FD000MD22025

AC Servo Motor &
D2T Drive
Technical Information
www.hiwinmikro.tw
INDUSTRIE 4.0 Best Partner
Linear Motor Stage Linear Motor

Automated transport / AOI application / Machine tool / Touch panel industry /
Precision / Semiconductor Semiconductor industry /
• With Iron Core Laser manufacturing machine /
• Ironless Type Glass cutting machine
• Linear Turbo LMT • Iron Core linear motor-LMFA series,
• Planar Servo Motor LMSA series, LMSC series
• Air Bearing Platform • Ironless linear motor-LMC series,
• X-Y Stage • Gantry Systems LMT series
• Single-Axis Linear Motor Stage
Torque Motor & AC Servo Motor & Drive

Direct Drive Motor Semiconductor / Packaging machine /
SMT / Food industry / LCD
Machine Tools
• Drives-D1, D2T/D2T-LM, E1
• Torque Motor--
• Motors-50W~2000W
TM-2/IM-2, TMRW Series
Inspection / Testing Equipment / Robot
• Direct Drive Motor--
DMS, DMY, DMN, DMT Series
Linear Actuator Positioning

Hospital bed / Automatic window / Home Measurement System
care facility / Riveting /
Cutting machines /
Press-fitting / Surface checks / Bending
Traditional gantry milling machines /
• Servo Actuator-LAA series
Programmable drilling machines
• LAM series
• High Resolution
• LAS series
• Signal Translator
• LAN series
• High-precision Enclosed
• LAC series
• High Efficiency Counter
Multi-Axis Robot
Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Single-Axis Robot Torque Motor

Precision / Semiconductor / Rotary Table
Medical / FPD
Medical / Automotive industry /
• KK, SK
Machine tools / Machinery industry
• KS, KA
• RAB Series
• KU, KE, KC
• RAS Series
• RCV Series
• RCH Series
Ballscrew Linear Guideway

Precision Ground / Rolled Automation / Semiconductor / Medical
• Super S series • Ball Type--HG, EG, WE, MG, CG
• Super T series • Quiet Type--QH, QE, QW, QR
• Mini Roller • Other--RG, E2, PG, SE, RC
• Ecological & Economical lubrication
Module E2
• Rotating Nut (R1)
• Energy-Saving & Thermal-Controlling (C1)
• Heavy Load Series (RD)
• Ball Spline
AC Servo Motor & Drive / D2T 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.................................. 24

6.2 Wiring diagram .................................................................. 26
6. Servo Drive 6.3 Control circuit .................................................................... 28
6.4 Dimensions of drive ........................................................... 30
6.5 Drive peripheral kits .......................................................... 34
7.1 Motor specifications and application environment ......... 37

7.2 Low Inertia, Small Capacity .............................................. 39
7. Servo Motor 7.3 Middle Inertia, Small Capacity .......................................... 43
7.4 Middle Inertia, Middle Capacity......................................... 47
8. Cable and 8.1 Cable ................................................................................... 49

connector 8.2 Connector ........................................................................... 53
9. HIWIN single-axis robot and motor adaptor flange ....................... 56

10.1 Introduction of motor selection relevant parameters.....58
10.2 General inertia calculation for various rigid objects
10. Servo motor of uniform composition......................................................59
selection guide10.3 Equivalent inertia calculation for mechanism .................60
10.4 Operating pattern / motion velocity profile ......................61
10.5 Motor selection sample - ballscrews mechanism ..........62
11. Motor / Drive requirements list.................................................................65

12. Safety precautions..............................................................................................66
2 MD99TE06-2108
1. Features
Excellent performance
Excellently high speed response

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

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

AC servo motor speed can change from -3000
to +3000 rpms in as little as 0.006 seconds. 0.006 sec D1N-SNN02B
Built-in accuracy improvement feature

D2T drive includes features to improve total positioning accuracy of the mechanical
system. The table size can be up to 5000 points. It is implemented in all control modes to
optimize system behavior.
45 45 45 45
精 1.7 精 1.7 : 51.7
Accuracy Accuracy
精 1.4 : 精
1.4 1.4
40 40 40 40
向重性: 1.2
向重
Bi-Dir Rep.性:: 1.2
1.2 Bi-Dir
向重 Rep.
性:: 0.8
向重性: 0.8
35 35 35 35
30 30 30 30
25 25 25 25
Error
Error
20 20 20 20
15 15 15 15
10 10 10 10
5 5 5 5
0 0 0 0 D1N D1N
-SNN03B -SNN03B
0 0 500 500 1000 1000 1500 1500 2000 2000 0 0 500 500 1000 1000 1500 1500 2000 2000
Renishaw Analysis
Renishaw- Linear
Analysis - Linear Target (mm)
Target (mm) Renishaw Analysis
Renishaw- Linear
Analysis - Linear Target (mm)
Target (mm)
Without accuracy improvement feature With accuracy improvement feature

AC Servo Motor & D2T Drive 3
Vibration Suppression Feature

D2T drive can remove vibration frequency that occurs during movement.
It reduces vibrations caused by system’s structure and improves the machine’s
production efficiency.
D2 T-
LPN01A
Without vibration With vibration

suppression feature suppression feature
Electronic gear ratio and Encoder Emulator

The drive can help users adjust pulse resolution for the host controller, and to work
with a variety of position encoders with different resolutions; it can also adjust analog
position encoder output resolution to the host controller and meet the pulse receiving
capability of different host controllers.
D2T Drive
1 um
Electronic
Gear
Host
Controller
Encoder Encoder
Emulator input circuit
1 um
D2T-CNN01A
4 MD99TE06-2108
Simple Operation
1 2
3 Simple setup
Three Steps
Auto phase center
1 2 Adjustment
3 Initialization
Selection
Three Steps
D1N
-SNN05A
HIWIN Motors
AC servo
Linear
LMC
LMFA
HIWIN Motors
Easy Operation
AC servo
Linear
LMC
LMFA
Parameters are categorized according to features. Only necessary parameters are shown.
No confusing parameter list.
LCD Display
No need to connect to a PC to complete all of the settings and operations.
LCD display provides instant status monitoring and displays error messages. Gain and
test running can be quickly set by panel keys.
Test running
Parameter setting
D2-SNN01A
D2-SNN01B
Fine-tune
Complete tool sets

Real-time scope, accuracy enhancement function, frequency analysis tools , gain scheduling tool,
analysis tool, I/O setting functions, encoder output ratio adjustment function, Z phase signal width
adjustment function, PDL , ZeroTune function and filter.
Accuracy enhancement function

To improve on the positioning accuracy of motion systems,
the drive amplifier is featured with an error compensation
function. By taking the measurements from a laser
interferometer, the positioning error table can be built inside
D1N-SNN08A
the drive, so that high positioning accuracy is achieved. D1N-SNN08A

D1N-SNN08A
D1N-SNN08A
Frequency analysis tools

A powerful and easy to use tool for frequency analysis
is provided. You can use the frequency analysis tools to
display the real response in the form of a graph. You can
easily set the best gain value for the system based on the
real response, even first time users can easily get started.
D1N-SNN10B
D1N-SNN10B
D1N-SNN10B
D1N-SNN10B
Advanced gain scheduling feature

After setting gains through frequency analysis tools, there
is only one value to adjust: the common gain. The drive
provides a gain scheduling function. You can adjust the gain
according to different phases of motion, such as moving
phase, settling phase, and in-position phase.
D1N-SNN09B
D1N-SNN09B
D1N-SNN09B
Variety of I / O functions D1N-SNN09B
To support a number of different functions,

you are free to configure the I/O pin
functionality and adapt different hardware
interface needs. This satisfies diverse
requirements for different motion controllers
with regards to their pin assignments and
hardware interfaces. D1N-SNN11B
D1N-SNN11B
D1N-SNN11B
D1N-SNN11B
Analysis Tools
To solve a resonance problem, the drive offers a filter
design tool for improving the control performance, a Fast
Fourier Transform (FFT) and other mathematical operation
tools. You can use the functions to calculate the resonant
frequency of the system easily, and to make the filter design D1N-SNN12A
more accurate. D1N-SNN12A

D1N-SNN12A
D1N-SNN12A
6 MD99TE06-2108
PDL (Process Description Language)

Easy-use process description language is provided.
Complex motions can be designated via PDL, such as
extrusion process, point-to-point motion, fixed speed control,
homing process and so on. PDL gains the advantages of
flexibility and programmability. For quick learning, a number
of sample programs are provided in the PDL manual.
D2-SNN04A
D2-SNN04A
ZeroTune function
Servo loop gains can be easily set without complex procedures
via ZeroTune.
Only by selecting the load level of the motor, will stable velocity
response be achieved. Even a beginner who has no knowledge
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
types, such as low-pass filter, notch filter, ..., etc. Through well-defined filters, stage
vibration can be easily suppressed, and control accuracy can be significantly increased.
20 1.5
10 1
20 0 1.5 0.5
1 10 100
10 -10 1 0
0 0.2 0.4 0.6 0.8 1
1.5
-20 -0.5
0 0.5
1 10 100
1 -30 -1
-10 0
0.5 -40 0 -1.5 0.2 0.4 0.6 0.8 1
1.5
-20 -0.5
0
1 -30 -1
0 0.2 0.4 0.6 0.8 1
-0.5 20 1.5
0.5 -40 -1.5
10 1
-1
0 0 0.5
-1.5 1 10 100
0 0.2 0.4 0.6 0.8 1
-0.5 20 -10 1.5 0
0 0.2 0.4 0.6 0.8 1
10 -20 1 -0.5
-1
-30 -1
0 0.5
-1.5 1 10 100
-40 -1.5
-10 0
0 0.2 0.4 0.6 0.8 1
-20 -0.5
Easy integration -30
-40
-1
-1.5
A complete solution with positioning module, motor and drive

