Page 1 Mitsubishi Electric AC Servo System Rotary Servo Motor User's Manual (For MR-J5) -HK-KT_ -HK-MT_ -HK-ST_ -HK-RT_...
Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for converter units/drive units) before starting wiring and/or inspection. ● To prevent an electric shock, ground the rotary servo motor securely. ●...
Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
Page 6: U.s. Customary Units
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...
Page 7: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 8 Motor cables/connector sets ............. . 68 MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_ .
Page 9 With shaft-output type gear reducer for high precision applications, flange mounting ....144 Cable direction: Load side/opposite direction of the load side ........146 Cable direction: Vertical.
Page 10 CHAPTER 9 HK-RT SERIES Model designation ..............220 Standard specifications .
Page 11 REVISIONS ................257 WARRANTY .
Page 12: Chapter 1 Introduction
INTRODUCTION Rating plate Products proven to comply with the standards set by a given Certification Body are marked with the appropriate certification marks. The marks vary for each Certification Body. The date of manufacture of the rotary servo motor is indicated in the serial number on the rating plate. For the date of manufacture, the last two digits of the year and the month in numerical format [1 to 9, X (10), Y (11), and Z (12)] are displayed.
Page 13 HK-ST series/HK-RT (3.5 kW - 7.0 kW) series The rating plate indicates the characteristic values for when the torque has been increased by changing the servo amplifier. For the characteristics in combination with each servo amplifier, refer to "Servo amplifier/motor combinations" in the following manuals.
Page 14: Environment
Environment Conditions Operation Transportation/storage Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) Ambient humidity 10 %RH to 90 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing) Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, dust, nor high magnetic field Altitude 2000 m or less External magnetic field...
Page 15: Parts Identification
Parts identification HK-KT series/HK-MT series/HK-RT (1.0 kW - 2.0 kW) series ■Without an electromagnetic brake Power supply/encoder connector Motor shaft Encoder ■With an electromagnetic brake Power supply/brake/encoder connector Motor shaft Encoder HK-ST series/HK-RT (3.5 kW - 7.0 kW) series ■Without an electromagnetic brake Power connector Encoder connector Encoder...
Page 16: Electromagnetic Brake
Electromagnetic brake The rotary servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When operating the rotary servo motor, supply power to the electromagnetic brake to release the brake.
Page 17 Sound generation The brake lining may rattle during a low-speed operation; however, it poses no functional problem. The noise may be reduced or eliminated by the machine resonance suppression filter set with the parameters of the servo amplifier. For details, refer to "Machine resonance suppression filter" in the following manual. MR-J5 User's Manual (Adjustment) Selection of surge absorbers for electromagnetic brake circuit The following shows an example of how to select a varistor as a surge absorber.
Page 18: Rotary Servo Motor Shaft Shapes
Rotary servo motor shaft shapes Do not use shafts other than the straight shaft for frequent start/stop applications. Use a friction coupling or the like when coupling the shaft with a machine. There are six shaft shape types for the rotary servo motor: straight shaft, D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), keyed shaft (without key), and keyed shaft (with single pointed key).
Page 19 Keyed shaft (without key) Section AA Keyed shaft (with single pointed key) 1 INTRODUCTION 1.5 Rotary servo motor shaft shapes...
Page 20: Servo Motors With Functional Safety
Servo motors with functional safety The HK-KT series, HK-MT series, HK-ST series, and HK-RT series support servo motors with functional safety. The specifications and dimensions of servo motors with functional safety are not changed. For the available safety-sub functions and the achievable safety levels, refer to "Functional safety" in the User's Manual (Introduction).
Page 21: Chapter 2 Installation
INSTALLATION Precautions • Install the rotary servo motor on incombustible material. Installing them either directly on or near combustibles may lead to smoke or a fire. • Provide adequate protection so as to prevent conductive matter (such as screws and metal fragments) and combustible matter (such as oil) from entering the rotary servo motor.
Page 22: Mounting Direction
Mounting direction The mounting direction of the rotary servo motor is shown in the following table. Rotary servo motor series Mounting direction HK-KT Any direction HK-MT HK-ST HK-RT It is recommended to set the connector section downward if the rotary servo motor is mounted horizontally. Examine the cable clamping method, and give a gentle slack to the connection cable, to prevent excessive load from being applied to the connector and cable connection part.
Page 23: Load Mounting/Dismounting Precautions
Load mounting/dismounting precautions • When mounting a pulley to the rotary servo motor with a keyed shaft, use the screw hole in the shaft end. To fit the pulley, first insert a double-end bolt into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.
Page 24: Permissible Load For The Shaft
Permissible load for the shaft For the permissible load for the shaft specific to the rotary servo motor, refer to the chapter of the applicable rotary servo motor series. • Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load. •...
Page 25: Cable
Cable The power supply and encoder cables routed from the rotary servo motor should be fixed to the rotary servo motor to keep them unmovable. Otherwise, the cable may be disconnected. In addition, do not modify the connectors, terminals, and other areas at the ends of the cables.
Page 26: Inspection Items
Inspection items • To prevent a malfunction, do not perform an insulation resistance test (megger test) on the rotary servo motor. • Customers must not disassemble and/or repair the equipment. Periodic inspection Perform the following inspections. • Check the bearings, brake section, and the like for unusual noise. •...
Page 27: Machine Accuracy
Machine accuracy The following table shows the machine accuracy of the output shaft and mounting parts of the rotary servo motor. Accuracy [mm] Measuring position Flange size □90 or less □130 □176 Runout of flange surface to output shaft 0.05 0.06 0.08 Runout of fitting OD of flange surface...
Page 28: Mounting Rotary Servo Motors
2.11 Mounting rotary servo motors HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Be sure to use the rotary servo motor within the specified environment, and mount the rotary servo motor on a machine having the equivalent heat dissipation effect as the following aluminum flange. The temperature rise value of the rotary servo motor changes depending on its mounting environment, operating conditions, and other factors.
Page 29: Chapter 3 Connectors Used For Rotary Servo Motor Wiring
CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING Precautions • The indicated IP rating is the connector's protection against ingress of dust and water when the connector is connected to a rotary servo motor. If the IP rating of the connector and rotary servo motor varies, the overall IP rating depends on the lowest IP rating of all components.
Page 30 HK-ST series/HK-RT (3.5 kW - 7.0 kW) series HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Electromagnetic brake connector Encoder connector Power connector Rotary servo motor Wiring connector For encoder For electromagnetic brake For power supply *1*2 HK-ST52(4)W Connector configuration B Connector configuration C Connector configuration D HK-ST102(4)W...
Page 31: Wiring Connectors (Connector Configuration A)
Wiring connectors (connector configuration A) Load-side lead/opposite to load-side lead Two cable type One cable type Connector Feature Plug (Hirose Electric) Rotary servo configuration motor-side Type Connector Contact Applicable connector cable OD IP67 Dual cable MT50W-8D/2D4ES-CVLD(7.5) (1) For power supply φ7.5 ±...
Page 32: Wiring Connectors (Connector Configurations B/C/D/E)
Wiring connectors (connector configurations B/C/ D/E) Angle plug Angle plug (one-touch connection type) (screw type) Straight plug Straight plug (one-touch connection type) (screw type) Connector Feature Plug (DDK) Rotary servo configuration motor Type Plug Socket Contact shape Cable OD encoder contact [mm] connector...
Page 33 Angle plug Angle plug (one-touch connection type) (screw type) Straight plug Straight plug (one-touch connection type) (screw type) Connector Feature Plug (DDK) Rotary servo configuration motor Type Plug Socket Contact shape Cable OD electromagn contact [mm] etic brake (reference) connector IP67 Straight CMV1-SP2S-S...
Page 34 Straight plug Cable clamp Angle plug Cable clamp Connector Feature Plug (JAE) Cable clamp (JAE) Rotary servo configuration motor-side Type Connector Model Cable OD [mm] connector (reference) IP67 One-touch JL10-6A18-10SE-EB JL04-18CK(10)-_-R 8 to 11 JL10-2E18-10PCE connection type Applicable wire size: 3.5 mm JL04-18CK(13)-_-R 11 to 14.1 compliant...
Page 35 Straight plug Cable clamp Angle plug Cable clamp Connector Feature Plug (JAE) Cable clamp (JAE) Rotary servo configuration motor-side Type Connector Model Cable OD [mm] connector (reference) IP67 One-touch JL10-6A22-22SE-EB JL04-2022CK(12)-_-R 9.5 to 13 JL10-2E22-22PCE connection type Applicable wire size: 8 mm JL04-2022CK(14)-_-R 12.9 to 16 compliant...
Page 36: Chapter 4 Connecting The Servo Amplifier And Rotary Servo Motor
CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR Precautions • Insulate the conductive parts of the terminals. • To prevent unexpected operation of the rotary servo motor, wire the equipment correctly and securely. • Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Failing to do so may cause the cables and connectors to disconnect during operation.
Page 37: Precautions For Wiring
Precautions for wiring To ground the servo motor, connect the grounding lead wire to the servo amplifier, then connect the wire from the servo amplifier to the ground via the protective earth (PE) terminal of the cabinet. Do not connect the wire directly to the protective earth (PE) terminal of the cabinet.
Page 38: Wiring
Wiring To wire to the servo amplifier, use connectors packed with the servo amplifier or optional connectors. For connectors of the MR-J5-_/MR-J5W_-_, refer to "Wiring CNP1, CNP2, and CNP3" in the following manual. MR-J5 User's Manual (Hardware) For connectors of the MR-J5D_-_, refer to "Wiring CNP3" in the following manual. MR-J5D User's Manual (Hardware) HK-KT series/HK-MT series/HK-RT (1.0 kW - 2.0 kW) series Servo amplifier...
Page 39 Connection diagram 2 10 m or shorter Rotary servo motor Servo amplifier CNP3 (Red) (White) (Black) MR-AEP2CBL_M-A1-L (Green/yellow) MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H MR-AEP2CBL_M-A5-L MR-AEP2CBL_M-A5-H CN2/CN2A Encoder *1 For the MR-J5D1-_, connect the wire to "E" of CNP3. Connection diagram 3 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable.
Page 40 Connection diagram 4 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable 24 V DC power supply for MR-AEPB2J20CBL03M-A1-L Rotary servo motor Servo amplifier...
