General-Purpose AC Servo MODEL Servo Motor INSTRUCTION MANUAL F Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, MELSERVO Servo Amplifier Installation Guide/Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". Indicates that incorrect handling may cause hazardous conditions, WARNING resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, CAUTION resulting in medium or slight injury to personnel or may cause physical damage. Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols: : Indicates what must not be done. For example, "No Fire" is indicated by . : Indicates what must be done. For example, grounding is indicated by . In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator. A - 1 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric shock. 2. To prevent fire, note the following: CAUTION Do not install the servo motor on or near combustibles. Otherwise a fire may cause. 3. To prevent injury, note the follow CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged. A - 2 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Use the eye-bolt of the servo motor to only transport the servo motor and do not use it to transport in the condition to have installed a servo motor on the machine. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The servo motor must be installed in the specified direction. Do not install or operate the servo motor which has been damaged or has any parts missing. Do not block the intake/exhaust port of the servo motor which has a cooling fan. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo motor. Do not drop or strike servo motor. Isolate from all impact loads. Use the servo motor under the following environmental conditions: Environment Conditions [ ] 0 to 40 (non-freezing) Operation Ambient [ ] 32 to 104 (non-freezing) temperature [ ] 15 to 70 (non-freezing) Storage [ ] 5 to 158 (non-freezing) Ambient Operation 80%RH or less (non-condensing) humidity Storage 90%RH or less (non-condensing) Indoors (no direct sunlight) Ambience Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level HC-KFS series HC-UFS13 to 73 X,Y:49 H-MFS series HC-SFS81 HC-RFS series HC-SFS52 to 152 X,Y:24.5 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:24.5 HC-SFS202 352 HC-UFS202 to 502 Y:49 HC-SFS203 353 HC-SFS301 X:24.5 HC-SFS502 702 Y:29.4 HC-AQ series HA-FF series HC-KF series X,Y:19.6 HC-UF13 to 73 2 HC-MF series [m/s ] HC-SF81 HC-RF series X:9.8 HC-SF52 to 152 HC-UF72 152 Y:24.5 HC-SF53 to 153 HC-LFS52 to 152 HC-SF121 201 (Note) Vibration HC-UF202 to 502 X:19.6 HC-SF202 352 HC-LFS202 302 Y:49 HC-SF203 353 HA-LFS502 702 HA-LH11K2 to 22K2 HA-LFS601 12K1 X:11.7 to HC-SF301 HA-LFS701M to 15K1M Y:29.4 HC-SF502 702 HA-LH11K2 to 22K2 HA-LFS15K1 to 37K1 HA-LFS22K1M to 37K1M HA-LF series X,Y:9.8 HA-LFS30K2 37K2 HC-KFS series HC-UFS13 to 73 X,Y:161 HC-MFS series HC-SFS81 HC-RFS series HC-SFS52 to 152 X,Y:80 2 [ft/s ] HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:80 HC-SFS202 352 HC-UFS202 to 502 Y:161 HC-SFS203 353 A - 3 CAUTION Environment Conditions X:80 HC-SFS301 Y:96 HC-SFS502 702 HC-AQ series HA-FF series HC-KF series X,Y:64 HC-UF13 to 73 HC-MF series HC-SF81 HC-RF series X:32 HC-SF52 to 152 HC-UFS72 152 Y:80 HC-SF53 to 153 HC-LFS52 152 to 2 HC-SF121 201 (Note) Vibration [ft/s ] HC-UF202 to 502 X:64 HC-SF202 352 HC-LFS202 302 Y:161 HC-SF203 353 HA-LFS502 702 HA-LH11K2 to 22K2 HA-LFS601 to 12K1 X:38.4 HC-SF301 HA-LFS701M to 15K1M Y:96.5 HC-SF502 702 HA-LH11K2 to 22K2 HA-LFS15K1 37K1 to HA-LFS22K1M 37K1M HA-LF series X,Y:32 to HA-LFS30K2 37K2 Note: Except the servo motor with reduction gear. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (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. (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be instable. A - 4 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Do not modify the equipment. Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. (5) 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 electromagnetic 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 (forced) stop signal. Contacts must be open when Circuit must be servo-on signal is off, when an alarm (trouble) is present and when opened during an electromagnetic brake signal. emergency (force) stop. Servo motor RA EMG 24VDC Electromagnetic brake When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted). About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident. A - 5 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed. The servo amplifiers do not function independently but are designed for use with machines and equipment. Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and equipment into which the servo amplifiers are installed. This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other procedures. Please contact your sales representative. 2. PRECAUTIONS FOR COMPLIANCE Use the servo motor compatible with the EN Standard. Unless otherwise specified, the handling, performance, specifications and others of the EN Standard- compatible models are the same as those of the standard models. To comply with the EN Standard, also observe the following items strictly. (1) Wiring (a) Use a fixed terminal block to connect the power supply lead of the servo motor to the servo amplifier. Do not connect cables directly. Terminal block (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard-compliant power connector sets are available from us as options. Power Connector Set Model Servo Motor Model MR-PWCF HC-FF C(B)-UE MR-PWCNS1 HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-LFS52(B) 152(B) to MR-PWCNS2 HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) HC-UFS202(B) to 502(B) HA-LFS502 HC-LFS202(B) 302(B) MR-PWCNS3 HC-SFS702(B) HC-SF702(B) HA-LFS702 (2) Installation The flange of the machine mounted with the HC-MF(HC-MF-UE)/HC-KF(HC-KF-UE)/HC-AQ/HC- MFS/HC-KFS must be connected to the earth. A - 6 CONFORMANCE WITH UL/C-UL STANDARD Use the UL/C-UL Standard-compliant model of servo motor. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standard- compliant models are the same as those of the standard models. Strictly observe the following items to conform to the UL/C-UL Standard. The flange sizes in this table assume that the flanges are made of aluminum. The rated torque of the servo motor indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in the following table and used in the environment of 40 ambient temperature. Servo Motor Flange Size HC-KF(-UE) HC-MF(-UE) HA-FF C HC-SF HC-RF HC-UF HA-LF [mm] HC-LFS HC-AQ HC-KFS HC-MFS -UE HC-SFS HC-RFS HC-UFS HA-LFS 0135 to 150 150 3 0335 150 150 6 053 13 053 13 053 13 13 250 250 623 23 23 33 23 81 250 250 12 43 43 43 63 52 to 152 103 to 203 43 52 to 152 53 to 153 300 300 12 (Note)73 73 73 121 201 300 300 20 202 352 202 302 203 353 550 550 30 353 503 72 152 601 to 12K1 301 701M to 650 650 35 202 to 502 502 702 15K1M 502 to 22K2 15K1 to 37K1 22K1M to 950 950 35 37K1M 30K2 37K2 Note: 73 is not available for the HC-KF(-UE) series. A - 7 MEMO A - 8 CONTENTS 1. INTRODUCTION 1 - 1 to 1 -12 1.1 Servo motor features .............................................................................................................................. 1 - 1 1.2 Model name make-up............................................................................................................................. 1 - 1 1.3 Parts identification................................................................................................................................1 -11 2. INSTALLATION 2 - 1 to 2 -12 2.1 Environmental conditions...................................................................................................................... 2 - 2 2.2 Installation orientation.......................................................................................................................... 2 - 3 2.3 Load remove precautions....................................................................................................................... 2 - 3 2.4 Permissible load for the shaft................................................................................................................ 2 - 4 2.4.1 Without reduction gear ................................................................................................................... 2 - 4 2.4.2 With reduction gear......................................................................................................................... 2 - 6 2.5 Protection from oil and water...............................................................................................................2 -10 2.6 Cooling fan..............................................................................................................................................2 -12 2.7 Cable .......................................................................................................................................................2 -12 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 -20 3.1 Makeups .................................................................................................................................................. 3 - 1 3.1.1 HC-KF(-UE) HC-MF(-UE) HA-FF HC-UF3000r/min series ................................................ 3 - 1 3.1.2 HA-FF C-UE series........................................................................................................................ 3 - 1 3.1.3 HC-SF(S) HC-RF(S) HC-UF(S)2000r/min, HA-LH HA-LF HA-LFS HC-LFS series..... 3 - 7 3.1.4 HC-AQ series...................................................................................................................................3 -15 3.1.5 HC-KFS HC-MFS HC-UFS3000r/min series ..........................................................................3 -15 3.1.6 HC-UF3000r/min series (Compliance with IP65) .......................................................................3 -16 3.2 IP65, EN Standard-compliant options ................................................................................................3 -17 3.3 Signal arrangement of encoder connectors.........................................................................................3 -19 4. INSPECTION 4 - 1 to 4 - 2 5. SPECIFICATIONS 5 - 1 to 5 -36 5.1 Standard specifications.......................................................................................................................... 5 - 1 5.2 Torque characteristics...........................................................................................................................5 -18 5.3 Servo motors with reduction gears ......................................................................................................5 -30 5.4 Servo motors with special shafts..........................................................................................................5 -34 5.4.1 Keyway.............................................................................................................................................5 -34 5.4.2 D cut.................................................................................................................................................5 -35 5.4.3 Straight (HC-AQ)............................................................................................................................5 -35 6. CHARACTERISTICS 6 - 1 to 6 - 6 6.1 Electromagnetic brake characteristics ................................................................................................. 6 - 1 6.2 Vibration rank......................................................................................................................................... 6 - 4 6.3 Machine Accuracies................................................................................................................................ 6 - 5 7. OUTLINE DIMENSION DRAWINGS 7 - 1 to 7 -312 7.1 Servo motors............................................................................................................................................ 7 - 1 7.1.1 HC-MF HC-KF series....................................................................................................................7 - 1 7.1.2 HA-FF series ...................................................................................................................................7 -23 7.1.3 HC-SF HC-SFS series ..................................................................................................................7 -50 7.1.4 HC-RF HC-RFS series .................................................................................................................7 -90 7.1.5 HC-UF 2000r/minHC-UFS 2000r/min series ............................................................................7 -97 7.1.6 HC-UF 3000r/min series..............................................................................................................7 -100 7.1.7 HC-UF3000r/min, HC-UFS3000r/min series with IP65-compliant connectors.....................7 -103 7.1.8 HA-LH series.................................................................................................................................7 -106 7.1.9 HC-AQ series.................................................................................................................................7 -108 7.1.10 HA-LF series ...............................................................................................................................7 -109 7.1.11 HC-MFS HC-KFS series..........................................................................................................7 -113 7.1.12 HC-UFS 3000r/min series..........................................................................................................7 -132 7.1.13 HA-LFS series.............................................................................................................................7 -135 7.1.14 HC-LFS series.............................................................................................................................7 -147 7.2 Servo motors (in inches)......................................................................................................................7 -152 7.2.1 HC-MF HC-KF series.................................................................................................................7 -152 7.2.2 HA-FF series .................................................................................................................................7 -174 7.2.3 HC-SF HC-SFS series ................................................................................................................7 -201 7.2.4 HC-RF HC-RFS series ...............................................................................................................7 -241 7.2.5 HC-UF 2000r/min HC-UFS 2000r/min series .........................................................................7 -248 7.2.6 HC-UF 3000r/min series..............................................................................................................7 -251 7.2.7 HC-UF3000r/min, HC-UFS3000r/min series with IP65-compliant connectors.....................7 -254 7.2.8 HA-LH series.................................................................................................................................7 -257 7.2.9 HC-AQ series.................................................................................................................................7 -259 7.2.10 HA-LF series ...............................................................................................................................7 -260 7.2.11 HC-MFS HC-KFS series..........................................................................................................7 -264 7.2.12 HC-UFS 3000r/min series..........................................................................................................7 -283 7.2.13 HA-LFS series.............................................................................................................................7 -286 7.2.14 HC-LFS series.............................................................................................................................7 -298 7.3 Connector..............................................................................................................................................7 -303 8. CALCULATION METHODS FOR DESIGNING 8 - 1 to 8 -14 8.1 Specification symbol list......................................................................................................................... 8 - 1 8.2 Position resolution and electronic gear setting ................................................................................... 8 - 2 8.3 Speed and command pulse frequency................................................................................................... 8 - 3 8.4 Stopping characteristics......................................................................................................................... 8 - 4 8.5 Capacity selection................................................................................................................................... 8 - 5 8.6 Load torque equations............................................................................................................................ 8 - 8 8.7 Expression for Calculating the Electromagnetic Brake Workload.................................................... 8 - 8 8.8 Load inertia moment equations ............................................................................................................ 8 - 9 8.9 Precautions for zeroing .........................................................................................................................8 -10 8.10 Selection example................................................................................................................................8 -11 APPENDIX App - 1 to App - 2 Appendix.1 Servo motor ID codes .......................................................................................................... App - 1 MEMO 1. INTRODUCTION 1. INTRODUCTION 1.1 Servo motor features Servo Features Positioning Rated Interchangeable Compliance with Environmental Motor (Points Different from Conventional Resolution Speed Capacity [kW] Servo Motor Overseas Standards Resistance Series Products) [pulses/rev] [r/min] Series EN Standard UL/C-UL Standard HC-KF Low inertia, small capacity 4 to 5 8192 (Note1 2) IP44 (Standard model is times greater in inertia moment than HC-MF compliant) HC-MF(S). 3000 0.05 to 0.4 HC-ME EN Standard Equipped with absolute position HC-MH UL/C-UL Standard detector as standard HC-KFS 131072 (Note1 2) IP55 (Standard model is compliant) EN Standard UL/C-UL Standard HC-MF 8192 (Note1 2) IP44 Ultra low inertia, small capacity (Standard model is 1.2 times higher in power rate than HA-ME compliant) HA-ME 3000 0.05 to 0.75 HA-MH EN Standard Equipped with absolute position UL/C-UL Standard HC-MFS detector as standard 131072 (Note1 2) IP55 (Standard model is compliant) EN Standard Low inertia, small capacity HA-FE UL/C-UL Standard HA-FF Equipped with absolute position 3000 8192 0.05 to 0.6 (Note1 2) IP44 HA-FH (HA-FF-UE is detector as standard compliant) Middle inertia, middle capacity EN Standard HC-SF 16384 1.5 times higher in power rate than 1000 HA-SE UL/C-UL Standard HA-SE 2000 0.5 to 7 IP65 HA-SH (Standard model is Equipped with absolute position 3000 HC-SFS 131072 compliant) detector as standard Ultra low inertia, middle capacity EN Standard HC-RF 16384 About 3 times higher in power rate UL/C-UL Standard than HA-LH 3000 1 to 5 IP65 (Standard model is Equipped with absolute position HC-RFS 131072 compliant) detector as standard Pancake type, small capacity Equipped with absolute position 8192 3000 0.1 to 0.75 (Note1) IP65 EN Standard detector as standard UL/C-UL Standard HC-UF Pancake type, middle capacity (Standard model is Equipped with absolute position 16384 2000 0.75 to 5 compliant) IP65 detector as standard Pancake type small capacity (Note1) Equipped with absolute position 3000 0.1 to 0.75 EN Standard IP65 detector as standard UL/C-UL Standard HC-UFS 131072 Pancake type middle capacity (Standard model is Equipped with absolute position 2000 0.75 to 5 compliant) IP65 detector as standard EN Standard HA-LH Low inertia, large capacity 16384 2000 11 to 22 (HA-LH-EC is JP44 compliant) EN Standard, 24VDC-compatible, UL/C-UL Standard HC-AQ 8192 3000 0.01 to 0.03 (Note1 2) IP55 ultra low inertia, small capacity (Standard model is compliant) Three-phase, 200VAC-compatible, low inertia, large capacity 30 37 Equipped with absolute position detector as standard Scheduled to make HA-LF 16384 2000 IP44 Three-phase, 400VAC-compatible, application low inertia, large capacity 30 to 55 Equipped with absolute position detector as standard 1000 6 to 20 Low inertia, large capacity HA-LFS Equipped with absolute position 1500 131072 7 to 30 Being planned IP44 detector as standard 2000 5 to 37 HA-LH Low inertia, middle capacity Scheduled to make HC-LFS Equipped with absolute position 2000 131072 0.5 to 3.0 HA-LH IP65 application detector as standard Note 1: Except connector section. 2: Except for the shaft-through portion. 