Mitsubishi VS-6047 Instruction Manual Page 1

SH (NA) 030113-G (1403) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.MOD

3 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake)...

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•m2] Mass [kg] HG-MR13B 100

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•m2] Mass [kg] HG-MR23B 200

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•m2] Mass [kg] HG-MR73B 750

6. HG-MR SERIES/HG-KR SERIES 6 - 22 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

6. HG-MR SERIES/HG-KR SERIES 6 - 23 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

6. HG-MR SERIES/HG-KR SERIES 6 - 24 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

6. HG-MR SERIES/HG-KR SERIES 6 - 25 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

6. HG-MR SERIES/HG-KR SERIES 6 - 26 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

6. HG-MR SERIES/HG-KR SERIES 6 - 27 Model Output [W] Reducer modelReduction ratio (actual reduction ratio)Moment of inertia J [× 10-4 kg•m2] Mass

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 m

4 APPENDIX App. - 1 to App. -32 App. 1 Servo motor ID codes ...

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] Mom

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] Mom

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] Mom

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] Mom

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] Mom

6. HG-MR SERIES/HG-KR SERIES 6 - 34 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnet

6. HG-MR SERIES/HG-KR SERIES 6 - 35 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G5 100 HP

6. HG-MR SERIES/HG-KR SERIES 6 - 36 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G5 100 HPG

6. HG-MR SERIES/HG-KR SERIES 6 - 37 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23G5 200 HP

6. HG-MR SERIES/HG-KR SERIES 6 - 38 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G5 400 HP

1. INTRODUCTION 1 - 1 1. INTRODUCTION 1.1 Rating plate The following shows an example of rating plate for explanation of each item. (Note 2)Country

6. HG-MR SERIES/HG-KR SERIES 6 - 39 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73G5 750 HP

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

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

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

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

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

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

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 electromagneti

6. HG-MR SERIES/HG-KR SERIES 6 - 47 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G7 100 HP

6. HG-MR SERIES/HG-KR SERIES 6 - 48 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G7 100 HPG

1. INTRODUCTION 1 - 2 (3) HG-JR22K1M(4) servo motor Encoder connectorTerminal boxServo motor shaftPower lead holeCooling fan connector 1.3 Electrom

6. HG-MR SERIES/HG-KR SERIES 6 - 49 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23G7 200 HP

6. HG-MR SERIES/HG-KR SERIES 6 - 50 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G7 400 HP

6. HG-MR SERIES/HG-KR SERIES 6 - 51 Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73G7 750 HP

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 b

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

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

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

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

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

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

1. INTRODUCTION 1 - 3 (2) Sound generation Though the brake lining may rattle during operation, it poses no functional problem. If braking sounds, i

7. HG-SR SERIES 7 - 1 7. HG-SR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HG-SR

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 amplifier Servo ampl

7. HG-SR SERIES 7 - 3 7.3 Standard specifications 7.3.1 Standard specifications list HG-SR 1000 r/min series (Compatible with 3-phase 200 V AC, medi

7. HG-SR SERIES 7 - 4 HG-SR series (3-phase 400 V AC compatible, medium inertia/medium capacity) Servo motorItem 524(B) 1024(B) 1524(B) 2024(B) 3524

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 mo

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, it is

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 torque characteristic is in

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

7. HG-SR SERIES 7 - 9 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are availab

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, l

1. INTRODUCTION 1 - 4 (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note

7. HG-SR SERIES 7 - 11 (a) Maximum speed Reduction ratio Servo motor 1/6 1/11 1/17 1/29 1/35 1/43 1/59 HG-SR52(4)(B)G1(H) HG-SR102(4)

7. HG-SR SERIES 7 - 12 (c) Recommended lubricants 1) Grease Albania Grease RA (Shell) 2) Lubricating oil POINT Since the oil-lubricated models ar

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 t

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 table indicate

7. HG-SR SERIES 7 - 15 (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below. L: Distance

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 f

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

7. HG-SR SERIES 7 - 18 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR81 0.85 HG-SR152 HG-SR1524 1.5 16.0 7.3 [Unit: mm] BC41

