General-Purpose AC Servo MODEL HF-KN/HF-SN SERVO MOTOR INSTRUCTION MANUAL C HF-KN HF-SN SERVO MOTOR INSTRUCTION MANUAL HF-KN/HF-SN SERVO MODEL MOTOR INSTRUCTION MODEL 1CW955 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030123-C (1306) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual and appended documents carefully. Do not use the equipment 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".
1. To prevent electric shock, note the following WARNING Before wiring and inspections, 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 lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work.
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 load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block intake and exhaust areas of the servo motor with a cooling fan.
(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc.
(5) Corrective actions CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off. Contacts must be opened with the EMG stop switch.
DISPOSAL OF WASTE Please dispose a servo motor and other options according to your local laws and regulations. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity Mass Length Torque Moment of inertia Load (thrust load/axial load) Temperature SI (metric) unit 1 [kg] 1 [mm] 1 [N•m] 1 [(× 10-4 kg•m2)] 1 [N] N [°C] × 9/5 + 32 A- 6 U.S. customary unit 2.2046 [lb] 0.03937 [in] 141.6 [oz•in] 5.4675 [oz•in2] 0.
CONTENTS 1. INTRODUCTION 1.1 1.2 1.3 1.4 1- 1 to 1- 4 Rating plate....................................................................................................................................... 1- 1 Parts identification............................................................................................................................. 1- 1 Electromagnetic brake ......................................................................................................................
6.3.2 Torque characteristics................................................................................................................ 6- 3 6.4 Electromagnetic brake characteristics.............................................................................................. 6- 4 6.5 Servo motors with special shafts ...................................................................................................... 6- 5 6.5.1 Key shaft (with 2 round end key) .........................................
1. INTRODUCTION 1. INTRODUCTION 1.1 Rating plate Model Input power and insulation class Rated output and applied standard Rated speed and mass Serial number (Note 1) and IP rating (Note 2) Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate. The year and month of manufacture are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z (12)]. For July 2012, the Serial No. is like, "SER.
1. INTRODUCTION 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). The electromagnetic brake has a time lag. Use the electromagnetic brake so that servo motor control starts after the electromagnetic brake has completely opened. Be sure to check the operation delay time with a real machine.
1. INTRODUCTION (3) Selection of surge absorbers for electromagnetic brake circuit The following shows an example how to select a varistor with a surge absorber.
1. INTRODUCTION 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, use a friction coupling, etc. when coupling the shaft with a machine. The shaft shape of the standard servo motor changes depending on the series and capacity.
2. INSTALLATION 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 material. Installing it directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
2. INSTALLATION 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 installing the servo motor vertically or obliquely, provide a connection and trap for the cable.
2. INSTALLATION 2.2 Load mounting/dismounting precautions During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. CAUTION Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a key shaft, use the screw hole in the shaft end.
2. INSTALLATION 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 coupling and adjust the misalignment of the shaft to less than the permissible radial load.
2. INSTALLATION 2.5 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may disconnect. 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, the oil seal prevents the entry of oil into the servo motor. Make sure to install it according in this section.
2. INSTALLATION 2.7 Inspection items WARNING Before starting maintenance and/or inspection, 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 lamp is off or not, always confirm it from the front of the servo amplifier. To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
2. INSTALLATION 2.9 Machine accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting. (except the optional products) Measuring position Accuracy [mm] Runout of flange surface to output shaft Runout of fitting OD of flange surface Runout of output shaft end 176 0.05 0.06 0.08 b) c) 0.04 0.02 0.04 0.02 0.06 0.
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3. CONNECTORS USED FOR SERVO MOTOR WIRING 3. CONNECTORS USED FOR SERVO MOTOR WIRING POINT The IP rating indicated is the connector'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 rating depends on the lowest IP rating of all components. 3.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.2 Wiring connectors (connector configurations A/B/C) The connectors in this section comply with UL/CSA standards. Connector configuration Feature A (for encoder) IP65 Connector Connector: 2174053-1 (TE Connectivity) Crimping tool For ground clip: 1596970-1 For receptacle contact: 1596847-1 (TE Connectivity) Servo motor encoder connector (Note) 1674339-1 (TE Connectivity) Note. The connector to be mated.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 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 Feature configuration Type Plug Socket contact CMV1-#22ASC-S1-100 CMV1-SP10S-M1 CMV1-#22ASC-C1-100 (one-touch connection type) Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required.
