MitsubishiメーカーHG-AKの使用説明書/サービス説明書
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SH (NA) 030113-J (1504) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol.
A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. Do not attempt to install, operate, maintain or inspect the equipment until you have read thro ugh this Instruction Manual and append ed documents careful ly and can use the equipment co rrectly.
A - 2 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off.
A - 3 CAUTION Stacking in excess of the specified num ber of product packages is not allowed. Do not carry the servo motor by holding the cables, shaft, encoder, or connector. Install the servo motor in a load-bearing plac e in acco rdance with the Instruction Manual.
A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwi se, the servo motor may operate unexpe ctedly. Do not install a power capacitor, surge ki ller, or radio noise filter (FR-BIF-(H) option) on the serv o amplifier (converter unit) output side.
A - 5 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may o c cur due to a power failure or product malfunction, use a servo motor with an electromag netic brake or external bra ke to prevent the condition. Configure an electromagne tic brake circuit so that it is activated also by an external EMG stop switch.
A - 6 DISPOSAL OF WASTE Please dispose a servo motor and other options a ccording to your local laws and regulation s. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if nece ssary according to the following table.
1 CONTENTS 1. INTRODUCTION 1- 1 to 1- 8 1.1 Rating plate .............................................................................................................. ......................... 1- 1 1.2 Parts identification ...........................
2 6. HG-MR SERIES/HG-KR SERIES 6- 1 to 6-58 6.1 Model code definit ion ..................................................................................................... ................... 6- 1 6.2 Combination list of servo motors and servo amplifie rs .
3 7.7.7 With flange-output type reducer for high pr ecision applications, flange mounting (without an electromagnetic brake) ..........................
4 10.7.2 With an elec tromagnetic brake .......................................................................................... ...... 10- 9 11. HG-AK SERIES 11- 1 to 11-14 11.1 Model des ignati on ..................................................
1. INTRODUCTION 1 - 1 1. INTRODUCTION 1.1 Rating plate The following shows an example of rati ng plate for explanation of each item. (1) HG-MR/HG-KR/HG-S R/HG-JR/HG-RR/HG-UR series servo motor (Note 2) Country of origin Model Input power and rated ou tput Mass and i nsul ati on clas s Rated speed Serial number (Note 1) Note 1.
1. INTRODUCTION 1 - 2 1.2 Parts identification (1) HG-MR series/HG-KR series servo motor Power cable (Note 1, 2) Power lead (U/V/W) Grounding lead Servo motor shaft Encoder cable (Note 1) Encoder Note 1. The encoder cable and power supply cable are options.
1. INTRODUCTION 1 - 3 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
1. INTRODUCTION 1 - 4 (2) Sound generation Though the brake lining may rattle during oper ation, it poses no functional problem. If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo amplifier (converter unit) parameters.
1. INTRODUCTION 1 - 5 (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, scr ews, etc. are attracted. 1.4 Servo motor shaft shapes In addition to the straight shaft, the ke y shaft and D cut shaft are available.
1. INTRODUCTION 1 - 6 1.5 Servo motor with functional safety POINT When you use a servo motor with f unctional safety, MR-BT6VCASE battery case cannot be used. HG-KR, HG-SR, and HG-JR series provide a special specification which expands the safety observation function with the use of MR-D30 functional safety uni ts and MR-J4-_-RJ servo amplifiers.
1. INTRODUCTION 1 - 7 Servo motor with functional safety Servo amplifier HG-JR153W0C HG-JR203W0C MR-J4-200B-RJ MR-J4-200A-RJ MR-J4-350B-RJ (Note) MR-J4-350A-RJ (Note) HG-SR301W0C HG-SR352W0C MR-J4-350.
1. INTRODUCTION 1 - 8 Servo motor with functional safety Servo amplifier HG-SR5024W0C MR-J4-500B4-RJ MR-J4-500A4-RJ HG-JR5034W0C MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-700B4-RJ (Note) MR-J4-700A4-RJ (Not.
2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible materi al. Installing it directly or close to combustibles will lead to a fire.
2. INSTALLATION 2 - 2 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo motor. Servo motor series Mounting direction HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK All directions For mounting in the horizontal direction, it is recommended to set the connector section downward.
2. INSTALLATION 2 - 3 2.3 Load remove precautions CAUTION During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a ke y shaft, use the screw hole in the shaft end.
2. INSTALLATION 2 - 4 2.4 Permissible load for the shaft CAUTION Do not use a rigid coupling as it may apply excessive bending load to the shaft of the servo motor, leading the shaft to break and the bearing to wear out. For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series.
2. INSTALLATION 2 - 5 2.6 Cable The power supply and encoder cables routed from the se rvo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may di sconnect. In addition, do not modify the connectors, terminals and others at the ends of the cables.
2. INSTALLATION 2 - 6 (2) Check the cables and the like for scratches or cr acks. Especially when the cable is movable, perform periodic inspection according to operating conditions. (3) Check the servo motor shaft and coupling for misalignment. (4) Check the power supply connector and encoder connector tightening screws for looseness.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 3. CONNECTORS USED FO R SERVO MOTOR WIRING POINT The IP rating indicated is the connecto r's protection against ingress of dust and water when the connector is connected to a servo motor.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 2 (3) HG-JR series HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG -JR15K1M(4)/HG-JR601(4) to HG-JR12K1(4) Electromagnetic brake connector Encoder connector .
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 3 (4) HG-RR series Power connecto r Encoder connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG-RR103 HG-RR15.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 4 (6) HG-AK series Power connecto r Encoder connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG-AK0136 HG-AK0236 HG-AK0336 Connector configuration P Connector configuration Q Sharing for power supply (Note) Note.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 5 3.2 Wiring connectors (connecto r configurations A/B/C) Connector configuration Feature Connector Crimping tool Servo motor encoder connector (Note) A (for encoder) IP65 Connector: 2174053-1 (TE Connectivity) For ground clip: 1596970-1 For REC.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 6 3.3 Wiring connectors (connector configurations D/E/F/G/H) Angle plug (screw type) Angle plug (one-touch connection type) Straight plug (screw type) Str.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 7 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note 2) Type Model Cabel OD [mm] (reference) Model E (for power supply) IP67 EN compliant Straight CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12 8.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 8 Angle plug (screw type) Angle plug (one-touch connection type) Straight plug (screw type) Straight plug (one-touch connection type) Connector configurat.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 9 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note 2) Type Model Cabel OD [mm] (reference) Model G (for power supply) IP67 EN compliant Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 9.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 10 3.4 Wiring connectors (connector c onfigurations J/K/L/M/N/P/Q) IP67 co mpatible IP67 compati ble Genera l environ mental Plug Ca ble Connector for cab.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 11 Plug Cable clamp Connector configuration Feature Plug (DDK) Cable clamp Servo motor cooling fan connector (Note) Type Model Cable OD [mm] (reference) Model L (for cooling fan) IP67 EN compliant Straight CE05-6A14S-2SD-D Applicable wire size: AWG 22 to 16 8.
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 12 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note) Ty.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 1 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING Any person who is involved in wiring s hould be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo moto r until it has been mounted.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 2 4.1 Connection instructions CAUTION To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier (c onverter unit) and servo motor. Do not connect AC power supply directly to the servo motor.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 3 4.2 Wiring 4.2.1 HG-MR series/HG-KR series servo motor (1) Connection with MR-J4 1-axis servo amplifier (a) Servo motor power supply cable wiring.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 4 (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less (Note 2) (Note 3) 24 V DC power supply for electromagnetic b.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 5 (2) Connection with MR-J4 multi-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less CNP3.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 6 (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 7 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 8 4.2.2 HG-SR series/HG-JR series/HG- RR series/HG-UR series servo motor Refer to section 4.3 for the wires used for wiring.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 9 (b) Connection with MR-J4 multi-axis servo amplifier 50 m or less A-axis servo motor M U V W (Note 1) B1 B2 U B Servo amplifier U V W CNP3A (Note.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 10 (2) Servo motor terminal section The following table shows the servo motor terminal sect ion. For details of the connectors, refer to (3) of this section. For details of the termi nal box, refer to (4) of this section.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 11 (c) HG-RR series Servo motor Servo motor terminal section Encoder Power Electromagnetic brake HG-RR103 HG-RR153 HG-RR203 Connector A Connector F.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 12 Connector D Power supply connector MS3102A22-22P Connector E Power supply connector MS3102A32-17P Connector F Power supply connector CE05-2A22-23P CD A B Terminal No. Signal CD A B Terminal No. Signal F E D H G A B C Terminal No.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 13 Connector K Cooling fan connector CE05-2A14S-2P Connector L Encoder connector MS3102A20-29P CD A B Terminal No. Signal A N G S R T P HF J E K D L M B C Pin Signal A BU (Note) A B B BV (Note) C MR D MRR C BW (Note) E F BAT D G LG Note.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 14 4.2.3 HG-AK series servo motor (1) Connection with MR-J4-03A6(-RJ) servo amplifier (a) Motor power cable wiring diagram (without electromagnetic brake) CNP1 Power cable supplied with the servo motor Servo motor Servo amplifier 30 m or less 0.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 15 (2) Connection with MR-J4W2-0303B6 servo amplifier (a) Motor power cable wiring diagram (without electromagnetic brake) Power cable supplied with the servo motor B-axis servo motor MR-J4W03PWCBL_M-H CNP1 A-axis servo motor Servo amplifier 30 m or less 0.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 16 4.3 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the serv o amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 17 When using the 600 V Grade heat-resistant polyviny l chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. (1) HG-MR series and HG-KR series Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 0.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 18 (3) HG-JR series (a) 3000 r/min series Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 Standard When the maximum torque is 400% (Note 2) HG-JR53 1.25 (AWG 16) 1.25 (AWG 16) 1.25 (AWG 16) HG-JR73 HG-JR103 HG-JR153 2 (AWG 14) 2 (AWG 14) HG-JR203 HG-JR353 3.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 19 (c) 1000 r/min series Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 3) BU/BV/BW HG-JR601 8 (AWG 8) (Note) HG-JR801 14 (AWG 6) (Note) 1.25 (AWG 16) HG-JR12K1 HG-JR15K1 22 (AWG 4) (Note) HG-JR20K1 38 (AWG 2) (Note) HG-JR25K1 1.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 20 4.4 Servo amplifier terminal section POINT For the sizes of wires used for wiring, refer to section 4.3. The drive unit do not have these connectors. To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 21 (1) Connector details (a) Connector A CNP3 Servo amplifier Table 4.1 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufacturer Wire size Insulator OD CNP3 03JFAT-SAXGDK-H7.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 22 (c) Connector C MR-J4W_ Servo amplifier CNP3A CNP3B CNP3C (Note) Note. This figure shows the MR-J4 3-axis servo amplifier.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 23 (e) Connector E CNP1 MR-J4-03A6(-RJ) servo amplifier Table 4.5 Connector and applicable wire Connector Receptacle assembly Applicable wire size .
