Mitsubishi CNC Meldas HC Series, Specification Manual

Page 1: ...BNP B3982A ENG AC SERVOMOTOR HC Series Specification Manual ...

Page 2: ... a dangerous situation may occur if handling is mistaken leading to medium or minor injuries or physical damage Note that some items described as CAUTION may lead to major results depending on the situation In any case important information that must be observed is described The signs indicating prohibited and mandatory items are described below This sign indicates that the item is prohibited must...

Page 3: ...is could lead to electric shocks Do not damage apply forcible stress place heavy items or engage the cable Failure to observe this could lead to electric shocks 2 Fire prevention CAUTION Install the servomotor on noncombustible material Direct installation on combustible material or near combustible materials could lead to fires 3 Injury prevention CAUTION Do not apply a voltage other than that sp...

Page 4: ...ions Install a cover etc on the shaft When coupling to a servomotor shaft end do not apply an impact by hammering etc The detector could be damaged Do not apply a load exceeding the tolerable load onto the servomotor shaft The shaft could break Store and use the units under the following environment conditions Environment Conditions Ambient temperature 0 C to 40 C with no freezing Ambient humidity...

Page 5: ...lways use the servomotor and servo amplifier with the designated combination The servomotor s magnetic brakes are for holding purposes Do not use them for normal braking There may be cases when holding is not possible due to the magnetic brake s life or the machine construction when ball screw and servomotor are coupled via a timing belt etc Install a stop device to ensure safety on the machine si...

Page 6: ... CAUTION The drawings given in this Specification Manual show the covers and safety partitions etc removed to provide a clearer explanation Always return the covers or partitions to their respective places before starting operation and always follow the instructions given in this manual ...

Page 7: ...2 1 Cautions for mounting load prevention of impact on shaft 3 5 3 2 2 Installation direction 3 5 3 2 3 Tolerable load of axis 3 6 Chapter 4 Characteristics 4 1 Magnetic brake characteristics 4 2 4 1 1 Motor with magnetic brakes 4 2 4 1 2 Magnetic brake characteristics 4 3 4 1 3 Magnetic brake power supply 4 4 4 2 Dynamic brake characteristics 4 5 4 2 1 Deceleration torque 4 5 4 2 2 Coasting amoun...

Page 8: ...1 1 Chapter 1 Introduction 1 1 Outline 1 2 1 2 Combination with servo amplifier 1 3 1 2 1 MDS B V1 V2 V14 V24 Series 1 3 1 2 2 MDS B SVJ2 Series 1 3 1 3 Explanation of Type 1 4 ...

Page 9: ...ith the HA Series the HC Series has a max 1 000 000 pulse rev absolute position detector allowing high accuracy control to be realized 100 000 and 25 000 pulse rev detectors are also available The 1 000 000 pulse rev detector is compatible only for the MDS B V1 V2 V14 V24 Series and the 25 000 pulse rev is compatible only with the MDS B SVJ2 Series Powerful motor brakes All capacities of the HC Se...

Page 10: ...nertia 3000r min rating 05 0 5 HC52 HC53 10 1 0 HC102 HC103 HC103R HC153R 20 2 0 HC152 HC202 HC153 HC203R 35 3 5 HC352 HC203 HC353R 45 4 5 HC452 HC353 HC503R 70 7 0 HC702 HC453 90 9 0 HC902 HC703 1 2 2 MDS B SVJ2 Series MDS B SVJ2 Capacity symbol Compatible motor Capacity symbol Amplifier capacity kW Standard 2000r min rating Standard 3000r min rating Low inertia 3000r min rating 06 0 6 HC52 HC53 ...

Page 11: ... Magnetic brake Symbol Magnetic brake None None B With magnetic brake Rated output rated speed and motor series HC Series HC R Series Rating 2000r min Rating 3000r min Rating 3000r min Symbol Rating output Symbol Rating output Symbol Rating output 52 0 5kW 53 0 5kW 103R 1 0kW 102 1 0kW 103 1 0kW 153R 1 5kW 152 1 5kW 153 1 5kW 203R 2 0kW 202 2 0kW 203 2 0kW 353R 3 5kW 352 3 5kW 353 3 5kW 503R 5 0kW...