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

D2T Drive 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.
2. Safety Certification
2.1 RoHS compliant
Components and finished product all meet RoHS(Restriction of Hazardous Substances Regulation)
requirements which ensure the compliance to relevant laws of quality of goods.
RoHS regulations limit six hazardous substances are:

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

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

Drive Motor
EMC: EN61800-3
EN55011
EN61000-6-2 EN55011
CE Directives EMC Directives EN61000-6-4 EN61000-6-2
EN61000-2-4 EN61000-6-4
IEC60146-1-1
IEC61000-2-1
Low-Voltage EN60034-1
LVDS:EN61800-5-1
Directives EN60034-5
UL:E348161 UL1004-1
UL Directives (D2T 100W/400W/1000W) UL1004-6
8 MD99TE06-2108
3. Model Descriptions
3.1 Servo drive
Code 1 2 2a 3 4 5 6 7 8 9 10 11 12
Example D 2 T - 0 4 2 3 - S - B 0
Product type
Rated output
100W .........................................................................= 01
400W .........................................................................= 04
1000W .......................................................................= 10
2000W .......................................................................= 20
Voltage range
1/3 phase 220VAC (For A,B,C frame).......................................... = 23
3 phase 220VAC (Only for D frame) ............................................ = 32
Interface
Standard .....................................................................................................= S
EtherCAT(CoE) ...........................................................................................= E
EtherCAT(mega-ulink) ...............................................................................= F
Standard with extension I/O modules ........................................................= K
Frame size
A frame(suggestion: 100W rated output) ................................................................... = A
B frame(suggestion: 400W rated output) ................................................................... = B
C frame(suggestion: 1000W rated output) ................................................................. = C
D frame(suggestion: 2000W rated output) ................................................................. = D
Encoder type
17bit serial incermental encoder(HIWIN17) ........................................................................... = 4
Dual Loop (Full closed loop) and 17bit serial absolute encoder .............................................. = 5
3.2 Servo motor

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

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

Without holding brake .................................................................................= 0
With holding brake ......................................................................................= B
Encoder type
17bit absolute encoder ......................................................................................... = 4
HIWIN 17 incremental encoder ............................................................................ = 6
Frame size
40mm(MS 50W/100W) ......................................................................................................= 04
42mm(LS 50W/100W) .......................................................................................................= A4
60 mm(200W/400W) .........................................................................................................= 06
80 mm(750W) ...................................................................................................................= 08
130 mm(1000W/2000W) ...................................................................................................= 13
Motor shaft
Round shaft / without oil seal ....................................................................................................... = A
Round shaft / with oil seal(2) .......................................................................................................... = B
With key and center tap / without oil seal ..................................................................................... = C
With key and center tap / with oil seal(2)........................................................................................ = D
10 MD99TE06-2108
3.3 Motor cable

Code 1 2 3 4 5 6 7 8 9 10 11 12
Example H V P S 0 4 A A 0 5 M B
Type
HIWIN motor cable .......................... = HVP
Capacity
Small capacity (50W~750W) ..................................= S
Medium capacity (1000W/2000W) .........................= M
Number of pin
Motor cable without holding brake .....................................= 04
Motor cable with holding brake ..........................................= 06
Motor side connector

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

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

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

SCR connector .......................................................................................... = B
Cable length
3M ...........................................................................................................................= 03M
5M ...........................................................................................................................= 05M
7M ...........................................................................................................................= 07M
10M .........................................................................................................................= 10M
Cable type
Highly flexible .............................................................................................................................= B
12 MD99TE06-2108
4. Interface Directions
4.1 Frame A-C
4.2 Frame D
Note1 Please refer to user guide

14 MD99TE06-2108
5. Part numbers and options

Name Motor cable Encoder cable Other accessories
without brake HVPS04AA

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

without Control signal cable:
brake LMACK02D
L-type HVPM04CA
HVE17IBB(Straight type) Single phase EMC Pack:
1000W HVE17ABB(Straight type) D2-EMC1 or D2-EMC3
HVE17ICB(L-type)
Straight type HVPM06BA
with HVE17ACB(L-type) 3 phase EMC Pack:
brake D2-EMC2
L-type HVPM06CA
Common mode filter
MF-CM-S
Straight type HVPM04BB
without DC reactor
brake B86732G15L712
L-type HVPM04CB HVE17IBB(Straight type)
HVE17ABB(Straight type)
2000W
HVE17ICB(L-type)
Straight type HVPM06BB HVE17ACB(L-type)
with
brake
L-type HVPM06CB
Note Straight type : straight waterproof connector

L-type : waterproof connector
D1N-CNN02A
D2T
D2 Drive D2 -
PPN01B
D1N-
PNN03A
AC Servo Motor
Singel Axis Robot
D2-
PPN08A
16 MD99TE06-2108
5.1 AC50W~AC750W－17bit incremental encoder

Motor Drive
Power capacity
Output Part No. Part No. (Rated load)
Motor Series Power supply Frame
(W) (Note 1) (Standard interface)
FRLS05206A4∆
50
FRLS052B6A4∆ Approx.
D2T-0123-S-A4 Frame A
FRLS10206A4∆ 0.4kVA
100
Low FRLS102B6A4∆
FRLS
Inertia FRLS2020606∆
200
FRLS202B606∆ Approx.
D2T-0423-S-B4 Frame B
FRLS4020606∆ 0.9kVA
400
single phase/ FRLS402B606∆
three phase
220V FRMS0520604∆
50
FRMS052B604∆ Approx.
FRMS1020604∆ 0.4KVA
100
Middle FRMS102B604∆
FRMS
inertia FRMS4B20606∆ Approx.
400 D2T-0423-S-B4 Frame B
FRMS4B2B606∆ 0.9KVA
FRMS7520608∆ Approx.
750 D2T-1023-S-C4 Frame C
FRMS752B608∆ 1.8KVA
Note1 Δ：Shaft End & Oil Seal Specification (Please refer to P.9)
Note2 EMC pack model (please refer to P.35)
Motor cable / without brake Motor cable and brake cable

/ with brake
HVPS04AA □□□ B HVPS06AA □□□ B

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

Highly flexible ............................. = B Highly flexible ............................. = B
Note For more information about cables, please refer to P.49-P.55

Optional parts
Motor cable Encoder cable D2T drive accessories
Single Three
External
17bit Control phase phase
without brake with brake Regenerative
incremental Signal Cable EMC Pack EMC Pack
Resistor
(Note 2) (Note 2)
N/A
D2T-EMC1
RG1
HVPS04AA□□□B HVPS06AA□□□B HVE17IAB□□□B LMACK02D D2T-EMC2
D2T-EMC3 RG2
Encoder cable / 17bit incremental
HVE17IAB □□□ B
Cable length
3M ............................... =03M
5M ............................... =05M
7M ............................... =07M
10M ............................. =10M
Cable type
Highly flexible ............................. = B
18 MD99TE06-2108
5.2 AC1000W/AC2000W－17bit incremental encoder

Motor Drive
Power capacity
single phase/ FRMM1K20613Δ Approx.

three phase 1000 D2T-1023-S-C4 Frame C
FRMM1K2B613Δ 1.8kVA
Middle 220V
FRMM
inertia FRMM2K20613Δ
three phase Approx.
2000 D2T-2032-S-D4 Frame D
220V FRMM2K2B613Δ 3.5kVA

/ with brake
HVPM04□ A □□□ B HVPM06□ A □□□ B

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

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

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Note For more information about cables, please refer Note Medium capacity motor brake power cables
to P.49-P.55 are packaged.
Item number HVPM06:
Contains one motor cable and brake cable
labeled with HVPM04 and HVPM02.
Optional parts
Single Three
External
incremental Signal Cable EMC Pack EMC Pack
Resistor
(Note 2) (Note 2)
HVPM04□A□□□B HVPM06□A□□□B
HVE17I□B□□□B LMACK02D D2T-EMC3 D2T-EMC2 RG2
HVPM04□B□□□B HVPM06□B□□□B
Encoder cable / 17bit incremental
HVE17I □B □□□ B
Straight Type .......=B
L-Shaped Type ....=C
Cable length
3M ........................................=03M
5M ........................................=05M
7M ........................................=07M
10M ......................................=10M
Cable type
Highly flexible .....................................= B
20 MD99TE06-2108
5.3 AC50W~AC750W－17bit absolute encoder

Motor Drive
Power capacity
FRLS05204A4∆
50
FRLS052B4A4∆ Approx.
FRLS10204A4∆ 0.4KVA
100
Low FRLS102B4A4∆
FRLS
Inertia FRLS2020406∆
200
FRLS202B406∆ Approx.
D2T-0423-S-B5 Frame B
FRLS4020406∆ 0.9kVA
400
single phase/ FRLS402B406∆
three phase
220V FRMS0520404∆
50
FRMS052B404∆ Approx.
FRMS1020404∆ 0.4KVA
100
Middle FRMS102B404∆
FRMS
inertia FRMS4B20406∆ Approx.
400 D2T-0423-S-B5 Frame B
FRMS4B2B406∆ 0.9KVA
FRMS7520408∆ Approx.
750 D2T-1023-S-C5 Frame C
FRMS752B408∆ 1.8KVA
HVPS04AA □□□ B HVPS06AA □□□ B

/ with brake

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

Highly flexible ............................. = B Highly flexible ............................. = B
Note
For more information about cables, please refer to P.49-P.55
Optional parts
Single Three
External
absolute Signal Cable EMC Pack EMC Pack
Resistor
(Note 2) (Note 2)
N/A
D2T-EMC1
RG1
HVPS04AA□□□B HVPS06AA□□□B HVE17AAB□□□B LMACK02D D2T-EMC2
D2T-EMC3 RG2
Encoder cable / 17bit absolute
HVE17A AB □□□ B
Cable length
3M ................................=03M
5M ................................=05M
7M ................................=07M
10M ..............................=10M
Cable type
Highly flexible ............................. = B
22 MD99TE06-2108
5.4 AC1000W/AC2000W－17bit absolute encoder