3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Connector configuration E (for power supply) Cable clamp Cable Plug Plug (DDK) Feature IP67 EN compliant (Note 1) General environment Type Cable clamp Cable Cable clamp (DDK) Cable OD [mm] (reference) Model Model Straight CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12 8.5 to 11 CE3057-10A-2-D 10.5 to 14.1 CE3057-10A-1-D Angle CE05-8A18-10SD-D-BAS Applicable wire size: AWG 14 to 12 8.5 to 11 CE3057-10A-2-D 10.5 to 14.
3.
3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Connector configuration G (for power supply) Cable clamp Cable Plug Plug (DDK) Feature IP67 EN compliant (Note 1) General environment Type Cable clamp Cable Cable clamp (DDK) Cable OD [mm] (reference) Model Model Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 9.5 to 13 12.5 to 16 CE3057-12A-1-D Angle CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8 9.5 to 13 CE3057-12A-2-D 12.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING CAUTION Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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 power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Electromagnetic brake cable wiring diagrams (a) When cable length is 10 m or less 10 m or less (Note 3) MBR 24 V DC power supply ALM for electromagnetic (Electromagnetic brake interlock) (Malfunction) brake MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 4) AWG 20 (Note 1) U AWG 20 Servo motor (Note 2) B1 B2 B Note 1. Connect a surge absorber as close to the servo motor as possible. 2.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.2.2 HF-SN series servo motor Refer to section 4.3 for the wires used for wiring. (1) Wiring 50 m or less Servo amplifier (Note 4) CNP2 U V W Servo motor U V W M (Note 2) MBR 24 V DC power supply (Electromagnetic ALM for electromagnetic brake interlock) (Malfunction) (Note 3) brake RA2 RA1 RA3 B1 U B2 B (Note 1) Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2). 2.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Connector The connector fitting the servo motor is prepared as optional equipment. Refer to section 5 for details of the options. For types other than those prepared as optional equipment, refer to chapter 3.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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 servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/CSA standard, use the wires shown in appendix 4 for wiring.
4.
5. WIRING OPTION 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 lamp is off or not, always confirm it from the front of the servo amplifier. CAUTION Use specified peripheral equipment and options. Otherwise, it may cause a malfunction or fire. 5.
5. WIRING OPTION 5.1.
5. WIRING OPTION 5.1.2 Cable and connector list No. 1) Product Servo motor power cable 2) Servo motor power cable 3) Servo motor power cable Model Description MRPWS1CBL_MA1-L (Note) Cable length: 2/5/10 m Refer to section 5.3 for details. MRPWS1CBL_MA1-H (Note) Cable length: 2/5/10 m MRPWS1CBL_MA2-L (Note) Cable length: 2/5/10 m 4) Servo motor power cable MRPWS1CBL_MA2-H (Note) Cable length: 2/5/10 m 5) Servo motor power cable MRPWS2CBL03M -A1-L (Note) Cable length: 0.
5. WIRING OPTION No. 11) Product Electromagnetic brake cable Model Description MRBKS2CBL03MA1-L Cable length: 0.3 m Remarks Electromagnetic brake connector IP55 Load-side lead HF-KN series Refer to section 5.4 for details. 12) 13) Electromagnetic brake cable Encoder cable 14) Encoder cable 15) Encoder cable 16) Encoder cable 17) Encoder cable MRBKS2CBL03MA2-L Cable length: 0.3 m Electromagnetic brake connector HF-KN series Refer to section 5.4 for details.
5. WIRING OPTION No. 22) Product Encoder cable Model Description MRJ3JSCBL03MA1-L (Note) Cable length: 0.3 m Remarks Encoder connector IP65 Load-side lead HF-KN series Refer to section 5.2 (4) for details. 23) Encoder cable MRJ3JSCBL03MA2-L (Note) Cable length: 0.3 m Encoder connector HF-KN series 29) Electromagnetic brake connector set 30) Electromagnetic brake connector set Refer to section 5.2 (4) for details. MRJ3ENSCBL_ML (Note) HF-KN/HF-SN series Cable length: Refer to section 5.
