AC Servo Motor & D2 Drive: Technical Information

AC Servo Motor & D2 Drive Technical Information
AC Servo Motor & D2 Drive
HIWIN MIKROSYSTEM CORP.

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Technical Information
The specifications in this catalog are subject to change without notification.
©2017 FORM MD99TE06-1704

(PRINTED IN TAIWAN)
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AC Servo Motor & Drive / D2 series
With High-tech control technology,
HIWIN AC Servo motors achieve a great cost-performance
Contents
ratio for a complete motor drive solution.
1. Features....................................................................................................................... 2
2. Safety certification ................................................................................................ 7
3. Model descriptions................................................................................................ 8
4. Interface directions ............................................................................................ 12
5. Part numbers and options ............................................................................ 14
6.1 Servo drive with standard interface.................................. 28

6.2 Wiring diagram .................................................................. 30
6. Servo Drive 6.3 Control circuit .................................................................... 32
6.4 Dimensions of drive ........................................................... 34
6.5 Drive peripheral kits .......................................................... 38
7.1 Motor specifications and application environment ......... 41

7.2 Low Inertia, Small Capacity .............................................. 43
7. Servo Motor 7.3 Middle Inertia, Small Capacity .......................................... 47
7.4 Middle Inertia, Middle Capacity......................................... 51
8. Cable and 8.1 Cable ................................................................................... 53
connector 8.2 Connector ........................................................................... 57
9. HIWIN single axis robot and motor adaptor flange ........................ 60

10.1 Introduction of motor selection relevant parameters.....62
10. Servo motor 10.2 General inertia calculation for various rigid objects
selection guide of uniform composition......................................................63
10.3 Equivalent inertia calculation for mechanism .................64
10.4 Operating pattern / motion velocity profile ......................65
10.5 Motor selection sample - ballscrews mechanism ..........66
11. Motor / Drive Requirements List................................................................ 69

12. Safety precautions ............................................................................................... 70
2 MD99TE06-1704 AC Servo Motor & D2 Drive 3
1. Features
Excellent performance
Excellently high speed response Vibration Suppression Feature

With the help of a semiconductor high-end The D2 drive can remove vibration frequency that occurs during movement.
motion control algorithm and advanced common
It reduces vibrations caused by system’s structure and improves the machine’s
gain concept, a high speed response is achieved, Speed Response > 1200Hz production efficiency.
satisfying all motion control needs.
D2-
LPN01A
D1N-SNN01C
Without vibration With vibration

High acceleration responses suppression feature suppression feature
sec sec
Using advanced controller design tools, and
space vector current control technology, high 0 0.02 0.04 0.06 0.08 0.1 0.12
level servo performance is achieved.

AC servo motor speed can change from -3000
to +3000 rpms in as little as 0.006 seconds. 0.006 sec D1N-SNN02B
Electronic gear ratio and Encoder Emulator
The drive can help users adjust pulse resolution for the host controller, and to work
with a variety of position encoders with different resolutions; it can also adjust analog
position encoder output resolution to the host controller and meet the pulse receiving
capability of different host controllers.
D2 Drive
Built-in accuracy improvement feature 1 um
The D2 drive includes features to improve total positioning accuracy of the mechanical system.
Electronic
The table size can be up to 5000 points. It is implemented in all control modes to optimize Gear
system behavior. Host
Controller
45 45
Accuracy
精 1.4 : 1.4
Encoder Encoder
精 1.7 : 51.7
Accuracy
40 40 Emulator input circuit
向重
Bi-Dir Rep.性:: 1.2
1.2 Bi-Dir
向重 Rep.
性:: 0.8
35 35
30 30
25 25
1 um
Error
Error
20 20
D2-CNN01A
15 15
10 10
5 5
0 0 D1N
-SNN03B
0 500 1000 1500 2000 0 500 1000 1500 2000
Renishaw Analysis - Linear Target (mm) Renishaw Analysis - Linear Target (mm)
Without accuracy improvement feature With accuracy improvement feature

Simple Operation Complete tool sets

Real-time scope, accuracy enhancement function, frequency analysis tools , gain scheduling tool,
1 2
3 Simple setup analysis tool, I/O setting functions, encoder output ratio adjustment function, Z phase signal width
Three Steps adjustment function, PDL , ZeroTune function and filter.
Auto phase center
1 2 Adjustment
3 Initialization
Selection
Three Steps Accuracy enhancement function
To improve on the positioning accuracy of motion systems,
the drive amplifier is featured with an error compensation
function. By taking the measurements from a laser
interferometer, the positioning error table can be built inside
the drive, so that high positioning accuracy is achieved. D1N-SNN08A
D1N-SNN08A
D1N-SNN08A
D1N Frequency analysis tools D1N-SNN08A
-SNN05A
A powerful and easy to use tool for frequency analysis

is provided. You can use the frequency analysis tools to
display the real response in the form of a graph. You can
HIWIN Motors
AC servo
Linear
LMC
LMFA
easily set the best gain value for the system based on the
HIWIN Motors
real response, even first time users can easily get started.
D1N-SNN10B
Easy Operation
AC servo
Linear D1N-SNN10B
LMC
LMFA D1N-SNN10B
D1N-SNN10B
Parameters are categorized according to features. Only necessary parameters are shown.
No confusing parameter list. Advanced gain scheduling feature
After setting gains through frequency analysis tools, there
is only one value to adjust: the common gain. The drive
provides a gain scheduling function. You can adjust the gain
according to different phases of motion, such as moving
phase, settling phase, and in-position phase.
D1N-SNN09B
D1N-SNN09B
D1N-SNN09B
D1N-SNN09B
Variety of I / O functions
To support a number of different functions,
you are free to configure the I/O pin
functionality and adapt different hardware
LCD Display interface needs. This satisfies diverse
No need to connect to a PC to complete all of the settings and operations. requirements for different motion controllers
LCD display provides instant status monitoring and displays error messages. Gain and with regards to their pin assignments and D1N-SNN11B
D1N-SNN11B
test running can be quickly set by panel keys. hardware interfaces.

D1N-SNN11B
D1N-SNN11B
Test running Analysis Tools

To solve a resonance problem, the drive offers a filter
Parameter setting
design tool for improving the control performance, a Fast
D2-SNN01A
D2-SNN01B
Fourier Transform (FFT) and other mathematical operation
Fine-tune
tools. You can use the functions to calculate the resonant
frequency of the system easily, and to make the filter design D1N-SNN12A
D1N-SNN12A
more accurate. D1N-SNN12A

D1N-SNN12A
PDL (Process Description Language)

Easy-use process description language is provided.
2. Safety Certification
Complex motions can be designated via PDL, such as
extrusion process, point-to-point motion, fixed speed control, 2.1 RoHS compliant
homing process and so on. PDL gains the advantages of
Components and finished product all meet RoHS(Restriction of Hazardous Substances Regulation)
flexibility and programmability. For quick learning, a number
requirements which ensure the compliance to relevant laws of quality of goods.
of sample programs are provided in the PDL manual. D2-SNN04A
D2-SNN04A
RoHS regulations limit six hazardous substances are:

ZeroTune function
Lead (Pb), mercury (Hg), hexavalent chromium (Cr6 +),
RoHS
Servo loop gains can be easily set without complex procedures
via ZeroTune. Polybrominated Biphenyls (PBB), the maximum allowable
Only by selecting the load level of the motor, will stable velocity content of Polybrominated diphenyl ethers (PBDE) is 0.1%
response be achieved. Even a beginner who has no knowledge (1000ppm), Cadmium (Cd) is 0.01% (100ppm).
of servo control can easily drive a motor.
D2-SNN05A
D2-SNN05A
Filter
Drive supports two sets of bi-quad filters.
According to filter parameters, the bi-quad filters can be transformed into different filter
2.2 Comply with CE & UL regulations
types, such as low-pass filter, notch filter, ..., etc. Through well-defined filters, stage
Drive Motor
vibration can be easily suppressed, and control accuracy can be significantly increased.
20 1.5
EMC: EN61800-3
EN55011
10 1
20 0 1.5 0.5
1 10 100
10 -10 1 0 EN61000-6-2 EN55011

CE Directives EMC Directives
0 0.2 0.4 0.6 0.8 1
1.5
1
0
-20
-30
1 10 100
0.5
-0.5
-1
EN61000-6-4 EN61000-6-2
EN61000-2-4 EN61000-6-4
-10 0
0.5 -40 0 -1.5 0.2 0.4 0.6 0.8 1
1.5
-20 -0.5
1
0
0 0.2 0.4 0.6 0.8 1 -30 -1
IEC60146-1-1
20 1.5
0.5
-0.5
-40
10
-1.5
1
IEC61000-2-1
-1
0 0 0.5
-1.5 1 10 100
Low-Voltage
0 0.2 0.4 0.6 0.8 1
EN60034-1
-0.5 20 -10 1.5 0
0 0.2 0.4 0.6 0.8 1
10 -20 1 -0.5
LVDS:EN61800-5-1
-1
0
-30
1 10 100
0.5
-1 Directives EN60034-5
-1.5 -40 -1.5
-10 0
0 0.2 0.4 0.6 0.8 1
-20 -0.5
UL:E348161 UL1004-1
UL Directives
Easy integration
-30 -1
-40 -1.5
(D2T 100W/400W/1000W) UL1004-6
A complete solution with positioning module, motor and drive

In addition to providing motor and drive, a variety of linear positioning modules are provided.
We provide customers with integrated services and a total solution.
High-speed network communications interface

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

Equipped with Modbus communication, D-series drives support Modbus over serial lines
(Modbus RTU and Modbus ASCII). On the application of automation, the motor position and
velocity can be easily shown on the HMI via Modbus.
3.2 Servo motor

