General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL
HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE
1CW949
SH (NA) 030113-H (1501) MEE
Printed in Japan
This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
H
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
H
Safety Instructions Please read the instructions carefully before using the equipment. Do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols. Indicates what must not be done. For example, "No Fire" is indicated by Indicates what must be done. For example, grounding is indicated by
. .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following
WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit). Ground the servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION Install the servo motor on incombustible material. Installing it directly or close to combustibles will lead to a fire. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo motor.
3. To prevent injury, note the following
CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them. The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and operating conditions. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, etc.
(1) Transportation and installation
CAUTION Transport the products correctly according to their mass. Use the eyebolt of the servo motor for the transportation purpose only. Do not use the eyebolts to transport the servo motor when it is mounted on a machine.
A- 2
CAUTION Stacking in excess of the specified number of product packages is not allowed. Do not carry the servo motor by holding the cables, shaft, encoder, or connector. Install the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Do not install or operate the servo motor which have been damaged or have any parts missing. Do not block intake and exhaust areas of the servo motor with a cooling fan. Otherwise, it may cause a malfunction. Do not drop or strike the servo motor. Isolate it from all impact loads. Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off during operation. The geared servo motor must be installed in the specified direction to prevent oil leakage. When handling the servo motor, be careful about the edged parts such as the corners of the servo motor. Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reducer. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When you keep or use the equipment, please fulfill the following environment. Item
Environment Operation Storage Operation Storage
Ambient temperature Ambient humidity Ambience
Vibration resistance (Note)
Altitude HG-MR Series/HG-KR Series HG-SR51/HG-SR81/HG-SR52(4)/ HG-SR102(4)/HG-SR152(4)/HG-JR53(4)/ HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/ HG-JR701M(4)/HG-JR11K1M(4)/ HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/ HG-JR15K1(4)/HG-JR20K1(4)/HG-JR25K1(4)/ HG-RR Series/HG-UR72/HG-UR152 HG-SR121/HG-SR201/HG-SR202(4)/ HG-SR352(4)/HG-UR202/HG-UR352/HG-UR502 HG-SR301/HG-SR421/HG-SR502(4)/ HG-SR702(4)/HG-JR703(4)/HG-JR903(4) HG-JR45K1M4/HG-JR55K1M4/ HG-JR30K1(4)/HG-JR37K1(4)
Note. Except the geared servo motor.
A- 3
0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt Max. 1000 m above sea level X, Y: 49 m/s2
X, Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2 X: 24.5 m/s2 Y: 29.4 m/s2 X: 9.8 m/s2 Y: 9.8 m/s2
(2) Wiring
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier (converter unit) output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier (converter unit) and servo motor. Connect the servo amplifier (converter unit) power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier (converter unit) U V W
U V
Servo motor
Servo amplifier (converter unit) U V
M
W
W
U V
Servo motor
M
W
Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.
(3) Test run and adjustment
CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never adjust or change the parameter values extremely as it will make operation unstable.
(4) Usage
CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent. Doing so may scuff the surface. Do not disassemble, repair, or modify the equipment. Use the servo amplifier (converter unit) with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
A- 4
(5) Corrective actions
CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
Contacts must be opened with the EMG stop switch.
Servo motor RA B
24 V DC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Storage
CAUTION Note the followings when storing the servo motor for an extended period of time (guideline: three or more months). Always store the servo motor indoors in a clean and dry place. If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product. If the insulation resistance of the winding decreases, check how to store the equipment. Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be produced depending on the storage conditions or storage period. If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft, etc. Before using the product after storage for an extended period of time, hand-turn the servo motor output shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply. When the product has been stored for an extended period of time, contact your local sales office.
(7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.
A- 5
DISPOSAL OF WASTE Please dispose a servo motor and other options according to your local laws and regulations. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity Mass Length Torque Moment of inertia Load (thrust load/axial load) Temperature
SI (metric) unit 1 [kg] 1 [mm] 1 [N•m] 1 [(× 10-4 kg•m2)] 1 [N] N [°C] × 9/5 + 32
A- 6
U.S. customary unit 2.2046 [lb] 0.03937 [inch] 141.6 [oz•inch] 5.4675 [oz•inch2] 0.2248 [lbf] N [°F]
CONTENTS
1. INTRODUCTION 1.1 1.2 1.3 1.4
1- 1 to 1- 4
Rating plate ....................................................................................................................................... 1- 1 Parts identification............................................................................................................................. 1- 1 Electromagnetic brake ...................................................................................................................... 1- 2 Servo motor shaft shapes ................................................................................................................. 1- 4
2. INSTALLATION
2- 1 to 2- 6
2.1 Mounting direction............................................................................................................................. 2- 2 2.2 Cooling fan ........................................................................................................................................ 2- 2 2.3 Load remove precautions ................................................................................................................. 2- 3 2.4 Permissible load for the shaft ........................................................................................................... 2- 4 2.5 Protection from oil and water ............................................................................................................ 2- 4 2.6 Cable ................................................................................................................................................. 2- 5 2.7 Servo motor with oil seal ................................................................................................................... 2- 5 2.8 Inspection items ................................................................................................................................ 2- 5 2.9 Parts having service lives ................................................................................................................. 2- 6 2.10 Machine accuracies ........................................................................................................................ 2- 6 3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.1 3.2 3.3 3.4
3- 1 to 3-12
Selection of connectors .................................................................................................................... 3- 1 Wiring connectors (connector configurations A/B/C)........................................................................ 3- 4 Wiring connectors (connector configurations D/E/F/G/H) ................................................................ 3- 5 Wiring connectors (connector configurations J/K/L/M/N) ................................................................. 3- 9
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4- 1 to 4-22
4.1 Connection instructions .................................................................................................................... 4- 2 4.2 Wiring ................................................................................................................................................ 4- 3 4.2.1 HG-MR series/HG-KR series servo motor ................................................................................. 4- 3 4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor ................................... 4- 8 4.3 Selection example of wires .............................................................................................................. 4-14 4.4 Servo amplifier terminal section....................................................................................................... 4-18 5. WIRING OPTION
5- 1 to 5-28
5.1 Cable/connector sets ........................................................................................................................ 5- 1 5.1.1 Combinations of cable/connector sets ....................................................................................... 5- 2 5.1.2 Cable and connector list............................................................................................................. 5- 3 5.2 Encoder cable/connector sets .......................................................................................................... 5- 9 5.3 Servo motor power cable ................................................................................................................. 5-24 5.4 Electromagnetic brake cable ........................................................................................................... 5-25 5.5 Wires for option cables .................................................................................................................... 5-27 6. HG-MR SERIES/HG-KR SERIES
6- 1 to 6-58
6.1 Model code definition ........................................................................................................................ 6- 1 1
6.2 Combination list of servo motors and servo amplifiers ..................................................................... 6- 2 6.3 Standard specifications..................................................................................................................... 6- 3 6.3.1 Standard specifications list......................................................................................................... 6- 3 6.3.2 Torque characteristics ................................................................................................................ 6- 5 6.4 Electromagnetic brake characteristics .............................................................................................. 6- 6 6.5 Servo motors with special shafts ...................................................................................................... 6- 7 6.5.1 Key shaft (with 2 round end key) ............................................................................................... 6- 7 6.5.2 D cut shaft .................................................................................................................................. 6- 7 6.6 Geared servo motors ........................................................................................................................ 6- 8 6.6.1 For general industrial machines (G1)......................................................................................... 6- 8 6.6.2 For high precision applications (G5/G7) ................................................................................... 6-11 6.7 Mounting connectors ....................................................................................................................... 6-14 6.8 Dimensions ...................................................................................................................................... 6-15 6.8.1 Standard (without electromagnetic brake and reducer) ............................................................ 6-15 6.8.2 With an electromagnetic brake ................................................................................................. 6-18 6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 6-21 6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 6-28 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 6-34 6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 6-40 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 6-46 6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 6-52 7. HG-SR SERIES
7- 1 to 7-96
7.1 Model code definition ........................................................................................................................ 7- 1 7.2 Combination list of servo motors and servo amplifiers ..................................................................... 7- 2 7.3 Standard specifications..................................................................................................................... 7- 3 7.3.1 Standard specifications list......................................................................................................... 7- 3 7.3.2 Torque characteristics ................................................................................................................ 7- 6 7.4 Electromagnetic brake characteristics .............................................................................................. 7- 8 7.5 Servo motors with special shafts ...................................................................................................... 7- 9 7.6 Geared servo motors ....................................................................................................................... 7-10 7.6.1 For general industrial machines (G1/G1H) ............................................................................... 7-10 7.6.2 For high precision applications (G5/G7) ................................................................................... 7-14 7.7 Dimensions ...................................................................................................................................... 7-17 7.7.1 Standard (without electromagnetic brake and reducer) ............................................................ 7-17 7.7.2 With an electromagnetic brake ................................................................................................. 7-20 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 7-27 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 7-37 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) ............................................................................................................ 7-47 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake).............................................................................................................. 7-57 7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 7-68 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake).............................................................................................................. 7-75 2
7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake).............................................................................................................. 7-82 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) ........................................................................................................... 7-89 8. HG-JR SERIES
8- 1 to 8-46
8.1 Model designation ............................................................................................................................. 8- 1 8.2 Combination list of servo motors and servo amplifiers/drive units ................................................... 8- 2 8.3 Standard specifications..................................................................................................................... 8- 8 8.3.1 Standard specifications list......................................................................................................... 8- 8 8.3.2 Torque characteristics ............................................................................................................... 8-15 8.4 Electromagnetic brake characteristics ............................................................................................. 8-19 8.5 Servo motors with special shafts ..................................................................................................... 8-20 8.6 Oil seal ............................................................................................................................................. 8-21 8.7 Cooling fan ....................................................................................................................................... 8-21 8.8 Dimensions ...................................................................................................................................... 8-22 8.8.1 Terminal box detail diagram ...................................................................................................... 8-22 8.8.2 Standard (without an electromagnetic brake) ........................................................................... 8-23 8.8.3 With an electromagnetic brake ................................................................................................. 8-37 9. HG-RR SERIES
9- 1 to 9-12
9.1 Model designation ............................................................................................................................. 9- 1 9.2 Combination list of servo motors and servo amplifiers ..................................................................... 9- 1 9.3 Standard specifications..................................................................................................................... 9- 2 9.3.1 Standard specifications list......................................................................................................... 9- 2 9.3.2 Torque characteristics ................................................................................................................ 9- 4 9.4 Electromagnetic brake characteristics .............................................................................................. 9- 5 9.5 Servo motors with special shafts ...................................................................................................... 9- 6 9.6 Oil seal .............................................................................................................................................. 9- 6 9.7 Dimensions ....................................................................................................................................... 9- 7 9.7.1 Standard (without an electromagnetic brake) ............................................................................ 9- 7 9.7.2 With an electromagnetic brake .................................................................................................. 9- 9 10. HG-UR SERIES
10- 1 to 10-12
10.1 Model designation .......................................................................................................................... 10- 1 10.2 Combination list of servo motors and servo amplifiers .................................................................. 10- 1 10.3 Standard specifications .................................................................................................................. 10- 2 10.3.1 Standard specifications list ...................................................................................................... 10- 2 10.3.2 Torque characteristics ............................................................................................................. 10- 4 10.4 Electromagnetic brake characteristics ........................................................................................... 10- 5 10.5 Servo motors with special shafts ................................................................................................... 10- 6 10.6 Oil seal ........................................................................................................................................... 10- 6 10.7 Dimensions .................................................................................................................................... 10- 7 10.7.1 Standard (without an electromagnetic brake) ......................................................................... 10- 7 10.7.2 With an electromagnetic brake................................................................................................ 10- 9
3
APPENDIX
App. - 1 to App. -35
App. 1 Servo motor ID codes .......................................................................................................... App.- 1 App. 2 Manufacturer list .................................................................................................................. App.- 3 App. 3 Compliance with the CE marking......................................................................................... App.- 4 App. 4 Compliance with UL/CSA standard ..................................................................................... App.- 5 App. 5 Calculation methods for designing....................................................................................... App.- 9 App. 6 Selection example of servo motor power cable .................................................................. App.-27 App. 7 Crimping connector for CNP3_ ........................................................................................... App.-28 App. 8 Connector dimensions ........................................................................................................ App.-29 App. 9 HG-JR22K1M(4) appearance change ................................................................................ App.-35
4
1. INTRODUCTION 1. INTRODUCTION 1.1 Rating plate The following shows an example of rating plate for explanation of each item.
Model Input power and rated output Mass and insulation class Rated speed Serial number (Note 1) (Note 2) Country of origin
Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate. The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X(10), Y(11), and Z(12)]. For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121". 2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.
1.2 Parts identification (1) HG-MR series/HG-KR series servo motor Power cable (Note 1, 2) Power lead (U/V/W) Grounding lead
Servo motor shaft
Encoder cable (Note 1)
Encoder
Note 1. The encoder cable and power supply cable are options. 2. An electromagnetic brake cable is separately required for the servo motor with an electromagnetic brake.
(2) HG-SR series/HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HGJR12K1(4)/HG-RR series/HG-UR series servo motor Power supply connector (Note) Power supply (U/V/W) Grounding ( )
Encoder connector
Encoder Servo motor shaft
Note. The servo motor with an electromagnetic brake has the electromagnetic brake connector separately.
1- 1
1. INTRODUCTION (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Cooling fan connector
Terminal box
Encoder connector
Power lead hole Servo motor shaft
1.3 Electromagnetic brake
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). The electromagnetic brake has a time lag. Use the electromagnetic brake so that servo motor control starts after the electromagnetic brake has completely opened. Be sure to check the time lag of the braking with a real machine. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. For details of the circuit configuration and timing chart, refer to each servo amplifier instruction manual. While the electromagnetic brake is opened, the motor may be raised to high temperature regardless of driving. The life will be shorten under sudden acceleration/deceleration conditions.
The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When operating the servo motor, supply power to the electromagnetic brake to release the brake. Switching power off enables the electromagnetic brake.
Switch 24 V DC power supply for electromagnetic brake
VAR U
B
B2
B1 Switch or
24 V DC power supply for electromagnetic brake
VAR U
B
B2
The surge absorber (VAR) must be installed between B1 and B2. For the selection and example of surge absorbers, refer to "Electromagnetic brake characteristic" in the chapter of each servo motor series. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
1- 2
Electromagnetic brake
B1
Electromagnetic brake
(1) Electromagnetic brake power supply Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake terminals (B1 and B2) have no polarity.
1. INTRODUCTION (2) Sound generation Though the brake lining may rattle during operation, it poses no functional problem. If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo amplifier (converter unit) parameters. For details, refer to each servo amplifier instruction manual. (3) Selection of surge absorbers for electromagnetic brake circuit The following shows an example how to select a varistor with a surge absorber. (a) Selection conditions Item
Electromagnetic brake specification Desired suppression voltage Durable surge application time
Condition
R [Ω]: Resistance L [H]: Inductance Vb [V]: Power supply voltage Vs [V] or less
Relay
24 V DC
U
Varistor
Brake coil
N times
(b) Tentative selection and verification of surge absorber 1) Maximum allowable circuit voltage of varistor Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V]. 2) Brake current (Ib) Ib =
Vb [A] R
3) Energy (E) generated by brake coil 2 E = L × lb [J] 2
4) Varistor limit voltage (Vi) From the energy (E) generated in the brake coil and the varister characteristic diagram, calculate the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during opening of the circuit. Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed voltage (Vs) [V]. If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices. 5) Surge current width (τ) Given that the varistor absorbs all energies, the surge current width (τ) will be as follows. τ=
E [S] Vi × lb
6) Examining surge life of varister From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number of the surge application life is N at the surge current width (τ). Calculate the guaranteed current value (Ip) ratio to brake current (Ib). If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be considered as favorable. 1- 3
1. INTRODUCTION (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, screws, etc. are attracted. 1.4 Servo motor shaft shapes In addition to the straight shaft, the key shaft and D cut shaft are available. The key shaft and D cut shaft cannot be used in frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc. when coupling the shaft with a machine. The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the chapter of the servo motor series. The key shaft (with single pointed key) applies to only the geared servo motor for high precision application.
A
A
A
Shaft section view AA
A
Shaft section view AA
Key shaft (with 2 round end key)
Key shaft (without key)
D cut shaft
Straight shaft
Key shaft (with single pointed key)
1- 4
2. INSTALLATION 2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire. Install the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environmental range. For the environment, refer to the specifications of the servo motor series. Do not drop or strike the servo motor. Isolate it from all impact loads. Do not install or operate a faulty servo motor. Do not carry the servo motor by holding the cables, shaft, encoder, or connector. Otherwise, it may cause a malfunction or injury. Use the eyebolts of the servo motor to only transport it. Do not use the eyebolts to transport the servo motor when it is mounted on a machine. The geared servo motor must be mounted in the specified direction. Otherwise, it can leak oil, leading to a fire or malfunction. Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off during operation, leading to injury. Be sure to measure the motor vibration level with the servo motor mounted on the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reducer. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. When coupling a load to the servo motor, do not use a rigid coupling. Doing so can cause the shaft to break and the bearing to wear out. Balance the load to the extent possible. Not doing so can cause vibration during servo motor operation or damage the bearings and encoder. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor during operation. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break, leading to injury. When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful about the edged parts such as the corners of the servo motor.
2- 1
2. INSTALLATION 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo motor. Servo motor series
Mounting direction
HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR
All directions
For mounting in the horizontal direction, it is recommended to set the connector section downward. When mounting the motor vertically or obliquely, give a little slack for the connection cable.
Little slack
(2) Servo motor with an electromagnetic brake The servo motor with an electromagnetic brake can also be installed in the same orientation as the standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. (3) Geared servo motors The mounting direction of the geared servo motor differs depending on the reducer type. Be sure to mount it in the specified direction. Refer to the chapter of the servo motor series for details. 2.2 Cooling fan For the servo motor with a cooling fan, ensure to put enough space for the distance L between intake port and wall surface. Refer to the chapter of the servo motor series for the distance L. L or more
Servo motor Cooling fan
Intake
2- 2
2. INSTALLATION 2.3 Load remove precautions During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction.
CAUTION
Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a key shaft, use the screw hole in the shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in. Servo motor Double-end stud
Nut Pulley
Washer
(2) For the shaft without a key, use a friction coupling or the like. (3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or impact. (4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the shaft. (5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales office. (6) The direction of the encoder on the servo motor cannot be changed. (7) When mounting the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration.
2- 3
2. INSTALLATION 2.4 Permissible load for the shaft
CAUTION
Do not use a rigid coupling as it may apply excessive bending load to the shaft of the servo motor, leading the shaft to break and the bearing to wear out.
For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series. (1) Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load. (2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load. (3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break. (4) The load indicated in this section is static load in a single direction and does not include eccentric load. Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged. 2.5 Protection from oil and water Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When installing the servo motor, consider the items in this section. (1) Do not use the servo motor with its cable soaked in oil or water.
Cover
Servo motor Oil/water pool Capillary action
(2) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not exposed to oil and water entering from the machine side, gear box, etc. Gear Lubricating oil
Servo motor
(3) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected depending on the oil type. (4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, a standard specifications servo motor may not be usable. Please contact your local sales office.
2- 4
2. INSTALLATION 2.6 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the connectors, terminals and others at the ends of the cables. 2.7 Servo motor with oil seal For the servo motor with oil seal, the oil seal prevents the entry of oil into the servo motor. Make sure to install it according in this section. The functions have no problem even if the servo motor with oil seal may sound during operation. (1) Pressure and oil level Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. If the oil level is higher than the oil seal lip, the oil enter the servo motor and may cause a malfunction. Refer to the chapter of the servo motor series for the oil level. Shaft Gear Servo motor Height above oil level h Lip Oil seal
High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant internal pressure by equipping a ventilator to the gear box. (2) Temperature High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high temperature oil since applicable temperature of the material is up to 100 °C and temperature of the oil seal lip rises within 10 °C to 15 °C at maximum rotation. 2.8 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit). To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.
CAUTION
Do not perform insulation resistance test on the servo motor. Otherwise, it may cause a malfunction. Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked. (1) Check the bearings, brake section, etc. for unusual noise. 2- 5
2. INSTALLATION (2) Check the cables and the like for scratches or cracks. Especially when the cable is movable, perform periodic inspection according to operating conditions. (3) Check the servo motor shaft and coupling for misalignment. (4) Check the power supply connector and encoder connector tightening screws for looseness. 2.9 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your local sales office. Part name
Life guideline
Bearings
20,000 hours to 30,000 hours 20,000 hours to 30,000 hours 20,000 hours 5000 hours 10,000 hours to 20,000 hours
Encoder Cooling fan Oil seal Reducer
(1) Bearings When the servo motor is run at rated speed under rated load, bearings should be exchanged in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection. (2) Oil seal (including oil seal used on the reducer) Oil seals must be changed in 5,000 hours of operation at rated speed as a guideline. They must also be changed if oil leakage, etc. is found during inspection. The functions have no problem even if an oil seal may sound during operation. 2.10 Machine accuracies The following table indicates the machine accuracies of the servo motor around the output shaft and mounting. (except the optional products) Accuracy [mm] Runout of flange surface to output shaft Runout of fitting OD of flange surface Runout of output shaft end
Measuring position
100 × 100 or less
Flange size 176 × 176 to 130 × 130 250 × 250
280 × 280 or more
a)
0.05
0.06
0.08
0.08
b) c)
0.04 0.02
0.04 0.02
0.06 0.03
0.08 0.03
a) A b) A c)
A
2- 6
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3. CONNECTORS USED FOR SERVO MOTOR WIRING POINT The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo motor. If the IP rating of the connector and servo motor vary, the overall IP rating depends on the lowest IP rating of all components. 3.1 Selection of connectors Use the connector configuration products given in the table as the connectors for connection with the servo motor. Refer to section 3.2 to 3.4 for the compatible connector configuration products. (1) HG-MR series and HG-KR series Electromagnetic brake connector
Encoder connector
Power supply connector
Wiring connector Servo motor HG-MR_ HG-KR_
For encoder
For power supply
For electromagnetic brake
Connector configuration A
Connector configuration B
Connector configuration C
(2) HG-SR series Electromagnetic brake connector Power supply connector
Encoder connector
Wiring connector Servo motor
For encoder
HG-SR51 HG-SR81 HG-SR52(4) HG-SR102(4) HG-SR152(4) HG-SR121 HG-SR201 HG-SR301 HG-SR202(4) HG-SR352(4) HG-SR502(4) HG-SR421 HG-SR702(4)
For power supply
For electromagnetic brake
Connector configuration E
Connector configuration D
Connector configuration G
Connector configuration H
3- 1
Connector configuration F
3. CONNECTORS USED FOR SERVO MOTOR WIRING (3) HG-JR series HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HG-JR12K1(4) Electromagnetic brake connector
Encoder connector
Power supply connector
HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) Cooling fan connector
Encoder connector
Servo motor HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034 HG-JR353 HG-JR503 HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4)
For encoder
Wiring connector For electromagnetic For power supply brake
For cooling fan
Connector configuration E Connector configuration D
Connector configuration F Connector configuration G
Connector configuration H
Connector configuration J
Connector configuration K None (terminal box)
3- 2
Connector configuration L
3. CONNECTORS USED FOR SERVO MOTOR WIRING (4) HG-RR series Power supply connector
Encoder connector
Wiring connector Servo motor HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503
For encoder
Connector configuration D
For power supply Connector configuration N Connector configuration M
For electromagnetic brake Sharing for power supply
(5) HG-UR series Power supply connector Encoder connector
Wiring connector Servo motor HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
For encoder
Connector configuration D
For power supply
For electromagnetic brake
Connector configuration N
Sharing for power supply (Note)
Connector configuration M
Connector configuration J
Note. Electromagnetic brake connector is not required since the power supply connector has a pin assigned for electromagnetic brake.
3- 3
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.2 Wiring connectors (connector configurations A/B/C) The connectors in this section comply with UL/CSA standards.
Connector configuration
Feature
A (for encoder)
IP65
Connector Connector: 2174053-1 (TE Connectivity)
Crimping tool For ground clip: 1596970-1 For REC. contact: 1596847-1 (TE Connectivity)
Servo motor encoder connector (Note) 1674339-1 (TE Connectivity)
Note. The other side connector
Connector configuration
Connector
Feature
B IP65 (for power supply)
Crimping tool
Connector: KN4FT04SJ1-R HOOD/SOCKET INSULATOR/ BUSHING/GROUND NUT Contact: ST-TMH-S-C1B-100 (A534G) (JAE)
CT160-3-TMH5B (JAE)
Servo motor power supply connector (Note) JN4AT04NJ1 (JAE)
Note. The other side connector
Connector configuration C (for electromagnetic brake)
Connector
Feature
IP65
Crimping tool
Connector: JN4FT02SJ1-R HOOD/SOCKET INSULATOR/ BUSHING/GROUND NUT Contact: ST-TMH-S-C1B-100 (A534G) (JAE)
Note. The other side connector
3- 4
CT160-3-TMH5B (JAE)
Servo motor electromagnetic brake connector (Note) JN4AT02PJ1 (JAE)
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.3 Wiring connectors (connector configurations D/E/F/G/H) Angle plug (one-touch connection type) Straight plug (one-touch connection type)
Angle plug (screw type)
Straight plug (screw type)
Plug (DDK) Connector Feature configuration
Type
Plug
Socket contact
CMV1-#22ASC-S1-100
Contact shape
Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required.
CMV1S-SP10S-M1 (screw type)
CMV1-#22ASC-C2-100
Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required.
CMV1-#22ASC-S1-100
Soldering type Applicable wire size: AWG 20 or less
CMV1-SP10S-M2 (one-touch connection CMV1-#22ASC-C1-100 type)
Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required.
CMV1S-SP10S-M2 (screw type)
CMV1-#22ASC-C2-100
Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required.
CMV1-#22ASC-S1-100
Soldering type Applicable wire size: AWG 20 or less
D IP67 (for encoder)
CMV1-AP10S-M1 (one-touch connection CMV1-#22ASC-C1-100 type)
Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required.
CMV1S-AP10S-M1 (screw type)
CMV1-#22ASC-C2-100
Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required.
CMV1-#22ASC-S1-100
Soldering type Applicable wire size: AWG 20 or less
Angle
CMV1-AP10S-M2 (one-touch connection CMV1-#22ASC-C1-100 type)
Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is required.
CMV1S-AP10S-M2 (screw type)
Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is required.
CMV1-#22ASC-C2-100
Note. The other side connector
3- 5
Servo motor encoder connector (Note)
Soldering type Applicable wire size: AWG 20 or less
CMV1-SP10S-M1 (one-touch connection CMV1-#22ASC-C1-100 type)
Straight
Cable OD [mm] (reference)
5.5 to 7.5
7.0 to 9.0
CMV1-R10P
5.5 to 7.5
7.0 to 9.0
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Cable clamp
Cable
Plug
Plug (DDK) Connector configuration
E (for power supply)
Feature
IP67 EN compliant
(Note 1) General environment
Type
Cable clamp
Cable
Cable clamp (DDK) Cabel OD [mm] (reference)
Model
Model
Straight
CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12
8.5 to 11
CE3057-10A-2-D
10.5 to 14.1
CE3057-10A-1-D
Angle
CE05-8A18-10SD-D-BAS Applicable wire size: AWG 14 to 12
8.5 to 11
CE3057-10A-2-D
10.5 to 14.1
CE3057-10A-1-D
Straight
D/MS3106B18-10S Applicable wire size: AWG 14 to 12 D/MS3108B18-10S Applicable wire size: AWG 14 to 12
14.3 or less (bushing ID)
D/MS3057-10A
Angle
Note 1. Not comply with EN. 2. The other side connector
3- 6
Servo motor power supply connector (Note 2)
MS3102A18-10P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Angle plug (one-touch connection type) Straight plug (one-touch connection type)
Straight plug (screw type)
Plug (DDK) Connector Feature configuration
Type
Plug
Socket contact
CMV1-SP2S-S CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-S (screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-M1 CMV1-#22BSC-S2-100 (one-touch connection type)
Straight
CMV1S-SP2S-M1 (screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-M2 CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-M2 (screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-L CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-SP2S-L (screw type)
F (for electroIP67 magnetic brake)
CMV1-#22BSC-C3-100
CMV1-AP2S-S CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-AP2S-S (screw type)
CMV1-#22BSC-C3-100
CMV1-AP2S-M1 CMV1-#22BSC-S2-100 (one-touch connection type)
Angle
CMV1S-AP2S-M1 (screw type)
CMV1-#22BSC-C3-100
CMV1-AP2S-M2 CMV1-#22BSC-S2-100 (one-touch connection type) CMV1-#22BSC-C3-100 CMV1S-AP2S-M2 (screw type) CMV1-AP2S-L CMV1-#22BSC-S2-100 (one-touch connection type) CMV1S-AP2S-L (screw type)
Angle plug (screw type)
CMV1-#22BSC-C3-100
Note. The other side connector
3- 7
Contact shape
Servo motor electroCable OD magnetic brake [mm] connector (reference) (Note)
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
4.0 to 6.0
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
5.5 to 7.5
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
7.0 to 9.0
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
9.0 to 11.6
CMV1-R2P
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
4.0 to 6.0
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
5.5 to 7.5
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
7.0 to 9.0
Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is required.
9.0 to 11.6
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Cable clamp
Cable
Plug
Plug (DDK) Connector configuration
G (for power supply)
Feature
IP67 EN compliant
(Note 1) General environment
Type
Cable clamp
Cable
Cable clamp (DDK) Cabel OD [mm] (reference)
Model
Straight
CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8
Angle
CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8
Straight
D/MS3106B22-22S Applicable wire size: AWG 10 to 8
Angle
D/MS3108B22-22S Applicable wire size: AWG 10 to 8
9.5 to 13
Servo motor power supply connector (Note 2)
Model CE3057-12A-2-D
12.5 to 16
CE3057-12A-1-D
9.5 to 13
CE3057-12A-2-D
12.5 to 16
CE3057-12A-1-D
15.9 or less (bushing ID)
D/MS3057-12A
MS3102A22-22P
Note 1. Not comply with EN. 2. The other side connector
Plug
Cable clamp
Cable
Plug
Cable clamp
Cable
Backshell Plug (DDK) Connector configuration
H (for power supply)
Feature
IP67 EN compliant
(Note 1) General environment
Type
Straight
Backshell
Model
Model
(Note 3) CE05-6A32-17SD-D Applicable wire size: AWG 4
Cable clamp (DDK) Cabel OD [mm] (reference)
Model
30 to 32.5
CE3057-24A-1-D
27 to 29.6
CE3057-24A-2-D
22 to 23.8
CE3057-20A-1-D
23.8 or less (bushing ID)
D/MS3057-20A
Servo motor power supply connector (Note 2)
CE05-32BS-S-D-OB
CE05-6A32-17SD-D-BSS Applicable wire size: AWG 6 to 4 Angle
CE05-8A32-17SD-D-BAS Applicable wire size: AWG 6 to 4
Straight
D/MS3106B32-17S Applicable wire size: AWG 6 to 4
Angle
D/MS3108B32-17S Applicable wire size: AWG 6 to 4
MS3102A32-17P
Note 1. Not comply with EN. 2. The other side connector 3. This connector is used only when the outer diameter of the cable used for HG-JR11K1M(4) and HG-JR15K1M(4) exceeds 23.8 mm.
3- 8
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3.4 Wiring connectors (connector configurations J/K/L/M/N) Plug
Cable
Connector for cable
Cable
Cable clamp
Plug
Plug
Connector for cable IP67 compatible
IP67 compatible
General environmental
Cable-side connector Connector configuration
Connector for cable Feature
Plug (DDK)
Type
Straight J (for electromagnetic brake)
IP67 EN UL/CSA compliant
D/MS3106A10SL-4S (D190) Applicable wire size: AWG 22 to 16
Manufacturer
Cable OD [mm] (reference)
ACS-08RLMS10F
8 to 12
ACS-12RLMS10F
5 to 8.3
YSO10-5 to 8
4 to 8
ACA-08RLMS10F
8 to 12
ACA-12RLMS10F
5 to 8.3
YLO10-5 to 8
5.6 or less (bushing ID)
D/MS3057-4A
Nippon Flex Daiwa Dengyo
D/MS3106A10SL-4S Applicable wire size: Straight AWG 22 to 16
Model
4 to 8 Nippon Flex Daiwa Dengyo
Angle
(Note1) General environment
Cable
Servo motor electromagnetic brake connector (Note 2)
MS3102A10SL4P
Note 1. Not comply with EN. 2. The connector to be mated.
Cable clamp
Plug
Cable
Backshell
Cable
Plug Backshell
Cable clamp Plug (DDK)
Connector configuration
K (for encoder)
Feature
IP67 EN compliant (Note 1) General environment
Type Straight Angle
Cable clamp (DDK) Backshell (DDK)
Model
D/MS3106A20-29S (D190)
Straight
D/MS3106B20-29S
Angle
D/MS3108B20-29S
CE02-20BS-S-D CE-20BA-S-D
Cable OD [mm] 6.8 to 10 15.9 or less (bushing ID)
Note 1. Not comply with EN. 2. The connector to be mated.
3- 9
Model
Servo motor encoder connector (Note 2)
CE3057-12A-3-D D/MS3102A2029P D/MS3057-12A
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Cable clamp
Plug
Connector configuration L (for cooling fan)
Plug (DDK) Feature
IP67 EN compliant
Type
Straight
Cable clamp Cable OD [mm] (reference)
Model CE05-6A14S-2SD-D Applicable wire size: AWG 22 to 16
Model
YSO14-9 to 11 (Daiwa Dengyo)
8.3 to 11.3
Servo motor cooling fan connector (Note)
CE05-2A14S-2P
Note. The connector to be mated.
Plug
Connector configuration
M (for power supply)
Cable clamp
Cable
Plug
Plug (DDK) Feature IP65 EN UL/CSA compliant General environment UL/CSA compliant
Type
Cable clamp
Cable
Cable clamp (DDK) Cable OD [mm] (reference)
Model
Model
Straight
CE05-6A24-10SD-D-BSS Applicable wire size: AWG 10 to 8
13 to 15.5
CE3057-16A-2-D
15 to 19.1
CE3057-16A-1-D
Angle
CE05-8A24-10SD-D-BAS Applicable wire size: AWG 10 to 8
13 to 15.5
CE3057-16A-2-D
15 to 19.1
CE3057-16A-1-D
Straight
D/MS3106B24-10S Applicable wire size: AWG 10 to 8 D/MS3108B24-10S Applicable wire size: AWG 10 to 8
19.1 or less (bushing ID)
D/MS3057-16A
Angle
Note. The connector to be mated.
3 - 10
Servo motor power supply connector (Note)
CE05-2A24-10P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Connector configuration
N (for power supply)
Cable clamp
Cable
Plug
Plug (DDK) Feature IP65 EN UL/CSA compliant General environment UL/CSA compliant
Type
Cable clamp
Cable
Cable clamp (DDK) Cable OD [mm] (reference)
Model
Model
Straight
CE05-6A22-23SD-D-BSS Applicable wire size: AWG 14 to 12
9.5 to 13 12.5 to 16
CE3057-12A-1-D
Angle
CE05-8A22-23SD-D-BAS Applicable wire size: AWG 14 to 12
9.5 to 13
CE3057-12A-2-D
12.5 to 16
CE3057-12A-1-D
Straight
D/MS3106B22-23S Applicable wire size: AWG 14 to 12
15.9 or less (bushing ID)
D/MS3057-12A
Angle
D/MS3108B22-23S Applicable wire size: AWG 14 to 12
Note. The connector to be mated.
3 - 11
Servo motor power supply connector (Note)
CE3057-12A-2-D
CE05-2A22-23P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
MEMO
3 - 12
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
WARNING
CAUTION
Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. Do not modify the equipment. Connect the servo amplifier (converter unit) power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. Servo amplifier (converter unit) U V W
U
Servo motor
V W
Servo amplifier (converter unit) U
M
V W
U V
Servo motor
M
W
POINT We recommend using HIV wires to connect the servo amplifier (converter unit) to the servo motor. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit".
4- 1
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.1 Connection instructions
CAUTION
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier (converter unit) and servo motor. Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction. POINT Refer to chapter 5 for the selection of the encoder cable. Refer to the chapter of the servo motor series for the selection of a surge absorber for the electromagnetic brake.
For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier (converter unit), and then connect the wire from the servo amplifier (converter unit) to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet. Cabinet Servo amplifier (converter unit)
Servo motor
PE terminal
(Note)
Note. The number of PE terminals of the servo amplifier (converter unit) differs depending on the amplifier types.
4- 2
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.2 Wiring 4.2.1 HG-MR series/HG-KR series servo motor (1) Connection with MR-J4 1-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less
Servo amplifier
10 m or less MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H
CNP3 U V W
(Red) (White) (Black) (Green/yellow)
Servo motor U V W
M
2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less
2 m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor
Extension cable
Servo amplifier CNP3 U V W
(Red) (White) (Black) (Green/yellow)
U V W
M
(Note) (Note) a) Junction connector for b) Junction connector for extension cable motor power supply cable Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
Description
IP rating
a) Junction connector for extension cable
Connector: RM15WTPZ-4P(71) IP65 Cord clamp: JR13WCC-5(72) Numeral changes depending on the cable OD. (Hirose Electric)
b) Junction connector for motor power supply cable
IP65 Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) Numeral changes depending on the cable OD. (Hirose Electric)
4- 3
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less 10 m or less
(Note 3) MBR 24 V DC power supply ALM for electromagnetic (Electromagnetic brake interlock) (Malfunction) brake
MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 4)
AWG20 (Note 1) U
AWG20
Servo motor (Note 2) B1 B2
B
Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Do not use the 24 V DC interface power supply for the electromagnetic brake. 4. Create the circuit in order to shut off by interlocking with the emergency stop switch.
When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-H, refer to section 5.4 and 5.5. 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less
2 m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L
Extension cable (To be fabricated) (Note 5) MBR 24 V DC power supply ALM for electromagnetic (Electromagnetic brake interlock) (Malfunction) brake
Servo motor (Note 4)
(Note 3)
AWG20 (Note 1)
U
AWG20
B1 B2
B
(Note 2) (Note 2) a) Junction connector for b) Junction connector for extension cable electromagnetic brake cable Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector a) Junction connector for extension cable
Description CM10-CR2P- (DDK)
IP rating IP65
Wire size: S, M, L
b) Junction connector for CMV1-SP2S- (DDK) electromagnetic brake cable Wire size: S, M1, M2, L 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. There is no polarity in electromagnetic brake terminals (B1 and B2). 5. Do not use the 24 V DC interface power supply for the electromagnetic brake.
4- 4
IP65
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Connection with MR-J4 multi-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less 10 m or less MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H
Servo amplifier CNP3A/CNP3B/ CNP3C U (Note) V W
(Red) (White) (Black) (Green/yellow)
Servo motor U V W
M
Note. CNP3 is for the MR-J4 3-axis servo amplifier.
2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less
2 m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor
Extension cable
Servo amplifier CNP3A/CNP3B/ CNP3C U (Note 1) V W
(Red) (White) (Black) (Green/yellow)
U V W
M
(Note 2) (Note 2) a) Junction connector for b) Junction connector for extension cable motor power supply cable Note 1. CNP3 is for the MR-J4 3-axis servo amplifier. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
Description
IP rating
a) Junction connector for extension cable
Connector: RM15WTPZ-4P(71) IP65 Cord clamp: JR13WCC-5(72) Numeral changes depending on the cable OD. (Hirose Electric)
b) Junction connector for motor power supply cable
IP65 Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) Numeral changes depending on the cable OD. (Hirose Electric)
4- 5
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less 10 m or less
(Note 4) 24 V DC power supply for electromagnetic brake
(Note 3)
MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H
MBR-A CALM (Electromagnetic (AND brake interlock malfunction) for A-axis) (Note 1)
AWG20 U
MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H
MBR-B (Electromagnetic brake interlock for B-axis) (Note 1)
AWG20 U
AWG20
MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H
MBR-C (Electromagnetic brake interlock for C-axis) (Note 1)
AWG20
AWG20 U
AWG20
Servo motor (Note 2) B1 B2
B
Servo motor (Note 2) B1 B2
B
Servo motor (Note 2) B1 B2
B
(Note 5) Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. Do not use the 24 V DC interface power supply for the electromagnetic brake. 5. This connection is for the MR-J4 3-axis servo amplifier.
When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-H, refer to section 5.4.
4- 6
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. 50 m or less
(Note 5) 24 V DC power supply for electromagnetic brake
(Note 3)
MBR-A CALM (Electromagnetic (AND brake interlock malfunction) for A-axis) (Note 1)
U
2 m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2
(Note 2) (Note 2) a) Junction connector for b) Junction connector for extension cable electromagnetic brake cable
MBR-B (Electromagnetic brake interlock for B-axis) (Note 1)
U
MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2
(Note 2) (Note 2) a) Junction connector for b) Junction connector for electromagnetic brake cable extension cable
MBR-C (Electromagnetic brake interlock for C-axis) (Note 1)
U
MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L Servo motor MR-BKS2CBL03M-A2-L (Note 4) AWG20 B1 B AWG20 B2
(Note 2) (Note 2) a) Junction connector for b) Junction connector for electromagnetic brake cable extension cable (Note 6) Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector a) Junction connector for extension cable
Description CM10-CR2P- (DDK) Wire size: S, M, L
b) Junction connector for CMV1-SP2S- (DDK) electromagnetic brake cable Wire size: S, M1, M2, L 3. 4. 5. 6.
IP rating IP65
Create the circuit in order to shut off by interlocking with the emergency stop switch. There is no polarity in electromagnetic brake terminals (B1 and B2). Do not use the 24 V DC interface power supply for the electromagnetic brake. This connection is for the MR-J4 3-axis servo amplifier.
4- 7
IP65
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor Refer to section 4.3 for the wires used for wiring. (1) Wiring diagrams (a) Connection with MR-J4 1-axis servo amplifier (Note 4) Power supply cooling fan 50 m or less Servo amplifier
Servo motor
U V W
U V W
MBR (Note 2) ALM 24 V DC power supply (Electromagnetic brake interlock) (Malfunction) for electromagnetic RA2 RA1 brake
Cooling fan
(Note 3) RA3
B1 U
B2
MCCB
M
BU BV BW
(Note 1) B
Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2). 2. Do not use the 24 V DC interface power supply for the electromagnetic brake. 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. Refer to the chapter of the servo motor series for the cooling fan power supply.
4- 8
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (b) Connection with MR-J4 multi-axis servo amplifier 50 m or less A-axis servo motor
Servo amplifier CNP3A U V W
U V W (Note 2) 24 V DC power supply for electromagnetic brake
24 V DC
(Note 3)
CALM (AND malfunction) RA1
MBR-A (Electromagnetic brake interlock for A-axis) RA2
DOCOM
U
CALM
RA1
MBR-A
RA2
MBR-B
RA3
MBR-C
RA4
(Note 1) B1 B B2
MBR-B (Electromagnetic brake interlock B-axis servo motor for B-axis) (Note 1) RA3
B1
U
CNP3B U V W
M
B2
B
(Note 4) U V W
M
MBR-C (Electromagnetic brake interlock C-axis servo motor for C-axis) (Note 1) RA4
B1
U
CNP3C U V W
B2
U V W
B
M
(Note 4) Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2). 2. Do not use the 24 V DC interface power supply for the electromagnetic brake. 3. Create the circuit in order to shut off by interlocking with the emergency stop switch. 4. This connection is for the MR-J4 3-axis servo amplifier.
4- 9
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Servo motor terminal section The following table shows the servo motor terminal section. For details of the connectors, refer to (3) of this section. For details of the terminal box, refer to (4) of this section. The connector fitting the servo motor is prepared as options. Refer to chapter 5 for details of the options. For types other than those prepared as options, refer to chapter 3. (a) HG-SR series Servo motor
Encoder
HG-SR52(4) HG-SR102(4) HG-SR152(4) HG-SR51 HG-SR81 HG-SR202(4) HG-SR352(4) HG-SR502(4) HG-SR121 HG-SR201 HG-SR301 HG-SR702(4) HG-SR421
Servo motor terminal section Electromagnetic Power brake
Connector C
Connector A
Connector H Connector D
Connector E
(b) HG-JR series Servo motor HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034 HG-JR353 HG-JR503 HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4)
Servo motor terminal section Electromagnetic Power brake
Encoder
Cooling fan
Connector C Connector A
Connector H Connector D
Connector E Connector B
Connector J
Connector L
Terminal box
4 - 10
Connector K
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) HG-RR series Servo motor
Encoder
HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503
Servo motor terminal section Electromagnetic Power brake Connector F
Connector A
The connector for power is shared
Connector G
(d) HG-UR series Servo motor
Encoder
HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
Servo motor terminal section Electromagnetic Power brake Connector F
The connector for power is shared
Connector G
Connector J
Connector A
(3) Details of servo motor-side connectors The followings show the encoder connector, power connector, electromagnetic brake connector, and cooling fan connector viewed from the connection side.
10 9 8
Connector A
Connector B
Connector C
Encoder connector
Encoder connector
Power supply connector
CMV1-R10P
MS3102A20-29P
MS3102A18-10P
7 6 5 4
Terminal No.
Pin
Signal
3
1
MR
2
2
MRR
1
3 4 5
L
A B C N D T P E S R
M
K J
Signal
A
C
C D E
MR MRR
6
F
BAT
7 8 9 10
G H J K
LG
BAT LG
H
G
F
P5 SHD
L M N P R S T
4 - 11
D
B
SHD LG P5
B
A
Terminal No.
Signal
A
U
B
V
C
W
D
(PE)
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR Connector D
Connector E
Connector F
Power supply connector
Power supply connector
Power supply connector
MS3102A22-22P
MS3102A32-17P
CE05-2A22-23P
C
D
B
A
Terminal No.
Signal
A B C
U V W
D
C B
Terminal No.
Signal
A B C
U V W
D A
A
H
E D
D
(PE)
G F
B
Terminal No.
Signal
A B C
U V W
C D
(PE)
(PE)
E F G H
B1 (Note) B2 (Note)
Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.
Connector G
Connector H
Connector J
Power supply connector
Electromagnetic brake connector
Electromagnetic brake connector
CE05-2A24-10P
CMV1-R2P
MS3102A10SL-4P
A
F
B
G
E D
C
Terminal No.
Signal
A B C
U V W
D E F
(PE) B1 (Note) B2 (Note)
2
Terminal No.
Signal
Terminal No.
Signal
1
B1 (Note)
A
B1 (Note)
2
B2 (Note)
B
B2 (Note)
1
A
B
Note. For the motor
Note. For the motor
with an
with an
electromagnetic
electromagnetic
brake, supply
brake, supply
electromagnetic
electromagnetic
brake power
brake power
(24 V DC).
(24 V DC).
There is no
There is no
polarity.
polarity.
G Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.
4 - 12
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR Connector K
Connector L
Cooling fan connector
Encoder connector
CE05-2A14S-2P
MS3102A20-29P
Terminal No.
Signal
C
D
A
BU (Note)
B
A
B
BV (Note)
C
BW (Note)
L
A B C N D T P E S R
M
K J H
G
F
D
Pin A B C D E F G
Signal
MR MRR BAT LG
supplied to the
H J K L M N P
cooling fan.
R
LG
S T
P5
Note. Refer to the chapter of the servo motor series for the specifications of the power
THM1 THM1 SHD
(4) Terminal box inside HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) POINT The terminal box of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the terminal box detail diagram before change. Power supply terminal block: M10 screw (3)
Power lead hole (Note) Keep plate: M5 screw (4)
Keep plate
Terminal box lid: M4 screw (10)
Protective earth (PE) terminal: M10 screw (2)
Note. Provide measures to prevent oil, water, dust and dirt from entering the servo motor through the power lead hole.
4 - 13
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.3 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/CSA standard, use the wires shown in appendix 9 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection condition of wire size is as follows. Construction condition: Single wire set in midair Wire length: 30 m or less The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. Servo amplifier
1) Servo motor power lead
Servo motor
U
U
V
V
W
W
Motor
2) Electromagnetic brake lead B1 Electromagnetic B2
brake
Encoder Encoder cable Power supply
Cooling fan BU BV BW
3) Cooling fan lead
4 - 14
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. (1) HG-MR series and HG-KR series 2
Wires [mm ]
Servo motor
1) U/V/W/
HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73
2) B1/B2
0.75 (AWG 18) (Note)
0.5 (AWG 20) (Note)
2
Note. It is for wire length of 10 m or less. When fabricating an extension cable, use 1.25 mm (AWG 16).
(2) HG-SR series 2
Wires [mm ]
Servo motor
1) U/V/W/
HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024
2) B1/B2
1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10) (Note) 1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) 5.5 (AWG 10) (Note) 8 (AWG 8) (Note)
1.25 (AWG 16)
1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12) (Note) 5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
4 - 15
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (3) HG-JR series (a) 3000 r/min series 2
Wires [mm ] 1) U/V/W/ Servo motor
HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353
Standard
When the maximum torque is 400% (Note 2)
1.25 (AWG 16)
1.25 (AWG 16)
2 (AWG 14)
2 (AWG 14) 3.5 (AWG 12) (Note 1) 5.5 (AWG 10) (Note 1)
3.5 (AWG 12) 5.5 (AWG 10) (Note 1) 8 (AWG 8) (Note 1) 14 (AWG 6) (Note 1)
HG-JR503 HG-JR703 HG-JR903 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534
1.25 (AWG 16)
1.25 (AWG 16)
1.25 (AWG 16) 2 (AWG 14)
2 (AWG 14) 3.5 (AWG 12) (Note 1) 5.5 (AWG 10) (Note 1) 8 (AWG 8) (Note 1)
HG-JR5034 HG-JR7034 HG-JR9034
2) B1/B2
2 (AWG 14) (Note 1) 3.5 (AWG 12) (Note 1)
Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.
(b) 1500 r/min series 2
Servo motor HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4
1) U/V/W/ 8 (AWG 8) (Note) 14 (AWG 6) (Note) 22 (AWG 4) (Note) 38 (AWG 2) (Note) 60 (AWG 2/0) (Note) 3.5 (AWG 12) (Note)
Wires [mm ] 2) B1/B2
3) BU/BV/BW
1.25 (AWG 16)
1.25 (AWG 16)
1.25 (AWG 16)
8 (AWG 8) (Note) 14 (AWG 6) (Note) 22 (AWG 4) (Note) 1.25 (AWG 16) 38 (AWG 2) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
4 - 16
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) 1000 r/min series 2
Servo motor
1) U/V/W/ 8 (AWG 8) (Note)
HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20 K1 HG-JR25K1 HG-JR30K1 HG-JR37K1
14 (AWG 6) (Note)
Wires [mm ] 2) B1/B2
3) BU/BV/BW
1.25 (AWG 16)
22 (AWG 4) (Note) 38 (AWG 2) (Note) 60 (AWG 2/0) (Note) 3.5 (AWG 12) (Note) 5.5 (AWG 10) (Note)
HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14
1.25 (AWG 16)
1.25 (AWG 16)
8 (AWG 8) (Note) 14 (AWG 6) (Note)
1.25 (AWG 16)
22 (AWG 4) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
(4) HG-RR series 2
Wires [mm ]
Servo motor
1) U/V/W/
HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503
2) B1/B2
2 (AWG 14) 3.5 (AWG 12)
1.25 (AWG 16)
5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
(5) HG-UR series 2
Wires [mm ]
Servo motor
1) U/V/W/
HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
1.25 (AWG 16) 2 (AWG 14) 3.5 (AWG 12)
2) B1/B2
1.25 (AWG 16)
5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
4 - 17
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4.4 Servo amplifier terminal section POINT For the sizes of wires used for wiring, refer to section 4.3. The drive unit do not have these connectors. To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors. The following table shows the connectors to be connected to the servo amplifiers. The numbers in the rated output field of the table indicate the symbol filling the underline "_" in the servo amplifier model. For details of the connectors, refer to (1) of this section. For wiring, refer to (2) of this section. Servo amplifier
10
20
MR-J4-_A MR-J4-_A-RJ MR-J4-_B MR-J4-_B-RJ MR-J4-_B-RJ010 MR-J4-_B-RJ020
40
60
70
100
Rated output 200 350
Connector A
500
Connector B
60
MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ MR-J4-_B4-RJ010 MR-J4-_B4-RJ020
100
200
350
Rated output 500 700
Connector D
11K
15K
None (terminal block) (Note)
Note. For details on the terminal block, refer to each servo amplifier instruction manual.
Servo amplifier MR-J4-_A1 MR-J4-_A1-RJ MR-J4-_B1 MR-J4-_B1-RJ MR-J4-_B1-RJ020
Servo amplifier MR-J4W2-_B MR-J4W3-_B
10
Rated output 20 40
Connector A
22 (222)
Rated output (Note) 44 (444) 77 Connector C
Connector C
Note. The numbers in parentheses are for the MR-J4 3-axis servo amplifier.
4 - 18
1010
11K
15K
None (terminal block) (Note)
Note. For details on the terminal block, refer to each servo amplifier instruction manual.
Servo amplifier
700
22K
22K
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (1) Connector details (a) Connector A Servo amplifier
CNP3
Table 4.1 Connector and applicable wire Applicable wire
Connector
Receptacle assembly
CNP3
03JFAT-SAXGDK-H7.5
Wire size
Insulator OD
Stripped length [mm]
Open tool
Manufacturer
AWG 18 to 14
3.9 mm or less
9
J-FAT-OT
JST
(b) Connector B MR-J4-200_(-RJ_) Servo amplifier
MR-J4-350_(-RJ_) Servo amplifier
CNP3 CNP3
Table 4.2 Connector and applicable wire Connector
Receptacle assembly
CNP3
03JFAT-SAXGFK-XL
Applicable wire Wire size
Insulator OD
Stripped length [mm]
Open tool
Manufacturer
AWG 16 to 10
4.7 mm or less
11.5
J-FAT-OT-EXL
JST
4 - 19
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (c) Connector C MR-J4W_ Servo amplifier
CNP3A CNP3B CNP3C (Note)
Note. This figure shows the MR-J4 3-axis servo amplifier.
Table 4.3 Connector and applicable wire Connector
Receptacle assembly
Applicable wire size
Stripped length [mm]
Open tool
Manufacturer
CNP3A CNP3B CNP3C
04JFAT-SAGG-G-KK
AWG 18 to 14
9
J-FAT-OT-EXL
JST
(d) Connector D Servo amplifier
CNP3
Table 4.4 Connector and applicable wire Connector
Receptacle assembly
CNP3
03JFAT-SAXGDK-HT10.5
Applicable wire size Wire size Insulator OD AWG 16 to 14
3.9 mm or less
4 - 20
Stripped length [mm]
Open tool
Manufacturer
10
J-FAT-OT-XL
JST
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR (2) Cable connection procedure (a) Cable making Refer to table 4.1 to 4.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status. Insulator
Core
Stripped length
Twist strands slightly and straighten them as follows.
Loose and bent strands
Twist and straighten the strands.
(b) Inserting wire Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable insulator does not get caught by the spring. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the 03JFAT-SAXGFK-XL. 1) Push down the open tool. 3) Release the open tool to fix the wire.
2) Insert the wire.
4 - 21
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
MEMO
4 - 22
5. WIRING OPTION 5. WIRING OPTION
WARNING
Before connecting any option, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier (converter unit).
CAUTION
Use specified options. Otherwise, it may cause a malfunction or fire. MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. Using contacts for other plugs may damage the connector. Be sure to use the enclosed contacts. POINT We recommend using HIV wires to wire the servo motors, options, and peripheral equipment. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit".
5.1 Cable/connector sets POINT The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo motor. If the IP rating of the cable, connector and servo motor vary, the overall IP rating depends on the lowest IP rating of all components. Please purchase the cable and connector options indicated in this section for the servo motor.
5- 1
5. WIRING OPTION 5.1.1 Combinations of cable/connector sets (1) HG-MR series/HG-KR series servo motor MR-J4 1-axis servo amplifier
Direct connection (cable length 10 m or less, IP65)
13) 14) 15) 16)
CNP3 (Note 1)
Junction connection (cable length more than 10 m, IP65)
CN2
24) 25)
22) 23)
42) CN4 26)
or MR-BAT6V1BJ MR-J4 multi-axis servo amplifier CNP3A
Junction connection (cable length more than 10 m, IP20)
19) 20)
17) 18)
CNP3B CN2A CN2B
CNP3C (Note 3) (Note 2)
21) To 24 V DC power supply for electromagnetic brake
CN2C (Note 2)
11) 12)
7) 8) 9) 10) 5) 6) 1) 2) 3) 4)
Power supply connector
Electromagnetic brake connector
Encoder connector
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. This connection is for the MR-J4 3-axis servo amplifier. 3. Refer to Appendix 7 for the crimp connector for CNP3_.
