SERVO AMPLIFIERS & MOTORS MELSERVO-H ADVANCED SERVO SYSTEM

Transcription

1 SERVO AMPIFIERS & MOTORS MESERVO-H ADVANCED SERVO SYSTEM

2 ENVIRONMENT Servo Technology Transformed by a New Control Algorithm Reduced Settling Time The MR-H settling time has been sharply reduced when compared to conventional servo systems. The ability of the MR-H to respond quickly and precisely to a reference change is due to the high-performance Reduced Instruction Set Computer (RISC) platform, and the patented model reference adaptive control logic. These features make the MR-H ideal for applications which require high speed positioning. Stationary Settling Time Comparison with Conventional Products Reference 2ms 1ms Droop Pulse Positioning completed signal Droop pulse Positioning completed signal Reference 1ms Conventional method Stable Performance at Very ow Speed The MR-H has the most stable performance at low speed in its class of devices. This is made possible through the application of a high-resolution serial encoder and the model-reference adaptive control theory. This low speed performance makes the MR-H well suited for low speed machining operations..5 [r/min] MR-H method Measurement with motor operated at.5 rpm 2 sec. Real-Time Automatic Tuning The patented model-reference adaptive tuning virtually eliminates the time consuming process of manually tuning the amplifier. During operation. the MR-H s internal gain settings are constantly updated to the optimum level, The result is consistently stable control, even under fluctuating load conditions. With Real- Time Automatic Tuning the MR-H is ideal for winding applications. Measurement of speed response when load's moment of ineritia is changed during operation oad's moment of inertia 7.5-times oad's moment of inertia comparison (x-times) Motor speed (r/min) oad's moment of inertia 23-times During tuning After tuning During tuning oad's moment of inertia 7.5-times 2 sec. After tuning CERTIFICATION ORGANIZATION FOR 1 AND AUDIT JAPAN NATIONA ACCREDITATION OF CERTIFICATION BODIES

3 Easy Operation An optional parameter unit with a 13 character, 4 line CD display makes it easy to utilize the outstanding operating features of the MR-H series: Main features Parameter setting Parameter copying Operation monitor Alarm diagnostics Trouble-shooting An array of test modes Absolute Positioning (ABS) Thanks to Mitsubishi s unique absolute positioning (ABS) it is possible to construct ABS systems with Mitsubishi s multi-purpose MESEC-A positioning units by merely using a motor with an ABS encoder. There s no need for home position return after power has been turned off. A sample program illustrating construction of an ABS system with the AD71 and AD75P are available. A motor equipped with a ABS encoder and a battery (separate option) are required. RS-232C Communications (Computer ink) An RS-232C communication port comes as standard equipment in the MR-H-AN series. This port allows expansion of the system and operating environment through connection to a PC or personal computer. Simple Wiring In this revolutionary system, all data is transmitted with just one pair of signals (four pairs with the power supply and ABS power supply). A dedicated gate array for the encoder has been developed, enabling data to be transmitted via serial communications. The wiring is simpler than ever. High-resolution P/rev encoder is standard. High-resolution positioning of.22 degrees can be achieved with the motor shaft and high speed feed of 49m/min in feed units of 1µm. Optical communications are optional, greatly facilitating longdistance wiring. MR-H configuration (4P) Conventional configuration (8P) 2

