Mitsubishi HC-LP Servo Motor Instruction Manual PDF

SH(NA)030041ENG-L(1803)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODEL CODE

General-Purpose AC Servo

L

S E

R V

O M

O T

O R

IN S

T R

U C

T IO

N M

A N

U A

L (V

o l.2)

MOTOR INSTRUCTION(VOL.2)

1CW951

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

HF-MP HF-KP HF-SP HA-LP HC-RP HC-UP HC-LP HF-JP HG-AK SERVO MOTOR INSTRUCTION MANUAL (Vol.2)

L

A - 1

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, Installation guide, Servo motor Instruction Manual (Vol. 2) and

appended documents carefully. 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".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions,

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 Instruction Manual, keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit and servo amplifier (drive unit), whether the charge lamp is off or not. Connect the converter unit, servo amplifier (drive unit) 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 converter unit, servo amplifier (drive unit) and servo motor until they have been installed. Otherwise, it may cause 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, it may cause an electric shock. During power-on or operation, do not open the front cover. Otherwise, it may cause an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The converter unit and servo amplifier (drive unit) are charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. When using a residual current device (RCD), select the type B. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on incombustible

material. Installing them directly or close to combustibles will lead to a fire.

When the converter unit and servo amplifier (drive unit) has become faulty, switch off the main converter

unit and servo amplifier (drive unit) power side. Continuous flow of a large current may cause a fire.

When a regenerative resistor is used, use an alarm signal to switch main power off.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the converter unit and servo amplifier (drive unit) and servo motor. 3. To prevent injury, note the following

CAUTION Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.

Otherwise, an electric shock, fire, injury, 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.

The converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. may be

hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to

prevent accidental contact of hands and parts (cables, etc.) with them.

The surface temperature of the servo motor may exceed 100 depending on its mounting and operating

conditions.

During operation, never touch the rotating parts of the servo motor. Otherwise, it may cause injury.

A - 3

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 mass.

Use eyebolt of the servo motor for the transportation purpose only. Do not use eyebolt to transport in the

condition that the servo motor is installed on the machine.

Do not overtighten the eyebolts of the servo motor. Tightening too hard may damage the tap.

Stacking in excess of the specified number of products is not allowed.

Do not hold the cables, connectors, shaft, or encoder when carrying the servo motor. Otherwise, it may

drop.

Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The converter unit

and servo amplifier (drive unit) may drop.

Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the

Instruction Manual.

Do not get on or put heavy load on the product.

The servo motor must be installed in the specified direction.

Leave specified clearances between the converter unit and servo amplifier (drive unit) and control enclosure

walls or other equipment.

Do not install or operate the servo amplifier (drive unit), converter unit and servo motor which has been

damaged or has any parts missing.

Do not block intake and exhaust areas of the converter unit, the servo amplifier (drive unit) and the servo

motor with a cooling fan. Otherwise, it may cause a malfunction.

Do not drop or strike the converter unit and servo amplifier (drive unit) and servo motor. Otherwise, injury,

malfunction, etc. may occur.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage.

Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking

the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and

reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.

For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by

using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high

gain, the vibration may cause the early damage of the servo motor.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo

motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the

encoder may malfunction.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install,

mount, and wire the servo motor in accordance with the Instruction Manual.

Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.

A - 4

CAUTION When you keep or use it, please fulfill the following environmental conditions.

Environment Conditions

Ambient temperature

Operation [ ] 0 to 40 (non-freezing)

[ ] 32 to 104 (non-freezing)

Storage

[ ] 15 to 70 (non-freezing)

[ ] 5 to 158 (non-freezing)

Ambient humidity

Operation 10 to 80%RH (non-condensing)

Storage 10 to 90%RH (non-condensing)

Ambience

Indoors (no direct sunlight) Free from corrosive gas, flammable gas,

oil mist, dust and dirt

Altitude Max. 1000m above sea level

(Note) Vibration resistance

HF-MP series HF-KP series X, Y: 49 m/s2

HF-SP51 81 HF-SP52 to 152 HF-SP524 to 1524 HC-RP Series

HC-UP72 152 HF-JP53 to 503 11K1M 15K1M HF-JP534 to 5034 11K1M4 15K1M4

X, Y: 24.5 m/s2

HF-SP121 201 HF-SP202 352 HF-SP2024 3524 HC-UP202 to 502

X: 24.5 m/s2 Y: 49 m/s2

HF-SP301 421 HF-SP502 702 HF-SP5024 7024

HF-JP703 903 HF-JP7034 9034 X: 24.5 m/s2 Y: 29.4 m/s2

HC-LP52 to 152 X: 9.8 m/s2 Y: 24.5 m/s2

HC-LP202 to 302 X: 19.6 m/s2 Y: 49 m/s2

HA-LP601 to 12K1 HA-LP701M to 15K1M HA-LP502 to 22K2 HA-LP6014 12K14

HA-LP701M4 15K1M4 HA-LP11K24 to 22K24 X: 11.7 m/s2 Y: 29.4 m/s2

HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M HA-LP30K2 37K2 HA-LP15K14 to 37K14

HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24 X, Y: 9.8 m/s2

HG-AK series X, Y: 49 m/s2

Note. Except the servo motor with a reduction gear. (2) Wiring

CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer or radio noise filter (FR-BIF(-H) option) between the servo

amplifier (drive unit).

Connect the wires to the correct phase terminals (U/V/W) of the servo amplifier (drive unit) and servo motor.

Otherwise, the servo motor does not operate properly.

Connect the servo motor power terminal (U/V/W) to the servo motor power input terminal (U/V/W) directly.

Do not let a magnetic contactor, etc. intervene.

M

U

V

W

U

Servo motor

MV

W

U

V

W

U

V

W

Servo amplifier (drive unit) Servo motor

Servo amplifier (drive unit)

A - 5

CAUTION Do not connect AC power directly to the servo motor. Otherwise, it may cause a malfunction.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified

direction. Otherwise, the emergency stop and other protective circuits may not operate.

(The following figure shows the case of the MR-J3- A servo amplifier.)

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier (drive unit)

RA

For sink output interface

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier (drive unit)

RA

For source output interface

When the cable is not tightened enough to the terminal block (connector) of the converter unit and servo

amplifier, the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to

tighten the cable with specified torque.

Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected

restart of the servo amplifier (drive unit). (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 unstable. (4) Usage

CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent. Doing so may scuff the surface. Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur. Before resetting an alarm, make sure that the run signal into the converter unit and servo amplifier (drive unit) is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to electronic equipment used near the converter unit and servo amplifier (drive unit). Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit). Use the converter unit and servo amplifier (drive unit) with the specified servo motor.

A - 6

CAUTION The electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw 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. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may

cause an accident.

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 an electromagnetic brake or an external brake mechanism for the

purpose of prevention.

Configure a circuit so that the electromagnetic brake activates with the external emergency stop switch at

the same time.

Contacts must be opened with the emergency stop switch.

B U

SON RA

24VDC

Electromagnetic brake

Servo motor

Contacts must be opened when SON (Servo-on), ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,

ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before

switching the power on. (6) Maintenance, inspection and parts replacement

CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

It is recommended that the converter unit and servo amplifier (drive unit) be replaced every 10 years when it

is used in general environment.

A - 7

(7) Storage

CAUTION Note the following points when storing the servo motor for an extended period of time (guideline: three or

more months).

Always store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, reexamine the storage method.

Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be

produced depending on the storage conditions or storage period. If the servo motor is to be stored for longer

than six months, apply rust prevention oil again especially to the machined surfaces of the shaft, etc.

Before using the product after storage for an extended period of time, hand-turn the servo motor output

shaft to confirm that nothing is wrong with the servo motor. (When the servo motor is equipped with a brake,

make the above check after releasing the brake with the brake power supply.)

When the equipment has been stored for an extended period of time, contact your local sales office. (8) General instruction

CAUTION To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without

covers and safety guards. When the equipment is operated, the covers and safety guards must be installed

as specified. Operation must be performed in accordance with this Instruction Manual.

A - 8

DISPOSAL OF WASTE Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options

according to your local laws and regulations.

FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not

been designed or manufactured to be incorporated in a device or system used in purposes related to

human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace,

medicine, passenger movement vehicles or underwater relays, contact your local sales office.

These products have been manufactured under strict quality control. However, when installing the product

where major accidents or losses could occur if the product fails, install appropriate backup or failsafe

functions in the system.

PRECAUTIONS FOR CHOOSING THE PRODUCTS Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of

Mitsubishi Electric; machine damage or lost profits caused by faults in the Mitsubishi Electric products;

damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi

Electric; damages to products other than Mitsubishi Electric products; and to other duties.

COMPLIANCE WITH CE MARKING Refer to Appendix 2 for the compliance with CE marking.

CONFORMANCE WITH UL/cUL STANDARD (Under application) Refer to Appendix 3 for the compliance with UL/cUL standard.

1

CONTENTS

1. INTRODUCTION 1 - 1 to 1 - 8

1.1 Features of servo motor ........................................................................................................................... 1 - 1

1.2 Rating plate .............................................................................................................................................. 1 - 3

1.3 Parts identification .................................................................................................................................... 1 - 5

1.4 Electromagnetic brake ............................................................................................................................. 1 - 6

1.5 Servo motor shaft shapes ........................................................................................................................ 1 - 8

2. INSTALLATION 2 - 1 to 2 - 8

2.1 Installation orientation .............................................................................................................................. 2 - 2

2.2 Cooling fan ............................................................................................................................................... 2 - 2

2.3 Load remove precautions ........................................................................................................................ 2 - 3

2.4 Permissible load for the shaft .................................................................................................................. 2 - 4

2.5 Protection from oil and water ................................................................................................................... 2 - 4

2.6 Cable ........................................................................................................................................................ 2 - 5

2.7 Servo motor with oil seal .......................................................................................................................... 2 - 5

2.8 Inspection ................................................................................................................................................. 2 - 5

2.9 Life ............................................................................................................................................................ 2 - 6

2.10 Machine accuracies ............................................................................................................................... 2 - 6

2.11 Mounting servo motors .......................................................................................................................... 2 - 7

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 -14

3.1 Selection of connectors............................................................................................................................ 3 - 1

3.2 Wiring connectors (Connector configurations A B C) ......................................................................... 3 - 5

3.3 Wiring connectors (Connector configurations D E F G H) ............................................................. 3 - 6

3.4 Wiring connectors (Connector configurations J K L M N) ............................................................. 3 -12

3.5 Wiring connectors (Connector configurations P Q) ............................................................................. 3 -14

4. CONNECTOR DIMENSIONS 4 - 1 to 4 - 8

5. CALCULATION METHODS FOR DESIGNING 5 - 1 to 5 -16

5.1 Specification symbol list ........................................................................................................................... 5 - 1

5.2 Position resolution and electronic gear setting ....................................................................................... 5 - 2

5.3 Speed and command pulse frequency.................................................................................................... 5 - 3

5.4 Stopping characteristics ........................................................................................................................... 5 - 4

5.5 Capacity selection .................................................................................................................................... 5 - 5

5.6 Load torque equations ............................................................................................................................. 5 - 8

5.7 Load inertia moment equations ............................................................................................................... 5 - 9

5.8 Precautions for home position return ..................................................................................................... 5 -10

5.9 Selection example ................................................................................................................................... 5 -11

5.10 Coasting distance of electromagnetic brake ........................................................................................ 5 -15

5.11 Expression for calculating the electromagnetic brake workload ......................................................... 5 -15

2

6. HF-MP SERIES HF-KP SERIES 6 - 1 to 6 -70

6.1 Model name make up .............................................................................................................................. 6 - 1

6.2 Standard specifications ............................................................................................................................ 6 - 2

6.2.1 Standard specifications list ............................................................................................................... 6 - 2

6.2.2 Torque characteristics ....................................................................................................................... 6 - 4

6.3 Electromagnetic brake ............................................................................................................................. 6 - 5

6.4 Servo motors with special shafts ............................................................................................................. 6 - 6

6.4.1 Keyway shaft (with key) .................................................................................................................... 6 - 6

6.4.2 D cut shaft.......................................................................................................................................... 6 - 6

6.5 Servo motors with a reduction gear ......................................................................................................... 6 - 7

6.5.1 For general industrial machines compliant (G1) .............................................................................. 6 - 7

6.5.2 For precision applications compliant (G5/G7) .................................................................................. 6 - 9

6.6 Wiring option ........................................................................................................................................... 6 -11

6.7 Connector installation ............................................................................................................................. 6 -12

6.8 Outline dimension drawings ................................................................................................................... 6 -13

6.8.1 Standard (without an electromagnetic brake, without a reduction gear) ........................................ 6 -13

6.8.2 With an electromagnetic brake ........................................................................................................ 6 -16

6.8.3 For general industrial machine with a reduction gear (without an electromagnetic brake) ........... 6 -21

6.8.4 For general industrial machine with a reduction gear (with an electromagnetic brake) ................ 6 -27

6.8.5 For precision application with flange mounting, flange output type reduction gear

(without an electromagnetic brake) ................................................................................................. 6 -34

6.8.6 For precision application with flange mounting, flange output type reduction gear

(with an electromagnetic brake) ...................................................................................................... 6 -43

6.8.7 For precision application with flange mounting, shaft output type reduction gear

(without an electromagnetic brake) ................................................................................................. 6 -53

6.8.8 For precision application with flange mounting, shaft output type reduction gear

(with an electromagnetic brake) ...................................................................................................... 6 -61

7. HF-SP SERIES 7 - 1 to 7 -92

7.1 Model name make up .............................................................................................................................. 7 - 1

7.2 Standard specifications ............................................................................................................................ 7 - 2

7.2.1 Standard specifications list ............................................................................................................... 7 - 2

7.2.2 Torque characteristics ....................................................................................................................... 7 - 6

7.3 Electromagnetic brake ............................................................................................................................. 7 - 8

7.4 Servo motors with special shafts ............................................................................................................. 7 - 9

7.5 Servo motor with oil seal .......................................................................................................................... 7 - 9

7.6 Servo motors with a reduction gear ........................................................................................................ 7 -10

7.6.1 For general industrial machines compliant (G1/G1H) ..................................................................... 7 -10

7.6.2 For precision application compliant (G5/G7) ................................................................................... 7 -14

7.7 Wiring option ........................................................................................................................................... 7 -16

7.8 Outline dimension drawings ................................................................................................................... 7 -17

7.8.1 Standard (without an electromagnetic brake, without a reduction gear) ........................................ 7 -17

7.8.2 With an electromagnetic brake ........................................................................................................ 7 -20

7.8.3 For general industrial machine with a reduction gear (without an electromagnetic brake) ........... 7 -24

7.8.4 For general industrial machine with a reduction gear (with an electromagnetic brake) ................ 7 -34

3

7.8.5 For general industrial machine with a reduction gear

(leg type without an electromagnetic brake) ................................................................................. 7 -44

7.8.6 For general industrial machine with a reduction gear (leg type with an electromagnetic brake) ...................................................................................... 7 -54

7.8.7 Flange-mounting flange output type for precision application compliant

(without an electromagnetic brake) ................................................................................................. 7 -64

7.8.8 Flange-mounting flange output type for precision application compliant

(with an electromagnetic brake) ...................................................................................................... 7 -71

7.8.9 Flange-mounting shaft output type for precision application compliant

(without an electromagnetic brake) ................................................................................................. 7 -78

7.8.10 Flange-mounting shaft output type for precision application compliant

(with an electromagnetic brake) ...................................................................................................... 7 -85

8. HA-LP SERIES 8 - 1 to 8 -24

8.1 Model name make up .............................................................................................................................. 8 - 1

8.2 Standard specifications ............................................................................................................................ 8 - 2

8.2.1 Standard specifications list ............................................................................................................... 8 - 2

8.2.2 Torque characteristics ....................................................................................................................... 8 - 9

8.3 Electromagnetic brake ............................................................................................................................ 8 -12

8.4 Servo motors with special shafts ............................................................................................................ 8 -13

8.5 Wiring option ........................................................................................................................................... 8 -14

8.6 Cooling fan .............................................................................................................................................. 8 -14

8.7 Outline dimension drawings ................................................................................................................... 8 -15

8.7.1 Terminal box detail diagram ............................................................................................................ 8 -15

8.7.2 Standard (without an electromagnetic brake) ................................................................................. 8 -17

8.7.3 With an electromagnetic brake ........................................................................................................ 8 -23

8.8 Servo motor with oil seal ......................................................................................................................... 8 -24

9. HC-RP SERIES 9 - 1 to 9 -42

9.1 Model name make up .............................................................................................................................. 9 - 1

9.2 Standard specifications ............................................................................................................................ 9 - 2

9.2.1 Standard specifications list ............................................................................................................... 9 - 2

9.2.2 Torque characteristics ....................................................................................................................... 9 - 4

9.3 Electromagnetic brake ............................................................................................................................. 9 - 5

9.4 Servo motors with special shafts ............................................................................................................. 9 - 6

9.5 Servo motors with a reduction gear for precision application compliant (G5/G7) ................................. 9 - 7

9.6 Wiring option ............................................................................................................................................ 9 - 9

9.7 Outline dimension drawings ................................................................................................................... 9 -10

9.7.1 Standard (without an electromagnetic brake) ................................................................................. 9 -10

9.7.2 With an electromagnetic brake ........................................................................................................ 9 -12

9.7.3 Flange-mounting flange output type for precision application compliant

(without an electromagnetic brake) ................................................................................................. 9 -15

9.7.4 Flange-mounting flange output type for precision application compliant

(with an electromagnetic brake) ...................................................................................................... 9 -21

9.7.5 Flange-mounting shaft output type for precision application compliant

(without an electromagnetic brake) ................................................................................................. 9 -28

4

9.7.6 Flange-mounting shaft output type for precision application compliant

(with an electromagnetic brake) ...................................................................................................... 9 -34

9.8 Servo motor with oil seal ......................................................................................................................... 9 -41

10. HC-UP SERIES 10 - 1 to 10 -12

10.1 Model name make up .......................................................................................................................... 10 - 1

10.2 Standard specifications ........................................................................................................................ 10 - 2

10.2.1 Standard specifications list ........................................................................................................... 10 - 2

10.2.2 Torque characteristics ................................................................................................................... 10 - 4

10.3 Electromagnetic brake ......................................................................................................................... 10 - 5

10.4 Servo motors with special shafts ......................................................................................................... 10 - 6

10.5 Wiring option ........................................................................................................................................ 10 - 6

10.6 Outline dimension drawings ................................................................................................................ 10 - 7

10.6.1 Standard (without an electromagnetic brake) .............................................................................. 10 - 7

10.6.2 With an electromagnetic brake ..................................................................................................... 10 - 9

10.7 Servo motor with oil seal ..................................................................................................................... 10 -12

11. HC-LP SERIES 11 - 1 to 11 -12

11.1 Model name make up .......................................................................................................................... 11 - 1

11.2 Standard specifications ........................................................................................................................ 11 - 2

11.2.1 Standard specifications list ........................................................................................................... 11 - 2

11.2.2 Torque characteristics ................................................................................................................... 11 - 4

11.3 Electromagnetic brake ......................................................................................................................... 11 - 5

11.4 Servo motors with special shafts ......................................................................................................... 11 - 6

11.5 Wiring option ........................................................................................................................................ 11 - 6

11.6 Outline dimension drawings ................................................................................................................ 11 - 7

11.6.1 Standard (without an electromagnetic brake) .............................................................................. 11 - 7

11.6.2 With an electromagnetic brake ..................................................................................................... 11 - 9

11.7 Servo motor with oil seal ..................................................................................................................... 11 -12

12. HF-JP SERIES 12 - 1 to 12 -28

12.1 Model name make up .......................................................................................................................... 12 - 1

12.2 Standard specifications ........................................................................................................................ 12 - 2

12.2.1 Standard specifications list ........................................................................................................... 12 - 2

12.2.2 Torque characteristics ................................................................................................................... 12 - 6

12.3 Electromagnetic brake ......................................................................................................................... 12 - 8

12.4 Servo motors with special shafts ......................................................................................................... 12 - 9

12.5 Wiring option ........................................................................................................................................ 12 - 9

12.6 Outline dimension drawings ............................................................................................................... 12 -10

12.6.1 Standard (without an electromagnetic brake) ............................................................................. 12 -10

12.6.2 With an electromagnetic brake .................................................................................................... 12 -19

12.7 Servo motor with oil seal ..................................................................................................................... 12 -28

13. HG-AK SERIES 13 - 1 to 13 -10

13.1 Model name make up .......................................................................................................................... 13 - 1

13.2 Standard specifications ........................................................................................................................ 13 - 2

5

13.2.1 Standard specifications list ........................................................................................................... 13 - 2

13.2.2 Torque characteristics ................................................................................................................... 13 - 4

13.3 Electromagnetic brake characteristics ................................................................................................ 13 - 5

13.4 Servo motors with special shafts ......................................................................................................... 13 - 6

13.5 Wiring option ........................................................................................................................................ 13 - 6

13.6 Dimensions ........................................................................................................................................... 13 - 6

13.6.1 Standard (without an electromagnetic brake) .............................................................................. 13 - 7

13.6.2 With an electromagnetic brake ..................................................................................................... 13 - 8

APPENDIX App.- 1 to App.- 6

App. 1 Servo motor ID codes .....................................................................................................................App.- 1

App. 2 Compliance with the CE marking ...................................................................................................App.- 3

App. 3 Conformance with UL/cUL standard ..............................................................................................App.- 4

6

MEMO

1 - 1

1. INTRODUCTION

1. INTRODUCTION

1.1 Features of servo motor

The following table indicates the main features of the servo motor. The items marked are supported as

standard. For detailed specifications, refer to the chapter of the servo motor series.