Motor Drive
Power capacity
single phase/ FRMM1K20413Δ Approx.

three phase 1000 D2T-1023-S-C5 Frame C
FRMM1K2B413Δ 1.8kVA
Middle 220V
FRMM
inertia FRMM2K20413Δ
three phase Approx.
2000 D2T-2032-S-D5 Frame D
220V FRMM2K2B413Δ 3.5kVA
HVPM04□ A □□□ B HVPM06□ A □□□ B

/ with brake
Motor side connector Motor side connector

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

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

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

Highly flexible ........................................ = B Highly flexible ........................................ = B
Note For more information about cables, please refer Note Medium capacity motor brake power cables
to P.49-P.55 are packaged.
Item number HVPM06:
Contains one motor cable and brake cable
labeled with HVPM04 and HVPM02.
Optional parts
Single Three
External
absolute Signal Cable EMC Pack EMC Pack
Resistor
(Note 2) (Note 2)
HVPM04□A□□□B HVPM06□A□□□B
HVE17A□B□□□B LMACK02D D2T-EMC3 D2T-EMC2 RG2
HVPM04□B□□□B HVPM06□B□□□B
Encoder cable / 17bit absolute
HVE17A □B □□□ B
Straight Type .......=B
L-Shaped Type ....=C
Cable length
3M ...................................... =03M
5M ...................................... =05M
7M ...................................... =07M
10M .................................... =10M
Cable type
Highly flexible .................................... = B
24 MD99TE06-2108
6. Servo Drive
6.1 Servo drive with standard interface
Specifications
Frame
Single/three-phase, 200 to 240V 50/60Hz
Main A~C
power Frame
Input power 220V Three-phase,200-240 Vac 50/60Hz
D
Control Frame
Single phase, 200 to 240V 50/60Hz
power A~D
Operation Temperature: 0℃~45℃
Temperature (If temperature is higher than 45℃, ventilation is needed)
Storage Temperature: -20℃~65℃
Environment Humidity 0 to 90%RH (no frost)
Altitude Under 1000 Meters
Vibration 1G (10 to 500Hz)
Control method IGBT PWM space vector control
17bit incremental
Encoder feedback Dual loop (Full closed loop) and 17bit absolute
Input General purpose 9 inputs (D2T:10)

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

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

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

Front panel LED(green, red)
Frame
Need external connection, no internal regenerative resistor
A-C
Regenerative function
Frame Built in or external regenerative resistor (option), 13Ω±5%, continue
D power 120W, Peak power 600W
Switching among the following modes is possible

(1)Position control (2)Velocity control (3)Torque control
Control mode (4)Position/Velocity control (5)Position/Torque control
(6)Velocity/Torque control
Frame
N/A
A-C
Dynamic brake
Frame Built in line resistance: 2.6 Ω ± 5%, continuous power: 120 W,
D peak power: 600 W
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
Control input vpg;
(8)Inhibit pulse command; (9)Switch HI/LO pulse input; (10)Abort motion; (11)Switch to
secondary mode; (12)Start homing; (13)Electronic gear select (DIV1/DIV2)
(1)Brake; (2)Servo ready; (3)Axis disable; (4)In-position; (5)Moving; (6)Homed;
Control output (7)Emulated index; (8)Zero speed detected; (9)Errors
Position control
Max. command Dedicated interface for Photo-coupler(single end input): 500kpps

pulse frequency Dedicated interface for line drive(differential input): 4Mpps(16M cnt/s with AqB)
Input pulse signal
(1)Pulse and Direction (2)Pulse Up/Pulse Down (3)Quadrature(AqB)
format
Pulse
Electronic gear
input Gear ratio : pulses/counts
(Division/
pulses : 1~2, 147, 483, 647
Multiplication of counts : 1~2, 147, 483, 647
command pulse)
Smoothing filter Smooth factor : 1~500 (0: no smoothing filter)
Vibration suppression VSF can remove the vibration frequency that occurs during movement. It can reduce the
filter(VSF) vibration caused by the system’s structure and improve the machine’s productivity.
(4)Reset amplifier; (5)Near home sensor; (6)Clear error; (7)Invert V command;
Control input (8)Switch to secondary CG and vpg; (9)Zero speed clamp; (10)Abort motion;
(11)Switch to secondary mode
Velocity control

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

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

(18)EtherCAT interface disconnected
Error log Errors and warnings are saved in non-volatile memory
Method: Established compensation table to compensate encoder error by linear
interpolation
Samples: Maximum 5,000 point
Error Mapping Storage: Flash ROM, Disc file
Unit: count
Activation: Activated internally by home complete, or activated externally by input signal
Others Friction compensation, Backlash compensation
26 MD99TE06-2108
6.2 Wiring diagram

Single-phase
Recommended models: FN2090-6-06 filter
Maximum continuous operating voltage 250VAC, 50/60Hz
Operating Frequency DC to 400Hz
Rated Current 6A@40℃
Surge pulse protection 2kV, IEC 61000-4-5
Emergency
ON OFF Stop
KM
KM
SK
D2T Series Drive

NFB
Filter CN1
KM
Single-phase
L1
200-240VAC L2
50/60Hz
L3
Earth
L1C
L2C
D2T-WNT02A
Three-phase
Recommended models: FN3025L-20-71 filter
Maximum continuous operating voltage 3x520/300 VAC
Operating Frequency DC to 400Hz
Rated Current 20A@50℃
Emergency
ON OFF Stop
KM
KM
SK
D2T Series Drive

NFB
Filter CN1
KM
Three -phase
L1
200-240VAC L2
50/60Hz
L3
Earth
L1C
L2C
D2T-WNT03A
28 MD99TE06-2108
6.3 Control circuit

Wiring Example of Position Control Mode
2k
7 COM+ CWL 1 (1) When the host is NPN using 12,24V power
with external resistors
4.7k 2k
33 I1 CWL+ 3
4.7k 220 2k 3
30 I2 CWL- 4
4.7k 2k 220 4 R
29 I3 CCWL 2
4.7k 2k 5
2k CCWL+ 5
27 I4 Vdc
4.7k 220 220 6 R
28 I5 CCWL- 6
4.7k
26 I6 SG 13
4.7k
32 I7 (2) When the host is NPN using 24V power
4.7k A 21 A-phase output without external resistors
31 I8
/A 22
Encoder_output
4.7k
9 I9 2k 2k 1
B 48 B-phase output
220 4
/B 49
35 O1+ Z 23 Z-phase output
2k 2k 2
Vdc
34 O1- /Z 24 220 6
37 O2+ SG 25
36 O2- CZ 19 Z-phase output
(3) When the host is PNP using 12,24V power
(open collector)
39 O3+ with external resistors
38 O3- 2k 3 R
11 O4+ 220 4
10 O4- R
2k 5 Vdc
13 SG
220 6
44 CWH+
45 CWH-
46 CCWH+ (4) When the host is PNP using 24V power
without external resistors
47 CCWH-
25 SG 2k 2k 1
50 FG 220 4
CN6 : Twisted pair 2k 2k 2 Vdc
220 6
Vdc Specifications of R
12 1k ohm 1/2W
24 2k ohm 1/2W
D2T-ENT17B
Wiring Example of Velocity/Torque Control Mode
7 COM+
4.7k
33 I1
4.7k
30 I2
4.7k
29 I3
4.7k
27 I4
4.7k
28 I5
4.7k
26 I6
4.7k
32 I7 4.7k A 21 A-phase output
31 I8
22
Encoder_output
4.7k /A
9 I9
B 48 B-phase output
/B 49
35 O1+ Z 23 Z-phase output
34 O1- /Z 24
37 O2+ SG 25
36 O2- CZ 19 Z-phase output
(open collector)
39 O3+
38 O3-
11 O4+ + ADC0+ 14 Voltage Iutput (+/-10V)
-
10 O4- ADC0- 15
13 SG
25 SG
50 FG
CN6 : Twisted pair

D2T-ENT18B
Additional I/O pins (Only for D2T drive)
7 COM+
4.7k
8 I10
40 O5+
12 O5-
CN6 D2T-ENT19A
30 MD99TE06-2108
6.4 Dimensions of drive

Frame A (DT2x-01xx-S(T)-Ax)
135.5
5
44
7 31±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
162±0.1
C
U N
169
V 5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
CN7
Unit:mm
D2T-DNN01B
(38) 6 2-Ø4.2
3.5
Frame B (D2Tx-04xx-S(T)-Bx)
135.5
5
52.8
180
5 41.8±0.1
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
C
152.5±0.1
U N
V 5
159.5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
CN7
(46.8) 2-Ø4.2
3.5
Unit:mm
D2T-DNN02B
Frame C (D2Tx-10xx-S(T)-Cx)
180
66
227
6.5 28±0.1
(4)
60 1.5
CN1
L1 C
N
L2 3
L3 C
N
4
165.5±0.1
C
173.5
U N
5
V
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
Unit:mm
CN7 D2T-DNN03B
47 4-Ø4.4
4
Frame D (D2Tx-20xx-S(T)-Dx)
209
5
5
90
45 (39) 255
3-Ø6 60
(6)
CHARGE
CN1 STAT
L1 C
N
3
L2
C
L3 N
4
L1C C
N
156±0.2
5
L2C
168
B1
B2
B3
C
1 N
6
2
CN2
U C
N
V 7
C
W N
15
6
6 78±0.2
Unit:mm
D2T-DNN52A
32 MD99TE06-2108
Frame A (D2Tx-01xx-E(Note)-Ax)
135.5
5
64.5
7 31±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
162±0.1
C
U N
169
V 5
W
R+
R-
L1C
L2C
C
N
6
CN2
+24V
B+
B-
RTN
CN7
Unit:mm
3.5
(38) 2-Ø4.2 D2T-DNN49B
Frame B (D2Tx-04xx-E(Note)-Bx)
135.5
5
72.8
5 41.8±0.1 180
(3.5)
60
CN1
L1
C
L2 N
3
L3
C
N
4
C
152.5±0.1
U N
159.5
V 5
W
R+
R-
L1C
L2C C
N
6
CN2
+24V
B+
B-
RTN
CN7
3.5
(46.8) 2-Ø4.2 Unit:mm