4 Rating Table Servomotor rating tables Type Servomotor series Servomotor type HC- Specifications Servo-amp type MR- Power facility capacity (kva) (note 2) Continuous characteristics Output rating (kw) Torque rating [N m (kgf cm)] Maximum torque [N m (kgf cm)] Rated speed (r/min) Maximum speed (r/min) Permissible instantaneous rotation speed (r/min) Power rate (kw/s) Rated current (A) Maximum current (A) With no options MR-RB13 (1W) MR-RB33 (3W) MR-RB3 (3W) Regeneration braking MR-RB31 (3W) frequency (times/min) (note 3) MR-RB32 (3W) MR-RB34 (3W) MR-RB5 (5W) MR-RB51 (5W) MR-RB54 (5W) Moment of inertia (figures inside J ( 1-4 kg m 2 ) parentheses indicate units with B) GD 2 (kgf m 2 ) Recommended load/motor inertia ratio Speed/position detector Attachments Structure Ambient temperature Ambient humidity Environment Atmosphere Elevation Vibration (note 9) Weight kg (lb) Servomotor (note 1) HC-MF series (Ultra-low inertia / ow capacity) MR53 (BG) MF13 (BG) MF43 (BG) H2MN.3 H6MN (1.62).32 (3.25) 1.3 (13.).48 (4.86).95 (9.74) 3.8 (39.) (note 4) (note 4) (note 4).19 (.22).3 (.32).74 (.86).12 (.129) MF23 (BG) H4MN (6.5) 1.9 (19.5) (.136).35 (.543) (note 4).143 (.191).57 (.763) MF73 (BG) H1MN (24.4) 7.2 (73.1) (.725) 2.4 (2.9) HA-FF series (ow inertia / ow FF53 (BG) FF13 (BG) FF23 (BG) FF33 (BG) H1MN H2MN H4MN (1.62).32 (3.25).64 (6.5).95 (9.7).48 (4.86).95 (9.74) 1.9 (19.5) 2.9 (29.2) (note 4) (note 4) (note 4).63 (.8).95 (.113).35 (.483).5 (.633).25 (.32).38 (.45) 1.4 (1.93) 2. (2.53) 3 times the servomotor s moment of inertia max. (note 6) 1 times the servomotor s moment of inertia Resolution per encoder / servomotor rotation: 8192 P/rev (Can handle up to P/rev with special specifications. The amp is made to order.) (note 13) Encoder Encoder, V-ring Totally enclosed non ventilated (protection degree: IP44) (note 8) Totally enclosed non ventilated (protection degree: IP44 X: 19.6 m/s 2 (2 G) Y: 19.6 m/s 2 (2 G).4 (.9).53 (1.2).99 (2.2) 1.45 (3.2) 3. (6.7) 1.3 (2.9) 1.5 (3.3) 2.3 (5.1) 2.6 (5.7) Type Servomotor series Servomotor type HC- Specifications Servo-amp type MR- Power facility capacity (kva) (note 2) Continuous characteristics Output rating (kw) Torque rating [N m (kgf cm)] Maximum torque [N m (kgf cm)] Rated speed (r/min) Maximum speed (r/min) Permissible instantaneous rotation speed (r/min) Power rate (kw/s) Rated current (A) Maximum current (A) With no options MR-RB13 (1W) MR-RB33 (3W) Regeneration braking MR-RB3 (3W) frequency (times/min) (note 3) MR-RB32 (3W) MR-RB34 (3W) MR-RB5 (5W) MR-RB54 (5W) Moment of inertia (figures inside J ( 1-4 kg m 2 ) parentheses indicate units with B) GD 2 (kgf m 2 ) Recommended load/motor inertia ratio Speed/position detector Attachments Structure Ambient temperature Ambient humidity Environment Atmosphere Elevation Vibration (note 9) Weight kg (lb) Servomotor (note 1) HC-SFr/min series (Medium inertia / Medium capacity) SF 13 (B) SF153 (B) SF23 (B) H1MN (32.5) 9.55 (97.4) SF53 (B) H6MN (16.2) 4.77 (48.7) (8.6) 26.5 (34.5) (15.7) 54.8 (62.8) H2MN (48.7) 6.37 (65.) 14.3 (146) 19.1 (195) (22) 42.5 (52.5) 79.8 (87.8) 17 (21) 15 times the servomotor s moment of inertia max. (note 6) SF353 (B) H35MN (114) 33.4 (341) (92) 328 (368) X: 9.8 m/s 2 (1 G) X: 19.6 m/s 2 (2 G) Y: 24.5 m/s 2 (2.5 G) Y: 49 m/s 2 (5 G) 5. (11.) 7. (15.4) 9. (19.8) 12. (26.5) 19. (41.9) 3.9 (8.6) HC-RF series (Medium inertia / Medium capacity) RF13 (BG) RF153 (BG) RF23 (BG) RF353 (BG) H2MN H35MN H5MN (32.5) 4.78 (48.7) 6.37 (64.9) 11.1 (114) 7.98 (81.3) 11.9 (122) 15.9 (162) 27.9 (285) (1.85) 1.9 (2.25) 2.3 (2.65) 8.6 (11.8) 6 (7.4) 7.6 (9.) 9.2 (1.6) 34.4 (47.2) 5 times the servomotor s moment of inertia max. Resolution per encoder / servomotor rotation: P/rev (Can handle up to P/rev with special specifications. The amp is made to order.) (note 13) Encoder, Totally enclosed non ventilated (protection degree: IP65) Totally enclosed non ventilated (protection degree: IP65) (note 11) X: 9.8 m/s 2 (1 G) Y: 24.5 m/s 2 (2.5 G) 5. (11.) 6.2 (13.7) 12. (26.5) 1. Special specifications are available for applications where oil or water may splash onto the mechanism. 2. The power supply capacity varies with the power supply impedance. 3. The regenerative brake frequency shown is the permissible frequency for decelerating a stand-alone motor from rate r/min to a stop. When under load, however, the value becomes the table value divided by (m+1) where m is the load inertia moment divided by the motor inertia moment. When the rated r/min is exceeded, the regenerative brake frequency is inversely proportional to the square of (Operating speed/rated speed). When the operating r/min varies frequently or when regeneration is constant (as with vertical feeds), find the heat regenerated (W) while operating and do not exceed the permissible value. 4. There is no limit on frequency of regeneration if the effective torque is within the rated torque range. The maximum load inertia moment ratio recommended, however, is There is no limit on frequency of regeneration if the effective torque is within the rated torque range. The maximum load inertia moment ratio recommended, however, is 1. 3

