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Manual Mitsubishi HG-AK

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  • Mitsubishi HG-AK - page 1

    SH (NA) 030113-J (1504) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK SERVO MOTOR INSTRUCTION MA ...

  • Mitsubishi HG-AK - page 2

    A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. Do not attempt to install, operate, maintain or inspect the equipment until you have read thro ugh this Instruction Manual and append ed documents careful ly and can use the equipment co rrectly. Do not use the equipment until you have a full knowledge of ...

  • Mitsubishi HG-AK - page 3

    A - 2 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power a nd 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 conv erter unit and drive unit) is safe with a volta ...

  • Mitsubishi HG-AK - page 4

    A - 3 CAUTION Stacking in excess of the specified num ber 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 plac e in acco rdance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed ...

  • Mitsubishi HG-AK - page 5

    A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwi se, the servo motor may operate unexpe ctedly. Do not install a power capacitor, surge ki ller, or radio noise filter (FR-BIF-(H) option) on the serv o amplifier (converter unit) output side. To avoid a malfunction, connect the wires to the co rrect phase terminals (U, V, a ...

  • Mitsubishi HG-AK - page 6

    A - 5 (5) Corrective actions CAUTION When it is assumed that a hazardous condition may o c cur due to a power failure or product malfunction, use a servo motor with an electromag netic brake or external bra ke to prevent the condition. Configure an electromagne tic brake circuit so that it is activated also by an external EMG stop switch. Servo mot ...

  • Mitsubishi HG-AK - page 7

    A - 6 DISPOSAL OF WASTE Please dispose a servo motor and other options a ccording to your local laws and regulation s. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if nece ssary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03 ...

  • Mitsubishi HG-AK - page 8

    1 CONTENTS 1. INTRODUCTION 1- 1 to 1- 8 1.1 Rating plate .............................................................................................................. ......................... 1- 1 1.2 Parts identification ............................................................................................................................. ...

  • Mitsubishi HG-AK - page 9

    2 6. HG-MR SERIES/HG-KR SERIES 6- 1 to 6-58 6.1 Model code definit ion ..................................................................................................... ................... 6- 1 6.2 Combination list of servo motors and servo amplifie rs ..................................................................... 6- 2 6.3 Standard spec ...

  • Mitsubishi HG-AK - page 10

    3 7.7.7 With flange-output type reducer for high pr ecision 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 electromagnet ...

  • Mitsubishi HG-AK - page 11

    4 10.7.2 With an elec tromagnetic brake .......................................................................................... ...... 10- 9 11. HG-AK SERIES 11- 1 to 11-14 11.1 Model des ignati on ........................................................................................................ .................. 11- 1 11.2 Combination li ...

  • Mitsubishi HG-AK - page 12

    1. INTRODUCTION 1 - 1 1. INTRODUCTION 1.1 Rating plate The following shows an example of rati ng plate for explanation of each item. (1) HG-MR/HG-KR/HG-S R/HG-JR/HG-RR/HG-UR series servo motor (Note 2) Country of origin Model Input power and rated ou tput Mass and i nsul ati on clas s Rated speed Serial number (Note 1) Note 1. Production year and m ...

  • Mitsubishi HG-AK - page 13

    1. INTRODUCTION 1 - 2 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. A n electromagnetic brake cabl e is separately required for the servo motor with an elect ...

  • Mitsubishi HG-AK - page 14

    1. INTRODUCTION 1 - 3 1.3 Electromagnetic brake CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e 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 ...

  • Mitsubishi HG-AK - page 15

    1. INTRODUCTION 1 - 4 (2) Sound generation Though the brake lining may rattle during oper ation, 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 ...

  • Mitsubishi HG-AK - page 16

    1. INTRODUCTION 1 - 5 (4) Others A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, scr ews, etc. are attracted. 1.4 Servo motor shaft shapes In addition to the straight shaft, the ke y shaft and D cut shaft are available. The key shaft and D cut shaft cannot be used in fr ...

  • Mitsubishi HG-AK - page 17

    1. INTRODUCTION 1 - 6 1.5 Servo motor with functional safety POINT When you use a servo motor with f unctional safety, MR-BT6VCASE battery case cannot be used. HG-KR, HG-SR, and HG-JR series provide a special specification which expands the safety observation function with the use of MR-D30 functional safety uni ts and MR-J4-_-RJ servo amplifiers. ...

  • Mitsubishi HG-AK - page 18

    1. INTRODUCTION 1 - 7 Servo motor with functional safety Servo amplifier HG-JR153W0C HG-JR203W0C MR-J4-200B-RJ MR-J4-200A-RJ MR-J4-350B-RJ (Note) MR-J4-350A-RJ (Note) HG-SR301W0C HG-SR352W0C MR-J4-350B-RJ MR-J4-350A-RJ HG-JR353W0C MR-J4-350B-RJ MR-J4-350A-RJ MR-J4-500B-RJ (Note) MR-J4-500A-RJ (Note) HG-SR421W0C HG-SR502W0C MR-J4-500B-RJ MR-J4-500A- ...

  • Mitsubishi HG-AK - page 19

    1. INTRODUCTION 1 - 8 Servo motor with functional safety Servo amplifier HG-SR5024W0C MR-J4-500B4-RJ MR-J4-500A4-RJ HG-JR5034W0C MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-700B4-RJ (Note) MR-J4-700A4-RJ (Note) HG-SR7024W0C HG-JR7034W0C HG-JR701M4W0C MR-J4-700B4-RJ MR-J4-700A4-RJ HG-JR9034W0C HG-JR11K1M4W0C MR-J4-11KB4-RJ MR-J4-11KA4-RJ HG-JR15K1M4W0C MR-J ...

  • Mitsubishi HG-AK - page 20

    2. INSTALLATION 2 - 1 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 materi al. Installing it directly or close to combustibles will lead to a fire. Install the servo motor in a load-beari ...

  • Mitsubishi HG-AK - page 21

    2. INSTALLATION 2 - 2 2.1 Mounting direction (1) Standard servo motor The following table indicates the mounting direction of the standard servo motor. Servo motor series Mounting direction HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK All directions For mounting in the horizontal direction, it is recommended to set the connector section downward. When ...

  • Mitsubishi HG-AK - page 22

    2. INSTALLATION 2 - 3 2.3 Load remove precautions CAUTION During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction. Do not process the shaft to avoid damage to the encoder and bearing. (1) When mounting a pulley to the servo motor with a ke y shaft, use the screw hole in the shaft end. To fit the pulley, first i ...

  • Mitsubishi HG-AK - page 23

    2. INSTALLATION 2 - 4 2.4 Permissible load for the shaft CAUTION Do not use a rigid coupling as it may apply excessive bending load to the shaft of 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 co ...

  • Mitsubishi HG-AK - page 24

    2. INSTALLATION 2 - 5 2.6 Cable The power supply and encoder cables routed from the se rvo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cable may di sconnect. 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, ...

  • Mitsubishi HG-AK - page 25

    2. INSTALLATION 2 - 6 (2) Check the cables and the like for scratches or cr acks. 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 ha ...

  • Mitsubishi HG-AK - page 26

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 3. CONNECTORS USED FO R SERVO MOTOR WIRING POINT The IP rating indicated is the connecto r'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 over all IP rating depends on the lowest IP ratin ...

  • Mitsubishi HG-AK - page 27

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 2 (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) Encoder connector Cooling fan connecto r S ...

  • Mitsubishi HG-AK - page 28

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 3 (4) HG-RR series Power connecto r Encoder connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG-RR103 HG-RR153 HG-RR203 Connector configuration D Connector configuration N Sharing for power supply HG-RR353 HG-RR503 Connector configuration M (5) HG-UR series P ...

  • Mitsubishi HG-AK - page 29

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 4 (6) HG-AK series Power connecto r Encoder connector Servo motor Wiring connector For encoder For power supply For electromagnetic brake HG-AK0136 HG-AK0236 HG-AK0336 Connector configuration P Connector configuration Q Sharing for power supply (Note) Note. A n electromagnetic brake connector is not req ...

  • Mitsubishi HG-AK - page 30

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 5 3.2 Wiring connectors (connecto r configurations A/B/C) Connector configuration Feature Connector Crimping tool Servo motor encoder connector (Note) A (for encoder) IP65 Connector: 2174053-1 (TE Connectivity) For ground clip: 1596970-1 For REC. contact: 1596847-1 (TE Connectivity) 1674339-1 (TE Connec ...

  • Mitsubishi HG-AK - page 31

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 6 3.3 Wiring connectors (connector configurations D/E/F/G/H) Angle plug (screw type) Angle plug (one-touch connection type) Straight plug (screw type) Straight plug (one-touch connection type) Connector configuration Feature Plug (DDK) Servo motor encoder connector (Note) Type Plug Socket cont act Conta ...

  • Mitsubishi HG-AK - page 32

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 7 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note 2) Type Model Cabel OD [mm] (reference) Model E (for power supply) IP67 EN compliant Straight CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12 8.5 ...

  • Mitsubishi HG-AK - page 33

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 8 Angle plug (screw type) Angle plug (one-touch connection type) Straight plug (screw type) Straight plug (one-touch connection type) Connector configuration Feature Plug (DDK) Servo motor electro- magnetic brake connector (Note) Type Plug Socket cont act Contact shape Cable OD [mm] (reference) F (for e ...

  • Mitsubishi HG-AK - page 34

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 9 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note 2) Type Model Cabel OD [mm] (reference) Model G (for power supply) IP67 EN compliant Straight CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8 9.5 t ...

  • Mitsubishi HG-AK - page 35

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 10 3.4 Wiring connectors (connector c onfigurations J/K/L/M/N/P/Q) IP67 co mpatible IP67 compati ble Genera l environ mental Plug Ca ble Connector for cable Plug Connector for cable Cable Plug Cable clamp Cable Connector configuration Feature Cable-side connector Servo motor electromagnetic brake connec ...

  • Mitsubishi HG-AK - page 36

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 11 Plug Cable clamp Connector configuration Feature Plug (DDK) Cable clamp Servo motor cooling fan connector (Note) Type Model Cable OD [mm] (reference) Model L (for cooling fan) IP67 EN compliant Straight CE05-6A14S-2SD-D Applicable wire size: AWG 22 to 16 8.3 to 11.3 YSO14-9 to 11 (Daiwa Dengyo) CE05- ...

  • Mitsubishi HG-AK - page 37

    3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 12 Plug Cable clamp Cable Plug Cable clamp Cable Connector configuration Feature Plug (DDK) Cable clamp (DDK) Servo motor power supply connector (Note) Type Model Cable OD [mm] (reference) Model N (for power supply) IP65 EN UL/CSA compliant Straight CE05-6A22-23SD-D-BSS Applicable wire size: AWG 14 to 1 ...

  • Mitsubishi HG-AK - page 38

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 1 4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR WARNING Any person who is involved in wiring s hould be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo moto r until it has been mounted. Otherwise, it may cause an electric shock. The cables shou ...

  • Mitsubishi HG-AK - page 39

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 2 4.1 Connection instructions CAUTION To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier (c onverter 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 ...

  • Mitsubishi HG-AK - page 40

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 3 4.2 Wiring 4.2.1 HG-MR series/HG-KR series servo motor (1) Connection with MR-J4 1-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less CNP3 (Red) (White) (Black) (Green/yellow) U V U V W W Servo moto r Servo amplifier 10 m or less M MR-PW ...

  • Mitsubishi HG-AK - page 41

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 4 (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less (Note 2) (Note 3) 24 V DC power supply for electromagnetic brake MBR (Electromagnetic brake interlock) AWG20 AWG20 MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 1) B1 B2 ALM (Mal ...

  • Mitsubishi HG-AK - page 42

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 5 (2) Connection with MR-J4 multi-axis servo amplifier (a) Servo motor power supply cable wiring diagrams 1) When cable length is 10 m or less CNP3A/CNP3B/ CNP3C (Note) (Red) (White) (Black) (Green/yellow) U V W U V W Servo motor Servo amplifier 10 m or less M MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L ...

  • Mitsubishi HG-AK - page 43

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 6 (b) Electromagnetic brake cable wiring diagrams 1) When cable length is 10 m or less MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H (Note 1) (Note 2) (Note 2) AWG20 AWG20 (Note 1) B1 B2 Servo motor 10 m or less U B AWG20 AWG20 B1 B2 Servo motor U B MBR-A (Electromagneti ...

  • Mitsubishi HG-AK - page 44

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 7 2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable. MBR-A (Electromagnetic brake interlock for A-axis) CALM (AND malfunction) MBR-B (Elec ...

  • Mitsubishi HG-AK - page 45

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 8 4.2.2 HG-SR series/HG-JR series/HG- RR series/HG-UR series servo motor Refer to section 4.3 for the wires used for wiring. (1) Wiring diagrams (a) Connection with MR-J4 1-axis servo amplifier U V W 50 m or less Servo amplifier (Note 3) RA3 (Note 1) B1 B2 (Note 2) 24 V DC power supply for electr ...

  • Mitsubishi HG-AK - page 46

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 9 (b) Connection with MR-J4 multi-axis servo amplifier 50 m or less A-axis servo motor M U V W (Note 1) B1 B2 U B Servo amplifier U V W CNP3A (Note 3) CALM (AND malfunction) RA1 MBR-A (Electromagnetic brake interlock for A-axis) RA2 CNP3B U V W B-axis servo motor (Note 1) B1 B2 U B MBR-B (Electro ...

  • Mitsubishi HG-AK - page 47

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 10 (2) Servo motor terminal section The following table shows the servo motor terminal sect ion. For details of the connectors, refer to (3) of this section. For details of the termi nal box, refer to (4) of this section. The connector fitting the servo motor is prepared as opti ons. Refer to cha ...

  • Mitsubishi HG-AK - page 48

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 11 (c) HG-RR series Servo motor Servo motor terminal section Encoder Power Electromagnetic brake HG-RR103 HG-RR153 HG-RR203 Connector A Connector F The connector for power is shared HG-RR353 HG-RR503 Connector G (d) HG-UR series Servo motor Servo motor terminal section Encoder Power Electromagnet ...

  • Mitsubishi HG-AK - page 49

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 12 Connector D Power supply connector MS3102A22-22P Connector E Power supply connector MS3102A32-17P Connector F Power supply connector CE05-2A22-23P CD A B Terminal No. Signal CD A B Terminal No. Signal F E D H G A B C Terminal No. Signal A U A U A U B V B V B V C W C W C W D D D (PE) (PE) (PE) ...

  • Mitsubishi HG-AK - page 50

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 13 Connector K Cooling fan connector CE05-2A14S-2P Connector L Encoder connector MS3102A20-29P CD A B Terminal No. Signal A N G S R T P HF J E K D L M B C Pin Signal A BU (Note) A B B BV (Note) C MR D MRR C BW (Note) E F BAT D G LG Note. Refer to the chapter of the servo motor series for the spec ...

  • Mitsubishi HG-AK - page 51

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 14 4.2.3 HG-AK series servo motor (1) Connection with MR-J4-03A6(-RJ) servo amplifier (a) Motor power cable wiring diagram (without electromagnetic brake) CNP1 Power cable supplied with the servo motor Servo motor Servo amplifier 30 m or less 0.2 m MR-J4W03PWCBL_M-H U V W E (b) Motor power cable ...

  • Mitsubishi HG-AK - page 52

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 15 (2) Connection with MR-J4W2-0303B6 servo amplifier (a) Motor power cable wiring diagram (without electromagnetic brake) Power cable supplied with the servo motor B-axis servo motor MR-J4W03PWCBL_M-H CNP1 A-axis servo motor Servo amplifier 30 m or less 0.2 m MR-J4W03PWCBL_M-H U1 V1 W1 E1 U2 V2 ...

  • Mitsubishi HG-AK - page 53

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 16 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 serv o amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refe ...

  • Mitsubishi HG-AK - page 54

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 17 When using the 600 V Grade heat-resistant polyviny l 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 Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 HG-MR053 HG-MR13 HG-MR23 HG-MR43 HG-MR73 0.75 (AWG 18) ...

  • Mitsubishi HG-AK - page 55

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 18 (3) HG-JR series (a) 3000 r/min series Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 Standard When the maximum torque is 400% (Note 2) HG-JR53 1.25 (AWG 16) 1.25 (AWG 16) 1.25 (AWG 16) HG-JR73 HG-JR103 HG-JR153 2 (AWG 14) 2 (AWG 14) HG-JR203 HG-JR353 3.5 (AWG 12) 3.5 (AWG 12) (Note 1) HG-JR503 ...