Item Servo motor series

HF-MP HF-KP HF-SP HA-LP

Feature

Ultra-Low

inertia/Small

capacity

Low inertia/Small

capacity

Medium

inertia/medium

capacity

Low inertia/Middle

large capacity

Rated speed

1000r/min

1500r/min

2000r/min

3000r/min

Encoder resolution [pulse/rev] 262144 262144 262144 262144

Rated output [kW] 0.05 to 0.75 0.05 to 0.75 0.5 to 7.0 5.0 to 55.0

Power supply

voltage of

compatible servo

amplifier (Note 1)

One-phase 200 to

230VAC (Note 5)

Three-phase 200 to

230VAC

Three-phase 380 to

480VAC

One-phase 100 to

120VAC (Note 2) (Note 2)

Electromagnetic Brake (Note 2) (Note 2) (Note 2) (Note 2)

Special shaft (Note 2) (Note 2) (Note 2) (Note 2)

Reduction Gear (Note 2) (Note 2) (Note 2)

Absolute Encoder

Compliance with

Overseas Standards

EN Standard (Note 6) (Note 9)

UL/cUL Standard

IP rating IP65 (Note 3 4) IP65 (Note 3 4) IP67 (Note 3) IP44 (Note 3)

Interchangeable servo motor

HC-KFS

HC-MFS

HC-KF

HC-MF

HC-KFS

HC-MFS

HC-KF

HC-MF

HC-SFS

HC-SF

HA-SH

HA-SE

HA-LFS HA-LH

HA-LF

1 - 2

1. INTRODUCTION

Item Servo motor series

HC-RP HC-UP HC-LP HF-JP HG-AK

Feature

Low

inertia/Middle

capacity

Flat

type/Middle

capacity

Low

inertia/Middle

capacity

Low

inertia/Middle

capacity

Compact

size/Small

capacity

Rated speed 2000r/min

3000r/min

Encoder resolution [pulse/rev] 262144 262144 262144 262144 262144

Rated output [kW] 1.0 to 5.0 0.75 to 5.0 0.5 to 3.0 0.5 to 15.0 0.01 to 0.03

Power supply

voltage of

compatible servo

amplifier (Note 1)

One-phase 200 to

230VAC (Note 7) (Note 8)

Three-phase 200 to

230VAC

Three-phase 380 to

480VAC

One-phase 100 to

120VAC

48VDC/24VDC

Electromagnetic Brake (Note 2) (Note 2) (Note 2) (Note 2) (Note 2)

Special shaft (Note 2) (Note 2) (Note 2) (Note 2) (Note 2)

Reduction Gear (Note 2)

Absolute Encoder

Compliance with

Overseas Standards

EN Standard

UL/cUL Standard

IP rating IP65 (Note 3) IP65 (Note 3) IP65 (Note 3) IP67 (Note 3) IP55 (Note 10)

Interchangeable servo motor HC-RFS

HC-RF

HC-UFS HC-UF

HC-LFS

Note 1. Some power supply voltages may not be usable depending on the servo amplifier (for the HA-LP servo motor of 30kW or

more, converter unit and drive unit) capacity.

For the power supply voltage range, refer to the Servo Amplifier Instruction Manual.

2. Compatible products are available. For details, refer to the chapter of the servo motor series.

3. Except for the shaft-through portion.

4. Except for the connector.

5. Only HF-SP51, 52 corresponds.

6. HF-SP301, 421, and 524 to 7024 will be supported.

7. Only HC-UP72 corresponds.

8. Only HC-LP52 corresponds.

9. The following models will be supported: HA-LP25K1 to 37K1, 30K1M, 37K1M, 30K2 and 37K2.

10. Except for the shaft-through, connector, and power cable outlet portion.

1 - 3

1. INTRODUCTION

1.2 Rating plate

The following shows an example of rating plate for explanation of each item.

(1) HF-MP series/HF-KP series/HF-SP series/HA-LP series/HC-RP series/HC-UP series/HC-LP series/HF-JP

series (3000r/min) servo motor

MSIP-REI-MEK-BSM0260000000A

(Note 2)

HF-JP53 3AC 124 V 3.0 A 0.5 kW

3kg CI.F 3000 r/min 0-200 Hz 34 mV/min-1 40C

P.F.96% IP67 SER.M00001234 15X

Model

Input power, rated current, rated output

Mass, insulation class

Rated speed

Induced voltage constant, maximum ambient temperature

Power factor, IP rating

Serial number (Note 1)

Country of origin, conforming standards

Manufacturer

Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month 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 January 2012, the Serial No. is like, "SER. 121".

2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

(2) HA-LP series/HF-JP series (1500r/min) servo motor

HF-JP11K1M

MSIP-REI-MEK-BSM0260000000A

Model

Input power, rated current, rated output

Mass, insulation class, rated speed

Induced voltage constant, maximum ambient, temperature, power factor, IP rating

Serial number (Note 1)

(Note 2) Country of origin

Manufacturer

Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month 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 January 2012, the Serial No. is like, "SER. 121".

2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

1 - 4

1. INTRODUCTION

(3) HG-AK series servo motor

Model (Note 2)

Input power, rated output

Serial number (Note 1)

Rated speed

Mass

Country of origin, conforming standards

Manufacturer

90000000A

Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month 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 January 2012, the Serial No. is like, "SER. 121".

2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

1 - 5

1. INTRODUCTION

1.3 Parts identification

Power cable (Note) Power lead (U V W) Earth lead

Encoder cable

Encoder

Servo motor shaft

Note. The servo motor with an electromagnetic brake has an electromagnetic brake lead.

Encoder cable (Note 1)

Encoder

Servo motor shaft

Power cable (Note 1 2) Power lead (U V W) ( ) Earth lead

Note 1. The encoder cable and power supply cable are options.

2. An electromagnetic brake cable is separately required for the servo motor with an electromagnetic brake.

Power supply connector (Note) Power supply (U V W) ( ) Earth

Servo motor shaft

Encoder

Encoder connector

Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately.

(Note)

Encoder connector

Terminal box

Servo motor shaft

Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately.

1 - 6

1. INTRODUCTION

1.4 Electromagnetic brake

CAUTION

The electromagnetic brake is provided to prevent a drop at a power failure or 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. Ensure enough time between releasing

the electromagnetic brake and starting the servo motor.

Be sure to check the time lag of the braking with an actual machine.

Configure an electromagnetic brake circuit so that it is activated also by an external

emergency stop switch.

For details of the circuit configuration and timing chart, refer to the Servo Amplifier

Instruction Manual.

While the electromagnetic brake is opened, the motor may be raised to high

temperature regardless of driving.

The life will be shorten under sudden acceleration/deceleration conditions.

The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to

ensure double safety at an emergency stop, for example. When performing servo motor operation, supply

power to the electromagnetic brake to release the brake. Switching power off makes the brake effective.

(1) Electromagnetic brake power supply

Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake

terminals (B1, B2) have no polarity.

Switch

VAR

B1

U B

24VDC power supply for electromagnetic brake

B2

VAR

B1

U B

B2

or

E lectrom

a gnetic bra

ke

24VDC power supply for electromagnetic brake

Switch

E lectrom

a gnetic bra

ke

The surge absorber (VAR) must be installed across B1-B2. For a selection example of the surge absorber,

refer to "Electromagnetic brake characteristic" in the chapter of each servo motor series.

When a diode is used as a surge absorber, it will take longer to activate the electromagnetic brake.

(2) Sound generation

Though the brake lining may rattle during operation, it poses no functional problem.

If braking sound occurs, it may be improved by setting the machine resonance suppression filter or

adaptive vibration suppression control in the servo amplifier (drive unit) parameters. For details, refer to the

servo amplifier instruction manual.

(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 Conditions

24VDC

Relay

Brake coilU Varistor

Electromagnetic brake

specification

R[ ]: Resistance

L[H]: Inductance

Vb[V]: Power supply voltage

Desired suppression voltage Vs[V] or less

Durable surge application time N times

1 - 7

1. INTRODUCTION

(b) Tentative selection and verification of surge absorber

1) Maximum allowable circuit voltage of varistor

Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].

2) Brake current (Ib)

Ib [A] Vb R

3) Energy (E) generated by brake coil

E [J] L Ib

2

2

4) Varistor limit voltage (Vi) From the energy (E) generated in the brake coil and the varistor characteristic diagram, calculate the

varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during

opening of the circuit. Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed voltage

(Vs) [V].

If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.

5) Surge current width ( ) Given that the varistor absorbs all energies, the surge current width ( ) is as follows.

[s]E Vi Ib

6) Inspection of surge life of varistor

From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number of the

surge application life is N at the surge current width ( ). Calculate the guaranteed current value (lp) to the brake current (lb) ratio (lp/lb).

If an enough margin is ensured for Ip/Ib, the number of the surge application life N [Time] can be

considered as favorable.

(4) Others

A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic

brake. Note that chips, screws and other magnetic substances are attracted.

1 - 8

1. INTRODUCTION

1.5 Servo motor shaft shapes

In addition to the straight shaft, the keyway 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. Refer to the

chapter of the servo motor series.

The keyway shaft (with single pointed key) applies to only the servo motor with a reduction gear for precision

application.

Shaft section view AA

A

A

Shaft section view AA

A

A

Key shaft (with 2 round end key) Key shaft (without key)

D cut shaft Straight shaft

Key shaft (with single pointed key)

2 - 1

2. INSTALLATION

2. INSTALLATION

WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

Stacking in excess of the limited number of products is not allowed. Install the servo motor on incombustible material. Installing them directly or close to combustibles will lead to smoke or 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 product to prevent injury. Use the equipment within the specified environmental condition range. Refer to the specifications of the servo motor series. Do not drop or strike the converter unit and servo amplifier (drive unit) and servo motor. Otherwise, injury, malfunction, etc. may occur. Do not install or operate a faulty servo motor. Do not hold the cables, connectors, shaft, or encoder when carrying the servo motor. Otherwise, it may drop. 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 machine. The servo motor with a 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. Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reduction gear. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. 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 and the bearing to wear out. Balance the load to the extent possible. Failure to do so can cause vibration during servo motor operation or damage the bearings and encoder. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor 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, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor, shaft keyway, or others. Do not use the servo motor where the shaft-through portion may be subject to pressure (e.g. compressed air). Applying air pressure to the inside of the servo motor may cause a malfunction.

2 - 2

2. INSTALLATION

2.1 Installation orientation

(1) Standard servo motor

The following table indicates the installation orientation of the standard servo motor.

Servo Motor Series Direction of Installation Remark

HF-MP HC-RP

HF-KP HC-UP

HF-SP HC-LP

HF-JP

May be installed in any

direction.

For installation in the horizontal direction, it is recommended to set the

connector section downward.

HA-LP(Flange Type)

HG-AK

HA-LP(Flange leg type)

For installation in the horizontal direction, make the legs face down and use

the legs or flange as an installation reference.

When using the flange as an installation reference, however, also fix the

legs supplementary.

For installation in the horizontal direction, it is recommended to set the connector section downward.

When mounting the servo motor vertically or obliquely, give a little slack for the connection cable.

Little slack

(2) Servo motor with an electromagnetic brake

The servo motor with an electromagnetic brake can also be installed in the same orientation as the

standard servo motor.

When the servo motor with an electromagnetic brake is installed with the shaft end at top, the brake plate

may generate sliding sound but it is not a fault.

(3) Servo motor with a reduction gear

The orientation of installing the servo motor with a reduction gear changes depending on the reduction gear

type. Be sure to install it in the specified orientation. Refer to the chapter of the servo motor series for

details. 2.2 Cooling fan

For the servo motor with a cooling fan, ensure to put enough space for the distance L between intake port and

wall surface.

L or longer

Servo motor

Cooling fan

Intake

2 - 3

2. INSTALLATION

2.3 Load remove precautions

CAUTION

During assembling, the shaft end must not be hammered. Doing so can cause the

encoder to fail.

To avoid damage to the encoder and bearing, do not machine the shaft.

(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 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 hard load and or 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 your local sales

office.

(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.

2 - 4

2. INSTALLATION

2.4 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 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.

(4) The load indicated in this section is static load in a single direction and does not include eccentric load.

Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged. 2.5 Protection from oil and water

Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When

installing the servo motor, consider the items in this section.

(1) Do not use the servo motor with its cable soaked in oil or water.

Cover

Capillary phenomenon

Oil/water pool

Servo motor

(2) 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

(3) 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.

(4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, a standard

specifications servo motor may not be usable. Please contact your local sales office.

2 - 5

2. INSTALLATION

2.6 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. 2.7 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. The functions have no problem even if the servo motor with oil seal may sound

during operation.

(1) Pressure and oil level

Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip

always. If the oil level is higher than the oil seal lip, the oil that entered into the servo motor may cause any

failure.

Gear Shaft

Servo motor

Oil seal

Height above oil level h

Lip

High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant internal

pressure by equipping a ventilator to the gear box.

(2) Temperature

High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high

temperature oil since applicable temperature of the material is up to 100 (212 ) and temperature of the

oil seal lip rises within 10 to 15 (50 to 59 ) at maximum rotation. 2.8 Inspection

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15

minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for

drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an

electric shock may occur. In addition, always confirm from the front of the servo

amplifier (converter unit), whether the charge lamp is off or not.

To avoid an electric shock, only qualified personnel should attempt inspections. For

repair and parts replacement, contact your safes representative.

CAUTION Do not perform insulation resistance test on the servo motor. Otherwise, it may

cause a malfunction.

Do not disassemble and/or repair the equipment on customer side.

It is recommended to make the following checks periodically.

2 - 6

2. INSTALLATION

(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. 2.9 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 local sales office.

Part name Guideline of life

Bearings 20,000 to 30,000 hours

Encoder 20,000 to 30,000 hours

Cooling fan 20,000 hours

Oil seal 5,000 hours

Reducer 10,000 to 20,000 hours

(a) Bearings

When the servo motor is run at rated speed under rated load, bearings 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 (including oil seal used on the reduction gear)

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.

The functions have no problem even if an oil seal may sound during operation. 2.10 Machine accuracies

The following table indicates the machine accuracies of the servo motor around the output shaft and mounting.

(except the optional products)

Accuracy [mm] Measuring

position

Flange size

Less than

100 130 176 to 250 280 to 350

Runout of flange surface to output shaft a) 0.05 0.06 0.08 0.08

Runout 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

c)

b)

a) A

A

A

2 - 7

2. INSTALLATION

2.11 Mounting servo motors

Be sure to use the servo motor within the specified environment, and mount the servo motor on a machine having the equivalent heat dissipation effect as the following aluminum flange. The temperature of the servo motor increases differently depending on its mounting environment, operating conditions, etc. Make sure to check the temperature with an actual machine.

Flange size

[mm]

Servo motor

HF-MP

HF-KP HF-SP HC-RP HC-UP HC-LP HA-LP HF-JP HG-AK

150 150 3 0136 to 0336

250 250 6 053 13 23

250 250 12 43 51 81

52(4) to 152(4) 103 to 203 52 to 152 53(4) to 203(4)

300 300 12 73

300 300 20 121 201

202(4) to 352(4) 202 302

550 550 30 353 503 72 152 353(4) 503(4)

650 650 35 301 421

502(4) 702(4) 202 to 502

601(4) to 12K1(4) 701M(4) to 15K1M(4)

502 to 22K2 11K24 to 22K24

703(4) 903(4)

11K1M(4)

15K1M4(4)

950 950 35

15K1(4) to 37K1(4)

22K1M to 37K1M

22K1M4 to 50K1M4

30K2 37K2 30K24 to 55K24

2 - 8

2. INSTALLATION

MEMO

3 - 1

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. 3.1 Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the servo

motor. Refer to section 3.2 for the compatible connector configuration products.

(1) HF-MP Series HF-KP Series

Encoder connector Brake connector Power supply connector

Servo motor Wiring connector

For encoder For power supply For brake

HF-MP Connector configuration A Connector configuration B Connector configuration C

HF-KP

(2) HF-SP Series

Encoder connector

Brake connector Power supply connector

Servo motor Wiring connector

For encoder For power supply For brake

HF-SP51 81

Connector configuration D

Connector configuration F

HF-SP52 to 152 Connector configuration E

HF-SP524 to 1524

HF-SP121 to 301

Connector configuration G HF-SP202 to 502

HF-SP2024 to 5024

HF-SP421

Connector configuration H HF-SP702

HF-SP7024

3 - 2

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(3) HA-LP Series

Terminal box Encoder connector

Brake connector

Servo motor Wiring connector

For encoder For power supply For brake

HA-LP502

Connector configuration D

Connector configuration K

HA-LP702 Connector configuration H

HA-LP601 to 12K1

None(Terminal box)

Connector configuration J HA-LP701M to 15K1M

HA-LP11K2 to 22K2

HA-LP11K24 to 22K24

HA-LP15K1 to 37K1

HA-LP22K1M to 37K1M

HA-LP30K2 37K2

HA-LP25K14 to 37K14

HA-LP30K1M4 to 50K1M4

HA-LP30K24 to 55K24

(4) HC-RP Series

Encoder connector

Power supply connector

Servo motor Wiring connector

For encoder For power supply For brake

HC-RP103 to 203 Connector configuration D

Connector configuration L Sharing for power supply

(Note) HC-RP353 503 Connector configuration K

Note. Brake connector is not required since the power supply connector has a pin assigned for electromagnetic brake.

3 - 3

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(5) HC-UP Series

Encoder connector

Power supply connector

Brake connector

Servo motor Wiring connector

For encoder For power supply For brake

HC-UP72 152 Connector configuration D

Connector configuration L Sharing for power supply

(Note)

HC-UP202 to 502 Connector configuration K Connector configuration J

Note. Brake connector is not required since the power supply connector has a pin assigned for electromagnetic brake.

(6) HC-LP Series

Encoder connector

Power supply connectorBrake connector

Servo motor Wiring connector

For encoder For power supply For brake

HC-LP52 to 152 Connector configuration D

Connector configuration L Sharing for power supply

(Note)

HC-LP202 302 Connector configuration K Connector configuration J

Note. Brake connector is not required since the power supply connector has a pin assigned for electromagnetic brake.