D2T-DNN50B
Frame C (D2Tx-10xx-E(Note)-Cx)
181
86
6.5 28±0.1 227
(4)
60 1.5
CN1
L1
C
L2 N
3
L3
C
N
4
165.5±0.1
C
U
173.5
N
5
V
W
R+
R-
L1C
L2C
C
N
6
CN2
+24V
B+
B-
RTN
CN7
47 4-Ø4.2 Unit:mm
4
D2T-DNN51B
Frame D (D2Tx-20xx-E(Note)-Dx)
209
5
5
105
45 (39) 255
3-Ø6 60
(6)
CHARGE
CN1 STAT
L1 C
N
3
L2
C
L3 N
4
L1C C
N
156±0.2
5
L2C
168
B1
B2
B3
C
1 N
6
2
CN2
U C
N
V 7
C
W N
15
6
6 78±0.2
Note Interface E/F/K/U are plug-in module Unit:mm

D2T-DNN53A
34 MD99TE06-2108
6.5 Drive peripheral kits

Connector Kit
Part Name Model Description Quantity
Main power, motor power, regenerative resistor
CN1 and control power connector / 12pins, pitch5mm 1
(051500400249)
Frame A-C D2-CK3 CN2 Brake connector: 4pins, pitch 3.5mm (051500400285) 1
CN6 Control signal connector: 50 pins welded type(051500100127) 1
CN1 Connector fixture tool (051800400035) 1
CN2 Connector fixture tool (051800400066) 1
Connectors of AC power, drive control power,
CN1 regenerative resistor, and DC reactor. 11 pins, 1
TE 1-2229794-1-PT1.
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
EMC Accessory Kit

Part Name Model Description Quantity
Single phase filter FN2090-6-06 for 50W to 400W
D2-EMC1 1
(Rated current:6A, leakage current: 0.67mA)
D2 EMC (051800200074)
accessory EMI core KCF-130-B 2
kit for single Single phase filter FN2090-10-06 for 750W and 1000W
phase D2-EMC3 1
( Rated current:10A, leakage current: 0.67mA)
(051800200077)
EMI magnet rings KCF-130-B 2
Three phase filter FN3025HL-20-71
D2-EMC2 1
( Rated current:20A, leakage current:0.4mA)
D2 EMC (051800200075)
accessory EMI magnet rings KCF-130-B 2
kit for three Three phase filter B84743C0035R166
( Rated current:35A, leakage current: <0.5mA)
phase D2-EMC4 1
(051800200078)
EMI magnet rings KCF-130-B 2
The EMI magnetic ring has the function of reducing interference, which can be used for the main power
cables, motor power cables, encoder cables or pulse control cables.
1. The noise filter of some models has a larger leakage current. In addition, the leakage current will
also increase due to grounding conditions. When using leakage current detectors and leakage circuit
breakers, please take grounding conditions and the leakage current of the noise filter into consideration
for the selection. Please contact the noise filter manufacturer for more details.
2. The filter can be connected to multi-axis drives as long as it does not exceed the rated current load.
36 MD99TE06-2108
Regenerative Resistor
Part Name Model Description L1 L2 W H L
68Ω
165 ± 2 150 ± 2 40 ± 0.5 40 ± 0.5

Rated power 100W
RG1 500
Peak power 500W
Regenerative (050100700001)
resistor 120Ω
215 ± 2 200 ± 2 60 ± 0.5 30 ± 0.5

Rated power 300W
RG2 500
Peak power 1500W
(050100700009)
D2T-DNN04A
D2-DNN04A
7. Servo Motor
7.1 Motor specifications and application environment
Rated speed
Rated
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
(W)
(rpm)
■ Storage condition
- Indoor illumination
50W
- Keep away
from following
D2T- environment
PPN02A
a. corrosive gases
b. flammable gas
c. grease and dirt
■ Application
100W Semiconductor temperature
Equipment 0 ° C ~ 40 ° C
D2T- Packaging
Low Inertia
PPN03A
Machine ■ Storage Temperature
3000
FRLS 220V 17bit IP65 -15 ° C ~ 70 ° C
(4500) SMT Machine
Food industry ■ Humidity
machine 80% RH or less
200W LCD equipment
■ Storage humidity
D2T-
PPN04A
80% RH or less
■ Elevation above sea

level
1000m under
400W ■ Vibration resistance

49m/s2 or less
D2T-
PPN05A
38 MD99TE06-2108
Rated speed
Rated
(No-load IP
Motor output Voltage Encoder Application Environment
maximum speed) level
(W)
(rpm)
50W
100W 17bit
Semiconductor ■ Storage condition
Equipment - Indoor illumination
- Keep away
Packaging
from following
Machine
3000 environment
FRMS 220V
(4500) SMT Machine a. corrosive gases
b. flammable gas
Food industry c. grease and dirt
machine
LCD equipment ■ Application
400W
temperature
0 ° C ~ 40 ° C
Middle inertia
■ Storage Temperature
IP65 -15 ° C ~ 70 ° C
■ Humidity
80% RH or less
750W 17bit
■ Storage humidity
80% RH or less
D2-
PPN06A
■ Elevation above sea

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

7.2.1 50W
Parameter Symbol Unit FRLS052□□A4□
Drive Input Voltage V V AC220
Rated Power W W 50
Rated Torque Tc N.m 0.16
Rated Current Ic A(rms) 0.9
Peak Max. Torque Tp N.m 0.48
Peak Max. Current Ip A(rms) 2.7
Rated Speed ωc rpm 3000
Max. Speed ωp rpm 4500
Torque Constant Kt N.m / Arms 0.178
Back EMF Constant Ke Vrms / krpm 10.74
Resistance (line to line) R Ω 4.7
Inductance (line to line) L mH 4.7
Inertia of Rotating Parts (with brake) J kg-m2(×10-4) 0.02(0.022)
Weight (with brake) M kg 0.45(0.58)
Motor Insulation Grade Class A (UL)
Total enclosed, self-cooled, IP65
Motor protect
(Except for shaft and connector)
Insulation resistance 10MΩ, DC500V
Insulation voltage resistance AC1500V, 60 second
Brake specifications (Note)
Static friction torque (Minimum) Tb N.m 0.3
Magnetizing current Ab A 0.25A
Brake input voltage V V DC24±10%
Suction time (Maximum) to ms 30
Release time (Maximum) tr ms 20
Note Brake is used to keep the object stopped. Do not apply it to deceleration, dynamic braking or emergency stop.
The engaging time and releasing time of brake vary from circuit to circuit. Pay attention to the actual delay time
during operation.
Torque-Speed Curve Dimensions

23.7
L=300mm
FRLS 50W Torque-Speed Curve
14
47.8
L=300mm 12
18.5
32
2.5
.4
Peak work range Ø3
4-
Torque(N-m)
45°
21.5 -0.02
Ø30-0.04
PC
D4
45°
Ø8h6
5
Continuous work range 88.5(117) 25 42
D2T -
註:( ：
Note ( )Include Brake Size
)內為含煞車器之尺寸
SNT01A
14
Speed(rpm)
10 3
3
Optional (選配規格)
Specification
D2T-DNN05C
帶鍵
With key M3*8DP
6.2
Unit:mm
40 MD99TE06-2108
7.2.2 100W
Parameter Symbol Unit FRLS102□□A4□
Rated Power W W 100
Resistance (line to line) R Ω 8
Inertia of Rotating Parts (with brake) J kg-m (×10 ) 2 -4
0.036(0.038)
Motor protect
during operation.

23.7
FRLS 100W Torque-Speed Curve L=300mm
14
47.8
L=300mm 12
18.5
32
2.5
.4
Peak work range Ø3
4-
45°
21.5 -0.02
Torque(N-m)
Ø30-0.04
PC
D4
45°
5
Ø8h6
Continuous work range 110.5(139) 25 42

Note：()內為含煞車器之尺寸
註:( )Include Brake Size
D2T -
SNT02A
14
10 3
Speed(rpm)
3
Specification
D2T-DNN06C
With
帶鍵 key M3*8DP
6.2
Unit:mm
7.2.3 200W
Parameter Symbol Unit FRLS202□□06□
Rated Power W W 200
Back EMF Constant Ke Vrms / krpm 23
Inductance (line to line) L mH 13
Inertia of Rotating Parts (with brake) J kg-m (×10 )
2 -4
0.17(0.21)
Motor protect
during operation.

23.7 L=300mm
FRLS 200W Torque-Speed Curve
14
47.8 7.5
L=300mm
46.5
18.5
3
5.5
26 4-Ø
Peak work range
45°
0
Ø50-0.025
Torque(N-m)
PC
45°
DØ
Ø14h6
70
100(133) 30 60
Continuous work range Note：( )Include Brake Size
D2T -
SNT03A
7
3 25
Speed(rpm) 20
26
5
Optional Specification
5
11
M4*15DP
With key
Ø14h6
D2 T-DNN07B
With seal 30
Unit:mm
42 MD99TE06-2108
7.2.4 400W
Parameter Symbol Unit FRLS402□□06□
Rated Power W W 400
2 -4
0.27 (0.31)
Motor protect
during operation.

FRLS 400W Torque-Speed Curve 23.7 L=300mm
14
47.8
L=300mm
18.5
46.5
7.5
3 5.5
Peak work range 4-Ø
26
45°
0
Torque(N-m)
Ø50-0.0
25
PC
45°
DØ
Ø14h6
Continuous work range 70

121.5(154.5) 30 60
D2T -
註:(：)內為含煞車器之尺寸
Note ( )Include Brake Size
SNT04A
Speed(rpm) 7
3 25
26 20
5
Specification
5
11
M4*15DP
With
帶鍵 key
Ø14h6
D2T-D NN08B
含油封
With seal 30 Unit:mm
7.3 Middle inertia, Small capacity

7.3.1 50W
Parameter Symbol Unit FRMS052□□04□
Rated Power W W 50
2 -4
0.025(0.027)
Motor protect
during operation.