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 24 (2) Cable connection procedure (a) Cable making Refer to table 4.1 to 4.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 25 2) For connectors not requiring an open tool (connector E and connector F) When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end while pushing the release button with a small flat head screwdriver, etc.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 26 MEMO.
5. WIRING OPTION 5 - 1 5. WIRING OPTION WARNING Before connecting any option, turn off t he power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off.
5. WIRING OPTION 5 - 2 5.1.1 Combinations of cable/connector sets (1) HG-MR series/HG-KR series servo motor Direct connection (cable length 10 m or less, IP65) 13) 14) 15) 16) Junction connection (cab.
5. WIRING OPTION 5 - 3 (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M 4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Servo amplifier CN2 Encoder connector Terminal box Cooling fan connector 40) (Note) 43) 41) 42) CN4 MR-BAT6V1BJ Note. MR-ENECBL_M-H cannot be used.
5. WIRING OPTION 5 - 4 5.1.2 Cable and connector list No. Name Model Description Remark 1) Servo motor power cable MR- PWS1CBL_M- A1-L (Note 1, 2) Cable length: 2/5/10 m Power supply connector HG-MR series HG-KR series Refer to section 5.3 for details.
5. WIRING OPTION 5 - 5 No. Name Model Description Remark 12) Electromagnetic brake cable MR- BKS2CBL03M- A2-L Cable length: 0.3 m Electromagnetic brake connector HG-MR series HG-KR series Refer to section 5.
5. WIRING OPTION 5 - 6 No. Name Model Description Remark 23) Encoder cable MR- J3JSCBL03M- A2-L (Note 1) Cable length: 0.3 m Encoder connector HG-MR series HG-KR series Refer to section 5.
5. WIRING OPTION 5 - 7 No. Name Model Description Remark 30) Electromagnetic brake connector set MR-BKCNS1 (Note 1) Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) HG-SR series HG-.
5. WIRING OPTION 5 - 8 No. Name Model Description Remark 35) Encoder Connector set MR-J3SCNSA (Note 1) IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR 103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/H G-JR703(4)/HG-JR903(4) Refer to section 5.
5. WIRING OPTION 5 - 9 No. Name Model Description Remark 43) Cooling fan power connector set MR-PWCNF Plug: CE05-6A14S-2SD-D (DDK) Cable clamp: YSO14-9 to 11 (Daiwa Dengyo) Applicable cable Applicable wire size: 0.3 mm 2 to 1.25 mm 2 (AWG 22 to 16) Cable OD: 8.
5. WIRING OPTION 5 - 10 5.2 Encoder cable/connector sets POINT For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the shielded external conductor of the cabl e to the ground plate and fix it to the connector shell.
5. WIRING OPTION 5 - 11 (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-K R series servo motors. The numbers in the cable length field of the table indicate the sym bol filling the underline "_" in the cable model.
5. WIRING OPTION 5 - 12 (b) Cable internal wiring diagram P5 LG 1 2 MR MRR 3 4 2 3 CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector 9 SD Plate 5 4 6 9 LG MR MRR SHD P5 BAT BAT (2) MR-EKCBL_M-_ POINT The following encoder cables are of four-wire type.
5. WIRING OPTION 5 - 13 (a) Connection of servo amplifier and servo motor 1) MR-EKCBL_M-L MR-EKCBL_M-H 2) CN2B CN2A (Note) CN2 CN2C or MR-J4 multi-axis servo amplifier MR-J4 1-axis servo amplifier Servo motor HG-MR HG-KR MR-J3JCBL03M-A2-L Cable length: 0.
5. WIRING OPTION 5 - 14 (b) Internal wiring diagram MR-EKCBL20M-L CN2, CN2A, CN2B, and CN2C side connector Junction connector (Note) P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR SHD P5 BAT BA.
5. WIRING OPTION 5 - 15 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b).
5. WIRING OPTION 5 - 16 (a) Connection of servo amplifier and servo motor Servo motor HG-MR HG-KR MR-J3JCBL03M-A2-L MR-EKCBL_M-_ 1) 2) 2) Servo motor HG-MR HG-KR MR-J3JCBL03M-A1-L 1) or CN2B CN2A (Note) CN2 CN2C or MR-J 4 mult i-axis servo amplifier MR-J4 1-axis servo amplifier Note.
5. WIRING OPTION 5 - 17 (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be c onnected by these cables alone. The servo motor- side encoder cable (MR-J3ENSCBL_M-_) is required. Cable model Cable length IP rating Bending life Application MR-J3JSCBL03M-A1-L 0.
5. WIRING OPTION 5 - 18 (b) Internal wiring diagram 8 5 1 2 1 3 3 5 4 6 9 68 77 42 10 Junction connector Encoder-side connector P5 LG MR MRR SHD LG MR MR R SHD P5 BAT BAT (5) MR-J3ENSCBL_M-_ These cab.
5. WIRING OPTION 5 - 19 Cable model 1) CN2, CN2A, CN2B, and CN2C side connector 2) Encoder-side connector MR-J3ENSCBL_M- L Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) MRR LG P5 MR BAT 4 2 8 6 15 10 37 9 View seen from wiring side. (Note) or Connector set: 54599-1019 (Molex) P5 MR BAT MRR LG 13 79 4 28 61 0 5 V iew seen from wiring side.
5. WIRING OPTION 5 - 20 (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3ENSCBL10M-H MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L 4 8 1 2 5 .
5. WIRING OPTION 5 - 21 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b).
5. WIRING OPTION 5 - 22 (6) MR-ENECBL_M-H-MTH These cables are encoder cables for HG-JR701M (4), HG-JR11K1M(4), HG-JR15K1M(4), HG- JR22K1M(4), HG-JR30K1M(4), HG -JR37K1M(4), HG-JR45K1M4, HG -JR55K1M4, HG-JR601(4), HG- JR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR 20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HG- JR37K1(4) servo motors.
5. WIRING OPTION 5 - 23 (b) Cable internal wiring diagram MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH MR-ENECBL10M-H-MTH MR-ENECBL20M-H-MTH (Note 2) (Note 1) P5 LG 1 2 MR MRR 3 4 THM1 5 THM2 6 F S CN2-sid e c.
5. WIRING OPTION 5 - 24 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b).
5. WIRING OPTION 5 - 25 (8) MR-J3W03ENCBL_M-A-H These cables are encoder cables for the HG-AK seri es servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.
5. WIRING OPTION 5 - 26 Cable model 1) CN2, CN2A, and CN2B-side connector 2) Enc oder-side connector MR-J3W03ENCBL_ M-A-H Receptacle housing: 1-1827862-5 Contact: 1827587-2 Crimping tool: 1762846-1 (TE Connectivity) 5B 4B BAT LG 3B 2B 1B MRR 5A 4A SD P5 3A 2A 1A MR Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.
5. WIRING OPTION 5 - 27 5.3 Servo motor power cable These cables are servo motor power cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model.
5. WIRING OPTION 5 - 28 (2) Internal wiring diagram (Red) (White) (Black) (Green/yellow) U V W (Note) Note. These are not shielded cables..
5. WIRING OPTION 5 - 29 5.4 Servo motor power cable (for HG-AK series) These cables are servo motor power cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the sym bol filling the underline "_" in the cable model.
5. WIRING OPTION 5 - 30 (2) Internal wiring diagram 1B Servo motor power- side connector 1A MR-J4W03PWCBL_M-H E V 2B W 2A U Yellow/green White Black Red (Note) 1B Servo motor power- side connector 1A MR-J4W03PWBRCBL_M-H E V 2B W 2A U 3B B1 3A B2 Yellow/green White Black Red (Note) Note.
5. WIRING OPTION 5 - 31 (1) Connection of power supply for el ectromagnetic brake and servo motor 1) Servo motor HG-MR HG-KR + - 24 V DC power supply for electromagnetic brake MR-BKS1CBL_M-A2-L MR-BKS.
