Servo Motor Instruction Manual

General-Purpose AC Servo
Servo Motor Instruction Manual
Safety Instructions
(Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, MELSERVO Servo Amplifier Installation Guide/Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols: : Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done. For example, grounding is indicated by . .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the servo motor on or near combustibles. Otherwise a fire may cause.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
During power-on or for some time after power-off, do not touch the servo motor, etc. Their temperatures may be high and you may get burnt.
A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights. Use the eye-bolt of the servo motor to only transport the servo motor and do not use it to transport in the condition to have installed a servo motor on the machine. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The servo motor must be installed in the specified direction. Do not install or operate the servo motor which has been damaged or has any parts missing. Do not block the intake/exhaust port of the servo motor which has a cooling fan. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo motor. Do not drop or strike servo motor. Isolate from all impact loads. Use the servo motor under the following environmental conditions:
Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Ambience Altitude [ ] [ ] [ ] [ ] Conditions 0 to 40 (non-freezing) 32 to 104 (non-freezing) 80%RH or less (non-condensing) 15 to 70 (non-freezing) 5 to 158 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m (3280 ft) above sea level HC-KFS series HC-UFS13 to 73 X,Y:49 H-MFS series HC-SFS81 HC-RFS series X,Y:24.5 HC-SFS52 to 152 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:24.5 HC-UFS202 to 502 HC-SFS202 352 Y:49 HC-SFS203 353 HC-SFS301 HC-SFS502 702 HC-AQ series HC-KF series HC-MF series HC-SF81 HC-SF52 to 152 HC-SF53 to 153 HC-SF121 201 HC-SF202 352 HC-SF203 353 HA-LH11K2 to 22K2 Vibration HA-LF series HC-KFS series HC-MFS series HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153 HC-SFS121 201 HC-SFS202 352 HC-SFS203 353 HC-SFS301 HC-SFS502 702 HC-AQ series HC-KF series HC-MF series HC-SF81 HC-SF52 to 152 HC-SF53 to 153 HC-SF121 201 HC-SF202 352 HC-SF203 353 HA-LH11K2 to 22K2 HA-LF series HC-UFS13 to 73 HC-RFS series HC-UFS72 152 HC-UFS202 to 502 X:24.5 Y:29.4 HA-FF series HC-UF13 to 73 HC-RF series HC-UF72 152 HC-UF202 to 502 HC-SF301 HC-SF502 702 X,Y:19.6 X:9.8 Y:24.5 X:19.6 Y:49 X:11.7 Y:29.4 X,Y:9.8 X,Y:161 X,Y:80 X:80 Y:161 X:80 Y:96 HA-FF series HC-UF13 to 73 HC-RF series HC-UFS72 152 HC-UF202 to 502 HC-SF301 HC-SF502 702 X,Y:64 X:32 Y:80 X:64 Y:161 X:38.4 Y:96.5 X,Y:32
[m/s2]
[ft/s2]
A- 3
CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be instable.
A- 4
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Do not modify the equipment. Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency (forced) stop signal.
Contacts must be open when servo-on signal is off, when an alarm (trouble) is present and when an electromagnetic brake signal. Servo motor RA EMG 24VDC Electromagnetic brake Circuit must be opened during emergency (force) stop.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Disposal
CAUTION
Dispose of the product as general industrial waste.
A- 5
COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo amplifiers have been installed. The servo amplifiers do not function independently but are designed for use with machines and equipment. Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and equipment into which the servo amplifiers are installed. This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other procedures. Please contact your sales representative. 2. PRECAUTIONS FOR COMPLIANCE Use the servo motor compatible with the EN Standard. Unless otherwise specified, the handling, performance, specifications and others of the EN Standardcompatible models are the same as those of the standard models. To comply with the EN Standard, also observe the following items strictly. (1) Wiring (a) Use a fixed terminal block to connect the power supply lead of the servo motor to the servo amplifier. Do not connect cables directly.
Terminal block
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard-compliant power connector sets are available from us as options.
Power Connector Set Model MR-PWCF MR-PWCNS1 Servo Motor Model HC-FF C(B)-UE HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) HC-UFS202(B) to 502(B) HC-SFS702(B) HC-SF702(B)
MR-PWCNS2
MR-PWCNS3
(2) Installation The flange of the machine mounted with the HC-MF(HC-MF-UE)/HC-KF(HC-KF-UE)/HC-AQ/HCMFS/HC-KFS must be connected to the earth. A- 6
CONFORMANCE WITH UL/C-UL STANDARD

Use the UL/C-UL Standard-compliant model of servo motor. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standardcompliant models are the same as those of the standard models. Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect: Note that if the servo motor used is the same, the flange size depends on the servo amplifier combined. <MELSERVO-H Series>
Flange Size [mm] 150 250 250 300 300 550 650 150 250 250 300 300 550 650 6 6 12 12 20 30 35 301 502 702 Servo Motor HC-KF(-UE) 053 23 43 13 HC-MF(-UE) 053 23 43 73 121 202 203 201 352 353 353 503 72 152 13 HA-FF C-UE 053 23 43 13 33 63 81 52 to 152 53 to 153 103 to 203 HC-SF HC-RF HC-UF 13 23 43 73
202 to 502
<MELSERVO-J2 Series, MELSERVO-J2-Super Series >

Flange Size [mm] 150 250 250 300 300 550 650 150 250 6 6 Servo Motor HC-KF(-UE) HC-KFS 053 23 43 (Note) 73 13 HC-MF(-UE) HC-MFS 053 23 43 73 121 to 301 202 352 203 353 353 301 502 702 503 72 152 13 HA-FF C-UE 053 23 43 13 33 63 81 52 to 152 53 to 153 103 to 203 HC-SF HC-SFS HC-RF HC-RFS HC-UF HC-UFS 13 23 43 73
250 12 300 300 550 650 12 20 30 35
202 to 502
Note. 73 is not available for the HC-KF(-UE) series. <MELSERVO-J2-Jr Series>

Flange Size [mm] 150 150 3 HC-AQ 0135 to 0335
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MEMO
A- 8
CONTENTS
1. INTRODUCTION 1 - 1 to 1 -10
1.1 Servo motor features .............................................................................................................................. 1 - 1 1.2 Model name make-up............................................................................................................................. 1 - 1 1.3 Parts identification................................................................................................................................ 1 -10 2. INSTALLATION 2 - 1 to 2 - 6
2.1 Environmental conditions...................................................................................................................... 2 - 2 2.2 Installation orientation .......................................................................................................................... 2 - 3 2.3 Transportation ........................................................................................................................................ 2 - 3 2.4 Load mounting precautions................................................................................................................... 2 - 3 2.5 Permissible load for the shaft................................................................................................................ 2 - 4 2.6 Protection from oil and water................................................................................................................ 2 - 5 2.7 Cooling fan............................................................................................................................................... 2 - 6 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 -20
3.1 Makeups .................................................................................................................................................. 3 - 1 3.1.1 HC-KF(-UE), HC-MF(-UE), HA-FF, HC-UF3000r/min series.................................................... 3 - 1 3.1.2 HA-FF C-UE series........................................................................................................................ 3 - 1 3.1.3 HC-SF(S), HC-RF(S), HC-UF(S)2000r/min, HA-LH, HA-LF series........................................... 3 - 9 3.1.4 HC-AQ series................................................................................................................................... 3 -16 3.1.5 HC-KFS, HC-MFS, HC-UFS3000r/min series ............................................................................ 3 -17 3.2 IP65, EN Standard-compliant options ................................................................................................ 3 -18 3.3 Signal arrangement of encoder connectors ......................................................................................... 3 -20 4. INSPECTION 5. SPECIFICATIONS 4 - 1 to 4 - 2 5 - 1 to 5 -26
5.1 Standard specifications.......................................................................................................................... 5 - 1 5.2 Torque characteristics........................................................................................................................... 5 -14 5.3 Servo motors with reduction gears ...................................................................................................... 5 -21 5.4 Servo motors with special shafts.......................................................................................................... 5 -25 5.4.1 Keyway............................................................................................................................................. 5 -25 5.4.2 D cut ................................................................................................................................................. 5 -26 5.4.3 Straight (HC-AQ)............................................................................................................................ 5 -26 6. CHARACTERISTICS 6 - 1 to 6 - 4
6.1 Electromagnetic brake characteristics ................................................................................................. 6 - 1 6.2 Vibration rank......................................................................................................................................... 6 - 4
7. OUTLINE DIMENSION DRAWINGS
7 - 1 to 7 -274
7.1 Servo motors............................................................................................................................................ 7 - 1 7.1.1 HC-MF HC-KF series.................................................................................................................... 7 - 1 7.1.2 HA-FF series ................................................................................................................................... 7 -23 7.1.3 HC-SF HC-SFS series .................................................................................................................. 7 -50 7.1.4 HC-RF HC-RFS series ................................................................................................................. 7 -90 7.1.5 HC-UF 2000r/minHC-UFS 2000r/min series ............................................................................ 7 -97 7.1.6 HC-UF 3000r/min series .............................................................................................................. 7 -100 7.1.7 HA-LH series................................................................................................................................. 7 -106 7.1.8 HC-AQ series................................................................................................................................. 7 -108 7.1.9 HA-LF series ................................................................................................................................. 7 -109 7.1.10 HC-MFS HC-KFS series .......................................................................................................... 7 -112 7.1.11 HC-UFS 3000r/min series.......................................................................................................... 7 -131 7.2 Servo motors (in inches)...................................................................................................................... 7 -134 7.2.1 HC-MF HC-KF series................................................................................................................. 7 -134 7.2.2 HA-FF series ................................................................................................................................. 7 -156 7.2.3 HC-SF HC-SFS series ................................................................................................................ 7 -183 7.2.4 HC-RF HC-RFS series ............................................................................................................... 7 -223 7.2.5 HC-UF 2000r/min HC-UFS 2000r/min series ......................................................................... 7 -230 7.2.6 HC-UF 3000r/min series .............................................................................................................. 7 -233 7.2.7 HA-LH series................................................................................................................................. 7 -239 7.2.8 HC-AQ series................................................................................................................................. 7 -241 7.2.9 HA-LF series ................................................................................................................................. 7 -242 7.2.10 HC-MFS HC-KFS series .......................................................................................................... 7 -245 7.2.11 HC-UFS 3000r/min series.......................................................................................................... 7 -264 7.3 Connector.............................................................................................................................................. 7 -267 8. CALCULATION METHODS FOR DESIGNING 8 - 1 to 8 -14
8.1 Specification symbol list......................................................................................................................... 8 - 1 8.2 Position resolution and electronic gear setting ................................................................................... 8 - 2 8.3 Speed and command pulse frequency................................................................................................... 8 - 3 8.4 Stopping characteristics......................................................................................................................... 8 - 4 8.5 Capacity selection ................................................................................................................................... 8 - 5 8.6 Load torque equations............................................................................................................................ 8 - 8 8.7 Load inertia moment equations ............................................................................................................ 8 - 9 8.8 Precautions for zeroing ......................................................................................................................... 8 -10 8.9 Selection example .................................................................................................................................. 8 -11
APPENDIX
App - 1 to App - 2
Appendix.1 Servo motor ID codes .......................................................................................................... App - 1
1. INTRODUCTION
1. INTRODUCTION
1.1 Servo motor features
Servo Motor Series HC-KF Features (Points Different from Conventional Products) Positioning Resolution [pulses/rev] 8192 3000 131072 0.05 to 0.4 HC-MF HC-ME HC-MH Rated Speed [r/min] Capacity [kW] Interchangeable Servo Motor Series Compliance with Overseas Standards EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard UL/C-UL Standard (Standard model is compliant) Environmental Resistance
Low inertia, small capacity 4 to 5 times greater in inertia moment than HC-MF(S). Equipped with absolute position HC-KFS detector as standard
IP44
IP55
Ultra low inertia, small capacity 1.2 times higher in power rate than HA-ME Equipped with absolute position HC-MFS detector as standard
HC-MF
8192 3000 131072 0.05 to 0.75 HA-ME HA-MH
IP44
IP55
HC-SF HC-SFS HC-RF HC-RFS
Middle inertia, middle capacity 1.5 times higher in power rate than HA-SE Equipped with absolute position detector as standard Low inertia, middle capacity About 3 times higher in power rate than HA-LH Equipped with absolute position detector as standard
16384 131072 16384
1000 2000 3000
0.5 to 7.0
HA-SE HA-SH
IP65
3000 131072
1.0 to 5.0
IP65
Pancake type small capacity Equipped with absolute position detector as standard HC-UF Pancake type middle capacity Equipped with absolute position detector as standard Pancake type small capacity Equipped with absolute position detector as standard HC-UFS Pancake type middle capacity Equipped with absolute position detector as standard HA-LH Low inertia, Large capacity
8192
3000
0.1 to 0.75
16384
2000
0.75 to 5.0
EN Standard UL/C-UL Standard (Standard model is compliant)
IP65 except connector section IP65 IP65 except connector section IP65
3000 131072 2000
0.1 to 0.75
0.75 to 5.0
EN Standard UL/C-UL Standard (Standard model is compliant) EN Standard (HA-LH-EC is compliant) EN Standard, UL/C-UL Standard (Standard model is compliant) Scheduled to make application
16384
2000
11.0 to 22.0
JP44 IP55 except for the shaft-through portion and connector IP44
HC-AQ
24VDC-compatible, ultracompact, small capacity Three-phase, 400VAC-compatible, low inertia, large capacity Three-phase, 200VAC-compatible, low inertia, large capacity
8192
3000
0.01 to 0.03
30.0 to 55.0 16384 2000 30.0
HA-LF
1.2 Model name make-up (1) Name plate

AC SERVO MOTOR AC SERVO MOTOR
HC-MF13
SERIAL DATE
MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN
Model Serial number Date of manufacture
HC-RF153
INPUT 3AC 145V 8.2A OUTPUT 1.5Kw IEC34-1 1994 SPEED 3000r/min SER.No. 001 DATE
MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN
Model Input power Rated output Rated speed Serial number
1- 1
1. INTRODUCTION
(2) Model (a) HC-MF series (ultra low inertia, small capacity) HC-MF
Series name
Appearance
Compliance with Standard

Symbol None -UE Specifications (Note) Standard model (EN UL/C-UL Standard) EN UL/C-UL Standard
Note. The standard models produced in and after February, 2001 are compatible with the EN UL/C-UL Standard. Shaft type Reduction gear
Symbol None G1 G2 Reduction Gear Without For general industrial machine For precision application K D Note: With key Symbol None Shaft Shape Standard (Straight shaft) (Note) With keyway D-cut shaft HC-MF 053 to 73 23 to 73 53 13
Electromagnetic brake Rated speed 3000 [r/min] Rated output

Symbol 05 1 2 4 7 Rated Output [W] 50 100 200 400 750 Symbol None B Electromagnetic Brake Without With
(b) HA-FF series (low inertia, small capacity) HA-FF 3

Series name Compliance with Standard
Symbol None -UE Specifications Standard model (Japan) EN UL/C-UL Standard
Appearance
Shaft type Reduction gear

Symbol None G1 G2 Reduction Gear Without For general industrial machine For precision application Symbol None D Shaft Shape (Note) Standard D-cut shaft HA-FF 053 to 63 053 13
Note: The Standard shafts of the HA-FF23 to 63 are with keys and those of the other models are straight shafts.
Electromagnetic brake Input power supply form

Symbol None C Standard model Lead Cannon connector EN UL/C-UL Standardcompliant model Symbol None B Electromagnetic Brake Without With
Rated speed 3000 [r/min] Rated output

Symbol 05 1 2 Rated Output [W] 50 100 200 Symbol 3 4 6 Rated Output [W] 300 400 600
1- 2
1. INTRODUCTION
(c) HC-SF series (middle inertia, middle capacity) HC-SF

Series name Appearance Shaft type
Symbol None K Shaft Shape Standard (Straight shaft) With keyway
Note: Without key
Reduction gear
Symbol None G1 (Note) Reduction Gear Without For general industrial machine (flange type) For general industrial machine (leg type) For precision application
G1H G2
Note: Not provided for 1000r/min and 3000r/min series.
Electromagnetic brake Rated speed

Symbol 1 2 3 Symbol Electromagnetic Brake Without With
Speed [r/min]
1000 2000 3000
None B
Rated output
Symbol 5 8 10 12 15 20 30 35 50 70 Rated Output [W] 500 850 1000 1200 1500 2000 3000 3500 5000 7000 1000 [r/min] 2000 [r/min] 3000 [r/min]
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1. INTRODUCTION
(d) HC-RF series (low inertia, middle capacity) HC-RF

Series name
Appearance Shaft type

Note: Without key
Reduction gear
Symbol None G2 Reduction Gear Without For precision application

(e) HC-UF series (pancake type small and middle capacity) HC-UF
Symbol None K D Shaft Shape Standard (Straight shaft) (Note) With keyway D-cut shaft 13 HC-UF 13 to 43 72 to 202
Note: HC-UF 23 to 73 are provided with keys.

Symbol 2 3 Speed [r/min] 2000 3000 Symbol None B Electromagnetic Brake Without With
Rated output
Symbol 1 2 4 7 15 20 35 50 Rated Output [W] 100 200 400 750 1500 2000 3500 5000
1- 4
1. INTRODUCTION
(f) HA-LH series (low inertia, Large capacity) HA-LH

Series name
Appearance Compliant Standard

Symbol None -EC Specifications Standard model (in Japan) EN Standard
Encoder
Symbol None -Y Encoder Incremental Absolute
Rated speed 2000[r/min] Rated output

Symbol 11K 15K 22K Rated Output [W] 11000 15000 22000
(g) HC-KF series (low inertia, small capacity) HC-KF

Series name
Appearance
Compliance with Standard

Symbol None -UE Specifications (Note) Standard model (EN UL/C-UL Standard) EN UL/C-UL Standard
Note. The standard models produced in and after February, 2001 are compatible with the EN UL/C-UL Standard. Shaft type
Symbol Shaft Shape Standard (Straight shaft) (Note) With keyway
Reduction gear
Symbol None G1 G2 Reduction Gear Without For general industrial machine For precision application None K
Note: With key
Electromagnetic brake Rated speed 3000[r/min] Rated output

Symbol 05 1 2 4 Rated Output [W] 50 100 200 400 Symbol None B Electromagnetic Brake Without With
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1. INTRODUCTION
(h) HC-AQ series (for 24VDC, very low inertia, small capacity) HC-AQ
Series name
35

Symbol D S Shaft Shape D-cut shaft Straight shaft
Electromagnetic brake
Symbol None B Electromagnetic Brake Without With
Power supply voltage 24VDC Rated speed 3000 [r/min] Rated output
Symbol 01 02 03 Rated Output [W] 10 20 30
(i) HA-LF series (for 400VAC, low inertia, large capacity) HA-LF
Series name Power supply voltage
Symbol None 4 Power Supply Voltage
24
Appearance
Three-phase 200 to 230VAC Three-phase 380 to 460VAC

Symbol 30K 37K 45K 55K Rated Output [kw] 30 37 45 55
Note: 37 to 55kW are not available for the three-phase 200 to 230VAC type.
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1. INTRODUCTION
(j) HC-KFS series (low inertia, small capacity, high resolution) HC-KFS
Series name
Appearance
Shaft type
Symbol Shaft Shape Standard (Straight shaft) (Note) With keyway
Reduction gear
Symbol None G1 G2 Reduction Gear Without For general industrial machine For precision application None K
Note: With key
Electromagnetic brake Rated speed 3000[r/min] Rated output

Symbol 05 1 2 4 Rated Output [W] 50 100 200 400 Symbol None B Electromagnetic Brake Without With
(k) HC-MFS series (ultra low inertia, small capacity, high resolution) HC-MFS
Series name
Appearance
Shaft type Reduction gear

Symbol None G1 G2 Reduction Gear Without For general industrial machine For precision application K D Note: With key Symbol None Shaft Shape Standard (Straight shaft) (Note) With keyway D-cut shaft HC-MF 053 to 73 23 to 73 53 13
Symbol Electromagnetic Brake Without With

Symbol 05 1 2 4 7 Rated Output [W] 50 100 200 400 750
None B
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1. INTRODUCTION
(l) HC-SFS series (middle inertia, middle capacity, high resolution) HC-SFS
Series name

Note: Without key
Reduction gear
Symbol None G1 (Note) Reduction Gear Without For general industrial machine (flange type) For general industrial machine (leg type) For precision application
G1H G2
Note: Not provided for 1000r/min and 3000r/min series.