  • Mitsubishi HG-AK - page 56

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 19 (c) 1000 r/min series Servo motor Wires [mm 2 ] 1) U/V/W/ 2) B1/B2 3) BU/BV/BW HG-JR601 8 (AWG 8) (Note) HG-JR801 14 (AWG 6) (Note) 1.25 (AWG 16) HG-JR12K1 HG-JR15K1 22 (AWG 4) (Note) HG-JR20K1 38 (AWG 2) (Note) HG-JR25K1 1.25 (AWG 16) HG-JR30K1 60 (AWG 2/0) (Note) HG-JR37K1 HG-JR6014 3.5 (AWG ...

  • Mitsubishi HG-AK - page 57

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 20 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 ...

  • Mitsubishi HG-AK - page 58

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 21 (1) Connector details (a) Connector A CNP3 Servo amplifier Table 4.1 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufacturer Wire size Insulator OD CNP3 03JFAT-SAXGDK-H7.5 AWG 18 to 14 3.9 mm or less 9 J-FAT-OT JST (b) Connector B ...

  • Mitsubishi HG-AK - page 59

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 22 (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 A ...

  • Mitsubishi HG-AK - page 60

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 23 (e) Connector E CNP1 MR-J4-03A6(-RJ) servo amplifier Table 4.5 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length [mm] Manufacturer CNP1 DFMC 1,5/ 4-ST-3,5-LR or equivalent AWG 24 to 16 10 Phoenix Contact (f) Connector F CNP1 MR-J4W2-0303B6 servo a ...

  • Mitsubishi HG-AK - page 61

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 24 (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. Insulato r Core Stripped length Twist strands slightly and st raighte ...

  • Mitsubishi HG-AK - page 62

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 25 2) For connectors not requiring an open tool (connector E and connector F) When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end while pushing the release button with a small flat head screwdriver, etc. The following shows a connection example ...

  • Mitsubishi HG-AK - page 63

    4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4 - 26 MEMO ...

  • Mitsubishi HG-AK - page 64

    5. WIRING OPTION 5 - 1 5. WIRING OPTION WARNING Before connecting any option, turn off t he 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 betw een P+ and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and ot ...

  • Mitsubishi HG-AK - page 65

    5. WIRING OPTION 5 - 2 5.1.1 Combinations of cable/connector sets (1) HG-MR series/HG-KR series servo motor Direct connection (cable length 10 m or less, IP65) 13) 14) 15) 16) Junction connection (cable length more than 10 m, IP20) 19) 20) 21) 17) 18) 1) 2) 3) 4) 5) 6) 11) 12) 7) 8) 9) 10) To 24 V DC power supply for electromagnetic brake Encoder c ...

  • Mitsubishi HG-AK - page 66

    5. WIRING OPTION 5 - 3 (3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M 4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4) servo motor Servo amplifier CN2 Encoder connector Terminal box Cooling fan connector 40) (Note) 43) 41) 42) CN4 MR-BAT6V1BJ Note. MR-ENECBL_M-H cannot be used. (4) HG-AK series servo motor 44) CN2B CN2A CN2 CNP1 CNP1 or MR-J4W2-0303B6 ser ...

  • Mitsubishi HG-AK - page 67

    5. WIRING OPTION 5 - 4 5.1.2 Cable and connector list No. Name Model Description Remark 1) Servo motor power cable MR- PWS1CBL_M- A1-L (Note 1, 2) Cable length: 2/5/10 m Power supply connector HG-MR series HG-KR series Refer to section 5.3 for details. IP65 Load-side lead 2) Servo motor power cable MR- PWS1CBL_M- A1-H (Note 1) Cable length: 2/5/10 ...

  • Mitsubishi HG-AK - page 68

    5. WIRING OPTION 5 - 5 No. Name Model Description Remark 12) Electromagnetic brake cable MR- BKS2CBL03M- A2-L Cable length: 0.3 m Electromagnetic brake connector HG-MR series HG-KR series Refer to section 5.5 for details. IP55 Opposite to load- side lead 13) Encoder cable MR- J3ENCBL_M- A1-L (Note 1) Cable length: 2/5/10 m Encoder connecto r HG-MR ...

  • Mitsubishi HG-AK - page 69

    5. WIRING OPTION 5 - 6 No. Name Model Description Remark 23) Encoder cable MR- J3JSCBL03M- A2-L (Note 1) Cable length: 0.3 m Encoder connector HG-MR series HG-KR series Refer to section 5.2 (4) for details. IP65 Load-side lead 24) Encoder cable MR- J3ENSCBL_M- L (Note 1) Cable length: 2/5/10/20/30 m HG-KR/HG-MR/HG-SR/HG -RR/HG-UR series/ HG-JR53(4) ...

  • Mitsubishi HG-AK - page 70

    5. WIRING OPTION 5 - 7 No. Name Model Description Remark 30) Electromagnetic brake connector set MR-BKCNS1 (Note 1) Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4) IP67 31) Electromagnetic brake connector set MR ...

  • Mitsubishi HG-AK - page 71

    5. WIRING OPTION 5 - 8 No. Name Model Description Remark 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-JR 103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/H G-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details. 36) Encoder Connector set MR-ENCNS2A IP67 HG-KR/HG-MR/HG- ...

  • Mitsubishi HG-AK - page 72

    5. WIRING OPTION 5 - 9 No. Name Model Description Remark 43) Cooling fan power connector set MR-PWCNF Plug: CE05-6A14S-2SD-D (DDK) Cable clamp: YSO14-9 to 11 (Daiwa Dengyo) Applicable cable Applicable wire size: 0.3 mm 2 to 1.25 mm 2 (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-JR15 ...

  • Mitsubishi HG-AK - page 73

    5. WIRING OPTION 5 - 10 5.2 Encoder cable/connector sets POINT For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the shielded external conductor of the cabl e to the ground plate and fix it to the connector shell. Screw Cable Ground plate ...

  • Mitsubishi HG-AK - page 74

    5. WIRING OPTION 5 - 11 (1) MR-J3ENCBL_M-_-_ These cables are encoder cables for the HG-MR/HG-K R series servo motors. The numbers in the cable length field of the table indicate the sym bol filling the underline "_" in the cable model. Cable model Cable length IP rating Bending life Application 2 m 5 m 10 m MR-J3ENCBL_M-A1-L 2 5 10 IP65 ...

  • Mitsubishi HG-AK - page 75

    5. WIRING OPTION 5 - 12 (b) Cable internal wiring diagram P5 LG 1 2 MR MRR 3 4 2 3 CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector 9 SD Plate 5 4 6 9 LG MR MRR SHD P5 BAT BAT (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 enco ...

  • Mitsubishi HG-AK - page 76

    5. WIRING OPTION 5 - 13 (a) Connection of servo amplifier and servo motor 1) MR-EKCBL_M-L MR-EKCBL_M-H 2) CN2B CN2A (Note) CN2 CN2C or MR-J4 multi-axis servo amplifier MR-J4 1-axis servo amplifier Servo motor HG-MR HG-KR MR-J3JCBL03M-A2-L Cable length: 0.3 m Note. This connection is for the MR-J4 3-axis servo amplifier. Cable model 1) CN2, CN2A, CN ...

  • Mitsubishi HG-AK - page 77

    5. WIRING OPTION 5 - 14 (b) Internal wiring diagram MR-EKCBL20M-L CN2, CN2A, CN2B, and CN2C side connector Junction connector (Note) P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR SHD P5 BAT BAT MR-EKCBL30M-L (Note) P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD Plate 1 2 8 9 LG MR MRR MDR MD SHD P5 6 CONT BAT BAT CN2, CN2A, CN2B, and CN2C sid ...

  • Mitsubishi HG-AK - page 78

    5. WIRING OPTION 5 - 15 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.6 for the specifications of the cable to use. Parts Description Connector set MR-ECNM CN2, CN2A, CN2B, and CN2C side connector Receptacle: 36210-0100PL Sh ...

  • Mitsubishi HG-AK - page 79

    5. WIRING OPTION 5 - 16 (a) Connection of servo amplifier and servo motor Servo motor HG-MR HG-KR MR-J3JCBL03M-A2-L MR-EKCBL_M-_ 1) 2) 2) Servo motor HG-MR HG-KR MR-J3JCBL03M-A1-L 1) or CN2B CN2A (Note) CN2 CN2C or MR-J 4 mult i-axis servo amplifier MR-J4 1-axis servo amplifier Note. This connection is for the MR-J4 3-axis servo amplifier. Cable mo ...

  • Mitsubishi HG-AK - page 80

    5. WIRING OPTION 5 - 17 (4) MR-J3JSCBL03M-_-L The servo amplifier and the servo motor cannot be c onnected by these cables alone. The servo motor- side encoder cable (MR-J3ENSCBL_M-_) is required. Cable model Cable length IP rating Bending life Application MR-J3JSCBL03M-A1-L 0.3 m IP65 Standard For HG-KR/HG-MR Load-side lead Use in combination with ...

  • Mitsubishi HG-AK - page 81

    5. WIRING OPTION 5 - 18 (b) Internal wiring diagram 8 5 1 2 1 3 3 5 4 6 9 68 77 42 10 Junction connector Encoder-side connector P5 LG MR MRR SHD LG MR MR R SHD P5 BAT BAT (5) MR-J3ENSCBL_M-_ These cables are encoder cables for the 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 ...

  • Mitsubishi HG-AK - page 82

    5. WIRING OPTION 5 - 19 Cable model 1) CN2, CN2A, CN2B, and CN2C side connector 2) Encoder-side connector MR-J3ENSCBL_M- L Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) MRR LG P5 MR BAT 4 2 8 6 15 10 37 9 View seen from wiring side. (Note) or Connector set: 54599-1019 (Molex) P5 MR BAT MRR LG 13 79 4 28 61 0 5 V iew seen from wiring side. ...

  • Mitsubishi HG-AK - page 83

    5. WIRING OPTION 5 - 20 (b) Cable internal wiring diagram MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L MR-J3ENSCBL10M-L MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H MR-J3ENSCBL10M-H MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L 4 8 1 2 5 10 P5 LG 1 2 MR MRR 3 4 CN2, CN2A, CN2B, and CN2C side connector Encoder-side connector 9 SD Plate LG MR MR R SHD P5 BAT BAT (Note) 4 8 1 2 5 10 CN2, ...

  • Mitsubishi HG-AK - page 84

    5. WIRING OPTION 5 - 21 (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 fo r the specifications of the used cable. Parts (Connector set) Description Servo amplifier side connector Encoder-side connector (DDK) MR-J3SCNS (one- ...

  • Mitsubishi HG-AK - page 85

    5. WIRING OPTION 5 - 22 (6) MR-ENECBL_M-H-MTH These cables are encoder cables 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-JR 20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HG- JR37K1(4) servo motors. The numbers in the ...

  • Mitsubishi HG-AK - page 86

    5. WIRING OPTION 5 - 23 (b) Cable internal wiring diagram MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH MR-ENECBL10M-H-MTH MR-ENECBL20M-H-MTH (Note 2) (Note 1) P5 LG 1 2 MR MRR 3 4 THM1 5 THM2 6 F S CN2-sid e connector Encoder-side connector 9 SD Plate C D K R N LG MR MRR THM1 L THM2 SHD P5 BAT BAT GL G P5 LG 1 2 MR MRR 3 4 F S CN2-si de connector Enc oder-s ...

  • Mitsubishi HG-AK - page 87

    5. WIRING OPTION 5 - 24 (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.6 for the specifications of the cable to use. Parts (Connector set) Description Servo amplifier-side connector Encoder-side connector (DDK) MR-ENECNS Rece ...

  • Mitsubishi HG-AK - page 88

    5. WIRING OPTION 5 - 25 (8) MR-J3W03ENCBL_M-A-H These cables are encoder cables for the HG-AK seri es servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Cable model Cable length IP rating Bending life Application 1 m 2 m 5 m 10 m 20 m 30 m MR-J3W03ENCBL_M-A-H ...

  • Mitsubishi HG-AK - page 89

    5. WIRING OPTION 5 - 26 Cable model 1) CN2, CN2A, and CN2B-side connector 2) Enc oder-side connector MR-J3W03ENCBL_ M-A-H Receptacle housing: 1-1827862-5 Contact: 1827587-2 Crimping tool: 1762846-1 (TE Connectivity) 5B 4B BAT LG 3B 2B 1B MRR 5A 4A SD P5 3A 2A 1A MR Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.0N Crimping tool: YRS-8861 (JST) 5A ...

  • Mitsubishi HG-AK - page 90

    5. WIRING OPTION 5 - 27 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 indi cate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring. Cable model Cable length IP rating Bending life Appl ...

  • Mitsubishi HG-AK - page 91

    5. WIRING OPTION 5 - 28 (2) Internal wiring diagram (Red) (White) (Black) (Green/yellow) U V W (Note) Note. These are not shielded cables. ...

  • Mitsubishi HG-AK - page 92

    5. WIRING OPTION 5 - 29 5.4 Servo motor power cable (for HG-AK series) These cables are servo motor power cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the sym bol filling the underline "_" in the cable model. Cable model Cable length IP rating Bending life Application 1 m 2 m 5 m 10 ...

  • Mitsubishi HG-AK - page 93

    5. WIRING OPTION 5 - 30 (2) Internal wiring diagram 1B Servo motor power- side connector 1A MR-J4W03PWCBL_M-H E V 2B W 2A U Yellow/green White Black Red (Note) 1B Servo motor power- side connector 1A MR-J4W03PWBRCBL_M-H E V 2B W 2A U 3B B1 3A B2 Yellow/green White Black Red (Note) Note. These are not shielded cables. (3) When fabricating the motor ...

  • Mitsubishi HG-AK - page 94

    5. WIRING OPTION 5 - 31 (1) Connection of power supply for el ectromagnetic brake and servo motor 1) Servo motor HG-MR HG-KR + - 24 V DC power supply for electromagnetic brake MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L 1) Servo motor HG-MR HG-KR MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L or Cable model 1) Connector for elect ...

  • Mitsubishi HG-AK - page 95

    5. WIRING OPTION 5 - 32 5.6 Wires for option cables When fabricating a cable, use the wire model s given in the following table or equivalent. Table 5.1 Wires for option cables Type Model Length [m] Core size Number of cores Characteristics of one core (Note 2) Cable OD [mm] Wire model (Manufacturer) Structure [Wires/mm] Conductor resistance [ Ω ...

  • Mitsubishi HG-AK - page 96

    5. WIRING OPTION 5 - 33 Type Model Length [m] Core size Number of cores Characteristics of one core (Note 2) Cable OD [mm] Wire model (Manufacturer) Structure [Wires/mm] Conductor resistance [ Ω /km] (Note 1) Insulator OD d [mm] Encoder cable MR- J3W03ENCBL_M -A-H 1 to 10 AWG 22 6 70/0.08 56 or less 1.17 7.1 ± 0.3 (Note 3) TPE ・ SVP 70/0.08 (A ...

  • Mitsubishi HG-AK - page 97

    5. WIRING OPTION 5 - 34 MEMO ...

  • Mitsubishi HG-AK - page 98

    6. HG-MR SERIES/HG-KR SERIES 6 - 1 6. HG-MR SERIES/HG-KR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- MR/HG-KR series servo motor, always read the Safe ty Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter. 6.1 Model code definition The ...

  • Mitsubishi HG-AK - page 99

    6. HG-MR SERIES/HG-KR SERIES 6 - 2 6.2 Combination list of servo motors and servo amplifiers Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4 3-axis 200 V class 100 V class HG-MR053 MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020 MR-J4W2-22B ...

  • Mitsubishi HG-AK - page 100

    6. HG-MR SERIES/HG-KR SERIES 6 - 3 6.3 Standard specifications 6.3.1 Standard specifications list Servo motor Item HG-MR series (ultra-low inertia/small capacity) HG-KR series (low inertia/small capacity) 053(B) 13(B) 23(B) 43(B) 73(B) 053(B) 13(B) 23(B) 43(B) 73(B) Power supply capacity Refer to "Power supply equipment capacity and generated ...