Page 12: ...2 1 Chapter 2 Specifications 2 1 List of specifications 2 2 2 2 Torque characteristic drawings 2 5 2 3 Duty drive characteristics 2 7 2 4 Outline dimension drawings 2 9 ...

Page 13: ...4 170 0 173 214 0 218 Motor inertia with brakes GD2 kgf cm 2 34 5 62 8 87 8 204 368 524 680 856 Recommended motor shaft conversion load inertia rate 5 times or less of motor inertia Armature resistance phase 20 C Ω 1 44 0 57 0 30 0 21 0 10 0 052 0 047 0 033 Armature inductance 20 between wires mH 13 9 5 9 3 6 7 4 4 1 1 7 1 5 1 2 Inductive voltage constant 20 C 10 between wires mV rpm 53 9 53 3 54 ...

Page 14: ...rtia with brakes GD2 kgf cm 2 34 5 62 8 87 8 210 368 524 680 Recommended motor shaft conversion load inertia rate 5 times or less of motor inertia Armature resistance phase 20 C Ω 0 55 0 33 0 20 0 11 0 06 0 030 0 025 Armature inductance 20 between wires mH 5 7 3 6 2 2 3 9 2 1 1 2 0 9 Inductive voltage constant 20 C 10 between wires mV rpm 35 3 42 3 40 7 41 6 45 7 46 2 46 8 Torque constant 10 kgf c...

Page 15: ...rakes GD2 kgf cm 2 7 4 9 0 10 6 47 2 62 0 Recommended motor shaft conversion load inertia rate 5 times or less of motor inertia Armature resistance phase 20 C Ω 0 43 0 28 0 15 0 057 0 044 Armature inductance 20 between wires mH 7 7 5 8 3 3 2 2 1 9 Inductive voltage constant 20 C 10 between wires mV rpm 35 1 36 5 31 6 31 3 35 6 Torque constant 10 kgf cm Arms kgf cm Ap 5 9 4 2 6 2 4 4 5 3 3 8 5 3 3 ...

Page 16: ... 0 5 10 15 20 0 1000 2000 Speed r min HC52 Continuous operation Short time operation Torque Torque kgf cm N m 0 150 450 600 750 300 0 1000 2000 Speed r min 0 15 30 60 75 HC352 45 0 200 600 800 kgf cm N m 0 1000 2000 Speed r min 0 20 80 1000 100 HC452 60 Torque 400 40 0 300 900 1200 kgf cm N m 600 0 1000 2000 0 30 60 120 HC702 90 Torque 1500 150 0 500 1500 2500 2000 kgf cm N m 1000 0 1000 2000 0 50...

Page 17: ... 30 45 60 HC353 Torque 0 250 500 750 1000 kgf cm N m 0 1000 2000 3000 Speed r min 0 25 50 75 100 HC453 Torque 0 300 600 900 1200 kgf cm N m 0 1000 2000 3000 Speed r min 0 30 60 90 120 HC703 Torque 0 150 300 450 600 kgf cm N m 0 1000 2000 3000 Speed r min 0 15 30 45 60 HC203 Torque 0 20 60 80 100 kgf cm N m 40 0 1000 2000 3000 Speed r min 0 2 4 8 10 HC53 6 Torque 0 1000 2000 3000 Speed r min 0 15 3...

Page 18: ...HC103R HC153R HC203R HC102 HC103 0 20 40 60 80 100 0 1 1 10 100 1000 オン時間 min デューティーパーセント ﾄ ﾙ ｸ ﾊﾟ ｰ ｾ ﾝ ﾄ 電流ﾊﾟ ｰ ｾ ﾝ ﾄ 105 110 120 130 140 160 180 200 250 300 0 20 40 60 80 100 0 1 1 10 100 1000 オン時間 min デューティーパーセント ﾄ ﾙ ｸ ﾊﾟ ｰ ｾ ﾝ ﾄ 電流ﾊﾟ ｰ ｾ ﾝ ﾄ 105 110 120 130 140 160 180 200 250 300 HC152 HC153 HC202 HC203 HC353R 0 20 40 60 80 100 0 1 1 10 100 1000 オン時間 min デューティーパーセント ﾄ ﾙ ｸ ﾊﾟ ｰ ｾ ﾝ ﾄ 電流ﾊﾟ ｰ ｾ...

