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Mitsubishi Electronics HF-SN manual

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Table of contents for the manual

  • Page 1

    SH (NA) 030123-C (1306) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo HF-KN/HF-SN SERVO MOTOR INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL HF-KN HF-SN SERVO MOTOR INSTRUCTION MANUAL 1CW955 HF-KN/HF-SN SER[...]

  • Page 2

    A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. To use the equipment correctly, do not attempt to insta ll, operate, maintain or inspect the equipment until you have read through this Instruction Man ual and appended do cuments carefully. Do not use the equipment until you have a full knowledge of the e[...]

  • Page 3

    A - 2 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more until the ch arge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming w hether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Grou[...]

  • Page 4

    A - 3 CAUTION Do not carry the servo motor by holding the cables, shaft, encoder, or connector. Install the servo amplifier and the servo motor in a lo ad-bearing pla ce in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the spe cified direction. Do not install or operate [...]

  • Page 5

    A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwi se, the servo motor may operate unexpe ctedly. Do not install a power capacitor, surge ki ller, or radi o noise filter (FR-BIF option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the co rrect phase terminals (U, V, and W) of the servo am[...]

  • Page 6

    A - 5 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may o c cur due to a power failure or product malfunction, use a servo motor with an electromag netic brake or external bra ke to prevent the condition. Configure an electromagne tic brake circuit so that it is activated also by an external EMG stop switch. Servo mot[...]

  • Page 7

    A - 6 DISPOSAL OF WASTE Please dispose a servo motor and other options a ccording to your local laws and regulation s. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary acco rding to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03[...]

  • Page 8

    1 CONTENTS 1. INTRODUCTION 1- 1 to 1- 4 1.1 Rating plate ............................................................................................................... ........................ 1- 1 1.2 Parts ident ificat ion....................................................................................................... .....................[...]

  • Page 9

    2 6.3.2 Torque char acterist ics ................................................................................................... ............. 6- 3 6.4 Electromagnetic brak e characte ristics ...................................................................................... ........ 6- 4 6.5 Servo motors wi th specia l shafts ..............[...]

  • Page 10

    1. INTRODUCTION 1 - 1 1. INTRODUCTION 1.1 Rating plate (Note 2) Model Input power and insulat ion class Rated output a nd applied standard Rated speed and mass Serial number (Note 1) and I P rating Note 1. Production year and month of the serv o motor are indicated in a serial number on the rating plate. The year and month of manufacture are indica[...]

  • Page 11

    1. INTRODUCTION 1 - 2 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). The electromagnetic brake has a time lag. Use the electromagnetic brake [...]

  • Page 12

    1. INTRODUCTION 1 - 3 (3) Selection of surge absorbers for electromagnetic brake circuit The following shows an example how to select a varistor with a surge absorber. (a) Selection conditions Item Condition Electromagnetic brake specification R [ Ω ]: Resistance L [H]: Inductance Vb [V]: Power supply voltage Desired suppression voltage Vs [V] or[...]

  • Page 13

    1. INTRODUCTION 1 - 4 1.4 Servo motor shaft shapes In addition to the straight shaft, the key shaft and D cut shaft are available as the servo motor shafts. The key shaft and D cut shaft cannot be used in very frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key[...]

  • Page 14

    2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible materi al. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the se [...]

  • Page 15

    2. INSTALLATION 2 - 2 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo motor. Servo motor series Mounting direction HF-KN HF-SN May be installed in any direction. For mounting in the horizontal direction, it is recommended to set the connector section downward. When installin[...]

  • Page 16

    2. INSTALLATION 2 - 3 2.2 Load mounting/dismounting precautions CAUTION During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a ke y shaft, use the screw hole in the shaft end. To fit the p[...]

  • Page 17

    2. INSTALLATION 2 - 4 2.3 Permissible load for the shaft CAUTION Do not use a rigid coupling as it may apply excessive bending load to the shaft of the servo motor, leading the shaft to break and the bearing to wear out. For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series. (1) Use a flexible co[...]