(2) HG-SR series/HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HG-JR12K1(4)/HG-RR series/HG-UR series servo motor MR-J4 1-axis servo amplifier CNP3 (Note 1)
26) 34) 35) 36) 41) CN2 42)
24) 25) 40)
CN4 or MR-BAT6V1BJ MR-J4 multi-axis servo amplifier CNP3A
30) 31) 32) 33) 39) 27) 28) 29) 37) 38)
CNP3B CNP3C (Note 3) (Note 2)
CN2A CN2B Power supply connector
CN2C (Note 2)
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block. 2. This connection is for the MR-J4 3-axis servo amplifier. 3. Refer to Appendix 7 for the crimp connector for CNP3_.
5- 2
Electromagnetic brake connector
Encoder connector
5. WIRING OPTION (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Servo amplifier 41)
CN2
40) (Note) 42)
CN4
43)
Terminal box
MR-BAT6V1BJ
Cooling fan connector
Encoder connector
Note. MR-ENECBL_M-H cannot be used.
5.1.2 Cable and connector list No. 1)
Name Servo motor power cable
2)
Servo motor power cable
3)
Servo motor power cable
Model
Description
MRPWS1CBL_MA1-L (Note 1, 2) Cable length: 2/5/10 m Refer to section 5.3 for details. MRPWS1CBL_MA1-H (Note 1) Cable length: 2/5/10 m
MRPWS1CBL_MA2-L (Note 1, 2) Cable length: 2/5/10 m
Remarks
Power supply connector HG-MR series HG-KR series
Power supply connector HG-MR series HG-KR series Refer to section 5.3 for details.
4)
Servo motor power cable
MRPWS1CBL_MA2-H (Note 1) Cable length: 2/5/10 m
5)
Servo motor power cable
MRPWS2CBL03M -A1-L (Note 1) Cable length: 0.3 m
Power supply connector HG-MR series HG-KR series
IP65 Load-side lead EN compliant IP65 Load-side lead Long bending life EN compliant IP65 Opposite to load-side lead EN compliant IP65 Opposite to load-side lead Long bending life EN compliant IP55 Load-side lead EN compliant
Refer to section 5.3 for details. 6)
Servo motor power cable
MRPWS2CBL03M -A2-L (Note 1) Cable length: 0.3 m
Power supply connector HG-MR series HG-KR series Refer to section 5.3 for details.
5- 3
IP55 Opposite to load-side lead EN compliant
5. WIRING OPTION No. 7)
Name Electromagnetic brake cable
8)
Electromagnetic brake cable
9)
Electromagnetic brake cable
10)
Electromagnetic brake cable
11)
Electromagnetic brake cable
Model
Description
MRBKS1CBL_MA1-L Cable length: 2/5/10 m Refer to section 5.4 for details. MRBKS1CBL_MA1-H Cable length: 2/5/10 m MRBKS1CBL_MA2-L Cable length: 2/5/10 m MRRefer to section 5.4 for details. BKS1CBL_MA2-H Cable length: 2/5/10 m
MRBKS2CBL03MA1-L Cable length: 0.3 m
Remarks
Electromagnetic brake connector HG-MR series HG-KR series
Electromagnetic brake connector HG-MR series HG-KR series
Electromagnetic brake connector HG-MR series HG-KR series
IP65 Load-side lead
IP65 Load-side lead Long bending life IP65 Opposite to load-side lead IP65 Opposite to load-side lead Long bending life IP55 Load-side lead
Refer to section 5.4 for details. 12)
13)
Electromagnetic brake cable
Encoder cable
14)
Encoder cable
15)
Encoder cable
16)
Encoder cable
17)
Encoder cable
MRBKS2CBL03MA2-L Cable length: 0.3 m
Electromagnetic brake connector HG-MR series HG-KR series
Refer to section 5.4 for details. MRJ3ENCBL_MA1-L (Note 1) Cable length: 2/5/10 m MRRefer to section 5.2 (1) for details. J3ENCBL_MA1-H (Note 1) Cable length: 2/5/10 m MRJ3ENCBL_MA2-L (Note 1) Cable length: 2/5/10 m Refer to section 5.2 (1) for details. MRJ3ENCBL_MA2-H (Note 1) Cable length: 2/5/10 m
MRJ3JCBL03MA1-L (Note 1) Cable length: 0.3 m
Encoder connector
Encoder connector HG-MR series HG-KR series
HG-MR series HG-KR series
5- 4
IP65 Load-side lead
HG-MR series HG-KR series
Encoder connector
Refer to section 5.2 (3) for details.
IP55 Opposite to loadside lead
IP65 Load-side lead Long bending life IP65 Opposite to loadside lead IP65 Opposite to loadside lead Long bending life IP20 Load-side lead
5. WIRING OPTION No. 18)
Name Encoder cable
19)
Encoder cable
20)
Encoder cable
21)
Encoder connector set
Model
Description
MRJ3JCBL03MA2-L (Note 1) Cable length: 0.3 m
Remarks
Encoder connector HG-MR series HG-KR series
Refer to section 5.2 (3) for details. MR-EKCBL_ML Cable length: HG-MR/HG-KR series 20/30 m Refer to section 5.2 (2) for details. MR-EKCBL_MH Cable length: 20/30/40/50 m MR-ECNM
IP20 Opposite to load-side lead
IP20
IP20 Long bending life IP20
HG-MR/HG-KR series Refer to section 5.2 (2) for details. 22)
Encoder cable
MRJ3JSCBL03MA1-L (Note 1) Cable length: 0.3 m
Encoder connector
IP65 Load-side lead
HG-MR series HG-KR series Refer to section 5.2 (4) for details.
23)
Encoder cable
MRJ3JSCBL03MA2-L (Note 1) Cable length: 0.3 m
Encoder connector
IP65 Load-side lead
HG-MR series HG-KR series Refer to section 5.2 (4) for details.
24)
Encoder cable
25)
Encoder cable
26)
Encoder connector set
MRJ3ENSCBL_ML (Note 1) Cable length: 2/5/10/20/30 m
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.
IP67 Standard bending life
IP67 Long bending life
MRJ3ENSCBL_MH (Note 1) Cable length: 2/5/10/20/30/40 /50 m MR-J3SCNS (Note 1)
IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.
5- 5
5. WIRING OPTION No.
Name
27)
Power connector set
28)
29)
30)
31)
Power connector set
Power connector set
Model MR-PWCNS4
MR-PWCNS5
MR-PWCNS3
Electromagnetic brake connector set
MR-BKCNS1 (Note 1)
Electromagnetic brake connector set
MR-BKCNS1A (Note 1)
Description Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-D (DDK) Applicable cable 2 Applicable wire size: 2 mm (AWG 14) to 2 3.5 mm (AWG 12) Cable OD: 10.5 mm to 14.1 mm
Plug: CE05-6A22-22SD-D-BSS Cable clamp: CE3057-12A-1-D (DDK) Applicable cable 2 Applicable wire size: 5.5 mm (AWG 10) to 2 8 mm (AWG 8) Cable OD: 12.5 mm to 16 mm
Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (DDK) Applicable cable 2 Applicable wire size: 14 mm (AWG 6) to 2 22 mm (AWG 4) Cable OD: 22 mm to 23.8 mm
Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)
Remarks
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
HG-SR121 HG-SR201 HG-SR301 HG-SR202(4) HG-SR352(4) HG-SR502(4) HG-JR353 HG-JR503
HG-SR421 HG-SR702(4) HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4)
IP67 EN compliant
IP67 EN compliant
IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4)
Angle plug: CMV1-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)
IP67
HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4)
5- 6
IP67 EN compliant
5. WIRING OPTION No. 32)
33)
Name
Model
Electromagnetic brake connector set
MR-BKCNS2
Electromagnetic brake connector set
MR-BKCNS2A
Description Straight plug: CMV1S-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)
Remarks IP67 HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4)
Angle plug: CMV1S-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)
IP67
HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) 34)
Encoder Connector set
MR-ENCNS2
IP67 HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.
35)
Encoder Connector set
MR-J3SCNSA (Note 1)
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. 36)
Encoder Connector set
MR-ENCNS2A
37)
Power connector set
MR-PWCNS1
38)
Power connector set
MR-PWCNS2
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D HG-RR103 (DDK) HG-RR153 Applicable cable 2 2 HG-RR203 Applicable wire size: 2 mm to 3.5 mm HG-UR72 (AWG 14 to 12) HG-UR152 Cable OD: 9.5 mm to 13 mm Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Applicable cable 2 2 Applicable wire size: 5.5 mm to 8 mm (AWG 10 to 8) Cable OD: 13 mm to 15.5 mm
5- 7
HG-RR353 HG-RR503 HG-UR202 HG-UR352 HG-UR502
IP65 EN compliant
5. WIRING OPTION No. 39)
40)
Name
Model
Electromagnetic brake connector set
MR-BKCN
Encoder cable
MR-ENECBL_ M-H-MTH
Description Plug: D/MS3106A10SL-4S(D190) (DDK) Cable clamp: YSO10-5-8 (Daiwa Dengyo) Applicable cable 2 2 Applicable wire size: 0.3 mm to 1.25 mm (AWG 22 to 16) Cable OD: 5 mm to 8.3 mm
Remarks
HG-UR202 HG-UR352 HG-UR502 HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4)
HG-JR701M(4)/HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/HG-JR15K1(4)/HG-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4) Refer to section 5.2 (6) for details. 41)
Encoder connector set
IP65 EN compliant
IP67 Long bending life
IP67
MR-ENECNS HG-JR701M(4)/HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/HG-JR15K1(4)/HG-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4) Refer to section 5.2 (6) for details.
42)
Junction battery cable
43)
Cooling fan power MR-PWCNF connector set
Only for MRBAT6V1BJ
MRBT6VCBL03M Refer to section 5.2 (7) for details. Plug: CE05-6A14S-2SD-D (DDK) Cable clamp: YSO14-9 to 11 (Daiwa Dengyo) Applicable cable 2 2 Applicable wire size: 0.3 mm to 1.25 mm (AWG 22 to 16) Cable OD: 8.3 mm to 11.3 mm
HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4)
IP67 EN compliant
Note 1. The cable and the connector set may contain different connectors but still usable. 2. For servo motor power cable, MR-PWS3CBL_M-A_-L using shielded cable is also available. For details, contact your local sales office.
5- 8
5. WIRING OPTION 5.2 Encoder cable/connector sets POINT For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.
Cable Ground plate
Screw
5- 9
5. WIRING OPTION (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable length IP rating 2 m 5 m 10 m
Cable model
Bending life
MR-J3ENCBL_M-A1-L
2
5
10
IP65
Standard
MR-J3ENCBL_M-A1-H
2
5
10
IP65
Long bending life
MR-J3ENCBL_M-A2-L
2
5
10
IP65
Standard
IP65
Long bending life
MR-J3ENCBL_M-A2-H
2
5
10
Application
Load-side lead for HG-MR/HG-KR
Opposite to load-side lead for HGMR/HG-KR
(a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier
MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H
CN2
1)
Servo motor HG-MR HG-KR
or
or MR-J4 multi-axis servo amplifier
MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H
CN2A CN2B CN2C
2)
2) Servo motor HG-MR HG-KR
(Note) 1)
Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-J3ENCBL_M-A1-L
MR-J3ENCBL_M-A1-H
1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M or equivalent) 2 LG
4
6
8
10
MRR
1 P5 MR-J3ENCBL_M-A2-L
3 MR
5
7
9 BAT
View seen from wiring side. (Note)
MR-J3ENCBL_M-A2-H
2) Encoder-side connector
Connector set: 54599-1019 (Molex)
or
2 LG
4
6
8
10
5
7
9
Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)
MRR
1 3 P5 MR
BAT
View seen from wiring side. (Note)
9 SHD 7 5 MR 3 P5 1
8 6 LG 4 MRR 2 BAT
View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided (Note) for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the external conductor of the shielded cable to Note. Keep open the pins shown with . the ground plate and fix it to the connector shell.
5 - 10
5. WIRING OPTION (b) Cable internal wiring diagram CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD
Encoder-side connector
1 2 3 4 9 Plate
3 6 5 4 2 9
P5 LG MR MRR BAT SHD
(2) MR-EKCBL_M-_ POINT The following encoder cables are of four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H When using any of these encoder cables, select "four-wire type" referring each servo amplifier instruction manual. If the setting is incorrect, [AL. 16] occurs. The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable model
Cable length IP rating 20 m 30 m 40 m 50 m
MR-EKCBL_M-L
20
MR-EKCBL_M-H
20
(Note)
30 (Note) (Note) (Note)
30
40
50
Note. Four-wire type cable
5 - 11
Bending life
IP20
Standard
IP20
Long bending life
Application For HG-MR/HG-KR Use in combination with MRJ3JCBL03M-_-L.
5. WIRING OPTION (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier CN2
MR-EKCBL_M-L MR-EKCBL_M-H
or MR-J4 multi-axis servo amplifier
MR-J3JCBL03M-A2-L Cable length: 0.3 m Servo motor HG-MR HG-KR
1)
CN2A CN2B CN2C
2)
(Note)
Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-EKCBL_M-L
1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)
2 LG
4
6
MRR
MR-EKCBL_M-H
1 P5
3 MR
8
10
MDR
5
7 MD
9 BAT
View seen from wiring side. (Note)
2) Junction connector
Connector set: 54599-1019 (Molex)
or
2 LG
4
6
MRR
1 3 P5 MR
8
10
MDR
5
7 MD
9 BAT
View seen from wiring side. (Note)
Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
5 - 12
Housing: 1-172161-9 Connector pin: 170359-1 Crimping tool: 91529-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) 1 2 3 MR MRR BAT 4 5 6 MD MDR CONT 7 8 9 P5 LG SHD
View seen from wiring side.
5. WIRING OPTION (b) Internal wiring diagram MR-EKCBL30M-L
MR-EKCBL20M-L
CN2, CN2A, CN2B, and CN2C side connector
Junction connector
1 2
7 8
P5 LG
P5 LG
1 2
7 8
P5 LG
3 4 9 Plate
1 2 3 9
MR MRR BAT SHD
MR MRR MD MDR BAT
3 4 7 8 9
1 2 4 5 3 6 9
MR MRR MD MDR BAT CONT SHD
P5 LG
MR MRR BAT SD
(Note)
CN2, CN2A, CN2B, and CN2C side connector
SD
Plate
P5 LG
MR MRR BAT SD
(Note)
MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
MR-EKCBL20M-H
CN2, CN2A, CN2B, and CN2C side connector
Junction connector
CN2, CN2A, CN2B, and CN2C side connector
Junction connector
Junction connector
1 2
7 8
P5 LG
P5 LG
1 2
7 8
P5 LG
3 4 9 Plate
1 2 3 9
MR MRR BAT SHD
MR MRR MD MDR BAT
3 4 7 8 9
1 2 4 5 3 6 9
MR MRR MD MDR BAT CONT SHD
(Note)
SD
Plate
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.
When fabricating the cable, use the wiring diagram corresponding to the length indicated below. Cable bending life Standard Long bending life
Applicable wiring diagram Less than 30 m 30 m to 50 m MR-EKCBL20M-L MR-EKCBL20M-H
5 - 13
MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the cable to use. Parts Connector set
Description MR-ECNM
CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)
Encoder-side connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)
(3) MR-J3JCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-EKCBL_M-_) is required. Cable model
Cable length
IP rating
Bending life
Application
Standard
Load-side lead for HG-MR/HG-KR Use in combination with MREKCBL_M-_. Opposite to load-side lead for HGMR/HG-KR Use in combination with MREKCBL_M-_.
MR-J3JCBL03M-A1-L 0.3 m MR-J3JCBL03M-A2-L
5 - 14
IP20
5. WIRING OPTION (a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier MR-J3JCBL03M-A1-L 2)
CN2
Servo motor HG-MR HG-KR
1) or MR-J4 multi-axis servo amplifier
MR-EKCBL_M-_ or MR-J3JCBL03M-A2-L 2)
CN2A CN2B CN2C
Servo motor HG-MR HG-KR
(Note) 1)
Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model
1) Junction connector
2) Encoder-side connector
Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)
MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity)
9 SHD 7 MDR 5 MR 3 P5 1 CONT
3 2 1 BAT MRR MR 6 5 4 CONT MDR MD 9 8 7 SHD LG P5
MR-J3JCBL03M-A2-L
8 MD 6 LG 4 MRR 2 BAT
View seen from wiring side.
View seen from wiring side.
(b) Internal wiring diagram Junction connector
Encoder-side connector
P5 LG MR MRR MD MDR BAT CONT
7 8 1 2 4 5 3 6
3 6 5 4 8 7 2 1
P5 LG MR MRR MD MDR BAT CONT
SHD
9
9
SHD
5 - 15
5. WIRING OPTION (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required. Cable model
Cable length
IP rating
Bending life
MR-J3JSCBL03M-A1-L 0.3 m
IP65
Standard
MR-J3JSCBL03M-A2-L
Application For HG-KR/HG-MR Load-side lead Use in combination with MRJ3ENSCBL_M-_. For HG-KR/HG-MR Opposite to load-side lead Use in combination with MRJ3ENSCBL_M-_.
(a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier
MR-J3JSCBL03M-A1-L
CN2
(Note 2) MR-J3ENSCBL_M-_
or MR-J4 multi-axis servo amplifier CN2A CN2B CN2C
2)
Servo motor HG-MR HG-KR
1)
or MR-J3JSCBL03M-A2-L 2) Servo motor HG-MR HG-KR
(Note 1) 1)
Note 1. This connection is for the MR-J4 3-axis servo amplifier. 2. For details of this cable, refer to (5) in this section. Cable model
1) Junction connector
2) Encoder-side connector
MR-J3JSCBL03M-A1-L Receptacle: CM10-CR10P-M (DDK) Applicable wire size: AWG 20 or less
3 7
MR-J3JSCBL03M-A2-L
2
10 SHD
1 MR
MRR
6
5 LG 9
Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)
9 SHD 7 5 MR 3 P5 1
4
BAT
8 P5
View seen from wiring side. (Note)
Note. Keep open the pins shown with
.
5 - 16
8 6 LG 4 MRR 2 BAT
View seen from wiring side. (Note)
Note. Keep open the pins shown with
.
5. WIRING OPTION (b) Internal wiring diagram Junction connector
Encoder-side connector
8 5 1 2 6 7 4 3
3 6 5 4 8 7 2 1
P5 LG MR MRR
10
9
SHD
P5 LG MR MRR
BAT SHD
BAT
(5) MR-J3ENSCBL_M-_ These cables are encoder cables for the HG-MR/HG-KR/HG-SR/HG-RR/HG-UR series/HGJR53(4)/HGJR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/HGJR703(4) and HG-JR903(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable model
2m
Cable length IP rating 5 m 10 m 20 m 30 m 40 m 50 m
MR-J3ENSCBL_M-L
2
5
10
20
30
MR-J3ENSCBL_M-H
2
5
10
20
30
40
50
Bending life
IP67
Standard
IP67
Long bending life
Application For HG-MR/HG-KR/HG-SR/ HG-RR/HG-UR series/ HG-JR53(4)/HGJR73(4)/ HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/ HG-JR503(4)/HG-JR703(4) and HG-JR903(4)
(a) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier CN2 MR-J3ENSCBL_M-L MR-J3ENSCBL_M-H or MR-J4 multi-axis servo amplifier CN2A CN2B CN2C
1) (Note)
Note. This connection is for the MR-J4 3-axis servo amplifier.
5 - 17
2)
Servo motor HG-SR HG-RR HG-UR HG-JR53(4) to HG-JR903(4)
5. WIRING OPTION
Cable model MR-J3ENSCBL_ML
1) CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 2 LG
4
6
8
10
2) Encoder-side connector Cable length 10 m or shorter
Plug (DDK)
Bending life
Straight plug
Socket contact
Long bending life Standard
CMV1-#22ASC-C1-100 Applicable wire size: AWG 24 to 20 Crimping tool:357J-53162T
CMV1-SP10S-M1
MRR
1 P5
3 MR
5
7
9 BAT
20 m or longer
Long bending life Standard
CMV1-#22ASC-C2-100 Applicable wire size: AWG 28 to 24 Crimping tool:357J-53163T
CMV1-SP10S-M2
View seen from wiring side. (Note)
or
3
Connector set: 54599-1019 (Molex)
7
2
6 10
5 LG 9
SHD
MR-J3ENSCBL_MH
2 LG
4
6
8
5
7
1 MR
MRR
4
BAT
8 P5
10
MRR
1 3 P5 MR
View seen from wiring side. (Note)
9 BAT
Note. Keep open the pins shown with View seen from wiring side. (Note)
Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
5 - 18
.
5. WIRING OPTION (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3ENSCBL10M-H
CN2, CN2A, CN2B, and CN2C side connector P5 LG MR MRR BAT SD
MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L
Encoder-side connector
1 2 3 4 9 Plate
8 5 1 2 4 10
P5 LG MR MRR BAT SHD
CN2, CN2A, CN2B, and CN2C side connector P5 LG
MR MRR BAT SD
(Note)
Encoder-side connector
1 2
8 5
P5 LG
3 4 9 Plate
1 2 4 10
MR MRR BAT SHD
(Note) MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H
CN2, CN2A, CN2B, and CN2C side connector P5 LG
MR MRR BAT SD
Encoder-side connector
1 2
8 5
P5 LG
3 4 9 Plate
1 2 4 10
MR MRR BAT SHD
(Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.
5 - 19
5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the used cable. Parts (Connector set) MR-J3SCNS (one-touch connection type) (Note) MR-ENCNS2 (screw type) (Note)
Description Servo amplifier side connector
Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)
MR-J3SCNSA (one-touch connection type) (Note)
Encoder-side connector (DDK)
Straight plug: CMV1-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less
Straight plug: CMV1S-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less
Angle plug: CMV1-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less
MR-ENCNS2A (screw type) (Note) Angle plug: CMV1S-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less Note. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.
5 - 20
5. WIRING OPTION (6) MR-ENECBL_M-H-MTH These cables are encoder cables for HG-JR701M(4), HG-JR11K1M(4), HG-JR15K1M(4), HGJR22K1M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, HG-JR601(4), HGJR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HGJR37K1(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Cable model
Cable length IP rating 5 m 10 m 20 m 30 m 40 m 50 m
2m
MR-ENECBL_M-H-MTH
2
5
10
20
30
40
50
IP67
Bending life
Application
Long bending life
For HG-JR701M(4), HG-JR11K1M(4), HG-JR15K1M(4), HG-JR22K1M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, HG-JR601(4), HG-JR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HG-JR37K1(4)
(a) Connection of servo amplifier and servo motor Servo amplifier
2)
MR-ENECBL_M-H-MTH
Servo motor HG-JR701M(4) to HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR601(4) to HG-JR37K1(4)
CN2
1)
Cable model MR-ENECBL_M-HMTH
1) CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)
2 LG
4
6 THM2
8
10
MRR
1 P5
3 MR
5 THM1
7
9 BAT
View seen from wiring side. (Note)
2) Encoder-side connector
Connector set: 54599-1019 (Molex)
or
2 LG
4
6
8
10
7
9
Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D
L
MRR THM2
1 3 P5 MR
5 THM1
K J
BAT
View seen from wiring side. (Note)
Note. Do not connect anything to the pins shown as . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
A B C N D T P E S R
M
H
G
F
View seen from wiring side. (Note) Pin A B C D E F G H
Signal
MR MRR BAT LG
Pin
Signal
K L M N P R S T
THM1 THM2 SHD LG P5
J Note.
5 - 21
Do not connect anything to the pins . shown as
5. WIRING OPTION (b) Cable internal wiring diagram MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH MR-ENECBL10M-H-MTH
MR-ENECBL20M-H-MTH
CN2-side connector
Encoder-side connector
P5 LG
1 2
S R
P5 LG
MR MRR THM1 THM2 BAT
3 4 5 6 9
C D
MR MRR
K L F G
THM1 THM2 BAT LG
N
SHD
Plate
SD
(Note 1) (Note 2)
CN2-side connector
Encoder-side connector
P5 LG
1 2
S R
P5 LG
MR MRR THM1 THM2 BAT
3 4 5 6 9
C D K
MR MRR THM1
L F G
THM2 BAT LG
N
SHD
SD
Plate (Note 1) (Note 2)
MR-ENECBL30M-H-MTH MR-ENECBL40M-H-MTH MR-ENECBL50M-H-MTH CN2-side connector
Encoder-side connector
P5 LG
1 2
S R
P5 LG
MR MRR THM1 THM2 BAT
3 4 5 6 9
C D K L F G
MR MRR THM1 THM2 BAT LG
N
SHD
SD
Plate (Note 1) (Note 2)
Note 1. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. 2. Always make connection for use with the following servo motors. Wiring is not necessary for use with other servo motors. HG-JR22K1M(4)
HG-JR15K1(4)
HG-JR30K1M(4)
HG-JR20K1(4)
HG-JR37K1M(4)
HG-JR25K1(4)
HG-JR45K1M4
HG-JR30K1(4)
HG-JR55K1M4
HG-JR37K1(4)
5 - 22
5. WIRING OPTION (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the cable to use. Parts (Connector set)
Description Servo amplifier-side connector
Encoder-side connector (DDK)
MR-ENECNS Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)
Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D
(7) MR-BT6VCBL03M This cable is a battery connection cable. Using this cable with an MR-BAT6V1BJ enables to hold absolute position data recorded in the encoder even if they are disconnected from the servo amplifier. Additionally, you can change the battery with the control circuit power supply off. For details, refer to each servo amplifier instruction manual. Cable model
Cable length
MR-BT6VCBL03M
Application For HG-MR/HG-KR/HG-SR/HG-JR/HGRR/HG-UR series
0.3 m
Connection of servo amplifier and servo motor Servo amplifier
1)
MR-BT6VCBL03M
2) (Note) Encoder cable
CN2 CN4
3) Black: Connector for branch cable HG series servo motors MR-BAT6V1BJ Orange: Connector for servo amplifier Note. For the encoder cable, refer to (1) to (6) of this section. Cable model MR-BT6VCBL03M
1) CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)
2) Junction connector Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)
5 - 23
3) Battery connector Connector: DF3-2EP-2C Contact: DF3-EP2428PCFA (Hirose Electric)
5. WIRING OPTION 5.3 Servo motor power cable These cables are servo motor power cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Refer to section 4.2.1 for wiring. Cable length IP rating 0.3 m 2 m 5 m 10 m
Cable model
Bending life
Application Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR
MR-PWS1CBL_M-A1-L
2
5
10
IP65
Standard
MR-PWS1CBL_M-A2-L
2
5
10
IP65
Standard
MR-PWS1CBL_M-A1-H
2
5
10
IP65
MR-PWS1CBL_M-A2-H
2
5
10
IP65
MR-PWS2CBL03M-A1-L
03
IP55
Long bending life Long bending life Standard
MR-PWS2CBL03M-A2-L
03
IP55
Standard
Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR
(1) Connection of servo amplifier and servo motor MR-J4 1-axis servo amplifier
MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A1-H MR-PWS2CBL03M-A1-L
Connector for CNP3 packed with the servo amplifier
1)
CNP3
or or MR-J4 multi-axis servo amplifier
MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A2-H MR-PWS2CBL03M-A2-L
CNP3A
Servo motor HG-MR HG-KR
1)
CNP3B
Servo motor HG-MR HG-KR
CNP3C (Note)
Connector for CNP3A, CNP3B and CNP3C packed with the servo amplifier
Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H
1) Servo motor power-side connector Connector: KN4FT04SJ1-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (JAE)
Connector: KN4FT04SJ2-R Hood, socket insulator MR-PWS2CBL03M-A1-L Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) MR-PWS2CBL03M-A2-L Crimping tool: CT160-3-TMH5B (JAE)
5 - 24
1 2 U 3 V 4 W View seen from wiring side.
5. WIRING OPTION (2) Internal wiring diagram (Red) (White) (Black) (Green/yellow)
(Note)
U V W
Note. These are not shielded cables.
5.4 Electromagnetic brake cable These cables are electromagnetic brake cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available. Refer to section 4.2.1 for wiring. Cable model
Cable length IP rating 0.3 m 2 m 5 m 10 m
Bending life
Application Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR
MR-BKS1CBL_M-A1-L
2
5
10
IP65
Standard
MR-BKS1CBL_M-A2-L
2
5
10
IP65
Standard
MR-BKS1CBL_M-A1-H
2
5
10
IP65
MR-BKS1CBL_M-A2-H
2
5
10
IP65
MR-BKS2CBL03M-A1-L
03
IP55
Long bending life Long bending life Standard
MR-BKS2CBL03M-A2-L
03
IP55
Standard
5 - 25
Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR Load-side lead for HG-MR/HG-KR Opposite to load-side lead for HGMR/HG-KR
5. WIRING OPTION (1) Connection of power supply for electromagnetic brake and servo motor MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L 24 V DC power supply for electromagnetic brake
1) Servo motor HG-MR HG-KR
or
+ -
MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L
1) Servo motor HG-MR HG-KR
Cable model
1) Connector for electromagnetic brake
MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
Connector: JN4FT02SJ1-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (JAE)
1 B1 2 B2 View seen from wiring side.
Connector: JN4FT02SJ2-R Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (JAE)
(2) Internal wiring diagram AWG 20 (Note)
AWG 20
Note. These are not shielded cables.
5 - 26
B1 B2
5. WIRING OPTION 5.5 Wires for option cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 5.1 Wires for option cables Characteristics of one core Type
Model
MR-J3ENCBL_MA1-L MR-J3ENCBL_MA2-L MR-J3ENCBL_MA1-H MR-J3ENCBL_MA2-H MR-J3JCBL03MA1-L MR-J3JCBL03MA2-L
Length [m]
Core size
Number Structure of cores
[Wires/mm] [Ω/km]
2 to 10
AWG 22
2 to 10
AWG 22
0.3
AWG 26
AWG 28
6 (3 pairs)
6 (3 pairs)
8 (4 pairs)
4 (2 pairs)
AWG 22
20
30
AWG 23 2
2 to 10
0.2 mm
20
AWG 24
Encoder cable
30 to 50 AWG 24
MR-J3JSCBL03MA2-L
12 (6 pairs)
12 (6 pairs)
MR-EKCBL_M-H
MR-J3JSCBL03MA1-L
2
0.3
AWG 26
2 to 10
AWG 22
20/30
AWG 23
2 to 10
AWG 22
MR-J3ENSCBL_ M-L
12 (6 pairs)
14 (7 pairs)
8 (4 pairs)
6 (3 pairs)
12 (6 pairs)
6 (3 pairs)
OD d [mm]
7/0.26
1.18
7.1
70/0.08
56 or less
1.17
7.1
30/0.08
233 or less
1.2
7.1 ± 0.3
7/0.127
232 or less
1.18
17/0.16
28.7 or less
1.50
12/0.18
63.6 or less
1.2
40/0.08
105 or less
0.88
40/0.08
105 or less
0.88
40/0.08
105 or less
0.88
7/0.16
146 or less
1.0
7/0.26
53 or less
1.18
12/0.18
63.3 or less
1.2
70/0.08
56 or less
1.17
40/0.08
105 or less
0.88
40/0.08
105 or less
0.88
40/0.08
105 or less
0.88
40/0.08
105 or less
0.88
7.0
MR-J3ENSCBL_ M-H 20 to 50 AWG 24
MR-ENECBL_MH-MTH
2 to 10
0.2 mm
2
20
0.2 mm
2
30 to 50 0.2 mm
2
12 (6 pairs)
8 (4 pairs)
12 (6 pairs)
14 (7 pairs)
Cable OD [mm]
53 or less
2 to 10 MR-EKCBL_M-L
(Note 1) (Note 2)
Conductor Insulator resistance
5 - 27
Wire model (Manufacturer) (Note 3) VSVP 7/0.26 (AWG #22 or equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) TPE SVP 70/0.08 (AWG #22 or equivalent)-3P KB-2237-2 (Bando Densen) T/2464-1061/IIA-SB 4P×26AWG (Taiyo Cabletec) (Note 3) 20276 composite 6-core shielded cable Ban-gi-shi-16395-1 (Bando Densen)
(Note 3) 8.2 ± 0.3 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) A14B2339 6P 7.2 (Junkosha) (Note 3) TPE SVP 40/0.08 (AWG #24 7.2 or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) TPE SVP 40/0.08 (AWG #24 8.0 or equivalent)-7P KB-1929-2 (Bando Densen) (Note 3) VSVP 7/0.16 (AWG #26 or 7.1 ± 0.3 equivalent)-4P Ban-gi-shi-16822 (Bando Densen) (Note 3) VSVP 7/0.26 (AWG #22 or 7.1 equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) 8.2 ± 0.3 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) TPE SVP 70/0.08 (AWG #22 7.1 or equivalent)-3P KB-2237-2 (Bando Densen) (Note 3) TPE SVP 40/0.08 (AWG #24 7.2 or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) 7.2 A14B2339 4P (Junkosha) (Note 3) 7.2 A14B2343 6P (Junkosha) (Note 3) 8.0 J14B0238(0.2*7P) (Junkosha)
5. WIRING OPTION Characteristics of one core
Electromagnetic brake cable
Servo motor power cable
Type
Length [m]
Model
MR-PWS1CBL_ M-A1-L MR-PWS1CBL_ M-A2-L MR-PWS1CBL_ M-A1-H MR-PWS1CBL_ M-A2-H MRPWS2CBL03MA1-L MRPWS2CBL03MA2-L MR-BKS1CBL_ M-A1-L MR-BKS1CBL_ M-A2-L MR-BKS1CBL_ M-A1-H MR-BKS1CBL_ M-A2-H MRBKS2CBL03MA1-L MRBKS2CBL03MA2-L
Core size
Number Structure of cores
[Wires/mm] [Ω/km]
2 to 10
2 to 10
AWG 18
4
34/0.18
AWG 19 2) (0.75 mm
4
150/0.08
29.1 or less
1.63
AWG 19
4
30/0.18
25.8 or less
1.64
1.35
2 to 10 AWG 20
2
21/0.18
34.6 or less
AWG 20
2
110/0.08
39.0 or less
1.37
AWG 20
2
19/0.203
32.0 or less
1.42
2 to 10 2 to 10 2 to 10
-
Insulator
Standard OD. Max. OD is about 10% greater. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch Purchase from Taisei Co., Ltd. These models consist with solid wires. Specify the color, separately.
5 - 28
(Note 3, 5) J11B2330 UL10125 (Junkosha)
(Note 4) HRZFEV-A (CL3) AWG 20 2 4.7 ± 0.1 cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 20 2 4.5 ± 0.3 cores (Dyden)
0.3
0.3
Wire model (Manufacturer)
(Note 4) HRZFEV-A (CL3) AWG 18 4 6.2 ± 0.3 cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 19 4 5.7 ± 0.5 cores (Dyden)
0.3
d
2. 3. 4. 5.
1.71
Cable OD [mm]
0.3
Note 1. The following shows the detail of d.
Conductor
OD d [mm]
21.8 or less
2 to 10 2 to 10
(Note 1) (Note 2)
Conductor Insulator resistance
-
(Note 3, 5) J11B2331 UL10125 (Junkosha)
6. HG-MR SERIES/HG-KR SERIES 6. HG-MR SERIES/HG-KR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGMR/HG-KR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 6.1 Model code definition The following describes what each block of a model name indicates. Not all combinations of the symbols are available. HG-KR1 3B JG1D
Appearance Shaft type
Series
Feature
HG-MR
Ultra-Low inertia/Small capacity
HG-KR
Low inertia/Small capacity
Symbol
Shaft shape
HG-MR_ HG-KR_
None
Standard (straight shaft)
053 to 73
Keyway shaft (with key)
23 to 73
D cut shaft
053/13
(Note 1)
Rated output
K
Symbol Rated output [kW]
(Note 1)
05
0.05
D
1
0.1
Reducer
2
0.2
Symbol
4
0.4
None
None
7
0.75
G1
For general industrial machine (flange-mounting)
G5
Flange-mounting flange output type for high precision application
G7
Flange-mounting shaft output type for high precision application
Rated speed 3000 [r/min] Electromagnetic brake
Oil seal
Symbol Electromagnetic brake None B
Reducer
Symbol
Oil seal
None
None
None
With
(Note 2)
With
J
Note 1. The special shaft applies to the standard servo motor and servo motor with an electromagnetic brake. However, the key shaft (with key) also applies to the servo motor with flange-mounting shaft output type reducer for high precision application. 2. For details, contact your local sales office.
6- 1
6. HG-MR SERIES/HG-KR SERIES 6.2 Combination list of servo motors and servo amplifiers Servo amplifier MR-J4 1-axis
Servo motor 200 V class HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020
100 V class MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020 MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020 MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020
MR-J4 2-axis
MR-J4 3-axis
MR-J4W2-22B MR-J4W2-44B
MR-J4W3-222B MR-J4W3-444B
MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B MR-J4W2-1010B
MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020 MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020 MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020
MR-J4W2-22B MR-J4W2-44B
MR-J4W3-222B MR-J4W3-444B
MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B MR-J4W2-1010B
6- 2
6. HG-MR SERIES/HG-KR SERIES 6.3 Standard specifications 6.3.1 Standard specifications list Servo motor Item Power supply capacity
HG-MR series (ultra-low inertia/small capacity) 053(B)
13(B)
23(B)
43(B)
73(B)
HG-KR series (low inertia/small capacity) 053(B)
13(B)
23(B)
43(B)
73(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4 0.48 0.95 1.9 3.8 7.2 0.56 1.1 2.2 4.5 8.4 3000 3000 6000 6000
Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] 6900 6900 (Note 10) Standard [kW/s] 15.6 33.8 46.9 114.2 97.3 5.63 13.0 18.3 43.7 45.2 Power rate at With an continuous rated electromagnetic brake 11.3 28.0 37.2 98.8 82.1 5.37 12.1 16.7 41.3 41.6 torque [kW/s] Rated current [A] 1.0 0.9 1.5 2.6 5.8 0.9 0.8 1.3 2.6 4.8 Maximum current [A] 3.1 2.5 5.3 9.0 20 3.2 2.5 4.6 9.1 17 Standard 0.0162 0.0300 0.0865 0.142 0.586 0.0450 0.0777 0.221 0.371 1.26 -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic 0.0224 0.0362 0.109 0.164 0.694 0.0472 0.0837 0.243 0.393 1.37 brake -4 2 [× 10 kg•m ] 17 25 35 26 Recommended load to motor inertia ratio times times times 32 times or less 17 times or less times (Note 2, 10) or less or less or less or less 22-bit encoder common to absolute position/incremental systems Speed/position detector (resolution per servo motor revolution: 4194304 pulses/rev) Oil seal None None (Note 11) None None (Note 11) Insulation class 130 (B) Structure Totally-enclosed, natural-cooling (IP rating: IP65 (Note 4, 9)) Operation 0 °C to 40 °C (non-freezing) Ambient temperature Storage -15 °C to 70 °C (non-freezing) Operation 80 %RH or less (non-condensing) Ambient humidity Storage 90 %RH or less (non-condensing) Environment Indoors (no direct sunlight), free from corrosive gas, flammable gas, Ambience oil mist, dust, and dirt Altitude Max. 1000 m above sea level Vibration resistance 2 X, Y: 49 m/s (Note 6) Vibration rank (Note 7) V10 L [mm] 25 30 40 25 30 40 Permissible load for the shaft Radial [N] 88 245 392 88 245 392 (Note 8, 10) Thrust [N] 59 98 147 59 98 147 Standard [kg] 0.34 0.54 0.91 1.4 2.8 0.34 0.54 0.91 1.4 2.8 With an Mass (Note 3) electromagnetic brake 0.54 0.74 1.3 1.8 3.8 0.54 0.74 1.3 1.8 3.8 [kg] Continuous running duty (Note 1)
6- 3
6. HG-MR SERIES/HG-KR SERIES Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Refer to the dimensions for the geared servo motor. 4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m]
the vibration to about half of the permissible value. Note that this does not apply to the geared servo motor. Servo motor
X
Y Vibration
1000
100
10
0
1000 2000 3000 4000 5000 6000 7000
Speed [r/min]
7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor
Top
Measuring position
Bottom
8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load
9. For the geared servo motor, the reducer area is IP44-equivalent. 10. Refer to section 6.6 for the geared servo motor. 11. The servo motors with an oil seal are also available. For details, contact your local sales office.
6- 4
6. HG-MR SERIES/HG-KR SERIES 6.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. For the 1-phase 100 V AC power supply, part of the torque characteristic is indicated by the broken line.
0.1
2000
3000
4000
5000
Speed [r/min]
Short-duration running range
0.4 0.2
Continuous running range
0 0 1000
0.6
0
6000
[HG-KR053]
2000
3000
4000
5000
Speed [r/min]
[HG-KR13]
Continuous running range 2000
3000
4000
5000
Speed [r/min]
0.3 0.2 0.1
Continuous running range
0 0 1000
2000
3000
4000
0.8 0.6 0.4 0.2
5000
Speed [r/min]
6000
Short-duration running range
0 0 1000
2000
3000
4000
1.5
1
0.5
Continuous running range 5000
Speed [r/min]
0 6000
Short-duration running range
Short-duration running range
0 1000
2000
0 1000
2000
3000
4000
5000
1
6000
3000
4000
5000
6- 5
6000
2000
3000
4000
5000
Speed [r/min]
6000
[HG-KR73] 8
4
7
3.5
2.5
Continuous running range
0 0 1000
9
3
Short-duration running range
3
4.5
Short-duration running range
2 1.5
0.5
Speed [r/min]
4
5
1
Continuous running range
5
2
Continuous running range
[HG-KR43]
Torque [N•m]
Short-duration running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
0.4
1.5
Speed [r/min]
2.5
1
2
6000
2 0.5
2.5
0
1.2
0.6
6
3
0.5
[HG-KR23]
1.4
0.7
Short-duration running range
0 0 1000
6000
7
1
0.5
Continuous running range 0 1000
1.5
1
8
4
Torque [N•m]
0.2
0.8
[HG-MR73]
4.5
3.5
Torque [N•m]
Short-duration running range
2
Torque [N•m]
Torque [N•m]
Torque [N•m]
0.4
[HG-MR43]
2.5
1
0.5
0.3
[HG-MR23]
1.2
0.6
Torque [N•m]
[HG-MR13]
[HG-MR053]
6 5 4
Short-duration running range
3 2
Continuous running range
0 0 1000
2000
3000
4000
1 5000
Speed [r/min]
6000
Continuous running range
0 0 1000
2000
3000
4000
5000
Speed [r/min]
6000
6. HG-MR SERIES/HG-KR SERIES 6.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before performing the operation, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item
HG-MR Series/HG-KR Series 13B 23B 43B
053B
Type (Note 1) Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2)
73B
Spring actuated type safety brake 0 24 V DC -10% [W] at 20 °C [Ω] [H] [N•m] [s]
[s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers voltage 125 V to be used For the suppressed (Note 7, 8) voltage 350 V
6.3 91.0 0.15 0.32 0.03 0.01 5.6 56 2.5
7.9 73.0 0.18 1.3 0.03 0.02 22 220 1.2
10 57.0 0.13 2.4 0.04 0.02 64 640 0.9
22
64
20000 5.6
TND20V-680KB TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation.
6- 6
6. HG-MR SERIES/HG-KR SERIES 6.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbols (K and D) in the table are available. K and D are the symbols included in the servo motor model names. Refer to section 6.6.2 (4) for geared servo motors with special shaft. Servo motor
Shaft shape Key shaft (with key) D cut shaft
HG-MR053(B)_ HG-MR13(B)_ HG-KR053(B)_ HG-KR13(B)_ HG-MR23(B)_ HG-MR43(B)_ HG-MR73(B)_ HG-KR23(B)_ HG-KR43(B)_ HG-KR73(B)_
D
K
6.5.1 Key shaft (with 2 round end key) Variable dimension table
R Q
Servo motor QL
S
U W
QK A
A
T
S
R
Q
[Unit: mm] Variable dimensions W QK QL U T
HG-MR23(B)K HG-MR43(B)K 14h6 30 HG-KR23(B)K HG-KR43(B)K
26
5
20
3
3
5
HG-MR73(B)K 19h6 40 HG-KR73(B)K
36
6
25
5
3.5
6
Y
Shaft section view A-A
6.5.2 D cut shaft [Unit: mm]
21.5 20.5
1
25
8h6
6- 7
Y M4 Screw hole depth 15 M5 Screw hole depth 20
6. HG-MR SERIES/HG-KR SERIES 6.6 Geared servo motors
CAUTION
For the geared servo motor, remove the oil before transportation and installation. Tipping over the reducer filled with oil can cause oil leakage. POINT Geared servo motors are not included in the HG-MR series.
Servo motors are available with a reducer designed for general industrial machines and high precision applications. Servo motors with an electromagnetic brake are also available. 6.6.1 For general industrial machines (G1) (1) Reduction ratio The following table indicates the reduction ratios and actual reduction ratios of the geared servo motor for general industrial machines. Servo motor
HG-KR053(B)G1
HG-KR13(B)G1
HG-KR23(B)G1
HG-KR43(B)G1
HG-KR73(B)G1
6- 8
Nominal Actual reduction ratio reduction ratio 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20
9/44 49/576 25/484 9/44 49/576 25/484 19/96 961/11664 513/9984 19/96 961/11664 7/135 1/5 7/87 625/12544
6. HG-MR SERIES/HG-KR SERIES (2) Specifications Item
Description
Mounting method Mounting direction
Lubrication method
Flange mounting In any directions Grease lubrication (already packed) Packed with
Output shaft rotating direction Backlash (Note 3) Permissible load inertia moment ratio (converted into equivalent value on servo motor shaft) (Note 1) Maximum torque Maximum speed (at servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2)
200 W/400 W 1/12, 1/20
50 W/100 W
750 W 1/12
200 W/400 W 1/5
750 W 1/5, 1/20
Molynoc AP2 Mobil Grease SP JX Nippon Oil & Energy Exxon Mobil Same as the servo motor output shaft direction. 60 minutes or less at reducer output shaft
Mobilplex 46 Exxon Mobil
50 W/100 W/750 W: 5 times or less 200 W/400 W: 7 times or less Three times of the servo motor rated torque 4500 r/min (permissible instantaneous speed: 5175 r/min) IP44 equivalent 45% to 75%
Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 °
6- 9
6. HG-MR SERIES/HG-KR SERIES (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft. Q/2
Q: Length of axis (Refer to section 6.8.3, 6.8.4.) Q
Servo motor
HG-KR053(B)G1
HG-KR13(B)G1
HG-KR23(B)G1
HG-KR43(B)G1
HG-KR73(B)G1
Reduction ratio
1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20 1/5 1/12 1/20
Permissible load (Note) Permissible radial Permissible thrust load load [N] [N] 150 240 370 150 240 370 330 710 780 330 710 760 430 620 970
Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently.
6 - 10
200 320 450 200 320 450 350 720 780 350 720 760 430 620 960
6. HG-MR SERIES/HG-KR SERIES 6.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (11B, 14A, 20A, and 32A) in the following table indicate the model numbers of the reducers assembled to the servo motors. Servo motors with a reducer having the indicated reduction gear model numbers are available. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05. Servo motor HG-KR053(B)G5 HG-KR053(B)G7 HG-KR13(B)G5 HG-KR13(B)G7
1/5
1/9
11B/14A
11B
Reduction ratio 1/11 1/21
14A
HG-KR43(B)G5 HG-KR43(B)G7
14A
HG-KR73(B)G5 HG-KR73(B)G7
20A
1/45
14A 14A
11B/14A
HG-KR23(B)G5 HG-KR23(B)G7
1/33
14A
20A 20A
20A 20A
32A 32A
(2) Specifications Item
Description
Mounting method Mounting direction Lubrication method
Packed with
Output shaft rotating direction Backlash (Note 3) Permissible load inertia moment ratio (when converting into the servo motor shaft) (Note 1) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2)
Flange mounting In any directions Grease lubrication (already packed) Harmonic grease SK-2 (Harmonic Drive Systems) Same as the servo motor output shaft direction. 3 minutes or less at reducer output shaft 50 W/100 W/750 W: 10 times or less 200 W/400 W: 14 times or less Three times of the servo motor rated torque 6000 r/min (permissible instantaneous speed: 6900 r/min) IP44 equivalent 50 W (reducer model No. 14A): 22% to 41% 50 W (reducer model No. 11B)/100 W/200 W/400 W/750 W: 58% to 87%
Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 °
6 - 11
6. HG-MR SERIES/HG-KR SERIES (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below. Q/2
L
Q: Length of axis (Refer to section 6.8.7, 6.8.8.) L: Distance between reducer end face and load center
Q
Flange-mounting flange output type for high precision application (G5)
Servo motor
HG-KR053(B)G5 HG-KR053(B)G7
HG-KR13(B)G5 HG-KR13(B)G7
HG-KR23(B)G5 HG-KR23(B)G7
HG-KR43(B)G5 HG-KR43(B)G7
HG-KR73(B)G5 HG-KR73(B)G7
Reduction ratio
1/5 1/5 1/9 1/11 1/21 1/33 1/45 1/5 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45
Flange-mounting shaft output type for high precision application (G7)
Reducer model number
Permissible load (Note) Permissible radial Permissible thrust Radial load point load load L [mm] [N] [N]
11B 14A 11B
14A
11B 14A
20A 14A
20A 14A 20A 32A 20A
32A
Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently.
6 - 12
17 23 17 23 23 23 23 17 23 23 23 32 32 23 23 32 32 32 23 32 32 57 57 32 32 57 57 57
93 177 111 224 272 311 342 93 177 224 272 733 804 177 224 640 733 804 177 527 640 1252 1374 416 527 1094 1252 1374
431 706 514 895 1087 1244 1366 431 706 895 1087 2581 2833 706 895 2254 2581 2833 706 1856 2254 4992 5478 1465 1856 4359 4992 5478
6. HG-MR SERIES/HG-KR SERIES (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7). [Unit: mm] Servo motor
Reducer model number
Q
φS
W
T
QK
U
11B
20
10h7
4
4
15
2.5
14A
28
16h7
5
5
25
3
20A
42
25h7
8
7
36
4
32A
82
40h7
12
8
70
5
HG-KR_(B)G7K
Y
Q U
S
W
QK
T
6 - 13
Y M3 screw hole depth 6 M4 screw hole depth 8 M6 screw hole depth 12 M10 screw hole depth 20
6. HG-MR SERIES/HG-KR SERIES 6.7 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points and install the connectors. (1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross pattern. 1)
3)
4)
2)
Tightening order 1) 2) 3)
2)
4)
Tightening order 1) 2)
1)
Connector for power supply, connector for encoder
Connector for electromagnetic brake
(2) Tighten the screws evenly. Tightening torques are as indicated below. Connector for encoder Screw size: M2 Tightening torque: 0.1 [N•m] Connector for electromagnetic brake Screw size: M2 Tightening torque: 0.2 [N•m] Connector for power supply Screw size: M2 Tightening torque: 0.2 [N•m]
(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.
6 - 14
6. HG-MR SERIES/HG-KR SERIES 6.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnetic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine. The dimensions without tolerances are general tolerance. The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to 3 mm larger than the drawing dimensions. Design the machine-side with allowances. 6.8.1 Standard (without electromagnetic brake and reducer) Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR053
50
0.0162
0.34
HG-KR053
50
0.0450
0.34
Mass [kg]
[Unit: mm] 20.5
20.7 Caution plate
20.7
Motor plate Caution plate
25
66.4 Motor plate (Opposite side) Caution plate
5
21.5
Top
21
Use hexagon socket head cap screw.
Top
37.1
36
Top
Encoder connector 4.9
13.7 27.4
9.9
10.9 11.7
11.7
Power supply connector
19.2
13.9
4
11.7
Power supply connector
9°
3
21.7 11.7 7°
2
Pin No. Application 1 (PE) 2 U V 3 W 4
6.4 27.5
23.8
21.7
Power supply connector 1
45°
Bottom
Bottom
Bottom
2.5
Encoder connector
19.2
9.9
Opposite-load side
BC38021C BC38016C
6 - 15
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR13
100
0.0300
0.54
HG-KR13
100
0.0777
0.54
Mass [kg]
[Unit: mm] 20.5
Motor plate (Opposite side) Caution plate
Caution plate
40
25
82.4
20.7
5
2- 4.5 mounting hole Use hexagon socket head cap screw.
2.5 21.5
45°
Bottom
Bottom
21
Top
46
Bottom
30h7
Caution plate
8h6
20.7
Motor plate
Top
37.1
36
Top
Encoder connector 13.7
10.9 11.7
4.9 27.4
9.9 11.7
Power supply connector
19.2
21.7
13.9
21.7
Power supply connector
3 4
9°
2
3 4
Power supply connector
11.7
7°
1
2
11.7
Pin No. Application 1 (PE) 2 U 3 V 4 W
1
6.4 27.5
39.8
Encoder connector
19.2
9.9
Opposite-load side
BC38022C BC38017C Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR23
200
0.0865
0.91
HG-KR23
200
0.221
0.91
Mass [kg]
[Unit: mm] 76.6
Bottom
Bottom
Caution plate
Top
26
46
Encoder connector 10.9 11.8 11.7 21.7
4-φ5.8 mounting hole Use hexagon socket head cap screw.
□60 45
φ7 0
Bottom
Top
Top
13.7 10 28.4
3
9.5 19.2 36.4
47.1
Caution plate
7
φ50h7
Motor plate
30
Motor plate (Opposite side)
φ14h6
Caution plate
Power supply connector
13.9 27.8
5.9
2 3 4
7
1
Pin No. Application (PE) 1 U 2 V 3 W 4
9
Power supply connector 1 2 3 4
Encoder connector
19.2
Power supply connector 9.5
11.8 11.7 21.7 Opposite-load side
BC38023B BC38018B
6 - 16
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR43
400
0.142
1.4
HG-KR43
400
0.371
1.4
Mass [kg]
[Unit: mm] 98.3
Caution plate Caution plate Bottom
26
Bottom
Bottom
Top
Top
70
47.1
Top
46
60
45°
50h7
Motor plate
3
14h6
Caution plate
4- 5.8 mounting hole Use hexagon socket head cap screw.
30 7
Motor plate (Opposite side)
Encoder connector 13.7 10 28.4
9.5 10.9 11.8 11.7 21.7
Power supply connector
19.2
13.9 27.8
58.1
5.9
Power supply connector
3 4
Encoder connector
7°
2
3 4
9°
Pin No. Application 1 (PE) 2 U 3 V 4 W
1
1 2
Power supply connector 9.5
19.2 11.8 11.7 21.7 Opposite-load side
BC38024B BC38019B Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR73
750
0.586
2.8
HG-KR73
750
1.26
2.8
Mass [kg]
[Unit: mm] Caution plate Motor plate (Opposite side)
8
4- 6.6 mounting hole Use hexagon socket head cap screw.
36
Top
Encoder connector 10.7 11.5
Power supply connector
9.5 11.8 11.7
19.2
14 12 27.8
69.6
21.7
27.4
57.1
Top
Top
13.7
45°
70h7
Bottom
19h6
Caution plate
Bottom
Bottom
56
3
90
Caution plate
Motor plate
80
40
112
19.2 9.5
2 3 4
7°
1
Pin No. Application 1 (PE) 2 U 3 V 4 W
7°
Power supply connector 1 2 3 4
Power supply connector
Encoder connector 11.811.7
21.7 Opposite-load side
BC38025B BC38020B
6 - 17
6. HG-MR SERIES/HG-KR SERIES 6.8.2 With an electromagnetic brake Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
HG-MR053B
50
0.32
0.0224
0.54
HG-KR053B
50
0.32
0.0472
0.54
Mass [kg]
[Unit: mm] 107 Motor plate Caution plate (Opposite side)
20.7 Caution plate
20.7
Motor plate
21
Top
Top
37.1
38.8 36
Top
Encoder connector 13.7
40 45°
46
Bottom
Bottom
Bottom
2- 4.5mounting hole Use hexagon socket head cap screw.
30h7
Caution plate
25 2.5 21.5
5
8h6
20.5
4.9 27.4
10.9 11.7
Power supply connector 11.7 21.7 58.8
18.4
9.9 19.2 23.8
Electromagnetic brake connector 13.9 27.5
6.4
3 4
13°
2
9°
1
3 4
Pin No. Application 1 (PE) 2 U 3 V 4 W
7°
Power supply connector 1 2
Electromagnetic brake connector 1 1 2
2
Pin No. Application 1 B1 2 B2
11.7
Encoder connector
11.7
18.4 58.8
21.7
9.9
Power supply connector
Electromagnetic brake connector Opposite-load side
BC38180A BC38175A
6 - 18
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
HG-MR13B
100
0.32
0.0362
0.74
HG-KR13B
100
0.32
0.0837
0.74
Mass [kg]
[Unit: mm] 2- 4.5 mounting hole Use hexagon socket head cap screw.