7. HG-SR SERIES 7 - 19 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR201 2.0 HG-SR352 HG-SR3524 3.5 78.6 16 [Unit: mm] Motor

7. HG-SR SERIES 7 - 20 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR421 4.2 HG-SR702 HG-SR7024 7.0 151 27 [Unit: mm] Motor

2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specif

7. HG-SR SERIES 7 - 21 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR51B 0.5 HG-SR102B HG

7. HG-SR SERIES 7 - 22 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR81B 0.85 HG-SR152B H

7. HG-SR SERIES 7 - 23 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR121B 1.2 HG-SR202B H

7. HG-SR SERIES 7 - 24 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR201B 2.0 HG-SR352B H

7. HG-SR SERIES 7 - 25 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR301B 3.0 HG-SR502B H

7. HG-SR SERIES 7 - 26 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR421B 4.2 HG-SR702B H

7. HG-SR SERIES 7 - 27 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) Model Output [kW] Reducer model Reduc

7. HG-SR SERIES 7 - 28 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 14.8 1/11 13.3 CNVM-612

7. HG-SR SERIES 7 - 29 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G1 HG-SR1024G1 1.0 CHVM

7. HG-SR SERIES 7 - 30 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 18.4 HG-SR152G1 HG-SR1524G

2. INSTALLATION 2 - 2 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo mo

7. HG-SR SERIES 7 - 31 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 50.0 CNVM-6120 1/11 48.4

7. HG-SR SERIES 7 - 32 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 87.1 CHVM-6135 1/11 82.8

7. HG-SR SERIES 7 - 33 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/43 105 HG-SR352G1 HG-SR3524G1

7. HG-SR SERIES 7 - 34 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 141 CHVM-6180 1/35 140

7. HG-SR SERIES 7 - 35 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702G1 HG-SR7024G1 7.0 CHVM

7. HG-SR SERIES 7 - 36 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 192 HG-SR702G1 HG-SR7024G1

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 Reduct

7. HG-SR SERIES 7 - 38 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 39 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 40 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

2. INSTALLATION 2 - 3 2.3 Load remove precautions CAUTION During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunct

7. HG-SR SERIES 7 - 41 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 42 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 43 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 44 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 45 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 46 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

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] Reduc

7. HG-SR SERIES 7 - 48 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 14.8 1/11 13.3 CNHM-612

7. HG-SR SERIES 7 - 49 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G1H HG-SR1024G1H 1.0 CH

7. HG-SR SERIES 7 - 50 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 18.4 HG-SR152G1H HG-SR1524

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

7. HG-SR SERIES 7 - 51 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 50.0 CNHM-6120 1/11 48.4

7. HG-SR SERIES 7 - 52 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/6 87.1 CHHM-6135 1/11 82.8

7. HG-SR SERIES 7 - 53 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/43 105 HG-SR352G1H HG-SR3524G

7. HG-SR SERIES 7 - 54 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 141 CHHM-6180 1/35 140

7. HG-SR SERIES 7 - 55 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702G1H HG-SR7024G1H 7.0 CH

7. HG-SR SERIES 7 - 56 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1/29 192 HG-SR702G1H HG-SR7024G

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

7. HG-SR SERIES 7 - 58 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 59 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 60 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

A - 1 Safety Instructions Please read the instructions carefully before using the equipment. Do not attempt to install, operate, maintain or ins

2. INSTALLATION 2 - 5 2.6 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmo

7. HG-SR SERIES 7 - 61 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 62 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 63 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 64 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 65 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 66 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 67 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mas

7. HG-SR SERIES 7 - 68 7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Mod

7. HG-SR SERIES 7 - 69 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G5 HG-SR1024G5 1.0 HP

7. HG-SR SERIES 7 - 70 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-50A-33-F0AABC-S 1/33 16.

2. INSTALLATION 2 - 6 (3) Check the servo motor shaft and coupling for misalignment. (4) Check the power supply connector and encoder connector t