5. WIRING OPTION 5 - 32 5.6 Wires for option cables When fabricating a cable, use the wire model s given in the following table or equivalent. Table 5.
5. WIRING OPTION 5 - 33 Type Model Length [m] Core size Number of cores Characteristics of one core (Note 2) Cable OD [mm] Wire model (Manufacturer) Structure [Wires/mm] Conductor resistance [ Ω /km] (Note 1) Insulator OD d [mm] Encoder cable MR- J3W03ENCBL_M -A-H 1 to 10 AWG 22 6 70/0.
5. WIRING OPTION 5 - 34 MEMO.
6. HG-MR SERIES/HG-KR SERIES 6 - 1 6. HG-MR SERIES/HG-KR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- MR/HG-KR series servo motor, always read the Safe ty Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.
6. HG-MR SERIES/HG-KR SERIES 6 - 2 6.2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4 3-axis 200 V class 100 V class HG-MR053 MR-J4-1.
6. HG-MR SERIES/HG-KR SERIES 6 - 3 6.3 Standard specifications 6.3.1 Standard specifications list Servo motor Item HG-MR series (ultra-low inertia/small capacity) HG-KR series (low inertia/small capac.
6. HG-MR SERIES/HG-KR SERIES 6 - 4 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Refer to the dimensions for the geared servo motor.
6. HG-MR SERIES/HG-KR SERIES 6 - 5 6.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
6. HG-MR SERIES/HG-KR SERIES 6 - 6 6.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
6. HG-MR SERIES/HG-KR SERIES 6 - 7 6.5 Servo motors with special shafts The servo motors with special shafts indicated by t he symbols (K and D) in the table are available. K and D are the symbols included in the servo motor model names . Refer to section 6.
6. HG-MR SERIES/HG-KR SERIES 6 - 8 6.6 Geared servo motors CAUTION For the geared servo motor, remove the oil before transportation and installation. Tipping over the reducer filled with oil can cause oil leakage. POINT Geared servo motors are not included in the HG-MR series.
6. HG-MR SERIES/HG-KR SERIES 6 - 9 (2) Specifications Item Description Mounting method Flange mounting Mounting direction In any directions Lubrication method Grease lubrication (already packed) Packe.
6. HG-MR SERIES/HG-KR SERIES 6 - 10 (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft.
6. HG-MR SERIES/HG-KR SERIES 6 - 11 6.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (11B, 14A, 20A, and 32A) in the following table indicate the model numbers of the reducers assembled to the servo motors. Servo motors with a reducer having the indicated reduction gear model numbers are available.
6. HG-MR SERIES/HG-KR SERIES 6 - 12 (3) Permissible loads of servo motor shaft The radial load point of a high prec ision reducer is as shown below. L: Distance between reducer end face and load center L Q: Length of axis (Refer to section 6.8.7, 6.8.
6. HG-MR SERIES/HG-KR SERIES 6 - 13 (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flange- mounting shaft output type for hi gh precision applications (G7). [Unit: mm] Servo motor Reducer model number Q φ S W T QK U Y HG-KR_(B)G7K 11B 20 10h7 4 4 15 2.
6. HG-MR SERIES/HG-KR SERIES 6 - 14 6.7 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points and install the connectors.
6. HG-MR SERIES/HG-KR SERIES 6 - 15 6.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnet ic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine.
6. HG-MR SERIES/HG-KR SERIES 6 - 16 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-MR13 100 0.0300 0.54 HG-KR13 100 0.0777 0.54 [Unit: mm] Power supply connector Pin No. 4 3 1 2 Application W V U (PE) 40 4 5 ° 37.1 6.4 27.5 27.
6. HG-MR SERIES/HG-KR SERIES 6 - 17 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-MR43 400 0.142 1.4 HG-KR43 400 0.371 1.4 [Unit: mm] 1 2 3 4 Caution plate Bottom Top Opposite-load side 60 47.1 27.8 13.9 5.9 46 28.4 13.7 10 9.
6. HG-MR SERIES/HG-KR SERIES 6 - 18 6.8.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR053B 50 0.32 0.0224 0.54 HG-KR053B 50 0.32 0.0472 0.54 [Unit: mm] 40 37.
6. HG-MR SERIES/HG-KR SERIES 6 - 19 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR13B 100 0.32 0.0362 0.74 HG-KR13B 100 0.32 0.0837 0.74 [Unit: mm] 40 37.1 6.4 27.5 25 2.5 27.4 4.9 9.9 11.
6. HG-MR SERIES/HG-KR SERIES 6 - 20 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR23B 200 1.3 0.109 1.3 HG-KR23B 200 1.3 0.243 1.3 [Unit: mm] Bottom Bottom 1 2 3 4 Caution plate Bottom Top Opposite-load side 113.
6. HG-MR SERIES/HG-KR SERIES 6 - 21 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR73B 750 2.4 0.694 3.8 HG-KR73B 750 2.4 1.37 3.8 [Unit: mm] Power supply connector Pin No. 4 3 1 2 Application W V U (PE) Opposite-load side Bottom Top Top Bottom 80 152.
6. HG-MR SERIES/HG-KR SERIES 6 - 22 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053G1 50 K6512 1/12 (49/576) 0.104 1.8 HG-KR053G1 50 K6520 1/20 (25/484) 0.0860 1.8 [Unit: mm] 27.
6. HG-MR SERIES/HG-KR SERIES 6 - 23 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G1 100 K6512 1/12 (49/576) 0.137 2.0 HG-KR13G1 100 K6520 1/20 (25/484) 0.119 2.0 [Unit: mm] 4 3 1 2 27.
6. HG-MR SERIES/HG-KR SERIES 6 - 24 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23G1 200 K9012 1/12 (961/11664) 0.418 3.9 HG-KR23G1 200 K9020 1/20 (513/9984) 0.391 3.9 [Unit: mm] Bottom Top 149.
6. HG-MR SERIES/HG-KR SERIES 6 - 25 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43G1 400 K9012 1/12 (961/11664) 0.568 4.3 [Unit: mm] 1 2 3 4 Bottom Top Opposite-load side 46 28.
6. HG-MR SERIES/HG-KR SERIES 6 - 26 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G1 750 K10005 1/5 (1/5) 1.68 6.0 [Unit: mm] 27.4 13.7 11.5 56 Bottom Top Caution plate Caution plate Motor plate 57.
6. HG-MR SERIES/HG-KR SERIES 6 - 27 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G1 750 K12020 1/20 (625/12544) 2.41 10 [Unit: mm] 105.5 60 11.5 44.5 15 Opposite-load side Bottom Top Top 212 9.
6. HG-MR SERIES/HG-KR SERIES 6 - 28 6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG1 50 K6505 1/5 (9/44) 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 29 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG1 100 K6505 1/5 (9/44) 0.32 0.121 1.8 [Unit: mm] 27.
6. HG-MR SERIES/HG-KR SERIES 6 - 30 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG1 200 K9005 1/5 (19/96) 1.3 0.397 3.7 [Unit: mm] Caution plate 47.
6. HG-MR SERIES/HG-KR SERIES 6 - 31 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG1 400 K9005 1/5 (19/96) 1.3 0.547 4.1 [Unit: mm] Caution plate 47.
6. HG-MR SERIES/HG-KR SERIES 6 - 32 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG1 400 K10020 1/20 (7/135) 1.3 0.903 5.8 [Unit: mm] 60 100 Caution plate 10 5.
6. HG-MR SERIES/HG-KR SERIES 6 - 33 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73BG1 750 K10012 1/12 (7/87) 2.4 2.46 8.1 [Unit: mm] 100 Bottom Top Top 239.
6. HG-MR SERIES/HG-KR SERIES 6 - 34 6.8.5 With flange-output type reducer for high pr ecision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053G5 50 HPG-11B-05-F0ADG-S 1/5 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 35 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G5 100 HPG-11B-05-F0ADG-S 1/5 0.0812 0.75 [Unit: mm] 27.4 4.9 Bottom 20.7 20.5 Caution plate 21 13.7 20.7 36 Motor plate Caution plate 15 +0.
6. HG-MR SERIES/HG-KR SERIES 6 - 36 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G5 100 HPG-20A-33-F0JMLAS-S 1/33 0.140 2.6 HG-KR13G5 100 HPG-20A-45-F0JMLAS-S 1/45 0.139 2.6 [Unit: mm] 27.4 4.
6. HG-MR SERIES/HG-KR SERIES 6 - 37 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23G5 200 HPG-20A-21-F0EKS-S 1/21 0.719 3.4 HG-KR23G5 200 HPG-20A-33-F0ELS-S 1/33 0.673 3.4 HG-KR23G5 200 HPG-20A-45-F0ELS-S 1/45 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 38 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43G5 400 HPG-20A-11-F0EKS-S 1/11 0.947 3.9 HG-KR43G5 400 HPG-20A-21-F0EKS-S 1/21 0.869 3.9 [Unit: mm] Bottom Top Opposite-load side 46 28.
6. HG-MR SERIES/HG-KR SERIES 6 - 39 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G5 750 HPG-20A-05-F0FEOS-S 1/5 1.91 4.8 HG-KR73G5 750 HPG-20A-11-F0FEPS-S 1/11 1.82 5.1 [Unit: mm] Bottom Top Top 9.
6. HG-MR SERIES/HG-KR SERIES 6 - 40 6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG5 50 HPG-11B-05- F0ADG-S 1/5 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 41 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG5 100 HPG-11B-05- F0ADG-S 1/5 0.32 0.0872 0.95 [Unit: mm] 27.4 4.9 9.9 11.
