Mitsubishi Electric MELSERVO HF-MP User manual

SH (NA) 030041-J (1211) MEE Printed in Japan Specifications subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
J
SERVO MOTOR INSTRUCTION MANUAL (Vol.2) J
MOTOR INSTRUCTION(VOL.2)
1CW951
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
HF-MP
HF-KP
HF-SP
HA-LP
HC-RP
HC-UP
HC-LP
HF-JP
HG-AK
SERVO MOTOR INSTRUCTION MANUAL (Vol.2)
The following servo motors will be available in the future. All specifications of
followings may be changed without notice.
HG-AK0136B
HG-AK0236B
HG-AK0336B

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you
have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol. 2) and
appended documents carefully. Do not use the servo amplifier and servo motor until you have a full knowledge
of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by .
: Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit
30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L
and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock
may occur. In addition, always confirm from the front of the converter unit and servo amplifier (drive unit),
whether the charge lamp is off or not.
Connect the converter unit, servo amplifier (drive unit) and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the converter unit, servo amplifier (drive unit) and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed loaded, or pinched. Otherwise, it may cause an electric shock.
During power-on or operation, do not open the front cover. Otherwise, it may cause an electric shock.
Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. High-voltage
terminals and charging area are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The converter
unit and servo amplifier (drive unit) are charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
When using a residual current device (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the converter unit, servo amplifier (drive unit), servo motor and regenerative resistor on incombustible
material. Installing them directly or close to combustibles will lead to a fire.
When the converter unit and servo amplifier (drive unit) has become faulty, switch off the main converter
unit and servo amplifier (drive unit) power side. Continuous flow of a large current may cause a fire.
When a regenerative resistor is used, use an alarm signal to switch main power off.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the converter unit and servo amplifier (drive unit) and servo motor.
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The converter unit and servo amplifier (drive unit) heat sink, regenerative resistor, servo motor, etc. may be
hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to
prevent accidental contact of hands and parts (cables, etc.) with them.
The surface temperature of the servo motor may exceed 100 depending on its mounting and operating
conditions.
During operation, never touch the rotating parts of the servo motor. Otherwise, it may cause injury.

A - 3
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Use eyebolt of the servo motor for the transportation purpose only. Do not use eyebolt to transport in the
condition that the servo motor is installed on the machine.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The converter unit
and servo amplifier (drive unit) may drop.
Install the converter unit and servo amplifier (drive unit) in a load-bearing place in accordance with the
Instruction Manual.
Do not get on or put heavy load on the equipment.
The servo motor must be installed in the specified direction.
Leave specified clearances between the converter unit and servo amplifier (drive unit) and control enclosure
walls or other equipment.
Do not install or operate the servo amplifier (drive unit), converter unit and servo motor which has been
damaged or has any parts missing.
Do not block intake and exhaust areas of the converter unit, the servo amplifier (drive unit) and the servo
motor with a cooling fan. Otherwise, it may cause a malfunction.
Do not drop or strike the converter unit and servo amplifier (drive unit) and servo motor as they are precision
equipment.
When you keep or use it, please fulfill the following environmental conditions.
Environment Conditions
[] 0 to 40 (non-freezing)Operation [] 32 to 104 (non-freezing)
[] 15 to 70 (non-freezing)
Ambient
temperature Storage [] 5 to 158 (non-freezing)
Operation 80 RH or less (non-condensing)
Ambient
humidity Storage 90 RH or less (non-condensing)
Ambience Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
HF-MP series HF-KP series HG-AK series X, Y: 49 m/s2
HF-SP51 81 HF-SP52 to 152
HF-SP524 to 1524 HC-RP Series
HC-UP72 152 HF-JP53 to 503 11K1M 15K1M
HF-JP534 to 5034 11K1M4 15K1M4
X, Y: 24.5 m/s2
HF-SP121 201 HF-SP202 352
HF-SP2024 3524 HC-UP202 to 502 X: 24.5 m/s2Y: 49 m/s2
HF-SP301 421 HF-SP502 702
HF-SP5024 7024
HF-JP703 903 HF-JP7034 9034
X: 24.5 m/s2Y: 29.4 m/s2
HC-LP52 to 152 X: 9.8 m/s2Y: 24.5 m/s2
HC-LP202 to 302 X: 19.6 m/s2Y: 49 m/s2
HA-LP601 to 12K1 HA-LP701M to 15K1M
HA-LP502 to 22K2 HA-LP6014 12K14
HA-LP701M4 15K1M4 HA-LP11K24 to 22K24
X: 11.7 m/s2Y: 29.4 m/s2
(Note) Vibration resistance
HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M
HA-LP30K2 37K2 HA-LP15K14 to 37K14
HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24
X, Y: 9.8 m/s2
Note. Except the servo motor with a reduction gear.

