Mitsubishi Electric HG-AK Instruction Manual Download

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APPENDIX

App. - 24

(3) Acceleration/deceleration time constant

psa

= t

psd

= t

- V

/60

- t

= 0.05 [s]

: Settling time (Here, this is assumed to be 0.15 s.)

(4) Operation pattern

0.05

Time [s]

3000

psa

psd

= 1.0

1 cycle t

= 1.5

0.15

Ser

vo motor

speed [r

/min]

(5) Load torque (converted into equivalent value on servo motor shaft)

Travel distance per servo motor revolution

∆

S = P

•

= 16 •

= 10 [mm]

2 • 10

•

• W • g •

0.2 • 60 • 9.8 • 10

2 • 10

• 3.14 • 0.8

= 0.23 [N•m]

Summary of Contents for HG-AK

Page 1: ... This Instruction Manual uses recycled paper MODEL 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 HG AK SERVO MOTOR INSTRUCTION MANUAL Vol 3 1CW949 MOTORINSTRUCTIONMANUAL 3SYU N N ...

Page 2: ...ere injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated ...

Page 3: ...e connections of the power supply terminals 2 To prevent fire note the following CAUTION Install the servo motor on incombustible material Installing them directly or close to combustibles will lead to smoke or a fire Provide an adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo motor 3 To prevent injury note the following CAU...

Page 4: ... being attached insecurely the servo motor may come off during operation The geared servo motor must be installed in the specified direction to prevent oil leakage When handling the servo motor be careful with the sharp edges of the servo motor shaft keyway or others Do not strike the connector Otherwise a connection failure malfunction etc may occur Be sure to measure the motor vibration level wi...

Page 5: ...R703 4 HG JR903 4 X 24 5 m s2 Y 29 4 m s2 HG JR45K1M4 HG JR55K1M4 HG JR30K1 4 HG JR37K1 4 X 9 8 m s2 Y 9 8 m s2 Note 1 Except the geared servo motor 2 Contact your local sales office for the altitude for options The HG AK series servo motor is available at an altitude of 1000 m or less above sea level 2 Wiring CAUTION Wire the equipment correctly and securely Otherwise the servo motor may operate ...

Page 6: ...ision Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent Doing so may scuff the surface Do not disassemble repair or modify the product Otherwise an electric shock fire injury etc may occur Disassembled repaired and or modified products are not covered under warranty Use the servo amplifier converter unit with the specified servo motor Correctl...

Page 7: ... for an extended period of time guideline three or more months Always store the servo motor indoors in a clean and dry place If it is stored in a dusty or damp place make adequate provision e g cover the whole product If the insulation resistance of the winding decreases check how to store the equipment Though the servo motor is rust proofed before shipment using paint or rust prevention oil rust ...

Page 8: ...ustomary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 9: ...A 8 MEMO ...

Page 10: ...ORS USED FOR SERVO MOTOR WIRING 3 1 to 3 12 3 1 Selection of connectors 3 1 3 2 Wiring connectors connector configurations A B C 3 5 3 3 Wiring connectors connector configurations D E F G H 3 6 3 4 Wiring connectors connector configurations J K L M N P Q 3 10 4 CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 1 to 4 26 4 1 Connection instructions 4 2 4 2 Wiring 4 3 4 2 1 HG MR series HG KR series s...

Page 11: ... 6 34 6 8 6 With flange output type reducer for high precision applications flange mounting with an electromagnetic brake 6 41 6 8 7 With shaft output type reducer for high precision applications flange mounting without an electromagnetic brake 6 47 6 8 8 With shaft output type reducer for high precision applications flange mounting with an electromagnetic brake 6 53 7 HG SR SERIES 7 1 to 7 98 7 1...

Page 12: ...netic brake characteristics 8 21 8 5 Servo motors with special shafts 8 22 8 6 Oil seal 8 23 8 7 Cooling fan 8 23 8 8 Dimensions 8 24 8 8 1 Terminal box detail diagram 8 24 8 8 2 Standard without an electromagnetic brake 8 25 8 8 3 With an electromagnetic brake 8 39 9 HG RR SERIES 9 1 to 9 12 9 1 Model designation 9 1 9 2 Combination list of servo motors and servo amplifiers 9 1 9 3 Standard speci...

Page 13: ...5 Servo motors with special shafts 11 6 11 6 Dimensions 11 7 11 6 1 Standard without an electromagnetic brake 11 8 11 6 2 With an electromagnetic brake 11 11 APPENDIX App 1 to App 37 App 1 Servo motor ID codes App 1 App 2 Manufacturer list App 3 App 3 Compliance with the CE marking App 4 App 4 Compliance with UL CSA standard App 5 App 5 Calculation methods for designing App 10 App 6 Selection exam...

Page 14: ...nth 1 to 9 X 10 Y 11 and Z 12 For January 2012 the Serial No is like SER _ _ _ _ _ _ _ _ _ 121 2 Products approved by Certification Bodies are marked The marks depends on the Certification Bodies 2 HG JR 1000 1500 r min series servo motor Model Input power rated current rated output Mass insulation class rated speed Induced voltage constant maximum ambient temperature power factor IP rating Serial...

Page 15: ...gin conforming standards Manufacturer Note Production year and month of the servo motor are indicated in a serial number on the rating plate The year and month of manufacture are indicated by the last two digits of the year and one digit of the month 1 to 9 X 10 Y 11 and Z 12 For June 2012 the Serial No is like SER _ _ _ _ _ _ _ _ _ 126 ...

Page 16: ... HG JR12K1 4 HG RR series HG UR series servo motor Servo motor shaft Encoder connector Encoder Power supply connector Note Power supply U V W Grounding Note The servo motor with an electromagnetic brake has the electromagnetic brake connector separately 3 HG JR22K1M 4 to HG JR37K1M 4 HG JR45K1M4 HG JR55K1M4 HG JR15K1 4 to HG JR37K1 4 servo motor Encoder connector Terminal box Servo motor shaft Pow...

Page 17: ...orten under sudden acceleration deceleration conditions The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop for example When operating the servo motor supply power to the electromagnetic brake to release the brake Switching power off enables the electromagnetic brake 1 Electromagnetic brake power ...

Page 18: ...ble voltage is larger than Vb V 2 Brake current lb lb Vb R A 3 Energy E generated by brake coil E 2 L lb2 J 4 Varistor limit voltage Vi From the energy E generated in the brake coil and the varistor characteristic diagram calculate the varistor limit voltage Vi when the brake current lb flows into the tentatively selected varistor during opening of the circuit Vi is favorable when the varistor lim...

Page 19: ...e cannot warrant the servo motor against fracture and similar accidents attributable to a loose key use a friction coupling etc when coupling the shaft with a machine The shaft shape of the standard servo motor changes depending on the series and capacity Refer to the chapter of the servo motor series The key shaft with single pointed key applies to only the geared servo motor for high precision a...

Page 20: ... the same specifications and dimensions Refer to section 4 1 of MR D30 Instruction Manual SH NA 030132 for the available safety observation functions and achievable safety level To expand the safety observation function by using servo motors with functional safety use a servo amplifier in this section with MR D30 1 HG KR series Servo motors with functional safety Servo amplifier HG KR053W0C HG KR1...

Page 21: ...MR J4 500A RJ MR J4 500GF RJ HG SR702W0C MR J4 700B RJ MR J4 700A RJ MR J4 700GF RJ MR J4 DU900B RJ Note HG SR524W0C MR J4 60B4 RJ MR J4 60A4 RJ MR J4 60GF4 RJ HG SR1024W0C MR J4 100B4 RJ MR J4 100A4 RJ MR J4 100GF4 RJ HG SR1524W0C HG SR2024W0C MR J4 200B4 RJ MR J4 200A4 RJ MR J4 200GF4 RJ HG SR3524W0C MR J4 350B4 RJ MR J4 350A4 RJ MR J4 350GF4 RJ HG SR5024W0C MR J4 500B4 RJ MR J4 500A4 RJ MR J4 5...

Page 22: ...R J4 350B RJ Note 1 MR J4 350A RJ Note 1 MR J4 350GF RJ Note 1 HG JR353W0C MR J4 350B RJ MR J4 350A RJ MR J4 350GF RJ MR J4 500B RJ Note 1 MR J4 500A RJ Note 1 MR J4 500GF RJ Note 1 HG JR503W0C MR J4 500B RJ MR J4 500A RJ MR J4 500GF RJ MR J4 700B RJ Note 1 MR J4 700A RJ Note 1 MR J4 700GF RJ Note 1 MR J4 DU900B RJ Note 1 HG JR701MW0C HG JR703W0C MR J4 700B RJ MR J4 700A RJ MR J4 700GF RJ MR J4 DU...

Page 23: ...e 1 MR J4 500GF4 RJ Note 1 HG JR5034W0C MR J4 500B4 RJ MR J4 500A4 RJ MR J4 500GF4 RJ MR J4 700B4 RJ Note 1 MR J4 700A4 RJ Note 1 MR J4 700GF4 RJ Note 1 MR J4 DU900B4 RJ Note 1 HG JR7034W0C HG JR701M4W0C MR J4 700B4 RJ MR J4 700A4 RJ MR J4 700GF4 RJ MR J4 DU900B4 RJ Note 2 HG JR9034W0C MR J4 11KB4 RJ MR J4 11KA4 RJ MR J4 11KGF4 RJ MR J4 DU900B4 RJ HG JR11K1M4W0C MR J4 11KB4 RJ MR J4 11KA4 RJ MR J4...

Page 24: ...or mounted on the machine when checking the vibration level A great vibration may cause the early damage of a bearing encoder brake and reducer The great vibration may also cause the poor connector connection or bolt looseness For the gain adjustment at the equipment startup check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs If the vibratio...

Page 25: ...n electromagnetic brake can also be installed in the same orientation as the standard servo motor When the servo motor with an electromagnetic brake is installed with the shaft end at top the brake plate may generate sliding sound but it is not a fault 3 Geared servo motors The mounting direction of the geared servo motor differs depending on the reducer type Be sure to mount it in the specified d...

Page 26: ... a nut to force the pulley in Servo motor Double end stud Nut Washer Pulley 2 For the shaft without a key use a friction coupling or the like 3 When removing the pulley use a pulley remover to protect the shaft from hard load and or impact 4 To ensure safety fit a protective cover or the like on the rotary area such as the pulley mounted to the shaft 5 When a threaded shaft end part is needed to m...

Page 27: ...eccentric load as small as possible Not doing so can cause the servo motor to be damaged 2 5 Protection from oil and water Provide adequate protection to prevent foreign matter such as oil from entering the servo motor shaft When installing the servo motor consider the items in this section 1 Do not use the servo motor with its cable soaked in oil or water Cover Capillary action Oil water pool Ser...

Page 28: ...e be short Keep constant internal pressure by equipping a ventilator to the gear box 2 Temperature High temperature against the oil seal lip makes the life be short Avoid exposing the oil seal lip to high temperature oil since applicable temperature of the material is up to 100 C and temperature of the oil seal lip rises within 10 C to 15 C at maximum rotation 2 8 Inspection items WARNING Before s...

Page 29: ...r 20 000 hours to 30 000 hours Cooling fan 20 000 hours Oil seal 5000 hours Reducer 10 000 hours to 20 000 hours 1 Bearings When the servo motor is run at rated speed under rated load bearings should be exchanged in 20 000 to 30 000 hours as a guideline This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection 2 Oil seal inc...

Page 30: ...put shaft and mounting except the optional products Accuracy mm Measuring position Flange size 100 100 or less 130 130 176 176 to 250 250 280 280 Runout of flange surface to output shaft a 0 05 0 06 0 08 0 08 Runout of fitting OD of flange surface b 0 04 0 04 0 06 0 08 Runout of output shaft end c 0 02 0 02 0 03 0 03 b c a A A A ...

Page 31: ...ing conditions etc Make sure to check the temperature with an actual machine Flange size mm Servo motor HG MR HG KR HG SR HG JR HG RR HG UR HG AK 150 150 3 0136 0236 0336 250 250 6 053 13 23 250 250 12 43 51 81 52 4 102 4 152 4 53 4 73 4 103 4 153 4 203 4 103 153 203 300 300 12 73 300 300 20 121 201 202 4 352 4 550 550 30 353 4 503 4 353 503 72 152 650 650 35 301 421 502 4 702 4 703 4 903 4 701M 4...

Page 32: ...e connector configuration products 1 HG MR series and HG KR series Encoder connector Electromagnetic brake connector Power supply connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG MR_ HG KR_ Connector configuration A Connector configuration B Connector configuration C 2 HG SR series Encoder connector Power supply connector Electromagnetic brake connec...

Page 33: ... supply For electromagnetic brake For cooling fan HG JR53 4 HG JR73 4 HG JR103 4 HG JR153 4 HG JR203 4 HG JR3534 HG JR5034 Connector configuration D Connector configuration E Connector configuration F HG JR353 HG JR503 Connector configuration G HG JR703 4 HG JR903 4 Connector configuration H HG JR701M 4 HG JR11K1M 4 HG JR15K1M 4 HG JR601 4 HG JR801 4 HG JR12K1 4 Connector configuration K Connector...

Page 34: ... HG RR353 HG RR503 Connector configuration M 5 HG UR series Power connector Encoder connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG UR72 HG UR152 Connector configuration D Connector configuration N Sharing for power supply Note HG UR202 HG UR352 HG UR502 Connector configuration M Connector configuration J Note An electromagnetic brake connector is n...

Page 35: ...iring connector For encoder For power supply For electromagnetic brake HG AK0136 HG AK0236 HG AK0336 Connector configuration P Connector configuration Q Sharing for power supply Note Note An electromagnetic brake connector is not required since the power connector has a pin assigned for electromagnetic brake ...

Page 36: ...or configuration Feature Connector Crimping tool Servo motor power supply connector Note B for power supply IP65 Connector KN4FT04SJ1 R HOOD SOCKET INSULATOR BUSHING GROUND NUT Contact ST TMH S C1B 100 A534G JAE CT170 14 TMH5B JAE JN4AT04NJ1 JAE Note The other side connector Connector configuration Feature Connector Crimping tool Servo motor electromagnetic brake connector Note C for electromagnet...

Page 37: ...1 100 Soldering type Applicable wire size AWG 20 or less 7 0 to 9 0 CMV1 22ASC C1 100 Crimping type Applicable wire size AWG 24 to 20 The crimping tool 357J 53162T is required CMV1 22ASC C2 100 Crimping type Applicable wire size AWG 28 to 24 The crimping tool 357J 53163T is required Angle CMV1 AP10S M1 one touch connection type CMV1S AP10S M1 screw type CMV1 22ASC S1 100 Soldering type Applicable ...

Page 38: ...ight CE05 6A18 10SD D BSS Applicable wire size AWG 14 to 12 8 5 to 11 CE3057 10A 2 D MS3102A18 10P 10 5 to 14 1 CE3057 10A 1 D Angle CE05 8A18 10SD D BAS Applicable wire size AWG 14 to 12 8 5 to 11 CE3057 10A 2 D 10 5 to 14 1 CE3057 10A 1 D Note 1 General environment Straight D MS3106B18 10S Applicable wire size AWG 14 to 12 14 3 or less bushing ID D MS3057 10A Angle D MS3108B18 10S Applicable wir...

Page 39: ...53164T is required CMV1 SP2S L one touch connection type CMV1S SP2S L screw type CMV1 22BSC S2 100 Soldering type Applicable wire size AWG 16 or less 9 0 to 11 6 CMV1 22BSC C3 100 Crimping type Applicable wire size AWG 20 to 16 The crimping tool 357J 53164T is required Angle CMV1 AP2S S one touch connection type CMV1S AP2S S screw type CMV1 22BSC S2 100 Soldering type Applicable wire size AWG 16 o...

Page 40: ...K Backshell DDK Cable clamp DDK Servo motor power supply connector Note 2 Type Model Model Cable OD mm reference Model H for power supply IP67 EN compliant Straight Note 3 CE05 6A32 17SD D Applicable wire size AWG 4 Note 4 CE05 32BS S D OB 30 to 32 5 CE3057 24A 1 D MS3102A32 17P 27 to 29 6 CE3057 24A 2 D CE05 6A32 17SD D BSS Applicable wire size AWG 6 to 4 22 to 23 8 CE3057 20A 1 D Angle CE05 8A32...

Page 41: ...0F Daiwa Dengyo 5 to 8 3 YSO10 5 to 8 Angle Nippon Flex 4 to 8 ACA 08RL MS10F 8 to 12 ACA 12RL MS10F Daiwa Dengyo 5 to 8 3 YLO10 5 to 8 Note 1 General environment D MS3106A10SL 4S Applicable wire size AWG 22 to 16 Straight 5 6 or less bushing ID D MS3057 4A Note 1 Not comply with EN 2 The connector to be mated Plug Cable clamp Cable Backshell Backshell Cable Cable clamp Plug Connector configuratio...

Page 42: ...r configuration Feature Plug DDK Cable clamp DDK Servo motor power supply connector Note Type Model Cable OD mm reference Model M for power supply IP65 EN UL CSA compliant Straight CE05 6A24 10SD D BSS Applicable wire size AWG 10 to 8 13 to 15 5 CE3057 16A 2 D CE05 2A24 10P 15 to 19 1 CE3057 16A 1 D Angle CE05 8A24 10SD D BAS Applicable wire size AWG 10 to 8 13 to 15 5 CE3057 16A 2 D 15 to 19 1 CE...

Page 43: ...Applicable wire size AWG 14 to 12 15 9 or less bushing ID D MS3057 12A Angle D MS3108B22 23S Applicable wire size AWG 14 to 12 Note The connector to be mated Connector configuration Feature Connector JST Servo motor encoder connector Tab housing Tab contact Applicable wire size Insulator OD mm Crimping tool P for encoder General environment Note J21DPM 10V KX SJ2M 01GF M1 0N 0 20 mm2 to 0 50 mm2 A...

Page 44: ...nsure that polarity is correct Otherwise a burst damage etc may occur Do not install a power capacitor surge killer or radio noise filter FR BIF H option with the power line of the servo motor Do not modify the equipment Connect the servo amplifier converter unit power output U V W to the servo motor power input U V W directly Do not let a magnetic contactor etc intervene Otherwise it may cause a ...

Page 45: ...function POINT Refer to chapter 5 for the selection of the encoder cable Refer to the chapter of the servo motor series for the selection of a surge absorber for the electromagnetic brake For grounding connect the grounding lead wire from the servo motor to the protective earth PE terminal of the servo amplifier converter unit and then connect the wire from the servo amplifier converter unit to th...

Page 46: ...ension cable MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 Red White Black Green yellow U V U V W W Servo motor Servo amplifier M Extension cable 50 m or less 2 m or less Note b Junction connector for motor power supply cable Note a Junction connector for extension cable Note Use of the following connectors is recommended when in...

Page 47: ...thin 2 m Refer to section 4 3 for the wire used for the extension cable Note 2 b Junction connector for electromagnetic brake cable Note 2 a Junction connector for extension cable Note 4 Note 5 24 V DC power supply for electromagnetic brake MBR Electromagnetic brake interlock Note 1 ALM Malfunction Servo motor Note 3 AWG 20 B1 B2 B AWG 20 2 m or less Extension cable To be fabricated U 50 m or less...

Page 48: ...on connector for motor power supply cable Note 2 a Junction connector for extension cable MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L Red White Black Green yellow Extension cable 50 m or less 2 m or less CNP3A CNP3B CNP3C Note 1 U V W U V W Servo motor Servo amplifier M Note 1 CNP3 is for the MR J4 3 axis servo amplifier 2 Use of th...

Page 49: ...ote 1 Note 2 AWG 20 AWG 20 B1 B2 Servo motor U B MBR C Electromagnetic brake interlock for C axis Note 5 MR BKS1CBL_M A1 L MR BKS1CBL_M A2 L MR BKS1CBL_M A1 H MR BKS1CBL_M A2 H MR BKS1CBL_M A1 L MR BKS1CBL_M A2 L MR BKS1CBL_M A1 H MR BKS1CBL_M A2 H Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 B2 3 Create the ci...

Page 50: ... BKS1CBL2M A1 L MR BKS1CBL2M A2 L MR BKS1CBL2M A1 H MR BKS1CBL2M A2 H MR BKS2CBL03M A1 L MR BKS2CBL03M A2 L Note 2 b Junction connector for electromagnetic brake cable Note 2 a Junction connector for extension cable Note 2 b Junction connector for electromagnetic brake cable Note 2 a Junction connector for extension cable Note 2 b Junction connector for electromagnetic brake cable Note 2 a Junctio...

Page 51: ...24 V DC power supply for electromagnetic brake ALM Malfunction RA1 MBR Electromagnetic brake interlock RA2 U B U V W M Servo motor Cooling fan BU BV BW MCCB Note 4 Power supply cooling fan Note 1 There is no polarity in electromagnetic brake terminals B1 B2 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 3 Create the circuit in order to shut off by interlocking with t...

