the ratio will be 20 times or less.

*22 If at 3000 r/min or less, the ratio will be 12 times or less.

174 8 HK-ST SERIES

8.2 Standard specifications

Torque characteristics

• For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70

% or lower of the rated torque.

When connected with 200 V servo amplifier

When the power supply voltage drops, the torque decreases.

range for 3-phase 170 V AC

: A rough indication of the possible continuous running

: 3-phase 200 VAC

: 1-phase 200 VAC

■ HK-ST_W

[HK-ST52W]

Standard torque

14.0

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 4000



[HK-ST52W]

Torque increased

14.0

12.0

10.0

Short-duration running range

8.0

6.0

4.0

2.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST172W]

Standard torque

30.0

[HK-ST102W]

Standard torque

20.0

15.0

10.0

Short-duration running range

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

25.0

20.0

Short-duration running range

15.0

10.0

[HK-ST202AW]

Standard torque

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 4000

[HK-ST302W]

Standard torque

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000

Speed [r/min]

2000 2500

[HK-ST302W]

Torque increased

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000

Speed [r/min]

2000 2500

[HK-ST353W]

Standard torque

50.0

45.0

40.0

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-ST102W]

Torque increased

20.0

15.0

Short-duration running range

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST202AW]

Torque increased

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

6000 6700

[HK-ST353W]

Torque increased

50.0

45.0

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

4000

6000 6700

8

8 HK-ST SERIES

8.2 Standard specifications

175

[HK-ST503W]

Standard torque

70.0

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-ST503W]

Torque increased

70.0

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-ST202W]

Standard torque

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST202W]

Torque increased

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST352W]

Standard torque

70.0

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 3500

[HK-ST702W]

Standard torque

150.0



[HK-ST352W]

Torque increased

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 3500



[HK-ST502W]

Standard torque

90.0

80.0

70.0

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 4000



[HK-ST502W]

Torque increased

90.0

80.0

70.0

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

125.0

100.0

75.0

Short-duration running range

50.0

25.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000

176 8 HK-ST SERIES

8.2 Standard specifications

■ HK-ST_4_W

[HK-ST524W]

Standard torque

12.0

10.0

8.0

Short-duration running range

6.0



4.0

2.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500 2000

[HK-ST1724W]

Standard torque

30.0



25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500 2000

[HK-ST3024W]

Standard torque

45.0

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 500

Speed [r/min]

1000 1200



[HK-ST3524W]

Standard torque

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500

[HK-ST3524W]

Torque increased

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

[HK-ST1024W]

Standard torque

25.0

20.0

15.0

10.0

Short-duration running range

[HK-ST1024W]

Torque increased

25.0

20.0

15.0

10.0

Short-duration running range

1500

5.0

0.0

0

Continuous running range

500 1000

Speed [r/min]

1500 2000

[HK-ST2024AW]

Standard torque

35.0

30.0

25.0

Short-duration running range



20.0

15.0

10.0

5.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500 2000

[HK-ST2024W]

Standard torque

45.0

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500 2000





[HK-ST5024W]

Standard torque

90.0

80.0

70.0

Short-duration running range

60.0

50.0

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 500 1000

Speed [r/min]

1500 2000

5.0

0.0

0

Continuous running range

500 1000

Speed [r/min]

1500 2000

8

8 HK-ST SERIES

8.2 Standard specifications

177

[HK-ST7024W]

Standard torque

140.0

120.0

100.0

80.0

Short-duration running range

60.0

40.0

20.0

0.0

0

Continuous running range

500 1000

Speed [r/min]

1500

  

178 8 HK-ST SERIES

8.2 Standard specifications

When connected with 400 V servo amplifier

When the power supply voltage drops, the torque decreases.

range for 3-phase 323 V AC

: A rough indication of the possible continuous running

: 3-phase 400 VAC

: 3-phase 380 VAC

■ HK-ST_4_W

[HK-ST524W]

Standard torque

14.0

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 4000

[HK-ST1724W]

Standard torque

30.0



[HK-ST524W]

Torque increased

14.0

12.0

10.0

Short-duration running range

8.0

6.0

4.0

2.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST3024W]

Standard torque

60.0

HK-ST3024W

Torque increased

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

Continuous running range

0.0

0

Speed [r/min]

2000 2500

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000

Speed [r/min]

2000 2500

[HK-ST1024W]

Standard torque

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

1000 2000

Speed [r/min]

3000 4000

[HK-ST1024W]

Torque increased

20.0

15.0

Short-duration running range

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST2024AW]

Standard torque

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

[HK-ST3534W]

Standard torque

50.0

45.0

40.0

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

4000

[HK-ST2024AW]

Torque increased

40.0

35.0

30.0

Short-duration running range

25.0

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

6000 6700

[HK-ST3534W]

Torque increased

50.0

45.0

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

4000

6000 6700

8

8 HK-ST SERIES

8.2 Standard specifications

179

[HK-ST5034W]

Standard torque

70.0

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

[HK-ST3524W]

Standard torque

70.0

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 3500

[HK-ST7024W]

Standard torque

140.0

120.0

100.0

80.0

Short-duration running range

60.0

40.0

20.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000

[HK-ST5034W]

Torque increased

70.0

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

6000

HK-ST3524W

Torque increased

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 3500

[HK-ST2024W]

Standard torque

40.0

35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST2024W]

Torque increased

40.0

35.0

Short-duration running range

30.0

25.0

20.0

15.0

10.0

Continuous running range

5.0

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST5024W]

Standard torque

100.0

90.0

80.0

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

[HK-ST5024W]

Torque increased

100.0

90.0

80.0

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 1000 2000

Speed [r/min]

3000 4000

180 8 HK-ST SERIES

8.2 Standard specifications

Permissible load for the output shaft

The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently.

Distance L from flange mounting surface to load center

Radial load

Thrust load

In case where the load position changes, calculate the permissible radial load from the distance measured from the flange mounting surface to the center of the load, and make the load equal to or less than the permissible radial load, referring to the graph shown in the following.

Model Radial load

Load position

L [mm]

55

Load [N]

980

Thrust load

Load [N]

490

The graph of the relation between the load and the load position

HK-ST52(4)W

HK-ST102(4)W

HK-ST172(4)W

HK-ST202(4)AW

HK-ST302(4)W

HK-ST353(4)W

HK-ST503(4)W

1400

1300

1200

1100

1000

HK-ST202(4)W

HK-ST352(4)W

HK-ST502(4)W

HK-ST702(4)W

79 2058 980

900

0 10 20 30 40

Distance L from flange surface [mm]

50 55

2800

2700

2600

2500

2400

2300

2200

2100

2000

1900

0 10 20 30 40 50 60

Distance L from flange surface [mm]

70 80

8

8 HK-ST SERIES

8.2 Standard specifications

181

8.3

The graph of overload protection characteristics of rotary servo motor

Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later.

Refer to "Overload protection characteristics" in the following manual.

 MR-J5 User's Manual (Hardware)

8.4

Characteristics of electromagnetic brake

Before operating the servo motor, confirm that the electromagnetic brake operates properly.

The operation time of the electromagnetic brake varies depending on the power supply circuit being used.

Check the operation delay time with an actual machine.

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

Item HK-ST52(4)WB

HK-ST102(4)WB

HK-ST172(4)WB

HK-ST202(4)AWB

HK-ST302(4)WB

HK-ST202(4)WB

HK-ST352(4)WB

HK-ST502(4)WB

HK-ST702(4)WB

Type

*1

Rated voltage

*4

Power consumption at 20 °C [W]

Coil resistance *5

[ Ω ]

Inductance

*5

[H]

Brake static friction torque

*7

[N•m]

Release delay time

*2

[s]

Braking delay time [s]

DC off *2

Permissible braking work

Brake life

*3

Per braking [J]

Per hour [J]

Brake looseness at servo motor shaft *5

[degree]

Number of braking times

[times]

Selection example of surge absorbers to be

used *6

Work per braking [J]

For the suppressed voltage 125 V

For the suppressed voltage 350 V

Spring actuated type safety brake

24 V DC (-10 % to 0 %)

20

29

23

25

0.05

8.5 or more

0.04

0.03

0.25

16 or more

0.12

0.03

400

4000

0.2 to 0.6

20000

400

4000

0.01 to 0.6

5000

34

17

0.06

44 or more

0.1

0.03

4500

45000

0.2 to 0.6

20000

200 400 1000

TND20V-680KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

TND10V-221KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

*1 This type does not have a manual release mechanism. Use a 24 V DC power supply to release the brake electrically.

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

*3 Brake lining wear due to braking will increase the brake gap, but the gap is not adjustable. Therefore, the brake life indicates the number of times the brake can be applied before gap adjustment becomes necessary.

*4 Prepare a power supply exclusively for the electromagnetic brake.

*5 The values are design values. These are not the guaranteed values.

*6 Select the electromagnetic brake control relay properly, in consideration of the characteristics of the electromagnetic brake and surge absorber. When a diode is used as a surge absorber, the electromagnetic braking time becomes longer.

*7 The value of the brake static friction torque is the lower limit in the initial state at 20 °C.

182 8 HK-ST SERIES

8.3 The graph of overload protection characteristics of rotary servo motor

120

100

80

60

40

20

8.5

Derating

The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL.

046 Servo motor overheat] does not occur on the actual machine before use.

If [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] occurs, consider the following measures:

• Lower the effective load ratio of the rotary servo motor.

• Review the heat dissipation conditions.

To use this product under conditions with multiple derating, calculate the multiplication of each derating rate, and use at the calculated derating rate or lower. For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When applying the derating rate in the conditions above, calculate the multiplication of the derating rate of 70 % in the unbalanced torque and the derating rate of each condition, and use this product at the calculated derating rate or lower.

Restrictions on the flange size

When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions:

HK-ST52(4)W/HK-ST102(4)W/

HK-ST172(4)W/HK-ST202(4)AW/

HK-ST302(4)W

120

100

80

60

40

20

0

100

0

100 150 200 250

Flange size (12 mm thick) [mm]

300 200 300 400

Flange size (20 mm thick) [mm]

500

120

100

80

60

40

20

0

150

HK-ST202(4)W/HK-ST352(4)W

300

120

100

80

60

40

20

0

150

HK-ST502(4)W/HK-ST702(4)W

650 200 250

Flange size (20 mm thick) [mm]

250 350 450 550

Flange size (35 mm thick) [mm]

8

8 HK-ST SERIES

8.5 Derating

183

Restrictions on the ambient temperature

When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions:

120 120

HK-ST202(4)W

HK-ST52(4)W

100 100

80 80

60

40

20

HK-ST102(4)W

HK-ST172(4)W/HK-ST202(4)AW/

HK-ST302(4)W

HK-ST353(4)W/HK-ST503(4)W

60

40

20

HK-ST352(4)W

HK-ST502(4)W

HK-ST702(4)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

0

0 10 20 30 40

Ambient temperature [°C]

50 60

Restrictions on the altitude

To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions:

[%]

100

95

0

0 1000

Altitude

2000 [m]

184 8 HK-ST SERIES

8.5 Derating

8.6

Rotary servo motors with special shafts

For rotary servo motors, there are two types of shafts: keyed shaft (with double round-ended key) and keyed shaft (without key).

Rotary servo motor Shaft shape

Keyed shaft

With double round-ended key

K HK-ST52(4)WK

HK-ST102(4)WK

HK-ST172(4)WK

HK-ST202(4)AWK

HK-ST302(4)WK

HK-ST353(4)W

HK-ST503(4)W

HK-ST202(4)WK

HK-ST352(4)WK

HK-ST502(4)WK

HK-ST702(4)WK

K

Without key

N

N

Keyed shaft (with double round-ended key)

R

Q

QK QL

A

U Y

A T

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

HK-ST52(4)WK

HK-ST102(4)WK

HK-ST172(4)WK

HK-ST202(4)AWK

HK-ST302(4)WK

HK-ST353(4)W

HK-ST503(4)W

HK-ST202(4)WK

HK-ST352(4)WK

HK-ST502(4)WK

HK-ST702(4)WK

24 0

-0.013

35 +0.010

0

55

79

Q

50

75

W

8

10

QK

36

55

QL

5

5

U

4

5

T

7

8

Y

M8

Screw hole depth

20

M8

Screw hole depth

20

8

8 HK-ST SERIES

8.6 Rotary servo motors with special shafts

185

Keyed shaft (without key)

R

Q

QK

A

QL

U Y

A r

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

HK-ST52(4)WN

HK-ST102(4)WN

HK-ST172(4)WN

HK-ST202(4)AWN

HK-ST302(4)WN

HK-ST353(4)W

HK-ST503(4)W

HK-ST202(4)WN

HK-ST352(4)WN

HK-ST502(4)WN

HK-ST702(4)WN

24 0

-0.013

35 +0.010

0

55

79

Q

50

75

W

8 0

-0.036

QK

36

10 0

-0.036

55

QL

5

5

U

4 +0.2

0 r

4

5 +0.2

0

5

Y

M8

Screw hole depth

20

M8

Screw hole depth

20

186 8 HK-ST SERIES

8.6 Rotary servo motors with special shafts

8.7

Geared servo motor

Precautions

Mount the geared rotary servo motor in the specified mounting direction.

Not doing so will cause oil leakage which may lead to a fire and malfunction.

When using an oil-lubricated geared servo motor, remove the oil when transporting and mounting the servo motor. If the geared servo motor is tipped over while filled with oil, oil leakage may occur.

Do not attach a gear reducer removed from a geared servo motor to a servo motor which originally does not have a gear reducer. If the geared servo motor being used requires repair, contact your local sales office.

The geared rotary servo motors are for general industrial machine and for high precision applications.

Some geared rotary servo motors also have an electromagnetic brake.

For general industrial machine (G1/G1H)

Common specifications

Item

Mounting method

Mounting direction

Lubrication method

Recommended lubricants *1

Output shaft rotation direction

Backlash

*5

Permissible load to motor inertia ratio

(converted into equivalent value on servo motor shaft) *2

Maximum torque *7

Maximum speed

(For servo motor shaft)

IP rating (gear reducer area)

Gear reducer efficiency

*3

Description



Page 188 Mounting method and mounting direction



Page 188 Mounting method and mounting direction



Page 188 Lubrication method



Page 188 Recommended lubricants

Opposite direction of rotary servo motor output shaft

40 arc minutes to 2 ° on the gear reducer output shaft

*4

4 times or less

3 times the rated torque for the rotary servo motor

*6



Page 189 Maximum speed

Equivalent to IP44

85 % to 94 %

*1 For grease-lubricated geared servo motors, grease is filled from the factory.

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

*3 The gear reducer efficiency varies depending on the reduction ratio. The gear reducer efficiency also varies depending on the operating conditions such as output torque, speed, and temperature. The values in the table are the representative values at the rated torque, rated speed, and the room temperature, and are not guaranteed values.