A - 4
CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking
the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and
reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by
using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the
encoder may malfunction.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) between the servo
amplifier (drive unit).
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier (drive unit) and servo
motor. Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
M
U
V
W
U
Servo motor
M
V
W
U
V
W
U
V
W
Servo amplifier
(drive unit) Servo motor
Servo amplifier
(drive unit)

A - 5
CAUTION
Do not connect AC power directly to the servo motor. Otherwise, it may cause a malfunction.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
(The following figure shows the case of the MR-J3- A servo amplifier.)
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
(drive unit)
RA
For sink output interface
DOCOM
Control output
signal
DICOM
24VDC
Servo amplifier
(drive unit)
RA
For source output interface
When the cable is not tightened enough to the terminal block (connector) of the converter unit and servo
amplifier, the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to
tighten the cable with specified torque.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be instable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off
immediately.
Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent.
Doing so may scuff the surface.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal into the converter unit and servo amplifier (drive
unit) is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to electronic equipment used near the converter unit and servo amplifier (drive
unit).
Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or
break a converter unit and servo amplifier (drive unit).
Use the converter unit and servo amplifier (drive unit) with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the servo motor shaft. To ensure safety,
install a stopper on the machine side.

A - 6
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure a circuit so that the electromagnetic brake activates with the external emergency stop switch at
the same time.
BU
SON RA
Contacts must be
opened with the EMG
stop switch.
24VDC
Electromagnetic brake
Servo motor
Contacts must be opened when SON (Servo-on),
A
LM (Malfunction) or MBR (Electromagnetic brake
interlock) turns off.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the converter unit and servo amplifier (drive unit) will deteriorate. To
prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10
years when used in general environment.
Please contact your local sales office.
(7) Storage
CAUTION
Note the following points when storing the servo motor for an extended period of time (guideline: three or
more months).
Always store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, reexamine the storage method.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period.
If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to the
machined surfaces of the shaft, etc.
Before using the product after storage for an extended period of time, hand-turn the servo motor output
shaft to confirm that nothing is wrong with the servo motor. (When the servo motor is equipped with a brake,
make the above check after releasing the brake with the brake power supply.)
When the equipment has been stored for an extended period of time, consult your local sales office.

A - 7
(8) General instruction
CAUTION
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without
covers and safety guards. When the equipment is operated, the covers and safety guards must be installed
as specified. Operation must be performed in accordance with this Instruction Manual.
DISPOSAL OF WASTE
Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options
according to your local laws and regulations.
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or underwater relays, contact your local sales office.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
PRECAUTIONS FOR CHOOSING THE PRODUCTS
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
COMPLIANCE WITH CE MARKING
Refer to Appendix 2 for the compliance with CE marking.
CONFORMANCE WITH UL/cUL STANDARD
(Under application)
Refer to Appendix 3 for the compliance with UL/cUL standard.

