Download Mitsubishi VS-6047 Instruction manual

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Transcript

General-Purpose AC Servo
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL
HG-MR
HG-KR
HG-SR
HG-JR
HG-RR
HG-UR
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL MOTOR INSTRUCTIONMANUAL(3SYU)
MODEL
CODE
1CW949
SH (NA) 030113-G (1403) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications are subject to change without notice.
G
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
G
Safety Instructions
Please read the instructions carefully before using the equipment.
Do not attempt to install, operate, maintain or inspect the equipment until you have read through this
Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the
equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by
Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo motor on incombustible material. Installing it directly or close to combustibles will lead to
a fire.
Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo motor.
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo motor, etc. may be hot while power is on or for some time after power-off. Take safety
measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.
The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and
operating conditions.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Use the eyebolt of the servo motor for the transportation purpose only. Do not use the eyebolts to
transport the servo motor when it is mounted on a machine.
A- 2
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Do not carry the servo motor by holding the cables, shaft, encoder, or connector.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block intake and exhaust areas of the servo motor with a cooling fan. Otherwise, it may cause a
malfunction.
Do not drop or strike the servo motor. Isolate it from all impact loads.
Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off
during operation.
The geared servo motor must be installed in the specified direction to prevent oil leakage.
When handling the servo motor, be careful about the edged parts such as the corners of the servo motor.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when
checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake,
and reducer. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform
with a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor
during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise,
the encoder may malfunction.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When you keep or use the equipment, please fulfill the following environment.
Item
Environment
Operation
Storage
Operation
Storage
Ambient temperature
Ambient humidity
Ambience
Vibration resistance
(Note)
Altitude
HG-MR Series/HG-KR Series
HG-SR51/HG-SR81/HG-SR52(4)/
HG-SR102(4)/HG-SR152(4)/HG-JR53(4)/
HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/
HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/
HG-JR11K1M(4)/HG-JR15K1M(4)/
HG-JR22K1M(4)/HG-RR Series/
HG-UR72/HG-UR152
HG-SR121/HG-SR201/HG-SR202(4)/
HG-SR352(4)/HG-UR202/HG-UR352/HG-UR502
HG-SR301/HG-SR421/HG-SR502(4)/
HG-SR702(4)/HG-JR703(4)/HG-JR903(4)
Note. Except the geared servo motor.
A- 3
0 °C to 40 °C (non-freezing)
-15 °C to 70 °C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight), free from corrosive
gas, flammable gas, oil mist, dust, and dirt
Max. 1000 m above sea level
X, Y: 49 m/s2
X, Y: 24.5 m/s2
X: 24.5 m/s2 Y: 49 m/s2
X: 24.5 m/s2 Y: 29.4 m/s2
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
V
Servo motor
Servo amplifier
U
V
M
W
W
U
V
Servo motor
M
W
Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never adjust or change the parameter values extremely as it will make operation unstable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent.
Doing so may scuff the surface.
Do not disassemble, repair, or modify the equipment.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
A- 4
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
Contacts must be opened
with the EMG stop switch.
Servo motor
RA
B
24 V DC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Storage
CAUTION
Note the followings when storing the servo motor for an extended period of time (guideline: three or more
months).
Always store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, check how to store the equipment.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period.
If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to
the machined surfaces of the shaft, etc.
Before using the product after storage for an extended period of time, hand-turn the servo motor output
shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an
electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply.
When the product has been stored for an extended period of time, contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.
A- 5
DISPOSAL OF WASTE
Please dispose a servo motor and other options according to your local laws and regulations.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity
Mass
Length
Torque
Moment of inertia
Load (thrust load/axial load)
Temperature
SI (metric) unit
1 [kg]
1 [mm]
1 [N•m]
1 [(× 10-4 kg•m2)]
1 [N]
N [°C] × 9/5 + 32
A- 6
U.S. customary unit
2.2046 [lb]
0.03937 [inch]
141.6 [oz•inch]
5.4675 [oz•inch2]
0.2248 [lbf]
N [°F]
CONTENTS
1. INTRODUCTION
1.1
1.2
1.3
1.4
1- 1 to 1- 4
Rating plate....................................................................................................................................... 1- 1
Parts identification............................................................................................................................. 1- 1
Electromagnetic brake ...................................................................................................................... 1- 2
Servo motor shaft shapes................................................................................................................. 1- 4
2. INSTALLATION
2- 1 to 2- 6
2.1 Mounting direction............................................................................................................................. 2- 2
2.2 Cooling fan........................................................................................................................................ 2- 2
2.3 Load remove precautions ................................................................................................................. 2- 3
2.4 Permissible load for the shaft ........................................................................................................... 2- 4
2.5 Protection from oil and water ............................................................................................................ 2- 4
2.6 Cable................................................................................................................................................. 2- 5
2.7 Servo motor with oil seal................................................................................................................... 2- 5
2.8 Inspection items ................................................................................................................................ 2- 5
2.9 Parts having service lives ................................................................................................................. 2- 6
2.10 Machine accuracies ........................................................................................................................ 2- 6
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.1
3.2
3.3
3.4
3- 1 to 3-12
Selection of connectors .................................................................................................................... 3- 1
Wiring connectors (connector configurations A/B/C)........................................................................ 3- 3
Wiring connectors (connector configurations D/E/F/G/H) ................................................................ 3- 5
Wiring connectors (connector configurations J/K/L/M/N) ................................................................. 3- 9
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4- 1 to 4-20
4.1 Connection instructions .................................................................................................................... 4- 2
4.2 Wiring ................................................................................................................................................ 4- 3
4.2.1 HG-MR series/HG-KR series servo motor................................................................................. 4- 3
4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor................................... 4- 8
4.3 Selection example of wires .............................................................................................................. 4-14
4.4 Servo amplifier terminal section....................................................................................................... 4-17
5. WIRING OPTION
5- 1 to 5-28
5.1 Cable/connector sets ........................................................................................................................ 5- 1
5.1.1 Combinations of cable/connector sets ....................................................................................... 5- 2
5.1.2 Cable and connector list............................................................................................................. 5- 3
5.2 Encoder cable/connector sets .......................................................................................................... 5- 8
5.3 Servo motor power cable................................................................................................................. 5-23
5.4 Electromagnetic brake cable ........................................................................................................... 5-24
5.5 Wires for option cables .................................................................................................................... 5-26
6. HG-MR SERIES/HG-KR SERIES
6- 1 to 6-58
6.1 Model code definition ........................................................................................................................ 6- 1
1
6.2 Combination list of servo motors and servo amplifiers..................................................................... 6- 2
6.3 Standard specifications..................................................................................................................... 6- 3
6.3.1 Standard specifications list......................................................................................................... 6- 3
6.3.2 Torque characteristics................................................................................................................ 6- 5
6.4 Electromagnetic brake characteristics.............................................................................................. 6- 6
6.5 Servo motors with special shafts ...................................................................................................... 6- 7
6.5.1 Key shaft (with 2 round end key) ............................................................................................... 6- 7
6.5.2 D cut shaft .................................................................................................................................. 6- 7