7. HG-SR SERIES 7 - 71 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G5 HG-SR1524G5 1.5 HP

7. HG-SR SERIES 7 - 72 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-32A-05-F0PBZI-S 1/5 51.4

7. HG-SR SERIES 7 - 73 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352G5 HG-SR3524G5 3.5 HP

7. HG-SR SERIES 7 - 74 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-50A-05-F0BBCF-S 1/5 110

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

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 3. CONNECTORS USED FOR SERVO MOTOR WIRING POINT The IP rating indicated is the connector's pro

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•m2] Mass [k

7. HG-SR SERIES 7 - 82 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Mode

7. HG-SR SERIES 7 - 83 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G7 HG-SR1024G7 1.0 HP

7. HG-SR SERIES 7 - 84 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-50A-33-J2AABC-S 1/33 16.

7. HG-SR SERIES 7 - 85 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G7 HG-SR1524G7 1.5 HP

7. HG-SR SERIES 7 - 86 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-32A-05-J2PBZI-S 1/5 51.7

7. HG-SR SERIES 7 - 87 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352G7 HG-SR3524G7 3.5 HP

7. HG-SR SERIES 7 - 88 Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-50A-05-J2BBCF-S 1/5 111

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

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•m2] Mass [k

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 2 (3) HG-JR series HG-JR53(4) to HG-JR11K1M(4) Electromagnetic brake connectorEncoder connectorPower s

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

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•m2] Mass [k

7. HG-SR SERIES 7 - 96 MEMO

8. HG-JR SERIES 8 - 1 8. HG-JR SERIES POINT HG-JR22K1M(4) with an electromagnetic brake is not available. This chapter provides information on th

8. HG-JR SERIES 8 - 2 8.2 Combination list of servo motors and servo amplifiers (1) Compatible with 3-phase 200 V AC Servo amplifier MR-J4 1-axis

8. HG-JR SERIES 8 - 3 Servo amplifier MR-J4 1-axis MR-J4 2-axis Servo motor Standard When the maximum torqueis 400% (Note) Standard When the maximu

8. HG-JR SERIES 8 - 4 8.3 Standard specifications 8.3.1 Standard specifications list HG-JR 3000 r/min series (Compatible with 3-phase 200 V AC, low

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 3 (5) HG-UR series Power supply connectorEncoder connector Wiring connector Servo motor For encoder F

8. HG-JR SERIES 8 - 5 HG-JR 1500 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) Servo motor Item 11K1M(B) 15K1M(B) 2

8. HG-JR SERIES 8 - 6 HG-JR 3000 r/min series (Compatible with 3-phase 400 V AC, low inertia/medium capacity) Servo motor Item 534(B) 734(B) 1034(

8. HG-JR SERIES 8 - 7 HG-JR 1500 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) Servo motor Item 11K1M4(B) 15K1M4(B)

8. HG-JR SERIES 8 - 8 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to mo

8. HG-JR SERIES 8 - 9 8.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, it is r

8. HG-JR SERIES 8 - 10 (2) 3-phase 400 V AC When the power supply input of the servo amplifier is 3-phase 400 V AC, the torque characteristic is in

8. HG-JR SERIES 8 - 11 8.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure

8. HG-JR SERIES 8 - 12 8.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are availa

8. HG-JR SERIES 8 - 13 8.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the o

8. HG-JR SERIES 8 - 14 8.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 4 Connector configuration Feature Connector Crimping tool Servo motor electromagnetic brake connector

8. HG-JR SERIES 8 - 15 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR73 HG-JR734 0.75 2.09 3.7 [Unit: mm] 145.5□90φ118φ100φ8

8. HG-JR SERIES 8 - 16 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR103 HG-JR1034 1.0 2.65 4.5 [Unit: mm] 163.5□90φ118φ100φ

8. HG-JR SERIES 8 - 17 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR153 HG-JR1534 1.5 3.79 5.9 [Unit: mm] 199.5φ80h7φ16h640

8. HG-JR SERIES 8 - 18 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR353 3.5 13.2 13 [Unit: mm] 5531250φ110h7Oil seal21338

8. HG-JR SERIES 8 - 19 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR503 5.0 19.0 18 [Unit: mm] Motor plate(Opposite side)

8. HG-JR SERIES 8 - 20 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR703 HG-JR7034 7.0 43.3 29 [Unit: mm] φ114.3 0-0.025263.