*4 This is a design value and not a guaranteed value.

*5 The unit of backlash is calculated as follows: 1 arc minute = 0.0167 °

*6 The torque characteristics of the HK-ST152(4) is the specifications calculated by derating the HK-ST172(4)W with the output ratio (rated torque: 7.2 N•m) The moment of inertia is the same as the HK-ST172(4)W.

*7 The torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity.

8

8 HK-ST SERIES

8.7 Geared servo motor

187

■ Mounting method and mounting direction

CNHM CNVM CHHM Gear reducer model

Mounting method

Mounting direction

Foot-mounting Flangemounting

Shaft any direction

CHVM

Foot-mounting Flangemounting

Shaft horizontal

CVHM CVVM

Foot-mounting Flangemounting

Shaft downward

CWHM CWVM

Foot-mounting Flangemounting

Shaft upward

■ Lubrication method

The oil-lubrication method cannot be used for applications where the rotary servo motor moves. Specify grease lubrication in such applications.

For grease lubrication, the grease is filled from the factory. For oil lubrication, the oil is to be filled by the customers.

Gear reducer frame No.

6100

6120

6130/6135

6160/6165 (other than 1/6)

*2

6165 (1/6) *2

6170/6175

6180/6185

6195

Gear reducer model

CNHM

(Footmounting)

CNVM

(Flangemounting)











Grease

Grease













Grease

Grease



CHHM

(Footmounting)

Oil

Oil

Oil





Oil

*1

Oil

*1

Oil

CHVM

(Flangemounting)

Oil

Oil

Oil





Oil *1

Oil *1

Oil

CVHM

(Footmounting)

Oil

Oil

Oil





Oil

*1

Oil

*1

Oil

CVVM

(Flangemounting)

Oil

Oil

Oil





Oil

*1

Oil

*1

Oil

CWHM

(Footmounting)









Grease

Grease





CWVM

(Flangemounting)





Grease

Grease









*1 The grease lubrication method is also available on special purpose products.

*2 The value in ( ) is the reduction ratio.

■ Recommended lubricants

For handling, recommended grease/lubricating oil, maintenance, and inspection of the gear reducer, refer to the instruction manual "Cyclo® 6000" of Sumitomo Heavy Industries, Ltd. included with the product and to the manufacturer's website.

As the oil-lubricated models are shipped without lubricating oil, prepare the oil and be sure to fill it up to the upper red line of the oil gauge before operation. The Cyclo Drives Speed Reducer may have a small amount of lubricating oil structurally remaining from the shipment test, but the remaining oil does not need to be removed when the oil is supplied.

• Lubricating oil amount

Gear reducer frame No.

6130/6135

6160/6165

6170/6175

6180/6185

6195

Oil amount [L]

Horizontal type

0.7

1.4

1.9

2.5

4.0

Vertical type

1.1

1.0

1.9

2.0

2.7

188 8 HK-ST SERIES

8.7 Geared servo motor

■ Lubrication change period

• Grease

Gear reducer frame No. 6100, 6120: Maintenance-free

Other than the gear reducer frame No. 6100, 6120: Refer to the instruction manual "Cyclo® 6000" of Sumitomo Heavy

Industries, Ltd. included with the product and to the manufacturer's website.

• Lubricating oil

Number of replacement times

First time

Second time or later

Operating hours per day

Less than 10 hours

500 hours

6 months

10 to 24 hours

2500 hours

■ Maximum speed

Servo motor

HK-ST52(4)G1(H)

HK-ST102(4)G1(H)

HK-ST152(4)G1(H)

HK-ST202(4)G1(H)

HK-ST352(4)G1(H)

HK-ST502G1(H)

HK-ST702G1(H)

Reduction ratio

1/6 1/11

3000 [r/min]

3000 [r/min]

3000 [r/min]

3000 [r/min]

2000 [r/min]

2000 [r/min]

2000 [r/min]

1/17 1/29

2000 [r/min]

2000 [r/min]

1/35 1/43

2000 [r/min]

1/59

8

8 HK-ST SERIES

8.7 Geared servo motor

189

Rotary servo motor

Reduction ratio

Gear reducer frame No.

HK-ST52(4)G1

1/43

1/59

HK-ST102(4)G1 1/6

1/11

1/17

1/29

1/35

1/43

1/6

1/11

1/17

1/29

1/35

1/59

HK-ST152(4)G1 1/6

1/11

1/17

1/29

1/35

1/43

1/59

HK-ST202(4)G1 1/6

1/11

1/17

1/29

1/35

1/43

1/59

HK-ST352(4)G1 1/6

HK-ST502G1

1/17

1/29

1/35

1/43

1/59

1/43

1/59

1/6

1/11

1/11

1/17

1/29

1/35

Exclusive specifications

■ With gear reducer for general industrial machine (flange-mounting): G1

6100

6120

6120

6130

6160

6120

6130

6160

6120

6165

6135

6165

6175

6165

6180

6185

44.1

43.9

43.8

62.1

39.6

38.0

37.7

44.4

13.8

13.7

19.0

18.9

16.2

14.6

13.1

12.7

9.95

9.65

9.65

10.9

6.86

6.82

11.9

10.4

6.72

6.29

6.17

6.11

6.90

81.1

112

111

110

109

80.0

79.0

97.1

85.1

57.8

56.5

61.6

61.3

Moment of inertia

*1

[× 10 -4 kg•m 2 ]

Without an electromag netic brake

With an electromag netic brake

49.1

48.9

48.8

67.1

44.6

43.0

42.7

49.4

16.1

16.0

21.3

21.2

18.4

16.9

15.4

15.0

12.2

11.9

11.9

13.1

9.11

9.07

14.1

12.6

8.97

8.54

8.42

8.36

9.15

86.1

117

116

115

114

85.0

84.0

102

90.1

62.8

61.5

66.6

66.3

Permissible load

*2*3

Permissible thrust load

[N]

2352

2764

2940

6860

6860

6860

6860

3920

6860

2352

2764

2940

3920

3920

6860

6860

2940

2940

2352

2764

2940

2940

2940

3920

1470

1470

1470

1470

2940

3920

3920

6860

6860

9800

9800

5000

6292

6860

13720

13720

13720

13720

Permissible radial load

[N]

2842

3273

3646

7291

8555

8555

9741

3332

9741

2842

3273

3646

5135

6047

8555

9741

5253

5880

2842

3273

3646

4410

5253

6047

2058

2391

2832

3273

5253

3871

4420

7291

8555

11662

13132

5448

5488

6468

13426

16072

16072

16072

88

88

88

59

37

37

37

88

49

49

81

81

80

30

30

30

29

29

29

48

27

27

29

29

17

17

17

17

27

94

165

165

165

165

135

135

94

94

59

59

91

91

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

93

93

93

63

42

42

42

93

51

51

83

83

82

32

32

32

31

31

31

50

29

29

31

31

19

19

19

19

29

99

170

170

170

170

140

140

99

99

63

63

96

96

190 8 HK-ST SERIES

8.7 Geared servo motor

Rotary servo motor

Reduction ratio

Gear reducer frame No.

Moment of inertia

*1

[× 10 -4 kg•m 2 ]

Without an electromag netic brake

With an electromag netic brake

Permissible load

Permissible radial load

[N]

*2*3

Permissible thrust load

[N]

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

HK-ST702G1 1/6

1/11

1/17

1/29

1/35

1/43

6165

6170

6180

131

144

136

146

146

221

136

149

141

151

151

226

7526

7526

8683

13426

16072

22540

5000

8085

9673

13720

13720

19600

100

145

145

170

170

240

105

150

150

175

175

245 6195

1/59 220 225 22540 19600 240 245

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 The permissible radial loads in the table are the values at the center of the gear reducer output shaft. Refer to the following for the shaft length.



Page 200 Dimensions

Q/2

Q: Length of axis

Q

*3 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

8

8 HK-ST SERIES

8.7 Geared servo motor

191

Rotary servo motor

Reduction ratio

Gear reducer frame No.

1/6

1/11

1/17

1/29

1/29

1/35

1/43

1/59

1/59

1/6

1/11

1/17

1/17

1/29

1/35

1/43

1/11

1/17

1/29

1/35

1/35

1/43

1/59

1/6

1/43

1/59

1/43

1/59

1/6

1/11

1/11

1/17

1/29

1/35

1/35

1/43

1/59

1/6

1/6

1/11

1/17

1/29

■ With gear reducer for general industrial machine (foot-mounting): G1H

HK-

ST52(4)G1H

HK-

ST102(4)G1H

HK-

ST152(4)G1H

HK-

ST202(4)G1H

HK-

ST352(4)G1H

HK-ST502G1H

6100

6120

6120

6130

6160

6120

6130

6160

6120

6165

6135

6165

6175

6165

6180

6185

62.1

57.8

56.5

61.6

44.4

44.1

43.9

43.8

18.9

39.6

38.0

37.7

12.7

13.8

13.7

19.0

85.1

81.1

112

111

61.3

80.0

79.0

97.1

110

109

10.9

16.2

14.6

13.1

10.4

9.95

9.65

9.65

6.90

6.86

6.82

11.9

6.72

6.29

6.17

6.11

Moment of inertia *1

[× 10

-4

kg•m

2

]

Without an electromag netic brake

With an electromag netic brake

67.1

62.8

61.5

66.6

49.4

49.1

48.9

48.8

21.2

44.6

43.0

42.7

15.0

16.1

16.0

21.3

90.1

86.1

117

116

66.3

85.0

84.0

102

115

114

13.1

18.4

16.9

15.4

12.6

12.2

11.9

11.9

9.15

9.11

9.07

14.1

8.97

8.54

8.42

8.36

Permissible load

*2*3

Permissible thrust load

[N]

6860

6860

6860

6860

3920

3920

3920

6860

2940

3920

3920

6860

6860

2352

2764

2940

6860

9800

9800

5000

6292

6860

13720

13720

13720

13720

2764

2940

2940

2940

3920

6860

2352

2764

1470

1470

1470

1470

2940

2940

2940

2352

Permissible radial load

[N]

7291

8555

8555

9741

3332

3871

4420

7291

3646

5135

6047

8555

9741

2842

3273

3646

8555

11662

13132

5448

5488

6468

13426

16072

16072

16072

3273

3646

4410

5253

6047

9741

2842

3273

2058

2391

2832

3273

5253

5253

5880

2842

60

60

60

96

93

93

93

93

86

38

38

38

31

50

50

86

99

99

180

180

96

140

140

99

180

180

49

85

31

31

30

30

30

30

28

28

28

30

20

20

20

20

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

64

64

64

105

98

98

98

98

88

43

43

43

33

52

52

88

105

105

185

185

105

145

145

105

185

185

51

87

33

33

32

32

32

32

30

30

30

32

22

22

22

22

192 8 HK-ST SERIES

8.7 Geared servo motor

Rotary servo motor

Reduction ratio

Gear reducer frame No.

Moment of inertia

*1

[× 10 -4 kg•m 2 ]

Without an electromag netic brake

With an electromag netic brake

Permissible load

Permissible radial load

[N]

*2*3

Permissible thrust load

[N]

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

HK-ST702G1H 1/6

1/11

1/17

1/29

1/35

1/43

6165

6170

6180

131

144

136

146

146

221

136

149

141

151

151

226

7526

7526

8683

13426

16072

22540

5000

8085

9673

13720

13720

19600

105

145

145

185

185

255

110

150

150

190

190

260 6195

1/59 220 225 22540 19600 255 260

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 The permissible radial loads in the table are the values at the center of the gear reducer output shaft. Refer to the following for the shaft length.



Page 200 Dimensions

Q/2

Q: Length of axis

Q

*3 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

8

8 HK-ST SERIES

8.7 Geared servo motor

193

For high precision applications (G5/G7)

Specifications

Item

Mounting method

Mounting direction

Lubrication method

Output shaft rotation direction

Backlash

*3

Permissible load to motor inertia ratio

(converted into equivalent value on servo motor shaft) *1

Maximum torque *5

Maximum speed

(For servo motor shaft)

IP rating (gear reducer area)

Gear reducer efficiency

*2

Description

Flange-mounting

Any direction

Grease lubrication (lubricant filled from the factory)

The same direction as the rotary servo motor

3 arc minutes or less on the gear reducer output shaft

10 times or less

3 times the rated torque for the rotary servo motor

*4

3000 r/min

Equivalent to IP44

77 % to 92 %

*1 If the permissible load to motor inertia ratio exceeds the indicated values, contact your local sales office.

*2 The gear reducer efficiency varies depending on the reduction ratio. The gear reducer efficiency also varies depending on the operating conditions such as output torque, speed, and temperature. The values in the table are the representative values at the rated torque, rated speed, and the room temperature, and are not guaranteed values.

*3 The unit of backlash is calculated as follows: 1 arc minute = 0.0167 °

*4 The torque characteristics of the HK-ST152(4) is the specifications calculated by derating the HK-ST172(4)W with the output ratio (rated torque: 7.2 N•m) The moment of inertia is the same as the HK-ST172(4)W.

*5 The torque of the geared servo motor does not increase even if in combination with a servo amplifier with a larger capacity.

194 8 HK-ST SERIES

8.7 Geared servo motor

Permissible load for the rotary servo motor shaft

■ With flange-output type gear reducer for high precision applications, flange mounting: G5

Rotary servo motor

Reduction ratio

Gear reducer model

Moment of inertia

*1

[× 10 -4 kg•m 2 ]

Without an electromag netic brake

With an electromag netic brake

Radial load point

L [mm]

Permissible load

Permissible radial load

[N]

*2*3

Permissible thrust load

[N]

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

HK-

ST52(4)G5

HK-

ST102(4)G5

HK-

ST152(4)G5

HK-

ST202(4)G5

HK-

ST352(4)G5

HK-

ST502G5

10130

11117

2834

3590

8845

10130

11117

2834

7285

8845

5751

7285

1465

1856

4359

4992

5478

1465

3590

4359

10130

11117

1465

3590

8845

2929

3215

711

901

2558

2929

3215

711

2107

2558

1663

2107

416

901

1094

2929

3215

416

901

2558

416

527

1094

1252

1374

62

62

62

57

62

62

57

57

62

62

62

62

62

32

57

62

32

57

57

62

32

32

57

57

57

47.8

46.8

46.8

63.2

18.4

18.3

46.0

45.8

66.7

65.0

85.9

83.9

15.5

14.4

17.0

19.4

11.6

14.2

13.8

15.6

8.80

8.71

11.1

10.9

10.9

42.8

41.8

41.8

58.2

16.1

16.0

41.0

40.8

61.7

60.0

80.9

78.9

13.3

12.1

14.7

17.1

9.30

12.0

11.6

13.4

6.55

6.46

8.80

8.60

8.60

1/21

1/33

1/45

1/5

1/33

1/45

1/5

1/11

1/11

1/21

1/5

1/11

1/45

1/5

1/11

1/21

1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/45

20A

32A

20A

32A

50A

20A

32A

50A

32A

50A

32A

50A

50A

HK-

ST702G5

1/5 50A 115 120 62 1663 5751 40 45

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 The radial load points of high-precision gear reducers are as follows.