Symbol 1 2 3 Symbol Electromagnetic Brake Without With
Speed [r/min]
1000 2000 3000
None B
Rated output
Symbol 5 8 10 12 15 20 30 35 50 70 Rated Output [W] 500 850 1000 1200 1500 2000 3000 3500 5000 7000 1000 [r/min] 2000 [r/min] 3000 [r/min]
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1. INTRODUCTION
(m) HC-RFS series (low inertia, middle capacity, high resolution) HC-RFS
Series name

Note: Without key
Reduction gear
Symbol None G2 Reduction Gear Without For precision application

(n) HC-UFS series (pancake type small and middle capacity, high resolution) HC-UFS
Symbol None K D Shaft Shape Standard (Straight shaft) (Note) With keyway D-cut shaft 13 HC-UF 13 to 43 72 to 202
Note: HC-UFS 23 to 73 are provided with keys.

Symbol 2 3 Speed [r/min] 2000 3000 Symbol None B Electromagnetic Brake Without With
Rated output
Symbol 1 2 4 7 15 20 35 50 Rated Output [W] 100 200 400 750 1500 2000 3500 5000
1- 9
1. INTRODUCTION
1.3 Parts identification

Name/Application Encoder Encoder cable with encoder connector Power cable Power lead (U, V, W) Earth lead Brake lead (for motor with electromagnetic brake) Refer To Section 5.1 Section 3.2
Lead type
Chapter 7
Servo motor shaft
Chapter 2 Section 5.4
Connector type
Encoder
Name/Application
Refer To Section 5.1 Section 3.2
Encoder connector Power connector Power supply (U, V, W) Earth Brake (for motor with electromagnetic brake) Some motors with electromagnetic brakes have brake connectors separately.
Chapter 7
Servo motor shaft
Chapter 2 Section 5.4
Terminal box type

Encoder
Name/Application Encoder connector Terminal box Power leads (U, V, W) Cooling fan leads Ground terminal Brake lead (for motor with electromagnetic brake) Servo motor shaft
Refer To Section 5.1 Section 3.2
Chapter 7
Chapter 2
1 - 10
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. Do not subject the servo motor to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault or injury may occur. The lifting eyebolts of the servo motor may only be used to transport the servo motor. They must not be used to transport the servo motor when it is mounted on a machine. The servo motor with reduction gear must be installed in the specified direction. Otherwise, it can leak oil, leading to a fire or fault. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will come off during operation, leading to injury. When coupling the shaft end of the servo motor, do not subject the shaft end to impact, such as hammering. The encoder may become faulty. Cover the shaft of the servo motor to make its rotary part completely inaccessible during operation. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury. When the product has been stored for an extended period of time, consult Mitsubishi.
CAUTION
2- 1
2. INSTALLATION
2.1 Environmental conditions

Environment Ambient temperature Ambient humidity Storage temperature Storage humidity Ambient Altitude [ ] [ ] [ ] [ ] Conditions 0 to 40 (non-freezing) 32 to 104 (non-freezing) 80%RH or less (non-condensing) 15 to 70 (non-freezing) 5 to 158 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m (3280ft) above sea level HC-KFS series HC-UFS13 to 73 X,Y:49 H-MFS series HC-SFS81 HC-RFS series X,Y:24.5 HC-SFS52 to 152 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:24.5 HC-UFS202 to 502 HC-SFS202 352 Y:49 HC-SFS203 353 HC-SFS301 X:24.5 HC-SFS502 702 Y:29.4 HC-AQ series HA-FF series HC-KF series X,Y:19.6 HC-UF13 to 73 HC-MF series HC-SF81 X:9.8 HC-RF series HC-SF52 to 152 Y:24.5 HC-UF72 152 HC-SF53 to 153 HC-SF121 201 X:19.6 HC-UF202 to 502 HC-SF202 352 Y:49 HC-SF203 353 X:11.7 HC-SF301 HA-LH11K2 to 22K2 Y:29.4 HC-SF502 702 HA-LF series X,Y:9.8 HC-KFS series HC-UFS13 to 73 X,Y:161 HC-MFS series HC-SFS81 HC-RFS series X,Y:80 HC-SFS52 to 152 HC-UFS72 152 HC-SFS53 to 153 HC-SFS121 201 X:80 HC-UFS202 to 502 HC-SFS202 352 Y:161 HC-SFS203 353 X:80 HC-SFS301 Y:96 HC-SFS502 702 HC-AQ series HA-FF series X,Y:64 HC-KF series HC-UF13 to 73 HC-MF series HC-SF81 X:32 HC-RF series HC-SF52 to 152 Y:80 HC-UF72 152 HC-SF53 to 153 HC-SF121 201 X:64 HC-UF202 to 502 HC-SF202 352 Y:161 HC-SF203 353 HC-SF301 X:38.4 HA-LH11K2 to 22K2 HC-SF502 702 Y:96.5 HA-LF series X,Y:32
[m/s2]
Vibration
[ft/s2]
Vibration amplitude (both amplitudes) [ m]
Vibration occurs in the directions shown below. The values were measured at the portion which indicates the maximum value (normally the bracket opposite to load side). When the servo motor is at a stop, the bearings are likely to fret and vibration should therefore be suppressed to about half of the permissible value.
Servo motor
Graph of vibration servo amplitude vs. speed

200
100 80 60 50 40 30 20
X Y
500 Vibration
1000 1500 2000 2500 3000 3500 Speed [r/min]
2- 2
2. INSTALLATION
2.2 Installation orientation The following table lists directions of installation:

Servo Motor Series HC-KF HA-FF HC-RF HC-KFS HC-SFS HC-UFS HC-MF HC-SF HC-UF HC-MFS HC-RFS Direction of Installation Remarks
May be installed in any For installation in the horizontal direction, it is recommended to set the direction. connector section downward.
HC-AQ HA-LH HA-LF Horizontal direction with Use either the legs or flange for installation. the legs downward.
When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. Refer to Section 5.3 for the installation orientation of the servo motor with reduction gear. 2.3 Transportation Do not hold encoder or shaft to carry the servo motor. 2.4 Load mounting precautions (1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.
Servo motor Double-end stud
Nut Washer Pulley
(2) For the servo motor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a keyway, use a friction coupling or the like. (3) When removing the pulley, use a pulley remover to protect the shaft from impact. (4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft. (5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us. (6) During assembling, the shaft end must not be hammered.
(7) The orientation of the encoder on the servo motor cannot be changed. (8) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration. (9) For the HC-AQ series, use spring washers and apply Screw Lock to mount the servo motor. In addition, use Helisert screws when the flange for mouthing the servo motor is made of aluminum. 2- 3
2. INSTALLATION
2.5 Permissible load for the shaft (1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load. (2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. (3) Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage.
Servo Motor HC-KF 053 / 13 HC-KFS 23 / 43 / 73 053 / 13 HC-MF 23 / 43 HC-MFS 73 053 HA-FF 13 23 / 33 43 / 63 81 121 to 301 HC-SF HC-SFS 52 to 152 202 / 702 53 to 153 203 / 353 HC-RF HC-RFS 103 to 203 353 / 503 72 / 152 202 HC-UF 352 / 502 HC-UFS 13 23 / 43 73 11K2 HA-LH 15K2 / 22K2 053/13 0135 HC-AQ 0235 0335 HA-LF 30K2/30K24/37K24 45K24 /55K24 (Note 1) L [mm] 25 30 25 30 40 30 30 30 40 55 79 55 79 55 79 45 63 55 65 65 25 30 40 85 100 25 16 16 16 140 140 [in] 1.18 1.18 0.98 1.18 1.57 1.18 1.18 1.18 1.57 2.17 3.11 2.17 3.11 2.17 3.11 1.77 2.48 2.17 2.56 2.56 0.98 1.18 1.57 3.35 3.94 0.98 0.63 0.63 0.63 5.51 5.51 Permissible Radial Load [N] 88 245 88 245 392 108 118 176 323 980 2058 980 2058 980 2058 686 980 637 882 1176 88 245 392 2450 2940 88 34 44.0 49 3234 4900 [lb] 20 55 20 55 88 24 27 40 73 220 463 220 463 220 463 154 220 143 198 265 20 55 88 56 67 20 7.64 9.89 11.02 727.04 1101.57 Permissible Thrust Load [N] 59 98 59 98 147 98 98 147 284 490 980 490 980 490 980 196 392 490 784 784 59 98 147 980 980 59 14 14 14 1470 1960 [lb] 13 22 13 22 33 22 22 33 64 110 220 110 220 110 220 44 88 110 176 176 13 22 33 220 220 13 3.15 3.15 3.15 330.47 440.63
Note 1: For the symbols in the table, refer to the following diagram: L Radial load
Thrust load L: Distance from flange mounting surface to load center 2: 73 is not available for the HC-KF series.
2- 4
2. INSTALLATION
2.6 Protection from oil and water (1) Next, the servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water. Especially for the HC-MF, HC-KF, HC-AQ, HC-KFS and HC-MFS series, do not subject the shaftthrough portion to oil. Servo Motor Series HC-MF HC-KF HA-FF HC-LF HC-AQ HC-KFS HC-MFS HA-LH
Oil or water
Protection IP44 IP55 JP44
Servo motor
(2) When the gear box is mounted horizontally, the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault. Also, provide a breathing hole in the gear box to hold the internal pressure low. The HC-MF, HC-KF, HC-AQ, HC-MFS and HC-KFS series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side. The HA-FF series servo motor equipped with an oil seal is available. Please contact Mitsubishi.
Gear Servo motor Height above oil level h Lip V ring
Servo Motor 053/13 HA-FF 23/33 43/63 81 121 to 301 HC-SF HC-SFS 52 to 152 202 to 702 53 to 153 203/353 HC-RF HC-RFS 103 to 503
Height above Oil Level h [mm] 8 12 14 20 25 20 25 20 25 20 [in] 0.31 0.47 0.55 0.79 0.98 0.79 0.98 0.79 0.98 0.79 HA-LF HA-LH
Servo Motor 72/152 HC-UF HC-UFS 202 to 502 13 23/43 73 11K2 15K2/22K2 30K2/30K24/ 37K24 45K24/55K24
Height above Oil Level h [mm] 20 25 12 14 20 30 40 45 [in] 0.79 0.98 0.47 0.55 0.79 1.18 1.58 1.77
48
1.89
2- 5
2. INSTALLATION
(3) When installing the servo motor horizontally, face the power cable and encoder cable downward. When installing the servo motor vertically or obliquely, provide a trap for the cable.
Cable trap
(4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right)
Cover
Servo motor Oil/water pool <Incorrect> Capillary phenomenon
(5) When the servo motor is to be installed with the shaft end at top, provide measures to prevent oil from entering the servo motor from the gear box, etc.
Gear Lubricating oil
Servo motor
2.7 Cooling fan The HA-LH and HA-LF servo motors have a cooling fan. Leave the following distance between the servo motor's suction face and the wall. Distance L [mm] [in] 50 150 1.97 5.91
L or longer Servo motor Cooling fan Wind
Servo Motor Series HA-LH HA-LF
2- 6
3. CONNECTORS USED FOR SERVO MOTOR

3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.1 Makeups This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent. 3.1.1 HC-KF(-UE), HC-MF(-UE), HA-FF, HC-UF3000r/min series Use round crimping terminals (1.25-4) for connection of the power supply and electromagnetic brake. For connection of the encoder, use the connector indicated in this section or equivalent. This connector may be used with the EN Standard and UL/C-UL Standard but is not waterproof.
Servo Motor HC-KF (B) HC-KF (B)-UE HC-MF (B) HC-MF (B) -UE HA-FF (B) HC-UF13 to 73(B) Servo Motor Side Connector (AMP) Encoder Cable Connector Housing (AMP) Connector Pin (AMP) Cable Clamp (DDK)
1-172169-9
1-172161-9
170363-1
MTI-0002
3.1.2 HA-FF C-UE series If used with a waterproof connector, the HA-FF C(B)-UE does not improve in ingress protection (IP54). (1) Non-waterproof, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply
1) Plug 2) Cable clamp Cable 1) Plug 2) Cable clamp Cable
Servo Motor HA-FF C(B) -UE
Connector Supplied for Servo Motor CE05-2A14S-2PD-B
1) Plug (DDK) Type Straight Angle Model MS3106B14S-2S MS3108B14S-2S
2) Cable clamp (DDK) MS3057-6A
3- 1
2) For connection of encoder

Servo Motor HA-FF C(B) -UE
Connector Supplied for Servo Motor MS3102A20-29P
1) Plug (DDK) Type Straight Angle Model MS3106B20-29S MS3108B20-29S
3) For connection of brake

1) Plug 2) Cable clamp Cable
Servo Motor HA-FF C(B)-UE
Connector Supplied for Servo Motor MS3102A10SL-4P
Plug (DDK) Type Straight Model MS3106A10SL-4S
3- 2
(b) When using flexible conduits 1) For connection of power supply

1) Plug Conduit 2) Connector for conduit Conduit
2) Connector for conduit
1) Plug
Servo Motor
Connector Supplied for Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/4 3/8 1/2 10 12 1/4 3/8 1/2 10 12 Model RCC-102RL-MS14F RCC-103RL-MS14F RCC-104RL-MS14F MSA-10-14 MSA-12-14 RCC-302RL-MS14F RCC-303RL-MS14F RCC-304RL-MS14F MAA-10-14 MAA-12-14
Conduit Model VF-02 VF-03 VF-04 FCV10 FCV12 VF-02 VF-03 VF-04 FCV10 FCV12 ID 8.3 10.6 14.0 10.0 12.3 8.3 10.6 14.0 10.0 12.3
Straight MS3106A14S2S(D190) Angle
HA-FF C(B) -UE
CE05-2A14S-2PD-B

1) Plug
Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/2 3/4 16 22 1/2 3/4 16 22 Model RCC-104RL-MS20F RCC-106RL-MS20F MSA-16-20 MSA-22-20 RCC-304RL-MS20F RCC-306RL-MS20F MAA-16-20 MAA-22-20
Conduit Model VF-04 VF-06 FCV16 FCV22 VF-04 VF-06 FCV16 FCV22 ID 14.0 19.0 15.8 20.8 14.0 19.0 15.8 20.8
Straight HA-FF C(B) -UE MS3102A20-29P MS3106A2029S(D190) Angle
3- 3

1) Plug
Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/4 10 1/4 10 Model RCC-102RL-MS10F MSA-10-10 RCC-302RL-MS10F MAA-10-10
Conduit Model VF-02 FCV10 VF-02 FCV10 ID 8.3 10.0 8.3 10.0
Straight HA-FF C(B) -UE MS3102A10SL -4P MS3106A10SL4S(D190) Angle
3- 4
(2) EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply
1) Plug Cable 2) Connector for cable Cable
1) Plug 2) Connector for cable
Servo Motor
1) Plug (DDK)
2) Connector for Cable Maker Nippon flex Type Straight Angle Straight Angle Cable OD 4 to 8 8 to 12 4 to 8 8 to 12 5 to 8.3 8.3 to 11.3 5 to 8.3 8.3 to 11.3 Model ACS-08RL-MS14F ACS-12RL-MS14F ACA-08RL-MS14F ACA-12RL-MS14F YSO14-5 to 8 YSO14-9 to 11 YLO14-5 to 8 YLO14-9 to 11
HA-FF C(B) -UE
CE05-2A14S-2PD-B
CE05-6A14S-2SD-B Daiwa Dengyo

1) Plug 3) Cable clamp Cable 2) Back shell Cable
1) Plug 2) Back shell 3) Cable clamp
Servo Motor
Connector Supplied for Servo Motor MS3102A20-29P
1) Plug (DDK) MS3106A20-29S(D190)
2) Back Shell (DDK) Type Straight Angle Model CE02-20BS-S CE-20BA-S
3) Cable Clamp (DDK) Cable OD 6.8 to 10 Model CE3057-12A-3
HA-FF C(B) -UE
3- 5

Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Angle Nippon flex Daiwa Dengyo Cable OD 4 to 8 8 to 12 5 to 8.3 4 to 8 8 to 12 5 to 8.3 Model ACS-08RL-MS10F ACS-12RL-MS10F YS010-5 to 8 ACA-08RL-MS10F ACA-12RL-MS10F YL010-5 to 8
Straight HA-FF C(B)-UE MS3102A10SL-4P MS3106A10SL-4S(D190)
3- 6

1) Plug
Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/4 3/8 1/2 10 12 1/4 3/8 1/2 10 12 Model RCC-102RL-MS14F RCC-103RL-MS14F RCC-104RL-MS14F MSA-10-14 MSA-12-14 RCC-302RL-MS14F RCC-303RL-MS14F RCC-304RL-MS14F MAA-10-14 MAA-12-14
Conduit Model VF-02 VF-03 VF-04 FCV10 FCV12 VF-02 VF-03 VF-04 FCV10 FCV12 ID 8.3 10.6 14.0 10.0 12.3 8.3 10.6 14.0 10.0 12.3
Straight CE05-6A14S2SD-B Angle
HA-FF C(B) -UE
CE05-2A14S-2PD-B

1) Plug
Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/2 3/4 16 22 1/2 3/4 16 22 Model RCC-104RL-MS20F RCC-106RL-MS20F MSA-16-20 MSA-22-20 RCC-304RL-MS20F RCC-306RL-MS20F MAA-16-20 MAA-22-20
Straight HA-FF C(B) -UE MS3102A20-29P MS3106A2029S(D190) Angle
3- 7

1) Plug
Servo Motor
1) Plug (DDK)
2) Cable Connector Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/4 10 1/4 10 Model RCC-102RLMS10F MSA-10-10 RCC-302RLMS10F MAA-10-10
Conduit Model VF-02 FCV10 VF-02 FCV10 ID 8.3 10.0 8.3 10.0
Straight HA-FF C(B) -UE MS3102A10SL-4P MS3106A10-SL4S(D190) Angle
3- 8
3.1.3 HC-SF(S), HC-RF(S), HC-UF(S)2000r/min, HA-LH, HA-LF series (1) Non-waterproof, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply
Servo Motor HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) to 353(B) HC-SFS353(B) 503(B) HC-UFS202(B) to 502(B) HC-SF702 HC-SFS702(B)
Type
1) Plug (DDK) Model
2) Cable clamp (DDK)
Straight CE05-2A22-23PD-B Angle
MS3106B22-23S MS3057-12A MS3108B22-23S
Straight CE05-2A24-10PD-B Angle
MS3106B24-10S MS3057-16A MS3108B24-10S
CE05-2A32-17PD-B
Straight Angle
MS3106B32-17S MS3108B32-17S
MS3057-20A

Servo Motor HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-RFS103(B) to 503(B) HC-UFS72(B) to 502(B) HA-LH11K2(B) to HA-LH22K2(B) HA-LF30K24(B) to HA-LF55K24(B) HA-LF30K2(B)
Type
1) Plug (DDK) Model
2) Cable clamp (DDK)
Straight
MS3106B20-29S
MS3102A20-29P
MS3057-12A
Angle
MS3108B20-29S
3- 9

