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HM-6136-5
AC Servo-motor
KBLII Series
OPERATING MANUAL
1
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This product is designed to be incorporated in the general industrial machinery, and must not be
used for other purposes. It should be noted in advance that ORIENTAL MOTOR CO., LTD. is not
responsible for any damages caused by ignoring this warning.
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Contents
1. Precautions ............................................................................................................................. 4
2. Before Use ............................................................................................................................... 4
2.1 Before Use ....................................................................................................................... 4
2.2 Product Number Code .................................................................................................... 4
2.3 Suitable Motor-Driver Combinations............................................................................. 4
3. Names and Functions of Components .................................................................................. 6
4. Mounting ................................................................................................................................. 8
4.1 Shipping ........................................................................................................................... 8
4.2 Mounting the Motor......................................................................................................... 8
4.3 Connecting Gearhead to Motor ...................................................................................... 9
4.4 Mounting the Motor on Machinery ............................................................................... 10
4.5 Installing the Driver ....................................................................................................... 11
5. Connections .......................................................................................................................... 13
5.1 Before Connecting the Equipment ............................................................................... 13
5.2 Connections .................................................................................................................. 13
5.3 Connecting the Motor and Driver (CN-1)..................................................................... 14
5.4 Connecting the Driver and Power Supply .................................................................... 15
5.5 Noise Suppression, Grounding method ....................................................................... 16
5.6 Installation of the leakage breakers ............................................................................. 16
5.7 Methods of Speed Setting and Their Connection ....................................................... 17
6. FunctionOperation ............................................................................................................. 19
6.1 Control Input Output Circuits (I/O) ............................................................................... 19
6.2 Input Signal Circuit ........................................................................................................ 21
6.3 Output Signal Circuit ..................................................................................................... 21
6.4 Operation Timing Charts ............................................................................................... 22
6.5 Use of the Electromagnetic BrakeElectromagnetic brake models....................... 25
6.6 Multi-Motor Control Function ....................................................................................... 26
6.7 Protection Functions ..................................................................................................... 27
7. Troubleshooting .................................................................................................................... 28
8. Specifications ........................................................................................................................ 30
8.1 AC Servo motor/Servo driver Specifications ............................................................... 30
8.2 General Specifications .................................................................................................. 32
8.3 Geared motor Torque Table load of gearhead output shaft ....................................... 33
8.4 Permissible thrust load and permissible overhangload of gearhead output ............. 33
8.5 Lowering Operation Capacity ....................................................................................... 34
8.6 Speed-Torque Characteristics ..................................................................................... 35
8.7 Load Torque - Driver Input Current Characteristics .................................................... 35
9. Dimensions ............................................................................................................................ 37
9.1 Servo Motor ................................................................................................................... 37
9.2 Servo Driver ................................................................................................................... 45
9.3 Accessory ...................................................................................................................... 46
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1. Precautions
Do not use in a place where there is flammable gas and/or corrosive gas.
The motor housing must be mounted with a screw and spring washer to the ground point of the equipment.
When installing the motor into your equipment, ensure that the cable is fixed and does not move.
In addition, do not apply any pressure to the cable.
Installation must be performed by a qualified installer.
Under no circumstances should cabling work be performed when connecting the unit, since this can result
in damage to the driver or motor, or cause errors in operation.
2. Before Use
2.1 Before Use
Check to see that you have received the complete product set, including accessories. If any parts are missing or
damaged, please contact your nearest Oriental Motor sales office.
(1) Motor
(2) Driver
(3) Junction cable
(4) Driver mounting brackets : 2-pieces set Flat-headed screws : Set of 4 pieces
(5) External speed potentiometer
(6) Signal line for connection to external speed controller
(7) Operating manual : 1 piece
KBL5120GD-A2M-1
Cable
No letter : Cable Included
Model
-1: Cable Available Model
KBLSeries
Output Power
30 : 30W
60 : 60W
120 : 120W
180 : 180W
400 : 400W
Voltage
A2 : Single-Phase 100V/115V
C : Single-Phase 200V/230V
Type of Shaft
GD : GD Type pinion Shaft
GH : GH Type pinion Shaft
No letter: Round Shaft
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KBL230-A2M
KBLM230-AM
KBL230GD-A2
KBLM230GD-A
KBL230GD-A2M
KBLM230GD-AM
KBL460-A2
KBLM460-A
KBL460-A2M
KBLM460-AM
KBL460GD-A2
KBLM460GD-A
KBL460GD-A2M
KBLM460GD-AM
KBL5120-A2
KBLM5120-A
KBL5120-A2M
KBLM5120-AM
KBL5120GD-A2
KBLM5120GD-A
KBL5120GD-A2M
KBLM5120GD-AM
KBL6180-A2
KBLM6180-A
KBL6180-A2M
KBLM6180-AM
KBL6180GD-A2
KBLM6180GD-A
KBL6180GD-A2M
KBLM6180GD-AM
Accessories
KBLM230-A
KBLD30-A
KBLD60-A
KBLD120-A
Manual1 piece
O-ring *3
KBLD180-A
Accessories
KBL230-C
KBLM230-C
KBL230-CM
KBLM230-CM
KBL230GD-C
KBLM230GD-C
KBL230GD-CM
KBLM230GD-CM
KBL460-C
KBLM460-C
KBL460-CM
KBLM460-CM
KBL460GD-C
KBLM460GD-C
KBL460GD-CM
KBLM460GD-CM
KBL5120-C
KBLM5120-C
KBL5120-CM
KBLM5120-CM
KBL5120GD-C
KBLM5120GD-C
KBL5120GD-CM
KBLM5120GD-CM
KBL6180-C
KBLM6180-C
Manual1 piece
KBL6180-CM
KBLM6180-CM
KBL6180GD-C
KBLM6180GD-C
KBL6180GD-CM
KBLM6180GD-CM
KBL6400-C
KBLM6400-C
KBLD400-C
KBL6400-CM
KBLM6400-CM
KBLD400-CM
KBL6400GH-C
KBLM6400GH-C
KBLD400-C
KBL6400GH-CM
KBLM6400GH-CM
KBLD400-CM
KBLD30-C
KBLD120-C
KBLD180-C
O-ring *3
*1Products requiring an extension cable (sold separately) are designated by a -1 at the end of the unit
model (e.g. KBL230-A2-1) .