1.2 Model name make-up (1) Name plate AC SERVO MOTOR Model HC-RF153 Input power INPUT 3AC 145V 8.2A Rated output OUTPUT 1.5Kw IEC34-1 1994 SPEED 3000r/min Rated speed SER.No. 001 DATE Serial number MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 1 1. INTRODUCTION (2) Model (a) HC-MF series (ultra low inertia, small capacity) Appearance HC-MF 3 Series name Compliance with Standard Symbol Specifications None (Note) Standard model (EN UL/C-UL Standard) -UE EN UL/C-UL Standard Note. The standard models produced in and after February, 2001 are compatible with the EN UL/C-UL Standard. Shaft type Symbol Shaft Shape HC-MF Reduction gear Standard Symbol Reduction Gear None 053 to 73 (Straight shaft) None Without K (Note) With keyway 23 to 73 For general G1 D D-cut shaft 53 13 industrial machine Note: With key G2 For precision application Electromagnetic brake Rated speed Symbol Electromagnetic Brake 3000 [r/min] None Without Rated output B With Symbol Rated Output [W] 05 50 1 100 2 200 4 400 7 750 (b) HA-FF series (low inertia, small capacity) HA-FF 3 Appearance Compliance with Standard Series name Symbol Specifications None Standard model (Japan) -UE EN UL/C-UL Standard Shaft type Reduction gear Symbol Shaft Shape HA-FF Symbol Reduction Gear None (Note) Standard 053 to 63 None Without D D-cut shaft 053 13 For general Note: The Standard shafts of the HA-FF23 to G1 industrial machine 63 are with keys and those of the other models are straight shafts. G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake Input power supply form None Without EN UL/C-UL Standard- Symbol Standard model B With compliant model Lead None C Cannon connector Rated speed 3000 [r/min] Rated output Symbol Rated Output [W] Symbol Rated Output [W] 05 3 50 300 1 100 4 400 2 200 6 600 1 - 2 1. INTRODUCTION (c) HC-SF series (middle inertia, middle capacity) HC-SF Appearance Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) With keyway K Note: Without key Reduction gear Symbol (Note) Reduction Gear None Without For general G1 industrial machine (flange type) For general G1H industrial machine (leg type) G2 For precision application Note: Not provided for 1000r/min and 3000r/min series. Electromagnetic brake Rated speed Symbol Electromagnetic Brake Symbol Speed [r/min] None Without 1 1000 B With 2 2000 3 3000 Rated output Symbol Rated Output [W] 1000 [r/min] 2000 [r/min] 3000 [r/min] 5 500 8 850 10 1000 12 1200 15 1500 20 2000 30 3000 35 3500 50 5000 70 7000 1 - 3 1. INTRODUCTION (d) HC-RF series (ultra low inertia, middle capacity) HC-RF 3 Appearance Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) K With keyway Note: Without key Reduction gear Symbol Reduction Gear None Without G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake Rated speed None Without 3000 [r/min] B With Rated output Symbol Rated Output [W] 10 1000 15 1500 20 2000 35 3500 50 5000 (e) HC-UF series (pancake type, small and middle capacity) HC-UF Appearance Series name Shaft type Symbol Shaft Shape HC-UF Standard None 13 to 43 (Straight shaft) 72 to 202 K (Note) With keyway D D-cut shaft 13 Note: HC-UF 23 to 73 are provided with keys. Electromagnetic brake Rated speed Symbol Electromagnetic Brake Symbol Speed [r/min] None Without 2 2000 B With 3 3000 Rated output Symbol Rated Output [W] 1 100 2 200 4 400 7 750 15 1500 20 2000 35 3500 50 5000 1 - 4 1. INTRODUCTION (f) HA-LH series (low inertia, large capacity) HA-LH 2 Appearance Series name Compliant Standard Symbol Specifications None Standard model (in Japan) -EC EN Standard Encoder Symbol Encoder None Incremental -Y Absolute Rated speed 2000[r/min] Rated output Symbol Rated Output [W] 11K 11000 15K 15000 22K 22000 (g) HC-KF series (low inertia, small capacity) Appearance HC-KF 3 Series name Compliance with Standard Symbol Specifications None (Note) Standard model (EN UL/C-UL Standard) -UE EN UL/C-UL Standard Note. The standard models produced in and after February, 2001 are compatible with the EN UL/C-UL Standard. Shaft type Symbol Shaft Shape Reduction gear Standard None Symbol Reduction Gear (Straight shaft) None Without K (Note) With keyway G1 For general industrial machine Note: With key G2 For precision application Electromagnetic brake Rated speed Symbol Electromagnetic Brake 3000[r/min] None Without BWith Rated output Symbol Rated Output [W] 05 50 1 100 2200 4 400 1 - 5 1. INTRODUCTION (h) HC-AQ series (24VDC-compatible, ultra low inertia, small capacity) HC-AQ 35 Appearance Series name Shaft type Symbol Shaft Shape D D-cut shaft S Straight shaft Electromagnetic brake Symbol Electromagnetic Brake None Without B With Power supply voltage 24VDC Rated speed 3000 [r/min] Rated output Symbol Rated Output [W] 01 10 02 20 30 03 (i) HA-LF series (Three-phase, 200 400VAC-compatible, low inertia, large capacity) HA-LF 2 Appearance Series name Power supply specification Symbol Power Supply Voltage None Three-phase 200 to 230VAC 4 Three-phase 380 to 460VAC Rated speed 2000 [r/min] Rated output Power supply specifications Symbol Rated Output [kW] Three-phase 200 to 230VAC Three-phase 380 to 460VAC 30K 30 37K 37 45K 45 55K 55 1 - 6 1. INTRODUCTION (j) HC-KFS series (low inertia, small capacity, high resolution) HC-KFS 3 Appearance Series name Shaft type Symbol Shaft Shape Reduction gear Standard None Symbol Reduction Gear (Straight shaft) None Without K (Note) With keyway G1 For general industrial machine Note: With key G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake Rated speed 3000[r/min] None Without BWith Rated output Symbol Rated Output [W] 05 50 1 100 2200 4 400 (k) HC-MFS series (ultra low inertia, small capacity, high resolution) HC-MFS 3 Appearance Series name Shaft type Symbol Shaft Shape HC-MF Reduction gear Standard Symbol Reduction Gear None 053 to 73 (Straight shaft) None Without K (Note) With keyway 23 to 73 For general G1 D D-cut shaft 53 13 industrial machine Note: With key G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake Rated speed None Without 3000 [r/min] B With Rated output Symbol Rated Output [W] 05 50 1 100 2 200 4 400 7 750 1 - 7 1. INTRODUCTION (l) HC-SFS series (middle inertia, middle capacity, high resolution) HC-SFS Appearance Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) K With keyway Note: Without key Reduction gear Symbol (Note) Reduction Gear None Without For general G1 industrial machine (flange type) For general G1H industrial machine (leg type) G2 For precision application Note: Not provided for 1000r/min and 3000r/min series. Electromagnetic brake Rated speed Symbol Electromagnetic Brake Symbol Speed [r/min] None Without 1 1000 B With 2 2000 3 3000 Rated output Symbol Rated Output [W] 1000 [r/min] 2000 [r/min] 3000 [r/min] 5 500 8 850 10 1000 12 1200 15 1500 20 2000 30 3000 35 3500 50 5000 70 7000 1 - 8 1. INTRODUCTION (m) HC-RFS series (ultra low inertia, middle capacity, high resolution) HC-RFS 3 Appearance Series name Shaft type Symbol Shaft Shape Standard None (Straight shaft) K (Note) With keyway Note: Without key Reduction gear Symbol Reduction Gear None Without G2 For precision application Electromagnetic brake Symbol Electromagnetic Brake Rated speed None Without 3000 [r/min] B With Rated output Symbol Rated Output [W] 10 1000 15 1500 20 2000 35 3500 50 5000 (n) HC-UFS series (pancake type small and middle capacity, high resolution) HC-UFS Appearance Series name Shaft type Symbol Shaft Shape HC-UFS Standard None 13 to 43 (Straight shaft) 72 to 202 K (Note) With keyway D D-cut shaft 13 Note: HC-UFS 23 to 73 are provided with keys. Electromagnetic brake Rated speed Symbol Electromagnetic Brake Symbol Speed [r/min] None Without 2 2000 B With 3 3000 Rated output Symbol Rated Output [W] 1 100 2 200 4 400 7 750 15 1500 20 2000 35 3500 50 5000 1 - 9 1. INTRODUCTION (o) HA-LFS series (low inertia, large capacity, high resolution) HA-LFS Appearance Series name Rated speed Symbol Speed [r/min] 1 1000 1M 1500 2000 2 Rated output 1000 1500 2000 Symbol Rated Output [kW] [r/min] [r/min] [r/min] 50 5 60 6 70 7 80 8 11K 11 12K 12 15K 15 20K 20 22K 22 25K 25 30K 30 37K 37 (p) HC-LFS series (low inertia, middle capacity, high resolution) HC-LFS 2 Appearance Series name Electromagnetic brake Electromagnetic Brake Symbol None Without B With Rated speed 2000 [r/min] Rated output Symbol Rated Output [kW] 5 0.5 10 1 15 1.5 20 2 30 3 1 - 10 1. INTRODUCTION 1.3 Parts identification Name/Application Reference Lead type Encoder Section 5.1 Encoder cable Section 3.2 with encoder connector Power cable Power lead (U V W) Earth lead Chapter 7 Brake lead (for motor with electromagnetic brake) Chapter 2 Servo motor shaft Section 5.4 Name/Application Reference Connector type Encoder Section 5.1 Encoder connector Section 3.2 Power connector Power supply (U V W) Earth Chapter 7 Brake (for motor with electromagnetic brake) Some motors with electromagnetic brakes have brake connectors separately. Chapter 2 Servo motor shaft Section 5.4 Terminal box type Name/Application Reference Terminal box Power leads (U V W) Cooling fan leads Chapter 7 Ground terminal Brake lead (for motor with electromagnetic brake) Encoder connector Section 3.2 Section 5.1 Encoder Servo motor shaft Chapter 2 1 - 11 1. INTRODUCTION MEMO 1 - 12 2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. Do not subject the servo motor to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur. The lifting eyebolts of the servo motor may only be used to transport the servo motor. They must not be used to transport the servo motor when it is mounted on a CAUTION machine. The servo motor with reduction gear must be installed in the specified direction. Otherwise, it can leak oil, leading to a fire or fault. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury. 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. When coupling a load to the servo motor, do not use a rigid coupling. Doing so can cause the shaft to break. Cover the shaft of the servo motor to make its rotary part completely inaccessible during operation. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury. When the product has been stored for an extended period of time, consult Mitsubishi. 2 - 1 2. INSTALLATION 2.1 Environmental conditions Environment Conditions [ ]0 to 40 (non-freezing) Operation Ambient [ ] 32 to 104 (non-freezing) temperature [ ] 15 to 70 (non-freezing) Storage [ ] 5 to 158 (non-freezing) Operation 80%RH or less (non-condensing) Ambient humidity Storage 90%RH or less (non-condensing) Indoors (no direct sunlight) Ambience Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level HC-KFS series HC-UFS13 to 73 X,Y:49 H-MFS series HC-SFS81 HC-RFS series HC-SFS52 to 152 X,Y:24.5 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:24.5 HC-SFS202 352 HC-UFS202 to 502 Y:49 HC-SFS203 353 HC-SFS301 X:24.5 HC-SFS502 702 Y:29.4 HC-AQ series HA-FF series HC-KF series X,Y:19.6 HC-UF13 to 73 HC-MF series 2 [m/s ] HC-SF81 HC-RF series X:9.8 HC-SF52 to 152 HC-UF72 152 Y:24.5 HC-SF53 to 153 HC-LFS52 to152 HC-SF121 201 HC-UF202 to 502 X:19.6 HC-SF202 352 HC-LFS202 302 Y:49 HC-SF203 353 HA-LFS502 702 HA-LH11K2 to 22K2 HA-LFS601 to12K1 X:11.7 HC-SF301 HA-LFS701M to 15K1M Y:29.4 HC-SF502 702 HA-LH11K2 to 22K2 HA-LFS15K1 to 37K1 HA-LFS22K1M to 37K1M HA-LF series X,Y:9.8 HA-LFS30K2 37K2 (Note) Vibration HC-KFS series HC-UFS13 to 73 X,Y:161 HC-MFS series HC-SFS81 HC-RFS series HC-SFS52 to 152 X,Y:80 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:80 HC-SFS202 352 HC-UFS202 to 502 Y:161 HC-SFS203 353 HC-SFS301 X:80 HC-SFS502 702 Y:96 HC-AQ series HA-FF series HC-KF series X,Y:64 HC-UF13 to 73 HC-MF series 2 [ft/s ] HC-SF81 HC-RF series X:32 HC-SF52 to 152 HC-UF72 152 Y:80 HC-SF53 to 153 HC-LFS52 to152 HC-SF121 201 HC-UF202 to 502 X:64 HC-SF202 352 HC-LFS202 302 Y:161 HC-SF203 353 HA-LFS502 702 HA-LH11K2 to 22K2 HA-LFS601 to12K1 X:38.4 HC-SF301 HA-LFS701M to 15K1M Y:96.5 HC-SF502 702 HA-LH11K2 to 22K2 HA-LFS15K1 to 37K1 HA-LFS22K1M to 37K1M HA-LF series X,Y:32 HA-LFS30K2 37K2 Note: Except the servo motor with reduction gear. Vibration occurs in the directions shown below. Graph of vibration servo amplitude vs. speed The values were measured at the portion which 200 indicates the maximum value (normally the bracket opposite to load side). When the servo motor is at a stop, the bearings are likely to fret and vibration 100 should therefore be suppressed to about half of the 80 permissible value. 60 Servo motor 50 40 30 20 X Y 500 1000 15002000250030003500 Speed [r/min] Vibration 2 - 2 Vibration amplitude (both amplitudes) [ m] 2. INSTALLATION 2.2 Installation orientation The following table lists directions of installation: Servo Motor Series Direction of Installation Remarks HC-KF HC-MF HA-FF HC-SF HC-RF HC-UF For installation in the horizontal direction, it is recommended to set the HC-KFS HC-MFS May be installed in any connector section downward. HC-SFS HC-RFS direction. HC-UFS HC-LFS HC-AQ HA-LH HA-LFS (Flange type) HA-LF Horizontal direction with Use either the legs or flange for installation. HA-LFS (Flange leg type) the legs downward. 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 5.3 for the installation orientation of the servo motor with reduction gear. 2.3 Load remove precautions POINT During assembling, the shaft end must not be hammered. Doing so can cause the encoder to fail. (1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in. Servo motor Double-end stud Nut Washer Pulley (2) For the servo motor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a keyway, use a friction coupling or the like. (3) When removing the pulley, use a pulley remover to protect the shaft from impact. (4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft. (5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us. (6) The orientation of the encoder on the servo motor cannot be changed. (7) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration. (8) For the HC-AQ series, use spring washers and apply Screw Lock to mount the servo motor. In addition, use Helisert screws when the flange for mouthing the servo motor is made of aluminum. 2 - 3 2. INSTALLATION 2.4 Permissible load for the shaft POINT Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage. (1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load. (2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. (3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break. 2.4.1 Without reduction gear (Note 1) L Permissible Radial Load Permissible Thrust Load Servo Motor [mm] [in] [N] [lb] [N] [lb] 053 / 13 25 0.98 88 20 59 13 HC-KF 23 / 43 30 1.18 245 55 98 22 HC-KFS (Note) 73 40 1.57 392 88 147 33 053 / 13 25 0.98 88 20 59 13 HC-MF 23 / 43 30 1.18 245 55 98 22 HC-MFS 73 40 1.57 392 88 147 33 053 30 1.18 108 24 98 22 13 30 1.18 118 27 98 22 HA-FF 23 / 33 30 1.18 176 40 147 33 43 / 63 40 1.57 323 73 284 64 81 55 2.17 980 220 490 110 121 to 301 79 3.11 2058 463 980 220 52 to 152 55 2.17 980 220 490 110 HC-SF HC-SFS 202 / 702 79 3.11 2058 463 980 220 53 to 153 55 2.17 980 220 490 110 203 / 353 79 3.11 2058 463 980 220 52 to 152 55 2.17 980 220 490 110 HC-LFS 202/302 79 3.11 2058 463 980 220 HC-RF 103 to 203 45 1.77 686 154 196 44 HC-RFS 353 / 503 63 2.48 980 220 392 88 72 / 152 55 2.17 637 143 490 110 202 65 2.56 882 198 784 176 HC-UF 352 / 502 65 2.56 1176 264 784 176 HC-UFS 13 25 0.98 88 20 59 13 23 / 43 30 1.18 245 55 98 22 73 40 1.57 392 88 147 33 11K2 85 3.35 2450 551 980 220 HA-LH 15K2 / 22K2 100 3.94 2940 661 980 220 053/13 25 0.98 88 20 59 13 0135 16 0.63 34 8 14 3 HC-AQ 0235 16 0.63 44 10 14 3 0335 16 0.63 49 11 14 3 30K2/37K2/30K24/ 140 5.51 3234 727 1470 330 37K24 HA-LF 45K24 /55K24 140 5.51 4900 1102 1960 441 502/702/601/701M 85 3.35 2450 551 980 153 801/11K1M/12K1/ 110 4.33 2940 661 980 153 15K1M HA-LFS 15K1/22K1M/20K1/ 140 5.51 3234 727 1470 330 30K1M/30K2/37K2 25K1/37K1M/30K1 140 5.51 4900 1102 1960 441 37K1 170 6.69 6370 1432 1960 441 2 - 4 2. INSTALLATION Note 1: For the symbols in the table, refer to the following diagram: L Radial load Thrust load L: Distance from flange mounting surface to load center 2: 73 is not available for the HC-KF series. 2 - 5 2. INSTALLATION 2.4.2 With reduction gear The permissible radial loads in the table are the values at the center of the reduction gear output shaft. Q/ 2 Q (1) HC-MF HC-MFS HC-KF HC-KFS series (a) General industrial machine-compliant HC-MF(S)053(B) HC-MF(S)13(B) HC-MF(S)23(B) HC-MF(S)43(B) HC-MF(S)73(B) G1 G1 G1 G1 G1 Gear Item ratio HC-KF(S)053(B) HC-KF(S)13(B) HC-KF(S)23(B) HC-KF(S)43(B) HC-KFS73(B) G1 G1 G1 G1 G1 1/5 150 330 430 [N] 1/12 240 710 620 1/20 370 780 760 970 Permissible Radial Load 1/5 34 74 97 [lb] 1/12 54 160 139 1/20 83 175 171 218 1/5 200 350 430 [N] 1/12 320 720 620 1/20 450 780 760 960 Permissible Thrust Load 1/5 45 79 97 [lb] 1/12 72 162 139 1/20 101 175 171 216 (b) Precision application-compliant HC-MF(S)053(B) HC-MF(S)13(B) HC-MF(S)23(B) HC-MF(S)43(B) HC-MF(S)73(B) G2 G2 G2 G2 G2 Gear Item HC-KF(S)053(B) HC-KF(S)13(B) HC-KF(S)23(B) HC-KF(S)43(B) HC-KFS73(B) ratio G2 G2 G2 G2 G2 1/5 160 160 160 340 390 1/9 200 200 420 480 600 [N] 1/20 260 540 610 790 1040 1/29 290 610 700 900 1190 Permissible Radial Load 1/5 36 36 36 76 88 1/9 45 45 94 108 135 [lb] 1/20 58 121 137 178 234 1/29 65 137 157 202 268 1/5 220 220 220 370 390 1/9 270 270 450 490 600 [N] 1/20 400 660 640 790 1140 1/29 450 750 830 1010 1290 Permissible Thrust Load 1/5 49 49 49 83 87 1/9 61 61 101 110 135 [lb] 1/20 90 148 144 178 256 1/29 101 167 187 227 290 2 - 6 2. INSTALLATION (2) HA-FF series (a) General industrial machine-compliant Gear Item HA-FF053(B)G1 HA-FF13(B)G1 HA-FF23(B)G1 HA-FF33(B)G1 HA-FF43(B)G1 HA-FF63(B)G1 ratio 1/5 588 686 686 980 1/10 588 686 686 1470 [N] 1/20 588 1176 1568 1764 1/30 686 1225 1764 2156 Permissible Radial Load 1/5 132 154 154 220 1/10 132 154 154 330 [lb] 1/20 132 264 353 397 1/30 154 275 397 485 (b) Precision application-compliant Gear Item HA-FF053(B)G2 HA-FF13(B)G2 HA-FF23(B)G2 HA-FF33(B)G2 HA-FF43(B)G2 HA-FF63(B)G2 ratio 1/5 69 69 98 216 216 588 1/9 735 735 1/10 88 127 265 265 1/15 137 216 392 [N] 1/20 980 980 1274 1274 1/25 392 784 1/29 1078 1470 1470 1470 1/45 1274 1666 1666 1666 3430 Permissible Radial Load 1/5 151522 4949 132 1/9 165 165 1/10 20 29 60 60 1/15 31 49 88 [lb] 1/20 220 220 286 286 1/25 88 176 1/29 242 330 330 330 1/45 286 375 375 375 771 1/5 59 59 147 265 265 784 1/9 980 980 1/10 78 167 343 343 1/15 88 216 363 [N] 1/20 1372 1372 2254 2254 1/25 314 412 1/29 1764 2548 2548 2548 1/45 1960 3234 3234 3234 5390 Permissible Thrust Load 1/5 131333 6060 176 1/9 220 220 1/10 16 38 77 77 1/15 20 49 82 [lb] 1/20 308 308 507 507 1/25 71 93 1/29 397 573 573 573 1/45 441 727 727 727 1212 2 - 7 2. INSTALLATION (3) HC-SF HC-SFS (2000r/min) series (a) General industrial machine-compliant Gear HC-SF(S)52(B) HC-SF(S)102(B) HC-SF(S)152(B) HC-SF(S)202(B) HC-SF(S)352(B) HC-SF(S)502(B) HC-SF(S)702(B) Item ratio G1 G1 G1 G1 G1 G1 G1 1/6 2058 2842 2842 2842 3332 1/11 2391 3273 3273 3273 3871 5488 7526 1/17 2832 3646 3646 3646 4420 6468 8683 [N] 1/29 3273 4410 5135 7291 7291 13426 13426 1/35 5253 5253 6047 8555 8555 16072 16072 1/43 5253 6047 8555 8555 11662 16072 22540 Permissible 1/59 5800 9741 9741 9741 13132 Radial 1/6 463 639 639 639 749 Load 1/11 538 728 728 728 870 1234 1952 1/17 637 820 820 820 994 1454 1952 1/29 728 991 1154 1639 1639 3018 3018 [lb] 1/35 1181 1181 1359 1923 1923 3613 3613 1/43 1181 1359 1923 1923 2622 3613 5067 1/59 1304 2190 2190 2190 2952 1/6 1470 2352 2352 2352 3920 1/11 1470 2764 2764 2764 3920 6292 8085 1/17 1470 2940 2940 2940 3920 6860 9673 [N] 1/29 1470 2940 3920 6860 6860 13720 13720 1/35 2940 2940 3920 6860 6860 13720 13720 1/43 2940 3920 6860 6860 9800 13720 19600 Permissible 1/59 2940 6860 6860 6860 9800 Thrust 1/6 330 529 529 529 881 Load 1/11 330 621 621 621 881 1415 1818 1/17 330 661 661 661 881 1542 2175 [lb] 1/29 330 661 881 1542 1542 3084 3084 1/35 661 661 881 1542 1542 3084 3084 1/43 661 881 1542 1542 2203 3084 4406 1/59 661 1542 1542 1542 2203 2 - 8 2. INSTALLATION (b) Precision application-compliant Gear HC-SF(S)52(B) HC-SF(S)102(B) HC-SF(S)152(B) HC-SF(S)202(B) HC-SF(S)352(B) HC-SF(S)502(B) HC-SF(S)702(B) Item ratio G2 G2 G2 G2 G2 G2 G2 1/5 833 833 833 1666 3822 3822 3822 1/9 980 980 1960 1960 4704 4704 [N] 1/20 1274 2646 2646 6076 6076 1/29 2940 2940 6860 6860 Permissible 1/45 3430 8036 8036 8036 Radial 1/5 187 187 187 375 859 859 859 Load 1/9 220 220 441 441 1058 1058 [lb] 1/20 286 595 595 1366 1366 1/29 661 661 1542 1542 1/45 771 1807 1807 1807 1/5 1176 1176 1176 2156 5488 5488 5488 1/9 1568 1568 2646 2646 7252 7252 [N] 1/20 2254 3724 3724 9506 9506 1/29 4704 4704 11760 11760 Permissible 1/45 5390 14700 14700 14700 Thrust 1/5 264 264 264 485 1234 1234 1234 Load 1/9 353 353 595 595 1630 1630 [lb] 1/20 507 837 837 2137 2137 1/29 1058 1058 2644 2644 1/45 1212 3305 3305 3305 (4) HC-RF HC-RFS series Gear HC-RF(S)103(B) HC-RF(S)153(B) HC-RF(S)203(B) HC-RF(S)353(B)HC-RF(S)503(B) Item ratio G2 G2 G2 G2 G2 1/5 833 833 833 1666 3822 1/9 980 1960 1960 4704 4704 [N] 1/20 2646 2646 2646 6076 6076 1/29 2940 2940 6860 6860 Permissible Radial 1/45 3430 8036 8036 Load 1/5 187 187 187 375 859 1/9 220 441 441 1058 1058 [lb] 1/20 595 595 595 1366 1366 1/29 661 661 1542 1542 1/45 771 1806 1806 1/5 1176 1176 1176 2156 5488 1/9 1568 2646 2646 7252 7252 [N] 1/20 38.8 3724 3724 9506 9506 1/29 4704 4704 11760 11760 Permissible Thrust 1/45 5390 14700 14700 Load 1/5 264 264 264 485 1234 1/9 353 595 595 1630 1630 [lb] 1/20 8.7 837 837 2137 2137 1/29 1058 1058 2644 2644 1/45 1212 3305 3305 2 - 9 2. INSTALLATION 2.5 Protection from oil and water (1) Next, the servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water. Especially for the HC-MF HC-KF HC-AQ HC-KFS HC-MFS and HA-FF series, do not subject the shaft-through portion to oil. Servo Motor Series Protection HC-KF/HC-MF IP44 HA-LF/HA-FF/HA-LFS HC-AQ/HC-KFS/HC-MFS IP55 HA-LH JP44 Oil or water Servo motor (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. The HC-MF HC-KF HC-AQ HC-MFS and HC-KFS series servo motor is not equipped with an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side. In a special specification article with an oil seal is available. Please contact Mitsubishi. Gear Servo motor Height above oil level h Lip V ring Height above Oil Level h Height above Oil Level h Servo Motor Servo Motor [mm] [in] [mm] [in] 81 20 0.79 053/13 8 0.32 121 to 1 25 0.98 HA-FF 23/33 12 0.47 HC-SF 52 to 2 20 0.79 43/63 14 0.55 HC-SFS 202 to 2 25 0.98 11K2 30 0.18 HA-LH 53 to 3 20 0.79 15K2/22K2 40 1.58 203/353 25 0.98 30K2/37K2/30K24/ 45 1.77 37K24 52 to 2 20 0.79 HA-LF HC-LFS 202/302 25 0.98 45K24/55K24 48 1.89 HC-RF 601/701M/11K2 103 to 3 20 0.79 34 1.34 HC-RFS 502/702 72/152 20 0.79 15K1/22K1M/30K2/ 45 1.77 20K1/30K1M/37K2 202 to 2 25 0.98 HC-UF HA-LFS 13 12 0.47 801/12K1/25K1/ HC-UFS 23/43 14 0.55 30K1/11K1M/15K1M/ 48 1.89 37K1M/15K2/22K2 73 20 0.79 37K1 55 2.17 2 - 10 2. INSTALLATION (3) When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically or obliquely, provide a trap for the cable. Cable trap (4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right) Cover Servo motor Oil/water pool Capillary phenomenon (5) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc. Gear Lubricating oil Servo motor (6) If the servo motor is exposed to oil such as coolant, the sealant, packing, cable and others may be affected depending on the oil type. (7) In the environment where the servo motor is exposed to oil mist, oil, water and/or like, the servo motor of the standard specifications may not be usable. Contact us. (8) In the case of the servo motor with oil seal, the oil seal may sound during operation. It poses no problems in function. 