A - 8
MEMO

1
CONTENTS
1. INTRODUCTION 1 - 1 to 1 - 8
1.1 Features of servo motor........................................................................................................................... 1 - 1
1.2 Rating plate .............................................................................................................................................. 1 - 3
1.3 Parts identification.................................................................................................................................... 1 - 4
1.4 Electromagnetic brake ............................................................................................................................. 1 - 5
1.5 Servo motor shaft shapes........................................................................................................................ 1 - 7
2. INSTALLATION 2 - 1 to 2 - 6
2.1 Installation orientation .............................................................................................................................. 2 - 2
2.2 Cooling fan ............................................................................................................................................... 2 - 2
2.3 Load remove precautions ........................................................................................................................ 2 - 3
2.4 Permissible load for the shaft .................................................................................................................. 2 - 4
2.5 Protection from oil and water................................................................................................................... 2 - 4
2.6 Cable ........................................................................................................................................................ 2 - 5
2.7 Servo motor with oil seal.......................................................................................................................... 2 - 5
2.8 Inspection ................................................................................................................................................. 2 - 5
2.9 Life ............................................................................................................................................................ 2 - 6
2.10 Machine accuracies ............................................................................................................................... 2 - 6
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 -14
3.1 Selection of connectors............................................................................................................................ 3 - 1
3.2 Wiring connectors (Connector configurations A BC)......................................................................... 3 - 5
3.3 Wiring connectors (Connector configurations D E F G H) ............................................................. 3 - 6
3.4 Wiring connectors (Connector configurations J K L M N) ............................................................. 3 -12
3.5 Wiring connectors (Connector configurations P Q) ............................................................................. 3 -14
4. CONNECTOR OUTLINE DRAWINGS 4 - 1 to 4 - 8
5. CALCULATION METHODS FOR DESIGNING 5 - 1 to 5 -16
5.1 Specification symbol list........................................................................................................................... 5 - 1
5.2 Position resolution and electronic gear setting ....................................................................................... 5 - 2
5.3 Speed and command pulse frequency.................................................................................................... 5 - 3
5.4 Stopping characteristics........................................................................................................................... 5 - 4
5.5 Capacity selection .................................................................................................................................... 5 - 5
5.6 Load torque equations ............................................................................................................................. 5 - 8
5.7 Load inertia moment equations ............................................................................................................... 5 - 9
5.8 Precautions for home position return ..................................................................................................... 5 -10
5.9 Selection example................................................................................................................................... 5 -11
5.10 Coasting distance of electromagnetic brake ........................................................................................ 5 -15
5.11 Expression for calculating the electromagnetic brake workload ......................................................... 5 -15

2
6. HF-MP SERIES HF-KP SERIES 6 - 1 to 6 -70
6.1 Model name make up .............................................................................................................................. 6 - 1
6.2 Standard specifications............................................................................................................................ 6 - 2
6.2.1 Standard specifications list ............................................................................................................... 6 - 2
6.2.2 Torque characteristics....................................................................................................................... 6 - 4
6.3 Electromagnetic brake ............................................................................................................................. 6 - 5
6.4 Servo motors with special shafts ............................................................................................................. 6 - 6
6.4.1 Keyway shaft (with key) .................................................................................................................... 6 - 6
6.4.2 D cut shaft.......................................................................................................................................... 6 - 6
6.5 Servo motors with a reduction gear......................................................................................................... 6 - 7
6.5.1 For general industrial machines compliant (G1) .............................................................................. 6 - 7
6.5.2 For precision applications compliant (G5/G7) .................................................................................. 6 - 9
6.6 Wiring option ........................................................................................................................................... 6 -11
6.7 Connector installation ............................................................................................................................. 6 -12
6.8 Outline dimension drawings ................................................................................................................... 6 -13
6.8.1 Standard (without an electromagnetic brake, without a reduction gear)........................................ 6 -13
6.8.2 With an electromagnetic brake ........................................................................................................ 6 -16
6.8.3 For general industrial machine with a reduction gear (without an electromagnetic brake) ........... 6 -21
6.8.4 For general industrial machine with a reduction gear (with an electromagnetic brake) ................ 6 -27
6.8.5 For precision application with flange mounting, flange output type reduction gear
(without an electromagnetic brake) ................................................................................................. 6 -34
6.8.6 For precision application with flange mounting, flange output type reduction gear
(with an electromagnetic brake) ...................................................................................................... 6 -43
6.8.7 For precision application with flange mounting, shaft output type reduction gear
(without an electromagnetic brake) ................................................................................................. 6 -53
6.8.8 For precision application with flange mounting, shaft output type reduction gear
(with an electromagnetic brake) ...................................................................................................... 6 -61
7. HF-SP SERIES 7 - 1 to 7 -92
7.1 Model name make up .............................................................................................................................. 7 - 1
7.2 Standard specifications............................................................................................................................ 7 - 2
7.2.1 Standard specifications list ............................................................................................................... 7 - 2
7.2.2 Torque characteristics....................................................................................................................... 7 - 6
7.3 Electromagnetic brake ............................................................................................................................. 7 - 8
7.4 Servo motors with special shafts ............................................................................................................. 7 - 9
7.5 Servo motor with oil seal.......................................................................................................................... 7 - 9
7.6 Servo motors with a reduction gear........................................................................................................ 7 -10
7.6.1 For general industrial machines compliant (G1/G1H)..................................................................... 7 -10
7.6.2 For precision application compliant (G5/G7)................................................................................... 7 -14
7.7 Wiring option ........................................................................................................................................... 7 -16
7.8 Outline dimension drawings ................................................................................................................... 7 -17
7.8.1 Standard (without an electromagnetic brake, without a reduction gear)........................................ 7 -17
7.8.2 With an electromagnetic brake ........................................................................................................ 7 -20
7.8.3 For general industrial machine with a reduction gear (without an electromagnetic brake) ........... 7 -24
7.8.4 For general industrial machine with a reduction gear (with an electromagnetic brake) ................ 7 -34
7.8.5 For general industrial machine with a reduction gear
(leg type without an electromagnetic brake) ................................................................................. 7 -44

