AC Servo Motor & D2 Drive

Technical Information AC Servo Motor & D2 Drive Motor AC Servo

AC Servo Motor & D2 Drive Technical Information (PRINTED IN TAIWAN) ©2017 FORM MD99TE06-1704 HIWIN KOREA SUWON, KOREA www.hiwin.kr [email protected] HIWIN CHINA SUZHOU, CHINA www.hiwin.cn [email protected] Mega-Fabs Motion System, Ltd. HAIFA, ISRAEL www.mega-fabs.com [email protected] The specifications in this catalog are subject to change without notification. HIWIN Schweiz GmbH JONA, SWITZERLAND www.hiwin.ch [email protected] HIWIN FRANCE ECHAUFFOUR, FRANCE www.hiwin.fr [email protected] HIWIN s.r.o. BRNO, CZECH REPUBLIC www.hiwin.cz [email protected] HIWIN SINGAPORE SINGAPORE www.hiwin.sg [email protected] ‧ Subsidiaries & R&D Centers HIWIN Srl BRUGHERIO, ITALY www.hiwin.it [email protected] HIWIN JAPAN KOBE‧TOKYO‧NAGOYA‧NAGANO‧ TOHOKU‧HOKURIKU‧HIROSHIMA KUMAMOTO‧FUKUOKA, JAPAN www.hiwin.co.jp [email protected] HIWIN USA CHICAGO‧SILICON VALLEY, U.S.A. www.hiwin.com [email protected] HIWIN GmbH OFFENBURG, GERMANY www.hiwin.de www.hiwin.eu [email protected] HIWIN MIKROSYSTEM CORP. No.6, Jingke Central Rd., Taichung Precision Machinery Park, Taichung 40852, Taiwan Tel: +886-4-23550110 Fax: +886-4-23550123 www.hiwinmikro.tw [email protected] INDUSTRIE 4.0 Best Partner

Linear Motor Stage Linear Motor Automated transport / AOI application / Machine tool / Touch panel industry / Precision / Semiconductor Semiconductor industry / • Iron-core Linear Motor Laser manufacturing machine / • Coreless Linear Motor Glass cutting machine • Linear Shaft Motor LMT • Ironcore linear motor-LMFA series, • Planar Servo Motor LMSA series, LMSC series • Air Bearing Platform • Ironless linear motor-LMC series, • X-Y Stage LMT series • Gantry Systems

Torque Motor AC Servo Motor & Drive (Direct Drive Motor) Semiconductor / Packaging machine / SMT / Food industry / LCD Inspection / Testing equipment / • Drives-D1, D1-N, D2 Machine tools / Robot • Motors-50W~2000W • Rotary Tables-TMS,TMY,TMN • TMRW Series • TMRI Series

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Multi Axis Robot Pick-and-place / Assembly / Array and packaging / Semiconductor / Electro-Optical industry / Automotive industry / Food industry • Articulated Robot • Delta Robot • SCARA Robot • Wafer Robot • Electric Gripper • Integrated Electric Gripper • Rotary Joint

AC Servo Motor & D2 Drive Technical Information Single Axis Robot Medical Equipment Publication Date：June 200, first edition Precision / Semiconductor / Hospital / Rehabilitation centers / Print Date：April 2017, 6th edition Medical / FPD Nursing homes • KK, SK • Robotic Gait Training System • KS, KA • Hygiene System • KU, KE, KC • Robotic Endoscope Holder 1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. For your protection To avoid counterfeit products, be certain you are buying genuine HIWIN products before purchase. 2. Actual products may be different from the specifications and photos in this catalog, The differences in appearances or specifications may be caused by, among other things, product improvements. . HIWIN will not sell or eport those techniques and products restricted under the Foreign Trade Act and relevant regulations. Any eport of restricted products should be approved by competent Ballscrew Linear Guideway authorities in accordance with relevant laws, and shall not be used to manufacture or develop nuclear, biochemical, missile and other military weapons. Precision Ground / Rolled Automation / Semiconductor / Medical • Super S series • Ball Type--HG, EG, WE, MG, CG • Super T series • Quiet Type--QH, QE, QW, QR • Mini Roller • Other--RG, E2, PG, SE, RC • Ecological & Economical Copyright © HIWIN Mikrosystem Corp. lubrication Module E2 • Rotating Nut (R1) • Energy-Saving & Thermal- Controlling (C1) • Heavy Load Series (RD) • Ball Spline AC Servo Motor & Drive / D2 series

With High-tech control technology, Contents HIWIN AC Servo motors achieve a great cost-performance ratio for a complete motor drive solution.

1. Features ...... 2 2. Safety certification ...... 7 3. Model descriptions ...... 8 4. Interface directions ...... 12 5. Part numbers and options ...... 14

6.1 Servo drive with standard interface...... 28 6.2 Wiring diagram ...... 30 6. Servo Drive 6.3 Control circuit ...... 32 6.4 Dimensions of drive ...... 34 6.5 Drive peripheral kits ...... 38

7.1 Motor specifications and application environment ...... 41 7.2 Low Inertia, Small Capacity ...... 43 7. Servo Motor 7.3 Middle Inertia, Small Capacity ...... 47 7.4 Middle Inertia, Middle Capacity ...... 51 8. Cable and 8.1 Cable ...... 53 connector 8.2 Connector ...... 57

9. HIWIN single axis robot and motor adaptor flange ...... 60 10.1 Introduction of motor selection relevant parameters .....62 10. Servo motor 10.2 General inertia calculation for various rigid objects selection guide of uniform composition ...... 63 10.3 Equivalent inertia calculation for mechanism ...... 64 10.4 Operating pattern / motion velocity profile ...... 65 10.5 Motor selection sample - ballscrews mechanism ...... 66

11. Motor / Drive Requirements List ...... 69 12. Safety precautions ...... 70 2 MD99TE06-1704 AC Servo Motor & D2 Drive 3

1. Features Excellent performance

Excellently high speed response Vibration Suppression Feature

With the help of a semiconductor high-end The D2 drive can remove vibration frequency that occurs during movement. motion control algorithm and advanced common It reduces vibrations caused by system’s structure and improves the machine’s gain concept, a high speed response is achieved, Speed Response > 1200Hz production efficiency. satisfying all motion control needs.

D2- LPN01A D1N-SNN01C

Without vibration With vibration High acceleration responses suppression feature suppression feature

sec Using advanced controller design tools, and sec

space vector current control technology, high 0 0.02 0.04 0.06 0.08 0.1 0.12 level servo performance is achieved. AC servo motor speed can change from -3000 to +3000 rpms in as little as 0.006 seconds. 0.006 sec D1N-SNN02B Electronic gear ratio and Encoder Emulator

The drive can help users adjust pulse resolution for the host controller, and to work with a variety of position encoders with different resolutions; it can also adjust analog position encoder output resolution to the host controller and meet the pulse receiving capability of different host controllers.

D2 Drive Built-in accuracy improvement feature 1 um

The D2 drive includes features to improve total positioning accuracy of the mechanical system. Electronic The table size can be up to 5000 points. It is implemented in all control modes to optimize Gear system behavior. Host Controller

45 45 Encoder Encoder 精Accuracy1.7 : 51.7 精Accuracy1.4 : 1.4 40 40 Bi-Dir向重 Rep.性: : 1.21.2 Bi-Dir向重 Rep.性: : 0.80.8 Emulator input circuit 35 35 30 30 25 25 1 um 20 20 Error D2-CNN01A Error 15 15 10 10 5 5

0 0 D1N -SNN03B 0 500 1000 1500 2000 0 500 1000 1500 2000 Renishaw Analysis - Linear Target (mm) Renishaw Analysis - Linear Target (mm)

Without accuracy improvement feature With accuracy improvement feature 4 MD99TE06-1704 AC Servo Motor & D2 Drive 5

Simple Operation Complete tool sets

Real-time scope, accuracy enhancement function, frequency analysis tools , gain scheduling tool, 1 2 3 Simple setup analysis tool, I/O setting functions, encoder output ratio adjustment function, Z phase signal width adjustment function, PDL , ZeroTune function and filter. Three Steps Auto phase center 1 Adjustment 2 3 Initialization Selection Three Steps Accuracy enhancement function To improve on the positioning accuracy of motion systems, the drive amplifier is featured with an error compensation function. By taking the measurements from a laser interferometer, the positioning error table can be built inside the drive, so that high positioning accuracy is achieved. D1N-SNN08A D1N-SNN08A

D1N-SNN08A D1N-SNN08A D1N Frequency analysis tools -SNN05A A powerful and easy to use tool for frequency analysis is provided. You can use the frequency analysis tools to

HIWIN Motors AC servo display the real response in the form of a graph. You can Linear LMC easily set the best gain value for the system based on the LMFA real response, even first time users can easily get started. HIWIN Motors AC servo D1N-SNN10B D1N-SNN10B Linear Easy Operation LMC LMFA D1N-SNN10B Parameters are categorized according to features. Only necessary parameters are shown. D1N-SNN10B No confusing parameter list. Advanced gain scheduling feature After setting gains through frequency analysis tools, there is only one value to adjust: the common gain. The drive provides a gain scheduling function. You can adjust the gain according to different phases of motion, such as moving phase, settling phase, and in-position phase.

D1N-SNN09B D1N-SNN09B

D1N-SNN09B D1N-SNN09B Variety of I / O functions

To support a number of different functions, you are free to configure the I/O pin functionality and adapt different hardware LCD Display interface needs. This satisfies diverse No need to connect to a PC to complete all of the settings and operations. requirements for different motion controllers

with regards to their pin assignments and D1N-SNN11B LCD display provides instant status monitoring and displays error messages. Gain and D1N-SNN11B hardware interfaces. test running can be quickly set by panel keys. D1N-SNN11B D1N-SNN11B

Test running Analysis Tools

To solve a resonance problem, the drive offers a filter Parameter setting design tool for improving the control performance, a Fast D2-SNN01BD2-SNN01A Fourier Transform (FFT) and other mathematical operation Fine-tune tools. You can use the functions to calculate the resonant

frequency of the system easily, and to make the filter design D1N-SNN12A D1N-SNN12A more accurate. D1N-SNN12A D1N-SNN12A 6 MD99TE06-1704 AC Servo Motor & D2 Drive 7

PDL (Process Description Language) Easy-use process description language is provided. 2. Safety Certification Complex motions can be designated via PDL, such as extrusion process, point-to-point motion, fixed speed control, 2.1 RoHS compliant homing process and so on. PDL gains the advantages of Components and finished product all meet RoHS(Restriction of Hazardous Substances Regulation) flexibility and programmability. For quick learning, a number

- requirements which ensure the compliance to relevant laws of quality of goods. of sample programs are provided in the PDL manual. D2 SNN04A

D2-SNN04A

ZeroTune function RoHS regulations limit six hazardous substances are: Lead (Pb), mercury (Hg), hexavalent chromium (Cr6 +), Servo loop gains can be easily set without complex procedures via ZeroTune. Polybrominated Biphenyls (PBB), the maximum allowable Only by selecting the load level of the motor, will stable velocity RoHS content of Polybrominated diphenyl ethers (PBDE) is 0.1% response be achieved. Even a beginner who has no knowledge (1000ppm), Cadmium (Cd) is 0.01% (100ppm). of servo control can easily drive a motor.