Page 52: ...BR B Electromagnetic brake interlock for B axis RA3 M U V W Note 2 24 V DC power supply for electromagnetic brake CNP3C U V W C axis servo motor Note 1 Note 4 B1 B2 U B MBR C Electromagnetic brake interlock for C axis RA4 M U V W Note 1 There is no polarity in electromagnetic brake terminals B1 B2 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 3 Create the circuit in...

Page 53: ...ke HG SR52 4 HG SR102 4 HG SR152 4 HG SR51 HG SR81 Connector A Connector C Connector H HG SR202 4 HG SR352 4 HG SR502 4 HG SR121 HG SR201 HG SR301 Connector D HG SR702 4 HG SR421 Connector E b HG JR series Servo motor Servo motor terminal section Encoder Power Electromagnetic brake Cooling fan HG JR53 4 HG JR73 4 HG JR103 4 HG JR153 4 HG JR203 4 HG JR3534 HG JR5034 Connector A Connector C Connecto...

Page 54: ...wer is shared HG UR202 HG UR352 HG UR502 Connector G Connector J 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 Connector A Encoder connector CMV1 R10P Connector B Encoder connector MS3102A20 29P Connector C Power supply connector MS3102A18 10P 5 6 1 4 3 2 8...

Page 55: ...o polarity Connector G Power supply connector CE05 2A24 10P Connector H Electromagnetic brake connector CMV1 R2P Connector J Electromagnetic brake connector MS3102A10SL 4P F E D G C B A Terminal No Signal 1 2 Terminal No Signal A B Terminal No Signal A U 1 B1 Note A B1 Note B V C W 2 B2 Note B B2 Note D PE Note For the motor with an electromagnetic brake supply electromagnetic brake power 24 V DC ...

Page 56: ...ing fan H J K THM1 L THM2 M N SHD P R LG S P5 T 4 Terminal box inside HG JR22K1M 4 to HG JR37K1M 4 HG JR45K1M4 HG JR55K1M4 HG JR15K1 4 to HG JR37K1 4 POINT The terminal box of the HG JR22K1M 4 servo motor has been changed since September 2014 Refer to app 9 for the terminal box detail diagram before change Terminal box lid M4 screw 10 Keep plate Power lead hole Note Keep plate M5 screw 4 Power sup...

Page 57: ...Power cable supplied with the servo motor Note 3 24 V DC power supply for electromagnetic brake ALM Malfunction RA1 MBR Electromagnetic brake interlock RA2 U Note 4 Note 1 Fabricate it Note 3 CNP1 U V W E Note 2 Servo motor Servo amplifier 30 m or less 0 2 m MR J4W03PWBRCBL_M H Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake t...

Page 58: ...30 m or less 0 2 m MR J4W03PWBRCBL_M H Note 3 24 V DC power supply for electromagnetic brake MBR A Electromagnetic brake interlock for A axis RA2 U CALM AND malfunction Note 1 Fabricate it Note 3 MBR B Electromagnetic brake interlock for B axis RA4 U Note 1 Note 3 Power cable supplied with the servo motor B axis servo motor MR J4W03PWBRCBL_M H Note 2 Note 2 U1 V1 W1 E1 U2 V2 W2 E2 Note 4 Note 1 Co...

Page 59: ... UL CSA standard use the wires shown in app 4 for wiring To comply with other standards use a wire that is complied with each standard Selection condition of wire size is as follows Construction condition Single wire set in midair Wire length 30 m or less The following diagram shows the wires used for wiring Use the wires given in this section or equivalent U V W U V W B1 B2 BU BV BW Power supply ...

Page 60: ...2 AWG 18 2 HG SR series Servo motor Wire mm2 1 U V W 2 B1 B2 HG SR51 1 25 AWG 16 1 25 AWG 16 HG SR81 HG SR121 2 AWG 14 HG SR201 HG SR301 3 5 AWG 12 HG SR421 5 5 AWG 10 Note 1 HG SR52 1 25 AWG 16 HG SR102 HG SR152 2 AWG 14 HG SR202 HG SR352 3 5 AWG 12 HG SR502 5 5 AWG 10 Note 1 HG SR702 8 AWG 8 Note 1 2 HG SR524 1 25 AWG 16 HG SR1024 HG SR1524 2 AWG 14 HG SR2024 HG SR3524 HG SR5024 3 5 AWG 12 Note ...

Page 61: ...5 AWG 16 1 25 AWG 16 HG JR734 HG JR1034 HG JR1534 2 AWG 14 HG JR2034 2 AWG 14 HG JR3534 2 AWG 14 Note 1 HG JR5034 3 5 AWG 12 Note 1 3 5 AWG 12 Note 1 HG JR7034 5 5 AWG 10 Note 1 3 HG JR9034 8 AWG 8 Note 1 Note 1 Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier 2 When the servo amplifier is changed and maximum torqu...

Page 62: ...s and crimping tools used for connection with the servo amplifier 2 The same wire size is applied when the maximum torque is increased by enabling the parameter maximally increased torque function when drive unit is connected c 1000 r min series Servo motor Wire mm2 1 U V W 2 B1 B2 3 BU BV BW HG JR601 8 AWG 8 Note HG JR801 14 AWG 6 Note 1 25 AWG 16 HG JR12K1 HG JR15K1 22 AWG 4 Note HG JR20K1 38 AW...

Page 63: ...ote Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier 6 HG AK series Servo motor Wire mm2 U V W 2 B1 B2 HG AK0136 HG AK0236 0 75 AWG 19 Note 1 2 0 75 AWG 19 Note 3 4 HG AK0336 Note 1 For the servo motor power connector wiring use fluorine resin wire of 0 75 mm2 AWG 19 2 It is for wire length of 5 m or less For over ...

Page 64: ...output 10 20 40 60 70 100 200 350 500 700 11K 15K 22K MR J4 _A MR J4 _A RJ MR J4 _B MR J4 _B RJ MR J4 _B RJ010 MR J4 _B RJ020 MR J4 _GF MR J4 _GF RJ Connector A Connector B None terminal block Note Note For details on the terminal block refer to each servo amplifier instruction manual Servo amplifier Rated output 60 100 200 350 500 700 11K 15K 22K MR J4 _A4 MR J4 _A4 RJ MR J4 _B4 MR J4 _B4 RJ MR J...

Page 65: ...Manufacturer Wire size Insulator OD CNP3 03JFAT SAXGDK H7 5 AWG 18 to 14 3 9 mm or less 9 J FAT OT N or J FAT OT JST b Connector B MR J4 200_ RJ_ Servo amplifier CNP3 CNP3 MR J4 350_ RJ_ Servo amplifier Table 4 2 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Wire size Insulator OD CNP3 03JFAT SAXGFK XL AWG 16 to 10 4 7 mm or l...

Page 66: ...tor Receptacle assembly Applicable wire size Stripped length mm Open tool Manufacturer CNP3A CNP3B CNP3C 04JFAT SAGG G KK AWG 18 to 14 9 J FAT OT EXL JST d Connector D Servo amplifier CNP3 Table 4 4 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length mm Open tool Manufacturer Wire size Insulator OD CNP3 03JFAT SAXGDK HT10 5 AWG 16 to 14 3 9 mm or less 1...

Page 67: ...y Applicable wire size Stripped length mm Manufacturer CNP1 DFMC 1 5 4 ST 3 5 LR or equivalent AWG 24 to 16 10 Phoenix Contact f Connector F CNP1 MR J4W2 0303B6 servo amplifier Table 4 6 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length mm Manufacturer CNP1 DFMC 1 5 6 ST 3 5 LR or equivalent AWG 24 to 16 10 Phoenix Contact ...

Page 68: ...only one wire or ferrule to each wire insertion hole Insert the open tool as follows and push it down to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the insertion depth and make sure that the cable insulator will not be caught by the spring and that the conductive part of the stripped wire will not be exposed Release the open tool ...

Page 69: ... and connector F When using solid wire insert the wire to the end When using stranded wire insert the wire to the end while pushing the release button with a small flat head screwdriver etc The following shows a connection example of connecting stranded wire to the CNP1 connector Release button Stranded wire ...

Page 70: ...plug and contacts Using contacts for other plugs may damage the connector Be sure to use the enclosed contacts POINT We recommend using HIV wires to wire the servo motors options and peripheral equipment Therefore recommended wire sizes may different from those of the used wires for the previous servo motors When you use a drive unit servo amplifier explained above will be drive unit 5 1 Cable con...

Page 71: ...R BAT6V1BJ Note 1 Connectors for 3 5 kW or less For 5 kW or more it is a terminal block 2 This connection is for the MR J4 3 axis servo amplifier 3 Refer to app 7 for the crimp connector for CNP3_ 2 HG SR series HG JR53 4 to HG JR903 4 HG JR701M 4 to HG JR15K1M 4 HG JR601 4 to HG JR12K1 4 HG RR series HG UR series servo motor Encoder connector Electromagnetic brake connector Power supply connector...

Page 72: ...amplifier CN2 Encoder connector Terminal box Cooling fan connector 40 Note 43 41 42 CN4 MR BAT6V1BJ Note MR ENECBL_M H cannot be used 4 HG AK series servo motor 44 CN2B CN2A CN2 CNP1 CNP1 or MR J4W2 0303B6 servo amplifier MR J4 03A6 RJ servo amplifier HG AK servo motor Encoder connector Power connector 45 46 47 48 49 50 ...

Page 73: ...o section 5 3 for details IP55 Load side lead 6 Servo motor power cable MR PWS2CBL03M A2 L Note 1 Cable length 0 3 m Power supply connector HG MR series HG KR series Refer to section 5 3 for details IP55 Opposite to load side lead 7 Electromagnetic brake cable MR BKS1CBL_M A1 L Cable length 2 5 10 m Electromagnetic brake connector HG MR series HG KR series Refer to section 5 5 for details IP65 Loa...

Page 74: ...6 Encoder cable MR J3ENCBL_M A2 H Note 1 Cable length 2 5 10 m IP65 Opposite to load side lead Long bending life 17 Encoder cable MR J3JCBL03M A1 L Note 1 Cable length 0 3 m Encoder connector HG MR series HG KR series Refer to section 5 2 3 for details IP20 Load side lead 18 Encoder cable MR J3JCBL03M A2 L Note 1 Cable length 0 3 m Encoder connector HG MR series HG KR series Refer to section 5 2 3...

Page 75: ... Refer to section 5 2 5 for details 27 Power connector set MR PWCNS4 Plug CE05 6A18 10SD D BSS Cable clamp CE3057 10A 1 D DDK Applicable cable Applicable wire size 2 mm2 AWG 14 to 3 5 mm2 AWG 12 Cable OD 10 5 mm to 14 1 mm HG SR51 HG SR81 HG SR52 4 HG SR102 4 HG SR152 4 HG JR53 4 HG JR73 4 HG JR103 4 HG JR153 4 HG JR203 4 HG JR3534 HG JR5034 IP67 EN compliant 28 Power connector set MR PWCNS5 Plug ...

Page 76: ...4 HG JR703 4 HG JR903 4 IP67 32 Electromagnetic brake connector set MR BKCNS2 Straight plug CMV1S SP2S L Socket contact CMV1 22BSC S2 100 DDK HG SR series HG JR53 4 HG JR73 4 HG JR103 4 HG JR153 4 HG JR203 4 HG JR353 4 HG JR503 4 HG JR703 4 HG JR903 4 IP67 33 Electromagnetic brake connector set MR BKCNS2A Angle plug CMV1S AP2S L Socket contact CMV1 22BSC S2 100 DDK HG SR series HG JR53 4 HG JR73 4...

Page 77: ...2 to 8 mm2 AWG 10 to 8 Cable OD 13 mm to 15 5 mm HG RR353 HG RR503 HG UR202 HG UR352 HG UR502 39 Electromagnetic brake connector set MR BKCN Plug D MS3106A10SL 4S D190 DDK Cable clamp YSO10 5 8 Daiwa Dengyo Applicable cable Applicable wire size 0 3 mm2 to 1 25 mm2 AWG 22 to 16 Cable OD 5 mm to 8 3 mm HG UR202 HG UR352 HG UR502 HG JR701M 4 HG JR11K1M 4 HG JR15K1M 4 HG JR601 4 HG JR801 4 HG JR12K1 4...

Page 78: ...r set MR J3W03CN2 2P Refer to section 5 2 8 for details Quantity 2 46 MR J3W03CN2 20P Quantity 20 47 Servo motor power cable MR J4W03PWCBL _M H Cable length 1 2 5 10 20 30 m Refer to section 5 4 for details Long bending life 48 Servo motor power cable MR J4W03PWBRC BL_M H Cable length 1 2 5 10 20 30 m Refer to section 5 4 for details Long bending life Servo motor with an electro magnetic brake 49 ...

Page 79: ...B and CN2C side connectors securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell Screw Cable Ground plate Encoder cables are not subject to European Low Voltage Directive 50 V AC to 1000 V AC and 75 V DC to 1500 V DC ...

Page 80: ...lifier Note This connection is for the MR J4 3 axis servo amplifier Cable model 1 CN2 CN2A CN2B and CN2C side connector 2 Encoder side connector MR J3ENCBL_M A1 L Receptacle 36210 0100PL Shell kit 36310 3200 008 3M or equivalent Connector set 54599 1019 Molex Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity 9 SHD 7 5 MR 3 P5...

Page 81: ...o amplifier instruction manual If the setting is incorrect AL 16 occurs The servo amplifier and the servo motor cannot be connected by these cables alone The servo motor side encoder cable MR J3JCBL03M _ L is required The numbers in the cable length field of the table indicate the symbol filling the underline _ in the cable model Cable model Cable length IP rating Bending life Application 20 m 30 ...

Page 82: ...1 9 Connector pin 170359 1 Crimping tool 91529 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industrial MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD View seen from wiring side CONT MRR LG P5 MR BAT MDR MD P5 MR BAT MRR LG MDR MD 1 3 7 9 4 2 8 6 10 5 View seen from wiring side Note or 4 2 8 6 1 5 10 3 7 9 View seen from wiring side Note MR EKCBL_M H Note Keep open the pins show...

Page 83: ...A CN2B and CN2C side connector Junction connector MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H CN2 CN2A CN2B and CN2C side connector Junction connector Note P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD Plate 1 2 8 9 LG MR MRR MDR MD SHD P5 6 CONT BAT BAT Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system When fabricati...

Page 84: ...1019 Molex Encoder side connector Housing 1 172161 9 Connector pin 170359 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industrial 3 MR J3JCBL03M _ L The servo amplifier and the servo motor cannot be connected by these cables alone The servo motor side encoder cable MR EKCBL_M _ is required Cable model Cable length IP rating Bending life Application MR J3JCBL03M A1 L 0 3 m IP20...

Page 85: ...or MR J3JCBL03M A1 L Housing 1 172169 9 Contact 1473226 1 Cable clamp 316454 1 Crimping tool 91529 1 TE Connectivity MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD View seen from wiring side CONT Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity MDR CONT MD 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR 2 BAT View seen from wiring side MR J...

Page 86: ...or HG MR HG KR MR J3JSCBL03M A1 L 1 2 Note 2 MR J3ENSCBL_M _ CN2B CN2A Note 1 CN2 CN2C or MR J4 multi axis servo amplifier MR J4 1 axis servo amplifier Note 1 This connection is for the MR J4 3 axis servo amplifier 2 For details of this cable refer to 5 in this section Cable model 1 Junction connector 2 Encoder side connector MR J3JSCBL03M A1 L Receptacle CM10 CR10P M DDK Applicable wire size AWG ...

Page 87: ...the underline _ in the cable model Cable model Cable length IP rating Bending life Application 2 m 5 m 10 m 20 m 30 m 40 m 50 m MR J3ENSCBL_M L 2 5 10 20 30 IP67 Standard For HG MR HG KR HG SR HG RR HG UR series HG JR53 4 HGJR73 4 HG JR103 4 HG JR153 4 HG JR203 4 HG JR353 4 HG JR503 4 HG JR703 4 and HG JR903 4 MR J3ENSCBL_M H 2 5 10 20 30 40 50 IP67 Long bending life a Connection of servo amplifie...

Page 88: ...SC C1 100 Applicable wire size AWG 24 to 20 Crimping tool 357J 53162T Standard 20 m or longer Long bending life CMV1 22ASC C2 100 Applicable wire size AWG 28 to 24 Crimping tool 357J 53163T Standard CMV1 SP10S M2 1 MR 2 MRR 3 5 LG 4 7 6 10 SHD 9 8 P5 BAT View seen from wiring side Note MR J3ENSCBL_M H Note Keep open the pins shown with Note Keep open the pins shown with Especially pin 10 is provid...

Page 89: ... MRR SHD P5 BAT BAT Note 4 8 1 2 5 10 CN2 CN2A CN2B and CN2C side connector Encoder side connector Note P5 LG 1 2 MR MRR 3 4 9 SD Plate LG MR MRR SHD P5 BAT BAT MR J3ENSCBL20M H MR J3ENSCBL30M H MR J3ENSCBL40M H MR J3ENSCBL50M H 4 8 1 2 5 10 P5 LG 1 2 MR MRR 3 4 9 SD Plate LG MR MRR SHD P5 BAT BAT CN2 CN2A CN2B and CN2C side connector Encoder side connector Note Note Always make connection for use...

Page 90: ...tor set 54599 1019 Molex Straight plug CMV1 SP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG 20 or less MR ENCNS2 screw type Note Straight plug CMV1S SP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG 20 or less MR J3SCNSA one touch connection type Note Angle plug CMV1 AP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG 20 or less MR ENCNS2A screw t...

Page 91: ...r HG JR701M 4 to HG JR37K1M 4 HG JR45K1M4 HG JR55K1M4 HG JR601 4 to HG JR37K1 4 1 Servo amplifier Cable model 1 CN2 side connector 2 Encoder side connector MR ENECBL_M H MTH Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex Plug D MS3106A20 29S D190 Cable clamp CE3057 12A 3 D Backshell CE02 20BS S D 1 P5 3 MR 7 9 BAT 4 MRR 2 LG 8 6 10 5 View seen from wiring side N...

Page 92: ...T BAT G LG Note 2 Note 1 MR ENECBL30M H MTH MR ENECBL40M H MTH MR ENECBL50M H MTH P5 LG 1 2 MR MRR 3 4 THM2 6 L F S K CN2 side connector Encoder side connector THM1 5 9 SD Plate C D R N LG MR MRR THM2 THM1 SHD P5 G LG BAT BAT Note 2 Note 1 Note 1 Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system 2 Always make connection...

Page 93: ...f they are disconnected from the servo amplifier Additionally you can change the battery with the control circuit power supply off For details refer to each servo amplifier instruction manual Cable model Cable length Application MR BT6VCBL03M 0 3 m For HG MR HG KR HG SR HG JR HG RR HG UR series Connection of servo amplifier and servo motor CN2 CN4 Servo amplifier Orange Connector for servo amplifi...

Page 94: ... Bending life Application 1 m 2 m 5 m 10 m 20 m 30 m MR J3W03ENCBL_M A H 1 2 5 10 20 30 Long bending life HG AK series a Connection of servo amplifier and servo motor MR J3W03ENCBL_M A H 1 2 Encoder connector Servo motor HG AK Note MR J4 03A6 RJ servo amplifier CN2 or MR J4W2 0303B6 servo amplifier CN2A CN2B Note Remove the connector by pressing the lock lever on the encoder connector You do not n...

Page 95: ... MR J3W03ENCBL5M A H MR J3W03ENCBL10M A H LG MR MRR P5 BAT BAT SD 5B SHD 5B 4A 1A 1B 4B 5A Note P5 LG MR MRR 5A 4B CN2 CN2A and CN2B side connector Encoder side connector 1B 1A 4A MR J3W03ENCBL20M A H MR J3W03ENCBL30M A H LG MR MRR P5 BAT BAT SD 5B SHD 5B 4A 1A 1B 4B 5A Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental sy...

Page 96: ... Opposite to load side lead for HG MR HG KR 1 Connection of servo amplifier and servo motor 1 Servo motor HG MR HG KR MR PWS1CBL_M A2 L MR PWS1CBL_M A2 H MR PWS2CBL03M A2 L 1 Servo motor HG MR HG KR MR PWS1CBL_M A1 L MR PWS1CBL_M A1 H MR PWS2CBL03M A1 L or CNP3A CNP3B CNP3C CNP3 Note or MR J4 multi axis servo amplifier MR J4 1 axis servo amplifier Connector for CNP3 packed with the servo amplifier...

Page 97: ...5 WIRING OPTION 5 28 2 Internal wiring diagram Red White Black Green yellow U V W Note Note These are not shielded cables ...

