MITSUBISHI ELECTRIC MELSERVO Servo Motors and Servo Amplifiers Specifications and Installation Guide MR-J2-A Art.No.
Thank you for choosing this Mitsubishi AC servo. This Installation guide gives handling information and precautions for using the servo amplifier and servo motor. Incorrect handling may cause an unexpected fault. Before using the servo amplifier and servo motor, please read this Installation guide carefully to use the equipment to its optimum. Please forward this Installation guide to the end user.
SAFETY INSTRCUTIONS 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly acordng to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder. Do not hold the front cover to transport the controller. The controller may drop.
CAUTION Use the servo amplifier and servo motor under the following environmental conditions: Conditions Environmen Ambient temperature [ °C] [ °F] Ambient humidity Storage temperature [ °C] [ °F] Servo Amplifier 0 to +55 (non-freezing) Servo Motor 0 to +40 (non-freezing) 32 to 131 32 to 104 (non-freezing) (non-freezing) 90%RH or less 80%RH or less (non-condensing) -20 to +65 (non-condensing) (non-freezing) (non-freezing) -4 to 149 (non-freezing) 5 to 158 (non-freezing) -15 to +70 90%RH
(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
(5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault,, use a servo motor with electromag<->netic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contacts must be Circuit must be open when servo opened during is off or when an emergency stop.
COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
(5) Grounding 1) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the servo amplifier to the protective earth (PE) of the control box. 2) Do not connect two ground cables to the same protective earth (PE) terminal as shown at right below. Always connect the cables to the terminals one-to-one.
CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10A to MR-J2-350A Servo motor series : HC-KF -UE HC-MF -UE HC-SF HC-RF HC-UF (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.
CONTENTS CHAPTER 1 INTRODUCTION .................................................................................................. 1-1~1-17 1-1 Inspection at delivery ................................................................................................................. 1-2 1-1-1 Packing list ................................................................................................................... 1-2 1-1-2 Model definition .................................................................
CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM ................................................ 5-1~5-6 CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT ...................................................... 6-1~6-27 6-1 Dedicated options ...................................................................................................................... 6-2 6-1-1 Regenerative brake options .................................................................................... 6-2 6-1-2 Cable connectors ............
CHAPTER 11 SELECTION ..................................................................................................... 11-1~11-13 11-1 Specification symbol list ...................................................................................................... 11-2 11-2 Position resolution and electronic gear setting ................................................................ 11-3 11-3 Speed and command pulse frequency .............................................................................
CHAPTER 1 INTRODUCTION This chapter provides basic information needed to use this servo.
1. INTRODUCTION 1-1 Inspection at delivery After unpacking, check the name plate to make sure that the servo amplifier and servo motor received are as ordered by the customer. 1-1-1 Packing list 1) Servo amplifier 2) Servo motor Item Qty Item Qty Servo amplifier 1 Servo motor 1 (Note)Control circuit connector 1 Specifications and installation guide Safety Instructions for Use of AC Servo 1 1 Note: Not supplied to the servo amplifier of MR-J2-200A or more.
1. INTRODUCTION (2) Servo Motors 1) Name plate AC SERVO MOTOR HC-MF13 Model Serial number Date of manufacture SERIAL DATE MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN or AC SERVO MOTOR Model Input power Rated output Rated speed Serial number HC-RF153 INPUT 3AC 145V 8.2A OUTPUT 1.5Kw IEC34-1 1994 SPEED 3000r/min SER.No. 001 DATE MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 2) Model a.
1. INTRODUCTION b. HA-FF series (low inertia, small capacity) HA-FF 3 Appearance Series name 1) Compliance with Standard Symbol Specifications None Standard model (Japan) -UE EN • UL/C-UL Standard 2) Shaft type 3) Reduction gear Symbol Shaft Shape HA-FF Symbol Reduction Gear None (Note) Standard 053 to 73 None Without D D-cut shaft 053 • 13 G1 G2 Note: The Standard shafts of the HA-FF23 to 63 are with keys and those of the other models are straight shafts.
1. INTRODUCTION c. HC-SF series (middle inertia, middle capacity) HC-SF Appearance Series name 1) Shaft type Shaft shape Symbol Standard None (Straight shaft) With keyway K Note: Without key 2) Reduction gear Symbol (Note) Reduction Gear Without None For general G1 industrial machine (flange type) For general G1H industrial machine G2 For precision application (leg type) Note: Not provided for 1000r/min and 3000r/min series.
1. INTRODUCTION d. HC-RF series (low inertia, middle capacity) HC-RF 3 Appearance Series name 1) Shaft type Shaft Shape Symbol Standard None (Straight shaft) With keyway K Note: Without key 2) Reduction gear Symbol Reduction Gear None Without G2 For precision application 3) Electromagnetic brake 4) Rated speed Symbol Electromagnetic Brake None Without B With 3000 [r/min] 5) Rated output Symbol Rated Output [W] 10 1000 15 1500 20 2000 e.
1. INTRODUCTION 1-1-3 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes, the models with reduction gears, the EN Standardcompliant models and UL/C-UL Standard-compliant models.
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1. INTRODUCTION Name/Application Refer To Battery holder Contains the battery for absolute position data backup. Chapter 5(5) Battery connector (CON1) Used to connect the battery for absolute position data backup. Chapter 5(5) Section 6-2-8 Display The four-digit, seven-segment LED shows the servo status and alarm number. Section 2-3 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE UP DOWN SET Used to set parameter data.
1. INTRODUCTION (2) MR-J2-200A or more MODE The servo amplifier is shown without the front cover. For removal of the front cover, refer to page 1-12.
1. INTRODUCTION Name/Application Refer To Battery holder Contains the battery for absolute position data backup. Chapter 5(5) Battery connector (CON1) Used to connect the battery for absolute position data backup. Chapter 5(5) Section 6-2-8 Display The four-digit, seven-segment LED shows the servo status and alarm number. Section 2-3 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE UP DOWN SET Used to set parameter data.
1. INTRODUCTION Removal of the front cover q w 1) Hold down the removing knob. 2) Pull the front cover toward you. Front cover Reinstallation of the front cover 1) Insert the front cover hooks into the front cover sockets of the servo amplifier. w 2) Press the front cover against the servo amplifier until the removing knob clicks.
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1. INTRODUCTION 1-3 Function list Function Description (Note) Control Mode Refer To Position control mode MR-J2-A is used as position control servo. P Section 2-1-1 Section 2-2-2 (2) Section 3-1-3 (1) Speed control mode MR-J2-A is used as speed control servo. S Section 2-1-2 Section 2-2-2 (3) Section 3-1-3 (2) Torque control mode MR-J2-A is used as torque control servo.
1. INTRODUCTION 1-4 Basic configuration WARNING To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.
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CHAPTER 2 OPERATION This chapter gives basic connection examples and operation procedures.
2. OPERATION 2-1 Standard connection examples Always follow the instructions in Chapter 3. CAUTION 2-1-1 Position control mode For single-phase 100V power supply (1) Connection with the FX-1GM Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop. Servo amplifier MR – J2 – A1 NFB MC TE1 L1 Power supply Single-phase 100VAC L2 L11 L21 Make up a sequence which switches off the MC at alarm occurrence or emergency stop.
2. OPERATION WARNING Note: 1. To prevent an electric shock, always connect the protective earth(PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. CAUTION Note: 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits. 3. The emergency stop switch must be installed. NOTICE Note: 4.
2. OPERATION (2) Connection with the AD75P /A1SD75P For single-phase 100V power supply CAUTION Make up a sequence which switches off the MC at alarm occurrence or emergency stop. Servo amplifier MR – J2 – A1 NFB MC TE1 L1 Power supply Single-phase 100VAC L2 L11 CAUTION Make up a sequence which switches off the MC at alarm occurrence or emergency stop.
2. OPERATION WARNING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. CAUTION Note: 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits. 3. The emergency stop switch must be installed. NOTICE Note: 4.
2. OPERATION 2-1-2 Speed control mode For single-phase 100V power supply Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop. Servo amplifier MR – J2 – A1 NFB MC TE1 L1 Power supply Single-phase 100VAC L2 L11 CAUTION Make up a sequence which switches off the MC at alarm occurrence or emergency stop.
2. OPERATION WARNING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. CAUTION Note: 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits. 3. The emergency stop switch must be installed. NOTICE Note: 4.
2. OPERATION 2-1-3 Torque control mode For single-phase 100V power supply CAUTION Make up a sequence which switches off the MC at alarm occurrence or emergency stop. Servo amplifier MR – J2 – A1 NFB MC TE1 L1 Power supply Single-phase 100VAC L2 L11 CAUTION Make up a sequence which switches off the MC at alarm occurrence or emergency stop.
2. OPERATION WARNING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. CAUTION Note: 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits. 3. The emergency stop switch must be installed. NOTICE Note: 4.
2. OPERATION 2-2 Operation 2-2-1 Pre-operation checks Before starting operation, check the following: (1) Wiring 1) A correct power supply is connected to the power input terminals (three-phase 200V: L1, L2, L3; single-phase 230V: L1, L2; single-phase 100V: L1, L2) of the servo amplifier. 2) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
2. OPERATION 2-2-2 Start-up WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION 1. Before starting operation, check the parameters. Some machines may perform unexpected operation. 2. During power-on or soon after power-off, do not touch the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. as they may be at high temperatures. You may get burnt. (1) Selection of control mode With parameter No. 0, select the control mode to be used.
2. OPERATION (2) Position control mode Disconnect the servo motor from the machine, make sure that it operates properly, and reconnect it with the machine. Power on Test operation Parameter setting 1) S w i t c h o f f t h e s e r vo - o n s i g n a l (SON). 2) When power (NFB) is switched on, the display shows C (cumulative feedback pulses). In the test operation mode, make sure that the servomotor runs. (Refer to (3) in Section 2-3-3.) Set the required parameters. (Refer to Section 2-3-5.
2. OPERATION When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate and the servo motor shaft is locked. (Servo lock state) If the shaft is not servo-locked, SON is not on. Check the external sequence on the diagnostic display. Servo on Checking procedure Power on Press MODE once. Switch SON on. This display appears • • • • when SON switches on.
2. OPERATION (3) Speed control mode Disconnect the servo motor from the machine, make sure that it operates properly, and reconnect it with the machine. Power on Test operation 1) Switch off the ser vo-on signal (SON). 2) When power (NFB) is switched on, the display shows r (motor speed). In the test operation mode, make sure that the servo motor runs. (Refer to (3) in Section 2-3-3.) Set the required parameters. (Refer to Section 2-3-5.
2. OPERATION Servo on When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate and the servo motor shaft is locked. (Servo lock state) If the shaft is not servo-locked, SON is not on. Check the external sequence on the diagnostic display. Checking procedure Power on Press MODE once. Switch SON on. This display appears • • • • when SON switches on.
2. OPERATION (4) Torque control mode Disconnect the servo motor from the machine, make sure that it operates properly, and reconnect it with the machine. Power on 1) S w i t c h o f f t h e s e r vo - o n s i g n a l (SON). 2) When power (NFB) is switched on, the display shows U (torque command voltage). Test operation In the test operation mode, make sure that the servo motor runs. (Refer to (3) in Section 2-3-3.) Parameter setting Set the required parameters. (Refer to Section 2-3-5.
2. OPERATION Servo on When the servo-on signal (SON) is switched on, the servo amplifier is ready to operate.Check the external sequence on the diagnostic display. Checking procedure Power on Press MODE once. Switch SON on. This display appears • • • • when SON switches on.
2. OPERATION 2-3 Display and operation 2-3-1 Display flowchart Use the display (4-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the MODE , UP or DOWN button once to move to the next screen. In the position control mode, switching power on displays the symbol C of the cumulative feedback pulses.
2. OPERATION 2-3-2 Status display The servo status during operation is shown on the 4-digit, 7-segment LED display.Press the UP or DOWN button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the SET button to display that data. Symbol Display Range Cumulative feedback pulses C -9999 to 9999 pulse Feedback pulses from the servo motor encoder are counted anddisplayed.When the value exceeds 9999, it begins with zero.
2. OPERATION 2-3-3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
2. OPERATION (1) External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. 1) Operation Call the display screen shown after power-on. Press MODE once. Press UP once.
2. OPERATION a. Control modes and I/O signals Connector CN1A CN1B Signal Input/Output (Note 1) I/O Pin No.
2. OPERATION 3) Default signal indications a.
2. OPERATION (2) Output signal forced output The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state (SON signal off). Operation Call the display screen shown after power-on. Press MODE once. Press UP twice. Press SET for more than 2 seconds. • • • • • • • Switch on/off the signal below the lit segment. • • • • • • • Indicates the ON/OFF of the output signal.
2. OPERATION (3) Test operation mode CAUTION MEMORANDUM 1. The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. Always use the servo motor alone. 2. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal. This mode cannot be used for the absolute position detection system. Set parameter No. 1 to select the incremental positioning system.
2. OPERATION 2) Motor-less operation Without connection of the servo motor, the servo amplifier can provide output signals and display the status as if the servo motor is running actually in response to the external input signal. This function can be used to make a sequence check on the host positioning unit, etc. Switch off the servo-on signal. a. Mode change Call the display screen shown after power-on. Press MODE once. Press UP five times. Press SET for more than 2 seconds.
2. OPERATION 2-3-4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below. Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of alarm 33 (overvoltage). Flickers at occurrence of the alarm. Indicates that the last alarm is alarm 50 (overload 1).
2. OPERATION 2-3-5 Parameter mode The servo amplifier is factory-set in the position control mode.
2. OPERATION 2) 5-digit parameter The following example shows the operation procedure performed to change the electronic gear denominator (parameter No. 4) into "12345": Call the display screen shown after power-on. Press MODE three times. Select parameter No. 4 with UP / DOWN . Press SET once. Fifth digit setting Lower 4 digits setting Press MODE once. Press SET once. •••• The screen flickers. •••• Change the set value with UP / DOWN. 2 • • • The set value is entered.• • • Press SET once.
2. OPERATION (2) Expansion parameters To use the expansion parameters, change the setting of parameter No. 19 (parameter write disable). After setting parameter No. 19, switch power off once, then switch it on again to make the parameter valid. The table below shows the parameters referenced and write enabled by the setting of parameter No. 19. Those parameters marked can be operated. Set Value Operation 0000 (initial value) Reference Basic Parameters No.0~19 Expansion Parameters No.
2. OPERATION (3) Parameter list For any parameter whose symbol is preceded by *, set the parameter and switch power off once, then switch it on again to make that parameter valid. The symbols in the Control Mode field represent parameters used in the corresponding modes. (P: Position control mode, S: Speed control mode, T: Torque control mode) No.
2. OPERATION No.
2. OPERATION (4) Detailed explanation of the parameters To make the parameter marked * valid, set the parameter and switch power off once, then switch it on again. The symbols in the Control Mode field represent parameters used in the corresponding modes. (P: Position control mode, S: Speed control mode, T: Torque control mode) Name and Function Basic parameters Class No.
2. OPERATION Basic parameters Class No. Symbol 2 ATU Initial Value Name and Function Auto tuning: Used to set the response level, etc. for execution of auto tuning. Setting Range Control Mode 0102 0001h to 0215h P•S 1 1 to 32767 P Unit 0 Auto tuning response level setting Set Value Response Level 1 2 3 4 5 Low response to Middle response to High response • If the machine hunts or generates large gear sound, decrease the set value. • To improve performance, e.g.
2. OPERATION Initial Value Name and Function 4 CDV Electronic gear (Command pulse multiplying factor denominator): Used to set the divisor of the command pulse input. 5 INP In-position range: Used to set the droop pulse range in which the inposition (INP) signal will be output. 6 PG1 Position loop gain 1: Used to set the gain of position loop 1. Increase the gain to improve trackability in response to the position command.
2. OPERATION 10 SC3 Name and Function Internal speed command 3: Used to set speed 3 of internal speed commands. Initial Value Unit 1000 r/min 11 STA Acceleration time constant: Used to set the acceleration time required to reach the rated speed from zero speed in response to the analog speed command and internal speed commands 1 to 3.
2. OPERATION Name and Function 14 Torque command time constant: Used to set the constant of a low pass filter in response to the torque command. Basic parameters Class No. Symbol TQC Initial Value Unit Setting Range Control Mode 0 ms 0 to 20000 T 0000h to 0011h P•S•T Torque command Torque After filtered TQC TQC TQC: Torque command time constant For manufacturer setting Must not be change.
