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Mitsubishi Electric MELSERVO-J5 HK Series User Manual

Ac servo system rotary servo motor
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Mitsubishi Electric AC Servo System
Rotary Servo Motor
User's Manual
(HK Series)
-HK-KT_
-HK-ST_
-HK-RT_

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  Summary of Contents for Mitsubishi Electric MELSERVO-J5 HK Series

  • Page 1 Mitsubishi Electric AC Servo System Rotary Servo Motor User's Manual (HK Series) -HK-KT_ -HK-ST_ -HK-RT_...
  • Page 3: Safety Instructions

    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 manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4: Disposal Of Waste

    [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the rotary servo motor securely. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
  • Page 6: U.s. Customary Units

    U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...
  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 DISPOSAL OF WASTE .
  • Page 8 Cable and connector list ..............60 Motor cable/connector sets .
  • Page 9 Cable direction: Vertical..............142 CHAPTER 7 HK-ST SERIES Standard specifications .
  • Page 10 CE marking ................204 For compliance .
  • Page 11: Chapter 1 Introduction

    INTRODUCTION Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. For geared servo motors, contact your local sales office. H K - K T 0 5 3 4 Special specifications Symbol Special specifications...
  • Page 12: Rating Plate

    Rating plate Products proven to comply with the standards set by a given Certification Body are marked with the appropriate certification marks. The marks vary for each Certification Body. The production year and month of the rotary servo motor are indicated in the serial number on the rating plate. For the production year and month, the last two digits of the year and the month in numerical format [1 to 9, X (10), Y (11), and Z (12)] are displayed.
  • Page 13: Environment

    HK-ST/HK-RT (3.5 kW - 7.0 kW) series The rating plate indicates the characteristic values for when the torque has been increased by changing the servo amplifier. For the characteristics in combination with each servo amplifier, refer to "Servo amplifier/motor combinations" in the following manual.
  • Page 14: Parts Identification

    Parts identification HK-KT/HK-RT (1.0 kW - 2.0 kW) series ■Without an electromagnetic brake Power supply/encoder connector Motor shaft Encoder ■With an electromagnetic brake Power supply/brake/encoder connector Motor shaft Encoder HK-ST/HK-RT (3.5 kW - 7.0 kW) series ■Without an electromagnetic brake Power connector Encoder connector Encoder...
  • Page 15: Electromagnetic Brake

    Electromagnetic brake The rotary 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 operating the rotary servo motor, supply power to the electromagnetic brake to release the brake.
  • Page 16 Sound generation The brake lining may rattle during a low-speed operation; however, it poses no functional problem. The noise may be reduced or eliminated by the machine resonance suppression filter set with the servo parameters. For details, refer to "Machine resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment) Selection of surge absorbers for electromagnetic brake circuit The following shows an example of how to select a varistor as a surge absorber.
  • Page 17: Rotary Servo Motor Shaft Shapes

    Rotary servo motor shaft shapes Do not use shafts other than the straight shaft for frequent start/stop applications. Use a friction coupling or the like when coupling the shaft with a machine. There are six shaft shape types for the rotary servo motor: straight shaft, keyed shaft (with double round-ended key), keyed shaft (without key), D-cut shaft, keyed shaft (with single pointed key), and L-cut shaft.
  • Page 18 Keyed shaft (with single pointed key) L-cut shaft 1 INTRODUCTION 1.6 Rotary servo motor shaft shapes...
  • Page 19: Servo Motors With Functional Safety

    Servo motors with functional safety The HK-KT series, HK-ST series, and HK-RT series support servo motors with functional safety. The specifications and dimensions of servo motors with functional safety are not changed. For the available safety-sub functions and the achievable safety levels, refer to "Functional safety" in the User's Manual (Introduction).
  • Page 20: Chapter 2 Installation

    INSTALLATION Precautions • Install the rotary servo motor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. • Provide adequate protection so as to prevent conductive matter (such as screws and metal fragments) and combustible matter (such as oil) from entering the rotary servo motor.
  • Page 21: Mounting Direction

    Mounting direction The mounting direction of the rotary servo motor is shown in the following table. Rotary servo motor series Mounting direction HK-KT Any direction HK-ST HK-RT It is recommended to set the connector section downward if the rotary servo motor is mounted horizontally. Examine the cable clamping method, and give a gentle slack to the connection cable, to prevent excessive load from being applied to the connector and cable connection part.
  • Page 22: Load Mounting/Dismounting Precautions

    Load mounting/dismounting precautions • When mounting a pulley to the rotary servo motor with a keyed shaft, use the screw hole in the shaft end. To fit the pulley, first insert a double-end bolt 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.
  • Page 23: Permissible Load For The Shaft

    Permissible load for the shaft For the permissible load for the shaft specific to the rotary servo motor, refer to chapters 6 and 7. • Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load. •...
  • Page 24: Cable

    Cable The power supply and encoder cables routed from the rotary servo motor should be fixed to the rotary servo motor to keep them unmovable. Otherwise, the cable may be disconnected. In addition, do not modify the connectors, terminals, and other areas at the ends of the cables.
  • Page 25: Inspection Items

    Inspection items • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the rotary servo motor. • Customers must not disassemble and/or repair the equipment. Periodic inspection Perform the following inspections. • Check the bearings, brake section, and the like for unusual noise. •...
  • Page 26: Machine Accuracy

    Machine accuracy The following table shows the machine accuracy of the output shaft and mounting parts of the rotary servo motor. Accuracy [mm] Measuring position Flange size □90 or less □130 □176 Runout of flange surface to output shaft 0.05 0.06 0.08 Runout of fitting OD of flange surface...
  • Page 27: Mounting Rotary Servo Motors

    2.11 Mounting rotary servo motors The HK-RT_4W will be available in the future. Be sure to use the rotary servo motor within the specified environment, and mount the rotary servo motor on a machine having the equivalent heat dissipation effect as the following aluminum flange. The temperature rise value of the rotary servo motor changes depending on its mounting environment, operating conditions, and other factors.
  • Page 28: Chapter 3 Connectors Used For Rotary Servo Motor Wiring

    CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING The HK-RT_4W will be available in the future. Precautions • The indicated IP rating is the connector's protection against ingress of dust and water when the connector is connected to a rotary servo motor. If the IP rating of the connector and rotary servo motor varies, the overall IP rating depends on the lowest IP rating of all components.
  • Page 29 HK-ST/HK-RT (3.5 kW - 7.0 kW) series Electromagnetic brake connector Encoder connector Power connector Rotary servo motor Wiring connector For encoder For electromagnetic brake For power supply HK-ST52(4)W Connector configuration B Connector configuration C Connector configuration D HK-ST102(4)W HK-ST172(4)W HK-ST202(4)AW HK-ST302(4)W HK-ST202(4)W Connector configuration E...
  • Page 30: Wiring Connectors (Connector Configuration A)

    Wiring connectors (connector configuration A) Load-side lead/opposite to load-side lead Two cable type One cable type Connector Feature Plug (Hirose Electric) Rotary servo configuration motor-side Type Connector Contact Applicable connector cable OD IP67 Dual cable MT50W-8D/2D4ES-CVLD(7.5) (1) For power supply φ7.5 ±...
  • Page 31: Wiring Connectors (Connector Configurations B/C/D/E)

    Wiring connectors (connector configurations B/C/ D/E) Angle plug Angle plug (one-touch connection type) (screw type) Straight plug Straight plug (one-touch connection type) (screw type) Connector Feature Plug (DDK) Rotary servo configuration motor Type Plug Socket Contact shape Cable OD encoder contact [mm] connector...
  • Page 32 Angle plug Angle plug (one-touch connection type) (screw type) Straight plug Straight plug (one-touch connection type) (screw type) Connector Feature Plug (DDK) Rotary servo configuration motor Type Plug Socket Contact shape Cable OD electromagnetic contact [mm] brake (reference) connector C (for IP67 Straight CMV1-SP2S-S...
  • Page 33 Straight plug Cable clamp Angle plug Cable clamp Connector Feature Plug (JAE) Cable clamp (JAE) Rotary servo configuration motor-side Type Connector Model Cable OD [mm] connector (reference) IP67 One-touch JL10-6A18-10SE-EB JL04-18CK(10)-_-R 8 to 11 JL10-2E18-10PCE connection type Applicable wire size: 3.5 mm JL04-18CK(13)-_-R 11 to 14.1 compliant...
  • Page 34 Straight plug Cable clamp Angle plug Cable clamp Connector Feature Plug (JAE) Cable clamp (JAE) Rotary servo configuration motor-side Type Connector Model Cable OD [mm] connector (reference) IP67 One-touch JL10-6A22-22SE-EB JL04-2022CK(12)-_-R 9.5 to 13 JL10-2E22-22PCE connection type Applicable wire size: 8 mm JL04-2022CK(14)-_-R 12.9 to 16 compliant...
  • Page 35 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR The HK-RT_4W will be available in the future. Precautions • Insulate the conductive parts of the terminals. • To prevent unexpected operation of the rotary servo motor, wire the equipment correctly and securely. •...
  • Page 36: Precautions For Wiring