D2-SNN05A

D2-SNN05A Filter Drive supports two sets of bi-quad filters. 2.2 Comply with CE & UL regulations According to filter parameters, the bi-quad filters can be transformed into different filter types, such as low-pass filter, notch filter, ..., etc. Through well-defined filters, stage Drive Motor vibration can be easily suppressed, and control accuracy can be significantly increased.

20 15 EMC: EN61800-3 10 1 EN55011 20 0 15 05 1 10 100 10 -10 1 0 EN61000-6-2 EN55011 15 0 02 04 06 0 1 -20 -05 0 05 CE Directives EMC Directives 1 10 100 EN61000-6-4 EN61000-6-2 1 -30 -1 -10 0 15 05 -40 0 -15 02 04 06 0 1 EN61000-2-4 EN61000-6-4 -20 -05 0 1 IEC60146-1-1 0 02 04 06 0 1 -30 -1 -05 20 15 05 -40 -15 10 1 IEC61000-2-1 -1 0 0 05 1 10 100 0 02 -1504 06 0 1 -05 20 -10 15 0 0 02 04 06 0 1 Low-Voltage EN60034-1 10 -20 1 -05 -1 LVDS:EN61800-5-1 -30 -1 0 05 Directives EN60034-5 1 10 100 -15 -40 -15 -10 0 0 02 04 06 0 1 -20 -05 UL:E348161 UL1004-1 -30 -1 UL Directives (D2T 100W/400W/1000W) UL1004-6 Easy integration -40 -15

A complete solution with positioning module, motor and drive In addition to providing motor and drive, a variety of linear positioning modules are provided. We provide customers with integrated services and a total solution.

High-speed network communications interface The D2 is equipped with Industrial Ethernet communications (EtherCAT) interface, and also supports CoE (CANopen over EtherCAT) servo drive protocol. For of multi-axis control, it provides simple wiring, low cost, noise immunity, remote and distributed control needs.

Simple and robust commnunication interface Equipped with Modbus communication, D-series drives support Modbus over serial lines (Modbus RTU and Modbus ASCII). On the application of automation, the motor position and velocity can be easily shown on the HMI via Modbus. 8 MD99TE06-1704 AC Servo Motor & D2 Drive 9

3. Model Descriptions 3.2 Servo motor Code 1 2 3 4 5 6 7 8 9 10 11 12 3.1 Servo drive Example F R L S 4 0 2 0 6 0 6 A Code 1 2 2a 3 4 5 6 7 8 9 10 11 12 Product Example D 2 T - 0 4 2 3 - S - B 0 HIWIN AC servo motor series ...... = FR

Type Product Low inertia, small capacity(50W~400W) ...... = LS HIWIN servo drive D2 ...... = D2 Medium inertia, small capacity(50W/100W/ 400W/750W) ...... = MS Type Medium inertia, medium capacity(1000W/2000W) = MM 17bit encoder only ...... = T 13bit encoder only ...... = Blank Output Power 50W ...... = 05 Rated output 100W ...... = 10 100W ...... = 01 200W ...... = 20 400W ...... = 04 400W(Low inertia) ...... = 40 1000W ...... = 10 400W(Medium inertia) ...... = 4B 2000W ...... = 20 750W ...... = 75 1000W ...... = 1K Voltage range 2000W ...... = 2K 1/3 phase 110/220VAC (For A,B,C frame) ...... = 23 Drive input voltage 3 phase 220VAC (Only for D frame) ...... = 32 220V ...... = 2 Interface Holding brake options Standard ...... = S EtherCAT(CoE) ...... = E Without holding brake ...... = 0 EtherCAT(mega-ulink) ...... = F With holding brake ...... = B Standard with extension I/O modules ...... = K Modbus ...... = T Encoder type 13bit incremental encoder(1)...... = 5 Frame size 17bit absolute encoder ...... = 4 A frame(suggestion: 100W rated output) ...... = A HIWIN 17 incremental encoder ...... = 6 B frame(suggestion: 400W rated output) ...... = B C frame(suggestion: 1000W rated output) ...... = C Frame size D frame(suggestion: 2000W rated output) ...... = D 40mm(MS 50W/100W) ...... = 04 42mm(LS 50W/100W) ...... = A4 Encoder type 60 mm(200W/400W) ...... = 06 13bit less-wire incremental encoder ...... = 0 80 mm(750W) ...... = 08 17bit serial incermental encoder(HIWIN17) ...... = 4 130 mm(1000W/2000W) ...... = 13 Dual Loop (Full closed loop) and 17bit serial absolute encoder ...... = 5 Motor shaft Interface Standard EtherCAT(CoE) EtherCAT(mega-ulink) Standard with extension I/O modules Modbus Round shaft / without oil seal ...... = A Model (2) D2(frame A-C ) O O O X O Round shaft / with oil seal ...... = B D2T(frame A-C) O O O Δ X With key and center tap / without oil seal ...... = C D2T(frame D ) O O O Δ Δ With key and center tap / with oil seal(2) ...... = D O: Available X:Unavailable Δ:Please contact with Sales Representative.

Note Single and three phase AC voltage drive only support rated output which is lower or equal to 1000W. (1) 13bit only supports FRLS05/10/20/40,FRMS75,FRMM1K (2) FRLS 05/10 For the motor with oil seal,please contact Sales Representative 10 MD99TE06-1704 AC Servo Motor & D2 Drive 11

3.3 Motor cable 3.4 Encoder cable

Code 1 2 3 4 5 6 7 8 9 10 11 12 Code 1 2 3 4 5 6 7 8 9 10 11 12 Example H V P S 0 4 A A 0 5 M B Example H V E 1 7 I A B 0 5 M B

Type Type HIWIN motor cable ...... = HVP HIWIN encoder cable ...... = HVE

Capacity Encoder Type Small capacity (50W~750W) ...... = S 13bit incremental encoder ...... = 13I Medium capacity (1000W/2000W) ...... = M HIWIN 17 incremental encoder ...... = 17I 17bit absolute encoder ...... = 17A Number of pin Motor cable without holding brake ...... = 04 Encoder connector Motor cable with holding brake ...... = 06 AMP connector (50W~750W) ...... = A Straight waterproof connector (1000W/2000W) ...... = B Motor side connector L-type waterproof connector (1000W/2000W) ...... = C AMP connector (50W~750W) ...... = A Straight waterproof connector (1000W/2000W) ...... = B Drive side connector L-type waterproof connector (1000W/2000W) ...... = C SCR connector ...... = B

Drive side connector Cable length Open cable ends (50W~1000W) ...... = A 3M ...... = 03M R-type terminals (2000W) ...... = B 5M ...... = 05M 7M ...... = 07M Cable length 10M ...... = 10M 3M ...... = 03M 5M ...... = 05M Cable type 7M ...... = 07M Highly flexible ...... = B 10M ...... = 10M

Cable type Highly flexible ...... = B 12 MD99TE06-1704 AC Servo Motor & D2 Drive 13

4. Interface Directions 4.1 Frame A-C 4.2 Frame D

(1) Please refer to user guide 14 MD99TE06-1704 AC Servo Motor & D2 Drive 15

5. Part numbers and options

Name Motor cable Encoder cable Other accessories

without brake HVPS04AA 50W HVE13IAB | HVE17IAB 750W HVE17AAB with brake HVPS06AA

Straight type HVPM04BA without Control signal cable: brake HVE13IBB(Straight type) LMACK02D L-type HVPM04CA HVE17IBB(Straight type) HVE17ABB(Straight type) Single phase EMC Pack: 1000W D1N-NN02A HVE13ICB(L-type) D2-EMC1 or D2-EMC3 D2 - D2D2 Drive PPN01B Straight type HVPM06BA HVE17ICB(L-type) with HVE17ACB(L-type) 3 phase EMC Pack: brake D2-EMC2 L-type HVPM06CA Common mode filter MF-CM-S Straight type HVPM04BB without DC reactor D1N- PNN03A brake B86732G15L712 AC Servo Motor L-type HVPM04CB HVE17IBB(Straight type) Singel Axis Robot HVE17ABB(Straight type) 2000W HVE17ICB(L-type) Straight type HVPM06BB HVE17ACB(L-type) D2- with PPN0A brake L-type HVPM06CB

Straight type : straight waterproof connector L-type : waterproof connector 16 MD99TE06-1704 AC Servo Motor & D2 Drive 17

5.1 AC50W~AC750W－13bit incremental encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 13bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake incremental Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) FRLS05205A4Δ 50 Δ FRLS052B5A4 Approx. D2-0123-S-A0 Frame A N/A FRLS10205A4Δ 0.4kVA 100 Δ Low FRLS102B5A4 FRLS D2-EMC1 Inertia single phase/ FRLS2020506Δ three phase 200 HVPS04AA□□□B HVPS06AA□□□B HVE13IAB□□□B LMACK02D D2-EMC2 Δ 220V FRLS202B506 Approx. D2-0423-S-B0 Frame B RG1 FRLS4020506Δ 0.9kVA 400 FRLS402B506Δ

Δ Middle FRMS7520508 Approx. FRMS 750 D2-1023-S-C0 Frame C D2-EMC3 RG2 inertia FRMS752B508Δ 1.8kVA

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 50W~750W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 13bit incremental HVPS04AA □□□ B HVPS06AA □□□ B HVE13IAB □□□ B

Cable length Cable length Cable length 3M ...... =03M 3M ...... =03M 3M ...... =03M 5M ...... =05M 5M ...... =05M 5M ...... =05M 7M ...... =07M 7M ...... =07M 7M ...... =07M 10M ...... =10M 10M ...... =10M 10M ...... =10M

Cable type Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B Highly flexible ...... = B

For more information about cables, please refer to P.52-P.58 18 MD99TE06-1704 AC Servo Motor & D2 Drive 19

5.2 AC1000W－13bit incremental encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 13bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake incremental Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) single phase/ Δ Middle FRMM1K20513 Approx. FRMM three phase 1000 D2-1023-S-C0 Frame C HVPM04□A□□□B HVPM06□A□□□B HVE13I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2 inertia 1.8kVA 220V FRMM1K2B513Δ

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 1000W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 13bit incremental HVPM04□A□□□ B HVPM06□A□□□ B HVE13I□B□□□ B

Motor side connector Motor side connector Motor side connector Straight Type ...... =B Straight Type ...... =B Straight Type ...... =B L-Shaped Type ....=C L-Shaped Type ....=C L-Shaped Type ....=C

Cable type Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B Highly flexible ...... = B

For more information about cables, please refer Note5 Medium capacity motor brake power cables to P.52-P.58 are packaged. Item number HVPM06: Contains one motor cable and brake cable labeled with HVPM04 and HVPM02. 20 MD99TE06-1704 AC Servo Motor & D2 Drive 21