6.6 Geared servo motors ........................................................................................................................ 6- 8
6.6.1 For general industrial machines (G1)......................................................................................... 6- 8
6.6.2 For high precision applications (G5/G7) ................................................................................... 6-11
6.7 Mounting connectors ....................................................................................................................... 6-14
6.8 Dimensions ...................................................................................................................................... 6-15
6.8.1 Standard (without electromagnetic brake and reducer)............................................................ 6-15
6.8.2 With an electromagnetic brake ................................................................................................. 6-18
6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 6-21
6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 6-28
6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake).............................................................................................................. 6-34
6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake).............................................................................................................. 6-40
6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake).............................................................................................................. 6-46
6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake).............................................................................................................. 6-52
7. HG-SR SERIES
7- 1 to 7-96
7.1 Model code definition ........................................................................................................................ 7- 1
7.2 Combination list of servo motors and servo amplifiers..................................................................... 7- 2
7.3 Standard specifications..................................................................................................................... 7- 3
7.3.1 Standard specifications list......................................................................................................... 7- 3
7.3.2 Torque characteristics................................................................................................................ 7- 6
7.4 Electromagnetic brake characteristics.............................................................................................. 7- 8
7.5 Servo motors with special shafts ...................................................................................................... 7- 9
7.6 Geared servo motors ....................................................................................................................... 7-10
7.6.1 For general industrial machines (G1/G1H) ............................................................................... 7-10
7.6.2 For high precision applications (G5/G7) ................................................................................... 7-14
7.7 Dimensions ...................................................................................................................................... 7-17
7.7.1 Standard (without electromagnetic brake and reducer)............................................................ 7-17
7.7.2 With an electromagnetic brake ................................................................................................. 7-20
7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 7-27
7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 7-37
7.7.5 For general industrial machine with a reducer (foot-mounting/without an
electromagnetic brake) ............................................................................................................ 7-47
7.7.6 For general industrial machine with a reducer (foot-mounting/with an
electromagnetic brake).............................................................................................................. 7-57
7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake).............................................................................................................. 7-68
7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake).............................................................................................................. 7-75
2
7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake).............................................................................................................. 7-82
7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake) ........................................................................................................... 7-89
8. HG-JR SERIES
8- 1 to 8-32
8.1 Model designation............................................................................................................................. 8- 1
8.2 Combination list of servo motors and servo amplifiers..................................................................... 8- 2
8.3 Standard specifications..................................................................................................................... 8- 4
8.3.1 Standard specifications list......................................................................................................... 8- 4
8.3.2 Torque characteristics................................................................................................................ 8- 9
8.4 Electromagnetic brake characteristics............................................................................................. 8-11
8.5 Servo motors with special shafts ..................................................................................................... 8-12
8.6 Oil seal ............................................................................................................................................. 8-13
8.7 Cooling fan....................................................................................................................................... 8-13
8.8 Dimensions ...................................................................................................................................... 8-14
8.8.1 Terminal box detail diagram (HG-JR22K1M(4)) ....................................................................... 8-14
8.8.2 Standard (without an electromagnetic brake) ........................................................................... 8-14
8.8.3 With an electromagnetic brake ................................................................................................. 8-23
9. HG-RR SERIES
9- 1 to 9-12
9.1 Model designation............................................................................................................................. 9- 1
9.2 Combination list of servo motors and servo amplifiers..................................................................... 9- 1
9.3 Standard specifications..................................................................................................................... 9- 2
9.3.1 Standard specifications list......................................................................................................... 9- 2
9.3.2 Torque characteristics................................................................................................................ 9- 4
9.4 Electromagnetic brake characteristics.............................................................................................. 9- 5
9.5 Servo motors with special shafts ...................................................................................................... 9- 6
9.6 Oil seal .............................................................................................................................................. 9- 6
9.7 Dimensions ....................................................................................................................................... 9- 7
9.7.1 Standard (without an electromagnetic brake) ............................................................................ 9- 7
9.7.2 With an electromagnetic brake .................................................................................................. 9- 9
10. HG-UR SERIES
10- 1 to 10-12
10.1 Model designation.......................................................................................................................... 10- 1
10.2 Combination list of servo motors and servo amplifiers .................................................................. 10- 1
10.3 Standard specifications.................................................................................................................. 10- 2
10.3.1 Standard specifications list...................................................................................................... 10- 2
10.3.2 Torque characteristics ............................................................................................................. 10- 4
10.4 Electromagnetic brake characteristics ........................................................................................... 10- 5
10.5 Servo motors with special shafts ................................................................................................... 10- 6
10.6 Oil seal ........................................................................................................................................... 10- 6
10.7 Dimensions .................................................................................................................................... 10- 7
10.7.1 Standard (without an electromagnetic brake) ......................................................................... 10- 7
10.7.2 With an electromagnetic brake................................................................................................ 10- 9
3
APPENDIX
App. - 1 to App. -32
App. 1 Servo motor ID codes .......................................................................................................... App.- 1
App. 2 Manufacturer list .................................................................................................................. App.- 2
App. 3 Compliance with the CE marking......................................................................................... App.- 3
App. 4 Compliance with UL/CSA standard .....................................................................................App.- 4
App. 5 Calculation methods for designing.......................................................................................App.- 7
App. 6 Selection example of servo motor power cable..................................................................App.-25
App. 7 Crimping connector for CNP3_........................................................................................... App.-26
App. 8 Connector dimensions ........................................................................................................ App.-27
4
1. INTRODUCTION
1. INTRODUCTION
1.1 Rating plate
The following shows an example of rating plate for explanation of each item.