  • Page 18

    2. INSTALLATION 2 - 5 2.5 Cable The power supply and encoder cables routed from the se rvo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may di sconnect. In addition, do not modify the connectors, terminals and others at the ends of the cables. 2.6 Servo motor with oil seal For the servo motor with oil seal, [...]

  • Page 19

    2. INSTALLATION 2 - 6 2.7 Inspection items WARNING Before starting maintenance and/or inspecti on, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shoc k may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. T[...]

  • Page 20

    2. INSTALLATION 2 - 7 2.9 Machine accuracies The following table indicates the machine accuraci es of the servo motor around the output shaft and mounting. (except the optional products) Flange size Accuracy [mm] Measuring position Less than 100 130 176 Runout of flange surface to output shaft a) 0.05 0.06 0.08 Runout of fitting OD of flange surfac[...]

  • Page 21

    2. INSTALLATION 2 - 8 MEMO[...]

  • Page 22

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 3. CONNECTORS USED FO R SERVO MOTOR WIRING POINT The IP rating indicated is the connecto r's protection against ingress of dust and water when the connector is connected to a servo amplifier or servo motor. If the IP rating of the connector, servo amplifier and servo motor vary, the overall IP ra[...]

  • Page 23

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 2 3.2 Wiring connectors (connecto r configurations A/B/C) The connectors in this secti on comply with UL/CSA standards. Connector configuration Feature Connector Crimping tool Servo motor encoder connector (Note) A (for encoder) IP65 Connector: 2174053-1 (TE Connectivity) For ground clip: 1596970-1 For [...]

  • Page 24

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 3 3.3 Wiring connectors (connector configurations D/E/F/G) Angle plug (one-touch connection type) Straight plug (one-touch connection type) Plug (DDK) Connector configuration Feature Type Plug Socket cont act Contact shape Cable OD [mm] (reference) Servo motor encoder connector (Note) CMV1-#22ASC-S1-100[...]

  • Page 25

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 4 Plug Cable clamp Cable Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration Feature Type Model Cable OD [mm] (reference) Model Servo motor power supply connector (Note 2) 8.5 to 11 CE3057-10A-2-D Straight CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12 10.5 to 14.1 CE305[...]

  • Page 26

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 5 Angle plug (one-touch connection type) Straight plug (one-touch connection type) Plug (DDK) Connector configuration Feature Type Plug Socket cont act Contact shape Cable OD [mm] (reference) Servo motor electromagnetic brake connector (Note) CMV1-#22BSC-S2-100 Soldering type Applicable wire size: AWG 1[...]

  • Page 27

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 6 Plug Cable clamp Cable Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration Feature Type Model Cable OD [mm] (reference) Model Servo motor power supply connector (Note 2) 9.5 to 13 CE3057-12A-2-D Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 12.5 to 16 CE3057-1[...]

  • Page 28

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 1 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING Any person who is involved in wiring s hould be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo moto r until it has been mounted. Otherwise, it may cause an electric shock. The cables shou[...]

  • Page 29

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 2 4.1 Connection instructions CAUTION To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. Do not use the 24 V DC interface [...]

  • Page 30

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 3 4.2 Wiring To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors. For servo amplifier terminals, refer to each servo amplifier instruction manual. 4.2.1 HF-KN series servo motor (1) Servo motor power supply cable wiring diagrams (a) When cable length is[...]

  • Page 31

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 4 (2) Electromagnetic brake cable wiring diagrams (a) When cable length is 10 m or less (Note 2) (Note 3) 24 V DC power supply for electromagnetic brake MBR (Electromagnetic brake interlock) AWG 20 AWG 20 MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 1) B1 B2 ALM ([...]

  • Page 32

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 5 4.2.2 HF-SN series servo motor Refer to section 4.3 for the wires used for wiring. (1) Wiring (Note 3) RA3 Servo motor Servo amplifier M U V W U V W 50 m or less (Note 4) CNP2 (Note 1) B1 B2 (Note 2) 24 V D C power supply for electromagnetic brake ALM (Malfunction) RA1 MBR (Electromagnetic brak[...]