3. Model Descriptions
Code 1 2 3 4 5 6 7 8 9 10 11 12
3.1 Servo drive
Example F R L S 4 0 2 0 6 0 6 A
Code 1 2 2a 3 4 5 6 7 8 9 10 11 12
Product
Example D 2 T - 0 4 2 3 - S - B 0
HIWIN AC servo motor series ........... = FR
Type
Product Low inertia, small capacity(50W~400W) ...............= LS
HIWIN servo drive D2 ........... = D2 Medium inertia, small capacity(50W/100W/
400W/750W) ..........................................................= MS
Type Medium inertia, medium capacity(1000W/2000W) = MM
17bit encoder only ............................... = T
13bit encoder only ............................... = Blank Output Power
50W................................................................................ = 05
Rated output 100W .............................................................................. = 10
100W .........................................................................= 01 200W .............................................................................. = 20
400W .........................................................................= 04 400W(Low inertia) ......................................................... = 40
1000W .......................................................................= 10 400W(Medium inertia) ................................................... = 4B
2000W .......................................................................= 20 750W .............................................................................. = 75
1000W ............................................................................ = 1K
Voltage range 2000W ............................................................................ = 2K
1/3 phase 220VAC (For A,B,C frame).......................................... = 23

Drive input voltage
3 phase 220VAC (Only for D frame) ............................................ = 32
220V ................................................................................................ = 2
Interface
Holding brake options
Standard .....................................................................................................= S
EtherCAT(CoE) ...........................................................................................= E Without holding brake .................................................................................= 0
EtherCAT(mega-ulink) ...............................................................................= F With holding brake ......................................................................................= B
Standard with extension I/O modules ........................................................= K
Modbus .......................................................................................................= T Encoder type
13bit incremental encoder(1)................................................................................. = 5
Frame size 17bit absolute encoder ......................................................................................... = 4
A frame(suggestion: 100W rated output) ................................................................... = A HIWIN 17 incremental encoder ............................................................................ = 6
B frame(suggestion: 400W rated output) ................................................................... = B
C frame(suggestion: 1000W rated output) ................................................................. = C Frame size
D frame(suggestion: 2000W rated output) ................................................................. = D 40mm(MS 50W/100W) ......................................................................................................= 04
42mm(LS 50W/100W) .......................................................................................................= A4
Encoder type 60 mm(200W/400W) .........................................................................................................= 06
13bit less-wire incremental encoder ....................................................................................... = 0 80 mm(750W) ...................................................................................................................= 08
17bit serial incermental encoder(HIWIN17) ........................................................................... = 4 130 mm(1000W/2000W) ...................................................................................................= 13
Dual Loop (Full closed loop) and 17bit serial absolute encoder .............................................. = 5
Motor shaft
Interface Round shaft / without oil seal ....................................................................................................... = A
Standard EtherCAT(CoE) EtherCAT(mega-ulink) Standard with extension I/O modules Modbus
Model
D2(frame A-C ) O O O X O Round shaft / with oil seal(2) .......................................................................................................... = B
D2T(frame A-C) O O O Δ X With key and center tap / without oil seal ..................................................................................... = C
D2T(frame D ) O O O Δ Δ With key and center tap / with oil seal(2)........................................................................................ = D
O: Available X:Unavailable Δ:Please contact with Sales Representative.
Note Single and three phase AC voltage drive only support rated output which is lower or equal to 1000W. (1) 13bit only supports FRLS05/10/20/40,FRMS75,FRMM1K
(2) FRLS 05/10 For the motor with oil seal,please contact Sales Representative
3.3 Motor cable 3.4 Encoder cable

Code 1 2 3 4 5 6 7 8 9 10 11 12 Code 1 2 3 4 5 6 7 8 9 10 11 12
Example H V P S 0 4 A A 0 5 M B Example H V E 1 7 I A B 0 5 M B
Type Type
HIWIN motor cable .......................... = HVP HIWIN encoder cable....................... = HVE
Capacity Encoder Type

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

Open cable ends (50W~1000W) ...................................................................= A 3M ...........................................................................................................................= 03M
R-type terminals (2000W) ...........................................................................= B 5M ...........................................................................................................................= 05M
7M ...........................................................................................................................= 07M
Cable length 10M .........................................................................................................................= 10M
3M ...........................................................................................................................= 03M
5M ...........................................................................................................................= 05M Cable type
7M ...........................................................................................................................= 07M Highly flexible .............................................................................................................................= B
10M .........................................................................................................................= 10M
Cable type
Highly flexible ..................................................................................................................... = B
4. Interface Directions
4.1 Frame A-C 4.2 Frame D
(1) Please refer to user guide

5. Part numbers and options

Name Motor cable Encoder cable Other accessories
without brake HVPS04AA

50W HVE13IAB
| HVE17IAB
750W HVE17AAB
with brake HVPS06AA
Straight type HVPM04BA

without Control signal cable:
brake HVE13IBB(Straight type) LMACK02D
L-type HVPM04CA HVE17IBB(Straight type)
HVE17ABB(Straight type) Single phase EMC Pack:
1000W D2-EMC1 or D2-EMC3
HVE13ICB(L-type) D2 Drive
D2 D2 -
PPN01B
D1N-CNN02A
Straight type HVPM06BA HVE17ICB(L-type)

with HVE17ACB(L-type) 3 phase EMC Pack:
brake D2-EMC2
L-type HVPM06CA
Common mode filter
MF-CM-S
Straight type HVPM04BB
without DC reactor D1N-
brake B86732G15L712 AC Servo Motor

PNN03A
L-type HVPM04CB HVE17IBB(Straight type)

Singel Axis Robot
HVE17ABB(Straight type)
2000W
HVE17ICB(L-type)
Straight type HVPM06BB HVE17ACB(L-type) D2-
with PPN08A
brake
L-type HVPM06CB
Straight type : straight waterproof connector

L-type : waterproof connector
5.1 AC50W~AC750W－13bit incremental encoder

Motor Drive Optional parts
Motor cable(Note 2) Encoder cable D2 drive accessories
Power capacity Single Three
Output Part No. Part No. (Rated load) 13bit External
Motor Series Power supply Frame Control phase phase
(W) (Note 1) (Standard interface) without brake with brake incremental Regenerative
Signal Cable EMC Pack EMC Pack
(Note 2) Resistor
(Note 3) (Note 3)
FRLS05205A4Δ
50
FRLS052B5A4Δ Approx.
D2-0123-S-A0 Frame A N/A
FRLS10205A4Δ 0.4kVA
100
Low FRLS102B5A4Δ
FRLS D2-EMC1
Inertia single phase/ FRLS2020506Δ
three phase 200 HVPS04AA□□□B HVPS06AA□□□B HVE13IAB□□□B LMACK02D D2-EMC2
220V FRLS202B506Δ Approx.
D2-0423-S-B0 Frame B RG1
FRLS4020506Δ 0.9kVA
400
FRLS402B506Δ
Middle FRMS7520508Δ Approx.

FRMS 750 D2-1023-S-C0 Frame C D2-EMC3 RG2
inertia FRMS752B508Δ 1.8kVA
Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)
Note3 EMC pack model (please refer to P.38)
Note2 Selection of cable / 50W~750W
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 13bit incremental
HVPS04AA □□□ B HVPS06AA □□□ B HVE13IAB □□□ B

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

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

5.2 AC1000W－13bit incremental encoder

(Note 2) Resistor
(Note 3) (Note 3)
single phase/ FRMM1K20513Δ
Middle Approx.
FRMM three phase 1000 D2-1023-S-C0 Frame C HVPM04□A□□□B HVPM06□A□□□B HVE13I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
inertia FRMM1K2B513Δ 1.8kVA
220V
Note2 Selection of cable / 1000W
HVPM04□A□□□ B HVPM06□A□□□ B HVE13I □B □□□ B

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

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

Highly flexible ...................................= B Highly flexible ...................................= B Highly flexible ...................................= B
For more information about cables, please refer Note5 Medium capacity motor brake power cables
to P.52-P.58 are packaged.
Item number HVPM06:
Contains one motor cable and brake cable
labeled with HVPM04 and HVPM02.
5.3 AC50W~AC750W－17bit incremental encoder

(Note 2) Resistor
(Note 3) (Note 3)
FRLS05206A4∆
50
FRLS052B6A4∆ Approx.
D2T-0123-S-A4 Frame A N/A
FRLS10206A4∆ 0.4kVA
100
Low FRLS102B6A4∆
FRLS D2-EMC1
Inertia FRLS2020606∆
200
FRLS202B606∆ Approx.
D2T-0423-S-B4 Frame B RG1
FRLS4020606∆ 0.9kVA
400
single phase/ FRLS402B606∆
three phase HVPS04AA□□□B HVPS06AA□□□B HVE17IAB□□□B LMACK02D D2-EMC2
220V FRMS0520604∆
50
FRMS052B604∆ Approx.
D2T-0123-S-A4 Frame A
FRMS1020604∆ 0.4KVA
100
Middle FRMS102B604∆
FRMS D2-EMC3 RG2
inertia FRMS4B20606∆ Approx.
400 D2T-0423-S-B4 Frame B
FRMS4B2B606∆ 0.9KVA
FRMS7520608∆ Approx.
750 D2T-1023-S-C4 Frame C
FRMS752B608∆ 1.8KVA
HVPS04AA □□□ B HVPS06AA □□□ B HVE17IAB □□□ B

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


5.4 AC1000W/AC2000W－17bit incremental encoder

(Note 2) Resistor
(Note 3) (Note 3)
single phase/ FRMM1K20613Δ Approx.
three phase 1000 D2T-1023-S-C4 Frame C HVPM04□A□□□B HVPM06□A□□□B
FRMM1K2B613Δ 1.8kVA
Middle 220V
FRMM HVE17I□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
inertia FRMM2K20613Δ
three phase Approx.
2000 D2T-2032-S-D4 Frame D HVPM04□B□□□B HVPM06□B□□□B
220V FRMM2K2B613Δ 3.5kVA
Note2 Selection of cable / 1000W, 2000W
HVPM04□ A □□□ B HVPM06□ A □□□ B HVE17I □B □□□ B