  • Mitsubishi HG-AK - page 101

    6. HG-MR SERIES/HG-KR SERIES 6 - 4 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If 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 deg ...

  • Mitsubishi HG-AK - page 102

    6. HG-MR SERIES/HG-KR SERIES 6 - 5 6.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifie r is 3-phase 200 V AC or 1-phase 230 V AC, the torque char ...

  • Mitsubishi HG-AK - page 103

    6. HG-MR SERIES/HG-KR SERIES 6 - 6 6.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e 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 ...

  • Mitsubishi HG-AK - page 104

    6. HG-MR SERIES/HG-KR SERIES 6 - 7 6.5 Servo motors with special shafts The servo motors with special shafts indicated by t he 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 ...

  • Mitsubishi HG-AK - page 105

    6. HG-MR SERIES/HG-KR SERIES 6 - 8 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 desi gned for general industri ...

  • Mitsubishi HG-AK - page 106

    6. HG-MR SERIES/HG-KR SERIES 6 - 9 (2) Specifications Item Description Mounting method Flange mounting Mounting direction In any directions Lubrication method Grease lubrication (already packed) Packed with 50 W/100 W 200 W /400 W 1/12, 1/20 750 W 1/12 200 W/400 W 1/5 750 W 1/5, 1/20 Mobilplex 46 Exxon Mobil Molynoc AP2 JX Nippon Oil & Energy M ...

  • Mitsubishi HG-AK - page 107

    6. HG-MR SERIES/HG-KR SERIES 6 - 10 (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft. Q: Length of axis (Refer to section 6.8.3, 6.8.4.) Q/2 Q Servo motor Reduction ratio Permissible load (Note) Permissible radial load [N] Permissible thrust load [N] ...

  • Mitsubishi HG-AK - page 108

    6. HG-MR SERIES/HG-KR SERIES 6 - 11 6.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (11B, 14A, 20A, and 32A) in the 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 num ...

  • Mitsubishi HG-AK - page 109

    6. HG-MR SERIES/HG-KR SERIES 6 - 12 (3) Permissible loads of servo motor shaft The radial load point of a high prec ision reducer is as shown below. L: Distance between reducer end face and load center L Q: Length of axis (Refer to section 6.8.7, 6.8.8.) Q/2 Q Flange-mounting flange output type for high precision application (G5) Flange-mounting sh ...

  • Mitsubishi HG-AK - page 110

    6. HG-MR SERIES/HG-KR SERIES 6 - 13 (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flange- mounting shaft output type for hi gh precision applications (G7). [Unit: mm] Servo motor Reducer model number Q φ S W T QK U Y HG-KR_(B)G7K 11B 20 10h7 4 4 15 2.5 M3 screw ho ...

  • Mitsubishi HG-AK - page 111

    6. HG-MR SERIES/HG-KR SERIES 6 - 14 6.7 Mounting connectors If the connector is not fixed securely, it may come off or may not produce a splash-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 tighte ...

  • Mitsubishi HG-AK - page 112

    6. HG-MR SERIES/HG-KR SERIES 6 - 15 6.8 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnet ic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine. The dimensions without t ...

  • Mitsubishi HG-AK - page 113

    6. HG-MR SERIES/HG-KR SERIES 6 - 16 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-MR13 100 0.0300 0.54 HG-KR13 100 0.0777 0.54 [Unit: mm] Power supply connector Pin No. 4 3 1 2 Application W V U (PE) 40 4 5 ° 37.1 6.4 27.5 27.4 4.9 Bottom Top 13.9 20.7 20.5 Caution plate 21 13.7 20.7 36 Encoder connector Power supply conn ...

  • Mitsubishi HG-AK - page 114

    6. HG-MR SERIES/HG-KR SERIES 6 - 17 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-MR43 400 0.142 1.4 HG-KR43 400 0.371 1.4 [Unit: mm] 1 2 3 4 Caution plate Bottom Top Opposite-load side 60 47.1 27.8 13.9 5.9 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.7 Caution plate Powe r supp ly connector Encoder connector 98.3 30 73 58.1 11. ...

  • Mitsubishi HG-AK - page 115

    6. HG-MR SERIES/HG-KR SERIES 6 - 18 6.8.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR053B 50 0.32 0.0224 0.54 HG-KR053B 50 0.32 0.0472 0.54 [Unit: mm] 40 37.1 6.4 27.5 25 2.5 27.4 4.9 9.9 11.7 Bottom Top 11.7 13.9 20.7 20.5 Caution plate 21 13.7 21.5 20 ...

  • Mitsubishi HG-AK - page 116

    6. HG-MR SERIES/HG-KR SERIES 6 - 19 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR13B 100 0.32 0.0362 0.74 HG-KR13B 100 0.32 0.0837 0.74 [Unit: mm] 40 37.1 6.4 27.5 25 2.5 27.4 4.9 9.9 11.7 Bottom Top 11.7 13.9 20.7 20.5 Caution plate 21 13.7 21.5 20.7 36 19.2 10.9 21.7 39.8 123 Encode ...

  • Mitsubishi HG-AK - page 117

    6. HG-MR SERIES/HG-KR SERIES 6 - 20 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR23B 200 1.3 0.109 1.3 HG-KR23B 200 1.3 0.243 1.3 [Unit: mm] Bottom Bottom 1 2 3 4 Caution plate Bottom Top Opposite-load side 113.4 30 73 36.4 11.7 11.8 10.9 19.2 9.5 Power supply connector Encoder connec ...

  • Mitsubishi HG-AK - page 118

    6. HG-MR SERIES/HG-KR SERIES 6 - 21 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-MR73B 750 2.4 0.694 3.8 HG-KR73B 750 2.4 1.37 3.8 [Unit: mm] Power supply connector Pin No. 4 3 1 2 Application W V U (PE) Opposite-load side Bottom Top Top Bottom 80 152.3 83 9.5 10.7 11.8 11.7 19.2 69.6 2 ...

  • Mitsubishi HG-AK - page 119

    6. HG-MR SERIES/HG-KR SERIES 6 - 22 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] 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] 27.4 4.9 9.9 11.7 11.7 20.7 20.5 Caution plate 21 13.7 20.7 36 19.2 10.9 21.7 86.3 Encoder ...

  • Mitsubishi HG-AK - page 120

    6. HG-MR SERIES/HG-KR SERIES 6 - 23 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] 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] 4 3 1 2 27.4 4.9 20.7 20.5 Caution plate 21 13.7 20.7 36 Motor plate 9.9 11.7 11.7 19.2 10.9 ...

  • Mitsubishi HG-AK - page 121

    6. HG-MR SERIES/HG-KR SERIES 6 - 24 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] 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] Bottom Top 149.6 109.4 11.7 11.8 10.9 19.2 9.5 Power supply connector Encoder connector ...

  • Mitsubishi HG-AK - page 122

    6. HG-MR SERIES/HG-KR SERIES 6 - 25 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43G1 400 K9012 1/12 (961/11664) 0.568 4.3 [Unit: mm] 1 2 3 4 Bottom Top Opposite-load side 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.7 Power supply connector Encoder connector 171.3 131.1 11 ...

  • Mitsubishi HG-AK - page 123

    6. HG-MR SERIES/HG-KR SERIES 6 - 26 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G1 750 K10005 1/5 (1/5) 1.68 6.0 [Unit: mm] 27.4 13.7 11.5 56 Bottom Top Caution plate Caution plate Motor plate 57.1 □ 80 Top 177 9.5 10.7 11.8 19.2 134.6 Power supply connector Mot ...

  • Mitsubishi HG-AK - page 124

    6. HG-MR SERIES/HG-KR SERIES 6 - 27 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G1 750 K12020 1/20 (625/12544) 2.41 10 [Unit: mm] 105.5 60 11.5 44.5 15 Opposite-load side Bottom Top Top 212 9.5 10.7 11.8 11.7 19.2 169.6 27.4 13.7 11.5 56 Motor plate (Opposite side ...

  • Mitsubishi HG-AK - page 125

    6. HG-MR SERIES/HG-KR SERIES 6 - 28 6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG1 50 K6505 1/5 (9/44) 0.32 0.0840 1.6 [Unit: mm] 27.4 4.9 9. ...

  • Mitsubishi HG-AK - page 126

    6. HG-MR SERIES/HG-KR SERIES 6 - 29 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG1 100 K6505 1/5 (9/44) 0.32 0.121 1.8 [Unit: mm] 27.4 4.9 Caution plate 21 13.7 20.7 36 Motor plate Caution plate 38.8 20.7 20.5 11.7 11.7 10.9 2 ...

  • Mitsubishi HG-AK - page 127

    6. HG-MR SERIES/HG-KR SERIES 6 - 30 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG1 200 K9005 1/5 (19/96) 1.3 0.397 3.7 [Unit: mm] Caution plate 47.1 28.4 13.7 10 Caution plate Caution plate Motor plate □ 60 46 11.7 11.8 10.9 ...

  • Mitsubishi HG-AK - page 128

    6. HG-MR SERIES/HG-KR SERIES 6 - 31 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG1 400 K9005 1/5 (19/96) 1.3 0.547 4.1 [Unit: mm] Caution plate 47.1 28.4 13.7 10 Caution plate Motor plate □ 60 46 Pin No. 1 2 Application B2 B ...

  • Mitsubishi HG-AK - page 129

    6. HG-MR SERIES/HG-KR SERIES 6 - 32 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG1 400 K10020 1/20 (7/135) 1.3 0.903 5.8 [Unit: mm] 60 100 Caution plate 10 5.9 212.1 Bottom Top Motor plate (Opposite side) Caution plate 9 ° 7 ...

  • Mitsubishi HG-AK - page 130

    6. HG-MR SERIES/HG-KR SERIES 6 - 33 Model Output [W] Reducer model Reduction ratio (actual reduction ratio) Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73BG1 750 K10012 1/12 (7/87) 2.4 2.46 8.1 [Unit: mm] 100 Bottom Top Top 239.3 Motor plate (Opposite side) Caution plate For reverse rotation command ...

  • Mitsubishi HG-AK - page 131

    6. HG-MR SERIES/HG-KR SERIES 6 - 34 6.8.5 With flange-output type reducer for high pr ecision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] 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 ...

  • Mitsubishi HG-AK - page 132

    6. HG-MR SERIES/HG-KR SERIES 6 - 35 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G5 100 HPG-11B-05-F0ADG-S 1/5 0.0812 0.75 [Unit: mm] 27.4 4.9 Bottom 20.7 20.5 Caution plate 21 13.7 20.7 36 Motor plate Caution plate 15 +0.25 -0.20 2.5 9.9 11.7 11.7 25.5 19.2 10.9 21.7 79.3 121.9 5 Caution ...

  • Mitsubishi HG-AK - page 133

    6. HG-MR SERIES/HG-KR SERIES 6 - 36 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G5 100 HPG-20A-33-F0JMLAS-S 1/33 0.140 2.6 HG-KR13G5 100 HPG-20A-45-F0JMLAS-S 1/45 0.139 2.6 [Unit: mm] 27.4 4.9 20.7 20.5 Caution plate 21 13.7 20.7 Power s upply connector Motor plate Encoder connector Powe ...

  • Mitsubishi HG-AK - page 134

    6. HG-MR SERIES/HG-KR SERIES 6 - 37 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23G5 200 HPG-20A-21-F0EKS-S 1/21 0.719 3.4 HG-KR23G5 200 HPG-20A-33-F0ELS-S 1/33 0.673 3.4 HG-KR23G5 200 HPG-20A-45-F0ELS-S 1/45 0.672 3.4 [Unit: mm] Caution plate Bottom Top Opposite-load side 107.4 11.7 11.8 ...

  • Mitsubishi HG-AK - page 135

    6. HG-MR SERIES/HG-KR SERIES 6 - 38 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43G5 400 HPG-20A-11-F0EKS-S 1/11 0.947 3.9 HG-KR43G5 400 HPG-20A-21-F0EKS-S 1/21 0.869 3.9 [Unit: mm] Bottom Top Opposite-load side 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.7 Power supply connector Encoder connect ...

  • Mitsubishi HG-AK - page 136

    6. HG-MR SERIES/HG-KR SERIES 6 - 39 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73G5 750 HPG-20A-05-F0FEOS-S 1/5 1.91 4.8 HG-KR73G5 750 HPG-20A-11-F0FEPS-S 1/11 1.82 5.1 [Unit: mm] Bottom Top Top 9.5 10.7 11.8 11.7 19.2 147.6 27.4 13.7 11.5 56 Power supply connector Encoder connector Motor ...

  • Mitsubishi HG-AK - page 137

    6. HG-MR SERIES/HG-KR SERIES 6 - 40 6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG5 50 HPG-11B-05- F0ADG-S 1/5 0.32 0.0507 0.75 HG-K ...

  • Mitsubishi HG-AK - page 138

    6. HG-MR SERIES/HG-KR SERIES 6 - 41 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG5 100 HPG-11B-05- F0ADG-S 1/5 0.32 0.0872 0.95 [Unit: mm] 27.4 4.9 9.9 11.7 Bottom 11.7 20.7 20.5 Caution plate 21 13.7 20.7 36 7 ° 19.2 10.9 21.7 79.3 162.5 Encoder con ...

  • Mitsubishi HG-AK - page 139

    6. HG-MR SERIES/HG-KR SERIES 6 - 42 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13BG5 100 HPG-20A-33-F0 JMLAS-S 1/33 0.32 0.146 2.8 HG-KR13BG5 100 HPG-20A-45-F0 JMLAS-S 1/45 0.32 0.145 2.8 [Unit: mm] 4.9 Caution plate 21 27.4 13.7 20.7 36 Motor plate Cau ...

  • Mitsubishi HG-AK - page 140

    6. HG-MR SERIES/HG-KR SERIES 6 - 43 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG5 200 HPG-20A-21- F0EKS-S 1/21 1.3 0.741 3.8 HG-KR23BG5 200 HPG-20A-33- F0ELS-S 1/33 1.3 0.695 3.8 HG-KR23BG5 200 HPG-20A-45- F0ELS-S 1/45 1.3 0.694 3.8 [Unit: mm] Caut i ...

  • Mitsubishi HG-AK - page 141

    6. HG-MR SERIES/HG-KR SERIES 6 - 44 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] 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] Caution plate 47.1 28.4 13.7 10 Caution plate Motor plate ? ...

  • Mitsubishi HG-AK - page 142

    6. HG-MR SERIES/HG-KR SERIES 6 - 45 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR73BG5 750 HPG-20A-05-F0 FEOS-S 1/5 2.4 2.02 5.8 HG-KR73BG5 750 HPG-20A-11- F0FEPS-S 1/11 2.4 1.93 6.1 [Unit: mm] 27.4 13.7 11.5 56 Caution plate Caution plate Motor plate 57. ...

  • Mitsubishi HG-AK - page 143

    6. HG-MR SERIES/HG-KR SERIES 6 - 46 6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] 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 ...

  • Mitsubishi HG-AK - page 144

    6. HG-MR SERIES/HG-KR SERIES 6 - 47 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR13G7 100 HPG-11B-05- J20ADG-S 1/5 0.0839 0.78 [Unit: mm] 27.4 4.9 20.7 20.5 Caution plate 21 13.7 20.7 36 Motor plate 9.9 11.7 11.7 25.5 19.2 10.9 21.7 79.3 121.9 5 Power supply connector Caution plate Motor pl ...

  • Mitsubishi HG-AK - page 145

    6. HG-MR SERIES/HG-KR SERIES 6 - 48 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] 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] 27.4 4.9 20.7 20.5 Caution plate 21 13.7 20.7 36 Encoder connector Power supply connector 19.2 11.7 11.7 ...

  • Mitsubishi HG-AK - page 146

    6. HG-MR SERIES/HG-KR SERIES 6 - 49 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] 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 [Unit: mm] Bottom Top 147.6 107.4 11.7 11.8 10.9 19.2 9.5 Power supply ...

  • Mitsubishi HG-AK - page 147

    6. HG-MR SERIES/HG-KR SERIES 6 - 50 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] 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] Bottom Opposite-load side 46 28.4 13.7 10 9.5 11.8 11.7 19.2 21.7 Power supply connector Encoder connector 1 ...

