Instruction manual

ManualsBrandsMitsubishi ManualsTVs & monitorsVS-6047

SH (NA) 030113-G (1403) MEE Printed in Japan Specifications are subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

HG-MR

HG-KR

HG-SR

HG-JR

HG-RR

HG-UR

SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)

1CW949

MOTOR INSTRUCTIONMANUAL(3SYU)

Summary of content (328 pages)

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General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE 1CW949 SH (NA) 030113-G (1403) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
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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".
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1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- 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. Ground the servo amplifier and servo motor securely.
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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 amplifier and 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 amplifier and servo motor which have been damaged or have any parts missing.
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(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 output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly.
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(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.
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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.
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CONTENTS 1. INTRODUCTION 1.1 1.2 1.3 1.4 1- 1 to 1- 4 Rating plate....................................................................................................................................... 1- 1 Parts identification............................................................................................................................. 1- 1 Electromagnetic brake ......................................................................................................................
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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.........................................................
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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 8-32 8.
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APPENDIX App. - 1 to App. -32 App. 1 Servo motor ID codes .......................................................................................................... App.- 1 App. 2 Manufacturer list .................................................................................................................. App.- 2 App. 3 Compliance with the CE marking......................................................................................... App.- 3 App. 4 Compliance with UL/CSA standard ...............
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1. INTRODUCTION 1. INTRODUCTION 1.1 Rating plate The following shows an example of rating plate for explanation of each item. Model Input power and insulation class Rated output and mass Rated speed Serial number (Note 1) MITSUBISHI AC SERVO MOTOR HG-JR153 INPUT 3AC 102V 11A CI. F OUTPUT 1.5kW 5.9kg 3000r/min (200Hz) SER. TI0001234 12X QR code (Note 2) Country of origin MITSUBISHI ELECTRIC MADE IN JAPAN Note 1.
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1. INTRODUCTION (3) HG-JR22K1M(4) servo motor Terminal box Cooling fan connector Encoder connector Power lead hole Servo motor shaft 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.
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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 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.
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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.
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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 amplifier and 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.
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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 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.
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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.
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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.
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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.
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2. INSTALLATION (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.
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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 amplifier or servo motor. If the IP rating of the connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components. 3.
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3.
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3. CONNECTORS USED FOR SERVO MOTOR WIRING (5) HG-UR series Power supply 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.
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3. CONNECTORS USED FOR SERVO MOTOR WIRING 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.
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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.
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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.
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3.
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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 Servo motor power supply connector (Note 2) Cable clamp (DDK) Cabel OD [mm] (reference) Model Model Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 9.5 to 13 12.5 to 16 CE3057-12A-2-D CE3057-12A-1-D Angle CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8 9.
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3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.
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3. CONNECTORS USED FOR SERVO MOTOR WIRING Plug Connector configuration L (for cooling fan) Cable clamp Cable Plug (DDK) Feature IP67 EN compliant Type Straight Cable clamp (DDK) Cable OD [mm] (reference) Model CE05-6A14S-2SD-D-BSS 7.0 to 9.0 Model CE3057-6A-1-D Servo motor cooling fan connector (Note) CE05-2A14S-2P Note. The connector to be mated.
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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.
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3.
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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.
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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 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.
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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.
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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.
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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.
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4.
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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.
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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.
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4.
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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 optional equipment. Refer to chapter 5 for details of the options. For types other than those prepared as optional equipment, refer to chapter 3.
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4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (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.
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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 D (PE) G F A H E D B C Terminal No. Signal A B C U V W 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).
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4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR Connector K Cooling fan connector CE05-2A14S-2P Terminal No. C D A B A B C Signal BU (Note) BV (Note) BW (Note) D Note. Refer to the chapter of the servo motor series for the specifications of the power supplied to the cooling fan.