6. HG-MR SERIES/HG-KR SERIES 6 - 42 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG5 100 HPG-20A-33-F0 JMLAS-S 1/33 0.32 0.146 2.8 HG-KR13BG5 100 HPG-20A-45-F0 JMLAS-S 1/45 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 43 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG5 200 HPG-20A-21- F0EKS-S 1/21 1.3 0.741 3.8 HG-KR23BG5 200 HPG-20A-33- F0ELS-S 1/33 1.
6. HG-MR SERIES/HG-KR SERIES 6 - 44 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG5 400 HPG-20A-11- F0EKS-S 1/11 1.3 0.969 4.3 HG-KR43BG5 400 HPG-20A-21- F0EKS-S 1/21 1.
6. HG-MR SERIES/HG-KR SERIES 6 - 45 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73BG5 750 HPG-20A-05-F0 FEOS-S 1/5 2.4 2.02 5.8 HG-KR73BG5 750 HPG-20A-11- F0FEPS-S 1/11 2.
6. HG-MR SERIES/HG-KR SERIES 6 - 46 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053G7 50 HPG-11B-05-F20ADG-S 1/5 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 47 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G7 100 HPG-11B-05- J20ADG-S 1/5 0.0839 0.78 [Unit: mm] 27.4 4.9 20.7 20.5 Caution plate 21 13.7 20.7 36 Motor plate 9.
6. HG-MR SERIES/HG-KR SERIES 6 - 48 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G7 100 HPG-20A-33-J2JMLAS-S 1/33 0.141 3.0 HG-KR13G7 100 HPG-20A-45-J2JMLAS-S 1/45 0.139 3.0 [Unit: mm] 27.4 4.
6. HG-MR SERIES/HG-KR SERIES 6 - 49 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23G7 200 HPG-20A-21-J2EKS-S 1/21 0.721 3.8 HG-KR23G7 200 HPG-20A-33-J2ELS-S 1/33 0.674 3.8 HG-KR23G7 200 HPG-20A-45-J2ELS-S 1/45 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 50 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43G7 400 HPG-20A-11-J2EKS-S 1/11 0.955 4.3 HG-KR43G7 400 HPG-20A-21-J2EKS-S 1/21 0.871 4.3 [Unit: mm] Bottom Opposite-load side 46 28.
6. HG-MR SERIES/HG-KR SERIES 6 - 51 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G7 750 HPG-20A-05-J2FEOS-S 1/5 1.95 5.2 HG-KR73G7 750 HPG-20A-11-J2FEPS-S 1/11 1.83 5.5 [Unit: mm] R0.4 80 42 8 27 10 26 12 Opposite-load side Bottom Top 190 9.
6. HG-MR SERIES/HG-KR SERIES 6 - 52 6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG7 50 HPG-11B-05-J 20ADG-S 1/5 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 53 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG7 50 HPG-14A-05-J2CBJS-S 1/5 0.32 0.121 1.4 HG-KR053BG7 50 HPG-14A-11- J2CBKS-S 1/11 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 54 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG7 100 HPG-14A-05-J2CBJS-S 1/5 0.32 0.158 1.6 HG-KR13BG7 100 HPG-14A-11- J2CBKS-S 1/11 0.
6. HG-MR SERIES/HG-KR SERIES 6 - 55 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG7 200 HPG-14A-05-J2AZW -S 1/5 1.3 0.450 2.3 HG-KR23BG7 200 HPG-14A-11-J2AZX -S 1/11 1.
6. HG-MR SERIES/HG-KR SERIES 6 - 56 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG7 400 HPG-14A-05-J2AZW -S 1/5 1.3 0.600 2.8 [Unit: mm] 199.1 Top Motor plate (Opposite side) Caution plate 9 ° 7° Caution plate 122.
6. HG-MR SERIES/HG-KR SERIES 6 - 57 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG7 400 HPG-32A-33- J2RLAS-S 1/33 1.3 0.949 7.8 HG-KR43BG7 400 HPG-32A-45- J2RLAS-S 1/45 1.
6. HG-MR SERIES/HG-KR SERIES 6 - 58 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73BG7 750 HPG-32A-21- J2SEIS-S 1/21 2.4 2.14 9.6 HG-KR73BG7 750 HPG-32A-33- J2SEJS-S 1/33 2.
7. HG-SR SERIES 7 - 1 7. HG-SR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- SR series servo motor, always read the Safety Instru ctions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.
7. HG-SR SERIES 7 - 2 7.2 Combination list of servo motors and servo amplifiers (1) Compatible with 3-phase 200 V AC Servo motor Servo amplifier Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-axis M.
7. HG-SR SERIES 7 - 3 7.3 Standard specifications 7.3.1 Standard specifications list Servo motor Item HG-SR 1000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity) HG-SR 2.
7. HG-SR SERIES 7 - 4 Servo motor Item HG-SR series (3-phase 400 V AC compatible, medi um inertia/medium capacity) 524(B) 1024(B) 1524(B) 2024(B) 3524(B) 5024(B) 7024(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
7. HG-SR SERIES 7 - 5 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Refer to the dimensions for the geared servo motor.
7. HG-SR SERIES 7 - 6 7.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
7. HG-SR SERIES 7 - 7 (2) 3-phase 400 V AC When the power supply input of the servo amplifier are 3-phase 400 V AC, the to rque characteristic is indicated by the heavy line. For the 3-phase 380 V AC pow er supply, part of the to rque characteristic is indicated by the thin line.
7. HG-SR SERIES 7 - 8 7.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
7. HG-SR SERIES 7 - 9 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable.
7. HG-SR SERIES 7 - 10 7.6 Geared servo motors CAUTION Geared servo motors must be mounted in the specified direction. Otherwise, it can leak oil, leading to a fire or malfunction. For the geared servo motor, remove the oil before transportation and installation.
7. HG-SR SERIES 7 - 11 (a) Maximum speed Servo motor Reduction ratio 1/6 1/11 1/17 1/29 1/35 1/43 1/59 HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) 3000 r/min (permissible instantaneous speed: 3450 r/min) H.
7. HG-SR SERIES 7 - 12 (c) Recommended lubricants 1) Grease Albania Grease RA (Shell) 2) Lubricating oil POINT Since the oil-lubricated models are shipped wi thout oil, make sure to fill oil up to the upper red line of the oil gauge before operation.
7. HG-SR SERIES 7 - 13 (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft. Q: Length of axis (Refer to section 7.7.3 to 7.7.6.) Q/2 Q Servo motor Reduction ratio Reducer frame No.
7. HG-SR SERIES 7 - 14 7.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (20A, 30A, 50A) in the following tabl e indicate the model numbers of the reducers assembled to the servo motors. Geared servo moto rs having the indicated reducer model numbers are available.
7. HG-SR SERIES 7 - 15 (3) Permissible loads of servo motor shaft The radial load point of a high prec ision reducer is as shown below. L: Distance between reducer end face and load center L Q: Length of axis (Refer to section 7.
7. HG-SR SERIES 7 - 16 (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flange- mounting shaft output type for hi gh precision applications (G7).
7. HG-SR SERIES 7 - 17 7.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnet ic brake with servo motor shaft. The dimensions without toler ances are general tolerance.
7. HG-SR SERIES 7 - 18 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR81 0.85 16.0 7.3 HG-SR152 HG-SR1524 1.5 [Unit: mm] BC41046A BC41040A 4- 9 mounting hole Use hexag on sock et head cap screw. A B CD Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 146.
7. HG-SR SERIES 7 - 19 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR201 2.0 78.6 16 HG-SR352 HG-SR3524 3.5 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 162.5 38.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 140.
7. HG-SR SERIES 7 - 20 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR421 4.2 151 27 HG-SR702 HG-SR7024 7.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 218.5 38.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 149.
7. HG-SR SERIES 7 - 21 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR51B 0.5 8.5 13.8 8.2 HG-SR102B HG-SR1024B 1.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 167 43.
7. HG-SR SERIES 7 - 22 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR81B 0.85 8.5 18.2 9.3 HG-SR152B HG-SR1524B 1.5 [Unit: mm] 4 5 4- φ 9 mounting hole Use h exago n socket head cap screw.
7. HG-SR SERIES 7 - 23 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR121B 1.2 44 56.5 17 HG-SR202B HG-SR2024B 2.0 [Unit: mm] BC41060* BC41054* Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 188 45.
7. HG-SR SERIES 7 - 24 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR201B 2.0 44 88.2 22 HG-SR352B HG-SR3524B 3.5 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 212 45.
7. HG-SR SERIES 7 - 25 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR301B 3.0 44 109 26 HG-SR502B HG-SR5024B 5.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 228 45.
7. HG-SR SERIES 7 - 26 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR421B 4.2 44 161 33 HG-SR702B HG-SR7024B 7.0 [Unit: mm] Motor plate Caution plate Caut ion plate Bottom Top Top Bottom 18 3 75 79 268 45.
7. HG-SR SERIES 7 - 27 7.7.3 For general industrial machine with a reducer (without an el ectromagnetic brake) Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52G1 HG-SR524G1 0.5 1/6 8.08 18 CNVM-6100 1/11 7.
7. HG-SR SERIES 7 - 28 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1 HG-SR1024G1 1.0 1/6 14.8 30 1/11 13.3 CNVM-6120 1/17 12.9 1/29 12.6 1/35 12.6 [Unit: mm] (PE) BC41119* Caution plate Motor plate 38.
