Mitsubishi HG SR MR/HG KR/HG SR/HG JR/HG RR/HG UR/HG AK SERVO MOTOR INSTRUCTION MANUAL(Vol.3) User Manual To The 0e2368a2 827f 424d 8aed Ce513320e7fa
User Manual: Mitsubishi HG-SR to the manual
Open the PDF directly: View PDF 
.
Page Count: 378
| Download | |
| Open PDF In Browser | View PDF |
General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE 1CW949 SH (NA) 030113-J (1504) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice. J HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 J Safety Instructions Please read the instructions carefully before using the equipment. Do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". WARNING CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage. Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols. Indicates what must not be done. For example, "No Fire" is indicated by Indicates what must be done. For example, grounding is indicated by . . In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator. A- 1 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit). Ground the servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals. 2. To prevent fire, note the following CAUTION Install the servo motor on incombustible material. Installing it directly or close to combustibles will lead to a fire. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo motor. 3. To prevent injury, note the following CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them. The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and operating conditions. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury. 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Use the eyebolt of the servo motor for the transportation purpose only. Do not use the eyebolts to transport the servo motor when it is mounted on a machine. A- 2 CAUTION Stacking in excess of the specified number 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 place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Do not install or operate the servo motor which have been damaged or have any parts missing. Do not block intake and exhaust areas of the servo motor with a cooling fan. Otherwise, it may cause a malfunction. Do not drop or strike the servo motor. Isolate it from all impact loads. Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off during operation. The geared servo motor must be installed in the specified direction to prevent oil leakage. When handling the servo motor, be careful about the edged parts such as the corners of the servo motor. Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reducer. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When you keep or use the equipment, please fulfill the following environment. Item Environment Operation Storage Operation Storage Ambient temperature Ambient humidity Ambience Vibration resistance (Note) Altitude HG-MR Series/HG-KR Series/HG-AK Series HG-SR51/HG-SR81/HG-SR52(4)/ HG-SR102(4)/HG-SR152(4)/HG-JR53(4)/ HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/ HG-JR701M(4)/HG-JR11K1M(4)/ HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/ HG-JR15K1(4)/HG-JR20K1(4)/HG-JR25K1(4)/ HG-RR Series/HG-UR72/HG-UR152 HG-SR121/HG-SR201/HG-SR202(4)/ HG-SR352(4)/HG-UR202/HG-UR352/HG-UR502 HG-SR301/HG-SR421/HG-SR502(4)/ HG-SR702(4)/HG-JR703(4)/HG-JR903(4) HG-JR45K1M4/HG-JR55K1M4/ HG-JR30K1(4)/HG-JR37K1(4) Note. Except the geared servo motor. A- 3 0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Max. 1000 m above sea level X, Y: 49 m/s2 X, Y: 24.5 m/s2 X: 24.5 m/s2 Y: 49 m/s2 X: 24.5 m/s2 Y: 29.4 m/s2 X: 9.8 m/s2 Y: 9.8 m/s2 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier (converter unit) output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier (converter unit) and servo motor. Connect the servo amplifier (converter unit) power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier (converter unit) U V W U V Servo motor Servo amplifier (converter unit) U V M W W U V Servo motor M W Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. (3) Test run and adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never adjust or change the parameter values extremely as it will make operation unstable. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent. Doing so may scuff the surface. Do not disassemble, repair, or modify the equipment. Use the servo amplifier (converter unit) with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. A- 4 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off. Contacts must be opened with the EMG stop switch. Servo motor RA B 24 V DC Electromagnetic brake When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. (6) Storage CAUTION Note the followings when storing the servo motor for an extended period of time (guideline: three or more months). Always store the servo motor indoors in a clean and dry place. If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product. If the insulation resistance of the winding decreases, check how to store the equipment. Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be produced depending on the storage conditions or storage period. If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft, etc. Before using the product after storage for an extended period of time, hand-turn the servo motor output shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply. When the product has been stored for an extended period of time, contact your local sales office. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual. A- 5 DISPOSAL OF WASTE Please dispose a servo motor and other options according to your local laws and regulations. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity Mass Length Torque Moment of inertia Load (thrust load/axial load) Temperature SI (metric) unit 1 [kg] 1 [mm] 1 [N•m] 1 [(× 10-4 kg•m2)] 1 [N] N [°C] × 9/5 + 32 A- 6 U.S. customary unit 2.2046 [lb] 0.03937 [inch] 141.6 [oz•inch] 5.4675 [oz•inch2] 0.2248 [lbf] N [°F] CONTENTS 1. INTRODUCTION 1.1 1.2 1.3 1.4 1.5 1- 1 to 1- 8 Rating plate ....................................................................................................................................... 1- 1 Parts identification............................................................................................................................. 1- 2 Electromagnetic brake ...................................................................................................................... 1- 3 Servo motor shaft shapes ................................................................................................................. 1- 5 Servo motor with functional safety .................................................................................................... 1- 6 2. INSTALLATION 2- 1 to 2- 6 2.1 Mounting direction............................................................................................................................. 2- 2 2.2 Cooling fan ........................................................................................................................................ 2- 2 2.3 Load remove precautions ................................................................................................................. 2- 3 2.4 Permissible load for the shaft ........................................................................................................... 2- 4 2.5 Protection from oil and water ............................................................................................................ 2- 4 2.6 Cable ................................................................................................................................................. 2- 5 2.7 Servo motor with oil seal ................................................................................................................... 2- 5 2.8 Inspection items ................................................................................................................................ 2- 5 2.9 Parts having service lives ................................................................................................................. 2- 6 2.10 Machine accuracies ........................................................................................................................ 2- 6 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.1 3.2 3.3 3.4 3- 1 to 3-12 Selection of connectors .................................................................................................................... 3- 1 Wiring connectors (connector configurations A/B/C)........................................................................ 3- 5 Wiring connectors (connector configurations D/E/F/G/H) ................................................................ 3- 6 Wiring connectors (connector configurations J/K/L/M/N/P/Q) ......................................................... 3-10 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4- 1 to 4-26 4.1 Connection instructions .................................................................................................................... 4- 2 4.2 Wiring ................................................................................................................................................ 4- 3 4.2.1 HG-MR series/HG-KR series servo motor ................................................................................. 4- 3 4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor ................................... 4- 8 4.2.3 HG-AK series servo motor ........................................................................................................ 4-14 4.3 Selection example of wires .............................................................................................................. 4-16 4.4 Servo amplifier terminal section....................................................................................................... 4-20 5. WIRING OPTION 5- 1 to 5-34 5.1 Cable/connector sets ........................................................................................................................ 5- 1 5.1.1 Combinations of cable/connector sets ....................................................................................... 5- 2 5.1.2 Cable and connector list............................................................................................................. 5- 4 5.2 Encoder cable/connector sets ......................................................................................................... 5-10 5.3 Servo motor power cable ................................................................................................................. 5-27 5.4 Servo motor power cable (for HG-AK series) .................................................................................. 5-29 5.5 Electromagnetic brake cable ........................................................................................................... 5-30 5.6 Wires for option cables .................................................................................................................... 5-32 1 6. HG-MR SERIES/HG-KR SERIES 6- 1 to 6-58 6.1 Model code definition ........................................................................................................................ 6- 1 6.2 Combination list of servo motors and servo amplifiers ..................................................................... 6- 2 6.3 Standard specifications..................................................................................................................... 6- 3 6.3.1 Standard specifications list......................................................................................................... 6- 3 6.3.2 Torque characteristics ................................................................................................................ 6- 5 6.4 Electromagnetic brake characteristics .............................................................................................. 6- 6 6.5 Servo motors with special shafts ...................................................................................................... 6- 7 6.5.1 Key shaft (with 2 round end key) ............................................................................................... 6- 7 6.5.2 D cut shaft .................................................................................................................................. 6- 7 6.6 Geared servo motors ........................................................................................................................ 6- 8 6.6.1 For general industrial machines (G1)......................................................................................... 6- 8 6.6.2 For high precision applications (G5/G7) ................................................................................... 6-11 6.7 Mounting connectors ....................................................................................................................... 6-14 6.8 Dimensions ...................................................................................................................................... 6-15 6.8.1 Standard (without electromagnetic brake and reducer) ............................................................ 6-15 6.8.2 With an electromagnetic brake ................................................................................................. 6-18 6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 6-21 6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 6-28 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 6-34 6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 6-40 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 6-46 6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 6-52 7. HG-SR SERIES 7- 1 to 7-96 7.1 Model code definition ........................................................................................................................ 7- 1 7.2 Combination list of servo motors and servo amplifiers ..................................................................... 7- 2 7.3 Standard specifications..................................................................................................................... 7- 3 7.3.1 Standard specifications list......................................................................................................... 7- 3 7.3.2 Torque characteristics ................................................................................................................ 7- 6 7.4 Electromagnetic brake characteristics .............................................................................................. 7- 8 7.5 Servo motors with special shafts ...................................................................................................... 7- 9 7.6 Geared servo motors ....................................................................................................................... 7-10 7.6.1 For general industrial machines (G1/G1H) ............................................................................... 7-10 7.6.2 For high precision applications (G5/G7) ................................................................................... 7-14 7.7 Dimensions ...................................................................................................................................... 7-17 7.7.1 Standard (without electromagnetic brake and reducer) ............................................................ 7-17 7.7.2 With an electromagnetic brake ................................................................................................. 7-20 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 7-27 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 7-37 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) ............................................................................................................ 7-47 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake).............................................................................................................. 7-57 2 7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 7-68 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 7-75 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 7-82 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) ........................................................................................................... 7-89 8. HG-JR SERIES 8- 1 to 8-46 8.1 Model designation ............................................................................................................................. 8- 1 8.2 Combination list of servo motors and servo amplifiers/drive units ................................................... 8- 2 8.3 Standard specifications..................................................................................................................... 8- 8 8.3.1 Standard specifications list......................................................................................................... 8- 8 8.3.2 Torque characteristics ............................................................................................................... 8-15 8.4 Electromagnetic brake characteristics ............................................................................................. 8-19 8.5 Servo motors with special shafts ..................................................................................................... 8-20 8.6 Oil seal ............................................................................................................................................. 8-21 8.7 Cooling fan ....................................................................................................................................... 8-21 8.8 Dimensions ...................................................................................................................................... 8-22 8.8.1 Terminal box detail diagram ...................................................................................................... 8-22 8.8.2 Standard (without an electromagnetic brake) ........................................................................... 8-23 8.8.3 With an electromagnetic brake ................................................................................................. 8-37 9. HG-RR SERIES 9- 1 to 9-12 9.1 Model designation ............................................................................................................................. 9- 1 9.2 Combination list of servo motors and servo amplifiers ..................................................................... 9- 1 9.3 Standard specifications..................................................................................................................... 9- 2 9.3.1 Standard specifications list......................................................................................................... 9- 2 9.3.2 Torque characteristics ................................................................................................................ 9- 4 9.4 Electromagnetic brake characteristics .............................................................................................. 9- 5 9.5 Servo motors with special shafts ...................................................................................................... 9- 6 9.6 Oil seal .............................................................................................................................................. 9- 6 9.7 Dimensions ....................................................................................................................................... 9- 7 9.7.1 Standard (without an electromagnetic brake) ............................................................................ 9- 7 9.7.2 With an electromagnetic brake .................................................................................................. 9- 9 10. HG-UR SERIES 10- 1 to 10-12 10.1 Model designation .......................................................................................................................... 10- 1 10.2 Combination list of servo motors and servo amplifiers .................................................................. 10- 1 10.3 Standard specifications .................................................................................................................. 10- 2 10.3.1 Standard specifications list ...................................................................................................... 10- 2 10.3.2 Torque characteristics ............................................................................................................. 10- 4 10.4 Electromagnetic brake characteristics ........................................................................................... 10- 5 10.5 Servo motors with special shafts ................................................................................................... 10- 6 10.6 Oil seal ........................................................................................................................................... 10- 6 10.7 Dimensions .................................................................................................................................... 10- 7 10.7.1 Standard (without an electromagnetic brake) ......................................................................... 10- 7 3 10.7.2 With an electromagnetic brake................................................................................................ 10- 9 11. HG-AK SERIES 11- 1 to 11-14 11.1 Model designation .......................................................................................................................... 11- 1 11.2 Combination list of servo motors and servo amplifiers .................................................................. 11- 1 11.3 Standard specifications .................................................................................................................. 11- 2 11.3.1 Standard specifications list ...................................................................................................... 11- 2 11.3.2 Torque characteristics ............................................................................................................. 11- 4 11.4 Electromagnetic brake characteristics ........................................................................................... 11- 5 11.5 Servo motors with special shafts ................................................................................................... 11- 6 11.6 Dimensions .................................................................................................................................... 11- 7 11.6.1 Standard (without an electromagnetic brake) ......................................................................... 11- 8 11.6.2 With an electromagnetic brake............................................................................................... 11-11 APPENDIX App. - 1 to App. -35 App. 1 Servo motor ID codes .......................................................................................................... App.- 1 App. 2 Manufacturer list .................................................................................................................. App.- 3 App. 3 Compliance with the CE marking......................................................................................... App.- 4 App. 4 Compliance with UL/CSA standard ..................................................................................... App.- 5 App. 5 Calculation methods for designing....................................................................................... App.- 9 App. 6 Selection example of servo motor power cable .................................................................. App.-27 App. 7 Crimping connector for CNP3_ ........................................................................................... App.-28 App. 8 Connector dimensions ........................................................................................................ App.-29 App. 9 HG-JR22K1M(4) appearance change ................................................................................ App.-35 4 1. INTRODUCTION 1. INTRODUCTION 1.1 Rating plate The following shows an example of rating plate for explanation of each item. (1) HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR series servo motor Model Input power and rated output Mass and insulation class Rated speed Serial number (Note 1) (Note 2) Country of origin Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate. The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X(10), Y(11), and Z(12)]. For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121". 2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies. (2) HG-AK series servo motor Model, Insulation class Input power, Mass Rated output, IP rating Rated speed Serial number (Note) MITSUBISHI AC SERVO MOTOR CI.B HG-AK0336 INPUT 3AC 13V 2.2A 0.16kg OUTPUT 30W IP55 QR 3000 r/min (200Hz) code SER. J12345678 125 MITSUBISHI ELECTRIC MADE IN JAPAN Country of origin Note. Production year and month of the servo motor are indicated in a serial number on the rating plate. The year and month of manufacture are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z (12)]. For June 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 126". 1- 1 1. INTRODUCTION 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. 2. An electromagnetic brake cable is separately required for the servo motor with an electromagnetic brake. (2) HG-SR series/HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HGJR12K1(4)/HG-RR series/HG-UR series servo motor Power supply connector (Note) Power supply (U/V/W) Grounding ( ) Encoder connector Encoder Servo motor shaft Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately. (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Cooling fan connector Terminal box Encoder connector Power lead hole Servo motor shaft (4) HG-AK series servo motor Power cable (Note) Power lead (U V W) Earth lead Encoder cable Encoder Servo motor shaft Note. The servo motor with an electromagnetic brake has electromagnetic brake lead. 1- 2 1. INTRODUCTION 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). The electromagnetic brake has a time lag. Use the electromagnetic brake so that servo motor control starts after the electromagnetic brake has completely opened. Be sure to check the time lag of the braking with a real machine. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. For details of the circuit configuration and timing chart, refer to each servo amplifier instruction manual. While the electromagnetic brake is opened, the motor may be raised to high temperature regardless of driving. The life will be shorten under sudden acceleration/deceleration conditions. The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When operating the servo motor, supply power to the electromagnetic brake to release the brake. Switching power off enables the electromagnetic brake. Switch 24 V DC power supply for electromagnetic brake VAR U B B2 B1 Switch or 24 V DC power supply for electromagnetic brake VAR U B B2 The surge absorber (VAR) must be installed between B1 and B2. For the selection and example of surge absorbers, refer to "Electromagnetic brake characteristic" in the chapter of servo motor series. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 1- 3 Electromagnetic brake B1 Electromagnetic brake (1) Electromagnetic brake power supply Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake terminals (B1 and B2) have no polarity. 1. INTRODUCTION (2) Sound generation Though the brake lining may rattle during operation, 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. For details, refer to each servo amplifier instruction manual. (3) Selection of surge absorbers for electromagnetic brake circuit The following shows an example how to select a varistor with a surge absorber. (a) Selection conditions Item Electromagnetic brake specification Desired suppression voltage Durable surge application time Condition R [Ω]: Resistance L [H]: Inductance Vb [V]: Power supply voltage Vs [V] or less Relay 24 V DC U Varistor Brake coil N times (b) Tentative selection and verification of surge absorber 1) Maximum allowable circuit voltage of varistor Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V]. 2) Brake current (Ib) Ib = Vb [A] R 3) Energy (E) generated by brake coil 2 E = L × lb [J] 2 4) Varistor limit voltage (Vi) From the energy (E) generated in the brake coil and the varister characteristic diagram, calculate the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during opening of the circuit. Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed voltage (Vs) [V]. If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices. 5) Surge current width (τ) Given that the varistor absorbs all energies, the surge current width (τ) will be as follows. τ= E [S] Vi × lb 6) Examining surge life of varister From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number of the surge application life is N at the surge current width (τ). Calculate the guaranteed current value (Ip) ratio to brake current (Ib). If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be considered as favorable. 1- 4 1. INTRODUCTION (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, screws, etc. are attracted. 1.4 Servo motor shaft shapes In addition to the straight shaft, the key shaft and D cut shaft are available. The key shaft and D cut shaft cannot be used in frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc. when coupling the shaft with a machine. The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the chapter of the servo motor series. The key shaft (with single pointed key) applies to only the geared servo motor for high precision application. A A A Shaft section view AA A Shaft section view AA Key shaft (with 2 round end key) Key shaft (without key) D cut shaft Straight shaft Key shaft (with single pointed key) 1- 5 1. INTRODUCTION 1.5 Servo motor with functional safety POINT When you use a servo motor with functional 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 units and MR-J4-_-RJ servo amplifiers. When using the servo motor with functional safety, be sure to attach MR-D30 functional safety unit to the servo amplifier. Other servo motors than HG-KR, HG-SR, and HG-JR series are not compatible with the functional safety. The servo motors with functional safety have the same specifications and dimensions with the standard servo motors. The following is a list of servo amplifiers which are compatible with the servo motors with functional safety. Refer to section 4.1 of "MR-D30 Instruction Manual" (SH030132) for the available safety observation functions and achievable safety level. (1) A combination with 200 V/100 V class servo amplifiers Servo motor with functional safety HG-KR053W0C HG-KR13W0C Servo amplifier MR-J4-10B-RJ MR-J4-10A-RJ MR-J4-10B1-RJ MR-J4-10A1-RJ MR-J4-20B-RJ MR-J4-20A-RJ MR-J4-20B1-RJ MR-J4-20A1-RJ MR-J4-40B-RJ MR-J4-40A-RJ MR-J4-40B1-RJ MR-J4-40A1-RJ MR-J4-60B-RJ MR-J4-60A-RJ MR-J4-60B-RJ MR-J4-60A-RJ MR-J4-100B-RJ (Note) MR-J4-100A-RJ (Note) MR-J4-70B-RJ MR-J4-70A-RJ MR-J4-70B-RJ MR-J4-70A-RJ MR-J4-200B-RJ (Note) MR-J4-200A-RJ (Note) MR-J4-100B-RJ MR-J4-100A-RJ MR-J4-100B-RJ MR-J4-100A-RJ MR-J4-200B-RJ (Note) MR-J4-200A-RJ (Note) MR-J4-200B-RJ MR-J4-200A-RJ HG-KR23W0C HG-KR43W0C HG-SR51W0C HG-SR52W0C HG-JR53W0C HG-KR73W0C HG-JR73W0C HG-SR81W0C HG-SR102W0C HG-JR103W0C HG-SR121W0C HG-SR201W0C HG-SR152W0C HG-SR202W0C 1- 6 1. INTRODUCTION Servo motor with functional safety HG-JR153W0C HG-JR203W0C Servo amplifier MR-J4-200B-RJ MR-J4-200A-RJ MR-J4-350B-RJ (Note) MR-J4-350A-RJ (Note) MR-J4-350B-RJ MR-J4-350A-RJ MR-J4-350B-RJ MR-J4-350A-RJ MR-J4-500B-RJ (Note) MR-J4-500A-RJ (Note) MR-J4-500B-RJ MR-J4-500A-RJ MR-J4-500B-RJ MR-J4-500A-RJ MR-J4-700B-RJ (Note) MR-J4-700A-RJ (Note) MR-J4-700B-RJ MR-J4-700A-RJ HG-SR301W0C HG-SR352W0C HG-JR353W0C HG-SR421W0C HG-SR502W0C HG-JR503W0C HG-SR702W0C HG-JR703W0C HG-JR701MW0C HG-JR903W0C HG-JR11K1MW0C HG-JR15K1MW0C MR-J4-11KB-RJ MR-J4-11KA-RJ MR-J4-15KB-RJ MR-J4-15KA-RJ MR-J4-22KB-RJ MR-J4-22KA-RJ HG-JR22K1MW0C Note. This combination increases the maximum torque from 300% to 400% of the rated torque. (2) A combination with 400 V class servo amplifiers Servo motor with functional safety HG-SR524W0C Servo amplifier MR-J4-60B4-RJ MR-J4-60A4-RJ MR-J4-60B4-RJ MR-J4-60A4-RJ MR-J4-100B4-RJ (Note 1) MR-J4-100A4-RJ (Note 1) MR-J4-100B4-RJ MR-J4-100A4-RJ MR-J4-100B4-RJ MR-J4-100A4-RJ MR-J4-200B4-RJ (Note 1) MR-J4-200A4-RJ (Note 1) MR-J4-200B4-RJ MR-J4-200A4-RJ MR-J4-200B4-RJ MR-J4-200A4-RJ MR-J4-350B4-RJ (Note 1) MR-J4-350A4-RJ (Note 1) MR-J4-350B4-RJ MR-J4-350A4-RJ MR-J4-350B4-RJ MR-J4-350A4-RJ MR-J4-500B4-RJ (Note 1) MR-J4-500A4-RJ (Note 1) HG-JR534W0C HG-SR1024W0C HG-JR1034W0C HG-JR734W0C HG-JR1034W0C HG-SR1524W0C HG-SR2024W0C HG-JR1534W0C HG-JR2034W0C HG-SR3524W0C HG-JR3534W0C 1- 7 1. INTRODUCTION Servo motor with functional safety HG-SR5024W0C HG-JR5034W0C HG-SR7024W0C HG-JR7034W0C HG-JR701M4W0C HG-JR9034W0C HG-JR11K1M4W0C HG-JR15K1M4W0C HG-JR22K1M4W0C Servo amplifier MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-700B4-RJ (Note) MR-J4-700A4-RJ (Note) MR-J4-700B4-RJ MR-J4-700A4-RJ MR-J4-11KB4-RJ MR-J4-11KA4-RJ MR-J4-15KB4-RJ MR-J4-15KA4-RJ MR-J4-22KB4-RJ MR-J4-22KA4-RJ Note. This combination increases the maximum torque from 300% to 400% of the rated torque. 1- 8 2. INSTALLATION 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 material. Installing it directly or close to combustibles will lead to a fire. Install the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environmental range. For the environment, refer to the specifications of the servo motor series. Do not drop or strike the servo motor. Isolate it from all impact loads. Do not install or operate a faulty servo motor. Do not carry the servo motor by holding the cables, shaft, encoder, or connector. Otherwise, it may cause a malfunction or injury. Use the eyebolts of the servo motor to only transport it. Do not use the eyebolts to transport the servo motor when it is mounted on a machine. The geared servo motor must be mounted in the specified direction. Otherwise, it can leak oil, leading to a fire or malfunction. Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off during operation, leading to injury. Be sure to measure the motor vibration level with the servo motor mounted on the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reducer. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. When coupling a load to the servo motor, do not use a rigid coupling. Doing so can cause the shaft to break and the bearing to wear out. Balance the load to the extent possible. Not doing so can cause vibration during servo motor operation or damage the bearings and encoder. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor during operation. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury. When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful about the edged parts such as the corners of the servo motor. 2- 1 2. INSTALLATION 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. When mounting the motor vertically or obliquely, give a little slack for the connection cable. Little slack (2) Servo motor with an electromagnetic brake The servo motor with an electromagnetic brake can also be installed in the same orientation as the standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. (3) Geared servo motors The mounting direction of the geared servo motor differs depending on the reducer type. Be sure to mount it in the specified direction. Refer to the chapter of the servo motor series for details. 2.2 Cooling fan For the servo motor with a cooling fan, ensure to put enough space for the distance L between intake port and wall surface. Refer to the chapter of the servo motor series for the distance L. L or more Servo motor Cooling fan Intake 2- 2 2. INSTALLATION 2.3 Load remove precautions During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. CAUTION Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a key shaft, use the screw hole in the shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in. Servo motor Double-end stud Nut Pulley Washer (2) For the shaft without a key, use a friction coupling or the like. (3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or impact. (4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft. (5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales office. (6) The direction of the encoder on the servo motor cannot be changed. (7) When mounting the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration. 2- 3 2. INSTALLATION 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. (1) Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load. (2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. (3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break. (4) The load indicated in this section is static load in a single direction and does not include eccentric load. Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged. 2.5 Protection from oil and water Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When installing the servo motor, consider the items in this section. (1) Do not use the servo motor with its cable soaked in oil or water. Cover Servo motor Oil/water pool Capillary action (2) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc. Gear Lubricating oil Servo motor (3) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected depending on the oil type. (4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, a standard specifications servo motor may not be usable. Please contact your local sales office. 2- 4 2. INSTALLATION 2.6 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the connectors, terminals and others at the ends of the cables. 2.7 Servo motor with oil seal For the servo motor with oil seal, the oil seal prevents the entry of oil into the servo motor. Make sure to install it according in this section. The functions have no problem even if the servo motor with oil seal may sound during operation. (1) Pressure and oil level Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. If the oil level is higher than the oil seal lip, the oil enter the servo motor and may cause a malfunction. Refer to the chapter of the servo motor series for the oil level. Shaft Gear Servo motor Height above oil level h Lip Oil seal High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant internal pressure by equipping a ventilator to the gear box. (2) Temperature High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high temperature oil since applicable temperature of the material is up to 100 °C and temperature of the oil seal lip rises within 10 °C to 15 °C at maximum rotation. 2.8 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit). To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office. CAUTION Do not perform insulation resistance test on the servo motor. Otherwise, it may cause a malfunction. Do not disassemble and/or repair the equipment on customer side. It is recommended that the following points periodically be checked. (1) Check the bearings, brake section, etc. for unusual noise. 2- 5 2. INSTALLATION (2) Check the cables and the like for scratches or cracks. 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. 2.9 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales office. Part name Life guideline Bearings 20,000 hours to 30,000 hours 20,000 hours to 30,000 hours 20,000 hours 5000 hours 10,000 hours to 20,000 hours Encoder Cooling fan Oil seal Reducer (1) Bearings When the servo motor is run at rated speed under rated load, bearings should be exchanged in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection. (2) Oil seal (including oil seal used on the reducer) Oil seals must be changed in 5,000 hours of operation at rated speed as a guideline. They must also be changed if oil leakage, etc. is found during inspection. The functions have no problem even if an oil seal may sound during operation. 2.10 Machine accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting. (except the optional products) Accuracy [mm] Runout of flange surface to output shaft Runout of fitting OD of flange surface Runout of output shaft end Measuring position 100 × 100 or less Flange size 176 × 176 to 130 × 130 250 × 250 280 × 280 or more a) 0.05 0.06 0.08 0.08 b) c) 0.04 0.02 0.04 0.02 0.06 0.03 0.08 0.03 a) A b) A c) A 2- 6 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3. CONNECTORS USED FOR SERVO MOTOR WIRING POINT The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo motor. If the IP rating of the connector and servo motor vary, the overall IP rating depends on the lowest IP rating of all components. 3.1 Selection of connectors Use the connector configuration products given in the table as the connectors for connection with the servo motor. Refer to section 3.2 to 3.4 for the compatible connector configuration products. (1) HG-MR series and HG-KR series Electromagnetic brake connector Encoder connector Power supply connector Wiring connector Servo motor HG-MR_ HG-KR_ For encoder For power supply For electromagnetic brake Connector configuration A Connector configuration B Connector configuration C (2) HG-SR series Electromagnetic brake connector Power supply connector Encoder connector Wiring connector Servo motor For encoder HG-SR51 HG-SR81 HG-SR52(4) HG-SR102(4) HG-SR152(4) HG-SR121 HG-SR201 HG-SR301 HG-SR202(4) HG-SR352(4) HG-SR502(4) For power supply For electromagnetic brake Connector configuration E Connector configuration D HG-SR421 HG-SR702(4) Connector configuration G Connector configuration H 3- 1 Connector configuration F 3. CONNECTORS USED FOR SERVO MOTOR WIRING (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 Power supply connector HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) Cooling fan connector Encoder connector Servo motor HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034 HG-JR353 HG-JR503 HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4) For encoder Wiring connector For electromagnetic For power supply brake For cooling fan Connector configuration E Connector configuration D Connector configuration F Connector configuration G Connector configuration H Connector configuration J Connector configuration K None (terminal box) 3- 2 Connector configuration L 3. CONNECTORS USED FOR SERVO MOTOR WIRING (4) HG-RR series Encoder connector Power connector Wiring connector Servo motor HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 For encoder Connector configuration D For power supply Connector configuration N Connector configuration M For electromagnetic brake Sharing for power supply (5) HG-UR series Power connector Encoder connector Wiring connector Servo motor HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 For encoder Connector configuration D For power supply For electromagnetic brake Connector configuration N Sharing for power supply (Note) Connector configuration M Connector configuration J Note. Electromagnetic brake connector is not required since the power supply connector has a pin assigned for electromagnetic brake. 3- 3 3. CONNECTORS USED FOR SERVO MOTOR WIRING (6) HG-AK series Power connector Encoder connector Wiring connector Servo motor HG-AK0136 HG-AK0236 HG-AK0336 For encoder For power supply For electromagnetic brake Connector configuration P Connector configuration Q Sharing for power supply (Note) Note. An electromagnetic brake connector is not required since the power connector has a pin assigned for electromagnetic brake. 3- 4 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.2 Wiring connectors (connector configurations A/B/C) Connector configuration Feature A (for encoder) IP65 Connector Connector: 2174053-1 (TE Connectivity) Crimping tool For ground clip: 1596970-1 For REC. contact: 1596847-1 (TE Connectivity) Servo motor encoder connector (Note) 1674339-1 (TE Connectivity) Note. The other side connector Connector configuration Connector Feature B IP65 (for power supply) Crimping tool Connector: KN4FT04SJ1-R HOOD/SOCKET INSULATOR/ BUSHING/GROUND NUT Contact: ST-TMH-S-C1B-100 (A534G) (JAE) CT170-14-TMH5B (JAE) Servo motor power supply connector (Note) JN4AT04NJ1 (JAE) Note. The other side connector Connector configuration C (for electromagnetic brake) Connector Feature IP65 Crimping tool Connector: JN4FT02SJ1-R HOOD/SOCKET INSULATOR/ BUSHING/GROUND NUT Contact: ST-TMH-S-C1B-100 (A534G) (JAE) Note. The other side connector 3- 5 CT170-14-TMH5B (JAE) Servo motor electromagnetic brake connector (Note) JN4AT02PJ1 (JAE) 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.3 Wiring connectors (connector configurations D/E/F/G/H) Angle plug (one-touch connection type) Straight plug (one-touch connection type) Angle plug (screw type) Straight plug (screw type) Plug (DDK) Connector Feature configuration Type Plug Socket contact CMV1-#22ASC-S1-100 Contact shape Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required. CMV1S-SP10S-M1 (screw type) CMV1-#22ASC-C2-100 Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required. CMV1-#22ASC-S1-100 Soldering type Applicable wire size: AWG 20 or less CMV1-SP10S-M2 (one-touch connection CMV1-#22ASC-C1-100 type) Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required. CMV1S-SP10S-M2 (screw type) CMV1-#22ASC-C2-100 Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required. CMV1-#22ASC-S1-100 Soldering type Applicable wire size: AWG 20 or less D IP67 (for encoder) CMV1-AP10S-M1 (one-touch connection CMV1-#22ASC-C1-100 type) Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required. CMV1S-AP10S-M1 (screw type) CMV1-#22ASC-C2-100 Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required. CMV1-#22ASC-S1-100 Soldering type Applicable wire size: AWG 20 or less Angle CMV1-AP10S-M2 (one-touch connection CMV1-#22ASC-C1-100 type) Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required. CMV1S-AP10S-M2 (screw type) Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required. CMV1-#22ASC-C2-100 Note. The other side connector 3- 6 Servo motor encoder connector (Note) Soldering type Applicable wire size: AWG 20 or less CMV1-SP10S-M1 (one-touch connection CMV1-#22ASC-C1-100 type) Straight Cable OD [mm] (reference) 5.5 to 7.5 7.0 to 9.0 CMV1-R10P 5.5 to 7.5 7.0 to 9.0 3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Cable clamp Cable Plug Plug (DDK) Connector configuration E (for power supply) Feature IP67 EN compliant (Note 1) General environment Type Cable clamp Cable Cable clamp (DDK) Cabel OD [mm] (reference) Model Model Straight CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12 8.5 to 11 CE3057-10A-2-D 10.5 to 14.1 CE3057-10A-1-D Angle CE05-8A18-10SD-D-BAS Applicable wire size: AWG 14 to 12 8.5 to 11 CE3057-10A-2-D 10.5 to 14.1 CE3057-10A-1-D Straight D/MS3106B18-10S Applicable wire size: AWG 14 to 12 D/MS3108B18-10S Applicable wire size: AWG 14 to 12 14.3 or less (bushing ID) D/MS3057-10A Angle Note 1. Not comply with EN. 2. The other side connector 3- 7 Servo motor power supply connector (Note 2) MS3102A18-10P 3. CONNECTORS USED FOR SERVO MOTOR WIRING Angle plug (one-touch connection type) Straight plug (one-touch connection type) Straight plug (screw type) Plug (DDK) Connector Feature configuration Type Plug Socket contact CMV1-SP2S-S CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-S (screw type) CMV1-#22BSC-C3-100 CMV1-SP2S-M1 CMV1-#22BSC-S2-100 (one-touch connection type) Straight CMV1S-SP2S-M1 (screw type) CMV1-#22BSC-C3-100 CMV1-SP2S-M2 CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-M2 (screw type) CMV1-#22BSC-C3-100 CMV1-SP2S-L CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-L (screw type) F (for electroIP67 magnetic brake) CMV1-#22BSC-C3-100 CMV1-AP2S-S CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-AP2S-S (screw type) CMV1-#22BSC-C3-100 CMV1-AP2S-M1 CMV1-#22BSC-S2-100 (one-touch connection type) Angle CMV1S-AP2S-M1 (screw type) CMV1-#22BSC-C3-100 CMV1-AP2S-M2 CMV1-#22BSC-S2-100 (one-touch connection type) CMV1-#22BSC-C3-100 CMV1S-AP2S-M2 (screw type) CMV1-AP2S-L CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-AP2S-L (screw type) Angle plug (screw type) CMV1-#22BSC-C3-100 Note. The other side connector 3- 8 Contact shape Servo motor electroCable OD magnetic brake [mm] connector (reference) (Note) Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 4.0 to 6.0 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 5.5 to 7.5 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 7.0 to 9.0 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 9.0 to 11.6 CMV1-R2P Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 4.0 to 6.0 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 5.5 to 7.5 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 7.0 to 9.0 Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required. 9.0 to 11.6 3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Cable clamp Cable Plug Plug (DDK) Connector configuration G (for power supply) Feature IP67 EN compliant (Note 1) General environment Type Cable clamp Cable Cable clamp (DDK) Cabel OD [mm] (reference) Model Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 Angle CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8 Straight D/MS3106B22-22S Applicable wire size: AWG 10 to 8 Angle D/MS3108B22-22S Applicable wire size: AWG 10 to 8 9.5 to 13 Servo motor power supply connector (Note 2) Model CE3057-12A-2-D 12.5 to 16 CE3057-12A-1-D 9.5 to 13 CE3057-12A-2-D 12.5 to 16 CE3057-12A-1-D 15.9 or less (bushing ID) D/MS3057-12A MS3102A22-22P Note 1. Not comply with EN. 2. The other side connector Plug Cable clamp Cable Plug Cable clamp Cable Backshell Plug (DDK) Connector configuration H (for power supply) Feature IP67 EN compliant (Note 1) General environment Type Straight Backshell Model Model (Note 3) CE05-6A32-17SD-D Applicable wire size: AWG 4 Cable clamp (DDK) Cabel OD [mm] (reference) Model 30 to 32.5 CE3057-24A-1-D 27 to 29.6 CE3057-24A-2-D 22 to 23.8 CE3057-20A-1-D 23.8 or less (bushing ID) D/MS3057-20A Servo motor power supply connector (Note 2) CE05-32BS-S-D-OB CE05-6A32-17SD-D-BSS Applicable wire size: AWG 6 to 4 Angle CE05-8A32-17SD-D-BAS Applicable wire size: AWG 6 to 4 Straight D/MS3106B32-17S Applicable wire size: AWG 6 to 4 Angle D/MS3108B32-17S Applicable wire size: AWG 6 to 4 MS3102A32-17P Note 1. Not comply with EN. 2. The other side connector 3. This connector is used only when the outer diameter of the cable used for HG-JR11K1M(4) and HG-JR15K1M(4) exceeds 23.8 mm. 3- 9 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.4 Wiring connectors (connector configurations J/K/L/M/N/P/Q) Plug Cable Connector for cable Cable Cable clamp Plug Plug Connector for cable IP67 compatible IP67 compatible General environmental Cable-side connector Connector configuration Connector for cable Feature Plug (DDK) Type Manufacturer Straight J (for electromagnetic brake) IP67 EN UL/CSA compliant D/MS3106A10SL-4S (D190) Applicable wire size: AWG 22 to 16 Cable OD [mm] (reference) ACS-08RLMS10F 8 to 12 ACS-12RLMS10F 5 to 8.3 YSO10-5 to 8 4 to 8 ACA-08RLMS10F 8 to 12 ACA-12RLMS10F 5 to 8.3 YLO10-5 to 8 5.6 or less (bushing ID) D/MS3057-4A Nippon Flex Daiwa Dengyo D/MS3106A10SL-4S Applicable wire size: Straight AWG 22 to 16 Model 4 to 8 Nippon Flex Daiwa Dengyo Angle (Note1) General environment Cable Servo motor electromagnetic brake connector (Note 2) MS3102A10SL4P Note 1. Not comply with EN. 2. The connector to be mated. Cable clamp Plug Cable Backshell Cable Plug Backshell Cable clamp Plug (DDK) Connector configuration K (for encoder) Feature IP67 EN compliant (Note 1) General environment Type Straight Angle Model D/MS3106A20-29S (D190) Straight D/MS3106B20-29S Angle D/MS3108B20-29S Cable clamp (DDK) Backshell (DDK) CE02-20BS-S-D CE-20BA-S-D Cable OD [mm] 6.8 to 10 15.9 or less (bushing ID) Note 1. Not comply with EN. 2. The connector to be mated. 3 - 10 Model Servo motor encoder connector (Note 2) CE3057-12A-3-D D/MS3102A2029P D/MS3057-12A 3. CONNECTORS USED FOR SERVO MOTOR WIRING Cable clamp Plug Connector configuration L (for cooling fan) Plug (DDK) Feature IP67 EN compliant Type Straight Cable clamp Cable OD [mm] (reference) Model CE05-6A14S-2SD-D Applicable wire size: AWG 22 to 16 Model YSO14-9 to 11 (Daiwa Dengyo) 8.3 to 11.3 Servo motor cooling fan connector (Note) CE05-2A14S-2P Note. The connector to be mated. Plug Connector configuration M (for power supply) Cable clamp Cable Plug Plug (DDK) Feature IP65 EN UL/CSA compliant General environment UL/CSA compliant Type Cable clamp Cable Cable clamp (DDK) Cable OD [mm] (reference) Model Model Straight CE05-6A24-10SD-D-BSS Applicable wire size: AWG 10 to 8 13 to 15.5 CE3057-16A-2-D 15 to 19.1 CE3057-16A-1-D Angle CE05-8A24-10SD-D-BAS Applicable wire size: AWG 10 to 8 13 to 15.5 CE3057-16A-2-D 15 to 19.1 CE3057-16A-1-D Straight D/MS3106B24-10S Applicable wire size: AWG 10 to 8 D/MS3108B24-10S Applicable wire size: AWG 10 to 8 19.1 or less (bushing ID) D/MS3057-16A Angle Note. The connector to be mated. 3 - 11 Servo motor power supply connector (Note) CE05-2A24-10P 3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Connector configuration N (for power supply) Cable clamp Cable Plug Plug (DDK) Feature IP65 EN UL/CSA compliant General environment UL/CSA compliant Type Cable clamp Cable Cable clamp (DDK) Cable OD [mm] (reference) Model Model Straight CE05-6A22-23SD-D-BSS Applicable wire size: AWG 14 to 12 9.5 to 13 12.5 to 16 CE3057-12A-1-D Angle CE05-8A22-23SD-D-BAS Applicable wire size: AWG 14 to 12 9.5 to 13 CE3057-12A-2-D 12.5 to 16 CE3057-12A-1-D Straight D/MS3106B22-23S Applicable wire size: AWG 14 to 12 15.9 or less (bushing ID) D/MS3057-12A Angle D/MS3108B22-23S Applicable wire size: AWG 14 to 12 Servo motor power supply connector (Note) CE3057-12A-2-D CE05-2A22-23P Note. The connector to be mated. Connector configuration P (for encoder) Connector (JST) Feature General environment (Note 1) Tab housing J21DPM-10V-KX Tab contact SJ2M-01GFM1.0N Applicable wire size 0.20 mm2 to 0.50 mm2 (AWG 24 to 20) Insulator OD [mm] 1.11 to 1.53 Crimping tool YRS-8861 Servo motor encoder connector J21DF-10V-KX-L Note. Not comply with EN. Connector configuration Q (for power supply) Connector (JST) Feature General environment (Note 1) Tab housing J21DPM-06V-KX Tab contact SJ2M-21GFM1.0N Applicable wire size 0.30 mm2 to 0.75 mm2 Note. Not comply with EN. 3 - 12 Insulator OD [mm] 1.30 to 1.90 Crimping tool YRF-1120 Servo motor power connector J21DF-06V-KX-L 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING CAUTION Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. Do not modify the equipment. Connect the servo amplifier (converter unit) power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier (converter unit) U V W U Servo motor V W Servo amplifier (converter unit) U M V W U V Servo motor M W POINT We recommend using HIV wires to connect the servo amplifier (converter unit) to the servo motor. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit". 4- 1 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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 (converter unit) and servo motor. Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction. POINT Refer to chapter 5 for the selection of the encoder cable. Refer to the chapter of the servo motor series for the selection of a surge absorber for the electromagnetic brake. For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier (converter unit), and then connect the wire from the servo amplifier (converter unit) to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet. Cabinet Servo amplifier (converter unit) PE terminal ( ) Servo motor ( (E) ) (Note) Note. The number of PE terminals of the servo amplifier (converter unit) differs depending on the amplifier types. 4- 2 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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 diagrams 1) When cable length is 10 m or less Servo amplifier 10 m or less MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H CNP3 U V W (Red) (White) (Black) (Green/yellow) Servo motor U V W M 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less 2 m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor Extension cable Servo amplifier CNP3 U V W (Red) (White) (Black) (Green/yellow) U V W M (Note) (Note) a) Junction connector for b) Junction connector for extension cable motor power supply cable Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Description Junction connector IP rating a) Junction connector for extension cable Connector: RM15WTPZ-4P(71) IP65 Cord clamp: JR13WCC-5(72) Numeral changes depending on the cable OD. (Hirose Electric) b) Junction connector for motor power supply cable IP65 Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) Numeral changes depending on the cable OD. (Hirose Electric) 4- 3 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less 10 m or less (Note 3) MBR 24 V DC power supply ALM for electromagnetic (Electromagnetic brake interlock) (Malfunction) brake MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 4) AWG20 (Note 1) U AWG20 Servo motor (Note 2) B1 B2 B Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Do not use the 24 V DC interface power supply for the electromagnetic brake. 4. Create the circuit in order to shut off by interlocking with the emergency stop switch. When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-_, refer to section 5.5 and 5.6. 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. 50 m or less 2 m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L Extension cable (To be fabricated) (Note 5) MBR 24 V DC power supply ALM for electromagnetic (Electromagnetic brake interlock) (Malfunction) brake Servo motor (Note 4) (Note 3) AWG20 (Note 1) U AWG20 B1 B2 B (Note 2) (Note 2) a) Junction connector for b) Junction connector for extension cable electromagnetic brake cable Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Junction connector a) Junction connector for extension cable Description CM10-CR2P- (DDK) IP rating IP65 Wire size: S, M, L b) Junction connector for CMV1-SP2S- (DDK) electromagnetic brake cable Wire size: S, M1, M2, L 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. There is no polarity in electromagnetic brake terminals (B1 and B2). 5. Do not use the 24 V DC interface power supply for the electromagnetic brake. 4- 4 IP65 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (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 10 m or less MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H Servo amplifier CNP3A/CNP3B/ CNP3C U (Note) V W (Red) (White) (Black) (Green/yellow) Servo motor U V W M Note. CNP3 is for the MR-J4 3-axis servo amplifier. 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less 2 m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor Extension cable Servo amplifier CNP3A/CNP3B/ CNP3C U (Note 1) V W (Red) (White) (Black) (Green/yellow) U V W M (Note 2) (Note 2) a) Junction connector for b) Junction connector for motor power supply cable extension cable Note 1. CNP3 is for the MR-J4 3-axis servo amplifier. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Description Junction connector IP rating a) Junction connector for extension cable Connector: RM15WTPZ-4P(71) IP65 Cord clamp: JR13WCC-5(72) Numeral changes depending on the cable OD. (Hirose Electric) b) Junction connector for motor power supply cable IP65 Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) Numeral changes depending on the cable OD. (Hirose Electric) 4- 5 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less 10 m or less (Note 4) 24 V DC power supply for electromagnetic brake (Note 3) MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H MBR-A CALM (Electromagnetic (AND brake interlock malfunction) for A-axis) (Note 1) AWG20 U MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H MBR-B (Electromagnetic brake interlock for B-axis) (Note 1) AWG20 U AWG20 MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H MBR-C (Electromagnetic brake interlock for C-axis) (Note 1) AWG20 AWG20 U AWG20 Servo motor (Note 2) B1 B2 B Servo motor (Note 2) B1 B2 B Servo motor (Note 2) B1 B2 B (Note 5) Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. Do not use the 24 V DC interface power supply for the electromagnetic brake. 5. This connection is for the MR-J4 3-axis servo amplifier. When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-_, refer to section 5.5 and 5.6. 4- 6 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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. 50 m or less (Note 5) 24 V DC power supply for electromagnetic brake (Note 3) MBR-A CALM (Electromagnetic (AND brake interlock malfunction) for A-axis) (Note 1) U 2 m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2 (Note 2) (Note 2) a) Junction connector for b) Junction connector for extension cable electromagnetic brake cable MBR-B (Electromagnetic brake interlock for B-axis) (Note 1) U MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2 (Note 2) (Note 2) a) Junction connector for b) Junction connector for electromagnetic brake cable extension cable MBR-C (Electromagnetic brake interlock for C-axis) (Note 1) U MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2 (Note 2) (Note 2) a) Junction connector for b) Junction connector for electromagnetic brake cable extension cable (Note 6) Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Junction connector a) Junction connector for extension cable Description CM10-CR2P- (DDK) Wire size: S, M, L b) Junction connector for CMV1-SP2S- (DDK) electromagnetic brake cable Wire size: S, M1, M2, L 3. 4. 5. 6. IP rating IP65 Create the circuit in order to shut off by interlocking with the emergency stop switch. There is no polarity in electromagnetic brake terminals (B1 and B2). Do not use the 24 V DC interface power supply for the electromagnetic brake. This connection is for the MR-J4 3-axis servo amplifier. 4- 7 IP65 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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. (1) Wiring diagrams (a) Connection with MR-J4 1-axis servo amplifier (Note 4) Power supply cooling fan 50 m or less Servo amplifier Servo motor U V W U V W (Note 2) MBR 24 V DC power supply (Electromagnetic ALM for electromagnetic brake interlock) (Malfunction) brake RA2 RA1 Cooling fan (Note 3) RA3 B1 U B2 MCCB M BU BV BW (Note 1) B Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2). 2. Do not use the 24 V DC interface power supply for the electromagnetic brake. 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. Refer to the chapter of the servo motor series for the cooling fan power supply. 4- 8 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Connection with MR-J4 multi-axis servo amplifier 50 m or less A-axis servo motor Servo amplifier CNP3A U V W U V W (Note 2) 24 V DC power supply for electromagnetic brake (Note 3) CALM (AND malfunction) RA1 MBR-A (Electromagnetic brake interlock for A-axis) RA2 U M (Note 1) B1 B B2 MBR-B (Electromagnetic brake interlock B-axis servo motor for B-axis) (Note 1) RA3 B1 U CNP3B U V W B2 B U V W M MBR-C (Electromagnetic brake interlock C-axis servo motor for C-axis) (Note 1) RA4 B1 U CNP3C U V W B2 U V W Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2). 2. Do not use the 24 V DC interface power supply for the electromagnetic brake. 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4- 9 B M 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Servo motor terminal section The following table shows the servo motor terminal section. For details of the connectors, refer to (3) of this section. For details of the terminal box, refer to (4) of this section. The connector fitting the servo motor is prepared as options. Refer to chapter 5 for details of the options. For types other than those prepared as options, refer to chapter 3. (a) HG-SR series Servo motor Encoder HG-SR52(4) HG-SR102(4) HG-SR152(4) HG-SR51 HG-SR81 Servo motor terminal section Electromagnetic Power brake Connector C HG-SR202(4) HG-SR352(4) HG-SR502(4) HG-SR121 HG-SR201 HG-SR301 Connector A Connector H Connector D HG-SR702(4) HG-SR421 Connector E (b) HG-JR series Servo motor HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034 HG-JR353 HG-JR503 HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4) Servo motor terminal section Electromagnetic Power brake Encoder Cooling fan Connector C Connector A Connector H Connector D Connector E Connector B Connector J Connector L Terminal box 4 - 10 Connector K 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) HG-RR series Servo motor Encoder HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 Servo motor terminal section Electromagnetic Power brake Connector F Connector A The connector for power is shared Connector G (d) HG-UR series Servo motor Encoder HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 Servo motor terminal section Electromagnetic Power brake Connector F The connector for power is shared Connector G Connector J Connector A (3) Details of servo motor-side connectors The followings show the encoder connector, power connector, electromagnetic brake connector, and cooling fan connector viewed from the connection side. 10 9 8 Connector A Connector B Connector C Encoder connector Encoder connector Power supply connector CMV1-R10P MS3102A20-29P MS3102A18-10P 7 6 5 4 Terminal No. Pin Signal 3 1 MR 2 2 MRR 1 3 4 5 L A B C N D T P E S R M K J Signal A C C D E MR MRR 6 F BAT 7 8 9 10 G H J K LG BAT LG H G F P5 SHD L M N P R S T 4 - 11 D B SHD LG P5 B A Terminal No. Signal A U B V C W D (PE) 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR Connector D Connector E Connector F Power supply connector Power supply connector Power supply connector MS3102A22-22P MS3102A32-17P CE05-2A22-23P C D B A Terminal No. Signal A B C U V W D C B Terminal No. Signal A B C U V W D A A H E D D (PE) G F B Terminal No. Signal A B C U V W C D (PE) (PE) E F G H B1 (Note) B2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity. Connector G Connector H Connector J Power supply connector Electromagnetic brake connector Electromagnetic brake connector CE05-2A24-10P CMV1-R2P MS3102A10SL-4P A F B G E D C Terminal No. Signal A B C U V W D E F (PE) B1 (Note) B2 (Note) 2 Terminal No. Signal Terminal No. Signal 1 B1 (Note) A B1 (Note) 2 B2 (Note) B B2 (Note) 1 A B Note. For the motor Note. For the motor with an with an electromagnetic electromagnetic brake, supply brake, supply electromagnetic electromagnetic brake power brake power (24 V DC). (24 V DC). There is no There is no polarity. polarity. G Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity. 4 - 12 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR Connector K Connector L Cooling fan connector Encoder connector CE05-2A14S-2P MS3102A20-29P Terminal No. Signal C D A BU (Note) B A B BV (Note) C BW (Note) L A B C N D T P E S R M K J H G F D Pin A B C D E F G Signal MR MRR BAT LG supplied to the H J K L M N P cooling fan. R LG S T P5 Note. Refer to the chapter of the servo motor series for the specifications of the power THM1 THM2 SHD (4) Terminal box inside HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) POINT The terminal box of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the terminal box detail diagram before change. Power supply terminal block: M10 screw (3) Power lead hole (Note) Keep plate: M5 screw (4) Keep plate Terminal box lid: M4 screw (10) Protective earth (PE) terminal: M10 screw (2) Note. Provide measures to prevent oil, water, dust and dirt from entering the servo motor through the power lead hole. 4 - 13 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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) 30 m or less 0.2 m Servo amplifier Servo motor U V W E MR-J4W03PWCBL_M-H Power cable supplied with the servo motor CNP1 (b) Motor power cable wiring diagram (with electromagnetic brake) 30 m or less 0.2 m Servo amplifier U V W E CNP1 Servo motor MR-J4W03PWBRCBL_M-H (Note 3) 24 V DC power supply for electromagnetic brake (Note 4) MBR ALM (Electromagnetic brake interlock) (Malfunction) RA1 RA2 (Note 1) U (Note 2) (Note 3) Power cable supplied with the servo motor Fabricate it. Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Do not use the 24 V DC interface power supply for the electromagnetic brake. 4. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4 - 14 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Connection with MR-J4W2-0303B6 servo amplifier (a) Motor power cable wiring diagram (without electromagnetic brake) 30 m or less 0.2 m Servo amplifier U1 V1 W1 E1 A-axis servo motor MR-J4W03PWCBL_M-H Power cable supplied with the servo motor CNP1 U2 V2 W2 E2 B-axis servo motor MR-J4W03PWCBL_M-H (b) Motor power cable wiring diagram (with electromagnetic brake) 30 m or less 0.2 m Servo amplifier U1 V1 W1 E1 A-axis servo motor MR-J4W03PWBRCBL_M-H (Note 3) 24 V DC power MBR-A supply for (Electromagnetic brake electromagnetic CALM interlock for A-axis) brake (AND malfunction) RA2 (Note 4) (Note 2) (Note U1) (Note 3) MBR-B (Electromagnetic brake interlock for B-axis) RA4 CNP1 (Note 1) U2 V2 W2 E2 Fabricate it. U Power cable supplied with the servo motor B-axis servo motor (Note 3) (Note 2) MR-J4W03PWBRCBL_M-H Power cable supplied with the servo motor Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Do not use the 24 V DC interface power supply for the electromagnetic brake. 4. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4 - 15 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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 servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection condition of wire size is as follows. Construction condition: Single wire set in midair Wire length: 30 m or less The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Servo amplifier 1) Servo motor power lead Servo motor U U V V W W Motor 2) Electromagnetic brake lead B1 Electromagnetic B2 brake Encoder Encoder cable Power supply Cooling fan BU BV BW 3) Cooling fan lead 4 - 16 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR When using the 600 V Grade heat-resistant polyvinyl 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 2 Wires [mm ] Servo motor 1) U/V/W/ HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73 2) B1/B2 0.75 (AWG 18) (Note 1, 2) 0.5 (AWG 20) (Note 1) Note 1. It is for wire length of 10 m or less. When fabricating an extension cable, use 1.25 mm 2 (AWG 16). 2 2. For the motor power connector wiring, use fluorine resin wire of 0.75 mm (AWG 18). (2) HG-SR series 2 Wires [mm ] Servo motor 1) U/V/W/ HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 2) B1/B2 1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10) (Note) 1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10) (Note) 8 (AWG 8) (Note) 1.25 (AWG 16) 1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) (Note) 5.5 (AWG 10) (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 4 - 17 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (3) HG-JR series (a) 3000 r/min series 2 Wires [mm ] 1) U/V/W/ Servo motor HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 Standard When the maximum torque is 400% (Note 2) 1.25 (AWG 16) 1.25 (AWG 16) 2 (AWG 14) 2 (AWG 14) 3.5 (AWG 12) (Note 1) 5.5 (AWG 10) (Note 1) 3.5 (AWG 12) 5.5 (AWG 10) (Note 1) 8 (AWG 8) (Note 1) 14 (AWG 6) (Note 1) HG-JR503 HG-JR703 HG-JR903 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 1.25 (AWG 16) 1.25 (AWG 16) 1.25 (AWG 16) 2 (AWG 14) 2 (AWG 14) 3.5 (AWG 12) (Note 1) 5.5 (AWG 10) (Note 1) 8 (AWG 8) (Note 1) HG-JR5034 HG-JR7034 HG-JR9034 2) B1/B2 2 (AWG 14) (Note 1) 3.5 (AWG 12) (Note 1) Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations. (b) 1500 r/min series 2 Servo motor HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4 1) U/V/W/ 8 (AWG 8) (Note) 14 (AWG 6) (Note) 22 (AWG 4) (Note) 38 (AWG 2) (Note) 60 (AWG 2/0) (Note) 3.5 (AWG 12) (Note) Wires [mm ] 2) B1/B2 3) BU/BV/BW 1.25 (AWG 16) 1.25 (AWG 16) 1.25 (AWG 16) 8 (AWG 8) (Note) 14 (AWG 6) (Note) 22 (AWG 4) (Note) 1.25 (AWG 16) 38 (AWG 2) (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 4 - 18 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) 1000 r/min series Wires [mm2] Servo motor 1) U/V/W/ 8 (AWG 8) (Note) HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 14 (AWG 6) (Note) 2) B1/B2 3) BU/BV/BW 1.25 (AWG 16) 22 (AWG 4) (Note) 38 (AWG 2) (Note) 60 (AWG 2/0) (Note) 3.5 (AWG 12) (Note) 5.5 (AWG 10) (Note) HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 1.25 (AWG 16) 1.25 (AWG 16) 8 (AWG 8) (Note) 14 (AWG 6) (Note) 1.25 (AWG 16) 22 (AWG 4) (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (4) HG-RR series 2 Wires [mm ] Servo motor 1) U/V/W/ HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 2) B1/B2 2 (AWG 14) 3.5 (AWG 12) 1.25 (AWG 16) 5.5 (AWG 10) (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (5) HG-UR series 2 Wires [mm ] Servo motor 1) U/V/W/ 1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 2) B1/B2 1.25 (AWG 16) 5.5 (AWG 10) (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (6) HG-AK series 2 Wire [mm ] Servo motor U/V/W/ HG-AK0136 HG-AK0236 HG-AK0336 0.75 (AWG 19) (Note 1, 2) 2) B1/B2 0.75 (AWG 19) (Note 3, 4) 2 Note 1. For the servo motor power connector wiring, use fluorine resin wire of 0.75 mm (AWG 19). 2. It is for wire length of 5 m or less. For over 5 m, the short-duration running range in the torque characteristics may be lower because of voltage drop. 2 3. For the electromagnetic connector wiring, use fluorine resin wire of 0.75 mm (AWG 19). 2 4. It is for wire length of 5 m or less. For over 5 m, use HIV wires of 3.5 mm (AWG12) to extend the wiring. 4 - 19 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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. The following table shows the connectors to be connected to the servo amplifiers. The numbers in the rated output field of the table indicate the symbol filling the underline "_" in the servo amplifier model. For details of the connectors, refer to (1) of this section. For wiring, refer to (2) of this section. Servo amplifier 10 20 MR-J4-_A MR-J4-_A-RJ MR-J4-_B MR-J4-_B-RJ MR-J4-_B-RJ010 MR-J4-_B-RJ020 40 60 70 100 Rated output 200 350 Connector A 500 Connector B 60 MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ MR-J4-_B4-RJ010 MR-J4-_B4-RJ020 100 200 350 Rated output 500 700 Connector D 11K 15K None (terminal block) (Note) Note. For details on the terminal block, refer to each servo amplifier instruction manual. Servo amplifier MR-J4-_A1 MR-J4-_A1-RJ MR-J4-_B1 MR-J4-_B1-RJ MR-J4-_B1-RJ020 Servo amplifier MR-J4W2-_B MR-J4W3-_B 10 Rated output 20 40 Connector A 22 (222) Rated output (Note) 44 (444) 77 Connector C Connector C Note. The numbers in parentheses are for the MR-J4 3-axis servo amplifier. Servo amplifier Connector MR-J4-03A6(-RJ) MR-J4W2-0303B6 Connector E Connector F 4 - 20 1010 11K 15K None (terminal block) (Note) Note. For details on the terminal block, refer to each servo amplifier instruction manual. Servo amplifier 700 22K 22K 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (1) Connector details (a) Connector A Servo amplifier CNP3 Table 4.1 Connector and applicable wire Applicable wire Connector Receptacle assembly CNP3 03JFAT-SAXGDK-H7.5 Wire size Insulator OD Stripped length [mm] Open tool Manufacturer AWG 18 to 14 3.9 mm or less 9 J-FAT-OT JST (b) Connector B MR-J4-200_(-RJ_) Servo amplifier MR-J4-350_(-RJ_) Servo amplifier CNP3 CNP3 Table 4.2 Connector and applicable wire Connector Receptacle assembly CNP3 03JFAT-SAXGFK-XL Applicable wire Wire size Insulator OD Stripped length [mm] Open tool Manufacturer AWG 16 to 10 4.7 mm or less 11.5 J-FAT-OT-EXL JST 4 - 21 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) Connector C MR-J4W_ Servo amplifier CNP3A CNP3B CNP3C (Note) Note. This figure shows the MR-J4 3-axis servo amplifier. Table 4.3 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length [mm] Open tool Manufacturer CNP3A CNP3B CNP3C 04JFAT-SAGG-G-KK AWG 18 to 14 9 J-FAT-OT-EXL JST (d) Connector D Servo amplifier CNP3 Table 4.4 Connector and applicable wire Connector Receptacle assembly CNP3 03JFAT-SAXGDK-HT10.5 Applicable wire size Wire size Insulator OD AWG 16 to 14 3.9 mm or less 4 - 22 Stripped length [mm] Open tool Manufacturer 10 J-FAT-OT-XL JST 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (e) Connector E MR-J4-03A6(-RJ) servo amplifier CNP1 Table 4.5 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length [mm] Manufacturer CNP1 DFMC 1,5/ 4-ST-3,5-LR or equivalent AWG 24 to 16 10 Phoenix Contact (f) Connector F MR-J4W2-0303B6 servo amplifier CNP1 Table 4.6 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length [mm] Manufacturer CNP1 DFMC 1,5/ 6-ST-3,5-LR or equivalent AWG 24 to 16 10 Phoenix Contact 4 - 23 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (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. Insulator Core Stripped length Twist strands slightly and straighten them as follows. Loose and bent strands Twist and straighten the strands. (b) Inserting wire 1) For connectors requiring an open tool (connector A to connector D) Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable insulator does not get caught by the spring. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the 03JFAT-SAXGFK-XL. 1) Push down the open tool. 3) Release the open tool to fix the wire. 2) Insert the wire. 4 - 24 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 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. The following shows a connection example of connecting stranded wire to the CNP1 connector. Release button Stranded wire 4 - 25 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR MEMO 4 - 26 5. WIRING OPTION 5. WIRING OPTION WARNING Before connecting any option, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit). CAUTION Use specified options. Otherwise, it may cause a malfunction or fire. MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. Using contacts for other plugs may damage the connector. Be sure to use the enclosed contacts. POINT We recommend using HIV wires to wire the servo motors, options, and peripheral equipment. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit". 5.1 Cable/connector sets POINT The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo motor. If the IP rating of the cable, connector and servo motor vary, the overall IP rating depends on the lowest IP rating of all components. Please purchase the cable and connector options indicated in this section for the servo motor. 5- 1 5. WIRING OPTION 5.1.1 Combinations of cable/connector sets (1) HG-MR series/HG-KR series servo motor MR-J4 1-axis servo amplifier Direct connection (cable length 10 m or less, IP65) 13) 14) 15) 16) CNP3 (Note 1) Junction connection (cable length more than 10 m, IP65) CN2 24) 25) 22) 23) 42) CN4 26) or MR-BAT6V1BJ MR-J4 multi-axis servo amplifier CNP3A Junction connection (cable length more than 10 m, IP20) 19) 20) 17) 18) CNP3B CN2A CN2B CNP3C (Note 3) (Note 2) 21) To 24 V DC power supply for electromagnetic brake CN2C (Note 2) 11) 12) 7) 8) 9) 10) 5) 6) 1) 2) 3) 4) Power supply connector Electromagnetic brake connector Encoder connector Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. This connection is for the MR-J4 3-axis servo amplifier. 3. Refer to Appendix 7 for the crimp connector for CNP3_. (2) HG-SR series/HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HG-JR12K1(4)/HG-RR series/HG-UR series servo motor MR-J4 1-axis servo amplifier CNP3 (Note 1) 26) 34) 35) 36) 41) CN2 42) 24) 25) 40) CN4 or MR-BAT6V1BJ MR-J4 multi-axis servo amplifier CNP3A 30) 31) 32) 33) 39) 27) 28) 29) 37) 38) CNP3B CNP3C (Note 3) (Note 2) CN2A CN2B Power supply connector CN2C (Note 2) Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. This connection is for the MR-J4 3-axis servo amplifier. 3. Refer to Appendix 7 for the crimp connector for CNP3_. 5- 2 Electromagnetic brake connector Encoder connector 5. WIRING OPTION (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Servo amplifier 41) CN2 40) (Note) 42) CN4 43) Terminal box MR-BAT6V1BJ Cooling fan connector Encoder connector Note. MR-ENECBL_M-H cannot be used. (4) HG-AK series servo motor MR-J4-03A6(-RJ) servo amplifier 44) CNP1 CN2 45) 46) 47) or MR-J4W2-0303B6 servo amplifier 48) CN2A CNP1 49) 50) CN2B Power connector HG-AK servo motor 5- 3 Encoder connector 5. WIRING OPTION 5.1.2 Cable and connector list No. 1) Name Servo motor power cable 2) Servo motor power cable 3) Servo motor power cable 4) Servo motor power cable 5) Servo motor power cable Model Description MRPWS1CBL_MA1-L (Note 1, 2) Cable length: 2/5/10 m Refer to section 5.3 for details. MRPWS1CBL_MA1-H (Note 1) Cable length: 2/5/10 m MRPWS1CBL_MA2-L (Note 1, 2) Cable length: 2/5/10 m Refer to section 5.3 for details. MRPWS1CBL_MA2-H (Note 1) Cable length: 2/5/10 m MRPWS2CBL03M -A1-L (Note 1) Cable length: 0.3 m Remark Power supply connector HG-MR series HG-KR series Power supply connector HG-MR series HG-KR series Power supply connector HG-MR series HG-KR series IP65 Load-side lead IP65 Load-side lead Long bending life IP65 Opposite to load-side lead IP65 Opposite to load-side lead Long bending life IP55 Load-side lead Refer to section 5.3 for details. 6) 7) Servo motor power cable Electromagnetic brake cable 8) Electromagnetic brake cable 9) Electromagnetic brake cable 10) Electromagnetic brake cable 11) Electromagnetic brake cable MRPWS2CBL03M -A2-L (Note 1) Cable length: 0.3 m Power supply connector HG-MR series HG-KR series Refer to section 5.3 for details. MRBKS1CBL_MA1-L Cable length: 2/5/10 m Refer to section 5.5 for details. MRBKS1CBL_MA1-H Cable length: 2/5/10 m MRBKS1CBL_MA2-L Cable length: 2/5/10 m MRRefer to section 5.5 for details. BKS1CBL_MA2-H Cable length: 2/5/10 m MRBKS2CBL03MA1-L Cable length: 0.3 m Electromagnetic brake connector HG-MR series HG-KR series Electromagnetic brake connector HG-MR series HG-KR series Electromagnetic brake connector HG-MR series HG-KR series Refer to section 5.5 for details. 5- 4 IP55 Opposite to load-side lead IP65 Load-side lead IP65 Load-side lead Long bending life IP65 Opposite to load-side lead IP65 Opposite to load-side lead Long bending life IP55 Load-side lead 5. WIRING OPTION No. 12) 13) Name Electromagnetic brake cable Encoder cable 14) Encoder cable 15) Encoder cable 16) Encoder cable 17) Encoder cable Model Description MRBKS2CBL03MA2-L Cable length: 0.3 m Remark Electromagnetic brake connector HG-MR series HG-KR series Refer to section 5.5 for details. MRJ3ENCBL_MA1-L (Note 1) Cable length: 2/5/10 m MRRefer to section 5.2 (1) for details. J3ENCBL_MA1-H (Note 1) Cable length: 2/5/10 m MRJ3ENCBL_MA2-L (Note 1) Cable length: 2/5/10 m Refer to section 5.2 (1) for details. MRJ3ENCBL_MA2-H (Note 1) Cable length: 2/5/10 m MRJ3JCBL03MA1-L (Note 1) Cable length: 0.3 m Encoder connector IP55 Opposite to loadside lead IP65 Load-side lead HG-MR series HG-KR series Encoder connector HG-MR series HG-KR series Encoder connector IP65 Load-side lead Long bending life IP65 Opposite to loadside lead IP65 Opposite to loadside lead Long bending life IP20 Load-side lead HG-MR series HG-KR series Refer to section 5.2 (3) for details. 18) Encoder cable 19) Encoder cable 20) Encoder cable 21) Encoder connector set MRJ3JCBL03MA2-L (Note 1) Cable length: 0.3 m Encoder connector HG-MR series HG-KR series Refer to section 5.2 (3) for details. MR-EKCBL_ML Cable length: HG-MR/HG-KR series 20/30 m Refer to section 5.2 (2) for details. MR-EKCBL_MH Cable length: 20/30/40/50 m MR-ECNM IP20 Opposite to load-side lead IP20 IP20 Long bending life IP20 HG-MR/HG-KR series Refer to section 5.2 (2) for details. 22) Encoder cable MRJ3JSCBL03MA1-L (Note 1) Cable length: 0.3 m Encoder connector HG-MR series HG-KR series Refer to section 5.2 (4) for details. 5- 5 IP65 Load-side lead 5. WIRING OPTION No. 23) Name Encoder cable Model Description MRJ3JSCBL03MA2-L (Note 1) Cable length: 0.3 m Remark Encoder connector IP65 Load-side lead HG-MR series HG-KR series Refer to section 5.2 (4) for details. 24) Encoder cable 25) Encoder cable 26) Encoder connector set MRJ3ENSCBL_ML (Note 1) Cable length: 2/5/10/20/30 m MRJ3ENSCBL_MH (Note 1) Cable length: 2/5/10/20/30/40 /50 m MR-J3SCNS (Note 1) 27) Power connector set MR-PWCNS4 28) Power connector set MR-PWCNS5 29) Power connector set MR-PWCNS3 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. IP67 Standard bending life IP67 Long bending life IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-D HG-SR51 (DDK) HG-SR81 Applicable cable 2 HG-SR52(4) Applicable wire size: 2 mm (AWG 14) to 2 HG-SR102(4) 3.5 mm (AWG 12) HG-SR152(4) Cable OD: 10.5 mm to 14.1 mm HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034 Plug: CE05-6A22-22SD-D-BSS Cable clamp: CE3057-12A-1-D HG-SR121 (DDK) HG-SR201 Applicable cable 2 HG-SR301 Applicable wire size: 5.5 mm (AWG 10) to 2 HG-SR202(4) 8 mm (AWG 8) HG-SR352(4) Cable OD: 12.5 mm to 16 mm HG-SR502(4) HG-JR353 HG-JR503 Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D HG-SR421 (DDK) HG-SR702(4) Applicable cable 2 HG-JR703(4) Applicable wire size: 14 mm (AWG 6) to 2 HG-JR903(4) 22 mm (AWG 4) HG-JR701M(4) Cable OD: 22 mm to 23.8 mm HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) 5- 6 IP67 EN compliant IP67 EN compliant IP67 EN compliant 5. WIRING OPTION No. 30) 31) Name Model Electromagnetic brake connector set MR-BKCNS1 (Note 1) Electromagnetic brake connector set MR-BKCNS1A (Note 1) Description Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) Remark IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) Angle plug: CMV1-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) 32) 33) Electromagnetic brake connector set MR-BKCNS2 Electromagnetic brake connector set MR-BKCNS2A Straight plug: CMV1S-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) Angle plug: CMV1S-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) 34) Encoder Connector set MR-ENCNS2 IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. 5- 7 5. WIRING OPTION No. 35) Name Encoder Connector set Model Description Remark MR-J3SCNSA (Note 1) IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. 36) Encoder Connector set MR-ENCNS2A 37) Power connector set MR-PWCNS1 38) Power connector set MR-PWCNS2 39) 40) Electromagnetic brake connector set MR-BKCN Encoder cable MR-ENECBL_ M-H-MTH IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D HG-RR103 (DDK) HG-RR153 Applicable cable 2 2 HG-RR203 Applicable wire size: 2 mm to 3.5 mm HG-UR72 (AWG 14 to 12) HG-UR152 Cable OD: 9.5 mm to 13 mm Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Applicable cable 2 2 Applicable wire size: 5.5 mm to 8 mm (AWG 10 to 8) Cable OD: 13 mm to 15.5 mm Plug: D/MS3106A10SL-4S(D190) (DDK) Cable clamp: YSO10-5-8 (Daiwa Dengyo) Applicable cable 2 2 Applicable wire size: 0.3 mm to 1.25 mm (AWG 22 to 16) Cable OD: 5 mm to 8.3 mm HG-RR353 HG-RR503 HG-UR202 HG-UR352 HG-UR502 HG-UR202 HG-UR352 HG-UR502 HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) 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-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4) Refer to section 5.2 (6) for details. 41) Encoder connector set IP65 EN compliant IP65 EN compliant IP67 Long bending life IP67 MR-ENECNS 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-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4) Refer to section 5.2 (6) for details. 42) Junction battery cable Only for MRBAT6V1BJ MRBT6VCBL03M Refer to section 5.2 (7) for details. 5- 8 5. WIRING OPTION No. 43) 44) 45) Name Encoder cable Encoder connector set 46) 47) 48) 49) 50) Model Cooling fan power MR-PWCNF connector set Servo motor power cable Servo motor power cable Servo motor power connector set MRJ3W03ENCBL _M-A-H Cable length: 1/2/5/10/20/30 m MRJ3W03CN2-2P MRJ3W03CN2-20P MRJ4W03PWCBL _M-H Cable length: 1/2/5/10/20/30 m MRJ4W03PWBRC BL_M-H Cable length: 1/2/5/10/20/30 m Description Plug: CE05-6A14S-2SD-D (DDK) Cable clamp: YSO14-9 to 11 (Daiwa Dengyo) Applicable cable 2 2 Applicable wire size: 0.3 mm to 1.25 mm (AWG 22 to 16) Cable OD: 8.3 mm to 11.3 mm Remark HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4) IP67 EN compliant Long bending life Refer to section 5.2 (8) for details. Quantity: 2 Refer to section 5.2 (8) for details. Quantity: 20 Long bending life Refer to section 5.4 for details. Refer to section 5.4 for details. MRJ4W03CNP2-2P Refer to section 5.4 for details. MRJ4W03CNP220P Long bending life Servo motor with an electromagnetic brake Quantity: 2 Quantity: 20 Note 1. The cable and the connector set may contain different connectors but still usable. 2. For servo motor power cable, MR-PWS3CBL_M-A_-L using shielded cable is also available. For details, contact your local sales office. 5- 9 5. WIRING OPTION 5.2 Encoder cable/connector sets POINT For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell. Cable Ground plate Screw 5 - 10 5. WIRING OPTION (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable length IP rating 2 m 5 m 10 m Cable model Bending life MR-J3ENCBL_M-A1-L 2 5 10 IP65 Standard MR-J3ENCBL_M-A1-H 2 5 10 IP65 Long bending life MR-J3ENCBL_M-A2-L 2 5 10 IP65 Standard MR-J3ENCBL_M-A2-H 2 5 10 IP65 Long bending life Application Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H CN2 1) Servo motor HG-MR HG-KR or or MR-J4 multi-axis servo amplifier MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H CN2A CN2B CN2C 2) 2) Servo motor HG-MR HG-KR (Note) 1) Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H 1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M or equivalent) 2 LG 4 6 8 10 MRR 1 P5 MR-J3ENCBL_M-A2-L 3 MR 5 7 9 BAT View seen from wiring side. (Note) MR-J3ENCBL_M-A2-H 2) Encoder-side connector Connector set: 54599-1019 (Molex) or 2 LG 4 6 8 5 7 10 Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity) MRR 1 3 P5 MR 9 BAT View seen from wiring side. (Note) 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR 2 BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided (Note) for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section Note. Keep open the pins 5.2, securely connect the shielded cable external conductor of the shown with . shielded cable to the ground plate and fix it to the connector shell. 5 - 11 5. WIRING OPTION (b) Cable internal wiring diagram CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD Encoder-side connector 1 2 3 4 9 Plate 3 6 5 4 2 9 P5 LG MR MRR BAT SHD (2) MR-EKCBL_M-_ POINT The following encoder cables are of four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H When using any of these encoder cables, select "four-wire type" referring each servo amplifier instruction manual. If the setting is incorrect, [AL. 16] occurs. The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable model Cable length IP rating 20 m 30 m 40 m 50 m MR-EKCBL_M-L 20 MR-EKCBL_M-H 20 (Note) 30 (Note) (Note) (Note) 30 40 50 Note. Four-wire type cable 5 - 12 Bending life IP20 Standard IP20 Long bending life Application For HG-MR/HG-KR Use in combination with MRJ3JCBL03M-_-L. 5. WIRING OPTION (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier CN2 MR-EKCBL_M-L MR-EKCBL_M-H or MR-J4 multi-axis servo amplifier MR-J3JCBL03M-A2-L Cable length: 0.3 m Servo motor HG-MR HG-KR 1) CN2A CN2B CN2C 2) (Note) Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-EKCBL_M-L 1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 LG 4 6 MRR MR-EKCBL_M-H 1 P5 3 MR 8 10 MDR 5 7 MD 9 BAT View seen from wiring side. (Note) 2) Junction connector Connector set: 54599-1019 (Molex) or 2 LG 4 6 MRR 1 3 P5 MR 8 10 MDR 5 7 MD 9 BAT View seen from wiring side. (Note) Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell. 5 - 13 Housing: 1-172161-9 Connector pin: 170359-1 Crimping tool: 91529-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) 1 2 3 MR MRR BAT 4 5 6 MD MDR CONT 7 8 9 P5 LG SHD View seen from wiring side. 5. WIRING OPTION (b) Internal wiring diagram MR-EKCBL30M-L MR-EKCBL20M-L CN2, CN2A, CN2B, and CN2C side connector Junction connector 1 2 7 8 P5 LG P5 LG 1 2 7 8 P5 LG 3 4 9 Plate 1 2 3 9 MR MRR BAT SHD MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD P5 LG MR MRR BAT SD (Note) CN2, CN2A, CN2B, and CN2C side connector SD Plate P5 LG MR MRR BAT SD (Note) MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H MR-EKCBL20M-H CN2, CN2A, CN2B, and CN2C side connector Junction connector CN2, CN2A, CN2B, and CN2C side connector Junction connector Junction connector 1 2 7 8 P5 LG P5 LG 1 2 7 8 P5 LG 3 4 9 Plate 1 2 3 9 MR MRR BAT SHD MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD (Note) SD Plate (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. When fabricating the cable, use the wiring diagram corresponding to the length indicated below. Cable bending life Standard Long bending life Applicable wiring diagram Less than 30 m 30 m to 50 m MR-EKCBL20M-L MR-EKCBL20M-H 5 - 14 MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H 5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.6 for the specifications of the cable to use. Parts Connector set Description MR-ECNM CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex) Encoder-side connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) (3) MR-J3JCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-EKCBL_M-_) is required. Cable model Cable length IP rating Bending life Application Standard Load-side lead for HG-MR/HG-KR Use in combination with MREKCBL_M-_. Opposite to load-side lead for HGMR/HG-KR Use in combination with MREKCBL_M-_. MR-J3JCBL03M-A1-L 0.3 m MR-J3JCBL03M-A2-L 5 - 15 IP20 5. WIRING OPTION (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier MR-J3JCBL03M-A1-L 2) CN2 Servo motor HG-MR HG-KR 1) or MR-J4 multi-axis servo amplifier MR-EKCBL_M-_ or MR-J3JCBL03M-A2-L 2) CN2A CN2B CN2C Servo motor HG-MR HG-KR (Note) 1) Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model 1) Junction connector 2) Encoder-side connector Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity) MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity) 9 SHD 7 MDR 5 MR 3 P5 1 CONT 3 2 1 BAT MRR MR 6 5 4 CONT MDR MD 9 8 7 SHD LG P5 MR-J3JCBL03M-A2-L 8 MD 6 LG 4 MRR 2 BAT View seen from wiring side. View seen from wiring side. (b) Internal wiring diagram Junction connector Encoder-side connector P5 LG MR MRR MD MDR BAT CONT 7 8 1 2 4 5 3 6 3 6 5 4 8 7 2 1 P5 LG MR MRR MD MDR BAT CONT SHD 9 9 SHD 5 - 16 5. WIRING OPTION (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required. Cable model Cable length IP rating Bending life MR-J3JSCBL03M-A1-L 0.3 m IP65 Standard MR-J3JSCBL03M-A2-L Application For HG-KR/HG-MR Load-side lead Use in combination with MRJ3ENSCBL_M-_. For HG-KR/HG-MR Opposite to load-side lead Use in combination with MRJ3ENSCBL_M-_. (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier MR-J3JSCBL03M-A1-L CN2 (Note 2) MR-J3ENSCBL_M-_ or MR-J4 multi-axis servo amplifier CN2A CN2B CN2C 2) Servo motor HG-MR HG-KR 1) or MR-J3JSCBL03M-A2-L 2) Servo motor HG-MR HG-KR (Note 1) 1) Note 1. This connection is for the MR-J4 3-axis servo amplifier. 2. For details of this cable, refer to (5) in this section. Cable model 1) Junction connector 2) Encoder-side connector MR-J3JSCBL03M-A1-L Receptacle: CM10-CR10P-M (DDK) Applicable wire size: AWG 20 or less 3 7 MR-J3JSCBL03M-A2-L 2 10 SHD 1 MR MRR 6 5 LG 9 Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity) 9 SHD 7 5 MR 3 P5 1 4 BAT 8 P5 View seen from wiring side. (Note) Note. Keep open the pins shown with . 5 - 17 8 6 LG 4 MRR 2 BAT View seen from wiring side. (Note) Note. Keep open the pins shown with . 5. WIRING OPTION (b) Internal wiring diagram Junction connector Encoder-side connector 8 5 1 2 6 7 4 3 3 6 5 4 8 7 2 1 P5 LG MR MRR 10 9 SHD P5 LG MR MRR BAT SHD BAT (5) MR-J3ENSCBL_M-_ These cables are encoder cables for the HG-MR/HG-KR/HG-SR/HG-RR/HG-UR series/HGJR53(4)/HGJR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/HGJR703(4) and HG-JR903(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable model 2m Cable length IP rating 5 m 10 m 20 m 30 m 40 m 50 m MR-J3ENSCBL_M-L 2 5 10 20 30 MR-J3ENSCBL_M-H 2 5 10 20 30 40 50 Bending life IP67 Standard IP67 Long bending life Application For HG-MR/HG-KR/HG-SR/ HG-RR/HG-UR series/ HG-JR53(4)/HGJR73(4)/ HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/ HG-JR503(4)/HG-JR703(4) and HG-JR903(4) (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier CN2 MR-J3ENSCBL_M-L MR-J3ENSCBL_M-H or MR-J4 multi-axis servo amplifier CN2A CN2B CN2C 1) (Note) Note. This connection is for the MR-J4 3-axis servo amplifier. 5 - 18 2) Servo motor HG-SR HG-RR HG-UR HG-JR53(4) to HG-JR903(4) 5. WIRING OPTION Cable model MR-J3ENSCBL_ML 1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 LG 4 6 8 10 2) Encoder-side connector Cable length 10 m or shorter Plug (DDK) Bending life Straight plug Socket contact Long bending life Standard CMV1-#22ASC-C1-100 Applicable wire size: AWG 24 to 20 Crimping tool:357J-53162T CMV1-SP10S-M1 MRR 1 P5 3 MR 5 7 9 BAT 20 m or longer Long bending life Standard CMV1-#22ASC-C2-100 Applicable wire size: AWG 28 to 24 Crimping tool:357J-53163T CMV1-SP10S-M2 View seen from wiring side. (Note) or 3 Connector set: 54599-1019 (Molex) 7 2 6 10 5 LG 9 SHD MR-J3ENSCBL_MH 2 LG 4 6 8 5 7 1 MR MRR 4 BAT 8 P5 10 MRR 1 3 P5 MR View seen from wiring side. (Note) 9 BAT Note. Keep open the pins shown with View seen from wiring side. (Note) Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell. 5 - 19 . 5. WIRING OPTION (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3ENSCBL10M-H CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L Encoder-side connector 1 2 3 4 9 Plate 8 5 1 2 4 10 P5 LG MR MRR BAT SHD CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD (Note) Encoder-side connector 1 2 8 5 P5 LG 3 4 9 Plate 1 2 4 10 MR MRR BAT SHD (Note) MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD Encoder-side connector 1 2 8 5 P5 LG 3 4 9 Plate 1 2 4 10 MR MRR BAT SHD (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. 5 - 20 5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the used cable. Parts (Connector set) MR-J3SCNS (one-touch connection type) (Note) MR-ENCNS2 (screw type) (Note) Description Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex) MR-J3SCNSA (one-touch connection type) (Note) Encoder-side connector (DDK) Straight plug: CMV1-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less Straight plug: CMV1S-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less Angle plug: CMV1-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less MR-ENCNS2A (screw type) (Note) Angle plug: CMV1S-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less Note. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included. 5 - 21 5. WIRING OPTION (6) MR-ENECBL_M-H-MTH These cables are encoder cables for HG-JR701M(4), HG-JR11K1M(4), HG-JR15K1M(4), HGJR22K1M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, HG-JR601(4), HGJR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HGJR37K1(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable model Cable length IP rating 5 m 10 m 20 m 30 m 40 m 50 m 2m MR-ENECBL_M-H-MTH 2 5 10 20 30 40 50 IP67 Bending life Application Long bending life 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-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HG-JR37K1(4) (a) Connection of servo amplifier and servo motor Servo amplifier 2) MR-ENECBL_M-H-MTH Servo motor HG-JR701M(4) to HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR601(4) to HG-JR37K1(4) CN2 1) Cable model MR-ENECBL_M-HMTH 1) CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 LG 4 6 THM2 8 10 MRR 1 P5 3 MR 5 THM1 7 9 BAT View seen from wiring side. (Note) 2) Encoder-side connector Connector set: 54599-1019 (Molex) or 2 LG 4 6 8 10 7 9 Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D L MRR THM2 1 3 P5 MR 5 THM1 K J BAT View seen from wiring side. (Note) Note. Do not connect anything to the pins shown as . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell. A B C N D T P E S R M H G F View seen from wiring side. (Note) Pin A B C D E F G H Signal MR MRR BAT LG Pin Signal K L M N P THM1 THM2 R S T LG P5 SHD J Note. 5 - 22 Do not connect anything to the pins . shown as 5. WIRING OPTION (b) Cable internal wiring diagram MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH MR-ENECBL10M-H-MTH MR-ENECBL20M-H-MTH CN2-side connector Encoder-side connector P5 LG 1 2 S R P5 LG MR MRR THM1 THM2 BAT 3 4 5 6 9 C D MR MRR K L F G THM1 THM2 BAT LG N SHD Plate SD (Note 1) (Note 2) CN2-side connector Encoder-side connector P5 LG 1 2 S R P5 LG MR MRR THM1 THM2 BAT 3 4 5 6 9 C D K MR MRR THM1 L F G THM2 BAT LG N SHD SD Plate (Note 1) (Note 2) MR-ENECBL30M-H-MTH MR-ENECBL40M-H-MTH MR-ENECBL50M-H-MTH CN2-side connector Encoder-side connector P5 LG 1 2 S R P5 LG MR MRR THM1 THM2 BAT 3 4 5 6 9 C D K L F G MR MRR THM1 THM2 BAT LG N SHD SD Plate (Note 1) (Note 2) Note 1. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. 2. Always make connection for use with the following servo motors. Wiring is not necessary for use with other servo motors. HG-JR22K1M(4) HG-JR15K1(4) HG-JR30K1M(4) HG-JR20K1(4) HG-JR37K1M(4) HG-JR25K1(4) HG-JR45K1M4 HG-JR30K1(4) HG-JR55K1M4 HG-JR37K1(4) 5 - 23 5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.6 for the specifications of the cable to use. Parts (Connector set) Description Servo amplifier-side connector Encoder-side connector (DDK) MR-ENECNS Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex) Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D (7) MR-BT6VCBL03M This cable is a battery connection cable. Using this cable with an MR-BAT6V1BJ enables to hold absolute position data recorded in the encoder even if they are disconnected from the servo amplifier. Additionally, you can change the battery with the control circuit power supply off. For details, refer to each servo amplifier instruction manual. Cable model Cable length MR-BT6VCBL03M Application For HG-MR/HG-KR/HG-SR/HG-JR/HGRR/HG-UR series 0.3 m Connection of servo amplifier and servo motor Servo amplifier 1) MR-BT6VCBL03M 2) (Note) Encoder cable CN2 CN4 3) Black: Connector for branch cable HG series servo motors MR-BAT6V1BJ Orange: Connector for servo amplifier Note. For the encoder cable, refer to (1) to (6) of this section. Cable model MR-BT6VCBL03M 1) CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex) 2) Junction connector Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M) 5 - 24 3) Battery connector Connector: DF3-2EP-2C Contact: DF3-EP2428PCFA (Hirose Electric) 5. WIRING OPTION (8) MR-J3W03ENCBL_M-A-H These cables are encoder cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable model 1m 2m 1 2 MR-J3W03ENCBL_M-A-H Cable length IP rating 5 m 10 m 20 m 30 m 5 10 20 30 Bending life Long bending life Application HG-AK series (a) Connection of servo amplifier and servo motor MR-J4-03A6(-RJ) servo amplifier CN2 or MR-J4W2-0303B6 servo amplifier CN2A MR-J3W03ENCBL_M-A-H 1) 2) (Note) Encoder connector Servo motor HG-AK CN2B Note. Remove the connector by pressing the lock lever on the encoder connector. You do not need to press the lock lever on the encoder cable. Lock lever 5 - 25 5. WIRING OPTION Cable model MR-J3W03ENCBL_ M-A-H 1) CN2, CN2A, and CN2B-side connector 2) Encoder-side connector Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.0N Crimping tool: YRS-8861 (JST) Receptacle housing: 1-1827862-5 Contact: 1827587-2 Crimping tool: 1762846-1 (TE Connectivity) 5B 5A SD 4B 4A LG P5 3B 3A 5A 5B BAT BAT SHD 4A 4B LG P5 3A 3B 2B 2A 2A 2B 1B 1A 1A 1B MRR MR MRR MR Note. Do not connect anything to the pins shown as Note.Do not connect anything to the pins shown as . . (b) Cable internal wiring diagram MR-J3W03ENCBL1M-A-H MR-J3W03ENCBL2M-A-H MR-J3W03ENCBL5M-A-H MR-J3W03ENCBL10M-A-H Encoder-side CN2, CN2A, and CN2B-side connector connector MR-J3W03ENCBL20M-A-H MR-J3W03ENCBL30M-A-H Encoder-side CN2, CN2A, and CN2B-side connector connector P5 LG 4A 4B 4B 4A P5 LG BAT MR MRR SD 5B 1A 1B 5A 5A 1B 1A 5B BAT MR MRR SHD (Note) P5 LG 4A 4B 4B 4A P5 LG BAT MR MRR SD 5B 1A 1B 5A 5A 1B 1A 5B BAT MR MRR SHD (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (8) (b) of this section. Refer to section 5.6 for the specifications of the cable to use. Connector set model Description CN2, CN2A, and CN2B side connector Encoder-side connector MR-J3W03CN2-2P MR-J3W03CN2-20P Receptacle housing: 1-1827862-5 Contact: 1827587-2 (TE Connectivity) Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.0N (JST) 5 - 26 5. WIRING OPTION 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 indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring. Cable length IP rating 0.3 m 2 m 5 m 10 m Cable model Bending life Application Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR MR-PWS1CBL_M-A1-L 2 5 10 IP65 Standard MR-PWS1CBL_M-A2-L 2 5 10 IP65 Standard MR-PWS1CBL_M-A1-H 2 5 10 IP65 MR-PWS1CBL_M-A2-H 2 5 10 IP65 MR-PWS2CBL03M-A1-L 03 IP55 Long bending life Long bending life Standard MR-PWS2CBL03M-A2-L 03 IP55 Standard Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR (1) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A1-H MR-PWS2CBL03M-A1-L Connector for CNP3 packed with the servo amplifier 1) CNP3 or or MR-J4 multi-axis servo amplifier MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A2-H MR-PWS2CBL03M-A2-L CNP3A Servo motor HG-MR HG-KR 1) CNP3B Servo motor HG-MR HG-KR CNP3C (Note) Connector for CNP3A, CNP3B and CNP3C packed with the servo amplifier Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H 1) Servo motor power-side connector Connector: KN4FT04SJ1-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE) Connector: KN4FT04SJ2-R Hood, socket insulator MR-PWS2CBL03M-A1-L Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) MR-PWS2CBL03M-A2-L Crimping tool: CT170-14-TMH5B (JAE) 5 - 27 1 2 U 3 V 4 W View seen from wiring side. 5. WIRING OPTION (2) Internal wiring diagram (Note) (Red) (White) (Black) (Green/yellow) Note. These are not shielded cables. 5 - 28 U V W 5. WIRING OPTION 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 symbol filling the underline "_" in the cable model. Cable model Cable length IP rating 5 m 10 m 20 m 30 m 1m 2m MR-J4W03PWCBL_M-H 1 2 5 10 20 30 MR-J4W03PWBRCBL_MH 1 2 5 10 20 30 Bending life Application Long bending life Long bending life For standard servo motor (without electromagnetic brake) For servo motor with an electromagnetic brake (1) Connection of servo amplifier and servo motor MR-J4-03A6(-RJ) servo amplifier CNP1 MR-J4W03PWCBL_M-H or MR-J4W2-0303B6 servo amplifier or (Note) Power connector MR-J4W03PWBRCBL_M-H CNP1 Servo motor HG-AK (Note) Note. Remove the connector by pressing the lock lever on the power connector. You do not need to press the lock lever on the servo motor power cable. Lock lever Cable model Servo motor-side connector MRJ4W03PWCBL_MH MRJ4W03PWBRCBL_ M-H Tab housing: J21DPM-06V-KX Contact: SJ2M-21GF-M1.0N Crimping tool: YRF-1120 (JST) 5 - 29 3A B1 2A U 1A E 3B B2 2B W 1B V 5. WIRING OPTION (2) Internal wiring diagram MR-J4W03PWBRCBL_M-H MR-J4W03PWCBL_M-H Servo motor powerside connector White 1B V Yellow/green 1A E Black 2B W Red 2A U (Note) (Note) Servo motor powerside connector White 1B V Yellow/green 1A E Black 2B W Red 2A U 3B B1 3A B2 Note. These are not shielded cables. (3) When fabricating the motor power cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (2) of this section. Refer to section 5.6 for the specifications of the cable to use. Connector set model MR-J4W03CNP22P MR-J4W03CNP220P Servo motor-side connector Tab housing: J21DPM-06V-KX Contact: BJ2M-21GF-M1.0N (JST) 5.5 Electromagnetic brake cable These cables are electromagnetic brake cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring. Cable model Cable length IP rating 0.3 m 2 m 5 m 10 m Bending life Application Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR MR-BKS1CBL_M-A1-L 2 5 10 IP65 Standard MR-BKS1CBL_M-A2-L 2 5 10 IP65 Standard MR-BKS1CBL_M-A1-H 2 5 10 IP65 MR-BKS1CBL_M-A2-H 2 5 10 IP65 MR-BKS2CBL03M-A1-L 03 IP55 Long bending life Long bending life Standard MR-BKS2CBL03M-A2-L 03 IP55 Standard 5 - 30 Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR 5. WIRING OPTION (1) Connection of power supply for electromagnetic brake and servo motor MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L 24 V DC power supply for electromagnetic brake 1) Servo motor HG-MR HG-KR or + - MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L 1) Servo motor HG-MR HG-KR Cable model 1) Connector for electromagnetic brake MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L Connector: JN4FT02SJ1-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE) 1 B1 2 B2 View seen from wiring side. Connector: JN4FT02SJ2-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE) (2) Internal wiring diagram AWG 20 (Note) AWG 20 Note. These are not shielded cables. 