    Precautions for wiring To ground the servo motor, connect the grounding lead wire to the servo amplifier, then connect the wire from the servo amplifier to the ground via the protective earth (PE) terminal of the cabinet. Do not connect the wire directly to the protective earth (PE) terminal of the cabinet.
  • Page 37: Wiring

    Wiring To wire to the servo amplifier, use connectors packed with the servo amplifier or optional connectors. For connectors, refer to "Wiring CNP1, CNP2, and CNP3" in the following manual. MR-J5 User's Manual (Hardware) HK-KT/HK-RT (1.0 kW - 2.0 kW) series Servo amplifier Cable type Cable length...
  • Page 38 Connection diagram 2 10 m or shorter Rotary servo motor Servo amplifier CNP3 (Red) (White) (Black) MR-AEP2CBL_M-A1-L (Green/yellow) MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H MR-AEP2CBL_M-A5-L MR-AEP2CBL_M-A5-H Encoder Connection diagram 3 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable...
  • Page 39 Connection diagram 4 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable 24 V DC power supply for MR-AEPB2J20CBL03M-A1-L Rotary servo motor Servo amplifier...
  • Page 40 Connection diagram 5 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable MR-AEP2J10CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J10CBL03M-A2-L MR-AEP2J10CBL03M-A5-L CNP3...
  • Page 41 Connection diagram 7 10 m or shorter 24 V DC power Rotary servo motor supply for Servo amplifier (Electromagnetic electromagnetic brake interlock) (Malfunction) brake B1 (yellow) Electromagnetic CNP3 B2 (brown) brake (Red) (White) (Black) MR-AEPB1CBL_M-A1-L (Green/yellow) MR-AEPB1CBL_M-A1-H MR-AEPB1CBL_M-A2-L MR-AEPB1CBL_M-A2-H MR-AEPB1CBL_M-A5-L MR-AEPB1CBL_M-A5-H Encoder *1 Configure a circuit which interlocks with an emergency stop switch to shut off.
  • Page 42 Connection diagram 9 10 m or shorter MR-AEPB2CBL_M-A1-L MR-AEPB2CBL_M-A1-H 24 V DC power MR-AEPB2CBL_M-A2-L MBR-A supply for MR-AEPB2CBL_M-A2-H Rotary servo motor Servo amplifier CALM electromagnetic (Electromagnetic brake MR-AEPB2CBL_M-A5-L interlock for A-axis) (AND malfunction) brake MR-AEPB2CBL_M-A5-H B1 (yellow) Electromagnetic B2 (brown) CNP3A brake U (red)
  • Page 43 Connection diagram 10 10 m or shorter Rotary servo motor Servo amplifier MR-AEP2CBL_M-A1-L MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H CNP3A MR-AEP2CBL_M-A5-L U (red) MR-AEP2CBL_M-A5-H V (white) W (black) E (green/yellow) CN2A Encoder Rotary servo motor MR-AEP2CBL_M-A1-L MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H CNP3B MR-AEP2CBL_M-A5-L U (red) MR-AEP2CBL_M-A5-H V (white) W (black)
  • Page 44 Connection diagram 11 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable 24 V DC power MBR-A supply for MR-AEPB2J10CBL03M-A1-L Rotary servo motor Servo amplifier...
  • Page 45 Connection diagram 12 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter 24 V DC power Extension cable supply for MBR-A MR-AEPB2J20CBL03M-A1-L Rotary servo motor...
  • Page 46 *1 Configure a circuit which interlocks with an emergency stop switch to shut off. *2 The electromagnetic brake terminals (B1 and B2) have no polarity. *3 Do not use the 24 V DC interface power supply for the electromagnetic brake. *4 Connect a surge absorber as close to the rotary servo motor as possible.
  • Page 47 Connection diagram 13 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable MR-AEP2J10CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J10CBL03M-A2-L MR-AEP2J10CBL03M-A5-L CNP3A...
  • Page 48 Connection diagram 14 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 55 Selection example of wires 50 m or shorter Extension cable MR-AEP2J20CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J20CBL03M-A2-L MR-AEP2J20CBL03M-A5-L CNP3A...
  • Page 49 *1 For MR-AENSCBL_M-_, refer to the following. Page 83 MR-AENSCBL_M-_ *2 Use of the following connectors is recommended: Junction connector Description IP rating a) Junction connector for extension cable IP67 Connector: CE05-6A18-10SD-D-BSS Cord clamp: CE3057-10A-2-D (DDK Ltd.) The number varies depending on the cable OD. b) Junction connector for motor power IP67 Connector: D/MS3101A18-10P(D263)
  • Page 50 Connection diagram 15 10 m or shorter MR-AEPB1CBL_M-A1-L MR-AEPB1CBL_M-A1-H 24 V DC power MR-AEPB1CBL_M-A2-L MBR-A supply for MR-AEPB1CBL_M-A2-H Rotary servo motor Servo amplifier CALM electromagnetic (Electromagnetic brake MR-AEPB1CBL_M-A5-L interlock for A-axis) (AND malfunction) brake MR-AEPB1CBL_M-A5-H B1 (yellow) Electromagnetic B2 (brown) CNP3A brake (Red)
  • Page 51 Connection diagram 16 10 m or shorter MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H MR-AEP1CBL_M-A2-L MR-AEP1CBL_M-A2-H Rotary servo motor Servo amplifier MR-AEP1CBL_M-A5-L MR-AEP1CBL_M-A5-H CNP3A (Red) (White) (Black) (Green/yellow) CN2A Encoder MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H MR-AEP1CBL_M-A2-L MR-AEP1CBL_M-A2-H Rotary servo motor MR-AEP1CBL_M-A5-L MR-AEP1CBL_M-A5-H CNP3B (Red) (White) (Black) (Green/yellow) CN2B Encoder MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H...
  • Page 52: Hk-St/Hk-Rt (3.5 Kw - 7.0 Kw) Series

    HK-ST/HK-RT (3.5 kW - 7.0 kW) series Refer to the following for the wires used for wiring. Page 55 Selection example of wires Wiring diagram ■Connecting with MR-J5 1-axis servo amplifier 50 m or shorter Servo amplifier Rotary servo motor CNP3 24 V DC power supply for...
  • Page 53 ■Connecting with MR-J5 multi axis servo amplifier 50 m or shorter A-axis Servo amplifier rotary servo motor CNP3A MBR-A 24 V DC power supply for CALM (Electromagnetic electromagnetic brake interlock for A-axis) (AND malfunction) brake MBR-B B-axis (Electromagnetic brake interlock for B-axis) rotary servo motor CNP3B MBR-C...
  • Page 54 Rotary servo motor terminal section The rotary servo motor terminal section is shown in the following table. Refer to the following for the details of the connectors. Page 53 Details of the rotary servo motor connectors The connector fitting the rotary servo motor is prepared as options. Refer to the following for details of the options.
  • Page 55 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 Terminal No. Signal      ■Connector B Power connector JL10-2E18-10PCE...
  • Page 56 ■Connector C Power connector JL10-2E22-22PCE (MS3102A22-22P) Terminal No. Signal ■Connector D Electromagnetic brake connector CMV1-R2P Terminal No. Signal *1 Supply electromagnetic brake power (24 V DC). There is no polarity. 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR 4.2 Wiring...
  • Page 57: Selection Example Of Wires

    Selection example of wires Wires indicated in this section are separated wires. When using a cable for power line (U/V/W) between the servo amplifier and rotary servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For cable selection, refer to the following. Page 210 Selection example of rotary servo motor power cable To comply with the UL/CSA standard, use the wires shown in the following for wiring.
  • Page 58 HK-KT series Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2 *1 *2 *2 *3 HK-KT053W 0.75 (AWG 18) 0.2 (AWG 24) HK-KT13W HK-KT1M3W HK-KT13UW HK-KT23W HK-KT43W HK-KT63W HK-KT23UW HK-KT43UW HK-KT7M3W HK-KT103W HK-KT7M3UW HK-KT103UW HK-KT153W HK-KT203W HK-KT202W HK-KT434W HK-KT634W HK-KT7M34W HK-KT1034W HK-KT1534W HK-KT2034W...
  • Page 59 HK-RT series Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2 *1*2 HK-RT103W 0.75 (AWG 18) 0.2 (AWG 24) *1*3 HK-RT153W 0.75 (AWG 18) HK-RT203W HK-RT353W 3.5 (AWG 12) 1.25 (AWG 16) HK-RT503W 5.5 (AWG 10) HK-RT703W 5.5 (AWG 10) *1*2 HK-RT1034W 0.75 (AWG 18)
  • Page 60: Chapter 5 Wiring Option

