3. Characteristics
3-1 Servomotor......................................................................................................................................... 3-2
3-1-1 Environmental conditions ............................................................................................................ 3-2
3-1-2 Quakeproof level ......................................................................................................................... 3-2
3-1-3 Shaft characteristics .................................................................................................................... 3-3
3-1-4 Oil/water standards ..................................................................................................................... 3-4
3-1-5 Magnetic brake............................................................................................................................ 3-5
3-1-6 Dynamic brake characteristics .................................................................................................... 3-8
3-2 Spindle motor ................................................................................................................................... 3-10
3-2-1 Environmental conditions .......................................................................................................... 3-10
3-2-2 Shaft characteristics .................................................................................................................. 3-10
3-3 Drive unit characteristics .................................................................................................................. 3-11
3-3-1 Environmental conditions .......................................................................................................... 3-11
3-3-2 Heating value ............................................................................................................................ 3-12
3-3-3 Overload protection characteristics........................................................................................... 3-13
3 - 1
3. Characteristics
3-1 Servomotor
3-1-1 Environmental conditions
Environment Conditions
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
0°C to +40°C (with no freezing)
80%RH or less (with no dew condensation)
–15°C to +70°C (with no freezing)
90%RH or less (with no dew condensation)
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
3-1-2 Quakeproof level
Motor type
Acceleration direction
Axis direction (X)
Direction at right angle to axis (Y)
HC52 to HC152, HC53 to HC153
HC103R to HC503R, HA053N to HA33N
HC202, HC352, HC203, HC353
HC452, HC702, HC453, HC703
HA-LF11K2-S8, HA-LF15K2-S8
HC902
The vibration conditions are as shown below.
9.8m/s
2
(1G) or less
19.6m/s
2
(2G) or less
11.7m/s
2
(1.2G) or less
9.8m/s
2
(1G) or less
24.5m/s
2
(2.5G) or less
49.0m/s
2
(5G) or less
29.4m/s
2
(3G) or less
24.5m/s
2
(2.5G) or less
200 Servomotor
100
80
60
50
40
30
20
X
Acceleration
Y
0 1000 2000 3000
Speed (r/min)
3 - 2
3. Characteristics
3-1-3 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Servomotor Tolerable radial load Tolerable thrust load
HA053NS,HA13NS
HA23NS,HA33NS
HA23NT,HA33NT
HC103RT,HC153RT,HC203RT
HC52T,HC102T,HC152T
HC53T,HC103T,HC153T
HC103RS,HC153RS,HC203RS
HC353RS,HC503RS
HC52S,HC102S,HC152S
HC53S,HC103S,HC153S
HC202S,HC352S,HC452S,HC702S
HC203S,HC353S,HC453S,HC703S
HC902S
HA-LF11K2-S8
78.4N
(L=26) 49N
245N (L=30) 147N
392N (L=45) 196N
392N (L=58) 490N
686N (L=45) 196N
980N (L=63) 392N
980N (L=55) 490N
2058N (L=79) 980N
2450N (L=85) 980N
HA-LF15K2-S8 2940N (L=100) 980N
Note: The symbol L in the table refers to the value of L below.
L
Radial load
Thrust load
L : Length from flange installation surface to center of load weight [mm]
CAUTION
1. Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation to below the tolerable radial load of the shaft.
2. When directly installing the gear on the motor shaft, the radial load increases as the diameter of the gear decreases. This should be carefully considered when designing the machine.
3. When directly installing the pulley on the motor shaft, carefully consider so that the radial load (double the tension) generated from the timing belt tension is less than the values shown in the table above.
4. In machines where thrust loads such as a worm gear are applied, carefully consider providing separate bearings, etc., on the machine side so that loads exceeding the tolerable thrust loads are not applied to the motor.
5. Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft to break.
3 - 3
3. Characteristics
3-1-4 Oil/water standards
(1) The motor protective format (refer to "2-1-1 Specifications list.") uses the IP type, which complies with IE Standard. However, these
Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics.
Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motor’s IP-type is not
Oil or water indicated as corrosion-resistant.
Servomotor
(2) When a gear box is installed on the servomotor, make sure that the oil level height from the center of the shaft is higher than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise.
Servomotor Oil level (mm)
8
10
HA053N, HA13N
HA23N, HA33N
HC52, HC102, HC152
HC53, HC103, HC153
HC103R, HC153R, HC203R
HC353R, HC503R
HC202, HC352, HC452, HC702
HC203, HC353, HC453, HC703
HC902
HA-LF11K2-S8
HA-LF15K2-S8
20
25
30
34
48
Oil level
Gear
Lip
V-ring
Servomotor
(3) When installing the servomotor horizontally, set the power cable and detector cable to face downward.
When installing vertically or on an inclination, provide a cable trap.
Cable trap
CAUTION
1. The servomotors, including those having IP65 specifications, do not have a completely waterproof (oil-proof) structure. Do not allow oil or water to constantly contact the motor, enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be careful of this also.
2. When the motor is installed facing upwards, take measures on the machine side so that gear oil, etc., does not flow onto the motor shaft.
3. Do not remove the detector from the motor. (The detector installation screw is treated for sealing.)
3 - 4
3. Characteristics
3-1-5 Magnetic brake
CAUTION
1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servomotor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping.
2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the life or machine structure (when ball screw and servomotor are coupled with a timing belt, etc.). Provide a stop device on the machine side to ensure safety.
3. When operating the brakes, always turn the servo OFF (or ready OFF). When releasing the brakes, always confirm that the servo is ON first. Sequence control considering this condition is possible by using the motor brake control output (CN20) on the servo drive unit.
4. When the vertical axis drop prevention function is used, the drop of the vertical axis during an emergency stop can be suppressed to the minimum.
(1) Motor with magnetic brake
(a) Types
The motor with a magnetic brake is set for each motor. The "B" following the standard motor model stands for the motor with a brake.
(b) Applications
When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation of the posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with the deceleration stop (dynamic brake stop) during emergency stop, and the risks of colliding with the grinding stone and scattering can be prevented.
This motor cannot be used for the purposes other than holding and braking during a power failure (emergency stop). (This cannot be used for normal deceleration, etc.)
(c) Features
1) The magnetic brakes use a DC excitation method, thus:
• The brake mechanism is simple and the reliability is high.
• There is no need to change the brake tap between 50Hz and 60Hz.
• There is no rush current when the excitation occurs, and shock does not occur.
• The brake section is not larger than the motor section.
2) The magnetic brake is built into the motor, and the installation dimensions are the same as the motor without brake.
(d) Considerations to safety
1) When using a timing belt, connecting the motor with magnetic brakes and the load (ball screw, etc.) with a timing belt as shown on the left below could pose a hazard if the belt snaps. Even if the belt's safety coefficient is increased, the belt could snap if the tension is too high or if cutting chips get imbedded. Safety can be maintained by applying the configuration shown on the right below.
Dangerous! Safe!
