Page 1 Mitsubishi Electric AC Servo System Rotary Servo Motor User's Manual (For MR-JET) -HK-KN_ -HK-FN_ -HK-SN_ -HG-KNS_ -HG-SNS_...
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: 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 5: Cables Used For Wiring
CABLES USED FOR WIRING Wires mentioned in this manual are selected based on the ambient temperature of 40 °C. 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.
Page 6: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 7 CHAPTER 5 WIRING OPTION (HK-KN SERIES/HK-FN SERIES/HK-SN SERIES) Cable/connector sets ..............52 Combinations of cable/connector sets.
Page 8 Derating ................133 Restrictions on the flange size.
Page 9 Derating ................178 Restrictions on the flange size.
Page 10 With an electromagnetic brake ............. 219 CHAPTER 12 HG-SNS SERIES (200 V) 12.1 Model designation .
Page 11: Chapter 1 Introduction
INTRODUCTION Rating plate Products applied by Certification Bodies are marked. The mark depends on the Certification Bodies. The production year and month of the rotary servo motor are indicated in the serial number on the rating plate. The year and month of manufacture are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z (12)].
Page 12 HK-FN (1.0 kW - 3.0 kW) series/HK-SN series Model Input power, rated voltage, rated current, and rated output Mass and insulation class Rated speed Induced voltage constant and maximum ambient temperature Power factor and IP rating Serial number Country of origin, Conforming standards Manufacturer Display of compatibility with the China...
Page 13: Environment
Environment HK-KN series/HK-FN series/HK-SN series Condition Operation Transportation/storage Ambient temperature 0 °C to 60 °C (non-freezing) -15 °C to 70 °C (non-freezing) Ambient humidity 10 %RH to 90 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing) Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust, nor high magnetic field Altitude 2000 m or less External magnetic field...
Page 14: Parts Identification
Parts identification HK-KN series/HK-FN (0.1 kW - 0.75 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-FN (1.0 kW - 3.0 kW) series/HK-SN series Without an electromagnetic brake Power connector Encoder connector Encoder...
Page 15 HG-KNS series *1 *2 Power cable Encoder cable Power lead (U/V/W) Grounding lead Servo motor shaft Encoder *1 The encoder cable and power supply cable are options. *2 An electromagnetic brake cable is also required for servo motors with an electromagnetic brake. HG-SNS series Power connector Encoder connector...
Page 16: 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 17: Other Precautions
Selection of surge absorbers for electromagnetic brake circuit The following shows an example of how to select a varistor as a surge absorber. Selection condition Item Condition Electromagnetic brake specification R [Ω]: Resistance L [H]: Inductance Vb [V]: Power supply voltage Desired suppression voltage Vs [V] or less Durable surge application time...
Page 18: 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 five shaft shape types for the rotary servo motor: straight shaft, D-cut shaft, L-cut shaft, keyed shaft (without key), and keyed shaft (with double round-ended key).
Page 19: Instructions On Storage
Keyed shaft (without key) Keyed shaft (with double round-ended key) Instructions on storage Precautions Note the following when storing the rotary servo motor for an extended period of time (guideline: three or more months). • Always store the linear servo motor indoors, in a clean and dry place. •...
Page 20: Chapter 2 Installation
INSTALLATION Precautions • Install the rotary servo motor on incombustible material. Installing them directly or close to combustibles will 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-KN All directions HK-FN HK-SN HG-KNS HG-SNS It is recommended that the connector section be set downward for mounting the rotary servo motor in the horizontal direction. 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 the chapter of the rotary servo motor series. • 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. • Do not disassemble and/or repair the equipment on customer side. Periodic inspection Perform the following inspections. • Check the bearings, brake section, and the like for unusual noise. •...
Page 26: Mounting Rotary Servo Motors
2.10 Mounting rotary servo motors 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 of the rotary servo motor increases differently depending on its mounting environment, operating conditions, and other factors.
Page 27: Chapter 3 Connectors Used For Rotary Servo Motor Wiring
CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING 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 28 HK-FN (1.0 kW - 3.0 kW) series/HK-SN series Electromagnetic brake connector Encoder connector Power connector Rotary servo motor Wiring connector For encoder For electromagnetic brake For power supply HK-FN102 Connector configuration D Connector configuration F Connector configuration I HK-FN152 HK-SN3534 HK-SN5034 HK-FN202 Connector configuration J...
Page 29: Wiring Connectors (Connector Configurations A/B/C)
Wiring connectors (connector configurations A/B/ Connector Feature Connector Crimping tool Rotary servo motor encoder configuration connector IP65 Connector: 2174053-1 For ground clip: 1596970-1 1674339-1 (TE Connectivity) For receptacle contact: 1596847-1 (TE Connectivity) (TE Connectivity) *1 The connector to be mated. Connector Feature Connector...
Page 30: Wiring Connectors (Connector Configurations D/E/F/G/I/J)
Wiring connectors (connector configurations D/E/ F/G/I/J) 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 configuration servo Type Plug Socket contact Contact shape Cable OD motor [mm] encoder (reference)
Page 31 Plug Cable clamp Cable Plug Cable clamp Cable Connector Feature Plug (DDK) Cable clamp (DDK) Rotary servo motor configuration power connector Type Model Cable OD [mm] Model (reference) IP67 Straight CE05-6A18-10SD-D-BSS 8.5 to 11 CE3057-10A-2-D MS3102A18-10P EN compliant Applicable wire size: AWG 14 to 12 10.5 to 14.1 CE3057-10A-1-D Angle...
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 IP67 Straight CMV1-SP2S-S CMV1-#...
Page 33 Plug Cable clamp Cable Plug Cable clamp Cable Connector Feature Plug (DDK) Cable clamp (DDK) Rotary servo configuration motor power Type Model Cable OD [mm] Model connector (reference) IP67 Straight CE05-6A22-22SD-D-BSS 9.5 to 13 CE3057-12A-2-D MS3102A22-22P Applicable wire size: AWG 10 to 8 12.5 to 16 CE3057-12A-1-D 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 connector [mm] (reference) IP67 One-touch JL10-6A22-22SE-EB JL04-2022CK(12)-_-R 9.5 to 13 JL10-2E22- connection Applicable wire size: 8 mm (AWG 8) or 22PCE JL04-2022CK(14)-_-R...
Page 35: Wiring Connectors (Connector Configuration H)
Wiring connectors (connector configuration H) 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 36: Chapter 4 Connection Of Servo Amplifier And Rotary Servo Motor
CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR Precautions • Insulate the conductive parts of the terminals. • To prevent unexpected operation of the rotary servo motor, wire the equipment correctly and securely. • Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation.
Page 37: Precautions For Wiring
Precautions for wiring For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth (PE) terminal of the cabinet.