3 - 4

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(7) HF-JP Series

Up

Encoder connector

Power supply connector Brake connector

Down

Servo motor Wiring connector

For encoder For power supply For brake

HF-JP53 to 203 Connector configuration E

HF-JP534 to 5034

HF-JP353 503 Connector configuration D Connector configuration G Connector configuration F

HF-JP703 903

Connector configuration H

HF-JP7034 9034

HF-JP11K1M 15K1M Connector configuration M, N Connector configuration J

HF-JP11K1M4 15K1M4

(8) HG-AK Series

Power supply connector

Encoder connector

Servo motor Wiring connector

For encoder For power supply For brake

HG-AK0136 to 0336 Connector configuration P Connector configuration Q Sharing for power supply

3 - 5

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.2 Wiring connectors (Connector configurations A B C)

Connector

configuration Feature Connector Crimping tool

Servo motor encoder

connector

A IP65 Connector: 2174053-1

(TE Connectivity)

For ground clip: 1596970-1

For REC. contact: 1596847-1

(TE Connectivity)

1674339-1

(TE Connectivity)

Connector

configuration Feature Connector Crimping tool

Servo motor power supply

connector

B IP65

Connector: KN4FT04SJ1-R

HOOD/SOCKET INSULATOR/

BUSHING/GROUND NUT

Contact: ST-TMH-S-C1B-100 (A534G)

(JAE)

CT170-14-TMH5B

(JAE)

JN4AT04NJ1

(JAE)

Connector

configuration Feature Connector Crimping tool

Servo motor

electromagnetic brake

connector

C IP65

Connector: JN4FT02SJ1-R

HOOD/SOCKET INSULATOR/

BUSHING/GROUND NUT

Contact: ST-TMH-S-C1B-100 (A534G)

(JAE)

CT170-14-TMH5B

(JAE)

JN4AT02PJ1

(JAE)

3 - 6

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.3 Wiring connectors (Connector configurations D E F G H)

Straight plug

Angle plug

Connector

configuration Feature

Plug (DDK) Servo

motor

encoder

connector Type Plug Socket contact Contact shape

Cable OD

[mm]

D IP67 Straight

CMV1-SP10S-M1

(one-touch connection

type)

CMV1-#22ASC-S1-100

Soldering type

Applicable wire size:

AWG20 or less

5.5 to 7.5

CM10-R10P

CMV1-#22ASC-C1-100

Crimping type

Applicable wire size:

AWG24 to 20

The crimping tool (357J-

53162T) is required.

CMV1-#22ASC-C2-100

Crimping type

Applicable wire size:

AWG28 to 24

The crimping tool (357J-

53163T) is required.

CMV1-SP10S-M2

(one-touch connection

type)

CMV1-#22ASC-S1-100

Soldering type

Applicable wire size:

AWG20 or less

7.0 to 9.0

CMV1-#22ASC-C1-100

Crimping type

Applicable wire size:

AWG24 to 20

The crimping tool (357J-

53162T) is required.

CMV1-#22ASC-C2-100

Crimping type

Applicable wire size:

AWG28 to 24

The crimping tool (357J-

53163T) is required.

CM10-SP10S-VP-M

(Note)

CM10-#22SC(S1)(D8)-

100

Soldering type

Applicable wire size:

AWG20 or less

6.0 to 9.0

CM10-#22SC(C1)(D8)-

100

Crimping type

Applicable wire size:

AWG22 to 20

Connection tool (357J-

50446T) is necessary.

CM10-#22SC(C2)(D8)-

100

Crimping type

Applicable wire size:

AWG28 to 23

Connection tool (357J-

50447T) is necessary.

3 - 7

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Connector

configuration Feature

Plug (DDK) Servo

motor

encoder

connector

Type Plug Socket contact Contact shape Cable OD

[mm]

D IP67 Angle

CMV1-AP10S-M1

(one-touch connection

type)

CMV1-#22ASC-S1-100

Soldering type

Applicable wire size:

AWG20 or less

5.5 to 7.5

CM10-R10P

CMV1-#22ASC-C1-100

Crimping type

Applicable wire size:

AWG24 to 20

The crimping tool (357J-

53162T) is required.

CMV1-#22ASC-C2-100

Crimping type

Applicable wire size:

AWG28 to 24

The crimping tool (357J-

53163T) is required.

CMV1-AP10S-M2

(one-touch connection

type)

CMV1-#22ASC-S1-100

Soldering type

Applicable wire size:

AWG20 or less

7.0 to 9.0

CMV1-#22ASC-C1-100

Crimping type

Applicable wire size:

AWG24 to 20

The crimping tool (357J-

53162T) is required.

CMV1-#22ASC-C2-100

Crimping type

Applicable wire size:

AWG28 to 24

The crimping tool (357J-

53163T) is required.

CM10-AP10S-VP-M

(Note)

CM10-#22SC(S1)(D8)-

100

Soldering type

Applicable wire size:

AWG20 or less

6.0 to 9.0

CM10-#22SC(C1)(D8)-

100

Crimping type

Applicable wire size:

AWG22 to 20

Connection tool (357J-

50446T) is necessary.

CM10-#22SC(C2)(D8)-

100

Crimping type

Applicable wire size:

AWG28 to 23

Connection tool (357J-

50447T) is necessary.

Note. Use this connector if there is a potential risk that a high vibration may be applied to connectors. The connector on the servo

motor side can be disconnected up to 5 times. Use dedicated tool 357J-52780T (DDK) or a spanner with a jaw size of 21mm.

3 - 8

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration Feature

Plug (DDK) Cable clamp (DDK) Servo motor

power supply

connector Type Model name

Cable OD

[mm]

(Reference)

Model name

E

IP67

EN compliant

Straight CE05-6A18-10SD-D-BSS

Applicable wire size: AWG14 to 12

8.5 to 11 CE3057-10A-2-D

MS3102A18-10P

10.5 to 14.1 CE3057-10A-1-D

Angle CE05-8A18-10SD-D-BAS

Applicable wire size: AWG14 to 12

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

(Note)

General environment

Straight D/MS3106B18-10S

Applicable wire size: AWG14 to 12

14.3

(Bushing ID) D/MS3057-10A

Angle D/MS3108B18-10S

Applicable wire size: AWG14 to 12

14.3

(Bushing ID) D/MS3057-10A

Note. Not compliant with the EN.

3 - 9

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Straight plug

Angle plug

Connector

configuration Feature

Plug (DDK) Servo motor

brake

connector Type Straight plug Socket contact Contact shape

Cable OD

[mm]

(Reference)

F IP67 Straight

CMV1-SP2S-S

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

4.0 to 6.0

CM10-R2P

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-SP2S-M1

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

5.5 to 7.5

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-SP2S-M2

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

7.0 to 9.0

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-SP2S-L

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

9.0 to 11.6

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CM10-SP2S-VP-S

(Note)

CM10-#22SC(S2)(D8)-

100 Soldering type

Applicable wire size:

AWG16 or less

4.0 to 6.0

CM10-SP2S-VP-M

(Note)

CM10-#22SC(S2)(D8)-

100 6.0 to 9.0

CM10-SP2S-VP-L

(Note)

CM10-#22SC(S2)(D8)-

100 9.0 to 11.6

CM10-SP2S-VP-S

(Note)

CM10-#22SC(C3)(D8)-

100 Crimping type

Applicable wire size:

AWG20 to 16

Connection tool (357J-

50448T) is necessary.

4.0 to 6.0

CM10-SP2S-VP-M

(Note)

CM10-#22SC(C3)(D8)-

100 6.0 to 9.0

CM10-SP2S-VP-L

(Note)

CM10-#22SC(C3)(D8)-

100 9.0 to 11.6

3 - 10

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Connector

configuration Feature

Plug (DDK) Servo motor

brake

connector Type Straight plug Socket contact Contact shape

Cable OD

[mm]

(Reference)

F IP67 Angle

CMV1-AP2S-S

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

4.0 to 6.0

CM10-R2P

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-AP2S-M1

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

5.5 to 7.5

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-AP2S-M2

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

7.0 to 9.0

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CMV1-AP2S-L

(one-touch connection

type)

CMV1-#22BSC-S2-100

Soldering type

Applicable wire size:

AWG16 or less

9.0 to 11.6

CMV1-#22BSC-C3-100

Crimping type

Applicable wire size:

AWG20 to 16

The crimping tool (357J-

53164T) is required.

CM10-AP2S-VP-S

(Note)

CM10-#22SC(S2)(D8)-

100 Soldering type

Applicable wire size:

AWG16 or less

4.0 to 6.0

CM10-AP2S-VP-M

(Note)

CM10-#22SC(S2)(D8)-

100 6.0 to 9.0

CM10-AP2S-VP-L

(Note)

CM10-#22SC(S2)(D8)-

100 9.0 to 11.6

CM10-AP2S-VP-S

(Note)

CM10-#22SC(C3)(D8)-

100 Crimping type

Applicable wire size:

AWG20 to 16

Connection tool (357J-

50448T) is necessary.

4.0 to 6.0

CM10-AP2S-VP-M

(Note)

CM10-#22SC(C3)(D8)-

100 6.0 to 9.0

CM10-AP2S-VP-L

(Note)

CM10-#22SC(C3)(D8)-

100 9.0 to 11.6

Note. Use this connector if there is a potential risk that a high vibration may be applied to connectors. The connector on the servo

motor side can be disconnected up to 5 times. Use dedicated tool 357J-52780T (DDK) or a spanner with a jaw size of 21mm.

3 - 11

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration Feature

Plug (DDK) Cable clamp (DDK) Servo motor

power supply

connector Type Model name

Cable OD

[mm]

(Reference)

Model name

G

IP67

EN compliant

Straight CE05-6A22-22SD-D-BSS

Applicable wire size: AWG10 to 8

9.5 to 13 CD3057-12A-2-D

MS3102A22-22P

12.5 to 16 CD3057-12A-1-D

Angle CE05-8A22-22SD-D-BAS

Applicable wire size: AWG10 to 8

9.5 to 13 CD3057-12A-2-D

12.5 to 16 CD3057-12A-1-D

(Note)

General environment

Straight D/MS3106B22-22S

Applicable wire size: AWG10 to 8

15.9 or less

(Bushing ID) D/MS3057-12A

Angle D/MS3108B22-22S

Applicable wire size: AWG10 to 8

15.9 or less

(Bushing ID) D/MS3057-12A

Note. Not compliant with the EN.

Plug Cable clamp Cable Plug Cable clamp Cable

Backshell

Connector

configuration Feature

Plug (DDK) Backshell (DDK) Cable clamp (DDK) Servo motor

power supply

connector Type Model name Model name

Cable OD

[mm]

(Reference)

Model name

H

IP67

EN

compliant

Straight

(Note 2)

CE05-6A32-17SD-D

Applicable wire size: AWG4

CE05-32BS-S-D-

OB (Note 3)

30 to 32.5 CE3057-24A-1-D

CE05-2A32-

17PD-B

27.5 to 29.6 CE3057-24A-2-D

CE05-6A32-17SD-D-BSS

Applicable wire size: AWG6

to 4

22 to 23.8 CD3057-20A-1-D

Angle

CE05-8A32-17SD-D-BAS

Applicable wire size: AWG6

to 4

(Note 1)

General

environment

Straight

D/MS3106B32-17S

Applicable wire size: AWG6

to 4

23.8 or less

(Bushing ID) D/MS3057-20A

Angle

D/MS3108B32-17S

Applicable wire size: AWG6

to 4

Note 1. Not compliant with the EN.

2. This connector is usable only when the outer diameter of the cable used for the servo motor is larger than 23.8 mm.

3. This backshell is used to combine a plug (CE05-6A32-17SD-D) and a cable clamp (CE3057-24A-_-D). Contact the

manufacturers directly.

3 - 12

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.4 Wiring connectors (Connector configurations J K L M N)

IP67 compatible IP67 compatible General environmental

Plug Cable

Connector for cable Plug

Connector for cable Cable Plug Cable clamp Cable

Connector

configuration Feature

Cable side connector

Servo motor

brake connector Plug (DDK)

Connector for cable

Type Manufacturer Cable OD [mm]

(Reference) Model name

J

IP65

EN

UL/cUL Standard

compliant

D/MS3106A10SL-

4S(D190)

Applicable wire size:

AWG22 to 16

Straight Nippon Flex

4 to 8 ACS-08RL-MS10F

MS3102A10SL-

4P

8 to 12 ACS-12RL-MS10F

Daiwa Dengyo 5 to 8.3 YSO10-5 to 8

Angle Nippon Flex

4 to 8 ACA-08RL-MS10F

8 to 12 ACA-12RL-MS10F

Daiwa Dengyo 5 to 8.3 YLO10-5 to 8

(Note)

General environment

D/MS3106A10SL-

4S

Applicable wire size:

AWG22 to 16

Straight 5.6 or less

(Bushing ID) D/MS3057-4A

Note. Not compliant with the EN.

Plug Cable clamp Cable Plug

Cable clamp Cable

Connector

configuration Feature

Plug (DDK) Cable clamp (DDK) Servo motor

power supply

connector Type Model name

Cable OD [mm]

(Reference) Model name

K

IP65, EN

UL/cUL Standard

compliant

Straight CE05-6A24-10SD-D-BSS

Applicable wire size: AWG10 to 8

13 to 15.5 CE3057-16A-2-D

CE05-2A24-10P

15 to 19.1 CE3057-16A-1-D

Angle CE05-8A24-10SD-D-BAS

Applicable wire size: AWG10 to 8

13 to 15.5 CE3057-16A-2-D

15 to 19.1 CE3057-16A-1-D

General environment

UL/cUL Standard

compliant

Straight D/MS3106B24-10S

Applicable wire size: AWG10 to 8 19.1

(Bushing ID) D/MS3057-16A

Angle D/MS3108B24-10S

Applicable wire size: AWG10 to 8

3 - 13

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug

Cable clamp Cable

Connector

configuration Feature

Plug (DDK) Cable clamp (DDK) Servo motor

power supply

connector Type Model name

Cable OD [mm]

(Reference) Model name

L

IP65, EN

UL/cUL Standard

compliant

Straight CE05-6A22-23SD-D-BSS

Applicable wire size: AWG14 to 12

9.5 to 13 CE3057-12A-2-D

CE05-2A22-23P

12.5 to 16 CE3057-12A-1-D

Angle CE05-8A22-23SD-D-BAS

Applicable wire size: AWG14 to 12

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

General environment

UL/cUL Standard

compliant

Straight D/MS3106B22-23S

Applicable wire size: AWG14 to 12 15.9

(Bushing ID) D/MS3057-12A

Angle D/MS3108B22-23S

Applicable wire size: AWG14 to 12

Plug Cable clamp Cable

Backshell

Backshell Cable

Cable clamp

Plug

Connector

configuration Feature

Plug (DDK) Backshell

(DDK)

Cable clamp (DDK) Servo motor

encoder

connector Type Model name Cable OD [mm] Model name

M IP67

EN compliant

Straight D/MS3106A20-29S

(D190)

CE02-20BS-D 6.8 to 10 CE3057-12A-3-D

D/MS3102A20-

29P Angle CE-20BA-S-D

Plug Cable clamp Cable Plug

Cable clamp Cable

Connector

configuration Feature

Plug (DDK) Cable clamp (DDK) Servo motor

encoder

connector Type Model name Cable OD [mm] Model name

N (Note)

General environment

Straight D/MS3106B20-29S 15.9 or less

(Bushing ID) D/MS3057-12A

D/MS3102A20-

29P Angle D/MS3108B20-29S

Note. Not compliant with the EN.

3 - 14

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.5 Wiring connectors (Connector configurations P Q)

Connector

configuration

Connector (JST) Servo motor

encoder

connector Tab housing Tab contact Applicable wire size Insulator OD [mm] Crimping tool

P J21DPM-10V-KX SJ2M-01GF-M1.0N 0.20mm2 to 0.50mm2

(AWG24 to 20) 1.11 to 1.53 YRS-8861 J21DF-10V-KX-L

Connector

configuration

Connector (JST) Servo motor

encoder

connector Tab housing Tab contact Applicable wire size Insulator OD [mm] Crimping tool

Q J21DPM-06V-KX SJ2M-21GF-M1.0N 0.30mm2 to 0.75mm2 1.30 to 1.90 YRF-1120 J21DF-06V-KX-L

4 - 1

4. CONNECTOR DIMENSIONS

4. CONNECTOR DIMENSIONS

The connector dimensions for wiring the servo motor are shown below.

(1) TE Connectivity

2174053-1 [Unit: mm]

19 .6

13 .5

6. 5

24.6

22

19

31 .1

(Note)

13.6

Note. The recommended screw tightening torque is

0.1N m.

Crimping tool: 1596970-1 (for ground clip)

1596847-1 (for receptacle contact) (2) JAE

JN4FT02SJ1-R [Unit: mm]

26.6 17

12.3

19 14 .3

11 .8

2. 5

(Note)

11 .6

Note. The recommended screw tightening

torque is 0.2N m.

Crimping tool: CT170-14-TMH5B

4 - 2

4. CONNECTOR DIMENSIONS

KN4FT04SJ1-R

[Unit: mm]

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

Note. The recommended screw tightening

torque is 0.2N m.

Crimping tool: CT170-14-TMH5B

(3) DDK

(a) CMV1-SP10S-M /CMV1-SP2S-

Refer to section 3.3 for details of crimping tools. [Unit: mm]

CMV1-SP2S-CMV1-SP10S-M Approx. 50

21 21

4 - 3

4. CONNECTOR DIMENSIONS

(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

A pp

ro x.

3 3

(c) CE05-6A - SD-D-BSS [Unit: mm]

W A

7.85 or more

C 0

.8

B 0 0 .3

8

D or less

Model name 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 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A

CE05-6A22-23SD-D-BSS 1 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A

CE05-6A24-10SD-D-BSS 1 1/2-18UNEF-2B 43.63 42.0 68 1 7/16-18UNEF-2A

CE05-6A32-17SD-D-BSS 2-18UNS-2B 56.33 54.20 79 1 3/4-18UNS-2A

(d) CE05-8A - SD-D-BAS [Unit: mm]

W

AD or less

R 0

.7 U

0 .7

Y o

r m

or e

( S )

1 B 0 0 .

38

Model name A B D W R U (S) Y

CE05-8A18-10SD-D-BAS 1 1/8-18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5

CE05-8A22-22SD-D-BAS 1 3/8-18UNEF-2B 40.48 75.5 1 3/16-18UNEF-2A 16.3 33.3 49.6 7.5

CE05-8A22-23SD-D-BAS 1 3/8-18UNEF-2B 40.48 75.5 1 3/16-18UNEF-2A 16.3 33.3 49.6 7.5

CE05-8A24-10SD-D-BAS 1 1/2-18UNEF-2B 43.63 86.3 1 7/16-18UNEF-2A 18.2 36.5 54.7 7.5

CE05-8A32-17SD-D-BAS 2-18UNS-2B 56.33 93.5 1 3/4-18UNS-2A 24.6 44.5 61.9 8.5

4 - 4

4. CONNECTOR DIMENSIONS

(e) CE3057- A- -D

[Unit: mm]

Effective thread length C A 0.7

1.6V Thread

B 0

.7 G

0 .7

E (Cable clamp ID)

H

(Movable range on one side)

(D)

(Bushing ID) F

Model name

Shell size

A B C D E F G H V Bushing Cable range

CE3057-10A- 1-D

18 23.8 30.1 10.3 41.3 15.9 14.1

31.7 3.2 1-

20UNEF -2B

CE3420- 10-1

10.5 to 14.1

CE3057-10A- 2-D

11.0 CE3420-

10-2 8.5 to 11

CE3057-12A- 1-D

22 23.8 35 10.3 41.3 19 16.0

37.3 4.0 1 3/16-

18UNEF

-2B

CE3420 12-1

12.5 to 16

CE3057-12A- 2-D

13.0 CE3420

12-2 9.5 to 13

CE3057-16A- 1-D

24 26.2 42.1 10.3 41.3 23.8 19.1

42.9 4.8 1 7/16-

18UNEF -2B

CE3420- 16-1

15 to 19.1

CE3057-16A- 2-D

15.5 CE3420-

16-2 13 to 15.5

CE3057-20A- 1-D

32 27.8 51.6 11.9 43 31.7 23.8 51.6 6.3 1 3/4-

18UNS-

2B

CE3420- 20-1

22 to 23.8

(f) D/MS3106B - S [Unit: mm]

W or more L or less

Y o

r le

ss

A

V

Q 0.

38 0

J 0.12

Model name A J L Q V W Y

D/MS3106B18-10S 1 1/8-

18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42

D/MS3106B20-29S 1 1/4-

18UNEF 18.26 55.57 37.28

1 3/16-

18UNEF 9.53 47

D/MS3106B22-22S 1 3/8-

18UNEF 18.26 56.57 40.48

1 3/16-

18UNEF 9.53 50

D/MS3106B22-23S 1 3/8-

18UNEF 18.26 55.57 40.48

1 3/16-

18UNEF 9.53 50

D/MS3106B24-10S 1 1/2-

18UNEF 18.26 58.72 43.63

1 7/16-

18UNEF 9.53 53

D/MS3106B32-17S 2-18UNS 18.26 61.92 56.33 1 3/4-18UNS 11.13 66

4 - 5

4. CONNECTOR DIMENSIONS

(g) D/MS3108B - S

[Unit: mm]

W o

r m

or e

L or less J 0.12

A

V

U 0

.5 R

0 .5

Q 0.