*2Junction cable is included only with cable included models.
*3 The O-rings are fitted in the pilot section of pinion shaft type motors.
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Function
POWERPower indication
Lighting Conditions
Overload protection
When a protective function is activated, the alarm signal is output and the
motor stops naturally.
Operation can be restored by turning power back on.
In electromagnetic brake models, the motor is stopped instantaneously
Function / Use
This connection is not required when using the driver's built-in
power supply (5V) . When using a power supply from an external
source such as a programmable controller, input a positive voltage
(DC+12V24V) .
STOP/START
Start/stop input
BRAKE/START
Brake input
Input for starting and stopping the motor. The motor starts and stops
in accordance with the acceleration and deceleration settings.
Input for starting the motor and for effecting instantaneous motor stops.
Motor stops instantaneously regardless of the deceleration setting,
and starts in accordance with the acceleration setting.
Input for changing the direction of rotation of the motor shaft.
Direction of rotation
CCW/CW
selection input
Electromagnetic
These inputs can be used to select one of the built-in speed potentio-
meters (A, B, or C) or the external speed potentiometer.
N.C.
Not used.
H
External
speed
M
control
input
L
SHIELDShield terminal
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Servo driver
AC SERVO DRIVER
KBLD120-A
POWER
ALARM
Indication
SPEED A
M.BRAKE FREE
SPEED A
SPEED B
SPEED C
+12V
+24V
LOW
HIGH
LOW
HIGH
LOW
HIGH
SLOW START
FAST
SLOW
SLOW DOWN
FAST
SLOW
Function
Speed potentiometers
Three different speed levels can be set using the
A, B and C speed potentiometers.
SPEED C
SLOW START
SLOW DOWN
N.C
SPEED B
H
STOP/
START
M
BRAKE/
START
L
CCW/
CW
SHIELD
M.BRAKE
FREE
SPEED
SPEED OUT ASG
SELECT 1 SPEED
SPEED OUT BSG
SELECT 2 ALARM
INPUT
OUT
GND
OUTPUT
INPUT
GND
GND
CN-2
ALARM OUT
MOTOR
OUTPUT GND
Signal Name
Function / Use
This signal is used when monitoring
Speed output
(open collector
output)
Alarm output
90
as expressed in electrical degrees.
This signal is output when a protec-
(open collector
output)
Output signal
stopped.
Common ground for output signals.
ground
AC100/115V
FG
Servo motor
Accessories
Junction cable (1.6m)
40
30
50
60
70
20
Manual
(one piece)
80
10
90
0
100
OPERATING
MANUAL
SPEED CONTROL
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4. Mounting
4.1 Shipping
(1) Do not ship with servomotor cable connected to the driver.
(2) Do not drop, as this may cause damage.
Vertical mounting
Mounting screw
Cable lead facing
Mounting plate
Mounting plate
Mounting screw
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AC Servo Motor
coupling
Notes
Misalignment of the motor shaft produces vibration which can greatly shorten bearing life and cause
fatigue damage of the motor shaft.
Gearhead
Servo Motor
Flange surface
O-ring
Pilot section
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Unit Model
KBL230-
KBL460-
KBL5120-
KBL6180-
KBL6400-
Mounting plate
Bolt Size
M4
M5
M6
M8
M8
Hexagonal nut
Spring washer
Bolts included with gearhead
Hexagon socket
head boltM8
Spring washer
Notes
Hexagonal nut
Use a strong mounting plate, fastening it securely to prevent vibration and good heat dissipation.
When continuously operating the servo motor by single phase 115V and 230V, an aluminum heat sink of
250mm 250mm 6mm, or larger compatible heat sink is necessary.
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Mounting screwaccessory
Mounting bracket
accessory
Notes
When installing the driver in a tightly sealed location such as a control panel or near a heat source,
take precautions against driver temperature rise. When using in locations where the overheat
protection function could activate, use a cooling fan or take other measures to keep ambient
temperature below 40.
Use a shock absorber when installing the driver in locations where it could be subject to vibration.
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25mm
or more
20cm
or more 25mm or
more
Vent hole
Control panel
Servo driver
25mm or
more
Vent hole
270
254
240
6.2
7.62 Piches
6.2
7.62Piches
The mounting plate is not equipped with mounting screws. These must be purchased separately.
25
1370.3
157
66
4.5
10
25
22.5 or less
50
60
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5. Connections
5.1 Before Connecting the Equipment
The following items are not included and must be provided by the customer.