Page 38: Wiring
Wiring To wire to the servo amplifier, use connectors packed with the servo amplifier or optional connectors. For connectors, refer to "Wiring CNP1" in the following manual. MR-JET User's Manual (Hardware) HK-KN series/HK-FN (0.1 kW - 0.75 kW) series Cable type Cable length Electromagnetic brake IP rating with extension...
Page 39 Connection diagram 2 10 m or shorter Rotary servo motor Servo amplifier CNP1 (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 49 Selection example of wires 50 m or shorter Extension cable...
Page 40 Connection diagram 4 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 49 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 41 Connection diagram 5 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 49 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 CNP1...
Page 42 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 CNP1 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 shuts off by being interlocked with the emergency stop switch.
Page 43: Hk-Fn (1.0 Kw - 3.0 Kw) Series/Hk-Sn Series
HK-FN (1.0 kW - 3.0 kW) series/HK-SN series Refer to the following for the wires used for wiring. Page 49 Selection example of wires Wiring diagram 50 m or shorter Servo amplifier Rotary servo motor CNP1 24 V DC power supply for (Electromagnetic electromagnetic...
Page 44 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 45 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 CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR 4.2 Wiring...
Page 46: Hg-Kns Series
HG-KNS series Servo motor power supply cable wiring diagrams When cable length is 10 m or less 10 m or shorter MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L Servo Rotary MR-PWS1CBL_M-A1-H amplifier servo motor MR-PWS1CBL_M-A2-H CNP1 (Red) (White) (Black) (Green/yellow) When cable length exceeds 10 m Fabricate an extension cable as shown below.
Page 47 Electromagnetic brake cable wiring diagrams When cable length is 10 m or less 10 m or shorter MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L Rotary MR-BKS1CBL_M-A1-H 24 V DC servo motor power supply MR-BKS1CBL_M-A2-H for electromagnetic (Electromagnetic brake brake interlock) (Malfunction) AWG 20 AWG 20 *1 Connect a surge absorber as close to the servo motor as possible.
Page 48: Hg-Sns Series
HG-SNS series Refer to the following for the wires used for wiring. Page 49 Selection example of wires Wiring diagram 50 m or shorter Rotary Servo amplifier servo motor 24 V DC power supply (Electromagnetic for electromagnetic brake interlock) (Malfunction) brake *1 *4 *1 The electromagnetic brake terminals (B1 and B2) have no polarity.
Page 49 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 47 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 50 Connector B Power connector MS3102A18-10P Terminal No. Signal Connector C Power connector 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 CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR 4.2 Wiring...
Page 51: 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 242 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 52 Wire size selection examples for the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) are indicated below. Even when the maximum torque is increased, the applicable wire sizes are the same. HK-KN series (200 V) Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2...
Page 53 HK-KN series (400 V) Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2 *1 *2 *2 *3 HK-KN134 0.75 (AWG 18) 0.2 (AWG 24) HK-KN234 HK-KN434 HK-KN634 HK-KN7M34 HK-KN1034 HK-KN1534 HK-KN2034 *1 For the motor power connector wiring, use fluorine resin wire of 0.75 mm (AWG 18).
Page 54: Chapter 5 Wiring Option (Hk-Kn Series/Hk-Fn Series/Hk-Sn Series)
WIRING OPTION (HK-KN SERIES/HK-FN SERIES/HK-SN SERIES) When cables are fabricated by the customer, wires should be selected in accordance with the application. 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 55: Combinations Of Cable/Connector Sets
Combinations of cable/connector sets HK-KN series/HK-FN (0.1 kW - 0.75 kW) series Junction connection (9) (10) (11) (12) To 24 V DC power supply (46) (47) for electromagnetic brake Servo amplifier (13) (14) (15) Junction connection (16) (17) (18) (19) To 24 V DC power supply CNP1 (48) (49)
Page 56: Cable And Connector List
Cable and connector list Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables HK-KN series/ Standard MR-AEPB2CBL2M-A1-L IP65 (Dual cable type/ HK-FN13/ (for fixed MR-AEPB2CBL5M-A1-L direct connection HK-FN23/ parts) type) HK-FN43/ 10 m MR-AEPB2CBL10M-A1-L Motor side: IP65 HK-FN7M3 Long MR-AEPB2CBL2M-A1-H...
Page 57 Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables HK-KN series/ Standard 0.3 m MR-AEPB2J10CBL03M- IP65 (Dual cable type/ HK-FN13/ (for fixed A1-L junction HK-FN23/ parts) IP20 connection type) HK-FN43/ Motor side: IP65 HK-FN7M3 Junction side: With IP20 electromagnetic...
Page 58 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (16) Motor cables HK-KN series/ Standard 0.3 m MR-AEPB2J20CBL03M- IP65 (Dual cable type/ HK-FN13/ (for fixed A1-L junction HK-FN23/ parts) IP65 connection type) HK-FN43/ Motor side: IP65 HK-FN7M3 Junction side: With IP65 electromagnetic...
Page 59 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (24) Encoder HK-KN series/   MR-J3SCNS IP67 connector set HK-FN series (One-touch connection type) Refer to the following for details. Junction side: Page 77 MR-AENSCBL_M-_ IP67 Page 81 MR-J3ENSCBL_M-_ (25) Motor cables HK-KN series/...
Page 60 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (34) Power connector HK-FN202/   MR-APWCNS5 IP67 HK-FN301M (One-touch HK-SN7034 connection type) Plug: JL10-6A22-22SE-EB Cord clamp: JL04-2022CK(14)-_-R (JAE) Applicable cable Applicable wire size: 8 mm (AWG 8) or less Cable OD: 12.9 mm to 16 mm (35) Electromagnetic...
Page 61 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (42) Motor cables HK-KN series/ Standard MR-AEPB2CBL2M-A5-L (Dual cable type/ HK-FN13/ (for fixed MR-AEPB2CBL5M-A5-L direct connection HK-FN23/ parts) type) HK-FN43/ 10 m MR-AEPB2CBL10M-A5-L Motor side: IP65 HK-FN7M3 IP65 (43) Long MR-AEPB2CBL2M-A5-H With...
Page 62 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (48) Motor cables HK-KN series/ Standard 0.3 m MR-AEPB2J20CBL03M- (Dual cable type/ HK-FN13/ (for fixed A5-L junction HK-FN23/ parts) IP65 connection type) HK-FN43/ Motor side: IP65 HK-FN7M3 IP65 Junction side: With IP65 electromagnetic...
Page 63: Motor Cables/Connector Sets
Motor cables/connector sets MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_ 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 Flex type Standard (for fixed parts) High flex life (for moving parts) Outlet direction...
Page 64 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 94 MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 65 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 shown 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 66 Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins shown 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 Lever...
Page 67: Mr-Aepb2J10Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L
MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L 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 68 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 shown 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 69 Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins shown 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 Lever...