Page 41 Connection diagram 5 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable MR-AEP2J10CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J10CBL03M-A2-L MR-AEP2J10CBL03M-A5-L CNP3...
Page 42 Connection diagram 7 10 m or shorter 24 V DC power Rotary servo motor supply for Servo amplifier (Electromagnetic electromagnetic brake interlock) (Malfunction) brake B1 (yellow) Electromagnetic CNP3 B2 (brown) brake (Red) (White) (Black) MR-AEPB1CBL_M-A1-L (Green/yellow) MR-AEPB1CBL_M-A1-H MR-AEPB1CBL_M-A2-L MR-AEPB1CBL_M-A2-H MR-AEPB1CBL_M-A5-L MR-AEPB1CBL_M-A5-H CN2/CN2A Encoder...
Page 43 Connection diagram 9 10 m or shorter MR-AEPB2CBL_M-A1-L MR-AEPB2CBL_M-A1-H MR-AEPB2CBL_M-A2-L 24 V DC power MBR-A supply for MR-AEPB2CBL_M-A2-H Rotary servo motor Servo amplifier CALM electromagnetic (Electromagnetic brake MR-AEPB2CBL_M-A5-L interlock for A-axis) (AND malfunction) brake MR-AEPB2CBL_M-A5-H B1 (yellow) Electromagnetic B2 (brown) CNP3A brake U (red)
Page 44 Connection diagram 10 10 m or shorter Rotary servo motor Servo amplifier MR-AEP2CBL_M-A1-L MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H CNP3A MR-AEP2CBL_M-A5-L U (red) MR-AEP2CBL_M-A5-H V (white) W (black) E (green/yellow) CN2A Encoder Rotary servo motor MR-AEP2CBL_M-A1-L MR-AEP2CBL_M-A1-H MR-AEP2CBL_M-A2-L MR-AEP2CBL_M-A2-H CNP3B MR-AEP2CBL_M-A5-L U (red) MR-AEP2CBL_M-A5-H V (white) W (black)
Page 45 Connection diagram 11 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable 24 V DC power MBR-A supply for MR-AEPB2J10CBL03M-A1-L Rotary servo motor Servo amplifier...
Page 46 Connection diagram 12 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable 24 V DC power supply for MBR-A MR-AEPB2J20CBL03M-A1-L Rotary servo motor...
Page 47 *1 Configure a circuit which interlocks with an emergency stop switch to shut off. *2 The electromagnetic brake terminals (B1 and B2) have no polarity. *3 Do not use the 24 V DC interface power supply for the electromagnetic brake. *4 Connect a surge absorber as close to the rotary servo motor as possible.
Page 48 Connection diagram 13 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable MR-AEP2J10CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J10CBL03M-A2-L MR-AEP2J10CBL03M-A5-L CNP3A...
Page 49 Connection diagram 14 Fabricate an extension cable as shown below. Refer to the following for the wires used for the extension cable. Page 56 Selection example of wires 50 m or shorter Extension cable MR-AEP2J20CBL03M-A1-L Rotary servo motor Servo amplifier MR-AEP2J20CBL03M-A2-L MR-AEP2J20CBL03M-A5-L CNP3A...
Page 50 *1 For MR-AENSCBL_M-_, refer to the following. Page 84 MR-AENSCBL_M-_ *2 Use of the following connectors is recommended: Junction connector Description IP rating a) Junction connector for extension cable IP67 Connector: CE05-6A18-10SD-D-BSS Cord clamp: CE3057-10A-2-D (DDK Ltd.) The number varies depending on the cable OD. b) Junction connector for motor power IP67 Connector: D/MS3101A18-10P(D263)
Page 51 Connection diagram 15 10 m or shorter MR-AEPB1CBL_M-A1-L MR-AEPB1CBL_M-A1-H MR-AEPB1CBL_M-A2-L 24 V DC power MBR-A supply for MR-AEPB1CBL_M-A2-H Rotary servo motor Servo amplifier CALM electromagnetic (Electromagnetic brake MR-AEPB1CBL_M-A5-L interlock for A-axis) (AND malfunction) brake MR-AEPB1CBL_M-A5-H B1 (yellow) Electromagnetic B2 (brown) CNP3A brake (Red)
Page 52 Connection diagram 16 10 m or shorter MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H MR-AEP1CBL_M-A2-L MR-AEP1CBL_M-A2-H Rotary servo motor Servo amplifier MR-AEP1CBL_M-A5-L MR-AEP1CBL_M-A5-H CNP3A (Red) (White) (Black) (Green/yellow) CN2A Encoder MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H MR-AEP1CBL_M-A2-L MR-AEP1CBL_M-A2-H Rotary servo motor MR-AEP1CBL_M-A5-L MR-AEP1CBL_M-A5-H CNP3B (Red) (White) (Black) (Green/yellow) CN2B Encoder MR-AEP1CBL_M-A1-L MR-AEP1CBL_M-A1-H...
Page 53: Hk-St Series/Hk-Rt (3.5 Kw - 7.0 Kw) Series
HK-ST series/HK-RT (3.5 kW - 7.0 kW) series HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Refer to the following for the wires used for wiring. Page 56 Selection example of wires Wiring diagram ■Connecting with a 1-axis servo amplifier 50 m or shorter Servo amplifier Rotary servo motor...
Page 54 ■Connecting with a multi-axis servo amplifier 50 m or shorter A-axis Servo amplifier rotary servo motor CNP3A MBR-A 24 V DC power supply for CALM (Electromagnetic electromagnetic brake interlock for A-axis) (AND malfunction) brake MBR-B B-axis (Electromagnetic brake interlock for B-axis) rotary servo motor CNP3B MBR-C...
Page 55 Rotary servo motor terminal section The rotary servo motor terminal section is shown in the following table. Refer to the following for the details of the connectors. Page 54 Details of the rotary servo motor connectors The connector fitting the rotary servo motor is prepared as options. Refer to the following for details of the options.
Page 56 Details of the rotary servo motor connectors The following figures show the encoder connector, power connector, and electromagnetic brake connector which are viewed from the connection side. ■Connector A Encoder connector CMV1-R10P Terminal No. Signal      ■Connector B Power connector JL10-2E18-10PCE...
Page 57 ■Connector C Power connector JL10-2E22-22PCE (MS3102A22-22P) Terminal No. Signal ■Connector D Electromagnetic brake connector CMV1-R2P Terminal No. Signal *1 Supply electromagnetic brake power (24 V DC). There is no polarity. 4 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR 4.2 Wiring...
Page 58: Selection Example Of Wires
Selection example of wires When cables are fabricated by the customer, wires should be selected in accordance with the application. Wires indicated in this section are separated wires. When using a cable for power line (U/V/W) between the servo amplifier and rotary servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
Page 59 Selection examples for the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) are indicated below. Even when the maximum torque is increased, the applicable wire sizes are the same. HK-KT series Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2 *1 *2 *2 *4...
Page 60 HK-ST series HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Rotary servo motor Wire [mm 1) U/V/W/E 2) B1/B2 HK-ST52W 1.25 (AWG 16) 1.25 (AWG 16) HK-ST102W 1.25 (AWG 16) HK-ST172W 2 (AWG 14) HK-ST202AW 2 (AWG 14) HK-ST302W 2 (AWG 14) HK-ST353W 3.5 (AWG 12)
Page 61: Chapter 5 Wiring Option
WIRING OPTION When cables are fabricated by the customer, wires should be selected in accordance with the application. Precautions • Use specified options. Otherwise, it may cause a malfunction or fire. • MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. As using contacts for other plugs may damage the connector, use the enclosed contacts.
Page 62: Combinations Of Cables/Connector Sets
Combinations of cables/connector sets HK-KT series/HK-MT series/HK-RT (1.0 kW - 2.0 kW) series Junction connection (9) (10) (11) (12) To 24 V DC power supply (46) (47) for electromagnetic brake 1-axis servo amplifier (13) (14) CNP3 CN2/ (15) CN2A Junction connection (16) (17) (18) (19) To 24 V DC power supply (48) (49)
Page 63: Cable And Connector List
Cable and connector list HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables For the HK-KT Standard MR-AEPB2CBL2M-A1-L IP65 (Dual cable type/ series/HK-MT (for fixed MR-AEPB2CBL5M-A1-L direct connection series/HK- parts) type)
Page 64 Product name Application Flex type Cable Model Description/IP rating/Cable direction length Motor cables For the HK-KT Standard 0.3 m MR-AEPB2J10CBL03M- IP65 (Dual cable type/ series/HK-MT (for fixed A1-L junction series/HK- parts) IP20 connection type) RT103(4)W/HK- Motor side: IP65 RT153(4)W/HK- Junction side: RT203(4)W IP20 With...
Page 65 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (16) Motor cables For the HK-KT Standard 0.3 m MR-AEPB2J20CBL03M- IP65 (Dual cable type/ series/HK-MT (for fixed A1-L junction series/HK- parts) IP65 connection type) RT103(4)W/HK- Motor side: IP65 RT153(4)W/HK- Junction side: RT203(4)W IP65...
Page 66 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (24) Encoder For the HK-KT   MR-J3SCNS IP67 connector set series (One-touch For the HK-MT connection type) series Refer to the following for details. Junction side: For the HK-ST Page 84 MR-AENSCBL_M-_ IP67 series...
Page 67 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (34) Power connector HK-ST7M2UW/   MR-APWCNS5 IP67 HK-ST172UW/ (One-touch HK-ST202(4)W/ connection type) HK-ST352(4)W/ Plug: JL10-6A22-22SE-EB HK-ST502(4)W/ Cable clamp: JL04-2022CK(14)-_-R HK-ST702(4)W/ (JAE) HK-RT353(4)W/ Applicable cable HK-RT503(4)W/ Applicable wire size: 8 mm (AWG 8) or less HK-RT703(4)W Cable OD: 12.9 mm to 16 mm...
Page 68 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (42) Motor cables For the HK-KT Standard MR-AEPB2CBL2M-A5-L (Dual cable type/ series/HK-MT (for fixed MR-AEPB2CBL5M-A5-L direct connection series/HK- parts) type) RT103(4)W/HK- 10 m MR-AEPB2CBL10M-A5-L Motor side: IP65 RT153(4)W/HK- IP65 (43) High flex MR-AEPB2CBL2M-A5-H...