5. WIRING OPTION 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. Cable Ground plate Screw (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HF-KN 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.
5. WIRING OPTION (a) Connection of servo amplifier and servo motor MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H 2) Servo motor HF-KN Servo amplifier 1) or CN2 MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H 2) Servo motor HF-KN 1) Cable model MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H 1) CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M or equivalent) 2 LG 4 6 8 1 P5 MR-J3ENCBL_M-A2-L 3 MR 5 7 Connector set: 54599-1019 (Molex) 10 MRR or 9 View seen from wiring side.
5. WIRING OPTION (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 connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.
5.
5. WIRING OPTION (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.
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5. WIRING OPTION (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required. Cable model Cable length IP rating Bending life Application Standard Use in combination with load-side lead for HF-KN servo motor MRJ3ENSCBL_M-_. Use in combination with opposite to load-side lead for HF-KN servo motor MR-J3ENSCBL_M-_. MR-J3JSCBL03M-A1-L 0.
5.
5. WIRING OPTION (5) MR-J3ENSCBL_M-_ These cables are encoder cables for the HF-KN/HF-SN 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.
5.
5. WIRING OPTION (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.
5. WIRING OPTION 5.3 Servo motor power cable These cables are servo motor power cables for the HF-KN 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. Refer to section 4.2.1 for wirings. Cable model Cable length IP rating 0.
5. WIRING OPTION (2) Internal wiring diagram (Note) (Red) (White) (Black) (Green/yellow) Note. These are not shielded cables.
5. WIRING OPTION 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 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. Cable model Cable length IP rating 0.
5. WIRING OPTION 5.5 Wires for option cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 5.1 Wires for option cables Type Model MR-J3ENCBL_MA1-L MR-J3ENCBL_MA2-L MR-J3ENCBL_MA1-H MR-J3ENCBL_MA2-H MR-J3JCBL03MA1-L MR-J3JCBL03MA2-L Characteristics of one core (Note 1) (Note 2) Number Conductor Cable OD Structure Insulator of cores resistance [mm] OD [Wires/mm] [Ω/km] d [mm] Length [m] Core size 2 to 10 AWG 22 6 (3 pairs) 7/0.26 53 or less 1.
5. WIRING OPTION Type Length [m] Model MR-PWS1CBL_ M-A1-L MR-PWS1CBL_ M-A2-L MR-PWS1CBL_ Servo M-A1-H motor MR-PWS1CBL_ power M-A2-H cable MRPWS2CBL03MA1-L MRPWS2CBL03MA2-L MR-BKS1CBL_ M-A1-L MR-BKS1CBL_ M-A2-L MR-BKS1CBL_ Electrom M-A1-H agnetic MR-BKS1CBL_ brake M-A2-H cable MRBKS2CBL03MA1-L MRBKS2CBL03MA2-L Core size Characteristics of one core (Note 1) (Note 2) Number Conductor Structure Insulator Cable OD of cores resistance [mm] OD [Wires/mm] [Ω/km] d [mm] AWG 18 4 34/0.18 21.8 or less 1.
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6. HF-KN SERIES 6. HF-KN SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HFKN series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 6.1 Model designation The following describes model designation. Not all combinations of the symbols are available. Appearance Series Rated output Shaft type Symbol Shaft shape Symbol Rated output [kW] 1 0.1 2 0.2 4 0.
6. HF-KN SERIES 6.3 Standard specifications 6.3.
6. HF-KN SERIES 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 servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions.
6. HF-KN SERIES 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 drive 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 that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use.
6. HF-KN SERIES 6.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbols (K and D) in the table are available. K and D are the symbols included in the servo motor model names. Shaft shape Key shaft (with key) D cut shaft Servo motor HF-KN13(B)(J)_ HF-KN23(B)(J)_ HF-KN43(B)(J)_ HF-KN73(B)J_ D K 6.5.
6. HF-KN SERIES 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 level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal Oil level height h [mm] Servo motor HF-KN13(B)J HF-KN23(B)J/ HF-KN43(B)J/HF-KN73(B)J 10 19 6.
6. HF-KN SERIES (2) Tighten the screws evenly. Tightening torques are as indicated below. Connector for encoder Screw size: M2 Tightening torque: 0.1 N•m 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 (3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched.