Caution plate
Caution plate
20.7
Motor plate Caution plate
25 2.5 21.5
Motor plate 5 (Opposite side)
21
Bottom
Bottom
Bottom
Top
Top
46
37.1
38.8 36
Top
Power supply connector Electromagnetic brake connector
10.9 Encoder connector 13.7 27.4
40
45°
8h6
20.7
30h7
123 20.5
11.7
4.9
9.9
11.7 21.7
19.2 58.8
18.4
39.8
13.9
6.4 27.5
Power supply connector 7° 1
3
2
4
4
13°
2
3
Pin No. Application (PE) 1 U 2 V 3 W 4
9°
1
1 2
Electromagnetic brake connector 1 1 2
2
Pin No. Application 1 B1 2 B2 Encoder connector
11.7
18.4
11.7 58.8
21.7
9.9
Power supply connector
Electromagnetic brake connector Opposite-load side
BC38181A BC38176A
6 - 19
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR23B
200
1.3
0.109
1.3
HG-KR23B
200
1.3
0.243
1.3
[Unit: mm] 113.4 Caution plate
Caution plate
3 26
70
Caution plate
Top
50h7
Bottom Bottom
Bottom
Top
47.1 Encoder connector
28.4
3 4
13.5°
2
9°
1
1 2
2
5.9
27.8
Electromagnetic brake connector
Electromagnetic brake connector 1
13.9
19.2 36.4
Power supply connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
Power supply connector
9.5
10.9 11.8 11.7 21.7 57.8
13.7 10
7°
47.1
Top
1 2 3 4
60 45°
14h6
Motor plate
4- 5.8mounting hole Use hexagon socket head cap screw.
30 7
Motor plate (Opposite side)
11.8 11.7
Encoder connector
Power supply connector 9.5 Electromagnetic brake connector
18.3 57.8
Pin No. Application 1 B1 2 B2
21.7 Opposite-load side
BC38182A BC38177A
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR43B
400
1.3
0.164
1.8
HG-KR43B
400
1.3
0.393
1.8
[Unit: mm] 135.1
30
Top
26
Encoder connector
47.1
28.4
10.9
Top
Power supply connector
9.5 19.2
11.8 11.7 21.7 57.8
70
Bottom
Top
13.7 10
45°
47.1
Bottom
Bottom
Caution plate
3
60
50h7
Caution plate
Motor plate
7
14h6
Motor plate (Opposite side)
Caution plate
4- 5.8mounting hole Use hexagon socket head cap screw.
13.9 58.1
5.9
27.8
Electromagnetic brake connector
3 4
7°
2
Pin No. Application (PE) 1 U 2 V 3 W 4
9°
1
1 2 3 4
13.5°
Power supply connector
Power supply connector 9.5 11.8 11.7
Electromagnetic brake connector 1 1 2
2
Pin No. Application 1 B1 2 B2
6 - 20
Encoder connector
18.3 57.8
Electromagnetic brake connector
21.7 Opposite-load side
BC38183A BC38178A
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR73B
750
2.4
0.694
3.8
HG-KR73B
750
2.4
1.37
3.8
[Unit: mm] 152.3 Caution plate
4- 6.6mounting hole Use hexagon socket head cap screw.
40 8
Motor plate (Opposite side)
3 36
80
45°
Caution plate Caution plate
Bottom
Top
70h7
90 Bottom
19h6
Motor plate
Top
56
57.1
Bottom Top
Encoder connector 10.7 13.7
11.5
21.7 63.1
27.4
Power supply connector
9.5 19.2
11.8 11.7
14
69.6
12
27.8
Electromagnetic brake connector
Power supply connector
4
Power supply connector
7°
3
7°
2
7°
Pin No. Application 1 (PE) 2 U V 3 W 4
1
1 2 3 4
11.8 11.7
Encoder connector
9.5 Electromagnetic brake connector
21.7
Electromagnetic brake connector
Opposite-load side
Pin No. Application 1 B1 2 B2
1 1 2
2
18.4 63.1
BC38184A BC38179A
6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G1
50
K6505
1/5 (9/44)
0.0820
1.4
[Unit: mm]
110.1 8
Motor plate (Opposite side)
20.7 Caution plate
Motor plate
60.5 34.5 6.5
25
45°
(R 3)
20.5
For reverse rotation command Rotation direction For forward rotation command 4-φ7 65
21
φ60h7
Top
Top
φ7
5
8 φ8
Bottom
37.1 36
Bottom
Bottom
φ16h6
20.7
Caution plate
φ48 (φ51)
Caution plate
Top
Encoder connector 13.7
4.9
27.4
10.9 11.7 11.7
9.9 19.2
Power supply connector
21.7
M4 Screw hole depth 8 21.7 11.7 11.7
67.5
6.4
4
9°
3
Pin No. Application 1 (PE) U 2 V 3 W 4
7°
Power supply connector 1 2
Encoder connector
19.2
9.9 Power supply connector
Opposite-load side
BC40915A
6 - 21
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G1
50
K6512
1/12 (49/576)
0.104
1.8
HG-KR053G1
50
K6520
1/20 (25/484)
0.0860
1.8
[Unit: mm]
128.9
20.5
Caution plate
(R
25
45 °
3)
φ48 (φ51) φ60h7
φ16h6
20.7 21
37.1 36
8 φ8
Top
5 φ7
Top
Top
13.7
10.9 11.7 11.7
4.9
27.4
9.9
M4 Screw hole depth 8
Power supply connector
19.2
21.7
86.3
9°
7°
Pin No. Application (PE) 1 2 U 3 V 4 W
6.4
21.7 11.7 11.7
Encoder connector
Power supply connector
3
8
Bottom
Bottom
Bottom
4
34.5 6.5
Caution plate
Motor plate Caution plate
1 2
60.5
Motor plate (Opposite side)
20.7
For reverse rotation command Rotation direction For forward rotation command 4-φ7 65
19.2
Encoder connector
9.9 Power supply connector
BC40916A
Opposite-load side
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G1
100
K6505
1/5 (9/44)
0.115
1.6
[Unit: mm]
126.1 34.5 6.5
8
20.7 Motor plate (Opposite side)
Caution plate
25
45 °
(R 3)
20.5
For reverse rotation command Rotation direction For forward rotation command 4-φ7 65
60.5
Caution plate
37.1 36
21
φ16h6
Top
8 φ8
Bottom
5 φ7
Bottom
Bottom
φ48 (φ51) φ60h7
20.7
Motor plate Caution plate
Top
Top
10.9 11.7 11.7
9.9 19.2
Power supply connector
21.7
M4 Screw hole depth 8
83.5
6.4
21.7 11.7 11.7
Encoder connector Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 9°
4.9
7°
13.7 27.4
4
6 - 22
Encoder connector
19.2
Power supply 9.9 connector
Opposite-load side
BC40917A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G1
100
K6512
1/12 (49/576)
0.137
2.0
HG-KR13G1
100
K6520
1/20 (25/484)
0.119
2.0
[Unit: mm]
144.9 20.5
60.5
20.7
34.5 6.5
8 Motor plate (Opposite side)
Caution plate
For reverse rotation command Rotation direction For forward rotation command 4-φ7 65
25
45 °
3) (R
φ60h7
φ16h6
20.7 21
Top
5 φ7 8 φ8
Bottom
37.1 36
Bottom
Bottom
φ48 (φ51)
Caution plate
Motor plate Caution plate
Top
Top
13.7
4.9
10.9 11.7 11.7
27.4
9.9 19.2
M4 Screw hole depth 8
Power supply connector
21.7
6.4
102.3
21.7 11.7 11.7
Encoder connector
Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
7°
1 2 3 9°
4
19.2
Encoder connector
Power supply 9.9 connector
Opposite-load side
BC40918A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G1
200
K9005
1/5 (19/96)
0.375
3.3
[Unit: mm]
129.8
74 10
Motor plate (Opposite side)
Caution plate
Caution plate Bottom
Top
45 °
0 10
Bottom
Bottom
Caution plate
35
25h6 73 ( 76) 82h7
Motor plate
38 8 ) (R3
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
Top
4 11
47.1 46
Top
Encoder connector 10.9 11.8 11.7
Power supply connector
9.5
5.9
M6 Screw hole depth 12
19.2 21.7
89.6 Power supply connector
Power supply connector
Pin No. Application 1 (PE) U 2 V 3 W 4
1 2 3 7°
28.4
9°
13.7 10
4
6 - 23
Encoder connector 11.8
19.2 9.5 21.7
11.7 Opposite-load side
BC40919*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G1
200
K9012
1/12 (961/11664)
0.418
3.9
HG-KR23G1
200
K9020
1/20 (513/9984)
0.391
3.9
[Unit: mm]
149.6
74 38 10
60 Motor plate (Opposite side)
Caution plate
Caution plate Bottom
Top
45 °
(
) R3
Bottom
Bottom
Caution plate
35
8
00 φ1
φ25h6 φ72 (φ75) φ82h7
Motor plate
For reverse rotation command Rotation direction For forward rotation command 4-φ9 90
14 φ1
Top
47.1 46
Top
10.9 13.7 10
9.5 19.2
11.811.7
28.4
Power supply connector
21.7
M6 Screw hole depth 12
5.9
109.4
Encoder connector Power supply connector
Power supply connector
Pin No. Application 1 (PE) 2 U V 3 W 4
1 2 4
7°
9°
3
Encoder connector
19.2 9.5 11.811.7 21.7 Opposite-load side
BC40920A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K9005
1/5 (19/96)
0.525
3.7
[Unit: mm]
151.5
Caution plate
Motor plate
74 Motor plate 10 (Opposite side)
60
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
38 8 (R3)
35
45 °
Caution plate
Bottom
Caution plate
Top
0 10
Bottom
25h6 73 ( 76) 82h7
Bottom
Top
4 11
9.5
10.9 28.4
11.811.7
Power supply connector M6 Screw hole depth 12
19.2
21.7
5.9
111.3
Encoder connector
Power supply connector
Pin No. Application (PE) 1 U 2 V 3 W 4
1 2 7°
13.7 10
9°
47.1 46
Top
3 4
6 - 24
Encoder connector
Power supply connector 19.2 9.5 11.811.7 21.7 Opposite-load side
BC40903*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K9012
1/12 (961/11664)
0.568
4.3
[Unit: mm]
171.3
74
Motor plate (Opposite side)
60 Caution plate
For reverse rotation command Rotation direction For forward rotation command 4-φ9 90
38 8 ) (R3
10
35
45 °
Caution plate
Caution plate
Top
Top
47.1 46
14 φ1
Top
φ25h6
Bottom
00 φ1
φ82h7
Bottom
Bottom
φ72 (φ75)
Motor plate
Power supply connector
9.5
10.9 13.7 10
11.811.7
28.4
M6 Screw hole depth 12
19.2
5.9
131.1
21.7 Encoder connector
Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2
9°
7°
3 4
Power supply connector Encoder connector
19.2 9.5 11.811.7 21.7 Opposite-load side
BC40904A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K10020
1/20 (7/135)
0.881
5.4
[Unit: mm]
175.3
For reverse rotation command Rotation direction For forward rotation command 4-φ9 100
90
60
39 9.5
10
50
45 °
Motor plate (Opposite side)
Caution plate
Caution plate
φ1 Bottom
Bottom Bottom
Top
32
47.1 46
Caution plate
φ1
Top
Top
Encoder connector Power supply connector 19.2
M8 Screw hole depth 16
21.7 9.5
135.1 Power supply connector 1 2 3 7°
28.4
10.9 11.8 11.7
9°
5.9 10
13.7
15
φ32h6 φ73 φ83 φ95h7
Motor plate
4
Pin No. Application 1 (PE) 2 U 3 V 4 W
6 - 25
19.2
Encoder connector 11.8
Power supply connector 9.5
11.7 21.7 Opposite-load side
BC40905A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K10005
1/5 (1/5)
1.68
6.0
[Unit: mm]
90
177 □80
39 10
10 Motor plate (Opposite side)
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command 4-φ9 □100 50
45
Caution plate
Top
57.1 56
32 φ1
Top
Bottom
15 φ1
φ32h6 φ73 φ81 φ95h7
Bottom
Bottom
Caution plate
Top
13.7
11.5 27.4
10.7 11.8 11.7
Power supply connector
9.5 19.2
M8 Screw hole depth 16
21.7
12
134.6 19.2
9.5
Encoder connector Power supply connector 7
1 2
Pin No. Application 1 (PE) 2 U 3 V 4 W
3 7
4
Power supply connector
Encoder connector 11.8
11.7 21.7 Opposite-load side
BC40906A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K10012
1/12 (7/87)
2.35
7.1
[Unit: mm]
199
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command 4- φ9 100
90
Motor plate (Opposite side)
10
39 9.5
50
45°
Caution plate
Top
32 φ1
Top
15 φ1
φ73 φ83 φ95h7
Caution plate
Bottom
φ32h6
Bottom
57.1 56
Bottom Top
27.4
10.7 11.8 11.7
9.5
Power supply connector
19.2
M8 Screw hole depth 16
21.7
156.6
Encoder connector
12
19.2
9.5
Power supply connector 7°
11.5
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3
7°
13.7
4
6 - 26
Power supply connector
Encoder connector 11.8
11.7 21.7 Opposite-load side
BC40907A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K12020
1/20 (625/12544)
2.41
10
[Unit: mm]
212
105.5
Motor plate (Opposite side) Caution plate
80
For reverse rotation command Rotation direction For forward rotation command 4-φ14 120
15
44.5 11.5
60
45°
Motor plate
0 φ14
Caution plate
Bottom
Bottom
Top
Top
φ40h6 φ90 φ98 φ115h7
Caution plate
57.1 56
62 φ1
Bottom Top
Power supply connector
27.4
9.5 19.2
M10 Screw hole depth 20
21.7
169.6 19.2
Encoder connector
9.5
Power supply connector 7°
13.7
10.7 11.8 11.7
7°
12 11.5
1 2 3 4
Pin No. Application 1 (PE) 2 U 3 V 4 W
6 - 27
Power supply connector
Encoder connector 11.8
11.7 21.7 Opposite-load side
BC40908A
6. HG-MR SERIES/HG-KR SERIES 6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053BG1
50
K6505
1/5 (9/44)
0.32
0.0840
1.6
[Unit: mm]
20.7
Caution plate
Caution plate
□65
25
(R 3)
20.5
8 Motor plate (Opposite side)
φ16h6
60.5 34.5 6.5
150.7
For reverse rotation command Rotation direction For forward rotation command 45°
4-φ7
Bottom
Caution plate 13.7
Top
Top
21
Top
4.9
10.9 11.7
9.9
11.7
19.2
Encoder connector
Power supply connector
M4 Screw hole depth 8
67.5
21.7 58.8
27.4
Electromagnetic brake connector
18.4
1 2 3 4
7°
Pin No. Application (PE) 1 U 2 V 3 W 4
13°
9°
Pin No. Application 1 B1 2 B2
2
6.4
Power supply connector
Electromagnetic brake connector 1
5 φ7
8 φ8
38.8 36
Bottom
Bottom
φ48 (φ51) φ60h7
20.7
Motor plate
18.4
11.7 11.7
Encoder connector
9.9
Power supply connector
58.8
Electromagnetic brake connector Opposite-load side
21.7
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
HG-KR053BG1
50
K6512
1/12 (49/576)
HG-KR053BG1
50
K6520
1/20 (25/484)
BC41085A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.32
0.106
2.0
0.32
0.0880
2.0
[Unit: mm]
20.7
Caution plate
Bottom
21
38.8 36
Caution plate 13.7 27.4
Top
4.9
10.9 11.7
Encoder connector
9.9 19.2
11.7 21.7 58.8
Top
18.4
Power supply connector
7°
9°
Pin No. Application 1 B1 2 B2
13°
2
18.4
11.7 11.7
9.9
Power supply connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
58.8
Encoder connector 21.7
6 - 28
6.4
Power supply connector 1 2 3 4
Electromagnetic brake connector 1
5 φ7
M4 Screw hole depth 8
86.3 Electromagnetic brake connector
4-φ7
8 φ8
Top
Bottom
Bottom
45°
φ60h7
Caution plate
□65
25
φ48 (φ51)
20.7
Motor plate (Opposite side)
(R 3)
20.5 Motor plate
60.5 34.5 6.5
8
φ16h6
169.5
For reverse rotation command Rotation direction For forward rotation command
Electromagnetic brake connector Opposite-load side
BC41086A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG1
100
K6505
1/5 (9/44)
0.32
0.121
1.8
[Unit: mm]
166.7 20.7
8
Motor plate (Opposite side) Caution plate
Caution plate
60.5 34.5 6.5 3) (R
□65
25 φ16h6
20.5
For reverse rotation command Rotation direction For forward rotation command 45°
Caution plate 13.7 27.4
10.9 11.7
4.9
Top
9.9 19.2
11.7
M4 Screw hole depth 8
Power supply connector
58.8
18.4
Power supply connector
Electromagnetic brake connector 1 2 3 4
Electromagnetic brake connector
9°
2
7°
Pin No. Application 1 B1 2 B2
13°
1
6.4
83.5
21.7 Encoder connector
φ60h7
21
Top
5 φ7
8 φ8
38.8 36
Bottom Top
Bottom
Bottom
φ48 (φ51)
20.7
Motor plate
4-φ7
18.4
11.7 11.7
Encoder connector
9.9
Power supply connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
Electromagnetic brake connector Opposite-load side
58.8 21.7
BC41087A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG1
100
K6512
1/12 (49/576)
0.32
0.143
2.2
HG-KR13BG1
100
K6520
1/20 (25/484)
0.32
0.125
2.2
[Unit: mm]
20.5
20.7
8
Motor plate (Opposite side) Caution plate
Caution plate
□65
25 φ16h6
60.5 34.5 6.5 3) (R
185.5
For reverse rotation command Rotation direction For forward rotation command
45°
21
Top
8
Caution plate 13.7 27.4
Top
4.9
10.9 11.7
Encoder connector
M4 Screw hole depth 8
9.9
11.7 21.7 58.8
19.2 18.4
Power supply connector 102.3
Electromagnetic brake connector
1 2 3 4
13°
7°
Pin No. Application 1 B1 2 B2
9°
2
18.4
11.7 11.7
Encoder connector
9.9
Power supply connector
Pin No. Application (PE) 1 U 2 V 3 W 4
58.8 21.7
6 - 29
6.4
Power supply connector
Electromagnetic brake connector 1
5 φ7
φ8
38.8 36
Bottom Top
Bottom
Bottom
φ48 (φ51) φ60h7
20.7
Motor plate
4-φ7
Electromagnetic brake connector Opposite-load side
BC41088A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23BG1
200
K9005
1/5 (19/96)
1.3
0.397
3.7
[Unit: mm]
74
Caution plate
□90
Top
φ1
13.7
10.9 11.8
10 28.4
19.2
21.7 57.8
Encoder connector
M6 Screw hole depth 12
9.5 Power supply connector 89.6 Electromagnetic brake connector
11.7
00
7°
13.5°
9°
Pin No. Application 1 B1 2 B2
Encoder connector 11.8
Power supply connector 9.5 Electromagnetic brake connector Opposite-load side
18.3 11.7 57.8 21.7
5.9
Power supply connector 1 2 3 4
Electromagnetic brake connector
2
4-φ9
4
Caution plate
1
4 5°
1 φ1
47.1 46
Bottom
Bottom Top
Bottom Top
35
3) (R
φ73 (φ76)
Motor plate
10 8
φ82h7
38
φ25h6
166.6 Motor plate (Opposite side) Caution plate
□60
For reverse rotation command Rotation direction For forward rotation command
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41089*
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23BG1
200
K9012
1/12 (961/11664)
1.3
0.440
4.3
HG-KR23BG1
200
K9020
1/20 (513/9984)
1.3
0.413
4.3
[Unit: mm]
38
Motor plate (Opposite side)
60
10 8
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
74 35
) (R3
90
φ25h6
186.4
4-φ9 φ1
Top
47.1 46
Bottom
φ72 (φ75)
Bottom Top
Top
1 φ1
13.7
10
10.9 11.8
28.4 Encoder connector
4
Caution plate 11.7 21.7 57.8
9.5 19.2 Power supply connector 109.4 Electromagnetic brake connector
M6 Screw hole depth 12 5.9 Power supply connector 1 2 3 4
13.5° 7°
Pin No. Application 1 B1 2 B2
9°
Electromagnetic brake connector
2
00
φ82h7
Caution plate Bottom
1
45°
Encoder connector 11.8
18.3 11.7 57.8 21.7
6 - 30
Power supply connector 9.5
Pin No. Application (PE) 1 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41090A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K9005
1/5 (19/96)
1.3
0.547
4.1
[Unit: mm]
74 38
Motor plate
10 8
35
3) (R
□90
φ25h6
188.3 Motor plate (Opposite side) Caution plate
□60
For reverse rotation command Rotation direction For forward rotation command 45°
00 φ1
Caution plate Top
4
47.1 46
Top
1 φ1
Bottom Top
φ73 (φ76) φ82h7
Bottom
Bottom
Caution plate 13.7
10.9 11.8
10
Encoder connector
M6 Screw hole depth 12
9.5 Power supply connector 111.3 Electromagnetic brake connector
11.7
19.2
21.7 57.8
28.4
1 2 3 4
13.5° 7°
9°
Pin No. Application 1 B1 2 B2
2
Power supply connector 9.5 Electromagnetic brake connector Opposite-load side
Encoder connector
18.3 11.7 57.8
11.8 21.7
5.9
Power supply connector
Electromagnetic brake connector 1
4-φ9
Pin No. Application 1 (PE) 2 U V 3 4 W
BC41091*
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K9012
1/12 (961/11664)
1.3
0.590
4.7
[Unit: mm]
74 38 10 8
Caution plate Motor plate
(R3
35 )
90
φ25h6
208.1 Motor plate (Opposite side)
60
For reverse rotation command Rotation direction For forward rotation command 45°
0 φ1 Bottom Bottom Top
Bottom
Top
14 φ1
47.1 46
Top
Caution plate 13.7
10.9 11.8
10 28.4
Encoder connector
11.7 21.7 57.8
M6 Screw hole depth 12
9.5 19.2 Power supply connector 131.1 Electromagnetic brake connector
5.9 Power supply connector 1 2 3 4
Pin No. Application 1 B1 2 B2
13.5° 7°
2
9°
Electromagnetic brake connector 1
0
φ72 (φ75) φ82h7
Caution plate
4-φ9
Encoder connector 11.8
18.3 11.7 57.8 21.7
6 - 31
Power supply connector 9.5
Pin No. Application (PE) 1 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41092A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K10020
1/20 (7/135)
1.3
0.903
5.8
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 212.1 Motor plate (Opposite side) Caution plate
60
Motor plate
100
90 10
39 9.5
45°
50
4-φ9 15 φ1
Top
47.1 46
Bottom
Top
φ95h7
Bottom Bottom
φ73 φ83
φ32h6
Caution plate
φ1
Top
32
10.9 11.8
9.5 11.7
28.4
21.7 57.8
Electromagnetic brake connector 1
M8 Screw hole depth 16
Power supply connector
135.1 Electromagnetic brake connector
Power supply connector 1 2 3 4
Encoder connector
9°
Pin No. Application 1 B1 2 B2
2
19.2
13.5°
13.7
7°
Caution plate 5.9 10
Encoder connector 11.8
18.3 11.7 57.8 21.7
Power supply connector 9.5
Pin No. Application (PE) 1 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41093A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K10005
1/5 (1/5)
2.4
1.79
7.0
[Unit: mm] 217.3
For reverse rotation command Rotation direction For forward rotation command
90
Motor plate (Opposite side)
10
39 10
100
50
45°
Caution plate
4-φ9
Motor plate φ81 φ95h7
φ73
Top
φ32h6
Top
φ1
56
21.7 63.1
Power supply connector
19.2
12
Power supply connector
134.6 1 2 3 4
Electromagnetic brake connector
Encoder connector
7°
Pin No. Application 1 B1 2 B2
M8 Screw hole depth 16
9.5 11.7
7°
Electromagnetic brake connector
10.7 11.8
7°
Caution plate 11.5
15
2
Top
27.4
2
Bottom
Bottom
13.7
1
Bottom
3 φ1
57.1
Caution plate
Encoder connector 11.8
18.4 11.7 63.1
Power supply connector 9.5
Pin No. Application 1 (PE) 2 U 3 V 4 W
Electromagnetic brake connector
21.7 Opposite-load side
6 - 32
BC41094A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K10012
1/12 (7/87)
2.4
2.46
8.1
[Unit: mm] 239.3
For reverse rotation command Rotation direction For forward rotation command
90
Motor plate (Opposite side)
39 9.5
10
100
50
45°
4-φ9
Caution plate Motor plate
φ83
φ95h7
Top
15 φ1
φ1
56
Bottom
32
Top
11.7
11.5 27.4
Pin No. Application 1 B1 2 B2
1 2 3 4
Electromagnetic brake connector
7°
Encoder connector
7°
2
Power supply connector
156.6
63.1
12
Power supply connector
19.2
21.7
Electromagnetic brake connector 1
M8 Screw hole depth 16
9.5
Caution plate 10.7 11.8
13.7
7°
57.1
Top
Bottom
φ73
Bottom
φ32h6
Caution plate
Encoder connector 11.8
18.4 11.7 63.1
Power supply connector 9.5
Pin No. Application (PE) 1 2 U 3 V 4 W
Electromagnetic brake connector
21.7 Opposite-load side
BC41095A
Model
Output [W]
Reducer model
Reduction ratio (actual reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K12020
1/20 (625/12544)
2.4
2.52
11
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 105.5
252.3 Motor plate (Opposite side) Caution plate
□80 Motor plate
15
45
Top
4-φ14
40
62
Top
Caution plate 10.7 11.8
Pin No. Application 1 B1 2 B2
9.5 Power supply connector
21.7
M10 Screw hole depth 20 Power supply connector
169.6
63.1
1 2 3 4
Electromagnetic brake connector
Encoder connector 7°
Electromagnetic brake connector
19.2
7°
27.4
11.7
7°
12 11.5
°
φ1
57.1 56
φ1
φ40h6 φ90 φ98 φ115h7
Bottom
Top
Bottom
13.7
2
□120
60
Caution plate Bottom
1
44.5 11.5
Encoder connector 11.8
18.4
11.7 63.1 21.7
Power supply connector 9.5
Electromagnetic brake connector
Opposite-load side
6 - 33
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41096A
6. HG-MR SERIES/HG-KR SERIES 6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G5
50
HPG-11B-05-F0ADG-S
1/5
0.0485
0.55
HG-KR053G5
50
HPG-11B-09-F0ADG-S
1/9
0.0475
0.56
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7
20.7
Caution plate
5
15+0.25 -0.20 2.5
Bottom Bottom
Bottom
3-M4 Screw hole depth 6
37.1
Top
Top
13.7
10.9 11.7 11.7 21.7
4.9
27.4
9.9 19.2
Power supply connector
13.9 27.5
63.3
9°
7°
Pin No. Application (PE) 1 2 U V 3 W 4
6.4
21.7 11.7 11.7
Encoder connector Power supply connector 1 2 3 4
45°
Top
21 36
25.5
9
0° 12
Caution plate
Motor plate
105.9
Motor plate (Opposite side) Caution plate
C 0. 5
20.5
Encoder connector
19.2
9.9
Power supply connector
BC40937*
Opposite-load side
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G5
50
HPG-14A-05-F0CBJS-S
1/5
0.113
1.1
HG-KR053G5
50
HPG-14A-11-F0CBKS-S
1/11
0.105
1.2
HG-KR053G5
50
HPG-14A-21-F0CBKS-S
1/21
0.0960
1.2
HG-KR053G5
50
HPG-14A-33-F0CBLS-S
1/33
0.0900
1.2
HG-KR053G5
50
HPG-14A-45-F0CBLS-S
1/45
0.0900
1.2
[Unit: mm]
21
Top
70
30
Bottom
37.1 36
Bottom
Bottom
8
14H7 40 56h7
20.7
Caution plate
35
55.5
Motor plate
21
Motor plate (Opposite side) Caution plate Caution plate
59
20.7
C 0. 5
130.4 20.5
For reverse rotation command Rotation direction For forward rotation command 4- 5.5 6-M4 Screw hole depth 7 60 21+0.4 -0.5 45 ° 5( 14H7effective range) 3 60°
Top
Top
10.9 11.7 11.7 21.7
9.9
Power supply connector
19.2
6.4
87.8
21.7 11.7 11.7
Encoder connector Power supply connector 1 2 3 9°
4.9
7°
13.7 27.4
4
Pin No. Application (PE) 1 2 U V 3 W 4
Encoder connector
Power supply connector
19.2
9.9
Opposite-load side
BC38196*
6 - 34
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-11B-05-F0ADG-S
1/5
0.0812
0.75
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
20.7
9
25.5
Bottom Bottom
Bottom
3-M4 Screw hole depth 6
2.5
5
21
Top
37.1
Top
36
Top
13.7 27.4
10.9 11.7 11.7 21.7
4.9
9.9 19.2
Power supply connector
13.9 27.5
79.3
Encoder connector
9°
7°
Pin No. Application (PE) 1 2 U 3 V 4 W
6.4
21.7 11.7 11.7
Power supply connector 1 2 3 4
45° 0° 12
Caution plate
Motor plate Caution plate
-0.20 15+0.25
121.9 Motor plate (Opposite side) Caution plate
20.7
C 0. 5
20.5
Encoder connector
19.2
Power supply 9.9 connector
Opposite-load side
BC40939*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-14A-05-F0CBJS-S
1/5
0.146
1.3
HG-KR13G5
100
HPG-14A-11-F0CBKS-S
1/11
0.138
1.4
HG-KR13G5
100
HPG-14A-21-F0CBKS-S
1/21
0.129
1.4
[Unit: mm]
-0.5 21 +0.4
21
Bottom
Bottom
0 φ7
Top
21
45
60
0 φ3
Bottom
37.1 36
5(φ14H7effective range)
C 0. 5
20.7
Caution plate
Caution plate
3
φ55.5
Motor plate
Caution plate
8
Motor plate (Opposite side)
φ59
20.7
35
φ14H7 φ40 φ56h7
146.4 20.5
For reverse rotation command Rotation direction For forward rotation command 4-φ5.5 6-M4 Screw hole □60 depth 7
Top
Top
10.9 11.7 11.7 21.7 Encoder connector
9.9 19.2
Power supply connector
6.4
103.8
21.7 11.7 11.7 Power supply connector
1 2 9
4.9
7
13.7 27.4
3 4
6 - 35
Pin No. Application 1 (PE) 2 U 3 V 4 W
Encoder connector
Power supply connector
19.2
9.9
Opposite-load side
BC38197*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-20A-33-F0JMLAS-S
1/33
0.140
2.6
HG-KR13G5
100
HPG-20A-45-F0JMLAS-S
1/45
0.139
2.6
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 4- 9 90
27 +0.4 -0.5
148.9 30.5
10 8
26
5( 24H7effective range)
20.5
6-M6 Screw hole depth 10
Motor plate (Opposite side)
20.7
Motor plate
Caution plate
5 10
84
Caution plate
45°
60°
24H7 59 85h7
C 0. 5
Top
Top
45
21
89
Bottom
Bottom
37.1 36
Bottom
55
20.7
Caution plate
Top
13.7 27.4
10.9 11.7 11.7 21.7
6.4 4.9
9.9 19.2
Power supply connector 106.3
21.7 11.7 11.7
Encoder connector
Power supply connector
Power supply connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
1 2
9°
7°
3 4
Encoder connector
19.2
9.9
Opposite-load side
BC38198*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR23G5
200
HPG-14A-05-F0AZW-S
1/5
0.422
1.8
HG-KR23G5
200
HPG-14A-11-F0AZX-S
1/11
0.424
1.9
Mass [kg]
[Unit: mm]
140.6 Motor plate Caution plate (Opposite side)
Top
C 0. 5
Top
14H7
47.1 46
Top
Encoder connector 13.7 10 28.4
10.9 11.8 11.7
9.5
Power supply connector 5.9
19.2
21.7
100.4
Power supply connector
4
Power supply connector 19.2 7°
3
Pin No. Application 1 (PE) U 2 3 V 4 W
9°
1 2
45°
70
40 56h7
Caution plate
60°
30
Bottom
3 5( 14H7effective range)
Bottom Bottom
Caution plate
8
59
Motor plate
56
55.5
60
For reverse rotation command Rotation direction 6-M4 Screw hole depth 7 For forward rotation command 4- 5.5 21+0.4 -0.5 60
Encoder connector
9.5
11.8 11.7 21.7 Opposite-load side
6 - 36
BC38199*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G5
200
HPG-20A-21-F0EKS-S
1/21
0.719
3.4
HG-KR23G5
200
HPG-20A-33-F0ELS-S
1/33
0.673
3.4
HG-KR23G5
200
HPG-20A-45-F0ELS-S
1/45
0.672
3.4
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 6-M6 Screw hole depth 10 4- 9 +0.4 90 27 -0.5
147.6 26
Motor plate (Opposite side) Caution plate
Caution plate
5 10
Top
C 0. 5
45
Caution plate
89
Bottom
Bottom Bottom
45°
60°
24H7 59 85h7
Motor plate
5( 24H7effective range)
10 8
35
84
60
Top
47.1 46
Top
9.5
10.9 13.7 10
Encoder connector
11.8 11.7
28.4
Power supply connector
19.2
21.7
5.9
107.4
Power supply connector 19.2 9.5 Encoder connector
7°
3 4
Pin No. Application (PE) 1 2 U 3 V 4 W
9°
1 2
Power supply connector
11.811.7 21.7 Opposite-load side
BC40901*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-14A-05-J2CBJS-S
1/5
0.572
2.3
[Unit: mm]
70 0. 5 C
Bottom
Caution plate
Top
Top
Top
14H7
46
47.1
Bottom
30
40 56h7
59
Bottom
Caution plate
60
Motor plate
56
55.5
162.3 Motor plate (Opposite side) Caution plate
For reverse rotation command Rotation direction For forward rotation command 6-M4 Screw hole depth 7 -0.5 21+0.4 4- 5.5 60 8 3 5( 14H7effective range) 45° 60°
13.7 10 28.4
10.9 11.8 11.7 21.7
9.5 19.2
5.9
Power supply connector 122.1
Encoder connector Power supply connector Power supply connector Encoder connector 7°
Pin No. Application (PE) 1 2 U 3 V 4 W
9°
1 2 3 4
6 - 37
19.2 9.5 11.8 11.7 21.7 Opposite-load side
BC38186*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-20A-11-F0EKS-S
1/11
0.947
3.9
HG-KR43G5
400
HPG-20A-21-F0EKS-S
1/21
0.869
3.9
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 4- 9 90
6-M6 Screw hole depth 10 +0.4
27 -0.5
169.3 26 60
10 8 5( 24H7effective range)
Motor plate (Opposite side) Caution plate
45°
60°
5 10
Top
C 0. 5
Top
45
Bottom
Bottom
Caution plate
Bottom
89
Caution plate
24H7 59 85h7
84
Motor plate
Top
46
47.1
35
13.7 10 28.4
5.9
Power supply connector
9.5
10.9 11.8 11.7 21.7
19.2 129.1
Encoder connector
Power supply connector
Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 9°
7°
3 4
19.2 9.5 11.811.7 21.7
Opposite-load side
Encoder connector
BC38187*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-32A-33-F0RLAS-S
1/33
0.921
6.0
HG-KR43G5
400
HPG-32A-45-F0RLAS-S
1/45
0.915
6.0
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 6-M8 Screw hole depth 12 +0.4
35 -0.5
181.3 29
4- 11
120
13 13
45 °
60°
5( 32H7effective range)
60
Motor plate (Opposite side) Caution plate
Top
84 115h7
Bottom
Top
114
Bottom
C 0. 5
Caution plate
32H7
Bottom
84
Motor plate
118
5 13
Caution plate
47.1 46
41
60
Top
28.4
Power supply connector
10.9 11.8 11.7
9.5 19.2 21.7
141.1 Power supply connector 1 2 3 7°
13.7
Encoder connector
9°
5.9 10
4
6 - 38
Pin No. Application (PE) 1 2 U 3 V 4 W
Power supply connector
Encoder connector
19.2
11.8
9.5
11.7 21.7 Opposite-load side
BC38188*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G5
750
HPG-20A-05-F0FEOS-S
1/5
1.91
4.8
HG-KR73G5
750
HPG-20A-11-F0FEPS-S
1/11
1.82
5.1
[Unit: mm]
+0.4
27 -0.5
190 26
10
5 10
C 0. 5
59 85h7
45
Top
24H7
84 89
Bottom Bottom Top
45°
60°
6-M6 Screw hole depth 10
Caution plate Caution plate
8 5( 24H7effective range)
80
Motor plate
12
30
Motor plate (Opposite side) Caution plate
80
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
57.1 56
Bottom Top
Encoder connector 13.7
10.7 11.8 11.7 21.7
11.5 27.4
Power supply connector
9.5 19.2
12 147.6
19.2
9.5
Power supply connector
4
Encoder connector 11.8 7°
3
7°
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2
Power supply connector 11.7 21.7 Opposite-load side
BC38189*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR73G5
750
HPG-32A-21-F0SEIS-S
1/21
2.01
7.2
HG-KR73G5
750
HPG-32A-33-F0SEJS-S
1/33
1.79
7.2
HG-KR73G5
750
HPG-32A-45-F0SEJS-S
1/45
1.79
7.2
Mass [kg]
[Unit: mm]
-0.5 35+0.4
200
5 13
Top
32H7 84 115h7
Top
13 13
C 0. 5
Bottom Bottom
Caution plate
36
114
Caution plate
9
118
Motor plate
Motor plate (Opposite side) Caution plate
80
80
30
For reverse rotation command Rotation direction For forward rotation command 4- 11 120 6-M8 Screw hole depth 12 45° 60° 5( 32H7effective range)
60
57.1 56
Bottom Top
27.4
10.7 11.8 11.7
9.5
Power supply connector
19.2 21.7
157.6
19.2
9.5
Encoder connector Power supply connector 7°
11.5
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3
7°
13.7
4
6 - 39
Power supply connector
Encoder connector 11.8
11.7 21.7 Opposite-load side
BC38190*
6. HG-MR SERIES/HG-KR SERIES 6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053BG5
50
HPG-11B-05-F0ADG-S
1/5
0.32
0.0507
0.75
HG-KR053BG5
50
HPG-11B-09-F0ADG-S
1/9
0.32
0.0497
0.76
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Caution plate 20.7
Caution plate
Caution plate
25.5
5
-0.20 15+0.25 2.5
Bottom Bottom
Bottom
Top
3-M4 Screw hole depth 6
Top
Top
13.7 27.4
Power supply connector
10.9 11.7 11.7 21.7 58.8
4.9
9.9 19.2 18.4
13.9 27.5
63.3
Encoder connector
13°
2
9°
1
2
11.7 11.7 Encoder connector
Output [W]
Model
Reduction ratio
Reducer model
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 4
7°
Pin No. Application 1 B1 2 B2
21.7
9.9 Power supply connector
18.4 58.8
Opposite-load side
Brake static friction torque [N•m]
6.4
Power supply connector
Electromagnetic brake connector
Electromagnetic brake connector 1
45°
37.1
21 38.8 36
9
0° 12
Motor plate
146.5 Motor plate (Opposite side)
20.7
C 0. 5
20.5
Electromagnetic brake connector
BC41764* Mass [kg]
Moment of inertia J [× 10-4 kg•m2]
HG-KR053BG5
50
HPG-14A-05-F0CBJS-S
1/5
0.32
0.115
1.3
HG-KR053BG5
50
HPG-14A-11-F0CBKS-S
1/11
0.32
0.107
1.4
HG-KR053BG5
50
HPG-14A-21-F0CBKS-S
1/21
0.32
0.0980
1.4
HG-KR053BG5
50
HPG-14A-33-F0CBLS-S
1/33
0.32
0.0920
1.4
HG-KR053BG5
50
HPG-14A-45-F0CBLS-S
1/45
0.32
0.0920
1.4
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Caution plate
Top
Caution plate 4.9
13.7 27.4
Top
10.9 11.7
Encoder connector
11.7 21.7 58.8
2
6-M4 Screw hole depth 7 60°
45°
C 0.
Power supply connector
6.4
19.2 18.4
Power supply connector
87.8 Electromagnetic brake connector
1 2 3 4
7°
9°
Pin No. Application 1 B1 2 B2
21+0.4 -0.5 3
Top
9.9
Electromagnetic brake connector 1
8
Bottom
Bottom
21
38.8 36
Bottom
35
5
20.7
Motor plate
21
13°
20.5 20.7
171 Motor plate (Opposite side) Caution plate
Encoder connector
18.4
11.7 11.7
58.8 21.7
6 - 40
9.9
Power supply connector
Pin No. Application (PE) 1 2 U V 3 W 4
Electromagnetic brake connector
Opposite-load side
BC41097*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG5
100
HPG-11B-05-F0ADG-S
1/5
0.32
0.0872
0.95
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 162.5 20.7 Caution plate 20.7
Caution plate
Caution plate
15+0.25 -0.20 2.5
Bottom
Bottom
Bottom
Top
3-M4 Screw hole depth 6
Top
Top
10.9 11.7 11.7 21.7 58.8
4.9
13.7 27.4
Power supply connector Electromagnetic brake connector
9.9 19.2
13.9 27.5
79.3
18.4
Encoder connector
13°
9°
2
11.7 11.7
18.4 58.8
Encoder connector 21.7
Output [W]
Model
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 4
7°
Pin No. Application 1 B1 2 B2
6.4
Power supply connector
Electromagnetic brake connector 1
45°
37.1
21 38.8 36
5
25.5
0° 12
Motor plate
9
Motor plate (Opposite side)
C 0. 5
20.5
Reduction ratio
Reducer model
Power supply connector 9.9 Electromagnetic brake connector
BC41766*
Opposite-load side
Brake static friction torque [N•m]
Mass [kg]
Moment of inertia J [× 10-4 kg•m2]
HG-KR13BG5
100
HPG-14A-05-F0CBJS-S
1/5
0.32
0.152
1.5
HG-KR13BG5
100
HPG-14A-11-F0CBKS-S
1/11
0.32
0.144
1.6
HG-KR13BG5
100
HPG-14A-21-F0CBKS-S
1/21
0.32
0.135
1.6
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
20.7 Electromagnetic brake connector 1 2
60°
21.7 58.8 18.4 Encoder connector
45°
Top
9.9
11.7
12
Pin No. Application 1 B1 2 B2
-0.5 6-M4 Screw hole depth 7 21+0.4 3
6.4
19.2 Power supply connector 103.8
Power supply connector
Electromagnetic brake connector
1 2 3 4
13°
27.4
8
7°
Caution plate 10.9 4.9 11.7
13.7
Top
9°
Top
35
Bottom
Bottom
21
38.8 36
Bottom
21
0. 5
Caution plate Motor plate
187 Motor plate (Opposite side) Caution plate
C
20.5 20.7
Encoder connector
18.4
11.7 11.7
58.8 21.7
6 - 41
9.9
Pin No. Application (PE) 1 2 U 3 V 4 W
Power supply connector
Electromagnetic brake connector
Opposite-load side
BC41098*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG5
100
HPG-20A-33-F0JMLAS-S
1/33
0.32
0.146
2.8
HG-KR13BG5
100
HPG-20A-45-F0JMLAS-S
1/45
0.32
0.145
2.8
[Unit: mm]
+0.4
Pin No. Application 1 B1 2 B2
2
C
φ24H7
21.7 58.8
φ59 φ85h7
φ89
φ55
9.9 Power supply connector 106.3
19.2
05
Power supply connector 1 2 3 4
18.4 Electromagnetic brake connector Encoder connector
13°
Electromagnetic brake connector 1
11.7
φ1
7°
27.4
10.9 11.7
9°
38.8 36
Top
Caution plate 4.9
13.7
Bottom Top
5
Top
Bottom
φ4
Bottom
Caution plate
21 20.7
Motor plate
φ84
Motor plate (Opposite side) Caution plate
27 -0.5 26 10 8
30.5
0. 5
189.5 20.5 20.7
For reverse rotation command Rotation direction For forward rotation command 6-M6 Screw hole □90 depth 10 45 ° 4-φ9 60° 5(φ24H7 effective range )
Pin No. Application 1 (PE) 2 U 3 V 4 W
Power supply connector 18.4 9.9 11.7 Electromagnetic brake connector 58.8
Encoder connector 11.7 21.7
Opposite-load side
BC41099A Mass [kg]
Model
Output [W]
Reducer model
HG-KR23BG5
200
HPG-14A-05-F0AZW-S
1/5
1.3
0.444
2.2
HG-KR23BG5
200
HPG-14A-11-F0AZX-S
1/11
1.3
0.446
2.3
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
[Unit: mm]
+0.4
Bottom
10 28.4
Electromagnetic brake connector
10.9 11.8
11.7 21.7 57.8 Encoder connector
19.2
φ14H7
47.1 46 13.7
9.5 Power supply connector 100.4
5.9 Power supply connector
Electromagnetic brake connector
1 2 3 4
7°
13.5°
Pin No. Application 1 B1 2 B2 9°
2
Top
0
Top
Caution plate
1
Top
φ7 φ3 0
φ40 φ56h7
Bottom
Bottom
21 -0.5 3
5
60
Caution plate
8
C 0.