    WIRING OPTION Precautions • Use specified options. Otherwise, it may cause a malfunction or fire. • MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. As using contacts for other plugs may damage the connector, use the enclosed contacts. •...
  • Page 61: Combinations Of Cable/Connector Sets

    Combinations of cable/connector sets HK-KT/HK-RT (1.0 kW - 2.0 kW) series Junction connection (9) (10) (11) (12) To 24 V DC power supply (46) (47) for electromagnetic brake MR-J5 1-axis servo amplifier (13) (14) CNP3 (15) Junction connection (16) (17) (18) (19) To 24 V DC power supply (48) (49) for electromagnetic brake...
  • Page 62: Cable And Connector List

    Cable and connector list Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables For the HK-KT/ Standard MR-AEPB2CBL2M-A1-L IP65 (Dual cable type/ HK-RT (1.0 kW - (for fixed MR-AEPB2CBL5M-A1-L direct connection 2.0 kW) series parts) type) With 10 m MR-AEPB2CBL10M-A1-L...
  • Page 63 Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables For the HK-KT/ Standard 0.3 m MR-AEPB2J10CBL03M- IP65 (Dual cable type/ HK-RT (1.0 kW - (for fixed A1-L junction 2.0 kW) series parts) IP20 connection type) With Motor side: IP65 electromagnetic Junction side:...
  • Page 64 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (16) Motor cables For the HK-KT/ Standard 0.3 m MR-AEPB2J20CBL03M- IP65 (Dual cable type/ HK-RT (1.0 kW - (for fixed A1-L junction 2.0 kW) series parts) IP65 connection type) With Motor side: IP65 electromagnetic...
  • Page 65 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (25) Motor cables For the HK-KT/ Standard MR-AEPB1CBL2M-A1-L IP65 (Single cable HK-RT (1.0 kW - (for fixed MR-AEPB1CBL5M-A1-L type/direct 2.0 kW) series parts) connection type) With 10 m MR-AEPB1CBL10M-A1-L Motor side: IP65 electromagnetic (26)
  • Page 66 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (36) Electromagnetic For the HK-ST   MR-BKCNS1A IP67 brake connector series For the HK-RT (3.5 kW - 7.0 kW) series Angle plug: CMV1-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)  ...
  • Page 67 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (46) Motor cables For the HK-KT/ Standard 0.3 m MR-AEPB2J10CBL03M- (Dual cable type/ HK-RT (1.0 kW - (for fixed A5-L junction 2.0 kW) series parts) IP20 connection type) With Motor side: IP65 electromagnetic IP65...
  • Page 68 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (50) Motor cables For the HK-KT/ Standard MR-AEPB1CBL2M-A5-L (Single cable HK-RT (1.0 kW - (for fixed MR-AEPB1CBL5M-A5-L type/direct 2.0 kW) series parts) connection type) With 10 m MR-AEPB1CBL10M-A5-L Motor side: IP65 electromagnetic IP65 (51)
  • Page 69: Motor Cable/Connector Sets

    Motor cable/connector sets MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_ These cables are motor cables for the HK-KT series rotary servo motors. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 2 A 1 - Flex type Symbol...
  • Page 70 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 99 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 71 Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) •...
  • Page 72 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
  • Page 73: Mr-Aepb2J10Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L

    MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L These cables are motor cables for the HK-KT series rotary servo motors. The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo amplifier-side encoder cable (MR-AEKCBL_M-_) is required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 2 A 1 -...
  • Page 74 Junction connector (1) The following shows the view from the wiring side. Housing: 1-172169-9 Contact: 170361-4 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity) Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA...
  • Page 75 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
  • Page 76: Mr-Aepb2J20Cbl03M-_-L/Mr-Aep2J20Cbl03M-_-L

    MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_-L These cables are motor cables for the HK-KT series rotary servo motors. The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo amplifier-side encoder cables (MR-AENSCBL_M-_ and MR- J3ENSCBL_M-_) are required. Model The following describes what each block of a model name indicates.
  • Page 77 Junction connector (1) The following shows the view from the wiring side. Receptacle: CMV1-CR10P-M2 (DDK) Applicable wire size: AWG 20 or lower Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA...
  • Page 78 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
  • Page 79: Mr-Aepb1Cbl_M-_-_/Mr-Aep1Cbl_M

    MR-AEPB1CBL_M-_-_/MR-AEP1CBL_M-_-_ These cables are motor cables for the HK-KT series rotary servo motors. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 1 A 1 - Flex type Symbol...
  • Page 80 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 99 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 81 • Opposite to load-side lead Polarity mark E mark Polarity mark ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Polarity mark...
  • Page 82: Encoder Cable

    Encoder cable MR-AEKCBL_M-_ The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The motor cables for rotary servo motors (MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L) are required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E K C B L 2 0 M -...
  • Page 83 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 99 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 84 Internal wiring diagram The cable colors in the connection diagram apply to the following cables: HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector (Red) (White) (Green) (Blue) (Purple) Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following.
  • Page 85: Mr-Aenscbl_M

    MR-AENSCBL_M-_ These cables are encoder cables for the HK-KT/HK-ST series rotary servo motors. The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The motor cables (MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_- L) are required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E N S C B L 2 0 M -...
  • Page 86 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 99 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 87 Cable internal wiring diagram The cable colors in the connection diagram apply to the following cables: HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector (Red) (White) (Green) (Blue) (Purple) Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram.
  • Page 88: Mr-J3Enscbl_M

    MR-J3ENSCBL_M-_ These cables are encoder cables for the HK-KT/HK-ST series rotary servo motors. The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The rotary servo motor-side encoder cables (MR-AEPB2J20CBL03M-_-L/ MR-AEP2J20CBL03M-_-L) are required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - J 3 E N S C B L 2 Flex type...
  • Page 89 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 99 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 90 Cable internal wiring diagram • MR-J3ENSCBL2M-L • MR-J3ENSCBL5M-L • MR-J3ENSCBL10M-L • MR-J3ENSCBL2M-H • MR-J3ENSCBL5M-H • MR-J3ENSCBL10M-H CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram. Page 88 Cable internal wiring diagram Refer to the following for the specifications of the cable to use.
  • Page 91: Wires For Option Cables

    If special length shielded cables or shielded power cables are required, use the HK series motor cables manufactured by Mitsubishi Electric System & Service Co., Ltd. that meet the following specifications. • UL 758 (AWM) (For encoder: UL style 20276 For power supply/brake: UL style 2586) •...
  • Page 92: Mr-Aepb2Cbl_M-_-L/Mr-Aepb2Cbl_M-_-H

    MR-AEPB2CBL_M-_-L/MR-AEPB2CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB2CBL_M-_-L For encoder 2 to 10 Standard (for fixed parts) UL style 20276 VW-1 For power supply/brake UL style 2586 VW-1 MR-AEPB2CBL_M-_-H For encoder 2 to 10...
  • Page 93: Mr-Aep2Cbl_M-_-L/Mr-Aep2Cbl_M-_-H

    MR-AEP2CBL_M-_-L/MR-AEP2CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEP2CBL_M-_-L For encoder 2 to 10 Standard (for fixed parts) UL style 20276 VW-1 For power supply UL style 2586 VW-1 MR-AEP2CBL_M-_-H For encoder 2 to 10...
  • Page 94: Mr-Aepb2J20Cbl03M-_-L/Mr-Aepb2J10Cbl03M-_-L

    MR-AEPB2J20CBL03M-_-L/MR-AEPB2J10CBL03M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB2J20CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply/brake UL style 2586 VW-1 MR-AEPB2J10CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1...
  • Page 95: Mr-Aep2J20Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L

    MR-AEP2J20CBL03M-_-L/MR-AEP2J10CBL03M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEP2J20CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply UL style 2586 VW-1 MR-AEP2J10CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1...
  • Page 96: Mr-Aepb1Cbl_M-_-L/Mr-Aep1Cbl_M-_-L

