AC - Servo - Motor - Drive - e (2016)

AC Servo Motor & D2 Drive Technical Information
AC Servo Motor & D2 Drive
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]
Subsidiaries & R&D Centers
HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

OFFENBURG, GERMANY JONA, SWITZERLAND SUWON, KOREA
www.hiwin.de www.hiwin.ch www.hiwin.kr
www.hiwin.eu [email protected] [email protected]
[email protected]
HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

KOBE‧TOKYO‧NAGOYA‧NAGANO‧ ECHAUFFOUR, FRANCE SUZHOU, CHINA
TOHOKU‧HOKURIKU‧HIROSHIMA‧ www.hiwin.fr www.hiwin.cn
KUMAMOTO‧FUKUOKA, JAPAN [email protected] [email protected]
www.hiwin.co.jp
[email protected]
HIWIN USA HIWIN s.r.o. Mega-Fabs Motion System, Ltd.

CHICAGO‧SILICON VALLEY, U.S.A. BRNO, CZECH REPUBLIC HAIFA, ISRAEL
www.hiwin.com www.hiwin.cz www.mega-fabs.com
[email protected] [email protected] [email protected]
HIWIN Srl HIWIN SINGAPORE

BRUGHERIO, ITALY SINGAPORE
www.hiwin.it www.hiwin.sg
[email protected] [email protected]
Technical Information
The specifications in this catalog are subject to change without notification.
©2016 FORM MD99TE05-1602

(PRINTED IN TAIWAN)
INDUSTRIE 4.0 Best Partner
Multi Axis Robot

Pick-and-place / Assembly /
Grinding and Polishing / Semiconductor /
Light Industry / Automotive industry /
Food industry
• Articulated Robot
• Delta Robot
• Movable Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
Single Axis Robot Medical Equipment

Precision / Semiconductor / Hospital / Rehabilitation centers /
Medical / FPD Nursing homes
• KK , SK • Robotic Gait Training System
• KS, KA • Hygiene System
• KU, KE • The Robotic Endoscope Holder
• Robot for Upper Limb Exercise
Ballscrew Linear Guideway

Precision Ground / Rolled Automation / Semiconductor / Medical
• Super S series • Ball Type--HG, EG, WE, MG, CG
• Super T series • Quiet Roller Type--QH, QE, QW, QR
• Mini Roller • Other--RG, E2, PG, SE, RC
• Ecological & Economical
lubrication Module E2
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (C1)
• Heavy Load Series (RD)
Direct Drive Bearing

CNC Tilting Rotary Machine tools / Robot
• Crossed Roller Bearings
Aerospace / Medical / Auto industry
• Ball Screw Bearings
• RAB-800
• Linear Bearing
• RAB-500
• Support Unit

AC Servo Motor & Drive Torque Motor
Publication Date：June 2008, first edition
Semiconductor / Packaging machine / (Direct Drive Motor)
SMT / Food industry / LCD
• Drives-D1, D1-N, D2
Inspection / Testing equipment / Print Date：January 2016, 5th edition
Machine tools/ Robot
• Motors-400W~2000W
• Rotary Tables-TMS,TMY,TMN
• TMRW Series
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. Please avoid buying the counterfeit
goods that are from unknown sources to protect your rights.
2. Actual products may be different from the specifications and photos in this catalog, and the
differences in appearances or specifications may be caused by, among other things, product
improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Linear Motor Positioning Act" and relevant regulations. Any export of restricted products should be approved by competent
Automated transport / AOI application / Measurement System authorities in accordance with relevant laws, and shall not be used to manufacture or develop the
Precision / Semiconductor
• With Iron-core
Cutting machines / nuclear, biochemical, missile and other military weapons.
Traditional gantry milling machines /
• Coreless Type
Programmable drilling machines
• Linear Turbo LMT
• High Resolution
• Planar Servo Motor
• Air Bearing Platform
• Signal Translator Copyright © HIWIN Mikrosystem Corp.
• High-precision Enclosed
• X-Y Stage
• High Efficiency Counter
• Gantry Systems
AC Servo Motor & Drive / D2 series
With the implementation of High-tech control technology,
HIWIN AC Servo motors accomplish a great cost-performance
Contents
ratio for a complete motor drive solution.
1. Feature ......................................................................................................................... 2
2. Safety certification ................................................................................................ 7
3. Model description .................................................................................................. 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 ......... 40

7.2 Low Inertia, Small Capacity .............................................. 42
7. Servo Motor 7.3 Middle Inertia, Small Capacity .......................................... 46
7.4 Middle Inertia, Middle Capacity......................................... 50
8. Cable and 8.1 Cable ................................................................................... 52
connector 8.2 Connector ........................................................................... 56
9. HIWIN single axis robot and motor adaptor flange ........................ 59

10.1 Introduction of motor selection relevant parameters.....61
10. Servo motor 10.2 General inertia calculation for various rigid objects
selection guide of uniform composition......................................................62
10.3 Equivalent inertia calculation for mechanism .................63
10.4 Operating pattern / motion velocity profile ......................64
10.5 Motor selection sample - ballscrews mechanism ..........65
11. Motor / Drive Requirements List................................................................ 68

12. Safety precautions ............................................................................................... 69
2 MD99TE05-1602
1. Feature
Excellent performance
Excellently high speed response

With the help of a semiconductor high-end
motion control algorithm and advanced common
gain concept, a high speed response is achieved, Speed Response > 1200Hz
satisfying all motion control needs.
D1N-SNN01C
High acceleration responses

sec
Using advanced controller design tools, and
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
Built-in accuracy improvement feature

The D2 drive includes features to improve total positioning accuracy of the mechanical system.
The table size can be up to 5000 points. It is implemented in all control modes to optimize
system behavior.
45 45
精 1.7 : 51.7
Accuracy Accuracy
精 1.4 : 1.4
40 40
向重
Bi-Dir Rep.性:: 1.2
1.2 Bi-Dir
向重 Rep.
性:: 0.8
35 35
30 30
25 25
Error
Error
20 20
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

AC Servo Motor & D2 Drive 3
Vibration Suppression Feature

The D2 drive can remove vibration frequency that occurs during movement.
It reduces vibrations caused by system’s structure and improves the machine’s
production efficiency.
D2-
LPN01A
Without vibration With vibration

suppression feature suppression feature
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
1 um
Electronic
Gear
Host
Controller
Encoder Encoder
Emulator input circuit
1 um
D2-CNN01A
4 MD99TE05-1602
Simple Operation
1 2
3 Simple setup
Three Steps
Auto phase center
1 2 Adjustment
3 Initialization
Selection
Three Steps
D1N
-SNN05A
HIWIN Motors
AC servo
Linear
LMC
LMFA
HIWIN Motors
Easy Operation
AC servo
Linear
LMC
LMFA
Parameters are categorized according to features. Only necessary parameters are shown.
No confusing parameter list.
LCD Display
No need to connect to a PC to complete all of the settings and operations.
LCD display provides instant status monitoring and displays error messages. Gain and
test running can be quickly set by panel keys.
Test running
Parameter setting
D2-SNN01A
D2-SNN01B
Fine-tune
Complete tool sets

Real-time scope, accuracy enhancement function, frequency analysis tools , gain scheduling tool,
analysis tool, I/O setting functions, encoder output ratio adjustment function, Z phase signal width
adjustment function, PDL , ZeroTune function and filter.
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
Frequency analysis tools D1N-SNN08A
A powerful and easy to use tool for frequency analysis

is provided. You can use the frequency analysis tools to
display the real response in the form of a graph. You can
easily set the best gain value for the system based on the
real response, even first time users can easily get started.
D1N-SNN10B
D1N-SNN10B
D1N-SNN10B
D1N-SNN10B
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
interface needs. This satisfies diverse
requirements for different motion controllers
with regards to their pin assignments and D1N-SNN11B
D1N-SNN11B
hardware interfaces.
D1N-SNN11B
D1N-SNN11B
Analysis Tools
To solve a resonance problem, the drive offers a filter
design tool for improving the control performance, a Fast
Fourier Transform (FFT) and other mathematical operation
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 MD99TE05-1602
PDL (Process Description Language)

Easy-use process description language is provided.
The complex motions can be designated via PDL, such as
extrusion process, point-to-point motion, fixed speed control,
homing process and so on. PDL gains the advantages of
flexibility and programmability. For quick learning, a number
of sample programs are provided in the PDL manual. D2-SNN04A
D2-SNN04A
ZeroTune function
Servo loop gains can be easily set without complex procedures
via ZeroTune.
Only by selecting the load level of motor, will stable velocity
response be achieved. Even a beginner who has no knowledge
about servo control can easily drive a motor.
D2-SNN05A
D2-SNN05A
Filter
Drive supports two sets of bi-quad filters.
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
vibration can be easily suppressed, and control accuracy can be significantly increased.
20 1.5
10 1
20 0 1.5 0.5
1 10 100
10 -10 1 0
0 0.2 0.4 0.6 0.8 1
1.5
-20 -0.5
0 0.5
1 10 100
1 -30 -1
-10 0
0.5 -40 0 -1.5 0.2 0.4 0.6 0.8 1
1.5
-20 -0.5
0
1 -30 -1
0 0.2 0.4 0.6 0.8 1
-0.5 20 1.5
0.5 -40 -1.5
10 1
-1
0 0 0.5
-1.5 1 10 100
0 0.2 0.4 0.6 0.8 1
-0.5 20 -10 1.5 0
0 0.2 0.4 0.6 0.8 1
10 -20 1 -0.5
-1
-30 -1
0 0.5
-1.5 1 10 100
-40 -1.5
-10 0
0 0.2 0.4 0.6 0.8 1
-20 -0.5
Easy integration
-30 -1
-40 -1.5
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.
2. Safety Certification
2.1 RoHS compliant
Components and finished product all meet RoHS(Restriction of Hazardous Substances Regulation)
requirements which ensure the compliance to relevant laws of quality of goods.
RoHS regulations limit six hazardous substances are:

Lead (Pb), mercury (Hg), hexavalent chromium (Cr6 +),
RoHS Polybrominated Biphenyls (PBB), the maximum allowable

content of Polybrominated diphenyl ethers (PBDE) is 0.1%
(1000ppm), Cadmium (Cd) is 0.01% (100ppm).
2.2 Comply with CE & UL regulations

Drive Motor
EMC: EN61800-3
EN55011
EN61000-6-2 EN55011
CE Directives EMC Directives EN61000-6-4 EN61000-6-2
EN61000-2-4 EN61000-6-4
IEC60146-1-1
IEC61000-2-1
Low-Voltage EN60034-1
LVDS:EN61800-5-1
Directives EN60034-5
UL:E348161 UL1004-1
UL Directives (D2T 100W/400W/1000W) UL1004-6
8 MD99TE05-1602
3. Model Description
3.1 Servo drive
Code 1 2 2a 3 4 5 6 7 8 9 10 11 12
Example D 2 T - 0 4 2 3 - S - B 0
Product
HIWIN servo drive D2 ........... = D2
Type
17bit encoder only ............................... = T
13bit encoder only ............................... = Blank
Rated output
100W.........................................................................= 01
400W.........................................................................= 04
1000W .......................................................................= 10
2000W .......................................................................= 20
Voltage range
1/3 phase 110/220VAC................................................................ = 23
3 phase 220VAC .......................................................................... = 32
Interface
Standard .....................................................................................................= S
EtherCAT(CoE) ...........................................................................................= E
EtherCAT(mega-ulink) ...............................................................................= F
Standard with extension I/O modules ........................................................= K
Modbus .......................................................................................................= T
Frame size
A frame(suggestion: 100W rated output) ................................................................... = A
B frame(suggestion: 400W rated output) ................................................................... = B
C frame(suggestion: 1000W rated output) ................................................................. = C
D frame(suggestion: 2000W rated output) ................................................................. = D
Encoder type
13bit less-wire incremental encoder ....................................................................................... = 0
17bit serial incermental encoder(HIWIN17) ........................................................................... = 4
Dual Loop (Full closed loop) and 17bit serial absolute encoder .............................................. = 5
Interface
Standard EhtherCAT(CoE) EhtherCAT(mega-ulink) Standard with extension I/O modules Modbus
Model
D2(frame A-C ) O O O X O
D2T(frame A-C) O O O O Δ
D2T(frame D ) Δ O O Δ Δ
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.
3.2 Servo motor

Code 1 2 3 4 5 6 7 8 9 10 11 12
Example F R L S 4 0 2 0 6 0 6 A
Product
HIWIN AC servo motor series ........... = FR
Type
Low inertia, small capacity(50W~400W) ...............= LS
Medium inertia, small capacity(50W/100W/
400W/750W) ..........................................................= MS
Medium inertia, medium capacity(1000W/2000W) = MM
Output Power
50W................................................................................ = 05
100W .............................................................................. = 10
200W .............................................................................. = 20
400W(Low inertia) ......................................................... = 40
400W(Medium inertia) ................................................... = 4B
750W .............................................................................. = 75
1000W ............................................................................ = 1K
2000W ............................................................................ = 2K
Drive input voltage

220V ................................................................................................ = 2
Holding brake options

Without holding brake .................................................................................= 0
With holding brake ......................................................................................= B
Encoder type
13bit incremental encoder(1)................................................................................. = 5
17bit absolute encoder ......................................................................................... = 4
HIWIN 17 incremental encoder ............................................................................ = 6
Frame size
40mm(50W/100W) ............................................................................................................= 04
42 mm(50W/100W) ...........................................................................................................= A4
60 mm(200W/400W) .........................................................................................................= 06
80 mm(750W) ...................................................................................................................= 08
130 mm(1000W/2000W) ...................................................................................................= 13
Motor shaft
Round shaft / without oil seal ....................................................................................................... = A
Round shaft / with oil seal(2) .......................................................................................................... = B
With key and center tap / without oil seal ..................................................................................... = C
With key and center tap / with oil seal(2) ........................................................................................ = D
(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 MD99TE05-1602
3.3 Motor cable

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
Type
HIWIN motor cable .......................... = HVP
Capacity
Small capacity (50W~750W) ..................................= S
Medium capacity (1000W/2000W) .........................= M
Number of pin
Motor cable without holding brake .....................................= 04
Motor cable with holding brake ..........................................= 06
Motor side connector

AMP connector (50W~750W) ............................................................ = A
Straight waterproof connector (1000W/2000W) .............................. = B
L-type waterproof connector (1000W/2000W) ................................. = C
Drive side connector

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

Code 1 2 3 4 5 6 7 8 9 10 11 12
Example H V E 1 7 I A B 0 5 M B
Type
HIWIN encoder cable....................... = HVE
Encoder Type
13bit incremental encoder ...........................................= 13I
HIWIN 17 incremental encoder .....................................= 17I
17bit absolute encoder ..................................................= 17A
Encoder connector
AMP connector (50W~750W) ........................................................... = A
Straight waterproof connector (1000W/2000W) ............................. = B
L-type waterproof connector (1000W/2000W) ................................ = C
Drive side connector

SCR connector .......................................................................................... = B
Cable length
3M ...........................................................................................................................= 03M
5M ...........................................................................................................................= 05M
7M ...........................................................................................................................= 07M
10M .........................................................................................................................= 10M
Cable type
Highly flexible .............................................................................................................................= B
12 MD99TE05-1602
4. Interface Directions
4.1 Frame A-C
4.2 Frame D
(1)
(1) Please refer to user guide

(1)
14 MD99TE05-1602
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 D2-EMC1 or D2-EMC3
HVE13ICB(L-type)
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
brake B86732G15L712
L-type HVPM04CB HVE17IBB(Straight type)
HVE17ABB(Straight type)
2000W
HVE17ICB(L-type)
Straight type HVPM06BB HVE17ACB(L-type)
with
brake
L-type HVPM06CB
Straight type : straight waterproof connector

L-type : waterproof connector
D1N-CNN02A
D2 Drive
D2 D2 -
PPN01B
D1N-
PNN03A
AC Servo Motor
Singel Axis Robot
D2-
PPN08A
16 MD99TE05-1602
5.1 AC50W~AC750W－13bit incremental encoder

Motor Drive
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
FRLS05205A4Δ
50
FRLS052B5A4Δ Approx.
D2-0123-S-A0 Frame A
FRLS10205A4Δ 0.4kVA
100
Low FRLS102B5A4Δ
FRLS
Inertia single phase/ FRLS2020506Δ
three phase 200
220V FRLS202B506Δ Approx.
D2-0423-S-B0 Frame B
FRLS4020506Δ 0.9kVA
400
FRLS402B506Δ
Middle FRMS7520508Δ Approx.

FRMS 750 D2-1023-S-C0 Frame C
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
HVPS04AA □□□ B HVPS06AA □□□ B

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

Highly flexible ............................. = B Highly flexible ............................. = B
For more information about cables, please refer to P.52-P.58

Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Single Three
13bit External
Control phase phase
without brake with brake incremental Regenerative
Signal Cable EMC Pack EMC Pack
(Note 2) Resistor
(Note 3) (Note 3)
N/A
D2-EMC1
HVPS04AA□□□B HVPS06AA□□□B HVE13IAB□□□B LMACK02D D2-EMC2
RG1
D2-EMC3 RG2
Encoder cable / 13bit incremental
HVE13IAB □□□ B
Cable length
3M ...............................=03M
5M ...............................=05M
7M ...............................=07M
10M .............................=10M
Cable type
Highly flexible ............................. = B
18 MD99TE05-1602
5.2 AC1000W－13bit incremental encoder

Motor Drive
Power capacity
single phase/ FRMM1K20513Δ

Middle Approx.
FRMM three phase 1000 D2-1023-S-C0 Frame C
inertia FRMM1K2B513Δ 1.8kVA
220V
Note2 Selection of cable / 1000W
HVPM04□A□□□ B HVPM06□A□□□ B
Motor side connector Motor side connector
Straight Type .......=B Straight Type .......=B
L-Shaped Type ....=C L-Shaped Type ....=C

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

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.
Optional parts
Single Three
13bit External
Control phase phase
(Note 2) Resistor
(Note 3) (Note 3)
HVPM04□A□□□B HVPM06□A□□□B HVE13I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
HVE13I □B □□□ B
Straight Type .......=B
L-Shaped Type ....=C
Cable length
3M ......................................=03M
5M ......................................=05M
7M ......................................=07M
10M ....................................=10M
Cable type
Highly flexible ...................................= B
20 MD99TE05-1602
5.3 AC50W~AC750W－17bit incremental encoder