Page 98: ...romagnetic brake MR J4W03PWBRCBL_M H 1 2 5 10 20 30 Long bending life For servo motor with an electromagnetic brake 1 Connection of servo amplifier and servo motor MR J4W03PWBRCBL_M H or Power connector Servo motor HG AK Note Note MR J4 03A6 RJ servo amplifier or MR J4W2 0303B6 servo amplifier CNP1 CNP1 MR J4W03PWCBL_M H Note Remove the connector by pressing the lock lever on the power connector Y...

Page 99: ...R J4W03CNP2 20P 5 5 Electromagnetic brake cable These cables are electromagnetic brake cables for the HG MR HG KR series servo motors The numbers in the cable length field of the table indicate the symbol filling the underline _ in the cable model Refer to section 4 2 1 for wiring Cable model Cable length IP rating Bending life Application 0 3 m 2 m 5 m 10 m MR BKS1CBL_M A1 L 2 5 10 IP65 Standard ...

Page 100: ...nnector for electromagnetic brake MR BKS1CBL_M A1 L Connector JN4FT02SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B JAE View seen from wiring side B2 2 1 B1 MR BKS1CBL_M A2 L MR BKS1CBL_M A1 H MR BKS1CBL_M A2 H MR BKS2CBL03M A1 L Connector JN4FT02SJ2 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool C...

Page 101: ...92 Bando Densen MR EKCBL_M H 2 to 10 0 2 mm2 12 6 pairs 40 0 08 105 or less 0 88 7 2 Note 3 A14B2343 6P Junkosha 20 AWG 24 12 6 pairs 40 0 08 105 or less 0 88 7 2 Note 3 TPE SVP 40 0 08 AWG 24 or equivalent 6P KB 1928 2 Bando Densen 30 to 50 AWG 24 14 7 pairs 40 0 08 105 or less 0 88 8 0 Note 3 TPE SVP 40 0 08 AWG 24 or equivalent 7P KB 1929 2 Bando Densen MR J3JSCBL03M A1 L 0 3 AWG 26 8 4 pairs 7...

Page 102: ... 0 3 AWG 19 4 30 0 18 25 8 or less 1 64 Note 3 5 J11B2330 UL10125 Junkosha MR PWS2CBL03M A2 L 0 3 MR J4W03PWCBL_ M H 1 to 30 AWG 19 4 150 0 08 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores Dyden MR J4W03PWBRCBL _M H 1 to 30 AWG 19 4 150 0 08 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores Dyden Electromagnetic brake cable MR BKS1CBL_ M A1 L 2 to 10 AWG 20 2 21 0 18 34 6 o...

Page 103: ...5 WIRING OPTION 5 34 MEMO ...

Page 104: ...ymbol Electromagnetic brake B With None None Oil seal Symbol Oil seal Note 2 J With 05 0 05 Rated output Symbol Rated output kW 1 0 1 2 0 2 4 0 4 7 0 75 None Gear reducer Symbol G1 For general industrial machine flange mounting Flange mounting flange output type for high precision application Flange mounting shaft output type for high precision application Gear reducer None G5 G7 HG MR Ultra Low i...

Page 105: ...F RJ MR J4 40A1 MR J4 40A1 RJ MR J4 40B1 MR J4 40B1 RJ MR J4 40B1 RJ020 MR J4W2 44B MR J4W2 77B MR J4W2 1010B MR J4W3 444B HG MR73 MR J4 70A MR J4 70A RJ MR J4 70B MR J4 70B RJ MR J4 70B RJ010 MR J4 70B RJ020 MR J4 70GF MR J4 70GF RJ MR J4W2 77B MR J4W2 1010B HG KR053 MR J4 10A MR J4 10A RJ MR J4 10B MR J4 10B RJ MR J4 10B RJ010 MR J4 10B RJ020 MR J4 10GF MR J4 10GF RJ MR J4 10A1 MR J4 10A1 RJ MR ...

Page 106: ... 3 Servo motor Servo amplifier MR J4 1 axis MR J4 2 axis MR J4 3 axis 200 V class 100 V class HG KR73 MR J4 70A MR J4 70A RJ MR J4 70B MR J4 70B RJ MR J4 70B RJ010 MR J4 70B RJ020 MR J4 70GF MR J4 70GF RJ MR J4W2 77B MR J4W2 1010B ...

Page 107: ...2 0 0162 0 0300 0 0865 0 142 0 586 0 0450 0 0777 0 221 0 371 1 26 With an electromagnetic brake 10 4 kg m2 0 0224 0 0362 0 109 0 164 0 694 0 0472 0 0837 0 243 0 393 1 37 Recommended load to motor inertia ratio Note 2 10 35 times or less 32 times or less 17 times or less 26 times or less 25 times or less 17 times or less Speed position detector 22 bit encoder common to absolute position incremental...

Page 108: ...he vibration to about half of the permissible value Note that this does not apply to the geared servo motor Y X Servo motor Vibration both amplitudes μm Speed r min 0 1000200030004000500060007000 10 100 1000 Vibration amplitude 7 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mounting position for measurement and the measuring p...

Page 109: ...5000 6000 0 Speed r min Continuous running range Short duration running range Torque N m 0 5 1 1 5 2 0 2 5 HG MR43 1000 2000 3000 4000 5000 6000 Speed r min Continuous running range Short duration running range Torque N m 0 0 1 2 3 4 0 5 1 5 2 5 3 5 4 5 HG MR73 0 1000 2000 3000 4000 5000 6000 1 2 3 4 5 6 7 8 Speed r min Continuous running range Short duration running range Torque N m 0 0 1000 2000...

Page 110: ...01 0 02 0 02 Permissible braking work Per braking J 5 6 22 64 Per hour J 56 220 640 Brake looseness at servo motor shaft Note 5 degrees 2 5 1 2 0 9 Brake life Note 3 Number of braking cycles times 20000 Work per braking J 5 6 22 64 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125 V TND20V 680KB For the suppressed voltage 350 V TND10V 221KB Note 1 There is no ...

Page 111: ...hape Key shaft with key D cut shaft HG MR053 B _ HG MR13 B _ HG KR053 B _ HG KR13 B _ D HG MR23 B _ HG MR43 B _ HG MR73 B _ HG KR23 B _ HG KR43 B _ HG KR73 B _ K 6 5 1 Key shaft with 2 round end key Q A A QK R T W U QL Y Shaft section view A A S Unit mm Servo motor Variable dimensions S R Q W QK QL U T Y HG MR23 B K HG MR43 B K HG KR23 B K HG KR43 B K 14h6 30 26 5 20 3 3 5 M4 Screw hole depth 15 H...

Page 112: ... MR series Servo motors are available with a reducer designed for general industrial machines and high precision applications Servo motors with an electromagnetic brake are also available 6 6 1 For general industrial machines G1 1 Reduction ratio The following table indicates the reduction ratios and actual reduction ratios of the geared servo motor for general industrial machines Servo motor Nomi...

Page 113: ...ss Maximum torque Three times of the servo motor rated torque Maximum speed at servo motor shaft 4500 r min permissible instantaneous speed 5175 r min IP rating reducer area IP44 equivalent Reducer efficiency Note 2 40 to 85 Note 1 If the above indicated value is exceeded please contact your local sales office 2 The reducer efficiency differs depending on the reduction ratio Also it changes depend...

Page 114: ...Permissible load Note Permissible radial load N Permissible thrust load N 1 5 150 200 HG KR053 B G1 1 12 240 320 1 20 370 450 1 5 150 200 HG KR13 B G1 1 12 240 320 1 20 370 450 1 5 330 350 HG KR23 B G1 1 12 710 720 1 20 780 780 1 5 330 350 HG KR43 B G1 1 12 710 720 1 20 760 760 1 5 430 430 HG KR73 B G1 1 12 620 620 1 20 970 960 Note Do not subject the shaft to load greater than the value The value...

Page 115: ...me as the servo motor output shaft direction Backlash Note 3 3 minutes or less at reducer output shaft Permissible load inertia moment ratio when converting into the servo motor shaft Note 1 50 W 100 W 750 W 10 times or less 200 W 400 W 14 times or less Maximum torque Three times of the servo motor rated torque Maximum speed servo motor shaft 6000 r min permissible instantaneous speed 6900 r min I...

Page 116: ...4A 23 177 706 HG KR053 B G5 HG KR053 B G7 1 9 11B 17 111 514 1 11 23 224 895 1 21 14A 23 272 1087 1 33 23 311 1244 1 45 23 342 1366 1 5 11B 17 93 431 1 5 23 177 706 HG KR13 B G5 HG KR13 B G7 1 11 14A 23 224 895 1 21 23 272 1087 1 33 20A 32 733 2581 1 45 32 804 2833 1 5 14A 23 177 706 HG KR23 B G5 HG KR23 B G7 1 11 23 224 895 1 21 32 640 2254 1 33 20A 32 733 2581 1 45 32 804 2833 1 5 14A 23 177 706...

Page 117: ...ilable for the flange mounting shaft output type for high precision applications G7 Unit mm Servo motor Reducer model number Q φS W T QK U Y HG KR_ B G7K 11B 20 10h7 4 4 15 2 5 M3 screw hole depth 6 14A 28 16h7 5 5 25 3 M4 screw hole depth 8 20A 42 25h7 8 7 36 4 M6 screw hole depth 12 32A 82 40h7 12 8 70 5 M10 screw hole depth 20 U W T Y Q QK S ...

Page 118: ...1 2 Connector for power supply connector for encoder Connector for electromagnetic brake 2 Tighten the screws evenly Tightening torques are as indicated below Connector for electromagnetic brake Screw size M2 Tightening torque 0 2 N m Connector for power supply Screw size M2 Tightening torque 0 2 N m Connector for encoder Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of ea...

Page 119: ...ons Design the machine side with allowances 6 8 1 Standard without electromagnetic brake reducer Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG MR053 50 0 0162 0 34 HG KR053 50 0 0450 0 34 Unit mm 40 φ46 45 2 φ4 5 mounting hole Use hexagon socket head cap screw 37 1 6 4 27 5 25 2 5 27 4 4 9 9 9 11 7 Bottom Top 11 7 13 9 20 7 20 5 Caution plate 21 13 7 21 5 20 7 36 7 19 2 10 9 21 7 9 23 8...

Page 120: ...e side Bottom Top Top Bottom BC38022C BC38017C φ8h6 φ30h7 9 7 1 2 3 4 2 φ4 5 mounting hole Use hexagon socket head cap screw φ46 Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG MR23 200 0 0865 0 91 HG KR23 200 0 221 0 91 Unit mm Caution plate Encoder connector 46 28 4 13 7 10 Caution plate Motor plate Caution plate 76 6 30 7 3 26 φ50h7 φ14h6 36 4 19 2 9 5 Power supply connector 21 7 11 7 ...

Page 121: ...ting hole Use hexagon socket head cap screw 9 7 1 2 3 45 4 φ70 Power supply connector Pin No 4 3 1 2 Application W V U PE Top Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG MR73 750 0 586 2 8 HG KR73 750 1 26 2 8 Unit mm Opposite load side Bottom Top Top Bottom 80 112 8 3 9 5 10 7 11 811 7 19 2 69 6 27 4 13 7 11 5 56 40 12 14 27 8 57 1 Power supply connector Encoder connector Motor plate...

Page 122: ...23 8 107 Encoder connector Power supply connector 11 7 11 7 9 9 21 7 Opposite load side 5 Encoder connector Power supply connector Caution plate Motor plate Opposite side Motor plate Caution plate Bottom Top Top Bottom 1 2 3 4 18 4 58 8 Electromagnetic brake connector 58 8 18 4 Electromagnetic brake connector 38 8 2 1 2 1 2 φ4 5mounting hole Use hexagon socket head cap screw BC38180A BC38175A 45 φ...

Page 123: ...nector Power supply connector 11 7 11 7 9 9 21 7 Opposite load side 5 Encoder connector Power supply connector Caution plate Motor plate Opposite side Motor plate Caution plate 1 2 3 4 18 4 58 8 Electromagnetic brake connector 58 8 18 4 Electromagnetic brake connector 38 8 2 1 2 1 Bottom Top Top Bottom 2 φ4 5 mounting hole Use hexagon socket head cap screw 9 7 13 φ30h7 φ8h6 45 φ46 1 2 3 4 2 1 BC38...

Page 124: ...wer supply connector Pin No 4 3 1 2 Application W V U PE Electromagnetic brake connector Pin No 1 2 Application B2 B1 Model Output W Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG MR43B 400 1 3 0 164 1 8 HG KR43B 400 1 3 0 393 1 8 Unit mm Bottom 1 2 3 4 Caution plate Bottom Top Opposite load side 135 1 30 7 3 58 1 11 7 11 8 10 9 19 2 9 5 Power supply connector Encoder c...

Page 125: ...8184A BC38179A 7 7 7 φ70h7 φ19h6 45 φ90 1 2 3 4 Electromagnetic brake connector Pin No 1 2 Application B2 B1 6 8 3 For general industrial machine with a reducer without an electromagnetic brake Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR053G1 50 K6505 1 5 9 44 0 0820 1 4 Unit mm 27 4 4 9 9 9 11 7 11 7 20 7 20 5 Caution plate 21 1...

Page 126: ... φ51 φ60h7 φ75 φ 8 8 45 BC40916A Opposite load side Power supply connector Pin No 4 3 1 2 Application W V U PE Bottom Top Bottom Bottom Top Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR13G1 100 K6505 1 5 9 44 0 115 1 6 Unit mm 65 BC40917A 27 4 4 9 20 7 20 5 Caution plate 21 13 7 20 7 36 Motor plate 9 9 11 7 11 7 19 2 10 9 21 7 Enco...

Page 127: ... BC40918A 9 7 φ51 φ48 φ16h6 φ60h7 45 φ75 φ 8 8 Power supply connector Pin No 4 3 1 2 Application W V U PE Caution plate Bottom Top Bottom Bottom Top Top Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR23G1 200 K9005 1 5 19 96 0 375 3 3 Unit mm Bottom Top 129 8 89 6 11 7 11 8 10 9 19 2 9 5 Encoder connector 46 28 4 13 7 10 21 7 Caution...

Page 128: ...5 φ72 φ25h6 φ100 φ 1 1 4 45 V U Power supply connector Pin No 4 3 1 2 Application W V U PE Caution plate Caution plate Bottom Top Bottom Top Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR43G1 400 K9005 1 5 19 96 0 525 3 7 Unit mm 1 2 3 4 Bottom Top Opposite load side 46 28 4 13 7 10 9 5 11 811 7 19 2 21 7 Power supply connector Enco...

Page 129: ...φ 1 1 4 45 BC40904A Power supply connector Pin No 4 3 1 2 Application W V U PE Caution plate Caution plate Top Bottom Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR43G1 400 K10020 1 20 7 135 0 881 5 4 Unit mm 60 1 2 3 4 Caution plate Bottom Opposite load side 46 28 4 13 7 10 9 5 11 8 11 7 19 2 21 7 Caution plate Power supply connect...

Page 130: ...9 5 19 2 Power supply connector Power supply connector Pin No 4 3 1 2 Application W V U PE BC40906A 7 7 1 2 3 4 Top Model Output W Reducer model Reduction ratio actual reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR73G1 750 K10012 1 12 7 87 2 35 7 1 Unit mm 90 50 9 5 39 10 Opposite load side Bottom Top 199 9 5 10 7 11 8 11 7 19 2 156 6 27 4 13 7 11 5 56 Bottom Power supply connector E...

Page 131: ...ndustrial 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 27 4 4 9 9 9 21 7 20 7 20 5 Caution plate 21 13 7 20 7 36 19 2 10 9 67 5 Power supply connector Caution plate Motor plate 150 7 38 8 φ16h6 φ48 ...

Page 132: ...11 7 65 Bottom Top Motor plate Opposite side For reverse rotation command For forward rotation command Rotation direction Bottom Top Bottom Top 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 27 4 4 9 Caution plate 21 13 7 20 7 36 Motor plate Caution plat...

Page 133: ...3 9 Bottom Top Motor plate Opposite side Caution plate For reverse rotation command For forward rotation command Rotation direction Bottom Top Bottom Top 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 Caution plate 47 1 28 4 13 7 10 Caution plate Caution...

Page 134: ...connector BC41090A For reverse rotation command For forward rotation command Rotation direction Power supply connector Top Bottom Top Bottom Top 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 Caution plate 47 1 28 4 13 7 10 Caution plate Motor plate 60 4...

Page 135: ...92A For reverse rotation command For forward rotation command Rotation direction Power supply connector Top Top Bottom 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 60 100 Caution plate 10 5 9 212 1 Bottom Top Motor plate Opposite side Caution plate 9...

Page 136: ...netic brake connector 57 1 80 90 50 10 39 10 φ32h6 φ73 φ81 φ95h7 12 45 4 φ9 φ115 φ 1 3 2 M8 Screw hole depth 16 Top 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 100 Bottom Top 239 3 Motor plate Opposite side Caution plate For reverse rotation command F...

Page 137: ...netic brake connector 2 1 Pin No 4 3 1 2 Application W V U PE Power supply connector Top Top 7 Bottom 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 ...

Page 138: ...nd Rotation direction φ59 φ55 5 φ14H7 φ40 φ56h7 45 φ 3 0 φ70 BC38196 9 7 Power supply connector Pin No 4 3 1 2 Application W V U PE 60 21 0 4 0 5 Caution plate Top 5 φ14H7 effective range Bottom Top Bottom Top 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 27 4 4 9 Bottom 20 7 20 5 Caution plate 21 13 7 2...

Page 139: ...0 Bottom Top Motor plate Opposite side Bottom Top Bottom Top For reverse rotation command For forward rotation command Rotation direction 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 27 4 4 9 20 7 20 5 Caution plate 21 13 7 20 7 Power supply connector M...

Page 140: ... U PE 60 21 0 4 0 5 Caution plate Caution plate 5 φ14H7 effective range Bottom Top Bottom Top 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 Caution plate Bottom Top Opposite load side 107 4 11 7 11 8 10 9 19 2 ...

Page 141: ...lication W V U PE 60 21 0 4 0 5 Caution plate Caution plate 5 φ14H7 effective range Top Bottom 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 Bottom Top Opposite load side 46 28 4 13 7 10 9 5 11 811 7 19 2 21 7 Power supply connector Encoder connector 169 3 1...

Page 142: ...2 45 φ135 φ60 Power supply connector Pin No 4 3 1 2 Application W V U PE 60 35 0 4 0 5 Power supply connector Top Bottom 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 Bottom Top 9 5 10 7 11 8 11 7 19 2 147 6 27 4 13 7 11 5 56 Power supply connector Encoder co...

Page 143: ...6 Power supply connector Encoder connector Motor plate Opposite side Caution plate 21 7 Motor plate 57 1 200 13 13 36 9 30 C 0 5 120 Opposite load side 11 8 11 7 21 7 9 5 19 2 80 Power supply connector Encoder connector 1 2 3 4 For reverse rotation command For forward rotation command Rotation direction 7 7 φ118 φ114 φ32H7 φ84 φ115h7 4 φ11 45 φ135 φ60 BC38190 Power supply connector Pin No 4 3 1 2 ...

Page 144: ... supply connector Pin No 1 2 Application B2 B1 Pin No 4 3 1 2 Application W V U PE Bottom Top Bottom Top 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 14A 05 F0CBJS S 1 5 0 32 0 115 1 3 HG KR053BG5 50 HPG 14A 11 F0CBKS S 1 11 0 32 0 107 1 4 HG KR053BG5 50 HPG 14A 21 F0CBKS S 1 21 0 32 0 0980 1 4 HG KR053BG5 5...

Page 145: ... 1 2 Application B2 B1 Top Bottom Electromagnetic brake connector Top 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 14A 05 F0CBJS S 1 5 0 32 0 152 1 5 HG KR13BG5 100 HPG 14A 11 F0CBKS S 1 11 0 32 0 144 1 6 HG KR13BG5 100 HPG 14A 21 F0CBKS S 1 21 0 32 0 135 1 6 Unit mm 1 2 3 4 Pin No 4 3 1 2 Application W V U ...

Page 146: ...tor plate Opposite side Bottom Top Bottom Top φ55 For reverse rotation command For forward rotation command Rotation direction Bottom 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 14A 05 F0AZW S 1 5 1 3 0 444 2 2 HG KR23BG5 200 HPG 14A 11 F0AZX S 1 11 1 3 0 446 2 3 Unit mm Caution plate 47 1 28 4 13 7 10 Caut...

Page 147: ...er connector 21 7 BC41101 9 7 13 5 Motor plate Opposite side For reverse rotation command For forward rotation command Rotation direction Bottom Top Bottom Top Bottom Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR43BG5 400 HPG 14A 05 F0AZW S 1 5 1 3 0 594 2 7 Unit mm 2 1 Pin No 1 2 Application B2 B1 Electromagnetic bra...