38 0

Model name 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/MS3108B20-29S 1 1/4-18UNEF 18.26 76.98 37.28 22.5 33.3 1 3/16-

18UNEF 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

D/MS3108B22-23S 1 3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1 3/16-

18UNEF 9.53

D/MS3108B24-10S 1 1/2-18UNEF 18.26 86.51 43.63 25.6 36.5 1 7/16-

18UNEF 9.53

D/MS3108B32-17S 2-18UNS 18.26 95.25 56.33 32.8 44.4 1 3/4-18UNS 11.13

(h) D/MS3057- A [Unit: mm]

1.6

V

E (Bushing ID)

D (Cable clamp ID)

F (Movable range)

B 0

.7

A 0.7

G 0

.7

Effective thread length C

Model name Shell

size A B C D E F G V Bushing

D/MS3057-10A 18 23.8 30.1 10.3 15.9 14.3 3.2 31.7 1-20UNEF AN3420-10

D/MS3057-12A 22 23.8 35.0 10.3 19.0 15.9 4.0 37.3 1 3/16-

18UNEF-2A AN3420-12

D/MS3057-16A 24 28 26.2 42.1 10.3 23.8 19.1 4.8 42.9 1 7/16-18UNEF AN3420-16

D/MS3057-20A 32 27.8 51.6 11.9 31.7 23.8 6.3 51.6 1 3/4-18UNS AN3420-20

4 - 6

4. CONNECTOR DIMENSIONS

(i) D/MS3106 - S(D190)

[Unit: mm]

H or less

B 0

.3 8

0

G 0

.2 5

0 .0

5

Gasket J 0.12

E 0.3

C 0.5

A

D

Model name A B C D E G J

D/MS3106A10SL-

4S(D190)

5/8-

24UNEF-2B 22.22 23.3

9/16-

24UNEF-2A 7.5 12.5 13.49

D/MS3106A20-29S

(D190)

1 1/4-

18UNEF-2B 37.28 34.11

1 1/8-

18UNEF-2A 12.16 26.8 18.26

Contact size

#16

H 8 or less

(j) CM10-SP10S-VP-M CM10-SP2S-VP-S/M/L [Unit: mm]

21

19

(52) For CM10-SP10S-VP-M For CM10-SP2S-VP-S/M/L

(k) CM10-AP10S-VP-M CM10-AP2S-VP-S/M/L [Unit: mm]

For CM10-AP10S-VP-M For CM10-AP2S-VP-S/M/L

(50)

(2 8)19

21

4 - 7

4. CONNECTOR DIMENSIONS

(l) CE05-6A32-17SD-D [Unit: mm]

D

B

A (J)

G

H E

C

Model name A B C D E G H J

CE05-6A32-17SD-D 2-18UNS-2B 56.33 37.0 1 7/8-16UN-2A 13.14 45.3 9.2 19.4

YSO10-5 to 8 YLO10-5 to 8 [Unit: mm]

O ring

O ring

43 26

39

42 .5

24 (2

6 )

9/16-24UNEF-2B

9/16-24UNEF-2B

[Unit: mm]

(Note)L(1)

(Note)L1(2)

A 15

Threads C

d E

'

F '

G

'

E G

F

Model Threads

C

Applicable cable

diameter A d

Tightening nut Nipple body

L L1 E

Width across flats

F Width across corners

G Number

of corners

E' Width across

flats

F' Width across corners

G' Number

of corners

ACS- 08RL- MS10F

9/16- 24UNEF

-2B

4.0 to 8.0

6 11.0 20 22.0 6 20 22.0 6 45 40

ACS- 12RL- MS10F

9/16- 24UNEF

-2B

8.0 to 12.0

6 11.0 24 26.4 6 24 26.4 6 46 41

Note. (1) indicates the reference dimension before assembling, and (2) the reference dimension after assembling.

4 - 8

4. CONNECTOR DIMENSIONS

[Unit: mm]

Threads C

d

E F G

L

(N o

te )L

1(1 )

(N o

te ) L

2(2 )

90 A15 E' G'

F '

Model Threads

C

Applicable cable

diameter A d

Tightening nut Nipple body

L L1 L2 E

Width across

flats

F Width across corners

G Number

of corners

E' Width across

flats

F' Width across corners

G' Number

of corners

ACA- 08RL- MS10F

9/16- 24UNE F-2B

4.0 to 8.0

6 10.0 20 22.0 6 20 22.0 6 35 37 32

ACA- 12RL- MS10F

9/16- 24UNE F-2B

8.0 to 12.0

6 10.0 24 26.4 6 20 22.0 6 40 43 38

Note. (1) indicates the reference dimension before assembling, and (2) the reference dimension after assembling.

5 - 1

5. CALCULATION METHODS FOR DESIGNING

5. CALCULATION METHODS FOR DESIGNING

5.1 Specification symbol list

The following symbols are required for selecting the proper servo.

Ta : Acceleration torque [N m]

Td : Deceleration torque [N m]

TMa : Servo motor torque necessary for [N m]

acceleration

TMd : Servo motor torque necessary for [N m]

deceleration

TL : Load torque converted into equivalent [N m]

value on servo motor shaft

TLM : Load torque converted into [N m]

equivalent value on servo

motor shaft during stop

TU : Unbalance torque [N m]

TF : Load friction torque [N m]

TB : Brake static friction torque

TL0 : Load torque on load shaft [N m]

Trms : Continuous effective load torque [N m]

converted into equivalent value

on servo motor shaft

JL : Load inertia moment converted [ 10-4kg m2]

into equivalent value on servo

motor shaft

JL0 : Load inertia moment on load shaft [ 10-4kg m2]

JM : Servo motor's rotor inertia moment

[ 10-4kg m2]

N : Servo motor speed [r/min]

N0 : Servo motor speed during fast feed [r/min]

NL0 : Load shaft speed during fast feed [r/min]

V : Moving part speed [mm/min]

V0 : Moving part speed during fast feed [mm/min]

Pb : Ball screw lead [mm]

Z1 : Number of gear teeth on servo motor shaft

Z2 : Number of gear teeth on load gear

n : Gear ratio n

Z1

Z2

Speed reduced when n 1,

Speed increased when n 1

: Drive system efficiency

g : Gravitational acceleration (9.8[m/s2])

: Friction coefficient

: Circle ratio (3.14)

Pt : Number of feedback pulses in [pulse/rev]

position control mode

f : Input pulse frequency in [pps]

position control mode

f0 : Input pulse frequency during fast [pps]

feed in position control mode

tpsa : Acceleration time constant of [s]

pulse frequency command in

position control mode

tpsd : Deceleration time constant of [s]

pulse frequency command in

position control mode

Kp : Position control gain 1 [rad/s]

Tp : Position control time constant (Tp 1/Kp) [s]

: Feed per feedback pulse

in position control mode [mm/pulse]

0 : Feed per command pulse

in position control mode [mm/pulse]

: Feed [mm]

P : Number of internal command pulses [pulse]

ts : Internal settling time [s]

t0 : Positioning time [s]

tc : Time at constant speed of servo [s]

motor in 1 cycle

t : Stopping time in 1 cycle [s]

: Positioning accuracy [mm]

: Number of droop pulses [pulse]

S : Feed per servo motor revolution [mm/rev]

W : Mass [kg]

Lmax : Maximum coasting distance [mm]

5 - 2

5. CALCULATION METHODS FOR DESIGNING

5.2 Position resolution and electronic gear setting

Position resolution (travel distance per pulse ) is determined by travel distance per servo motor revolution S and the number of encoder feedback pulses Pt, and is represented by Equation 5.1. As the number of feedback pulses depends on the servo motor series, Refer to "Standard specifications list" in the chapter of each servo motor series.

Pt

S ................................................................................................................................................ (5.1)

: Travel distance per pulse [mm/pulse] S : Travel distance per servo motor revolution [mm/rev]

Pt : Number of feedback pulses [pulse/rev]

Since has the relationship represented by Equation 5.1, its value is fixed in the control system after the drive system and encoder have been determined. However, travel distance per command pulse can be set as desired using the parameters.

CMX CDV

M

Pt 262144pulse/rev

Command pulse frequency f0

Electronic gear CMX CDV

Deviation counter

Encoder

Servo motor

As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control pulses. Travel distance per command pulse is expressed by Equation 5.2.

0 Pt

S CMX CDV

CMX CDV .......................................................................................................... (5.2)

CMX : Electronic gear (Command pulse multiplication numerator) CDV : Electronic gear (Command pulse multiplication denominator)

Using the above relationship, travel distance per command pulse can be set to a value without fraction. [Setting example] Find a parameter value for 0 0.01 [mm] in a drive system where ball screw lead PB 10 [mm/pulse] and reduction ratio 1/n 1. The encoder feedback pulses Pt of the HF-KP 262144 [pulses/rev]. Since s 10 [mm/rev], the following is obtained according to Equation 5.2.

CMX CDV 0

Pt

S 0.01 262144

10 32768 125

Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affected by electrical system errors. As a guideline, Equation 5.3 should be satisfied.

1 5

1 10

to D ........................................................................................................................... (5.3)

where, : Travel distance per feedback pulse [mm/pulse]

: Positioning accuracy [mm]

5 - 3

5. CALCULATION METHODS FOR DESIGNING

5.3 Speed and command pulse frequency

The servo motor is run at a speed where the command pulses and feedback pulses are equivalent. Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The relation including the parameter settings (CMX, CDV) is as indicated below (refer to the following diagram).

f0 CMX CDV Pt

N0

60 ....................................................................................................................... (5.4)

CMX CDV

f0

Electronic gear

Feedback pulse frequency Servo motor

f0 : Command pulse frequency (Differential line driver) [pps]

CMX : Electronic gear (Commanded pulse multiplication numerator)

CDV : Electronic gear (Commanded pulse multiplication denominator)

N0 : Servo motor speed [r/min] Pt : Number of feedback pulses [pulses/rev]

(Pt 262144 for HF-KP) According to Equation 5.4, the following equations may be used to obtain the electronic gear and command pulse frequency to rotate the servo motor at N0.

Electronic gear

CMX CDV Pt

N0

60 1 f0 ............................................................................................................................. (5.5)

Command pulse frequency

f0 Pt N0

60 CDV CMX ............................................................................................................................. (5.6)

[Setting example] Obtain the command pulse frequency required to run the HF-KP at 3000r/min. When the electronic gear ratio 1 (initial parameter value) is used, the following result is found according to Equation 5.6.

f0 262144 N0 60

CDV CMX

(Command pulse frequency)

262144 3000 60 1

13107200[pps] However, as the maximum input command pulse frequency in the differential line driver type is 1Mpps, for general-purpose servo 13107200pps cannot be entered. To run the servo motor at the speed of 3000r/min at not more than 1Mpps, the electronic gear setting must be changed. This electronic gear is found by Equation 5.5.

CMX CDV

262144 3000 60

1

1 106

(Electronic gear)

8192 625

Therefore, the parameters are set to CMX 8192 and CDV 625.

5 - 4

5. CALCULATION METHODS FOR DESIGNING

5.4 Stopping characteristics

(1) Droop pulses ( )

When a pulse train command is used to run the servo motor, there is a relationship between the command

pulse frequency and servo motor speed as shown in the figure. The difference between the command

pulses and feedback pulses during acceleration are called droop pulses, which are accumulated in the

servo amplifier (drive unit) deviation counter. Equation 5.7 defines a relationship between the command

pulse frequency (f) and position control gain 1(Kp).

f0

Kp[pulse] ......................................................................................................................................... (5.7)

Supposing that the value of position control gain 1 is 70 [rad/s], the droop pulses during operation will be as

follows at the command pulse frequency of 200 [kpps] according to Equation 5.7.

1 200 103

2858[pulse]

C om

m an

d pu

ls e

fr eq

ue n

cy f

S e

rv o

m ot

or s

pe ed

[pps][r/min] 0 Time

Command Droop pulses

Servo motor speed

tpsa ts

ts 3 1 70

0.04

Tp

tpsd

(2) Settling time (ts) during linear acceleration/deceleration Since droop pulses still exist when there are no command pulses, settling time (ts) is required until the

servo motor stops. Set the operation pattern in consideration for the settling time.

The settling time (ts) value is obtained according to Equation 5.8.

ts 3 Tp

3 1

Kp[s] ............................................................................................................................................. (5.8)

*When Kp 70 [rad/s], ts 0.04 [s]. (Refer to the above diagram.)

The settling time (ts) indicates the time required for the servo motor to stop in the necessary positioning

accuracy range. This does not always mean that the servo motor has stopped completely. Thus, especially

when the servo motor is used in high-duty operation and positioning accuracy has no margin for travel distance per pulse ( ), the value obtained by Equation 5.8 must be increased.

The settling time (ts) will vary with the moving part conditions. Especially when the load friction torque is

large, movement may be unstable near the stopping position.

5 - 5

5. CALCULATION METHODS FOR DESIGNING

5.5 Capacity selection

As a first step, confirm the load conditions and temporarily select the servo motor capacity. Then, determine

the operation pattern, calculate required torques according to the following equations, and check that the servo

motor of the initially selected capacity may be used for operation . (1) Initial selection of servo motor capacity

After calculating the load torque (TL) and load inertia moment (JL), select a servo motor which will satisfy

the following two relationships.

Servo motor's rated torque TL

Servo motor JM JL/m

m 3 : High duty (more than 100 times/min.)

Settling time 40ms or less

m 5 : Middle duty (60 to 100 times/min.)

Settling time 100ms or less

m permissible load inertia moment : Low duty (less than 60 times/min.)

Settling time more than 100ms

Find the acceleration and deceleration torques and continuous effective load torque as described in (2) to

make a final selection. For high-duty positioning, the load inertia moment (JL) value should be as small as

possible. If positioning is infrequent as in line control, the load inertia moment (JL) value may be slightly

larger than in the above conditions. (2) Acceleration and deceleration torques

The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern.

C om

m an

d pu

ls e

S e

rv o

m ot

or s

pe ed

[r /m

in ]

0

0

N0f0

Time

Time

Command

Servo motor speed

tpsa

Ta

Td Deceleration torque

Acceleration torque

fr eq

ue n c

y f [

pp s]

tpsd

Acceleration torque Ta (JL JM) N0

tpsa

1 9.55 104 ........................................................................................ (5.9)

Deceleration torque Tb (JL JM) N0

tpsd

1 9.55 104 ...................................................................................... (5.10)

5 - 6

5. CALCULATION METHODS FOR DESIGNING

(3) Torques required for operation

POINT

Consider individual machine differences, and do not adjust gain too strictly. It is

recommended to keep the servo motor torque to 90 or less of the maximum

torque of the servo motor during the operation.

Torques required for the servo motor are the highest during acceleration. If the servo motor torque found

with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set

the calculated value within the servo motor's maximum torque. Since a friction load is normally applied

during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the

value found by equation 5.13 is negative.

tpsdtpsa

0

Servo motor speed

Command

Time

C om

m an

d pu

ls e

fr eq

ue nc

y f

[p ps

]

S er

vo m

ot or

s pe

ed [

r/ m

in ]

N0f0

0 TL

TMd

TMa

Time

S er

vo m

ot or

t or

qu e

Ta

Td

T1

T2

T1 TMa Ta TL ................................................................................................................................ (5.11)

T2 TL ................................................................................................................................................... (5.12)

T3 TMd Td TL ............................................................................................................................. (5.13)

5 - 7

5. CALCULATION METHODS FOR DESIGNING

(4) Continuous effective load torque

If the torque required for the servo motor changes with time, the continuous effective load torque should be

lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start of

acceleration or deceleration due to a delay in the control system. To simplify the calculation, however, it is

assumed that constant acceleration and deceleration torques are applied during tpsa and tpsd. The following

equation is used to calculate the continuous effective load torque in the following operation pattern. TLH

indicates the torque applied during a servo motor stop. A large torque may be applied especially during a

stop in vertical motion applications, and this must be fully taken into consideration. During vertical drive, the

unbalanced torque TU will become TLH.

S e

rv o

m ot

or

sp ee

d S

er vo

m ot

or t

or qu

e

N [r/min]

0 Time

0 Time

tpsa tc

tf (1 cycle)

TMa

TMdTd

Ta

TL

TLH

ttpsd

Trms tf

TMa tpsa TL tc TMd TLH t2 2 2 2tpsd .......................................................................... (5.14)

5 - 8

5. CALCULATION METHODS FOR DESIGNING

5.6 Load torque equations

Typical load torque equations are indicated below.

Type Mechanism Equation

Linear

movement

Servo motor

W

Z1

FC FG

Z2

TL F

N

V F S 2 10 3 10 32 .................................... (5.15)

F : Force in the axial direction of the machine in linear motion [N]

F in Equation 5.15 is obtained with Equation 5.16 when the table is

moved, for example, as shown in the left diagram.

F Fc (W g FG) ....................................................... (5.16)

Fc : Force applied in the axial direction of the moving part [N]

FG : Tightening force of the table guide surface [N]

W : Full mass of the moving part [kg]

Rotary

movement

Servo motor

Z1 Z2

TL0

TL n 1 1

TL0 TF ........................................................... (5.17)

TF : Load friction torque converted into equivalent value on servo

motor shaft [N m]

Vertical

movement

Counter weight

Servo motor

W2

W1

1/n

Load Guide

During rise

TL TU TF ......................................................................... (5.18)

During fall

TL TU 2

TF ................................................................ (5.19)

TF: Friction torque of the moving part [N m]

TU = 2 10 3

(W1 W2 ) N V

2 103

g S(W1 W2 ) g .......................... (5.20)

TF = 1032 g(W1 W2 ) S

........................................................ (5.21)

W1: Mass of load [kg]

W2: Mass of counterweight [kg]

5 - 9

5. CALCULATION METHODS FOR DESIGNING

5.7 Load inertia moment equations

Typical load inertia moment equations are indicated below.

Type Mechanism Equation

Cylinder

Axis of rotation is on the cylinder center

Axis of rotation

L

D1

D2

JL0 = 32 L (D D )

4

1

4

2 8 W (D D )

2

1

2

2 .......................... (5.22)

: Cylinder material density [kg/cm3]

L : Cylinder length [cm]

D1 : Cylinder outside diameter [cm]

D2 : Cylinder inside diameter [cm]

W : Cylinder mass [kg]

Reference data: material density

Iron : 7.8 10-3 [kg/cm3]

Aluminum : 2.7 10-3 [kg/cm3]

Copper : 8.96 10-3 [kg/cm3]

Axis of rotation is off the cylinder

Axis of rotation D

Rcenter

JL0 8 W

(D 8R )2 2 .............................................................. (5.23)

Square block

Axis of rotation

R

a a b

b

JL0 W 3 a2 b2

R2 ......................................................... (5.24)

W : Square block mass [kg]

a, b, R : Left diagram [cm]

Object which

moves linearly

Servo motor V

W N

JL W 600 V

2 1W

N 10 V

2

W 20

2 S

............. (5.25)

V : Speed of object moving linearly [mm/min]

S : Moving distance of object moving linearly per servo

motor revolution [mm/rev]

W : Object mass [kg]

Object that is

hung with pulley Servo motor

W

D

JL W 2 D

2

Jp .................................................................. (5.26)

JP : Pulley inertia moment [ 10-4kg m2]

D : Pulley diameter [cm]

W : Object mass [kg]

Converted load

Load A JA

J31N3

J21

J11

J22 N2

N1

Load B JB

JL J11 (J21 J22 JA) N1

N2 2

(J31 JB) N1

N3 2

.................. (5.27)

JA, JB : Inertia moments of loads A, B [ 10-4kg m2]

J11 to J31 : Inertia moments [ 10-4kg m2]

N1 to N3 : Speed of each shaft [r/min]

5 - 10

5. CALCULATION METHODS FOR DESIGNING

5.8 Precautions for home position return

When a general positioning unit is used, the sequence of events is as shown in the following figure.