7. HG-SR SERIES 7 - 29 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1 HG-SR1024G1 1.0 CHVM-6160 1/59 19.1 81 [Unit: mm] Bottom (PE) BC41121* Caution plate Motor plate 38.2 13 58 13.5 □ 130 112.
7. HG-SR SERIES 7 - 30 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152G1 HG-SR1524G1 1.5 CHVM-6130 1/29 18.4 50 1/35 18.3 [Unit: mm] Caution plate Motor plate 38.2 13 58 13.5 □ 130 112.5 50.
7. HG-SR SERIES 7 - 31 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202G1 HG-SR2024G1 2.0 1/6 50.
7. HG-SR SERIES 7 - 32 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1 HG-SR3524G1 3.5 1/6 87.1 60 CHVM-6135 1/11 82.8 1/17 81.5 [Unit: mm] U W V Power supply connector Motor flange direction Key 13 24.
7. HG-SR SERIES 7 - 33 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1 HG-SR3524G1 3.5 CHVM-6175 1/43 105 134 1/59 104 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key M12 Screw hole depth24 13 24.
7. HG-SR SERIES 7 - 34 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502G1 HG-SR5024G1 5.0 1/29 141 165 CHVM-6180 1/35 140 1/43 139 [Unit: mm.
7. HG-SR SERIES 7 - 35 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1 HG-SR7024G1 7.0 CHVM-6165 1/6 177 103 [Unit: mm] Bottom Bottom (PE) BC41133* U W V Power supply connector Motor flange direction Key 482.
7. HG-SR SERIES 7 - 36 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1 HG-SR7024G1 7.0 CHVM-6180 1/29 192 172 1/35 192 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key 546 Motor plate Caution plate 13 32 71.
7. HG-SR SERIES 7 - 37 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1 HG-SR524BG1 0.
7. HG-SR SERIES 7 - 38 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1 HG-SR1024BG1 1.0 1/6 8.5 17.0 32 1/11 15.5 CNVM-6120 1/17 15.1 1/29 14.8 1/35 14.
7. HG-SR SERIES 7 - 39 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1 HG-SR1024BG1 1.0 CHVM-6160 1/59 8.5 21.3 83 [Unit: mm] 29 95.2 Electromagnetic brake connector CMV1-R2P 79.
7. HG-SR SERIES 7 - 40 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG1 HG-SR1524BG1 1.5 CHVM-6130 1/29 8.5 20.6 52 1/35 20.5 [Unit: mm] Bottom Top Bottom Top Caution plate Motor plate 29 95.
7. HG-SR SERIES 7 - 41 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG1 HG-SR2024BG1 2.
7. HG-SR SERIES 7 - 42 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1 HG-SR3524BG1 3.
7. HG-SR SERIES 7 - 43 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1 HG-SR3524BG1 3.
7. HG-SR SERIES 7 - 44 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG1 HG-SR5024BG1 5.
7. HG-SR SERIES 7 - 45 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1 HG-SR7024BG1 7.
7. HG-SR SERIES 7 - 46 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1 HG-SR7024BG1 7.
7. HG-SR SERIES 7 - 47 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52G1H HG-SR524G1H 0.5 1/6 8.
7. HG-SR SERIES 7 - 48 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1H HG-SR1024G1H 1.0 1/6 14.8 31 1/11 13.3 CNHM-6120 1/17 12.9 1/29 12.6 1/35 12.6 [Unit: mm] 38.2 13 58 13.5 □ 130 112.
7. HG-SR SERIES 7 - 49 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1H HG-SR1024G1H 1.0 CHHM-6160 1/59 19.
7. HG-SR SERIES 7 - 50 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152G1H HG-SR1524G1H 1.5 CHHM-6130 1/29 18.
7. HG-SR SERIES 7 - 51 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202G1H HG-SR2024G1H 2.0 1/6 50.0 37 CNHM-6120 1/11 48.4 1/17 48.1 [Unit: mm] U W V Power supply connector Motor flange direction Key Shaft section view AA 57.
7. HG-SR SERIES 7 - 52 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1H HG-SR3524G1H 3.5 1/6 87.1 61 CHHM-6135 1/11 82.8 1/17 81.5 [Unit: mm] U W V Power supply connector Motor flange direction Key 13 24.
7. HG-SR SERIES 7 - 53 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1H HG-SR3524G1H 3.5 CHHM-6175 1/43 105 137 1/59 104 [Unit: mm] U W V Power supply connector Motor flange direction Key M12 Screw hole depth 24 □ 176 140.
7. HG-SR SERIES 7 - 54 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502G1H HG-SR5024G1H 5.0 1/29 141 178 CHHM-6180 1/35 140 1/43 139 [Unit: mm] U W V Power supply connector Motor flange direction Key 176 M12 Screw hole depth 24 616 Motor plate Caution plate 13 24.
7. HG-SR SERIES 7 - 55 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1H HG-SR7024G1H 7.0 CHHM-6165 1/6 177 108 [Unit: mm] U W V Power supply connector Motor flange direction Key 571.5 □ 176 149.
7. HG-SR SERIES 7 - 56 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1H HG-SR7024G1H 7.0 CHHM-6180 1/29 192 185 1/35 192 [Unit: mm] U W V Power supply connector Motor flange direction Key 656 Motor plate Caution plate 13 32 71.
7. HG-SR SERIES 7 - 57 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1H HG-SR524BG1H 0.
7. HG-SR SERIES 7 - 58 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1H HG-SR524BG1H 0.
7. HG-SR SERIES 7 - 59 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1H HG-SR1024BG1H 1.0 1/6 8.5 17.0 33 1/11 15.5 CNHM-6120 1/17 15. 1 1/29 14.8 1/35 14.
7. HG-SR SERIES 7 - 60 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1H HG-SR1024BG1H 1.0 CHHM-6160 1/59 8.5 21.3 88 [Unit: mm] Caution plate Motor plate 29 95.
7. HG-SR SERIES 7 - 61 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG1H HG-SR1524BG1H 1.5 CHHM-6130 1/29 8.5 20.6 53 1/35 20.5 [Unit: mm] Caution plate Motor plate 29 95.
7. HG-SR SERIES 7 - 62 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG1H HG-SR2024BG1H 2.
7. HG-SR SERIES 7 - 63 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1H HG-SR3524BG1H 3.
7. HG-SR SERIES 7 - 64 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1H HG-SR3524BG1H 3.
7. HG-SR SERIES 7 - 65 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG1H HG-SR5024BG1H 5.
7. HG-SR SERIES 7 - 66 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1H HG-SR7024BG1H 7.
7. HG-SR SERIES 7 - 67 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1H HG-SR7024BG1H 7.
7. HG-SR SERIES 7 - 68 7.7.7 With flange-output type reducer for high pr ecision applications, flange mounting (without an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR52G5 HG-SR524G5 0.
7. HG-SR SERIES 7 - 69 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G5 HG-SR1024G5 1.0 HPG-20A-05-F0KSAWS-S 1/5 12.3 9.0 [Unit: mm] 227.5 20.9 166.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 8 effective range) C0.
7. HG-SR SERIES 7 - 70 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G5 HG-SR1024G5 1.0 HPG-50A-33-F0AABC-S 1/33 16.3 23 HPG-50A-45-F0AABC-S 1/45 16.2 [Unit: mm] 255.5 20.9 194.8 Bottom Top U W V Power supply connector Motor flange direction Key 38.
7. HG-SR SERIES 7 - 71 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR152G5 HG-SR1524G5 1.5 HPG-32A-11-F0MCSPS-S 1/11 19.3 14 [Unit: mm] 253.5 115h7 20.9 192.8 Bottom Top U W V Power supply connector Motor flange direction Key 54.
7. HG-SR SERIES 7 - 72 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR202G5 HG-SR2024G5 2.0 HPG-32A-05-F0PBZI-S 1/5 51.4 19 HPG-32A-11-F0PBZJ-S 1/11 51.2 [Unit: mm] Bottom Top Top Bottom 267.5 Caution plate Motor plate (Opposite side) 24.
7. HG-SR SERIES 7 - 73 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR352G5 HG-SR3524G5 3.5 HPG-32A-05-F0PBZI-S 1/5 83.2 24 [Unit: mm] Caution plate Bottom Top Top Bottom 291.5 Caution plate Motor plate (Opposite side) 24.
7. HG-SR SERIES 7 - 74 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR502G5 HG-SR5024G5 5.0 HPG-50A-05-F0BBCF-S 1/5 110 36 HPG-50A-11-F0BBDF-S 1/11 108 38 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 327.
7. HG-SR SERIES 7 - 75 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG5 HG-SR524BG5 0.
7. HG-SR SERIES 7 - 76 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG5 HG-SR1024BG5 1.0 HPG-20A-05-F0KSAWS-S 1/5 8.5 14.5 11 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 262 43.
7. HG-SR SERIES 7 - 77 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG5 HG-SR1024BG5 1.5 HPG-50A-33-F0AABC-S 1/33 8.5 18.5 25 HPG-50A-45-F0AABC-S 1/45 18.
7. HG-SR SERIES 7 - 78 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG5 HG-SR1524BG5 1.5 HPG-32A-11-F0MC SPS-S 1/11 8.5 21.5 16 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 288 43.