Top
Motor
Brake
Timing belt
Top
Bottom
Ball screw
Motor
(No brakes)
Timing belt
Bottom
Ball screw
Brake
3 - 5
3. Characteristics
(2) Magnetic brake characteristics
Item
Motor model HC52B
HC102B
HC152B
HC53B
HC103B
HC153B
HC202B
HC352B
HC452B
HC702B
HC902B
HC203B
HC353B
HC453B
HC703B
Type (Note 1)
Rated voltage
Rated current at 20°C (A)
Excitation coil resistance at 20°C (
Ω
)
HC103RB
HC153RB
HC203RB
Spring braking type safety brakes
24VDC
HC353RB
HC503RB
0.80 1.43 0.8 0.96
29 16.8 30 25
Attraction current
Dropping current
Static friction torque
Inertia (Note 2)
Release delay time (Note 3)
Braking delay time (Note 3)
AC OFF
DC OFF
Per braking Tolerable braking work amount
Per hour
Brake play at motor axis
Brake life
(Note 4)
No. of braking operations
Work amount per braking
(A)
(A)
(N·m)
(kg·cm
2
)
(s)
(s)
(s)
(J)
(J)
(degree)
(times)
(J)
Motor model
Item
Type (Note 1)
Rated voltage
Rated current at 20°C (A)
Excitation coil resistance at 20°C (
Ω
)
8.3 43.1 6.8 16.7
0.04 0.1 0.03 0.04
0.12 0.12 0.12 0.12
0.03 0.03 0.03 0.03
400 4,500 400 400
4,000 45,000 4,000 4,000
0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6
20,000 20,000 20,000 20,000
200 1,000 200 200
HA053B
HA13B
HA23NB
HA33NB
HA-LF11K2B-S8 HA-LF15K2B-S8
Spring braking type safety brakes
24VDC
0.5 0.7 1.3 1.9
111 49 19 12.4
Attraction current
Dropping current
Static friction torque
Inertia (Note 2)
Release delay time (Note 3)
Braking delay time (Note 3)
AC OFF
DC OFF
Per braking Tolerable braking work amount
Per hour
(A)
(A)
(N·m)
(kg·cm
2
)
(s)
(s)
(s)
(J)
(J)
0.15 0.2 0.50 0.65
0.06 0.06 0.20 0.25
0.39 1.96 82 160.5
0.02 0.20 11.1 54
0.03 0.05 0.25 0.30
0.20 0.10 0.15 0.20
0.03 0.02 0.04 0.04
Brake play at motor axis
Brake life
(Note 4)
No. of braking operations
Work amount per braking
(degree)
(times)
(J)
0.25 to 2.5 0.2 to 1.5 0.05 to 0.26 0.03 to 0.18
30,000 30,000 20,000 20,000
Notes:
1. There is no manual release mechanism. If handling is required such as during the machine core alignment work, prepare a separate 24VDC power supply, and electrically release a brake.
2. These are the values added to the servomotor without a brake.
3. This is the representative value for the initial attraction gap at 20
°
C.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are required.
5. A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake.
6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.
3 - 6
3. Characteristics
(3) Magnetic brake power supply
CAUTION
1. Always install a surge absorber on the brake terminal when using DC OFF.
2. Do not pull out the cannon plug while the brake power is ON. The cannon plug pins could be damaged by sparks.
(a) Brake excitation power supply
1) Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of the voltage fluctuation and excitation coil temperature.
2) The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.
(b) Brake excitation circuit
1) AC OFF and 2) DC OFF can be used to turn OFF the brake excitation power supply (to apply the brake).
The braking delay time will be longer, but the excitation circuit will be simple, and the relay cut off capacity can be decreased.
The braking delay time can be shortened, but a surge absorber will be required and the relay cut off capacity will be increased.
<Cautions>
•
Provide sufficient DC cut off capacity at the contact.
•
Always use a surge absorber.
•
When using the cannon plug type, the surge absorber will be further away, so use shielded wires between the motor and surge absorber.
SW
100VAC or
200VAC PS
24VDC
Magnetic brake
100VAC or
200VAC
PS
24VDC
ZD1
ZD2
SW1
VAR1
SW2
VAR2
(a) Example of AC OFF (b) Example of DC OFF
PS
ZD1, ZD2
VAR1, VAR2
: 24VDC stabilized power supply
: Zener diode for power supply protection (1W,24V)
ex. made by Renesas HZ24
: Surge absorber (220V)
Magnetic brake circuits
3 - 7
3. Characteristics
3-1-6 Dynamic brake characteristics
If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the servomotor regardless of the parameter settings.
The dynamic brake uses the motor as a generator, and obtains the deceleration torque by consuming that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing. The torque for each motor is shown in the following table.
