Mitsubishi Electric HG-KN Manual de usuario

SH(NA)030135ENG-D(1708)MEE Printed in Japan Specifications are subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

HG-KN/HG-SN SERVO MOTOR INSTRUCTION MANUAL

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

HG-KN

HG-SN

SERVO MOTOR INSTRUCTION MANUAL

A - 1

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain or inspect the equipment until you

have read through this Instruction Manual and appended documents carefully. Do not use the equipment

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

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION 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 Instruction Manual, keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp

turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp

is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

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, it

may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric

shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo motor on incombustible material. Installing them directly or close to combustibles will

lead to smoke or a fire.

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the servo motor.

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.

Otherwise, an electric shock, fire, injury, etc. may occur.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The servo motor, etc. may be hot while power is on and for some time after power-off. Take safety

measures such as providing covers to avoid accidentally touching them by hands and parts such as

cables.

The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and

operating conditions.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

A - 3

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,

electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the cables, connectors, shaft, or encoder when carrying the servo motor. Otherwise, it may

drop.

Install the servo motor in a load-bearing place in accordance with the Instruction Manual.

Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

The equipment must be installed in the specified direction.

Do not install or operate the servo motor which have been damaged or have any parts missing.

Do not drop or strike the servo motor. Otherwise, injury, malfunction, etc. may occur.

Securely fix the servo motor to the machine. If being attached insecurely, the motor may come off during

operation.

When handling the servo motor, be careful with the sharp edges of the servo motor, shaft keyway, or

others.

Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.

Be sure to measure the vibration level with the servo motor mounted on the machine when checking the

vibration level. A great vibration may cause the early damage of a bearing, encoder, and brake. The

great vibration may also cause the poor connector connection or bolt looseness.

For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform

with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the

vibration may cause the early damage of the servo motor.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor

during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise,

the encoder may malfunction.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely

install, mount, and wire the servo motor in accordance with the Instruction Manual.

When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient temperature Operation 0 °C to 40 °C (non-freezing)

Storage -15 °C to 70 °C (non-freezing)

Ambient humidity Operation 10 %RH to 80 %RH (non-condensing)

Storage 10 %RH to 90 %RH (non-condensing)

Ambience Indoors (no direct sunlight), free from corrosive

gas, flammable gas, oil mist, dust, and dirt

Altitude Max. 2000 m above sea level (Note)

Vibration resistance

HG-KN series X, Y: 49 m/s2

HG-SN52/HG-SN102/HG-SN152 X, Y: 24.5 m/s2

HG-SN202/HG-SN302 X: 24.5 m/s2Y: 49 m/s2

Note. Contact your local sales office for the altitude for options.

A - 4

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier

output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier

and servo motor.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do

not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo motor

Servo amplifier Servo motorServo amplifier

Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate

heat because of the poor contact. Be sure to tighten the cable with specified torque.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to operate

unexpectedly.

Never make a drastic adjustment or change to the parameter values as doing so will make the operation

unstable.

A - 5

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,

use a servo motor with an external brake to prevent the condition.

For equipment in which the moving part of the machine may collide against the load side, install a limit

switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent.

Doing so may scuff the surface.

Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may

occur. Disassembled, repaired, and/or modified products are not covered under warranty.

Use the servo amplifier with the specified servo motor.

Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric

shock, fire, injury, etc. may occur.

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 incorrect wiring, service life, and mechanical structure (e.g. where a ball screw 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.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an

external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may

cause an accident.

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,

use a servo motor with an electromagnetic brake or external brake to prevent the condition.

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Servo motor

Electromagnetic brake

Contacts must be opened

with the emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic

brake interlock) turns off.

24 V DC

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,

ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before

switching the power on.

A - 6

(6) Storage

CAUTION

Note the followings when storing the servo motor for an extended period of time (guideline: three or more

months).

Always store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, check how to store the equipment.

Though the motor is rust-proofed before shipment using paint or rust prevention oil, rust may be

produced depending on the storage conditions or storage period. If the servo motor is to be stored for

longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft,

etc.

Before using the product after storage for an extended period of time, hand-turn the servo motor output

shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an

electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply.

When the product has been stored for an extended period of time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn

without covers and safety guards. When the equipment is operated, the covers and safety guards must

be installed as specified. Operation must be performed in accordance with this Instruction Manual.

DISPOSAL OF WASTE

Please dispose a servo motor and other options according to your local laws and regulations.