2. OPERATION Basic parameters 17 MOD Initial Value Name and Function Class No. Symbol Analog monitor output: Used to set the signal output for analog monitor. 0 0 Analog monitor CH1 output selectionThe set values and their definitions are as in analog monitor CH2. Analog monitor CH2 output selection 0: Servo motor speed (±8V/max. speed) 1: Torque (±8V/max. torque) 2: Servo motor speed (+8V/max. speed) 3: Torque (+8V/max. torque) 4: Current command output (±8V/max.
2. OPERATION Initial Value Name and Function 18 Status display selection: Used to select the status display shown at power-on. Basic parameters Class No.
2. OPERATION Expansion parameters Basic parameters Class No. Symbol 19 20 *BLK *OP2 Initial Value Name and Function 0000 Parameter block: Used to select the reference and write ranges of the parameters. Set Value Reference Range Write Range 0000 No.0 to 19 No.0 to 19 000A No.19 No.19 000B No.0 to 49 No.0 to 19 000C No.0 to 49 No.
2. OPERATION Name and Function 21 Function selection 3 (Command pulse selection): Used to select the input form of the pulse train input signal. (Refer to Section 3-3 (1) 4).
2. OPERATION Expansion parameters 22 *OP4 Initial Value Name and Function Class No. Symbol 0000 Function selection 4: 0 Selection of servo motor stop pattern at LSP/LSN signal off 0: Sudden stop 1: Slow stop • In the position control mode, the servo motor is decelerated to a stop according to parameter No. 7 setting. • In the speed control mode, the servo motor is decelerated to a stop according to parameter No. 12 setting.
2. OPERATION Name and Function 23 Feed forward gain: Used to set the feed forward gain in position control. By setting 100% for constant-speed operation, droop pulses will not be generated. Note that sudden acceleration/deceleration will increase overshoot. (As a guideline, acceleration/deceleration time to/from rated speed is 1s or longer when the set value is 100.) Expansion parameters Class No.
2. OPERATION Expansion parameters Class No. Symbol 29 VCO Name and Function Initial Value Depends Analog speed command offset: on servo Used to set the offset voltage of the analog speed amplifier. command (VC). When automatic VC offset is used, the automatically offset value is set to this parameter. (See section 2-3-3.) The initial value is the value provided by the automatic VC offset function before shipment at the VC-LG voltage of 0V.
2. OPERATION Name and Function Expansion parameters Class No. Symbol 38 VIC Speed integral compensation Used to set the constant of integral compensation. 39 VDC Speed differential compensation: Used to set the differential compensation value.
2. OPERATION Expansion parameters 43 *DI2 Initial Value Name and Function Class No. Symbol Input signal selection 2 (CN1B-pin 5): 0111 This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN 1B-pin 5. MEMORANDUM Allows any input signal to be assigned to CN1B-pin 5. Note that the setting digit and assigned signal differ according to the control mode.
2. OPERATION Expansion parameters 44 *DI3 Setting Range Control Mode 0222 0000h to 0999h P•S•T 0665 0000h to 0999h P•S•T 0770 0000h to 0999h P•S•T Name and Function Initial Value Input signal selection 3 (CN1B-pin 14): Class No. Symbol Allows any input signal to be assigned to CN1B-pin 14. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).
2. OPERATION Expansion parameters 47 *DI6 Setting Range Control Mode 0883 0000h to 0999h P•S•T 0994 0000h to 0999h P•S•T Initial Value Name and Function Class No. Symbol Input signal selection 6 (CN1B-pin 8): Allows any input signal to be assigned to CN1B-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Unit 0 Position control mode Speed control mode Torque control mode MEMORANDUM Input signals of CN1B-pin 8 selected.
2. OPERATION Initial Value Name and Function 49 Output signal selection 1: Used to select the connector pins to output the alarm code, warning (WNG) and battery warning (BWNG). Expansion parameters Class No. Symbol *DO1 0000 Unit Setting Range Control Mode 0000h to 0551h P•S•T 0 Setting of alarm code output Connector Pins Set Value CN1B-19 CN1A-18 CN1A-19 0 1 INP or SA ZSP RD Alarm code is output at alarm occurrence. (Note) Alarm Code Alarm CN1B CN1A CN1A Display pin 19 pin 18 pin 19 8888 A.
2. OPERATION 2-4 Adjustments 2-4-1 Auto tuning In general machines, gains are automatically adjusted by auto tuning. As the corresponding parameter is factory-set to make auto tuning valid, merely running the servo motor will automatically set the optimum gains for the machine without special operation or setting. However, if you are not satisfied with machine motions during operation, change and adjust the response level setting (parameter No. 2) of auto tuning in the following procedure.
2. OPERATION The following parameters are used for manual gain adjustment. Note that 000C should be set in parameter No. 19 (parameter write disable) to make the expansion parameters valid. Parameter No. Name No. 2 Auto tuning No.34 Ratio of load inertia moment to servo motor inertia moment No.22 Function selection 4 (Machine resonance suppression filter) No.6 Position loop gain 1 No.35 Position loop gain 2 No.36 Speed loop gain 1 No.37 Speed loop gain 2 No.
2. OPERATION Adjustment 2 Step Operation Description Auto tuning is selected. Response is set to low level. 1 Set 0101 in parameter No. 2. 2 Set the machine's load inertia moment to servo When this parameter value is set, the following motor inertia moment in parameter No. 34. parameter values are set automatically. Each value (When it is unclear, set an approximate value.) provides an ideal, hunting-less gain for parameter No. 34 if machine resonance does not occur. • Parameter No. 6 • Parameter No.
2. OPERATION Adjustment 4 Step Operation Set 0101 in parameter No. 2. 1 2 3 4 Description Auto tuning is selected. Response is set to low level. Switch servo on and perform operation several Auto tuning is performed. Check to see if vibration reduced. times. Make gain adjustment in either of the following Temporary adjustment methods 1) and 2). 1) Set the machine's load inertia moment to When this parameter value is set, the following servo motor inertia moment in parameter No.
2. OPERATION 2-4-3 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo-specific ±1 pulse vibration at the time of a stop. This mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment is small (2 to 5 times). Note that when vibration is attributable to looseness (such as gear backlash) or machine resonance, use the machine resonance suppression filter in parameter No. 22.
CHAPTER 3 WIRING This chapter provides information required for wiring of connectors, terminals, etc. Before doing wiring work, always read this chapter.
3.WIRING WARNING 1. Any person who is involved in wiring should be fully competent to do the work. 2. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. 3. Ground the servo amplifier and the servo motor securely. 4. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. 5.
3.WIRING 3-1 Servo amplifier Only the specified voltage should be applied to each terminal. Otherwise, a CAUTION burst, damage, etc. may occur.
3.WIRING (2) Signals Symbol Signal Description Main circuit power supply Main circuit power input terminals Supply L1, L2 and L3 with the following power: For single-phase 230VAC, connect the power supply to L1/L2 and leave L3 open. Servo amplifier MR-J2-10A MR-J2-100A MR-J2-10A1 Power supply to 70A to 350A to 40A1 3-phase 200 to 230VAC, 50/60Hz L1•L2•L3 (Note) Single-phase 230VAC, 50/60Hz L1•L2 Single-phase 100 to 120VAC, 50/60Hz L1•L2 Note: Cannot be used for combination with the servo motor HC-SF52.
3.WIRING 2) Connection Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N • m) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm2 or less, two cables may be inserted into one opening. Flat-blade screwdriver • Tip thickness 0.4 to 0.6mm • Overall width 2.5 to 3.5mm To loosen. To tighten.
3.WIRING 3-1-2 Signal connectors (1) Signal arrangement All connectors are half-pitch connectors (Molex 52986-2011 or equivalent).CN1A and CN1B signals change with the control mode. Refer to (2) in this section.
3.WIRING (2) CN1A and CN1B signal assignment Connector Pin No.
3.WIRING Note: 1. I: Input signal, O: Output signal, -: Others (e.g. power) 2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3. Set parameter No. 45 to use CR. 4. Set parameter No. 47 to use PC. 5. Set parameter No. 48 to use TL. 6. By setting parameters No. 43 to 48 to make TL available, TLA can be used. 7. Set parameter No. 49 to use WNG and BWNG. 8.
3.WIRING (4) Signal explanations In the Control Mode field of the table : Denotes that the signal may be used in the initial setting status. : Denotes that the signal may be used by setting the corresponding parameter among parameters No. 1 and 43 to 49. The pin No. in the connector pin No. column is the number under initial status. 1) Input signals Signal ConnecSymbol tor Pin No.
3.WIRING Signal Torque limit ConnecSymbol tor Pin No. TL CN1B 9 Functions/Applications Connect TL-SG to limit torque according to the voltage level (max. torque: +8V) of analog torque limit (TLA). Across TL-SG Torque Limit Open Internal torque limit 1 (parameter No.
3.WIRING Signal Speed selection 1 ConnecSymbol tor Pin No. SP1 CN1A 8 Speed Command Used to select the command speed for operation. Across SP1-SG Across SP2-SG Open Open Control I/O Mode Division (Note 2) (Note 1) P S T DI–1 Functions/Applications Analog speed command (VC) Short Open Open Short Internal speed command 1 (parameter No. 8) Internal speed command 2 (parameter No. 9) Short Short Internal speed command 3 (parameter No.
3.WIRING Signal Proportion control Emergency stop Clear Control change ConnecSymbol tor Pin No. Functions/Applications Control I/O Mode Division (Note 2) (Note 1) P S T PC CN1B 8 Connect PC-SG to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
3.WIRING Signal Analog torque limit ConnecSymbol tor Pin No. TLA Functions/Applications CN1B 12 NOTICE To use this signal in the speed control mode, set any of parameters No. 43 to 48 to make TL available. Control I/O Mode Division (Note 2) (Note 1) P S T Analog input When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range. Apply 0 to +10 VDC across TLA-LG. Connect the positive terminal of the power supply to TLA.
3.WIRING 2) Output signals Signal Trouble ConnecSymbol tor Pin No. Functions/Applications Control I/O Mode Division (Note 2) (Note 1) P S T ALM CN1B 18 ALM-SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 second after power on. Connect the regenerative brake option or the like with a temperature detector to make up a protective circuit.
3.WIRING Signal Battery warning ConnecSymbol tor Pin No. Control I/O Mode Division (Note 2) (Note 1) P S T Functions/Applications BWNG DO–1 1 in parameter No. 49 to use Set this signal. NOTICE BWNG-SG are connected when battery cable breakage warning (A. 92) or battery warning (A. 9F) has occurred. When there is no battery warning, BWNG-SG are disconnected within 1 second after power-on. Alarm code CN1A 19 CN1A 18 CN1B 19 DO–1 To use this signal, set No. 49.
3.WIRING Signal ConnecSymbol tor Pin No. Functions/Applications Control I/O Mode Division (Note 2) (Note 1) P S T Encoder Z-phase pulse (Open collector) OP CN1A 14 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point position is reached. ( Negative logic) Min. pulse width is about 800µs. For zeroing using this pulse, set the creep speed to 100r/min. or less.
3.WIRING 3) Power supply Signal ConnecSymbol tor Pin No. Functions/Applications I/F internal power supply VDD CN1B 3 Used to output 24VDC for input interface. Connect with COM to use this power supply. Permissible current: 80mA Digital I/F power supply input COM CN1A 9 CN1B 13 Used to input 24VDC for input interface. Connect the positive terminal of the 24VDC external power supply. Connect with VDD to use the internal power supply.
3.WIRING 3-1-3 Detailed information on I/O signals (1) Position control mode 1) Torque limit a. Torque limit and generated torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor-generated torque is shown in Fig. 3-1. A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown in Fig. 3-2.
3.WIRING c. Torque limit signal (TL) and valid torque limit Use the torque limit signal (TL) to select the torque limit made valid by internal torque limit 1 or analog torque limit (TLA) as indicated in Table 3-1: Table 3-1 TL and Valid Torque Limit Value Across TL-SG Valid Torque Limit Value Open Internal torque limit 1 (parameter No.
3.WIRING 4) Pulse train input Encoder pulses can be input in any of three different forms and are available in positive or negative logic. Use parameter No. 21 to set the command pulse train form. or in the following table indicates the timing of importing the pulse train. The arrow Pulse Train Form Negative logic Forward rotation pulse train Reverse rotation pulse train For Forward Rotation For Reverse Rotation Parameter No.
3.WIRING a. Open collector system Servo amplifier VDD DC24V OPC Approx. 1.2kΩ PP Approx. 1kΩ NP SG SD The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table on the preceding page are voltage waveforms of PP and NP based on SG.
3.WIRING (2) Speed control mode1 1) Speed setting a. Speed command and speed The servo motor is run at the speeds set in parameters No. 8 to 10 (internal speed commands 1 to 3) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown in Fig. 3-4.
3.WIRING c. Speed selection 1 (SP1)/speed selection 2 (SP2) and speed command values Use speed selection 1 (SP1) and speed selection 2 (SP2) to select the speed from among those set to the internal speed commands 1 to 3 and set to the analog speed command (VC) as indicated in Table 3-3. When the speed is changed during rotation, it is increased or decreased according to the value set in parameter No. 11 or 12.
3.WIRING (3) Torque control mode 1) Torque control a. Torque command and generated torque A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown in Fig. 3-7. Generated torque limit values will vary about 5% relative to the voltage depending on products. Generated torque may vary at the voltage of -0.05V to +0.05V.
3.WIRING c. Analog torque command offset Using parameter No. 30, the offset voltage of -999 to 999mV can be added to the TC applied voltage as shown in Fig. 3-9. Max. torque Generated torque Parameter No. 30 offset range -999~+999mV 0 +8 TC applied voltage [V] Fig. 3-9 Analog Torque Command Offset Range 2) Torque limit By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation.
3.WIRING b. Connection diagram Generally connect as shown in Fig. 3-11. When a precision speed command is required, connect as shown in Fig. 3-12. In this case, the temperature fluctuation of the command voltage is ±0.002%/°C. Note that as the maximum value of the command voltage is approx. +6V, adjust the maximum value using parameter No. 25.
3.WIRING (4) Position/speed control change mode Set 1 in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. 1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-7.
3.WIRING 3) Speed setting in speed control mode a. Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in 1)a, (2) in this section. b.
3.WIRING (5) Speed/torque control change mode Set 3 in parameter No. 0 to switch to the speed/torque control change mode. 1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-9. Table 3-9 Control Selection Across LOP-SG Servo Control Mode Open Speed control mode Short Torque control mode The control mode may be changed at any time.
3.WIRING 4) Speed limit in torque control mode a. Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in 3)a, (3) in this section. b. Connection diagram Generally connect as shown in Fig. 3-16. When a precision speed command is required, refer to 3b, (3) in this section.
3.WIRING (6) Torque/position control change mode 5 in parameter No. 0 to switch to the torque/position control change mode. This funcSet tion is not available for the absolute position detection system. 1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact. Relationships between LOP-SG status and control modes are indicated in Table 3-11.
3.WIRING 3-1-4 Interfaces The details of the interfaces (refer to I/O Division in the table) to the signals indicated in Section 31-2 (4) are given below. Refer to the following and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (7) in this section.
3.WIRING 2) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC 24VDC VDD Do not connect VDD-COM. VDD COM COM R R ALM, etc. ALM, etc. SG SG 24VDC ±10% (3) Pulse train input interface DI-2 1) Open collector system • Interface example For use of internal power supply For use of external power supply Servo amplifier 24VDC VDD (Note) Max. input pulse frequency 200kpps OPC Do not connect VDD-COM. Servo amplifier VDD About 1.
3.WIRING 2) Differential line driver system • Interface example • Conditions of the input pulse Servo amplifier Max. input pulse frequency 400kpps Am26LS31 PG(NG) Approx. 100Ω tLH=tHL<0.1µs tc>1µs tF>3µs tHL tc 0.9 PP-PG 0.1 tc tLH tF PP(NP) NP•NG SD (4) Encoder pulse output DO-2 1) Open collector system • Interface example Max. output current: 35mA Servo amplifier Servo amplifier OP OP LG SD LG SD 5 to 24VDC Photocoupler 2) Differential line driver system • Interface example Max.
3.WIRING (5) Analog input (6) Analog output Output ±10V Max. 1mA Input impedance 10 ~ 12KΩ Servo amplifier Servo amplifier 15VDC 10kΩ MO1 (MO2) P15R 2kΩ Upper limit setting 2kΩ Reading in one or A both directions 1mA meter VC‚ etc LG Approx. 10kΩ LG SD SD (7) Source input interface When using the input interface of source type, all DI-1 input signals are of source type. Source output cannot be provided.