6. HF-KN SERIES 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 tolerance. 6.8.1 Standard (without an electromagnetic brake) Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN13J 100 0.088 0.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN13 100 0.088 0.5 [Unit: mm] 20.5 20.7 Caution plate □40 25 87 Motor plate (Opposite side) Caution plate 2.5 5 2-φ4.5 mounting hole Use hexagon socket head cap screw. 21.5 45° Motor plate 20.7 Caution plate φ4 6 Bottom Bottom Top 21 37.1 Top Encoder connector 10.1 11.7 4.9 13.7 ° Top φ8h6 36 φ30h7 Bottom Power supply connector 9.9 11.7 27.4 13.9 19.2 40.4 21.5 6.4 27.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN23 200 0.24 1.0 [Unit: mm] Motor plate (Opposite side) Caution plate 30 7 4-φ5.8 mounting hole Use hexagon socket head cap screw. 3 φ7 0 Bottom Bottom Caution plate Top Top 46 Top Encoder connector 13.7 10 28.4 Power supply connector 9.5 10.1 47.1 φ14h6 Bottom □60 45° φ50h7 Motor plate 88.2 Caution plate 13.9 27.8 19.2 11.8 11.7 21.5 40 5.9 Power supply connector 3 4 4 7° 2 3 Pin No.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN43 400 0.42 1.4 [Unit: mm] Motor plate (Opposite side) Motor plate 110.2 Caution plate Caution plate 3 φ7 0 φ50h7 Caution plate Top 46 Encoder connector Power supply connector 9.5 10.1 47.1 φ14h6 Top Top 13.7 10 28.4 45° Bottom Bottom Bottom □60 4-φ5.8 mounting hole Use hexagon socket head cap screw. 30 7 19.2 11.8 11.7 21.5 13.9 27.8 62 5.9 Power supply connector 3 4 7° 2 3 4 Pin No.
6. HF-KN SERIES 6.8.2 With an electromagnetic brake Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN13BJ 100 0.090 0.8 [Unit: mm] 20.7 Caution plate 5 Motor plate (Opposite side) 20.7 Caution plate Caution plate Bottom Bottom φ8h6 Bottom 38.8 36 21 Top Top Top Oil seal SC10207 Encoder connector 13.7 4.9 27.4 13.9 27.5 48.4 18.4 Electromagnetic brake connector 1 Pin No. Application 1 B1 2 B2 4 1 2 13° 3 9° 2 7° 2 1 3 4 6.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN23BJ 200 0.31 1.6 [Unit: mm] 30 127 Bottom 45° φ50h7 Bottom Top Bottom □60 4-φ5.8 mounting hole Use hexagon socket head cap screw. 3 φ14h6 Motor plate 7 Motor plate Caution plate (Opposite side) Caution plate φ7 0 Top 47.1 47.1 Top Caution plate Oil seal SC15377 10.1 13.7 10 9.5 14 Encoder connector 28.4 11.7 19.2 21.5 Power supply connector 13.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN43BJ 400 0.50 2.0 [Unit: mm] 4-φ5.8 mounting hole Use hexagon socket head cap screw. 30 149 Motor plate Caution plate (Opposite side) 7 3 □60 45° φ14h6 Caution plate Motor plate Bottom φ7 0 φ50h7 Bottom Top Bottom Top 47.1 47.1 Top Caution plate Oil seal SC15377 10.1 13.7 10 28.4 Encoder connector 9.5 14 11.7 19.2 Power supply connector 13.9 70 21.
6. HF-KN SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-KN43B 400 0.50 1.8 [Unit: mm] 4-φ5.8 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) □60 30 7 Caution plate 3 45° φ7 0 Bottom φ50h7 Motor plate 138.8 Caution plate Bottom Caution plate Top Top Top Encoder connector 13.7 10 28.4 Power supply connector 9.5 10.1 19.2 11.8 11.7 21.5 57.8 47.1 φ14h6 47.1 Bottom 13.9 27.
6.
7. HF-SN SERIES 7. HF-SN SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HFSN series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 7.1 Model designation The following describes model designation. Not all combinations of the symbols are available.
