Mitsubishi Electric Melservo-Jet HG-KNS Series User Manual Download

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Rotary Servo Motor
User's Manual
(HG-KNS/HG-SNS)

-HG-KNS_
-HG-SNS_

Mitsubishi Electric AC Servo System

Summary of Contents for Melservo-Jet HG-KNS Series

Page 1: ...Rotary Servo Motor User s Manual HG KNS HG SNS HG KNS_ HG SNS_ Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this guide keep it accessible to th...

Page 4: ...should be fully competent to do the work To prevent an electric shock do not attempt to wire the rotary servo motor until it has been mounted To prevent an electric shock do not touch the conductive parts CAUTION To prevent injury do not touch the rotor of the rotary servo motor during operation To prevent injury transport the products correctly according to their mass To prevent injury do not tou...

Page 5: ...rs with an oil seal 18 2 7 Inspection items 18 Periodic inspection 18 2 8 Parts with a service life 19 2 9 Machine accuracy 19 2 10 Mounting rotary servo motors 20 2 11 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m 20 CHAPTER 3 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING 21 3 1 Selection of connectors 21 3 2 Wiring connectors connector configurations A B C...

Page 6: ...ns 68 Standard without an electromagnetic brake 68 With an electromagnetic brake 73 CHAPTER 7 HG SNS SERIES 77 7 1 Standard specifications 77 Standard specifications list 77 Torque characteristics 79 7 2 Combinations of servo amplifiers and rotary servo motors 80 7 3 Characteristics of electromagnetic brake 81 7 4 Rotary servo motors with special shafts 82 Keyed shaft without key 82 7 5 Rotary ser...

Page 7: ...5 CONTENTS 9 4 Fabrication of the encoder cable 100 REVISIONS 102 WARRANTY 103 TRADEMARKS 104 ...

Page 8: ... 3 1 2 4 5 7 10 15 20 30 2000 3000 0 1 0 2 0 4 0 5 0 75 1 0 1 5 2 0 3 0 HG KNS HG SNS Shaft type Symbol Shaft shape None D cut shaft None Not attached Electromagnetic brake Symbol Electromagnetic brake Attached None Not attached Oil seal Symbol Oil seal Attached Keyed shaft 1 Standard straight shaft Rated speed Symbol Rated speed r min Rated output Symbol Rated output kW Series Feature Low inertia...

Page 9: ...its of the year and one digit of the month 1 to 9 X 10 Y 11 and Z 12 For October 2019 the serial number would be SER _ _ _ _ _ _ _ _ _ 19X The following shows an example of the rating plate for explanation of each item HG KNS13J 112 0 8 0 57 31 98 MADE IN JAPAN FABRIQUÉ AU JAPON 100W SER M00001234 19X Model Input power supply Rated current Rated output Mass Insulation class Rated speed Induced vol...

Page 10: ...n using this product at an altitude exceeding 1000 m and up to 2000 m Condition Operation Storage Ambient temperature 0 C to 40 C non freezing 15 C to 70 C non freezing Ambient humidity 10 RH to 80 RH non condensing 10 RH to 90 RH non condensing Ambience 1 Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Altitude 2000 m or less 2 Vibration resistance Refer to the follow...

Page 11: ... cable is also required for servo motors with an electromagnetic brake HG SNS series 1 An electromagnetic brake connector is also provided for servo motors with an electromagnetic brake Power cable 1 2 Power lead U V W Grounding lead Servo motor shaft Encoder cable 1 Encoder Power connector 1 Power supply U V W Grounding Servo motor shaft Encoder connector Encoder ...

Page 12: ... brake and starting the rotary servo motor Be sure to check the operation delay time with an actual machine For details of the circuit configuration and timing chart refer to the following MR JET User s Manual Hardware When the electromagnetic brake is released the temperature of the rotary servo motor may increase regardless of driving The service life of the brake may be shortened under sudden a...

Page 13: ...is not smaller than Vs reselect a varistor or improve the withstand voltage of devices Surge current width τ Given that the varistor absorbs all energies the surge current width τ is as follows Examining surge life of varistor From the varistor characteristic diagram find the guaranteed current value Ip in which the number of the surge application life is N at the surge current width τ Calculate t...

Page 14: ...ed shaft without key and D cut shaft To prevent damage to the shaft do not use the keyed shaft with double round ended key keyed shaft without key and D cut shaft for frequent start stop applications Use a friction coupling or the like when coupling the shaft with a machine Keyed shaft with double round ended key Keyed shaft without key D cut shaft Straight shaft A A Section AA A A Section AA ...

Page 15: ...months apply rust prevention oil again especially to the machined surfaces of the shaft and other parts Before using the product after storage for an extended period of time hand turn the rotary servo motor output shaft and check to ensure that there is no abnormality For the rotary servo motor with an electromagnetic brake check it after releasing the electromagnetic brake with the brake power su...

Page 16: ... and brake 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 with a measurement device to check that no vibration occurs If the vibration occurs due to high gain the vibration may cause early damage to the rotary servo motor Use the product within the specified environ...

Page 17: ...o the connection cable to prevent excessive load from being applied to the connector and cable connection part Rotary servo motor with an electromagnetic brake The rotary servo motor with an electromagnetic brake can also be mounted in the same directions as the one without an electromagnetic brake When the servo motor with an electromagnetic brake is mounted with the shaft end upward the brake pl...