Page 70: Mr-Aepb2J20Cbl03M-_-L/Mr-Aep2J20Cbl03M-_-L
MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_-L 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. Not all combinations of the symbols are available. M R - A E P B 2 A 1 -...
Page 71 Junction connector (1) The following shows the view from the wiring side. Receptacle: CMV1-CR10P-M2 (DDK) Applicable wire size: AWG 20 or less 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 shown 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 72 Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins shown 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 Lever...
Page 73: Mr-Aepb1Cbl_M-_-_/Mr-Aep1Cbl_M
MR-AEPB1CBL_M-_-_/MR-AEP1CBL_M-_-_ 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 Flex type Standard (for fixed parts) High flex life (for moving parts) Outlet direction Symbol...
Page 74 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 94 MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 75 • Lead in opposite direction of load side Polarity mark E mark Polarity mark Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins shown with a diagonal line. Connector set: MT50W-8D/2D4ES-CVS(11.9) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric)
Page 76: 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 77 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 94 MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 78: Internal Wiring Diagram
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-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 76 Internal wiring diagram Refer to the following for the specifications of the cable to use.
Page 79: Mr-Aenscbl_M
MR-AENSCBL_M-_ 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 - Flex type Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Cable length...
Page 80 Connection of servo amplifier and rotary servo motor HK-KN series/HK-FN (0.1 kW - 0.75 kW) series This connection is for when electromagnetic brake cable is included. Servo amplifier MR-AEPB2J20CBL03M-_-L MR-AEP2J20CBL03M-_-L MR-AENSCBL_M-_ Rotary servo motor *1 Refer to the following for connection of the power connector. Page 36 Wiring HK-FN (1.0 kW - 3.0 kW) series Servo amplifier...
Page 81 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 94 MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 82 When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram. Page 79 Cable internal wiring diagram Refer to the following for the specifications of the cable to use. Page 84 Wires for option cables Parts Description (Connector set)
Page 83: Mr-J3Enscbl_M
MR-J3ENSCBL_M-_ 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 Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Cable length Symbol...
Page 84 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 94 MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 85 Cable internal wiring diagram • MR-J3ENSCBL2M-L • MR-J3ENSCBL5M-L • MR-J3ENSCBL10M-L • MR-J3ENSCBL2M-H • MR-J3ENSCBL5M-H • MR-J3ENSCBL10M-H CN2-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 83 Cable internal wiring diagram Refer to the following for the specifications of the cable to use.
Page 86: 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 87: 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 88: 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 89: 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- For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply/brake UL style 2586 VW-1 MR-AEPB2J10CBL03M- For encoder Standard (for fixed parts) UL style 20276 VW-1...
Page 90: 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- For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply UL style 2586 VW-1 MR-AEP2J10CBL03M- For encoder Standard (for fixed parts) UL style 20276 VW-1...
Page 91: 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 92: 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 93: 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 94: 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 95: 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 96: Shield Procedure Of Cn2 Side Connectors
Shield procedure of CN2 side connectors For the CN2 side connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell. Cable Ground plate Screw 5 WIRING OPTION (HK-KN SERIES/HK-FN SERIES/HK-SN SERIES) 5.5 Shield procedure of CN2 side connectors...
Page 97: Cable Bending Life
Cable bending life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration.
Page 98: Chapter 6 Wiring Option (Hg-Kns Series/Hg-Sns Series)
WIRING OPTION (HG-KNS SERIES/HG-SNS SERIES) When cables are fabricated by the customer, wires should be selected in accordance with the application. 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 99: Cable/Connector Sets
Cable/connector sets The indicated IP rating is the cable and connector's protection against ingress of dust and water when the cable and connector are connected to a rotary servo motor. If the IP rating of the cable, connector, and rotary servo motor varies, the overall IP rating depends on the lowest IP rating of all components.
Page 100 HG-SNS series Servo amplifier (26) (31) (34) (35) (24) (25) CNP1 (29) (30) (32) (33) (27) (28) Rotary servo motor Power Electromagnetic Encoder connector brake connector connector 6 WIRING OPTION (HG-KNS SERIES/HG-SNS SERIES) 6.1 Cable/connector sets...
Page 101: Cable And Connector List
Cable and connector list Product Model Description Remark name Servo motor MR-PWS1CBL_M-A1-L IP65 power cable Cable length: 2/5/10 m Load-side lead Power Standard connector (for fixed parts) Servo motor MR-PWS1CBL_M-A1-H IP65 power cable Cable length: 2/5/10 m Load-side lead Long bending Page 117 Servo motor power cable life (for moving...
Page 102 Product Model Description Remark name (11) Electromagnetic MR-BKS2CBL03M-A1-L IP55 brake cable Cable length: 0.3 m Load-side lead Electromagnetic brake connector Standard (for fixed parts) Page 119 Electromagnetic brake cable (12) Electromagnetic MR-BKS2CBL03M-A2-L IP55 brake cable Cable length: 0.3 m Lead in opposite Electromagnetic brake connector direction of load...
Page 103 Product Model Description Remark name (21) Encoder MR-ECNM IP20 connector set Page 109 MR-EKCBL_M-_ (22) Encoder cable MR-J3JSCBL03M-A1-L IP65 Cable length: 0.3 m Load-side lead Encoder connector Standard (for fixed parts) Page 107 MR-J3JSCBL03M-_-L (23) Encoder cable MR-J3JSCBL03M-A2-L IP65 Cable length: 0.3 m Load-side lead Encoder connector Standard...
Page 104 Product Model Description Remark name (30) Electromagnetic MR-BKCNS1A IP67 brake connector Angle plug: CMV1-AP2S-L Socket contact: CMV1-# 22BSC-S2-100 (DDK) (31) Encoder MR-J3SCNSA IP67 connector set Page 113 MR-J3ENSCBL_M-_ (32) Electromagnetic MR-BKCNS2 IP67 brake connector Straight plug: CMV1S-SP2S-L Socket contact: CMV1-# 22BSC-S2-100 (DDK) (33) Electromagnetic...
Page 105: Encoder Cable/Connector Sets
Encoder cable/connector sets Encoder cables are not subject to European Low Voltage Directive (50 V AC to 1000 V AC and 75 V DC to 1500 V DC). MR-J3ENCBL_M-_-_ 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 - A 1 -...
Page 106 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 123 Shield procedure of CN2 side connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 107: Mr-J3Jcbl03M-_-L
MR-J3JCBL03M-_-L The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo motor-side encoder cable (MR-EKCBL_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 1 - Bending life...
Page 108 Junction connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown with a diagonal line. Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity) CONT Encoder-side connector (2) The following shows the view from the wiring side.
Page 109: Mr-J3Jscbl03M-_-L
MR-J3JSCBL03M-_-L The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo motor-side encoder cable (MR-J3ENSCBL_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 1 - Bending life...