8. HG-JR SERIES 8 - 21 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR11K1M HG-JR11K1M4 11 220 62 [Unit: mm] 482171.1φ235φ270

8. HG-JR SERIES 8 - 22 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR22K1M HG-JR22K1M4 22 489 120 [Unit: mm] Caution plateMo

8. HG-JR SERIES 8 - 23 8.8.3 With an electromagnetic brake Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2]

8. HG-JR SERIES 8 - 24 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR73B HG-JR734B 0.75 6

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 5 3.3 Wiring connectors (connector configurations D/E/F/G/H) Angle plug(screw type)Angle plug(one-touc

8. HG-JR SERIES 8 - 25 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR103B HG-JR1034B 1.0

8. HG-JR SERIES 8 - 26 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR153B HG-JR1534B 1.5

8. HG-JR SERIES 8 - 27 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR203B HG-JR2034B 2.0

8. HG-JR SERIES 8 - 28 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR353B 3.5 16 15.4

8. HG-JR SERIES 8 - 29 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR503B 5.0 16 21.2

8. HG-JR SERIES 8 - 30 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR703B HG-JR7034B 7.0

8. HG-JR SERIES 8 - 31 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR11K1MB HG-JR11K1M4B

8. HG-JR SERIES 8 - 32 MEMO

9. HG-RR SERIES 9 - 1 9. HG-RR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HG-RR

9. HG-RR SERIES 9 - 2 9.3 Standard specifications 9.3.1 Standard specifications list HG-RR series (ultra-low inertia/medium capacity) Servo motor It

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 6 Plug Cable clamp Cable Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration

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 mo

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, it is r

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

9. HG-RR SERIES 9 - 6 9.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are availab

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 s

9. HG-RR SERIES 9 - 8 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR203 2.0 2.30 6.2 [Unit: mm] 38195.5 454031050.9119.513

9. HG-RR SERIES 9 - 9 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR503 5.0 12.0 17 [Unit: mm] φ110h75863204.5272.5φ28h613

9. HG-RR SERIES 9 - 10 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR153B 1.5 7.0 2.25

9. HG-RR SERIES 9 - 11 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR353B 3.5 17 11.8

9. HG-RR SERIES 9 - 12 MEMO

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 7 Angle plug(screw type)Angle plug(one-touch connection type)Straight plug(screw type)Straight plug(on

10. HG-UR SERIES 10 - 1 10. HG-UR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HG-

10. HG-UR SERIES 10 - 2 10.3 Standard specifications 10.3.1 Standard specifications list HG-UR 2000 r/min series (flat type/medium capacity) Servo m

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

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, it

10. HG-UR SERIES 10 - 5 10.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failu

10. HG-UR SERIES 10 - 6 10.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are avai

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 fo

10. HG-UR SERIES 10 - 8 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR202 2.0 38.2 16 [Unit: mm] 38116.546560φ35+0.010 0φ2

10. HG-UR SERIES 10 - 9 Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR502 5.0 115 24 [Unit: mm] 38164.546560φ35+0.010 0φ20

10. HG-UR SERIES 10 - 10 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR152B 1.5 8.5 24.

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 8 Plug Cable clamp Cable Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration

10. HG-UR SERIES 10 - 11 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR352B 3.5 44 85.1

10. HG-UR SERIES 10 - 12 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

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

APPENDIX App. - 3 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 pro

APPENDIX App. - 4 App. 4 Compliance with UL/CSA standard Use the UL/CSA standard-compliant model of servo motor. For the latest information of compl

APPENDIX App. - 5 (2) Selection example of wires To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 °C for wiring. The fo