Servo Motor HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-UF202(B) to 502(B)
1) Plug (DDK)
2) Connector for Cable Type Straight Angle Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Cable OD 4 to 8 8 to 12 5 to 8.3 4 to 8 8 to 12 5 to 8.3 Model ACS-08RL-MS10F ACS-12RL-MS10F YSO10-5 to 8 ACA-08RL-MS10F ACA-12RL-MS10F YLO10-5 to 8
MS3102A10SL-4P
MS3106A10SL-4S Straight Angle
3 - 10

1) Plug
Servo Motor
1) Plug (DDK)
2) Connector for conduit Type Maker Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Straight Angle Nippon flex Daiwa Dengyo Size 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 3/4 1 3/4 1 Model RCC-104RL-MS22F RCC-106RL-MS22F RCC-108RL-MS22F MSA-16-22 MSA-22-22 MSA-28-22 RCC-304RL-MS22F RCC-306RL-MS22F RCC-308RL-MS22F MAA-16-22 MAA-22-22 MAA-28-22 RCC-104RL-MS24F RCC-106RL-MS24F RCC-108RL-MS24F MSA-16-24 MSA-22-24 MSA-28-24 RCC-304RL-MS24F RCC-306RL-MS24F RCC-308RL-MS24F MAA-16-24 MAA-22-24 MAA-28-24 RCC-106RL-MS32F RCC-108RL-MS32F RCC-306RL-MS32F RCC-308RL-MS32F
Conduit Model VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-06 VF-08 VF-06 VF-08 ID 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 19.0 24.4 19.0 24.4
HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B)
CE05-2A2223PD-B
MS3106A2223S(D190)
HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SFS202(B) 352(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SF203(B) to 502(B) HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) HC-UFS202(B) to 502(B)
CE05-2A2410PD-B
MS3106A2410S(D190)
HC-SF702(B) HC-SFS702(B)
CE05-2A3217PD-B
MS3106A3217S(D190)
3 - 11

1) Plug
Servo Motor HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-RFS103(B) to 503(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2(B) HA-LF30K24 to 55K24 HA-LF30K2
1) Plug (DDK)
2) Connector for conduit Type Maker Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Size 1/2 3/4 16 22 1/2 3/4 16 22 Model RCC-104RL-MS20F RCC-106RL-MS20F MSA-16-20 MSA-22-20 RCC-304RL-MS20F RCC-306RL-MS20F MAA-16-20 MAA-22-20
MS3102A2029P
MS3106A2029S(D190)

1) Plug
Servo Motor
2) Connector for conduit 1) Plug (DDK) Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size Model
Conduit Model ID
HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-UFS202(B) to 502(B)
1/4 10 1/4 10
RCC-102RL-MS10F MSA-10-10 RCC-302RL-MS10F MAA-10-10
VF-02 FCV10 VF-02 FCV10
8.3 10 8.3 10
Straight MS3102A 10SL-4P MS3106A10-SL4S(D190) Angle
3 - 12
(2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant (a) When using cabtyre cables 1) For connection of power supply
Servo Motor HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-SFS353(B) 503(B) HC-UFS202(B) to 502(B) HC-SF702(B) HC-SFS702(B)
1) Plug (DDK) Type Model
2) Cable clamp (DDK) Cable OD Model
Straight CE05-2A2223PD-B Angle
CE05-6A22-23SD-B-BSS
9.5 to 13
CE3057-12A-2(D265)
CE05-8A22-23SD-B-BAS
12.5 to 16
CE3057-12A-1(D265)
Straight CE05-2A2410PD-B Angle
CE05-6A24-10SD-B-BSS
13 to 15.5
CE3057-16A-2(D265)
CE05-8A24-10SD-B-BAS
15 to 19.1
CE3057-16A-1(D265)
CE05-2A3217PD-B
Straight Angle
CE05-6A32-17SD-B-BSS CE05-8A32-17SD-B-BAS
22 to 23.8 22 to 23.8
CE3057-20A-1(D265) CE3057-20A-1(D265)

1) Plug 3) Cable clamp Cable 2) Back shell Cable
1) Plug 2) Back shell Connector Supplied for Servo Motor 3) Cable clamp 1) Plug (DDK) 2) Back shell Type Model 3) Cable clamp (DDK) Cable OD Model
Servo Motor HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-RFS103(B) to 502(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2
Straight MS3102A2029P MS3106A2029S(D190) Angle
CE02-20BS-S
6.8 to 10
CE3057-12A-3(D265)
CE-20BA-S
3 - 13

Servo Motor HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-UFS202(B) to 502(B)
1) Plug (DDK)
2) Connector for Cable Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Cable OD 4 to 8 8 to 12 5 to 8.3 4 to 8 8 to 12 5 to 8.3 Model ACS-08RL-MS10F ACS-12RL-MS10F YSO-10-5 to 8 ACA-08RL-MS10F ACA-12RL-MS10F YLO-10-5 to 8
Straight MS3102A10SL-4P MS3106A10SL4S(D190) Angle
3 - 14

1) Plug
Servo Motor
1) Plug (DDK)
2) Connector for conduit Type Maker Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Size 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 1/2 3/4 1 16 22 28 3/4 1 3/4 1 Model RCC-104RL-MS22F RCC-106RL-MS22F RCC-108RL-MS22F MSA-16-22 MSA-22-22 MSA-28-22 RCC-304RL-MS22F RCC-306RL-MS22F RCC-308RL-MS22F MAA-16-22 MAA-22-22 MAA-28-22 RCC-104RL-MS24F RCC-106RL-MS24F RCC-108RL-MS24F MSA-16-24 MSA-22-24 MSA-28-24 RCC-304RL-MS24F RCC-306RL-MS24F RCC-308RL-MS24F MAA-16-24 MAA-22-24 MAA-28-24 RCC-106RL-MS32F RCC-108RL-MS32F RCC-306RL-MS32F RCC-308RL-MS32F
Conduit Model VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-04 VF-06 VF-08 FCV16 FCV22 FCV28 VF-06 VF-08 VF-06 VF-08 ID 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 14.0 19.0 24.4 15.8 20.8 26.4 19.0 24.4 19.0 24.4
HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B)
CE05-2A2223PD-B
CE05-6A2223SD-B
HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-RFS353(B) 503(B) HC-UFS202(B) to 502(B)
CE052A2410PD-B
CE05-6A2410SD-B
HC-SF702(B) HC-SFS702(B)
CE052A3217PD-B
CE05-6A3217SD-B
Straight Angle
Nippon flex Nippon flex
3 - 15

1) Plug
Servo Motor HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-RFS103(B) to 503(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2
1) Plug (DDK)
2) Connector for conduit Type Maker Nippon flex Straight Daiwa Dengyo Nippon flex Angle Daiwa Dengyo Size 1/2 3/4 16 22 1/2 3/4 16 22 Model RCC-104RL-MS20F RCC-106RL-MS20F MSA-16-20 MSA-22-20 RCC-304RL-MS20F RCC-306RL-MS20F MAA-16-20 MAA-22-20
MS3102A2029P
MS3106A2029S(D190)

1) Plug
Servo Motor HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 353(B) HC-UFS202(B) to 502(B)
1) Plug (DDK)
2) Connector for conduit Type Maker Nippon flex Daiwa Dengyo Nippon flex Daiwa Dengyo Size 1/4 10 1/4 10 Model RCC-102RL-MS10F MSA-10-10 RCC-302RL-MS10F MAA-10-10
Conduit Model VF-02 FCV10 VF-02 FCV10 ID 8.3 10 8.3 10
Straight MS3102A10S L-4P MS3106A10SL4S(D190) Angle
3.1.4 HC-AQ series Servo Motor Side Connector (Molex make) (Note) 5557-12R-210 Cable Side Connector (Molex make) Plug Terminal 5559-12P-210 5558
Servo Motor HC-AQ (B) Note. Terminal: 5556
3 - 16
3.1.5 HC-KFS, HC-MFS, HC-UFS3000r/min series Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder. These connectors may be used for the EN Standard and UL/C-UL Standard but are not waterproof. 1) For connection of power supply and brake
Servo Motor HC-KFS HC-MFS HC-UFS13 to 73 Servo Motor Side Connector (Molex) 5557-04R-210 Cable Side Connector Plug (molex) 5559-04P-210 Terminal (molex) 5558PBT3L
Servo Motor HC-KFS B HC-MFS B HC-UFS13 to 73B
Servo Motor Side Connector (Molex) 5557-06R-210
Cable Side Connector Plug (molex) 0009-06P-210 Terminal (molex) 5558PBT3L

Servo Motor HC-KFS (B) HC-MFS (B) HC-UFS13 to 73(B) Servo Motor Side Connector (AMP) Encoder Cable Connector Housing (AMP) Connector pin (AMP) Cable clamp (Toa Electric Industry) MTI-0002
1-172169-9
1-172161-9
170359-1
3 - 17
3.2 IP65, EN Standard-compliant options The following options are available to satisfy the IP65 ingress protection and EN Standard. To comply with the EN Standard, the power supply connector used must be any of these Options or equivalent.
Product IP65-compliant encoder cable (MR-J2 series) Model MR-ENCBL M-H Description Servo amplifier side connector (3M or equivalent) Connector: 10120-3000VE Shell kit: 10320-52F0-008 Encoder side connector (DDK) Plug: MS3106A20-29S(D190) Cable clamp: CE3057-12A-3(D265) Back shell: CE02-20BS-S Servo Motor HC-SF series HC-RF series HC-UF2000r/min series HA-LF-UE series HA-FF-UE series HA-SFS series HA-RFS series HC-UFS2000r/min series HC-SF series HC-RF series HC-UF2000r/min series HA-LF-UE series
Encoder cable (MR-H- N series)
MR-EN1CBL M-H
Servo amplifier side connector (Honda Tsushin Kogyo) Connector: PCR-S20FS Case: PCR-LS20LA1
Encoder side connector (DDK) Plug: MS3106A20-29S(D190) Cable clamp: CE3057-12A-3(D265) Back shell: CE02-20BS-S
Encoder connector set (MR-J2 series)
MR-ENCNS
Servo amplifier side connector (3M or equivalent) Connector: 10120-3000VE Shell kit: 10320-52F0-008
HC-SF series HC-RF series HC-UF2000r/min series HC-SFS series HC-RFS series HC-UFS2000r/min series HC-SF series HC-RF series HC-UF2000r/min series HA-LF series
Encoder connector set (MR-H- N series)
MR-EN1CNS
Servo amplifier side connector (Honda Tsushin Kogyo) Connector: PCR-S20FS Case: PCR-LS20LA1
EN Standardcompliant power connector set
MR-PWCNF
Plug: CE05-6A14S-2SD-B (Daiichi Denshi Kogyo) Cable connector: YSO14-9 to 11 (Daiwa Dengyo)
HA-FF C-UE series
3 - 18
Product IP65/EN Standardcompliant power connector set
Model MR-PWCNS1
Description Plug: CE05-6A22-23SD-B-BSS Cable clamp: CE3057-12A-2 (D265) (DDK)
Servo Motor HC-SF81(B) HC-SF52(B) to 152(B) HC-SF53(B) to 153(B) HC-RF103(B) to 203(B) HC-UF72(B) 152(B) HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-RFS103(B) to 203(B) HC-UFS72(B) 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) 353(B) HC-RF353(B) 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) 503(B) HC-RFS353(B) HC-UFS202(B) 352(B) HC-SF702(B) HC-SFS702(B) HA-FF CB-UE HC-SF121B to 301B HC-SF202B to 502B HC-SF203B 353B HC-UF202B 502B HC-SFS121B to 301B HC-SFS202B to 502B HC-SFS203B 353B HC-UFS202B to 502B
IP65/EN Standardcompliant power connector set
MR-PWCNS2
Plug: CE05-6A22-10SD-B-BSS Cable clamp: CE3057-16A-2 (D265) (DDK)
Power connector set IP65/EN Standardcompliant brake connector set
MR-PWCNS3
Plug:CE05-6A32-17SD-B-BSS Cable clamp: CE3057-20A-1 (D265) (DDK) Plug: MS3106A10SL-4S(D190) (DDK) Cable connector: YSO10-5 to 8 (Daiwa Dengyo)
MR-BKCN (Note)
Note: If it is used with the HA-FF
C-UE, the servo motor does not improve in ingress protection (IP54).
3 - 19
3.3 Signal arrangement of encoder connectors The encoder connector of each servo motor has the following signal arrangement. The connectors shown are as seen from the pin side.
Servo Motor Series HC-KF(-UE) series HC-MF(-UE) series HA-FF series HC-UF3000r/min series HC-KFS series HC-MFS series HC-UFS3000r/min series Signal Arrangement
Encoder connectors 1-172169-9 (AMP make) 1 MR 4 MD 7 P5 2 3 MRR BAT 5 MDR 8 LG 6 9 SHD
HA-FF C-UE series HC-SF series HC-RF series HC-UF2000r/min series HA-LH series HA-LF series HC-SFS series HC-RFS series HC-UFS2000r/min series HC-AQ series
Encoder connectors M N T J H S G P R E F A B
L K
C D
Pin A B C D E F G H J
Signal MD MDR MR MRR BAT LG
Pin K L M N P R S T
Signal
SHD LG P5
Motor connector
12 MRR 11 LG 10 9 B1 8 W 7 V 6 MR 5 P5 4 SHD 3 B2 2 U 1 E
3 - 20
4. INSPECTION
4. INSPECTION
Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
WARNING
POINT Do not disassemble and/or repair the equipment on customer side. (1) Inspection It is recommended to make the following checks periodically: (a) Check the servo motor bearings, brake section, etc. for unusual noise. (b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. (c) Check the servo motor shaft and coupling for misalignment. (2) Life The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.
Part Name Bearings Encoder Oil seal, V ring Cooling fan Guideline of Life 20,000 to 30,000 hours 20,000 to 30,000 hours 5,000 hours 20,000 hours Remarks If the servo motor is used in atmosphere where there are much oil mist, dust, etc., clean and check the parts every three months.
(a) Bearings When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection. (b) Oil seal, V ring Must be changed in 5,000 hours of operation at rated speed as a guideline. This differs on the operating conditions. These parts must also be changed if oil leakage, etc. is found during inspection.
4- 1
4. INSPECTION
MEMO
4- 2
5. SPECIFICATIONS
5. SPECIFICATIONS
5.1 Standard specifications
Servo Motor Item MR-H AN/BN/ACN/TN Applicable servo amplifier MR-J2- A/B/C Rated output [kW] (Note 1,11) Continuous [N m] Rated duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] J [ 10 4kg m2] (Note 3) Inertia moment WK2 [oz in2] (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment Servo amplifier' built-in regenerative brake resistor MR-RB013(10W) MR-RB033(30W) MR-RB31(300W) MR-RB32(300W) MR-H MR-RB30(300W) series MR-RB34(300W) MR-RB50(500W) (Note4) MR-RB51(500W) Regenerati ve brake MR-RB54(500W) duty MR-RB65(600W) [times/min] MR-RB66(600W) MR-RB67(600W) Servo amplifier' built-in regenerative brake resistor MR-J2 MR-RB032(30W) series MR-RB12(100W) MR-RB32(300W) MR-RB30(300W) MR-RB50(500W) Power supply capacity Rated current Maximum current Speed/position detector Accessories Insulation class Structure (Note 7) Environmental conditions (Note 3) Weight [kg] [lb] [A] [A] HC-MF Series (Ultra low inertia, small capacity) 053 13 23 43 73 20 20 40 60 100 10 10 20 40 70 0.05 0.1 0.2 0.4 0.75 0.16 0.32 0.64 1.3 2.4 22.7 45.3 90.7 184 340 3000 4500 5175 0.48 0.95 1.9 3.8 7.2 68.0 135 269 538 1020 13.47 0.019 0.104 34.13 0.03 0.16 46.02 116.55 94.43 0.088 0.48 0.143 0.78 0.6 3.28 HA-FF Series (Low inertia, small capacity) 13 23 33 43 10 20 40 40 10 20 40 40 0.1 0.2 0.3 0.4 0.32 0.64 0.95 1.3 45.3 90.7 135 184 3000 4000 4600 0.95 1.9 2.9 3.8 135 269 411 538 10.2 0.10 0.55 11.7 0.35 1.91 18.1 0.50 2.73 17.2 0.98 5.36
053 10 10 0.05 0.16 22.7
63 60 60 0.6 1.9 269
0.48 68.0 4.0 0.063 0.344
5.7 808 30.1 1.2 6.56
30 times or less
(Note 5) (Note 5) (Note 5) (Note 5) (Note 5) (Note 5) (Note 5) (Note 5) (Note 5) (Note 5) 4275 1726 (Note 5) 2071 (Note 5) (Note 5) 1363 4088
10 times or less
(Note 5) 370 1109 (Note 5) 3983 3046 1500 750 600
(Note 5)
(Note 5)
(Note 5)
1010 3000 (Note 5)
400 600 2400
(Note 5)
(Note 5)
(Note 5)
320 950 3200
150 450 1500
120 360 1200
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.85 0.85 1.5 2.8 5.1 0.6 1.1 1.3 1.9 2.5 3.6 2.6 2.6 5 9 18 1.8 3.3 3.9 5.7 7.5 10.8 Encoder (resolution : 8192 pulse/rev) Encoder (resolution : 8192 pulse/rev) Encoder Encoder, V ring Class B Class B Totally-enclosed, self-cooled Totally-enclosed, self-cooled (protection type: IP44 (Note 6,12)) (protection type: IP44 (Note 8,9,12)) Refer to section 2.1 Refer to section 2.1 0.4 0.53 0.99 1.45 3.0 1.3 1.5 2.3 2.6 4.2 4.8 0.88 1.17 2.18 3.20 6.61 2.87 3.31 5.07 5.73 9.26 10.6
5- 1
5. SPECIFICATIONS
Servo Motor Item
52 MR-H AN/BN/ACN/TN 60 Applicable servo amplifier MR-J2- A/B/C 60 Rated output [kW] 0.5 (Note 1,11) Continuous [N m] 2.39 Rated duty torque 339 [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] 7.16 Maximum torque [oz in] 1015 Power rate at continuous rated torque 32.9 30.9 44.5 81.3 8.7 16.7 25.6 21.5 34.1 56.5 69.7 [kW/s] 4 2] (Note 3) J [ 10 kg m 20.0 42.5 82 101 6.6 13.7 20.0 4.5 82.0 101 160 Inertia moment [oz in2] 109 232 448 552 36.1 74.9 109 232 448 552 875 WK2 (Note 2) Recommended ratio of load inertia 15 times or less 15 times or less moment to servo motor shaft inertia moment Servo amplifier' built-in 440 335 174 141 207 170 179 84 43 39 32 regenerative brake resistor MR-RB013(10W) MR-RB033(30W) MR-RB31(300W) 57 MR-RB32(300W) 1649 1241 638 MR-H MR-RB30(300W) 326 100 90 series MR-RB34(300W) 774 401 412 193 MR-RB50(500W) 543 167 150 (Note4) MR-RB51(500W) 95 Regenerativ MR-RB54(500W) 1290 669 687 322 e brake duty MR-RB65(600W) [times/min] MR-RB66(600W) MR-RB67(600W) Servo amplifier' built-in regenerative brake 140 240 100 84 56 54 136 64 31 resistor 220 165 80 MR-J2 MR-RB032(30W) 740 560 270 series MR-RB12(100W) MR-RB32(300W) 2220 810 MR-RB30(300W) 730 330 250 408 192 95 MR-RB50(500W) 1216 550 430 680 320 158 Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Rated current [A] 5.1 7.1 9.6 16 3.2 6 9 11 17 28 35 Maximum current [A] 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105 Encoder Encoder Speed/position detector (resolution: 16384 pulse/rev) (resolution: 16384 pulse/rev) Accessories Encoder Oil seal Encoder Oil seal Insulation class Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP65) (protection type: IP65(Note 12)) (Note 7) Environmental conditions Refer to section 2.1 Refer to section 2.1 [kg] 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32 (Note 3) Weight [lb] 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5
HC-SF 1000r/min Series (Middle inertia, middle capacity) 81 121 201 301 100 200 200 350 100 200 200 350 0.85 1.2 2.0 3.0 8.12 11.5 19.1 28.6 1151 1630 2707 4053 1000 1500 1200 1725 1380 24.4 34.4 57.3 85.9 3458 4875 8120 12173
HC-SF 2000r/min Series (Middle inertia, middle capacity) 102 152 202 352 502 702 100 200 200 350 500 700 100 200 200 350 1.0 1.5 2.0 3.5 5.0 7.0 4.78 7.16 9.55 16.7 23.9 33.4 677 1015 1353 2367 3387 4733 2000 3000 2500 2000 345 2850 2300 14.4 21.6 28.5 50.1 71.6 100.0 2041 3061 4039 7100 10146 14171
5- 2
5. SPECIFICATIONS
Servo Motor Item MR-H AN/BN/ACN/TN Applicable servo amplifier MR-J2- A/B/C Rated output [kW] (Note 1,11) Continuous [N m] Rated duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] J [ 10 4kg m2] (Note 3) Inertia moment [oz in2] WK2 (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment Servo amplifier' built-in regenerative brake resistor MR-RB013(10W) MR-RB033(30W) MR-RB31(300W) MR-RB32(300W) MR-H MR-RB30(300W) series MR-RB34(300W) MR-RB50(500W) (Note4) MR-RB51(500W) Regenerative MR-RB54(500W) brake duty MR-RB65(600W) [times/min] MR-RB66(600W) MR-RB67(600W) Servo amplifier' built-in regenerative brake resistor MR-J2 MR-RB032(30W) series MR-RB12(100W) MR-RB32(300W) MR-RB30(300W) MR-RB50(500W) Power supply capacity Rated current Maximum current Speed/position detector Accessories Insulation class Structure (Note 7) Environmental conditions (Note 3) Weight [kg] [lb] [A] [A] 53 60 60 0.5 1.59 225
4.77 676 3.8 6.6 36.1
HC-SF 3000r/min Series (Middle inertia, middle capacity) (Note 13) 103 153 203 353 100 200 200 350 100 200 200 350 1.0 1.5 2.0 3.5 3.18 4.78 6.37 11.1 451 677 903 1573 3000 3000 3450 9.55 14.3 19.1 33.4 1353 2026 2707 4733 7.4 13.7 74.9 11.4 20.0 109.3 9.5 42.5 232.4 15.1 82.0 448.3
HC-RF Series (Low inertia, small capacity) 103 200 200 1.0 3.18 451 153 200 200 1.5 4.78 677 203 350 350 2.0 6.37 903 3000 4500 5175 15.9 2253 176 2.3 12.6 353 500 3.5 11.1 1573 503 500 5.0 15.9 2253
7.95 1127 67.4 1.5 8.2
11.9 1686 120 1.9 10.4
27.9 3954 150 8.6 47.0
39.7 5626 211 12.0 65.6
15 times or less 92 71 79 37 19 1056
5 times or less 834 689 174 125
552
267 45 183 86 74 305 143 4061 3206 2437 1924 2648 669 479 1589 401 288
25 73 250
24 36 120 360
82
24
14
1090
860
710
250 70 42 3270 2580 2130 410 110 70 5450 4300 3550 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.2 5.3 8.6 10.4 16.4 6.1 8.8 14 23 28 9.6 15.9 25.8 31.2 49.2 18.4 23.4 37 58 70 Encoder Encoder (resolution : 16384 pulse/rev) (resolution : 16384 pulse/rev) Encoder Oil seal Encoder Oil seal Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled (protection type: IP65) (protection type: IP65(Note 12)) Refer to section 2.1 Refer to section 2.1 5.0 7.0 9.0 12 19 3.9 5.0 6.2 12.0 17.0 11.0 15.4 19.8 26.5 41.9 8.6 11.0 13.7 26.5 37.5
5- 3
5. SPECIFICATIONS
Servo Motor Item MR-H AN/BN/ACN/TN MR-J2 A/B/C Rated output [kW] (Note 1,11) [N m] Rated Continuous duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] J [ 10 4kg m2] (Note 3) Inertia moment [oz in2] WK2 (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment Servo amplifier' built-in regenerative brake resistor MR-RB013(10W) MR-RB033(30W) MR-RB31(300W) MR-RB32(300W) MR-RB30(300W) MR-H MR-RB34(300W) Series MR-RB50(500W) MR-RB51(500W) (Note4) MR-RB54(500W) Regenerative MR-RB65(600W) brake duty [times/min] MR-RB66(600W) Applicable servo amplifier MR-RB67(600W) Servo amplifier' built-in regenerative brake resistor MR-J2 MR-RB032(30W) series MR-RB12(100W) MR-RB32(300W) MR-RB30(300W) MR-RB50(300W)
HC-UF 2000r/min Series (Pancake type middle capacity) 72