    MR-AEPB1CBL_M-_-L/MR-AEP1CBL_M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB1CBL_M-_-L For encoder/power 2 to 10 Standard (for fixed parts) UL style 2586 VW-1 supply/brake MR-AEP1CBL_M-_-L For encoder/power 2 to 10 Standard (for fixed parts) UL style 2586 VW-1...
  • Page 97: Mr-Aepb1Cbl_M-_-H/Mr-Aep1Cbl_M-_-H

    MR-AEPB1CBL_M-_-H/MR-AEP1CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB1CBL_M-_-H For encoder/power 2 to 10 High flex life (for moving UL style 2586 VW-1 supply/brake parts) MR-AEP1CBL_M-_-H For encoder/power 2 to 10 High flex life (for moving UL style 2586 VW-1...
  • Page 98: Mr-Aenscbl_M-L/Mr-Aenscbl_M-H

    MR-AENSCBL_M-L/MR-AENSCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AENSCBL_M-L For encoder 20, 30 Standard (for fixed parts) UL style 20276 VW-1 MR-AENSCBL_M-H For encoder 20 to 50 High flex life (for moving UL style 20276 VW-1 parts)
  • Page 99: Mr-Aekcbl_M-L/Mr-Aekcbl_M-H

    MR-AEKCBL_M-L/MR-AEKCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEKCBL_M-L For encoder 20, 30 Standard (for fixed parts) UL style 20276 VW-1 MR-AEKCBL_M-H For encoder 20 to 50 High flex life (for moving UL style 20276 VW-1 parts)
  • Page 100: Mr-J3Enscbl_M-L/Mr-J3Enscbl_M-H

    MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581   MR-J3ENSCBL_M-L For encoder 2 to 10 Standard (for fixed parts)   MR-J3ENSCBL_M-H For encoder 2 to 10 High flex life (for moving parts) Item Physical characteristics...
  • Page 101: Shielding Cn2, Cn2A, Cn2B, And Cn2C Connectors

    Shielding CN2, CN2A, CN2B, and CN2C connectors When wiring the CN2, CN2A, CN2B, and CN2C side connectors, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Cable Ground plate Screw 5 WIRING OPTION 5.4 Wires for option cables...
  • Page 102: Cable Flex Life

    Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life is the value for complete disconnection and calculated by estimating conductor disconnection and insulator breakage, excluding electric characteristic deterioration, sheath abrasion, and insulator abrasion. Thus, provide a slight allowance for this value.
  • Page 103: Chapter 6 Hk-Kt Series

    HK-KT SERIES This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-KT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
  • Page 104 Series HK-KT_W (Low inertia/small capacity) Flange size □80 □90 Rotary servo motor model 23UW(B) 43UW(B) 7M3W(B) 103W(B) 7M3UW(B) 103UW(B) 153W(B) 203W(B) 202W(B) HK-KT Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous...
  • Page 105 Series HK-KT_4_W (Low inertia/small capacity) Flange size □60 □80 □90 Rotary servo motor model HK- 434W(B) 634W(B) 7M34W(B) 1034W(B) 1534W(B) 2034W(B) 2024W(B) Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous...
  • Page 106 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
  • Page 107 When connected with 400 V servo amplifier Series HK-KT_W (Low inertia/small capacity) Flange size □40 Rotary servo motor model HK- 053W(B) 13W(B) 1M3W(B) Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous...
  • Page 108 Series HK-KT_4_W (Low inertia/small capacity) Flange size □60 □80 □90 Rotary servo motor model HK- 434W(B) 634W(B) 7M34W(B) 1034W(B) 1534W(B) 2034W(B) 2024W(B) Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous...
  • Page 109 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
  • Page 110: Torque Characteristics

    Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 170 V AC : 3-phase 200 VAC...
  • Page 111 [HK-KT63W] [HK-KT63W] [HK-KT23UW] [HK-KT23UW] Standard torque Torque increased Standard torque Torque increased Short-duration running range Short-duration running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 2000 4000 6000 6700 2000 4000 6000 6700...
  • Page 112 [HK-KT202W] [HK-KT202W] [HK-KT203W] [HK-KT203W] Standard torque Torque increased Standard torque Torque increased 40.0 40.0 30.0 30.0 35.0 35.0 25.0 25.0 Short-duration Short-duration 30.0 30.0 running range running range 20.0 20.0 Short-duration 25.0 25.0 running range Short-duration running range 20.0 20.0 15.0 15.0 15.0...
  • Page 113 ■HK-KT_4_W [HK-KT434W] [HK-KT434W] [HK-KT634W] [HK-KT634W] Standard torque Standard torque Torque increased Torque increased Short-duration Short-duration running range running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 1000 2000 3000 3500 1000 2000 3000 3500...
  • Page 114 When connected with 400 V servo amplifier When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 323 V AC : 3-phase 400 VAC : 3-phase 380 VAC ■HK-KT_W [HK-KT053W] [HK-KT053W] [HK-KT13W]...
  • Page 115 ■HK-KT_4_W [HK-KT434W] [HK-KT434W] [HK-KT634W] [HK-KT634W] Standard torque Torque increased Standard torque Torque increased Short-duration Short-duration running range running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 2000 4000 6000 6700 2000 4000 6000 6700...
  • Page 116: Permissible Load For The Output Shaft

    Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
  • Page 117 Model Radial load Thrust load The graph of the relation between the load and the load position Load position L Load [N] Load [N] [mm] HK-KT7M3(4)W HK-KT103(4)W HK-KT7M3UW HK-KT103UW Distance L from flange surface [mm] HK-KT153(4)W HK-KT203(4)W HK-KT202(4)W Distance L from flange surface [mm] 6 HK-KT SERIES 6.1 Standard specifications...
  • Page 118: The Graph Of Overload Protection Characteristics Of Rotary Servo Motor

    The graph of overload protection characteristics of rotary servo motor Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later. Refer to "Overload protection characteristics" in the following manual. MR-J5 User's Manual (Hardware) Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly.
  • Page 119: Derating

    Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
  • Page 120: Restrictions On The Flange Size

    Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions: HK-KT053W /HK-KT13W HK-KT1M3W HK-KT13UW/HK-KT23W Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-KT43(4)W HK-KT23UW/HK-KT43UW...
  • Page 121: Restrictions On The Ambient Temperature

    Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-KT13UW HK-KT053W /HK-KT13W HK-KT63(4)W HK-KT1M3W HK-KT23W/HK-KT43(4)W Ambient temperature [°C] Ambient temperature [°C] HK-KT7M3UW/HK-KT103UW HK-KT23UW/HK-KT43UW HK-KT103(4)W HK-KT203(4)W HK-KT7M3(4)W...
  • Page 122: Rotary Servo Motors With Special Shafts

    Rotary servo motors with special shafts There are four shaft shape types for the rotary servo motor: keyed shaft (with double round-ended key), keyed shaft (without key), D-cut shaft, and L-cut shaft. To prevent an accident such as motor shaft fracture, do not use a servo motor with a D-cut shaft, L-cut shaft, or keyed shaft for frequent start/stop applications.
  • Page 123: Keyed Shaft (Without Key)

    Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-KT053WN 21.5 -0.004 +0.1 -0.009 -0.029 HK-KT13WN Screw hole HK-KT1M3WN depth HK-KT13UWN HK-KT23WN +0.1 -0.011 -0.03 HK-KT43(4)WN Screw hole HK-KT63(4)WN depth HK-KT23UWN HK-KT43UWN HK-KT7M3(4)WN +0.1 -0.013 -0.03 HK-KT103(4)WN Screw hole HK-KT7M3UWN...
  • Page 124: L-Cut Shaft

    L-cut shaft Rotary servo motor Variable dimensions HK-KT053WL 21.5 20.5 HK-KT13WL HK-KT1M3WL HK-KT13UWL 6 HK-KT SERIES 6.5 Rotary servo motors with special shafts...
  • Page 125: Geared Servo Motor

    Geared servo motor When using an oil-lubricated geared servo motor, remove the oil when transporting and mounting the servo motor. If the geared servo motor is tipped over while filled with oil, oil leakage may occur. Do not attach a gear reducer removed from a geared servo motor to a rotary servo motor that originally does not have a gear reducer.
  • Page 126 Exclusive specifications *2*3 Rotary servo Reduction Actual Moment of inertia Permissible load Mass motor ratio reduction [× 10 kg•m [kg] ratio Standard Electromagnetic Permissible Permissible Standard Electromagnetic brake radial load thrust load brake HK-KT053G1 9/44 0.0764 0.0804 1/12 49/576 0.0984 0.1024 1/20 25/484...
  • Page 127 Servo motor with special shaft The rotary servo motors for general industrial machine (G1) have a keyed shaft (with double round-ended key). Model Reduction ratio Variable dimensions (actual reduction ratio) HK-KT053(B)G1K 1/5 (9/44) M4X8 -0.011 1/12 (49/576) 1/20 (25/484) HK-KT13(B)G1K 1/5 (9/44) 1/12 (49/576) 1/20 (25/484)
  • Page 128: For High Precision Applications (G5/G7)