7. HG-SR SERIES 7 - 79 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG5 HG-SR2024BG5 2.0 HGP-32A-05-F0PBZI-S 1/5 44 61.1 25 HGP-32A-11-F0PBZJ-S 1/11 60.
7. HG-SR SERIES 7 - 80 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG5 HG-SR3524BG5 3.5 HPG-32A-05-F0PBZI-S 1/5 44 92.8 30 [Unit: mm] Bottom Top Top Bottom 341 45.
7. HG-SR SERIES 7 - 81 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG5 HG-SR5024BG5 5.0 HPG-50A-05-F0BBCF-S 1/5 44 119 42 HPG-50A-11-F0BBDF-S 1/11 117 44 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 377 45.
7. HG-SR SERIES 7 - 82 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR52G7 HG-SR524G7 0.
7. HG-SR SERIES 7 - 83 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G7 HG-SR1024G7 1.0 HPG-20A-05-J2KSAWS-S 1/5 12.3 9.4 [Unit: mm] 227.5 20.9 166.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 80 4 5 ° 38.
7. HG-SR SERIES 7 - 84 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G7 HG-SR1024G7 1.0 HPG-50A-33-J2AABC-S 1/33 16.3 26 HPG-50A-45-J2AABC-S 1/45 16.3 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 255.
7. HG-SR SERIES 7 - 85 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR152G7 HG-SR1524G7 1.5 HPG-32A-11-J2MCSPS-S 1/11 19.4 16 [Unit: mm] Caution plate Caution plate Bottom Top Top Top Bottom 253.
7. HG-SR SERIES 7 - 86 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR202G7 HG-SR2024G7 2.0 HPG-32A-05-J2PBZI-S 1/5 51.7 20 HPG-32A-11-J2PBZJ-S 1/11 51.3 21 [Unit: mm] 267.5 24.8 203.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 91 13 35 82 133 12.
7. HG-SR SERIES 7 - 87 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR352G7 HG-SR3524G7 3.5 HPG-32A-05-J2PBZI-S 1/5 83.5 25 [Unit: mm] 291.5 24.8 227.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 91 13 35 82 133 12.
7. HG-SR SERIES 7 - 88 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR502G7 HG-SR5024G7 5.0 HPG-50A-05-J2BBCF-S 1/5 111 39 HPG-50A-11-J2BBDF-S 1/11 108 41 [Unit: mm] Caution plate Bottom Top Top Bottom 327.
7. HG-SR SERIES 7 - 89 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG7 HG-SR524BG7 0.
7. HG-SR SERIES 7 - 90 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG7 HG-SR1024BG7 1.0 HPG-20A-05-J2KSAWS-S 1/5 8.5 14.5 12 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 262 43.
7. HG-SR SERIES 7 - 91 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG7 HG-SR1024BG7 1.0 HPG-50A-33-J2AABC-S 1/33 8.5 18.5 28 HPG-50A-45-J2AABC-S 1/45 18.
7. HG-SR SERIES 7 - 92 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG7 HG-SR1524BG7 1.5 HPG-32A-11-J2MCSPS-S 1/11 8.5 21.6 18 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 288 43.
7. HG-SR SERIES 7 - 93 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG7 HG-SR2024BG7 2.0 HPG-32A-05-J2PBZI-S 1/5 44 61.4 26 HPG-32A-11-J2PBZJ-S 1/11 61.
7. HG-SR SERIES 7 - 94 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG7 HG-SR3524BG7 3.5 HPG-32A-05-J2PBZI-S 1/5 44 93.1 31 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 341 45.
7. HG-SR SERIES 7 - 95 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG7 HG-SR5024BG7 5.0 HPG-50A-05-J2BBCF-S 1/5 44 121 45 HPG-50A-11-J2BBDF-S 1/11 117 47 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 377 45.
7. HG-SR SERIES 7 - 96 MEMO.
8. HG-JR SERIES 8 - 1 8. HG-JR SERIES POINT The 1500 r/min series servo motor of 22 kW or more and 1000 r/min series servo motor of 15 kW or more with an electromagnetic brake are not available. This chapter provides information on the servo motor specifications and characteri stics.
8. HG-JR SERIES 8 - 2 8.2 Combination list of servo motors and servo amplifiers/drive units (1) Compatible with 3-phase 200 V AC (a) 3000 r/min series Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-.
8. HG-JR SERIES 8 - 3 (b) 1500 r/min series Servo motor Servo amplifier Drive unit HG-JR701M MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 HG-JR11K1M MR-J4-11KA MR-J4-11KA-RJ MR-J.
8. HG-JR SERIES 8 - 4 (c) 1000 r/min series Servo motor Servo amplifier Drive unit HG-JR601 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 HG-JR801 MR-J4-11KA MR-J4-11KA-RJ MR-J4-1.
8. HG-JR SERIES 8 - 5 (2) Compatible with 3-phase 400 V AC (a) 3000 r/min series Servo motor Servo amplifier Servo motor Servo amplifi er Standard When the maximum torque is 400% (Note) MR-J4-60A4 MR-.
8. HG-JR SERIES 8 - 6 (b) 1500 r/min series Servo motor Servo amplifier Drive unit HG-JR701M4 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 HG-JR11K1M4 MR-J4-11KA4 MR-J4-11KA.
8. HG-JR SERIES 8 - 7 (c) 1000 r/min series Servo motor Servo amplifier Drive unit HG-JR6014 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 HG-JR8014 MR-J4-11KA4 MR-J4-11KA4-R.
8. HG-JR SERIES 8 - 8 8.3 Standard specifications 8.3.1 Standard specifications list Servo motor Item HG-JR 3000 r/min series (Compatible with 3-phase 200 V AC, low inertia/medium capacity) 53(B) 73(B.
8. HG-JR SERIES 8 - 9 Servo motor Item HG-JR 1500 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 701M(B) 11K1M(B) 15K1M(B ) 22K1M 30K1M 37K1M Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
8. HG-JR SERIES 8 - 10 Servo motor Item HG-JR 1000 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 601(B) 801(B) 12K1(B) 15K1 20K1 25K1 30K1 37K1 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
8. HG-JR SERIES 8 - 11 Servo motor Item HG-JR 3000 r/min series (Compatible with 3-phase 400 V AC, low inertia/medium capacity) 534(B) 734(B) 1034(B) 1534(B) 2034( B) 3534(B) 5034(B) 7034(B) 9034(B) P.
8. HG-JR SERIES 8 - 12 Servo motor Item HG-JR 1500 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 701M4 (B) 11K1M4 (B) 15K1M4 (B) 22K1M4 30K1M4 37K1M4 45K1M4 55K1M4 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
8. HG-JR SERIES 8 - 13 Servo motor Item HG-JR 1000 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 6014(B) 8014(B) 12K14(B) 15K14 20K14 25K14 30K14 37K14 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
8. HG-JR SERIES 8 - 14 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion.
8. HG-JR SERIES 8 - 15 8.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
8. HG-JR SERIES 8 - 16 (b) 1500 r/min series [HG-JR701M] 0 Torque [N•m] 0 180 60 120 1000 2000 3000 Speed [r/min] Short-duration running range Continuous running range [HG-JR11K1M] 1000 2000 3000 0 .
8. HG-JR SERIES 8 - 17 (2) 3-phase 400 V AC When the power supply input of the servo amplifier is 3-phase 400 V AC, the to rque characteristic is indicated by the heavy line. For the 3-phase 380 V AC pow er supply, part of the to rque characteristic is indicated by the thin line.
8. HG-JR SERIES 8 - 18 (b) 1500 r/min series [HG-JR701M4] 0 1000 2000 3000 Speed [r/min] Torque [N•m] 60 120 180 0 Short-duration running range Continuous running range [HG-JR11K1M4] 1000 2000 3000 .
8. HG-JR SERIES 8 - 19 8.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
8. HG-JR SERIES 8 - 20 8.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable.
8. HG-JR SERIES 8 - 21 8.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil leve l in the gear box to be lower than the oil seal lip always.
8. HG-JR SERIES 8 - 22 8.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without toler ances are general tolerance.
8. HG-JR SERIES 8 - 23 8.8.2 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR53 0.
8. HG-JR SERIES 8 - 24 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR73 0.75 2.09 3.7 HG-JR734 [Unit: mm] 145.5 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 40 7.
8. HG-JR SERIES 8 - 25 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR103 1.0 2.65 4.5 HG-JR1034 [Unit: mm] 163.5 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.
8. HG-JR SERIES 8 - 26 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR153 1.5 3.79 5.9 HG-JR1534 [Unit: mm] 199.5 φ 80h7 φ 16h6 40 7.
8. HG-JR SERIES 8 - 27 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR353 3.5 13.2 13 [Unit: mm] 55 3 12 50 φ 110h7 Oil seal 213 38.
8. HG-JR SERIES 8 - 28 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR503 5.0 19.0 18 [Unit: mm] Motor plate (Opposite side) Caution plate 55 3 12 50 φ 110h7 Oil seal 267 38.2 50.9 φ 28h6 □ 130 4 5 ° φ 1 6 5 φ 1 4 5 116.
8. HG-JR SERIES 8 - 29 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR703 7.0 43.3 29 HG-JR7034 [Unit: mm] φ 114.3 0 -0.025 263.5 38.5 50.9 163.3 φ 35 +0.010 0 Oil seal Power supply connector MS3102A32-17P Encoder connector CMV1-R10P Bottom T op Motor plate Caution plate 13 285.