Model
Input power and insulation class
Rated output and mass
Rated speed
Serial number (Note 1)
MITSUBISHI
AC SERVO MOTOR
HG-JR153
INPUT
3AC 102V 11A CI. F
OUTPUT 1.5kW 5.9kg
3000r/min (200Hz)
SER. TI0001234 12X
QR code
(Note 2)
Country of origin
MITSUBISHI ELECTRIC
MADE IN JAPAN
Note 1. Production year and month of the servo motor are indicated in a serial number on
the rating plate.
The year and month are indicated by the last two digits of the year and one digit
of the month [1 to 9, X(10), Y(11), and Z(12)].
For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".
2. Products approved by Certification Bodies are marked. The marks depends on
the Certification Bodies.
1.2 Parts identification
(1) HG-MR series/HG-KR series servo motor
Power cable (Note 1, 2)
Power lead (U/V/W)
Grounding lead
Servo motor shaft
Encoder cable (Note 1)
Encoder
Note 1. The encoder cable and power supply cable are options.
2. An electromagnetic brake cable is separately required for the servo motor with an
electromagnetic brake.
(2) HG-SR series/HG-JR53(4) to HG-JR15K1M(4)/HG-RR series/HG-UR series servo motor
Power supply connector (Note)
Power supply (U/V/W)
Grounding ( )
Encoder connector
Encoder
Servo motor shaft
Note. The servo motor with an electromagnetic brake has the electromagnetic brake
connector separately.
1- 1
1. INTRODUCTION
(3) HG-JR22K1M(4) servo motor
Terminal box
Cooling fan connector
Encoder connector
Power lead hole
Servo motor shaft
1.3 Electromagnetic brake
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
The electromagnetic brake has a time lag. Use the electromagnetic brake so that
servo motor control starts after the electromagnetic brake has completely opened.
Be sure to check the time lag of the braking with a real machine.
Configure an electromagnetic brake circuit so that it is activated also by an
external EMG stop switch.
For details of the circuit configuration and timing chart, refer to each servo
amplifier instruction manual.
While the electromagnetic brake is opened, the motor may be raised to high
temperature regardless of driving.
The life will be shorten under sudden acceleration/deceleration conditions.
The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to
ensure double safety at an emergency stop, for example. When operating the servo motor, supply power to
the electromagnetic brake to release the brake. Switching power off enables the electromagnetic brake.
Switch
24 V DC
power supply for
electromagnetic brake
VAR U
B
B2
B1
Switch
or
24 V DC
power supply for
electromagnetic brake
VAR U
B
B2
The surge absorber (VAR) must be installed between B1 and B2. For the selection and example of
surge absorbers, refer to "Electromagnetic brake characteristic" in the chapter of each servo motor
series.
When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
1- 2
Electromagnetic brake
B1
Electromagnetic brake
(1) Electromagnetic brake power supply
Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic
brake terminals (B1 and B2) have no polarity.
1. INTRODUCTION
(2) Sound generation
Though the brake lining may rattle during operation, it poses no functional problem.
If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo
amplifier parameters. For details, refer to each servo amplifier instruction manual.
(3) Selection of surge absorbers for electromagnetic brake circuit
The following shows an example how to select a varistor with a surge absorber.
(a) Selection conditions
Item
Electromagnetic brake
specification
Desired suppression
voltage
Durable surge
application time
Condition
R [Ω]: Resistance
L [H]: Inductance
Vb [V]: Power supply voltage
Vs [V] or less
Relay
24 V DC
U
Varistor
Brake coil
N times
(b) Tentative selection and verification of surge absorber
1) Maximum allowable circuit voltage of varistor
Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].
2) Brake current (Ib)
Ib =
Vb
[A]
R
3) Energy (E) generated by brake coil
2
E = L × lb [J]
2
4) Varistor limit voltage (Vi)
From the energy (E) generated in the brake coil and the varister characteristic diagram, calculate
the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor
during opening of the circuit.
Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed
voltage (Vs) [V].
If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.
5) Surge current width (τ)
Given that the varistor absorbs all energies, the surge current width (τ) will be as follows.
τ=
E
[S]
Vi × lb
6) Examining surge life of varister
From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number of
the surge application life is N at the surge current width (τ). Calculate the guaranteed current
value (Ip) ratio to brake current (Ib).
If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be
considered as favorable.
1- 3
1. INTRODUCTION
(4) Others
A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic
brake. Note that chips, screws, etc. are attracted.
1.4 Servo motor shaft shapes
In addition to the straight shaft, the key shaft and D cut shaft are available.
The key shaft and D cut shaft cannot be used in frequent start/stop applications.
Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key,
use a friction coupling, etc. when coupling the shaft with a machine.
The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the
chapter of the servo motor series.
The key shaft (with single pointed key) applies to only the geared servo motor for high precision application.
A
A
A
Shaft section view AA
A
Shaft section view AA
Key shaft (with 2 round end key)
Key shaft (without key)
D cut shaft
Straight shaft
Key shaft (with single pointed key)
1- 4
2. INSTALLATION
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environmental range. For the
environment, refer to the specifications of the servo motor series.