  • Page 33

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 6 (2) Connector The connector fitting the servo motor is prepared as opt ional equipment. Refer to section 5 for details of the options. For types other than those prepared as optional equipment, refer to chapter 3. Servo motor-side connectors Servo motor Encoder Power Electromagnetic brake HF-SN[...]

  • Page 34

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 7 4.3 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the serv o amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer[...]

  • Page 35

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 8 MEMO[...]

  • Page 36

    5. WIRING OPTION 5 - 1 5. WIRING OPTION WARNING Before connecting options, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge la mp is off or not, always confirm it from the front of the servo amplifier. CAUTION Use specified per[...]

  • Page 37

    5. WIRING OPTION 5 - 2 5.1.1 Combinations of cable/connector sets (1) HF-KN series servo motor Direct connection (cable length 10 m or less, IP65) 13)14)15)16) Ser vo motor HF-KN Junction connection (cable length more than 10 m, IP20) 19)20) 21) 17)18) 1)2)3)4) 5)6) 11)12) 7)8)9)10) To 24 V DC power supply for electromagnetic brake Encoder connecto[...]

  • Page 38

    5. WIRING OPTION 5 - 3 5.1.2 Cable and connector list No. Product Model Description Remarks 1) Servo motor power cable MR- PWS1CBL_M- A1-L (Note) Cable length: 2/5/10 m IP65 Load-side lead EN compliant 2) Servo motor power cable MR- PWS1CBL_M- A1-H (Note) Cable length: 2/5/10 m Power supply connector HF-KN series Refer to section 5.3 for details. I[...]

  • Page 39

    5. WIRING OPTION 5 - 4 No. Product Model Description Remarks 11) Electromagnetic brake cable MR- BKS2CBL03M- A1-L Cable length: 0.3 m Electromagnetic brake connecto r HF-KN series Refer to section 5.4 for details. IP55 Load-side lead 12) Electromagnetic brake cable MR- BKS2CBL03M- A2-L Cable length: 0.3 m Electromagnetic brake connecto r HF-KN seri[...]

  • Page 40

    5. WIRING OPTION 5 - 5 No. Product Model Description Remarks 22) Encoder cable MR- J3JSCBL03M- A1-L (Note) Cable length: 0.3 m Encoder connecto r HF-KN series Refer to section 5.2 (4) for details. IP65 Load-side lead 23) Encoder cable MR- J3JSCBL03M- A2-L (Note) Cable length: 0.3 m Encoder connector HF-KN series Refer to section 5.2 (4) for details[...]

  • Page 41

    5. WIRING OPTION 5 - 6 5.2 Encoder cable/connector sets POINT For the CN2-side connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell. Screw Cable Ground plate (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HF-KN seri es servo motors. The numbers in the cable leng[...]

  • Page 42

    5. WIRING OPTION 5 - 7 (a) Connection of servo amplifier and servo motor 2) 1) Servo motor HF-KN MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H 2) 1) Servo motor HF-KN MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H or CN2 Servo amplifier Cable model 1) CN2-side connec tor 2) Encoder-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M or equivalent) Con[...]

  • Page 43

    5. WIRING OPTION 5 - 8 (2) MR-EKCBL_M-_ POINT The following encoder cables are of four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H When using these encoder cables, refer to each servo amplifier instruction manual. The servo amplifier and the servo motor cannot be c onnected by these cables alone. The servo motor- side encoder[...]

  • Page 44

    5. WIRING OPTION 5 - 9 (b) Internal wiring diagram MR-EKCBL20M-L CN2-side connector Junction connector (Note) P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR SHD P5 MR-EKCBL30M-L (Note) P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD Plate 1 2 8 9 LG MR MRR MDR MD SHD P5 6 CONT CN2-side connector Junction connector MR-EKCBL20M-H (Note) P5 LG 1 2[...]

  • Page 45

    5. WIRING OPTION 5 - 10 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the cable to use. Parts Description Connector set MR-ECNM CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-00[...]

  • Page 46

    5. WIRING OPTION 5 - 11 (a) Connection of servo amplifier and servo motor Servo motor HF-KN MR-J3JCBL03M-A2-L MR-EKCBL_M-_ 1) 2) 2) Servo motor HF-KN MR-J3JCBL03M-A1-L 1) or CN2 Servo amplifier Cable model 1) Junction connec tor 2) Encoder-side connector MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-[...]