Page 148: ...Opposite side Top Top Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR43BG5 400 HPG 32A 33 F0RLAS S 1 33 1 3 0 943 6 4 HG KR43BG5 400 HPG 32A 45 F0RLAS S 1 45 1 3 0 937 6 4 Unit mm 218 1 Top Motor plate Opposite side Caution plate 13 1...

Page 149: ... rotation command For forward rotation command Rotation direction Top Bottom Bottom Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR73BG5 750 HPG 32A 21 F0SEIS S 1 21 2 4 2 12 8 2 HG KR73BG5 750 HPG 32A 33 F0SEJS S 1 33 2 4 1 90 8 2 HG KR73BG5 750 HPG 32A 45 F0SEJS S 1 45 2 4 1 90 8 2 Unit mm 27 4 13 7 11 5 56 Caution pl...

Page 150: ...tor 1 2 3 4 37 1 9 Pin No 4 3 1 2 Application W V U PE Top Bottom Bottom Top Bottom Power supply connector Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR053G7 50 HPG 14A 05 J2CBJS S 1 5 0 119 1 2 HG KR053G7 50 HPG 14A 11 J2CBKS S 1 11 0 106 1 3 HG KR053G7 50 HPG 14A 21 J2CBKS S 1 21 0 0960 1 3 HG KR053G7 50 HPG 14A 33 J2CBLS S 1 33 0 0900 1 3 HG KR053G7 5...

Page 151: ...oder connector Pin No 4 3 1 2 Application W V U PE Bottom Top Top Bottom Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR13G7 100 HPG 14A 05 J2CBJS S 1 5 0 152 1 4 HG KR13G7 100 HPG 14A 11 J2CBKS S 1 11 0 139 1 5 HG KR13G7 100 HPG 14A 21 J2CBKS S 1 21 0 129 1 5 Unit mm 27 4 4 9 20 7 20 5 Caution plate 21 13 7 20 7 36 Encoder connector Power supply connector...

Page 152: ... φ25h7 φ32 φ59 φ85h7 45 4 φ9 Power supply connector Pin No 4 3 1 2 Application W V U PE φ105 Bottom Top Bottom Bottom Top Caution plate Top Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR23G7 200 HPG 14A 05 J2AZW S 1 5 0 428 1 9 HG KR23G7 200 HPG 14A 11 J2AZX S 1 11 0 424 2 0 Unit mm Caution plate Bottom Top 140 6 100 4 11 7 11 8 10 9 19 2 9 5 Power supply...

Page 153: ...on 9 7 BC38195 φ89 φ84 φ25h7 φ32 φ59 φ85h7 45 φ105 4 φ9 Power supply connector Pin No 4 3 1 2 Application W V U PE Caution plate Caution plate Bottom Top Bottom Top Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR43G7 400 HPG 14A 05 J2AZW S 1 5 0 578 2 4 Unit mm 1 2 3 4 Bottom Top Opposite load side 46 28 4 13 7 10 9 5 11 811 7 19 2 21 7 Power supply connec...

Page 154: ...85h7 9 7 Power supply connector Pin No 4 3 1 2 Application W V U PE Caution plate Caution plate Top Top Bottom Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR43G7 400 HPG 32A 33 J2RLAS S 1 33 0 927 7 4 HG KR43G7 400 HPG 32A 45 J2RLAS S 1 45 0 918 7 4 Unit mm Opposite load side 46 28 4 13 7 10 9 5 11 8 11 7 19 2 21 7 Power supply connector Encoder connector...

Page 155: ...connector Pin No 4 3 1 2 Application W V U PE Caution plate Caution plate Top Bottom Top Model Output W Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG KR73G7 750 HPG 32A 21 J2SEIS S 1 21 2 03 8 6 HG KR73G7 750 HPG 32A 33 J2SEJS S 1 33 1 80 8 6 HG KR73G7 750 HPG 32A 45 J2SEJS S 1 45 1 79 8 6 Unit mm R0 4 133 82 13 35 13 36 9 Opposite load side Bottom Top 200 9 5 10 7 11 8 1...

Page 156: ...7 19 2 10 9 21 7 63 3 146 5 Encoder connector Caution plate Motor plate Opposite side Motor plate Caution plate Top 18 4 58 8 Electromagnetic brake connector 13 38 8 9 40 45 4 φ3 4 6 4 27 5 φ 4 6 42 15 φ40h7 13 9 5 φ29 φ10h7 25 5 40 φ39 20 2 5 R0 4 For reverse rotation command For forward rotation command Rotation direction 37 1 Power supply connector 1 2 3 4 Electromagnetic brake connector 2 1 2 ...

Page 157: ...forward rotation command Rotation direction Encoder connector Power supply connector 11 7 11 7 9 9 21 7 Opposite load side 58 8 18 4 Electromagnetic brake connector Power supply connector Bottom Top Top Bottom Bottom Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR13BG7 50 HPG 11B 05 J20ADG S 1 5 0 32 0 0899 0 98 Unit mm...

Page 158: ...nnector 11 7 11 7 9 9 21 7 Opposite load side 58 8 18 4 Electromagnetic brake connector Power supply connector Top Bottom Bottom Bottom Top Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR13BG7 100 HPG 20A 33 J2JMLAS S 1 33 0 32 0 147 3 2 HG KR13BG7 100 HPG 20A 45 J2JMLAS S 1 45 0 32 0 145 3 2 Unit mm BC41109A Power supp...

Page 159: ...orward rotation command Rotation direction Power supply connector Top Bottom Bottom Top Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR23BG7 200 HPG 20A 21 J2EKS S 1 21 1 3 0 743 4 2 HG KR23BG7 200 HPG 20A 33 J2ELS S 1 33 1 3 0 696 4 2 HG KR23BG7 200 HPG 20A 45 J2ELS S 1 45 1 3 0 694 4 2 Unit mm 5 9 φ105 45 φ25h7 φ59 φ8...

Page 160: ...ation command For forward rotation command Rotation direction Bottom Top Bottom Bottom Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR43BG7 400 HPG 20A 11 J2EKS S 1 11 1 3 0 977 4 7 HG KR43BG7 400 HPG 20A 21 J2EKS S 1 21 1 3 0 893 4 7 Unit mm Opposite load side 9 5 11 8 11 7 57 8 Power supply connector Encoder connector...

Page 161: ...verse rotation command For forward rotation command Rotation direction Power supply connector Bottom Bottom Top Bottom Top Model Output W Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG KR73BG7 750 HPG 20A 05 J2FEOS S 1 5 2 4 2 06 6 2 HG KR73BG7 750 HPG 20A 11 J2FEPS S 1 11 2 4 1 94 6 5 Unit mm Bottom Top 230 3 Motor plate Opposite side Caut...

Page 162: ...lication B2 B1 Electromagnetic brake connector 2 1 13 35 13 36 9 φ118 240 3 30 φ114 80 Power supply connector Encoder connector Electromagnetic brake connector Caution plate 9 5 10 7 11 8 11 7 19 2 157 6 21 7 63 1 R0 4 133 82 φ40h7 φ44 φ84 φ115h7 4 φ11 45 φ135 120 Pin No 4 3 1 2 Application W V U PE Power supply connector 1 2 3 4 BC41116 Opposite load side Encoder connector 11 8 11 7 63 1 9 5 Powe...

Page 163: ...6 HG MR SERIES HG KR SERIES 6 60 MEMO ...

Page 164: ...r min 2000 None Gear reducer Symbol G1 For general industrial machine flange mounting Flange mounting flange output type for high precision application Flange mounting shaft output type for high precision application Gear reducer None G5 G7 5 0 5 Rated output Symbol Rated output kW 1000 r min 2000 r min 8 0 85 10 1 0 12 1 2 15 1 5 20 2 0 30 3 0 35 3 5 42 4 2 70 7 0 50 5 0 For general industrial ma...

Page 165: ...77B MR J4W2 1010B HG SR81 MR J4 100A MR J4 100A RJ MR J4 100B MR J4 100B RJ MR J4 100B RJ010 MR J4 100B RJ020 MR J4 100GF MR J4 100GF RJ MR J4W2 1010B HG SR121 MR J4 200A MR J4 200A RJ MR J4 200B MR J4 200B RJ MR J4 200B RJ010 MR J4 200B RJ020 MR J4 200GF MR J4 200GF RJ HG SR201 HG SR301 MR J4 350A MR J4 350A RJ MR J4 350B MR J4 350B RJ MR J4 350B RJ010 MR J4 350B RJ020 MR J4 350GF MR J4 350GF RJ ...

Page 166: ... MR J4 200B RJ MR J4 200B RJ010 MR J4 200B RJ020 MR J4 200GF MR J4 200GF RJ HG SR202 HG SR352 MR J4 350A MR J4 350A RJ MR J4 350B MR J4 350B RJ MR J4 350B RJ010 MR J4 350B RJ020 MR J4 350GF MR J4 350GF RJ HG SR502 MR J4 500A MR J4 500A RJ MR J4 500B MR J4 500B RJ MR J4 500B RJ010 MR J4 500B RJ020 MR J4 500GF MR J4 500GF RJ HG SR702 MR J4 700A MR J4 700A RJ MR J4 700B MR J4 700B RJ MR J4 700B RJ010...

Page 167: ...R J4 200B4 RJ010 MR J4 200B4 RJ020 MR J4 200GF4 MR J4 200GF4 RJ HG SR3524 MR J4 350A4 MR J4 350A4 RJ MR J4 350B4 MR J4 350B4 RJ MR J4 350B4 RJ010 MR J4 350B4 RJ020 MR J4 350GF4 MR J4 350GF4 RJ HG SR5024 MR J4 500A4 MR J4 500A4 RJ MR J4 500B4 MR J4 500B4 RJ MR J4 500B4 RJ010 MR J4 500B4 RJ020 MR J4 500GF4 MR J4 500GF4 RJ HG SR7024 MR J4 700A4 MR J4 700A4 RJ MR J4 700B4 MR J4 700B4 RJ MR J4 700B4 RJ...

Page 168: ... 30 42 61 9 0 17 29 31 45 70 83 116 Moment of inertia J Note 3 Standard 10 4 kg m2 11 6 16 0 46 8 78 6 99 7 151 7 26 11 6 16 0 46 8 78 6 99 7 151 With an electromagnetic brake 10 4 kg m2 13 8 18 2 56 5 88 2 109 161 9 48 13 8 18 2 56 5 88 2 109 161 Recommended load to motor inertia ratio Note 2 10 17 times or less 15 times or less 17 times or less 15 times or less Speed position detector 22 bit enc...

Page 169: ... 0 46 8 78 6 99 7 151 With an electromagnetic brake 10 4 kg m2 9 48 13 8 18 2 56 5 88 2 109 161 Recommended load to motor inertia ratio Note 2 10 15 times or less 17 times or less 15 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal None Note 11 Thermistor None Insulation class 155 F Struct...

Page 170: ...n to about half of the permissible value Y X Servo motor Vibration both amplitudes μm Speed r min 0 1000 2000 3000 10 100 1000 Vibration amplitude 7 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mounting position for measurement and the measuring position Servo motor Top Bottom Measuring position 8 The following shows permissib...

Page 171: ...R301 1000 1500 500 30 90 60 0 0 Speed r min Continuous running range Short duration running range Torque N m HG SR421 1000 1500 500 0 100 150 50 0 Speed r min Continuous running range Short duration running range Torque N m HG SR52 1000 2000 3000 2 6 8 4 0 0 Speed r min Continuous running range Short duration running range Torque N m HG SR102 1000 2000 3000 5 10 15 0 0 Speed r min Continuous runni...

Page 172: ...ge Short duration running range Torque N m HG SR2024 1000 2000 3000 0 0 20 30 10 Speed r min Continuous running range Short duration running range Torque N m HG SR3524 1000 2000 3000 0 0 40 60 20 Speed r min Continuous running range Short duration running range Torque N m HG SR5024 1000 2000 3000 0 0 60 80 40 70 50 30 20 10 Speed r min Continuous running range Short duration running range Torque N...

Page 173: ... 03 0 03 Permissible braking work Per braking J 400 4500 Per hour J 4000 45000 Brake looseness at servo motor shaft Note 5 degrees 0 2 to 0 6 0 2 to 0 6 Brake life Note 3 Number of braking cycles times 20000 20000 Work per braking J 200 1000 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125 V TND20V 680KB For the suppressed voltage 350 V TND10V 221KB Note 1 Th...

Page 174: ...y HG SR_ B K K Unit mm S QL A A QK Q R W U r Y Shaft section view A A Servo motor Variable dimensions S R Q W QK QL U r Y HG SR51 B K HG SR81 B K HG SR52 4 B K HG SR102 4 B K HG SR152 4 B K 24h6 55 50 8 0 0 036 36 5 4 0 2 0 4 M8 Screw hole depth 20 HG SR121 B K HG SR201 B K HG SR301 B K HG SR421 B K HG SR202 4 B K HG SR352 4 B K HG SR502 4 B K HG SR702 4 B K 35 0 010 0 79 75 10 0 0 036 55 5 5 0 2 ...

Page 175: ... motor contact your local sales office Servo motors are available with a reducer designed for general industrial machines and high precision applications Servo motors with an electromagnetic brake are also available 7 6 1 For general industrial machines G1 G1H 1 Reduction ratio The following table indicates the reduction ratios and reducer frame numbers of the geared servo motor for general indust...

Page 176: ...the grease lubricated type the gear reducer is already grease filled Maintenance free 2 If the above indicated value is exceeded please contact your local sales office 3 The reducer efficiency differs depending on the reduction ratio Also it changes depending on the operating conditions such as the output torque speed and rotation temperature etc The numerical value in the table is a typical value...

Page 177: ...n Shaft horizontal Shaft downward Shaft upward Reducer model CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM Reducer frame No Foot mounting Flange mounting Foot mounting Flange mounting Foot mounting Flange mounting Foot mounting Flange mounting 6100 Grease Grease 6120 Grease Grease 6130 6135 Note Oil Note Oil Note Oil Note Oil Grease Grease 6160 6165 Note Oil Note Oil Note Oil Note Oil Grease Grease 6170...

Page 178: ...OC M68 DIAMOND GEAR LUBE SP68 DAPHNE SUPER GEAR OIL 68 Omala Oils 68 SPARTAN EP68 Mobilgear 626 ISOVG68 JOMO Reductus 68 0 to 35 COSMO GEAR SE100 150 BONNOC M100 150 DIAMOND GEAR LUBE SP100 150 DAPHNE SUPER GEAR OIL 100 150 Omala Oils 100 150 SPARTAN EP100 150 Mobilgear 627 629 ISOVG100 1 50 JOMO Reductus 100 150 30 to 50 COSMO GEAR SE200 320 4 60 BONNOC M200 to 460 DIAMOND GEAR LUBE SP220 to 460 ...

Page 179: ...43 6175 11662 9800 1 59 5880 2940 1 59 13132 9800 1 6 6120 2842 2352 1 6 6165 5448 5000 1 11 3273 2764 1 11 5488 6292 1 17 3646 2940 1 17 6468 6860 HG SR102 4 B G1 H 1 29 4410 2940 HG SR502 4 B G1 H 1 29 6180 13426 13720 1 35 5253 2940 1 35 16072 13720 1 43 6130 6047 3920 1 43 16072 13720 1 59 6160 9741 6860 1 59 6185 16072 13720 1 6 6120 2842 2352 1 6 6165 7526 5000 1 11 3273 2764 1 11 6170 7526 ...

Page 180: ...tions Lubrication method Grease lubrication already packed Output shaft rotating direction Same as the servo motor output shaft direction Backlash Note 3 3 minutes or less at reducer output shaft Permissible load to motor inertia ratio when converting into the servo motor shaft Note 1 10 times or less Maximum torque Three times of the servo motor rated torque Maximum speed servo motor shaft 3000 r...

Page 181: ...2A 57 1094 4359 1 33 57 1252 4992 1 45 57 1374 5478 HG SR102 4 B G5 HG SR102 4 B G7 1 5 20A 32 416 1465 1 11 32A 57 901 3590 1 21 57 1094 4359 1 33 50A 62 2929 10130 1 45 62 3215 11117 HG SR152 4 B G5 HG SR152 4 B G7 1 5 20A 32 416 1465 1 11 32A 57 901 3590 1 21 50A 62 2558 8845 1 33 62 2929 10130 1 45 62 3215 11117 HG SR202 4 B G5 HG SR202 4 B G7 1 5 32A 57 711 2834 1 11 57 901 3590 1 21 50A 62 2...

Page 182: ...ngle pointed keys are available for the flange mounting shaft output type for high precision applications G7 Unit mm Servo motor Reducer model number Q φS W T QK U Y HG SR_ 4 B G7K 20A 42 25h7 8 7 36 4 M6 screw hole depth 12 32A 82 40h7 12 8 70 5 M10 screw hole depth 20 50A 82 50h7 14 9 70 5 5 U W T Y Q QK S ...

Page 183: ...w 45 φ165 φ 1 4 5 Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 118 5 38 2 Caution plate Motor plate Opposite side 130 13 5 58 112 5 20 9 57 8 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A18 10P Bottom Top U W V Power supply connector Motor flange direction Key BC41038A φ24h6 φ110h7 PE Model Output kW Moment of inertia J 10 4 kg m2 Mass kg...

Page 184: ...18 10P Bottom Top U W V Power supply connector Motor flange direction Key φ110h7 φ24h6 PE 45 φ165 φ 1 4 5 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG SR121 1 2 46 8 11 HG SR202 HG SR2024 2 0 Unit mm A B C D BC41047A BC41041A 4 φ13 5 mounting hole Use hexagon socket head cap screw φ114 3 PE Motor plate Caution plate Caution plate Bottom Top Top Bottom Top 18 3 75 79 138 5 38 5 Caution...

Page 185: ... Note 2 φ 2 0 0 φ230 PE BC41048A BC41042A 0 010 0 φ35 Note 1 Note 2 Note 1 and 2 are screw hole for eyebolt M8 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG SR301 3 0 99 7 20 HG SR502 HG SR5024 5 0 Unit mm Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 178 5 38 5 Caution plate Motor plate Opposite side 176 45 82 140 9 φ114 3 0 0 025 24 8 114 8 50 9 13 Encoder ...

Page 186: ...2 Note 4 Note 3 Note 1 2 3 and 4 are screw hole for eyebolt M8 7 7 2 With an electromagnetic brake Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR52B HG SR524B 0 5 8 5 9 48 6 7 Unit mm A B C D Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 153 43 5 Caution plate Motor plate Opposite side 130 13 5 58 112 5 20 9 57 8 ...

Page 187: ... Caution plate Motor plate Opposite side 130 13 5 58 112 5 20 9 71 8 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A18 10P Bottom Top U W Main key position mark V Power supply connector Motor flange direction Key Electromagnetic brake connector CMV1 R2P 79 9 59 Electromagnetic brake Electromagnetic brake connector Motor flange direction 29 4 φ9 mounting hole Use hexagon socket h...

Page 188: ...r plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 181 43 5 Caution plate Motor plate Opposite side 130 13 5 58 112 5 20 9 85 8 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A18 10P Bottom Top U W V Power supply connector Motor flange direction Key Electromagnetic brake connector CMV1 R2P 79 9 59 Electromagnetic brake Electromagnetic brake connector ...

Page 189: ...ution plate Motor plate Opposite side 176 82 140 9 24 8 74 8 Bottom Top Bottom Top 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A22 22P 96 9 Electromagnetic brake connector CMV1 R2P 66 5 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key position mark 44 PE φ 2 0 0 φ230 45 4 φ13 5 mountin...

Page 190: ... 9 φ114 3 0 0 025 24 8 98 8 4 φ13 5 mounting hole Use hexagon socket head cap screw Bottom Top Bottom Top Note 1 Note 2 φ 2 0 0 φ230 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A22 22P 96 9 Electromagnetic brake connector CMV1 R2P 66 5 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key p...

Page 191: ...9 φ114 3 0 0 025 24 8 114 8 4 φ13 5 mounting hole Use hexagon socket head cap screw Bottom Top Bottom Top Note 1 Note 2 φ 2 0 0 φ230 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A22 22P 96 9 Electromagnetic brake connector CMV1 R2P 66 5 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key p...

Page 192: ...5 32 146 8 50 9 13 Encoder connector CMV1 R10P Power supply connector MS3102A32 17P 4 φ13 5 mounting hole Use hexagon socket head cap screw Bottom Top U W V Power supply connector Motor flange direction Key Top φ 2 0 0 φ230 Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key position mark 96 9 Electromagnetic brake connector CMV1 R2P 66 5 44 Note 2 Note 4 Note 1 N...