Page 18: ...rs or similar parts and fully tighten the bolts so that they do not become loose due to vibration Precautions To prevent a malfunction on the encoder the shaft end must not be hammered during assembling Do not process the shaft to avoid damage to the encoder and bearing 2 3 Permissible load for the shaft For the permissible load for the shaft specific to the rotary servo motor refer to the chapter...

Page 19: ...es on the servo motor the sealant packing cable and other parts may be affected depending on the oil type In the environment where the rotary servo motor is exposed to oil mist oil or water the rotary servo motor of the standard specifications may not be usable Please contact your local sales office 2 5 Cable The power supply and encoder cables routed from the rotary servo motor should be fixed to...

Page 20: ...nstant internal pressure by equipping a ventilator to the gear box Temperature If the lip reaches a high temperature the service life of the oil seal will be shortened Maximum applicable temperature of material of the oil lip is 100 C and the temperature of the oil lip increases by 10 C to 15 C at maximum rotation Keep high temperature oil away from the oil lip 2 7 Inspection items To prevent a ma...

Page 21: ...f operation at rated speed as a guideline This differs depending on the operating conditions The oil seals must also be changed if oil leakage a similar problem is found during inspection Even if the oil seal on the rotary servo motor makes noises during operation it does not indicate a problem with the functions 2 9 Machine accuracy The following table shows the machine accuracy of the output sha...

Page 22: ...ng environment operating conditions and other factors Check the temperature with an actual machine 2 11 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m As heat dissipation effects decrease in proportion to decreasing air density use the product within the effective load ratio and regenerative load ratio shown in the following figure Flange size mm Rotary servo...

Page 23: ...Refer to the following for the compatible connector configuration products Page 22 Wiring connectors connector configurations A B C Page 23 Wiring connectors connector configurations D E F G HG KNS series HG SNS series Rotary servo motor Wiring connector For encoder For power supply For electromagnetic brake HG KNS_ Connector configuration A Connector configuration B Connector configuration C Rota...

Page 24: ...1596970 1 For receptacle contact 1596847 1 TE Connectivity 1674339 1 TE Connectivity Connector configuration Feature Connector Crimping tool Rotary servo motor power connector 1 B for power supply 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 Rotary se...

Page 25: ... 9 0 CMV1 22ASC C1 100 Crimping type Applicable wire size AWG 24 to 20 The crimping tool 357J 53162T is required CMV1 22ASC C2 100 Crimping type Applicable wire size AWG 28 to 24 The crimping tool 357J 53163T is required Angle CMV1 AP10S M1 One touch connection type CMV1S AP10S M1 Screw type CMV1 22ASC S1 100 Solder type Applicable wire size AWG 20 or less 5 5 to 7 5 CMV1 22ASC C1 100 Crimping typ...

Page 26: ...or power supply IP67 EN compliant Straight CE05 6A18 10SD D BSS Applicable wire size AWG 14 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 AWG 14 to 12 8 5 to 11 CE3057 10A 2 D 10 5 to 14 1 CE3057 10A 1 D General environment 1 Straight D MS3106B18 10S Applicable wire size AWG 14 to 12 14 3 or less Bushing ID D MS3057 10A Ang...

Page 27: ...1S SP2S L Screw type CMV1 22BSC S2 100 Solder type Applicable wire size AWG 16 or less 9 0 to 11 6 CMV1 22BSC C3 100 Crimping type Applicable wire size AWG 20 to 16 The crimping tool 357J 53164T is required Angle CMV1 AP2S S One touch connection type CMV1S AP2S S Screw type CMV1 22BSC S2 100 Solder type Applicable wire size AWG 16 or less 4 0 to 6 0 CMV1 22BSC C3 100 Crimping type Applicable wire ...

Page 28: ... G for power supply IP67 EN compliant Straight CE05 6A22 22SD D BSS Applicable wire size AWG 10 to 8 9 5 to 13 CE3057 12A 2 D MS3102A22 22P 12 5 to 16 CE3057 12A 1 D Angle CE05 8A22 22SD D BAS Applicable wire size AWG 10 to 8 9 5 to 13 CE3057 12A 2 D 12 5 to 16 CE3057 12A 1 D General environment 1 Straight D MS3106B22 22S Applicable wire size AWG 10 to 8 15 9 or less Bushing ID D MS3057 12A Angle ...

Page 29: ... input To prevent a malfunction do not connect AC power supply directly to the rotary servo motor When the wires are not tightened enough to the terminal block the wires or terminal block may generate heat because of the poor contact Be sure to tighten the wires with specified torque Use the rotary servo motor with the specified servo amplifier Do not modify the equipment To prevent malfunction el...

Page 30: ...ervo amplifier Precautions Do not install a power capacitor surge killer or radio noise filter optional FR BIF on the servo amplifier output side To avoid a malfunction connect the wires to the correct phase terminals U V W of the servo amplifier and the rotary servo motor Do not use the 24 V DC interface power supply for the electromagnetic brake To prevent malfunction use the power supply design...

Page 31: ... when ingress protection IP65 is necessary Junction connector Description IP rating Junction connector for extension cable IP65 Junction connector for motor power cable IP65 CNP1 U V U V W W M MR PWS1CBL_M A1 L MR PWS1CBL_M A2 L MR PWS1CBL_M A1 H MR PWS1CBL_M A2 H Red White Black Green yellow Rotary servo motor Servo amplifier 10 m or shorter MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H M...