3
7.8.6 For general industrial machine with a reduction gear
(leg type with an electromagnetic brake) ...................................................................................... 7 -54
7.8.7 Flange-mounting flange output type for precision application compliant
(without an electromagnetic brake) ................................................................................................. 7 -64
7.8.8 Flange-mounting flange output type for precision application compliant
(with an electromagnetic brake) ...................................................................................................... 7 -71
7.8.9 Flange-mounting shaft output type for precision application compliant
(without an electromagnetic brake) ................................................................................................. 7 -78
7.8.10 Flange-mounting shaft output type for precision application compliant
(with an electromagnetic brake) ...................................................................................................... 7 -85
8. HA-LP SERIES 8 - 1 to 8 -24
8.1 Model name make up .............................................................................................................................. 8 - 1
8.2 Standard specifications............................................................................................................................ 8 - 2
8.2.1 Standard specifications list ............................................................................................................... 8 - 2
8.2.2 Torque characteristics....................................................................................................................... 8 - 9
8.3 Electromagnetic brake ............................................................................................................................ 8 -12
8.4 Servo motors with special shafts ............................................................................................................ 8 -13
8.5 Wiring option ........................................................................................................................................... 8 -14
8.6 Cooling fan .............................................................................................................................................. 8 -14
8.7 Outline dimension drawings ................................................................................................................... 8 -15
8.7.1 Terminal box detail diagram ............................................................................................................ 8 -15
8.7.2 Standard (without an electromagnetic brake) ................................................................................. 8 -17
8.7.3 With an electromagnetic brake ........................................................................................................ 8 -23
8.8 Servo motor with oil seal......................................................................................................................... 8 -24
9. HC-RP SERIES 9 - 1 to 9 -42
9.1 Model name make up .............................................................................................................................. 9 - 1
9.2 Standard specifications............................................................................................................................ 9 - 2
9.2.1 Standard specifications list ............................................................................................................... 9 - 2
9.2.2 Torque characteristics....................................................................................................................... 9 - 4
9.3 Electromagnetic brake ............................................................................................................................. 9 - 5
9.4 Servo motors with special shafts ............................................................................................................. 9 - 6
9.5 Servo motors with a reduction gear for precision application compliant (G5/G7) ................................. 9 - 7
9.6 Wiring option ............................................................................................................................................ 9 - 9
9.7 Outline dimension drawings ................................................................................................................... 9 -10
9.7.1 Standard (without an electromagnetic brake) ................................................................................. 9 -10
9.7.2 With an electromagnetic brake ........................................................................................................ 9 -12
9.7.3 Flange-mounting flange output type for precision application compliant
(without an electromagnetic brake) ................................................................................................. 9 -15
9.7.4 Flange-mounting flange output type for precision application compliant
(with an electromagnetic brake) ...................................................................................................... 9 -21
9.7.5 Flange-mounting shaft output type for precision application compliant
(without an electromagnetic brake) ................................................................................................. 9 -28
9.7.6 Flange-mounting shaft output type for precision application compliant
(with an electromagnetic brake) ...................................................................................................... 9 -34
9.8 Servo motor with oil seal......................................................................................................................... 9 -41