T dp
Deceleration torque
0 N dp
Motor speed
Deceleration torque characteristics of a dynamic brake
Motor type
HC52
HC102
HC152
HC202
HC352
HC452
HC702
HC902
HC53
HC103
HC153
HC203
HC353
HC453
HC703
HC103R
HC153R
HC203R
HC353R
HC503R
HA053N
HA13N
HA23N
HA33N
HA-LF11K2-S8
HA-LF15K2-S8
Max. deceleration torque of a dynamic brake
Stall torque (N.m) T dp
(N.m) N dp
(r/min)
2.94 4.79 669
5.88 11.19 884
8.82 18.49 1062
13.72 10.56 457
22.50 23.79 716
37.20 47.88 1459
49.00 62.05 1641
58.80 85.36 2109
2.94 5.08 899
5.88 10.72 1045
8.82 18.88 1676
13.72 9.85 728
22.50 21.67 1215
37.20 40.63 2109
49.00 57.91 2531
3.18 3.67 582
4.78 5.44 668
6.37 7.16 973
11.10 10.18 1215
15.90 15.97 1432
1.96 2.30 823
70.60 72.22 1225
91.70 110.19 1494
3 - 8
Motor type
HC52
HC102
HC152
HC202
HC352
HC452
HC702
HC902
HC53
HC103
HC153
HC203
HC353
HC453
HC703
3. Characteristics
(2) Coasting rotation distance during emergency stop
The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes can be approximated with the following expression.
L
MAX
=
F
60
▪ {te + (1 +
J
L
J
M
) ▪ (A ▪ N
2
+ B)}
L
MAX
: Motor coasting distance (angle) [mm, (deg)]
F : Axis feedrate [mm/min, (deg/min)]
J
M
: Motor inertia
[r/m]
[kg.cm
2
]
J
L
: Motor shaft conversion load inertia [kg.cm
2
] te : Brake drive relay delay time
A : Coefficient A (Refer to the table below)
(s) (Normally, 0.03s)
B : Coefficient B (Refer to the table below)
Emergency stop (EMG)
Dynamic brake control output
Actual dynamic brake operation
OFF
ON
OFF
ON
OFF
ON
Motor speed
Motor speed: N te
Coasting amount
Time
Dynamic brake braking diagram
Coasting amount calculation coefficients table
J
M
(kg·cm
2
)
A B Motor
J
M type
(kg·cm
2
)
6.6 3.59×10
13.6 2.40×10
20.0 1.78×10
42.5 15.36×10
-9
-9
-9
-9
4.83×10
5.63×10
6.02×10
9.64×10
-3
-3
-3
-3
82.0 8.40×10
-9
12.93×10
-3
121.0 3.02×10
-9
19.30×10
-3
160.0 2.74×10
-9
22.16×10
-3
204.0 1.98×10
-9
26.39×10
-3
6.6 2.52×10
13.6 2.12×10
20.0 1.10×10
-9
-9
-9
6.11×10
6.95×10
9.29×10
-3
-3
-3
42.5 10.34×10
-9
16.45×10
-3
82.0 5.43×10
-9
24.08×10
-3
121.0 2.46×10
-9
32.88×10
-3
160.0 1.91×10
-9
36.61×10
-3
HC103R
HC153R
HC203R
HC353R
HC503R
HA053N
HA13N
HA23N
HA33N
HA-LF11K2-S8
HA-LF15K2-S8
A B
1.5 1.23×10
-9
1.24×10
-3
1.9 0.91×10
-9
1.22×10
-3
2.3 0.58×10
-9
1.64×10
-3
8.3 1.17×10
-9
5.19×10
-3
12.0 0.92×10
-9
5.64×10
-3
0.19 0.15×10
0.37 0.16×10
-9
-9
13.01×10
8.18×10
-3
-3
0.98 0.31×10
-9
5.43×10
-3
1.96 0.45×10
-9
3.67×10
-3
105 2.07×10
-9
9.32×10
-3
220 2.33×10
-9
15.62×10
-3
3 - 9
3. Characteristics
3-2 Spindle motor
3-2-1 Environmental conditions
Environment Conditions
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
0°C to +40°C (with no freezing)
90%RH or less (with no dew condensation)
–20°C to +65°C (with no freezing)
90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gases, inflammable gases, oil mist or dust
Altitude
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
3-2-2 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.