Motor plate
φ59
56
Motor plate (Opposite side) Caution plate
φ55.5
177.4 □60
For reverse rotation command Rotation direction For forward rotation command 6-M4 Screw hole □60 depth 7 45° 5(φ14H7effective range) 60° 4-φ5.5
Encoder connector
18.3 11.7 57.8
11.8 21.7
Power supply connector 9.5 Electromagnetic brake connector
Opposite-load side
6 - 42
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41100*
6. HG-MR SERIES/HG-KR SERIES Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-20A-21-F0EKS-S
1/21
1.3
0.741
3.8
HPG-20A-33-F0ELS-S
1/33
1.3
0.695
3.8
HPG-20A-45-F0ELS-S
1/45
1.3
0.694
3.8
Model
Output [W]
Reducer model
HG-KR23BG5
200
HG-KR23BG5
200
HG-KR23BG5
200
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 184.4
Bottom
Top
φ4 5
10.9 11.8
11.7
28.4
19.2
9.5 Power supply connector
21.7
5.9 Power supply connector
107.4
57.8
Electromagnetic brake connector
φ24H7
10
1 2 3 4
Electromagnetic brake connector
Encoder connector
9°
7°
Pin No. Application 1 B1 2 B2
Pin No. Application 1 (PE) 2 U 3 V 4 W
13.5°
47.1 46
Caution plate
2
Top
Encoder connector 11.8
4-φ9 05 φ1
Top
13.7
1
Bottom
45 °
60°
φ59 φ85h7
Bottom
φ89
Caution plate
□90
φ84
Motor plate
10 8
35
C 0. 5
□60
6-M6 Screw hole depth 10 5(φ24H7 effective range )
27 +0.4 -0.5 26
Motor plate (Opposite side) Caution plate
Power supply connector
18.3 11.7 57.8
9.5 Electromagnetic brake connector Opposite-load side
21.7
BC41101*
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG5
400
HPG-14A-05-F0AZW-S
1/5
1.3
0.594
2.7
[Unit: mm]
For reverse rotation command Rotation direction For forward rotation command
-0.5 21+0.4
199.1 Motor plate (Opposite side)
56
8
3 6-M4 Screw hole depth 7
Caution plate Motor plate
Caution plate
Bottom
5
Top
Pin No. Application 1 B1 2 B2
11.7 21.7 57.8
19.2
9.5 Power supply connector 122.1
5.9 Power supply connector 1 2 3 4
Electromagnetic brake connector
Encoder connector
Pin No. Application (PE) 1 2 U 3 V 4 W
7°
28.4 Electromagnetic brake connector
10.9 11.8
13.5°
10
9°
47.1 46
Caution plate
2
Top
45°
Top
13.7
1
. C0
Bottom
Bottom
60°
Encoder connector 11.8
18.3 11.7 57.8 21.7
Power supply connector 9.5 Electromagnetic brake connector
Opposite-load side
6 - 43
BC41102*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG5
400
HPG-20A-11-F0EKS-S
1/11
1.3
0.969
4.3
HG-KR43BG5
400
HPG-20A-21-F0EKS-S
1/21
1.3
0.891
4.3
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 -0.5
206.1 26
φ84
φ1 0. 5 C
φ24H7
Top
10.9
10
9.5
11.8
11.7
28.4
21.7 57.8
Power supply connector 129.1
19.2
Power supply connector 1 2 3 4
Electromagnetic brake connector
Encoder connector
Encoder connector 11.8
7°
13.5°
9°
Pin No. Application 1 B1 2 B2
2
05
5.9
Electromagnetic brake connector 1
45° 60°
45 φ
Top
Top
Caution plate
φ89
Bottom
Bottom Bottom
□90
6-M6 Screw hole depth 10
4-φ9
Caution plate
47.1 46
5(φ24H7 effective range )
Motor plate (Opposite side) Caution plate
Motor plate
13.7
10 8
φ59 φ85h7
□60
35
18.3 11.7 57.8 21.7
Power supply connector 9.5 Electromagnetic brake connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41103*
Opposite-load side
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG5
400
HPG-32A-33-F0RLAS-S
1/33
1.3
0.943
6.4
HG-KR43BG5
400
HPG-32A-45-F0RLAS-S
1/45
1.3
0.937
6.4
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 218.1 29
41
-0.5 35+0.4 13 13
6-M8 Screw hole depth12
60°
45°
Motor plate (Opposite side) Caution plate Motor plate
Bottom
Electromagnetic brake connector 1 2
Pin No. Application 1 B1 2 B2
19.2
21.7 57.8
C
9.5 Power supply connector 141.1
Power supply connector
Electromagnetic brake connector
1 2 3 4
Encoder connector
7°
28.4
11.7
Top
13.5°
13.7
Caution plate 10.9 11.8
9°
47.1 46
5.9 10
Bottom
Top
Bottom Top
0. 5
Caution plate
Encoder connector 11.8
18.3
11.7 57.8 21.7
6 - 44
Power supply connector 9.5
Pin No. Application 1 (PE) 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41104*
6. HG-MR SERIES/HG-KR SERIES Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-20A-05-F0FEOS-S
1/5
2.4
2.02
5.8
HPG-20A-11-F0FEPS-S
1/11
2.4
1.93
6.1
Model
Output [W]
Reducer model
HG-KR73BG5
750
HG-KR73BG5
750
[Unit: mm]
27
230.3 30
Motor plate (Opposite side)
□80
12 26 10 8
6-M6 Screw hole depth 10
56
φ59
φ85h7
C
Top
4-φ9
05 φ1 0. 5
φ89
Bottom
□80
Bottom
45°
60°
φ84
Caution plate
Bottom
□90
5(φ24H7 effective range)
Caution plate
Motor plate
Top
φ4 5
Top
Caution plate 13.7
11.5
10.7 11.8
11.7
1 2 3 4
Electromagnetic brake connector
Encoder connector
Electromagnetic brake connector
Pin No. Application 1 (PE) 2 U V 3 W 4
Power supply connector 9.5
18.4
Encoder connector
7°
7°
7°
Pin No. Application 1 B1 2 B2
2
12 Power supply connector
147.6
63.1
1
9.5 Power supply connector
19.2
21.7
27.4
φ24H7
57.1
For reverse rotation command Rotation direction For forward rotation command
+0.4 -0.5
11.8
11.7
Electromagnetic brake connector
63.1 21.7
Opposite-load side
BC41105* Mass [kg]
Model
Output [W]
HG-KR73BG5
750
HPG-32A-21-F0SEIS-S
1/21
2.4
2.12
8.2
HG-KR73BG5
750
HPG-32A-33-F0SEJS-S
1/33
2.4
1.90
8.2
HG-KR73BG5
750
HPG-32A-45-F0SEJS-S
1/45
2.4
1.90
8.2
Reduction ratio
Reducer model
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 240.3 Motor plate (Opposite side) Caution plate
35 +0.4 -0.5 13 13
□120
6-M8 Screw hole depth 12
60°
45°
4-φ11
Top
φ84 φ115h7
35 φ1
C 0. 5
Top
φ114
□80 Bottom
Bottom
57.1 56
36
5(φ32H7 effective range)
Caution plate
Bottom
9
φ118
□80 Motor plate
30
φ6
0
Top
Caution plate
Electromagnetic brake connector 1 2
Pin No. Application 1 B1 2 B2
19.2
9.5 Power supply connector
21.7 63.1
157.6
Power supply connector 1 2 3 4
Electromagnetic brake connector Encoder connector 7°
27.4
11.7
φ32H7
10.7 11.8
7°
13.7
7°
12 11.5
Encoder connector 11.8
18.4
11.7 63.1 21.7
Power supply connector 9.5
Electromagnetic brake connector
Opposite-load side
6 - 45
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41106*
6. HG-MR SERIES/HG-KR SERIES 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G7
50
HPG-11B-05-F20ADG-S
1/5
0.0512
0.58
HG-KR053G7
50
HPG-11B-09-F20ADG-S
1/9
0.0492
0.58
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5
20.7
105.9 9 Motor plate (Opposite side)
Caution plate Caution plate 20.7
Motor plate Caution plate
Top
15 2.5
20
R0
Top
.4
36
Top
13.7 27.4
45°
37.1
21
5
Bottom
Bottom
Bottom
42 25.5
4.9
9.9 19.2
10.9 11.7 11.7 21.7 Encoder connector
Power supply connector 63.3
13.9 27.5
21.7 11.7 11.7
6.4
Power supply connector
7°
Pin No. Application 1 (PE) 2 U 3 V 4 W
Encoder connector
9°
1 2 3 4
19.2
9.9
Power supply connector
Opposite-load side
BC40938*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G7
50
HPG-14A-05-J2CBJS-S
1/5
0.119
1.2
HG-KR053G7
50
HPG-14A-11-J2CBKS-S
1/11
0.106
1.3
HG-KR053G7
50
HPG-14A-21-J2CBKS-S
1/21
0.0960
1.3
HG-KR053G7
50
HPG-14A-33-J2CBLS-S
1/33
0.0900
1.3
HG-KR053G7
50
HPG-14A-45-J2CBLS-S
1/45
0.0900
1.3
[Unit: mm]
130.4
Caution plate
Bottom
Bottom
Bottom
Top
21 37.1 36
21 3
Top
9.9
10.9 11.7 11.7
19.2
Power supply connector
21.7
87.8
6.4 21.7 11.7 11.7
Encoder connector Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2
7°
3 9°
4.9
70
R0.4
Top
13.7 27.4
45 °
28
Caution plate
20.7
Motor plate Caution plate
8
16h7 20 40 56h7
20.7
35
55.5
20.5
58 21
Motor plate (Opposite side)
For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60
4
6 - 46
Encoder connector
Power supply connector
19.2
9.9
Opposite-load side
BC38191*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-11B-05-J20ADG-S
1/5
0.0839
0.78
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.5
20.7 Caution plate
Motor plate
20.7
Caution plate
Caution plate
121.9 Motor plate (Opposite side)
42 9
Top
15 2.5
20
45°
R0
Top
.4
37.1
21
5
Bottom
Bottom
Bottom
25.5
36
Top
13.7 27.4
Application (PE) U V W
9.9 19.2
Power supply connector 79.3
13.9 27.5
21.7 11.7 11.7
6.4
7°
Encoder connector
9°
Power supply connector 1 Pin No. 2 1 3 2 4
3 4
10.9 11.7 11.7 21.7 Encoder connector
4.9
19.2
9.9 Power supply connector
Opposite-load side
BC40940*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-14A-05-J2CBJS-S
1/5
0.152
1.4
HG-KR13G7
100
HPG-14A-11-J2CBKS-S
1/11
0.139
1.5
HG-KR13G7
100
HPG-14A-21-J2CBKS-S
1/21
0.129
1.5
[Unit: mm]
146.4 20.5 Motor plate
58 21
Motor plate (Opposite side)
20.7
For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60
35
8
21 3
45°
28
Caution plate Caution plate
21
Top
10.9 11.7 11.7
9.9
R0.4
Power supply connector
6.4
19.2
21.7 Encoder connector
103.8
21.7 11.7 11.7 Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 7°
3 9°
4.9
20 40 56h7
55.5
Top
Top
13.7 27.4
70
16h7
Bottom
37.1 36
Bottom
Bottom
59
20.7
Caution plate
4
6 - 47
Encoder connector
19.2 Opposite-load side
9.9
Power supply connector
BC38192*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-20A-33-J2JMLAS-S
1/33
0.141
3.0
HG-KR13G7
100
HPG-20A-45-J2JMLAS-S
1/45
0.139
3.0
[Unit: mm]
148.9
80 30.5
20.5
20.7 Caution plate
Motor plate
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
26
10
27 8
Motor plate (Opposite side) Caution plate
45°
42
21
Top
Top
Top
R0.4
6.4 4.9
13.7
59 85h7
84
25h7 32
Bottom
37.1 36
Bottom
Bottom
89
Caution plate
55
20.7
5 10
9.9
10.9 11.711.7
27.4
Power supply connector
19.2
21.7
106.3
21.7 11.7 11.7
Encoder connector Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
7°
1 2 3 9°
4
Encoder connector
19.2 9.9
Power supply connector
Opposite-load side
BC38193*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR23G7
200
HPG-14A-05-J2AZW-S
1/5
0.428
1.9
HG-KR23G7
200
HPG-14A-11-J2AZX-S
1/11
0.424
2.0
Mass [kg]
[Unit: mm]
Bottom
Caution plate
Top
Top
10.9 11.8 11.7
9.5 19.2
47.1 46
70
R0.4
Top
13.7 10 28.4
45°
28
20 40 56h7
Bottom
Bottom
21 3
16h7
Caution plate
8
59
Motor plate
58 56
55.5
140.6 Motor plate (Opposite side) Caution plate
60
For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60
5.9
Power supply connector
21.7
100.4
Encoder connector Power supply connector Power supply connector 19.2 9.5
Encoder connector 11.811.7 21.7
7°
3 4
Pin No. Application (PE) 1 U 2 V 3 W 4
9°
1 2
BC38194*
6 - 48
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR23G7
200
HPG-20A-21-J2EKS-S
1/21
0.721
3.8
HG-KR23G7
200
HPG-20A-33-J2ELS-S
1/33
0.674
3.8
HG-KR23G7
200
HPG-20A-45-J2ELS-S
1/45
0.672
3.8
Mass [kg]
[Unit: mm]
147.6
80 26
Motor plate (Opposite side) Caution plate
60
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
10
35
27 8
45°
42
Bottom Bottom
Caution plate
Top
89
Bottom
25h7 32 59 85h7
Caution plate
84
5 10
Motor plate
Top
47.1 46
Top
R0.4
10.9 13.7 10 28.4
11.811.7 21.7
Power supply connector
9.5 19.2
5.9
107.4
Encoder connector
Power supply connector
3 4
7°
9°
Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2
Encoder connector
19.2 9.5 11.811.7 21.7 Opposite-load side
BC38195*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-14A-05-J2AZW-S
1/5
0.578
2.4
[Unit: mm]
60
162.3
For reverse rotation command Rotation direction For forward rotation command 4- 5.5 60
58
Motor plate (Opposite side) Caution plate
56
8
21 3
45°
28
Bottom
Top
Top
11.8 11.7
40
19.2
5.9
21.7
122.1
Encoder connector
Encoder connector
Power supply connector
Power supply connector 1 2 7°
3 9°
47.1 46
28.4
Power supply connector
9.5
10.9
56h7
R0.4
Top
13.7 10
20
60
Bottom
Caution plate
59
Bottom
16h7
Caution plate
55.5
70
Motor plate
4
6 - 49
Pin No. Application (PE) 1 U 2 V 3 W 4
19.2 9.5 11.811.7 21.7 Opposite-load side
BC40909*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-20A-11-J2EKS-S
1/11
0.955
4.3
HG-KR43G7
400
HPG-20A-21-J2EKS-S
1/21
0.871
4.3
[Unit: mm]
169.3
80 26
60
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
10
35
27 8
Motor plate (Opposite side)
42
45
Caution plate Motor plate
10
85h7
32
5 10
R0.4
Power supply connector
10.9 13.7
59
25h7
Top
Top
46
47.1
Top
Caution plate
84
Bottom
Bottom Bottom
89
Caution plate
19.2
11.8
28.4
5.9
21.7
11.7
129.1
9.5 Encoder connector
Power supply connector
Power supply connector
Pin No. Application (PE) 1 2 U V 3 W 4
1 2
7
9
3 4
Encoder connector
19.2
11.8
9.5
11.7 21.7 Opposite-load side
BC40910*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-32A-33-J2RLAS-S
1/33
0.927
7.4
HG-KR43G7
400
HPG-32A-45-J2RLAS-S
1/45
0.918
7.4
[Unit: mm]
181.3
133 29
60
For reverse rotation command Rotation direction For forward rotation command 4- 11 120
13
41
35 13
Motor plate (Opposite side)
45°
82
Caution plate
47.1 46
Top
Caution plate
Top
40h7 44 84 115h7
Bottom
Bottom Bottom
5 13
114
84
Caution plate
118
Motor plate
Top
R0.4
19.2 11.7 21.7 9.5
141.1
Encoder connector
Power supply connector 1 2 7°
28.4
10.9 11.8
9°
5.9 10
13.7
Power supply connector
3 4
Pin No. Application (PE) 1 2 U 3 V 4 W
6 - 50
Encoder connector 11.8
19.2 11.7
Power supply connector 9.5
21.7 Opposite-load side
BC40911*
6. HG-MR SERIES/HG-KR SERIES Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G7
750
HPG-20A-05-J2FEOS-S
1/5
1.95
5.2
HG-KR73G7
750
HPG-20A-11-J2FEPS-S
1/11
1.83
5.5
[Unit: mm]
190 Motor plate (Opposite side) Caution plate
80
Motor plate
For reverse rotation command Rotation direction For forward rotation command 4- 9 90
80 12
30
26
10
27 8
42
5 10
89
Top
57.1 56
Bottom
32 59 85h7
Top
25h7
Caution plate
80
Bottom Bottom
84
Caution plate
R0.4
Top
13.7
10.7 11.8 11.7
11.5 27.4
Power supply connector
9.5
12
19.2 21.7
147.6
19.2
9.5
Encoder connector Power supply connector
Pin No. Application 1 (PE) 2 U 3 V 4 W
7°
1 2 3
7°
4
Encoder connector
Power supply connector 11.8
11.7 21.7 Opposite-load side
BC40912*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR73G7
750
HPG-32A-21-J2SEIS-S
1/21
2.03
8.6
HG-KR73G7
750
HPG-32A-33-J2SEJS-S
1/33
1.80
8.6
HG-KR73G7
750
HPG-32A-45-J2SEJS-S
1/45
1.79
8.6
Mass [kg]
[Unit: mm]
200
133 30
Motor plate (Opposite side)
80
For reverse rotation command Rotation direction For forward rotation command 4- 11 120
9
36
13
35 13
45°
82
Caution plate 5 13
57.1 56
Bottom
Top
R0.4
Top
19.2
9.5 Power supply connector 157.6
19.2
9.5
Encoder connector Power supply connector 7°
27.4
10.7 11.8 11.7 21.7
1 2 3
7°
12 11.5
13.7
40h7 44 84 115h7
Top
114
Bottom Bottom
Caution plate
80
Caution plate
118
Motor plate
4
Pin No. Application 1 (PE) 2 U 3 V 4 W
6 - 51
Power supply connector
Encoder connector 11.8
11.7 21.7 Opposite-load side
BC40913*
6. HG-MR SERIES/HG-KR SERIES 6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053BG7
50
HPG-11B-05-J20ADG-S
1/5
0.32
0.0534
0.78
HG-KR053BG7
50
HPG-11B-09-J20ADG-S
1/9
0.32
0.0514
0.78
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 20.7 Caution plate 20.7
Motor plate Caution plate
146.5 Motor plate Caution plate (Opposite side)
42 9
25.5
5
15 2.5
20
Bottom Bottom
Bottom
21
Top
R0 .4
Top
38.8 36
Top
13.7 27.4
4.9
10.9 11.7 11.7 21.7 58.8
9.9
Power supply connector 13.9 27.5
19.2 18.4
Encoder connector
63.3 Electromagnetic brake connector
13°
2
Pin No. Application (PE) 1 U 2 3 V 4 W
3 4
7°
1
Pin No. Application 1 B1 2 B2
9°
1
11.7 11.7 21.7
6 - 52
18.4 58.8
Encoder connector
6.4
Power supply connector 1 2
Electromagnetic brake connector
2
45°
37.1
20.5
Opposite-load side
9.9
Power supply connector
Electromagnetic brake connector
BC41765*
6. HG-MR SERIES/HG-KR SERIES Output [W]
Model
Reduction ratio
Reducer model
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053BG7
50
HPG-14A-05-J2CBJS-S
1/5
0.32
0.121
1.4
HG-KR053BG7
50
HPG-14A-11-J2CBKS-S
1/11
0.32
0.108
1.5
HG-KR053BG7
50
HPG-14A-21-J2CBKS-S
1/21
0.32
0.0980
1.5
HG-KR053BG7
50
HPG-14A-33-J2CBLS-S
1/33
0.32
0.0920
1.5
HG-KR053BG7
50
HPG-14A-45-J2CBLS-S
1/45
0.32
0.0920
1.5
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
20.5 20.7
171 Motor plate (Opposite side) Caution plate
Caution plate 20.7
Motor plate
Top
Top
Caution plate 4.9
13.7
10.9 11.7
27.4 Encoder connector
8
21 3
45 °
28
Top
R0.4
9.9 Power supply connector 87.8 Electromagnetic brake connector
11.7 21.7 58.8
35
Bottom
Bottom
21
38.8 36
Bottom
58 21
6.4
19.2 18.4
Power supply connector
7° 9°
Pin No. Application 1 B1 2 B2
2
13°
1
Encoder connector
18.4 11.7 58.8
11.7 21.7
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 4
Electromagnetic brake connector
9.9
Power supply connector
Electromagnetic brake connector
Opposite-load side
BC41107*
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG7
50
HPG-11B-05-J20ADG-S
1/5
0.32
0.0899
0.98
[Unit: mm] For reverse rotation comman Rotation direction For forward rotation comman 162.5 Motor plate (Opposite side) Caution plate
20.7 Caution plate 20.7
Motor plate Caution plate
25.5
5 15 2.5
Bottom
21
Top
R0 .4
Top
4.9
10.9 11.7 11.7 21.7 58.8 Encoder connector
9.9 19.2
Power supply connector Electromagnetic brake connector
6.4
Power supply connector
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 4
7°
13°
9°
Pin No. Application 1 B1 2 B2
13.9 27.5
79.3
18.4
Electromagnetic brake connector
2
45°
Top
13.7 27.4
1
20
Bottom
Bottom
38.8 36
42 9
37.1
20.5
11.7 11.7 21.7
6 - 53
18.4 58.8
Encoder connector
Opposite-load side
9.9
Power supply connector
Electromagnetic brake connector
BC41767*
6. HG-MR SERIES/HG-KR SERIES Output [W]
Model
Reduction ratio
Reducer model
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG7
100
HPG-14A-05-J2CBJS-S
1/5
0.32
0.158
1.6
HG-KR13BG7
100
HPG-14A-11-J2CBKS-S
1/11
0.32
0.145
1.7
HG-KR13BG7
100
HPG-14A-21-J2CBKS-S
1/21
0.32
0.135
1.7
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
20.5 20.7
187 Motor plate (Opposite side) Caution plate
Caution plate 20.7
Motor plate
Top
Top
Caution plate 13.7
4.9
19.2
45°
28
R0.4
6.4
Power supply connector
21.7
Power supply connector
103.8
58.8
18.4
Pin No. Application (PE) 1 2 U 3 V 4 W
1 2 3 4
Electromagnetic brake connector
7°
Encoder connector
9°
Pin No. Application 1 B1 2 B2
2
21 3
9.9 11.7
Electromagnetic brake connector 1
8
Top
10.9 11.7
27.4
35
Bottom
Bottom
21
38.8 36
Bottom
58 21
13°
12
Encoder connector
18.4 11.7 58.8
11.7 21.7
Power supply connector
9.9
Electromagnetic brake connector
Opposite-load side
BC41108*
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG7
100
HPG-20A-33-J2JMLAS-S
1/33
0.32
0.147
3.2
HG-KR13BG7
100
HPG-20A-45-J2JMLAS-S
1/45
0.32
0.145
3.2
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 189.5
Caution plate
1 2
Pin No. Application 1 B1 2 B2
φ25h7
45 °
φ32 φ59 φ85h7
φ84
φ89
Top
4-φ9
05 φ1
R0.4 10.9 11.7
9.9 11.7 21.7 58.8
Power supply connector
19.2 18.4
Encoder connector
106.3 Electromagnetic brake connector
Power supply connector 1 2 3 4
13°
Electromagnetic brake connecto
□90 42
7°
27.4
Bottom
Top
9°
38.8 36
Caution plate 4.9
13.7
φ55
Bottom
Bottom Top
26 10 27 8
Caution plate
21 20.7
Motor plate
80 30.5
Motor plate (Opposite side)
20.5 20.7
Power supply connector 18.4 9.9 11.7 Electromagnetic brake connector 58.8
Encoder connector 11.7 21.7
6 - 54
Opposite-load side
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41109A
6. HG-MR SERIES/HG-KR SERIES Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-14A-05-J2AZW-S
1/5
1.3
0.450
2.3
HPG-14A-11-J2AZX-S
1/11
1.3
0.446
2.4
Model
Output [W]
Reducer model
HG-KR23BG7
200
HG-KR23BG7
200
[Unit: mm] 177.4 Motor plate (Opposite side) Caution plate Motor plate
56
Caution plate
For reverse rotation command Rotation direction For forward rotation command
58 8
21 3
28
45 °
Bottom Bottom Top
Top
R0.4
Top
46
47.1
Bottom
Caution plate 13.7
10.9 11.8
10
11.7
28.4
21.7 57.8
Electromagnetic brake connector 1
19.2
9.5 Power supply connector
5.9 Power supply connector
100.4 1 2 3 4
Electromagnetic brake connector
Encoder connector
13.5°
9°
7°
Pin No. Application 1 B1 2 B2
2
Pin No. Application (PE) 1 2 U 3 V 4 W
Encoder connector
Power supply connector
18.3 11.7 57.8
11.8
9.5 Electromagnetic brake connector
21.7
Opposite-load side
BC41110*
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23BG7
200
HPG-20A-21-J2EKS-S
1/21
1.3
0.743
4.2
HG-KR23BG7
200
HPG-20A-33-J2ELS-S
1/33
1.3
0.696
4.2
HG-KR23BG7
200
HPG-20A-45-J2ELS-S
1/45
1.3
0.694
4.2
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 184.4
80 26
Motor plate (Opposite side) Caution plate Motor plate
27 8
45°
42
Bottom
Bottom Top
Top
Electromagnetic brake connector
Pin No. Application 1 B1 2 B2
9.5 19.2 Power supply connector 107.4
11.7 21.7 57.8
5.9 Power supply connector
Electromagnetic brake connector
1 2 3 4
Encoder connector
7°
28.4
R0.4
13.5°
Caution plate 10.9 10 11.8
9°
47.1 46
Top
13.7
2
10
Caution plate Bottom
1
35
Encoder connector 11.8
18.3 11.7 57.8 21.7
6 - 55
Pin No. Application (PE) 1 2 U 3 V 4 W
Power supply connector 9.5 Electromagnetic brake connector
Opposite-load side
BC41111*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG7
400
HPG-14A-05-J2AZW-S
1/5
1.3
0.600
2.8
[Unit: mm] 199.1
For reverse rotation command Rotation direction For forward rotation command
58 56
Motor plate (Opposite side)
8
21 3
28
45°
Caution plate Caution plate
Motor plate
Bottom
Bottom Top
Caution plate 13.7
10
10.9 11.7
19.2
21.7 57.8
5.9 Power supply connector 122.1
Power supply connector 1 2 3 4
Electromagnetic brake connector
Encoder connector
Electromagnetic brake connector
9°
Pin No. Application 1 B1 2 B2
2
R0.4
9.5
11.8
28.4
1
Top
Pin No. Application 1 (PE) 2 U 3 V 4 W
13.5° 7°
47.1 46
Bottom Top
Encoder connector 11.8
18.3 11.7 57.8 21.7
Power supply connector 9.5 Electromagnetic brake connector
Opposite-load side
BC41112*
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG7
400
HPG-20A-11-J2EKS-S
1/11
1.3
0.977
4.7
HG-KR43BG7
400
HPG-20A-21-J2EKS-S
1/21
1.3
0.893
4.7
[Unit: mm] 206.1
For reverse rotation command Rotation direction For forward rotation command
80 26
35
10
27 8
Motor plate (Opposite side)
42
45°
Caution plate Motor plate
Caution plate Bottom
10 28.4
R0.4 10.9 11.8
9.5 11.7 21.7 57.8
1 2
Pin No. Application 1 B1 2 B2
19.2
5.9
Power supply connector 129.1
Power supply connector
Electromagnetic brake connector
1 2 3 4
Encoder connector
9°
Electromagnetic brake connector
Top
7°
Caution plate 13.7
Top
13.5°
46
47.1
Bottom Bottom Top
Encoder connector 11.8
18.3 11.7 57.8 21.7
6 - 56
Power supply connector 9.5
Pin No. Application 1 (PE) 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41113*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG7
400
HPG-32A-33-J2RLAS-S
1/33
1.3
0.949
7.8
HG-KR43BG7
400
HPG-32A-45-J2RLAS-S
1/45
1.3
0.940
7.8
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 218.1
133 41
29
13
Motor plate (Opposite side)
35 13
45
82
°
Caution plate Motor plate
Caution plate Bottom
Bottom
47.1 46
Bottom
Top
Caution plate 10.9 11.8
28.4 Electromagnetic brake connector
R0.4 11.7 21.7 57.8
Power supply connector 1 2 3 4
9°
7°
Encoder connector
Pin No. Application 1 B1 2 B2
2
9.5 19.2 Power supply connector 141.1 Electromagnetic brake connector
13.5°
5.9 10
13.7
1
Top
Top
Encoder connector 11.8
Power supply connector 9.5
18.3
11.7 57.8 21.7
Pin No. Application 1 (PE) 2 U 3 V 4 W
Electromagnetic brake connector
Opposite-load side
BC41114*
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-20A-05-J2FEOS-S
1/5
2.4
2.06
6.2
HPG-20A-11-J2FEPS-S
1/11
2.4
1.94
6.5
Model
Output [W]
Reducer model
HG-KR73BG7
750
HG-KR73BG7
750
[Unit: mm] 230.3
For reverse rotation command Rotation direction For forward rotation command
80 30
Motor plate (Opposite side)
12 26 10
27 8
42
45°
Caution plate Motor plate
Caution plate Bottom Bottom Top
11.5 27.4
R0.4
9.5
10.7 11.8
11.7 21.7 63.1
Pin No. Application 1 B1 2 B2
1 2 3 4
7°
2
Power supply connector
147.6 Electromagnetic brake connector
Encoder connector
7°
Electromagnetic brake connector
12
Power supply connector
19.2
7°
57.1 56
Caution plate 13.7
1
Top
Bottom Top
Encoder connector
Power supply connector
18.4
11.8
11.7 63.1 21.7
9.5 Electromagnetic brake connector
Opposite-load side
6 - 57
Pin No. Application (PE) 1 2 U 3 V 4 W
BC41115*
6. HG-MR SERIES/HG-KR SERIES Mass [kg]
Model
Output [W]
HG-KR73BG7
750
HPG-32A-21-J2SEIS-S
1/21
2.4
2.14
9.6
HG-KR73BG7
750
HPG-32A-33-J2SEJS-S
1/33
2.4
1.91
9.6
HG-KR73BG7
750
HPG-32A-45-J2SEJS-S
1/45
2.4
1.90
9.6
Reduction ratio
Reducer model
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 240.3
Bottom
Bottom Top
57.1 56
Bottom
φ1
4-φ11
35
R0.4 Caution plate 10.7 11.8
9.5 Power supply connector
Power supply connector
157.6
1 2 3 4
Electromagnetic brake connector
Encoder connector 7°
Pin No. Application 1 B1 2 B2
21.7 63.1
19.2
7°
Electromagnetic brake connector
11.7
7°
12 11.5 27.4
2
45 °
82
Top
Top
13.7
1
35 13
φ40h7 φ44 φ84 φ115h7
□80
Caution plate
13
φ114
Motor plate
36
9
φ118
□80
□120
133 30
Motor plate (Opposite side) Caution plate
Encoder connector 11.8
18.4
11.7 63.1
21.7
6 - 58
Power supply connector 9.5
Electromagnetic brake connector Opposite-load side
Pin No. Application 1 (PE) 2 U 3 V 4 W
BC41116*
7. HG-SR SERIES 7. HG-SR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGSR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 7.1 Model code definition The following describes what each block of a model name indicates. Not all combinations of the symbols are available. HG-SR5 2 4B JG1K
Appearance Shaft type
Series Rated output Symbol Rated output [kW]
1000 [r/min]
2000 [r/min]
Symbol None K
Shaft shape Standard (straight shaft) (Note 1) Keyway shaft (with key)
5
0.5
8
0.85
10
1.0
Reducer
12
1.2
Symbol
Reducer
1.5
None
None
20
2.0
G1
For general industrial machine (flange-mounting)
30
3.0
G1H
For general industrial machine (foot-mounting)
35
3.5
G5
Flange-mounting flange output type for high precision application
42
4.2
G7
Flange-mounting shaft output type for high precision application
50
5.0
Oil seal
70
7.0
Symbol
Oil seal
None
None
(Note 2)
With
15
Rated speed Symbol
Speed [r/min]
1
1000
2
2000
Power supply voltage of servo amplifier Symbol
Voltage
None
3-phase 200 V AC to 240 V AC
4
3-phase 380 V AC to 480 V AC
J
Electromagnetic brake Symbol Electromagnetic brake None
None
B
With
Note 1. The key is packed only with the geared servo motor of flange mounting shaft-output type for high precision applications. 2. For details, contact your local sales office.
7- 1
7. HG-SR SERIES 7.2 Combination list of servo motors and servo amplifiers (1) Compatible with 3-phase 200 V AC Servo motor
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020
Servo motor
MR-J4W2-77B MR-J4W2-1010B
HG-SR52
MR-J4W2-1010B
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020
MR-J4W2-77B MR-J4W2-1010B
MR-J4W2-1010B
MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020
(2) Compatible with 3-phase 400 V AC Servo motor
HG-SR524
HG-SR1024
Servo amplifier MR-J4-60A4 MR-J4-60A4-RJ MR-J4-60B4 MR-J4-60B4-RJ MR-J4-60B4-RJ010 MR-J4-60B4-RJ020 MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020
Servo motor HG-SR1524
HG-SR2024
HG-SR3524
Servo amplifier MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020 MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020
7- 2
Servo motor
HG-SR5024
HG-SR7024
Servo amplifier MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020
7. HG-SR SERIES 7.3 Standard specifications 7.3.1 Standard specifications list Servo motor
Item Power supply capacity Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] (Note 10) Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] Standard -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2, 10) Continuous running duty (Note 1)
HG-SR 2000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity)
HG-SR 1000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity) 51(B) 81(B)
121 (B)
201 (B)
301 (B)
421 102 52(B) (B) (B)
152 (B)
202 (B)
352 (B)
502 (B)
702 (B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.5 0.85 1.2 2.0 3.0 4.2 0.5 1.0 1.5 2.0 3.5 5.0 7.0 4.8 8.1 11.5 19.1 28.6 40.1 2.4 4.8 7.2 9.5 16.7 23.9 33.4 14.3 24.4 34.4 57.3 85.9 120 7.2 14.3 21.5 28.6 50.1 71.6 100 1000 2000 1500 3000 1725
3450
19.7 41.2
28.1
46.4
82.3
107
7.85
19.7
32.1
19.5
35.5
57.2
74.0
16.5 36.2
23.2
41.4
75.3
99.9
6.01
16.5
28.2
16.1
31.7
52.3
69.4
2.8 9.0
5.2 17
7.1 23
9.4 30
13 42
19 61
2.9 9.0
5.6 17
9.4 29
9.6 31
14 45
22 70
26 83
11.6 16.0
46.8
78.6
99.7
151
7.26
11.6
16.0
46.8
78.6
99.7
151
13.8 18.2
56.5
88.2
109
161
9.48
13.8
18.2
56.5
88.2
109
161
17 times 15 times or less or less 22-bit encoder common to absolute position/incremental systems Speed/position detector (resolution per servo motor revolution: 4194304 pulses/rev) Oil seal None (Note 11) Insulation class 155 (F) Structure Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9)) Operation 0 °C to 40 °C (non-freezing) Ambient temperature Storage -15 °C to 70 °C (non-freezing) Operation 80 %RH or less (non-condensing) Ambient humidity Storage 90 %RH or less (non-condensing) Environment (Note 5) Indoors (no direct sunlight), free from corrosive gas, Ambience flammable gas, oil mist, dust, and dirt Altitude Max. 1000 m above sea level 2 2 2 2 X: 24.5 m/s X: 24.5 m/s X, Y: X: 24.5 m/s X: 24.5 m/s Vibration resistance 2 X, Y: 24.5 m/s 2 2 2 2 2 (Note 6) Y: 49 m/s Y: 29.4 m/s 24.5 m/s Y: 49 m/s Y: 29.4 m/s Vibration rank (Note 7) V10 L [mm] 55 79 55 79 Permissible load for the shaft Radial [N] 980 2058 980 2058 (Note 8) Thrust [N] 490 980 490 980 Standard [kg] 6.2 7.3 11 16 20 27 4.8 6.2 7.3 11 16 20 27 With an Mass (Note 3) electromagnetic brake 8.2 9.3 17 22 26 33 6.7 8.2 9.3 17 22 26 33 [kg] 17 times or less
15 times or less
7- 3
7. HG-SR SERIES Servo motor Item
HG-SR series (3-phase 400 V AC compatible, medium inertia/medium capacity) 524(B) 1024(B) 1524(B) 2024(B) 3524(B) 5024(B) 7024(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.5 1.0 1.5 2.0 3.5 5.0 7.0 2.4 4.8 7.2 9.5 16.7 23.9 33.4 7.2 14.3 21.5 28.6 50.1 71.6 100 2000 3000
Power supply capacity
Rated output [kW] Rated torque [N•m] Maximum torque (Note 10) [N•m] Rated speed (Note 1) [r/min] Maximum speed (Note 10) [r/min] Instantaneous permissible speed [r/min] (Note 10) Standard [kW/s] 7.85 Power rate at With an continuous rated electromagnetic brake 6.01 torque [kW/s] Rated current [A] 1.5 Maximum current [A] 4.5 Standard 7.26 -4 2 [× 10 kg•m ] Moment of inertia J With an (Note 3) electromagnetic brake 9.48 -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio 15 times (Note 2, 10) or less Continuous running duty (Note 1)
Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage
Ambient humidity Environment (Note 5)
Operation Storage
Ambience Altitude Vibration resistance (Note 6)
Vibration rank (Note 7) Permissible load for the shaft (Note 8)
Mass (Note 3)
L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
3450 19.7
32.1
19.5
35.5
57.2
74.0
16.5
28.2
16.1
31.7
52.3
69.4
2.8 8.9
4.7 17
4.9 17
7.0 27
11 42
13 59
11.6
16.0
46.8
78.6
99.7
151
13.8
18.2
56.5
88.2
109
161
17 times or less
15 times or less
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) None (Note 11) 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 2 X: 24.5 m/s X: 24.5 m/s 2 X, Y: 24.5 m/s 2 2 Y: 49 m/s Y: 29.4 m/s V10 55 79 980 2058 490 980 4.8 6.2 7.3 11 16 20 27 6.7
8.2
7- 4
9.3
17
22
26
33
7. HG-SR SERIES Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Refer to the dimensions for the geared servo motor. 4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m]
the vibration to about half of the permissible value. Servo motor
X
Y Vibration
1000
100
10
0
1000 2000 3000
Speed [r/min]
7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor
Top
Measuring position
Bottom
8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load
9. For the geared servo motor, the reducer area is IP44-equivalent. 10. Refer to section 7.6 for the geared servo motor. 11. The servo motors with an oil seal are also available. For details, contact your local sales office.
7- 5
7. HG-SR SERIES 7.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-SR51 and HG-SR52 support single-phase power supply. [HG-SR121]
30
14
25 20 15
Short-duration running range
10
0 0
60
25 20
Short-duration running range
15 10
4 2
35
Torque [N•m]
6
Short-duration running range
Torque [N•m]
10 8
70
30
Torque [N•m]
Torque [N•m]
12
[HG-SR201]
40
5
Continuous running range 500
1000
Speed [r/min]
0 0
1500
[HG-SR421]
Continuous running range 500
1000
Speed [r/min]
5 1500
[HG-SR52]
150
0 0
Continuous running range 500
1000
Speed [r/min]
[HG-SR102]
Short-duration running range
10
Short-duration running range 5
2
Continuous running range 0 0
500
1000
Speed [r/min]
Continuous running range 0 0
1500
1000
2000
Speed [r/min]
0 0
3000
3000
120
70
50
2000
[HG-SR702]
80
60
1000
Speed [r/min]
100
30
Short-duration running range
20
50
Torque [N•m]
Torque [N•m]
Torque [N•m]
60 40
Short-duration running range
40 30
80
Short-duration running range
60 40
20 10 0 0
Continuous running range 1000
2000
Speed [r/min]
3000
0
20
Continuous running range
10 0
1000
2000
Speed [r/min]
3000
0
Continuous running range 0
1000
2000
Speed [r/min]
7- 6
15
Short-duration running range 30
Continuous running range 500
1000
Speed [r/min]
Continuous running range 0 0
1500
500
1000
Speed [r/min]
1500
[HG-SR202] 30
3000
Short-duration running range
10
5
Continuous running range
[HG-SR502]
[HG-SR352]
20
25
Torque [N•m]
50
4
30
60
20
Torque [N•m]
Torque [N•m]
Torque [N•m]
Short-duration running range
Short-duration running range
[HG-SR152]
6 100
40
0 0
15
8
90
50
10
1500
[HG-SR301]
Torque [N•m]
[HG-SR81]
16
Torque [N•m]
[HG-SR51]
0 0
20
Short-duration running range 10
Continuous running range 1000
2000
Speed [r/min]
Continuous running range 3000
0 0
1000
2000
Speed [r/min]
3000
7. HG-SR SERIES (2) 3-phase 400 V AC When the power supply input of the servo amplifier are 3-phase 400 V AC, the torque characteristic is indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is indicated by the thin line.
Short-duration running range 3
10
Short-duration running range 5
Continuous running range 1000
2000
Speed [r/min]
Short-duration running range 8
3000
[HG-SR5024]
1000
2000
Speed [r/min]
3000
1000
[HG-SR7024]
80
120
70
100
40
Torque [N•m]
Torque [N•m]
60 50
Short-duration running range
30
80 60
Short-duration running range
40
20 10 0 0
20
Continuous running range 1000
2000
Speed [r/min]
3000
0 0
Continuous running range 1000
2000
Speed [r/min]
2000
Speed [r/min]
3000
7- 7
60
20
Short-duration running range 10
Continuous running range 0 0
[HG-SR3524]
30
16
Continuous running range 0 0
[HG-SR2024]
24
Torque [N•m]
Torque [N•m]
Torque [N•m]
6
0 0
[HG-SR1524]
15
Torque [N•m]
[HG-SR1024]
9
Torque [N•m]
[HG-SR524]
40
Short-duration running range 20
Continuous running range 3000
0 0
1000
2000
Speed [r/min]
Continuous running range 3000
0 0
1000
2000
Speed [r/min]
3000
7. HG-SR SERIES 7.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor
Item Type (Note 1)
Spring actuated type safety brake 0 24 V DC -10%
Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2)
HG-SR series 121B/201B/301B/421B/ 51B/81B/52(4)B/ 202(4)B/352(4)B/502(4)B/ 102(4)B/152(4)B 702(4)B
[W] at 20 °C [Ω] [H] [N•m] [s]
[s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers voltage 125 V to be used For the suppressed (Note 7, 8) voltage 350 V
20 29.0 0.80 8.5 0.04 0.03 400 4000 0.2 to 0.6
34 16.8 1.10 44 0.1 0.03 4500 45000 0.2 to 0.6
20000
20000
200
1000 TND20V-680KB TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation.
7- 8
7. HG-SR SERIES 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key)
Servo motor HG-SR_(B)K
K
Variable dimension table R
Servo motor
QK
A
R
r
Y
4
M8 Screw hole depth 20
5
M8 Screw hole depth 20
U
QL
W
A
HG-SR51(B)K HG-SR81(B)K HG-SR52(4)(B)K HG-SR102(4)(B)K HG-SR152(4)(B)K HG-SR121(B)K r Y HG-SR201(B)K Shaft section view A-A HG-SR301(B)K HG-SR421(B)K HG-SR202(4)(B)K HG-SR352(4)(B)K HG-SR502(4)(B)K HG-SR702(4)(B)K
S
24h6
55
0 50 8 -0.036
36
5
4 +0.2 0
S
Q
[Unit: mm] Variable dimensions Q W QK QL U
Key shaft (without key)
7- 9
35
+0.010 0
79
0 75 10 -0.036 55
5
5 +0.2 0
7. HG-SR SERIES 7.6 Geared servo motors
CAUTION
Geared servo motors must be mounted in the specified direction. Otherwise, it can leak oil, leading to a fire or malfunction. For the geared servo motor, remove the oil before transportation and installation. Tipping over the reducer filled with oil can cause oil leakage.
Servo motors are available with a reducer designed for general industrial machines and high precision applications. Servo motors with an electromagnetic brake are also available. 7.6.1 For general industrial machines (G1/G1H) (1) Reduction ratio The following table indicates the reduction ratios and reducer frame numbers of the geared servo motor for general industrial machines. Servo motor
1/6
HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) HG-SR352(4)(B)G1(H) HG-SR502(4)(B)G1(H) HG-SR702(4)(B)G1(H)
1/11
1/17
Reduction ratio 1/29
1/35
1/43
6100 6120 6120 6120 6135 6165 6165
1/59
6120 6130 6130
6160 6160
6165 6165
6175 6180
6170
6180
6185 6195
(2) Specifications Item
Description
Mounting method Mounting direction
Refer to (2) (b) in this section. Refer to (2) (b) in this section. Refer to (2) (b)/(c) in this section.
Lubrication method
Recommended products (Note 1) Output shaft rotating direction Backlash (Note 5) Permissible load inertia moment ratio (when converting into the servo motor shaft) (Note 2) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 3)
Refer to (2) (c) in this section. Opposite direction to the servo motor output shaft 40 minutes to 2 ° at reducer output shaft (Note 4) 4 times or less Three times of the servo motor rated torque Refer to (2) (a) in this section. IP44 equivalent 85% to 94%
Note 1. Already packed with grease. 2. If the above indicated value is exceeded, please contact your local sales office. 3. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 4. These values are design values and not guaranteed values. 5. The backlash can be converted: 1 min = 0.0167 °
7 - 10
7. HG-SR SERIES (a) Maximum speed Servo motor
1/6
1/11
1/17
Reduction ratio 1/29
1/35
1/43
1/59
HG-SR52(4)(B)G1(H) 3000 r/min (permissible instantaneous speed: 3450 r/min)
HG-SR102(4)(B)G1(H) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H)
2000 r/min (permissible instantaneous speed: 2300 r/min)
HG-SR352(4)(B)G1(H) HG-SR502(4)(B)G1(H) HG-SR702(4)(B)G1(H)
(b) Lubrication method and mounting direction Oil lubrication cannot be used in applications where the servo motor will move. Specify grease lubrication. For grease lubrication, the reducer is already grease-packed. For oil lubrication, pack the reducer with oil on the customer side. Mounting direction Reducer model Reducer frame No. 6100 6120 6130/6135 6160/6165 6170/6175 6180/6185 6195
Shaft any direction
Shaft horizontal
Shaft downward
Shaft upward
CNHM
CNVM
CHHM
CHVM
CVHM
CVVM
CWHM
CWVM
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
Grease Grease
Grease Grease (Note) Oil (Note) Oil Oil Oil Oil
(Note) Oil (Note) Oil Oil Oil Oil
(Note) Oil (Note) Oil Oil Oil Oil
(Note) Oil (Note) Oil Oil Oil Oil
Grease Grease
Grease Grease
Note. Grease-lubricated type is also available as optional products.
7 - 11
7. HG-SR SERIES (c) Recommended lubricants 1) Grease Albania Grease RA (Shell) 2) Lubricating oil POINT Since the oil-lubricated models are shipped without oil, make sure to fill oil up to the upper red line of the oil gauge before operation. Ambient temperature [°C]
COSMO OIL
-10 to 5
COSMO GEAR SE68
0 to 35
COSMO GEAR SE100/150
30 to 50
COSMO GEAR SE200/320/4 60
JX Nippon Oil & Energy
Idemitsu Kosan
DAPHNE BONNOC SUPER GEAR M68 OIL 68 DIAMOND GEAR LUBE SP68 DAPHNE BONNOC SUPER GEAR M100/150 OIL 100/150 DIAMOND GEAR LUBE SP100/150 BONNOC M200 to 460 DIAMOND GEAR LUBE SP220 to 460
Shell
Esso
Exxon Mobil
Japan Energy
Omala Oils 68
SPARTAN EP68
Mobilgear 626 (ISOVG68)
JOMO Reductus 68
Omala Oils 100/150
SPARTAN EP100/150
Mobilgear 627/629 (ISOVG100/1 50)
JOMO Reductus 100/150
Omala Oils 200 to 460
SPARTAN EP220 to 460
JOMO Mobilgear Reductus 200 630 to 634 to 460 (ISOVG220 to 460)
Lubricating oil fill amount Fill amount [L]
Reducer frame No.
Horizontal type
Vertical type
0.7 1.4 1.9 2.5 4.0
1.1 1.0 1.9 2.0 2.7
6130/6135 6160/6165 6170/6175 6180/6185 6195
(d) Changing intervals 1) Grease Maintenance-free. (Limited to the case where the grease-lubricated type is standard) 2) Lubricating oil Changing intervals
Operation hours per day Less than 10 hours 10 hours to 24 hours
First time Second time and later
7 - 12
500 hours Half year
2500 hours
7. HG-SR SERIES (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft. Q/2
Q: Length of axis (Refer to section 7.7.3 to 7.7.6.) Q
Servo motor
HG-SR52(4)(B)G1(H)
HG-SR102(4)(B)G1(H)
HG-SR152(4)(B)G1(H)
HG-SR202(4)(B)G1(H)
Reduction ratio
1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59
Permissible load Reducer (Note) frame Permissible Permissible No. radial load thrust load
6100
6120
6120
6130 6160 6120
6130 6160
6120
6165
[N]
[N]
2058 2391 2832 3273 5253 5253 5880 2842 3273 3646 4410 5253 6047 9741 2842 3273 3646 5135 6047 8555 9741
1470 1470 1470 1470 2940 2940 2940 2352 2764 2940 2940 2940 3920 6860 2352 2764 2940 3920 3920 6860 6860
2842 3273 3646 7291 8555 8555 9741
2352 2764 2940 6860 6860 6860 6860
Servo motor
HG-SR352(4)(B)G1(H)
HG-SR502(4)(B)G1(H)
HG-SR702(4)(B)G1(H)
Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently.
7 - 13
Reduction ratio
1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59 1/6 1/11 1/17 1/29 1/35 1/43 1/59
Permissible load Reducer (Note) frame Permissible Permissible No. radial load thrust load
6135
6165 6175
6165
6180 6185 6165 6170 6180 6195
[N]
[N]
3332 3871 4420 7291 8555 11662 13132 5448 5488 6468 13426 16072 16072 16072 7526 7526 8683 13426 16072 22540 22540
3920 3920 3920 6860 6860 9800 9800 5000 6292 6860 13720 13720 13720 13720 5000 8085 9673 13720 13720 19600 19600
7. HG-SR SERIES 7.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (20A, 30A, 50A) in the following table indicate the model numbers of the reducers assembled to the servo motors. Geared servo motors having the indicated reducer model numbers are available. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05. Reduction ratio
Servo motor
1/5
HG-SR52(4)(B)G5 HG-SR52(4)(B)G7 HG-SR102(4)(B)G5 HG-SR102(4)(B)G7 HG-SR152(4)(B)G5 HG-SR152(4)(B)G7 HG-SR202(4)(B)G5 HG-SR202(4)(B)G7 HG-SR352(4)(B)G5 HG-SR352(4)(B)G7 HG-SR502(4)(B)G5 HG-SR502(4)(B)G7 HG-SR702(4)(B)G5 HG-SR702(4)(B)G7
1/11
1/21
20A
1/33 32A
20A
32A
20A
1/45
32A
50A
32A 32A
50A
50A 50A
50A 50A
(2) Specifications Item
Description
Mounting method Mounting direction Lubrication method
Packed with
Output shaft rotating direction Backlash (Note 3) Permissible load to motor inertia ratio (when converting into the servo motor shaft) (Note 1) Maximum torque Maximum speed (servo motor shaft) IP rating (reducer area) Reducer efficiency (Note 2)
Flange mounting In any directions Grease lubrication (already packed) Reducer model number 20A, 32A: Harmonic grease SK-2 (Harmonic Drive Systems) Reducer model number 50A: Epiknock grease AP(N)2 (JX Nippon Oil & Energy) Same as the servo motor output shaft direction. 3 minutes or less at reducer output shaft 10 times or less Three times of the servo motor rated torque 3000 r/min (permissible instantaneous speed: 3450 r/min) IP44 equivalent 77% to 92%
Note 1. If the above indicated value is exceeded, please contact your local sales office. 2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value. 3. The backlash can be converted: 1 min = 0.0167 °
7 - 14
7. HG-SR SERIES (3) Permissible loads of servo motor shaft The radial load point of a high precision reducer is as shown below. Q/2
L
Q: Length of axis (Refer to section 7.7.9, 7.7.10.) L: Distance between reducer end face and load center
Q
Flange-mounting flange output type for high precision application (G5)
Servo motor
HG-SR52(4)(B)G5 HG-SR52(4)(B)G7
HG-SR102(4)(B)G5 HG-SR102(4)(B)G7
HG-SR152(4)(B)G5 HG-SR152(4)(B)G7
HG-SR202(4)(B)G5 HG-SR202(4)(B)G7
HG-SR352(4)(B)G5 HG-SR352(4)(B)G7 HG-SR502(4)(B)G5 HG-SR502(4)(B)G7 HG-SR702(4)(B)G5 HG-SR702(4)(B)G7
Reduction ratio
1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/5 1/11 1/5
Flange-mounting shaft output type for high precision application (G7) Reducer model number
20A
32A 20A 32A 50A 20A 32A 50A
32A
50A 32A 50A 50A 50A
Radial load point L [mm] 32 32 57 57 57 32 57 57 62 62 32 57 62 62 62 57 57 62 62 62 57 62 62 62 62
416 527 1094 1252 1374 416 901 1094 2929 3215 416 901 2558 2929 3215 711 901 2558 2929 3215 711 2107 2558 1663 2107
1465 1856 4359 4992 5478 1465 3590 4359 10130 11117 1465 3590 8845 10130 11117 2834 3590 8845 10130 11117 2834 7285 8845 5751 7285
62
1663
5751
Note. Do not subject the shaft to load greater than the value. The value in the table assumes that the load is applied independently.
7 - 15
Permissible load (Note) Permissible radial Permissible thrust load load [N] [N]
7. HG-SR SERIES (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7). [Unit: mm] φS
W
T
QK
U
Y
20A
42
25h7
8
7
36
4
M6 screw hole depth 12
32A 50A
82 82
40h7 50h7
12 14
8 9
70 70
5 5.5
M10 screw hole depth 20
Y
Q U
QK
S
HG-SR_(4)(B)G7K
Q
W
Servo motor
Reducer model number
T
7 - 16
7. HG-SR SERIES 7.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to 3 mm larger than the drawing dimensions. Design the machine-side with allowances. 7.7.1 Standard (without electromagnetic brake and reducer) Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR52 HG-SR524
0.5
7.26
4.8
[Unit: mm] 118.5 12 Motor plate (Opposite side) Caution plate
38.2
3 50
130 45 °
14 5
Caution plate
Motor plate
4- 9 mounting hole Use hexagon socket head cap screw.
55
Top
Bottom
Bottom Top
Top
16 5
(PE)
W
13
Encoder connector CMV1-R10P
112.5
50.9
Top
Bottom
24h6
Bottom
110h7
Caution plate
Key
Power supply connector MS3102A18-10P
C
D
B
A
20.9
13.5 V
57.8
U
58
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR51
0.5
HG-SR102 HG-SR1024
1.0
BC41038A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
11.6
6.2
[Unit: mm] 38.2
4- 9 mounting hole Use hexagon socket head cap screw.
55 12
3 50
Bottom
Top
Top
16 5
24h6
112.5
Top
Bottom
50.9
Top
Bottom
45 °
110h7
Caution plate Bottom
130
14 5
Caution plate
Motor plate
132.5 Motor plate (Opposite side) Caution plate
Encoder connector CMV1-R10P
Power supply connector MS3102A18-10P
(PE)
W
13
Key C
D
B
A
20.9 71.8
V
U
Power supply connector Motor flange direction
7 - 17
13.5 58
BC41045A BC41039A
7. HG-SR SERIES Model
Output [kW]
HG-SR81
0.85
HG-SR152 HG-SR1524
1.5
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
16.0
7.3
[Unit: mm] 146.5 Motor plate (Opposite side) Caution plate
38.2 Caution plate
12
130
4- 9 mounting hole Use hexagon socket head cap screw.
3 50
45°
14
5
Motor plate
55
Bottom
Top
24h6
Top
Bottom
Top
16 5
Encoder connector CMV1-R10P
(PE)
W
13
112.5
50.9
Top
Bottom
110h7
Caution plate Bottom
Key
Power supply connector MS3102A18-10P
20.9
C
D
B
A
V
85.8
13.5
U
58
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR121
1.2
HG-SR202 HG-SR2024
2.0
BC41046A BC41040A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
46.8
11
[Unit: mm] 138.5 3
Bottom
Bottom Top
Top
13
(PE)
W
Key
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P
φ2 30
140.9
Top
φ114.3
Bottom
50.9
Top
45
75
Caution plate Bottom
□176
φ2 00
Caution plate
Motor plate
79
Motor plate 18 (Opposite side) Caution plate
φ35 +0.010 0
38.5
4-φ13.5 mounting hole Use hexagon socket head cap screw.
V
24.8 74.8
7 - 18
C
D
B
A
U
Power supply connector Motor flange direction
82
BC41047A BC41041A
7. HG-SR SERIES Model
Output [kW]
HG-SR201
2.0
HG-SR352 HG-SR3524
3.5
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
78.6
16
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 162.5
Caution plate Bottom
Bottom
Top
Top
(Note) *2
φ2 3
0
140.9
Top
50.9
Bottom
Top
φ2
(Note) *1
(Note) *1
Bottom
45°
75
00
Caution plate
3
0 φ114.3 -0.025
Motor plate
□176
79
Motor plate 18 (Opposite side) Caution plate
φ35 +0.010 0
38.5
(Note) *2
13 Encoder connector CMV1-R10P
(PE)
W
Key
Power supply connector MS3102A22-22P
24.8
82 98.8
V
U
Power supply connector Motor flange direction
BC41048A BC41042A
Note. *1 and *2 are screw hole for eyebolt (M8). Model
Output [kW]
HG-SR301
3.0
HG-SR502 HG-SR5024
5.0
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
99.7
20
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Bottom Top
(Note) *2
13
(Note) *2
W
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P
φ2 3
0
140.9
Top
Bottom Top
φ114.3
Top
Caution plate
50.9
Bottom
45°
75
(Note) *1
(Note) *1
Bottom
3
φ2 00
Caution plate
□176
79 18
0 -0.025
Motor plate
178.5 Motor plate (Opposite side) Caution plate
φ35 +0.010 0
38.5
(PE) Key
24.8
82 114.8
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 19
V U Power supply connector Motor flange direction
BC41049A BC41043A
7. HG-SR SERIES Model
Output [kW]
HG-SR421
4.2
HG-SR702 HG-SR7024
7.0
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
151
27
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 218.5 Motor plate (Opposite side) Caution plate (Note) *2
Bottom Top Top
Bottom
Bottom
Top
Top
0 φ114.3 -0.025
Caution plate
Bottom
φ2
(Note) *3 13
(Note) *1
30
149.1
(Note) *1
φ2
(Note) *2
45°
75 (Note) *4
50.9
(Note) *4
3
00
Caution plate
Motor plate
□176
79 18
φ35 +0.010 0
38.5
(Note) *3
Encoder connector CMV1-R10P
(PE)
W
Key
Power supply connector MS3102A32-17P
82
32 146.8
V U Power supply connector Motor flange direction
BC41050A BC41044A
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8).
7.7.2 With an electromagnetic brake Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR52B HG-SR524B
0.5
8.5
9.48
6.7
[Unit: mm] 43.5
3
φ1
φ24h6
Top
Encoder connector CMV1-R10P 29
φ110h7
Bottom
Top
65
112.5
50.9
Top
Top
Bottom
79.9
Bottom
45
50
Caution plate Bottom
□130
4-φ9 mounting hole Use hexagon socket head cap screw.
55 12
φ1 45
Caution plate
Motor plate
153 Motor plate (Opposite side) Caution plate
13 59
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
20.9
13.5 57.8
(PE)
W
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 20
58
Key
Main key position mark C
D
B
A
V U Power supply connector Motor flange direction
BC41051*
7. HG-SR SERIES Model
Output [kW]
HG-SR51B
0.5
HG-SR102B HG-SR1024B
1.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
13.8
8.2
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw.
43.5
3
Top
φ1 45 65
112.5
Encoder connector CMV1-R10P 29
φ1
50.9
Bottom
Top
79.9
Top
Bottom
φ110h7
Caution plate
Top
45
50
Bottom Bottom
□130
55 12
φ24h6
Caution plate
Motor plate
167 Motor plate (Opposite side) Caution plate
13 59
Electromagnetic brake connector CMV1-R2P
20.9
13.5 71.8
Power supply connector MS3102A18-10P
W Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 21
(PE)
58
Key
V U Power supply connector Motor flange direction
BC41058* BC41052*
7. HG-SR SERIES Model
Output [kW]
HG-SR81B
0.85
HG-SR152B HG-SR1524B
1.5
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
18.2
9.3
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw.
43.5 Caution plate
Motor plate
181 Motor plate (Opposite side) Caution plate
□130
55 12
3
45
50
φ1 Top
φ1 65
112.5
Encoder connector CMV1-R10P 29
φ24h6
Top
φ110h7
Bottom
Bottom
50.9
Top
79.9
Top
Bottom
45
Caution plate Bottom
13 59
Electromagnetic brake connector CMV1-R2P
20.9
13.5 85.8
Power supply connector MS3102A18-10P
W Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 22
(PE)
58
Key
V U Power supply connector Motor flange direction
BC41059* BC41053*
7. HG-SR SERIES Model
Output [kW]
HG-SR121B
1.2
HG-SR202B HG-SR2024B
2.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
56.5
17
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. □176
79 18
3
45
75
φ2 00
Caution plate
Motor plate
188 Motor plate (Opposite side) Caution plate
φ35 +0.010 0
45.5
Bottom Top
Bottom
Bottom
Top
Top
50.9
φ2
Encoder connector CMV1-R10P 44
30
140.9
Top
96.9
Bottom
0 φ114.3 -0.025
Caution plate
13 66.5
Electromagnetic brake connector CMV1-R2P
24.8
Power supply connector MS3102A22-22P
82 74.8
W Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 23
(PE) Key
V U Power supply connector Motor flange direction
BC41060* BC41054*
7. HG-SR SERIES Model
Output [kW]
HG-SR201B
2.0
HG-SR352B HG-SR3524B
3.5
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
88.2
22
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Caution plate
3 75
Bottom
Bottom
Top
Top
0 φ114.3 -0.025
Bottom Top
φ2
(Note) *2
(Note) *2
Encoder connector CMV1-R10P 44
30
140.9
96.9
Top
Caution plate
50.9
Bottom
45°
φ2
(Note) *1
(Note) *1
□176
79 18
00
Motor plate
212 Motor plate (Opposite side) Caution plate
φ35 +0.010 0
45.5
13 66.5
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
24.8
82 98.8
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 24
W
(PE) Key
V U Power supply connector Motor flange direction
BC41061* BC41055*
7. HG-SR SERIES Model
Output [kW]
HG-SR301B
3.0
HG-SR502B HG-SR5024B
5.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
109
26
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Bottom
Bottom
Top
Top
φ2
(Note) *2
(Note) *2
Encoder connector CMV1-R10P 44
30
140.9
96.9
Top
Caution plate φ114.3
Bottom Top
(Note) *1
45°
0 -0.025
Bottom
3 75
50.9
(Note) *1
□176
79 18
φ2 00
Caution plate
Motor plate
228 Motor plate (Opposite side) Caution plate
φ35 +0.010 0
45.5
13 66.5
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
24.8
82 114.8
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
W
(PE) Key
V U Power supply connector Motor flange direction
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 25
BC41062* BC41056*
7. HG-SR SERIES Model
Output [kW]
HG-SR421B
4.2
HG-SR702B HG-SR7024B
7.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
161
33
[Unit: mm]
4-φ13.5 mounting hole Use hexagon socket head cap screw.
(Note) *1
(Note) *3
Bottom
Bottom
Top
Top
(Note) *1
Encoder connector CMV1-R10P 44
φ2
30
149.1
Top
0 φ114.3 -0.025
Bottom
Top
45°
(Note) *2
50.9
Bottom
75 (Note) *4
Caution plate
3
96.9
(Note) *2
(Note) *4
□176
79 18
φ2 00
Caution plate
Motor plate
268 Motor plate (Opposite side) Caution plate
φ35 +0.010 0
45.5
(Note) *3
13 66.5
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
32
82 146.8 W
Main key position mark
(PE) Key
Electromagnetic brake
V U Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8).