Page 69 Product name Application Flex type Cable Model Description/IP rating/Cable direction length (48) Motor cables For the HK-KT Standard 0.3 m MR-AEPB2J20CBL03M- (Dual cable type/ series/HK-MT (for fixed A5-L junction series/HK- parts) IP65 connection type) RT103(4)W/HK- Motor side: IP65 RT153(4)W/HK- IP65 Junction side: RT203(4)W IP65...
Page 70: Motor Cables/Connector Sets
Motor cables/connector sets MR-AEPB2CBL_M-_-_/MR-AEP2CBL_M-_-_ Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 2 A 1 - Flex type Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Outlet direction...
Page 71 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 72 Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) •...
Page 73 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
Page 74: Mr-Aepb2J10Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L
MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo amplifier-side encoder cable (MR-AEKCBL_M-_) is required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 2 A 1 -...
Page 75 Junction connector (1) The following shows the view from the wiring side. Housing: 1-172169-9 Contact: 170361-4 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity) Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA...
Page 76 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
Page 77: Mr-Aepb2J20Cbl03M-_-L/Mr-Aep2J20Cbl03M-_-L
MR-AEPB2J20CBL03M-_-L/MR-AEP2J20CBL03M-_-L The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The servo amplifier-side encoder cables (MR-AENSCBL_M-_ and MR-J3ENSCBL_M-_) are required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 2 A 1 -...
Page 78 Junction connector (1) The following shows the view from the wiring side. Receptacle: CMV1-CR10P-M2 (DDK) Applicable wire size: AWG 20 or lower Motor-side connector (2) ■Load-side lead/opposite to load-side lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVLD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA...
Page 79 ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Encoder Polarity mark...
Page 80: Mr-Aepb1Cbl_M-_-_/Mr-Aep1Cbl_M
MR-AEPB1CBL_M-_-_/MR-AEP1CBL_M-_-_ Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E P B 1 A 1 - Flex type Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Outlet direction Symbol...
Page 81 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 82 • Opposite to load-side lead Polarity mark E mark Polarity mark ■Vertical lead The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Connector set: MT50W-8D/2D4ES-CVSD(7.5) Contact (for motor power supply): MT50E-1820SCFA Contact (for encoder and electromagnetic brake): MT50D-2224SCFA (Hirose Electric) Polarity mark...
Page 83: Encoder Cable
Encoder cable MR-AEKCBL_M-_ The servo amplifier and the rotary servo motor cannot be connected by these cables alone. The motor cables for rotary servo motors (MR-AEPB2J10CBL03M-_-L/MR-AEP2J10CBL03M-_-L) are required. Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E K C B L 2 0 M -...
Page 84 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 85 Internal wiring diagram The cable colors in the connection diagram apply to the following cables: HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector (Red) (White) (Green) (Blue) (Purple) Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following.
Page 86: Mr-Aenscbl_M
MR-AENSCBL_M-_ Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - A E N S C B L 2 0 M - Flex type Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Cable length...
Page 87 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 88 Cable internal wiring diagram The cable colors in the connection diagram apply to the following cables: HRZDEV-SLAB-C18448(20276), RMDCV-SLAB-C18451(20276) manufactured by Dyden Corporation CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector (Red) (White) (Green) (Blue) (Purple) Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram.
Page 89: Mr-J3Enscbl_M
MR-J3ENSCBL_M-_ Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available. M R - J 3 E N S C B L 2 Flex type Symbol Flex type Standard (for fixed parts) High flex life (for moving parts) Cable length Symbol...
Page 90 CN2, CN2A, CN2B, and CN2C side connector (1) The following shows the view from the wiring side. Do not connect anything to the pins that are marked with a diagonal line. Securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Page 100 Shielding CN2, CN2A, CN2B, and CN2C connectors Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
Page 91 Cable internal wiring diagram • MR-J3ENSCBL2M-L • MR-J3ENSCBL5M-L • MR-J3ENSCBL10M-L • MR-J3ENSCBL2M-H • MR-J3ENSCBL5M-H • MR-J3ENSCBL10M-H CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector Plate When fabricating an encoder cable Prepare the following parts, and fabricate the cable in accordance with the following diagram. Page 89 Cable internal wiring diagram Refer to the following for the specifications of the cable to use.
Page 92: Wires For Option Cables
If special length shielded cables or shielded power cables are required, use the HK-KT/HK-MT/HK-RT (1.0 kW - 2.0 kW) motor cables manufactured by Mitsubishi Electric System & Service Co., Ltd. that meet the following specifications. • UL 758 (AWM) (For encoder: UL style 20276 For power supply/brake: UL style 2586) •...
Page 93: Mr-Aepb2Cbl_M-_-L/Mr-Aepb2Cbl_M-_-H
MR-AEPB2CBL_M-_-L/MR-AEPB2CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB2CBL_M-_-L For encoder 2 to 10 Standard (for fixed parts) UL style 20276 VW-1 For power supply/brake UL style 2586 VW-1 MR-AEPB2CBL_M-_-H For encoder 2 to 10...
Page 94: Mr-Aep2Cbl_M-_-L/Mr-Aep2Cbl_M-_-H
MR-AEP2CBL_M-_-L/MR-AEP2CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEP2CBL_M-_-L For encoder 2 to 10 Standard (for fixed parts) UL style 20276 VW-1 For power supply UL style 2586 VW-1 MR-AEP2CBL_M-_-H For encoder 2 to 10...
Page 95: Mr-Aepb2J20Cbl03M-_-L/Mr-Aepb2J10Cbl03M-_-L
MR-AEPB2J20CBL03M-_-L/MR-AEPB2J10CBL03M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB2J20CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply/brake UL style 2586 VW-1 MR-AEPB2J10CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1...
Page 96: Mr-Aep2J20Cbl03M-_-L/Mr-Aep2J10Cbl03M-_-L
MR-AEP2J20CBL03M-_-L/MR-AEP2J10CBL03M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEP2J20CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1 For power supply UL style 2586 VW-1 MR-AEP2J10CBL03M-_-L For encoder Standard (for fixed parts) UL style 20276 VW-1...
Page 97: Mr-Aepb1Cbl_M-_-L/Mr-Aep1Cbl_M-_-L
MR-AEPB1CBL_M-_-L/MR-AEP1CBL_M-_-L Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB1CBL_M-_-L For encoder/power 2 to 10 Standard (for fixed parts) UL style 2586 VW-1 supply/brake MR-AEP1CBL_M-_-L For encoder/power 2 to 10 Standard (for fixed parts) UL style 2586 VW-1...
Page 98: Mr-Aepb1Cbl_M-_-H/Mr-Aep1Cbl_M-_-H
MR-AEPB1CBL_M-_-H/MR-AEP1CBL_M-_-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEPB1CBL_M-_-H For encoder/power 2 to 10 High flex life (for moving UL style 2586 VW-1 supply/brake parts) MR-AEP1CBL_M-_-H For encoder/power 2 to 10 High flex life (for moving UL style 2586 VW-1...
Page 99: Mr-Aenscbl_M-L/Mr-Aenscbl_M-H
MR-AENSCBL_M-L/MR-AENSCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AENSCBL_M-L For encoder 20, 30 Standard (for fixed parts) UL style 20276 VW-1 MR-AENSCBL_M-H For encoder 20 to 50 High flex life (for moving UL style 20276 VW-1 parts)
Page 100: Mr-Aekcbl_M-L/Mr-Aekcbl_M-H
MR-AEKCBL_M-L/MR-AEKCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581 MR-AEKCBL_M-L For encoder 20, 30 Standard (for fixed parts) UL style 20276 VW-1 MR-AEKCBL_M-H For encoder 20 to 50 High flex life (for moving UL style 20276 VW-1 parts)
Page 101: Mr-J3Enscbl_M-L/Mr-J3Enscbl_M-H
MR-J3ENSCBL_M-L/MR-J3ENSCBL_M-H Item Cable Flex type Applicable standard length For wiring between devices Flame retardant UL 758 (AWM) UL 1581   MR-J3ENSCBL_M-L For encoder 2 to 10 Standard (for fixed parts)   MR-J3ENSCBL_M-H For encoder 2 to 10 High flex life (for moving parts) Item Physical characteristics...
Page 102: Shielding Cn2, Cn2A, Cn2B, And Cn2C Connectors
Shielding CN2, CN2A, CN2B, and CN2C connectors When wiring the CN2, CN2A, CN2B, and CN2C side connectors, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell. Cable Ground plate Screw 5 WIRING OPTION 5.5 Shielding CN2, CN2A, CN2B, and CN2C connectors...
Page 103: Cable Flex Life
Cable flex life The flex life of the cables is shown below. This graph shows calculated values and not guaranteed values. The cable flex life factors in conductor and insulation breakage. The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics, sheath abrasion, or insulation deterioration.
Page 104: Chapter 6 Hk-Kt Series
HK-KT SERIES This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-KT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter. For the combinations of servo amplifiers and rotary servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the rotary servo motor, refer to "Servo amplifier/motor combinations"...
Page 105: Model Designation
Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. H K - K T 4 3 4 Special specifications Symbol Special specifications Oil seal None Standard Symbol Oil seal Functional safety supported Not attached None...
Page 106: Standard Specifications
Standard specifications Standard specifications list When connected with 200 V servo amplifier Series HK-KT_ (Low inertia/small capacity) Flange size □40 □60 Rotary servo motor model 053W 1M3W 13UW Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC)
Page 107 Series HK-KT_ (Low inertia/small capacity) Flange size □80 □90 Rotary servo motor model 23UW 43UW 7M3W 103W 63UW 7M3U 103UW 153W 203W 202W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous...
Page 108 Series HK-KT_4_ (Low inertia/small capacity) Flange size □60 □80 □90 Rotary servo motor model 434W 634W 7M34W 1034W 1534W 2034W 2024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous...
Page 109 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 110 When connected with 400 V servo amplifier Series HK-KT_ (Low inertia/small capacity) Flange size □40 Rotary servo motor model 053W 1M3W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manuals. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC)
Page 111 Series HK-KT_4_ (Low inertia/small capacity) Flange size □60 □80 □90 Rotary servo motor model 434W 634W 7M34W 1034W 634UW 1034UW 1534W 2034W 2024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manuals. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC)
Page 112 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 113: Torque Characteristics
Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier If using 1-phase power supply in combination with the servo motor of 750 W or higher and the MR-J5-100_ or the MR-J5- 200_, operate the product at 75 % or less of the effective load ratio.