5.3 AC50W~AC750W－17bit incremental encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 17bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake incremental Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) FRLS05206A4∆ 50 FRLS052B6A4∆ Approx. D2T-0123-S-A4 Frame A N/A FRLS10206A4∆ 0.4kVA 100 Low FRLS102B6A4∆ FRLS D2-EMC1 Inertia FRLS2020606∆ 200 FRLS202B606∆ Approx. D2T-0423-S-B4 Frame B RG1 FRLS4020606∆ 0.9kVA 400 single phase/ FRLS402B606∆ three phase HVPS04AA□□□B HVPS06AA□□□B HVE17IAB□□□B LMACK02D D2-EMC2 220V FRMS0520604∆ 50 FRMS052B604∆ Approx. D2T-0123-S-A4 Frame A FRMS1020604∆ 0.4KVA 100 Middle FRMS102B604∆ FRMS D2-EMC3 RG2 inertia FRMS4B20606∆ Approx. 400 D2T-0423-S-B4 Frame B FRMS4B2B606∆ 0.9KVA

FRMS7520608∆ Approx. 750 D2T-1023-S-C4 Frame C FRMS752B608∆ 1.8KVA

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 50W~750W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit incremental HVPS04AA □□□ B HVPS06AA □□□ B HVE17IAB □□□ B

Cable type Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B Highly flexible ...... = B

For more information about cables, please refer to P.52-P.58 22 MD99TE06-1704 AC Servo Motor & D2 Drive 23

5.4 AC1000W/AC2000W－17bit incremental encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 17bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake incremental Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) single phase/ Δ FRMM1K20613 Approx. three phase 1000 D2T-1023-S-C4 Frame C HVPM04□A□□□B HVPM06□A□□□B Δ 1.8kVA Middle 220V FRMM1K2B613 FRMM HVE17I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2 inertia Δ three phase FRMM2K20613 Approx. 2000 D2T-2032-S-D4 Frame D HVPM04□B□□□B HVPM06□B□□□B 220V FRMM2K2B613Δ 3.5kVA

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 1000W, 2000W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit incremental HVPM04□ A □□□ B HVPM06□ A □□□ B HVE17I□B□□□ B

Motor side connector Motor side connector Motor side connector Straight Type ...... =B Straight Type ...... =B Straight Type ...... =B L-Shaped Type ....=C L-Shaped Type ....=C L-Shaped Type ....=C

Drive side connector Drive side connector Cable length Open cable ends ...... =A Open cable ends ...... =A 3M ...... =03M R-type terminals ...... =B R-type terminals ...... =B 5M ...... =05M 7M ...... =07M Cable length Cable length 10M ...... =10M 3M ...... =03M 3M ...... =03M 5M ...... =05M 5M ...... =05M Cable type 7M ...... =07M 7M ...... =07M Highly flexible ...... = B 10M ...... =10M 10M ...... =10M

Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B

5.5 AC50W~AC750W－17bit absolute encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 17bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake absolute Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) FRLS05204A4∆ 50 FRLS052B4A4∆ Approx. D2T-0123-S-A5 Frame A N/A FRLS10204A4∆ 0.4KVA 100 Low FRLS102B4A4∆ FRLS D2-EMC1 Inertia FRLS2020406∆ 200 FRLS202B406∆ Approx. D2T-0423-S-B5 Frame B RG1 FRLS4020406∆ 0.9kVA 400 single phase/ FRLS402B406∆ three phase HVPS04AA□□□B HVPS06AA□□□B HVE17AAB□□□B LMACK02D D2-EMC2 220V FRMS0520404∆ 50 FRMS052B404∆ Approx. D2T-0123-S-A5 Frame A FRMS1020404∆ 0.4KVA 100 Middle FRMS102B404∆ FRMS D2-EMC3 RG2 inertia FRMS4B20406∆ Approx. 400 D2T-0423-S-B5 Frame B FRMS4B2B406∆ 0.9KVA

FRMS7520408∆ Approx. 750 D2T-1023-S-C5 Frame C FRMS752B408∆ 1.8KVA

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 50W~750W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit absolute HVPS04AA □□□ B HVPS06AA □□□ B HVE17AAB □□□ B

Cable type Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B Highly flexible ...... = B

For more information about cables, please refer to P.52-P.58 26 MD99TE06-1704 AC Servo Motor & D2 Drive 27

5.6 AC1000W/AC2000W－17bit absolute encoder

Motor Drive Optional parts Motor cable(Note 2) Encoder cable D2 drive accessories Power capacity Single Three Output Part No. Part No. 17bit External Motor Series Power supply Frame (Rated load) Control phase phase (W) (Note 1) (Standard interface) without brake with brake absolute Regenerative Signal Cable EMC Pack EMC Pack (Note 2) Resistor (Note 3) (Note 3) single phase/ Δ FRMM1K20413 Approx. three phase 1000 D2T-1023-S-C5 Frame C HVPM04□A□□□B HVPM06□A□□□B Δ 1.8kVA Middle 220V FRMM1K2B413 FRMM HVE17A□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2 inertia Δ three phase FRMM2K20413 Approx. 2000 D2T-2032-S-D5 Frame D HVPM04□B□□□B HVPM06□B□□□B 220V FRMM2K2B413Δ 3.5kVA

Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)

Note3 EMC pack model (please refer to P.38)

Note2 Selection of cable / 1000W, 2000W

Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit absolute HVPM04□ A □□□ B HVPM06□ A □□□ B HVE17A□B□□□ B

Motor side connector Motor side connector Motor side connector Straight Type ...... =B Straight Type ...... =B Straight Type ...... =B L-Shaped Type ....=C L-Shaped Type ....=C L-Shaped Type ....=C

Cable type Cable type Highly flexible ...... = B Highly flexible ...... = B

6. Servo Drive Functions (1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map; (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Switch to secondary CG and vpg; Control input 6.1 Servo drive with standard interface (8)Inhibit pulse command; (9)Switch HI/LO pulse input; (10)Abort motion; (11)Switch to secondary mode; (12)Start homing; (13)Electronic gear select (DIV1/DIV2) (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed; Control output Specifications (7)Emulated index; (8)Zero speed detected; (9)Errors Max. command Dedicated interface for Photo-coupler(single end input): 500kpps Frame Single/three-phase, 200 to 240V 50/60Hz pulse frequency Dedicated interface for line drive(differential input): 4Mpps(16M cnt/s with AqB) A~C Main Input pulse signal (1)Pulse and Direction (2)Pulse Up/Pulse Down (3)Quadrature(AqB) power Frame format Input power 220V Three-phase,200-240 Vac 50/60Hz Pulse D Electronic gear input Gear ratio : pulses/counts Control Frame control Position (Division/ Single phase, 200 to 240V 50/60Hz pulses : 1~2, 147, 483, 647 power A~D Multiplication of counts : 1~2, 147, 483, 647 command pulse) Operation Temperature: 0℃~45℃ Temperature (If temperature is higher than 45℃, ventilation is needed) Smoothing filter Smooth factor : 1~500 (0: no smoothing filter) Storage Temperature: -20℃~65℃ Vibration suppression VSF can remove the vibration frequency that occurs during movement. It can reduce the Environment Humidity 0 to 90%RH (no frost) filter(VSF) vibration caused by the system’s structure and improve the machine’s productivity. (1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map; Under 1000 Meters Altitude (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command; Control input Vibration 1G (10 to 500Hz) (8)Switch to secondary CG and vpg; (9)Zero speed clamp; (10)Abort motion; (11)Switch to secondary mode Control method IGBT PWM space vector control (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed; Control output (7)Emulated index; (8)Zero speed detected; (9)Errors 13bit incremental Encoder feedback 17bit incremental PWM Velocity command Speed command input can be provided by means of duty cycle of PWM input. Parameter are Dual loop (Full closed loop) and 17bit absolute input input used for scale setting and command polarity.

Input General purpose 9 inputs (D2T:10) control Velocity Analog Velocity command Speed instruction can be set with analog voltage method, parameters can set ratio and Control signal Input input direction +/-10V Output General purpose 4 outputs (D2T:5) Zero speed clamp Zero speed clamp input is possible. I/O signal Input 1 input (12bit A/D) (1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map; Analog signal Control input (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command; connector Output 2 outputs (Analog monitor-under construction) (8)Switch to secondary CG and vpg; (9)Switch to secondary mode Input 2 inputs (Low speed channel, High speed channel) (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed; Control output Pulse signal (7)Emulated index; (8)Zero speed detected; (9)Errors Output 4 outputs (Line drive: 3output, open collector: 1 output) PWM Torque command Torque command input can be provided by means of duty cycle of PWM input. Parameter are Brake Direct brake connection. (no need of extra relay for brake) input input used for scale setting and command polarity. Control signal Output connector Also programmable for general purpose output Torque control Torque Analog Torque command Torque command input can be provided by means of analog voltage. Communication function USB Connection with PC, 115200bps Input input Parameter are used for scale setting and command polarity. Speed limit function Speed limit value with parameter is possible Dot matrix 2*8 characters LCD with 4 buttons Front panel LED(green, red) ZeroTune ZeroTune can find the porper gains by clicking one button on LCD when the motor is disable. Frame Emulated encoder feedback Need external connection, no internal regenerative resistor Set up of any value is possible (frequency up to 18M cnt/s, only frame D drive up to 9M cnt/s) A-C output Regenerative function (1)Motor short detection; (2)Over voltage; (3)Position error too big; ± Frame Built in or external regenerative resistor (option), 13Ω 5%, continue (4)Encoder error; (5)Soft thermal threshold reached; (6)Motor maybe disconnect; D power 120W, Peak power 600W (7)Amplifier over temperature; (8)Under voltage; (9)5V for encoder card fail; (10)Phase init. error; (11)Serial encoder communication error; (12)Hall sensor error; Switching among the following modes is possible Protective function (13)Current control error; (14)Hybrid deviation too big; (15)HFLT inconsistent error; (1)Position control (2)Velocity control (3)Torque control Control mode (16)Incompatible motor model for drive; (17)DC bus voltage abnormal; (4)Position/Velocity control (5)Position/Torque control (18)EtherCAT interface disconnected (6)Velocity/Torque control

Common Error log Errors and warnings are saved in non-volatile memory Frame N/A A-C Method: Established compensation table to compensate encoder error by linear interpolation Dynamic brake Samples: Maximum 5,000 point Frame Built in line resistance: 2.6 Ω ± 5%, continuous power: 120 W, Error Mapping Storage: Flash ROM, Disc file D peak power: 600 W Unit: count Activation: Activated internally by home complete, or activated externally by input signal Others Friction compensation, Backlash compensation 30 MD99TE06-1704 AC Servo Motor & D2 Drive 31

6.2 Wiring diagram

Single-phase Three-phase

Recommended models: FN2090-6-06 filter Recommended models: FN3025L-20-71 filter Maximum continuous operating voltage 250VAC, 50/60Hz Maximum continuous operating voltage 3x520/300 VAC Operating Frequency DC to 400Hz Operating Frequency DC to 400Hz Rated Current 6A@40℃ Rated Current 20A@50℃ Surge pulse protection 2kV, IEC 61000-4-5

erge N erge Sto N Sto S S D2 Series Drie D2 Series Drie NB N1 NB N1 ilter ilter 1 1 ree-ase Sigle-ase 100-240A 100-240A 2 2 5060 5060 3 3 art art 1 1 2 2