APPENDIX App. - 6 (c) HG-JR series Wire [AWG] U/V/W/ Servo motor Standard When the maximum torque is 400% (Note 2) B1/B2 BU/BV/BW HG-JR53 H

APPENDIX App. - 7 App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper

APPENDIX App. - 8 App. 5.2 Position resolution and electronic gear setting Position resolution (travel distance per pulse Δl) is determined by trave

A - 2 1. To prevent electric shock, note the following WARNINGBefore wiring and inspections, turn off the power and wait for 15 minutes or more unti

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 9 3.4 Wiring connectors (connector configurations J/K/L/M/N) IP67 compatible IP67 compatible General e

APPENDIX App. - 9 Relation between position resolution Δl and overall accuracy Positioning accuracy of machine is the sum of electrical errors and m

APPENDIX App. - 10 [Setting example] Obtain the command pulse frequency required to run the HG-KR at 3000 r/min. The following result will be found

APPENDIX App. - 11 5.4 Stopping characteristics (1) Droop pulses (ε) When you use a pulse train command to run the servo motor, the relation betwee

APPENDIX App. - 12 (2) Settling time (ts) during linear acceleration/deceleration Since droop pulses still exist regardless of zero command pulse,

APPENDIX App. - 13 App. 5.5 Capacity selection As a first step, confirm the load conditions and temporarily select the servo motor capacity. Then, d

APPENDIX App. - 14 (2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torque

APPENDIX App. - 15 (3) Torques required for operation POINT For the gain adjustment, check that the machine operates below the maximum torque of

APPENDIX App. - 16 (4) Continuous effective load torque If the torque required for the servo motor changes with time, the continuous effective load

APPENDIX App. - 17 App. 5.6 Load torque equations Typical load torque equations are indicated below. Type Mechanism Equation Linear movement Servo

APPENDIX App. - 18 App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type Mechanism Equation

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 10 Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration Feature Type Model Cab

APPENDIX App. - 19 App. 5.8 Precautions for home position return When a general positioning unit is used, the sequence of events is as shown in the

APPENDIX App. - 20 App. 5.9 Selection example Servo motorMachinespecificationGear ratio 5: 8Servo amplifier Feed speed of moving part Travel distanc

APPENDIX App. - 21 (3) Acceleration/deceleration time constant tpsa = tpsd = t0 - V0/60l - ts = 0.05 [s] ts: Settling time (Here, this is assumed

APPENDIX App. - 22 (6) Load moment of inertia (converted into equivalent value on servo motor shaft) Moving part JL1 = W • 2S 10-32 = 1.52 • 10-4

APPENDIX App. - 23 (8) Acceleration/deceleration torque Torque necessary for acceleration TMa = (JL/ + JM) • N09.55 • 104 • tpsa + TL = 1.84 [N•m

APPENDIX App. - 24 App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electromagnetic brake stops as

APPENDIX App. - 25 App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30 m or l

APPENDIX App. - 26 App. 7 Crimping connector for CNP3_ CNP3BCNP3C (Note)CNP3A1)2)3)4)MR-J4W_Servo amplifier Note. This figure shows the 3-axis servo

APPENDIX App. - 27 App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1

APPENDIX App. - 28 KN4FT04SJ1-R [Unit: mm] Note. The recommended screw tightening torque is 0.2 N•m. 16 ± 0.311.7 ± 0.2App

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 11 Plug Cable clamp Cable Plug Cable clamp Cable Plug (DDK) Cable clamp (DDK) Connector configuration

APPENDIX App. - 29 (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1-AP10S-M_ CMV1-AP2S-_21Approx.