Page 110 Junction connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown with a diagonal line. Receptacle: CM10-CR10P-M (DDK) Applicable wire size: AWG 20 or less Encoder-side connector (2) The following shows the view from the wiring side. Do not connect anything to the pins shown with a diagonal line. Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1...
Page 111: Mr-Ekcbl_M
MR-EKCBL_M-_ The following encoder cables are of four-wire type. • MR-EKCBL30M-L • MR-EKCBL30M-H • MR-EKCBL40M-H • MR-EKCBL50M-H When using any of these encoder cables, refer to the user's manual (parameters) and select "four-wire type" for the corresponding servo parameter. The servo amplifier and the rotary servo motor cannot be connected by these cables alone. Motor cables for rotary servo motors (MR-J3JCBL03M-_-L) are needed.
Page 112 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 123 Shield procedure of CN2 side connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 113: Internal Wiring Diagram
Internal wiring diagram When fabricating the cable, use the wiring diagram corresponding to the length indicated below. Cable bending life Applicable wiring diagram Less than 30 m 30 m to 50 m Standard MR-EKCBL20M-L MR-EKCBL30M-L Long bending life MR-EKCBL20M-H MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H MR-EKCBL20M-L...
Page 114 MR-EKCBL20M-H CN2-side Junction connector connector Plate *1 Make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. MR-EKCBL30M-H/MR-EKCBL40M-H/MR-EKCBL50M-H CN2-side Junction connector connector CONT Plate *1 Make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following.
Page 115: Mr-J3Enscbl_M
MR-J3ENSCBL_M-_ 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 Bending life Symbol Bending life Standard Long bending life Cable length Symbol Cable length [m]...
Page 116 CN2-side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins shown 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 123 Shield procedure of CN2 side connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 117 Cable internal wiring diagram MR-J3ENSCBL2M-L/MR-J3ENSCBL5M-L/MR-J3ENSCBL10M-L/MR-J3ENSCBL2M-H/MR- J3ENSCBL5M-H/MR-J3ENSCBL10M-H CN2-side Encoder-side connector connector Plate *1 Make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. MR-J3ENSCBL20M-L/MR-J3ENSCBL30M-L CN2-side Encoder-side connector connector Plate *1 Make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. MR-J3ENSCBL20M-H/MR-J3ENSCBL30M-H/MR-J3ENSCBL40M-H/MR-J3ENSCBL50M-H CN2-side Encoder-side...
Page 118 When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram. Page 115 Cable internal wiring diagram Refer to the following for the specifications of the cable to use. Page 121 Wires for option cables Parts Description (Connector set)
Page 119: Servo Motor Power Cable
Servo motor power cable Refer to the following for details regarding wiring. Page 97 HG-KNS series Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - P W S 1 A 1 - Bending life Symbol...
Page 120 Connection of servo amplifier and rotary servo motor Servo amplifier MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A1-H MR-PWS2CBL03M-A1-L CNP1 Rotary Servo amplifier servo motor power connector MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A2-H MR-PWS2CBL03M-A2-L Rotary servo motor Cable model Servo motor power-side connector (1) MR-PWS1CBL_M-A1-L Connector: KN4FT04SJ1-R Hood/socket insulator MR-PWS1CBL_M-A2-L Bushing/ground nut MR-PWS1CBL_M-A1-H Contact: ST-TMH-S-C1B-100-(A534G)
Page 121: Electromagnetic Brake Cable
Electromagnetic brake cable Refer to the following for details regarding wiring. Page 97 HG-KNS series Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - B K S 1 A 1 - Bending life Symbol...
Page 122 Connecting the electromagnetic brake power supply and the rotary servo motor MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L Rotary 24 V DC power servo motor supply for electromagnetic brake MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L Rotary servo motor Cable model Connector for electromagnetic brake (1) MR-BKS1CBL_M-A1-L Connector: JN4FT02SJ1-R Hood/socket insulator MR-BKS1CBL_M-A2-L 1 B1...
Page 123: Wires For Option Cables
Wires for option cables When wiring the cables, leave the minimum bending radius or more to prevent stress from being applied to the cables. Refer to the following for the cable flex life. Page 124 Cable bending life • List of applicable recommended wires Type Model Length...
Page 124 Type Model Length Core size Number Characteristics of one core Cable Recommended of cores wire model Structure Conductor Insulator [mm] (manufacturer) [Wires/ resistance outer [Ω/mm] diameter (d) [mm] Servo MR-PWS1CBL_M-A1-L 2 to 10 AWG 18 34/0.18 21.8 or less 1.71 6.2 ±...
Page 125: Shield Procedure Of Cn2 Side Connectors
Shield procedure of CN2 side connectors For the CN2 side connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell. Cable Ground plate Screw 6 WIRING OPTION (HG-KNS SERIES/HG-SNS SERIES) 6.6 Shield procedure of CN2 side connectors...
Page 126: Cable Bending Life
Cable bending life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration.
Page 127: Chapter 7 Hk-Kn Series (200 V)
HK-KN SERIES (200 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-KN series (200 V) rotary servo motor, read chapter 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 128: Standard Specifications
Standard specifications Standard specifications list Series HK-KN_ (Low inertia/small capacity) Flange size □40 □60 Rotary servo motor model Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running Rated output [kW]...
Page 129 Series HK-KN_ (Low inertia/small capacity) Flange size □80 □90 Rotary servo motor model Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running Rated output [kW] 0.75...
Page 130 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 131: Torque Characteristics
Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. 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 132: 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 133 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-KN7M3 HK-KN103 Distance L from flange surface [mm] HK-KN153 HK-KN203 HK-KN202 Distance L from flange surface [mm] 7 HK-KN SERIES (200 V) 7.2 Standard specifications...
Page 134: 7.3 Characteristics Of Electromagnetic Brake
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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 135 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 136 Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.10, derate the servo motor in accordance with the following conditions: HK-KN053 /HK-KN13 HK-KN1M3 HK-KN23 Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-KN43 HK-KN7M3/HK-KN103...
Page 137 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-KN053 /HK-KN13 HK-KN63 HK-KN1M3 HK-KN23/HK-KN43 Ambient temperature [°C] Ambient temperature [°C] HK-KN103 HK-KN203 HK-KN7M3 HK-KN153 HK-KN202 Ambient temperature [°C]...
Page 138 Rotary servo motors with special shafts For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key). The keys are included as accessories and not attached to the shafts. 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 139 L-cut shaft [Unit: mm] Rotary servo motor Variable dimensions HK-KN053L 21.5 20.5 HK-KN13L HK-KN1M3L Keyed shaft (with double round-ended key) [Unit: mm] Rotary servo motor Variable dimensions HK-KN053K 21.5 M3 × 8 -0.009 -0.085 HK-KN13K HK-KN1M3K HK-KN23K M4 × 15 -0.011 -0.085 HK-KN43K...