Page 114 [HK-KT63W] [HK-KT63W] [HK-KT23UW] [HK-KT23UW] Standard torque Torque increased Standard torque Torque increased Short-duration running range Short-duration running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 2000 4000 6000 6700 2000 4000 6000...
Page 115 [HK-KT153W] [HK-KT153W] [HK-KT203W] [HK-KT203W] Standard torque Torque increased Standard torque Torque increased 25.0 25.0 30.0 30.0 25.0 25.0 20.0 20.0 Short-duration running range 20.0 20.0 15.0 15.0 Short-duration Short-duration Short-duration running range running range 15.0 running range 15.0 10.0 10.0 10.0 10.0 Continuous...
Page 116 ■HK-KT_4_W [HK-KT434W] [HK-KT434W] [HK-KT634W] [HK-KT634W] Standard torque Torque increased Standard torque Torque increased Short-duration Short-duration running range running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 1000 2000 3000 3500 1000 2000 3000 3500...
Page 117 When connected with 400 V servo amplifier When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 323 V AC : 3-phase 400 VAC : 3-phase 380 VAC ■HK-KT_W [HK-KT053W] [HK-KT053W] [HK-KT13W]...
Page 118 ■HK-KT_4_W [HK-KT434W] [HK-KT434W] [HK-KT634W] [HK-KT634W] Standard torque Torque increased Standard torque Torque increased Short-duration Short-duration running range running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 2000 4000 6000 6700 2000 4000...
Page 119   [HK-KT2024W] [HK-KT2024W] Standard torque Torque increased 40.0 40.0 35.0 35.0 30.0 30.0 25.0 25.0 Short-duration Short-duration 20.0 running range 20.0 running range 15.0 15.0 10.0 10.0 Continuous Continuous running range running range 1000 2000 3000 1000 2000 3000 Speed [r/min] Speed [r/min] 6 HK-KT SERIES...
Page 120: Permissible Load For The Output Shaft
Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
Page 121 Model Radial load Thrust load The graph of the relation between the load and the load position Load position L Load [N] Load [N] [mm] HK-KT7M3(4)W HK-KT103(4)W HK-KT63(4)UW HK-KT7M3UW HK-KT103(4)UW Distance L from flange surface [mm] HK-KT153(4)W HK-KT203(4)W HK-KT202(4)W Distance L from flange surface [mm] 6 HK-KT SERIES 6.2 Standard specifications...
Page 122: The Graph Of Overload Protection Characteristics Of Rotary Servo Motor
The graph of overload protection characteristics of rotary servo motor Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later. Refer to "Overload protection characteristics" in the following manual. MR-J5 User's Manual (Hardware) Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly.
Page 123: Derating
Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
Page 124: Restrictions On The Flange Size
Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions: HK-KT053W /HK-KT13W HK-KT1M3W HK-KT13UW/HK-KT23W Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-KT43(4)W HK-KT23UW/HK-KT43UW...
Page 125: Restrictions On The Ambient Temperature
Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-KT13UW HK-KT053W /HK-KT13W HK-KT63(4)W HK-KT1M3W HK-KT23W/HK-KT43(4)W Ambient temperature [°C] Ambient temperature [°C] HK-KT63(4)UW/HK-KT7M3UW/HK-KT103(4)UW HK-KT23UW/HK-KT43UW HK-KT103(4)W HK-KT203(4)W HK-KT7M3(4)W...
Page 126: Rotary Servo Motors With Special Shafts
Rotary servo motors with special shafts For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key). To prevent an accident such as motor shaft fracture, do not use a servo motor with a D-cut shaft, L-cut shaft, or keyed shaft for frequent start/stop applications.
Page 127: L-Cut Shaft
L-cut shaft Rotary servo motor Variable dimensions HK-KT053WL 21.5 20.5 HK-KT13WL HK-KT1M3WL HK-KT13UWL Keyed shaft (with double round-ended key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-KT053WK 21.5 -0.009 HK-KT13WK Screw hole HK-KT1M3WK depth HK-KT13UWK HK-KT23WK -0.011 HK-KT43(4)WK Screw hole HK-KT63(4)WK depth...
Page 128: Keyed Shaft (Without Key)
Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-KT053WN 21.5 -0.004 +0.1 -0.009 -0.029 HK-KT13WN Screw hole HK-KT1M3WN depth HK-KT13UWN HK-KT23WN +0.1 -0.011 -0.03 HK-KT43(4)WN Screw hole HK-KT63(4)WN depth HK-KT23UWN HK-KT43UWN HK-KT7M3(4)WN +0.1 -0.013 -0.03 HK-KT103(4)WN Screw hole HK-KT63(4)UWN...
Page 129: Geared Servo Motor
Geared servo motor When using an oil-lubricated geared servo motor, remove the oil when transporting and mounting the servo motor. If the geared servo motor is tipped over while filled with oil, oil leakage may occur. Do not attach a gear reducer removed from a geared servo motor to a rotary servo motor that originally does not have a gear reducer.
Page 130 Exclusive specifications *2*3 Rotary servo Reduction Actual Moment of inertia Permissible load Mass motor ratio reduction [× 10 kg•m [kg] ratio Without an With an Permissible Permissible Without an With an electromagn electromagn radial load thrust load electromagn electromagn etic brake etic brake etic brake etic brake...
Page 131 Servo motor with special shaft The rotary servo motors for general industrial machine (G1) have a keyed shaft (with double round-ended key). Model Reduction ratio Variable dimensions (actual reduction ratio) HK-KT053G1K 1/5 (9/44) M4X8 -0.011 1/12 (49/576) 1/20 (25/484) HK-KT13G1K 1/5 (9/44) 1/12 (49/576) 1/20 (25/484)
Page 132: For High Precision Applications (G5/G7)
For high precision applications (G5/G7) Common specifications Item Description Mounting method Flange-mounting Mounting direction Any direction Lubrication method Grease lubrication (lubricant filled from the factory) Output shaft rotation direction The same direction as the rotary servo motor Backlash 3 arc minutes or less on the gear reducer output shaft Permissible load to motor inertia ratio For 50 W/100 W/750 W: 10 times or less (converted into equivalent value on rotary servo motor shaft)
Page 133 Exclusive specifications ■With flange-output type gear reducer for high precision applications, flange mounting: G5 *2*3 Rotary Reduction Gear Moment of inertia Permissible load Mass servo ratio reducer [× 10 kg•m [kg] motor model Without an With an Radial load Permissible Permissible Without an With an...
Page 134 ■With shaft-output type gear reducer for high precision applications, flange mounting: G7 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] model Without an With an Permissible Permissible Without an With an electromagn electromagn radial load...
Page 135 Servo motor with special shaft The flange-mounting shaft output type rotary servo motors for high precision application (G7) have a keyed shaft (with single pointed key). [Unit: mm] Rotary servo motor Gear φS reducer model HK-KT_G7K 10h7 M3 screw hole depth 6 16h7 M4 screw hole depth 8 25h7...
Page 136: Mounting/Removing Connectors
Mounting/removing connectors Mount the connectors in the procedure shown below. If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. The receptacle connector has a splash-proof seal (O-ring). When mounting, use care to prevent the seal from dropping and being pinched.
Page 137 Starting to lock Pull the lever. Pulling the lever firmly inserts the plug into the receptacle connector. If the plug is pushed forcefully without pulling the lever, the components may damage. If the plug is inserted diagonally or twisted hard while being inserted, the plug may be deformed or come off or the O-ring may be deformed, which may prevent the splash-proof effect.
Page 138: Removing Connectors
Removing connectors Remove the connectors in the procedure shown below. Unlocking jigs can also be used to unlock the plug connector. For the unlocking jigs, contact Hirose Electric co., ltd. (Unlocking jig model: MT50W/RE-MD) Unlocking/removal ■When unlocking jigs are not used Unlock the connector by pushing the lever diagonally upward with your fingers.
Page 139: Dimensions
Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • The dimensions are for when cables (dual cable type) are run to the load-side. When running the cables vertically or to the opposite direction of the load-side, and for the dimensions for single cable type cables, refer to the following.
Page 140 HK-KT13UW(B) Model Variable dimensions HK-KT13UW(B) 58.5 (82) 46.8 (70.3) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ5.5 mounting hole □60 Use hexagon socket head cap screw. Connector 11.5 31.5 11.7 [Unit: mm] HK-KT23W(B)/HK-KT43W(B)/HK-KT63W(B)/HK-KT434W(B)/HK-KT634W(B)
Page 141 HK-KT23UW(B)/HK-KT43UW(B) Model Variable dimensions HK-KT23UW(B) 65.5 (87.5) 53.8 (75.8) HK-KT43UW(B) 74.5 (96.5) 62.8 (84.8) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. □80 4-φ6.6 mounting hole Use hexagon socket head cap screw. Connector 11.5 31.5...
Page 142 HK-KT63UW(B)/HK-KT7M3UW(B)/HK-KT103UW(B)/HK-KT153W(B)/HK-KT203W(B)/HK- KT202W(B)/HK-KT634UW(B)/HK-KT1034UW(B)/HK-KT1534W(B)/HK-KT2034W(B)/HK- KT2024W(B) Model Variable dimensions HK-KT63UW(B) 83.5 (111) 71.8 (99.3) HK-KT634UW(B) HK-KT7M3UW(B) HK-KT103UW(B) 92.5 (120) 80.8 (108.3) HK-KT1034UW(B) HK-KT153W(B) 118.9 (158.3) 107.2 (146.6) HK-KT1534W(B) HK-KT203W(B) 136.9 (176.3) 125.2 (164.6) HK-KT2034W(B) HK-KT202W(B) 172.9 (212.3) 161.2 (200.6) HK-KT2024W(B) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. □90 4-φ6.6 mounting hole Use hexagon socket...
Page 143: With Gear Reducer For General Industrial Machine
With gear reducer for general industrial machine HK-KT053(B)G1/HK-KT13(B)G1/HK-KT23(B)G1/HK-KT43(B)G1/HK-KT7M3(B)G1 Model Reduction Variable dimensions ratio (actual reduction ratio) HK-KT053(B)G1 99.2 86.5 34.5 60.5 36.8 12.7 -0.03 -0.011 (9/44) (134.2) (121.5) 1/12 105.3 (49/576) (153) (140.3) 1/20 (25/484) HK-KT13(B)G1 111.7 99 (134) (9/44) (146.7) 1/12 130.5...