Page 19: ... ﾝ ﾄ 電流ﾊﾟ ｰ ｾ ﾝ ﾄ 105 110 120 130 140 160 180 200 250 300 0 20 40 60 80 100 0 1 1 10 100 1000 オン時間 min デューティーパーセント ﾄ ﾙ ｸ ﾊﾟ ｰ ｾ ﾝ ﾄ 電流ﾊﾟ ｰ ｾ ﾝ ﾄ 105 110 120 130 140 160 180 200 250 300 HC902 0 20 40 60 80 100 0 1 1 10 100 1000 オン時間 min デューティーパーセント ﾄ ﾙ ｸ ﾊﾟ ｰ ｾ ﾝ ﾄ 電流ﾊﾟ ｰ ｾ ﾝ ﾄ 105 110 120 130 140 160 180 200 250 300 Torque percent current percent ON time min Duty percent Torque percent current per...

Page 20: ... 310 kgf cm 41 Oil seal Power supply connector Detector connector 4 φ9 Installation hole Use a hexagon socket head bolt Servomotor type 2000r min 3000r min L Note 1 KL HC52 B HC53 B 125 158 51 5 HC102 B HC103 B 150 183 76 5 HC152 B HC153 B 175 208 101 5 Note 1 The dimensions given in parentheses are for when magnetic brakes are provided Note 2 Use a friction coupling Spun ring etc to connect with ...

Page 21: ...Unit mm 46 176 φ 230 142 φ200 45 MS3102A22 14P Brake connector MS3102A10SL 4P CE05 2A24 10P 21 5 73 5 44 L 79 18 3 75 KL Oil seal S40608B 0 0 025 0 010 0 117 81 5 φ35 φ114 3 Power supply connector Detector connector 4 φ13 5 Installation hole Use a hexagon socket head bolt Servomotor type 2000r min 3000r min L KL HC202BS HC203BS 198 69 HC352BS HC353BS 240 111 HC452BS 282 153 Note 1 Use a friction c...

Page 22: ... mm Note 2 117 81 5 0 0 025 φ114 3 44 L 73 5 KL Brake connector MS3102A10SL 4P CE05 2A32 17P Oil seal S40608B 75 3 79 18 0 010 0 φ35 Note 2 MS3102A22 14P 176 58 φ 230 φ 200 45 150 Note 2 21 5 Power supply connector Detector connector 4 φ13 5 Installation hole Use a hexagon socket head bolt Note 2 Servomotor type 2000r min 3000r min L KL HC453BS 282 148 HC702BS HC703BS 345 211 Note 1 Use a friction...

Page 23: ...Detector connector MS3102A22 14P φ42 φ180 45 φ215 φ 250 150 204 60 4 φ15 Installation hole 73 5 Brake connector MS3102A10SL 4P Power supply connector CE05 2A32 17P 278 80 85 3 20 25 412 44 0 0 040 0 0 016 Use a hexagon socket head bolt Oil seal S45629B Note 2 Note 2 21 5 Note2 Note2 Note 1 Use a friction coupling Spun ring etc to connect with the load Note 2 Screw hole M8 for suspension bolt Note ...

Page 24: ...supply connector Detector connector 4 φ9 Installation hole Use a hexagon socket head bolt 4 φ9 Installation hole Use a hexagon socket head bolt Servomotor type L Note 1 KL HC103R B 152 189 71 HC153R B 177 214 96 HC203R B 202 239 121 Note 1 The dimensions given in parentheses are for when magnetic brakes are provided Note 2 Use a friction coupling Spun ring etc to connect with the load Note 3 Refer...

Page 25: ...tor type L Note 1 KL HC353R B S 222 258 148 HC503R B S 279 315 205 Note 1 The dimensions given in parentheses are for when magnetic brakes are provided Note 2 Use a friction coupling Spun ring etc to connect with the load Note 3 For the magnetic brakes Note 4 Refer to section 2 9 for details on the detector connector CE05 2A24 10P B1 D Signal U V W B A Pin C E B2 F G A B C F E D G Power supply con...