Page 32: ...ing connectors is recommended when ingress protection IP65 is necessary 3 Configure a circuit which shuts off by being interlocked with the emergency stop switch 4 The electromagnetic brake terminals B1 and B2 have no polarity 5 Do not use the 24 V DC interface power supply for the electromagnetic brake Junction connector Description IP rating Junction connector for extension cable IP65 Junction c...

Page 33: ... the 24 V DC interface power supply for the electromagnetic brake 3 Configure a circuit which shuts off by being interlocked with the emergency stop switch 4 Some rotary servo motors do not have an electromagnetic brake Refer to the chapter of the rotary servo motor series MBR ALM U V W RA3 3 B1 B2 U V W RA1 RA2 M B 1 4 U 50 m or shorter Servo amplifier Rotary servo motor Electromagnetic brake int...

Page 34: ...es other than those prepared as options refer to the following Page 21 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING HG SNS series Details of the rotary servo motor connectors The following figures show the encoder connector power connector and electromagnetic brake connector which are viewed from the connection side Connector A Encoder connector CMV1 R10P Rotary servo motor Rotary servo motor ter...

Page 35: ... MS3102A18 10P Connector C Power connector MS3102A22 22P Connector D Electromagnetic brake connector CMV1 R2P 1 Supply electromagnetic brake power 24 V DC There is no polarity Terminal No Signal A U B V C W D PE Terminal No Signal A U B V C W D PE Terminal No Signal 1 B1 1 2 B2 1 D A B C D A B C 2 1 ...

Page 36: ...e size are as follows Construction condition Single wire set in midair Wiring length 30 m or shorter The following shows the wires used for wiring Use the wires given in this section or equivalent wires Wire size selection examples for the 600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire are indicated below Even when the maximum torque is increased the applicable wire sizes ar...

Page 37: ... are connected to a rotary servo motor If the IP rating of the cable connector and rotary servo motor varies the overall IP rating depends on the lowest IP rating of all components Please purchase the cable and connector options indicated in this section for the rotary servo motor When fabricating an encoder cable refer to the following Page 100 Fabrication of the encoder cable Combinations of cab...

Page 38: ... 1 The battery available in the near future is required when constructing an absolute position detection system 27 28 24 25 29 30 32 33 26 31 34 35 CNP1 CN2 1 Encoder connector Electromagnetic brake connector Power connector Rotary servo motor Servo amplifier ...

Page 39: ... IP55 Lead in opposite direction of load side 7 Electromagnetic brake cable MR BKS1CBL_M A1 L Cable length 2 5 10 m Page 56 Electromagnetic brake cable IP65 Load side lead 8 Electromagnetic brake cable MR BKS1CBL_M A1 H Cable length 2 5 10 m IP65 Load side lead Long bending life 9 Electromagnetic brake cable MR BKS1CBL_M A2 L Cable length 2 5 10 m Page 56 Electromagnetic brake cable IP65 Lead in o...

Page 40: ... Lead in opposite direction of load side 19 Encoder cable MR EKCBL_M L Cable length 20 30 m Page 46 MR EKCBL_M _ IP20 20 Encoder cable MR EKCBL_M H Cable length 20 30 40 50 m IP20 Long bending life 21 Encoder connector set MR ECNM Page 46 MR EKCBL_M _ IP20 22 Encoder cable MR J3JSCBL03M A1 L 1 Cable length 0 3 m Page 44 MR J3JSCBL03M _ L IP65 Load side lead 23 Encoder cable MR J3JSCBL03M A2 L 1 Ca...

Page 41: ...e OD 12 5 mm to 16 mm IP67 EN compliant 29 Electromagnetic brake connector set MR BKCNS1 1 Straight plug CMV1 SP2S L Socket contact CMV1 22BSC S2 100 DDK IP67 30 Electromagnetic brake connector set MR BKCNS1A 1 Angle plug CMV1 AP2S L Socket contact CMV1 22BSC S2 100 DDK IP67 31 Encoder connector set MR J3SCNSA 1 Page 50 MR J3ENSCBL_M _ IP67 32 Electromagnetic brake connector set MR BKCNS2 Straight...

Page 42: ... each block of a model name indicates Not all combinations of the symbols are available Connection of servo amplifier and rotary servo motor J 3 E N MR B C L A 1 2 M L L H A1 A2 2 2 5 10 5 10 Bending life Symbol Bending life Long bending life Standard Load side lead Cable direction Symbol Cable direction Lead in opposite direction of load side Cable length Symbol Cable length m 2 1 MR J3ENCBL_M A2...

Page 43: ...kit 36310 3200 008 3M or equivalent Connector set 54599 1019 Molex Encoder side connector 2 The following shows the view from the wiring side Do not connect anything to the pins shown with a diagonal line Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity Cable internal wiring diagram 4 2 8 6 1 5 10 3 7 9 MRR LG P5 BAT MR P5 M...

Page 44: ...he following describes what each block of a model name indicates Not all combinations of the symbols are available Connection of servo amplifier and rotary servo motor J 3 B C L L A 1 M L 03 0 3 A1 A2 MR 0 3 J Bending life Symbol Bending life Cable length Symbol Cable length m Load side lead Cable direction Symbol Cable direction Lead in opposite direction of load side Standard MR J3JCBL03M A2 L M...

Page 45: ...The following shows the view from the wiring side Do not connect anything to the pins shown with a diagonal line Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity Cable internal wiring diagram MR 1 2 3 MRR BAT MD MDR CONT 4 5 6 P5 7 8 9 LG SHD MDR CONT MD 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR BAT 2 P5 LG 7 8 MR MRR 1 2 1 3 6 SHD 5...