3.WIRING 3-2 Connection of servo amplifier and servo motor 3-2-1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. CAUTION 1. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. 2. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur. (1) Wind an insulation tape around the connection several times.
3.WIRING 3-2-2 Connection diagram The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 6-2-1. For encoder cable connection, refer to Section 6-1-2. For the connectors of the servo motor, refer to Chapter 3 of the servo motor instruction manual.
3.WIRING 3-2-3 I/O terminals (1) HC–MF(–UE) series Power supply lead 4–0.52 0.3m With end-insulated round crimping terminal 1.25-4 Red : U phase White : V phase Black : W phase Green : Earth Encoder cable 0.3m With connector 172169-9 Brake cable 2–0.52 0.3m (AMP make) With end-insulated round crimping terminal 1.
3.
3.
3.WIRING 3-2-4 Connectors used for servo motor wiring The connector make-ups classified by the operating environment are given below. Use the models of the manufactures given or equivalent. (1) HC–MF(–UE) • HA–FF • HC–UF3000r/min series Use round crimping terminals (1.25-4) for connection of the power supply and electromagnetic brake. The encoder connector used should be the connector indicated in this section or equivalent.
3.WIRING • For brake connection qPlug wCable Connector Cable Cable qPlug wCable Connector Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) Servo Motor wCable connector Type Straight HA–FF C(B)–UE MS3102A10SL–4P Maker Nippon Flex Daiwa Dengyo MS3106A10SL–4S(D190) Angle Cable OD Model 4 to 8 ACS–08RL–MS10F 8 to 12 ACS–12RL–MS10F 5 to 8.3 YS010–5 to 8 4 to 8 ACA–08RL–MS10F 8 to 12 ACA–12RL–MS10F 5 to 8.3 YL010–5 to 8 Model Model ID 1/4 RCC–102RL–MS14F VF–02 8.
3.WIRING • For encoder connection qPlug wConduit Connector Servo Motor wConduit Connector Conduit Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) qPlug wConduit Connector Type Maker Nippon Flex Straight Daiwa Dengyo HA–FF C(B)–UE Conduit MS3102A20–29P MS3106A20–29S(D190) Nippon Flex Angle Daiwa Dengyo Size Conduit Model Model ID 1/2 RCC–104RL–MS20F VF–04 14.0 3/4 RCC–106RL–MS20F VF–06 19.0 16 MSA–16–20 FCV16 15.8 22 MSA–22–20 FCV22 20.8 1/2 RCC–304RL–MS20F VF–04 14.
3.WIRING 2) EN Standard/UL/C-UL Standard-compliant a. When using cabtyre cables • For power supply connection qPlug wCable Connector Cable Cable qPlug wCable Connector Servo Motor Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) wCable connector Maker Type Straight Nippon Flex Angle HA–FF C(B)–UE CE05–2A14S–2PD–B CE05–6A14S–2SD–B Straight Daiwa Dengyo Angle Cable OD Model 4 to 8 ACS–08RL–MS14F 8 to 12 ACS–12RL–MS14F 4 to 8 ACA–08RL–MS14F 8 to 12 ACA–12RL–MS14F 5 to 8.
3.WIRING • For brake connection qPlug Cable wCable Connector Cable qPlug wCable Connector Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) Servo Motor wCable Connector Type Straight Maker Nippon Flex Daiwa Dengyo HA–FF C(B)–UE MS3102A10SL–4P MS3106A10SL–4S(D190) Angle Nippon Flex Daiwa Dengyo Cable OD Model 4 to 8 ACS–08RL–MS10F 8 to 12 ACS–12RL–MS10F 5 to 8.3 YS0–10–5 to 8 4 to 8 ACA–08RL–MS10F 8 to 12 ACA–12RL–MS10F 5 to 8.3 YL010–5 to 8 b.
3.WIRING • For encoder connection qPlug wConduit Connector Conduit wConduit Connector Servo Motor qPlug Servo Motor Side Connector (Daiichi Denshi Kogyo) qPlug wConduit Connector Type Maker Nippon Flex Straight Daiwa Dengyo HA–FF C(B)–UE Conduit MS3102A20–29P MS3106A20–29S(D190) NIppon Flex Angle Daiwa Dengyo Size Conduit Model Model ID 1/2 RCC–104RL–MS20F VF–04 14.0 3/4 RCC–106RL–MS20F VF–06 19.0 16 MSA–16–20 FCV16 15.8 22 MSA–22–20 FCV22 20.8 1/2 RCC–304RL–MS20F VF–04 14.
3.WIRING (3) HA–SF•HC–RF•HC–UF 2000r/min series 1) Non–waterproof/UL/C–UL Standard-compliant a.
3.WIRING • For brake connection qPlug Cable wCable Connector Cable qPlug wCable Connector Servo Motor Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) wCable Connector Type Straight HC–SF202(B) to 702(B) MS3102A10SL–4P Maker Nippon Flex Daiwa Dengyo MS3106A10SL–4S HC–UF202(B) to 502(B) Angle Nippon Flex Daiwa Dengyo 3– 48 Cable OD Model 4 to 8 ACS–08RL–MS10F 8 to 12 ACS–12RL–MS10F 5 to 8.3 YS010–5 to 8 4 to 8 ACA–08RL–MS10F 8 to 12 ACA–12RL–MS10F 5 to 8.
3.WIRING b.
3.WIRING • For encoder connection qPlug wConduit Connector Conduit wConduit Connector Servo Motor qPlug Servo Motor Side Connector (Daiichi Denshi Kogyo) Conduit qPlug wConduit Connector Type Maker Nippon Flex Straight Daiwa Dengyo HC–SF52(B) to 702(B) HC–RF103(B) to 503(B) MS3102A20–29P MS3106A20–29S(D190) HC–UF72(B) to 502(B) Nippon Flex Angle Daiwa Dengyo Size Conduit Model Model ID 1/2 RCC–104RL–MS20F VF–04 14.0 3/4 RCC–106RL–MS20F VF–06 19.0 16 MSA–16–20 FCV16 15.
3.WIRING 2) Waterproof (IP65)/EN Standard/UL/C-UL Standard-compliant a. When using cable type cables • For power supply connection qPlug Servo Motor wCable Clamp Servo Motor Side Connector HC–SF52(B) to 152(B) HC–RF103(B) to 203(B) qPlug (Daiichi Denshi Kogyo) Cable wCable Clamp (Daiichi Denshi Kogyo) Type Model Cable OD Model Straight CE05–6A22–23SD–B–BSS 9.5 to 13 CE3057–12A–2(D265) Angle CE05–8A22–23SD–B–BAS 12.5 to 16 CE3057–12A–1(D265) Straight CE05–6A24–10SD–B–BSS 13 to 15.
3.WIRING • For brake connection qPlug Cable wCable Connector Cable qPlug wCable Connector Servo Motor Servo Motor qPlug Side Connector (Daiichi Denshi Kogyo) wCable Connector Type Straight HC–SF202(B) to 702(B) Maker Nippon Flex Daiwa Dengyo MS3102A10SL–4P MS3106A10SL–4S(D190) HC–UF202(B) to 502(B) Angle Nippon Flex Daiwa Dengyo 3– 52 Cable OD Model 4 to 8 ACS–08RL–MS10F 8 to 12 ACS–12RL–MS10F 5 to 8.3 YS0–10–5 to 8 4 to 8 ACA–08RL–MS10F 8 to 12 ACA–12RL–MS10F 5 to 8.
3.WIRING b.
3.WIRING • For encoder connection qPlug wConduit Connector Conduit wConduit Connector qPlug Servo Motor Servo Motor Side Connector (Daiichi Denshi Kogyo) Model Conduit qPlug wConduit Connector Type Maker Nippon Flex Straight Daiwa Dengyo HC–SF52(B) to 702(B) HC–RF103(B) to 503(B) MS3102A20–29P MS3106A20–29S(D190) HC–UF72(B) to 502(B) Nippon Flex Angle Daiwa Dengyo Size Conduit Model Model ID 1/2 RCC–104RL–MS20F VF–04 14.0 3/4 RCC–106RL–MS20F VF–06 19.0 16 MSA–16–20 FCV16 15.
3.WIRING 3-3 Common line The power supply and its common line are shown below. CN1A CN1B VDD 24VDC RA COM Digital input CN1A CN1B ALM, etc. Digital output SON RES, etc. SG OPC For open collector pulse train input PG • NG PP • PN SG SG For differential line driver pulse train input OPC PG • NG PP • PN Isolated P15R(permissible 30mA, 15V±10%) Analog input (+10V/max. current) TLA VC, etc. MO1 MO2 LG CN3 Analog monitor output LG Open collector output 35mA or less SD OP LG 3 LA, etc.
3.WIRING 3-4 Grounding WARNING 1. Ground the servo amplifier and servo motor securely. 2. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
3.WIRING 3-5 Power supply circuit CAUTION 1. When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. 2. Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3.WIRING (3) Timing chart SON accepted (1s) 3-phase power supply ON OFF Base circuit ON OFF Servo on (SON) ON OFF Reset (RES) ON OFF Ready (RD) ON OFF 10ms 60ms 10ms 60ms 20ms 10ms 20ms 10ms 20ms 10ms Power ON Timing Chart (4) Emergency stop To ensure safety, always install an emergency stop switch across EMG-SG. By disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo emergency stop warning (A. E6).
3.WIRING 3-6 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply off, then on.
3.WIRING 3-7 Servo motor with electromagnetic brake 1. Make up the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Shut off by servo-on signal OFF, alarm or electromagnetic brake signal. CAUTION Shut off by emergency stop signal (EMG). Servo motor RA Electromagnetic brake EMG 24VDC 2. The electromagnetic brake is provided for holding the motor shaft. Do not use it for ordinary braking.
3.WIRING (3) Timing charts (a) Servo-on signal (SON) ON/OFF Tb (ms) after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
3.
CHAPTER 4 INSTALLATION This chapter deals with the installation method and environmental conditions. Follow the instructions in this chapter when installing the equipment.
4.INSTALLATION CAUTION 1. Stacking in excess of the limited number of products is not allowed. 2. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. 3. Install the equipment in a load-bearing place in accordance with this Installation Guide. 4. Do not get on or put heavy load on the equipment to prevent injury. 5. Use the equipment within the specified environmental condition range. 6.
4.INSTALLATION (2) Installation direction and clearances 1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) or more Wiring clearance 70mm (2.8 in.) Top 10mm (0.4 in.) or more 10mm (0.4 in.) or more Bottom MR – J2 40mm (1.6 in.
4.INSTALLATION 3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. (2) Keep out foreign materials 1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. 2) Prevent oil, water, metallic dust, etc.
4.INSTALLATION 4-2 Servo motor CAUTION 1. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur. 2. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury. 3. When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty. 4.
Vibration amplitude (both amplitudes) [µm] 4.INSTALLATION 200 100 80 60 50 40 30 20 500 1000 1500 2000 2500 3000 3500 Speed [r/min] (2) Transportation Do not hold the encoder or shaft to carry the servo motor. (3) Load mounting precautions (Prevention of impact on shaft) 1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end.
4.INSTALLATION Radial load Thrust load L Serbo Motor [mm] [in] [N] 88 19.8 59 13.3 30 1.2 245 55.1 98 22.0 73 40 1.6 392 88.2 147 33.1 053 30 1.2 108 24.3 98 22.0 13 30 1.2 118 26.5 98 22.0 23 · 33 30 1.2 176 39.6 147 33.1 43 · 63 40 1.6 323 72.7 284 63.9 81 55 2.17 980 220 490 110 121 to 301 79 3.11 2058 463 980 220 52 to 152 55 2.2 980 220.5 490 110.2 202·352 79 3.1 2058 463.0 980 220.5 53 to 153 55 2.17 980 220 490 110 203·353 79 3.
4.INSTALLATION 2) When the gear box is mounted horizontally, the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault. Also, provide a breathing hole in the gear box to hold the internal pressure low. The HC-MF series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side.
4.INSTALLATION (6) Installation orientation The servo motor may be installed in any orientation. When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. Refer to Section 10-3 for the installation orientation of the servo motor with reduction gear. (7) Cable stress 1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.
CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM This chapter provides how to build an absolute position detection system. This servo amplifier will make up an absolute position detection system by merely installing a battery. For more information, refer to the MR-J2-A Absolute Position Detection System Installation Guide (IB(NA)67309).
5.ABSOLUTE POSITION DETECTION SYSTEM (1) Restrictions on absolute position detection system An absolute position detection system cannot be built under the following conditions: 1) Speed control or torque control operation 2) Control change mode (position/speed, position/torque) 3) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning. 4) Restart after instantaneous power failure is made valid for operation.
5.ABSOLUTE POSITION DETECTION SYSTEM 2) Applicable general-purpose programmable controller units Positioning Unit I/O Unit AD71 · AD71S2 · AD71S7 A1SD71S2 · A1SD71S7 AD75P · A1SD75P AX40 · 41 · 42 AY40 · 41 · 42 FX–1PG · FX–1GM FX(E)–20GM · FX–10GM FX2–32MT Note: 1. The A0J2CPU cannot be used. 2. For the availability of the units not listed above, consult Mitsubishi. 3. The absolute position detection program is not required for the FX-1GM, FX(E)-20GM and FX-10GM.
5.ABSOLUTE POSITION DETECTION SYSTEM 2) Communication sequence Programmable controller Servo amplifier Step 1 Requests ABS transfer mode. Changes DI/DO function for ABS transfer I/O signal. Step 2 Receives ready to send. Reads ABS data from encoder, creates current position data, and outputs ready to send. Step 3 Outputs ABS data request signal. Receives ABS data request signal. DI/DO is used to transfer ABS data between servo amplifier and programmable controller.
5.ABSOLUTE POSITION DETECTION SYSTEM (7) Connection example This diagram shows connection between the MELSEC-A1SD75 (AD75) and servo amplifier.
5.ABSOLUTE POSITION DETECTION SYSTEM Note: 1. For dog type home position return. Do not connect when homeposition return is of the data set type. 2. If the servo motor provided with the zero point signal is started, the A1SD75 (AD75) will output the deviation counter clear signal. Therefore, do not connect the clear signal of the MR-J2-A to the A1SD75 (AD75) but connect it to the output module of the programmable contoroller. 3. This circuit is for your reference. 4.
CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT This chapter offers how to use various options and auxiliary equipment.
6. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.
6. OPTIONS AND AUXILIARY EQUIPMENT 2) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a. Regenerative energy calculation Use the following table to calculate the regenerative energy.
6. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option When using the regenerative brake option, always remove wiring from across P-D and install the regenerative brake option across P-C. Set parameter No.0 according to the option to be used. The regenerative brake option will generate heat of about 100°C. Fully examine heat dissipation, installation position, used cables, etc. before installing the option.
6. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing 1) MR-RB032•MR-RB12 LA [Unit: mm (in)] LB 12 (0.47) 6 (0.23) ø6 (0.24) mounting hole 144 (5.67) 5 (0.20) 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 168 (6.61) 156 (6.14) MR-RB 1.6 (0.06) 20 (0.79) LD LC Regenerative Regenerative Resistance [Ω] Brake Option Power[W] Variable Dimensions LA LB LC Weight LD [kg] [lb] MR – RB032 30 40 30 15 119 99 (1.18) (0.59) (4.69) (3.9) 0.5 1.1 MR – RB12 100 40 40 15 169 149 (1.57) (0.
6. OPTIONS AND AUXILIARY EQUIPMENT 2) MR-RB32•MR-RB30 [Unit: mm (in)] 150(5.91) 125(4.92) 79 (7.05) 3.2(0.13) 318(12.52) 17 (0.67) Terminal block 7(0.28) 90 (3.54) 10 (0.39) 100(3.94) Regenerative Brake Option Regenerative Resistance Weight Power [Ω] [kg] [lb] [W] MR–RB32 300 40 2.9 6.4 MR–RB30 300 13 2.9 6.4 3) MR-RB50 [Unit: mm (in)] 325(12.80) Terminal block 350(13.78) 7 X 14 slot 7(0.28) 2.3(0.09) 200(7.87) 17(0.67) Regenerative Brake Option MR–RB50 12 (0.47) 116(4.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-1-2 Cable connectors (1) Cable selection • Use the encoder cable 1) or 2) or 3) or 4) after confirming the required wiring length. To fabricate the encoder cable, use the encoder connector set 5) or 6) and refer to (2) in this section. • The control signals may either be exported directly using the control signal connector 7) or to the junction terminal block 12) via the junction terminal block cable 8). Use the options according to the connection method.
6.