  • Mitsubishi HG-AK - page 148

    6. HG-MR SERIES/HG-KR SERIES 6 - 51 Model Output [W] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] 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] R0.4 80 42 8 27 10 26 12 Opposite-load side Bottom Top 190 9.5 10.7 11.8 11.7 19.2 147.6 27.4 13.7 11.5 56 Bo ...

  • Mitsubishi HG-AK - page 149

    6. HG-MR SERIES/HG-KR SERIES 6 - 52 6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR053BG7 50 HPG-11B-05-J 20ADG-S 1/5 0.32 0.0534 0.78 HG-K ...

  • Mitsubishi HG-AK - page 150

    6. HG-MR SERIES/HG-KR SERIES 6 - 53 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] 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 ...

  • Mitsubishi HG-AK - page 151

    6. HG-MR SERIES/HG-KR SERIES 6 - 54 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] 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] 1 ...

  • Mitsubishi HG-AK - page 152

    6. HG-MR SERIES/HG-KR SERIES 6 - 55 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR23BG7 200 HPG-14A-05-J2AZW -S 1/5 1.3 0.450 2.3 HG-KR23BG7 200 HPG-14A-11-J2AZX -S 1/11 1.3 0.446 2.4 [Unit: mm] 9 ° 7 ° Caution plate Bottom 177.4 100.4 11.7 11.8 10.9 19. ...

  • Mitsubishi HG-AK - page 153

    6. HG-MR SERIES/HG-KR SERIES 6 - 56 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-KR43BG7 400 HPG-14A-05-J2AZW -S 1/5 1.3 0.600 2.8 [Unit: mm] 199.1 Top Motor plate (Opposite side) Caution plate 9 ° 7° Caution plate 122.1 11.7 11.8 10.9 19.2 9.5 Power supp ...

  • Mitsubishi HG-AK - page 154

    6. HG-MR SERIES/HG-KR SERIES 6 - 57 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] 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] 218.1 Top Motor plate (Opposite side) Caution plate R0.4 1 ...

  • Mitsubishi HG-AK - page 155

    6. HG-MR SERIES/HG-KR SERIES 6 - 58 Model Output [W] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] 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 [Unit: mm] 27.4 1 ...

  • Mitsubishi HG-AK - page 156

    7. HG-SR SERIES 7 - 1 7. HG-SR SERIES This chapter provides information on the servo motor specifications and characteri stics. When using the HG- SR series servo motor, always read the Safety Instru ctions 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 b ...

  • Mitsubishi HG-AK - page 157

    7. HG-SR SERIES 7 - 2 7.2 Combination list of servo motors and servo amplifiers (1) Compatible with 3-phase 200 V AC Servo motor Servo amplifier Servo motor Servo amplifier MR-J4 1-axis MR-J4 2-axis MR-J4 1-axis MR-J4 2-axis HG-SR51 MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60B-RJ MR-J4-60B-RJ010 MR-J4-60B-RJ020 MR-J4W2-77B MR-J4W2-1010B HG-SR52 MR-J4 ...

  • Mitsubishi HG-AK - page 158

    7. HG-SR SERIES 7 - 3 7.3 Standard specifications 7.3.1 Standard specifications list Servo motor Item HG-SR 1000 r/min series (Compatible with 3-phase 200 V AC, medium inertia/medium capacity) HG-SR 2000 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 (B) 52(B) 102 (B) 152 (B) ...

  • Mitsubishi HG-AK - page 159

    7. HG-SR SERIES 7 - 4 Servo motor Item HG-SR series (3-phase 400 V AC compatible, medi um inertia/medium capacity) 524(B) 1024(B) 1524(B) 2024(B) 3524(B) 5024(B) 7024(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Continuous running duty (No ...

  • Mitsubishi HG-AK - page 160

    7. HG-SR SERIES 7 - 5 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to 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 prote ...

  • Mitsubishi HG-AK - page 161

    7. HG-SR SERIES 7 - 6 7.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplif ier is 3-phase 200 V AC or 1-phase 230 V AC, the tor ...

  • Mitsubishi HG-AK - page 162

    7. HG-SR SERIES 7 - 7 (2) 3-phase 400 V AC When the power supply input of the servo amplifier are 3-phase 400 V AC, the to rque characteristic is indicated by the heavy line. For the 3-phase 380 V AC pow er supply, part of the to rque characteristic is indicated by the thin line. [HG-SR524] 1000 2000 3000 0 0 6 9 3 Speed [r/min] Continuous running ...

  • Mitsubishi HG-AK - page 163

    7. HG-SR SERIES 7 - 8 7.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e 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 tha ...

  • Mitsubishi HG-AK - page 164

    7. HG-SR SERIES 7 - 9 7.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable. K is the symbol attached to the servo motor model names. Servo motor Shaft shape Key shaft (without key ) HG-SR_(B)K K Variable dimension table [Unit: mm] S QL A A QK Q R W U r Y Shaft section vie ...

  • Mitsubishi HG-AK - page 165

    7. HG-SR SERIES 7 - 10 7.6 Geared servo motors CAUTION Geared servo motors must be mounted in the specified direction. Otherwise, it can leak oil, 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 avail ...

  • Mitsubishi HG-AK - page 166

    7. HG-SR SERIES 7 - 11 (a) Maximum speed Servo motor Reduction ratio 1/6 1/11 1/17 1/29 1/35 1/43 1/59 HG-SR52(4)(B)G1(H) HG-SR102(4)(B)G1(H) 3000 r/min (permissible instantaneous speed: 3450 r/min) HG-SR152(4)(B)G1(H) HG-SR202(4)(B)G1(H) HG-SR352(4)(B)G1(H) 2000 r/min (permissible instantaneous speed: 2300 r/min) HG-SR502(4)(B)G1(H) HG-SR702(4)(B) ...

  • Mitsubishi HG-AK - page 167

    7. HG-SR SERIES 7 - 12 (c) Recommended lubricants 1) Grease Albania Grease RA (Shell) 2) Lubricating oil POINT Since the oil-lubricated models are shipped wi thout oil, make sure to fill oil up to the upper red line of the oil gauge before operation. Ambient temperature [°C] COSMO OIL JX Nippon Oil & Energy Idemitsu Kosan Shell Esso Exxon Mobi ...

  • Mitsubishi HG-AK - page 168

    7. HG-SR SERIES 7 - 13 (3) Permissible loads of servo motor shaft The permissible radial load in the table is the value measured at the center of the reducer output shaft. Q: Length of axis (Refer to section 7.7.3 to 7.7.6.) Q/2 Q Servo motor Reduction ratio Reducer frame No. Permissible load (Note) Servo motor Reduction ratio Reducer frame No. Per ...

  • Mitsubishi HG-AK - page 169

    7. HG-SR SERIES 7 - 14 7.6.2 For high precision applications (G5/G7) (1) Reduction ratio The symbols (20A, 30A, 50A) in the following tabl e indicate the model numbers of the reducers assembled to the servo motors. Geared servo moto rs having the indicated reducer model numbers are available. The reducer model number indicate s _ _ _ of the reducer ...

  • Mitsubishi HG-AK - page 170

    7. HG-SR SERIES 7 - 15 (3) Permissible loads of servo motor shaft The radial load point of a high prec ision reducer is as shown below. L: Distance between reducer end face and load center L Q: Length of axis (Refer to section 7.7.9, 7.7.10.) Q/2 Q Flange-mounting flange output type for high precision application (G5) Flange-mounting shaft output t ...

  • Mitsubishi HG-AK - page 171

    7. HG-SR SERIES 7 - 16 (4) Servo motor with special shaft Servo motors with special shafts having keyway (with single pointed keys) are available for the flange- mounting shaft output type for hi gh precision applications (G7). [Unit: mm] Servo motor Reducer model number Q φ S W T QK U Y HG-SR_(4)(B)G7K 20A 42 25h7 8 7 36 4 M6 screw hole depth 12 ...

  • Mitsubishi HG-AK - page 172

    7. HG-SR SERIES 7 - 17 7.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor, reducer, and electromagnet ic brake with servo motor shaft. The dimensions without toler ances are general tolerance. The outer frame of the reducer is a material surface su ch as casting. ...

  • Mitsubishi HG-AK - page 173

    7. HG-SR SERIES 7 - 18 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR81 0.85 16.0 7.3 HG-SR152 HG-SR1524 1.5 [Unit: mm] BC41046A BC41040A 4- 9 mounting hole Use hexag on sock et head cap screw. A B CD Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 146.5 38.2 Caution plate Motor plate ...

  • Mitsubishi HG-AK - page 174

    7. HG-SR SERIES 7 - 19 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR201 2.0 78.6 16 HG-SR352 HG-SR3524 3.5 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 162.5 38.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 140.9 φ 114.3 0 -0.025 24.8 98.8 50.9 13 Encoder connecto ...

  • Mitsubishi HG-AK - page 175

    7. HG-SR SERIES 7 - 20 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-SR421 4.2 151 27 HG-SR702 HG-SR7024 7.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 218.5 38.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 149.1 φ 114.3 0 -0.025 32 146.8 50.9 13 Encoder connector ...

  • Mitsubishi HG-AK - page 176

    7. HG-SR SERIES 7 - 21 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR51B 0.5 8.5 13.8 8.2 HG-SR102B HG-SR1024B 1.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 12 3 50 55 167 43.5 Caution plate Motor plate (Opposite side) □ 130 13.5 58 112.5 ...

  • Mitsubishi HG-AK - page 177

    7. HG-SR SERIES 7 - 22 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR81B 0.85 8.5 18.2 9.3 HG-SR152B HG-SR1524B 1.5 [Unit: mm] 4 5 4- φ 9 mounting hole Use h exago n socket head cap screw. φ 1 4 5 φ 1 6 5 BC41059* BC41053* (PE) Motor plate Caution plate Caut ion plate Bottom Top ...

  • Mitsubishi HG-AK - page 178

    7. HG-SR SERIES 7 - 23 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR121B 1.2 44 56.5 17 HG-SR202B HG-SR2024B 2.0 [Unit: mm] BC41060* BC41054* Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 188 45.5 Caution plate Motor plate (Opposite side) □ 176 82 140.9 ...

  • Mitsubishi HG-AK - page 179

    7. HG-SR SERIES 7 - 24 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR201B 2.0 44 88.2 22 HG-SR352B HG-SR3524B 3.5 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 212 45.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 140.9 φ 114.3 0 ...

  • Mitsubishi HG-AK - page 180

    7. HG-SR SERIES 7 - 25 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR301B 3.0 44 109 26 HG-SR502B HG-SR5024B 5.0 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 18 3 75 79 228 45.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 140.9 φ 114.3 0 ...

  • Mitsubishi HG-AK - page 181

    7. HG-SR SERIES 7 - 26 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR421B 4.2 44 161 33 HG-SR702B HG-SR7024B 7.0 [Unit: mm] Motor plate Caution plate Caut ion plate Bottom Top Top Bottom 18 3 75 79 268 45.5 Caution plate Motor plate (Opposite side) □ 176 4 5 ° 82 149.1 φ 114.3 0 ...

  • Mitsubishi HG-AK - page 182

    7. HG-SR SERIES 7 - 27 7.7.3 For general industrial machine with a reducer (without an el ectromagnetic brake) Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52G1 HG-SR524G1 0.5 1/6 8.08 18 CNVM-6100 1/11 7.65 1/17 7.53 1/29 7.47 [Unit: mm] For reverse rotation command For forward rotation c ...

  • Mitsubishi HG-AK - page 183

    7. HG-SR SERIES 7 - 28 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1 HG-SR1024G1 1.0 1/6 14.8 30 1/11 13.3 CNVM-6120 1/17 12.9 1/29 12.6 1/35 12.6 [Unit: mm] (PE) BC41119* Caution plate Motor plate 38.2 13 58 13.5 □ 130 112.5 50.9 Caut ion plate 281.5 Bottom Top Top Bottom U W V Pow ...

  • Mitsubishi HG-AK - page 184

    7. HG-SR SERIES 7 - 29 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1 HG-SR1024G1 1.0 CHVM-6160 1/59 19.1 81 [Unit: mm] Bottom (PE) BC41121* Caution plate Motor plate 38.2 13 58 13.5 □ 130 112.5 50.9 Caution plate 384.5 Top Top Bottom U W V Power supply connector Motor flange directi ...

  • Mitsubishi HG-AK - page 185

    7. HG-SR SERIES 7 - 30 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152G1 HG-SR1524G1 1.5 CHVM-6130 1/29 18.4 50 1/35 18.3 [Unit: mm] Caution plate Motor plate 38.2 13 58 13.5 □ 130 112.5 50.9 Caution plate 341 Top Top Bottom U W V Power supply connector Motor flange direction Key (Side ...

  • Mitsubishi HG-AK - page 186

    7. HG-SR SERIES 7 - 31 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202G1 HG-SR2024G1 2.0 1/6 50.0 36 CNVM-6120 1/11 48.4 1/17 48.1 [Unit: mm] U W V Power supply connector Motor flange direction Key Shaft section view AA 5 10 8 φ 38h6 M8 Scr ew hole depth 20 φ 204 6- φ 11 φ 1 8 0 142 3 ...

  • Mitsubishi HG-AK - page 187

    7. HG-SR SERIES 7 - 32 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1 HG-SR3524G1 3.5 1/6 87.1 60 CHVM-6135 1/11 82.8 1/17 81.5 [Unit: mm] U W V Power supply connector Motor flange direction Key 13 24.8 63.7 38.5 Shaft section view AA φ 50h6 M10 S crew hole d epth 18 14 9 5.5 A A 6- ? ...

  • Mitsubishi HG-AK - page 188

    7. HG-SR SERIES 7 - 33 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1 HG-SR3524G1 3.5 CHVM-6175 1/43 105 134 1/59 104 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key M12 Screw hole depth24 13 24.8 63.7 Shaft section viewAA 38.5 20 12 7.5 φ 70h6 φ 316f ...

  • Mitsubishi HG-AK - page 189

    7. HG-SR SERIES 7 - 34 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502G1 HG-SR5024G1 5.0 1/29 141 165 CHVM-6180 1/35 140 1/43 139 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key 176 M12 Sc rew hole dept h 2 4 φ 345f8 φ 430 22 5 506 110 100 258 8- φ 18 2 ...

  • Mitsubishi HG-AK - page 190

    7. HG-SR SERIES 7 - 35 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1 HG-SR7024G1 7.0 CHVM-6165 1/6 177 103 [Unit: mm] Bottom Bottom (PE) BC41133* U W V Power supply connector Motor flange direction Key 482.5 □ 176 149.1 Caution plate 82 Caution plate Motor plate Motor plate Caution ...

  • Mitsubishi HG-AK - page 191

    7. HG-SR SERIES 7 - 36 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1 HG-SR7024G1 7.0 CHVM-6180 1/29 192 172 1/35 192 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key 546 Motor plate Caution plate 13 32 71.7 Power s upply connector MS3102A32-17P 38.5 176 ...

  • Mitsubishi HG-AK - page 192

    7. HG-SR SERIES 7 - 37 7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1 HG-SR524BG1 0.5 1/6 8.5 10.3 20 CNVM-6100 1/11 9.85 1/17 9.73 1/29 9.67 [Unit: mm] For reverse ...

  • Mitsubishi HG-AK - page 193

    7. HG-SR SERIES 7 - 38 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1 HG-SR1024BG1 1.0 1/6 8.5 17.0 32 1/11 15.5 CNVM-6120 1/17 15.1 1/29 14.8 1/35 14.8 [Unit: mm] Caution plate Motor plate 29 95.2 Elect romagn etic br ake connector CMV1-R2P 79.9 ...

  • Mitsubishi HG-AK - page 194

    7. HG-SR SERIES 7 - 39 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1 HG-SR1024BG1 1.0 CHVM-6160 1/59 8.5 21.3 83 [Unit: mm] 29 95.2 Electromagnetic brake connector CMV1-R2P 79.9 59 13 58 13.5 □ 130 112.5 50.9 Caution plate 419 43.5 20.9 Motor p ...

  • Mitsubishi HG-AK - page 195

    7. HG-SR SERIES 7 - 40 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG1 HG-SR1524BG1 1.5 CHVM-6130 1/29 8.5 20.6 52 1/35 20.5 [Unit: mm] Bottom Top Bottom Top Caution plate Motor plate 29 95.2 Electromagnetic brake connector CMV1-R2P 79.9 59 13 58 1 ...