Page 46: ...f a model name indicates Not all combinations of the symbols are available Connection of servo amplifier and rotary servo motor 1 For details of this cable refer to the following Page 50 MR J3ENSCBL_M _ J 3 B C L L A 1 M L 03 0 3 A1 A2 MR S 0 3 J Bending life Symbol Bending life Cable length Symbol Cable length m Load side lead Cable direction Symbol Cable direction Lead in opposite direction of l...

Page 47: ...tor 2 The following shows the view from the wiring side Do not connect anything to the pins shown with a diagonal line Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity Cable internal wiring diagram 1 MR 2 MRR 3 5 LG BAT 4 7 6 10 SHD 9 8 P5 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR BAT 2 8 5 1 2 1 3 3 5 4 6 9 6 8 7 7 4 2 10 P5 LG MR M...

Page 48: ... by these cables alone Motor cables for rotary servo motors MR J3JCBL03M _ L are needed Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Connection of servo amplifier and rotary servo motor This connection is for when electromagnetic brake cable is included E K C B L 2 L 0 M L H 20 20 40 50 40 50 MR 30 30 Bending life Symbol ...

Page 49: ...f CN2 side connectors Receptacle 36210 0100PL Shell kit 36310 3200 008 3M or equivalent Connector set 54599 1019 Molex Junction connector 2 The following shows the view from the wiring side Do not connect anything to the pins shown with a diagonal line Housing 1 172161 9 Connector pin 170359 1 Crimping tool 91529 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industrial 4 2 8 6 ...

Page 50: ...onnection for use in an absolute position detection system Wiring is not necessary for use in an incremental system Cable bending life Applicable wiring diagram Less than 30 m 30 m to 50 m Standard MR EKCBL20M L MR EKCBL30M L Long bending life MR EKCBL20M H MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H 1 P5 LG 1 2 MR MRR BAT BAT 3 4 3 7 9 SD 1 2 8 9 LG MR MRR SHD P5 CN2 side connector Junction connect...

Page 51: ...ith the following Page 48 Internal wiring diagram Refer to the following for the specifications of the cable to use Page 58 Wires for option cables Parts Connector set Description CN2 side connector Junction connector MR ECNM Receptacle 36210 0100PL Shell kit 36310 3200 008 3M or Connector set 54599 1019 Molex Housing 1 172161 9 Connector pin 170359 1 TE Connectivity or equivalent Cable clamp MTI ...

Page 52: ...dicates Not all combinations of the symbols are available Connection of servo amplifier and rotary servo motor This connection is for when electromagnetic brake cable is included J 3 E N S C B L 2 L M L H 2 10 10 MR 2 20 5 5 30 40 50 20 30 40 50 Bending life Symbol Bending life Standard Long bending life Cable length Symbol Cable length m 1 2 MR J3ENSCBL_M L MR J3ENSCBL_M H CN2 Rotary servo motor ...

Page 53: ...set 54599 1019 Molex Junction connector 2 The following shows the view from the wiring side Do not connect anything to the pins shown with a diagonal line Cable length Bending life Plug DDK Straight plug Socket contact 10 m or shorter Long bending life CMV1 SP10S M1 CMV1 22ASC C1 100 Applicable wire size AWG 24 to 20 Crimping tool 357J 53162T Standard 20 m or longer Long bending life CMV1 SP10S M1...

Page 54: ...tion system Wiring is not necessary for use in an incremental system MR J3ENSCBL20M H MR J3ENSCBL30M H MR J3ENSCBL40M H MR J3ENSCBL50M H 1 Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system 4 8 1 2 5 10 P5 LG 1 2 MR MRR BAT BAT 3 4 9 SD LG MR MRR SHD P5 1 CN2 side connector Encoder side connector Plate 4 8 1 2 5 10 P5 LG...

Page 55: ...ption Servo amplifier side connector Encoder side connector DDK MR J3SCNS One touch connection type 1 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M or Connector set 54599 1019 Molex Straight plug CMV1 SP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG 20 or lower MR ENCNS2 Screw type 1 Straight plug CMV1S SP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG 20 o...

Page 56: ...S series Model The following describes what each block of a model name indicates Not all combinations of the symbols are available PW S 1 B C L L A 1 2 M L H 03 0 3 2 2 5 10 5 10 A1 A2 S2 MR S1 IP65 IP55 Bending life Symbol Bending life Cable length Symbol Cable length m Load side lead Cable direction Symbol Cable direction Lead in opposite direction of load side Long bending life Standard IP rati...

Page 57: ...tool CT170 14 TMH5B JAE MR PWS1CBL_M A2 L MR PWS1CBL_M A1 H MR PWS1CBL_M A2 H MR PWS2CBL03M A1 L Connector KN4FT04SJ2 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B JAE MR PWS2CBL03M A2 L 1 MR PWS1CBL_M A2 L MR PWS1CBL_M A2 H MR PWS2CBL03M A2 L 1 MR PWS1CBL_M A1 L MR PWS1CBL_M A1 H MR PWS2CBL03M A1 L CNP1 Rotary servo motor Rotary servo motor...

Page 58: ...KNS series Model The following describes what each block of a model name indicates Not all combinations of the symbols are available B K S 1 B C L L A 1 2 M L H 03 0 3 2 2 5 10 5 10 A1 A2 S2 MR S1 IP65 IP55 Bending life Symbol Bending life Cable length Symbol Cable length m Load side lead Lead out direction Symbol Lead out direction Lead in opposite direction of load side Long bending life Standar...

