Mitsubishi VS-6047- Manuals

A - 6 DISPOSAL OF WASTE Please dispose a servo motor and other options according to your local laws and regulations. «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 un...

4 APPENDIX App. - 1 to App. -32 App. 1 Servo motor ID codes .......................................................................................................... App.- 1 App. 2 Manufacturer list .......................................................................................................

1. INTRODUCTION 1 - 1 1. INTRODUCTION 1.1 Rating plate The following shows an example of rating plate for explanation of each item. (Note 2) Country of origin Model Input power and insulation class Rated output and mass Rated speed Serial number (Note 1) MITSUBISHI ELECTRIC INPUT 3AC 102V 11A CI. F ...

1. INTRODUCTION 1 - 2 (3) HG-JR22K1M(4) servo motor Encoder connector Terminal box Servo motor shaft Power lead hole Cooling fan connector 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or t...

1. INTRODUCTION 1 - 3 (2) Sound generation Though the brake lining may rattle during operation, it poses no functional problem. If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo amplifier parameters. For details, refer to each servo amplifier inst...

1. INTRODUCTION 1 - 4 (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, screws, etc. are attracted. 1.4 Servo motor shaft shapes In addition to the straight shaft, the key shaft and D cut shaft are available. Th...

2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead t...

2. INSTALLATION 2 - 2 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo motor. Servo motor series Mounting direction HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR All directions For mounting in the horizontal direction, it is recommended...

2. INSTALLATION 2 - 3 2.3 Load remove precautions CAUTION During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a key shaft, use the screw ...

2. INSTALLATION 2 - 4 2.4 Permissible load for the shaft CAUTION Do not use a rigid coupling as it may apply excessive bending load to the shaft of the servo motor, leading the shaft to break and the bearing to wear out. For the permissible shaft load specific to the servo motor, refer to the chapte...

2. INSTALLATION 2 - 5 2.6 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the connectors, terminals and others at the ends of the cables. 2.7 Servo motor w...

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 3. CONNECTORS USED FOR SERVO MOTOR WIRING POINT The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo amplifier or servo motor. If the IP rating of the connector, servo amplif...

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 3 (5) HG-UR series Power supply connector Encoder connector Wiring connector Servo motor For encoder For power supply For electromagnetic brake HG-UR72 HG-UR152 Connector configuration N Sharing for power supply (Note) HG-UR202 HG-UR352 HG-UR502 Connecto...

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 12 MEMO

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 1 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise,...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 3 4.2 Wiring 4.2.1 HG-MR series/HG-KR series servo motor (1) Connection with MR-J4 1-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less CNP3 (Red) (White) (Black) (Green/yellow) U V U V W W...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 4 (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less (Note 2) (Note 3) 24 V DC power supply for electromagnetic brake MBR (Electromagnetic brake interlock) AWG20 AWG20 MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CB...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 5 (2) Connection with MR-J4 multi-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less CNP3A/CNP3B/CNP3C(Note) (Red) (White) (Black) (Green/yellow) U V W U V W Servo motor Servo amplifier 10 ...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 7 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. MBR-A (Electromagnetic brake interl...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 9 (b) Connection with MR-J4 multi-axis servo amplifier 50 m or less A-axis servo motor M U V W (Note 1) B1B2 U B Servo amplifier U V W CALM DOCOM MBR-A RA3 MBR-B RA1 RA2 CNP3A (Note 3) CALM (AND malfunction) RA1 MBR-A (Electromagnetic brake interl...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 11 (d) HG-UR series Servo motor terminal section Servo motor Encoder Power Electromagnetic brake HG-UR72 HG-UR152 Connector F The connector for power is shared HG-UR202 HG-UR352 HG-UR502 Connector A Connector G Connector J (3) Details of servo mot...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 13 Connector K Cooling fan connector CE05-2A14S-2P Terminal No. Signal A BU (Note) B BV (Note) C BW (Note) C D A B D Note. Refer to the chapter of the servo motor series for the specifications of the power supplied to the cooling fan. (4) Terminal...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 18 (1) Connector details (a) Connector A CNP3 Servo amplifier Table 4.1 Connector and applicable wire Applicable wire Connector Receptacle assembly Wire size Insulator OD Stripped length [mm] Open tool Manufacturer CNP3 03JFAT-SAXGDK-H7.5 AWG 18 t...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 19 (c) Connector C MR-J4W_ Servo amplifier CNP3A CNP3B CNP3C (Note) Note. This figure shows the MR-J4 3-axis servo amplifier. Table 4.3 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length [mm] Open tool...