7 - 26
BC41063* BC41057*
7. HG-SR SERIES 7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
HG-SR52G1 HG-SR524G1
CNVM-6100
0.5
Mass [kg]
8.08
1/11
7.65
1/17
7.53
1/29
7.47
18
[Unit: mm] 275 □130
60.7 112.5
Caution plate Motor plate
48
20.9 Caution plate Motor plate
38.2
50.9
For reverse rotation command Rotation direction For forward rotation command
13
108 9
45° 4-φ11
3 35
A
φ160
φ110f8
A
φ150
13.5
Bottom Top
119
32
Top
58
Bottom
34 φ1
Caution plate
Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P
(PE)
W
8 7
4
Key
φ28h6
V U Power supply connector Motor flange direction
Model
Output [kW]
M8 Screw hole depth 20
Shaft section view AA
BC41117* Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/35
HG-SR52G1 HG-SR524G1
0.5
CNVM-6120
Mass [kg]
8.26
1/43
8.22
1/59
8.18
27
[Unit: mm]
□130
60.7 38.2 13
112.5 Caution plate Motor plate
50.9
20.9
267.5 Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command 30° 6-φ11
69 117 13
4
Top
A
80 φ1
φ140f8 φ210
φ204
13.5 58
Bottom Top
50
132
55 Bottom
A Caution plate
10
(PE) Key
5
W
8
Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P
V U Power supply connector Motor flange direction
7 - 27
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41118*
7. HG-SR SERIES Model
Output [kW]
HG-SR102G1 HG-SR1024G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CNVM-6120
1.0
1/6
14.8
1/11
13.3
1/17
12.9
1/29
12.6
1/35
12.6
Mass [kg]
30
[Unit: mm] □130 60.7
112.5
20.9 Caution plate Motor plate
38.2
50.9
For reverse rotation command Rotation direction For forward rotation command
69
281.5 117 13
30°
4
6-φ11
13
Caution plate Motor plate
132
55 Bottom
Top
Caution plate
φ1 80
φ210
A
φ140f8
A
φ204
Bottom Top
58
13.5
50
Encoder connector CMV1-R10P
(Side view of motor only)
Power supply connector MS3102A18-10P
(PE)
W
10
8
5
Key
M8 Screw hole depth 20 V
φ38h6
U
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR102G1 HG-SR1024G1
1.0
Shaft section view AA
BC41119*
Reducer model Reduction ratio CHVM-6130
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
13.8
49
1/43
[Unit: mm]
□130
60.7 112.5
38.2
50.9
13
20.9
For reverse rotation command Rotation direction For forward rotation command
76
327
208
164 Caution plate 15 Motor plate
60 °
4
6-φ11
φ230
70 56
φ260
φ200f8
30
A
Caution plate
(PE)
W
14
Key 9
Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P
φ2
A
5.5
Bottom Top
13.5
Top
58
Bottom
145
Caution plate Motor plate
V
U
Power supply connector Motor flange direction
7 - 28
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41120*
7. HG-SR SERIES Model
Output [kW]
HG-SR102G1 HG-SR1024G1
1.0
Reducer model Reduction ratio CHVM-6160
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
19.1
81
1/59
[Unit: mm]
384.5
For reverse rotation command Rotation direction For forward rotation command
89 219
228
Encoder connector CMV1-R10P
φ270f8
192 0 φ31
A
Power supply connector MS3102A18-10P 18
(PE) Key
W
7
(Side view of motor only)
A
11
Caution plate
175
90 80
φ300
Bottom Top
6-φ11
Motor plate
13.5
Top
60 °
4
15°
Caution 13 plate
20
20.9
58
Bottom
60.7 38.2
φ340
□130 112.5 50.9 Caution plate Motor plate
φ60h6
V U Power supply connector Motor flange direction
Model
Output [kW]
M10 Screw hole depth 18
Shaft section view AA
Reducer model Reduction ratio
BC41121*
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR152G1 HG-SR1524G1
1.5
CNVM-6120
Mass [kg]
19.2
1/11
17.7
1/17
17.3
31
[Unit: mm] □130
295.5 112.5
60.7
50.9
38.2
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
69 117
20.9 Caution plate Motor plate
13
30° 6-φ11
4
13
132
55 Bottom
Top
φ1 80
Encoder connector CMV1-R10P (PE)
W
10
Key
5
Power supply connector MS3102A18-10P
8
(Side view of motor only)
φ210
A Caution plate
φ140f8
A
φ204
Top
58
Bottom
13.5
50
V
U
Power supply connector Motor flange direction
7 - 29
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41122*
7. HG-SR SERIES Model
Output [kW]
HG-SR152G1 HG-SR1524G1
1.5
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio CHVM-6130
1/29
18.4
1/35
18.3
Mass [kg] 50
[Unit: mm]
341 164
208
70 56
A
Caution plate
(PE) Key
W
φ260
0
14 9
(Side view of motor only)
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
3 φ2
A
6-φ11
5.5
Bottom Top
60 °
4
145
15
φ230
13.5
Top
13
20.9 Caution plate Motor plate
58
Bottom
60.7 38.2
φ200f8
□130 112.5 50.9 Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
76
V U Power supply connector Motor flange direction
Model
Output [kW]
HG-SR152G1 HG-SR1524G1
1.5
M10 Screw hole depth 18
φ50h6
Shaft section view AA
Reducer model Reduction ratio CHVM-6160
BC41123*
Moment of inertia J [× 10-4 kg•m2]
1/43
23.6
1/59
23.5
Mass [kg] 82
[Unit: mm]
398.5
For reverse rotation command Rotation direction For forward rotation command
89 219
φ270f8 φ340
13.5
0 φ31
A
18
(PE)
W
Key
7
Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P
A
11
Caution plate
90 80
φ300
Bottom Top
6-φ11
228
Caution plate Motor plate
Top
60 °
4
58
Bottom
20
192
13
50.9 Caution plate Motor plate
20.9
175
60.7 38.2
15°
□130 112.5
V
U
Power supply connector Motor flange direction
7 - 30
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41124*
7. HG-SR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
HG-SR202G1 HG-SR2024G1
2.0
CNVM-6120
Mass [kg]
50.0
1/11
48.4
1/17
48.1
36
[Unit: mm] 305.5 □176
63.7 140.9
69
24.8
38.5
50.9
13
4
30°
Motor plate
13
55
Caution plate
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
117
6-φ11
50
A Encoder connector CMV1-R10P
Caution plate
(PE)
W
Power supply connector MS3102A22-22P
10 5
Key 8
(Side view of motor only)
φ210
φ140f8
82
Top
Bottom
φ204
A
142
80 φ1
Top
Bottom
V
Shaft section view AA
Power supply connector Motor flange direction
Model
Output [kW]
M8 Screw hole depth 20
φ38h6
U
BC41125* Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/29
HG-SR202G1 HG-SR2024G1
2.0
CHVM-6165
Mass [kg]
54.8
1/35
54.5
1/43
54.3
1/59
54.2
87
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 402.5 63.7 38.5
140.9 50.9
4 60 °
φ340
φ300
A
10 φ3
6-φ11
15°
90 φ270f8
Top
175
80 Top
82
Bottom
228
20
Motor plate
Caution plate
Caution plate Motor plate Bottom
13
89 219
24.8
181
□176
A Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (Side view of motor only) Caution plate
18
(PE)
W
11
7
Key
V
U
Power supply connector Motor flange direction
7 - 31
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41126*
7. HG-SR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
HG-SR352G1 HG-SR3524G1
3.5
CHVM-6135
Mass [kg]
87.1
1/11
82.8
1/17
81.5
60
[Unit: mm]
38.5
□176
70
208
60°
56
Caution plate
6-φ11 3 φ2
Top
φ230
A
Encoder connector CMV1-R10P
(Side view of motor only)
(PE)
W
14 5.5
Caution plate
Key 9
Power supply connector MS3102A22-22P
V
φ50h6
U
Output [kW]
HG-SR352G1 HG-SR3524G1
BC41127*
Reducer model Reduction ratio
3.5
CHVM-6165
M10 Screw hole depth 18
Shaft section view AA
Power supply connector Motor flange direction
Model
φ260
Top
0
A φ200f8
Bottom
50.9
4
Motor plate
82
Bottom
15
13
140.9
For reverse rotation command Rotation direction For forward rotation command
164
24.8
63.7
Caution plate Motor plate
76
145
372
Moment of inertia J [× 10-4 kg•m2]
1/29
86.6
1/35
86.3
Mass [kg] 92
[Unit: mm] 426.5 63.7 □176
89 219
38.5 13
140.9 50.9
Caution plate Motor plate
24.8
For reverse rotation command Rotation direction For forward rotation command
20
4
228
Motor plate
60 °
Caution plate
6-φ11
A
181
15°
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P
18
(PE)
W
Key
V U Power supply connector Motor flange direction
7 - 32
7
(Side view of motor only)
10 φ3
11
Caution plate
φ340
φ300
A φ270f8
Top
90 82
Bottom
Top
175
80 Bottom
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41128*
7. HG-SR SERIES Model
Output [kW]
HG-SR352G1 HG-SR3524G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
3.5
CHVM-6175
1/43
105
1/59
104
Mass [kg] 134
[Unit: mm] 466 63.7 38.5
□176 50.9
8-φ14
80 90
6 φ3
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P
(PE)
W
20 12
Key
7.5
(Side view of motor only)
0
φ400
φ340
A
A Caution plate
22.5°
Caution plate
Top
Top
243
5
φ316f8
Bottom
22 Motor plate
181
Bottom
258
82
Caution plate Motor plate
24.8
13
140.9
For reverse rotation command Rotation direction For forward rotation command
94
φ70h6
V U Power supply connector Motor flange direction
Model
Output [kW]
M12 Screw hole depth24
Shaft section viewAA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
HG-SR502G1 HG-SR5024G1
CHVM-6165
5.0
BC41129* Mass [kg]
126
1/11
114
1/17
110
96
[Unit: mm]
89
442.5 □176
63.7
24.8
219 20
38.5
140.9
13
50.9 Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command 228
4
Motor plate
60 °
175
15°
φ340
φ270f8
φ300
Encoder connector CMV1-R10P
Power supply connector MS3102A22-22P (Side view of motor only)
1 φ3
W
18
(PE) Key
V U Power supply connector Motor flange direction
7 - 33
0
φ60h6
7
Caution plate
A
A
11
Top
90 82
Bottom
Top
181
Caution plate 80
Bottom
6-φ11
M10 Screw hole depth 18
Shaft section view AA
BC41130*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR502G1 HG-SR5024G1
5.0
CHVM-6180
Mass [kg]
141
1/35
140
1/43
139
165
[Unit: mm]
506 63.7
258 22
38.5 13
8-φ18
A
φ370
82
φ3 90
110 100
176
Top
Bottom Top
22.5°
Motor plate
Caution plate
Bottom
5
A
φ430
Caution plate Motor plate
110 279
24.8
φ345f8
□176 140.9 50.9
For reverse rotation command Rotation direction For forward rotation command
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P (Side view of motor only) Caution plate
(PE)
22 14
Key
φ80h6
V U Power supply connector Motor flange direction
Model
Output [kW]
HG-SR502G1 HG-SR5024G1
5.0
9
W
M12 Screw hole depth 24
Shaft section view AA
Reducer model Reduction ratio CHVM-6185
BC41131*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
138
165
1/59
[Unit: mm]
506 38.5 13
110 279
22.5°
8-φ18
φ370
176
110 100
82
Bottom Top
5
Motor plate
Caution plate Top
258 22
A
A
V
U
Power supply connector Motor flange direction
7 - 34
22
φ80h6
9
(PE) Key
W
14
Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A22-22P (Side view of motor only)
φ3 90
Caution plate Motor plate Bottom
24.8
φ430
63.7
φ345f8
□176 140.9 50.9
For reverse rotation command Rotation direction For forward rotation command
M12 Screw hole depth 24
Shaft section view AA
BC41132*
7. HG-SR SERIES Model
Output [kW]
HG-SR702G1 HG-SR7024G1
7.0
Reducer model Reduction ratio CHVM-6165
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
177
103
1/6
[Unit: mm]
89
482.5 □176
71.7
32
219
38.5
149.1 50.9
20
228
4
Motor plate
13
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
6-φ11
60 °
Caution plate 175
φ340
φ300
A
φ270f8
Top
A
15°
90
82
Bottom
Encoder connector CMV1-R10P Caution plate (PE)
18
Key
V
U
Model
Output [kW]
HG-SR702G1 HG-SR7024G1
7.0
M10 Screw hole depth 18
φ60h6
Power supply connector Motor flange direction
10
7
W
11
(Side view of motor only)
φ3
Power supply connector MS3102A32-17P
181
80 Top
Bottom
BC41133*
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio CHVM-6170
1/11
190
1/17
182
Mass [kg] 145
[Unit: mm]
71.7
50.9 Caution plate Motor plate
22
Caution plate
Top
φ3
80 90 φ340
Top
(PE)
W
60
A
A Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A32-17P (Side view of motor only)
22.5°
8-φ14
82
Bottom
243
5
Motor plate
13
181
Bottom
258
32
38.5
φ400
149.1
φ316f8
□176
For reverse rotation command Rotation direction For forward rotation command
94
522
20
7.5
12
Key
V
φ70h6
U
Power supply connector Motor flange direction
7 - 35
M12 Screw hole depth 24
Shaft section view AA
BC41134*
7. HG-SR SERIES Model
Output [kW]
HG-SR702G1 HG-SR7024G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
7.0
CHVM-6180
1/29
192
1/35
192
Mass [kg] 172
[Unit: mm]
546
110
258
279
32
38.5
22
8-φ18
Motor plate
13 Caution plate
Bottom Top
100 φ370
A
A
(Side view of motor only)
(PE) Key
W
V
22
U
φ80h6
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR702G1 HG-SR7024G1
9
Caution plate
14
Power supply connector MS3102A32-17P Encoder connector CMV1-R10P
φ3 90
176
110
Top
82
Bottom
22.5°
5
φ430
Caution plate Motor plate
71.7
φ345f8
□176 149.1 50.9
For reverse rotation command Rotation direction For forward rotation command
M12 Screw hole depth 24
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
7.0
CHVM-6195
BC41135*
1/43
267
1/59
266
Mass [kg] 240
[Unit: mm]
602 38.5
12-φ18
Motor plate 135 125 A φ400f8
82
Bottom Top
15°
6
φ430
Top
285 30
φ45 0
13 Caution plate
Bottom
145 320
32
210
Caution plate Motor plate
71.7
φ490
□176 149.1 50.9
For reverse rotation command Rotation direction For forward rotation command
A
Key
V
25
(PE)
W
U
Power supply connector Motor flange direction
7 - 36
φ95h6
9
(Side view of motor only)
Power supply connector MS3102A32-17P Encoder connector CMV1-R10P 14
Caution plate
M20 Screw hole depth 34
Shaft section view AA
BC41136*
7. HG-SR SERIES 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6 HG-SR52BG1 HG-SR524BG1
1/11
CNVM-6100
0.5
Mass [kg]
10.3 9.85
8.5
1/17
20
9.73
1/29
9.67
[Unit: mm] □130
48 108 9
45° 4-φ11
3
13
35
34 φ1
29
A
φ160
A φ110f8
Top
119
32
Top
φ150
Bottom
59 43.5
13.5
Bottom
112.5 79.9 50.9
309.5 Caution plate Motor plate
20.9
58
Caution plate Motor plate
95.2
For reverse rotation command Rotation direction For forward rotation command
Main key position mark
HG-SR52BG1 HG-SR524BG1
Reducer model Reduction ratio
C
D
B
A
V
Electromagnetic brake connector Motor flange direction
Output [kW]
8
Key
Electromagnetic brake
Model
(PE)
W
4
Encoder connector CMV1-R10P Electromagnetic brake connector (Side view of motor only) CMV1-R2P Power supply connector MS3102A18-10P
7
Caution plate
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/35 0.5
CNVM-6120
M8 Screw hole depth 20
φ28h6
U
Power supply connector Motor flange direction
BC41185* Mass [kg]
10.5 8.5
1/43
29
10.4
1/59
10.4
[Unit: mm] □130
95.2 112.5
302 Caution plate Motor plate
50.9
For reverse rotation command Rotation direction For forward rotation command 6-φ11 30
69 117
43.5 13
79.9
Caution plate Motor plate
55 13
4 50
Top
132
Bottom
59
20.9
φ210
φ140f8
φ204
58
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
80 φ1
A
29
Bottom Top
13.5
A
Caution plate
10
(PE)
W
5
Main key position mark
Key 8
Power supply connector MS3102A18-10P
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 37
V
C
D
B
A
U
φ38h6
M8 Screw hole depth 20
Power supply connector Shaft section view AA Motor flange direction
BC41186*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6 1/11
HG-SR102BG1 HG-SR1024BG1
1.0
CNVM-6120
Mass [kg]
17.0 15.5
1/17
15.1
8.5
1/29
14.8
1/35
14.8
32
[Unit: mm] 316 □130
95.2 112.5
59
79.9 Caution plate Motor plate
43.5
50.9
69
20.9 Caution plate
For reverse rotation command Rotation direction For forward rotation command
117 13
Motor plate
30°
4
6-φ11
13
132
55
φ210
29
A
φ140f8
A
φ204
Bottom Top
58
13.5
50
φ1 80
Bottom Top
Caution plate
Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Main key position mark
(PE)
W
10 5
Key 8
(Side view of motor only)
M8 Screw hole depth 20 Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR102BG1 HG-SR1024BG1
1.0
Reducer model Reduction ratio CHVM-6130
φ38h6
U
Power supply connector Motor flange direction
Shaft section view AA
BC41187*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
16.0
51
1/43
[Unit: mm]
□130
60 °
4
A
6-φ11
Main key position mark
145
φ260
0
(PE)
W
Power supply connector MS3102A18-10P
14 9
Key
5.5
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
3 φ2
A φ200f8
13.5
φ230
70 56
29
Bottom Top
Caution plate
15
Motor plate
13
50.9
Bottom Top
208
164
Caution plate
58
Caution plate Motor plate
20.9
95.2 59 43.5
112.5 79.9
For reverse rotation command Rotation direction For forward rotation command
76
361.5
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 38
U
Power supply connector Motor flange direction
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41188*
7. HG-SR SERIES Model
Output [kW]
HG-SR102BG1 HG-SR1024BG1
1.0
Reducer model Reduction ratio CHVM-6160
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
21.3
83
1/59
[Unit: mm]
95.2 Caution plate
□130 112.5 79.9 Caution plate 50.9 Motor plate
89 219 20
60 °
4
59 43.5
6-φ11
228
13
Caution plate
A
192 φ31
15°
φ340
φ300
29
Bottom Top
φ270f8
A
58
Top
175
90 80
13.5
Bottom
419 20.9 Motor plate
For reverse rotation command Rotation direction For forward rotation command
0
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
Main key position mark
V
Electromagnetic brake connector Motor flange direction
Output [kW]
Reducer model Reduction ratio
11
7
Key
Electromagnetic brake
Model
18
(PE)
W
Power supply connector MS3102A18-10P
U
φ60h6
Power supply connector Motor flange direction
M10 Screw hole depth 18
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR152BG1 HG-SR1524BG1
1.5
CNVM-6120
BC41189*
Shaft section view AA
Mass [kg]
21.4 8.5
1/11
33
19.9
1/17
19.5
[Unit: mm] 69
330 □130
95.2 112.5
59 43.5
79.9 Caution plate Motor plate
50.9
For reverse rotation command Rotation direction For forward rotation command
20.9 Caution plate
117
Motor plate
13
30°
4
6-φ11
13
13.5
φ140f8
29
A
φ210
A
φ204
58
Bottom Top
φ1 80
50
132
55 Bottom Top
Caution plate Encoder connector CMV1-R10P Main key position mark
Electromagnetic brake connector CMV1-R2P
(PE)
W
10 5
Key 8
(Side view of motor only)
Power supply connector MS3102A18-10P
M8 Screw hole depth 20
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 39
V
U
Power supply connector Motor flange direction
φ38h6 Shaft section view AA
BC41190*
7. HG-SR SERIES Model
Output [kW]
HG-SR152BG1 HG-SR1524BG1
1.5
Reducer model Reduction ratio 1/29
CHVM-6130
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m] 8.5
1/35
Mass [kg]
20.6
52
20.5
[Unit: mm]
□130 112.5
15
60 °
4
6-φ11
70 56
φ230
A
29
23
0
φ260
Bottom Top
eφ
A φ200f8
Top
145
13 13.5
Bottom
208
164
58
Caution plate Motor plate
59 43.5
79.9 50.9
76
375.5 20.9 Caution plate Motor plate
95.2
For reverse rotation command Rotation direction For forward rotation command
Caution plate Encoder connector (Side view of motor only) CMV1-R10P Main key position mark
(PE) Key
W
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR152BG1 HG-SR1524BG1
1.5
Reducer model Reduction ratio CHVM-6160
14 9
Electromagnetic brake MS3102A18-10P
5.5
Electromagnetic brake connector CMV1-R2P
Brake static friction torque [N•m]
1/43
Shaft section view AA
BC41191*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
25.8
8.5
1/59
M10 Screw hole depth 18
φ50h6
U V Power supply connector Motor flange direction
84
25.7
[Unit: mm]
95.2 Caution plate
□130 112.5 79.9 Caution plate 50.9 Motor plate
20
60
4
59 43.5
°
6-φ11
228
φ300
29
175
A
0 φ31
15°
φ340
A φ270f8
90 80
192
13
Bottom Top
Caution plate
219
13.5
Top
89
433 20.9 Motor plate
58
Bottom
For reverse rotation command Rotation direction For forward rotation command
Encoder connector
Main key position mark
18
(PE) Key
W
7
Power supply connector MS3102A18-10P
11
(Side view of motor only) CMV1-R10P Electromagnetic brake connector CMV1-R2P
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
U
Power supply connector Motor flange direction
7 - 40
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41192*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR202BG1 HG-SR2024BG1
2.0
CNVM-6120
Mass [kg]
59.4 44
1/11
42
57.8
1/17
57.5
[Unit: mm] 355 113.2
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
117 13
45.5
96.9 50.9
4
Motor plate
30°
13
55
Caution plate
50
6-φ11
80 φ1
Top
Encoder connector CMV1-R10P
Main key position mark
Electromagnetic brake connector CMV1-R2P
φ210 (PE)
W
10
Key 5
(Side view of motor only)
A
8
Caution plate
φ140f8
A
44
82
Bottom Top
φ204
Bottom
24.8
66.5
140.9
Power supply connector MS3102A22-22P Electromagnetic brake
Output [kW]
Reducer model Reduction ratio
φ38h6
U V Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
Model
2.0
BC41193*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
Mass [kg]
64.2
1/35
CHVM-6165
M8 Screw hole depth 20
Shaft section view AA
1/29 HG-SR202BG1 HG-SR2024BG1
142
□176
69
63.9
44
1/43
93
63.7
1/59
63.6
[Unit: mm]
□176
113.2 66.5 45.5
140.9 96.9
Motor plate
60 °
φ340
φ300
A
1 φ3
0
6-φ11
15°
175
80 90
Top
Top
228
4
φ270f8
Bottom
20
82
Bottom
219
13 Caution plate
50.9
44
Caution plate Motor plate
24.8
For reverse rotation command Rotation direction For forward rotation command
89
181
452
A
Main key position mark
18
(PE)
W
Key 11
Power supply connector MS3102A22-22P
7
Encoder connector Caution plate CMV1-R10P Electromagnetic brake connector (Side view of motor only) CMV1-R2P
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 41
U
Power supply connector Motor flange direction
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41194A
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR352BG1 HG-SR3524BG1
3.5
CHVM-6135
Mass [kg]
96.5 44
1/11
66
92.2
1/17
90.9
[Unit: mm] 421.5 □176
113.2
76
24.8
66.5
140.9 50.9
4
15
45.5
96.9
70
Motor plate
13
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
164
208
6-φ11
Caution plate 3 φ2
(Side view of motor only)
A
Encoder connector CMV1-R10P
Main key position mark
Electromagnetic brake connector CMV1-R2P
φ260
φ200f8
φ230
A
(PE)
W
14
Key
5.5
Caution plate
82
Top
44
Bottom
9
Power supply connector MS3102A22-22P V
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Output [kW]
HG-SR352BG1 HG-SR3524BG1
3.5
Reducer model Reduction ratio
φ50h6
U
Power supply connector Motor flange direction
BC41195* Mass [kg]
96.0
44
1/35
M10 Screw hole depth 18
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
CHVM-6165
0
145
Top
Bottom
Model
60 °
56
98
95.7
[Unit: mm]
140.9
66.5
96.9
45.5
24.8
For reverse rotation command Rotation direction For forward rotation command
89 219 20
4
228
Motor plate
13
50.9
60 °
Caution plate 80 Top
A
Caution plate Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
Main key position mark
W
φ3
15°
φ340
φ270f8
A
φ300
82
(PE)
18 7
Key
Power supply connector MS3102A22-22P
10
11
Bottom Top
90
44
Bottom
6-φ11
175
Caution plate Motor plate
113.2
181
476 □176
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 42
U V Power supply connector Motor flange direction
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41196*
7. HG-SR SERIES Model
Output [kW]
HG-SR352BG1 HG-SR3524BG1
3.5
Reducer model Reduction ratio 1/43
CHVM-6175
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m] 44
1/59
Mass [kg]
114
140
113
[Unit: mm] 515.5 113.2 66.5
96.9
45.5
50.9
Caution plate Motor plate
24.8
258 5
22
243
13
8-φ14
Caution plate
Top
181
80 90
6 φ3
A
φ340
82
Bottom
Top
44
Bottom
22.5°
Motor plate
A
0
φ400
140.9
φ316f8
□176
For reverse rotation command Rotation direction For forward rotation command
94
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
Main key position mark
(PE)
W
12
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
20
Key
Power supply connector MS3102A22-22P
Reducer model Reduction ratio
φ70h6
U
Power supply connector Motor flange direction
M12 Screw hole depth 24
Shaft section view AA
5.0
CHVM-6165
BC41197*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR502BG1 HG-SR5024BG1
7.5
Caution plate
Mass [kg]
135 44
1/11
102
123
1/17
119
[Unit: mm] 492 □176
113.2
89 219
24.8
20
66.5 45.5
140.9 96.9
4
228
Motor plate
13
50.9 Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
60
6-φ11 °
175
Encoder connector CMV1-R10P Main key position mark
Key
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 43
U
Power supply connector Motor flange direction
10
18
(PE)
W
Power supply connector MS3102A22-22P
11
Electromagnetic brake connector (Side view of motor only) CMV1-R2P
15°
φ3
Caution plate
φ60h6
7
A
φ340
A φ270f8
φ300
82
Top
90
44
Bottom
80 Top
181
Caution plate
Bottom
M10 Screw hole depth 18
Shaft section view AA
BC41198*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
HG-SR502BG1 HG-SR5024BG1
5.0
CHVM-6180
Mass [kg]
150 44
1/35
171
150
1/43
149
[Unit: mm] 555.5 113.2 66.5 45.5
22
5
φ3
φ345f8
φ370
A Encoder connector CMV1-R10P Caution plate Electromagnetic brake (Side view of motor only) connector CMV1-R2P Power supply connector MS3102A22-22P
Main key position mark
key
Electromagnetic brake
V
Output [kW]
HG-SR502BG1 HG-SR5024BG1
5.0
Reducer model Reduction ratio CHVM-6185
φ80h6
U
M12 Screw hole depth 24
Shaft section view AA
Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
Model
22
(PE)
W
14
44 82
Bottom Top
A
9
110 100
176
Top
90
8-φ18
Caution plate
Bottom
22.5°
258
Motor plate
13
50.9 Caution plate Motor plate
110 279
24.8
φ430
□176 140.9 96.9
For reverse rotation command Rotation direction For forward rotation command
BC41199*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
147
171
1/59
[Unit: mm] 555.5
110 279 22
5
110 100
A
φ370
44 82
Bottom Top
90
8-φ18
176
Top
22.5°
Motor plate
Caution plate
Bottom
258
φ3
13
24.8
A
φ430
Caution plate Motor plate
113.2 66.5 45.5
φ345f8
□176 140.9 96.9 50.9
For reverse rotation command Rotation direction For forward rotation command
Encoder connector CMV1-R10P Caution plate (Side view of motor only) (PE) Key
W
22 9
Main key position mark
14
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 44
U
Power supply connector Motor flange direction
φ80h6
M12 Screw hole depth 24
Shaft section view AA
BC41200*
7. HG-SR SERIES Model
Output [kW]
HG-SR702BG1 HG-SR7024BG1
7.0
Reducer model Reduction ratio CHVM-6165
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
187
109
1/6
[Unit: mm] 532 □176
121.2
149.1 96.9 50.9
89
32
219 20
66.5 45.5
4
228
Motor plate
13
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
60 °
175
A
15°
φ340
φ300
82
Encoder connector CMV1-R10P
1 φ3
Caution plate Main key position mark
(Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
V
Electromagnetic brake connector Motor flange direction
HG-SR702BG1 HG-SR7024BG1
7.0
Reducer model Reduction ratio
Shaft section view AA
BC41201*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
Mass [kg]
199
44
1/17
M10 Screw hole depth 18
φ60h6
U
Power supply connector Motor flange direction
1/11
CHVM-6170
11
Key
Electromagnetic brake
Output [kW]
18
(PE)
W
0
7
44
Bottom Top
A φ270f8
80 90
Top
181
Caution plate
Bottom
Model
6-φ11
151
192
[Unit: mm]
5 243
Motor plate
60 φ3
Main key position mark
(PE)
W
20 7.5
key
12
Power supply connector MS3102A32-17P
φ400
A
82
44
φ340
80 90
A
Encoder connector CMV1-R10P Caution plate Electromagnetic brake connector (Side view of motor only) CMV1-R2P
22.5°
8-φ14
φ316f8
Caution plate
Bottom Top
22
181
13
Caution plate Motor plate
Bottom Top
258
32
66.5 45.5
149.1 96.9 50.9
For reverse rotation command Rotation direction For forward rotation command
94
571.5 121.2
□176
Electromagnetic brake
V
Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction
7 - 45
M12 Screw hole depth 24
U φ70h6
Shaft section view AA
BC41202*
7. HG-SR SERIES Model
Output [kW]
HG-SR702BG1 HG-SR7024BG1
Reducer model Reduction ratio
7.0
1/29
CHVM-6180
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m] 44
1/35
Mass [kg]
202
178
201
[Unit: mm]
32
279 22
5
258
8-φ18
φ370 82
44
A Power supply connector MS3102A32-17P Electromagnetic brake connector Main key CMV1-R2P position mark Encoder connector CMV1-R10P
(Side view of motor only)
φ3 90
A
(PE)
W
Key
Electromagnetic brake
U V Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction
Model
Output [kW]
HG-SR702BG1 HG-SR7024BG1
7.0
Reducer model Reduction ratio CHVM-6195
φ80h6
BC41203* Mass [kg]
277
44
1/59
M12 Screw hole depth 24
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/43
22
9
110 100
14
Caution plate
Top
Caution plate
°
φ430
13
Bottom Top
22.5
Motor plate
176
Bottom
121.2 66.5 45.5
φ345f8
□176 149.1 96.9 50.9 Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
110
595.5
246
275
[Unit: mm] 651.5 121.2 66.5 45.5 Caution plate
6
285
135 125
φ400f8
82
44
12-φ18
A
Top
Bottom Top
15°
Motor plate
φ430
Bottom
30
φ45 0
Caution plate Motor plate
145 320
210
13
32
φ490
□176 149.1 96.9 50.9
For reverse rotation command Rotation direction For forward rotation command
A
W
Electromagnetic brake
V
Encoder CMV1-R10P
(PE) Key
U
Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction
7 - 46
25 9
(Side view of motor only)
Power supply connector MS3102A32-17P Electromagnetic brake connector Main key CMV1-R2P position mark connector
14
Caution plate
φ95h6
M20 Screw hole depth 34
Shaft section view AA
BC41204*
7. HG-SR SERIES 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) Model
Output [kW]
HG-SR52G1H HG-SR524G1H
CNHM-6100
0.5
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
8.08
1/11
7.65
1/17
7.53
1/29
7.47
Mass [kg]
20
[Unit: mm] 323 121 60.7 20.9 Caution plate 38.2 Motor plate 13
A 219
Bottom Top
35 32
φ150
Top
58
Bottom
13.5
□130 112.5 Caution plate 50.9 Motor plate
For reverse rotation command Rotation direction For forward rotation command
Encoder connector CMV1-R10P
15 60
45 45 135
Power supply connector MS3102A18-10P
4-φ11
75
75 180
(PE) Key
8 7
W
40
4
(Side view of motor only)
100
Caution plate
12
A
Model
Output [kW]
HG-SR52G1H HG-SR524G1H
M8 Screw hole depth 20
φ28h6
V U Power supply connector Motor flange direction
Shaft section view AA
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/35 0.5
CNHM-6120
BC41137* Mass [kg]
8.26
1/43
8.22
1/59
8.18
28
[Unit: mm] 336.5 60.7 20.9 Caution plate Motor plate 131 38.2 13
□130 112.5
A 252
Bottom Top
φ204
Top
55 50
58
Bottom
50.9
13.5
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
Power supply connector MS3102A18-10P
15
Encoder connector CMV1-R10P 57.5
57.5
82
4-φ14
55
20
95
W
(PE) Key
U V Power supply connector Motor flange direction
7 - 47
95 230
155 10 5
(Side view of motor only)
8
Caution plate
120
A
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41138*
7. HG-SR SERIES Model
Output [kW]
HG-SR102G1H HG-SR1024G1H
CNHM-6120
1.0
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
14.8
1/11
13.3
1/17
12.9
1/29
12.6
1/35
12.6
Mass [kg]
31
[Unit: mm] 60.7
□130
For reverse rotation command Rotation direction For forward rotation command
55 50
Motor plate
φ204
13
13.5
Bottom Top
A 252
Bottom Top
131
58
Caution plate Motor plate
38.2
112.5 50.9
350.5 20.9 Caution plate
(Side view of motor only)
15
Encoder connector CMV1-R10P
120
A Caution plate
Power supply connector MS3102A18-10P
20 82
57.5 57.5 155
55 4-φ14
95
95 230
10
(PE)
W
8
5
Key
Shaft section view AA
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR102G1H HG-SR1024G1H
1.0
Reducer model Reduction ratio CHHM-6130
M8 Screw hole depth 20
φ38h6
U
V
BC41139*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
13.8
50
1/43
[Unit: mm] 403 60.7
130 112.5 50.9
For reverse rotation command Rotation direction For forward rotation command
70
230
56
A 295
Bottom Top
13.5
Bottom Top
170
58
Caution plate Motor plate
38.2 13
20.9 Caution plate Motor plate
A 150
Encoder connector CMV1-R10P
22
(Side view of motor only) Power supply connector MS3102A18-10P
25 72.5
72.5
65 100
145
4- 18
195 (PE)
W
145 330
14 9
Key
5.5
Caution plate
V
U
Power supply connector Motor flange direction
7 - 48
50h6
M10 Screw hole depth 18
Shaft section view AA
BC41140*
7. HG-SR SERIES Model
Output [kW]
HG-SR102G1H HG-SR1024G1H
1.0
Reducer model Reduction ratio CHHM-6160
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
19.1
86
1/59
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
473.5 □130
218
90 80
Motor plate
13
Top
φ300
Caution plate 13.5
Bottom Top
A 352
Bottom
112.5 50.9
20.9
58
Caution plate Motor plate
60.7 38.2
A Caution plate
160
Encoder connector CMV1-R10P 25
(Side view of motor only) Power supply connector MS3102A18-10P
44 75
75
75 185
139
238
18 7
(PE)
W
11
Key
V U Power supply connector Motor flange direction
Model
Output [kW]
185 410
4-φ18
M10 Screw hole depth 18
φ60h6
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio 1/6
HG-SR152G1H HG-SR1524G1H
1.5
CNHM-6120
BC41141* Mass [kg]
19.2
1/11
17.7
1/17
17.3
32
[Unit: mm] 364.5 □130
60.7 112.5
38.2 13
50.9
20.9 131
Caution plate Motor plate
For reverse rotation command Rotation direction For forward rotation command
55 50
A 252
Bottom Top
φ204
Top
58
Bottom
13.5
Caution plate Motor plate
Encoder connector CMV1-R10P (Side view of motor only) Power supply connector MS3102A18-10P
15
Caution plate
20 57.5
57.5
55 82
95
95
4-φ14
155 (PE)
W
120
A
230 10
V
C
D
B
A
8
5
Key
U
Power supply connector Motor flange direction
7 - 49
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41142*
7. HG-SR SERIES Model
Output [kW]
HG-SR152G1H HG-SR1524G1H
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1.5
CHHM-6130
1/29
18.4
1/35
18.3
Mass [kg] 51
[Unit: mm] 417 60.7
130
38.2
112.5 50.9
13
20.9 Caution plate Motor plate
170
For reverse rotation command Rotation direction For forward rotation command
70 56
13.5
Bottom Top
230
Caution plate Motor plate
A 295
58
Bottom Top
A 150
Encoder connector CMV1-R10P (Side view of motor only)
22
Caution plate
Power supply connector MS3102A18-10P
25
65
72.5
100
145
4- 18
195
145 330
(PE)
W
14 9
Key
5.5
72.5
M10 Screw hole depth 18 V U Power supply connector Motor flange direction
Model
Output [kW]
HG-SR152G1H HG-SR1524G1H
50h6 Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1.5
CHHM-6160
BC41143*
1/43
23.6
1/59
23.5
Mass [kg] 87
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
487.5
13.5
Top
13 Caution plate
20.9
218
90 80
Motor plate
A
Bottom Top
352
58
Bottom
60.7 38.2
φ300
□130 112.5 50.9 Caution plate Motor plate
A 160 25
Caution plate
Encoder connector CMV1-R10P
(Side view of motor only) Power supply connector MS3102A18-10P
75
44 75
185
139
238
185 410
4-φ18
V
U
Power supply connector Motor flange direction
7 - 50
18 7
(PE) Key
W
11
75
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41144*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR202G1H HG-SR2024G1H
2.0
CNHM-6120
Mass [kg]
50.0
1/11
48.4
1/17
48.1
37
[Unit: mm] □176 140.9 50.9 Caution plate Motor plate
63.7 38.5
55 50
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13 Caution plate
Top
A 262
82
Bottom Top
φ204
Bottom
374.5 131 24.8
57.5 57.5
Power supply connector MS3102A22-22P
(Side view of motor only)
4-φ14
15
55
20 82
95
155
95 230
10
(PE) Key 8
W
5
Caution plate
120
A Encoder connector CMV1-R10P
V U Power supply connector Motor flange direction
Model
Output [kW]
HG-SR202G1H HG-SR2024G1H
Shaft section view AA
Reducer model Reduction ratio
2.0
CHHM-6165
M8 Screw hole depth 20
φ38h6
BC41145*
Moment of inertia J [× 10-4 kg•m2]
1/29
54.8
1/35
54.5
1/43
54.3
1/59
54.2
Mass [kg]
92
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
90 80
13 Caution plate
Top
Motor plate
341
A
A 25
Encoder connector CMV1-R10P Caution plate 44 75 75 238
75 139
(PE) Key
W
V
U
Power supply connector Motor flange direction
7 - 51
185
4-φ18
185 410
18
φ60h6
7
Power supply connector MS3102A22-22P
11
(Side view of motor only)
160
Bottom Top
24.8
φ300
Bottom
63.7 38.5
82
Caution plate Motor plate
□176 140.9 50.9
491.5 218
M10 Screw hole depth 18
Shaft section view AA
BC41146*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR352G1H HG-SR3524G1H
3.5
CHHM-6135
Mass [kg]
87.1
1/11
82.8
1/17
81.5
61
[Unit: mm] 448 63.7 □176 140.9 50.9 Caution plate Motor plate
70 56
For reverse rotation command Rotation direction For forward rotation command
Motor plate
Caution plate
Top
A
82
Bottom Top
295
φ230
Bottom
170
24.8
38.5 13
150
A Encoder connector CMV1-R10P
65
25 100
72.5 72.5 195
Power supply connector MS3102A22-22P
145
4-φ18 (PE)
W
145 330
14 9
Key
22
(Side view of motor only)
5.5
Caution plate
U V Power supply connector Motor flange direction
Model
Output [kW]
HG-SR352G1H HG-SR3524G1H
3.5
Reducer model Reduction ratio CHHM-6165
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41147*
Moment of inertia J [× 10-4 kg•m2]
1/29
86.6
1/35
86.3
Mass [kg] 97
[Unit: mm] 63.7 □176 140.9 50.9 Caution plate Motor plate
90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
Caution plate
φ300
Top
A 341
Bottom Top
24.8
82
Bottom
38.5 13
515.5 218
75
44 75
139
75 238
185
4-φ18
(PE)
W
25
Power supply connector MS3102A22-22P
185 410
18
Key
7
(Side view of motor only)
11
Caution plate
160
A Encoder connector CMV1-R10P
V
U
Power supply connector Motor flange direction
7 - 52
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41148*
7. HG-SR SERIES Model
Output [kW]
HG-SR352G1H HG-SR3524G1H
3.5
Reducer model Reduction ratio CHHM-6175
Moment of inertia J [× 10-4 kg•m2]
1/43
105
1/59
104
Mass [kg] 137
[Unit: mm] 560 63.7 □176 140.9 Caution plate 50.9
38.5 13
For reverse rotation command Rotation direction For forward rotation command
Motor plate
φ340
A
82
381
Top
Bottom Top
90 80
262
Caution plate
Motor plate
Bottom
24.8
200
A
Power supply connector MS3102A22-22P
(Side view of motor only)
137.5
80
30 125
137.5
20
V
12
Key
φ70h6
U
Power supply connector Motor flange direction
Output [kW]
M12 Screw hole depth 24
Shaft section view AA
Reducer model Reduction ratio CHHM-6165
5.0
BC41149*
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR502G1H HG-SR5024G1H
190 430
(PE)
W
Model
190
4-φ22
335
7.5
Caution plate
30
Encoder connector CMV1-R10P
Mass [kg]
126
1/11
114
1/17
110
101
[Unit: mm] 531.5
Caution plate Motor plate
Caution plate
(Side view of motor only)
A
Power supply connector MS3102A22-22P
25 44 75
75 238
4-φ18
75 185
139
185 410
Key
V
18
(PE)
W
U
Power supply connector Motor flange direction
7 - 53
160
A Encoder connector CMV1-R10P
φ60h6
7
Caution plate
Motor plate
11
Bottom Top
For reverse rotation command Rotation direction For forward rotation command
341
Top
90 80
218
82
Bottom
24.8
φ300
63.7 38.5 13
181
□176 140.9 50.9
M10 Screw hole depth 18
Shaft section view AA
BC41150*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR502G1H HG-SR5024G1H
5.0
CHHM-6180
Mass [kg]
141
1/35
140
1/43
139
178
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
616
176
Caution plate
110 100
A 405
Top
Bottom Top
279
24.8 Motor plate
82
Bottom
63.7 38.5 13
φ370
□176 140.9 50.9 Caution plate Motor plate
A
(Side view of motor only)
30
220
Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A22-22P 160
85
30 145
160
210
4-φ22
210
380
470
V
HG-SR502G1H HG-SR5024G1H
5.0
Reducer model Reduction ratio CHHM-6185
9
φ80h6
U
Power supply connector Motor flange direction
Output [kW]
14
Key
Model
22
(PE)
W
M12 Screw hole depth 24
Shaft section view AA
BC41151*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
138
178
1/59
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
616
(Side view of motor only)
405
A
A 30
220
Encoder connector CMV1-R10P Power supply connector MS3102A22-22P 160
30 145
160 380
Key
U
Power supply connector Motor flange direction
7 - 54
210
210 470
22
(PE)
W
V
85 4-φ22
φ80h6
9
Caution plate
Motor plate
14
Bottom Top
110 100
φ370
Caution plate
Top
279
24.8
82
Bottom
63.7 38.5 13
176
□176 140.9 50.9 Caution plate Motor plate
M12 Screw hole depth 24
Shaft section view AA
BC41152*
7. HG-SR SERIES Model
Output [kW]
HG-SR702G1H HG-SR7024G1H
7.0
Reducer model Reduction ratio CHHM-6165
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
177
108
1/6
[Unit: mm] 571.5 90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
A 341
181
Caution plate
Top
Caution plate
25 44
Power supply connector MS3102A32-17P
(Side view of motor only)
75
75 238
4-φ18
139
(PE)
Power supply connector Motor flange direction
7.0
185
Reducer model Reduction ratio CHHM-6170
11
M10 Screw hole depth 18
φ60h6
U
V
HG-SR702G1H HG-SR7024G1H
185
18
Key
Output [kW]
75 410
W
Model
160
A Encoder connector CMV1-R10P
7
Bottom Top
218
32
82
Bottom
71.7 38.5 13
φ300
□176 149.1 50.9 Caution plate Motor plate
Shaft section view AA
BC41153*
Moment of inertia J [× 10-4 kg•m2]
1/11
190
1/17
182
Mass [kg] 148
[Unit: mm] 616
(Side view of motor only)
For reverse rotation command Rotation direction For forward rotation command
Motor plate
381
A
A 30
200
Encoder connector CMV1-R10P Power supply connector MS3102A32-17P 137.5
30 125
137.5
80 190
4-φ22
335
190 430
(PE)
W
20
Key
7.5
Caution plate
90 80
12
Bottom Top
262
φ340
Caution plate
Top
32
82
Bottom
71.7 38.5 13
181
□176 149.1 50.9 Caution plate Motor plate
V
U
Power supply connector Motor flange direction
7 - 55
φ70h6
M12 Screw hole depth 24
Shaft section view AA
BC41154*
7. HG-SR SERIES Model
Output [kW]
HG-SR702G1H HG-SR7024G1H
Reducer model Reduction ratio
7.0
CHHM-6180
Moment of inertia J [× 10-4 kg•m2]
1/29
192
1/35
192
Mass [kg] 185
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
656 32
71.7 38.5 13
279
110 100
Motor plate
176
Caution plate
φ370
□176 149.1 50.9 Caution plate Motor plate
A
82
405
Bottom Top
Bottom Top
A
30
220
Encoder connector CMV1-R10P Caution plate Power supply connector MS3102A32-17P 160
85
30 145
160 380
22 14
(PE) Key
φ80h6
U
V
Power supply connector Motor flange direction
Model
Output [kW] 7.0
210 470
W
HG-SR702G1H HG-SR7024G1H
210
4-φ22
9
(Side view of motor only)
Shaft section view AA
Reducer model Reduction ratio CHHM-6180
M12 Screw hole depth 24
BC41155*
Moment of inertia J [× 10-4 kg•m2]
1/43
267
1/59
266
Mass [kg] 256
[Unit: mm] 747 32
Caution plate
For reverse rotation command Rotation direction For forward rotation command
135 125
Motor plate φ430
38.5 13
330
A 465
Top
82
Bottom
71.7
210
□176 149.1 50.9 Caution plate Motor plate
Bottom Top
A 250
Encoder connector CMV1-R10P Power supply connector MS3102A32-17P 190
30 170
190
4-φ26
90 240
240 530
440
V
U
Power supply connector Motor flange direction
7 - 56
25
φ95h6
9
(PE) Key
W
14
(Side view of motor only)
35
Caution plate
M20 Screw hole depth 34
Shaft section view AA
BC41156*
7. HG-SR SERIES 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake) Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6 HG-SR52BG1H HG-SR524BG1H
0.5
1/11
CNHM-6100
Mass [kg]
10.3 9.85
8.5
1/17
22
9.73
1/29
9.67
[Unit: mm] 357.5
Caution plate Motor plate
95.2 59 43.5
112.5 79.9 50.9
20.9
Caution plate Motor plate
121
35 32
For reverse rotation command Rotation direction For forward rotation command
13
Bottom Top
219
13.5 58
Bottom Top
A
100
29
A
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
12
Caution plate
15 45 45 135 Main key position mark
40 60
75
75 180
(PE)
W
8 7
4
Key
M8 Screw hole depth 20 Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 57
U
Power supply connector Motor flange direction
Shaft section view AA
BC41205*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/35
HG-SR52BG1H HG-SR524BG1H
0.5
CNHM-6120
Mass [kg]
10.5 8.5
1/43
30
10.4
1/59
10.4
[Unit: mm] 371 130
95.2 112.5
59
79.9 Caution plate Motor plate Bottom
20.9
Caution plate Motor plate
131
55
43.5 13
50.9
For reverse rotation command Rotation direction For forward rotation command
50
Top
204
252
58
A 82
Power supply connector MS3102A18-10P
57.5
57.5
20
55
4- 14
155
95
95 230
Main key position mark
10
(PE)
W
5
(Side view of motor only) Electromagnetic brake connector CMV1-R2P
15
Encoder connector CMV1-R10P
Key 8
Caution plate
120
29
Bottom Top
13.5
A
C
D
B
A
M8 Screw hole depth 20 Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 58
V U Power supply connector Motor flange direction
38h6 Shaft section view AA
BC41206*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
1/6 1/11
HG-SR102BG1H HG-SR1024BG1H
1.0
CNHM-6120
Mass [kg]
17.0 15.5
1/17
15.1
8.5
1/29
14.8
1/35
14.8
33
[Unit: mm] 385 For reverse rotation command Rotation direction For forward rotation command
55 50
13
A 252 15
(Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P Main key position mark
20 82
57.5 57.5 155
55 95
4- 14
95 230
(PE) Key
10 8
W
120
A Encoder connector CMV1-R10P
5
29
58
Bottom Top
Caution plate
131
Caution plate Motor plate
204
Bottom Top
59 43.5
20.9
13.5
Caution plate Motor plate
95.2
130 112.5 79.9 50.9
V
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR102BG1H HG-SR1024BG1H
1.0
Reducer model Reduction ratio CHHM-6130
M8 Screw hole depth 20
38h6
U
Power supply connector Motor flange direction
Shaft section view AA
BC41207*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
16.0
52
1/43
[Unit: mm]
112.5 79.9 50.9
170
For reverse rotation command Rotation direction For forward rotation command
70 56
13
A 58
Bottom Top
295
Bottom Top
437.5 20.9 Caution plate Motor plate
13.5
Caution plate Motor plate
95.2 59 43.5
29
A 150
Caution plate
22
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P
25 72.5
72.5
65 100
145
145
195
Main key position mark
330 (PE)
W
14 9
Key
5.5
Power supply connector MS3102A18-10P
V
Electromagnetic brake Electromagnetic brake connector Motor flange direction
U
Power supply connector Motor flange direction
7 - 59
M10 Screw hole depth 18 Shaft section view AA
BC41208*
7. HG-SR SERIES Model
Output [kW]
HG-SR102BG1H HG-SR1024BG1H
1.0
Reducer model Reduction ratio CHHM-6160
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
21.3
88
1/59
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
508 112.5 79.9
13
50.9
90 80
Motor plate
13.5
Bottom Top
218
20.9
58
Bottom Top
A 352
Caution plate Motor plate
95.2 59 Caution plate 43.5
160
29
A
25
Caution plate (Side view of motor only) Encoder connector CMV1-R10P
75
139
18 7
(PE)
W
U
V
Electromagnetic brake connector Motor flange direction
Reducer model Reduction ratio
11
Key
Electromagnetic brake
HG-SR152BG1H HG-SR1524BG1H
M10 Screw hole depth 18
Power supply connector Motor flange direction
Shaft section view AA
CNHM-6120
BC41209*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6 1.5
185 410
Main key position mark
Power supply connector MS3102A18-10P
Output [kW]
185
238
Electromagnetic brake connector CMV1-R2P
Model
75
44 75
Mass [kg]
21.4 8.5
1/11
34
19.9
1/17
19.5
[Unit: mm] 399 For reverse rotation command Rotation direction For forward rotation command
55 50
Motor plate
13
A 252
58
Bottom Top
15
Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
57.5 57.5 155
55 95
95 230
(PE) Key
W
10 8
Main key position mark
20 82
120
A
29
Caution plate
131
5
Bottom Top
20.9 Caution plate
13.5
Caution plate Motor plate
95.2 59 43.5
112.5 79.9 50.9
M8 Screw hole depth 20 Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 60
U
Power supply connector Motor flange direction
Shaft section view AA
BC41210*
7. HG-SR SERIES Model
Output [kW]
HG-SR152BG1H HG-SR1524BG1H
Reducer model Reduction ratio
1.5
1/29
CHHM-6130
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m] 8.5
1/35
Mass [kg]
20.6
53
20.5
[Unit: mm]
112.5 79.9 50.9
170
For reverse rotation command Rotation direction For forward rotation command
70 56
13 13.5
Bottom Top
A 58
Bottom Top
295
Caution plate Motor plate
451.5 20.9 Caution plate Motor plate
95.2 59 43.5
A 150
29 Caution plate
Encoder connector CMV1-R10P
22
(Side view of motor only) Electromagnetic brake connector CMV1-R2P
25 72.5
Power supply connector MS3102A18-10P
65 100
72.5
145
145
195 Main key position mark
(PE) Key
14 9
W
5.5
330
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR152BG1H HG-SR1524BG1H
Reducer model Reduction ratio
1.5
CHHM-6160
M10 Screw hole depth 18
U
V
Power supply connector Motor flange direction
Brake static friction torque [N•m]
1/43
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
25.8
8.5
1/59
BC41211*
89
25.7
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
522 95.2 59 43.5
112.5 Caution plate 79.9 Motor plate 50.9
13
218
90 80
Caution plate Motor plate
13.5
Bottom Top
20.9
58
352
A
29
Bottom Top
160
A
25
Caution plate (Side view of motor only) 75
44 75
139
185
185
238
410
Main key position mark
Key
Electromagnetic brake Electromagnetic brake connector Motor flange direction
V
U
Power supply connector Motor flange direction
7 - 61
18
(PE)
W
7
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
75
11
Encoder connector CMV1-R10P
M10 Screw hole depth 18 Shaft section view AA
BC41212*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR202BG1H HG-SR2024BG1H
2.0
CNHM-6120
Mass [kg]
59.4 44
1/11
43
57.8
1/17
57.5
[Unit: mm]
Caution plate Motor plate
176 140.9 96.9 50.9
113.2 66.5 45.5
424 24.8
131 55 Motor plate 50
For reverse rotation command Rotation direction For forward rotation command
13 Caution plate
Bottom Top
Caution plate
262 120
A Encoder connector CMV1-R10P
20 57.5 57.5 82 155
(Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
Main key position mark
55 95
4- 14
15
Bottom Top
82
44
204
A
95 230
(PE) Key
10 8
5
W
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
M8 Screw hole depth 20
38h6
U V Power supply connector Motor flange direction
Moment of inertia J [× 10-4 kg•m2]
1/29 HG-SR202BG1H HG-SR2024BG1H
CHHM-6165
2.0
BC41213*
Shaft section view AA
Mass [kg]
64.2
1/35
63.9
44
1/43
98
63.7
1/59
63.6
[Unit: mm] 113.2 66.5 45.5
24.8
90 80
For reverse rotation command Rotation direction For forward rotation command
13 Caution plate 300
Bottom Top
341
A
A 25
Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P
44 75
Power supply connector MS3102A22-22P Main key position mark
75 238
75 139
Key
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
7 - 62
U
Power supply connector Motor flange direction
410 18
(PE)
W
185
185
4- 18
7
(Side view of motor only)
160
82
44
Bottom Top
Caution plate
218 Motor plate
11
Caution plate Motor plate
176 140.9 96.9 50.9
541
60h6
M10 Screw hole depth 18
Shaft section view AA
BC41214*
7. HG-SR SERIES Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR352BG1H HG-SR3524BG1H
3.5
CHHM-6135
Mass [kg]
96.5 44
1/11
67
92.2
1/17
90.9
[Unit: mm]
Caution plate Motor plate
497.5 24.8
113.2 66.5 45.5
140.9 96.9 50.9
170
70 56
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13 Caution plate
Bottom Top
295
82
Electromagnetic brake connector CMV1-R2P (Side view of motor only)
72.5 72.5 195
Power supply connector MS3102A22-22P
25 100
22
Caution plate
150
A
Encoder connector CMV1-R10P
65 145
145 330
Main key position mark
W
(PE)
14 9
Key
5.5
Bottom Top
44
230
A
Electromagnetic brake
Model
Output [kW]
HG-SR352BG1H HG-SR3524BG1H
Reducer model Reduction ratio
3.5
CHHM-6165
Shaft section view AA
Mass [kg]
96.0
44
1/35
BC41215*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
M10 Screw hole depth 18
V U Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
103
95.7
[Unit: mm] 565
Caution plate Motor plate
113.2 66.5 45.5
140.9 96.9 50.9
13
218
24.8
90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
Caution plate
Bottom Top
341 160
A Encoder connector CMV1-R10P 44 75 75 238 Main key position mark
185
(PE) Key
W
V
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 63
185 410
18 11
Power supply connector MS3102A22-22P
75 139
25
(Side view of motor only) Electromagnetic brake connector CMV1-R2P
U
Power supply connector Motor flange direction
7
Caution plate
82
Bottom Top
44
A
M10 Screw hole depth 18 Shaft section view AA
BC41216*
7. HG-SR SERIES Model
Output [kW]
HG-SR352BG1H HG-SR3524BG1H
Reducer model Reduction ratio
3.5
1/43
CHHM-6175
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m] 44
1/59
Mass [kg]
114
143
113
[Unit: mm] 609.5 113.2 66.5 45.5
140.9 96.9 50.9
Caution plate Motor plate
24.8
90 80
262
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13 Caution plate
Bottom Top
137.5
Reducer model Reduction ratio
(PE) Key
W
V U Power supply connector Motor flange direction
20
M12 Screw hole depth 24 Shaft section view AA
5.0
CHHM-6165
BC41217*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR502BG1H HG-SR5024BG1H
190 430
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Output [kW]
190
335 Main key position mark
Model
80
30 125
137.5
7.5
Caution plate Encoder connector CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
30
200
A
12
Bottom Top
381
44 82
A
Mass [kg]
135 44
1/11
107
123
1/17
119
[Unit: mm] 581 113.2 66.5 45.5
140.9 96.9 50.9
218
90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13
Caution plate Motor plate
24.8
Caution plate
Bottom Top
341 25 44 75 75 238 Main key position mark
75 139
185
185 410
(PE) Key
W
18 7
(Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A22-22P
160
A Encoder connector CMV1-R10P
11
Caution plate
82
Bottom Top
44
A
M10 Screw hole depth 18 Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 64
V
U
Power supply connector Motor flange direction
Shaft section view AA
BC41218*
7. HG-SR SERIES Model
Output [kW]
HG-SR502BG1H HG-SR5024BG1H
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29 5.0
CHHM-6180
Mass [kg]
150 44
1/35
184
150
1/43
149
[Unit: mm] 665.5 113.2 66.5 45.5 13
Caution plate Motor plate
24.8 279
176
Caution plate
A 405 A
30
220
Encoder connector CMV1-R10P
160
Power supply connector MS3102A22-22P
Main key position mark
Output [kW]
HG-SR502BG1H HG-SR5024BG1H
5.0
85
Reducer model Reduction ratio CHHM-6185
210
4- 22
210 470
22
(PE) Key
W
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
30 145
160 380
9
(Side view of motor only) Electromagnetic brake connector CMV1-R2P
14
Caution plate
For reverse rotation command Rotation direction For forward rotation command
82
Bottom Top
44
Bottom Top
110 100
Motor plate 370
176 140.9 96.9 50.9
80h6 M12 Screw hole depth 24 Shaft section view AA
V U Power supply connector Motor flange direction
BC41219*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
147
184
1/59
[Unit: mm] 665.5 113.2 66.5 45.5
140.9 96.9 50.9
13
Caution plate Motor plate
24.8 279 Motor plate
110 100
For reverse rotation command Rotation direction For forward rotation command
176
Caution plate
405 A
30
220
Encoder connector CMV1-R10P
Power supply connector MS3102A22-22P
160
160
30 145
85 210
380 Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 65
210 470
W
(PE) Key
V U Power supply connector Motor flange direction
22 9
(Side view of motor only) Electromagnetic brake connector CMV1-R2P
14
Caution plate
A
82
Bottom Top
44
Bottom Top
M12 Screw hole depth 24 Shaft section viewAA
BC41220*
7. HG-SR SERIES Model
Output [kW]
HG-SR702BG1H HG-SR7024BG1H
7.0
Reducer model Reduction ratio CHHM-6165
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
187
114
1/6
[Unit: mm] 621 121.2 66.5 45.5
149.1 96.9 50.9
32
90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13
Caution plate Motor plate
218
181
Caution plate
Bottom
Top
341 25
Caution plate
Electromagnetic brake connector (Side view of motor only) CMV1-R2P
75
44 75 75 238
Power supply connector MS3102A32-17P
Main key position mark
160
A Encoder connector CMV1-R10P 185
139
185 410 18
(PE)
W
11
Key
7
Bottom Top
82
44
A
M10 Screw hole depth 18 Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR702BG1H HG-SR7024BG1H
Reducer model Reduction ratio
7.0
Power supply connector Motor flange direction
Shaft section view AA
199
44
1/17
BC41221*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/11
CHHM-6170
U
Mass [kg] 154
192
[Unit: mm] 665.5 121.2 66.5 45.5
149.1 96.9 50.9
90 80
For reverse rotation command Rotation direction For forward rotation command
Motor plate
13
Caution plate Motor plate
262
32
181
Caution plate
Bottom Top
(Side view of motor only)
381 A 30
200
Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
137.5
137.5
80
30 125
190
Main key position mark
190 430
335 (PE)
W
Key
20 7.5