Do not drop or strike the servo motor. Isolate it from all impact loads.
Do not install or operate a faulty servo motor.
Do not carry the servo motor by holding the cables, shaft, encoder, or connector.
Otherwise, it may cause a malfunction or injury.
Use the eyebolts of the servo motor to only transport it. Do not use the eyebolts to
transport the servo motor when it is mounted on a machine.
The geared servo motor must be mounted in the specified direction. Otherwise, it
can leak oil, leading to a fire or malfunction.
Securely fix the servo motor to the machine. If being attached insecurely, the
servo motor may come off during operation, leading to injury.
Be sure to measure the motor vibration level with the servo motor mounted on the
machine when checking the vibration level. A great vibration may cause the early
damage of a bearing, encoder, brake, and reducer. The great vibration may also
cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and
the speed waveform with a measurement device to check that no vibration
occurs. If the vibration occurs due to high gain, the vibration may cause the early
damage of the servo motor.
Never hit the servo motor or shaft, especially when coupling the servo motor to
the machine. Otherwise, the encoder may malfunction.
When coupling a load to the servo motor, do not use a rigid coupling. Doing so
can cause the shaft to break and the bearing to wear out.
Balance the load to the extent possible. Not doing so can cause vibration during
servo motor operation or damage the bearings and encoder.
Take safety measures, e.g. provide covers, to prevent accidental access to the
rotor of the servo motor during operation.
Do not subject the servo motor shaft to more than the permissible load.
Otherwise, the shaft may break, leading to injury.
When the product has been stored for an extended period of time, contact your
local sales office.
When handling the servo motor, be careful about the edged parts such as the
corners of the servo motor.
2- 1
2. INSTALLATION
2.1 Mounting direction
(1) Standard servo motor
The following table indicates the mounting direction of the standard servo motor.
Servo motor series
Mounting direction
HG-MR
HG-KR
HG-SR
HG-JR
HG-RR
HG-UR
All directions
For mounting in the horizontal direction, it is recommended to set the connector section downward.
When mounting the motor vertically or obliquely, give a little slack for the connection cable.
Little slack
(2) Servo motor with an electromagnetic brake
The servo motor with an electromagnetic brake can also be installed in the same orientation as the
standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft
end at top, the brake plate may generate sliding sound but it is not a fault.
(3) Geared servo motors
The mounting direction of the geared servo motor differs depending on the reducer type. Be sure to
mount it in the specified direction. Refer to the chapter of the servo motor series for details.
2.2 Cooling fan
For the servo motor with a cooling fan, ensure to put enough space for the distance L between intake port
and wall surface. Refer to the chapter of the servo motor series for the distance L.
L or more
Servo motor
Cooling fan
Intake
2- 2
2. INSTALLATION
2.3 Load remove precautions
During assembling, the shaft end must not be hammered. Otherwise, the encoder
may malfunction.
CAUTION
Do not process the shaft to avoid damage to the encoder and bearing.
(1) When mounting a pulley to the servo motor with a key shaft, use the screw hole in the shaft end. To fit
the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end
face of the coupling, and insert and tighten a nut to force the pulley in.
Servo motor
Double-end stud
Nut
Pulley
Washer
(2) For the shaft without a key, use a friction coupling or the like.
(3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or impact.
(4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the
shaft.
(5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales
office.
(6) The direction of the encoder on the servo motor cannot be changed.
(7) When mounting the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not
become loose due to vibration.
2- 3
2. INSTALLATION
2.4 Permissible load for the shaft
CAUTION
Do not use a rigid coupling as it may apply excessive bending load to the shaft of
the servo motor, leading the shaft to break and the bearing to wear out.
For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series.
(1) Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load.
(2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load.
(3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break.
(4) The load indicated in this section is static load in a single direction and does not include eccentric load.
Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged.
2.5 Protection from oil and water
Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When
installing the servo motor, consider the items in this section.
(1) Do not use the servo motor with its cable soaked in oil or water.
Cover
Servo
motor
Oil/water pool
Capillary action
(2) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not
exposed to oil and water entering from the machine side, gear box, etc.
Gear
Lubricating oil
Servo motor
(3) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected
depending on the oil type.
(4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, a
standard specifications servo motor may not be usable. Please contact your local sales office.
2- 4
2. INSTALLATION
2.6 Cable
The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to
keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the connectors,
terminals and others at the ends of the cables.
2.7 Servo motor with oil seal
For the servo motor with oil seal, the oil seal prevents the entry of oil into the servo motor. Make sure to
install it according in this section.
The functions have no problem even if the servo motor with oil seal may sound during operation.
(1) Pressure and oil level
Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip
always. If the oil level is higher than the oil seal lip, the oil enter the servo motor and may cause a
malfunction. Refer to the chapter of the servo motor series for the oil level.
Shaft
Gear
Servo motor
Height above oil level h
Lip
Oil seal
High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant
internal pressure by equipping a ventilator to the gear box.
(2) Temperature
High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high
temperature oil since applicable temperature of the material is up to 100 °C and temperature of the oil
seal lip rises within 10 °C to 15 °C at maximum rotation.
2.8 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
CAUTION
Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked.
(1) Check the bearings, brake section, etc. for unusual noise.
(2) Check the cables and the like for scratches or cracks. Especially when the cable is movable, perform
periodic inspection according to operating conditions.
2- 5
2. INSTALLATION
(3) Check the servo motor shaft and coupling for misalignment.
(4) Check the power supply connector and encoder connector tightening screws for looseness.
2.9 Parts having service lives
Service lives of the following parts are listed below. However, the service lives vary depending on operation
and environment. If any fault is found in the parts, they must be replaced immediately regardless of their
service lives. For parts replacement, please contact your local sales office.