6. OPTIONS AND AUXILIARY EQUIPMENT (2) Standard encoder cable The specifications and connection of each cable are indicated below. A fabricated cable should be as specified in the following table or equivalent and connected correctly. Core Size 2 [mm ] x Pair Core Insulation Sheath OD (Note) d [mm] UL20276 0.08 x 7 AWG28 7pair (BLACK) UL20276 0.08 x 10 0.9 to 1.27 0.
6. OPTIONS AND AUXILIARY EQUIPMENT 1) Encoder cable connection diagrams If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. CAUTION a.
6. OPTIONS AND AUXILIARY EQUIPMENT b.
6. OPTIONS AND AUXILIARY EQUIPMENT 2) Junction terminal block cable MR–J2TBL M Symbol Cable Length [m (inch)] 0.5 1 Servo amplifier side 0.5 (19.68) 1 (39.37) Junction terminal block side (Note) Abbreviated Signal Code Position Control Mode Speed Control Mode LG LG Pin No. 10 LG B1 1 NP VC VC VLA 0 A1 2 PP VDD VDD VDD 11 B2 3 P15R DO1 DO1 1 A2 4 DO1 P15R LG Pin No. LG P15R LG Junction Terminal Torque Control Mode Block Terminal No.
6. OPTIONS AND AUXILIARY EQUIPMENT 4) Communication cable This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. NOTICE Select the communication cable according to the shape of the RS-232C connector of the personal computer used. When fabricating the cable, refer to the connection diagram in this section.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-1-3 Junction terminal block When using the relay terminal, "SG" of CN1A-20 and CN1B-20 cannot be used. Use "SG" of CN1A-4 and CN1B-4. POINT (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MRJ2TBL05M) as a set.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-1-4 Maintenance junction card (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier Communication cable Maintenance junction card (MR–J2CN3TM) Bus cable MR – J2HBUS M CN3B CN3 CN3A CN3C A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 VDD COM EMI DI MBR EMGO SG PE LG LG MO1 MO2 Analog monitor output 2 Not used in MR–J2–A.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-1-5 Set-up software (will be released soon) Some functions of the setup software may not be used depending on versions. For details, contact us. NOTICE The setup software (MRZJW3-SETUP31E or later) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2 Auxiliary equipment The auxiliary equipment used must be those indicated in this section or equivalent. To comply with the EN Standard or UL/C-UL Standard, use the auxiliary equipment which conform to the corresponding standard. 6-2-1 Cables Servo Amplifier Model (Note 1) Cables L1•L2•L3 L11 • L21 [mm2] U • V • W• (Note 3) Crimping Terminal P•C•D B1 • B2 Model Tool 2 1.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2-3 Power factor improving reactors The input power factor is improved to about 90%. For use with a single-phase power supply, it may be slightly lower than 90%.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2-5 Surge absorbers A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. Insulate the wiring as shown in the diagram. Maximum Rating Permissible circuit voltage AC[V ma ] Maximum Limit Voltage Static Capacity (Reference value) Varistor Voltage Rating (Range) V1mA Surge immunity Energy immunity Rated power [A] [J] [W] [A] [V] [pF] [V] 5 0.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2-6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies.
6. OPTIONS AND AUXILIARY EQUIPMENT 5) 7) 7) 1) Instrument 7) 2) Receiver Sensor power supply Servo amplifier 2) 3) 8) 6) Sensor 4) 3) Servo motor Noise Transmission Route 1) 2) 3) 4) 5) 6) SM Suppression Techniques When measuring instruments, receivers, sensors, etc.
6. OPTIONS AND AUXILIARY EQUIPMENT (1) Data line filter Noise can be prevented by installing a data line filter onto the encoder cable, etc. Example: Data line filter:ZCAT3035-1330 [TDK] ESD-SR-25 [Tokin] Impedance specifications (ZCAT3035-1330) 10 to 100MHZ 100 to 500MHZ 80 150 39±1 (1.54±0.04) 34±1 (1.34±0.04) The above impedances are reference values and not guaranteed values. ø13±1 ø30±1 (0.51±0.04) (1.18±0.04) [Unit: mm] ([Unit: in.
6. OPTIONS AND AUXILIARY EQUIPMENT (3) Cable clamp fitting (AERSBAN- SET) Strip the cable sheath of the clamped area. Cutter Cable Cable Cable clamp (A, B) Earth plate 40 (1.57) Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable.
6. OPTIONS AND AUXILIARY EQUIPMENT (4) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection Diagram Outline Drawing [Unit: mm] ([Unit: in.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2-7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
6. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 2mm2 x 5m 2mm2 x 5m NV Servo amplifier MR–J2–60A Iga Ig1 SM Ig2 HA–FF63 Igm Use a leakage current breaker generally available. Find the terms of Equation (6-2) from the diagram: Ig1 = 20 • 5 =0.1[mA] 1000 Ig2 = 20 • 5 =0.1[mA] 1000 Ign = 0 (not used) Iga = 0.1[mA] Igm = 0.1[mA] Insert these values in Equation (6-2): Ig 10 • {0.1 + 0 + 0.
6. OPTIONS AND AUXILIARY EQUIPMENT 6-2-9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs such as analog speed and torque commands: Model: WA2WYA2SEBK2KΩ Model: Wire-wound variable resistor 2W2KΩ B Model: characteristicShaft rotary angle Note: Manufacturer (Japan Resistor) standard Note: WA2W usableConnection diagram Connection diagram Outline dimension drawing [Unit: mm] ([Unit: in.]) 1 Panel hole machining diagram [Unit: mm] ([Unit: in.
CHAPTER 7 INSPECTION This chapter describes inspection items.
7.INSPECTION WARNING 1. Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. 2. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. NOTICE 1.
7.INSPECTION 1) Smoothing capacitor : Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. 2) Relays : Their contacts will wear due to switching currents and contact faults occur.
CHAPTER 8 TROUBLESHOOTING This chapter gives troubleshooting at start-up and corrective actions for alarms and warnings. When any fault has occurred, refer to this chapter and take the corresponding action.
8. TROUBLESHOOTING 8-1 Troubleshooting at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. 8-1-1 Position control mode (1) Troubleshooting No. Start-Up Sequence 1 Power on Fault • LED is not lit. • LED flickers.
8. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit Servo amplifier a) Output pulse counter Electronic gear (parameters No.
8. TROUBLESHOOTING 8-1-2 Speed control mode No. Start-Up Sequence 1 Power on Fault • LED is not lit. • LED flickers. Investigation Possible Cause Refer To Not improved if 1) Power supply voltage connectors CN1A, CN1B fault and CN2 are disconnected. 2) Servo amplifier faulty. Improved when connectors CN1A and CN1B are disconnected. Power supply of CN1 cabling is shorted. Improved when connector 1) Power supply of CN2 is disconnected. encoder cabling is shorted. 2) Encoder is faulty. Alarm occurs.
8. TROUBLESHOOTING 8-1-3 Torque control mode No. Start-Up Sequence 1 Power on Fault • LED is not lit. • LED flickers. Investigation Possible Cause Refer To Not improved if connectors 1) Power supply voltage CN1A, CN1B and CN2 are fault disconnected. 2) Servo amplifier faulty. Improved when connectors Power supply of CN1 CN1A and CN1B are cabling is shorted. disconnected. Improved when connector 1) Power supply of encoder CN2 is disconnected. cabling is shorted. 2) Encoder is faulty. Alarm occurs.
8. TROUBLESHOOTING 8-2 Alarms and warnings 8-2-1 Alarm and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8-2-2 or 8-2-3 and take the appropriate action.Set 1 in parameter No. 49 to output the alarm code in ON/OFF status across the corresponding pin and SG. Warnings (A. 92 to A. EA) have no codes. Any alarm code is output at occurrence of the corresponding alarm.
8. TROUBLESHOOTING 8-2-2 Alarms 1. When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. 2. If an absolute position erase alarm (A. 25) occurred, always make home position setting again. Otherwise, misoperation may occur. WARNING When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
8. TROUBLESHOOTING Alarm Code Display CN1B- CN1A- CN1A19 pin 18 pin 19 pin A. 17 0 0 0 Name Definition Board error 2 CPU/parts fault Cause Faulty parts in the servo amplifier Checking method Action Change the servo amplifier. Alarm (A. 17 or A. 18) occurs if power is switched on after CN1A, CN1B, and CN3 connectors have been disconnected. A. 18 0 0 0 Board error 3 A. 20 1 1 0 Encoder error 2 Communication error 1. Encoder connector disconnected. Connect correctly. occurred between 2.
8. TROUBLESHOOTING Alarm Code Display CN1B- CN1A- CN1A19 pin 18 pin 19 pin A. 31 A. 32 1 1 0 0 1 0 Name Overspeed Overcurrent Definition Speed has exceeded the instantaneous permissible speed. Cause Action 1. Input command pulse frequency Set command exceeded the permissible pulses correctly. instantaneous speed frequency. 2. Small acceleration/deceleration Increase the time constant caused overshoot acceleration/ to be large. deceleration time constant. 3.
8. TROUBLESHOOTING Alarm Code Display CN1B- CN1A- CN1A19 pin 18 pin 19 pin A. 35 1 0 1 Name Command pulse alarm Definition Input command pulses are too high. Cause 1. Command pulse frequency is too high. Action Reduce the command pulse frequency to proper value. 2. Noise entered command pulses. Take measures against noise. 3. Command unit faulty. A. 37 0 0 0 Parameter error Parameter 1. Servo amplifier fault caused the Change the setting is wrong. parameter setting to be servo amplifier.
8. TROUBLESHOOTING Alarm Code Display CN1B- CN1A- CN1A19 pin 18 pin 19 pin A. 50 0 1 1 Name Definition Overload 1 Cause Action 4. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. Connect correctly. 5. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated slowly with the servo off, the cumulative feedback pulses should vary in proportion to the rotary angle.
8. TROUBLESHOOTING Alarm Code Display CN1B- CN1A- CN1A19 pin 18 pin 19 pin A. 52 1 0 1 Name Error excessive Definition Cause Droop pulse value 1. Acceleration/deceleration time of the deviation constant is too small. counter exceeded 2. Torque limit value (parameter 80k pulses. No. 28) is too small. 3. Start not allowed because of torque shortage due to power supply voltage drop. Action Increase the acceleration/ deceleration time constant. Increase the torque limit value. 1.
8. TROUBLESHOOTING 8-2-3 Warnings If a warning occurs, the servo amplifier does not go into a servo off status. However, if operation is continued in the warning status, an alarm may occur or proper operation not performed. Eliminate the cause of the warning according to this section. Use the optional set-up software to refer to the cause of warning. Display A. 92 Name Open battery cable warning Definition Cause Absolute position detection system battery voltage is low. 1. Battery cable is open.
CHAPTER 9 CHARACTERISTICS This chapter provides various characteristics and data of the servo.
9.CHARACTERISTICS 9-1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below.Overload 1 alarm (A. 50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (A.
9.CHARACTERISTICS (2) MR—J2—200A and MR—J2—350A 1000 HC-SF Series HC-RF Series HC-UF Series During rotation Operation time [s] 100 During stop 10 1 0.
9.CHARACTERISTICS 9-2 Losses generated in the servo amplifier (1) Amount of heat generated by the servo amplifier Table 9-1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 9-1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and zero torque according to the duty used during operation.
9.CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10°C at the ambient temperature of 40°C. (With a 5°C (41°F) safety margin, the system should operate within a maximum 55°C (131°F) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 9-1: A = P K • ∆T ......................................
9.CHARACTERISTICS 9-3 Electromagnetic brake characteristics The electromagnetic brake is designed to hold a load. Do not use it for braking. CAUTION The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below: Though the brake lining may rattle during low-speed operation, it poses no functional problem. Though the brake lining may rattle during operation, it poses no functional problem.
9.CHARACTERISTICS HC-UF Series Servo Motor 13B Item 23B 43B 73B 72B 152B 202B Spring-loaded safety brake (Note 1) Type (Note 4) Rated voltage 0 24V -10% DC Rated current at 20°C [A] Excitation coil resistance at 20°C [Ω] Capacity [W] ON current [A] 0.26 0.33 0.42 0.8 1.4 91 73 57 29 16.8 6.3 7.9 10 19 34 0.18 0.18 0.2 0.2 0.4 0.06 0.11 0.12 0.08 0.2 [N•m] 0.32 1.3 2.4 8.3 43.1 [oz•in] 45 184 340 1176 6108 (Note 2) Release delay time [S] 0.03 0.03 0.03 0.
9.CHARACTERISTICS (2) Electromagnetic brake power supply 24VDC of the internal power output for interface (VDD) cannot be used. Prepare the following power supply for use with the electromagnetic brake only.Examples of connection of the brake exciting power supply are shown in Fig. 9-3 (a) to (c). (a) is for AC off, and (b) and (c) for DC off. When DC is switched off, the braking delay time will be shortened, but a surge absorber must be installed on the brake terminal.
9.CHARACTERISTICS Lmax = Vo • 60 t1 + t2 + t3 2 ........................................................ (9-2) Where, Lmax: Maximum coasting distance Vo: Machine's fast feed speed t 1: Delay time of control section t 2: Braking delay time of brake (Note) t 3: Braking time t3 = JL JM No TL TB [mm] [mm/min] [s] [s] [s] (JL + JM) • NO 9.55 x 104 • (TL + 0.
9.CHARACTERISTICS 9-4 Dynamic brake characteristics When an alarm, emergency stop or power failure occurs, the dynamic brake is operated to bring the servo motor to a sudden stop. Fig. 9-5 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 9-3 to calculate an approximate coasting distance to a stop. The dynamic brake time constant τ varies with the servo motor and machine operation speeds as indicated in Table 9-3 and as shown in Fig. 9-6 to Fig.
0.045 0.12 0.04 0.035 0.1 0.03 Time constant τ [s] Time constant τ [s] 9.CHARACTERISTICS 352 202 0.025 52 0.02 0.015 0.01 0.005 0 0 102 152 0.04 103 50 0 153 500 1000 1500 2000 2500 3000 Speed [r/min] Fig. 9-8 HC-SF3000r/min Dynamic Brake Time Constant 103 153 203 500 353 0.02 Time constant τ [s] 0.004 0.002 0 0 1000 1500 2000 2500 3000 Speed [r/min] 0.1 0.09 0.08 0.07 0.06 0.05 0.04 0.03 0.02 0.01 0 72 152 202 0 1000 1500 500 Speed [r/min] 2000 Fig.
9.CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated on the right. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed, contact Mitsubishi. Servo Amplifier Load Inertia Moment Ratio [times] MR—J2—10A to MR—J2—200A MR—J2—10A1 to MR—J2—40A1 30 MR—J2—350A 16 9-5 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed.
CHAPTER 10 SPECIFICATIONS This chapter gives the specifications of the servo.
10.
10.
10. SPECIFICATIONS HC-SF 3000r/min Series (Middle inertia, middle capacity) Servo Motor Item Applicable servo amplifier (Note 1) Continuous running duty MR–J2– [kW] [N • m] Rated output Rated torque [oz • in] 103 153 60A 100A 200A 200A 0.5 1.59 225 1.0 3.18 451 1.5 4.78 677 3000 3000 3450 4.77 676 3.8 6.6 36.1 9.55 1353 7.4 13.7 74.9 14.3 2026 11.4 20.0 109.
10. SPECIFICATIONS Servo Motor Item Applicable servo amplifier (Note 1) Continuous running duty MR–J2– [kW] [N • m] Rated output Rated torque [oz • in] [oz • in] [kW/s] Power rate at continuous rated torque [×10-4kg • cm2] J (Note 7) 2 Inertia moment [oz • in2] WK (Note 6)Recommended ratio of load inertia moment to servo motor shaft inertia moment MR–RB032(30W) 13 23 43 (Note9) 73 70A 200A 350A 10A 20A 40A 70A 0.75 3.58 507 1.5 7.16 1015 2000 3000 3450 2.0 9.55 1353 0.1 0.32 45 0.2 0.
10. SPECIFICATIONS 10-2 Torque characteristics If load is opplied at stop (during servo lock), 70% of the rated torque must not be exceeded. CAUTION (1) HC-MF series (HC–MF053) (HC–MF13) (HC–MF23) 1.0 4.0 Short-duration operation region (Note) Short-duration operation region Short-duration operation region 0.5 3.0 Torque [N · m] 1.5 Torque [N · m] Short-duration operation region 0.4 (HC–MF43) 2.0 0.75 Torque [N · m] Torque [N · m] 0.6 1.0 0.2 (Note) 0.
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10.