Spindle motor Tolerable radial load
SJ-V3.7-02ZM
SJ-V2.2-01, SJ-V3.7-01
SJ-V7.5-03ZM, SJ-V11-06ZM
SJ-V5.5-01, SJ-V11-08ZM
SJ-PMF01830-00
SJ-V7.5-01, SJ-V11-01
SJ-V22-06ZM, SJ-V30-02ZM, SJ-PMF03530-00
SJ-V11-09, SJ-V15-01, SJ-V15-03, SJ-V18.5-01, SJ-V18.5-03
SJ-V22-01, SJ-V22-05, SJ-V26-01, SJ-30A
SJ-22XW5
SJ-37BP
SJ-22XW8, SJ-45BP
SJ-V55-01
490 N
980 N
1470 N
1960 N
2940 N
3920 N
4900 N
5880 N
Radial load
The load point is at the one-half of the shaft length.
3 - 10
3. Characteristics
3-3 Drive unit characteristics
3-3-1 Environmental conditions
Environment Conditions
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Atmosphere
Altitude
Vibration
0°C to +55°C (with no freezing)
90%RH or less (with no dew condensation)
–15°C to +70°C (with no freezing)
90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gases, inflammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Operation/storage: 4.9m/s
2
(0.5G) or less
Transportation: 49m/s
2
(5G) or less
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics will drop as the altitude increases. The upper limit of the ambient temperature drops 1°C with every 100m increase in altitude. (The ambient temperature at an altitude of 2,000m is between 0 and 45°C.)
3 - 11
3. Characteristics
3-3-2 Heating value
Each heating value is calculated with the following values.
The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous rated output. The values for the power supply unit include the AC reactor's heating value.
Servo drive unit Spindle drive unit Power supply unit
Type
MDS-C1-
Heating value
[W]
Inside panel
Outside panel
Type
MDS-C1-
Heating value
[W]
Inside panel
Outside panel
Type
MDS-C1-
Heating value
[W]
Inside panel
Outside panel
Type
MDS-C1-
Heating value
[W]
Inside panel
Outside panel
V1- 90
V1-110
V1-150
V1- 01
V1- 03
V1- 05
V1- 10
V1- 20
V1- 35
V1- 45S
V1- 45
V1- 70S
V1- 70
21 0 V2-0101
27 0 V2-0301
37 0 V2-0303
53 0 V2-0501
25 66 V2-0503
30 102 V2-0505
34 124 V2-1005
37 148 V2-1010
38 151 V2-2010
50 234 V2-2020
56 275 V2-3510S 44
74 392 V2-3510 42
96 545 V2-3520S 48
V2-3520 45
51 V2-3535
V2-4520
V2-4535
V2-4545S
V2-4545
V2-7035
V2-7045
V2-7070S
V2-7070
52
57
55
64
70
77
65
90
52
62
78
96
37
41
38
41
43
46
0
0
0
0
117
137
0
0
0
0
146
148
165
168
209
214
249
225
295
336
382
300
468
51
76
102
140
140
187
0
0
0
42
280
301
403
522
28
31
35
41
48
48
30
40
49
26
62
65
80
98
SP-185
SP-220
SP-260
SP-300
SP- 04
SP- 075
SP- 15
SP- 22
SP- 37
SP- 55
SP- 75
SP-110
SP-150S
SP-150
CV- 37
CV- 55
CV- 75
CV-110
CV-150
CV-185
CV-220
CV-260
CV-300
CV-370
V2-9090S 65 300
(Note 1) The values for the spindle drive unit are the heating value at the continuous rated output, and the values for the servo drive unit are the heating values at the stall output when operating in the high-gain mode. The heating value when operating the servo drive unit in the standard mode (MDS-B compatible mode) is lower than the MDS-B series heating value. However, with the new design, the standard operation mode will not presumably be used, so the data has been eliminated.