(1) Power supply cable
3-Core cablea conductor cross-sectional area of at least 1.25mm2 )
(2) Control I/O signal port
a multi-core, twisted-pair, blanket shielding cable, each 0.14mm or more in diameter
5.2 Connections
Servo driver
+12V24V external power supply input
This connection is not necessary when
using the driver's built-in power supply (+5V)
External speed potentiometer
( provided with the product)
SPEED D
Start/stop input
ON:startOFF:stop
Brake input
ON:startOFF:brake
Direction of rotation selection input
ON:CWOFF:CCW
Electromagnetic brake release input
ON:freeOFF:auto-control
Speed selection input
SW1
OFF
SW2
ON
OFF
SW3
ON
OFF
SW4
ON
OFF
SW5
ON
OFF
SW6
ON
OFF
ON
+12V
+24V
STOP/
START
H
M
BRAKE/
START
CCW/
CW
M.BRAKE
FREE
SPEED
SELECT 1
SPEED
SELECT 2
INPUT
GND
N.C.
INPUT
GND
,,,,,,,,,
,,,,,,,,,
, ,, ,
,,,,,,,,
,,,,,,,,
2
1
,,,,,,,,
,,,,,,,,
,,,,,,,,
,,,,,,,,
SHIELD
SPEED
OUT ASG
SPEED
OUT BSG
ALARM
OUT
OUTPUT
GND
,,,,,,,,,,
,, ,
1
MOTOR
CN-2
Regeneration
KBL6400 type
AC100V
(AC200V)
AC100V
(AC200V)
FG
(Closs-sectional area
of at least 0.75mm2)
In addition to the switches shown in the diagram, input/output signal connections can be directly controlled
by TTL or transistors.
For details, see the section "Input Signal Circuit" page .
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L(m)
Extension Cable
(for models equipped with electromagnetic brake
Cable Model
Lm
CC01SKF
CC01SKFM
CC016SKF
1.6
CC016SKFM
1.6
CC03SKF
CC03SKFM
CC05SKF
CC05SKFM
CC07SKF
CC07SKFM
CC10SKF
10
CC10SKFM
10
CC15SKF
15
CC15SKFM
15
CC20SKF
20
CC20SKFM
20
The extension cable are not designed to be bent. For applications in which the motor is mounted on a movable
device and the cable repeatedly bent and straightened out, use the optional flexible cable CC SKR (for
standard type) , CC SKRM (for electromagnetic brake type) .
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AC100/115V10%15 50/60Hz
AC200/230V10%15 50/60Hz
AC100/115VAC200/230V
FG
Servo drover
power input terminal
Class 3 ground
9mm or more
6.2mm or less
9mm or more
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Cabinet
Servo driver
Controller
Other machinery
Servo motor
Mitsubishi Electric
Fuji Electric
NV Series
EGSG Series
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Speed Potentiometer
Selected
SPEED Abuilt-in
SPEED Bbuilt-in
SPEED Cbuilt-in
SPEED Dexternal
AC SERVO DRIVER
KBL D120-A
POWER
ALARM
M.BRAKE FREE
SPEED A
LOW
HIGH
SPEED B
LOW
HIGH
LOW
HIGH
SPEED C
SLOW START
FAST
SLOW
SLOW DOWN
FAST
SLOW
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I /O
External speed potentiometer
20k
N.C.
+12V
+24V
STOP/
START
BRAKE/
START
CCW/
CW
SHIELD
M.BRAKE
FREE
, ,
,,,,1,,,,,,, ,,,,,,,,,
,,,,,,,,
, , , , , ,,
,,,,,,,,
,
,,,,,,,,
,,,,,,,, Accompanying signal line
2
Servo driver
,,,,,,,,
1m
,,,,,,,,
,,,,,,,,
,,,,,,,,
,,,,,,,,Shielding wire
3000
2000
1000
20
40
60
80
Values on Dial Scale
100
To select this method, connect the controller as shown in the diagram above, and set SPEED SELECT 1
(SW5) and SPEED SELECT 2 (SW6) to ON.
(2) Connecting the External DC Power Supply
I /O
N.C.
+12V
+24V
STOP/
START
H
M
BRAKE/
START
CCW/
CW
SHIELD
M.BRAKE
FREE
DCO5V
1mA or more
,
,,,,,,,,,,, ,,,,,,
,,,,,,,,,
,,,, , , ,
,,,,,,,,
Servo driver
3000
2000
1000
,,,,,,,,
Accompanying signal line
,,,,,,,,
,,,,,,,,
1m
,,,,,,,,
,,,,,,,,
,,,,,,,,Shielding wire
0
2
3
4
DC VoltageV
Speed can also be controlled by means of an external DC voltage. To select this method, connect the
power supply as shown above, and set SPEED SELECT 1 (SW5) and SPEED SELECT 2 (SW6) to ON.
Note
Always use the accompanying signal line (3.3mm external diameter 1m) when controlling speed
by means of the external speed potentiometer or external DC voltage. The signal line's shielding wire
should be connected to the SHIELD terminal. Be sure that this shielding wire is not connected to any
other terminal on the external speed potentiometer or DC power supply. The input impedance
between the M terminal and the L terminal is about 20k . The L terminal is connected internally to
the INPUT GND.
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6. FunctionOperation
6.1 Control Input Output Circuits (I/O)
6.1.1 Input Circuit
Control signals are input by photocoupler as shown in the figure below.
The photocoupler for the control input section can be driven by the built-in power supply (DC5V) or by an
external DC power supply (DC12 24V) .