30

30

30

23

23

23

20

20

33

33

34

36

22

9.0

13

23

8.0

12

12

22

7.1

7.5

11

11

11

35

35

35

28

24

24

25

25

38

38

39

41

23

11

15

24

9.7

14

14

23

8.8

9.2

13

13

13

L

8

L: Distance between reducer end face and load center

*3 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

8 HK-ST SERIES

8.7 Geared servo motor

195

■ With shaft-output type gear reducer for high precision applications, flange mounting: G7

Rotary servo motor

Reduction ratio

Gear reducer model

Moment of inertia *1

[× 10

-4

kg•m

2

]

Without an electromag netic brake

With an electromag netic brake

Permissible load

Permissible radial load

[N]

*2*3

Permissible thrust load

[N]

Mass

[kg]

Without an electromag netic brake

With an electromag netic brake

HK-ST52(4)G7

1/45

HK-ST102(4)G7 1/5

1/11

1/21

1/5

1/11

1/21

1/33

1/33

1/45

HK-ST152(4)G7 1/5

1/11

1/21

1/33

1/45

HK-ST202(4)G7 1/5

HK-ST352(4)G7 1/5

1/11

HK-ST502G7

1/21

1/5

1/11

1/21

1/33

1/45

20A

32A

20A

32A

50A

20A

32A

50A

32A

50A

32A

50A

17.1

16.1

16.1

41.3

13.4

13.4

12.1

14.8

8.6

9.34

12.1

11.6

6.59

6.46

8.8

8.6

58.5

62.0

60.1

82.3

40.9

42.9

41.8

41.8

19.4

18.4

18.4

46.3

15.6

15.6

14.4

17.1

10.9

11.6

14.3

13.8

8.84

8.71

11.1

10.9

63.5

67.0

65.1

87.3

45.9

47.9

46.8

46.8

2929

3215

416

901

2558

2929

3215

711

416

527

1094

1252

1374

416

901

1094

901

2558

2929

3215

711

2107

2558

1663

10130

11117

1465

3590

8845

10130

11117

2834

1465

1856

4359

4992

5478

1465

3590

4359

3590

8845

10130

11117

2834

7285

8845

5751

26

26

26

21

25

25

9.4

15

13

8.4

14

14

7.5

7.7

13

13

24

36

36

37

22

33

33

33

27

27

27

26

26

26

11

16

14

11

15

15

9.2

9.4

14

14

29

41

41

42

27

38

38

38

50A

1/11 79.2

84.2

2107 7285 39 44

HK-ST702G7 1/5 50A 116.5

121.5

1663 5751 43 48

*1 The moment inertia value is converted into the equivalent value on the servo motor shaft of the servo motor combined with the gear reducer (and an electromagnetic brake).

*2 The radial load points of high-precision gear reducers are as follows. Refer to the following for the shaft length.



Page 200 Dimensions

Q/2

Q: Length of axis

Q

*3 Do not subject the shaft to loads greater than the indicated value. Each value in the table indicates the load to be applied independently.

196 8 HK-ST SERIES

8.7 Geared servo motor

Servo motor with special shaft

The flange-mounting shaft output type servo motors for high precision application (G7) have a keyed shaft (with single pointed key).

[Unit: mm]

Q φ S W T QK U Y Rotary servo motor Gear reducer model

HK-ST_G7K 20A 42 25h7 8 7 36 4

32A

50A

82

82

40h7

50h7

12

14

8

9

70

70

5

5.5

M6 screw hole depth 12

M10 screw hole depth 20

Y

Q

QK

T

8

8 HK-ST SERIES

8.7 Geared servo motor

197

8.8

Mounting connectors

Both the one-touch lock fitting type and the screw fitting type can be used for the power connector. Mount the power connector as shown in the following procedure.

One-touch fitting component area

Screw fitting component area

A. One-touch fitting (JL10 plug)

B. Screw fitting (JL04V plug)

One-touch lock fitting

1.

Align the main key of the receptacle connector (motor side) with its groove on the plug connector (cable side), and insert the plug into the receptacle.

Main key

2.

While pushing the plug lightly, rotate the coupling nut clockwise until it clicks.

3.

Pull the plug lightly to check that the plug does not come off.

Coupling nut

198 8 HK-ST SERIES

8.8 Mounting connectors

Screw fitting

1.

Align the main key of the receptacle connector (motor side) with its groove on the plug connector (cable side), and insert the plug into the receptacle.

Main key

2.

Push in the plug straight until the coupling nut engages with the thread of the receptacle.

3.

Tighten the coupling nut with a recommended tightening torque of 4.0 to 4.5 N•m.

Coupling nut

8

8 HK-ST SERIES

8.8 Mounting connectors

199

8.9

Dimensions

• Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C. Since the values of the dimensions may vary depending on the ambient temperature, allow some margin when designing the machine side.

• The dimensions are the same, regardless of whether the servo motor has an oil seal or not.

• Use a friction coupling for coupling the servo motor with a load.

• The standard shaft type of the geared servo motors for general industrial machine and for general industrial machine (footmounting) is keyed shaft (with key).

200 8 HK-ST SERIES

8.9 Dimensions

Without gear reducer

HK-ST52W(B)/HK-ST102W(B)/HK-ST172W(B)/HK-ST202AW(B)/HK-ST302W(B)/HK-

ST353W(B)/HK-ST503W(B)/HK-ST524W(B)/HK-ST1024W(B)/HK-ST1724W(B)/HK-

ST2024AW(B)/HK-ST3024W(B)/HK-ST3534W(B)

Model Variable dimensions

*1

L KL

HK-ST52W(B)

HK-ST524W(B)

HK-ST102W(B)

HK-ST1024W(B)

HK-ST172W(B)

HK-ST1724W(B)

HK-ST202AW(B)

HK-ST2024AW(B)

HK-ST302W(B)

HK-ST3024W(B)

HK-ST353W(B)

HK-ST3534W(B)

HK-ST503W(B)

HK-ST5034W(B)

181.5

(216)

159.5

(194)

203.5

(238)

115.5

(150)

126.5

(161)

137.5

(172)

159.5

(194)

59.8

70.8

81.8

103.8

125.8

103.8

147.8

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

35.5

(39.5)

L

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

 130

*1 φ

145

0 -0.035

*1

18.8

KL

0 -0.013

13.5

80

35.5

*1

φ

165

*1

29

*1

Encoder connector

CMV1-R10P

13

56.5

Electromagnetic brake connector

CMV1-R2P *1

*1

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

[Unit: mm]

*1 For servo motors with an electromagnetic brake.

Main key position mark W E

Key

C

B

D

A

Electromagnetic brake

Electromagnetic brake connector Motor flange direction →

V U

Power connector

Motor flange direction →

8

8 HK-ST SERIES

8.9 Dimensions

201

HK-ST202W(B)/HK-ST352W(B)/HK-ST502W(B)/HK-ST702W(B)/HK-ST2024W(B)/HK-

ST3524W(B)/HK-ST5024W(B)/HK-ST7024W(B)

Model

HK-ST202W(B)

HK-ST2024W(B)

HK-ST352W(B)

HK-ST3524W(B)

HK-ST502W(B)

HK-ST5024W(B)

HK-ST702W(B)

HK-ST7024W(B)

Variable dimensions

*1

L

138.5

(188)

158.5

(208)

178.5

(228)

218.5

(268)

KL

80.7

100.7

120.7

160.7

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

35.5

(42.5)

*1

L

*2

18 3

79

75

4φ 4.5 mounting hole

Use hexagon socket head cap screw.

45°

 176

φ

200

0 -0.025

*1

*1

44 *1

Encoder connector

CMV1-R10P

13

62.5

Electromagnetic brake connector

CMV1-R2P *1

*1

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

*2

22.6

KL

+0.01 0

80

φ

230

*1

[Unit: mm]

*1 For servo motors with an electromagnetic brake.

*2 The HK-ST352W(B), HK-ST3524W(B), HK-ST502W(B), HK-ST5024W(B), HK-ST702W(B), and HK-ST7024W(B) have screw holes for eyebolts (M8).

Main key position mark W E

Key

C

B

D

A

Electromagnetic brake

Electromagnetic brake connector

Motor flange direction →

V U

Power connector

Motor flange direction →

202 8 HK-ST SERIES

8.9 Dimensions

With gear reducer for general industrial machine

8 HK-ST SERIES

8.9 Dimensions

203

8

HK-ST52(4)(B)G1/HK-ST102(4)(B)G1

Model Reduction ratio

Variable dimensions

*1

L LA LC

272.5 (307) 134

LD LG

110 -0.036

-0.090

160 9

LK LR

150 48

IE KL KA LP LT LW LS

119 55.7 (90.2) 18.8

(56.5) 35.5 (39.5) 13.5

(29) HK-ST52(4)(B)G1 1/6

1/11

1/17

1/29

1/35

1/43

HK-

ST102(4)(B)G1

1/59

1/6

1/11

1/17

1/29

1/35

1/43

265 (299.5) 180

276 (310.5) 180

321.5 (356) 230

140 -0.043

-0.106

210 13

140 -0.043

-0.106

210 13

204 69

204 69

230 76

132 55.7 (90.2) 18.8

(56.5) 35.5 (39.5) 13.5

(29)

132 55.7 (90.2) 18.8

(56.5) 35.5 (39.5) 13.5

(29)

145 55.7 (90.2) 18.8

(56.5) 35.5 (39.5) 13.5

(29)

1/59 379 (413.5) 310

200 -0.050

-0.122

260 15

270 -0.056

-0.137

340 20 300 89 192 55.7 (90.2) 18.8

(56.5) 35.5 (39.5) 13.5

(29)

Model Reduction ratio

Variable dimensions

*1

KE Z

80 4φ 11

K

45

E

3 HK-ST52(4)(B)G1 1/6

1/11

1/17

1/29

1/35

1/43

HK-

ST102(4)(B)G1

1/59

1/6

1/11

1/17

1/29

1/35

1/43

80

80

80

6φ 11

6φ 11

6φ 11

30

30

60

4

4

4

H

108

117

117

164

KB KD KC

108.8

(79.9) 130

108.8

(79.9) 130

108.8

(79.9) 130

108.8

(79.9) 130

Q

35

55

55

70

QK S

32

28 0

-0.013

50

50

56

38 0

-0.016

38 0

-0.016

50 0

-0.016

T

7

8

8

9

U

4

5

5

W Y

8 M8X20

10

10

5.5

14

M8X20

M10X18

1/59 80 6φ 11 60 4 219 108.8

(79.9) 130 90 80 11 7 18

60 0

-0.019

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

Rotation direction

Under reverse rotation command

Under forward rotation command

□ KC

50.9

LP

LT

KL

13

KA

L LR

H

LG E

Q

QK Z

K°

φ

LA

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

[Unit: mm]

204 8 HK-ST SERIES

8.9 Dimensions

Power connector

JL10-2E18-10PCE

(MS3102A18-10P) T

U

Y

HK-ST152(4)(B)G1/HK-ST202(4)(B)G1

Model

HK-

ST152(4)(B)G1

Reduction ratio

Variable dimensions

*1

L LA LC

287 (321.5) 180

140 -0.043

-0.106

HK-

ST202(4)(B)G1

1/29

1/35

1/43

1/59

1/59

1/6

1/11

1/17

1/6

1/11

1/17

1/29

1/35

1/43

332.5 (367) 230

390 (424.5) 310

306 (355.5) 180

403 (452.5) 310

200 -0.050

-0.122

270 -0.056

-0.137

140 -0.043

-0.106

270 -0.056

-0.137

LD LG LK LR IE KL

210 13 204 69 132 55.7 (90.2)

260 15

340 20

210 13

340 20

230 76 145 55.7 (90.2)

300 89 192 55.7 (90.2)

KA LP LT LW LS

18.8

(56.5) 35.5 (39.5) 13.5

(29)

18.8

(56.5) 35.5 (39.5) 13.5

(29)

18.8

(56.5) 35.5 (39.5) 13.5

(29)

204 69 142 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

300 89 181 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

(44)

(44)

Model

HK-

ST152(4)(B)G1

HK-

ST202(4)(B)G1

Reduction ratio

1/17

1/29

1/35

1/43

1/43

1/59

1/6

1/11

1/59

1/6

1/11

1/17

1/29

1/35

Variable dimensions

KE Z

80

80

80

80

80

6φ 11

6φ 11

6φ 11

6φ 11

6φ 11

K

30

60

60

30

60

E

4

4

4

4

4

*1

H

117

164

219

117

219

KB KD KC

108.8

(79.9) 130

108.8

(79.9) 130

108.8

(79.9) 130

140.8

(96.9) 176

140.8

(96.9) 176

Q

55

70

90

55

90

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK S

50

38 0

-0.016

56

80

50

80

50 0

-0.016

60 0

-0.019

38 0

-0.016

60 0

-0.019

T

8

9

11

8

11

U

5

W Y

10 M8X20

5.5

14

7

5

7

18

10

18

M10X18

M8X20

M10X18

Rotation direction

Under reverse rotation command

Under forward rotation command

□ KC

50.9

LP

LT

13

KL KA

L LR

H

LG E

Q

QK Z

K°

φ

LA

8

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

[Unit: mm]

Power connector

1.5 kw or less:

JL10-2E18-10PCE (MS3102A18-10P)

2.0 kW or more:

JL10-2E22-22PCE (MS3102A22-22P)

T

U

Y

8 HK-ST SERIES

8.9 Dimensions

205

HK-ST352(4)(B)G1/HK-ST502(B)G1

Model

HK-

ST352(4)(B)G1

Reduction ratio

Variable dimensions

*1

L

368.5

(418)

LA

230

LC

200 -0.043

-0.106

HK-ST502(B)G1

1/29

1/35

1/43

1/59

1/59

1/6

1/11

1/17

1/6

1/11

1/17

1/29

1/35

1/43

423

(472.5)

462.5

(512)

443

(492.5)

506.5

(556)

310

360

310

390

270 -0.056

-0.137

316 -0.062

-0.151

270 -0.056

-0.137

345 -0.062

-0.151

LD LG LK LR IE

260 15 230 76

KL

145 57.8

(107.3)

340 20

400 22

340 20

430 22

300 89

340 94

300 89

181 57.8

(107.3)

181 57.8

(107.3)

181 57.8

(107.3)

370 110 176 57.8

(107.3)