Page 144: With Flange-Output Type Gear Reducer For High Precision Applications, Flange Mounting
With flange-output type gear reducer for high precision applications, flange mounting HK-KT053(B)G5/HK-KT13(B)G5 Model Reduction Variable dimensions ratio LE LF T N P 34.5 82.3 36.8 12.7 +0.012 +0.25 -0.025 - 0.20 KT053( (□40) (130) (117.3) B)G5 119.5 106.8 +0.018 +0.4 -0.03 - 0.5 (□60)
Page 145 HK-KT23(B)G5/HK-KT43(B)G5/HK-KT7M3(B)G5 Model Reduction Variable dimensions ratio LE LF T N P 131.5 119.8 46.6 11.7 +0.018 +0.4 -0.03 - 0.5 KT23( (166.1) (154.4) 1/11 B)G5 1/21 138.5 126.8 +0.021 +0.4 -0.035 - 0.5 (173.1) (161.4) 1/33 1/45 149.5 137.8 +0.018 +0.4 -0.03 - 0.5...
Page 146: With Shaft-Output Type Gear Reducer For High Precision Applications, Flange Mounting
With shaft-output type gear reducer for high precision applications, flange mounting HK-KT053(B)G7/HK-KT13(B)G7 Model Reduction Variable dimensions ratio 34.5 82.3 36.8 12.7 -0.025 -0.015 KT053(B) (□40) (130) (117.3) 119.5 106.8 -0.03 -0.018 (□60) (154.5) (141.8) 34.5 82.3 -0.025 -0.015 (130) (117.3) 1/11 119.5 106.8...
Page 147 HK-KT43(B)G7/HK-KT7M3(B)G7 Model Reduction Variable dimensions ratio 131.5 119.8 46.6 11.7 -0.03 -0.018 KT23(B)G (166.1) (154.4) 1/11 1/21 138.5 126.8 -0.035 -0.021 (173.1) (161.4) 1/33 1/45 149.5 137.8 -0.03 -0.018 KT43(B)G (184.1) (172.4) 1/11 156.5 144.8 -0.035 -0.021 (191.1) (179.4) 1/21 1/33 168.5 156.8...
Page 148: Cable Direction: Load Side/Opposite Direction Of The Load Side
Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-KT053W 36.8 12.7 31.5 39.6 12.7 HK-KT13W HK-KT1M3W HK-KT13UW 46.6 11.7 49.4 11.7 HK-KT23W HK-KT43(4)W HK-KT63(4)W HK-KT23UW 56.6 59.4 HK-KT43UW HK-KT7M3(4)W HK-KT103(4)W HK-KT63(4)UW 61.6 64.4 HK-KT7M3UW HK-KT103(4)UW...
Page 149: Cable Direction: Vertical
Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-KT053W 63.4 12.7 71.9 12.7 HK-KT13W HK-KT1M3W HK-KT13UW 73.2 11.7 81.7 11.7 HK-KT23W HK-KT43(4)W HK-KT63(4)W HK-KT23UW 83.2 91.7 HK-KT43UW HK-KT7M3(4)W HK-KT103(4)W HK-KT63(4)UW 88.2 96.7 HK-KT7M3UW HK-KT103(4)UW HK-KT153(4)W HK-KT203(4)W HK-KT202(4)W Connector 11.1 14.5 [Unit: mm]...
Page 150: Chapter 7 Hk-Mt Series
HK-MT SERIES This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-MT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter. For the combinations of servo amplifiers and rotary servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the rotary servo motor, refer to "Servo amplifier/motor combinations"...
Page 151: Standard Specifications
Standard specifications Standard specifications list When connected with 200 V servo amplifier Series HK-MT_ (Ultra-low inertia/small capacity) Flange size □40 □60 □80 Rotary servo motor model 053W 1M3W 7M3W 103W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC)
Page 152 Series HK-MT_V_ (Ultra-low inertia/small capacity) Flange size □40 □60 □80 Rotary servo motor model 053VW 13VW 1M3VW 23VW 43VW 63VW 7M3VW 103VW Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous...
Page 153 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 154: Torque Characteristics
Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier If using 1-phase power supply in combination with the servo motor of 750 W or higher and the MR-J5-100_ or the MR-J5- 200_, operate the product at 75 % or less of the effective load ratio.
Page 155 [HK-MT7M3W] [HK-MT7M3W] [HK-MT103W] [HK-MT103W] Standard torque Torque increased Standard torque Torque increased 10.0 10.0 14.0 14.0 12.0 12.0 10.0 10.0 Short-duration Short-duration running range running range Short-duration Short-duration running range running range Continuous Continuous Continuous Continuous running range running range running range running range 2000...
Page 156 ■HK-MT_VW [HK-MT053VW] [HK-MT053VW] [HK-MT13VW] [HK-MT13VW] Standard torque Torque increased Standard torque Torque increased Short-duration running range Short-duration Short-duration Short-duration running range running range running range Continuous Continuous Continuous Continuous running range running range running range running range 3000 6000 9000 3000 6000 9000...
Page 157: Permissible Load For The Output Shaft
Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
Page 158 Model Radial load Thrust load The graph of the relation between the load and the load position Load position L Load [N] Load [N] [mm] HK-MT7M3(V)W HK-MT103(V)W Distance L from flange surface [mm] 7 HK-MT SERIES 7.2 Standard specifications...
Page 159: Characteristics Of Electromagnetic Brake
Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit being used. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 160: Derating
Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
Page 161: Restrictions On The Flange Size
Restrictions on the flange size When mounting the rotary servo motor on a machine smaller than the specified aluminum flanges listed in section 2.11, derate the servo motor in accordance with the following conditions: HK-MT053(V)W /HK-MT13(V)W HK-MT1M3(V)W HK-MT23(V)W Flange size (6 mm thick) [mm] Flange size (6 mm thick) [mm] HK-MT43(V)W HK-MT7M3(V)W/HK-MT103(V)W...
Page 162: Restrictions On The Ambient Temperature
Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-MT23(V)W/HK-MT43(V)W HK-MT053(V)W /HK-MT13(V)W HK-MT1M3(V)W HK-MT63(V)W Ambient temperature [°C] Ambient temperature [°C] HK-MT7M3(V)W HK-MT103(V)W Ambient temperature [°C] *1 For the HK-MT053W_J_ (with an oil seal), use it at a derating rate of 80 %.
Page 163: Rotary Servo Motors With Special Shafts
Rotary servo motors with special shafts For rotary servo motors, there are four types of shafts: D-cut shaft, L-cut shaft, keyed shaft (with double round-ended key), and keyed shaft (without key). To prevent an accident such as motor shaft fracture, do not use a servo motor with a D-cut shaft, L-cut shaft, or keyed shaft for frequent start/stop applications.
Page 164: Keyed Shaft (With Double Round-Ended Key)
Keyed shaft (with double round-ended key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-MT053(V)WK 21.5 -0.009 HK-MT13(V)WK Screw hole HK-MT1M3(V)WK depth HK-MT23(V)WK -0.011 HK-MT43(V)WK Screw hole HK-MT63(V)WK depth HK-MT7M3(V)WK -0.013 HK-MT103(V)WK Screw hole depth Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor...
Page 165: Mounting Connectors
Mounting connectors Refer to the following page for information on mounting connectors. Page 134 Mounting/removing connectors Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • The dimensions are for when cables (dual cable type) are run to the load-side. When running the cables vertically or to the opposite direction of the load-side, and for the dimensions for single cable type cables, refer to the following.
Page 166 HK-MT23(V)W(B)/HK-MT43(V)W(B)/HK-MT63(V)W(B) Model Variable dimensions HK-MT23(V)W(B) 76.6 (111.2) 64.9 (99.5) HK-MT43(V)W(B) 96.1 (130.7) 84.4 (119) HK-MT63(V)W(B) 118.6 (153.2) 106.9 (141.5) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ5.5 mounting hole □60 Use hexagon socket head cap screw.
Page 167: Chapter 8 Hk-St Series
HK-ST SERIES HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-ST series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter.
Page 168: Model Designation
Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. H K - S T 2 0 2 4 A Special specifications Symbol Special specifications Oil seal None Standard Symbol Oil seal Functional safety supported...
Page 169: Standard Specifications
Standard specifications Standard specifications list When connected with 200 V servo amplifier Series HK-ST_ (Medium inertia/medium capacity) Flange size □130 Rotary servo motor model 102W 172W 202AW 302W 353W 503W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC)
Page 170 Series HK-ST_ (Medium inertia/medium capacity) Flange size □176 Rotary servo motor model 7M2UW 172UW 202W 352W 502W 702W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW]...
Page 171 Series HK-ST_4_ (Medium inertia/medium capacity) Flange size □130 Rotary servo motor model 524W 1024W 1724W 2024AW 3024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW]...
Page 172 Series HK-ST_4_ (Medium inertia/medium capacity) Flange size □176 Rotary servo motor model 2024W 3524W 5024W 7024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC) Continuous Rated output [kW] running duty...
Page 173 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 174 When connected with 400 V servo amplifier Series HK-ST_4_ (Medium inertia/medium capacity) Flange size □130 Rotary servo motor model 524W 1024W 1724W 2024AW 3024W 3534W 5034W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manuals. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) Power supply voltage [V]...
Page 175 Series HK-ST_4_ (Medium inertia/medium capacity) Flange size □176 Rotary servo motor model 2024W 3524W 5024W 7024W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manuals. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) Power supply voltage [V] 400 V AC (3-phase 380 V AC to 480 V AC) Continuous Rated output [kW]...
Page 176 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 177: Torque Characteristics
Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier If using 1-phase power supply in combination with the servo motor of 750 W or higher and the MR-J5-100_ or the MR-J5- 200_, operate the product at 75 % or less of the effective load ratio.
Page 178 [HK-ST503W] [HK-ST503W] [HK-ST7M2UW] [HK-ST7M2UW] Standard torque Torque increased Standard torque Torque increased 70.0 70.0 14.0 14.0 12.0 12.0 60.0 60.0 50.0 50.0 10.0 10.0 40.0 40.0 Short-duration Short-duration running range running range 30.0 30.0 Short-duration Short-duration running range running range 20.0 20.0 10.0...