  • Page 47

    5. WIRING OPTION 5 - 12 (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be c onnected by these cables alone. The servo motor- side encoder cable (MR-J3ENSCBL_M-_) is required. Cable model Cable length IP rating Bending life Application MR-J3JSCBL03M-A1-L Use in combination with load-side lead for HF-KN servo motor MR- J3ENSCBL_[...]

  • Page 48

    5. WIRING OPTION 5 - 13 (b) Internal wiring diagram 8 5 1 2 1 3 3 5 4 6 9 68 77 42 10 Junction connector Encoder-side connector P5 LG MR MRR SHD LG MR MR R SHD P5[...]

  • Page 49

    5. WIRING OPTION 5 - 14 (5) MR-J3ENSCBL_M-_ These cables are encoder cables for the HF-KN/HF-S N series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable length Cable model 2 m 5 m 10 m 20 m 30 m[...]

  • Page 50

    5. WIRING OPTION 5 - 15 (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3ENSCBL10M-H MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L 4 8 1 2 5 10 P5 LG 1 2 MR MRR 3 4 CN2-side connector Encoder-side connector 9 SD Plate LG MR MR R SHD P5 (Note) 4 8 1 2 5 10 CN2-side connector Encoder-side con[...]

  • Page 51

    5. WIRING OPTION 5 - 16 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the cable to use. Description Parts (Connector set) Servo amplifier-side connector Encoder-side connector (DDK) MR-J3SCNS (one[...]

  • Page 52

    5. WIRING OPTION 5 - 17 5.3 Servo motor power cable These cables are servo motor power cabl es for the HF-KN series servo motors. The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Refer to section 4.2.1 for wirings[...]

  • Page 53

    5. WIRING OPTION 5 - 18 (2) Internal wiring diagram (Red) (White) (Black) (Green/yellow) U V W (Note) Note. These are not shielded cables.[...]

  • Page 54

    5. WIRING OPTION 5 - 19 5.4 Electromagnetic brake cable These cables are electromagnetic brake cables for the HF-KN series servo motors. The numbers in the cable length field of the table indicate the symbol f illing the underline "_" in the cable model. The cables of the lengths with the sy mbols are available. Refer to section 4.2.1 for[...]

  • Page 55

    5. WIRING OPTION 5 - 20 5.5 Wires for option cables When fabricating a cable, use the wire model s given in the following table or equivalent. Table 5.1 Wires for option cables Characteristics of one core Type Model Length [m] Core size Number of cores Structure [Wires/mm] Conductor resistance [ Ω /km] (Note 1) Insulator OD d [mm] (Note 2) Cable [...]

  • Page 56

    5. WIRING OPTION 5 - 21 Characteristics of one core Type Model Length [m] Core size Number of cores Structure [Wires/mm] Conductor resistance [ Ω /km] (Note 1) Insulator OD d [mm] (Note 2) Cable OD [mm] Wire model (Manufacturer) MR-PWS1CBL_ M-A1-L 2 to 10 MR-PWS1CBL_ M-A2-L 2 to 10 AWG 18 4 34/0.18 21.8 or less 1.71 6.2 ± 0.3 (Note 4) HRZFEV-A(C[...]

  • Page 57

    5. WIRING OPTION 5 - 22 MEMO[...]

  • Page 58

    6. HF-KN SERIES 6 - 1 6. HF-KN SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HF- KN series servo motor, always read the Safety Instru ctions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 6.1 Model designation The following describes model designati[...]

  • Page 59

    6. HF-KN SERIES 6 - 2 6.3 Standard specifications 6.3.1 Standard specifications list HF-KN series (low inertia/small capacity) Servo motor Item 13(B)(J) 23(B)(J) 43(B)(J) 73(B)J Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Rated output [kW] 0[...]