Input circuit
( KBL230, KBL460, KBL5120, KBL6180 type)
670
+12V
+24V
Input circuit
(KBL6400 type)
Equivalent to TLP521
5V
ON
5V
Equivalent to
TLP521
STOP/START
STOP/START
BRAKE/START
BRAKE/START
CCW/CW
670
+12V
+24V
560
M.BRAKE FREE
SPEED SELECT 1
SPEED SELECT 2
CCW/CW
560
M.BRAKE FREE
SPEED SELECT 1
SPEED SELECT 2
INPUT GND
INPUT GND
INPUT GND
INPUT GND
KBLD30-A , KBLD30-C
KBLD60-A , KBLD60-C
KBLD120-A , KBLD120-C
KBLD180-A , KBLD180-C
KBLD400-C
KBLD400-CM
ON
built-in power supply
Notes
When switching between the on-board input signal power source and the external power source on
the KBL6400 model, ensure that the power sources are in the OFF position first.
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Internal circuit
SPEED OUT ASG
OUTPUT GND
Motor speed =
60 (r/min)
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Direct Control
Controller
Servo driver
Equivalent to TTL7406
Input
Controller
Photocoupler
INPUT
GND
Servo driver
Input
INPUT
GND
Controller
Servo driver
+12V +24V
Transistor
+12V
+24V
Input
GND
Contact control
Controller
Relay
Servo driver
Input
INPUT
GND
(3) Cautions to observe when using a controller with an internal clamp diode
When using a wiring configuration as illustrated
in this diagram, turning on the driver first at
start-up or turning off the controller when the
Controller
driver is still on may cause current to flow as
+12V
indicated by the arrows in the diagram, thereby
+24V
Clamp
diode
causing the motor to run.
+12V
Input
+24V Transistor
Differences in power supply capacity may cause
the motor to run temporarily when the driver
INPUT
GND
and controller are turned on or off simultaneously. Therefore, always turn the controller on
first and the driver off first.
Servo driver
670
TLP521 or equivalent
560
5V
Controller
DC24V
1.2k or more
DC12V
560
Servo driver
Values in parentheses
apply when a DC12V
power supply is used.
Output
OUTPUT
GND
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START/SPEED CHANGE
/STOP1
NA=3000r/min
t t
t1SLOW UP
t2SLOW DOWN
NB=2000r/min
NC=1000r/min
ND=
100r/min
Motor operation
pattern
CW
CCW
Start/stop input
SW1
OFF
ON
*1
Brake input
SW2
OFF
ON
Direction of rotation
selection input
SW3
OFF
ON
Speed selection
input 1SW5
OFF
ON
Speed selection
input 2SW6
OFF
ON
Driver power
OFF
ON
Controller power
OFF
ON
*1
*1
*1
*2
*2
Note
For sure braking, wait at least 0.5 seconds when switching between direction of rotation selection
input and brake input and between direction of rotation selection input and start/stop input. Brake
may not activate when switching within 0.5 seconds.
When using a controller (programmable controller, etc.) with an internal clamp diode , turn the controller on first and turn the driver off first.
Reversing the power on/off order may cause the motor to rotate temporarily when the power supply
is turned on or off.
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Drive preparation
Drive preparation
Start/stop inputsw1) ON
Servo driver
SW1
OFF
SW2
ON
OFF
ON
Servo driver
STOP/
START
BRAKE/
START
SW1
OFF
SW2
ON
OFF
ON
INPUT
GND
INPUT
GND
Accelerates up
Brake input (sw2) ON
at the slow starting
OFF
set time
SW1
Accelerates up
Start/stop input (sw1) ON
at the slow starting
set time
OFF
SW2
ON
OFF
ON
BRAKE/
START
INPUT
GND
INPUT
GND
SW1
STOP/
START
STOP/
START
SW2
ON
OFF
ON
BRAKE/
START
STOP/
START
BRAKE/
START
INPUT
GND
INPUT
GND
INPUT
GND
INPUT
GND
OFF
SW2
ON
OFF
ON
Deceletation stop
OFF
SW2
ON
OFF
STOP/
START
BRAKE/
START
ON
STOP/
START
BRAKE/
START
INPUT
GND
INPUT
GND
INPUT
GND
INPUT
GND
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3000r/min
t1
t2
AC SERVO DRIVER
KBL D120-A
POWER
ALARM
M.BRAKE FREE
SPEED A
LOW
HIGH
SPEED B
LOW
HIGH
LOW
HIGH
SPEED C
SLOW START
FAST
SLOW
SLOW DOWN
FAST
SLOW
When using an external DC power supply to control speed, control can be performed by means of the start/
stop input. If SW2 is switched to OFF after setting SW1 to OFF, the motor stops instantaneously.
(Always set SW2 to ON when starting the motor.)
Direction of rotation
Reverse
Forward
Note
When using the motor with a gearhead, certain reduction gear ratios will cause the gearhead
output shaft to rotate in the opposite direction of the motor shaft. For details, see page 33.
Speed Potentiometer
Selected
SPEED Abuilt-in
SPEED Bbuilt-in
SPEED Cbuilt-in
SPEED Dexternal
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Servo motor
Ball screw
Load
Notes
The electromagnetic brake is used to hold position of a load. It cannot be used for braking.
The electromagnetic brake incorporated into the electromagnetic brake models is not a stopping
mechanism to ensure mechanical safety.
To ensure mechanical safety, incorporate a stopping mechanism into your equipment.
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Control lines
H
M
L
H
M
L
AC100V(AC200V)
AC100V(AC200V)
AC100V(AC200V)
AC100V(AC200V)
AC100/115V (AC200/230V)
Power supply lines
Notes
Use a DC power supply with a current capacity greater than or equal to that given by the following
expression :
I = l N (mA) (where N is the number of motors) .
Example : When two motors are operated, the current capacity is 2mA.
All other input/output signal terminals should be set separately for each motor.