Part name
Life guideline
Bearings
20,000 hours to
30,000 hours
20,000 hours to
30,000 hours
20,000 hours
5000 hours
Encoder
Cooling fan
Oil seal
(1) Bearings
When the servo motor is run at rated speed under rated load, bearings should be exchanged in 20,000
to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be
changed if unusual noise or vibration is found during inspection.
(2) Oil seal (including oil seal used on the reducer)
Oil seals must be changed in 5,000 hours of operation at rated speed as a guideline. They must also be
changed if oil leakage, etc. is found during inspection.
The functions have no problem even if an oil seal may sound during operation.
2.10 Machine accuracies
The following table indicates the machine accuracies of the servo motor around the output shaft and
mounting. (except the optional products)
Accuracy [mm]
Runout of flange surface to output
shaft
Runout of fitting OD of flange surface
Runout of output shaft end
Measuring
position
100 × 100 or
less
Flange size
176 × 176 to
130 × 130
250 × 250
280 × 280 or
more
a)
0.05
0.06
0.08
0.08
b)
c)
0.04
0.02
0.04
0.02
0.06
0.03
0.08
0.03
a) A
b) A
c)
A
2- 6
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3. CONNECTORS USED FOR SERVO MOTOR WIRING
POINT
The IP rating indicated is the connector's protection against ingress of dust and
water when the connector is connected to a servo amplifier or servo motor. If the
IP rating of the connector, servo amplifier and servo motor vary, the overall IP
rating depends on the lowest IP rating of all components.
3.1 Selection of connectors
Use the connector configuration products given in the table as the connectors for connection with the servo
motor. Refer to section 3.2 to 3.4 for the compatible connector configuration products.
(1) HG-MR series and HG-KR series
Electromagnetic brake connector
Encoder connector
Power supply connector
Wiring connector
Servo motor
HG-MR_
HG-KR_
For encoder
For power supply
For electromagnetic
brake
Connector
configuration A
Connector
configuration B
Connector
configuration C
(2) HG-SR series
Electromagnetic brake connector
Power supply connector
Encoder connector
Wiring connector
Servo motor
For encoder
HG-SR51
HG-SR81
HG-SR52(4)
HG-SR102(4)
HG-SR152(4)
HG-SR121
HG-SR201
HG-SR301
HG-SR202(4)
HG-SR352(4)
HG-SR502(4)
HG-SR421
HG-SR702(4)
For power supply
For electromagnetic
brake
Connector
configuration E
Connector
configuration D
Connector
configuration G
Connector
configuration H
3- 1
Connector
configuration F
3. CONNECTORS USED FOR SERVO MOTOR WIRING
(3) HG-JR series
HG-JR53(4) to HG-JR11K1M(4)
Electromagnetic brake connector
Encoder connector
Power supply connector
HG-JR22K1M(4)
Cooling fan connector
Encoder connector
Servo motor
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR3534
HG-JR5034
HG-JR353
HG-JR503
HG-JR703(4)
HG-JR903(4)
HG-JR11K1M(4)
HG-JR15K1M(4)
HG-JR22K1M(4)
For encoder
Wiring connector
For electromagnetic
For power supply
brake
For cooling fan
Connector
configuration E
Connector
configuration D
Connector
configuration F
Connector
configuration G
Connector
configuration H
Connector
configuration K
Connector
configuration J
Connector
configuration L
None (terminal box)
(4) HG-RR series
Power supply connector
Encoder connector
Wiring connector
Servo motor
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
For encoder
Connector
configuration D
3- 2
For power supply
Connector
configuration N
Connector
configuration M
For electromagnetic
brake
Sharing for power
supply
3. CONNECTORS USED FOR SERVO MOTOR WIRING
(5) HG-UR series
Power supply connector
Encoder connector
Wiring connector
Servo motor
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
For encoder
Connector
configuration D
For power supply
For electromagnetic
brake
Connector
configuration N
Sharing for power
supply (Note)
Connector
configuration M
Connector
configuration J
Note. Electromagnetic brake connector is not required since the power supply connector has a pin
assigned for electromagnetic brake.
3.2 Wiring connectors (connector configurations A/B/C)
The connectors in this section comply with UL/CSA standards.
Connector
configuration
Feature
A
(for encoder)
IP65
Connector
Connector: 2174053-1
(TE Connectivity)
Crimping tool
For ground clip: 1596970-1
For REC. contact: 1596847-1
(TE Connectivity)
Servo motor encoder
connector (Note)
1674339-1
(TE Connectivity)
Note. The other side connector
Connector
configuration
Connector
Feature
B
IP65
(for power supply)
Crimping tool
Connector: KN4FT04SJ1-R
HOOD/SOCKET INSULATOR/
BUSHING/GROUND NUT
Contact: ST-TMH-S-C1B-100 (A534G)
(JAE)
Note. The other side connector
3- 3
CT160-3-TMH5B
(JAE)
Servo motor power supply
connector (Note)
JN4AT04NJ1
(JAE)
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Connector
configuration
C
(for
electromagnetic
brake)
Connector
Feature
IP65
Crimping tool
Connector: JN4FT02SJ1-R
HOOD/SOCKET INSULATOR/
BUSHING/GROUND NUT
Contact: ST-TMH-S-C1B-100 (A534G)
(JAE)
Note. The other side connector
3- 4
CT160-3-TMH5B
(JAE)
Servo motor
electromagnetic brake
connector (Note)
JN4AT02PJ1
(JAE)
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.3 Wiring connectors (connector configurations D/E/F/G/H)
Angle plug
(one-touch connection type)
Straight plug
(one-touch connection type)
Angle plug
(screw type)
Straight plug
(screw type)
Plug (DDK)
Connector
Feature
configuration
Type
Plug
Socket contact
CMV1-#22ASC-S1-100
Contact shape
Crimping type
Applicable wire size: AWG 24 to 20
The crimping tool (357J-53162T) is
required.