5 Rating Table capacity) HC-SF1r/min series (Medium inertia / Medium capacity) HC-SF2r/min series (Medium inertia / Medium capacity) FF43 (BG) FF63 (BG) SF81 (B) SF121 (B) SF21 (B) SF31 (B) SF52 (BG) SF12 (BG) SF152 (BG) SF22 (BG) SF352 (BG) SF52 (BG) SF72 (BG) H4MN H6MN H1MN H2MN H35MN H6MN H1MN H2MN H35MN H5MN H7MN (13.) 1.9 (19.5) 8.12 (82.8) 11.5 (117) 19.1 (195) 28.6 (292) 2.39 (24.4) 4.78 (48.7) 7.16 (73.1) 9.55 (97.4) 16.7 (17) 23.9 (244) 33.4 (34) 3.8 (39.) 5.7 (58.5) 24.4 (248) 34.4 (351) 57.3 (585) 85.9 (877) 7.16 (73.1) 14.4 (146) 21.6 (219) 28.5 (292) 5.1 (51) 71.6 (73) 1 (122) (1.325) 1.2 (1.55) 2. (22.) 42.5 (52.5) 82. (92.) 11 (111) 6.6 (8.6) 13.7 (15.7) 2. (22.) 42.5 (52.5) 82. (92.) 11 (111) 16 (17) 3.9 (5.3) 4.8 (6.2) 79.8 (87.8) 17 (21) 328 (368) 44 (444) 26.5 (34.5) 54.8 (62.8) 79.8 (87.8) 17 (21) 328 (368) 44 (444) 64 (68) max. (note 6) 15 times the servomotor s moment of inertia max. (note 6) Resolution per encoder / servomotor rotation: P/rev (Can handle up to P/rev with special specifications. The amp is made to order.) (note 13) Encoder, except connector) (note 8) Totally enclosed non ventilated (protection degree: IP65) Totally enclosed non ventilated (protection degree: IP65) (note 11) to 4 C (32 to 14 F) (non freezing), storage: -15 to 7 C (5 to 158 F) (non freezing) 8% RH max. (non condensing), storage: 9% RH max. (non condensing) Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust 1 meters or less above sea level X: 9.8 m/s 2 (1 G) Y: 24.5 m/s 2 (2.5 G) X: 19.6 m/s 2 (2 G) Y: 49 m/s 2 (5 G) X: 11.7 m/s 2 (1.2 G) Y: 29.4 m/s 2 (3 G) X: 9.8 m/s 2 (1 G) Y: 24.5 m/s 2 (2.5 G) X: 19.6 m/s 2 (2 G) Y: 49 m/s 2 (5 G) X: 11.7 m/s 2 (1.2 G) Y: 29.4 m/s 2 (3 G) 4.2 (9.3) 4.8 (1.6) 9. (19.8) 12. (26.5) 19. (41.9) 23. (5.7) 5. (11.1) 7. (15.4) 9. (19.8) 12. (26.5) 19. (41.9) 23. (5.7) 32. (7.6) RF53 (BG) H5MN (162) 39.7 (45) (15.5) 48. (62.) (note 6) UF72 (B) H1MN (36.5) 1.7 (11) (12.4) 41.6 (49.6) HC-UF2r/min series (Flat medium capacity) HC-UFr/min series (Flat low capacity) HA-HM series (ow inertia / High capacity) UF152 (B) UF22 (B) UF352 (B) UF52 (B) UF13 (B) UF23 (B) UF43 (B) UF73 (B) H11K2 H22K2 H2MN H35MN H5MN H1MN H4MN H6MN H1MN 11KMN 22KMN (73.1) 21.6 (219) (97.4) 28.5 (292) (17) 5.1 (51) (244) 71.6 (73) (3.25).95 (9.74) (24.4) 7.2 (73.1) (536) 158 (161) (171) 263 (268) (24.1) 88.4 (96.4) (46.8) 153 (187.2) (85.1) 115 (123.6) 36 (34.4) 46 (494.4) (note 1) 2241 (note 1).66 (.74).264 (.296) (6.5) 1.3 (13.) 1.9 (19.5) 3.8 (39.) (note 1).241 (.323).365 (.447).963 (1.29) 1.46 (1.79) (6.1) 23.6 (24.4) H15K2 15KMN (731) 215 (219) times the servomotor s moment of inertia max. (note 6) 15 times the servomotor s moment of inertia max. (note 6) Resolution per encoder / servomotor rotation: P/rev (Can handle up to P/rev with special specifications. The amp is made to order.) (note 13) Encoder, Totally enclosed non ventilated (protection degree: IP65) (note 11) Totally enclosed fan cooled (protection degree: IP44) to 4 C (32 to 14 F) (non freezing), storage: -15 to 7 C (5 to 158 F) (non freezing) 8% RH max. (non condensing). storage: 9% RH max. (non condensing) Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust 1 meters or less above sea level X: 9.8 m/s 2 (1 G) Y: 24.5 m/s 2 (2.5 G) X: 19.6 m/s 2 (2 G) Y: 49 m/s 2 (5 G) X: 19.6 m/s 2 (2 G) Y: 19.6 m/s 2 (2 G) X: 11.7 m/s 2 (1.2 G) Y: 29.4 m/s 2 (3 G) 17. (37.5) 8. (17.6) 11. (24.3) 16. (35.3) 2. (44.1) 24. (52.9).8 (1.8) 1.5 (3.3) 1.7 (3.7) 5. (11.) 7 (154.4) 18 (238.1) 135 (297.7) 6. Contact Mitsubishi if you must exceed the stated load inertia moment ratio. 7. Does not include connector. 8. Does not include axis penetration area or connector. X Y 9. The directions of vibration are as follows. 1. Regeneration frequency is not restricted if the effective torque is within the rated torque range. However the recommended load inertia moment ratio is a maximum of When a decelerator is attached, the decelerator portion is equivalent to IP Changing Parameter 2, and installing the cooling fan and resistor allows adjustment. 13. Not compatible with models MR-HMACN. Contact Mitsubishi for details. 4

6 Type Designation and Servomotors Servo-amp MR-H 2 A Mitsubishi General-purpose Servo-amp MR-H series A: Standard B: SSC-NET Compatible motor output capacity (kw) Symbol K 15K 22K HA-H HC-MF HA-FF HC-SF HC-RF HC-UF 2 r/min.5 1., , r/min r/min.5,.1.5, , r/min , r/min , r/min , r/min 1., , 5. 2 r/min , 5. r/min Servomotor HC-MF 5 3 B - 5 Mitsubishi AC servomotors HC-MF series HA-FF series HC-SF series HC-UF series HC-RF series HA-HMK series Rated output Symbol capacity (kw) to 7.1 to.75 1 to 7 1. to 7. 11K to 22K 11 to 22 Symbol Rated (r/min) 1 2 (HA-FF series) Symbol C (HA-HMK series) Symbol C Symbol B Input supply format HA-FF HA-FF-UE ead Canon connector Electromagnetic brake Installed (HC-MF and -UF r/min series) (HC-SF, -RF, and -UF2 r/min series) Symbol C Input supply format ead Symbol C Input supply format Canon connector Input supply format HA-HMK Terminal box HA-HMK-EC Terminal block HA-HMK-U Terminal box 1. Make a specific enquiry regarding whether specially developed products meet standards. 2. An incremental encoder is standard for the HA-HMK series. The HA-HMK2MY series have absolute encoders. Symbol K D (HC-MF, HA-FF series) Axial end Standard* 1 Key way* 3 D-cut* 2 1. A key way is standard on the HA-FF23 through HA-FF63. All others have a straight shaft as standard. 2. The D-cut works only with the HC-MF and HA-FF models of 1W or less. 3. HC-MFMK and HC-UFMK ( r/min) have key. Non-Japanese Symbol standard compatibility Standard product. Japanese compatibility Meet EN and UE U/cUstandard Note: The standard specifications of the HC-SF, HC-RF, and HC-UF model series meet EN and U/cU standards. (HA-HMK series) Symbol EC U Non-Japanese standard compatibility Standard product. Japanese compatibility Meet EN standard Meets U/cU standards (compliance scheduled)