Motor Drive
Power capacity
FRLS05206A4∆
50
FRLS052B6A4∆ Approx.
D2T-0123-S-A4 Frame A
FRLS10206A4∆ 0.4kVA
100
Low FRLS102B6A4∆
FRLS
Inertia FRLS2020606∆
200
FRLS202B606∆ Approx.
D2T-0423-S-B4 Frame B
FRLS4020606∆ 0.9kVA
400
single phase/ FRLS402B606∆
three phase
220V FRMS0520604∆
50
FRMS052B604∆ Approx.
FRMS1020604∆ 0.4KVA
100
Middle FRMS102B604∆
FRMS
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

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


Optional parts
Single Three
17bit External
Control phase phase
(Note 2) Resistor
(Note 3) (Note 3)
N/A
D2-EMC1
RG1
HVPS04AA□□□B HVPS06AA□□□B HVE17IAB□□□B LMACK02D D2-EMC2
D2-EMC3 RG2
HVE17IAB □□□ B
Cable length
3M ............................... =03M
5M ............................... =05M
7M ............................... =07M
10M ............................. =10M
Cable type
22 MD99TE05-1602
5.4 AC1000W/AC2000W－17bit incremental encoder

Motor Drive
Power capacity
single phase/ FRMM1K20613Δ Approx.

three phase 1000 D2T-1023-S-C4 Frame C
FRMM1K2B613Δ 1.8kVA
Middle 220V
FRMM
inertia FRMM2K20613Δ
three phase Approx.
2000 D2T-2023-S-D4 Frame D
220V FRMM2K2B613Δ 3.5kVA
Note2 Selection of cable / 1000W, 2000W
HVPM04□ A □□□ B HVPM06□ A □□□ B

Drive side connector Drive side connector

Open cable ends ......... =A Open cable ends ......... =A
R-type terminals ......... =B R-type terminals ......... =B

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Item number HVPM06:
Optional parts
Single Three
17bit External
Control phase phase
(Note 2) Resistor
(Note 3) (Note 3)
HVPM04□A□□□B HVPM06□A□□□B
HVE17I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
HVPM04□B□□□B HVPM06□B□□□B
HVE17I □B □□□ B
Cable length
3M ........................................=03M
5M ........................................=05M
7M ........................................=07M
10M ......................................=10M
Cable type
Highly flexible .....................................= B
24 MD99TE05-1602
5.5 AC50W~AC750W－17bit absolute encoder

Motor Drive
Power capacity
FRLS05204A4∆
50
FRLS052B4A4∆ Approx.
FRLS10204A4∆ 0.4KVA
100
Low FRLS102B4A4∆
FRLS
Inertia FRLS2020406∆
200
FRLS202B406∆ Approx.
D2T-0423-S-B5 Frame B
FRLS4020406∆ 0.9kVA
400
single phase/ FRLS402B406∆
three phase
220V FRMS0520404∆
50
FRMS052B404∆ Approx.
FRMS1020404∆ 0.4KVA
100
Middle FRMS102B404∆
FRMS
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

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


Optional parts
Single Three
17bit External
Control phase phase
without brake with brake absolute Regenerative
(Note 2) Resistor
(Note 3) (Note 3)
N/A
D2-EMC1
RG1
HVPS04AA□□□B HVPS06AA□□□B HVE17AAB□□□B LMACK02D D2-EMC2
D2-EMC3 RG2
Encoder cable / 17bit absolute
HVE17A AB □□□ B
Cable length
3M ................................=03M
5M ................................=05M
7M ................................=07M
10M ..............................=10M
Cable type
26 MD99TE05-1602
5.6 AC1000W/AC2000W－17bit absolute encoder

Motor Drive
Power capacity
single phase/ FRMM1K20413Δ Approx.

three phase 1000 D2T-1023-S-C5 Frame C
FRMM1K2B413Δ 1.8kVA
Middle 220V
FRMM
inertia FRMM2K20413Δ
three phase Approx.
2000 D2T-2023-S-D5 Frame D
220V FRMM2K2B413Δ 3.5kVA
Note2 Selection of cable / 1000W, 2000W
HVPM04□ A □□□ B HVPM06□ A □□□ B

Drive side connector Drive side connector

Open cable ends ......... =A Open cable ends ......... =A
R-type terminals ......... =B R-type terminals ......... =B

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Item number HVPM06:
Optional parts
Single Three
17bit External
Control phase phase
without brake with brake absolute Regenerative
(Note 2) Resistor
(Note 3) (Note 3)
HVPM04□A□□□B HVPM06□A□□□B
HVE17A□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
HVPM04□B□□□B HVPM06□B□□□B
Encoder cable / 17bit absolute
HVE17A □B □□□ B
Cable length
3M ...................................... =03M
5M ...................................... =05M
7M ...................................... =07M
10M .................................... =10M
Cable type
Highly flexible .................................... = B
28 MD99TE05-1602
6. Servo Drive
6.1 Servo drive with standard interface
Specifications
Main Frame
Single/three-phase, 200 to 240V 50/60Hz
power A~D
Input power 220V
Control Frame
Single phase, 200 to 240V 50/60Hz
power A~D
Operation Temperature: 0℃~40℃
Temperature (If temperature is higher than 55℃, ventilation is needed)
Storage Temperature: -20℃~65℃
Environment Humidity 0 to 90%RH (no frost)
Altitude Under 1000 Meters
Vibration 1G (10 to 500Hz)
Control method IGBT PWM space vector control
13bit incremental
Encoder feedback 17bit incremental
Dual loop (Full closed loop) and 17bit absolute
Input General purpose 9 inputs (D2T:10)

Control signal
Output General purpose 4 outputs (D2T:5)
I/O signal Input 1 input (12bit A/D)

Analog signal
connector Output 2 outputs (Analog monitor-under construction)
Input 2 inputs (Low speed channel, High speed channel)

Pulse signal
Output 4 outputs (Line drive: 3output, open collector: 1 output)
Brake Direct brake connection. (no need of extra relay for brake)
Control signal Output
connector Also programmable for general purpose output
Communication function USB Connection with PC, 115200bps
Dot matrix 2*8 characters LCD with 4 buttons

Front panel LED(green, red)
Frame
Need external connection, no internal regenerative resistor
A-C
Regenerative function
Frame
Bulit-in, 13Ω±5%, Rated power 100W, Peak power 500W
D
Switching among the following modes is possible
(1)Position control (2)Velocity control (3)Torque control
Control mode (4)Position/Velocity control (5)Position/Torque control
(6)Velocity/Torque control
Frame
N/A
A-C
Dynamic brake
Frame
Bulit-in
D
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 (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 (7)Emulated index; (8)Zero speed detected; (9)Errors
Max. command Dedicated interface for Photo-coupler(single end input): 500kpps
Position control
pulse frequency Dedicated interface for line drive(differential input): 4Mpps(16M cnt/s with AqB)
Input pulse signal
(1)Pulse and Direction (2)Pulse Up/Pulse Down (3)Quadrature(AqB)
format
Pulse
Electronic gear
input Gear ratio : pulses/counts
(Division/
pulses : 1~2, 147, 483, 647
Multiplication of counts : 1~2, 147, 483, 647
command pulse)
Smoothing filter Smooth factor : 1~500 (0: no smoothing filter)
Vibration suppression VSF can remove the vibration frequency that occurs during movement. It can reduce the
filter(VSF) vibration caused by the system’s structure and improve the machine’s productivity.
(4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command;
Control input (8)Switch to secondary CG and vpg; (9)Zero speed clamp; (10)Abort motion;
(11)Switch to secondary mode
Velocity control

PWM Velocity command Speed command input can be provided by means of duty cycle of PWM input. Parameter are
input input used for scale setting and command polarity.
Analog Velocity command Speed instruction can be set with analog voltage method, parameters can set ratio and
Input input direction +/-10V
Zero speed clamp Zero speed clamp input is possible.
Control input (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command;
(8)Switch to secondary CG and vpg; (9)Switch to secondary mode
Torque control

PWM Torque command Torque command input can be provided by means of duty cycle of PWM input. Parameter are
input input used for scale setting and command polarity.
Analog Torque command Torque command input can be provided by means of analog voltage.
Input input Parameter are used for scale setting and command polarity.
Speed limit function Speed limit value with parameter is possible
ZeroTune ZeroTune can find the porper gains by clicking one button on LCD when the motor is disable.
Emulated encoder feedback
Set up of any value is possible (frequency up to 18M cnt/s, only frame D drive up to 9M cnt/s)
output
(1)Motor short detection; (2)Over voltage; (3)Position error too big;
(4)Encoder error; (5)Soft thermal threshold reached; (6)Motor maybe disconnect;
(7)Amplifier over temperature; (8)Under voltage; (9)5V for encoder card fail;
Protective function (10)Phase init. error; (11)Serial encoder communication error; (12)Hall sensor error;
(13)Current control error; (14)Hybrid deviation too big; (15)HFLT inconsistent error;
Common
(16)Incompatible motor model for drive; (17)DC bus voltage abnormal;

(18)EtherCAT interface disconnected
Error log Errors and warnings are saved in non-volatile memory
Method: Established compensation table to compensate encoder error by linear interpolation
Samples: Maximum 5,000 point
Error Mapping Storage: Flash ROM, Disc file
Unit: count
Activation: Activated internally by home complete, or activated externally by input signal
Others Friction compensation, Backlash compensation
30 MD99TE05-1602
6.2 Wiring diagram