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the

following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

CONTENTS

1. INTRODUCTION 1- 1 to 1- 6

1.1 Rating plate....................................................................................................................................... 1- 1

1.2 Parts identification............................................................................................................................. 1- 2

1.3 Electromagnetic brake ...................................................................................................................... 1- 3

1.4 Servo motor shaft shapes................................................................................................................. 1- 5

2. INSTALLATION 2- 1 to 2- 8

2.1 Mounting direction............................................................................................................................. 2- 2

2.2 Load mounting/dismounting precautions.......................................................................................... 2- 3

2.3 Permissible load for the shaft ........................................................................................................... 2- 4

2.4 Protection from oil and water............................................................................................................ 2- 4

2.5 Cable................................................................................................................................................. 2- 5

2.6 Servo motor with oil seal................................................................................................................... 2- 5

2.7 Inspection items................................................................................................................................ 2- 6

2.8 Parts having service life.................................................................................................................... 2- 6

2.9 Machine accuracies .......................................................................................................................... 2- 7

2.10 Mounting servo motors ................................................................................................................. 11- 7

2.11 Restrictions when using the equipment at altitudes exceeding 1000 m and up to 2000 m

above sea level............................................................................................................................. 11- 7

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3- 1 to 3- 6

3.1 Selection of connectors .................................................................................................................... 3- 1

3.2 Wiring connectors (connector configurations A/B/C)........................................................................ 3- 2

3.3 Wiring connectors (connector configurations D/E/F/G).................................................................... 3- 3

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4- 1 to 4- 8

4.1 Connection instructions .................................................................................................................... 4- 2

4.2 Wiring................................................................................................................................................ 4- 3

4.2.1 HG-KN series servo motor......................................................................................................... 4- 3

4.2.2 HG-SN series servo motor......................................................................................................... 4- 5

4.3 Selection example of wires ............................................................................................................... 4- 7

5. WIRING OPTION 5- 1 to 5-22

5.1 Cable/connector sets ........................................................................................................................ 5- 1

5.1.1 Combinations of cable/connector sets....................................................................................... 5- 2

5.1.2 Cable and connector list............................................................................................................. 5- 3

5.2 Encoder cable/connector sets .......................................................................................................... 5- 6

5.3 Servo motor power cable................................................................................................................. 5-17

5.4 Electromagnetic brake cable ........................................................................................................... 5-19

5.5 Wires for option cables .................................................................................................................... 5-20

6. HG-KN SERIES 6- 1 to 6-18

6.1 Model designation............................................................................................................................. 6- 1

6.2 Combination list of servo motors and servo amplifiers..................................................................... 6- 1

6.3 Standard specifications..................................................................................................................... 6- 2

6.3.1 Standard specifications list......................................................................................................... 6- 2

6.3.2 Torque characteristics................................................................................................................ 6- 4

6.4 Electromagnetic brake characteristics.............................................................................................. 6- 5

6.5 Servo motors with special shafts ...................................................................................................... 6- 6

6.5.1 Key shaft (with 2 round end key) ............................................................................................... 6- 6

6.5.2 D cut shaft .................................................................................................................................. 6- 6

6.6 Servo motor with oil seal................................................................................................................... 6- 7

6.7 Mounting connectors ........................................................................................................................ 6- 8

6.8 Dimensions ....................................................................................................................................... 6- 9

6.8.1 Standard (without an electromagnetic brake) ............................................................................ 6- 9

6.8.2 With an electromagnetic brake ................................................................................................. 6-13

7. HG-SN SERIES 7- 1 to 7-12

7.1 Model designation............................................................................................................................. 7- 1

7.2 Combination list of servo motors and servo amplifiers..................................................................... 7- 1

7.3 Standard specifications..................................................................................................................... 7- 2

7.3.1 Standard specifications list......................................................................................................... 7- 2

7.3.2 Torque characteristics................................................................................................................ 7- 4

7.4 Electromagnetic brake characteristics.............................................................................................. 7- 5

7.5 Servo motors with special shafts ...................................................................................................... 7- 6

7.6 Servo motor with oil seal................................................................................................................... 7- 6

7.7 Dimensions ....................................................................................................................................... 7- 7

7.7.1 Standard (without an electromagnetic brake) ............................................................................ 7- 7

7.7.2 With an electromagnetic brake .................................................................................................. 7- 9

APPENDIX App.- 1 to App.-10

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

App. 2 Manufacturer list....................................................................................................................App.- 1

App. 3 Compliance with the CE marking..........................................................................................App.- 2

App. 4 Compliance with UL/CSA standard.......................................................................................App.- 3

App. 5 Selection example of servo motor power cable ....................................................................App.- 4

App. 6 Connector dimensions ..........................................................................................................App.- 5

1. INTRODUCTION

1 - 1

1. INTRODUCTION

1.1 Rating plate

The following shows an example of rating plate for explanation of each item.

HG-KN13J

112 0.8

0.57

MSIP-REI-MEK-BSM0060000000A

MADE IN JAPAN

FABRIQUÉ AU JAPON

100W

(Note 2)

Model

Serial number (Note 1)

Manufacturer

Country of origin and conforming standards

Input power, rated current and rated output

Mass and insulation class

Induced voltage constant and maximum ambient temperature

Power factor and IP rating

Rated speed

Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10),

Y (11), and Z (12)].

For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".

2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

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