7 Servomotor Features and Amplifier s Motor series Rated speed (maximum) (r/min) Rated output capacity (kw) Servomotor type with electro-magnetic brake (B) Meets EN standards Meets U and cu standards Protective construction HC-MF series M (45).5~.75 5 types.5,.1,.2,.4,.75 IP44 HA-FF series F (4).5~.6 6 types.5,.1,.2,.3,.4.6 IP44 (IP65) HC-SF series S 1 15:.85kW 12: 1.2~3kW ( ) 2 ( :.5~1.5kW 25: 2, 3.5kW 2: 5, 7kW~ ).85~3. 4 types.85, 1.2, 2., 3..5~7. 7 types.5, 1., 1.5, 2., , 7. IP65 (IP67) IP65 (IP67) ().5~3.5 5 types.5, 1., 1.5, 2., 3.5 IP65 (IP67) HC-RF series R (45) 1.~5. 5 types 1., 1.5, 2., 3.5, 5. IP65 (IP67) HC-UF series U 2 :.75~2kW 25: 3.5, 5kW ( ).75~5. 5 types.75, 1.5, 2., 3.5, 5. IP65 (45).1~.75 4 types.1,.2,.4,.75 IP65 except connector HC-HMK series 2 (2) 11.~22. 3 types 11, 15, 22 Schedule JP44 1. Figures in parentheses are the manufacturable range. 2. Asterisked items are special specifications. 3. As previously, the HA series (HA-MH, FH, SH, UH, and H) can also be used. 6

8 External Dimensions Servo-amp MR-H1AN~MR-H1AN 2-Dia. 6 (.24) mouting holes 5.5 (.22) 59 (2.32) 5.5 (.22) 2 (.78) 5 (.2) CN2 Terminal block cover Bottom view CN1 Terminal block (9.25) 7.5 (.3) 25 (9.8) 6 (.24) 15 7 (2.76) 75 (2.95) (.59) 85 (3.35) (.3) Parameter unit cable 19 (7.48) CN1,CN2 cable P C N R S T R1 S1 U V W Terminal alignment Screw size M4 The cooling FIN is provided for the MR-H1AN. Width marked includes that of the MR-H1AN. MR-H2AN, MR-H35AN CN2 Terminal block cover Bottom view CN1 9 (.35) 117 (4.61) 9 (.35) 6 (.24) 135 (5.31) 2-Dia. 6 (.24) mounting holes (9.25) 7.5 (.3) 25 (9.84) (.3) Parameter unit cable 2 (.78) 12 (4.2) 75 (2.95) 19 (7.48) CN1,CN2 cable 88 (3.46) 5 (.2) P C N R S T R1 S1 U V W Terminal alignment Screw size M4 7

9 External Dimensions MR-H5AN, MR-H7AN 19 (7.48) 128 (5.4) 62 (2.44) Dia. 6 (.24) (.79) (3.94)(.79) mounting holes MR-H5AN CN2CN (5.51) (.24) 33 (12.99) 1 (.39) 35 (13.78) 1 (.39) 3 2-Dia. 7 (.28) (1.18) mounting holes (6.56) 247 (9.72) 8.5 (3.17) MR-H7AN 17 (6.69) CN2CN A (.28) (9.6) 3 (1.18) 33 (12.99) 35 (13.78) 1 (.39) 75 (2.95) 2 (.79) Cooling air (MR-H7AN) Cooling air (MR-H5AN) TE1 TE1 P C N R S T U V W P C N R S T R1 S1 U V W TE2 GND Screw size R1 S1 TE1 M4 TE2 M3.5 GND M4 M5 screw size MR-H11KAN~MR-H22KAN 2-Dia. 1 (.39) mounting holes 15 (.59) 23 (7.87) 15 (.59) 1 (.39) 48 (18.9) 5 (19.69) Cooling air 75 (2.95) 2 (.79) 2-Dia. 12 (.47) mounting holes 6 (2.36) 23 (9.6) 6 (2.36) 48 (18.9) 1 (.39) 5 (19.69) 75 (2.95) 2 (.79) Cooling air 1 (.39) 26 (1.24) A 1 (.39) TE1 12 (.47) 35 (13.78) A 1 (.39) TE1 MR-H11KAN 85 (3.35) 175 (6.89) 26 (1.24) R S T U V W P C N TE2 R1 S1 MS1 MS2 Screw size TE1 TE2 MR-H11KAN M5 M4 MR-H15KAN, MR-H22KAN 175 (6.89) 85 (3.35) 26 (1.24) R S T U V W P C N TE2 R1 S1 MS1 MS2 Screw size TE1 TE2 MR-H15KAN M6 M4 MR-H22KAN M8 M4 8