2 - 11 2. INSTALLATION 2.6 Cooling fan The HA-LH HA-LF and HA-LFS servo motors have a cooling fan. Leave the following distance between the servo motor's suction face and the wall. Distance L L or longer Servo Motor Series [mm] [in] Servo motor HA-LH series 50 1.97 Cooling fan HA-LFS601 to 12K1 Wind 701M to 15K1M 100 3.94 11K2 to 22K2 HA-LF30K2/37K2 HA-LF30K24 to 55K24 150 5.91 HA-LFS15K1/20K1/22K1M/ 30K1M/37K2/30K2 2.7 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, cable breaks may occur. In addition, do not modify the connectors, terminals and others at the ends of the cables. 2 - 12 3. CONNECTORS USED FOR SERVO MOTOR 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.1 Makeups This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent. 3.1.1 HC-KF(-UE) 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. For connection of the encoder, use the connector indicated in this section or equivalent. This connector may be used with the EN Standard and UL/C-UL Standard but is not waterproof. Cable Side Connector Connector Supplied for Servo Motor Housing Connector Pin Cable Clamp Servo Motor (AMP) (AMP) (AMP) (Toa Electric Industry) HC-KF (B) HC-KF (B)-UE HC-MF (B) 170359-1 1-172169-9 1-172161-9 MTI-0002 HC-MF (B) -UE 170363-1 (loose piece) HA-FF (B) HC-UF13 to 73(B) 3.1.2 HA-FF C-UE series If used with a waterproof connector, the HA-FF C(B)-UE does not improve in ingress protection (IP54). (1) Non-waterproof, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Cable 2) Cable 1) Plug clamp Cable 1) Plug clamp Cable Cable Side Connector Connector Supplied for Servo Motor 1) Plug (DDK) 2) Cable clamp Servo Motor (DDK) Type Model Straight MS3106B14S-2S HA-FF C(B) -UE CE05-2A14S-2PD-B MS3057-6A Angle MS3108B14S-2S 3 - 1 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable Cable Side Connector Connector Supplied for Servo Motor 1) Plug (DDK) 2) Cable clamp Servo Motor Type Model (DDK) Straight MS3106B20-29S HA-FF C(B) -UE MS3102A20-29P MS3057-12A Angle MS3108B20-29S 3) For connection of brake 2) Cable 1) Plug clamp Cable Cable Side Connector Connector Supplied for Servo Motor Plug (DDK) 2) Cable clamp Servo Motor (DDK) Type Model HA-FF C(B)-UE MS3102A10SL-4P Straight MS3106A10SL-4S MS3057-4A (b) When using flexible conduits 1) For connection of power supply 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector 2) Cable Connector Conduit Servo Motor Supplied for Servo 1) Plug Motor (DDK) Type Maker Size Model Model ID 1/4 RCC-102RL-MS14F VF-02 8.3 Nippon 3/8 RCC-103RL-MS14F VF-03 10.6 flex Straight 1/2 RCC-104RL-MS14F VF-04 14.0 Daiwa 10 MSA-10-14 FCV10 10.0 Dengyo 12 MSA-12-14 FCV12 12.3 MS3106A14S- HA-FF C(B) -UE CE05-2A14S-2PD-B 2S(D190) 1/4 RCC-302RL-MS14F VF-02 8.3 Nippon 3/8 RCC-303RL-MS14F VF-03 10.6 flex Angle 1/2 RCC-304RL-MS14F VF-04 14.0 10 MAA-10-14 FCV10 10.0 Daiwa Dengyo 12 MAA-12-14 FCV12 12.3 3 - 2 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for Servo 1) Plug 2) Cable Connector Conduit Motor (DDK) Type Maker Size Model Model ID 1/2 RCC-104RL-MS20F VF-04 14.0 Nippon flex 3/4 RCC-106RL-MS20F VF-06 19.0 Straight Daiwa 16 MSA-16-20 FCV16 15.8 Dengyo 22 MSA-22-20 FCV22 20.8 MS3106A20- HA-FF C(B) -UE MS3102A20-29P 29S(D190) 1/2 RCC-304RL-MS20F VF-04 14.0 Nippon flex 3/4 RCC-306RL-MS20F VF-06 19.0 Angle Daiwa 16 MAA-16-20 FCV16 15.8 Dengyo 22 MAA-22-20 FCV22 20.8 3) For connection of brake 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Cable Connector Conduit Servo Motor (DDK) Type Maker Size Model Model ID Nippon 1/4 RCC-102RL-MS10F VF-02 8.3 flex Straight Daiwa 10 MSA-10-10 FCV10 10.0 MS3102A10SL MS3106A10SL- Dengyo HA-FF C(B) -UE -4P 4S(D190) Nippon 1/4 RCC-302RL-MS10F VF-02 8.3 flex Angle Daiwa 10 MAA-10-10 FCV10 10.0 Dengyo 3 - 3 3. CONNECTORS USED FOR SERVO MOTOR (2) EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Connector for Cable cable Cable 1) Plug 1) Plug 2) Connector for cable Cable Side Connector Connector Supplied Servo Motor 1) Plug 2) Connector for Cable for Servo Motor (DDK) Type Maker Cable OD Model 4 to 8 ACS-08RL-MS14F Nippon flex 8 to 12 ACS-12RL-MS14F Straight Daiwa 5 to 8.3 YSO14-5 to 8 Dengyo 8.3 to 11.3 YSO14-9 to 11 HA-FF C(B) -UE CE05-2A14S-2PD-B CE05-6A14S-2SD-B 4 to 8 ACA-08RL-MS14F Nippon flex 8 to 12 ACA-12RL-MS14F Angle Daiwa 5 to 8.3 YLO14-5 to 8 Dengyo 8.3 to 11.3 YLO14-9 to 11 2) For connection of encoder 3) Cable clamp 1) Plug Cable 2) Back shell Cable 1) Plug 2) Back shell 3) Cable clamp Cable Side Connector Connector 2) Back Shell 3) Cable Clamp Servo Motor Supplied for Servo 1) Plug (DDK) (DDK) Motor (DDK) Type Model Cable OD Model Straight CE02-20BS-S HA-FF C(B) -UE MS3102A20-29P MS3106A20-29S(D190) 6.8 to 10 CE3057-12A-3 Angle CE-20BA-S 3 - 4 3. CONNECTORS USED FOR SERVO MOTOR 3) For connection of brake 2) Connector for cable 1) Plug Cable Cable 1) Plug 2) Connector for cable Cable Side Connector Connector Supplied 2) Cable Connector Servo Motor 1) Plug for Servo Motor Cable (DDK) Type Maker Model OD 4 to 8 ACS-08RL-MS10F Nippon flex Straight 8 to 12 ACS-12RL-MS10F Daiwa Dengyo 5 to 8.3 YS010-5 to 8 HA-FF C(B)-UE MS3102A10SL-4P MS3106A10SL-4S(D190) 4 to 8 ACA-08RL-MS10F Nippon flex Angle 8 to 12 ACA-12RL-MS10F Daiwa Dengyo 5 to 8.3 YL010-5 to 8 (b) When using flexible conduits 1) For connection of power supply 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for Servo 1) Plug 2) Cable Connector Conduit Motor (DDK) Type Maker Size Model Model ID 1/4 RCC-102RL-MS14F VF-02 8.3 Nippon 3/8 RCC-103RL-MS14F VF-03 10.6 flex Straight 1/2 RCC-104RL-MS14F VF-04 14.0 Daiwa 10 MSA-10-14 FCV10 10.0 Dengyo 12 MSA-12-14 FCV12 12.3 CE05-6A14S- HA-FF C(B) -UE CE05-2A14S-2PD-B 2SD-B 1/4 RCC-302RL-MS14F VF-02 8.3 Nippon 3/8 RCC-303RL-MS14F VF-03 10.6 flex Angle 1/2 RCC-304RL-MS14F VF-04 14.0 10 MAA-10-14 FCV10 10.0 Daiwa Dengyo 12 MAA-12-14 FCV12 12.3 3 - 5 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for Servo 1) Plug 2) Cable Connector Conduit Motor (DDK) Type Maker Size Model Model ID 1/2 RCC-104RL-MS20F VF-04 14.0 Nippon flex 3/4 RCC-106RL-MS20F VF-06 19.0 Straight Daiwa 16 MSA-16-20 FCV16 15.8 Dengyo 22 MSA-22-20 FCV22 20.8 MS3106A20- HA-FF C(B) -UE MS3102A20-29P 29S(D190) 1/2 RCC-304RL-MS20F VF-04 14.0 Nippon flex 3/4 RCC-306RL-MS20F VF-06 19.0 Angle Daiwa 16 MAA-16-20 FCV16 15.8 Dengyo 22 MAA-22-20 FCV22 20.8 3) For connection of brake 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Cable Connector Conduit Servo Motor (DDK) Type Maker Size Model Model ID Nippon RCC-102RL- 1/4 VF-02 8.3 flex MS10F Straight Daiwa 10 MSA-10-10 FCV10 10.0 MS3106A10-SL- Dengyo HA-FF C(B) -UE MS3102A10SL-4P 4S(D190) Nippon RCC-302RL- 1/4 VF-02 8.3 flex MS10F Angle Daiwa 10 MAA-10-10 FCV10 10.0 Dengyo 3 - 6 3. CONNECTORS USED FOR SERVO MOTOR 3.1.3 HC-SF(S) HC-RF(S) HC-UF(S)2000r/min, HA-LH HA-LF HA-LFS HC-LFS series (1) Non-waterproof, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Cable 2) Cable 1) Plug clamp Cable 1) Plug clamp Cable Cable Side Connector Servo Motor Connector Supplied for Servo Motor 1) Plug (DDK) 2) Cable clamp Type Model (DDK) HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) Straight MS3106B22-23S HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) CE05-2A22-23PD-B MS3057-12A HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) Angle MS3108B22-23S HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-LFS52(B) to 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) Straight MS3106B24-10S HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) CE05-2A24-10PD-B MS3057-16A HC-SFS202(B) to 502(B) HC-SFS203(B) to 353(B) HC-RFS353(B) 503(B) Angle MS3108B24-10S HC-UFS202(B) to 502(B) HA-LFS502 HC-LFS202(B) 302(B) HC-SF702 Straight MS3106B32-17S HC-SFS702(B) CE05-2A32-17PD-B MS3057-20A Angle MS3108B32-17S HA-LFS702 3 - 7 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable Cable Side Connector Connector Supplied for Servo Motor 1) Plug (DDK) 2) Cable clamp Servo Motor Type Model (DDK) HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) Straight MS3106B20-29S HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-RFS103(B) to 503(B) MS3102A20-29P MS3057-12A HC-UFS72(B) to 502(B) HA-LH11K2 to HA-LH22K2 HA-LF30K24 to HA-LF55K24 HA-LF30K2 37K2 Angle MS3108B20-29S HA-LFS601 to 37K1 HA-LFS701M to 37K1 HA-LFS502 to 37K2 HC-LFS52(B) to 302(B) 3) For connection of brake 1) Plug Cable 2) Connector for cable Cable 1) Plug 2) Connector for cable Cable Side Connector Connector 2) Connector for Cable Servo Motor Supplied for Servo 1) Plug Cable Motor (DDK) Type Maker Model OD 4 to 8 ACS-08RL-MS10F HC-SF121(B) to 301(B) Nippon HC-SF202(B) to 502(B) flex 8 to 12 ACS-12RL-MS10F Straight HC-SF203(B) 353(B) Daiwa 5 to 8.3 YSO10-5 to 8 HC-UF202(B) to 502(B) Dengyo HC-SFS121(B) to 301(B) MS3102A10SL-4P MS3106A10SL-4S 4 to 8 ACA-08RL-MS10F Nippon HC-SFS202(B) to 502(B) flex HC-SFS203(B) 353(B) 8 to 12 ACA-12RL-MS10F Angle HC-UFS202(B) to 502(B) Daiwa 5 to 8.3 YLO10-5 to 8 HC-LFS202(B) 302(B) Dengyo 3 - 8 3. CONNECTORS USED FOR SERVO MOTOR (b) When using flexible conduits 1) For connection of power supply 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Connector for conduit Conduit Servo Motor (DDK) Type Maker Size Model Model ID 1/2 RCC-104RL-MS22F VF-04 14.0 Nippon HC-SF81(B) 3/4 RCC-106RL-MS22F VF-06 19.0 flex HC-SF52(B) to 152(B) 1 RCC-108RL-MS22F VF-08 24.4 Straight HC-SF53(B) to 153(B) 16 MSA-16-22 FCV16 15.8 Daiwa HC-RF103(B) to 203(B) 22 MSA-22-22 FCV22 20.8 Dengyo HC-UF72(B) 152(B) CE05-2A22- MS3106A22- 28 MSA-28-22 FCV28 26.4 HC-SFS81(B) 23PD-B 23S(D190) 1/2 RCC-304RL-MS22F VF-04 14.0 HC-SFS52(B) to 152(B) Nippon 3/4 RCC-306RL-MS22F VF-06 19.0 HC-SFS53(B) to 153(B) flex 1 RCC-308RL-MS22F VF-08 24.4 HC-RFS103(B) to 203(B) Angle 16 MAA-16-22 FCV16 15.8 HC-UFS72(B) 152(B) Daiwa 22 MAA-22-22 FCV22 20.8 HC-LFS52(B) to 152(B) Dengyo 28 MAA-28-22 FCV28 26.4 1/2 RCC-104RL-MS24F VF-04 14.0 HC-SF121(B) to 301(B) Nippon 3/4 RCC-106RL-MS24F VF-06 19.0 HC-SF202(B) to 502(B) flex 1 RCC-108RL-MS24F VF-08 24.4 HC-SF203(B) 352(B) Straight 16 MSA-16-24 FCV16 15.8 HC-RF353(B) to 503(B) Daiwa 22 MSA-22-24 FCV22 20.8 HC-UF202(B) to 502(B) Dengyo HC-SFS121(B) to 301(B) CE05-2A24- MS3106A24- 28 MSA-28-24 FCV28 26.4 HC-SFS202(B) to 502(B) 10PD-B 10S(D190) 1/2 RCC-304RL-MS24F VF-04 14.0 Nippon HC-SFS203(B) to 353(B) 3/4 RCC-306RL-MS24F VF-06 19.0 flex HC-RFS353(B) 503(B) 1 RCC-308RL-MS24F VF-08 24.4 Angle HC-UFS202(B) to 502(B) 16 MAA-16-24 FCV16 15.8 Daiwa HA-LFS502 22 MAA-22-24 FCV22 20.8 Dengyo HC-LFS202(B) 302(B) 28 MAA-28-24 FCV28 26.4 3/4 RCC-106RL-MS32F VF-06 19.0 Nippon HC-SF702(B) Straight CE05-2A32- MS3106A32- flex 1 RCC-108RL-MS32F VF-08 24.4 HC-SFS702(B) 17PD-B 17S(D190) Daiwa 3/4 RCC-306RL-MS32F VF-06 19.0 HA-LFS702 Angle Dengyo 1 RCC-308RL-MS32F VF-08 24.4 3 - 9 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Connector for conduit Conduit Servo Motor (DDK) Type Maker Size Model Model ID HC-SF81(B) to 301(B) 1/2 RCC-104RL-MS20F VF-04 14.0 HC-SF52(B) to 702(B) Nippon HC-SF53(B) to 353(B) flex 3/4 RCC-106RL-MS20F VF-06 19.0 HC-RF103(B) to 503(B) Straight HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) 16 MSA-16-20 FCV16 15.8 Daiwa HC-SFS52(B) to 702(B) Dengyo HC-SFS53(B) to 353(B) 22 MSA-22-20 FCV22 20.8 MS3102A20- MS3106A20- HC-RFS103(B) to 503(B) 29P 29S(D190) HC-UFS72(B) to 502(B) 1/2 RCC-304RL-MS20F VF-04 14.0 Nippon HA-LH11K2 to 22K2(B) flex HA-LF30K24 to 55K24 3/4 RCC-306RL-MS20F VF-06 19.0 HA-LF30K2 37K2 Angle HA-LFS601 to 37K1 16 MAA-16-20 FCV16 15.8 HA-LFS701M to 37K1M Daiwa HA-LFS502 to 37K2 Dengyo 22 MAA-22-20 FCV22 20.8 HC-LFS52(B) to 302(B) 3) For connection of brake 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Connector Cable Side Connector Supplied 2) Connector for conduit Conduit Servo Motor 1) Plug for Servo (DDK) Type Maker Size Model Model ID Motor HC-SF121(B) to 301(B) Nippon 1/4 RCC-102RL-MS10F VF-02 8.3 HC-SF202(B) to 502(B) flex Straight HC-SF203(B) 353(B) Daiwa 10 MSA-10-10 FCV10 10 HC-UF202(B) to 502(B) Dengyo MS3102A MS3106A10-SL- HC-SFS121(B) to 301(B) 10SL-4P 4S(D190) Nippon HC-SFS202(B) to 502(B) 1/4 RCC-302RL-MS10F VF-02 8.3 flex HC-SFS203(B) 353(B) Angle Daiwa HC-UFS202(B) to 502(B) 10 MAA-10-10 FCV10 10 Dengyo HC-LFS202(B) 302(B) 3 - 10 3. CONNECTORS USED FOR SERVO MOTOR (2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply 2) Cable 2) Cable clamp clamp 1) Plug Cable 1) Plug Cable Cable Side Connector Connector 2) Cable clamp Servo Motor Supplied for 1) Plug (DDK) (DDK) Servo Motor Type Model Cable OD Model HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) Straight CE05-6A22-23SD-B-BSS 9.5 to 13 CE3057-12A-2(D265) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) CE05-2A22- HC-SFS81(B) 23PD-B HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) Angle CE05-8A22-23SD-B-BAS 12.5 to 16 CE3057-12A-1(D265) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-LFS52(B) to 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) Straight CE05-6A24-10SD-B-BSS 13 to 15.5 CE3057-16A-2(D265) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502(B) 10PD-B HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) Angle CE05-8A24-10SD-B-BAS 15 to 19.1 CE3057-16A-1(D265) HC-UFS202(B) to 502(B) HA-LFS502 HC-LFS202(B) 302(B) HC-SF702(B) Straight CE05-6A32-17SD-B-BSS CE05-2A32- HC-SFS702(B) 22 to 23.8 CE3057-20A-1(D265) 17PD-B Angle CE05-8A32-17SD-B-BAS HA-LFS702 3 - 11 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 3) Cable 1) Plug clamp Cable 2) Back shell Cable 1) Plug 2) Back shell 3) Cable clamp Cable Side Connector Connector 3) Cable clamp Servo Motor Supplied for 1) Plug 2) Back shell (DDK) Servo Motor (DDK) Type Model Cable OD Model HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) Straight CE02-20BS-S HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) MS3102A20- MS3106A20- HC-RFS103(B) to 502(B) 6.8 to 10 CE3057-12A-3(D265) 29P 29S(D190) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2 37K2 Angle CE-20BA-S HA-LFS601 to 37K1 HA-LFS701M to 37K1M HA-LFS502 to 37K2 HC-LFS52(B) to 302(B) 3) For connection of brake 2) Connector for Cable cable Cable 1) Plug 1) Plug 2) Connector for cable Cable Side Connector Connector Supplied 2) Connector for Cable Servo Motor 1) Plug for Servo Motor Cable (DDK) Type Maker Model OD HC-SF121(B) to 301(B) 4 to 8 ACS-08RL-MS10F Nippon HC-SF202(B) to 502(B) flex 8 to 12 ACS-12RL-MS10F Straight HC-SF203(B) 353(B) Daiwa HC-UF202(B) to 502(B) 5 to 8.3 YSO-10-5 to 8 MS3106A10SL- Dengyo HC-SFS121(B) to 301(B) MS3102A10SL-4P 4S(D190) Nippon 4 to 8 ACA-08RL-MS10F HC-SFS202(B) to 502(B) flex HC-SFS203(B) 353(B) 8 to 12 ACA-12RL-MS10F Angle HC-UFS202(B) to 502(B) Daiwa 5 to 8.3 YLO-10-5 to 8 HC-LFS202(B) 302(B) Dengyo 3 - 12 3. CONNECTORS USED FOR SERVO MOTOR (b) When using flexible conduits 1) For connection of power supply 2) Connector for 1) Plug Conduit conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Connector for conduit Conduit Servo Motor (DDK) Type Maker Size Model Model ID 1/2 RCC-104RL-MS22F VF-04 14.0 Nippon HC-SF81(B) 3/4 RCC-106RL-MS22F VF-06 19.0 flex HC-SF52(B) to 152(B) 1 RCC-108RL-MS22F VF-08 24.4 Straight HC-SF53(B) to 153(B) 16 MSA-16-22 FCV16 15.8 Daiwa HC-RF103(B) to 203(B) 22 MSA-22-22 FCV22 20.8 Dengyo HC-UF72(B) 152(B) CE05-2A22- CE05-6A22- 28 MSA-28-22 FCV28 26.4 HC-SFS81(B) 23PD-B 23SD-B 1/2 RCC-304RL-MS22F VF-04 14.0 HC-SFS52(B) to 152(B) Nippon 3/4 RCC-306RL-MS22F VF-06 19.0 HC-SFS53(B) to 153(B) flex 1 RCC-308RL-MS22F VF-08 24.4 HC-RFS103(B) to 203(B) Angle 16 MAA-16-22 FCV16 15.8 HC-UFS72(B) 152(B) Daiwa 22 MAA-22-22 FCV22 20.8 HC-LFS52(B) to 152(B) Dengyo 28 MAA-28-22 FCV28 26.4 1/2 RCC-104RL-MS24F VF-04 14.0 HC-SF121(B) to 301(B) Nippon 3/4 RCC-106RL-MS24F VF-06 19.0 HC-SF202(B) to 502(B) flex 1 RCC-108RL-MS24F VF-08 24.4 HC-SF203(B) 353(B) Straight 16 MSA-16-24 FCV16 15.8 HC-RF353(B) to 503(B) Daiwa 22 MSA-22-24 FCV22 20.8 HC-UF202(B) to 502(B) Dengyo CE05- HC-SFS121(B) to 301(B) CE05-6A24- 28 MSA-28-24 FCV28 26.4 2A24- HC-SFS202(B) to 502(B) 10SD-B 1/2 RCC-304RL-MS24F VF-04 14.0 10PD-B Nippon HC-SFS203(B) 353(B) 3/4 RCC-306RL-MS24F VF-06 19.0 flex HC-RFS353(B) 503(B) 1 RCC-308RL-MS24F VF-08 24.4 Angle HC-UFS202(B) to 502(B) 16 MAA-16-24 FCV16 15.8 Daiwa HA-LFS502 22 MAA-22-24 FCV22 20.8 Dengyo HC-LFS202(B) 302(B) 28 MAA-28-24 FCV28 26.4 3/4 RCC-106RL-MS32F VF-06 19.0 Nippon HC-SF702(B) CE05- Straight CE05-6A32- flex 1 RCC-108RL-MS32F VF-08 24.4 HC-SFS702(B) 2A32- 17SD-B Nippon 3/4 RCC-306RL-MS32F VF-06 19.0 HA-LFS702 17PD-B Angle flex 1 RCC-308RL-MS32F VF-08 24.4 3 - 13 3. CONNECTORS USED FOR SERVO MOTOR 2) For connection of encoder 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 1) Plug 2) Connector for conduit Conduit Servo Motor (DDK) Type Maker Size Model Model ID HC-SF81(B) to 301(B) 1/2 RCC-104RL-MS20F VF-04 14.0 Nippon HC-SF52(B) to 702(B) flex HC-SF53(B) to 353(B) 3/4 RCC-106RL-MS20F VF-06 19.0 HC-RF103(B) to 503(B) Straight HC-UF72(B) to 502(B) 16 MSA-16-20 FCV16 15.8 HC-SFS81(B) to 301(B) Daiwa HC-SFS52(B) to 702(B) Dengyo 22 MSA-22-20 FCV22 20.8 HC-SFS53(B) to 353(B) MS3102A20- MS3106A20- HC-RFS103(B) to 502(B) 29P 29S(D190) HC-UFS72(B) to 502(B) 1/2 RCC-304RL-MS20F VF-04 14.0 Nippon HA-LH11K2 to 22K2 flex HA-LF30K24 to 55K24 3/4 RCC-306RL-MS20F VF-06 19.0 HA-LF30K2 37K2 Angle HA-LFS601 to 37K1 16 MAA-16-20 FCV16 15.8 HA-LFS701M to 37K1M Daiwa HA-LFS502 to 37K2 Dengyo 22 MAA-22-20 FCV22 20.8 HC-LFS52(B) to 302 (B) 3) For connection of brake 2) Connector for conduit 1) Plug Conduit Conduit 1) Plug 2) Connector for conduit Cable Side Connector Connector Servo Motor Supplied for 2) Connector for conduit Conduit 1) Plug Servo Motor (DDK) Type Maker Size Model Model ID Nippon HC-SF121(B) to 301(B) 1/4 RCC-102RL-MS10F VF-02 8.3 flex HC-SF202(B) to 502(B) Straight HC-SF203(B) 353(B) Daiwa 10 MSA-10-10 FCV10 10 HC-UF202(B) to 502(B) Dengyo MS3102A10S MS3106A10SL- HC-SFS121(B) to 301(B) L-4P 4S(D190) Nippon HC-SFS202(B) to 502(B) 1/4 RCC-302RL-MS10F VF-02 8.3 flex HC-SFS203(B) 353(B) Angle HC-UFS202(B) to 502(B) Daiwa 10 MAA-10-10 FCV10 10 HC-LFS202(B) 302(B) Dengyo 3 - 14 3. CONNECTORS USED FOR SERVO MOTOR 3.1.4 HC-AQ series Cable Side Connector (molex) Servo Motor Side Connector Servo Motor (molex) Plug Terminal HC-AQ (B) (Note) 5557-12R-210 5559-12P-210 5558 Note: Terminal: 5556 3.1.5 HC-KFS HC-MFS HC-UFS3000r/min series Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder. These connectors may be used for the EN Standard and UL/C-UL Standard but are not waterproof. (1) For connection of power supply and brake Cable Side Connector Connector Supplied for Servo Motor Manual crimping tool Servo Motor (molex) Plug (molex) Terminal (molex) HC-KFS HC-MFS 5557-04R-210 5559-04P-210 5558PBT3L 57022-5300 HC-UFS13 to 73 Cable Side Connector Connector Supplied for Servo Motor Manual crimping tool Servo Motor (molex) Plug (molex) Terminal (molex) HC-KFS B HC-MFS B 5557-06R-210 5559-06P-210 5558PBT3L 57022-5300 HC-UFS13 to 73B (2) For connection of encoder Cable Side Connector Connector Supplied for Servo Motor Cable clamp Servo Motor (AMP) Housing (AMP) Connector pin (AMP) (Toa Electric Industry) HC-KFS (B) 170359-1 HC-MFS (B) 1-172169-9 1-172161-9 MTI-0002 170363-1 (loose piece) HC-UFS13 to 73(B) 3 - 15 3. CONNECTORS USED FOR SERVO MOTOR 3.1.6 HC-UF3000r/min series (Compliance with IP65) Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder. These connectors are waterproof. (1) For connection of power Cable Side Connector Connector Supplied for Servo Motor Servo Motor Plug (Hirose Electric) Cable clamp (Hirose Electric) (Hirose Electric) HC-UF -S1 RM15WTP-4P RM15WTJA-4S (Note) RM15WTP-CP(8) Note: The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter. (2) For connection of encoder Cable Side Connector Connector Supplied for Servo Motor Servo Motor Plug (With cable clamp) (Hirose Electric) Cable clamp (Hirose Electric) (Hirose Electric) HC-UF -S1 RM15WTP-10P (Note) RM15WTJA-10S-(7) Note: The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter. (3) For connection of brake Cable Side Connector Connector Supplied for Servo Motor Servo Motor Plug (Hirose Electric) Cable clamp (Hirose Electric) (Hirose Electric) HC-UF -S1 RM15WTP-4P RM15WTJA-4S (Note) RM15WTP-CP(6) Note: The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter. 3 - 16 3. CONNECTORS USED FOR SERVO MOTOR 3.2 IP65, EN Standard-compliant options The following options are available to satisfy the IP65 ingress protection and EN Standard. To comply with the EN Standard, the power supply connector used must be any of these options or equivalent. Product Model Description Servo Motor IP65-compliant MR-ENCBL M-H Servo amplifier side connector Encoder side connector HC-SF series encoder cable (3M or equivalent) (DDK) HC-RF series (For MR-J2 series Connector: 10120-3000VE Plug: MS3106A20-29S(D190) HC-UF2000r/min MR-J2-Super Series) Shell kit: 10320-52F0-008 Cable clamp: CE3057-12A-3(D265) series Back shell: CE02-20BS-S HA-LF-UE series HA-FF-UE series HA-SFS series HA-RFS series HC-UFS2000r/min series HA-LFS series HC-LFS series Encoder cable MR-EN1CBL M-H Servo amplifier side connector Encoder side connector HC-SF series (For MR-H- N series) (Honda Tsushin Kogyo) (DDK) HC-RF series Connector: PCR-S20FS Plug: MS3106A20-29S(D190) HC-UF2000r/min Case: PCR-LS20LA1 Cable clamp: CE3057-12A-3(D265) series Back shell: CE02-20BS-S HA-LF-UE series Encoder connector set MR-ENCNS Servo amplifier side connector Encoder side connector HC-SF series (For MR-J2 series (3M or equivalent) (DDK) HC-RF series MR-J2-Super Series) Connector: 10120-3000VE Plug: MS3106A20-29S(D190) HC-UF2000r/min Shell kit: 10320-52F0-008 Cable clamp: CE3057-12A-3(D265) series Back shell: CE02-20BS-S HC-SFS series HC-RFS series HC-UFS2000r/min series HA-LFS series HC-LFS series Encoder connector set MR-EN1CNS Servo amplifier side connector Encoder side connector HC-SF series (For MR-H- N series) (Honda Tsushin Kogyo) (DDK) HC-RF series Connector: PCR-S20FS Plug: MS3106A20-29S(D190) HC-UF2000r/min Case: PCR-LS20LA1 Cable clamp: CE3057-12A-3(D265) series Back shell: CE02-20BS-S HA-LF series EN Standard-compliant MR-PWCNF Plug: CE05-6A14S-2SD-B (DDK) HA-FF C-UE power connector set Cable connector: YSO14-9 to 11 (Daiwa Dengyo) series 3 - 17 3. CONNECTORS USED FOR SERVO MOTOR Product Model Description Servo Motor IP65/EN MR-PWCNS1 Plug: CE05-6A22-23SD-B-BSS HC-SF81(B) Standard-compliant Cable clamp: CE3057-12A-2 (D265) (DDK) HC-SF52(B) to 152(B) power connector set HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-LFS52(B) to 152(B) IP65/EN MR-PWCNS2 Plug: CE05-6A22-10SD-B-BSS HC-SF121(B) to 301(B) Standard-compliant Cable clamp: CE3057-16A-2 (D265) (DDK) HC-SF202(B) to 502(B) power connector set HC-SF203(B) 353(B) HC-RF353(B) 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) HC-UFS202(B) 352(B) HA-LFS502 HC-LFS202(B) 302(B) Power connector set MR-PWCNS3 Plug:CE05-6A32-17SD-B-BSS HC-SF702(B) Cable clamp: CE3057-20A-1 (D265) (DDK) HC-SFS702(B) HA-LFS702 IP65/EN MR-BKCN (Note) Plug: MS3106A10SL-4S(D190) (DDK) HA-FF CB-UE Standard-compliant Cable connector: YSO10-5 to 8 (Daiwa Dengyo) HC-SF121B to 301B brake connector set HC-SF202B to 502B HC-SF203B 353B HC-UF202B 502B HC-SFS121B to 301B HC-SFS202B to 502B HC-SFS203B 353B HC-UFS202B to 502B HC-LFS202B 302B Note: If it is used with the HA-FF C-UE, the servo motor does not improve in ingress protection (IP54). 3 - 18 3. CONNECTORS USED FOR SERVO MOTOR 3.3 Signal arrangement of encoder connectors The encoder connector of each servo motor has the following signal arrangement. The connectors shown are as seen from the pin side. Servo Motor Series Signal Arrangement HC-KF(-UE) series Encoder connectors HC-MF(-UE) series 1-172169-9 (AMP) HA-FF series 123 HC-UF3000r/min series MR BAT MRR HC-KFS series 456 MD MDR HC-MFS series 789 HC-UFS3000r/min series P5 LG SHD HA-FF C-UE series Encoder connectors Pin Signal Pin Signal HC-SF series A MD K M B HC-RF series A B MDR L L C N HC-UF2000r/min series C MR M K D TP D MRR N SHD HA-LH series J E S R E P HA-LF series H F G F BAT R LG HC-SFS series GLG S P5 HC-RFS series H T HC-UFS2000r/min series J HA-LFS series HC-LFS series HC-AQ series Motor connector 12 6 MRR MR 11 5 LG P5 10 4 SHD 93 B1 B2 82 WU 71 VE 3 - 19 3. CONNECTORS USED FOR SERVO MOTOR MEMO 3 - 20 4. INSPECTION 4. INSPECTION 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. WARNING 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. POINT Do not disassemble and/or repair the equipment on customer side. (1) Inspection It is recommended to make the following checks periodically: (a) Check the servo motor bearings, brake section, etc. for unusual noise. (b) Check the cables and the like for scratches and cracks. Especially when the junction cable is movable, perform periodic inspection according to operating conditions. (c) Check the servo motor shaft and coupling for misalignment. (d) Check the power supply connector and encoder connector tightening screws for looseness. (2) Life The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative. Part Name Guideline of Life Remarks Bearings 20,000 to 30,000 hours Encoder 20,000 to 30,000 hours The Guideline of Life field gives the reference time. If any fault is found before this time is reached, the part must be changed. Oil seal 5,000 hours Cooling fan 20,000 hours (a) Bearings When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection. (b) Oil seal Must be changed in 5,000 hours of operation at rated speed as a guideline. These parts must also be changed if oil leakage, etc. is found during inspection. 4 - 1 4. INSPECTION MEMO 4 - 2 5. SPECIFICATIONS 5. SPECIFICATIONS 5.1 Standard specifications HC-MF Series HA-FF Series Servo Motor (ultra low inertia, small capacity) (low inertia, small capacity) Item 053 13 23 43 73 053 13 23 33 43 63 MR-H AN/BN/ACN/TN 20 20 40 60 100 10 10 20 40 40 60 Applicable servo amplifier MR-J2-A/B/C 101020 40 70 10 10 204040 60 Rated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.3 0.4 0.6 Continuous characteristics Rated [N m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 0.95 1.3 1.9 (Note 1 11) torque [oz in] 22.7 45.3 90.7 184 340 22.7 45.3 90.7 135 184 269 Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 4500 4000 Instantaneous permissible speed [r/min] 5175 4600 [N m] 0.48 0.95 1.9 3.8 7.2 0.48 0.95 1.9 2.9 3.8 5.7 Maximum torque [oz in] 68.0 135 269 538 1020 68.0 135 269 411 538 808 Power rate at continuous rated torque 13.47 34.13 46.02 116.55 94.43 4.0 10.2 11.7 18.1 17.2 30.1 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 0.019 0.03 0.088 0.143 0.6 0.063 0.10 0.35 0.50 0.98 1.2 2 2 (Note 3) WK [oz in ] 0.104 0.16 0.48 0.78 3.28 0.344 0.55 1.91 2.73 5.36 6.56 Recommended ratio of load inertia moment to 30 times or less 10 times or less servo motor shaft inertia moment (Note 2) Servo amplifier' built-in regenerative brake (Note 5) (Note 5) (Note 5) 4275 1726 (Note 5) (Note 5) (Note 5) 1500 750 600 resistor MR-H (Note 5) (Note 5) series MR-RB013(10W) 2071 1363 370 Regenerative MR-RB033(30W) (Note 5) (Note 5) (Note 5) 4088 1109 brake duty MR-RB32(300W) (Note 5) (Note 5) (Note 5) (Note 5) 3983 3046 [times/min] Servo amplifier' built-in (Note 4) regenerative brake (Note 5) (Note 5) (Note 5) 1010 400 (Note 5) (Note 5) (Note 5) 320 150 120 MR-J2 resistor series MR-RB032(30W) 3000 600 950 450 360 MR-RB12(100W) (Note 5) 2400 3200 1500 1200 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 0.85 0.85 1.5 2.8 5.1 0.6 1.1 1.3 1.9 2.5 3.6 Maximum current [A] 2.6 2.6 5 9 18 1.8 3.3 3.9 5.7 7.5 10.8 Speed/position detector Encoder (resolution : 8192 pulse/rev) Encoder (resolution : 8192 pulse/rev) Accessories Encoder Encoder, V ring Insulation class Class B Class B Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP44 (Note 6 12)) (protection type: IP44 (Note 8 9 12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 0.4 0.53 0.99 1.45 3.0 1.3 1.5 2.3 2.6 4.2 4.8 Weight (Note 3) [lb] 0.88 1.17 2.18 3.20 6.61 2.87 3.31 5.07 5.73 9.26 10.6 5 - 1 5. SPECIFICATIONS HC-SF 1000r/min Series HC-SF 2000r/min Series Servo Motor (middle inertia, middle capacity) (middle inertia, middle capacity) Item 81 121 201 301 52 102 152 202 352 502 702 Applicable servo MR-H AN/BN/ACN/TN 100 200 200 350 60 100 200 200 350 500 700 amplifier MR-J2- A/B/C 100 200 200 350 60 100 200 200 350 Continuous Rated output [kW] 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0 characteristics [N m] 8.12 11.5 19.1 28.6 2.39 4.78 7.16 9.55 16.7 23.9 33.4 Rated (Note 1 11) torque [oz in] 1151 1630 2707 4053 339 677 1015 1353 2367 3387 4733 Rated speed (Note 1) [r/min] 1000 2000 Maximum speed [r/min] 1500 1200 3000 2500 2000 Instantaneous permissible speed [r/min] 1725 1380 345 2850 2300 [N m] 24.4 34.4 57.3 85.9 7.16 14.4 21.6 28.5 50.1 71.6 100.0 Maximum torque [oz in] 3458 4875 8120 12173 1015 2041 3061 4039 7100 10146 14171 Power rate at continuous rated torque 32.9 30.9 44.5 81.3 8.7 16.7 25.6 21.5 34.1 56.5 69.7 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 20.0 42.5 82 101 6.6 13.7 20.0 4.5 82.0 101 160 2 2 (Note 3) WK [oz in ] 109 232 448 552 36.1 74.9 109 232 448 552 875 Recommended ratio of load inertia moment to 15 times or less 15 times or less servo motor shaft inertia moment (Note 2) Servo amplifier' built-in regenerative brake 440 335 174 141 207 170 179 84 43 39 32 resistor MR-RB31(300W) 57 MR-RB32(300W) 1649 1241 638 MR-H series MR-RB30(300W) 326 100 90 MR-RB34(300W) 774 401 412 193 MR-RB50(500W) 543 167 150 Regenerative MR-RB51(500W) 95 brake duty [times/min] MR-RB54(500W) 1290 669 687 322 (Note 4) Servo amplifier' built-in regenerative brake 140 240 100 84 56 54 136 64 31 resistor MR-RB032(30W) 220 165 80 MR-J2 series MR-RB12(100W) 740 560 270 MR-RB32(300W) 2220 810 MR-RB30(300W) 730 330 250 408 192 95 MR-RB50(500W) 1216 550 430 680 320 158 Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Rated current [A] 5.1 7.1 9.6 16 3.2 6 9 11 17 28 35 Maximum current [A] 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105 Encoder Encoder Speed/position detector (resolution: 16384 pulse/rev) (resolution: 16384 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65) (protection type: IP65(Note 12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32 Weight (Note 3) [lb] 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5 5 - 2 5. SPECIFICATIONS HC-SF 3000r/min Series HC-RF Series Servo Motor (middle inertia, middle capacity) (ultra low inertia, middle capacity) 203 353 Item 53 103 153 103 153 203 353 503 (Note 13) (Note 13) Applicable servo MR-H AN/BN/ACN/TN 60 100 200 200 350 200 200 350 500 500 amplifier MR-J2- A/B/C 60 100 200 200 350 200 200 350 Rated output [kW] 0.5 1.0 1.5 2.0 3.5 1.0 1.5 2.0 3.5 5.0 Continuous characteristics Rated [N m] 1.59 3.18 4.78 6.37 11.1 3.18 4.78 6.37 11.1 15.9 (Note 1 11) torque [oz in] 225 451 677 903 1573 451 677 903 1573 2253 Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 3000 4500 Instantaneous permissible speed [r/min] 3450 5175 [N m] 4.77 9.55 14.3 19.1 33.4 7.95 11.9 15.9 27.9 39.7 Maximum torque [oz in] 676 1353 2026 2707 4733 1127 1686 2253 3954 5626 Power rate at continuous rated torque 3.8 7.4 11.4 9.5 15.1 67.4 120 176 150 211 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 6.6 13.7 20.0 42.5 82.0 1.5 1.9 2.3 8.6 12.0 2 2 (Note 3) WK [oz in ] 36.1 74.9 109.3 232.4 448.3 8.2 10.4 12.6 47.0 65.6 Recommended ratio of load inertia moment 15 times or less 5 times or less to servo motor shaft inertia moment (Note 2) Servo amplifier' built-in regenerative brake 92 71 79 37 19 1056 834 689 174 125 resistor MR-RB32(300W) 552 267 MR-H MR-RB30(300W) 45 1589 401 288 series MR-RB34(300W) 183 86 2437 1924 MR-RB50(500W) 74 2648 669 479 Regenerative brake duty MR-RB54(500W) 305 143 4061 3206 [times/min] Servo amplifier' built-in (Note4) regenerative brake 25 24 82 24 14 1090 860 710 resistor MR-RB032(30W) 73 36 MR-J2 series MR-RB12(100W) 250 120 MR-RB32(300W) 360 MR-RB30(300W) 250 70 42 3270 2580 2130 MR-RB50(500W) 410 110 70 5450 4300 3550 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 3.2 5.3 8.6 10.4 16.4 6.1 8.8 14 23 28 Maximum current [A] 9.6 15.9 25.8 31.2 49.2 18.4 23.4 37 58 70 Encoder Encoder Speed/position detector (resolution : 16384 pulse/rev) (resolution : 16384 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65) (protection type: IP65(Note 12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 5.0 7.0 9.0 12 19 3.9 5.0 6.2 12.0 17.0 Weight (Note 3) [lb] 11.0 15.4 19.8 26.5 41.9 8.6 11.0 13.7 26.5 37.5 5 - 3 5. SPECIFICATIONS HA-LH Series Servo Motor HC-UF 2000r/min Series HC-UF 3000r/min Series (low inertia large (pancake type middle capacity) (pancake type small capacity) capacity) 73 Item 72 152 202 352 502 13 23 43 11K 15K 22K (Note 13) MR-H AN/BN/ACN/TN Applicable servo 100 200 350 500 500 10 40 60 100 11K 15K 22K amplifier MR-J2 A/B/C 70 200 350 10 20 40 70 Rated output [kW] 0.75 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 11 15 22 Continuous characteristics Rated [N m] 3.58 7.16 9.55 16.7 23.9 0.32 0.64 1.3 2.4 52.5 71.6 105 (Note 1 11) torque [oz in] 507 1015 1353 2367 3387 45 91 184 340 7435 10139 14869 Rated speed (Note 1) [r/min] 2000 3000 2000 Maximum speed [r/min] 3000 2500 4500 2000 Instantaneous permissible speed [r/min] 3450 2875 5175 2300 [N m] 10.7 21.6 28.5 50.1 71.6 0.95 1.9 3.8 7.2 158 215 263 Maximum torque [oz in] 1516 3061 4039 7100 10146 135 269 538 1020 22375 30447 37244 Power rate at continuous rated torque 12.3 23.2 23.9 36.5 49.6 15.5 19.2 47.7 9.66 235 177 278 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 10.4 22.1 38.2 76.5 115 0.066 0.241 0.365 5.90 118 290 395 2 2 (Note 3) WK [oz in ] 56.9 120.8 208.9 418.3 628.8 0.4 1.3 2.0 32.3 642.4 1585.6 2159.6 Recommended ratio of load inertia moment 15 times or less 10 times or less to servo motor shaft inertia moment (Note 2) Servo amplifier' built-in 85 70 55 regenerative brake 211 161 93 44 31 (Note5) 2530 1669 165 (Note10) (Note10) (Note10) resistor MR-RB013(10W) 2241 MR-RB033(30W) (Note5) MR-RB32(300W) 791 (Note5) (Note5) 619 MR-RB30(300W) 215 102 72 MR-H MR-RB34(300W) 372 Series MR-RB50(500W) 358 169 119 MR-RB54(500W) 620 Regenerative 500 brake duty MR-RB65(800W) (Note10) [times/min] 850 (Note4) MR-RB66(1300W) (Note10 ) 850 MR-RB67(1300W) (Note10) Servo amplifier' built-in regenerative brake 53 124 68 (Note5) (Note5) 410 41 resistor MR-J2 MR-RB032(30W) 79 1230 62 series MR-RB12(100W) 87 4106 206 MR-RB30(300W) 372 203 MR-RB50(300W) 620 338 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Power supply capacity Servo Amplifier Instruction Manual. Rated current [A] 5.4 9.7 14 23 28 0.76 1.5 2.8 4.3 68 87 126 Maximum current [A] 16.2 29.1 42 69 84 2.5 4.95 9.24 12.9 204 261 315 Encoder Encoder Encoder (resolution : Speed/position detector (resolution : 16384 pulse/rev) (resolution : 8192 pulse/rev) 16384 pulse/rev) Power Voltage, frequency 200/220V 50/60Hz supply Cooling Power consumption [W] 42/54W fan Rated current [A] 0.21/0.25A Speed [r/min] 3000/3600r/min Accessories Encoder Oil seal Encoder Oil seal Encoder Oil seal Insulation class Class F Class B Class F Totally-enclosed, Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure force-cooling (protection type: IP65(Note9)) (protection type: IP65(Note9)) (protection type: JP44) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 Refer to section 2.1 [kg] 8.0 11.0 16.0 20.0 24.0 0.8 1.5 1.7 5.0 70 108 135 Weight (Note 3) [lb] 17.6 24.3 35.3 44.1 52.9 1.8 3.3 3.7 11.0 154.3 238.1 297.6 5 - 4 5. SPECIFICATIONS Servo Motor HC-KF Series (low inertia small capacity) Item 053 13 23 43 MR-H AN/ 10 10 20 40 BN/ACN/TN Applicable servo amplifier 10A-A16 10A-A15 20A-A15 40A-A15 MR-J2- 10B-A16 10B-A15 20B-A15 40B-A15 10C-A16 10C-A15 20C-A15 40C-A15 Rated [kW] 0.05 0.1 0.2 0.4 Continuous output characteristics Rated [N m] 0.16 0.32 0.64 1.3 (Note 1 11) torque [oz in] 22.7 45.3 90.7 184 Rated speed (Note 1) [r/min] 3000 Maximum speed [r/min] 4500 Instantaneous permissible speed [r/min] 5175 [N m] 0.48 0.95 1.9 3.8 Maximum torque [oz in] 68.0 135 269 538 Power rate at continuous rated torque 4.78 12.1 9.65 24.2 [kW/s] 4 2 Inertia J[ 10 kg m ] 0.053 0.084 0.42 0.67 moment 2 2 WK [oz in ] 0.29 0.459 2.296 3.663 (Note 3) Recommended ratio of load inertia moment to servo motor shaft inertia 15 times or less moment (Note 2) Servo amplifier's built-in (Note 5) (Note 5) (Note 5) regenerative MR-H brake resistor series MR-RB013(10W) (Note 5) (Note 5) Regenerative MR-RB033(30W) (Note 5) (Note 5) brake duty MR-RB32(300W) (Note 5) (Note 5) [times/min] Servo amplifier's (Note 4) built-in (Note 5) (Note 5) (Note 5) 220 regenerative MR-J2 brake resistor series MR-RB032(30W) (Note 5) 660 MR-RB12(100W) (Note 5) 2200 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 0.83 0.71 1.1 2.3 Maximum current [A] 2.5 2.2 3.4 6.9 Speed/position detector Encoder (resolution: 8192 pulses/rev) Accessory Encoder Insulation class Class B Structure Totally-enclosed, self-cooled (protection type: IP44 (Note 6)) Environmental conditions (Note 7) Refer to Section 2.1. [kg] 0.40 0.53 0.99 1.45 Weight [lb] 0.882 1.168 2.18 3.20 5 - 5 5. SPECIFICATIONS Servo Motor HC-AQ Series (24VDC-compatible ultra low inertia small capacity) Item 0135 0235 0335 MR-J2-03A5 Applicable servo amplifier MR-J2-03B5 MR-J2-03C5 Rated output [kW] 0.01 0.02 0.03 Continuous characteristics [N m] 0.0318 0.0637 0.0955 Rated torque (Note 1 11) [oz in] 4.503 9.021 13.524 Rated speed (Note 1) [r/min] 3000 Maximum speed [r/min] 5000 4500 Instantaneous permissible speed [r/min] 5750 5175 [N m] 0.0955 0.191 0.287 Maximum torque [oz in] 13.524 27.048 40.643 Power rate at continuous rated torque 2.0 5.6 9.7 [kW/s] 4 2 J[ 10 kg m ] 0.0050 0.0072 0.0094 Inertia moment 2 (Note 3) 2 WK [oz in ] 0.027 0.039 0.051 Recommended ratio of load inertia moment to servo motor shaft inertia 30 times or less moment (Note 2) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 2.4 2.4 2.3 Maximum current [A] 7.7 7.7 7.4 Speed/position detector Encoder (resolution: 8192 pulses/rev) Accessory Encoder Insulation class Class B Structure Totally-enclosed, self-cooled (protection type: IP55 (Note 6)) Environmental conditions (Note 7) Refer to Section 2.1. [kg] 0.19 0.22 0.25 Weight (Note 3) [lb] 0.419 0.485 0.551 5 - 6 5. SPECIFICATIONS Servo Motor HA-LF Series (three-phase, 200VAC-compatible, low inertia large capacity) Item 30K2 37K2 Applicable servo MR-H AN/BN 30K 37K amplifier Compatible converter unit MR-HP30KA Rated [kW] 30 37 Continuous output characteristics Rated [N m] 143 177 (Note 1 11) torque [oz in] 20250.6 25065.4 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300 [N m] 358 442 Maximum torque [oz in2] 50697.2 62592.6 Power rate at continuous rated torque 373 480 [kW/s] 4 2 Inertia J[ 10 kg m ] 550 650 2 moment 2 WK [oz in ] 3007.1 3553.8 Recommended ratio of load inertia moment 10 times or less to servo motor shaft inertia moment MR-RB139 58 49 (1300W) Regenerative brake duty [times/min] (Note 4) MR-RB137 174 147 (3900W) Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Power supply capacity Servo Amplifier Instruction Manual. Rated current [A] 166 102 Maximum current [A] 415 255 Speed/position detector Encoder (resolution: 16384 pulse/rev) Voltage frequency Three-phase 200 to 230VAC 50/60Hz Power Power supply [W] 45(50Hz)/63(60Hz) Cooling consumption fan Rated current [A] 0.32(50Hz)/0.35(60Hz) 0.32(50Hz)/63(60Hz) Speed [r/min] 2650(50Hz)/3100(60Hz) Accessories Encoder oil seal Insulation class Class F Structure Totally-enclosed force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to Section 2.1 [kg] 160 180 Weight (Note 3) [lb] 352.7 396.8 5 - 7 5. SPECIFICATIONS Servo Motor HA-LF Series (three-phase, 400VAC-compatible, low Inertia, large Capacity) Item 30K24 37K24 45K24 55K24 Applicable servo MR-H AN4/BN4 30K 37K 45K 55K amplifier Compatible converter unit MR-HP55KA4 Rated [kW] 30 37 45 55 Continuous output characteristics [N m] 143 177 215 263 Rated (Note 1 11) torque [oz in] 20250.6 25065.4 30446.6 37244.0 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300 [N m] 358 442 537 657 Maximum torque [oz in] 50697.2 62592.6 76045.8 930392 Power rate at continuous rated torque 373 480 427 526 [kW/s] 4 2 J[ 10 kg m ] 550 650 1080 1310 Inertia moment 2 (Note 3) 2 WK [oz in ] 3007.095 3553.84 5904.84 7162.354 Recommended ratio of load inertia