D2-N02A D2-N03A 32 MD99TE06-1704 AC Servo Motor & D2 Drive 33

6.3 Control circuit

Wiring Example of Position Control Mode Wiring Example of Velocity/Torque Control Mode

2 (1) When the host is NPN using 12,24V power 7 7 1 with external resistors 47 47 2 33 1 3 33 1 47 47 220 2 3 30 2 30 2 - 4 47 47 2 220 4 29 3 2 29 3 47 47 2 2 5 27 4 27 4 5 d 47 47 220 220 6 2 5 - 6 2 5 47 47 26 6 S 13 26 6 47 47 32 7 32 7 (2) When the host is NPN using 24V power 47 A 21 47 A 21 without external resistors oderoutut A-ase outut

oderoutut A-ase outut 31 31 47 22 47 A 22 A 9 9 9 2 9 2 1 B 4 B-ase outut B 4 B-ase outut B 49 220 4 B 49 23 23 2 2 2 35 1 -ase outut 35 1 -ase outut d 24 34 1- 24 220 6 34 1- S 25 37 2 S 25 37 2 36 2- 19 36 2- 19 -ase outut -ase outut (oe olletor) (3) When the host is PNP using 12,24V power (oe olletor) 39 3 with external resistors 39 3 3 3- 3 3- 2 3 11 4 AD0 14 - oltage utut (-10) 11 4 220 4 AD0- 15 10 4- 10 4- 2 5 d 13 S 13 S 220 6 44 45 -

46 (4) When the host is PNP using 24V power without external resistors 47 - 25 S 25 S 2 2 1 50 50 220 4

2 N6 : Twisted pair N6 : Twisted pair 2 2 d 220 6 D2-N1B

d Seifiatios of 12 1 o 12 24 2 o 12 D2-N17B

Additional I/O pins (Only for D2T drive)

7 47 10

40 5 12 5-

N6 D2-N19A 34 MD99TE06-1704 AC Servo Motor & D2 Drive 35

6.4 Dimensions of drive

Frame A (D2x-01xx-S(T)-Ax) Frame C (D2x-10xx-S(T)-Cx) 135.5 180 5 5 66 44

180 7 31±0.1 227

(3.5) 6.5 28±0.1 60 (4) 60 1.5

C1 C1 L1 C L1 C L2 L2 L3 C L3 C 4 4 C U C U V V W 173.5 R+

169 W R+ 165.5±0.1 R- 162±0.1 R- L1C L1C L2C C 6 L2C C 6 C2 +24V C2 B+ B- +24V RTN B+ B- RTN Unit:mm D2-DNN01B C7 Unit:mm D2-DNN03B C7 47 4 4-Ø4.4

(38) 6 2-Ø4.2 3.5

Frame D (D2x-20xx-S(T)-Dx) Frame B (D2x-04xx-S(T)-Bx) 135.5 209 5 5

5 52.8 90

180 45 (39) 255 5 41.8±0.1 60 (3.5) 60 3-Ø6 (6)

CAE C1 C1 STAT L1 L1 C C L2 L2 L3 C L3 C 4 4 L1C C C U L2C V B1 W 168 R+ B2 156±0.2 159.5 R- B3 C

152.5±0.1 L1C 1 6 L2C C 2 6 C2 +24V C2 B+ U C B- RTN Unit:mm V 7 C D2-DNN02B W 1 Unit:mm D2-DNN52A C7

6 6 78±0.2 (46.8) 2-Ø4.2 3.5 36 MD99TE06-1704 AC Servo Motor & D2 Drive 37

Frame A (D2x-01xx-E(Note)-Ax) Frame C (D2x-10xx-E(Note)-Cx) 135.5 181 5 5 86 64.5

7 31±0.1 180

(3.5) 6.5 28±0.1 227

60 (4) 60 1.5

C1 L1 C L2 C1 L1 L3 C C L2 4 L3 C U C 4 V C W U 169 R+ V 162±0.1 R- W 173.5 L1C R+

L2C 165.5±0.1 R- C L1C Unit:mm 6 L2C D2-DNN49B C C2 +24V 6 B+ C2 B- +24V RTN B+ Unit:mm B- RTN D2-DNN51B

3.5 (38) 2-Ø4.2 47 4-Ø4.2 4

Frame B (D2x-04xx-E(Note)-Bx) Frame D (D2x-20xx-E(Note)-Dx) 135.5 209 5 5

5 72.8 105

5 41.8±0.1 180 45 (39) 255

(3.5) 3-Ø6 60

60 (6)

CAE C1 STAT C1 L1 C L1 C L2 L2 C L3 L3 4 C L1C C 4 C L2C U V B1 168 W B2

R+ 156±0.2

159.5 B3 R- C 1

152.5±0.1 L1C 6

L2C C 2 6

C2 C2 +24V Unit:mm B+ U C D2-DNN50B B- V 7 RTN C W 1 Unit:mm

C7 D2-DNN53A

6 6 78±0.2

3.5 Note Interface E/F/K/U are plug-in module (46.8) 2-Ø4.2 38 MD99TE06-1704 AC Servo Motor & D2 Drive 39

6.5 Drive peripheral kits

Connector Kit EMC Accessory Kit

Part Name Model Description Quantity Part Name Model Description Quantity Main power, motor power, regenerative resistor Single phase filter FN2090-6-06 for 50W to 400W 1 CN1 and control power connector / 12pins, pitch5mm 1 D2-EMC1 (Rated current:6A, leakage current: 0.67mA) D2 EMC (051500400249) (051800200074) accessory EMI core KCF-130-B 2 Frame A-C D2-CK3 CN2 Brake connector: 4pins, pitch 3.5mm (051500400285) 1 kit for single Single phase filter FN2090-10-06 for 750W and 1000W 1 CN6 Control signal connector: 50 pins welded type(051500100127) 1 phase D2-EMC3 ( Rated current:10A, leakage current: 0.67mA) (051800200077) CN1 Connector fixture tool (051800400035) 1 EMI magnet rings KCF-130-B 2 CN2 Connector fixture tool (051800400066) 1 Three phase filter FN3025HL-20-71 1 D2-EMC2 ( Rated current:20A, leakage current:0.4mA) Connectors of AC power, drive control power, D2 EMC (051800200075) CN1 regenerative resistor, and DC reactor. 11 pins, 1 accessory EMI magnet rings KCF-130-B 2 TE 1-2229794-1-PT1. kit for three Three phase filter B84743C0035R166 1 CN2 Motor power connector. 3 pins, TE 3-22297894-1. 1 phase D2-EMC4 ( Rated current:35A, leakage current: <0.5mA) (051800200078) Frame D CN4 Connector kit for serial communication. TE 2040008-1. 1 EMI magnet rings KCF-130-B 2 (with Modbus D2-CK4 interface) CN5 Safety function connector. TE 1971153-1. 1 EMI magnetic rings are applied on main power cables, motor power cables, encoder wires or pulse Control signal connector. 50 pins, welded type, control wires respectively. CN6 1 EUMAX XDR-10350AS. CN1 Connector fixture tools: TE 1981045-1. 2 CN2 1. The leakage current of some models’ noise filters is large. Therefore the leakage current will increase due to the ground conditions. When applying leak detectors and leakage circuit breakers, please Connectors of AC power, drive control power, consider on the basis of ground conditions and noise filters issues how to select. Please contact noise CN1 regenerative resistor, and DC reactor. 11 pins, 1 filter manufacturers for details. TE 1-2229794-1-PT1. 2. The filter can be connected to more than one drive if the total maximum load current does not exceed the rated current. CN2 Motor power connector. 3 pins,TE 3-22297894-1. 1 Frame D D2-CK5 CN5 Safety function connector. TE 1971153-1. 1 Control signal connector. 50 pins welded type, CN6 1 EUMAX XDR-10350AS. CN1 Connector fixture tools: TE 1981045-1. 2 CN2 40 MD99TE06-1704 AC Servo Motor & D2 Drive 41

7. Servo Motor 7.1 Motor specifications and application environment

Regenerative Resistor Rated speed Rated (No-load IP Motor output Voltage Encoder Application Environment maximum speed) level Part Name Model Description L1 L2 W H L (W) (rpm) 68Ω Rated power 100W RG1 165 ± 2 150 ± 2 40 ± 0.5 40 ± 0.5 500 ■ Storage condition Peak power 500W - Indoor illumination 50W Regenerative (050100700001) - Keep away from following resistor 120Ω D2- environment PPN02A Rated power 300W a. corrosive gases RG2 215 ± 2 200 ± 2 60 ± 0.5 30 ± 0.5 500 b. flammable gas Peak power 1500W c. grease and dirt (050100700009) ■ Application 100W Semiconductor temperature Equipment 0 ° C ~ 40 ° C

D2- PPN03A Packaging Machine ■ Storage Temperature 3000 FRLS 220V 13bit/17bit IP65 SMT Machine -15 ° C ~ 70 ° C (4500) Food industry Low Inertia machine ■ Humidity 80% RH or less 200W LCD equipment ■ Storage humidity D2- 80% RH or less PPN04A

■ Elevation above sea level 1000m under

400W ■ Vibration resistance 49m/s2 or less D2-DNN04A D2- PPN05A

Common Mode Filter

Part Name Model Description Quantity Common mode inductance: 1100μH (nominal) for Common MF-CM-S 50W to 2000W 1 mode filter (FF000MF11002) (Voltage maximum: 373Vdc, Rated current: 11Arms)

DC Reactor

Part Name Model Description Quantity 1-phase DC reactor for 2000W B86732G15L712 Rated Voltage : 440Vdc DC Reactor 1 (051800200126) Rated current : 14.2A Inductance: 2.45mH(nominal) 42 MD99TE06-1704 AC Servo Motor & D2 Drive 43

7.2 Low inertia, Small capacity 7.2.1 50W

Parameter Symbol Unit FRLS052□□A4□ Drive Input Voltage V V AC220 Rated speed Rated (No-load IP Rated Power W W 50 Motor output Voltage Encoder Application Environment maximum speed) level (W) Rated Torque Tc N.m 0.16 (rpm) Rated Current Ic A(rms) 0.9 Peak Max. Torque Tp N.m 0.48 Peak Max. Current Ip A(rms) 2.7 50W Rated Speed ωc rpm 3000 Max. Speed ωp rpm 4500 Torque Constant Kt N.m / Arms 0.178 Back EMF Constant Ke Vrms / krpm 10.74 Resistance (line to line) R Ω 4.7 Inductance (line to line) L mH 4.7 Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.02(0.022) 100W 17bit ■ Semiconductor Storage condition Weight (with brake) M kg 0.45(0.58) Equipment - Indoor illumination - Keep away Motor Insulation Grade Class A (UL) Packaging Machine from following 3000 environment Total enclosed, self-cooled, IP65 FRMS 220V SMT Machine Motor protect (4500) a. corrosive gases (Except for shaft and connector) Food industry b. flammable gas machine c. grease and dirt Insulation resistance 10MΩ, DC500V LCD equipment Insulation voltage resistance AC1500V, 60 second 400W ■ Application temperature Brake speciﬁcations (Note 1) 0 ° C ~ 40 ° C Static friction torque (Minimum) Tb N.m 0.3