10 External Dimensions Servomotors HC-MF53 (B), HC-MF13 (B) 25 (.98) 4 (1.57) 28 (1.1) 5 (.2) 2.5 (.1) ø3h7 ( ) ø8h6 ( ) (.177) 46 (1.81) 25.2 (.99) Brake lead (note 4) inch (AWG inch round crimped terminal with tip insulation) Blue: B1, B2 Encoder cable.3m (11.8) With connector (made by AMP) Power supply lead 4-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase Green/Yellow: ground HC-MF53 (B) HC-MF13 (B) 81.5 (3.21) <19.5 (4.3)> 96.5 (3.8) <124.5 (4.9)> HC-MF23 (B), HC-MF43 (B) 3 (1.18) 6 (2.36) 7 (.28) 3 (.12) (.23) 38 (1.5) 25.2 (.99) ø5h7 ( ) ø14h6 ( ) Power supply lead Brake lead (note 4) 4-AWG inch (AWG inch round crimped inch (AWG inch round Red: U phase crimped terminal with tip White: V phase insulation) Blue: B1, B2 Black: W phase Encoder cable.3m (11.8) Green/Yellow: ground With connector (made by AMP) 7 (2.76) HC-MF23 (B) HC-MF43 (B) 99.5 (3.92) <131.5 (5.18)> (4.9) <156.5 (6.16)> HC-MF73(B) 142 (5.59) <177.5 (6.99)> 4 (1.57) 8 (.32) 3 (.12) (.26) 8 (.31) 48 (1.89) 25.2 (.99) Brake lead (note 4) inch (AWG inch round crimped terminal with tip insulation) Blue: B1, B2 Encoder cable.3m (11.8) With connector (made by AMP) ø7h7 ( ) ø19h6 ( ) Power supply lead 4-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase Green/Yellow: ground 9 (3.54) 9 1. When mounting the servomotor horizontally we recommend encoder connector be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes.

11 External Dimensions HA-FF53 (B), HA-FF13 (B) 39 (1.54) 47 ( 1.85) Encoder cable.3m (11.8 inch) With connector (made by AMP) 3 (1.18) 39 (1.54) Ground terminal, M3 screw (opposite) (.24) (.1) Power supply lead ø5h7 ( ) ø8h6 ( ) VCTF 3-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase V-ring (2.13) 68 6 Brake lead (note 4) VCTF inch (AWG inch round crimped Blue: B1, B2 39 (1.54) HA-FF53 (B) HA-FF13 (B) 16 (4.17) <141 (5.55)> 123 (4.84) <158 (6.22)> HA-FF23 (B), HA-FF33 (B) Ground terminal, M3 screw 39 (1.54) 47 ( 1.85) Encoder cable.3m (11.8 inch) With connector (made by AMP) 39 (1.54) 8 (.32) 3 (1.18) 3 (.12) 25 (.98) 16 4 (.63) A A 7h7 Power supply lead Brake lead (note 4) VCTF 3-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase V-ring 4-ø5.5 (.22) 76 (3.) VCTF inch (AWG inch round crimped Blue: B1, B2 4 (.16) 4 (.16) 2.5 (.1) M4 screw depth 15 (.59) ø11h6 (.43) Cross-section AA HA-FF23 (B) HA-FF33 (B) 131 (5.16) <168 (6.61)> 148 (5.83) <186 (7.32)> HA-FF43 (B), HA-FF63 (B) Ground terminal, M3 screw 47 ( 1.85) 39 (1.54) 39 (1.54) 1 (.39) 4 (1.58) 3 (.12) 35 (1.38) 25 5 A 95h7 A V-ring (3.94) (21.44) 5 (.2) 5 (.2) 3 (.12) M5 screw depth 2 (.79) ø16h6 (.63) Cross-section AA Encoder cable.3m (11.8 inch) With connector (made by AMP) Power supply lead Brake lead (note 4) VCTF 3-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase VCTF inch (AWG inch round crimped terminal with tip insulation) Blue: B1, B2 HA-FF43 (B) HA-FF63 (B) 155 (6.1) <192 (7.56)> 17 (6.69) <27 (8.15)> 1. When mounting the servomotor horizontally we recommend encoder connector be mounted downward. 2. Use a friction coupling to fasten the load. 3. Dimensions inside < > are for models with electromagnetic brakes. 4. Only for models with electromagnetic brakes. 5. The inertial moment value in the table is the motor axis conversion value (motor+decelerator). 1