Page 26: ...nvironment 3 2 3 1 1 Environmental conditions 3 2 3 1 2 Oil and waterproofing measures 3 3 3 2 Handling 3 5 3 2 1 Cautions for mounting load prevention of impact on shaft 3 5 3 2 2 Installation direction 3 5 3 2 3 Tolerable load of axis 3 6 ...

Page 27: ...s Vibration HC902 X 9 8 m sec 2 1G or less Y 24 5 m sec 2 2 5G or less The vibration conditions are as shown below 200 100 80 60 50 40 30 20 1000 2000 3000 0 Speed r min μ Vibration amplitude double sway width m CAUTION 1 Do not hold the cables axis or detector when transporting the servomotor Failure to observe this could lead to faults or injuries 2 Securely fix the servomotor to the machine Ins...

Page 28: ... that the oil level height from the center of the shaft is higher than the values given below Open a breathing hole on the gear box so that the inner pressure does not rise Servomotor Oil level mm HC52 102 152 HC53 103 153 20 HC202 352 452 702 HC203 353 453 703 25 HC902 30 HC103R 153R 203R HC353R 503R 20 3 When installing the servomotor horizontally set the power supply cable and detector cable to...

Page 29: ...nd water onto the motor and detector Refer to right drawing 6 When installing on the top of the shaft end make sure that oil from the gear box etc does not enter the servomotor The servomotor does not have a waterproof structure Cover Fault Capillary tube phenomenon Oil or water pool Servomotor Cover Fault breathing action Servomotor Gear Lubricating oil Servomotor ...

Page 30: ...e installation direction Installation in any direction is possible but as a standard the servomotor is installed so that the motor power supply wire and detector cable cannon plugs face downward Installation in the standard direction is effective for preventing dripping If the motor is not to be installed in the standard direction caution is required in particular to oil and water measures Refer t...

Page 31: ... 20kgf HA353RS 503RS 980N 100kgf L 63 392N 40kgf Caution The symbols in the table follow the drawing below L Thrust load Radial load L Length from flange installation surface to center of load weight mm CAUTION 1 When coupling with a ball screw etc use a flexible coupling and keep the shaft core deviation to below the tolerable radial load 2 When directly installing the gears on the motor shaft th...

Page 32: ...haracteristics 4 2 4 1 1 Motor with magnetic brakes 4 2 4 1 2 Magnetic brake characteristics 4 3 4 1 3 Magnetic brake power supply 4 4 4 2 Dynamic brake characteristics 4 5 4 2 1 Deceleration torque 4 5 4 2 2 Coasting amount 4 6 4 3 Vibration class 4 7 ...

Page 33: ...wing the standard motor type indicates the motor with brakes 2 Applications When this type of motor is used for the vertical feed axis in a machining center etc slipping and dropping of the spindle head can be prevented even when the hydraulic balancer s hydraulic pressure reaches zero when the power turns OFF When used with a robot deviation of the posture when the power is turned OFF can be prev...

Page 34: ... work amount Per hour kgf cm 40 816 460 000 40 816 40 816 Brake play at motor axis deg 0 2 0 6 0 2 0 6 0 2 0 6 0 2 0 6 No of braking operations times 20 000 20 000 20 000 20 000 N m 200 1 000 200 200 Brake life Note 4 Braking amount per braking kgf cm 2 041 10 204 2 041 2 041 Notes 1 There is no manual release mechanism If handling is required such as during the machine core alignment work prepare...

Page 35: ...tation power supply to apply the brakes a AC OFF The braking delay time will be longer but the excitation circuit will be simple and the relay cut off capacity will be smaller b DC OFF The braking delay time can be shortened but a surge absorber will be required and the relay cut off capacity will increase Cautions Provide sufficient DC cut off capacity at the contact Always use a serge absorber W...

Page 36: ...r is shown in the following table Tdp Ndp Deceleration torque Motor speed 0 Fig 4 2 Deceleration torque characteristics of a dynamic brake Table 4 2 Max deceleration torque of a dynamic brake Motor type Stall torque N m Tdp N m Ndp r min Motor type Stall torque N m Tdp N m Ndp r min HC52 Note 1 2 94 2 40 496 HC53 Note 1 2 94 2 54 472 HC52 Note 2 2 94 2 40 335 HC53 Note 2 2 94 2 54 449 HC102 5 88 1...