KA LP LT

22.6

(62.5) 35.5

(42.5)

22.6

(62.5) 35.5

(42.5)

22.6

(62.5) 35.5

(42.5)

22.6

(62.5) 35.5

(42.5)

22.6

(62.5) 35.5

(42.5)

Model

HK-

ST352(4)(B)G1

HK-ST502(B)G1

Reduction ratio

1/17

1/29

1/35

1/43

1/43

1/59

1/6

1/11

1/59

1/6

1/11

1/17

1/29

1/35

Variable dimensions

KE Z

80

80

80

80

80

6φ 11

6φ 11

8φ 14

6φ 11

8φ 18

K

60

60

60

E

4

4

22.5

5

4

22.5

5

*1

H

164

219

258

219

279

KB KD KC

140.8

(96.9) 176

140.8

(96.9) 176

140.8

(96.9) 176

140.8

(96.9) 176

140.8

(96.9) 176

Q

70

90

90

90

110 100

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK

56

80

80

80

S

50 0

-0.016

60 0

-0.019

70 0

-0.019

60 0

-0.019

80 0

-0.019

T

9

11

12

11

14

LW LS

0 (44)

0

0

0

0

(44)

(44)

(44)

(44)

U W Y

5.5

14 M10X18

7 18

7.5

20

7

9

18

22

M12X24

M10X18

M12X24

Rotation direction

Under reverse rotation command

Under forward rotation command

□ KC

50.9

LP

LT

13

KL KA

L LR

H

LG E

Q

QK Z

K°

φ

LA

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

[Unit: mm]

206 8 HK-ST SERIES

8.9 Dimensions

Power connector

JL10-2E22-22PCE

(MS3102A22-22P) T

U

Y

HK-ST702(B)G1

Model

HK-ST702(B)G1

1/11

1/17

1/29

1/35

1/43

1/59

Reduction ratio

1/6

Variable dimensions

*1

L LA LC

483 (532.5) 310

270 -0.056

-0.137

522.5 (572) 360

316 -0.062

-0.151

546.5 (596) 390

602.5 (652) 450

345 -0.062

-0.151

400 -0.062

-0.151

LD LG LK LR IE KL

340 20 300 89

KA LP LT LW

181 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

LS

(44)

400 22

430 22

490 30

340 94 181 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

370 110 176 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

430 145 210 57.8 (107.3) 22.6

(62.5) 35.5 (42.5) 0

Model

HK-ST702(B)G1

Reduction ratio

1/6

Variable dimensions

KE Z

80 6φ 11

K

60

E

4

*1

H

219

KB KD KC

140.8

(96.9) 176

Q

90

1/11

1/17

1/29

1/35

1/43

1/59

80

80

80

8φ 14

8φ 18

22.5

5

22.5

5

12φ 18 15 6

258

279

320

140.8

(96.9) 176

140.8

(96.9) 176

140.8

(96.9) 176

90

110 100

135 125

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK S

80

60 0

-0.019

80

70 0

-0.019

80 0

-0.019

95 0

-0.022

T

11

12

14

14

U

7

W Y

18 M10X18

7.5

20

9

9

22

25

(44)

(44)

(44)

M12X24

M20X34

Rotation direction

Under reverse rotation command

Under forward rotation command

□ KC

50.9

LP

LT

13

KL KA

L LR

H

LG E

Q

QK Z

K°

φ

LA

8

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

[Unit: mm]

Power connector

JL10-2E22-22PCE

(MS3102A22-22P) T

U

Y

8 HK-ST SERIES

8.9 Dimensions

207

With gear reducer for general industrial machine (foot-mounting)

HK-ST52(4)(B)G1H

Model

HK-

ST52(4)(B)G1H

Reduction ratio

Variable dimensions

*1

L LA LB LK LS LT LP LW H KL KA KB KD KC

320.5 (355) 100 219 150 (29) 35.5 (39.5) (56.5) 13.5

121 55.7 (90.2) 18.8

108.8

(79.9) 130 1/6

1/11

1/17

1/29

1/35

1/43

1/59

334 (368.5) 120 252 204 (29) 35.5 (39.5) (56.5) 13.5

131 55.7 (90.2) 18.8

108.8

(79.9) 130

Model Reduction ratio

Variable dimensions

*1

KE Z

80 11

FA

90

FB FC

135 60

FD

15

FE

12

FF

40

FG FH Q

150 180 35 HK-

ST52(4)(B)G1H

1/6

1/11

1/17

1/29

1/35

1/43

1/59

80 14 115 155 82 20 15 55 190 230 55

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK S

32

28 0

-0.013

T

7

50

38 0

-0.016

8

U

4

5

W

8

10

Y

M8X20

□ KC

50.9

LP

KL

LT

13

KA

L

H Q

QK

Rotation direction

Under reverse rotation command

Under forward rotation command

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

[Unit: mm]

FA

FB

FD

FC

4φ Z FF

FG

FH

U

Y

T

208 8 HK-ST SERIES

8.9 Dimensions

HK-ST102(4)(B)G1H

Model

HK-

ST102(4)(B)G1H

Model

HK-

ST102(4)(B)G1H

Reduction ratio

1/6

1/11

1/17

1/29

1/35

1/43

1/59

Reduction ratio

1/6

1/11

1/17

1/29

1/35

1/43

1/59

Variable dimensions

*1

L LA LB LK LS LT LP LW H KL KA KB KD KC

345 (379.5) 120 252 204 (29) 35.5 (39.5) (56.5) 13.5

131 55.7 (90.2) 18.8

108.8

(79.9) 130

397.5 (432) 150 295 230 (29) 35.5 (39.5) (56.5) 13.5

170 55.7 (90.2) 18.8

108.8

(79.9) 130

468 (502.5) 160 352 300 (29) 35.5 (39.5) (56.5) 13.5

218 55.7 (90.2) 18.8

108.8

(79.9) 130

Variable dimensions

*1

KE Z FA FB FC FD FE FF FG FH Q

80 14 115 155 82 20 15 55 190 230 55

80

80

18

18

145 195 100 25

150 238 139 44

22

25

65

75

290 330 70

370 410 90

QK

50

56

80

S

38 0

-0.016

T

8

50 0

-0.016

9

60 0

-0.019

11

U

5

5.5

14

7

W

10

18

Y

M8X20

M10X18

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

□ KC

50.9

LP

LT

13

KL KA

L

H Q

QK

Rotation direction

Under reverse rotation command

Under forward rotation command

8

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

[Unit: mm]

FA

FB

FD

FC

4φ Z FF

FG

FH

U

Y

T

8 HK-ST SERIES

8.9 Dimensions

209

HK-ST152(4)(B)G1H/HK-ST202(4)(B)G1H

Model

HK-

ST152(4)(B)G1H

Reduction ratio

Variable dimensions

*1

L LA LB LK LS LT LP LW H KL

356 (390.5) 120 252 204 (29) 35.5 (39.5) (56.5) 13.5

131 55.7 (90.2)

HK-

ST202(4)(B)G1H

1/29

1/35

1/43

1/59

1/59

1/6

1/11

1/17

1/6

1/11

1/17

1/29

1/35

1/43

408.5 (443) 150 295 230 (29) 35.5 (39.5) (56.5) 13.5

170 55.7 (90.2)

479 (513.5) 160 352 300 (29) 35.5 (39.5) (56.5) 13.5

218 55.7 (90.2)

375 (424.5) 120 262 204 (44) 35.5 (42.5) (62.5) 0

492 (541.5) 160 341 300 (44) 35.5 (42.5) (62.5) 0

KA KB KD KC

18.8

108.8

(79.9) 130

18.8

108.8

(79.9) 130

18.8

108.8

(79.9) 130

131 57.8 (107.3) 22.6

140.8

(96.9) 176

218 57.8 (107.3) 22.6

140.8

(96.9) 176

Model Reduction ratio

Variable dimensions

*1

KE Z

80 14

FA FB FC

115 155 82

FD

20

FE

15

FF

55

FG FH Q

190 230 55 HK-

ST152(4)(B)G1H

HK-

ST202(4)(B)G1H

1/17

1/29

1/35

1/43

1/43

1/59

1/6

1/11

1/59

1/6

1/11

1/17

1/29

1/35

80

80

80

80

18

18

14

18

145 195 100 25

150 238 139 44

115 155 82 20

150 238 139 44

22

25

15

25

65

75

55

75

290 330 70

370 410 90

190 230 55

370 410 90

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK S

50

38 0

-0.016

T

8

56

80

50

80

50 0

-0.016

9

60 0

-0.019

11

38 0

-0.016

8

60 0

-0.019

11

U

5

W Y

10 M8X20

5.5

14

7

5

7

18

10

18

M10X18

M8X20

M10X18

□ KC

50.9

LP

LT

KL

13

KA

L

H Q

QK

Rotation direction

Under reverse rotation command

Under forward rotation command

210

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

1.5 kW or less:

JL10-2E18-10PCE (MS3102A18-10P)

2.0 kW or more:

JL10-2E22-22PCE (MS3102A22-22P)

[Unit: mm]

8 HK-ST SERIES

8.9 Dimensions

FA

FB

FD

FC

4φ Z FF

FG

FH

U

Y

T

HK-ST352(4)(B)G1H/HK-ST502(B)G1H

Model Reduction ratio

Variable dimensions

*1

L LA LB LK LS LT LP LW H

444.5 (494) 150 295 230 (44) 35.5 (42.5) (62.5) 0

KL KA KB KD KC

170 57.8 (107.3) 22.6

140.8

(96.9) 176 HK-

ST352(4)(B)G1H

1/59

HK-ST502(B)G1H 1/6

1/11

1/17

1/29

1/35

1/43

1/59

1/6

1/11

1/17

1/29

1/35

1/43

512 (561.5) 160 341 300 (44) 35.5 (42.5) (62.5) 0

556.5 (606) 200 381 340 (44) 35.5 (42.5) (62.5) 0

532 (581.5) 160 341 300 (44) 35.5 (42.5) (62.5) 0

616.5 (666) 220 405 370 (44) 35.5 (42.5) (62.5) 0

218 57.8 (107.3) 22.6

140.8

(96.9) 176

262 57.8 (107.3) 22.6

140.8

(96.9) 176

218 57.8 (107.3) 22.6

140.8

(96.9) 176

279 57.8 (107.3) 22.6

140.8

(96.9) 176

Model Reduction ratio

HK-

ST352(4)(B)G1H

1/43

1/59

HK-ST502(B)G1H 1/6

1/11

1/17

1/29

1/35

1/43

1/59

1/6

1/11

1/17

1/29

1/35

Variable dimensions

*1

KE Z

80

80

80

80

80

18

18

22

18

22

FA FB FC FD

145 195 100 25

150 238 139 44

275 335 125 30

150 238 139 44

320 380 145 30

FE

22

25

30

25

30

FF

65

75

80

75

85

FG FH Q

290 330 70

370 410 90

380 430 90

370 410 90

QK S

56

80

80

80

420 470 110 100

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

50 0

-0.016

T

9

60 0

-0.019

11

70 0

-0.019

12

60 0

-0.019

11

80 0

-0.019

14

U W Y

5.5

14 M10X18

7 18

7.5

20

7

9

18

22

M12X24

M10X18

M12X24

□ KC

50.9

LP

LT

KL

13

KA

L

H Q

QK

Rotation direction

Under reverse rotation command

Under forward rotation command

8

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

[Unit: mm]

FA

FB

FD

FC

4φ Z FF

FG

FH

U

Y

T

8 HK-ST SERIES

8.9 Dimensions

211

HK-ST702(B)G1H

Model

HK-ST702(B)G1H 1/6

1/11

1/17

1/29

1/35

1/43

1/59

Reduction ratio

Variable dimensions

*1

L LA LB LK LS LT LP LW H

572 (621.5) 160 341 300 (44) 35.5 (42.5) (62.5) 0

616.5 (666) 200 381 340 (44) 35.5 (42.5) (62.5) 0

KL KA KB KD KC

218 57.8 (107.3) 22.6

140.8

(96.9) 176

262 57.8 (107.3) 22.6

140.8

(96.9) 176

656.5 (706) 220 405 370 (44) 35.5 (42.5) (62.5) 0

747.5 (797) 250 465 430 (44) 35.5 (42.5) (62.5) 0

279 57.8 (107.3) 22.6

140.8

(96.9) 176

330 57.8 (107.3) 22.6

140.8

(96.9) 176

Model Reduction ratio

HK-ST702(B)G1H 1/6

Variable dimensions

*1

KE Z

80 18

FA FB FC FD FE FF FG FH Q

150 238 139 44 25 75 370 410 90

1/11

1/17

1/29

1/35

1/43

1/59

80

80

80

22

22

26

275 335 125 30

320 380 145 30

380 440 170 30

30

30

35

80

85

90

380 430 90

420 470 110 100

480 530 135 125

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

QK S

80

60 0

-0.019

80

70 0

-0.019

T

11

12

80 0

-0.019

14

95 0

-0.022

14

U

7

W Y

18 M10X18

7.5

20

9

9

22

25

M12X24

M20X34

□ KC

50.9

LP

LT

KL

13

KA

L

H Q

QK

Rotation direction

Under reverse rotation command

Under forward rotation command

KD

KB

(Only a servo motor is drawn)

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

[Unit: mm]

FA

FB

FD

FC

4φ Z FF

FG

FH

U

Y

T

212 8 HK-ST SERIES

8.9 Dimensions

With flange-output type gear reducer for high precision applications, flange mounting

HK-ST52(4)(B)G5/HK-ST102(4)(B)G5

Model Reduction ratio

Variable dimensions

*1

L LA LB

HK-ST52(4)(B)G5 1/5

1/11

1/21

1/33

HK-

ST102(4)(B)G5

1/45

1/5

1/11

1/21

1/33

1/45

210.5 (245)

222.5 (257)

221.5 (256)

233.5 (268)

249.5 (284)

105

135

105

135

190

45

60

45

60

100

Model Reduction ratio

Variable dimensions

*1

KL LP LW LS

LC

85 0

-0.035

115 0

-0.035

85 0

-0.035

115 0

-0.035

165 0

-0.063

T

LD

90

120

90

120

170

N

LE

59

84

59

84

122

P

LF

24 +0.021

0

LG

27 +0.4

0.5

32 +0.025

0

35 +0.4

0.5

24 +0.021

0

32 +0.025

0

27 +0.4

0.5

35 +0.4

0.5

47 +0.025

0

53 +0.5

0.8

R M

HK-ST52(4)(B)G5 1/5

1/11

1/21

1/33

1/45

HK-

ST102(4)(B)G5

1/5

1/11

1/21

1/33

1/45

154.8

166.8

165.8

177.8

193.8

(56.5)

(56.5)

(56.5)

(56.5)

(56.5)

13.5

(35.5)

13.5

(35.5)

13.5

(35.5)

13.5

(35.5)

13.5

(35.5)

5

5

5

5

7

6

6

6

6

14

M6

M8

M6

M8

M8

10

12

10

12

12

9

11

9

11

14

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

LH LK LM

8 10 85

LT

35.5 (39.5)

13

8

13

13

13

10

13

16

94

85

94

108.8

(79.9) 130 80

108.8

108.8

(79.9)

(79.9)

130

130

80

80

108.8

(79.9) 130 80

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

107 35.5 (39.5)

KB KD

108.8

(79.9)

KC KE Front view

130 80 A

A

A

A

B

□ KC

LT

L

LM

LK

LH

LG

T

Rotation direction

Under reverse rotation command

Under forward rotation command

4φ M

N-P screw hole depth R

45°

□ LD

60°

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

45°

N-P screw hole depth R

4φ M

22.5°

φ

LA

φ LB

LS

KE

LW

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

13

LP

KL

φ

LA

Front view A

[Unit: mm]

*1 For the front view B, the screw positions are not placed equally in pitch around the circumference.