Single-phase
Recommended models: FN2090-6-06 filter
Maximum continuous operating voltage 250VAC, 50/60Hz
Operating Frequency DC to 400Hz
Rated Current 6A@40℃
Surge pulse protection 2kV, IEC 61000-4-5
Emergency
ON OFF Stop
KM
KM
SK
D2 Series Drive
NFB
Filter CN1
KM
Single-phase
L1
100-240VAC L2
50/60Hz
L3
Earth
L1C
L2C
D2-WNT02A
Three-phase
Recommended models: FN3025L-20-71 filter
Maximum continuous operating voltage 3x520/300 VAC
Operating Frequency DC to 400Hz
Rated Current 20A@50℃
Emergency
ON OFF Stop
KM
KM
SK
D2 Series Drive
NFB
Filter CN1
KM
Three -phase
L1
100-240VAC L2
50/60Hz
L3
Earth
L1C
L2C
D2-WNT03A
32 MD99TE05-1602
6.3 Control circuit

Wiring Example of Position Control Mode
2k
7 COM+ CWL 1 (1) When the host is NPN using 12,24V power
with external resistors
4.7k 2k
33 I1 CWL+ 3
4.7k 220 2k 3
30 I2 CWL- 4
4.7k 2k 220 4 R
29 I3 CCWL 2
4.7k 2k 5
2k CCWL+ 5
27 I4 Vdc
4.7k 220 220 6 R
28 I5 CCWL- 6
4.7k
26 I6 SG 13
4.7k
32 I7 (2) When the host is NPN using 24V power
4.7k A 21 A-phase output without external resistors
31 I8
22
Encoder_output
4.7k /A
9 I9 2k 2k 1
B 48 B-phase output
220 4
/B 49
35 O1+ Z 23 Z-phase output
2k 2k 2
Vdc
34 O1- /Z 24 220 6
37 O2+ SG 25
36 O2- CZ 19 Z-phase output
(3) When the host is PNP using 12,24V power
(open collector)
39 O3+ with external resistors
38 O3- 2k 3 R
11 O4+ 220 4
10 O4- R
2k 5 Vdc
13 SG
220 6
44 CWH+
45 CWH-
46 CCWH+ (4) When the host is PNP using 24V power
without external resistors
47 CCWH-
25 SG 2k 2k 1
50 FG 220 4
CN6 : Twisted pair 2k 2k 2 Vdc
220 6
Vdc Specifications of R
12 1k ohm 1/2W
24 2k ohm 1/2W
D2-ENT17B
Wiring Example of Velocity/Torque Control Mode
7 COM+
4.7k
33 I1
4.7k
30 I2
4.7k
29 I3
4.7k
27 I4
4.7k
28 I5
4.7k
26 I6
4.7k
32 I7 4.7k A 21 A-phase output
31 I8
22
Encoder_output
4.7k /A
9 I9
B 48 B-phase output
/B 49
35 O1+ Z 23 Z-phase output
34 O1- /Z 24
37 O2+ SG 25
36 O2- CZ 19 Z-phase output
(open collector)
39 O3+
38 O3-
11 O4+ + ADC0+ 14 Voltage Iutput (+/-10V)
-
10 O4- ADC0- 15
13 SG
25 SG
50 FG
CN6 : Twisted pair

D2-ENT18B
Additional I/O pins (Only for D2T drive)
7 COM+
4.7k
8 I10
40 O5+
12 O5-
CN6 D2-ENT19A
34 MD99TE05-1602
6.4 Dimensions of drive

135.5
Frame A (D2x-01xx-S(T)-Ax) 5
44
7 31±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
162±0.1
C
U N
169
V 5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
CN7 Unit:mm
D2-DNN01B
(38) 6 2-Ø4.2
3.5
135.5
Frame B (D2x-04xx-S(T)-Bx) 5
52.8
180
5 41.8±0.1
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
C
152.5±0.1
U N
V 5
159.5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
Unit:mm
CN7 D2-DNN02B
(46.8) 2-Ø4.2
3.5
180
5
Frame C (D2x-10xx-S(T)-Cx)
66
227
6.5 28±0.1
(4)
60 1.5
CN1
L1 C
N
L2 3
L3 C
N
4
165.5±0.1
C
173.5
U N
5
V
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
Unit:mm
D2-DNN03B
CN7
47 4-Ø4.4
4
209
5
Frame D (D2x-20xx-S(T)-Dx) 5 90
45 (39) 255
3-Ø6 60
(6)
CHARGE
CN1 STAT
L1 C
N
3
L2
C
L3 N
4
L1C C
N
156±0.2
5
L2C
168
B1
B2
B3
C
1 N
6
2
CN2
U C
N
V 7
C
W N
Unit:mm
15
D2-DNN52A
6
6 78±0.2
36 MD99TE05-1602
135.5
Frame A (D2x-01xx-E(Note)-Ax) 5
64.5
7 31±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
162±0.1
C
U N
169
V 5
W
R+
R-
L1C
L2C
C
N
6
CN2
+24V
B+
B- Unit:mm
RTN
D2-DNN49B
CN7
3.5
(38) 2-Ø4.2
Frame B (D2x-04xx-E(Note)-Bx) 135.5

5
72.8
5 41.8±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
C
152.5±0.1
U N
159.5
V 5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
Unit:mm
D2-DNN50B
CN7
3.5
(46.8) 2-Ø4.2
181
Frame C (D2x-10xx-E(Note)-Cx)
5
86
6.5 28±0.1 227
(4)
60 1.5
CN1
L1
C
L2 N
3
L3
C
N
4
165.5±0.1
C
U
173.5
N
5
V
W
R+
R-
L1C
L2C
C
N
6
CN2
+24V
B+
B-
RTN
CN7
Unit:mm
D2-DNN51B
47 4-Ø4.2
4
209
Frame D (D2x-20xx-E(Note)-Dx) 5
105
45 (39) 255
3-Ø6 60
(6)
CHARGE
CN1 STAT
L1 C
N
3
L2
C
L3 N
4
L1C C
N
156±0.2
5
L2C
168
B1
B2
B3
C
1 N
6
2
CN2
U C
N
V 7
C
N
Unit:mm
W
15
D2-DNN53A
6
6 78±0.2
Note Interface E/F/K/U are plug-in module
38 MD99TE05-1602
6.5 Drive peripheral kits

Connector Kit
Part Name Model Description Quantity
Main power, motor power, regenerative resistor
CN1 and control power connector / 12pins, pitch5mm 1
(051500400249)
D2 drive CN2 Brake connector: 4pins, pitch 3.5mm (051500400285) 1

D2-CK3
connectors Control signal connector: 50 pins welded type
CN6 1
(051500100127)
CN1 Connector fixture tool (051800400035) 1
CN2 Connector fixture tool (051800400066) 1
EMC Accessory Kit

Single phase filter FN2090-6-06 for 50W to 400W
D2-EMC1 1
(Rated current:6A, leakage current: 0.67mA)
D2 EMC (051800200074)
accessory EMI core KCF-130-B 2
kit for single Single phase filter FN2090-10-06 for 750W and 1000W
phase D2-EMC3 1
( Rated current:10A, leakage current: 0.67mA)
(051800200077)
EMI magnet rings KCF-130-B 2
Three phase filter FN3025HL-20-71
D2-EMC2 1
( Rated current:20A, leakage current:0.4mA)
D2 EMC (051800200075)
accessory EMI magnet rings KCF-130-B 2
kit for three Three phase filter B84743C0035R166
phase D2-EMC4 1
( Rated current:35A, leakage current: <0.5mA)
(051800200078)
EMI magnet rings KCF-130-B 2
EMI magnetic rings are applied on main power cables, motor power cables, encoder wires or pulse
control wires respectively.
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
consider on the basis of ground conditions and noise filters issues to select. Please contact noise filter
manufacturers for details.
2. The filter can be connected to more than one drive if the total maximum load current does not exceed
the rated current.
Regenerative Resistor
Part Name Model Description L1 L2 W H L
68Ω
Rated power 100W
RG1 165 ± 2 150 ± 2 40 ± 0.5 40 ± 0.5 500
Peak power 500W
Regenerative (050100700001)
resistor 120Ω
Rated power 300W
RG2 215 ± 2 200 ± 2 60 ± 0.5 30 ± 0.5 500
Peak power 1500W
(050100700009)
D2-DNN04A
Common Mode Filter

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
1-phase DC reactor for 2000W
B86732G15L712 Rated Voltage : 440Vdc
DC Reactor 1
(051800200126) Rated current : 14.2A
Inductance: 2.45mH(nominal)
40 MD99TE05-1602
7. Servo Motor
7.1 Motor specifications and application environment
Rated speed
Rated
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
(W)
(rpm)
■ Storage condition
- Indoor illumination
50W
- Keep away
from following
D2- environment
PPN02A
a. corrosive gases
b. flammable gas
c. grease and dirt
■ Application
100W Semiconductor temperature
Equipment 0 ° C ~ 40 ° C
D2-
Low Inertia
PPN03A Packaging Machine

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

level
1000m under
400W ■ Vibration resistance

49m/s2 or less
D2-
PPN05A
Rated speed
Rated
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
(W)
(rpm)
50W
100W 17bit
Semiconductor
■ Storage condition
Equipment - Indoor illumination
- Keep away
Packaging Machine from following
3000 environment
FRMS 220V SMT Machine
(4500) a. corrosive gases
Food industry b. flammable gas
machine c. grease and dirt
LCD equipment
400W ■ Application
temperature
0 ° C ~ 40 ° C
Middle inertia
■ Storage Temperature
IP65 -15 ° C ~ 70 ° C
■ Humidity
80% RH or less
750W 13bit/17bit
■ Storage humidity
80% RH or less
D2-
PPN06A
■ Elevation above sea

level
1000m under
■ Vibration resistance
49m/s2 or less
1000W 13bit/17bit
Machine Tools
D2-
PPN07A
Conveyor
2000 Equipment
FRMM 220V
(3000)
Textile Machine
Mechanical arm
2000W 17bit
D2-
PPN11A
42 MD99TE05-1602
7.2 Low inertia, Small capacity