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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 9 for wiring.
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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 2) B1/B2 1) U/V/W/ HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73 0.75 (AWG 18) (Note) 0.5 (AWG 20) (Note) 2 Note. It is for wire length of 10 m or less. When fabricating an extension cable, use 1.
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4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (3) HG-JR 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) 5.5 (AWG 10) (Note 1) 8 (AWG 8) (Note 1) HG-JR703 HG-JR903 HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 3) BU/BV/BW 3.5 (AWG 12) (Note 1) 5.5 (AWG 10) (Note 1) 3.
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4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (5) HG-UR series 2 Wires [mm ] Servo motor 2) B1/B2 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 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. 4.4 Servo amplifier terminal section POINT For the sizes of wires used for wiring, refer to section 4.3.
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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.
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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.
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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 Insert the open tool as follows and push down it to open the spring.
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5. WIRING OPTION 5. WIRING OPTION WARNING Before connecting any option, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and Nis 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. CAUTION Use specified options. Otherwise, it may cause a malfunction or fire.
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5. WIRING OPTION 5.1.
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5. WIRING OPTION (3) HG-JR22K1M(4) servo motor Servo amplifier 41) CN2 40) (Note 2) 42) CN4 MR-BAT6V1BJ Terminal box (Note 1) Note 1. Refer to section 3.1 for the connector used for connection of the cooling fan. 2. MR-ENECBL_M-H cannot be used. 5.1.2 Cable and connector list No. 1) Name Servo motor power cable 2) Servo motor power cable 3) 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.
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5. WIRING OPTION No. 7) Name Electromagnetic brake cable 8) Electromagnetic brake cable 9) Electromagnetic brake cable 10) Electromagnetic brake cable 11) Electromagnetic brake cable Model Description MRBKS1CBL_MA1-L Cable length: 2/5/10 m Refer to section 5.4 for details. MRBKS1CBL_MA1-H Cable length: 2/5/10 m MRBKS1CBL_MA2-L Cable length: 2/5/10 m MRRefer to section 5.4 for details. BKS1CBL_MA2-H Cable length: 2/5/10 m MRBKS2CBL03MA1-L Cable length: 0.
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5. WIRING OPTION No. 18) Name Encoder cable 19) Encoder cable 20) Encoder cable 21) Encoder connector set Model Description MRJ3JCBL03MA2-L (Note 1) Cable length: 0.3 m Remarks 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.
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5. WIRING OPTION No. Name 27) Power connector set 28) 29) 30) 31) Power connector set Power connector set Model MR-PWCNS4 MR-PWCNS5 MR-PWCNS3 Electromagnetic brake connector set MR-BKCNS1 (Note 1) Electromagnetic brake connector set MR-BKCNS1A (Note 1) Description Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-D (DDK) Applicable cable 2 Applicable wire size: 2 mm (AWG 14) to 2 3.5 mm (AWG 12) Cable OD: 10.5 mm to 14.
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5. WIRING OPTION No.
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5. WIRING OPTION No. 39) 40) Name Model Electromagnetic brake connector set MR-BKCN Encoder cable MR-ENECBL_ M-H-MTH Description 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 Remarks HG-UR202 HG-UR352 HG-UR502 HG-JR11K1M(4) HG-JR15K1M(4) HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4) Refer to section 5.2 (6) for details.
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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. The cables of the lengths with the symbols are available.
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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.
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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.
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5.
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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 cable to use.
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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.
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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 servo motor Load-side lead Use in combination with MRJ3ENSCBL_M-_. For HG-KR/HG-MR servo motor Opposite to load-side lead Use in combination with MRJ3ENSCBL_M-_.
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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.
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5.
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5.
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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.
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5. WIRING OPTION (6) MR-ENECBL_M-H-MTH These cables are encoder cables for HG-JR11K1M(4), HG-JR15K1M(4), and HG-JR22K1M(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.
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5.
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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 cable to use.
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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. The cables of the lengths with the symbols are available. Refer to section 4.2.1 for wiring. Cable length IP rating 0.
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5. WIRING OPTION (2) Internal wiring diagram (Red) (White) (Black) (Green/yellow) (Note) U V W Note. These are not shielded cables. 5.4 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. The cables of the lengths with the symbols are available. Refer to section 4.2.1 for wiring. Cable model Cable length IP rating 0.
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5.
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5. WIRING OPTION 5.5 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 of cores Structure [Wires/mm] [Ω/km] 2 to 10 AWG 22 2 to 10 AWG 22 0.
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5. WIRING OPTION Characteristics of one core Electromagnetic brake cable Servo motor power cable Type Length [m] Model MR-PWS1CBL_ M-A1-L MR-PWS1CBL_ M-A2-L MR-PWS1CBL_ M-A1-H MR-PWS1CBL_ M-A2-H MRPWS2CBL03MA1-L MRPWS2CBL03MA2-L MR-BKS1CBL_ M-A1-L MR-BKS1CBL_ M-A2-L MR-BKS1CBL_ M-A1-H MR-BKS1CBL_ M-A2-H MRBKS2CBL03MA1-L MRBKS2CBL03MA2-L Core size Number of cores Structure [Wires/mm] [Ω/km] 2 to 10 2 to 10 AWG 18 4 34/0.18 AWG 19 2) (0.75 mm 4 150/0.08 29.1 or less 1.63 AWG 19 4 30/0.
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5.
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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.
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6. HG-MR SERIES/HG-KR SERIES 6.
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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.
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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. 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.
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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, it is recommended that the unbalanced torque of the machine be kept at 70% or less of the motor's 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.
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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.
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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.
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6. HG-MR SERIES/HG-KR SERIES 6.6 Geared servo motors CAUTION For the geared servo motor, transport it in the same status as in the installation method. Tipping it over 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.
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6.