    For high precision applications (G5/G7) Common specifications Item Description Mounting method Flange-mounting Mounting direction Any direction Lubrication method Grease lubrication (lubricant filled from the factory) Output shaft rotation direction The same direction as the rotary servo motor Backlash 3 arc minutes or less on the gear reducer output shaft Permissible load to motor inertia ratio For 50 W/100 W/750 W: 10 times or less (converted into equivalent value on rotary servo motor shaft)
  • Page 129 Exclusive specifications ■With flange-output type gear reducer for high precision applications, flange mounting: G5 *2*3 Rotary Reduction Gear Moment of inertia Permissible load Mass servo ratio reducer [× 10 kg•m [kg] motor model Standard With an Radial Permissible Permissible Standard With an electromagnetic load radial load...
  • Page 130 ■With shaft-output type gear reducer for high precision applications, flange mounting: G7 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] model Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic...
  • Page 131 Servo motor with special shaft The flange-mounting shaft output type rotary servo motors for high precision application (G7) have a keyed shaft (with single pointed key). [Unit: mm] Rotary servo motor Gear φS reducer model HK-KT_G7K 10h7 M3 screw hole depth 6 16h7 M4 screw hole depth 8 25h7...
  • Page 132: Mounting Connectors

    Mounting connectors Mount the connectors in the procedure shown below. If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. The receptacle connector has a splash-proof seal (O-ring). When mounting, use care to prevent the seal from dropping and being pinched.
  • Page 133 Starting to lock Pull the lever. Pulling the lever firmly inserts the plug into the receptacle connector. If the plug is pushed forcefully without pulling the lever, the components may damage. If the plug is inserted diagonally or twisted hard while being inserted, the plug may be deformed or come off or the O-ring may be deformed, which may prevent the splash-proof effect.
  • Page 134: Dimensions

    Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • The dimensions in this section are for the cables run to the opposite direction of the load-side. When running the cables vertically or to the opposite direction of the load-side, and for the dimensions for single cable type cables, refer to the following.
  • Page 135 HK-KT13UW(B) Model Variable dimensions HK-KT13UW(B) 58.5 (82) 46.8 (70.3) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ5.5 mounting hole □60 Use hexagon socket head cap screw. Connector 11.5 31.5 11.7 [Unit: mm] HK-KT23W(B)/HK-KT43W(B)/HK-KT63W(B)/HK-KT434W(B)/HK-KT634W(B)
  • Page 136 HK-KT23UW(B)/HK-KT43UW(B) Model Variable dimensions HK-KT23UW(B) 65.5 (87.5) 53.8 (75.8) HK-KT43UW(B) 74.5 (96.5) 62.8 (84.8) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. □80 4-φ6.6 mounting hole Use hexagon socket head cap screw. Connector 11.5 31.5...
  • Page 137 HK-KT7M3UW(B)/HK-KT103UW(B)/HK-KT153W(B)/HK-KT203W(B)/HK-KT202W(B)/HK- KT1534W(B)/HK-KT2034W(B)/HK-KT2024W(B) Model Variable dimensions HK-KT7M3UW(B) 83.5 (111) 71.8 (99.3) HK-KT103UW(B) 92.5 (120) 80.8 (108.3) HK-KT153W(B) 118.9 (158.3) 107.2 (146.6) HK-KT1534W(B) HK-KT203W(B) 136.9 (176.3) 125.2 (164.6) HK-KT2034W(B) HK-KT202W(B) 172.9 (212.3) 161.2 (200.6) HK-KT2024W(B) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. □90 4-φ6.6 mounting hole Use hexagon socket...
  • Page 138: With Gear Reducer For General Industrial Machine

    With gear reducer for general industrial machine HK-KT053(B)G1/HK-KT13(B)G1/HK-KT23(B)G1/HK-KT43(B)G1/HK-KT7M3(B)G1 Model Reduction Variable dimensions ratio (actual reduction ratio) HK-KT053(B)G1 99.2 86.5 34.5 60.5 36.8 12.7 -0.03 -0.011 (9/44) (134.2) (121.5) 1/12 105.3 (49/576) (153) (140.3) 1/20 (25/484) HK-KT13(B)G1 111.7 99 (134) (9/44) (146.7) 1/12 130.5...
  • Page 139: With Flange-Output Type Gear Reducer For High Precision Applications, Flange Mounting

    With flange-output type gear reducer for high precision applications, flange mounting HK-KT053(B)G5/HK-KT13(B)G5 Model Reduction Variable dimensions ratio LE LF T N P 34.5 82.3 36.8 12.7 +0.012 +0.25 -0.025 - 0.20 KT053( (□40) (130) (117.3) B)G5 119.5 106.8 +0.018 +0.4 -0.03 - 0.5 (□60)
  • Page 140 HK-KT23(B)G5/HK-KT43(B)G5/HK-KT7M3(B)G5 Model Reduction Variable dimensions ratio T N P 131.5 119.8 46.6 11.7 +0.018 +0.4 -0.03 - 0.5 KT23( (166.1) (154.4) 1/11 B)G5 1/21 138.5 126.8 +0.021 +0.4 -0.035 - 0.5 (173.1) (161.4) 1/33 1/45 149.5 137.8 +0.018 +0.4 -0.03 - 0.5 KT43( (184.1)
  • Page 141: With Shaft-Output Type Gear Reducer For High Precision Applications, Flange Mounting

    With shaft-output type gear reducer for high precision applications, flange mounting HK-KT053(B)G7/HK-KT13(B)G7 Model Reduction Variable dimensions ratio 34.5 82.3 36.8 12.7 -0.025 -0.015 KT053(B) (□40) (130) (117.3) 119.5 106.8 -0.03 -0.018 (□60) (154.5) (141.8) 34.5 82.3 -0.025 -0.015 (130) (117.3) 1/11 119.5 106.8...
  • Page 142 HK-KT43(B)G7/HK-KT7M3(B)G7 Model Reduction Variable dimensions ratio 131.5 119.8 46.6 11.7 -0.03 -0.018 KT23(B)G (166.1) (154.4) 1/11 1/21 138.5 126.8 -0.035 -0.021 (173.1) (161.4) 1/33 1/45 149.5 137.8 -0.03 -0.018 KT43(B)G (184.1) (172.4) 1/11 156.5 144.8 -0.035 -0.021 (191.1) (179.4) 1/21 1/33 168.5 156.8...
  • Page 143: Cable Direction: Load Side/Opposite Direction Of The Load Side

    Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-KT053W 36.8 12.7 31.5 39.6 12.7 HK-KT13W HK-KT1M3W HK-KT13UW 46.6 11.7 49.4 11.7 HK-KT23W HK-KT43(4)W HK-KT63(4)W HK-KT23UW 56.6 59.4 HK-KT43UW HK-KT7M3(4)W HK-KT103(4)W HK-KT7M3UW 61.6 64.4 HK-KT103UW HK-KT153(4)W...
  • Page 144: Cable Direction: Vertical

    Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-KT053W 63.4 12.7 71.9 12.7 HK-KT13W HK-KT1M3W HK-KT13UW 73.2 11.7 81.7 11.7 HK-KT23W HK-KT43(4)W HK-KT63(4)W HK-KT23UW 83.2 91.7 HK-KT43UW HK-KT7M3(4)W HK-KT103(4)W HK-KT7M3UW 88.2 96.7 HK-KT103UW HK-KT153(4)W HK-KT203(4)W HK-KT202(4)W Connector 11.1 14.5 [Unit: mm] *1 The figures are for dual cable type motor cables.
  • Page 145: Chapter 7 Hk-St Series

    HK-ST SERIES This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-ST series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
  • Page 146 Series HK-ST_W (Medium inertia/medium capacity) Flange size □176 Rotary servo motor model HK- 202W(B) 352W(B) 502W(B) 702W(B) Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW]...
  • Page 147 Series HK-ST_4_W (Medium inertia/medium capacity) Flange size □130 Rotary servo motor model HK- 524W(B) 1024W(B) 1724W(B) 2024AW(B) 3024W(B) Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW]...
  • Page 148 Series HK-ST_4_W (Medium inertia/medium capacity) Flange size □176 Rotary servo motor model HK- 2024W(B) 3524W(B) 5024W 7024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW]...
  • Page 149 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
  • Page 150: Torque Characteristics

    Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 170 V AC : 3-phase 200 VAC...
  • Page 151  [HK-ST352W] [HK-ST502W] [HK-ST502W] Standard torque Standard torque Torque increased 60.0 90.0 90.0 80.0 80.0 50.0 70.0 70.0 Short-duration Short-duration Short-duration running range 40.0 60.0 60.0 running range running range 50.0 50.0 30.0 40.0 40.0 20.0 30.0 30.0 20.0 20.0 10.0 Continuous Continuous...
  • Page 152 ■HK-ST_4_W  [HK-ST524W] [HK-ST1024W] [HK-ST1024W] Standard torque Standard torque Torque increased 12.0 25.0 25.0 10.0 20.0 20.0 Short-duration running range 15.0 15.0 Short-duration Short-duration running range running range 10.0 10.0 Continuous running range Continuous Continuous running range running range 1000 1500 2000 1000...
  • Page 153    [HK-ST7024W] Standard torque 140.0 120.0 100.0 Short-duration 80.0 running range 60.0 40.0 20.0 Continuous running range 1000 1500 Speed [r/min] 7 HK-ST SERIES 7.1 Standard specifications...
  • Page 154: Permissible Load For The Output Shaft

    Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
  • Page 155: The Graph Of Overload Protection Characteristics Of Rotary Servo Motor

    The graph of overload protection characteristics of rotary servo motor Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later. Refer to "Overload protection characteristics" in the following manual. MR-J5 User's Manual (Hardware) Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly.
  • Page 156: Derating

    Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
  • Page 157: Restrictions On The Ambient Temperature

    Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-ST202(4)W HK-ST52(4)W HK-ST352(4)W HK-ST102(4)W HK-ST502(4)W HK-ST172(4)W/HK-ST202(4)AW/ HK-ST302(4)W HK-ST702(4)W Ambient temperature [°C] Ambient temperature [°C] Restrictions on the altitude To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions: 1000...
  • Page 158: Rotary Servo Motors With Special Shafts

    Rotary servo motors with special shafts There are two shaft shape types for the rotary servo motor: keyed shaft (with double round-ended key) and keyed shaft (without key). Rotary servo motor Shaft shape Keyed shaft With double round-ended key Without key HK-ST52(4)WK HK-ST102(4)WK HK-ST172(4)WK...
  • Page 159: Keyed Shaft (Without Key)

    Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-ST52(4)WN +0.2 -0.013 -0.036 HK-ST102(4)WN Screw hole HK-ST172(4)WN depth HK-ST202(4)AWN HK-ST302(4)WN HK-ST202(4)WN +0.010 +0.2 -0.036 HK-ST352(4)WN Screw hole HK-ST502(4)WN depth HK-ST702(4)WN 7 HK-ST SERIES 7.5 Rotary servo motors with special shafts...
  • Page 160: Geared Servo Motor

    Geared servo motor Precautions Mount the geared rotary servo motor in the specified mounting direction. Not doing so will cause oil leakage which may lead to a fire and malfunction. When using an oil-lubricated geared servo motor, remove the oil when transporting and mounting the servo motor.
  • Page 161 ■Mounting method and mounting direction Gear CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM reducer model Mounting Foot-mounting Flange- Foot-mounting Flange- Foot-mounting Flange- Foot-mounting Flange- method mounting mounting mounting mounting Mounting Shaft any direction Shaft horizontal Shaft downward Shaft upward direction ■Lubrication method The oil-lubrication method cannot be used for applications where the rotary servo motor moves.
  • Page 162 ■Lubrication change period • Grease Gear reducer frame No. 6100, 6120: Maintenance-free Other than the gear reducer frame No. 6100, 6120: Refer to the instruction manual "Cyclo® 6000" of Sumitomo Heavy Industries, Ltd. included with the product and to the manufacturer's website. •...
  • Page 163 Exclusive specifications ■With gear reducer for general industrial machine (flange-mounting) G1 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic...
  • Page 164 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic brake brake HK-ST702G1 6165 7526 5000 1/11 6170 7526...
  • Page 165 ■With gear reducer for general industrial machine (foot-mounting): G1H *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic brake...
  • Page 166 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic brake brake HK-ST702G1H 6165 7526 5000 1/11 6170 7526...
  • Page 167: For High Precision Applications (G5/G7)

    For high precision applications (G5/G7) Specifications Item Description Mounting method Flange-mounting Mounting direction Any direction Lubrication method Grease lubrication (lubricant filled from the factory) Output shaft rotation direction The same direction as the rotary servo motor Backlash 3 arc minutes or less on the gear reducer output shaft Permissible load to motor inertia ratio 10 times or less (converted into equivalent value on servo motor shaft)
  • Page 168 Permissible load for the rotary servo motor shaft ■With flange-output type gear reducer for high precision applications, flange mounting: G5 *2*3 Rotary Reduction Gear Moment of inertia Radial Permissible load Mass servo ratio reducer [× 10 kg•m load [kg] motor model point Standard With an...
  • Page 169 ■With shaft-output type gear reducer for high precision applications, flange mounting: G7 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] model Standard With an Permissible Permissible Standard With an electromagnetic radial load thrust load electromagnetic...
  • Page 170 Servo motor with special shaft The flange-mounting shaft output type servo motors for high precision application (G7) have a keyed shaft (with single pointed key). [Unit: mm] Rotary servo motor Gear φS reducer model HK-ST_G7K 25h7 M6 screw hole depth 12 40h7 M10 screw hole depth 20...
  • Page 171: Mounting Connectors

    Mounting connectors Both the one-touch lock fitting type and the screw fitting type can be used for the power connector. Mount the power connector as shown in the following procedure. One-touch fitting component area Screw fitting component area A. One-touch fitting (JL10 plug) B.
  • Page 172: Screw Fitting

    Screw fitting Align the main key of the receptacle connector (motor side) with its groove on the plug connector (cable side), and insert the plug into the receptacle. Main key Push in the plug straight until the coupling nut engages with the thread of the receptacle. Tighten the coupling nut with a recommended tightening torque of 4.0 to 4.5 N•m.
  • Page 173: Dimensions

    Dimensions • Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C.
  • Page 174 HK-ST202W(B)/HK-ST352W(B)/HK-ST502W(B)/HK-ST702W(B)/HK-ST2024W(B)/HK- ST3524W(B)/HK-ST5024W(B)/HK-ST7024W(B) Model Variable dimensions HK-ST202W(B) 138.5 80.7 HK-ST2024W(B) (188) HK-ST352W(B) 158.5 100.7 HK-ST3524W(B) (208) HK-ST502W(B) 178.5 120.7 HK-ST5024W(B) (228) HK-ST702W(B) 218.5 160.7 HK-ST7024W(B) (268) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ4.5 mounting hole 176 Use hexagon socket...
  • Page 175: With Gear Reducer For General Industrial Machine

    With gear reducer for general industrial machine 7 HK-ST SERIES 7.8 Dimensions...
  • Page 176 HK-ST52(B)G1/HK-ST102(B)G1 Model Reduction Variable dimensions ratio HK-ST52(B)G1 272.5 (307) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.036 -0.090 1/11 1/17 1/29 1/35 265 (299.5) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.043 -0.106 1/43 1/59 HK-ST102(B)G1 276 (310.5) 55.7 (90.2) 18.8 (56.5)
  • Page 177 HK-ST152(B)G1/HK-ST202(B)G1 Model Reduction Variable dimensions ratio HK-ST152(B)G1 287 (321.5) 55.7 (90.2) (56.5 35.5 (39.5) (29) -0.043 -0.106 1/11 1/17 1/29 332.5 (367) 55.7 (90.2) (56.5 35.5 (39.5) (29) -0.050 -0.122 1/35 1/43 390 (424.5) 55.7 (90.2) (56.5 35.5 (39.5) (29) -0.056 -0.137 1/59...
  • Page 178 HK-ST352(B)G1/HK-ST502(B)G1 Model Reduction Variable dimensions ratio HK-ST352(B)G1 368.5 57.8 22.6 (62.5) 35.5 (44) -0.043 -0.106 (418) (107.3) (42.5) 1/11 1/17 1/29 57.8 22.6 (62.5) 35.5 (44) -0.056 -0.137 (472.5) (107.3) (42.5) 1/35 1/43 462.5 57.8 22.6 (62.5) 35.5 (44) -0.062 -0.151 (512) (107.3)
  • Page 179 HK-ST702(B)G1 Model Reduction Variable dimensions ratio HK-ST702(B)G1 483 (532.5) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.056 -0.137 1/11 522.5 (572) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.062 -0.151 1/17 1/29 546.5 (596) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.062 -0.151...
  • Page 180: With Gear Reducer For General Industrial Machine (Foot-Mounting)