■ Storage Temperature Magnetizing current Ab A 0.25A IP65 -15 ° C ~ 70 ° C Brake input voltage V V DC24±10% Suction time (Maximum) to ms 30 Middle inertiaMiddle ■ Humidity 80% RH or less Release time (Maximum) tr ms 20 750W 13bit/17bit ■ Storage humidity Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. 80% RH or less Brake suction and release times vary with different circuitries, please note the actual operation delay time D2- PPN06A during application. ■ Elevation above sea level 1000m under Torque-Speed Curve Dimensions 23.7 L=300mm ■ Vibration resistance FRLS 50W Torque-Speed Curve 2 49m/s or less 14 1000W 13bit/17bit 47.8 L=300mm 12 18.5 2.5 32 Machine Tools Peak work range 4-3.4 D2- PPN07A Conveyor 21.5 45° -0.02 2000 30-0.04 FRMM 220V Equipment (3000) 45° PCD45

Textile Machine Torque(N-m) Continuous work range Mechanical arm 88.5(117) 25 8h6 42 D2- SN01A Note註:(： )內為含煞車器之尺寸( )Include Brake Size 2000W 17bit Unit:mm Speed(rpm) 14 10 3 3 D2- Optional(選配規格 Specification) PPN11A D2-DNN05C

With帶鍵 key M38DP 6.2 44 MD99TE06-1704 AC Servo Motor & D2 Drive 45

7.2.2 100W 7.2.3 200W

Parameter Symbol Unit FRLS102□□A4□ Parameter Symbol Unit FRLS202□□06□ Drive Input Voltage V V AC220 Drive Input Voltage V V AC220 Rated Power W W 100 Rated Power W W 200 Rated Torque Tc N.m 0.32 Rated Torque Tc N.m 0.64 Rated Current Ic A(rms) 0.9 Rated Current Ic A(rms) 1.7 Peak Max. Torque Tp N.m 0.96 Peak Max. Torque Tp N.m 1.92 Peak Max. Current Ip A(rms) 2.7 Peak Max. Current Ip A(rms) 5.1 Rated Speed ωc rpm 3000 Rated Speed ωc rpm 3000 Max. Speed ωp rpm 4500 Max. Speed ωp rpm 4500 Torque Constant Kt N.m / Arms 0.356 Torque Constant Kt N.m / Arms 0.38 Back EMF Constant Ke Vrms / krpm 21.98 Back EMF Constant Ke Vrms / krpm 23 Resistance (line to line) R Ω 8 Resistance (line to line) R Ω 4.3 Inductance (line to line) L mH 8.45 Inductance (line to line) L mH 13 Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.036(0.038) Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.17(0.21) Weight (with brake) M kg 0.63(0.76) Weight (with brake) M kg 0.95(1.5) Motor Insulation Grade Class A (UL) Motor Insulation Grade Class A (UL) Total enclosed, self-cooled, IP65 Total enclosed, self-cooled, IP65 Motor protect Motor protect (Except for shaft and connector) (Except for shaft and connector) Insulation resistance 10MΩ, DC500V Insulation resistance 10MΩ, DC500V Insulation voltage resistance AC1500V, 60 second Insulation voltage resistance AC1500V, 60 second Brake speciﬁcations (Note 1) Brake speciﬁcations (Note 1) Static friction torque (Minimum) Tb N.m 0.3 Static friction torque (Minimum) Tb N.m 1.3 Magnetizing current Ab A 0.25A Magnetizing current Ab A 0.32A Brake input voltage V V DC24±10% Brake input voltage V V DC24±10% Suction time (Maximum) to ms 30 Suction time (Maximum) to ms 30 Release time (Maximum) tr ms 20 Release time (Maximum) tr ms 20

Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Brake suction and release times vary with different circuitries, please note the actual operation delay time Brake suction and release times vary with different circuitries, please note the actual operation delay time during application. during application.

Torque-Speed Curve Dimensions Torque-Speed Curve Dimensions

23.7 L=300mm 23.7

FRLS 100W Torque-Speed Curve L=300mm FRLS 200W Torque-Speed Curve 14 47.8 7.5 L=300mm 14 47.8 3 46.5 18.5 L=300mm 12 26 4-5.5 32 18.5 2.5 Peak work range Peak work range 0 45° -0.025 4-3.4 50

21.5 45° -0.02 30-0.04 45° PCD 70

45° 14h6 PCD45 Torque(N-m) 100(133) 30 60 Continuous work range 註:： Torque(N-m) Continuous work range Note( )內為含煞車器之尺寸( )Include Brake Size

110.5(139) 25 8h6 42 D2- - D2 SN03A SN02A Note註:(： )內為含煞車器之尺寸( )Include Brake Size 7 25 Unit:mm 3 Speed(rpm) Speed(rpm) 14 26 20 5 10 3 3 Optional Specification ( ) 5 Optional( Specification選配規格) 選配規格 11 D2-DNN06C M415DP With帶鍵 key With帶鍵 key M38DP D2-DNN07B With seal 14h6

6.2 含油封 30 Unit:mm 46 MD99TE06-1704 AC Servo Motor & D2 Drive 47

7.2.4 400W 7.3 Middle inertia, Small capacity

Parameter Symbol Unit FRLS402□□06□ 7.3.1 50W Drive Input Voltage V V AC220 Parameter Symbol Unit FRMS052□□04□ Rated Power W W 400 Drive Input Voltage V V AC220 Rated Torque Tc N.m 1.27 Rated Power W W 50 Rated Current Ic A(rms) 2.5 Rated Torque Tc N.m 0.16 Peak Max. Torque Tp N.m 3.81 Rated Current Ic A(rms) 0.9 Peak Max. Current Ip A(rms) 7.5 Peak Max. Torque Tp N.m 0.48 Rated Speed ωc rpm 3000 Peak Max. Current Ip A(rms) 2.7 Max. Speed ωp rpm 4500 Rated Speed ωc rpm 3000 Torque Constant Kt N.m / Arms 0.51 Max. Speed ωp rpm 4500 Back EMF Constant Ke Vrms / krpm 31.9 Torque Constant Kt N.m / Arms 0.178 Resistance (line to line) R Ω 3.5 Back EMF Constant Ke Vrms / krpm 11.51 Inductance (line to line) L mH 13 Resistance (line to line) R Ω 13.17 Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.27 (0.31) Inductance (line to line) L mH 11.75 Weight (with brake) M kg 1.31(1.86) Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.025(0.027) Motor Insulation Grade Class A (UL) Weight (with brake) M kg 0.38(0.51) Total enclosed, self-cooled, IP65 Motor protect Motor Insulation Grade Class A (UL) (Except for shaft and connector) Total enclosed, self-cooled, IP65 Insulation resistance 10MΩ, DC500V Motor protect (Except for shaft and connector) Insulation voltage resistance AC1500V, 60 second Insulation resistance 10MΩ, DC500V Brake speciﬁcations (Note 1) Insulation voltage resistance AC1500V, 60 second Static friction torque (Minimum) Tb N.m 1.3 Brake speciﬁcations (Note 1) Magnetizing current Ab A 0.32A Static friction torque (Minimum) Tb N.m 0.32 Brake input voltage V V DC24±10% Magnetizing current Ab A 0.25A Suction time (Maximum) to ms 30 Brake input voltage V V DC24±10% Release time (Maximum) tr ms 20 Suction time (Maximum) to ms 40 Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Release time (Maximum) tr ms 20 Brake suction and release times vary with different circuitries, please note the actual operation delay time during application. Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Brake suction and release times vary with different circuitries, please note the actual operation delay time Torque-Speed Curve Dimensions during application. 23.7 L=300mm Torque-Speed Curve Dimensions FRLS 400W Torque-Speed Curve 47.8 14 L=300mm 7.5 18.5 46.5 23.7 3 FRMS 50W Torque-Speed Curve L=300mm 4-5.5 26 0.5 0 14 45° 47.8 A Peak work range 50-0.025 Peak work range L=300mm 0.4 50W(Middle Inertia) 6

45° 18.5 3 PCD 70 B PCD45

0.3 8h6 31

45° Continuous work range 121.5(154.5) 30 14h6 60 30 -0.02 Note：( )Include Brake Size 45° -0.04 Torque(N-m) 註:( )內為含煞車器之尺寸 50W(Middle Inertia) 0.2 Continuous work range 2-3.4 Torque(N-m) D2- 84(114) 25 □40 SN04A 0.1 7 Note：( )Include Brake Size 3 25 14 Speed(rpm)

0 3 26 20 Optional Specification 10 3 5 0 500 1000 1500 2000 2500 3000 3500 4000 4500

Optional (Specification選配規格) 5 Speed(rpm) M415DP 11 With key M38DP With key 帶鍵 6.2 Unit:mm D2-DNN08B 1.0 With含油封 seal 30 14h6 Unit:mm 0.8

0.6

100W(Middle Inertia) 23.7 0.4 L=300mm 14 47.8 L=300mm A 0.2

100W(Middle Inertia) 18.5 6 B 3 0 PCD45 8h6

0 500 1000 1500 2000 2500 3000 3500 4000 4500 31

45°

30 -0.02 45° 2-3.4-0.04 104(134) 25 □40

10 3 4.0 3

M38DP 3.0 6.2

400W(Middle Inertia) 2.0

1.0

0 0 500 1000 1500 2000 2500 3000 3500 4000 4500

23.7 L=300mm

47.8 14 L=300mm

7.5 46.5 18.5 3 4-5.5 26 0 45° -0.025 400W(Middle Inertia) 50

45° PCD 70

121.5(154.5) 30 14h6 □60

7 3 25 26 20 5 5 11 M415DP 14 h6 30 48 MD99TE06-1704 AC Servo Motor & D2 Drive 49

7.3.2 100W 7.3.3 400W

Parameter Symbol Unit FRMS102□□04□ Parameter Symbol Unit FRMS4B2□□06□ Drive Input Voltage V V AC220 Drive Input Voltage V V AC220 Rated Power W W 100 Rated Power W W 400 Rated Torque Tc N.m 0.32 Rated Torque Tc N.m 1.27

Rated Current Ic A(rms) 0.9 Rated Current Ic 23.7 A(rms) 2.6 L=300mm

Peak Max. Torque Tp N.m 0.96 Peak Max. Torque Tp 14 N.m 3.81 47.8 L=300mm A Peak Max. Current Ip A(rms) 2.7 50W(MiddlePeak Max. Inertia) Current Ip A(rms) 6 7.8 18.5 3 B Rated Speed ωc rpm 3000 Rated Speed ωc rpm PCD453000 8h6 31