12 External Dimensions HC-SF81(B) HC-SF52 (B)~HC-SF152 (B) HC-SF53 (B)~HC-SF153 (B) 55 (2.17) 12 (.47) 3 (.12) 5 (1.97) 13 (5.12) 4-ø9 (.35) mounting holes Use heaxagonal cap head bolts 24h6 11h7 145 Motor flange Brake direction U (note 3) G F V A E D H B C 81.5 (3.21) S3457B (4.37) Ground W pin assign (CE5-2A22-23P) 19.5 (.77) Encoder connector MS312A2-29P K Power supply connector CE5-2A22-23P 1 r/min HC-SF81 (B) 41 (1.61) 2 r/min r/min K HC-SF52 (B) HC-SF53 (B) 12 (4.72) <153 (6.3)> 51.5 (2.3) HC-SF12 (B) HC-SF13 (B) 145 (5.71) <178 (7.1)> 76.5 (3.1) HC-SF152 (B) HC-SF153 (B) 17 (6.69) <23 (7.99)> 11.5 (4.) HC-SF121 (B)~HC-SF31 (B) HC-SF22 (B)~HC-SF72 (B) HC-SF23 (B)~HC-SF353 (B) (note 3) (note 3) (note 3) 69 (2.72) Encoder connector MS312A2-29P 79 (3.11) 39.5 (1.56) 18 (.71) 3 (.12) 75 (2.95) Brake connector MS312A1S-4P K CE5-2A24-1P (5kw) CE5-2A32-17P (7kw) S468B ø13.5 (.53) mounting holes Use heaxagonal cap head bolts KB KA 2 Motor flange direction U F V A G E B D Ground C W pin assign (CE5-2A24-1P) Motor flange direction U D A V C B Ground W pin assign CE5-2A32-17P (7kW) Motor flange direction A B Brake Brake connector pin assign MS312A1S-4P (note 3) 1, 2 is the screw hole for the lifting bolts. The screw holes for the lifting bolts are only HC-SF72 (B). 1 r/min HC-SF121 (B) HC-SF21 (B) HC-SF31 (B) 2 r/min r/min K KA HC-SF22(B) HC-SF23 (B) 145 (5.71) <193 (7.6)> 68.5 (2.7) 142 (5.6) HC-SF352 (B) HC-SF353 (B) 187 (7.36) <235 (9.25)> 11.5 (4.35) 142 (5.6) HC-SF52 (B) 28 (8.19) <256 (1.8)> (5.18) 142 (5.6) HC-SF72 (B) 292 (7.56) <34 (13.39)> 21.5 (8.29) 15 (5.91) KB 46 (1.81) 46 (1.81) 46 (1.81) 58 (2.28) 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 4. The inertial moment value in the table is the motor axis conversion value (motor+decelerator). 11

13 External Dimensions HC-RF13 (B), HC-RF153 (B), HC-RF23 (B) 45 (1.77) 1 (3.94) 39.5 (1.56) 1 (.39) 3 (.12) 4 (1.57) 4-ø9 (.35) mounting holes Use heaxagonal cap head bolts 81.5 (3.21) 24h (.77) Encoder connector MS312A2-29P CE5-2A22-23P K S3457B 95h7 Motor flange direction Brake (note 3) G F A E H B D C Ground U V W pin assign CE5-2A22-23P (1.61) (3.78) HC-RF13 (B) HC-RF153 (B) HC-RF23 (B) 147 (5.79) <185 (7.28)> 172 (6.77) <21 (8.27)> 197 (7.76) <235 (9.25)> K 71 (2.8) 96 (3.78) 121 (4.76) HC-RF353 (B), HC-RF53 (B) 63 (2.48) 39.5 (1.56) 12 (.47) 3 (.12) 58 (2.28) 13 (5.12) 4-ø9 (.35) mounting holes Use heaxagonal cap head bolts 28h6 11h (3.21) 19.5 (.77) Encoder connector MS312A2-29P K Power supply connector CE5-2A24-1P S3457B Motor flange Brake direction U (note 3) F A V G E B D C W Ground pin assign CE5-2A24-1P 46 (1.81) (4.72) HC-RF353 (B) HC-RF53 (B) 217 (8.54) <254 (1.)> 274 (1.79) <311 (12.24)> K 148 (5.83) 25 (8.7) 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. 12

14 External Dimensions HC-UF13 (B) 7 (2.76) 25 (.98) 5 (.2) 3 (.12) 3 (.12) (.23) 6 (2.36) R5 4 (1.57) 26.9 (1.4) 8h6 4 (1.57) 5h7 S127B 7 Encoder cable.3m (11.8 inch) With connector (madeby AMP) Brake cable (note 3) VCTF m (11.8 inch) (round crimped terminal with tip insulation) Power supply lead 4-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase Green/Yellow: ground HC-UF23 (B), HC-UF43(B) 3 (1.18) 8 (.31) 3 (.12) 3.5 (.14) (.26) 8 (3.15) R7 9 5 (1.97) 14h6 56 7h (1.6) S1537B Encoder cable.3m (11.8 inch) With connector (madeby AMP) Brake cable (note 3) VCTF m (11.8 inch) (round crimped terminal with tip insulation) Power supply lead 4-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase Green/Yellow: ground HC-UF23 (B) HC-UF43 (B) 75 (2.95) <19 (4.29)> 9 (3.54) <124 (4.88)> HC-UF73 (B) 85 (3.35) <111 (4.37)> 1 (.39) 4 (1.57) 3.5 (.14) 2.5 (.1) 32.5 (1.28) 123 (4.84) 4-ø9 (.35) ø8 ø11h7 ø19h6 ø (2.83) S2357 ø (3.) 26.9 (1.6) Encoder cable.3m (11.8 inch) With connector (madeby AMP) Brake cable (note 3) VCTF m (11.8 inch) (round crimped terminal with tip insulation) 55.5 (2.19) 76 (2.99) 7 (2.76) <96 (3.78)> Power supply lead 4-AWG inch (AWG inch round crimped Red: U phase White: V phase Black: W phase Green/Yellow: ground 2 (.79) Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes.