Drive side connector Drive side connector Cable length

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Item number HVPM06:
5.5 AC50W~AC750W－17bit absolute encoder

(W) (Note 1) (Standard interface) without brake with brake absolute Regenerative
(Note 2) Resistor
(Note 3) (Note 3)
FRLS05204A4∆
50
FRLS052B4A4∆ Approx.
D2T-0123-S-A5 Frame A N/A
FRLS10204A4∆ 0.4KVA
100
Low FRLS102B4A4∆
FRLS D2-EMC1
Inertia FRLS2020406∆
200
FRLS202B406∆ Approx.
D2T-0423-S-B5 Frame B RG1
FRLS4020406∆ 0.9kVA
400
single phase/ FRLS402B406∆
three phase HVPS04AA□□□B HVPS06AA□□□B HVE17AAB□□□B LMACK02D D2-EMC2
220V FRMS0520404∆
50
FRMS052B404∆ Approx.
D2T-0123-S-A5 Frame A
FRMS1020404∆ 0.4KVA
100
Middle FRMS102B404∆
FRMS D2-EMC3 RG2
inertia FRMS4B20406∆ Approx.
400 D2T-0423-S-B5 Frame B
FRMS4B2B406∆ 0.9KVA
FRMS7520408∆ Approx.
750 D2T-1023-S-C5 Frame C
FRMS752B408∆ 1.8KVA
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit absolute
HVPS04AA □□□ B HVPS06AA □□□ B HVE17A AB □□□ B

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


5.6 AC1000W/AC2000W－17bit absolute encoder

(W) (Note 1) (Standard interface) without brake with brake absolute Regenerative
(Note 2) Resistor
(Note 3) (Note 3)
single phase/ FRMM1K20413Δ Approx.
three phase 1000 D2T-1023-S-C5 Frame C HVPM04□A□□□B HVPM06□A□□□B
FRMM1K2B413Δ 1.8kVA
Middle 220V
FRMM HVE17A□B□□□B LMACK02D D2-EMC3 D2-EMC2 RG2
inertia FRMM2K20413Δ
three phase Approx.
2000 D2T-2032-S-D5 Frame D HVPM04□B□□□B HVPM06□B□□□B
220V FRMM2K2B413Δ 3.5kVA
Note2 Selection of cable / 1000W, 2000W
Motor cable / without brake Motor cable and brake cable / with brake Encoder cable / 17bit absolute
HVPM04□ A □□□ B HVPM06□ A □□□ B HVE17A □B □□□ B

Drive side connector Drive side connector Cable length

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Item number HVPM06:
6. Servo Drive Functions

(1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map;
(4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Switch to secondary CG and vpg;
6.1 Servo drive with standard interface 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;
Specifications Control output (7)Emulated index; (8)Zero speed detected; (9)Errors
Max. command Dedicated interface for Photo-coupler(single end input): 500kpps
Position control
Frame pulse frequency Dedicated interface for line drive(differential input): 4Mpps(16M cnt/s with AqB)
Single/three-phase, 200 to 240V 50/60Hz
Main A~C
Input pulse signal
power (1)Pulse and Direction (2)Pulse Up/Pulse Down (3)Quadrature(AqB)
Frame format
Input power 220V Three-phase,200-240 Vac 50/60Hz
Pulse
D Electronic gear
input Gear ratio : pulses/counts
Control Frame (Division/
Single phase, 200 to 240V 50/60Hz pulses : 1~2, 147, 483, 647
power A~D Multiplication of counts : 1~2, 147, 483, 647
command pulse)
Operation Temperature: 0℃~45℃
Temperature (If temperature is higher than 45℃, ventilation is needed) Smoothing filter Smooth factor : 1~500 (0: no smoothing filter)
Storage Temperature: -20℃~65℃
Vibration suppression VSF can remove the vibration frequency that occurs during movement. It can reduce the
Environment Humidity 0 to 90%RH (no frost) filter(VSF) vibration caused by the system’s structure and improve the machine’s productivity.
(1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map;
Altitude Under 1000 Meters
(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;
Vibration 1G (10 to 500Hz)
(11)Switch to secondary mode
Velocity control
Control method IGBT PWM space vector control (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed;
Control output (7)Emulated index; (8)Zero speed detected; (9)Errors
13bit incremental
Encoder feedback 17bit incremental PWM Velocity command Speed command input can be provided by means of duty cycle of PWM input. Parameter are
Dual loop (Full closed loop) and 17bit absolute input input used for scale setting and command polarity.
Input General purpose 9 inputs (D2T:10) Analog Velocity command Speed instruction can be set with analog voltage method, parameters can set ratio and
Control signal Input input direction +/-10V
Output General purpose 4 outputs (D2T:5)
Zero speed clamp Zero speed clamp input is possible.
I/O signal Input 1 input (12bit A/D) (1)Axis enable; (2)Left and right limit switch; (3)Home OK, start err. map;
Analog signal Control input (4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command;
connector Output 2 outputs (Analog monitor-under construction)
(8)Switch to secondary CG and vpg; (9)Switch to secondary mode
Torque control
Input 2 inputs (Low speed channel, High speed channel) (1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed;
Pulse signal Control output (7)Emulated index; (8)Zero speed detected; (9)Errors
Output 4 outputs (Line drive: 3output, open collector: 1 output)
PWM Torque command Torque command input can be provided by means of duty cycle of PWM input. Parameter are
Brake Direct brake connection. (no need of extra relay for brake) input input used for scale setting and command polarity.
Control signal Output
connector Also programmable for general purpose output
Analog Torque command Torque command input can be provided by means of analog voltage.
Communication function USB Connection with PC, 115200bps Input input Parameter are used for scale setting and command polarity.
Dot matrix 2*8 characters LCD with 4 buttons

Speed limit function Speed limit value with parameter is possible
Front panel LED(green, red) ZeroTune ZeroTune can find the porper gains by clicking one button on LCD when the motor is disable.
Frame Emulated encoder feedback

Need external connection, no internal regenerative resistor Set up of any value is possible (frequency up to 18M cnt/s, only frame D drive up to 9M cnt/s)
A-C output
Regenerative function (1)Motor short detection; (2)Over voltage; (3)Position error too big;
Frame Built in or external regenerative resistor (option), 13Ω±5%, continue (4)Encoder error; (5)Soft thermal threshold reached; (6)Motor maybe disconnect;
D power 120W, Peak power 600W (7)Amplifier over temperature; (8)Under voltage; (9)5V for encoder card fail;
Switching among the following modes is possible Protective function (10)Phase init. error; (11)Serial encoder communication error; (12)Hall sensor error;
(13)Current control error; (14)Hybrid deviation too big; (15)HFLT inconsistent error;
(1)Position control (2)Velocity control (3)Torque control
Common
Control mode (4)Position/Velocity control (5)Position/Torque control
(16)Incompatible motor model for drive; (17)DC bus voltage abnormal;
(18)EtherCAT interface disconnected
(6)Velocity/Torque control
Error log Errors and warnings are saved in non-volatile memory
Frame
N/A Method: Established compensation table to compensate encoder error by linear interpolation
A-C
Dynamic brake Samples: Maximum 5,000 point
Frame Built in line resistance: 2.6 Ω ± 5%, continuous power: 120 W,
Error Mapping Storage: Flash ROM, Disc file
D peak power: 600 W
Unit: count
Activation: Activated internally by home complete, or activated externally by input signal
Others Friction compensation, Backlash compensation
6.2 Wiring diagram

Single-phase Three-phase
Recommended models: FN2090-6-06 filter Recommended models: FN3025L-20-71 filter
Maximum continuous operating voltage 250VAC, 50/60Hz Maximum continuous operating voltage 3x520/300 VAC
Operating Frequency DC to 400Hz Operating Frequency DC to 400Hz
Rated Current 6A@40℃ Rated Current 20A@50℃
Surge pulse protection 2kV, IEC 61000-4-5
Emergency
ON OFF Stop
Emergency
ON OFF Stop KM
KM KM
KM SK
SK
D2 Series Drive
D2 Series Drive
NFB CN1
NFB
Filter CN1 Filter KM
KM
L1
Single-phase
L1 Three -phase
200-240VAC L2
200-240VAC L2
50/60Hz
50/60Hz
L3 L3
Earth Earth
L1C L1C
L2C L2C
D2-WNT02A D2-WNT03A
6.3 Control circuit

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

CN6 : Twisted pair
220 6 D2-ENT18B
Vdc Specifications of R
12 1k ohm 1/2W
24 2k ohm 1/2W
D2-ENT17B
Additional I/O pins (Only for D2T drive)
7 COM+
4.7k
8 I10
40 O5+
12 O5-
CN6 D2-ENT19A
6.4 Dimensions of drive

Frame A (D2x-01xx-S(T)-Ax) 135.5
Frame C (D2x-10xx-S(T)-Cx) 180
5
5
66
44
7 31±0.1 180 227
(3.5)
6.5 28±0.1
(4)
60 60 1.5
CN1 CN1
L1 L1 C
C N
L2 3
L2 N
3 L3 C
L3 N
C 4
165.5±0.1
N
4 C
173.5
U N
162±0.1
C 5
U N V
169
V 5 W
W R+
R+ R-
R- L1C
L2C C
L1C N
L2C C
6
N CN2
6
+24V
CN2 B+
B-
+24V RTN
B+
B-
RTN
Unit:mm
D2-DNN01B CN7
Unit:mm
D2-DNN03B
CN7
47 4-Ø4.4
4
(38) 6 2-Ø4.2
3.5
Frame B (D2x-04xx-S(T)-Bx) 135.5