100 70 0.75 3.58 507
HC-UF 3000r/min Series (Pancake type small capacity) 13

10 10 0.1 0.32 45
HA-LH Series (Large capacity) 11K

11K
152
200 200 1.5 7.16 1015 3000 3450 21.6 3061 23.2
202
350 350 2.0 9.55 1353 2000
352
500
502
500
23
40 20 0.2 0.64 91
43
(Note 13)
73
100 70 0.75 2.4 340
15K
15K
22K
22K
3.5 5.0 16.7 23.9 2367 3387 2500 2875 50.1 71.6 7100 10146 36.5 49.6
10.7 1516 12.3 10.4 56.9
28.5 4039 23.9
0.95 135 15.5
60 40 0.4 1.3 184 3000 4500 5175 1.9 3.8 269 538 47.7 0.365 2.0
7.2 1020 9.66 5.90 32.3
11 15 22 52.5 71.6 105 7435 10139 14869 2000 2000 2300 158 215 263 22375 30447 37244 235 177 278
19.2 0.241 1.3
22.1 38.2 76.5 115 0.066 120.8 208.9 418.3 628.8 0.4 15 times or less
118 290 395 642.4 1585.6 2159.6 10 times or less
15 times or less 31
(Note5) 2241 (Note5) 2530 1669 165
211
161
93
44
500
850
850
(Note10) (Note10) (Note10)
791 215 372 358 620 169 119 102 72
(Note5)
(Note5)
619
500 (Note10) 850 (Note10) 850 (Note10)
53 79 87
124
68
(Note5)
(Note5)
410 1230 4106
41 62 206
372 203 620 338 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Power supply capacity Servo Amplifier Instruction Manual. Rated current [A] 5.4 9.7 14 23 28 0.76 1.5 2.8 4.3 68 87 126 Maximum current [A] 16.2 29.1 42 69 84 2.5 4.95 9.24 12.9 204 261 315 Encoder Encoder Encoder (resolution : Speed/position detector (resolution : 16384 pulse/rev) (resolution : 8192 pulse/rev) 16384 pulse/rev) 200/220V 50/60Hz Power Voltage, frequency 42/54W Cooling supply Power consumption [W] fan Rated current [A] 0.21/0.25A Speed [r/min] 3000/3600r/min Accessories Encoder Oil seal Encoder Oil seal Encoder Oil seal Insulation class Class F Class B Class F Totally-enclosed, Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure force-cooling (protection type: IP65(Note9)) (protection type: IP65(Note9)) (protection type: JP44) Refer to section 2.1 Environmental conditions Refer to section 2.1 Refer to section 2.1 (Note 7) [kg] 8.0 11.0 16.0 20.0 24.0 0.8 1.5 1.7 5.0 70 108 135 (Note 3) Weight [lb] 17.6 24.3 35.3 44.1 52.9 1.8 3.3 3.7 11.0 154.3 238.1 297.6
5- 4
5. SPECIFICATIONS
Servo Motor Item Compatible servo amplifier Rated output Rated torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Continuous characteristics (Note 1, 11) Maximum torque MR-H AN/ BN/ACN/TN MR-J2[kW] [N m] [oz in] [r/min] [r/min] [r/min] [N m] [oz in] 0.48 68.0 4.78 0.053 0.29 053 10 10A-A16 10B-A16 10C-A16 0.05 0.16 22.7
HC-KF Series (Low Inertia, Small Capacity) 13 23 10 10A-A15 10B-A15 10C-A15 0.1 0.32 45.3 3000 4500 5175 0.95 135 12.1 0.084 0.459 1.9 269 9.65 0.42 2.296 20 20A-A15 20B-A15 20C-A15 0.2 0.64 90.7
43 40 40A-A15 40B-A15 40C-A15 0.4 1.3 184
3.8 538 24.2 0.67 3.663
Power rate at continuous [kw/s] rated torque 4 Inertia J [ 10 kg m2] moment WK2 [oz in2] (Note 3) Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2) Servo amplifier's built-in regenerative brake resistor MR-RB013(10W) MR-RB033(30W) MR-RB31(300W) MR-RB32(300W) MR-H MR-RB30(300W) series MR-RB34(300W) MR-RB50(500W) Regenerative MR-RB51(500W) brake duty MR-RB54(500W) [times/min] MR-RB65(600W) (Note 4) MR-RB66(600W) MR-RB67(600W) Servo amplifier's built-in regenerative brake resistor MR-J2 MR-RB032(30W) series MR-RB12(100W) MR-RB32(300W) MR-RB30(300W) MR-RB50(500W) Power supply capacity Rated current Maximum current Speed/position detector Accessory Insulation class Structure Environmental conditions (Note 7) [kg] Weight [lb]
15 times or less
(Note 5) (Note 5) (Note 5)
(Note 5)
(Note 5)
(Note 5)
(Note 5)
(Note 5)
220 660 2200
Refer to "Power supply capacity and generated loss of servo amplifier" in Servo Amplifier Instruction Manual. [A] 0.83 0.83 1.1 2.3 [A] 2.5 2.5 3.4 6.9 Encoder (resolution: 8192 pulses/rev) Encoder Class B Totally-enclosed self-cooling (protection type: IP44 (Note 6) Refer to Section 2.1. 0.40 0.53 0.99 1.45 0.882 1.168 2.18 3.20
5- 5
5. SPECIFICATIONS
Servo Motor Item Compatible servo amplifier Continuous characteristics (Note 1, 11) Maximum speed Instantaneous permissible speed Maximum torque Power rate at continuous rated torque Inertia moment J (Note 3) WK2 [ Rated output Rated torque [N [oz [kW] m] in]
HC-AQ Series (For 24VDC, Very Low Inertia, Small Capacity) 0135 0235 MR-J2-03A5 (Note 12) MR-J2-03C5 0.01 0.0318 4.503 5000 5750 0.0955 13.524 2.0 0.0050 0.027 0.191 27.048 5.6 0.0072 0.039 30 times or less Refer to "Power supply capacity and generated loss of servo amplifier" in Servo Amplifier Instruction Manual. 0.02 0.0637 9.021 3000 4500 5175 0.287 40.643 9.7 0.0094 0.051 0.03 0.0955 13.524 0335
Rated speed (Note 1)
[r/min] [r/min] [r/min] [N [oz m] in]
[kW/s] 10 4kg [oz m2] in2]
Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2) Power supply capacity Rated current Maximum current Speed/position detector Accessory Insulation class Structure Environmental conditions (Note 7) Weight (Note 3) [kg] [lb] 0.19 0.419 [A] [A]
2.4 7.7
2.4 7.7 Encoder (resolution: 8192 pulses/rev) Encoder Class B
2.3 7.4
Totally-enclosed self-cooling (protection type: IP55 (Note 6)) Refer to Section 2.1. 0.22 0.485 0.25 0.551
5- 6
5. SPECIFICATIONS
Servo Motor Item Compatible servo amplifier MR-H AN4/BN4/ ACN4/TN4 Rated output Rated torque [N [oz
HA-LF Series (Three-phase, For 400VAC, Low Inertia, Large Capacity) 30K24 30K 37K24 37K MR-HP55KA4 45K24 45K 55K24 55K
Compatible converter unit Continuous characteristics (Note 1, 11) [kW] m] in] 30 143 20250.6 37 177
45 215 30446.6 2000 2000 2300
55 263 37244.0
25065.4
Rated speed (Note 1) Maximum speed Instantaneous permissible speed Maximum torque Power rate at continuous rated torque Inertia moment J (Note 3) WK2 [
[r/min] [r/min] [r/min] [N [oz m] in] 358 50697.2 373 550 3007.095 442 62592.6 480 650 3553.84
537 76045.8 427 1080 5904.84
657 930392 526 1310 7162.354
[kW/s] 10 4kg [oz m2] in2]
Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2) MR-RB136-4 (1300W) Three MRB138-4s (3900W) 58 49
10 times or less
30
24
Regenerative brake duty [times/min] (Note 4)
174
147
89
73
Power supply capacity Rated current Maximum current Speed/position detector Power supply Cooling fan Rated current Speed Accessories Insulation class Structure Weight (Note 3) Weight (Note 3) [kg] [lb] Voltage, frequency Power consumption [W] [A] [r/min] [A] [A]
Refer to "Power supply capacity and generated loss of servo amplifier" in Servo Amplifier Instruction Manual. 83 208 102 255 131 328 143 358
Encoder (resolution: 16384 pulses/rev) Three-phase 380 to 460VAC 50/60Hz 63(50Hz)/83(60Hz) 0.09(50Hz)/0.11(60Hz) 2720(50Hz)/2980(60Hz) Class F Totally-enclosed self-cooling (protection type: IP44) Refer to Section 2.1. 160 352.739 180 396.832 230 507.063 250 551.155 110(50Hz)/150(60Hz) 0.20(50Hz)/0.22(60Hz) 2650(50Hz)/3000(60Hz) Encoder, oil seal
5- 7
5. SPECIFICATIONS
Servo Motor Item Compatible servo amplifier MR-H AN/BN/ ACN/TN Rated output Rated torque [N [oz
HA-LF Series (Three-phase, For 200VAC, Low Inertia, Large Capacity) 30K2 30K MR-HP30KA
Compatible converter unit Continuous characteristics (Note 1, 11) [kW] m] in]
30 143 20250.6 2000 2000 2300 358 50697.2 373 550 3007.095 10 time or less
Rated speed (Note 1) Maximum speed Instantaneous permissible speed Maximum torque Power rate at continuous rated torque Inertia moment J (Note 3) WK2 [
[r/min] [r/min] [r/min] [N [oz m] in]
[kW/s] 10 4kg [oz m2] in2]
Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2) MR-RB136-4 (1300W) Three MRB138-4s (3900W)
58
Regenerative brake duty [times/min] (Note 4)
174 Refer to "Power supply capacity and generated loss of servo amplifier" in Servo Amplifier Instruction Manual. [A] [A] 166 415 Encoder (resolution:16384 pulses/rev) Three-phase 200 to 230VAC 50/60Hz 45(50Hz)/63(60Hz) 0.32(50Hz)/0.35(60Hz) 2650(50Hz)/3100(60Hz) Encoder, oil seal Class F Totally-enclosed self-cooling (protection type: IP44) Refer to Section 2.1. [kg] [lb] 160 352.739
Power supply capacity Rated current Maximum current Speed/position detector Power supply Cooling fan Rated current Speed Accessories Insulation class Structure Weight (Note 3) Weight (Note 3) Voltage, frequency Power consumption [W] [A] [r/min]
5- 8
5. SPECIFICATIONS
Servo Motor Item Applicable servo amplifier/drive unit (Note 1,11) Continuous duty MR-J2S- A/B MR-J2M- DU Rated output [kW] Rated torque [N [oz m] in]
HC-MFS Series (Ultra low inertia, small capacity) 053 13 23 43 73 10 10 20 40 70 10 10 20 40 0.05 0.1 0.2 0.4 0.75
(Note 14) (Note 14) (Note 14) (Note 14)
HA-KFS Series (Low inertia, small capacity) 053 13 23 43 73 10 10 20 40 70 10 10 20 40 0.05 0.1 0.2 0.4 0.75
(Note 14) (Note 14) (Note 14) (Note 14)
0.16
(Note 14)
0.32
(Note 14)
0.64
(Note 14)
1.3
(Note 14)
2.4 340
0.16
(Note 14)
0.32
(Note 14)
0.64
(Note 14)
1.3
(Note 14)
2.4 340
22.7
45.3
(Note 1) Rated speed Maximum speed Permissible instantaneous speed
[r/min] [r/min] [r/min] [N m] 0.48 0.95 3.8 7.2 0.48 0.95 3.8 7.2 Maximum torque [oz in] 68.0 135 538 1020 68.0 135 538 1020 Power rate at continuous rated torque 13.47 34.13 46.02 116.55 94.43 4.78 12.1 9.65 24.2 37.7 [kW/s] 4 2] J [ 10 kg m 0.019 0.03 0.088 0.143 0.6 0.053 0.084 0.42 0.67 1.51 (Note 3) Inertia moment [oz in2] 0.104 0.16 0.48 0.78 3.28 0.29 0.459 2.296 3.663 8.26 WK2 (Note 2) Recommended ratio of load inertia 30 times or less 10 times or less moment to servo motor shaft inertia moment Servo amplifier' builtin regenerative brake (Note 5) (Note 5) (Note 5) 1010 400 (Note 5) (Note 5) (Note 5) 220 190 (Note4) resistor Regenerati 3000 600 (Note 5) (Note 5) (Note 5) 660 280 MR-J2S MR-RB032(30W) ve brake MR-RB12(100W) (Note5) 2400 (Note 5) (Note 5) (Note 5) 2200 940 series duty MR-RB32(300W) [times/min] MR-RB30(300W) MR-RB50(500W) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" Power supply capacity in Servo Amplifier Instruction Manual. Rated current [A] 0.85 0.85 1.5 2.8 5.1 0.83 0.83 1.1 2.3 5.8 Maximum current [A] 2.6 2.6 5 9 18 2.5 2.5 3.4 6.9 18.6 Speed/position detector Encoder (resolution : 131072 pulse/rev) Encoder (resolution : 131072 pulse/rev) Accessories Encoder Encoder, V ring Insulation class Class B Class B Totally-enclosed, self-cooled Totally-enclosed, self-cooled Structure (protection type: IP55 (Note 6,7)) (protection type: IP44 (Note 6,12)) (Note 7) Environmental conditions Refer to section 2.1 Refer to section 2.1 [kg] 0.4 0.53 0.99 1.45 3.0 0.40 0.53 0.99 1.45 3.0 (Note 3) Weight [lb] 0.88 1.17 2.18 3.20 6.61 0.882 1.168 2.18 3.20 6.61
90.7 3000 4500 5175 1.9 269
184
22.7
45.3
90.7 3000 4500 5175 1.9 269
184
5- 9
5. SPECIFICATIONS
Servo Motor Item Applicable servo MR-J2S- A/B amplifier/drive unit Rated output [kW] (Note 1,11) Continuous [N m] Rated duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] (Note 3) J [ 10 4kg m2] Inertia moment WK2 [oz in2] (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note4) Servo amplifier' builtRegenerati in regenerative brake ve brake resistor duty MR-RB032(30W) [times/min] MR-J2S MR-RB12(100W) MR-RB32(300W) series MR-RB30(300W) MR-RB50(500W) MR-RB31(300W) MR-RB51(500W) Power supply capacity Rated current Maximum current Speed/position detector Accessories Insulation class Structure (Note 7) Environmental conditions (Note 3) Weight [kg] [lb] [A] [A]
HC-SFS1000r/min Series (Middle inertia, middle capacity) 81 121 201 301 100 0.85 8.12 1151 1500 1725 24.4 3458 32.9 20.0 109 200 200 350 3.0 28.6 4053
52 60 0.5 2.39 339
HC-SFS 2000r/min Series (Middle inertia, middle capacity) 102 152 202 352 502 100 1.0 4.78 677 3000 345 14.4 2041 16.7 13.7 74.9 200 1.5 7.16 1015 200 350 500 5.0 23.9 3387
702 700 7.0 33.4 4733
1.2 2.0 11.5 19.1 1630 2707 1000 1200 1380 34.4 57.3 4875 8120 30.9 42.5 232 44.5 82 448
85.9 12173 81.3 101 552
7.16 1015 8.7 6.6 36.1
21.6 3061 25.6 20.0 109
2.0 3.5 9.55 16.7 1353 2367 2000 2500 2850 28.5 50.1 4039 7100 21.5 4.5 232 34.1 82.0 448
2000 2300 71.6 100.0 10146 14171 56.5 101 552 69.7 160 875
15 times or less 140 220 740 2220 730 1216 330 550 250 430 240 100 84 56 165 560 54 80 270 810
15 times or less 136 64 31 39 32
408 680
192 320
95 158
90 150
57 95 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 5.1 7.1 9.6 16 3.2 6 9 11 17 28 35 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105 Encoder Encoder (resolution: 131072 pulse/rev) (resolution: 131072 pulse/rev) Encoder Oil seal Encoder Oil seal Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled (protection type: IP65) (protection type: IP65(Note 12)) Refer to section 2.1 Refer to section 2.1 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5
5 - 10
5. SPECIFICATIONS
Servo Motor Item Applicable servo amplifier MR-J2S- A/B
HC-SFS 3000r/min Series (Middle inertia, middle capacity) 53 103 153 203 353 60 0.5 1.59 225 100 1.0 3.18 451 200 1.5 4.78 677 3000 3000 3450 14.3 2026 11.4 20.0 109.3 200 2.0 6.37 903 350 3.5 11.1 1573
HC-RFS Series (Low inertia, small capacity) 103 153 203 353 503 200 1.0 3.18 451 200 1.5 4.78 677 350 2.0 6.37 903 3000 4500 5175 15.9 2253 176 2.3 12.6 500 3.5 11.1 1573 500 5.0 15.9 2253
Rated output [kW] (Note 1,11) Continuous [N m] Rated duty torque [oz in] (Note 1) Rated speed [r/min] Maximum speed [r/min] Permissible instantaneous speed [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] J [ 10 4kg m2] (Note 3) Inertia moment WK2 [oz in2] (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment Servo amplifier' builtin regenerative brake resistor MR-RB032(30W) (Note4) Regenerative MR-J2S MR-RB12(100W) MR-RB32(300W) brake duty series [times/min] MR-RB30(300W) MR-RB50(500W) MR-RB31(300W) MR-RB51(500W) Power supply capacity Rated current Maximum current Speed/position detector Accessories Insulation class Structure (Note 7) Environmental conditions (Note 3) Weight [kg] [lb] [A] [A]
4.77 676 3.8 6.6 36.1
9.55 1353 7.4 13.7 74.9
19.1 2707 9.5 42.5 232.4
33.4 4733 15.1 82.0 448.3
7.95 1127 67.4 1.5 8.2
11.9 1686 120 1.9 10.4
27.9 3954 150 8.6 47.0
39.7 5626 211 12.0 65.6
15 times or less 25 73 250 24 36 120 360 250 410 70 110 42 70 3270 5450 82 24 14 1090
5 times or less 860 710 174 125
2580 4300
2130 3550
401 669
288 479 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.2 5.3 8.6 10.4 16.4 6.1 8.8 14 23 28 9.6 15.9 25.8 31.2 49.2 18.4 23.4 37 58 70 Encoder Encoder (resolution : 131072 pulse/rev) (resolution : 131072 pulse/rev) Encoder Oil seal Encoder Oil seal Class F Class F Totally-enclosed, self-cooled Totally-enclosed, self-cooled (protection type: IP65) (protection type: IP65(Note 12)) Refer to section 2.1 Refer to section 2.1 5.0 7.0 9.0 12 19 3.9 5.0 6.2 12.0 17.0 11.0 15.4 19.8 26.5 41.9 8.6 11.0 13.7 26.5 37.5
5 - 11
5. SPECIFICATIONS
Servo Motor Item MR-J2S A/B Applicable servo amplifier/drive unit MR-J2M DU Rated output (Note 1,11) [N m] Continuous Rated duty torque [oz in] (Note 1) Rated speed Maximum speed Permissible instantaneous speed [r/min] [r/min] [r/min] [N m] Maximum torque [oz in] Power rate at continuous rated torque [kW/s] J [ 10 4kg m2] (Note 3) Inertia moment [oz in2] WK2 (Note 2) Recommended ratio of load inertia moment to servo motor shaft inertia moment Servo amplifier' builtin regenerative brake resistor (Note4) Regenerative MR-J2S MR-RB032(30W) MR-RB12(100W) series brake duty [times/min] MR-RB32(300W) MR-RB30(300W) MR-RB50(300W) Power supply capacity Rated current Maximum current Speed/position detector Power Voltage, frequency Cooling supply Power consumption [W] fan Rated current [A] Speed [r/min] Accessories Insulation class Structure Environmental conditions (Note 3) Weight [kg] [lb] [A] [A]
HC-UFS 2000r/min Series (Pancake type middle capacity) 72 152 202 352 502
70 0.75 3.58 507 200 1.5 7.16 1015 3000 3450 21.6 3061 23.2 22.1 120.8 350 2.0 9.55 1353 2000 2500 2875 28.5 4039 23.9 38.2 208.9 50.1 7100 36.5 76.5 418.3 71.6 10146 49.6 115 628.8 500 3.5 16.7 2367 500 5.0 23.9 3387
HC-UFS 3000r/min Series (Pancake type small capacity) 13 23 43 73