(2) When using an external speed potentiometer
VRx
Control lines
3
2
1
H
M
L
H
M
L
AC100V(AC200V)
AC100V(AC200V)
AC100V(AC200V)
AC100V(AC200V)
AC100/115V (AC200/230V)
Power supply lines
Notes
Connect separate control line to the H, M and L terminals.
The resistance of the speed potentiometer is given by the following expression :
20
VRX= (K) (where N is the number of motors)
N
26
Protection Function
When Activated
Overload
Activated when a load exceeding the rated torque is
applied to the motor for 5 seconds or more.
Overheat
Activated when the temperature of the driver's
internal radiator exceeds 80 due to operation
involving frequent starts and stops or reversals using a
short operating cycle, or when using the motor for
lowering operations. The alarm can be reset when the
temperature of the internal radiator falls below 72.
OvervoltageActivated when the inverter's primary voltage exceeds
the permissible value as a result of an excessive load
being applied during lowering operations or the like.
Notes
ALARM
M.BRAKE FREE
SPEED A
SPEED B
SPEED C
LOW
HIGH
LOW
HIGH
LOW
HIGH
SLOW START
FAST
SLOW
SLOW DOWN
FAST
SLOW
+12V
N.C
+24V
H
STOP/
START
M
BREAK/
START
L
CCW/
CW
SHIELD
M.BREAK
FREE
SPEED
SPEED OUT ASG
SELECT 1 SPEED
SPEED OUT BSG
SELECT 2 ALARM
INPUT
OUT
GND
OUTPUT
INPUT
GND
GND
CN-2
MOTOR
The protect function will not be effective while using a gearhead if a load
in excess of the rating torque is not exerted on the servo motor output
shaft even if the load is greater than the permissible gearhead torque.
AC100/115V
FG
27
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7. Troubleshooting
If the motor fails to function properly, first check to see that the problem is not due to errors in operation or
set-up as described in the table below. If the trouble persists, contact your nearest Oriental Motor.
Problem
Check Point
Response
28
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Problem
Check Points
Response
Is a gearhead
?
being used Certain gearhead reduction gear ratio
s cause the
output shaft to turn in the opposite derection of
the motor.
Start is delayed.
Stop is delayed.
Is the direction of rotation being changed
ato the same time as input of BRAKE or
?
STOP signals
Motor does not rotate
Is the motor's speed setting less than 30
smoothly.
?
r/min
?
Is there an overload Recheck the load and ensure that the moto
r is being
operated below the rated torque and permissible
inertial load.
Is ambient temperature above 40
?
Either cool the motor or re
Alarm is output.
An abnormal sound is
heard
on.
29
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8. Specifications
8.1 AC Servo motor/Servo driver Specifications
(1) Standard Models
These specifications are applicable when the driver is used in combination with a servo-motor.
([kgcm ])
Speed Control Range [r/min]
KBL5120-A2
KBL6180-A2
KBL5120-C
KBL6180-C
KBL6400-C
KBL5120GD-A2 KBL6180GD-A2
KBL5120GD-C
KBL6180GD-C
KBL6400GH-C
120
180
400
3000
0.1
0.2
0.4
0.6
1.3
(1.0)
(2.0)
(4.0)
(6.0)
(13.0)
0.2
0.4
0.8
1.2
2.6
(2.0)
(4.0)
(8.0)
(12.0)
(26.0)
303000
Acceleration/Deceleration
0.5 sec15sec (3000 r/min )
Relative to load
Class E (120)
ClassB (130)
Control System
stops naturally :
Overload : Activated when a load exceeding the rated torque is applied to the motor for 5 seconds
or more
Overheat : Activated when the temperature of the driver's internal radiator exceeds 80.
Overvoltage : Activated when the primary voltage of the driver's inverter exceeds the
permissible value.
Rated duty cycle
Continuous
Mass
Motor
(kg)
1.0
1.9
2.8
4.0
3.9
Driver
(kg)
1.4
Unit
Model
KBL230-A2
KBL230-C
KBL230GD-A2
KBL230GD-C
30
KBL460-A2
KBL460-C
KBL460GD-A2
KBL460GD-C
60
*1When using the gearhead, refer to geared motor torque table on page 33.
*2 The duration of use of the peak torque is 5 seconds or less at 2000r/min.
30
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These specifications are applicable when the driver is used in combination with a servo-motor.