Frame D (D2x-20xx-S(T)-Dx) 209
5 5
5
52.8
90
180 45 (39) 255
5 41.8±0.1
(3.5)
60 3-Ø6 60
(6)
CHARGE
CN1 CN1 STAT
L1 C
L1 N
C
L2 N 3
L2
3 C
L3 N
C L3
4
N
4 L1C C
N
C 156±0.2 5
U
152.5±0.1
N L2C
V 5
168
159.5
B1
W
R+ B2
R- B3
C
L1C N
1
L2C 6
C
N 2
6
CN2
+24V CN2
B+ U
Unit:mm
B- C
N
RTN V 7
C
D2-DNN02B W N
15
Unit:mm
D2-DNN52A
CN7
6
6 78±0.2
(46.8) 2-Ø4.2
3.5
Frame A (D2x-01xx-E(Note)-Ax) Frame C (D2x-10xx-E(Note)-Cx)

135.5 181
5
5
86
64.5
7 31±0.1 180
(3.5)
6.5 28±0.1 227

60
(4)
60 1.5
CN1
L1
C
L2 N CN1
3 L1
L3 C
C L2 N
N 3
4 L3
162±0.1
C
C N
U N 4
169
165.5±0.1
V 5
C
U N
173.5
W 5
R+ V
R- W
L1C R+
Unit:mm
L2C R-
C L1C
N
6 D2-DNN49B L2C
C
CN2 N
6
+24V
B+ CN2
Unit:mm
B- +24V
RTN B+
B-
RTN D2-DNN51B
CN7
CN7
3.5
(38) 2-Ø4.2 47 4-Ø4.2
4
Frame B (D2x-04xx-E(Note)-Bx) Frame D (D2x-20xx-E(Note)-Dx)
135.5 209
5 5
5
72.8
105
5 41.8±0.1 180 45 (39) 255
(3.5)
60 3-Ø6 60
(6)
CHARGE
CN1 STAT
CN1 L1 C
N
L1 3
C L2
L2 N C
3 N
L3 L3
4
C
N L1C C
4 N
156±0.2
5
C L2C
U
152.5±0.1
168
N
5
159.5
V B1
W B2
R+
B3
R- C
N
L1C 1
6
L2C C 2
N
6
CN2
+24V Unit:mm CN2
U C
B+
B- D2-DNN50B N
V 7
RTN C
W N
15
Unit:mm
CN7
D2-DNN53A
6
6 78±0.2
Note Interface E/F/K/U are plug-in module

3.5
(46.8) 2-Ø4.2
6.5 Drive peripheral kits

Connector Kit EMC Accessory Kit
Part Name Model Description Quantity Part Name Model Description Quantity
Main power, motor power, regenerative resistor Single phase filter FN2090-6-06 for 50W to 400W
D2-EMC1 1
CN1 and control power connector / 12pins, pitch5mm 1 (Rated current:6A, leakage current: 0.67mA)
D2 EMC (051800200074)
(051500400249) EMI core KCF-130-B 2
accessory
Frame A-C D2-CK3 CN2 Brake connector: 4pins, pitch 3.5mm (051500400285) 1 kit for single Single phase filter FN2090-10-06 for 750W and 1000W
phase D2-EMC3 1
CN6 Control signal connector: 50 pins welded type(051500100127) 1 ( Rated current:10A, leakage current: 0.67mA)
(051800200077)
CN1 Connector fixture tool (051800400035) 1 EMI magnet rings KCF-130-B 2
CN2 Connector fixture tool (051800400066) 1 Three phase filter FN3025HL-20-71
D2-EMC2 1
Connectors of AC power, drive control power, ( Rated current:20A, leakage current:0.4mA)
D2 EMC (051800200075)
CN1 regenerative resistor, and DC reactor. 11 pins, 1 accessory EMI magnet rings KCF-130-B 2
TE 1-2229794-1-PT1. kit for three Three phase filter B84743C0035R166
phase D2-EMC4 1
CN2 Motor power connector. 3 pins, TE 3-22297894-1. 1 ( Rated current:35A, leakage current: <0.5mA)
Frame D (051800200078)
CN4 Connector kit for serial communication. TE 2040008-1. 1 EMI magnet rings KCF-130-B 2
(with Modbus D2-CK4
interface) CN5 Safety function connector. TE 1971153-1. 1 EMI magnetic rings are applied on main power cables, motor power cables, encoder wires or pulse
Control signal connector. 50 pins, welded type, control wires respectively.
CN6 1
EUMAX XDR-10350AS.
CN1
Connector fixture tools: TE 1981045-1. 2 1. The leakage current of some models’ noise filters is large. Therefore the leakage current will increase
CN2
due to the ground conditions. When applying leak detectors and leakage circuit breakers, please
Connectors of AC power, drive control power, consider on the basis of ground conditions and noise filters issues how to select. Please contact noise
CN1 regenerative resistor, and DC reactor. 11 pins, 1 filter manufacturers for details.
TE 1-2229794-1-PT1. 2. The filter can be connected to more than one drive if the total maximum load current does not exceed
the rated current.
CN2 Motor power connector. 3 pins,TE 3-22297894-1. 1
Frame D D2-CK5 CN5 Safety function connector. TE 1971153-1. 1
Control signal connector. 50 pins welded type,
CN6 1
EUMAX XDR-10350AS.
CN1
Connector fixture tools: TE 1981045-1. 2
CN2
7. Servo Motor
7.1 Motor specifications and application environment
Regenerative Resistor Rated speed
Rated
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
Part Name Model Description L1 L2 W H L (W)
(rpm)
68Ω
Rated power 100W
RG1 165 ± 2 150 ± 2 40 ± 0.5 40 ± 0.5 500 ■ Storage condition
Peak power 500W - Indoor illumination
50W
Regenerative (050100700001) - Keep away
from following
resistor 120Ω D2- environment
PPN02A
a. corrosive gases
Rated power 300W
RG2 215 ± 2 200 ± 2 60 ± 0.5 30 ± 0.5 500 b. flammable gas
Peak power 1500W c. grease and dirt
(050100700009)
■ Application
100W Semiconductor temperature
Equipment 0 ° C ~ 40 ° C
D2-
Low Inertia
PPN03A Packaging Machine
■ Storage Temperature
3000
FRLS 220V 13bit/17bit IP65 SMT Machine -15 ° C ~ 70 ° C
(4500)
Food industry
machine ■ Humidity
80% RH or less
200W LCD equipment
■ Storage humidity
D2-
PPN04A
80% RH or less
■ Elevation above sea

level
1000m under
400W ■ Vibration resistance

D2-DNN04A
49m/s2 or less
D2-
PPN05A
Common Mode Filter

Part Name Model Description Quantity
Common mode inductance: 1100μH (nominal) for
Common MF-CM-S
50W to 2000W 1
mode filter (FF000MF11002)
(Voltage maximum: 373Vdc, Rated current: 11Arms)
DC Reactor
Part Name Model Description Quantity
1-phase DC reactor for 2000W
B86732G15L712 Rated Voltage : 440Vdc
DC Reactor 1
(051800200126) Rated current : 14.2A
Inductance: 2.45mH(nominal)
7.2 Low inertia, Small capacity

7.2.1 50W
Parameter Symbol Unit FRLS052□□A4□
Drive Input Voltage V V AC220
Rated speed
Rated Rated Power W W 50
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
(W)
(rpm)
Rated Torque Tc N.m 0.16
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.48
Peak Max. Current Ip A(rms) 2.7
50W Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.178
Back EMF Constant Ke Vrms / krpm 10.74
Resistance (line to line) R Ω 4.7
Inductance (line to line) L mH 4.7
100W 17bit
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.02(0.022)
■ Storage condition
Semiconductor
- Indoor illumination
Weight (with brake) M kg 0.45(0.58)
Equipment
- Keep away Motor Insulation Grade Class A (UL)
Packaging Machine from following
3000 environment Total enclosed, self-cooled, IP65
FRMS 220V
(4500)
SMT Machine
a. corrosive gases
Motor protect
(Except for shaft and connector)
Food industry b. flammable gas
machine c. grease and dirt Insulation resistance 10MΩ, DC500V
LCD equipment Insulation voltage resistance AC1500V, 60 second
400W ■ Application
temperature Brake specifications (Note 1)
0 ° C ~ 40 ° C
Static friction torque (Minimum) Tb N.m 0.3
Middle inertia
■ Storage Temperature Magnetizing current Ab A 0.25A

IP65 -15 ° C ~ 70 ° C Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
■ Humidity
80% RH or less Release time (Maximum) tr ms 20
750W 13bit/17bit
■ Storage humidity Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
80% RH or less Brake suction and release times vary with different circuitries, please note the actual operation delay time
D2-
PPN06A
during application.
■ Elevation above sea
level
1000m under Torque-Speed Curve Dimensions
23.7
L=300mm
■ Vibration resistance FRLS 50W Torque-Speed Curve
14
49m/s2 or less 47.8
1000W 13bit/17bit
L=300mm 12
18.5
32
2.5
Machine Tools Peak work range .4
Ø3
D2- Torque(N-m) 4-
45°
PPN07A
Conveyor 21.5 -0.02
2000 Ø30-0.04
FRMM 220V Equipment
(3000)
PC
Textile Machine D4
45°
5
Ø8h6
Continuous work range
Mechanical arm D2-
88.5(117) 25 42
SNT01A Note：( )Include Brake Size
註:( )內為含煞車器之尺寸
Unit:mm
2000W 17bit
Speed(rpm)
14
10 3
Optional(選配規格)
3
D2- Specification
PPN11A D2 - DNN05C
With
帶鍵 key M3*8DP
6.2
7.2.2 100W 7.2.3 200W