4
10. HC-UP SERIES 10 - 1 to 10 -12
10.1 Model name make up .......................................................................................................................... 10 - 1
10.2 Standard specifications........................................................................................................................ 10 - 2
10.2.1 Standard specifications list ........................................................................................................... 10 - 2
10.2.2 Torque characteristics................................................................................................................... 10 - 4
10.3 Electromagnetic brake ......................................................................................................................... 10 - 5
10.4 Servo motors with special shafts......................................................................................................... 10 - 6
10.5 Wiring option ........................................................................................................................................ 10 - 6
10.6 Outline dimension drawings ................................................................................................................ 10 - 7
10.6.1 Standard (without an electromagnetic brake) .............................................................................. 10 - 7
10.6.2 With an electromagnetic brake ..................................................................................................... 10 - 9
10.7 Servo motor with oil seal..................................................................................................................... 10 -12
11. HC-LP SERIES 11 - 1 to 11 -12
11.1 Model name make up .......................................................................................................................... 11 - 1
11.2 Standard specifications........................................................................................................................ 11 - 2
11.2.1 Standard specifications list ........................................................................................................... 11 - 2
11.2.2 Torque characteristics................................................................................................................... 11 - 4
11.3 Electromagnetic brake ......................................................................................................................... 11 - 5
11.4 Servo motors with special shafts......................................................................................................... 11 - 6
11.5 Wiring option ........................................................................................................................................ 11 - 6
11.6 Outline dimension drawings ................................................................................................................ 11 - 7
11.6.1 Standard (without an electromagnetic brake) .............................................................................. 11 - 7
11.6.2 With an electromagnetic brake ..................................................................................................... 11 - 9
11.7 Servo motor with oil seal..................................................................................................................... 11 -12
12. HF-JP SERIES 12 - 1 to 12 -28
12.1 Model name make up .......................................................................................................................... 12 - 1
12.2 Standard specifications........................................................................................................................ 12 - 2
12.2.1 Standard specifications list ........................................................................................................... 12 - 2
12.2.2 Torque characteristics................................................................................................................... 12 - 6
12.3 Electromagnetic brake ......................................................................................................................... 12 - 8
12.4 Servo motors with special shafts......................................................................................................... 12 - 9
12.5 Wiring option ........................................................................................................................................ 12 - 9
12.6 Outline dimension drawings ............................................................................................................... 12 -10
12.6.1 Standard (without an electromagnetic brake) ............................................................................. 12 -10
12.6.2 With an electromagnetic brake .................................................................................................... 12 -19
12.7 Servo motor with oil seal..................................................................................................................... 12 -28
13. HG-AK SERIES 13 - 1 to 13 -10
13.1 Model name make up .......................................................................................................................... 13 - 1
13.2 Standard specifications........................................................................................................................ 13 - 2
13.2.1 Standard specifications list ........................................................................................................... 13 - 2
13.2.2 Torque characteristics................................................................................................................... 13 - 4
13.3 Electromagnetic brake characteristics ................................................................................................ 13 - 5
13.4 Servo motors with special shafts......................................................................................................... 13 - 6

5
13.5 Wiring option ........................................................................................................................................ 13 - 6
13.6 Dimensions........................................................................................................................................... 13 - 6
13.6.1 Standard (without an electromagnetic brake) .............................................................................. 13 - 7
13.6.2 With an electromagnetic brake ..................................................................................................... 13 - 8
APPENDIX App.- 1 to App.- 4
App. 1 Servo motor ID codes.....................................................................................................................App.- 1
App. 2 Compliance with the CE marking...................................................................................................App.- 3
App. 3 Conformance with UL/cUL standard..............................................................................................App.- 4