10. SPECIFICATIONS (5) HC-UF series (HC–UF72) (HC–UF152) 8 4 30 Short-duration operation region 16 8 1000 2000 0 1000 Speed [r/min] 0 3000 (HC–UF23) 1.5 1000 2000 3000 4000 4500 Short-duration operation region Speed [r/min] 3.0 Short-duration operation region 2.0 1.0 Continuous operation region 0 3000 4.0 0.5 Continuous operation region 2000 (HC–UF43) 1.0 0.25 1000 Speed [r/min] Torque [N · m] Torque [N · m] Torque [N · m] 2000 2.0 0.
10. SPECIFICATIONS 10-3 Servo motors with reduction gears Servo motors are available with reduction gears designed for: 1) general industrial machines; and 2) precision applications. Servo motors with electromagnetic brakes are also available. (1) Manufacturing range of servo motor with reduction gear Servo motors with reduction gears that may be manufactured are indicated by symbols (G1 (H), G2) in the following table. G1 (H) and G2 are symbols appended to the servo motor models.
10. SPECIFICATIONS (3) HA-FF series For General Industrial Machines (HA-FF G1) Reduction Gear For Precision Applications (HA-FF G2) Mounting Method Flange mounting Mounting direction In any directions Grease lubrication (Already packed) Lubrication 50 • 100W Grease lubrication (Already packed) 200 to 600W LDR101BJ American Oil Center Research Recommended SUMICO LUBRICANT PYRONOC UNIVERSAL No.000 greas MOLY PS GREASE No.
10.
10. SPECIFICATIONS 2) Recommended lubricants a. Grease: (Changing intervals: 20000 hours or 4 to 5 years) b. Lubricating oil Ambient Temperature COSMO OIL Nisseki IDEMITSU Mitsubishi KOSAN Oil CO.
10. SPECIFICATIONS 10-4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available. These shafts are not appropriate for applications where the servo motor is started and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.
10. SPECIFICATIONS Keyway [Unit: mm] ([Unit: in]) Variable Dimensions Servo Motor Model R Q QK QL U Depth 20 (0.787) W øS A Q HC—SF81K 55 50 24h6 HC—SF52K to 152K HC—SF53K to 153K (0.94) (2.17) (1.97) HC—SF121K to 301K 35 79 HC—SF202K to 352K HC—SF203K · 353K (1.38) (3.11) S W R U r +0.2 0 0 +0.2 0 +0.2 36 5 8 4 4 (0.31) (1.42) (0.20) (0.16) (0.16) 5 10 -0.036 55 50 5 (0.39) (2.17) (0.20) (0.20) (0.20) 45 40 5 8 -0.036 25 50 4 (0.94) (1.77) (1.57) (0.31) (0.98) (0.20) (0.16) (0.
10. SPECIFICATIONS 10-5 Outline dimension drawings 10-5-1 Servo amplifiers (1)MR – J2 – 10A to MR – J2 – 60A [Unit: mm] MR – J2 – 10A1 to MR – J2 – 40A1 A ø6(ø0.24) mounting hole 70(2.76) ([Unit:in]) 135(5.32) Terminal layout (Terminal cover open) (0.79) 20 6 (0.24) B MITSUBISHI MITSUBISHI 168(6.61) 156(6.14) OPEN OPEN C N 1 A C N 1 B C N 2 E N C C N 3 TE1 6 (0.24) L1 7 (0.28) Name plate L2 C N 1 A C N 1 B C N 2 E N C C N 3 L3 (Note) U V W 6 (0.
10. SPECIFICATIONS (2)MR – J2 – 70A • MR – J2 – 100A 70(2.76) 70(2.76) ([Unit:in]) 190(7.48) 22 (20) (0.87) Terminal layout (Terminal cover open) (0.79) 6 (0.24) ø6 (ø0.24) mounting hole [Unit: mm] MITSUBISHI MITSUBISHI 6(0.24) 7(0.28) 168(6.61) 156(6.14) OPEN OPEN C N 1 A C N 1 B C N 2 E N C C N 3 L1 L2 L3 U V W Name plate PE terminal 6(0.24) 22 42 (0.87) (1.65) TE2 C N 1 B C N 2 E N C C N 3 TE1 6(0.24) Servo Amplifier Weight Model [kg]([lb]) MR–J2–70A 1.7 (3.
10. SPECIFICATIONS (3)MR – J2 – 200A • MR – J2 – 350A [Unit : mm] ([Unit: in]) ø6 (ø0.24) mounting hole 90(3.54) 78(3.07) 6 70(2.76) 195(7.68) (0.24) Terminal layout 168(6.61) 156(6.14) 6 (0.24) TE2 12-M4 screw TE1 PE terminal Servo Amplifier Weight Model [kg]([lb]) MR–J2–200A 2.0 MR–J2–350A (4.41) PE terminals TE1 L1 3-M4 screw L2 L3 U V W Terminal screw: M4 x 0.7 Tightening torque: 1.24 [N • m] (175.6 [oz • in]) Terminal screw: M4 x 0.7 Tightening torque: 1.24 [N • m] (175.
10. SPECIFICATIONS 10-5-2 Servo motors (1) HC-MF series 1) Standard (Without electromagnetic brake, without reduction gear) Variable Output Model Dimensions (W) L KL Inertia Moment Weight -4 J( 10 kg•m ) (kg) 2 HC–MF053 50 81.5 29.5 0.019 0.40 HC–MF13 100 96.5 44.5 0.03 0.53 [Unit: mm] 25 L 40 40.5 42 Moter plate (Opposite side) 2.5 5 2-ø4.5 45° ø8h6 Moter plate Bottom ø30h7 Bottom Top Top ø46 Top 35.7 28.7 Bottom 6.8 Caution plate KL 9.9 25.
10. SPECIFICATIONS Model Output Inertia Moment Weight (W) -4 J( 10 kg•m ) (kg) 750 0.6 3 HC–MF73 2 [Unit: mm] 82 40 142 39 Motor plate (Opposite side) 2.7 8 80 4-ø6.6 45° 3 ø19h6 Motor plate ø9 Top Top 58.1 48.7 Bottom 0 ø70h7 Bottom Bottom Top Caution plate 86.7 11 25.2 9.9 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth Encoder cable 0.
10. SPECIFICATIONS Variable Output Model Barking Force Inertia Moment Dimensions (W) L KL -4 2 Weight (N•m) J( 10 kg•m ) (kg) HC–MF23B 200 131.5 49.1 1.3 0.136 1.6 HC–MF43B 400 156.5 72.1 1.3 0.191 2.1 [Unit: mm] 30 L 41 62 60 7 Motor plate (Opposite side) 2.7 3 4-ø5.8 Bottom Top ø50h7 ø14h6 Motor plate 45° Bottom Top ø7 0 42.8 33.4 Bottom 10.6 Top KL Caution plate 9.9 68 25.2 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS 3) With reduction gear for general industrial machine a) Without electromagnetic brake Variable Output Model Reduction Dimensions (W) L KL Reduction Ratio Inertia Moment -4 2 Gear Model (Actual Reduction Ratio) J( 10 kg•m ) Weight Backlash (kg) HC–MF053G1 50 126 74 K6505 1/5(9/44) 0.055 60min. max. 1.4 HC–MF053G1 50 144 92 K6512 1/12(49/576) 0.077 60min. max. 1.8 HC–MF053G1 50 144 92 K6520 1/20(25/484) 0.059 60min. max. 1.
10. SPECIFICATIONS Variable Output Model L KL Reduction Ratio Reduction Dimensions (W) Inertia Moment Weight -4 (kg) 2 Gear Model (Actual Reduction Ratio) J( 10 kg•m ) 1/5(19/96) 0.249 3.3 K9012 1/12(25/288) 0.293 3.9 K9020 1/20(253/5000) 0.266 3.9 HC–MF23G1 200 153 102.6 K9005 HC–MF23G1 200 173 122.6 HC–MF23G1 200 173 122.6 [Unit: mm] For reverse rotation command For forward rotation command 74 L 10 62 2.
10. SPECIFICATIONS Output Reduction Gear Model Inertia Moment Reduction Radio -4 (W) Model HC–MF43G1 400 K10020 HC–MF73G1 750 K10005 1/5 HC–MF73G1 750 K10012 1/12 HC–MF73G1 750 K12020 1/20 625/12544 Normal Reduction ratio Actual Reduction ratio 1/20 (W) (kg) 0.653 60min. max. 5.5 1/5 1.02 60min. max. 6.2 525/6048 1.686 60min. max. 7.3 1.75 60min. max. 10.
10. SPECIFICATIONS b) With electromagnetic brake Variable Output Model Dimensions (W) L KL Braking Force Reduction Reduction Inertia Moment (N•m) Gear Model -4 J( 10 kg•m ) Weight Backlash 2 Ratio (kg) HC–MF053BG1 50 154 74 0.32 K6505 1/5(9/44) 0.058 60min. max. 1.8 HC–MF053BG1 50 172 92 0.32 K6512 1/12(49/576) 0.080 60min. max. 2.2 HC–MF053BG1 50 172 92 0.32 K6520 1/20(25/484) 0.062 60min. max. 2.
10. SPECIFICATIONS Variable Output Model Dimensions (W) Reduction Reduction Ratio Inertia Moment Weight -4 (kg) 2 Gear Model (Actual Reduction Ratio) J( 10 kg•m ) L KL 185 102.6 K9005 1/5(19/96) 0.289 3.9 1/12(25/288) 0.333 4.5 1/20(253/5000) 0.306 4.5 HC–MF23BG1 200 HC–MF23BG1 200 205 122.6 K9012 HC–MF23BG1 200 205 122.
10. SPECIFICATIONS Output Brake Force Reduction Model Reduction Radio (N•m) Gear Model HC–MF43BG1 400 1.3 K10020 HC–MF73BG1 750 2.4 K10005 HC–MF73BG1 750 2.4 K10012 HC–MF73BG1 750 2.4 K12020 1/20 Normal Reduction ratio Actual Reduction ratio (W) 2 J( 10 kg•m ) Weight Backlash (kg) 253/5000 0.700 60min. max. 6.1 1/5 1/5 1.145 60min. max. 7.2 1/12 525/6048 1.811 60min. max. 8.3 625/12544 1.875 60min. max. 11.
10. SPECIFICATIONS 4) With reduction gear for precision application a) Without electromagnetic brake Variable Output Model Dimensions (W) L KL Reduction Reduction Inertia Moment Gear Model Ratio J( 10 kg•m ) -4 2 Weight Backlash (kg) HC–MF053G2 50 130 78 BK1-05B-A5MEKA 1/5 0.067 3 min. max. 1.4 HC–MF053G2 50 146 94 BK1-09B-A5MEKA 1/9 0.060 3 min. max. 1.7 HC–MF053G2 50 146 94 BK1-20B-A5MEKA 1/20 0.069 3 min. max. 1.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment -4 Weight Backlash 2 (W) Model Ratio J( 10 kg•m ) HC–MF13BG2 100 BK1-05B-01MEKA 1/5 0.078 3 min. max. 1.5 HC–MF13BG2 100 BK1-09B-01MEKA 1/9 0.072 3 min. max. 1.8 HC–MF13BG2 100 BK1-20B-01MEKA 1/20 0.122 3 min. max. 3.0 HC–MF13BG2 100 BK1-29B-01MEKA 1/29 0.096 3 min. max. 3.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment -4 Weight 2 (W) Model Ratio J( 10 kg•m ) (kg) HC–MF23BG2 200 BK1-05B-02MEKA 1/5 0.191 2.1 HC–MF23BG2 200 BK2-09B-02MEKA 1/9 0.208 3.5 HC–MF23BG2 200 BK3-20B-02MEKA 1/20 0.357 5.0 HC–MF23BG2 200 BK3-29B-02MEKA 1/29 0.276 5.
10. SPECIFICATIONS Model Output Reduction Gear Reduction Inertia Moment -4 Weight 2 (W) Model Ratio J( 10 kg•m ) (kg) HC–MF43BG2 400 BK2-05B-04MEKA 1/5 0.295 3.7 HC–MF43BG2 400 BK3-09B-04MEKA 1/9 0.323 5.3 HC–MF43BG2 400 BK4-20B-04MEKA 1/20 0.426 7.5 HC–MF43BG2 400 BK4-29B-04MEKA 1/29 0.338 7.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment -4 Weight 2 (W) Model Ratio J( 10 kg•m ) (kg) HC–MF73G2 750 BK3-05B-08MEKA 1/5 0.973 6.3 HC–MF73G2 750 BK4-09B-08MEKA 1/9 0.980 8.6 HC–MF73G2 750 BK5-20B-08MEKA 1/20 1.016 12.0 HC–MF73G2 750 BK5-29B-08MEKA 1/29 0.910 12.0 Output Model (W) Variable Dimensions LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P R Ratio) HC–MF73G2 750 115 95 135 100 8 75 10 85 35 212 85 156.
10. SPECIFICATIONS b) With electromagnetic brake Variable Output Model Dimensions (W) L KL Braking Force Reduction (N•m) Gear Model Reduction Inertia Moment Ratio J( 10 kg•m ) -4 Backlash 2 Weight (kg) HC–MF053BG2 50 158 78 0.32 BK1-05B-A5MEKA 1/5 0.070 3 min. max. 1.8 HC–MF053BG2 50 174 94 0.32 BK1-09B-A5MEKA 1/9 0.063 3 min. max. 2.1 HC–MF053BG2 50 174 94 0.32 BK1-20B-A5MEKA 1/20 0.072 3 min. max. 2.2 HC–MF053BG2 50 174 94 0.32 BK1-29B-A5MEKA 1/20 0.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment -4 2 Weight Backlash (W) (N•m) Model Ratio J( 10 kg•m ) HC–MF13BG2 100 0.32 BK1-05B-01MEKA 1/5 0.080 3 min. max. 1.9 HC–MF13BG2 100 0.32 BK1-09B-01MEKA 1/9 0.074 3 min. max. 2.2 HC–MF13BG2 100 0.32 BK2-20B-01MEKA 1/20 0.124 3 min. max. 3.4 HC–MF13BG2 100 0.32 BK2-29B-01MEKA 1/29 0.098 3 min. max. 3.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment -4 Weight 2 (W) (N•m) Model Ratio J( 10 kg•m ) (kg) HC–MF23BG2 200 1.3 BK1-05B-02MEKA 1/5 0.239 2.7 HC–MF23BG2 200 1.3 BK2-09B-02MEKA 1/9 0.256 4.1 HC–MF23BG2 200 1.3 BK3-20B-02MEKA 1/20 0.405 5.6 HC–MF23BG2 200 1.3 BK3-29B-02MEKA 1/29 0.324 5.
10. SPECIFICATIONS Braking Force Reduction Gear Output Model Reduction Inertia Moment -4 Weight 2 (W) (N•m) Model Ratio J( 10 kg•m ) (kg) HC–MF43BG2 400 1.3 BK2-05B-04MEKA 1/5 0.344 4.3 HC–MF43BG2 400 1.3 BK3-09B-04MEKA 1/9 0.372 5.9 HC–MF43BG2 400 1.3 BK4-20B-04MEKA 1/20 0.475 8.1 HC–MF43BG2 400 1.3 BK4-29B-04MEKA 1/29 0.386 8.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment -4 Weight 2 (W) (N•m) Model Ratio J( 10 kg•m ) (kg) HC–MF73BG2 750 2.4 BK3-05B-08MEKA 1/5 1.098 7.3 HC–MF73BG2 750 2.4 BK4-09B-08MEKA 1/9 1.105 9.6 HC–MF73BG2 750 2.4 BK5-20B-08MEKA 1/20 1.141 13.0 HC–MF73BG2 750 2.4 BK5-29B-08MEKA 1/29 1.035 13.
10. SPECIFICATIONS (2) HC-MF-UE series 1) Standard (Without electromagnetic brake, without reduction gear) Variable Output Model Dimensions (W) L KL Inertia Moment Weight J( 10 kg•m ) -4 (kg) 2 HC–MF053-UE 50 89.5 37.5 0.019 0.5 HC–MF13-UE 100 104.5 52.5 0.03 0.6 [Unit: mm] 42 25 L Motor plate (Opposite side) 40.5 40 2-ø4.5 2.5 5 45° Motor plate Top Top ø4 ø30h7 ø8h6 Bottom Bottom Bottom 6 28.7 Bottom Top Caution plate V ring TUV plate KL 9.9 6.8 35.