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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.
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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.
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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.
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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.
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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.
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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.
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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 82.4 20.7 Caution plate 40 25 Motor plate (Opposite side) Caution plate 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 4.9 10.9 11.7 27.4 9.9 11.7 Power supply connector 13.9 19.
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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.
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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.
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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.
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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.
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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 27.4 Power supply connector 9.5 19.
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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.
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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.
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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.
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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.
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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] 177 □80 90 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 32 57.1 56 φ1 Top Bottom 15 φ1 φ32h6 φ73 φ81 φ95h7 Bottom Bottom Caution plate Top 13.7 11.5 27.
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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.
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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.
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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.
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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.
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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° Caution plate Top 4 47.1 46 Top Caution plate 13.7 10.9 11.
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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 φ1 Top 47.1 46 Bottom Top 3 φ1 Top 2 10.9 11.8 9.5 11.7 28.
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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.
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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.
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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 20.5 9 25.5 3-M4 Screw hole depth 6 2.5 5 20.7 0° C 0. 5 Bottom Bottom Bottom 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.
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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.
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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.
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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.
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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.
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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.
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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.
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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 φ59 φ85h7 φ89 C φ55 13° 05 Power supply connector 1 2 3 4 18.4 Electromagnetic brake connector Encoder connector 7° Pin No. Application 1 B1 2 B2 2 9.9 Power supply connector 106.3 19.2 21.
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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-KR23BG5 200 HPG-20A-21-F0EKS-S 1/21 1.3 0.741 3.8 HG-KR23BG5 200 HPG-20A-33-F0ELS-S 1/33 1.3 0.695 3.8 HG-KR23BG5 200 HPG-20A-45-F0ELS-S 1/45 1.3 0.694 3.8 [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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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7. HG-SR SERIES 7.
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7. HG-SR SERIES 7.3 Standard specifications 7.3.
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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.
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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. 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.
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7. HG-SR SERIES 7.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70% or less of the motor's 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.
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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.
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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.
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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.
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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, transport it in the same status as in the installation method. Tipping it over 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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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 (Note) *1 (Note) *1 Caution plate Top Top Bottom Bottom Top Top (Note) *2 φ2 3 0 140.9 Bottom 50.9 Bottom 45° 75 φ2 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.
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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.
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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 Bottom Top Top 45 φ1 65 112.5 Encoder connector CMV1-R10P 29 φ1 50.9 Bottom 79.
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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.
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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.
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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 (Note) *1 (Note) *1 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 45° Caution plate 50.
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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.
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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.
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7. HG-SR SERIES 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) Model Output [kW] HG-SR52G1 HG-SR524G1 0.5 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio CNVM-6100 1/6 8.08 1/11 7.65 1/17 7.53 1/29 7.47 Mass [kg] 18 [Unit: mm] 275 □130 60.7 112.5 Caution plate Motor plate 48 20.9 Caution plate Motor plate 38.2 50.
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7. HG-SR SERIES Model Output [kW] HG-SR102G1 HG-SR1024G1 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1.0 CNVM-6120 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] □130 281.5 112.5 60.7 50.9 117 20.9 Caution plate Motor plate 38.
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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.
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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.
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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.
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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] 24.8 63.7 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 Model Output [kW] BC41127* Reducer model Reduction ratio 3.