  • Mitsubishi HG-AK - page 196

    7. HG-SR SERIES 7 - 41 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG1 HG-SR2024BG1 2.0 1/6 44 59.4 42 CNVM-6120 1/11 57.8 1/17 57.5 [Unit: mm] U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake conn ...

  • Mitsubishi HG-AK - page 197

    7. HG-SR SERIES 7 - 42 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1 HG-SR3524BG1 3.5 1/6 44 96.5 66 CHVM-6135 1/11 92.2 1/17 90.9 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagne ...

  • Mitsubishi HG-AK - page 198

    7. HG-SR SERIES 7 - 43 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1 HG-SR3524BG1 3.5 CHVM-6175 1/43 44 114 140 1/59 113 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake ...

  • Mitsubishi HG-AK - page 199

    7. HG-SR SERIES 7 - 44 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG1 HG-SR5024BG1 5.0 1/29 44 150 171 CHVM-6180 1/35 150 1/43 149 [Unit: mm] Bottom Bottom U W V Power supply connector Motor flange direction key Electromagnetic brake Electromagnet ...

  • Mitsubishi HG-AK - page 200

    7. HG-SR SERIES 7 - 45 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1 HG-SR7024BG1 7.0 CHVM-6165 1/6 44 187 109 [Unit: mm] U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Motor flange d ...

  • Mitsubishi HG-AK - page 201

    7. HG-SR SERIES 7 - 46 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1 HG-SR7024BG1 7.0 CHVM-6180 1/29 44 202 178 1/35 201 [Unit: mm] U W V Key (PE) Power supply connector Motor flange direction Electromagnetic brake Electromagnetic brake connector ...

  • Mitsubishi HG-AK - page 202

    7. HG-SR SERIES 7 - 47 7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake) Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52G1H HG-SR524G1H 0.5 1/6 8.08 20 CNHM-6100 1/11 7.65 1/17 7.53 1/29 7.47 [Unit: mm] 60.7 58 13.5 □ 130 112.5 50.9 Caut ...

  • Mitsubishi HG-AK - page 203

    7. HG-SR SERIES 7 - 48 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1H HG-SR1024G1H 1.0 1/6 14.8 31 1/11 13.3 CNHM-6120 1/17 12.9 1/29 12.6 1/35 12.6 [Unit: mm] 38.2 13 58 13.5 □ 130 112.5 50.9 Caution plate 350.5 U W V Power supply connector Motor flange direction Key (Side view of ...

  • Mitsubishi HG-AK - page 204

    7. HG-SR SERIES 7 - 49 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102G1H HG-SR1024G1H 1.0 CHHM-6160 1/59 19.1 86 [Unit: mm] 38.2 13 58 13.5 □ 130 112.5 50.9 Caution plate 473.5 BC41141* 25 160 352 75 185 185 410 4- φ 18 7 M10 Screw hole depth 18 φ 60h6 11 18 Shaft section view AA U W ...

  • Mitsubishi HG-AK - page 205

    7. HG-SR SERIES 7 - 50 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152G1H HG-SR1524G1H 1.5 CHHM-6130 1/29 18.4 51 1/35 18.3 [Unit: mm] 38.2 13 58 13.5 130 112.5 50.9 Caution plate 417 Bottom Top Top Bottom U W V Power supply connector Motor flange direction (PE) Key (Side view of motor on ...

  • Mitsubishi HG-AK - page 206

    7. HG-SR SERIES 7 - 51 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202G1H HG-SR2024G1H 2.0 1/6 50.0 37 CNHM-6120 1/11 48.4 1/17 48.1 [Unit: mm] U W V Power supply connector Motor flange direction Key Shaft section view AA 57.5 57.5 20 82 155 A A 131 50 55 φ 204 4- φ 14 95 55 230 95 15 2 ...

  • Mitsubishi HG-AK - page 207

    7. HG-SR SERIES 7 - 52 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1H HG-SR3524G1H 3.5 1/6 87.1 61 CHHM-6135 1/11 82.8 1/17 81.5 [Unit: mm] U W V Power supply connector Motor flange direction Key 13 24.8 63.7 38.5 Shaft section view AA φ 50h6 M10 Screw hole depth 18 14 9 5.5 72.5 72. ...

  • Mitsubishi HG-AK - page 208

    7. HG-SR SERIES 7 - 53 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352G1H HG-SR3524G1H 3.5 CHHM-6175 1/43 105 137 1/59 104 [Unit: mm] U W V Power supply connector Motor flange direction Key M12 Screw hole depth 24 □ 176 140.9 Caution plate Top Shaft section view AA 20 12 7.5 φ 70h6 Top ...

  • Mitsubishi HG-AK - page 209

    7. HG-SR SERIES 7 - 54 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502G1H HG-SR5024G1H 5.0 1/29 141 178 CHHM-6180 1/35 140 1/43 139 [Unit: mm] U W V Power supply connector Motor flange direction Key 176 M12 Screw hole depth 24 616 Motor plate Caution plate 13 24.8 63.7 Shaft section view ...

  • Mitsubishi HG-AK - page 210

    7. HG-SR SERIES 7 - 55 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1H HG-SR7024G1H 7.0 CHHM-6165 1/6 177 108 [Unit: mm] U W V Power supply connector Motor flange direction Key 571.5 □ 176 149.1 Caution plate 82 Caution plate Motor plate Motor plate Caution plate 13 32 71.7 Top 50.9 ...

  • Mitsubishi HG-AK - page 211

    7. HG-SR SERIES 7 - 56 Model Output [kW] Reducer model Reducti on ratio Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702G1H HG-SR7024G1H 7.0 CHHM-6180 1/29 192 185 1/35 192 [Unit: mm] U W V Power supply connector Motor flange direction Key 656 Motor plate Caution plate 13 32 71.7 38.5 176 M12 S crew hole dept h 24 Shaf t sec tion view A ...

  • Mitsubishi HG-AK - page 212

    7. HG-SR SERIES 7 - 57 7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1H HG-SR524BG1H 0.5 1/6 8.5 10.3 22 CNHM-6100 1/11 9.85 1/17 9.73 1/29 9.67 [Unit: ...

  • Mitsubishi HG-AK - page 213

    7. HG-SR SERIES 7 - 58 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG1H HG-SR524BG1H 0.5 1/35 8.5 10.5 30 CNHM-6120 1/43 10. 4 1/59 10.4 [Unit: mm] Shaft section vi ew AA 38h6 55 131 8 5 10 For reverse rotation command For forward rotation command R ...

  • Mitsubishi HG-AK - page 214

    7. HG-SR SERIES 7 - 59 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1H HG-SR1024BG1H 1.0 1/6 8.5 17.0 33 1/11 15.5 CNHM-6120 1/17 15. 1 1/29 14.8 1/35 14.8 [Unit: mm] Caution plate Motor plate 29 95.2 Electromagnetic brake connector CMV1-R2P 79.9 ...

  • Mitsubishi HG-AK - page 215

    7. HG-SR SERIES 7 - 60 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG1H HG-SR1024BG1H 1.0 CHHM-6160 1/59 8.5 21.3 88 [Unit: mm] Caution plate Motor plate 29 95.2 Electromagnetic brake connector CMV1-R2P 79.9 59 13 58 13.5 112.5 50.9 Caution plate 5 ...

  • Mitsubishi HG-AK - page 216

    7. HG-SR SERIES 7 - 61 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG1H HG-SR1524BG1H 1.5 CHHM-6130 1/29 8.5 20.6 53 1/35 20.5 [Unit: mm] Caution plate Motor plate 29 95.2 Electromagnetic brake connector CMV1-R2P 79.9 59 13 58 13.5 112.5 50.9 Cauti ...

  • Mitsubishi HG-AK - page 217

    7. HG-SR SERIES 7 - 62 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG1H HG-SR2024BG1H 2.0 1/6 44 59.4 43 CNHM-6120 1/11 57. 8 1/17 57.5 [Unit: mm] U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake c ...

  • Mitsubishi HG-AK - page 218

    7. HG-SR SERIES 7 - 63 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1H HG-SR3524BG1H 3.5 1/6 44 96.5 67 CHHM-6135 1/11 92. 2 1/17 90.9 [Unit: mm] BC41215* U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagneti ...

  • Mitsubishi HG-AK - page 219

    7. HG-SR SERIES 7 - 64 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG1H HG-SR3524BG1H 3.5 CHHM-6175 1/43 44 114 143 1/59 113 [Unit: mm] BC41217* U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake con ...

  • Mitsubishi HG-AK - page 220

    7. HG-SR SERIES 7 - 65 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG1H HG-SR5024BG1H 5.0 1/29 44 150 184 CHHM-6180 1/35 150 1/43 149 [Unit: mm] BC41219* U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic ...

  • Mitsubishi HG-AK - page 221

    7. HG-SR SERIES 7 - 66 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1H HG-SR7024BG1H 7.0 CHHM-6165 1/6 44 187 114 [Unit: mm] BC41221* U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake connector Mot ...

  • Mitsubishi HG-AK - page 222

    7. HG-SR SERIES 7 - 67 Model Output [kW] Reducer model Reduc tion ratio Brake static friction tor que [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR702BG1H HG-SR7024BG1H 7.0 CHHM-6180 1/29 44 202 191 1/35 201 [Unit: mm] BC41223* U W V Power supply connector Motor flange direction Key Electromagnetic brake Electromagnetic brake con ...

  • Mitsubishi HG-AK - page 223

    7. HG-SR SERIES 7 - 68 7.7.7 With flange-output type reducer for high pr ecision applications, flange mounting (without an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR52G5 HG-SR524G5 0.5 HPG-20A-05-F0KSAWS-S 1/5 7.91 7.6 HPG-20A-11-F0KSAXS-S 1/11 7.82 7.8 [Unit: mm ...

  • Mitsubishi HG-AK - page 224

    7. HG-SR SERIES 7 - 69 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G5 HG-SR1024G5 1.0 HPG-20A-05-F0KSAWS-S 1/5 12.3 9.0 [Unit: mm] 227.5 20.9 166.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 8 effective range) C0.5 4 5 ° 6-M6 S crew hole dept h 10 38. ...

  • Mitsubishi HG-AK - page 225

    7. HG-SR SERIES 7 - 70 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G5 HG-SR1024G5 1.0 HPG-50A-33-F0AABC-S 1/33 16.3 23 HPG-50A-45-F0AABC-S 1/45 16.2 [Unit: mm] 255.5 20.9 194.8 Bottom Top U W V Power supply connector Motor flange direction Key 38.2 Caution plate Motor plate (Opposite ...

  • Mitsubishi HG-AK - page 226

    7. HG-SR SERIES 7 - 71 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR152G5 HG-SR1524G5 1.5 HPG-32A-11-F0MCSPS-S 1/11 19.3 14 [Unit: mm] 253.5 115h7 20.9 192.8 Bottom Top U W V Power supply connector Motor flange direction Key 54.5 39.5 13 13 84 114 118 120 4 5 ° 38.2 Caution plate Motor p ...

  • Mitsubishi HG-AK - page 227

    7. HG-SR SERIES 7 - 72 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR202G5 HG-SR2024G5 2.0 HPG-32A-05-F0PBZI-S 1/5 51.4 19 HPG-32A-11-F0PBZJ-S 1/11 51.2 [Unit: mm] Bottom Top Top Bottom 267.5 Caution plate Motor plate (Opposite side) 24.8 203.8 Power supply connector MS3102A22-22P Bottom T ...

  • Mitsubishi HG-AK - page 228

    7. HG-SR SERIES 7 - 73 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR352G5 HG-SR3524G5 3.5 HPG-32A-05-F0PBZI-S 1/5 83.2 24 [Unit: mm] Caution plate Bottom Top Top Bottom 291.5 Caution plate Motor plate (Opposite side) 24.8 227.8 Power supply connector MS3102A22-22P Bottom Top Bottom Top U ...

  • Mitsubishi HG-AK - page 229

    7. HG-SR SERIES 7 - 74 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR502G5 HG-SR5024G5 5.0 HPG-50A-05-F0BBCF-S 1/5 110 36 HPG-50A-11-F0BBDF-S 1/11 108 38 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 327.5 38.5 Motor plate (Opposite side) 24.8 263.8 50.9 13 Encoder connector C ...

  • Mitsubishi HG-AK - page 230

    7. HG-SR SERIES 7 - 75 7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG5 HG-SR524BG5 0.5 HPG-20A-05-F0KSAW S-S 1/5 8.5 10.1 9.5 HPG-20 ...

  • Mitsubishi HG-AK - page 231

    7. HG-SR SERIES 7 - 76 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG5 HG-SR1024BG5 1.0 HPG-20A-05-F0KSAWS-S 1/5 8.5 14.5 11 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 262 43.5 Caution plate Motor plate (Opposite side) 20.9 166.8 50.9 ...

  • Mitsubishi HG-AK - page 232

    7. HG-SR SERIES 7 - 77 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG5 HG-SR1024BG5 1.5 HPG-50A-33-F0AABC-S 1/33 8.5 18.5 25 HPG-50A-45-F0AABC-S 1/45 18.4 [Unit: mm] Motor plate Caution plate Bottom Top Bottom Top Top Bottom 290 43.5 Caution plate Mo ...

  • Mitsubishi HG-AK - page 233

    7. HG-SR SERIES 7 - 78 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG5 HG-SR1524BG5 1.5 HPG-32A-11-F0MC SPS-S 1/11 8.5 21.5 16 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 288 43.5 Caution plate Motor plate (Opposite side) 20.9 192.8 50. ...

  • Mitsubishi HG-AK - page 234

    7. HG-SR SERIES 7 - 79 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG5 HG-SR2024BG5 2.0 HGP-32A-05-F0PBZI-S 1/5 44 61.1 25 HGP-32A-11-F0PBZJ-S 1/11 60.9 [Unit: mm] Bottom Top Top Bottom 317 45.5 Caution plate Motor plate (Opposite side) 24.8 203.8 50 ...

  • Mitsubishi HG-AK - page 235

    7. HG-SR SERIES 7 - 80 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG5 HG-SR3524BG5 3.5 HPG-32A-05-F0PBZI-S 1/5 44 92.8 30 [Unit: mm] Bottom Top Top Bottom 341 45.5 Caution plate Motor plate (Opposite side) 24.8 227.8 50.9 13 Encoder connector CMV1-R ...

  • Mitsubishi HG-AK - page 236

    7. HG-SR SERIES 7 - 81 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG5 HG-SR5024BG5 5.0 HPG-50A-05-F0BBCF-S 1/5 44 119 42 HPG-50A-11-F0BBDF-S 1/11 117 44 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Top Bottom 377 45.5 Caution plate ...

  • Mitsubishi HG-AK - page 237

    7. HG-SR SERIES 7 - 82 7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an electromagnetic brake) Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR52G7 HG-SR524G7 0.5 HPG-20A-05-J2KSAW S-S 1/5 7.95 8.0 HPG-20A-11-J2KSAXS-S 1/11 7.82 8.2 [Unit: mm] ...

  • Mitsubishi HG-AK - page 238

    7. HG-SR SERIES 7 - 83 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G7 HG-SR1024G7 1.0 HPG-20A-05-J2KSAWS-S 1/5 12.3 9.4 [Unit: mm] 227.5 20.9 166.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 60 10 80 4 5 ° 38.2 Caution plate Motor plate (Opposite side) 50.9 ...

  • Mitsubishi HG-AK - page 239

    7. HG-SR SERIES 7 - 84 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR102G7 HG-SR1024G7 1.0 HPG-50A-33-J2AABC-S 1/33 16.3 26 HPG-50A-45-J2AABC-S 1/45 16.3 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 255.5 38.2 Motor plate (Opposite side) 20.9 194.8 50 ...

  • Mitsubishi HG-AK - page 240

    7. HG-SR SERIES 7 - 85 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR152G7 HG-SR1524G7 1.5 HPG-32A-11-J2MCSPS-S 1/11 19.4 16 [Unit: mm] Caution plate Caution plate Bottom Top Top Top Bottom 253.5 38.2 Motor plate (Opposite side ) 20.9 192.8 50.9 13 Encoder connector CMV1-R10P Power supply ...

  • Mitsubishi HG-AK - page 241

    7. HG-SR SERIES 7 - 86 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR202G7 HG-SR2024G7 2.0 HPG-32A-05-J2PBZI-S 1/5 51.7 20 HPG-32A-11-J2PBZJ-S 1/11 51.3 21 [Unit: mm] 267.5 24.8 203.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 91 13 35 82 133 12.5 13 For reverse ...