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 20 (2) Cable connection procedure (a) Cable making Refer to table 4.1 to 4.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator Core Stri...

5. WIRING OPTION 5 - 9 (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. ...

5. WIRING OPTION 5 - 11 (a) Connection of servo amplifier and servo motor 1) MR-EKCBL_M-LMR-EKCBL_M-H 2) CN2B CN2A (Note) CN2 CN2C or MR-J4 multi-axis servo amplifier MR-J4 1-axis servo amplifier Servo motorHG-MRHG-KR MR-J3JCBL03M-A2-LCable length: 0.3 m Note. This connection is for the MR-J4 3-axis...

5. WIRING OPTION 5 - 22 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the cable to use. Description Parts (Connector set) Servo amplifier-side con...

5. WIRING OPTION 5 - 26 5.5 Wires for option cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 5.1 Wires for option cables Characteristics of one core Type Model Length [m] Core size Number of cores Structure [Wires/mm] Conductor resistance [ Ω /k...

6. HG-MR SERIES/HG-KR SERIES 6 - 7 6.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbols (K and D) in the table are available. K and D are the symbols included in the servo motor model names. Refer to section 6.6.2 (4) for geared servo motors with special...

6. HG-MR SERIES/HG-KR SERIES 6 - 14 6.7 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points and install the connectors. (1) When screwing the connec...

6. HG-MR SERIES/HG-KR SERIES 6 - 15 6.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnetic brake with servo motor shaft. When running the cables to the load side, take care to avoid interf...

6. HG-MR SERIES/HG-KR SERIES 6 - 34 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053G5 50 HPG-11B-05-F0ADG-S 1/5 0.0485 0.5...

7. HG-SR SERIES 7 - 11 (a) Maximum speed Reduction ratio Servo motor 1/6 1/11 1/17 1/29 1/35 1/43 1/59 HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) 3000 r/min (permissible instantaneous speed: 3450 r/min) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) HG-SR352(4)(B)G1(H) 2000 r/min (permissible instantaneous spe...

7. HG-SR SERIES 7 - 16 (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flange-mounting shaft output type for high precision applications (G7). [Unit: mm] Servo motor Reducer model number Q φ S W T QK U Y 20A 42 25h7 8...

8. HG-JR SERIES 8 - 14 8.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. 8.8.1 Terminal box detail diagram...

9. HG-RR SERIES 9 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. 4. In the environment where the servo m...

APPENDIX App. - 1 App. 1 Servo motor ID codes Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor F053 HG-MR053 FF13 HG-MR13 0101 FF23 HG-MR23 FF43 HG-MR43 FF73 HG-MR73 F053 HG-KR053 FF13 HG-KR13 0111 FF23 HG-KR23 FF43 HG-KR43 FF73 HG-KR73 FF51 HG-SR51 FF81 HG-SR81 F121 HG-S...

APPENDIX App. - 2 Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor FF53 HG-JR534 FF73 HG-JR734 F103 HG-JR1034 F153 HG-JR1534 F203 HG-JR2034 F353 HG-JR3534 0132 F503 HG-JR5034 F703 HG-JR7034 F903 HG-JR9034 1101 HG-JR11K1M4 1501 HG-JR15K1M4 2201 0044 HG-JR22K1M4 F103 HG-RR1...

APPENDIX App. - 3 App. 3 Compliance with the CE marking App. 3.1 What is CE marking? The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also appl...

APPENDIX App. - 7 App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper servo. T a : Acceleration torque [N•m] g: Gravitational acceleration (9.8 [m/s 2 ]) T d : Deceleration torque [N•m] µ: Friction coefficient T Ma : Torq...

APPENDIX App. - 9 Relation between position resolution Δ l and overall accuracy Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affected by electrical system errors. As a guideline, Equati...

APPENDIX App. - 10 [Setting example] Obtain the command pulse frequency required to run the HG-KR at 3000 r/min. The following result will be found according to equation 5.6. f 0 = 4194304 • 60 N 0 • CMX CDV (Command pulse frequency) = 4194304 • 60 3000 • 1 = 209715200 [pulses/s] However, as the max...

APPENDIX App. - 11 5.4 Stopping characteristics (1) Droop pulses ( ε ) When you use a pulse train command to run the servo motor, the relation between the command pulse frequency and servo motor speed will be as follows. The difference between the command pulses and feedback pulses during accelerati...