  • Page 60

    6. HF-KN SERIES 6 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the se[...]

  • Page 61

    6. HF-KN SERIES 6 - 4 6.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm tha[...]

  • Page 62

    6. HF-KN SERIES 6 - 5 6.5 Servo motors with special shafts The servo motors with special shafts indicated by t he symbols (K and D) in the table are available. K and D are the symbols included in the servo motor model names. Shaft shape Servo motor Key shaft (with key) D cut shaft HF-KN13(B)(J)_ D HF-KN23(B)(J)_ HF-KN43(B)(J)_ HF-KN73(B)J_ K 6.5.1 [...]

  • Page 63

    6. HF-KN SERIES 6 - 6 6.6 Servo motor with oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil leve l in the gear box to be lower than the oil seal lip always. Gear Shaft Servo motor Oil seal Height above oil level h Lip Servo motor Oil level height h [mm] HF-KN13(B)J 10 HF-KN2[...]

  • Page 64

    6. HF-KN SERIES 6 - 7 (2) Tighten the screws evenly. Tightening torques are as indicated below. Connector for electromagnetic brake Screw size: M2 Tightening torque: 0.2 N•m Connector for power supply Screw size: M2 Tightening torque: 0.2 N•m Connector for encode r Screw size: M2 Tightening torque: 0.1 N•m (3) The servo motor fitting part of [...]

  • Page 65

    6. HF-KN SERIES 6 - 8 6.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine. The dimensions without tolerances are general tol[...]

  • Page 66

    6. HF-KN SERIES 6 - 9 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN13 100 0.088 0.5 [Unit: mm] Power supply connector Pin No. Application Encoder connector Power s upply connector Bottom Top Bottom Bottom Top Top Motor plate (Opposite side) Caution plate BC36751 □ 40 4 5 ° ° 37.1 6.4 27.5 φ 4 6 25 2.5 27.4 4.9 9.9 1[...]

  • Page 67

    6. HF-KN SERIES 6 - 10 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN23 200 0.24 1.0 [Unit: mm] Top Bottom Power supply connector Pin No. Application 9 ° 7 ° 88.2 30 73 40 11.7 11.8 10.1 19.2 9.5 φ 50h7 φ 14h6 □ 60 4 5 ° φ 7 0 47.1 27.8 13.9 5.9 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.5 21.5 BC36752 4 23 1 4 1 2 3 4[...]

  • Page 68

    6. HF-KN SERIES 6 - 11 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN43 400 0.42 1.4 [Unit: mm] BC36753 9 ° 7 ° 110.2 30 73 62 11.7 11.8 10.1 19.2 9.5 φ 50h7 φ 14h6 □ 60 4 5 ° φ 7 0 47.1 27.8 13.9 5.9 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.5 21.5 4 23 1 4 1 2 3 4 3 1 2 W V U (PE) Motor plate Caution plate Caution p[...]

  • Page 69

    6. HF-KN SERIES 6 - 12 6.8.2 With an electromagnetic brake Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN13BJ 100 0.090 0.8 [Unit: mm] 2 1 1 2B 2 B1 φ 4 6 □ 40 4 5 ° 25 131.9 21.5 2.5 5 48.4 19.2 9.9 φ 30h7 φ 8h6 2 1 27.4 4.9 20.7 20.5 21 13.7 20.7 36 38.8 11.7 11.7 10.1 21.5 58.8 18.4 7 ° 9 ° 2 1 1 3° 19.2 11.7 [...]

  • Page 70

    6. HF-KN SERIES 6 - 13 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN23BJ 200 0.31 1.6 [Unit: mm] Power supply connector Pin No. Application Encoder connector Elect romagnet ic brake connector Power s upply connector Motor plate (Opposite side) Caution plate Top Bottom Top Bottom 4- φ 5.8 mounting hole Use hexagon socket[...]

  • Page 71

    6. HF-KN SERIES 6 - 14 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN43BJ 400 0.50 2.0 [Unit: mm] 7 ° 149 70 11.7 14 10.1 19.2 9.5 □ 60 φ 7 0 47.1 27.8 13.9 5.9 47.1 28.4 13.7 10 9.5 14 11.7 21.5 21.5 30 73 φ 50h7 φ 14h6 60 18.3 60 1 3 . 5 ° 9 ° 4 5 ° BC38031 4- φ 5.8 mounting hole Use hexagon socket head cap sc[...]