Caution plate
12
Bottom Top
44 82
A
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 66
V
U
Power supply connector Motor flange direction
M12 Screw hole depth 24 Shaft section view AA
BC41222*
7. HG-SR SERIES Model
Output [kW]
HG-SR702BG1H HG-SR7024BG1H
Reducer model Reduction ratio
7.0
Brake static friction torque [N•m]
1/29
CHHM-6180
Moment of inertia J [× 10-4 kg•m2]
44
1/35
Mass [kg]
202
191
201
[Unit: mm] 705.5 121.2 66.5 45.5
149.1 96.9 50.9
13
Caution plate Motor plate
A 405 A
30
220
Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
160
160
85
30 145
210
Main key position mark
Model
Output [kW] 7.0
Reducer model Reduction ratio
Brake static friction torque [N•m]
1/43
CHHM-6195
22
(PE) Key
W
Electromagnetic brake V U Electromagnetic brake connector Power supply connector Motor flange direction Motor flange direction
HG-SR702BG1H HG-SR7024BG1H
210 470
380
M12 Screw hole depth 24 Shaft section view AA
BC41223*
Moment of inertia J [× 10-4 kg•m2] 277
44
1/59
9
(Side view of motor only)
For reverse rotation command Rotation direction For forward rotation command
Motor plate
14
Caution plate
110 100
82
44
Bottom Top
Bottom Top
279
176
Caution plate
32
Mass [kg] 262
275
[Unit: mm] 796.5 330 Motor plate
13 Caution plate
135 125
A
44 82
465
Bottom Top
35
250
A
190
190
30 170
90 240
240
440 Main key position mark
530 (PE)
W
Key
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 67
V
U
Power supply connector Motor flange direction
25 9
Encoder connector Caution plate CMV1-R10P (Side view of motor only) Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
14
Bottom Top
For reverse rotation command Rotation direction For forward rotation command
32
210
Caution plate Motor plate
121.2 66.5 45.5
149.1 96.9 50.9
M20 Screw hole depth 34 Shaft section view AA
BC41224*
7. HG-SR SERIES 7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-20A-05-F0KSAWS-S
1/5
7.91
7.6
HPG-20A-11-F0KSAXS-S
1/11
7.82
7.8
Output [kW]
HG-SR52G5 HG-SR524G5
0.5
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 213.5 38.2 25 Motor plate (Opposite side) Caution plate
Caution plate Motor plate
8 effective range) 6-M6 Screw hole depth 10
60°
45°
Top
Bottom
Bottom
Top
Top
C 0. 5
Bottom
112.5
Top
10
Caution plate
50.9
Bottom
27 +0.4 - 0.5 60
W
13
(PE) Key
Encoder connector CMV1-R10P
13.5 58
20.9 152.8
Power supply connector MS3102A18-10P
Model
0.5
BC41157*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-21-F0MCSYS-S
1/21
10.2
HPG-32A-33-F0MCSZS-S
1/33
9.96
HPG-32A-45-F0MCSZS-S
1/45
9.96
Output [kW]
HG-SR52G5 HG-SR524G5
U V Power supply connector Motor flange direction
Mass [kg] 12
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35+0.4 - 0.5
225.5 38.2
39.5 13 13 effective range) 6-M8 Screw hole depth 12
Caution plate
Caution plate Motor plate
Motor plate (Opposite side)
54.5
60°
45°
Caution plate
Top
Bottom
Bottom
Top
Top
50.9
Bottom
Top
.5 C0
112.5
Bottom
13 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
(PE)
W
Key 20.9 164.8 V
U
Power supply connector Motor flange direction
7 - 68
BC41158*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102G5 HG-SR1024G5
1.0
HPG-20A-05-F0KSAWS-S
1/5
12.3
9.0
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5
227.5 38.2
Motor plate (Opposite side) Caution plate
Caution plate Motor plate
10
8 effective range) 6-M6 Screw hole depth 10
60°
45°
Top
Bottom
Bottom
Top
Top
C 0. 5
Bottom
112.5
Top
60
Caution plate
50.9
Bottom
25
(PE)
W 13 Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
13.5 58
Model
Key
1.0
166.8
U V Power supply connector Motor flange direction
BC41159*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-11-F0MCSPS-S
1/11
14.9
HPG-32A-21-F0MCSYS-S
1/21
14.5
Output [kW]
HG-SR102G5 HG-SR1024G5
20.9
Mass [kg] 13
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 239.5 38.2 Motor plate (Opposite side) Caution plate Motor plate
effective range) 60°
45°
Bottom
Bottom
Top
Top
C
Bottom Top
0. 5
Caution plate
112.5
Top
35 +0.4 - 0.5 39.5 13 13 6-M8 Screw hole depth 12
Caution plate
50.9
Bottom
54.5
13
(PE)
W
Key 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
20.9 178.8 V
U
Power supply connector Motor flange direction
7 - 69
BC41160*
7. HG-SR SERIES Model
Output [kW]
HG-SR102G5 HG-SR1024G5
1.0
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-33-F0AABC-S
1/33
16.3
HPG-50A-45-F0AABC-S
1/45
16.2
Mass [kg] 23
[Unit: mm]
53 +0.5 - 0.8
255.5 38.2
130 Caution plate
7( 47H7 effective range)
122
Top
165h8
Top
163
Bottom
170
Bottom
C 0. 5 47H7
Top
45°
°
19
Caution plate Bottom
.5 22
0
10 0
112.5
Top
16 13
Caution plate
50.9
Bottom
107
Motor plate (Opposite side)
6×22.5°(=135°)
Motor plate
For reverse rotation command Rotation direction 14-M8 Screw hole depth 12 For forward rotation command 4- 14 170
13 Encoder connector CMV1-R10P
13.5 58
(PE)
W
20.9
Key
194.8
Power supply connector MS3102A18-10P V U Power supply connector Motor flange direction
BC41161*
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G5 HG-SR1524G5
1.5
HPG-20A-05-F0KSAWS-S
1/5
16.7
11
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5
241.5 38.2 Caution plate Motor plate
60
10
8 effective range) 6-M6 Screw hole depth 10
Caution plate
60°
45°
Bottom Top
Bottom
Bottom
Top
Top
C 0. 5
Caution plate
112.5
Top
Motor plate (Opposite side)
50.9
Bottom
25
(PE) Key
W 13 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
20.9 180.8
V
U
Power supply connector Motor flange direction
7 - 70
BC41162*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G5 HG-SR1524G5
1.5
HPG-32A-11-F0MCSPS-S
1/11
19.3
14
[Unit: mm]
Top
114
84
Bottom
Top
0. 5
Bottom
C
Top
118
Bottom
60
5 13
112.5
Top
Caution plate
50.9
Bottom
Caution plate
115h7
Caution plate Motor plate
54.5
Motor plate (Opposite side)
32H7
253.5 38.2
For reverse rotation command Rotation direction For forward rotation command 35+0.4 - 0.5 130 4- 11 39.5 13 13 120 5( 32H7 effective range) 45° 60° 6-M8 Screw hole depth 12
13
Key
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
13.5 58
(PE)
W 20.9 192.8 V
U
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR152G5 HG-SR1524G5
1.5
BC41163*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-F0AABC-S
1/21
21.7
HPG-50A-33-F0AABC-S
1/33
20.7
HPG-50A-45-F0AABC-S
1/45
20.6
Mass [kg] 24
[Unit: mm]
53 +0.5 - 0.8
269.5 38.2 Caution plate
Caution plate
Top
Bottom
Bottom
Top
Top
C 0. 5
Bottom
.5° 22
45°
112.5
Top
effective range)
Caution plate
50.9
Bottom
Motor plate (Opposite side)
16 13
6×22.5°(=135°)
Motor plate
107
For reverse rotation command Rotation direction 14-M8 crew hole depth 12 For forward rotation command
13 13.5 Encoder connector CMV1-R10P 58 Power supply connector MS3102A18-10P
W
20.9 208.8
(PE) Key
V U Power supply connector Motor flange direction
7 - 71
BC41164*
7. HG-SR SERIES Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-05-F0PBZI-S
1/5
51.4
HPG-32A-11-F0PBZJ-S
1/11
51.2
Output [kW]
HG-SR202G5 HG-SR2024G5
2.0
Mass [kg] 19
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
267.5 91 38.5 Motor plate 25 (Opposite side) 12.5 Caution plate
Caution plate
35 +0.4 - 0.5 13 13 effective range) 6-M8 Screw hole depth 12 60°
Bottom Top
Bottom
Bottom
Top
Top
(Note)*
140.9
Top
50.9
Bottom
C 0. 5
Caution plate
Key
Encoder connector CMV1-R10P
24.8
Power supply connector MS3102A22-22P
82
(PE)
W
13
203.8
V
U
Power supply connector Motor flange direction
BC41165*
Note. * is a screw hole for eyebolt (M8). Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-F0BBDF-S
1/21
53.2
HPG-50A-33-F0BBDF-S
1/33
52.2
HPG-50A-45-F0BBDF-S
1/45
52.2
Output [kW]
HG-SR202G5 HG-SR2024G5
2.0
Mass [kg] 29
[Unit: mm]
Caution plate
63 12.5
45 16
13
122
165h8
47H7
Top (Note)*
163
Bottom
Top
13
0
(PE) Key
W
Encoder connector CMV1-R10P
19
0
Bottom
140.9
Top
170
Bottom
.5 C0
10
Top
50.9
Bottom
129
Caution plate
22 .5°
Motor plate
25
6×22.5°(=135°)
53+0.5 - 0.8
287.5 38.5 Motor plate (Opposite side) Caution plate
176
For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range)
24.8 82
Power supply connector MS3102A22-22P
223.8 V
U
Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 72
BC41166*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352G5 HG-SR3524G5
3.5
HPG-32A-05-F0PBZI-S
1/5
83.2
24
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
35+0.4 - 0.5
291.5 91 25 38.5 Motor plate (Opposite side) 12.5 Caution plate
Caution plate
13 13 effective range) 6-M8 Screw hole depth 12
60°
Top
Bottom
Bottom
Top
Top
(Note)*
140.9
Top
Bottom
50.9
Bottom
C 0. 5
Caution plate
(PE)
W
13 Encoder connector CMV1-R10P
Key 24.8
Power supply connector MS3102A22-22P
82
227.8
V
U
Power supply connector Motor flange direction
BC41167*
Note. * is a screw hole for eyebolt (M8). Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-11-F0BBDF-S
1/11
86.7
HPG-50A-21-F0BBDF-S
1/21
85.0
Output [kW]
HG-SR352G5 HG-SR3524G5
3.5
Mass [kg] 34
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command +0.5 - 0.8
14-M8 Screw hole depth 12 effective range)
13
°
Caution plate
53 45 16
Bottom
Bottom
Top
Top
0. 5
Bottom
(Note)*
140.9
Top
Top
50.9
C
Bottom
6×22.5°(=135°)
Caution plate
22 .5
Motor plate
311.5 38.5 Motor plate 25 63 (Opposite side) 12.5 Caution plate
13 (PE)
W
Encoder connector CMV1-R10P
Key 24.8
82
Power supply connector MS3102A22-22P
247.8 V
U
Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 73
BC41168*
7. HG-SR SERIES Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-05-F0BBCF-S
1/5
110
36
HPG-50A-11-F0BBDF-S
1/11
108
38
Output [kW]
HG-SR502G5 HG-SR5024G5
5.0
Mass [kg]
[Unit: mm]
Motor plate
Caution plate
53+0.5 - 0.8 45 16
13
122
6×22.5°(=135°)
(Note)*
165h8
47H7
0. 5
Top
C
Bottom
Top
163
Bottom
140.9
Top
170
Bottom
13 Encoder connector CMV1-R10P
0 19
0 10
Top
50.9
Bottom
129
Caution plate
22 .5°
327.5 25 63 38.5 Motor plate (Opposite side) 12.5 Caution plate
176
For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range)
(PE)
W
Key 24.8
Power supply connector MS3102A22-22P
82
263.8 V
U
Power supply connector Motor flange direction
BC41169*
Note. * is a screw hole for eyebolt (M8). Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702G5 HG-SR7024G5
7.0
HPG-50A-05-F0BBCF-S
1/5
161
43
[Unit: mm]
Motor plate
Caution plate
25
63
45 16
13
12.5
6×22.5°(=135°)
122
165h8
(Note)*
47H7
0. 5 C
Top
163
Bottom
Top
170
Bottom
50.9
Top
149.1
Bottom
Top
0 19
0 10
Bottom
129
Caution plate
22 .5°
53+0.5 - 0.8
367.5 Motor plate (Opposite side) Caution plate
38.5
176
For reverse rotation command Rotation direction For forward rotation command 4- 14 180 14-M8 Screw hole depth 12 170 7( 47H7 effective range)
13 Encoder connector CMV1-R10P 82
Power supply connector MS3102A32-17P
(PE) Key
W 32 295.8 V
U
Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 74
BC41170*
7. HG-SR SERIES 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model
Output [kW]
HG-SR52BG5 HG-SR524BG5
0.5
Reduction ratio
Reducer model HPG-20A-05-F0KSAWS-S
1/5
HPG-20A-11-F0KSAXS-S
1/11
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
10.1
9.5
10.0
9.7
8.5
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5
248 43.5 Motor plate
Caution plate
25
Motor plate (Opposite side)
60
10
8 effective range) 60°
6-M6 Screw hole depth 10
Caution plate
Top
Bottom
Top
Top
112.5
Top
79.9 50.9
Bottom
Bottom
29
13.5 58
13 59 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P
C 0. 5
Caution plate Bottom
20.9 152.8 Key
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR52BG5 HG-SR524BG5
0.5
Reducer model
Reduction ratio
HPG-32A-21-F0MCSYS-S
1/21
HPG-32A-33-F0MCSZS-S
1/33
HPG-32A-45-F0MCSZS-S
1/45
(PE)
W
Main key position mark
Power supply connector MS3102A18-10P
U
Power supply connector Motor flange direction
Brake static friction torque [N•m]
BC41225* Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 12.4
8.5
14
12.2 12.2
[Unit: mm] For forward rotation command Rotation direction For forward rotation command 43.5 Motor plate
35 +0.4 - 0.5
260 Motor plate (Opposite side)
54.5
effective range)
Caution plate
Caution plate
39.5 13 13 6-M8 Screw hole depth 12
60°
45°
Bottom
112.5
29
Bottom
Top
Top
79.9 50.9
Top
Top
Bottom
13.5 58
Encoder connector CMV1-R10P
C 0. 5
Caution plate Bottom
13 59 20.9
Electromagnetic brake connector CMV1-R2P
164.8
Power supply connector MS3102A18-10P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 75
W
(PE) Key
U V Power supply connector Motor flange direction
BC41226*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102BG5 HG-SR1024BG5
1.0
HPG-20A-05-F0KSAWS-S
1/5
8.5
14.5
11
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5
262 43.5 Motor plate
25
Motor plate (Opposite side)
10
60
8 effective range) 6-M6 Screw hole depth 10
Caution plate
Caution plate
60°
45°
Bottom
Bottom
Top
Top
112.5
79.9 50.9
Top
Top
Bottom
29
13.5 58
Encoder connector CMV1-R10P
C 0. 5
Caution plate Bottom
13 59 20.9
Electromagnetic brake connector CMV1-R2P
166.8
Power supply connector MS3102A18-10P
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR102BG5 HG-SR1024BG5
1.0
Reducer model
Reduction ratio
HPG-32A-11-F0MCSPS-S
1/11
HPG-32A-21-F0MCSYS-S
1/21
(PE) Key
W
Main key position mark
U
Power supply connector Motor flange direction
Brake static friction torque [N•m]
BC41227* Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 17.1
8.5
15
16.7
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5
274
5( 32H7 effective range) 6-M8 Screw hole depth 12
112.5
29
13.5 58
Bottom
Top
Top
13 Encoder connector 59 CMV1-R10P Electromagnetic brake connector CMV1-R2P
84
Bottom
45°
60
115h7
Top
79.9 50.9
Bottom
Top
60°
4- 11
5 13
32h7
Caution plate
Caution plate Bottom
130 120
114
Caution plate
Motor plate (Opposite side)
39.5 13 13
118
Motor plate
54.5
C 0. 5
43.5
20.9 178.8 Main key position mark
Power supply connector MS3102A18-10P
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 76
(PE)
W
Key
V
U
Power supply connector Motor flange direction
BC41228*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102BG5 HG-SR1024BG5
1.5
Reducer model
Reduction ratio
HPG-50A-33-F0AABC-S
1/33
HPG-50A-45-F0AABC-S
1/45
Brake static friction torque [N•m]
Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 18.5
8.5
25
18.4
[Unit: mm]
53+0.5 - 0.8
290 □130
43.5
Caution plate
107
Motor plate (Opposite side)
112.5
Top
φ122 φ165h8
Bottom
Top
φ170
Bottom
C 0. 5 φ47H7
Top
79.9 50.9
Bottom
Top
6×22.5°(=135°)
Caution plate
Caution plate Bottom
16 13
φ163
Motor plate
For reverse rotation command Rotation direction For forward rotation command 4-φ14 □170 14-M8 Screw hole depth 12 45° .5° 7(φ47H7 effective range) 22
90 φ1
φ1 00
13 59 13.5 58
29
20.9
Encoder connector CMV1-R10P
194.8
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
(PE)
W
Main key position mark
Key
Electromagnetic brake
V
U
Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
BC41229A
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152BG5 HG-SR1524BG5
1.5
HPG-20A-05-F0KSAWS-S
1/5
8.5
18.9
13
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 27 +0.4 - 0.5
276 43.5 Motor plate
25
60
10
Motor plate (Opposite side Caution plate
Caution plate
8 effective range) 6-M6 Screw hole depth 10
60°
45°
Bottom
Bottom
Top
Top
112.5
79.9 50.9
Top
Top
Bottom
Encoder connector CMV1-R10P 29
13.5 58
C 0. 5
Caution plate Bottom
13 59
Electromagnetic brake connector CMV1-R2P
20.9 180.8
Power supply connector MS3102A18-10P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 77
(PE)
W
Key
V
U
Power supply connector Motor flange direction
BC41230*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152BG5 HG-SR1524BG5
1.5
HPG-32A-11-F0MCSPS-S
1/11
8.5
21.5
16
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5
288 43.5 Motor plate
Caution plate
54.5
Motor plate (Opposite side)
39.5 13 13 effective range) 6-M8 Screw hole depth 12
Caution plate
60°
45°
Top
Bottom
Top
Top
112.5
Bottom
13.5
29
58
79.9 50.9
Bottom
Top
13 Encoder connector 59 CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
C 0. 5
Caution plate Bottom
20.9 192.8
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR152BG5 HG-SR1524BG5
1.5
Reducer model
Reduction ratio
HPG-50A-21-F0AABC-S
1/21
HPG-50A-33-F0AABC-S
1/33
HPG-50A-45-F0AABC-S
1/45
(PE)
W
Main key position mark
Key
V U Power supply connector Motor flange direction
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
BC41231* Mass [kg]
23.9 8.5
22.9
26
22.8
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 53+0.5 - 0.8
304 43.5 Caution plate
107
Motor plate (Opposite side)
16 13
14-M8 Screw hole depth 12 effective range)
Bottom
Top
Bottom Top
79.9 50.9
Top
112.5
Top
C 0. 5
Bottom
45°
Caution plate
Caution plate Bottom
.5 ° 22
6×22.5°(=135°)
Motor plate
13 59 29
13.5 58
Encoder connector CMV1-R10P
20.9 208.8 Main key position mark
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 78
W
(PE) Key
V U Power supply connector Motor flange direction
BC41232*
7. HG-SR SERIES
Model
Output [kW]
HG-SR202BG5 HG-SR2024BG5
2.0
Reduction ratio
Reducer model HGP-32A-05-F0PBZI-S
1/5
HGP-32A-11-F0PBZJ-S
1/11
Brake static friction torque [N•m]
Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 61.1
44
25
60.9
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 35 +0.4 - 0.5
317
Motor plate
25
45.5 Motor plate (Opposite side) Caution plate
Caution plate
91
13 13 effective range) 6-M8 Screw hole depth 12
12.5
Top
Bottom
Bottom
Top
Top
140.9
96.9 50.9
Bottom
Top
82
(Note)*
13 66.5
Encoder connector CMV1-R10P 44
C 0. 5
Caution plate Bottom
45° 60°
24.8
Electromagnetic brake connector CMV1-R2P
203.8
Power supply connector MS3102A22-22P
(PE) Key
W
Main key position mark
Electromagnetic brake
V
U
Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
BC41233*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
HG-SR202BG5 HG-SR2024BG5
2.0
Reducer model
Reduction ratio
HPG-50A-21-F0BBDF-S
1/21
HPG-50A-33-F0BBDF-S
1/33
HPG-50A-45-F0BBDF-S
1/45
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
62.9 44
61.9
35
61.9
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
Caution plate
53+0.5 - 0.8 45 16
14-M8 Screw hole depth 12
13
effective range)
44 82
0. 5
Top
C
Bottom
Top
96.9 50.9
Top
Bottom
140.9
Top
Bottom
6×22.5°(=135°)
Caution plate Bottom
13 Encoder connector 66.5 CMV1-R10P Electromagnetic brake connector CMV1-R2P
(Note)*
45° 22 .5°
337 Motor plate 25 63 (Opposite side) 12.5 Caution plate
45.5
24.8 223.8
Power supply connector MS3102A22-22P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 79
W
(PE) Key
U V Power supply connector Motor flange direction
BC41234*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352BG5 HG-SR3524BG5
3.5
HPG-32A-05-F0PBZI-S
1/5
44
92.8
30
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
35 +0.4 - 0.5
341 Motor plate (Opposite side) Caution plate
45.5 Caution plate
25
91
13 13 effective range 6-M8 Screw hole depth 12
12.5
Top
Bottom
Bottom
Top
Top
140.9
96.9 50.9
Bottom
Top
44 82
13 66.5 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P
C 0. 5
Caution plate Bottom
45° 60°
(Note)*
24.8 227.8
Power supply connector MS3102A22-22P
(PE) Key
W
Main key position mark
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
U
Power supply connector Motor flange direction
BC41235*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
HG-SR352BG5 HG-SR3524BG5
3.5
Reducer model
Reduction ratio
HPG-50A-11-F0BBDF-S
1/11
HPG-50A-21-F0BBDF-S
1/21
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2] 96.3
44
94.6
Mass [kg] 40
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 53+0.5 - 0.8
361
Caution plate
25
63 12.5
45 16
13
14-M8 Screw hole depth 12 effective range)
Bottom
Top
Top
0. 5
Bottom
Top
140.9
Top
96.9 50.9
C
Bottom
6×22.5°(=135°)
Caution plate Bottom
Encoder connector CMV1-R10P 44 82
(Note)*
45°
22 .5°
Motor plate
45.5 Motor plate (Opposite side) Caution plate
13 66.5
Electromagnetic brake connector CMV1-R2P
24.8 247.8
Power supply connector MS3102A22-22P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 80
(PE) Key
W
V
U
Power supply connector Motor flange direction
BC41236*
7. HG-SR SERIES
Model
Output [kW]
HG-SR502BG5 HG-SR5024BG5
5.0
Reduction ratio
Reducer model HPG-50A-05-F0BBCF-S
1/5
HPG-50A-11-F0BBDF-S
1/11
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
119
42
117
44
44
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
Caution plate
Motor plate (Opposite side)
25
63
45 16
12.5
Caution plate
53+0.5 - 0.8 13 14-M8 Screw hole depth 12 effective range)
Top
82
(Note)*
13 66.5
Encoder connector CMV1-R10P
44
C 0. 5
Bottom
Top
96.9 50.9
Top
Bottom
140.9
Top
Bottom
6×22.5°(=135°)
Caution plate Bottom
45°
22 .5 °
377 45.5
24.8
Electromagnetic brake connector CMV1-R2P
263.8
Power supply connector MS3102A22-22P
(PE) Key
W
Main key position mark
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
U
Power supply connector Motor flange direction
BC41237*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702BG5 HG-SR7024BG5
7.0
HPG-50A-05-F0BBCF-S
1/5
44
171
49
[Unit: mm]
149.1
Bottom
Bottom
Top
Top
(Note)*
22 .5°
6×22.5°(=135°)
Top
φ122 φ165h8
Bottom
90 φ1 00 φ1
Top
96.9 50.9
Bottom
φ129
Caution plate
63 12.5
φ47H7
25
C 0. 5
Caution plate
Motor plate (Opposite side Caution plate
φ163
Motor plate
45.5
φ170
417 □176
For reverse rotation command Rotation direction For forward rotation command 4-φ14 53 +0.5 □180 - 0.8 □170 45 16 13 14-M8 Screw hole depth 12 7(φ47H7 effective range) 45°
13 66.5 44
Encoder connector CMV1-R10P
32
82 Electromagnetic brake connector CMV1-R2P
295.8 Main key position mark
Power supply connector MS3102A32-17P Electromagnetic brake
Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 81
(PE)
W
Key
V
U
Power supply connector Motor flange direction
BC41238A
7. HG-SR SERIES 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-20A-05-J2KSAWS-S
1/5
7.95
8.0
HPG-20A-11-J2KSAXS-S
1/11
7.82
8.2
Output [kW]
HG-SR52G7 HG-SR524G7
0.5
Mass [kg]
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Caution plate Motor plate
42 45°
Top
Bottom
Bottom
Top
Top
4 0. R
112.5
Top
10 27 8
60
Caution plate Bottom
50.9
Bottom
80
213.5 25 38.2 Motor plate (Opposite side) Caution plate
(PE)
W 13 13.5 58
Model
Key
Encoder connector CMV1-R10P
20.9 152.8
Power supply connector MS3102A18-10P
0.5
BC41171*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-21-J2MCSYS-S
1/21
10.2
HPG-32A-33-J2MCSZS-S
1/33
9.96
HPG-32A-45-J2MCSZS-S
1/45
9.96
Output [kW]
HG-SR52G7 HG-SR524G7
V U Power supply connector Motor flange direction
Mass [kg] 13
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133
225.5 38.2 Motor plate (Opposite side)
Bottom
Bottom Top
Top
82 45
°
Bottom Top
R 0. 4
112.5
Top
35 13
Caution plate
50.9
Bottom
39.5 13
Caution plate
Caution plate Motor plate
54.5
13 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
W
(PE) Key
20.9 164.8 V U Power supply connector Motor flange direction
7 - 82
BC41172*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102G7 HG-SR1024G7
1.0
HPG-20A-05-J2KSAWS-S
1/5
12.3
9.4
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 80
227.5 38.2 Caution plate Motor plate
25
Motor plate (Opposite side)
60
10 27 8
42 45°
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4 0. R
50.9
Bottom
112.5
Bottom
Key
Encoder connector CMV1-R10P
13.5 58
20.9 166.8
Power supply connector MS3102A18-10P
Model
Output [kW]
HG-SR102G7 HG-SR1024G7
1.0
(PE)
W
13
V U Power supply connector Motor flange direction
BC41173*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-11-J2MCSPS-S
1/11
15.0
HPG-32A-21-J2MCSYS-S
1/21
14.5
Mass [kg] 15
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 239.5 38.2 Caution plate
133 54.5
Motor plate (Opposite side)
39.5 13
35 13
82 45
Caution plate
°
Motor plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4 0. R
50.9
Bottom
112.5
Bottom
W
13 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
(PE) Key
20.9 178.8 V U Power supply connector Motor flange direction
7 - 83
BC41174*
7. HG-SR SERIES Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-33-J2AABC-S
1/33
16.3
HPG-50A-45-J2AABC-S
1/45
16.3
Output [kW]
HG-SR102G7 HG-SR1024G7
1.0
Mass [kg] 26
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 255.5 38.2 Caution plate Motor plate
156 107
Motor plate (Opposite side)
16
53
82
45°
13
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4 0. R
50.9
Bottom
112.5
Bottom
13
58
(PE)
W
Encoder connector CMV1-R10P
13.5
20.9
Key 194.8
Power supply connector MS3102A18-10P V
U
Power supply connector Motor flange direction
BC41175*
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G7 HG-SR1524G7
1.5
HPG-20A-05-J2KSAWS-S
1/5
16.7
11
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 80
241.5 38.2 Caution plate Motor plate
25
Motor plate (Opposite side)
60
10 27 8
42 45°
Caution plate
Caution plate
Top
Bottom
Bottom Top
Top
4 0. R
50.9
Bottom
Top
112.5
Bottom
W
13 13.5 58
Encoder connector CMV1-R10P Power supply connector MS3102A18-10P
(PE) Key
20.9 180.8
7 - 84
U V Power supply connector Motor flange direction
BC41176*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G7 HG-SR1524G7
1.5
HPG-32A-11-J2MCSPS-S
1/11
19.4
16
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 253.5 38.2 Caution plate
133 54.5
Motor plate (Opposite side)
39.5 13
82
35 13
45°
Caution plate
Motor plate Caution plate Bottom
Top
Top
Bottom
Bottom Top
Top
R0
50.9
Bottom
112.5
.4
13
58
Key
Encoder connector CMV1-R10P
13.5
(PE)
W 20.9 192.8
Power supply connector MS3102A18-10P
V
U
Power supply connector Motor flange direction
Model
Output [kW]
HG-SR152G7 HG-SR1524G7
1.5
BC41177*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-J2AABC-S
1/21
21.7
HPG-50A-33-J2AABC-S
1/33
20.7
HPG-50A-45-J2AABC-S
1/45
20.7
Mass [kg] 27
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 269.5 38.2 Caution plate Motor plate
156 107
Motor plate (Opposite side)
16
53
82
45°
13
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4 0. R
50.9
Bottom
112.5
Bottom
13 Encoder connector 13.5 CMV1-R10P 58 Power supply connector MS3102A18-10P
(PE)
W 20.9
Key 208.8
V
U
Power supply connector Motor flange direction
7 - 85
BC41178*
7. HG-SR SERIES Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-32A-05-J2PBZI-S
1/5
51.7
20
HPG-32A-11-J2PBZJ-S
1/11
51.3
21
Output [kW]
HG-SR202G7 HG-SR2024G7
2.0
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 267.5 38.5 Motor plate 25 91 12.5 (Opposite side) Caution plate
Caution plate
Motor plate
133 13 35 13
82
Caution plate Bottom Top
Bottom
Bottom
Top
Top
4 0. R
140.9
Top
50.9
Bottom
(Note)*
(PE) Key
W
13 Encoder connector CMV1-R10P Power supply connector MS3102A22-22P
82
24.8 V
203.8
U
Power supply connector Motor flange direction
BC41179*
Note. * is a screw hole for eyebolt (M8). Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-J2BBDF-S
1/21
53.3
HPG-50A-33-J2BBDF-S
1/33
52.2
HPG-50A-45-J2BBDF-S
1/45
52.2
Output [kW]
HG-SR202G7 HG-SR2024G7
2.0
Mass [kg] 32
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
287.5 38.5 Motor plate 25 63 (Opposite side) 12.5 Caution plate
Caution plate
156 45 16
53
82
13
Caution plate
Top
Bottom
Bottom
Top
Top
4 0. R
50.9
Bottom
Top
140.9
Bottom
(Note)*
13
(PE) Key
W
Encoder connector CMV1-R10P 24.8 82
Power supply connector MS3102A22-22P
223.8 V
U
Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 86
BC41180*
7. HG-SR SERIES Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352G7 HG-SR3524G7
3.5
HPG-32A-05-J2PBZI-S
1/5
83.5
25
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command
Motor plate
133
291.5 25 38.5 Motor plate 91 (Opposite side) 12.5 Caution plate
Caution plate
13 35 13
82
Caution plate
Bottom Top
Bottom Top
Bottom Top
4 0. R
140.9
Top
50.9
Bottom
Encoder connector CMV1-R10P
24.8
Power supply connector MS3102A22-22P
82
(PE) Key
W
(Note)*
13
227.8
U V Power supply connector Motor flange direction
BC41181*
Note. * is a screw hole for eyebolt (M8). Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-11-J2BBDF-S
1/11
87.0
HPG-50A-21-J2BBDF-S
1/21
85.1
Output [kW]
HG-SR352G7 HG-SR3524G7
3.5
Mass [kg] 37
[Unit: mm]
311.5 25 63 38.5 Motor plate (Opposite side) 12.5 Caution plate
176 Motor plate
Caution plate
For reverse rotation command Rotation direction For forward rotation command 4- 14 180 170
156 45 16
53 13
82
45°
165h8
122
56
Top
0 19
50h7
Top
163
Bottom
170
Bottom
4 0. R
140.9
Top
Bottom Top
50.9
Bottom
129
Caution plate
(Note)*
13 ncoder connector CMV1-R10P
W
(PE) Key
24.8 82
Power supply connector MS3102A22-22P
247.8 V U Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 87
BC41182*
7. HG-SR SERIES Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-50A-05-J2BBCF-S
1/5
111
39
HPG-50A-11-J2BBDF-S
1/11
108
41
Output [kW]
HG-SR502G7 HG-SR5024G7
5.0
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 327.5 25 38.5 Motor plate 63 (Opposite side) 12.5 Caution plate
Caution plate
Motor plate
156 45 16
53 13
82
Caution plate
Top
Bottom Top
Bottom
Bottom
Top
Top
R
50.9
Bottom
140.9
4 0.
(Note)*
13 Encoder connector CMV1-R10P
(PE) Key
W
24.8 Power supply connector MS3102A22-22P
82
263.8 V
U
Power supply connector Motor flange direction
BC41183*
Note. * is a screw hole for eyebolt (M8). Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702G7 HG-SR7024G7
7.0
HPG-50A-05-J2BBCF-S
1/5
163
46
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156
367.5 38.5 Motor plate (Opposite side) Caution plate
Caution plate
Motor plate
25
63 12.5
45 16
53
82
13
Caution plate Bottom Top
Bottom
Bottom Top
Top
R 4 0.
149.1
Top
50.9
Bottom
(Note)*
13 Encoder connector CMV1-R10P 82
Power supply connector MS3102A32-17P
W
(PE) Key
32 295.8 U V Power supply connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 88
BC41184*
7. HG-SR SERIES 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model
Output [kW]
HG-SR52BG7 HG-SR524BG7
0.5
Reduction ratio
Reducer model HPG-20A-05-J2KSAWS-S
1/5
HPG-20A-11-J2KSAXS-S
1/11
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
10.2
9.9
10.0
11
8.5
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 43.5 Motor plate
248 Motor plate (Opposite side)
80 25
60
10 27 8
42 45°
Caution plate
Caution plate
Caution plate Bottom Top
29
13.5 58
Bottom
Bottom
Top
Top
4 0. R
112.5
Top
79.9 50.9
Bottom
13 59 Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P
20.9 152.8 Main key position mark
Power supply connector MS3102A18-10P Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
Model
Output [kW]
HG-SR52BG7 HG-SR524BG7
0.5
Reducer model
Reduction ratio
HPG-32A-21-J2MCSYS-S
1/21
HPG-32A-33-J2MCSZS-S
1/33
HPG-32A-45-J2MCSZS-S
1/45
Brake static friction torque [N•m]
(PE) Key
W
U
Power supply connector Motor flange direction
BC41239* Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 12.4 12.2
8.5
15
12.2
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 43.5 Motor plate
260 Motor plate (Opposite side)
133 54.5
39.5 13 35 13
82 45°
Caution plate
Caution plate Caution plate
Bottom Top
Bottom
Bottom
Top
Top
4 0. R
112.5
Top
79.9 50.9
Bottom
13 59 29
13.5 58
Encoder connector CMV1-R10P
20.9 164.8
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 89
W
(PE) Key
V U Power supply connector Motor flange direction
BC41240*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102BG7 HG-SR1024BG7
1.0
HPG-20A-05-J2KSAWS-S
1/5
8.5
14.5
12
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 262 43.5 Motor plate
80 25
Motor plate (Opposite side)
60
10 42 8
27
45°
Caution plate
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4 0. R
79.9 50.9
Bottom
112.5
Bottom
13
Encoder connector CMV1-R10P 29
13.5 58
59 20.9
Electromagnetic brake connector CMV1-R2P
166.8 Main key position mark
Power supply connector MS3102A18-10P Electromagnetic brake
Output [kW]
HG-SR102BG7 HG-SR1024BG7
1.0
Reducer model
Reduction ratio
HPG-32A-11-J2MCSPS-S
1/11
HPG-32A-21-J2MCSYS-S
1/21
(PE) Key
V U Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
Model
W
Brake static friction torque [N•m]
BC41241* Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 17.2
8.5
17
16.7
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133
274 43.5 Motor plate
54.5
Motor plate (Opposite side)
39.5 13
35 13
130 120
82
45
Caution plate
Caution plate
44 84 115h7
4 0. R
79.9 50.9
Top
°
5 13
40h7
114
Bottom
Bottom Top
112.5
Top
Bottom Top
118
Caution plate Bottom
4- 11
13 59 29
13.5 58
Encoder connector CMV1-R10P
20.9 178.8
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 90
W
(PE) Key
V U Power supply connector Motor flange direction
BC41242*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102BG7 HG-SR1024BG7
1.0
Reducer model
Reduction ratio
HPG-50A-33-J2AABC-S
1/33
HPG-50A-45-J2AABC-S
1/45
Brake static friction torque [N•m]
Mass [kg]
Moment of inertia J [× 10-4 kg•m2] 18.5
8.5
28
18.5
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156
290
Motor plate
43.5 Caution plate
107
Motor plate (Opposite side)
16
82
53
45°
13
Caution plate
Caution plate Bottom Top
Bottom Top
4 0. R
112.5
Top
Bottom Top
79.9 50.9
Bottom
13 59 29
13.5 58
20.9
Encoder connector CMV1-R10P
194.8
Electromagnetic brake connector CMV1-R2P
Main key position mark
Power supply connector MS3102A18-10P
Electromagnetic brake
Key
V
Electromagnetic brake connector Motor flange direction
(PE)
W
U
Power supply connector Motor flange direction
BC41243*
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152BG7 HG-SR1524BG7
1.5
HPG-20A-05-J2KSAWS-S
1/5
8.5
18.9
13
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 276 43.5 Motor plate
80 25
Motor plate (Opposite side)
60
10 27 8
42 45°
Caution plate
Caution plate
Caution plate Bottom
Top
Top
50.9
Bottom
4 0. R
112.5
Top
Bottom Top
79.9
Bottom
13 59 29
13.5 58
Encoder connector CMV1-R10P
20.9 180.8
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 91
W
(PE) Key
V U Power supply connector Motor flange direction
BC41244*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152BG7 HG-SR1524BG7
1.5
HPG-32A-11-J2MCSPS-S
1/11
8.5
21.6
18
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 133
288 43.5 Motor plate
Caution plate
39.5 13 35 13
54.5
Motor plate (Opposite side)
82 45°
Caution plate
Caution plate Bottom
Top
Top
Bottom
Bottom Top
Top
112.5
4 0. R
79.9 50.9
Bottom
13 59 29
13.5 58
20.9
Encoder connector CMV1-R10P
192.8
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Output [kW]
HG-SR152BG7 HG-SR1524BG7
1.5
Key
Electromagnetic brake
V
Reducer model
Reduction ratio
HPG-50A-21-J2AABC-S
1/21
HPG-50A-33-J2AABC-S
1/33
HPG-50A-45-J2AABC-S
1/45
U
Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
Model
(PE)
W
Main key position mark
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
BC41245* Mass [kg]
23.9 22.9
8.5
29
22.9
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 304
Motor plate
43.5 Caution plate
156 107
Motor plate (Opposite side)
16
53
82
45°
13
Caution plate
Caution plate Bottom
Bottom Top
Top
4 0. R
112.5
Top
Bottom Top
79.9 50.9
Bottom
13 59 29
13.5 58
20.9 Encoder connector CMV1-R10P
208.8 Main key position mark
Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A18-10P
Electromagnetic brake Electromagnetic brake connector Motor flange direction
7 - 92
W
(PE) Key
U V Power supply connector Motor flange direction
BC41246*
7. HG-SR SERIES
Model
Output [kW]
HG-SR202BG7 HG-SR2024BG7
2.0
Reduction ratio
Reducer model HPG-32A-05-J2PBZI-S
1/5
HPG-32A-11-J2PBZJ-S
1/11
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
61.4
26
61.0
27
44
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 317 Motor plate (Opposite side) Caution plate
45.5 Motor plate
Caution plate
133 25
91 12.5
13 35 13
82 45°
Caution plate Bottom
140.9
Top
4 0. R
96.9
Top
Bottom Top
Bottom Top
50.9
Bottom
(Note)* Encoder connector CMV1-R10P 44 82
13 66.5 24.8
Electromagnetic brake connector CMV1-R2P
203.8
Power supply connector MS3102A22-22P
(PE) Key
W
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
V U Power supply connector Motor flange direction
BC41247*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
HG-SR202BG7 HG-SR2024BG7
2.0
Reducer model
Reduction ratio
HPG-50A-21-J2BBDF-S
1/21
HPG-50A-33-J2BBDF-S
1/33
HPG-50A-45-J2BBDF-S
1/45
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
63.0 44
61.9
38
61.9
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 45.5 Motor plate
Caution plate
337 Motor plate 25 63 (Opposite side) 12.5 Caution plate
156 45 16
53
82
13
45°
Caution plate Bottom
Top
Top
Encoder connector CMV1-R10P 44 82
4 0. R
50.9
Bottom Top
140.9
Top
Bottom
96.9
Bottom
(Note)*
13 66.5
Electromagnetic brake connector CMV1-R2P
24.8 223.8
Power supply connector MS3102A22-22P
Main key position mark
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 93
(PE) Key
W
V
U
Power supply connector Motor flange direction
BC41248*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352BG7 HG-SR3524BG7
3.5
HPG-32A-05-J2PBZI-S
1/5
44
93.1
31
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 341 Motor plate
133
45.5 Motor plate (Opposite side) Caution plate
Caution plate
25
13 35 13
91 12.5
82 45°
Caution plate Bottom Top
Bottom
Bottom
Top
Top
4 0. R
140.9
Top
96.9 50.9
Bottom
(Note)* 13 66.5
Encoder connector CMV1-R10P 44 82
Electromagnetic brake connector CMV1-R2P
24.8 227.8
Power supply connector MS3102A22-22P
(PE)
W
Main key position mark
Key
Electromagnetic brake
V
Electromagnetic brake connector Motor flange direction
U
Power supply connector Motor flange direction
BC41249*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
HG-SR352BG7 HG-SR3524BG7
3.5
Reducer model
Reduction ratio
HPG-50A-11-J2BBDF-S
1/11
HPG-50A-21-J2BBDF-S
1/21
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2] 96.6
44
94.7
Mass [kg] 43
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156
361 45.5 Motor plate
Caution plate
Motor plate (Opposite side) Caution plate
25
63 12.5
45 16
53 13
82 45°
Caution plate Bottom Top
Bottom Top
Bottom
Encoder connector CMV1-R10P 44 82
Top
4 0. R
140.9
Top
96.9 50.9
Bottom
(Note)*
13 66.5
Electromagnetic brake connector CMV1-R2P
24.8 247.8 Main key position mark
Power supply connector MS3102A22-22P
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 94
(PE) Key
W
V
U
Power supply connector Motor flange direction
BC41250*
7. HG-SR SERIES
Model
Output [kW]
HG-SR502BG7 HG-SR5024BG7
5.0
Reduction ratio
Reducer model HPG-50A-05-J2BBCF-S
1/5
HPG-50A-11-J2BBDF-S
1/11
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
44
Mass [kg]
121
45
117
47
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156
377 45.5 Motor plate
25
Motor plate (Opposite side) Caution plate
Caution plate
63 12.5
45 16
53
82
13
45°
Caution plate
Top
4 0.
140.9
Bottom Top
R
96.9
Top
Bottom
Bottom Top
50.9
Bottom
(Note)*
13 66.5 Encoder connector CMV1-R10P
44 82
24.8 263.8
Electromagnetic brake connector CMV1-R2P
(PE)
W
Main key position mark
Key
Power supply connector MS3102A22-22P Electromagnetic brake
U V Power supply connector Motor flange direction
Electromagnetic brake connector Motor flange direction
BC41251*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
Reducer model
Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702BG7 HG-SR7024BG7
7.0
HPG-50A-05-J2BBCF-S
1/5
44
173
52
[Unit: mm] For reverse rotation command Rotation direction For forward rotation command 156
417 45.5 Motor plate
Caution plate
Motor plate (Opposite side)
25
63
45 16
12.5
Caution plate
53
82
13
Caution plate Bottom
Bottom
Top
Top
4 0. R
149.1
Top
Bottom Top
96.9 50.9
Bottom
(Note)*
13 66.5 44 82
Encoder connector CMV1-R10P
32 295.8
Electromagnetic brake connector CMV1-R2P
Main key position mark
Power supply connector MS3102A32-17P
(PE) Key
W C B
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 95
V
D A
U
Power supply connector Motor flange direction
BC41252*
7. HG-SR SERIES
MEMO
7 - 96
8. HG-JR SERIES 8. HG-JR SERIES POINT The 1500 r/min series servo motor of 22 kW or more and 1000 r/min series servo motor of 15 kW or more with an electromagnetic brake are not available. This chapter provides information on the servo motor specifications and characteristics. When using the HGJR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 8.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG- JR5 3 4BK Series
Rated output
Appearance
Shaft type Symbol None
Shaft shape Standard (straight shaft)
K
(Note) Keyway shaft
Symbol
Rated output [kW]
5
0.5
7
0.75
10
1
15
1.5
20
2
None
None
35
3.5
B
With
50
5
60
6
70
7
80
8
90
9
11K
11
12K
12
15K
15
1
1000
20K
20
1M
1500
22K
22
3
3000
25K
25
30K
30
37K
37
45K
45
55K
55
Electromagnetic brake Symbol Electromagnetic brake
Power supply voltage of servo amplifier Symbol
Voltage
None 4
3-phase 200 V AC to 240 V AC 3-phase 380 V AC to 480 V AC
Rated speed Symbol
Note. Key is not included.
8- 1
Speed [r/min]
8. HG-JR SERIES 8.2 Combination list of servo motors and servo amplifiers/drive units (1) Compatible with 3-phase 200 V AC (a) 3000 r/min series Servo motor Standard
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
HG-JR503
HG-JR703
HG-JR903
MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020 MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-11KB-RJ020
Servo amplifier MR-J4 1-axis When the maximum torque is 400% (Note) MR-J4-100A MR-J4-100A-RJ MR-J4-100B MR-J4-100B-RJ MR-J4-100B-RJ010 MR-J4-100B-RJ020
MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020
MR-J4W2-77B
MR-J4W2-77B MR-J4W2-1010B
MR-J4W2-1010B
MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-700B-RJ020
Note. The maximum torque can be increased to 400% by changing the servo amplifier.
8- 2
Standard
MR-J4 2-axis When the maximum torque is 400% (Note)
MR-J4W2-1010B
8. HG-JR SERIES (b) 1500 r/min series Servo motor
HG-JR701M
HG-JR11K1M
HG-JR15K1M
HG-JR22K1M
Servo amplifier
Drive unit
MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-11KB-RJ020 MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-15KB-RJ020 MR-J4-22KA MR-J4-22KA-RJ MR-J4-22KB MR-J4-22KB-RJ MR-J4-22KB-RJ010 MR-J4-22KB-RJ020
HG-JR30K1M
MR-J4-DU30KA MR-J4-DU30KA-RJ MR-J4-DU30KB MR-J4-DU30KB-RJ
HG-JR37K1M
MR-J4-DU37KA MR-J4-DU37KA-RJ MR-J4-DU37KB MR-J4-DU37KB-RJ
8- 3
8. HG-JR SERIES (c) 1000 r/min series Servo motor
HG-JR601
HG-JR801 HG-JR12K1
HG-JR15K1
HG-JR20K1
HG-JR25K1
HG-JR30K1
HG-JR37K1
8- 4
Servo amplifier
Drive unit
MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-22KA MR-J4-22KA-RJ MR-J4-22KB MR-J4-22KB-RJ MR-J4-22KB-RJ010 MR-J4-22KB-RJ020 MR-J4-DU30KA MR-J4-DU30KA-RJ MR-J4-DU30KB MR-J4-DU30KB-RJ MR-J4-DU37KA MR-J4-DU37KA-RJ MR-J4-DU37KB MR-J4-DU37KB-RJ
8. HG-JR SERIES (2) Compatible with 3-phase 400 V AC (a) 3000 r/min series Servo amplifier Servo motor
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
HG-JR2034
HG-JR3534
HG-JR5034
Standard
When the maximum torque is 400% (Note)
MR-J4-60A4 MR-J4-60A4-RJ MR-J4-60B4 MR-J4-60B4-RJ MR-J4-60B4-RJ010 MR-J4-60B4-RJ020 MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020
MR-J4-100A4 MR-J4-100A4-RJ MR-J4-100B4 MR-J4-100B4-RJ MR-J4-100B4-RJ010 MR-J4-100B4-RJ020 MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020
MR-J4-200A4 MR-J4-200A4-RJ MR-J4-200B4 MR-J4-200B4-RJ MR-J4-200B4-RJ010 MR-J4-200B4-RJ020 MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020 MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020
MR-J4-350A4 MR-J4-350A4-RJ MR-J4-350B4 MR-J4-350B4-RJ MR-J4-350B4-RJ010 MR-J4-350B4-RJ020 MR-J4-500A4 MR-J4-500A4-RJ MR-J4-500B4 MR-J4-500B4-RJ MR-J4-500B4-RJ010 MR-J4-500B4-RJ020 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020
Note. The maximum torque can be increased to 400% by changing the servo amplifier.
8- 5
Servo motor
HG-JR7034
HG-JR9034
Servo amplifier MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-700B4-RJ020 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-11KB4-RJ020
8. HG-JR SERIES (b) 1500 r/min series Servo motor
HG-JR701M4
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
Servo amplifier
Drive unit
MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-11KB4-RJ020 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ010 MR-J4-15KB4-RJ020 MR-J4-22KA4 MR-J4-22KA4-RJ MR-J4-22KB4 MR-J4-22KB4-RJ MR-J4-22KB4-RJ010 MR-J4-22KB4-RJ020
HG-JR30K1M4
MR-J4-DU30KA4 MR-J4-DU30KA4-RJ MR-J4-DU30KB4 MR-J4-DU30KB4-RJ
HG-JR37K1M4
MR-J4-DU37KA4 MR-J4-DU37KA4-RJ MR-J4-DU37KB4 MR-J4-DU37KB4-RJ
HG-JR45K1M4
MR-J4-DU45KA4 MR-J4-DU45KA4-RJ MR-J4-DU45KB4 MR-J4-DU45KB4-RJ
HG-JR55K1M4
MR-J4-DU55KA4 MR-J4-DU55KA4-RJ MR-J4-DU55KB4 MR-J4-DU55KB4-RJ
8- 6
8. HG-JR SERIES (c) 1000 r/min series Servo motor
HG-JR6014
HG-JR8014 HG-JR12K14
HG-JR15K14
HG-JR20K14 HG-JR25K14
HG-JR30K14
HG-JR37K14
8- 7
Servo amplifier
Drive unit
MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ010 MR-J4-22KA4 MR-J4-22KA4-RJ MR-J4-22KB4 MR-J4-22KB4-RJ MR-J4-22KB4-RJ010 MR-J4-DU30KA4 MR-J4-DU30KA4-RJ MR-J4-DU30KB4 MR-J4-DU30KB4-RJ MR-J4-DU37KA4 MR-J4-DU37KA4-RJ MR-J4-DU37KB4 MR-J4-DU37KB4-RJ
8. HG-JR SERIES 8.3 Standard specifications 8.3.1 Standard specifications list Servo motor 53(B)
Item Power supply capacity Continuous running duty (Note 1)
Rated output (Note 8) Rated torque (Note 8)
[kW] [N•m]
Maximum torque (Note 8)
[N•m]
Rated speed (Note 1) [r/min] Maximum speed [r/min] Instantaneous permissible speed [r/min] Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current (Note 8)
[A]
Maximum current (Note 8)
[A] -4
2
Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2)
12.5
22.0
32.2
53.1
74.8
3.0
5.6
5.6
11
11
9.0 (12) 1.52
17 (23) 2.09
17 (23) 2.65
32 (43) 3.79
2.02
2.59
3.15
4.29
93.9
125
27
34
41
32 (43) 4.92
17 (18) 51 (71) 13.2
81 (108) 19.0
103
134
43.3
55.8
5.42
15.4
21.2
52.9
65.4
3.0 4.4
5.1
Ambience Altitude Vibration resistance (Note 5)
Vibration rank (Note 6)
Mass
119
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 X: 24.5 m/s 2 X, Y: 24.5 m/s 2 Y: 29.4 m/s V10 40 55 79 323 980 2450 284 490 980 3.7 4.5 5.9 7.5 13 18 29 36
Operation Ambient temperature Storage Operation Ambient humidity Storage
L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
71.6
10 times or less
Oil seal Insulation class Structure
Permissible load for the shaft (Note 7)
903(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.3 5.0 7.0 9.0 0.5 0.75 1.0 1.5 2.0 (3.5) 10.5 15.9 22.3 28.6 1.6 2.4 3.2 4.8 6.4 (11.1) 4.8 7.2 9.6 14.3 19.1 32.0 47.7 66.8 85.8 (6.4) (9.6) (12.7) (19.1) (25.5) (44.6) (63.7) 3000 6000 5000 6900 5750 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147
Speed/position detector
Environment (Note 4)
HG-JR 3000 r/min series (Compatible with 3-phase 200 V AC, low inertia/medium capacity) 73(B) 103(B) 153(B) 203(B) 353(B) 503(B) 703(B)
8- 8
5.9
7.3
8.9
15
20
35
42
8. HG-JR SERIES Servo motor Item Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure
Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4)
Ambience Altitude Vibration resistance (Note 5)
HG-JR 1500 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 701M(B) 11K1M(B) 15K1M(B) 22K1M 30K1M 37K1M Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 7.0 11 15 22 30 37 44.6 70.0 95.5 140 191 236 134 210 286 420 573 707 1500 3000 2500 3450 2875 113 223 289 401 582 726 101
204
271
34 111 176
61 200 220
76 246 315
196
240
336
Mass
151 561 764
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling Totally-enclosed, force-cooled (IP rating: IP67 (Note 3)) (IP rating: IP44 (Note 3)) 0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
53
116 2940 980 62
86
65
74
97
120
140 3234 1470 145
165
3-phase 200 V AC to 240 V AC 50 Hz/60 Hz
Voltage/ Frequency
Cooling fan
139 479 627
10 times or less
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
99 315 489
Power Power supply consumption [W] Rated current [A]
65 (50 Hz)/85 (60 Hz) 0.20 (50 Hz)/0.22 (60 Hz)
8- 9
8. HG-JR SERIES Servo motor 601(B)
Item Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4)
Ambience Altitude Vibration resistance (Note 5)
HG-JR 1000 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 801(B) 12K1(B) 15K1 20K1 25K1 30K1
167
243
394
31 108 176
47 165 220
60 208 315
196
240
336
67 231 489
Mass
Cooling fan
94 318 627
95 313 764
121 399 1377
152 495 1637
10 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooled natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 °C to 40 °C (non-freezing) -15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
37K1
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 6.0 8.0 12 15 20 25 30 37 57.3 76.4 115 143 191 239 286 353 172 229 345 429 573 717 858 1059 1000 2000 1500 2300 1725 187 265 420 418 582 748 594 761
2
X, Y: 9.8 m/s
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg] Voltage/ Frequency Power Power supply consumption [W] Rated current
53
116 2940 980 62
86
65
74
97
120
140 3234 1470 145
140 4900 1960 165
215
240
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
[A]
8 - 10
65 (50 Hz)/85 (60 Hz)
120 (50 Hz)/ 175 (60 Hz)
0.20 (50 Hz)/0.22 (60 Hz)
0.39 (50 Hz)/ 0.52 (60 Hz)
8. HG-JR SERIES Servo motor Item Power supply capacity Continuous running duty (Note 1)
Rated output (Note 8) Rated torque (Note 8)
[kW] [N•m]
Maximum torque (Note 8)
[N•m]
Rated speed (Note 1) [r/min] Maximum speed [r/min] Instantaneous permissible speed [r/min] Standard [kW/s] Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current (Note 8)
[A]
Maximum current (Note 8)
[A] -4
2
Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2)
HG-JR 3000 r/min series (Compatible with 3-phase 400 V AC, low inertia/medium capacity) 534(B) 734(B) 1034(B) 1534(B) 2034(B) 3534(B) 5034(B) 7034(B) 9034(B) Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 3.3 5.0 7.0 9.0 0.5 0.75 1.0 1.5 2.0 (3.5) 10.5 15.9 22.3 28.6 1.6 2.4 3.2 4.8 6.4 (11.1) 4.8 7.2 9.6 14.3 19.1 32.0 47.7 66.8 85.8 (6.4) (9.6) (12.7) (19.1) (25.5) (44.6) (63.7) 3000 6000 5000 6900 5750 16.7 27.3 38.2 60.2 82.4 83.5 133 115 147 12.5
22.0
32.2
53.1
74.8
1.5
2.8
2.8
5.4
5.4
4.5 (6.0) 1.52
8.4 (12) 2.09
8.4 (12) 2.65
17 (22) 3.79
2.02
2.59
3.15
4.29
14
17
21
17 (22) 4.92
8.3 (8.8) 26 (36) 13.2
41 (54) 19.0
52
67
43.3
55.8
5.42
15.4
21.2
52.9
65.4
4.4
5.1
Ambience Altitude Vibration resistance (Note 5)
Vibration rank (Note 6)
Mass
125
3.0
Operation Ambient temperature Storage Operation Ambient humidity Storage
L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
93.9
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level 2 X: 24.5 m/s 2 X, Y: 24.5 m/s 2 Y: 29.4 m/s V10 40 55 79 323 980 2450 284 490 980 3.7 4.5 5.9 7.5 13 18 29 36
Oil seal Insulation class Structure
Permissible load for the shaft (Note 7)
119
10 times or less
Speed/position detector
Environment (Note 4)
71.6
8 - 11
5.9
7.3
8.9
15
20
35
42
8. HG-JR SERIES
Servo motor 701M4 (B)
Item Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4)
Ambience Altitude Vibration resistance (Note 5)
HG-JR 1500 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 11K1M4 15K1M4 22K1M4 30K1M4 37K1M4 45K1M4 55K1M4 (B) (B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 7.0 11 15 22 30 37 45 55 44.6 70.0 95.5 140 191 236 286 350 134 210 286 420 573 707 859 1050 1500 3000 2500 3450 2875 113 223 289 401 582 726 596 749 101
204
271
17 56 176
31 100 220
38 123 315
196
240
336
50 170 489
Mass
85 288 1377
110 357 1637
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooling natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s
2
X, Y: 9.8 m/s
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
53
116 2940 980 62
86
65
74
97
Voltage/ Frequency
Cooling fan
79 263 764
10 times or less
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
68 235 627
Power supply Power consumption [W] Rated current
[A]
8 - 12
120
140 3234 1470 145
140 4900 1960 165
215
240
3-phase 380 V AC to 480 V AC 50 Hz/60 Hz
3-phase 380 V AC to 460 V AC 50 Hz/60 Hz
65 (50 Hz)/85 (60 Hz)
110 (50 Hz)/ 150 (60 Hz)
0.12 (50 Hz)/0.14 (60 Hz)
0.20 (50 Hz)/ 0.22 (60 Hz)
8. HG-JR SERIES Servo motor 6014(B)
Item Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2) Speed/position detector Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Environment (Note 4)
Ambience Altitude Vibration resistance (Note 5)
HG-JR 1000 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 8014(B) 12K14(B) 15K14 20K14 25K14 30K14
167
243
394
16 54 176
23 80 220
30 104 315
196
240
336
33 114 489
Mass
48 160 764
60 202 1377
76 248 1637
22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, Totally-enclosed, force-cooling natural-cooling (IP rating: IP44 (Note 3)) (IP rating: IP67 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level X, Y: 24.5 m/s
2
X, Y: 9.8 m/s
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
53
116 2940 980 62
86
65
74
97
Voltage/ Frequency
Cooling fan
47 161 627
10 times or less
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
37K14
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 6.0 8.0 12 15 20 25 30 37 57.3 76.4 115 143 191 239 286 353 172 229 345 429 573 717 858 1059 1000 2000 1500 2300 1725 187 265 420 418 582 748 594 761
Power supply Power consumption [W] Rated current
[A]
8 - 13
120
140 3234 1470 145
140 4900 1960 165
215
240
3-phase 380 V AC to 480 V AC 50 Hz/60 Hz
3-phase 380 V AC to 460 V AC 50 Hz/60 Hz
65 (50 Hz)/85 (60 Hz)
110 (50 Hz)/ 150 (60 Hz)
0.12 (50 Hz)/0.14 (60 Hz)
0.20 (50 Hz)/ 0.22 (60 Hz)
8. HG-JR SERIES Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress Vibration amplitude (both amplitudes) [ m]
the vibration to about half of the permissible value. Servo motor
X
Y Vibration
1000
100
10
0
1000 2000 3000 4000 5000 6000 7000
Speed [r/min]
6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load
8. Values in parentheses are at the maximum torque of 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.
8 - 14
8. HG-JR SERIES 8.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-JR53 and HG-JR73 support 1-phase power supply input. (a) 3000 r/min series
Short-duration running range
6
Short-duration running range
2
Continuous running range 3000
0 0 1000
50006000
Speed [r/min]
[HG-JR353]
70 (Note 4)
3
Continuous running range 3000
50006000
[HG-JR703]
Short-duration running range Continuous running range
0 0 1000
Speed [r/min]
3000
Short-duration running range Continuous running range
50006000
Speed [r/min]
Speed [r/min]
[HG-JR903] 90
70
(Note 4)
9
80
Torque [N•m]
Torque [N•m]
50006000
[HG-JR503]
30
20
3000
Short-duration running range
0 0 1000
Speed [r/min]
45 40
2
Continuous running range
(Note 4)
15
Short-duration running range
50
30
Short-duration running range
50
30
Short-duration running range
10
Torque [N•m]
0 0 1000
(Note 4)
10
6
[HG-JR203]
20
(Note 4)
Torque [N•m]
Torque [N•m]
Torque [N•m]
4
[HG-JR153]
14
(Note 4)
6
2
[HG-JR103]
10
Torque [N•m]
[HG-JR73]
(Note 4)
Torque [N•m]
7
Torque [N•m]
[HG-JR53]
60
40
Short-duration running range
20
Continuous running range 0 0 1000
3000
10
50006000
Speed [r/min]
Continuous running range
0 0 1000
3000
10
50006000
Speed [r/min]
0 0
Continuous running range 1000 2000 3000 4000 5000
Speed [r/min]
Continuous running range 0 0
1000 2000 3000 4000 5000
Speed [r/min]
Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.