Proximity dog on starts deceleration

Creep speed V2

Home position return speed V1

Proximity dog

On OffZero pulse signal

When determining the on duration of the proximity dog, consider the deceleration time so that the speed reaches the creep speed.

Considering the variations of the proximity dog operation, adjust the proximity dog so that it switches off at the middle during the zero pulse signal on.

(1) When determining the on duration of the proximity dog, consider the delay time of the control section and

the deceleration time so that the creep speed is attained. If the proximity dog signal switches off during

deceleration, precise home position return cannot be performed.

Home position return speed V1

Control delay time t1

Deceleration time td

On duration of the proximity dog LD

Creep speed V2

Travel distance until reaching the creep speed after proximity dog is detected L1

Travel distance L1 in the chart can be obtained by equation 5.28.

L1 1 60 V1 t1

1 120 V1 td 1

V1

V2 2

1 60 V1 Tp .............................................................. (5.28)

ON duration of the actuator LD [mm] must be longer than L1 obtained by Equation 5.28, as indicated in

Equation 5.29. LD L1 ................................................................................................................................................ (5.29)

where,

V1, V2 : As shown in the chart [mm/min] t1, td : As shown in the chart [s]

L1 : As shown in the chart [mm]

LD : As shown in the chart [mm]

5 - 11

5. CALCULATION METHODS FOR DESIGNING

(2) Set the end (OFF position) of the actuator signal at the middle of two ON positions (Lows) of the zero pulse

signal. If it is set near either ON position of the zero pulse signal, the positioning unit is liable to misdetect

the zero pulse signal. In this case, a fault will occur, e.g. the home position will shift by one revolution of the

servo motor.

The zero pulse output position can be confirmed by OP (encoder Z-phase pulse) on the external I/O signal

display. 5.9 Selection example

Machine specifications

Servo motor

Gear ratio 5:8

Servo amplifier

(drive unit)

Speed of moving part during fast feed V0 30000[mm/min]

Feed per command pulse 10[ m]

Travel 400[mm]

Positioning time t0 within 1[s]

Number of feeds 40[times/min]

Operation cycle tf 1.5[s]

Gear ratio n 8/5

Moving part mass W 60[kg]

Drive system efficiency 0.8

Friction coefficient 0.2

Ball screw lead Pb 16[mm]

Ball screw diameter 20[mm]

Ball screw length 500[mm]

Gear diameter (servo motor) 25[mm]

Gear diameter (load shaft) 40[mm]

Gear face width 10[mm]

(1) Selection of control parameters

Setting of electronic gear (command pulse multiplication numerator, denominator)

There is the following relationship between the multiplication setting and travel per pulse .

(ball screw lead)

262144 (gear ration) CDV CMX

When the above machining specifications are substituted in the above equation.

16 10-310

262144 8/5 CMX CDV

16 262144 8/5CMX

CDV 10

1000 262144 1000

32768 125

Acceptable as CMX/CDV is within 1/10 to 2000.

(2) Servo motor speed

N0 Pb

V0 n 16

30000 5 8

3000[r/min]

5 - 12

5. CALCULATION METHODS FOR DESIGNING

(3) Acceleration/deceleration time constant

tpsa tpsd t0 V0/60 ts 0.05[s]

ts: settling time.(Here, this is assumed to be 0.15s.) (4) Operation pattern

S e

rv o

m ot

or s

pe ed

[r/min]

3000

Time 0.05

to 1.0

tf 1.5

0.05 ts tpsa

0.15

[s]

tpsd

(5) Load torque (converted into equivalent value on servo motor shaft)

Travel distance per servo motor revolution

S Pb 1 n 16

5 8 10[mm]

TL 2 10 3

W g S 10 3 3.14

0.2 60 9.8 10 0.82 0.23[N m]

5 - 13

5. CALCULATION METHODS FOR DESIGNING

(6) Load inertia moment (converted into equivalent value on servo motor shaft)

Moving part

JL1 W 20

2S 1.52[ 10-4kg m2]

Ball screw

JL2 32 L

D4 n

21 0.24[ 10-4kg m2]

* 7.8 10-3 [kg cm3]

Gear (servo motor shaft)

JL3 32 L

D4 0.03[ 10-4kg m2]

Gear (load shaft)

JL4 32 L

D4 n

21 0.08[ 10-4kg m2]

Full load inertia moment (converted into equivalent value on servo motor shaft)

JL JL1 JL2 JL3 JL4 1.87[ 10-4kg m2] (7) Temporary selection of servo motor

Selection conditions

(a) Load torque servo motor's rated torque

(b) Full load inertia moment 24 servo motor inertia moment

From the above, the HF-KP23 (200W) is temporarily selected. (8) Acceleration and deceleration torques

Torque required for servo motor during acceleration

TMa (JL/ JM) N0

9.55 104 Tpsa TL 1.85[N m]

Torque required for servo motor during deceleration

TMd (JL JM) N0

9.55 104 Tpsd TL 0.86[N m]

The torque required for the servo motor during deceleration must be lower than the servo motor's maximum

torque.

5 - 14

5. CALCULATION METHODS FOR DESIGNING

(9) Continuous effective load torque

Trms tf

T tpsa T tc T2 2 2 Ma L Md tpsd

0.41[N m]

The continuous effective load torque must be lower than the servo motor's rated torque.

(10) Torque pattern

T or

qu e

[N m]

0.23

Time [s] 0.05 0.75 0.05

1.5

0.15

1.85

0.86

(11) Selection results

The HF-KP23 servo motor and MR-J3-20A servo amplifier are selected.

(a) Electronic gear setting

CMX 32768 CDV 125

(b) During rapid feed

Servo motor speed N0 3000 [r/min]

(c) Acceleration/deceleration time constant

tpsa tpsd 0.05[s]

5 - 15

5. CALCULATION METHODS FOR DESIGNING

5.10 Coasting distance of electromagnetic brake

At an emergency stop, the servo motor with an electromagnetic brake stops 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 5.30. 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

Machine speed

V0

t1 t2 t3

Lmax 60 V0

t1 t2 2 t3

...................................................................................................... (5.30)

Where,

Lmax : Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min]

t1: Delay time of control section [s]

t2: Braking delay time of brake (Note) [s] t3: Braking time [s]

9.55 104 (TL 0.8TB) (JL JL) N0

t 3

JL : Load inertia moment converted into equivalent [ 10-4kg m2] value on servo motor shaft

JM : Servo motor's rotor inertia moment [ 10-4kg m2]

N0 : Servo motor 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. t2 and TB are Refer to the chapter of Servo Motor Series. JL is the machine's inertia moment at the servo motor shaft.

5.11 Expression for calculating the electromagnetic brake workload

Calculate the brake workload Eb [J] at an emergency stop with the following expression.

182

(JM JL) N2

Eb 10 4

N: Servo motor speed [r/min] JM: Servo motor's rotor inertia moment [ 10-4kg m2] JL: Load inertia moment converted into equivalent value on servo motor shaft [ 10-4kg m2]

5 - 16

5. CALCULATION METHODS FOR DESIGNING

MEMO

6 - 1

6. HF-MP SERIES HF-KP SERIES

6. HF-MP SERIES HF-KP SERIES

This chapter provides information on the servo motor specifications and characteristics. When using the HF-

MP series HF-KP series servo motor, always read the Safety Instructions in the beginning of this manual and

chapters 1 to 4, in addition to this chapter.

6.1 Model name make up

The following describes what each block of a model name indicates. Note that not all the combinations of the

symbols exist.

3000[r/min]

B

05 0.05

1 0.1

2 0.2

4 0.4

7 0.75

K

D

053 to 73

23 to 73

053 13

HF-MP HF-KP

HF-KP 3

Shaft type (Special shaft)

Symbol (Note) Shaft shape

Standard (Straight shaft)

With keyway (With key)

D-cut shaft

None

Symbol Electromagnetic brake

None Without

With

Rated output

Rated output [kW]Symbol

Rated speed

Appearance

Symbol

Reduction gear

G1 For general industrial machine

Flange-mounting flange output type for precision application

Flange-mounting shaft output type for precision application

Reduction gear

None

G5

G7

None

Feature

Ultra low inertia, small capacity

Low inertia, small capacityHF-MP

HF-KP

Series name

Note. The special shaft applies to the standard servo motor and servo motor with an electromagnetic brake. However, the keyway shaft (with key) also applies to the servo motor with flange-mounting shaft output type reduction gear for precision application.

Electromagnetic brake

6 - 2

6. HF-MP SERIES HF-KP SERIES

6.2 Standard specifications

6.2.1 Standard specifications list

Servo motor Item

HF-MP series (Ultra-low inertia small capacity)

HF-KP series (Low inertia small capacity)

053 13 23 43 73 053 13 23 43 73

Applicable servo amplifier/drive unit

MR-J3- A/B/B-RJ006/T 10 20 40 70 10 20 40 70

MR-J3- A1/B1/B1-RJ006/T1 10 20 40 10 20 40

Continuous running duty (Note 1)

Rated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75

Rated torque [N m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4

[oz in] 22.7 45.3 90.6 184 340 22.7 45.3 90.6 184 340

Rated speed (Note 1) [r/min] 3000 3000

Maximum speed (Note 10) [r/min] 6000 6000

Instantaneous permissible speed [r/min] 6900 6900

Maximum torque Values in parentheses are at the maximum torque of 350 (note 11)

[N m] 0.48 0.95 1.9 3.8 7.2 0.48

(0.56) 0.95

(1.11) 1.9

(2.23) 3.8

(4.46) 7.2

(8.36)

[oz in] 68.0 135 269 538 1020 68.0

(79.3) 135

(157) 269

(316) 538

(632) 1020

(1180)

Power rate at continuous rated torque [kW/s] 13.3 31.7 46.1 111.6 95.5 4.87 11.5 16.9 38.6 39.9

Inertia moment (Note 3) J [ 10-4kg m2] 0.019 0.032 0.088 0.15 0.60 0.052 0.088 0.24 0.42 1.43

WK2 [oz in2] 0.104 0.175 0.481 0.82 3.28 0.284 0.481 1.31 2.30 7.82

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2, 10)

30 times or less 15 times or

less

24 times

or less

22 times

or less

15 times

or less

Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo

amplifiers" in Servo Amplifier Instruction Manual.

Rated current [A] 1.1 0.9 1.6 2.7 5.6 0.9 0.8 1.4 2.7 5.2

Maximum current Values in parentheses are at the maximum torque of 350 (note 11)

[A] 3.2 2.8 5.0 8.6 16.7 2.7

(3.1) 2.4

(2.8) 4.2

(4.9) 8.1

(9.5) 15.6

(18.2)

Speed/position detector Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 262144pulse/rev)

Accessory

Insulation class 130(B)

Structure Totally - enclosed, natural-cooling (IP rating: IP65 (Note 4, 9))

Environmental conditions (Note 5)

Ambient temperature

Operation [ ] 0 to 40 (non-freezing)

[ ] 32 to 104 (non-freezing)

Storage [ ] 15 to 70 (non-freezing)

[ ] 5 to 158 (non-freezing)

Ambient humidity

Operation 10 to 80%RH (non-condensing)

Storage 10 to 90%RH (non-condensing)

Ambience Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt.

Altitude Max.1000m above sea level

Vibration resistance (Note 6)

[m/s2] X, Y: 49

Vibration rank (Note 7) V10

Permissible load for the shaft (Note 8, 10)

L [mm] 25 30 40 25 30 40

Radial [N] 88 245 392 88 245 392

[lb] 19.8 55.1 88.1 19.8 55.1 88.1

Thrust [N] 59 98 147 59 98 147

[lb] 13.3 22.0 33.0 13.3 22.0 33.0

Mass (Note 3) [kg] 0.35 0.56 0.94 1.5 2.9 0.35 0.56 0.94 1.5 2.9

[lb] 0.77 1.24 2.07 3.31 6.39 0.77 1.24 2.07 3.31 6.39

Note 1. When the power supply voltage drops, the out.

2. If the load inertia moment ratio exceeds the indicated value, please consult us.

6 - 3

6. HF-MP SERIES HF-KP SERIES

3. Refer to the outline dimension drawing for the servo motors with an electromagnetic brake and with a reduction gear.

4. Except for the shaft-through portion.

5. 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 your local sales office.

6. The vibration direction is as shown in the figure. The value is the one at the part that indicates the maximum value (normally the

opposite-to-load side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the

vibration to about half of the permissible value. Note that this does not apply to the servo motor with a reduction gear.

YX

Servo motor

Vibration Speed [r/min]

0 1000 2000 3000 4000 5000 6000 7000 10

100

1000

V ib

ra tio

n am

pl itu

de

(b ot

h am

pl itu

de s)

[ m

]

7. V10 indicates that the amplitude of a single servo motor is 10 m or less. The following figure shows the servo motor installation

position for measurement and the measuring position.

Servo motor

Top

Bottom

Measuring position

8. For the symbols in the table, refer to the following diagram: Do not subject the shaft to load greater than this value.

The values in the table assume that the loads work singly.

L Radial load

Thrust load

L: Distance from flange mounting surface to load center

9. For the servo motor with a reduction gear, the reduction gear area is IP44-equivalent.

10. Refer to section 6.5 for the servo motor with a reduction gear.

11. The maximum torque of 350 is enabled when HF-KP servo motor (excluding the motors with a reduction gear) is used with

following combinations The maximum torque of the HF-KP servo motor (excluding motors with a reduction gear) can be

increased from 300 to 350 of the rated torque by setting servo amplifier's parameter.

Series or type Date of

manufacture Servo amplifier software version

Servo motor HF-KP (except reducer-

mounted motors)

June 2009 or

later

Servo amplifier

MR-J3-A(1) January 2010

or later C6 or later

MR-J3-B(1)/B(1)-RJ006/BS(1) August 2009 or

later C4 or later

MR-J3-T(1) April 2010 or

later A8 or later

6 - 4

6. HF-MP SERIES HF-KP SERIES

6.2.2 Torque characteristics

POINT

For the system where the unbalanced torque occurs, such as a vertical axis

system, the unbalanced torque of the machine should be kept at 70% or less of

the rated torque.

When the power input of the servo amplifier are 3-phase 200VAC or 1-phase 230VAC, the torque

characteristic is indicated by the heavy line.

For the 1-phase 200VAC power supply, part of the torque characteristic is indicated by the thin line. For the 1-

phase 100VAC power supply, part of the torque characteristic is indicated by the broken line.

1000 2000

3000 4000

5000 6000

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0.3

0.4

0.5

0.6

0.1

0.2

[HF-MP053]

0 0

[HF-MP13]

1000 2000

3000 4000

5000 6000

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0.2

0.4

0.6

0.8

1

1.2

0 0

[HF-MP23]

1000 2000

3000 4000

5000 6000

0

Speed [r/min]

Continuous running range

Short-duration running rangeT

or qu

e [N

m ]

0.5

1

1.5

2

0

2.5

[HF-MP43]

1000 2000

3000 4000

5000 6000

Speed [r/min]

Continuous running range

Short-duration running rangeT

or qu

e [N

m ]

0 0

1

2

3

4

0.5

1.5

2.5

3.5

4.5

[HF-MP73]

1000 2000

3000 4000

5000 6000

0 0

1

2

3

4

5

6

7

8

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

[HF-KP053]

1000 2000

3000 4000

5000 6000

0

(Note)

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0

0.1

0.2

0.3

0.4

0.5

0.7

0.6

[HF-KP13]

1000 2000

3000 4000

5000 6000

0

(Note)

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0

0.2

0.4

0.6

0.8

1.2

1.4

1

[HF-KP23]

1000 2000

3000 4000

5000 6000

0

(Note)

0.5

1

1.5

2

2.5

0

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

[HF-KP43]

1000 2000

3000 4000

5000 6000

0

(Note)

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

0

[HF-KP73]

1000 2000

3000 4000

5000 6000

0

(Note)

Speed [r/min]

Continuous running range

Short-duration running range

T or

qu e

[N m

]

0

1

2

3

4

5

6

7

8

9

Note. Value at the maximum torque 350 .

6 - 5

6. HF-MP SERIES HF-KP SERIES

6.3 Electromagnetic brake

CAUTION

The electromagnetic brake is provided to prevent a drop at a power failure or 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 performing the operation, 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. Be sure to check the operation delay time with a real

machine.

The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake

are indicated below.

Servo motor

Item

HF-MP series HF-KP series

053B 13B 23B 43B 73B

Type (Note 1) Spring-loaded safety brake

Rated voltage (Note 4) 24V 0 10% DC

Capacity [W] at20 (68 ) 6.3 7.9 10

Coil resistance (Note 6) [ ] 91.0 73.0 57.0

Inductance (Note 6) [H] 0.15 0.18 0.13

Brake static friction torque [N m] 0.32 1.3 2.4

[oz in] 45.3 184 340

Release delay time (Note 2) [s] 0.03 0.03 0.04

Braking delay

time (Note 2) [s] DC off 0.01 0.02 0.02

Permissible braking

work

Per braking [J] 5.6 22 64

Per hour [J] 56 220 640

Brake looseness at servo motor shaft (Note 5) [degrees] 2.5 1.2 0.9

Brake life (Note 3) Number of braking cycles [times] 20000 20000 20000

Work per braking [J] 5.6 22 64

Selection example of

surge absorbers to be

used (Note 7, 8)

For the suppressed voltage 125V TND20V-680KB

For the suppressed voltage 350V TND10V-221KB

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 (68 ).

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. Always prepare a power supply exclusively used for the electromagnetic brake.

5. The above values are typical initial values and not guaranteed values.

6. These values are measured values and not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge

absorber. When a diode is used as a surge absorber, it will take longer to activate the electromagnetic brake.

8. Manufactured by Nippon Chemi-Con Corporation.

6 - 6

6. HF-MP SERIES HF-KP SERIES

6.4 Servo motors with special shafts

The servo motors with special shafts indicated by the symbols (K D) in the table are available. K and D are

the symbols attached to the servo motor model names.

Refer to section 6.5.2 (4) for geared servo motors with special shaft.

Servo motor Shaft shape

Keyway shaft (with key) D cut shaft

HF-MP053(B) 13(B)

HF-KP053(B) 13(B) D

HF-MP23(B) to 73(B)

HF-KP23(B) to 73(B) K

6.4.1 Keyway shaft (with key)

Q

A

A

QK

R

T

W

U

S

QL

Y

Section A-A

[Unit: mm]

Servo motor

Variable dimensions

S R Q W QK QL U T Y

HF-

MP23(B)K

43(B)K

HF-

KP23(B)K

43(B)K

14h6 30 27 5 20 3 3 5 M4

Depth 15

HF-

MP73(B)K

HF-

KP73(B)K

19h6 40 37 6 25 5 3.5 6 M5

Depth 20

6.4.2 D cut shaft

[Unit: mm]

8h6

25

21.5 20.5 1

6 - 7

6. HF-MP SERIES HF-KP SERIES

6.5 Servo motors with a reduction gear

CAUTION

The servo motor with a reduction gear must be installed in the specified direction.

Otherwise, it can leak oil, leading to a fire or fault.

For the servo motor with a reduction gear, transport it in the same status as in the

installation method. Tipping it over can cause oil leakage.

Do not disassemble, repair, or modify the geared servo motor.

Do not remove the reducer from the geared servo motor to install it to a non-geared

servo motor. To repair the geared servo motor, contact your local sales office.

Servo motors are available with a reduction gear designed for general industrial machines compliant and

precision applications compliant.

Servo motors with an electromagnetic brake are also available.

6.5.1 For general industrial machines compliant (G1)

(1) Manufacturing range

The following table indicates the reduction ratios and actual reduction ratios of the servo motors with a

reduction gear for general industrial machines compliant. The servo motors with a reduction gear of the

following reduction ratios are available.