FRMS 50W Torque-Speed Curve
0.5
23.7
Peak work range L=300mm
14
0.4
47.8 L=300mm A
Torque(N-m)
18.5
0.3
50W(Middle Inertia) 6
3 5
D4
nertia)
B
PC
Ø8h6
45°
31
0.2 Continuous work range

Ø30--0.02
0
0.1 2-Ø .04
45°
3.4
84(114) 25 □40
0 Note：( )Include Brake Size
0 500 1000 1500 2000 2500 3000 3500 4000 4500 14
Speed(rpm) Optional Specification 10 3
3
1.0 With key M3*8DP

6.2
Unit:mm
0.8
nertia) 0.6
0.4
44 MD99TE06-2108
7.3.2 100W
Rated Power W W 100
Resistance (line to line) R Ω 19
2 -4
0.051(0.055)
Motor protect
Insulation voltage resistance AC1500V,
23.7 L=300mm 60 second
Brake specifications
14
47.8 L=300mm
(Note)A
18.5
3 5
B D4
Magnetizing current Ab A 0.25A PC
Ø8h6
45°
31
Brake input voltage V V DC24±10%Ø30--0.02

0.04
0.5 2-Ø
45°
Suction time (Maximum) to ms84(114) 25 40 3.4

□40
0.4
14
0.3 10
Brake is used to keep the object stopped. Do not apply it to deceleration, dynamic 3braking or emergency stop.
3
ia)
Note
0.2
M3*8DP
during operation.
6.2
0.1
Torque-Speed
0
0 500 1000 1500 2000 Curve
2500 3000 3500 4000 4500 Dimensions
FRMS 100W Torque-Speed Curve
1.0
23.7 L=300mm
Peak work range
14
0.8
47.8 L=300mm A
Torque(N-m)
ia)
18.5
0.6 100W(Middle Inertia) 6 5

B 3 D4
PC
Ø8h6
0.4 Continuous work range

45°
31
0.2
Ø30 -0.02
-
2-Ø 0.04
45°
3.4
104(134) 25 □40
Note：( )Include Brake Size
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed(rpm) 14
10 3
3
With key M3*8DP

6.2
4.0
Unit:mm
3.0
ia) 2.0
7.3.3 400W
Parameter Symbol Unit FRMS4B2□□06□
Rated Power W W 400
Peak Max. Current Ip 23.7 A(rms) 7.8
ωc
L=300mm
Rated Speed rpm 3000
14
47.8 A
ωp
L=300mm
18.5
Max. Speed rpm 3 5 4500
B D4
PC
Ø8h6
45°
31
Ø30--0.02
Back EMF Constant Ke Vrms / krpm 0
2-Ø .04 29.61
Ω
45°
3.4
84(114) 25
Resistance (line to line) R □40
4.13
14
Inductance (line to line) L 10
mH 9.9
3
3
Inertia
0.5
of Rotating Parts (with brake) J kg-m (×10 ) 2 -4
0.44(0.48)
M3*8DP
6.2
0.4
0.3
nertia) 0.2
Motor protect
0.1 Insulation resistance 23.7 L=300mm
10MΩ, DC500V
14
47.8 A
0 L=300mm
0 500 1000 1500 2000 2500 3000 3500 4000 4500
18.5
100W(Middle Inertia) Brake specifications (Note) 6

3 D4
5
B
PC
Ø8h6

45°
31
Ø30 -0.02
1.0
Magnetizing current Ab A 0.32
-
2-Ø 0.04
45°
3.4
104(134) 25 □40
0.8 Brake input voltage V V DC24±10%
14
nertia) 0.6 10 3
3

0.4
M3*8DP
6.2
Note
0.2
Brake is used to keep the object stopped. Do not apply it to deceleration, dynamic braking or emergency stop.
0
0 during operation.
500 1000 1500 2000 2500 3000 3500 4000 4500

FRMS 400W Torque-Speed Curve 23.7 L=300mm
4.0
14
47.8
Peak work range L=300mm
46.5
18.5
7.5
3.0 5.5
3
4-Ø
Torque(N-m)
nertia)
26
45°
0
Ø50-0.02
5
2.0 400W(Middle Inertia)
Continuous work range
PC
45°
Ø14h6
DØ
1.0 70
121.5(154.5) 30 □60
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
7
Speed(rpm) 3 25
26 20
5
5
11
M4*15DP
Ø14h6
With key
With seal 30
Unit:mm
46 MD99TE06-2108
7.3.4 750W
Rated Power W W 750
2 -4
1.4(1.46)
Motor protect
during operation.

FRMS 750W Torque-Speed Curve 23.7
L=300mm
14
47.8
L=300mm 9
18.5
3
6.6
4-Ø -0.02
56.5
Peak work range 33 4

Torque(N-m)
45°
0 -0.0
Ø7
PCD
Ø19h6
90
45°
140(176) 40
80
D2T -
SNT05A
9
3
Speed(rpm) 25
4
33 20
6
6
Ø45
M5*10DP
15.5
With key
Ø19h6
With seal 40 D2T-D NN09B
Unit:mm
7.4 Middle inertia, Middle capacity

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

130
FRMM 1000W Torque-Speed Curve
12
3
(112.85)
4-Ø9
45°
50 45
Peak work range PCD1
Torque(N-m)
Ø11
0 -0+0.0
Ø24h6
35
45°
141.4(175.1) 55
D2T -
SNT06A
35
Speed(rpm) 31
8
7
D2 T- DNN10A
20
M6*20DP
With key Unit:mm
48 MD99TE06-2108
7.4.2 2000W
Parameter Symbol Unit FRMM2K2□□13□
Rated Power W W 2000
Rated Current Ic A(rms) 11
Peak Max. Current Ip A(rms) 33
2 -4
13(14.1)
Weight (with brake) M kg 8(8.8)
Motor Insulation Grade Class A (under certification)
Motor protect
Brake specifications (Note 1)
Static friction torque (Minimum) Tb N.m 10
Brake input voltage V V DC24
Suction time to ms 80
Release time tr ms 30
during operation.
FRMM 2000W Torque-Speed Curve 130
40 12
3
(112.85)
4-Ø9
30
45°
50 45
PCD1
Peak work range
Torque(N-m)
20
Ø11
Ø24h6
0 -0+0.0
35
45°
10 Continuous work range

171.4(205.1) 55
D2T - Note：( )Include Brake Size
0 SNT 07A
35
500 1000 1500 2000 2500 3000 31
8
Speed(rpm)
7
D2T-D NN42A
With key M6*20DP

20
Unit:mm
8. Cable and connector

8.1 Cable
4 2
Small Capacity
4 2
3 1
3 1
AMP-172159-1
AMP-172159-1
Name Type Connect Description : 50W~750W
AC Servo Motor 64 32
HVPS04AA□□□B CN1 6
4
3
2
Power Cable
53 21
5 2
43
4
11
1
AMP-172159-1
AMP-172159-1
AMP-172160-1
AMP-172160-1
B+
B+
B-
B-
AC Servo Motor
Power 6 3
CN1 6
5
3
2
and Brake HVPS06AA□□□B 954

9
5 6
5 6 321
CN2
3
8 4 12 AMP-172160-1
Extension
B+
8 2 B-
7 1
AMP-172160-1 B+
B-
7 4 1
4 AMP-172161-1
AMP-172161-1
3M 36310
Cable
3M 36310
3M 36210
3M 36210
AC Servo Motor 55 66
99 5 6
9 5 6
9
33
3
32
Encoder Cable HVE17IAB□□□B

88 2
8 2
8 2
77 11
7 44 1
7 4 1 AMP-172161-1
AMP-172161-9 3M36310
3M 36310
(17bit incremental) 4 AMP-172161-9
AMP-172161-1
3M
3M
3M
36310
36210
3M36210
36310
3M 36210
3M 36210
CN7
5 6
9 3
5 6
9
AC Servo Motor 8 3
5 6 2
9 5 6 3
89 2
7 13
Encoder Cable HVE17AAB□□□B

8 4 2
8 7 12 AMP-172161-9 3M 36310
4 3M 36210
7 1
1
AMP-172161-9 3M 36310
7 4
4 AMP
AMP 1-172161-9
1-172161-9
3M36310
3M 36210
(17bit absolute) 3M 36310
3M 36210
3M 36210
5 6
9 3
5 6
9 32
8
8 2
7 1
7
4
1 AMP 1-172161-9 3M 36310
3M 36310
36210
4 AMP 1-172161-9 3M
3M 36210
50
A
A DD
MD99TE06-2108
CC
WPS3106A18-10S-R
WPS3106A18-10S-R
BB
Middle Capacity－1000W AA DD
Name Type Connect BB CC