Page 140 Keyed shaft (without key) [Unit: mm] Rotary servo motor Variable dimensions HK-KN053N 21.5 M3 × 8 -0.004 -0.009 -0.029 -0.085 HK-KN13N HK-KN1M3N HK-KN23N M4 × 15 -0.011 -0.03 -0.085 HK-KN43N HK-KN63N HK-KN7M3N M5 × 20 15.5 -0.013 -0.03 -0.1 HK-KN103N HK-KN153N HK-KN203N HK-KN202N...
Page 141 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 142: 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 143 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 be damaged. 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 144 Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • The dimensions are for when cables (dual cable type) are run to 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 145 HK-KN23(B)/HK-KN43(B)/HK-KN63(B) Model Variable dimensions HK-KN23(B) 67.5 (102.1) 55.8 (90.4) HK-KN43(B) 85.5 (120.1) 73.8 (108.4) HK-KN63(B) 103.5 (138.1) 91.8 (126.4) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4× φ5.5 Connector 11.5 31.5 11.7...
Page 146 HK-KN153(B)/HK-KN203(B)/HK-KN202(B) Model Variable dimensions HK-KN153(B) 118.9 (158.3) 107.2 (146.6) HK-KN203(B) 136.9 (176.3) 125.2 (164.6) HK-KN202(B) 172.9 (212.3) 161.2 (200.6) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4× φ6.6 Connector 11.5 31.5 11.7...
Page 147 Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-KN053 36.8 12.7 31.5 39.6 12.7 HK-KN13 HK-KN1M3 HK-KN23 46.6 11.7 49.4 11.7 HK-KN43 HK-KN63 HK-KN7M3 56.6 59.4 HK-KN103 HK-KN153 61.6 64.4 HK-KN203 HK-KN202 Connector 11.5 11.5...
Page 148 Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-KN053 63.4 12.7 71.9 12.7 HK-KN13 HK-KN1M3 HK-KN23 73.2 11.7 81.7 11.7 HK-KN43 HK-KN63 HK-KN7M3 83.2 91.7 HK-KN103 HK-KN153 88.2 96.7 HK-KN203 HK-KN202 Connector 11.1 14.5 [Unit: mm] *1 The figures are for dual cable type motor cables. 7 HK-KN SERIES (200 V) 7.8 Dimensions...
Page 149 HK-FN SERIES (200 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-FN series (200 V) rotary servo motor, read chapter 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 150: Standard Specifications
Standard specifications Standard specifications list Series HK-FN_ (High inertia/small capacity) Flange size □40 □60 □80 Rotary servo motor model Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running Rated output [kW]...
Page 151 Series HK-FN_ (High inertia/medium capacity) Flange size □130 □176 Rotary servo motor model 301M Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running Rated output [kW] duty...
Page 152 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 153 Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. 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 154 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 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-FN7M3 Distance L from flange surface [mm] HK-FN102 1400 HK-FN152 1300 1200 1100 1000 Distance L from flange surface [mm] HK-FN202 2058 2800...
Page 156 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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 157 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 158 Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.10, derate the servo motor in accordance with the following conditions: HK-FN13 HK-FN23 Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-FN43 HK-FN7M3...
Page 159 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-FN13 HK-FN23/HK-FN43 Ambient temperature [°C] Ambient temperature [°C] HK-FN7M3 HK-FN102 HK-FN152 Ambient temperature [°C] Ambient temperature [°C] HK-FN202 HK-FN301M...
Page 160 Rotary servo motors with special shafts For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key). The keys are included as accessories and not attached to the shafts. 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 161 Keyed shaft (with double round-ended key) [Unit: mm] Rotary servo motor Variable dimensions HK-FN13K 21.5 M3 × 8 -0.085 -0.009 HK-FN23K M4 × 15 -0.011 -0.085 HK-FN43K HK-FN7M3K M5 × 20 15.5 -0.013 -0.1 HK-FN102K M8 × 20 -0.013 -0.1 HK-FN152K HK-FN202K +0.010...
Page 162 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 163: Mounting Connectors
Mounting connectors HK-FN series (0.1 kW - 0.75 KW) series Page 140 Mounting connectors HK-FN series (1.0 kW - 3.0 KW) series 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.
Page 164 One-touch lock 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 While pushing the plug lightly, rotate the coupling nut clockwise until it clicks. Pull the plug lightly to check that the plug does not come off.
Page 165 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 166 Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • 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 167 HK-FN23(B)/HK-FN43(B) The dimensions are for when cables (dual cable type) are run to 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 168 Cable direction: Load side/opposite direction of the load side Page 169 Cable direction: Vertical Model...
Page 168 HK-FN102(B)/HK-FN152(B) Model Variable dimensions HK-FN102(B) 159.5 103.8 (194) HK-FN152(B) 181.5 125.8 (216) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 35.5 (39.5) 4× φ9 Encoder connector CMV1-R10P 56.5 Brake connector 18.8 13.5 35.5...
Page 169 HK-FN202(B)/HK-FN301M(B) Model Variable dimensions HK-FN202(B) 158.5 100.7 (208) HK-FN301M(B) 178.5 120.7 (228) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 35.5 4× φ13.5 (42.5) Encoder connector 62.5 CMV1-R10P Brake connector CMV1-R2P 22.6 Power supply connector...
Page 170 Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-FN13 36.8 12.7 31.5 39.6 12.7 HK-FN23 46.6 11.7 49.4 11.7 HK-FN43 HK-FN7M3 56.6 59.4 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 171 Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-FN13 63.4 12.7 71.9 12.7 HK-FN23 73.2 11.7 81.7 11.7 HK-FN43 HK-FN7M3 83.2 91.7 Connector 11.1 14.5 [Unit: mm] *1 The figures are for dual cable type motor cables. 8 HK-FN SERIES (200 V) 8.8 Dimensions...
Page 172: Model Designation
HK-KN SERIES (400 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-KN series (400 V) rotary servo motor, read chapter 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 173: Standard Specifications
Standard specifications Standard specifications list Series HK-KN_ (Low inertia/small capacity) Flange size □40 □60 Rotary servo motor model Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous running Rated output [kW]...
Page 174 Series HK-KN_ (Low inertia/small capacity) Flange size □80 □90 Rotary servo motor model 7M34 1034 1534 2034 Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous running Rated output [kW]...
Page 175 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 176: Torque Characteristics
Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. 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...
Page 177 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 178 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-KN7M34 HK-KN1034 Distance L from flange surface [mm] HK-KN1534 HK-KN2034 Distance L from flange surface [mm] 9 HK-KN SERIES (400 V) 9.2 Standard specifications...
Page 179 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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 180 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 181 Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.10, derate the servo motor in accordance with the following conditions: HK-KN134 HK-KN234 Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-KN434 HK-KN7M34/HK-KN1034...