5 - 31 B1 B2 5. WIRING OPTION 5.6 Wires for option cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 5.1 Wires for option cables Characteristics of one core Type Model MR-J3ENCBL_MA1-L MR-J3ENCBL_MA2-L MR-J3ENCBL_MA1-H MR-J3ENCBL_MA2-H MR-J3JCBL03MA1-L MR-J3JCBL03MA2-L Length [m] Core size Number Structure of cores [Wires/mm] [Ω/km] 2 to 10 AWG 22 2 to 10 AWG 22 0.3 AWG 26 AWG 28 6 (3 pairs) 6 (3 pairs) 8 (4 pairs) 4 (2 pairs) AWG 22 20 30 AWG 23 2 2 to 10 0.2 mm 20 AWG 24 Encoder cable 30 to 50 AWG 24 MR-J3JSCBL03MA2-L 12 (6 pairs) 12 (6 pairs) MR-EKCBL_M-H MR-J3JSCBL03MA1-L 2 0.3 AWG 26 2 to 10 AWG 22 20/30 AWG 23 2 to 10 AWG 22 MR-J3ENSCBL_ M-L 12 (6 pairs) 14 (7 pairs) 8 (4 pairs) 6 (3 pairs) 12 (6 pairs) 6 (3 pairs) OD d [mm] 7/0.26 1.18 7.1 70/0.08 56 or less 1.17 7.1 30/0.08 233 or less 1.2 7.1 ± 0.3 7/0.127 232 or less 1.18 17/0.16 28.7 or less 1.50 12/0.18 63.6 or less 1.2 40/0.08 105 or less 0.88 40/0.08 105 or less 0.88 40/0.08 105 or less 0.88 7/0.16 146 or less 1.0 7/0.26 53 or less 1.18 12/0.18 63.3 or less 1.2 70/0.08 56 or less 1.17 40/0.08 105 or less 0.88 7.0 MR-J3ENSCBL_ M-H 20 to 50 AWG 24 MR-ENECBL_MH-MTH 2 to 10 0.2 mm 2 20 0.2 mm 2 30 to 50 0.2 mm 2 12 (6 pairs) 8 (4 pairs) 12 (6 pairs) 14 (7 pairs) Cable OD [mm] 53 or less 2 to 10 MR-EKCBL_M-L (Note 1) (Note 2) Conductor Insulator resistance 40/0.08 40/0.08 40/0.08 5 - 32 105 or less 105 or less 105 or less 0.88 0.88 0.88 Wire model (Manufacturer) (Note 3) VSVP 7/0.26 (AWG #22 or equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) TPE SVP 70/0.08 (AWG #22 or equivalent)-3P KB-2237-2 (Bando Densen) T/2464-1061/IIA-SB 4P×26AWG (Taiyo Cabletec) (Note 3) 20276 composite 6-core shielded cable Ban-gi-shi-16395-1 (Bando Densen) (Note 3) 8.2 ± 0.3 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) A14B2343 6P 7.2 (Junkosha) (Note 3) TPE SVP 40/0.08 (AWG #24 7.2 or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) TPE SVP 40/0.08 (AWG #24 8.0 or equivalent)-7P KB-1929-2 (Bando Densen) (Note 3) VSVP 7/0.16 (AWG #26 or 7.1 ± 0.3 equivalent)-4P Ban-gi-shi-16822 (Bando Densen) (Note 3) VSVP 7/0.26 (AWG #22 or 7.1 equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) 8.2 ± 0.3 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) TPE SVP 70/0.08 (AWG #22 7.1 or equivalent)-3P KB-2237-2 (Bando Densen) (Note 3) TPE SVP 40/0.08 (AWG #24 7.2 or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) 7.2 A14B2339 4P (Junkosha) (Note 3) 7.2 A14B2343 6P (Junkosha) (Note 3) 8.0 J14B0238(0.2*7P) (Junkosha) 5. WIRING OPTION Characteristics of one core Electromagnetic brake cable Servo motor power cable Encoder cable Type Length [m] Model Core size Number Structure of cores [Wires/mm] [Ω/km] 1 to 10 AWG 22 6 70/0.08 20/30 AWG 22 10 70/0.08 56 or less 1.17 7.7 ± 0.3 AWG 18 4 34/0.18 21.8 or less 1.71 6.2 ± 0.3 AWG 19 2) (0.75 mm 4 150/0.08 29.1 or less 1.63 5.7 ± 0.5 AWG 19 4 30/0.18 25.8 or less 1.64 - 1.63 5.7 ± 0.5 2 to 10 2 to 10 2 to 10 2 to 10 1.17 7.1 ± 0.3 0.3 0.3 MRJ4W03PWCBL_ M-H 1 to 30 AWG 19 4 150/0.08 29.1 or less MRJ4W03PWBRCBL _M-H 1 to 30 AWG 19 4 150/0.08 29.1 or less 1.63 5.7 ± 0.5 AWG 20 2 21/0.18 34.6 or less 1.35 4.7 ± 0.1 AWG 20 2 110/0.08 39.0 or less 1.37 4.5 ± 0.3 AWG 20 2 19/0.203 32.0 or less 1.42 - MR-BKS1CBL_ M-A1-L MR-BKS1CBL_ M-A2-L MR-BKS1CBL_ M-A1-H MR-BKS1CBL_ M-A2-H MRBKS2CBL03MA1-L MRBKS2CBL03MA2-L 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 Note 1. The following shows the detail of d. d Conductor 2. 3. 4. 5. OD d [mm] Cable OD [mm] 56 or less MRJ3W03ENCBL_M -A-H MR-PWS1CBL_ M-A1-L MR-PWS1CBL_ M-A2-L MR-PWS1CBL_ M-A1-H MR-PWS1CBL_ M-A2-H MRPWS2CBL03MA1-L MRPWS2CBL03MA2-L (Note 1) (Note 2) Conductor Insulator resistance Insulator Standard OD. Max. OD is about 10% greater. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch Purchase from Taisei Co., Ltd. These models consist with solid wires. Specify the color, separately. 5 - 33 Wire model (Manufacturer) (Note 3) TPE・SVP 70/0.08 (AWG #22 or equivalent)-3P KB-2237-2 (Bando Densen) (Note 3) TPE・SVP 70/0.08 (AWG#22 or equivalent)-5P (Bando Densen) (Note 4) HRZFEV-A (CL3) AWG 18 4 cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 19 4 cores (Dyden) (Note 3, 5) J11B2330 UL10125 (Junkosha) (Note 4) RMFES-A(CL3X) AWG 19, 4 cores (Dyden) (Note 4) RMFES-A(CL3X) AWG 19, 4 cores (Dyden) (Note 4) HRZFEV-A (CL3) AWG 20 2 cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 20 2 cores (Dyden) (Note 3, 5) J11B2331 UL10125 (Junkosha) 5. WIRING OPTION MEMO 5 - 34 6. HG-MR SERIES/HG-KR SERIES 6. HG-MR SERIES/HG-KR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGMR/HG-KR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 6.1 Model code definition The following describes what each block of a model name indicates. Not all combinations of the symbols are available. HG-KR1 3B JG1DW0C Appearance Special specification Series Feature HG-MR Ultra-Low inertia/Small capacity None Standard HG-KR Low inertia/Small capacity (Note 3) Servo motor with functional safety Symbol Special specification W0C Rated output Symbol Rated output [kW] Shaft type Symbol Shaft shape HG-MR_ HG-KR_ 0.2 None Standard (straight shaft) 053 to 73 4 0.4 (Note 1) 23 to 73 7 0.75 Keyway shaft (with key) D cut shaft 053/13 05 0.05 1 0.1 2 K (Note 1) D Rated speed 3000 [r/min] Reducer Electromagnetic brake Symbol Symbol Electromagnetic brake Reducer None None For general industrial machine (flange-mounting) None None G1 B With G5 Flange-mounting flange output type for high precision application G7 Flange-mounting shaft output type for high precision application Oil seal Symbol Oil seal None None (Note 2) With J Note 1. The special shaft applies to the standard servo motor and servo motor with an electromagnetic brake. However, the key shaft (with key) also applies to the servo motor with flange-mounting shaft output type reducer for high precision application. 2. For details, contact your local sales office. 3. Refer to section 1.5 for details. 6- 1 6. HG-MR SERIES/HG-KR SERIES 6.2 Combination list of servo motors and servo amplifiers Servo amplifier MR-J4 1-axis Servo motor 200 V class HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73 MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 100 V class MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020 MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020 MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020 MR-J4 2-axis MR-J4 3-axis MR-J4W2-22B MR-J4W2-44B MR-J4W3-222B MR-J4W3-444B MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B MR-J4W3-444B MR-J4W2-77B MR-J4W2-1010B MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020 MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020 MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020 MR-J4W2-22B MR-J4W2-44B MR-J4W3-222B MR-J4W3-444B MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B MR-J4W3-444B MR-J4W2-77B MR-J4W2-1010B 6- 2 6. HG-MR SERIES/HG-KR SERIES 6.3 Standard specifications 6.3.1 Standard specifications list Servo motor Item Power supply capacity HG-MR series (ultra-low inertia/small capacity) 053(B) 13(B) 23(B) 43(B) 73(B) HG-KR series (low inertia/small capacity) 053(B) 13(B) 23(B) 43(B) 73(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4 0.48 0.95 1.9 3.8 7.2 0.56 1.1 2.2 4.5 8.4 3000 3000 6000 6000 Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] 6900 6900 (Note 10) Standard [kW/s] 15.6 33.8 46.9 114.2 97.3 5.63 13.0 18.3 43.7 45.2 Power rate at With an continuous rated electromagnetic brake 11.3 28.0 37.2 98.8 82.1 5.37 12.1 16.7 41.3 41.6 torque [kW/s] Rated current [A] 1.0 0.9 1.5 2.6 5.8 0.9 0.8 1.3 2.6 4.8 Maximum current [A] 3.1 2.5 5.3 9.0 20 3.2 2.5 4.6 9.1 17 Standard 0.0162 0.0300 0.0865 0.142 0.586 0.0450 0.0777 0.221 0.371 1.26 -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic 0.0224 0.0362 0.109 0.164 0.694 0.0472 0.0837 0.243 0.393 1.37 brake -4 2 [× 10 kg•m ] 17 25 35 26 Recommended load to motor inertia ratio times times times 32 times or less 17 times or less times (Note 2, 10) or less or less or less or less 22-bit encoder common to absolute position/incremental systems Speed/position detector (resolution per servo motor revolution: 4194304 pulses/rev) Oil seal None None (Note 11) None None (Note 11) Insulation class 130 (B) Structure Totally-enclosed, natural-cooling (IP rating: IP65 (Note 4, 9)) Operation 0 °C to 40 °C (non-freezing) Ambient temperature Storage -15 °C to 70 °C (non-freezing) Operation 80 %RH or less (non-condensing) Ambient humidity Storage 90 %RH or less (non-condensing) Environment Indoors (no direct sunlight), free from corrosive gas, flammable gas, Ambience oil mist, dust, and dirt Altitude Max. 1000 m above sea level Vibration resistance 2 X, Y: 49 m/s (Note 6) Vibration rank (Note 7) V10 L [mm] 25 30 40 25 30 40 Permissible load for the shaft Radial [N] 88 245 392 88 245 392 (Note 8, 10) Thrust [N] 59 98 147 59 98 147 Standard [kg] 0.34 0.54 0.91 1.4 2.8 0.34 0.54 0.91 1.4 2.8 With an Mass (Note 3) electromagnetic brake 0.54 0.74 1.3 1.8 3.8 0.54 0.74 1.3 1.8 3.8 [kg] Continuous running duty (Note 1) 6- 3 6. HG-MR SERIES/HG-KR SERIES 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. 4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m] the vibration to about half of the permissible value. Note that this does not apply to the geared servo motor. Servo motor X Y Vibration 1000 100 10 0 1000 2000 3000 4000 5000 6000 7000 Speed [r/min] 7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 9. For the geared servo motor, the reducer area is IP44-equivalent. 10. Refer to section 6.6 for the geared servo motor. 11. The servo motors with an oil seal are also available. For details, contact your local sales office. 6- 4 6. HG-MR SERIES/HG-KR SERIES 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 machine should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. For the 1-phase 100 V AC power supply, part of the torque characteristic is indicated by the broken line. 0.1 2000 3000 4000 5000 Speed [r/min] Short-duration running range 0.4 0.2 Continuous running range 0 0 1000 0.6 0 6000 [HG-KR053] 2000 3000 4000 5000 Speed [r/min] [HG-KR13] Continuous running range 2000 3000 4000 5000 Speed [r/min] 0.3 0.2 0.1 Continuous running range 0 0 1000 2000 3000 4000 0.8 0.6 0.4 0.2 5000 Speed [r/min] 6000 Short-duration running range 0 0 1000 2000 3000 4000 1.5 1 0.5 Continuous running range 5000 Speed [r/min] 0 6000 Short-duration running range Short-duration running range 0 1000 2000 0 1000 2000 3000 4000 5000 1 6000 3000 4000 5000 6- 5 6000 2000 3000 4000 5000 Speed [r/min] 6000 [HG-KR73] 8 4 7 3.5 2.5 Continuous running range 0 0 1000 9 3 Short-duration running range 3 4.5 Short-duration running range 2 1.5 0.5 Speed [r/min] 4 5 1 Continuous running range 5 2 Continuous running range [HG-KR43] Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] Torque [N•m] 0.4 1.5 Speed [r/min] 2.5 1 2 6000 2 0.5 2.5 0 1.2 0.6 6 3 0.5 [HG-KR23] 1.4 0.7 Short-duration running range 0 0 1000 6000 7 1 0.5 Continuous running range 0 1000 1.5 1 8 4 Torque [N•m] 0.2 0.8 [HG-MR73] 4.5 3.5 Torque [N•m] Short-duration running range 2 Torque [N•m] Torque [N•m] Torque [N•m] 0.4 [HG-MR43] 2.5 1 0.5 0.3 [HG-MR23] 1.2 0.6 Torque [N•m] [HG-MR13] [HG-MR053] 6 5 4 Short-duration running range 3 2 Continuous running range 0 0 1000 2000 3000 4000 1 5000 Speed [r/min] 6000 Continuous running range 0 0 1000 2000 3000 4000 5000 Speed [r/min] 6000 6. HG-MR SERIES/HG-KR SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before performing the operation, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item HG-MR Series/HG-KR Series 13B 23B 43B 053B Type (Note 1) Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2) 73B Spring actuated type safety brake 0 24 V DC -10% [W] at 20 °C [Ω] [H] [N•m] [s] [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers voltage 125 V to be used For the suppressed (Note 7, 8) voltage 350 V 6.3 91.0 0.15 0.32 0.03 0.01 5.6 56 2.5 7.9 73.0 0.18 1.3 0.03 0.02 22 220 1.2 10 57.0 0.13 2.4 0.04 0.02 64 640 0.9 22 64 20000 5.6 TND20V-680KB TND10V-221KB Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 6- 6 6. HG-MR SERIES/HG-KR SERIES 6.5 Servo motors with special shafts The servo motors with special shafts indicated by the 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 6.6.2 (4) for geared servo motors with special shaft. Servo motor Shaft shape Key shaft (with key) D cut shaft HG-MR053(B)_ HG-MR13(B)_ HG-KR053(B)_ HG-KR13(B)_ HG-MR23(B)_ HG-MR43(B)_ HG-MR73(B)_ HG-KR23(B)_ HG-KR43(B)_ HG-KR73(B)_ D K 6.5.1 Key shaft (with 2 round end key) Variable dimension table R Q Servo motor QL S U W QK A A T S R Q [Unit: mm] Variable dimensions W QK QL U T HG-MR23(B)K HG-MR43(B)K 14h6 30 HG-KR23(B)K HG-KR43(B)K 26 5 20 3 3 5 HG-MR73(B)K 19h6 40 HG-KR73(B)K 36 6 25 5 3.5 6 Y Shaft section view A-A 6.5.2 D cut shaft [Unit: mm] 21.5 20.5 1 25 8h6 6- 7 Y M4 Screw hole depth 15 M5 Screw hole depth 20 6. HG-MR SERIES/HG-KR SERIES 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. Servo motors are available with a reducer designed for general industrial machines and high precision applications. Servo motors with an electromagnetic brake are also available. 6.6.1 For general industrial machines (G1) (1) Reduction ratio The following table indicates the reduction ratios and actual reduction ratios of the geared servo motor for general industrial machines. Servo motor HG-KR053(B)G1 HG-KR13(B)G1 HG-KR23(B)G1 HG-KR43(B)G1 HG-KR73(B)G1 6- 8 Nominal Actual reduction ratio reduction ratio 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 9/44 49/576 25/484 9/44 49/576 25/484 19/96 961/11664 513/9984 19/96 961/11664 7/135 1/5 7/87 625/12544 6. HG-MR SERIES/HG-KR SERIES (2) Specifications Item Description Mounting method Mounting direction Lubrication method Flange mounting In any directions Grease lubrication (already packed) Packed with Output shaft rotating direction Backlash (Note 3) Permissible load inertia moment ratio (converted into equivalent value on servo motor shaft) (Note 1) Maximum torque Maximum speed (at servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2) 200 W/400 W 1/12, 1/20 50 W/100 W 750 W 1/12 200 W/400 W 1/5 750 W 1/5, 1/20 Molynoc AP2 Mobil Grease SP JX Nippon Oil & Energy Exxon Mobil Same as the servo motor output shaft direction. 60 minutes or less at reducer output shaft Mobilplex 46 Exxon Mobil 50 W/100 W/750 W: 5 times or less 200 W/400 W: 7 times or less Three times of the servo motor rated torque 4500 r/min (permissible instantaneous speed: 5175 r/min) IP44 equivalent 45% to 75% Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 ° 6- 9 6. HG-MR SERIES/HG-KR SERIES (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/2 Q: Length of axis (Refer to section 6.8.3, 6.8.4.) Q Servo motor HG-KR053(B)G1 HG-KR13(B)G1 HG-KR23(B)G1 HG-KR43(B)G1 HG-KR73(B)G1 Reduction ratio 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 Permissible load (Note) Permissible radial Permissible thrust load load [N] [N] 150 240 370 150 240 370 330 710 780 330 710 760 430 620 970 Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently. 6 - 10 200 320 450 200 320 450 350 720 780 350 720 760 430 620 960 6. HG-MR SERIES/HG-KR SERIES 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. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05. Servo motor HG-KR053(B)G5 HG-KR053(B)G7 HG-KR13(B)G5 HG-KR13(B)G7 1/5 1/9 11B/14A 11B Reduction ratio 1/11 1/21 14A HG-KR43(B)G5 HG-KR43(B)G7 14A HG-KR73(B)G5 HG-KR73(B)G7 20A 1/45 14A 14A 11B/14A HG-KR23(B)G5 HG-KR23(B)G7 1/33 14A 20A 20A 20A 20A 32A 32A (2) Specifications Item Description Mounting method Mounting direction Lubrication method Packed with Output shaft rotating direction Backlash (Note 3) Permissible load inertia moment ratio (when converting into the servo motor shaft) (Note 1) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2) Flange mounting In any directions Grease lubrication (already packed) Harmonic grease SK-2 (Harmonic Drive Systems) Same as the servo motor output shaft direction. 3 minutes or less at reducer output shaft 50 W/100 W/750 W: 10 times or less 200 W/400 W: 14 times or less Three times of the servo motor rated torque 6000 r/min (permissible instantaneous speed: 6900 r/min) IP44 equivalent 50 W (reducer model No. 14A): 22% to 41% 50 W (reducer model No. 11B)/100 W/200 W/400 W/750 W: 58% to 87% Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 ° 6 - 11 6. HG-MR SERIES/HG-KR SERIES (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below. Q/2 L Q: Length of axis (Refer to section 6.8.7, 6.8.8.) L: Distance between reducer end face and load center Q Flange-mounting flange output type for high precision application (G5) Servo motor HG-KR053(B)G5 HG-KR053(B)G7 HG-KR13(B)G5 HG-KR13(B)G7 HG-KR23(B)G5 HG-KR23(B)G7 HG-KR43(B)G5 HG-KR43(B)G7 HG-KR73(B)G5 HG-KR73(B)G7 Reduction ratio 1/5 1/5 1/9 1/11 1/21 1/33 1/45 1/5 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 Flange-mounting shaft output type for high precision application (G7) Reducer model number Permissible load (Note) Permissible radial Permissible thrust Radial load point load load L [mm] [N] [N] 11B 14A 11B 14A 11B 14A 20A 14A 20A 14A 20A 32A 20A 32A Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently. 6 - 12 17 23 17 23 23 23 23 17 23 23 23 32 32 23 23 32 32 32 23 32 32 57 57 32 32 57 57 57 93 177 111 224 272 311 342 93 177 224 272 733 804 177 224 640 733 804 177 527 640 1252 1374 416 527 1094 1252 1374 431 706 514 895 1087 1244 1366 431 706 895 1087 2581 2833 706 895 2254 2581 2833 706 1856 2254 4992 5478 1465 1856 4359 4992 5478 6. HG-MR SERIES/HG-KR SERIES (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7). [Unit: mm] Servo motor Reducer model number Q φS W T QK U 11B 20 10h7 4 4 15 2.5 14A 28 16h7 5 5 25 3 20A 42 25h7 8 7 36 4 32A 82 40h7 12 8 70 5 HG-KR_(B)G7K Y Q U S W QK T 6 - 13 Y M3 screw hole depth 6 M4 screw hole depth 8 M6 screw hole depth 12 M10 screw hole depth 20 6. HG-MR SERIES/HG-KR SERIES 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. (1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross pattern. 1) 3) 4) 2) Tightening order 1) 2) 3) 2) 4) Tightening order 1) 2) 1) Connector for power supply, connector for encoder Connector for electromagnetic brake (2) Tighten the screws evenly. Tightening torques are as indicated below. Connector for encoder Screw size: M2 Tightening torque: 0.1 [N•m] Connector for electromagnetic brake Screw size: M2 Tightening torque: 0.2 [N•m] Connector for power supply Screw size: M2 Tightening torque: 0.2 [N•m] (3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced. 6 - 14 6. HG-MR SERIES/HG-KR SERIES 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 electromagnetic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine. The dimensions without tolerances are general tolerance. The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to 3 mm larger than the drawing dimensions. Design the machine-side with allowances. 6.8.1 Standard (without electromagnetic brake and reducer) Model Output [W] Moment of inertia J [× 10-4 kg•m2] HG-MR053 50 0.0162 0.34 HG-KR053 50 0.0450 0.34 Mass [kg] [Unit: mm] 20.5 20.7 Caution plate 20.7 Motor plate Caution plate 25 66.4 Motor plate (Opposite side) Caution plate 5 21.5 Top 21 Use hexagon socket head cap screw. Top 37.1 36 Top Encoder connector 4.9 13.7 27.4 9.9 10.9 11.7 11.7 Power supply connector 19.2 13.9 4 11.7 Power supply connector 9° 3 21.7 11.7 7° 2 Pin No. Application 1 (PE) 2 U V 3 W 4 6.4 27.5 23.8 21.7 Power supply connector 1 45° Bottom Bottom Bottom 2.5 Encoder connector 19.2 9.9 Opposite-load side BC38021C BC38016C 6 - 15 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] HG-MR13 100 0.0300 0.54 HG-KR13 100 0.0777 0.54 Mass [kg] [Unit: mm] 20.5 Motor plate (Opposite side) Caution plate Caution plate 40 25 82.4 20.7 5 2- 4.5 mounting hole Use hexagon socket head cap screw. 2.5 21.5 45° Bottom Bottom 21 Top 46 Bottom 30h7 Caution plate 8h6 20.7 Motor plate Top 37.1 36 Top Encoder connector 13.7 10.9 11.7 4.9 27.4 9.9 11.7 Power supply connector 19.2 21.7 13.9 21.7 Power supply connector 3 4 9° 2 3 4 Power supply connector 11.7 7° 1 2 11.7 Pin No. Application 1 (PE) 2 U 3 V 4 W 1 6.4 27.5 39.8 Encoder connector 19.2 9.9 Opposite-load side BC38022C BC38017C Model Output [W] Moment of inertia J [× 10-4 kg•m2] HG-MR23 200 0.0865 0.91 HG-KR23 200 0.221 0.91 Mass [kg] [Unit: mm] 76.6 Bottom Bottom Caution plate Top 26 46 Encoder connector 10.9 11.8 11.7 21.7 4-φ5.8 mounting hole Use hexagon socket head cap screw. □60 45 φ7 0 Bottom Top Top 13.7 10 28.4 3 9.5 19.2 36.4 47.1 Caution plate 7 φ50h7 Motor plate 30 Motor plate (Opposite side) φ14h6 Caution plate Power supply connector 13.9 27.8 5.9 2 3 4 7 1 Pin No. Application (PE) 1 U 2 V 3 W 4 9 Power supply connector 1 2 3 4 Encoder connector 19.2 Power supply connector 9.5 11.8 11.7 21.7 Opposite-load side BC38023B BC38018B 6 - 16 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] HG-MR43 400 0.142 1.4 HG-KR43 400 0.371 1.4 Mass [kg] [Unit: mm] 98.3 Caution plate Caution plate Bottom 26 Bottom Bottom Top Top 70 47.1 Top 46 60 45° 50h7 Motor plate 3 14h6 Caution plate 4- 5.8 mounting hole Use hexagon socket head cap screw. 30 7 Motor plate (Opposite side) Encoder connector 13.7 10 28.4 9.5 10.9 11.8 11.7 21.7 Power supply connector 19.2 13.9 27.8 58.1 5.9 Power supply connector 3 4 Encoder connector 7° 2 3 4 9° Pin No. Application 1 (PE) 2 U 3 V 4 W 1 1 2 Power supply connector 9.5 19.2 11.8 11.7 21.7 Opposite-load side BC38024B BC38019B Model Output [W] Moment of inertia J [× 10-4 kg•m2] HG-MR73 750 0.586 2.8 HG-KR73 750 1.26 2.8 Mass [kg] [Unit: mm] Caution plate Motor plate (Opposite side) 8 4- 6.6 mounting hole Use hexagon socket head cap screw. 36 Top Encoder connector 10.7 11.5 Power supply connector 9.5 11.8 11.7 19.2 14 12 27.8 69.6 21.7 27.4 57.1 Top Top 13.7 45° 70h7 Bottom 19h6 Caution plate Bottom Bottom 56 3 90 Caution plate Motor plate 80 40 112 19.2 9.5 2 3 4 7° 1 Pin No. Application 1 (PE) 2 U 3 V 4 W 7° Power supply connector 1 2 3 4 Power supply connector Encoder connector 11.811.7 21.7 Opposite-load side BC38025B BC38020B 6 - 17 6. HG-MR SERIES/HG-KR SERIES 6.8.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] HG-MR053B 50 0.32 0.0224 0.54 HG-KR053B 50 0.32 0.0472 0.54 Mass [kg] [Unit: mm] 107 Motor plate Caution plate (Opposite side) 20.7 Caution plate 20.7 Motor plate 21 Top Top 37.1 38.8 36 Top Encoder connector 13.7 40 45° 46 Bottom Bottom Bottom 2- 4.5mounting hole Use hexagon socket head cap screw. 30h7 Caution plate 25 2.5 21.5 5 8h6 20.5 4.9 27.4 10.9 11.7 Power supply connector 11.7 21.7 58.8 18.4 9.9 19.2 23.8 Electromagnetic brake connector 13.9 27.5 6.4 3 4 13° 2 9° 1 3 4 Pin No. Application 1 (PE) 2 U 3 V 4 W 7° Power supply connector 1 2 Electromagnetic brake connector 1 1 2 2 Pin No. Application 1 B1 2 B2 11.7 Encoder connector 11.7 18.4 58.8 21.7 9.9 Power supply connector Electromagnetic brake connector Opposite-load side BC38180A BC38175A 6 - 18 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] HG-MR13B 100 0.32 0.0362 0.74 HG-KR13B 100 0.32 0.0837 0.74 Mass [kg] [Unit: mm] 2- 4.5 mounting hole Use hexagon socket head cap screw. Caution plate Caution plate 20.7 Motor plate Caution plate 25 2.5 21.5 Motor plate 5 (Opposite side) 21 Bottom Bottom Bottom Top Top 46 37.1 38.8 36 Top Power supply connector Electromagnetic brake connector 10.9 Encoder connector 13.7 27.4 40 45° 8h6 20.7 30h7 123 20.5 11.7 4.9 9.9 11.7 21.7 19.2 58.8 18.4 39.8 13.9 6.4 27.5 Power supply connector 7° 1 3 2 4 4 13° 2 3 Pin No. Application (PE) 1 U 2 V 3 W 4 9° 1 1 2 Electromagnetic brake connector 1 1 2 2 Pin No. Application 1 B1 2 B2 Encoder connector 11.7 18.4 11.7 58.8 21.7 9.9 Power supply connector Electromagnetic brake connector Opposite-load side BC38181A BC38176A 6 - 19 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-MR23B 200 1.3 0.109 1.3 HG-KR23B 200 1.3 0.243 1.3 [Unit: mm] 113.4 Caution plate Caution plate 3 26 70 Caution plate Top 50h7 Bottom Bottom Bottom Top 47.1 Encoder connector 28.4 3 4 13.5° 2 9° 1 1 2 2 5.9 27.8 Electromagnetic brake connector Electromagnetic brake connector 1 13.9 19.2 36.4 Power supply connector Pin No. Application 1 (PE) 2 U 3 V 4 W Power supply connector 9.5 10.9 11.8 11.7 21.7 57.8 13.7 10 7° 47.1 Top 1 2 3 4 60 45° 14h6 Motor plate 4- 5.8mounting hole Use hexagon socket head cap screw. 30 7 Motor plate (Opposite side) 11.8 11.7 Encoder connector Power supply connector 9.5 Electromagnetic brake connector 18.3 57.8 Pin No. Application 1 B1 2 B2 21.7 Opposite-load side BC38182A BC38177A Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-MR43B 400 1.3 0.164 1.8 HG-KR43B 400 1.3 0.393 1.8 [Unit: mm] 135.1 30 Top 26 Encoder connector 47.1 28.4 10.9 Top Power supply connector 9.5 19.2 11.8 11.7 21.7 57.8 70 Bottom Top 13.7 10 45° 47.1 Bottom Bottom Caution plate 3 60 50h7 Caution plate Motor plate 7 14h6 Motor plate (Opposite side) Caution plate 4- 5.8mounting hole Use hexagon socket head cap screw. 13.9 58.1 5.9 27.8 Electromagnetic brake connector 3 4 7° 2 Pin No. Application (PE) 1 U 2 V 3 W 4 9° 1 1 2 3 4 13.5° Power supply connector Power supply connector 9.5 11.8 11.7 Electromagnetic brake connector 1 1 2 2 Pin No. Application 1 B1 2 B2 6 - 20 Encoder connector 18.3 57.8 Electromagnetic brake connector 21.7 Opposite-load side BC38183A BC38178A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-MR73B 750 2.4 0.694 3.8 HG-KR73B 750 2.4 1.37 3.8 [Unit: mm] 152.3 Caution plate 4- 6.6mounting hole Use hexagon socket head cap screw. 40 8 Motor plate (Opposite side) 3 36 80 45° Caution plate Caution plate Bottom Top 70h7 90 Bottom 19h6 Motor plate Top 56 57.1 Bottom Top Encoder connector 10.7 13.7 11.5 21.7 63.1 27.4 Power supply connector 9.5 19.2 11.8 11.7 14 69.6 12 27.8 Electromagnetic brake connector Power supply connector 4 Power supply connector 7° 3 7° 2 7° Pin No. Application 1 (PE) 2 U V 3 W 4 1 1 2 3 4 11.8 11.7 Encoder connector 9.5 Electromagnetic brake connector 21.7 Electromagnetic brake connector Opposite-load side Pin No. Application 1 B1 2 B2 1 1 2 2 18.4 63.1 BC38184A BC38179A 6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR053G1 50 K6505 1/5 (9/44) 0.0820 1.4 [Unit: mm] 110.1 8 Motor plate (Opposite side) 20.7 Caution plate Motor plate 60.5 34.5 6.5 25 45° (R 3) 20.5 For reverse rotation command Rotation direction For forward rotation command 4-φ7 65 21 φ60h7 Top Top φ7 5 8 φ8 Bottom 37.1 36 Bottom Bottom φ16h6 20.7 Caution plate φ48 (φ51) Caution plate Top Encoder connector 13.7 4.9 27.4 10.9 11.7 11.7 9.9 19.2 Power supply connector 21.7 M4 Screw hole depth 8 21.7 11.7 11.7 67.5 6.4 4 9° 3 Pin No. Application 1 (PE) U 2 V 3 W 4 7° Power supply connector 1 2 Encoder connector 19.2 9.9 Power supply connector Opposite-load side BC40915A 6 - 21 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] 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] 128.9 20.5 Caution plate (R 25 45 ° 3) φ48 (φ51) φ60h7 φ16h6 20.7 21 37.1 36 8 φ8 Top 5 φ7 Top Top 13.7 10.9 11.7 11.7 4.9 27.4 9.9 M4 Screw hole depth 8 Power supply connector 19.2 21.7 86.3 9° 7° Pin No. Application (PE) 1 2 U 3 V 4 W 6.4 21.7 11.7 11.7 Encoder connector Power supply connector 3 8 Bottom Bottom Bottom 4 34.5 6.5 Caution plate Motor plate Caution plate 1 2 60.5 Motor plate (Opposite side) 20.7 For reverse rotation command Rotation direction For forward rotation command 4-φ7 65 19.2 Encoder connector 9.9 Power supply connector BC40916A Opposite-load side Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G1 100 K6505 1/5 (9/44) 0.115 1.6 [Unit: mm] 126.1 34.5 6.5 8 20.7 Motor plate (Opposite side) Caution plate 25 45 ° (R 3) 20.5 For reverse rotation command Rotation direction For forward rotation command 4-φ7 65 60.5 Caution plate 37.1 36 21 φ16h6 Top 8 φ8 Bottom 5 φ7 Bottom Bottom φ48 (φ51) φ60h7 20.7 Motor plate Caution plate Top Top 10.9 11.7 11.7 9.9 19.2 Power supply connector 21.7 M4 Screw hole depth 8 83.5 6.4 21.7 11.7 11.7 Encoder connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 9° 4.9 7° 13.7 27.4 4 6 - 22 Encoder connector 19.2 Power supply 9.9 connector Opposite-load side BC40917A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] 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] 144.9 20.5 60.5 20.7 34.5 6.5 8 Motor plate (Opposite side) Caution plate For reverse rotation command Rotation direction For forward rotation command 4-φ7 65 25 45 ° 3) (R φ60h7 φ16h6 20.7 21 Top 5 φ7 8 φ8 Bottom 37.1 36 Bottom Bottom φ48 (φ51) Caution plate Motor plate Caution plate Top Top 13.7 4.9 10.9 11.7 11.7 27.4 9.9 19.2 M4 Screw hole depth 8 Power supply connector 21.7 6.4 102.3 21.7 11.7 11.7 Encoder connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 7° 1 2 3 9° 4 19.2 Encoder connector Power supply 9.9 connector Opposite-load side BC40918A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23G1 200 K9005 1/5 (19/96) 0.375 3.3 [Unit: mm] 129.8 74 10 Motor plate (Opposite side) Caution plate Caution plate Bottom Top 45 ° 0 10 Bottom Bottom Caution plate 35 25h6 73 ( 76) 82h7 Motor plate 38 8 ) (R3 For reverse rotation command Rotation direction For forward rotation command 4- 9 90 Top 4 11 47.1 46 Top Encoder connector 10.9 11.8 11.7 Power supply connector 9.5 5.9 M6 Screw hole depth 12 19.2 21.7 89.6 Power supply connector Power supply connector Pin No. Application 1 (PE) U 2 V 3 W 4 1 2 3 7° 28.4 9° 13.7 10 4 6 - 23 Encoder connector 11.8 19.2 9.5 21.7 11.7 Opposite-load side BC40919* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] 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] 149.6 74 38 10 60 Motor plate (Opposite side) Caution plate Caution plate Bottom Top 45 ° ( ) R3 Bottom Bottom Caution plate 35 8 00 φ1 φ25h6 φ72 (φ75) φ82h7 Motor plate For reverse rotation command Rotation direction For forward rotation command 4-φ9 90 14 φ1 Top 47.1 46 Top 10.9 13.7 10 9.5 19.2 11.811.7 28.4 Power supply connector 21.7 M6 Screw hole depth 12 5.9 109.4 Encoder connector Power supply connector Power supply connector Pin No. Application 1 (PE) 2 U V 3 W 4 1 2 4 7° 9° 3 Encoder connector 19.2 9.5 11.811.7 21.7 Opposite-load side BC40920A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G1 400 K9005 1/5 (19/96) 0.525 3.7 [Unit: mm] 151.5 Caution plate Motor plate 74 Motor plate 10 (Opposite side) 60 For reverse rotation command Rotation direction For forward rotation command 4- 9 90 38 8 (R3) 35 45 ° Caution plate Bottom Caution plate Top 0 10 Bottom 25h6 73 ( 76) 82h7 Bottom Top 4 11 9.5 10.9 28.4 11.811.7 Power supply connector M6 Screw hole depth 12 19.2 21.7 5.9 111.3 Encoder connector Power supply connector Pin No. Application (PE) 1 U 2 V 3 W 4 1 2 7° 13.7 10 9° 47.1 46 Top 3 4 6 - 24 Encoder connector Power supply connector 19.2 9.5 11.811.7 21.7 Opposite-load side BC40903* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G1 400 K9012 1/12 (961/11664) 0.568 4.3 [Unit: mm] 171.3 74 Motor plate (Opposite side) 60 Caution plate For reverse rotation command Rotation direction For forward rotation command 4-φ9 90 38 8 ) (R3 10 35 45 ° Caution plate Caution plate Top Top 47.1 46 14 φ1 Top φ25h6 Bottom 00 φ1 φ82h7 Bottom Bottom φ72 (φ75) Motor plate Power supply connector 9.5 10.9 13.7 10 11.811.7 28.4 M6 Screw hole depth 12 19.2 5.9 131.1 21.7 Encoder connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 9° 7° 3 4 Power supply connector Encoder connector 19.2 9.5 11.811.7 21.7 Opposite-load side BC40904A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G1 400 K10020 1/20 (7/135) 0.881 5.4 [Unit: mm] 175.3 For reverse rotation command Rotation direction For forward rotation command 4-φ9 100 90 60 39 9.5 10 50 45 ° Motor plate (Opposite side) Caution plate Caution plate φ1 Bottom Bottom Bottom Top 32 47.1 46 Caution plate φ1 Top Top Encoder connector Power supply connector 19.2 M8 Screw hole depth 16 21.7 9.5 135.1 Power supply connector 1 2 3 7° 28.4 10.9 11.8 11.7 9° 5.9 10 13.7 15 φ32h6 φ73 φ83 φ95h7 Motor plate 4 Pin No. Application 1 (PE) 2 U 3 V 4 W 6 - 25 19.2 Encoder connector 11.8 Power supply connector 9.5 11.7 21.7 Opposite-load side BC40905A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73G1 750 K10005 1/5 (1/5) 1.68 6.0 [Unit: mm] 90 177 □80 39 10 10 Motor plate (Opposite side) Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 4-φ9 □100 50 45 Caution plate Top 57.1 56 32 φ1 Top Bottom 15 φ1 φ32h6 φ73 φ81 φ95h7 Bottom Bottom Caution plate Top 13.7 11.5 27.4 10.7 11.8 11.7 Power supply connector 9.5 19.2 M8 Screw hole depth 16 21.7 12 134.6 19.2 9.5 Encoder connector Power supply connector 7 1 2 Pin No. Application 1 (PE) 2 U 3 V 4 W 3 7 4 Power supply connector Encoder connector 11.8 11.7 21.7 Opposite-load side BC40906A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73G1 750 K10012 1/12 (7/87) 2.35 7.1 [Unit: mm] 199 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 4- φ9 100 90 Motor plate (Opposite side) 10 39 9.5 50 45° Caution plate Top 32 φ1 Top 15 φ1 φ73 φ83 φ95h7 Caution plate Bottom φ32h6 Bottom 57.1 56 Bottom Top 27.4 10.7 11.8 11.7 9.5 Power supply connector 19.2 M8 Screw hole depth 16 21.7 156.6 Encoder connector 12 19.2 9.5 Power supply connector 7° 11.5 Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 7° 13.7 4 6 - 26 Power supply connector Encoder connector 11.8 11.7 21.7 Opposite-load side BC40907A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73G1 750 K12020 1/20 (625/12544) 2.41 10 [Unit: mm] 212 105.5 Motor plate (Opposite side) Caution plate 80 For reverse rotation command Rotation direction For forward rotation command 4-φ14 120 15 44.5 11.5 60 45° Motor plate 0 φ14 Caution plate Bottom Bottom Top Top φ40h6 φ90 φ98 φ115h7 Caution plate 57.1 56 62 φ1 Bottom Top Power supply connector 27.4 9.5 19.2 M10 Screw hole depth 20 21.7 169.6 19.2 Encoder connector 9.5 Power supply connector 7° 13.7 10.7 11.8 11.7 7° 12 11.5 1 2 3 4 Pin No. Application 1 (PE) 2 U 3 V 4 W 6 - 27 Power supply connector Encoder connector 11.8 11.7 21.7 Opposite-load side BC40908A 6. HG-MR SERIES/HG-KR SERIES 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•m2] Mass [kg] HG-KR053BG1 50 K6505 1/5 (9/44) 0.32 0.0840 1.6 [Unit: mm] 20.7 Caution plate Caution plate □65 25 (R 3) 20.5 8 Motor plate (Opposite side) φ16h6 60.5 34.5 6.5 150.7 For reverse rotation command Rotation direction For forward rotation command 45° 4-φ7 Bottom Caution plate 13.7 Top Top 21 Top 4.9 10.9 11.7 9.9 11.7 19.2 Encoder connector Power supply connector M4 Screw hole depth 8 67.5 21.7 58.8 27.4 Electromagnetic brake connector 18.4 1 2 3 4 7° Pin No. Application (PE) 1 U 2 V 3 W 4 13° 9° Pin No. Application 1 B1 2 B2 2 6.4 Power supply connector Electromagnetic brake connector 1 5 φ7 8 φ8 38.8 36 Bottom Bottom φ48 (φ51) φ60h7 20.7 Motor plate 18.4 11.7 11.7 Encoder connector 9.9 Power supply connector 58.8 Electromagnetic brake connector Opposite-load side 21.7 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] HG-KR053BG1 50 K6512 1/12 (49/576) HG-KR053BG1 50 K6520 1/20 (25/484) BC41085A Moment of inertia J [× 10-4 kg•m2] Mass [kg] 0.32 0.106 2.0 0.32 0.0880 2.0 [Unit: mm] 20.7 Caution plate Bottom 21 38.8 36 Caution plate 13.7 27.4 Top 4.9 10.9 11.7 Encoder connector 9.9 19.2 11.7 21.7 58.8 Top 18.4 Power supply connector 7° 9° Pin No. Application 1 B1 2 B2 13° 2 18.4 11.7 11.7 9.9 Power supply connector Pin No. Application 1 (PE) 2 U 3 V 4 W 58.8 Encoder connector 21.7 6 - 28 6.4 Power supply connector 1 2 3 4 Electromagnetic brake connector 1 5 φ7 M4 Screw hole depth 8 86.3 Electromagnetic brake connector 4-φ7 8 φ8 Top Bottom Bottom 45° φ60h7 Caution plate □65 25 φ48 (φ51) 20.7 Motor plate (Opposite side) (R 3) 20.5 Motor plate 60.5 34.5 6.5 8 φ16h6 169.5 For reverse rotation command Rotation direction For forward rotation command Electromagnetic brake connector Opposite-load side BC41086A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG1 100 K6505 1/5 (9/44) 0.32 0.121 1.8 [Unit: mm] 166.7 20.7 8 Motor plate (Opposite side) Caution plate Caution plate 60.5 34.5 6.5 3) (R □65 25 φ16h6 20.5 For reverse rotation command Rotation direction For forward rotation command 45° Caution plate 13.7 27.4 10.9 11.7 4.9 Top 9.9 19.2 11.7 M4 Screw hole depth 8 Power supply connector 58.8 18.4 Power supply connector Electromagnetic brake connector 1 2 3 4 Electromagnetic brake connector 9° 2 7° Pin No. Application 1 B1 2 B2 13° 1 6.4 83.5 21.7 Encoder connector φ60h7 21 Top 5 φ7 8 φ8 38.8 36 Bottom Top Bottom Bottom φ48 (φ51) 20.7 Motor plate 4-φ7 18.4 11.7 11.7 Encoder connector 9.9 Power supply connector Pin No. Application 1 (PE) 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side 58.8 21.7 BC41087A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG1 100 K6512 1/12 (49/576) 0.32 0.143 2.2 HG-KR13BG1 100 K6520 1/20 (25/484) 0.32 0.125 2.2 [Unit: mm] 20.5 20.7 8 Motor plate (Opposite side) Caution plate Caution plate □65 25 φ16h6 60.5 34.5 6.5 3) (R 185.5 For reverse rotation command Rotation direction For forward rotation command 45° 21 Top 8 Caution plate 13.7 27.4 Top 4.9 10.9 11.7 Encoder connector M4 Screw hole depth 8 9.9 11.7 21.7 58.8 19.2 18.4 Power supply connector 102.3 Electromagnetic brake connector 1 2 3 4 13° 7° Pin No. Application 1 B1 2 B2 9° 2 18.4 11.7 11.7 Encoder connector 9.9 Power supply connector Pin No. Application (PE) 1 U 2 V 3 W 4 58.8 21.7 6 - 29 6.4 Power supply connector Electromagnetic brake connector 1 5 φ7 φ8 38.8 36 Bottom Top Bottom Bottom φ48 (φ51) φ60h7 20.7 Motor plate 4-φ7 Electromagnetic brake connector Opposite-load side BC41088A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23BG1 200 K9005 1/5 (19/96) 1.3 0.397 3.7 [Unit: mm] 74 Caution plate □90 Top φ1 13.7 10.9 11.8 10 28.4 19.2 21.7 57.8 Encoder connector M6 Screw hole depth 12 9.5 Power supply connector 89.6 Electromagnetic brake connector 11.7 00 7° 13.5° 9° Pin No. Application 1 B1 2 B2 Encoder connector 11.8 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side 18.3 11.7 57.8 21.7 5.9 Power supply connector 1 2 3 4 Electromagnetic brake connector 2 4-φ9 4 Caution plate 1 4 5° 1 φ1 47.1 46 Bottom Bottom Top Bottom Top 35 3) (R φ73 (φ76) Motor plate 10 8 φ82h7 38 φ25h6 166.6 Motor plate (Opposite side) Caution plate □60 For reverse rotation command Rotation direction For forward rotation command Pin No. Application 1 (PE) 2 U 3 V 4 W BC41089* Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23BG1 200 K9012 1/12 (961/11664) 1.3 0.440 4.3 HG-KR23BG1 200 K9020 1/20 (513/9984) 1.3 0.413 4.3 [Unit: mm] 38 Motor plate (Opposite side) 60 10 8 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 74 35 ) (R3 90 φ25h6 186.4 4-φ9 φ1 Top 47.1 46 Bottom φ72 (φ75) Bottom Top Top 1 φ1 13.7 10 10.9 11.8 28.4 Encoder connector 4 Caution plate 11.7 21.7 57.8 9.5 19.2 Power supply connector 109.4 Electromagnetic brake connector M6 Screw hole depth 12 5.9 Power supply connector 1 2 3 4 13.5° 7° Pin No. Application 1 B1 2 B2 9° Electromagnetic brake connector 2 00 φ82h7 Caution plate Bottom 1 45° Encoder connector 11.8 18.3 11.7 57.8 21.7 6 - 30 Power supply connector 9.5 Pin No. Application (PE) 1 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41090A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG1 400 K9005 1/5 (19/96) 1.3 0.547 4.1 [Unit: mm] 74 38 Motor plate 10 8 35 3) (R □90 φ25h6 188.3 Motor plate (Opposite side) Caution plate □60 For reverse rotation command Rotation direction For forward rotation command 45° 00 φ1 Caution plate Top 4 47.1 46 Top 1 φ1 Bottom Top φ73 (φ76) φ82h7 Bottom Bottom Caution plate 13.7 10.9 11.8 10 Encoder connector M6 Screw hole depth 12 9.5 Power supply connector 111.3 Electromagnetic brake connector 11.7 19.2 21.7 57.8 28.4 1 2 3 4 13.5° 7° 9° Pin No. Application 1 B1 2 B2 2 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side Encoder connector 18.3 11.7 57.8 11.8 21.7 5.9 Power supply connector Electromagnetic brake connector 1 4-φ9 Pin No. Application 1 (PE) 2 U V 3 4 W BC41091* Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG1 400 K9012 1/12 (961/11664) 1.3 0.590 4.7 [Unit: mm] 74 38 10 8 Caution plate Motor plate (R3 35 ) 90 φ25h6 208.1 Motor plate (Opposite side) 60 For reverse rotation command Rotation direction For forward rotation command 45° 0 φ1 Bottom Bottom Top Bottom Top 14 φ1 47.1 46 Top Caution plate 13.7 10.9 11.8 10 28.4 Encoder connector 11.7 21.7 57.8 M6 Screw hole depth 12 9.5 19.2 Power supply connector 131.1 Electromagnetic brake connector 5.9 Power supply connector 1 2 3 4 Pin No. Application 1 B1 2 B2 13.5° 7° 2 9° Electromagnetic brake connector 1 0 φ72 (φ75) φ82h7 Caution plate 4-φ9 Encoder connector 11.8 18.3 11.7 57.8 21.7 6 - 31 Power supply connector 9.5 Pin No. Application (PE) 1 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41092A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG1 400 K10020 1/20 (7/135) 1.3 0.903 5.8 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 212.1 Motor plate (Opposite side) Caution plate 60 Motor plate 100 90 10 39 9.5 45° 50 4-φ9 15 φ1 Top 47.1 46 Bottom Top φ95h7 Bottom Bottom φ73 φ83 φ32h6 Caution plate φ1 Top 32 10.9 11.8 9.5 11.7 28.4 21.7 57.8 Electromagnetic brake connector 1 M8 Screw hole depth 16 Power supply connector 135.1 Electromagnetic brake connector Power supply connector 1 2 3 4 Encoder connector 9° Pin No. Application 1 B1 2 B2 2 19.2 13.5° 13.7 7° Caution plate 5.9 10 Encoder connector 11.8 18.3 11.7 57.8 21.7 Power supply connector 9.5 Pin No. Application (PE) 1 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41093A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73BG1 750 K10005 1/5 (1/5) 2.4 1.79 7.0 [Unit: mm] 217.3 For reverse rotation command Rotation direction For forward rotation command 90 Motor plate (Opposite side) 10 39 10 100 50 45° Caution plate 4-φ9 Motor plate φ81 φ95h7 φ73 Top φ32h6 Top φ1 56 21.7 63.1 Power supply connector 19.2 12 Power supply connector 134.6 1 2 3 4 Electromagnetic brake connector Encoder connector 7° Pin No. Application 1 B1 2 B2 M8 Screw hole depth 16 9.5 11.7 7° Electromagnetic brake connector 10.7 11.8 7° Caution plate 11.5 15 2 Top 27.4 2 Bottom Bottom 13.7 1 Bottom 3 φ1 57.1 Caution plate Encoder connector 11.8 18.4 11.7 63.1 Power supply connector 9.5 Pin No. Application 1 (PE) 2 U 3 V 4 W Electromagnetic brake connector 21.7 Opposite-load side 6 - 32 BC41094A 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73BG1 750 K10012 1/12 (7/87) 2.4 2.46 8.1 [Unit: mm] 239.3 For reverse rotation command Rotation direction For forward rotation command 90 Motor plate (Opposite side) 39 9.5 10 100 50 45° 4-φ9 Caution plate Motor plate φ83 φ95h7 Top 15 φ1 φ1 56 Bottom 32 Top 11.7 11.5 27.4 Pin No. Application 1 B1 2 B2 1 2 3 4 Electromagnetic brake connector 7° Encoder connector 7° 2 Power supply connector 156.6 63.1 12 Power supply connector 19.2 21.7 Electromagnetic brake connector 1 M8 Screw hole depth 16 9.5 Caution plate 10.7 11.8 13.7 7° 57.1 Top Bottom φ73 Bottom φ32h6 Caution plate Encoder connector 11.8 18.4 11.7 63.1 Power supply connector 9.5 Pin No. Application (PE) 1 2 U 3 V 4 W Electromagnetic brake connector 21.7 Opposite-load side BC41095A Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR73BG1 750 K12020 1/20 (625/12544) 2.4 2.52 11 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 105.5 252.3 Motor plate (Opposite side) Caution plate □80 Motor plate 15 45 Top 4-φ14 40 62 Top Caution plate 10.7 11.8 Pin No. Application 1 B1 2 B2 9.5 Power supply connector 21.7 M10 Screw hole depth 20 Power supply connector 169.6 63.1 1 2 3 4 Electromagnetic brake connector Encoder connector 7° Electromagnetic brake connector 19.2 7° 27.4 11.7 7° 12 11.5 ° φ1 57.1 56 φ1 φ40h6 φ90 φ98 φ115h7 Bottom Top Bottom 13.7 2 □120 60 Caution plate Bottom 1 44.5 11.5 Encoder connector 11.8 18.4 11.7 63.1 21.7 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side 6 - 33 Pin No. Application 1 (PE) 2 U 3 V 4 W BC41096A 6. HG-MR SERIES/HG-KR SERIES 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR053G5 50 HPG-11B-05-F0ADG-S 1/5 0.0485 0.55 HG-KR053G5 50 HPG-11B-09-F0ADG-S 1/9 0.0475 0.56 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7 20.7 Caution plate 5 15+0.25 -0.20 2.5 Bottom Bottom Bottom 3-M4 Screw hole depth 6 37.1 Top Top 13.7 10.9 11.7 11.7 21.7 4.9 27.4 9.9 19.2 Power supply connector 13.9 27.5 63.3 9° 7° Pin No. Application (PE) 1 2 U V 3 W 4 6.4 21.7 11.7 11.7 Encoder connector Power supply connector 1 2 3 4 45° Top 21 36 25.5 9 0° 12 Caution plate Motor plate 105.9 Motor plate (Opposite side) Caution plate C 0. 5 20.5 Encoder connector 19.2 9.9 Power supply connector BC40937* Opposite-load side Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR053G5 50 HPG-14A-05-F0CBJS-S 1/5 0.113 1.1 HG-KR053G5 50 HPG-14A-11-F0CBKS-S 1/11 0.105 1.2 HG-KR053G5 50 HPG-14A-21-F0CBKS-S 1/21 0.0960 1.2 HG-KR053G5 50 HPG-14A-33-F0CBLS-S 1/33 0.0900 1.2 HG-KR053G5 50 HPG-14A-45-F0CBLS-S 1/45 0.0900 1.2 [Unit: mm] 21 Top 70 30 Bottom 37.1 36 Bottom Bottom 8 14H7 40 56h7 20.7 Caution plate 35 55.5 Motor plate 21 Motor plate (Opposite side) Caution plate Caution plate 59 20.7 C 0. 5 130.4 20.5 For reverse rotation command Rotation direction For forward rotation command 4- 5.5 6-M4 Screw hole depth 7 60 21+0.4 -0.5 45 ° 5( 14H7effective range) 3 60° Top Top 10.9 11.7 11.7 21.7 9.9 Power supply connector 19.2 6.4 87.8 21.7 11.7 11.7 Encoder connector Power supply connector 1 2 3 9° 4.9 7° 13.7 27.4 4 Pin No. Application (PE) 1 2 U V 3 W 4 Encoder connector Power supply connector 19.2 9.9 Opposite-load side BC38196* 6 - 34 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G5 100 HPG-11B-05-F0ADG-S 1/5 0.0812 0.75 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7 9 25.5 Bottom Bottom Bottom 3-M4 Screw hole depth 6 2.5 5 21 Top 37.1 Top 36 Top 13.7 27.4 10.9 11.7 11.7 21.7 4.9 9.9 19.2 Power supply connector 13.9 27.5 79.3 Encoder connector 9° 7° Pin No. Application (PE) 1 2 U 3 V 4 W 6.4 21.7 11.7 11.7 Power supply connector 1 2 3 4 45° 0° 12 Caution plate Motor plate Caution plate -0.20 15+0.25 121.9 Motor plate (Opposite side) Caution plate 20.7 C 0. 5 20.5 Encoder connector 19.2 Power supply 9.9 connector Opposite-load side BC40939* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G5 100 HPG-14A-05-F0CBJS-S 1/5 0.146 1.3 HG-KR13G5 100 HPG-14A-11-F0CBKS-S 1/11 0.138 1.4 HG-KR13G5 100 HPG-14A-21-F0CBKS-S 1/21 0.129 1.4 [Unit: mm] -0.5 21 +0.4 21 Bottom Bottom 0 φ7 Top 21 45 60 0 φ3 Bottom 37.1 36 5(φ14H7effective range) C 0. 5 20.7 Caution plate Caution plate 3 φ55.5 Motor plate Caution plate 8 Motor plate (Opposite side) φ59 20.7 35 φ14H7 φ40 φ56h7 146.4 20.5 For reverse rotation command Rotation direction For forward rotation command 4-φ5.5 6-M4 Screw hole □60 depth 7 Top Top 10.9 11.7 11.7 21.7 Encoder connector 9.9 19.2 Power supply connector 6.4 103.8 21.7 11.7 11.7 Power supply connector 1 2 9 4.9 7 13.7 27.4 3 4 6 - 35 Pin No. Application 1 (PE) 2 U 3 V 4 W Encoder connector Power supply connector 19.2 9.9 Opposite-load side BC38197* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] For reverse rotation command Rotation direction For forward rotation command 4- 9 90 27 +0.4 -0.5 148.9 30.5 10 8 26 5( 24H7effective range) 20.5 6-M6 Screw hole depth 10 Motor plate (Opposite side) 20.7 Motor plate Caution plate 5 10 84 Caution plate 45° 60° 24H7 59 85h7 C 0. 5 Top Top 45 21 89 Bottom Bottom 37.1 36 Bottom 55 20.7 Caution plate Top 13.7 27.4 10.9 11.7 11.7 21.7 6.4 4.9 9.9 19.2 Power supply connector 106.3 21.7 11.7 11.7 Encoder connector Power supply connector Power supply connector Pin No. Application 1 (PE) 2 U 3 V 4 W 1 2 9° 7° 3 4 Encoder connector 19.2 9.9 Opposite-load side BC38198* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HG-KR23G5 200 HPG-14A-05-F0AZW-S 1/5 0.422 1.8 HG-KR23G5 200 HPG-14A-11-F0AZX-S 1/11 0.424 1.9 Mass [kg] [Unit: mm] 140.6 Motor plate Caution plate (Opposite side) Top C 0. 5 Top 14H7 47.1 46 Top Encoder connector 13.7 10 28.4 10.9 11.8 11.7 9.5 Power supply connector 5.9 19.2 21.7 100.4 Power supply connector 4 Power supply connector 19.2 7° 3 Pin No. Application 1 (PE) U 2 3 V 4 W 9° 1 2 45° 70 40 56h7 Caution plate 60° 30 Bottom 3 5( 14H7effective range) Bottom Bottom Caution plate 8 59 Motor plate 56 55.5 60 For reverse rotation command Rotation direction 6-M4 Screw hole depth 7 For forward rotation command 4- 5.5 21+0.4 -0.5 60 Encoder connector 9.5 11.8 11.7 21.7 Opposite-load side 6 - 36 BC38199* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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 0.672 3.4 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 6-M6 Screw hole depth 10 4- 9 +0.4 90 27 -0.5 147.6 26 Motor plate (Opposite side) Caution plate Caution plate 5 10 Top C 0. 5 45 Caution plate 89 Bottom Bottom Bottom 45° 60° 24H7 59 85h7 Motor plate 5( 24H7effective range) 10 8 35 84 60 Top 47.1 46 Top 9.5 10.9 13.7 10 Encoder connector 11.8 11.7 28.4 Power supply connector 19.2 21.7 5.9 107.4 Power supply connector 19.2 9.5 Encoder connector 7° 3 4 Pin No. Application (PE) 1 2 U 3 V 4 W 9° 1 2 Power supply connector 11.811.7 21.7 Opposite-load side BC40901* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G5 400 HPG-14A-05-J2CBJS-S 1/5 0.572 2.3 [Unit: mm] 70 0. 5 C Bottom Caution plate Top Top Top 14H7 46 47.1 Bottom 30 40 56h7 59 Bottom Caution plate 60 Motor plate 56 55.5 162.3 Motor plate (Opposite side) Caution plate For reverse rotation command Rotation direction For forward rotation command 6-M4 Screw hole depth 7 -0.5 21+0.4 4- 5.5 60 8 3 5( 14H7effective range) 45° 60° 13.7 10 28.4 10.9 11.8 11.7 21.7 9.5 19.2 5.9 Power supply connector 122.1 Encoder connector Power supply connector Power supply connector Encoder connector 7° Pin No. Application (PE) 1 2 U 3 V 4 W 9° 1 2 3 4 6 - 37 19.2 9.5 11.8 11.7 21.7 Opposite-load side BC38186* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] For reverse rotation command Rotation direction For forward rotation command 4- 9 90 6-M6 Screw hole depth 10 +0.4 27 -0.5 169.3 26 60 10 8 5( 24H7effective range) Motor plate (Opposite side) Caution plate 45° 60° 5 10 Top C 0. 5 Top 45 Bottom Bottom Caution plate Bottom 89 Caution plate 24H7 59 85h7 84 Motor plate Top 46 47.1 35 13.7 10 28.4 5.9 Power supply connector 9.5 10.9 11.8 11.7 21.7 19.2 129.1 Encoder connector Power supply connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 9° 7° 3 4 19.2 9.5 11.811.7 21.7 Opposite-load side Encoder connector BC38187* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G5 400 HPG-32A-33-F0RLAS-S 1/33 0.921 6.0 HG-KR43G5 400 HPG-32A-45-F0RLAS-S 1/45 0.915 6.0 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 6-M8 Screw hole depth 12 +0.4 35 -0.5 181.3 29 4- 11 120 13 13 45 ° 60° 5( 32H7effective range) 60 Motor plate (Opposite side) Caution plate Top 84 115h7 Bottom Top 114 Bottom C 0. 5 Caution plate 32H7 Bottom 84 Motor plate 118 5 13 Caution plate 47.1 46 41 60 Top 28.4 Power supply connector 10.9 11.8 11.7 9.5 19.2 21.7 141.1 Power supply connector 1 2 3 7° 13.7 Encoder connector 9° 5.9 10 4 6 - 38 Pin No. Application (PE) 1 2 U 3 V 4 W Power supply connector Encoder connector 19.2 11.8 9.5 11.7 21.7 Opposite-load side BC38188* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] +0.4 27 -0.5 190 26 10 5 10 C 0. 5 59 85h7 45 Top 24H7 84 89 Bottom Bottom Top 45° 60° 6-M6 Screw hole depth 10 Caution plate Caution plate 8 5( 24H7effective range) 80 Motor plate 12 30 Motor plate (Opposite side) Caution plate 80 For reverse rotation command Rotation direction For forward rotation command 4- 9 90 57.1 56 Bottom Top Encoder connector 13.7 10.7 11.8 11.7 21.7 11.5 27.4 Power supply connector 9.5 19.2 12 147.6 19.2 9.5 Power supply connector 4 Encoder connector 11.8 7° 3 7° Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 Power supply connector 11.7 21.7 Opposite-load side BC38189* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HG-KR73G5 750 HPG-32A-21-F0SEIS-S 1/21 2.01 7.2 HG-KR73G5 750 HPG-32A-33-F0SEJS-S 1/33 1.79 7.2 HG-KR73G5 750 HPG-32A-45-F0SEJS-S 1/45 1.79 7.2 Mass [kg] [Unit: mm] -0.5 35+0.4 200 5 13 Top 32H7 84 115h7 Top 13 13 C 0. 5 Bottom Bottom Caution plate 36 114 Caution plate 9 118 Motor plate Motor plate (Opposite side) Caution plate 80 80 30 For reverse rotation command Rotation direction For forward rotation command 4- 11 120 6-M8 Screw hole depth 12 45° 60° 5( 32H7effective range) 60 57.1 56 Bottom Top 27.4 10.7 11.8 11.7 9.5 Power supply connector 19.2 21.7 157.6 19.2 9.5 Encoder connector Power supply connector 7° 11.5 Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 7° 13.7 4 6 - 39 Power supply connector Encoder connector 11.8 11.7 21.7 Opposite-load side BC38190* 6. HG-MR SERIES/HG-KR SERIES 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•m2] Mass [kg] HG-KR053BG5 50 HPG-11B-05-F0ADG-S 1/5 0.32 0.0507 0.75 HG-KR053BG5 50 HPG-11B-09-F0ADG-S 1/9 0.32 0.0497 0.76 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Caution plate 20.7 Caution plate Caution plate 25.5 5 -0.20 15+0.25 2.5 Bottom Bottom Bottom Top 3-M4 Screw hole depth 6 Top Top 13.7 27.4 Power supply connector 10.9 11.7 11.7 21.7 58.8 4.9 9.9 19.2 18.4 13.9 27.5 63.3 Encoder connector 13° 2 9° 1 2 11.7 11.7 Encoder connector Output [W] Model Reduction ratio Reducer model Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 4 7° Pin No. Application 1 B1 2 B2 21.7 9.9 Power supply connector 18.4 58.8 Opposite-load side Brake static friction torque [N•m] 6.4 Power supply connector Electromagnetic brake connector Electromagnetic brake connector 1 45° 37.1 21 38.8 36 9 0° 12 Motor plate 146.5 Motor plate (Opposite side) 20.7 C 0. 5 20.5 Electromagnetic brake connector BC41764* Mass [kg] Moment of inertia J [× 10-4 kg•m2] HG-KR053BG5 50 HPG-14A-05-F0CBJS-S 1/5 0.32 0.115 1.3 HG-KR053BG5 50 HPG-14A-11-F0CBKS-S 1/11 0.32 0.107 1.4 HG-KR053BG5 50 HPG-14A-21-F0CBKS-S 1/21 0.32 0.0980 1.4 HG-KR053BG5 50 HPG-14A-33-F0CBLS-S 1/33 0.32 0.0920 1.4 HG-KR053BG5 50 HPG-14A-45-F0CBLS-S 1/45 0.32 0.0920 1.4 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Caution plate Top Caution plate 4.9 13.7 27.4 Top 10.9 11.7 Encoder connector 11.7 21.7 58.8 2 6-M4 Screw hole depth 7 60° 45° C 0. Power supply connector 6.4 19.2 18.4 Power supply connector 87.8 Electromagnetic brake connector 1 2 3 4 7° 9° Pin No. Application 1 B1 2 B2 21+0.4 -0.5 3 Top 9.9 Electromagnetic brake connector 1 8 Bottom Bottom 21 38.8 36 Bottom 35 5 20.7 Motor plate 21 13° 20.5 20.7 171 Motor plate (Opposite side) Caution plate Encoder connector 18.4 11.7 11.7 58.8 21.7 6 - 40 9.9 Power supply connector Pin No. Application (PE) 1 2 U V 3 W 4 Electromagnetic brake connector Opposite-load side BC41097* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG5 100 HPG-11B-05-F0ADG-S 1/5 0.32 0.0872 0.95 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 162.5 20.7 Caution plate 20.7 Caution plate Caution plate 15+0.25 -0.20 2.5 Bottom Bottom Bottom Top 3-M4 Screw hole depth 6 Top Top 10.9 11.7 11.7 21.7 58.8 4.9 13.7 27.4 Power supply connector Electromagnetic brake connector 9.9 19.2 13.9 27.5 79.3 18.4 Encoder connector 13° 9° 2 11.7 11.7 18.4 58.8 Encoder connector 21.7 Output [W] Model Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 4 7° Pin No. Application 1 B1 2 B2 6.4 Power supply connector Electromagnetic brake connector 1 45° 37.1 21 38.8 36 5 25.5 0° 12 Motor plate 9 Motor plate (Opposite side) C 0. 5 20.5 Reduction ratio Reducer model Power supply connector 9.9 Electromagnetic brake connector BC41766* Opposite-load side Brake static friction torque [N•m] Mass [kg] Moment of inertia J [× 10-4 kg•m2] HG-KR13BG5 100 HPG-14A-05-F0CBJS-S 1/5 0.32 0.152 1.5 HG-KR13BG5 100 HPG-14A-11-F0CBKS-S 1/11 0.32 0.144 1.6 HG-KR13BG5 100 HPG-14A-21-F0CBKS-S 1/21 0.32 0.135 1.6 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7 Electromagnetic brake connector 1 2 60° 21.7 58.8 18.4 Encoder connector 45° Top 9.9 11.7 12 Pin No. Application 1 B1 2 B2 -0.5 6-M4 Screw hole depth 7 21+0.4 3 6.4 19.2 Power supply connector 103.8 Power supply connector Electromagnetic brake connector 1 2 3 4 13° 27.4 8 7° Caution plate 10.9 4.9 11.7 13.7 Top 9° Top 35 Bottom Bottom 21 38.8 36 Bottom 21 0. 