200V
Pinion shaht type 100V
200V
Motor's Rated Output
[W ]
Rated Speed
[r/min ]
Rated Torque*1
[N m ]
([kgcm ])
Peak Torque*2
[N m ]
([kgcm ])
Speed Control Range
[r/min ]
Unit
Model
KBL230-A2M
KBL230-CM
KBL230GD-A2M
KBL230GD-CM
30
0.1
(1.0)
0.2
(2.0)
KBL460-A2M
KBL460-CM
KBL460GD-A2M
KBL460GD-CM
60
3000
0.2
(2.0)
0.4
(4.0)
KBL5120-A2M
KBL5120-CM
KBL5120GD-A2M
KBL5120GD-CM
120
KBL6180-A2M
KBL6180-CM
KBL6180GD-A2M
KBL6180GD-CM
180
KBL6400-CM
KBL6400GH-CM
400
0.4
0.6
1.3
(4.0)
(6.0)
(13.0)
0.8
1.2
2.6
(8.0)
(12.0)
(26.0)
303000
Acceleration/Deceleration
0.5 sec15 sec (3000r/min )
Relative to load
0.1% (3000r/minat rated torque)
Speed Relative to voltage
0.1% (single-phase 100V /115V 10% 15% single-phase 200V/230V 10% 15%
fluctuation
3000r/min, with no load applied)
ratio Relative to temperature
0.5% (0 40 3000 r/min, with no load applied)
Rotor Inertial Moment J [kgm2] 1.2 10-5
5.87 10-5
1.2 10-4
1.8 10-4
1.23 10-4
(GD2 [kgcm2]) 0.5
2.35
(4.8)
(7.3)
(4.9)
Suitable Load
J [kgm2] 5.7 10-5 or less 2.87 10-4 or less 5.62 10-4 or less 8.7 10-4 or less 17.5 10-4 or less
Inertial Moment(GD2 [kgcm2 ]) ( 2.3 or less )
( 11.5 or less )
( 22.5 or less )
( 35 or less )
( 70 or less )
Electromagnetic brake*3 [N m] 0.1
0.2
0.4
0.6
1.3
static friction torque
([kgcm ]) (1.0)
(2.0)
(4.0)
(6.0)
(13.0)
Voltage and
100V
single-phase 100/115V 10% 15 50/60Hz
Power supplyFrequency
200V
single-phase 200/230V 10% 15 50/60Hz
Input
Maximum
100V 3.4A
4.8A
7.5A
10.5A
Class E (120)
ClassB (130)
Control System
FET Rectangular wave PWM control
Speed Detection System
Optical Encoder (400P/R)
Speed Control Command
By one of the following :
Internal speed potentiometers (3)
External speed potentiometer (20k , 1/4W)
DC voltage control (DC05V)
Input signals
Photocoupler input system ; input resistance : 560 ;
+12V, +24V terminal input resistance : 670 ; input by DC10.8 26.4V
Input signals for start/stop, brake, direction of rotation selection,
electromagnetic brake release, speed selection
Out put signals
TTL open collector output (equivalent to 74S06)
External operating requirements : DC26.4 or less, 20mA or less
Output signals for speed ASG, BSG (400P/R, phase lag of 90as expressed in electrical degrees)
Protection functions
When the following protection functions are activated, the alarm signal is output and the motor
stops naturally :
Overload : Activated when a load exceeding the rated torque is applied to the motor for 5 seconds
or more
Overheat : Activated when the temperature of the driver's internal radiator exceeds 80.
Overvoltage : Activated when the primary voltage of the driver's inverter exceeds the
permissible value.
Rated duty cycle
Continuous
Mass
Motor
(kg)
1.4
2.3
3.5
4.8
4.9
Driver
(kg)
1.4
*1When using the gearhead, refer to geared motor torque table on page 33.
*2The duration of use of the peak torque is 5 seconds or less at 2000r/min.
*3The electromagnetic brake is used to hold position and to make emergency stops when power is off ; it cannot be used
for frequent braking
31
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Servo Driver
Insulation Resistance
Dielectic Strength
Operating
Environment
Ambient Temperature
0 40no freezing
Humidity
85 or less no condensation
Atmosphere
Insulation Resistance
Servo Driver
100M or more when 500V DC is applied
between the power supply terminal and
the frame.
Note
Never attempt to perform an insulation resistance test or dielectric strength test with the motor and
driver connected, since this can result in damage.
Also, do not perform these tests on the motor's encoder.
32
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[Nm] ([kgcm]
KBL230GD-/2GDK
KBL460GD-/4GDK
KBL5120GD-/5GDK
KBL5120GD-/5GDRA
KBL6180GD-/6GDK
KBL6400GH-/6GHK
10
15
6600
3300
0.4 (4)
0.81(8.1)
0.81(8.1)
1.6(16)
20
30
0.330 0.1515
1.2(12)
3.0(30)
4.0(40)
1.6(16)
2.1(21)
2.9(29)
4.3(43)
73
2.4(24)
4.8(48)
5.8(58)
8.7(87)
2.4(24)
66
14.5(145) 20.0(200) 20.0(200)
4.8(48)
7.2(72)
66
10.8(108) 20.0(200) 20.0(200)
60
2.4(24)
4.8(48)
10.0(100) 10.0(100)
73
3.6(36)
7.3(73)
4.0(40)
66
7.2(72)
73
81
1.2(12)
200
0.660
81
3.2(32)
100
81
1.6(16)
50
54
45
81
73
66
73
66
The box represents the desired gear ratio, which thereby becomes part of the code for the gearhead.
(Gear ratios given in the table are the standard specifications) .
Gray portions of the table give the values that apply when the gearhead and motor rotate in the same direction ;
the uncolored (white) portions give the values that apply when they rotate in opposite directions.
The percentages given in the table represent the gearhead's efficiency.
Gearheads use ball bearings in all stages.