45°

Max. Speed ωp rpm 4500 Max. Speed ωp rpm 304500-0.02 -0.04 45° 2-3.4 Torque Constant Kt N.m / Arms 0.356 Torque Constant Kt 84(114)N.m / Arms25 □40 0.48

Back EMF Constant Ke Vrms / krpm 20.93 Back EMF Constant Ke Vrms14 / krpm 29.61

Resistance (line to line) R Ω 19 Resistance (line to line) R 10Ω 3 3 4.13

Inductance (line to line) L mH 23.78 Inductance (line to line) L mHM38DP 9.9

Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.051(0.055) Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 6.2 0.44(0.48) 0.5 Weight (with brake) M kg 0.54(0.67) Weight (with brake) M kg 1.31(1.86) 0.4 Motor Insulation Grade Class A (UL) Motor Insulation Grade Class A (UL) Total enclosed, self-cooled, IP65 0.3 Total enclosed, self-cooled, IP65 Motor protect Motor protect 23.7 (Except for shaft and connector) 50W(Middle Inertia) 0.2 (ExceptL=300mm for shaft and connector)

47.8 14 Insulation resistance 10MΩ, DC500V 0.1 Insulation resistance L=300mm A 10MΩ, DC500V

Insulation voltage resistance AC1500V, 60 second Insulation100W(Middle voltage Inertia) resistance 18.5 AC1500V,6 60 second 0 B 3 0 500 1000 1500 2000 2500 3000 3500 4000 4500 PCD45 8h6 31 Brake speciﬁcations (Note23.7 1) Brake speciﬁcations (Note 1) 45° L=300mm 30 -0.02 45° -0.04 Static friction torque (Minimum) Tb 14 N.m 0.32 Static friction torque (Minimum) Tb N.m 1.32-3.4 47.8 L=300mm A 104(134) 25 □ Magnetizing50W(Middle current Inertia) Ab A 6 0.25A 1.0 Magnetizing current Ab A 400.32 18.5 3 B PCD45 14 8h6 ± ± Brake input voltage V V 31 DC24 10% 0.8 Brake input voltage V V DC24 10% 45° 10 3 3 30 -0.02 Suction time (Maximum) to ms 45° 40 -0.04 Suction time (Maximum) to ms 30 2-3.4 0.6 M38DP Release time (Maximum) tr ms84(114) 25 □2040 100W(Middle Inertia) Release time (Maximum) tr ms 20

0.5 0.4 6.2 14 Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Note0.4 1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic10 brakeing3 3 or emergency stop. 0.2 Brake suction and release times vary with different circuitries, please note the actual operation delay time 0.3 Brake suction and release times vary with different circuitries, please note the actual operation delay time 0 during application. during application. M38DP 0 500 1000 1500 2000 2500 3000 3500 4000 4500 50W(Middle Inertia) 0.2 6.2

0.1 Torque-Speed Curve Dimensions

23.7 0 L=300mm Torque-Speed0 500 1000 1500 2000 Curve2500 3000 3500 4000 4500 Dimensions FRMS 400W Torque-Speed Curve 4.0 47.8 14 L=300mm 23.7 L=300mm Peak work range

7.5 46.5 FRMS 100W Torque-Speed Curve 18.5 47.8 14 3 1.0 L=300mm A 3.0 4-5.5 26 0

100W(Middle Inertia) 18.5 6 Peak work range 45° 50-0.025 B 3 400W(Middle Inertia) 0.8 PCD45 2.0 8h6 400W(Middle Inertia) 31 45° 45° Continuous work range PCD 70

0.6 30 -0.02 Torque(N-m) 45° -0.04 1.0

2-3.4 14h6 100W(Middle Inertia) 121.5(154.5) 30 □60 104(134) 25 0.4 Continuous work range □40 Note：( )Include Brake Size Note：( )Include Brake Size

Torque(N-m) 0 0.2 14 0 500 1000 1500 2000 2500 3000 3500 4000 4500 7 3 25 10 3 Optional Specification 3 Speed(rpm) 0 26 20 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5

M38DP 5 Speed(rpm) With key Optional Specification 11 6.2 With key M415DP

Unit:mm 14 h6 With seal 30 Unit:mm

4.0

3.0

23.7 L=300mm 400W(Middle Inertia) 2.0 47.8 14 L=300mm 1.0

7.5 46.5 18.5 3 4-5.5 26 0 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 45° -0.025 400W(Middle Inertia) 50

45° PCD 70

121.5(154.5) 30 14h6 □60

7 3 25 26 20 5 5 11 M415DP 14 h6 30 50 MD99TE06-1704 AC Servo Motor & D2 Drive 51

7.3.4 750W 7.4 Middle inertia, Middle capacity Parameter Symbol Unit FRMS752□□08□ 7.4.1 1000W Drive Input Voltage V V AC220 Rated Power W W 750 Parameter Symbol Unit FRMM1K2□□13□ Rated Torque Tc N.m 2.4 Drive Input Voltage V V AC220 Rated Current Ic A(rms) 5.1 Rated Power W W 1000 Peak Max. Torque Tp N.m 7.2 Rated Torque Tc N.m 4.77 Peak Max. Current Ip A(rms) 15.3 Rated Current Ic A(rms) 5.1 Rated Speed ωc rpm 3000 Peak Max. Torque Tp N.m 14.3 Max. Speed ωp rpm 4500 Peak Max. Current Ip A(rms) 15.3 Torque Constant Kt N.m / Arms 0.47 Rated Speed ωc rpm 2000 Back EMF Constant Ke Vrms / krpm 28.4 Max. Speed ωp rpm 3000 Resistance (line to line) R Ω 0.813 Torque Constant Kt N.m / Arms 0.94 Inductance (line to line) L mH 3.4 Back EMF Constant Ke Vrms / krpm 54.7 Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 1.4(1.46) Resistance (line to line) R Ω 0.81 Weight (with brake) M kg 2.66(3.32) Inductance (line to line) L mH 8 2 -4 Motor Insulation Grade Class A (UL) Inertia of Rotating Parts (with brake) J kg-m (×10 ) 7.6(8.7) Total enclosed, self-cooled, IP65 Weight (with brake) M kg 5.4(6.2) Motor protect (Except for shaft and connector) Motor Insulation Grade Class A (UL) Insulation resistance 10MΩ, DC500V Total enclosed, self-cooled, IP65 Motor protect Insulation voltage resistance AC1500V, 60 second (Except for shaft and connector) Ω Brake speciﬁcations (Note 1) Insulation resistance 10M , DC500V Static friction torque (Minimum) Tb N.m 2.4 Insulation voltage resistance AC1500V, 60 second Magnetizing current Ab A 0.358A Brake speciﬁcations (Note 1) Brake input voltage V V DC24±10% Static friction torque (Minimum) Tb N.m 10 Suction time (Maximum) to ms 45 Magnetizing current Ab A 0.56A Release time (Maximum) tr ms 10 Brake input voltage V V DC24 Suction time (Maximum) to ms 80 Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Release time (Maximum) tr ms 30 Brake suction and release times vary with different circuitries, please note the actual operation delay time during application. Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Brake suction and release times vary with different circuitries, please note the actual operation delay time Torque-Speed Curve Dimensions during application. 23.7 L=300mm

FRMS 750W Torque-Speed Curve 47.8 14 Torque-Speed Curve Dimensions L=300mm 9

18.5 3 130 4-6.6 -0.02 FRMM 1000W Torque-Speed Curve 33 -0.04 12 45° 56.5 70 Peak work range 3 4-9 PCD90 45° 45° 50 (112.85) Peak work range PCD145 Continuous work range 19h6 Torque(N-m) 140(176) 40 80 Note註:( ：)內為含煞車器之尺寸( )Include Brake Size 110 +0 -0.035 D2- 45° SN05A 9 Continuous work range 3 24h6 25 Torque(N-m) 4 Speed(rpm) 33 20 141.4(175.1) 55 6 D2- SN06A Note註:( )：內為含煞車器之尺寸( )Include Brake Size Optional( 選配規格Specification) 6

45 35 M510DP Speed(rpm) With帶鍵 key 31 7

15.5 8 h6 Optional( Specification選配規格) D2-DNN09B 40 D2-DNN10A With含油封 seal 19 Unit:mm M620DP 20 With帶鍵 key Unit:mm 52 MD99TE06-1704 AC Servo Motor & D2 Drive 53

7.4.2 2000W 8. Cable and connector Parameter Symbol Unit FRMM2K2□□13□ Drive Input Voltage V V AC220 8.1 Cable Rated Power W W 2000 Rated Torque Tc N.m 9.55 Small Capacity Rated Current Ic A(rms) 11 Name Type Connect Description : 50W~750W Peak Max. Torque Tp N.m 28.65 Peak Max. Current Ip A(rms) 33 Rated Speed ωc rpm 2000 AC Servo Motor 4 2 HVPS04AA□□□B CN1 1 Max. Speed ωp rpm 3000 Power Cable AMP-172159-1 Torque Constant Kt N.m / Arms 0.87 Back EMF Constant Ke Vrms / krpm 57.8 Resistance (line to line) R Ω 0.41 AC Servo Motor Power 6 Inductance (line to line) L mH 3.7 CN1 2 and Brake HVPS06AA□□□B 4 1 2 × -4 Inertia of Rotating Parts (with brake) J kg-m ( 10 ) 13(14.1) CN2 AMP-172160-1 B Extension B- Weight (with brake) M kg 8(8.8) Cable Motor Insulation Grade Class A (under certification) Total enclosed, self-cooled, IP65 Motor protect (Except for shaft and connector) AC Servo Motor 6 Ω 9 Insulation resistance 10M , DC500V Encoder Cable HVE13IAB□□□B 2 7 1 Insulation voltage resistance AC1500V, 60 second (13bit incremental) 4 AMP-172161-1 3M 36310 3M 36210 Brake speciﬁcations (Note 1) Static friction torque (Minimum) Tb N.m 10

Magnetizing current Ab A 0.56A 6 AC Servo Motor 9 Brake input voltage V V DC24 2 Encoder Cable HVE17IAB□□□B CN7 7 1 4 AMP-172161-9 3M 36310 Suction time to ms 80 (17bit incremental) 3M 36210 Release time tr ms 30

Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Brake suction and release times vary with different circuitries, please note the actual operation delay time

during application. 6 AC Servo Motor 9 Encoder Cable HVE17AAB□□□B 2 7 1 Torque-Speed Curve Dimensions 4 AMP 1-172161-9 3M 36310 (17bit absolute) 3M 36210 130 FRMM 2000W Torque-Speed Curve 40 12 3 4-9 30

45° 50 (112.85) Peak work range PCD145 20

110 +0 -0.035 10 Continuous work range 45° Torque(N-m) 24h6

D2- 0 SN07A 171.4(205.1) 55 500 1000 1500 2000 2500 3000 Note註:：( () 內為含煞車器之尺寸 )Include Brake Size Speed(rpm) 35 31