  • Mitsubishi HG-AK - page 242

    7. HG-SR SERIES 7 - 87 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR352G7 HG-SR3524G7 3.5 HPG-32A-05-J2PBZI-S 1/5 83.5 25 [Unit: mm] 291.5 24.8 227.8 Bottom Top U W V Power supply connector Motor flange direction Key 25 91 13 35 82 133 12.5 13 For reverse rotation command For forward rota ...

  • Mitsubishi HG-AK - page 243

    7. HG-SR SERIES 7 - 88 Model Output [kW] Reducer model Reduc tion ratio Moment of inertia J [× 10 -4 kg•m 2 ] M ass [kg] HG-SR502G7 HG-SR5024G7 5.0 HPG-50A-05-J2BBCF-S 1/5 111 39 HPG-50A-11-J2BBDF-S 1/11 108 41 [Unit: mm] Caution plate Bottom Top Top Bottom 327.5 24.8 263.8 Power supply connector MS3102A22-22P Bottom Top Bottom Top U W V Power s ...

  • Mitsubishi HG-AK - page 244

    7. HG-SR SERIES 7 - 89 7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an electromagnetic brake) Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR52BG7 HG-SR524BG7 0.5 HPG-20A-05-J2KSAWS-S 1/5 8.5 10.2 9.9 HPG-20A ...

  • Mitsubishi HG-AK - page 245

    7. HG-SR SERIES 7 - 90 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG7 HG-SR1024BG7 1.0 HPG-20A-05-J2KSAWS-S 1/5 8.5 14.5 12 [Unit: mm] Caution plate Bottom Top Bottom Top Top Bottom 262 43.5 Caution plate Motor plate (Opposite side) 20.9 166.8 50.9 ...

  • Mitsubishi HG-AK - page 246

    7. HG-SR SERIES 7 - 91 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR102BG7 HG-SR1024BG7 1.0 HPG-50A-33-J2AABC-S 1/33 8.5 18.5 28 HPG-50A-45-J2AABC-S 1/45 18.5 [Unit: mm] Motor plate Caution plate Bottom Top Bottom Top Top Bottom 290 43.5 Caution plate Mo ...

  • Mitsubishi HG-AK - page 247

    7. HG-SR SERIES 7 - 92 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR152BG7 HG-SR1524BG7 1.5 HPG-32A-11-J2MCSPS-S 1/11 8.5 21.6 18 [Unit: mm] Motor plate Caution plate Caution plate Bottom Top Bottom Top Top Bottom 288 43.5 Caution plate Motor plate (Oppo ...

  • Mitsubishi HG-AK - page 248

    7. HG-SR SERIES 7 - 93 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR202BG7 HG-SR2024BG7 2.0 HPG-32A-05-J2PBZI-S 1/5 44 61.4 26 HPG-32A-11-J2PBZJ-S 1/11 61.0 27 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 317 45.5 Caution plate Motor plate ...

  • Mitsubishi HG-AK - page 249

    7. HG-SR SERIES 7 - 94 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR352BG7 HG-SR3524BG7 3.5 HPG-32A-05-J2PBZI-S 1/5 44 93.1 31 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 341 45.5 Caution plate Motor plate (Opposite side) 24.8 227.8 50.9 1 ...

  • Mitsubishi HG-AK - page 250

    7. HG-SR SERIES 7 - 95 Model Output [kW] Reducer model Reduction ratio Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-SR502BG7 HG-SR5024BG7 5.0 HPG-50A-05-J2BBCF-S 1/5 44 121 45 HPG-50A-11-J2BBDF-S 1/11 117 47 [Unit: mm] Motor plate Caution plate Bottom Top Top Bottom 377 45.5 Caution plate Motor plate (O ...

  • Mitsubishi HG-AK - page 251

    7. HG-SR SERIES 7 - 96 MEMO ...

  • Mitsubishi HG-AK - page 252

    8. HG-JR SERIES 8 - 1 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 characteri stics. When using the HG- JR series servo motor, always read the Safety ...

  • Mitsubishi HG-AK - page 253

    8. HG-JR SERIES 8 - 2 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 Servo amplifier MR-J4 1-axis MR-J4 2-axis Standard When the maximum torque is 400% (Note) Standard When the maximum torque is 400% (Note) HG-JR53 MR-J4-60A MR-J4-60A-RJ MR-J4-60B MR-J4-60 ...

  • Mitsubishi HG-AK - page 254

    8. HG-JR SERIES 8 - 3 (b) 1500 r/min series Servo motor Servo amplifier Drive unit HG-JR701M MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 HG-JR11K1M MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 MR-J4-11KB-RJ020 HG-JR15K1M MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 MR-J4-15KB-RJ020 ...

  • Mitsubishi HG-AK - page 255

    8. HG-JR SERIES 8 - 4 (c) 1000 r/min series Servo motor Servo amplifier Drive unit HG-JR601 MR-J4-700A MR-J4-700A-RJ MR-J4-700B MR-J4-700B-RJ MR-J4-700B-RJ010 HG-JR801 MR-J4-11KA MR-J4-11KA-RJ MR-J4-11KB MR-J4-11KB-RJ MR-J4-11KB-RJ010 HG-JR12K1 HG-JR15K1 MR-J4-15KA MR-J4-15KA-RJ MR-J4-15KB MR-J4-15KB-RJ MR-J4-15KB-RJ010 HG-JR20K1 MR-J4-22KA MR-J4-2 ...

  • Mitsubishi HG-AK - page 256

    8. HG-JR SERIES 8 - 5 (2) Compatible with 3-phase 400 V AC (a) 3000 r/min series Servo motor Servo amplifier Servo motor Servo amplifi er Standard When the maximum torque is 400% (Note) MR-J4-60A4 MR-J4-100A4 MR-J4-700A4 MR-J4-60A4-RJ MR-J4-100A 4-RJ MR-J4-700A4-RJ HG-JR534 MR-J4-60B4 MR-J4-100B4 HG-JR7034 MR-J4-700B4 MR-J4-60B4-RJ MR-J4-100B 4-RJ ...

  • Mitsubishi HG-AK - page 257

    8. HG-JR SERIES 8 - 6 (b) 1500 r/min series Servo motor Servo amplifier Drive unit HG-JR701M4 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 HG-JR11K1M4 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 MR-J4-11KB4-RJ020 HG-JR15K1M4 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ01 ...

  • Mitsubishi HG-AK - page 258

    8. HG-JR SERIES 8 - 7 (c) 1000 r/min series Servo motor Servo amplifier Drive unit HG-JR6014 MR-J4-700A4 MR-J4-700A4-RJ MR-J4-700B4 MR-J4-700B4-RJ MR-J4-700B4-RJ010 HG-JR8014 MR-J4-11KA4 MR-J4-11KA4-RJ MR-J4-11KB4 MR-J4-11KB4-RJ MR-J4-11KB4-RJ010 HG-JR12K14 HG-JR15K14 MR-J4-15KA4 MR-J4-15KA4-RJ MR-J4-15KB4 MR-J4-15KB4-RJ MR-J4-15KB4-RJ010 HG-JR20K1 ...

  • Mitsubishi HG-AK - page 259

    8. HG-JR SERIES 8 - 8 8.3 Standard specifications 8.3.1 Standard specifications list Servo motor Item HG-JR 3000 r/min series (Compatible with 3-phase 200 V AC, low inertia/medium capacity) 53(B) 73(B) 103(B) 153(B) 203(B) 353(B) 503(B) 703(B) 903(B) Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo a ...

  • Mitsubishi HG-AK - page 260

    8. HG-JR SERIES 8 - 9 Servo motor Item 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 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Continuous running duty ( ...

  • Mitsubishi HG-AK - page 261

    8. HG-JR SERIES 8 - 10 Servo motor Item HG-JR 1000 r/min series (Compatible with 3-phase 200 V AC, low inertia/large capacity) 601(B) 801(B) 12K1(B) 15K1 20K1 25K1 30K1 37K1 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Continuous running dut ...

  • Mitsubishi HG-AK - page 262

    8. HG-JR SERIES 8 - 11 Servo motor Item 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) Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manua ...

  • Mitsubishi HG-AK - page 263

    8. HG-JR SERIES 8 - 12 Servo motor Item HG-JR 1500 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 701M4 (B) 11K1M4 (B) 15K1M4 (B) 22K1M4 30K1M4 37K1M4 45K1M4 55K1M4 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Co ...

  • Mitsubishi HG-AK - page 264

    8. HG-JR SERIES 8 - 13 Servo motor Item HG-JR 1000 r/min series (Compatible with 3-phase 400 V AC, low inertia/large capacity) 6014(B) 8014(B) 12K14(B) 15K14 20K14 25K14 30K14 37K14 Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Continuous run ...

  • Mitsubishi HG-AK - page 265

    8. HG-JR SERIES 8 - 14 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 obje cts ...

  • Mitsubishi HG-AK - page 266

    8. HG-JR SERIES 8 - 15 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 machi ne should be kept at 70% or less of the rated torque. (1) 3-phase 200 V AC When the power supply input of the servo amplif ier is 3-phase 200 V AC or 1-phase 230 V AC, the to ...

  • Mitsubishi HG-AK - page 267

    8. HG-JR SERIES 8 - 16 (b) 1500 r/min series [HG-JR701M] 0 Torque [N•m] 0 180 60 120 1000 2000 3000 Speed [r/min] Short-duration running range Continuous running range [HG-JR11K1M] 1000 2000 3000 0 Speed [r/min] Continuous running range Short-duration running range Torque [N•m] 0 250 100 200 1000 2000 3000 0 [HG-JR15K1M] Speed [r/min] Continuou ...

  • Mitsubishi HG-AK - page 268

    8. HG-JR SERIES 8 - 17 (2) 3-phase 400 V AC When the power supply input of the servo amplifier is 3-phase 400 V AC, the to rque characteristic is indicated by the heavy line. For the 3-phase 380 V AC pow er supply, part of the to rque characteristic is indicated by the thin line. (a) 3000 r/min series [HG-JR534] 1000 3000 5000 6000 0 (Note 4) Speed ...

  • Mitsubishi HG-AK - page 269

    8. HG-JR SERIES 8 - 18 (b) 1500 r/min series [HG-JR701M4] 0 1000 2000 3000 Speed [r/min] Torque [N•m] 60 120 180 0 Short-duration running range Continuous running range [HG-JR11K1M4] 1000 2000 3000 0 Speed [r/min] Continuous running range Short-duration running range Torque [N•m] 0 200 250 100 1000 2000 3000 0 [HG-JR15K1M4] Speed [r/min] Contin ...

  • Mitsubishi HG-AK - page 270

    8. HG-JR SERIES 8 - 19 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 driv e 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 th ...

  • Mitsubishi HG-AK - page 271

    8. HG-JR SERIES 8 - 20 8.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable. K is the symbol attached to the servo motor model names. Servo motor Shaft shape Key shaft (without key ) HG-JR_(4)(B)K K Variable dimension table [Unit: mm] Servo motor Variable dimensions Figur ...

  • Mitsubishi HG-AK - page 272

    8. HG-JR SERIES 8 - 21 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 leve l in the gear box to be lower than the oil seal lip always. Gear Shaft Servo motor Oil seal Height above oil level h Lip Servo motor O il level h [mm] HG-JR53(4)(B) HG-JR73(4)(B) HG-JR103(4)(B) ...

  • Mitsubishi HG-AK - page 273

    8. HG-JR SERIES 8 - 22 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 toler ances are general tolerance. 8.8.1 Terminal box detail diagram HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/ HG-J ...

  • Mitsubishi HG-AK - page 274

    8. HG-JR SERIES 8 - 23 8.8.2 Standard (without an electromagnetic brake) Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR53 0.5 1.52 3.0 HG-JR534 [Unit: mm] 127.5 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38.2 50.9 Oil seal Caution plate Power supply connector MS3102A18-10P Encoder connector CMV1-R10P Caution pl ...

  • Mitsubishi HG-AK - page 275

    8. HG-JR SERIES 8 - 24 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR73 0.75 2.09 3.7 HG-JR734 [Unit: mm] 145.5 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 40 7.5 5 30 38.2 50.9 Top Bottom Top Bottom Oil seal Bottom Top Caution plate Motor plate Power supply connector MS3102A18-10P Encoder connector CMV1-R10P Caution plate Motor pl ...

  • Mitsubishi HG-AK - page 276

    8. HG-JR SERIES 8 - 25 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR103 1.0 2.65 4.5 HG-JR1034 [Unit: mm] 163.5 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38.2 50.9 Top Bottom Oil seal Caution plate Motor plate Power supply connector MS3102A18-10P Encoder connector CMV1-R10P Caution plate Motor plate (Opposite ...

  • Mitsubishi HG-AK - page 277

    8. HG-JR SERIES 8 - 26 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR153 1.5 3.79 5.9 HG-JR1534 [Unit: mm] 199.5 φ 80h7 φ 16h6 40 7.5 5 30 38.2 50.9 Top Bottom Oil seal Caution plate Motor plate Power supply connector MS3102A18-10P Encoder connector CMV1-R10P Caution plate Motor plate (Opposite side) 148 from the flang ...

  • Mitsubishi HG-AK - page 278

    8. HG-JR SERIES 8 - 27 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR353 3.5 13.2 13 [Unit: mm] 55 3 12 50 φ 110h7 Oil seal 213 38.2 50.9 116.8 φ 28h6 □ 130 φ 1 6 5 φ 1 4 5 Power supply connector MS3102A22-22P Encoder connector CMV1-R10P Bottom Top Bottom Top Motor plate (Opposite side) Caution plate Bottom Top 4- ...

  • Mitsubishi HG-AK - page 279

    8. HG-JR SERIES 8 - 28 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR503 5.0 19.0 18 [Unit: mm] Motor plate (Opposite side) Caution plate 55 3 12 50 φ 110h7 Oil seal 267 38.2 50.9 φ 28h6 □ 130 4 5 ° φ 1 6 5 φ 1 4 5 116.8 Power supply connector MS3102A22-22P Encoder connector CMV1-R10P 80 282 13 15.5 34 71 95.8 W V ...

  • Mitsubishi HG-AK - page 280

    8. HG-JR SERIES 8 - 29 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR703 7.0 43.3 29 HG-JR7034 [Unit: mm] φ 114.3 0 -0.025 263.5 38.5 50.9 163.3 φ 35 +0.010 0 Oil seal Power supply connector MS3102A32-17P Encoder connector CMV1-R10P Bottom T op Motor plate Caution plate 13 285.4 92.1 28.5 133.5 Bottom Top Bottom Top φ ...

  • Mitsubishi HG-AK - page 281

    8. HG-JR SERIES 8 - 30 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Ma ss [kg] HG-JR601 6 HG-JR6014 176 53 HG-JR701M 7 HG-JR701M4 [Unit: mm] Powe r suppl y conn ect or Motor flange direction BC43502* BC43503* BC43504* BC43505* Caution plate Caution plate Motor plate Bottom Top Top Bottom Top (Note) *2 (Note) *1 (Note) *4 (Note) *3 U ( ...

  • Mitsubishi HG-AK - page 282

    8. HG-JR SERIES 8 - 31 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR12K1 12 315 86 HG-JR12K14 HG-JR15K1M 15 HG-JR15K1M4 [Unit: mm] 365.5 32 4 82 171.1 φ 2 3 5 φ 2 7 0 4 5 ° 37 . 5 ° □ 220 2-M8 screw φ 55m6 φ 200h7 Oil seal M10 screw 27 110 116 4 20 439.5 19.5 81 Motor plate (Opposite side) φ 2 5 0 40 4- φ 13.5 ...

  • Mitsubishi HG-AK - page 283

    8. HG-JR SERIES 8 - 32 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR15K1 15 489 120 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] 4- φ 24 mounting hole Use hexagon socket ...

  • Mitsubishi HG-AK - page 284

    8. HG-JR SERIES 8 - 33 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR20K1 20 HG-JR20K14 627 145 HG-JR30K1M 30 HG-JR30K1M4 [Unit: mm] φ 230h7 140 Intake Exhaust 5 538 236 300 Approx. 42 35 M12 screw Power lead hole Encoder connector MS3102A20-29P Cooling fan connector CE05-2A14S-2P 130 Oil seal Top Motor plate/ Caution p ...