8.4 Permissible thrust load and permissible overhung load of gearhead output shaft
[N] ([kg])
Gear ratio
5
10
15
20
30
50
100 200
Gearhead model
Permissible thrust load
2GDK
50(5)
100(10)
150(15)
250(25)
350(35)
300(30)
500(50)
400(40)
600(60)
400(40)
450(45)
500(50)
500(50)
600(60)
700(70)
150(15)
300(30)
500(50)
450(45)
250(25)
300(30)
150(15)
250(25)
100(10)
150(15)
400(40)
600(60)
200(20)
550(55)
650(65)
800(80)
1000(100)
33
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-0.7
-6
-0.6
-5
-0.5
-4
-3
-2
TorqueNm
Torquekgcm
-7
-0.4
Upper limit of lowering torque for KBL460
-0.3
-0.2
-1
-0.1
1000
-1.3
-13
-1.2
-12
-1.1
-11
-1
-10
-9
-0.9
-0.8
-0.7
-0.6
-0.5
Torque [Nm]
Torque [kgcm]
2000
3000
Speedr/min
-8
-7
-6
-5
-0.4
-4
-0.3
-3
-0.2
-2
-0.1
-1
1000
2000
3000 Speedr/min
34
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0.2
Peak torque
Limited duty operation
Rated torque
0.1
TorqueNm
KBL460 -
Torquekgcm
TorqueNm
Torquekgcm
KBL230 -
0.3
1000
2000
0.1
0
3000
1000
2000
3000
KBL6180 -
Peak torque
0.8
0.6
0.4
Rated torque
0 30
1000
2000
10
8
6
4
Peak torque
1.2
1.0
0.8
0.6
Rated torque
0.4
Continuous duty operation
0.2
30
KBL5120 -
TorqueNm
Speedr/min
Torquekgcm
TorqueNm
Torquekgcm
Rated torque
Speedr/min
12
0.2
30
Peak torque
0.4
0.2
3000
30
1000
Speedr/min
2000
3000
Speedr/min
26
13
TorqueNm
Torquekgcm
KBL6400 -
2.6
Peak torque
1.3
30
1000
2000
3000
Speedr/min
When using the gearhead, refer to Gearmotor Torque Table on page 33.
KBL460-A2
1.5
3000r/min
2000r/min
1.0
1000r/min
0.5
300r/min
30r/min
Rated Torque
0
0.05
0.1 [Nm]
0.5
Load Torque
1.0 [kgcm]
KBL230-A2
2.0
3000r/min
1.5
2000r/min
1.0
1000r/min
300r/min
0.5
30r/min
Rated Torque
0
0
0.1
1.0
Load Torque
0.2 [Nm]
2.0 [kgcm]
35
KBL6180-A2
3000r/min
2000r/min
KBL5120-A2
1000r/min
1
300r/min
30r/min
Rated Torque
0.1
0.2
0.3
2
3
1
Load Torque
0.4 [Nm]
4 [kgcm]
3000r/min
2000r/min
3
2
1000r/min
300r/min
30r/min
Rated Torque
0.1
0.2
0.3
2
3
Load Torque
0.4
0.5
0.6 [Nm]
6 [kgcm]
KBL230-C
KBL460-C
1.0
1.5
3000r/min
2000r/min
0.5
1000r/min
300r/min
30r/min
2000r/min
1000r/min
0.5
300r/min
30r/min
Rated Torque
0.1
0.2 [Nm]
0
0
Rated Torque
0.05
0.1 [Nm]
0.5
1.0 [kgcm]
Load Torque
0
0
KBL5120-C
3
3000r/min
2000r/min
Rated Torque
0
0
0.1
0.2
0.3
1
2
3
Load Torque
2.0 [kgcm]
1.0
Load Torque
KBL6180-C
Driver Input CurrentA
3000r/min
1.0
1000r/min
300r/min
30r/min
3
3000r/min
2
2000r/min
1000r/min
300r/min
30r/min
Rated Torque
0.4 [Nm]
4 [kgcm]
0.1
0.2
0.3
2
3
Load Torque
0.4
0.5
0.6 [Nm]
6 [kgcm]
KBL6400-C
5
Driver Input CurrentA
3000r/min
4
2000r/min
3
1000r/min
2
1
300r/min
Rated Torque 30r/min
0.5
1.0
10
Load Torque
[Nm]
13 [kgcm]
36
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9. Dimensions
114
A'
70
7.2
60
44.5
7.2
20
A
60
241
2
34
0
80.015
(h7)
0
540.030(h7)
KBLM230-A
KBLM230-C
0.5
172162(AMP)
40020
Cable10.5
321
2
60
25
A
A'
70
9 90
40020
80
45.5
0
730.030
(h7)
129
34
9
0
100.015
(h7)
KBLM460-A
KBLM460-C
4
9
0.5
172162(AMP)
Cable10.5
371
2
60
30
A
A'
70
11 90
40020
90
46.5
11
146
34
0
12-0.018(h7)
0
83-0.035(h7)
KBLM5120-A
KBLM5120-C
0.5
04
172162(AMP)
Cable10.5
37
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371
2
60
30
A
A'
70
11 90
104
48.5
0
94-0.035(h7)
10
11
159
34
12-0.018(h7)
KBLM6180-A
KBLM6180-C
0
12
0.5
172162(AMP)
40020
Cable10.5
122
10
371
2
43
56
35
0
140.018 (h7)
0
940.035(h7)
KBLM6400-C
104
48.5
5
0.
2
1
172162(AMP)
Cable9 40020
38
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42
32
3
26
12
60
34
60
44.5
10
25
113
0
80.015
(h7)
KBLM230GD-A
KBLM230GD-C
0.5
70
0
7
40020
172162(AMP)
Cable10.5
128
53.5
38
5
34
29
25
80
15
34
45.5
A'
0.5
4
9
70
30
50
250.2
+0.1
+0.040
5-0.03
5-0.03
60
0
15-0.018
(h7)
KBLM460GD-A
KBLM460GD-C
40020
172162(AMP)
65
9
38
7
28.5
25
90
46.5
A'
0.5
0
1
70
+0.040
50
+0.1
30
250.2
5-0.03
5-0.03
18
60
42
145
34
KBLM5120GD-A
KBLM5120GD-C
16-0.018(h7)
Cable10.5
40020
172162(AMP)
Cable10.5
39
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KBLM6180GD-A
KBLM6180GD-C
42
5
33
25
104
48.5
72
10
18-0.018(h7)
159
34
A'
42
20
60
A
0.5
70
0
12
172162(AMP)
40020
+0.040
50
30
250.2
5-0.03
5-0.03
Cable10.5
+0.1
122
72
180.018 (h7)
33
25
104
48.5
35
56
20
42
5
0.