5 Caution plate Motor plate 187 Motor plate (Opposite side) Caution plate C 20.5 20.7 Encoder connector 18.4 11.7 11.7 58.8 21.7 6 - 41 9.9 Pin No. Application (PE) 1 2 U 3 V 4 W Power supply connector Electromagnetic brake connector Opposite-load side BC41098* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG5 100 HPG-20A-33-F0JMLAS-S 1/33 0.32 0.146 2.8 HG-KR13BG5 100 HPG-20A-45-F0JMLAS-S 1/45 0.32 0.145 2.8 [Unit: mm] +0.4 Pin No. Application 1 B1 2 B2 2 C φ24H7 21.7 58.8 φ59 φ85h7 φ89 φ55 9.9 Power supply connector 106.3 19.2 05 Power supply connector 1 2 3 4 18.4 Electromagnetic brake connector Encoder connector 13° Electromagnetic brake connector 1 11.7 φ1 7° 27.4 10.9 11.7 9° 38.8 36 Top Caution plate 4.9 13.7 Bottom Top 5 Top Bottom φ4 Bottom Caution plate 21 20.7 Motor plate φ84 Motor plate (Opposite side) Caution plate 27 -0.5 26 10 8 30.5 0. 5 189.5 20.5 20.7 For reverse rotation command Rotation direction For forward rotation command 6-M6 Screw hole □90 depth 10 45 ° 4-φ9 60° 5(φ24H7 effective range ) Pin No. Application 1 (PE) 2 U 3 V 4 W Power supply connector 18.4 9.9 11.7 Electromagnetic brake connector 58.8 Encoder connector 11.7 21.7 Opposite-load side BC41099A Mass [kg] Model Output [W] Reducer model HG-KR23BG5 200 HPG-14A-05-F0AZW-S 1/5 1.3 0.444 2.2 HG-KR23BG5 200 HPG-14A-11-F0AZX-S 1/11 1.3 0.446 2.3 Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] [Unit: mm] +0.4 Bottom 10 28.4 Electromagnetic brake connector 10.9 11.8 11.7 21.7 57.8 Encoder connector 19.2 φ14H7 47.1 46 13.7 9.5 Power supply connector 100.4 5.9 Power supply connector Electromagnetic brake connector 1 2 3 4 7° 13.5° Pin No. Application 1 B1 2 B2 9° 2 Top 0 Top Caution plate 1 Top φ7 φ3 0 φ40 φ56h7 Bottom Bottom 21 -0.5 3 5 60 Caution plate 8 C 0. Motor plate φ59 56 Motor plate (Opposite side) Caution plate φ55.5 177.4 □60 For reverse rotation command Rotation direction For forward rotation command 6-M4 Screw hole □60 depth 7 45° 5(φ14H7effective range) 60° 4-φ5.5 Encoder connector 18.3 11.7 57.8 11.8 21.7 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side 6 - 42 Pin No. Application 1 (PE) 2 U 3 V 4 W BC41100* 6. HG-MR SERIES/HG-KR SERIES Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-20A-21-F0EKS-S 1/21 1.3 0.741 3.8 HPG-20A-33-F0ELS-S 1/33 1.3 0.695 3.8 HPG-20A-45-F0ELS-S 1/45 1.3 0.694 3.8 Model Output [W] Reducer model HG-KR23BG5 200 HG-KR23BG5 200 HG-KR23BG5 200 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 184.4 Bottom Top φ4 5 10.9 11.8 11.7 28.4 19.2 9.5 Power supply connector 21.7 5.9 Power supply connector 107.4 57.8 Electromagnetic brake connector φ24H7 10 1 2 3 4 Electromagnetic brake connector Encoder connector 9° 7° Pin No. Application 1 B1 2 B2 Pin No. Application 1 (PE) 2 U 3 V 4 W 13.5° 47.1 46 Caution plate 2 Top Encoder connector 11.8 4-φ9 05 φ1 Top 13.7 1 Bottom 45 ° 60° φ59 φ85h7 Bottom φ89 Caution plate □90 φ84 Motor plate 10 8 35 C 0. 5 □60 6-M6 Screw hole depth 10 5(φ24H7 effective range ) 27 +0.4 -0.5 26 Motor plate (Opposite side) Caution plate Power supply connector 18.3 11.7 57.8 9.5 Electromagnetic brake connector Opposite-load side 21.7 BC41101* Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG5 400 HPG-14A-05-F0AZW-S 1/5 1.3 0.594 2.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command -0.5 21+0.4 199.1 Motor plate (Opposite side) 56 8 3 6-M4 Screw hole depth 7 Caution plate Motor plate Caution plate Bottom 5 Top Pin No. Application 1 B1 2 B2 11.7 21.7 57.8 19.2 9.5 Power supply connector 122.1 5.9 Power supply connector 1 2 3 4 Electromagnetic brake connector Encoder connector Pin No. Application (PE) 1 2 U 3 V 4 W 7° 28.4 Electromagnetic brake connector 10.9 11.8 13.5° 10 9° 47.1 46 Caution plate 2 Top 45° Top 13.7 1 . C0 Bottom Bottom 60° Encoder connector 11.8 18.3 11.7 57.8 21.7 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side 6 - 43 BC41102* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 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 1.3 0.891 4.3 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 -0.5 206.1 26 φ84 φ1 0. 5 C φ24H7 Top 10.9 10 9.5 11.8 11.7 28.4 21.7 57.8 Power supply connector 129.1 19.2 Power supply connector 1 2 3 4 Electromagnetic brake connector Encoder connector Encoder connector 11.8 7° 13.5° 9° Pin No. Application 1 B1 2 B2 2 05 5.9 Electromagnetic brake connector 1 45° 60° 45 φ Top Top Caution plate φ89 Bottom Bottom Bottom □90 6-M6 Screw hole depth 10 4-φ9 Caution plate 47.1 46 5(φ24H7 effective range ) Motor plate (Opposite side) Caution plate Motor plate 13.7 10 8 φ59 φ85h7 □60 35 18.3 11.7 57.8 21.7 Power supply connector 9.5 Electromagnetic brake connector Pin No. Application 1 (PE) 2 U 3 V 4 W BC41103* Opposite-load side Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG5 400 HPG-32A-33-F0RLAS-S 1/33 1.3 0.943 6.4 HG-KR43BG5 400 HPG-32A-45-F0RLAS-S 1/45 1.3 0.937 6.4 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 218.1 29 41 -0.5 35+0.4 13 13 6-M8 Screw hole depth12 60° 45° Motor plate (Opposite side) Caution plate Motor plate Bottom Electromagnetic brake connector 1 2 Pin No. Application 1 B1 2 B2 19.2 21.7 57.8 C 9.5 Power supply connector 141.1 Power supply connector Electromagnetic brake connector 1 2 3 4 Encoder connector 7° 28.4 11.7 Top 13.5° 13.7 Caution plate 10.9 11.8 9° 47.1 46 5.9 10 Bottom Top Bottom Top 0. 5 Caution plate Encoder connector 11.8 18.3 11.7 57.8 21.7 6 - 44 Power supply connector 9.5 Pin No. Application 1 (PE) 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41104* 6. HG-MR SERIES/HG-KR SERIES Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-20A-05-F0FEOS-S 1/5 2.4 2.02 5.8 HPG-20A-11-F0FEPS-S 1/11 2.4 1.93 6.1 Model Output [W] Reducer model HG-KR73BG5 750 HG-KR73BG5 750 [Unit: mm] 27 230.3 30 Motor plate (Opposite side) □80 12 26 10 8 6-M6 Screw hole depth 10 56 φ59 φ85h7 C Top 4-φ9 05 φ1 0. 5 φ89 Bottom □80 Bottom 45° 60° φ84 Caution plate Bottom □90 5(φ24H7 effective range) Caution plate Motor plate Top φ4 5 Top Caution plate 13.7 11.5 10.7 11.8 11.7 1 2 3 4 Electromagnetic brake connector Encoder connector Electromagnetic brake connector Pin No. Application 1 (PE) 2 U V 3 W 4 Power supply connector 9.5 18.4 Encoder connector 7° 7° 7° Pin No. Application 1 B1 2 B2 2 12 Power supply connector 147.6 63.1 1 9.5 Power supply connector 19.2 21.7 27.4 φ24H7 57.1 For reverse rotation command Rotation direction For forward rotation command +0.4 -0.5 11.8 11.7 Electromagnetic brake connector 63.1 21.7 Opposite-load side BC41105* Mass [kg] Model Output [W] HG-KR73BG5 750 HPG-32A-21-F0SEIS-S 1/21 2.4 2.12 8.2 HG-KR73BG5 750 HPG-32A-33-F0SEJS-S 1/33 2.4 1.90 8.2 HG-KR73BG5 750 HPG-32A-45-F0SEJS-S 1/45 2.4 1.90 8.2 Reduction ratio Reducer model Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 240.3 Motor plate (Opposite side) Caution plate 35 +0.4 -0.5 13 13 □120 6-M8 Screw hole depth 12 60° 45° 4-φ11 Top φ84 φ115h7 35 φ1 C 0. 5 Top φ114 □80 Bottom Bottom 57.1 56 36 5(φ32H7 effective range) Caution plate Bottom 9 φ118 □80 Motor plate 30 φ6 0 Top Caution plate Electromagnetic brake connector 1 2 Pin No. Application 1 B1 2 B2 19.2 9.5 Power supply connector 21.7 63.1 157.6 Power supply connector 1 2 3 4 Electromagnetic brake connector Encoder connector 7° 27.4 11.7 φ32H7 10.7 11.8 7° 13.7 7° 12 11.5 Encoder connector 11.8 18.4 11.7 63.1 21.7 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side 6 - 45 Pin No. Application 1 (PE) 2 U 3 V 4 W BC41106* 6. HG-MR SERIES/HG-KR SERIES 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR053G7 50 HPG-11B-05-F20ADG-S 1/5 0.0512 0.58 HG-KR053G7 50 HPG-11B-09-F20ADG-S 1/9 0.0492 0.58 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5 20.7 105.9 9 Motor plate (Opposite side) Caution plate Caution plate 20.7 Motor plate Caution plate Top 15 2.5 20 R0 Top .4 36 Top 13.7 27.4 45° 37.1 21 5 Bottom Bottom Bottom 42 25.5 4.9 9.9 19.2 10.9 11.7 11.7 21.7 Encoder connector Power supply connector 63.3 13.9 27.5 21.7 11.7 11.7 6.4 Power supply connector 7° Pin No. Application 1 (PE) 2 U 3 V 4 W Encoder connector 9° 1 2 3 4 19.2 9.9 Power supply connector Opposite-load side BC40938* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR053G7 50 HPG-14A-05-J2CBJS-S 1/5 0.119 1.2 HG-KR053G7 50 HPG-14A-11-J2CBKS-S 1/11 0.106 1.3 HG-KR053G7 50 HPG-14A-21-J2CBKS-S 1/21 0.0960 1.3 HG-KR053G7 50 HPG-14A-33-J2CBLS-S 1/33 0.0900 1.3 HG-KR053G7 50 HPG-14A-45-J2CBLS-S 1/45 0.0900 1.3 [Unit: mm] 130.4 Caution plate Bottom Bottom Bottom Top 21 37.1 36 21 3 Top 9.9 10.9 11.7 11.7 19.2 Power supply connector 21.7 87.8 6.4 21.7 11.7 11.7 Encoder connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 7° 3 9° 4.9 70 R0.4 Top 13.7 27.4 45 ° 28 Caution plate 20.7 Motor plate Caution plate 8 16h7 20 40 56h7 20.7 35 55.5 20.5 58 21 Motor plate (Opposite side) For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60 4 6 - 46 Encoder connector Power supply connector 19.2 9.9 Opposite-load side BC38191* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G7 100 HPG-11B-05-J20ADG-S 1/5 0.0839 0.78 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5 20.7 Caution plate Motor plate 20.7 Caution plate Caution plate 121.9 Motor plate (Opposite side) 42 9 Top 15 2.5 20 45° R0 Top .4 37.1 21 5 Bottom Bottom Bottom 25.5 36 Top 13.7 27.4 Application (PE) U V W 9.9 19.2 Power supply connector 79.3 13.9 27.5 21.7 11.7 11.7 6.4 7° Encoder connector 9° Power supply connector 1 Pin No. 2 1 3 2 4 3 4 10.9 11.7 11.7 21.7 Encoder connector 4.9 19.2 9.9 Power supply connector Opposite-load side BC40940* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13G7 100 HPG-14A-05-J2CBJS-S 1/5 0.152 1.4 HG-KR13G7 100 HPG-14A-11-J2CBKS-S 1/11 0.139 1.5 HG-KR13G7 100 HPG-14A-21-J2CBKS-S 1/21 0.129 1.5 [Unit: mm] 146.4 20.5 Motor plate 58 21 Motor plate (Opposite side) 20.7 For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60 35 8 21 3 45° 28 Caution plate Caution plate 21 Top 10.9 11.7 11.7 9.9 R0.4 Power supply connector 6.4 19.2 21.7 Encoder connector 103.8 21.7 11.7 11.7 Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 7° 3 9° 4.9 20 40 56h7 55.5 Top Top 13.7 27.4 70 16h7 Bottom 37.1 36 Bottom Bottom 59 20.7 Caution plate 4 6 - 47 Encoder connector 19.2 Opposite-load side 9.9 Power supply connector BC38192* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] 148.9 80 30.5 20.5 20.7 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 4- 9 90 26 10 27 8 Motor plate (Opposite side) Caution plate 45° 42 21 Top Top Top R0.4 6.4 4.9 13.7 59 85h7 84 25h7 32 Bottom 37.1 36 Bottom Bottom 89 Caution plate 55 20.7 5 10 9.9 10.9 11.711.7 27.4 Power supply connector 19.2 21.7 106.3 21.7 11.7 11.7 Encoder connector Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 7° 1 2 3 9° 4 Encoder connector 19.2 9.9 Power supply connector Opposite-load side BC38193* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HG-KR23G7 200 HPG-14A-05-J2AZW-S 1/5 0.428 1.9 HG-KR23G7 200 HPG-14A-11-J2AZX-S 1/11 0.424 2.0 Mass [kg] [Unit: mm] Bottom Caution plate Top Top 10.9 11.8 11.7 9.5 19.2 47.1 46 70 R0.4 Top 13.7 10 28.4 45° 28 20 40 56h7 Bottom Bottom 21 3 16h7 Caution plate 8 59 Motor plate 58 56 55.5 140.6 Motor plate (Opposite side) Caution plate 60 For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60 5.9 Power supply connector 21.7 100.4 Encoder connector Power supply connector Power supply connector 19.2 9.5 Encoder connector 11.811.7 21.7 7° 3 4 Pin No. Application (PE) 1 U 2 V 3 W 4 9° 1 2 BC38194* 6 - 48 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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 0.672 3.8 Mass [kg] [Unit: mm] 147.6 80 26 Motor plate (Opposite side) Caution plate 60 For reverse rotation command Rotation direction For forward rotation command 4- 9 90 10 35 27 8 45° 42 Bottom Bottom Caution plate Top 89 Bottom 25h7 32 59 85h7 Caution plate 84 5 10 Motor plate Top 47.1 46 Top R0.4 10.9 13.7 10 28.4 11.811.7 21.7 Power supply connector 9.5 19.2 5.9 107.4 Encoder connector Power supply connector 3 4 7° 9° Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 Encoder connector 19.2 9.5 11.811.7 21.7 Opposite-load side BC38195* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G7 400 HPG-14A-05-J2AZW-S 1/5 0.578 2.4 [Unit: mm] 60 162.3 For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60 58 Motor plate (Opposite side) Caution plate 56 8 21 3 45° 28 Bottom Top Top 11.8 11.7 40 19.2 5.9 21.7 122.1 Encoder connector Encoder connector Power supply connector Power supply connector 1 2 7° 3 9° 47.1 46 28.4 Power supply connector 9.5 10.9 56h7 R0.4 Top 13.7 10 20 60 Bottom Caution plate 59 Bottom 16h7 Caution plate 55.5 70 Motor plate 4 6 - 49 Pin No. Application (PE) 1 U 2 V 3 W 4 19.2 9.5 11.811.7 21.7 Opposite-load side BC40909* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] 169.3 80 26 60 For reverse rotation command Rotation direction For forward rotation command 4- 9 90 10 35 27 8 Motor plate (Opposite side) 42 45 Caution plate Motor plate 10 85h7 32 5 10 R0.4 Power supply connector 10.9 13.7 59 25h7 Top Top 46 47.1 Top Caution plate 84 Bottom Bottom Bottom 89 Caution plate 19.2 11.8 28.4 5.9 21.7 11.7 129.1 9.5 Encoder connector Power supply connector Power supply connector Pin No. Application (PE) 1 2 U V 3 W 4 1 2 7 9 3 4 Encoder connector 19.2 11.8 9.5 11.7 21.7 Opposite-load side BC40910* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43G7 400 HPG-32A-33-J2RLAS-S 1/33 0.927 7.4 HG-KR43G7 400 HPG-32A-45-J2RLAS-S 1/45 0.918 7.4 [Unit: mm] 181.3 133 29 60 For reverse rotation command Rotation direction For forward rotation command 4- 11 120 13 41 35 13 Motor plate (Opposite side) 45° 82 Caution plate 47.1 46 Top Caution plate Top 40h7 44 84 115h7 Bottom Bottom Bottom 5 13 114 84 Caution plate 118 Motor plate Top R0.4 19.2 11.7 21.7 9.5 141.1 Encoder connector Power supply connector 1 2 7° 28.4 10.9 11.8 9° 5.9 10 13.7 Power supply connector 3 4 Pin No. Application (PE) 1 2 U 3 V 4 W 6 - 50 Encoder connector 11.8 19.2 11.7 Power supply connector 9.5 21.7 Opposite-load side BC40911* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 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] 190 Motor plate (Opposite side) Caution plate 80 Motor plate For reverse rotation command Rotation direction For forward rotation command 4- 9 90 80 12 30 26 10 27 8 42 5 10 89 Top 57.1 56 Bottom 32 59 85h7 Top 25h7 Caution plate 80 Bottom Bottom 84 Caution plate R0.4 Top 13.7 10.7 11.8 11.7 11.5 27.4 Power supply connector 9.5 12 19.2 21.7 147.6 19.2 9.5 Encoder connector Power supply connector Pin No. Application 1 (PE) 2 U 3 V 4 W 7° 1 2 3 7° 4 Encoder connector Power supply connector 11.8 11.7 21.7 Opposite-load side BC40912* Model Output [W] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HG-KR73G7 750 HPG-32A-21-J2SEIS-S 1/21 2.03 8.6 HG-KR73G7 750 HPG-32A-33-J2SEJS-S 1/33 1.80 8.6 HG-KR73G7 750 HPG-32A-45-J2SEJS-S 1/45 1.79 8.6 Mass [kg] [Unit: mm] 200 133 30 Motor plate (Opposite side) 80 For reverse rotation command Rotation direction For forward rotation command 4- 11 120 9 36 13 35 13 45° 82 Caution plate 5 13 57.1 56 Bottom Top R0.4 Top 19.2 9.5 Power supply connector 157.6 19.2 9.5 Encoder connector Power supply connector 7° 27.4 10.7 11.8 11.7 21.7 1 2 3 7° 12 11.5 13.7 40h7 44 84 115h7 Top 114 Bottom Bottom Caution plate 80 Caution plate 118 Motor plate 4 Pin No. Application 1 (PE) 2 U 3 V 4 W 6 - 51 Power supply connector Encoder connector 11.8 11.7 21.7 Opposite-load side BC40913* 6. HG-MR SERIES/HG-KR SERIES 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•m2] Mass [kg] HG-KR053BG7 50 HPG-11B-05-J20ADG-S 1/5 0.32 0.0534 0.78 HG-KR053BG7 50 HPG-11B-09-J20ADG-S 1/9 0.32 0.0514 0.78 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7 Caution plate 20.7 Motor plate Caution plate 146.5 Motor plate Caution plate (Opposite side) 42 9 25.5 5 15 2.5 20 Bottom Bottom Bottom 21 Top R0 .4 Top 38.8 36 Top 13.7 27.4 4.9 10.9 11.7 11.7 21.7 58.8 9.9 Power supply connector 13.9 27.5 19.2 18.4 Encoder connector 63.3 Electromagnetic brake connector 13° 2 Pin No. Application (PE) 1 U 2 3 V 4 W 3 4 7° 1 Pin No. Application 1 B1 2 B2 9° 1 11.7 11.7 21.7 6 - 52 18.4 58.8 Encoder connector 6.4 Power supply connector 1 2 Electromagnetic brake connector 2 45° 37.1 20.5 Opposite-load side 9.9 Power supply connector Electromagnetic brake connector BC41765* 6. HG-MR SERIES/HG-KR SERIES Output [W] Model Reduction ratio Reducer model Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 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 0.32 0.108 1.5 HG-KR053BG7 50 HPG-14A-21-J2CBKS-S 1/21 0.32 0.0980 1.5 HG-KR053BG7 50 HPG-14A-33-J2CBLS-S 1/33 0.32 0.0920 1.5 HG-KR053BG7 50 HPG-14A-45-J2CBLS-S 1/45 0.32 0.0920 1.5 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5 20.7 171 Motor plate (Opposite side) Caution plate Caution plate 20.7 Motor plate Top Top Caution plate 4.9 13.7 10.9 11.7 27.4 Encoder connector 8 21 3 45 ° 28 Top R0.4 9.9 Power supply connector 87.8 Electromagnetic brake connector 11.7 21.7 58.8 35 Bottom Bottom 21 38.8 36 Bottom 58 21 6.4 19.2 18.4 Power supply connector 7° 9° Pin No. Application 1 B1 2 B2 2 13° 1 Encoder connector 18.4 11.7 58.8 11.7 21.7 Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 4 Electromagnetic brake connector 9.9 Power supply connector Electromagnetic brake connector Opposite-load side BC41107* Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG7 50 HPG-11B-05-J20ADG-S 1/5 0.32 0.0899 0.98 [Unit: mm] For reverse rotation comman Rotation direction For forward rotation comman 162.5 Motor plate (Opposite side) Caution plate 20.7 Caution plate 20.7 Motor plate Caution plate 25.5 5 15 2.5 Bottom 21 Top R0 .4 Top 4.9 10.9 11.7 11.7 21.7 58.8 Encoder connector 9.9 19.2 Power supply connector Electromagnetic brake connector 6.4 Power supply connector Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 4 7° 13° 9° Pin No. Application 1 B1 2 B2 13.9 27.5 79.3 18.4 Electromagnetic brake connector 2 45° Top 13.7 27.4 1 20 Bottom Bottom 38.8 36 42 9 37.1 20.5 11.7 11.7 21.7 6 - 53 18.4 58.8 Encoder connector Opposite-load side 9.9 Power supply connector Electromagnetic brake connector BC41767* 6. HG-MR SERIES/HG-KR SERIES Output [W] Model Reduction ratio Reducer model Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 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 0.32 0.145 1.7 HG-KR13BG7 100 HPG-14A-21-J2CBKS-S 1/21 0.32 0.135 1.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5 20.7 187 Motor plate (Opposite side) Caution plate Caution plate 20.7 Motor plate Top Top Caution plate 13.7 4.9 19.2 45° 28 R0.4 6.4 Power supply connector 21.7 Power supply connector 103.8 58.8 18.4 Pin No. Application (PE) 1 2 U 3 V 4 W 1 2 3 4 Electromagnetic brake connector 7° Encoder connector 9° Pin No. Application 1 B1 2 B2 2 21 3 9.9 11.7 Electromagnetic brake connector 1 8 Top 10.9 11.7 27.4 35 Bottom Bottom 21 38.8 36 Bottom 58 21 13° 12 Encoder connector 18.4 11.7 58.8 11.7 21.7 Power supply connector 9.9 Electromagnetic brake connector Opposite-load side BC41108* Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR13BG7 100 HPG-20A-33-J2JMLAS-S 1/33 0.32 0.147 3.2 HG-KR13BG7 100 HPG-20A-45-J2JMLAS-S 1/45 0.32 0.145 3.2 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 189.5 Caution plate 1 2 Pin No. Application 1 B1 2 B2 φ25h7 45 ° φ32 φ59 φ85h7 φ84 φ89 Top 4-φ9 05 φ1 R0.4 10.9 11.7 9.9 11.7 21.7 58.8 Power supply connector 19.2 18.4 Encoder connector 106.3 Electromagnetic brake connector Power supply connector 1 2 3 4 13° Electromagnetic brake connecto □90 42 7° 27.4 Bottom Top 9° 38.8 36 Caution plate 4.9 13.7 φ55 Bottom Bottom Top 26 10 27 8 Caution plate 21 20.7 Motor plate 80 30.5 Motor plate (Opposite side) 20.5 20.7 Power supply connector 18.4 9.9 11.7 Electromagnetic brake connector 58.8 Encoder connector 11.7 21.7 6 - 54 Opposite-load side Pin No. Application 1 (PE) 2 U 3 V 4 W BC41109A 6. HG-MR SERIES/HG-KR SERIES Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-14A-05-J2AZW-S 1/5 1.3 0.450 2.3 HPG-14A-11-J2AZX-S 1/11 1.3 0.446 2.4 Model Output [W] Reducer model HG-KR23BG7 200 HG-KR23BG7 200 [Unit: mm] 177.4 Motor plate (Opposite side) Caution plate Motor plate 56 Caution plate For reverse rotation command Rotation direction For forward rotation command 58 8 21 3 28 45 ° Bottom Bottom Top Top R0.4 Top 46 47.1 Bottom Caution plate 13.7 10.9 11.8 10 11.7 28.4 21.7 57.8 Electromagnetic brake connector 1 19.2 9.5 Power supply connector 5.9 Power supply connector 100.4 1 2 3 4 Electromagnetic brake connector Encoder connector 13.5° 9° 7° Pin No. Application 1 B1 2 B2 2 Pin No. Application (PE) 1 2 U 3 V 4 W Encoder connector Power supply connector 18.3 11.7 57.8 11.8 9.5 Electromagnetic brake connector 21.7 Opposite-load side BC41110* Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR23BG7 200 HPG-20A-21-J2EKS-S 1/21 1.3 0.743 4.2 HG-KR23BG7 200 HPG-20A-33-J2ELS-S 1/33 1.3 0.696 4.2 HG-KR23BG7 200 HPG-20A-45-J2ELS-S 1/45 1.3 0.694 4.2 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 184.4 80 26 Motor plate (Opposite side) Caution plate Motor plate 27 8 45° 42 Bottom Bottom Top Top Electromagnetic brake connector Pin No. Application 1 B1 2 B2 9.5 19.2 Power supply connector 107.4 11.7 21.7 57.8 5.9 Power supply connector Electromagnetic brake connector 1 2 3 4 Encoder connector 7° 28.4 R0.4 13.5° Caution plate 10.9 10 11.8 9° 47.1 46 Top 13.7 2 10 Caution plate Bottom 1 35 Encoder connector 11.8 18.3 11.7 57.8 21.7 6 - 55 Pin No. Application (PE) 1 2 U 3 V 4 W Power supply connector 9.5 Electromagnetic brake connector Opposite-load side BC41111* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG7 400 HPG-14A-05-J2AZW-S 1/5 1.3 0.600 2.8 [Unit: mm] 199.1 For reverse rotation command Rotation direction For forward rotation command 58 56 Motor plate (Opposite side) 8 21 3 28 45° Caution plate Caution plate Motor plate Bottom Bottom Top Caution plate 13.7 10 10.9 11.7 19.2 21.7 57.8 5.9 Power supply connector 122.1 Power supply connector 1 2 3 4 Electromagnetic brake connector Encoder connector Electromagnetic brake connector 9° Pin No. Application 1 B1 2 B2 2 R0.4 9.5 11.8 28.4 1 Top Pin No. Application 1 (PE) 2 U 3 V 4 W 13.5° 7° 47.1 46 Bottom Top Encoder connector 11.8 18.3 11.7 57.8 21.7 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side BC41112* Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-KR43BG7 400 HPG-20A-11-J2EKS-S 1/11 1.3 0.977 4.7 HG-KR43BG7 400 HPG-20A-21-J2EKS-S 1/21 1.3 0.893 4.7 [Unit: mm] 206.1 For reverse rotation command Rotation direction For forward rotation command 80 26 35 10 27 8 Motor plate (Opposite side) 42 45° Caution plate Motor plate Caution plate Bottom 10 28.4 R0.4 10.9 11.8 9.5 11.7 21.7 57.8 1 2 Pin No. Application 1 B1 2 B2 19.2 5.9 Power supply connector 129.1 Power supply connector Electromagnetic brake connector 1 2 3 4 Encoder connector 9° Electromagnetic brake connector Top 7° Caution plate 13.7 Top 13.5° 46 47.1 Bottom Bottom Top Encoder connector 11.8 18.3 11.7 57.8 21.7 6 - 56 Power supply connector 9.5 Pin No. Application 1 (PE) 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41113* 6. HG-MR SERIES/HG-KR SERIES Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 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 1.3 0.940 7.8 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 218.1 133 41 29 13 Motor plate (Opposite side) 35 13 45 82 ° Caution plate Motor plate Caution plate Bottom Bottom 47.1 46 Bottom Top Caution plate 10.9 11.8 28.4 Electromagnetic brake connector R0.4 11.7 21.7 57.8 Power supply connector 1 2 3 4 9° 7° Encoder connector Pin No. Application 1 B1 2 B2 2 9.5 19.2 Power supply connector 141.1 Electromagnetic brake connector 13.5° 5.9 10 13.7 1 Top Top Encoder connector 11.8 Power supply connector 9.5 18.3 11.7 57.8 21.7 Pin No. Application 1 (PE) 2 U 3 V 4 W Electromagnetic brake connector Opposite-load side BC41114* Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-20A-05-J2FEOS-S 1/5 2.4 2.06 6.2 HPG-20A-11-J2FEPS-S 1/11 2.4 1.94 6.5 Model Output [W] Reducer model HG-KR73BG7 750 HG-KR73BG7 750 [Unit: mm] 230.3 For reverse rotation command Rotation direction For forward rotation command 80 30 Motor plate (Opposite side) 12 26 10 27 8 42 45° Caution plate Motor plate Caution plate Bottom Bottom Top 11.5 27.4 R0.4 9.5 10.7 11.8 11.7 21.7 63.1 Pin No. Application 1 B1 2 B2 1 2 3 4 7° 2 Power supply connector 147.6 Electromagnetic brake connector Encoder connector 7° Electromagnetic brake connector 12 Power supply connector 19.2 7° 57.1 56 Caution plate 13.7 1 Top Bottom Top Encoder connector Power supply connector 18.4 11.8 11.7 63.1 21.7 9.5 Electromagnetic brake connector Opposite-load side 6 - 57 Pin No. Application (PE) 1 2 U 3 V 4 W BC41115* 6. HG-MR SERIES/HG-KR SERIES Mass [kg] Model Output [W] 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 2.4 1.91 9.6 HG-KR73BG7 750 HPG-32A-45-J2SEJS-S 1/45 2.4 1.90 9.6 Reduction ratio Reducer model Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 240.3 Bottom Bottom Top 57.1 56 Bottom φ1 4-φ11 35 R0.4 Caution plate 10.7 11.8 9.5 Power supply connector Power supply connector 157.6 1 2 3 4 Electromagnetic brake connector Encoder connector 7° Pin No. Application 1 B1 2 B2 21.7 63.1 19.2 7° Electromagnetic brake connector 11.7 7° 12 11.5 27.4 2 45 ° 82 Top Top 13.7 1 35 13 φ40h7 φ44 φ84 φ115h7 □80 Caution plate 13 φ114 Motor plate 36 9 φ118 □80 □120 133 30 Motor plate (Opposite side) Caution plate Encoder connector 11.8 18.4 11.7 63.1 21.7 6 - 58 Power supply connector 9.5 Electromagnetic brake connector Opposite-load side Pin No. Application 1 (PE) 2 U 3 V 4 W BC41116* 7. HG-SR SERIES 7. HG-SR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGSR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 7.1 Model code definition The following describes what each block of a model name indicates. Not all combinations of the symbols are available. HG-SR5 2 4B JG1K W0C Appearance Special specification Series Rated output Symbol Rated output [kW] 1000 [r/min] 2000 [r/min] Symbol Special specification None Standard (Note 3) Servo motor with functional safety W0C 5 0.5 8 0.85 10 1.0 Symbol 12 1.2 None 15 1.5 20 2.0 30 3.0 35 3.5 Reducer 42 4.2 Symbol 50 5.0 None None 70 7.0 G1 For general industrial machine (flange-mounting) Shaft type K Rated speed Symbol Speed [r/min] 1 1000 2 2000 Power supply voltage of servo amplifier Symbol Voltage None 3-phase 200 V AC to 240 V AC 4 3-phase 380 V AC to 480 V AC Shaft shape Standard (straight shaft) (Note 1) Keyway shaft (with key) Reducer G1H For general industrial machine (foot-mounting) G5 Flange-mounting flange output type for high precision application G7 Flange-mounting shaft output type for high precision application Oil seal Symbol Oil seal None None (Note 2) With J Electromagnetic brake Symbol Electromagnetic brake None None B With Note 1. The key is packed only with the geared servo motor of flange mounting shaft-output type for high precision applications. 2. For details, contact your local sales office. 3. Refer to section 1.5 for details. 7- 1 7. HG-SR SERIES 7.2 Combination list of servo motors and servo amplifiers (1) Compatible with 3-phase 200 V AC Servo motor HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 Servo motor MR-J4W2-77B MR-J4W2-1010B HG-SR52 MR-J4W2-1010B HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 MR-J4W2-77B MR-J4W2-1010B MR-J4W2-1010B MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020 (2) Compatible with 3-phase 400 V AC Servo motor HG-SR524 HG-SR1024 Servo amplifier MR-J4-60A4 MR-J4-60A4-RJ MR-J4-60B4 MR-J4-60B4-RJ MR-J4-60B4-RJ010 MR-J4-60B4-RJ020 MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020 Servo motor HG-SR1524 HG-SR2024 HG-SR3524 Servo amplifier MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020 MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020 7- 2 Servo motor HG-SR5024 HG-SR7024 Servo amplifier MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020 7. HG-SR SERIES 7.3 Standard specifications 7.3.1 Standard specifications list Servo motor Item Power supply capacity Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] (Note 10) Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] Standard -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2, 10) Continuous running duty (Note 1) HG-SR 2000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity) HG-SR 1000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity) 51(B) 81(B) 121 (B) 201 (B) 301 (B) 421 102 52(B) (B) (B) 152 (B) 202 (B) 352 (B) 502 (B) 702 (B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.5 0.85 1.2 2.0 3.0 4.2 0.5 1.0 1.5 2.0 3.5 5.0 7.0 4.8 8.1 11.5 19.1 28.6 40.1 2.4 4.8 7.2 9.5 16.7 23.9 33.4 14.3 24.4 34.4 57.3 85.9 120 7.2 14.3 21.5 28.6 50.1 71.6 100 1000 2000 1500 3000 1725 3450 19.7 41.2 28.1 46.4 82.3 107 7.85 19.7 32.1 19.5 35.5 57.2 74.0 16.5 36.2 23.2 41.4 75.3 99.9 6.01 16.5 28.2 16.1 31.7 52.3 69.4 2.8 9.0 5.2 17 7.1 23 9.4 30 13 42 19 61 2.9 9.0 5.6 17 9.4 29 9.6 31 14 45 22 70 26 83 11.6 16.0 46.8 78.6 99.7 151 7.26 11.6 16.0 46.8 78.6 99.7 151 13.8 18.2 56.5 88.2 109 161 9.48 13.8 18.2 56.5 88.2 109 161 17 times 15 times or less or less 22-bit encoder common to absolute position/incremental systems Speed/position detector (resolution per servo motor revolution: 4194304 pulses/rev) Oil seal None (Note 11) Insulation class 155 (F) Structure Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9)) Operation 0 °C to 40 °C (non-freezing) Ambient temperature Storage -15 °C to 70 °C (non-freezing) Operation 80 %RH or less (non-condensing) Ambient humidity Storage 90 %RH or less (non-condensing) Environment (Note 5) Indoors (no direct sunlight), free from corrosive gas, Ambience flammable gas, oil mist, dust, and dirt Altitude Max. 1000 m above sea level 2 2 2 2 X: 24.5 m/s X: 24.5 m/s X, Y: X: 24.5 m/s X: 24.5 m/s Vibration resistance 2 X, Y: 24.5 m/s 2 2 2 2 2 (Note 6) Y: 49 m/s Y: 29.4 m/s 24.5 m/s Y: 49 m/s Y: 29.4 m/s Vibration rank (Note 7) V10 L [mm] 55 79 55 79 Permissible load for the shaft Radial [N] 980 2058 980 2058 (Note 8) Thrust [N] 490 980 490 980 Standard [kg] 6.2 7.3 11 16 20 27 4.8 6.2 7.3 11 16 20 27 With an Mass (Note 3) electromagnetic brake 8.2 9.3 17 22 26 33 6.7 8.2 9.3 17 22 26 33 [kg] 17 times or less 15 times or less 7- 3 7. HG-SR SERIES Servo motor Item HG-SR series (3-phase 400 V AC compatible, medium inertia/medium capacity) 524(B) 1024(B) 1524(B) 2024(B) 3524(B) 5024(B) 7024(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.5 1.0 1.5 2.0 3.5 5.0 7.0 2.4 4.8 7.2 9.5 16.7 23.9 33.4 7.2 14.3 21.5 28.6 50.1 71.6 100 2000 3000 Power supply capacity Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] (Note 10) Standard [kW/s] 7.85 Power rate at With an continuous rated electromagnetic brake 6.01 torque [kW/s] Rated current [A] 1.5 Maximum current [A] 4.5 Standard 7.26 -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic brake 9.48 -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio 15 times (Note 2, 10) or less Continuous running duty (Note 1) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Ambient humidity Environment (Note 5) Operation Storage Ambience Altitude Vibration resistance (Note 6) Vibration rank (Note 7) Permissible load for the shaft (Note 8) Mass (Note 3) L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 3450 19.7 32.1 19.5 35.5 57.2 74.0 16.5 28.2 16.1 31.7 52.3 69.4 2.8 8.9 4.7 17 4.9 17 7.0 27 11 42 13 59 11.6 16.0 46.8 78.6 99.7 151 13.8 18.2 56.5 88.2 109 161 17 times or less 15 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) None (Note 11) 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 2 X: 24.5 m/s X: 24.5 m/s 2 X, Y: 24.5 m/s 2 2 Y: 49 m/s Y: 29.4 m/s V10 55 79 980 2058 490 980 4.8 6.2 7.3 11 16 20 27 6.7 8.2 7- 4 9.3 17 22 26 33 7. HG-SR SERIES 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. 4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m] the vibration to about half of the permissible value. Servo motor X Y Vibration 1000 100 10 0 1000 2000 3000 Speed [r/min] 7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 9. For the geared servo motor, the reducer area is IP44-equivalent. 10. Refer to section 7.6 for the geared servo motor. 11. The servo motors with an oil seal are also available. For details, contact your local sales office. 7- 5 7. HG-SR SERIES 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 machine should be kept at 70% or less of the rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-SR51 and HG-SR52 support single-phase power supply. [HG-SR121] 30 14 25 20 15 Short-duration running range 10 0 0 60 25 20 Short-duration running range 15 10 4 2 35 Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] Torque [N•m] 10 6 70 30 12 8 [HG-SR201] 40 5 Continuous running range 500 1000 Speed [r/min] 0 0 1500 [HG-SR421] Continuous running range 500 1000 Speed [r/min] 5 0 0 1500 [HG-SR52] 500 1000 Speed [r/min] Short-duration running range 10 Short-duration running range 5 2 Continuous running range 0 0 500 1000 Speed [r/min] Continuous running range 0 0 1500 1000 2000 Speed [r/min] 0 0 3000 3000 120 70 50 2000 [HG-SR702] 80 60 1000 Speed [r/min] 100 30 Short-duration running range 20 50 Torque [N•m] Torque [N•m] Torque [N•m] 60 40 Short-duration running range 40 30 80 Short-duration running range 60 40 20 10 0 0 Continuous running range 1000 2000 Speed [r/min] 3000 0 20 Continuous running range 10 0 1000 2000 Speed [r/min] 3000 0 Continuous running range 0 1000 2000 Speed [r/min] 7- 6 15 Short-duration running range 30 Continuous running range 500 1000 Speed [r/min] Continuous running range 0 0 1500 500 1000 Speed [r/min] 1500 [HG-SR202] 30 3000 Short-duration running range 10 5 Continuous running range [HG-SR502] [HG-SR352] 20 25 Torque [N•m] 50 4 30 60 20 Torque [N•m] Torque [N•m] Torque [N•m] Short-duration running range Short-duration running range [HG-SR152] 15 6 100 40 0 0 1500 90 50 10 [HG-SR102] 8 150 Continuous running range [HG-SR301] Torque [N•m] [HG-SR81] 16 Torque [N•m] [HG-SR51] 0 0 20 Short-duration running range 10 Continuous running range 1000 2000 Speed [r/min] Continuous running range 3000 0 0 1000 2000 Speed [r/min] 3000 7. HG-SR SERIES (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 indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is indicated by the thin line. Short-duration running range 3 10 Short-duration running range 5 Continuous running range 1000 2000 Speed [r/min] Short-duration running range 8 3000 [HG-SR5024] 1000 2000 Speed [r/min] 3000 1000 [HG-SR7024] 80 120 70 100 40 Torque [N•m] Torque [N•m] 60 50 Short-duration running range 30 80 60 Short-duration running range 40 20 10 0 0 20 Continuous running range 1000 2000 Speed [r/min] 3000 0 0 Continuous running range 1000 2000 Speed [r/min] 2000 Speed [r/min] 3000 7- 7 60 20 Short-duration running range 10 Continuous running range 0 0 [HG-SR3524] 30 16 Continuous running range 0 0 [HG-SR2024] 24 Torque [N•m] Torque [N•m] Torque [N•m] 6 0 0 [HG-SR1524] 15 Torque [N•m] [HG-SR1024] 9 Torque [N•m] [HG-SR524] 40 Short-duration running range 20 Continuous running range 3000 0 0 1000 2000 Speed [r/min] Continuous running range 3000 0 0 1000 2000 Speed [r/min] 3000 7. HG-SR SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item Type (Note 1) Spring actuated type safety brake 0 24 V DC -10% Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2) HG-SR series 121B/201B/301B/421B/ 51B/81B/52(4)B/ 202(4)B/352(4)B/502(4)B/ 102(4)B/152(4)B 702(4)B [W] at 20 °C [Ω] [H] [N•m] [s] [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers voltage 125 V to be used For the suppressed (Note 7, 8) voltage 350 V 20 29.0 0.80 8.5 0.04 0.03 400 4000 0.2 to 0.6 34 16.8 1.10 44 0.1 0.03 4500 45000 0.2 to 0.6 20000 20000 200 1000 TND20V-680KB TND10V-221KB Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 7- 8 7. HG-SR SERIES 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key) Servo motor HG-SR_(B)K K Variable dimension table R Servo motor QK A R r Y 4 M8 Screw hole depth 20 5 M8 Screw hole depth 20 U QL W A HG-SR51(B)K HG-SR81(B)K HG-SR52(4)(B)K HG-SR102(4)(B)K HG-SR152(4)(B)K HG-SR121(B)K r Y HG-SR201(B)K Shaft section view A-A HG-SR301(B)K HG-SR421(B)K HG-SR202(4)(B)K HG-SR352(4)(B)K HG-SR502(4)(B)K HG-SR702(4)(B)K S 24h6 55 0 50 8 -0.036 36 5 4 +0.2 0 S Q [Unit: mm] Variable dimensions Q W QK QL U Key shaft (without key) 7- 9 35 +0.010 0 79 0 75 10 -0.036 55 5 5 +0.2 0 7. HG-SR SERIES 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. Tipping over the reducer filled with oil can cause oil leakage. Servo motors are available with a reducer designed for general industrial machines and high precision applications. Servo motors with an electromagnetic brake are also available. 7.6.1 For general industrial machines (G1/G1H) (1) Reduction ratio The following table indicates the reduction ratios and reducer frame numbers of the geared servo motor for general industrial machines. Servo motor 1/6 HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) HG-SR352(4)(B)G1(H) HG-SR502(4)(B)G1(H) HG-SR702(4)(B)G1(H) 1/11 1/17 Reduction ratio 1/29 1/35 1/43 6100 6120 6120 6120 6135 6165 6165 1/59 6120 6130 6130 6160 6160 6165 6165 6175 6180 6170 6180 6185 6195 (2) Specifications Item Description Mounting method Mounting direction Refer to (2) (b) in this section. Refer to (2) (b) in this section. Refer to (2) (b)/(c) in this section. Lubrication method Recommended products (Note 1) Output shaft rotating direction Backlash (Note 5) Permissible load inertia moment ratio (when converting into the servo motor shaft) (Note 2) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 3) Refer to (2) (c) in this section. Opposite direction to the servo motor output shaft 40 minutes to 2 ° at reducer output shaft (Note 4) 4 times or less Three times of the servo motor rated torque Refer to (2) (a) in this section. IP44 equivalent 85% to 94% Note 1. Already packed with grease. 2. If the above indicated value is exceeded, please contact your local sales office. 3. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 4. These values are design values and not guaranteed values. 5. The backlash can be converted: 1 min = 0.0167 ° 7 - 10 7. HG-SR SERIES (a) Maximum speed Servo motor 1/6 1/11 1/17 Reduction ratio 1/29 1/35 1/43 1/59 HG-SR52(4)(B)G1(H) 3000 r/min (permissible instantaneous speed: 3450 r/min) HG-SR102(4)(B)G1(H) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) 2000 r/min (permissible instantaneous speed: 2300 r/min) HG-SR352(4)(B)G1(H) HG-SR502(4)(B)G1(H) HG-SR702(4)(B)G1(H) (b) Lubrication method and mounting direction Oil lubrication cannot be used in applications where the servo motor will move. Specify grease lubrication. For grease lubrication, the reducer is already grease-packed. For oil lubrication, pack the reducer with oil on the customer side. Mounting direction Reducer model Reducer frame No. 6100 6120 6130/6135 6160/6165 6170/6175 6180/6185 6195 Shaft any direction Shaft horizontal Shaft downward Shaft upward CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM (Footmounting) (Flangemounting) (Footmounting) (Flangemounting) (Footmounting) (Flangemounting) (Footmounting) (Flangemounting) Grease Grease Grease Grease (Note) Oil (Note) Oil Oil Oil Oil (Note) Oil (Note) Oil Oil Oil Oil (Note) Oil (Note) Oil Oil Oil Oil (Note) Oil (Note) Oil Oil Oil Oil Grease Grease Grease Grease Note. Grease-lubricated type is also available as optional products. 7 - 11 7. HG-SR SERIES (c) Recommended lubricants 1) Grease Albania Grease RA (Shell) 2) Lubricating oil POINT Since the oil-lubricated models are shipped without oil, make sure to fill oil up to the upper red line of the oil gauge before operation. Ambient temperature [°C] COSMO OIL -10 to 5 COSMO GEAR SE68 0 to 35 COSMO GEAR SE100/150 30 to 50 COSMO GEAR SE200/320/4 60 JX Nippon Oil & Energy Idemitsu Kosan DAPHNE BONNOC SUPER GEAR M68 OIL 68 DIAMOND GEAR LUBE SP68 DAPHNE BONNOC SUPER GEAR M100/150 OIL 100/150 DIAMOND GEAR LUBE SP100/150 BONNOC M200 to 460 DIAMOND GEAR LUBE SP220 to 460 Shell Esso Exxon Mobil Japan Energy Omala Oils 68 SPARTAN EP68 Mobilgear 626 (ISOVG68) JOMO Reductus 68 Omala Oils 100/150 SPARTAN EP100/150 Mobilgear 627/629 (ISOVG100/1 50) JOMO Reductus 100/150 Omala Oils 200 to 460 SPARTAN EP220 to 460 JOMO Mobilgear Reductus 200 630 to 634 to 460 (ISOVG220 to 460) Lubricating oil fill amount Fill amount [L] Reducer frame No. Horizontal type Vertical type 0.7 1.4 1.9 2.5 4.0 1.1 1.0 1.9 2.0 2.7 6130/6135 6160/6165 6170/6175 6180/6185 6195 (d) Changing intervals 1) Grease Maintenance-free. (Limited to the case where the grease-lubricated type is standard) 2) Lubricating oil Changing intervals Operation hours per day Less than 10 hours 10 hours to 24 hours First time Second time and later 7 - 12 500 hours Half year 2500 hours 7. HG-SR SERIES (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/2 Q: Length of axis (Refer to section 7.7.3 to 7.7.6.) Q Servo motor HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) Reduction ratio 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 Permissible load Reducer (Note) frame Permissible Permissible No. radial load thrust load 6100 6120 6120 6130 6160 6120 6130 6160 6120 6165 [N] [N] 2058 2391 2832 3273 5253 5253 5880 2842 3273 3646 4410 5253 6047 9741 2842 3273 3646 5135 6047 8555 9741 1470 1470 1470 1470 2940 2940 2940 2352 2764 2940 2940 2940 3920 6860 2352 2764 2940 3920 3920 6860 6860 2842 3273 3646 7291 8555 8555 9741 2352 2764 2940 6860 6860 6860 6860 Servo motor HG-SR352(4)(B)G1(H) HG-SR502(4)(B)G1(H) HG-SR702(4)(B)G1(H) Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently. 7 - 13 Reduction ratio 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 Permissible load Reducer (Note) frame Permissible Permissible No. radial load thrust load 6135 6165 6175 6165 6180 6185 6165 6170 6180 6195 [N] [N] 3332 3871 4420 7291 8555 11662 13132 5448 5488 6468 13426 16072 16072 16072 7526 7526 8683 13426 16072 22540 22540 3920 3920 3920 6860 6860 9800 9800 5000 6292 6860 13720 13720 13720 13720 5000 8085 9673 13720 13720 19600 19600 7. HG-SR SERIES 7.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (20A, 30A, 50A) in the following table indicate the model numbers of the reducers assembled to the servo motors. Geared servo motors having the indicated reducer model numbers are available. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05. Reduction ratio Servo motor 1/5 HG-SR52(4)(B)G5 HG-SR52(4)(B)G7 HG-SR102(4)(B)G5 HG-SR102(4)(B)G7 HG-SR152(4)(B)G5 HG-SR152(4)(B)G7 HG-SR202(4)(B)G5 HG-SR202(4)(B)G7 HG-SR352(4)(B)G5 HG-SR352(4)(B)G7 HG-SR502(4)(B)G5 HG-SR502(4)(B)G7 HG-SR702(4)(B)G5 HG-SR702(4)(B)G7 1/11 1/21 20A 1/33 32A 20A 32A 20A 1/45 32A 50A 32A 32A 50A 50A 50A 50A 50A (2) Specifications Item Description Mounting method Mounting direction Lubrication method Packed with Output shaft rotating direction Backlash (Note 3) Permissible load to motor inertia ratio (when converting into the servo motor shaft) (Note 1) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2) Flange mounting In any directions Grease lubrication (already packed) Reducer model number 20A, 32A: Harmonic grease SK-2 (Harmonic Drive Systems) Reducer model number 50A: Epiknock grease AP(N)2 (JX Nippon Oil & Energy) Same as the servo motor output shaft direction. 3 minutes or less at reducer output shaft 10 times or less Three times of the servo motor rated torque 3000 r/min (permissible instantaneous speed: 3450 r/min) IP44 equivalent 77% to 92% Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 ° 7 - 14 7. HG-SR SERIES (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below. Q/2 L Q: Length of axis (Refer to section 7.7.9, 7.7.10.) L: Distance between reducer end face and load center Q Flange-mounting flange output type for high precision application (G5) Servo motor HG-SR52(4)(B)G5 HG-SR52(4)(B)G7 HG-SR102(4)(B)G5 HG-SR102(4)(B)G7 HG-SR152(4)(B)G5 HG-SR152(4)(B)G7 HG-SR202(4)(B)G5 HG-SR202(4)(B)G7 HG-SR352(4)(B)G5 HG-SR352(4)(B)G7 HG-SR502(4)(B)G5 HG-SR502(4)(B)G7 HG-SR702(4)(B)G5 HG-SR702(4)(B)G7 Reduction ratio 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/5 1/11 1/5 Flange-mounting shaft output type for high precision application (G7) Reducer model number 20A 32A 20A 32A 50A 20A 32A 50A 32A 50A 32A 50A 50A 50A Radial load point L [mm] 32 32 57 57 57 32 57 57 62 62 32 57 62 62 62 57 57 62 62 62 57 62 62 62 62 416 527 1094 1252 1374 416 901 1094 2929 3215 416 901 2558 2929 3215 711 901 2558 2929 3215 711 2107 2558 1663 2107 1465 1856 4359 4992 5478 1465 3590 4359 10130 11117 1465 3590 8845 10130 11117 2834 3590 8845 10130 11117 2834 7285 8845 5751 7285 62 1663 5751 Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently. 7 - 15 Permissible load (Note) Permissible radial Permissible thrust load load [N] [N] 7. HG-SR SERIES (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7). [Unit: mm] φS W T QK U Y 20A 42 25h7 8 7 36 4 M6 screw hole depth 12 32A 50A 82 82 40h7 50h7 12 14 8 9 70 70 5 5.5 M10 screw hole depth 20 Y Q U QK S HG-SR_(4)(B)G7K Q W Servo motor Reducer model number T 7 - 16 7. HG-SR SERIES 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 electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to 3 mm larger than the drawing dimensions. Design the machine-side with allowances. 7.7.1 Standard (without electromagnetic brake and reducer) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR52 HG-SR524 0.5 7.26 4.8 [Unit: mm] 118.5 12 Motor plate (Opposite side) Caution plate 38.2 3 50 130 45 ° 14 5 Caution plate Motor plate 4- 9 mounting hole Use hexagon socket head cap screw. 55 Top Bottom Bottom Top Top 16 5 (PE) W 13 Encoder connector CMV1-R10P 112.5 50.9 Top Bottom 24h6 Bottom 110h7 Caution plate Key Power supply connector MS3102A18-10P C D B A 20.9 13.5 V 57.8 U 58 Power supply connector Motor flange direction Model Output [kW] HG-SR51 0.5 HG-SR102 HG-SR1024 1.0 BC41038A Moment of inertia J [× 10-4 kg•m2] Mass [kg] 11.6 6.2 [Unit: mm] 38.2 4- 9 mounting hole Use hexagon socket head cap screw. 55 12 3 50 Bottom Top Top 16 5 24h6 112.5 Top Bottom 50.9 Top Bottom 45 ° 110h7 Caution plate Bottom 130 14 5 Caution plate Motor plate 132.5 Motor plate (Opposite side) Caution plate Encoder connector CMV1-R10P Power supply connector MS3102A18-10P (PE) W 13 Key C D B A 20.9 71.8 V U Power supply connector Motor flange direction 7 - 17 13.5 58 BC41045A BC41039A 7. HG-SR SERIES Model Output [kW] HG-SR81 0.85 HG-SR152 HG-SR1524 1.5 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 16.0 7.3 [Unit: mm] 146.5 Motor plate (Opposite side) Caution plate 38.2 Caution plate 12 130 4- 9 mounting hole Use hexagon socket head cap screw. 3 50 45° 14 5 Motor plate 55 Bottom Top 24h6 Top Bottom Top 16 5 Encoder connector CMV1-R10P (PE) W 13 112.5 50.9 Top Bottom 110h7 Caution plate Bottom Key Power supply connector MS3102A18-10P 20.9 C D B A V 85.8 13.5 U 58 Power supply connector Motor flange direction Model Output [kW] HG-SR121 1.2 HG-SR202 HG-SR2024 2.0 BC41046A BC41040A Moment of inertia J [× 10-4 kg•m2] Mass [kg] 46.8 11 [Unit: mm] 138.5 3 Bottom Bottom Top Top 13 (PE) W Key Encoder connector CMV1-R10P Power supply connector MS3102A22-22P φ2 30 140.9 Top φ114.3 Bottom 50.9 Top 45 75 Caution plate Bottom □176 φ2 00 Caution plate Motor plate 79 Motor plate 18 (Opposite side) Caution plate φ35 +0.010 0 38.5 4-φ13.5 mounting hole Use hexagon socket head cap screw. V 24.8 74.8 7 - 18 C D B A U Power supply connector Motor flange direction 82 BC41047A BC41041A 7. HG-SR SERIES Model Output [kW] HG-SR201 2.0 HG-SR352 HG-SR3524 3.5 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 78.6 16 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 162.5 Caution plate Bottom Bottom Top Top (Note) *2 φ2 3 0 140.9 Top 50.9 Bottom Top φ2 (Note) *1 (Note) *1 Bottom 45° 75 00 Caution plate 3 0 φ114.3 -0.025 Motor plate □176 79 Motor plate 18 (Opposite side) Caution plate φ35 +0.010 0 38.5 (Note) *2 13 Encoder connector CMV1-R10P (PE) W Key Power supply connector MS3102A22-22P 24.8 82 98.8 V U Power supply connector Motor flange direction BC41048A BC41042A Note. *1 and *2 are screw hole for eyebolt (M8). Model Output [kW] HG-SR301 3.0 HG-SR502 HG-SR5024 5.0 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 99.7 20 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Bottom Top (Note) *2 13 (Note) *2 W Encoder connector CMV1-R10P Power supply connector MS3102A22-22P φ2 3 0 140.9 Top Bottom Top φ114.3 Top Caution plate 50.9 Bottom 45° 75 (Note) *1 (Note) *1 Bottom 3 φ2 00 Caution plate □176 79 18 0 -0.025 Motor plate 178.5 Motor plate (Opposite side) Caution plate φ35 +0.010 0 38.5 (PE) Key 24.8 82 114.8 Note. *1 and *2 are screw hole for eyebolt (M8). 7 - 19 V U Power supply connector Motor flange direction BC41049A BC41043A 7. HG-SR SERIES Model Output [kW] HG-SR421 4.2 HG-SR702 HG-SR7024 7.0 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 151 27 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 218.5 Motor plate (Opposite side) Caution plate (Note) *2 Bottom Top Top Bottom Bottom Top Top 0 φ114.3 -0.025 Caution plate Bottom φ2 (Note) *3 13 (Note) *1 30 149.1 (Note) *1 φ2 (Note) *2 45° 75 (Note) *4 50.9 (Note) *4 3 00 Caution plate Motor plate □176 79 18 φ35 +0.010 0 38.5 (Note) *3 Encoder connector CMV1-R10P (PE) W Key Power supply connector MS3102A32-17P 82 32 146.8 V U Power supply connector Motor flange direction BC41050A BC41044A Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). 7.7.2 With an electromagnetic brake Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR52B HG-SR524B 0.5 8.5 9.48 6.7 [Unit: mm] 43.5 3 φ1 φ24h6 Top Encoder connector CMV1-R10P 29 φ110h7 Bottom Top 65 112.5 50.9 Top Top Bottom 79.9 Bottom 45 50 Caution plate Bottom □130 4-φ9 mounting hole Use hexagon socket head cap screw. 55 12 φ1 45 Caution plate Motor plate 153 Motor plate (Opposite side) Caution plate 13 59 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P 20.9 13.5 57.8 (PE) W Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 20 58 Key Main key position mark C D B A V U Power supply connector Motor flange direction BC41051* 7. HG-SR SERIES Model Output [kW] HG-SR51B 0.5 HG-SR102B HG-SR1024B 1.0 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 13.8 8.2 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 43.5 3 Top φ1 45 65 112.5 Encoder connector CMV1-R10P 29 φ1 50.9 Bottom Top 79.9 Top Bottom φ110h7 Caution plate Top 45 50 Bottom Bottom □130 55 12 φ24h6 Caution plate Motor plate 167 Motor plate (Opposite side) Caution plate 13 59 Electromagnetic brake connector CMV1-R2P 20.9 13.5 71.8 Power supply connector MS3102A18-10P W Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 21 (PE) 58 Key V U Power supply connector Motor flange direction BC41058* BC41052* 7. HG-SR SERIES Model Output [kW] HG-SR81B 0.85 HG-SR152B HG-SR1524B 1.5 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 18.2 9.3 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 43.5 Caution plate Motor plate 181 Motor plate (Opposite side) Caution plate □130 55 12 3 45 50 φ1 Top φ1 65 112.5 Encoder connector CMV1-R10P 29 φ24h6 Top φ110h7 Bottom Bottom 50.9 Top 79.9 Top Bottom 45 Caution plate Bottom 13 59 Electromagnetic brake connector CMV1-R2P 20.9 13.5 85.8 Power supply connector MS3102A18-10P W Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 22 (PE) 58 Key V U Power supply connector Motor flange direction BC41059* BC41053* 7. HG-SR SERIES Model Output [kW] HG-SR121B 1.2 HG-SR202B HG-SR2024B 2.0 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 56.5 17 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. □176 79 18 3 45 75 φ2 00 Caution plate Motor plate 188 Motor plate (Opposite side) Caution plate φ35 +0.010 0 45.5 Bottom Top Bottom Bottom Top Top 50.9 φ2 Encoder connector CMV1-R10P 44 30 140.9 Top 96.9 Bottom 0 φ114.3 -0.025 Caution plate 13 66.5 Electromagnetic brake connector CMV1-R2P 24.8 Power supply connector MS3102A22-22P 82 74.8 W Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 23 (PE) Key V U Power supply connector Motor flange direction BC41060* BC41054* 7. HG-SR SERIES Model Output [kW] HG-SR201B 2.0 HG-SR352B HG-SR3524B 3.5 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 88.2 22 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Caution plate 3 75 Bottom Bottom Top Top 0 φ114.3 -0.025 Bottom Top φ2 (Note) *2 (Note) *2 Encoder connector CMV1-R10P 44 30 140.9 96.9 Top Caution plate 50.9 Bottom 45° φ2 (Note) *1 (Note) *1 □176 79 18 00 Motor plate 212 Motor plate (Opposite side) Caution plate φ35 +0.010 0 45.5 13 66.5 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P 24.8 82 98.8 Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. *1 and *2 are screw hole for eyebolt (M8). 7 - 24 W (PE) Key V U Power supply connector Motor flange direction BC41061* BC41055* 7. HG-SR SERIES Model Output [kW] HG-SR301B 3.0 HG-SR502B HG-SR5024B 5.0 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 109 26 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Bottom Bottom Top Top φ2 (Note) *2 (Note) *2 Encoder connector CMV1-R10P 44 30 140.9 96.9 Top Caution plate φ114.3 Bottom Top (Note) *1 45° 0 -0.025 Bottom 3 75 50.9 (Note) *1 □176 79 18 φ2 00 Caution plate Motor plate 228 Motor plate (Opposite side) Caution plate φ35 +0.010 0 45.5 13 66.5 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P 24.8 82 114.8 Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction W (PE) Key V U Power supply connector Motor flange direction Note. *1 and *2 are screw hole for eyebolt (M8). 7 - 25 BC41062* BC41056* 7. HG-SR SERIES Model Output [kW] HG-SR421B 4.2 HG-SR702B HG-SR7024B 7.0 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 161 33 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. (Note) *1 (Note) *3 Bottom Bottom Top Top (Note) *1 Encoder connector CMV1-R10P 44 φ2 30 149.1 Top 0 φ114.3 -0.025 Bottom Top 45° (Note) *2 50.9 Bottom 75 (Note) *4 Caution plate 3 96.9 (Note) *2 (Note) *4 □176 79 18 φ2 00 Caution plate Motor plate 268 Motor plate (Opposite side) Caution plate φ35 +0.010 0 45.5 (Note) *3 13 66.5 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 32 82 146.8 W Main key position mark (PE) Key Electromagnetic brake V U Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). 