Parameter Symbol Unit FRLS102□□A4□ Parameter Symbol Unit FRLS202□□06□
Drive Input Voltage V V AC220 Drive Input Voltage V V AC220
Rated Power W W 100 Rated Power W W 200
Rated Torque Tc N.m 0.32 Rated Torque Tc N.m 0.64
Rated Current Ic A(rms) 0.9 Rated Current Ic A(rms) 1.7
Peak Max. Torque Tp N.m 0.96 Peak Max. Torque Tp N.m 1.92
Peak Max. Current Ip A(rms) 2.7 Peak Max. Current Ip A(rms) 5.1
Rated Speed ωc rpm 3000 Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500 Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.356 Torque Constant Kt N.m / Arms 0.38
Back EMF Constant Ke Vrms / krpm 21.98 Back EMF Constant Ke Vrms / krpm 23
Resistance (line to line) R Ω 8 Resistance (line to line) R Ω 4.3
Inductance (line to line) L mH 8.45 Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.036(0.038) Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.17(0.21)
Weight (with brake) M kg 0.63(0.76) Weight (with brake) M kg 0.95(1.5)
Motor Insulation Grade Class A (UL) Motor Insulation Grade Class A (UL)
Total enclosed, self-cooled, IP65 Total enclosed, self-cooled, IP65
Motor protect Motor protect
(Except for shaft and connector) (Except for shaft and connector)
Insulation resistance 10MΩ, DC500V Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note 1) Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 0.3 Static friction torque (Minimum) Tb N.m 1.3
Magnetizing current Ab A 0.25A Magnetizing current Ab A 0.32A
Brake input voltage V V DC24±10% Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30 Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20 Release time (Maximum) tr ms 20
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Brake suction and release times vary with different circuitries, please note the actual operation delay time Brake suction and release times vary with different circuitries, please note the actual operation delay time
during application. during application.
Torque-Speed Curve Dimensions Torque-Speed Curve Dimensions

23.7 L=300mm
23.7
FRLS 100W Torque-Speed Curve L=300mm FRLS 200W Torque-Speed Curve
14
47.8 7.5
L=300mm
14
46.5
18.5
47.8 3
L=300mm 12 5.5
26 4-Ø
18.5
32
2.5 Peak work range

.4
45°
Peak work range
Ø3
0
Ø50-0.025
Torque(N-m)
4-
45°
Torque(N-m)
21.5 -0.02
Ø30-0.04 PC
45°
DØ
Ø14h6
70
PC 100(133) 30 60
D4
45°
Continuous work range 5 Continuous work range Note：( )Include Brake Size
Ø8h6
110.5(139) 25 42 D2 -
D2- SNT03A
SNT02A Note：( )Include Brake Size
註:( )內為含煞車器之尺寸 7
3 25
Unit:mm
Speed(rpm) 14 Speed(rpm) 20
26
10 5
3 Optional Specification
(選配規格)
3
Specification
5
11
D2 - DNN06C M4*15DP
With key
Ø14h6
帶鍵
帶鍵
With key M3*8DP D2-DNN07B
6.2
含油封
With seal 30
Unit:mm
7.2.4 400W 7.3 Middle inertia, Small capacity

Parameter Symbol Unit FRLS402□□06□ 7.3.1 50W
Parameter Symbol Unit FRMS052□□04□
Rated Power W W 400
Rated Power W W 50
Rated Speed ωc rpm 3000
Rated Speed ωc rpm 3000
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.27 (0.31)
Inductance (line to line) L mH 11.75
2 -4
0.025(0.027)
Motor Insulation Grade Class A (UL)
Total enclosed, self-cooled, IP65
Motor protect Motor Insulation Grade Class A (UL)
Insulation resistance 10MΩ, DC500V Motor protect
Insulation voltage resistance AC1500V, 60 second
Insulation resistance 10MΩ, DC500V
Brake specifications (Note 1)
Insulation voltage resistance AC1500V, 60 second
Magnetizing current Ab A 0.32A
Brake input voltage V V DC24±10%
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Release time (Maximum) tr ms 20
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop. Release time (Maximum) tr ms 20
Brake suction and release times vary with different circuitries, please note the actual operation delay time
during application. Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Torque-Speed Curve Dimensions during application.
23.7 L=300mm
FRLS 400W Torque-Speed Curve Torque-Speed Curve Dimensions

14
47.8
L=300mm
18.5
46.5
7.5
3 5.5 FRMS 50W Torque-Speed Curve 23.7
4-Ø
L=300mm
26 0.5
14
45°
Peak work range

0
Peak work range 47.8 A
Ø50 -0.025 L=300mm
18.5
0.4 50W(Middle Inertia) 6
Torque(N-m)
PC 3 5
D4
Torque(N-m)
45°
DØ B
Ø14h6
PC
Ø8h6
70 0.3
45°
31
50W(Middle Inertia)
Continuous work range 121.5(154.5) 30 60
Note：( )Include Brake Size Ø30--0.02
註:( )內為含煞車器之尺寸 0.2 0
Continuous work range 2-Ø .04
45°
3.4
D2- 84(114) 25 □40
SNT04A 0.1 Note：( )Include Brake Size
7
3 25 14
Speed(rpm) 20 0 10
26 Optional Specification 3
3
5 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Optional (選配規格)
Specification Speed(rpm)
5
11
M4*15DP With key M3*8DP
6.2
With
帶鍵 key
Ø14h6
Unit:mm
含油封
With seal
D2-DNN08B 1.0
30
Unit:mm
0.8
100W(Middle Inertia) 0.6
23.7 L=300mm
0.4
7.3.2 100W 7.3.3 400W

Parameter Symbol Unit FRMS102□□04□ Parameter Symbol Unit FRMS4B2□□06□
Drive Input Voltage V V AC220 Drive Input Voltage V V AC220
Rated Power W W 100 Rated Power W W 400
Rated Torque Tc N.m 0.32 Rated Torque Tc N.m 1.27
Rated Current Ic A(rms) 0.9 Rated Current Ic 23.7 A(rms) 2.6
L=300mm
Peak Max. Torque Tp N.m 0.96 Peak Max. Torque Tp N.m 3.81
14
47.8 L=300mm A
Peak Max. Current Ip A(rms) 2.7 Peak Max. Current Ip A(rms) 7.8
18.5
50W(Middle Inertia) 6
3 5
B D4
Rated Speed ωc rpm 3000 Rated Speed ωc rpm PC 3000
Ø8h6
45°
31
Max. Speed ωp rpm 4500 Max. Speed ωp rpm Ø30-4500
-0.0
0 2
2-Ø .04
45°
3.4
Torque Constant Kt N.m / Arms 0.356 Torque Constant Kt N.m
84(114) / Arms25 □40 0.48
Back EMF Constant Ke Vrms / krpm 20.93 Back EMF Constant Ke Vrms14 / krpm 29.61
10
Resistance (line to line) R Ω 19 Resistance (line to line) R Ω 3 4.13
3
Inductance (line to line) L mH 23.78 Inductance (line to line) L mH
M3*8DP
9.9
6.2
2 -4
0.051(0.055) Inertia of Rotating Parts (with brake)
0.5
J kg-m (×10 ) 2 -4
0.44(0.48)
Weight (with brake) M kg 0.54(0.67) Weight (with brake) M kg 1.31(1.86)
0.4
Motor Insulation Grade Class A (UL) Motor Insulation Grade Class A (UL)
0.3
Total enclosed, self-cooled, IP65 Total enclosed, self-cooled, IP65
Motor protect
(Except for shaft and connector) 50W(Middle Inertia) 0.2
Motor protect
(Except
23.7
for shaft and connector)
L=300mm
14
Insulation resistance 10MΩ, DC500V 0.1 Insulation resistance 47.8 L=300mm A 10MΩ, DC500V
18.5
Insulation voltage resistance AC1500V, 60 second 0
Insulation voltage
100W(Middle Inertia)resistance
B
AC1500V,6 603 second D4
5
PC
Ø8h6
0 500 1000 1500 2000 2500 3000 3500 4000 4500
45°
31
Brake specifications (Note
23.7 1) L=300mm
Ø30 -0.02
Static friction torque (Minimum) Tb N.m A 0.32 Static friction torque (Minimum) Tb N.m 1.3
14
-0.0
2-Ø 4
45°
47.8 L=300mm 3.4
104(134) 25 □40
Magnetizing current Ab A 0.25A 1.0
Magnetizing current Ab A 0.32
18.5
50W(Middle Inertia) 6
3 45
B D 14
PC
Ø8h6
Brake input voltage V V DC24±10% Brake input voltage V V DC24±10%

45°
31
0.8 10 3
3
Suction time (Maximum) to ms 40 Ø30--0.02 Suction time (Maximum) to ms 30
100W(Middle Inertia)
0
2-Ø .04 0.6
45°
3.4
Release time (Maximum) tr ms84(114) 25 20
□40 Release time (Maximum) tr ms M3*8DP 20
6.2
0.5 0.4
14
0.4 10
Note1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing or emergency stop.
Note 1 Brakes are for maintaining object stop. Do not apply for deceleration, dynamic brakeing
3 or emergency stop. 0.2
3
0.3 Brake suction and release times vary with different circuitries, please note the actual operation delay time 0
during application.
a)
M3*8DP 0 500 1000 1500 2000 2500 3000 3500 4000 4500
during application.
6.2
0.2
0.1
Torque-Speed Curve Dimensions
23.7
Torque-Speed
0
0 500 1000 1500 2000 Curve
2500 3000 3500 4000 4500 Dimensions FRMS 400W Torque-Speed Curve L=300mm
14
4.0 47.8
23.7 L=300mm
46.5
L=300mm
18.5
Peak work range
FRMS 100W Torque-Speed Curve 7.5
5.5
14
47.8 3
1.0 L=300mm A 3.0 4-Ø
26
Torque(N-m)
18.5
45°
Peak work range 6 0
3 45 400W(Middle Inertia) Ø50-0.025