6
MEMO

1 - 1
1. INTRODUCTION
1. INTRODUCTION
1.1 Features of servo motor
The following table indicates the main features of the servo motor. The items marked are supported as
standard. For detailed specifications, refer to the chapter of the servo motor series.
Servo motor series
Item HF-MP HF-KP HF-SP HA-LP
Feature
Ultra-Low
inertia/Small
capacity
Low inertia/Small
capacity
Medium
inertia/medium
capacity
Low inertia/Middle
large capacity
1000r/min
1500r/min
2000r/min
Rated speed
3000r/min
Encoder resolution [pulse/rev] 262144 262144 262144 262144
Rated output [kW] 0.05 to 0.75 0.05 to 0.75 0.5 to 7.0 5.0 to 55.0
One-phase 200 to
230VAC (Note 5)
Three-phase 200 to
230VAC
Three-phase 380 to
480VAC
Power supply
voltage of
compatible servo
amplifier (Note 1)
One-phase 100 to
120VAC (Note 2) (Note 2)
Electromagnetic Brake (Note 2) (Note 2) (Note 2) (Note 2)
Special shaft (Note 2) (Note 2) (Note 2) (Note 2)
Reduction Gear (Note 2) (Note 2) (Note 2)
Absolute Encoder
EN Standard (Note 6) (Note 9)Compliance with
Overseas Standards UL/cUL Standard
IP rating IP65 (Note 3 4) IP65 (Note 3 4) IP67 (Note 3) IP44 (Note 3)
Interchangeable servo motor
HC-KFS
HC-MFS
HC-KF
HC-MF
HC-KFS
HC-MFS
HC-KF
HC-MF
HC-SFS
HC-SF
HA-SH
HA-SE
HA-LFS HA-LH
HA-LF

1 - 2
1. INTRODUCTION
Servo motor series
Item HC-RP HC-UP HC-LP HF-JP HG-AK
Feature
Low
inertia/Middle
capacity
Flat
type/Middle
capacity
Low
inertia/Middle
capacity
Low
inertia/Middle
capacity
Compact
size/Small
capacity
2000r/min
Rated speed 3000r/min
Encoder resolution [pulse/rev] 262144 262144 262144 262144 262144
Rated output [kW] 1.0 to 5.0 0.75 to 5.0 0.5 to 3.0 0.5 to 15.0 0.01 to 0.03
One-phase 200 to
230VAC (Note 7) (Note 8)
Three-phase 200 to
230VAC
Three-phase 380 to
480VAC
One-phase 100 to
120VAC
Power supply
voltage of
compatible servo
amplifier (Note 1)
48VDC/24VDC
Electromagnetic Brake (Note 2) (Note 2) (Note 2) (Note 2) (Note 2)
Special shaft (Note 2) (Note 2) (Note 2) (Note 2) (Note 2)
Reduction Gear (Note 2)
Absolute Encoder
EN StandardCompliance with
Overseas Standards UL/cUL Standard
IP rating IP65 (Note 3) IP65 (Note 3) IP65 (Note 3) IP67 (Note 3) IP55 (Note 10)
Interchangeable servo motor HC-RFS
HC-RF
HC-UFS
HC-UF HC-LFS
Note 1. Some power supply voltages may not be usable depending on the servo amplifier (for the HA-LP servo motor of 30kW or
more, converter unit and drive unit) capacity.
For the power supply voltage range, refer to the Servo Amplifier Instruction Manual.
2. Compatible products are available. For details, refer to the chapter of the servo motor series.
3. Except for the shaft-through portion.
4. Except for the connector.
5. Only HF-SP51, 52 corresponds.
6. HF-SP301, 421, and 524 to 7024 will be supported.
7. Only HC-UP72 corresponds.
8. Only HC-LP52 corresponds.
9. The following models will be supported: HA-LP25K1 to 37K1, 30K1M, 37K1M, 30K2 and 37K2.
10. Except for the shaft-through, connector, and power cable outlet portion.