Page 179 ■HK-ST_4_W  [HK-ST524W] [HK-ST1024W] [HK-ST1024W] Standard torque Standard torque Torque increased 12.0 25.0 25.0 10.0 20.0 20.0 Short-duration running range 15.0 15.0 Short-duration Short-duration running range running range 10.0 10.0 Continuous running range Continuous Continuous running range running range 1000 1500 2000 1000...
Page 180    [HK-ST7024W] Standard torque 140.0 120.0 100.0 Short-duration 80.0 running range 60.0 40.0 20.0 Continuous running range 1000 1500 Speed [r/min] 8 HK-ST SERIES 8.2 Standard specifications...
Page 181 When connected with 400 V servo amplifier When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 323 V AC : 3-phase 400 VAC : 3-phase 380 VAC ■HK-ST_4_W [HK-ST524W] [HK-ST524W] [HK-ST1024W]...
Page 182 [HK-ST5034W] [HK-ST5034W] [HK-ST2024W] [HK-ST2024W] Standard torque Torque increased Standard torque Torque increased 40.0 40.0 70.0 70.0 35.0 35.0 Short-duration 60.0 60.0 running range 30.0 30.0 50.0 50.0 Short-duration 25.0 25.0 running range 40.0 40.0 20.0 20.0 Short-duration running range 30.0 30.0 Short-duration 15.0...
Page 183: Permissible Load For The Output Shaft
Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
Page 184: The Graph Of Overload Protection Characteristics Of Rotary Servo Motor
The graph of overload protection characteristics of rotary servo motor Overload protection of rotary servo motors has been enhanced for MR-J5 servo amplifiers with firmware version A7 or later. Refer to "Overload protection characteristics" in the following manual. MR-J5 User's Manual (Hardware) Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly.
Page 185: Derating
Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
Page 186: Restrictions On The Ambient Temperature
Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-ST202(4)W HK-ST52(4)W HK-ST352(4)W HK-ST102(4)W HK-ST502(4)W HK-ST172(4)W/HK-ST202(4)AW/ HK-ST302(4)W HK-ST7M2UW/HK-ST172UW/ HK-ST702(4)W HK-ST353(4)W/HK-ST503(4)W Ambient temperature [°C] Ambient temperature [°C] Restrictions on the altitude To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions: 1000...
Page 187: Rotary Servo Motors With Special Shafts
Rotary servo motors with special shafts For rotary servo motors, there are two types of shafts: keyed shaft (with double round-ended key) and keyed shaft (without key). Rotary servo motor Shaft shape Keyed shaft With double round-ended key Without key HK-ST52(4)W HK-ST102(4)W HK-ST172(4)W...
Page 188: Keyed Shaft (Without Key)
Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-ST52(4)WN +0.2 -0.013 -0.036 HK-ST102(4)WN Screw hole HK-ST172(4)WN depth HK-ST202(4)AWN HK-ST302(4)WN HK-ST353(4)WN HK-ST503(4)WN HK-ST7M2UWN HK-ST172UWN HK-ST202(4)WN +0.010 +0.2 -0.036 HK-ST352(4)WN Screw hole HK-ST502(4)WN depth HK-ST702(4)WN 8 HK-ST SERIES 8.6 Rotary servo motors with special shafts...
Page 189: Geared Servo Motor
Geared servo motor Precautions Mount the geared rotary servo motor in the specified mounting direction. Not doing so will cause oil leakage which may lead to a fire and malfunction. For handling, recommended grease/lubricating oil, positions of oil ports, maintenance, and inspection of the ...
Page 190 ■Mounting method and mounting direction Gear CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM reducer model Mounting Foot-mounting Flange- Foot-mounting Flange- Foot-mounting Flange- Foot-mounting Flange- method mounting mounting mounting mounting Mounting Shaft any direction Shaft horizontal Shaft downward Shaft upward direction ■Lubrication method The oil-lubrication method cannot be used for applications where the rotary servo motor moves.
Page 191 ■Lubrication change period • Grease Gear reducer frame No. 6100, 6120: Maintenance-free  Other than the gear reducer frame No. 6100, 6120: Refer to the instruction manual "Cyclo 6000" of Sumitomo Heavy Industries, Ltd. included with the product and to the manufacturer's website. •...
Page 192 Exclusive specifications ■With gear reducer for general industrial machine (flange-mounting): G1 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Without an With an Permissible Permissible Without an With an electromag electromag radial load...
Page 193 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Without an With an Permissible Permissible Without an With an electromag electromag radial load thrust load electromag electromag netic brake netic brake netic brake netic brake...
Page 194 ■With gear reducer for general industrial machine (foot-mounting): G1H *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Without an With an Permissible Permissible Without an With an electromag electromag radial load thrust load...
Page 195 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] frame No. Without an With an Permissible Permissible Without an With an electromag electromag radial load thrust load electromag electromag netic brake netic brake netic brake netic brake...
Page 196: For High Precision Applications (G5/G7)
For high precision applications (G5/G7) Specifications Item Description Mounting method Flange-mounting Mounting direction Any direction Lubrication method Grease lubrication (lubricant filled from the factory) Output shaft rotation direction The same direction as the rotary servo motor Backlash 3 arc minutes or less on the gear reducer output shaft Permissible load to motor inertia ratio 10 times or less (converted into equivalent value on servo motor shaft)
Page 197 Permissible load for the rotary servo motor shaft ■With flange-output type gear reducer for high precision applications, flange mounting: G5 *2*3 Rotary Reduction Gear Moment of inertia Radial load Permissible load Mass servo ratio reducer [× 10 kg•m point [kg] motor model L [mm]...
Page 198 ■With shaft-output type gear reducer for high precision applications, flange mounting: G7 *2*3 Rotary servo Reduction Gear Moment of inertia Permissible load Mass motor ratio reducer [× 10 kg•m [kg] model Without an With an Permissible Permissible Without an With an electromag electromag radial load...
Page 199 Servo motor with special shaft The flange-mounting shaft output type servo motors for high precision application (G7) have a keyed shaft (with single pointed key). [Unit: mm] Rotary servo motor Gear φS reducer model HK-ST_G7K 25h7 M6 screw hole depth 12 40h7 M10 screw hole depth 20...
Page 200: Mounting Connectors
Mounting connectors Both the one-touch lock fitting type and the screw fitting type can be used for the power connector. Mount the power connector as shown in the following procedure. One-touch fitting component area Screw fitting component area A. One-touch fitting (JL10 plug) B.
Page 201: Screw Fitting
Screw fitting Align the main key of the receptacle connector (motor side) with its groove on the plug connector (cable side), and insert the plug into the receptacle. Main key Push in the plug straight until the coupling nut engages with the thread of the receptacle. Tighten the coupling nut with a recommended tightening torque of 4.0 to 4.5 N•m.
Page 202: Dimensions
Dimensions • Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C.
Page 203: Without Gear Reducer
Without gear reducer HK-ST52W(B)/HK-ST102W(B)/HK-ST172W(B)/HK-ST202AW(B)/HK-ST302W(B)/HK- ST353W(B)/HK-ST503W(B)/HK-ST524W(B)/HK-ST1024W(B)/HK-ST1724W(B)/HK- ST2024AW(B)/HK-ST3024W(B)/HK-ST3534W(B) Model Variable dimensions HK-ST52W(B) 115.5 59.8 HK-ST524W(B) (150) HK-ST102W(B) 126.5 70.8 HK-ST1024W(B) (161) HK-ST172W(B) 137.5 81.8 HK-ST1724W(B) (172) HK-ST202AW(B) 159.5 103.8 HK-ST2024AW(B) (194) HK-ST302W(B) 181.5 125.8 HK-ST3024W(B) (216) HK-ST353W(B) 159.5 103.8 HK-ST3534W(B) (194) HK-ST503W(B) 203.5 147.8 HK-ST5034W(B)
Page 204 HK-ST7M2UW(B)/HK-ST172UW(B) Model Variable dimensions HK-ST7M2UW(B) 108.5 50.7 (142) HK-ST172UW(B) 118.5 60.7 (152) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ13.5 mounting hole 176 Use hexagon socket 35.5 head cap screw. (40) Encoder connector CMV1-R10P...
Page 205 HK-ST202W(B)/HK-ST352W(B)/HK-ST502W(B)/HK-ST702W(B)/HK-ST2024W(B)/HK- ST3524W(B)/HK-ST5024W(B)/HK-ST7024W(B) Model Variable dimensions HK-ST202W(B) 138.5 80.7 HK-ST2024W(B) (188) HK-ST352W(B) 158.5 100.7 HK-ST3524W(B) (208) HK-ST502W(B) 178.5 120.7 HK-ST5024W(B) (228) HK-ST702W(B) 218.5 160.7 HK-ST7024W(B) (268) *1 The values in ( ) of the dimensions are for the servo motors with an electromagnetic brake. 4-φ13.5 mounting hole 176 Use hexagon socket...
Page 206: With Gear Reducer For General Industrial Machine
With gear reducer for general industrial machine The dimensions are schematic. The oil cap, shape, and mounting screws may differ from the actual product. 8 HK-ST SERIES 8.9 Dimensions...
Page 207 HK-ST52(4)(B)G1/HK-ST102(4)(B)G1 Model Reduction Variable dimensions ratio HK-ST52(4)(B)G1 272.5 (307) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.036 -0.090 1/11 1/17 1/29 1/35 265 (299.5) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.043 -0.106 1/43 1/59 276 (310.5) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5)
Page 208 HK-ST152(4)(B)G1/HK-ST202(4)(B)G1 Model Reduction Variable dimensions ratio 287 (321.5) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.043 -0.106 ST152(4)(B)G1 1/11 1/17 1/29 332.5 (367) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5) 13.5 (29) -0.050 -0.122 1/35 1/43 390 (424.5) 55.7 (90.2) 18.8 (56.5) 35.5 (39.5)
Page 209 HK-ST352(4)(B)G1/HK-ST502(4)(B)G1 Model Reduction Variable dimensions ratio 368.5 57.8 22.6 (62.5) 35.5 (44) -0.043 -0.106 ST352(4)(B)G1 (418) (107.3) (42.5) 1/11 1/17 1/29 57.8 22.6 (62.5) 35.5 (44) -0.056 -0.137 (472.5) (107.3) (42.5) 1/35 1/43 462.5 57.8 22.6 (62.5) 35.5 (44) -0.062 -0.151 (512) (107.3)
Page 210 HK-ST702(4)(B)G1 Model Reduction Variable dimensions ratio 483 (532.5) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.056 -0.137 ST702(4)(B)G1 1/11 522.5 (572) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.062 -0.151 1/17 1/29 546.5 (596) 57.8 (107.3) 22.6 (62.5) 35.5 (42.5) (44) -0.062 -0.151...