Page 193: ...ly connector MS3102A18 10P 38 2 48 108 35 32 φ110f8 φ160 φ150 A A 9 3 119 φ134 4 φ11 45 Shaft section view AA φ28h6 4 7 8 M8 Screw hole depth 20 PE BC41117 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR52G1 HG SR524G1 0 5 1 35 8 26 27 CNVM 6120 1 43 8 22 1 59 8 18 Unit mm Shaft section view AA φ38h6 8 5 10 M8 Screw hole depth 20 Caution plate Motor plate...

Page 194: ... 6 φ11 69 117 55 φ140f8 φ210 50 φ204 A A 132 30 13 4 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR102G1 HG SR1024G1 1 0 CHVM 6130 1 43 13 8 49 Unit mm For reverse rotation command For forward rotation command Rotation direction Caution plate Motor plate 38 2 13 58 13 5 130 112 ...

Page 195: ... 1 7 5 90 A A 80 Caution plate For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G1 HG SR1524G1 1 5 1 6 19 2 31 CNVM 6120 1 11 17 7 1 17 17 3 Unit mm Caution plate Motor plate 38 2 13 58 13 5 130 112 5 50 9 Caution plate 295 5 Bottom Top Top Bottom U W V Power supply connector Mo...

Page 196: ... 56 A A 70 PE BC41123 Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G1 HG SR1524G1 1 5 CHVM 6160 1 43 23 6 82 1 59 23 5 Unit mm Bottom Caution plate Motor plate 38 2 13 58 13 5 130 112 5 50 9 Caution plate 398 5 Top Top Bottom U W V Power supply connector Motor flange ...

Page 197: ... plate Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR202G1 HG SR2024G1 2 0 1 29 54 8 87 CHVM 6165 1 35 54 5 1 43 54 3 1 59 54 2 Unit mm For reverse rotation command For forward rotation command Rotation direction U W V Power supply connector Motor flange direction ...

Page 198: ...n plate PE BC41127 For reverse rotation command For forward rotation command Rotation direction Bottom Bottom Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR352G1 HG SR3524G1 3 5 CHVM 6165 1 29 86 6 92 1 35 86 3 Unit mm U W Key V Power supply connector Motor flange direction 13 24 8 63 7 38 5 M10 Screw hole depth 18 Shaft section view AA 18 11 7 φ60h6 6 φ...

Page 199: ...10P Motor plate PE BC41129 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR502G1 HG SR5024G1 5 0 1 6 126 96 CHVM 6165 1 11 114 1 17 110 Unit mm U W V Power supply connector Motor flange direction Key 176 140 9 Caution plate 82 Caution plate Motor plate Motor plate Caution plate 13...

Page 200: ... supply connector MS3102A22 22P PE BC41131 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR502G1 HG SR5024G1 5 0 CHVM 6185 1 59 138 165 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key 176 M12 Screw hole depth 24 φ345f8 φ430 22 5 506 110 100 258 8 φ18 ...

Page 201: ...r supply connector MS3102A32 17P For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G1 HG SR7024G1 7 0 CHVM 6170 1 11 190 145 1 17 182 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key 522 Motor plate Caution plate 13 32 71 7 38 5 φ360 8 φ14 243 22 5 7 ...

Page 202: ...ector CMV1 R10P PE BC41135 For reverse rotation command For forward rotation command Rotation direction φ 3 9 0 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G1 HG SR7024G1 7 0 CHVM 6195 1 43 267 240 1 59 266 Unit mm U W V Power supply connector Motor flange direction Key 210 9 14 25 φ95h6 M20 Screw hole depth 34 φ400f8 φ490 30 6 602 145 125 285 15 12...

Page 203: ... φ160 φ150 A A 9 3 309 5 119 φ134 4 φ11 45 Shaft section view AA φ28h6 4 7 8 M8 Screw hole depth 20 Caution plate Side view of motor only PE BC41185 A B C D Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR52BG1 HG SR524BG1 0 5 1 35 8 5 10 5 29 CNVM 6120 1 43 10 4 1 59 10 4 Unit mm A B C D Shaft section view AA 55 117 69 8 5...

Page 204: ... 55 φ140f8 φ210 50 φ204 A A 132 30 13 4 PE BC41187 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR102BG1 HG SR1024BG1 1 0 CHVM 6130 1 43 8 5 16 0 51 Unit mm 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13 5 130 112 5 50 9 Caution...

Page 205: ...ion command For forward rotation command Rotation direction Top Top Caution plate Motor plate Bottom Bottom Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG1 HG SR1524BG1 1 5 1 6 8 5 21 4 33 CNVM 6120 1 11 19 9 1 17 19 5 Unit mm Caution plate Motor plate 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13...

Page 206: ... 70 Caution plate A PE BC41191 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG1 HG SR1524BG1 1 5 CHVM 6160 1 43 8 5 25 8 84 1 59 25 7 Unit mm Caution plate Motor plate 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13 5 130 11...

Page 207: ... Bottom For reverse rotation command For forward rotation command Rotation direction Motor plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR202BG1 HG SR2024BG1 2 0 1 29 44 64 2 93 CHVM 6165 1 35 63 9 1 43 63 7 1 59 63 6 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake ...

Page 208: ...iew of motor only 421 5 PE BC41195 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR352BG1 HG SR3524BG1 3 5 CHVM 6165 1 29 44 96 0 98 1 35 95 7 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Elect...

Page 209: ...ew of motor only PE BC41197 For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR502BG1 HG SR5024BG1 5 0 1 6 44 135 102 CHVM 6165 1 11 123 1 17 119 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Elect...

Page 210: ...connector MS3102A22 22P PE BC41199 For reverse rotation command For forward rotation command Rotation direction φ 3 9 0 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR502BG1 HG SR5024BG1 5 0 CHVM 6185 1 59 44 147 171 Unit mm Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Electro...

Page 211: ...2 17P PE BC41201 Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG1 HG SR7024BG1 7 0 CHVM 6170 1 11 44 199 151 1 17 192 Unit mm U W V Power supply connector Motor flange direction key Electromagnetic brake Electromagnetic brake co...

Page 212: ...only BC41203 φ 3 9 0 Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG1 HG SR7024BG1 7 0 CHVM 6195 1 43 44 277 246 1 59 275 Unit mm BC41204 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagne...

Page 213: ...y connector MS3102A18 10P BC41137 PE Top Top Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Caution plate Motor plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR52G1H HG SR524G1H 0 5 1 35 8 26 28 CNHM 6120 1 43 8 22 1 59 8 18 Unit mm Shaft section view AA φ204 55 131 8 5 10 50 A M8 Screw hole depth 20 Cautio...

Page 214: ... PE Top Top Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Caution plate Motor plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR102G1H HG SR1024G1H 1 0 CHHM 6130 1 43 13 8 50 Unit mm Caution plate Motor plate 38 2 13 58 13 5 130 112 5 50 9 Caution plate 403 Bottom Top Top Bottom U W V Power supply connector ...

Page 215: ...op Bottom Top Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G1H HG SR1524G1H 1 5 1 6 19 2 32 CNHM 6120 1 11 17 7 1 17 17 3 Unit mm A B C D 38 2 13 58 13 5 130 112 5 50 9 Caution plate 364 5 U W V Power supply connector Motor flange direction Key Side view of motor only...

Page 216: ...rotation command For forward rotation command Rotation direction BC41143 Caution plate Motor plate Caution plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G1H HG SR1524G1H 1 5 CHHM 6160 1 43 23 6 87 1 59 23 5 Unit mm 38 2 13 58 13 5 130 112 5 50 9 Caution plate 487 5 25 160 352 75 185 185 410 4 φ18 7 M10 Screw hole depth 18 φ60h6 11 18 Shaft secti...

Page 217: ...ate Motor plate Motor plate For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR202G1H HG SR2024G1H 2 0 1 29 54 8 92 CHHM 6165 1 35 54 5 1 43 54 3 1 59 54 2 Unit mm U W V Power supply connector Motor flange direction Key M10 Screw hole depth 18 Shaft section view AA 18 11 7 4 φ18 185 ...

Page 218: ... R10P Motor plate A A BC41147 PE Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR352G1H HG SR3524G1H 3 5 CHHM 6165 1 29 86 6 97 1 35 86 3 Unit mm U W V Power supply connector Motor flange direction Key M10 Screw hole depth 18 176 140 9 Caution plate Caution plate Motor plat...

Page 219: ...ttom For reverse rotation command For forward rotation command Rotation direction Caution plate Motor plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR502G1H HG SR5024G1H 5 0 1 6 126 101 CHHM 6165 1 11 114 1 17 110 Unit mm BC41150 U W V Power supply connector Motor flange direction Key 176 140 9 Caution plate 82 Caution plate Motor plate Motor plate C...

Page 220: ...2 22P BC41151 PE 22 30 φ80h6 Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR502G1H HG SR5024G1H 5 0 CHHM 6185 1 59 138 178 Unit mm U W V Power supply connector Motor flange direction Key 176 M12 Screw hole depth 24 616 Caution plate 13 24 8 63 7 Shaft section view A...

Page 221: ...53 PE φ60h6 Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G1H HG SR7024G1H 7 0 CHHM 6170 1 11 190 148 1 17 182 Unit mm U W V Power supply connector Motor flange direction Key 616 Motor plate Caution plate 13 32 71 7 38 5 7 5 20 12 M12 Screw hole depth 24 φ70h6 S...

Page 222: ...2A32 17P BC41155 PE Bottom Bottom For reverse rotation command For forward rotation command Rotation direction Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G1H HG SR7024G1H 7 0 CHHM 6180 1 43 267 256 1 59 266 Unit mm U W V Power supply connector Motor flange direction Key 210 9 14 25 φ95h6 M20 Screw hole depth 34 747 Motor plate Caution plate 13 32 7...

Page 223: ...upply connector MS3102A18 10P 79 9 Encoder connector CMV1 R10P 59 13 58 13 5 130 112 5 50 9 Motor plate 43 5 20 9 Top Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key position mark Caution plate Side view of motor only 12 100 219 121 35 32 A A φ150 357 5 Shaft section view AA φ28h6 4 7 8 M8 Screw ho...

Page 224: ...tion 50 A A M8 Screw hole depth 20 29 95 2 Electromagnetic brake connector CMV1 R2P MS3102A18 10P 79 9 Encoder connector CMV1 R10P 59 13 58 13 5 130 112 5 50 9 Side view of motor only Caution plate Motor plate 371 43 5 20 9 Bottom Top Top Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange direction Main key position mar...

Page 225: ... A 4 φ14 15 120 252 φ204 Caution plate For reverse rotation command For forward rotation command Rotation direction BC41207 PE Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR102BG1H HG SR1024BG1H 1 0 CHHM 6130 1 43 8 5 16 0 52 Unit mm 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13 5 130 112 5 50 9 Cautio...

Page 226: ...For reverse rotation command For forward rotation command Rotation direction BC41209 PE Caution plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG1H HG SR1524BG1H 1 5 1 6 8 5 21 4 34 CNHM 6120 1 11 19 9 1 17 19 5 Unit mm Caution plate Motor plate 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13 5 1...

Page 227: ...ly connector MS3102A18 10P For reverse rotation command For forward rotation command Rotation direction BC41211 PE Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG1H HG SR1524BG1H 1 5 CHHM 6160 1 43 8 5 25 8 89 1 59 25 7 Unit mm Caution plate Motor plate 29 95 2 Electromagnetic brake connector CMV1 R2P 79 9 59 13 58 13...

Page 228: ...ew hole depth 20 For reverse rotation command For forward rotation command Rotation direction BC41213 PE Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR202BG1H HG SR2024BG1H 2 0 1 29 44 64 2 98 CHHM 6165 1 35 63 9 1 43 63 7 1 59 63 6 Unit mm U W V Power supply connector Motor flange direction Key Electromagnetic brake Elec...

Page 229: ... motor only A 100 170 56 70 497 5 For reverse rotation command For forward rotation command Rotation direction PE φ230 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR352BG1H HG SR3524BG1H 3 5 CHHM 6165 1 29 44 96 0 103 1 35 95 7 Unit mm BC41216 U W V Power supply connector Motor flange direction Key Electromagnetic brake E...

Page 230: ... 200 82 Side view of motor only For reverse rotation command For forward rotation command Rotation direction PE Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR502BG1H HG SR5024BG1H 5 0 1 6 44 135 107 CHHM 6165 1 11 123 1 17 119 Unit mm BC41218 U W V Power supply connector Motor flange direction Key Electromagnetic brake El...

Page 231: ...ncoder connector CMV1 R10P Electromagnetic brake connector CMV1 R2P Power supply connector MS3102A22 22P PE Motor plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR502BG1H HG SR5024BG1H 5 0 CHHM 6185 1 59 44 147 184 Unit mm BC41220 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagn...

Page 232: ...V1 R10P Electromagnetic brake connector CMV1 R2P Power supply connector MS3102A32 17P PE Motor plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG1H HG SR7024BG1H 7 0 CHHM 6170 1 11 44 199 154 1 17 192 Unit mm BC41222 U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake...

Page 233: ...n Encoder connector CMV1 R10P Electromagnetic brake connector CMV1 R2P Power supply connector MS3102A32 17P PE Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG1H HG SR7024BG1H 7 0 CHHM 6195 1 43 44 277 262 1 59 275 Unit mm BC41224 U W V Power supply connector Motor flange direction Key Main key position mark 210 9 14 2...

Page 234: ...tom Top Top Bottom 58 13 5 112 5 130 For reverse rotation command For forward rotation command Rotation direction 4 φ9 60 BC41157 PE 27 0 4 0 5 φ105 φ45 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR52G5 HG SR524G5 0 5 HPG 32A 21 F0MCSYS S 1 21 10 2 12 HPG 32A 33 F0MCSZS S 1 33 9 96 HPG 32A 45 F0MCSZS S 1 45 9 96 Unit mm 225 5 φ115h7 20 9 164 8 Bottom To...

Page 235: ...7 0 4 0 5 For reverse rotation command For forward rotation command φ105 φ45 Caution plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR102G5 HG SR1024G5 1 0 HPG 32A 11 F0MCSPS S 1 11 14 9 13 HPG 32A 21 F0MCSYS S 1 21 14 5 Unit mm 239 5 φ115h7 20 9 178 8 Bottom Top U W V Power supply connector Motor flange direction Key 54 5 39 5 13 13 5 φ32H7 effective...

Page 236: ...ommand Rotation direction 13 45 7 φ47H7 effective range 6 22 5 135 22 5 C 0 5 14 M8 Screw hole depth 12 BC41161 PE 53 0 5 0 8 φ190 φ100 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G5 HG SR1524G5 1 5 HPG 20A 05 F0KSAWS S 1 5 16 7 11 Unit mm 241 5 φ85h7 20 9 180 8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 8 5 φ24H7 ef...

Page 237: ... 4 0 5 φ32H7 C 0 5 φ135 φ60 5 φ32H7 effective range 6 M8 Screw hole depth 12 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G5 HG SR1524G5 1 5 HPG 50A 21 F0AABC S 1 21 21 7 24 HPG 50A 33 F0AABC S 1 33 20 7 HPG 50A 45 F0AABC S 1 45 20 6 Unit mm 269 5 20 9 208 8 Bottom Top U W V Power supply connector Motor flange direction Key 38 2 Caution plate Motor p...

Page 238: ...165 PE 35 0 4 0 5 Note φ135 φ60 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR202G5 HG SR2024G5 2 0 HPG 50A 21 F0BBDF S 1 21 53 2 29 HPG 50A 33 F0BBDF S 1 33 52 2 HPG 50A 45 F0BBDF S 1 45 52 2 Unit mm 287 5 223 8 Bottom Top φ129 φ170 U W V Power supply connector Motor flange direction Key 25 63 45 16 12 5...

Page 239: ...CMV1 R10P BC41167 PE 35 0 4 0 5 Note φ60 φ135 Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR352G5 HG SR3524G5 3 5 HPG 50A 11 F0BBDF S 1 11 86 7 34 HPG 50A 21 F0BBDF S 1 21 85 0 Unit mm 311 5 24 8 247 8 Bottom Top φ129 φ170 U W V Power supply connector Motor flange direction Key 25 63 45 16 12 5 For reverse rotation com...

Page 240: ...7 φ47H7 effective range 13 C 0 5 170 BC41169 PE 53 0 5 0 8 Note Caution plate Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G5 HG SR7024G5 7 0 HPG 50A 05 F0BBCF S 1 5 161 43 Unit mm Bottom Top Top Bottom 367 5 38 5 Caution plate Motor plate Opposite side 32 295 8 50 9 13 Encoder connector CMV1 R10P Pow...

Page 241: ...M6 Screw hole depth 10 130 For reverse rotation command For forward rotation command Rotation direction 4 φ9 60 BC41225 PE 27 0 4 0 5 φ24H7 φ105 φ45 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR52BG5 HG SR524BG5 0 5 HPG 32A 21 F0MCSYS S 1 21 8 5 12 4 14 HPG 32A 33 F0MCSZS S 1 33 12 2 HPG 32A 45 F0MCSZS S 1 45 12 2 Unit m...

Page 242: ...nd For forward rotation command Rotation direction 4 φ9 60 BC41227 PE 27 0 4 0 5 φ105 φ45 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 32A 11 F0MCSPS S 1 11 8 5 17 1 15 HPG 32A 21 F0MCSYS S 1 21 16 7 Unit mm Caution plate Bottom Top Bottom Top Top Bottom 274 43 5 Caution plate Motor plate Oppo...

Page 243: ...MV1 R2P 13 45 7 φ47H7 effective range 6 22 5 135 22 5 C 0 5 14 M8 Screw hole depth 12 BC41229A PE 53 0 5 0 8 φ190 φ100 130 Caution plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG5 HG SR1524BG5 1 5 HPG 20A 05 F0KSAWS S 1 5 8 5 18 9 13 Unit mm Caution plate Bottom Top Bottom Top Top Bottom 276 43 5 Motor plate Opp...

Page 244: ...mmand Rotation direction 4 φ11 60 BC41231 PE 35 0 4 0 5 φ32h7 C 0 5 φ135 φ60 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 50A 21 F0AABC S 1 21 8 5 23 9 26 HPG 50A 33 F0AABC S 1 33 22 9 HPG 50A 45 F0AABC S 1 45 22 8 Unit mm Motor plate Bottom Top Bottom Top Top Bottom 304 43 5 Caution plate Mot...

Page 245: ... PE 35 0 4 0 5 Note φ135 φ60 60 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR202BG5 HG SR2024BG5 2 0 HPG 50A 21 F0BBDF S 1 21 44 62 9 35 HPG 50A 33 F0BBDF S 1 33 61 9 HPG 50A 45 F0BBDF S 1 45 61 9 Unit mm Motor plate Caution plate Bottom Top Top Bottom 337 45 5 Caution pl...

Page 246: ...235 PE 35 0 4 0 5 Note φ135 φ60 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR352BG5 HG SR3524BG5 3 5 HPG 50A 11 F0BBDF S 1 11 44 96 3 40 HPG 50A 21 F0BBDF S 1 21 94 6 Unit mm Motor plate Caution plate Bottom Top Top Bottom 361 45 5 Caution plate Motor plate Opposite side ...

Page 247: ...5h8 φ163 φ47H7 7 φ47H7 effective range 13 C 0 5 170 BC41237 PE 53 0 5 0 8 Note φ190 φ 1 0 0 Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG5 HG SR7024BG5 7 0 HPG 50A 05 F0BBCF S 1 5 44 171 49 Unit mm Motor plate Caution plate Bottom Top Top Bottom 417 45 5 Caution plate Motor plate ...

Page 248: ...Top Bottom 58 13 5 112 5 130 For reverse rotation command For forward rotation command Rotation direction 4 φ9 42 27 8 φ32 R 0 4 BC41171 PE φ25h7 φ105 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR52G7 HG SR524G7 0 5 HPG 32A 21 J2MCSYS S 1 21 10 2 13 HPG 32A 33 J2MCSZS S 1 33 9 96 HPG 32A 45 J2MCSZS S 1 45 9 96 Unit mm Motor plate Caution plate Caution p...

Page 249: ... forward rotation command Rotation direction 4 φ9 42 27 8 φ32 R 0 4 BC41173 PE φ25h7 φ105 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR102G7 HG SR1024G7 1 0 HPG 32A 11 J2MCSPS S 1 11 15 0 15 HPG 32A 21 J2MCSYS S 1 21 14 5 Unit mm Motor plate Caution plate Bottom Top Bottom Top Top Bottom 239 5 38 2 Motor plate Opposite side φ115h7 20 9 178 8 50 9 13 Enc...

Page 250: ...4 φ14 170 For reverse rotation command For forward rotation command Rotation direction 13 45 R 0 4 BC41175 PE φ190 Caution plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G7 HG SR1524G7 1 5 HPG 20A 05 J2KSAWS S 1 5 16 7 11 Unit mm 241 5 φ85h7 20 9 180 8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 80 φ59 φ84 φ89 90 4...