15 External Dimensions HC-UF72 (B), HC-UF152 (B) (note 2) 55 (2.17) 39.5 (1.56) 13 (.51) 3 (.12) 5 (1.97) Sh6 2-M6 screw (6.93) 2 Motor flange direction Brake U (note 2) (note 2) 81.5 (3.21) 19.5 (.77) S3457B (5.67) A V G F E H B D C W Ground pin assign CE5-2A22-23P Encoder connector MS312A2-29P K CE5-2A22-23P 44 (1.73) 4-ø13.5 (.53) mounting holes Use heaxagonal cap head bolts HC-UF72 (B) HC-UF152 (B) 11.5 (4.35) <144 (5.67)> 12 (4.72) <153.5 (6.4)> K 38 (1.5) 47.5 (1.87) S 22 (.87) 28 (1.1) HC-UF22(B), HC-UF352 (B), HC-UF52 (B) 139 (5.47) (note 2) (note 2) (note 2) 81.5 (3.21) 65 (2.56) 16 (.63) 4 (.16) 6 (2.36) S468B M8 screw (6.46) (8.66) 19.5 (.77) K (note 2) 42 Encoder connector 47 (1.65) MS312A2-29P (1.85) CE5-2A24-1P Ground Motor flange direction F E A G D U A V B W C pin assign CE5-2A24-1P Motor flange direction B Brake (note 2) Brake connector pin assign MS312A1S-4P (note 2) 4-ø13.5 (.53) mounting holes Use heaxagonal cap head bolts 1. Use a friction coupling to fasten the load. 2. Dimensions inside < > are for models with electromagnetic brakes. 3. Only for models with electromagnetic brakes. (note 2) Brake connector MS312A1S-4P HC-UF22 (B) HC-UF352 (B) HC-UF52 (B) 118 (.4) <161 (6.34)> 142 (5.6) <185 (7.28)> 166 (6.54) <29 (8.23)> K 42.5 (1.67) 66.5 (2.62) 9.5 (3.56) 14

16 External Dimensions HA-H11K2~HA-H22K2 Connector MS31D2A2-29P KH Cooling air Cooling fan 1 2V 5/6Hz R K T Three lifting bolts G E Exhaust air,,,,,, Q F S Bh7 C 7 (.28) D 7 (.28) 164 (6.46) 5 (.2) 5 IF A IE (.57) HA-H11K2 HA-H15K2 HA-H22K2 MF 28 (8.19) 254 (1.) 529 (2.83) 578 (22.75) 643 (25.31) A 215 (8.46) 265 (1.43) øb 18 (7.9) 23 (9.6) C 25 (9.84) 3 (11.81) MD G T 24 (8.3) 25 (9.84) 2 (.79) 25 (.98) 316 (12.44) 366 (14.41) 43 (16.93) K 478 (18.82) 527 (2.75) 592 (23.31) KH 12 (4.2) 117 (4.61) IE 152 (5.98) 18 (7.1) IF 317 (12.48) 376 (14.8) ifting bolts M1 M12 E 3 (.12) 5 (.2) (axis end) R Q øs 85 (3.35) 11 (4.33) 8 (3.15) 1 (3.94) 42h6 55m6 S45629B S6829B 1. Maintain a minimum distance of 5mm (1.97 inch) between the motor intake and the wall. 2. When using with the lifting bolt removed, the screw holes should be covered with a bolt whose diameter is a maximum 1.5 times longer than that of the lifting bolt. 3. Use a friction coupling to faten the load. 4. Outlet wring from the terminal box consists of 5 wires: UVW and 2 fan wires. 5. The motor with absolute encoder is also the same size. 15

17 External Dimensions HA-H52~HA-H52 R 64 (2.52) M (5.39) G 3 KC ifting bolts (.12),,,,,,,,,, KA D Q S Bh7 C KE 4 (1.57) A 2 14 (5.51) 4- Z Connector MS312A2-29P 21 (.83) K KO KB HA-H52 HA-H12 HA-H152 HA-H22 HA-H32 HA-H52 24 (8.3) 244 (9.61) 294 (11.57) 259 (1.2) 299 (11.77) 329 (12.95) øa 145 (5.71) 145 (5.71) 145 (5.71) 2 (7.87) 2 (7.87) 215 (8.46) øb 11 (4.33) 11 (4.33) 11 (4.33) (4.5) (4.5) 18 (7.9) øc 165 (6.5) 165 (6.5) 165 (6.5) 23 (9.6) 23 (9.6) 25 (9.84) MD 13 (5.12) 13 (5.12) 13 (5.12) 17 (6.69) 17 (6.69) 2 (7.87) G 12 (.47) 12 (.47) 12 (.47) 18 (.71) 18 (.71) 2 (.79) M 14 (5.51) 18 (7.9) 23 (9.6) 195 (7.68) 235 (9.25) 265 (1.43) KA 14 (4.9) 14 (4.9) 14 (4.9) 124 (4.88) 124 (4.88) 15 (5.91) KB 84 (3.31) 84 (3.31) 84 (3.31) 14 (4.9) 14 (4.9) 123 (4.84) KC 8 (3.15) 8 (3.15) 8 (3.15) 8 (3.15) 8 (3.15) 93 (3.66) økd 22 (.87) 22 (.87) 22 (.87) 22 (.87) 22 (.87) 27 (1.6) K 117 (4.67) 157 (6.18) 27 (8.15) 171 (6.73) 211 (8.31) 245 (9.65) KE 4 (1.57) 4 (1.57) 4 (1.57) 4 (1.57) 4 (1.57) 62 (2.44) øz 9 (.35) 9 (.35) 9 (.35) 13.5 (.53) 13.5 (.53) 14.5 (.57) R 55 (2.17) 55 (2.17) 55 (2.17) 79 (3.11) 79 (3.11) 85 (3.35) (axis end) Q 5 (1.97) 5 (1.97) 5 (1.97) 8 (3.15) øs 24h6 24h6 24h h6 S2548B S2548B S2548B S3558B S3558B S45628B 1. Install the connector in a downward direction which will give an anti-spray effect. 2. There is no axis terminal key. When coupling the load, use a friction joint. 3. Same dimensions with the absolute position sensor attached. ifting bolts (M8) are used for the HA-H52. ifting bolt measurements ( 1 and 2) are related only to HA-H52. HA-H72 Connector MS312A2-29P KH Cooling air R K T Three lifting bolts G E F, Exhaust air,, Q S Bh7 C 7 (.28) D 7 (.28) 164 (6.46) 5 (.2) 5 A IE (.57) IF Cooling fan 1 2V 5/6Hz HA-H72 MF 28 (8.19) 459 (18.7) A 215 (8.46) øb 18 (7.9) C 25 (9.84) MD G T 24 (8.3) 2 (.79) 246 (9.69) K 48 (16.6) KH 12 (4.2) IE 152 (5.98) IF 317 (12.48) ifting bolts M1 E 3 (.12) (axis end) R Q øs 85 (3.35) 8 (3.15) 42h6 S45629B 1. Maintain a minimum distance of 5mm (1.97 inch) between the motor intake and the wall. 2. When using with the lifting bolt removed, the screw holes should be covered with a bolt whose diameter is a maximum 1.5 times longer than that of the lifting bolt. 3. Use a friction coupling to faten the load. 4. Outlet wring from the terminal box consists of 5 wires: UVW and 2 fan wires. 5. The motor with absolute encoder is also the same size. 16