Page 211: With Gear Reducer For General Industrial Machine (Foot-Mounting)
With gear reducer for general industrial machine (foot-mounting) The dimensions are schematic. The oil cap, shape, and mounting screws may differ from the actual product. HK-ST52(4)(B)G1H Model Reduction Variable dimensions ratio 320.5 (355) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9)
Page 212 HK-ST102(4)(B)G1H Model Reduction Variable dimensions ratio 345 (379.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) ST102(4)(B)G1H 1/11 1/17 1/29 1/35 1/43 397.5 (432) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) 1/59 468 (502.5) (29) 35.5 (39.5) (56.5) 13.5...
Page 213 HK-ST152(4)(B)G1H/HK-ST202(4)(B)G1H Model Reduction Variable dimensions ratio 356 (390.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) ST152(4)(B)G1H 1/11 1/17 1/29 408.5 (443) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2) 18.8 108.8 (79.9) 1/35 1/43 479 (513.5) (29) 35.5 (39.5) (56.5) 13.5 55.7 (90.2)
Page 214 HK-ST352(4)(B)G1H/HK-ST502(4)(B)G1H Model Reduction Variable dimensions ratio 444.5 (494) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) ST352(4)(B)G1H 1/11 1/17 1/29 512 (561.5) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) 1/35 1/43 556.5 (606) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8...
Page 215 HK-ST702(4)(B)G1H Model Reduction Variable dimensions ratio 572 (621.5) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) ST702(4)(B)G1H 1/11 616.5 (666) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9) 1/17 1/29 656.5 (706) (44) 35.5 (42.5) (62.5) 57.8 (107.3) 22.6 140.8 (96.9)
Page 216: With Flange-Output Type Gear Reducer For High Precision Applications, Flange Mounting
With flange-output type gear reducer for high precision applications, flange mounting HK-ST52(4)(B)G5/HK-ST102(4)(B)G5 Model Reduction Variable dimensions ratio HK-ST52(4)(B)G5 210.5 (245) 35.5 (39.5) +0.021 +0.4 -0.035 - 0.5 1/11 1/21 222.5 (257) 35.5 (39.5) +0.025 +0.4 -0.035 - 0.5 1/33 1/45 221.5 (256) 35.5 (39.5) +0.021...
Page 217 HK-ST152(4)(B)G5/HK-ST202(4)(B)G5 Model Reduction Variable dimensions ratio 232.5 (267) 35.5 (39.5) +0.021 +0.4 -0.035 - 0.5 ST152(4)(B)G5 1/11 244.5 (279) 35.5 (39.5) +0.025 +0.4 -0.035 - 0.5 1/21 260.5 (295) 35.5 (39.5) +0.025 +0.5 -0.063 - 0.8 1/33 1/45 267.5 (317) 35.5 (42.5) +0.025 +0.4...
Page 218 HK-ST352(4)(B)G5/HK-ST502(4)(B)G5/HK-ST702(4)(B)G5 Model Reduction Variable dimensions ratio 287.5 (337) 35.5 (42.5) +0.025 +0.4 -0.035 - 0.5 ST352(4)(B)G5 1/11 307.5 (357) 35.5 (42.5) +0.025 +0.5 -0.063 - 0.8 1/21 327.5 (377) 35.5 (42.5) +0.025 +0.5 -0.063 - 0.8 ST502(4)(B)G5 1/11 367.5 (417) 35.5 (42.5) +0.025 +0.5...
Page 219: With Shaft-Output Type Gear Reducer For High Precision Applications, Flange Mounting
With shaft-output type gear reducer for high precision applications, flange mounting HK-ST52(4)(B)G7/HK-ST102(4)(B)G7 Model Reduction Variable dimensions ratio HK-ST52(4)(B)G7 210.5 (245) -0.035 -0.021 1/11 1/21 222.5 (257) -0.035 -0.025 1/33 1/45 221.5 (256) -0.035 -0.021 ST102(4)(B)G7 1/11 233.5 (268) -0.035 -0.025 1/21 1/33 249.5 (284)
Page 220 HK-ST152(4)(B)G7/HK-ST202(4)(B)G7 Model Reduction Variable dimensions ratio 232.5 (267) -0.035 -0.021 ST152(4)(B)G7 1/11 244.5 (279) -0.035 -0.025 1/21 260.5 (295) -0.063 -0.025 1/33 1/45 267.5 (317) -0.035 -0.025 ST202(4)(B)G7 1/11 1/21 287.5 (337) -0.063 -0.025 1/33 1/45 Model Reduction Variable dimensions ratio 35.5 (39.5) 176.8...
Page 221 HK-ST352(4)(B)G7/HK-ST502(4)(B)G7/HK-ST702(4)(B)G7 Model Reduction Variable dimensions ratio 287.5 (337) -0.035 -0.025 ST352(4)(B)G7 1/11 307.5 (357) -0.063 -0.025 1/21 327.5 (377) -0.063 -0.025 ST502(4)(B)G7 1/11 367.5 (417) -0.063 -0.025 ST702(4)(B)G7 Model Reduction Variable dimensions ratio 35.5 (42.5) 229.7 (62.5) (44) 140.8 (96.9) ST352(4)(B)G7 1/11 35.5 (42.5)
Page 222 HK-RT SERIES This chapter provides information on the rotary servo motor specifications and characteristics. The indicated values and those without tolerance are representative values. When using the HK-RT series rotary servo motor, read chapters 1 to 5 and SAFETY INSTRUCTIONS at the beginning of this manual in addition to this chapter. For the combinations of servo amplifiers and rotary servo motors, restrictions on the firmware version of the servo amplifier, and restrictions by the date of manufacture of the rotary servo motor, refer to "Servo amplifier/motor combinations"...
Page 223 Standard specifications Standard specifications list When connected with 200 V servo amplifier Series HK-RT_ (Ultra-low inertia/medium capacity) Flange size □90 □130 Rotary servo motor model 103W 153W 203W 353W 503W 703W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual. MR-J5 User's Manual (Hardware) Power supply voltage [V] 200 V AC (3-phase 200 V AC to 240 V AC)
Page 224 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 225 When connected with 400 V servo amplifier Series HK-RT_4_ (Ultra-low inertia/medium capacity) Flange size □90 □130 Rotary servo motor model 1034W 1534W 2034W 3534W 5034W 7034W Power supply capacity Refer to "Power supply capacity and generated loss" in the following manuals. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) Power supply voltage [V]...
Page 226 *1 When the power supply voltage drops, the continuous running duty and the speed cannot be guaranteed. *2 If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. *3 The shaft-through portion is excluded. IP classifies the degree of protection provided against the intrusion of solid objects and water in electrical enclosures.
Page 227 Torque characteristics • For machines where unbalanced torque occurs, such as a vertical axis system, the unbalanced torque should be kept at 70 % or lower of the rated torque. When connected with 200 V servo amplifier If using 1-phase power supply in combination with the servo motor of 750 W or higher and the MR-J5-100_ or the MR-J5- 200_, operate the product at 75 % or less of the effective load ratio.
Page 228 When connected with 400 V servo amplifier • When the power supply voltage drops, the torque decreases. : A rough indication of the possible continuous running range for 3-phase 323 V AC : 3-phase 400 VAC : 3-phase 380 VAC ■HK-RT_4_W [HK-RT1034W] [HK-RT1034W]...
Page 229 Permissible load for the output shaft The permissible load for the shaft is shown in the following. Do not subject the shaft to loads greater than the permissible value. The value assumes that the load is applied independently. Distance L from flange mounting surface to load center Radial load Thrust load...
Page 230 Characteristics of electromagnetic brake Before operating the servo motor, confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit being used. Check the operation delay time with an actual machine. The characteristics of the electromagnetic brake provided for the rotary servo motor with an electromagnetic brake are shown below.
Page 231 Derating The derating condition is the reference value at the rated speed. As the temperature rise value of the rotary servo motor changes depending on the operation conditions such as speed, confirm that [AL. 0E2 Servo motor overheat warning] or [AL. 046 Servo motor overheat] does not occur on the actual machine before use.
Page 232 Restrictions on the ambient temperature When using this product in an environment with a high ambient temperature, derate the product in accordance with the following conditions: HK-RT353(4)W HK-RT103(4)/HK-RT153(4)/ HK-RT203(4)W HK-RT503(4)W/HK-RT703(4)W Ambient temperature [°C] Ambient temperature [°C] Restrictions on the altitude To use this product at an altitude between 1000 m and 2000 m, derate the product in accordance with the following conditions: 1000 2000...
Page 233 Rotary servo motors with special shafts For rotary servo motors, there are two types of shafts: keyed shaft (with double round-ended key) and keyed shaft (without key). To prevent an accident such as motor shaft fracture, do not use a servo motor with a keyed shaft for frequent start/stop applications.
Page 234 Keyed shaft (without key) Section A-A [Unit: mm] Rotary servo motor Variable dimensions HK-RT103(4)WN +0.2 -0.013 -0.036 HK-RT153(4)WN Screw hole HK-RT203(4)WN depth HK-RT353(4)WN +0.010 +0.2 -0.036 HK-RT503(4)WN Screw hole HK-RT703(4)WN depth Mounting connectors HK-RT103(4)W/HK-RT153(4)W/HK-RT203(4)W Refer to the following page for information on mounting connectors. Page 134 Mounting/removing connectors HK-RT353(4)W/HK-RT503(4)W/HK-RT703(4)W Refer to the following page for information on mounting connectors.
Page 235 Dimensions • When running the cables to the load side, take care to avoid interference with the machine. • Not all parts are created the exact same size or assembled in precisely the same manner. Therefore, the actual dimensions of rotary servo motors may be a maximum of approximately 3 mm larger than those in the drawings. In addition, the described dimensions and dimensional tolerances are the values at 20 °C.
Page 236 HK-RT353W/HK-RT3534W 4-φ9 mounting hole Use hexagon socket head cap screw. □130 35.5 Encoder connector CMV1-R10P 22.6 Power supply connector 35.5 153.4 JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66753* [Unit: mm] HK-RT353WB/HK-RT3534WB 4-φ9 mounting hole Use hexagon socket head cap screw. 247.5 □130 39.5...