Description：1000W
WPS3108A18-10S-R
WPS3108A18-10S-R
AAA DDD
HVPM04BA□□□B A
A A
D
D D
Straight Connector BB
B
B
CC
C
C
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R HVPM04BA□□□□
HVPM04BA□□□□
B B C C WPS3106A18-10S-R
WPS3106A18-10S-R
AC Servo Motor
CN1
Power Cable AA CC
A D WPS3106A14S-7S-R
A BD D WPS3106A14S-7S-R
HVPM04CA□□□B A A BD
L-Type Connector B
B
B B
C
C
C C
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
AA DD HVPM04CA□□□□
HVPM04CA□□□□
A D
A D
A A D D
WPS3108A18-10S-R
WPS3108A18-10S-R
BB CC
B C
B C HVPM04BA□□□□
HVPM06BA□□□B B B C C WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
AA HVPM02CA□□□□
Straight Connector
C
C
A C
A C
A A
BB C C HVPM02BA□□□□
WPS3108A14S-7S-R HVPM02BA□□□□
AC Servo Motor B
B
WPS3108A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
B B
Power Cable
II
AA
and Brake CN1 BB
18-1S
HH
GG
A 18-1S
D
Cable
18-1S
A D
ACCA D D FF HVPM04CA□□□□
DD EE WPS3106A18-1S-R 3M36310
3M 36310
JJ WPS3106A18-1S-R
3M36210
36210
(Note) HVPM06CA□□□B B
B
C
C
C C
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
3M
B B
L-Type Connector
A A I CI H HVPM02CA□□□□
A BA
A A
H
C G HVPM02CA□□□□
B C CG
3M36310
36310
18-1S
18-1S
3M
18-1S
18-1S
B F
CC B EF WPS3108A14S-7S-R 3M36210
3M 36210
DD B BE WPS3108A14S-7S-R
JJ WPS3108A14S-7S-R
WPS3108A14S-7S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
I
A I H
B AAA A II I I HH
G
HVE17IBB□□□B BBA
B B 18-1S
B
HH H
G
GGGG
18-1S
18-1S
C F
Straight Connector
18-1S 18-1S
18-1S
18-1S
CC
CCD C E FFF F WPS3106A18-1S-R 3M 36310
D J EF WPS3106A18-1S-R 3M3M
3M36310
36310
36210
DDD D JJ E EE 3M 36310
AC Servo Motor JJ J E WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R
3M
3M
3M
3M3M
3M
3M
36310
36310
36210
36210
36210
36210
36210
Encoder Cable
(17bit incremental) I I
HVE17ICB□□□B A AA II H HH
B BB
BA
A I I H
A HG G
H
G
G
B B G G 3M3M36310
36310
18-1S
18-1S 18-1S
L-Type Connector 3M 36310

18-1S
18-1S
C CC F F
18-1S
3M3M3M36310
36310
36210
18-1S
FF
18-1S
3M
3M
3M 36310
36210
C
D CD
C D E EF F 3M36210
36210
D J J EE 3M3M 36210
36210
D D JJ E E
J J
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
CN7 I
A I IH
B AAAA I I I HGHH
HVE17ABB□□□B BB
A
BB B 18-1S
H H G
G
G GG
18-1S18-1S
18-1S
18-1S18-1S
C
18-1S
Straight Connector
F
CC E FF FFF
CD
CC J
D E WPS3106A18-1S-R 3M 36310
D DD
D J J E EEE WPS3106A18-1S-R 3M36210
36310
3M 36310
AC Servo Motor 3M3M
J JJ WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R 3M 36310
36310
3M 36310
WPS3106A18-1S-R 3M 36210
3M 36210
3M3M 36210
3M 36210
36210
Encoder Cable I
A I IHI
(17bit absolute) B AA I I H
BA A
G HHH
H G
HVE17ACB□□□B C
BBB B G G GG
18-1S
18-1S F
18-1S
18-1S
18-1S
18-1S 18-1S
3M 36310
3M36210
3M3M
3M 36310
36310
36310
C E FF 3M3M36210
CD D
L-Type Connector C J EF 3M3M 36310
36210
36210
36310
F
CCD DJJ J E E F 3M36210
36210
3M
DD E
E WPS3108A18-1S-R
JJ WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
I
A I H
B AA A I I HG
Note For middle capacity motors with brake, please remember
B B to use
B
G G power cable and brake cable simultaneously.
H H
G
18-1S
18-1S
18-1S 18-1S
C F
C E FF F
CD C J 3M 36310
D E WPS3106A18-1S-R 3M36210
36310
D D J E E 3M3M
3M 36310
36310
J J WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R 3M 36210
3M3M 36210
36210
I
A I H
I I H
B AA A H GH
B G
B B G G
18-1S
3M 36310
18-1S
18-1S 18-1S
C F 3M36210
36310
C F 3M3M
3M 36310
36310
C DC E F F 3M 36210
D J E 3M3M 36210
36210
D D J E E
J J WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
Middle Capacity－2000W
Name Type Connect Description：2000W
HVPM04BB□□□B A
AAA
A
D
DDD
D
Straight Connector
A D
B C WPS3106A18-10S-R
BBB CCC WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
AC Servo Motor
B C
CN1
Power Cable
A D
HVPM04CB□□□B AAA
A
A
DDD
D
D
L-Type Connector B
BBB
B
C
CCC
C WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
A D
AAA DDD
A D
A D
B C
BBB CCC HVPM04BB□□□□
HVPM06BB□□□B B
B
C
C
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
WPS3106A18-10S-R
HVPM04BB□□□□
Straight Connector A C
WPS3106A18-10S-R
AAA CCC
A C HVPM02BA□□□□
AC Servo Motor A
BC
BBB
WPS3106A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
WPS3106A14S-7S-R
B
WPS3106A14S-7S-R
Power Cable B
and Brake CN1

A D
Cable AAA
A
DDD
D
HVPM04CB□□□□
A D HVPM04CB□□□□
(Note) HVPM06CB□□□B
B
BBB
C
CCC
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
WPS3108A18-10S-R
L-Type Connector A
AAA
C HVPM02CA□□□□
A
CCC HVPM02CA□□□□
C HVPM02CA□□□□
A
BC HVPM02CA□□□□
BBB WPS3108A14S-7S-R
B WPS3108A14S-7S-R
WPS3108A14S-7S-R
WPS3108A14S-7S-R
B WPS3108A14S-7S-R
WPS3108A14S-7S-R
I
A H
BAAA I II HH G
I H
BBB A 18-1SI GGG
H
HVE17IBB□□□B B A 18-1S
CB
18-1S
18-1S
HG
FG
3M 36310
18-1S
CCC D EFFF WPS3106A18-1S-R

Straight Connector J18-1S
18-1S
DDD
C EEE F WPS3106A18-1S-R
WPS3106A18-1S-R 3M
3M
3M36310
36310
36210
36310
CD
J J J EF WPS3106A18-1S-R 3M
3M
3M 36310
36210
36210
WPS3106A18-1S-R 3M
3M 36210
AC Servo Motor
J 36310
D
J
E WPS3106A18-1S-R 3M 36210
3M 36210
Encoder Cable A
I
H
BAA I II HH G
(17bit incremental) A I H
HVE17ICB□□□B
BBB A GGG
H
I
18-1S
BA HG 3M 36310
CB
18-1S
18-1S
F
G
18-1S
3M
3M
3M36310
36310
36210
36310
CCCD J EFFF
18-1S
3M
3M
3M 36310
3M36210
36210
L-Type Connector DDD EEE F 36210
18-1S
C 3M
18-1S
J JJ 3M 36310
36210
CD J E F WPS3108A18-1S-R 3M 36210
D J E WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
I
A H
I II
BAAA G
I HHH
BBB A I HGGG
B A
18-1S
H G
HVE17ABB□□□B
18-1S
18-1S
CB FG
18-1S
18-1S
CCC D EFF
CDDD
18-1S
J18-1S F
EEE F WPS3106A18-1S-R 3M 36310
Straight Connector C D J JJ
D J
E F
E
WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R
WPS3106A18-1S-R
3M
3M
3M36310
3M
3M
3M
3M
36310
36210
36310
36310
3M36210
36210
36210
36310
CN7 J WPS3106A18-1S-R 3M 36210
3M 36210
I
A I II H
BAAA I HHH G
BBB A I HGG
G
B A 18-1S H G
B 3M 36310
HVE17ACB□□□B
18-1S
18-1S
18-1S G
C F
18-1S
3M
3M
3M36310
36310
36210
36310
CCC D E FFF
AC Servo Motor 3M 36310
18-1S
18-1S
J 3M
3M
3M36210
36210
36210
CDD EEE F 3M
3M 36310
36210
L-Type Connector
D J JJ
C D E F WPS3108A18-1S-R 3M 36210
D J E
Encoder Cable J WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
WPS3108A18-1S-R
(17bit absolute)
HE00817DR300(3m)
AC Servo Dual loop Encoder Cable

Specification：HE00817DR300(3m)
Note For middle capacity motors with brake, please remember to use power cable and brake cable simultaneously.
52 MD99TE06-2108
Communication and Interface Cable

Name Type Connect
(2m)
Mini USB USB A type
(2m)
Mini USB
051700800366 CN3 USB A type Mini USB
Cable
D2T- D NN25A
(2m) D2T- D NN25A
USB A type Mini USB
D2T- D NN25A
25 50
25 50
Interface 25 50
LMACK02D CN6
10150
LMACK02D
3M
815AC2A3
Cable
3M 10150
LMACK02D
3M
815AC2A3
10150
26
LMACK02D
1 815AC2A3
D2T- D NN26A
1 26 D2T- D NN26A
1 26 D2T- D NN26A
8.2 Connector
馬達電源端接頭(含煞車)
編碼器端接頭
Motor power cable connector
馬達電源端接頭(含煞車)
(includes brake)
編碼器端接頭
Encoder connector
Small Capacity Series

50W~750W
D 2 T-D
DNN27A
D 2 T-D
DNN27A
馬達電源端接頭
Motor power cable connector
煞車電源端接頭
Brake power connector
馬達電源端接頭編碼器端接頭
Encoder connector
煞車電源端接頭
編碼器端接頭
Middle Capacity Series
1000W/2000W
D2 T- DNN28A
D2 T- DNN28A
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
D 2T- DNN29A
D2T-DNN30A
(without brake) (with brake)

54 MD99TE06-2108
Middle Capacity Series /1000W�2000W (Note)
Signal WPS3102A18-10P-R WPS3102A14S-7P-R

U A --
V B --
W C --
GND D --
B+ -- A D 2 T-D NN33A
B- -- C
Connect Pins Position Definition
I
H A
D2 T - D2 T -
DNN33A DNN32A
G B
WPS3102A18-10P-R WPS3102A14S-7P-R
F C
D2 T
Note By brake Type, two connectors must be used simultaneously - DNN 34 A
E D
J
Encoder Connector
17bit incremental / 50W~750W