Servo motor Nominal reduction ratio Actual reduction ratio

HF-MP053(B)G1 HF-KP053(B)G1

1/5 9/44

1/12 49/576

1/20 25/484

HF-MP13(B)G1 HF-KP13(B)G1

1/5 9/44

1/12 49/576

1/20 25/484

HF-MP23(B)G1 HF-KP23(B)G1

1/5 19/96

1/12 25/288

1/20 253/5000

HF-MP43(B)G1 HF-KP43(B)G1

1/5 19/96

1/12 25/288

1/20 253/5000

HF-MP73(B)G1 HF-KP73(B)G1

1/5 1/5

1/12 525/6048

1/20 625/12544

6 - 8

6. HF-MP SERIES HF-KP SERIES

(2) Specifications

Item Description

Servo motor HF-KP (B)G1/HF-MP (B)G1 Mounting method Flange mounting Mounting direction In any directions Lubrication method Grease lubrication (Already packed) (Note 1) Output shaft rotating direction Same as the servo motor output shaft direction. With an electromagnetic brake Available Backlash (Note 4) 60 minutes or less at reduction gear output shaft

Permissible load inertia moment ratio (when converting into the servo motor shaft) (Note 2)

HF-KP When 50W 100W 750W used: 5 times or less When 200W 400W used: 7 times or less

HF-MP: 25 times or less Maximum torque Three times of the servo motor rated torque Maximum speed (servo motor shaft) 4500 r/min (instantaneous permissible speed: 5175 r/min) IP rating (reduction gear area) IP44 equivalent Reduction gear efficiency (Note 3) 40 to 75

Note 1. Already packed with grease. 2. If the above indicated value is exceeded, please contact your local sales office. 3. The reduction gear efficiency differs depending on the reduction ratio.

Also, it changes depending on the use conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value.

4. The backlash can be converted: 1 min = 0.0167 (3) Permissible loads of servo motor shaft

The permissible radial load in the table is the value measured at the center of the reduction gear output

shaft. Q/2

Q

Q: Length of axis (Refer to section 6.8.3, 6.8.4)

Servo motor Reduction ratio

Permissible load (Note)

Permissible radial load

Permissible thrust load

[N] [lb] [N] [lb]

HF-MP053(B)G1 HF-KP053(B)G1

1/5 150 33.7 200 45.0

1/12 240 54.0 320 71.9

1/20 370 83.2 450 101

HF-MP13(B)G1 HF-KP13(B)G1

1/5 150 33.7 200 45.0

1/12 240 54.0 320 71.9

1/20 370 83.2 450 101

HF-MP23(B)G1 HF-KP23(B)G1

1/5 330 74.2 350 78.7

1/12 710 160 720 162

1/20 780 175 780 175

HF-MP43(B)G1 HF-KP43(B)G1

1/5 330 74.2 350 78.7

1/12 710 160 720 162

1/20 760 171 760 171

HF-MP73(B)G1 HF-KP73(B)G1

1/5 430 96.7 430 96.7

1/12 620 139 620 139

1/20 970 218 960 216

Note. The load above this value should not be applied to the shaft. The value in the table assumes that the load is applied independently.

6 - 9

6. HF-MP SERIES HF-KP SERIES

6.5.2 For precision applications compliant (G5/G7)

(1) Manufacturing range

The symbols (14A, 20A, 32A) in the following table indicate the model numbers of the reduction gears

assembled to the servo motors.

Servo motors with a reduction gear having the indicated reduction gear model numbers are available.

The reduction gear model number indicates of the reduction number model name HPG- -05...

Servo motor Reduction ratio

1/5 1/11 1/21 1/33 1/45

HF-MP053(B)G5 HF-KP053(B)G5

HF-MP053(B)G7 HF-KP053(B)G7

HF-MP13(B)G5 HF-KP13(B)G5

HF-MP13(B)G7 HF-KP13(B)G7

14A

HF-MP23(B)G5 HF-KP23(B)G5

HF-MP23(B)G7 HF-KP23(B)G7

20A

HF-MP43(B)G5 HF-KP43(B)G5

HF-MP43(B)G7 HF-KP43(B)G7

HF-MP73(B)G5 HF-KP73(B)G5

HF-MP73(B)G7 HF-KP73(B)G7

32A

(2) Specifications Item Description

Servo motor HF-MP (B)G5

HF-MP (B)G7

HF-KP (B)G5

HF-KP (B)G7

Mounting method Flange mounting

Mounting direction In any directions

Lubrication method Grease lubrication (Already packed) (Note 1)

Output shaft rotating direction Same as the servo motor output shaft direction.

With an electromagnetic brake Available

Backlash (Note 5) 3 minutes or less at reduction gear output shaft

Permissible load inertia moment ratio

(when converting into the servo motor

shaft) (Note 2)

25 times or less

50, 100 or 750W:

10 times or less

200 or 400W:

14 times or less

Maximum torque Three times of the servo motor rated torque

Maximum speed (servo motor shaft) 6000r/min (instantaneous permissible speed: 6900 r/min)

IP rating (reduction gear area) IP44 equivalent

Reduction gear efficiency (Note 3) 48 to 85% (Note 4)

Note 1. Already packed with grease.

2. If the above indicated value is exceeded, please contact your local sales office.

3. The reduction gear efficiency differs depending on the reduction ratio.

Also, it changes depending on the use conditions such as the output torque, speed and

rotation, temperature, etc. The numerical value in the table is a typical value in the rated

torque, rated speed and rotation and typical temperature, and not a guaranteed value.

4. The reduction gear efficiency of the HF-MP053 HF-KP053 is 12 to 34%.

5. The backlash can be converted: 1 min = 0.0167

6 - 10

6. HF-MP SERIES HF-KP SERIES

(3) Permissible loads of servo motor shaft

The radial load point of a precision reduction gear is as shown below.

L

L: Distance between reduction gear end face and load center

Q/2

Q

Q: Length of axis (Refer to section 6.8.7 and 6.8.8)

Flange-mounting flange output type for

precision application compliant (G5)

Flange-mounting shaft output type for precision

application compliant (G7)

Servo motor Reduction ratio Radio load point

L [mm]

Permissible load (Note)

Permissible radial

load

Permissible thrust

load

[N] [lb] [N] [lb]

HF-MP053(B)G5

HF-KP053(B)G5

HF-MP053(B)G7

HF-KP053(B)G7

1/5 23 177 39.8 706 159

1/11 23 224 50.4 895 201

1/21 23 272 61.1 1087 224

1/33 23 311 69.9 1244 280

1/45 23 342 76.9 1366 307

HF-MP13(B)G5

HF-KP13(B)G5

HF-MP13(B)G7

HF-KP13(B)G7

1/5 23 177 39.8 706 159

1/11 23 224 50.4 895 201

1/21 23 272 61.1 1087 224

1/33 32 733 165 2581 570

1/45 32 804 181 2833 637

HF-MP23(B)G5

HF-KP23(B)G5

HF-MP23(B)G7

HF-KP23(B)G7

1/5 23 177 39.8 706 159

1/11 23 224 50.4 895 201

1/21 32 640 144 2254 507

1/33 32 733 165 2581 570

1/45 32 804 181 2833 637

HF-MP43(B)G5

HF-KP43(B)G5

HF-MP43(B)G7

HF-KP43(B)G7

1/5 23 177 39.8 706 159

1/11 32 527 118 1856 4170

1/21 32 640 309 2254 1230

1/33 57 1252 281 4992 1120

1/45 57 1374 309 5478 1230

HF-MP73(B)G5

HF-KP73(B)G5

HF-MP73(B)G7

HF-KP73(B)G7

1/5 32 416 93.5 1465 3290

1/11 32 527 118 1856 4170

1/21 57 1094 246 4359 9800

1/33 57 1252 281 4992 1120

1/45 57 1374 309 5478 1230

Note. The load above this value should not be applied to the shaft. The value in the table assumes that the load is applied independently.

6 - 11

6. HF-MP SERIES HF-KP SERIES

(4) Special shaft servo motors

Servo motors with special shafts having keyway (with single pointed keys) are available for the flange-

mounting shaft output type for precision applications compliant (G7).

[Unit: mm]

Servo motor Reduction gear

model number Q S W T QK U Y

HC-MP (B)G7K

HC-KP (B)G7K

14A 28 16h7 5 5 25 3 M4

Depth 8

20A 42 25h7 8 7 36 4 M6

Depth 12

32A 82 40h7 12 8 70 5 M10

Depth 20

U Approx. Q

QK

W

T

S

Y

6.6 Wiring option

Connecter sets to use in power supply connector or brake connector are available as option.

For details of each cable, cable and connector set to use in wiring to encoder, refer to the Servo Amplifier

Instruction Manual for using.

Make sure to use the following power supply cable for conforming to the EN compliant.

Servo motor Servo motor power cable Electromagnetic brake cable

HF-MP

HF-KP

MR-PWS1CBL M-A1-L MR-BKS1CBL M-A1-L

MR-PWS1CBL M-A1-H MR-BKS1CBL M-A1-H

MR-PWS1CBL M-A2-L MR-BKS1CBL M-A2-L

MR-PWS1CBL M-A2-H MR-BKS1CBL M-A2-H

MR-PWS2CBL03M-A1-L MR-BKS2CBL03M-A1-L

MR-PWS2CBL03M-A2-L MR-BKS2CBL03M-A2-L

6 - 12

6. HF-MP SERIES HF-KP SERIES

6.7 Connector installation

If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation.

To achieve the IP rating IP65, pay attention to the following points and install the connectors.

(1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross

pattern.

1)

4)

3)

2)

Tightening sequence

1) 2) 3) 4)

Connector for power supply, connector for encoder

Tightening order

1) 2)

1)

2)

Connector for brake

(2) Tighten the screws evenly.

Tightening torques are as indicated below.

Connector for brake Screw size M2 Tightening torque 0.2N m

Connector for power supply Screw size M2 Tightening torque 0.2N m

Connector for encoder Screw size M2 Tightening torque 0.1N m

(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When installing

the connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring)

has dropped or is pinched, a splash-proof effect is not produced.

6 - 13

6. HF-MP SERIES HF-KP SERIES

6.8 Outline dimension drawings

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.

When running the cables to the load side, take care to avoid interference with the machine. The dimensions

without tolerances are reference dimensions.

Inertia moment on the table is the value calculated by converting the total value of inertia moment for servo

motor, electromagnetic brake and decelerator with servo motor shaft.

6.8.1 Standard (without an electromagnetic brake, without a reduction gear)

Model Output

[W]

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP053 50 0.019 (0.104) 0.35 (0.77)

HF-KP053 50 0.052 (0.284) 0.35 (0.77)

[Unit: mm]

40

45

6.4

27.5

46

25

2.5

27.4

4.9

Motor plate

9.5

11.7

Bottom

11.7 13.9

20.720.5

Caution plate

13.7

21.5

5

19.2

10.1

21.5

66.4

24.5

High temperature caution plate

Motor plate

Power supply connector

Encoder connector

Power supply connector

19.2

11.711.7 9.5

21.5 Encoder connector

7

9 Opposite-to-load side

3

4

1

2

Power supply connector pin connection list

BC25946*

Top

(Opposite side)

Bottom

Top Top

Top

2- 4.5 mounting hole

Use hexagon socket head cap screw

Bottom

2

3 4

Pin No. 1

U

V W

Application (Earth)

Bottom

TUV plate

6 - 14

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg]([lb])

HF-MP13 100 0.032 (0.175) 0.56 (1.24)

HF-KP13 100 0.088 (0.481) 0.56 (1.24)

[Unit: mm]

40

45

37 .1

6.4

27.5

46

25 2.5

27.4

4.9 9.5

11.7

8h 6

30 h7

11.7 13.9

20.720.5

Caution plate

21

13.7

21.5

5

20 .7

36

7

19.2

10.1

21.5

9

40.5

82.4

Power supply connector

Encoder connector

Encoder connector

Power supply connector

19.2

11.711.7 9.5

21.5 BC25947*

2- 4.5 mounting hole

Use hexagon socket head cap screw

Bottom

Bottom

Top

Top

Caution plate for high temperature

Motor plate (Opposite side)

Bottom

Top

Motor plate

Opposite-to-load side

Bottom

Top

3

4

1

2

Power supply connector pin connection list

4 2

3 1

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

TUV plate

Model Output

[W]

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23 200 0.088 (0.481) 0.94 (2.07)

HF-KP23 200 0.24 (1.31) 0.94 (2.07)

[Unit: mm]

Caution plate for high temperature

30

50 h7

14 h6

60

45

11.8

46

47 .1

70

5.927.8

13.9 28.4

13.7 10 9.5

9

19.211.7

7 3

10.1

7

76.6

39.3

Caution plate

Encoder connector

Power supply connector

BC25948*

Power supply connector

9.5 Encoder connector

21.5

11.8 11.7

19.2

1 2

3

4

Power supply connector pin connection list

1 2

3 4

Opposite-to-load side

Motor plate Bottom

Top Bottom

Top

4- 5.8 mounting hole Use hexagon socket head cap screw

Bottom Bottom

TopTop

Motor plate (Opposite side)

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

TUV plate

6 - 15

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43 400 0.15 (0.82) 1.5 (3.31)

HF-KP43 400 0.42 (2.30) 1.5 (3.31)

[Unit: mm]

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

30 60

45

11.8

70

5.927.8

13.9 28.4

13.7 10 9.5

9

19.211.7

7 3

10.1

7

98.5

61.2

Caution plate

Power supply connector

Encoder connector

1 2

3

4

Power supply connector pin connection list

19.2

11.7 21.5

11.8

9.5 Encoder connector

BC25949*

Motor plate

Opposite-to-load side

Power supply connector

4- 5.8 mounting hole Use hexagon socket

head cap screw

Bottom Bottom

TopTop

Bottom

Top Bottom

Top

Motor plate (Opposite side)

Caution plate for high temperature

TUV plate

Model Output

[W]

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73 750 0.60 (3.28) 2.9 (6.39)

HF-KP73 750 1.43 (7.82) 2.9 (6.39)

[Unit: mm]

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

TUV plate

Caution plate

Power supply connector

Encoder connector

Encoder connector

Motor plate

Opposite-to-load side

4- 6.6 mounting hole Use hexagon socket

head cap screw

Top

Bottom

Top

Bottom Bottom

Top

Bottom

Top

Motor plate (Opposite side)

Caution plate for high temperature

113.8 40

3

80

90

45

12

72.3 11.8

9.5

27.4 27.8

14

8

11.5

11.7

13.7

7

7

9.9 19.2

19.2

11.7

21.4

11.8

9.5

Power supply connector

1

2

3

4

BC25950*

Power supply connector pin connection list

6 - 16

6. HF-MP SERIES HF-KP SERIES

6.8.2 With an electromagnetic brake

Model Output

[W]

Brake static friction torque

[N m] ([oz in])

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP053B 50 0.32 (45.3) 0.025 (0.137) 0.65 (1.43)

HF-KP053B 50 0.32 (45.3) 0.054 (0.295) 0.65 (1.43)

[Unit: mm]

Encoder connector

Motor plate

4- 4.5 mounting hole Use hexagon socket

head cap screw

Bottom

Bottom

Top Top

Bottom

Top

Motor plate (Opposite side)

Caution plate for high temperature

Brake connector

Opposite-to-load side

Bottom

Top

40

45

46

6.413.9

27.5

25

2.5

4.9

27.4

9

9.5 11.7 11.7

13.7

20.720.5

Caution plate

21.5

5

58.3

19.221.5

7 10.1

18.4

13

107.5

24.5 Power supply connector

BC25951*

4

1

2

3

Brake connector pin connection list

2

1

Encoder connector

21.5

Power supply connector

18.4 58.3

11.7 11.7 9.5

Power supply connector pin connection list

Brake connector

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

B1 2

Pin No.

1 B2

Application

TUV plate

6 - 17

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction torque

[N m] ([oz in])

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13B 100 0.32 (45.3) 0.039 (0.213) 0.86 (1.90)

HF-KP13B 100 0.32 (45.3) 0.090 (0.492) 0.86 (1.90)

[Unit: mm]

B1

2

Pin No.

1

B2

Application

2

3 4

Pin No. 1

U

V W

Application (Earth)

Top

Encoder connector

Motor plate

2- 4.5 mounting hole Use hexagon socket head cap screw

Bottom

Bottom

Top

TopBottom

Top

Motor plate (Opposite side)

Caution plate for high temperature

Opposite-to-load side

Caution plate

Power supply connector

Brake connector pin connection list

Encoder connector

Power supply connector

Power supply connector pin connection list

Brake connector

Brake connector

Bottom

40

45

46

6.413.9

27.5

25

2.5

4.9

27.4

9

9.5 11.7 11.7

13.7

20.720.5 21.5

5

58.3

19.221.5 7

10.1

18.4

13

123.5

40.5

BC25952*

4

1

2

3 2

1

58.3 21.5

11.7 11.7

18.4

9.5

TUV plate

6 - 18

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23B 200 1.3 (184) 0.12 (0.656) 1.6(3.53)

HF-KP23B 200 1.3 (184) 0.31 (1.70) 1.6(3.53)

[Unit: mm]

Opposite-to-load side

2

3 4

Pin No.

1

U

V W

Application

(Earth)

B1 2

Pin No.

1 B2

Application

30 60

45

11.8

70

57.8

9.5

5.9

13.9 1013.7

21.528.4 27.8

11.7

13 .5

37

79

19.2

10.1

116.1

39.3

Caution plate

Power supply connector

Brake connector

BC25953*

1 2

3 4

1

2

18.311.8 11.7 9.5

Power supply connector

57.8

Encoder connector

21.5

Brake connector

Power supply connector pin connection list

Brake connector pin connection list

Encoder connector

Bottom

Top Bottom

Top

Motor plate

Caution plate for high temperature

Motor plate (Opposite side)

Bottom

Top

Bottom

Top

4- 5.8 mounting hole Use hexagon socket head cap screw

TUV plate

6 - 19

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction torque

[N m] ([oz in])

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43B 400 1.3 (184) 0.18 (0.984) 2.1 (4.63)

HF-MP43B 400 1.3 (184) 0.50 (2.73) 2.1 (4.63)

[Unit: mm]

TUV plate

30 60

45

11.8

70

57.8

9.5

5.9

13.9 1013.7

21.528.4 27.8

11.7

13 .5

37

79

19.2

10.1

138

61.2

BC25954*

1 2

3 4

1

2

Encoder connector

Brake connector57.8 11.8 11.7

21.5

18.3 9.5

Opposite-to-load side

B1

2

Pin No.

1

B2

Application

Caution plate

Power supply connector

Brake connector

Power supply connector

Power supply connector pin connection list

Brake connector pin connection list

Encoder connector

Bottom

Top Bottom

Top

Motor plate

Caution plate for high temperature

Motor plate (Opposite side)

Bottom

Top

Bottom

Top

4- 5.8 mounting hole Use hexagon socket head cap screw

2

3

4

Pin No.

1

U

V

W

Application

(Earth)

6 - 20

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Inertia moment

J [ 10-4kg m2]

(WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73B 750 2.4 (340) 0.70 (3.83) 3.9 (8.60)

HF-KP73B 750 2.4 (340) 1.63 (8.91) 3.9 (8.60)

[Unit: mm]

B1

2

Pin No. 1

B2

Application

80

157

8 3

45

90

40

14 12

27.8 27.4

11.513.7 11.8 11.7

7

9.5

72.3 65.5

7

7

19.2

21.4

Brake connector

Power supply connector

Encoder connector

Brake connector pin connection list

1

3

4

2

1

2

Encoder connector

9.511.8

21.4

11.7

65.5

18.4

Power supply connector

Brake connector

BC25955*

TUV plate

Motor plate

Bottom

Caution plate Top

Bottom

Top

Motor plate (Opposite side)

Top

Bottom

Top

Bottom

Opposite-to-load side

4- 6.6 mounting hole Use hexagon socket head cap screwCaution plate for

high temperature

Power supply connector pin connection list

2

3 4

Pin No. 1

U

V W

Application (Earth)

6 - 21

6. HF-MP SERIES HF-KP SERIES

6.8.3 For general industrial machine with a reduction gear (without an electromagnetic brake)

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP053G1 50 K6505 1/5 (9/44) 0.056 (0.306) 1.4 (3.09)

HF-KP053G1 50 K6505 1/5 (9/44) 0.089 (0.487) 1.4 (3.09)

[Unit: mm]

19.2 11.7 11.7

21.5

Opposite-to-load side

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W BC26068*

45

For forward rotation command

For reverse rotation command

Rotation direction

6.4

M4 screw Depth 8

Encoder connector

Power supply connector

9.5

27.4

20.5

36 37

.1

Motor plate

Caution plate

13.7 4.9

20 .7

21

20.7

9.5 19.2

21.5

11.711.7 10.1

6.58

34.5

25 60.5110.9

69

Power supply connector

TUV plate

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

(R4)

Top

Bottom

Top

Bottom

Top

Bottom

Top

Bottom

16 h

6 48 (5

0 )

60 h

7

4- 7 65

75

88

7

9

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP053G1 50 K6512 1/12 (49/576) 0.078 (0.426)

1.8 (3.97) K6520 1/20 (25/484) 0.060 (0.328)

HF-KP053G1 50 K6512 1/12 (49/576) 0.111 (0.607)

1.8 (3.97) K6520 1/20 (25/484) 0.093 (0.508)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No. 1

2

3

4

U

V

W

45

7

9

BC26069*

For forward rotation command

For reverse rotation command

Rotation direction

6.4

M4 screw Depth 8

19.221.5

Opposite-to-load side

11.7

Encoder connector

Power supply connector

9.511.7

27.4

2 1

2 0

.7

3637 .1

20.5 20.7

Caution plate

4.913.7

8

11.7 19.2

10.1

21.5

60.5

34.5

6.5 25

87

128.9

Encoder connector

Power supply connector

TUV plate

Motor plate (Opposite side)

Caution plate for high temperature

(R4)9.5

11.7

Motor plate

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

1 6

h6

48

60 h

7

4- 7 65

75

88

(

50 )

6 - 22

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13G1 100 K6505 1/5 (9/44) 0.069 (0.377) 1.6 (3.53)

HF-KP13G1 100 K6505 1/5 (9/44) 0.125 (0.683) 1.6 (3.53)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3

4

U

V

W

45

7

9

19.2

11.7 11.7 21.5

Opposite-to-load side

BC26070*

65 4- 7

For forward rotation command

For reverse rotation command

Rotation direction

6.4

M4 screw Depth 8

Encoder connector

9.5

27.4

20.5

3 6

3 7.