7 - 26 BC41063* BC41057* 7. HG-SR SERIES 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR52G1 HG-SR524G1 CNVM-6100 0.5 Mass [kg] 8.08 1/11 7.65 1/17 7.53 1/29 7.47 18 [Unit: mm] 275 □130 60.7 112.5 Caution plate Motor plate 48 20.9 Caution plate Motor plate 38.2 50.9 For reverse rotation command Rotation direction For forward rotation command 13 108 9 45° 4-φ11 3 35 A φ160 φ110f8 A φ150 13.5 Bottom Top 119 32 Top 58 Bottom 34 φ1 Caution plate Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P (PE) W 8 7 4 Key φ28h6 V U Power supply connector Motor flange direction Model Output [kW] M8 Screw hole depth 20 Shaft section view AA BC41117* Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/35 HG-SR52G1 HG-SR524G1 0.5 CNVM-6120 Mass [kg] 8.26 1/43 8.22 1/59 8.18 27 [Unit: mm] □130 60.7 38.2 13 112.5 Caution plate Motor plate 50.9 20.9 267.5 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 30° 6-φ11 69 117 13 4 Top A 80 φ1 φ140f8 φ210 φ204 13.5 58 Bottom Top 50 132 55 Bottom A Caution plate 10 (PE) Key 5 W 8 Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P V U Power supply connector Motor flange direction 7 - 27 φ38h6 M8 Screw hole depth 20 Shaft section view AA BC41118* 7. HG-SR SERIES Model Output [kW] HG-SR102G1 HG-SR1024G1 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio CNVM-6120 1.0 1/6 14.8 1/11 13.3 1/17 12.9 1/29 12.6 1/35 12.6 Mass [kg] 30 [Unit: mm] □130 60.7 112.5 20.9 Caution plate Motor plate 38.2 50.9 For reverse rotation command Rotation direction For forward rotation command 69 281.5 117 13 30° 4 6-φ11 13 Caution plate Motor plate 132 55 Bottom Top Caution plate φ1 80 φ210 A φ140f8 A φ204 Bottom Top 58 13.5 50 Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P (PE) W 10 8 5 Key M8 Screw hole depth 20 V φ38h6 U Power supply connector Motor flange direction Model Output [kW] HG-SR102G1 HG-SR1024G1 1.0 Shaft section view AA BC41119* Reducer model Reduction ratio CHVM-6130 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 13.8 49 1/43 [Unit: mm] □130 60.7 112.5 38.2 50.9 13 20.9 For reverse rotation command Rotation direction For forward rotation command 76 327 208 164 Caution plate 15 Motor plate 60 ° 4 6-φ11 φ230 70 56 φ260 φ200f8 30 A Caution plate (PE) W 14 Key 9 Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P φ2 A 5.5 Bottom Top 13.5 Top 58 Bottom 145 Caution plate Motor plate V U Power supply connector Motor flange direction 7 - 28 φ50h6 M10 Screw hole depth 18 Shaft section view AA BC41120* 7. HG-SR SERIES Model Output [kW] HG-SR102G1 HG-SR1024G1 1.0 Reducer model Reduction ratio CHVM-6160 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 19.1 81 1/59 [Unit: mm] 384.5 For reverse rotation command Rotation direction For forward rotation command 89 219 228 Encoder connector CMV1-R10P φ270f8 192 0 φ31 A Power supply connector MS3102A18-10P 18 (PE) Key W 7 (Side view of motor only) A 11 Caution plate 175 90 80 φ300 Bottom Top 6-φ11 Motor plate 13.5 Top 60 ° 4 15° Caution 13 plate 20 20.9 58 Bottom 60.7 38.2 φ340 □130 112.5 50.9 Caution plate Motor plate φ60h6 V U Power supply connector Motor flange direction Model Output [kW] M10 Screw hole depth 18 Shaft section view AA Reducer model Reduction ratio BC41121* Moment of inertia J [× 10-4 kg•m2] 1/6 HG-SR152G1 HG-SR1524G1 1.5 CNVM-6120 Mass [kg] 19.2 1/11 17.7 1/17 17.3 31 [Unit: mm] □130 295.5 112.5 60.7 50.9 38.2 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 69 117 20.9 Caution plate Motor plate 13 30° 6-φ11 4 13 132 55 Bottom Top φ1 80 Encoder connector CMV1-R10P (PE) W 10 Key 5 Power supply connector MS3102A18-10P 8 (Side view of motor only) φ210 A Caution plate φ140f8 A φ204 Top 58 Bottom 13.5 50 V U Power supply connector Motor flange direction 7 - 29 φ38h6 M8 Screw hole depth 20 Shaft section view AA BC41122* 7. HG-SR SERIES Model Output [kW] HG-SR152G1 HG-SR1524G1 1.5 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio CHVM-6130 1/29 18.4 1/35 18.3 Mass [kg] 50 [Unit: mm] 341 164 208 70 56 A Caution plate (PE) Key W φ260 0 14 9 (Side view of motor only) Encoder connector CMV1-R10P Power supply connector MS3102A18-10P 3 φ2 A 6-φ11 5.5 Bottom Top 60 ° 4 145 15 φ230 13.5 Top 13 20.9 Caution plate Motor plate 58 Bottom 60.7 38.2 φ200f8 □130 112.5 50.9 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 76 V U Power supply connector Motor flange direction Model Output [kW] HG-SR152G1 HG-SR1524G1 1.5 M10 Screw hole depth 18 φ50h6 Shaft section view AA Reducer model Reduction ratio CHVM-6160 BC41123* Moment of inertia J [× 10-4 kg•m2] 1/43 23.6 1/59 23.5 Mass [kg] 82 [Unit: mm] 398.5 For reverse rotation command Rotation direction For forward rotation command 89 219 φ270f8 φ340 13.5 0 φ31 A 18 (PE) W Key 7 Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P A 11 Caution plate 90 80 φ300 Bottom Top 6-φ11 228 Caution plate Motor plate Top 60 ° 4 58 Bottom 20 192 13 50.9 Caution plate Motor plate 20.9 175 60.7 38.2 15° □130 112.5 V U Power supply connector Motor flange direction 7 - 30 φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41124* 7. HG-SR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR202G1 HG-SR2024G1 2.0 CNVM-6120 Mass [kg] 50.0 1/11 48.4 1/17 48.1 36 [Unit: mm] 305.5 □176 63.7 140.9 69 24.8 38.5 50.9 13 4 30° Motor plate 13 55 Caution plate Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 117 6-φ11 50 A Encoder connector CMV1-R10P Caution plate (PE) W Power supply connector MS3102A22-22P 10 5 Key 8 (Side view of motor only) φ210 φ140f8 82 Top Bottom φ204 A 142 80 φ1 Top Bottom V Shaft section view AA Power supply connector Motor flange direction Model Output [kW] M8 Screw hole depth 20 φ38h6 U BC41125* Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/29 HG-SR202G1 HG-SR2024G1 2.0 CHVM-6165 Mass [kg] 54.8 1/35 54.5 1/43 54.3 1/59 54.2 87 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 402.5 63.7 38.5 140.9 50.9 4 60 ° φ340 φ300 A 10 φ3 6-φ11 15° 90 φ270f8 Top 175 80 Top 82 Bottom 228 20 Motor plate Caution plate Caution plate Motor plate Bottom 13 89 219 24.8 181 □176 A Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (Side view of motor only) Caution plate 18 (PE) W 11 7 Key V U Power supply connector Motor flange direction 7 - 31 φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41126* 7. HG-SR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR352G1 HG-SR3524G1 3.5 CHVM-6135 Mass [kg] 87.1 1/11 82.8 1/17 81.5 60 [Unit: mm] 38.5 □176 70 208 60° 56 Caution plate 6-φ11 3 φ2 Top φ230 A Encoder connector CMV1-R10P (Side view of motor only) (PE) W 14 5.5 Caution plate Key 9 Power supply connector MS3102A22-22P V φ50h6 U Output [kW] HG-SR352G1 HG-SR3524G1 BC41127* Reducer model Reduction ratio 3.5 CHVM-6165 M10 Screw hole depth 18 Shaft section view AA Power supply connector Motor flange direction Model φ260 Top 0 A φ200f8 Bottom 50.9 4 Motor plate 82 Bottom 15 13 140.9 For reverse rotation command Rotation direction For forward rotation command 164 24.8 63.7 Caution plate Motor plate 76 145 372 Moment of inertia J [× 10-4 kg•m2] 1/29 86.6 1/35 86.3 Mass [kg] 92 [Unit: mm] 426.5 63.7 □176 89 219 38.5 13 140.9 50.9 Caution plate Motor plate 24.8 For reverse rotation command Rotation direction For forward rotation command 20 4 228 Motor plate 60 ° Caution plate 6-φ11 A 181 15° Encoder connector CMV1-R10P Power supply connector MS3102A22-22P 18 (PE) W Key V U Power supply connector Motor flange direction 7 - 32 7 (Side view of motor only) 10 φ3 11 Caution plate φ340 φ300 A φ270f8 Top 90 82 Bottom Top 175 80 Bottom φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41128* 7. HG-SR SERIES Model Output [kW] HG-SR352G1 HG-SR3524G1 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 3.5 CHVM-6175 1/43 105 1/59 104 Mass [kg] 134 [Unit: mm] 466 63.7 38.5 □176 50.9 8-φ14 80 90 6 φ3 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (PE) W 20 12 Key 7.5 (Side view of motor only) 0 φ400 φ340 A A Caution plate 22.5° Caution plate Top Top 243 5 φ316f8 Bottom 22 Motor plate 181 Bottom 258 82 Caution plate Motor plate 24.8 13 140.9 For reverse rotation command Rotation direction For forward rotation command 94 φ70h6 V U Power supply connector Motor flange direction Model Output [kW] M12 Screw hole depth24 Shaft section viewAA Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR502G1 HG-SR5024G1 CHVM-6165 5.0 BC41129* Mass [kg] 126 1/11 114 1/17 110 96 [Unit: mm] 89 442.5 □176 63.7 24.8 219 20 38.5 140.9 13 50.9 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 228 4 Motor plate 60 ° 175 15° φ340 φ270f8 φ300 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (Side view of motor only) 1 φ3 W 18 (PE) Key V U Power supply connector Motor flange direction 7 - 33 0 φ60h6 7 Caution plate A A 11 Top 90 82 Bottom Top 181 Caution plate 80 Bottom 6-φ11 M10 Screw hole depth 18 Shaft section view AA BC41130* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 1/29 HG-SR502G1 HG-SR5024G1 5.0 CHVM-6180 Mass [kg] 141 1/35 140 1/43 139 165 [Unit: mm] 506 63.7 258 22 38.5 13 8-φ18 A φ370 82 φ3 90 110 100 176 Top Bottom Top 22.5° Motor plate Caution plate Bottom 5 A φ430 Caution plate Motor plate 110 279 24.8 φ345f8 □176 140.9 50.9 For reverse rotation command Rotation direction For forward rotation command Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (Side view of motor only) Caution plate (PE) 22 14 Key φ80h6 V U Power supply connector Motor flange direction Model Output [kW] HG-SR502G1 HG-SR5024G1 5.0 9 W M12 Screw hole depth 24 Shaft section view AA Reducer model Reduction ratio CHVM-6185 BC41131* Moment of inertia J [× 10-4 kg•m2] Mass [kg] 138 165 1/59 [Unit: mm] 506 38.5 13 110 279 22.5° 8-φ18 φ370 176 110 100 82 Bottom Top 5 Motor plate Caution plate Top 258 22 A A V U Power supply connector Motor flange direction 7 - 34 22 φ80h6 9 (PE) Key W 14 Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A22-22P (Side view of motor only) φ3 90 Caution plate Motor plate Bottom 24.8 φ430 63.7 φ345f8 □176 140.9 50.9 For reverse rotation command Rotation direction For forward rotation command M12 Screw hole depth 24 Shaft section view AA BC41132* 7. HG-SR SERIES Model Output [kW] HG-SR702G1 HG-SR7024G1 7.0 Reducer model Reduction ratio CHVM-6165 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 177 103 1/6 [Unit: mm] 89 482.5 □176 71.7 32 219 38.5 149.1 50.9 20 228 4 Motor plate 13 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 6-φ11 60 ° Caution plate 175 φ340 φ300 A φ270f8 Top A 15° 90 82 Bottom Encoder connector CMV1-R10P Caution plate (PE) 18 Key V U Model Output [kW] HG-SR702G1 HG-SR7024G1 7.0 M10 Screw hole depth 18 φ60h6 Power supply connector Motor flange direction 10 7 W 11 (Side view of motor only) φ3 Power supply connector MS3102A32-17P 181 80 Top Bottom BC41133* Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio CHVM-6170 1/11 190 1/17 182 Mass [kg] 145 [Unit: mm] 71.7 50.9 Caution plate Motor plate 22 Caution plate Top φ3 80 90 φ340 Top (PE) W 60 A A Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A32-17P (Side view of motor only) 22.5° 8-φ14 82 Bottom 243 5 Motor plate 13 181 Bottom 258 32 38.5 φ400 149.1 φ316f8 □176 For reverse rotation command Rotation direction For forward rotation command 94 522 20 7.5 12 Key V φ70h6 U Power supply connector Motor flange direction 7 - 35 M12 Screw hole depth 24 Shaft section view AA BC41134* 7. HG-SR SERIES Model Output [kW] HG-SR702G1 HG-SR7024G1 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 7.0 CHVM-6180 1/29 192 1/35 192 Mass [kg] 172 [Unit: mm] 546 110 258 279 32 38.5 22 8-φ18 Motor plate 13 Caution plate Bottom Top 100 φ370 A A (Side view of motor only) (PE) Key W V 22 U φ80h6 Power supply connector Motor flange direction Model Output [kW] HG-SR702G1 HG-SR7024G1 9 Caution plate 14 Power supply connector MS3102A32-17P Encoder connector CMV1-R10P φ3 90 176 110 Top 82 Bottom 22.5° 5 φ430 Caution plate Motor plate 71.7 φ345f8 □176 149.1 50.9 For reverse rotation command Rotation direction For forward rotation command M12 Screw hole depth 24 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 7.0 CHVM-6195 BC41135* 1/43 267 1/59 266 Mass [kg] 240 [Unit: mm] 602 38.5 12-φ18 Motor plate 135 125 A φ400f8 82 Bottom Top 15° 6 φ430 Top 285 30 φ45 0 13 Caution plate Bottom 145 320 32 210 Caution plate Motor plate 71.7 φ490 □176 149.1 50.9 For reverse rotation command Rotation direction For forward rotation command A Key V 25 (PE) W U Power supply connector Motor flange direction 7 - 36 φ95h6 9 (Side view of motor only) Power supply connector MS3102A32-17P Encoder connector CMV1-R10P 14 Caution plate M20 Screw hole depth 34 Shaft section view AA BC41136* 7. HG-SR SERIES 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR52BG1 HG-SR524BG1 1/11 CNVM-6100 0.5 Mass [kg] 10.3 9.85 8.5 1/17 20 9.73 1/29 9.67 [Unit: mm] □130 48 108 9 45° 4-φ11 3 13 35 34 φ1 29 A φ160 A φ110f8 Top 119 32 Top φ150 Bottom 59 43.5 13.5 Bottom 112.5 79.9 50.9 309.5 Caution plate Motor plate 20.9 58 Caution plate Motor plate 95.2 For reverse rotation command Rotation direction For forward rotation command Main key position mark HG-SR52BG1 HG-SR524BG1 Reducer model Reduction ratio C D B A V Electromagnetic brake connector Motor flange direction Output [kW] 8 Key Electromagnetic brake Model (PE) W 4 Encoder connector CMV1-R10P Electromagnetic brake connector (Side view of motor only) CMV1-R2P Power supply connector MS3102A18-10P 7 Caution plate Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/35 0.5 CNVM-6120 M8 Screw hole depth 20 φ28h6 U Power supply connector Motor flange direction BC41185* Mass [kg] 10.5 8.5 1/43 29 10.4 1/59 10.4 [Unit: mm] □130 95.2 112.5 302 Caution plate Motor plate 50.9 For reverse rotation command Rotation direction For forward rotation command 6-φ11 30 69 117 43.5 13 79.9 Caution plate Motor plate 55 13 4 50 Top 132 Bottom 59 20.9 φ210 φ140f8 φ204 58 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P 80 φ1 A 29 Bottom Top 13.5 A Caution plate 10 (PE) W 5 Main key position mark Key 8 Power supply connector MS3102A18-10P Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 37 V C D B A U φ38h6 M8 Screw hole depth 20 Power supply connector Shaft section view AA Motor flange direction BC41186* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 1/11 HG-SR102BG1 HG-SR1024BG1 1.0 CNVM-6120 Mass [kg] 17.0 15.5 1/17 15.1 8.5 1/29 14.8 1/35 14.8 32 [Unit: mm] 316 □130 95.2 112.5 59 79.9 Caution plate Motor plate 43.5 50.9 69 20.9 Caution plate For reverse rotation command Rotation direction For forward rotation command 117 13 Motor plate 30° 4 6-φ11 13 132 55 φ210 29 A φ140f8 A φ204 Bottom Top 58 13.5 50 φ1 80 Bottom Top Caution plate Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark (PE) W 10 5 Key 8 (Side view of motor only) M8 Screw hole depth 20 Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR102BG1 HG-SR1024BG1 1.0 Reducer model Reduction ratio CHVM-6130 φ38h6 U Power supply connector Motor flange direction Shaft section view AA BC41187* Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 16.0 51 1/43 [Unit: mm] □130 60 ° 4 A 6-φ11 Main key position mark 145 φ260 0 (PE) W Power supply connector MS3102A18-10P 14 9 Key 5.5 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P 3 φ2 A φ200f8 13.5 φ230 70 56 29 Bottom Top Caution plate 15 Motor plate 13 50.9 Bottom Top 208 164 Caution plate 58 Caution plate Motor plate 20.9 95.2 59 43.5 112.5 79.9 For reverse rotation command Rotation direction For forward rotation command 76 361.5 Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 38 U Power supply connector Motor flange direction φ50h6 M10 Screw hole depth 18 Shaft section view AA BC41188* 7. HG-SR SERIES Model Output [kW] HG-SR102BG1 HG-SR1024BG1 1.0 Reducer model Reduction ratio CHVM-6160 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 21.3 83 1/59 [Unit: mm] 95.2 Caution plate □130 112.5 79.9 Caution plate 50.9 Motor plate 89 219 20 60 ° 4 59 43.5 6-φ11 228 13 Caution plate A 192 φ31 15° φ340 φ300 29 Bottom Top φ270f8 A 58 Top 175 90 80 13.5 Bottom 419 20.9 Motor plate For reverse rotation command Rotation direction For forward rotation command 0 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Main key position mark V Electromagnetic brake connector Motor flange direction Output [kW] Reducer model Reduction ratio 11 7 Key Electromagnetic brake Model 18 (PE) W Power supply connector MS3102A18-10P U φ60h6 Power supply connector Motor flange direction M10 Screw hole depth 18 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR152BG1 HG-SR1524BG1 1.5 CNVM-6120 BC41189* Shaft section view AA Mass [kg] 21.4 8.5 1/11 33 19.9 1/17 19.5 [Unit: mm] 69 330 □130 95.2 112.5 59 43.5 79.9 Caution plate Motor plate 50.9 For reverse rotation command Rotation direction For forward rotation command 20.9 Caution plate 117 Motor plate 13 30° 4 6-φ11 13 13.5 φ140f8 29 A φ210 A φ204 58 Bottom Top φ1 80 50 132 55 Bottom Top Caution plate Encoder connector CMV1-R10P Main key position mark Electromagnetic brake connector CMV1-R2P (PE) W 10 5 Key 8 (Side view of motor only) Power supply connector MS3102A18-10P M8 Screw hole depth 20 Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 39 V U Power supply connector Motor flange direction φ38h6 Shaft section view AA BC41190* 7. HG-SR SERIES Model Output [kW] HG-SR152BG1 HG-SR1524BG1 1.5 Reducer model Reduction ratio 1/29 CHVM-6130 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 8.5 1/35 Mass [kg] 20.6 52 20.5 [Unit: mm] □130 112.5 15 60 ° 4 6-φ11 70 56 φ230 A 29 23 0 φ260 Bottom Top eφ A φ200f8 Top 145 13 13.5 Bottom 208 164 58 Caution plate Motor plate 59 43.5 79.9 50.9 76 375.5 20.9 Caution plate Motor plate 95.2 For reverse rotation command Rotation direction For forward rotation command Caution plate Encoder connector (Side view of motor only) CMV1-R10P Main key position mark (PE) Key W Electromagnetic brake Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR152BG1 HG-SR1524BG1 1.5 Reducer model Reduction ratio CHVM-6160 14 9 Electromagnetic brake MS3102A18-10P 5.5 Electromagnetic brake connector CMV1-R2P Brake static friction torque [N•m] 1/43 Shaft section view AA BC41191* Moment of inertia J [× 10-4 kg•m2] Mass [kg] 25.8 8.5 1/59 M10 Screw hole depth 18 φ50h6 U V Power supply connector Motor flange direction 84 25.7 [Unit: mm] 95.2 Caution plate □130 112.5 79.9 Caution plate 50.9 Motor plate 20 60 4 59 43.5 ° 6-φ11 228 φ300 29 175 A 0 φ31 15° φ340 A φ270f8 90 80 192 13 Bottom Top Caution plate 219 13.5 Top 89 433 20.9 Motor plate 58 Bottom For reverse rotation command Rotation direction For forward rotation command Encoder connector Main key position mark 18 (PE) Key W 7 Power supply connector MS3102A18-10P 11 (Side view of motor only) CMV1-R10P Electromagnetic brake connector CMV1-R2P Electromagnetic brake V Electromagnetic brake connector Motor flange direction U Power supply connector Motor flange direction 7 - 40 φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41192* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR202BG1 HG-SR2024BG1 2.0 CNVM-6120 Mass [kg] 59.4 44 1/11 42 57.8 1/17 57.5 [Unit: mm] 355 113.2 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 117 13 45.5 96.9 50.9 4 Motor plate 30° 13 55 Caution plate 50 6-φ11 80 φ1 Top Encoder connector CMV1-R10P Main key position mark Electromagnetic brake connector CMV1-R2P φ210 (PE) W 10 Key 5 (Side view of motor only) A 8 Caution plate φ140f8 A 44 82 Bottom Top φ204 Bottom 24.8 66.5 140.9 Power supply connector MS3102A22-22P Electromagnetic brake Output [kW] Reducer model Reduction ratio φ38h6 U V Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction Model 2.0 BC41193* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] Mass [kg] 64.2 1/35 CHVM-6165 M8 Screw hole depth 20 Shaft section view AA 1/29 HG-SR202BG1 HG-SR2024BG1 142 □176 69 63.9 44 1/43 93 63.7 1/59 63.6 [Unit: mm] □176 113.2 66.5 45.5 140.9 96.9 Motor plate 60 ° φ340 φ300 A 1 φ3 0 6-φ11 15° 175 80 90 Top Top 228 4 φ270f8 Bottom 20 82 Bottom 219 13 Caution plate 50.9 44 Caution plate Motor plate 24.8 For reverse rotation command Rotation direction For forward rotation command 89 181 452 A Main key position mark 18 (PE) W Key 11 Power supply connector MS3102A22-22P 7 Encoder connector Caution plate CMV1-R10P Electromagnetic brake connector (Side view of motor only) CMV1-R2P Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 41 U Power supply connector Motor flange direction φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41194A 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR352BG1 HG-SR3524BG1 3.5 CHVM-6135 Mass [kg] 96.5 44 1/11 66 92.2 1/17 90.9 [Unit: mm] 421.5 □176 113.2 76 24.8 66.5 140.9 50.9 4 15 45.5 96.9 70 Motor plate 13 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 164 208 6-φ11 Caution plate 3 φ2 (Side view of motor only) A Encoder connector CMV1-R10P Main key position mark Electromagnetic brake connector CMV1-R2P φ260 φ200f8 φ230 A (PE) W 14 Key 5.5 Caution plate 82 Top 44 Bottom 9 Power supply connector MS3102A22-22P V Electromagnetic brake Electromagnetic brake connector Motor flange direction Output [kW] HG-SR352BG1 HG-SR3524BG1 3.5 Reducer model Reduction ratio φ50h6 U Power supply connector Motor flange direction BC41195* Mass [kg] 96.0 44 1/35 M10 Screw hole depth 18 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/29 CHVM-6165 0 145 Top Bottom Model 60 ° 56 98 95.7 [Unit: mm] 140.9 66.5 96.9 45.5 24.8 For reverse rotation command Rotation direction For forward rotation command 89 219 20 4 228 Motor plate 13 50.9 60 ° Caution plate 80 Top A Caution plate Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Main key position mark W φ3 15° φ340 φ270f8 A φ300 82 (PE) 18 7 Key Power supply connector MS3102A22-22P 10 11 Bottom Top 90 44 Bottom 6-φ11 175 Caution plate Motor plate 113.2 181 476 □176 Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 42 U V Power supply connector Motor flange direction φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41196* 7. HG-SR SERIES Model Output [kW] HG-SR352BG1 HG-SR3524BG1 3.5 Reducer model Reduction ratio 1/43 CHVM-6175 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 44 1/59 Mass [kg] 114 140 113 [Unit: mm] 515.5 113.2 66.5 96.9 45.5 50.9 Caution plate Motor plate 24.8 258 5 22 243 13 8-φ14 Caution plate Top 181 80 90 6 φ3 A φ340 82 Bottom Top 44 Bottom 22.5° Motor plate A 0 φ400 140.9 φ316f8 □176 For reverse rotation command Rotation direction For forward rotation command 94 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Main key position mark (PE) W 12 Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] 20 Key Power supply connector MS3102A22-22P Reducer model Reduction ratio φ70h6 U Power supply connector Motor flange direction M12 Screw hole depth 24 Shaft section view AA 5.0 CHVM-6165 BC41197* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR502BG1 HG-SR5024BG1 7.5 Caution plate Mass [kg] 135 44 1/11 102 123 1/17 119 [Unit: mm] 492 □176 113.2 89 219 24.8 20 66.5 45.5 140.9 96.9 4 228 Motor plate 13 50.9 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 60 6-φ11 ° 175 Encoder connector CMV1-R10P Main key position mark Key Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 43 U Power supply connector Motor flange direction 10 18 (PE) W Power supply connector MS3102A22-22P 11 Electromagnetic brake connector (Side view of motor only) CMV1-R2P 15° φ3 Caution plate φ60h6 7 A φ340 A φ270f8 φ300 82 Top 90 44 Bottom 80 Top 181 Caution plate Bottom M10 Screw hole depth 18 Shaft section view AA BC41198* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/29 HG-SR502BG1 HG-SR5024BG1 5.0 CHVM-6180 Mass [kg] 150 44 1/35 171 150 1/43 149 [Unit: mm] 555.5 113.2 66.5 45.5 22 5 φ3 φ345f8 φ370 A Encoder connector CMV1-R10P Caution plate Electromagnetic brake (Side view of motor only) connector CMV1-R2P Power supply connector MS3102A22-22P Main key position mark key Electromagnetic brake V Output [kW] HG-SR502BG1 HG-SR5024BG1 5.0 Reducer model Reduction ratio CHVM-6185 φ80h6 U M12 Screw hole depth 24 Shaft section view AA Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction Model 22 (PE) W 14 44 82 Bottom Top A 9 110 100 176 Top 90 8-φ18 Caution plate Bottom 22.5° 258 Motor plate 13 50.9 Caution plate Motor plate 110 279 24.8 φ430 □176 140.9 96.9 For reverse rotation command Rotation direction For forward rotation command BC41199* Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 147 171 1/59 [Unit: mm] 555.5 110 279 22 5 110 100 A φ370 44 82 Bottom Top 90 8-φ18 176 Top 22.5° Motor plate Caution plate Bottom 258 φ3 13 24.8 A φ430 Caution plate Motor plate 113.2 66.5 45.5 φ345f8 □176 140.9 96.9 50.9 For reverse rotation command Rotation direction For forward rotation command Encoder connector CMV1-R10P Caution plate (Side view of motor only) (PE) Key W 22 9 Main key position mark 14 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 44 U Power supply connector Motor flange direction φ80h6 M12 Screw hole depth 24 Shaft section view AA BC41200* 7. HG-SR SERIES Model Output [kW] HG-SR702BG1 HG-SR7024BG1 7.0 Reducer model Reduction ratio CHVM-6165 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 187 109 1/6 [Unit: mm] 532 □176 121.2 149.1 96.9 50.9 89 32 219 20 66.5 45.5 4 228 Motor plate 13 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 60 ° 175 A 15° φ340 φ300 82 Encoder connector CMV1-R10P 1 φ3 Caution plate Main key position mark (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P V Electromagnetic brake connector Motor flange direction HG-SR702BG1 HG-SR7024BG1 7.0 Reducer model Reduction ratio Shaft section view AA BC41201* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] Mass [kg] 199 44 1/17 M10 Screw hole depth 18 φ60h6 U Power supply connector Motor flange direction 1/11 CHVM-6170 11 Key Electromagnetic brake Output [kW] 18 (PE) W 0 7 44 Bottom Top A φ270f8 80 90 Top 181 Caution plate Bottom Model 6-φ11 151 192 [Unit: mm] 5 243 Motor plate 60 φ3 Main key position mark (PE) W 20 7.5 key 12 Power supply connector MS3102A32-17P φ400 A 82 44 φ340 80 90 A Encoder connector CMV1-R10P Caution plate Electromagnetic brake connector (Side view of motor only) CMV1-R2P 22.5° 8-φ14 φ316f8 Caution plate Bottom Top 22 181 13 Caution plate Motor plate Bottom Top 258 32 66.5 45.5 149.1 96.9 50.9 For reverse rotation command Rotation direction For forward rotation command 94 571.5 121.2 □176 Electromagnetic brake V Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction 7 - 45 M12 Screw hole depth 24 U φ70h6 Shaft section view AA BC41202* 7. HG-SR SERIES Model Output [kW] HG-SR702BG1 HG-SR7024BG1 Reducer model Reduction ratio 7.0 1/29 CHVM-6180 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 44 1/35 Mass [kg] 202 178 201 [Unit: mm] 32 279 22 5 258 8-φ18 φ370 82 44 A Power supply connector MS3102A32-17P Electromagnetic brake connector Main key CMV1-R2P position mark Encoder connector CMV1-R10P (Side view of motor only) φ3 90 A (PE) W Key Electromagnetic brake U V Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction Model Output [kW] HG-SR702BG1 HG-SR7024BG1 7.0 Reducer model Reduction ratio CHVM-6195 φ80h6 BC41203* Mass [kg] 277 44 1/59 M12 Screw hole depth 24 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/43 22 9 110 100 14 Caution plate Top Caution plate ° φ430 13 Bottom Top 22.5 Motor plate 176 Bottom 121.2 66.5 45.5 φ345f8 □176 149.1 96.9 50.9 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 110 595.5 246 275 [Unit: mm] 651.5 121.2 66.5 45.5 Caution plate 6 285 135 125 φ400f8 82 44 12-φ18 A Top Bottom Top 15° Motor plate φ430 Bottom 30 φ45 0 Caution plate Motor plate 145 320 210 13 32 φ490 □176 149.1 96.9 50.9 For reverse rotation command Rotation direction For forward rotation command A W Electromagnetic brake V Encoder CMV1-R10P (PE) Key U Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction 7 - 46 25 9 (Side view of motor only) Power supply connector MS3102A32-17P Electromagnetic brake connector Main key CMV1-R2P position mark connector 14 Caution plate φ95h6 M20 Screw hole depth 34 Shaft section view AA BC41204* 7. HG-SR SERIES 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) Model Output [kW] HG-SR52G1H HG-SR524G1H CNHM-6100 0.5 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 8.08 1/11 7.65 1/17 7.53 1/29 7.47 Mass [kg] 20 [Unit: mm] 323 121 60.7 20.9 Caution plate 38.2 Motor plate 13 A 219 Bottom Top 35 32 φ150 Top 58 Bottom 13.5 □130 112.5 Caution plate 50.9 Motor plate For reverse rotation command Rotation direction For forward rotation command Encoder connector CMV1-R10P 15 60 45 45 135 Power supply connector MS3102A18-10P 4-φ11 75 75 180 (PE) Key 8 7 W 40 4 (Side view of motor only) 100 Caution plate 12 A Model Output [kW] HG-SR52G1H HG-SR524G1H M8 Screw hole depth 20 φ28h6 V U Power supply connector Motor flange direction Shaft section view AA Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 1/35 0.5 CNHM-6120 BC41137* Mass [kg] 8.26 1/43 8.22 1/59 8.18 28 [Unit: mm] 336.5 60.7 20.9 Caution plate Motor plate 131 38.2 13 □130 112.5 A 252 Bottom Top φ204 Top 55 50 58 Bottom 50.9 13.5 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command Power supply connector MS3102A18-10P 15 Encoder connector CMV1-R10P 57.5 57.5 82 4-φ14 55 20 95 W (PE) Key U V Power supply connector Motor flange direction 7 - 47 95 230 155 10 5 (Side view of motor only) 8 Caution plate 120 A φ38h6 M8 Screw hole depth 20 Shaft section view AA BC41138* 7. HG-SR SERIES Model Output [kW] HG-SR102G1H HG-SR1024G1H CNHM-6120 1.0 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 14.8 1/11 13.3 1/17 12.9 1/29 12.6 1/35 12.6 Mass [kg] 31 [Unit: mm] 60.7 □130 For reverse rotation command Rotation direction For forward rotation command 55 50 Motor plate φ204 13 13.5 Bottom Top A 252 Bottom Top 131 58 Caution plate Motor plate 38.2 112.5 50.9 350.5 20.9 Caution plate (Side view of motor only) 15 Encoder connector CMV1-R10P 120 A Caution plate Power supply connector MS3102A18-10P 20 82 57.5 57.5 155 55 4-φ14 95 95 230 10 (PE) W 8 5 Key Shaft section view AA Power supply connector Motor flange direction Model Output [kW] HG-SR102G1H HG-SR1024G1H 1.0 Reducer model Reduction ratio CHHM-6130 M8 Screw hole depth 20 φ38h6 U V BC41139* Moment of inertia J [× 10-4 kg•m2] Mass [kg] 13.8 50 1/43 [Unit: mm] 403 60.7 130 112.5 50.9 For reverse rotation command Rotation direction For forward rotation command 70 230 56 A 295 Bottom Top 13.5 Bottom Top 170 58 Caution plate Motor plate 38.2 13 20.9 Caution plate Motor plate A 150 Encoder connector CMV1-R10P 22 (Side view of motor only) Power supply connector MS3102A18-10P 25 72.5 72.5 65 100 145 4- 18 195 (PE) W 145 330 14 9 Key 5.5 Caution plate V U Power supply connector Motor flange direction 7 - 48 50h6 M10 Screw hole depth 18 Shaft section view AA BC41140* 7. HG-SR SERIES Model Output [kW] HG-SR102G1H HG-SR1024G1H 1.0 Reducer model Reduction ratio CHHM-6160 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 19.1 86 1/59 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 473.5 □130 218 90 80 Motor plate 13 Top φ300 Caution plate 13.5 Bottom Top A 352 Bottom 112.5 50.9 20.9 58 Caution plate Motor plate 60.7 38.2 A Caution plate 160 Encoder connector CMV1-R10P 25 (Side view of motor only) Power supply connector MS3102A18-10P 44 75 75 75 185 139 238 18 7 (PE) W 11 Key V U Power supply connector Motor flange direction Model Output [kW] 185 410 4-φ18 M10 Screw hole depth 18 φ60h6 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR152G1H HG-SR1524G1H 1.5 CNHM-6120 BC41141* Mass [kg] 19.2 1/11 17.7 1/17 17.3 32 [Unit: mm] 364.5 □130 60.7 112.5 38.2 13 50.9 20.9 131 Caution plate Motor plate For reverse rotation command Rotation direction For forward rotation command 55 50 A 252 Bottom Top φ204 Top 58 Bottom 13.5 Caution plate Motor plate Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P 15 Caution plate 20 57.5 57.5 55 82 95 95 4-φ14 155 (PE) W 120 A 230 10 V C D B A 8 5 Key U Power supply connector Motor flange direction 7 - 49 φ38h6 M8 Screw hole depth 20 Shaft section view AA BC41142* 7. HG-SR SERIES Model Output [kW] HG-SR152G1H HG-SR1524G1H Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1.5 CHHM-6130 1/29 18.4 1/35 18.3 Mass [kg] 51 [Unit: mm] 417 60.7 130 38.2 112.5 50.9 13 20.9 Caution plate Motor plate 170 For reverse rotation command Rotation direction For forward rotation command 70 56 13.5 Bottom Top 230 Caution plate Motor plate A 295 58 Bottom Top A 150 Encoder connector CMV1-R10P (Side view of motor only) 22 Caution plate Power supply connector MS3102A18-10P 25 65 72.5 100 145 4- 18 195 145 330 (PE) W 14 9 Key 5.5 72.5 M10 Screw hole depth 18 V U Power supply connector Motor flange direction Model Output [kW] HG-SR152G1H HG-SR1524G1H 50h6 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1.5 CHHM-6160 BC41143* 1/43 23.6 1/59 23.5 Mass [kg] 87 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 487.5 13.5 Top 13 Caution plate 20.9 218 90 80 Motor plate A Bottom Top 352 58 Bottom 60.7 38.2 φ300 □130 112.5 50.9 Caution plate Motor plate A 160 25 Caution plate Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P 75 44 75 185 139 238 185 410 4-φ18 V U Power supply connector Motor flange direction 7 - 50 18 7 (PE) Key W 11 75 φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41144* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 1/6 HG-SR202G1H HG-SR2024G1H 2.0 CNHM-6120 Mass [kg] 50.0 1/11 48.4 1/17 48.1 37 [Unit: mm] □176 140.9 50.9 Caution plate Motor plate 63.7 38.5 55 50 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Top A 262 82 Bottom Top φ204 Bottom 374.5 131 24.8 57.5 57.5 Power supply connector MS3102A22-22P (Side view of motor only) 4-φ14 15 55 20 82 95 155 95 230 10 (PE) Key 8 W 5 Caution plate 120 A Encoder connector CMV1-R10P V U Power supply connector Motor flange direction Model Output [kW] HG-SR202G1H HG-SR2024G1H Shaft section view AA Reducer model Reduction ratio 2.0 CHHM-6165 M8 Screw hole depth 20 φ38h6 BC41145* Moment of inertia J [× 10-4 kg•m2] 1/29 54.8 1/35 54.5 1/43 54.3 1/59 54.2 Mass [kg] 92 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 90 80 13 Caution plate Top Motor plate 341 A A 25 Encoder connector CMV1-R10P Caution plate 44 75 75 238 75 139 (PE) Key W V U Power supply connector Motor flange direction 7 - 51 185 4-φ18 185 410 18 φ60h6 7 Power supply connector MS3102A22-22P 11 (Side view of motor only) 160 Bottom Top 24.8 φ300 Bottom 63.7 38.5 82 Caution plate Motor plate □176 140.9 50.9 491.5 218 M10 Screw hole depth 18 Shaft section view AA BC41146* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 1/6 HG-SR352G1H HG-SR3524G1H 3.5 CHHM-6135 Mass [kg] 87.1 1/11 82.8 1/17 81.5 61 [Unit: mm] 448 63.7 □176 140.9 50.9 Caution plate Motor plate 70 56 For reverse rotation command Rotation direction For forward rotation command Motor plate Caution plate Top A 82 Bottom Top 295 φ230 Bottom 170 24.8 38.5 13 150 A Encoder connector CMV1-R10P 65 25 100 72.5 72.5 195 Power supply connector MS3102A22-22P 145 4-φ18 (PE) W 145 330 14 9 Key 22 (Side view of motor only) 5.5 Caution plate U V Power supply connector Motor flange direction Model Output [kW] HG-SR352G1H HG-SR3524G1H 3.5 Reducer model Reduction ratio CHHM-6165 φ50h6 M10 Screw hole depth 18 Shaft section view AA BC41147* Moment of inertia J [× 10-4 kg•m2] 1/29 86.6 1/35 86.3 Mass [kg] 97 [Unit: mm] 63.7 □176 140.9 50.9 Caution plate Motor plate 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate Caution plate φ300 Top A 341 Bottom Top 24.8 82 Bottom 38.5 13 515.5 218 75 44 75 139 75 238 185 4-φ18 (PE) W 25 Power supply connector MS3102A22-22P 185 410 18 Key 7 (Side view of motor only) 11 Caution plate 160 A Encoder connector CMV1-R10P V U Power supply connector Motor flange direction 7 - 52 φ60h6 M10 Screw hole depth 18 Shaft section view AA BC41148* 7. HG-SR SERIES Model Output [kW] HG-SR352G1H HG-SR3524G1H 3.5 Reducer model Reduction ratio CHHM-6175 Moment of inertia J [× 10-4 kg•m2] 1/43 105 1/59 104 Mass [kg] 137 [Unit: mm] 560 63.7 □176 140.9 Caution plate 50.9 38.5 13 For reverse rotation command Rotation direction For forward rotation command Motor plate φ340 A 82 381 Top Bottom Top 90 80 262 Caution plate Motor plate Bottom 24.8 200 A Power supply connector MS3102A22-22P (Side view of motor only) 137.5 80 30 125 137.5 20 V 12 Key φ70h6 U Power supply connector Motor flange direction Output [kW] M12 Screw hole depth 24 Shaft section view AA Reducer model Reduction ratio CHHM-6165 5.0 BC41149* Moment of inertia J [× 10-4 kg•m2] 1/6 HG-SR502G1H HG-SR5024G1H 190 430 (PE) W Model 190 4-φ22 335 7.5 Caution plate 30 Encoder connector CMV1-R10P Mass [kg] 126 1/11 114 1/17 110 101 [Unit: mm] 531.5 Caution plate Motor plate Caution plate (Side view of motor only) A Power supply connector MS3102A22-22P 25 44 75 75 238 4-φ18 75 185 139 185 410 Key V 18 (PE) W U Power supply connector Motor flange direction 7 - 53 160 A Encoder connector CMV1-R10P φ60h6 7 Caution plate Motor plate 11 Bottom Top For reverse rotation command Rotation direction For forward rotation command 341 Top 90 80 218 82 Bottom 24.8 φ300 63.7 38.5 13 181 □176 140.9 50.9 M10 Screw hole depth 18 Shaft section view AA BC41150* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] 1/29 HG-SR502G1H HG-SR5024G1H 5.0 CHHM-6180 Mass [kg] 141 1/35 140 1/43 139 178 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 616 176 Caution plate 110 100 A 405 Top Bottom Top 279 24.8 Motor plate 82 Bottom 63.7 38.5 13 φ370 □176 140.9 50.9 Caution plate Motor plate A (Side view of motor only) 30 220 Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A22-22P 160 85 30 145 160 210 4-φ22 210 380 470 V HG-SR502G1H HG-SR5024G1H 5.0 Reducer model Reduction ratio CHHM-6185 9 φ80h6 U Power supply connector Motor flange direction Output [kW] 14 Key Model 22 (PE) W M12 Screw hole depth 24 Shaft section view AA BC41151* Moment of inertia J [× 10-4 kg•m2] Mass [kg] 138 178 1/59 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 616 (Side view of motor only) 405 A A 30 220 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P 160 30 145 160 380 Key U Power supply connector Motor flange direction 7 - 54 210 210 470 22 (PE) W V 85 4-φ22 φ80h6 9 Caution plate Motor plate 14 Bottom Top 110 100 φ370 Caution plate Top 279 24.8 82 Bottom 63.7 38.5 13 176 □176 140.9 50.9 Caution plate Motor plate M12 Screw hole depth 24 Shaft section view AA BC41152* 7. HG-SR SERIES Model Output [kW] HG-SR702G1H HG-SR7024G1H 7.0 Reducer model Reduction ratio CHHM-6165 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 177 108 1/6 [Unit: mm] 571.5 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate A 341 181 Caution plate Top Caution plate 25 44 Power supply connector MS3102A32-17P (Side view of motor only) 75 75 238 4-φ18 139 (PE) Power supply connector Motor flange direction 7.0 185 Reducer model Reduction ratio CHHM-6170 11 M10 Screw hole depth 18 φ60h6 U V HG-SR702G1H HG-SR7024G1H 185 18 Key Output [kW] 75 410 W Model 160 A Encoder connector CMV1-R10P 7 Bottom Top 218 32 82 Bottom 71.7 38.5 13 φ300 □176 149.1 50.9 Caution plate Motor plate Shaft section view AA BC41153* Moment of inertia J [× 10-4 kg•m2] 1/11 190 1/17 182 Mass [kg] 148 [Unit: mm] 616 (Side view of motor only) For reverse rotation command Rotation direction For forward rotation command Motor plate 381 A A 30 200 Encoder connector CMV1-R10P Power supply connector MS3102A32-17P 137.5 30 125 137.5 80 190 4-φ22 335 190 430 (PE) W 20 Key 7.5 Caution plate 90 80 12 Bottom Top 262 φ340 Caution plate Top 32 82 Bottom 71.7 38.5 13 181 □176 149.1 50.9 Caution plate Motor plate V U Power supply connector Motor flange direction 7 - 55 φ70h6 M12 Screw hole depth 24 Shaft section view AA BC41154* 7. HG-SR SERIES Model Output [kW] HG-SR702G1H HG-SR7024G1H Reducer model Reduction ratio 7.0 CHHM-6180 Moment of inertia J [× 10-4 kg•m2] 1/29 192 1/35 192 Mass [kg] 185 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 656 32 71.7 38.5 13 279 110 100 Motor plate 176 Caution plate φ370 □176 149.1 50.9 Caution plate Motor plate A 82 405 Bottom Top Bottom Top A 30 220 Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A32-17P 160 85 30 145 160 380 22 14 (PE) Key φ80h6 U V Power supply connector Motor flange direction Model Output [kW] 7.0 210 470 W HG-SR702G1H HG-SR7024G1H 210 4-φ22 9 (Side view of motor only) Shaft section view AA Reducer model Reduction ratio CHHM-6180 M12 Screw hole depth 24 BC41155* Moment of inertia J [× 10-4 kg•m2] 1/43 267 1/59 266 Mass [kg] 256 [Unit: mm] 747 32 Caution plate For reverse rotation command Rotation direction For forward rotation command 135 125 Motor plate φ430 38.5 13 330 A 465 Top 82 Bottom 71.7 210 □176 149.1 50.9 Caution plate Motor plate Bottom Top A 250 Encoder connector CMV1-R10P Power supply connector MS3102A32-17P 190 30 170 190 4-φ26 90 240 240 530 440 V U Power supply connector Motor flange direction 7 - 56 25 φ95h6 9 (PE) Key W 14 (Side view of motor only) 35 Caution plate M20 Screw hole depth 34 Shaft section view AA BC41156* 7. HG-SR SERIES 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR52BG1H HG-SR524BG1H 0.5 1/11 CNHM-6100 Mass [kg] 10.3 9.85 8.5 1/17 22 9.73 1/29 9.67 [Unit: mm] 357.5 Caution plate Motor plate 95.2 59 43.5 112.5 79.9 50.9 20.9 Caution plate Motor plate 121 35 32 For reverse rotation command Rotation direction For forward rotation command 13 Bottom Top 219 13.5 58 Bottom Top A 100 29 A Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P 12 Caution plate 15 45 45 135 Main key position mark 40 60 75 75 180 (PE) W 8 7 4 Key M8 Screw hole depth 20 Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 57 U Power supply connector Motor flange direction Shaft section view AA BC41205* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/35 HG-SR52BG1H HG-SR524BG1H 0.5 CNHM-6120 Mass [kg] 10.5 8.5 1/43 30 10.4 1/59 10.4 [Unit: mm] 371 130 95.2 112.5 59 79.9 Caution plate Motor plate Bottom 20.9 Caution plate Motor plate 131 55 43.5 13 50.9 For reverse rotation command Rotation direction For forward rotation command 50 Top 204 252 58 A 82 Power supply connector MS3102A18-10P 57.5 57.5 20 55 4- 14 155 95 95 230 Main key position mark 10 (PE) W 5 (Side view of motor only) Electromagnetic brake connector CMV1-R2P 15 Encoder connector CMV1-R10P Key 8 Caution plate 120 29 Bottom Top 13.5 A C D B A M8 Screw hole depth 20 Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 58 V U Power supply connector Motor flange direction 38h6 Shaft section view AA BC41206* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 1/6 1/11 HG-SR102BG1H HG-SR1024BG1H 1.0 CNHM-6120 Mass [kg] 17.0 15.5 1/17 15.1 8.5 1/29 14.8 1/35 14.8 33 [Unit: mm] 385 For reverse rotation command Rotation direction For forward rotation command 55 50 13 A 252 15 (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark 20 82 57.5 57.5 155 55 95 4- 14 95 230 (PE) Key 10 8 W 120 A Encoder connector CMV1-R10P 5 29 58 Bottom Top Caution plate 131 Caution plate Motor plate 204 Bottom Top 59 43.5 20.9 13.5 Caution plate Motor plate 95.2 130 112.5 79.9 50.9 V Electromagnetic brake Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR102BG1H HG-SR1024BG1H 1.0 Reducer model Reduction ratio CHHM-6130 M8 Screw hole depth 20 38h6 U Power supply connector Motor flange direction Shaft section view AA BC41207* Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 16.0 52 1/43 [Unit: mm] 112.5 79.9 50.9 170 For reverse rotation command Rotation direction For forward rotation command 70 56 13 A 58 Bottom Top 295 Bottom Top 437.5 20.9 Caution plate Motor plate 13.5 Caution plate Motor plate 95.2 59 43.5 29 A 150 Caution plate 22 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P 25 72.5 72.5 65 100 145 145 195 Main key position mark 330 (PE) W 14 9 Key 5.5 Power supply connector MS3102A18-10P V Electromagnetic brake Electromagnetic brake connector Motor flange direction U Power supply connector Motor flange direction 7 - 59 M10 Screw hole depth 18 Shaft section view AA BC41208* 7. HG-SR SERIES Model Output [kW] HG-SR102BG1H HG-SR1024BG1H 1.0 Reducer model Reduction ratio CHHM-6160 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 8.5 21.3 88 1/59 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 508 112.5 79.9 13 50.9 90 80 Motor plate 13.5 Bottom Top 218 20.9 58 Bottom Top A 352 Caution plate Motor plate 95.2 59 Caution plate 43.5 160 29 A 25 Caution plate (Side view of motor only) Encoder connector CMV1-R10P 75 139 18 7 (PE) W U V Electromagnetic brake connector Motor flange direction Reducer model Reduction ratio 11 Key Electromagnetic brake HG-SR152BG1H HG-SR1524BG1H M10 Screw hole depth 18 Power supply connector Motor flange direction Shaft section view AA CNHM-6120 BC41209* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 1.5 185 410 Main key position mark Power supply connector MS3102A18-10P Output [kW] 185 238 Electromagnetic brake connector CMV1-R2P Model 75 44 75 Mass [kg] 21.4 8.5 1/11 34 19.9 1/17 19.5 [Unit: mm] 399 For reverse rotation command Rotation direction For forward rotation command 55 50 Motor plate 13 A 252 58 Bottom Top 15 Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P 57.5 57.5 155 55 95 95 230 (PE) Key W 10 8 Main key position mark 20 82 120 A 29 Caution plate 131 5 Bottom Top 20.9 Caution plate 13.5 Caution plate Motor plate 95.2 59 43.5 112.5 79.9 50.9 M8 Screw hole depth 20 Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 60 U Power supply connector Motor flange direction Shaft section view AA BC41210* 7. HG-SR SERIES Model Output [kW] HG-SR152BG1H HG-SR1524BG1H Reducer model Reduction ratio 1.5 1/29 CHHM-6130 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 8.5 1/35 Mass [kg] 20.6 53 20.5 [Unit: mm] 112.5 79.9 50.9 170 For reverse rotation command Rotation direction For forward rotation command 70 56 13 13.5 Bottom Top A 58 Bottom Top 295 Caution plate Motor plate 451.5 20.9 Caution plate Motor plate 95.2 59 43.5 A 150 29 Caution plate Encoder connector CMV1-R10P 22 (Side view of motor only) Electromagnetic brake connector CMV1-R2P 25 72.5 Power supply connector MS3102A18-10P 65 100 72.5 145 145 195 Main key position mark (PE) Key 14 9 W 5.5 330 Electromagnetic brake Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR152BG1H HG-SR1524BG1H Reducer model Reduction ratio 1.5 CHHM-6160 M10 Screw hole depth 18 U V Power supply connector Motor flange direction Brake static friction torque [N•m] 1/43 Shaft section view AA Moment of inertia J [× 10-4 kg•m2] Mass [kg] 25.8 8.5 1/59 BC41211* 89 25.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 522 95.2 59 43.5 112.5 Caution plate 79.9 Motor plate 50.9 13 218 90 80 Caution plate Motor plate 13.5 Bottom Top 20.9 58 352 A 29 Bottom Top 160 A 25 Caution plate (Side view of motor only) 75 44 75 139 185 185 238 410 Main key position mark Key Electromagnetic brake Electromagnetic brake connector Motor flange direction V U Power supply connector Motor flange direction 7 - 61 18 (PE) W 7 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P 75 11 Encoder connector CMV1-R10P M10 Screw hole depth 18 Shaft section view AA BC41212* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 1/6 HG-SR202BG1H HG-SR2024BG1H 2.0 CNHM-6120 Mass [kg] 59.4 44 1/11 43 57.8 1/17 57.5 [Unit: mm] Caution plate Motor plate 176 140.9 96.9 50.9 113.2 66.5 45.5 424 24.8 131 55 Motor plate 50 For reverse rotation command Rotation direction For forward rotation command 13 Caution plate Bottom Top Caution plate 262 120 A Encoder connector CMV1-R10P 20 57.5 57.5 82 155 (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P Main key position mark 55 95 4- 14 15 Bottom Top 82 44 204 A 95 230 (PE) Key 10 8 5 W Electromagnetic brake Electromagnetic brake connector Motor flange direction Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] M8 Screw hole depth 20 38h6 U V Power supply connector Motor flange direction Moment of inertia J [× 10-4 kg•m2] 1/29 HG-SR202BG1H HG-SR2024BG1H CHHM-6165 2.0 BC41213* Shaft section view AA Mass [kg] 64.2 1/35 63.9 44 1/43 98 63.7 1/59 63.6 [Unit: mm] 113.2 66.5 45.5 24.8 90 80 For reverse rotation command Rotation direction For forward rotation command 13 Caution plate 300 Bottom Top 341 A A 25 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P 44 75 Power supply connector MS3102A22-22P Main key position mark 75 238 75 139 Key Electromagnetic brake V Electromagnetic brake connector Motor flange direction 7 - 62 U Power supply connector Motor flange direction 410 18 (PE) W 185 185 4- 18 7 (Side view of motor only) 160 82 44 Bottom Top Caution plate 218 Motor plate 11 Caution plate Motor plate 176 140.9 96.9 50.9 541 60h6 M10 Screw hole depth 18 Shaft section view AA BC41214* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR352BG1H HG-SR3524BG1H 3.5 CHHM-6135 Mass [kg] 96.5 44 1/11 67 92.2 1/17 90.9 [Unit: mm] Caution plate Motor plate 497.5 24.8 113.2 66.5 45.5 140.9 96.9 50.9 170 70 56 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Bottom Top 295 82 Electromagnetic brake connector CMV1-R2P (Side view of motor only) 72.5 72.5 195 Power supply connector MS3102A22-22P 25 100 22 Caution plate 150 A Encoder connector CMV1-R10P 65 145 145 330 Main key position mark W (PE) 14 9 Key 5.5 Bottom Top 44 230 A Electromagnetic brake Model Output [kW] HG-SR352BG1H HG-SR3524BG1H Reducer model Reduction ratio 3.5 CHHM-6165 Shaft section view AA Mass [kg] 96.0 44 1/35 BC41215* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/29 M10 Screw hole depth 18 V U Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction 103 95.7 [Unit: mm] 565 Caution plate Motor plate 113.2 66.5 45.5 140.9 96.9 50.9 13 218 24.8 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate Caution plate Bottom Top 341 160 A Encoder connector CMV1-R10P 44 75 75 238 Main key position mark 185 (PE) Key W V Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 63 185 410 18 11 Power supply connector MS3102A22-22P 75 139 25 (Side view of motor only) Electromagnetic brake connector CMV1-R2P U Power supply connector Motor flange direction 7 Caution plate 82 Bottom Top 44 A M10 Screw hole depth 18 Shaft section view AA BC41216* 7. HG-SR SERIES Model Output [kW] HG-SR352BG1H HG-SR3524BG1H Reducer model Reduction ratio 3.5 1/43 CHHM-6175 Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 44 1/59 Mass [kg] 114 143 113 [Unit: mm] 609.5 113.2 66.5 45.5 140.9 96.9 50.9 Caution plate Motor plate 24.8 90 80 262 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Bottom Top 137.5 Reducer model Reduction ratio (PE) Key W V U Power supply connector Motor flange direction 20 M12 Screw hole depth 24 Shaft section view AA 5.0 CHHM-6165 BC41217* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/6 HG-SR502BG1H HG-SR5024BG1H 190 430 Electromagnetic brake Electromagnetic brake connector Motor flange direction Output [kW] 190 335 Main key position mark Model 80 30 125 137.5 7.5 Caution plate Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P 30 200 A 12 Bottom Top 381 44 82 A Mass [kg] 135 44 1/11 107 123 1/17 119 [Unit: mm] 581 113.2 66.5 45.5 140.9 96.9 50.9 218 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Motor plate 24.8 Caution plate Bottom Top 341 25 44 75 75 238 Main key position mark 75 139 185 185 410 (PE) Key W 18 7 (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P 160 A Encoder connector CMV1-R10P 11 Caution plate 82 Bottom Top 44 A M10 Screw hole depth 18 Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 64 V U Power supply connector Motor flange direction Shaft section view AA BC41218* 7. HG-SR SERIES Model Output [kW] HG-SR502BG1H HG-SR5024BG1H Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/29 5.0 CHHM-6180 Mass [kg] 150 44 1/35 184 150 1/43 149 [Unit: mm] 665.5 113.2 66.5 45.5 13 Caution plate Motor plate 24.8 279 176 Caution plate A 405 A 30 220 Encoder connector CMV1-R10P 160 Power supply connector MS3102A22-22P Main key position mark Output [kW] HG-SR502BG1H HG-SR5024BG1H 5.0 85 Reducer model Reduction ratio CHHM-6185 210 4- 22 210 470 22 (PE) Key W Electromagnetic brake Electromagnetic brake connector Motor flange direction Model 30 145 160 380 9 (Side view of motor only) Electromagnetic brake connector CMV1-R2P 14 Caution plate For reverse rotation command Rotation direction For forward rotation command 82 Bottom Top 44 Bottom Top 110 100 Motor plate 370 176 140.9 96.9 50.9 80h6 M12 Screw hole depth 24 Shaft section view AA V U Power supply connector Motor flange direction BC41219* Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 147 184 1/59 [Unit: mm] 665.5 113.2 66.5 45.5 140.9 96.9 50.9 13 Caution plate Motor plate 24.8 279 Motor plate 110 100 For reverse rotation command Rotation direction For forward rotation command 176 Caution plate 405 A 30 220 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P 160 160 30 145 85 210 380 Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 65 210 470 W (PE) Key V U Power supply connector Motor flange direction 22 9 (Side view of motor only) Electromagnetic brake connector CMV1-R2P 14 Caution plate A 82 Bottom Top 44 Bottom Top M12 Screw hole depth 24 Shaft section viewAA BC41220* 7. HG-SR SERIES Model Output [kW] HG-SR702BG1H HG-SR7024BG1H 7.0 Reducer model Reduction ratio CHHM-6165 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 44 187 114 1/6 [Unit: mm] 621 121.2 66.5 45.5 149.1 96.9 50.9 32 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Motor plate 218 181 Caution plate Bottom Top 341 25 Caution plate Electromagnetic brake connector (Side view of motor only) CMV1-R2P 75 44 75 75 238 Power supply connector MS3102A32-17P Main key position mark 160 A Encoder connector CMV1-R10P 185 139 185 410 18 (PE) W 11 Key 7 Bottom Top 82 44 A M10 Screw hole depth 18 Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR702BG1H HG-SR7024BG1H Reducer model Reduction ratio 7.0 Power supply connector Motor flange direction Shaft section view AA 199 44 1/17 BC41221* Moment of inertia J [× 10-4 kg•m2] Brake static friction torque [N•m] 1/11 CHHM-6170 U Mass [kg] 154 192 [Unit: mm] 665.5 121.2 66.5 45.5 149.1 96.9 50.9 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Motor plate 262 32 181 Caution plate Bottom Top (Side view of motor only) 381 A 30 200 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 137.5 137.5 80 30 125 190 Main key position mark 190 430 335 (PE) W Key 20 7.5 Caution plate 12 Bottom Top 44 82 A Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 66 V U Power supply connector Motor flange direction M12 Screw hole depth 24 Shaft section view AA BC41222* 7. HG-SR SERIES Model Output [kW] HG-SR702BG1H HG-SR7024BG1H Reducer model Reduction ratio 7.0 Brake static friction torque [N•m] 1/29 CHHM-6180 Moment of inertia J [× 10-4 kg•m2] 44 1/35 Mass [kg] 202 191 201 [Unit: mm] 705.5 121.2 66.5 45.5 149.1 96.9 50.9 13 Caution plate Motor plate A 405 A 30 220 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 160 160 85 30 145 210 Main key position mark Model Output [kW] 7.0 Reducer model Reduction ratio Brake static friction torque [N•m] 1/43 CHHM-6195 22 (PE) Key W Electromagnetic brake V U Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction HG-SR702BG1H HG-SR7024BG1H 210 470 380 M12 Screw hole depth 24 Shaft section view AA BC41223* Moment of inertia J [× 10-4 kg•m2] 277 44 1/59 9 (Side view of motor only) For reverse rotation command Rotation direction For forward rotation command Motor plate 14 Caution plate 110 100 82 44 Bottom Top Bottom Top 279 176 Caution plate 32 Mass [kg] 262 275 [Unit: mm] 796.5 330 Motor plate 13 Caution plate 135 125 A 44 82 465 Bottom Top 35 250 A 190 190 30 170 90 240 240 440 Main key position mark 530 (PE) W Key Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 67 V U Power supply connector Motor flange direction 25 9 Encoder connector Caution plate CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 14 Bottom Top For reverse rotation command Rotation direction For forward rotation command 32 210 Caution plate Motor plate 121.2 66.5 45.5 149.1 96.9 50.9 M20 Screw hole depth 34 Shaft section view AA BC41224* 7. HG-SR SERIES 7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-20A-05-F0KSAWS-S 1/5 7.91 7.6 HPG-20A-11-F0KSAXS-S 1/11 7.82 7.8 Output [kW] HG-SR52G5 HG-SR524G5 0.5 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 213.5 38.2 25 Motor plate (Opposite side) Caution plate Caution plate Motor plate 8 effective range) 6-M6 Screw hole depth 10 60° 45° Top Bottom Bottom Top Top C 0. 