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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 □176 140.9 50.9 Motor plate 8-φ14 80 90 6 φ3 A A (Side view of motor only) Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (PE) W 20 12 Key 7.5 Caution plate 0 φ400 φ340 Top Top 22.
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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 63.7 110 258 279 22 38.5 13 110 100 A φ370 82 φ3 90 8-φ18 176 Top Bottom Top 22.5° Motor plate Caution plate Bottom 5 A φ430 Caution plate Motor plate 24.8 φ345f8 □176 140.9 50.
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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.
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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] 110 546 258 279 32 22 38.
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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 0.5 1/11 CNVM-6100 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.
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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 8.5 1/17 32 15.1 1/29 14.8 1/35 14.8 [Unit: mm] 316 □130 95.2 59 112.5 79.9 Caution plate Motor plate 43.5 50.9 69 20.
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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.
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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 59 43.5 112.5 208 15 60 ° 4 6-φ11 70 56 φ230 A 29 23 0 φ260 Bottom Top eφ A φ200f8 Top 145 13 13.5 Bottom 79.9 50.9 76 164 58 Caution plate Motor plate 375.5 20.9 Caution plate Motor plate 95.
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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 4 Motor plate 30° 13 55 Caution plate 50 50.
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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.
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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 5 22 243 8-φ14 Caution plate Top 181 80 90 6 φ3 A φ340 82 Bottom Top 44 Bottom 22.5° Motor plate 13 50.9 Caution plate Motor plate 258 24.8 A 0 φ400 140.
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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.
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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.
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7. HG-SR SERIES Model Output [kW] HG-SR702BG1 HG-SR7024BG1 Reducer model Reduction ratio 7.
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7. HG-SR SERIES 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio 1/6 HG-SR52G1H HG-SR524G1H 0.5 CNHM-6100 Mass [kg] 8.08 1/11 7.65 1/17 7.53 1/29 7.47 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.
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7. HG-SR SERIES Model Output [kW] HG-SR102G1H HG-SR1024G1H 1.0 Moment of inertia J [× 10-4 kg•m2] Reducer model Reduction ratio CNHM-6120 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.
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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.
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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] 417 130 60.7 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.
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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 57.557.
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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.
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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 Caution plate Motor plate Bottom 262 24.8 200 A Power supply connector MS3102A22-22P (Side view of motor only) 137.
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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.
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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.
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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.
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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.
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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.
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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 8.5 1/17 33 15.1 1/29 14.8 1/35 14.8 [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.
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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 50.9 218 90 80 Motor plate 13.5 Bottom Top 20.9 58 Bottom Top A 352 Caution plate Motor plate 95.2 59 Caution plate 43.
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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.
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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.
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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.
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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 262 24.8 90 80 For reverse rotation command Rotation direction For forward rotation command Motor plate 13 Caution plate Bottom Top 137.
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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.
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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.
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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 405 A 30 220 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P 160 160 30 145 85 210 470 Main key position mark Model Output [kW] 7.
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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.
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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.
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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.
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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] Bottom Top Top 114 84 Bottom C 0. 5 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.
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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.
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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.
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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 6×22.5°(=135°) 122 165h8 (Note)* 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 38.
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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] Mass [kg] Moment of inertia J [× 10-4 kg•m2] 8.5 10.1 9.5 10.0 9.7 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5 248 43.
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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 Caution plate 25 Motor plate (Opposite side) 10 60 8 effective range) 6-M6 Screw hole depth 10 Caution plate 60° 45° Bottom Bottom Top Top 112.5 79.
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7. HG-SR SERIES Model Output [kW] HG-SR102BG5 HG-SR1024BG5 1.5 Reduction ratio Reducer model 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.
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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 112.5 Bottom Top 13.
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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 45.5 Motor plate (Opposite side) Caution plate Caution plate 25 91 13 13 effective range) 6-M8 Screw hole depth 12 12.
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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.
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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] 44 Mass [kg] 119 42 117 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.
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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.
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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.
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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.
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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 133 253.5 38.2 Caution plate 54.5 Motor plate (Opposite side) 39.5 13 82 35 13 45 Caution plate ° Motor plate Caution plate Top Top Bottom Bottom Top Top R 50.9 Bottom 4 0. 112.