APPENDIX App. - 30 (e) CE3057-_A-_-D [Unit: mm] (Bushing ID)Effective thread length CV threads1.6Approx. D(Movable range on one side)(Cable clamp I

APPENDIX App. - 31 (g) D/MS3108B_-_S [Unit: mm] L or shorterVAW or longerJ ± 0.12R ± 0.5U ± 0.5Q 0-0.38 Model A J L Q R U V W D/MS3108B18-10S 1 1/8

APPENDIX App. - 32 (j) CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1S-AP10S-M_ CMV1S-AP2S-_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 edit

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 num

Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel Fax

Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment herei

SH (NA) 030113-G (1403) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.MOD

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 12 MEMO

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

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

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 serv

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

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 wir

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-BKS

A - 3 CAUTIONStacking in excess of the specified number of product packages is not allowed. Do not carry the servo motor by holding the cables, shaf

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,

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 fo

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 9 (b) Connection with MR-J4 multi-axis servo amplifier 50 m or lessA-axis servo motorMUVW(Note

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 10 (2) Servo motor terminal section The following table shows the servo motor terminal section

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 11 (d) HG-UR series Servo motor terminal section Servo motor Encoder Power Electromagnetic bra

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 12 Connector D Power supply connector MS3102A22-22P Connector E Power supply connector MS3102A3

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 13 Connector K Cooling fan connector CE05-2A14S-2P Terminal No. Signal A BU (Note)

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 14 4.3 Selection example of wires POINT Wires indicated in this section are separated wires.

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 15 When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selec

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 16 (3) HG-JR series Wires [mm2] 1) U/V/W/ Servo motor Standard When the maximum torqueis 40

A - 4 (2) Wiring CAUTIONWire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capac

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 17 (5) HG-UR series Wires [mm2] Servo motor 1) U/V/W/ 2) B1/B2 HG-UR72 1.25 (AWG 16) HG-UR1

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 18 (1) Connector details (a) Connector A CNP3Servo amplifier Table 4.1 Connector and applicabl

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 19 (c) Connector C MR-J4W_Servo amplifierCNP3ACNP3BCNP3C (Note) Note. This figure shows the MR-

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 20 (2) Cable connection procedure (a) Cable making Refer to table 4.1 to 4.4 for stripped leng

5. WIRING OPTION 5 - 1 5. WIRING OPTION WARNING Before connecting any option, turn off the power and wait for 15 minutes or more until the charge la

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

5. WIRING OPTION 5 - 3 (3) HG-JR22K1M(4) servo motor Servo amplifierCN2Terminal box(Note 1)40) (Note 2)41)42)CN4MR-BAT6V1BJ Note 1. Refer to sec

5. WIRING OPTION 5 - 4 No. Name Model Description Remarks 7) Electromagnetic brake cable MR-BKS1CBL_M-A1-L Cable length: 2/5/10 m IP65 Load-side

5. WIRING OPTION 5 - 5 No. Name Model Description Remarks 18) Encoder cable MR-J3JCBL03M-A2-L (Note 1) Cable length: 0.3 m Encoder connectorHG-

5. WIRING OPTION 5 - 6 No. Name Model Description Remarks 27) Power connector set MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-

A - 5 (5) Corrective actions CAUTIONWhen it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a ser

5. WIRING OPTION 5 - 7 No. Name Model Description Remarks 32) Electromagnetic brake connector set MR-BKCNS2 Straight plug: CMV1S-SP2S-L Socket c

5. WIRING OPTION 5 - 8 No. Name Model Description Remarks 39) Electromagnetic brake connector set MR-BKCN Plug: D/MS3106A10SL-4S(D190) (DDK) Cabl

5. WIRING OPTION 5 - 9 (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length

5. WIRING OPTION 5 - 10 (b) Cable internal wiring diagram P5LG12MRMRR3423CN2, CN2A, CN2B, andCN2C side connectorEncoder-sideconnector9SDPlate5469LG

5. WIRING OPTION 5 - 11 (a) Connection of servo amplifier and servo motor 1)MR-EKCBL_M-LMR-EKCBL_M-H2)CN2BCN2A(Note)CN2CN2CorMR-J4 multi-axisservo

5. WIRING OPTION 5 - 12 (b) Internal wiring diagram MR-EKCBL20M-L CN2, CN2A, CN2B, andCN2C side connectorJunctionconnector(Note)P5LG12MRMRR34379SDP