Function Signal AMP1-172169-9
5V±5% 1
Power
0V 2
SL+ 3
Serial Data SL- 4
Signal MA+ 7 D2 T-D NN35B
MA- 8
Shielding Shielding 9
17bit incremental / 1000W�2000W

Function Signal WPS3102A18-1P-R
5V±5% A H I A
Power
0V B
SL+ C
Serial Data SL- D G B
F C
Signal MA+ G
MA- H D2 T
- D NN 3 6B
Shielding Shielding I E J D
17bit absolute / 50W~750W
Function Signal AMP-1-172169-9

5V 1
Power
0V 2
VB 5
Battery
GND 6
Serial Data SD+ 7
Signal
D2T - DNN37B
SD- 8
Shielding Shielding 9
17bit absolute / 1000W�2000W

Function Signal WPS3102A18-1P-R
5V A H I A
Power
0V B
VB E
Battery G B
GND F
F C
Serial Data SD+ G D2 T -
Signal SD- H
DNN38B
E J D
Shielding Shielding I
56 MD99TE06-2108
9. HIWIN single axis robot and motor

adaptor flange
HIWIN single axis robot
AC Servo Motor Drive
KK40 KK50 KK60 KK80 KK86 KK100 KK130
50W FRLS052XXA4X F2 F2 F2 F3 F3 F1 - D2Tx-01xx-x-Ax
100W FRLS102XXA4X F2 F2 F2 F3 F3 - - D2Tx-01xx-x-Ax
200W FRLS202XX06X - - - F0 F0 F0 F1 D2Tx-04xx-x-Bx
400W FRLS402XX06X - - - F0 F0 F0 F1 D2Tx-04xx-x-Bx
750W FRMS752XX08X - - - - - F1 F2 D2Tx-10xx-x-Cx
D2-
LPN02A
10. Servo Motor Selection Guide

The motor selection guide in this chapter is located on-line at
http://www.hiwinmikro.tw/hiwincal.aspx
1. Definition of mechanism to be driven by the motor.

Define detailed dimentions of individual mechanical components (ex: ball screw length, lead and
pulley diameter)
Typical servo mechanisms are listed as follows:
[Ball screw mechanism]
[Belt mechanism]
[Rack and pinion mechanism]
[Reduction gear mechanism]
2. Definition of operating pattern (motion velocity profile).

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

Calculate load inertia for each mechanical component. (Refer to �General inertia calculation
method� described later.)
Then, divide the calculated load inertia by the inertia of the selected motor then check the inertia
ratio. Note that the ratio should less than 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.
58 MD99TE06-2108
10.1 Introduction of motor selection relevant parameters
Peak torque
Peak torque indicates the maximum torque that the motor requires during operation (mainly in
acceleration and deceleration steps). The reference value is 80% or less of the maximum motor
torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque, stop holding torque

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

F：External force [N]
Beff： Mechanical efficiency Traveling torque
移動扭矩 Traveling torque
移動扭矩
μ：Coefficient of friction
g: Acceleration of gravity 9.8[m/s2]
( ) ( )
Effective torque
Effective torque indicates a root-mean- square value of the total required for running and stopping
the motor per unit time. The reference value is approximate 80% or less of the rated motor torque.
Ta: Acceleration torque [N-m] ta: Acceleration time [s]
Tf: Traveling torque [N-m] tb: constant-velocity time [s]
Td: Deceleration torque [N-m] td: Deceleration time [s]
tc: Cycle time [s] (Run time + Stop time)
Motor velocity
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value.
When the motor operates at the maximum velocity, you must pay attention to the motor torque and
temperature rise.
Load inertia and motor inertia ratio

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

uniform composition
Shape J calculation formula Shape J calculation formula

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

d
b
a
D2-DNN39A D2-DNN43A
Uniform rod
L/2
L/2
D2-DNN40A
List of symbol： If mass (M [kg]) is unknown, calculate it with the following formula：
J : Inertia [kg-m2] Mass M[kg] = Density ρ [kg/m3] x Volume V[m3]
M : Mass [kg] Density of each material
D : Outer diameter [m] Iron ρ = 7.9 x 103 [kg/m3]
d : Inner diameter [m] Brass ρ = 8.5 x 103 [kg/m3]
L : Length [m] Aluminum ρ = 2.8 x 103 [kg/m3]
a, b, c : Side length [m]
S : Distance [m]
60 MD99TE06-2108
10.3 Equivalent inertia calculation for mechanism
Mechanism J calculation formula

Ball screw
Belt(Conveyor)
*Excluding drum J
Rack and pinion
Reduction gear
Inertia on shaft �a�
List of symbol:
J : Inertia [kg-m2]
JB：J of ball screw
JP：J of pinion
M：Mass [kg]
Mr：Mass of rack [kg]
Wb：Workpiece weight on belt [kg]
Wr：Workpiece weight on rack [kg]
P：Lead
D：Drum diameter [m]
n1：A rotational speed of a shaft [r/min]
n2：A rotational speed of b shaft [r/min]
10.4 Operating pattern (motion velocity profile)
Trapezoidal profile
Travel distance
(Shaded area)
Velocity
Constant-velocity
time Stop time
time
Acceleration Deceleration
time time
Cycle time
Triangle profile
Velocity Stop time
time
time time
Cycle time
62 MD99TE06-2108
10.5 Motor selection example - ballscrews mechanism
F
Workpiece weight W = 5 [kg] W
Ball screw length BL = 0.5 [m]
Ball screw diameter BD = 0.02 [m]
Ball screw lead BP = 0.02 [m]
Ball screw efficiency Beff = 0.9
Travel distance 0.3 [m]
Coupling inertia JC = 10 x 10 -6 [kg-m2]
Bp
Running pattern(velocity profile)

Travel distance W
(Shaded area)
Velocity
D
Constant-velocity
time Stop time
time
time time
Acceleration time ta = 0.1 [s]
Cycle time Constant-velocity time tb = 0.8 [s]
Deceleration time td = 0.1 [s]
Cycle time tc = 2 [s]
Travel distance 0.3[m]
Stop time t s = 1.0 [s]
Ball screw weight

BD 2
BW = × ×
2 ( )
× BL
0.02 2
= 7.9 × 10 3 × ×
2 (
× 0.5 )
= 1.24 [kg]
2
1 2 W ×B P
JL = J C +J B +J W = J C + B W × BD +
8 4 2
1.24 × 0.02 2 5 × 0.02 2
= 0.00001+ +
8 4 2
1 3 ×1 0 −4 [kg −m 2 ]
= 1.226
BP 0.02
Tf = ( µgW +F ) = (0 .1×9 .8 × 5 + 0) = 0.017 [N −m]
2 Beff 2 0.9
Load inertia
2
1 2 W ×B P
JL = J C +J B +J W = J C + B W × BD +
8 4 2
1.24 × 0.02 2 5 × 0.02 2
= 0.00001+ +
8 4 2
2
= 1.226
1 3 ×1 0 [kg ]
Provisional motor selection

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

JL 1.73 × 10 −4
1.226
= = 7.21
10.2
JM 0.17 × 10 −4
The inertia ratio is less than 10.
Calculation of maximum velocity (Vmax)

1 1
�動�離
× t a × V max + t b × Vmax + × t d × V max = Travel
Traveldistance
distance
2 2
1 1
× 0.1 × V max + 0.8 × Vmax + × 0.1× Vmax = 0.3
2 2
Vmax = 0.334 [m/s]
Calculation of motor velocity (N [r/min])

Ball screw lead BP = 0.02 [m]
Vmax 0.334
N= = = 16.7 [rps] =1002[ rpm]
BP 0.02
1002[rpm] is less than 3000[rpm] (rated velocity of Hiwin 200W Servo motor)
64 MD99TE06-2108
Calculation of torque
BP 0.02
Traveling torque Tf = ( µgW +F ) = (0 .1×9 .8 × 5 + 0) = 0.017 [N
2B eff 20 .9
(J L +J M ) × 2πN
60 +
Ta = Tf
ta
Acceleration 2πx1002
torque (1.226 × 10 −4 + 0.7 × 10 −4 ) × 60
= + 0.017
0.1
= 0.163
0 [N− m]
(J L +J M ) × 2πN
60
Td = − Tf
td
Deceleration 2πx1002
torque 1.73 × 10 −4 + 0.14
(1.226 7 ×10 −4 ) × 60
= − 0.035
0.017
0.1
= 0.129
0 [N −m ]
Verification of maximum torque

Ta = 0.163 [N-m] < 1.91 [N-m] (Maximum torque of Hiwin 200W Servo motor)
Verification of effective torque
Ta2 × t a + T f2 × t b + T d2 × t d
Trms =
tc
0.16322 × 0.1 + 0.035

0.231 0.01722 × 0.8 + 0.161
0.12922 × 0.1
=
2
= 0.048
0.067[N− m ]
0.048[N-m] < 0.64[N-m](Rated torque of Hiwin 200W Servo motor)
Evaluation
Judging from the inertia ratio calculated above, selection of 200W motor is preferable, although the
torque margin is significantly large.
11. Motor / Drive Requirements List

Customer： Date：
Contact Person：
Email： Title：
Drive series ■ D2T Note：
Low inertia：□ 50W □ 100W □ 200W □ 400W
Middle inertia：□ 50W □ 100W □ 400W
AC Motor Series* □ 750W □ 1000W □ 2000W
Format：□ 17bit incremental
□ 17bit absolute
Key* □ No □ Yes
Brake* □ No □ Yes
Seal* □ No □ Yes
AC input voltage(V) □ Single phase 220V □ Three phase 220V
Motor power (flexure resistance)
Servo motor connecting Cable Length：□ 3M □ 5M □ 7M □ 10M
wires* Encoder (flexure resistance)
Cable Length：□ 3M □ 5M □ 7M □ 10M
Related accessory □ Pulse Wire □ USB cable
requirements* □ Single-phase filter □ Three-phase filter
□ Position control □ Velocity control
□ Torque control □ EtherCAT(CoE) □ Others
Control mode*
□ Slide/model no:
□ Reducer/reduction ratio:
□ Timing belt
□ Gear rack
Match method
□ Ball screw/guiding distance:

screw outer diameter:
□ PLC/manufacture: model:
□ Axis card/manufacture:
Host
model:
Special Need
Installation □ Horizontal □ Vertical
Speed requirement
Accelaration
requirement
Weight requirement
The information below is to be filled out by HIWIN or authorized agents.