5 Bottom 112.5 Top 10 Caution plate 50.9 Bottom 27 +0.4 - 0.5 60 W 13 (PE) Key Encoder connector CMV1-R10P 13.5 58 20.9 152.8 Power supply connector MS3102A18-10P Model 0.5 BC41157* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-32A-21-F0MCSYS-S 1/21 10.2 HPG-32A-33-F0MCSZS-S 1/33 9.96 HPG-32A-45-F0MCSZS-S 1/45 9.96 Output [kW] HG-SR52G5 HG-SR524G5 U V Power supply connector Motor flange direction Mass [kg] 12 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35+0.4 - 0.5 225.5 38.2 39.5 13 13 effective range) 6-M8 Screw hole depth 12 Caution plate Caution plate Motor plate Motor plate (Opposite side) 54.5 60° 45° Caution plate Top Bottom Bottom Top Top 50.9 Bottom Top .5 C0 112.5 Bottom 13 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P (PE) W Key 20.9 164.8 V U Power supply connector Motor flange direction 7 - 68 BC41158* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G5 HG-SR1024G5 1.0 HPG-20A-05-F0KSAWS-S 1/5 12.3 9.0 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 227.5 38.2 Motor plate (Opposite side) Caution plate Caution plate Motor plate 10 8 effective range) 6-M6 Screw hole depth 10 60° 45° Top Bottom Bottom Top Top C 0. 5 Bottom 112.5 Top 60 Caution plate 50.9 Bottom 25 (PE) W 13 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P 13.5 58 Model Key 1.0 166.8 U V Power supply connector Motor flange direction BC41159* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-32A-11-F0MCSPS-S 1/11 14.9 HPG-32A-21-F0MCSYS-S 1/21 14.5 Output [kW] HG-SR102G5 HG-SR1024G5 20.9 Mass [kg] 13 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 239.5 38.2 Motor plate (Opposite side) Caution plate Motor plate effective range) 60° 45° Bottom Bottom Top Top C Bottom Top 0. 5 Caution plate 112.5 Top 35 +0.4 - 0.5 39.5 13 13 6-M8 Screw hole depth 12 Caution plate 50.9 Bottom 54.5 13 (PE) W Key 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P 20.9 178.8 V U Power supply connector Motor flange direction 7 - 69 BC41160* 7. HG-SR SERIES Model Output [kW] HG-SR102G5 HG-SR1024G5 1.0 Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-33-F0AABC-S 1/33 16.3 HPG-50A-45-F0AABC-S 1/45 16.2 Mass [kg] 23 [Unit: mm] 53 +0.5 - 0.8 255.5 38.2 130 Caution plate 7( 47H7 effective range) 122 Top 165h8 Top 163 Bottom 170 Bottom C 0. 5 47H7 Top 45° ° 19 Caution plate Bottom .5 22 0 10 0 112.5 Top 16 13 Caution plate 50.9 Bottom 107 Motor plate (Opposite side) 6×22.5°(=135°) Motor plate For reverse rotation command Rotation direction 14-M8 Screw hole depth 12 For forward rotation command 4- 14 170 13 Encoder connector CMV1-R10P 13.5 58 (PE) W 20.9 Key 194.8 Power supply connector MS3102A18-10P V U Power supply connector Motor flange direction BC41161* Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G5 HG-SR1524G5 1.5 HPG-20A-05-F0KSAWS-S 1/5 16.7 11 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 241.5 38.2 Caution plate Motor plate 60 10 8 effective range) 6-M6 Screw hole depth 10 Caution plate 60° 45° Bottom Top Bottom Bottom Top Top C 0. 5 Caution plate 112.5 Top Motor plate (Opposite side) 50.9 Bottom 25 (PE) Key W 13 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P 20.9 180.8 V U Power supply connector Motor flange direction 7 - 70 BC41162* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G5 HG-SR1524G5 1.5 HPG-32A-11-F0MCSPS-S 1/11 19.3 14 [Unit: mm] Top 114 84 Bottom Top 0. 5 Bottom C Top 118 Bottom 60 5 13 112.5 Top Caution plate 50.9 Bottom Caution plate 115h7 Caution plate Motor plate 54.5 Motor plate (Opposite side) 32H7 253.5 38.2 For reverse rotation command Rotation direction For forward rotation command 35+0.4 - 0.5 130 4- 11 39.5 13 13 120 5( 32H7 effective range) 45° 60° 6-M8 Screw hole depth 12 13 Key Encoder connector CMV1-R10P Power supply connector MS3102A18-10P 13.5 58 (PE) W 20.9 192.8 V U Power supply connector Motor flange direction Model Output [kW] HG-SR152G5 HG-SR1524G5 1.5 BC41163* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-21-F0AABC-S 1/21 21.7 HPG-50A-33-F0AABC-S 1/33 20.7 HPG-50A-45-F0AABC-S 1/45 20.6 Mass [kg] 24 [Unit: mm] 53 +0.5 - 0.8 269.5 38.2 Caution plate Caution plate Top Bottom Bottom Top Top C 0. 5 Bottom .5° 22 45° 112.5 Top effective range) Caution plate 50.9 Bottom Motor plate (Opposite side) 16 13 6×22.5°(=135°) Motor plate 107 For reverse rotation command Rotation direction 14-M8 crew hole depth 12 For forward rotation command 13 13.5 Encoder connector CMV1-R10P 58 Power supply connector MS3102A18-10P W 20.9 208.8 (PE) Key V U Power supply connector Motor flange direction 7 - 71 BC41164* 7. HG-SR SERIES Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-32A-05-F0PBZI-S 1/5 51.4 HPG-32A-11-F0PBZJ-S 1/11 51.2 Output [kW] HG-SR202G5 HG-SR2024G5 2.0 Mass [kg] 19 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate 267.5 91 38.5 Motor plate 25 (Opposite side) 12.5 Caution plate Caution plate 35 +0.4 - 0.5 13 13 effective range) 6-M8 Screw hole depth 12 60° Bottom Top Bottom Bottom Top Top (Note)* 140.9 Top 50.9 Bottom C 0. 5 Caution plate Key Encoder connector CMV1-R10P 24.8 Power supply connector MS3102A22-22P 82 (PE) W 13 203.8 V U Power supply connector Motor flange direction BC41165* Note. * is a screw hole for eyebolt (M8). Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-21-F0BBDF-S 1/21 53.2 HPG-50A-33-F0BBDF-S 1/33 52.2 HPG-50A-45-F0BBDF-S 1/45 52.2 Output [kW] HG-SR202G5 HG-SR2024G5 2.0 Mass [kg] 29 [Unit: mm] Caution plate 63 12.5 45 16 13 122 165h8 47H7 Top (Note)* 163 Bottom Top 13 0 (PE) Key W Encoder connector CMV1-R10P 19 0 Bottom 140.9 Top 170 Bottom .5 C0 10 Top 50.9 Bottom 129 Caution plate 22 .5° Motor plate 25 6×22.5°(=135°) 53+0.5 - 0.8 287.5 38.5 Motor plate (Opposite side) Caution plate 176 For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range) 24.8 82 Power supply connector MS3102A22-22P 223.8 V U Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 72 BC41166* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352G5 HG-SR3524G5 3.5 HPG-32A-05-F0PBZI-S 1/5 83.2 24 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate 35+0.4 - 0.5 291.5 91 25 38.5 Motor plate (Opposite side) 12.5 Caution plate Caution plate 13 13 effective range) 6-M8 Screw hole depth 12 60° Top Bottom Bottom Top Top (Note)* 140.9 Top Bottom 50.9 Bottom C 0. 5 Caution plate (PE) W 13 Encoder connector CMV1-R10P Key 24.8 Power supply connector MS3102A22-22P 82 227.8 V U Power supply connector Motor flange direction BC41167* Note. * is a screw hole for eyebolt (M8). Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-11-F0BBDF-S 1/11 86.7 HPG-50A-21-F0BBDF-S 1/21 85.0 Output [kW] HG-SR352G5 HG-SR3524G5 3.5 Mass [kg] 34 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command +0.5 - 0.8 14-M8 Screw hole depth 12 effective range) 13 ° Caution plate 53 45 16 Bottom Bottom Top Top 0. 5 Bottom (Note)* 140.9 Top Top 50.9 C Bottom 6×22.5°(=135°) Caution plate 22 .5 Motor plate 311.5 38.5 Motor plate 25 63 (Opposite side) 12.5 Caution plate 13 (PE) W Encoder connector CMV1-R10P Key 24.8 82 Power supply connector MS3102A22-22P 247.8 V U Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 73 BC41168* 7. HG-SR SERIES Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-05-F0BBCF-S 1/5 110 36 HPG-50A-11-F0BBDF-S 1/11 108 38 Output [kW] HG-SR502G5 HG-SR5024G5 5.0 Mass [kg] [Unit: mm] Motor plate Caution plate 53+0.5 - 0.8 45 16 13 122 6×22.5°(=135°) (Note)* 165h8 47H7 0. 5 Top C Bottom Top 163 Bottom 140.9 Top 170 Bottom 13 Encoder connector CMV1-R10P 0 19 0 10 Top 50.9 Bottom 129 Caution plate 22 .5° 327.5 25 63 38.5 Motor plate (Opposite side) 12.5 Caution plate 176 For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range) (PE) W Key 24.8 Power supply connector MS3102A22-22P 82 263.8 V U Power supply connector Motor flange direction BC41169* Note. * is a screw hole for eyebolt (M8). Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702G5 HG-SR7024G5 7.0 HPG-50A-05-F0BBCF-S 1/5 161 43 [Unit: mm] Motor plate Caution plate 25 63 45 16 13 12.5 6×22.5°(=135°) 122 165h8 (Note)* 47H7 0. 5 C Top 163 Bottom Top 170 Bottom 50.9 Top 149.1 Bottom Top 0 19 0 10 Bottom 129 Caution plate 22 .5° 53+0.5 - 0.8 367.5 Motor plate (Opposite side) Caution plate 38.5 176 For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range) 13 Encoder connector CMV1-R10P 82 Power supply connector MS3102A32-17P (PE) Key W 32 295.8 V U Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 74 BC41170* 7. HG-SR SERIES 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] HG-SR52BG5 HG-SR524BG5 0.5 Reduction ratio Reducer model HPG-20A-05-F0KSAWS-S 1/5 HPG-20A-11-F0KSAXS-S 1/11 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 10.1 9.5 10.0 9.7 8.5 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 248 43.5 Motor plate Caution plate 25 Motor plate (Opposite side) 60 10 8 effective range) 60° 6-M6 Screw hole depth 10 Caution plate Top Bottom Top Top 112.5 Top 79.9 50.9 Bottom Bottom 29 13.5 58 13 59 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P C 0. 5 Caution plate Bottom 20.9 152.8 Key Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR52BG5 HG-SR524BG5 0.5 Reducer model Reduction ratio HPG-32A-21-F0MCSYS-S 1/21 HPG-32A-33-F0MCSZS-S 1/33 HPG-32A-45-F0MCSZS-S 1/45 (PE) W Main key position mark Power supply connector MS3102A18-10P U Power supply connector Motor flange direction Brake static friction torque [N•m] BC41225* Mass [kg] Moment of inertia J [× 10-4 kg•m2] 12.4 8.5 14 12.2 12.2 [Unit: mm] For forward rotation command Rotation direction For forward rotation command 43.5 Motor plate 35 +0.4 - 0.5 260 Motor plate (Opposite side) 54.5 effective range) Caution plate Caution plate 39.5 13 13 6-M8 Screw hole depth 12 60° 45° Bottom 112.5 29 Bottom Top Top 79.9 50.9 Top Top Bottom 13.5 58 Encoder connector CMV1-R10P C 0. 5 Caution plate Bottom 13 59 20.9 Electromagnetic brake connector CMV1-R2P 164.8 Power supply connector MS3102A18-10P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 75 W (PE) Key U V Power supply connector Motor flange direction BC41226* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102BG5 HG-SR1024BG5 1.0 HPG-20A-05-F0KSAWS-S 1/5 8.5 14.5 11 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 262 43.5 Motor plate 25 Motor plate (Opposite side) 10 60 8 effective range) 6-M6 Screw hole depth 10 Caution plate Caution plate 60° 45° Bottom Bottom Top Top 112.5 79.9 50.9 Top Top Bottom 29 13.5 58 Encoder connector CMV1-R10P C 0. 5 Caution plate Bottom 13 59 20.9 Electromagnetic brake connector CMV1-R2P 166.8 Power supply connector MS3102A18-10P Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR102BG5 HG-SR1024BG5 1.0 Reducer model Reduction ratio HPG-32A-11-F0MCSPS-S 1/11 HPG-32A-21-F0MCSYS-S 1/21 (PE) Key W Main key position mark U Power supply connector Motor flange direction Brake static friction torque [N•m] BC41227* Mass [kg] Moment of inertia J [× 10-4 kg•m2] 17.1 8.5 15 16.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5 274 5( 32H7 effective range) 6-M8 Screw hole depth 12 112.5 29 13.5 58 Bottom Top Top 13 Encoder connector 59 CMV1-R10P Electromagnetic brake connector CMV1-R2P 84 Bottom 45° 60 115h7 Top 79.9 50.9 Bottom Top 60° 4- 11 5 13 32h7 Caution plate Caution plate Bottom 130 120 114 Caution plate Motor plate (Opposite side) 39.5 13 13 118 Motor plate 54.5 C 0. 5 43.5 20.9 178.8 Main key position mark Power supply connector MS3102A18-10P Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 76 (PE) W Key V U Power supply connector Motor flange direction BC41228* 7. HG-SR SERIES Model Output [kW] HG-SR102BG5 HG-SR1024BG5 1.5 Reducer model Reduction ratio HPG-50A-33-F0AABC-S 1/33 HPG-50A-45-F0AABC-S 1/45 Brake static friction torque [N•m] Mass [kg] Moment of inertia J [× 10-4 kg•m2] 18.5 8.5 25 18.4 [Unit: mm] 53+0.5 - 0.8 290 □130 43.5 Caution plate 107 Motor plate (Opposite side) 112.5 Top φ122 φ165h8 Bottom Top φ170 Bottom C 0. 5 φ47H7 Top 79.9 50.9 Bottom Top 6×22.5°(=135°) Caution plate Caution plate Bottom 16 13 φ163 Motor plate For reverse rotation command Rotation direction For forward rotation command 4-φ14 □170 14-M8 Screw hole depth 12 45° .5° 7(φ47H7 effective range) 22 90 φ1 φ1 00 13 59 13.5 58 29 20.9 Encoder connector CMV1-R10P 194.8 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P (PE) W Main key position mark Key Electromagnetic brake V U Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction BC41229A Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152BG5 HG-SR1524BG5 1.5 HPG-20A-05-F0KSAWS-S 1/5 8.5 18.9 13 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 276 43.5 Motor plate 25 60 10 Motor plate (Opposite side Caution plate Caution plate 8 effective range) 6-M6 Screw hole depth 10 60° 45° Bottom Bottom Top Top 112.5 79.9 50.9 Top Top Bottom Encoder connector CMV1-R10P 29 13.5 58 C 0. 5 Caution plate Bottom 13 59 Electromagnetic brake connector CMV1-R2P 20.9 180.8 Power supply connector MS3102A18-10P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 77 (PE) W Key V U Power supply connector Motor flange direction BC41230* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152BG5 HG-SR1524BG5 1.5 HPG-32A-11-F0MCSPS-S 1/11 8.5 21.5 16 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5 288 43.5 Motor plate Caution plate 54.5 Motor plate (Opposite side) 39.5 13 13 effective range) 6-M8 Screw hole depth 12 Caution plate 60° 45° Top Bottom Top Top 112.5 Bottom 13.5 29 58 79.9 50.9 Bottom Top 13 Encoder connector 59 CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P C 0. 5 Caution plate Bottom 20.9 192.8 Electromagnetic brake Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR152BG5 HG-SR1524BG5 1.5 Reducer model Reduction ratio HPG-50A-21-F0AABC-S 1/21 HPG-50A-33-F0AABC-S 1/33 HPG-50A-45-F0AABC-S 1/45 (PE) W Main key position mark Key V U Power supply connector Motor flange direction Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] BC41231* Mass [kg] 23.9 8.5 22.9 26 22.8 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 53+0.5 - 0.8 304 43.5 Caution plate 107 Motor plate (Opposite side) 16 13 14-M8 Screw hole depth 12 effective range) Bottom Top Bottom Top 79.9 50.9 Top 112.5 Top C 0. 5 Bottom 45° Caution plate Caution plate Bottom .5 ° 22 6×22.5°(=135°) Motor plate 13 59 29 13.5 58 Encoder connector CMV1-R10P 20.9 208.8 Main key position mark Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 78 W (PE) Key V U Power supply connector Motor flange direction BC41232* 7. HG-SR SERIES Model Output [kW] HG-SR202BG5 HG-SR2024BG5 2.0 Reduction ratio Reducer model HGP-32A-05-F0PBZI-S 1/5 HGP-32A-11-F0PBZJ-S 1/11 Brake static friction torque [N•m] Mass [kg] Moment of inertia J [× 10-4 kg•m2] 61.1 44 25 60.9 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5 317 Motor plate 25 45.5 Motor plate (Opposite side) Caution plate Caution plate 91 13 13 effective range) 6-M8 Screw hole depth 12 12.5 Top Bottom Bottom Top Top 140.9 96.9 50.9 Bottom Top 82 (Note)* 13 66.5 Encoder connector CMV1-R10P 44 C 0. 5 Caution plate Bottom 45° 60° 24.8 Electromagnetic brake connector CMV1-R2P 203.8 Power supply connector MS3102A22-22P (PE) Key W Main key position mark Electromagnetic brake V U Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction BC41233* Note. * is a screw hole for eyebolt (M8). Model Output [kW] HG-SR202BG5 HG-SR2024BG5 2.0 Reducer model Reduction ratio HPG-50A-21-F0BBDF-S 1/21 HPG-50A-33-F0BBDF-S 1/33 HPG-50A-45-F0BBDF-S 1/45 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 62.9 44 61.9 35 61.9 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate Caution plate 53+0.5 - 0.8 45 16 14-M8 Screw hole depth 12 13 effective range) 44 82 0. 5 Top C Bottom Top 96.9 50.9 Top Bottom 140.9 Top Bottom 6×22.5°(=135°) Caution plate Bottom 13 Encoder connector 66.5 CMV1-R10P Electromagnetic brake connector CMV1-R2P (Note)* 45° 22 .5° 337 Motor plate 25 63 (Opposite side) 12.5 Caution plate 45.5 24.8 223.8 Power supply connector MS3102A22-22P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 79 W (PE) Key U V Power supply connector Motor flange direction BC41234* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352BG5 HG-SR3524BG5 3.5 HPG-32A-05-F0PBZI-S 1/5 44 92.8 30 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate 35 +0.4 - 0.5 341 Motor plate (Opposite side) Caution plate 45.5 Caution plate 25 91 13 13 effective range 6-M8 Screw hole depth 12 12.5 Top Bottom Bottom Top Top 140.9 96.9 50.9 Bottom Top 44 82 13 66.5 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P C 0. 5 Caution plate Bottom 45° 60° (Note)* 24.8 227.8 Power supply connector MS3102A22-22P (PE) Key W Main key position mark Electromagnetic brake V Electromagnetic brake connector Motor flange direction U Power supply connector Motor flange direction BC41235* Note. * is a screw hole for eyebolt (M8). Model Output [kW] HG-SR352BG5 HG-SR3524BG5 3.5 Reducer model Reduction ratio HPG-50A-11-F0BBDF-S 1/11 HPG-50A-21-F0BBDF-S 1/21 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 96.3 44 94.6 Mass [kg] 40 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 53+0.5 - 0.8 361 Caution plate 25 63 12.5 45 16 13 14-M8 Screw hole depth 12 effective range) Bottom Top Top 0. 5 Bottom Top 140.9 Top 96.9 50.9 C Bottom 6×22.5°(=135°) Caution plate Bottom Encoder connector CMV1-R10P 44 82 (Note)* 45° 22 .5° Motor plate 45.5 Motor plate (Opposite side) Caution plate 13 66.5 Electromagnetic brake connector CMV1-R2P 24.8 247.8 Power supply connector MS3102A22-22P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 80 (PE) Key W V U Power supply connector Motor flange direction BC41236* 7. HG-SR SERIES Model Output [kW] HG-SR502BG5 HG-SR5024BG5 5.0 Reduction ratio Reducer model HPG-50A-05-F0BBCF-S 1/5 HPG-50A-11-F0BBDF-S 1/11 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 119 42 117 44 44 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate Caution plate Motor plate (Opposite side) 25 63 45 16 12.5 Caution plate 53+0.5 - 0.8 13 14-M8 Screw hole depth 12 effective range) Top 82 (Note)* 13 66.5 Encoder connector CMV1-R10P 44 C 0. 5 Bottom Top 96.9 50.9 Top Bottom 140.9 Top Bottom 6×22.5°(=135°) Caution plate Bottom 45° 22 .5 ° 377 45.5 24.8 Electromagnetic brake connector CMV1-R2P 263.8 Power supply connector MS3102A22-22P (PE) Key W Main key position mark Electromagnetic brake V Electromagnetic brake connector Motor flange direction U Power supply connector Motor flange direction BC41237* Note. * is a screw hole for eyebolt (M8). Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702BG5 HG-SR7024BG5 7.0 HPG-50A-05-F0BBCF-S 1/5 44 171 49 [Unit: mm] 149.1 Bottom Bottom Top Top (Note)* 22 .5° 6×22.5°(=135°) Top φ122 φ165h8 Bottom 90 φ1 00 φ1 Top 96.9 50.9 Bottom φ129 Caution plate 63 12.5 φ47H7 25 C 0. 5 Caution plate Motor plate (Opposite side Caution plate φ163 Motor plate 45.5 φ170 417 □176 For reverse rotation command Rotation direction For forward rotation command 4-φ14 53 +0.5 □180 - 0.8 □170 45 16 13 14-M8 Screw hole depth 12 7(φ47H7 effective range) 45° 13 66.5 44 Encoder connector CMV1-R10P 32 82 Electromagnetic brake connector CMV1-R2P 295.8 Main key position mark Power supply connector MS3102A32-17P Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 81 (PE) W Key V U Power supply connector Motor flange direction BC41238A 7. HG-SR SERIES 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-20A-05-J2KSAWS-S 1/5 7.95 8.0 HPG-20A-11-J2KSAXS-S 1/11 7.82 8.2 Output [kW] HG-SR52G7 HG-SR524G7 0.5 Mass [kg] [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Caution plate Motor plate 42 45° Top Bottom Bottom Top Top 4 0. R 112.5 Top 10 27 8 60 Caution plate Bottom 50.9 Bottom 80 213.5 25 38.2 Motor plate (Opposite side) Caution plate (PE) W 13 13.5 58 Model Key Encoder connector CMV1-R10P 20.9 152.8 Power supply connector MS3102A18-10P 0.5 BC41171* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-32A-21-J2MCSYS-S 1/21 10.2 HPG-32A-33-J2MCSZS-S 1/33 9.96 HPG-32A-45-J2MCSZS-S 1/45 9.96 Output [kW] HG-SR52G7 HG-SR524G7 V U Power supply connector Motor flange direction Mass [kg] 13 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133 225.5 38.2 Motor plate (Opposite side) Bottom Bottom Top Top 82 45 ° Bottom Top R 0. 4 112.5 Top 35 13 Caution plate 50.9 Bottom 39.5 13 Caution plate Caution plate Motor plate 54.5 13 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P W (PE) Key 20.9 164.8 V U Power supply connector Motor flange direction 7 - 82 BC41172* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102G7 HG-SR1024G7 1.0 HPG-20A-05-J2KSAWS-S 1/5 12.3 9.4 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 80 227.5 38.2 Caution plate Motor plate 25 Motor plate (Opposite side) 60 10 27 8 42 45° Caution plate Caution plate Top Top Bottom Bottom Top Top 4 0. R 50.9 Bottom 112.5 Bottom Key Encoder connector CMV1-R10P 13.5 58 20.9 166.8 Power supply connector MS3102A18-10P Model Output [kW] HG-SR102G7 HG-SR1024G7 1.0 (PE) W 13 V U Power supply connector Motor flange direction BC41173* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-32A-11-J2MCSPS-S 1/11 15.0 HPG-32A-21-J2MCSYS-S 1/21 14.5 Mass [kg] 15 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 239.5 38.2 Caution plate 133 54.5 Motor plate (Opposite side) 39.5 13 35 13 82 45 Caution plate ° Motor plate Caution plate Top Top Bottom Bottom Top Top 4 0. R 50.9 Bottom 112.5 Bottom W 13 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P (PE) Key 20.9 178.8 V U Power supply connector Motor flange direction 7 - 83 BC41174* 7. HG-SR SERIES Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-33-J2AABC-S 1/33 16.3 HPG-50A-45-J2AABC-S 1/45 16.3 Output [kW] HG-SR102G7 HG-SR1024G7 1.0 Mass [kg] 26 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 255.5 38.2 Caution plate Motor plate 156 107 Motor plate (Opposite side) 16 53 82 45° 13 Caution plate Caution plate Top Top Bottom Bottom Top Top 4 0. R 50.9 Bottom 112.5 Bottom 13 58 (PE) W Encoder connector CMV1-R10P 13.5 20.9 Key 194.8 Power supply connector MS3102A18-10P V U Power supply connector Motor flange direction BC41175* Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G7 HG-SR1524G7 1.5 HPG-20A-05-J2KSAWS-S 1/5 16.7 11 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 80 241.5 38.2 Caution plate Motor plate 25 Motor plate (Opposite side) 60 10 27 8 42 45° Caution plate Caution plate Top Bottom Bottom Top Top 4 0. R 50.9 Bottom Top 112.5 Bottom W 13 13.5 58 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P (PE) Key 20.9 180.8 7 - 84 U V Power supply connector Motor flange direction BC41176* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152G7 HG-SR1524G7 1.5 HPG-32A-11-J2MCSPS-S 1/11 19.4 16 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 253.5 38.2 Caution plate 133 54.5 Motor plate (Opposite side) 39.5 13 82 35 13 45° Caution plate Motor plate Caution plate Bottom Top Top Bottom Bottom Top Top R0 50.9 Bottom 112.5 .4 13 58 Key Encoder connector CMV1-R10P 13.5 (PE) W 20.9 192.8 Power supply connector MS3102A18-10P V U Power supply connector Motor flange direction Model Output [kW] HG-SR152G7 HG-SR1524G7 1.5 BC41177* Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-21-J2AABC-S 1/21 21.7 HPG-50A-33-J2AABC-S 1/33 20.7 HPG-50A-45-J2AABC-S 1/45 20.7 Mass [kg] 27 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 269.5 38.2 Caution plate Motor plate 156 107 Motor plate (Opposite side) 16 53 82 45° 13 Caution plate Caution plate Top Top Bottom Bottom Top Top 4 0. R 50.9 Bottom 112.5 Bottom 13 Encoder connector 13.5 CMV1-R10P 58 Power supply connector MS3102A18-10P (PE) W 20.9 Key 208.8 V U Power supply connector Motor flange direction 7 - 85 BC41178* 7. HG-SR SERIES Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-32A-05-J2PBZI-S 1/5 51.7 20 HPG-32A-11-J2PBZJ-S 1/11 51.3 21 Output [kW] HG-SR202G7 HG-SR2024G7 2.0 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 267.5 38.5 Motor plate 25 91 12.5 (Opposite side) Caution plate Caution plate Motor plate 133 13 35 13 82 Caution plate Bottom Top Bottom Bottom Top Top 4 0. R 140.9 Top 50.9 Bottom (Note)* (PE) Key W 13 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P 82 24.8 V 203.8 U Power supply connector Motor flange direction BC41179* Note. * is a screw hole for eyebolt (M8). Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-21-J2BBDF-S 1/21 53.3 HPG-50A-33-J2BBDF-S 1/33 52.2 HPG-50A-45-J2BBDF-S 1/45 52.2 Output [kW] HG-SR202G7 HG-SR2024G7 2.0 Mass [kg] 32 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate 287.5 38.5 Motor plate 25 63 (Opposite side) 12.5 Caution plate Caution plate 156 45 16 53 82 13 Caution plate Top Bottom Bottom Top Top 4 0. R 50.9 Bottom Top 140.9 Bottom (Note)* 13 (PE) Key W Encoder connector CMV1-R10P 24.8 82 Power supply connector MS3102A22-22P 223.8 V U Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 86 BC41180* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352G7 HG-SR3524G7 3.5 HPG-32A-05-J2PBZI-S 1/5 83.5 25 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command Motor plate 133 291.5 25 38.5 Motor plate 91 (Opposite side) 12.5 Caution plate Caution plate 13 35 13 82 Caution plate Bottom Top Bottom Top Bottom Top 4 0. R 140.9 Top 50.9 Bottom Encoder connector CMV1-R10P 24.8 Power supply connector MS3102A22-22P 82 (PE) Key W (Note)* 13 227.8 U V Power supply connector Motor flange direction BC41181* Note. * is a screw hole for eyebolt (M8). Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] HPG-50A-11-J2BBDF-S 1/11 87.0 HPG-50A-21-J2BBDF-S 1/21 85.1 Output [kW] HG-SR352G7 HG-SR3524G7 3.5 Mass [kg] 37 [Unit: mm] 311.5 25 63 38.5 Motor plate (Opposite side) 12.5 Caution plate 176 Motor plate Caution plate For reverse rotation command Rotation direction For forward rotation command 4- 14 180 170 156 45 16 53 13 82 45° 165h8 122 56 Top 0 19 50h7 Top 163 Bottom 170 Bottom 4 0. R 140.9 Top Bottom Top 50.9 Bottom 129 Caution plate (Note)* 13 ncoder connector CMV1-R10P W (PE) Key 24.8 82 Power supply connector MS3102A22-22P 247.8 V U Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 87 BC41182* 7. HG-SR SERIES Model Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HPG-50A-05-J2BBCF-S 1/5 111 39 HPG-50A-11-J2BBDF-S 1/11 108 41 Output [kW] HG-SR502G7 HG-SR5024G7 5.0 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 327.5 25 38.5 Motor plate 63 (Opposite side) 12.5 Caution plate Caution plate Motor plate 156 45 16 53 13 82 Caution plate Top Bottom Top Bottom Bottom Top Top R 50.9 Bottom 140.9 4 0. (Note)* 13 Encoder connector CMV1-R10P (PE) Key W 24.8 Power supply connector MS3102A22-22P 82 263.8 V U Power supply connector Motor flange direction BC41183* Note. * is a screw hole for eyebolt (M8). Model Output [kW] Reducer model Reduction ratio Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702G7 HG-SR7024G7 7.0 HPG-50A-05-J2BBCF-S 1/5 163 46 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156 367.5 38.5 Motor plate (Opposite side) Caution plate Caution plate Motor plate 25 63 12.5 45 16 53 82 13 Caution plate Bottom Top Bottom Bottom Top Top R 4 0. 149.1 Top 50.9 Bottom (Note)* 13 Encoder connector CMV1-R10P 82 Power supply connector MS3102A32-17P W (PE) Key 32 295.8 U V Power supply connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 88 BC41184* 7. HG-SR SERIES 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] HG-SR52BG7 HG-SR524BG7 0.5 Reduction ratio Reducer model HPG-20A-05-J2KSAWS-S 1/5 HPG-20A-11-J2KSAXS-S 1/11 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 10.2 9.9 10.0 11 8.5 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 43.5 Motor plate 248 Motor plate (Opposite side) 80 25 60 10 27 8 42 45° Caution plate Caution plate Caution plate Bottom Top 29 13.5 58 Bottom Bottom Top Top 4 0. R 112.5 Top 79.9 50.9 Bottom 13 59 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P 20.9 152.8 Main key position mark Power supply connector MS3102A18-10P Electromagnetic brake V Electromagnetic brake connector Motor flange direction Model Output [kW] HG-SR52BG7 HG-SR524BG7 0.5 Reducer model Reduction ratio HPG-32A-21-J2MCSYS-S 1/21 HPG-32A-33-J2MCSZS-S 1/33 HPG-32A-45-J2MCSZS-S 1/45 Brake static friction torque [N•m] (PE) Key W U Power supply connector Motor flange direction BC41239* Mass [kg] Moment of inertia J [× 10-4 kg•m2] 12.4 12.2 8.5 15 12.2 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 43.5 Motor plate 260 Motor plate (Opposite side) 133 54.5 39.5 13 35 13 82 45° Caution plate Caution plate Caution plate Bottom Top Bottom Bottom Top Top 4 0. R 112.5 Top 79.9 50.9 Bottom 13 59 29 13.5 58 Encoder connector CMV1-R10P 20.9 164.8 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 89 W (PE) Key V U Power supply connector Motor flange direction BC41240* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR102BG7 HG-SR1024BG7 1.0 HPG-20A-05-J2KSAWS-S 1/5 8.5 14.5 12 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 262 43.5 Motor plate 80 25 Motor plate (Opposite side) 60 10 42 8 27 45° Caution plate Caution plate Caution plate Top Top Bottom Bottom Top Top 4 0. R 79.9 50.9 Bottom 112.5 Bottom 13 Encoder connector CMV1-R10P 29 13.5 58 59 20.9 Electromagnetic brake connector CMV1-R2P 166.8 Main key position mark Power supply connector MS3102A18-10P Electromagnetic brake Output [kW] HG-SR102BG7 HG-SR1024BG7 1.0 Reducer model Reduction ratio HPG-32A-11-J2MCSPS-S 1/11 HPG-32A-21-J2MCSYS-S 1/21 (PE) Key V U Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction Model W Brake static friction torque [N•m] BC41241* Mass [kg] Moment of inertia J [× 10-4 kg•m2] 17.2 8.5 17 16.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133 274 43.5 Motor plate 54.5 Motor plate (Opposite side) 39.5 13 35 13 130 120 82 45 Caution plate Caution plate 44 84 115h7 4 0. R 79.9 50.9 Top ° 5 13 40h7 114 Bottom Bottom Top 112.5 Top Bottom Top 118 Caution plate Bottom 4- 11 13 59 29 13.5 58 Encoder connector CMV1-R10P 20.9 178.8 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 90 W (PE) Key V U Power supply connector Motor flange direction BC41242* 7. HG-SR SERIES Model Output [kW] HG-SR102BG7 HG-SR1024BG7 1.0 Reducer model Reduction ratio HPG-50A-33-J2AABC-S 1/33 HPG-50A-45-J2AABC-S 1/45 Brake static friction torque [N•m] Mass [kg] Moment of inertia J [× 10-4 kg•m2] 18.5 8.5 28 18.5 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156 290 Motor plate 43.5 Caution plate 107 Motor plate (Opposite side) 16 82 53 45° 13 Caution plate Caution plate Bottom Top Bottom Top 4 0. R 112.5 Top Bottom Top 79.9 50.9 Bottom 13 59 29 13.5 58 20.9 Encoder connector CMV1-R10P 194.8 Electromagnetic brake connector CMV1-R2P Main key position mark Power supply connector MS3102A18-10P Electromagnetic brake Key V Electromagnetic brake connector Motor flange direction (PE) W U Power supply connector Motor flange direction BC41243* Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152BG7 HG-SR1524BG7 1.5 HPG-20A-05-J2KSAWS-S 1/5 8.5 18.9 13 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 276 43.5 Motor plate 80 25 Motor plate (Opposite side) 60 10 27 8 42 45° Caution plate Caution plate Caution plate Bottom Top Top 50.9 Bottom 4 0. R 112.5 Top Bottom Top 79.9 Bottom 13 59 29 13.5 58 Encoder connector CMV1-R10P 20.9 180.8 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 91 W (PE) Key V U Power supply connector Motor flange direction BC41244* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR152BG7 HG-SR1524BG7 1.5 HPG-32A-11-J2MCSPS-S 1/11 8.5 21.6 18 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133 288 43.5 Motor plate Caution plate 39.5 13 35 13 54.5 Motor plate (Opposite side) 82 45° Caution plate Caution plate Bottom Top Top Bottom Bottom Top Top 112.5 4 0. R 79.9 50.9 Bottom 13 59 29 13.5 58 20.9 Encoder connector CMV1-R10P 192.8 Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Output [kW] HG-SR152BG7 HG-SR1524BG7 1.5 Key Electromagnetic brake V Reducer model Reduction ratio HPG-50A-21-J2AABC-S 1/21 HPG-50A-33-J2AABC-S 1/33 HPG-50A-45-J2AABC-S 1/45 U Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction Model (PE) W Main key position mark Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] BC41245* Mass [kg] 23.9 22.9 8.5 29 22.9 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 304 Motor plate 43.5 Caution plate 156 107 Motor plate (Opposite side) 16 53 82 45° 13 Caution plate Caution plate Bottom Bottom Top Top 4 0. R 112.5 Top Bottom Top 79.9 50.9 Bottom 13 59 29 13.5 58 20.9 Encoder connector CMV1-R10P 208.8 Main key position mark Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Electromagnetic brake Electromagnetic brake connector Motor flange direction 7 - 92 W (PE) Key U V Power supply connector Motor flange direction BC41246* 7. HG-SR SERIES Model Output [kW] HG-SR202BG7 HG-SR2024BG7 2.0 Reduction ratio Reducer model HPG-32A-05-J2PBZI-S 1/5 HPG-32A-11-J2PBZJ-S 1/11 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 61.4 26 61.0 27 44 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 317 Motor plate (Opposite side) Caution plate 45.5 Motor plate Caution plate 133 25 91 12.5 13 35 13 82 45° Caution plate Bottom 140.9 Top 4 0. R 96.9 Top Bottom Top Bottom Top 50.9 Bottom (Note)* Encoder connector CMV1-R10P 44 82 13 66.5 24.8 Electromagnetic brake connector CMV1-R2P 203.8 Power supply connector MS3102A22-22P (PE) Key W Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction V U Power supply connector Motor flange direction BC41247* Note. * is a screw hole for eyebolt (M8). Model Output [kW] HG-SR202BG7 HG-SR2024BG7 2.0 Reducer model Reduction ratio HPG-50A-21-J2BBDF-S 1/21 HPG-50A-33-J2BBDF-S 1/33 HPG-50A-45-J2BBDF-S 1/45 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 63.0 44 61.9 38 61.9 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 45.5 Motor plate Caution plate 337 Motor plate 25 63 (Opposite side) 12.5 Caution plate 156 45 16 53 82 13 45° Caution plate Bottom Top Top Encoder connector CMV1-R10P 44 82 4 0. R 50.9 Bottom Top 140.9 Top Bottom 96.9 Bottom (Note)* 13 66.5 Electromagnetic brake connector CMV1-R2P 24.8 223.8 Power supply connector MS3102A22-22P Main key position mark Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 93 (PE) Key W V U Power supply connector Motor flange direction BC41248* 7. HG-SR SERIES Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR352BG7 HG-SR3524BG7 3.5 HPG-32A-05-J2PBZI-S 1/5 44 93.1 31 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 341 Motor plate 133 45.5 Motor plate (Opposite side) Caution plate Caution plate 25 13 35 13 91 12.5 82 45° Caution plate Bottom Top Bottom Bottom Top Top 4 0. R 140.9 Top 96.9 50.9 Bottom (Note)* 13 66.5 Encoder connector CMV1-R10P 44 82 Electromagnetic brake connector CMV1-R2P 24.8 227.8 Power supply connector MS3102A22-22P (PE) W Main key position mark Key Electromagnetic brake V Electromagnetic brake connector Motor flange direction U Power supply connector Motor flange direction BC41249* Note. * is a screw hole for eyebolt (M8). Model Output [kW] HG-SR352BG7 HG-SR3524BG7 3.5 Reducer model Reduction ratio HPG-50A-11-J2BBDF-S 1/11 HPG-50A-21-J2BBDF-S 1/21 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 96.6 44 94.7 Mass [kg] 43 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156 361 45.5 Motor plate Caution plate Motor plate (Opposite side) Caution plate 25 63 12.5 45 16 53 13 82 45° Caution plate Bottom Top Bottom Top Bottom Encoder connector CMV1-R10P 44 82 Top 4 0. R 140.9 Top 96.9 50.9 Bottom (Note)* 13 66.5 Electromagnetic brake connector CMV1-R2P 24.8 247.8 Main key position mark Power supply connector MS3102A22-22P Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 94 (PE) Key W V U Power supply connector Motor flange direction BC41250* 7. HG-SR SERIES Model Output [kW] HG-SR502BG7 HG-SR5024BG7 5.0 Reduction ratio Reducer model HPG-50A-05-J2BBCF-S 1/5 HPG-50A-11-J2BBDF-S 1/11 Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] 44 Mass [kg] 121 45 117 47 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156 377 45.5 Motor plate 25 Motor plate (Opposite side) Caution plate Caution plate 63 12.5 45 16 53 82 13 45° Caution plate Top 4 0. 140.9 Bottom Top R 96.9 Top Bottom Bottom Top 50.9 Bottom (Note)* 13 66.5 Encoder connector CMV1-R10P 44 82 24.8 263.8 Electromagnetic brake connector CMV1-R2P (PE) W Main key position mark Key Power supply connector MS3102A22-22P Electromagnetic brake U V Power supply connector Motor flange direction Electromagnetic brake connector Motor flange direction BC41251* Note. * is a screw hole for eyebolt (M8). Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-SR702BG7 HG-SR7024BG7 7.0 HPG-50A-05-J2BBCF-S 1/5 44 173 52 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156 417 45.5 Motor plate Caution plate Motor plate (Opposite side) 25 63 45 16 12.5 Caution plate 53 82 13 Caution plate Bottom Bottom Top Top 4 0. R 149.1 Top Bottom Top 96.9 50.9 Bottom (Note)* 13 66.5 44 82 Encoder connector CMV1-R10P 32 295.8 Electromagnetic brake connector CMV1-R2P Main key position mark Power supply connector MS3102A32-17P (PE) Key W C B Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. * is a screw hole for eyebolt (M8). 7 - 95 V D A U Power supply connector Motor flange direction BC41252* 7. HG-SR SERIES MEMO 7 - 96 8. HG-JR SERIES 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 characteristics. When using the HGJR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 8.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG- JR5 3 4BK W0C Appearance Special specification Symbol Special specification Series Rated output None Standard Symbol Rated output [kW] (Note 2) 5 0.5 W0C Servo motor with functional safety 7 0.75 Shaft type 10 1 Symbol Shaft shape 15 1.5 20 2 None Standard (straight shaft) 35 3.5 K (Note 1) Keyway shaft 50 5 60 6 70 7 80 8 90 9 11K 11 12K 12 15K 15 20K 20 22K 22 25K 25 30K 30 1 1000 37K 37 1M 1500 45K 45 3 3000 55K 55 Electromagnetic brake Symbol Electromagnetic brake None B None With Power supply voltage of servo amplifier Symbol Voltage None 4 3-phase 200 V AC to 240 V AC 3-phase 380 V AC to 480 V AC Rated speed Symbol Note 1. Key is not included. 2. Refer to section 1.5 for details. 8- 1 Speed [r/min] 8. HG-JR SERIES 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 Standard HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 HG-JR503 HG-JR703 HG-JR903 MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-11KB-RJ020 Servo amplifier MR-J4 1-axis When the maximum torque is 400% (Note) MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4W2-77B MR-J4W2-77B MR-J4W2-1010B MR-J4W2-1010B MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020 Note. The maximum torque can be increased to 400% by changing the servo amplifier. 8- 2 Standard MR-J4 2-axis When the maximum torque is 400% (Note) MR-J4W2-1010B 8. HG-JR SERIES (b) 1500 r/min series Servo motor HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M Servo amplifier Drive unit MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-11KB-RJ020 MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-15KB-RJ020 MR-J4-22KA MR-J4-22KA-RJ MR-J4-22KB MR-J4-22KB-RJ MR-J4-22KB-RJ010 MR-J4-22KB-RJ020 HG-JR30K1M MR-J4-DU30KA MR-J4-DU30KA-RJ MR-J4-DU30KB MR-J4-DU30KB-RJ HG-JR37K1M MR-J4-DU37KA MR-J4-DU37KA-RJ MR-J4-DU37KB MR-J4-DU37KB-RJ 8- 3 8. HG-JR SERIES (c) 1000 r/min series Servo motor HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 8- 4 Servo amplifier Drive unit MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-22KA MR-J4-22KA-RJ MR-J4-22KB MR-J4-22KB-RJ MR-J4-22KB-RJ010 MR-J4-22KB-RJ020 MR-J4-DU30KA MR-J4-DU30KA-RJ MR-J4-DU30KB MR-J4-DU30KB-RJ MR-J4-DU37KA MR-J4-DU37KA-RJ MR-J4-DU37KB MR-J4-DU37KB-RJ 8. HG-JR SERIES (2) Compatible with 3-phase 400 V AC (a) 3000 r/min series Servo amplifier Servo motor HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 Standard When the maximum torque is 400% (Note) MR-J4-60A4 MR-J4-60A4-RJ MR-J4-60B4 MR-J4-60B4-RJ MR-J4-60B4-RJ010 MR-J4-60B4-RJ020 MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020 MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020 MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020 MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020 MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020 MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020 MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020 MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020 Note. The maximum torque can be increased to 400% by changing the servo amplifier. 8- 5 Servo motor HG-JR7034 HG-JR9034 Servo amplifier MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-11KB4-RJ020 8. HG-JR SERIES (b) 1500 r/min series Servo motor HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 Servo amplifier Drive unit MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-11KB4-RJ020 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ010 MR-J4-15KB4-RJ020 MR-J4-22KA4 MR-J4-22KA4-RJ MR-J4-22KB4 MR-J4-22KB4-RJ MR-J4-22KB4-RJ010 MR-J4-22KB4-RJ020 HG-JR30K1M4 MR-J4-DU30KA4 MR-J4-DU30KA4-RJ MR-J4-DU30KB4 MR-J4-DU30KB4-RJ HG-JR37K1M4 MR-J4-DU37KA4 MR-J4-DU37KA4-RJ MR-J4-DU37KB4 MR-J4-DU37KB4-RJ HG-JR45K1M4 MR-J4-DU45KA4 MR-J4-DU45KA4-RJ MR-J4-DU45KB4 MR-J4-DU45KB4-RJ HG-JR55K1M4 MR-J4-DU55KA4 MR-J4-DU55KA4-RJ MR-J4-DU55KB4 MR-J4-DU55KB4-RJ 8- 6 8. HG-JR SERIES (c) 1000 r/min series Servo motor HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 8- 7 Servo amplifier Drive unit MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ010 MR-J4-22KA4 MR-J4-22KA4-RJ MR-J4-22KB4 MR-J4-22KB4-RJ MR-J4-22KB4-RJ010 MR-J4-DU30KA4 MR-J4-DU30KA4-RJ MR-J4-DU30KB4 MR-J4-DU30KB4-RJ MR-J4-DU37KA4 MR-J4-DU37KA4-RJ MR-J4-DU37KB4 MR-J4-DU37KB4-RJ 8. HG-JR SERIES 8.3 Standard specifications 8.3.1 Standard specifications list Servo motor 53(B) Item Power supply capacity Continuous running duty (Note 1) Rated output (Note 8) Rated torque (Note 8) [kW] [N•m] Maximum torque (Note 8) [N•m] Rated speed (Note 1) [r/min] Maximum speed [r/min] Instantaneous permissible speed [r/min] Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current (Note 8) [A] Maximum current (Note 8) [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) 12.5 22.0 32.2 53.1 74.8 3.0 5.6 5.6 11 11 9.0 (12) 1.52 17 (23) 2.09 17 (23) 2.65 32 (43) 3.79 2.02 2.59 3.15 4.29 93.9 125 27 34 41 32 (43) 4.92 17 (18) 51 (71) 13.2 81 (108) 19.0 103 134 43.3 55.8 5.42 15.4 21.2 52.9 65.4 3.0 4.4 5.1 Ambience Altitude Vibration resistance (Note 5) Vibration rank (Note 6) Mass 119 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 X: 24.5 m/s 2 X, Y: 24.5 m/s 2 Y: 29.4 m/s V10 40 55 79 323 980 2450 284 490 980 3.7 4.5 5.9 7.5 13 18 29 36 Operation Ambient temperature Storage Operation Ambient humidity Storage L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 71.6 10 times or less Oil seal Insulation class Structure Permissible load for the shaft (Note 7) 903(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.3 5.0 7.0 9.0 0.5 0.75 1.0 1.5 2.0 (3.5) 10.5 15.9 22.3 28.6 1.6 2.4 3.2 4.8 6.4 (11.1) 4.8 7.2 9.6 14.3 19.1 32.0 47.7 66.8 85.8 (6.4) (9.6) (12.7) (19.1) (25.5) (44.6) (63.7) 3000 6000 5000 6900 5750 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147 Speed/position detector Environment (Note 4) HG-JR 3000 r/min series (Compatible with 3-phase 200 V AC, low inertia/medium capacity) 73(B) 103(B) 153(B) 203(B) 353(B) 503(B) 703(B) 8- 8 5.9 7.3 8.9 15 20 35 42 8. HG-JR SERIES Servo motor Item Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4) Ambience Altitude Vibration resistance (Note 5) 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 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 7.0 11 15 22 30 37 44.6 70.0 95.5 140 191 236 134 210 286 420 573 707 1500 3000 2500 3450 2875 113 223 289 401 582 726 101 204 271 34 111 176 61 200 220 76 246 315 196 240 336 Mass 151 561 764 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling Totally-enclosed, force-cooled (IP rating: IP67 (Note 3)) (IP rating: IP44 (Note 3)) 0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 85 2450 116 2940 53 980 62 86 65 74 97 120 140 3234 1470 145 165 3-phase 200 V AC to 240 V AC 50 Hz/60 Hz Voltage/ Frequency Cooling fan 139 479 627 10 times or less Vibration rank (Note 6) Permissible load for the shaft (Note 7) 99 315 489 Power Power supply consumption [W] Rated current [A] 65 (50 Hz)/85 (60 Hz) 0.20 (50 Hz)/0.22 (60 Hz) 8- 9 8. HG-JR SERIES Servo motor 601(B) Item Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4) Ambience Altitude Vibration resistance (Note 5) HG-JR 1000 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 801(B) 12K1(B) 15K1 20K1 25K1 30K1 167 243 394 31 108 176 47 165 220 60 208 315 196 240 336 67 231 489 Mass Cooling fan 94 318 627 95 313 764 121 399 1377 152 495 1637 10 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooled natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s Vibration rank (Note 6) Permissible load for the shaft (Note 7) 37K1 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 6.0 8.0 12 15 20 25 30 37 57.3 76.4 115 143 191 239 286 353 172 229 345 429 573 717 858 1059 1000 2000 1500 2300 1725 187 265 420 418 582 748 594 761 2 X, Y: 9.8 m/s 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] Voltage/ Frequency Power Power supply consumption [W] Rated current 85 2450 116 2940 53 980 62 86 65 74 97 120 140 3234 1470 145 140 4900 1960 165 215 240 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz [A] 8 - 10 65 (50 Hz)/85 (60 Hz) 120 (50 Hz)/ 175 (60 Hz) 0.20 (50 Hz)/0.22 (60 Hz) 0.39 (50 Hz)/ 0.52 (60 Hz) 8. HG-JR SERIES Servo motor Item Power supply capacity Continuous running duty (Note 1) Rated output (Note 8) Rated torque (Note 8) [kW] [N•m] Maximum torque (Note 8) [N•m] Rated speed (Note 1) [r/min] Maximum speed [r/min] Instantaneous permissible speed [r/min] Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current (Note 8) [A] Maximum current (Note 8) [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) 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) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.3 5.0 7.0 9.0 0.5 0.75 1.0 1.5 2.0 (3.5) 10.5 15.9 22.3 28.6 1.6 2.4 3.2 4.8 6.4 (11.1) 4.8 7.2 9.6 14.3 19.1 32.0 47.7 66.8 85.8 (6.4) (9.6) (12.7) (19.1) (25.5) (44.6) (63.7) 3000 6000 5000 6900 5750 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147 12.5 22.0 32.2 53.1 74.8 1.5 2.8 2.8 5.4 5.4 4.5 (6.0) 1.52 8.4 (12) 2.09 8.4 (12) 2.65 17 (22) 3.79 2.02 2.59 3.15 4.29 14 17 21 17 (22) 4.92 8.3 (8.8) 26 (36) 13.2 41 (54) 19.0 52 67 43.3 55.8 5.42 15.4 21.2 52.9 65.4 4.4 5.1 Ambience Altitude Vibration resistance (Note 5) Vibration rank (Note 6) Mass 125 3.0 Operation Ambient temperature Storage Operation Ambient humidity Storage L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 93.9 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 X: 24.5 m/s 2 X, Y: 24.5 m/s 2 Y: 29.4 m/s V10 40 55 79 323 980 2450 284 490 980 3.7 4.5 5.9 7.5 13 18 29 36 Oil seal Insulation class Structure Permissible load for the shaft (Note 7) 119 10 times or less Speed/position detector Environment (Note 4) 71.6 8 - 11 5.9 7.3 8.9 15 20 35 42 8. HG-JR SERIES Servo motor 701M4 (B) Item Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4) Ambience Altitude Vibration resistance (Note 5) HG-JR 1500 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 11K1M4 15K1M4 22K1M4 30K1M4 37K1M4 45K1M4 55K1M4 (B) (B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 7.0 11 15 22 30 37 45 55 44.6 70.0 95.5 140 191 236 286 350 134 210 286 420 573 707 859 1050 1500 3000 2500 3450 2875 113 223 289 401 582 726 596 749 101 204 271 17 56 176 31 100 220 38 123 315 196 240 336 50 170 489 Mass 85 288 1377 110 357 1637 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooling natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s 2 X, Y: 9.8 m/s 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 85 2450 116 2940 53 980 62 86 65 74 97 Voltage/ Frequency Cooling fan 79 263 764 10 times or less Vibration rank (Note 6) Permissible load for the shaft (Note 7) 68 235 627 Power supply Power consumption [W] Rated current [A] 8 - 12 120 140 3234 1470 145 140 4900 1960 165 215 240 3-phase 380 V AC to 480 V AC 50 Hz/60 Hz 3-phase 380 V AC to 460 V AC 50 Hz/60 Hz 65 (50 Hz)/85 (60 Hz) 110 (50 Hz)/ 150 (60 Hz) 0.12 (50 Hz)/0.14 (60 Hz) 0.20 (50 Hz)/ 0.22 (60 Hz) 8. HG-JR SERIES Servo motor 6014(B) Item Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4) Ambience Altitude Vibration resistance (Note 5) HG-JR 1000 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 8014(B) 12K14(B) 15K14 20K14 25K14 30K14 167 243 394 16 54 176 23 80 220 30 104 315 196 240 336 33 114 489 Mass 48 160 764 60 202 1377 76 248 1637 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooling natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s 2 X, Y: 9.8 m/s 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 85 2450 116 2940 53 980 62 86 65 74 97 Voltage/ Frequency Cooling fan 47 161 627 10 times or less Vibration rank (Note 6) Permissible load for the shaft (Note 7) 37K14 Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 6.0 8.0 12 15 20 25 30 37 57.3 76.4 115 143 191 239 286 353 172 229 345 429 573 717 858 1059 1000 2000 1500 2300 1725 187 265 420 418 582 748 594 761 Power supply Power consumption [W] Rated current [A] 8 - 13 120 140 3234 1470 145 140 4900 1960 165 215 240 3-phase 380 V AC to 480 V AC 50 Hz/60 Hz 3-phase 380 V AC to 460 V AC 50 Hz/60 Hz 65 (50 Hz)/85 (60 Hz) 110 (50 Hz)/ 150 (60 Hz) 0.12 (50 Hz)/0.14 (60 Hz) 0.20 (50 Hz)/ 0.22 (60 Hz) 8. HG-JR SERIES 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. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m] the vibration to about half of the permissible value. Servo motor X Y Vibration 1000 100 10 0 1000 2000 3000 4000 5000 6000 7000 Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 8. Values in parentheses are at the maximum torque of 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations. 8 - 14 8. HG-JR SERIES 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 machine should be kept at 70% or less of the rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-JR53 and HG-JR73 support 1-phase power supply input. (a) 3000 r/min series Short-duration running range 6 Short-duration running range 2 Continuous running range 3000 0 0 1000 5000 6000 Speed [r/min] [HG-JR353] (Note 4) 3 Continuous running range 3000 5000 6000 [HG-JR703] Short-duration running range Continuous running range 0 0 1000 Speed [r/min] 3000 12 4 5000 6000 Speed [r/min] Short-duration running range Continuous running range 0 0 1000 3000 5000 6000 Speed [r/min] [HG-JR903] 90 70 (Note 4) 9 20 80 Torque [N•m] Torque [N•m] 70 30 20 5000 6000 [HG-JR503] 45 40 3000 Short-duration running range 0 0 1000 Speed [r/min] (Note 4) 15 Short-duration running range 50 30 Short-duration running range 50 30 Short-duration running range 10 Torque [N•m] 0 0 1000 2 Continuous running range 28 (Note 4) 10 6 [HG-JR203] 20 (Note 4) Torque [N•m] Torque [N•m] Torque [N•m] 4 [HG-JR153] 14 (Note 4) 6 2 [HG-JR103] 10 Torque [N•m] [HG-JR73] (Note 4) Torque [N•m] 7 Torque [N•m] [HG-JR53] 60 40 Short-duration running range 20 Continuous running range 0 0 1000 3000 5000 6000 Speed [r/min] 10 Continuous running range 0 0 1000 3000 10 5000 6000 Speed [r/min] 0 0 Continuous running range 1000 2000 3000 4000 5000 Speed [r/min] Continuous running range 0 0 1000 2000 3000 4000 5000 Speed [r/min] Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations. 8 - 15 8. HG-JR SERIES (b) 1500 r/min series [HG-JR11K1M] 180 [HG-JR22K1M] [HG-JR15K1M] 250 300 100 1000 Short-duration running range 100 300 200 100 Continuous running range 0 0 200 Torque [N•m] 60 Torque [N•m] Torque [N•m] Torque [N•m] Short-duration running range Short-duration running range Continuous running range 2000 0 0 3000 Speed [r/min] 1000 2000 Speed [r/min] Continuous running range 0 0 3000 600 400 200 120 [HG-JR30K1M] 500 350 1000 2000 Speed [r/min] 0 0 3000 Torque [N•m] [HG-JR701M] Short-duration running range 400 Short-duration running range 200 Continuous running range Continuous running range 1000 0 0 2000 2500 Speed [r/min] 1000 2000 2500 Speed [r/min] [HG-JR37K1M] 800 Torque [N•m] 600 400 Short-duration running range 200 Continuous running range 0 0 1000 2000 2500 Speed [r/min] (c) 1000 r/min series [HG-JR601] [HG-JR801] 180 [HG-JR12K1] 300 [HG-JR15K1] 400 [HG-JR20K1] 450 600 Short-duration running range 100 200 Short-duration running range 300 0 0 500 1000 1500 Speed [r/min] 0 0 2000 [HG-JR25K1] 500 1000 1500 Speed [r/min] [HG-JR30K1] Short-duration running range Short-duration running range 300 2000 500 1000 1500 0 0 500 1000 Speed [r/min] 600 Short-duration running range 300 Continuous running range Continuous running range Speed [r/min] Torque [N•m] Torque [N•m] Torque [N•m] 1500 900 600 200 0 0 1000 Speed [r/min] 1200 600 400 500 [HG-JR37K1] 900 800 0 0 2000 Continuous running range 1500 0 0 500 1000 Speed [r/min] 8 - 16 400 1500 0 0 500 1000 Speed [r/min] Short-duration running range 200 Continuous running range Continuous running range Continuous running range Short-duration running range 150 100 Continuous running range Torque [N•m] 60 200 Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] Torque [N•m] 300 120 Continuous running range 1500 0 0 500 1000 Speed [r/min] 1500 8. HG-JR SERIES (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 indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is indicated by the thin line. (a) 3000 r/min series Short-duration running range 3000 5000 6000 [HG-JR3534] 5000 6000 [HG-JR5034] 70 (Note 4) 15 6 Short-duration running range 2 Continuous running range 3000 3 5000 6000 [HG-JR7034] Short-duration running range Continuous running range 0 0 1000 Speed [r/min] 3000 20 12 4 5000 6000 Speed [r/min] Short-duration running range Continuous running range 0 0 1000 3000 5000 6000 Speed [r/min] [HG-JR9034] [H 70 (Note 4) 9 (Note 4) 90 30 Short-duration running range 50 30 Short-duration running range 50 30 Short-duration running range Torque [N•m] 80 Torque [N•m] Torque [N•m] 3000 28 (Note 4) 10 0 0 1000 Speed [r/min] 45 20 Continuous running range 0 0 1000 Speed [r/min] 40 Short-duration running range 2 Continuous running range 0 0 1000 6 [HG-JR2034] 20 (Note 4) Torque [N•m] Torque [N•m] Torque [N•m] 4 [HG-JR1534] 14 (Note 4) 6 2 [HG-JR1034] 10 Torque [N•m] [HG-JR734] (Note 4) Torque [N•m] 7 Torque [N•m] [HG-JR534] 60 40 Short-duration running range 20 10 Continuous running range 0 0 1000 3000 5000 6000 Speed [r/min] 10 Continuous running range 0 0 1000 3000 10 5000 6000 Speed [r/min] 0 0 Continuous running range 1000 2000 3000 4000 5000 Speed [r/min] Continuous running range 0 0 1000 2000 3000 4000 5000 Speed [r/min] Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations. 