7.2.1 50W
Parameter Symbol Unit FRLS052□□A4□
Drive Input Voltage V V AC220
Rated Power W W 50
Rated Torque Tc N.m 0.16
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.48
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
No Load 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)
Weight (with brake) M kg 0.45(0.58)
Motor Insulation Grade Class A (UL)
Total enclosed, self-cooled, IP65
Motor protect
(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.3
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
Note1 Brakes is to maintain object stop, please do not apply for deceleration, dynamic brake or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time
during application.
Torque-Speed Curve Dimensions

23.7
L=300mm
FRLS 50W Torque-Speed Curve
14
47.8
L=300mm 12
18.5
32
2.5
Peak work range .4
Ø3
4-
Torque(N-m)
45°
21.5 -0.02
Ø30-0.04
PC
D4
45°
5
Ø8h6
Continuous work range

D2-
88.5(117) 25 42
SNT01A Note：( )Include Brake Size
註:( )內為含煞車器之尺寸
Unit:mm
Speed(rpm)
14
10 3
Optional(選配規格)
3
Specification
D2 - DNN05C
With
帶鍵 key M3*8DP
6.2
7.2.2 100W
Parameter Symbol Unit FRLS102□□A4□
Rated Power W W 100
Resistance (line to line) R Ω 8
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.036(0.038)
Motor protect
during application.

23.7
FRLS 100W Torque-Speed Curve L=300mm
14
47.8
L=300mm 12
18.5
32
2.5
Peak work range .4
Ø3
4-
45°
Torque(N-m)
21.5 -0.02
Ø30-0.04
PC
D4
45°
Continuous work range 5

Ø8h6
110.5(139) 25 42
D2-
SNT02A Note：( )Include Brake Size
Unit:mm
Speed(rpm) 14
10 3
3
Specification
D2 - DNN06C
帶鍵
With key M3*8DP
6.2
44 MD99TE05-1602
7.2.3 200W
Parameter Symbol Unit FRLS202□□06□
Rated Power W W 200
Back EMF Constant Ke Vrms / krpm 23
Inductance (line to line) L mH 13
2 -4
0.17(0.21)
Motor protect
during application.

23.7 L=300mm
14
47.8 7.5
L=300mm
46.5
18.5
3
5.5
26 4-Ø
Peak work range
45°
0
Ø50-0.025
Torque(N-m)
PC
45°
DØ
Ø14h6
70
100(133) 30 60
Continuous work range Note：( )Include Brake Size
D2 -
SNT03A
7
3 25
Speed(rpm) 20
26
5
Optional Specification
(選配規格)
5
11
M4*15DP
With key
Ø14h6
帶鍵
D2-DNN07B
含油封
With seal 30
Unit:mm
7.2.4 400W
Parameter Symbol Unit FRLS402□□06□
Rated Power W W 400
2 -4
0.27 (0.31)
Motor protect
during application.

23.7 L=300mm

14
47.8
L=300mm
18.5
46.5
7.5
3 5.5
4-Ø
26
45°
0
Peak work range Ø50-0.0
25
Torque(N-m)
PC
45°
DØ
Ø14h6
70
Continuous work range 121.5(154.5) 30 60
Note：( )Include Brake Size
D2-
SNT04A
7
3 25
Speed(rpm) 20
26
5
Optional (選配規格)
Specification
5
11
M4*15DP
With
帶鍵 key
Ø14h6
D2-DNN08B
含油封
With seal 30
Unit:mm
46 MD99TE05-1602
7.3 Middle inertia, Small capacity

7.3.1 50W
Parameter Symbol Unit FRMS052□□04□
Rated Power W W 50
2 -4
0.025(0.027)
Weight (with brake) M kg 0.38
Motor protect
during application.

FRMS 50W Torque-Speed Curve 23.7 L=300mm
0.5
14
Peak work range 47.8 L=300mm A

18.5
0.4 50W(Middle Inertia) 6

3 5
D4
Torque(N-m)
B
PC
Ø8h6
0.3
45°
31
ia) 0.2 Continuous work range

Ø30--0.02
0
2-Ø .04
45°
3.4
84(114) 25 □40
0.1 Note：( )Include Brake Size
14
0 10
Optional Specification 3
3
0 500 1000 1500 2000 2500 3000 3500 4000 4500

Speed(rpm)
With key M3*8DP
6.2
Unit:mm
1.0
0.8
ia) 0.6
23.7 L=300mm
0.4
7.3.2 100W
Rated Power W W 100
Resistance (line to line) R Ω 19
2 -4
0.051(0.055)
Motor protect
Brake specifications (Note
23.7 1) L=300mm
Static friction torque (Minimum) Tb N.m A 0.32

14
47.8 L=300mm

18.5
50W(Middle Inertia) 6
3 5
B D4
PC
Ø8h6

45°
31
Suction time (Maximum) to ms 40 Ø30--0.02

0
2-Ø .04
45°
3.4
0.5
Release time (Maximum) tr ms84(114) 25 20
□40
14
0.4 1
Note Brakes is to maintain object stop, please do not apply for deceleration, 10
dynamic brake
3
or emergency stop.
3
0.3
during application.
nertia)
M3*8DP
6.2
0.2
0.1
Torque-Speed
0
0 500 1000 1500 2000 Curve
2500 3000 3500 4000 4500 Dimensions
23.7 L=300mm
FRMS 100W Torque-Speed Curve

14
47.8 A
1.0 L=300mm
18.5
100W(Middle Inertia)
Peak work range 6 5
B 3 D4
0.8 PC
Ø8h6
45°
31
Torque(N-m)
nertia) 0.6 Ø30 -0.02

-
2-Ø 0.04
45°
3.4
0.4 Continuous work range 104(134) 25 □40
0.2 14
10 3
3
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed(rpm) With key M3*8DP
6.2
Unit:mm
4.0
3.0
48 MD99TE05-1602
7.3.3 400W
Parameter Symbol Unit FRMS4B2□□06□
Rated Power W W 400
Rated Current Ic 23.7 A(rms) 2.6
L=300mm
14
47.8 L=300mm A
18.5
50W(Middle Inertia) 6
3 5
B D4
Rated Speed ωc rpm PC 3000
Ø8h6
45°
31
No Load Max. Speed ωp rpm Ø30-4500
-0.0
0 2
2-Ø .04
45°
3.4
Torque Constant Kt N.m
84(114) / Arms25 □40 0.48
Back EMF Constant Ke Vrms14 / krpm 29.61
10
Resistance (line to line) R Ω 3 4.13
3
Inductance (line to line) L mH
M3*8DP
9.9
6.2
Inertia of Rotating Parts (with brake)
0.5
J kg-m (×10 ) 2 -4
0.44(0.48)
0.4
0.3
a) 0.2
Motor protect
(Except
23.7
for shaft and connector)
L=300mm
14
0.1 Insulation resistance 47.8 L=300mm A 10MΩ, DC500V

18.5
0
Insulation voltage
100W(Middle Inertia)resistance
B
AC1500V,6 603 second D4
5
PC
Ø8h6
0 500 1000 1500 2000 2500 3000 3500 4000 4500

45°
31

Ø30 -0.02
2-Ø
-0.0
4
45°
3.4
104(134) 25 □40
1.0
Magnetizing current Ab A 0.32
14
0.8 Brake input voltage V V 10
DC24±10%
3
3

a) 0.6
Release time (Maximum) tr ms M3*8DP 20
6.2
0.4
0.2 1
Note Brakes is to maintain object stop, please do not apply for deceleration, dynamic brake or emergency stop.
0
0 during application.
500 1000 1500 2000 2500 3000 3500 4000 4500

23.7
FRMS 400W Torque-Speed Curve L=300mm
14
4.0 47.8
L=300mm
46.5
18.5
Peak work range 7.5

3 5.5
3.0 4-Ø
26
Torque(N-m)
a)
45°
0
400W(Middle Inertia) Ø50-0.025
2.0
Continuous work range PC
45°
Ø14h6
DØ
70
1.0
121.5(154.5) 30 □60
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 7
3 25
Speed(rpm)
26 20
5
5
11
M4*15DP
Ø14h6
With key
With seal 30 Unit:mm

7.3.4 750W
Rated Power W W 750
2 -4
1.4(1.46)
Motor protect
during application.

23.7
L=300mm
FRMS 750W Torque-Speed Curve
14
47.8
L=300mm 9
18.5
3
6.6
4-Ø -0.02
56.5
33 4
45°
-0.0
Ø70
Peak work range
Torque(N-m)
PCD
Ø19h6
90
45°

140(176) 40
80
D2-
SNT05A
9
3
25
4
Speed(rpm) 33 20
6
Specification
6
Ø45
M5*10DP
15.5
帶鍵
With key
Ø19h6
含油封
With seal 40 D2-DNN09B
Unit:mm
50 MD99TE05-1602
7.4 Middle inertia, Middle capacity

7.4.1 1000W
Parameter Symbol Unit FRMM1K2□□13□
Rated Power W W 1000
2 -4
7.6(8.7)
Motor protect
Static friction torque (Minimum) Tb N.m 10
Brake input voltage V V DC24
during application.