Page 59: ...MH S C1B 100 A534G Crimping tool CT170 14 TMH5B JAE MR BKS1CBL_M A2 L MR BKS1CBL_M A1 H MR BKS1CBL_M A2 H MR BKS2CBL03M A1 L Connector JN4FT02SJ2 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B JAE MR BKS2CBL03M A2 L 1 MR BKS1CBL_M A2 L MR BKS1CBL_M A2 H MR BKS2CBL03M A2 L 1 MR BKS1CBL_M A1 L MR BKS1CBL_M A1 H MR BKS2CBL03M A1 L Rotary servo m...

Page 60: ... AWG 22 2 17 0 16 28 7 or less 1 50 20 30 AWG 23 12 6 pairs 12 0 18 63 6 or less 1 2 8 2 0 3 20276 VSVPAWG 23 6P KB 0492 Bando Densen 3 MR EKCBL_M H 2 to 10 0 2 mm2 12 6 pairs 40 0 08 105 or less 0 88 7 2 A14B2343 6P Junkosha 3 20 AWG 24 12 6 pairs 40 0 08 105 or less 0 88 7 2 TPE SVP 40 0 08 AWG 24 or equivalent 6PKB 1928 2 Bando Densen 3 30 to 50 AWG 24 14 7 pairs 40 0 08 105 or less 0 88 8 0 TP...

Page 61: ...AWG 19 4 cores Dyden 4 MR PWS1CBL_M A2 H 2 to 10 MR PWS2CBL03M A1 L 0 3 AWG 19 4 30 0 18 25 8 or less 1 64 J11B2330 UL10125 Junkosha 3 5 MR PWS2CBL03M A2 L 0 3 Electromagnetic brake cable MR BKS1CBL_M A1 L 2 to 10 AWG 20 2 21 0 18 34 6 or less 1 35 4 7 0 1 HRZFEV A CL3 AWG 20 2 cores Dyden 4 MR BKS1CBL_M A2 L 2 to 10 MR BKS1CBL_M A1 H 2 to 10 AWG 20 2 110 0 08 39 0 or less 1 37 4 5 0 3 RMFES A CL3...

Page 62: ...ure of CN2 side connectors 5 6 Shield procedure of CN2 side connectors For the CN2 side connector securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell Screw Cable Ground plate ...

Page 63: ...G KNS73_ HG KNS73_J Power supply capacity Refer to Power supply capacity and generated loss in the following manual MR JET User s Manual Hardware Power supply voltage V 200 V AC 3 phase 200 V AC to 240 V AC Continuous running duty 1 Rated output kW 0 1 0 2 0 4 0 75 Rated torque N m 0 32 0 64 1 3 2 4 Maximum torque N m 0 95 1 9 3 8 7 2 Rated speed 1 r min 3000 Maximum speed 1 r min 6000 Power rate ...

Page 64: ...or 1 phase 230 V AC the torque characteristic is indicated by the heavy line Y X Rotary servo motor Vibration 0 1000 2000 3000 4000 5000 6000 10 1 100 1000 Vibration amplitude both amplitudes μm Speed r min Rotary servo motor Top Measuring position Bottom L L Distance from flange mounting surface to load center Thrust load Radial load HG KNS13 0 2 0 4 0 6 0 8 1 2 1 4 1 0 1000 2000 3000 4000 5000 6...

Page 65: ...ns of servo amplifiers and rotary servo motors 63 6 6 2 Combinations of servo amplifiers and rotary servo motors Rotary servo motor Servo amplifier HG KNS13 MR JET 10G_ HG KNS23 MR JET 20G_ HG KNS43 MR JET 40G_ HG KNS73 MR JET 70G_ ...

Page 66: ...not the guaranteed values 6 Select the electromagnetic brake control relay properly in consideration of the characteristics of the electromagnetic brake and surge absorber When a diode is used as a surge absorber the electromagnetic braking time becomes longer 7 The value of the brake static friction torque is the lower limit in the initial state at 20 C Item HG KNS series 13B_ 23B_ 43B_ 73B_ Type...

Page 67: ...t shaft Unit mm Rotary servo motor Shaft shape Keyed shaft with double round ended key D cut shaft HG KNS13_ D HG KNS23_ HG KNS43_ HG KNS73_ K Rotary servo motor Variable dimensions S R Q W QK QL U T Y HG KNS23_K HG KNS43_K 30 26 5 20 3 3 5 M4 Screw hole depth 15 HG KNS73_K 40 36 6 25 5 3 5 6 M5 Screw hole depth 20 Rotary servo motor Variable dimensions Q Q2 HG KNS13_D 21 5 20 5 W U Y T A A φS R Q...

Page 68: ... of oil into the rotary servo motor Install the rotary servo motor horizontally and set the oil level in the gear box to be always lower than the oil seal lip Rotary servo motor Height h from the surface of the oil mm HG KNS13_J 10 HG KNS23_J HG KNS43_J HG KNS73_J 19 Rotary servo motor Gear Shaft Lip Oil seal Height above oil level ...

Page 69: ...oder Connector for electromagnetic brake Tighten the screws evenly Tightening torques are as indicated below The rotating servo motor fitting part of each connector is provided with a splash proof seal O ring When mounting a connector use care to prevent the seal O ring from dropping and being pinched If the seal O ring has dropped or is pinched a splash proof effect is not produced 1 2 3 4 4 1 2 ...