10. SPECIFICATIONS Model HC–MF73-UE Output Inertia Moment Weight (W) -4 J( 10 kg•m ) (kg) 750 0.675 3.1 2 [Unit: mm] 40 150 TUV plate 8 Motor plate (Opposite side) 39 82 3 80 45° 4-ø6.6 2.7 ø19h6 Motor plate Bottom Bottom ø70h7 Top ø9 Top 0 58.5 48.7 Bottom Top V ring 11 9.9 V-25A 25.2 Caution plate 95 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth Encoder cable 0.
10. SPECIFICATIONS Variable Output Model (W) L KL Weight Barking Force Inertia Moment Dimensions -4 2 (N•m) J( 10 kg•m ) (kg) HC–MF23B-UE 200 140.5 58 1.3 0.136 1.7 HC–MF43B-UE 400 165.5 81 1.3 0.191 2.2 [Unit: mm] 30 L TUV plate 60 3 7 41 4-ø5.8 Motor plate 2.7 62 4 5° (Opposite side) Top Bottom Top Top Bottom ø50h7 Bottom ø14h6 Bottom Motor plate ø7 Top 0 42.8 38.4 V ring V-16A Caution plate 95 10.6 25.2 Encoder cable 0.
10. SPECIFICATIONS (3) HA-FF series 1) Standard 1) HA – FF053 • HA – FF13 [Unit: mm] LL 30 45° Bottom 0 ø68 Top 39 V ring Top 39 Top 54 2.5 ø50h7 Bottom 6 ø8h6 ø47 Earth terminal M3 screw (Opposite side) ø6 Caution plate Bottom Motor plate 4–ø4.5 Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 0.
10. SPECIFICATIONS 2) With electromagnetic brake HA – FF053B • HA – FF13B [Unit: mm] 4– ø4.5 LL 30 Top 45 Bottom 0 ø6 8 ø50h7 Bottom 54 2.5 ø8h6 ø47 Caution plate 6 39 39 Top ø6 Earth terminal M3 screw (Opposite side) Top Bottom Motor plate Brake cable VCTF 2–0.52 0.5m (With end-insulated round crimping terminal 1.25-4) Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 0.
10. SPECIFICATIONS 3) With reduction gear for general industrial machine HA – FF053(B)G1 • HA – FF13(B)G1 [Unit: mm] LL 38 90 3 45° 33 Caution plate Earth terminal M3 screw (Opposite side) 27.5 ø34 18 A 90 Bottom ø1 39 ø47 A 04 Top Bottom Motor plate 5 5 3 Top Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 0.3m With connector 172169-9 (AMP make) 4–ø6.
10. SPECIFICATIONS HA – FF33(B)G1 • HA – FF43(B)G1 [Unit: mm] 37.5 3 18 A 6 80 Top M6 screw, depth 12 Top Bottom Motor plate ø19h6 Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 172169-9 (AMP make) 87.5 6 ø47 Bottom ø1 160 Caution plate 3.5 28 25 A Earth terminal M3 screw (Opposite side) 39 45° ø130js7 12 4– ø10 145 72.
10. SPECIFICATIONS [Unit: mm] 4) With reduction gear for precision application LL LR LG Caution plate LM 45° øL øLF øSh6 C Top Top øLBh7 39 Bottom ø47 LD Q Earth terminal M3 screw (Opposite side) 100W or less øLK Earth terminal M3 screw (Opposite side) 200W or more LE 4–øLZ A øL Bottom Motor plate Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.
10. SPECIFICATIONS [Unit: mm] 4–ø12 LL LR 43 Earth terminal M3 screw Caution plate (Opposite side) 200W or more Earth terminal M3 screw (Opposite side) 100W or less LG LD Q 45° 3 A øLK ø47 39 Bottom øLF øLBh7 øSh6 øL Top øL C Motor plate Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.
10. SPECIFICATIONS HA – FF63(B)G2 1/45 [Unit: mm] 371(407.5) 201 6–ø12 5 75 Caution plate Power supply cable VCTF 3-1.252 0.5m (With end-insulated round crimping terminal 1.25-4) ° Bottom Motor plate 60 ø50h6 Top ø135 ø190h7 ø190 Top 41 ø47 ø2 20 Bottom Earth terminal M3 screw (Opposite side) 45 15 ø2 39 140 63 Red: Phase U White: Phase V Black: Phase W Encoder cable 0.
10. SPECIFICATIONS (4) HA-FFC-UE series 1) Standard (without electromagnetic brake, without reduction gear) 1) HA – FF053C – UE 120 30 54 2.5 25 4 5° ø8h6 12 Bottom Top 0 ø68 Oil seal GM10204B 41 Top 32 20 Top 69 47 Bottom TUV plate 4–ø4.5 ø6 ø50h7 ø47 46 Caution plate (English) [Unit: mm] Bottom Motor plate 49.5 Power supply connector CE05-2A14S-2PD-B(D17) Encoder connector MS3102A20-29P Model Note: 1.
10. SPECIFICATIONS 1) HA – FF23C – UE • HA – FF33C – UE [Unit: mm] L 30 46 14 76 3 45° 25 4–ø5.5 16 4 0 Top Caution plate Bottom (English) ø10 0 41 Top 32 79 A Oil seal S15307B Bottom Motor plate KL 20 4 Encoder connector MS3102A20-29P 2.5 Power supply connector CE05-2A14S-2PD-B(D17) ø11h6 Top TUV plate ø9 ø70h7 ø47 A Bottom 4 M4 x 0.7 threads, depth 15 Section AA Note: 1. For the pin-outs of the power supply and encoder connectors, refer to (3), Section 3-2-3. 2.
10. SPECIFICATIONS 2) With electromagnetic brake HA – FF053CB – UE [Unit: mm] 155 Bottom 54 2.5 Top Bottom Top ø68 4–ø4.5 ø60 Oil seal GM10204B CE 74 41 Top 32 67 Bottom TUV plate 45° 25 ø8h6 ø50h7 ø47 Caution plate 30 Motor plate 12 (Opposite side) 47 28 35.5 20 44 84 Power supply connector Brake connector CE05-2A14S-2PD-B(D17) MS3102E10SL-4P Encoder connector MS3102A20-29P Note: 1. For the pin-outs of the power supply and encoder connectors, refer to (3), Section 3-2-3. 2.
10. SPECIFICATIONS HA – FF23CB – UE • HA – FF33CB – UE [Unit: mm] L 30 46 14 76 3 45° 25 Top Bottom A Oil seal S15307B 41 32 Top Top TUV plate Bottom Motor plate ø9 ø10 0 79 ø70h7 Caution plate (English) 0 Bottom 74 ø47 16 4 A 4–ø5.5 28 38.5 20 KL Brake connector MS3102E10SL-4P 2.5 4 Power supply connector CE05-2A14S-2PD-B(D17) ø11h6 Encoder connector MS3102A20-29P 4 M4 x 0.7 threads, depth 15 Section AA Note: 1.
10. SPECIFICATIONS (5) HC-SF series 1) Standard (without electromagnetic brake, without reduction gear) Model Variable Output Dimensions (kW) L KL Inertia Moment Weight -4 J( 10 kg•m ) (kg) 2 HC—SF52 HC—SF53 0.5 120 51.5 6.6 5.0 HC—SF102 HC—SF103 1.0 145 76.5 13.7 7.0 HC—SF81 0.85 HC—SF152 HC—SF153 1.5 170 101.5 20 9.0 [Unit: mm] L 55 39.5 12 3 130 Moter plate (Opposite side) 50 Bottom Bottom Top Top 81.
10. SPECIFICATIONS Model HC—SF301 Output Inertia Moment Weight (kW) -4 J( 10 kg·m ) (kg) 3.0 101 23 2 [Unit: mm] 208 79 Moter plate (Opposite side) 18 39.5 176 3 45° Bottom Top Top 00 -0 Bottom ø2 ø114.3 -0.025 ø35 +0 -+0.010 75 ø2 81.5 Oil seal 30 142 S40608B Motor flange direction U 19.5 Encoder connector F MS3102A20-29P B E D 131.5 Power supply connector Earth CE05-2A2-10P V A G C W 4-ø13.5 mounting hole Use hexagon socket head cap screw.
10. SPECIFICATIONS Model Variable Output Dimensions (kW) HC—SF121B 1.2 HC—SF202B HC—SF203B 2.0 HC—SF201B 2.0 HC—SF352B HC—SF353B 3.5 Braking Force Inertia Moment -4 Weight 2 (N·m) J( 10 kg·m ) (kg) 68.5 43.1 52.5 18.0 110.5 43.1 92.0 25.0 L KL 193 235 [Unit: mm] 79 L 39.5 18 Moter plate (Opposite side) 176 3 45° ø2 Top ø2 00 -0 Bottom Top -+0.010 ø35 +0 Bottom 30 ø114.3 -0.025 75 81.5 Oil seal 142 117 S40608B 19.
10. SPECIFICATIONS (6) HC-RF series 1) Standard (without electromagnetic brake, without reduction gear) 45 L 10 39.5 3 Motor plate (Opposite side) 45 ° 40 ø95h7 Bottom Top Top 4-ø9 mounting hole Use hexagon socket head cap screw. 100 ø24h6 Bottom [Unit: mm] ø1 15 35 ø1 96 81.5 Oil seal S30457B Motor flange directon U V G 19.
10. SPECIFICATIONS (7) HC-UF series 1) Standard (without electromagnetic brake) Model HC–UF72 Output Inertia Moment Weight (kW) J( 10 kg·m ) -4 (kg) 0.75 10.4 8 2 110.5 39.5 [Unit: mm] 176 55 Moter plate 13 (Opposite side) 3 40° 2-M6 screw ø2 15 50 -0 Top ø22h6 Bottom Top Oil seal 81.5 00 ø114.3 -0.025 Bottom ø2 ø2 S30457B 30 144 45° Motor flange direction 19.
10. SPECIFICATIONS Output Model (kW) HC–UF202 2.0 Variable Dimensions L KL 118 42.5 Inertia Moment Weight -4 J( 10 kg·m ) (kg) 38.2 16 2 L [Unit: mm] 220 65 39.5 16 4 37. 5° 2-M8 screw Top ø2 35 ø35h6 Bottom Top 50 Bottom ø2 -0 ø200 -0.025 60 81.5 ø2 70 Oil seal S40608B 164 45° Motor flange direction 19.5 U F Encoder connector MS3102A20-29P 19.5 V G A E D B C 4-ø13.5 mounting hole Use hexagon socket head cap screw.
10. SPECIFICATIONS Variable Output Model Dimensions (W) L KL Inertia Moment Weight -4 J( 10 kg·m ) (kg) 2 HC–UF23 200 77 43.8 0.241 1.5 HC–UF43 400 92 58.8 0.365 1.7 [Unit: mm] L 30 80 8 6.5 4-ø6.6 3 Motor plate (Opposite side) Motor plate TUV plate Bottom Top 55 50 Top ø56 ø14h6 Bottom ø70h7 ø9 0 Top Bottom Oil seal SC15307 KL 26.9 Power supply lead 4-AWG19 0.3m Encoder cable 0.3m (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS Output Model HC–UF152B Weight Braking Force Inertia Moment -4 2 (kW) (N·m) J( 10 kg·m ) (kg) 1.5 8.5 28.9 13 176 55 153.5 39.5 [Unit: mm] Moter plate (Opposite side) 13 40° 3 2-M6 screw ø2 15 Bottom Top Top -0 Bottom 00 ø114.3 -0.025 ø28h6 ø2 ø2 Oil seal S30457B 30 144 45° Motor flange direction 19.5 Brake Encoder connector 47.5 MS3102A20-29P Power supply connector CE05-2A22-23P U V G F H A E B D C Earth W 44 4-ø13.
10. SPECIFICATIONS Output Model HC–UF13B Weight Braking Force Inertia Moment -4 2 (kW) (N·m) J( 10 kg·m ) (kg) 100 0.32 0.074 1.2 [Unit: mm] 5 Motor plate 60 25 100 6 4-ø5.8 3 TUV plate 45˚ Motor plate (Opposite side) R5 ø7 0 ø40 Bottom Top Top ø50h7 Top Bottom ø8h6 Bottom 40 42.8 Bottom Top Caution plate Oil seal 33 SC10207 46.7 26.9 Power supply lead 4-AWG19 0.3m 9.9 (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS 10-5-3 Servo motors (in inches) (1) HC-MF series 1) Standard (without electromagnetic brake, without reduction gear) Variable Output Model Dimensions (in) (W) HC–MF053 HC–MF13 Inertia Moment 2 WK (oz•in ) (lb) 1.16 0.10 0.9 0.18 0.16 1.2 L KL 50 3.21 100 3.80 L 1.654 Weight 2 [Unit: in] 0.984 1.575 1.594 0.197 Moter plate (Opposite side) 0.098 2-ø0.177 45° Bottom ø0.315 Moter plate ø1.181 Bottom Top Top ø1. 811 Top 1.406 1.130 Bottom 0.
10. SPECIFICATIONS Output Model HC–MF73 Weight Inertia Moment 2 2 (W) WK (oz•in ) (lb) 750 3.28 6.6 [Unit: in] 5.591 3.228 1.535 1.575 0.315 Motor plate (Opposite side) 0.106 45° ø0.748 Motor plate ø3 .5 43 ø2.756 Bottom Bottom Top Top Top 2.287 1.917 Bottom 3.150 4-ø0.260 0.118 Caution plate 3.413 0.433 0.992 0.390 Power supply lead 4-AWG19 11.8in (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS Output Model (W) HC–MF23B HC–MF43B Variable Dimensions (in) Braking Force Inertia Moment 2 Weight 2 (oz•in) WK (oz•in ) (lb) 1.03 184 0.74 3.5 2.84 184 1.04 4.6 L KL 200 5.18 400 6.16 [Unit: in] 2.441 2.362 1.181 L 1.614 Motor plate (Opposite side) 0.106 0.276 45° 0.118 4-ø0.228 ø0.551 Motor plate ø1.969 Bottom Bottom Top Top ø2 .75 6 Top 1.685 1.512 Bottom 0.417 KL Caution plate 0.390 2.677 0.992 Power supply lead 4-AWG19 11.
10. SPECIFICATIONS 3) With reduction gear for general industrial machine a) Without electromagnetic brake Output Model (W) Variable Dimensions (in) L KL Reduction Reduction Ratio Inertia Moment 2 2 WK (oz•in ) Gear Model (Actual Reduction Ratio) Weight Backlash (lb) HC–MF053G1 50 4.96 2.91 K6505 1/5(9/44) 0.30 60min. max. 3.1 HC–MF053G1 50 5.669 3.62 K6512 1/12(49/576) 0.42 60min. max. 4.0 HC–MF053G1 50 5.669 3.62 K6520 1/20(25/484) 0.32 60min. max. 4.
10. SPECIFICATIONS Variable Output Model L KL Reduction Ratio Reduction Dimensions (in) (W) Weight Inertia Moment 2 2 WK (oz•in ) (lb) 1/5(19/96) 1.36 7.3 Gear Model (Actual Reduction Ratio) HC–MF23G1 200 6.02 4.04 K9005 HC–MF23G1 200 6.81 4.83 K9012 1/12(25/288) 1.60 8.6 HC–MF23G1 200 6.81 4.83 K9020 1/20(253/5000) 1.45 8.6 [Unit: in] For reverse rotation command "Rotation direction" For forward rotation command L 3.543 2.913 0.394 0.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Radio Model HC–MF43G1 400 K10020 HC–MF73G1 750 K10005 HC–MF73G1 750 K10012 HC–MF73G1 750 K12020 1/20 Normal Reduction ratio Actual Reduction ratio (W) 2 WK (oz•in ) Weight Backlash (lb) 253/5000 3.57 60min. max. 12.13 1/5 1/5 5.58 60min. max. 13.67 1/12 525/6048 9.22 60min. max. 16.09 625/12544 9.57 60min. max. 22.
10. SPECIFICATIONS b) With electromagnetic brake Output Model (W) Variable Dimensions (in) L KL Braking Force Reduction Reduction Inertia Moment (oz•in) Gear Model 2 WK (oz•in ) Weight Backlash 2 Ratio (lb) HC–MF053BG1 50 6.06 2.91 45 K6505 1/5(9/44) 0.32 60min. max. 4.0 HC–MF053BG1 50 6.77 3.62 45 K6512 1/12(49/576) 0.44 60min. max. 4.9 HC–MF053BG1 50 6.77 3.62 45 K6520 1/20(25/484) 0.34 60min. max. 4.