130
FRMM 1000W Torque-Speed Curve
12
3
(112.85)
4-Ø9
45°
50 45
Peak work range PCD1
Torque(N-m)
Ø11
0 -+00.0
Ø24h6
35
45°
141.4(175.1) 55
D2-
SNT06A 註:( )內為含煞車器之尺寸
35
Speed(rpm)
31
8
7
Specification
D2-DNN10A
20
M6*20DP
With帶鍵
key Unit:mm
7.4.2 2000W
Parameter Symbol Unit FRMM2K2□□13□
Rated Power W W 2000
Rated Current Ic A(rms) 11
Peak Max. Current Ip A(rms) 33
2 -4
13(14.1)
Weight (with brake) M kg 8(8.8)
Motor Insulation Grade Class A (under certification)
Motor protect
Static friction torque (Minimum) Tb N.m 10
Brake input voltage V V DC24
Suction time to ms 80
Release time tr ms 30
during application.

130
FRMM 2000W Torque-Speed Curve
40 12
3
(112.85)
4-Ø9
30
45°
50 45
Peak work range PCD1
Torque(N-m)
20
Ø11
Ø24h6
0 -+00.0
10 Continuous work range 35
45°
D2-
0 SNT07A
171.4(205.1) 55
500 1000 1500 2000 2500 3000
Speed(rpm)
35
31
8
7
(選配規格)
D2-DNN42A
帶鍵
With key M6*20DP
20
Unit:mm
52 MD99TE05-1602
8. Cable and connector

8.1 Cable
Small Capacity
Name Type Connect Description : 50W~750W
AC Servo Motor 4 2
HVPS04AA□□□B CN1 3 1
Power Cable AMP-172159-1
AC Servo Motor
Power 6 3
CN1 5 2
and Brake HVPS06AA□□□B 4 1

CN2 AMP-172160-1
Extension
B+
B-
Cable
AC Servo Motor 9
5 6
3
Encoder Cable HVE13IAB□□□B 8 2
7 1
(13bit incremental) 4
AMP-172161-1 3M 36310
3M 36210
5 6
AC Servo Motor 9 3
8 2
Encoder Cable HVE17IAB□□□B CN7 7

4
1
AMP-172161-9 3M 36310
(17bit incremental) 3M 36210
AC Servo Motor 9
5 6
3
Encoder Cable HVE17AAB□□□B 8
1
2
7
(17bit absolute) 4 AMP 1-172161-9 3M 36310
3M 36210
Middle Capacity－1000W
Name Type Connect Description：1000W
HVPM04BA□□□B
A D
Straight Connector B C WPS3106A18-10S-R
AC Servo Motor
CN1
Power Cable
A D
HVPM04CA□□□B
L-Type Connector B C
WPS3108A18-10S-R
A D
B C
HVPM06BA□□□B WPS3106A18-10S-R HVPM04BA□□□□
Straight Connector A C
HVPM02BA□□□□
AC Servo Motor B
WPS3106A14S-7S-R
Power Cable
and Brake CN1
Cable A D
HVPM04CA□□□□
(Note1) HVPM06CA□□□B B C WPS3108A18-10S-R
L-Type Connector
A C HVPM02CA□□□□
B
WPS3108A14S-7S-R
I
A H
HVE13IBB□□□B B
18-1S
G
Straight Connector C
D
J
E
F
WPS3106A18-1S-R 3M 36310
AC Servo Motor 3M 36210
Encoder Cable
(13bit Incremental) I
HVE13ICB□□□B
A H
B G
18-1S
3M 36310
L-Type Connector C
D
J
E
F 3M 36210
WPS3108A18-1S-R
I
A H
HVE17IBB□□□B
B G
18-1S
Straight Connector
C F
D E 3M 36310
J WPS3106A18-1S-R
Encoder Cable CN7

I
(17bit incremental) A H
HVE17ICB□□□B B
18-1S
G
3M 36310
L-Type Connector
C F 3M 36210
D E
J
WPS3108A18-1S-R
I
A H
HVE17ABB□□□B
B G
18-1S
D
J
E
F
WPS3106A18-1S-R
3M 36310
Encoder Cable I
A H
(17bit absolute) B G
HVE17ACB□□□B 18-1S
3M 36310
L-Type Connector C
D
J
E
F
3M 36210
WPS3108A18-1S-R
Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
54 MD99TE05-1602
Middle Capacity－2000W
Name Type Connect Description：2000W
HVPM04BB□□□B A D
Straight Connector B C WPS3106A18-10S-R
AC Servo Motor
CN1
Power Cable
A D
HVPM04CB□□□B
L-Type Connector B C
WPS3108A18-10S-R
A D
B C
HVPM06BB□□□B WPS3106A18-10S-R HVPM04BB□□□□
Straight Connector
A C
AC Servo Motor B
WPS3106A14S-7S-R
HVPM02BA□□□□
Power Cable
and Brake CN1
Cable A D
HVPM04CB□□□□
(Note1) HVPM06CB□□□B B C WPS3108A18-10S-R
L-Type Connector
A C HVPM02CA□□□□
B
WPS3108A14S-7S-R
I
A H
HVE17IBB□□□B B
18-1S
G
D E
F
WPS3106A18-1S-R 3M 36310
AC Servo Motor
J
3M 36210
Encoder Cable
(17bit incremental)
HVE17ICB□□□B
I
A H
B G
L-Type Connector
18-1S
3M 36310
C F
D E
3M 36210
J
WPS3108A18-1S-R
I
A H
HVE17ABB□□□B B
18-1S
G
D E
F
3M 36310
CN7
J WPS3106A18-1S-R
3M 36210
I
A H
B G
HVE17ACB□□□B
AC Servo Motor
18-1S
3M 36310
L-Type Connector C
D E
F
3M 36210
Encoder Cable J
WPS3108A18-1S-R
(17bit absolute)
HE00817DR300(3m)
AC Servo Dual loop Encoder Cable
Specification：HE00817DR300(3m)
Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
Communication and Interface Cable

Name Type Connect
(2m)
USB A type Mini USB
051700800366 CN3 (2m)
USB A type Mini USB
D2-DNN25A
D2-DNN25A
Mini USB HE00834S0800(0.3m) 25 50

Cable 25 50
10150
LMACK02D
3M
HE00834S0800(1m)
815AC2A3
(2m)
CN4 / USB A type Mini USB
10150
26
LMACK02D
3M
1 815AC2A3
CN5 D2 Modbus Communication Cable(only for fram A,B,C)

(2m)
HE00834S0800(2m) Specification：HE00834S0800(0.3m)、HE00834S0900(1m)、
USB A type Mini USBD2-DNN25A
1 26 HE00834S1000(2m)、HE00834S1100(3m) D2-DNN26A
HE00834S0800(3m) D2-DNN26A
D2-DNN25A
25 50
10150
25 50
LMACK02D
3M
815AC2A3
Interface 1 26
HE00815AC200 CN6
10150
LMACK02D
3M
815AC2A3
Cable
D2-DNN26A
1 26
D2-DNN26A
IO Extension
HE00834S1200(3m) CN6
Cable
D2 Drive Extenion IO Cable
Specification：HE00834S1200(3m)
56 MD99TE05-1602
8.2 Connector 馬達電源端接頭(含煞車)

編碼器端接頭
Motor power cable connector
馬達電源端接頭(含煞車)
(includes brake)
編碼器端接頭
Encoder connector
Small Capacity Series

50W~750W
D 2 -D N N 2 7 A
D 2 -D N N 2 7 A
Motor power cable connector

馬達電源端接頭
煞車電源端接頭
Brake power connector
馬達電源端接頭
Encoder
編碼器端接頭 connector
煞車電源端接頭
Middle Capacity Series 編碼器端接頭
1000W/2000W
D 2-D N N 2 8 A
D 2-D N N 2 8 A
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)

Middle Capacity Series /1000W‧2000W
Signal WPS3102A18-10P-R WPS3102A14S-7P-R

U A --
V B --
W C --
GND D --
B+ -- A
B- -- C
Connect Pins Position Definition
D2-
DNN33A D2-
DNN32A
WPS3102A18-10P-R WPS3102A14S-7P-R
By brake Type, two connectors must be used simultaneously
Encoder Connector
13bit Incremental / 50W~750W
Function Signal AMP-172169-1
5V±5% 1
Power
0V 2
A+ U+ 3
A- U- 4
Incremental
B+ V+ 5
Signal/
B- V- 6
Hall signal
Z+ W+ 7 D2-DNN33A
Z- W- 8
Shielding Shielding 9
13bit Incremental / 1000W

Function Signal WPS3102A18-1P-R
5V±5% A I
Power H A
0V B
A+ U+ C
G B
A- U- D
Incremental
B+ V+ E F C
Signal/
B- V- F D2
Hall signal -DNN34A
Z+ W+ G E D
J
Z- W- H
Shielding Shielding I
G B
F C
58 MD99TE05-1602 D2
-DNN34A
E D
J
17bit incremental / 50W~750W

Function Signal AMP1-172169-9
5V±5% 1
Power
0V 2
SL+ 3
Serial Data SL- 4
Signal MA+ 7 D2-DNN35B
MA- 8
17bit incremental / 1000W‧2000W