  • Page 72

    6. HF-KN SERIES 6 - 15 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HF-KN43B 400 0.50 1.8 [Unit: mm] BC36757 9 ° 7 ° 138.8 30 73 62 11.7 11.8 10.1 19.2 9.5 φ 50h7 φ 14h6 □ 60 4 5 ° φ 7 0 47.1 27.8 13.9 5.9 47.1 28.4 13.7 10 9.5 11.8 11.7 21.5 1 3 . 5 ° 57.8 57.8 18.3 21.5 2 1 1 2B 2 B1 2 1 Caution plate Motor plate C[...]

  • Page 73

    6. HF-KN SERIES 6 - 16 MEMO[...]

  • Page 74

    7. HF-SN SERIES 7 - 1 7. HF-SN SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HF- SN series servo motor, always read the Safety Instru ctions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 7.1 Model designation The following describes model designati[...]

  • Page 75

    7. HF-SN SERIES 7 - 2 7.3 Standard specifications 7.3.1 Standard specifications list HF-SN series (3-phase 200 V AC compatible, medi um inertia/medium capacity) Servo motor Item 52(B)J 102(B)J 152(B) J 202(B)J 302(B)J Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier[...]

  • Page 76

    7. HF-SN SERIES 7 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the se[...]

  • Page 77

    7. HF-SN SERIES 7 - 4 7.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm tha[...]

  • Page 78

    7. HF-SN SERIES 7 - 5 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table is available. K is the symbol attached to the servo motor model names. Shaft shape Servo motor Key shaft (without key ) HF-SN_(B)JK K Variable dimension table [Unit: mm] Variable dimensions Servo motor S R Q W QK[...]

  • Page 79

    7. HF-SN SERIES 7 - 6 7.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without toler ances are general tolerance. 7.7.1 Standard (without an electromagnetic brake) Model Output [kW] Moment of inert[...]

  • Page 80

    7. HF-SN SERIES 7 - 7 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HF-SN152J 1.5 17.8 8.3 [Unit: mm] Motor plate Caution plate Caution plate Top Bottom Top Bottom Top B ottom Key Power supply connector MS3102A18-10P Power supply connector Motor flange direction Encoder connector CM10-R10P Oil seal Motor plate (Opposite side[...]

  • Page 81

    7. HF-SN SERIES 7 - 8 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HF-SN302J 3.0 58.5 15 [Unit: mm] 79 3 18 75 φ 114.3 0 -0.025 178.5 34.5 50.9 φ 35 +0.010 0 □ 176 φ 2 0 0 φ 2 3 0 4 5 ° 13 21.2 121.5 36 42.5 124.9 U W V (PE) B C A D BC40914 Motor plate Caution plate Caution plate Top Bottom Top Bottom Top B ottom Key[...]

  • Page 82

    7. HF-SN SERIES 7 - 9 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HF-SN102BJ 1 14.0 8.5 [Unit: mm] Top Bottom Top Bottom Top Bottom Motor plate (Opposite side) Caution plate Bottom Top 55 3 12 50 φ 110h7 179 45 50.9 φ 24h6 24.5 9 64 18 99 87.3 18 13 96 4 5 ° 81.4 φ 1 4 5 φ 1 6 5 U W V (PE) B C A D BC38052 Power supply[...]

  • Page 83

    7. HF-SN SERIES 7 - 10 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HF-SN202BJ 2.0 47.9 18 [Unit: mm] Top Bottom Top Bottom Top B ottom Power supply connector MS3102A22-22P Power supply connector Motor flange direction Encoder connector CM10-R10P Electromagnetic brake connector CM10-R2P Electromagnetic brake Electromagnetic[...]

  • Page 84

    APPENDIX App. - 1 App. 1 Servo motor ID codes Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor FF13 HF-KN13 FF23 HF-KN23 FF43 HF-KN43 0F FF73 HF-KN73 FF52 HF-SN52 F102 HF-SN102 F152 HF-SN152 F202 HF-SN202 2F F352 004B HF-SN302 App. 2 Manufacturer list Names given in the table are as of June 2013. Manufacturer Contact 3M [...]