Page 182 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-KN134 HK-KN634 HK-KN234/HK-KN434 Ambient temperature [°C] Ambient temperature [°C] HK-KN1034 HK-KN2034 HK-KN7M34 HK-KN1534 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:...
Page 183 Rotary servo motors with special shafts For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key). The keys are included as accessories and not attached to the shafts. 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 184 L-cut shaft [Unit: mm] Rotary servo motor Variable dimensions HK-KN134L 21.5 20.5 Keyed shaft (with double round-ended key) [Unit: mm] Rotary servo motor Variable dimensions HK-KN134K 21.5 M3 × 8 -0.009 -0.085 HK-KN234K M4 × 15 -0.011 -0.085 HK-KN434K HK-KN634K HK-KN7M34K M5 ×...
Page 185 Keyed shaft (without key) [Unit: mm] Rotary servo motor Variable dimensions HK-KN134N 21.5 M3 × 8 -0.004 -0.009 -0.029 -0.085 HK-KN234N M4 × 15 -0.011 -0.03 HK-KN434N -0.085 HK-KN634N HK-KN7M34N M5 × 20 15.5 -0.013 -0.03 -0.1 HK-KN1034N HK-KN1534N HK-KN2034N 9 HK-KN SERIES (400 V) 9.5 Rotary servo motors with special shafts...
Page 186 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 187 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 188 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 be damaged. 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 189 Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • The dimensions are for when cables (dual cable type) are run to 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 190 HK-KN234(B)/HK-KN434(B)/HK-KN634(B) Model Variable dimensions HK-KN234(B) 67.5 (102.1) 55.8 (90.4) HK-KN434(B) 85.5 (120.1) 73.8 (108.4) HK-KN634(B) 103.5 (138.1) 91.8 (126.4) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4× φ5.5 Connector 11.5 31.5 11.7...
Page 191 HK-KN1534(B)/HK-KN2034(B) Model Variable dimensions HK-KN1534(B) 118.9 (158.3) 107.2 (146.6) HK-KN2034(B) 136.9 (176.3) 125.2 (164.6) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4× φ6.6 Connector 11.5 31.5 11.7 [Unit: mm] 9 HK-KN SERIES (400 V) 9.8 Dimensions...
Page 192 Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-KN134 36.8 12.7 31.5 39.6 12.7 HK-KN234 46.6 11.7 49.4 11.7 HK-KN434 HK-KN634 HK-KN7M34 56.6 59.4 HK-KN1034 HK-KN1534 61.6 64.4 HK-KN2034 Connector 11.5 11.5 Cable direction: Load side Cable direction: Opposite direction of the load side [Unit: mm]...
Page 193 Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-KN134 63.4 12.7 71.9 12.7 HK-KN234 73.2 11.7 81.7 11.7 HK-KN434 HK-KN634 HK-KN7M34 83.2 91.7 HK-KN1034 HK-KN1534 88.2 96.7 HK-KN2034 Connector 11.1 14.5 [Unit: mm] *1 The figures are for dual cable type motor cables. 9 HK-KN SERIES (400 V) 9.8 Dimensions...
Page 194: Model Designation
HK-SN SERIES (400 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-SN series (400 V) rotary servo motor, read chapter 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 195: Standard Specifications
10.2 Standard specifications Standard specifications list Series HK-SN_ (Middle range/high inertia/medium capacity) Flange size □130 □176 Rotary servo motor model 3534 5034 7034 Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous...
Page 196 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 197: Torque Characteristics
Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. 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...
Page 198 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 199 10.3 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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 200 10.4 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 201 Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.10, derate the servo motor in accordance with the following conditions: HK-SN3534/HK-SN5034 HK-SN7034 Flange size (20 mm thick) [mm] Flange size (30 mm thick) [mm] Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the...
Page 202 10.5 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). The keys are included as accessories and not attached to the shafts. 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 203 10.6 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 204: Mounting Connectors
10.7 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 205 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 206 10.8 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 207 HK-SN7034(B) Model Variable dimensions HK-SN7034(B) 178.5 120.7 (228) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 35.5 4× φ13.5 (42.5) Encoder connector 62.5 CMV1-R10P Brake connector CMV1-R2P 22.6 Power supply connector JL10-2E22-22PCE (MS3102A22-22P) [Unit: mm]...
Page 208: Model Designation
HG-KNS SERIES (200 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HG-KNS series (200 V) rotary servo motor, read chapter 1 to 4, chapter 6, and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 209 11.2 Standard specifications Standard specifications list Series HG-KNS_ (Low inertia/small capacity) Flange size □40 □60 □80 Rotary servo motor model Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running duty Rated output [kW]...
Page 210 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 211 Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. When the power supply voltage drops, the torque decreases. : 3-phase 200 VAC : 1-phase 200 VAC [HG-KNS13J]...
Page 212 11.3 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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 213 11.4 Rotary servo motors with special shafts There are two shaft shape types for the rotary servo motor: D cut shaft and keyed shaft (with double round-ended key). The keys are included as accessories and not attached to the shafts. Rotary servo motor Shaft shape D cut shaft...
Page 214 11.5 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 215 11.6 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points when installing the connectors. • When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross pattern. Connector for power, connector for encoder Tightening order Connector for electromagnetic brake...
Page 216 11.7 Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • 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.
Page 217 HG-KNS23J □60 4-φ5.8 Oil seal Encoder connector 13.7 10.9 11.7 13.9 28.4 21.7 18.6 27.8 45.6 Power connector POWER POWER No. Signal 21.7 18.6 Opposite-load side Connector pin assignment Servo motor flange direction → BC69225* [Unit: mm] HG-KNS43J 109.7 □60 4-φ5.8 Oil seal Encoder connector...
Page 218 HG-KNS73J 122.2 □80 4-φ6.6 Oil seal Encoder connector 13.7 11.5 10.7 11.7 27.4 21.7 18.6 27.8 77.6 Power connector POWER POWER No. Signal 21.7 18.6 Opposite-load side Connector pin assignment Servo motor flange direction → BC69227* [Unit: mm] Without oil seal HG-KNS13 82.4 □40...
Page 219 HG-KNS23 76.6 □60 4-φ5.8 Encoder connector 13.710 10.9 11.7 13.9 28.4 11.8 21.7 18.6 27.8 36.4 Power connector POWER POWER No. Signal 21.7 18.6 Opposite-load side Connector pin assignment Servo motor flange direction → BC69217* [Unit: mm] HG-KNS43 98.3 □60 4-φ5.8 Encoder connector 13.7...
Page 220 HG-KNS73 □80 4-φ6.6 Encoder connector 13.7 11.5 10.7 11.7 27.4 11.8 21.7 18.6 27.8 69.6 Power connector POWER POWER No. Signal 21.7 18.6 Opposite-load side Connector pin assignment Servo motor flange direction → BC69219* [Unit: mm] 11 HG-KNS SERIES (200 V) 11.7 Dimensions...