Recommended specifications：
Fields with * must be filled Salesperson：

66 MD99TE06-2108
12. Safety Precautions

Thank you for purchasing HIWIN’s AC servo motor. Installation and operation of the motor must
be in accordance with the HIWIN manual. Before using the servo motor, please read these safety
instructions and precautions carefully.
Unpacking instructions
1. Before using the servo motor, please read these safety instructions and precautions carefully.
HIWIN is not responsible for any damage, accident, or injury caused by incorrect handling.
2. Examine the appearance of the motor for any unusual marks or damage from shipment.
3. Inspect the wires for damage.
4. Do not disassemble the motor. Since the product design has been based on structure calculations,
computer simulations, and prototype testing, do not disassemble the product without the
permission of HIWIN engineers.
5. Supervise children when handling this product.
6. People with psychosomatic illness or insufficient experience should not handle this product,
unless under the direct supervision of managers or product narrators.
* If any items are damaged or incorrect, please contact your distributor or HIWIN sales representative.
Safety instructions
1. The product can only be repaired by HIWIN engineers. Please send the product back to us if there
is any unusual phenomenon.
2. Do not hold the motor by its wire harness or shaft.
3. Do not hit the motor or shaft. Shock can damage the encoder inside the motor.
4. Do not apply loads to the motor shaft that are in excess of the specified value.
5. Protect the motor and encoder from high electrical noise, vibration, and unusual temperatures.
6. Do not change the motor parts or disassemble the screws. HIWIN will not be responsible for any
damages, injuries, or accidents that may occur.
Wiring instructions
1. Ensure the specified power input value before using the product, and verify that the proper power
supply is being used.
2. Before operation, please ensure that the motor, brake, and encoder are connected correctly.
Incorrect wiring may cause abnormal motor operation or even cause permanent damage to the
motor.
3. To avoid voltage coupling and electrical noise on the encoder, ensure adequate separation of the
motor power wires and the encoder wires.
4. Ensure that the motor ground wire is connected to the ground terminal on the servo drive.
5. Do not perform a dielectric voltage-withstand test on any encoder terminal. The test may cause
damage to the encoder.
Operation instructions
1. Higher than maximum specified current may cause demagnetization of magnetic components
inside the motor.
2. The AC servo motor is designed to operate through a dedicated servo drive. Do not connect to a
commercial power source (100/200V AC, 50/60 HZ). The motor will not operate correctly and may
cause permanent damage.
3. The motor must be operated within its specified range.
4. Attention should be given to ensure adequate cooling and ventilation of the motor during
operation.
5. For long term use, the motor shaft should be resupplied with proper and sufficient oil during the
period of operation.
6. If any abnormal odor, noise, smoke, temperature rises or vibration is detected, stop the motor
immediately. Remove power from the servo drive and isolated the motor.
Motor International Standard
Maintenance and Storage instructions

1. Do not store the product in an inflammable environment or with chemical agents.
2. Store the product in a place without humidity, dust, harmful gases, or liquids.
3. The motor shaft opening is neither waterproof nor oil-proof. Do not install the motor in an
environment where there is harmful gas, liquid, excessive moisture, or water vapor.
4. Do not store the servo motor where it will be subjected to vibration or shock in excess of the
specified limit.
5. The storage and transportation temperature of this product: -20℃~+65℃
6. Clean：Wipe with Alcohol (70%)
7. Before shipping, the motor shaft is coated with antirust oil to protect the motor shaft against rust
formation. However, the material of the motor shaft is not entirely rust-proof. When the motor
storage time has exceeded six months, please inspect and examine the motor shaft and resupply
with proper and sufficient antirust oil at least once every three months thereafter.
8. Product disposal：Follow the local laws and regulations for recycling.
A one year guarantee is provided from the date of delivery. For product damage caused by
improper operation (Please refer to the notes and instructions in this operation manual). HIWIN
will not be held responsible for replacing or maintaining the product as a result of any natural
disasters that may occur during this period.
Warning：For the proper use of the HIWIN AC servo motor read these safety precautions
carefully before installation, operation, and maintenance.
Warning：Do not touch when motor operating to avoid being scalded.
■ Please read “warning signs”.

■ Turn power off before clean product.
■ Read manual before use.
■ If the product is used under overload condition shell temperature rises.
■ Without manufacturer’s permission, please do not arbitrarily modify the device.
■ It is difficult to ensure electromagnetic compatibility (EMC) problems do not occur in some
environments.
■ Removal of damaged power cable fasteners, with care and with attention for power cable fasteners.
■ Avoid impact on of shaft end and encoder.
■ Products cannot be used in environment with flammable materials.
MEMO
AC Servo Motor & D2T Drive Technical Information
Publication Date : June 2008, first edition
Print Date : August 2021, 6th edition
1. HIWIN is the registered trademark of HIWIN Group. For your protection, avoid buying counterfeit
products from unknown sources.
2. Actual products may differ from specifications and photos provided in this catalog. These differences
may be the result of various factors including product improvements.
3. HIWIN will not sell or export products or processes restricted under the "Foreign Trade Act" or
related regulations. Export of restricted products should be approved by proper authorities in
accordance with relevant laws and shall not be used to manufacture or develop nuclear, biochemical,
missiles or other weapons.
Copyright © HIWIN Mikrosystem Corp.

Global Sales And Customer Service Site
HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA HIWIN MIKROSYSTEM CORP.
OFFENBURG, GERMANY JONA, SWITZERLAND SUWON．CHANGWON, KOREA No.6, Jingke Central Rd.,
www.hiwin.de www.hiwin.ch www.hiwin.kr
www.hiwin.eu info@hiwin.ch info@hiwin.kr
Taichung Precision Machinery Park,
info@hiwin.de Taichung 40852, Taiwan
Tel: +886-4-23550110
Fax: +886-4-23550123
www.hiwinmikro.tw
HIWIN JAPAN HIWIN s.r.o. HIWIN CHINA business@hiwinmikro.tw
KOBE．TOKYO．NAGOYA．NAGANO． BRNO, CZECH REPUBLIC SUZHOU, CHINA
TOHOKU．SHIZUOKA．HOKURIKU． www.hiwin.cz www.hiwin.cn
HIROSHIMA．FUKUOKA．KUMAMOTO, info@hiwin.cz info@hiwin.cn
JAPAN
www.hiwin.co.jp
info@hiwin.co.jp
HIWIN USA HIWIN FRANCE Mega-Fabs Motion Systems, Ltd.

CHICAGO, U.S.A. STRASBOURG, FRANCE HAIFA, ISRAEL
www.hiwin.us www.hiwin.fr www.mega-fabs.com
info@hiwin.com info@hiwin.de info@mega-fabs.com
HIWIN Srl HIWIN SINGAPORE

BRUGHERIO, ITALY SINGAPORE
www.hiwin.it www.hiwin.sg
info@hiwin.it info@hiwin.sg
Copyright © HIWIN Mikrosystem Corp.

The specifications in this catalog are subject to change without notification. ©2021 FORM MD99TE06-2108 (PRINTED IN TAIWAN)

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AC Servo Motor &

Linear Motor Stage Linear Motor

Torque Motor & AC Servo Motor & Drive

Linear Actuator Positioning

Single-Axis Robot Torque Motor

Ballscrew Linear Guideway

6.1 Servo drive with standard interface.................................. 24

7.1 Motor specifications and application environment ......... 37

8. Cable and 8.1 Cable ................................................................................... 49

9. HIWIN single-axis robot and motor adaptor flange ....................... 56

11. Motor / Drive requirements list.................................................................65

Excellently high speed response

High acceleration responses

level servo performance is achieved.

Built-in accuracy improvement feature

Without accuracy improvement feature With accuracy improvement feature

Vibration Suppression Feature

Without vibration With vibration

Electronic gear ratio and Encoder Emulator

Complete tool sets

Accuracy enhancement function

the drive, so that high positioning accuracy is achieved. D1N-SNN08A

Frequency analysis tools

Advanced gain scheduling feature

Variety of I / O functions D1N-SNN09B

To support a number of different functions,

more accurate. D1N-SNN12A

PDL (Process Description Language)

Easy integration -30

A complete solution with positioning module, motor and drive

High-speed network communications interface

RoHS regulations limit six hazardous substances are:

RoHS Polybrominated Biphenyls (PBB), the maximum allowable

2.2 Comply with CE & UL regulations

3.2 Servo motor

Drive input voltage

Holding brake options

3.3 Motor cable

Motor side connector

Drive side connector

3.4 Encoder cable

Drive side connector

Note1 Please refer to user guide

5. Part numbers and options

without brake HVPS04AA

Straight type HVPM04BA

Note Straight type : straight waterproof connector

5.1 AC50W~AC750W－17bit incremental encoder

Note2 EMC pack model (please refer to P.35)

Motor cable / without brake Motor cable and brake cable

HVPS04AA □□□ B HVPS06AA □□□ B

Cable type Cable type

Note For more information about cables, please refer to P.49-P.55

HVPS04AA□□□B HVPS06AA□□□B HVE17IAB□□□B LMACK02D D2T-EMC2

Encoder cable / 17bit incremental

5.2 AC1000W/AC2000W－17bit incremental encoder

single phase/ FRMM1K20613Δ Approx.

Note2 EMC pack model (please refer to P.35)

Motor cable / without brake Motor cable and brake cable

HVPM04□ A □□□ B HVPM06□ A □□□ B