  • Page 85

    APPENDIX App. - 2 App. 3 Compliance with the CE marking App. 3.1 What is CE marking? The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE mark ing must be affixed to the product. The CE marking also applies to machines and equipment incorporating servo[...]

  • Page 86

    APPENDIX App. - 3 App. 4 Compliance with UL/CSA standard Use the UL/CSA standard-compliant model of servo motor. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performanc e, specifications, etc. of the UL/CSA standard- compliant models are the same as those of the standard models[...]

  • Page 87

    APPENDIX App. - 4 App. 5 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30 m or less Some cables do not fit into the option or the recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when using the 600 V grade EP rubber insulated chloropren[...]

  • Page 88

    APPENDIX App. - 5 App. 6 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] Note. The recommended screw tightening torque is 0.1 N•m. 19.6 13.5 6.5 24.6 22 19 31.1 (Note) 13.6 Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact) (2) JAE JN4FT0[...]

  • Page 89

    APPENDIX App. - 6 KN4FT04SJ1-R [Unit: mm] Note. The recommended screw tightening torque is 0.2 N•m. 16 ± 0.3 11.7 ± 0.2 Approx. 29 18.5 ± 0.3 24.5 ± 0.3 20.1 ± 0.2 7° 3.5 ± 0.2 12.2 ± 0.3 13.7 ± 0.3 11 ± 0.3 13 ± 0.3 Main key (Note) R6 Crimping tool: CT160-3-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.3 for details o[...]

  • Page 90

    APPENDIX App. - 7 (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1-AP10S-M_ CMV1-AP2S-_ 21 Approx. 32 Approx. 33 (c) CE05-6A_-_SD-D-BSS [Unit: mm] C ± 0.8 B 0 -0.38 D or shorte r 7.85 or longer W A Model A B C D W CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A CE05-6A22-22SD-D-BSS 1 [...]

  • Page 91

    APPENDIX App. - 8 (e) CE3057-_A-_-D [Unit: mm] (Bushing ID) Effective thread length C V threads 1.6 Approx. D (Movable range on one side) (Cable clamp ID) H F E B ± 0.7 A ± 0.7 G ± 0.7 Model Shell size A B C D E F G H V Bushing Cable OD CE3057-10A-1-D 14.1 CE3420-10-1 10.5 to 14.1 CE3057-10A-2-D 18 23.8 30.1 10.3 41.3 15.9 11.0 31.7 3.2 1-20UNEF[...]

  • Page 92

    APPENDIX App. - 9 (g) D/MS3108B_-_S [Unit: mm] L or shorter V A W or longer J ± 0.12 R ± 0.5 U ± 0.5 Q 0 -0.38 Model A J L Q R U V W D/MS3108B18-10S 1 1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 D/MS3108B22-22S 1 3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1 3/16-18UNEF-2A 9.53 (h) D/MS3057-_A [Unit: mm] Effective thread length C B ± 0.7 A [...]

  • Page 93

    REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Oct. 2012 SH(NA)030123-A First edition Feb. 2013 SH(NA)030123-B 4. Additional instructions (1) Transportation and installation Section 3.1 (2) Section 4.2.2 (2) Section 4.3 Section 5.1.2 Section 7.1 Section 7.2 Section 7.3.1 Section 7.3.2 S[...]

  • Page 94

    Country/Region Sales office Tel/Fax USA Germany Italy China Taiwan Korea Singapore Mitsubishi Electric Automation Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA Mitsubishi Electric Europe B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Mitsubishi Electric Europe B.V. Italian Branch Viale Colleoni 7 1-20041 Agrate Bria[...]

  • Page 95

    Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" arisen during warranty period at no charge due to causes for which w e are responsible through the distributor from which you purchased the Product or ou[...]

  • Page 96

    SH (NA) 030123-C (1306) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo HF-KN/HF-SN SERVO MOTOR INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL HF-KN HF-SN SERVO MOTOR INSTRUCTION MANUAL 1CW955 HF-KN/HF-SN SER[...]