5V±5% A H I A
Power
0V B
SL+ C
G B
Serial Data SL- D F C
Signal MA+ G D2-
DNN36B
MA- H
E J D
17bit absolute / 50W~750W

Function Signal AMP-1-172169-9
5V 1
Power
0V 2
VB 5
Battery
GND 6
Serial Data SD+ 7
Signal
D2-DNN37B
SD- 8
17bit absolute / 1000W‧2000W

H I A
5V A
Power
0V B
VB E G B
Battery F C
GND F
Serial Data SD+ G D2-
DNN38B
Signal SD- H E J D
9. HIWIN single axis robot and motor

adaptor flange
HIWIN single axis robot
AC Servo Motor Drive
KK40 KK50 KK60 KK80 KK86 KK100 KK130
50W FRLS052XXA4X F2 F2 F2 F3 F3 F1 - D2x-01xx-x-Ax
100W FRLS102XXA4X F2 F2 F2 F3 F3 - - D2x-01xx-x-Ax
200W FRLS202XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx
400W FRLS402XX06X - - - F0 F0 F0 F1 D2x-04xx-x-Bx
750W FRMS752XX08X - - - - - F1 F2 D2x-10xx-x-Cx
D2-
LPN02A
60 MD99TE05-1602
10. Servo Motor Selection Guide

The motor selection guide in this chapter is combined on following website
http://www.hiwinmikro.tw/hiwincal.aspx
1. Definition of mechanism to be driven by the motor.

Define detailed dimentions of individual mechanical components (ex: ball screw length, lead and
pulley diameter)
Typical servo mechanisms are listed as follows:
[Ball screw mechanism]
[Belt mechanism]
[Rack and pinion mechanism]
[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 15, 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 that 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.
10.1 Introduction of motor selection relevant parameters
Peak torque
Peak torque indicates the maximum torque that the motor requires during operation (mainly in
acceleration and deceleration steps). The reference value is 80% or less of the maximum motor
torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque, stop holding torque

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.
Traveling torque calculation formula for each mechanism.
F
W
W
List of symbol：螺桿機構 D 皮帶機構
W：Workpiece weight [kg] D2 - DNT01A
D2 - DNT02A
BP：Lead [m]
D：Pulley diameter [m] Bp
F：External force [N]
Beff： Mechanical efficiency Traveling torque
移動扭矩 Traveling torque
移動扭矩
μ：Coefficient of friction
g: Acceleration of gravity 9.8[m/s2]
Effective torque
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.
Ta: Acceleration torque [N-m] ta: Acceleration time [s]
Tf: Traveling torque [N-m] tb: constant-velocity time [s]
Td: Deceleration torque [N-m] td: Deceleration time [s]
tc: Cycle time [s] (Run time + Stop time)
Motor velocity
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value.
When the motor operates at the maximum velocity, you must pay attention to the motor torque and
temperature rise.
Load inertia and motor inertia ratio

Inertia is like the force to retain the current moving condition. Inertia ration is calculated by dividing
load inertia by rotor inertia. Generally, for motor with 750W or lower capacity, the inertia ratio
should be “15” or less. For motor with 1000W or higher capacity, the inertia ratio should be “10”
or less. If the system need quicker response, a lower inertia ratio is required.
62 MD99TE05-1602
10.2 General inertia calculation for various rigid objects of

uniform composition
Shape J calculation formula Shape J calculation formula

Disk Separated rod
D
D2-DNN37A D2-DNN41A
Solid cylinder Straight rod
D2-DNN42A
D2-DNN38A
Hollow cylinder Prism

d
b
a
D2-DNN39A D2-DNN43A
Uniform rod
L/2
L/2
D2-DNN40A
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]
M : Mass [kg] Density of each material
D : Outer diameter [m] Iron ρ = 7.9 x 103 [kg/m3]
d : Inner diameter [m] Brass ρ = 8.5 x 103 [kg/m3]
L : Length [m] Aluminum ρ = 2.8 x 103 [kg/m3]
a, b, c : Side length [m]
S : Distance [m]
10.3 Equivalent inertia calculation for mechanism
Mechanism J calculation formula

Ball screw
Belt(Conveyor)
*Excluding drum J
Rack and pinion
Reduction gear
Inertia on shaft “a”
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]
64 MD99TE05-1602
10.4 Operating pattern (motion velocity profile)
Trapezoidal profile
Travel distance
(Shaded area)
Velocity
Constant-velocity
time Stop time
time
Acceleration Deceleration
time time
Cycle time
Triangle profile
Velocity Stop time
time
time time
Cycle time
10.5 Motor selection example - ballscrews mechanism
F
Workpiece weight W = 10 [kg] W
Ball screw length BL = 0.5 [m]
Ball screw diameter BD = 0.02 [m]
Ball screw lead BP = 0.02 [m]
Ball screw efficiency Beff = 0.9
Travel distance 0.3 [m]
Coupling inertia JC = 10 x 10 -6 [kg-m2]
Bp
Running pattern(velocity profile)

Travel distance W
(Shaded area)
Velocity D
Constant-velocity
time Stop time
time
time time Acceleration time ta = 0.1 [s]
Cycle time Constant-velocity time tb = 0.8 [s]
Deceleration time td = 0.1 [s]
Cycle time tc = 2 [s]
Travel distance 0.3[m]
Ball screw weight

BD 2
BW = × π×
2 ( )
× BL
0.02 2
= 7.9 × 10 3 × π ×
2 (
× 0.5 )
= 1.24 [kg]
66 MD99TE05-1602
Load inertia
2
1 2 W ×B P
JL = J C +J B +J W = J C + B W × BD +
8 4π2
1.24 × 0.02 2 10 × 0.02 2
= 0.00001+ +
8 4π2
= 1.73 ×1 0 −4 [kg −m 2 ]
Provisional motor selection

Choose Hiwin 200W Servo motor：J M = 0.17 ×10 −4 [kg −m2 ]
Calculation of inertia ratio

JL 1.73 × 10 −4
= = 10.2
JM 0.17 × 10 −4
The inertia ratio is less than 15.
Calculation of maximum velocity (Vmax)

1 1
× t a × V max + t b × Vmax + × t d × V max = Travel
Traveldistance
移動距離 distance
2 2
1 1
× 0.1 × V max + 0.8 × Vmax + × 0.1× Vmax = 0.3
2 2
Vmax = 0.334 [m/s]
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)
Calculation of torque
BP 0.02
Traveling torque Tf = ( µgW +F ) = (0 .1×9 .8 ×10 + 0) = 0.035 [N−m ]
2πBeff 2π0.9
(J L +J M )
Ta = + Traveling torque
ta
Acceleration
torque ( 1.73 × 10 −4 + 0.14 × 10 −4 ) × 2π × 1.67
= + 0.035
0.1
= 0 .231 [N− m]
(J L +J M )
Td = − Traveling torque
td
Deceleration
torque ( 1.73 × 10 −4 + 0.14 ×10 −4 ) × 2π× 1.67
= − 0.035
0.1
= 0.161 [N −m ]
Verification of maximum torque

Ta = 0.231 [N-m] 小於 1.91 [N-m] (Maximum torque of Hiwin 200W Servo motor)
Verification of effective torque
Ta2 × t a + T f2 × t b + T d2 × t d
Trms =
tc
0.231 2 × 0.1 + 0.035 2 × 0.8 + 0.161 2 × 0.1

=
2
= 0.067[N− m ]
0.067 [N-m] 小於 0.64 [N-m] (rated torque of Hiwin 200W Servo motor)
Evaluation
Judging from the inertia ratio calculated above, selection of 200W motor is preferable, although the
torque margin is significantly large.
68 MD99TE05-1600
11. Motor / Drive Requirements List

Customer： Date：
Contact Person：
Email： Title：
Drive series □ D2T □ D2 Note：
Low inertia：□ 50W □ 100W □ 200W □ 400W
Middle inertia：□ 750W □ 1000W □ 2000W
AC Motor Series* Format：□ 13bit Incremental
□ 17bit incremental
□ 17bit absolute
Key* □ No □ Yes　
Brake* □ No □ Yes　
Seal* □ No □ Yes　
AC input voltage(V) □ Single phase 220V □ Three phase 220V
Motor power (flexure resistance)
Servo motor connecting Cable Length：□ 3M　□ 5M　□ 7M　□ 10M
wires* Encoder (flexure resistance)
Cable Length：□ 3M　□ 5M　□ 7M　□ 10M
Related accessory □ Pulse Wire　□ USB cable　
requirements* □ Single-phase filter　□ Three-phase filter
□ Position control　□ Velocity control　
Control mode*
□ Torque control　□ EtherCAT(CoE)　□ Others
□ Slide/model no:
□ Reducer/reduction ratio:
□ Timing belt
Match method
□ Gear rack
□ Ball screw/guiding distance:
screw outer diameter:
□ PLC/manufacture: model:
Host
□ Axis card/manufacture: model:
Special Need
Installation □ Horizontal 　□ Vertical
Speed requirement
Accelaration requirement
Weight requirement
The information below is to be filled out by HIWIN or authorized agents.