10. SPECIFICATIONS Variable Output Model Reduction Dimensions (in) (W) Reduction Ratio Weight Inertia Moment 2 Gear Model (Actual Reduction Ratio) 2 WK (oz•in ) (lb) L KL 6.65 4.04 K9005 1/5(19/96) 1.58 8.6 1/12(25/288) 1.82 9.9 1/20(253/5000) 1.67 9.9 HC–MF23BG1 200 HC–MF23BG1 200 7.36 4.23 K9012 HC–MF23BG1 200 7.36 4.23 K9020 [Unit: in] For reverse rotation command "Rotation direction" For forward rotation command 4- 0.354 L 3.543 0.394 0.
10. SPECIFICATIONS Output Brake Force Reduction Model Reduction Radio (oz•in) Gear Model HC–MF43BG1 400 184 K10020 HC–MF73BG1 750 340 K10005 HC–MF73BG1 750 340 K10012 HC–MF73BG1 750 340 K12020 1/20 (W) 2 WK (oz•in ) Normal Reduction ratio Actual Reduction ratio Weight Backlash (lb) 253/5000 3.83 60min. max. 13.4 1/5 1/5 6.26 60min. max. 15.9 1/12 525/6048 9.90 60min. max. 18.3 625/12544 10.25 60min. max. 25.
10. SPECIFICATIONS 4) With reduction gear for precision application a) Without electromagnetic brake Output Model (W) Variable Dimensions (in) L KL Reduction Gear Model Reduction Ratio Inertia Moment 2 2 WK (oz•in ) Weight Backlash (lb) HC–MF053G2 50 5.12 3.07 BK1-05B-A5MEKA 1/5 0.36 3 min. max. 3.1 HC–MF053G2 50 5.75 3.70 BK1-09B-A5MEKA 1/9 0.33 3 min. max. 3.7 HC–MF053G2 50 5.75 3.70 BK1-20B-A5MEKA 1/20 0.38 3 min. max. 4.0 HC–MF053G2 50 5.75 3.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment 2 Weight Backlash 2 (W) Model Ratio WK (oz•in ) HC–MF13G2 100 BK1-05B-01MEKA 1/5 0.43 3 min. max. 3.3 HC–MF13G2 100 BK1-09B-01MEKA 1/9 0.39 3 min. max. 4.0 HC–MF13G2 100 BK2-20B-01MEKA 1/20 0.66 3 min. max. 6.6 HC–MF13G2 100 BK2-29B-01MEKA 1/29 0.52 3 min. max. 6.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment 2 Weight 2 (W) Model Ratio WK (oz•in ) (lb) HC–MF23G2 200 BK1-05B-02MEKA 1/5 1.04 4.6 HC–MF23G2 200 BK2-09B-02MEKA 1/9 1.14 7.7 HC–MF23G2 200 BK3-20B-02MEKA 1/20 1.95 11.0 HC–MF23G2 200 BK3-29B-02MEKA 1/29 1.51 11.0 Model Output (W) Variable Dimensions (in) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P Ratio) R HC–MF23G2 200 3.15 2.56 3.74 2.76 0.24 1.89 0.31 2.362 0.906 6.18 2.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment 2 Weight 2 (W) Model Ratio WK (oz•in ) (lb) HC–MF43G2 400 BK2-05B-04MEKA 1/5 1.61 8.2 HC–MF43G2 400 BK3-09B-04MEKA 1/9 1.77 11.7 HC–MF43G2 400 BK4-20B-04MEKA 1/20 2.33 16.5 HC–MF43G2 400 BK4-29B-04MEKA 1/29 1.85 16.5 Model Output (W) Variable Dimensions (in) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P R Ratio) HC–MF43G2 400 3.94 3.15 4.53 3.35 0.24 2.56 0.39 2.91 1.3 7.24 2.
10. SPECIFICATIONS Output Reduction Gear Model Reduction Inertia Moment 2 Weight 2 (W) Model Ratio WK (oz•in ) (lb) HC–MF73G2 750 BK3-05B-08MEKA 1/5 5.32 13.89 HC–MF73G2 750 BK4-09B-08MEKA 1/9 5.36 18.96 HC–MF73G2 750 BK5-20B-08MEKA 1/20 5.55 26.46 HC–MF73G2 750 BK5-29B-08MEKA 1/29 4.97 26.46 Output Model (W) Variable Dimensions (in) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P R Ratio) HC–MF73G2 750 4.53 3.74 5.31 3.94 0.31 2.953 0.39 3.346 1.
10. SPECIFICATIONS b) With electromagnetic brake Output Model (W) Variable Dimensions (in) L KL Braking Force Reduction (oz•m) Gear Model Reduction Inertia Moment Ratio WK (oz•in ) 2 Backlash 2 Weight (lb) HC–MF053BG2 50 6.22 3.07 45 BK1-05B-A5MEKA 1/5 0.38 3 min. max. 4.0 HC–MF053BG2 50 6.85 3.70 45 BK1-09B-A5MEKA 1/9 0.34 3 min. max. 4.6 HC–MF053BG2 50 6.85 3.70 45 BK1-20B-A5MEKA 1/20 0.39 3 min. max. 4.9 HC–MF053BG2 50 6.85 3.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment 2 2 Weight Backlash (W) (oz•in) Model Ratio WK (oz•in ) HC–MF13BG2 100 45 BK1-05B-01MEKA 1/5 0.44 3 min. max. 4.2 HC–MF13BG2 100 45 BK1-09B-01MEKA 1/9 0.40 3 min. max. 4.9 HC–MF13BG2 100 45 BK2-20B-01MEKA 1/20 0.68 3 min. max. 7.5 HC–MF13BG2 100 45 BK2-29B-01MEKA 1/29 0.53 3 min. max. 7.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment 2 Weight 2 (W) (oz•in) Model Ratio WK (oz•in ) (lb) HC–MF23BG2 200 184 BK1-05B-02MEKA 1/5 1.31 6.0 HC–MF23BG2 200 184 BK2-09B-02MEKA 1/9 1.40 9.0 HC–MF23BG2 200 184 BK3-20B-02MEKA 1/20 2.21 12.3 HC–MF23BG2 200 184 BK3-29B-02MEKA 1/29 1.77 12.3 Output Model Variable Dimensions (in) (W) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P R Ratio) HC–MF23BG2 200 3.
10. SPECIFICATIONS Braking Force Reduction Gear Output Model Reduction Inertia Moment 2 Weight 2 (W) (oz•in) Model Ratio WK (oz•in ) (lb) HC–MF43BG2 400 184 BK2-05B-04MEKA 1/5 1.88 9.5 HC–MF43BG2 400 184 BK3-09B-04MEKA 1/9 2.03 13.0 HC–MF43BG2 400 184 BK4-20B-04MEKA 1/20 2.59 17.9 HC–MF43BG2 400 184 BK4-29B-04MEKA 1/29 2.11 17.9 Model Output Variable Dimensions (in) (W) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P Ratio) R HC–MF43BG2 400 3.
10. SPECIFICATIONS Output Model Braking Force Reduction Gear Reduction Inertia Moment 2 2 Weight (W) (oz•in) Model Ratio WK (oz•in ) (lb) HC–MF73BG2 750 340 BK3-05B-08MEKA 1/5 6.00 16.1 HC–MF73BG2 750 340 BK4-09B-08MEKA 1/9 6.04 21.2 HC–MF73BG2 750 340 BK5-20B-08MEKA 1/20 6.24 28.7 HC–MF73BG2 750 340 BK5-29B-08MEKA 1/29 5.66 28.7 Output Model (W) Variable Dimensions (in) LA LB LC LD LE LF LG LH LK L (Reduction LR KL LZ Q S P Ratio) R HC–MF73BG2 750 4.
10. SPECIFICATIONS (2) HC-MF-UE series 1) Standard (Without electromagnetic brake, without reduction gear) Variable Output Model Dimensions (in) (W) L KL Inertia Moment 2 Weight 2 WK (oz•in ) (lb) HC–MF053-UE 50 3.52 1.48 0.10 1.1 HC–MF13-UE 100 4.11 2.07 0.16 1.3 [Unit: in] 1.654 L Motor plate (Opposite side) 1.594 0.984 0.197 2-ø0.177 1.575 0.098 45° ø0.315 Motor plate Top Top Bottom 1.130 Bottom .81 1 Top Caution plate V ring TUV plate KL 0.390 0.268 1.
10. SPECIFICATIONS Output Model HC–MF73-UE Weight Inertia Moment 2 2 (W) WK (oz•in ) (lb) 750 3.69 6.8 [Unit: in] 5.905 TUV plate 3.228 1.535 1.575 0.315 Motor plate (Opposite side) 0.118 3.150 45° 4-ø0.260 0.106 ø0.748 Motor plate Bottom ø2.756 Bottom Top 2.303 Top 0.433 V ring V-25A 0.390 3.740 0.992 Caution plate ø3 .54 3 Top 1.917 Bottom Power supply lead 4-AWG19 11.8in (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS Variable Output Model Dimensions (in) (W) L KL Barking Force Inertia Moment 2 Weight 2 (oz•in) WK (oz•in ) (lb) HC–MF23B-UE 200 5.53 2.28 184 0.47 3.7 HC–MF43B-UE 400 6.52 3.19 184 1.04 4.9 [Unit: in] L 1.181 0.276 TUV plate 1.614 0.106 2.441 2.362 0.118 4-ø0.228 Motor plate (Opposite side) 45° Bottom Top Top Bottom 1.512 Top 6 KL 0.417 0.992 Encoder cable 11.8in With connector 1-172169-9 (AMP make) Output HC–MF73B-UE .
10. SPECIFICATIONS (3) HA-FF series 1) Standard HA – FF053 • HA – FF13 [Unit: in] LL Caution plate 1.18 Bottom ø2.6 Top 8 1.54 V ring Top 1.54 Top 45° ø1.97 Bottom 2.13 0.1 ø0.31 ø1.85 Earth terminal M3 screw 0.24 (Opposite side) ø2 .36 1) Bottom Motor plate 4 – ø0.18 Power supply cable VCTF 3-0.022 19.7in (With end-insulated round crimping terminal0.05-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 11.
10. SPECIFICATIONS 2) With electromagnetic brake HA – FF053B • HA – FF13B [Unit: in] 4–ø0.18 LL 1.18 Earth terminal M3 screw 0.24 (Opposite side) Top 45 .36 ø 2 .6 8 1.54 1.54 Top ø2 Bottom ø1.97 Bottom 0.10 ø0.31 ø1.85 Caution plate 2.13 Top Bottom Motor plate Brake cable VCTF 2–0.022 19.7in (With end-insulated round crimping terminal 0.05-4) Power supply cable VCTF 3-0.052 19.7in (With end-insulated round crimping terminal 0.
10. SPECIFICATIONS 3) With reduction gear for general industrial machine HA – FF053(B)G1 • HA – FF13(B)G1 [Unit: in] LL 1.5 3.54 0.12 45° 1.3 Caution plate Earth terminal M3 screw (Opposite side) 0.11 A 3.54 ø1.34 0.71 Bottom ø4 .09 Top Bottom Motor plate 0.2 Power supply cable VCTF 3-0.052 19.7in (With end-insulated round crimping terminal 0.05-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 11.8in With connector 172169-9 (AMP make) 0.12 Top 0.2 1.54 ø1.85 A 4–ø0.
10. SPECIFICATIONS HA – FF33(B)G1 • HA – FF43(B)G1 [Unit: in] 1.48 0.47 0.12 6.3 0.14 M6 screw, depth 0.39 Top Bottom Motor plate ø0.75 Power supply cable VCTF 3-0.052 19.7in (With end-insulated round crimping terminal 0.05-4) Encoder cable 11.8in With connector 172169-9 (AMP make) .09 3.49 Top 0.24 0.24 ø1.85 A ø7 ø5.12 0.71 Caution plate 1.54 45° 1.1 0.98 A Earth terminal M3 screw (Opposite side) Bottom 4–ø0.39 5.71 2.
10. SPECIFICATIONS 4) With reduction gear for precision application LL LE Earth terminal M3 screw (Opposite side) 200W or more LM 45° øS øLK øL C 4–øLZ A øL øLB 1.54 ø1.85 Bottom LD Q Earth terminal M3 screw (Opposite side) 100W or less øLF Caution plate LR LG Top Top Bottom Motor plate Power supply cable VCTF 3-0.052 19.7in (With end-insulated round crimping terminal 0.05-4) Encoder cable 11.
10. SPECIFICATIONS 4–ø0.47 LL LR Earth terminal M3 screw Caution plate (Opposite side) 200W or more Earth terminal M3 screw (Opposite side) 100W or less LG 1.69 0.12 LD Q 45° A øLF ø102 ø1.85 1.54 Bottom øLB øS øL Top øL C Motor plate Power supply cable VCTF 3-0.052 19.7 (With end-insulated round crimping terminal 0.05-4) Encoder cable 11.
10. SPECIFICATIONS HA – FF63(B)G2 1/45 [Unit: in] 14.61(16.04) 7.91 6–ø0.47 0.59 0.20 2.95 Caution plate Top Bottom Motor plate Power supply cable VCTF 3-0.052 19.7 (With end-insulated round crimping terminal 0.05-4) 60 ° Earth terminal M3 screw (Opposite side) ø1.97 Top ø7.48 1.61 ø5.31 ø7.48 .66 Bottom ø1.85 ø8 ø9 .6 5 1.54 5.51 2.48 Red: Phase U White: Phase V Black: Phase W Encoder cable 11.
10. SPECIFICATIONS (4) HA-FFC-UE series 1) Standard (without electromagnetic brake, without reduction gear) 1) HA – FF053C – UE 1.18 2.13 0.1 0.98 45 ˚ ø0.31 Bottom Caution plate (English) Top 2.91 1.61 Top TUV plate .36 ø2 ø2. 68 Oil seal GM10204B Bottom 1.26 0.79 Top 4–ø0.18 2.72 ø1.85 0.42 ø1.97 4.72 1.81 [Unit: in] Bottom Motor plate 1.95 Power supply connector CE05-2A14S-2PD-B(D17) Encoder connector MS3102A20-29P Model Note: 1.
10. SPECIFICATIONS 1) HA – FF23C – UE • HA – FF33C – UE [Unit: in] L 1.18 1.81 0.55 2.99 0.12 45 ˚ 0.98 4–ø0.22 0.63 0.16 .54 Top ø2.76 ø3. 94 A Oil seal S15307B 1.61 Top 1.26 Bottom Motor plate KL 0.10 0.16 0.79 Encoder connector MS3102A20-29P Power supply connector CE05-2A14S-2PD-B(D17) ø0.43 2.91 Caution plate Top (English) Bottom TUV plate ø3 3.11 ø1.85 A Bottom 0.16 M4 threads, depth 0.59 Section AA Note: 1.
10. SPECIFICATIONS 2) With electromagnetic brake HA – FF053CB – UE [Unit: in] ø1.85 Bottom 2.13 0.1 0.98 45 ˚ ø0.31 Caution plate 1.18 Motor plate 0.47 (Opposite side) Top Bottom Top 68 .36 1.26 2.64 2.91 1.61 EC Top 4–ø0.18 ø2 Oil seal GM10204B Bottom TUV plate ø2. ø1.97 6.10 1.85 1.10 1.40 0.79 1.73 3.31 Power supply connector Brake connector CE05-2A14S-2PD-B(D17) MS3102E10SL-4P Encoder connector MS3102A20-29P Note: 1.
10. SPECIFICATIONS HA – FF23CB – UE • HA – FF33CB – UE [Unit: in] L 1.18 1.81 2.99 0.55 0.12 45 ˚ 0.98 ø3. 94 1.61 1.26 Top Bottom 3.11 A Oil seal S15307B 2.91 Caution plate (English) .54 ø3 ø2.76 ø1.85 0.63 0.16 A 4–ø0.22 1.10 Motor plate TUV plate 1.52 0.79 KL Brake connector MS3102E10SL-4P 0.10 0.16 Power supply connector CE05-2A14S-2PD-B(D17) ø0.43 Encoder connector MS3102A20-29P 0.16 M4 threads, depth 0.59 Section AA Note: 1.
10. SPECIFICATIONS (5) HC-SF series 1) Standard (without electromagnetic brake, without reduction gear) Model Variable Output Dimensions (in) (kW) L KL Inertia Moment 2 Weight 2 WK (oz·in ) (lb) HC–SF52 HC–SF53 0.5 4.7 2.03 36.22 11.0 HC–SF102 HC–SF103 1.0 5.71 3.02 74.90 15.4 HC–SF81 0.85 HC–SF152 HC–SF153 1.5 6.69 4.00 109.08 19.8 [Unit: in] L 2.165 1.56 5.12 0.47 0.12 Moter plate (Opposite side) 45° ø0.95 1.97 ø5 ø4.33 Bottom Bottom Top 3.21 Top 4-ø0.