8 - 15
8. HG-JR SERIES (b) 1500 r/min series [HG-JR11K1M]
180
[HG-JR22K1M]
[HG-JR15K1M]
250
300
100
1000
Short-duration running range
100
300
200
100
Continuous running range 0 0
200
Torque [N•m]
60
Torque [N•m]
Torque [N•m]
Torque [N•m]
Short-duration running range
Short-duration running range
Continuous running range
2000
0 0
3000
Speed [r/min]
1000
2000
Speed [r/min]
Continuous running range 0 0
3000
600
400
200 120
[HG-JR30K1M]
500
350
1000
2000
Speed [r/min]
0 0
3000
Torque [N•m]
[HG-JR701M]
Short-duration running range
400
Short-duration running range 200
Continuous running range
Continuous running range 1000
0 0
2000 2500
Speed [r/min]
1000
2000 2500
Speed [r/min]
[HG-JR37K1M] 800
Torque [N•m]
600
400
Short-duration running range
200
Continuous running range 0 0
1000
2000 2500
Speed [r/min]
(c) 1000 r/min series [HG-JR601]
[HG-JR801]
180
[HG-JR12K1]
300
[HG-JR15K1]
400
[HG-JR20K1]
450
600
Short-duration running range 100
200
Short-duration running range
300
0 0
500
1000
1500
Speed [r/min]
0 0
2000
[HG-JR25K1]
500
1000
1500
Speed [r/min]
[HG-JR30K1]
Short-duration running range
Short-duration running range 300
2000
500
1000
1500
0 0
500
1000
Speed [r/min]
600
Short-duration running range
300
Continuous running range
Continuous running range Speed [r/min]
Torque [N•m]
Torque [N•m]
Torque [N•m]
1500
900 600
200
0 0
1000
Speed [r/min]
1200
600
400
500
[HG-JR37K1]
900
800
0 0
2000
Continuous running range 1500
0 0
500
1000
Speed [r/min]
8 - 16
400
1500
0 0
500
1000
Speed [r/min]
Short-duration running range
200
Continuous running range
Continuous running range
Continuous running range
Short-duration running range
150
100
Continuous running range
Torque [N•m]
60
200
Torque [N•m]
Short-duration running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
300 120
Continuous running range 1500
0 0
500
1000
Speed [r/min]
1500
8. HG-JR SERIES (2) 3-phase 400 V AC When the power supply input of the servo amplifier is 3-phase 400 V AC, the torque characteristic is indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is indicated by the thin line. (a) 3000 r/min series
Short-duration running range
3000
50006000
[HG-JR3534]
50006000
[HG-JR5034] 70
(Note 4)
15
6
Short-duration running range
2
Continuous running range 3000
3
50006000
[HG-JR7034]
Short-duration running range
Continuous running range
0 0 1000
Speed [r/min]
3000
20
12
4
50006000
Speed [r/min]
Short-duration running range Continuous running range
0 0 1000
3000
50006000
Speed [r/min]
[HG-JR9034] [H
70
(Note 4)
9
(Note 4)
90
30
Short-duration running range
50
30
Short-duration running range
50
30
Short-duration running range
Torque [N•m]
80
Torque [N•m]
Torque [N•m]
3000
28
(Note 4)
10
0 0 1000
Speed [r/min]
45
20
Continuous running range
0 0 1000
Speed [r/min]
40
Short-duration running range 2
Continuous running range 0 0 1000
6
[HG-JR2034]
20
(Note 4)
Torque [N•m]
Torque [N•m]
Torque [N•m]
4
[HG-JR1534]
14
(Note 4)
6
2
[HG-JR1034]
10
Torque [N•m]
[HG-JR734]
(Note 4)
Torque [N•m]
7
Torque [N•m]
[HG-JR534]
60
40
Short-duration running range
20
10
Continuous running range 0 0 1000
3000
10
50006000
Speed [r/min]
Continuous running range
0 0 1000
3000
10
50006000
Speed [r/min]
0 0
Continuous running range 1000 2000 3000 4000 5000
Speed [r/min]
Continuous running range 0 0
1000 2000 3000 4000 5000
Speed [r/min]
Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.
8 - 17
8. HG-JR SERIES (b) 1500 r/min series [HG-JR11K1M4]
180
[HG-JR22K1M4]
[HG-JR15K1M4] 300
100
1000
2000
0 0
3000
[HG-JR37K1M4]
100
1000
2000
Speed [r/min]
Continuous running range 0 0
3000
[HG-JR45K1M4]
800
300
200
1000
2000
Speed [r/min]
0 0
3000
Short-duration running range
400
200
Continuous running range
Continuous running range 1000
Short-duration running range
0 0
2000 2500
Speed [r/min]
1000
2000 2500
Speed [r/min]
[HG-JR55K1M4]
900
1200
Short-duration running range
600
0 0
2000 2500
Speed [r/min]
1000
600
Short-duration running range
300
Continuous running range
Continuous running range 1000
Short-duration running range
300
200
0 0
Torque [N•m]
900
Torque [N•m]
600
Torque [N•m]
Short-duration running range
Continuous running range
Speed [r/min]
400
200
100
Continuous running range 0 0
Torque [N•m]
60
Torque [N•m]
Torque [N•m]
Torque [N•m]
Short-duration running range
Short-duration running range
600
400
200 120
[HG-JR30K1M4]
500
350
250
Torque [N•m]
[HG-JR701M4]
Continuous running range 0 0
2000 2500
Speed [r/min]
1000
2000 2500
Speed [r/min]
(c) 1000 r/min series [HG-JR6014]
[HG-JR8014]
180
[HG-JR12K14]
300
[HG-JR15K14]
400
[HG-JR20K14]
450
600
Short-duration running range 100
200
Short-duration running range
300
500
1000
1500
Speed [r/min]
0 0
2000
[HG-JR25K14]
Torque [N•m]
Torque [N•m]
1500
Short-duration running range
600
500
1000
Speed [r/min]
1500
0 0
1000
1500
Speed [r/min]
2000
1200
900
Short-duration running range
500
1000
Speed [r/min]
600
Short-duration running range
300
Continuous running range
Continuous running range
500
[HG-JR37K14]
300
200
0 0
2000
900
600
0 0
1000
Speed [r/min]
[HG-JR30K14]
800
400
500
Torque [N•m]
0 0
Continuous running range 1500
0 0
500
1000
Speed [r/min]
8 - 18
400
1500
0 0
500
1000
Speed [r/min]
Short-duration running range
200
Continuous running range
Continuous running range
Continuous running range
Short-duration running range
150
100
Continuous running range
Torque [N•m]
60
200
Torque [N•m]
Short-duration running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
300 120
Continuous running range 1500
0 0
500
1000
Speed [r/min]
1500
8. HG-JR SERIES 8.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine. POINT The 1500 r/min series servo motor of 22 kW or more and 1000 r/min series servo motor of 15 kW or more with an electromagnetic brake are not available.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. HG-JR series
Servo motor 53(4)B 73(4)B 103(4)B 153(4)B 203(4)B
Item Type (Note 1)
703(4)B 903(4)B
Spring actuated type safety brake 0 24 V DC -10%
Rated voltage (Note 4) Power consumption [W] at 20 °C Coil resistance (Note 6) [Ω] Inductance (Note 6) [H] Brake static friction torque [N•m] Release delay time (Note 2) [s] Braking delay time (Note 2) [s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed voltage 125 V Selection example of surge absorbers to be used (Note 7) For the suppressed voltage 350 V
353(4)B 503(4)B
601(4)B 801(4)B 12K1(4)B 701M(4)B 11K1M(4)B 15K1M(4)B
11.7 49 0.37 6.6 0.09 0.03 64 640
23 25 0.25 16 0.12 0.03 400 4000
34 16.8 1.10 44 0.1 0.03 4500 45000
32 18.2 0.73 126 0.5 0.2 5000 45200
0.01 to 0.8
0.01 to 0.6
0.2 to 0.6
0.01 to 0.6
5000
5000
20000
20000
64
400
1000
400
(Note 8) TND20V-680KB (Note 8) TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation.
8 - 19
8. HG-JR SERIES 8.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key)
Servo motor HG-JR_(4)(B)K
K
Variable dimension table S
R
Q
HG-JR53(4)(B)K HG-JR73(4)(B)K HG-JR103(4)(B)K HG-JR153(4)(B)K HG-JR203(4)(B)K
16h6
40
30
0 5 -0.030
25
HG-JR353(4)(B)K HG-JR503(4)(B)K
28h6
55
50
0 8 -0.036
HG-JR703(4)(B)K HG-JR903(4)(B)K
35 +0.010 0
79
75
42h6
85
55m6
Y
2
3 +0.1 0
2.5
M4 screw hole depth 15
36
5
4 +0.2 0
4
0 10 -0.036
55
5
5 +0.2 0
5
79
0 12 -0.040
70
5
5 +0.2 0
6
116
110
0 16 -0.040
90
5
6 +0.2 0
8
M10 screw hole depth 27
65m6
140
130
0 18 -0.040
120
5
7 +0.2 0
9
M12 screw hole depth 25
80m6
140
140
0 22 -0.040
132
7
9 +0.2 0
11
M16 screw hole depth 30
M8 screw hole depth 20 M8 screw hole depth 20 M8 screw hole depth 19.8
R
R
QK
U
QL
Q
A
A
r
Y
A
QK
A
QL
Shaft section view A-A
Figure A
Figure B Key shaft (without key)
8 - 20
U
r
φS
Q
S
HG-JR801(4)(B)K HG-JR12K1(4)(B)K HG-JR11K1M(4)(B)K HG-JR15K1M(4)(B)K HG-JR15K1(4)K HG-JR20K1(4)K HG-JR25K1(4)K HG-JR22K1M(4)K HG-JR30K1M(4)K HG-JR37K1M(4)K HG-JR30K1(4)K HG-JR37K1(4)K HG-JR45K1M4K HG-JR55K1M4K
r
W
HG-JR601(4)(B)K HG-JR701M(4)(B)K
Figure
U
W
Servo motor
[Unit: mm] Variable dimensions W QK QL
Y Shaft section view A-A
A
B
8. HG-JR SERIES 8.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal
Oil level h [mm]
Servo motor HG-JR53(4)(B) HG-JR73(4)(B) HG-JR103(4)(B) HG-JR153(4)(B) HG-JR203(4)(B) HG-JR353(4)(B) HG-JR503(4)(B) HG-JR703(4)(B) HG-JR903(4)(B) HG-JR601(4)(B) HG-JR801(4)(B) HG-JR12K1(4)(B) HG-JR701M(4)(B) HG-JR11K1M(4)(B) HG-JR15K1M(4)(B) HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR30K1(4) HG-JR37K1(4) HG-JR45K1M4 HG-JR55K1M4
18
20
25
40
50
55
8.7 Cooling fan For the servo motor with a cooling fan, leave the following distance between the servo motor's suction face and the wall. Servo motor HG-JR15K1(4) HG-JR20K1(4) HG-JR25K1(4) HG-JR30K1(4) HG-JR37K1(4) HG-JR22K1M(4) HG-JR30K1M(4) HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4
Distance L [mm]
L or more
Servo motor Cooling fan
Intake
150
8 - 21
8. HG-JR SERIES 8.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. 8.8.1 Terminal box detail diagram HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) POINT The terminal box of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the terminal box detail diagram before change. [Unit: mm]
Power supply terminal block: M10 screw (3) Approx. 89
Keep plate
Approx. 55
Keep plate: M5 screw (4)
Approx. 50
de hole ox si φ80 inal b m T er φ63 (C able g land m K eep p ountin late sid g hole e )
Terminal box lid: M4 screw (10)
8 - 22
Approx. 300
Approx. 247
Protective earth (PE) terminal: M10 screw (2)
8. HG-JR SERIES 8.8.2 Standard (without an electromagnetic brake) Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.5
1.52
3.0
HG-JR53 HG-JR534
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw.
Caution plate Caution plate
□90
40 7.5
5
18 φ1
Motor plate
127.5 Motor plate (Opposite side)
38.2
4.5
Caution plate
φ1
00
Bottom
Bottom
Top
Top
Top
φ80h7
Bottom
Top
50.9
Bottom
φ41
φ16h6
30
45°
93.8
Oil seal
76 from the flange surface
35°
Power supply connector MS3102A18-10P
.8 21
V
W
36 B A
16 10.6
Encoder connector CMV1-R10P
.2 42
25.7
13
8 - 23
U Key
C D
(PE)
Power connector viewed from the connection side
BC42604* BC42615*
8. HG-JR SERIES Model HG-JR73 HG-JR734
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.75
2.09
3.7
[Unit: mm]
Caution plate
40 7.5
5 4.5
Caution plate
φ1 00
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
φ41
φ16h6
30
Top
45°
φ80h7
Caution plate
145.5 Motor plate (Opposite side)
18 φ1
Motor plate
38.2
4-φ6.6 mounting hole Use hexagon socket head cap screw. □90
93.8
Oil seal
94 from the flange surface
35°
25.7
13
.8 21
V
W
16
36
10.6
Encoder connector CMV1-R10P
.2 42
Power supply connector MS3102A18-10P
8 - 24
B A
C D
(PE) U Key Power connector viewed from the connection side
BC42605* BC42616*
8. HG-JR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.0
2.65
4.5
HG-JR103 HG-JR1034
[Unit: mm]
Caution plate
40 7.5
5 4.5
Caution plate
φ1 00
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
φ41
φ16h6
30
Bottom
45°
φ80h7
Caution plate
163.5 Motor plate (Opposite side)
18 φ1
Motor plate
38.2
4-φ6.6 mounting hole Use hexagon socket head cap screw. □90
93.8
Oil seal
112 from the flange surface
35°
25.7
13
.8 21
16
36
10.6
Encoder connector CMV1-R10P
.2 42
Power supply connector MS3102A18-10P
8 - 25
V
W B A
C D
(PE) U Key Power connector viewed from the connection side
BC42606* BC42617*
8. HG-JR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.5
3.79
5.9
HG-JR153 HG-JR1534
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 199.5
40 7.5
φ1
30
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ41
φ16h6
Caution plate
4.5
45°
18
Motor plate (Opposite side)
φ1
Caution plate
Motor plate
□90
5
00
φ80h7
38.2
Caution plate
93.8
Oil seal
148 from the flange surface
35°
25.7
13
.2 42
Power supply connector MS3102A18-10P
V
.8 21
Encoder connector CMV1-R10P
W
36
16
B A
C D
10.6
(PE) U Key Power connector viewed from the connection side
Model
BC42607* BC42618*
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
2.0
4.92
7.5
HG-JR203 HG-JR2034
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 235.5 7.5
4.5
Bottom
Bottom
Top
Top
Top
φ41
Bottom
Top
50.9
Bottom
45°
φ80h7
φ1 00
30 φ16h6
Caution plate
Motor plate (Opposite side)
18
Caution plate
5 φ1
Motor plate
□90
40
38.2
Caution plate
93.8
Oil seal
184 from the flange surface
V
W B A
C D
16
36
.8 21
Encoder connector CMV1-R10P
.2 42
25.7
13
10.6
35°
Power supply connector MS3102A18-10P
8 - 26
(PE) U Key Power connector viewed from the connection side
BC42608* BC42619*
8. HG-JR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR353
3.5
13.2
13
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 213
□130
55
38.2
12
3
45°
50 Caution plate
Caution plate
φ1 65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
116.8
95.8
50.9
Bottom
φ110h7
Motor plate
Motor plate (Opposite side)
Oil seal
φ1 45
13
V 15.5
34 71
Encoder connector CMV1-R10P
W
80
B A
228
Power supply connector MS3102A22-22P
C D
(PE) U Key Power connector viewed from the connection side
BC42609*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR3534
3.5
13.2
13
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 213
□130
55
38.2
12
3
45°
50 Motor plate (Opposite side)
Caution plate
Caution plate
φ1 65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ110h7
Motor plate
φ1 45
114.8
Oil seal
161 from the flange surface 25.7
35°
.2 42
Power supply connector MS3102A18-10P
13.1
36
V 13.5
.8 21
13 Encoder connector CMV1-R10P
8 - 27
W B A
C D
(PE) U Key Power connector viewed from the connection side
BC42620*
8. HG-JR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR503
5.0
19.0
18
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 267
□130
55
38.2
12
3
45°
50 Caution plate
Caution plate
Motor plate (Opposite side)
φ1 65
Bottom
Bottom
Bottom
Top
Top
Top
Top
116.8
95.8
50.9
Bottom
φ110h7
φ28h6
Caution plate
Oil seal 13 V
15.5
34 71
Encoder connector CMV1-R10P
W B A
80
φ1 45
Motor plate
C D
282 (PE) U Key Power connector viewed from the connection side
Power supply connector MS3102A22-22P
BC42610*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR5034
5.0
19.0
18
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 267
□130
55
38.2
12
3
45°
50 Caution plate
φ1 65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom Top
φ110h7
Motor plate
Motor plate (Opposite side)
Caution plate
φ1
45
114.8
Oil seal
215 from the flange surface 25.7
35°
.2 42
Power supply connector MS3102A18-10P
13.5
36
V
13.1
.8 21
13 Encoder connector CMV1-R10P
8 - 28
W B A
C D
(PE) U Key Power connector viewed from the connection side
BC42621*
8. HG-JR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
7.0
43.3
29
HG-JR703 HG-JR7034
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 263.5 Caution plate
Bottom Top
0
Bottom Top
φ114.3 -0.025
Top
50.9
Bottom
75
(Note) *2
(Note) *2
Bottom
45°
3
(Note) *4
Caution plate
(Note) *4
Top
Caution plate
□176
79
18 Motor plate (Opposite side)
φ35 +0.010 0
Motor plate
38.5
0 φ20
Oil seal
(Note) *1
163.3
13
30
133.5
φ2
(Note) *1 (Note) *3
(Note) *3
V
W B A
28.5
Encoder connector CMV1-R10P
(PE) U Key Power connector viewed from the connection side
92.1 285.4
Power supply connector MS3102A32-17P
C D
44 102.3
BC42611* BC42622*
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
9.0
55.8
36
HG-JR903 HG-JR9034
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 303.5 Caution plate
18
45°
3 75
(Note) *4
Bottom
Top
Top
0
Bottom
Top
50.9
Bottom
φ114.3 -0.025
(Note) *2
(Note) *2
Top
□176
79
Motor plate (Opposite side)
Caution plate
(Note) *4
Bottom
Caution plate
φ35 +0.010 0
Motor plate
38.5
Oil seal
(Note) *1
0 φ20
163.3
133.5
13 (Note) *3
V
W B A
28.5
Encoder connector CMV1-R10P
30 φ2
(Note) *1 (Note) *3
92.1
Power supply connector MS3102A32-17P
325.4
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8).
8 - 29
C D
(PE) U Key Power connector viewed from the connection side
44 102.3
BC42612* BC42623*
8. HG-JR SERIES Model
Output [kW]
HG-JR601
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
176
53
6
HG-JR6014 HG-JR701M
7
HG-JR701M4
[Unit: mm] Motor plate (Opposite side) 85
Caution plate 299.5 40 Motor plate
20
□220
4
° 37.5
79
Caution plate
45°
2-M8 screw (Note) *1,*2
φ42h6
25 Caution plate Bottom
Bottom Top
Top
81
Top
Bottom
Top
(Note) *4
4-φ13.5 mounting hole Use hexagon socket head cap screw.
φ27
0
35 φ2
M8 screw Oil seal
(Note) *3 (Note) *3,*4
171.1
Bottom
φ200h7
(Note) *2
50 φ2
(Note) *1
19.5 (PE) Key
W Encoder connector MS3102A20-29P
32
Power supply connector MS3102A32-17P
225.5
C
D
B
A
4 82
V
U
Power supply connector Motor flange direction
BC43502* BC43503* BC43504* BC43505*
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). Model
Output [kW]
HG-JR801
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
220
62
8
HG-JR8014 HG-JR11K1M
11
HG-JR11K1M4
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 339.5
Motor plate
Caution plate
110 20
Caution plate
(Note) *4
φ55m6
Bottom
Bottom
Top
Top
φ200h7
Top
27
81
Top
45°
50 φ2
Caution plate Bottom
°
2-M8 screw
(Note) *2
Bottom
37.5
4
(Note) *1,*2 (Note) *1
□220
116
Motor plate (Opposite side)
M10 screw
(Note) *3
φ 27 0 35 φ2
171.1
40
Oil seal (Note) *3,*4
19.5
Encoder connector MS3102A20-29P Power supply connector MS3102A32-17P
(PE) Key
W C B
32
D
4
A
265.5
82 V
U
Power supply connector Motor flange direction
BC42613A BC42624A BC43498* BC43499* Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10).
8 - 30
8. HG-JR SERIES Model HG-JR12K1 HG-JR12K14 HG-JR15K1M HG-JR15K1M4
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
315
86
12 15
[Unit: mm]
2-M8 screw 116
40 Motor plate 20 (Opposite side)
Caution plate
4
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
81
Bottom
(Note) *4
27
M10 screw
(Note) *3
45°
50 φ2
(Note) *2
φ55m6
(Note) *1,*2 (Note) *1
° 37.5
φ200h7
Caution plate
□220
110
φ27 0
φ2
35
171.1
439.5
Motor plate
4-φ13.5 mounting hole Use hexagon socket head cap screw.
Oil seal (Note) *3,*4
19.5 Encoder connector MS3102A20-29P
(PE) Key
W C B
32
Power supply connector MS3102A32-17P
365.5
V
D A
4 U
Power supply connector Motor flange direction
82
BC42614A BC42625A BC43500* BC43501*
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10).
8 - 31
8. HG-JR SERIES Model
Output [kW]
HG-JR15K1
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
489
120
15
HG-JR15K14 HG-JR22K1M
22
HG-JR22K1M4
POINT The appearance of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the dimensions before change. [Unit: mm] Caution plate
Motor plate Top
Cooling fan connector CE05-2A14S-2P
Power lead hole
Encoder connector MS3102A20-29P 133 150
Approx. 2 Approx. 42
Top Bottom Bottom
Eyebolt (Note 2, 3) 476 300 65 140 φ63
140 174 229 129 35
Motor plate/ Caution plate 5
□250 (Flange) 247 62 62 45°
Exhaust
(Note 1) *1
(Note 1) *1,*2
(Note 1) *3,*4
φ230h7
(Note 1) *2
φ65m6
130 33 Approx. 8
181
Bottom
174 163
220
Top
Intake 125
Cooling fan rotation direction
φ3 30
(Note 1) *3
4-φ24 mounting hole Use hexagon socket head cap screw.
65 φ2
(Note 1) *4
M12 screw Key
Oil seal
To be left open BU BW
BV Cooling fan connector Motor flange direction
BC41678* BC41679* BC43641* BC43642*
Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less.
8 - 32
8. HG-JR SERIES Model
Output [kW]
HG-JR20K1
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
627
145
20
HG-JR20K14 HG-JR30K1M
30
HG-JR30K1M4
[Unit: mm] Top Top
Bottom
Approx. 2 Approx. 42
538 65
300 140 φ63
Encoder connector MS3102A20-29P
236 291 181 35
(Note 1) *1
5
4-φ24 mounting hole Use hexagon socket head cap screw. 130 33 Approx. 8
(Note 1) *1,*2
Caution plate
□250 (Flange) 247 62 62 45°
Bottom
174 163
220
Motor plate/ Caution plate
Exhaust Top
(Note 1) *2
Motor plate
140
Intake 125
Cooling fan rotation direction
Bottom
(Note 1) *3,*4
181
150
Power lead hole
φ230h7
133
Eyebolt (Note 2, 3)
φ65m6
Cooling fan connector CE05-2A14S-2P
φ3
30
(Note 1) *3
65 φ2
(Note 1) *4
M12 screw Key
Oil seal
To be left open BU BW
BV Cooling fan connector Motor flange direction
BC41680* BC41681* BC43643* BC43644*
Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less.
8 - 33
8. HG-JR SERIES Model
Output [kW]
HG-JR25K1
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
764
165
25
HG-JR25K14 HG-JR37K1M
37
HG-JR37K1M4
[Unit: mm] Caution plate
Motor plate Top
Power lead hole
150
Encoder connector MS3102A20-29P
35 Exhaust Bottom
(Note 1) *2
(Note 1) *1
247 62 62
5
45°
4-φ24 mounting hole Use hexagon socket head cap screw.
(Note 1) *3,*4
(Note 1) *1,*2
Top Bottom
□250 (Flange)
130 33 Approx. 8
174 163
220
Top
Intake 125
Cooling fan rotation direction
φ63
140 298 353 224 Motor plate/Caution plate
φ3 30
181
133
300 65 140
φ230h7
600 Approx. 2 Approx. 42
Bottom
Eyebolt (Note 2, 3)
φ65m6
Cooling fan connector CE05-2A14S-2P
(Note 1) *3
65 φ2
(Note 1) *4
M12 screw Oil seal Key To be left open BU BW
BV Cooling fan connector Motor flange direction
BC41682* BC41683* BC43645* BC43646* Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M12). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less.
8 - 34
8. HG-JR SERIES Model
Output [kW]
HG-JR30K1
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1377
215
30
HG-JR30K14 HG-JR45K1M4
45
[Unit: mm] Motor plate
Caution plate Top
Top
Bottom Bottom
Cooling fan connector CE05-2A14S-2P 305 133
Approx. 25 Approx. 65
150
Power lead hole
65
300 140
600
Eyebolt (Note 2, 3) 140 275 330 215 φ63 Motor plate/Caution plate 35 5
□280 (Flange) 247 45 80 80 ° Oil seal
4-φ24 mounting hole Use hexagon socket head cap screw.
Exhaust φ80m6
140
Intake
(Note 1) *3,*4
(Note 1) *1,*2
φ250h7
(Note 1) *1
147
(Note 1) *2
210
M16 screw
Bottom
202 192
250
Top
Cooling fan rotation direction
φ3 70
(Note 1) *3
0 φ3
0
(Note 1) *4
Approx. 9 39
Encoder connector MS3102A20-29P
Key To be left open BU BW
BV Cooling fan connector Motor flange direction
BC41684* BC41685* BC43647*
Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M16). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M16 × 20 or less.
8 - 35
8. HG-JR SERIES Model
Output [kW]
HG-JR37K1
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1637
240
37
HG-JR37K14 HG-JR55K1M4
55
[Unit: mm] Motor plate Top
Approx. 25 Approx. 65
150
Encoder connector MS3102A20-29P
Top Bottom Bottom
140 339 394 Eyebolt (Note 2, 3) 253 Motor plate/Caution plate Oil seal 35 5 Exhaust
Top
(Note 1) *2
(Note 1) *1
140
Intake
(Note 1) *3,*4
(Note 1) *1,*2
Caution plate
□280 (Flange) 247 45 80 80 °
M16 screw
Bottom
202 192
250 147
Cooling fan rotation direction
Approx. 9 39
210
305 133
Power lead hole 664 300 65 140 φ63
φ80m6 φ250h7
Cooling fan connector CE05-2A14S-2P
φ3 70
(Note 1) *3
4-φ24 mounting hole Use hexagon socket head cap screw.
00 φ3 (Note 1) *4
Key To be left open BU BW
BV
Cooling fan connector Motor flange direction
BC41686* BC41687* BC43648*
Note 1. *1, *2, *3, and *4 are screw hole for eyebolt (M16). 2. An angle adjusting washer is inserted into the eyebolt. 3. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M16 × 20 or less.
8 - 36
8. HG-JR SERIES 8.8.3 With an electromagnetic brake Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.5
6.6
2.02
4.4
HG-JR53B HG-JR534B
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw.
Motor plate
Caution plate
□90
40 7.5
5 4.5 30
Caution plate
φ1 00
Top
Bottom
50.9
Top
φ80h7
Top
φ41
Bottom
93.8
Oil seal 57.4
76 from the flange surface
35°
13
V
W
B A
21
C D
.8
36
15
16
Encoder connector CMV1-R10P
25.7
Main key position mark
.2 42
Power supply connector MS3102A18-10P 66.5
(PE) U Key Electromagnetic brake connector Power connector viewed from the connection side Motor flange direction
Electromagnetic brake
10.6
Top
Bottom
φ16h6
Caution plate
Bottom
45°
18 φ1
173 Motor plate (Opposite side)
38
Electromagnetic brake connector CMV1-R2P
BC42626* BC42637*
8 - 37
8. HG-JR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.75
6.6
2.59
5.1
HG-JR73B HG-JR734B
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 191 Motor plate (Opposite side)
38
30
φ1
φ41
Bottom Top
00
50.9
Top
45°
φ80h7
φ16h6
Bottom
93.8
Oil seal 57.4
25.7
Main key position mark
V
W
B A
.8 21
36
15
16
Encoder connector CMV1-R10P
94 from the flange surface
35°
.2 42
Power supply connector MS3102A18-10P 66.5 13
Electromagnetic brake Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
10.6
Top
Bottom Top
4.5
Caution plate
Caution plate
Bottom
5 18 φ1
Caution plate
Motor plate
□90
40 7.5
Electromagnetic brake connector CMV1-R2P
BC42627* BC42638*
8 - 38
8. HG-JR SERIES Model HG-JR103B HG-JR1034B
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.0
6.6
3.15
5.9
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 209 38 Caution plate
5 4.5 30
Caution plate
φ1
Top
φ80h7
Bottom
00
50.9
Bottom Top
93.8
Oil seal 57.4
112 from the flange surface
35°
25.7
W
B A
.8 21
C D
16
36
15 Electromagnetic brake connector CMV1-R2P
V
.2
13
Encoder connector CMV1-R10P
Main key position mark
42
Power supply connector MS3102A18-10P 66.5
10.6
Top
Bottom Top
φ41
Bottom
φ16h6
Caution plate
45°
18 φ1
Motor plate
□90
40 7.5
Motor plate (Opposite side)
Electromagnetic brake Electromagnetic brake connector Motor flange direction
(PE) U Key Power connector viewed from the connection side
BC42628* BC42639*
8 - 39
8. HG-JR SERIES Model HG-JR153B HG-JR1534B
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.5
6.6
4.29
7.3
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 245 Caution plate
Caution plate
Bottom
Top
Top
φ41
Bottom
45°
00
50.9
Oil seal 57.4
148 from the flange surface
35°
13
16
36
15 Electromagnetic brake connector CMV1-R2P
V
W
B A
.8 21
Encoder connector CMV1-R10P
25.7
Main key position mark
.2 42
Power supply connector MS3102A18-10P 66.5
10.6
Top
Bottom Top
93.8
Bottom
φ1
30
φ16h6
Caution plate
4.5
8
Motor plate (Opposite side)
5
φ80h7
7.5
1 φ1
Motor plate
□90
40
38
Electromagnetic brake Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
BC42629* BC42640*
8 - 40
8. HG-JR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
2.0
6.6
5.42
8.9
HG-JR203B HG-JR2034B
[Unit: mm] 4-φ6.6 mounting hole Use hexagon socket head cap screw. 281 Caution plate
Motor plate (Opposite side)
Caution plate
Bottom
Bottom
Top
Top
45°
50.9
Bottom Top
93.8
Oil seal 57.4
184 from the flange surface
35°
13
25.7
Main key position mark
.2 42
Power supply connector MS3102A18-10P 66.5
V
W
B A
C D
21 .8
Electromagnetic brake
36
15
16
Encoder connector CMV1-R10P
Electromagnetic brake connector CMV1-R2P
Electromagnetic brake connector Motor flange direction
(PE) U Key Power connector viewed from the connection side
10.6
Top
φ1 00
30
φ41
Bottom
4.5
φ16h6
Caution plate
5
φ80h7
7.5
18 φ1
Motor plate
□90
40
38
BC42630* BC42641*
8 - 41
8. HG-JR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR353B
3.5
16
15.4
15
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 251.5 Motor plate (Opposite side)
43.5 Caution plate
3
45°
50
Caution plate
φ1 65
φ28h6
Caution plate
Bottom
Top
Top
Oil seal
13 φ1 45
95.8
Bottom
50.9
Top
79.9
Bottom
Top
116.8
Bottom
φ110h7
Motor plate
□130
55 12
63 29 15.5
34 71
Main key position mark
80
Encoder connector CMV1-R10P
V
228
W
Power supply connector MS3102A22-22P Electromagnetic brake connector CMV1-R2P
B A
C D
(PE) U Key Electromagnetic brake connector Power connector viewed from the connection side Motor flange direction
Electromagnetic brake
BC42631* Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR3534B
3.5
16
15.4
15
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 251.5 Motor plate
Caution plate Caution plate
□130
55
Motor plate (Opposite side)
43.5
12
3
45°
50
Caution plate
Bottom
Bottom
Top
Top
Top
50.9
Bottom
45
Oil seal
φ1
79.9
13
.8 21
36
Main key position mark
V
W
B A
Electromagnetic brake 29
Encoder connector CMV1-R10P
25.7 .2 42
Power supply connector MS3102A18-10P
161 from the flange surface
35°
13.5
63
13.1
Top
114.8
Bottom
φ110h7
φ28h6
φ1 65
Electromagnetic brake connector CMV1-R2P
8 - 42
Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
BC42642*
8. HG-JR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR503B
5.0
16
21.2
20
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 305.5
□130
55
43.5
12
3
45°
50 Motor plate
Caution plate
Caution plate
Motor plate (Opposite side)
φ1 6
Bottom
Top
Top
50.9
Bottom
Top
79.9
Bottom
Oil seal
13 45
95.8
Top
116.8
Bottom
φ1
63 29 15.5
34 71
5
φ110h7
φ28h6
Caution plate
Encoder connector CMV1-R10P
Main key position mark
80
V
W
282
Power supply connector MS3102A22-22P Electromagnetic brake connector CMV1-R2P
B A
Electromagnetic brake Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
BC42632* -4
2
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10 kg•m ]
Mass [kg]
HG-JR5034B
5.0
16
21.2
20
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 305.5 12 Caution plate
Caution plate
Motor plate (Opposite side)
Caution plate
3
φ28h6
φ1 65
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Oil seal
φ1 45
79.9
63 13
.8
36
29
Electromagnetic brake
Electromagnetic brake connector CMV1-R2P
V
W
B A
13.5
21
Encoder connector CMV1-R10P
Main key position mark
25.7 .2 42
Power supply connector MS3102A18-10P
215 from the flange surface
35°
13.1
Top
114.8
Bottom
45°
50
φ110h7
Motor plate
□130
55
43.5
8 - 43
Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
BC42643*
8. HG-JR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
7.0
44
52.9
35
HG-JR703B HG-JR7034B
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 313 Caution plate
18 Motor plate (Opposite side)
Caution plate
φ35
(Note) *2
Bottom
Bottom
Bottom
Top
Top
Top
Top
13
163.3
Oil seal
(Note) *1
0 φ20
30 φ2
133.5
96.9 50.9
Bottom
(Note) *3
45°
75
+0.010 0
(Note) *2
(Note) *1
3
(Note) *4
Caution plate
(Note) *4
□176
79
45.5
0 φ114.3 -0.025
Motor plate
(Note) *3
66.5
Encoder connector CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
44
28.5
92.1
44 285.4 Main key position mark
102.3 V
W
B A
Electromagnetic brake Electromagnetic brake connector Motor flange direction
C D
(PE) U Key Power connector viewed from the connection side
BC42633* BC42644*
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8). Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
9.0
44
65.4
42
HG-JR903B HG-JR9034B
[Unit: mm]
353
79
45.5
18
Caution plate
Caution plate
3
Motor plate (Opposite side)
Caution plate
+0.010 0
(Note) *4
(Note) *4
φ35
(Note) *2
(Note) *2
Bottom
Bottom
Top
Top
Top
163.3
Oil seal
0 φ20
(Note) *1
30 φ2
(Note) *3
96.9 50.9
Bottom
Top
133.5
Bottom
(Note) *1
45°
75
0 φ114.3 -0.025
Motor plate
4-φ13.5 mounting hole Use hexagon socket head cap screw. □176
13 (Note) *3
66.5
44
Encoder connector 28.5 CMV1-R10P Electromagnetic brake connector CMV1-R2P Power supply connector MS3102A32-17P
92.1
44 325.4 Main key position mark
102.3 V
W
B A
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M8).
8 - 44
C D
(PE) U Key Power connector viewed from the connection side
BC42634* BC42645*
8. HG-JR SERIES Model
Output [kW]
HG-JR601B
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
126
196
65
6
HG-JR6014B HG-JR701MB
7
HG-JR701M4B
[Unit: mm] Motor plate (Opposite side)
Caution plate 372
85
40
20
Caution plate
° 37.5
79
Bottom
Bottom
Top
Top
(Note) *3
(Note) *4
4-φ13.5 mounting hole Use hexagon socket head cap screw.
φ27 0
35 φ2
M8 screw Oil seal
171.1
Top
136.2 81
Bottom
Top
25
50 φ2
Bottom
(Note) *2
Caution plate
φ42h6
(Note) *1,*2 (Note) *1
45°
2-M8 screw
φ200h7
Motor plate
□220
4
(Note) *3,*4
19.5 130
Encoder connector MS3102A20-29P
32
4
225.5
Electromagnetic brake connector MS3102A10SL-4P
Key
Power connector MS3102A32-17P
(PE) Key
W
A
C
D
B
B
A
V
Electromagnetic brake Electromagnetic brake connector Motor flange direction
54 82
U
Power connector Motor flange direction
BC43510* BC43511* BC43512* BC43513*
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10). Model
Output [kW]
HG-JR801B
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
126
240
74
8
HG-JR8014B HG-JR11K1MB
11
HG-JR11K1M4B
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 412 Motor plate (Opposite side)
40 Motor plate
Caution plate
□220
116 110 20
° 37.5
4
Caution plate
(Note) *3
Top
Top
φ 27 0
35 φ2
M10 screw Oil seal
171.1
Top
Bottom
φ200h7
Top
Bottom
136.2 81
Bottom
27 0
Bottom
(Note) *4
(Note) *1,*2
(Note) *2
5 φ2
(Note) *1
φ55m6
Caution plate
45°
2-M8 screw
(Note) *3,*4
19.5 130 Encoder connector MS3102A20-29P Electromagnetic brake connector MS3102A10SL-4P Power supply connector MS3102A32-17P
32
4 265.5 Key A
C
D
B
B
A
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10).
8 - 45
(PE) Key
W
V
54 82
U
Power supply connector Motor flange direction
BC42635A BC42646A BC43506* BC43507*
8. HG-JR SERIES Model
Output [kW]
HG-JR12K1B HG-JR12K14B HG-JR15K1MB HG-JR15K1M4B
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
126
336
97
12 15
[Unit: mm]
512 40
Top
(Note) *4
(Note) *3
27
Bottom Top
Top
45°
M10 screw
φ27 0
35 φ2
Oil seal
171.1
Top
Bottom
136.2 81
Bottom
(Note) *1,*2
°
0
Bottom
Caution plate
φ55m6
(Note) *2
37.5
5 φ2
(Note) *1
Motor plate 20 (Opposite side)
Caution plate
Caution plate
□220
φ200h7
Motor plate
4-φ13.5 mounting hole Use hexagon socket head cap screw.
2-M8 screw 116 110 4
(Note) *3,*4
Encoder connector MS3102A20-29P
19.5 130 32
Electromagnetic brake connector MS3102A10SL-4P Power supply connector MS3102A32-17P
4 365.5 Key
(PE) Key
W
A
C B
B
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Note. *1, *2, *3, and *4 are screw hole for eyebolt (M10).
8 - 46
54 82
V
D A
U
Power supply connector Motor flange direction
BC42636A BC42647A BC43508* BC43509*
9. HG-RR SERIES 9. HG-RR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGRR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 9.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG-RR1 0 3BK
Appearance Shaft type
Series Rated output
Symbol None
Symbol
Rated output [kW]
10
K
Shaft shape Standard (straight shaft) (Note) Keyway shaft
15
1 1.5
20
2
35
3.5
None
None
50
5
B
With
Electromagnetic brake Symbol Electromagnetic brake
Rated speed 3000 [r/min] Note. Key is not included.
9.2 Combination list of servo motors and servo amplifiers Servo motor HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
9- 1
Servo amplifier MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020 MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020
9. HG-RR SERIES 9.3 Standard specifications 9.3.1 Standard specifications list Servo motor Item
103(B)
Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2)
54.8
101
153
105
163
6.1 18 1.50
8.8 23 1.90
14 37 2.30
23 58 8.30
28 70 12.0
1.85
2.25
2.65
11.8
15.5
5 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level
Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Ambience Altitude Vibration resistance (Note 5)
X, Y: 24.5 m/s
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
Mass
503(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 1.0 1.5 2.0 3.5 5.0 3.2 4.8 6.4 11.1 15.9 8.0 11.9 15.9 27.9 39.8 3000 4500 5175 67.4 120 176 150 211
Speed/position detector
Environment (Note 4)
HG-RR series (ultra-low inertia/medium capacity) 153(B) 203(B) 353(B)
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
3.9
45 686 196 5.0
6.2
12
17
6.0
7.0
8.3
15
21
9- 2
63 980 392
9. HG-RR SERIES Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude (both amplitudes) [μm]
the vibration to about half of the permissible value. Servo motor
X
Y Vibration
1000
100
10
0
1000 2000 3000 4000 4500
Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load
9- 3
9. HG-RR SERIES 9.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC, the torque characteristic is indicated by the heavy line.
3
10
Short-duration running range 5
Continuous running range 1000 2000 3000 40004500
Speed [r/min]
Short-duration running range 6
1000 2000 3000 40004500
Speed [r/min]
1000 2000 3000 40004500
Speed [r/min]
9- 4
45
20
Short-duration running range 10
Continuous running range 0 0
[HG-RR503]
30
12
Continuous running range 0 0
[HG-RR353]
18
Torque [N•m]
Short-duration running range
Torque [N•m]
Torque [N•m]
6
0 0
[HG-RR203]
15
Torque [N•m]
[HG-RR153] [H
9
Torque [N•m]
[HG-RR103]
30
Short-duration running range 15
Continuous running range 0 0
1000 2000 3000 40004500
Speed [r/min]
Continuous running range 0 0
1000 2000 3000 40004500
Speed [r/min]
9. HG-RR SERIES 9.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item Type (Note 1)
353B/503B
Spring actuated type safety brake 0 24 V DC -10%
Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2)
HG-RR series 103B/153B/203B
[W] at 20 °C [Ω] [H] [N•m] [s]
[s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3) Work per braking [J] For the suppressed Selection example of surge absorbers to voltage 125 V be used (Note 7, 8) For the suppressed voltage 350 V
19 30.0 0.81 7.0 0.03 0.03 400 4000 0.2 to 0.6
23 25 0.70 17 0.04 0.03 400 4000 0.2 to 0.6
20000
20000
200
200 TND20V-680KB TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation.
9- 5
9. HG-RR SERIES 9.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key)
Servo motor HG-RR_(B)K
Servo motor HG-RR103(B)K HG-RR153(B)K HG-RR203(B)K HG-RR353(B)K HG-RR503(B)K
K Variable dimensions W QK
S
R
Q
24h6
45
40
0 8 -0.036
28h6
63
58
0 8 -0.036
QL
U
r
25
5
4 +0.2 0
4
53
3
4 +0.2 0
4
R M8 Depth 20
Q QK
U
QL
W
φS
A A
r
Shaft section view A-A
9.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal
Servo motor HG-RR103(B) HG-RR153(B) HG-RR203(B) HG-RR353(B) HG-RR503(B)
Oil level h [mm]
20
9- 6
9. HG-RR SERIES 9.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. 9.7.1 Standard (without an electromagnetic brake) Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR103
1.0
1.50
3.9
[Unit: mm] 145.5 38 Motor plate
10
Motor plate (Opposite side)
Caution plate
□100
45 3
45°
40
4-φ9 mounting hole Use hexagon socket head cap screw.
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1 35
15 φ1
94.8
Oil seal
Encoder connector CMV1-R10P
13 (PE)
Key E F D
Power supply connector CE05-2A22-23P
69.5
C
H B
G
44
A
U V
W
Power supply connector Motor flange direction
BC42648*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR153
1.5
1.90
5.0
[Unit: mm] 170.5 38 Motor plate
Caution plate
□100
45 10
Motor plate (Opposite side)
3
45°
40
4-φ9 mounting hole Use hexagon socket head cap screw.
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1 35
15 φ1
94.8
Oil seal
Encoder connector CMV1-R10P
13
Power supply connector CE05-2A22-23P
(PE)
Key E F D H G C A B
94.5 W
U V
Power supply connector Motor flange direction
9- 7
44
BC42649*
9. HG-RR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR203
2.0
2.30
6.2
[Unit: mm] 195.5
Motor plate
Caution plate
Caution plate
□100
45 10
38
Motor plate (Opposite side)
3
45°
40
4-φ9 mounting hole Use hexagon socket head cap screw.
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1 3
15 φ1
5
94.8
Oil seal
Encoder connector CMV1-R10P
13
(PE)
Key E F D H G C A B
U
119.5
Power supply connector CE05-2A22-23P
44
V
W
Power supply connector Motor flange direction
BC42650*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR353
3.5
8.30
12
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 215.5 12 Caution plate Motor plate
Caution plate
□130
63
38.2
Motor plate (Opposite side)
3
45°
58
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ1 65
45 φ1
Oil seal 117.4
Encoder connector CMV1-R10P
φ110h7
φ28h6
Caution plate
13 (PE)
Key D C
Power supply connector CE05-2A24-10P
147.5 W
E G B
F A
U
Power supply connector Motor flange direction
9- 8
46
V
BC42651*
9. HG-RR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR503
5.0
12.0
17
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 272.5 12 Caution plate Motor plate
3
45°
58
Motor plate (Opposite side)
Caution plate
□130
63
38.2
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom Top
φ110h7
φ28h6
Caution plate
φ1 6
45 φ1
5
117.4
Oil seal
Encoder connector CMV1-R10P
13 (PE)
Key D C
204.5
Power supply connector CE05-2A24-10P
E G B
F A
46
U V
W
Power supply connector Motor flange direction
BC42652*
9.7.2 With an electromagnetic brake Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR103B
1.0
7.0
1.85
6.0
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 183 38 Motor plate
Caution plate
□100
45
Motor plate (Opposite side)
10
3
45 °
40
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
Encoder connector CMV1-R10P
φ95h7
φ24h6
Caution plate
1 φ1
φ1 35
5
94.8
Oil seal Electromagnetic brake
13 (PE) Power supply connector CE05-2A22-23P
69.5
Key E F D H G C A B
U
V W Power supply connector Motor flange direction
9- 9
44
BC42653*
9. HG-RR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR153B
1.5
7.0
2.25
7.0
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 208 Motor plate (Opposite side)
38 Motor plate
□100
45 10
3
45°
40
Caution plate Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom Top
φ95h7
φ24h6
Caution plate
1 φ1
φ1 35
5
Electromagnetic brake
13
Encoder connector CMV1-R10P
94.8
Oil seal
(PE)
Key E F D C
Power supply connector CE05-2A22-23P
94.5
H B
G A
U
44
V W Power supply connector Motor flange direction
BC42654*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR203B
2.0
7.0
2.65
8.3
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 233
Motor plate
10 Caution plate
Caution plate
□100
45
38
Motor plate (Opposite side)
3
45°
40
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
Encoder connector CMV1-R10P
φ95h7
φ24h6
Caution plate
1 φ1
φ1 35
5
94.8
Oil seal Electromagnetic brake
13 (PE) 119.5
Power supply connector CE05-2A22-23P
Key E F D H G C A B
U
V W Power supply connector Motor flange direction
9 - 10
44
BC42655*
9. HG-RR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR353B
3.5
17
11.8
15
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 252 12
Caution plate
3
Motor plate (Opposite side)
Caution plate
45°
58
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ110h7
φ28h6
Caution plate
4 φ1
φ1 65
5
Oil seal
Encoder connector CMV1-R10P
117.4
Motor plate
□130
63
42
Electromagnetic brake
13 (PE)
Key D
Power supply connector CE05-2A24-10P
C
147.5
E G B
F A
46
U
V W Power supply connector Motor flange direction
BC42656*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR503B
5.0
17
15.5
21
[Unit: mm] 4-φ9 mounting hole Use hexagon socket head cap screw. 309 Caution plate
12 Caution plate
Motor plate (Opposite side)
3
45°
58
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom Top
φ110h7
φ1 6
45 φ1
5
Oil seal 13
Electromagnetic brake
Encoder connector CMV1-R10P Power supply connector CE05-2A24-10P
117.4
Motor plate
□130
63
42
(PE) 204.5
Key D C
E G B
F
46
A
U
V W Power supply connector Motor flange direction
9 - 11
BC42657*
9. HG-RR SERIES
MEMO
9 - 12
10. HG-UR SERIES 10. HG-UR SERIES This chapter provides information on the servo motor specifications and characteristics. When using the HGUR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 10.1 Model designation The following describes model designation. Not all combinations of the symbols are available. HG-UR7 2BK Series Rated output Symbol
Rated output [kW]
7
0.75
15
1.5
20
2
35
3.5
50
5
Appearance
Shaft type Symbol
Shaft shape
None
Standard (straight shaft)
K
(Note) Keyway shaft
Electromagnetic brake Symbol Electromagnetic brake None
None
B
With
Rated speed 2000 [r/min] Note. Key is not included.