B D
0.8 PC
Ø8h6
2.0
45°
31
Continuous work range PC

Torque(N-m)
a)
45°
Ø14h6
0.6 Ø30 -0.02 DØ
-
70
2-Ø 0.04 1.0
45°
3.4 121.5(154.5) 30 □60

0.4 Continuous work range 104(134) 25 □40 Note：( )Include Brake Size
Note：( )Include Brake Size
0
0.2 14 0 500 1000 1500 2000 2500 3000 3500 4000 4500 7
10 3 25
3 Speed(rpm)
3
Optional Specification 20
0 26
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5
With key M3*8DP
5
Speed(rpm) Optional Specification
11
6.2
M4*15DP
Ø14h6
With key
Unit:mm
With seal 30 Unit:mm
4.0
3.0
7.3.4 750W 7.4 Middle inertia, Middle capacity

Parameter Symbol Unit FRMS752□□08□
7.4.1 1000W
Rated Power W W 750 Parameter Symbol Unit FRMM1K2□□13□
Rated Torque Tc N.m 2.4 Drive Input Voltage V V AC220
Rated Current Ic A(rms) 5.1 Rated Power W W 1000
Peak Max. Torque Tp N.m 7.2 Rated Torque Tc N.m 4.77
Peak Max. Current Ip A(rms) 15.3 Rated Current Ic A(rms) 5.1
Rated Speed ωc rpm 3000 Peak Max. Torque Tp N.m 14.3
Max. Speed ωp rpm 4500 Peak Max. Current Ip A(rms) 15.3
Torque Constant Kt N.m / Arms 0.47 Rated Speed ωc rpm 2000
Back EMF Constant Ke Vrms / krpm 28.4 Max. Speed ωp rpm 3000
Resistance (line to line) R Ω 0.813 Torque Constant Kt N.m / Arms 0.94
Inductance (line to line) L mH 3.4 Back EMF Constant Ke Vrms / krpm 54.7
2 -4
1.4(1.46) Resistance (line to line) R Ω 0.81
Weight (with brake) M kg 2.66(3.32) Inductance (line to line) L mH 8
Motor Insulation Grade Class A (UL) Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
7.6(8.7)
Total enclosed, self-cooled, IP65 Weight (with brake) M kg 5.4(6.2)
Motor protect
(Except for shaft and connector) Motor Insulation Grade Class A (UL)
Insulation resistance 10MΩ, DC500V Total enclosed, self-cooled, IP65
Motor protect
Insulation voltage resistance AC1500V, 60 second (Except for shaft and connector)
Brake specifications (Note 1) Insulation resistance 10MΩ, DC500V
Static friction torque (Minimum) Tb N.m 2.4 Insulation voltage resistance AC1500V, 60 second
Magnetizing current Ab A 0.358A Brake specifications (Note 1)

Brake input voltage V V DC24±10% Static friction torque (Minimum) Tb N.m 10
Suction time (Maximum) to ms 45 Magnetizing current Ab A 0.56A
Release time (Maximum) tr ms 10 Brake input voltage V V DC24
Release time (Maximum) tr ms 30
during application.
Torque-Speed Curve Dimensions during application.
23.7
L=300mm
FRMS 750W Torque-Speed Curve Torque-Speed Curve Dimensions
14
47.8
L=300mm 9
18.5
3 130
6.6
4-Ø -0.02 FRMM 1000W Torque-Speed Curve
56.5
33 4
12
45°
-0.0
Ø70
Peak work range 3
Torque(N-m)
(112.85)
4-Ø9
45°
PCD
50
Ø19h6
90 45
PCD1
45°
Peak work range

Continuous work range Torque(N-m)
140(176) 40
80
註:( )內為含煞車器之尺寸 Ø11
0 -+00.0
Ø24h6
D2- 35
9
45°
SNT05A
3 Continuous work range
25
4
Speed(rpm) 33 20 141.4(175.1) 55
6 D2-
SNT06A 註:( )內為含煞車器之尺寸
Specification
6
Ø45
35
M5*10DP Speed(rpm)
15.5
帶鍵
With key 31
8
Ø19h6
7
Specification
含油封
With seal 40 D2-DNN09B
D2-DNN10A
20
Unit:mm M6*20DP
With帶鍵
key Unit:mm
7.4.2 2000W
8. Cable and connector
Parameter Symbol Unit FRMM2K2□□13□
Drive Input Voltage V V AC220 8.1 Cable
Rated Power W W 2000
Rated Torque Tc N.m 9.55 Small Capacity
Rated Current Ic A(rms) 11 Name Type Connect Description : 50W~750W
Peak Max. Current Ip A(rms) 33
Rated Speed ωc rpm 2000 AC Servo Motor 4 2
HVPS04AA□□□B CN1 3 1
Max. Speed ωp rpm 3000 Power Cable AMP-172159-1

Resistance (line to line) R Ω 0.41 AC Servo Motor
Inductance (line to line) L mH 3.7 Power 6 3
CN1 5 2
and Brake HVPS06AA□□□B

Inertia of Rotating Parts (with brake) J kg-m (×10 ) 13(14.1)
4
2 -4 1
CN2 AMP-172160-1
Extension
B+
B-
Weight (with brake) M kg 8(8.8)

Cable
Motor Insulation Grade Class A (under certification)
Motor protect
AC Servo Motor 9
5 6
3
Insulation resistance 10MΩ, DC500V Encoder Cable HVE13IAB□□□B 8 2
Insulation voltage resistance AC1500V, 60 second 7 1

(13bit incremental) 4
AMP-172161-1 3M 36310
3M 36210

Static friction torque (Minimum) Tb N.m 10
Magnetizing current Ab A 0.56A 5 6
AC Servo Motor 9 3
Brake input voltage V V DC24 8 2
Encoder Cable HVE17IAB□□□B CN7 7 1

Suction time to ms 80 (17bit incremental)
4
AMP-172161-9 3M 36310
3M 36210
Release time tr ms 30
during application. AC Servo Motor 9
5 6
3
Encoder Cable HVE17AAB□□□B 8 2
Torque-Speed Curve Dimensions (17bit absolute)

7
4
1
AMP 1-172161-9 3M 36310
3M 36210
130
FRMM 2000W Torque-Speed Curve
40 12
3
(112.85)
4-Ø9
30
45°
50 45
Peak work range PCD1
Torque(N-m)
20
Ø11
Ø24h6
0 -+00.0
10 Continuous work range 35
45°
D2-
0 SNT07A
171.4(205.1) 55
500 1000 1500 2000 2500 3000
Speed(rpm)
35
31
8
7
(選配規格)
Optional Specification
D2-DNN42A
帶鍵
With key M6*20DP
20
Unit:mm
Middle Capacity－1000W Middle Capacity－2000W

Name Type Connect Description：1000W Name Type Connect Description：2000W
HVPM04BA□□□B HVPM04BB□□□B
A D A D
Straight Connector B C WPS3106A18-10S-R Straight Connector B C WPS3106A18-10S-R
AC Servo Motor AC Servo Motor

CN1 CN1
Power Cable Power Cable
A D A D
HVPM04CA□□□B HVPM04CB□□□B
L-Type Connector B C
L-Type Connector B C
WPS3108A18-10S-R
WPS3108A18-10S-R
A D D
A
B C C
B
HVPM06BA□□□B WPS3106A18-10S-R HVPM04BA□□□□
HVPM06BB□□□B WPS3106A18-10S-R HVPM04BB□□□□
Straight Connector A
Straight Connector
C A C
HVPM02BA□□□□
AC Servo Motor B
WPS3106A14S-7S-R AC Servo Motor B
WPS3106A14S-7S-R
HVPM02BA□□□□
Power Cable Power Cable

and Brake CN1 and Brake CN1
Cable A D
HVPM04CA□□□□ Cable A D
HVPM04CB□□□□
(Note1) HVPM06CA□□□B B C WPS3108A18-10S-R (Note1) HVPM06CB□□□B B C WPS3108A18-10S-R
L-Type Connector L-Type Connector

A C HVPM02CA□□□□ A C HVPM02CA□□□□
B
WPS3108A14S-7S-R B
WPS3108A14S-7S-R
I I
A H
HVE17IBB□□□B
A H
HVE13IBB□□□B B
18-1S
G B
18-1S
G
Straight Connector C
D E
F
3M 36310
D E
F
WPS3106A18-1S-R 3M 36310
WPS3106A18-1S-R
AC Servo Motor
J J
3M 36210
AC Servo Motor 3M 36210
Encoder Cable Encoder Cable

(17bit incremental)
HVE17ICB□□□B
I
(13bit Incremental) I B
A H
G
HVE13ICB□□□B
A H
B G
L-Type Connector
18-1S
3M 36310
18-1S
3M 36310 C F
3M 36210
L-Type Connector C
D
J
E
F 3M 36210 D
J
E
WPS3108A18-1S-R
WPS3108A18-1S-R
I
A H
I
HVE17IBB□□□B
B
A H
G HVE17ABB□□□B B
18-1S
G
18-1S
Straight Connector
C F Straight Connector C
D E
F
3M 36310
CN7
D E 3M 36310 J WPS3106A18-1S-R
J WPS3106A18-1S-R
3M 36210
AC Servo Motor 3M 36210
Encoder Cable CN7 I