8 - 17 8. HG-JR SERIES (b) 1500 r/min series [HG-JR11K1M4] 180 [HG-JR22K1M4] [HG-JR15K1M4] 300 100 1000 2000 0 0 3000 [HG-JR37K1M4] 100 1000 2000 Speed [r/min] Continuous running range 0 0 3000 [HG-JR45K1M4] 800 300 200 1000 2000 Speed [r/min] 0 0 3000 Short-duration running range 400 200 Continuous running range Continuous running range 1000 Short-duration running range 0 0 2000 2500 Speed [r/min] 1000 2000 2500 Speed [r/min] [HG-JR55K1M4] 900 1200 Short-duration running range 600 0 0 2000 2500 Speed [r/min] 1000 600 Short-duration running range 300 Continuous running range Continuous running range 1000 Short-duration running range 300 200 0 0 Torque [N•m] 900 Torque [N•m] 600 Torque [N•m] Short-duration running range Continuous running range Speed [r/min] 400 200 100 Continuous running range 0 0 Torque [N•m] 60 Torque [N•m] Torque [N•m] Torque [N•m] Short-duration running range Short-duration running range 600 400 200 120 [HG-JR30K1M4] 500 350 250 Torque [N•m] [HG-JR701M4] Continuous running range 0 0 2000 2500 Speed [r/min] 1000 2000 2500 Speed [r/min] (c) 1000 r/min series [HG-JR6014] [HG-JR8014] 180 [HG-JR12K14] 300 [HG-JR15K14] 400 [HG-JR20K14] 450 600 Short-duration running range 100 200 Short-duration running range 300 500 1000 1500 Speed [r/min] 0 0 2000 [HG-JR25K14] Torque [N•m] Torque [N•m] 1500 Short-duration running range 600 500 1000 Speed [r/min] 1500 0 0 1000 1500 Speed [r/min] 2000 1200 900 Short-duration running range 500 1000 Speed [r/min] 600 Short-duration running range 300 Continuous running range Continuous running range 500 [HG-JR37K14] 300 200 0 0 2000 900 600 0 0 1000 Speed [r/min] [HG-JR30K14] 800 400 500 Torque [N•m] 0 0 Continuous running range 1500 0 0 500 1000 Speed [r/min] 8 - 18 400 1500 0 0 500 1000 Speed [r/min] Short-duration running range 200 Continuous running range Continuous running range Continuous running range Short-duration running range 150 100 Continuous running range Torque [N•m] 60 200 Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] Torque [N•m] 300 120 Continuous running range 1500 0 0 500 1000 Speed [r/min] 1500 8. HG-JR SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. 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. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. HG-JR series Servo motor 53(4)B 73(4)B 103(4)B 153(4)B 203(4)B Item Type (Note 1) 703(4)B 903(4)B Spring actuated type safety brake 0 24 V DC -10% Rated voltage (Note 4) Power consumption [W] at 20 °C Coil resistance (Note 6) [Ω] Inductance (Note 6) [H] Brake static friction torque [N•m] Release delay time (Note 2) [s] Braking delay time (Note 2) [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed voltage 125 V Selection example of surge absorbers to be used (Note 7) For the suppressed voltage 350 V 353(4)B 503(4)B 601(4)B 801(4)B 12K1(4)B 701M(4)B 11K1M(4)B 15K1M(4)B 11.7 49 0.37 6.6 0.09 0.03 64 640 23 25 0.25 16 0.12 0.03 400 4000 34 16.8 1.10 44 0.1 0.03 4500 45000 32 18.2 0.73 126 0.5 0.2 5000 45200 0.01 to 0.8 0.01 to 0.6 0.2 to 0.6 0.01 to 0.6 5000 5000 20000 20000 64 400 1000 400 (Note 8) TND20V-680KB (Note 8) TND10V-221KB Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 8 - 19 8. HG-JR SERIES 8.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key) Servo motor HG-JR_(4)(B)K K Variable dimension table S R Q HG-JR53(4)(B)K HG-JR73(4)(B)K HG-JR103(4)(B)K HG-JR153(4)(B)K HG-JR203(4)(B)K 16h6 40 30 0 5 -0.030 25 HG-JR353(4)(B)K HG-JR503(4)(B)K 28h6 55 50 0 8 -0.036 HG-JR703(4)(B)K HG-JR903(4)(B)K 35 +0.010 0 79 75 42h6 85 55m6 Y 2 3 +0.1 0 2.5 M4 screw hole depth 15 36 5 4 +0.2 0 4 0 10 -0.036 55 5 5 +0.2 0 5 79 0 12 -0.040 70 5 5 +0.2 0 6 116 110 0 16 -0.040 90 5 6 +0.2 0 8 M10 screw hole depth 27 65m6 140 130 0 18 -0.040 120 5 7 +0.2 0 9 M12 screw hole depth 25 80m6 140 140 0 22 -0.040 132 7 9 +0.2 0 11 M16 screw hole depth 30 M8 screw hole depth 20 M8 screw hole depth 20 M8 screw hole depth 19.8 R R QK U QL Q A A r Y A QK A QL Shaft section view A-A Figure A Figure B Key shaft (without key) 8 - 20 U r φS Q S HG-JR801(4)(B)K HG-JR12K1(4)(B)K HG-JR11K1M(4)(B)K HG-JR15K1M(4)(B)K HG-JR15K1(4)K HG-JR20K1(4)K HG-JR25K1(4)K HG-JR22K1M(4)K HG-JR30K1M(4)K HG-JR37K1M(4)K HG-JR30K1(4)K HG-JR37K1(4)K HG-JR45K1M4K HG-JR55K1M4K r W HG-JR601(4)(B)K HG-JR701M(4)(B)K Figure U W Servo motor [Unit: mm] Variable dimensions W QK QL Y Shaft section view A-A A B 8. HG-JR SERIES 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 level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal Oil level h [mm] Servo motor HG-JR53(4)(B) HG-JR73(4)(B) HG-JR103(4)(B) HG-JR153(4)(B) HG-JR203(4)(B) HG-JR353(4)(B) HG-JR503(4)(B) HG-JR703(4)(B) HG-JR903(4)(B) HG-JR601(4)(B) HG-JR801(4)(B) HG-JR12K1(4)(B) HG-JR701M(4)(B) HG-JR11K1M(4)(B) HG-JR15K1M(4)(B) HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR30K1(4) HG-JR37K1(4) HG-JR45K1M4 HG-JR55K1M4 18 20 25 40 50 55 8.7 Cooling fan For the servo motor with a cooling fan, leave the following distance between the servo motor's suction face and the wall. Servo motor HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 Distance L [mm] L or more Servo motor Cooling fan Intake 150 8 - 21 8. HG-JR SERIES 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 tolerances are general tolerance. 8.8.1 Terminal box detail diagram HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) POINT The terminal box of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the terminal box detail diagram before change. [Unit: mm] Power supply terminal block: M10 screw (3) Approx. 89 Keep plate Approx. 55 Keep plate: M5 screw (4) Approx. 50 de hole ox si φ80 inal b m T er φ63 (C able g land m K eep p ountin late sid g hole e ) Terminal box lid: M4 screw (10) 8 - 22 Approx. 300 Approx. 247 Protective earth (PE) terminal: M10 screw (2) 8. HG-JR SERIES 8.8.2 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 0.5 1.52 3.0 HG-JR53 HG-JR534 [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. Caution plate Caution plate □90 40 7.5 5 18 φ1 Motor plate 127.5 Motor plate (Opposite side) 38.2 4.5 Caution plate φ1 00 Bottom Bottom Top Top Top φ80h7 Bottom Top 50.9 Bottom φ41 φ16h6 30 45° 93.8 Oil seal 76 from the flange surface 35° Power supply connector MS3102A18-10P .8 21 V W 36 B A 16 10.6 Encoder connector CMV1-R10P .2 42 25.7 13 8 - 23 U Key C D (PE) Power connector viewed from the connection side BC42604* BC42615* 8. HG-JR SERIES Model HG-JR73 HG-JR734 Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 0.75 2.09 3.7 [Unit: mm] Caution plate 40 7.5 5 4.5 Caution plate φ1 00 Bottom Bottom Bottom Top Top Top 50.9 Bottom φ41 φ16h6 30 Top 45° φ80h7 Caution plate 145.5 Motor plate (Opposite side) 18 φ1 Motor plate 38.2 4-φ6.6 mounting hole Use hexagon socket head cap screw. □90 93.8 Oil seal 94 from the flange surface 35° 25.7 13 .8 21 V W 16 36 10.6 Encoder connector CMV1-R10P .2 42 Power supply connector MS3102A18-10P 8 - 24 B A C D (PE) U Key Power connector viewed from the connection side BC42605* BC42616* 8. HG-JR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1.0 2.65 4.5 HG-JR103 HG-JR1034 [Unit: mm] Caution plate 40 7.5 5 4.5 Caution plate φ1 00 Bottom Bottom Top Top Top 50.9 Bottom Top φ41 φ16h6 30 Bottom 45° φ80h7 Caution plate 163.5 Motor plate (Opposite side) 18 φ1 Motor plate 38.2 4-φ6.6 mounting hole Use hexagon socket head cap screw. □90 93.8 Oil seal 112 from the flange surface 35° 25.7 13 .8 21 16 36 10.6 Encoder connector CMV1-R10P .2 42 Power supply connector MS3102A18-10P 8 - 25 V W B A C D (PE) U Key Power connector viewed from the connection side BC42606* BC42617* 8. HG-JR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1.5 3.79 5.9 HG-JR153 HG-JR1534 [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 199.5 40 7.5 φ1 30 Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ41 φ16h6 Caution plate 4.5 45° 18 Motor plate (Opposite side) φ1 Caution plate Motor plate □90 5 00 φ80h7 38.2 Caution plate 93.8 Oil seal 148 from the flange surface 35° 25.7 13 .2 42 Power supply connector MS3102A18-10P V .8 21 Encoder connector CMV1-R10P W 36 16 B A C D 10.6 (PE) U Key Power connector viewed from the connection side Model BC42607* BC42618* Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 2.0 4.92 7.5 HG-JR203 HG-JR2034 [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 235.5 7.5 4.5 Bottom Bottom Top Top Top φ41 Bottom Top 50.9 Bottom 45° φ80h7 φ1 00 30 φ16h6 Caution plate Motor plate (Opposite side) 18 Caution plate 5 φ1 Motor plate □90 40 38.2 Caution plate 93.8 Oil seal 184 from the flange surface V W B A C D 16 36 .8 21 Encoder connector CMV1-R10P .2 42 25.7 13 10.6 35° Power supply connector MS3102A18-10P 8 - 26 (PE) U Key Power connector viewed from the connection side BC42608* BC42619* 8. HG-JR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR353 3.5 13.2 13 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 213 □130 55 38.2 12 3 45° 50 Caution plate Caution plate φ1 65 φ28h6 Caution plate Bottom Bottom Bottom Top Top Top Top 116.8 95.8 50.9 Bottom φ110h7 Motor plate Motor plate (Opposite side) Oil seal φ1 45 13 V 15.5 34 71 Encoder connector CMV1-R10P W 80 B A 228 Power supply connector MS3102A22-22P C D (PE) U Key Power connector viewed from the connection side BC42609* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR3534 3.5 13.2 13 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 213 □130 55 38.2 12 3 45° 50 Motor plate (Opposite side) Caution plate Caution plate φ1 65 φ28h6 Caution plate Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ110h7 Motor plate φ1 45 114.8 Oil seal 161 from the flange surface 25.7 35° .2 42 Power supply connector MS3102A18-10P 13.1 36 V 13.5 .8 21 13 Encoder connector CMV1-R10P 8 - 27 W B A C D (PE) U Key Power connector viewed from the connection side BC42620* 8. HG-JR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR503 5.0 19.0 18 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 267 □130 55 38.2 12 3 45° 50 Caution plate Caution plate Motor plate (Opposite side) φ1 65 Bottom Bottom Bottom Top Top Top Top 116.8 95.8 50.9 Bottom φ110h7 φ28h6 Caution plate Oil seal 13 V 15.5 34 71 Encoder connector CMV1-R10P W B A 80 φ1 45 Motor plate C D 282 (PE) U Key Power connector viewed from the connection side Power supply connector MS3102A22-22P BC42610* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR5034 5.0 19.0 18 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 267 □130 55 38.2 12 3 45° 50 Caution plate φ1 65 φ28h6 Caution plate Bottom Bottom Bottom Top Top Top 50.9 Bottom Top φ110h7 Motor plate Motor plate (Opposite side) Caution plate φ1 45 114.8 Oil seal 215 from the flange surface 25.7 35° .2 42 Power supply connector MS3102A18-10P 13.5 36 V 13.1 .8 21 13 Encoder connector CMV1-R10P 8 - 28 W B A C D (PE) U Key Power connector viewed from the connection side BC42621* 8. HG-JR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 7.0 43.3 29 HG-JR703 HG-JR7034 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 263.5 Caution plate Bottom Top 0 Bottom Top φ114.3 -0.025 Top 50.9 Bottom 75 (Note) *2 (Note) *2 Bottom 45° 3 (Note) *4 Caution plate (Note) *4 Top Caution plate □176 79 18 Motor plate (Opposite side) φ35 +0.010 0 Motor plate 38.5 0 φ20 Oil seal (Note) *1 163.3 13 30 133.5 φ2 (Note) *1 (Note) *3 (Note) *3 V W B A 28.5 Encoder connector CMV1-R10P (PE) U Key Power connector viewed from the connection side 92.1 285.4 Power supply connector MS3102A32-17P C D 44 102.3 BC42611* BC42622* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 9.0 55.8 36 HG-JR903 HG-JR9034 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 303.5 Caution plate 18 45° 3 75 (Note) *4 Bottom Top Top 0 Bottom Top 50.9 Bottom φ114.3 -0.025 (Note) *2 (Note) *2 Top □176 79 Motor plate (Opposite side) Caution plate (Note) *4 Bottom Caution plate φ35 +0.010 0 Motor plate 38.5 Oil seal (Note) *1 0 φ20 163.3 133.5 13 (Note) *3 V W B A 28.5 Encoder connector CMV1-R10P 30 φ2 (Note) *1 (Note) *3 92.1 Power supply connector MS3102A32-17P 325.4 Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). 8 - 29 C D (PE) U Key Power connector viewed from the connection side 44 102.3 BC42612* BC42623* 8. HG-JR SERIES Model Output [kW] HG-JR601 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 176 53 6 HG-JR6014 HG-JR701M 7 HG-JR701M4 [Unit: mm] Motor plate (Opposite side) 85 Caution plate 299.5 40 Motor plate 20 □220 4 ° 37.5 79 Caution plate 45° 2-M8 screw (Note) *1,*2 φ42h6 25 Caution plate Bottom Bottom Top Top 81 Top Bottom Top (Note) *4 4-φ13.5 mounting hole Use hexagon socket head cap screw. φ27 0 35 φ2 M8 screw Oil seal (Note) *3 (Note) *3,*4 171.1 Bottom φ200h7 (Note) *2 50 φ2 (Note) *1 19.5 (PE) Key W Encoder connector MS3102A20-29P 32 Power supply connector MS3102A32-17P 225.5 C D B A 4 82 V U Power supply connector Motor flange direction BC43502* BC43503* BC43504* BC43505* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). Model Output [kW] HG-JR801 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 220 62 8 HG-JR8014 HG-JR11K1M 11 HG-JR11K1M4 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 339.5 Motor plate Caution plate 110 20 Caution plate (Note) *4 φ55m6 Bottom Bottom Top Top φ200h7 Top 27 81 Top 45° 50 φ2 Caution plate Bottom ° 2-M8 screw (Note) *2 Bottom 37.5 4 (Note) *1,*2 (Note) *1 □220 116 Motor plate (Opposite side) M10 screw (Note) *3 φ 27 0 35 φ2 171.1 40 Oil seal (Note) *3,*4 19.5 Encoder connector MS3102A20-29P Power supply connector MS3102A32-17P (PE) Key W C B 32 D 4 A 265.5 82 V U Power supply connector Motor flange direction BC42613A BC42624A BC43498* BC43499* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). 8 - 30 8. HG-JR SERIES Model HG-JR12K1 HG-JR12K14 HG-JR15K1M HG-JR15K1M4 Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 315 86 12 15 [Unit: mm] 2-M8 screw 116 40 Motor plate 20 (Opposite side) Caution plate 4 Caution plate Bottom Bottom Bottom Top Top Top Top 81 Bottom (Note) *4 27 M10 screw (Note) *3 45° 50 φ2 (Note) *2 φ55m6 (Note) *1,*2 (Note) *1 ° 37.5 φ200h7 Caution plate □220 110 φ27 0 φ2 35 171.1 439.5 Motor plate 4-φ13.5 mounting hole Use hexagon socket head cap screw. Oil seal (Note) *3,*4 19.5 Encoder connector MS3102A20-29P (PE) Key W C B 32 Power supply connector MS3102A32-17P 365.5 V D A 4 U Power supply connector Motor flange direction 82 BC42614A BC42625A BC43500* BC43501* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). 8 - 31 8. HG-JR SERIES Model Output [kW] HG-JR15K1 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 489 120 15 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. [Unit: mm] Caution plate Motor plate Top Cooling fan connector CE05-2A14S-2P Power lead hole Encoder connector MS3102A20-29P 133 150 Approx. 2 Approx. 42 Top Bottom Bottom Eyebolt (Note 2, 3) 476 300 65 140 φ63 140 174 229 129 35 Motor plate/ Caution plate 5 □250 (Flange) 247 62 62 45° Exhaust (Note 1) *1 (Note 1) *1,*2 (Note 1) *3,*4 φ230h7 (Note 1) *2 φ65m6 130 33 Approx. 8 181 Bottom 174 163 220 Top Intake 125 Cooling fan rotation direction φ3 30 (Note 1) *3 4-φ24 mounting hole Use hexagon socket head cap screw. 65 φ2 (Note 1) *4 M12 screw Key Oil seal To be left open BU BW BV Cooling fan connector Motor flange direction BC41678* BC41679* BC43641* BC43642* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less. 8 - 32 8. HG-JR SERIES Model Output [kW] HG-JR20K1 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 627 145 20 HG-JR20K14 HG-JR30K1M 30 HG-JR30K1M4 [Unit: mm] Top Top Bottom Approx. 2 Approx. 42 538 65 300 140 φ63 Encoder connector MS3102A20-29P 236 291 181 35 (Note 1) *1 5 4-φ24 mounting hole Use hexagon socket head cap screw. 130 33 Approx. 8 (Note 1) *1,*2 Caution plate □250 (Flange) 247 62 62 45° Bottom 174 163 220 Motor plate/ Caution plate Exhaust Top (Note 1) *2 Motor plate 140 Intake 125 Cooling fan rotation direction Bottom (Note 1) *3,*4 181 150 Power lead hole φ230h7 133 Eyebolt (Note 2, 3) φ65m6 Cooling fan connector CE05-2A14S-2P φ3 30 (Note 1) *3 65 φ2 (Note 1) *4 M12 screw Key Oil seal To be left open BU BW BV Cooling fan connector Motor flange direction BC41680* BC41681* BC43643* BC43644* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less. 8 - 33 8. HG-JR SERIES Model Output [kW] HG-JR25K1 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 764 165 25 HG-JR25K14 HG-JR37K1M 37 HG-JR37K1M4 [Unit: mm] Caution plate Motor plate Top Power lead hole 150 Encoder connector MS3102A20-29P 35 Exhaust Bottom (Note 1) *2 (Note 1) *1 247 62 62 5 45° 4-φ24 mounting hole Use hexagon socket head cap screw. (Note 1) *3,*4 (Note 1) *1,*2 Top Bottom □250 (Flange) 130 33 Approx. 8 174 163 220 Top Intake 125 Cooling fan rotation direction φ63 140 298 353 224 Motor plate/Caution plate φ3 30 181 133 300 65 140 φ230h7 600 Approx. 2 Approx. 42 Bottom Eyebolt (Note 2, 3) φ65m6 Cooling fan connector CE05-2A14S-2P (Note 1) *3 65 φ2 (Note 1) *4 M12 screw Oil seal Key To be left open BU BW BV Cooling fan connector Motor flange direction BC41682* BC41683* BC43645* BC43646* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less. 8 - 34 8. HG-JR SERIES Model Output [kW] HG-JR30K1 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1377 215 30 HG-JR30K14 HG-JR45K1M4 45 [Unit: mm] Motor plate Caution plate Top Top Bottom Bottom Cooling fan connector CE05-2A14S-2P 305 133 Approx. 25 Approx. 65 150 Power lead hole 65 300 140 600 Eyebolt (Note 2, 3) 140 275 330 215 φ63 Motor plate/Caution plate 35 5 □280 (Flange) 247 45 80 80 ° Oil seal 4-φ24 mounting hole Use hexagon socket head cap screw. Exhaust φ80m6 140 Intake (Note 1) *3,*4 (Note 1) *1,*2 φ250h7 (Note 1) *1 147 (Note 1) *2 210 M16 screw Bottom 202 192 250 Top Cooling fan rotation direction φ3 70 (Note 1) *3 0 φ3 0 (Note 1) *4 Approx. 9 39 Encoder connector MS3102A20-29P Key To be left open BU BW BV Cooling fan connector Motor flange direction BC41684* BC41685* BC43647* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M16). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M16 × 20 or less. 8 - 35 8. HG-JR SERIES Model Output [kW] HG-JR37K1 Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1637 240 37 HG-JR37K14 HG-JR55K1M4 55 [Unit: mm] Motor plate Top Approx. 25 Approx. 65 150 Encoder connector MS3102A20-29P Top Bottom Bottom 140 339 394 Eyebolt (Note 2, 3) 253 Motor plate/Caution plate Oil seal 35 5 Exhaust Top (Note 1) *2 (Note 1) *1 140 Intake (Note 1) *3,*4 (Note 1) *1,*2 Caution plate □280 (Flange) 247 45 80 80 ° M16 screw Bottom 202 192 250 147 Cooling fan rotation direction Approx. 9 39 210 305 133 Power lead hole 664 300 65 140 φ63 φ80m6 φ250h7 Cooling fan connector CE05-2A14S-2P φ3 70 (Note 1) *3 4-φ24 mounting hole Use hexagon socket head cap screw. 00 φ3 (Note 1) *4 Key To be left open BU BW BV Cooling fan connector Motor flange direction BC41686* BC41687* BC43648* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M16). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M16 × 20 or less. 8 - 36 8. HG-JR SERIES 8.8.3 With an electromagnetic brake Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 0.5 6.6 2.02 4.4 HG-JR53B HG-JR534B [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. Motor plate Caution plate □90 40 7.5 5 4.5 30 Caution plate φ1 00 Top Bottom 50.9 Top φ80h7 Top φ41 Bottom 93.8 Oil seal 57.4 76 from the flange surface 35° 13 V W B A 21 C D .8 36 15 16 Encoder connector CMV1-R10P 25.7 Main key position mark .2 42 Power supply connector MS3102A18-10P 66.5 (PE) U Key Electromagnetic brake connector Power connector viewed from the connection side Motor flange direction Electromagnetic brake 10.6 Top Bottom φ16h6 Caution plate Bottom 45° 18 φ1 173 Motor plate (Opposite side) 38 Electromagnetic brake connector CMV1-R2P BC42626* BC42637* 8 - 37 8. HG-JR SERIES Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 0.75 6.6 2.59 5.1 HG-JR73B HG-JR734B [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 191 Motor plate (Opposite side) 38 30 φ1 φ41 Bottom Top 00 50.9 Top 45° φ80h7 φ16h6 Bottom 93.8 Oil seal 57.4 25.7 Main key position mark V W B A .8 21 36 15 16 Encoder connector CMV1-R10P 94 from the flange surface 35° .2 42 Power supply connector MS3102A18-10P 66.5 13 Electromagnetic brake Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side 10.6 Top Bottom Top 4.5 Caution plate Caution plate Bottom 5 18 φ1 Caution plate Motor plate □90 40 7.5 Electromagnetic brake connector CMV1-R2P BC42627* BC42638* 8 - 38 8. HG-JR SERIES Model HG-JR103B HG-JR1034B Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1.0 6.6 3.15 5.9 [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 209 38 Caution plate 5 4.5 30 Caution plate φ1 Top φ80h7 Bottom 00 50.9 Bottom Top 93.8 Oil seal 57.4 112 from the flange surface 35° 25.7 W B A .8 21 C D 16 36 15 Electromagnetic brake connector CMV1-R2P V .2 13 Encoder connector CMV1-R10P Main key position mark 42 Power supply connector MS3102A18-10P 66.5 10.6 Top Bottom Top φ41 Bottom φ16h6 Caution plate 45° 18 φ1 Motor plate □90 40 7.5 Motor plate (Opposite side) Electromagnetic brake Electromagnetic brake connector Motor flange direction (PE) U Key Power connector viewed from the connection side BC42628* BC42639* 8 - 39 8. HG-JR SERIES Model HG-JR153B HG-JR1534B Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 1.5 6.6 4.29 7.3 [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 245 Caution plate Caution plate Bottom Top Top φ41 Bottom 45° 00 50.9 Oil seal 57.4 148 from the flange surface 35° 13 16 36 15 Electromagnetic brake connector CMV1-R2P V W B A .8 21 Encoder connector CMV1-R10P 25.7 Main key position mark .2 42 Power supply connector MS3102A18-10P 66.5 10.6 Top Bottom Top 93.8 Bottom φ1 30 φ16h6 Caution plate 4.5 8 Motor plate (Opposite side) 5 φ80h7 7.5 1 φ1 Motor plate □90 40 38 Electromagnetic brake Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side BC42629* BC42640* 8 - 40 8. HG-JR SERIES Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 2.0 6.6 5.42 8.9 HG-JR203B HG-JR2034B [Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 281 Caution plate Motor plate (Opposite side) Caution plate Bottom Bottom Top Top 45° 50.9 Bottom Top 93.8 Oil seal 57.4 184 from the flange surface 35° 13 25.7 Main key position mark .2 42 Power supply connector MS3102A18-10P 66.5 V W B A C D 21 .8 Electromagnetic brake 36 15 16 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Electromagnetic brake connector Motor flange direction (PE) U Key Power connector viewed from the connection side 10.6 Top φ1 00 30 φ41 Bottom 4.5 φ16h6 Caution plate 5 φ80h7 7.5 18 φ1 Motor plate □90 40 38 BC42630* BC42641* 8 - 41 8. HG-JR SERIES 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 15 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 251.5 Motor plate (Opposite side) 43.5 Caution plate 3 45° 50 Caution plate φ1 65 φ28h6 Caution plate Bottom Top Top Oil seal 13 φ1 45 95.8 Bottom 50.9 Top 79.9 Bottom Top 116.8 Bottom φ110h7 Motor plate □130 55 12 63 29 15.5 34 71 Main key position mark 80 Encoder connector CMV1-R10P V 228 W Power supply connector MS3102A22-22P Electromagnetic brake connector CMV1-R2P B A C D (PE) U Key Electromagnetic brake connector Power connector viewed from the connection side Motor flange direction Electromagnetic brake BC42631* Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-JR3534B 3.5 16 15.4 15 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 251.5 Motor plate Caution plate Caution plate □130 55 Motor plate (Opposite side) 43.5 12 3 45° 50 Caution plate Bottom Bottom Top Top Top 50.9 Bottom 45 Oil seal φ1 79.9 13 .8 21 36 Main key position mark V W B A Electromagnetic brake 29 Encoder connector CMV1-R10P 25.7 .2 42 Power supply connector MS3102A18-10P 161 from the flange surface 35° 13.5 63 13.1 Top 114.8 Bottom φ110h7 φ28h6 φ1 65 Electromagnetic brake connector CMV1-R2P 8 - 42 Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side BC42642* 8. HG-JR SERIES 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 20 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 305.5 □130 55 43.5 12 3 45° 50 Motor plate Caution plate Caution plate Motor plate (Opposite side) φ1 6 Bottom Top Top 50.9 Bottom Top 79.9 Bottom Oil seal 13 45 95.8 Top 116.8 Bottom φ1 63 29 15.5 34 71 5 φ110h7 φ28h6 Caution plate Encoder connector CMV1-R10P Main key position mark 80 V W 282 Power supply connector MS3102A22-22P Electromagnetic brake connector CMV1-R2P B A Electromagnetic brake Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side BC42632* -4 2 Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10 kg•m ] Mass [kg] HG-JR5034B 5.0 16 21.2 20 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 305.5 12 Caution plate Caution plate Motor plate (Opposite side) Caution plate 3 φ28h6 φ1 65 Bottom Bottom Top Top Top 50.9 Bottom Oil seal φ1 45 79.9 63 13 .8 36 29 Electromagnetic brake Electromagnetic brake connector CMV1-R2P V W B A 13.5 21 Encoder connector CMV1-R10P Main key position mark 25.7 .2 42 Power supply connector MS3102A18-10P 215 from the flange surface 35° 13.1 Top 114.8 Bottom 45° 50 φ110h7 Motor plate □130 55 43.5 8 - 43 Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side BC42643* 8. HG-JR SERIES Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 7.0 44 52.9 35 HG-JR703B HG-JR7034B [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 313 Caution plate 18 Motor plate (Opposite side) Caution plate φ35 (Note) *2 Bottom Bottom Bottom Top Top Top Top 13 163.3 Oil seal (Note) *1 0 φ20 30 φ2 133.5 96.9 50.9 Bottom (Note) *3 45° 75 +0.010 0 (Note) *2 (Note) *1 3 (Note) *4 Caution plate (Note) *4 □176 79 45.5 0 φ114.3 -0.025 Motor plate (Note) *3 66.5 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 44 28.5 92.1 44 285.4 Main key position mark 102.3 V W B A Electromagnetic brake Electromagnetic brake connector Motor flange direction C D (PE) U Key Power connector viewed from the connection side BC42633* BC42644* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 9.0 44 65.4 42 HG-JR903B HG-JR9034B [Unit: mm] 353 79 45.5 18 Caution plate Caution plate 3 Motor plate (Opposite side) Caution plate +0.010 0 (Note) *4 (Note) *4 φ35 (Note) *2 (Note) *2 Bottom Bottom Top Top Top 163.3 Oil seal 0 φ20 (Note) *1 30 φ2 (Note) *3 96.9 50.9 Bottom Top 133.5 Bottom (Note) *1 45° 75 0 φ114.3 -0.025 Motor plate 4-φ13.5 mounting hole Use hexagon socket head cap screw. □176 13 (Note) *3 66.5 44 Encoder connector 28.5 CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 92.1 44 325.4 Main key position mark 102.3 V W B A Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). 8 - 44 C D (PE) U Key Power connector viewed from the connection side BC42634* BC42645* 8. HG-JR SERIES Model Output [kW] HG-JR601B Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 126 196 65 6 HG-JR6014B HG-JR701MB 7 HG-JR701M4B [Unit: mm] Motor plate (Opposite side) Caution plate 372 85 40 20 Caution plate ° 37.5 79 Bottom Bottom Top Top (Note) *3 (Note) *4 4-φ13.5 mounting hole Use hexagon socket head cap screw. φ27 0 35 φ2 M8 screw Oil seal 171.1 Top 136.2 81 Bottom Top 25 50 φ2 Bottom (Note) *2 Caution plate φ42h6 (Note) *1,*2 (Note) *1 45° 2-M8 screw φ200h7 Motor plate □220 4 (Note) *3,*4 19.5 130 Encoder connector MS3102A20-29P 32 4 225.5 Electromagnetic brake connector MS3102A10SL-4P Key Power connector MS3102A32-17P (PE) Key W A C D B B A V Electromagnetic brake Electromagnetic brake connector Motor flange direction 54 82 U Power connector Motor flange direction BC43510* BC43511* BC43512* BC43513* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). Model Output [kW] HG-JR801B Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 126 240 74 8 HG-JR8014B HG-JR11K1MB 11 HG-JR11K1M4B [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 412 Motor plate (Opposite side) 40 Motor plate Caution plate □220 116 110 20 ° 37.5 4 Caution plate (Note) *3 Top Top φ 27 0 35 φ2 M10 screw Oil seal 171.1 Top Bottom φ200h7 Top Bottom 136.2 81 Bottom 27 0 Bottom (Note) *4 (Note) *1,*2 (Note) *2 5 φ2 (Note) *1 φ55m6 Caution plate 45° 2-M8 screw (Note) *3,*4 19.5 130 Encoder connector MS3102A20-29P Electromagnetic brake connector MS3102A10SL-4P Power supply connector MS3102A32-17P 32 4 265.5 Key A C D B B A Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). 8 - 45 (PE) Key W V 54 82 U Power supply connector Motor flange direction BC42635A BC42646A BC43506* BC43507* 8. HG-JR SERIES Model Output [kW] HG-JR12K1B HG-JR12K14B HG-JR15K1MB HG-JR15K1M4B Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 126 336 97 12 15 [Unit: mm] 512 40 Top (Note) *4 (Note) *3 27 Bottom Top Top 45° M10 screw φ27 0 35 φ2 Oil seal 171.1 Top Bottom 136.2 81 Bottom (Note) *1,*2 ° 0 Bottom Caution plate φ55m6 (Note) *2 37.5 5 φ2 (Note) *1 Motor plate 20 (Opposite side) Caution plate Caution plate □220 φ200h7 Motor plate 4-φ13.5 mounting hole Use hexagon socket head cap screw. 2-M8 screw 116 110 4 (Note) *3,*4 Encoder connector MS3102A20-29P 19.5 130 32 Electromagnetic brake connector MS3102A10SL-4P Power supply connector MS3102A32-17P 4 365.5 Key (PE) Key W A C B B Electromagnetic brake Electromagnetic brake connector Motor flange direction Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). 8 - 46 54 82 V D A U Power supply connector Motor flange direction BC42636A BC42647A BC43508* BC43509* 9. HG-RR SERIES 9. HG-RR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGRR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 9.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG-RR1 0 3BK Appearance Shaft type Series Rated output Symbol None Symbol Rated output [kW] 10 K Shaft shape Standard (straight shaft) (Note) Keyway shaft 15 1 1.5 20 2 35 3.5 None None 50 5 B With Electromagnetic brake Symbol Electromagnetic brake Rated speed 3000 [r/min] Note. Key is not included. 9.2 Combination list of servo motors and servo amplifiers Servo motor HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 9- 1 Servo amplifier MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 9. HG-RR SERIES 9.3 Standard specifications 9.3.1 Standard specifications list Servo motor Item 103(B) Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) 54.8 101 153 105 163 6.1 18 1.50 8.8 23 1.90 14 37 2.30 23 58 8.30 28 70 12.0 1.85 2.25 2.65 11.8 15.5 5 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Ambience Altitude Vibration resistance (Note 5) X, Y: 24.5 m/s Vibration rank (Note 6) Permissible load for the shaft (Note 7) Mass 503(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 1.0 1.5 2.0 3.5 5.0 3.2 4.8 6.4 11.1 15.9 8.0 11.9 15.9 27.9 39.8 3000 4500 5175 67.4 120 176 150 211 Speed/position detector Environment (Note 4) HG-RR series (ultra-low inertia/medium capacity) 153(B) 203(B) 353(B) 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 3.9 45 686 196 5.0 6.2 12 17 6.0 7.0 8.3 15 21 9- 2 63 980 392 9. HG-RR SERIES 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. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [μm] the vibration to about half of the permissible value. Servo motor X Y Vibration 1000 100 10 0 1000 2000 3000 4000 4500 Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 9- 3 9. HG-RR SERIES 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 machine should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC, the torque characteristic is indicated by the heavy line. 3 10 Short-duration running range 5 Continuous running range 1000 2000 3000 4000 4500 Speed [r/min] Short-duration running range 6 1000 2000 3000 4000 4500 Speed [r/min] 1000 2000 3000 4000 4500 Speed [r/min] 9- 4 45 20 Short-duration running range 10 Continuous running range 0 0 [HG-RR503] 30 12 Continuous running range 0 0 [HG-RR353] 18 Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] 6 0 0 [HG-RR203] 15 Torque [N•m] [HG-RR153] [H 9 Torque [N•m] [HG-RR103] 30 Short-duration running range 15 Continuous running range 0 0 1000 2000 3000 4000 4500 Speed [r/min] Continuous running range 0 0 1000 2000 3000 4000 4500 Speed [r/min] 9. HG-RR SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item Type (Note 1) 353B/503B Spring actuated type safety brake 0 24 V DC -10% Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2) HG-RR series 103B/153B/203B [W] at 20 °C [Ω] [H] [N•m] [s] [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers to voltage 125 V be used (Note 7, 8) For the suppressed voltage 350 V 19 30.0 0.81 7.0 0.03 0.03 400 4000 0.2 to 0.6 23 25 0.70 17 0.04 0.03 400 4000 0.2 to 0.6 20000 20000 200 200 TND20V-680KB TND10V-221KB Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 9- 5 9. HG-RR SERIES 9.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key) Servo motor HG-RR_(B)K Servo motor HG-RR103(B)K HG-RR153(B)K HG-RR203(B)K HG-RR353(B)K HG-RR503(B)K K Variable dimensions W QK S R Q 24h6 45 40 0 8 -0.036 28h6 63 58 0 8 -0.036 QL U r 25 5 4 +0.2 0 4 53 3 4 +0.2 0 4 R M8 Depth 20 Q QK U QL W φS A A r Shaft section view A-A 9.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal Servo motor HG-RR103(B) HG-RR153(B) HG-RR203(B) HG-RR353(B) HG-RR503(B) Oil level h [mm] 20 9- 6 9. HG-RR SERIES 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. 9.7.1 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR103 1.0 1.50 3.9 [Unit: mm] 145.5 38 Motor plate 10 Motor plate (Opposite side) Caution plate □100 45 3 45° 40 4-φ9 mounting hole Use hexagon socket head cap screw. Caution plate Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ95h7 φ24h6 Caution plate φ1 35 15 φ1 94.8 Oil seal Encoder connector CMV1-R10P 13 (PE) Key E F D Power supply connector CE05-2A22-23P 69.5 C H B G 44 A U V W Power supply connector Motor flange direction BC42648* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR153 1.5 1.90 5.0 [Unit: mm] 170.5 38 Motor plate Caution plate □100 45 10 Motor plate (Opposite side) 3 45° 40 4-φ9 mounting hole Use hexagon socket head cap screw. Caution plate Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ95h7 φ24h6 Caution plate φ1 35 15 φ1 94.8 Oil seal Encoder connector CMV1-R10P 13 Power supply connector CE05-2A22-23P (PE) Key E F D H G C A B 94.5 W U V Power supply connector Motor flange direction 9- 7 44 BC42649* 9. HG-RR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR203 2.0 2.30 6.2 [Unit: mm] 195.5 Motor plate Caution plate Caution plate □100 45 10 38 Motor plate (Opposite side) 3 45° 40 4-φ9 mounting hole Use hexagon socket head cap screw. Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ95h7 φ24h6 Caution plate φ1 3 15 φ1 5 94.8 Oil seal Encoder connector CMV1-R10P 13 (PE) Key E F D H G C A B U 119.5 Power supply connector CE05-2A22-23P 44 V W Power supply connector Motor flange direction BC42650* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR353 3.5 8.30 12 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 215.5 12 Caution plate Motor plate Caution plate □130 63 38.2 Motor plate (Opposite side) 3 45° 58 Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ1 65 45 φ1 Oil seal 117.4 Encoder connector CMV1-R10P φ110h7 φ28h6 Caution plate 13 (PE) Key D C Power supply connector CE05-2A24-10P 147.5 W E G B F A U Power supply connector Motor flange direction 9- 8 46 V BC42651* 9. HG-RR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR503 5.0 12.0 17 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 272.5 12 Caution plate Motor plate 3 45° 58 Motor plate (Opposite side) Caution plate □130 63 38.2 Bottom Bottom Bottom Top Top Top 50.9 Bottom Top φ110h7 φ28h6 Caution plate φ1 6 45 φ1 5 117.4 Oil seal Encoder connector CMV1-R10P 13 (PE) Key D C 204.5 Power supply connector CE05-2A24-10P E G B F A 46 U V W Power supply connector Motor flange direction BC42652* 9.7.2 With an electromagnetic brake Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR103B 1.0 7.0 1.85 6.0 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 183 38 Motor plate Caution plate □100 45 Motor plate (Opposite side) 10 3 45 ° 40 Caution plate Bottom Bottom Bottom Top Top Top Top 50.9 Bottom Encoder connector CMV1-R10P φ95h7 φ24h6 Caution plate 1 φ1 φ1 35 5 94.8 Oil seal Electromagnetic brake 13 (PE) Power supply connector CE05-2A22-23P 69.5 Key E F D H G C A B U V W Power supply connector Motor flange direction 9- 9 44 BC42653* 9. HG-RR SERIES 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 7.0 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 208 Motor plate (Opposite side) 38 Motor plate □100 45 10 3 45° 40 Caution plate Caution plate Bottom Bottom Bottom Top Top Top 50.9 Bottom Top φ95h7 φ24h6 Caution plate 1 φ1 φ1 35 5 Electromagnetic brake 13 Encoder connector CMV1-R10P 94.8 Oil seal (PE) Key E F D C Power supply connector CE05-2A22-23P 94.5 H B G A U 44 V W Power supply connector Motor flange direction BC42654* Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR203B 2.0 7.0 2.65 8.3 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 233 Motor plate 10 Caution plate Caution plate □100 45 38 Motor plate (Opposite side) 3 45° 40 Bottom Bottom Bottom Top Top Top Top 50.9 Bottom Encoder connector CMV1-R10P φ95h7 φ24h6 Caution plate 1 φ1 φ1 35 5 94.8 Oil seal Electromagnetic brake 13 (PE) 119.5 Power supply connector CE05-2A22-23P Key E F D H G C A B U V W Power supply connector Motor flange direction 9 - 10 44 BC42655* 9. HG-RR SERIES 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 15 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 252 12 Caution plate 3 Motor plate (Opposite side) Caution plate 45° 58 Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ110h7 φ28h6 Caution plate 4 φ1 φ1 65 5 Oil seal Encoder connector CMV1-R10P 117.4 Motor plate □130 63 42 Electromagnetic brake 13 (PE) Key D Power supply connector CE05-2A24-10P C 147.5 E G B F A 46 U V W Power supply connector Motor flange direction BC42656* Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-RR503B 5.0 17 15.5 21 [Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 309 Caution plate 12 Caution plate Motor plate (Opposite side) 3 45° 58 φ28h6 Caution plate Bottom Bottom Bottom Top Top Top 50.9 Bottom Top φ110h7 φ1 6 45 φ1 5 Oil seal 13 Electromagnetic brake Encoder connector CMV1-R10P Power supply connector CE05-2A24-10P 117.4 Motor plate □130 63 42 (PE) 204.5 Key D C E G B F 46 A U V W Power supply connector Motor flange direction 9 - 11 BC42657* 9. HG-RR SERIES MEMO 9 - 12 10. HG-UR SERIES 10. HG-UR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGUR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 10.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG-UR7 2BK Series Rated output Symbol Rated output [kW] 7 0.75 15 1.5 20 2 35 3.5 50 5 Appearance Shaft type Symbol Shaft shape None Standard (straight shaft) K (Note) Keyway shaft Electromagnetic brake Symbol Electromagnetic brake None None B With Rated speed 2000 [r/min] Note. Key is not included. 10.2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-axis HG-UR72 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 HG-UR152 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4W2-77B MR-J4W2-1010B Servo motor HG-UR202 HG-UR352 HG-UR502 10 - 1 Servo amplifier MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 10. HG-UR SERIES 10.3 Standard specifications 10.3.1 Standard specifications list Servo motor Item 72(B) Power supply capacity Continuous running duty (Note 1) Rated output Rated torque [kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s] Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) 10.3 21.2 19.5 32.8 46.0 5.4 16 10.4 9.7 29 22.1 14 42 38.2 23 69 76.5 28 84 115 12.5 24.2 46.8 85.1 124 15 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Ambience Altitude Vibration resistance (Note 5) X, Y: 24.5 m/s 2 Vibration rank (Note 6) Permissible load for the shaft (Note 7) Mass 502(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.75 1.5 2.0 3.5 5.0 3.6 7.2 9.5 16.7 23.9 10.7 21.5 28.6 50.1 71.6 2000 3000 2500 3450 2875 12.3 23.2 23.9 36.5 49.6 Speed/position detector Environment (Note 4) HG-UR 2000 r/min series (flat type/medium capacity) 152(B) 202(B) 352(B) 2 X: 24.5 m/s Y: 49 m/s 2 V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] 55 637 490 65 882 1176 8.0 11 16 784 20 10 13 22 26 10 - 2 24 30 10. HG-UR SERIES 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. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [μm] the vibration to about half of the permissible value. Servo motor X Y Vibration 1000 100 10 0 1000 2000 30003450 Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 10 - 3 10. HG-UR SERIES 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 machine should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-UR72 supports 1-phase power supply input. [HG-UR72] [HG-UR152] 12 [HG-UR202] 24 [HG-UR352] 30 [HG-UR502] 60 80 Short-duration running range 8 20 Short-duration running range 10 40 Short-duration running range 20 Torque [N•m] 4 16 Torque [N•m] Short-duration running range Torque [N•m] Torque [N•m] Torque [N•m] 60 8 40 Short-duration running range 20 Continuous running range 0 0 1000 2000 Speed [r/min] Continuous running range 3000 0 0 1000 2000 Speed [r/min] Continuous running range 3000 0 0 1000 2000 Speed [r/min] 10 - 4 Continuous running range 3000 0 0 1000 2000 2500 Speed [r/min] Continuous running range 0 0 1000 2000 2500 Speed [r/min] 10. HG-UR SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item 72B/152B Type (Note 1) HG-UR series 202B/352B/502B Spring actuated type safety brake 0 24 V DC -10% Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2) [W] at 20 °C [Ω] [H] [N•m] [s] [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Selection example of surge absorbers to be used (Note 7, 8) Work per braking [J] For the suppressed voltage 125 V For the suppressed voltage 350 V 19 29.0 0.8 8.5 0.04 0.03 400 4000 0.2 to 0.6 34 17.0 1.17 44 0.1 0.03 4500 45000 0.2 to 0.6 20000 20000 200 1000 TND20V-680KB TND10V-221KB Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 10 - 5 10. HG-UR SERIES 10.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key) Servo motor HG-UR_(B)K Servo motor K Variable dimensions W QK 0 6 -0.036 42 S R Q HG-UR72(B)K 22h6 55 50 HG-UR152(B)K 28h6 55 50 0 8 -0.036 65 60 0 10 -0.036 HG-UR202(B)K HG-UR352(B)K HG-UR502(B)K 35 +0.010 0 QL 3 U 3.5 +0.1 0 3 r 40 3 4 +0.2 0 4 50 5 5 +0.2 0 5 R M8 Depth 20 Q QK U QL W φS A A r Shaft section view A-A 10.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal Servo motor HG-UR72(B) HG-UR152(B) HG-UR202(B) HG-UR352(B) HG-UR502(B) Oil level h [mm] 20 25 10 - 6 10. HG-UR SERIES 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 tolerances are general tolerance. 10.7.1 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR72 0.75 10.4 8.0 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 109 Motor plate Caution plate □176 55 38 13 3 Caution plate 2-M6 screw 50 45° 40° 1 φ2 Bottom Bottom Top Top Top 00 Oil seal 141.3 Bottom Top 50.9 Bottom φ2 0 φ114.3 -0.025 φ22h6 φ2 30 5 Caution plate 13 (PE) Encoder connector CMV1-R10P Key E F D H G C A B Power supply connector CE05-2A22-23P W 38 U V 44 Power supply connector Motor flange direction BC42658* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR152 1.5 22.1 11 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 118.5 Motor plate Caution plate □176 55 38 13 Caution plate 3 2-M6 screw 50 45° 40° 15 φ2 Top φ28h6 Bottom Bottom Top Top 0 Bottom 00 φ2 Oil seal 141.3 Top 50.9 Bottom φ2 30 φ114.3 -0.025 Caution plate 13 (PE) Power supply connector CE05-2A22-23P Key E F D H G C A B Encoder connector CMV1-R10P W 47.5 10 - 7 U V Power supply connector Motor flange direction 44 BC42659* 10. HG-UR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR202 2.0 38.2 16 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 116.5 Caution plate 16 4 2-M8 screw 60 Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ 27 35 φ2 0 0 Caution plate 45 ° 50 φ2 φ35 +0.010 0 Caution plate ° 37.5 φ200 -0.046 Motor plate □220 65 38 164.9 Oil seal 13 Encoder connector CMV1-R10P (PE) Key 42.5 Power supply connector CE05-2A24-10P D C E G B 47 F A U V W Power supply connector Motor flange direction BC42660* Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR352 3.5 76.5 20 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) Caution plate Caution plate 4 Bottom Bottom Top Top Top 50.9 Bottom Top 45 ° ° 50 φ2 Caution plate Bottom 37.5 2-M8 screw 60 φ35 +0.010 0 Motor plate □220 65 16 φ 27 35 φ2 0 0 φ200 -0.046 140.5 38 164.9 Oil seal 13 Encoder connector CMV1-R10P (PE) Key D Power supply connector CE05-2A24-10P 66.5 C W E G B F 47 A U V Power supply connector Motor flange direction 10 - 8 BC42661* 10. HG-UR SERIES Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR502 5.0 115 24 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 164.5 16 Caution plate 4 Caution plate φ35 +0.010 0 Top 35 φ2 φ27 0 φ200 Bottom Top 50.9 Bottom Top 45 ° 0 Bottom Top ° 5 φ2 Caution plate Bottom 37.5 2-M8 screw 60 0 -0.046 Motor plate □220 65 38 164.9 Oil seal 13 Encoder connector CMV1-R10P (PE) Key D 90.5 Power supply connector CE05-2A24-10P C E G B F 47 A U V W Power supply connector Motor flange direction BC42662* 10.7.2 With an electromagnetic brake Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR72B 0.75 8.5 12.5 10 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 142.5 40 Caution plate Caution plate Motor plate □176 55 13 3 40° 2-M6 screw 50 45° 1 φ2 φ22h6 Bottom Top Top 0 Bottom Top 00 φ2 φ114.3 -0.025 Bottom Top 50.9 Bottom φ2 30 5 Caution plate 141.3 Oil seal 13 Encoder connector CMV1-R10P Electromagnetic brake (PE) Power supply connector CE05-2A22-23P 38 Key E F D H G C A B U V W Power supply connector Motor flange direction 10 - 9 44 BC42663* 10. HG-UR SERIES 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 24.2 13 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 152 13 Caution plate 3 Caution plate 40° 2-M6 screw 50 45° 15 φ2 φ28h6 Caution plate Bottom Bottom Bottom Top Top Top Top 50.9 Bottom φ2 30 00 φ2 0 φ114.3 -0.025 Motor plate □176 55 40 141.3 Oil seal 13 Encoder connector CMV1-R10P Electromagnetic brake (PE) Key E F Power supply connector CE05-2A22-23P D 47.5 C H B G 44 A U V W Power supply connector Motor flange direction BC42664* Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR202B 2.0 44 46.8 22 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Motor plate (Opposite side) 159.5 Caution plate Caution plate 4 60 Top Bottom Bottom Bottom Top Top Top 50.9 Bottom 50 φ2 Caution plate 45 ° ° 37.5 2-M8 screw φ35 +0.010 0 Motor plate □220 65 16 35 φ2 φ27 0 0 φ200 -0.046 39.2 138.7 Oil seal 164.9 13 Encoder connector CMV1-R10P 42 Electromagnetic brake connector 53.5 MS3102A10SL-4P Power supply connector CE05-2A24-10P 42.5 47 Key Key D B C Electromagnetic brake Electromagnetic brake connector Motor flange direction 10 - 10 (PE) A W E G B F A U V Power supply connector Motor flange direction BC42665* 10. HG-UR SERIES 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 26 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. Caution plate □220 65 4 16 2-M8 screw 60 Caution plate Bottom Bottom Top Top Top 35 φ2 φ27 0 0 φ200 -0.046 Bottom 50.9 Top 45 ° 50 φ2 Caution plate Bottom ° 37.5 φ35 +0.010 0 Motor plate 183.5 39.2 Motor plate (Opposite side) 164.9 138.7 Oil seal 13 Encoder connector CMV1-R10P 42 Electromagnetic brake connector 53.5 MS3102A10SL-4P Power supply connector CE05-2A24-10P 66.5 47 (PE) Key Key A E D G C B B F A U V W Electromagnetic brake Electromagnetic brake connector Motor flange direction Power supply connector Motor flange direction BC42666* Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-UR502B 5.0 44 124 30 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 39.2 Caution plate Motor plate 207.5 Motor plate (Opposite side) □220 65 16 4 2-M8 screw 60 Caution plate φ35 +0.010 0 Bottom Top Top φ 27 0 0 φ200 -0.046 Bottom Top 50.9 Bottom 35 φ2 0 Top 45 ° 5 φ2 Caution plate Bottom ° 37.5 164.9 138.7 Oil seal 13 Encoder connector CMV1-R10P 53.5 42 Electromagnetic brake connector MS3102A10SL-4P 90.5 47 Power supply connector CE05-2A24-10P Key (PE) A C B Electromagnetic brake Electromagnetic brake connector Motor flange direction 10 - 11 Key D W E G B F A U V Power supply connector Motor flange direction BC42667* 10. HG-UR SERIES MEMO 10 - 12 11. HG-AK SERIES 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 characteristics. When using the HGAK series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 11.1 Model designation The following describes model designation. Not all combinations of the symbols are available. Appearance Special specifications Series Special specifications Symbol None Standard -S100 Encoder cable vertical lead Shaft type Symbol Shaft shape None Standard (Straight shaft) D D-cut shaft Electromagnetic brake Symbol Electromagnetic brake None None B With Main circuit power supply voltage 48 V DC/24 V DC Rated speed 3000 [r/min] Rated output Symbol Rated output [W] 01 10 02 20 03 30 11.2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier HG-AK0136 HG-AK0236 HG-AK0336 MR-J4-03A6(-RJ) MR-J4W2-0303B6 11 - 1 11. HG-AK SERIES 11.3 Standard specifications 11.3.1 Standard specifications list HG-AK series 0236(B) Servo motor Item 0136(B) Power supply capacity Rated output [W] Continuous running duty Rated torque [N•m] (Note 1) Maximum torque [N•m] Rated speed (Note 1) [r/min] 48 V DC [r/min] Maximum speed 24 V DC [r/min] 48 V DC [r/min] Instantaneous permissible 24 V DC [r/min] speed Standard [kW/s] Power rate at With continuous rated electromagnetic [kW/s] torque brake Rated current [A] Maximum current [A] -4 2 Standard [J × 10 kg•m ] Moment of With electromagnetic brake inertia J -4 2 [J × 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Ambient temperature Environment (Note 4) Ambient humidity Operation Storage Operation Storage Ambience Altitude Vibration resistance (Note 5) Vibration rank (Note 6) [mm] Permissible load L for the shaft Radial [N] (Note 7) Thrust [N] Standard [kg] With Mass electromagnetic [kg] brake 0336(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" of each servo amplifier instruction manual. 10 20 30 0.032 0.064 0.095 0.095 0.191 3000 6000 0.286 6000 5000 6900 6900 5750 3.54 9.01 14.95 2.41 6.99 12.32 2.1 6.3 0.0029 2.1 6.3 0.0045 2.2 6.6 0.0061 0.0042 0.0058 0.0074 30 times or less 18-bit encoder common to absolute position/incremental systems (resolution per servo motor revolution: 262144 pulses/rev) None 130 (B) Totally enclosed, natural cooling (IP rating: IP55 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 X, Y: 49 m/s V10 16 34 44 49 14 0.12 0.14 0.16 0.22 0.24 0.26 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. The shaft-through portion, connector portion, and power supply cable outlet portion are excluded. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 11 - 2 11. HG-AK SERIES 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m] the vibration to about half of the permissible value. Servo motor X Y Vibration 1000 100 10 0 1000 2000 3000 4000 5000 6000 7000 Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor Top Measuring position Bottom 7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load 11 - 3 11. HG-AK SERIES 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 machine should be kept at 70% or less of the rated torque. For the torque characteristics, MR-J4W03PWCBL5M-H or MRJ4W03PWBRCBL5M-H was used for connecting servo amplifiers and servo motors. When an optional cable longer than 5 m is used, the short-duration running range in the torque characteristics may be lower because of voltage drop. When the main circuit power supply input of the servo amplifier is 24 V DC, the maximum speed of HG-AK0336 will be 5000 r/min. When the main circuit power supply input of the servo amplifier is 48 V DC, the torque characteristic is indicated by the heavy line. For the 24 V DC power supply, part of the torque characteristic is indicated by the thin line. [HG-AK0236(B)] [HG-AK0336(B)] 0.20 0.4 0.075 0.15 0.3 0.050 Short-duration running range 0.025 0.10 Short-duration running range 0.05 Continuous running range 0.000 Torque [N•m] 0.100 Torque [N•m] Torque [N•m] [HG-AK0136(B)] 0 1000 2000 3000 4000 5000 Speed [r/min] Short-duration running range 0.2 0.1 Continuous running range 0.00 6000 11 - 4 0 1000 2000 3000 4000 5000 Speed [r/min] Continuous running range 0.0 6000 0 1000 2000 3000 4000 5000 Speed [r/min] 6000 11. HG-AK SERIES 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 drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. HG-AK series 0236B Servo motor Item 0136B Type (Note 1) Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2) 0336B Spring-loaded safety brake 24 V DC [W] at20 °C [Ω] at20 °C [H] [N•m] [s] [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degree] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed voltage 125 V Selection example of surge absorbers to be used (Note 7, 8) For the suppressed voltage 350 V 0 -10% 1.8 320 1.6 0.095 0.03 0.01 4.6 46 0.1 to 2.5 20000 1 TND20V-680KB TND10V-221KB Note 1. It does not have a manual release mechanism. Use a 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life is defined as the number of brakings until adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation. 11 - 5 11. HG-AK SERIES 11.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbols (D) in the table are available. D is the symbol attached to the servo motor model names. Shaft shape D cut shaft Servo motor HG-AK_(B) D [Unit: mm] 13 10 0.5 16 5h6 11 - 6 11. HG-AK SERIES 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 tolerances are general tolerance. 11 - 7 11. HG-AK SERIES 11.6.1 Standard (without an electromagnetic brake) Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0136 10 0.0029 0.12 [Unit: mm] 200 +20 0 54 Caution plate (Opposite side) TÜV label 2-M3 screw mounting position 16 Motor plate (Opposite side) 5.4 2.5 45° 13 Caution plate Bottom φ2 8 φ20h7 Bottom Top 225 +20 0 3.4 17.5 Top Top (Note 2) φ5h6 11.5 Bottom (Note 2) □25 8 (Note 1) 30.7 12.3 18.6 15.4 Power connector Pin No. Signal name (E) 1 A 2 U 3 1 V B 2 W 3 A 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-P1.0 (Manufactured by JST) (Power lead 4-AWG24) 3 2 1 B 3 2 1 A View A BC42526E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0136-S100 10 0.0029 0.12 [Unit: mm] 58.7 28.5 16 8 (Note) Motor plate (Opposite side) Caution plate (Opposite side) 5.4 Caution plate TÜV label □25 2-M3 screw mounting position 2.5 13 45° Bottom φ2 8 φ5h6 Top Top Top 17.5 Bottom φ20h7 Bottom Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) 225 +20 0 200 +20 0 30.7 5.6 3 Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 12.3 18.6 15.4 Power connector B A 1 2 3 1 2 3 View A A Note. The length of mounting screw should be within this. 11 - 8 Pin No. Signal name 1 (E) A 2 U 3 1 V B 2 W 3 BC43322A 11. HG-AK SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0236 20 0.0045 0.14 [Unit: mm] Caution plate (Opposite side) 2-M3 screw mounting position 61 200 +20 0 Motor plate 8 (Note 1) (Opposite side) 5.4 2.5 Caution plate TÜV label Bottom Top Top 225+20 0 3.4 17.5 Top φ20h7 Bottom φ5h6 (Note 2) 11.5 45° 13 Bottom (Note 2) □25 16 12.3 37.7 18.6 15.4 Power connector Pin No. Signal name 1 (E) A 2 U 3 1 V B 2 W 3 A 3 2 1 B Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 3 2 1 A View A Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) BC42527E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0236-S100 20 0.0045 0.14 [Unit: mm] 2-M3 screw mounting position 65.7 8 (Note) Motor plate (Opposite side) Caution plate 28.5 Caution plate (Opposite side) TÜV label □25 16 5.4 2.5 13 45° Bottom φ2 8 Top Top Top 17.5 φ5h6 Bottom φ20h7 Bottom 225 +20 0 200 +20 0 37.7 Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) 5.6 3 Power connector 15.4 B A Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 1 2 3 1 2 3 View A A Note. The length of mounting screw should be within this. 11 - 9 Pin No. Signal name (E) 1 A 2 U 3 1 V B 2 W 3 12.3 18.6 BC43323A 11. HG-AK SERIES Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0336 30 0.0061 0.16 [Unit: mm] 2-M3 screw mounting position 68 Caution plate Caution plate (Opposite side) 45° Bottom φ2 8 Bottom (Note 2) φ20h7 Bottom Top Top Top 225 +20 0 3.4 17.5 11.5 2.5 13 TÜV label (Note 2) □25 16 Motor plate 8 (Note 1) (Opposite side) 5.4 φ5h6 200 +20 0 12.3 44.7 15.4 18.6 Power connector A 3 2 1 B 3 2 1 A Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0(Manufactured by JST) Power cable View A Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0(Manufactured by JST) (Power lead 4-AWG24) Pin No. Signal name 1 (E) A U 2 3 V 1 B 2 W 3 BC42528E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0336-S100 30 0.0061 0.16 [Unit: mm] 72.7 28.5 16 Motor plate (Opposite side) Caution plate (Opposite side) □25 8 (Note) 5.4 Caution plate TÜV label 2-M3 screw mounting position 2.5 45° 13 Bottom Top Top Top φ2 8 17.5 φ5h6 Bottom φ20h7 Bottom 225 +20 0 200 +20 0 44.7 5.6 3 15.4 Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) Power connector B 1 2 3 Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) A 1 2 3 View A A Note. The length of mounting screw should be within this. 11 - 10 Pin No. Signal name 1 (E) 2 A U 3 1 V B 2 W 3 12.3 18.6 BC43289A 11. HG-AK SERIES 11.6.