φ LB

Front view B *1

8 HK-ST SERIES

8.9 Dimensions

213

8

HK-ST152(4)(B)G5/HK-ST202(4)(B)G5

Model

HK-

ST152(4)(B)G5

Reduction ratio

1/5

Variable dimensions

*1

L

232.5 (267)

LA

105

LB

45

1/11 244.5 (279) 135 60

LC

85 0

-0.035

115 0

-0.035

HK-

ST202(4)(B)G5

1/11

1/21

1/33

1/45

1/21

1/33

1/45

1/5

260.5 (295)

267.5 (317)

287.5 (337)

190

135

190

100

60

100

165 0

-0.063

115 0

-0.035

165 0

-0.063

Model Reduction ratio

Variable dimensions

*1

KL LP LW LS T

LD

90

120

170

120

170

N

84

122

P

LE

59

84

122

LF

24 +0.021

0

32 +0.025

0

47 +0.025

0

LG

27 +0.4

0.5

35 +0.4

0.5

53 +0.5

0.8

32 +0.025

0

35 +0.4

0.5

47 +0.025

0

53 +0.5

0.8

R M

HK-

ST152(4)(B)G5

HK-

ST202(4)(B)G5

1/45

1/5

1/11

1/21

1/5

1/11

1/21

1/33

1/33

1/45

176.8

188.8

204.8

209.7

229.7

(56.5)

(56.5)

(56.5)

(62.5)

(62.5)

13.5

(35.5)

13.5

(35.5)

13.5

(35.5)

0

0

(40)

(40)

5

5

7

5

7

6

6

14

6

14

M6

M8

M8

M8

M8

10

12

12

12

12

11

14

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

9

11

14

LH LK LM

8 10 85

13

13

13

16

94

107

LT

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

13

13

13

16

116 35.5 (42.5)

133 35.5 (42.5)

KB KD

108.8

108.8

108.8

(79.9)

(79.9)

(79.9)

KC KE Front view

130

130

130

80

80

80

A

A

B

140.8

(96.9) 176 80

140.8

(96.9) 176 80

A

B

□ KC

LT

L

LM

LK

LH

LG

T

Rotation direction

Under reverse rotation command

Under forward rotation command

4φ M

N-P screw hole depth R

45°

□ LD

60°

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

45°

N-P screw hole depth R

4φ M

22.5°

φ

LA

φ LB

*2

LS

KE

LW

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

1.5 kW or less:

JL10-2E18-10PCE (MS3102A18-10P)

2.0 kW or more:

JL10-2E22-22PCE (MS3102A22-22P)

13

LP

KL

φ

LA

Front view A

[Unit: mm]

*1 For the front view B, the screw positions are not placed equally in pitch around the circumference.

*2 For the HK-ST202(4)(B)G7, this range has an area with 180 mm × 180 mm at maximum dimensions.

φ LB

Front view B *1

214 8 HK-ST SERIES

8.9 Dimensions

HK-ST352(4)(B)G5/HK-ST502(B)G5/HK-ST702(B)G5

Model

HK-

ST352(4)(B)G5

Reduction ratio

1/5

Variable dimensions

*1

L

287.5 (337)

LA

135

LB

60

LC

115 0

-0.035

LD

120

LE

84

HK-ST502(B)G5

HK-ST702(B)G5

1/11

1/21

1/5

1/11

1/5

307.5 (357)

327.5 (377)

367.5 (417)

190

190

190

100

100

100

165 0

-0.063

165 0

-0.063

170

170

170

122

122

122

165 0

-0.063

LF

32 +0.025

0

47 +0.025

0

LG

35 +0.4

0.5

53 +0.5

0.8

47 +0.025

0

53 +0.5

0.8

47 +0.025

0

53 +0.5

0.8

LH LK LM

13 13 116

13 16 133

LT

35.5 (42.5)

35.5 (42.5)

13

13

16

16

133 35.5 (42.5)

133 35.5 (42.5)

Model Reduction ratio

Variable dimensions

*1

KL LP LW LS T N P R M

229.7

249.7

(62.5)

(62.5)

0

0

(40)

(40)

5

7

6

14

M8

M8

12

12

11

14

KB KD

140.8

140.8

(96.9)

(96.9)

KC KE Front view

176

176

80

80

A

B

HK-

ST352(4)(B)G5

HK-ST502(B)G5

HK-ST702(B)G5

1/5

1/11

1/21

1/5

1/11

1/5

269.7

(62.5) 0

309.7

(62.5) 0

(40)

(40)

7

7

14

14

M8 12

M8 12

14

14

140.8

(96.9) 176 80

140.8

(96.9) 176 80

B

B

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

□ KC

LT

L

LM

LK

LH

LG

T

4φ M

N-P screw hole depth R

Rotation direction

Under reverse rotation command

Under forward rotation command

45°

□ LD

60°

Rotation direction

Under reverse rotation command

Under forward rotation command

□ LD

45°

N-P screw hole depth R

4φ M

22.5°

φ

LA

φ LB

*2

LS

KE

LW

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

13

LP

KL

φ

LA

Front view A

[Unit: mm]

*1 For the front view B, the screw positions are not placed equally in pitch around the circumference.

*2 This range has an area with 180 mm × 180 mm at maximum dimensions.

φ LB

Front view B *1

8

8 HK-ST SERIES

8.9 Dimensions

215

With shaft-output type gear reducer for high precision applications, flange mounting

HK-ST52(4)(B)G7/HK-ST102(4)(B)G7

Model Reduction ratio

Variable dimensions

*1

L LA LC

HK-ST52(4)(B)G7 1/5

1/11

1/21

1/33

HK-

ST102(4)(B)G7

1/45

1/5

1/11

1/21

1/33

1/45

210.5 (245)

222.5 (257)

221.5 (256)

233.5 (268)

249.5 (284)

105

135

105

135

190

85 0

-0.035

115 0

-0.035

85 0

-0.035

115 0

-0.035

165 0

-0.063

LD

90

120

90

120

170

LE

59

84

59

84

122

S

25 0

-0.021

40 0

-0.025

25 0

-0.021

40 0

-0.025

50 0

-0.025

Model Reduction ratio

HK-ST52(4)(B)G7 1/5

1/11

HK-

ST102(4)(B)G7

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

Variable dimensions

LM

85

94

85

94

107

LT

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

*1

KL

154.8

166.8

165.8

177.8

193.8

LP

(56.5)

(56.5)

(56.5)

(56.5)

(56.5)

LW

13.5

13.5

13.5

13.5

13.5

LS

(35.5)

(35.5)

(35.5)

(35.5)

(35.5)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

M

9

11

9

11

14

LG

27

35

27

35

53

LH

8

13

8

13

13

KB

108.8

108.8

108.8

108.8

108.8

Q

42

82

42

82

82

KD

(79.9)

(79.9)

(79.9)

(79.9)

(79.9)

LR

80

133

80

133

156

KC

130

130

130

130

130

Rotation direction

Under reverse rotation command

Under forward rotation command

LK

10

13

10

13

16

KE

80

80

80

80

80

□ KC

LT

L

LM

LK

LG

LH

LR

Q

4φ M

45°

□ LD

φ

LA

R0.4

*1

[Unit: mm]

LS

KE

LW

Encoder connector

CMV1-R10P

13

LP

Electromagnetic brake connector

CMV1-R2P

Power connector

JL10-2E18-10PCE

(MS3102A18-10P)

KL

216 8 HK-ST SERIES

8.9 Dimensions

HK-ST152(4)(B)G7/HK-ST202(4)(B)G7

Model

HK-

ST152(4)(B)G7

Reduction ratio

1/5

1/11

Variable dimensions

*1

L

232.5 (267)

LA

105

LC

85 0

-0.035

244.5 (279) 135

115 0

-0.035

260.5 (295) 190

165 0

-0.063

HK-

ST202(4)(B)G7

1/11

1/21

1/33

1/45

1/21

1/33

1/45

1/5 267.5 (317)

287.5 (337)

135

190

115 0

-0.035

165 0

-0.063

LD

90

120

170

120

170

LE

59

84

122

84

122

S

25 0

-0.021

40 0

-0.025

50 0

-0.025

40 0

-0.025

50 0

-0.025

Model

HK-

ST152(4)(B)G7

HK-

ST202(4)(B)G7

Reduction ratio

1/5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

Variable dimensions

*1

LM LT

85

94

107

116

133

35.5 (39.5)

35.5 (39.5)

35.5 (39.5)

35.5 (42.5)

35.5 (42.5)

KL

176.8

188.8

204.8

209.7

229.7

LP

(56.5)

(56.5)

(56.5)

(62.5)

(62.5)

LW

13.5

13.5

13.5

0

0

LS

(35.5)

(35.5)

(35.5)

(44)

(44)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

M

9

11

14

11

14

LG

27

35

53

35

53

LH

8

13

13

13

13

KB

108.8

108.8

108.8

140.8

140.8

82

82

KD

(79.9)

(79.9)

(79.9)

(96.9)

(96.9)

Q

42

82

82

133

156

KC

130

130

130

176

176

LR

80

133

156

Rotation direction

Under reverse rotation command

Under forward rotation command

13

16

KE

80

80

80

80

80

LK

10

13

16

□ KC

LT

L

LM

LK

LG

LH

LR

Q

4φ M

45°

□ LD

φ

LA

*1

R0.4

LS

KE

LW

Encoder connector

CMV1-R10P

13

LP

Electromagnetic brake connector

CMV1-R2P

Power connector

1.5 kW or less:

JL10-2E18-10PCE (MS3102A18-10P)

2.0 kW or more:

JL10-2E22-22PCE (MS3102A22-22P)

KL

[Unit: mm]

*1 For the HK-ST202(4)(B)G7, this range has an area with 180 mm × 180 mm at maximum dimensions.

8

8 HK-ST SERIES

8.9 Dimensions

217

HK-ST352(4)(B)G7/HK-ST502(B)G7/HK-ST702(B)G7

Model

HK-

ST352(4)(B)G7

HK-ST502(B)G7

HK-ST702(B)G7

Reduction ratio

1/5

1/11

1/21

1/5

1/11

1/5

Variable dimensions

*1

L

287.5 (337)

LA

135

LC

115 0

-0.035

307.5 (357) 190

165 0

-0.063

327.5 (377)

367.5 (417)

190

190

165 0

-0.063

LD

120

170

170

170

LE

84

122

122

122

165 0

-0.063

Model

HK-

ST352(4)(B)G7

HK-ST502(B)G7

HK-ST702(B)G7

1/5

1/11

1/21

1/5

1/11

1/5

Reduction ratio

Variable dimensions

*1

LM LT KL

116

133

35.5 (42.5)

35.5 (42.5)

229.7

249.7

133

133

35.5 (42.5)

35.5 (42.5)

269.7

309.7

LP

(62.5)

(62.5)

(62.5)

(62.5)

LW

0

0

0

0

LS

(44)

(44)

(44)

(44)

S

40 0

-0.025

50 0

-0.025

50 0

-0.025

53

LG

35

53

50 0

-0.025

53

M

11

14

14

14

13

13

KB

140.8

140.8

140.8

140.8

LH

13

13

82

82

KD

(96.9)

(96.9)

(96.9)

(96.9)

Q

82

82

156

156

KC

176

176

176

176

LR

133

156

16

16

KE

80

80

80

80

LK

13

16

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

Rotation direction

Under reverse rotation command

Under forward rotation command

□ KC

LT

L

LM

LK

LG

LH

LR

Q

4φ M

45°

□ LD

φ

LA

*1

R0.4

LS

KE

LW

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

13

LP

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

KL

[Unit: mm]

*1 This range has an area with 180 mm × 180 mm at maximum dimensions.

218 8 HK-ST SERIES

8.9 Dimensions

9

HK-RT SERIES

This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-RT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.

For the combinations of servo amplifiers and servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the servo motor, refer to "Servo amplifier/motor combinations" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

9.1

Model designation

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

H K - R T 1 0 3 WB

Oil seal

Symbol Oil seal

None

J

Not attached

Attached

Electromagnetic brake

Symbol Electromagnetic brake

None

B

Not attached

Attached

Rated speed

Symbol Rated speed [r/min]

3 3000

Rated output

Symbol Rated output [kW]

10

15

20

35

50

70

1.0

1.5

2.0

3.5

5.0

7.0

Special specifications

Symbol Special specifications

None

WS

Standard

Functional safety supported

Shaft type

Symbol Shaft shape

None

K

N

Standard (straight shaft)

Keyed shaft (with key)

Keyed shaft (without key)

9

9 HK-RT SERIES

9.1 Model designation

219

9.2

Standard specifications

Standard specifications list

When connected with 200 V servo amplifier

Series

Flange size

Rotary servo motor model HK-

RT

HK-RT_W (Ultra-low inertia/medium capacity)

□ 90

103W(B) 153W(B) 203W(B)

□ 130

353W(B) 503W(B) 703W(B)

Power supply capacity

Power supply voltage [V]

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

200 V AC (3-phase 200 V AC to 240 V AC)

Continuous

running duty

*1

Rated output [kW] 1.0

Rated torque [N•m] 3.2

Maximum torque *8

[N•m] 8.0 (9.5)

Rated speed

*1 [r/min]

Maximum speed

*1

[r/min]

3000

6700

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

With an electromagnetic brake

141

95.6

Rated current [A]

Maximum current

*8

[A]

Moment of inertia

J [× 10

-4

kg•m

2

]

Without an electromagnetic brake

With an electromagnetic brake

Recommended load to motor inertia ratio

*2

5.2

17 (21)

0.721

1.06

11 times or less

1.5

4.8

11.9 (12.9)

251

182

11

34 (42)

0.909

1.25

2.0

6.4

15.9/19.1

317

249

9.5

30/37

1.28

1.63

3.5

11.1

27.9/33.4

6000

280

189

16

51/62

4.44

6.57

10 times or less

Speed/position detector

5.0

15.9

47.7/55.7

403

301

25

90/110

6.29

8.41

Type

Oil seal *7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

L [mm]

Mass [kg]

Radial [N]

Thrust [N]

Without an electromagnetic brake

With an electromagnetic brake

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per rotary servo motor revolution: 67108864 pulses/rev)

Permanent magnet synchronous motor

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 24.5, Y: 49

V10

Totally enclosed, natural cooling (IP rating: IP67)

X: 24.5, Y: 24.5

*3

40 55

686

196

3.6

4.4

5.9

980

490

13 17 20

4.7

5.5

7.0

15 19

7.0

22.3

66.8

5000

655

512

28

102

7.58

9.70

23

220 9 HK-RT SERIES

9.2 Standard specifications

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

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

Rotary servo motor

9

X

Y

Vibration

1000

100

10

1

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Top

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 226 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names.