5. WIRING OPTION 5 - 13 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according

5. WIRING OPTION 5 - 14 (a) Connection of servo amplifier and servo motor Servo motorHG-MRHG-KRMR-J3JCBL03M-A2-LMR-EKCBL_M-_1)2)2)Servo motorHG-MRH

5. WIRING OPTION 5 - 15 (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motor-sid

5. WIRING OPTION 5 - 16 (b) Internal wiring diagram 8512133546968774210JunctionconnectorEncoder-sideconnectorP5LGMRMRRSHDLGMRMRRSHDP5BAT BAT (5) MR

A - 6 DISPOSAL OF WASTE Please dispose a servo motor and other options according to your local laws and regulations. «U.S. customary units» U.S

5. WIRING OPTION 5 - 17 Cable model 1) CN2, CN2A, CN2B, and CN2C side connector 2) Encoder-side connector Plug (DDK) Cable length Bending life Strai

5. WIRING OPTION 5 - 18 (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3EN

5. WIRING OPTION 5 - 19 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according

5. WIRING OPTION 5 - 20 (6) MR-ENECBL_M-H-MTH These cables are encoder cables for HG-JR11K1M(4), HG-JR15K1M(4), and HG-JR22K1M(4) servo motors. The

5. WIRING OPTION 5 - 21 (b) Cable internal wiring diagram MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH MR-ENECBL10M-H-MTH MR-ENECBL20M-H-MTH (Note 2)(Note

5. WIRING OPTION 5 - 22 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according

5. WIRING OPTION 5 - 23 5.3 Servo motor power cable These cables are servo motor power cables for the HG-MR/HG-KR series servo motors. The numbers i

5. WIRING OPTION 5 - 24 (2) Internal wiring diagram (Red)(White)(Black)(Green/yellow)UVW(Note) Note. These are not shielded cables. 5.4 Electromag

5. WIRING OPTION 5 - 25 (1) Connection of power supply for electromagnetic brake and servo motor 1)Servo motorHG-MRHG-KR+-24 V DC powersupply forel

5. WIRING OPTION 5 - 26 5.5 Wires for option cables When fabricating a cable, use the wire models given in the following table or equivalent. Table

1 CONTENTS 1. INTRODUCTION 1- 1 to 1- 4 1.1 Rating plate...

5. WIRING OPTION 5 - 27 Characteristics of one core Type Model Length [m] Core size Number of coresStructure [Wires/mm]Conductor resistance[Ω/km] (N

5. WIRING OPTION 5 - 28 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 characterist

6. HG-MR SERIES/HG-KR SERIES 6 - 2 6.2 Combination list of servo motors and servo amplifiers Servo amplifier MR-J4 1-axis Servo motor 200 V class

6. HG-MR SERIES/HG-KR SERIES 6 - 3 6.3 Standard specifications 6.3.1 Standard specifications list HG-MR series (ultra-low inertia/small capacity) HG

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 t

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 s

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 p

6. HG-MR SERIES/HG-KR SERIES 6 - 7 6.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbols (K and D) in t

6. HG-MR SERIES/HG-KR SERIES 6 - 8 6.6 Geared servo motors CAUTION For the geared servo motor, transport it in the same status as in the installatio

2 6.2 Combination list of servo motors and servo amplifiers... 6- 2 6.3 Standard sp

6. HG-MR SERIES/HG-KR SERIES 6 - 9 (2) Specifications Item Description Mounting method Flange mounting Mounting direction In any d

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 th

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 fo

6. HG-MR SERIES/HG-KR SERIES 6 - 12 (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below.

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) ar

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-proo

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

6. HG-MR SERIES/HG-KR SERIES 6 - 16 Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-MR13 100 0.0300 0.54 HG-KR13 100 0.0777 0.5

6. HG-MR SERIES/HG-KR SERIES 6 - 17 Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-MR43 400 0.142 1.4 HG-KR43 400 0.371 1.4 [

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 [