Page 37: ...3 Note 1 0 0067 9 49 10 9 6 37 10 3 HC52 Note 2 0 0067 3 59 10 9 4 79 10 3 HC53 Note 2 0 0067 2 56 10 9 6 09 10 3 HC102 0 014 2 47 10 9 5 69 10 3 HC103 0 014 1 95 10 9 6 98 10 3 HC152 0 02 1 76 10 9 5 89 10 3 HC153 0 02 1 28 10 9 9 13 10 3 HC202 0 043 15 20 10 9 9 56 10 3 HC203 0 043 9 77 10 9 60 90 10 3 HC352 0 084 8 74 10 9 13 02 10 3 HC353 0 084 4 97 10 9 24 23 10 3 HC452 0 123 2 80 10 9 19 26 ...

Page 38: ...n class of the servomotor is V 10 at the rated speed The servomotor installation posture and measurement position to be used when measuring the vibration are shown below Fig 4 4 Servomotor vibration measurement conditions Top Bottom Measurement position Servomotor ...

Page 39: ... cables and connectors 5 2 5 1 1 Cable and connector option list 5 3 5 1 2 Connector outline dimension drawings 5 8 5 2 Manufacturing the cable 5 13 5 2 1 Manufacturing the power cable 5 13 5 2 2 Manufacturing the detector cable 5 13 ...

Page 40: ...hown on the following pages Purchase a connector set etc to create special length cables when required The power cable and brake cable must be manufactured by the user with separately purchased wire etc CAUTION There is a limit to the applicable cable size to ensure the drip proof properties of the IP65 and IP67 specification connectors 2 Power supply connector 3 Brake connector 1 Detector cable a...

Page 41: ... 3 3 5 4 4 5 5 6 7 8 9 10 11 12 13 14 15 17 20m Servo amplifier side connector Sumitomo 3M Connector 10120 3000VE Shell kit 10320 52F0 008 Servomotor detector side connector DDK Connector MS3106A22 14S D190 Straight back shell CE02 22BS S Clamp CE3057 12A 3 ENCP22 14S3 Compliant cable range ø6 8 ø10 when using A14B2343 Refer to section 5 1 4 ENCP22 14S2 Compliant cable range ø9 5 ø13 Servo amplifi...

Page 42: ...r DDK Connector MS3106B22 14S Clamp MS3057 12A Straight FCUA CS080 Servo amplifier side connector Sumitomo 3M Connector 10120 3000VE Shell kit 10320 52F0 008 Servomotor detector side connector DDK Connector MS3108B22 14S Clamp MS3057 12A For HC motor Detector cable and connector set For general environ ment Angle FCUA CS084 Note The connector maker may change without notice ...

Page 43: ...23S Clamp MS3057 12A Power supply connector for HC52 152 HC53 153 HC103R 203R For general environ ment Angle Servomotor side power supply connector DDK Connector CE05 6A24 10SD B BSS Clamp CE3057 16A 2 D265 Straight PWCE24 10S Compliant cable range ø13 ø15 5 PWCE24 10L Compliant cable range ø13 ø15 5 Servomotor side power supply connector DDK Connector CE05 8A24 10SD B BAS Clamp CE3057 16A 2 D265 ...

Page 44: ...nge ø22 ø23 8 Servomotor side power supply connector DDK Connector CE05 8A32 17SD B BAS Clamp CE3057 20A 1 D265 IP67 and EN standard compati ble Angle Power supply connector for HC702 902 HC453 703 FCUA CN811 Servomotor side power supply connector DDK Connector MS3106B32 17S Clamp MS3057 20A Straight FCUA CN815 Servomotor side power supply connector DDK Connector MS3108B32 17S Clamp MS3057 20A For...

Page 45: ... Connector MS3106A10SL 4S D190 DDK Clamp YLO10 5 8 Daiwa IP67 and EN standard compati ble Angle FCUA CN804 Servomotor side brake connector Japan Aviation Electronics Connector MS3106B10SL 4S Clamp MS3057 4A Straight FCUA CN808 Servomotor side brake connector Japan Aviation Electronics Connector MS3108B10SL 4S Clamp MS3057 4A Brake connector for HC202B 352B 452B HC702B 902B HC203B 353B 453B HC703B ...

