AC - Servo - Motor - Drive - e (2016)
AC - Servo - Motor - Drive - e (2016)
AC - Servo - Motor - Drive - e (2016)
Technical Information
1. Feature ......................................................................................................................... 2
2. Safety certification ................................................................................................ 7
3. Model description .................................................................................................. 8
4. Interface directions ............................................................................................ 12
5. Part numbers and options ............................................................................ 14
1. Feature
Excellent performance
D1N-SNN01C
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)
D2-
LPN01A
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
AC Servo Motor & D2 Drive 5
D1N-SNN08A
D1N-SNN10B
D1N-SNN10B
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
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
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.
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.
AC Servo Motor & D2 Drive 9
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
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
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
Cable length
3M ...........................................................................................................................= 03M
5M ...........................................................................................................................= 05M
7M ...........................................................................................................................= 07M
10M .........................................................................................................................= 10M
Cable type
Highly flexible ..................................................................................................................... = B
AC Servo Motor & D2 Drive 11
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
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
AC Servo Motor & D2 Drive 13
4.2 Frame D
(1)
D1N-CNN02A
D2 Drive
D2 D2 -
PPN01B
D1N-
PNN03A
AC Servo Motor
Singel Axis Robot
D2-
PPN08A
16 MD99TE05-1602
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
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
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
RG1
D2-EMC3 RG2
HVE13IAB □□□ B
Cable length
3M ...............................=03M
5M ...............................=05M
7M ...............................=07M
10M .............................=10M
Cable type
Highly flexible ............................. = B
18 MD99TE05-1602
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
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
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.
AC Servo Motor & D2 Drive 19
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)
HVE13I □B □□□ B
Motor side connector
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
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
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.
D2T-0123-S-A4 Frame A
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
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Single Three
17bit 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
RG1
D2-EMC3 RG2
HVE17IAB □□□ B
Cable length
3M ............................... =03M
5M ............................... =05M
7M ............................... =07M
10M ............................. =10M
Cable type
Highly flexible ............................. = B
22 MD99TE05-1602
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
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.
AC Servo Motor & D2 Drive 23
Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Single Three
17bit External
Control phase phase
without brake with brake incremental Regenerative
Signal Cable EMC Pack EMC Pack
(Note 2) Resistor
(Note 3) (Note 3)
HVPM04□A□□□B HVPM06□A□□□B
HVPM04□B□□□B HVPM06□B□□□B
HVE17I □B □□□ B
Motor side connector
Straight Type .......=B
L-Shaped Type ....=C
Cable length
3M ........................................=03M
5M ........................................=05M
7M ........................................=07M
10M ......................................=10M
Cable type
Highly flexible .....................................= B
24 MD99TE05-1602
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
FRLS05204A4∆
50
FRLS052B4A4∆ Approx.
D2T-0123-S-A5 Frame A
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.
D2T-0123-S-A5 Frame A
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
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Single Three
17bit External
Control phase phase
without brake with brake absolute Regenerative
Signal Cable EMC Pack EMC Pack
(Note 2) Resistor
(Note 3) (Note 3)
N/A
D2-EMC1
RG1
D2-EMC3 RG2
HVE17A AB □□□ B
Cable length
3M ................................=03M
5M ................................=05M
7M ................................=07M
10M ..............................=10M
Cable type
Highly flexible ............................. = B
26 MD99TE05-1602
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
Note1 Δ:Shaft End & Oil Seal Specification (Please refer to P.9)
Motor cable / without brake Motor cable and brake cable / with brake
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.
AC Servo Motor & D2 Drive 27
Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Single Three
17bit External
Control phase phase
without brake with brake absolute Regenerative
Signal Cable EMC Pack EMC Pack
(Note 2) Resistor
(Note 3) (Note 3)
HVPM04□A□□□B HVPM06□A□□□B
HVPM04□B□□□B HVPM06□B□□□B
HVE17A □B □□□ B
Motor side connector
Straight Type .......=B
L-Shaped Type ....=C
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℃
13bit incremental
Encoder feedback 17bit incremental
Dual loop (Full closed loop) and 17bit absolute
Brake Direct brake connection. (no need of extra relay for brake)
Control signal Output
connector Also programmable for general purpose output
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
AC Servo Motor & D2 Drive 29
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.
(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)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
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
AC Servo Motor & D2 Drive 31
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
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
220 6
Vdc Specifications of R
12 1k ohm 1/2W
24 2k ohm 1/2W
D2-ENT17B
AC Servo Motor & D2 Drive 33
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
7 COM+
4.7k
8 I10
40 O5+
12 O5-
CN6 D2-ENT19A
34 MD99TE05-1602
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
AC Servo Motor & D2 Drive 35
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
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
AC Servo Motor & D2 Drive 37
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
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.
AC Servo Motor & D2 Drive 39
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
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)
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
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
■ 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
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.