  • Mitsubishi HG-AK - page 285

    8. HG-JR SERIES 8 - 34 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR25K1 25 HG-JR25K14 764 165 HG-JR37K1M 37 HG-JR37K1M4 [Unit: mm] Cooling fan rotation d irection Caution plate Motor plate Top Intake □ 250 (Flange) Eyebolt (Note 2, 3) 247 4 5 ° φ 2 6 5 φ 3 3 0 62 62 4- φ 24 mounting hole Use hexagon socket head c ...

  • Mitsubishi HG-AK - page 286

    8. HG-JR SERIES 8 - 35 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR30K1 30 HG-JR30K14 1377 215 HG-JR45K1M4 45 [Unit: mm] Caution plate Motor plate Top Top Bottom 600 330 275 300 140 35 5 140 φ 250h7 φ 63 Power lead hole M16 screw Oil seal Top Exhaust □ 280 (Flange) 247 4 5° φ 3 0 0 φ 37 0 4- φ 24 mounting hole ...

  • Mitsubishi HG-AK - page 287

    8. HG-JR SERIES 8 - 36 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR37K1 37 HG-JR37K14 1637 240 HG-JR55K1M4 55 [Unit: mm] 300 140 35 5 140 φ 250h7 φ 63 Power lead hole M16 screw Oil seal Top Exhaust □ 280 (Flange) 247 4 5 ° φ 3 0 0 φ 3 70 4- φ 24 mounting hole Use hexagon socket head cap screw. 305 133 150 250 1 ...

  • Mitsubishi HG-AK - page 288

    8. HG-JR SERIES 8 - 37 8.8.3 With an electromagnetic brake Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR53B 0.5 6.6 2.02 4.4 HG-JR534B [Unit: mm] 173 φ 80h7 φ 16h6 40 7.5 5 30 38 50.9 Top Oil seal Caution plate Motor plate Caution plate Motor plate (Opposite side) 76 from the fla ...

  • Mitsubishi HG-AK - page 289

    8. HG-JR SERIES 8 - 38 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR73B 0.75 6.6 2.59 5.1 HG-JR734B [Unit: mm] 191 φ 80h7 φ 16h6 40 7.5 5 30 38 50.9 Top Bottom Top Bottom Oil seal Bottom T op Bottom Top Caution plate Motor plate Caution plate Motor plate (Opposite side) 94 from t ...

  • Mitsubishi HG-AK - page 290

    8. HG-JR SERIES 8 - 39 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR103B 1.0 6.6 3.15 5.9 HG-JR1034B [Unit: mm] 209 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38 50.9 Top Bottom Top Bottom Oil seal Bottom Top Bottom Top Caution plate Motor plate Caution plate Motor plate ...

  • Mitsubishi HG-AK - page 291

    8. HG-JR SERIES 8 - 40 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR153B 1.5 6.6 4.29 7.3 HG-JR1534B [Unit: mm] BC42629* BC42640* 245 □ 90 φ 1 1 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38 50.9 Top Bottom Top Bottom Oil seal Bottom Top Bottom Top Caution plate Motor plate Caution ...

  • Mitsubishi HG-AK - page 292

    8. HG-JR SERIES 8 - 41 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR203B 2.0 6.6 5.42 8.9 HG-JR2034B [Unit: mm] 281 □ 90 φ 11 8 φ 1 0 0 φ 80h7 φ 16h6 40 7.5 5 30 38 50.9 Top Bottom Top Bottom Oil seal Bottom Top Bottom Top Caution plate Motor plate Caution plate Motor plate ( ...

  • Mitsubishi HG-AK - page 293

    8. HG-JR SERIES 8 - 42 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR353B 3.5 16 15.4 15 [Unit: mm] Motor plate (Opposite side) Caution plate Bottom Top 55 3 12 50 φ 110h7 251.5 43.5 50.9 79.9 116.8 φ 28h6 Caution plate Caution plate Motor plate Bottom Top Bottom Top Bottom Top ? ...

  • Mitsubishi HG-AK - page 294

    8. HG-JR SERIES 8 - 43 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR503B 5.0 16 21.2 20 [Unit: mm] Motor plate (Opposite side) Caution plate Bottom Top 55 3 12 50 305.5 43.5 Caution plate Caution plate Motor plate Bottom Top Bottom Top Bottom Top □ 130 4 5 ° 4- φ 9 mounting hol ...

  • Mitsubishi HG-AK - page 295

    8. HG-JR SERIES 8 - 44 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR703B 7.0 44 52.9 35 HG-JR7034B [Unit: mm] 79 3 18 75 φ 114.3 0 -0.025 313 45.5 50.9 96.9 163.3 Oil seal Bottom Top Motor plate Caution plate 13 66.5 285.4 92.1 28.5 133.5 44 Bottom Top Bottom Top Caution plate □ ...

  • Mitsubishi HG-AK - page 296

    8. HG-JR SERIES 8 - 45 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR601B 6 HG-JR6014B 126 196 65 HG-JR701MB 7 HG-JR701M4B [Unit: mm] U (PE) W V B C A D Power connector Motor flange direction BC43510* BC43511* BC43512* BC43513* Key B A Electromagnetic brake connector Motor flange di ...

  • Mitsubishi HG-AK - page 297

    8. HG-JR SERIES 8 - 46 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-JR12K1B 12 126 336 97 HG-JR12K14B HG-JR15K1MB 15 HG-JR15K1M4B [Unit: mm] 82 4 54 171.1 □ 220 4 5 ° 3 7 . 5 ° 2-M8 screw φ 2 7 0 φ 2 5 0 φ 2 3 5 Caution plate Caution plate φ 200h7 27 M10 screw Oil seal φ 55m ...

  • Mitsubishi HG-AK - page 298

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

  • Mitsubishi HG-AK - page 299

    9. HG-RR SERIES 9 - 2 9.3 Standard specifications 9.3.1 Standard specifications list Servo motor Item HG-RR series (ultra-low inertia/medium capacity) 103(B) 153(B) 203(B) 353(B) 503(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Continuous ...

  • Mitsubishi HG-AK - page 300

    9. HG-RR SERIES 9 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to 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 obje cts ...

  • Mitsubishi HG-AK - page 301

    9. HG-RR SERIES 9 - 4 9.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifier is 3-phase 200 V AC, the to rque characteristic is indicated by the he ...

  • Mitsubishi HG-AK - page 302

    9. HG-RR SERIES 9 - 5 9.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e 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 tha ...

  • Mitsubishi HG-AK - page 303

    9. HG-RR SERIES 9 - 6 9.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable. K is the symbol attached to the servo motor model names. Servo motor Shaft shape Key shaft (without key ) HG-RR_(B)K K Servo motor Variable dimensions S R Q W QK QL U r HG-RR103(B)K HG-RR153(B)K H ...

  • Mitsubishi HG-AK - page 304

    9. HG-RR SERIES 9 - 7 9.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for 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 inerti ...

  • Mitsubishi HG-AK - page 305

    9. HG-RR SERIES 9 - 8 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR203 2.0 2.30 6.2 [Unit: mm] 38 195.5 45 40 3 10 50.9 119.5 13 φ 95h7 φ 24h6 Caution plate Motor plate Caution plate Bottom Top Bottom Top Bottom Top □ 100 94.8 44 4 5 ° φ 1 1 5 φ 1 3 5 Bottom Top Encoder connector CMV1-R10P Power supply connector ...

  • Mitsubishi HG-AK - page 306

    9. HG-RR SERIES 9 - 9 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR503 5.0 12.0 17 [Unit: mm] φ 110h7 58 63 204.5 272.5 φ 28h6 13 50.9 38.2 12 3 117.4 φ 1 6 5 φ 1 4 5 4 5 ° 46 □ 130 Caution plate Motor plate Caution plate Encoder connector CMV1-R10P Power supply connector CE05-2A24-10P Motor plate (Opposite side) ...

  • Mitsubishi HG-AK - page 307

    9. HG-RR SERIES 9 - 10 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR153B 1.5 7.0 2.25 7.0 [Unit: mm] 38 208 45 40 3 10 50.9 94.5 φ 95h7 φ 24h6 □ 100 94.8 44 4 5 ° φ 1 1 5 φ 1 35 Caution plate Motor plate Caution plate 13 Encoder connector CMV1-R10P Power supply connector CE0 ...

  • Mitsubishi HG-AK - page 308

    9. HG-RR SERIES 9 - 11 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-RR353B 3.5 17 11.8 15 [Unit: mm] φ 110h7 58 63 147.5 252 φ 28h6 13 50.9 42 12 3 117.4 φ 1 6 5 φ 1 4 5 4 5 ° 46 □ 130 Caution plate Motor plate Caution plate Power supply connector CE05-2A24-10P Encoder connect ...

  • Mitsubishi HG-AK - page 309

    9. HG-RR SERIES 9 - 12 MEMO ...

  • Mitsubishi HG-AK - page 310

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

  • Mitsubishi HG-AK - page 311

    10. HG-UR SERIES 10 - 2 10.3 Standard specifications 10.3.1 Standard specifications list Servo motor Item HG-UR 2000 r/min series (flat type/medium capacity) 72(B) 152(B) 202(B) 352(B) 502(B) Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual. Conti ...

  • Mitsubishi HG-AK - page 312

    10. HG-UR SERIES 10 - 3 Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed. 2. If the load to 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 obje ct ...

  • Mitsubishi HG-AK - page 313

    10. HG-UR SERIES 10 - 4 10.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque. When the power supply input of the servo amplifie r is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic ...

  • Mitsubishi HG-AK - page 314

    10. HG-UR SERIES 10 - 5 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 driv e 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 ...

  • Mitsubishi HG-AK - page 315

    10. HG-UR SERIES 10 - 6 10.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbol (K) in the table are av ailable. K is the symbol attached to the servo motor model names. Servo motor Shaft shape Key shaft (without key ) HG-UR_(B)K K Servo motor Variable dimensions S R Q W QK QL U r HG-UR72(B)K 22h6 55 50 6 ...

  • Mitsubishi HG-AK - page 316

    10. HG-UR SERIES 10 - 7 10.7 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without toler ances are general tolerance. 10.7.1 Standard (without an electromagnetic brake) Model Output [kW] Moment of i ...

  • Mitsubishi HG-AK - page 317

    10. HG-UR SERIES 10 - 8 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR202 2.0 38.2 16 [Unit: mm] 38 116.5 4 65 60 φ 35 +0.010 0 φ 200 0 -0.046 42.5 50.9 13 16 □ 220 164.9 4 5 ° 3 7 . 5 ° φ 2 3 5 φ 2 5 0 φ 2 7 0 47 2-M8 screw 4- φ 13.5 mounting hole Use hexagon socket head cap screw. Caution plate Motor plate Ca ...

  • Mitsubishi HG-AK - page 318

    10. HG-UR SERIES 10 - 9 Model Output [kW] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR502 5.0 115 24 [Unit: mm] 38 164.5 4 65 60 φ 35 +0.010 0 φ 200 0 -0.046 90.5 50.9 13 16 □ 220 164.9 4 5 ° 3 7 . 5 ° φ 2 3 5 φ 2 5 0 φ 2 7 0 47 2-M8 screw 4- φ 13.5 mounting hole Use hexagon socket head cap screw. Caution plate Motor plate Cau ...

  • Mitsubishi HG-AK - page 319

    10. HG-UR SERIES 10 - 10 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR152B 1.5 8.5 24.2 13 [Unit: mm] 40 □ 176 141.3 50.9 13 152 55 50 3 47.5 φ 28h6 φ 114.3 0 -0.025 4 5 ° 4 0 ° φ 2 0 0 φ 2 3 0 φ 2 1 5 44 Motor plate (Opposite side) Caution plate 2-M6 screw Motor plate Cau ...

  • Mitsubishi HG-AK - page 320

    10. HG-UR SERIES 10 - 11 Model Output [kW] Brake stat ic friction torque [N•m] Mo ment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-UR352B 3.5 44 85.1 26 [Unit: mm] 39.2 183.5 4 65 60 66.5 50.9 Motor plate (Opposite side) Caution plate 16 □ 220 164.9 4 5 ° 3 7 . 5 ° φ 2 3 5 φ 2 5 0 φ 2 7 0 47 2-M8 screw 4- φ 13.5 mounting hole Use hexag ...

  • Mitsubishi HG-AK - page 321

    10. HG-UR SERIES 10 - 12 MEMO ...

  • Mitsubishi HG-AK - page 322

    11. HG-AK SERIES 11 - 1 11. HG-AK SERIES POINT For combination with the MR-J3W-0303BN6 servo amplifier, refer to "Servo Motor Instruction Manual (Vol. 2)" (SH(NA)030041). This chapter provides information on the servo motor specifications and characteri stics. When using the HG- AK series servo motor, always read the Safety Instru ctions ...

  • Mitsubishi HG-AK - page 323

    11. HG-AK SERIES 11 - 2 11.3 Standard specifications 11.3.1 Standard specifications list Servo motor Item HG-AK series 0136(B) 0236(B) 0336(B) Power supply capacity Refer to "Power supply equipment capacit y and generated loss of servo amplifiers" of each servo amplifier instruction manual. Continuous running duty (Note 1) Rated output [W ...

  • Mitsubishi HG-AK - page 324

    11. HG-AK SERIES 11 - 3 5. The following figure shows the vibration directions. The va lue is the one at the part that indicates the maximum value (no rmally the opposite to load-side bracket). When the servo motor stops, fre tting is likely to occur at t he bearing. Therefore, suppress the vibration to about half of the permissible value. Y X Serv ...

  • Mitsubishi HG-AK - page 325

    11. HG-AK SERIES 11 - 4 11.3.2 Torque characteristics POINT For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machi ne should be kept at 70% or less of the rated torque. For the torque characteristics, MR-J4W03PWCBL5M-H or MR- J4W03PWBRCBL5M-H was used for connec ting servo amplifiers an ...

  • Mitsubishi HG-AK - page 326

    11. HG-AK SERIES 11 - 5 11.4 Electromagnetic brake characteristics CAUTION The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical driv e 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 ...

  • Mitsubishi HG-AK - page 327

    11. HG-AK SERIES 11 - 6 11.5 Servo motors with special shafts The servo motors with special shafts indicated by the sy mbols (D) in the table are av ailable. D is the symbol attached to the servo motor model names. Servo motor Shaft shape D cut shaft HG-AK_(B) D [Unit: mm] 16 13 10 0.5 5h6 ...

  • Mitsubishi HG-AK - page 328

    11. HG-AK SERIES 11 - 7 11.6 Dimensions Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake to servo motor shaft. The dimensions without toler ances are general tolerance. ...

  • Mitsubishi HG-AK - page 329

    11. HG-AK SERIES 11 - 8 11.6.1 Standard (without an electromagnetic brake) Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0136 10 0.0029 0.12 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (P ...

  • Mitsubishi HG-AK - page 330

    11. HG-AK SERIES 11 - 9 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0236 20 0.0045 0.14 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power lead 4-AWG24) 16 13 61 5.4 2.5 φ 20h7 37.7 20 ...

  • Mitsubishi HG-AK - page 331

    11. HG-AK SERIES 11 - 10 Model Output [W] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0336 30 0.0061 0.16 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0(Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0(Manufactured by JST) ( Power lead 4- AWG 24) 16 13 68 5.4 2.5 φ 20h7 44.7 ...

  • Mitsubishi HG-AK - page 332

    11. HG-AK SERIES 11 - 11 11.6.2 With an electromagnetic brake Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0136B 10 0.095 0.0042 0.22 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01G ...

  • Mitsubishi HG-AK - page 333

    11. HG-AK SERIES 11 - 12 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0236B 20 0.095 0.0058 0.24 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power l ...

  • Mitsubishi HG-AK - page 334

    11. HG-AK SERIES 11 - 13 Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10 -4 kg•m 2 ] Mass [kg] HG-AK0336B 30 0.095 0.0074 0.26 [Unit: mm] Encoder cable Housing: J21DF-10V-KX-L Terminal: SJ2F-002GF-P1.0 (Manufactured by JST) Power cable Housing: J21DF-06V-KX-L Terminal: SJ2F-01GF-P1.0 (Manufactured by JST) (Power l ...