*8 The values in ( ) are for when the torque is increased.

*9 When IP67 cables are needed, contact your local sales office.

9 HK-RT SERIES

9.2 Standard specifications

221

When connected with 400 V servo amplifier

Series

Flange size

Rotary servo motor model HK-

RT

HK-RT_W (Ultra-low inertia/medium capacity)

□ 90

1034W(B) 1534W(B) 2034W(B)

□ 130

3534W(B) 5034W(B) 7034W(B)

Power supply capacity

Power rate at continuous rated torque [kW/s]

Without an electromagnetic brake

Refer to "Power supply capacity and generated loss" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

Power supply voltage [V]

Continuous

running duty *1

Rated output [kW]

400 V AC (3-phase 380 V AC to 480 V AC)

1.0

Rated torque [N•m] 3.2

Maximum torque

*8

[N•m]

Rated speed

*1

[r/min]

Maximum speed *1

[r/min]

8.0 (9.5)

3000

6700

1.5

4.8

11.9 (12.9)

2.0

6.4

15.9/19.1

141 251 317

3.5

11.1

27.9/33.4

6000

280

Rated current [A]

Maximum current *8

[A]

Moment of inertia

J [× 10 -4 kg•m 2 ]

With an electromagnetic brake

Without an electromagnetic brake

95.6

2.6

8.5 (11)

0.721

182

5.3

18 (20)

0.909

249

4.7

15 (19)

1.28

189

7.8

26 (31)

4.44

5.0

15.9

47.7/55.7

403

301

13

45 (55)

6.29

Recommended load to motor

inertia ratio

*2

Type

Speed/position detector

With an electromagnetic brake

MR-J5

MR-J5D

1.06

11 times or less

11 times or less

1.25

1.63

6.57

10 times or less

10 times or less

8.41



7.0

22.3

66.8

5000

655

512

14

51

7.58

9.70



Permanent magnet synchronous motor

26-bit encoder common to batteryless absolute position and incremental systems

(resolution per servo motor revolution: 67108864 pulses/rev)

×

155 (F)

Totally enclosed, natural cooling (IP rating: IP67)

*3*9

X: 24.5, Y: 49

Totally enclosed, natural cooling (IP rating: IP67)

X: 24.5, Y: 24.5

*3

Oil seal

*7

Insulation class

Structure

Vibration resistance *4

[m/s 2 ]

Vibration rank

*5

Permissible load for the shaft

*6

L [mm]

Radial [N]

Thrust [N]

Mass [kg] Without an electromagnetic brake

With an electromagnetic brake

V10

40

686

196

3.6

4.7

4.4

5.5

5.9

7.0

55

980

490

13

15

17

19

20

23

222 9 HK-RT SERIES

9.2 Standard specifications

*1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed.

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

*3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.

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

Rotary servo motor

9

X

Y

Vibration

1000

100

10

1

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

*5 V10 indicates that the amplitude of a rotary servo motor as a single unit is 10 μ m or less. The following figure shows the rotary servo motor mounting position for measurement and the measuring position.

Rotary servo motor

Top

Measuring position

Bottom

*6 Refer to the following for permissible load for the shaft.



Page 226 Permissible load for the output shaft

*7 Rotary servo motors with an oil seal have J in their model names.

*8 The values in ( ) are for when the torque is increased.

*9 When IP67 cables are needed, contact your local sales office.

9 HK-RT SERIES

9.2 Standard specifications

223

Torque characteristics

• For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70

% or lower of the rated torque.

When connected with 200 V servo amplifier

• When the power supply voltage drops, the torque decreases.

range for 3-phase 170 V AC

: A rough indication of the possible continuous running

: 3-phase 200 VAC

: 1-phase 200 VAC

■ HK-RT_W

[HK-RT103W]

Standard torque

10.0

8.0

6.0

Short-duration running range

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT103W]

Torque increased

10.0

8.0

6.0

Short-duration running range

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT153W]

Standard torque

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT153W]

Torque increased

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT203W]

Standard torque

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-RT503W]

Standard torque

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

6000

[HK-RT203W]

Torque increased

20.0

15.0

10.0

Short-duration running range

5.0

0.0

0

Continuous running range

2000 4000

Speed [r/min]

[HK-RT503W]

Torque increased

60.0

50.0

40.0

30.0

Short-duration running range

20.0

10.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

6000

[HK-RT353W]

Standard torque

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT703W]

Standard torque

70.0

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 2000

Speed [r/min]

4000 5000

[HK-RT353W]

Torque increased

35.0

30.0

25.0

20.0

Short-duration running range

15.0

6000



10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

6000

224 9 HK-RT SERIES

9.2 Standard specifications

When connected with 400 V servo amplifier

• When the power supply voltage drops, the torque decreases.

range for 3-phase 323 V AC

: A rough indication of the possible continuous running

: 3-phase 200 VAC

: 1-phase 200 VAC

■ HK-RT_4_W

[HK-RT1034W]

Standard torque

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT2034W]

Standard torque

25.0

20.0

15.0

Short-duration running range

10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT5034W]

Standard torque

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

6000 6700

6000

[HK-RT1034W]

Torque increased

12.0

10.0

8.0

6.0

Short-duration running range

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT2034W]

Torque increased

25.0

20.0

15.0

Short-duration running range

10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

[HK-RT5034W]

Torque increased

60.0

50.0

40.0

Short-duration running range

30.0

20.0

10.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT1534W]

Standard torque

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT3534W]

Standard torque

40.0

35.0

30.0

25.0

20.0

Short-duration running range

15.0

10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000 6700

[HK-RT1534W]

Torque increased

14.0

12.0

10.0

8.0

Short-duration running range

6.0

4.0

2.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

[HK-RT3534W]

Torque increased

40.0



35.0

30.0

25.0

Short-duration running range

20.0

15.0

10.0

5.0

Continuous running range

0.0

0 2000 4000

Speed [r/min]

6000

[HK-RT7034W]

Standard torque

80.0

70.0

60.0

50.0

Short-duration running range

40.0

30.0

20.0

10.0

Continuous running range

0.0

0 1500 3000

Speed [r/min]

4500

6000 6700

6000

9

9 HK-RT SERIES

9.2 Standard specifications

225

Permissible load for the output shaft

The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently.

Distance L from flange mounting surface to load center

Radial load

Thrust load

In case where the load position changes, calculate the permissible radial load from the distance measured from the flange mounting surface to the center of the load, and make the load equal to or less than the permissible radial load, referring to the graph shown in the following.

Model Radial load

Load position

L [mm]

40

Load [N]

686

Thrust load

Load [N]

196

The graph of the relation between the load and the load position

HK-RT103(4)W

HK-RT153(4)W

HK-RT203(4)W

500

480

460

440

420

400

380

360

0 10 20 30

Distance L from flange surface [mm]

40

HK-RT353(4)W

HK-RT503(4)W

HK-RT703(4)W

55 980 490

1200

1100

1000

900

10 20 30 40

Distance L from flange surface [mm]

50

226 9 HK-RT SERIES

9.2 Standard specifications

9.3

Characteristics of electromagnetic brake

Before operating the servo motor, confirm that the electromagnetic brake operates properly.

The operation time of the electromagnetic brake varies depending on the power supply circuit being used.

Check the operation delay time with an actual machine.

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

Item HK-RT103(4)WB

HK-RT153(4)WB

HK-RT203(4)WB

Spring actuated type safety brake

HK-RT353(4)WB

HK-RT503(4)WB

HK-RT702(4)WB

Type *1

Rated voltage

*4

Power consumption at 20 °C [W]

Coil resistance

*5

[ Ω ]

Inductance

*5 [H]

Brake static friction torque

*7

[N•m]

Release delay time

*2

[s]

Braking delay time [s]

DC off

*2

Permissible braking work

Brake life

*3

Per braking [J]

Per hour [J]

Brake looseness at servo motor shaft *5

[degree]

Number of braking times

[times]

Selection example of surge absorbers to be

used *6

Work per braking [J]

For the suppressed voltage 125 V

For the suppressed voltage 350 V

0.03

64

640

0.9

5000

13.8

42

0.15

9.5 or more

0.09

23

25

0.25

16 or more

0.12

0.03

400

4000

0.01 to 0.6

5000

64 400

TND20V-680KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

TND10V-221KB (Manufactured by NIPPON CHEMI-CON CORPORATION)

*1 This type does not have a manual release mechanism. Use a 24 V DC power supply to release the brake electrically.

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

*3 Brake lining wear due to braking will increase the brake gap, but the gap is not adjustable. Therefore, the brake life indicates the number of times the brake can be applied before gap adjustment becomes necessary.

*4 Prepare a power supply exclusively for the electromagnetic brake.

*5 The values are design values. These are not the guaranteed values.

*6 Select the electromagnetic brake control relay properly, in consideration of the characteristics of the electromagnetic brake and surge absorber. When a diode is used as a surge absorber, the electromagnetic braking time becomes longer.

*7 The value of the brake static friction torque is the lower limit in the initial state at 20 °C.

9

9 HK-RT SERIES

9.3 Characteristics of electromagnetic brake

227

9.4

Derating

The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL.

046 Servo motor overheat] does not occur on the actual machine before use.

If [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] occurs, consider the following measures:

• Lower the effective load ratio of the rotary servo motor.

• Review the heat dissipation conditions.

To use this product under conditions with multiple derating, calculate the multiplication of each derating rate, and use at the calculated derating rate or lower. For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When applying the derating rate in the conditions above, calculate the multiplication of the derating rate of 70 % in the unbalanced torque and the derating rate of each condition, and use this product at the calculated derating rate or lower.

Restrictions on the flange size

When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions:

60

40

20

120

100

80

HK-RT103(4)W/HK-RT153(4)W/

HK-RT203(4)W

120

100

80

60

40

20

HK-RT353(4)W/HK-RT503(4)W/

HK-RT703(4)W

0

0

0

50 100 150 200

Flange size (12 mm thick) [mm]

250 300 250 400

Flange size (30 mm thick) [mm]

550

228 9 HK-RT SERIES

9.4 Derating

Restrictions on the ambient temperature

When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions:

120 120

HK-RT353(4)W

100 100

80

60

40

20

HK-RT103(4)/HK-RT153(4)/

HK-RT203(4)W

80

60

40

20

HK-RT503(4)W/HK-RT703(4)W

0

0 10 20 30 40

Ambient temperature [°C]

50 60

0

0 10 20 30 40

Ambient temperature [°C]

50 60

Restrictions on the altitude

To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions:

[%]

100

95

9

0

0 1000

Altitude

2000 [m]

9 HK-RT SERIES

9.4 Derating

229

9.5

Rotary servo motors with special shafts

For rotary servo motors, there are two types of shafts: keyed shaft (with double round-ended key) and keyed shaft (without key).

To prevent an accident such as motor shaft fracture, do not use a servo motor with a keyed shaft for frequent start/stop applications.

Rotary servo motor Shaft shape

Keyed shaft

With double round-ended key

K HK-RT103(4)W

HK-RT153(4)W

HK-RT203(4)W

HK-RT353(4)W

HK-RT503(4)W

HK-RT703(4)W

Without key

N

Keyed shaft (with double round-ended key)

R

Q

QK

A

QL

U Y

A T

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

HK-RT103(4)WK

HK-RT153(4)WK

HK-RT203(4)WK

19 0

-0.013

40

Q

36

HK-RT353(4)WK

HK-RT503(4)WK

HK-RT703(4)WK

24 0

-0.013

55 50

W

6

8

QK

25

36

QL

5

5

U

3.5

4

T

6

7

Y

M5

Screw hole depth

20

M8

Screw hole depth

20

230 9 HK-RT SERIES

9.5 Rotary servo motors with special shafts

Keyed shaft (without key)

R

Q

QK QL

U Y

A

A r

Section A-A

[Unit: mm]

Rotary servo motor Variable dimensions

S R

HK-RT103(4)WN

HK-RT153(4)WN

HK-RT203(4)WN

24 0

-0.013

55

Q

50

HK-RT353(4)WN

HK-RT503(4)WN

HK-RT703(4)WN

35 +0.010

0

79 75

W

8 0

-0.036

10 0

-0.036

9.6

Mounting connectors

HK-RT103(4)W/HK-RT153(4)W/HK-RT203(4)W

Refer to the following page for information on mounting connectors.



Page 134 Mounting connectors

HK-RT353(4)W/HK-RT503(4)W/HK-RT703(4)W

Refer to the following page for information on mounting connectors.



Page 198 Mounting connectors

QK

36

55

QL

5

5

U

4 +0.2

0 r

4

5 +0.2

0

5

Y

M8

Screw hole depth

20

M8

Screw hole depth

20

9

9 HK-RT SERIES

9.6 Mounting connectors

231

9.7

Dimensions

HK-RT103W(B)/HK-RT1034W(B)/HK-RT153W(B)/HK-RT1534W(B)/HK-RT203W(B)/HK-

RT2034(B)W

Model Variable dimensions

*1

L KL

HK-RT103W(B)

HK-RT1034W(B)

HK-RT153W(B)

HK-RT1534W(B)

HK-RT203W(B)

HK-RT2034W(B)

118.9 (158.3)

136.9 (176.3)

172.9 (212.3)

107.2 (146.6)

125.2 (164.6)

161.2 (200.6)

*1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake.

□ 90

L

10 3

40

36

4φ 6.6 mounting hole

Use hexagon socket head cap screw.