8. HG-JR SERIES 8 - 30 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-JR601 6 HG-JR6014 176 53 HG-JR701M 7 HG-JR701M4 [Unit: mm] Powe r suppl y conn ect or Motor flange direc.
8. HG-JR SERIES 8 - 31 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR12K1 12 315 86 HG-JR12K14 HG-JR15K1M 15 HG-JR15K1M4 [Unit: mm] 365.5 32 4 82 171.1 φ 2 3 5 φ 2 7 0 4 5 ° 37 . 5 ° □ 220 2-M8 screw φ 55m6 φ 200h7 Oil seal M10 screw 27 110 116 4 20 439.
8. HG-JR SERIES 8 - 32 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR15K1 15 489 120 HG-JR15K14 HG-JR22K1M 22 HG-JR22K1M4 POINT The appearance of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the dimensions before change.
8. HG-JR SERIES 8 - 33 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR20K1 20 HG-JR20K14 627 145 HG-JR30K1M 30 HG-JR30K1M4 [Unit: mm] φ 230h7 140 Intake Exhaust 5 538 236 300 Approx.
8. HG-JR SERIES 8 - 34 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR25K1 25 HG-JR25K14 764 165 HG-JR37K1M 37 HG-JR37K1M4 [Unit: mm] Cooling fan rotation d irection Caution.
8. HG-JR SERIES 8 - 35 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR30K1 30 HG-JR30K14 1377 215 HG-JR45K1M4 45 [Unit: mm] Caution plate Motor plate Top Top Bottom 600 330 .
8. HG-JR SERIES 8 - 36 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR37K1 37 HG-JR37K14 1637 240 HG-JR55K1M4 55 [Unit: mm] 300 140 35 5 140 φ 250h7 φ 63 Power lead hole M16 screw Oil seal Top Exhaust □ 280 (Flange) 247 4 5 ° φ 3 0 0 φ 3 70 4- φ 24 mounting hole Use hexagon socket head cap screw.
8. HG-JR SERIES 8 - 37 8.8.3 With an electromagnetic brake Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR53B 0.5 6.6 2.02 4.4 HG-JR534B [Unit: mm] 173 φ 80h7 φ 16h6 40 7.5 5 30 38 50.
8. HG-JR SERIES 8 - 38 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR73B 0.75 6.6 2.
8. HG-JR SERIES 8 - 39 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR103B 1.0 6.6 3.
8. HG-JR SERIES 8 - 40 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR153B 1.5 6.6 4.29 7.3 HG-JR1534B [Unit: mm] BC42629* BC42640* 245 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38 50.
8. HG-JR SERIES 8 - 41 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR203B 2.0 6.6 5.
8. HG-JR SERIES 8 - 42 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR353B 3.5 16 15.4 15 [Unit: mm] Motor plate (Opposite side) Caution plate Bottom Top 55 3 12 50 φ 110h7 251.5 43.5 50.
8. HG-JR SERIES 8 - 43 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR503B 5.0 16 21.
8. HG-JR SERIES 8 - 44 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR703B 7.0 44 52.9 35 HG-JR7034B [Unit: mm] 79 3 18 75 φ 114.3 0 -0.025 313 45.5 50.9 96.9 163.3 Oil seal Bottom Top Motor plate Caution plate 13 66.
8. HG-JR SERIES 8 - 45 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR601B 6 HG-JR6014B 126 196 65 HG-JR701MB 7 HG-JR701M4B [Unit: mm].
8. HG-JR SERIES 8 - 46 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR12K1B 12 126 336 97 HG-JR12K14B HG-JR15K1MB 15 HG-JR15K1M4B [Unit: mm] 82 4 54 171.
9. HG-RR SERIES 9 - 1 9. HG-RR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- RR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.
9. HG-RR SERIES 9 - 2 9.3 Standard specifications 9.3.1 Standard specifications list Servo motor Item HG-RR series (ultra-low inertia/medium capacity) 103(B) 153(B) 203(B) 353(B) 503(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
9. HG-RR SERIES 9 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion.
9. HG-RR SERIES 9 - 4 9.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
9. HG-RR SERIES 9 - 5 9.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
9. HG-RR SERIES 9 - 6 9.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable.
9. HG-RR SERIES 9 - 7 9.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance.
9. HG-RR SERIES 9 - 8 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR203 2.0 2.30 6.2 [Unit: mm] 38 195.5 45 40 3 10 50.9 119.5 13 φ 95h7 φ 24h6 Caution plate Motor plate Caution plate Bottom Top Bottom Top Bottom Top □ 100 94.
9. HG-RR SERIES 9 - 9 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR503 5.0 12.0 17 [Unit: mm] φ 110h7 58 63 204.5 272.5 φ 28h6 13 50.
9. HG-RR SERIES 9 - 10 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR153B 1.5 7.0 2.
9. HG-RR SERIES 9 - 11 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR353B 3.5 17 11.
9. HG-RR SERIES 9 - 12 MEMO.
10. HG-UR SERIES 10 - 1 10. HG-UR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- UR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.
10. HG-UR SERIES 10 - 2 10.3 Standard specifications 10.3.1 Standard specifications list Servo motor Item HG-UR 2000 r/min series (flat type/medium capacity) 72(B) 152(B) 202(B) 352(B) 502(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.
10. HG-UR SERIES 10 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion.
10. HG-UR SERIES 10 - 4 10.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
10. HG-UR SERIES 10 - 5 10.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
10. HG-UR SERIES 10 - 6 10.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable.
10. HG-UR SERIES 10 - 7 10.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without toler ances are general tolerance.
10. HG-UR SERIES 10 - 8 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR202 2.0 38.2 16 [Unit: mm] 38 116.5 4 65 60 φ 35 +0.010 0 φ 200 0 -0.046 42.5 50.9 13 16 □ 220 164.9 4 5 ° 3 7 . 5 ° φ 2 3 5 φ 2 5 0 φ 2 7 0 47 2-M8 screw 4- φ 13.
10. HG-UR SERIES 10 - 9 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR502 5.0 115 24 [Unit: mm] 38 164.5 4 65 60 φ 35 +0.010 0 φ 200 0 -0.046 90.5 50.9 13 16 □ 220 164.9 4 5 ° 3 7 . 5 ° φ 2 3 5 φ 2 5 0 φ 2 7 0 47 2-M8 screw 4- φ 13.
10. HG-UR SERIES 10 - 10 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR152B 1.5 8.5 24.
10. HG-UR SERIES 10 - 11 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR352B 3.5 44 85.1 26 [Unit: mm] 39.2 183.5 4 65 60 66.5 50.9 Motor plate (Opposite side) Caution plate 16 □ 220 164.
10. HG-UR SERIES 10 - 12 MEMO.
11. HG-AK SERIES 11 - 1 11. HG-AK SERIES POINT For combination with the MR-J3W-0303BN6 servo amplifier, refer to "Servo Motor Instruction Manual (Vol. 2)" (SH(NA)030041). This chapter provides information on the servo motor specifications and characteri stics.
11. HG-AK SERIES 11 - 2 11.3 Standard specifications 11.3.1 Standard specifications list Servo motor Item HG-AK series 0136(B) 0236(B) 0336(B) Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" of each servo amplifier instruction manual.
11. HG-AK SERIES 11 - 3 5. The following figure shows the vibration directions. The va lue is the one at the part that indicates the maximum value (no rmally the opposite to load-side bracket). When the servo motor stops, fre tting is likely to occur at t he bearing.
11. HG-AK SERIES 11 - 4 11.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque.
11. HG-AK SERIES 11 - 5 11.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).
11. HG-AK SERIES 11 - 6 11.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbols (D) in the table are av ailable. D is the symbol attached to the servo motor model names. Servo motor Shaft shape D cut shaft HG-AK_(B) D [Unit: mm] 16 13 10 0.
11. HG-AK SERIES 11 - 7 11.6 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake to servo motor shaft. The dimensions without toler ances are general tolerance.
11. HG-AK SERIES 11 - 8 11.6.1 Standard (without an electromagnetic brake) Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0136 10 0.0029 0.12 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.
11. HG-AK SERIES 11 - 9 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0236 20 0.0045 0.14 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.
11. HG-AK SERIES 11 - 10 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0336 30 0.0061 0.16 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0(Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.
11. HG-AK SERIES 11 - 11 11.6.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0136B 10 0.095 0.0042 0.22 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.
11. HG-AK SERIES 11 - 12 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0236B 20 0.095 0.0058 0.24 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.
11. HG-AK SERIES 11 - 13 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0336B 30 0.095 0.0074 0.26 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.
11. HG-AK SERIES 11 - 14 MEMO.
APPENDIX App. - 1 App. 1 Servo motor ID codes Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor F053 HG-MR053 FF13 HG-MR13 0101 FF23 HG-MR23 FF43 HG-MR43 FF73 HG-MR73 F053 H.
APPENDIX App. - 2 Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor FF53 HG-JR534 FF73 HG-JR734 F103 HG-JR1034 F153 HG-JR1534 F203 HG-JR2034 F353 HG-JR3534 F503 HG-JR5034 F7.
APPENDIX App. - 3 App. 2 Manufacturer list Names given in the table are as of April 2015. Manufacturer Contact 3M 3M JST J.S.T. Mfg. Co., Ltd. JX Nippon Oil & Energy JX Ni ppon Oil & Energy Corporation Idemitsu Kosan Idemitsu Kosan Co., Ltd Exxon Mobil Exxon Mobil Corporation Cosmo Oil Cosmo Oil Co.