(Note 2) The total heating value for the power supply includes the heating value for the AC reactor.
(Note 3) The total heating value for the unit is the total sum of the heating values for the above corresponding units which are mounted in the actual machine.
Example) When the CV-185, SP-110, V1-35, V2-2020 units are mounted
Unit total heating value (W) =195+181+132+178=686 (W)
(Note 4) When designing the panel for sealed mounting, take the actual load rate into consideration, and calculate the heating value inside the servo drive unit panel with the following expression:
29
33
35
40
46
54
21
23
25
26
126
162
175
220
274
346
34
42
55
99
Heating value inside servo drive unit panel (considering load rate) = Heating value in panel obtained from above table × 0.5
(Note that this excludes the power supply unit and spindle drive unit.)
If the load rate is clearly larger than 0.5, substitute that load rate for (× 0.5) in the above expression.
Example) When the V1-35 servo drive unit is mounted
Heating value in panel (at rated output) = 30(W)
Thus, the heating value in the panel (considering the load rate) is 30 × 0.5 = 15 (W)
3 - 12
3. Characteristics
3-3-3 Overload protection characteristics
The servo drive unit has an electronic thermal relay to protect the servomotor and servo drive unit from overloads. The operation characteristics of the electronic thermal relay are shown below when standard parameters (SV021=60, SV022=150) are set.
If overload operation over the electronic thermal relay protection curve shown below is carried out, overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.
10000.00
1000.00
100.00
When rotating
When stopped
10.00
1.00
0.10
0 100 200 300
Motor current (stall current %)
400 500
10000.00
1000.00
When rotating
When stopped
100.00
10.00
1.00
0.10
0 100 400 200 300
Motor current (stall current %)
500
3 - 13
3. Characteristics
10000.00
1000.00
100.00
10.00
1.00
0.10
0
When rotating
When stopped
10000.00
1000.00
100.00
10.00
1.00
0.10
0
10000.00
1000.00
100.00
10.00
1.00
0.10
0
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
3 - 14
400 500
3. Characteristics
10000.00
1000.00
100.00
10.00
1.00
0.10
0
10000.00
1000.00
100.00
10.00
1.00
0.10
0
When rotating
When stopped
10000.00
1000.00
100.00
10.00
1.00
0.10
0
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
3 - 15
500
(10) Motor HC103
10000.00
1000.00
100.00
10.00
1.00
0.10
0
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(11) Motor HC153
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
When rotating
When stopped
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
3 - 16
500
(12) Motor HC203
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(13) Motor HC353
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(14) Motor HC453
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
When rotating
When stopped
When rotating
When stopped
500
100 200 300
Motor current (stall current %)
400
3 - 17
500
(15) Motor HC703
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(16) Motor HC103R
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(17) Motor HC153R
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
When rotating
When stopped
When rotating
When stopped
500
100 200 300
Motor current (stall current %)
400 500
3 - 18
(18) Motor HC203R
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(19) Motor HC353R
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(20) Motor HC503R
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
When rotating
When stopped
When rotating
When stopped
500
100 200 300
Motor current (stall current %)
400 500
3 - 19
(21) Motor HA053N
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(22) Motor HA13N
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(23) Motor HA23N
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
100 200 300
Motor current (stall current %)
400
When rotating
When stopped
When rotating
When stopped
500
100 200 300
Motor current (stall current %)
400 500
When rotating
When stopped
100 200 300
Motor current (stall current %)
400
3 - 20
500
(24) Motor HA33N
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(25) Motor HA-LF11K2-S8
10000.00
1000.00
100.00
10.00
1.00
0.10
0
(26) Motor HA-LF15K2-S8
10000.00
1000.00
100.00
10.00
1.00
0.10
0
3. Characteristics
100 200 300
Motor current (stall current %)
400
100 200 300
Motor current (stall current %)
400
100 200 300
Motor current (stall current %)
400
When rotating
When stopped
When rotating
When stopped
When rotating
When stopped
500
500
500
3 - 21