10. SPECIFICATIONS Model HC–SF301 Output Inertia Moment 2 Weight 2 (kW) WK (oz·in ) (lb) 3.0 552.212 50.7 [Unit: in] 8.189 3.11 6.93 Moter plate (Opposite side) 0.71 0.12 1.56 45° ø1.378 2.95 Bottom Top Top .87 ø4.5 Bottom ø7 ø9 3.21 Oil seal .06 5.59 S40608B Motor flange direction U 0.77 Encoder connector F MS3102A20-29P B E D 5.157 Power supply connector Earth CE05-2A2-10P V A G C W 4-ø0.53 mounting hole Use hexagon socket head cap screw. 1.
10. SPECIFICATIONS Model Variable Output (kW) HC–SF121B 1.2 HC–SF202B HC–SF203B 2.0 HC–SF201B 2.0 HC–SF352B HC–SF253B 3.5 Braking Force Inertia Moment Dimensions (in) 2 Weight 2 (oz·in) WK (oz·in ) (lb) 2.70 6103 287.04 39.683 4.35 6103 503.01 55.115 L KL 7.60 9.25 [Unit: in] 3.11 L 1.56 6.93 0.71 0.12 Moter plate (Opposite side) 45° ø9 Top .06 ø7 .87 ø4.5 Bottom Top Oil seal 3.21 S40608B 5.59 4.61 Bottom ø1.38 2.95 0.77 Motor flange direction KL 2.
10. SPECIFICATIONS (6) HC-RF series 1) Standard (without electromagnetic brake, without reduction gear) [Unit: in] 1.77 L 1.56 0.12 0.39 Motor plate (Opposite side) 4-ø0.35 mounting hole Use hexagon socket head cap screw. 3.94 45 ° Bottom ø3.74 ø0.95 1.58 Bottom Top Top ø5. 3 32 .5 ø4 3.78 3.21 Oil seal S30457B Motor flange directon U V G 0.77 KL F E Encoder connector Power supply connector MS3102A20–29P CE05–2A22–23P Model A H D B 1.
10. SPECIFICATIONS (7) HC-UF series 1) Standard (without electromagnetic brake) Model HC–UF72 Weight Output Inertia Moment (kW) WK (oz·in ) (lb) 0.75 56.861 17.6 2 2 4.35 1.56 [Unit: in] 6.93 2.165 40° Moter plate 0.512 0.12 (Opposite side) 2-M6 screw ø8 .46 5 1.97 Top ø0.866 Bottom Top Oil seal 3.21 .87 ø4.5 Bottom ø7 ø9 S30457B .05 5 5.669 45° Motor flange direction 0.77 U Encoder connector 1.
10. SPECIFICATIONS Output Model (kW) HC–UF202 2.0 Variable 2 L KL 4.646 1.673 2 WK (oz·in ) (lb) 208.856 35.3 L 1.56 Weight Inertia Moment Dimensions [Unit: in] 8.661 2.559 0.63 0.157 Motor plate (Opposite side) 37. 5° 2-M8 screw 2.362 .84 ø7.874 ø9 3 Bottom Bottom Top Top .25 2 ø1.378 ø9 3.21 ø1 0.6 3 Oil seal S40608B 6.45 45° Motor flange direction 0.77 U F Encoder connector MS3102A20-29P KL G A E D B C V 4-ø0.
10. SPECIFICATIONS Variable Output Model Dimensions (in) (W) HC–UF23 HC–UF43 Inertia Moment 2 Weight 2 WK (oz·in ) (lb) 1.724 1.318 3.3 2.315 1.996 3.7 L KL 200 2.953 400 3.543 [Unit: in] L 1.181 3.15 0.315 0.256 4-ø0.26 45° 0.12 Motor plate (Opposite side) Motor plate 7 R TUV plate Bottom Top 2.165 1.969 Top ø2.205 ø0.551 Bottom ø2.756 ø3 .54 3 Top Bottom Oil seal SC15307 KL 1.059 Power supply lead 4-AWG19 11.8in Encoder cable 11.
10. SPECIFICATIONS Output Model HC–UF152B Weight Braking Force Inertia Moment 2 2 (kW) (oz·in) WK (oz·in ) (lb) 1.5 1204 158.009 28.7 [Unit: in] 6.93 2.165 Moter plate 0.512 0.12 (Opposite side) 6.043 1.56 40° 2-M6 screw ø8 .46 5 Bottom Bottom Top Top .87 ø4.5 ø1.102 ø7 ø9 Oil seal S30457B .0 55 5.669 45° Motor flange direction 0.77 Brake Encoder connector MS3102A20-29P Power supply connector CE05-2A22-23P U V G F H A E B D C Earth W 1.87 1.732 4-ø0.
10. SPECIFICATIONS Output Model HC–UF13B Weight Braking Force Inertia Moment 2 2 (kW) (oz·in) WK (oz·in ) (lb) 100 45 0.405 2.6 [Unit: in] 3.937 2.362 0.984 0.20 0.23 Motor plate 4-¿0.228 0.12 TUV plate 45ß Motor plate (Opposite side) R5 ¿0.315 Bottom Bottom Top Top .75 6 ¿1.969 Bottom ¿2 ¿1.575 Top Top 1.685 1.575 Bottom Caution plate Oil seal SC10207 1.299 1.839 1.059 Power supply lead 4-AWG19 11.8in 0.390 (With end-insulated round crimping terminal 1.
10. SPECIFICATIONS 10-5-4 Cable side plugs (1)Servo amplifier connector Signal connector Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 Model Connector Shell kit [Unit: mm] ([Unit: in]) : 10120-6000EL : 10320-3210-000 [Unit: mm] ([Unit: in]) NOTICE This connector is not optional. ø6.7 (ø0.26) 39.0 (1.54) 23.8 (0.94) 11.5 Logo, etc. are indicated here. (0.45) 14.0 (0.55) (0.39) 22.0 (0.87) 10.0 12.0 (0.47) Logo, etc. are indicated here. 20.9 (0.82) 12.7 (0.
10. SPECIFICATIONS (3) Servo motor encoder side plugs (a) Connectors CE05-6A14S-2SD-B 3 4 7 8 -20UNEF-2A threads -20UNEF-2B threads CL1 [Unit: mm] D terminal 5.6 (0.22) W JAPAN ø28.57 (ø1.12) ([Unit: in]) 4S-2 A1 D DDK CL2 B CE05C 24 (0.94) [Unit: mm] ([Unit: in]) A D or less Model 7.85 (0.31) or more A B C D W øB øC 40.48 38.3 61 CE05-6A22-23SD-B-BSS 13/8-18UNEF-2B 13/16-18UNEF-2A (1.59) (1.51) (2.
10. SPECIFICATIONS D or less S U Y or more øB R A [Unit: mm] ([Unit: in]) W Model A B D W R U S Y 40.48 75.5 3 16.3 33.3 49.6 7.5 CE05-8A22-23SD-B-BAS 13/8-18UNEF-2B 1 /16-18UNEF-2A (1.59) (2.97) (0.64) (1.31) (1.95) (0.30) CE05-8A24-10SD-B-BAS 11/2-18UNEF-2B CE05-8A32-17SD-B-BAS Gasket J 56.33 93.5 3 24.6 44.5 61.9 8.5 1 /4-18UNS-2A (2.22) (3.68) (0.97) (1.75) (2.44) (0.34) A øB øG D H or less 2-18UNS-2B 43.63 86.3 7 18.2 36.5 54.7 7.5 1 /16-18UNEF-2A (1.72) (3.40) (0.72) (1.
10. SPECIFICATIONS L or less [Unit: mm] ([Unit: in]) J W or more Model V L Q 18.26 55.57 37.28 3 9.53 47 1 /16-18UNEF (0.72) (2.19) (1.47) (0.38) (1.85) MS3106B22-23S 13/8-18UNEF 18.26 55.57 40.48 3 9.53 50 1 /16-18UNEF (0.72) (2.19) (1.59) (0.38) (1.97) MS3106B24-10S 13/2-8UNEF 18.26 58.72 43.63 7 9.53 53 1 /16-18UNEF (0.72) (2.31) (1.72) (0.38) (2.09) Model 2-18UNS 18.26 61.92 56.33 3 11.13 66 1 /4-18UNS (0.72) (2.44) (2.22) (0.44) (2.
10. SPECIFICATIONS E' ød F G F ' G' ød1 A E L(1) L1(2) A1 [Unit: mm] ([Unit: in]) Threads C Jam Nut Model Threads C A A1 d d1 E F Lock Nut G E' F' G' L L1 Width across Width across Number of Width across Width across Number of flats corners corners flats corners corners RCC-102RL-MS10F 9/16-24UNEF-2B 6 8.3 11.0 15 (0.24) (0.59) (0.33) (0.43) 24 (0.94) 26.4 (1.04) 6 24 (0.94) 26.4 (1.04) 6 39 36 (1.54) (1.42) RCC-102RL-MS14F 3/4-20UNEF-2B 7 15 8.3 15.0 (0.28) (0.59) (0.
10. SPECIFICATIONS L A1 E' A G' L1(1) L2(2) F' ød1 ° 90 Threads C ød E F G [Unit: mm] ([Unit: in]) Jam Nut Threads C Model A A1 d d1 E F Lock Nut G E' F' L G' L1 L1 Width across Width across Number of Width across Width across Number of flats corners corners flats corners corners RCC-302RL-MS10F 9/16-24UNEF-2B 6 8.3 10.0 15 (0.24) (0.59) (0.33) (0.39) 24 (0.94) 26.4 (1.04) 6 20 (0.79) 22.0 (0.87) 6 35 33 30 (1.38) (1.30) (1.18) RCC-302RL-MS14F 3/4-20UNEF-2B 7 15 8.3 13.
10. SPECIFICATIONS 4) Cable clamps Effective thread A length 10.3 (0.41) øE (Bushing ID) øD (Cable clamp ID) øG 1.6 (0.06) øB V [Unit: mm] ([Unit: in]) F (Movable range) Model Shell Size MS3057-6A 14S MS3057-12A 20, 22 MS3057-16A A B C D E F G 22.2 24.6 10.3 11.2 7.9 2.0 27.0 (0.87) (0.97) (0.41) (0.44) (0.31) (0.08) (1.06) V Bushing 3/4-20UNEF AN3420-6 23.8 35.0 10.3 19.0 15.9 4.0 37.8 3 1 /16-18UNEF (0.94) (1.38) (0.41) (0.75) (0.63) (0.16) (1.47) 15.
10. SPECIFICATIONS E L(1) L1(2) 15 (0.59) G E' F F' ød G' A [Unit: mm] ([Unit: in]) Threads C Tightening Nut Applicable Threads C Model A Cable Diameter d E F Nipple Body G F' E' L G' L1 Width across Width across Number of Width across Width across Number of flats corners corners flats corners corners ACS-08RL-MS10F 9/16-24UNEF-2B 6 11.0 20 ø4.0 to ø8.0 (ø0.16 to 0.32) (0.24) (0.43) (0.79) 22.0 (0.87) 6 20 (0.79) 22.0 (0.87) 6 45 40 (1.77) (1.
CHAPTER 11 SELECTION This chapter describes how to calculate the capacity of the servo motor needed for the machine used.
11.
11.SELECTION 11-2 Position resolution and electronic gear setting Position resolution (travel per pulse∆R) is determined by travel per servo motor revolution ∆S and the number of encoder feedback pulses Pt, and is represented by Equation 11-1: ∆R= ∆S ............................................................................................................................................
11.SELECTION 11-3 Speed and command pulse frequency The servo motor is run at a speed where the command pulses and feedback pulses are equivalent. Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The relation including the parameter settings (CMX, CDV) is as indicated below (refer to the following diagram): fo • CMX No = Pt • CDV 60 .....................................................................................................
11.SELECTION 11-4 Stopping characteristics (1) Droop pulses (ε) When a pulse train command is used to run the servo motor, there is a relationship between the command pulse frequency and servo motor speed as shown in the figure. The difference between the command pulses and feedback pulses during acceleration are called droop pulses, which are accumulated in the servo amplifier's deviation counter. Equation 11-7 defines a relationship between the command pulse frequency (f) and position control gain 1 (Kp).
11.SELECTION 11-5 Capacity selection As a first step, temporarily select the servo motor capacity by calculating the load conditions. Next, determine the command pattern, calculate required torques according to the following equations, and confirm that the servo motor of the initially selected capacity may be used for operation.
Command Command pulse frequency Servo motor speed 11.SELECTION Nofo f [r/min] [pps] Servo motor speed 0 Time Tpsa Tpsd Servo motor torque T1 Ta TMa T2 TL 0 Time Td TMd T 1 = T Ma + T a + T L .......................................................................................................................................................................... (11-11) T 2 = T L ....................................................................................................................
11.SELECTION 11-6 Load torque equations Typical load torque equations are indicated below: Load Torque Equations Mechanism Type Equation F 3 2 x 10 • π • η TL = • V N = F • ∆S 3 2 x 10 • π • η .............................................................. (11-15) η Linear movement FC Servo motor Z2 FO W Z1 F : Force in the axial direction of the machine in linear motion [N] F in Equation 11-15 is obtained with Equation 11-16 when the table is moved, for example, as shown in the left diagram.
11.SELECTION 11-7 Load inertia moment equations Typical load inertia moment equations are indicated below: Load Inertia Moment Equations Mechanism Type Equation Axis of rotation is on the cylinder center ρ L D1 D2 W L øD1 øD2 Cylinder J LO = : : : : : π•ρ•L 32 Cylinder Cylinder Cylinder Cylinder Cylinder Reference Iron Aluminum Copper Axis of rotation 4 4 • (D 1 - D 2) = W 2 2 • (D 1 + D2 ) ......
11.SELECTION 11-8 Precautions for zeroing To return the system to the home position, use a zeroing dog or actuator. The method and precautions for setting the mechanical origin are given below. In the following zeroing, an actuator and the zero pulse signal (encoder Z-phase pulse OP) of a servo motor encoder are used to set the mechanical origin.The state of ON/OFF of encoder Zphase pulse signal (OP) can be confirmed by using external I/Q signal display function.
11.SELECTION 11-9 Selection example Speed of moving part during fast feed Travel per pulse Travel Positioning time Number of feeds Operation cycle Gear ratio Moving part weight Drive system efficiency Friction coefficient Ball screw lead Ball screw diameter Ball screw length Gear diameter (servo motor) Gear diameter (load shaft) Gear face width Machine specifications Servo motor Gear ratio 5:8 Servo amplifier Pulse train FX – 1GM Vo = 30000mm/min ∆R = 0.005mm R = 400mm = within 1s to 40 times/min.
11.SELECTION (4) Operation pattern Servo motor speed 3000 Time[s] 0.05 Tpsa 0.05 Tpsd ts 0.15 to = 1.0 [r/min] tf = 1.5 (5) Load torque (converted into equivalent value on servo motor shaft) Travel per servo motor revolution ∆S = P B • 1 n = 10[mm] µ • W • g • ∆S 2 x 103 • π • η TL = = 0.23[N • m] (6) Load inertia moment (converted into equivalent value on servo motor shaft) Moving part 2 J L1 = W • ∆S ( 20π ) = 1.52[kg • cm 2 ] Ball screw J L2 = π•ρ•L 32 4 •D • ( 1n ) 2 = 0.
11.SELECTION (8) Acceleration and deceleration torques Torque required for servo motor during acceleration T Ma = (JL + JM) • No 9.55 x 104 • Tpsa + TL = 1.7[N • m] Torque required for servo motor during deceleration T Md = (J L + J M ) • N o + TL 9.55 x 104 • T psd = -1.2[N • m] The torque required for the servo motor during deceleration must be lower than the servo motor's maximum torque. (9) Continuous effective load torque T rms = 2 2 2 T Ma • T psa + T L • tc + T Md • T psd tf = 0.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Nov.,1996 IB(NA)67286-A First edition Mar.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Oct.,1997 IB(NA)67286-C Instructions added for compliance with the UL/C-UL Standard Addition of single-phase 230VAC input power supply Section 2-2-2, (2) to (4) Deletion of reset-on stop operation Section 2-3-5, (4) Correction made to LSP/LSN signal stop pattern selection in parameter No.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision May,2000 IB(NA)67286-E Addition of compliance to EC directive 1 (1), (2), (3) Addition of 2. Cautions for appliance (1) Servo amplifier and servo motor to be used to EC directive Addition of (6) e.
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