CMV1S-SP10S-M1
(screw type)
CMV1-#22ASC-C2-100
Crimping type
Applicable wire size: AWG 28 to 24
The crimping tool (357J-53163T) is
required.
CMV1-#22ASC-S1-100
Soldering type
Applicable wire size: AWG 20 or less
CMV1-SP10S-M2
(one-touch connection
CMV1-#22ASC-C1-100
type)
Crimping type
Applicable wire size: AWG 24 to 20
The crimping tool (357J-53162T) is
required.
CMV1S-SP10S-M2
(screw type)
CMV1-#22ASC-C2-100
Crimping type
Applicable wire size: AWG 28 to 24
The crimping tool (357J-53163T) is
required.
CMV1-#22ASC-S1-100
Soldering type
Applicable wire size: AWG 20 or less
D
IP67
(for encoder)
CMV1-AP10S-M1
(one-touch connection
CMV1-#22ASC-C1-100
type)
Crimping type
Applicable wire size: AWG 24 to 20
The crimping tool (357J-53162T) is
required.
CMV1S-AP10S-M1
(screw type)
CMV1-#22ASC-C2-100
Crimping type
Applicable wire size: AWG 28 to 24
The crimping tool (357J-53163T) is
required.
CMV1-#22ASC-S1-100
Soldering type
Applicable wire size: AWG 20 or less
Angle
CMV1-AP10S-M2
(one-touch connection
CMV1-#22ASC-C1-100
type)
Crimping type
Applicable wire size: AWG 24 to 20
The crimping tool (357J-53162T) is
required.
CMV1S-AP10S-M2
(screw type)
Crimping type
Applicable wire size: AWG 28 to 24
The crimping tool (357J-53163T) is
required.
CMV1-#22ASC-C2-100
Note. The other side connector
3- 5
Servo motor
encoder
connector
(Note)
Soldering type
Applicable wire size: AWG 20 or less
CMV1-SP10S-M1
(one-touch connection
CMV1-#22ASC-C1-100
type)
Straight
Cable OD
[mm]
(reference)
5.5 to 7.5
7.0 to 9.0
CMV1-R10P
5.5 to 7.5
7.0 to 9.0
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Cable clamp
Cable
Plug
Plug (DDK)
Connector
configuration
E
(for power
supply)
Feature
IP67
EN compliant
(Note 1)
General
environment
Type
Cable clamp
Cable
Cable clamp (DDK)
Cabel OD
[mm] (reference)
Model
Model
Straight
CE05-6A18-10SD-D-BSS
Applicable wire size: AWG 14 to 12
8.5 to 11
CE3057-10A-2-D
10.5 to 14.1
CE3057-10A-1-D
Angle
CE05-8A18-10SD-D-BAS
Applicable wire size: AWG 14 to 12
8.5 to 11
CE3057-10A-2-D
10.5 to 14.1
CE3057-10A-1-D
Straight
D/MS3106B18-10S
Applicable wire size: AWG 14 to 12
14.3 or less
(bushing ID)
D/MS3057-10A
Angle
D/MS3108B18-10S
Applicable wire size: AWG 14 to 12
Note 1. Not comply with EN.
2. The other side connector
3- 6
Servo motor
power supply
connector
(Note 2)
MS3102A18-10P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Angle plug
(one-touch connection type)
Straight plug
(one-touch connection type)
Straight plug
(screw type)
Plug (DDK)
Connector
Feature
configuration
Type
Plug
Socket contact
CMV1-SP2S-S
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1S-SP2S-S
(screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-M1
CMV1-#22BSC-S2-100
(one-touch connection
type)
Straight
CMV1S-SP2S-M1
(screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-M2
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1S-SP2S-M2
(screw type)
CMV1-#22BSC-C3-100
CMV1-SP2S-L
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1S-SP2S-L
(screw type)
F
(for electroIP67
magnetic
brake)
CMV1-#22BSC-C3-100
CMV1-AP2S-S
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1S-AP2S-S
(screw type)
CMV1-#22BSC-C3-100
CMV1-AP2S-M1
CMV1-#22BSC-S2-100
(one-touch connection
type)
Angle
CMV1S-AP2S-M1
(screw type)
CMV1-#22BSC-C3-100
CMV1-AP2S-M2
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1-#22BSC-C3-100
CMV1S-AP2S-M2
(screw type)
CMV1-AP2S-L
CMV1-#22BSC-S2-100
(one-touch connection
type)
CMV1S-AP2S-L
(screw type)
Angle plug
(screw type)
CMV1-#22BSC-C3-100
Note. The other side connector
3- 7
Contact shape
Servo motor
electroCable OD
magnetic brake
[mm]
connector
(reference)
(Note)
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
4.0 to 6.0
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
5.5 to 7.5
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
7.0 to 9.0
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
9.0 to 11.6
CMV1-R2P
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
4.0 to 6.0
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
5.5 to 7.5
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
7.0 to 9.0
Soldering type
Applicable wire size: AWG 16 or less
Crimping type
Applicable wire size: AWG 20 to 16
The crimping tool (357J-53164T) is
required.
9.0 to 11.6
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Cable clamp
Cable
Plug
Plug (DDK)
Connector
configuration
G
(for power
supply)
Feature
IP67
EN compliant
(Note 1)
General
environment
Type
Cable clamp
Cable
Servo motor
power supply
connector
(Note 2)
Cable clamp (DDK)
Cabel OD
[mm] (reference)
Model
Model
Straight
CE05-6A22-22SD-D-BSS
Applicable wire size: AWG 10 to 8
9.5 to 13
12.5 to 16
CE3057-12A-2-D
CE3057-12A-1-D
Angle
CE05-8A22-22SD-D-BAS
Applicable wire size: AWG 10 to 8
9.5 to 13
CE3057-12A-2-D
12.5 to 16
CE3057-12A-1-D
Straight
D/MS3106B22-22S
Applicable wire size: AWG 10 to 8
15.9 or less
(bushing ID)
D/MS3057-12A
Angle
D/MS3108B22-22S
Applicable wire size: AWG 10 to 8
MS3102A22-22P
Note 1. Not comply with EN.