45°

φ

100

0 -0.03

0 -0.013

[Unit: mm]

36

Connector

11.5

11.7

31.5

KL

232 9 HK-RT SERIES

9.7 Dimensions

HK-RT353W/HK-RT3534W

35.5

213

Encoder connector

CMV1-R10P

13

Power supply connector

JL10-2E22-22PCE

(MS3102A22-22P)

W

22.6

153.4

C

B

D

A

E

Key

V U

Power connector

Motor flange direction

[Unit: mm]

HK-RT353WB/HK-RT3534WB

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

□ 130

φ

145

0 -0.035

0 -0.013

φ

165

4.5

35.5

80

BC66753*

39.5

247.5

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

□ 130

φ

145

0 -0.035

9

[Unit: mm]

29

0 -0.013

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

13

56.5

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

22.6

153.4

Main key position mark

Electromagnetic brake

Electromagnetic brake connector

Motor flange direction

W

C

B

D

A

E

Key

V U

Power connector

Motor flange direction

4.5

35.5

80

φ

165

BC66765*

9 HK-RT SERIES

9.7 Dimensions

233

HK-RT503W/HK-RT5034W

35.5

267

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

□ 130

φ

145

0 -0.035

0 -0.013

φ

165

4.5

35.5

80

Encoder connector

CMV1-R10P

13

Power supply connector

JL10-2E22-22PCE

(MS3102A22-22P)

22.6

207.4

W

C

B

D

A

E

Key

V U

Power connector

Motor flange direction

[Unit: mm]

HK-RT503WB/HK-RT5034WB

BC66754*

39.5

301.5

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

□ 130

φ

145

0 -0.035

[Unit: mm]

29

0 -0.013

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

13

56.5

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

22.6

207.4

Main key position mark

Electromagnetic brake

Electromagnetic brake connector

Motor flange direction

W

C

B

D

A

E

Key

V U

Power connector

Motor flange direction

4.5

35.5

80

φ

165

BC66766*

234 9 HK-RT SERIES

9.7 Dimensions

HK-RT703W/HK-RT7034W

*1 *1

35.5

*1

306

*1

12 3

55

50

4φ 9 mounting hole

Use hexagon socket head cap screw.

45°

□ 130

φ

145

0 -0.035

*1 *1

13

Encoder connector

CMV1-R10P

Power supply connector

JL10-2E22-22PCE

(MS3102A22-22P)

*1

22.6

246.4

*1

0 -0.013

4.5

35.5

80

φ

165

W

C

B

D

A

E

Key

V U

Power connector

Motor flange direction

BC66755*

[Unit: mm]

*1 The HK-RT703W(B) has screw holes for eyebolts (M6 screw hole depth 10.5). If using eyebolts, secure them to the servo motor with washers φ 14 or more.

9

9 HK-RT SERIES

9.7 Dimensions

235

HK-RT703WB/HK-RT7034WB

*1 *1

39.5

*1

340.5

*1

12

4φ 9 mounting hole

Use hexagon socket head cap screw.

3

55

50 45°

□ 130

φ

145

0 -0.035

*1

29

*1

Encoder connector

CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

13

56.5

Power connector

JL10-2E22-22PCE

(MS3102A22-22P)

*1

22.6

246.4

Main key position mark

*1

W

C

B

0 -0.013

D

A

E

Key

4.5

35.5

80

φ

165

Electromagnetic brake V U

Electromagnetic brake connector Power connector

Motor flange direction Motor flange direction

BC66767*

[Unit: mm]

*1 The HK-RT703W(B) has screw holes for eyebolts (M6 screw hole depth 10.5). If using eyebolts, secure them to the servo motor with washers φ 14 or more.

236 9 HK-RT SERIES

9.7 Dimensions

Cable direction: Load side/opposite direction of the load side

Model

HK-RT103(4)W

HK-RT153(4)W

HK-RT203(4)W

Variable dimensions

Dual cable

A

61.6

B

36

C

11.7

D

31.5

Single cable

A B

64.4

32

C

11.7

D

40

9

B

*1

Connector

11.5

C

D C

D 11.5

Cable direction: Load side *1

[Unit: mm]

*1 The figures are for dual cable type motor cables.

Cable direction: Vertical

Model

Cable direction: Opposite direction of the load side *1

Variable dimensions

Dual cable

A

88.2

B

36 HK-RT103(4)W

HK-RT153(4)W

HK-RT203(4)W

C

11.7

Single cable

A

96.7

B

32

C

11.7

B

*1

Connector

*1

11.1

C

14.5

[Unit: mm]

*1 The figures are for dual cable type motor cables.

9 HK-RT SERIES

9.7 Dimensions

237

10

COMPLIANCE WITH EACH REGION

The HK-MT series servo motors will be available in the near future.

10.1

Compliance with CE marking

CE marking

The CE marking is mandatory and must be affixed to specific products placed on the market in the European Union. When a product complies with the requirements (directives), the CE marking must be affixed to the product. The CE marking also applies to machines and equipment on sale in the European Union area that incorporate servo motors. Each manual is available in different languages. For details, refer to our website or contact your local sales office.

EMC directive

The EMC directive also applies to the rotary servo motor as a single unit. Therefore, the rotary servo motor is designed to comply with the EMC directive. The EMC directive also applies to machines and equipment incorporating rotary servo motors.

The HK-KT, HK-MT, HK-ST, and HK-RT series comply with EN61800-3 Category 3. These series are not intended to be used on a low-voltage public network which supplies domestic premises. When used on such network, radio frequency interference may occur. The installer must provide a guide for installation and use, including the recommended mitigation devices.

Low-voltage directive

The low-voltage directive also applies to the rotary servo motor as a single unit. The rotary servo motor is designed to comply with the low-voltage directive.

Machinery directive

The rotary servo motor as a single unit falls under Article 1 2. (k), and therefore is not subject to the Machinery directive.

However, the Machinery directive does apply to machines and equipment incorporating rotary servo motors. Please check if the machines and equipment as a whole are in compliance.

For compliance

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

Wiring

Use EN compliant products for wiring the power supply of the rotary servo motor. Products that comply with EN are available as options. For options, refer to the following.



Page 59 WIRING OPTION

Performing EMC tests

The EMC test of machines and devices that incorporate servo amplifiers and rotary servo motors must meet electromagnetic compatibility (immunity/emission) standards and satisfy the environment and electrical equipment specifications to be used.

For EMC directive compliance methods relating to servo amplifiers and rotary servo motors, refer to "EMC Installation

Guidelines".

238 10 COMPLIANCE WITH EACH REGION

10.1 Compliance with CE marking

10.2

Compliance with UL/CSA standard

Use a rotary servo motor that complies with the UL/CSA standard. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc., of the UL/CSA compliant products are the same as those of the standard models.

Flange size

The rotary servo motor complies with the UL/CSA standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table. The rated torque of the rotary servo motor under the UL/CSA standard indicates the continuous permissible torque value that can be generated when the motor is mounted on the flange specified in this table, and used in an environment with a specified ambient temperature (0 ° C to 40 ° C). Therefore, to comply with the UL/CSA standard, mount the rotary servo motor on a machine with a heat radiating effect equivalent to that of this flange.

Insulation class 155 (F)

Flange size [mm]

250 × 250 × 6

250 × 250 × 12

300 × 300 × 12

300 × 300 × 20

550 × 550 × 30

650 × 650 × 35

Rotary servo motor

HK-KT

053W

13W

1M3W

13UW

23W

43(4)W

63(4)W

23UW

43UW

7M3(4)W

103(4)W

63(4)UW

7M3UW

103(4)UW

153(4)W

203(4)W

202(4)W



HK-MT

053(V)W

13(V)W

1M3(V)W

23(V)W

43(V)W

63(V)W

7M3(V)W

103(V)W





 

HK-ST





52(4)W

102(4)W

172(4)W

202(4)AW

302(4)W

202(4)W

352(4)W

353(4)W

503(4)W

502(4)W

702(4)W

HK-RT





103(4)W

153(4)W

203(4)W



353(4)W

503(4)W

703(4)W



10

10 COMPLIANCE WITH EACH REGION

10.2 Compliance with UL/CSA standard

239

Selection example of wires

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

HK-KT series

Rotary servo motor Wire [AWG]

U/V/W/

14

*1

HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT13UW

HK-KT23W

HK-KT43W

HK-KT63W

HK-KT23UW

HK-KT43UW

HK-KT7M3W

HK-KT103W

HK-KT63UW

HK-KT7M3UW

HK-KT103UW

HK-KT153W

HK-KT203W

HK-KT202W

HK-KT434W

HK-KT634W

HK-KT7M34W

HK-KT1034W

HK-KT634UW

HK-KT1034UW

HK-KT1534W

HK-KT2034W

HK-KT2024W

*1 This is used for fabricating extension cables. Use options when wiring the servo motor.

B1/B2

16

*1

HK-MT series

Rotary servo motor Wire [AWG]

U/V/W/

14

*1

HK-MT053(V)W

HK-MT13(V)W

HK-MT1M3(V)W

HK-MT23(V)W

HK-MT43(V)W

HK-MT63(V)W

HK-MT7M3(V)W

HK-MT103(V)W

*1 This is used for fabricating extension cables. Use options when wiring the servo motor.

B1/B2

16

*1

240 10 COMPLIANCE WITH EACH REGION

10.2 Compliance with UL/CSA standard

HK-ST series

Rotary servo motor

HK-ST52W

HK-ST102W

HK-ST172W

HK-ST202AW

HK-ST302W

HK-ST353W

HK-ST503W

HK-ST202W

HK-ST352W

HK-ST502W

HK-ST702W

HK-ST524W

HK-ST1024W

HK-ST1724W

HK-ST2024AW

HK-ST3024W

HK-ST3534W

HK-ST5034W

HK-ST2024W

HK-ST3524W

HK-ST5024W

HK-ST7024W

Wire [AWG]

U/V/W/

14

8

8

14

12

10 *1

14

12

12

B1/B2

16

*1 To make the HK-ST503W comply with the UL/CSA standard, fabricate an extension cable using the cable manufactured by Mitsubishi

Electric System & Service Co., Ltd. (SC-PWC403C_M-SBLL or SC-PWC403C_M-SBLH). For the SC-PWC403C_M-SBLL and SC-

PWC403C_M-SBLH, contact your local sales office.

HK-RT series

Rotary servo motor Wire [AWG]

HK-RT103W

HK-RT153W

HK-RT203W

HK-RT353W

HK-RT503W

HK-RT703W

HK-RT1034W

HK-RT1534W

HK-RT2034W

HK-RT3534W

HK-RT5034W

HK-RT7034W

U/V/W/

14 *1

12

10

14 *1

14

*1 This is used for fabricating extension cables. Use options when wiring the servo motor.

B1/B2

16 *1

16

16 *1

16

10

10 COMPLIANCE WITH EACH REGION

10.2 Compliance with UL/CSA standard

241

11

APPENDIX

The HK-MT series servo motors will be available in the near future.

F202

FF63

F103

0053

FF13

0153

FF23

FF43

0753

F103

FF43

FF63

0753

F103

F153

F203

F103

F153

F203

F202

FF13

FF23

FF43

FF63

0053

FF13

0153

FF23

FF43

FF63

0753

FF63

0753

F103

0053

FF13

0153

FF23

FF43

FF63

0753

F103

11.1

Rotary servo motor ID codes

Rotary servo motor series ID

0311

0312

0313

0317

0301

0302

Rotary servo motor type ID Rotary servo motor encoder

ID

F001

Rotary servo motor

For the rotary servo motor encoder ID of the HK-MT series, contact your local sales office.

HK-KT7M3UW

HK-KT103UW

HK-KT434W

HK-KT634W

HK-KT7M34W

HK-KT1034W

HK-KT1534W

HK-KT2034W

HK-KT2024W

HK-KT634UW

HK-KT1034UW

HK-MT053W

HK-MT13W

HK-MT1M3W

HK-MT23W

HK-MT43W

HK-KT053W

HK-KT13W

HK-KT1M3W

HK-KT23W

HK-KT43W

HK-KT63W

HK-KT7M3W

HK-KT103W

HK-KT153W

HK-KT203W

HK-KT202W

HK-KT13UW

HK-KT23UW

HK-KT43UW

HK-KT63UW

HK-MT63W

HK-MT7M3W

HK-MT103W

HK-MT053VW

HK-MT13VW

HK-MT1M3VW

HK-MT23VW

HK-MT43VW

HK-MT63VW

HK-MT7M3VW

HK-MT103VW

242 11 APPENDIX

11.1 Rotary servo motor ID codes

Rotary servo motor series ID Rotary servo motor type ID

0321

0322

0323

0324

0341

0342

F702

F202

F103

F153

F203

F353

F503

F703

F102

F172

F302

F353

F503

F202

F352

F502

F103

F153

F203

F353

F503

F703

F353

F503

F202

F352

F502

F702

F202

FF52

FF52

F102

F152

F172

F302

Rotary servo motor encoder

ID

F001

Rotary servo motor

HK-ST1024W

HK-ST1724W

HK-ST3024W

HK-ST3534W

HK-ST5034W

HK-ST2024W

HK-ST3524W

HK-ST5024W

HK-ST7024W

HK-ST2024AW

HK-RT103W

HK-RT153W

HK-RT203W

HK-RT353W

HK-RT503W

HK-RT703W

HK-ST52W

HK-ST102W

HK-ST152

HK-ST172W

HK-ST302W

HK-ST353W

HK-ST503W

HK-ST202W

HK-ST352W

HK-ST502W

HK-ST702W

HK-ST202AW

HK-ST524W

HK-RT1034W

HK-RT1534W

HK-RT2034W

HK-RT3534W

HK-RT5034W

HK-RT7034W

11

11 APPENDIX

11.1 Rotary servo motor ID codes

243

11.2

Selection example of rotary servo motor power cable

Selection requirements for the wire size are as follows.

Wiring length: 30 m or less

As some cables do not fit in the optional or recommended cable clamp, select cable clamps applicable to the cable diameters.

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

Rotary servo motor Wire size [mm

2

]

HK-ST3024W

HK-ST3534W

HK-ST5034W

HK-ST2024W

HK-ST3524W

HK-ST5024W

HK-ST7024W

HK-RT353W

HK-RT503W

HK-RT703W

HK-RT3534W

HK-RT5034W

HK-RT7034W

HK-ST52W

HK-ST102W

HK-ST172W

HK-ST202AW

HK-ST302W

HK-ST353W

HK-ST503W

HK-ST202W

HK-ST352W

HK-ST502W

HK-ST702W

HK-ST524W

HK-ST1024W

HK-ST1724W

HK-ST2024AW

5.5

5.5

1.25

2

2

2

3.5

3.5

3.5

1.25

1.25

1.25

1.25

1.25

1.25

1.25

1.25

8

8

2

3.5

2

2

2

3.5

1.25

1.25

2 *1

*1 The wire size for the HK-ST152_G1_ is the same as the HK-172W.