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
Specification
D2 - DNN05C
With
帶鍵 key M3*8DP
6.2
AC Servo Motor & D2 Drive 43
7.2.2 100W
Parameter Symbol Unit FRLS102□□A4□
Drive Input Voltage V V AC220
Rated Power W W 100
Rated Torque Tc N.m 0.32
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.96
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 0.356
Back EMF Constant Ke Vrms / krpm 21.98
Resistance (line to line) R Ω 8
Inductance (line to line) L mH 8.45
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.036(0.038)
Weight (with brake) M kg 0.63(0.76)
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.
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°
110.5(139) 25 42
D2-
SNT02A Note:( )Include Brake Size
註:( )內為含煞車器之尺寸
Unit:mm
Speed(rpm) 14
10 3
3
Optional(選配規格)
Specification
D2 - DNN06C
帶鍵
With key M3*8DP
6.2
44 MD99TE05-1602
7.2.3 200W
Parameter Symbol Unit FRLS202□□06□
Drive Input Voltage V V AC220
Rated Power W W 200
Rated Torque Tc N.m 0.64
Rated Current Ic A(rms) 1.7
Peak Max. Torque Tp N.m 1.92
Peak Max. Current Ip A(rms) 5.1
Rated Speed ωc rpm 3000
No Load Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.38
Back EMF Constant Ke Vrms / krpm 23
Resistance (line to line) R Ω 4.3
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.17(0.21)
Weight (with brake) M kg 0.95(1.5)
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 1.3
Magnetizing current Ab A 0.32A
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.
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
註:( )內為含煞車器之尺寸
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
AC Servo Motor & D2 Drive 45
7.2.4 400W
Parameter Symbol Unit FRLS402□□06□
Drive Input Voltage V V AC220
Rated Power W W 400
Rated Torque Tc N.m 1.27
Rated Current Ic A(rms) 2.5
Peak Max. Torque Tp N.m 3.81
Peak Max. Current Ip A(rms) 7.5
Rated Speed ωc rpm 3000
No Load Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.51
Back EMF Constant Ke Vrms / krpm 31.9
Resistance (line to line) R Ω 3.5
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.27 (0.31)
Weight (with brake) M kg 1.31(1.86)
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 1.3
Magnetizing current Ab A 0.32A
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.
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
註:( )內為含煞車器之尺寸
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
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.
B
PC
Ø8h6
0.3
45°
31
3.4
84(114) 25 □40
0.1 Note:( )Include Brake Size
14
0 10
Optional Specification 3
3
Unit:mm
1.0
0.8
ia) 0.6
23.7 L=300mm
0.4
AC Servo Motor & D2 Drive 47
7.3.2 100W
Parameter Symbol Unit FRMS102□□04□
Drive Input Voltage V V AC220
Rated Power W W 100
Rated Torque Tc N.m 0.32
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.96
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 0.356
Back EMF Constant Ke Vrms / krpm 20.93
Resistance (line to line) R Ω 19
Inductance (line to line) L mH 23.78
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.051(0.055)
Weight (with brake) M kg 0.54
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
23.7 1) L=300mm
47.8 L=300mm
50W(Middle Inertia) 6
3 5
B D4
PC
Ø8h6
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
Brake suction and release times vary with different circuitries, please note the actual operation delay time
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
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)
3.4
0.4 Continuous work range 104(134) 25 □40
Note:( )Include Brake Size
0.2 14
10 3
3
Optional Specification
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□
Drive Input Voltage V V AC220
Rated Power W W 400
Rated Torque Tc N.m 1.27
Rated Current Ic 23.7 A(rms) 2.6
L=300mm
14
47.8 L=300mm A
Peak Max. Current Ip A(rms) 7.8
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)
Weight (with brake) M kg 1.31
0.4
Motor Insulation Grade Class A (UL)
0.3
Total enclosed, self-cooled, IP65
a) 0.2
Motor protect
(Except
23.7
for shaft and connector)
L=300mm
14
0
Insulation voltage
100W(Middle Inertia)resistance
B
AC1500V,6 603 second D4
5
PC
Ø8h6
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
0.4
0.2 1
Note 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
0
0 during application.
500 1000 1500 2000 2500 3000 3500 4000 4500
4.0 47.8
L=300mm
46.5
18.5
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
Note:( )Include Brake Size
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 7
3 25
Speed(rpm)
26 20
5
5
Optional Specification
11
M4*15DP
Ø14h6
With key
7.3.4 750W
Parameter Symbol Unit FRMS752□□08□
Drive Input Voltage V V AC220
Rated Power W W 750
Rated Torque Tc N.m 2.4
Rated Current Ic A(rms) 5.1
Peak Max. Torque Tp N.m 7.2
Peak Max. Current Ip A(rms) 15.3
Rated Speed ωc rpm 3000
No Load Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.47
Back EMF Constant Ke Vrms / krpm 28.4
Resistance (line to line) R Ω 0.813
Inductance (line to line) L mH 3.4
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
1.4(1.46)
Weight (with brake) M kg 2.66(3.32)
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 2.4
Magnetizing current Ab A 0.358A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 45
Release time (Maximum) tr ms 10
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.