10 10 0.1 (Note 14) 0.32 (Note 14) 45 20 40 20 40 0.2 0.4 (Note 14) (Note 14) 0.64 1.3 (Note 14) (Note 14) 91 184 3000 4500 5175 1.9 3.8 269 538 19.2 0.241 1.3 47.7 0.365 2.0 70 0.75 2.4 340
10.7 1516 12.3 10.4 56.9
0.95 135 15.5 0.066 0.4
7.2 1020 9.66 5.90 32.3
15 times or less 53 79 87 372 620 203 338 109 169 72 119 124 68 44 31
(Note5)
15 times or less
(Note5)
410 1230 4106
41 62 206
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
5.4 16.2 14 23 28 42 69 84 Encoder (resolution : 131072 pulse/rev) 9.7 29.1 0.76 2.5 1.5 2.8 4.3 4.95 9.24 12.9 Encoder (resolution : 131072 pulse/rev)
Encoder Oil seal Class F Totally-enclosed, self-cooled (protection type: IP65(Note9)) Refer to section 2.1 8.0 11.0 16.0 20.0 24.0 17.6 24.3 35.3 44.1 52.9
Encoder Oil seal Class B Totally-enclosed, self-cooled (protection type: IP65(Note9)) Refer to section 2.1 0.8 1.5 1.7 5.0 1.8 3.3 3.7 11.0
5 - 12
5. SPECIFICATIONS
Note: 1.When the power supply voltage drops, we cannot guarantee the output and rated speed. 2.If the load inertia moment ratio exceeds the indicated value, please consult us. 3.When the servo motor is equipped with reduction gear or electromagnetic brake, refer to the corresponding outline dimension drawing. For the EN Standard- and UL/C-UL Standardcompliant models, please consult us. 4.The regenerative brake duty indicated is the permissible duty when the servo motor running without load at the rated speed is decelerated to a stop. When a load is connected, the value in the table is multiplied by 1/(m 1), where m load inertia moment/motor inertia moment. At the speed higher than the rated, the permissible number of times is in inverse proportion to the square of (running speed/rated speed). When the running speed varies frequently or when the regenerative mode continues as in vertical feed, calculate regenerative heat generated during operation. Provisions must be made to keep this generated heat below the permissible value. 5. If the effective torque is within the rated torque range, there are no restrictions on the regenerative duty. 6. Except for the shaft-through portion and connector end. 7. When the equipment is to be used in places where it is subjected to oil and/or water, such as on machine field sites, optional features apply to the equipment. Please contact. 8. IP54 for the EN Standard-compliant model. 9. Except the connector section. 10. Values for use of the supplied regenerative brake unit (regenerative brake resistor). 11. 80%ED at low noise. 80%ED: Indicates the condition in which operation time at read torque accounts for 80% and the other no-load time accounts for 20% in a single operation cycle. Torque 100% tb 60 sec. (continuous operation time) tb tc time %ED
tb 100 tc 12 When the servo motor is provided with the reduction gear, the protection type of the reduction gear section is IP44. 13. For the HC-UF73, HC-SF203 and HC-SF353, consult us since they may not be connected depending on the production period of the servo amplifier. 14. When using the servo motor with the MELSERVO-J2M, the continuous-operation rated torque of the servo motor is restricted to 80%.
5 - 13
5. SPECIFICATIONS
5.2 Torque characteristics POINT For machines which produce unbalance torque, e.g. vertical lift applications, it is recommended to use the servo motor so that the unbalance torque will be within 70% of the rated torque. When using the servo motor with the MELSERVO-J2M, the continuousoperation rated torque of the servo motor is restricted to 80%. (1) HC-MF/HC-MFS series
[HC-MF053] [HC-MFS053]
0.6
1.0
2.0
0.4
0.5
Torque [N m]
Torque [N m]
Torque [N m]
Short-duration operation region
0.75
1.5
1.0
0.2 Continuous operation region 0 1000 2000 3000 40004500
Speed [r/min]
Speed [r/min]
Speed [r/min]
4.0
8.0
3.0
Torque [N m]
2.0
Torque [N m]
6.0
4.0
1.0 Continuous operation region 0 1000 2000 3000 4000 4500
Speed [r/min]
Speed [r/min]
(2) HA-FF series

[HA-FF053]
0.6
[HA-FF13]
1.0
[HA-FF23]
2.0
Torque [N m]
Torque [N m]
0.4
0.5
Torque [N m]
0.75
1.5
1.0
Speed [r/min]
Speed [r/min]
Speed [r/min]
5 - 14
5. SPECIFICATIONS
[HA-FF33]
3.0
[HA-FF43]
4.0
[HA-FF63]
6.0
3.0
Torque [N m]
Torque [N m]
2.0
Torque [N m]
Continuous operation region 1000 2000 3000 4000
2.0
4.0
1.0
Speed [r/min]
Speed [r/min]
Speed [r/min]
(3) HC-SF/HC-SFS series

[HC-SF81] [HC-SFS81]
30
40
60
30
Torque [N m]
Torque [N m]
20
Torque [N m]
20
40 Short-duration operation region
10
20 Continuous operation region 0 500 1000
10 Continuous operation region 0 500 1000 1500 0 Continuous operation region 500 1000
Speed [r/min]
Speed [r/min]
Speed [r/min]
100
75
Torque [N m]
Short-duration operation region 50
Speed [r/min]
9
15
24
Torque [N m]
Torque [N m]
3 Continuous operation region 0 1000 2000 3000
Torque [N m]
Short-duration 6 operation region
Speed [r/min]
Speed [r/min]
Speed [r/min]
5 - 15
5. SPECIFICATIONS
80
30
60
Torque [N m]
Torque [N m]
20
40
Torque [N m]
60
40
Speed [r/min]
Speed [r/min]
Speed [r/min]
120
Torque [N m]
Speed [r/min]
6
12
15
Torque [N m]
Torque [N m]
Torque [N m]
Speed [r/min]
Speed [r/min]
Speed [r/min]
21
39
Torque [N m]
Torque [N m]
Continuous operation region 1000 2000 3000
14
26
13 Continuous operation region 0
1000
2000
3000
Speed [r/min]
Speed [r/min]
5 - 16
5. SPECIFICATIONS
(4) HC-RF/HC-RFS series

[HC-RF103] [HC-RFS103]
9
15
18
Torque [N m]
Torque [N m]
10
Torque [N m]
3 Continuous operation region 0 1000 2000 3000 4000
Speed [r/min]
Speed [r/min]
Speed [r/min]
9
45
Torque [N m]
Torque [N m]
Speed [r/min]
Speed [r/min]
(5) HC-UF/HC-UFS series

[HC-UF72] [HC-UFS72]
12
24
30
Torque [N m]
Torque [N m]
16
Torque [N m]
Continuous operation region 1000 2000 3000
20
Speed [r/min]
Speed [r/min]
Speed [r/min]
5 - 17
5. SPECIFICATIONS
60
80
Torque [N m]
40
Torque [N m]
60
40
20 Continuous operation region 0 500 1000 1500 2000 2500
Speed [r/min]
Speed [r/min]
1.0
2.0
4.0
0.75
Torque [N m]
Torque [N m]
0.5
1.0
Torque [N m]
1.5
3.0
2.0
Speed [r/min]
Speed [r/min]
Speed [r/min]
8
Torque [N m]
Speed [r/min]
(6) HA-LH series

[HA-LH11K2]
200
[HA-LH15K2]
250
[HA-LH22K2]
300
150
200
Torque [N m]
Torque [N m]
Torque [N m]
100
100 Continuous operation region
50 Continuous operation region 0 1000 2000 0 Continuous operation region 1000 2000 0
1000
2000
Speed [r/min]
Speed [r/min]
Speed [r/min]
5 - 18
5. SPECIFICATIONS
(7) HC-KF/HC-KFS series

[HC-KF053] [HC-KFS053]
0.8
1.0 Short-duration operation region 0.75
2.0
0.6
1.5
Torque [N m]
Torque [N m]
0.4
0.5
Torque [N m]
1.0
Speed [r/min]
Speed [r/min]
Speed [r/min]
4.0
[HC-KFS73]
8.0
3.0
Torque [N m]
Torque [N m]
6.0
2.0
4.0
Speed [r/min]
Speed [r/min]
(8) HC-AQ series

[HC-AQ0135]
0.1 Short-duration operation region 0.075 0.15
[HC-AQ0235]
0.2
[HC-AQ0335]
0.3
Torque [N m]
Torque [N m]
Torque [N m]
Short-duration operation region 0.1
0.2 Short-duration operation region 0.1 Continuous operation region 0 1000 2000 3000 4000 4500
0.05
0.025 Continuous operation region 0 1000 200030004000 5000
0.05 Continuous operation region 0 1000 200030004000 5000
Speed [r/min]
Speed [r/min]
Speed [r/min]
5 - 19
5. SPECIFICATIONS
(9) HC-LF series

[HA-LF30K24]
400
[HA-LF37K24]
600
[HA-LF45K24]
600
300
Torque [N m]
Torque [N m]
Torque [N m]
400
200 Continuous operation region 0
1000
2000
Speed [r/min]
Speed [r/min]
Speed [r/min]
[HA-LF55K24]
800
[HA-LF30K2]
400
600
300
Torque [N m]
Torque [N m]
Speed [r/min]
Speed [r/min]
5 - 20
5. SPECIFICATIONS
5.3 Servo motors with reduction gears
CAUTION
The servo motor with reduction gear must be installed in the specified direction. Otherwise , it can leak oil, leading to a fire or fault.
Servo motors are available with reduction gears designed for: general industrial machines and precision applications. Servo motors with electromagnetic brakes are also available. (1) Manufacturing range of servo motor with reduction gear Servo motors with reduction gears that may be manufactured are indicated by symbols (G1(H), G2) in the following table. G1 (H) and G2 are symbols appended to the servo motor models.
For General Industrial Machines Reduction Gear Series Reduction ratio (Note) (Note) (Note) (Note) (Note) 1/11 1/6 1/29 1/35 1/43 1/59 1/5 1/17 Servo Motor 1/12 1/5 1/10 1/20 1/30 HC-KF053 to 43 HC-KFS053 to 73 HC-MF053 to 73 HC-MFS053 to 73 HA-FF053 HA-FF13 HA-FF23 HA-FF33 HA-FF43 63 HC-SF52 to 202 HC-SFS52 to 202 HC-SF352 HC-SFS352 HC-SF502 HC-SFS502 HC-SF702 HC-SFS702 HC-RF103 to 203 HC-RFS103 to 203 HC-RF353 HC-RFS353 HC-RF503 HC-RFS503 G1 G1 G1 G1 G1 G1 G1 G1 (H) G1 (H) G1 G1 G1 G1 G1 G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 G1 G1 G1 G1 G1 G1 G1 G1 G1 (H) G1 (H) G1 (H) G1 (H) G1 G1 G1 G1 G1 G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G1 (H) G2 G2 G2 G2 G2 G2 G2 G1 G2 (H) G1 G2 (H) G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 For Precision Applications
1/9 1/10 1/15 1/20 1/25 1/29 1/45
G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2 G2
G2 G2 G2 G2 G2 G2 G2 G2 G2
G2 G2 G2 G2 G2 G2 G2
G2 G2 G2 G2
Note : Reduction ratios for general industrial machines are nominal values. For actual reduction ratios, refer to (2) and (3) in this section.
(2) HC-MF/HC-KF series

Reduction Gear Series Mounting method Mounting direction Lubrication Recommended grease For General Industrial Machines (HC-KF G1/HC-MF G1) (HC-KFS G1/HC-MFS G1) For Precision Applications (HC-KF G2/HC-MF G2) (HC-KFS G2/HC-MFS G2)
Output shaft rotating direction With electromagnetic brake Backlash Permissible load inertia moment ratio (when converting into the servo motor shaft) Permissible speed (at servo motor shaft)
Flange mounting In any directions Grease lubrication (Already packed) Grease lubrication (Already packed) 50 100W 200 to 750W LDR101BV American Oil Center Research Mobilplex 46 Mobiltac 81 Mobil Oil Mobil Oil Same as the servo motor output shaft direction. Available 60 minutes or less at reduction gear output shaft 3 minutes or less at reduction gear output shaft HC-KF,HC-KFS:10 times or less HC-MF,HC-MFS:25 times or less 4500 r/min
5 - 21
5. SPECIFICATIONS
The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below:
Servo Motor Nominal Reduction Ratio 1/5 1/12 1/20 HC-KF053(B)G1 HC-MF053(B)G1 HC-KFS053(B)G1 HC-MFS053(B)G1 9/44 49/576 25/484 HC-KF13(B)G1 HC-MF13(B)G1 HC-KFS13(B)G1 HC-MFS13(B)G1 HC-KF23(B)G1 HC-MF23(B)G1 HC-KFS23(B)G1 HC-MFS23(B)G1 HC-KF43(B)G1 HC-MF43(B)G1 HC-KFS43(B)G1 HC-MFS43(B)G1 HC-KFS73(B)G1 HC-MF73(B)G1 HC-MFS73(B)G1 1/5 525/6048 625/12544
19/96 25/288 253/5000
(3) HA-FF series

Reduction Gear Series Mounting method Mounting direction 50 Lubrication Recommended grease 100W For General Industrial Machines (HA-FF G1) Flange mounting In any directions Grease lubrication (Already packed) 200 to 600W PYRONOC UNIVERSAL No.000 NIPPON PETRQLEUM LDR101BJ American Oil Center Research SUMICO LUBRICANT MOLY PS GREASE No.2 Grease lubrication (Already packed) For Precision Applications (HA-FF G2)
Output shaft rotating direction
Servo motor shaft and reduction gear output shaft rotate in the same direction. For the Servo motor shaft and reduction gear HA-FF053G1 1/30 and HA-FF3G1 1/30, howoutput-shaft rotate in the same direction. ever, the servo motor shaft and reduction gear output shaft rotate in the opposite directions. Available (Note) 40 minutes to 1.5 5 times or less Within 3 minutes
With electromagnetic brake Backlash Permissible load inertia moment ratio (when converting into the servo motor shaft) Permissible speed (at servo motor shaft) Note. The above values are typical values and not guaranteed values.
3000 r/min
The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below:
Servo Motor Nominal Reduction Ratio 1/5 1/10 1/20 1/30 HA-FF053G1 HA-FF13G1 HA-FF23G1 57/280 39/400 51/980 1/30 HA-FF33G1 HA-FF43G1 HA-FF63G1 10/49 243/2401 153/2891 27/784
9/44 3/29 99/1972 144/4205
19/94 39/376 72/1363 11/329
5 - 22
5. SPECIFICATIONS
(4) HC-SF series