1

Motor plate

Caution plate

13.7 4.9

20 .7

21

20.7

Power supply connector

TUV plate

Caution plate for high temperature

Encoder connector

8

19.2 10.1

21.5

60.5

34.5 6.5 25

85

126.9

11.7 11.7

9.5 (R4)

Motor plate (Opposite side)

Top

Bottom Top

Bottom

Top

Bottom

16 h6

48

60 h

7

88

75

(

50 )

Power supply connector

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13G1 100 K6512 1/12 (49/576) 0.091 (0.498)

2.0 (4.19) K6520 1/20 (25/484) 0.073 (0.399)

HF-KP13G1 100 K6512 1/12 (49/576) 0.147 (0.804)

2.0 (4.19) K6520 1/20 (25/484) 0.129 (0.705)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

7

9

BC26071*

65 4- 7

For forward rotation command

For reverse rotation command

Rotation direction

6.4

M4 screw Depth 8

19.221.5

Opposite-to-load side

11.7

Encoder connector

9.511.7

27.4

2 1

20 .7

3637 .1

20.5 20.7

Caution plate

4.913.7

8

11.7 19.2

10.1

21.5

60.5

34.5

6.5 25

103

144.9

Power supply connector

TUV plate

Motor plate (Opposite side)

Caution plate for high temperature

1 6

h6

(

50 )

6 0

h7

4 8

(R4)9.5

11.7

Motor plate

Top

Bottom Top Bottom

Top

BottomTop

Bottom 75

88

Encoder connector

Power supply connector

45

6 - 23

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23G1 200 K9005 1/5 (19/96) 0.248 (1.36) 3.3 (7.28)

HF-KP23G1 200 K9005 1/5 (19/96) 0.400 (2.19) 3.3 (7.28)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

45

BC26072*

7

9

21.5

Opposite-to-load side

Power supply connector

9.519.211.8 11.8

Encoder connector

TUV plate

4 6

28.4

10

4 7

.1

Motor plate Caution plate

13.7

60

90 4- 9

For forward rotation command

For reverse rotation command

Rotation direction

5.9 M6 screw Depth 12

114

Motor plate (Opposite side)

Caution plate for high temperature

25 h

6

19.2

810

38

35 74130.1

92.8

8 2h

7

7 3

10.1 Power supply connector

11.8

9.5 11.7

Encoder connector

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom 100

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23G1 200 K9012 1/12 (25/288) 0.298 (1.63)

3.9 (8.60) K9020 1/20 (253/5000) 0.268 (1.47)

HF-KP23G1 200 K9012 1/12 (25/288) 0.450 (2.46)

3.9 (8.60) K9020 1/20 (253/5000) 0.420 (2.30)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W

45

BC26073*

21.5

Opposite-to-load side

Power supply connector

19.211.8

11.7

Encoder connector

9.5

TUV plate

4 6

28.4

10

4 7

.1

Motor plate Caution plate

13.7

60

90 4- 9

For forward rotation command

For reverse rotation command

Rotation direction

5.9 M6 screw Depth 12

114

25 h6

8 2h

7 73

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

10.1

19.2

810

38

35 74150.1

112.8

9.5

11.8 11.7

Top Bottom

Top

Bottom Top

Bottom

Top

Bottom 100

9 7

6 - 24

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43G1 400 K9005 1/5 (19/96) 0.300 (1.64) 3.9 (8.60)

HF-KP43G1 400 K9005 1/5 (19/96) 0.570 (3.12) 3.9 (8.60)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

45

10.1 11.8

BC26074*

21.5

Opposite-to-load side

Power supply connector

9.519.211.8

11.8

Encoder connector

90

For forward rotation command

For reverse rotation command

Rotation direction

5.9 M6 screw Depth 12

114

25 h6

82 h7

7 3

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

19.2

38 810 35

114.7

74152

9.5

TUV plate

46

28.4

10

47 .1

Motor plate Caution plate

13.7

60

Top

Bottom

Top

Bottom

4- 9

100

9 7

Top Top

Bottom Bottom

11.7

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] ] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43G1 400 K9012 1/12 (25/288) 0.350 (1.91) 4.5 (9.92)

HF-KP43G1 400 K9012 1/12 (25/288) 0.620 (3.39) 4.5 (9.92)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

45

BC26075*

21.5

Opposite-to-load side

Power supply connector

9.519.211.8

11.7

Encoder connector

TUV plate

46

28.4 10

47 .1

Motor plate Caution plate

13.7

60

Top

Bottom

Top

Bottom

M6 screw Depth 12

4- 9

For forward rotation command

For reverse rotation command

Rotation direction

90

5.9

114

100

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

19.2

38 810 35

134.7

74172

10.1 11.711.8

9.5

Top

Bottom

Top

Bottom

9 7

2 5

h6

82 h7

73

6 - 25

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43G1 400 K10020 1/20 (253/5000) 0.660 (3.61) 5.6 (12.3)

HF-KP43G1 400 K10020 1/20 (253/5000) 0.930 (5.09) 5.6 (12.3)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

45

BC26076*

21.5

Opposite-to-load side

Power supply connector

9.519.211.8

11.7

Encoder connector

TUV plate

4 6

28.4

10

4 7

.1

Motor plate Caution plate

13.7

60

M8 screw Depth 16

4- 9

For forward rotation command

For reverse rotation command

Rotation direction

100

132

115

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector 3

2 h6

8 6

95 h7

10.1

10

90

10

138.2

39

50 175.5

19.211.7

9.5

11.8

7 3

Top

Bottom

Top

Bottom

Top

Bottom

Top

Bottom

9 7

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73G1 750 K10005 1/5 (1/5) 1.02 (5.58) 6.1 (13.4)

HF-KP73G1 750 K10005 1/5 (1/5) 1.85 (10.1) 6.1 (13.4)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W

45

BC26077*

7

7

56

27.4

57 .1

13.7 11.5

80

3 2

h6

8 6

9 5h

7

11.8 9.9

10

39 50

90

10

137.3

178.8

11.7 9.5 19.2

73

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

TUV plate Caution plateMotor plate

4- 9

12

132

For forward rotation command

For reverse rotation command

Rotation direction

100

M8 screw Depth 16

Top

Bottom

Top

Bottom

Top Bottom

Top

Bottom 115

Opposite-to-load side

Power supply connector

Encoder connector

11.8

11.7

19.2

9.521.5

6 - 26

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73G1 750 K10012 1/12 (525/6048) 1.69 (9.24) 7.2 (15.9)

HF-KP73G1 750 K10012 1/12 (525/6048) 2.52 (13.8) 7.2 (15.9)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2 3

4

U V

W

45

BC26078*

7

7

56

27.4

5 7

.1

13.7 11.5

80

Top Bottom

Top

Bottom

4- 9

12

132

For forward rotation command

For reverse rotation command

Rotation direction

100

115

TUV plate Caution plateMotor plate

M8 screw Depth 16

32 h

6

8 6

95 h

7

73

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

11.8

9.9

10

39

50

90 10

159.3

200.8

11.7 9.5 19.2

Top

Bottom

Top

Bottom

21.4

Opposite-to-load side

Power supply connector

Encoder connector

11.8

11.7

19.2

9.521.4

Model Output

[W]

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73G1 750 K12020 1/20 (625/12544) 1.75 (9.57) 10 (22.0)

HF-KP73G1 750 K12020 1/20 (625/12544) 2.58 (14.1) 10 (22.0)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3

4

U

V

W

45

BC26079*

7

7

5 6

27.4

57 .1

13.7 11.5

80

4- 14

162

For forward rotation command

For reverse rotation command

Rotation direction

120

140

TUV plate Caution plateMotor plate

M10 screw Depth 20

4 0h

6

10 4

1 1

5h 7

90

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector11.8

9.9

60

45

15 12

106213.8

172.3

9.5

19.2

21.4

11.7

Top

Bottom

Top

Bottom Top

Bottom

Top Bottom

Opposite-to-load side

Power supply connector

Encoder connector

11.8

11.7

19.2

9.521.4

6 - 27

6. HF-MP SERIES HF-KP SERIES

6.8.4 For general industrial machine with a reduction gear (with an electromagnetic brake)

Model Output

[W] Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction ratio (Actual reduction ratio)

Inertia moment J [ 10-4kg m2] (WK2 [oz in2])

Mass [kg] ([lb])

HF-MP053BG1 50 0.32 (45.3) K6505 1/5 (9/44) 0.062 (0.339) 1.7 (3.75)

HF-KP053BG1 50 0.32 (45.3) K6505 1/5 (9/44) 0.091 (0.498) 1.7 (3.75)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

BC26080*

2

1

2 1

21.5 18.4

58.3 11.711.7 9.5

20 .7

21

27.4

20.720.5

3638 .8

13.7 4.9

45

65 4- 7

88

75

6.4 M4 screw Depth 8

60.5

34.5

25

152

8

18.4 21.5

11.7

10.1

69

16 h6

58.3

19.2

6.5

(R4)9.5

11.7

48 60 h

7

For forward rotation command

For reverse rotation command

Rotation direction

Caution plate

Motor plate

Brake connector pin connection list

Opposite-to-load side

Encoder connector

Power supply connector

Brake connector

Brake connector

Encoder connector

TUV plate

Power supply connector

Caution plate for high temperature

Motor plate (Opposite side)

2 1

13

9 7

Top

Bottom

Top

Bottom

Top

Bottom

Top

Bottom

(

5 0)

Pin No.

1

2

Application

B1

B2

Model Output

[W] Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction ratio (Actual reduction ratio)

Inertia moment J [ 10-4kg m2] (WK2 [oz in2])

Mass [kg] ([lb])

HF-MP053BG1 50 0.32 (45.3) K6512 1/12 (49/576) 0.084 (0.459)

2.1 (4.63) K6520 1/20 (25/484) 0.066 (0.361)

HF-KP053BG1 50 0.32 (45.3) K6512 1/12 (49/576) 0.113 (0.618)

2.1 (4.63) K6520 1/20 (25/484) 0.095 (0.519)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2 3 4

U V W

9.5

18.421.5

58.3

11.711.7

60.5

34.5 25

170 8

18.4 21.5

11.7 10.1

87 58.3

19.2

6.5

(R4)9.5 11.7

BC26081*

2

1

2 1

16 h6

4 8

60 h

7

Brake connector pin connection list

Encoder connector

Power supply connector

Brake connector

Brake connector

Encoder connector

TUV plate

Power supply connector

Motor plate (Opposite side)

2 1

1 3

9 7

2 0.

7 2

1

27.4

20.720.5

3638 .8

13.7 4.9

Caution plate

Motor plate

Top

Bottom

Opposite-to-load side

45

65 4- 7

6.4 M4 screw Depth 8

For forward rotation command

For reverse rotation command

Rotation direction

88

75

(

50 )

Caution plate for high temperature

Top

Bottom

Top Bottom

Top

Bottom

Pin No.

1

2

Application

B1

B2

6 - 28

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13BG1 100 0.32 (45.3) K6505 1/5 (9/44) 0.076 (0.416) 1.9 (4.19)

HF-KP13BG1 100 0.32 (45.3) K6505 1/5 (9/44) 0.127 (0.694) 1.9 (4.19)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

60.5

34.5

25

168

8

18.4 21.5

11.7 10.1

85 58.3

19.2

6.5

11.7 9.5 (R4)

BC26082*

2

1

2 1

Brake connector pin connection list

Brake connector

Encoder connector

TUV plate

Power supply connector

Motor plate (Opposite side)

20 .7

2 1

27.4

20.720.5

3638 .8

13.7 4.9

Caution plate

Motor plate

Top

Bottom

9.5

18.421.5 58.3

11.711.7

Encoder connector

Power supply connector

Brake connector

Opposite-to-load side

45

4- 7

6.4 M4 screw Depth 8

For forward rotation command

For reverse rotation command

Rotation direction

65

88

75

Caution plate for high temperature

Top

Bottom

Top

Bottom

Top

Bottom

16 h

6 4

8

60 h

7

(5 0)

9 7

132 1

Pin No.

1

2

Application

B1

B2

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13BG1 100 0.32 (45.3) K6512 1/12 (49/576) 0.098 (0.536)

2.3 (5.07) K6520 1/20 (25/484) 0.080 (0.437)

HF-KP13BG1 100 0.32 (45.3) K6512 1/12 (49/576) 0.149 (0.815)

2.3 (5.07) K6520 1/20 (25/484) 0.131 (0.716)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3

4

U

V

W

60.5

34.5

25

186

8

18.4

21.5

11.7

10.1

103 58.3

6.5

19.211.7

9.5 (R4)

BC26083*

2

1

2 1

Brake connector pin connection list

Brake connector

Encoder connector

TUV plate

Power supply connector

Motor plate (Opposite side)

2 0.

7 2

1

27.4

20.720.5

3 6

38 .8

13.7 4.9

Caution plate

Motor plate

Top

Bottom

9.5

18.421.5

58.3

11.711.7

Encoder connector

Power supply connector

Brake connector

Opposite-to-load side

45

65 4- 7

88

6.4 M4 screw Depth 8

For forward rotation command

For reverse rotation command

Rotation direction

75

16 h6

4 8

6 0

h7

Caution plate for high temperature

Top

Bottom

Top

Bottom

Top

Bottom (

50 )

9 7

132 1

Pin No.

1

2

Application

B1

B2

6 - 29

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23BG1 200 1.3 (184) K9005 1/5 (19/96) 0.280 (1.53) 3.9 (8.60)

HF-KP23BG1 200 1.3 (184) K9005 1/5 (19/96) 0.470 (2.57) 3.9 (8.60)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W

90 4- 9

45

114

100

5.9

9

7

13 .5

46

28.4 10

47 .1

60

13.7

18.321.5 57.8

11.8 9.511.7

810

38 35

74169.6

21.5

11.8

10.1

92.8

57.8

19.2

9.5 11.7

25 h6

73 8 2h

7

BC26084*

2

1

2 1

Brake connector pin connection list

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate

Motor plate

Power supply connector

Brake connector

Opposite-to-load side

M6 screw Depth 12

Caution plate for high temperature

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

Encoder connector

Pin No.

1

2

Application

B1

B2

6 - 30

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction gear

model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23BG1 200 1.3 (184) K9012 1/12 (25/288) 0.330 (1.80)

4.5 (9.92) K9020 1/20 (253/5000) 0.300 (1.64)

HF-KP23BG1 200 1.3 (184) K9012 1/12 (25/288) 0.520 (2.84)

4.5 (9.92) K9020 1/20 (253/5000) 0.490 (2.68)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

810

38 35

74189.6

21.5

11.8 10.1

112.8

57.8

19.2 9.5

11.7

90 4- 9

45

114

100

5.9

9

7

13 .5

4 6

28.4

10

4 7

.1

60

13.7

25 h6

73 82 h

7 BC26085*

2

1

2 1

Brake connector pin connection list

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate

Motor plate

M6 screw Depth 12

Caution plate for high temperature

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Top

Bottom

Top

Bottom Top

Bottom

Top Bottom

18.321.5 57.8

11.8 9.511.7

Power supply connector

Brake connector

Opposite-to-load side

Encoder connector

Pin No.

1

2

Application

B1

B2

6 - 31

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction ratio (Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43BG1 400 1.3 (184) K9005 1/5 (19/96) 0.330 (1.80) 4.4 (9.7)

HF-KP43BG1 400 1.3 (184) K9005 1/5 (19/96) 0.650 (3.55) 4.4 (9.7)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No. 1

2

3 4

U

V W

90 4- 9

114

100

5.9

46

28.4 10

47 .1

60

13.7

18.321.5 57.8

11.8 9.511.7

2 5

h6

7 3

82 h

7

BC26086*

2 1

2 1

Brake connector pin connection list

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate

Motor plate

Power supply connector

Brake connector

Opposite-to-load side

M6 screw Depth 12

Caution plate for high temperature

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Top

Bottom

Top

Bottom

Encoder connector

9

13 .5

7

45 810

38

35

74191.5

21.5

11.8

10.1

114.7 57.8

19.2

9.5

11.7

Pin No.

1

2

Application

B1

B2

Model Output

[W] Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction ratio (Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43BG1 400 1.3 (184) K9012 1/12 (25/288) 0.380 (2.08) 5.0 (11.0)

HF-KP43BG1 400 1.3 (184) K9012 1/12 (25/288) 0.700 (3.83) 5.0 (11.0)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3

4

U

V

W 18.321.5

57.8

11.8 9.511.7

BC26087*

2

1

2 1

Brake connector pin connection list

Power supply connector

4 6

28.4

10

4 7

.1

60

13.7

Caution plate

Motor plate

TUV plate

Top

Bottom

Top

Bottom

Brake connector

Opposite-to-load side

Encoder connector

90 4- 9

114

100

5.9 M6 screw Depth 12

For forward rotation command

For reverse rotation command

Rotation direction

45

25 h6

7 3

8 2h

7

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature 810

38

35 74211.5

21.5 11.8

10.1

134.7

57.8

19.2

9.5

11.7

Top Bottom

Top

Bottom

9

13 .5

7

Pin No.

1

2

Application

B1

B2

6 - 32

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43BG1 400 1.3 (184) K10020 1/20 (253/5000) 0.690 (3.77) 6.1 (13.4)

HF-KP43BG1 400 1.3 (184) K10020 1/20 (253/5000) 1.01 (5.52) 6.1 (13.4)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No. 1

2

3 4

U

V W

18.321.5 57.8

11.8 9.511.7

BC26088*

2

1

2 1

Brake connector pin connection list

Power supply connector

46

28.4

10

47 .1

60

13.7

Caution plate

Motor plate

TUV plate

Top

Bottom

Top

Bottom

Brake connector

Opposite-to-load side

Encoder connector

45

100

M8 screw Depth 16

For forward rotation command

For reverse rotation command

Rotation direction

4- 9

32 h

6

73

95 h

7

Brake connector

Encoder connector Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature 1010

39

50 90215

21.5 11.8 10.1

138.2

57.8

11.7 19.2

9.5

86

Top Bottom

Top

Bottom

115

132

9

13 .5

7

Pin No.