    With gear reducer for general industrial machine (foot-mounting) HK-ST52(B)G1H Model Reduction Variable dimensions ratio 320.5 (355) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) ST52(B)G1H 1/11 1/17 1/29 1/35 334 (368.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9)
  • Page 181 HK-ST102(B)G1H Model Reduction Variable dimensions ratio 345 (379.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) ST102(B)G1H 1/11 1/17 1/29 1/35 1/43 397.5 (432) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) 1/59 468 (502.5) (29) 35.5 (39.5) (56.5) 13.5...
  • Page 182 HK-ST152(B)G1H/HK-ST202(B)G1H Model Reduction Variable dimensions ratio 356 (390.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) ST152(B)G1H 1/11 1/17 1/29 408.5 (443) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) 1/35 1/43 479 (513.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2)
  • Page 183 HK-ST352(B)G1H/HK-ST502(B)G1H Model Reduction Variable dimensions ratio 444.5 (494) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) ST352(B)G1H 1/11 1/17 1/29 512 (561.5) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) 1/35 1/43 556.5 (606) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8...
  • Page 184 HK-ST702(B)G1H Model Reduction Variable dimensions ratio 572 (621.5) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 140.8 (96.9) ST702(B)G1H 1/11 616.5 (666) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 140.8 (96.9) 1/17 1/29 656.5 (706) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 140.8 (96.9) 1/35 1/43 747.5 (797)
  • Page 185: With Flange-Output Type Gear Reducer For High Precision Applications, Flange Mounting

    With flange-output type gear reducer for high precision applications, flange mounting HK-ST52(B)G5/HK-ST102(B)G5 Model Reduction Variable dimensions ratio HK-ST52(B)G5 210.5 (245) 35.5 (39.5) +0.021 +0.4 -0.035 - 0.5 1/11 1/21 222.5 (257) 35.5 (39.5) +0.025 +0.4 -0.035 - 0.5 1/33 1/45 HK-ST102(B)G5 221.5 (256) 35.5 (39.5)
  • Page 186 HK-ST152(B)G5/HK-ST202(B)G5 Model Reduction Variable dimensions ratio HK-ST152(B)G5 232.5 (267) 35.5 (39.5) +0.021 +0.4 -0.035 - 0.5 1/11 244.5 (279) 35.5 (39.5) +0.025 +0.4 -0.035 - 0.5 1/21 260.5 (295) 35.5 (39.5) +0.025 +0.5 -0.063 - 0.8 1/33 1/45 HK-ST202(B)G5 267.5 (317) 35.5 (42.5) +0.025 +0.4...
  • Page 187 HK-ST352(B)G5/HK-ST502(B)G5/HK-ST702(B)G5 Model Reduction Variable dimensions ratio HK-ST352(B)G5 287.5 (337) 35.5 (42.5) +0.025 +0.4 -0.035 - 0.5 1/11 307.5 (357) 35.5 (42.5) +0.025 +0.5 -0.063 - 0.8 1/21 HK-ST502(B)G5 327.5 (377) 35.5 (42.5) +0.025 +0.5 -0.063 - 0.8 1/11 HK-ST702(B)G5 367.5 (417) 35.5 (42.5) +0.025 +0.5...
  • Page 188: With Shaft-Output Type Gear Reducer For High Precision Applications, Flange Mounting

    With shaft-output type gear reducer for high precision applications, flange mounting HK-ST52(B)G7/HK-ST102(B)G7 Model Reduction Variable dimensions ratio HK-ST52(B)G7 210.5 (245) -0.035 -0.021 1/11 1/21 222.5 (257) -0.035 -0.025 1/33 1/45 HK-ST102(B)G7 221.5 (256) -0.035 -0.021 1/11 233.5 (268) -0.035 -0.025 1/21 1/33 249.5 (284)
  • Page 189 HK-ST152(B)G7/HK-ST202(B)G7 Model Reduction Variable dimensions ratio HK-ST152(B)G7 232.5 (267) -0.035 -0.021 1/11 244.5 (279) -0.035 -0.025 1/21 260.5 (295) -0.063 -0.025 1/33 1/45 HK-ST202(B)G7 267.5 (317) -0.035 -0.025 1/11 1/21 287.5 (337) -0.063 -0.025 1/33 1/45 Model Reduction Variable dimensions ratio HK-ST152(B)G7 35.5 (39.5)
  • Page 190 HK-ST352(B)G7/HK-ST502(B)G7/HK-ST702(B)G7 Model Reduction Variable dimensions ratio HK-ST352(B)G7 287.5 (337) -0.035 -0.025 1/11 307.5 (357) -0.063 -0.025 1/21 HK-ST502(B)G7 327.5 (377) -0.063 -0.025 1/11 HK-ST702(B)G7 367.5 (417) -0.063 -0.025 Model Reduction Variable dimensions ratio HK-ST352(B)G7 35.5 (42.5) 229.7 (62.5) (44) 140.8 (96.9) 1/11 35.5 (42.5)
  • Page 191: Chapter 8 Hk-Rt Series

    HK-RT SERIES The HK-RT_4W will be available in the future. This chapter provides information on the rotary servo motor specifications and characteristics. When using the HK-RT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
  • Page 192 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
  • Page 193: Torque Characteristics

    Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier • When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 170 V AC : 3-phase 200 VAC...
  • Page 194: Permissible Load For The Output Shaft

    Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
  • Page 195: The Graph Of Overload Protection Characteristics Of Rotary Servo Motor

    The graph of overload protection characteristics of rotary servo motor Overload protection of rotary servo motors has been enhanced. Refer to "Overload protection characteristics" in the following manual. MR-J5 User's Manual (Hardware) Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit being used.
  • Page 196: Derating

    Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
  • Page 197: Restrictions On The Ambient Temperature

    Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-RT353(4)W HK-RT103(4)/HK-RT153(4)/ HK-RT203(4)W HK-RT503(4)W/HK-RT703(4)W Ambient temperature [°C] Ambient temperature [°C] Restrictions on the altitude To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions: 1000 2000...
  • Page 198: Rotary Servo Motors With Special Shafts

    Rotary servo motors with special shafts For rotary servo motors, there are two types of shafts: keyed shaft (with double round-ended key) and keyed shaft (without key). To prevent an accident such as motor shaft fracture, do not use a servo motor with a keyed shaft for frequent start/stop applications.
  • Page 199: Keyed Shaft (Without Key)

    Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-RT103(4)WN +0.2 -0.013 -0.036 HK-RT153(4)WN Screw hole HK-RT203(4)WN depth HK-RT353(4)WN +0.010 +0.2 -0.036 HK-RT503(4)WN Screw hole HK-RT703(4)WN depth Mounting connectors HK-RT103(4)W/HK-RT153(4)W/HK-RT203(4)W Refer to the following page for information on mounting connectors. Page 130 Mounting connectors HK-RT353(4)W/HK-RT503(4)W/HK-RT703(4)W Refer to the following page for information on mounting connectors.
  • Page 200: Dimensions

    Dimensions HK-RT103W(B)/HK-RT1034W(B)/HK-RT153W(B)/HK-RT1534W(B)/HK-RT203W(B)/HK- RT2034(B)W Model Variable dimensions HK-RT103W(B) 118.9 (158.3) 107.2 (146.6) HK-RT1034W(B) HK-RT153W(B) 136.9 (176.3) 125.2 (164.6) HK-RT1534W(B) HK-RT203W(B) 172.9 (212.3) 161.2 (200.6) HK-RT2034W(B) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. □90 4-φ6.6 mounting hole Use hexagon socket...
  • Page 201 HK-RT353W/HK-RT3534W 4-φ9 mounting hole Use hexagon socket head cap screw. 35.5 Encoder connector CMV1-R10P 22.6 Power supply connector 35.5 153.4 JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66753* [Unit: mm] HK-RT353WB/HK-RT3534WB 4-φ9 mounting hole Use hexagon socket head cap screw. 247.5 □130 39.5...
  • Page 202 HK-RT503W/HK-RT5034W 4-φ9 mounting hole Use hexagon socket head cap screw. 35.5 Encoder connector CMV1-R10P 22.6 Power supply connector 35.5 207.4 JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66754* [Unit: mm] HK-RT503WB/HK-RT5034WB 4-φ9 mounting hole Use hexagon socket head cap screw. 301.5 □130 39.5...
  • Page 203 HK-RT703W/HK-RT7034W 4-φ9 mounting hole Use hexagon socket head cap screw. 35.5 Encoder connector CMV1-R10P 22.6 35.5 246.4 Power supply connector JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66755* [Unit: mm] *1 The HK-RT703W(B) has screw holes for eyebolts (M6 screw hole depth 10.5). If using eyebolts, secure them to the servo motor with washers φ14 or more.
  • Page 204 HK-RT703WB/HK-RT7034WB 4-φ9 mounting hole Use hexagon socket head cap screw. 340.5 □130 39.5 56.5 Encoder connector CMV1-R10P 22.6 35.5 Electromagnetic brake 246.4 connector CMV1-R2P Main key position mark Power connector JL10-2E22-22PCE (MS3102A22-22P) Electromagnetic brake Electromagnetic brake connector Power connector Motor flange direction Motor flange direction BC66767* [Unit: mm]...
  • Page 205: Cable Direction: Load Side/Opposite Direction Of The Load Side

    Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-RT103(4)W 61.6 11.7 31.5 64.4 11.7 HK-RT153(4)W HK-RT203(4)W Connector 11.5 11.5 Cable direction: Load side Cable direction: Opposite direction of the load side [Unit: mm] *1 The figures are for dual cable type motor cables.
  • Page 206: Chapter 9 Compliance With Each Region

    COMPLIANCE WITH EACH REGION The HK-RT_4W will be available in the future. Compliance with CE marking CE marking The CE marking is mandatory and must be affixed to specific products placed on the market in the European Union. When a product complies with the requirements (directives), the CE marking must be affixed to the product.
  • Page 207: Compliance With Ul/Csa Standard

    Compliance with UL/CSA standard Use a rotary servo motor that complies with the UL/CSA standard. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc., of the UL/CSA compliant products are the same as those of the standard models.
  • Page 208: Selection Example Of Wires

    Selection example of wires To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 ˚C for wiring. The following table shows wires [AWG] rated at 75 . HK-KT series Rotary servo motor Wire [AWG] U/V/W/ B1/B2 HK-KT053W HK-KT13W HK-KT1M3W HK-KT13UW...
  • Page 209 HK-RT series Rotary servo motor Wire [AWG] U/V/W/ B1/B2 HK-RT103W HK-RT153W HK-RT203W HK-RT353W HK-RT503W HK-RT703W HK-RT1034W HK-RT1534W HK-RT2034W HK-RT3534W HK-RT5034W HK-RT7034W *1 This is used for fabricating extension cables. Use options when wiring the servo motor. 9 COMPLIANCE WITH EACH REGION 9.2 Compliance with UL/CSA standard...
  • Page 210: Chapter 10 Appendix

    APPENDIX The HK-RT_4W will be available in the future. 10.1 Rotary servo motor ID codes Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder Rotary servo motor 0311 0053 F001 HK-KT053W FF13 HK-KT13W 0153 HK-KT1M3W FF23 HK-KT23W FF43...
  • Page 211 Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder Rotary servo motor 0341 F103 F001 HK-RT103W F153 HK-RT153W F203 HK-RT203W F353 HK-RT353W F503 HK-RT503W F703 HK-RT703W 0342 F103 HK-RT1034W F153 HK-RT1534W F203 HK-RT2034W F353 HK-RT3534W F503 HK-RT5034W F703...
  • Page 212: Selection Example Of Rotary Servo Motor Power Cable

    10.2 Selection example of rotary servo motor power cable Selection requirements for the wire size are as follows. Wiring length: 30 m or less As some cables do not fit in the optional or recommended cable clamp, select cable clamps applicable to the cable diameters.
  • Page 213: Connector Dimensions

    10.3 Connector dimensions The connector dimensions for wiring the rotary servo motor are shown below. Rotary servo motor series Type Model Manufacturer Dimensions Page 211 MT50W- HK-KT/HK-RT (1.0 kW - 2.0 kW) Horizontal lead, dual cable MT50W-8D/2D4ES- Hirose Electric CVLD(7.5) 8D/2D4ES-CVLD(7.5) Horizontal lead, single cable MT50W-8D/2D4ES-...
  • Page 214: Mt50W-8D/2D4Es-Cvl(11.9)

    MT50W-8D/2D4ES-CVL(11.9) 25.45 (11.45) (40) [Unit: mm] MT50W-8D/2D4ES-CVSD(7.5) 30.5 [Unit: mm] 10 APPENDIX 10.3 Connector dimensions...
  • Page 215: Mt50W-8D/2D4Es-Cvs(11.9)

    MT50W-8D/2D4ES-CVS(11.9) 30.5 [Unit: mm] CMV1-SP10S-M_/CMV1-SP2S-_ Refer to the following for details of the crimping tool. Page 29 Wiring connectors (connector configurations B/C/D/E) (50) For CMV1-SP10S-M_ For CMV1-SP2S-_ [Unit: mm] CMV1-AP10S-M_/CMV1-AP2S-_ Refer to the following for details of the crimping tool. Page 29 Wiring connectors (connector configurations B/C/D/E) (32) For CMV1-AP10S-M_...
  • Page 216: Cmv1S-Sp10S-M_/Cmv1S-Sp2S

    CMV1S-SP10S-M_/CMV1S-SP2S-_ Refer to the following for details of the crimping tool. Page 29 Wiring connectors (connector configurations B/C/D/E) For CMV1S-SP10S-M_ (50) For CMV1S-SP2S-_ [Unit: mm] CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to the following for details of the crimping tool. Page 29 Wiring connectors (connector configurations B/C/D/E) (32) For CMV1S-AP10S-M_ For CMV1S-AP2S-_...
  • Page 217: Jl10-8A_-_Se-Eb

    JL10-8A_-_SE-EB [Unit: mm] Model JL10-8A18-10SE-EB 44.45 34.55 35.85 1-20UNEF-2A JL10-8A22-22SE-EB 51.85 40.65 42.2 37.4 1 3/16-18UNEF-2A JL04V-6A_-_SE-EB-R [Unit: mm] Model JL10-6A18-10SE-EB 57.4 67.63 1-20UNEF-2A 1 1/8-18UNEF-2B JL10-6A22-22SE-EB 34.1 40.5 1 3/16-18UNEF-2A 1 3/8-18UNEF-2B 10 APPENDIX 10.3 Connector dimensions...
  • Page 218: Jl04V-8A_-_Se-Ebh-R

    JL04V-8A_-_SE-EBH-R [Unit: mm] Model JL10-8A18-10SE-EB 65.5 34.1 1-20UNEF-2A 1 1/8-18UNEF-2B JL10-8A22-22SE-EB 74.3 60.3 40.5 1 3/16-18UNEF-2A 1 3/8-18UNEF-2B JL04-_CK(_)-_-R [Unit: mm] Model Shell size Cable OD (reference) JL04-18CK(10)-_-R 30.2 24.1 53.8 31.8 1-20UNEF-2B φ8 to 11 JL04-18CK(13)-_-R 14.1 φ11 to 14.1 JL04-2022CK(12)-_-R 34.9 24.3...
  • Page 219: Fabricating The Encoder Cable

    10.4 Fabricating the encoder cable It is recommended to use options indicated in the following section for the encoder cable. Page 58 WIRING OPTION When fabricating an encoder cable, use the recommended products described in the following chapters. Page 26 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING Page 33 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR Page 58 WIRING OPTION When fabricating encoder cables, note the descriptions in this section, in order to ensure the reliability of communication.
  • Page 220: Gear Reducer Model Designation

    10.5 Gear reducer model designation Check the rating plate of the gear reducer for the gear reducer model. HK-KT_G1 Gear reducer model designation K 9 0 1 2 N K C Rating plate Series Version (reverse side) Output-side flange size Shaft shape Symbol Flange size...
  • Page 221: Hk-St_G1/G1H

    HK-ST_G1/G1H Gear reducer model designation For the reduction ratio, check the item "RATIO" on the gear reducer rating plate. For details of the items indicated on the gear reducer rating plate, refer to "Cyclo® 6000" of Sumitomo Heavy Industries, Ltd. C N H M - 6 1 0 0 Rating plate area (reverse side)
  • Page 222: Revisions

    Chapter 8 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 223: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 224: Trademarks

    TRADEMARKS MELSERVO is a 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. SH(NA)-030314ENG-D...
  • Page 226 SH(NA)-030314ENG-D(2011)MEE MODEL: MODEL CODE: 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 When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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