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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 (Opposite side) 12.5 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.
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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.
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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 38.5 Motor plate 25 63 (Opposite side) 12.5 Caution plate Caution plate Motor plate 156 45 16 53 13 82 Caution plate Bottom Top Bottom Bottom Top Top 4 0. R 140.9 Top 50.
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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 248 Motor plate (Opposite side) 43.
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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.
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7. HG-SR SERIES Model Output [kW] HG-SR102BG7 HG-SR1024BG7 1.0 Reduction ratio Reducer model 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 290 Motor plate 43.5 Caution plate 156 107 Motor plate (Opposite side) 16 82 53 45° 13 Caution plate Caution plate Bottom Top Bottom Top 4 0. R 112.
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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 288 43.5 Motor plate Caution plate 133 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.
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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.
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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.
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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] Mass [kg] 121 45 117 47 44 [Unit: mm] For reverse rotation command Rotation direction For forward rotation command 377 45.5 Motor plate 156 Motor plate (Opposite side) Caution plate Caution plate 25 63 12.5 45 16 53 82 13 45° Caution plate Top Bottom Top 4 0. R 140.
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7.
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8. HG-JR SERIES 8. HG-JR SERIES POINT HG-JR22K1M(4) with an electromagnetic brake is 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.
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8. HG-JR SERIES 8.
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8. HG-JR SERIES Servo amplifier MR-J4 1-axis When the maximum torque Standard is 400% (Note) Servo motor Standard HG-JR15K1M MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-15KB-RJ020 HG-JR22K1M MR-J4-22KA MR-J4-22KA-RJ MR-J4-22KB MR-J4-22KB-RJ MR-J4-22KB-RJ010 MR-J4-22KB-RJ020 MR-J4 2-axis When the maximum torque is 400% (Note) Note. The maximum torque can be increased to 400% by changing the servo amplifier.
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8. HG-JR SERIES 8.3 Standard specifications 8.3.
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8.
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8.
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8.
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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. 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.
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8. HG-JR SERIES 8.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70% or less of the motor's 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.
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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.
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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.
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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 Servo motor 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 R Q QK R 16h6 40 0 30 5 -0.030 25 2 r 3 +0.1 2.
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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-JR11K1M(4)(B) HG-JR15K1M(4)(B) HG-JR22K1M(4) 18 20 25 40 50 8.
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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)) [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.
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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] 5 4.5 Caution plate φ1 00 Bottom Bottom Bottom Top Top Top 50.9 Bottom φ41 φ16h6 30 Top 45° 18 Caution plate 40 7.5 φ80h7 Caution plate 145.5 Motor plate (Opposite side) 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 36 B A 16 10.
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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.
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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 00 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 φ80h7 38.2 Caution plate 93.8 Oil seal 148 from the flange surface 35° .2 25.
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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.
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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 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.
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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.
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8. HG-JR SERIES Model HG-JR11K1M HG-JR11K1M4 Output [kW] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 11 220 62 [Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 339.5 Caution plate 110 20 Caution plate ° 37.5 4 2-M8 screw (Note) *1,*2 Top Top (Note) *4 Bottom Bottom Top Top 81 Bottom φ 27 0 φ200h7 Caution plate Bottom 27 φ55m6 (Note) *2 50 φ2 (Note) *1 45° 35 φ2 M10 screw (Note) *3 171.
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8. HG-JR SERIES 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 101 476 439 230 φ63 Cooling fan connector CE05-2A14S-2P 140 174 227 35 Top Bottom 352 250 (Flange) 235 45° 5 130 φ65m6 8 φ3 φ230h7 25 125 Intake 163 154 Top Bottom 154 220 190 Exhaust Cooling fan rotation direction 4-φ24 mounting hole Use hexagon socket head cap screw.
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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. Caution plate 5 4.5 30 Caution plate φ1 00 Top Top φ80h7 Bottom Top φ41 Bottom 50.9 Bottom 93.8 Oil seal 57.4 76 from the flange surface 35° 13 V W B A .8 21 36 15 16 Encoder connector CMV1-R10P 25.
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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 93.8 50.9 Top 00 φ80h7 φ16h6 Bottom 45° 18 Oil seal 57.4 25.7 Main key position mark V W .2 B A .
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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 .
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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° 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 .
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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 00 45° 50.9 Bottom Top 93.8 Oil seal 57.4 184 from the flange surface 35° 13 Electromagnetic brake 16 36 15 Electromagnetic brake connector CMV1-R2P V W B A .
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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.
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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.
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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 0 φ20 30 13 163.3 Oil seal (Note) *1 φ2 133.5 96.9 50.9 Bottom (Note) *3 45° 75 +0.
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8. HG-JR SERIES Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10-4 kg•m2] Mass [kg] 11 126 240 74 HG-JR11K1MB 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) *1,*2 (Note) *4 φ55m6 Top Top (Note) *3 φ 27 0 35 φ2 M10 screw Oil seal 171.1 Top Bottom φ200h7 Top Bottom 81 Bottom 136.
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8.
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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.
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9. HG-RR SERIES 9.3 Standard specifications 9.3.
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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. 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.
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9. HG-RR SERIES 9.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70% or less of the motor's 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.