Reduction Gear Series Mounting method Mounting direction Lubrication Recommended grease For General Industrial Machines (HC-SF G1(H)/HC-SFS G1(H)) As in (a) in this section As in (a) in this section As in (a)(b) in this section As in (b) in this section Opposite direction to the servo motor shaft For Precision Applications (HC-SF G2/ HC-SFS G2) Flange mounting In any directions Grease lubrication (Already packed) LDR101BJ of American Oil Center Research make Same direction as the servo motor shaft Available 40 minutes to 2*at reduction gear output 3 minutes or less at reduction gear output shaft (Note) shaft 4 times or less 5 times or less 0.5 to 1.5kW:3000[r/min] 2 to 3.5kW:2500[r/min] 5 7kW:2000[r/min]
2000[r/min]
Note. The above values are typical values and not guaranteed values.
(a) Lubrication of reduction gears for general industrial machines Oil lubrication cannot be used in applications where the servo motor will move. Specify grease lubrication. For grease lubrication, the reduction gear is already grease-packed. For oil lubrication, pack the reduction gear with oil on the customer side.
Mounting Direction Reduction gear model Reduction gear frame No. 4105 4115 4135 4165 4175 4185 4195 Shaft in Any Direction Shaft Horizontal Shaft Downward Shaft Upward
CNHM (leg type) Grease Grease
CNVM (flange type) Grease Grease
CHHM (leg type)
CHVM (flange type)
CVHM (leg type)
CVVM (flange type)
CWHM (leg type)
CWVM (flange type)
(Note) Oil (Note) Oil Oil Oil Oil
Grease Grease
Grease Grease
Note: Grease-lubricated type is also available.
The reduction gear frame numbers are as follows:

Servo Motor HC-SF52(B)G1 (H) HC-SFS52(B)G1 (H) HC-SF102(B)G1 (H) HC-SFS102(B)G1 (H) HC-SF152(B)G1 (H) HC-SFS152(B)G1 (H) HC-SF202(B)G1 (H) HC-SFS202(B)G1 (H) HC-SF352(B)G1 (H) HC-SFS352(B)G1 (H) HC-SF502(B)G1 (H) HC-SFS502(B)G1 (H) HC-SF702(B)G1 (H) HC-SFS702(B)G1 (H) 1/6 1/11 4105 4115 4115 4115 4135 4165 4175 4185 4165 4185 4195 4135 4165 4175 1/17 Reduction Ratio 1/29 1/35 1/43 4115 4135 4165 4165 1/59
5 - 23
5. SPECIFICATIONS
(b) Recommended lubricants 1) Grease Albania Grease/Shell OIL 2) Lubricating oil

Ambient NISSEKI Temperature COSMO OIL MITSUBISHI OIL 10 to 5 COSMO GEAR SE 68 IDEMITSU KOSAN CO., LTD GENERAL OIL Shell OIL Omala Oils 68 ESSO OIL SPARTANEP 68 Mobil OIL Mobilgear 626 (ISO VG68) Japan Energy JOMO. Reductus 68
0 to 35
30 to 50
BONNOC DAPHNE CE SP 68S 68 DAPHNE SUPER DIAMOND GEAR OIL GEAR LUBE 68 SP 68 COSMO BONNOC DAPHNE CE GENERAL GEAR SP 100S,150S SP SE 100, 150 DAPHNE SUPER GEAROL 100, 150 DIAMOND GEAR OIL 100, 150 GEAR LUBE 100, 150 SP 100, 150 COSMO BONNOC DAPHNE CE GENERAL GEAR SP 220S to 460S SP SE 200 to 460 GEAROL 200,320,460 DIAMOND 200 to 260 GEAR LUBE SP 220 to 460
Omala SPARTANEP Oils 150 100, 150
Mobilgear 629 (ISO VG150)
JOMO. Reductus 100, 150
Omala Oils 200 to 460
SPARTANEP 220 to 460
Mobilgear 630 to 634 (ISO VG 220 to 460)
JOMO. Reductus 200 to 460
Lubricating oil fill amount ( )

Reduction gear frame No. 4135 4165 4175 4185 4195 Fill amount [ ] Horizontal type Vertical type 0.7 1.4 1.9 2.5 4.0 1.1 1.0 1.9 2.0 2.7
(c) Lubricating product changing intervals 1) Grease: 20000 hours or 4 to 5 years 2) Lubricant
Changing intervals First time Second time and later Operation hours per day Less than 10 hours 10 to 24 hours 500 hours Half year 2500 hours
(5) HC-RF series

Reduction Gear Series Mounting method Mounting direction Lubrication Recommended grease For Precision Applications (HC-RF G2/HC-RFS G2) Flange mounting In any directions Grease lubrication (Already packed) LDR101BJ of American Oil Center Research make Same direction as the servo motor shaft Available Within 3 minutes at reduction gear output shaft 5 times or less 4000[r/min]
5 - 24
5. SPECIFICATIONS
5.4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway. Shafts with keyway and D cut are also available. Except for the servo motor with reduction gear. These shafts are not appropriate for applications where the servo motor is started and stopped frequently. Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys.
Servo Motor HC-MF053 13 HC-MFS053 13 HC-MF23 to 73 HC-MFS23 to 73 HA-FF053 13 HA-FF23 to 63 HC-SF81 to 301 HC-SF52 to 702 HC-SF53 to 353 HC-SFS81 to 301 HC-SFS52 to 702 HC-SFS53 to 353 (Note 2) (Note 1) Shaft Shape Keyway D cut Straight (Note 3) (Note 3) (Note 3) (Note 3) Servo Motor Model HC-RF103 to 503 HC-RFS103 to 503 HC-UF72 to 502 HC-UFS72 to 502 HC-UF13 HC-UFS13 HC-UF23 to 73 HC-UFS23 to 73 (Note 3) HC-KF053 13 HC-KFS053 13 HC-KF23 43 HC-KFS23 to 73 HC-AQ0135 to 0335 Note: 1. With a key. 2. Standard with a key. For shape, refer to chapter 7. 3. This is a standard. For shape, refer to chapter 7. (Note 1) (Note 3) (Note 1) Shaft Shape Keyway D cut Straight (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) (Note 3)
5.4.1 Keyway (1) With key

R Q QK A QL R Q QK A QL H W U Y S Section A-A HC-MF23K to 73K Servo Motor Model HC-MF23K 43K HC-MFS23K 43K HC-MF73K HC-MFS73K HC-UF23K 43K HC-UFS23K 43K HC-UF73K HC-UFS73K HC-KF23K 43K HC-KFS23K 43K HC-KFS73K HC-UF23K to 73K Variable Dimensions S 14h6 (14) 19h6 (19) 14h6 (14) 19h6 (19) 14h6 (14) 19h6 (19) R 30 (1.18) 40 (1.57) 30 (1.18) 40 (1.57) 30 (1.18) 40 (1.57) Q 27 (1.06) 37 (1.46) 23.5 (0.93) 36.5 (1.44) 27 (1.06) 37 (1.46) W 5 (0.20) 6 (0.24) 5 (0.20) 6 (0.24) 5 (0.20) 6 (0.24) QK 20 (0.79) 25 (0.98) 20 (0.79) 25 (0.98) 20 (0.79) 25 (0.98) QL 3 (0.12) 5 (0.20) 3 (0.12) 5 (0.20) 3 (0.12) 5 (0.20) U 3 (0.12) 3.5 (0.14) 3 (0.12) 3.5 (0.14) 3 (0.12) 3.5 (0.14) H 5 (0.20) 6 (0.24) 5 (0.20) 6 (0.24) 5 (0.20) 6 (0.24) Y M4 Depth 15 (0.59) M5 Depth 20 (0.79) M4 Depth 15 (0.59) M5 Depth 20 (0.79) M4 Depth 15 (0.59) M5 Depth 20 (0.79) [Unit: mm] ([Unit: in])
5 - 25
5. SPECIFICATIONS
(2) Without key

[Unit: mm] ([Unit: in]) Servo motor
HC-SF81K HC-SF52K to 152K HC-SF53K to 153K HC-SFS81K HC-SFS52K to 152K HC-SFS53K to 153K
Variable Dimensions W QK QL
24h6 (0.94)
55 (2.17)
50 (1.97)
8 0 0.036 (0.31)
36 (1.42)
5 (0.20)
40 (0.16)
0.2
4 (0.16)
R Q QK A A W S QL U M8 threads Depth 20(0.79)
HC-SF121K to 301K HC-SF202K to 702K HC-SF203K 353K HC-SFS121K to 301K HC-SFS202K 352K HC-SFS203K 353K HC-RF103K to 203K HC-RFS103K to 203K HC-RF353K to 503K HC-RFS353K to 503K HC-UF72K HC-UFS72K HC-UF152K HC-UFS152K HC-UF202K to 502K HC-UFS202K to 502K
35 (1.38)
79 (3.11)
10 0.036 (0.39)
55 (2.17)
5 (0.20)
50 (0.20)
0.2
5 (0.20)
24h6 (0.94) 28h6 (1.10) 22h6 (0.87) 28h6 (1.10) 35h6 (1.38)
45 (1.77) 63 (2.48) 55 (2.17) 55 (2.17) 65 (2.56)
40 (1.57) 58 (2.28) 50 (1.97) 50 (1.97) 60 (2.36)
8 0 0.036 (0.31) 8 0 0.036 (0.31) 6 0 0.030 (0.24) 8 0.036 (0.31) 10 0.036 (0.39)
0 0
25 (0.98) 53 (2.09) 42 (1.65) 45 (1.77) 55 (2.17)
5 (0.20) 3 (0.12) 3 (0.12) 5 (0.20) 5 (0.20)
4 0 0.2 (0.16) 4 0 0.2 (0.16) 3.5 0 0.2 (0.14) 40 (0.16) 50 (0.20)

0.2 0.2
4 (0.16) 4 (0.16) 3 (0.12) 4 (0.16) 5 (0.20)
Section A-A
5.4.2 D cut
[Unit: mm] ([Unit: in]) Servo Motor Model R QK HC-MF053D HC-KFS053D HC-MF053D HC-MFS053D S HC-UF13D HC-UFS13D 13D 13D 13D 13D 1(0.039) Variable Dimensions R QK S
25(0.98)
20.5(0.81)
8h(0.32)
HA-FF053D 13D
30(1.178) 25(0.98)
25.5(1.00) 17.5(0.69)
8h(0.32) 8h(0.32)
5.4.3 Straight (HC-AQ)

[Unit: mm] ([Unit: in])
2.5 (0.098)
6h6 (0.236)
16 (0.63)
5 - 26
6. CHARACTERISTICS
6. CHARACTERISTICS
6.1 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is designed to hold a load. Do not use it for braking.
The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below: (1) Characteristics Though the brake lining may rattle during operation, it poses no functional problem. A leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake. Table 6.1 Electromagnetic Brake Characteristics
Servo Motor Item (Note 1) (Note 4) Rated current at 20 Excitation coil resistance at 20 Capacity ON current OFF current Static friction torque (Note 2) Release delay time Braking delay time (Note 2) [s] AC off DC off Per braking Permissible braking work Per hour [N [oz Type Rated voltage [A] [ ] [W] [A] [A] m] in] [S] (Fig. a) (Fig.s b, c) [J] [oz [oz in] in] [J] 0.26 91 6.3 0.18 0.06 0.32 45.3 0.03 0.08 0.01 5.6 793.6 56 7936 0.19 to 2.5 20000 4 567 0.33 73 7.9 0.18 0.11 1.3 184.2 0.03 0.1 0.02 22.0 3117.6 220 31176 0.12 to 1.2 20000 15 2126 053B HC-MF Series HC-MFS Series 13B 23B 43B 73B
24V
HA-FF Series 053B

0 10%
13B
23B
33B
43B
63B
Spring-loaded safety brake

DC
0.42 57 10 0.2 0.12 2.4 340 0.03 0.12 0.03 64.0 9069.3 640 90693 0.1 to 0.9 20000 32 4535
0.22 111 7 0.15 0.06 0.39 55.3 0.03 0.08 0.01 3.9 552.7 39 5527 0.3 to 3.5 30000 4 567
0.31 78 7.4 0.2 0.06 1.18 167 0.03 0.1 0.03 18.0 2550.7 180 25507 0.2 to 2.0 30000 18 2551
0.46 52 11 0.3 0.1 2.3 326 0.03 0.12 0.03 46.0 6518.6 460 65186 0.2 to 1.3 30000 47 6660
Brake looseness at servo motor shaft [degrees] (Note 5) Number of braking cycles [times] Work per braking [J] [oz in]
Brake life (Note 3)
6- 1
6. CHARACTERISTICS
(Note 5) Servo Motor
HC-SF Series HC-SFS Series

81B 52B to 152B 121B to 301B 202B to 702B 203B 353B
HC-RF Series HC-RFS Series

103B to 203B 353B 503B 053B 13B
HC-KF Series HC-KFS Series

23B 43B (Note 6) 73B
HC-AQ Series
0135B to 0335B
Item (Note 1) (Note 4) Type Rated voltage
53b to 153B
Spring-loaded safety brake 1.4 16.8 34 0.4 0.2 43.1 6103 0.1 0.12 0.03 4500 637687.1 45000 6376871 0.2 to 0.6 20000 1000 141708 24V 10% DC 0.8 0.96 0.26 30 25 9.1 19 23 6.3 0.25 0.24 0.18 0.085 0.10 0.06 6.8 16.7 0.32 964 2367 45 0.03 0.04 0.03 0.12 0.12 0.08 0.03 0.03 0.01 400 400 5.6 56683.3 56683.3 793.6 4000 4000 56 566833 566833 7936 0.19 to 0.2 to 0.6 0.2 to 0.6 2.5 20000 200 28342 20000 200 28342 20000 4 567
0
Rated current at 20 Excitation coil resistance at 20 Capacity ON current OFF current
[A] 0.8 [ ] 29 [W] 19 [A] 0.2 [A] 0.08 [N m] 8.3 Static friction torque 1176 [oz in] (Note 2) Release delay time [S] 0.04 AC off (Fig. a) 0.12 Braking delay time (Note 2) [s] DC off (Fig.s b, c) 0.03 [J] 400 Per Permissible braking braking [oz in] 56683.3 work [J] 4000 Per hour [oz in] 566833 Brake looseness at servo motor shaft 0.2 to 0.6 (Note 5) [degrees] Number of braking 20000 cycles [times] Brake life (Note 3) [J] 200 Work per braking [oz in] 28342 (Note 5) Servo Motor Item (Note 1) (Note 4) Type Rated voltage
0.33 73 7.9 0.18 0.11 43.1 6108 0.1 0.12 0.03 22.0 3117.6 220 31176 0.12 to 1.2 20000 15 2124.18
0.42 57 10 0.2 0.12 2.4 340 0.03 0.12 0.03 64.0 9069.3 640 90693
0.20 122 4.8 0.11 0.025 0.098 13.878 0.02 0.08 0.01 4.6 63.882 46 638.821
0.1 to 0.9 0.1 to 2.5 20000 32 4535 20000 1 141.612
13B
23B 43B
HC-UF Series HC-UFS Series 73B 24V

0 10%
72B 152B
202B to 502B
Spring-loaded safety brake DC 0.8 29 19 0.2 0.08 8.3 1176 0.04 0.12 0.03 400 56683.3 4000 566833 0.2 to 0.6 20000 200 28342 1.4 16.8 34 0.4 0.2 43.1 6108 0.1 0.12 0.03 4500 637687.1 45000 6376871 0.2 to 0.6 20000 1000 141708 0.26 91 6.3 0.18 0.06 0.32 45 0.03 0.08 0.01 5.6 793.6 56 7936 0.19 to 2.5 20000 4 567 0.33 73 7.9 0.18 0.11 1.3 184 0.03 0.1 0.02 22 3117.6 220 31176 0.12 to 1.2 20000 15 2126 0.42 57 10 0.2 0.12 2.4 340 0.03 0.12 0.03 64 9069.3 640 90693 0.1 to 0.9 20000 32 4535
Rated current at 20 Excitation coil resistance at 20 Capacity ON current OFF current
[A] [ ] [W] [A] [A] [N m] Static friction torque [oz in] (Note 2) Release delay time [S] AC off (Fig. a) Braking delay time (Note 2) [s] DC off (Fig. b, c) [J] Per braking [oz in] Permissible braking work [J] Per hour [oz in] Brake looseness at servo motor shaft [degrees] (Note 5) Number of braking cycles [times] Brake life (Note3) [J] Work per braking [oz in]
Note: 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24VDC power supply to release the brake electrically. 2. The value for initial ON gap at 20 . 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. 24VDC of the internal power output for interface (VDD) cannot be used. Always use a separate power supply. 5. The above values are typical initial values and not guaranteed values. 6. 73B is not available for the HC-KF.
6-2
6. CHARACTERISTICS
(2) Electromagnetic brake power supply 24VDC of the internal power output for interface (VDD) cannot be used. Prepare the following power supply for use with the electromagnetic brake only. Examples of connection of the brake exciting power supply are shown in the following diagram (a) to (c). (a) is for AC off, and (b) and (c) for DC off. When DC is switched off, the braking delay time will be shortened, but a surge absorber must be installed on the brake terminal. For the selection of the surge absorber, refer to OPTIONS AND AUXILIARY EQUIPMENT of the Servo Amplifier Instruction Manual.
28V AC 100V AC or 200V AC T Switch RF
100V AC or 200V AC T
RF
Electromagnetic brake Switch VAR
(a)
(b)
Electromagnetic brake Switch 24VDC VAR
T RF VAR
: Transformer : Rectifier : Surge absorber
(c)
(3) Coasting distance At an emergency stop, the servo motor will decelerate to a stop in the pattern shown in the following diagram. Here, the maximum coasting distance (during fast feed), Lmax, will be the area shown with the diagonal line in the figure and can be calculated approximately with Equation 6.1. The effect of the load torque is greater near the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in the equation.
Emergency stop Brake current
t1 Machine speed
t2
t3
V0
6-3
6. CHARACTERISTICS
Vo 60 t3 ................................................................................................... (6.1) 2
L max =
t1
t2
Where, L max : Maximum coasting distance Vo: Machine's fast feed speed Delay time of control section t1: t2: Braking delay time of brake (Note) t3: Braking time (JL JL) No t3 9.55 10 4 (TL 0.8TB) JL : Load inertia moment converted into equivalent value on servo motor shaft JM : Servo motor inertia moment No : Servomotor speed during fast feed TL : Load torque converted into equivalent value on servo motor shaft TB : Brake static friction torque (Note)
[mm] [mm/min] [s] [s] [s]
[kg cm2] [kg cm2] [r/min] [N m] [N m]
Note: t2 and TB are the values noted in Table 6.1 Characteristics. JL is the machine's inertia moment at the servo motor shaft. 6.2 Vibration rank The vibration rank of the servo motor is V-10 at the rated speed. Measure vibration in the following position with the servo motor installed as shown below.
Servo motor
Top Measuring position
Bottom
Servo Motor Vibration Measuring Conditions
6-4
7. OUTLINE DIMENTION DRAWING