Recommended specifications：
Fields with * must be filled Salesperson：

12. Safety Precautions

Thank you for purchasing HIWIN’s AC servo motor. Installation and operation of the motor must
be in accordance with the HIWIN manual. Before using the servo motor, please read these safety
instructions and precautions carefully.
Unpacking instructions
1. Before using the servo motor, please read these safety instructions and precautions carefully.
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.
Safety instructions
1. The product can only be repaired by HIWIN engineers. Please send the product back to us if there
is any unusual phenomenon.
2. Do not hold the motor by its wire harness or shaft.
3. Do not hit the motor or shaft. Shock can damage the encoder inside the motor.
4. Do not apply loads to the motor shaft that are in excess of the specified value.
5. Protect the motor and encoder from high electrical noise, vibration, and unusual temperatures.
6. Do not change the motor parts or disassemble the screws. HIWIN will not be responsible for any
damages, injuries, or accidents that may occur.
Wiring instructions
1. Ensure the specified power input value before using the product, and verify that the proper power
supply is being used.
2. Before operation, please ensure that the motor, brake, and encoder are connected correctly.
Incorrect wiring may cause abnormal motor operation or even cause permanent damage to the
motor.
3. To avoid voltage coupling and electrical noise on the encoder, ensure adequate separation of the
motor power wires and the encoder wires.
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
damage to the encoder.
Operation instructions
1. Higher than maximum specified current may cause demagnetization of magnetic components
inside the motor.
2. The AC servo motor is designed to operate through a dedicated servo drive. Do not connect to a
commercial power source (100/200V AC, 50/60 HZ). The motor will not operate correctly and may
cause permanent damage.
3. The motor must be operated within its specified range.
70 MD99TE05-1600
4. Attention should be given to ensure adequate cooling and ventilation of the motor during
operation.
5. For long term use, the motor shaft should be resupplied with proper and sufficient oil during the
period of operation.
6. If any abnormal odor, noise, smoke, temperature rises or vibration is detected, stop the motor
immediately. Remove power from the servo drive and isolated the motor.
Motor International Standard
Maintenance and Storage 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.
3. The motor shaft opening is neither waterproof nor oil-proof. Do not install the motor in an
environment where there is harmful gas, liquid, excessive moisture, or water vapor.
4. Do not store the servo motor where it will be subjected to vibration or shock in excess of the
specified limit.
5. The storage and transportation temperature of this product: -20℃~+65℃
6. Clean：Wipe with Alcohol (70%)
7. Before shipping, the motor shaft is coated with antirust oil to protect the motor shaft against rust
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
with proper and sufficient antirust oil at least once every three months thereafter.
8. Product disposal：Follow the local laws and regulations for recycling.
A one year guarantee is provided from the date of delivery. For product damage caused by
improper operation (Please refer to the notes and instructions in this operation manual). HIWIN
will not be held responsible for replacing or maintaining the product as a result of any natural
disasters that may occur during this period.
Warning：For the proper use of the HIWIN AC servo motor read these safety precautions
carefully before installation, operation, and maintenance.
Warning：Do not touch when motor operating to avoid being scalded.
■ Please read “warning signs”.

■ Turn power off before clean product.
■ Read manual before use.
■ If the product is used under overload condition shell temperature rises.
■ 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
environments.
■ Removal of damaged power cable fasteners, with care and with attention for power cable fasteners.
■ Avoid impact on of shaft end and encoder.
■ Products cannot be used in environment with flammable materials.

MEMO
MEMO
INDUSTRIE 4.0 Best Partner
Multi Axis Robot

Pick-and-place / Assembly /
Grinding and Polishing / Semiconductor /
Light Industry / Automotive industry /
Food industry
• Articulated Robot
• Delta Robot
• Movable Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
Single Axis Robot Medical Equipment

Precision / Semiconductor / Hospital / Rehabilitation centers /
Medical / FPD Nursing homes
• KK , SK • Robotic Gait Training System
• KS, KA • Hygiene System
• KU, KE • The Robotic Endoscope Holder
• Robot for Upper Limb Exercise
Ballscrew Linear Guideway

Precision Ground / Rolled Automation / Semiconductor / Medical
• Super S series • Ball Type--HG, EG, WE, MG, CG
• Super T series • Quiet Roller Type--QH, QE, QW, QR
• Mini Roller • Other--RG, E2, PG, SE, RC
• Ecological & Economical
lubrication Module E2
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (C1)
• Heavy Load Series (RD)
Direct Drive Bearing

CNC Tilting Rotary Machine tools / Robot
• Crossed Roller Bearings
Aerospace / Medical / Auto industry
• Ball Screw Bearings
• RAB-800
• Linear Bearing
• RAB-500
• Support Unit

AC Servo Motor & Drive Torque Motor
Publication Date：June 2008, first edition
Semiconductor / Packaging machine / (Direct Drive Motor)
SMT / Food industry / LCD
• Drives-D1, D1-N, D2
Inspection / Testing equipment / Print Date：January 2016, 5th edition
Machine tools/ Robot
• Motors-400W~2000W
• Rotary Tables-TMS,TMY,TMN
• TMRW Series
1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. Please avoid buying the counterfeit
goods that are from unknown sources to protect your rights.
2. Actual products may be different from the specifications and photos in this catalog, and the
differences in appearances or specifications may be caused by, among other things, product
improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Linear Motor Positioning Act" and relevant regulations. Any export of restricted products should be approved by competent
Automated transport / AOI application / Measurement System authorities in accordance with relevant laws, and shall not be used to manufacture or develop the
Precision / Semiconductor
• With Iron-core
Cutting machines / nuclear, biochemical, missile and other military weapons.
Traditional gantry milling machines /
• Coreless Type
Programmable drilling machines
• Linear Turbo LMT
• High Resolution
• Planar Servo Motor
• Air Bearing Platform
• Signal Translator Copyright © HIWIN Mikrosystem Corp.
• High-precision Enclosed
• X-Y Stage
• High Efficiency Counter
• Gantry Systems
AC Servo Motor & D2 Drive
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]
Subsidiaries & R&D Centers
HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

OFFENBURG, GERMANY JONA, SWITZERLAND SUWON, KOREA
www.hiwin.de www.hiwin.ch www.hiwin.kr
www.hiwin.eu [email protected] [email protected]
[email protected]
HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

KOBE‧TOKYO‧NAGOYA‧NAGANO‧ ECHAUFFOUR, FRANCE SUZHOU, CHINA
TOHOKU‧HOKURIKU‧HIROSHIMA‧ www.hiwin.fr www.hiwin.cn
KUMAMOTO‧FUKUOKA, JAPAN [email protected] [email protected]
www.hiwin.co.jp
[email protected]
HIWIN USA HIWIN s.r.o. Mega-Fabs Motion System, Ltd.

CHICAGO‧SILICON VALLEY, U.S.A. BRNO, CZECH REPUBLIC HAIFA, ISRAEL
www.hiwin.com www.hiwin.cz www.mega-fabs.com
[email protected] [email protected] [email protected]
HIWIN Srl HIWIN SINGAPORE

BRUGHERIO, ITALY SINGAPORE
www.hiwin.it www.hiwin.sg
[email protected] [email protected]
Technical Information
The specifications in this catalog are subject to change without notification.
©2016 FORM MD99TE05-1602

(PRINTED IN TAIWAN)

AC - Servo - Motor - Drive - e (2016)

Uploaded by

Copyright:

Available Formats

AC - Servo - Motor - Drive - e (2016)

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

AC - Servo - Motor - Drive - e (2016)

Uploaded by

Copyright:

Available Formats

AC Servo Motor & D2 Drive Technical Information

AC Servo Motor & D2 Drive

HIWIN MIKROSYSTEM CORP.

Subsidiaries & R&D Centers

HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

HIWIN USA HIWIN s.r.o. Mega-Fabs Motion System, Ltd.

HIWIN Srl HIWIN SINGAPORE

The specifications in this catalog are subject to change without notification.

©2016 FORM MD99TE05-1602

Multi Axis Robot

Single Axis Robot Medical Equipment

Ballscrew Linear Guideway

Direct Drive Bearing

AC Servo Motor & D2 Drive Technical Information

6.1 Servo drive with standard interface.................................. 28

7.1 Motor specifications and application environment ......... 40

9. HIWIN single axis robot and motor adaptor flange ........................ 59

11. Motor / Drive Requirements List................................................................ 68

Excellently high speed response

High acceleration responses

level servo performance is achieved.

Built-in accuracy improvement feature

Without accuracy improvement feature With accuracy improvement feature

Vibration Suppression Feature

Without vibration With vibration

Electronic gear ratio and Encoder Emulator

Complete tool sets

Accuracy enhancement function

Frequency analysis tools D1N-SNN08A

A powerful and easy to use tool for frequency analysis

Advanced gain scheduling feature

more accurate. D1N-SNN12A

PDL (Process Description Language)

A complete solution with positioning module, motor and drive

High-speed network communications interface

Simple and robust commnunication interface

RoHS regulations limit six hazardous substances are:

RoHS Polybrominated Biphenyls (PBB), the maximum allowable

2.2 Comply with CE & UL regulations

3.2 Servo motor

Drive input voltage

Holding brake options

(1) 13bit only supports FRLS05/10/20/40,FRMS75,FRMM1K

3.3 Motor cable

Motor side connector

Drive side connector

3.4 Encoder cable

Drive side connector

(1) Please refer to user guide

5. Part numbers and options

without brake HVPS04AA

Straight type HVPM04BA

Straight type : straight waterproof connector

5.1 AC50W~AC750W－13bit incremental encoder

Middle FRMS7520508Δ Approx.

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

Note2 Selection of cable / 50W~750W

HVPS04AA □□□ B HVPS06AA □□□ B