moment to servo motor shaft inertia moment 10 times or less (Note 2) MR-RB136-4 58 49 30 24 (1300W) Regenerative brake duty Three MR- [times/min] (Note 4) B138-4’s 174 147 89 73 (3900W) Refer to "Power supply equipment capacity and generated loss of servo Power supply capacity amplifiers" in Servo Amplifier Instruction Manual. Rated current [A] 83 102 131 143 Maximum current [A] 208 255 328 358 Speed/position detector Encoder (resolution: 16384 pulses/rev) Voltage frequency Three-phase 380 to 460VAC 50/60Hz Power Power supply [W] 63(50Hz)/83(60Hz) 110(50Hz)/150(60Hz) Cooling fan consumption Rated current [A] 0.09(50Hz)/0.11(60Hz) 0.20(50Hz)/0.22(60Hz) Speed [r/min] 2720(50Hz)/2980(60Hz) 2650(50Hz)/3000(60Hz) Accessories Encoder, oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to Section 2.1. [kg] 160 180 230 250 Weight (Note 3) [lb] 352.739 396.832 507.063 551.155 5 - 8 5. SPECIFICATIONS Servo Motor HC-MFS Series HC-KFS Series (ultra low inertia small capacity) (low inertia small capacity) Item 053 13 23 43 73 053 13 23 43 73 MR-J2S- A/B/CP 10 10 20 40 70 10 10 20 40 70 Applicable servo amplifier/drive unit MR-J2M- DU 10 10 20 40 70 10 10 20 40 70 Rated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75 Continuous characteristics Rated [N m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4 (Note 1 11) torque [oz in] 22.7 45.3 90.7 184 340 22.7 45.3 90.7 184 340 Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 4500 4500 Instantaneous permissible speed [r/min] 5175 5175 [N m] 0.48 0.95 1.9 3.8 7.2 0.48 0.95 1.9 3.8 7.2 Maximum torque [oz in] 68.0 135 269 538 1020 68.0 135 269 538 1020 Power rate at continuous rated torque 13.47 34.13 46.02 116.55 94.43 4.78 12.1 9.65 24.2 37.7 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 0.019 0.03 0.088 0.143 0.6 0.053 0.084 0.42 0.67 1.51 2 2 (Note 3) WK [oz in ] 0.104 0.16 0.48 0.78 3.28 0.29 0.459 2.296 3.663 8.26 Recommended ratio of load inertia moment to 30 times or less 10 times or less servo motor shaft inertia moment (Note 2) Servo amplifier' built- Regenerative in regenerative brake (Note 5) (Note 5) (Note 5) 1010 400 (Note 5) (Note 5) (Note 5) 220 190 brake duty resistor MR-J2S [times/min] series MR-RB032(30W) 3000 600 (Note 5) (Note 5) (Note 5) 660 280 (Note4) MR-RB12(100W) (Note5) 2400 (Note 5) (Note 5) (Note 5) 2200 940 MR-RB32(300W) (Note5) 2800 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 0.85 0.85 1.5 2.8 5.1 0.83 0.71 1.1 2.3 5.8 Maximum current [A] 2.6 2.6 5 9 18 2.5 2.2 3.4 6.9 18.6 Speed/position detector Encoder (resolution : 131072 pulse/rev) Encoder (resolution : 131072 pulse/rev) Accessories Encoder Encoder, V ring Insulation class Class B Class B Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP55 (Note 6,7)) (protection type: IP44 (Note 6,12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 0.4 0.53 0.99 1.45 3.0 0.40 0.53 0.99 1.45 3.0 Weight (Note 3) [lb] 0.88 1.17 2.18 3.20 6.61 0.882 1.168 2.18 3.20 6.61 5 - 9 5. SPECIFICATIONS HC-SFS1000r/min Series HC-SFS 2000r/min Series Servo Motor (middle inertia, middle capacity) (middle inertia, middle capacity) Item 81 121 201 301 52 102 152 202 352 502 702 Applicable servo MR-J2S- A/B/CP 100 200 200 350 60 100 200 200 350 500 700 amplifier/drive unit Rated output [kW] 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0 Continuous characteristics Rated [N m] 8.12 11.5 19.1 28.6 2.39 4.78 7.16 9.55 16.7 23.9 33.4 (Note 1 11) torque [oz in] 1151 1630 2707 4053 339 677 1015 1353 2367 3387 4733 Rated speed (Note 1) [r/min] 1000 2000 Maximum speed [r/min] 1500 1200 3000 2500 2000 Instantaneous permissible speed [r/min] 1725 1380 345 2850 2300 [N m] 24.4 34.4 57.3 85.9 7.16 14.4 21.6 28.5 50.1 71.6 100.0 Maximum torque [oz in] 3458 4875 8120 12173 1015 2041 3061 4039 7100 10146 14171 Power rate at continuous rated torque 32.9 30.9 44.5 81.3 8.7 16.7 25.6 21.5 34.1 56.5 69.7 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 20.0 42.5 82 101 6.6 13.7 20.0 4.5 82.0 101 160 2 2 (Note 3) WK [oz in ] 109 232 448 552 36.1 74.9 109 232 448 552 875 Recommended ratio of load inertia moment to 15 times or less 15 times or less servo motor shaft inertia moment (Note 2) Servo amplifier' built- in regenerative brake 140 240 100 84 56 54 136 64 31 39 32 resistor MR-RB032(30W) 220 165 80 Regenerative MR-RB12(100W) 740 560 270 MR-J2S brake duty [times/min] series MR-RB32(300W) 2220 810 (Note4) MR-RB30(300W) 730 330 250 408 192 95 90 MR-RB50(500W) 1216 550 430 680 320 158 150 MR-RB31(300W) 57 MR-RB51(500W) 95 Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Rated current [A] 5.1 7.1 9.6 16 3.2 6 9 11 17 28 35 Maximum current [A] 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105 Encoder Encoder Speed/position detector (resolution: 131072 pulse/rev) (resolution: 131072 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65) (protection type: IP65(Note 12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32 Weight (Note 3) [lb] 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5 5 - 10 5. SPECIFICATIONS HC-SFS 3000r/min Series HC-RFS Series Servo Motor (middle inertia middle capacity) (ultra low inertia middle capacity) Item 53 103 153 203 353 103 153 203 353 503 Applicable servo MR-J2S- A/B/CP 60 100 200 200 350 200 200 350 500 500 amplifier Rated output [kW] 0.5 1.0 1.5 2.0 3.5 1.0 1.5 2.0 3.5 5.0 Continuous characteristics Rated [N m] 1.59 3.18 4.78 6.37 11.1 3.18 4.78 6.37 11.1 15.9 (Note 1 11) torque [oz in] 225 451 677 903 1573 451 677 903 1573 2253 Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 3000 4500 Instantaneous permissible speed [r/min] 3450 5175 [N m] 4.77 9.55 14.3 19.1 33.4 7.95 11.9 15.9 27.9 39.7 Maximum torque [oz in] 676 1353 2026 2707 4733 1127 1686 2253 3954 5626 Power rate at continuous rated torque 3.8 7.4 11.4 9.5 15.1 67.4 120 176 150 211 [kW/s] 4 2 J[ 10 kg m ] Inertia moment 6.6 13.7 20.0 42.5 82.0 1.5 1.9 2.3 8.6 12.0 2 2 (Note 3) WK [oz in ] 36.1 74.9 109.3 232.4 448.3 8.2 10.4 12.6 47.0 65.6 Recommended ratio of load inertia moment 15 times or less 5 times or less to servo motor shaft inertia moment (Note 2) Servo amplifier' built- in regenerative brake 25 24 82 24 14 1090 860 710 174 125 resistor MR-RB032(30W) 73 36 Regenerative MR-RB12(100W) 250 120 brake duty MR-J2S [times/min] series MR-RB32(300W) 360 (Note 4) MR-RB30(300W) 250 70 42 3270 2580 2130 401 MR-RB50(500W) 410 110 70 5450 4300 3550 669 MR-RB31(300W) 288 MR-RB51(500W) 479 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 3.2 5.3 8.6 10.4 16.4 6.1 8.8 14 23 28 Maximum current [A] 9.6 15.9 25.8 31.2 49.2 18.4 23.4 37 58 70 Encoder Encoder Speed/position detector (resolution : 131072 pulse/rev) (resolution : 131072 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65) (protection type: IP65(Note 12)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 5.0 7.0 9.0 12 19 3.9 5.0 6.2 12.0 17.0 Weight (Note 3) [lb] 11.0 15.4 19.8 26.5 41.9 8.6 11.0 13.7 26.5 37.5 5 - 11 5. SPECIFICATIONS Servo Motor HC-UFS 2000r/min Series HC-UFS 3000r/min Series (pancake type middle capacity) (pancake type small capacity) Item 72 152 202 352 502 13 23 43 73 MR-J2S A/B/CP Applicable servo 70 200 350 500 500 10 20 40 70 amplifier/drive unit MR-J2M DU 10 20 40 70 Rated output [kW] 0.75 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 Continuous characteristics Rated [N m] 3.58 7.16 9.55 16.7 23.9 0.32 0.64 1.3 2.4 (Note 1 11) torque [oz in] 507 1015 1353 2367 3387 45 91 184 340 Rated speed (Note 1) [r/min] 2000 3000 Maximum speed [r/min] 3000 2500 4500 Instantaneous permissible speed [r/min] 3450 2875 5175 [N m] 10.7 21.6 28.5 50.1 71.6 0.95 1.9 3.8 7.2 Maximum torque [oz in] 1516 3061 4039 7100 10146 135 269 538 1020 Power rate at continuous rated torque 12.3 23.2 23.9 36.5 49.6 15.5 19.2 47.7 9.66 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 10.4 22.1 38.2 76.5 115 0.066 0.241 0.365 5.90 2 2 (Note 3) WK [oz in ] 56.9 120.8 208.9 418.3 628.8 0.4 1.3 2.0 32.3 Recommended ratio of load inertia moment 15 times or less 15 times or less to servo motor shaft inertia moment (Note 2) Servo amplifier' built- in regenerative brake 53 124 68 44 31 (Note5) (Note5) 410 41 Regenerative resistor brake duty MR-J2S MR-RB032(30W) 79 1230 62 [times/min] series MR-RB12(100W) 87 4106 206 (Note4) MR-RB30(300W) 372 203 109 72 MR-RB50(300W) 620 338 169 119 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 5.4 9.7 14 23 28 0.76 1.5 2.8 4.3 Maximum current [A] 16.2 29.1 42 69 84 2.5 4.95 9.24 12.9 Encoder Encoder Speed/position detector (resolution : 131072 pulse/rev) (resolution : 131072 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class B Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65(Note9)) (protection type: IP65(Note9)) Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 [kg] 8.0 11.0 16.0 20.0 24.0 0.8 1.5 1.7 5.0 Weight (Note 3) [lb] 17.6 24.3 35.3 44.1 52.9 1.8 3.3 3.7 11.0 5 - 12 5. SPECIFICATIONS Servo Motor HA-LFS 1000r/min Series (low inertia large capacity) Item 601 801 12K1 15K1 20K1 25K1 30K1 37K1 (Note 13) MR-J2S- A/B 700 11K 15K 22K 30K 37K Applicable servo amplifier MR-J2S- CP 700 Compatible converter unit MR-HP30KA Continuous Rated output [kW] 6 8 12 15 20 25 30 37 characteristics [N m] 57.3 76.4 115 143 191 239 286 353 Rated (Note 1 11) torque [oz in] 8114 10819 16285 20251 27048 33845 40501 49989 Rated speed (Note 1) [r/min] 1000 Maximum speed [r/min] 1200 Instantaneous permissible speed [r/min] 1380 [N m] 172 229 344 415 477 597 716 883 Maximum torque [oz in] 24357 32429 48715 58769 67549 84542 101394 125044 Power rate at continuous rated torque 313 265 445 373 561 528 626 668 [kW/s] 4 2 J[ 10 kg m ] 105 220 295 550 650 1080 1310 1870 Inertia moment 2 2 (Note 3) WK [oz in ] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 7162.4 10224.1 Recommended ratio of load inertia moment to servo motor shaft inertia moment 10 times or less (Note 2) Servo amplifier’ built-in regenerative brake 158 resistor MR-RB31(300W) 278 Regenerative MR-RB51(500W) 464 brake duty [times/min] MR-RB65(800W) 354 264 (Note 4) MR-RB66(1300W) 230 MR-RB67(1300W) 195 117 MR-RB139(1300W) 97 68 MR-RB137(3900W) 290 203 Refer to “power supply equipment capacity and generated loss of servo Power supply capacity amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 34 42 61 83 118 118 154 188 Maximum current [A] 102 126 183 249 295 295 385 470 Speed/position detector Encoder (resolution: 131072 pulse/rev) Three-phase 200 to 220 Three-phase 200 to 220VAC 50Hz VAC 50Hz, Voltage frequency Three-phase 200 to 230VAC 60Hz Power One-phase supply 200 to 230 Cooling fan VAC 60Hz Power 42(50Hz)/ 32(50Hz)/ 45(50Hz)/ 120(50Hz)/ [W] consumption 54(60Hz) 40(60Hz) 63(60Hz) 175(60Hz) 0.21(50Hz)/ 0.30(50Hz)/ 0.32(50Hz)/ 0.65(50Hz)/ Rated current [A] 0.25(60Hz) 0.25(60Hz) 0.35(60Hz) 0.80(60Hz) Accessories Absolute Encoder, oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to Section 2.1 [kg] 55 95 115 160 180 230 250 335 Weight (Note 3) [lb] 121.3 209.4 253.5 352.7 396.8 507.1 551.6 738.5 5 - 13 5. SPECIFICATIONS Servo Motor HA-LFS 1500r/min Series (low inertia large capacity) 701M 11K1M 15K1M 22K1M 30K1M 37K1M Item (Note 13) MR-J2S- A/B 700 11K 15K 22K 30K 37K Applicable servo amplifier MR-J2S- CP 700 Compatible converter unit MR-HP30KA Continuous Rated output [kW] 7 1115223037 characteristics [N m] 44.6 70.0 95.5 140 191 236 Rated (Note 1 11) torque [oz in] 6315.9 9912.9 13524 19825.7 27047.9 33420.5 Rated speed (Note1) [r/min] 1500 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300 [N m] 134 210 286 350 477 589 Maximum torque [oz in] 18976 29738.6 40501.1 49564.3 67549.1 83409.6 Power rate at continuous rated torque 189 223 309 357 561 514 [kW/s] 4 2 J[ 10 kg m ] 105 220 295 550 650 1080 Inertia moment 2 2 (Note 3) WK [oz in ] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 Recommended ratio if load inertia moment to servo motor shaft inertia moment 10 times or less (Note 2) Servo amplifier’ built-in regenerative brake 70 resistor MR-RB31(300W) 124 Regenerative MR-RB51(500W) 206 brake duty [times/min] MR-RB65(800W) 158 (Note4) MR-RB66(1300W) 191 MR-RB67(1300W) 102 MR-RB139(1300W) 87 52 MR-RB137(3900W) 260 156 Refer to “power supply equipment capacity and generated loss of servo Power supply capacity amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 37 65 87 126 174 202 Maximum current [A] 111 195 261 315 435 505 Speed/position detector Encoder (resolution: 131072 pulse/rev) One-phase 200 to 220 Three-phase 200 to 220VAC 50Hz VAC 50Hz, Voltage frequency Three-phase 200 to 230VAC 60Hz Power One-phase supply 200 to 230 cooling fan VAC 60Hz Power 42(50Hz)/ 32(50Hz)/ 45(50Hz)/ 120(50Hz)/ [W] consumption 54(60Hz) 40(60Hz) 63(60Hz) 175(60Hz) 0.21(50Hz)/ 0.30(50Hz)/ 0.32(50Hz)/ 0.65(50Hz)/ Rated current [A] 0.25(60Hz) 0.25(60Hz) 0.35(60Hz) 0.80(60Hz) Accessories Absolute Encoder, oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to Section 2.1 [kg] 55 95 115 160 180 230 Weight (Note 3) [lb] 121.3 209.4 253.5 352.7 396.8 507.1 5 - 14 5. SPECIFICATIONS Servo Motor HA-LFS 2000r/min Series (low inertia large capacity) 502 702 11K2 15K2 22K2 30K2 37K2 Item (Note 13) (Note 13) MR-J2S- A/B 500 700 11K 15K 22K 30K 37K Applicable servo amplifier MR-J2S- CP 500 700 Compatible converter unit MR-HP30KA Continuous Rated output [kW] 5.0 7.0 11 15 22 30 37 characteristics [N m] 23.9 33.4 52.5 71.6 105 143 177 Rated (Note 1 11) torque [oz in] 3384.5 4729.9 7434.6 10139.4 14869.3 20250.6 25065.4 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300 [N m] 71.6 100 158 215 263 358 442 Maximum torque [oz in] 10139.4 14161.2 22374.7 30446.6 37244 50697.2 62592.6 Power rate at continuous rated torque 77.2 118 263 233 374 373 480 [kW/s] 4 2 J[ 10 kg m ] 74.0 94.2 105 220 295 550 650 Inertia moment 2 2 (Note 3) WK [oz in ] 404.6 515 574.1 1202.8 1612.9 3007.1 3553.8 Recommended ratio of load inertia moment to servo motor shaft inertia moment 10 times or less (Note 2) Servo amplifier’ built-in regenerative brake 50 50 resistor MR-RB30(300W) 120 MR-RB31(300W) 95 Regenerative MR-RB50(500W) 200 brake duty [times/min] MR-RB51(500W) 160 (Note 4) MR-RB65(800W) 186 MR-RB66(1300W) 144 MR-RB67(1300W) 107 MR-RB139(1300W) 58 49 MR-RB137(3900W) 174 147 Refer to “power supply equipment capacity and generated loss of servo Power supply capacity amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 25 34 63 77 112 166 204 Maximum current [A] 75 102 189 231 280 415 510 Speed/position detector Encoder (resolution: 131072 pulse/rev) One-phase 200 to 220 VAC 50Hz, Three-phase 200 to 220VAC 50Hz Voltage frequency Power One-phase Three-phase 200 to 230VAC 60Hz supply 200 to 230 Cooling fan VAC 60Hz Power 42(50Hz)/ 32(50Hz)/ 40(50Hz)/ [W] consumption 54(60Hz) 40(60Hz) 63(60Hz) 0.21(50Hz)/ 0.30(50Hz)/ 0.32(50Hz)/ Rated current [A] 0.25(60Hz) 0.25(60Hz) 0.35(60Hz) Accessories Absolute Encoder, oil seal Insulation class Class F Totally-enclosed, Structure self-cooled Totally-enclosed, force-cooled (protection: IP44) (protection: IP65) Environmental conditions (Note 7) Refer to Section 2.1 [kg] 28 35 55 95 115 160 180 Weight (Note 3) [lb] 61.7 77.2 121.3 209.4 253.5 352.7 396.8 5 - 15 5. SPECIFICATIONS Servo Motor HC-LFS Series (low inertia middle capacity) Item 52 102 152 202 302 60A-U026 100A-U027 200A-U028 350A-U029 500A-U029 Applicable servo MR-J2S- 60B-U026 100B-U027 200B-U028 350B-U029 500B-U029 amplifier 60CP-U026 100CP-U027 200CP-U028 350CP-U029 500CP-U029 Rated output [kW] 0.5 1.0 1.5 2.0 3.0 Continuous characteristics Rated [N m] 2.39 4.78 7.16 9.55 14.3 (Note 1 11) torque [oz in] 338.5 676.9 1013.9 1352.4 2025.1 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 3000 Instantaneous permissible speed [r/min] 3450 [N m] 7.16 14.4 21.6 28.5 42.9 Maximum torque [oz in] 1013.9 2039.2 3058.8 4036 6075.2 Power rate at continuous rated torque 17.9 49.7 80.1 41.5 56.8 [kW/s] 4 2 Inertia moment J[ 10 kg m ] 3.2 4.6 6.4 22 36 2 (Note 3) 2 WK [oz in ] 17.5 25.2 35 120.3 196.8 Recommended ratio of load inertia moment to servo motor shaft inertia moment 10 times or less (Note 2) Servo amplifier’ built-in regenerative brake 115 160 425 120 70 resistor Regenerative MR-RB032(30W) 340 235 brake duty [times/min] MR-RB12(100W) 1150 800 (Note 4) MR-RB30(300W) 1270 370 215 MR-RB32(300W) 2410 MR-RB50(500W) 2120 615 355 Refer to “power supply equipment capacity and generated loss of servo Power supply capacity amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 3.2 5.9 9.9 14 23 Maximum current [A] 9.6 18 30 42 69 Speed/position detector Encoder (resolution: 131072 pulse/rev) Accessories Absolute Encoder oil seal Insulation class Class F Structure Totally-enclosed, self-cooled (protection type: IP65) Environmental conditions (Note 7) Refer to Section 2.1 [kg] 6.5 8.0 10.0 21 28 Weight (Note 3) [lb] 14.33 17.6 22 46.3 61.7 5 - 16 5. SPECIFICATIONS Note: 1.When the power supply voltage drops, we cannot guarantee the output and rated speed. 2.If the load inertia moment ratio exceeds the indicated value, please consult us. 3.When the servo motor is equipped with reduction gear or electromagnetic brake, refer to the corresponding outline dimension drawing. For the EN Standard- and UL/C-UL Standard- compliant models, please consult us. 4.The regenerative brake duty indicated is the permissible duty when the servo motor running without load at the rated speed is decelerated to a stop. When a load is connected, the value in the table is multiplied by 1/(m 1), where m load inertia moment/motor inertia moment. At the speed higher than the rated, the permissible number of times is in inverse proportion to the square of (running speed/rated speed). When the running speed varies frequently or when the regenerative mode continues as in vertical feed, calculate regenerative heat generated during operation. Provisions must be made to keep this generated heat below the permissible value. 5. If the effective torque is within the rated torque range, there are no restrictions on the regenerative duty. 6. Except for the shaft-through portion and connector end. 7. In the environment where the servo motor is exposed to oil mist, oil and/or water, the servo motor of the standard specifications may not be usable. Contact us. 8. IP54 for the EN Standard-compliant model. 9. Except the connector section. 10. Values for use of the supplied regenerative brake unit (regenerative brake resistor). 11. 80%ED at low noise. 80%ED: Indicates the condition in which operation time at read torque accounts for 80% and the other no-load time accounts for 20% in a single operation cycle. tb 60 sec. (continuous operation time) Torque tb 100% tb %ED 100 tc time tc 12. When the servo motor is provided with the reduction gear, the protection type of the reduction gear section is IP44. 13. Consult us since they may not be connected depending on the production period of the servo amplifier. 