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°
Optional(選配規格)
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
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.
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
Note:( )Include Brake Size
35
Speed(rpm)
31
8
Optional(選配規格)
7
Specification
D2-DNN10A
20
M6*20DP
With帶鍵
key Unit:mm
AC Servo Motor & D2 Drive 51
7.4.2 2000W
Parameter Symbol Unit FRMM2K2□□13□
Drive Input Voltage V V AC220
Rated Power W W 2000
Rated Torque Tc N.m 9.55
Rated Current Ic A(rms) 11
Peak Max. Torque Tp N.m 28.65
Peak Max. Current Ip A(rms) 33
Rated Speed ωc rpm 2000
No Load Max. Speed ωp rpm 3000
Torque Constant Kt N.m / Arms 0.87
Back EMF Constant Ke Vrms / krpm 57.8
Resistance (line to line) R Ω 0.41
Inductance (line to line) L mH 3.7
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
13(14.1)
Weight (with brake) M kg 8(8.8)
Motor Insulation Grade Class A (under certification)
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 10
Magnetizing current Ab A 0.56A
Brake input voltage V V DC24
Suction time to ms 80
Release time tr ms 30
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.
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
Note:( )Include Brake Size
註:( )內為含煞車器之尺寸
Speed(rpm)
35
31
8
7
(選配規格)
Optional Specification
D2-DNN42A
帶鍵
With key M6*20DP
20
Unit:mm
52 MD99TE05-1602
Small Capacity
Name Type Connect Description : 50W~750W
AC Servo Motor 4 2
HVPS04AA□□□B CN1 3 1
AC Servo Motor
Power 6 3
CN1 5 2
Cable
AC Servo Motor 9
5 6
3
7 1
(13bit incremental) 4
AMP-172161-1 3M 36310
3M 36210
5 6
AC Servo Motor 9 3
8 2
AC Servo Motor 9
5 6
3
1
2
7
(17bit absolute) 4 AMP 1-172161-9 3M 36310
3M 36210
AC Servo Motor & D2 Drive 53
Middle Capacity-1000W
Name Type Connect Description:1000W
HVPM04BA□□□B
A D
AC Servo Motor
CN1
Power Cable
A D
HVPM04CA□□□B
L-Type Connector B C
WPS3108A18-10S-R
A D
B C
Straight Connector A C
HVPM02BA□□□□
AC Servo Motor B
WPS3106A14S-7S-R
Power Cable
and Brake CN1
Cable A D
HVPM04CA□□□□
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
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
AC Servo Motor 3M 36210
L-Type Connector
C F 3M 36210
D E
J
WPS3108A18-1S-R
I
A H
HVE17ABB□□□B
B G
18-1S
Straight Connector C
D
J
E
F
WPS3106A18-1S-R
3M 36310
AC Servo Motor 3M 36210
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
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
Straight Connector C
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
Straight Connector C
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.
AC Servo Motor & D2 Drive 55
(2m)
USB A type Mini USB
051700800366 CN3 (2m)
USB A type Mini USB
D2-DNN25A
D2-DNN25A
10150
LMACK02D
3M
HE00834S0800(1m)
815AC2A3
(2m)
CN4 / USB A type Mini USB
10150
26
LMACK02D
3M
1 815AC2A3
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
D 2 -D N N 2 7 A
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
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
D2-DNN29A D2-DNN30A
D2-
DNN33A D2-
DNN32A
WPS3102A18-10P-R WPS3102A14S-7P-R
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
Z+ W+ G E D
J
Z- W- H
Shielding Shielding I
G B
F C
58 MD99TE05-1602 D2
-DNN34A
E D
J
MA- 8
Shielding Shielding 9
Signal SD- H E J D
Shielding Shielding I
AC Servo Motor & D2 Drive 59
D2-
LPN02A
60 MD99TE05-1602
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.
AC Servo Motor & D2 Drive 61
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.
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.
D
D2-DNN37A D2-DNN41A
D2-DNN42A
D2-DNN38A
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]
AC Servo Motor & D2 Drive 63
Belt(Conveyor)
*Excluding drum J
Reduction gear
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
Trapezoidal profile
Travel distance
(Shaded area)
Velocity
Constant-velocity
time Stop time
time
Acceleration Deceleration
time time
Cycle time
Triangle profile
time
Acceleration Deceleration
time time
Cycle time
AC Servo Motor & D2 Drive 65
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
Constant-velocity
time Stop time
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]
Cycle time tc = 2 [s]
Travel distance 0.3[m]
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 ]
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 ]
Ta2 × t a + T f2 × t b + T d2 × t d
Trms =
tc
= 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
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.
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.
environments.
■ Removal of damaged power cable fasteners, with care and with attention for power cable fasteners.
Technical Information