A'
43
2
1
172162(AMP)
0.04
0
60.03
3.5
0.1
0
250.2
Cable9 40020
60.03
38
30
50
70
93
83
48
12
25
A
34
118
17
60
50
150.018(h7)
145
34
A'
40020
41
172162(AMP)
82
48.5
Cable10.5
+0.1
+0.040
50
30
250.2
5-0.03
5-0.03
40
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241
2
60
20
A
A'
70
7.2 90
60
44.5
0
540.030
(h7)
149
34
7.2
0
80.015
(h7)
KBLM230-AM
KBLM230-CM
7.2
0 .5
172163(AMP)
40020
Cable10.5
321
2
60
25
A
0.5
4
9
9 90
70
A'
Shaft cross-section AA'
scale 1/2
9
80
45.5
0
730.030
(h7)
159
34
9
0
100.015
(h7)
KBLM460-AM
KBLM460-CM
40020
172163(AMP)
Cable10.5
371
2
11
A'
70
11 90
83-0.035(h7)
60
30
90
46.5
11
175
34
12-0.018(h7)
KBLM5120-AM
KBLM5120-CM
40020
0.5
0
1
172163(AMP)
Cable10.5
41
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KBLM6180-AM
KBLM6180-CM
371
2
60
A'
70
11 90
104
48.5
30
11
12-0.018(h7)
10
0
94-0.035(h7)
188
34
12
0.5
172163(AMP)
40020
Cable10.5
172
10
43
56
35
371
2
0
140.018 (h7)
0
940.035(h7)
KBLM6400-CM
104
48.5
5
0.
2
1
172163(AMP)
Cable 9 40020
42
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(2) Pinion Shaft type (with GD-type gearheads) Gearheads are sold separately
34
32
3
26
12
60
60
44.5
10
25
42
148
0
80.015
(h7)
KBLM230GD-AM
KBLM230GD-CM
0.5
70
40020
172163(AMP)
Cable10.5
80
45.5
38
5
29
25
15
60
34
53.5
158
34
15-0.018(h7)
KBLM460GD-AM
KBLM460GD-CM
A'
70
.5
94
172163(AMP)
Cable10.5
+0.040
50
250.2
30
5-0.03
+0.1
5-0.03
40020
38
7
28.5
25
90
46.5
A'
18
60
42
65
9
174
34
16-0.018(h7)
KBLM5120GD-AM
KBLM5120GD-CM
0.5
70
0
1
5-0.03
250.2
+0.040
50
+0.1
30
Cable10.5
172163(AMP)
0
5-0.03
40020
43
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188
72
34
42
10
104
48.5
18-0.018(h7)
KBLM6180GD-AM
KBLM6180GD-CM
33
25
A'
42
20
60
A
0.5
70
0
12
172163(AMP)
+0.040
50
250.2
30
5-0.03
+0.1
Cable10.5
5-0.03
40020
172
72
180.018 (h7)
33
25
104
48.5
35
56
20
42
A'
43
5
0.
2
1
172163(AMP)
60.03
Cable9 40020
0.04
0
60.03
3.5
0.1
0
250.2
38
30
70
40020
93
83
48
12
25
A
34
50
118
17
60
50
150.018(h7)
174
34
A'
41
172163(AMP)
82
48.5
Cable10.5
+0.1
+0.040
50
30
250.2
5-0.03
5-0.03
44
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(Scale1/4, Unit=mm)
10
66
25
17.5
10
KBLD30-A, KBLD60-A,
KBLD120-A, KBLD180-A
KBLD30-C, KBLD60-C,
KBLD120-C, KBLD180-C
240
6.2
7.62 pitch
6M3P0.5
7.62 pitch
18M3
22.5 or less
157
3M3
60
6.2
slit
6M3P0.5
KBLD400-C , KBLD400-CM
66
25 17.5
10
25
6M3P0.5
10
240
6.2
7.62 pitch
137
6.2
7.62 pitch
18M3
slit
157
22.5 or less
3M3
60
6M3P0.5
45
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(Scale1/4, Unit=mm)
9.3 Accessories
(1) External speed potentionmeter(variable resistor
M4 P0.76
screws
Brass in sertion
20
40
24
3
36MIN.
15
13
0.2 0.4
Potentiometer
Insulated sheet40
Knob
Dial plate40
40
100.5
12.5
40
40
50
60
40
40
30
3.2 0.2
70
20
9.5 0.2
80
10
90
0
Insulated sheet
100
Dial plate
15
10
50
25
2-3.2 countersink
2
15
15
8
4.5
25
50
15
14.5
11.6
18.2
L
23.7
14.5
11.6
10.5
10.5
Motor connection
18
16
30.6
L
23.7
30.6
18
16
22.4
Driver connection
Motor connection
Driver connection
46
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ORIENTAL MOTOR U.S.A. CORP. ORIENTAL MOTOR (EUROPA) GmbH TAIWAN ORIENTAL MOTOR CO., LTD.
Headquarters and Dusseldorf Office
Tel:02131-95280 Fax:02131-952899
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Tel:08131-59880 Fax:08131-598888
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Tel:04076-910443 Fax:04076-910445
:
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Fax:(745)9405
Tel:01252-519809 Fax:01252-547086
Headquarters
Tel:(03)3835-0684Fax:(03)3835-1890
Fax:02-33910033
47
00 O
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