5 - 17 5. SPECIFICATIONS 5.2 Torque characteristics POINT For machines which produce unbalance torque, e.g. vertical lift applications, it is recommended to use the servo motor so that the unbalance torque will be within 70% of the rated torque. (1) HC-MF series POINT The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications. [HC-MF053] [HC-MF13] [HC-MF23] 0.6 1.0 2.0 0.75 1.5 Short-duration Short-duration Short-duration 0.4 operation region operation region operation region 0.5 1.0 0.2 0.25 0.5 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-MF43] [HC-MF73] 4.0 8.0 3.0 6.0 Short-duration Short-duration operation region operation region 2.0 4.0 1.0 2.0 Continuous operation Continuous operation region region 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] (2) HA-FF series POINT The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications. [HA-FF053] [HA-FF13] [HA-FF23] 0.6 1.0 2.0 0.75 1.5 Short-duration Short-duration Short-duration 0.4 operation region operation region operation region 0.5 1.0 0.2 0.25 0.5 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 Speed [r/min] Speed [r/min] Speed [r/min] 5 - 18 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS [HA-FF33] [HA-FF43] [HA-FF63] 3.0 4.0 6.0 Short-duration Short-duration Short-duration 3.0 operation region operation region operation region 2.0 4.0 2.0 1.0 2.0 1.0 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 Speed [r/min] Speed [r/min] Speed [r/min] (3) HC-SF/HC-SFS series [HC-SF81] [HC-SF121] [HC-SF201] [HC-SFS81] [HC-SFS121] [HC-SFS201] 30 40 60 30 20 40 Short-duration Short-duration Short-duration operation region operation region operation region 20 10 20 10 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 1000 1500 500 1000 500 1000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-SF301] [HC-SF52] [HC-SF102] [HC-SFS301] [HC-SFS52] [HC-SFS102] 100 9 15 75 Short-duration Short-duration 6 10 Short-duration operation region operation region operation region 50 3 5 25 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 1000 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-SF152] [HC-SF202] [HC-SF352] [HC-SFS152] [HC-SFS202] [HC-SFS352] 24 30 60 Short-duration Short-duration Short-duration 16 operation region 20 operation region 40 operation region 8 10 20 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 1000 2000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] 5 - 19 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS [HC-SF502] [HC-SF702] [HC-SF53] [HC-SFS502] [HC-SFS702] [HC-SFS53] 80 120 6 Short-duration 60 Short-duration operation region operation region 80 4 Short-duration operation region 40 40 2 20 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 1000 2000 1000 2000 3000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-SF103] [HC-SF153] [HC-SF203] [HC-SFS103] [HC-SFS153] [HC-SFS203] 12 15 21 Short-duration operation region 8 10 14 Short-duration Short-duration operation region operation region 4 5 7 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-SF353] [HC-SFS353] 39 Short-duration operation region 26 13 Continuous operation region 0 1000 2000 3000 Speed [r/min] 5 - 20 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (4) HC-RF/HC-RFS series [HC-RF103] [HC-RF153] [HC-RF203] [HC-RFS103] [HC-RFS153] [HC-RFS203] 9 15 18 Short-duration Short-duration Short-duration operation region operation region operation region 6 10 12 3 5 6 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 4000 1000 2000 3000 4000 1000 2000 3000 4000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-RF353] [HC-RF503] [HC-RFS353] [HC-RFS503] 9 45 Short-duration Short-duration operation region operation region 6 30 3 15 Continuous operation Continuous operation region region 0 0 1000 2000 3000 4000 1000 2000 3000 4000 Speed [r/min] Speed [r/min] (5) HC-UF/HC-UFS series POINT The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications. [HC-UF72] [HC-UF152] [HC-UF202] [HC-UFS72] [HC-UFS152] [HC-UFS202] 12 24 30 Short-duration Short-duration Short-duration operation region operation region operation region 8 16 20 4 8 10 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] Speed [r/min] 5 - 21 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS [HC-UF352] [HC-UF13] [HC-UF502] [HC-UFS352] [HC-UFS502] 60 80 1.0 Short-duration Short-duration Short-duration 60 0.75 operation region operation region operation region 40 40 0.5 20 20 0.25 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 1000150020002500 500 1000150020002500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-UF23] [HC-UF43] [HC-UF73] 2.0 4.0 8 Short-duration Short-duration 1.5 3.0 6 operation region operation region Short-duration operation region 1.0 2.0 4 0.5 1.0 2 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-UFS13] [HC-UFS23] [HC-UFS43] 1.0 2.0 4.0 0.75 1.5 3.0 Short-duration Short-duration Short-duration operation region operation region operation region 0.5 1.0 2.0 0.25 0.5 1.0 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-UFS73] 8.0 6.0 Short-duration operation region 4.0 2.0 Continuous operation region 0 1000 2000 3000 40004500 Speed [r/min] 5 - 22 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (6) HA-LH series [HA-LH11K2] [HA-LH15K2] [HA-LH22K2] 200 250 300 Short-duration 200 150 Short-duration operation region Short-duration operation region 200 operation region 100 100 100 50 Continuous operation Continuous operation region Continuous operation region region 0 0 0 1000 2000 1000 2000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] (7) HC-KF series [HC-KF053] [HC-KF13] [HC-KF23] 0.6 1.0 2.0 Short-duration operation region 0.75 1.5 Short-duration 0.4 operation region Short-duration 0.5 operation region 1.0 0.2 0.25 0.5 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-KF43] 4.0 3.0 Short-duration operation region 2.0 1.0 Continuous operation region 0 1000 2000 3000 40004500 Speed [r/min] 5 - 23 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (8) HC-AQ series [HC-AQ0135] [HC-AQ0235] [HC-AQ0335] 0.1 0.2 0.3 Short-duration operation region 0.075 0.15 0.2 Short-duration operation region Short-duration 0.05 0.1 operation region 0.1 0.025 0.05 Continuous operation Continuous operation Continuous operation region region region 0 0 0 10002000300040005000 10002000300040005000 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] (9) HA-LF series [HA-LF30K24] [HA-LF37K24] [HA-LF45K24] 400 600 600 Short-duration 300 operation region Short-duration 400 400 operation region Short-duration operation region 200 200 200 100 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 1000 2000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LF30K2] [HA-LF55K24] 400 800 300 600 Short-duration Short-duration operation region operation region 200 400 100 200 Continuous operation Continuous operation region region 0 0 1000 2000 1000 2000 Speed [r/min] Speed [r/min] 5 - 24 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (10) HA-LFS series [HA-LFS601] [HA-LFS801] [HA-LFS12K1] 180 400 300 300 120 200 Short-duration Short-duration operation region Short-duration operation region 200 operation region 60 100 100 Continuous operation Continuous operation region Continuous operation region region 0 0 0 500 10001200 500 10001200 500 10001200 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LFS15K1] [HA-LFS20K1] [HA-LFS25K1] 450 800 600 600 300 400 Short-duration Short-duration Short-duration operation region operation region operation region 400 150 200 200 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 10001200 1200 500 10001200 500 1000 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LFS37K1] [HA-LFS30K1] [HA-LFS701M] 800 900 150 600 600 100 Short-duration Short-duration Short-duration operation region operation region operation region 400 50 300 200 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1200 500 1000 10001200 500 1000 1500 2000 500 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LFS15K1M] [HA-LFS11K1M] [HA-LFS22K1M] 240 300 400 300 160 Short-duration 200 Short-duration Short-duration operation region operation region operation region 200 100 80 100 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Speed [r/min] Speed [r/min] Speed [r/min] 5 - 25 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS [HA-LFS37K1M] [HA-LFS30K1M] [HA-LFS502] 80 600 600 60 400 400 Short-duration operation region Short-duration Short-duration 40 operation region operation region 200 200 20 Continuous operation Continuous operation Continuous operation region region region 0 0 0 500 1000 1500 2000 500 1000 1500 2000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LFS702] [HA-LFS11K2] [HA-LFS15K2] 200 240 120 150 180 Short-duration Short-duration 80 operation region operation region Short-duration 120 100 operation region 40 60 50 Continuous operation Continuous operation Continuous operation region region region 0 0 0 2000 1000 2000 1000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] [HA-LFS22K2] [HA-LFS30K2] [HA-LFS37K2] 300 400 600 Short-duration operation region 300 200 Short-duration 400 operation region Short-duration 200 operation region 100 200 100 Continuous operation Continuous operation region Continuous operation region region 0 0 1000 2000 0 2000 1000 1000 2000 Speed [r/min] Speed [r/min] Speed [r/min] 5 - 26 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (11) HC-MFS series POINT The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications. [HC-MFS23] [HC-MFS13] [HC-MFS053] 2.0 0.6 1.0 1.5 0.75 Short-duration 0.4 Short-duration operation region Short-duration operation region operation region 1.0 0.5 0.2 0.5 0.25 Continuous operation Continuous operation Continuous operation region region region 0 0 0 1000 2000 3000 4500 1000 2000 3000 40004500 4000 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-MFS73] [HC-MFS43] 4.0 8.0 3.0 6.0 Short-duration Short-duration operation region operation region 2.0 4.0 1.0 2.0 Continuous operation Continuous operation region region 0 0 1000 1000 2000 3000 40004500 2000 3000 40004500 Speed [r/min] Speed [r/min] 5 - 27 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (12) HC-KFS series POINT The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications. [HC-KFS13] [HC-KFS053] [HC-KFS23] 0.6 1.0 2.0 0.75 1.5 0.4 Short-duration Short-duration operation region operation region Short-duration 0.5 1.0 operation region 0.2 0.25 0.5 Continuous operation Continuous operation Continuous operation region region region 0 0 0 40004500 1000 2000 3000 40004500 1000 2000 3000 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] Speed [r/min] [HC-KFS43] [HC-KFS73] 4.0 8.0 3.0 6.0 Short-duration Short-duration operation region operation region 2.0 4.0 1.0 2.0 Continuous operation Continuous operation region region 0 0 1000 2000 3000 40004500 1000 2000 3000 40004500 Speed [r/min] Speed [r/min] 5 - 28 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS (13) HC-LFS series [HC-LFS102] [HC-LFS152] [HC-LFS52] 20 32 8 24 6 15 Short-duration Short-duration Short-duration operation region operation region operation region 4 10 16 2 5 8 Continuous operation Continuous operation Continuous operation region region region 0 0 0 2000 3000 1000 2000 3000 1000 2000 3000 1000 Speed [r/min] Speed [r/min] Speed [r/min] [HC-LFS202] [HC-LFS302] 40 56 30 42 Short-duration Short-duration operation region operation region 28 20 10 14 Continuous operation Continuous operation region region 0 0 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] 5 - 29 Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 5. SPECIFICATIONS 5.3 Servo motors with reduction gears The servo motor with reduction gear must be installed in the specified direction. Otherwise , it can leak oil, leading to a fire or fault. CAUTION For the servo motor with reduction gear, transport it in the same status as in the installation method. Tipping it over can cause oil leakage. Servo motors are available with reduction gears designed for: general industrial machines and 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. Reduction Gear Series For General Industrial Machines For Precision Applications Reduction ratio (Note) (Note) (Note) (Note) (Note) 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/5 1/9 1/10 1/15 1/20 1/25 1/29 1/45 Servo Motor 1/5 1/10 1/12 1/20 1/30 HC-KF053 to 43 G1 G1 G1 G2 G2 G2 G2 HC-KFS053 to 73 HC-MF053 to 73 G1 G1 G1 G2 G2 G2 G2 HC-MFS053 to 73 HA-FF053 G1 G1 G1 G1 G2 G2 G2 G2 HA-FF13 G1 G1 G1 G1 G2 G2 G2 G2 G2 HA-FF23 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 HA-FF33 G1 G1 G1 G1 G2 G2 G2 G2 G2 HA-FF43 63 G1 G1 G1 G1 G2 G2 G2 G2 G2 HC-SF52 to 202 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 HC-SFS52 to 202 (H) (H) (H) (H) (H) (H) (H) HC-SF352 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 HC-SFS352 (H) (H) (H) (H) (H) (H) (H) HC-SF502 G1 G1 G1 G1 G1 G2 G2 HC-SFS502 (H) (H) (H) (H) (H) HC-SF702 G1 G1 G1 G1 G1 G2 HC-SFS702 (H) (H) (H) (H) (H) HC-RF103 to 203 G2 G2 G2 G2 G2 HC-RFS103 to 203 HC-RF353 G2 G2 G2 G2 HC-RFS353 HC-RF503 G2 G2 G2 HC-RFS503 Note : Reduction ratios for general industrial machines are nominal values. For actual reduction ratios, refer to (2) and (3) in this section. For those without (Note), the nominal value is equal to the actual reduction ratio. (2) HC-MF/HC-KF series For General Industrial Machines For Precision Applications Reduction Gear Series (HC-KF G1/HC-MF G1) (HC-KF G2/HC-MF G2) (HC-KFS G1/HC-MFS G1) (HC-KFS G2/HC-MFS G2) Mounting method Flange mounting Mounting direction In any directions Grease lubrication (Already packed) Grease lubrication (Already packed) 200W 400W 50 100W 750W 1/12 1/20 1/5 Lubrication Recommended New Molynoc LDR101BV American Oil Center Research grease Mobilplex 46 Mobil Grease No.2 Nisseki Mobil Oil SP Mobil Oil Mitsubishi Output shaft rotating direction Same as the servo motor output shaft direction. With electromagnetic brake Available Backlash 60 minutes or less at reduction gear output shaft 3 minutes or less at reduction gear output shaft Permissible load inertia moment HC-KF HC-KFS:5 times or less ratio (when converting into the HC-MF HC-MFS:25 times or less servo motor shaft) Permissible speed 4500 r/min (at servo motor shaft) 5 - 30 5. SPECIFICATIONS The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below: Servo Motor HC-KF053(B)G1 HC-KF13(B)G1 HC-KF23(B)G1 HC-KF43(B)G1 HC-KFS73(B)G1 HC-MF053(B)G1 HC-MF13(B)G1 HC-MF23(B)G1 HC-MF43(B)G1 HC-MF73(B)G1 Nominal HC-KFS053(B)G1 HC-KFS13(B)G1 HC-KFS23(B)G1 HC-KFS43(B)G1 HC-MFS73(B)G1 Reduction Ratio HC-MFS053(B)G1 HC-MFS13(B)G1 HC-MFS23(B)G1 HC-MFS43(B)G1 1/5 9/44 19/96 1/5 1/12 49/576 25/288 525/6048 1/20 25/484 253/5000 625/12544 (3) HA-FF series For General Industrial Machines For Precision Applications Reduction Gear Series (HA-FF G1) (HA-FF G2) Mounting method Flange mounting Mounting direction In any directions Grease lubrication (Already packed) Grease lubrication (Already packed) 50 100W 200 to 600W Lubrication Recommended SUMICO PYRONOC LDR101BJ American Oil Center Research grease LUBRICANT MOLY UNIVERSAL No.000 PS GREASE No.2 NIPPON PETRQLEUM Servo motor shaft and reduction gear output shaft rotate in the same direction. For the Servo motor shaft and reduction gear Output shaft rotating direction HA-FF053G1 1/30 and HA-FF3G1 1/30, how- output-shaft rotate in the same direction. ever, the servo motor shaft and reduction gear output shaft rotate in the opposite directions. With electromagnetic brake Available Backlash (Note) 40 minutes to 1.5 Within 3 minutes Permissible load inertia moment ratio (when converting into the 5 times or less servo motor shaft) Permissible speed 3000 r/min (at servo motor shaft) Note. The above values are typical values and not guaranteed values. The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below: Servo Motor HA-FF053G1 HA-FF13G1 HA-FF23G1 HA-FF33G1 HA-FF43G1 HA-FF63G1 Nominal Reduction Ratio 1/5 9/44 57/280 19/94 10/49 1/10 3/29 39/400 39/376 243/2401 1/20 99/1972 51/980 72/1363 153/2891 1/30 144/4205 1/30 11/329 27/784 5 - 31 5. SPECIFICATIONS (4) HC-SF series For General Industrial Machines For Precision Applications Reduction Gear Series (HC-SF G1(H)/HC-SFS G1(H)) (HC-SF G2/ HC-SFS G2) Mounting method As in (a) in this section Flange mounting Mounting direction As in (a) in this section In any directions As in (a) (b) in this section Grease lubrication (Already packed) Lubrication Recommended LDR101BJ of American Oil Center As in (b) in this section grease Research Output shaft rotating direction Opposite direction to the servo motor shaft Same direction as the servo motor shaft With electromagnetic brake Available 40 minutes to 2*at reduction gear output 3 minutes or less at reduction gear output Backlash shaft (Note) shaft Permissible load inertia moment ratio (when converting into the 4 times or less 5 times or less servo motor shaft) 0.5 to 1.5kW:3000 r/min Permissible speed 2000 r/min 2 to 3.5kW:2500 r/min (at servo motor shaft) 5 7kW:2000 r/min Note. The above values are typical values and not guaranteed values. (a) Lubrication of reduction gears for general industrial machines Oil lubrication cannot be used in applications where the servo motor will move. Specify grease lubrication. For grease lubrication, the reduction gear is already grease-packed. For oil lubrication, pack the reduction gear with oil on the customer side. Mounting Shaft in Any Direction Shaft Horizontal Shaft Downward Shaft Upward Direction Reduction gear model CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM Reduction gear (leg type) (flange type) (leg type) (flange type) (leg type) (flange type) (leg type) (flange type) frame No. 4105 Grease Grease 4115 Grease Grease 4135 (Note) Oil (Note) Oil (Note) Oil (Note) Oil Grease Grease 4165 (Note) Oil (Note) Oil (Note) Oil (Note) Oil Grease Grease 4175 Oil Oil Oil Oil 4185 Oil Oil Oil Oil 4195 Oil Oil Oil Oil Note: Grease-lubricated type is also available. The reduction gear frame numbers are as follows: Reduction Ratio Servo Motor 1/6 1/11 1/17 1/29 1/35 1/43 1/59 HC-SF52(B)G1 (H) 4105 4115 HC-SFS52(B)G1 (H) HC-SF102(B)G1 (H) 4115 4135 4165 HC-SFS102(B)G1 (H) HC-SF152(B)G1 (H) 4115 4135 4165 HC-SFS152(B)G1 (H) HC-SF202(B)G1 (H) 4115 4165 HC-SFS202(B)G1 (H) HC-SF352(B)G1 (H) 4135 4165 4175 HC-SFS352(B)G1 (H) HC-SF502(B)G1 (H) 4165 4185 HC-SFS502(B)G1 (H) HC-SF702(B)G1 (H) 4175 4185 4195 HC-SFS702(B)G1 (H) 5 - 32 5. SPECIFICATIONS (b) Recommended lubricants 1) Grease Albania Grease/Shell OIL 2) Lubricating oil Ambient NISSEKI IDEMITSU GENERAL Shell Japan Temperature COSMO OIL MITSUBISHI KOSAN ESSO OIL Mobil OIL OIL OIL Energy OIL CO., LTD 10 to 5 COSMO BONNOC DAPHNE CE Omala SPARTANEP Mobilgear JOMO. GEAR SP 68S Oils 68 626 Reductus SE 68 DAPHNE SUPER 68 (ISO VG68) 68 68 DIAMOND GEAR OIL GEAR LUBE 68 SP 68 0 to 35 COSMO BONNOC DAPHNE CE GENERAL Omala SPARTANEP Mobilgear JOMO. GEAR SP 100S,150S SP Oils 150 629 Reductus SE 100, 150 DAPHNE SUPER GEAROL 100 150 (ISO VG150) 100 150 100, 150 DIAMOND GEAR OIL 100 150 GEAR LUBE 100 150 SP 100 150 30 to 50 COSMO BONNOC DAPHNE CE GENERAL Omala SPARTANEP Mobilgear JOMO. GEAR SP 220S to 460S SP Oils 220 to 460 630 to 634 Reductus SE 200 to 460 GEAROL 200 to (ISO VG 200 to 460 200,320,460 DIAMOND 200 to 260 460 220 to 460) GEAR LUBE SP 220 to 460 Lubricating oil fill amount ( ) Fill amount [ ] Reduction gear frame No. Horizontal type Vertical type 4135 0.7 1.1 4165 1.4 1.0 4175 1.9 1.9 4185 2.5 2.0 4195 4.0 2.7 (c) Changing intervals of lubricant for general industrial machines 1) Grease: 20000 hours or 3 to 5 years 2) Lubricant Operation hours per day Changing intervals Less than 10 hours 10 to 24 hours First time 500 hours Second time and later Half year 2500 hours (5) HC-RF series Reduction Gear Series For Precision Applications (HC-RF G2/HC-RFS G2) Mounting method Flange mounting Mounting direction In any directions Grease lubrication (Already packed) Lubrication Recommended grease LDR101BJ of American Oil Center Research Output shaft rotating direction Same direction as the servo motor shaft With electromagnetic brake Available Backlash Within 3 minutes at reduction gear output shaft Permissible load inertia moment ratio 5 times or less (when converting into the servo motor shaft) Permissible speed (at servo motor shaft) 4000 r/min 5 - 33 5. SPECIFICATIONS 5.4 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. Except for the servo motor with reduction gear. 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. Shaft Shape Shaft Shape Servo Motor Servo Motor Model Keyway D cut Straight Keyway D cut Straight HC-MF053 13 HC-RF103 to 503 (Note 3) (Note 3) HC-MFS053 13 HC-RFS103 to 503 HC-MF23 to 73 HC-UF72 to 502 (Note 1) (Note 3) (Note 3) HC-MFS23 to 73 HC-UFS72 to 502 HA-FF053 13 (Note 3) HC-UF13 (Note 3) HA-FF23 to 63 (Note 2) (Note 3) HC-UFS13 HC-UF23 to 73 HC-SF81 to 301 (Note 1) (Note 3) HC-UFS23 to 73 HC-SF52 to 702 HC-SF53 to 353 HC-KF053 13 (Note 3) (Note 3) HC-SFS81 to 301 HC-KFS053 13 HC-SFS52 to 702 HC-KF23 43 (Note 1) (Note 3) HC-SFS53 to 353 HC-KFS23 to 73 HC-AQ0135 to 0335 (Note 3) HC-LFS series (Note 3) Note: 1. With a key. 2. Standard with a key. For shape, refer to chapter 7. 3. This is a standard. For shape, refer to chapter 7. 