7. HF-SN SERIES 7.3 Standard specifications 7.3.1 Standard specifications list Servo motor Item 52(B)J Power supply capacity Continuous running duty (Note 1) HF-SN series (3-phase 200 V AC compatible, medium inertia/medium capacity) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] 102(B)J 152(B)J 202(B)J 302(B)J Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.5 1.0 1.5 2.0 3.0 2.39 4.77 7.16 9.
7. HF-SN SERIES 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 servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions.
7. HF-SN SERIES 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 drive 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 that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use.
7. HF-SN SERIES 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table is available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key) Servo motor HF-SN_(B)JK K Variable dimension table R Servo motor Q QK U QL W S A A r S HF-SN52(B)JK HF-SN102(B)JK HF-SN152(B)JK Y HF-SN202(B)JK Shaft section view A-A HF-SN302(B)JK R 24h6 55 35 +0.
7. HF-SN SERIES 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 tolerances are general tolerance. 7.7.1 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-SN52J 0.5 6.1 4.8 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 125 34.
7. HF-SN SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-SN152J 1.5 17.8 8.3 [Unit: mm] 163 12 3 Motor plate (Opposite side) Caution plate □130 55 34.5 45° 50 Caution plate Motor plate 4-φ9 mounting hole Use hexagon socket head cap screw. φ1 65 Bottom Top Top Bottom Bottom Top Top 50.9 Bottom φ110h7 φ Caution plate Oil seal 13 (PE) W Encoder connector CM10-R10P 99 45 φ1 Key 18 Power supply connector MS3102A18-10P 109.
7. HF-SN SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-SN302J 3.0 58.5 15 [Unit: mm] 178.5 34.5 Caution plate Motor plate Caution plate □176 79 18 Motor plate (Opposite side) 4-φ13.5 mounting hole Use hexagon socket head cap screw. 3 45° 75 Caution plate Top Bottom Bottom Top Top Oil seal 13 00 φ2 (PE) W Encoder connector CM10-R10P 124.9 Bottom Top 50.9 Bottom 0 φ114.3 -0.025 φ35 +0.010 0 φ2 30 Key C D B A 36 21.2 121.
7. HF-SN SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-SN102BJ 1 14.0 8.5 [Unit: mm] 179 45 4-φ9 mounting hole Use hexagon socket head cap screw. 55 Motor plate (Opposite side) 12 3 45° 50 Caution plate Caution plate Motor plate φ1 65 Bottom Top Top Oil seal 45 φ1 99 Bottom 81.4 Top φ110h7 Bottom Top 50.9 Bottom φ24h6 Caution plate 13 96 Encoder connector CM10-R10P Electromagnetic brake connector CM10-R2P Main key position mark 18 87.
7. HF-SN SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HF-SN202BJ 2.0 47.9 18 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 200.5 45 Caution plate Motor plate 79 18 Motor plate (Opposite side) 3 45° 75 Caution plate Caution plate Bottom Bottom Top Top Oil seal 124.9 Top 102.4 Bottom Top 50.9 Bottom 0 φ114.3 -0.025 φ35 +0.
APPENDIX App. 1 Servo motor ID codes Servo motor series ID 0F 2F Servo motor type ID FF13 FF23 FF43 FF73 FF52 F102 F152 F202 F352 Servo motor encoder ID Servo motor 004B HF-KN13 HF-KN23 HF-KN43 HF-KN73 HF-SN52 HF-SN102 HF-SN152 HF-SN202 HF-SN302 App. 2 Manufacturer list Names given in the table are as of June 2013. Manufacturer 3M JST DDK TE Connectivity Taiyo Cabletec Toa Electric Industrial JAE Hirose Electric Molex App. - 1 Contact 3M J.S.T. Mfg. Co., Ltd. DDK Ltd. TE Connectivity Ltd.
APPENDIX 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 marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos. (1) EMC directive The EMC directive applies to the servo motor alone. Therefore servo motor is designed to comply with the EMC directive.
APPENDIX 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, performance, specifications, etc. of the UL/CSA standardcompliant models are the same as those of the standard models. (1) Flange size The servo motor is compliant with the UL/CSA standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table.
APPENDIX 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 chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below. Servo motor 2 Wire size [mm ] HF-SN52 HF-SN102 HF-SN152 HF-SN202 HF-SN302 1.