18 ist of Servomotor Combinations Servomotors Series Rated speed (maximum) (r/min) Ultra-low inertia/ow capacity ow inertia/ow capacity Medium inertia/medium capacity (45) HC-MF HA-FF HC-SF (4) :.85kW 12: 1.2~3kW ( ) ( :.5~1.5kW 25: 2, 3.5kW 2: 5, 7kW~ ) MR-H1MN MR-H2MN Corresponding servo-amp models MR-H4MN MR-H6MN MR-H1MN MR-H2MN MR-H35MN MR-H5MN MR-H7MN MR-H11KMN MR-H15KMN MR-H22KMN 1. Empty circles indicate compatibility with the listed servo-amp. 2. Solid circles indicate the combination with a MR-J2 is different. Take note that the combinations with the MR-J2 are different. Cautions Concerning Use To ensure safe use To ensure the safe and proper use of the product, we ask that you read the instruction manual prior to its use. These products are not designed or manufactured for use in machinery and systems where people s safety is at stake. When considering the product for use in such special applications as equipment or systems employed in passenger transportation, medicine, aerospace, nuclear power generation, or underwater relays, please contact our sales representative. This product has been manufactured to the most rigorous quality standards. However, we ask that you employ safety devices when using the product in equipment in which any failure on its part can be expected to cause a serious accident or loss. Cautions concerning use Transport and installation of motor Protect the motor from impact during handling. When installing the pulley or coupling, do not hammer on the shaft. Impact can damage the encoder. Use a pulley puller when taking off the pulley. Installation Avoid installation in an environment in which oil mist, dust, etc. are in the air. When using in such an environment, enclose the servo-amp in an airtight panel. Protect the motor by furnishing a cover for it or taking similar measures. Mount the amp vertically on a wall. When installing multiple amps inside an airtight panel, leave at least 1 millimeters between amps. eave at least 4 millimeters of space above and below the amp. When installing multiple amps, leave 1 millimeters of space or install a fan to ensure that heat is not trapped inside the panel. 1 (.39) 4 (1.57) 4 (1.57) While installing a single motor, the motor can be installed horizontally or vertically. When installing vertical (upside the shaft) take measures on the machine side to ensure that oil from the gear box does not get into the motor. The optional regeneration unit becomes hot (temperature rise of 1 C or more) with frequent use. Do not install within flammable objects or objects subject to thermal deformation. Take care to ensure that electric wires do not come into contact with the main unit. 17

19 ist of Servo Motor Combinations 2 ( :.5~1.5kW 25: 2, 3.5kW 2: 5, 7kW~ ) Medium inertia/medium capacity ow inertia/medium capacity Flat low capacity/medium capacity 72 HC-SF HC-RF HC-UF HA-H () (45) :.75~2kW 25: 3.5, 5kW ( ) (45) ow inertia / High capacity 11K2 2 (2) 15K2 22K2 Wiring A power supply to the amp's output terminal (U, V, W) will damage the amp. Before switching the power on, perform thorough wiring and sequence checks to ensure that there are no wiring errors, etc. Connecting wall out-let onto the motor's input terminal (U, V, W) will burn out the motor. Connect the motor to the amp's output terminal (U, V, W). Match the phase of the motor input terminal (U, V, W) to the output terminal (U, V, W) before connecting. If they are not the same, motor control cannot be performed. In position control mode, connect the stroke end signal (SP, SN) to the common terminal (SG). If it is not connected, the motor will not rotate. Factory settings All possible motor and amp combinations are predetermined. Confirm the model of the motor and amp to be used before installation. Position, speed, and torque control modes are selected with parameter. The factory setting is position control mode. For speed operation, change this setting. When using the optional regeneration unit, change parameter. The factory setting is for no optional regeneration unit. Therefore, if this parameter is not changed, the unit's capacity will not be increased. Operation When a magnetic contactor (MC) is installed on the amp's primary side, do not perform frequent starts and stops with the MC. Doing so could cause the amp to fail. When an error occurs, the amp's safety features are activated, halting output, and the dynamic brake instantly stops the motor. If free run is required, contact Mitsubishi about solutions involving servo-amps where the dynamic brake is not activated. When using a motor with an electromagnetic brake, do not apply the brake when the servo is on. Doing so could cause an amp overload or shorten brake life. Apply the brake when the servo is off. Cautions concerning model selection Select a motor with a rated torque above the continuous effective load torque. Design the operation pattern so that positioning can be completed, taking into account the setting time (ts). Speed Command time Positioning time Command pattern Motor rotation Time Use the unit with the load's inertia set below the recommended load/inertia ratio of the motor being used. If it is too large, desired performance may not be attainable. ts 18

20 Safety Warning To ensure proper use of the products listed in this catalog, please be sure to read the instruction manual prior to use C483-A NA993 Printed in Japan (ROD) New publication, effective Mar.1999 Specifications subject to change without notice.