5.4.1 Keyway (1) With key R 3.5 R R 2.5 Q Q Q QK QK QK QL QL QL W A A A Y A A A S Section A-A [Unit: mm] HC-MF(S)23K to 73K HC-UF(S)23K to 43K HC-UF(S) 73K ([Unit: in]) Variable Dimensions Servo Motor Model S R Q W QK QL U H Y HC-MF23K 43K 14h6 30 27 5 20 3 3 5 M4 Depth 15 HC-MFS23K 43K (14) (1.18) (1.06) (0.20) (0.79) (0.12) (0.12) (0.20) (0.59) HC-MF73K 19h6 40 37 6 25 5 3.5 6 M5 Depth 20 HC-MFS73K (19) (1.57) (1.46) (0.24) (0.98) (0.20) (0.14) (0.24) (0.79) HC-UF23K 43K 14h6 30 23.5 5 20 3 3 5 M4 Depth 15 HC-UFS23K 43K (14) (1.18) (0.93) (0.20) (0.79) (0.12) (0.12) (0.20) (0.59) HC-UF73K 19h6 40 32.5 6 25 5 3.5 6 M5 Depth 20 HC-UFS73K (19) (1.57) (1.28) (0.24) (0.98) (0.20) (0.14) (0.24) (0.79) HC-KF23K 43K 14h6 30 27 5 20 3 3 5 M4 Depth 15 HC-KFS23K 43K (14) (1.18) (1.06) (0.20) (0.79) (0.12) (0.12) (0.20) (0.59) 19h6 40 37 6 25 5 3.5 6 M5 Depth 20 HC-KFS73K (19) (1.57) (1.46) (0.24) (0.98) (0.20) (0.14) (0.24) (0.79) 5 - 34 H U 5. SPECIFICATIONS (2) Without key [Unit: mm] ([Unit: in]) Variable Dimensions Servo motor S R Q W QK QL U r HC-SF81K HC-SF52K to 152K HC-SF53K to 153K 0 0.2 24h6 55 50 36 5 4 8 4 0.036 0 HC-SFS81K (0.31) (0.16) (0.94) (2.17) (1.97) (1.42) (0.20) (0.16) HC-SFS52K to 152K HC-SFS53K to 153K HC-LFS52 to 152 R HC-SF121K to 301K HC-SF202K to 702K Q M8 threads HC-SF203K 353K 0.010 0 0.2 35 79 55 5 5 QK QL Depth 20(0.79) 0 10 5 0.036 0 HC-SFS121K to 301K - (1.38) U (0.39) (0.20) (3.11) (2.17) (0.20) (0.20) HC-SFS202K 352K A HC-SFS203K 353K HC-LFS202 302 0 0.2 HC-RF103K to 203K 24h6 45 40 8 25 5 4 4 0.036 0 A r (0.31) (0.16) HC-RFS103K to 203K (0.94) (1.77) (1.57) (0.98) (0.20) (0.16) Section A-A 0 0.2 HC-RF353K to 503K 28h6 63 58 53 3 4 8 4 0.036 0 (0.31) (0.16) HC-RFS353K to 503K (1.10) (2.48) (2.28) (2.09) (0.12) (0.16) 0.1 0 HC-UF72K 22h6 55 50 42 3 3.5 3 6 0 0.030 (0.14) (0.24) HC-UFS72K (0.87) (2.17) (1.97) (1.65) (0.12) (0.12) 0 0.2 HC-UF152K 28h6 55 50 45 5 4 8 4 0.036 0 (0.31) (0.16) HC-UFS152K (1.10) (2.17) (1.97) (1.77) (0.20) (0.16) 0 0.2 HC-UF202K to 502K 35h6 65 60 10 55 5 5 5 0.036 0 (0.39) (0.20) HC-UFS202K to 502K (1.38) (2.56) (2.36) (2.17) (0.20) (0.20) 5.4.2 D cut [Unit: mm] ([Unit: in]) Variable Dimensions Servo Motor Model RQK S HC-MF053D 13D R HC-KFS053D 13D 25(0.98) 20.5(0.81) 8h(0.32) QK HC-MF053D 13D HC-MFS053D 13D HA-FF053D 13D 30(1.178) 25.5(1.00) 8h(0.32) S HC-UF13D 25(0.98) 17.5(0.69) 8h(0.32) HC-UFS13D 5.4.3 Straight (HC-AQ) [Unit: mm] 16 (0.63) ([Unit: in]) 2.5 (0.098) 5 - 35 6h6 (0.236) W 1(0.039) S 5. SPECIFICATIONS MEMO 5 - 36 6. CHARACTERISTICS 6. CHARACTERISTICS 6.1 Electromagnetic brake characteristics Configure 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. CAUTION The electromagnetic brake is designed to hold a load. Do not use it for braking. The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below: (1) Characteristics Though the brake lining may rattle during operation, it poses no functional problem. A leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake. If braking sound occurs, it may be improved by setting the machine resonance suppression filter or adaptive vibration suppression control in the servo amplifier parameters. For details, refer to the servo amplifier instruction manual. Table 6.1 Electromagnetic Brake Characteristics HC-MF Series Servo Motor HA-FF Series HC-MFS Series Item 053B 13B 23B 43B 73B 053B 13B 23B 33B 43B 63B (Note 1) Type Spring-loaded safety brake 0 (Note 4) Rated voltage 24V DC 10% Capacity [W] 6.3 7.9 9 7 7.4 11 [N m] 0.32 1.3 2.4 0.39 1.18 2.3 Static friction torque [oz in] 45.3 184.2 340 55.3 167 326 (Note 2) Release delay time [s] 0.03 0.03 0.03 0.03 0.03 0.03 Braking delay time [s] DC off 0.01 0.02 0.03 0.01 0.03 0.03 (Note 2) [J] 5.6 22.0 64.0 3.9 18.0 46.0 Per braking [oz in] 793.6 3117.6 9069.3 552.7 2550.7 6518.6 Permissible braking work [J] 56 220 640 39 180 460 Per hour [oz in] 7936 31176 90693 5527 25507 65186 Brake looseness at servo motor shaft [degrees] 0.19 to 2.5 0.12 to 1.2 0.1 to 0.9 0.3 to 3.5 0.2 to 2.0 0.2 to 1.3 (Note 5) Number of braking 20000 20000 20000 30000 30000 30000 cycles [times] Brake life (Note 3) [J] 4 15 32 4 18 47 Work per braking [oz in] 567 2126 4535 567 2551 6660 6 - 1 6. CHARACTERISTICS (Note 5) Servo Motor HC-SF Series HC-RF Series HC-KF Series HC-AQ HC-SFS Series HC-RFS Series HC-KFS Series Series 81B 121B to 301B 103B to 053B (Note 6) 0135B to 52B to 152B 202B to 702B 353B 503B 23B 43B 203B 13B 73B 0335B Item 53B to 153B 203B 353B (Note 1) Type Spring-loaded safety brake 0 (Note 4) Rated voltage 24V DC 10% Capacity [W] 19 34 19 23 6.3 7.9 9 4.8 [N m] 8.3 43.1 6.8 16.7 0.32 1.3 2.4 0.098 Static friction torque [oz in] 1176 6103 964 2367 45 6108 340 13.878 (Note 2) Release delay time [s] 0.04 0.1 0.03 0.04 0.03 0.1 0.03 0.02 Braking delay time [s] DC off 0.03 0.03 0.03 0.03 0.01 0.03 0.03 0.01 (Note 2) [J] 400 4500 400 400 5.6 22.0 64.0 4.6 Per braking [oz in] 56683.3 637687.1 56683.3 56683.3 793.6 3117.6 9069.3 63.882 Permissible braking work Per [J] 4000 45000 4000 4000 56 220 640 46 hour [oz in] 566833 6376871 566833 566833 7936 31176 90693 638.821 Brake looseness at servo motor shaft 0.19 to 0.12 to 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.1 to 0.9 0.1 to 2.5 (Note 5) [degrees] 2.5 1.2 Number of braking 20000 20000 20000 20000 20000 20000 20000 20000 cycles [times] Brake life (Note 3) Work per [J] 200 1000 200 200 4 15 32 1 braking [oz in] 28342 141708 28342 28342 567 2124.18 4535 141.612 HC-UF Series (Note 5) Servo Motor HC-LFS Series HC-UFS Series 202B to 52B to 202B to Item 13B 23B 43B 73B 72B 152B 502B 152B 302B (Note 1) Type Spring-loaded safety brake 0 (Note 4) Rated voltage 24V DC 10% Capacity [W] 6.3 7.9 1019341934 [N m] 0.32 1.3 2.4 8.3 43.1 8.3 43.1 Static friction torque [oz in] 45 184 340 1175 6103 1175 6103 (Note 2) Release delay time [s] 0.03 0.03 0.03 0.04 0.1 0.04 0.1 Braking delay time [s] DC off 0.01 0.020.030.030.030.030.03 (Note 2) Per [J] 5.6 22 64 400 4500 400 4500 braking [oz in] 793.6 3117.6 9069.3 56683.3 637687.1 56683.3 637687.1 Permissible braking work [J] 56 220 640 4000 45000 4000 45000 Per hour [oz in] 7936 31176 90693 566833 6376871 566833 6376871 Brake looseness at servo motor shaft [degrees] 0.19 to 2.5 0.12 to 1.2 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 0.2 to 0.6 (Note 5) Number of braking 20000 20000 20000 20000 20000 20000 20000 cycles [times] Brake life (Note3) [J] 4 15 32 200 1000 200 1000 Work per braking [oz in] 567 2126 4535 28342 141708 28342 141708 Note:1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24VDC power supply to release the brake electrically. 2. The value for initial ON gap at 20 . 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. 24VDC of the internal power output for interface (VDD) cannot be used. Always use a separate power supply. 5. The above values are typical initial values and not guaranteed values. 6. 73B is not available for the HC-KF. 6 - 2 6. 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 the following diagram. The surge absorber must be installed on the brake terminal. For the selection of the surge absorber, refer to OPTIONS AND AUXILIARY EQUIPMENT of the Servo Amplifier Instruction Manual. Electromagnetic brake Switch VAR : Surge absorber 24VDC VAR (3) Coasting distance At an emergency stop, the servo motor will decelerate to a stop in the pattern shown in the following diagram. Here, the maximum coasting distance (during fast feed), Lmax, will be the area shown with the diagonal line in the figure and can be calculated approximately with Equation 6.1. The effect of the load torque is greater near the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in the equation. Emergency stop Brake current t t t 1 2 3 Machine speed V 0 6 - 3 6. CHARACTERISTICS Vo t3 t1 t2 L max = ................................................................................................... (6.1) 60 2 Where, L max :Maximum coasting distance [mm] Vo: Machine's fast feed speed [mm/min] t 1: Delay time of control section [s] t : Braking delay time of brake (Note) [s] 2 t :Braking time [s] 3 (JL JL) No t 3 4 9.55 10 (TL 0.8TB) 2 JL : Load inertia moment converted into equivalent [kg cm ] value on servo motor shaft 2 JM : Servo motor inertia moment [kg cm ] No : Servomotor speed during fast feed [r/min] TL : Load torque converted into equivalent [N m] value on servo motor shaft TB : Brake static friction torque (Note) [N m] Note: t and TB are the values noted in Table 6.1 Characteristics. JL is the machine's inertia moment at 2 the servo motor shaft. 6.2 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below. Servo motor Top Measuring position Bottom Servo Motor Vibration Measuring Conditions 6 - 4 6. CHARACTERISTICS 6.3 Machine Accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting. Flange Size Accuracy TIR (Total Indicator Reading) Measuring [mm] Position Less than 100 100 130 176 to 250 280 or more Squareness of flange surface to output a) 0.05 0.06 0.08 0.08 shaft Eccentricity of fitting OD of flange surface b) 0.04 0.04 0.06 0.08 Runout of output shaft end c) 0.02 0.02 0.03 0.03 Reference diagram b) c) a) 6 - 5 6. CHARACTERISTICS MEMO 6 - 6 70 46 7. OUTLINE DIMENTION DRAWING 7. OUTLINE DIMENSION DRAWINGS 7.1 Servo motors 7.1.1 HC-MF HC-KF series (1) Standard (without electromagnetic brake, without reduction gear) Output Variable Dimensions Inertia Moment Weight Model 4 2 [W] J[ 10 kg m ] [kg] LKL HC-MF053 50 81.5 29.5 0.019 0.40 HC-MF13 100 96.5 44.5 0.03 0.53 HC-KF053 50 81.5 29.5 0.053 0.40 HC-KF13 100 96.5 44.5 0.084 0.53 (Note)[Unit: mm] L 25 40 …42 40.5 5 2.5 2- 4.5 Motor plate (Opposite side) Motor plate Bottom Bottom Top Bottom Top Top 6.8 Caution plate KL 9.9 25.2 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) 20 Red: Phase U White: Phase V Encoder cable 0.3m Black: Phase W BC12031* Green/yellow: Earth With connector 1-172169-9 (BC12034*) (AMP) Note: The dimensions without tolerances are reference dimensions. Variable Dimensions Output Inertia Moment Weight Model 2 4 [W] LKL J[ 10 kg m ] [kg] HC-MF23 200 99.5 49.1 0.088 0.99 HC-MF43 400 124.5 72.1 0.143 1.45 HC-KF23 200 99.5 49.1 0.42 0.99 HC-KF43 400 124.5 72.1 0.67 1.45 (Note)[Unit: mm] 60 L 30 41 73 Motor plate 4- 5.8 (Opposite side) 62 2.7 Motor plate Bottom Bottom Top Top Bottom Top KL Caution plate 9.9 25.2 10.6 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U 20 White: Phase V Black: Phase W Encoder cable 0.3m Green/yellow: Earth BC12032* With connector 1-172169-9 (BC12035*) (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 1 45 45 28.7 38.4 14h6 8h6 50h7 30h7 35.7 42.8 90 46 7. OUTLINE DIMENSION DRAWING Output Inertia Moment Weight Model 2 4 [W] J[ 10 kg m ] [kg] HC-MF73 750 0.6 3 (Note)[Unit: mm] 82 142 40 80 4- 6.6 39 Motor plate 83 2.7 (Opposite side) Motor plate Bottom Bottom Top Top 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) 20 Red: Phase U Encoder cable 0.3m White: Phase V With connector 1-172169-9 Black: Phase W BC12033* (AMP) Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. (2) With electromagnetic brake Variable Dimensions Output Braking Force Inertia Moment Weight Model 2 4 [W] LKL [N m] J[ 10 kg m ] [kg] HC-MF053B 50 109.5 29.5 0.32 0.022 0.75 HC-MF13B 100 124.5 44.5 0.32 0.032 0.89 HC-KF053B 50 109.5 29.5 0.32 0.056 0.75 HC-KF13B 100 124.5 44.5 0.32 0.087 0.89 (Note)[Unit: mm] L 25 42 40 40.5 5 2.5 Motor plate 2- 4.5 (Opposite side) Motor plate Bottom Bottom Top Bottom Top Top 6.8 KL Caution plate 9.9 25.2 65.5 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V 20 Black: Phase W Brake lead Encoder cable 0.3m 2 Green/yellow: Earth 2-0.3 0.3m BC12036* With connector 1-172169-9 (With end-insulated round (BC12039*) (AMP) crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. 7 - 2 45 45 28.7 48.7 19h6 8h6 70h7 30h7 58.1 35.7 90 70 7. OUTLINE DIMENSION DRAWING Variable Dimensions Inertia Moment Output Braking Force Weight Model 4 2 J[ 10 kg m ] [W] LKL [N 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 HC-KF23B 200 131.5 49.1 1.3 0.47 1.6 HC-KF43B 400 156.5 72.1 1.3 0.72 2.1 (Note)[Unit: mm] 60 L30 41 7 3 Motor plate 4- 5.8 62 2.7 (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top 10.6 KL Caution plate 9.9 68 25.2 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U 20 White: Phase V Brake lead Black: Phase W Encoder cable 0.3m 2 BC12037* Green/yellow: Earth With connector 1-172169-9 2-0.3 0.3m (BC12039*) (AMP) (With end-insulated round crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. Inertia Moment Output Braking Force Weight Model 4 2 J[ 10 kg m ] [W] [N m] [kg] HC-MF73B 750 2.4 0.725 4.0 (Note)[Unit: mm] 82 177.5 40 80 4- 6.6 39 Motor plate 8 3 (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top Caution plate 86.7 11 25.2 20 9.9 72 Power supply lead 4-AWG19 0.3m 19.5 (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m Brake lead White: Phase V 2 With connector 1-172169-9 2-0.3 0.3m Black: Phase W BC12038* (AMP) (With end-insulated round Green/yellow: Earth crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. 7 - 3 45 45 33.4 48.7 14h6 19h6 50h7 70h7 42.8 58.1 88 88 45 45 7. OUTLINE DIMENSION DRAWING (3) With reduction gear for general industrial machine The outer frame of the reduction gear is a material surface such as casting. Its actual dimensions may be 1 to 3mm larger than the drawing dimensions. Design the machine side with allowances. (a) Without electromagnetic brake Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Model Backlash 2 4 [W] LKL Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [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. 1.8 HC-KF053G1 50 126 74 K6505 1/5(9/44) 0.090 60min. max. 1.4 HC-KF053G1 50 144 92 K6512 1/12(49/576) 0.112 60min. max. 1.8 HC-KF053G1 50 144 92 K6520 1/20(25/484) 0.094 60min. max. 1.8 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L 65 60.5 25 40.5 34.5 4- 7 42 8 6.5 Motor plate (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 6.8 KL 20 M4 threads, 25.2 Power supply lead 4-AWG19 0.3m depth 8 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V BC12066A Encoder cable 0.3m Black: Phase W (BC12086A) With connector 1-172169-9 (AMP) Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Model Backlash 2 4 [W] LKL Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [kg] HC-MF13G1 100 141 89 K6505 1/5(9/44) 0.067 60min. max. 1.5 HC-MF13G1 100 159 107 K6512 1/12(49/576) 0.089 60min. max. 1.9 HC-MF13G1 100 159 107 K6520 1/20(25/484) 0.071 60min. max. 1.9 HC-KF13G1 100 141 89 K6505 1/5(9/44) 0.121 60min. max. 1.5 HC-KF13G1 100 159 107 K6512 1/12(49/576) 0.143 60min. max. 1.9 HC-KF13G1 100 159 107 K6520 1/20(25/484) 0.125 60min. max. 1.9 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 65 60.5 L 42 40.5 34.5 25 4- 7 Motor plate 8 6.5 (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top Caution 9.9 6.8 plate KL M4 threads, 20 depth 8 25.2 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U BC12067A Encoder cable 0.3m White: Phase V (BC12087A) With connector 1-172169-9 (AMP) Black: Phase W Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. 7 - 4 (R4) 75 75 (R4) 28.7 28.7 35.7 35.7 16h6 16h6 48 48 ( 50) ( 50) 60h7 60h7 45 45 7. OUTLINE DIMENSION DRAWING Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Model 4 2 [W] LKL Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [kg] HC-MF23G1 200 153 102.6 K9005 1/5(19/96) 0.249 3.3 HC-MF23G1 200 173 122.6 K9012 1/12(25/288) 0.293 3.9 HC-MF23G1 200 173 122.6 K9020 1/20(253/5000) 0.266 3.9 HC-KF23G1 200 153 102.6 K9005 1/5(19/96) 0.58 3.3 HC-KF23G1 200 173 122.6 K9012 1/12(25/288) 0.63 3.9 HC-KF23G1 200 173 122.6 K9020 1/20(253/5000) 0.60 3.9 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L 74 90 8 10 4- 9 62 41 Motor plate 30 35 (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 25.2 10.6 KL M6 threads, Power supply lead 4-AWG19 0.3m depth12 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m BC12068* White: Phase V With connector 1-172169-9 Black: Phase W (AMP) (BC12088*) Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. Output Variable Dimensions Reduction Reduction Ratio Inertia Moment Weight Model 2 4 [W] Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [kg] LKL HC-MF43G1 400 178 125.6 K9005 1/5(19/96) 0.296 3.8 HC-MF43G1 400 198 145.6 K9012 1/12(25/288) 0.339 4.4 HC-KF43G1 400 178 125.6 K9005 1/5(19/96) 0.82 3.8 HC-KF43G1 400 198 145.6 K9012 1/12(25/288) 0.87 4.4 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L 74 90 10 8 4- 9 62 41 Motor plate 30 35 (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 25.2 10.6 KL M6 threads, Power supply lead 4-AWG19 0.3m 20 depth12 (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m White: Phase V With connector 1-172169-9 BC12069* Black: Phase W (AMP) (BC12089*) Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. 7 - 5 114 114 100 100 38.4 38.4 42.8 42.8 25h6 25h6 73 73 82h7 82h7 45 45 7. OUTLINE DIMENSION DRAWING Reduction Ratio Output Reduction Gear Inertia Moment Weight Model Backlash 4 2 [W] Model Normal Reduction ratio Actual Reduction Ratio J[ 10 kg m ] [kg] HC-MF43G1 400 K10020 1/20 253/5000 0.653 60min. max. 5.5 HC-MF73G1 750 K10005 1/5 1/5 1.02 60min. max. 6.2 HC-MF73G1 750 K10012 1/12 525/6048 1.686 60min. max. 7.3 HC-MF73G1 750 K12020 1/20 625/12544 1.75 60min. max. 10.1 Output Variable Dimensions Model [W] D LH LK LT H LA LB LC LD LE LF LG LM LN LP L LR KL LZ Q S P R HC-MF43G1 400 62 38.4 41 10.6 42.8 115 95 132 100 10 73 10 13 16 86 201.5 90 149.1 9 50 32M816 HC-MF73G1 750 82 48.7 39 11 58.1 115 95 132 100 10 73 10 13 16 86 207 90 151.7 9 50 32M816 HC-MF73G1 750 82 48.7 39 11 58.1 115 95 132 100 10 73 10 13 16 86 229 90 173.7 9 50 32M816 HC-MF73G1 750 82 48.7 39 11 58.1 140 115 162 120 12 90 15 13 20 104 242 106 186.7 14 60 40 M10 20 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 4- LZ L LR LD LG LE LK Motor plate D LM LM Q (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top LT 9.9 25.2 Caution plate KL 20 Power supply lead 4-AWG19 0.3m P threads, (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m depth R Red: Phase U With connector 1-172169-9 White: Phase V (AMP) Black: Phase W Green/yellow: Earth BC12070* Note: The dimensions without tolerances are reference dimensions. Reduction Ratio Output Reduction Gear Inertia Moment Weight Model Backlash 4 2 [W] Model J[ 10 kg m ] [kg] Normal Reduction ratio Actual Reduction Ratio HC-KF43G1 400 K10020 1/20 253/5000 1.18 60min. max. 5.5 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 201.5 100 90 4- 9 10 10 62 41 16 50 13 Motor plate 2.7 (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 25.2 10.6 149.1 M8 threads, depth 16 Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m White: Phase V With connector 1-172169-9 Black: Phase W (AMP) Green/yellow: Earth BC12090* Note: The dimensions without tolerances are reference dimensions. 7 - 6 132 LC LA 115 38.4 LH 42.8 H Sh6 32h6 LF LP LBh7 73 86 95h7 88 88 45 45 7. OUTLINE DIMENSION DRAWING (b) With electromagnetic brake Variable Dimensions Reduction Ratio Output Braking Force Reduction Inertia Moment Weight Model (Actual Reduction Backlash 4 2 [W] LKL [N m] Gear Model J[ 10 kg m ] [kg] Ratio) 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. 2.2 HC-KF053BG1 50 154 74 0.32 K6505 1/5(9/44) 0.093 60min. max. 1.8 HC-KF053BG1 50 172 92 0.32 K6512 1/12(49/576) 0.115 60min. max. 2.2 HC-KF053BG1 50 172 92 0.32 K6520 1/20(25/484) 0.097 60min. max. 2.2 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 65 L 60.5 40.5 34.5 25 4- 7 42 8 6.5 Motor plate (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 6.8 KL 20 65.5 M4 threads, Power supply lead 4-AWG19 0.3m 25.2 depth 8 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Brake lead 2 Green/yellow: Earth 2-0.3 0.3m (With end-insulated BC12071A Encoder cable 0.3m round crimping terminal 1.25-4) (BC12091A) With connector 1-172169-9 (AMP) Note: The dimensions without tolerances are reference dimensions. Variable Dimensions Braking Reduction Ratio Output Reduction Inertia Moment Weight Model Force (Actual Reduction Backlash 2 4 [W] LKL Gear Model J[ 10 kg m ] [kg] [N m] Ratio) HC-MF13BG1 100 169 89 0.32 K6505 1/5(9/44) 0.069 60min. max. 1.9 HC-MF13BG1 100 187 107 0.32 K6512 1/12(49/576) 0.091 60min. max. 2.3 HC-MF13BG1 100 187 107 0.32 K6520 1/20(25/484) 0.073 60min. max. 2.3 HC-KF13BG1 100 169 89 0.32 K6505 1/5(9/44) 0.124 60min. max. 1.9 HC-KF13BG1 100 187 107 0.32 K6512 1/12(49/576) 0.146 60min. max. 2.3 HC-KF13BG1 100 187 107 0.32 K6520 1/20(25/484) 0.128 60min. max. 2.3 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 60.5 65 L 4- 7 42 40.5 34.5 25 Motor plate 8 6.5 (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 6.8 M4 threads, 65.5 20 depth 8 KL 25.2 Brake lead 2 Power supply lead 4-AWG19 2-0.3 0.3m (With end-insulated (With end-insulated round crimping terminal 1.25-4) round crimping terminal 1.25-4) BC12072A Red: Phase U Encoder cable 0.3m White: Phase V (BC12092A) With connector 1-172169-9 (AMP) Black: Phase W Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. 7 - 7 (R4) (R4) 75 75 28.7 28.7 35.7 35.7 16h6 16h6 48 48 ( 50) ( 50) 60h7 60h7 114 114 45 45 7. OUTLINE DIMENSION DRAWING Variable Dimensions Output Reduction Reduction Ratio Inertia Moment Weight Braking Force Model 4 2 [W] LKL Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [kg] [N m] HC-MF23BG1 200 185 102.6 K9005 1/5(19/96) 0.289 3.9 1.3 HC-MF23BG1 200 205 122.6 K9012 1/12(25/288) 0.333 4.5 1.3 HC-MF23BG1 200 205 122.6 K9020 1/20(253/5000) 0.306 4.5 1.3 HC-KF23BG1 200 185 102.6 K9005 1/5(19/96) 0.63 3.9 1.3 HC-KF23BG1 200 205 122.6 K9012 1/12(25/288) 0.68 4.5 1.3 HC-KF23BG1 200 205 122.6 K9020 1/20(253/5000) 0.65 4.5 1.3 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 4- 9 L 74 90 10 8 Motor plate 62 41 30 35 (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top 68 Caution plate 9.9 10.6 25.2 KL M6 threads, depth 12 Power supply lead 4-AWG19 0.3m 2 20 Brake lead 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) (With end-insulated round Red: Phase U crimping terminal 1.25-4) BC12073* White: Phase V (BC120793*) Encoder cable 0.3m Black: Phase W With connector 1-172169-9 Green/yellow: Earth (AMP) Note: The dimensions without tolerances are reference dimensions. Variable Dimensions Output Braking Force Reduction Reduction Ratio Inertia Moment Weight Model 4 2 [W] LKL [N m] Gear Model (Actual Reduction Ratio) J[ 10 kg m ] [kg] HC-MF43BG1 400 210 125.6 1.3 K9005 1/5(19/96) 0.344 4.4 HC-MF43BG1 400 230 145.6 1.3 K9012 1/12(25/288) 0.388 5.0 HC-KF43BG1 400 210 125.6 1.3 K9005 1/5(19/96) 0.87 4.4 HC-KF43BG1 400 230 145.6 1.3 K9012 1/12(25/288) 0.92 5.0 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 4- 9 L 74 90 10 8 Motor plate 62 41 30 35 (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top 68 Caution plate 10.6 9.9 25.2 KL M6 threads, depth 12 Power supply lead 4-AWG19 0.3m 20 2 Brake lead 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) (With end-insulated round Red: Phase U BC12074* crimping terminal 1.25-4) White: Phase V (BC12094*) Encoder cable 0.3m Black: Phase W With connector 1-172169-9 Green/yellow: Earth (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 8 100 100 38.4 38.4 42.8 42.8 25h6 25h6 73 73 82h7 82h7 45 45 7. OUTLINE DIMENSION DRAWING Reduction Ratio Output Braking Force Reduction Inertia Moment Weight Model Normal Actual Backlash 2 4 [W] [N m] Gear Model J[ 10 kg m ] [kg] Reduction ratio Reduction Ratio HC-MF43BG1 400 1.3 K10020 1/20 253/5000 0.700 60min. max. 6.1 HC-MF73BG1 750 2.4 K10005 1/5 1/5 1.145 60min. max. 7.2 HC-MF73BG1 750 2.4 K10012 1/12 525/6048 1.811 60min. max. 8.3 HC-MF73BG1 750 2.4 K12020 1/20 625/12544 1.875 60min. max. 11.1 Variable Dimensions Output Model [W] D LH LK LT LX H LA LB LC LD LE LF LG LM LN LP L LR KL LZ Q S P R HC-MF43BG1 400 62 38.4 41 10.6 68 42.8 115 95 132 100 10 73 10 13 16 86 232.5 90 149.1 950 32 M8 16 HC-MF73BG1 750 82 48.7 39 11 72 58.1 115 95 132 100 10 73 10 13 16 86 242.5 90 151.7 950 32 M8 16 HC-MF73BG1 750 82 48.7 39 11 72 58.1 115 95 132 100 10 73 10 13 16 86 264.5 90 173.7 950 32 M8 16 HC-MF73BG1 750 82 48.7 39 11 72 58.1 140 115 162 120 12 90 15 13 20 104 277.5 106 186.7 14 60 40 M10 20 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command D L 4- LZ LD LR Motor plate LG LE Motor plate LK Q LM LN (Opposite side) 2.7 Bottom Bottom Top Top Bottom Top LX KL 25.2 LT Caution plate 9.9 P threads, depth R Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U 2 Brake lead 2-0.3 0.3m Encoder cable 0.3m White: Phase V (With end-insulated round With connector 1-172169-9 Black: Phase W crimping terminal 1.25-4) (AMP) BC12075* Green/yellow: Earth Note: The dimensions without tolerances are reference dimensions. Reduction Ratio Output Braking Force Reduction Inertia Moment Weight Model Normal Actual Backlash 4 2 [W] [N m] Gear Model J[ 10 kg m ] [kg] Reduction ratio Reduction Ratio HC-KF43BG1 400 1.3 K10020 1/20 253/5000 1.23 60min. max. 6.1 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command 62 233.5 90 100 4- 9 10 10 Motor plate 41 (Opposite side) 13 16 50 Motor plate 2.7 Bottom Bottom Top Top Bottom Top 68 Caution plate 149.1 25.2 10.6 9.9 8 threads, depth 16 Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U BC12095* White: Phase V 2 Brake lead 2-0.3 0.3m Black: Phase W Encoder cable 0.3m Green/yellow: Earth With connector 1-172169-9 (With end-insulated round (AMP) crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. 