8 7

Optional Specification(選配規格) D2-DNN42A With key M620DP 帶鍵 20 Unit:mm 54 MD99TE06-1704 AC Servo Motor & D2 Drive 55

Middle Capacity－1000W Middle Capacity－2000W Name Type Connect Description：1000W Name Type Connect Description：2000W

A HVPM04BA□□□B D HVPM04BB□□□B A D

Straight Connector C S106A1-10S- Straight Connector C S106A1-10S- AC Servo Motor AC Servo Motor CN1 CN1 Power Cable Power Cable A D HVPM04CA□□□B HVPM04CB□□□B A D

L-Type Connector C L-Type Connector C S10A1-10S- S10A1-10S-

D A A D

C C M04A□□□□ □□□□ HVPM06BA□□□B S106A1-10S- HVPM06BB□□□B S106A1-10S- M04 Straight Connector Straight Connector A C A C M02A□□□□ M02A□□□□ AC Servo Motor S106A14S-7S- AC Servo Motor S106A14S-7S- Power Cable Power Cable and Brake CN1 and Brake CN1

A D M04CA□□□□ A D Cable Cable M04C□□□□

(Note1) C S10A1-10S- (Note1) HVPM06CA□□□B HVPM06CB□□□B C S10A1-10S- L-Type Connector L-Type Connector

A M02CA□□□□ C A C M02CA□□□□

S10A14S-7S- S10A14S-7S-

A A □□□ HVE17IBB□□□B HVE13IBB B 1-1S 1-1S C Straight Connector C D E M 610 D E M 610 Straight Connector S106A1-1S- S106A1-1S- AC Servo Motor M 6210 AC Servo Motor M 6210 Encoder Cable Encoder Cable (17bit incremental) A (13bit Incremental) A HVE17ICB□□□B

1-1S HVE13ICB□□□B M 610 1-1S M 610 C M 6210 L-Type Connector D E C M 6210 D E L-Type Connector S10A1-1S- S10A1-1S-

A A HVE17ABB□□□B □□□ 1-1S HVE17IBB B 1-1S C C Straight Connector D E D E M 610 Straight Connector S106A1-1S- M 610 S106A1-1S- CN7 M 6210 AC Servo Motor M 6210

CN7 Encoder Cable A A (17bit incremental) □□□ □□□ HVE17ACB B 1-1S HVE17ICB B 1-1S M 610 M 610 C M 6210 AC Servo Motor C D E M 6210 L-Type Connector L-Type Connector D E Encoder Cable S10A1-1S- S10A1-1S- (17bit absolute)

A □□□ HVE17ABB B 1-1S

C Straight Connector D E M 610 S106A1-1S- HE00817DR300(3m) AC Servo Motor M 6210

Encoder Cable AC Servo D oo Eoer Ce Seiitio：E0017D00 (17bit absolute) A □□□ HVE17ACB B 1-1S M 610 C M 6210 L-Type Connector D E S10A1-1S- Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.

Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously. 56 MD99TE06-1704 AC Servo Motor & D2 Drive 57

Communication and Interface Cable 8.2 Connector 馬達電源端接頭(含煞車) Name Type Connect 編碼器端接頭 Motor power cable connector (includes馬達電源端接頭(含煞車) brake) (2m) S A te Mii S Encoder編碼器端接頭 connector 051700800366 CN3 (2m) S A te Mii S D2-DNN25A Small Capacity Series D2-DNN25A 50W~750W Mini USB HE00834S0800(0.3m) 25 50 Cable D2-DNN27A 25 50 LMACK02D 815AC2A3 HE00834S0900(1m) 10150 3M (2m) CN4 / S A te Mii S LMACK02D 815AC2A3 1 26D2 Mo Coitio10150 3M Ceo or r AC CN5 (2m) D2-DNN27A Seiitio：E004S0000、E004S09001、 HE00834S1000(2m) S A te Mii SD2-DNN25A 1 26 E004S10002、E004S1100 D2-DNN26A

- HE00834S1100(3m) D2-DNN256A 25 50 Motor馬達電源端接頭 power cable connector

LMACK02D 815AC2A3 25 50 10150 3M Brake煞車電源端接頭 power connector Interface 馬達電源端接頭 26 LMACK02D 1 815AC2A3 HE00815AC200 CN6 10150 3M Encoder編碼器端接頭 connector Cable D2-DNN26A 煞車電源端接頭 1 26 Middle Capacity Series 編碼器端接頭 D2-DNN26A 1000W/2000W IO Extension HE00834S1200(3m) CN6 Cable D2 Drive Eteio Ce Seiitio：E004S1200 D2-DNN2A

D2-DNN2A

Motor Power Connector Small Capacity Series / 50W~750W

AMP-172167-1 AMP-172168-1 Signal (without brake) (with brake) U 3 3 V 2 2 W 1 1 GND 4 4 B+ -- 5 B- -- 6

Connect Pins Position Definition

D2-DNN29A D2-DNN30A

(without brake) (with brake) D2-DNN33A

I H A

G B

F C 58 MD99TE06-1704 AC Servo Motor & D2 Drive 59 D2 -DNN34A E J D

Middle Capacity Series /1000W‧2000W

Signal WPS3102A18-10P-R WPS3102A14S-7P-R U A -- 17bit incremental / 50W~750W V B -- Function Signal AMP1-172169-9 W C -- 5V±5% 1 Power GND D -- 0V 2 B+ -- A SL+ 3 B- -- C Serial Data SL- 4 Signal MA+ 7 Connect Pins Position Definition D2-DNN35B MA- 8 Shielding Shielding 9

17bit incremental / 1000W‧2000W

D2- Function Signal WPS3102A18-1P-R DNN33A D2- DNN32A 5V±5% A H I A Power WPS3102A18-10P-R WPS3102A14S-7P-R 0V B SL+ C G B By brake Type, two connectors must be used simultaneously Serial Data SL- D F C Signal MA+ G D2- MA- H DNN36B Shielding Shielding I E J D

Encoder Connector

13bit Incremental / 50W~750W 17bit absolute / 50W~750W Function Signal AMP-172169-1 Function Signal AMP-1-172169-9 5V±5% 1 5V 1 Power Power 0V 2 0V 2 A+ U+ 3 VB 5 Battery A- U- 4 GND 6 Incremental B+ V+ 5 SD+ 7 Signal/ Serial Data B- V- 6 D2-DNN37B Hall signal Signal SD- 8 Z+ W+ 7 D2-DNN33A Shielding Shielding 9 Z- W- 8 Shielding Shielding 9

17bit absolute / 1000W‧2000W 13bit Incremental / 1000W Function Signal WPS3102A18-1P-R Function Signal WPS3102A18-1P-R 5V A A 5V±5% A Power Power I 0V B 0V B H A VB E B A+ U+ C Battery G B GND F

A- U- D D2- Incremental Serial Data SD+ G DNN3B B+ V+ E F C Signal/ Signal SD- H D B- V- F D2 Hall signal -DNN34A Shielding Shielding I Z+ W+ G E J D Z- W- H Shielding Shielding I

D2-DNN35B

H I A

G B F C

D2- DNN36B

E J D 60 MD99TE06-1704 AC Servo Motor & D2 Drive 61

9. HIWIN single axis robot and motor 10. Servo Motor Selection Guide

adaptor flange The motor selection guide in this chapter is located on-line at http://www.hiwinmikro.tw/hiwincal.aspx

HIWIN single axis robot AC Servo Motor Drive 1. Definition of mechanism to be driven by the motor. KK40 KK50 KK60 KK80 KK86 KK100 KK130 Define detailed dimentions of individual mechanical components (ex: ball screw length, lead and 50W FRLS052XXA4X F2 F2 F2 F3 F3 F1 - D2x-01xx-x-Ax pulley diameter) 100W FRLS102XXA4X F2 F2 F2 F3 F3 - - D2x-01xx-x-Ax Typical servo mechanisms are listed as follows: [Ball screw mechanism] 200W FRLS202XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx [Belt mechanism] 400W FRLS402XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx [Rack and pinion mechanism] 750W FRMS752XX08X - - - - - F1 F2 D2x-10xx-x-Cx [Reduction gear mechanism]

2. Definition of operating pattern (motion velocity profile). The operating pattern can be defined by the following parameters: acceleration/deceleration time, constant-velocity time, stop time, cycle time, travel distance.

3. Calculation of load inertia and motor inertia ratio. Calculate load inertia for each mechanical component. (Refer to “General inertia calculation method” described later.) Then, divide the calculated load inertia by the inertia of the selected motor then check the inertia ratio. Note that the ratio should less than 10, if the selected motor is less than 750W. If the power of selected motor is higher than 1000W, the ratio should less than 10.

4. Calculation of motor velocity. Calculate the motor velocity from the moving distance, acceleration/deceleration time and constant-velocity time.

5. Calculation of torque. Calculate the required motor torque from the load inertia, acceleration/deceleration time and constant-velocity time.

6. Calculation of motor Select a motor that meets the above 3 to 5 requirements.

D2- LPN02A 62 MD99TE06-1704 AC Servo Motor & D2 Drive 63

10.1 Introduction of motor selection relevant parameters 10.2 General inertia calculation for various rigid objects of uniform composition Peak torque Peak torque indicates the maximum torque that the motor requires during operation (mainly in Shape J calculation formula Shape J calculation formula acceleration and deceleration steps). The reference value is 80% or less of the maximum motor Disk Separated rod torque. If the torque is a negative value, a regenerative discharge resistor may be required.