Page 46: ...less A 0 38 0 φ B Unit mm Type A B 0 0 38 C 0 5 D E 0 3 G 0 05 0 25 J 0 12 MS3106A10SL 4S D190 5 8 24UNEF 2B 22 22 23 3 9 16 24UNEF 2A 7 5 12 5 13 49 MS3106A22 14S D190 13 8 18UNEF 2B 40 48 34 11 11 4 18UNEF 2A 12 15 29 9 18 26 Straight back shell Maker DDK Ltd Type CE02 22BS S Unit mm 1 3 16 18UNEF 2A screw φ178 φ36 5 35 10 9 O ring 7 85 or more effective screw length 32 4 Spanner grip 1 1 4 18UN...

Page 47: ... 16 18UNEF 2A 16 3 33 3 49 6 7 5 CE05 8A24 10SD B BAS 11 2 18UNEF 2B 43 63 86 3 17 16 18UNEF 2A 18 2 36 5 54 7 7 5 CE05 8A32 17SD B BAS 2 18UNS 2B 56 33 93 5 13 4 18UNS 2A 24 6 44 5 61 9 8 5 Cable clamp Maker DDK Ltd Moveable range of one side φE Cable clamp inside diameter H G 0 7 A V screw C 1 6 Bushing inside diameter φ F D B 0 7 Unit mm Total length Outside dia Effective screw length Type Shel...

Page 48: ...clamp Maker Daiwa Ltd L1 D2 A0 L2 YLO L A0 O ring D D1 YSO O ring Unit mm Length before tightening Side to side Corner to corner Type Accommodating outside diameter American standard screw thread A0 L L1 L2 D D1 D2 YSO10 5 8 YLO10 5 8 ø5 8 3 9 16 24UNEF 2B 43 39 42 5 24 26 26 ...

Page 49: ... 5 U 0 5 V 0 38 0 φ Q W or more Unit mm Coupling screw Length of coupling section Total length Connection nut outside diameter Cable clamp installation screw Effective screw length Type A J 0 12 L or less øQ 0 0 38 R 0 5 U 0 5 V W or more MS3108B22 14S MS3108B22 23S 13 8 18UNEF 18 26 76 98 40 48 24 1 33 3 13 16 18UNEF 9 53 MS3108B24 10S 11 2 18UNEF 18 26 86 51 43 63 25 6 36 5 17 16 18UNEF 9 53 MS3...

Page 50: ... 0 7 Unit mm Total length Outside diameter Effective screw length Installation screw Type Shell size A 0 7 øB 0 7 C øD øE F G 0 7 V Bushing MS3057 4A 10SL 12S 20 6 20 6 10 3 7 9 5 6 1 6 22 2 5 8 24UNEF AN3420 4 MS3057 12A 20 22 23 8 35 0 10 3 19 0 15 9 4 0 37 3 13 16 18UNEF AN3420 12 MS3057 16A 24 28 26 2 42 1 10 3 23 8 19 1 4 8 42 9 17 16 18UNEF AN3420 16 MS3057 20A 32 27 8 51 6 11 9 31 7 23 8 6 ...

Page 51: ...ecifications terminal block etc of the servo amplifier actually being used 5 2 2 Manufacturing the detector cable 1 Cable wire Manufacture the cable using the recommended wire or equivalent parts as shown below Wire characteristics Recommended wire type Cannot be directly ordered from Mitsubishi Electric Corp Finished outside diameter Sheath material No of pairs Config uration Conductor resistance...

Page 52: ...tor only connect the pins that will actually be used CAUTION 1 Do not connect anything to pins unless particularly described when manufacturing cable Leave OPEN 2 Contact Mitsubishi before manufacturing cable over 30m long H J K L E R S N 6 16 7 17 9 1 11 19 12 20 PE SD MD SD MDR RQ MR RQ MRR BT BAT 5G LG 5V P5 Plate Amplifier side Detector side A B C D F G H J K L M U T V E S R N 2 12 3 13 4 14 6...