Page 221 With an electromagnetic brake With oil seal HG-KNS13BJ 129.6 □40 □43 2-φ4.5 21.5 Oil seal Encoder connector 13.7 10.9 11.7 13.9 27.4 11.7 21.7 18.6 27.5 57.4 18.4 47.8 Electromagnetic Power connector brake connector POWER POWER No. Signal 21.7 18.4 Opposite-load side BRAKE BRAKE...
Page 222 HG-KNS43BJ 146.5 □60 4-φ5.8 Oil seal Encoder connector 13.7 10.9 11.7 13.9 28.4 21.7 18.6 27.8 67.3 Electromagnetic brake connector Power connector POWER POWER No. Signal BRAKE BRAKE No. Signal 21.7 18.5 Connector pin assignment Opposite-load side BC69238* Servo motor flange direction → [Unit: mm] HG-KNS73BJ 162.5...
Page 223 Without oil seal HG-KNS13B □40 20.5 20.7 2-φ4.5 21.5 Encoder connector 13.7 10.9 11.7 13.9 6.4 27.4 11.7 21.7 18.6 27.5 58.8 18.4 39.8 Electromagnetic Power connector brake connector POWER POWER No. Signal 21.7 18.4 Opposite-load side BRAKE BRAKE No. Signal Connector pin assignment BC69220* Servo motor flange direction →...
Page 224 HG-KNS43B 135.1 □60 4-φ5.8 Encoder connector 13.7 10.9 11.7 13.9 28.4 11.8 21.7 18.6 27.8 57.8 58.1 Electromagnetic brake connector Power connector POWER POWER No. Signal BRAKE BRAKE No. Signal 21.7 18.5 Connector pin assignment Opposite-load side BC69222* Servo motor flange direction → [Unit: mm] HG-KNS73B 152.3...
Page 225 HG-SNS SERIES (200 V) This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HG-SNS series (200 V) rotary servo motor, read chapter 1 to 4, chapter 6, and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 226: Standard Specifications
12.2 Standard specifications Standard specifications list Series HG-SNS_ (Medium inertia/medium capacity) Flange size □130 □176 Rotary servo motor model 102J 152J 202J 302J Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-JET User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous running...
Page 227 *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 Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 228: Torque Characteristics
Torque characteristics • For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70 % or lower of the rated torque. When the power supply voltage drops, the torque decreases. : 3-phase 200 VAC : 1-phase 200 VAC [HG-SNS52J]...
Page 229 12.3 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. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 230 12.4 Rotary servo motors with special shafts The shaft shape for the rotary servo motor is keyed shaft (without key)-type. Rotary servo motor Shaft shape Keyed shaft (without key) HG-SNS_ Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HG-SNS52K +0.2...
Page 231 12.5 Rotary servo motors with an oil seal The oil seal prevents the entry of oil into the rotary servo motor. Install the rotary servo motor horizontally, and set the oil level in the gear box to be always lower than the oil seal lip. Gear Shaft Rotary servo motor Height above...
Page 232 12.6 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 233 HG-SNS102J 132.5 □130 38.2 4-φ9 Oil seal Encoder connector CMV1-R10P 20.9 13.5 Power connector MS3102A18-10P 71.8 Power connector BC69253* Servo motor flange direction → [Unit: mm] HG-SNS152J 146.5 □130 38.2 4-φ9 Oil seal Encoder connector CMV1-R10P 20.9 13.5 Power connector MS3102A18-10P 85.8 Power connector...
Page 234 HG-SNS202J 138.5 □176 38.5 4-φ13.5 Encoder connector Oil seal CMV1-R10P 24.8 Power connector MS3102A22-22P 74.8 Power connector BC69255* Servo motor flange direction → [Unit: mm] HG-SNS302J 162.5 □176 38.5 4-φ13.5 Encoder connector Oil seal CMV1-R10P 24.8 Power connector MS3102A22-22P 98.8 Power connector BC69256* Servo motor flange direction →...
Page 235 With an electromagnetic brake HG-SNS52BJ □130 43.5 4-φ9 Encoder connector CMV1-R10P Oil seal Electromagnetic brake connector CMV1-R2P 13.5 20.9 57.8 Power connector MS3102A18-10P Position mark Electromagnetic Power connector brake connector BC69257* Servo motor flange direction → [Unit: mm] HG-SNS102BJ □130 43.5 4-φ9 Encoder connector...
Page 236 HG-SNS152BJ □130 43.5 4-φ9 Encoder connector CMV1-R10P Oil seal Electromagnetic brake connector CMV1-R2P 20.9 13.5 85.8 Power connector MS3102A18-10P Position mark Electromagnetic Power connector brake connector BC69259* Servo motor flange direction → [Unit: mm] HG-SNS202BJ □176 45.5 4-φ13.5 Encoder connector CMV1-R10P Oil seal 66.5...
Page 237 HG-SNS302BJ □176 45.5 4-φ13.5 Encoder connector Oil seal CMV1-R10P 66.5 Electromagnetic brake connector CMV1-R2P 24.8 Power connector 98.8 MS3102A22-22P Position mark Electromagnetic Power connector brake connector Servo motor flange direction → BC69261* [Unit: mm] *1 Screw hole for eyebolt (M8) 12 HG-SNS SERIES (200 V) 12.6 Dimensions...
Page 238 COMPLIANCE WITH EACH REGION 13.1 Compliance with CE/UKCA marking CE/UKCA marking The CE/UKCA marking is mandatory and must be affixed to specific products placed on the European Union area and the United Kingdom. When a product conforms to the requirements by category as defined in the EU directive, UK rules, etc., the CE/UKCA marking must be affixed to the product.
Page 239 13.2 Compliance with UL/CSA standard Use the UL/CSA standard-compliant model of rotary servo motor. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc., of the UL/CSA compliant products are the same as those of the standard models. Flange size The rotary servo motor is compliant with the UL/CSA standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table.
Page 240 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 °C. HK-KN series (200 V) Rotary servo motor Wire [AWG] U/V/W/E B1/B2 HK-KN053 HK-KN13...
Page 241 HK-SN series (400 V) Rotary servo motor Wire [AWG] U/V/W/E B1/B2 HK-SN3534 HK-SN5034 HK-SN7034 HG-KNS series (200 V)/HG-SNS series (200 V) Rotary servo motor Wire [AWG] U/V/W/E B1/B2 HG-KNS13J HG-KNS23J HG-KNS43J HG-KNS73J HG-SNS52J HG-SNS102J HG-SNS152J HG-SNS202J HG-SNS302J *1 This is used for fabricating extension cables. 13 COMPLIANCE WITH EACH REGION 13.2 Compliance with UL/CSA standard...