A H
I
B
(17bit incremental) A H
HVE17ACB□□□B
G
HVE17ICB□□□B B G
AC Servo Motor
18-1S
18-1S
3M 36310 3M 36310
L-Type Connector
C
D E
F 3M 36210
L-Type Connector C
D E
F
3M 36210
Encoder Cable
J
J
WPS3108A18-1S-R WPS3108A18-1S-R
(17bit absolute)
I
A H
HVE17ABB□□□B
B G
18-1S
D E
F
AC Servo Motor
J WPS3106A18-1S-R
3M 36310
3M 36210 HE00817DR300(3m)
Encoder Cable I
AC Servo Dual loop Encoder Cable
A H Specification：HE00817DR300(3m)
(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.
Note1 For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
Communication and Interface Cable 8.2 Connector 馬達電源端接頭(含煞車)

Name Type Connect 編碼器端接頭
Motor power cable connector
馬達電源端接頭(含煞車)
(includes brake)
(2m)
USB A type Mini USB 編碼器端接頭
Encoder connector
051700800366 CN3 (2m)
USB A type Mini USB
D2-DNN25A
Small Capacity Series

D2-DNN25A
Mini USB HE00834S0800(0.3m) 25 50 50W~750W

Cable 25 50 D 2 -D N N 2 7 A
10150
LMACK02D
3M
HE00834S0900(1m)
815AC2A3
(2m)
CN4 / USB A type Mini USB
10150
26
LMACK02D
3M
1 815AC2A3
CN5 D2 Modbus Communication Cable(only for fram A,B,C)

(2m)
HE00834S1000(2m)
D 2 -D N N 2 7 A
Specification：HE00834S0800(0.3m)、HE00834S0900(1m)、
USB A type Mini USBD2-DNN25A
1 26 HE00834S1000(2m)、HE00834S1100(3m) D2-DNN26A
HE00834S1100(3m) D2-DNN26A
D2-DNN25A
25 50
Motor power cable connector
馬達電源端接頭
10150
25 50
LMACK02D
3M
815AC2A3
煞車電源端接頭
Brake power connector
Interface 1 26 馬達電源端接頭
HE00815AC200 CN6
10150
Encoder
編碼器端接頭 connector
LMACK02D
3M
815AC2A3
Cable
26
D2-DNN26A 煞車電源端接頭
1
Middle Capacity Series 編碼器端接頭
D2-DNN26A
1000W/2000W
IO Extension
HE00834S1200(3m) CN6
Cable
D2 Drive Extenion IO Cable
Specification：HE00834S1200(3m)
D 2-D N N 2 8 A
D 2-D N N 2 8 A
Motor Power Connector

Small Capacity Series / 50W~750W
AMP-172167-1 AMP-172168-1
Signal
(without brake) (with brake)
U 3 3
V 2 2
W 1 1
GND 4 4
B+ -- 5
B- -- 6
Connect Pins Position Definition
D2-DNN29A D2-DNN30A
(without brake) (with brake)

G B
F C
58 MD99TE06-1704 AC Servo Motor & D2 Drive
D2
59
-DNN34A
E D
J
Middle Capacity Series /1000W‧2000W
Signal WPS3102A18-10P-R WPS3102A14S-7P-R

U A --
17bit incremental / 50W~750W
V B --
Function Signal AMP1-172169-9
W C --
5V±5% 1
GND D -- Power
0V 2
B+ -- A SL+ 3
B- -- C Serial Data SL- 4
Signal MA+ 7 D2-DNN35B
Connect Pins Position Definition
MA- 8
Shielding Shielding 9
17bit incremental / 1000W‧2000W

D2-
DNN33A D2-
Function Signal WPS3102A18-1P-R
DNN32A
5V±5% A H I A
Power
WPS3102A18-10P-R WPS3102A14S-7P-R 0V B
SL+ C
G B
By brake Type, two connectors must be used simultaneously Serial Data SL- D F C
Signal MA+ G D2-
DNN36B
MA- H
E J D
Shielding Shielding I
Encoder Connector
13bit Incremental / 50W~750W 17bit absolute / 50W~750W
Function Signal AMP-172169-1 Function Signal AMP-1-172169-9

5V±5% 1 5V 1
Power Power
0V 2 0V 2
A+ U+ 3 VB 5
Battery
A- U- 4 GND 6
Incremental
B+ V+ 5 Serial Data SD+ 7
Signal/
B- V- 6 Signal SD- 8
D2-DNN37B
Hall signal
Z+ W+ 7 D2-DNN33A
Z- W- 8
17bit absolute / 1000W‧2000W

13bit Incremental / 1000W Function Signal WPS3102A18-1P-R
H I A
Function Signal WPS3102A18-1P-R 5V A
5V±5% A Power
Power I 0V B
0V B H A
VB E G B
A+ U+ C Battery F C
G B GND F
A- U- D
Incremental Serial Data SD+ G D2-
DNN38B
B+ V+ E F C
Signal/ Signal SD- H E J D
B- V- F D2
Hall signal -DNN34A
Z+ W+ G E D
J
Z- W- H
9. HIWIN single axis robot and motor 10. Servo Motor Selection Guide
adaptor flange The motor selection guide in this chapter is located on-line at
http://www.hiwinmikro.tw/hiwincal.aspx
HIWIN single axis robot

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

The operating pattern can be defined by the following parameters: acceleration/deceleration time,
constant-velocity time, stop time, cycle time, travel distance.
3. Calculation of load inertia and motor inertia ratio.

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

Calculate the motor velocity from the moving distance, acceleration/deceleration time and
constant-velocity time.
5. Calculation of torque.
Calculate the required motor torque from the load inertia, acceleration/deceleration time and
constant-velocity time.
6. Calculation of motor
Select a motor that meets the above 3 to 5 requirements.
D2-
LPN02A
10.1 Introduction of motor selection relevant parameters 10.2 General inertia calculation for various rigid objects of
uniform composition
Peak torque
Peak torque indicates the maximum torque that the motor requires during operation (mainly in Shape J calculation formula Shape J calculation formula
acceleration and deceleration steps). The reference value is 80% or less of the maximum motor Disk Separated rod
torque. If the torque is a negative value, a regenerative discharge resistor may be required.
S
Traveling torque, stop holding torque D
Traveling torque indicates the torque that the motor requires for a long time. Stop holding torque
indicates that the amount of torque required for a motor to remain in a fixed position.
D
Traveling torque calculation formula for each mechanism. D2-DNN37A D2-DNN41A
F
W Solid cylinder Straight rod
W
List of symbol：螺桿機構 D 皮帶機構 D
W：Workpiece weight [kg] D2 - DNT01A
L
D2 - DNT02A
BP：Lead [m]
D：Pulley diameter [m] Bp
F：External force [N]
Beff： Mechanical efficiency Traveling torque
移動扭矩 Traveling torque
移動扭矩
μ：Coefficient of friction
g: Acceleration of gravity 9.8[m/s2] D2-DNN42A
D2-DNN38A
( ) ( )
Hollow cylinder Prism
d
c
Effective torque
D
Effective torque indicates a root-mean- square value of the total required for running and stopping
the motor per unit time. The reference value is approximate 80% or less of the rated motor torque. b
a
Ta: Acceleration torque [N-m] ta: Acceleration time [s] D2-DNN39A D2-DNN43A
Tf: Traveling torque [N-m] tb: constant-velocity time [s]

Td: Deceleration torque [N-m] td: Deceleration time [s]
tc: Cycle time [s] (Run time + Stop time)
Uniform rod
Motor velocity D
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value. L/2
L/2
When the motor operates at the maximum velocity, you must pay attention to the motor torque and D2-DNN40A
temperature rise.
List of symbol： If mass (M [kg]) is unknown, calculate it with the following formula：
J : Inertia [kg-m2] Mass M[kg] = Density ρ [kg/m3] x Volume V[m3]
Load inertia and motor inertia ratio M : Mass [kg] Density of each material
D : Outer diameter [m] Iron ρ = 7.9 x 103 [kg/m3]
Inertia is like the force to retain the current moving condition. Inertia ration is calculated by dividing d : Inner diameter [m] Brass ρ = 8.5 x 103 [kg/m3]
L : Length [m] Aluminum ρ = 2.8 x 103 [kg/m3]
load inertia by rotor inertia. Generally, for motor with 750W or lower capacity, the inertia ratio
a, b, c : Side length [m]
should be “10” or less. For motor with 1000W or higher capacity, the inertia ratio should be “10” S : Distance [m]
or less. If the system need quicker response, a lower inertia ratio is required.
10.3 Equivalent inertia calculation for mechanism 10.4 Operating pattern (motion velocity profile)
Mechanism J calculation formula Trapezoidal profile

Ball screw Travel distance
(Shaded area)
Velocity
Constant-velocity
time Stop time
Belt(Conveyor)
time
Acceleration Deceleration
time time
*Excluding drum J Cycle time
Rack and pinion
Triangle profile
Velocity Stop time
Reduction gear
time
time time
Inertia on shaft “a”
Cycle time
List of symbol:
J : Inertia [kg-m2]
JB：J of ball screw
JP：J of pinion
M：Mass [kg]
Mr：Mass of rack [kg]
Wb：Workpiece weight on belt [kg]
Wr：Workpiece weight on rack [kg]
P：Lead
D：Drum diameter [m]
n1：A rotational speed of a shaft [r/min]
n2：A rotational speed of b shaft [r/min]
10.5 Motor selection example - ballscrews mechanism

Load inertia
F 2
Workpiece weight W = 5 [kg] W W ×B P
1 2
Ball screw length BL = 0.5 [m] JL = J C +J B +J W = J C + B W × BD +
Ball screw diameter BD = 0.02 [m] 8 4π2
Ball screw lead BP = 0.02 [m]
Ball screw efficiency Beff = 0.9 1.24 × 0.02 2 5 × 0.02 2
Travel distance 0.3 [m] = 0.00001+ +
Coupling inertia JC = 10 x 10 -6 [kg-m2] 8 4π2
Bp
1 3 ×1 0 −4 [kg −m 2 ]
= 1.226
Running pattern(velocity profile) Provisional motor selection