2. The other side connector
Plug
Cable clamp
Cable
Plug
Plug (DDK)
Connector
configuration
H
(for power
supply)
Feature
IP67
EN compliant
(Note 1)
General
environment
Type
Straight
Backshell
Model
Model
(Note 3)
CE05-6A32-17SD-D
Applicable wire size: AWG 4
CE05-32BS-S-D-OB
CE05-6A32-17SD-D-BSS
Applicable wire size: AWG 6 to 4
Angle
CE05-8A32-17SD-D-BAS
Applicable wire size: AWG 6 to 4
Straight
D/MS3106B32-17S
Applicable wire size: AWG 6 to 4
Angle
D/MS3108B32-17S
Applicable wire size: AWG 6 to 4
Cable clamp
Cable
Cable clamp (DDK)
Cabel OD
[mm] (reference)
Model
30 to 32.5
CE3057-24A-1-D
27 to 29.6
CE3057-24A-2-D
22 to 23.8
CE3057-20A-1-D
23.8 or less
(bushing ID)
D/MS3057-20A
Servo motor
power supply
connector
(Note 2)
MS3102A32-17P
Note 1. Not comply with EN.
2. The other side connector
3. This connector is used only when the outer diameter of the cable used for HG-JR11K1M(4) and HG-JR15K1M(4) exceeds
23.8 mm.
3- 8
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.4 Wiring connectors (connector configurations J/K/L/M/N)
Plug
Cable
Connector for cable
Cable
Cable
clamp
Plug
Plug
Connector for cable
IP67 compatible
IP67 compatible
General environmental
Cable-side connector
Connector
configuration
Connector for cable
Feature
Plug (DDK)
Type
Straight
J
(for
electromagnetic
brake)
IP67
EN
UL/CSA
compliant
D/MS3106A10SL-4S
(D190)
Applicable wire size:
AWG 22 to 16
Manufacturer
Cable OD
[mm]
(reference)
ACS-08RLMS10F
8 to 12
ACS-12RLMS10F
5 to 8.3
YSO10-5 to 8
4 to 8
ACA-08RLMS10F
8 to 12
ACA-12RLMS10F
5 to 8.3
YLO10-5 to 8
5.6 or less
(bushing ID)
D/MS3057-4A
Nippon Flex
Daiwa Dengyo
D/MS3106A10SL-4S
Applicable wire size:
Straight
AWG 22 to 16
Model
4 to 8
Nippon Flex
Daiwa Dengyo
Angle
(Note1)
General
environment
Cable
Servo motor
electromagnetic
brake
connector
(Note 2)
MS3102A10SL4P
Note 1. Not comply with EN.
2. The connector to be mated.
Cable
clamp
Plug
Cable
Backshell
Cable
Plug
Backshell
Cable clamp
Plug (DDK)
Connector
configuration
K
(for
encoder)
Feature
IP67
EN
compliant
(Note 1)
General
environment
Type
Straight
Cable clamp (DDK)
Backshell
(DDK)
Model
D/MS3106A20-29S (D190)
Angle
CE02-20BS-S-D
Cable OD
[mm]
6.8 to 10
Model
CE3057-12A-3-D
CE-20BA-S-D
Straight
D/MS3106B20-29S
Angle
D/MS3108B20-29S
15.9 or less
(bushing ID)
Note 1. Not comply with EN.
2. The connector to be mated.
3- 9
Servo motor
encoder
connector
(Note 2)
D/MS3102A2029P
D/MS3057-12A
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Connector
configuration
L
(for
cooling
fan)
Cable clamp
Cable
Plug (DDK)
Feature
IP67
EN
compliant
Type
Straight
Cable clamp (DDK)
Cable OD
[mm] (reference)
Model
CE05-6A14S-2SD-D-BSS
7.0 to 9.0
Model
CE3057-6A-1-D
Servo motor
cooling fan
connector (Note)
CE05-2A14S-2P
Note. The connector to be mated.
Plug
Connector
configuration
M
(for power
supply)
Cable clamp
Cable
Plug
Plug (DDK)
Feature
IP65
EN
UL/CSA
compliant
General
environment
UL/CSA
compliant
Type
Cable clamp
Cable
Cable clamp (DDK)
Cable OD
[mm] (reference)
Model
Model
Straight
CE05-6A24-10SD-D-BSS
Applicable wire size: AWG 10 to 8
13 to 15.5
15 to 19.1
CE3057-16A-1-D
Angle
CE05-8A24-10SD-D-BAS
Applicable wire size: AWG 10 to 8
13 to 15.5
CE3057-16A-2-D
15 to 19.1
CE3057-16A-1-D
Straight
D/MS3106B24-10S
Applicable wire size: AWG 10 to 8
19.1 or less
(bushing ID)
D/MS3057-16A
Angle
D/MS3108B24-10S
Applicable wire size: AWG 10 to 8
Note. The connector to be mated.
3 - 10
Servo motor
power supply
connector (Note)
CE3057-16A-2-D
CE05-2A24-10P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
Plug
Connector
configuration
N
(for power
supply)
Cable clamp
Cable
Plug
Plug (DDK)
Feature
IP65
EN
UL/CSA
compliant
General
environment
UL/CSA
compliant
Type
Cable clamp
Cable
Cable clamp (DDK)
Cable OD
[mm] (reference)
Model
Model
Straight
CE05-6A22-23SD-D-BSS
Applicable wire size: AWG 14 to 12
9.5 to 13
12.5 to 16
CE3057-12A-1-D
Angle
CE05-8A22-23SD-D-BAS
Applicable wire size: AWG 14 to 12
9.5 to 13
CE3057-12A-2-D
12.5 to 16
CE3057-12A-1-D
Straight
D/MS3106B22-23S
Applicable wire size: AWG 14 to 12
15.9 or less
(bushing ID)
D/MS3057-12A
Angle
D/MS3108B22-23S
Applicable wire size: AWG 14 to 12
Note. The connector to be mated.