7 - 9 132 LC LA 115 LH 38.4 H 42.8 Sh6 LF LP LBh7 32h6 73 86 95h7 45 7. OUTLINE DIMENSION DRAWING (4) With reduction gear for precision application The outer frame of the reduction gear is a material surface such as casting. Its actual dimensions may be 1 to 3mm larger than the drawing dimensions. Design the machine side with allowances. (a) Without electromagnetic brake Variable Dimensions Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash 4 2 [W] LKL Model J[ 10 kg m ] [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. 1.8 HC-MF053G2 50 146 94 BK1-29B-A5MEKA 1/29 0.057 3 min. max. 1.8 HC-KF053G2 50 130 78 BK1-05B-A5MEKA 1/5 0.101 3 min. max. 1.4 HC-KF053G2 50 146 94 BK1-09B-A5MEKA 1/9 0.095 3 min. max. 1.7 HC-KF053G2 50 146 94 BK1-20B-A5MEKA 1/20 0.104 3 min. max. 1.8 HC-KF053G2 50 146 94 BK1-29B-A5MEKA 1/29 0.092 3 min. max. 1.8 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L 55 70 4- 6.6 86 42 40.5 23 25 Motor plate (Opposite side) Motor plate Bottom Bottom Top Bottom Top Top 6.8 Caution plate 9.9 25.2 KL M4 threads, depth 8 Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V BC12076* Black: Phase W (BC12096*) Encoder cable 0.3m Green/yellow: Earth With connector 172169-9 (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 10 95 80 28.7 16h6 48 60 65h7 35.7 45 7. OUTLINE DIMENSION DRAWING Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash 2 4 [W] Model J[ 10 kg m ] [kg] HC-MF13G2 100 BK1-05B-01MEKA 1/5 0.078 3 min. max. 1.5 HC-MF13G2 100 BK1-09B-01MEKA 1/9 0.072 3 min. max. 1.8 HC-MF13G2 100 BK1-20B-01MEKA 1/20 0.122 3 min. max. 3.0 HC-MF13G2 100 BK1-29B-01MEKA 1/29 0.096 3 min. max. 3.0 Variable Dimensions Output Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF13G2 100 80 65 95 70 6 48 8 60 23 145 55 93 6.6 25 16 M4 8 HC-MF13G2 100 80 65 95 70 6 48 8 60 23 161 55 109 6.6 25 16 M4 8 HC-MF13G2 100 100 80 115 85 6 65 10 74 33 167 75 115 6.6 35 20 M5 10 HC-MF13G2 100 100 80 115 85 6 65 10 74 33 167 75 115 6.6 35 20 M5 10 Output Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash 4 2 [W] Model J[ 10 kg m ] [kg] HC-KF13G2 100 BK1-05B-01MEKA 1/5 0.132 3 min. max. 1.5 HC-KF13G2 100 BK1-09B-01MEKA 1/9 0.126 3 min. max. 1.8 HC-KF13G2 100 BK2-20B-01MEKA 1/20 0.176 3 min. max. 3.0 HC-KF13G2 100 BK2-29B-01MEKA 1/29 0.150 3 min. max. 3.0 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-KF13G2 100 80 65 95 70 6 48 8 60 23 145 55 93 6.6 25 16 M4 8 HC-KF13G2 100 80 65 95 70 6 48 8 60 23 161 55 109 6.6 25 16 M4 8 HC-KF13G2 100 100 80 115 85 6 65 10 74 33 167 75 115 6.6 35 20 M5 10 HC-KF13G2 100 100 80 115 85 6 65 10 74 33 167 75 115 6.6 35 20 M5 10 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command LD L LR 4- LZ LG LE 42 40.5 LK Q Motor plate (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top 6.8 Caution plate 9.9 25.2 KL P threads, depth R Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W BC12077* Encoder cable 0.3m Green/yellow: Earth With connector 1-172169-9 (BC12097*) (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 11 LC LA 28.7 Sh6 LF LH LBh7 35.7 45 7. OUTLINE DIMENSION DRAWING Output Reduction Gear Inertia Moment Weight Model Reduction Ratio 2 4 [W] Model J[ 10 kg m ] [kg] HC-MF23G2 200 BK1-05B-02MEKA 1/5 0.191 2.1 HC-MF23G2 200 BK2-09B-02MEKA 1/9 0.208 3.5 HC-MF23G2 200 BK3-20B-02MEKA 1/20 0.357 5.0 HC-MF23G2 200 BK3-29B-02MEKA 1/29 0.276 5.0 Variable Dimensions Output Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF23G2 200 80 65 95 70 6 48 8 60 23 157 55 106.6 6.6 25 16 M4 8 HC-MF23G2 200 100 80 115 85 6 65 10 74 33 175 75 124.6 6.6 35 20 M5 10 HC-MF23G2 200 115 95 135 100 8 75 10 85 35 180 85 129.6 940 25 M6 12 HC-MF23G2 200 115 95 135 100 8 75 10 85 35 180 85 129.6 940 25 M6 12 Output Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] Model J[ 10 kg m ] [kg] HC-KF23G2 200 BK1-05B-02MEKA 1/5 0.52 2.1 HC-KF23G2 200 BK2-09B-02MEKA 1/9 0.54 3.5 HC-KF23G2 200 BK3-20B-02MEKA 1/20 0.69 5.0 HC-KF23G2 200 BK3-29B-02MEKA 1/29 0.61 5.0 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-KF23G2 200 80 65 95 70 6 48 8 60 23 157 55 106.6 6.6 25 16 M4 8 HC-KF23G2 200 100 80 115 85 6 65 10 74 33 175 75 124.6 6.6 35 20 M5 10 HC-KF23G2 200 115 95 135 100 8 75 10 85 35 180 85 129.6 940 25 M6 12 HC-KF23G2 200 115 95 135 100 8 75 10 85 35 180 85 129.6 940 25 M6 12 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L LR LD 4- LZ LG LE 62 41 Motor plate LK Q (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top Caution plate 10.6 9.9 25.2 KL P threads, Power supply lead 4 -AWG19 0.3m depth R 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V BC12078* Encoder cable 0.3m Black: Phase W (BC12098*) With connector 1-172169-9 Green/yellow: Earth (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 12 LC LA 38.4 42.8 Sh6 LF LH LBh7 45 7. OUTLINE DIMENSION DRAWING Output Reduction Gear Inertia Moment Weight Model Reduction Ratio 2 4 [W] Model J[ 10 kg m ] [kg] HC-MF43G2 400 BK2-05B-04MEKA 1/5 0.295 3.7 HC-MF43G2 400 BK3-09B-04MEKA 1/9 0.323 5.3 HC-MF43G2 400 BK4-20B-04MEKA 1/20 0.426 7.5 HC-MF43G2 400 BK4-29B-04MEKA 1/29 0.338 7.5 Variable Dimensions Output Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF43G2 400 100 80 115 85 6 65 10 74 33 184 75 131.6 6.6 35 20 M5 10 HC-MF43G2 400 115 95 135 100 8 75 10 85 35 205 85 152.6 940 25 M6 12 HC-MF43G2 400 135 110 155 115 8 90 12 100 40 211 100 158.6 11 50 32 M8 16 HC-MF43G2 400 135 110 155 115 8 90 12 100 40 211 100 158.6 11 50 32 M8 16 Output Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] Model J[ 10 kg m ] [kg] HC-KF43G2 400 BK2-05B-04MEKA 1/5 0.82 3.7 HC-KF43G2 400 BK3-09B-04MEKA 1/9 0.85 5.3 HC-KF43G2 400 BK4-20B-04MEKA 1/20 0.95 7.5 HC-KF43G2 400 BK4-29B-04MEKA 1/29 0.87 7.5 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-KF43G2 400 100 80 115 85 6 65 10 74 33 184 75 131.6 6.6 35 20 M5 10 HC-KF43G2 400 115 95 135 100 8 75 10 85 35 205 85 152.6 940 25 M6 12 HC-KF43G2 400 135 110 155 115 8 90 12 100 40 211 100 158.6 11 50 32 M8 16 HC-KF43G2 400 135 110 155 115 8 90 12 100 40 211 100 158.6 11 50 32 M8 16 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L LR LD 4- LZ LG LE 62 Motor plate 41 LK Q (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top Caution plate 9.9 25.2 10.6 KL P threads, Power supply lead 4-AWG19 0.3m depth R 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Encoder cable 0.3m Black: Phase W BC12079 With connector 1-172169-9 Green/yellow: Earth (BC12099*) (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 13 LC LA 38.4 42.8 Sh6 LF LH LBh7 45 7. OUTLINE DIMENSION DRAWING Output Reduction Gear Inertia Moment Weight Model Reduction Ratio 2 4 [W] Model 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 Variable Dimensions Output Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF73G2 750 115 95 135 100 8 75 10 85 35 212 85 156.7 9 40 25M612 HC-MF73G2 750 135 110 155 115 8 90 12 100 40 248 100 192.7 11 50 32 M8 16 HC-MF73G2 750 150 125 175 130 10 105 15 115 43 248 115 192.7 14 60 40 M10 20 HC-MF73G2 750 150 125 175 130 10 105 15 115 43 248 115 192.7 14 60 40 M10 20 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L LR LD 4- LZ LG LE 82 39 LK Q Motor plate 2.7 (Opposite side) Motor plate Bottom Bottom Top Top Bottom Top 11 9.9 Caution plate KL 25.2 P threads, 20 Power supply lead 4-AWG19 0.3m depth R (With end-insulated r ound crimping terminal 1.25-4) Red: Phase U White: Phase V Encoder cable 0.3m Black: Phase W With connector 1-172169-9 Green/yellow: Earth BC12080* (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 14 LC LA 48.7 58.1 Sh6 LF LH LBh7 45 7. OUTLINE DIMENSION DRAWING (b) With electromagnetic brake Variable Dimensions Braking Force Output Reduction Gear Reduction Inertia Moment Weight Model Backlash 2 4 [N m] [W] L KL Model Ratio J[ 10 kg m ] [kg] HC-MF053G2 50 158 78 0.32 BK1-05B-A5MEKA 1/5 0.070 3 min. max. 1.8 HC-MF053G2 50 174 94 0.32 BK1-09B-A5MEKA 1/9 0.063 3 min. max. 2.1 HC-MF053G2 50 174 94 0.32 BK1-20B-A5MEKA 1/20 0.072 3 min. max. 2.2 HC-MF053G2 50 174 94 0.32 BK1-29B-A5MEKA 1/29 0.060 3 min. max. 2.2 HC-KF053G2 50 158 78 0.32 BK1-05B-A5MEKA 1/5 0.104 3 min. max. 1.8 HC-KF053G2 50 174 94 0.32 BK1-09B-A5MEKA 1/9 0.098 3 min. max. 2.1 HC-KF053G2 50 174 94 0.32 BK1-20B-A5MEKA 1/20 0.107 3 min. max. 2.2 HC-KF053G2 50 174 94 0.32 BK1-29B-A5MEKA 1/29 0.095 3 min. max. 2.2 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L 55 70 8 6 4- 6.6 42 40.5 23 25 Motor plate Motor plate (Opposite side) Bottom Bottom Bottom Top Top Top 6.8 Caution plate 9.9 25.2 65.5 KL M4 threads, Power supply lead 4-AWG19 0.3m depth 8 (With end-insulated round crimping terminal 1.25-4) 20 Red: Phase U White: Phase V Brake lead Black: Phase W 2 2-0.3 0.3m Green/yellow: Earth BC12081* (With end-insulated round Encoder cable 0.3m (BC12100*) crimping terminal 1.25-4) With connector 172169-9 Blue: B1,B2 (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 15 95 80 28.7 16h6 48 60 65h7 35.7 45 7. OUTLINE DIMENSION DRAWING Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash 4 2 [W] [N m] Model J[ 10 kg m ] [kg] 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. 3.4 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF13BG2 100 80 65 95 70 6 48 8 60 23 173 55 93 6.6 25 16 M4 8 HC-MF13BG2 100 80 65 95 70 6 48 8 60 23 189 55 109 6.6 25 16 M4 8 HC-MF13BG2 100 100 80 115 85 6 65 10 74 33 195 75 115 6.6 35 20 M5 10 HC-MF13BG2 100 100 80 115 85 6 65 10 74 33 195 75 115 6.6 35 20 M5 10 Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio Backlash 4 2 [W] [N m] Model J[ 10 kg m ] [kg] HC-KF13BG2 100 0.32 BK1-05B-01MEKA 1/5 0.135 3 min. max. 1.9 HC-KF13BG2 100 0.32 BK1-09B-01MEKA 1/9 0.129 3 min. max. 2.2 HC-KF13BG2 100 0.32 BK2-20B-01MEKA 1/20 0.179 3 min. max. 3.4 HC-KF13BG2 100 0.32 BK2-29B-01MEKA 1/29 0.153 3 min. max. 3.4 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-KF13BG2 100 80 65 95 70 6 48 8 60 23 173 55 93 6.6 25 16 M4 8 HC-KF13BG2 100 80 65 95 70 6 48 8 60 23 189 55 109 6.6 25 16 M4 8 HC-KF13BG2 100 100 80 115 85 6 65 10 74 33 195 75 115 6.6 35 20 M5 10 HC-KF13BG2 100 100 80 115 85 6 65 10 74 33 195 75 115 6.6 35 20 M5 10 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L LR LD 4- LZ LG LE 42 40.5 LK Q Motor plate (Opposite side) Motor plate Bottom Bottom Bottom Top Top Top 6.8 Caution plate 25.2 65.5 KL P threads, Power supply lead 4-AWG19 0.3m depth R 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Brake lead Black: Phase W 2 2-0.3 0.3m Green/yellow: Earth (With end-insulated round Encoder cable 0.3m BC12082* crimping terminal 1.25-4) With connector 1-172169-9 (BC12101*) (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 16 LC LA 28.7 Sh6 LF LH LBh7 35.7 45 7. OUTLINE DIMENSION DRAWING Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] [N m] Model 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 5.6 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF23BG2 200 80 65 95 70 6 48 8 60 23 189 55 106.6 6.6 25 16 M4 8 HC-MF23BG2 200 100 80 115 85 6 65 10 74 33 207 75 124.6 6.6 35 20 M5 10 HC-MF23BG2 200 115 95 135 100 8 75 10 85 35 212 85 129.6 940 25 M6 12 HC-MF23BG2 200 115 95 135 100 8 75 10 85 35 212 85 129.6 940 25 M6 12 Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] [N m] Model J[ 10 kg m ] [kg] HC-KF23BG2 200 1.3 BK1-05B-01MEKA 1/5 0.57 2.7 HC-KF23BG2 200 1.3 BK2-09B-01MEKA 1/9 0.59 4.1 HC-KF23BG2 200 1.3 BK3-20B-01MEKA 1/20 0.74 5.6 HC-KF23BG2 200 1.3 BK3-29B-01MEKA 1/29 0.66 5.6 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-KF23BG2 200 80 65 95 70 6 48 8 60 23 189 55 106.6 6.6 25 16 M4 8 HC-KF23BG2 200 100 80 115 85 6 65 10 74 33 207 75 124.6 6.6 35 20 M5 10 HC-KF23BG2 200 115 95 135 100 8 75 10 85 35 212 85 129.6 940 25 M6 12 HC-KF23BG2 200 115 95 135 100 8 75 10 85 35 212 85 129.6 940 25 M6 12 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command L LR LD 4- LZ LG LE LK Q 62 41 Motor plate (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top 10.6 Caution plate 68 9.9 2.52 KL Power supply lead 4-AWG19 0.3m P threads, (With end-insulated round crimping terminal 1.25-4) depth R 20 Red: Phase U White: Phase V Brake lead Black: Phase W 2 2-0.3 0.3m Green/yellow: Earth Encoder cable 0.3m BC12083* (With end-insulated round With connector 1-172169-9 (BC12102*) crimping terminal 1.25-4) (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 17 LC LA 38.4 42.8 Sh6 LF LH LBh7 45 7. OUTLINE DIMENSION DRAWING Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] [N m] Model 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 8.1 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF43BG2 400 100 80 115 85 6 65 10 74 33 216 75 131.6 6.6 35 20 M5 10 HC-MF43BG2 400 115 95 135 100 8 75 10 85 35 237 85 152.6 940 25 M6 12 HC-MF43BG2 400 135 110 155 115 8 90 12 100 40 243 100 158.6 11 50 32 M8 16 HC-MF43BG2 400 135 110 155 115 8 90 12 100 40 243 100 158.6 11 50 32 M8 16 Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] [N m] Model J[ 10 kg m ] [kg] HC-KF43BG2 400 1.3 BK2-05B-04MEKA 1/5 0.87 4.3 HC-KF43BG2 400 1.3 BK3-09B-04MEKA 1/9 0.90 5.9 HC-KF43BG2 400 1.3 BK4-20B-04MEKA 1/20 1.00 8.1 HC-KF43BG2 400 1.3 BK4-29B-04MEKA 1/29 0.92 8.1 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF43BG2 400 100 80 115 85 6 65 10 74 33 216 75 131.6 6.6 35 20 M5 10 HC-MF43BG2 400 115 95 135 100 8 75 10 85 35 237 85 152.6 940 25 M6 12 HC-MF43BG2 400 135 110 155 115 8 90 12 100 40 243 100 158.6 11 50 32 M8 16 HC-MF43BG2 400 135 110 155 115 8 90 12 100 40 243 100 158.6 11 50 32 M8 16 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command LK LD LR 4- LZ LG LE 62 41 Motor plate LK Q (Opposite side) 2.7 Motor plate Bottom Bottom Top Top Bottom Top 68 Caution plate 9.9 25.2 10.6 KL P threads, Power supply lead 4-AWG19 0.3m depth R (With end-insulated round crimping terminal 1.25-4) 20 Red: Phase U White: Phase V Black: Phase W Brake lead BC12084* Encoder cable 0.3m 2 Green/yellow: Earth 2-0.3 0.3m (BC12103*) With connector 1-172169-9 (With end-insulated round (AMP) crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. 7 - 18 LC LA 38.4 42.8 Sh6 LF LH LBh7 45 7. OUTLINE DIMENSION DRAWING Output Braking Force Reduction Gear Inertia Moment Weight Model Reduction Ratio 4 2 [W] [N m] Model 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 13.0 Output Variable Dimensions Model [W] LA LB LC LD LE LF LG LH LK L LR KL LZ Q S P R HC-MF73BG2 750 115 95 135 100 8 75 10 85 35 247.5 85 156.7 940 25 M6 12 HC-MF73BG2 750 135 110 155 115 8 90 12 100 40 283.5 100 192.7 11 50 32 M8 16 HC-MF73BG2 750 150 125 175 130 10 105 15 115 43 283.5 115 192.7 14 60 40 M10 20 HC-MF73BG2 750 150 125 175 130 10 105 15 115 43 283.5 115 192.7 14 60 40 M10 20 (Note)[Unit: mm] For reverse rotation command "Rotation direction" For forward rotation command LD L LR LG LE 4- LZ 82 Motor plate 39 LK Q (Opposite side) Motor plate 2.7 Bottom Bottom Top Top Bottom Top Caution plate 72 25.2 11 9.9 KL Power supply lead 4-AWG19 0.3m P threads, (With end-insulated round crimping terminal 1.25-4) depth R Red: Phase U Encoder cable 0.3m Brake lead White: Phase V 2 With connector 1-172169-9 2-0.3 0.3m Black: Phase W (AMP) (With end-insulated round Green/yellow: Earth BC12085* crimping terminal 1.25-4) Note: The dimensions without tolerances are reference dimensions. 7 - 19 LC LA 48.7 58.1 Sh6 LF LH LBh7 70 46 7. OUTLINE DIMENSION DRAWING (5) HC-MF-UE HC-KF-UE series (a) Standard (without electromagnetic brake, without reduction gear) Variable Dimensions Output Inertia Moment Weight Model 2 4 [W] LKL J[ 10 kg m ] [kg] HC-MF053-UE 50 89.5 37.5 0.019 0.5 HC-MF13-UE 100 104.5 52.5 0.03 0.6 HC-KF053-UE 50 89.5 37.5 0.054 0.5 HC-KF13-UE 100 104.5 52.5 0.085 0.53 (Note)[Unit: mm] 42 L25 40 2- 4.5 Motor plate 52.5 (Opposite side) 40.5 Motor plate Bottom Bottom Top Top Bottom Bottom Top Top V ring TUV plate Caution plate 9.9 V-10A KL 6.8 25.2 Encoder cable Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) 0.3m 20 Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth Encoder cable 0.3m With connector 1-172169-9 BC07328A (AMP) Note: The dimensions without tolerances are reference dimensions. Variable Dimensions Output Inertia Moment Weight Model 2 4 [W] LKL J[ 10 kg m ] [kg] HC-MF23-UE 200 108.5 58 0.09 1.2 HC-MF43-UE 400 133.5 81 0.14 1.7 HC-KF23-UE 200 108.5 58 0.43 1.2 HC-KF43-UE 400 133.5 81 0.68 1.7 (Note)[Unit: mm] L30 30 62 41 TUV plate 4- 5.8 7 3 2.7 Motor plate (Opposite side) Motor plate Bottom Bottom Bottom Top Top Top Bottom V ring V-16A Top KL 9.9 Caution plate 10.6 Power supply lead 4-AWG19 0.3m 25.2 (With end-insulated round crimping terminal 1.25-4) 20 Red: Phase U White: Phase V Black: Phase W Encoder cable 0.3m Green/yellow: Earth With connector 1-172169-9 BC07329A (AMP) Note: The dimensions without tolerances are reference dimensions. 7 - 20 45 45 28.7 38.4 8h6 14h6 30h7 50h7 35.7 42.8 46 90 7. OUTLINE DIMENSION DRAWING Output Inertia Moment Weight Model 4 2 [W] J[ 10 kg m ] [kg] HC-MF73-UE 750 0.675 3.1 (Note)[Unit: mm] 150 40 TUV plate 8 3 80 Motor plate 82 39 (Opposite side) 4- 6.6 2.7 Motor plate Bottom Bottom Top Top Bottom Top V ring 11 9.9 V-25A 25.2 95 Caution plate Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Red: Phase U Encoder cable 0.3m White: Phase V With connector 1-172169-9 Black: Phase W (AMP) Green/yellow: Earth BC07330A Note: The dimensions without tolerances are reference dimensions. (b) With electromagnetic brake Variable Dimensions Inertia Moment Output Braking Force Weight Model 4 2 J[ 10 kg m ] [W] LKL [N m] [kg] HC-MF053B-UE 50 117.5 37.5 0.022 0.9 HC-MF13B-UE 100 132.5 52.5 0.032 1 0.32 HC-KF053B-UE 50 117.5 37.5 0.057 0.9 HC-KF13B-UE 100 132.5 52.5 0.088 1 (Note)[Unit: mm] L25 40 5 2.5 42 2- 4.5 TUV plate 40.5 Motor plate (Opposite side) Motor plate Bottom Bottom Top Top Bottom Bottom Top Top V ring V-10A Caution plate KL 6.8 Encoder cable 0.3m 25.2 With connector 1-172169-9 Power supply lead 4-AWG19 0.3m (AMP) (With end-insulated round crimping terminal 1.25-4) Red: Phase U 20 White: Phase V Brake lead Black: Phase W 2 2-0.3 0.3m Green/yellow: Earth (With end-insulated round crimping terminal 1.25-4) B1,B2 BC07369A Note: The dimensions without tolerances are reference dimensions. 7 - 21 45 45 28.7 48.7 19h6 70h7 8h6 30h7 35.7 58.5 70 90 7. OUTLINE DIMENSION DRAWING Variable Dimensions Output Braking Force Inertia Moment Weight Model 4 2 [W] LKL [N m] J[ 10 kg m ] [kg] HC-MF23B-UE 200 140.5 58 0.136 1.7 HC-MF43B-UE 400 165.5 81 0.191 2.2 1.3 HC-KF23B-UE 200 140.5 58 0.48 1.7 HC-KF43B-UE 400 165.5 81 0.73 2.2 (Note)[Unit: mm] L30 60 7 3 4- 5.8 TUV plate 41 Motor plate 62 2.7 (Opposite side) Bottom Motor plate Bottom Bottom Top Top Top Bottom V ring V-16A Top Caution plate 95 25.2 10.6 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) 20 Red: Phase U White: Phase V 9.9 Encoder cable 0.3m Brake lead Black: Phase W 2 With connector 1-172169-9 2-0.3 0.3m Green/yellow: Earth (AMP) (With end-insulated round BC07354A crimping terminal 1.25-4) B1,B2 Note: The dimensions without tolerances are reference dimensions. Output Braking Force Inertia Moment Weight Model 2 4 [W] [N m] J[ 10 kg m ] [kg] HC-MF73B-UE 750 2.4 0.75 4.2 (Note)[Unit: mm] 185.5 40 TUV plate 8 3 80 Motor plate 82 39 (Opposite side) 4- 6.6 2.7 Motor plate Bottom Bottom Top Top Bottom Top V ring 11 9.9 V-25A 95 25.2 Caution plate Power supply lead 4-AWG19 0.3m 20 (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m Red: Phase U Brake lead With connector 1-172169-9 2 White: Phase V 2-0.3 0.3m (AMP) BC07606A Black: Phase W (With end-insulated round Green/yellow: Earth crimping terminal 1.25-4) B1,B2 Note: The dimensions without tolerances are reference dimensions. 7 - 22 45 45 38.4 48.7 19h6 14h6 70h7 50h7 58.1 42.8