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0136B 10 0.095 0.0042 0.22 [Unit: mm] 2-M3 screw mounting position 86 Caution plate (Opposite side) 8 (Note 1) 5.4 45° Bottom Top 245 +20 0 3.4 15.4 17.5 Top Top φ20h7 (Note 2) φ2 8 Bottom Bottom 11.5 2.5 13 Caution plate TÜV label (Note 2) □25 16 Motor plate (Opposite side) φ5h6 200 +20 0 42.7 24 Power connector Pin No. Signal name 1 (E) 2 A U 3 B1 V 1 B 2 W 3 B2 A 3 2 1 B Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 3 2 1 A Power cable View A Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) (Brake lead 2-AWG26) BC42542E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0136B-S100 10 0.095 0.0042 0.22 [Unit: mm] 90.7 16 □25 2-M3 screw mounting position 28.5 Motor plate 8 (Note) 5.4 (Opposite side) Caution plate Caution plate (Opposite side) Bottom Bottom φ5h6 Top Top 5.6 245 +20 0 200 +20 0 Top 42.7 Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) (Brake lead 2-AWG26) B 1 2 3 Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) A A 1 2 3 View A Note. The length of mounting screw should be within this. 11 - 11 φ2 8 17.5 Bottom φ20h7 TÜV label 3 15.4 45° 2.5 13 24 Power connector Pin No. Signal name (E) 1 A 2 U 3 B1 V 1 B 2 W 3 B2 BC43939* 11. HG-AK SERIES Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0236B 20 0.095 0.0058 0.24 [Unit: mm] 2-M3 screw mounting position 93 Caution plate (Opposite side) 5.4 2.5 45° 13 Top Top (Note 2) Top 245 +20 0 3.4 φ2 8 17.5 Bottom φ20h7 Bottom Bottom 11.5 8 (Note 1) Caution plate TÜV label (Note 2) □25 16 Motor plate (Opposite side) φ5h6 200 +20 0 49.7 24 15.4 Power connector A Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 3 2 1 B 3 2 1 A Power cable Housing: J21DF-06V-KX-L View A Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) (Brake lead 2-AWG26) Pin No. Signal name 1 (E) A 2 U B1 3 1 V B 2 W 3 B2 BC42543E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0236B-S100 20 0.095 0.0058 0.24 [Unit: mm] 97.7 28.5 16 Motor plate (Opposite side) Caution plate (Opposite side) 5.4 Caution plate □25 2-M3 screw mounting position 8 (Note) 2.5 13 45° Bottom φ5h6 Bottom Top Top Top φ2 8 17.5 Bottom φ20h7 TÜV label 245 +20 0 3 15.4 200 +20 0 49.7 5.6 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-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power connector (Brake lead 2-AWG26) B A 1 1 2 2 3 3 A View A Note. The length of mounting screw should be within this. 11 - 12 24 Pin No. Signal name 1 (E) A 2 U 3 B1 1 V B 2 W 3 B2 BC43941* 11. HG-AK SERIES Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0336B 30 0.095 0.0074 0.26 [Unit: mm] 2-M3 screw mounting position 100 Caution plate (Opposite side) Caution plate 45° Top Top (Note 2) Top 245+20 0 3.4 15.4 φ2 8 17.5 Bottom φ20h7 Bottom 11.5 2.5 13 Bottom TÜV label (Note 2) □25 16 Motor plate 8 (Note 1) (Opposite side) 5.4 φ5h6 200 +20 0 56.7 24 Power connector A Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) 3 2 1 B 3 2 1 A Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) (Brake lead 2-AWG26) View A Pin No. Signal name 1 (E) A 2 U B1 3 1 V B 2 W 3 B2 BC42544E Note 1. The length of mounting screw should be within this. 2. The encoder cable outlet portion has been changed from the April 2013 production of the motors. Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] HG-AK0336B-S100 30 0.095 0.0074 0.26 [Unit: mm] 104.7 28.5 Motor plate (Opposite side) Caution plate (Opposite side) □25 16 8 (Note) 5.4 Caution plate TÜV label 2.5 13 2-M3 screw mounting position 45° Bottom Top Top Top φ2 8 17.5 φ5h6 Bottom φ20h7 Bottom 245 +20 0 3 15.4 0 200 +20 56.7 5.6 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-P1.0 (Manufactured by JST) (Power lead 4-AWG24) Power connector Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) (Brake lead 2-AWG26) Pin No. B 1 2 3 A A 1 2 3 View A Note. The length of mounting screw should be within this. 11 - 13 A B 1 2 3 1 2 3 24 Signal name (E) U B1 V W B2 BC43293B 11. HG-AK SERIES MEMO 11 - 14 APPENDIX App. 1 Servo motor ID codes Servo motor series ID 0101 0111 0121 0122 0131 Servo motor type ID F053 FF13 FF23 FF43 FF73 F053 FF13 FF23 FF43 FF73 FF51 FF81 F121 F201 F301 F421 FF52 F102 F152 F202 F352 F502 F702 FF52 F102 F152 F202 F352 F502 F702 FF53 FF73 F103 F153 F203 F353 F503 F703 F903 F701 1101 1501 2201 3001 3701 Servo motor encoder ID 0044 App. - 1 Servo motor HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73 HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 HG-JR503 HG-JR703 HG-JR903 HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M APPENDIX Servo motor series ID 0132 0133 0134 0141 0151 0D Servo motor type ID FF53 FF73 F103 F153 F203 F353 F503 F703 F903 F701 1101 1501 2201 3001 3701 4501 5501 F601 F801 1201 1501 2001 2501 3001 3701 F601 F801 1201 1501 2001 2501 3001 3701 F103 F153 F203 F353 F503 FF72 F152 F202 F352 F502 F013 F023 F033 App. - 2 Servo motor encoder ID Servo motor 0044 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034 HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4 HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 HG-AK0136 HG-AK0236 HG-AK0336 APPENDIX App. 2 Manufacturer list Names given in the table are as of April 2015. Manufacturer 3M JST JX Nippon Oil & Energy Idemitsu Kosan Exxon Mobil Cosmo Oil Shell Oil DDK TE Connectivity Taiyo Cabletec Toa Electric Industrial Nippon Chemi-Con JAE Harmonic Drive Systems Panasonic Hirose Electric Molex App. - 3 Contact 3M J.S.T. Mfg. Co., Ltd. JX Nippon Oil & Energy Corporation Idemitsu Kosan Co., Ltd Exxon Mobil Corporation Cosmo Oil Co., Ltd. Shell Oil Company DDK Ltd. TE Connectivity Ltd. Company Taiyo Cabletec Corporation Toa Electric Industrial Co., Ltd. Nippon Chemi-con Corporation Japan Aviation Electronics Industry, Limited Harmonic Drive Systems Inc. Panasonic Corporation Hirose Electric Co., Ltd. Molex APPENDIX 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 marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos. (1) EMC directive The EMC directive applies to the servo motor alone. Therefore servo motor is designed to comply with the EMC directive. The EMC directive also applies to machines and equipment incorporating servo motors. (2) Low voltage directive The low voltage directive also applies to the servo motor alone. The servo motor is designed to comply with the low voltage directive. (3) Machinery directive The servo motor as a single unit does not comply with the Machinery directive due to correspondence with "Partly completed machinery" of 2006/42/EC article2 (g). However, machines and equipment incorporating servo motors will be complied. Please check your machines and equipment as a whole if they are complied. App. 3.2 For compliance Be sure to perform an appearance inspection of every unit before installation. In addition, have a final performance inspection on the entire machine/system, and keep the inspection record. (1) Wiring Use wirings which complies with EN for the servo motor power. Complying EN products are available as options. Refer to chapter 5 for details of the options. (2) Performing EMC tests When EMC tests are run on a machine and device into which the servo motor and servo motor have been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment and electrical equipment specifications. For EMC directive conforming methods about servo amplifiers and servo motors, refer to the EMC Installation Guidelines (IB(NA)67310) and each Servo Amplifier Instruction Manual. App. - 4 APPENDIX 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, performance, specifications, etc. of the UL/CSA standardcompliant models are the same as those of the standard models. (1) Flange size The servo motor is compliant with the UL/CSA standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table. The rated torque of the servo motor under the UL/CSA standard indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in this table and used in the environment of 0 °C to 40 °C ambient temperature. Therefore, to conform to the UL/CSA standard, mount the servo motor on a flange with a heat radiating effect equivalent to that of this flange. Flange size [mm] HG-MR/HG-KR HG-SR Servo motor HG-JR HG-RR HG-UR 0136 0236 0336 150 × 150 × 3 250 × 250 × 6 053 13 23 250 × 250 × 12 43 300 × 300 × 12 73 300 × 300 × 20 51 81 52(4) 102(4) 152(4) 950 × 950 × 35 53(4) 73(4) 103(4) 153(4) 203(4) 103 153 203 121 201 202(4) 352(4) 550 × 550 × 30 650 × 650 × 35 HG-AK 301 421 502(4) 702(4) 353(4) 503(4) 703(4) 903(4) 701M(4) 11K1M(4) 15K1M(4) 22K1M(4) 30K1M(4) 37K1M(4) 601(4) 801(4) 12K1(4) 15K1(4) 20K1(4) 25K1(4) 45K1M4 55K1M4 30K1(4) 37K1(4) App. - 5 353 503 72 152 202 352 502 APPENDIX (2) Selection example of wires To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 °C for wiring. The following table shows wires [AWG] rated at 75 °C. (a) HG-MR series and HG-KR series Servo motor Wire [AWG] U/V/W/ B1/B2 HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 14 (Note) 16 (Note) HG-KR13 HG-KR23 HG-KR43 HG-KR73 Note. For fabricating extension cables to wire a servo amplifier and a servo motor, use the option. Refer to chapter 5 for details of the options. (b) HG-SR series Servo motor HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 Wire [AWG] U/V/W/ B1/B2 14 12 10 (Note) 14 12 10 (Note) 8 (Note) 16 14 12 (Note) 10 (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. App. - 6 APPENDIX (c) HG-JR series 1) 3000 r/min series Wire [AWG] U/V/W/ Servo motor HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 HG-JR503 HG-JR703 HG-JR903 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034 Standard When the maximum torque is 400% (Note 2) 14 14 12 10 (Note 1) 8 (Note 1) 6 (Note 1) 12 (Note 1) 10 (Note 1) 16 14 14 12 (Note 1) 10 (Note 1) 8 (Note 1) B1/B2 14 (Note 1) 12 (Note 1) Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations. 2) 1500 r/min series Servo motor U/V/W/ HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 8 (Note) 6 (Note) 4 (Note) 2 (Note) 2/0 (Note) HG-JR30K1M4 4 (Note) BU/BV/BW 16 16 12 (Note) 8 (Note) 16 6 (Note) HG-JR37K1M4 HG-JR45K1M4 Wire [AWG] B1/B2 16 2 (Note) HG-JR55K1M4 Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. App. - 7 APPENDIX 3) 1000 r/min series Servo motor Wire [AWG] B1/B2 U/V/W/ HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 BU/BV/BW 8 (Note) 16 6 (Note) 4 (Note) 2 (Note) 16 2/0 (Note) 12 (Note) 10 (Note) 16 8 (Note) HG-JR20K14 HG-JR25K14 6 (Note) 16 HG-JR30K14 HG-JR37K14 4 (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (d) HG-RR series Servo motor HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 Wire [AWG] U/V/W/ B1/B2 14 12 16 10 (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (e) HG-UR series Servo motor HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 Wire [AWG] U/V/W/ B1/B2 14 12 16 10 (Note) Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. (f) HG-AK series Servo motor HG-AK0136 HG-AK0236 HG-AK0336 Wire [AWG] U/V/W 14 (Note) B1/B2 16 Note. This is applicable when fabricating an extension cable. Use an option for wiring with the servo motor. Refer to chapter 5 for details of the options. App. - 8 APPENDIX App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper servo. Ta: Acceleration torque Td: Deceleration torque TMa: Torque necessary for acceleration TMd: Torque necessary for deceleration TLH: Load torque converted into equivalent value on servo motor shaft during stop 2 [N•m] [N•m] [N•m] [N•m] [N•m] [N•m] g: Gravitational acceleration (9.8 [m/s ]) µ: Friction coefficient π: Pi constant (3.14) Pf: Number of feedback pulses in position control mode [pulse/rev] f: Input pulse frequency in position control mode [pulse/s] f0: Input pulse frequency during fast feed in position control [pulse/s] mode TL: Load torque converted into equivalent value [N•m] tpsa: Acceleration time constant of pulse frequency [s] on servo motor shaft command in position control mode TU: Unbalanced torque [N•m] tpsd: Deceleration time constant of pulse frequency [s] command in position control mode TF: Load friction torque [N•m] TB: Brake static friction torque [N•m] Kp: Position loop gain 1 [rad/s] TL0: Load torque on load shaft [N•m] Tp: Position control time constant (Tp = 1/Kp) [s] Trms: Continuous effective load torque converted [N•m] ∆l: Feed per feedback pulses in position control mode [mm/pulse] into equivalent value on servo motor shaft Travel distance per pulse -4 2 JL: Load inertia moment converted into [× 10 kg•m ] ∆l0: Feed per command pulse in position control mode [mm/pulse] equivalent value on servo motor shaft Travel distance per command pulse -4 2 JL0: Load inertia moment on load shaft [× 10 kg•m ] l: Feed [mm] -4 2 JM: Servo motor's rotor inertia moment [× 10 kg•m ] P: Number of internal command pulses [pulse] N: Servo motor speed [r/min] ts: Internal settling time [s] N0: Servo motor speed during fast feed [r/min] t0: Positioning time [s] NL0: Load shaft speed during fast feed [r/min] tc: Time at constant speed of servo motor in one cycle [s] V: Moving part speed [mm/min] tl: Stopping time in one cycle [s] V0: Moving part speed during fast feed [mm/min] ∆ε: Positioning accuracy [mm] PB: Ball screw lead [mm] ε: Number of droop pulses [pulse] Z1: Number of gear teeth on servo motor shaft ∆S: Travel distance per servo motor revolution [mm/rev] Z2: Number of gear teeth on load gear W: Mass [kg] Z2 Lmax: Maximum coasting distance [mm] n: Gear ratio n = Z1 Speed reduced when n > 1, Speed increased when n < 1 η: Drive system efficiency App. - 9 APPENDIX 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 Pf, and is represented by Equation 5.1. As the number of feedback pulses depends on the servo motor series, refer to standard specifications in the chapter of servo motor series. ∆l = P ··························································································································· (5.1) f ∆l: Travel distance per pulse [mm/pulse] ∆S: Travel distance per servo motor revolution [mm/rev] Pf: Number of feedback pulses [pulse/rev] Since ∆l has the relation represented by equation 5.1, its value is fixed in the control system after the drive system and encoder have been determined. However, travel distance per command pulse can be set as desired using the parameters. Servo motor Command pulse frequency f0 CMX CDV + - Electronic gear CMX CDV Deviation counter M Pf = 4194304 pulses/rev Encoder As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control pulses. Travel distance per command pulse ∆l0 is expressed by Equation 5.2. CMX CMX ∆l0 = P • = ∆l • ······························································································· (5.2) CDV CDV f CMX : Electronic gear (command pulse multiplication numerator) CDV : Electronic gear (command pulse multiplication denominator) Using the above relation, travel distance per command pulse can be set to a value without fraction. [Setting example] Find a parameter value for ∆l0 = 0.001 mm/pulse in a drive system where ball screw lead PB = 10 mm and reduction ratio 1/n = 1. The encoder feedback pulses Pf of the HG-KR = 4194304 pulses/rev. Since ∆S = 10 mm/rev, the following is obtained according to equation 5.2. Pf 4194304 262144 CMX = ∆l0 • = 0.001 • = 10 625 CDV App. - 10 APPENDIX Relation between position resolution ∆l and overall accuracy Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affected by electrical system errors. As a guideline, Equation 5.3 should be satisfied. ∆l < 1 5 1 • ∆ε ············································································································· (5.3) 10 ∆l: Travel distance per feedback pulse [mm/pulse] ∆ε: Positioning accuracy [mm] App. 5.3 Speed and command pulse frequency The servo motor is run at a speed where the command pulses and feedback pulses are equivalent. Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The following shows the relation including the parameter settings (CMX and CDV). (Refer to the following diagram.) f0 • CMX N = Pf • 0 ············································································································ (5.4) CDV 60 Electronic gear f0 CMX CDV Feedback pulse frequency Servo motor f0: Command pulse frequency [pulse/s] (differential line driver) CMX: Electronic gear (command pulse multiplication numerator) CDV: Electronic gear (command pulse multiplication denominator) N0: Servo motor speed [r/min] Pf: Number of feedback pulses [pulse/rev] (Pf = 4194304 for HG-KR) According to equation 5.4, the following equations may be used to obtain the electronic gear and command pulse frequency to rotate the servo motor at N0. Electronic gear 1 CMX N = Pf • 0 • ········································································································ (5.5) CDV 60 f0 Command pulse frequency N CDV f0 = Pf • 0 • ········································································································· (5.6) 60 CMX App. - 11 APPENDIX [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 5.6. f0 = 4194304 • N0 CDV • 60 CMX (Command pulse frequency) = 4194304 • 3000 •1 60 = 209715200 [pulses/s] However, as the maximum input command pulse frequency in the differential line driver type is 4 Mpulses/s for MR-J4 servo amplifier, 209715200 pulses/s cannot be entered. To run the servo motor at the speed of 3000 r/min at not more than 4 Mpulses/s, the electronic gear setting must be changed. This electronic gear is found by equation 5.5. 1 CMX 3000 = 4194304 • • 4 • 106 CDV 60 (Electronic gear) = 32768 625 Therefore, the parameters are set to CMX = 32768 and CDV = 625. App. - 12 APPENDIX 5.4 Stopping characteristics (1) Droop pulses (ε) When you use a pulse train command to run the servo motor, the relation between the command pulse frequency and servo motor speed will be as follows. The difference between the command pulses and feedback pulses during acceleration are called droop pulses, which are accumulated in the servo amplifier deviation counter. Equation 5.7 defines a relation between the command pulse frequency (f) and position control gain 1 (Kp). ε≈ f0 [pulse] ·············································································································· (5.7) Kp Supposing that the value of position control gain 1 is 70 rad/s, the droop pulses during operation will be as follows at the command pulse frequency of 200 kpulses/s according to equation 5.7. Command pulse frequency f [pulse/s] Servo motor speed [r/min] 3 ε ≈ 200 • 10 ≈ 2858 [pulses] 70 Command Droop pulses Servo motor speed 0 Time Tp tpsa tpsd ts ts App. - 13 1 3 • 70 0.04 APPENDIX (2) Settling time (ts) during linear acceleration/deceleration Since droop pulses still exist regardless of zero command pulse, settling time (ts) is required until the servo motor stops. Set the operation pattern in consideration for the settling time. The settling time (ts) value is obtained according to equation 5.8. ts ≈ 3 • Tp =3• 1 [s] ··············································································································· (5.8) Kp *When Kp = 70 [rad/s], ts ≈ 0.04 [s]. (above diagram) The settling time (ts) indicates the time required for the servo motor to stop in the necessary positioning accuracy range. This does not always mean that the servo motor has stopped completely. Thus, especially when the servo motor is used in high-duty operation and positioning accuracy has no margin for travel distance per pulse (∆l), the value obtained by equation 5.8 must be increased. The settling time (ts) will vary with the moving part conditions. Especially when the load friction torque is large, movement may be unstable near the stopping position. App. - 14 APPENDIX 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 required torques according to the following equations, and check that the servo motor of the initially selected capacity may be used for operation . (1) Initial selection of servo motor capacity After calculating the load torque (TL) and load moment of inertia (JL), select a servo motor which will satisfy the following two relations. Servo motor rated torque > TL Servo motor JM > JL/m m = 3: High duty (more than 100 times/min.) Settling time; 40 ms or less m = 5: Middle frequency (60 times/min. to 100 times/min.) Settling time; 100 ms or less m = Permissible load moment of inertia: Low duty (less than 60 times/min.) Settling time; more than 100 ms Find the acceleration and deceleration torques and continuous effective load torque as described in (2) to make a final selection. For high-duty positioning, the load moment of inertia (JL) value should be as small as possible. If positioning is infrequent as in line control, the load moment of inertia (JL) value may be slightly larger than in the above conditions. App. - 15 APPENDIX Command pulse frequency f [pulse/s] Deceleration Acceleration torque torque Servo motor speed [r/min] (2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern. Command N0f0 Servo motor speed 0 tpsa tpsd Time Ta Time 0 Td Acceleration torque Ta = (JL + JM) • N0 1 • ··································································· (5.9) tpsa 9.55 • 104 Deceleration torque Td = (JL + JM) • N0 1 • ··································································· (5.10) 4 tpsd 9.55 • 10 App. - 16 APPENDIX (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 maximum torque of the servo motor. Command pulse frequency f [pulse/s] Servo motor speed [r/min] Torques required for the servo motor are the highest during acceleration. If the servo motor torque found with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set the calculated value within the servo motor's maximum torque. Since a friction load is normally applied during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the value found by equation 5.13 is negative. Command N0f0 Servo motor speed 0 tpsa tpsd Time Servo motor torque T1 Ta TMa T2 TL Time 0 Td TMd T1 = TMa = Ta + TL ········································································································· (5.11) T2 = TL ······················································································································· (5.12) T3 = TMd = -Td + TL ········································································································ (5.13) App. - 17 APPENDIX 0 Servo motor torque Servo motor speed N [r/min] (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. There may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system. To simplify the calculation, however, it is assumed that constant acceleration and deceleration torques are applied during tpsa and tpsd. The following equation is used to calculate the continuous effective load torque in the following operation pattern. TLH indicates the torque applied during a servo motor stop. A large torque may be applied especially during a stop in vertical motion applications, and this must be fully taken into consideration. During vertical drive, the unbalanced torque TU will become TLH. Time Ta TMa TLH TL 0 Td tpsa tc Time TMd tpsd tl tf (1 cycle) Trms = TMa2 • tpsa + TL2 • tc + TMd2 • tpsd + TLH2 • tl tf ································································· (5.14) App. - 18 APPENDIX App. 5.6 Load torque equations Typical load torque equations are indicated below. Type Mechanism Equation FC Servo motor Z2 Linear movement W Z1 FG F TL = 2 • 103 • F• S V • = N 2 • 103 • ····································· (5.15) F: Force in the axial direction of the machine in linear motion [N] F in equation 5.15 is obtained with equation 5.16 when the table is moved, for example, as shown in the left diagram. F = Fc + µ • (W • g + FG) ···························································· (5.16) Fc: Force applied in the axial direction of the moving part [N] FG: Tightening force of the table guide surface [N] W: Full mass of the moving part [kg] TL0 TL = Rotary movement Z1 Z2 1 1 • • TL0 + TF ·································································· (5.17) n TF: Load friction torque converted into equivalent value on servo motor shaft [N•m] Servo motor Servo motor 1/n Vertical movement Guide During rise TL = TU + TF ·········································································· (5.18) During fall 2 TL = -TU • η + TF ···································································· (5.19) Counterweight TF: Friction torque of the moving part [N•m] (W1 - W2) • g (W1 - W2) • g • S V TU = • = ····························· (5.20) 2 • 103 • N 2 • 103 • W2 (W1 - W2) • g • S Load ························································· (5.21) TF = 2 • 103 • W1 W1: Mass of load [kg] W2: Mass of counterweight [kg] App. - 19 APPENDIX App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type Mechanism Equation Axis of rotation is on the cylinder center •L JL0 = W • (D41 - D42) = • (D21 + D22) ······································ (5.22) 8 32 3 ρ: Cylinder material density [kg/cm ] L: Cylinder length [cm] D1: Cylinder outside diameter [cm] D2: Cylinder inside diameter [cm] W: Cylinder mass [kg] L D1 D2 Reference data: material density -3 3 Iron: 7.8 • 10 [kg/cm ] -3 3 Aluminum: 2.7 • 10 [kg/cm ] -3 3 Copper: 8.96 • 10 [kg/cm ] Axis of rotation Cylinder Axis of rotation is on the cylinder center R JL0 = W 2 2 • (D + 8R ) ·································································· (5.23) 8 Axis of rotation D R b a a Square block b V Servo motor JL = W • D JL = W • Object that is hung with pulley Servo motor Converted load Load B JB 2 =W• 1 2• •N • V 10 2 D 2 ··········· (5.25) + JP ····································································· (5.26) -4 2 J31 J21 N2 N1 2 + (J31 + JB) • N3 N1 -4 N1 2 2 JL = J11 + (J21 + J22 + JA) • J22 S 20 • =W• JP: Pulley moment of inertia [× 10 kg•m ] D: Pulley diameter [cm] W: Square block mass [kg] W N3 V 600 • V: Speed of object which moves linearly [mm/min] ∆S: Travel distance of object moving linearly per servo motor revolution [mm/rev] W: Square block mass [kg] W N a2 + b2 + R2 ····························································· (5.24) 3 W: Square block mass [kg] a, b, R: Left diagram [cm] Axis of rotation Object which moves linearly JL0 = W • Load A JA N2 2 ························ (5.27) 2 JA, JB: Moment of inertia of load A, B [× 10 kg•m ] -4 2 J11 to J31: Moment of inertia [× 10 kg•m ] N1 to N3: Speed of each shaft [r/min] J11 App. - 20 APPENDIX 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. Home position return speed V1 Proximity dog on starts deceleration Creep speed V2 Proximity dog Zero pulse signal On Off When determining the on duration of the proximity dog, consider the deceleration time so that the speed reaches the creep speed. Considering the variations of the proximity dog operation, adjust the proximity dog so that it switches off at the middle during the the zero pulse signal on. (1) When determining the on duration of the proximity dog, consider the delay time of the control section and the deceleration time so that the creep speed is attained. If the proximity dog signal switches off during deceleration, precise home position return cannot be performed. Home position return speed V1 Travel distance until reaching the creep speed after proximity dog is detected L1 Creep speed V2 Deceleration time td Control delay time t1 On duration of the proximity dog LD Travel distance L1 in the chart can be obtained by equation 5.28. L1 = 1 1 V • V1 • t1 • + • V1 • td • 1 - 2 60 120 V1 2 + 1 • V1 • TP ················································· (5.28) 60 On duration of the proximity dog LD [mm] must be longer than L1 obtained by equation 5.28, as indicated in equation 5.29. LD > L1 ······················································································································· (5.29) where, V1, V2: As shown in the chart [mm/min] t1, td: As shown in the chart [s] L1: As shown in the chart [mm] LD: As shown in the chart [mm] (2) Set the end (off position) of the proximity dog signal at the middle of two on positions (lows) of the zero pulse signal. If it is set near either on position of the zero pulse signal, the positioning unit is liable to misdetect the zero pulse signal. In this case, a fault will occur, e.g. the home position will shift by one revolution of the servo motor. App. - 21 APPENDIX App. 5.9 Selection example Machine specification Servo motor Gear ratio 5: 8 Servo amplifier Feed speed of moving part Travel distance per command pulse Feed per cycle Positioning time Number of feeds Operation cycle Reduction ratio Moving part mass Drive system efficiency Friction coefficient Ball screw lead Ball screw diameter Ball screw length Gear diameter (servo motor shaft) Gear diameter (load shaft) Gear face width Number of feedback pulses V0 = 30000 [mm/min] ∆l0 = 0.001 [mm/pulse] l = 400 [mm] t0 = within 1 [s] 40 [times/min] tf = 1.5 [s] 1/n = 5/8 W = 60 [kg] η = 0.8 µ = 0.2 PB = 16 [mm] DB = 20 [mm] LB = 500 [mm] DG1 = 25 [mm] DG2 = 40 [mm] LG = 10 [mm] Pf = 4194304 [pulses/rev] (1) Selection of control parameters Setting of electronic gear (command pulse multiplication numerator/denominator) There is the following relation between the electronic gear and command resolution ∆l0. ∆l0 = PB CMX • Pf • n CDV When the above machining specifications are substituted in the above equation 0.001 = 16 CMX • 4194304 • 8/5 CDV 1 4194304 • 8/5 262144 CMX = • = 16 625 CDV 1000 CMX Acceptable as CMX/CDV is within 1/10 to 4000 CDV (2) Servo motor speed V0 1 30000 8 N0 = P • = • = 3000 [r/min] 1/n 5 16 B App. - 22 APPENDIX (3) Acceleration/deceleration time constant tpsa = tpsd = t0 - l - t = 0.05 [s] V0/60 s ts: Settling time (Here, this is assumed to be 0.15 s.) Servo motor speed [r/min] (4) Operation pattern 3000 0 tpsa 0.05 t0 = 1.0 tpsd 0.05 1 cycle tf = 1.5 (5) Load torque (converted into equivalent value on servo motor shaft) Travel distance per servo motor revolution ∆S = PB • TL = 5 1 = 16 • = 10 [mm] 8 n •W•g• S 0.2 • 60 • 9.8 • 10 = = 0.23 [N•m] 2 • 103 • 2 • 103 • 3.14 • 0.8 App. - 23 ts 0.15 Time [s] APPENDIX (6) Load moment of inertia (converted into equivalent value on servo motor shaft) Moving part S 10-3 2 JL1 = W • 2 = 1.52 • 10-4 [kg•m2] Ball screw JL2 = B 32 • DB4 • 1 n 2 = 0.24 • 10-4 [kg•m2] ρ = 7.8 • 103 [kg/m3] (iron) Gear (servo motor shaft) JL3 = G 32 • DG14 = 0.03 • 10-4 [kg•m2] Gear (load shaft) JL4 = G 32 • DG24 • 1 n 2 = 0.08 • 10-4 [kg•m2] Full load moment of inertia (converted into equivalent value on servo motor shaft) JL = JL1 + JL2 + JL3 + JL4 = 1.9 • 10-4 [kg•m2] (7) Temporary selection of servo motor Selection conditions (a) Load torque < servo motor rated torque (b) Full load moment of inertia < JR • moment of inertia of the servo motor JR: Recommended load to motor inertia ratio According to above conditions, HG-KR23 (rated torque: 0.64 N•m, maximum torque: 2.2 N•m, moment of inertia: 0.221 • 10-4 kg•m2) is selected temporarily. App. - 24 APPENDIX (8) Acceleration/deceleration torque Torque necessary for acceleration TMa = (JL/ + JM) • N0 + TL = 1.84 [N•m] 9.55 • 104 • tpsa JM: Moment of inertia of the servo motor Torque necessary for deceleration TMd = -(JL • + JM) • N0 + TL = -0.85 [N•m] 9.55 • 104 • tpsd The torque required for the servo motor during acceleration/deceleration must be lower than the servo motor's maximum torque. (9) Continuous effective load torque Trms = TMa2 • tpsa + TL2 • tc + TMd2 • tpsd tf = 0.40 [N•m] The continuous effective load torque must be lower than the servo motor rated torque. Torque [N•m] (10) Torque pattern 1.84 0.23 0 0.05 0.75 0.05 0.15 -0.85 1.5 (11) Selection results The following servo motor and servo amplifier are selected as a result of the calculation. Servo motor: HG-KR23 Servo amplifier: MR-J4-20A (a) Electronic gear setting CMX = 262144 CDV = 625 (b) During rapid feed Servo motor speed N0 = 3000 [r/min] (c) Acceleration/deceleration time constant tpsa = tpsd = 0.05 [s] App. - 25 Time [s] APPENDIX App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electromagnetic brake stops as the following diagram. Here, the maximum coasting distance (during fast feed) Lmax will be the area shown with the diagonal line in the figure and can be calculated approximately with equation 5.30. The effect of the load torque is greater near the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in the equation. Emergency stop Brake current t1 t2 t3 Machine speed V0 Lmax = V0 t • t1 + t2 + 3 ······································································································· (5.30) 60 2 Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] t1: Delay time of control section [s] t2: Braking delay time (Note) [s] t3: Braking time [s] (JL + JM) • N0 t3 = 9.55 • 104 • (TL + 0.8 • TB) JL: Load moment of inertia converted into equivalent value on servo motor shaft (Note) [× 10-4 kg•m2] JM: Servo motor rotor's inertia moment [× 10-4 kg•m2] N0: Servo motor speed during fast feed [r/min] TL: Load torque converted into equivalent value on servo motor shaft [N•m] TB: Brake static friction torque (Note) [N•m] Note. Refer to the chapter of the servo motor series for t2 and TB. JL is moment of inertia of the machine at the servo motor shaft. App. 5.11 Equation for calculating the electromagnetic brake workload Calculate the brake workload Eb [J] at an emergency stop with the following equation. Eb = (JM + JL) • N2 • 10-4 182 N: Servo motor speed [r/min] JM: Servo motor rotor's inertia moment [× 10-4 kg•m2] JL: Load moment of inertia converted into equivalent value on servo motor shaft [× 10-4 kg•m2] App. - 26 APPENDIX 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. Selection example when using the 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below. 2 2 2 Servo motor Wire size [mm ] Servo motor Wire size [mm ] Servo motor Wire size [mm ] HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 1.25 1.25 2 2 3.5 5.5 1.25 1.25 2 2 3.5 5.5 8 1.25 1.25 2 2 2 3.5 5.5 1.25 1.25 2 2 2 3.5 HG-JR503 HG-JR703 HG-JR903 HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034 5.5 8 14 8 14 22 30 50 60 8 8 14 14 30 30 38 60 1.25 2 2 2 2 5.5 5.5 8 8 HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 HG-RR103 HG-RR153 HG-RR203 (Note) HG-RR353 (Note) HG-RR503 (Note) HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 5.5 8 8 14 22 22 22 38 5.5 5.5 8 8 8 8 14 22 2 2 3.5 5.5 5.5 1.25 2 3.5 5.5 5.5 Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable. App. - 27 APPENDIX App. 7 Crimping connector for CNP3_ MR-J4W_-_B Servo amplifier CNP3A 1)2)3)4) CNP3B CNP3C (Note) Note. This figure shows the 3-axis servo amplifier. No. 1) 2) Name Connector set Connector set Description Application MR-J3WCNP3DL Model The connector set is used for connecting to the servo amplifier directly using MR-PWS1CBL_M-_. Quantity: 1 For thin wire MR-J3WCNP3DL-20P For CNP3A/CNP3B/CNP3C Receptacle housing: F35FDC-04V-K Receptacle contact: LF3F-41GF-P2.0 (JST) Applicable wire 2 2 Wire size: 0.75 mm (AWG 19) to 1.25 mm (AWG 16) Insulator OD: 1.8 mm to 2.8 mm The crimping tool (YRF-880) is required. 3) 4) Connector set Connector set MR-J3WCNP3D2L The connector set is used for connecting to the servo amplifier directly without using MR-PWS1CBL_M-_. MR-J3WCNP3D2L-20P For CNP3A/CNP3B/CNP3C Receptacle housing: F35FDC-04V-K Receptacle contact: BF3F-71GF-P2.0 (JST) Applicable wire 2 2 Wire size: 1.25 mm (AWG 16) to 2.0 mm (AWG 14) Insulator OD: 2.4 mm to 3.4 mm The crimping tool (YRF-1070) is required. App. - 28 Quantity: 20 For thin wire Quantity: 1 For thick wire Quantity: 20 For thick wire APPENDIX App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] 31.1 19.6 24.6 (Note) 22 Note. The recommended screw tightening torque is 0.1 N•m. 13.5 6.5 19 13.6 Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact) (2) JAE JN4FT02SJ1-R [Unit: mm] 19 14.3 12.5 26.6 17 12.3 12.7 R4 R6 2.5 11.8 11.6 (Note) Note. The recommended screw tightening torque is 0.2 N•m. Crimping tool: CT170-14-TMH5B App. - 29 APPENDIX KN4FT04SJ1-R [Unit: mm] 7° 24.5 ± 0.3 20.1 ± 0.2 18.5 ± 0.3 Approx. 29 16 ± 0.3 11.7 ± 0.2 12.2 ± 0.3 (Note) 11 ± 0.3 3.5 ± 0.2 13 ± 0.3 13.7 ± 0.3 R6 Note. The recommended screw tightening torque is 0.2 N•m. Main key Crimping tool: CT170-14-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.3 for details of crimping tools. 21 21 [Unit: mm] Approx. 50 CMV1-SP10S-M_ App. - 30 CMV1-SP2S-_ APPENDIX (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. Approx. 33 21 [Unit: mm] Approx. 32 CMV1-AP10S-M_ CMV1-AP2S-_ (c) CE05-6A_-_SD-D-BSS [Unit: mm] D or shorter W A 0 B -0.38 C ± 0.8 7.85 or longer Model A B C D W CE05-6A18-10SD-D-BSS CE05-6A22-22SD-D-BSS CE05-6A32-17SD-D-BSS 1 1/8-18UNEF-2B 1 3/8-18UNEF-2B 2-18UNS-2B 34.13 40.48 56.33 32.1 38.3 54.2 57 61 79 1-20UNEF-2A 1 3/16-18UNEF-2A 1 3/4-18UNS-2A (d) CE05-8A_-_SD-D-BAS [Unit: mm] 0 B -0.38 A Y or longer U ± 0.7 R ± 0.7 Approx. S ± 1 D or shorter W Model CE05-8A18-10SD-D-BAS CE05-8A22-22SD-D-BAS CE05-8A32-17SD-D-BAS A B 1 1/8-18UNEF-2B 34.13 1 3/8-18UNEF-2B 40.48 2-18UNS-2B 56.33 App. - 31 D W R U S Y 69.5 75.5 93.5 1-20UNEF-2A 1 3/16-18UNEF-2A 1 3/4-18UNS-2A 13.2 16.3 24.6 30.2 33.3 44.5 43.4 49.6 61.9 7.5 7.5 8.5 APPENDIX (e) CE3057-_A-_-D [Unit: mm] G ± 0.7 B ± 0.7 Effective thread length C V threads 1.6 Approx. D A ± 0.7 H F (Bushing ID) Model CE3057-10A-1-D CE3057-10A-2-D CE3057-12A-1-D CE3057-12A-2-D CE3057-20A-1-D Shell size A B C D E 18 23.8 30.1 10.3 41.3 15.9 22 23.8 35 10.3 41.3 19 32 27.8 51.6 11.9 43 31.7 E (Cable clamp ID) F 14.1 11.0 16.0 13.0 23.8 (Movable range on one side) G H V 31.7 3.2 1-20UNEF-2B Cable OD Bushing 37.3 4.0 1 3/16-18UNEF-2B 51.6 6.3 1 3/4-18UNS-2B CE3420-10-1 CE3420-10-2 CE342012-1 CE342012-2 CE3420-20-1 10.5 to 14.1 8.5 to 11 12.5 to 16 9.5 to 13 22 to 23.8 (f) D/MS3106B_-_S [Unit: mm] L or shorter J ± 0.12 Y or shorter W or longer 0 Q -0.38 A V Model D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S A J L Q V W Y 1 1/8-18UNEF 1 3/8-18UNEF 2-18UNS 18.26 18.26 18.26 52.37 56.57 61.92 34.13 40.48 56.33 1-20UNEF 1 3/16-18UNEF 1 3/4-18UNS 9.53 9.53 11.13 42 50 66 App. - 32 APPENDIX (g) D/MS3108B_-_S [Unit: mm] J ± 0.12 U ± 0.5 R ± 0.5 L or shorter 0 Q -0.38 A W or longer V Model D/MS3108B18-10S D/MS3108B22-22S D/MS3108B32-17S A J L Q R U V W 1 1/8-18UNEF 1 3/8-18UNEF 2-18UNS 18.26 18.26 18.26 68.27 76.98 95.25 34.13 40.48 56.33 20.5 24.1 32.8 30.2 33.3 44.4 1-20UNEF 1 3/16-18UNEF-2A 1 3/4-18UNS 9.53 9.53 11.13 (h) D/MS3057-_A [Unit: mm] E (Bushing ID) A ± 0.7 1.6 B ± 0.7 D (Cable clamp ID) G ± 0.7 Effective thread length C V F (Movable range) Model Shell size A B C D E F G V Bushing D/MS3057-10A D/MS3057-12A D/MS3057-20A 18 22 32 23.8 23.8 27.8 30.1 35.0 51.6 10.3 10.3 11.9 15.9 19.0 31.7 14.3 15.9 23.8 3.2 4.0 6.3 31.7 37.3 51.6 1-20UNEF 1 3/16-18UNEF-2A 1 3/4-18UNS AN3420-10 AN3420-12 AN3420-20 (i) CMV1S-SP10S-M_/CMV1S-SP2S-_ Refer to section 3.3 for details of crimping tools. 21 21 [Unit: mm] Approx. 50 CMV1S-SP10S-M_ App. - 33 CMV1S-SP2S-_ APPENDIX (j) CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to section 3.3 for details of crimping tools. Approx. 33 21 [Unit: mm] Approx. 32 CMV1S-AP10S-M_ CMV1S-AP2S-_ (k) CE05-6A32-17SD-D [Unit: mm] Model CE05-6A32-17SD-D A B C D E G H J 2-18UNS-2B 56.33 37.0 1 7/8-16UN-2A 13.14 45.3 9.2 19.4 App. - 34 APPENDIX App. 9 HG-JR22K1M(4) appearance change The appearance of the HG-JR22K1M(4) servo motor has been changed since September 2014. The following shows the terminal box detail diagram and dimensions before change. (1) Terminal box detail diagram (HG-JR22K1M(4)) [Unit: mm] Power supply terminal block: M10 screw (3) Approx. 235 Approx. 88.6 Approx. 230 Connected to the encoder connector Keep plate: M5 screw (4) Keep plate Approx. 52.5 ole φ80 h al box side in Term φ63 hole Keep p late sid e Approx. 50.5 Terminal box lid: M4 screw (8) Protective earth (PE) terminal: M10 screw (2) (2) Dimensions Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 22 489 120 HG-JR22K1M HG-JR22K1M4 [Unit: mm] Motor plate Caution plate Top 101 Motor plate/Caution plate Power lead hole Encoder connector MS3102A20-29P Approx. 37 107 476 439 230 φ63 Cooling fan connector CE05-2A14S-2P 140 174 227 35 Top Bottom 352 250 (Flange) 235 45° 5 130 8 φ65m6 25 φ3 φ230h7 Intake 163 154 154 Top Bottom 125 Cooling fan rotation direction 220 190 Exhaust Bottom 4-φ24 mounting hole Use hexagon socket head cap screw. 30 65 φ2 M12 screw Oil seal Eyebolt (Note 1,2) 4 in total Key BU (Red) To be left open D A C B BV BW (White) (Black) Cooling fan connector viewed from the connection side Motor flange direction BC37772A Note 1. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less. 2. An angle adjusting washer is inserted into the eyebolt. App. - 35 REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Mar. 2012 SH(NA)030113-A Jun. 2012 SH(NA)030113-B Revision First edition 4. Additional instructions The part of table is changed. (1) Transportation and installation Feb. 2013 SH(NA)030113-C Section 2.2 The sentences are added to CAUTION. Section 2.6 (2) The sentences are added. Section 5.1.2 The sentences of Note are changed. Section 6.3.1 The part of table is changed. Section 6.6.1 (2) The part of table is changed. Section 6.6.2 (2) The part of table is changed. Section 7.3.1 The part of table is changed. Section 7.6.1 (2) The part of table is changed. Section 7.6.2 (2) The part of table is changed. 4. Additional instructions The part of table is changed. (1) Transportation and installation Section 1.1 The part of diagram is changed. Section 1.2 (3) (4) Addition Section 2.1 (1) The part of table is changed. Section 2.2 to Section 2.10 A part is newly added, construction of sentences is changed. Section 3.1 (3) to (5) Addition Section 3.4 Addition Chapter 4 POINT is added. Section 4.2.2 A part is newly added, construction of sentences is changed. Section 4.3 A part is newly added, construction of sentences is changed. Section 4.4 A part is newly added, construction of sentences is changed. Chapter 5 POINT is added. Section 5.1.1 (2) The part of diagram is changed. Section 5.1.1 (3) Addition Section 5.1.2 The part of table is changed. Section 5.2 (2) POINT is changed. Section 5.2 (4) The part of diagram is changed. Section 5.2 (6) Addition Section 5.5 The part of table is changed. Section 6.2 The part of table is changed. Section 6.3.1 The part of table is changed. Section 6.8 The part of diagram is changed. Section 7.1 The part of diagram is changed. The sentences of Note 1 are changed. Section 7.2 The part of table is changed. Section 7.3.1 The part of table is changed. Section 7.3.2 (2) Addition Section 7.4 The part of table is changed. Section 7.5 The part of table is changed. Section 7.6 The part of table is changed. Section 7.7 The part of table is changed. The part of diagram is changed. Chapter 8 Addition Chapter 9 Addition Chapter 10 Addition Appendix 1 The part of table is changed. Appendix 2 The part of table is changed. Print Data *Manual Number Revision Feb. 2013 SH(NA)030113-C Jun. 2013 SH(NA)030113-D Aug. 2013 SH(NA)030113-E Oct. 2013 SH(NA)030113-F Mar. 2014 SH(NA)030113-G Jan. 2015 SH(NA)030113-H The part of table is changed. Appendix 4 Some numbers are changed. Appendix 5.9 (8) to (10) The part of table is changed. Appendix 6 "The following servo amplifiers will be available in the future. All specifications of followings may be changed without notice. MR-J4-_B(4)-RJ020" is deleted. Section 4.4 The part of table is changed. Section 8.2 The part of table is changed. MR-BT6VCBL03M is added. The sentences are added. Section 1.1 The part of diagram is changed. Section 5.1.1 The part of table is changed. Section 5.1.2 Addition Section 5.2 (7) The sentences of Note 7 are added. Section 6.4 The sentences of Note 7 are added. Section 7.4 The sentences of Note 7 are added. Section 8.4 The sentences of Note 7 are added. Section 9.4 The sentences of Note 7 are added. Section 10.4 1-phase 100 V AC of servo amplifier power supply input is added to torque characteristics of HG-MR and HG-KR servo motors. The part of table is changed. Section 4.4 The part of table is changed. Section 6.2 The part of graph is changed. Section 6.3.2 The part of table is changed. Section 7.2 (2) The part of table is changed. Section 8.2 The sentences are added. Appendix 3.1 HG-JR701M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, and HG-JR 1000 r/min series are added. 1. To prevent electric shock, The part of sentences is changed. note the following The part of table is changed. 4. Additional instructions (1) Transportation and installation The part of sentences is changed. 4. Additional instructions (2) Wiring The part of sentences is changed. 4. Additional instructions (4) Usage The diagram is changed. Section 1.1 The title is changed. Section 1.2 (2) The title is changed. Section 1.2 (3) The diagram is changed. The part of sentences is changed. Section 2.8 The sentences are added to CAUTION. The part of table is changed. Section 2.9 The part of sentences is changed. Section 3.1 (3) The part of diagram is changed. The part of table is changed. The part of diagram is changed. Section 3.4 The part of table is changed. The part of sentences is changed. Chapter 4 The sentences are added to POINT. The part of table is changed. Section 4.2.2 (2) (b) The part of table is changed. Section 4.2.2 (3) The diagram is changed. Section 4.2.2 (4) The table are added. Section 4.3 (3) The sentences are added to POINT. Section 4.4 The part of sentences is changed. Chapter 5 The sentences are added to CAUTION. The sentences are added to POINT. The title is changed. Section 5.1.1 (2) The title is changed. Section 5.1.1 (3) The diagram is changed. Print Data *Manual Number Jan. 2015 SH(NA)030113-H Apr. 2015 SH(NA)030113-J Revision The part of table is changed. The sentences are added. The sentences are added. The sentences are added. The part of sentences is changed. The sentences are added. The sentences of Note 2 are changed. The sentences are added. The part of sentences is changed. The part of sentences is changed. The sentences are added. The part of sentences is changed. The part of sentences is changed. The part of sentences is changed. The part of diagram is changed. The title is changed. The table are added. The part of table is changed. Section 8.3.1 The table are added. The sentences are added. The part of sentences is changed. Section 8.3.2 The diagram are added. The part of sentences is changed. Section 8.4 The part of table is changed. The part of table is changed. Section 8.5 The diagram are added. The part of table is changed. Section 8.6 The part of table is changed. Section 8.7 The diagram is changed. Section 8.8.1 The diagram are added. Section 8.8.2 The part of table is changed. The part of diagram is changed. The diagram are added. Section 8.8.3 The part of table is changed. The part of diagram is changed. The sentences are added. Section 9.3.1 The part of sentences is changed. Section 9.3.2 The sentences are added. Section 10.3.1 The part of sentences is changed. Section 10.3.2 The part of table is changed. Appendix 1 The part of table is changed. Appendix 4 (1) The table are added. Appendix 4 (2) (c) The part of table is changed. Appendix 6 Addition Appendix 9 Servo motors with functional safety and HG-AK series servo motor are added. Partially added. 4. Additional instructions Added. Section 1.1 (2) Added. Section 1.2 (4) Added. Section 1.5 Partially added. Section 2.1 CAUTION is added. Section 2.8 Added. Section 3.1 (6) Partially changed. Section 3.2 Partially added. Section 3.4 Partially added. Section 4.1 Partially changed. Section 4.2.2 Added. Section 4.2.3 Added. Section 4.3 (6) Partially added. Section 4.4 Added. Section 5.1.1 (4) Partially added. Section 5.1.2 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 7.3.2 Section 7.6 Chapter 8 Section 8.1 Section 8.2 Print Data *Manual Number Apr. 2015 SH(NA)030113-J Revision 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. Partially added. Partially added. Added. Partially added. Partially added. Partially changed. This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. 2012 MITSUBISHI ELECTRIC CORPORATION MEMO Country/Region USA Sales office MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel/Fax Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico Tel : +52-55-3067-7500 Fax : – Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Tel : +55-11-4689-3000 Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - Fax : +55-11-4689-3016 SP, Brasil Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel : +49-2102-486-0 Fax : +49-2102-486-1120 UK MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K. Tel : +44-1707-28-8780 Fax : +44-1707-27-8695 Italy MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza (Milano) Italy Tel : +39-039-60531 Fax : +39-039-6053-312 Spain MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain MITSUBISHI ELECTRIC EUROPE B.V. French Branch 25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France Tel : +34-935-65-3131 Fax : +34-935-89-1579 Tel : +33-1-55-68-55-68 Fax : +33-1-55-68-57-57 Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic Tel : +420-251-551-470 Fax : +420-251-551-471 Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branchul. Krakowska 50, 32-083 Balice, Poland Tel : +48-12-630-47-00 Fax : +48-12-630-47-01 Russia MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Tel : +7-812-633-3497 Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; RU-195027 St. Petersburg, Fax : +7-812-633-3499 Russia Sweden MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia) Fjelievägen 8, SE-22736 Lund, Sweden Tel : +46-8-625-10-00 Fax : +46-46-39-70-18 Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Şerifali Mahallesi Nutuk Sokak No:5, TR-34775 Ümraniye, İstanbul, Türkey Tel : +90-216-526-3990 Fax : +90-216-526-3995 UAE MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E. Tel : +971-4-3724716 Fax : +971-4-3724721 South Africa ADROIT TECHNOLOGIES 20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa Tel : +27-11-658-8100 Fax : +27-11-658-8101 China MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China Tel : +86-21-2322-3030 Fax : +86-21-2322-3000 Taiwan SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C. Tel : +886-2-2299-2499 Fax : +886-2-2299-2509 Korea MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. 7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea Tel : +82-2-3660-9510 Fax : +82-2-3664-8372/8335 Singapore MITSUBISHI ELECTRIC ASIA PTE. LTD. 307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Tel : +65-6473-2308 Fax : +65-6476-7439 Thailand MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand Tel : +66-2682-6522 to 6531 Fax : +66-2682-6020 Indonesia PT. MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Tel : +62-21-3192-6461 Fax : +62-21-3192-3942 Vietnam MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam Tel : +84-8-3910-5945 Fax : +84-8-3910-5947 India MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Tel : +91-20-2710-2000 Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India Fax : +91-20-2710-2100 Australia MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia France Tel : +61-2-9684-7777 Fax : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. QR Code is a trademark or a registered trademark of DENSO WAVE INCORPORATED in Japan, the United States and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. 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 "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced. [Term] The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work. [Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure. (2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product. (3) Even during the term of warranty, the repair cost will be charged on you in the following cases; (i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem (ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry (iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced (v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) (vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters (vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company (viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for 2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc. (2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production. 3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details. 4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc. Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you. 5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice. 6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs. (2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. SH(NA)030113-J General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE 1CW949 SH (NA) 030113-J (1504) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice. J HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 J
Source Exif Data:
File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.6 Linearized : Yes Encryption : Standard V4.4 (128-bit) User Access : Print, Copy, Extract, Assemble, Print high-res Author : Mitsubishi Electric Corporation Create Date : 2013:10:28 08:49:29+09:00 Keywords : HG-MR;, HG-KR;, HG-SR;, HG-JR;, HG-RR;, HG-UR;, HG-AK Modify Date : 2015:04:17 10:51:44+09:00 XMP Toolkit : Adobe XMP Core 5.2-c001 63.139439, 2010/09/27-13:37:26 Format : application/pdf Title : HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK SERVO MOTOR INSTRUCTION MANUAL(Vol.3) Creator : Mitsubishi Electric Corporation Description : SH-030113-J Rights : Copyright (C) 2012 Mitsubishi Electric Corporation. All rights reserved. Subject : HG-MR, HG-KR, HG-SR, HG-JR, HG-RR, HG-UR, HG-AK Creator Tool : PScript5.dll Version 5.2.2 Metadata Date : 2015:04:17 10:51:44+09:00 Producer : Acrobat Distiller 10.1.9 (Windows) Document ID : uuid:276d934f-a285-4397-bfe5-1e9493cb6b94 Instance ID : uuid:df69e63a-fb1d-4725-b0a6-ff631fb5dc48 Page Layout : SinglePage Page Mode : UseOutlines Page Count : 378EXIF Metadata provided by EXIF.tools