1 - 3
1. INTRODUCTION
1.2 Rating plate
(1) HF-MP series/HF-KP series/HF-SP series/HA-LP series/HC-RP series/HC-UP series/HC-LP series/HF-JP
series servo motor
(Note 2)
Rated output, applied standard
Input power, Insulation class
Rated speed, Mass
Serial number (Note 1), IP rating
Model
JY7001234
Country of origin
Note 1. Production year and month of the servo motor are indicated in a serial number on
the rating plate. The year and month are indicated by the last two digits of the year
and one digit of the month [1 to 9, X(10), Y(11), and Z(12)]. For January 2012, the
Serial No. is like, "SER. 121".
2. Products, which are certificated applications to standards by certification bodies,
display approval marks. The design of the marks depends on its certification body.
(2) HG-AK series servo motor
Rated output, IP rating
Input power, Mass
Rated speed
Serial number (Note)
Model, Insulation class
AC SERVO MOTORMITSUBISHI
HG-AK0336
INPUT 3AC 13V 2.2A 0.16kg
CI.B
OUTPUT 30W IP55
3000 r/min (200Hz)
SER. J12345678 125
MADE IN JAPANMITSUBISHI ELECTRIC
QR
code
Country of origin
Note. Production year and month of the servo motor are indicated in a serial number on
the rating plate. The year and month are indicated by the last two digits of the year
and one digit of the month [1 to 9, X(10), Y(11), and Z(12)]. For January 2012, the
Serial No. is like, "SER. 121".

1 - 4
1. INTRODUCTION
1.3 Parts identification
Power cable (Note)
Power lead (U V W)
Earth lead
Encoder cable
Encoder
Servo motor shaft
Note. The servo motor with an electromagnetic brake has an electromagnetic brake lead.
Encoder cable (Note 1)
Encoder
Servo motor shaft
Power cable (Note 1 2)
Power lead (U V W)
( ) Earth lead
Note 1. The encoder cable and power supply cable are options.
2. An electromagnetic brake cable is separately required for the servo motor with an electromagnetic brake.
Power supply connector (Note)
Power supply (U V W)
( ) Earth
Servo motor shaft
Encoder
Encoder connector
Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately.
(Note)
Encoder connecto
r
Terminal box
Servo motor shaft
Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately.

1 - 5
1. INTRODUCTION
1.4 Electromagnetic brake
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo
alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for
normal braking (including braking at servo lock).
The electromagnetic brake has a time lag. Use the electromagnetic brake so that
servo motor control starts after the electromagnetic brake has completely opened.
Be sure to check the time lag of the braking with a real machine.
Configure an electromagnetic brake circuit so that it is activated also by an external
EMG stop switch.
For details of the circuit configuration and timing chart, refer to the Servo Amplifier
Instruction Manual.
While the electromagnetic brake is opened, the motor may be raised to high
temperature regardless of driving.
The life will be shorten under sudden acceleration/deceleration conditions.
The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to
ensure double safety at an emergency stop, for example. When performing servo motor operation, supply
power to the electromagnetic brake to release the brake. Switching power off makes the brake effective.
(1) Electromagnetic brake power supply
Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake
terminals (B1, B2) have no polarity.
Switch
VAR
B1
UB
24VDC power
supply for
electromagnetic
brake
B2
VAR
B1
UB
B2
or
Electromagnetic brake
24VDC power
supply for
electromagnetic
brake
Switch Switch
Electromagnetic brake
The surge absorber (VAR) must be installed across B1-B2. For the selection and selection example of the
surge absorber, refer to "Electromagnetic brake characteristic" in the chapter of each servo motor series.
When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
(2) Sound generation
Though the brake lining may rattle during operation, it poses no functional problem.
If braking sound occurs, it may be improved by setting the machine resonance suppression filter or
adaptive vibration suppression control in the servo amplifier (drive unit) parameters. For details, refer to the
servo amplifier instruction manual.
(3) Selection of surge absorbers for electromagnetic brake circuit
The following shows an example how to select a varistor with a surge absorber.
(a) Selection conditions
Item Conditions
Electromagnetic brake
specification
R[ ]: Resistance
L[H]: Inductance
Vb[V]: Power supply voltage
Desired suppression voltage Vs[V] or less
Durable surge application time N times
24VDC
Relay
Brake coil
UVaristor