Page 251: ...n command Rotation direction BC41177 PE R 0 4 φ135 Motor plate Bottom Caution plate Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR152G7 HG SR1524G7 1 5 HPG 50A 21 J2AABC S 1 21 21 7 27 HPG 50A 33 J2AABC S 1 33 20 7 HPG 50A 45 J2AABC S 1 45 20 7 Unit mm Bottom Top Top Top Bottom 269 5 38 2 Caution plate Motor plate Opposite side 20 9 208 8 50 9 13 Encoder...

Page 252: ...op 176 140 9 82 BC41179 PE Note φ40h7 φ135 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR202G7 HG SR2024G7 2 0 HPG 50A 21 J2BBDF S 1 21 53 3 32 HPG 50A 33 J2BBDF S 1 33 52 2 HPG 50A 45 J2BBDF S 1 45 52 2 Unit mm 287 5 223 8 Bottom Top φ129 φ170 φ122 φ165h8 φ163 φ56 φ50h7 U W V Power supply connector Motor...

Page 253: ...176 140 9 82 BC41181 PE Note φ40h7 φ135 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR352G7 HG SR3524G7 3 5 HPG 50A 11 J2BBDF S 1 11 87 0 37 HPG 50A 21 J2BBDF S 1 21 85 1 Unit mm 311 5 247 8 Bottom Top φ129 φ170 φ122 φ165h8 φ163 φ56 U W V Power supply connector Motor flange direction Key 25 63 45 16 53 82...

Page 254: ...13 Encoder connector CMV1 R10P Motor plate Caution plate BC41183 PE Note φ190 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Moment of inertia J 10 4 kg m2 Mass kg HG SR702G7 HG SR7024G7 7 0 HPG 50A 05 J2BBCF S 1 5 163 46 Unit mm 367 5 32 295 8 Power supply connector MS3102A32 17P Bottom Top φ129 φ170 φ122 φ165h8 φ163 φ56 φ50h7 U W V Power supply co...

Page 255: ...or forward rotation command Rotation direction 4 φ9 φ85h7 80 φ59 φ84 42 27 8 φ32 R 0 4 BC41239 PE Power supply connector MS3102A18 10P φ25h7 φ105 Top Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR52BG7 HG SR524BG7 0 5 HPG 32A 21 J2MCSYS S 1 21 8 5 12 4 15 HPG 32A 33 J2MCSZS S 1 33 12 2 HPG 32A 45 J2MCSZS S 1 45 12 2 Unit ...

Page 256: ... command Rotation direction 4 φ9 φ85h7 80 φ59 φ84 42 27 8 φ32 R 0 4 BC41241 PE φ25h7 φ105 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 32A 11 J2MCSPS S 1 11 8 5 17 2 17 HPG 32A 21 J2MCSYS S 1 21 16 7 Unit mm Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 274 43 5 Caut...

Page 257: ...MV1 R10P Power supply connector MS3102A18 10P Electromagnetic brake connector CMV1 R2P 13 45 R 0 4 BC41243 PE φ190 Caution plate Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR152BG7 HG SR1524BG7 1 5 HPG 20A 05 J2KSAWS S 1 5 8 5 18 9 13 Unit mm Caution plate Bottom Top Bottom Top Top Bottom 276 43 5 Caution plate Motor pla...

Page 258: ...nector MS3102A18 10P Electromagnetic brake connector CMV1 R2P BC41245 PE R 0 4 φ135 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 50A 21 J2AABC S 1 21 8 5 23 9 29 HPG 50A 33 J2AABC S 1 33 22 9 HPG 50A 45 J2AABC S 1 45 22 9 Unit mm Motor plate Caution plate Bottom Top Bottom Top Top Bottom 304 4...

Page 259: ...82 120 45 R 0 4 BC41247 PE Note φ40h7 φ135 Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR202BG7 HG SR2024BG7 2 0 HPG 50A 21 J2BBDF S 1 21 44 63 0 38 HPG 50A 33 J2BBDF S 1 33 61 9 HPG 50A 45 J2BBDF S 1 45 61 9 Unit mm Motor plate Caution plate Caution plate Bottom Top Top B...

Page 260: ... 4 BC41249 PE Note φ40h7 φ135 Bottom Top Caution plate Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR352BG7 HG SR3524BG7 3 5 HPG 50A 11 J2BBDF S 1 11 44 96 6 43 HPG 50A 21 J2BBDF S 1 21 94 7 Unit mm Motor plate Caution plate Bottom Top Top Bottom 361 45 5 Caution plate Motor plate Oppos...

Page 261: ...tation command Rotation direction 82 170 BC41251 PE Note Caution plate φ190 Bottom Bottom Note is a screw hole for eyebolt M8 Model Output kW Reducer model Reduction ratio Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG SR702BG7 HG SR7024BG7 7 0 HPG 50A 05 J2BBCF S 1 5 44 173 52 Unit mm A B C D Motor plate Caution plate Bottom Top Top Bottom 417 45 5 Caution plate Motor ...

Page 262: ... the symbols are available None None Electromagnetic brake Symbol Electromagnetic brake B With Series Shaft type Symbol Shaft shape None Standard straight shaft K Note 1 Keyway shaft Appearance 5 0 5 Rated output Symbol Rated output kW 7 0 75 10 1 15 1 5 20 2 35 3 5 50 5 25K 25 30K 30 Power supply voltage of servo amplifier Rated speed 1M 1500 Symbol Speed r min 3 3000 None 3 phase 200 V AC to 240...

Page 263: ...RJ MR J4 200B RJ010 MR J4 200B RJ020 MR J4 200GF MR J4 200GF RJ MR J4W2 77B MR J4W2 1010B HG JR103 Note 2 MR J4 100A MR J4 100A RJ MR J4 100B MR J4 100B RJ MR J4 100B RJ010 MR J4 100B RJ020 MR J4 100GF MR J4 100GF RJ MR J4W2 1010B HG JR153 MR J4 200A MR J4 200A RJ MR J4 200B MR J4 200B RJ MR J4 350A MR J4 350A RJ MR J4 350B RJ010 MR J4 350B RJ020 MR J4 350B MR J4 350B RJ MR J4 350GF MR J4 350GF RJ...

Page 264: ... RJ MR J4 DU900B MR J4 DU900B RJ MR J4 DU900B MR J4 DU900B RJ HG JR903 MR J4 11KA MR J4 11KA RJ MR J4 11KB MR J4 11KB RJ MR J4 11KB RJ010 MR J4 11KB RJ020 MR J4 11KGF MR J4 11KGF RJ MR J4 DU900B MR J4 DU900B RJ Note 1 The maximum torque can be increased to 400 of the rated torque 2 When a 1 phase 200 V AC input is used the maximum torque cannot be increased to 400 of the rated torque 3 This is app...

Page 265: ...J4 DU11KB RJ HG JR15K1M MR J4 15KA MR J4 15KA RJ MR J4 15KB MR J4 15KB RJ MR J4 15KB RJ010 MR J4 15KB RJ020 MR J4 15KGF MR J4 15KGF RJ MR J4 DU15KB MR J4 DU15KB RJ 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 22KGF MR J4 22KGF RJ MR J4 DU22KB MR J4 DU22KB RJ HG JR30K1M MR J4 DU30KA MR J4 DU30KA RJ MR J4 DU30KB MR J4 DU30KB RJ MR J4 DU30KB RJ0...

Page 266: ...801 MR J4 11KA MR J4 11KA RJ MR J4 11KB MR J4 11KB RJ MR J4 11KB RJ010 MR J4 11KB RJ020 MR J4 11KGF MR J4 11KGF RJ MR J4 DU900B MR J4 DU900B RJ HG JR20K1 MR J4 22KA MR J4 22KA RJ MR J4 22KB MR J4 22KB RJ MR J4 22KB RJ010 MR J4 22KB RJ020 MR J4 22KGF MR J4 22KGF RJ MR J4 DU22KB MR J4 DU22KB RJ HG JR25K1 HG JR12K1 MR J4 11KA MR J4 11KA RJ MR J4 11KB MR J4 11KB RJ MR J4 11KB RJ010 MR J4 11KB RJ020 MR...

Page 267: ...4 200B4 MR J4 200B4 RJ MR J4 350A4 MR J4 350A4 RJ MR J4 350B4 MR J4 350B4 RJ HG JR2034 MR J4 200B4 RJ010 MR J4 200B4 RJ020 MR J4 200GF4 MR J4 200GF4 RJ MR J4 350B4 RJ010 MR J4 350B4 RJ020 MR J4 350GF4 MR J4 350GF4 RJ HG JR3534 MR J4 350A4 MR J4 350A4 RJ MR J4 350B4 MR J4 350B4 RJ MR J4 500A4 MR J4 500A4 RJ MR J4 500B4 MR J4 500B4 RJ MR J4 350B4 RJ010 MR J4 350B4 RJ020 MR J4 350GF4 MR J4 350GF4 RJ ...

Page 268: ...eased torque function when drive unit is connected b 1500 r min series Servo motor Servo amplifiers Drive units Standard Maximally increased torque Note HG JR701M4 MR J4 700A4 MR J4 700A4 RJ MR J4 700B4 MR J4 700B4 RJ MR J4 700B4 RJ010 MR J4 700B4 RJ020 MR J4 700GF4 MR J4 700GF4 RJ MR J4 DU900B4 MR J4 DU900B4 RJ MR J4 DU900B4 MR J4 DU900B4 RJ HG JR11K1M4 MR J4 11KA4 MR J4 11KA4 RJ MR J4 11KB4 MR J...

Page 269: ...4 DU30KA4 RJ MR J4 DU30KB4 MR J4 DU30KB4 RJ MR J4 DU30KB4 RJ020 HG JR37K1M4 MR J4 DU37KA4 MR J4 DU37KA4 RJ MR J4 DU37KB4 MR J4 DU37KB4 RJ MR J4 DU37KB4 RJ020 HG JR45K1M4 MR J4 DU45KA4 MR J4 DU45KA4 RJ MR J4 DU45KB4 MR J4 DU45KB4 RJ MR J4 DU45KB4 RJ020 HG JR55K1M4 MR J4 DU55KA4 MR J4 DU55KA4 RJ MR J4 DU55KB4 MR J4 DU55KB4 RJ MR J4 DU55KB4 RJ020 Note This is applied when the maximum torque is increa...

Page 270: ...11KA4 MR J4 11KA4 RJ MR J4 11KB4 MR J4 11KB4 RJ MR J4 11KB4 RJ010 MR J4 11KB4 RJ020 MR J4 11KGF4 MR J4 11KGF4 RJ MR J4 DU900B4 MR J4 DU900B4 RJ HG JR20K14 MR J4 22KA4 MR J4 22KA4 RJ MR J4 22KB4 MR J4 22KB4 RJ MR J4 22KB4 RJ010 MR J4 22KB4 RJ020 MR J4 22KGF4 MR J4 22KGF4 RJ MR J4 DU22KB MR J4 DU22KB RJ HG JR25K14 HG JR12K14 MR J4 11KA4 MR J4 11KA4 RJ MR J4 11KB4 MR J4 11KB4 RJ MR J4 11KB4 RJ010 MR ...

Page 271: ...Note 8 A 9 0 12 17 23 17 23 32 43 32 43 51 71 81 108 103 134 134 Moment of inertia J Standard 10 4 kg m2 1 52 2 09 2 65 3 79 4 92 13 2 19 0 43 3 55 8 With an electromagnetic brake 10 4 kg m2 2 02 2 59 3 15 4 29 5 42 15 4 21 2 52 9 65 4 Recommended load to motor inertia ratio Note 2 10 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo ...

Page 272: ...load to motor inertia ratio Note 2 10 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP67 Note 3 Totally enclosed force cooled IP rating IP44 Note 3 Environment Note 4 Ambient temper...

Page 273: ... ratio Note 2 10 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP67 Note 3 Totally enclosed force cooled IP rating IP44 Note 3 Environment Note 4 Ambient temperature Operation 0 C t...

Page 274: ... 4 12 17 22 17 22 26 36 41 54 52 69 67 Moment of inertia J Standard 10 4 kg m2 1 52 2 09 2 65 3 79 4 92 13 2 19 0 43 3 55 8 With an electromagnetic brake 10 4 kg m2 2 02 2 59 3 15 4 29 5 42 15 4 21 2 52 9 65 4 Recommended load to motor inertia ratio Note 2 10 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 p...

Page 275: ...tio Note 2 10 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP67 Note 3 Totally enclosed force cooling IP rating IP44 Note 3 Environment Note 4 Ambient temperature Operation 0 C to ...

Page 276: ...mes or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Built in Insulation class 155 F Structure Totally enclosed natural cooling IP rating IP67 Note 3 Totally enclosed force cooling IP rating IP44 Note 3 Environment Note 4 Ambient temperature Operation 0 C to 40 C non freezin...

Page 277: ...retting is likely to occur at the bearing Therefore suppress the vibration to about half of the permissible value Y X Servo motor Vibration both amplitudes μm Speed r min 0 1000 2000 3000 4000 5000 6000 7000 10 100 1000 Vibration amplitude 6 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mounting position for measurement and the...

Page 278: ...Torque N m 0 6 10 2 HG JR103 1000 3000 5000 6000 0 Note 1 Speed r min Continuous running range Torque N m 10 2 6 14 0 Short duration running range HG JR153 1000 3000 5000 6000 0 Note 1 Speed r min Continuous running range Short duration running range Torque N m 9 20 3 15 0 Speed r min Continuous running range Torque N m HG JR203 Note 1 1000 3000 5000 6000 0 12 28 4 20 0 Short duration running rang...

Page 279: ...meter maximally increased torque function when drive unit is connected Refer to section 8 2 for the combinations c 1000 r min series HG JR601 500 1000 1500 2000 0 Speed r min Torque N m 0 180 60 120 Short duration running range Continuous running range HG JR801 500 1000 1500 2000 0 Speed r min Torque N m 0 300 100 200 Short duration running range Continuous running range HG JR12K1 500 1000 1500 20...

Page 280: ... N m 0 9 20 3 15 HG JR2034 1000 3000 5000 6000 0 Note 1 Speed r min Continuous running range Short duration running range Torque N m 0 12 28 4 20 HG JR3534 1000 3000 5000 6000 0 Note 1 Speed r min Continuous running range Short duration running range Torque N m 45 30 20 10 40 0 Note 1 HG JR5034 1000 3000 5000 6000 0 Speed r min Continuous running range Short duration running range Torque N m 0 70 ...

Page 281: ...g range Note The heavy line indicates the torque characteristic when the maximum torque is increased by enabling the parameter maximally increased torque function when drive unit is connected Refer to section 8 2 for the combinations c 1000 r min series HG JR6014 500 1000 1500 2000 0 Speed r min Torque N m 0 180 60 120 Short duration running range Continuous running range HG JR8014 500 1000 1500 2...

Page 282: ...ase delay time Note 2 s 0 09 0 12 0 1 0 5 Braking delay time Note 2 s DC off 0 03 0 03 0 03 0 2 Permissible braking work Per braking J 64 400 4500 5000 Per hour J 640 4000 45000 45200 Brake looseness at servo motor shaft Note 5 degrees 0 01 to 0 8 0 01 to 0 6 0 2 to 0 6 0 01 to 0 6 Brake life Note 3 Number of braking cycles times 5000 5000 20000 20000 Work per braking J 64 400 1000 400 Selection e...

Page 283: ...ew hole depth 20 HG JR703 4 B K HG JR903 4 B K 35 0 010 0 79 75 10 0 0 036 55 5 5 0 2 0 5 M8 screw hole depth 20 HG JR601 4 B K HG JR701M 4 B K 42h6 85 79 12 0 0 040 70 5 5 0 2 0 6 M8 screw hole depth 19 8 HG JR801 4 B K HG JR12K1 4 B K HG JR11K1M 4 B K HG JR15K1M 4 B K 55m6 116 110 16 0 0 040 90 5 6 0 2 0 8 M10 screw hole depth 27 HG JR15K1 4 K HG JR20K1 4 K HG JR25K1 4 K HG JR22K1M 4 K HG JR30K1...

Page 284: ...03 4 B 20 HG JR703 4 B HG JR903 4 B HG JR601 4 B HG JR801 4 B HG JR12K1 4 B HG JR701M 4 B 25 HG JR11K1M 4 B HG JR15K1M 4 B 40 HG JR15K1 4 HG JR20K1 4 HG JR25K1 4 HG JR22K1M 4 HG JR30K1M 4 HG JR37K1M 4 50 HG JR30K1 4 HG JR37K1 4 HG JR45K1M4 HG JR55K1M4 55 8 7 Cooling fan For the servo motor with a cooling fan leave the following distance between the servo motor s suction face and the wall Servo mot...

Page 285: ...1M 4 to HG JR37K1M 4 HG JR45K1M4 HG JR55K1M4 HG JR15K1 4 to HG JR37K1 4 POINT The terminal box of the HG JR22K1M 4 servo motor has been changed since September 2014 Refer to app 9 for the terminal box detail diagram before change Unit mm Terminal box lid M4 screw 10 Approx 50 Approx 55 φ63 Cable gland mounting hole Terminal box side Keep plate Keep plate M5 screw 4 Keep plate side φ80 hole Approx ...

Page 286: ...9 Oil seal Caution plate Power supply connector MS3102A18 10P Encoder connector CMV1 R10P Caution plate Motor plate Opposite side 4 φ6 6 mounting hole Use hexagon socket head cap screw 76 from the flange surface 93 8 13 45 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 25 7 W V U Power connector viewed from the connection side Key B C A D Caution plate Top Bottom Top Bottom Top Bottom PE BC42604 BC42615 Motor ...

Page 287: ...eal Bottom Top Caution plate Motor plate Power supply connector MS3102A18 10P Encoder connector CMV1 R10P Caution plate Motor plate Opposite side 4 φ6 6 mounting hole Use hexagon socket head cap screw 94 from the flange surface 93 8 13 45 4 5 35 16 10 6 36 4 2 2 2 1 8 25 7 W V U Key B C A D Caution plate Power connector viewed from the connection side Top Bottom φ16h6 φ41 PE BC42605 BC42616 ...

Page 288: ...aution plate Motor plate Power supply connector MS3102A18 10P Encoder connector CMV1 R10P Caution plate Motor plate Opposite side 4 φ6 6 mounting hole Use hexagon socket head cap screw 112 from the flange surface 93 8 13 45 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 25 7 W V U Key B C A D Caution plate Power connector viewed from the connection side Top Bottom Top Bottom Top Bottom PE BC42606 BC42617 ...

Page 289: ... 4 φ6 6 mounting hole Use hexagon socket head cap screw 45 Top Bottom Top Bottom Top Bottom PE BC42607 BC42618 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG JR203 2 0 4 92 7 5 HG JR2034 Unit mm 235 5 φ80h7 φ16h6 40 7 5 5 30 38 2 50 9 Top Bottom Oil seal Power supply connector MS3102A18 10P Encoder connector CMV1 R10P Caution plate Motor plate Opposite side 184 from the flange surface 9...

Page 290: ...ion plate Motor plate Power connector viewed from the connection side Bottom Top PE BC42609 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG JR3534 3 5 13 2 13 Unit mm 55 3 12 50 φ110h7 Oil seal 213 38 2 50 9 114 8 13 5 161 from the flange surface φ28h6 130 45 φ165 φ 1 4 5 13 1 4 2 2 2 1 8 36 13 Power supply connector MS3102A18 10P Encoder connector CMV1 R10P Motor plate Opposite side Cau...

Page 291: ...m Top Bottom Top Bottom Top 4 φ9 mounting hole Use hexagon socket head cap screw PE BC42610 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG JR5034 5 0 19 0 18 Unit mm 55 3 12 50 φ110h7 Oil seal 267 38 2 50 9 114 8 13 5 215 from the flange surface φ28h6 130 45 φ165 φ 1 4 5 13 1 4 2 2 2 1 8 36 13 35 25 7 W V U Key B C A D Power connector viewed from the connection side Power supply connect...

Page 292: ...ote 4 Note 2 Note 1 Note 3 Note 4 BC42611 BC42622 Note 1 Note 2 Note 1 2 3 and 4 are screw hole for eyebolt M8 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG JR903 9 0 55 8 36 HG JR9034 Unit mm φ114 3 0 0 025 303 5 φ35 0 010 0 Oil seal Bottom Top φ200 φ 2 3 0 325 4 92 1 28 5 133 5 Bottom Top Bottom Top 38 5 50 9 163 3 Power supply connector MS3102A32 17P Encoder connector CMV1 R10P 13 M...

Page 293: ...Use hexagon socket head cap screw Oil seal M8 screw Bottom Note 1 2 3 and 4 are screw hole for eyebolt M10 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG JR801 8 220 62 HG JR8014 HG JR11K1M 11 HG JR11K1M4 Unit mm 4 82 171 1 φ235 φ270 45 37 5 220 4 φ13 5 mounting hole Use hexagon socket head cap screw 2 M8 screw φ 2 5 0 φ200h7 32 265 5 19 5 81 27 φ55m6 M10 screw Oil seal 110 4 20 116 339...