Page 70: ... the values of the dimensions may vary depending on the ambient temperature allow some margin when designing the machine side Use a friction coupling for coupling the servo motor with a load Use hexagon socket head cap screws to mount the rotary servo motor Standard without an electromagnetic brake With oil seal HG KNS13J Unit mm Power connector Encoder connector Oil seal 89 25 5 2 5 21 5 9 9 47 8...

Page 71: ... 4 W PE φ14 0 0 011 0 0 025 φ50 4 φ5 8 60 45 BC69225 18 6 21 7 Connector pin assignment Servo motor flange direction Opposite load side Oil seal Power connector Encoder connector 109 7 30 7 3 26 14 11 7 9 5 67 3 9 5 9 13 9 27 8 18 6 10 9 21 7 47 1 46 10 13 7 28 4 7 φ 7 0 POWER 1 2 3 4 POWER No Signal 1 2 U 3 V 4 W PE φ14 0 0 011 φ50 0 0 025 4 φ5 8 60 45 BC69226 21 7 18 6 Connector pin assignment S...

Page 72: ...U 3 V 4 W PE φ19 0 0 013 φ70 0 0 03 4 φ6 6 φ 9 0 80 45 BC69227 Connector pin assignment Servo motor flange direction Opposite load side 82 4 25 5 2 5 13 7 4 9 39 8 9 11 7 11 7 21 7 20 5 20 7 20 7 21 Power connector Encoder connector 21 5 9 9 6 4 13 9 27 5 18 6 37 1 18 6 36 27 4 10 9 21 7 7 φ 4 6 POWER 1 2 3 4 φ8 0 0 009 φ30 0 0 025 45 2 φ4 5 40 POWER No Signal 1 2 U 3 V 4 W PE BC69216 Connector pi...

Page 73: ... 4 W PE φ14 0 0 011 0 0 025 φ50 4 φ5 8 60 45 BC69217 18 6 21 7 Connector pin assignment Servo motor flange direction Opposite load side 10 9 11 8 11 7 28 4 13 7 1 2 3 4 POWER Power connector Encoder connector 98 3 30 7 3 26 9 5 58 1 9 5 9 13 9 27 8 18 6 21 7 47 1 46 10 7 φ 7 0 POWER No Signal 1 2 U 3 V 4 W PE 4 φ5 8 60 45 φ14 0 0 011 0 0 025 φ50 BC69218 21 7 18 6 Connector pin assignment Servo mot...

Page 74: ...7 11 7 7 21 7 21 7 Power connector Encoder connector 112 40 8 3 36 9 5 69 6 12 14 27 8 18 6 57 1 56 18 6 7 φ 9 0 POWER 1 2 3 4 POWER No Signal 1 2 U 3 V 4 W PE 4 φ6 6 φ70 0 0 03 φ19 0 0 013 80 45 BC69219 Connector pin assignment Servo motor flange direction Opposite load side ...

Page 75: ...7 11 7 13 7 27 4 57 4 18 4 36 38 8 43 13 9 27 5 7 18 4 φ 4 6 POWER 1 2 3 4 BRAKE 1 2 PE BC69236 Connector pin assignment Servo motor flange direction Opposite load side 45 6 9 5 18 6 13 9 5 9 7 4 φ5 8 Oil seal Encoder connector Brake connector Power connector 124 8 30 7 3 26 0 0 025 φ14 0 0 011 14 11 7 9 27 8 13 5 60 10 9 21 7 47 1 47 1 10 13 7 28 4 18 5 21 7 φ 7 0 POWER 1 2 3 4 BRAKE 1 2 POWER No...

Page 76: ...No Signal 1 2 U 3 V 4 W BRAKE No Signal 1 B1 2 B2 PE 60 45 BC69238 Connector pin assignment Servo motor flange direction Opposite load side 4 φ6 6 Power connector Encoder connector Brake connector Oil seal 162 5 40 8 3 36 φ70 0 0 03 φ19 0 0 013 14 11 7 9 5 77 6 7 12 14 27 8 7 65 3 18 6 10 7 21 7 57 1 56 11 5 13 7 27 4 18 4 21 7 7 φ 9 0 POWER 1 2 3 4 BRAKE 1 2 POWER No Signal 1 2 U 3 V 4 W BRAKE No...

Page 77: ...wer connector 45 φ30 0 0 025 φ 4 6 2 φ4 5 40 φ8 0 0 009 37 1 21 7 18 4 9 13 7 BC69220 Connector pin assignment Servo motor flange direction Opposite load side 47 1 10 13 7 28 4 47 1 11 7 57 8 10 9 21 7 9 5 18 6 21 7 18 5 36 4 11 8 Encoder connector 113 4 30 7 3 26 Brake connector Power connector 13 9 5 9 4 φ5 8 27 8 φ 7 0 60 45 φ14 0 0 011 0 0 025 φ50 POWER No Signal 1 2 U 3 V 4 W BRAKE No Signal ...

Page 78: ...V 4 W BRAKE No Signal 1 B1 2 B2 PE BRAKE 1 2 POWER 1 2 3 4 BC69222 Opposite load side Connector pin assignment Servo motor flange direction 4 φ6 6 Power connector Encoder connector Brake connector 152 3 40 8 3 36 φ70 0 0 03 φ19 0 0 013 11 7 9 5 69 6 7 12 14 27 8 7 63 1 18 6 10 7 21 7 57 1 56 11 5 27 4 18 4 21 7 7 φ 9 0 80 45 13 7 11 8 POWER BRAKE 1 2 3 4 POWER No Signal 1 2 U 3 V 4 W BRAKE No Sign...