1

2

Application

B1

B2

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73BG1 750 2.4 (340) K10005 1/5 (1/5) 1.12 (6.12) 7.1 (15.7)

HF-KP73BG1 750 2.4 (340) K10005 1/5 (1/5) 2.05 (11.2) 7.1 (15.7)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3

4

U

V

W

45

7

1010 39

50

90222

21.4 11.8

137.3

65.5

9.5

19.211.7

9.9

BC26089*

2

1

2 1

Brake connector pin connection list

56

27.4

57 .1

13.7 11.5

Caution plate

Motor plate

TUV plate

80

Top

Bottom

Top

Bottom

21.4 18.4

65.5

11.7 9.511.8

Power supply connector

Brake connector

Opposite-to-load side

Encoder connector

32 h

6

95 h7

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature

Top Bottom

Top

Bottom

12

100

M8 screw Depth 16

For forward rotation command

For reverse rotation command

Rotation direction

115

132

4- 9

867 3

7

7 Pin No.

1

2

Application

B1

B2

6 - 33

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73BG1 750 2.4 (340) K10012 1/12 (6048) 1.79 (8.79) 8.2 (18.1)

HF-KP73BG1 750 2.4 (340) K10012 1/12 (6048) 2.72 (14.9) 8.2 (18.1)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

BC26090*

2

1

2 1

21.4 18.4

65.5

11.7 9.511.8

12

5 6

27.4

5 7

.1

13.7 11.5

1010

39

50

90244

21.4 11.8

159.3

65.5

19.2

9.59.9 11.7

Brake connector pin connection list

Caution plate

Motor plate

TUV plate

80

Top

Bottom

Top

Bottom

Power supply connector

Brake connector

Opposite-to-load side

Encoder connector

2 5

h6 7

3

9 5

h7

Brake connector

Encoder connector Power supply

connector

Motor plate (Opposite side)

Caution plate for high temperature

86Top Bottom

7 7

7

100

M8 screw Depth 16

For forward rotation command

For reverse rotation command

Rotation direction

115

132

4- 9

45

Bottom

Top

Pin No.

1

2

Application

B1

B2

Model Output

[W]

Brake static friction

torque [N m] ([oz in])

Reduction

gear model

Reduction ratio

(Actual reduction ratio)

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73BG1 750 2.4 (340) K12020 1/20 (625/12544) 1.85 (10.1) 11 (24.3)

HF-KP73BG1 750 2.4 (340) K12020 1/20 (625/12544) 2.78 (15.2) 11 (24.3)

[Unit: mm]

BC26091*

21.4 18.4

65.5

9.511..711.8

56

27.4

57 .1

13.7 11.5

1215

45 60

106257

11.8

172.3

65.5

19.2

9.9

11.7 21.4

9.5

2

1

2 1

Brake connector pin connection list

Caution plate

Motor plate

TUV plate 80

Top

Bottom

Top

Bottom

Power supply connector

Brake connectorEncoder connector

40 h6

1 1

5h 7

Brake connector

Encoder connector

Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature

120

M10 screw Depth 20

For forward rotation command

For reverse rotation command

Rotation direction

4- 14

Opposite-to-load side

7

7 7

140

162

Top Bottom

Top

Bottom

90 1 0

4

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2 3

4

U V

W

Pin No.

1

2

Application

B1

B2

6 - 34

6. HF-MP SERIES HF-KP SERIES

6.8.5 For precision application with flange mounting, flange output type reduction gear (without an

electromagnetic brake)

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP053G5 50

HPG-14A-05-F0CBJS-S 1/5 0.087 (0.476) 1.1 (2.43)

HPG-14A-11-F0CBKS-S 1/11 0.079 (0.432)

1.2 (2.64) HPG-14A-21-F0CBKS-S 1/21 0.070 (0.383)

HPG-14A-33-F0CBLS-S 1/33 0.064 (0.35)

HPG-14A-45-F0CBLS-S 1/45 0.064 (0.35)

HF-KP053G5 50

HPG-14A-05-F0CBJS-S 1/5 0.120 (0.656) 1.1 (2.42)

HPG-14A-11-F0CBKS-S 1/11 0.112 (0.612)

1.2 (2.65) HPG-14A-21-F0CBKS-S 1/21 0.103 (0.563)

HPG-14A-33-F0CBLS-S 1/33 0.097 (0.53)

HPG-14A-45-F0CBLS-S 1/45 0.097 (0.53)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W BC26092*

27.4

20.720.5

2 1

13.7

20 .7

3637 .1

Motor plate

Caution plate

4.9

19.2 11.7

21.5

Opposite-to-load side

Encoder connector Power supply connector

9.511.7

60

6-M4 screw Depth 7

45

30 7

0

30

4- 5.5

6.4

7

9

11.7 19.2

21.5

14 H

7

4 0

5 6

h7

21+0.4 -0.5

3835

88.5

130.4

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

11.7 Power supply connector

TUV plate 9.510.1

C0.5

21

59

5 5

.5

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

( 14H7 effective range)5

6 - 35

6. HF-MP SERIES HF-KP SERIES

Model Output [W] Reduction gear model Reduction ratio Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13G5 100

HPG-14A-05-F0CBJS-S 1/5 0.100 (0.547) 1.3 (2.87)

HPG-14A-11-F0CBKS-S 1/11 0.095 (0.519) 1.4 (3.09)

HPG-14A-21-F0CBKS-S 1/21 0.083 (0.454)

HF-KP13G5 100

HPG-14A-05-F0CBJS-S 1/5 0.156 (0.853) 1.3 (2.87)

HPG-14A-11-F0CBKS-S 1/11 0.148 (0.809) 1.4 (3.09)

HPG-14A-21-F0CBKS-S 1/21 0.139 (0.76)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

Top

27.4

20.720.5

21

13.7

2 0.

7

363 7.

1

Motor plate

Caution plate

4.9

21.5

11.7 19.2

Power supply connectorEncoder connector

Opposite-to-load side

9.511.7

9

7 60

6-M4 screw Depth 7

45

30 7

0

30

4- 5.5

6.4

BC26093*

19.2

10.1

21.5 104.5

56 h

7 40

1 4H

7

35 8 3

146.4

TUV plate

Encoder connector

11.711.7

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

C0.5

21

5 5

.5

59

9.5

21+0.4 -0.5

Top

Bottom

Top

Bottom

Top

Bottom Bottom

For forward rotation command

For reverse rotation command

Rotation direction

( 14H7 effective range)5

6 - 36

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13G5 100 HPG-20A-33-F0JMLAS-S 1/33 0.094 (0.514)

2.6 (5.73) HPG-20A-45-F0JMLAS-S 1/45 0.093 (0.508)

HF-KP13G5 100 HPG-20A-33-F0JMLAS-S 1/33 0.150 (0.82)

2.6 (5.73) HPG-20A-45-F0JMLAS-S 1/45 0.149 (0.815)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

Top

BC26094*

9

7

27.4

20.720.5

2 1

13.7

20 .7

3 6

3 7.

1

Motor plate Caution plate

4.9

90

6-M6 screw Depth 10 4- 9

4530

45

1 05

21.5 19.2 11.7

Opposite-to-load side

Power supply connectorEncoder connector

11.7 9.5

11.7 19.2

21.5

85 h

7

5 9

24 H

7

81026

148.9

107

Encoder connector

Motor plate (Opposite side)

Caution plate for high temperature

Power supply connector

TUV plate 9.5

C0.5

27+0.4 -0.5

30.5

5

5

89

8 4

11.7

Top

Bottom

Top

Bottom

Top

Bottom Bottom

For forward rotation command

For reverse rotation command

Rotation direction

10.1

( 24H7 effective range)

5

6 - 37

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23G5 200 HPG-14A-05-F0AZW-S 1/5 0.289 (1.58) 1.8 (3.97)

HPG-14A-11-F0AZX-S 1/11 0.297 (1.59) 1.9 (4.19)

HF-KP23G5 200 HPG-14A-05-F0AZW-S 1/5 0.441 (2.41) 1.8 (3.97)

HPG-14A-11-F0AZX-S 1/11 0.443 (2.42) 1.9 (4.19)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

13.7

BC26095*

7

9

60

6-M4 screw Depth 7

5.9

4- 5.5

45

30 7

0

30

21.5

Opposite-to-load side

Encoder connector

19.2 9.5

Power supply connector

11.8

11.7

TUV plate

Motor plate

Caution plate

4 6

28.4

10

4 7.

1

60

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector Power supply

connector

14 H

7

40 56 h7

11.8

10.1

19.2

21+0.4 -0.5

856

140.6

103.3

C0.5

55 .5

3

9.5 11.7

5 9

6 0

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

( 14H7 effective range)5

6 - 38

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP23G5 200

HPG-20A-21-F0EKS-S 1/21 0.586 (3.20)

3.4 (7.50) HPG-20A-33-F0ELS-S 1/33 0.540 (2.95)

HPG-20A-45-F0FLS-S 1/45 0.539 (2.95)

HF-KP23G5 200

HPG-20A-21-F0EKS-S 1/21 0.738 (4.04)

3.4 (7.50) HPG-20A-33-F0ELS-S 1/33 0.692 (3.78)

HPG-20A-45-F0FLS-S 1/45 0.691 (3.78)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

Top

BC26096*

Caution plate

TUV plate

Motor plate

4 6

28.4

10

47 .1

60

7

9

4530

90

6-M6 screw Depth 10 4- 9

45 1

05

13.7

21.5

Opposite-to-load side

Encoder connector

11.8 19.2

11.7

9.5

Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector 24

H 7

59 8 5

h7

11.8

10.1

19.2

27+0.4 -0.5

1035

147.6

110.3

C0.5

84

826

9.5

11.7

8 9Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

( 24H7 effective range)5

6 - 39

6. HF-MP SERIES HF-KP SERIES

Model

Output [W]

Reduction gear model Reduction ratio Inertia moment

J [ 10-4kg m2] (WK2 [oz in2]) Mass

[kg] ([lb])

HF-MP43G5 400 HPG-14A-05-F0AZW-S 1/5 0.351 (1.92) 2.3 (5.07)

HF-KP43G5 400 HPG-14A-05-F0AZW-S 1/5 0.621 (3.40) 2.3 (5.07)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No. 1

2

3 4

U

V W BC26097*

7

9

60

6-M4 screw Depth 7

45

5.9

30 7

0

30

4- 5.5

21.5

Encoder connector

9.5

Power supply connector

19.211.8

11.7

Caution plate

46

28.4

10

47 .1

60

13.7

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector

14 H

7

4 0

56 h7

11.8

10.1

19.2

21+0.4 -0.5

856

162.5

125.2

C0.5

55 .5

6

0

5

9

3

11.7 9.5

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Motor plate

Opposite-to-load side

( 14H7 effective range)5

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment J [ 10-4kg m2] (WK2 [oz in2])

Mass [kg] ([lb])

HF-MP43G5 400 HPG-20A-11-F0EKS-S 1/11 0.726 (3.97)

4.0 (8.82) HPG-20A-21-F0EKS-S 1/21 0.648 (3.54)

HF-KP43G5 400 HPG-20A-11-F0EKS-S 1/11 0.996 (5.45)

4.0 (8.82) HPG-20A-21-F0EKS-S 1/21 0.918 (5.02)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2 3

4

U V

W BC26098*

7

9

90

6-M6 screw Depth 10

45 30

4- 9

45 1

05 Caution plate

4 6

28.4

10

47 .1

60

13.7

21.5

Encoder connector

11.8

11.7

19.2 9.5

Power supply connector

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector 2

4 H

7 59 85

h7

11.8

10.1

19.2

27+0.4 -0.5

1035

169.5

132.2

C0.5

8 4

8

8

9

9.5

26

11.7

Top

Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Motor plate

Opposite-to-load side

( 24H7 effective range)

5

6 - 40

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP43G5 400 HPG-32A-33-F0RLAS-S 1/33 0.700 (3.83)

6.1 (13.4) HPG-32A-45-F0RLAS-S 1/45 0.694 (3.79)

HF-KP43G5 400 HPG-32A-33-F0RLAS-S 1/33 0.970 (5.30)

6.1 (13.4) HPG-32A-45-F0RLAS-S 1/45 0.964 (5.27)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W BC26099*

7

9

120

6-M8 screw Depth 12

45 30

4- 11

60 1

35 Caution plate

46

28.4

10

4 7.

1

60

13.7

9.5

21.5 11.7

Encoder connector Power supply connector

11.8 19.2

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector

32 H

7 8

4 11

5 h7

11.8

10.1 19.2

35+0.4 -0.5

1341

181.5

144.2

C0.5

1

1 8

9.5

29

8

4

1 1

4

11.7

13

Top Bottom

Top

Bottom Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Motor plate

Opposite-to-load side

( 32H7 effective range)5

6 - 41

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73G5 750 HPG-20A-05-F0FEOS-S 1/5 1.25 (6.84) 4.9 (10.8)

HPG-20A-11-F0FEPS-S 1/11 1.16 (6.34) 5.2 (11.5)

HF-KP73G5 750 HPG-20A-05-F0FEOS-S 1/5 2.08 (11.4) 4.9 (10.8)

HPG-20A-11-F0FEPS-S 1/11 1.99 (10.9) 5.2 (11.5)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W BC26100*

7

7

90

6-M6 screw Depth 10

4530

4- 9

45

1 05

12

9.5 21.4

19.2

Encoder connector Power supply connector

11.8

11.7

Caution plate

56

27.4

5 7.

1

80

11.513.7

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector

24 H

7

59 8 5h

7

11.8

9.9

19.2

27+0.4 -0.5

1026

191.8

150.3

C0.5

30

8 4

8

89

80

21.4

9.5 11.7

12

Top

Bottom

Top

Bottom

Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Motor plate

Opposite-to-load side

( 24H7 effective range)5

6 - 42

6. HF-MP SERIES HF-KP SERIES

Model Output

[W] Reduction gear model Reduction ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP73G5 750

HPG-32A-21-F0SEIS-S 1/21 1.35 (7.38)

7.3 (16.1) HPG-32A-33-F0SEJS-S 1/33 1.13 (6.18)

HPG-32A-45-F0SEJS-S 1/45 1.13 (6.18)

HF-KP73G5 750

HPG-32A-21-F0SEIS-S 1/21 2.18 (11.9)

7.3 (16.1) HPG-32A-33-F0SEJS-S 1/33 1.96 (10.7)

HPG-32A-45-F0SEJS-S 1/45 1.96 (10.7)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W BC26101*

7

7

120

6-M8 screw Depth 12

4530

4- 11

60

1 35

9.5 21.4

Encoder connector

11.8

11.7

Caution plate

5 6

27.4

5 7.

1

80

13.7 11.5

Motor plate (Opposite side)

Caution plate for high temperature

Encoder connector

Power supply connector 3

2 H

7

8 4

1 1

5h 7

11.8

9.9

35+0.4 -0.5

1336 201.8

160.3

C0.5

30

11 4

21.4

9

11.7 9.5

8

0

1

1 8

13

Top Bottom

Top

Bottom

Top

Bottom

Top

Bottom

For forward rotation command

For reverse rotation command

Rotation direction

TUV plate

Motor plate

Opposite-to-load side

19.2

Power supply connector

19.2

( 32H7 effective range)5

6 - 43

6. HF-MP SERIES HF-KP SERIES

6.8.6 For precision application with flange mounting, flange output type reduction gear (with an

electromagnetic brake)

Model Output

[W]

Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction

ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-

MP053BG5 50 0.32 (45.3)

HPG-14A-05-F0CBJS-S 1/5 0.093 (0.508) 1.4 (3.09)

HPG-14A-11-F0CBKS-S 1/11 0.085 (0.465)

1.5 (3.31) HPG-14A-21-F0CBKS-S 1/21 0.076 (0.416)

HPG-14A-33-F0CBLS-S 1/33 0.070 (0.383)

HPG-14A-45-F0CBLS-S 1/45 0.070 (0.383)

HF-

KP053BG5 50 0.32 (45.3)

HPG-14A-05-F0CBJS-S 1/5 0.122 (0.667) 1.4 (3.09)

HPG-14A-11-F0CBKS-S 1/11 0.114 (0.623)

1.5 (3.31) HPG-14A-21-F0CBKS-S 1/21 0.105 (0.574)

HPG-14A-33-F0CBLS-S 1/33 0.099 (0.541)

HPG-14A-45-F0CBLS-S 1/45 0.099 (0.541)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1

2

3 4

U

V W

Pin No.

1

2

Application

B1

B2

Brake connector pin connection list

2

1

2 1

9 7

1 32

1

9.5

21.5

Opposite-to-load side

Power supply connector

Encoder connector 18.4

58.3

Brake connector

11.711.7

60

6-M4 screw Depth 7

Rotation direction

4530

4- 5.5

30

70

6.4

20 .7

2 1

27.4

20.720.5

363 8.

8

Motor plate Caution plate

4.913.7

Top

Bottom

Motor plate (Opposite side)

Caution plate for high temperature

3521 3

171.5

Brake connector

8

18.4

21.5

11.7

10.1

88.5

Power supply connector

TUV plate 14 H

7 4

0

5 6

h7

58.3

19.2

11.7

9.5

21 0.4 0.5

C0.5

55 .5

59

Encoder connector

( 14H7 effective range)

Top

Bottom

Top Bottom

BC26102*

For forward rotation command

For reverse rotation command

Bottom

Top

5

6 - 44

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction

ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13BG5 100 0.32 (45.3)

HPG-14A-05-F0CBJS-S 1/5 0.107 (0.585) 1.6 (3.53)

HPG-14A-11-F0CBKS-S 1/11 0.099 (0.541) 1.7 (3.75)

HPG-14A-21-F0CBKS-S 1/21 0.090 (0.492)

HF-KP13BG5 100 0.32 (45.3)

HPG-14A-05-F0CBJS-S 1/5 0.158 (0.864) 1.6 (3.53)

HPG-14A-11-F0CBKS-S 1/11 0.150 (0.82) 1.7 (3.75)

HPG-14A-21-F0CBKS-S 1/21 0.141 (0.771)

[Unit: mm]

Pin No.

1

2

Application

B1

B2

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No. 1

2 3

4

U V

W

2

1

2 1

9 7

13

2 1

9.5

18.421.5

58.3

11.711.7

2 0.

7 21

27.4

20.720.5

3 6

38 .8

4.913.7

3521 3 187.5

8

18.4

21.5 11.7

10.1

104.5

1 4

H 7

4 0

5 6

h7

58.3

19.2

C0.5

5 5

.5

9.5

11.7 5

9

Motor plate Caution plate

Top

Bottom

Encoder connector

Top

Bottom

Opposite-to-load side

Power supply connector

Encoder connector Brake connector

Brake connector Power supply connector

Brake connector pin connection list

BC26103*

30

70

6.4

4530

60 4- 5.5

Rotation direction

For forward rotation command

For reverse rotation command

6-M4 screw Depth 7

Caution plate for high temperature

Motor plate (Opposite side)

Top

Bottom

Top

Bottom

21 0.4 0.5

( 14H7 effective range)

5

TUV plate

6 - 45

6. HF-MP SERIES HF-KP SERIES

Model Output

[W]

Brake static friction

torque [N m] ([oz in]) Reduction gear model

Reduction

ratio

Inertia moment

J [ 10-4kg m2] (WK2 [oz in2])

Mass

[kg] ([lb])

HF-MP13BG5 100 0.32 (45.3) HPG-20A-33-F0JMLAS-S 1/33 0.101 (0.552)

2.9 (6.39) HPG-20A-45-F0JMLAS-S 1/45 0.100 (0.547)

HF-KP13BG5 100 0.32 (45.3) HPG-20A-33-F0JMLAS-S 1/33 0.152 (0.831)

2.9 (6.39) HPG-20A-45-F0JMLAS-S 1/45 0.151 (0.826)

[Unit: mm]

(Earth)

Power supply connector pin connection list

4 2

3 1

1 2 3 4

ApplicationPin No.

1 2

3 4

U

V W

Pin No.

1

2

Application

B1

B2

BC26104*

9 7

132 1

18.421.5

58.3

11.7 9.511.7

Brake connector

Power supply connector

20 .7

21

27.4

20.720.5

3 6

38 .8

4.913.7

Top

Bottom

2630.5

190

10

18.4

21.5

11.7

10.1

107

2 4H

7 59 8 5

h7

58.3

19.2

C0.5

8 4

8

9.5 11.7

Caution plate

Motor plate

Encoder connector

Caution plate for high temperature

Motor plate (Opposite side)

Brake connector

Power supply connector

Top

Bottom

Top

Bottom

Top

Bottom

5 5 89

27 0.4 0.5

45

105

6-M6 screw Depth 10

Rotation direction

For forward rotation command

For reverse rotation command

90

4530

4- 9

Brake connector pin connection list

2

1

2 1

Opposite-to-load side

Encoder connector

( 24H7 effective range)

5

TUV plate