Page 242 APPENDIX 14.1 Rotary servo motor ID codes HK-KN series/HK-FN series/HK-SN series Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder ID Rotary servo motor 0314 0053 F002 HK-KN053 FF13 HK-KN13 0153 HK-KN1M3 FF23 HK-KN23 FF43 HK-KN43 FF63 HK-KN63...
Page 243 HG-KNS series/HG-SNS series Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder ID Rotary servo motor 0117 FF13 0044 HG-KNS13J FF23 HG-KNS23J FF43 HG-KNS43J FF73 HG-KNS73J 012B FF52 HG-SNS52J F102 HG-SNS102J F152 HG-SNS152J F202 HG-SNS202J F302 HG-SNS302J 14 APPENDIX...
Page 244 14.2 Selection example of rotary servo motor power cable When cables are fabricated by the customer, wires should be selected in accordance with the application. Selection conditions of 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 245: Connector Dimensions
14.3 Connector dimensions The connector dimensions for wiring the rotary servo motor are shown below. HK-KN series/HK-FN series Rotary servo motor series Type Model Manufacturer Dimensions Page 244 HK-KN series/HK-FN (0.1 kW - 0.75 kW) Horizontal lead, dual cable MT50W-8D/2D4ES- Hirose Electric series CVLD(7.5)
Page 246 MT50W-8D/2D4ES-CVLD(7.5) 23.3 (11.45) (31.5) [Unit: mm] MT50W-8D/2D4ES-CVL(11.9) 25.45 (11.45) (40) [Unit: mm] 14 APPENDIX 14.3 Connector dimensions...
Page 247 MT50W-8D/2D4ES-CVSD(7.5) 36 ± 0.5 30.5 ± 0.6 [Unit: mm] MT50W-8D/2D4ES-CVS(11.9) 32 ± 0.5 30.5 ± 0.6 [Unit: mm] 14 APPENDIX 14.3 Connector dimensions...
Page 248 CMV1-SP10S-M_/CMV1-SP2S-_ Refer to the following for details of the crimping tool. Page 28 Wiring connectors (connector configurations D/E/F/G/I/J) (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 28 Wiring connectors (connector configurations D/E/F/G/I/J) (32) For CMV1-AP10S-M_ For CMV1-AP2S-_...
Page 249 CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to the following for details of the crimping tool. Page 28 Wiring connectors (connector configurations D/E/F/G/I/J) (32) For CMV1S-AP10S-M_ For CMV1S-AP2S-_ [Unit: mm] JL10-6A_-_SE-EB 10 or longer [Unit: mm] Model JL10-6A18-10SE-EB 51.05 35.85 1-20UNEF-2A JL10-6A22-22SE-EB 58.65 42.2 1 3/16-18UNEF-2A 14 APPENDIX 14.3 Connector dimensions...
Page 250 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 10 or longer [Unit: mm] Model JL04V-6A18-10SE-EB-R 57.4 34.1 1-20UNEF-2A 1 1/8-18UNEF-2B JL04V-6A22-22SE-EB-R 67.63 40.5 1 3/16-18UNEF-2A 1 3/8-18UNEF-2B 14 APPENDIX 14.3 Connector dimensions...
Page 251 JL04V-8A_-_SE-EBH-R [Unit: mm] Model JL04V-8A18-10SE-EBH-R 65.6 34.1 1-20UNEF-2A 1 1/8-18UNEF-2B JL04V-8A22-22SE-EBH-R 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 53.8...
Page 252 HG-KNS series/HG-SNS series TE Connectivity 2174053-1 Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact) 24.6 φ13.6 [Unit: mm] *1 The recommended screw tightening torque is 0.1 N•m. JN4FT02SJ1-R Crimping tool: CT170-14-TMH5B 26.6 12.3 [Unit: mm] *1 The recommended screw tightening torque is 0.2 N•m. 14 APPENDIX 14.3 Connector dimensions...
Page 253 KN4FT04SJ1-R Crimping tool: CT170-14-TMH5B (29) 16 ± 0.3 11.7 ± 0.2 12.2 ± 0.3 Main key [Unit: mm] *1 The recommended screw tightening torque is 0.2 N•m. 14 APPENDIX 14.3 Connector dimensions...
Page 254 CMV1-SP10S-M_/CMV1-SP2S-_ Refer to the following for details of the crimping tool. Page 28 Wiring connectors (connector configurations D/E/F/G/I/J) (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 28 Wiring connectors (connector configurations D/E/F/G/I/J) (32) For CMV1-AP10S-M_ For CMV1-AP2S-_...
Page 255 CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to the following for details of the crimping tool. Page 28 Wiring connectors (connector configurations D/E/F/G/I/J) (32) For CMV1S-AP10S-M_ For CMV1S-AP2S-_ [Unit: mm] CE05-6A_-_SD-D-BSS D or shorter 7.85 or longer [Unit: mm] Model CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 1-20UNEF-2A CE05-6A22-22SD-D-BSS 1 3/8-18UNEF-2B...
Page 256 CE3057-_A-_-D A ± 0.7 Effective thread length C V-thread φE (Cable clamp ID) (Movable range on one side) φF (Bushing ID) [Unit: mm] Model Shell size Bushing Cable OD CE3057-10A-1-D 23.8 30.1 10.3 41.3 15.9 14.1 31.7 1-20UNEF-2B CE3420-10-1 10.5 to 14.1 CE3057-10A-2-D 11.0 CE3420-10-2...
Page 257 D/MS3057-_A Effective thread A ± 0.7 φE (Bushing ID) length C φD (Cable clamp ID) F (Movable range) [Unit: mm] Model Shell size Bushing D/MS3057-10A 23.8 30.1 10.3 15.9 14.3 31.7 1-20UNEF AN3420-10 D/MS3057-12A 23.8 35.0 10.3 19.0 15.9 37.3 1 3/16-18UNEF-2A AN3420-12 CE05-6A32-17SD-D...
Page 258 14.4 Fabrication of the encoder cable It is recommended to use options indicated in the following section for the encoder cable. Page 52 WIRING OPTION (HK-KN SERIES/HK-FN SERIES/HK-SN SERIES) Page 96 WIRING OPTION (HG-KNS SERIES/HG-SNS SERIES) When fabricating an encoder cable, use the recommended products described in the following sections. Page 25 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING Page 34 CONNECTION OF SERVO AMPLIFIER AND ROTARY SERVO MOTOR Page 52 WIRING OPTION (HK-KN SERIES/HK-FN SERIES/HK-SN SERIES)
Page 259 MEMO 14 APPENDIX 14.4 Fabrication of the encoder cable...
Page 260 Section 12.6, Chapter 13, Chapter 14 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 261: Warranty
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
Page 262 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. IB(NA)-0300488ENG-B...
Page 264 IB(NA)-0300488ENG-B(2410)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, 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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Mitsubishi Electric MELSERVO-JET MR-JET HK-KN Series Manual

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