APPENDIX App. - 12 (2) Settling time (t s ) during linear acceleration/deceleration Since droop pulses still exist regardless of zero command pulse, settling time (t s ) is required until the servo motor stops. Set the operation pattern in consideration for the settling time. The settling time (t s ...

APPENDIX App. - 14 (2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern. t psd t psa 0 Servo motor speed Command Time Command pulse frequency f [pulse/s] Servo motor speed [r/min] N 0 f 0 ...

APPENDIX App. - 16 (4) Continuous effective load torque If the torque required for the servo motor changes with time, the continuous effective load torque should be lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start of acceleration or deceleration du...

APPENDIX App. - 17 App. 5.6 Load torque equations Typical load torque equations are indicated below. Type Mechanism Equation Linear movement Servo motor F C Z 2 Z 1 F G W T L = F 2 • 10 3 • • N V = S F • 2 • 10 3 • ············································· (5.15) F: Force in the axial direction ...

APPENDIX App. - 18 App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type Mechanism Equation Axis of rotation is on the cylinder center Axis of rotation L D 1 D 2 J L0 = 32 • L • (D 1 - D 2 ) 4 4 = 8 W • (D 1 + D 2 ) 2 2 ··························...

APPENDIX App. - 19 App. 5.8 Precautions for home position return When a general positioning unit is used, the sequence of events is as shown in the following figure. Proximity dog on starts deceleration Creep speed V 2 Home position return speed V 1 Proximity dog On Off Zero pulse signal When determ...

APPENDIX App. - 20 App. 5.9 Selection example Servo motor Machine specification Gear ratio 5: 8 Servo amplifier Feed speed of moving part Travel distance per command pulse Feed per cycle Positioning time Number of feeds Operation cycle Reduction ratio Moving part mass Drive system efficiency Frictio...

APPENDIX App. - 21 (3) Acceleration/deceleration time constant t psa = t psd = t 0 - V 0 /60 l - t s = 0.05 [s] t s : Settling time (Here, this is assumed to be 0.15 s.) (4) Operation pattern 0.05 0.05 0 Time [s] 3000 t psa t psd t 0 = 1.0 1 cycle t f = 1.5 t s 0.15 Servo motor speed [r/min] (5) Loa...

APPENDIX App. - 23 (8) Acceleration/deceleration torque Torque necessary for acceleration T Ma = (J L / + J M ) • N 0 9.55 • 10 4 • t psa + T L = 1.84 [N•m] J M : Moment of inertia of the servo motor Torque necessary for deceleration T Md = -(J L • + J M ) • N 0 9.55 • 10 4 • t psd + T L = -0.85 [N•...

APPENDIX App. - 24 App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electromagnetic brake stops as the following diagram. Here, the maximum coasting distance (during fast feed) L max will be the area shown with the diagonal line in the figure and can...

APPENDIX App. - 25 App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30 m or less Some cables do not fit into the option or the recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when u...

APPENDIX App. - 27 App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] Note. The recommended screw tightening torque is 0.1 N•m. 19.6 13.5 6.5 24.6 2219 31.1 (Note) 13.6 Crimping tool: 1596970-1 (for ground clip) 1...

APPENDIX App. - 28 KN4FT04SJ1-R [Unit: mm] Note. The recommended screw tightening torque is 0.2 N•m. 16 ± 0.3 11.7 ± 0.2 Approx. 29 18.5 ± 0.3 24.5 ± 0.3 20.1 ± 0.2 7° 3.5 ± 0.2 12.2 ± 0.3 13.7 ± 0.3 11 ± 0.3 13 ± 0.3 Main key (Note) R6 Crimping tool: CT160-3-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2...

APPENDIX App. - 29 (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1-AP10S-M_ CMV1-AP2S-_ 21 Approx. 32 Approx. 33 (c) CE05-6A_-_SD-D-BSS [Unit: mm] C ± 0.8 B 0 -0 .3 8 D or shorter 7.85 or longer W A Model A B C D W CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2...

REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030113-A First edition Jun. 2012 SH(NA)030113-B 4. Additional instructions (1) Transportation and installation Section 2.2 Section 2.6 (2) Section 5.1.2 Section 6.3.1 Section...

Print Data *Manual Number Revision Feb. 2013 SH(NA)030113-C Appendix 4 Appendix 5.9 (8) to (10) Appendix 6 The part of table is changed. Some numbers are changed. The part of table is changed. Jun. 2013 SH(NA)030113-D "The following servo amplifiers will be available in the future. All specifica...

Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributo...

SH (NA) 030113-G (1403) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL HG-MR HG-KR HG-SR ...