7. OUTLINE DIMENSION DRAWINGS
7.1 Servo motors 7.1.1 HC-MF HC-KF series (1) Standard (without electromagnetic brake, without reduction gear)
Model HC-MF053 HC-MF13 HC-KF053 HC-KF13 Output [W] 50 100 50 100 Variable Dimensions L 81.5 96.5 81.5 96.5 KL 29.5 44.5 29.5 44.5 Inertia Moment J[ 10 4 kg m2] 0.019 0.03 0.053 0.084 Weight [kg] 0.40 0.53 0.40 0.53 [Unit: mm]
L 42 40.5 Motor plate (Opposite side) 5 2.5 2- 4.5
45
25 40
Motor plate Bottom Bottom Top 28.7 Top 8h6 30h7 Bottom Top
46
6.8 Caution plate 25.2 9.9 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth KL
20
Encoder cable 0.3m With connector 1-172169-9 (AMP make)
BC12031* (BC12034*)
Model HC-MF23 HC-MF43 HC-KF23 HC-KF43
Output [W] 200 400 200 400
Variable Dimensions L 99.5 124.5 99.5 124.5 KL 49.1 72.1 49.1 72.1
Inertia Moment J[ 10 4 kg m2] 0.088 0.143 0.42 0.67
Weight [kg] 0.99 1.45 0.99 1.45 [Unit: mm]
L 41 62 2.7 Motor plate (Opposite side) 7 3
30
45
60
4- 5.8
Bottom Bottom 38.4 Top
50h7
Bottom Top
14h6
Motor plate
70
Top Caution plate 25.2 10.6 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth KL
9.9
20
BC12032* (BC12035*)
7- 1
42.8
35.7
7. OUTLINE DIMENSION DRAWING
Model HC-MF73
Output [W] 750
Inertia Moment 2 J[ 10 4 kg m ] 0.6
Weight [kg] 3 [Unit: mm]
82 39 2.7
142 Motor plate (Opposite side) 8 3
40
4- 6.6
45
80
19h6
Motor plate
90
70h7
Bottom Top 48.7 Bottom Top Caution plate 25.2 11
Bottom Top
86.7 9.9 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20
BC12033*
(2) With electromagnetic brake

Model HC-MF053B HC-MF13B HC-KF053B HC-KF13B Output [W] 50 100 50 100 Variable Dimensions L 109.5 124.5 109.5 124.5 KL 29.5 44.5 29.5 44.5 Braking Force [N m] 0.32 0.32 0.32 0.32 Inertia Moment J[ 10 4 kg m2] 0.022 0.032 0.056 0.087 Weight [kg] 0.75 0.89 0.75 0.89 [Unit: mm]
L 42 40.5 Motor plate (Opposite side) Motor plate 5 2.5 2- 4.5
45
25 40
Bottom Top Bottom 28.7
Bottom Top 8h6
30h7
46
6.8 Caution plate 25.2 65.5 9.9
KL
Brake lead 2-0.3 2 0.3m (With end-insulated round crimping terminal 1.25-4)
Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
20
BC12036* (BC12039*)
7- 2
35.7
Top
58.1
Model HC-MF23B HC-MF43B HC-KF23B HC-KF43B
Output [W] 200 400 200 400
Variable Dimensions L 131.5 156.5 131.5 156.5 KL 49.1 72.1 49.1 72.1
Braking Force [N m] 1.3 1.3 1.3 1.3
Inertia Moment 2 J[ 10 4 kg m ] 0.136 0.191 0.47 0.72
Weight [kg] 1.6 2.1 1.6 2.1 [Unit: mm]
L 41 62 2.7 Motor plate (Opposite side) 7 3
30 4- 5.8
45
60
Bottom Top
Bottom
Top 33.4
50h7
Bottom
14h6
Motor plate
70
Top
10.6 KL 9.9 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
Caution plate 25.2 68
20
Brake lead 2-0.32 0.3m (With end-insulated round crimping terminal 1.25-4)
BC12037* (BC12039*)
Model HC-MF73B
Output [W] 750
Braking Force [N m] 2.4
Inertia Moment J[ 10 4 kg m2] 0.725
Weight [kg] 4.0 [Unit: mm]
82 39 2.7
177.5 Motor plate (Opposite side) 8 3
40
4- 6.6
45
80
19h6
Motor plate
90
70h7
Bottom Top 48.7
Bottom Top
Bottom Top
Caution plate 25.2
11 72 9.9
86.7 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 19.5
20
BC12038*
7- 3
58.1
42.8
(3) With reduction gear for general industrial machine (a) Without electromagnetic brake
Model HC-MF053G1 HC-MF053G1 HC-MF053G1 HC-KF053G1 HC-KF053G1 HC-KF053G1 Output [W] 50 50 50 50 50 50 Variable Dimensions L 126 144 144 126 144 144 KL 74 92 92 74 92 92 Reduction Gear Model K6505 K6512 K6520 K6505 K6512 K6520 Reduction Ratio (Actual Reduction Ratio) 1/5(9/44) 1/12(49/576) 1/20(25/484) 1/5(9/44) 1/12(49/576) 1/20(25/484) Inertia Moment J[ 10 4 kg m2] 0.055 0.077 0.059 0.090 0.112 0.094 Backlash 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. [Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command
Weight [kg] 1.4 1.8 1.8 1.4 1.8 1.8
L 8 42 40.5 Motor plate (Opposite side) 6.5 28
60.5
65
45
25
4- 7
Motor plate
75 88
16h6
Top
Bottom Top 28.7
Top
60h7
Bottom
48
Bottom
6.8 Caution plate 25.2 9.9 KL
20
M4 threads, depth 8
BC12066* (BC12086*)
Model HC-MF13G1 HC-MF13G1 HC-MF13G1 HC-KF13G1 HC-KF13G1 HC-KF13G1
Output [W] 100 100 100 100 100 100
Variable Dimensions L 141 159 159 141 159 159 KL 89 107 107 89 107 107
Reduction Gear Model K6505 K6512 K6520 K6505 K6512 K6520
Reduction Ratio (Actual Reduction Ratio) 1/5(9/44) 1/12(49/576) 1/20(25/484) 1/5(9/44) 1/12(49/576) 1/20(25/484)
Inertia Moment 2 J[ 10 4 kg m ] 0.067 0.089 0.071 0.121 0.143 0.125
Backlash 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. 60min. max.
Weight [kg] 1.5 1.9 1.9 1.5 1.9 1.9

[Unit: mm]
For reverse rotation command
"Rotation direction" For forward rotation command 4- 7 L 8 42 40.5 Motor plate (Opposite side) 6.5 28 25 60.5 65
45
Motor plate
88
16h6 Top Bottom Top Caution plate 25.2 28.7 Top 60h7 48 Bottom Bottom
75
6.8 9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 1-172169-9 (AMP make) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
20
M4 threads, depth 8
BC12067* (BC12087*)
7- 4
35.7
35.7
Model HC-MF23G1 HC-MF23G1 HC-MF23G1 HC-KF23G1 HC-KF23G1 HC-KF23G1
Output [W] 200 200 200 200 200 200
Variable Dimensions L 153 173 173 153 173 173 KL 102.6 122.6 122.6 102.6 122.6 122.6
Weight [kg] 3.3 3.9 3.9 3.3 3.9 3.9 [Unit: mm]
For reverse rotation command For forward rotation command "Rotation direction"
L 10 62 41 2.7 Motor plate (Opposite side) 8 30
74
90
45
35
4- 9
Motor plate
0 10 4 11
25h6 73 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
Bottom Top 38.4 Bottom Top
Top
Caution plate 25.2 10.6 42.8
9.9 M6 threads, depth12 20
82h7
Bottom
BC12068* (BC12088*)
Model HC-MF43G1 HC-MF43G1 HC-KF43G1 HC-KF43G1
Output [W] 400 400 400 400
Variable Dimensions L 178 198 178 198 KL 125.6 145.6 125.6 145.6
Reduction Gear Model K9005 K9012 K9005 K9012
Reduction Ratio (Actual Reduction Ratio) 1/5(19/96) 1/12(25/288) 1/5(19/96) 1/12(25/288)
Weight [kg] 3.8 4.4 3.8 4.4 [Unit: mm]

For reverse rotation command For forward rotation command "Rotation direction"
L 10 8 62 41 2.7 Motor plate Motor plate (Opposite side) 30
74
90 35
45
4- 9
0 10 114
Top 38.4 Bottom Top 73 Bottom 25h6 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20 M6 threads, depth12 82h7
Bottom Top
Caution plate 25.2 10.6 42.8 Encoder cable 0.3m With connector 1-172169-9 (AMP make)
9.9
BC12069* (BC12089*)
7- 5
Model HC-MF43G1 HC-MF73G1 HC-MF73G1 HC-MF73G1
Output [W] 400 750 750 750
Reduction Ratio Normal Reduction ratio 1/20 1/5 1/12 1/20 Actual Reduction Ratio 253/5000 1/5 525/6048 625/12544
Backlash 60min. max. 60min. max. 60min. max. 60min. max.
Weight [kg] 5.5 6.2 7.3 10.1
Output [W] 400 750 750 750 D 62 82 82 82 LH 38.4 48.7 48.7 48.7 LK 41 39 39 39 LT 11 11 11 H LA LB 95 95 95 115 LC 132 132 132 162 LD 100 100 100 120 LE 10 10 10 12 10.6 42.8 115 58.1 115 58.1 115 58.1 140
Variable Dimensions LF 73 73 73 90 LG 10 10 10 15 LM 13 13 13 13 LN 16 16 16 20 LP 86 86 86 104 L

201.5
(Reduction LR 90 90 90 KL
149.1 151.7 173.7
LZ 9 9 9 14
Q 50 50 50 60
S 32 32 32 40
P M8 M8 M8 M10
R 16 16 16 20
Ratio) 1/20 1/5 1/12 1/20
207 229 242
106 186.7
[Unit: mm]
"Rotation direction" L D LK 2.7 Motor plate
LA
Sh6
For reverse rotation command For forward rotation command LD

45
LR
LG LE LM LM Q
4- LZ
Motor plate (Opposite side)
LC
Bottom Top LH Bottom Top H Caution plate 25.2 LT 9.9
Bottom Top
KL Power supply lead 4-AWG19 0.3m 20 P threads, depth R
(With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
LF LP LBh7
BC12070*
Model HC-KF43G1
Output [W] 400
Reduction Gear Model K10020
Reduction Ratio Normal Reduction ratio 1/20 Actual Reduction Ratio 253/5000
Backlash 60min. max.
For reverse rotation command "Rotation direction" 201.5 62 41 2.7 Motor plate (Opposite side) 10 10 13 16 50 90 4- 9
45
For forward rotation command 100
32h6
Motor plate
Bottom Top Bottom Top Caution plate 42.8 25.2 10.6 9.9 38.4
Bottom Top
149.1 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) 20
73 86 95h7
Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
BC12090*
7- 6
11 5
2 13
M8 threads, depth 16
(b) With electromagnetic brake

Model HC-MF053BG1 HC-MF053BG1 HC-MF053BG1 HC-KF053BG1 HC-KF053BG1 HC-KF053BG1 Output [W] 50 50 50 50 50 50 Variable Dimensions L 154 172 172 154 172 172 KL 74 92 92 74 92 92 Braking Force Reduction Gear Model [N m] 0.32 0.32 0.32 0.32 0.32 0.32 K6505 K6512 K6520 K6505 K6512 K6520 Reduction Ratio 1/5(9/44) 1/12(49/576) 1/20(25/484) 1/5(9/44) 1/12(49/576) 1/20(25/484) Inertia Moment J[ 10 4 kg m2] 0.058 0.080 0.062 0.093 0.115 0.097 Backlash 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. Weight [kg] 1.8 2.2 2.2 1.8 2.2 2.2
[Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command 4- 7 L 8 42 Motor plate 40.5 Motor plate (Opposite side)
75
60.5 6.5 28 25
65
45
88
Top
Bottom
Top 28.7
16h6 48
60h7
Bottom
Bottom
Top
68 25.2 65.5 9.9 KL
Caution plate
Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Brake lead 2 Red: Phase U 2-0.3 0.3m White: Phase V (With end-insulated round crimping terminal 1.25-4) Black: Phase W Encoder cable 0.3m Green/yellow: Earth With connector 1-172169-9 (AMP make)
M4 threads, depth 8 20
BC12071 (BC12091*)
Model HC-MF13BG1 HC-MF13BG1 HC-MF13BG1 HC-KF13BG1 HC-KF13BG1 HC-KF13BG1
Output [W] 100 100 100 100 100 100
Variable Dimensions L 169 187 187 169 187 187 KL 89 107 107 89 107 107
Braking Force Reduction [N m] Gear Model 0.32 0.32 0.32 0.32 0.32 0.32 K6505 K6512 K6520 K6505 K6512 K6520
Reduction Ratio 1/5(9/44) 1/12(49/576) 1/20(25/484) 1/5(9/44) 1/12(49/576) 1/20(25/484)
Inertia Moment J[ 10 4 kg m2] 0.069 0.091 0.073 0.124 0.146 0.128
Backlash 60min. max. 60min. max. 60min. max. 60min. max. 60min. max. 60min. max.
Weight [kg] 1.9 2.3 2.3 1.9 2.3 2.3 [Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command 4- 7 L 42
Motor plate
60.5 8 6.5 28 25
65
40.5
45
88
75
16h6
Top
Bottom Top 28.7
Top
48
Bottom
60h7
Bottom
6.8 25.2 65.5 9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
M4 threads, depth 8 20
Caution plate
Brake lead 2 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 1-172169-9 (AMP make)
BC12072* (BC12092*)
7- 7
35.7
35.7
Model HC-MF23BG1 HC-MF23BG1 HC-MF23BG1 HC-KF23BG1 HC-KF23BG1 HC-KF23BG1
Output [W] 200 200 200 200 200 200
Variable Dimensions L 185 205 205 185 205 205 KL 102.6 122.6 122.6 102.6 122.6 122.6
Weight [kg] 3.9 4.5 4.5 3.9 4.5 4.5
Braking Force [N m] 1.3 1.3 1.3 1.3 1.3 1.3 [Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command 4- 9 L 62 Motor plate
0
74 10 8 30 35
90
45
41 2.7
11
Bottom Top 38.4 Bottom Top Caution plate 25.2 25h6 73 82h7 Bottom Top
10
68 10.6 42.8 9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth M6 threads, depth 12 20
Brake lead 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) Encoder cable 0.3m With connector 1-172169-9 (AMP make)
BC12073* (BC120793*)
Model HC-MF43BG1 HC-MF43BG1 HC-KF43BG1 HC-KF43BG1
Output [W] 400 400 400 400
Variable Dimensions Braking Force Reduction Gear Model [N m] L KL 210 230 210 230 125.6 145.6 125.6 145.6 1.3 1.3 1.3 1.3 K9005 K9012 K9005 K9012
Reduction Ratio (Actual Reduction Ratio) 1/5(19/96) 1/12(25/288) 1/5(19/96) 1/12(25/288)
Weight [kg] 4.4 5.0 4.4 5.0 [Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command 4- 9 L 62 Motor plate 41 2.7 Motor plate (Opposite side) 10 8 30 35 74 90
45
11
25h6 73 82h7 Bottom Top 38.4
Bottom Top
10
Bottom Top
Caution plate
68 25.2 10.6
42.8
9.9
KL
M6 threads, depth 12 Brake lead 2-0.32 0.3m (With end-insulated round crimping terminal 1.25-4) Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20
BC12074* (BC12094*)
7- 8
Model HC-MF43BG1 HC-MF73BG1 HC-MF73BG1 HC-MF73BG1
Output Braking Force [W] [N m] 400 750 750 750 1.3 2.4 2.4 2.4
Reduction Ratio Normal Reduction ratio 1/20 1/5 1/12 1/20 Actual Reduction Ratio 253/5000 1/5 525/6048 625/12544
Backlash 60min. max. 60min. max. 60min. max. 60min. max.
Weight [kg] 6.1 7.2 8.3 11.1
Output [W] 400 750 750 750 D 62 82 82 82 LH 38.4 48.7 48.7 48.7 LK 41 39 39 39 LT 10.6 11 11 11 LX 68 72 72 72 H LA LB 95 95 95 LC LD 42.8 115 58.1 115 58.1 115 132 100 132 100 132 100
Variable Dimensions LE 10 10 10 12 LF 73 73 73 90 LG 10 10 10 15 LM 13 13 13 13 LN 16 16 16 20 LP L LR KL LZ 9 9 9 Q 50 50 50 60 S 32 32 32 40 P M8 M8 M8 M10 R 16 16 16 20 86 232.5 90 149.1 86 242.5 90 151.7 86 264.5 90 173.7
(Reduction Ratio) 1/20 1/5 1/12 1/20
58.1 140 115 162 120
104 277.5 106 186.7 14
[Unit: mm]
"Rotation direction" D
Motor plate
For reverse rotation command For forward rotation command LD
L LK 2.7
LG LE LM LN
LR
4- LZ Q
45
LA
LC
Top Bottom Top H

Caution plate
LH
Top
25.2
LT
LX 9.9
KL P threads, depth R
LF
Bottom
LP LBh7
Bottom
Sh6
20
BC12075*
Model HC-KF43BG1
Output Braking Force [W] [N m] 400 1.3
Reduction Gear Model K10020
Reduction Ratio Normal Reduction ratio 1/20 Actual Reduction Ratio 253/5000
Backlash 60min. max.
Weight [kg] 6.1
[Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command 62 41 Motor plate 2.7
233.5
10 10 13 16
90 50
4- 9
100
45
32h6
11 5
2 13
Top
Bottom Top
Top 38.4
Caution plate
68 25.2 10.6 42.8 9.9
149.1 8 threads, depth 16 20
73 86 95h7
Bottom
Bottom
BC12095*
Encoder cable 0.3m With connector 1-172169-9 (With end-insulated round crimping terminal 1.25-4) (AMP make)
Brake lead 2-0.3 0.3m
7- 9
(4) With reduction gear for precision application (a) Without electromagnetic brake
Model HC-MF053G2 HC-MF053G2 HC-MF053G2 HC-MF053G2 HC-KF053G2 HC-KF053G2 HC-KF053G2 HC-KF053G2 Output [W] 50 50 50 50 50 50 50 50 Variable Dimensions L 130 146 146 146 130 146 146 146 KL 78 94 94 94 78 94 94 94 Reduction Gear Model BK1-05B-A5MEKA BK1-09B-A5MEKA BK1-20B-A5MEKA BK1-29B-A5MEKA BK1-05B-A5MEKA BK1-09B-A5MEKA BK1-20B-A5MEKA BK1-29B-A5MEKA Reduction Ratio 1/5 1/9 1/20 1/29 1/5 1/9 1/20 1/29 Inertia Moment J[ 10 4 kg m2] 0.067 0.060 0.069 0.057 0.101 0.095 0.104 0.092 Backlash 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. Weight [kg] 1.4 1.7 1.8 1.8 1.4 1.7 1.8 1.8 [Unit: mm]
For reverse rotation command "Rotation direction" For forward rotation command L 8 42 40.5
Motor plate (Opposite side) Motor plate
55 6 23 25 4- 6.6
70
45
95
80
16h6
48
Top
Bottom Top 28.7
Top
60
Bottom
65h7
Bottom
6.8
Caution plate
25.2
9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth M4 threads, depth 8
20
Encoder cable 0.3m With connector 172169-9 (AMP make)
BC12076* (BC12096*)
7 - 10
35.7
Output [W] 100 100 100 100 Output [W] 100 100 100 100 Output [W] 100 100 100 100 Output [W] 100 100 100 100
Reduction Gear Model BK1-05B-01MEKA BK1-09B-01MEKA BK1-20B-01MEKA BK1-29B-01MEKA
Reduction Ratio 1/5 1/9 1/20 1/29
Backlash 3 min. max. 3 min. max. 3 min. max. 3 min. max.
Weight [kg] 1.5 1.8 3.0 3.0 (Reduction Ratio) 1/5 1/9 1/20 1/29
Variable Dimensions LA
80 80 100 100
LB
65 65 80 80
LC
95 95 115 115
LD
70 70 85 85
LE
6 6 6 6
LF
48 48 65 65
LG
8 8 10 10
LH
60 60 74 74
LK
23 23 33 33
L
145 161 167 167
LR
55 55 75 75
KL
93 109 115 115
LZ
6.6 6.6 6.6 6.6
Q
25 25 35 35
S
16 16 20 20
P
M4 M4 M5 M5
R
8 8 10 10
Model HC-KF13G2 HC-KF13G2 HC-KF13G2 HC-KF13G2
Weight [kg] 1.5 1.8 3.0 3.0 (Reduction Ratio) 1/5 1/9 1/20 1/29 [Unit: mm]
80 80 100 100
LB
65 65 80 80
LC
95 95 115 115
LD
70 70 85 85
LE
6 6 6 6
LF
48 48 65 65
LG
8 8 10 10
LH
60 60 74 74
LK
23 23 33 33
L
145 161 167 167
LR
55 55 75 75
KL
93 109 115 115
LZ
6.6 6.6 6.6 6.6
Q
25 25 35 35
S
16 16 20 20
P
M4 M4 M5 M5
R
8 8 10 10
"Rotation direction" For forward rotation command L 42 40.5 Motor plate (Opposite side) Motor plate LG LE LK LR Q LD
4- LZ
45
LA LC
Top
Bottom Top 28.7
Top
LBh7
Sh6 LF
LH
Bottom
Bottom
Caution plate 25.2
6.8 9.9 KL
20
P threads, depth R
BC12077* (BC12097*)
7 - 11
35.7
80 100 115 115
LB
65 80 95 95
LC
95 115 135 135
LD
70 85 100 100
LE
6 6 8 8
LF
48 65 75 75
LG
8 10 10 10
LH
60 74 85 85
LK
23 33 35 35
L
157 175 180 180
LR
55 75 85 85
KL
106.6 124.6 129.6 129.6
LZ
6.6 6.6 9 9
Q
25 35 40 40
S
16 20 25 25
P
M4 M5 M6 M6
R
8 10 12 12
80 100 115 115
LB
65 80 95 95
LC
95 115 135 135
LD
70 85 100 100
LE
6 6 8 8
LF
48 65 75 75
LG
8 10 10 10
LH
60 74 85 85
LK
23 33 35 35
L
157 175 180 180
LR
55 75 85 85
KL
106.6 124.6 129.6 129.6
LZ
6.6 6.6 9 9
Q
25 35 40 40
S
16 20 25 25
P
M4 M5 M6 M6
R
8 10 12 12
L 62 41 2.7
LG LE
LR LK Q
4- LZ
LD
45
Sh6
Motor plate
LA
LC
Top 38.4 Bottom Top