Page 237 HK-RT503W/HK-RT5034W 4-φ9 mounting hole Use hexagon socket head cap screw. □130 35.5 Encoder connector CMV1-R10P 22.6 Power supply connector 35.5 207.4 JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66754* [Unit: mm] HK-RT503WB/HK-RT5034WB 4-φ9 mounting hole Use hexagon socket head cap screw. 301.5 □130 39.5...
Page 238 HK-RT703W/HK-RT7034W 4-φ9 mounting hole Use hexagon socket head cap screw. □130 35.5 Encoder connector CMV1-R10P 22.6 35.5 246.4 Power supply connector JL10-2E22-22PCE (MS3102A22-22P) Power connector Motor flange direction BC66755* [Unit: mm] *1 The HK-RT703W has screw holes for eyebolts (M6 screw hole depth 10.5). If using eyebolts, secure them to the servo motor with washers φ14 or more.
Page 239 HK-RT703WB/HK-RT7034WB 4-φ9 mounting hole Use hexagon socket head cap screw. 340.5 □130 39.5 56.5 Encoder connector CMV1-R10P 22.6 35.5 Electromagnetic brake 246.4 connector CMV1-R2P Main key position mark Power connector JL10-2E22-22PCE (MS3102A22-22P) Electromagnetic brake Electromagnetic brake connector Power connector Motor flange direction Motor flange direction BC66767* [Unit: mm]...
Page 240 Cable direction: Load side/opposite direction of the load side Model Variable dimensions Dual cable Single cable HK-RT103(4)W 61.6 11.7 31.5 64.4 11.7 HK-RT153(4)W HK-RT203(4)W Connector 11.5 11.5 Cable direction: Load side Cable direction: Opposite direction of the load side [Unit: mm] *1 The figures are for dual cable type motor cables.
Page 241 Cable direction: Vertical Model Variable dimensions Dual cable Single cable HK-RT103(4)W 88.2 11.7 96.7 11.7 HK-RT153(4)W HK-RT203(4)W Connector 11.1 14.5 [Unit: mm] *1 The figures are for dual cable type motor cables. 9 HK-RT SERIES 9.7 Dimensions...
Page 242 COMPLIANCE WITH EACH REGION 10.1 Compliance with CE/UKCA marking CE/UKCA marking The CE/UKCA marking is mandatory and must be affixed to specific products placed on the European Union area and the United Kingdom. When a product conforms to the requirements by category as defined in the EU directive, UK rules, etc., the CE/UKCA marking must be affixed to the product.
Page 243 10.2 Compliance with UL/CSA standard HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. Use a rotary servo motor that complies with the UL/CSA standard. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc., of the UL/CSA compliant products are the same as those of the standard models.
Page 244 Selection example of wires When cables are fabricated by the customer, wires should be selected in accordance with the application. To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 ˚C for wiring. The following table shows wires [AWG] rated at 75 .
Page 245 HK-ST series Rotary servo motor Wire [AWG] U/V/W/ B1/B2 HK-ST52W HK-ST102W HK-ST172W HK-ST202AW HK-ST302W HK-ST353W HK-ST503W HK-ST202W HK-ST7M2UW HK-ST172UW HK-ST352W HK-ST502W HK-ST702W HK-ST524W HK-ST1024W HK-ST1724W HK-ST2024AW HK-ST3024W HK-ST3534W HK-ST5034W HK-ST2024W HK-ST3524W HK-ST5024W HK-ST7024W *1 To make the HK-ST503W comply with the UL/CSA standard, fabricate an extension cable using the cable manufactured by Mitsubishi Electric System &...
Page 246 APPENDIX HK-ST7M2UW_ and HK-ST172UW_ will be available in the future. 11.1 Rotary servo motor ID codes Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder Rotary servo motor 0311 0053 F001 HK-KT053W FF13 HK-KT13W 0153 HK-KT1M3W FF23 HK-KT23W...
Page 247 Rotary servo motor series ID Rotary servo motor type ID Rotary servo motor encoder Rotary servo motor 0321 FF52 F001 HK-ST52W F102 HK-ST102W F152 HK-ST152 F172 HK-ST172W F302 HK-ST302W F353 HK-ST353W F503 HK-ST503W F202 HK-ST202W F352 HK-ST352W F502 HK-ST502W F702 HK-ST702W 0322 F202...
Page 248 11.2 Selection example of rotary servo motor power cable When cables are fabricated by the customer, wires should be selected in accordance with the application. Selection requirements for the wire size are as follows. Wiring length: 30 m or less As some cables do not fit in the optional or recommended cable clamp, select cable clamps applicable to the cable diameters.
Page 249 11.3 Connector dimensions The connector dimensions for wiring the rotary servo motor are shown below. Rotary servo motor series Type Model Manufacturer Dimensions Page 248 MT50W- HK-KT series/HK-MT series/HK-RT (1.0 kW - Horizontal lead, dual cable MT50W-8D/2D4ES- Hirose Electric 2.0 kW) series CVLD(7.5) 8D/2D4ES-CVLD(7.5) Horizontal lead, single cable...
Page 250 MT50W-8D/2D4ES-CVLD(7.5) 23.3 Approx. 11.45 Approx. 31.5 [Unit: mm] MT50W-8D/2D4ES-CVL(11.9) 25.45 Approx. 11.45 Approx. 40 [Unit: mm] 11 APPENDIX 11.3 Connector dimensions...
Page 251 MT50W-8D/2D4ES-CVSD(7.5) 36 ± 0.5 30.5 ± 0.6 [Unit: mm] MT50W-8D/2D4ES-CVS(11.9) 32 ± 0.5 30.5 ± 0.6 [Unit: mm] 11 APPENDIX 11.3 Connector dimensions...
Page 252 CMV1-SP10S-M_/CMV1-SP2S-_ Refer to the following for details of the crimping tool. Page 30 Wiring connectors (connector configurations B/C/D/E) Approx. 50 For CMV1-SP10S-M_ For CMV1-SP2S-_ [Unit: mm] CMV1-AP10S-M_/CMV1-AP2S-_ Refer to the following for details of the crimping tool. Page 30 Wiring connectors (connector configurations B/C/D/E) Approx.
Page 253 CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to the following for details of the crimping tool. Page 30 Wiring connectors (connector configurations B/C/D/E) Approx. 32 For CMV1S-AP10S-M_ For CMV1S-AP2S-_ [Unit: mm] JL10-6A_-_SE-EB 10 or more [Unit: mm] Model JL10-6A18-10SE-EB 51.05 35.85 1-20UNEF-2A JL10-6A22-22SE-EB 58.65 42.2 1 3/16-18UNEF-2A 11 APPENDIX 11.3 Connector dimensions...
Page 254 JL10-8A_-_SE-EB [Unit: mm] Model JL10-8A18-10SE-EB 44.45 34.55 35.85 1-20UNEF-2A JL10-8A22-22SE-EB 51.85 40.65 42.2 37.4 1 3/16-18UNEF-2A JL04V-6A_-_SE-EB-R 10 or more [Unit: mm] Model JL04V-6A18-10SE-EB-R 57.4 34.1 1-20UNEF-2A 1 1/8-18UNEF-2B JL04V-6A22-22SE-EB-R 67.63 40.5 1 3/16-18UNEF-2A 1 3/8-18UNEF-2B 11 APPENDIX 11.3 Connector dimensions...
Page 255 JL04V-8A_-_SE-EBH-R [Unit: mm] Model JL04V-8A18-10SE-EBH-R 65.6 34.1 1-20UNEF-2A 1 1/8-18UNEF-2B JL04V-8A22-22SE-EBH-R 40.5 1 3/16-18UNEF-2A 1 3/8-18UNEF-2B JL04-_CK(_)-_-R [Unit: mm] Model Shell size Cable OD (reference) JL04-18CK(10)-_-R 30.2 24.1 53.8 31.8 1-20UNEF-2B φ8 to 11 JL04-18CK(13)-_-R 14.1 φ11 to 14.1 JL04-2022CK(12)-_-R 34.9 24.3 53.8...
Page 256 11.4 Fabricating the encoder cable It is recommended to use options indicated in the following section for the encoder cable. Page 59 WIRING OPTION When fabricating an encoder cable, use the recommended products described in the following chapters. Page 27 CONNECTORS USED FOR ROTARY SERVO MOTOR WIRING Page 34 CONNECTING THE SERVO AMPLIFIER AND ROTARY SERVO MOTOR Page 59 WIRING OPTION When fabricating encoder cables, note the descriptions in this section, in order to ensure the reliability of communication.
Page 257 11.5 Gear reducer model designation Check the rating plate of the gear reducer for the gear reducer model. HK-KT_G1 Gear reducer model designation K 9 0 1 2 N K C Rating plate Series Version (reverse side) Output-side flange size Shaft shape Symbol Flange size...
Page 258 HK-ST_G1/G1H Gear reducer model designation For the reduction ratio, check the item "RATIO" on the gear reducer rating plate. For details of the items indicated on the gear  reducer rating plate, refer to "Cyclo 6000" of Sumitomo Heavy Industries, Ltd. C N H M - 6 1 0 0 Rating plate area (reverse side)
Page 259 REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Description July 2019 SH(NA)-030314ENG-A First edition ■The graphs of overload protection characteristics are deleted. February 2020 SH(NA)-030314ENG-B ■Edited Section 6.2, Section 7.2 July 2020 SH(NA)-030314ENG-C ■The following motors are added:...
Page 260 Chapter 3, Section 4.3, Section 5.1, Section 6.7, Section 6.8, Section 8.7, Section 11.1, Section 11.2 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 261 We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
Page 262 TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Page 264 SH(NA)-030314ENG-H(2301)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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Melservo-j5-hk-mt series Melservo-j5-hk-st series Melservo-j5-hk-rt series

Mitsubishi Electric MELSERVO-J5-HK-KT Series User Manual

Chapter 1 Introduction

Chapter 2 Installation

Chapter 3 Connectors Used for Rotary Servo Motor Wiring

Chapter 4 Connecting the Servo Amplifier and Rotary Servo Motor

Chapter 5 Wiring Option

Chapter 6 Hk-Kt Series

Chapter 7 Hk-Mt Series

Chapter 8 Hk-St Series

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