Page 79: ...02_J HG SNS152_ HG SNS152_J HG SNS202_ HG SNS202_J HG SNS302_ HG SNS302_J Power supply capacity Refer to Power supply capacity and generated loss in the following manual MR JET User s Manual Hardware Power supply voltage V 200 V AC 3 phase 200 V AC to 240 V AC Continuous running duty 1 Rated output kW 0 5 1 0 1 5 2 0 3 0 Rated torque N m 2 39 4 77 7 16 9 55 14 3 Maximum torque N m 7 16 14 3 21 5 2...

Page 80: ...on 6 The following shows permissible load for the shaft Do not subject the shaft to loads greater than the value in the specifications list The value assumes that the load is applied independently Y X Rotary servo motor Vibration 0 1000 2000 3000 10 100 1000 Vibration amplitude both amplitudes μm Speed r min Rotary servo motor Top Measuring position Bottom L L Distance from flange mounting surface...

Page 81: ...licable to HG SNS52 HG SNS102 HG SNS152 and HG SNS202 0 HG SNS52 1000 2000 3000 0 0 0 3 0 9 0 6 0 Continuous running range Short duration running range Speed r min Torque N m 0 HG SNS102 1000 2000 3000 0 0 0 5 0 15 0 10 0 Continuous running range Short duration running range Speed r min Torque N m 0 HG SNS152 1000 2000 3000 0 0 0 8 0 24 0 16 0 Continuous running range Short duration running range ...

Page 82: ...f servo amplifiers and rotary servo motors 7 2 Combinations of servo amplifiers and rotary servo motors Rotary servo motor Servo amplifier HG SNS52 MR JET 70G_ HG SNS102 MR JET 100G_ HG SNS152 HG SNS202 MR JET 200G_ HG SNS302 MR JET 300G_ ...

Page 83: ...es These are not the guaranteed values 6 Select the electromagnetic brake control relay properly in consideration of the characteristics of the electromagnetic brake and surge absorber When a diode is used as surge absorber the electromagnetic braking time becomes longer 7 The value of the brake static friction torque is the lower limit in the initial state at 20 C Item HG SNS series 52B_ 102B_ 15...

Page 84: ...Keyed shaft without key Unit mm Rotary servo motor Shaft shape Keyed shaft without key HG SNS_K K Rotary servo motor Variable dimensions S R Q W QK QL U r Y HG SNS52_K HG SNS102_K HG SNS152_K 55 50 36 5 4 M8 Screw hole depth 20 HG SNS202_K HG SNS302_K 79 75 55 5 5 M8 Screw hole depth 20 r W U Y A A φS R Q QK QL Section A A 24 0 0 013 8 0 0 036 4 0 2 0 35 0 010 0 10 0 0 036 5 0 2 0 ...

Page 85: ...l into the rotary servo motor Install the rotary servo motor horizontally and set the oil level in the gear box to be always lower than the oil seal lip Rotary servo motor Height h from the surface of the oil mm HG SNS52_J HG SNS102_J HG SNS152_J 23 HG SNS202_J HG SNS302_J 31 Rotary servo motor Gear Shaft Lip Oil seal Height above oil level ...

Page 86: ...mperature allow some margin when designing the machine side Use a friction coupling for coupling the servo motor with a load Use hexagon socket head cap screws to mount the rotary servo motor The HG SNS series with an oil seal and those without an oil seal have the same dimensions Standard without an electromagnetic brake HG SNS52 HG SNS52J Unit mm 1 For the servo motor with an oil seal 118 5 50 9...

Page 87: ... V Power connector MS3102A18 10P Encoder connector CMV1 R10P 12 3 38 2 55 50 φ24 0 0 013 φ110 0 0 035 φ145 4 φ9 45 φ165 PE BC69253 Servo motor flange direction Power connector Oil seal 1 146 5 50 9 13 20 9 85 8 130 112 5 13 5 58 50 55 Key W U V Power connector MS3102A18 10P Encoder connector CMV1 R10P 12 3 38 2 φ24 0 0 013 φ110 0 0 035 φ165 φ145 4 φ9 45 PE BC69254 Servo motor flange direction Powe...

Page 88: ...5 79 3 φ 2 3 0 Key W U V Power connector MS3102A22 22P Encoder connector CMV1 R10P φ200 4 φ13 5 45 φ114 3 0 0 025 φ35 0 01 0 PE BC69255 Servo motor flange direction Power connector Oil seal 1 176 82 13 50 9 24 8 98 8 38 5 162 5 18 3 140 9 79 75 φ200 φ 2 3 0 1 1 2 1 Key W U V Power connector MS3102A22 22P Encoder connector CMV1 R10P 1 1 2 1 4 φ13 5 45 φ35 0 01 0 φ114 3 0 0 025 PE BC69256 Servo moto...

Page 89: ...2P Encoder connector CMV1 R10P Power connector MS3102A18 10P PE φ24 0 0 013 φ110 0 0 035 φ165 φ145 4 φ9 45 BC69257 Power connector Electromagnetic brake connector Servo motor flange direction Oil seal 1 13 5 58 112 5 130 50 9 43 5 50 3 12 167 13 59 20 9 71 8 29 79 9 55 Key W U V Electromagnetic brake connector CMV1 R2P Encoder connector CMV1 R10P Power connector MS3102A18 10P Position mark φ165 φ1...