Travel distance W
(Shaded area) Choose Hiwin 200W Servo motor：J M = 0.17 ×10 −4 [kg −m2 ]
Velocity D
Constant-velocity
time Stop time
Calculation of inertia ratio

JL 1.73 × 10 −4
1.226
= = 7.21
10.2
JM 0.17 × 10 −4
The inertia ratio is less than 10.
time
time time Acceleration time ta = 0.1 [s]
Cycle time Constant-velocity time tb = 0.8 [s]
Deceleration time td = 0.1 [s]
Cycle time tc = 2 [s]
Calculation of maximum velocity (Vmax)
Travel distance 0.3[m]
Stop time t s = 1.0 [s] 1 1
× t a × V max + t b × Vmax + × t d × V max = Travel
Traveldistance
移動距離 distance
2 2
1 1
Ball screw weight × 0.1 × V max + 0.8 × Vmax + × 0.1× Vmax = 0.3
2 2
BD 2 Vmax = 0.334 [m/s]
BW = × π×
2 ( )
× BL
0.02 2
= 7.9 × 10 3 × π ×
2 (
× 0.5 )
= 1.24 [kg] Calculation of motor velocity (N [r/min])
Ball screw lead BP = 0.02 [m]
Vmax 0.334
N= = = 16.7 [rps] =1002[ rpm]
BP 0.02
1002[rpm] is less than 3000[rpm] (rated velocity of Hiwin 200W Servo motor)
Calculation of torque
11. Motor / Drive Requirements List
BP 0.02 Date：
Traveling torque Tf = ( µgW +F ) = (0 .1×9 .8 × 5 + 0) = 0.017
0.035 [N−m ] Customer：
2πBeff 2π0.9
Contact Person：
Email： Title：
(J L +J M ) × 2πN
60
Ta = + Tf Drive series □ D2T □ D2 Note：
ta
Acceleration Low inertia：□ 50W □ 100W □ 200W □ 400W
2πx1002
torque (1.226 × 10 −4 + 0.7 × 10 −4 ) × 60 Middle inertia：□ 50W □ 100W □ 400W
= + 0.017
0.1
□ 750W □ 1000W □ 2000W
= 0.163
0 [N− m] AC Motor Series*
Format：□ 13bit Incremental
□ 17bit incremental
(J L +J M ) × 2πN
60
Td = − Tf □ 17bit absolute
td
Deceleration 2πx1002 Key* □ No □ Yes　
torque 1.73 × 10 −4 + 0.14
(1.226 7 ×10 −4 ) × 60 Brake* □ No □ Yes　
= 0.017
− 0.035
0.1 Seal* □ No □ Yes　
= 0.129
0 [N −m ] AC input voltage(V) □ Single phase 220V □ Three phase 220V
Motor power (flexure resistance)
Servo motor connecting Cable Length：□ 3M　□ 5M　□ 7M　□ 10M
Verification of maximum torque
wires* Encoder (flexure resistance)
Ta = 0.163 [N-m] < 1.91 [N-m] (Maximum torque of Hiwin 200W Servo motor) Cable Length：□ 3M　□ 5M　□ 7M　□ 10M
Related accessory □ Pulse Wire　□ USB cable　
requirements* □ Single-phase filter　□ Three-phase filter
Verification of effective torque
□ Position control　□ Velocity control　
Control mode*
□ Torque control　□ EtherCAT(CoE)　□ Others
Ta2 × t a + T f2 × t b + T d2 × t d
Trms = □ Slide/model no:
tc □ Reducer/reduction ratio:
□ Timing belt
Match method
0.16322 × 0.1 + 0.035
0.231 0.01722 × 0.8 + 0.161
0.12922 × 0.1 □ Gear rack
= □ Ball screw/guiding distance:
2
screw outer diameter:
= 0.048
0.067[N− m ] □ PLC/manufacture: model:
Host
□ Axis card/manufacture: model:
0.048[N-m] < 0.64[N-m](Rated torque of Hiwin 200W Servo motor)
Special Need
Installation □ Horizontal 　□ Vertical
Speed requirement
Evaluation
Accelaration requirement
Judging from the inertia ratio calculated above, selection of 200W motor is preferable, although the
torque margin is significantly large. Weight requirement
The information below is to be filled out by HIWIN or authorized agents.

Recommended specifications：
Fields with * must be filled Salesperson：

12. Safety Precautions

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

1. Higher than maximum specified current may cause demagnetization of magnetic components
■ It is difficult to ensure electromagnetic compatibility (EMC) problems do not occur in some
inside the motor.
environments.
2. The AC servo motor is designed to operate through a dedicated servo drive. Do not connect to a ■ Removal of damaged power cable fasteners, with care and with attention for power cable fasteners.
commercial power source (100/200V AC, 50/60 HZ). The motor will not operate correctly and may ■ Avoid impact on of shaft end and encoder.
cause permanent damage. ■ Products cannot be used in environment with flammable materials.
3. The motor must be operated within its specified range.

MEMO
INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

Automated transport / AOI application / Machine tool / Touch panel industry /
Precision / Semiconductor Semiconductor industry /
• Iron-core Linear Motor Laser manufacturing machine /
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• Linear Shaft Motor LMT • Ironcore linear motor-LMFA series,
• Planar Servo Motor LMSA series, LMSC series
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• X-Y Stage LMT series
• Gantry Systems
Torque Motor AC Servo Motor & Drive

(Direct Drive Motor) Semiconductor / Packaging machine /
SMT / Food industry / LCD
Inspection / Testing equipment /
• Drives-D1, D1-N, D2
Machine tools / Robot
• Motors-50W~2000W
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Linear Actuator Positioning

Hospital bed / Automatic window / Measurement System
Home care facility / Riveting /
Cutting machines /
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Multi Axis Robot

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Single Axis Robot Medical Equipment Publication Date：June 2008, first edition
Precision / Semiconductor / Hospital / Rehabilitation centers /
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Print Date：April 2017, 6th edition
• KK, SK • Robotic Gait Training System
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1. HIWIN is the registered trademark of HIWIN Mikrosystem Corp.. For your protection; To avoid
counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2. Actual products may be different from the specifications and photos in this catalog, The differences
in appearances or specifications may be caused by, among other things, product improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Act" and relevant regulations. Any export of restricted products should be approved by competent
authorities in accordance with relevant laws, and shall not be used to manufacture or develop
Ballscrew Linear Guideway
nuclear, biochemical, missile and other military weapons.
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lubrication Module E2
• Rotating Nut (R1)
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Controlling (C1)
• Heavy Load Series (RD)
• Ball Spline
AC Servo Motor & D2 Drive
HIWIN MIKROSYSTEM CORP.

No.6, Jingke Central Rd.,
Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Tel: +886-4-23550110
Fax: +886-4-23550123
www.hiwinmikro.tw
business@hiwinmikro.tw
Subsidiaries & R&D Centers
HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

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www.hiwin.eu info@hiwin.ch info@hiwin.kr
info@hiwin.de
HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

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KUMAMOTO‧FUKUOKA, JAPAN info@hiwin.fr info@hiwin.cn
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info@hiwin.co.jp
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Technical Information
The specifications in this catalog are subject to change without notification.
©2017 FORM MD99TE06-1704

(PRINTED IN TAIWAN)

AC Servo Motor & D2 Drive: Technical Information

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AC Servo Motor & D2 Drive Technical Information

AC Servo Motor & D2 Drive

HIWIN MIKROSYSTEM CORP.

Subsidiaries & R&D Centers

HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA

HIWIN JAPAN HIWIN FRANCE HIWIN CHINA

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

HIWIN Srl HIWIN SINGAPORE

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

©2017 FORM MD99TE06-1704

Linear Motor Stage Linear Motor

Torque Motor AC Servo Motor & Drive

Linear Actuator Positioning

Multi Axis Robot

AC Servo Motor & D2 Drive Technical Information

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

7.1 Motor specifications and application environment ......... 41

9. HIWIN single axis robot and motor adaptor flange ........................ 60

11. Motor / Drive Requirements List................................................................ 69

Excellently high speed response Vibration Suppression Feature

Without vibration With vibration

level servo performance is achieved.

Without accuracy improvement feature With accuracy improvement feature

Simple Operation Complete tool sets

D1N Frequency analysis tools D1N-SNN08A

A powerful and easy to use tool for frequency analysis

test running can be quickly set by panel keys. hardware interfaces.

Test running Analysis Tools

more accurate. D1N-SNN12A

PDL (Process Description Language)

RoHS regulations limit six hazardous substances are:

10 -10 1 0 EN61000-6-2 EN55011

A complete solution with positioning module, motor and drive

High-speed network communications interface

Simple and robust commnunication interface

3.2 Servo motor

1/3 phase 220VAC (For A,B,C frame).......................................... = 23

3.3 Motor cable 3.4 Encoder cable

Capacity Encoder Type

Drive side connector Cable length

(1) Please refer to user guide

5. Part numbers and options

without brake HVPS04AA

Straight type HVPM04BA

Straight type HVPM06BA HVE17ICB(L-type)

brake B86732G15L712 AC Servo Motor

L-type HVPM04CB HVE17IBB(Straight type)

Straight type : straight waterproof connector

5.1 AC50W~AC750W－13bit incremental encoder

Middle FRMS7520508Δ Approx.

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

Note2 Selection of cable / 50W~750W

HVPS04AA □□□ B HVPS06AA □□□ B HVE13IAB □□□ B

Cable type Cable type Cable type

For more information about cables, please refer to P.52-P.58

5.2 AC1000W－13bit incremental encoder

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

Note2 Selection of cable / 1000W

HVPM04□A□□□ B HVPM06□A□□□ B HVE13I □B □□□ B

Cable length Cable length Cable length

Cable type Cable type Cable type

5.3 AC50W~AC750W－17bit incremental encoder

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

M415DP With key M38DP