Page 294: ... Motor plate Opposite side φ 2 5 0 40 4 φ13 5 mounting hole Use hexagon socket head cap screw Power supply connector Motor flange direction Power supply connector MS3102A32 17P Encoder connector MS3102A20 29P U W V B C A D Key Caution plate Caution plate Motor plate Caution plate Bottom Top Top Bottom Top BC42614A BC42625A BC43500 BC43501 Note 3 4 Note 1 2 Note 3 Note 2 Note 1 Note 4 PE Bottom Top...

Page 295: ... Cooling fan connector CE05 2A14S 2P Caution plate Motor plate Top 247 Oil seal BC41678 BC41679 BC43641 BC43642 Top Bottom Top Motor plate Caution plate Cooling fan rotation direction φ63 229 163 45 φ265 φ330 150 133 174 62 62 300 129 M12 screw 33 5 35 140 65 Approx 42 Note 1 1 2 Note 1 1 Approx 2 BV BW Cooling fan connector Motor flange direction BU To be left open Key 181 130 φ65m6 Note 1 3 4 No...

Page 296: ... plate Top Top 291 33 163 174 250 Flange Eyebolt Note 2 3 247 45 φ265 φ330 62 62 220 125 150 133 140 65 181 4 φ24 mounting hole Use hexagon socket head cap screw Note 1 1 2 Note 1 1 Approx 2 BV BW Cooling fan connector Motor flange direction BC41680 BC41681 BC43643 BC43644 BU To be left open Key 181 φ65m6 φ63 Note 1 3 4 Bottom Approx 8 Note 1 2 Note 1 3 Note 1 4 Bottom Bottom Note 1 1 2 3 and 4 ar...

Page 297: ... 42 φ230h7 Exhaust Oil seal 33 M12 screw 174 163 Power lead hole Encoder connector MS3102A20 29P Cooling fan connector CE05 2A14S 2P φ63 Approx 2 BV BW Cooling fan connector Motor flange direction BC41682 BC41683 BC43645 BC43646 BU To be left open Key 181 130 Note 1 1 2 Note 1 3 4 φ65m6 Note 1 3 Note 1 4 Motor plate Caution plate Top Bottom Approx 8 Bottom Top Bottom Note 1 2 Note 1 1 2 3 and 4 ar...

Page 298: ...oling fan connector CE05 2A14S 2P Intake Cooling fan rotation direction 39 80 80 202 Eyebolt Note 2 3 Approx 25 192 215 140 65 Approx 65 305 133 150 250 147 Note 1 1 2 BV BW Cooling fan connector Motor flange direction BC41684 BC41685 BC43647 BU To be left open Key 210 Note 1 2 Note 1 1 φ80m6 Note 1 3 4 Motor plate Caution plate Bottom Approx 9 Note 1 3 Note 1 4 Bottom Note 1 1 2 3 and 4 are screw...

Page 299: ... Intake Cooling fan rotation direction Caution plate Motor plate Top Top Bottom 664 339 394 Approx 25 202 192 39 80 80 253 Eyebolt Note 2 3 140 65 Approx 65 210 BV BW Cooling fan connector Motor flange direction BC41686 BC41687 BC43648 BU To be left open Key Note 1 2 Note 1 1 Note 1 3 4 φ80m6 Note 1 4 Note 1 3 Approx 9 Bottom Motor plate Caution plate Bottom Note 1 1 2 Note 1 1 2 3 and 4 are screw...

Page 300: ...76 from the flange surface 93 8 13 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 57 4 15 66 5 25 7 Caution plate Top Bottom Bottom Top Bottom Top 90 φ 1 1 8 φ100 4 φ6 6 mounting hole Use hexagon socket head cap screw 45 Electromagnetic brake connector Motor flange direction Electromagnetic brake W V U Power connector viewed from the connection side Key B C A D Main key position mark Encoder connector CMV1 R10...

Page 301: ...r plate Opposite side 94 from the flange surface 93 8 13 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 57 4 15 66 5 25 7 90 φ 1 1 8 φ100 4 φ6 6 mounting hole Use hexagon socket head cap screw 45 Caution plate Electromagnetic brake connector Motor flange direction Electromagnetic brake W V U Power connector viewed from the connection side Key B C A D Main key position mark Encoder connector CMV1 R10P Electroma...

Page 302: ...ution plate Motor plate Opposite side 112 from the flange surface 93 8 13 45 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 57 4 15 66 5 4 φ6 6 mounting hole Use hexagon socket head cap screw 25 7 Caution plate Electromagnetic brake connector Motor flange direction Electromagnetic brake W V U Power connector viewed from the connection side Key B C A D Main key position mark Encoder connector CMV1 R10P Electrom...

Page 303: ...e Motor plate Caution plate Motor plate Opposite side 4 φ6 6 mounting hole Use hexagon socket head cap screw 148 from the flange surface 93 8 13 45 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 57 4 15 66 5 25 7 Caution plate Electromagnetic brake connector Motor flange direction Electromagnetic brake W V U Power connector viewed from the connection side Key B C A D Main key position mark Encoder connector CM...

Page 304: ...ution plate Motor plate Opposite side 184 from the flange surface 93 8 13 45 φ41 4 5 35 16 10 6 36 4 2 2 2 1 8 57 4 15 66 5 4 φ6 6 mounting hole Use hexagon socket head cap screw 25 7 Caution plate Electromagnetic brake connector Motor flange direction Electromagnetic brake W V U Power connector viewed from the connection side Key B C A D Main key position mark Encoder connector CMV1 R10P Electrom...

Page 305: ...nector MS3102A22 22P Power supply connector CMV1 R10P Encoder connector Oil seal PE BC42631 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG JR3534B 3 5 16 15 4 15 Unit mm Motor plate Opposite side Caution plate Bottom Top 55 3 12 50 φ110h7 Oil seal 251 5 43 5 50 9 79 9 114 8 13 5 29 63 161 from the flange surface φ28h6 Caution plate Caution plate Motor pl...

Page 306: ...MS3102A22 22P Power supply connector CMV1 R10P Encoder connector Oil seal φ110h7 PE BC42632 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG JR5034B 5 0 16 21 2 20 Unit mm 2 1 8 55 3 12 50 φ110h7 305 5 43 5 50 9 79 9 114 8 13 5 29 13 63 215 from the flange surface 130 45 φ165 φ 1 4 5 36 4 2 2 13 1 φ28h6 35 25 7 Caution plate Caution plate Motor plate Botto...

Page 307: ...BC42644 Note 3 Note 4 Note 2 Note 1 Note 3 Note 4 Note 2 Note 1 Note 1 2 3 and 4 are screw hole for eyebolt M8 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG JR903B 9 0 44 65 4 42 HG JR9034B Unit mm 79 3 18 75 φ114 3 0 0 025 353 45 5 50 9 96 9 163 3 176 45 Oil seal Motor plate Opposite side Caution plate Bottom Top 4 φ13 5 mounting hole Use hexagon socke...

Page 308: ...head cap screw Oil seal M8 screw 32 Note 3 4 Bottom Note 1 2 3 and 4 are screw hole for eyebolt M10 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG JR801B 8 126 240 74 HG JR8014B HG JR11K1MB 11 HG JR11K1M4B Unit mm φ200h7 27 φ55m6 110 116 4 20 412 40 32 265 5 130 136 2 81 19 5 Power supply connector MS3102A32 17P Electromagnetic brake connector MS3102A10S...

Page 309: ...Motor plate Opposite side Power supply connector MS3102A32 17P Electromagnetic brake connector MS3102A10SL 4P Encoder connector MS3102A20 29P Motor plate 4 φ13 5 mounting hole Use hexagon socket head cap screw U W V B C A D Power supply connector Motor flange direction Key B A Electromagnetic brake connector Motor flange direction Electromagnetic brake Caution plate Key PE Note 3 4 Note 1 2 Note 3...

Page 310: ...yway shaft Series Appearance None None Electromagnetic brake Symbol Electromagnetic brake B With Rated speed 3000 r min 10 1 Rated output Symbol Rated output kW 15 1 5 20 2 35 3 5 50 5 Note Key is not included 9 2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier HG RR103 MR J4 200A MR J4 200A RJ MR J4 200B MR J4 200B RJ MR J4 200B RJ010 MR J4 200B RJ020 MR J4 200GF...

Page 311: ... m2 1 50 1 90 2 30 8 30 12 0 With an electromagnetic brake 10 4 kg m2 1 85 2 25 2 65 11 8 15 5 Recommended load to motor inertia ratio Note 2 5 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Insulation class 155 F Structure Totally enclosed natural cooling IP rating ...

Page 312: ...ad side bracket When the servo motor stops fretting is likely to occur at the bearing Therefore suppress the vibration to about half of the permissible value Y X Servo motor Vibration Speed r min 0 1000 2000 3000 4000 10 100 1000 4500 Vibration amplitude both amplitudes μm 6 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mountin...

Page 313: ...y the heavy line HG RR103 1000 2000 3000 4000 4500 0 0 3 6 9 Speed r min Continuous running range Short duration running range Torque N m HG RR153 Speed r min Continuous running range Short duration running range Torque N m H 1000 2000 3000 4000 4500 0 0 5 10 15 HG RR203 1000 2000 3000 4000 4500 0 0 6 12 18 Speed r min Continuous running range Short duration running range Torque N m HG RR353 1000 ...

Page 314: ... work Per braking J 400 400 Per hour J 4000 4000 Brake looseness at servo motor shaft Note 5 degrees 0 2 to 0 6 0 2 to 0 6 Brake life Note 3 Number of braking cycles times 20000 20000 Work per braking J 200 200 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125 V TND20V 680KB For the suppressed voltage 350 V TND10V 221KB Note 1 There is no manual release mechan...

Page 315: ...B K HG RR153 B K HG RR203 B K 24h6 45 40 8 0 0 036 25 5 4 0 2 0 4 HG RR353 B K HG RR503 B K 28h6 63 58 8 0 0 036 53 3 4 0 2 0 4 QK A Q R A QL U W r M8 Depth 20 φ Shaft section view A A S 9 6 Oil seal The oil seal prevents the entry of oil into the servo motor Install the servo motor horizontally and set the oil level in the gear box to be lower than the oil seal lip always Gear Shaft Servo motor O...

Page 316: ...n plate 13 Encoder connector CMV1 R10P Power supply connector CE05 2A22 23P 4 φ9 mounting hole Use hexagon socket head cap screw Power supply connector Motor flange direction U W B C A D Key E F G H V Bottom Top Bottom Top Bottom Top Bottom Top PE BC42648 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG RR153 1 5 1 90 5 0 Unit mm 38 170 5 45 40 3 10 50 9 94 5 13 φ95h7 Caution plate Motor ...

Page 317: ...et head cap screw Oil seal Power supply connector Motor flange direction U W B C A D Key E F G H V PE BC42650 Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG RR353 3 5 8 30 12 Unit mm φ110h7 58 63 147 5 215 5 117 4 φ165 φ145 45 46 130 φ28h6 13 50 9 38 2 12 3 Caution plate Motor plate Caution plate Bottom Top Bottom Top Bottom Top Bottom Top Encoder connector CMV1 R10P Power supply connec...

Page 318: ... 4 φ9 mounting hole Use hexagon socket head cap screw PE BC42652 9 7 2 With an electromagnetic brake Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG RR103B 1 0 7 0 1 85 6 0 Unit mm 38 183 45 40 3 10 100 94 8 44 45 50 9 69 5 13 φ115 φ135 φ95h7 φ24h6 Motor plate Opposite side Caution plate Caution plate Motor plate Caution plate Power supply connector Motor...

Page 319: ...screw Power supply connector Motor flange direction U W B C A D Key E F G H V Electromagnetic brake PE BC42654 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG RR203B 2 0 7 0 2 65 8 3 Unit mm 38 233 45 40 3 50 9 119 5 13 φ95h7 φ24h6 100 94 8 44 45 φ115 φ135 Caution plate Motor plate Caution plate Encoder connector CMV1 R10P Power supply connector CE05 2A22...

Page 320: ...p screw Electromagnetic brake Power supply connector Motor flange direction U W Key V E F D C B A G PE BC42656 Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG RR503B 5 0 17 15 5 21 Unit mm φ110h7 58 63 204 5 309 φ28h6 13 50 9 42 12 3 117 4 φ165 φ145 45 46 130 Caution plate Motor plate Caution plate Motor plate Opposite side Caution plate Power supply conn...

Page 321: ...9 HG RR SERIES 9 12 MEMO ...

Page 322: ...d speed 2000 r min Rated output Symbol Rated output kW 7 0 75 15 1 5 20 2 35 3 5 50 5 HG UR72BK Note Key is not included 10 2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier Servo motor Servo amplifier MR J4 1 axis MR J4 2 axis HG UR72 MR J4 70A MR J4 70A RJ MR J4 70B MR J4 70B RJ MR J4 70B RJ010 MR J4 70B RJ020 MR J4 70GF MR J4 70GF RJ MR J4W2 77B MR J4W2 1010B H...

Page 323: ... kg m2 10 4 22 1 38 2 76 5 115 With an electromagnetic brake 10 4 kg m2 12 5 24 2 46 8 85 1 124 Recommended load to motor inertia ratio Note 2 15 times or less Speed position detector 22 bit encoder common to absolute position incremental resolution per servo motor revolution 4194304 pulses rev Oil seal With Thermistor None Insulation class 155 F Structure Totally enclosed natural cooling IP ratin...

Page 324: ...o load side bracket When the servo motor stops fretting is likely to occur at the bearing Therefore suppress the vibration to about half of the permissible value Y X Servo motor Vibration Speed r min 0 1000 2000 30003450 10 100 1000 Vibration amplitude both amplitudes μm 6 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mounting ...

Page 325: ...wer supply part of the torque characteristic is indicated by the thin line HG UR72 supports 1 phase power supply input HG UR72 1000 2000 3000 0 0 4 8 12 Speed r min Continuous running range Short duration running range Torque N m HG UR152 1000 2000 3000 0 0 8 16 24 Speed r min Continuous running range Short duration running range Torque N m HG UR202 1000 2000 3000 0 0 10 20 30 Speed r min Continuo...

Page 326: ...work Per braking J 400 4500 Per hour J 4000 45000 Brake looseness at servo motor shaft Note 5 degrees 0 2 to 0 6 0 2 to 0 6 Brake life Note 3 Number of braking cycles times 20000 20000 Work per braking J 200 1000 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125 V TND20V 680KB For the suppressed voltage 350 V TND10V 221KB Note 1 There is no manual release mech...

Page 327: ...6 42 3 3 5 0 1 0 3 HG UR152 B K 28h6 55 50 8 0 0 036 40 3 4 0 2 0 4 HG UR202 B K HG UR352 B K HG UR502 B K 35 0 010 0 65 60 10 0 0 036 50 5 5 0 2 0 5 QK A Q R A QL U W r M8 Depth 20 φ Shaft section view A A S 10 6 Oil seal The oil seal prevents the entry of oil into the servo motor Install the servo motor horizontally and set the oil level in the gear box to be lower than the oil seal lip always G...

Page 328: ...mounting hole Use hexagon socket head cap screw Oil seal Power supply connector CE05 2A22 23P Encoder connector CMV1 R10P Motor plate Opposite side Caution plate Power supply connector Motor flange direction U W B C A D Key E F G H V PE BC42658 Bottom Top Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG UR152 1 5 22 1 11 Unit mm 38 141 3 50 9 13 118 5 55 50 3 47 5 φ28h6 φ114 3 0 0 025 φ20...

Page 329: ...tion plate Oil seal Power supply connector Motor flange direction U W Key V E F D C B A G PE BC42660 Bottom Top Model Output kW Moment of inertia J 10 4 kg m2 Mass kg HG UR352 3 5 76 5 20 Unit mm 38 140 5 4 65 60 φ35 0 010 0 φ200 0 0 046 66 5 50 9 13 16 220 164 9 45 37 5 φ235 φ 2 5 0 φ270 47 2 M8 screw 4 φ13 5 mounting hole Use hexagon socket head cap screw Caution plate Motor plate Caution plate ...

Page 330: ...nnector Motor flange direction U W Key V E F D C B A G PE BC42662 10 7 2 With an electromagnetic brake Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG UR72B 0 75 8 5 12 5 10 Unit mm 40 141 3 50 9 13 142 5 55 50 3 38 φ22h6 φ114 3 0 0 025 φ200 φ230 φ 2 1 5 44 13 Motor plate Caution plate Caution plate Motor plate Opposite side Caution plate 176 45 40 2 M6 s...

Page 331: ... G H V Electromagnetic brake PE BC42664 Bottom Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG UR202B 2 0 44 46 8 22 Unit mm 39 2 159 5 4 65 60 φ35 0 010 0 φ200 0 0 046 42 5 13 50 9 42 138 7 53 5 Caution plate Motor plate Caution plate Bottom Top Motor plate Opposite side Caution plate Bottom Top Bottom Top 16 B A Electromagnetic brake connector Motor fla...

Page 332: ...lectromagnetic brake Power supply connector Motor flange direction U W Key V E F D C B A G Key PE BC42666 Bottom Model Output kW Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG UR502B 5 0 44 124 30 Unit mm 39 2 207 5 4 65 60 90 5 50 9 Motor plate Opposite side Caution plate 16 220 164 9 45 37 5 φ235 φ 2 5 0 φ270 47 2 M8 screw 4 φ13 5 mounting hole Use hexagon socket head...

Page 333: ...10 HG UR SERIES 10 12 MEMO ...

Page 334: ...g describes model designation Not all combinations of the symbols are available Appearance Shaft type Symbol Shaft shape None Standard Straight shaft Rated speed 3000 r min None None Electromagnetic brake Symbol Electromagnetic brake B With 01 10 Rated output Symbol Rated output W 02 20 03 30 Series Main circuit power supply voltage 48 V DC 24 V DC D D cut shaft Encoder cable vertical lead None St...

Page 335: ...ev Oil seal None Thermistor None Insulation class 130 B Structure Totally enclosed natural cooling IP rating IP55 Note 3 Environment Note 4 Ambient temperature Operation 0 C to 40 C non freezing Storage 15 C to 70 C non freezing Ambient humidity Operation 10 RH to 80 RH non condensing Storage 10 RH to 90 RH non condensing Ambience Indoors no direct sunlight free from corrosive gas flammable gas oi...

Page 336: ...00 3000 4000 5000 6000 7000 10 100 1000 Vibration amplitude both amplitudes μm 6 V10 indicates that the amplitude of a single servo motor is 10 μm or less The following figure shows the servo motor mounting position for measurement and the measuring position Servo motor Top Bottom Measuring position 7 The following shows permissible load for the shaft Do not subject the shaft to load greater than ...

Page 337: ...f the servo amplifier is 24 V DC the maximum speed of HG AK0336 will be 5000 r min When the main circuit power supply input of the servo amplifier is 48 V DC the torque characteristic is indicated by the heavy line For the 24 V DC power supply part of the torque characteristic is indicated by the thin line 0 HG AK0136 B Torque N m 1000 2000 3000 4000 5000 6000 Speed r min Continuous running range ...

Page 338: ... work Per braking J 4 6 Per hour J 46 Brake looseness at servo motor shaft Note 5 degree 0 1 to 2 5 Brake life Note 3 Number of braking cycles times 20000 Work per braking J 1 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125 V TND20V 680KB For the suppressed voltage 350 V TND10V 221KB Note 1 There is no manual release mechanism When it is necessary to hand tu...

Page 339: ... with special shafts The servo motors with special shafts indicated by the symbols D in the table are available D is the symbol attached to the servo motor model names Servo motor Shaft shape D cut shaft HG AK_ B D Unit mm 16 13 10 0 5 5h6 ...

Page 340: ...nsions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake to servo motor shaft The dimensions without tolerances are general tolerance ...

Page 341: ...te Opposite side TÜV label Bottom Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG AK0136 S100 10 0 0029 0 12 Unit mm Bottom Top Bottom Top Top Power cable Housing J21DF 06V KX L Terminal SJ2F 01GF P1 0 JST Power lead 4 AWG 24 A 225 20 0...

Page 342: ... Bottom Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG AK0236 S100 20 0 0045 0 14 Unit mm 16 13 5 4 2 5 φ20h7 37 7 8 Note Top φ5h6 View A Motor plate Opposite side Caution plate Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF ...

Page 343: ...TÜV label Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Moment of inertia J 10 4 kg m2 Mass kg HG AK0336 S100 30 0 0061 0 16 Unit mm Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF P1 0 JST Power cable Housing J21DF 06V KX L Terminal SJ2F 01GF P1 0 JST Power lead 4 A...