Caution plate
Top
25.2
10.6 42.8
9.9
KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth P threads, depth R
LF LH LBh7
Bottom
Bottom
20
BC12078* (BC12098*)
7 - 12
100 115 135 135
LB
80 95 110 110
LC
115 135 155 155
LD
85 100 115 115
LE
6 8 8 8
LF
65 75 90 90
LG
10 10 12 12
LH
74 85 100 100
LK
33 35 40 40
L
184 205 211 211
LR
75 85 100 100
KL
131.6 152.6 158.6 158.6
LZ
6.6 9 11 11
Q
35 40 50 50
S
20 25 32 32
P
M5 M6 M8 M8
R
10 12 16 16
100 115 135 135
LB
80 95 110 110
LC
115 135 155 155
LD
85 100 115 115
LE
6 8 8 8
LF
65 75 90 90
LG
10 10 12 12
LH
74 85 100 100
LK
33 35 40 40
L
184 205 211 211
LR
75 85 100 100
KL
131.6 152.6 158.6 158.6
LZ
6.6 9 11 11
Q
35 40 50 50
S
20 25 32 32
P
M5 M6 M8 M8
R
10 12 16 16
L 62 41 2.7 Motor plate Motor plate (Opposite side)
LR LG LE LK Q
4- LZ
LD
45
Sh6
Top 38.4 Bottom Top

Caution plate
Top
25.2
10.6 42.8
9.9 KL
LF LH LBh7
Bottom
LA LC
Bottom
20
P threads, depth R
BC12079 (BC12099*)
7 - 13
Output [W] 750 750 750 750 Output [W] 750 750 750 750
For reverse rotation command "Rotation direction" For forward rotation command LD
115 135 150 150
LB
95 110 125 125
LC
135 155 175 175
LD
100 115 130 130
LE
8 8 10 10
LF
75 90 105 105
LG
10 12 15 15
LH
85 100 115 115
LK
35 40 43 43
L
212 248 248 248
LR
85 100 115 115
KL
156.7 192.7 192.7 192.7
LZ
9 11 14 14
Q
40 50 60 60
S
25 32 40 40
P
M6 M8 M10 M10
R
12 16 20 20
L 82 39 2.7 Motor plate Motor plate (Opposite side) LG LE LK
LR
4- LZ Q
45
Sh6
LA LC
LF LH LBh7
Bottom Top
Bottom Top
Bottom Top 48.7 11 58.1 25.2
Caution plate
9.9
KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20 P threads, depth R
BC12080*
7 - 14

Model HC-MF053G2 HC-MF053G2 HC-MF053G2 HC-MF053G2 HC-KF053G2 HC-KF053G2 HC-KF053G2 HC-KF053G2 Output [W] 50 50 50 50 50 50 50 50 Variable Dimensions L 158 174 174 174 158 174 174 174 KL 78 94 94 94 78 94 94 94 Braking Force [N m] 0.32 0.32 0.32 0.32 0.32 0.32 0.32 0.32 Reduction Gear Model BK1-05B-A5MEKA BK1-09B-A5MEKA BK1-20B-A5MEKA BK1-29B-A5MEKA BK1-05B-A5MEKA BK1-09B-A5MEKA BK1-20B-A5MEKA BK1-29B-A5MEKA Reduction Ratio 1/5 1/9 1/20 1/29 1/5 1/9 1/20 1/29 Inertia Moment J[ 10 4 kg m2] 0.070 0.063 0.072 0.060 0.104 0.098 0.107 0.095 Backlash 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. 3 min. max. Weight [kg] 1.8 2.1 2.2 2.2 1.8 2.1 2.2 2.2
[Unit: mm]
L 42
Motor plate
55 8 6 23 25 4- 6.6
70
45
40.5
80
95
Top
Bottom
Top
28.7
16h6 48 60 65h7
Bottom
Bottom
Top
6.8
Caution plate 25.2
65.5
9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth M4 threads, depth 8
20
Encoder cable 0.3m With connector 172169-9 (AMP make)
Brake lead 2-0.3 2 0.3m (With end-insulated round crimping terminal 1.25-4) Blue: B1,B2
BC12081* (BC12100*)
7 - 15
35.7
Braking Force [N m] 0.32 0.32 0.32 0.32
Weight [kg] 1.9 2.2 3.4 3.4
80 80 100 100
LB
65 65 80 80
LC
95 95 115 115
LD
70 70 85 85
LE
6 6 6 6
LF
48 48 65 65
LG
8 8 10 10
LH
60 60 74 74
LK
23 23 33 33
L
173 189 195 195
LR
55 55 75 75
KL
93 109 115 115
LZ
6.6 6.6 6.6 6.6
Q
25 25 35 35
S
16 16 20 20
P
M4 M4 M5 M5
R
8 8 10 10
(Reduction Ratio) 1/5 1/9 1/20 1/29 Weight [kg] 1.9 2.2 3.4 3.4
Model HC-KF13BG2 HC-KF13BG2 HC-KF13BG2 HC-KF13BG2
Braking Force [N m] 0.32 0.32 0.32 0.32
80 80 100 100
LB
65 65 80 80
LC
95 95 115 115
LD
70 70 85 85
LE
6 6 6 6
LF
48 48 65 65
LG
8 8 10 10
LH
60 60 74 74
LK
23 23 33 33
L
173 189 195 195
LR
55 55 75 75
KL
93 109 115 115
LZ
6.6 6.6 6.6 6.6
Q
25 25 35 35
S
16 16 20 20
P
M4 M4 M5 M5
R
8 8 10 10
(Reduction Ratio) 1/5 1/9 1/20 1/29 [Unit: mm]

"Rotation direction" For forward rotation command
L LG 42 40.5 Motor plate (Opposite side) Motor plate LE LK
LR Q
4- LZ
LD
45
LA LC
Top
Bottom
Top 28.7
Sh6 LF LH LBh7
Bottom
Bottom
Top
Caution plate 25.2
6.8 65.5 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth P threads, depth R
20
Brake lead 2-0.3 2 0.3m (With end-insulated round crimping terminal 1.25-4)
BC12082* (BC12101*)
7 - 16
35.7
80 100 115 115
LB
65 80 95 95
LC
95 115 135 135
LD
70 85 100 100
LE
6 6 8 8
LF
48 65 75 75
LG
8 10 10 10
LH
60 74 85 85
LK
23 33 35 35
L
189 207 212 212
LR
55 75 85 85
KL
106.6 124.6 129.6 129.6
LZ
6.6 6.6 9 9
Q
25 35 40 40
S
16 20 25 25
P
M4 M5 M6 M6
R
8 10 12 12
80 100 115 115
LB
65 80 95 95
LC
95 115 135 135
LD
70 85 100 100
LE
6 6 8 8
LF
48 65 75 75
LG
8 10 10 10
LH
60 74 85 85
LK
23 33 35 35
L
189 207 212 212
LR
55 75 85 85
KL
106.6 124.6 129.6 129.6
LZ
6.6 6.6 9 9
Q
25 35 40 40
S
16 20 25 25
P
M4 M5 M6 M6
R
8 10 12 12
L LG 62
Motor plate
LR 4- LZ LE LK Q
LD
45
41 2.7
Sh6
Bottom Top
Bottom
Top 38.4
Top
10.6 68 42.8 9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth P threads, depth R
Caution plate 2.52
LF LH LBh7
Bottom
LA LC
20
Brake lead 2-0.32 0.3m Encoder cable 0.3m (With end-insulated round With connector 1-172169-9 crimping terminal 1.25-4) (AMP make)
BC12083* (BC12102*)
7 - 17
100 115 135 135
LB
80 95 110 110
LC
115 135 155 155
LD
85 100 115 115
LE
6 8 8 8
LF
65 75 90 90
LG
10 10 12 12
LH
74 85 100 100
LK
33 35 40 40
L
216 237 243 243
LR
75 85 100 100
KL
131.6 152.6 158.6 158.6
LZ
6.6 9 11 11
Q
35 40 50 50
S
20 25 32 32
P
M5 M6 M8 M8
R
10 12 16 16
100 115 135 135
LB
80 95 110 110
LC
115 135 155 155
LD
85 100 115 115
LE
6 8 8 8
LF
65 75 90 90
LG
10 10 12 12
LH
74 85 100 100
LK
33 35 40 40
L
216 237 243 243
LR
75 85 100 100
KL
131.6 152.6 158.6 158.6
LZ
6.6 9 11 11
Q
35 40 50 50
S
20 25 32 32
P
M5 M6 M8 M8
R
10 12 16 16
"Rotation direction" For forward rotation command LK 62 Motor plate 41 2.7 Motor plate (Opposite side) LG LE LK Q LR LD
4- LZ
45
Sh6
LA LC
LF LH LBh7
Bottom Top
Bottom
Bottom Top 38.4
Top
Caution plate 25.2 10.6
68 9.9 42.8 KL P threads, depth R
Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20
Brake lead Encoder cable 0.3m 2-0.3 2 0.3m With connector 1-172169-9 (With end-insulated round (AMP make) crimping terminal 1.25-4)
BC12084* (BC12103*)
7 - 18
Output [W] 750 750 750 750 Output [W] 750 750 750 750
115 135 150 150
LB
95 110 125 125
LC
135 155 175 175
LD
100 115 130 130
LE
8 8 10 10
LF
75 90 105 105
LG
10 12 15 15
LH
85 100 115 115
LK
35 40 43 43
L
247.5 283.5 283.5 283.5
LR
85 100 115 115
KL
156.7 192.7 192.7 192.7
LZ
9 11 14 14
Q
40 50 60 60
S
25 32 40 40
P
M6 M8 M10 M10
R
12 16 20 20
L 82 Motor plate 39 2.7

LR LG LE LK Q 4- LZ
LD
45
Sh6
LA LC
Bottom Top 48.7 Bottom Top
Top
Caution plate
25.2
72 11 58.1 9.9 KL Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth P threads, depth R
Encoder cable 0.3m Brake lead With connector 1-172169-9 2-0.3 2 0.3m (With end-insulated round (AMP make) crimping terminal 1.25-4)
LF LH LBh7
Bottom
BC12085*
7 - 19
(5) HC-MF-UE HC-KF-UE series (a) Standard (without electromagnetic brake, without reduction gear)
Model HC-MF053-UE HC-MF13-UE HC-KF053-UE HC-KF13-UE Output [W] 50 100 50 100 Variable Dimensions L 89.5 104.5 89.5 104.5 KL 37.5 52.5 37.5 52.5 Inertia Moment J[ 10 4 kg m2] 0.019 0.03 0.054 0.085 Weight [kg] 0.5 0.6 0.5 0.53 [Unit: mm]
42 L 40.5 Motor plate Bottom Top Bottom Bottom 35.7 20 Top Caution plate 6.8 25.2 Encoder cable 0.3m Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth Encoder cable 0.3m With connector 1-172169-9 (AMP make) 28.7 Top 9.9 TUV plate KL V ring V-10A Bottom Top 8h6 Motor plate (Opposite side) 5 25 2.5
45
2- 4.5
40
30h7
46
BC07328A
Model HC-MF23-UE HC-MF43-UE HC-KF23-UE HC-KF43-UE
Output [W] 200 400 200 400
Variable Dimensions L 108.5 133.5 108.5 133.5 KL 58 81 58 81
Weight [kg] 1.2 1.7 1.2 1.7 [Unit: mm]
62 TUV plate 41 2.7
L 7 Motor plate (Opposite side) 3
30 4- 5.8
45
30
Motor plate 14h6 Top 50h7 Bottom Bottom
Bottom Top
Top Bottom 38.4
70
V ring V-16A 42.8 20
Top 9.9 KL
Caution plate
10.6
25.2
Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Encoder cable 0.3m Green/yellow: Earth With connector 1-172169-9 (AMP make)
BC07329A
7 - 20
Model HC-MF73-UE
Output [W] 750
Inertia Moment 2 J[ 10 4 kg m ] 0.675

150 40 8 3 4- 6.6
45
TUV plate 82 39 2.7 Motor plate Bottom
80
Bottom
19h6 70h7
Top
90
58.5
Top 11 Caution plate 25.2 9.9 95 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20 V ring V-25A
48.7
Bottom
Top
BC07330A

Model HC-MF053B-UE HC-MF13B-UE HC-KF053B-UE HC-KF13B-UE Output [W] 50 100 50 100 Variable Dimensions L 117.5 132.5 117.5 132.5 KL 37.5 52.5 37.5 52.5 0.32 Braking Force [N m] Inertia Moment 2 J[ 10 4 kg m ] 0.022 0.032 0.057 0.088 Weight [kg] 0.9 1 0.9 1 [Unit: mm]
L 42 40.5 Motor plate Bottom Top Bottom Top Caution plate 25.2 6.8 Encoder cable 0.3m With connector 1-172169-9 (AMP make) Brake lead 2-0.3 2 0.3m (With end-insulated round crimping terminal 1.25-4) B1,B2 28.7 Top Bottom V ring V-10A 35.7 20 Top KL 8h6 Bottom Motor plate (Opposite side) TUV plate 5 25 2.5 2- 4.5 40
45
30h7
46
BC07369A
7 - 21
Model HC-MF23B-UE HC-MF43B-UE HC-KF23B-UE HC-KF43B-UE
Output [W] 200 400 200 400
Variable Dimensions L 140.5 165.5 140.5 165.5 KL 58 81 58 81
Braking Force [N m]
Weight [kg] 1.7 2.2 1.7 2.2 [Unit: mm]
1.3
L TUV plate 62 41 2.7 7 Motor plate (Opposite side) 3
30 4- 5.8
45
60
Motor plate
Bottom
Bottom Top
Top Bottom 38.4
Top V ring V-16A
14h6
Bottom
50h7
70
42.8 20
Top Caution plate 25.2
95 10.6 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth
9.9 Brake lead 2 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) B1,B2
BC07354A
Model HC-MF73B-UE
Output [W] 750
Braking Force [N m] 2.4

185.5

40 8 3 4- 6.6
45
TUV plate 82 39 2.7 Motor plate Bottom Bottom Top Motor plate (Opposite side)
80
19h6 70h7
90
48.7
Bottom Top
Top 58.1 11 9.9 95 Power supply lead 4-AWG19 0.3m (With end-insulated round crimping terminal 1.25-4) Red: Phase U White: Phase V Black: Phase W Green/yellow: Earth 20 V ring V-25A Brake lead 2 2-0.3 0.3m (With end-insulated round crimping terminal 1.25-4) B1,B2
Caution plate
25.2
BC07606A
7 - 22

Servo Motor Instruction Manual - Sh3181e

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Servo Motor Instruction Manual - Sh3181e

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General-Purpose AC Servo

1. To prevent electric shock, note the following:

2. To prevent fire, note the following:

3. To prevent injury, note the follow

(1) Transportation and installation

(3) Test run adjustment

(5) Corrective actions

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

<MELSERVO-J2 Series, MELSERVO-J2-Super Series >

250 12 300 300 550 650 12 20 30 35

Note. 73 is not available for the HC-KF(-UE) series. <MELSERVO-J2-Jr Series>

7. OUTLINE DIMENSION DRAWINGS

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

8192 3000 131072 0.05 to 0.75 HA-ME HA-MH

HC-SF HC-SFS HC-RF HC-RFS

16384 131072 16384

1000 2000 3000

EN Standard UL/C-UL Standard (Standard model is compliant)

3000 131072 2000

30.0 to 55.0 16384 2000 30.0

1.2 Model name make-up (1) Name plate

Model Serial number Date of manufacture

Model Input power Rated output Rated speed Serial number

Compliance with Standard

Electromagnetic brake Rated speed 3000 [r/min] Rated output

(b) HA-FF series (low inertia, small capacity) HA-FF 3

Shaft type Reduction gear

Electromagnetic brake Input power supply form

Rated speed 3000 [r/min] Rated output

(c) HC-SF series (middle inertia, middle capacity) HC-SF

Note: Without key

Note: Not provided for 1000r/min and 3000r/min series.

Electromagnetic brake Rated speed

(d) HC-RF series (low inertia, middle capacity) HC-RF

Appearance Shaft type

Note: Without key

Electromagnetic brake Rated speed 3000 [r/min] Rated output

Note: HC-UF 23 to 73 are provided with keys.

Electromagnetic brake Rated speed

(f) HA-LH series (low inertia, Large capacity) HA-LH

Appearance Compliant Standard

Rated speed 2000[r/min] Rated output

(g) HC-KF series (low inertia, small capacity) HC-KF

Compliance with Standard

Note: With key

Electromagnetic brake Rated speed 3000[r/min] Rated output

Appearance Shaft type

Three-phase 200 to 230VAC Three-phase 380 to 460VAC

Rated speed 2000 [r/min] Rated output

Note: With key

Electromagnetic brake Rated speed 3000[r/min] Rated output

Shaft type Reduction gear

Rated speed 3000 [r/min] Rated output

Appearance Shaft type

Note: Without key

Note: Not provided for 1000r/min and 3000r/min series.

Electromagnetic brake Rated speed

Appearance Shaft type

Note: Without key

Electromagnetic brake Rated speed 3000 [r/min] Rated output