244 11 APPENDIX

11.2 Selection example of rotary servo motor power cable

11.3

Connector dimensions

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

Rotary servo motor series Type

HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW) Horizontal lead, dual cable

HK-ST/

HK-RT

(3.5 kW

- 7.0 kW)

For electromagnetic brake/ encoder

For power supply

Plug connector

Cable clamp

Horizontal lead, single cable

Vertical lead, dual cable

Vertical lead, single cable

One-touch connection, straight

One-touch connection, angle

Screw type, straight

Screw type, angle

One-touch connection, straight

One-touch connection, angle

Screw type, straight

Screw type, angle



Model

MT50W-8D/2D4ES-

CVLD(7.5)

MT50W-8D/2D4ES-

CVL(11.9)

MT50W-8D/2D4ES-

CVSD(7.5)

MT50W-8D/2D4ES-

CVS(11.9)

CMV1-SP10S-M_/CMV1-

SP2S-_

CMV1-AP10S-M_/CMV1-

AP2S-_

CMV1S-SP10S-M_/CMV1S-

SP2S-_

CMV1S-AP10S-M_/CMV1S-

AP2S-_

JL10-6A_-_SE-EB

JL10-8A_-_SE-EB

JL04V-6A_-_SE-EB-R

JL04V-8A_-_SE-EBH-R

JL04-_CK(_)-_-R

Manufacturer

Hirose Electric

DDK

JAE

Dimensions



Page 245 MT50W-

8D/2D4ES-CVLD(7.5)



Page 246 MT50W-

8D/2D4ES-CVL(11.9)



Page 246 MT50W-

8D/2D4ES-CVSD(7.5)



Page 247 MT50W-

8D/2D4ES-CVS(11.9)



Page 247 CMV1-

SP10S-M_/CMV1-

SP2S-_



Page 247 CMV1-

AP10S-M_/CMV1-

AP2S-_



Page 248 CMV1S-

SP10S-M_/CMV1S-

SP2S-_



Page 248 CMV1S-

AP10S-M_/CMV1S-

AP2S-_



Page 248 JL10-

6A_-_SE-EB



Page 249 JL10-

8A_-_SE-EB



Page 249 JL04V-

6A_-_SE-EB-R



Page 250 JL04V-

8A_-_SE-EBH-R



Page 250 JL04-

_CK(_)-_-R

MT50W-8D/2D4ES-CVLD(7.5)

23.3

11

φ

14

[Unit: mm]

(11.45) (31.5)

11 APPENDIX

11.3 Connector dimensions

245

MT50W-8D/2D4ES-CVL(11.9)

25.45

φ

18.4

(11.45) (40)

[Unit: mm]

MT50W-8D/2D4ES-CVSD(7.5)

36

[Unit: mm]

30.5

246 11 APPENDIX

11.3 Connector dimensions

MT50W-8D/2D4ES-CVS(11.9)

32

30.5

[Unit: mm]

CMV1-SP10S-M_/CMV1-SP2S-_

Refer to the following for details of the crimping tool.



Page 30 Wiring connectors (connector configurations B/C/D/E)

(50) For CMV1-SP10S-M_

[Unit: mm]

CMV1-AP10S-M_/CMV1-AP2S-_

Refer to the following for details of the crimping tool.



Page 30 Wiring connectors (connector configurations B/C/D/E)

For CMV1-SP2S-_

[Unit: mm]

(32) For CMV1-AP10S-M_ For CMV1-AP2S-_

11 APPENDIX

11.3 Connector dimensions

247

11

CMV1S-SP10S-M_/CMV1S-SP2S-_

Refer to the following for details of the crimping tool.



Page 30 Wiring connectors (connector configurations B/C/D/E)

(50) For CMV1S-SP10S-M_

[Unit: mm]

CMV1S-AP10S-M_/CMV1S-AP2S-_

Refer to the following for details of the crimping tool.



Page 30 Wiring connectors (connector configurations B/C/D/E)

For CMV1S-SP2S-_

(32)

[Unit: mm]

JL10-6A_-_SE-EB

A

10

X

[Unit: mm]

Model

JL10-6A18-10SE-EB

JL10-6A22-22SE-EB

A

51.05

58.65

248 11 APPENDIX

11.3 Connector dimensions

For CMV1S-AP10S-M_ For CMV1S-AP2S-_

B

35.85

42.2

X

1-20UNEF-2A

1 3/16-18UNEF-2A

JL10-8A_-_SE-EB

A

B

X

[Unit: mm]

Model

JL10-8A18-10SE-EB

JL10-8A22-22SE-EB

A

44.45

51.85

JL04V-6A_-_SE-EB-R

A

10

B

34.55

40.65

C

35.85

42.2

D

30

37.4

E

8.5

10

X

1-20UNEF-2A

1 3/16-18UNEF-2A

Y

11

X

[Unit: mm]

Model

JL10-6A18-10SE-EB

JL10-6A22-22SE-EB

A

57.4

34.1

B

67.63

40.5

X

1-20UNEF-2A

1 3/16-18UNEF-2A

Y

1 1/8-18UNEF-2B

1 3/8-18UNEF-2B

11 APPENDIX

11.3 Connector dimensions

249

JL04V-8A_-_SE-EBH-R

A

B

Y

X

[Unit: mm]

Model

JL10-8A18-10SE-EB

JL10-8A22-22SE-EB

JL04-_CK(_)-_-R

A

65.5

74.3

C

B

X

B

54

60.3

C

34.1

40.5

D

30

32

X

1-20UNEF-2A

1 3/16-18UNEF-2A

Y

1 1/8-18UNEF-2B

1 3/8-18UNEF-2B

φ

E

[Unit: mm]

Model

JL04-18CK(10)-_-R

JL04-18CK(13)-_-R

JL04-2022CK(12)-_-R

JL04-2022CK(14)-_-R

Shell size

18

22

F

A

30.2

B

24.1

C

53.8

34.9

24.3

53.8

D

31.8

37.3

E

11

14.1

13

16

4

F

3.2

X

1-20UNEF-2B

1 3/16-18UNEF-2B

Cable OD (reference)

φ 8 to 11

φ 11 to 14.1

φ 9.5 to 13

φ 12.9 to 16

250 11 APPENDIX

11.3 Connector dimensions

11.4

Fabricating the encoder cable

It is recommended to use options indicated in the following section for the encoder cable.

 Page 59 WIRING OPTION

When fabricating an encoder cable, use the recommended products described in the following chapters.

 Page 27 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING

 Page 34 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

 Page 59 WIRING OPTION

When fabricating encoder cables, note the descriptions in this section, in order to ensure the reliability of communication.

Fabricate cables with the following procedure.

1.

Selection of connectors

• Check the cable clamp size.



Page 27 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING



Page 34 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR

• Obtain the specification, wiring guide for the connector, and other documents from the manufacturer.

• Purchase assembly jigs and similar parts as necessary.

2.

Selection of cables

• Select a recommended wire described in chapter 5. For the MR-J3ENSCBL_M-_ (10 m or less), a recommended wire or equivalent wires can be used.

• Select a shielded cable.

• Select a cable with a diameter that can be clamped with the connector cable clamp.

• Select a cable whose length, diameter, and flex type are appropriate.

3.

Assembly of the cable

• Check the wiring guide of the connector manufacturer, then connect the connector properly.

• Check internal wiring described in chapter 5 to connect it properly.

• Perform a shielding process on the encoder cable properly.

• Do not connect anything to unused pins.

• When wiring the CN2, CN2A, CN2B, and CN2C side connectors, connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

• When wiring the connector on the rotary servo motor-side, connect the external conductor of the shielded cable to the SHD terminal.

• Check if the pin arrangement is correct.

• Connect the twisted pair cable using the correct combination.

• Check if the number of pairs of P5/LG wiring connected in parallel is correct.

• Fix the cable to the connector with a proper clamping torque.

4.

Inspection

• After assembly, perform conduction, insulation, and other inspections to check if the connection is correct.

• Check the surface for scratches and contamination.

• Check the connector pins for distortions, bending, dents, and other problems.

• Check the connector pins for foreign matter adhesion, contamination, and discoloration.

5.

Complete

11

11 APPENDIX

11.4 Fabricating the encoder cable

251

11.5

Gear reducer model designation

Check the rating plate of the gear reducer for the gear reducer model.

HK-KT_G1

Gear reducer model designation

K 9 0 1 2 N K C

Output-side flange size

Symbol Flange size

65 □ 65

90

100

□ 90

□ 100

Series

Reduction ratio *1

Symbol Reduction ratio

05 1/5

12

20

1/12

1/20

Version

Shaft shape

Symbol Shaft shape

None

K

Straight

Double square-ended key

Type

Symbol Type

None −

N N specification

Rating plate

(reverse side)

*1 The reduction ratio is different from the actual reduction ratio. Refer to the following for the actual reduction ratio.



Page 128 Exclusive specifications

HK-KT_G5/G7

Gear reducer model designation

H P G - 2 0 A - 0 5 - J 2 -

Series Model number

Reduction ratio

11

21

33

Symbol Reduction ratio

05

09

1/5

1/9

1/11

45

1/21

1/33

1/45

Shape symbol

Shaft shape

Symbol Shaft shape

F0 Flange output

J2

J20 *1

J6

J60 *1

Straight shaft

(without key)

Straight shaft

(with key and center tap)

*1 Only for the gear reducer model 11B

Rating plate

(reverse side)

252 11 APPENDIX

11.5 Gear reducer model designation

HK-ST_G1/G1H

Gear reducer model designation

For the reduction ratio, check the item "RATIO" on the gear reducer rating plate. For details of the items indicated on the gear reducer rating plate, refer to "Cyclo® 6000" of Sumitomo Heavy Industries, Ltd.

C N H M - 6 1 0 0

Rating plate area *2

(reverse side)

Symbol indicating the model

(Cyclo Drives

Speed Reducer)

Frame No. *1

Input-side type (geared motor)

Mounting method

H

F

Symbol Mounting method

Foot-mounting

Flange-mounting

Shaft direction

W

N

Symbol Shaft direction

H

V

Horizontal type/shaft direction horizontal

Vertical type/shaft direction vertically downward

Reverse vertical type/shaft direction vertically upward

Any mounting direction

*1 Refer to the following for the frame No.



Page 190 Exclusive specifications

*2 The area where the gear reducer rating plate is attached to varies depending on the model.

HK-ST_G5/G7

11

Gear reducer model designation

H P G - 2 0 A - 0 5 - J 2 -

Series Model number

Reduction ratio

Symbol Reduction ratio

05 1/5

11

21

1/11

1/21

33

45

1/33

1/45

Shape symbol

Shaft shape

Symbol Shaft shape

F0

J2

Flange output

Straight shaft

(without key)

J6 Straight shaft

(with key and center tap)

Rating plate

(reverse side)

11 APPENDIX

11.5 Gear reducer model designation

253

REVISIONS

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

Revision date

July 2019

February 2020

July 2020

November 2020

March 2021

June 2021

*Manual number

SH(NA)-030314ENG-A

SH(NA)-030314ENG-B

SH(NA)-030314ENG-C

SH(NA)-030314ENG-D

SH(NA)-030314ENG-E

SH(NA)-030314ENG-F

Description

First edition

■ The graphs of overload protection characteristics are deleted.

■ Edited sections:

Section 6.2, Section 7.2

■ The following motors are added:

HK-ST152, HK-ST502W, HK-ST702W

■ The following cables are added:

MR-AEPB2CBL2M-A5-_, MR-AEPB2CBL5M-A5-_, MR-AEPB2CBL10M-A5-_, MR-AEP2CBL2M-

A5-_, MR-AEP2CBL5M-A5-_, MR-AEP2CBL10M-A5-_, MR-AEPB2J10CBL03MA5-_, MR-

AEP2J10CBL03MA5-_, MR-AEPB2J20CBL03MA5-_, MR-AEP2J20CBL03MA5-_, MR-

AEPB1CBL2M-A5-_, MR-AEPB1CBL5M-A5-_, MR-AEPB1CBL10M-A5-_, MR-AEP1CBL2M-A5-_,

MR-AEP1CBL5M-A5-_, MR-AEP1CBL10M-A5-_

■ Geared servo motors are added.

■ Items of functional safety are added.

■ Combinations with servo amplifiers and motors are deleted.

■ Edited sections:

Section 2.8, Section 2.11, Section 3.1, Section 3.2, Section 4.2, Section 4.3, Section 5.1, Section 5.2,

Section 5.4, Section 6.1, Section 6.8, Section 6.9, Section 7.1, Section 7.4, Section 7.5, Section 7.6,

Section 7.9, Section 8.2, Section 9.1, Section 9.2, Section 9.4

■ Added sections:

Section 5.5, Section 6.7, Section 7.7

■ Deleted sections:

Section 6.3, Section 7.3

■ HK-RT series servo motors are added.

■ Instances where a 400 V class servo amplifier is connected are added.

■ Edited chapters and sections:

Section 1.2, Section 1.3, Section 1.4, Section 1.7, Section 2.1, Section 2.11, Chapter 3, Section 3.1,

Chapter 4, Section 4.2, Section 4.3, Section 5.1, Section 5.5, Section 6.1, Section 6.7, Section 7.1,

Section 7.6, Chapter 9, Section 9.2, Chapter 10, Section 10.1, Section 10.2, Section 10.3

■ Added chapter:

Chapter 8

■ The torque characteristics of HK-ST series servo motors are added.

■ Description of when connected with 400 V servo amplifier for HK-ST_4_ is added.

■ Edited chapter and sections:

Section 4.2, Section 6.2, Section 6.7, Chapter 7, Section 7.2, Section 7.7, Section 7.8, Section 8.2

■ Added sections:

Section 6.1, Section 7.1, Section 8.1

■ Deleted sections:

Section 1.1

■ HK-MT series servo motors are added.

■ Instances where an MR-J5D-_G servo amplifier is connected are added.

■ The mass of the following servo motors are changed.

HK-KT, HK-ST

■ Edited chapters and sections:

Section 1.1, Section 1.2, Section 1.3, Section 1.6, Section 2.1, Section 2.11, Chapter 3, Section 3.1,

Chapter 4, Section 4.2, Section 4.3, Section 5.1, Section 5.2, Section 5.3, Section 6.1, Section 6.2,

Section 6.3, Section 6.4, Section 6.5, Section 6.6, Section 6.9, Section 8.2, Section 8.5, Section 8.6,

Section 8.9, Chapter 9, Section 9.2, Section 10.2, Section 11.1, Section 11.2, Section 11.3

■ Added chapter:

Chapter 7

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

 2019 MITSUBISHI ELECTRIC CORPORATION

254

WARRANTY

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the

Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

For terms of warranty, please contact your original place of purchase.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

2. a failure caused by any alteration, etc. to the Product made on your side without our approval

3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

8. any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used.

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

255

TRADEMARKS

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

256

SH(NA)-030314ENG-F

SH(NA)-030314ENG-F(2106)MEE

MODEL:

MODEL CODE:

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

Specifications are subject to change without notice.