S Traveling torque, stop holding torque D Traveling torque indicates the torque that the motor requires for a long time. Stop holding torque indicates that the amount of torque required for a motor to remain in a fixed position. D Traveling torque calculation formula for each mechanism. D2-DNN37A D2-DNN41A F W Solid cylinder Straight rod W List of symbol：螺桿機構 D 皮帶機構 D W：Workpiece weight [kg] D2-DNT01A D2-DNT02A BP：Lead [m] L D：Pulley diameter [m] Bp F：External force [N]

Beff： Mechanical efficiency Traveling移動 torque扭矩 Traveling移動torque扭矩 μ：Coefficient of friction 2 g: Acceleration of gravity 9.8[m/s ] D2-DNN42A

D2-DNN38A ( ) ( ) Hollow cylinder Prism d

Effective torque c D Effective torque indicates a root-mean- square value of the total required for running and stopping

the motor per unit time. The reference value is approximate 80% or less of the rated motor torque. b a

Ta: Acceleration torque [N-m] ta: Acceleration time [s] D2-DNN39A D2-DNN43A

Tf: Traveling torque [N-m] tb: constant-velocity time [s] Td: Deceleration torque [N-m] td: Deceleration time [s] Uniform rod tc: Cycle time [s] (Run time + Stop time)

Motor velocity D

Maximum velocity of motor in operation: The reference value is the rated velocity or lower value. L/2 L/2 When the motor operates at the maximum velocity, you must pay attention to the motor torque and D2-DNN40A temperature rise. List of symbol： If mass (M [kg]) is unknown, calculate it with the following formula： J : Inertia [kg-m2] Mass M[kg] = Density ρ [kg/m3] x Volume V[m3] Load inertia and motor inertia ratio M : Mass [kg] Density of each material D : Outer diameter [m] Iron ρ = 7.9 x 103 [kg/m3] Inertia is like the force to retain the current moving condition. Inertia ration is calculated by dividing d : Inner diameter [m] Brass ρ = 8.5 x 103 [kg/m3] 3 3 load inertia by rotor inertia. Generally, for motor with 750W or lower capacity, the inertia ratio L : Length [m] Aluminum ρ = 2.8 x 10 [kg/m ] a, b, c : Side length [m] should be “10” or less. For motor with 1000W or higher capacity, the inertia ratio should be “10” S : Distance [m] or less. If the system need quicker response, a lower inertia ratio is required. 64 MD99TE06-1704 AC Servo Motor & D2 Drive 65

10.3 Equivalent inertia calculation for mechanism 10.4 Operating pattern (motion velocity profile)

Mechanism J calculation formula Trapezoidal profile

Ball screw Travel distance (Shaded area) Velocity

Constant-velocity time Stop time

Belt(Conveyor)

time

Acceleration Deceleration time time *Excluding drum J Cycle time

Rack and pinion

Triangle profile

Velocity Stop time

Reduction gear

time

Acceleration Deceleration time time Inertia on shaft “a” Cycle time

List of symbol: J : Inertia [kg-m2]

JB：J of ball screw

JP：J of pinion M：Mass [kg]

Mr：Mass of rack [kg]

Wb：Workpiece weight on belt [kg]

Wr：Workpiece weight on rack [kg] P：Lead D：Drum diameter [m]

n1：A rotational speed of a shaft [r/min]

n2：A rotational speed of b shaft [r/min] 66 MD99TE06-1704 AC Servo Motor & D2 Drive 67

10.5 Motor selection example - ballscrews mechanism Load inertia F Workpiece weight W = 5 [kg] W 2 1 2 W ×B P Ball screw length BL = 0.5 [m] JL = JC +J B +JW = JC + BW × BD + 2 Ball screw diameter BD = 0.02 [m] 8 4π Ball screw lead BP = 0.02 [m] 2 2 Ball screw efficiency Beff = 0.9 1.24 × 0.02 5 × 0.02 Travel distance 0.3 [m] = 0.00001+ + 2 Coupling inertia J = 10 x 10-6 [kg-m2] 8 4π C Bp = 1.226 1 3 ×1 0−4 [kg −m 2]

Running pattern(velocity profile) Provisional motor selection

Travel distance W −4 2 (Shaded area) Choose Hiwin 200W Servo motor：JM = 0.17 ×10 [kg −m ] Velocity D

Constant-velocity time Stop time Calculation of inertia ratio

−4 JL 1.2261.73 × 10 = = 7.2110.2 −4 JM 0.17 × 10

The inertia ratio is less than 10. time

Acceleration Deceleration time time Acceleration time ta = 0.1 [s]

Cycle time Constant-velocity time tb = 0.8 [s] Deceleration time td = 0.1 [s] Calculation of maximum velocity (Vmax) Cycle time tc = 2 [s] Travel distance 0.3[m] 1 1 Stop time ts = 1.0 [s] × t × V + t × V + × t × V = Travel移動距離 distance distance 2 a max b max 2 d max 1 1 × 0. 1 × V + 0.8 × V + × 0.1× V = 0.3 Ball screw weight 2 max max 2 max 2 BD V = 0.334 [m/s] B = × π × × B max W ( 2 ) L 0.02 2 = 7.9 × 103 × π × × 0.5 ( 2 ) = 1.24 [kg] Calculation of motor velocity (N [r/min])

Ball screw lead BP = 0.02 [m]

Vmax 0.334 N= = = 16.7[rps] =1002[ rpm] BP 0.02 1002[rpm] is less than 3000[rpm] (rated velocity of Hiwin 200W Servo motor) 68 MD99TE06-1704 AC Servo Motor & D2 Drive 69

Calculation of torque 11. Motor / Drive Requirements List

BP 0.02 Date： Traveling torque T = ( µgW +F ) = (0.1×9 .8 × 5 + 0) = 0.0170.035 [N−m] Customer： f 2πB 2π0.9 eff Contact Person：： Email Title： (J +J ) × 2πN L M 60 Drive series □ D2T □ D2 Ta = + Tf Note： ta Acceleration Low inertia：□ 50W □ 100W □ 200W □ 400W 2πx1002 torque (1.226× 10−4 + 0.7 × 10−4 ) × = 60 + 0.017 Middle inertia：□ 50W □ 100W □ 400W 0.1 □ 750W □ 1000W □ 2000W = 0.1630 [N− m] AC Motor Series* Format：□ 13bit Incremental □ 17bit incremental ×2πN (J L+J M ) 60 Td = − Tf □ 17bit absolute td Key* □ No □ Yes Deceleration 2πx1002 (1.2261.73 × 10−4 + 0.147 ×10−4 ) × torque = 60 − 0.0.017035 Brake* □ No □ Yes 0.1 Seal* □ No □ Yes = 0 [N −m ] 0.129 AC input voltage(V) □ Single phase 220V □ Three phase 220V Motor power (flexure resistance) Cable Length：□ 3M □ 5M □ 7M □ 10M Verification of maximum torque Servo motor connecting wires* Encoder (flexure resistance) Ta = 0.163 [N-m] < 1.91 [N-m] (Maximum torque of Hiwin 200W Servo motor) Cable Length：□ 3M □ 5M □ 7M □ 10M Related accessory □ Pulse Wire □ USB cable □ □ Verification of effective torque requirements* Single-phase filter Three-phase filter □ Position control □ Velocity control Control mode* □ □ □ 2 2 2 Torque control EtherCAT(CoE) Others Ta × t a + T f × t b + T d × t d Trms = □ Slide/model no: tc □ Reducer/reduction ratio: □ Timing belt Match method 0.0.163231 2 × 0.1 + 00.017.035 2 × 0.8 + 00.129.16122 × 0.1 □ Gear rack = □ Ball screw/guiding distance: 2 screw outer diameter: □ PLC/manufacture: model: = 0.0480.067[N− m ] Host □ Axis card/manufacture: model: 0.048[N-m] < 0.64[N-m](Rated torque of Hiwin 200W Servo motor) Special Need Installation □ Horizontal □ Vertical Evaluation Speed requirement Accelaration requirement Judging from the inertia ratio calculated above, selection of 200W motor is preferable, although the torque margin is significantly large. Weight requirement The information below is to be filled out by HIWIN or authorized agents. Recommended specifications：

Fields with * must be filled Salesperson： 70 MD99TE06-1704 AC Servo Motor & D2 Drive 71

4. Attention should be given to ensure adequate cooling and ventilation of the motor during 12. Safety Precautions operation. 5. For long term use, the motor shaft should be resupplied with proper and sufficient oil during the Thank you for purchasing HIWIN’s AC servo motor. Installation and operation of the motor must period of operation. be in accordance with the HIWIN manual. Before using the servo motor, please read these safety 6. If any abnormal odor, noise, smoke, temperature rises or vibration is detected, stop the motor instructions and precautions carefully. immediately. Remove power from the servo drive and isolated the motor. Unpacking instructions 1. Before using the servo motor, please read these safety instructions and precautions carefully. Motor International Standard HIWIN is not responsible for any damage, accident, or injury caused by incorrect handling. 2. Examine the appearance of the motor for any unusual marks or damage from shipment. 3. Inspect the wires for damage. 4. Do not disassemble the motor. Since the product design has been based on structure calculations, computer simulations, and prototype testing, do not disassemble the product without the permission of HIWIN engineers. 5. Supervise children when handling this product. 6. People with psychosomatic illness or insufficient experience should not handle this product, unless under the direct supervision of managers or product narrators. * If any items are damaged or incorrect, please contact your distributor or HIWIN sales representative. Maintenance and Storage instructions Safety instructions 1. Do not store the product in an inflammable environment or with chemical agents. 2. Store the product in a place without humidity, dust, harmful gases, or liquids. 1. The product can only be repaired by HIWIN engineers. Please send the product back to us if there 3. The motor shaft opening is neither waterproof nor oil-proof. Do not install the motor in an is any unusual phenomenon. environment where there is harmful gas, liquid, excessive moisture, or water vapor. 2. Do not hold the motor by its wire harness or shaft. 4. Do not store the servo motor where it will be subjected to vibration or shock in excess of the 3. Do not hit the motor or shaft. Shock can damage the encoder inside the motor. specified limit. 4. Do not apply loads to the motor shaft that are in excess of the specified value. 5. The storage and transportation temperature of this product: -20℃~+65℃ 5. Protect the motor and encoder from high electrical noise, vibration, and unusual temperatures. 6. Clean：Wipe with Alcohol (70%) 6. Do not change the motor parts or disassemble the screws. HIWIN will not be responsible for any 7. Before shipping, the motor shaft is coated with antirust oil to protect the motor shaft against rust damages, injuries, or accidents that may occur. formation. However, the material of the motor shaft is not entirely rust-proof. When the motor storage time has exceeded six months, please inspect and examine the motor shaft and resupply Wiring instructions with proper and sufficient antirust oil at least once every three months thereafter. 8. Product disposal：Follow the local laws and regulations for recycling. 1. Ensure the specified power input value before using the product, and verify that the proper power supply is being used. A one year guarantee is provided from the date of delivery. For product damage caused by 2. Before operation, please ensure that the motor, brake, and encoder are connected correctly. improper operation (Please refer to the notes and instructions in this operation manual). HIWIN Incorrect wiring may cause abnormal motor operation or even cause permanent damage to the will not be held responsible for replacing or maintaining the product as a result of any natural disasters that may occur during this period. motor. 3. To avoid voltage coupling and electrical noise on the encoder, ensure adequate separation of the Warning：For the proper use of the HIWIN AC servo motor read these safety precautions motor power wires and the encoder wires. carefully before installation, operation, and maintenance. 4. Ensure that the motor ground wire is connected to the ground terminal on the servo drive. ： 5. Do not perform a dielectric voltage-withstand test on any encoder terminal. The test may cause Warning Do not touch when motor operating to avoid being scalded.

damage to the encoder. ■ Please read “warning signs”. ■ Turn power off before clean product. ■ Read manual before use. Operation instructions ■ If the product is used under overload condition shell temperature rises. 1. Higher than maximum specified current may cause demagnetization of magnetic components ■ Without manufacturer’s permission, please do not arbitrarily modify the device. ■ It is difficult to ensure electromagnetic compatibility (EMC) problems do not occur in some inside the motor. environments. 2. The AC servo motor is designed to operate through a dedicated servo drive. Do not connect to a ■ Removal of damaged power cable fasteners, with care and with attention for power cable fasteners. commercial power source (100/200V AC, 50/60 HZ). The motor will not operate correctly and may ■ Avoid impact on of shaft end and encoder. cause permanent damage. ■ Products cannot be used in environment with flammable materials. 3. The motor must be operated within its specified range. MEMO INDUSTRIE 4.0 Best Partner