10.2 Combination list of servo motors and servo amplifiers Servo motor
Servo amplifier MR-J4 1-axis MR-J4 2-axis
HG-UR72
MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020
HG-UR152
MR-J4-200A MR-J4-200A-RJ MR-J4-200B MR-J4-200B-RJ MR-J4-200B-RJ010 MR-J4-200B-RJ020
MR-J4W2-77B MR-J4W2-1010B
Servo motor
HG-UR202
HG-UR352
HG-UR502
10 - 1
Servo amplifier MR-J4-350A MR-J4-350A-RJ MR-J4-350B MR-J4-350B-RJ MR-J4-350B-RJ010 MR-J4-350B-RJ020 MR-J4-500A MR-J4-500A-RJ MR-J4-500B MR-J4-500B-RJ MR-J4-500B-RJ010 MR-J4-500B-RJ020
10. HG-UR SERIES 10.3 Standard specifications 10.3.1 Standard specifications list Servo motor Item
72(B)
Power supply capacity Continuous running duty (Note 1)
Rated output Rated torque
[kW] [N•m] [N•m] [r/min] [r/min] [r/min] [kW/s]
Maximum torque Rated speed (Note 1) Maximum speed Instantaneous permissible speed Standard Power rate at With an continuous rated electromagnetic brake torque [kW/s] Rated current [A] Maximum current [A] -4 2 Standard [× 10 kg•m ] With an Moment of inertia J electromagnetic brake -4 2 [× 10 kg•m ] Recommended load to motor inertia ratio (Note 2)
10.3
21.2
19.5
32.8
46.0
5.4 16 10.4
9.7 29 22.1
14 42 38.2
23 69 76.5
28 84 115
12.5
24.2
46.8
85.1
124
15 times or less 22-bit encoder common to absolute position/incremental (resolution per servo motor revolution: 4194304 pulses/rev) With 155 (F) Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3)) 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing) Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt 1000 m or less above sea level
Oil seal Insulation class Structure Operation Ambient temperature Storage Operation Ambient humidity Storage Ambience Altitude Vibration resistance (Note 5)
X, Y: 24.5 m/s
2
Vibration rank (Note 6) Permissible load for the shaft (Note 7)
Mass
502(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. 0.75 1.5 2.0 3.5 5.0 3.6 7.2 9.5 16.7 23.9 10.7 21.5 28.6 50.1 71.6 2000 3000 2500 3450 2875 12.3 23.2 23.9 36.5 49.6
Speed/position detector
Environment (Note 4)
HG-UR 2000 r/min series (flat type/medium capacity) 152(B) 202(B) 352(B)
2
X: 24.5 m/s Y: 49 m/s
2
V10 L [mm] Radial [N] Thrust [N] Standard [kg] With an electromagnetic brake [kg]
55 637 490
65 882
1176
8.0
11
16
784 20
10
13
22
26
10 - 2
24 30
10. HG-UR SERIES Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office. 3. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures. 4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office. 5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude (both amplitudes) [μm]
the vibration to about half of the permissible value. Servo motor
X
Y Vibration
1000
100
10
0
1000 2000 30003450
Speed [r/min] 6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position. Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently. L Radial load L: Distance from flange mounting surface to load center Thrust load
10 - 3
10. HG-UR SERIES 10.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line. HG-UR72 supports 1-phase power supply input. [HG-UR72]
[HG-UR152]
12
[HG-UR202]
24
[HG-UR352]
30
[HG-UR502]
60
80
Short-duration running range 8
20
Short-duration running range 10
40
Short-duration running range 20
Torque [N•m]
4
16
Torque [N•m]
Short-duration running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
60 8
40
Short-duration running range
20
Continuous running range 0 0
1000
2000
Speed [r/min]
Continuous running range 3000
0 0
1000
2000
Speed [r/min]
Continuous running range 3000
0 0
1000
2000
Speed [r/min]
10 - 4
Continuous running range 3000
0 0
1000
20002500
Speed [r/min]
Continuous running range 0 0
1000
20002500
Speed [r/min]
10. HG-UR SERIES 10.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake differs depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below. Servo motor Item
72B/152B
Type (Note 1)
HG-UR series 202B/352B/502B
Spring actuated type safety brake 0 24 V DC -10%
Rated voltage (Note 4) Power consumption Coil resistance (Note 6) Inductance (Note 6) Brake static friction torque Release delay time (Note 2) Braking delay time (Note 2)
[W] at 20 °C [Ω] [H] [N•m] [s]
[s] DC off Per braking [J] Permissible braking work Per hour [J] Brake looseness at servo motor shaft (Note 5) [degrees] Number of brakings [times] Brake life (Note 3)
Selection example of surge absorbers to be used (Note 7, 8)
Work per braking [J] For the suppressed voltage 125 V For the suppressed voltage 350 V
19 29.0 0.8 8.5 0.04 0.03 400 4000 0.2 to 0.6
34 17.0 1.17 44 0.1 0.03 4500 45000 0.2 to 0.6
20000
20000
200
1000 TND20V-680KB TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically. 2. The value for initial on gap at 20 °C. 3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required. 4. Always prepare a power supply exclusively used for the electromagnetic brake. 5. These are design values. These are not guaranteed values. 6. These are measured values. These are not guaranteed values. 7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer. 8. Manufactured by Nippon Chemi-Con Corporation.
10 - 5
10. HG-UR SERIES 10.5 Servo motors with special shafts The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names. Shaft shape Key shaft (without key)
Servo motor HG-UR_(B)K
Servo motor
K Variable dimensions W QK 0 6 -0.036 42
S
R
Q
HG-UR72(B)K
22h6
55
50
HG-UR152(B)K
28h6
55
50
0 8 -0.036
65
60
0 10 -0.036
HG-UR202(B)K HG-UR352(B)K HG-UR502(B)K
35
+0.010 0
QL
3
U 3.5 +0.1 0
3
r
40
3
4 +0.2 0
4
50
5
5 +0.2 0
5
R M8 Depth 20
Q QK
U
QL
W
φS
A A
r
Shaft section view A-A
10.6 Oil seal The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. Shaft Gear Servo motor Height above oil level h Lip Oil seal
Servo motor HG-UR72(B) HG-UR152(B) HG-UR202(B) HG-UR352(B) HG-UR502(B)
Oil level h [mm] 20 25
10 - 6
10. HG-UR SERIES 10.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance. 10.7.1 Standard (without an electromagnetic brake) Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR72
0.75
10.4
8.0
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 109 Motor plate
Caution plate
□176
55
38
13
3
Caution plate
2-M6 screw
50
45°
40°
1 φ2
Bottom
Bottom
Top
Top
Top
00
Oil seal
141.3
Bottom
Top
50.9
Bottom
φ2
0 φ114.3 -0.025
φ22h6
φ2 30
5
Caution plate
13 (PE)
Encoder connector CMV1-R10P
Key E F D H G C A B
Power supply connector CE05-2A22-23P
W
38
U V
44
Power supply connector Motor flange direction
BC42658*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR152
1.5
22.1
11
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 118.5 Motor plate
Caution plate
□176
55
38
13 Caution plate
3 2-M6 screw
50
45°
40°
15 φ2
Top
φ28h6
Bottom
Bottom
Top
Top
0
Bottom
00 φ2
Oil seal 141.3
Top
50.9
Bottom
φ2 30
φ114.3 -0.025
Caution plate
13 (PE)
Power supply connector CE05-2A22-23P
Key E F D H G C A B
Encoder connector CMV1-R10P W 47.5
10 - 7
U V
Power supply connector Motor flange direction
44
BC42659*
10. HG-UR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR202
2.0
38.2
16
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 116.5 Caution plate
16
4 2-M8 screw
60
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ 27
35 φ2
0
0
Caution plate
45 °
50 φ2
φ35 +0.010 0
Caution plate
° 37.5
φ200 -0.046
Motor plate
□220
65
38
164.9
Oil seal 13 Encoder connector CMV1-R10P (PE)
Key
42.5
Power supply connector CE05-2A24-10P
D C
E G B
47
F A
U V
W
Power supply connector Motor flange direction
BC42660*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR352
3.5
76.5
20
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side)
Caution plate
Caution plate
4
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
45 °
°
50 φ2
Caution plate Bottom
37.5
2-M8 screw
60
φ35 +0.010 0
Motor plate
□220
65 16
φ 27
35 φ2
0
0 φ200 -0.046
140.5 38
164.9
Oil seal 13
Encoder connector CMV1-R10P
(PE)
Key D
Power supply connector CE05-2A24-10P
66.5
C
W
E G B
F
47
A
U V
Power supply connector Motor flange direction
10 - 8
BC42661*
10. HG-UR SERIES Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR502
5.0
115
24
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 164.5 16
Caution plate
4
Caution plate
φ35 +0.010 0 Top
35 φ2
φ27 0
φ200
Bottom
Top
50.9
Bottom
Top
45 °
0
Bottom
Top
°
5 φ2
Caution plate Bottom
37.5
2-M8 screw
60
0 -0.046
Motor plate
□220
65
38
164.9
Oil seal 13 Encoder connector CMV1-R10P
(PE)
Key D
90.5
Power supply connector CE05-2A24-10P
C
E G B
F
47
A
U V
W
Power supply connector Motor flange direction
BC42662*
10.7.2 With an electromagnetic brake Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR72B
0.75
8.5
12.5
10
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 142.5 40 Caution plate
Caution plate
Motor plate
□176
55 13
3
40°
2-M6 screw
50
45°
1 φ2
φ22h6 Bottom
Top
Top
0
Bottom
Top
00 φ2
φ114.3 -0.025
Bottom
Top
50.9
Bottom
φ2 30
5
Caution plate
141.3
Oil seal 13
Encoder connector CMV1-R10P
Electromagnetic brake (PE)
Power supply connector CE05-2A22-23P
38
Key E F D H G C A B
U
V W Power supply connector Motor flange direction
10 - 9
44
BC42663*
10. HG-UR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR152B
1.5
8.5
24.2
13
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 152 13
Caution plate
3
Caution plate
40°
2-M6 screw
50
45°
15 φ2
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ2 30
00 φ2
0 φ114.3 -0.025
Motor plate
□176
55
40
141.3
Oil seal 13
Encoder connector CMV1-R10P
Electromagnetic brake (PE)
Key E F
Power supply connector CE05-2A22-23P
D
47.5
C
H B
G
44
A
U
V W Power supply connector Motor flange direction
BC42664*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR202B
2.0
44
46.8
22
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Motor plate (Opposite side) 159.5 Caution plate
Caution plate
4 60
Top
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
50 φ2
Caution plate
45 °
° 37.5
2-M8 screw
φ35 +0.010 0
Motor plate
□220
65 16
35 φ2
φ27 0 0 φ200 -0.046
39.2
138.7
Oil seal 164.9
13
Encoder connector CMV1-R10P
42
Electromagnetic brake connector 53.5 MS3102A10SL-4P Power supply connector CE05-2A24-10P
42.5
47 Key
Key D
B
C
Electromagnetic brake Electromagnetic brake connector Motor flange direction
10 - 10
(PE)
A
W
E G B
F A
U V
Power supply connector Motor flange direction
BC42665*
10. HG-UR SERIES Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR352B
3.5
44
85.1
26
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw.
Caution plate
□220
65 4
16
2-M8 screw
60
Caution plate
Bottom
Bottom
Top
Top
Top
35 φ2
φ27 0 0 φ200 -0.046
Bottom
50.9
Top
45 °
50 φ2
Caution plate Bottom
° 37.5
φ35 +0.010 0
Motor plate
183.5 39.2 Motor plate (Opposite side)
164.9
138.7
Oil seal 13
Encoder connector CMV1-R10P
42
Electromagnetic brake connector 53.5 MS3102A10SL-4P Power supply connector CE05-2A24-10P
66.5
47 (PE)
Key
Key
A
E
D
G
C
B
B
F A
U V
W
Electromagnetic brake Electromagnetic brake connector Motor flange direction
Power supply connector Motor flange direction
BC42666*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR502B
5.0
44
124
30
[Unit: mm] 4-φ13.5 mounting hole Use hexagon socket head cap screw. 39.2
Caution plate
Motor plate
207.5 Motor plate (Opposite side)
□220
65 16
4 2-M8 screw
60
Caution plate
φ35 +0.010 0 Bottom
Top
Top
φ 27
0
0 φ200 -0.046
Bottom
Top
50.9
Bottom
35 φ2
0
Top
45 °
5 φ2
Caution plate Bottom
° 37.5
164.9
138.7
Oil seal 13
Encoder connector CMV1-R10P 53.5 42 Electromagnetic brake connector MS3102A10SL-4P
90.5
47
Power supply connector CE05-2A24-10P
Key
(PE)
A
C
B
Electromagnetic brake Electromagnetic brake connector Motor flange direction
10 - 11
Key D
W
E G B
F A
U V
Power supply connector Motor flange direction
BC42667*
10. HG-UR SERIES
MEMO
10 - 12
APPENDIX App. 1 Servo motor ID codes Servo motor series ID
0101
0111
0121
0122
0131
Servo motor type ID F053 FF13 FF23 FF43 FF73 F053 FF13 FF23 FF43 FF73 FF51 FF81 F121 F201 F301 F421 FF52 F102 F152 F202 F352 F502 F702 FF52 F102 F152 F202 F352 F502 F702 FF53 FF73 F103 F153 F203 F353 F503 F703 F903 F701 1101 1501 2201 3001 3701
Servo motor encoder ID
0044
App. - 1
Servo motor HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-KR23 HG-KR43 HG-KR73 HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 HG-JR503 HG-JR703 HG-JR903 HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M
APPENDIX Servo motor series ID
0132
0133
0134
0141
0151
Servo motor type ID FF53 FF73 F103 F153 F203 F353 F503 F703 F903 F701 1101 1501 2201 3001 3701 4501 5501 F601 F801 1201 1501 2001 2501 3001 3701 F601 F801 1201 1501 2001 2501 3001 3701 F103 F153 F203 F353 F503 FF72 F152 F202 F352 F502
Servo motor encoder ID
0044
App. - 2
Servo motor HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034 HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4 HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503 HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
APPENDIX App. 2 Manufacturer list Names given in the table are as of January 2015. Manufacturer 3M JST JX Nippon Oil & Energy Idemitsu Kosan Exxon Mobil Cosmo Oil Shell Oil DDK TE Connectivity Taiyo Cabletec Toa Electric Industrial Nippon Chemi-Con JAE Harmonic Drive Systems Panasonic Hirose Electric Molex
App. - 3
Contact 3M J.S.T. Mfg. Co., Ltd. JX Nippon Oil & Energy Corporation Idemitsu Kosan Co., Ltd Exxon Mobil Corporation Cosmo Oil Co., Ltd. Shell Oil Company DDK Ltd. TE Connectivity Ltd. Company Taiyo Cabletec Corporation Toa Electric Industrial Co., Ltd. Nippon Chemi-con Corporation Japan Aviation Electronics Industry, Limited Harmonic Drive Systems Inc. Panasonic Corporation Hirose Electric Co., Ltd. Molex
APPENDIX App. 3 Compliance with the CE marking App. 3.1 What is CE marking? The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos. (1) EMC directive The EMC directive applies to the servo motor alone. Therefore servo motor is designed to comply with the EMC directive. The EMC directive also applies to machines and equipment incorporating servo motors. (2) Low voltage directive The low voltage directive also applies to the servo motor alone. The servo motor is designed to comply with the low voltage directive. (3) Machinery directive The servo motor as a single unit does not comply with the Machinery directive due to correspondence with "Partly completed machinery" of 2006/42/EC article2 (g). However, machines and equipment incorporating servo motors will be complied. Please check your machines and equipment as a whole if they are complied. App. 3.2 For compliance Be sure to perform an appearance inspection of every unit before installation. In addition, have a final performance inspection on the entire machine/system, and keep the inspection record. (1) Wiring Use wirings which complies with EN for the servo motor power. Complying EN products are available as options. Refer to chapter 5 for details of the options. (2) Performing EMC tests When EMC tests are run on a machine and device into which the servo motor and servo motor have been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment and electrical equipment specifications. For EMC directive conforming methods about servo amplifiers and servo motors, refer to the EMC Installation Guidelines (IB(NA)67310) and each Servo Amplifier Instruction Manual.
App. - 4
APPENDIX App. 4 Compliance with UL/CSA standard Use the UL/CSA standard-compliant model of servo motor. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/CSA standardcompliant models are the same as those of the standard models. (1) Flange size The servo motor is compliant with the UL/CSA standard when it is mounted on the flanges made of aluminum whose sizes are indicated in the following table. The rated torque of the servo motor under the UL/CSA standard indicates the continuous permissible torque value that can be generated when it is mounted on the flange specified in this table and used in the environment of 0 °C to 40 °C ambient temperature. Therefore, to conform to the UL/CSA standard, mount the servo motor on a flange with a heat radiating effect equivalent to that of this flange. Flange size [mm] 250 × 250 × 6
HG-MR/HG-KR
Servo motor HG-JR
51 81 52(4) 102(4) 152(4)
53(4) 73(4) 103(4) 153(4) 203(4)
43
300 × 300 × 12
73
HG-UR
103 153 203
121 201 202(4) 352(4)
550 × 550 × 30
650 × 650 × 35
HG-RR
053 13 23
250 × 250 × 12
300 × 300 × 20
HG-SR
301 421 502(4) 702(4)
950 × 950 × 35
App. - 5
353(4) 503(4) 703(4) 903(4) 701M(4) 11K1M(4) 15K1M(4) 22K1M(4) 30K1M(4) 37K1M(4) 601(4) 801(4) 12K1(4) 15K1(4) 20K1(4) 25K1(4) 45K1M4 55K1M4 30K1(4) 37K1(4)
353 503
72 152
202 352 502
APPENDIX (2) Selection example of wires To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 °C for wiring. The following table shows wires [AWG] rated at 75 °C. (a) HG-MR series and HG-KR series Servo motor
Wire [AWG] U/V/W/
B1/B2
HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053
14 (Note)
16 (Note)
HG-KR13 HG-KR23 HG-KR43 HG-KR73 Note. For fabricating extension cables to wire a servo amplifier and a servo motor, use the option. Refer to chapter 5 for details of the options.
(b) HG-SR series Servo motor HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024
Wire [AWG] U/V/W/
B1/B2
14 12 10 (Note) 14 12 10 (Note) 8 (Note)
16
14
12 (Note) 10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
App. - 6
APPENDIX (c) HG-JR series 1) 3000 r/min series Wire [AWG] U/V/W/ Servo motor
HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353 HG-JR503 HG-JR703 HG-JR903 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034
Standard
When the maximum torque is 400% (Note 2)
14
14
12 10 (Note 1) 8 (Note 1) 6 (Note 1)
12 (Note 1) 10 (Note 1) 16 14
14
12 (Note 1) 10 (Note 1) 8 (Note 1)
B1/B2
14 (Note 1) 12 (Note 1)
Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier. 2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.
2) 1500 r/min series Servo motor
U/V/W/
HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4
8 (Note) 6 (Note) 4 (Note) 2 (Note) 2/0 (Note)
HG-JR30K1M4
4 (Note)
BU/BV/BW
16
16
12 (Note) 8 (Note)
16
6 (Note)
HG-JR37K1M4 HG-JR45K1M4
Wire [AWG] B1/B2
16 2 (Note)
HG-JR55K1M4 Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
App. - 7
APPENDIX 3) 1000 r/min series Servo motor
Wire [AWG] B1/B2
U/V/W/
HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14
BU/BV/BW
8 (Note) 16
6 (Note) 4 (Note) 2 (Note)
16
2/0 (Note) 12 (Note) 10 (Note)
16
8 (Note)
HG-JR20K14 HG-JR25K14
6 (Note)
16
HG-JR30K14 HG-JR37K14
4 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
(d) HG-RR series Servo motor HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503
Wire [AWG] U/V/W/
B1/B2
14 12
16
10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
(e) HG-UR series Servo motor HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
Wire [AWG] U/V/W/
B1/B2
14 12
16
10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection with the servo amplifier.
App. - 8
APPENDIX App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper servo. Ta: Acceleration torque Td: Deceleration torque TMa: Torque necessary for acceleration TMd: Torque necessary for deceleration TLH: Load torque converted into equivalent value on servo motor shaft during stop
2
[N•m] [N•m] [N•m] [N•m] [N•m] [N•m]
g: Gravitational acceleration (9.8 [m/s ]) µ: Friction coefficient π: Pi constant (3.14) Pf: Number of feedback pulses in position control mode [pulse/rev] f: Input pulse frequency in position control mode [pulse/s] f0: Input pulse frequency during fast feed in position control [pulse/s] mode TL: Load torque converted into equivalent value [N•m] tpsa: Acceleration time constant of pulse frequency [s] on servo motor shaft command in position control mode TU: Unbalanced torque [N•m] tpsd: Deceleration time constant of pulse frequency [s] command in position control mode TF: Load friction torque [N•m] TB: Brake static friction torque [N•m] Kp: Position loop gain 1 [rad/s] TL0: Load torque on load shaft [N•m] Tp: Position control time constant (Tp = 1/Kp) [s] Trms: Continuous effective load torque converted [N•m] ∆l: Feed per feedback pulses in position control mode [mm/pulse] into equivalent value on servo motor shaft Travel distance per pulse -4 2 JL: Load inertia moment converted into [× 10 kg•m ] ∆l0: Feed per command pulse in position control mode [mm/pulse] equivalent value on servo motor shaft Travel distance per command pulse -4 2 JL0: Load inertia moment on load shaft [× 10 kg•m ] l: Feed [mm] -4 2 JM: Servo motor's rotor inertia moment [× 10 kg•m ] P: Number of internal command pulses [pulse] N: Servo motor speed [r/min] ts: Internal settling time [s] N0: Servo motor speed during fast feed [r/min] t0: Positioning time [s] NL0: Load shaft speed during fast feed [r/min] tc: Time at constant speed of servo motor in one cycle [s] V: Moving part speed [mm/min] tl: Stopping time in one cycle [s] V0: Moving part speed during fast feed [mm/min] ∆ε: Positioning accuracy [mm] PB: Ball screw lead [mm] ε: Number of droop pulses [pulse] Z1: Number of gear teeth on servo motor shaft ∆S: Travel distance per servo motor revolution [mm/rev] Z2: Number of gear teeth on load gear W: Mass [kg] Z2 Lmax: Maximum coasting distance [mm] n: Gear ratio n = Z1
Speed reduced when n > 1, Speed increased when n < 1 η: Drive system efficiency
App. - 9
APPENDIX App. 5.2 Position resolution and electronic gear setting Position resolution (travel distance per pulse ∆l) is determined by travel distance per servo motor revolution ∆S and the number of encoder feedback pulses Pf, and is represented by Equation 5.1. As the number of feedback pulses depends on the servo motor series, refer to standard specifications in the chapter of each servo motor series. ∆l = P ··························································································································· (5.1) f ∆l: Travel distance per pulse [mm/pulse] ∆S: Travel distance per servo motor revolution [mm/rev] Pf: Number of feedback pulses [pulse/rev] Since ∆l has the relation represented by equation 5.1, its value is fixed in the control system after the drive system and encoder have been determined. However, travel distance per command pulse can be set as desired using the parameters. Servo motor Command pulse frequency f0
CMX CDV
+ -
Electronic gear CMX CDV
Deviation counter
M
Pf = 4194304 pulses/rev Encoder
As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control pulses. Travel distance per command pulse ∆l0 is expressed by Equation 5.2. CMX CMX ∆l0 = P • = ∆l • ······························································································· (5.2) CDV CDV f
CMX : Electronic gear (command pulse multiplication numerator) CDV : Electronic gear (command pulse multiplication denominator) Using the above relation, travel distance per command pulse can be set to a value without fraction. [Setting example] Find a parameter value for ∆l0 = 0.001 mm/pulse in a drive system where ball screw lead PB = 10 mm and reduction ratio 1/n = 1. The encoder feedback pulses Pf of the HG-KR = 4194304 pulses/rev. Since ∆S = 10 mm/rev, the following is obtained according to equation 5.2. Pf 4194304 262144 CMX = ∆l0 • = 0.001 • = 10 625 CDV
App. - 10
APPENDIX Relation between position resolution ∆l and overall accuracy Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affected by electrical system errors. As a guideline, Equation 5.3 should be satisfied. ∆l
TL Servo motor JM > JL/m m = 3: High duty (more than 100 times/min.) Settling time; 40 ms or less m = 5: Middle frequency (60 times/min. to 100 times/min.) Settling time; 100 ms or less m = Permissible load moment of inertia: Low duty (less than 60 times/min.) Settling time; more than 100 ms Find the acceleration and deceleration torques and continuous effective load torque as described in (2) to make a final selection. For high-duty positioning, the load moment of inertia (JL) value should be as small as possible. If positioning is infrequent as in line control, the load moment of inertia (JL) value may be slightly larger than in the above conditions.
App. - 15
APPENDIX
Command pulse frequency f [pulse/s]
Deceleration Acceleration torque torque
Servo motor speed [r/min]
(2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern.
Command N0f0 Servo motor speed
0
tpsa
tpsd
Time
Ta Time
0 Td
Acceleration torque Ta =
(JL + JM) • N0 1 • ··································································· (5.9) tpsa 9.55 • 104
Deceleration torque Td =
(JL + JM) • N0 1 • ··································································· (5.10) 4 tpsd 9.55 • 10
App. - 16
APPENDIX (3) Torques required for operation POINT For the gain adjustment, check that the machine operates below the maximum torque of the servo motor. It is recommended that generated torque during operation is under 90% of the maximum torque of the servo motor.
Command pulse frequency f [pulse/s]
Servo motor speed [r/min]
Torques required for the servo motor are the highest during acceleration. If the servo motor torque found with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set the calculated value within the servo motor's maximum torque. Since a friction load is normally applied during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the value found by equation 5.13 is negative.
Command N0f0 Servo motor speed
0
tpsa
tpsd
Time
Servo motor torque
T1 Ta
TMa
T2 TL
Time
0 Td
TMd
T1 = TMa = Ta + TL ········································································································· (5.11) T2 = TL ······················································································································· (5.12) T3 = TMd = -Td + TL ········································································································ (5.13)
App. - 17
APPENDIX
0
Servo motor torque
Servo motor speed N [r/min]
(4) Continuous effective load torque If the torque required for the servo motor changes with time, the continuous effective load torque should be lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system. To simplify the calculation, however, it is assumed that constant acceleration and deceleration torques are applied during tpsa and tpsd. The following equation is used to calculate the continuous effective load torque in the following operation pattern. TLH indicates the torque applied during a servo motor stop. A large torque may be applied especially during a stop in vertical motion applications, and this must be fully taken into consideration. During vertical drive, the unbalanced torque TU will become TLH.
Time
Ta
TMa
TLH
TL 0
Td tpsa
tc
Time
TMd tpsd
tl
tf (1 cycle)
Trms =
TMa2 • tpsa + TL2 • tc + TMd2 • tpsd + TLH2 • tl tf
································································· (5.14)
App. - 18
APPENDIX App. 5.6 Load torque equations Typical load torque equations are indicated below. Type
Mechanism
Equation
FC
Servo motor Z2
Linear movement
W
Z1
FG
F TL = 2 • 103 •
F• S V • = N 2 • 103 •
····································· (5.15)
F: Force in the axial direction of the machine in linear motion [N] F in equation 5.15 is obtained with equation 5.16 when the table is moved, for example, as shown in the left diagram. F = Fc + µ • (W • g + FG) ···························································· (5.16) Fc: Force applied in the axial direction of the moving part [N] FG: Tightening force of the table guide surface [N] W: Full mass of the moving part [kg]
TL0 TL =
Rotary movement
Z1
Z2
1 1 • • TL0 + TF ·································································· (5.17) n TF: Load friction torque converted into equivalent value on servo motor shaft [N•m]
Servo motor
Servo motor
1/n
Vertical movement Guide
During rise TL = TU + TF ·········································································· (5.18) During fall 2 TL = -TU • η + TF ···································································· (5.19) Counterweight TF: Friction torque of the moving part [N•m] (W1 - W2) • g (W1 - W2) • g • S V TU = • = ····························· (5.20) 2 • 103 • N 2 • 103 • W2 (W1 - W2) • g • S Load ························································· (5.21) TF = 2 • 103 • W1
W1: Mass of load [kg] W2: Mass of counterweight [kg]
App. - 19
APPENDIX App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type
Mechanism
Equation
Axis of rotation is on the cylinder center
•L
JL0 =
W • (D41 - D42) = • (D21 + D22) ······································ (5.22) 8
32
3
ρ: Cylinder material density [kg/cm ] L: Cylinder length [cm] D1: Cylinder outside diameter [cm] D2: Cylinder inside diameter [cm] W: Cylinder mass [kg]
L
D1 D2
Reference data: material density -3 3 Iron: 7.8 • 10 [kg/cm ] -3 3 Aluminum: 2.7 • 10 [kg/cm ] -3 3 Copper: 8.96 • 10 [kg/cm ]
Axis of rotation Cylinder
Axis of rotation is on the cylinder center
R JL0 =
W 2 2 • (D + 8R ) ·································································· (5.23) 8
Axis of rotation D
R b
a a
Square block
b
V
Servo motor
JL = W •
D JL = W •
Object that is hung with pulley
Servo motor
Converted load
Load B JB
2
=W•
1 2•
•N
•
V 10
2
D 2
··········· (5.25)
+ JP ····································································· (5.26) -4
2
J31
J21
N2 N1
2
+ (J31 + JB) •
N3 N1 -4
N1
2
2
JL = J11 + (J21 + J22 + JA) •
J22
S 20 •
=W•
JP: Pulley moment of inertia [× 10 kg•m ] D: Pulley diameter [cm] W: Square block mass [kg]
W
N3
V 600 •
V: Speed of object which moves linearly [mm/min] ∆S: Travel distance of object moving linearly per servo motor revolution [mm/rev] W: Square block mass [kg]
W
N
a2 + b2 + R2 ····························································· (5.24) 3
W: Square block mass [kg] a, b, R: Left diagram [cm]
Axis of rotation
Object which moves linearly
JL0 = W •
Load A JA
N2
2
························ (5.27) 2
JA, JB: Moment of inertia of load A, B [× 10 kg•m ] -4 2 J11 to J31: Moment of inertia [× 10 kg•m ] N1 to N3: Speed of each shaft [r/min]
J11
App. - 20
APPENDIX App. 5.8 Precautions for home position return When a general positioning unit is used, the sequence of events is as shown in the following figure. Home position return speed V1 Proximity dog on starts deceleration Creep speed V2
Proximity dog Zero pulse signal On
Off
When determining the on duration of the proximity dog, consider the deceleration time so that the speed reaches the creep speed.
Considering the variations of the proximity dog operation, adjust the proximity dog so that it switches off at the middle during the the zero pulse signal on.
(1) When determining the on duration of the proximity dog, consider the delay time of the control section and the deceleration time so that the creep speed is attained. If the proximity dog signal switches off during deceleration, precise home position return cannot be performed. Home position return speed V1
Travel distance until reaching the creep speed after proximity dog is detected L1
Creep speed V2 Deceleration time td
Control delay time t1
On duration of the proximity dog LD
Travel distance L1 in the chart can be obtained by equation 5.28. L1 =
1 1 V • V1 • t1 • + • V1 • td • 1 - 2 60 120 V1
2
+
1 • V1 • TP ················································· (5.28) 60
On duration of the proximity dog LD [mm] must be longer than L1 obtained by equation 5.28, as indicated in equation 5.29. LD > L1 ······················································································································· (5.29) where, V1, V2: As shown in the chart [mm/min] t1, td: As shown in the chart [s] L1: As shown in the chart [mm] LD: As shown in the chart [mm] (2) Set the end (off position) of the proximity dog signal at the middle of two on positions (lows) of the zero pulse signal. If it is set near either on position of the zero pulse signal, the positioning unit is liable to misdetect the zero pulse signal. In this case, a fault will occur, e.g. the home position will shift by one revolution of the servo motor. App. - 21
APPENDIX App. 5.9 Selection example
Machine specification
Servo motor Gear ratio 5: 8 Servo amplifier
Feed speed of moving part Travel distance per command pulse Feed per cycle Positioning time Number of feeds Operation cycle Reduction ratio Moving part mass Drive system efficiency Friction coefficient Ball screw lead Ball screw diameter Ball screw length Gear diameter (servo motor shaft) Gear diameter (load shaft) Gear face width Number of feedback pulses
V0 = 30000 [mm/min] ∆l0 = 0.001 [mm/pulse] l = 400 [mm] t0 = within 1 [s] 40 [times/min] tf = 1.5 [s] 1/n = 5/8 W = 60 [kg] η = 0.8 µ = 0.2 PB = 16 [mm] DB = 20 [mm] LB = 500 [mm] DG1 = 25 [mm] DG2 = 40 [mm] LG = 10 [mm] Pf = 4194304 [pulses/rev]
(1) Selection of control parameters Setting of electronic gear (command pulse multiplication numerator/denominator) There is the following relation between the electronic gear and command resolution ∆l0. ∆l0 =
PB CMX • Pf • n CDV
When the above machining specifications are substituted in the above equation 0.001 =
16 CMX • 4194304 • 8/5 CDV
1 4194304 • 8/5 262144 CMX = • = 16 625 CDV 1000 CMX Acceptable as CMX/CDV is within 1/10 to 4000 CDV
(2) Servo motor speed V0 1 30000 8 N0 = P • = • = 3000 [r/min] 1/n 5 16 B
App. - 22
APPENDIX (3) Acceleration/deceleration time constant tpsa = tpsd = t0 -
l - t = 0.05 [s] V0/60 s
ts: Settling time (Here, this is assumed to be 0.15 s.)
Servo motor speed [r/min]
(4) Operation pattern
3000
0
tpsa 0.05
t0 = 1.0
tpsd 0.05 1 cycle tf = 1.5
(5) Load torque (converted into equivalent value on servo motor shaft) Travel distance per servo motor revolution ∆S = PB •
TL =
5 1 = 16 • = 10 [mm] 8 n
•W•g• S 0.2 • 60 • 9.8 • 10 = = 0.23 [N•m] 2 • 103 • 2 • 103 • 3.14 • 0.8
App. - 23
ts 0.15
Time [s]
APPENDIX (6) Load moment of inertia (converted into equivalent value on servo motor shaft) Moving part S 10-3 2
JL1 = W •
2
= 1.52 • 10-4 [kg•m2]
Ball screw JL2 =
B
32
• DB4 •
1 n
2
= 0.24 • 10-4 [kg•m2]
ρ = 7.8 • 103 [kg/m3] (iron) Gear (servo motor shaft) JL3 =
G
32
• DG14 = 0.03 • 10-4 [kg•m2]
Gear (load shaft) JL4 =
G
32
• DG24 •
1 n
2
= 0.08 • 10-4 [kg•m2]
Full load moment of inertia (converted into equivalent value on servo motor shaft) JL = JL1 + JL2 + JL3 + JL4 = 1.9 • 10-4 [kg•m2] (7) Temporary selection of servo motor Selection conditions (a) Load torque < servo motor rated torque (b) Full load moment of inertia < JR • moment of inertia of the servo motor JR: Recommended load to motor inertia ratio According to above conditions, HG-KR23 (rated torque: 0.64 N•m, maximum torque: 2.2 N•m, moment of inertia: 0.221 • 10-4 kg•m2) is selected temporarily.
App. - 24
APPENDIX (8) Acceleration/deceleration torque Torque necessary for acceleration TMa =
(JL/ + JM) • N0 + TL = 1.84 [N•m] 9.55 • 104 • tpsa
JM: Moment of inertia of the servo motor Torque necessary for deceleration TMd =
-(JL • + JM) • N0 + TL = -0.85 [N•m] 9.55 • 104 • tpsd
The torque required for the servo motor during acceleration/deceleration must be lower than the servo motor's maximum torque. (9) Continuous effective load torque Trms =
TMa2 • tpsa + TL2 • tc + TMd2 • tpsd tf
= 0.40 [N•m]
The continuous effective load torque must be lower than the servo motor rated torque.
Torque [N•m]
(10) Torque pattern
1.84
0.23 0
0.05
0.75
0.05
0.15
-0.85 1.5
(11) Selection results The following servo motor and servo amplifier are selected as a result of the calculation. Servo motor: HG-KR23 Servo amplifier: MR-J4-20A (a) Electronic gear setting CMX = 262144 CDV = 625 (b) During rapid feed Servo motor speed N0 = 3000 [r/min] (c) Acceleration/deceleration time constant tpsa = tpsd = 0.05 [s]
App. - 25
Time [s]
APPENDIX App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electromagnetic brake stops as the following diagram. Here, the maximum coasting distance (during fast feed) Lmax will be the area shown with the diagonal line in the figure and can be calculated approximately with equation 5.30. The effect of the load torque is greater near the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in the equation. Emergency stop Brake current
t1
t2
t3
Machine speed
V0
Lmax =
V0 t • t1 + t2 + 3 ······································································································· (5.30) 60 2
Lmax: Maximum coasting distance [mm] V0: Machine's fast feed speed [mm/min] t1: Delay time of control section [s] t2: Braking delay time (Note) [s] t3: Braking time [s] (JL + JM) • N0 t3 = 9.55 • 104 • (TL + 0.8 • TB) JL: Load moment of inertia converted into equivalent value on servo motor shaft (Note) [× 10-4 kg•m2] JM: Servo motor rotor's inertia moment [× 10-4 kg•m2] N0: Servo motor speed during fast feed [r/min] TL: Load torque converted into equivalent value on servo motor shaft [N•m] TB: Brake static friction torque (Note) [N•m] Note. Refer to the chapter of the servo motor series for t2 and TB. JL is moment of inertia of the machine at the servo motor shaft.
App. 5.11 Equation for calculating the electromagnetic brake workload Calculate the brake workload Eb [J] at an emergency stop with the following equation. Eb =
(JM + JL) • N2 • 10-4 182
N: Servo motor speed [r/min] JM: Servo motor rotor's inertia moment [× 10-4 kg•m2] JL: Load moment of inertia converted into equivalent value on servo motor shaft [× 10-4 kg•m2]
App. - 26
APPENDIX App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30 m or less Some cables do not fit into the option or the recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when using the 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below. 2
2
2
Servo motor
Wire size [mm ]
Servo motor
Wire size [mm ]
Servo motor
Wire size [mm ]
HG-SR51 HG-SR81 HG-SR121 HG-SR201 HG-SR301 HG-SR421 HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 HG-SR502 HG-SR702 HG-SR524 HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 HG-SR7024 HG-JR53 HG-JR73 HG-JR103 HG-JR153 HG-JR203 HG-JR353
1.25 1.25 2 2 3.5 5.5 1.25 1.25 2 2 3.5 5.5 8 1.25 1.25 2 2 2 3.5 5.5 1.25 1.25 2 2 2 3.5
HG-JR503 HG-JR703 HG-JR903 HG-JR701M HG-JR11K1M HG-JR15K1M HG-JR22K1M HG-JR30K1M HG-JR37K1M HG-JR601 HG-JR801 HG-JR12K1 HG-JR15K1 HG-JR20K1 HG-JR25K1 HG-JR30K1 HG-JR37K1 HG-JR534 HG-JR734 HG-JR1034 HG-JR1534 HG-JR2034 HG-JR3534 HG-JR5034 HG-JR7034 HG-JR9034
5.5 8 14 8 14 22 30 50 60 8 8 14 14 30 30 38 60 1.25 2 2 2 2 5.5 5.5 8 8
HG-JR701M4 HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 HG-JR30K1M4 HG-JR37K1M4 HG-JR45K1M4 HG-JR55K1M4 HG-JR6014 HG-JR8014 HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 HG-JR30K14 HG-JR37K14 HG-RR103 HG-RR153 HG-RR203 (Note) HG-RR353 (Note) HG-RR503 (Note) HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502
5.5 8 8 14 22 22 22 38 5.5 5.5 8 8 8 8 14 22 2 2 3.5 5.5 5.5 1.25 2 3.5 5.5 5.5
Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable.
App. - 27
APPENDIX App. 7 Crimping connector for CNP3_ MR-J4W_ Servo amplifier
CNP3A 1)2)3)4)
CNP3B CNP3C (Note)
Note. This figure shows the 3-axis servo amplifier. No. 1)
2)
Name Connector set
Connector set
Description
Application
MR-J3WCNP3DL
Model
The connector set is used for connecting to the servo amplifier directly using MR-PWS1CBL_M-_.
Quantity: 1 For thin wire
MR-J3WCNP3DL-20P
For CNP3A/CNP3B/CNP3C Receptacle housing: F35FDC-04V-K Receptacle contact: LF3F-41GF-P2.0 (JST) Applicable wire 2 2 Wire size: 0.75 mm (AWG 19) to 1.25 mm (AWG 16) Insulator OD: 1.8 mm to 2.8 mm The crimping tool (YRF-880) is required.
3)
4)
Connector set
Connector set
MR-J3WCNP3D2L
The connector set is used for connecting to the servo amplifier directly without using MR-PWS1CBL_M-_.
MR-J3WCNP3D2L-20P
For CNP3A/CNP3B/CNP3C Receptacle housing: F35FDC-04V-K Receptacle contact: BF3F-71GF-P2.0 (JST) Applicable wire 2 2 Wire size: 1.25 mm (AWG 16) to 2.0 mm (AWG 14) Insulator OD: 2.4 mm to 3.4 mm The crimping tool (YRF-1070) is required.
App. - 28
Quantity: 20 For thin wire
Quantity: 1 For thick wire
Quantity: 20 For thick wire
APPENDIX App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm]
31.1
19.6
24.6
(Note) 22
Note. The recommended screw tightening torque is 0.1 N•m.
13.5
6.5
19
13.6
Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact)
(2) JAE JN4FT02SJ1-R [Unit: mm]
19 14.3 12.5
26.6 17 12.3
12.7 R4
R6
2.5
11.8
11.6
(Note)
Note. The recommended screw tightening torque is 0.2 N•m. Crimping tool: CT160-3-TMH5B
App. - 29
APPENDIX KN4FT04SJ1-R [Unit: mm]
7°
24.5 ± 0.3 20.1 ± 0.2 18.5 ± 0.3
Approx. 29 16 ± 0.3 11.7 ± 0.2
12.2 ± 0.3
(Note)
11 ± 0.3
3.5 ± 0.2
13 ± 0.3
13.7 ± 0.3
R6
Note. The recommended screw tightening torque is 0.2 N•m.
Main key
Crimping tool: CT160-3-TMH5B
(3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.3 for details of crimping tools.
21
21
[Unit: mm]
Approx. 50
CMV1-SP10S-M_
App. - 30
CMV1-SP2S-_
APPENDIX (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools.
Approx. 33
21
[Unit: mm]
Approx. 32 CMV1-AP10S-M_
CMV1-AP2S-_
(c) CE05-6A_-_SD-D-BSS [Unit: mm] D or shorter
W
A
0 B -0.38
C ± 0.8
7.85 or longer
Model
A
B
C
D
W
CE05-6A18-10SD-D-BSS CE05-6A22-22SD-D-BSS CE05-6A32-17SD-D-BSS
1 1/8-18UNEF-2B 1 3/8-18UNEF-2B 2-18UNS-2B
34.13 40.48 56.33
32.1 38.3 54.2
57 61 79
1-20UNEF-2A 1 3/16-18UNEF-2A 1 3/4-18UNS-2A
(d) CE05-8A_-_SD-D-BAS [Unit: mm]
0 B -0.38
A
Y or longer
U ± 0.7 R ± 0.7
Approx. S ± 1
D or shorter
W Model CE05-8A18-10SD-D-BAS CE05-8A22-22SD-D-BAS CE05-8A32-17SD-D-BAS
A
B
1 1/8-18UNEF-2B 34.13 1 3/8-18UNEF-2B 40.48 2-18UNS-2B 56.33
App. - 31
D
W
R
U
S
Y
69.5 75.5 93.5
1-20UNEF-2A 1 3/16-18UNEF-2A 1 3/4-18UNS-2A
13.2 16.3 24.6
30.2 33.3 44.5
43.4 49.6 61.9
7.5 7.5 8.5
APPENDIX (e) CE3057-_A-_-D [Unit: mm]
G ± 0.7
B ± 0.7
Effective thread length C V threads 1.6
Approx. D A ± 0.7
H F (Bushing ID)
Model CE3057-10A-1-D CE3057-10A-2-D CE3057-12A-1-D CE3057-12A-2-D CE3057-20A-1-D
Shell size
A
B
C
D
E
18
23.8
30.1
10.3
41.3
15.9
22
23.8
35
10.3
41.3
19
32
27.8
51.6
11.9
43
31.7
E (Cable clamp ID)
F 14.1 11.0 16.0 13.0 23.8
(Movable range on one side)
G
H
V
31.7
3.2
1-20UNEF-2B
Cable OD
Bushing
37.3
4.0
1 3/16-18UNEF-2B
51.6
6.3
1 3/4-18UNS-2B
CE3420-10-1 CE3420-10-2 CE342012-1 CE342012-2 CE3420-20-1
10.5 to 14.1 8.5 to 11 12.5 to 16 9.5 to 13 22 to 23.8
(f) D/MS3106B_-_S [Unit: mm] L or shorter J ± 0.12
Y or shorter
W or longer
0 Q -0.38
A
V
Model D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S
A
J
L
Q
V
W
Y
1 1/8-18UNEF 1 3/8-18UNEF 2-18UNS
18.26 18.26 18.26
52.37 56.57 61.92
34.13 40.48 56.33
1-20UNEF 1 3/16-18UNEF 1 3/4-18UNS
9.53 9.53 11.13
42 50 66
App. - 32
APPENDIX (g) D/MS3108B_-_S [Unit: mm]
J ± 0.12
U ± 0.5 R ± 0.5
L or shorter
0 Q -0.38
A
W or longer
V
Model D/MS3108B18-10S D/MS3108B22-22S D/MS3108B32-17S
A
J
L
Q
R
U
V
W
1 1/8-18UNEF 1 3/8-18UNEF 2-18UNS
18.26 18.26 18.26
68.27 76.98 95.25
34.13 40.48 56.33
20.5 24.1 32.8
30.2 33.3 44.4
1-20UNEF 1 3/16-18UNEF-2A 1 3/4-18UNS
9.53 9.53 11.13
(h) D/MS3057-_A [Unit: mm]
E (Bushing ID)
A ± 0.7
1.6 B ± 0.7
D (Cable clamp ID)
G ± 0.7
Effective thread length C V
F (Movable range)
Model
Shell size
A
B
C
D
E
F
G
V
Bushing
D/MS3057-10A D/MS3057-12A D/MS3057-20A
18 22 32
23.8 23.8 27.8
30.1 35.0 51.6
10.3 10.3 11.9
15.9 19.0 31.7
14.3 15.9 23.8
3.2 4.0 6.3
31.7 37.3 51.6
1-20UNEF 1 3/16-18UNEF-2A 1 3/4-18UNS
AN3420-10 AN3420-12 AN3420-20
(i) CMV1S-SP10S-M_/CMV1S-SP2S-_ Refer to section 3.3 for details of crimping tools.
21
21
[Unit: mm]
Approx. 50
CMV1S-SP10S-M_
App. - 33
CMV1S-SP2S-_
APPENDIX (j) CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to section 3.3 for details of crimping tools.
Approx. 33
21
[Unit: mm]
Approx. 32 CMV1S-AP10S-M_
CMV1S-AP2S-_
(k) CE05-6A32-17SD-D [Unit: mm]
Model CE05-6A32-17SD-D
A
B
C
D
E
G
H
J
2-18UNS-2B
56.33
37.0
1 7/8-16UN-2A
13.14
45.3
9.2
19.4
App. - 34
APPENDIX App. 9 HG-JR22K1M(4) appearance change The appearance of the HG-JR22K1M(4) servo motor has been changed since September 2014. The following shows the terminal box detail diagram and dimensions before change. (1) Terminal box detail diagram (HG-JR22K1M(4)) [Unit: mm] Power supply terminal block: M10 screw (3) Approx. 235
Approx. 88.6
Approx. 230
Connected to the encoder connector
Keep plate: M5 screw (4) Keep plate
Approx. 52.5
ole φ80 h al box side in Term φ63 hole Keep p late sid e
Approx. 50.5
Terminal box lid: M4 screw (8)
Protective earth (PE) terminal: M10 screw (2)
(2) Dimensions Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
22
489
120
HG-JR22K1M HG-JR22K1M4
[Unit: mm] Motor plate
Caution plate
Top
101
Motor plate/Caution plate
Power lead hole Encoder connector MS3102A20-29P Approx. 37 107
476 439 230 φ63
Cooling fan connector CE05-2A14S-2P
140 174 227 35
Top Bottom
352 250 (Flange) 235 45°
5 130
8
φ65m6
25
φ3
φ230h7
Intake
163
154
154
Top Bottom
125
Cooling fan rotation direction
220 190
Exhaust
Bottom
4-φ24 mounting hole Use hexagon socket head cap screw.
30
65 φ2
M12 screw Oil seal Eyebolt (Note 1,2) 4 in total
Key BU (Red)
To be left open D
A
C
B
BV BW (White) (Black) Cooling fan connector viewed from the connection side Motor flange direction
BC37772A
Note 1. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less. 2. An angle adjusting washer is inserted into the eyebolt.
App. - 35
REVISION *The manual number is given on the bottom left of the back cover. Print Data
*Manual Number
Mar. 2012
SH(NA)030113-A
Jun. 2012
SH(NA)030113-B
Revision First edition 4. Additional instructions
The part of table is changed.
(1) Transportation and installation
Feb. 2013
SH(NA)030113-C
Section 2.2
The sentences are added to CAUTION.
Section 2.6 (2)
The sentences are added.
Section 5.1.2
The sentences of Note are changed.
Section 6.3.1
The part of table is changed.
Section 6.6.1 (2)
The part of table is changed.
Section 6.6.2 (2)
The part of table is changed.
Section 7.3.1
The part of table is changed.
Section 7.6.1 (2)
The part of table is changed.
Section 7.6.2 (2)
The part of table is changed.
4. Additional instructions
The part of table is changed.
(1) Transportation and installation Section 1.1
The part of diagram is changed.
Section 1.2 (3) (4)
Addition
Section 2.1 (1)
The part of table is changed.
Section 2.2 to Section 2.10
A part is newly added, construction of sentences is changed.
Section 3.1 (3) to (5)
Addition
Section 3.4
Addition
Chapter 4
POINT is added.
Section 4.2.2
A part is newly added, construction of sentences is changed.
Section 4.3
A part is newly added, construction of sentences is changed.
Section 4.4
A part is newly added, construction of sentences is changed.
Chapter 5
POINT is added.
Section 5.1.1 (2)
The part of diagram is changed.
Section 5.1.1 (3)
Addition
Section 5.1.2
The part of table is changed.
Section 5.2 (2)
POINT is changed.
Section 5.2 (4)
The part of diagram is changed.
Section 5.2 (6)
Addition
Section 5.5
The part of table is changed.
Section 6.2
The part of table is changed.
Section 6.3.1
The part of table is changed.
Section 6.8
The part of diagram is changed.
Section 7.1
The part of diagram is changed. The sentences of Note 1 are changed.
Section 7.2
The part of table is changed.
Section 7.3.1
The part of table is changed.
Section 7.3.2 (2)
Addition
Section 7.4
The part of table is changed.
Section 7.5
The part of table is changed.
Section 7.6
The part of table is changed.
Section 7.7
The part of table is changed. The part of diagram is changed.
Chapter 8
Addition
Chapter 9
Addition
Chapter 10
Addition
Appendix 1
The part of table is changed.
Appendix 2
The part of table is changed.
Print Data
*Manual Number
Revision
Feb. 2013
SH(NA)030113-C
Jun. 2013
SH(NA)030113-D
Aug. 2013
SH(NA)030113-E
Oct. 2013
SH(NA)030113-F
Mar. 2014
SH(NA)030113-G
Jan. 2015
SH(NA)030113-H
The part of table is changed. Appendix 4 Some numbers are changed. Appendix 5.9 (8) to (10) The part of table is changed. Appendix 6 "The following servo amplifiers will be available in the future. All specifications of followings may be changed without notice. MR-J4-_B(4)-RJ020" is deleted. Section 4.4 The part of table is changed. Section 8.2 The part of table is changed. MR-BT6VCBL03M is added. The sentences are added. Section 1.1 The part of diagram is changed. Section 5.1.1 The part of table is changed. Section 5.1.2 Addition Section 5.2 (7) The sentences of Note 7 are added. Section 6.4 The sentences of Note 7 are added. Section 7.4 The sentences of Note 7 are added. Section 8.4 The sentences of Note 7 are added. Section 9.4 The sentences of Note 7 are added. Section 10.4 1-phase 100 V AC of servo amplifier power supply input is added to torque characteristics of HG-MR and HG-KR servo motors. The part of table is changed. Section 4.4 The part of table is changed. Section 6.2 The part of graph is changed. Section 6.3.2 The part of table is changed. Section 7.2 (2) The part of table is changed. Section 8.2 The sentences are added. Appendix 3.1 HG-JR701M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, and HG-JR 1000 r/min series are added. 1. To prevent electric shock, The part of sentences is changed. note the following The part of table is changed. 4. Additional instructions (1) Transportation and installation The part of sentences is changed. 4. Additional instructions (2) Wiring The part of sentences is changed. 4. Additional instructions (4) Usage The diagram is changed. Section 1.1 The title is changed. Section 1.2 (2) The title is changed. Section 1.2 (3) The diagram is changed. The part of sentences is changed. Section 2.8 The sentences are added to CAUTION. The part of table is changed. Section 2.9 The part of sentences is changed. Section 3.1 (3) The part of diagram is changed. The part of table is changed. The part of diagram is changed. Section 3.4 The part of table is changed. The part of sentences is changed. Chapter 4 The sentences are added to POINT. The part of table is changed. Section 4.2.2 (2) (b) The part of table is changed. Section 4.2.2 (3) The diagram is changed. Section 4.2.2 (4) The table are added. Section 4.3 (3) The sentences are added to POINT. Section 4.4 The part of sentences is changed. Chapter 5 The sentences are added to CAUTION. The sentences are added to POINT. The title is changed. Section 5.1.1 (2) The title is changed. Section 5.1.1 (3) The diagram is changed.
Print Data
*Manual Number
Jan. 2015
SH(NA)030113-H
Revision Section 5.1.2 Section 5.2 (1) (a) Section 5.2 (2) (a) Section 5.2 (5) (a) Section 5.2 (6) Section 5.2 (6) (a) Section 5.2 (6) (b) Section 6.3.1 Section 6.3.2 Section 6.6 Section 7.3.1 Section 7.3.2 Section 7.6 Chapter 8 Section 8.1 Section 8.2 Section 8.3.1
Section 8.3.2 Section 8.4 Section 8.5 Section 8.6 Section 8.7 Section 8.8.1 Section 8.8.2
Section 8.8.3
Section 9.3.1 Section 9.3.2 Section 10.3.1 Section 10.3.2 Appendix 1 Appendix 4 (1) Appendix 4 (2) (c) Appendix 6 Appendix 9
The part of table is changed. The sentences are added. The sentences are added. The sentences are added. The part of sentences is changed. The sentences are added. The sentences of Note 2 are changed. The sentences are added. The part of sentences is changed. The part of sentences is changed. The sentences are added. The part of sentences is changed. The part of sentences is changed. The part of sentences is changed. The part of diagram is changed. The title is changed. The table are added. The part of table is changed. 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 diagram are added. The part of table is changed. The part of diagram is changed. The sentences are added. The part of sentences is changed. The sentences are added. The part of sentences is changed. The part of table is changed. The part of table is changed. The table are added. The part of table is changed. Addition
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. 2012 MITSUBISHI ELECTRIC CORPORATION
Country/Region USA
Sales office MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Tel/Fax Tel : +1-847-478-2100 Fax : +1-847-478-2253
Mexico
MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico
Tel : +52-55-3067-7500 Fax : –
Brazil
MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Tel : +55-11-4689-3000 Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - Fax : +55-11-4689-3016 SP, Brasil
Germany
MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany
Tel : +49-2102-486-0 Fax : +49-2102-486-1120
UK
MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.
Tel : +44-1707-28-8780 Fax : +44-1707-27-8695
Italy
MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza (Milano) Italy
Tel : +39-039-60531 Fax : +39-039-6053-312
Spain
MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain MITSUBISHI ELECTRIC EUROPE B.V. French Branch 25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel : +34-935-65-3131 Fax : +34-935-89-1579 Tel : +33-1-55-68-55-68 Fax : +33-1-55-68-57-57
Czech Republic
MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic
Tel : +420-251-551-470 Fax : +420-251-551-471
Poland
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branchul. Krakowska 50, 32-083 Balice, Poland
Tel : +48-12-630-47-00 Fax : +48-12-630-47-01
Russia
MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Tel : +7-812-633-3497 Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; RU-195027 St. Petersburg, Fax : +7-812-633-3499 Russia
Sweden
MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia) Fjelievägen 8, SE-22736 Lund, Sweden
Tel : +46-8-625-10-00 Fax : +46-46-39-70-18
Turkey
MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Şerifali Mahallesi Nutuk Sokak No:5, TR-34775 Ümraniye, İstanbul, Türkey
Tel : +90-216-526-3990 Fax : +90-216-526-3995
UAE
MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.
Tel : +971-4-3724716 Fax : +971-4-3724721
South Africa
ADROIT TECHNOLOGIES 20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa
Tel : +27-11-658-8100 Fax : +27-11-658-8101
China
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China
Tel : +86-21-2322-3030 Fax : +86-21-2322-3000
Taiwan
SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.
Tel : +886-2-2299-2499 Fax : +886-2-2299-2509
Korea
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. 7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea
Tel : +82-2-3660-9510 Fax : +82-2-3664-8372/8335
Singapore
MITSUBISHI ELECTRIC ASIA PTE. LTD. 307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel : +65-6473-2308 Fax : +65-6476-7439
Thailand
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Tel : +66-2682-6522 to 6531 Fax : +66-2682-6020
Indonesia
PT. MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia
Tel : +62-21-3192-6461 Fax : +62-21-3192-3942
Vietnam
MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam
Tel : +84-8-3910-5945 Fax : +84-8-3910-5947
India
MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Tel : +91-20-2710-2000 Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India Fax : +91-20-2710-2100
Australia
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
France
Tel : +61-2-9684-7777 Fax : +61-2-9684-7245
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term] The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure. (2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product. (3) Even during the term of warranty, the repair cost will be charged on you in the following cases; (i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem (ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry (iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced (v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) (vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters (vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company (viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc. (2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc. Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.
5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs. (2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.
SH(NA)030113-H
General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL
HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL MOTOR INSTRUCTIONMANUAL(3SYU) MODEL CODE
1CW949
SH (NA) 030113-H (1501) MEE
Printed in Japan
This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
H
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
H