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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.
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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.
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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.
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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 35 15 φ1 94.8 Oil seal Encoder connector CMV1-R10P 13 (PE) Key E F D C Power supply connector CE05-2A22-23P H B G A U 119.
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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 Top 50.9 Bottom φ110h7 φ28h6 Caution plate φ1 6 45 φ1 5 117.4 Oil seal Encoder connector CMV1-R10P 13 (PE) Key D C Power supply connector CE05-2A24-10P 204.
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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.
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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.
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9.
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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.
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10. HG-UR SERIES 10.3 Standard specifications 10.3.
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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. 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.
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10. HG-UR SERIES 10.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70% or less of the motor's 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.
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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.
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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.
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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.
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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.
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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 Bottom Top Top 45 ° 35 φ2 φ27 0 φ200 Bottom Top 50.9 Bottom Top ° 50 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.
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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 Motor plate 13 Caution plate □176 55 40 3 Caution plate 40° 2-M6 screw 50 45° φ2 φ28h6 Bottom Bottom Top Top Top 00 φ2 0 φ114.3 -0.025 Bottom Top 50.9 Bottom φ2 30 15 Caution plate 141.
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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.
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10.
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APPENDIX App. 1 Servo motor ID codes Servo motor series ID 0101 0111 0121 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 1101 1501 2201 App.
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APPENDIX Servo motor series ID 0132 0141 0151 Servo motor type ID FF53 FF73 F103 F153 F203 F353 F503 F703 F903 1101 1501 2201 F103 F153 F203 F353 F503 FF72 F152 F202 F352 F502 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-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502 App. 2 Manufacturer list Names given in the table are as of February 2014.
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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.
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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.
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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.
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APPENDIX (c) HG-JR 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-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 Standard When the maximum torque is 400% (Note 2) 14 14 12 10 (Note 1) 8 (Note 1) 12 (Note 1) 10 (Note 1) B1/B2 BU/BV/BW 6 (Note 1) 4 (Note 1) 2 (Note 1) 16 16 14 14 12 (Note 1) 10 (Note 1) 14 (Note 1) 12
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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.
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APPENDIX App. 5.2 Position resolution and electronic gear setting Position resolution (travel distance per pulse Δl) is determined by travel distance per servo motor revolution ΔS 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 each servo motor series.
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APPENDIX Relation between position resolution Δl 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. Δl < 1 5 1 • Δε ····································································································································· (5.
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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.
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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).
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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.
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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 .
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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.
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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.
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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.
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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.
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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.
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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.
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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] Δl0 = 0.
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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 ΔS = 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. - 21 ts 0.
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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.
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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.
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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.
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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.
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APPENDIX App. 7 Crimping connector for CNP3_ MR-J4W_ 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.
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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 13.5 6.5 19 0.1 N•m. 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.
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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: CT160-3-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.
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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 -0.
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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.
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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.
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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.
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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.
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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 Appendix 4 The part of table is changed. Appendix 5.9 (8) to (10) Some numbers are changed. Appendix 6 The part of table is changed. "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.
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Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. 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, México Tel : +52-55-9171-7600 Fax : +52-55-9171-7649 Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA.
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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.
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General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE 1CW949 SH (NA) 030113-G (1403) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.