Page 90: ...Power connector MS3102A18 10P Position mark φ165 φ145 4 φ9 45 φ24 0 0 013 φ110 0 0 035 PE BC69259 Power connector Electromagnetic brake connector Servo motor flange direction Oil seal 1 82 140 9 176 50 9 45 5 188 18 3 75 24 8 74 8 13 96 9 79 66 5 44 φ 2 3 0 φ200 Key W U V Electromagnetic brake connector CMV1 R2P Power connector MS3102A22 22P Encoder connector CMV1 R10P Position mark φ114 3 0 0 025...

Page 91: ... 176 50 9 45 5 212 18 3 75 24 8 98 8 13 96 9 79 66 5 44 φ 2 3 0 φ200 Key W U V Electromagnetic brake connector CMV1 R2P Power connector MS3102A22 22P Encoder connector CMV1 R10P 1 1 2 1 Position mark 1 1 2 1 φ35 0 01 0 φ114 3 0 0 025 4 φ13 5 45 PE BC69261 Power connector Electromagnetic brake connector Servo motor flange direction Oil seal 2 ...

Page 92: ...itigation devices Low voltage directive The low voltage directive also applies to the rotary servo motor alone The rotary servo motor is designed to comply with the low voltage directive Machinery directive The rotary servo motor as a single unit does not comply with the Machinery directive due to correspondence with Article 1 2 k However the Machinery directive applies to machines and equipment i...

Page 93: ... permissible torque value that can be generated when the motor is mounted on the flange specified in this table and used in the environment of specified ambient temperature 0 C to 40 C Therefore to conform to the UL CSA standard mount the direct drive motor on a machine with a heat radiating effect equivalent to that of this flange Insulation class 105 A UL Insulation class 155 F Selection example...

Page 94: ...servo motor ID codes Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder ID Rotary servo motor 0117 FF13 0044 HG KNS13 FF23 HG KNS23 FF43 HG KNS43 FF73 HG KNS73 012B FF52 HG SNS52 F102 HG SNS102 F152 HG SNS152 F202 HG SNS202 F302 HG SNS302 ...

Page 95: ...0 m or less As some cables do not fit in the optional or recommended cable clamp select cable clamps applicable to the cable diameters Selection example when using the 600 V grade EP rubber insulated chloroprene sheath cab tire cable 2PNCT for rotary servo motor power U V W is indicated below Rotary servo motor Wire size mm2 HG SNS52 1 25 HG SNS102 1 25 HG SNS152 2 HG SNS202 2 HG SNS302 3 5 ...

Page 96: ...E Connectivity 2174053 1 Unit mm 1 The recommended screw tightening torque is 0 1 N m Crimping tool 1596970 1 for ground clip 1596847 1 for receptacle contact JAE JN4FT02SJ1 R Unit mm 1 The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B 19 6 13 5 6 5 24 6 22 19 31 1 φ13 6 1 26 6 17 12 3 19 14 3 φ11 6 11 8 2 5 1 ...

Page 97: ...or dimensions 95 9 KN4FT04SJ1 R Unit mm 1 The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B 16 0 3 11 7 0 2 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 φ13 0 3 1 R6 Main key ...

Page 98: ...2S _ Refer to the following for details of the crimping tool Page 23 Wiring connectors connector configurations D E F G Unit mm CMV1S SP10S M_ CMV1S SP2S _ Refer to the following for details of the crimping tool Page 23 Wiring connectors connector configurations D E F G Unit mm 50 φ21 φ21 For CMV1 SP10S M_ For CMV1 SP2S _ φ21 32 33 For CMV1 AP10S M_ For CMV1 AP2S _ 50 φ21 φ21 For CMV1S SP10S M_ Fo...

Page 99: ...E05 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 Model 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 32 33 φ21 For CMV1S AP10S M_ For CMV1S AP2S _ W A φC 0 8 φB 0 0 38 D or shorter 7 85 ...

Page 100: ...2A 2 D 13 0 CE342012 2 9 5 to 13 Model 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 MS3106B22 22S 1 3 8 18UNEF 18 26 56 57 40 48 1 3 16 18UNEF 9 53 50 Model A J L Q R U V W D MS3108B18 10S 1 1 8 18UNEF 18 26 68 27 34 13 20 5 30 2 1 20UNEF 9 53 D MS3108B22 22S 1 3 8 18UNEF 18 26 76 98 40 48 24 1 33 3 1 3 16 18UNEF 2A 9 53 1 6 D H φF φE φB 0 7 A 0 7 G 0 7 Bushing I...

Page 101: ...8 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 Model 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 φB 0 7 A 0 7 G 0 7 1 6 V Effective thread length C φD Cable clamp ID F Movable range φE Bushing ID D φB A J φG H E C ...

Page 102: ...ble with a diameter that can be clamped with the connector cable clamp Select a cable whose length diameter and bending life are appropriate 3 Assembly of the cable Check the wiring guide of the connector manufacturer to connect the connector properly Check internal wiring described in chapter 5 to connect it properly Perform a shielding process on the encoder cable properly Do not connect anythin...

Page 103: ...9 APPENDIX 9 4 Fabrication of the encoder cable 101 9 MEMO ...

Page 104: ...on November 2019 IB NA 0300488ENG A First edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Page 105: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 106: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300488ENG A ...

Page 107: ......

Page 108: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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