  • Mitsubishi HG-AK - page 335

    11. HG-AK SERIES 11 - 14 MEMO ...

  • Mitsubishi HG-AK - page 336

    APPENDIX App. - 1 App. 1 Servo motor ID codes Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor F053 HG-MR053 FF13 HG-MR13 0101 FF23 HG-MR23 FF43 HG-MR43 FF73 HG-MR73 F053 HG-KR053 FF13 HG-KR13 0111 FF23 HG-KR23 FF43 HG-KR43 FF73 HG-KR73 0121 FF51 HG-SR51 FF81 HG-SR81 F121 HG-SR121 F201 HG-SR201 F301 HG-SR301 F421 HG-SR42 ...

  • Mitsubishi HG-AK - page 337

    APPENDIX App. - 2 Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor FF53 HG-JR534 FF73 HG-JR734 F103 HG-JR1034 F153 HG-JR1534 F203 HG-JR2034 F353 HG-JR3534 F503 HG-JR5034 F703 HG-JR7034 0132 F903 HG-JR9034 F701 HG-JR701M4 1101 HG-JR11K1M4 1501 HG-JR15K1M4 2201 HG-JR22K1M4 3001 HG-JR30K1M4 3701 HG-JR37K1M4 4501 HG-JR45K1M4 ...

  • Mitsubishi HG-AK - page 338

    APPENDIX App. - 3 App. 2 Manufacturer list Names given in the table are as of April 2015. Manufacturer Contact 3M 3M JST J.S.T. Mfg. Co., Ltd. JX Nippon Oil & Energy JX Ni ppon Oil & Energy Corporation Idemitsu Kosan Idemitsu Kosan Co., Ltd Exxon Mobil Exxon Mobil Corporation Cosmo Oil Cosmo Oil Co., Ltd. Shell Oil Shell Oil Company DDK DDK ...

  • Mitsubishi HG-AK - page 339

    APPENDIX App. - 4 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 mark ing must be affixed to the product. The CE marking also applies to machines and equipment incorporating servo ...

  • Mitsubishi HG-AK - page 340

    APPENDIX App. - 5 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, performanc e, specifications, etc. of the UL/CSA standard- compliant models are the same as those of the standard models ...

  • Mitsubishi HG-AK - page 341

    APPENDIX App. - 6 (2) Selection example of wires To comply with the UL/CSA standard, use UL-appr oved 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 14 (Note) 16 (Note) HG-MR13 HG-MR23 HG-MR43 HG-MR73 HG-KR053 HG-KR13 HG-K ...

  • Mitsubishi HG-AK - page 342

    APPENDIX App. - 7 (c) HG-JR series 1) 3000 r/min series Servo motor Wire [AWG] U/V/W/ B1/B2 Standard When the maximum torque is 400% (Note 2) HG-JR53 HG-JR73 HG-JR103 14 14 HG-JR153 HG-JR203 HG-JR353 12 12 (Note 1) HG-JR503 10 (Note 1) 10 (Note 1) HG-JR703 8 (Note 1) HG-JR903 6 (Note 1) 16 HG-JR534 HG-JR734 HG-JR1034 14 14 HG-JR1534 HG-JR2034 HG-JR ...

  • Mitsubishi HG-AK - page 343

    APPENDIX App. - 8 3) 1000 r/min series Servo motor Wire [AWG] U/V/W/ B1/B2 BU/BV/BW HG-JR601 8 (Note) HG-JR801 6 (Note) 16 HG-JR12K1 HG-JR15K1 4 (Note) HG-JR20K1 2 (Note) HG-JR25K1 16 HG-JR30K1 2/0 (Note) HG-JR37K1 HG-JR6014 12 (Note) HG-JR8014 10 (Note) 16 HG-JR12K14 8 (Note) HG-JR15K14 HG-JR20K14 HG-JR25K14 6 (Note) 16 HG-JR30K14 HG-JR37K14 4 (No ...

  • Mitsubishi HG-AK - page 344

    APPENDIX App. - 9 App. 5 Calculation methods for designing 5.1 Specification symbol list The following symbols are required for selecting the proper servo. T a : Acceleration torque [N•m] g: Gravitational acceleration (9.8 [m/s 2 ]) T d : Deceleration torque [N•m] µ: Friction coefficient T Ma : Torque necessary for acceleration [N•m] π : Pi ...

  • Mitsubishi HG-AK - page 345

    APPENDIX App. - 10 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 P f , and is represented by Equation 5.1. As the number of feedback pulses depends on the servo motor series, re ...

  • Mitsubishi HG-AK - page 346

    APPENDIX App. - 11 Relation between position resolution ∆ l and overall accuracy Positioning accuracy of machine is the sum of electric al errors and mechanical errors. Normally, provisions should be made so that positioning accuracy are not affe cted by electrical system errors. As a guideline, Equation 5.3 should be satisfied. ∆ l < 5 1 10 ...

  • Mitsubishi HG-AK - page 347

    APPENDIX App. - 12 [Setting example] Obtain the command pulse frequency required to run the HG-KR at 3000 r/min. The following result will be found according to equation 5.6. f 0 = 4194304 • 60 N 0 • CMX CDV (Command pulse frequency) = 4194304 • 60 3000 • 1 = 209715200 [pulses/s] However, as the maximum input command pulse frequency in the ...

  • Mitsubishi HG-AK - page 348

    APPENDIX App. - 13 5.4 Stopping characteristics (1) Droop pulses ( ε ) When you use a pulse train command to run the se rvo motor, the relation between the command pulse frequency and servo motor speed will be as follows. The difference between the command pulses and feedback pulses during acceleration are called droop pulses, which are accumulate ...

  • Mitsubishi HG-AK - page 349

    APPENDIX App. - 14 (2) Settling time (t s ) during linear acceleration/deceleration Since droop pulses still exist regardless of zero command pulse, settling time (t s ) is required until the servo motor stops. Set the operation pattern in consideration for the settling time. The settling time (t s ) value is obtained according to equation 5.8. t s ...

  • Mitsubishi HG-AK - page 350

    APPENDIX App. - 15 App. 5.5 Capacity selection As a first step, confirm the load conditions and temporarily select the servo motor capacity. Then, determine the operation pattern, calculate requi red torques according to the following equations, and check that the servo motor of the initially selected capacity may be used for operation . (1) Initia ...

  • Mitsubishi HG-AK - page 351

    APPENDIX App. - 16 (2) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern. t psd t psa 0 Servo motor speed Command Time Command pulse frequency f [pulse/s] Servo motor speed [r/min] N 0 f 0 0 T a T d Time Acceleration torque Deceleration to ...

  • Mitsubishi HG-AK - page 352

    APPENDIX App. - 17 (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 maxi mum torque of the servo motor. Torques required for the servo motor are the highest during acceleration. I ...

  • Mitsubishi HG-AK - page 353

    APPENDIX App. - 18 (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. T here may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system. To simplify t ...

  • Mitsubishi HG-AK - page 354

    APPENDIX App. - 19 App. 5.6 Load torque equations Typical load torque equations are indicated below. Type Mechanism Equation Linear movement Servo moto r F C Z 2 Z 1 F G W T L = F 2 • 10 3 • • N V = S F• 2 • 10 3 • ····································· (5.15) F: Force in the axial direction of the ma ...

  • Mitsubishi HG-AK - page 355

    APPENDIX App. - 20 App. 5.7 Load moment of inertia equations Typical load moment of inertia equations is indicated below. Type Mechanism Equation Cylinder Axis of rotation is on the cylinder center A xis of rotation L D 1 D 2 J L0 = 32 • L • (D 1 - D 2 ) 44 = 8 W • (D 1 + D 2 ) 22 ······························· ...

  • Mitsubishi HG-AK - page 356

    APPENDIX App. - 21 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. Proximity dog on starts deceleration Creep speed V 2 Home position return speed V 1 Proximity dog On Off Zero pulse signal When determining the on duration of the prox imity dog, consi ...

  • Mitsubishi HG-AK - page 357

    APPENDIX App. - 22 App. 5.9 Selection example Servo motor Machine specification 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 ...

  • Mitsubishi HG-AK - page 358

    APPENDIX App. - 23 (3) Acceleration/deceleration time constant t psa = t psd = t 0 - V 0 /60 l - t s = 0.05 [s] t s : Settling time (Here, this is assumed to be 0.15 s.) (4) Operation pattern 0.05 0.05 0 Time [s] 3000 t psa t psd t 0 = 1.0 1 cycle t f = 1.5 t s 0.15 Servo motor speed [r/min] (5) Load torque (converted into equivalent value on servo ...

  • Mitsubishi HG-AK - page 359

    APPENDIX App. - 24 (6) Load moment of inertia (converted into equivalent value on servo motor shaft) Moving part J L1 = W • 2 S 10 -3 2 = 1.52 • 10 -4 [kg•m 2 ] Ball screw J L2 = 32 B • D B 4 • n 1 2 = 0.24 • 10 -4 [kg•m 2 ] ρ = 7.8 • 10 3 [kg/m 3 ] (iron) Gear (servo motor shaft) J L3 = 32 G • D G1 4 = 0.03 • 10 -4 [kg•m 2 ] ...

  • Mitsubishi HG-AK - page 360

    APPENDIX App. - 25 (8) Acceleration/deceleration torque Torque necessary for acceleration T Ma = (J L / + J M ) • N 0 9.55 • 10 4 • t psa + T L = 1.84 [N•m] J M : Moment of inertia of the servo motor Torque necessary for deceleration T Md = -(J L • + J M ) • N 0 9.55 • 10 4 • t psd + T L = -0.85 [N•m] The torque required for the s ...

  • Mitsubishi HG-AK - page 361

    APPENDIX App. - 26 App. 5.10 Coasting distance of electromagnetic brake At an emergency stop, the servo motor with an electr omagnetic brake stops as the following diagram. Here, the maximum coasting distance (during fast feed) L max will be the area shown with the diagonal line in the figure and can be calculated approximately with equation 5. 30. ...

  • Mitsubishi HG-AK - page 362

    APPENDIX App. - 27 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 chloropre ...

  • Mitsubishi HG-AK - page 363

    APPENDIX App. - 28 App. 7 Crimping connector for CNP3_ CNP3B CNP3C (Note) CNP3A 1)2)3)4) MR-J4W_-_B Servo amplifier Note. This figure shows the 3-axis servo amplifier. No. Name Model Description Application 1) Connector set MR-J3WCNP3- DL The connector set is used fo r connecting to the servo amplifier directly using MR-PWS1CBL_M-_. For CNP3A/CNP3B ...

  • Mitsubishi HG-AK - page 364

    APPENDIX App. - 29 App. 8 Connector dimensions The connector dimensions for wiring the servo motor are shown below. (1) TE Connectivity 2174053-1 [Unit: mm] 19.6 13.5 6.5 24.6 22 19 31.1 (Note) 13.6 Note. The recommended screw tightening torque is 0.1 N•m. Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact) (2) JAE JN4FT ...

  • Mitsubishi HG-AK - page 365

    APPENDIX App. - 30 KN4FT04SJ1-R [Unit: mm] 16 ± 0.3 11.7 ± 0.2 Approx. 29 18.5 ± 0.3 24.5 ± 0.3 20.1 ± 0.2 7° 3.5 ± 0.2 12.2 ± 0.3 13.7 ± 0.3 11 ± 0.3 13 ± 0.3 Main key (Note) R6 Note. The recommended screw tightening torque is 0.2 N•m. Crimping tool: CT170-14-TMH5B (3) DDK (a) CMV1-SP10S-M_/CMV1-SP2S-_ Refer to section 3.3 for details ...

  • Mitsubishi HG-AK - page 366

    APPENDIX App. - 31 (b) CMV1-AP10S-M_/CMV1-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1-AP10S-M_ CMV1-AP2S-_ 21 Approx. 32 Approx. 33 (c) CE05-6A_-_SD-D-BSS [Unit: mm] C ± 0.8 B 0 -0.38 D or shorte r 7.85 or longer W A Model A B C D W CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A CE05-6A22-22SD-D-BSS 1 ...

  • Mitsubishi HG-AK - page 367

    APPENDIX App. - 32 (e) CE3057-_A-_-D [Unit: mm] (Bushing ID) Effective thread length C V threads 1.6 Approx. D (Movable range on one side) (Cable clamp ID) H F E B ± 0.7 A ± 0.7 G ± 0.7 Model Shell size A B C D E F G H V Bushing Cable OD CE3057-10A-1-D 18 23.8 30.1 10.3 41.3 15.9 14.1 31.7 3.2 1-20UNEF-2B CE3420-10-1 10.5 to 14.1 CE3057-10A-2-D ...

  • Mitsubishi HG-AK - page 368

    APPENDIX App. - 33 (g) D/MS3108B_-_S [Unit: mm] L or shorter V A W or longer J ± 0.12 R ± 0.5 U ± 0.5 Q 0 -0.38 Model A J L Q R U V W D/MS3108B18-10S 1 1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 D/MS3108B22-22S 1 3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1 3/16-18UNEF-2A 9.53 D/MS3108B32-17S 2-18UNS 18.26 95.25 56.33 32.8 44.4 1 3/4-18UNS ...

  • Mitsubishi HG-AK - page 369

    APPENDIX App. - 34 (j) CMV1S-AP10S-M_/CMV1S-AP2S-_ Refer to section 3.3 for details of crimping tools. [Unit: mm] CMV1S-AP10S-M_ CMV1S-AP2S-_ Approx. 32 Approx. 33 21 (k) CE05-6A32-17SD-D [Unit: mm] Model A B C D E G H J CE05-6A32-17SD-D 2-18UNS-2B 56.33 37.0 1 7/8-16UN-2A 13.14 45.3 9.2 19.4 ...

  • Mitsubishi HG-AK - page 370

    APPENDIX App. - 35 App. 9 HG-JR22K1M(4) appearance change The appearance of the HG-JR22K1M(4) servo mo tor has been changed since September 2014. The following shows the terminal box deta il diagram and dimensions before change. (1) Terminal box detail diagram (HG-JR22K1M(4)) [Unit: mm] Approx. 235 Approx. 230 Approx. 88.6 Protective earth (PE) ter ...

  • Mitsubishi HG-AK - page 371

    REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030113-A First edition Jun. 2012 SH(NA)030113-B 4. Additional instructions (1) Transportation and installation Section 2.2 Section 2.6 (2) Section 5.1.2 Section 6.3.1 Section 6.6.1 (2) Section 6.6.2 (2) Section 7.3.1 Section ...

  • Mitsubishi HG-AK - page 372

    Print Data *Manual Number Revision Feb. 2013 SH(NA)030113-C Appendix 4 Appendix 5.9 (8) to (10) Appendix 6 The part of table is changed. Some numbers are changed. The part of table is changed. Jun. 2013 SH(NA)030113-D "The following servo amplifiers will be avail able in the future. All specifications of followings may be changed without notic ...

  • Mitsubishi HG-AK - page 373

    Print Data *Manual Number Revision Jan. 2015 SH(NA)030113-H 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 Sectio ...

  • Mitsubishi HG-AK - page 374

    Print Data *Manual Number Revision Apr. 2015 SH(NA)030113-J Section 5.2 (8) Section 5.4 Section 5.5 Section 5.6 Section 6.1 Section 7.1 Section 8.1 Chapter 11 App. 1 App. 4 (1) (2) App. 8 Added. Added. Partially changed. Partially added. Partially added. Partially added. Partially added. Added. Partially added. Partially added. Partially changed. T ...

  • Mitsubishi HG-AK - page 375

    MEMO ...

  • Mitsubishi HG-AK - page 376

    MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. QR Code is a trademark or a registered trademark of DENSO W AVE INCORPORATED in Japan, the United States and/or other countries. All other product names and company names are trademarks or registered trademarks of t heir respective c ...

  • Mitsubishi HG-AK - page 377

    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 "P roduct" arisen during warranty period at no charge due to causes for which w e are responsible through the distributor from which you purchased the Product or ou ...

  • Mitsubishi HG-AK - page 378

    SH (NA) 030113-J (1504) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo SERVO MOTOR INSTRUCTION MANUAL (Vol. 3) HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 MODEL HG-MR HG-KR HG-SR HG-JR HG-RR HG-UR HG-AK SERVO MOTOR INSTRUCTION MA ...

Manufacturer Mitsubishi Category Outboard Motor

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