APPENDIX App. 6 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] 31.1 19.6 24.6 (Note) 22 Note. The recommended screw tightening torque is 13.5 6.5 19 0.1 N•m. 13.6 Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact) (2) JAE JN4FT02SJ1-R [Unit: mm] 19 14.3 12.5 26.6 17 12.3 12.7 R4 R6 2.5 11.8 11.6 (Note) Note. The recommended screw tightening torque is 0.2 N•m.
APPENDIX KN4FT04SJ1-R [Unit: mm] 7° 24.5 ± 0.3 20.1 ± 0.2 18.5 ± 0.3 Approx. 29 16 ± 0.3 11.7 ± 0.2 12.2 ± 0.3 (Note) 11 ± 0.3 3.5 ± 0.2 13 ± 0.3 13.7 ± 0.3 R6 Note. The recommended screw tightening torque is Main key 0.2 N•m. Crimping tool: CT160-3-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.3 for details of crimping tools. 21 21 [Unit: mm] Approx. 50 App.
APPENDIX (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. Approx. 33 21 [Unit: mm] Approx. 32 CMV1-AP10S-M_ CMV1-AP2S-_ (c) CE05-6A_-_SD-D-BSS [Unit: mm] D or shorter W A 0 B -0.38 C ± 0.8 7.85 or longer Model A B C D W CE05-6A18-10SD-D-BSS CE05-6A22-22SD-D-BSS 1 1/8-18UNEF-2B 1 3/8-18UNEF-2B 34.13 40.48 32.1 38.3 57 61 1-20UNEF-2A 1 3/16-18UNEF-2A (d) CE05-8A_-_SD-D-BAS [Unit: mm] 0 B -0.38 A Y or longer U ± 0.7 R ± 0.7 Approx.
APPENDIX (e) CE3057-_A-_-D [Unit: mm] G ± 0.7 B ± 0.7 Effective thread length C V threads 1.6 Approx. D A ± 0.7 H F (Bushing ID) Model CE3057-10A-1-D CE3057-10A-2-D CE3057-12A-1-D CE3057-12A-2-D Shell size A B C D E 18 23.8 30.1 10.3 41.3 15.9 22 23.8 35 10.3 41.3 19 E (Cable clamp ID) F 14.1 11.0 16.0 13.0 (Movable range on one side) G H V 31.7 3.2 1-20UNEF-2B 37.3 4.0 1 3/16-18UNEF-2B Cable OD Bushing CE3420-10-1 10.5 to 14.1 CE3420-10-2 8.5 to 11 CE342012-1 12.
APPENDIX (g) D/MS3108B_-_S [Unit: mm] J ± 0.12 U ± 0.5 R ± 0.5 L or shorter 0 Q -0.38 A W or longer V Model D/MS3108B18-10S D/MS3108B22-22S A J L Q R U V W 1 1/8-18UNEF 1 3/8-18UNEF 18.26 18.26 68.27 76.98 34.13 40.48 20.5 24.1 30.2 33.3 1-20UNEF 1 3/16-18UNEF-2A 9.53 9.53 (h) D/MS3057-_A [Unit: mm] E (Bushing ID) A ± 0.7 1.6 B ± 0.7 D (Cable clamp ID) G ± 0.
REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Oct. 2012 SH(NA)030123-A Feb. 2013 SH(NA)030123-B Revision First edition 4. Additional instructions (1) The part of table is changed. Transportation and installation Jun. 2013 SH(NA)030123-C Section 3.1 (2) The part of table is changed. Section 4.2.2 (2) The part of table is changed. Section 4.3 The part of table is changed. Section 5.1.2 The part of table is changed. Section 7.
Country/Region Sales office Tel/Fax USA Mitsubishi Electric Automation Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA Tel : +1-847-478-2100 Fax : +1-847-478-0327 Germany Mitsubishi Electric Europe B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel : +49-2102-486-0 Fax : +49-2102-486-1120 Italy Mitsubishi Electric Europe B.V.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries.
General-Purpose AC Servo MODEL HF-KN/HF-SN SERVO MOTOR INSTRUCTION MANUAL C HF-KN HF-SN SERVO MOTOR INSTRUCTION MANUAL HF-KN/HF-SN SERVO MODEL MOTOR INSTRUCTION MODEL 1CW955 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030123-C (1306) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