Page 344: ...side TÜV label Bottom Bottom Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG AK0136B S100 10 0 095 0 0042 0 22 Unit mm Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF P1 0 JST Power cable Housin...

Page 345: ...tom Bottom Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG AK0236B S100 20 0 095 0 0058 0 24 Unit mm Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF P1 0 JST Power cable Housing J21DF 06V KX L T...

Page 346: ...TÜV label Note 1 The length of mounting screw should be within this 2 The encoder cable outlet portion has been changed from the April 2013 production of the motors Model Output W Brake static friction torque N m Moment of inertia J 10 4 kg m2 Mass kg HG AK0336B S100 30 0 095 0 0074 0 26 Unit mm Encoder cable Housing J21DF 10V KX L Terminal SJ2F 002GF P1 0 JST Power cable Housing J21DF 06V KX L Te...

Page 347: ...11 HG AK SERIES 11 14 MEMO ...

Page 348: ... SR81 F121 HG SR121 F201 HG SR201 F301 HG SR301 F421 HG SR421 FF52 HG SR52 F102 HG SR102 F152 HG SR152 F202 HG SR202 F352 0044 HG SR352 F502 HG SR502 F702 HG SR702 0122 FF52 HG SR524 F102 HG SR1024 F152 HG SR1524 F202 HG SR2024 F352 HG SR3524 F502 HG SR5024 F702 HG SR7024 0131 FF53 HG JR53 FF73 HG JR73 F103 HG JR103 F153 HG JR153 F203 HG JR203 F353 HG JR353 F503 HG JR503 F703 HG JR703 F903 HG JR90...

Page 349: ...K1M4 3701 HG JR37K1M4 4501 HG JR45K1M4 5501 HG JR55K1M4 F601 HG JR601 F801 HG JR801 1201 HG JR12K1 0133 1501 HG JR15K1 2001 HG JR20K1 2501 0044 HG JR25K1 3001 HG JR30K1 3701 HG JR37K1 F601 HG JR6014 F801 HG JR8014 1201 HG JR12K14 0134 1501 HG JR15K14 2001 HG JR20K14 2501 HG JR25K14 3001 HG JR30K14 3701 HG JR37K14 F103 HG RR103 F153 HG RR153 0141 F203 HG RR203 F353 HG RR353 F503 HG RR503 FF72 HG UR...

Page 350: ...mitsu Kosan Co Ltd Cosmo Oil Cosmo Oil Co Ltd Shell Oil Shell Oil Company DDK DDK Ltd TE Connectivity TE Connectivity Ltd Company Taiyo Cabletec Taiyo Cabletec Corporation Toa Electric Industrial Toa Electric Industrial Co Ltd Nippon Chemi Con Nippon Chemi con Corporation JAE Japan Aviation Electronics Industry Limited Harmonic Drive Systems Harmonic Drive Systems Inc Panasonic Panasonic Corporati...

Page 351: ...ltage directive also applies to the servo motor alone The servo motor is designed to comply with the low voltage directive 3 Machinery directive The servo motor as a single unit does not comply with the Machinery directive due to correspondence with article1 2 k However machines and equipment incorporating servo motors will be complied Please check your machines and equipment as a whole if they ar...

Page 352: ... standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table The rated torque of the servo motor under the UL CSA standard indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in this table and used in the environment of 0 C to 40 C ambient temperature Therefore to conform to the UL CSA s...

Page 353: ...250 6 053 13 23 250 250 12 43 51 81 52 4 102 4 152 4 53 4 73 4 103 4 153 4 203 4 103 153 203 300 300 12 73 300 300 20 121 201 202 4 352 4 550 550 30 353 4 503 4 353 503 72 152 650 650 35 301 421 502 4 702 4 703 4 903 4 701M 4 11K1M 4 15K1M 4 22K1M 4 30K1M 4 37K1M 4 601 4 801 4 12K1 4 15K1 4 20K1 4 25K1 4 202 352 502 950 950 35 45K1M4 55K1M4 30K1 4 37K1 4 ...

Page 354: ...efer to chapter 5 for details of the options b HG SR series Servo motor Wire AWG U V W B1 B2 HG SR51 14 16 HG SR81 HG SR121 HG SR201 HG SR301 12 HG SR421 10 Note 1 HG SR52 14 HG SR102 HG SR152 HG SR202 HG SR352 12 HG SR502 10 Note 1 HG SR702 8 Note 1 2 HG SR524 14 HG SR1024 HG SR1524 HG SR2024 HG SR3524 HG SR5024 12 Note 1 HG SR7024 10 Note 1 2 Note 1 Refer to each servo amplifier instruction manu...

Page 355: ...o section 8 2 for the combinations 3 The same wire size is applied when the maximum torque is increased by enabling the parameter maximally increased torque function when drive unit is connected 2 1500 r min series Servo motor Wire AWG U V W B1 B2 BU BV BW HG JR701M 8 Note 1 2 HG JR11K1M 6 Note 1 16 HG JR15K1M 4 Note 1 HG JR22K1M 2 Note 1 HG JR30K1M 2 0 Note 1 16 HG JR37K1M HG JR701M4 10 Note 1 2 ...

Page 356: ...G U V W B1 B2 HG RR103 14 16 HG RR153 HG RR203 12 HG RR353 10 Note HG RR503 Note Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier e HG UR series Servo motor Wire AWG U V W B1 B2 HG UR72 14 16 HG UR152 HG UR202 12 HG UR352 10 Note HG UR502 Note Refer to each servo amplifier instruction manual for crimp terminals and...

Page 357: ...ad shaft N m Tp Position control time constant Tp 1 Kp s Trms Continuous effective load torque converted into equivalent value on servo motor shaft N m l Feed per feedback pulses in position control mode Travel distance per pulse mm pulse JL Load inertia moment converted into equivalent value on servo motor shaft 10 4 kg m2 l0 Feed per command pulse in position control mode Travel distance per com...

Page 358: ...per command pulse can be set as desired using the parameters Command pulse frequency f0 Electronic gear CMX CDV CMX CDV Deviation counter Encoder M Pf 4194304 pulses rev Servo motor As shown above command pulses are multiplied by CMX CDV set in the parameters to be position control pulses Travel distance per command pulse l0 is expressed by Equation 5 2 l0 Pf CDV CMX l CDV CMX 5 2 CMX Electronic g...

Page 359: ... pulse frequency and feedback pulse frequency are equivalent The following shows the relation including the parameter settings CMX and CDV Refer to the following diagram f0 CDV CMX Pf 60 N0 5 4 Feedback pulse frequency f0 Electronic gear Servo motor CMX CDV f0 Command pulse frequency pulse s differential line driver CMX Electronic gear command pulse multiplication numerator CDV Electronic gear com...

Page 360: ...s However as the maximum input command pulse frequency in the differential line driver type is 4 Mpulses s for MR J4 servo amplifier 209715200 pulses s cannot be entered To run the servo motor at the speed of 3000 r min at not more than 4 Mpulses s the electronic gear setting must be changed This electronic gear is found by equation 5 5 CDV CMX 4194304 60 3000 4 106 1 Electronic gear 625 32768 The...

Page 361: ... are accumulated in the servo amplifier deviation counter Equation 5 7 defines a relation between the command pulse frequency f and position control gain 1 Kp ε Kp f0 pulse 5 7 Supposing that the value of position control gain 1 is 70 rad s the droop pulses during operation will be as follows at the command pulse frequency of 200 kpulses s according to equation 5 7 ε 70 200 103 2858 pulses ts 0 04...

Page 362: ...0 04 s above diagram The settling time ts indicates the time required for the servo motor to stop in the necessary positioning accuracy range This does not always mean that the servo motor has stopped completely Thus especially when the servo motor is used in high duty operation and positioning accuracy has no margin for travel distance per pulse l the value obtained by equation 5 8 must be increa...

Page 363: ... the following two relations Servo motor rated torque TL Servo motor JM JL m m 3 High duty more than 100 times min Settling time 40 ms or less m 5 Middle frequency 60 times min to 100 times min Settling time 100 ms or less m Permissible load moment of inertia Low duty less than 60 times min Settling time more than 100 ms Find the acceleration and deceleration torques and continuous effective load ...

Page 364: ...nd deceleration torques in the following operation pattern tpsd tpsa 0 Servo motor speed Command Time Command pulse frequency f pulse s Servo motor speed r min N0f0 0 Ta Td Time Acceleration torque Deceleration torque Acceleration torque Ta JL JM N0 9 55 104 tpsa 1 5 9 Deceleration torque Td JL JM N0 9 55 104 tpsd 1 5 10 ...

Page 365: ...torque found with equation 5 11 to 5 13 exceed the maximum torque the motor will not accelerate as commands Set the calculated value within the servo motor s maximum torque Since a friction load is normally applied during deceleration only the acceleration torque needs to be considered In the regenerative mode the value found by equation 5 13 is negative tpsd tpsa 0 Servo motor speed Command Time ...

Page 366: ...leration and deceleration torques are applied during tpsa and tpsd The following equation is used to calculate the continuous effective load torque in the following operation pattern TLH indicates the torque applied during a servo motor stop A large torque may be applied especially during a stop in vertical motion applications and this must be fully taken into consideration During vertical drive t...

Page 367: ...Fc µ W g FG 5 16 Fc Force applied in the axial direction of the moving part N FG Tightening force of the table guide surface N W Full mass of the moving part kg Rotary movement Servo motor Z1 Z2 TL0 TL n 1 1 TL0 TF 5 17 TF Load friction torque converted into equivalent value on servo motor shaft N m Vertical movement Servo motor Counterweight 1 n Guide Load W2 W1 During rise TL TU TF 5 18 During f...

Page 368: ...tation D R JL0 8 W D2 8R2 5 23 Square block Axis of rotation R a a b b JL0 W 3 a2 b2 R2 5 24 W Square block mass kg a b R Left diagram cm Object which moves linearly Servo motor V W N JL W V 2 600 W N 2 1 10 V 2 W S 2 20 5 25 V Speed of object which moves linearly mm min S Travel distance of object moving linearly per servo motor revolution mm rev W Square block mass kg Object that is hung with pu...

Page 369: ...ation precise home position return cannot be performed Home position return speed V1 Control delay time t1 Deceleration time td On duration of the proximity dog LD Creep speed V2 Travel distance until reaching the creep speed after proximity dog is detected L1 Travel distance L1 in the chart can be obtained by equation 5 28 L1 60 1 V1 t1 120 1 V1 td V1 1 2 V2 60 1 V1 TP 5 28 On duration of the pro...

Page 370: ... V0 30000 mm min l0 0 001 mm pulse l 400 mm t0 within 1 s 40 times min tf 1 5 s 1 n 5 8 W 60 kg η 0 8 µ 0 2 PB 16 mm DB 20 mm LB 500 mm DG1 25 mm DG2 40 mm LG 10 mm Pf 4194304 pulses rev 1 Selection of control parameters Setting of electronic gear command pulse multiplication numerator denominator There is the following relation between the electronic gear and command resolution l0 l0 PB Pf n CDV ...

Page 371: ... is assumed to be 0 15 s 4 Operation pattern 0 05 0 05 0 Time s 3000 tpsa tpsd t0 1 0 1 cycle tf 1 5 ts 0 15 Servo motor speed r min 5 Load torque converted into equivalent value on servo motor shaft Travel distance per servo motor revolution S PB n 1 16 8 5 10 mm TL 2 103 S W g 0 2 60 9 8 10 2 103 3 14 0 8 0 23 N m ...

Page 372: ... 4 n 1 2 0 08 10 4 kg m2 Full load moment of inertia converted into equivalent value on servo motor shaft JL JL1 JL2 JL3 JL4 1 9 10 4 kg m2 7 Temporary selection of servo motor Selection conditions a Load torque servo motor rated torque b Full load moment of inertia JR moment of inertia of the servo motor JR Recommended load to motor inertia ratio According to above conditions HG KR23 rated torque...

Page 373: ...que 9 Continuous effective load torque Trms tf TMa 2 tpsa TL 2 tc TMd 2 tpsd 0 40 N m The continuous effective load torque must be lower than the servo motor rated torque 10 Torque pattern 0 05 0 05 0 1 84 0 75 0 15 1 5 0 23 0 85 Time s Torque N m 11 Selection results The following servo motor and servo amplifier are selected as a result of the calculation Servo motor HG KR23 Servo amplifier MR J4...

Page 374: ...me of control section s t2 Braking delay time Note s t3 Braking time s t3 JL JM N0 9 55 104 TL 0 8 TB JL Load moment of inertia converted into equivalent value on servo motor shaft Note 10 4 kg m2 JM Servo motor rotor s inertia moment 10 4 kg m2 N0 Servo motor speed during fast feed r min TL Load torque converted into equivalent value on servo motor shaft N m TB Brake static friction torque Note N...

Page 375: ... 22 HG JR37K1M4 22 HG SR52 1 25 HG JR22K1M 30 HG JR45K1M4 22 HG SR102 1 25 HG JR30K1M 50 HG JR55K1M4 38 HG SR152 2 HG JR37K1M 60 HG JR6014 5 5 HG SR202 2 HG JR601 8 HG JR8014 5 5 HG SR352 3 5 HG JR801 8 HG JR12K14 8 HG SR502 5 5 HG JR12K1 14 HG JR15K14 8 HG SR702 8 HG JR15K1 14 HG JR20K14 8 HG SR524 1 25 HG JR20K1 30 HG JR25K14 8 HG SR1024 1 25 HG JR25K1 30 HG JR30K14 14 HG SR1524 2 HG JR30K1 38 H...

Page 376: ... size 0 75 mm2 AWG 19 to 1 25 mm2 AWG 16 Insulator OD 1 8 mm to 2 8 mm The crimping tool YRF 880 is required Quantity 1 For thin wire 2 Connector set MR J3WCNP3 DL 20P Quantity 20 For thin wire 3 Connector set MR J3WCNP3 D2L The connector set is used for connecting to the servo amplifier directly without using MR PWS1CBL_M _ For CNP3A CNP3B CNP3C Receptacle housing F35FDC 04V K Receptacle contact ...

Page 377: ...053 1 Unit mm 19 6 13 5 6 5 24 6 22 19 31 1 Note 13 6 Note The recommended screw tightening torque is 0 1 N m Crimping tool 1596970 1 for ground clip 1596847 1 for receptacle contact 2 JAE JN4FT02SJ1 R Unit mm 26 6 17 12 3 19 14 3 φ11 6 11 8 2 5 Note Note The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B ...

Page 378: ... 1 0 2 7 3 5 0 2 12 2 0 3 13 7 0 3 11 0 3 13 0 3 Main key Note R6 Note The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B 3 DDK a CMV1 SP10S M_ CMV1 SP2S _ Refer to section 3 3 for details of crimping tools Unit mm CMV1 SP2S _ CMV1 SP10S M_ Approx 50 21 21 ...

Page 379: ...7 1 20UNEF 2A CE05 6A22 22SD D BSS 1 3 8 18UNEF 2B 40 48 38 3 61 1 3 16 18UNEF 2A CE05 6A32 17SD D BSS 2 18UNS 2B 56 33 54 2 79 1 3 4 18UNS 2A d CE05 8A_ _SD D BAS Unit mm D or shorter A Y or longer W Approx S 1 U 0 7 R 0 7 B 0 0 38 Model A B D W R U S Y CE05 8A18 10SD D BAS 1 1 8 18UNEF 2B 34 13 69 5 1 20UNEF 2A 13 2 30 2 43 4 7 5 CE05 8A22 22SD D BAS 1 3 8 18UNEF 2B 40 48 75 5 1 3 16 18UNEF 2A 1...

Page 380: ... 10 2 8 5 to 11 CE3057 12A 1 D 22 23 8 35 10 3 41 3 19 16 0 37 3 4 0 1 3 16 18UNEF 2B CE342012 1 12 5 to 16 CE3057 12A 2 D 13 0 CE342012 2 9 5 to 13 CE3057 20A 1 D 32 27 8 51 6 11 9 43 31 7 23 8 51 6 6 3 1 3 4 18UNS 2B CE3420 20 1 22 to 23 8 f D MS3106B_ _S Unit mm L or shorter W or longer A V Y or shorter J 0 12 Q 0 0 38 Model A J L Q V W Y D MS3106B18 10S 1 1 8 18UNEF 18 26 52 37 34 13 1 20UNEF ...

Page 381: ...3 4 18UNS 11 13 h D MS3057 _A Unit mm Effective thread length C B 0 7 A 0 7 G 0 7 1 6 D Cable clamp ID V F Movable range E Bushing ID Model Shell size A B C D E F G V Bushing D MS3057 10A 18 23 8 30 1 10 3 15 9 14 3 3 2 31 7 1 20UNEF AN3420 10 D MS3057 12A 22 23 8 35 0 10 3 19 0 15 9 4 0 37 3 1 3 16 18UNEF 2A AN3420 12 D MS3057 20A 32 27 8 51 6 11 9 31 7 23 8 6 3 51 6 1 3 4 18UNS AN3420 20 i CMV1S...

Page 382: ... AP2S _ Refer to section 3 3 for details of crimping tools Unit mm CMV1S AP10S M_ CMV1S AP2S _ Approx 32 Approx 33 21 k CE05 6A32 17SD D Unit mm Model A B C D E G H J CE05 6A32 17SD D 2 18UNS 2B 56 33 37 0 1 7 8 16UN 2A 13 14 45 3 9 2 19 4 ...

Page 383: ...J 10 4 kg m2 Mass kg HG JR22K1M 22 489 120 HG JR22K1M4 Unit mm Caution plate Motor plate BV BW Red White Black Cooling fan rotation direction BU Key To be left open 4 φ24 mounting hole Use hexagon socket head cap screw φ65m6 φ230h7 250 Flange 352 140 Intake Exhaust 5 476 174 230 Approx 37 35 220 125 154 154 107 101 190 8 25 M12 screw Eyebolt Note 1 2 Power lead hole Encoder connector MS3102A20 29P...

Page 384: ...iameter and bending life are appropriate 3 Assembly of the cable Check the wiring guide of the connector manufacturer to connect the connector properly Check internal wiring described in chapter 5 to connect it properly Perform a shielding process on the encoder cable properly Do not connect anything to unused pins For CN2 CN2A CN2B and CN2C side connectors connect the external conductor of the sh...

Page 385: ... 6 Section 5 5 Section 6 2 Section 6 3 1 Section 6 8 Section 7 1 Section 7 2 Section 7 3 1 Section 7 3 2 2 Section 7 4 Section 7 5 Section 7 6 Section 7 7 Chapter 8 Chapter 9 Chapter 10 Appendix 1 Appendix 2 The part of table is changed The part of diagram is changed Addition The part of table is changed A part is newly added construction of sentences is changed Addition Addition POINT is added A ...

Page 386: ...rt of table is changed The part of table is changed The sentences are added Jan 2015 SH NA 030113ENG H HG JR701M 4 HG JR30K1M 4 HG JR37K1M 4 HG JR45K1M4 HG JR55K1M4 and HG JR 1000 r min series are added 1 To prevent electric shock note the following 4 Additional instructions 1 Transportation and installation 4 Additional instructions 2 Wiring 4 Additional instructions 4 Usage Section 1 1 Section 1...

Page 387: ...ble is changed The table are added The sentences are added The part of sentences is changed The diagram are added The part of sentences is changed The part of table is changed The part of table is changed The diagram are added The part of table is changed The part of table is changed The diagram is changed The diagram are added The part of table is changed The part of diagram is changed The diagra...

Page 388: ...y changed Partially added Partially changed Partially added and partially changed Partially added and partially changed Partially added and partially changed Partially added and partially changed Partially added Partially changed Partially added and partially changed Partially added and partially changed Partially added and partially changed Partially added Partially added and partially changed Pa...

Page 389: ...NG N When MR J4 DU900B 4 RJ drive unit is connected maximally increased torque is supported 3 To prevent injury note the following Partially added 4 Additional instructions Partially added Section 1 1 Partially added Section 1 5 Partially added Section 2 1 2 Newly added Section 3 3 Partially changed Chapter 4 POINT is added Section 4 3 Partially changed Section 4 4 POINT is added and partially cha...

Page 390: ...7 812 633 3497 7 812 633 3499 Sweden Mitsubishi Electric Europe B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden Tel Fax 46 8 625 10 00 46 46 39 70 18 Turkey Mitsubishi Electric Turkey A S Umraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Turkey Tel Fax 90 216 526 3990 90 216 526 3995 UAE Mitsubishi Electric Europe B V Dubai Branch Dubai Silicon Oasis P O BOX 341241 ...

Page 391: ...ct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please ...

Page 392: ... This Instruction Manual uses recycled paper MODEL 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 HG AK SERVO MOTOR INSTRUCTION MANUAL Vol 3 1CW949 MOTORINSTRUCTIONMANUAL 3SYU N N ...

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