APPENDIX App. - 4 App. 3 Compliance with the CE marking App. 3.1 What is CE marking? The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE mark ing must be affixed to the product.
APPENDIX App. - 5 App. 4 Compliance with UL/CSA standard Use the UL/CSA standard-compliant model of servo motor. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performanc e, specifications, etc.
APPENDIX App. - 6 (2) Selection example of wires To comply with the UL/CSA standard, use UL-appr oved copper wires rated at 75 °C for wiring. The following table shows wires [AWG] rated at 75 °C.
APPENDIX App. - 7 (c) HG-JR series 1) 3000 r/min series Servo motor Wire [AWG] U/V/W/ B1/B2 Standard When the maximum torque is 400% (Note 2) HG-JR53 HG-JR73 HG-JR103 14 14 HG-JR153 HG-JR203 HG-JR353 .
APPENDIX App. - 8 3) 1000 r/min series Servo motor Wire [AWG] U/V/W/ B1/B2 BU/BV/BW HG-JR601 8 (Note) HG-JR801 6 (Note) 16 HG-JR12K1 HG-JR15K1 4 (Note) HG-JR20K1 2 (Note) HG-JR25K1 16 HG-JR30K1 2/0 (N.
APPENDIX App. - 9 App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper servo.
APPENDIX App. - 10 App. 5.2 Position resolution and electronic gear setting Position resolution (travel distance per pulse ∆ l) is determined by travel distance per servo motor revolution ∆ S and the number of encoder feedback pulses P f , and is represented by Equation 5.
APPENDIX App. - 11 Relation between position resolution ∆ l and overall accuracy Positioning accuracy of machine is the sum of electric al errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affe cted by electrical system errors.
APPENDIX App. - 12 [Setting example] Obtain the command pulse frequency required to run the HG-KR at 3000 r/min. The following result will be found according to equation 5.
APPENDIX App. - 13 5.4 Stopping characteristics (1) Droop pulses ( ε ) When you use a pulse train command to run the se rvo motor, the relation between the command pulse frequency and servo motor speed will be as follows.
APPENDIX App. - 14 (2) Settling time (t s ) during linear acceleration/deceleration Since droop pulses still exist regardless of zero command pulse, settling time (t s ) is required until the servo motor stops. Set the operation pattern in consideration for the settling time.
APPENDIX App. - 15 App. 5.5 Capacity selection As a first step, confirm the load conditions and temporarily select the servo motor capacity. Then, determine the operation pattern, calculate requi red torques according to the following equations, and check that the servo motor of the initially selected capacity may be used for operation .
APPENDIX App. - 16 (2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern.
APPENDIX App. - 17 (3) Torques required for operation POINT For the gain adjustment, check that the machine operates below the maximum torque of the servo motor. It is recommended that generated torque during operation is under 90% of the maxi mum torque of the servo motor.
APPENDIX App. - 18 (4) Continuous effective load torque If the torque required for the servo motor changes with time, the continuous effective load torque should be lower than the rated torque of the servo motor. T here may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system.
APPENDIX App. - 19 App. 5.6 Load torque equations Typical load torque equations are indicated below. Type Mechanism Equation Linear movement Servo moto r F C Z 2 Z 1 F G W T L = F 2 • 10 3 • • N V = S F• 2 • 10 3 • ····································· (5.
APPENDIX App. - 20 App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type Mechanism Equation Cylinder Axis of rotation is on the cylinder center A .
APPENDIX App. - 21 App. 5.8 Precautions for home position return When a general positioning unit is used, the sequence of events is as shown in the following figure.
APPENDIX App. - 22 App. 5.9 Selection example Servo motor Machine specification Gear ratio 5: 8 Servo amplifier Feed speed of moving part Travel distance per command pulse Feed per cycle Positioning t.
APPENDIX App. - 23 (3) Acceleration/deceleration time constant t psa = t psd = t 0 - V 0 /60 l - t s = 0.05 [s] t s : Settling time (Here, this is assumed to be 0.15 s.) (4) Operation pattern 0.05 0.05 0 Time [s] 3000 t psa t psd t 0 = 1.0 1 cycle t f = 1.
APPENDIX App. - 24 (6) Load moment of inertia (converted into equivalent value on servo motor shaft) Moving part J L1 = W • 2 S 10 -3 2 = 1.52 • 10 -4 [kg•m 2 ] Ball screw J L2 = 32 B • D B 4 • n 1 2 = 0.24 • 10 -4 [kg•m 2 ] ρ = 7.8 • 10 3 [kg/m 3 ] (iron) Gear (servo motor shaft) J L3 = 32 G • D G1 4 = 0.
APPENDIX App. - 25 (8) Acceleration/deceleration torque Torque necessary for acceleration T Ma = (J L / + J M ) • N 0 9.55 • 10 4 • t psa + T L = 1.84 [N•m] J M : Moment of inertia of the servo motor Torque necessary for deceleration T Md = -(J L • + J M ) • N 0 9.
APPENDIX App. - 26 App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electr omagnetic brake stops as the following diagram. Here, the maximum coasting distance (during fast feed) L max will be the area shown with the diagonal line in the figure and can be calculated approximately with equation 5.
APPENDIX App. - 27 App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30 m or less Some cables do not fit into the option or the recommended cable clamp. Select a cable clamp according to the cable diameter.
APPENDIX App. - 28 App. 7 Crimping connector for CNP3_ CNP3B CNP3C (Note) CNP3A 1)2)3)4) MR-J4W_-_B Servo amplifier Note. This figure shows the 3-axis servo amplifier. No. Name Model Description Application 1) Connector set MR-J3WCNP3- DL The connector set is used fo r connecting to the servo amplifier directly using MR-PWS1CBL_M-_.
APPENDIX App. - 29 App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] 19.6 13.5 6.5 24.6 22 19 31.1 (Note) 13.6 Note. The recommended screw tightening torque is 0.1 N•m.
APPENDIX App. - 30 KN4FT04SJ1-R [Unit: mm] 16 ± 0.3 11.7 ± 0.2 Approx. 29 18.5 ± 0.3 24.5 ± 0.3 20.1 ± 0.2 7° 3.5 ± 0.2 12.2 ± 0.3 13.7 ± 0.3 11 ± 0.3 13 ± 0.3 Main key (Note) R6 Note. The recommended screw tightening torque is 0.2 N•m. Crimping tool: CT170-14-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.
APPENDIX App. - 31 (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1-AP10S-M_ CMV1-AP2S-_ 21 Approx. 32 Approx. 33 (c) CE05-6A_-_SD-D-BSS [Unit: mm] C ± 0.8 B 0 -0.38 D or shorte r 7.85 or longer W A Model A B C D W CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.
APPENDIX App. - 32 (e) CE3057-_A-_-D [Unit: mm] (Bushing ID) Effective thread length C V threads 1.6 Approx. D (Movable range on one side) (Cable clamp ID) H F E B ± 0.7 A ± 0.7 G ± 0.7 Model Shell size A B C D E F G H V Bushing Cable OD CE3057-10A-1-D 18 23.
APPENDIX App. - 33 (g) D/MS3108B_-_S [Unit: mm] L or shorter V A W or longer J ± 0.12 R ± 0.5 U ± 0.5 Q 0 -0.38 Model A J L Q R U V W D/MS3108B18-10S 1 1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 D/MS3108B22-22S 1 3/8-18UNEF 18.26 76.98 40.
APPENDIX App. - 34 (j) CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1S-AP10S-M_ CMV1S-AP2S-_ Approx. 32 Approx. 33 21 (k) CE05-6A32-17SD-D [Unit: mm] Model A B C D E G H J CE05-6A32-17SD-D 2-18UNS-2B 56.
APPENDIX App. - 35 App. 9 HG-JR22K1M(4) appearance change The appearance of the HG-JR22K1M(4) servo mo tor has been changed since September 2014. The following shows the terminal box deta il diagram and dimensions before change. (1) Terminal box detail diagram (HG-JR22K1M(4)) [Unit: mm] Approx.
REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030113-A First edition Jun. 2012 SH(NA)030113-B 4. Additional instructions (1) Transportation and installation Section 2.2 Section 2.
Print Data *Manual Number Revision Feb. 2013 SH(NA)030113-C Appendix 4 Appendix 5.9 (8) to (10) Appendix 6 The part of table is changed. Some numbers are changed. The part of table is changed. Jun. 2013 SH(NA)030113-D "The following servo amplifiers will be avail able in the future.
Print Data *Manual Number Revision Jan. 2015 SH(NA)030113-H Section 5.1.2 Section 5.2 (1) (a) Section 5.2 (2) (a) Section 5.2 (5) (a) Section 5.2 (6) Section 5.2 (6) (a) Section 5.2 (6) (b) Section 6.3.1 Section 6.3.2 Section 6.6 Section 7.3.1 Section 7.
Print Data *Manual Number Revision Apr. 2015 SH(NA)030113-J Section 5.2 (8) Section 5.4 Section 5.5 Section 5.6 Section 6.1 Section 7.1 Section 8.1 Chapter 11 App. 1 App. 4 (1) (2) App. 8 Added. Added. Partially changed. Partially added. Partially added.
MEMO.
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. QR Code is a trademark or a registered trademark of DENSO W AVE INCORPORATED in Japan, the United States and/or other countries.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" ari.
SH (NA) 030113-J (1504) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol.
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