3 - 11
Servo motor
power supply
connector (Note)
CE3057-12A-2-D
CE05-2A22-23P
3. CONNECTORS USED FOR SERVO MOTOR WIRING
MEMO
3 - 12
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
WARNING
CAUTION
Any person who is involved in wiring should be fully competent to do the work.
Ground the servo motor securely.
Do not attempt to wire the servo motor until it has been mounted. Otherwise, it
may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply
terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H)
option) with the power line of the servo motor.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
Servo amplifier
U
M
V
W
U
V
Servo motor
M
W
POINT
We recommend using HIV wires to connect the servo amplifier to the servo
motor. Therefore, recommended wire sizes may different from those of the used
wires for the previous servo motors.
4- 1
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4.1 Connection instructions
CAUTION
To avoid a malfunction, connect the wires to the correct phase terminals (U, V,
and W) of the servo amplifier and servo motor.
Do not connect AC power supply directly to the servo motor. Otherwise, it may
cause a malfunction.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
POINT
Refer to chapter 5 for the selection of the encoder cable.
Refer to the chapter of the servo motor series for the selection of a surge
absorber for the electromagnetic brake.
For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of
the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth
of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.
Cabinet
Servo amplifier
Servo motor
PE
terminal
(Note)
Note. The number of PE terminals of the servo amplifier differs depending on the amplifier
types.
4- 2
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4.2 Wiring
4.2.1 HG-MR series/HG-KR series servo motor
(1) Connection with MR-J4 1-axis servo amplifier
(a) Servo motor power supply cable wiring diagrams
1) When cable length is 10 m or less
Servo amplifier
10 m or less
MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A2-L
MR-PWS1CBL_M-A1-H
MR-PWS1CBL_M-A2-H
CNP3
U
V
W
(Red)
(White)
(Black)
(Green/yellow)
Servo motor
U
V
W
M
2) When cable length exceeds 10 m
Fabricate an extension cable as shown below. In addition, the motor power supply cable should
be within 2 m.
Refer to section 4.3 for the wire used for the extension cable.
50 m or less
2 m or less
MR-PWS1CBL2M-A1-L
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
MR-PWS1CBL2M-A2-H
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L Servo motor
Extension cable
Servo amplifier
CNP3
U
V
W
(Red)
(White)
(Black)
(Green/yellow)
U
V
W
M
(Note)
(Note)
a) Junction connector for b) Junction connector for
extension cable
motor power supply cable
Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
Description
IP rating
a) Junction connector for
extension cable
Connector: RM15WTPZ-4P(71)
IP65
Cord clamp: JR13WCC-5(72)
Numeral changes depending on the cable OD.
(Hirose Electric)
b) Junction connector for
motor power supply cable
IP65
Connector: RM15WTJZ-4S(71)
Cord clamp: JR13WCC-8(72)
Numeral changes depending on the cable OD.
(Hirose Electric)
4- 3
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(b) Electromagnetic brake cable wiring diagrams
1) When cable length is 10 m or less
10 m or less
(Note 3)
MBR
24 V DC power supply
ALM
for electromagnetic (Electromagnetic
brake interlock) (Malfunction)
brake
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A2-H
(Note 4)
AWG20
(Note 1) U
AWG20
Servo motor
(Note 2)
B1
B2
B
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. There is no polarity in electromagnetic brake terminals (B1 and B2).
3. Do not use the 24 V DC interface power supply for the electromagnetic brake.
4. Create the circuit in order to shut off by interlocking with the emergency stop switch.
When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-H, refer to section 5.4 and
5.5.
2) When cable length exceeds 10 m
Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable
should be within 2 m.
Refer to section 4.3 for the wire used for the extension cable.
50 m or less
2 m or less
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
Extension cable
(To be fabricated)
(Note 5)
MBR
24 V DC power supply
ALM
for electromagnetic (Electromagnetic
brake interlock) (Malfunction)
brake
Servo motor
(Note 4)
(Note 3)
AWG20
(Note 1)
U
AWG20
B1
B2
B
(Note 2)
(Note 2)
a) Junction connector for b) Junction connector for
extension cable
electromagnetic brake cable
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
a) Junction connector for
extension cable
Description
CM10-CR2P- (DDK)
Wire size: S, M, L
b) Junction connector for
CMV1-SP2S- (DDK)
electromagnetic brake cable
Wire size: S, M1, M2, L
3. Create the circuit in order to shut off by interlocking with the emergency stop switch.
4. There is no polarity in electromagnetic brake terminals (B1 and B2).
5. Do not use the 24 V DC interface power supply for the electromagnetic brake.
4- 4
IP rating
IP65
IP65
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(2) Connection with MR-J4 multi-axis servo amplifier
(a) Servo motor power supply cable wiring diagrams
1) When cable length is 10 m or less
10 m or less
MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A2-L
MR-PWS1CBL_M-A1-H
MR-PWS1CBL_M-A2-H
Servo amplifier
CNP3A/CNP3B/
CNP3C
U
(Note)
V
W
(Red)
(White)
(Black)
(Green/yellow)
Servo motor
U
V
W
M
Note. CNP3 is for the MR-J4 3-axis servo amplifier.
2) When cable length exceeds 10 m
Fabricate an extension cable as shown below. In addition, the motor power supply cable should
be within 2 m.
Refer to section 4.3 for the wire used for the extension cable.
50 m or less
2 m or less
MR-PWS1CBL2M-A1-L
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
MR-PWS1CBL2M-A2-H
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L Servo motor
Extension cable
Servo amplifier
CNP3A/CNP3B/
CNP3C
U
(Note 1)
V
W
(Red)
(White)
(Black)
(Green/yellow)
U
V
W
M
(Note 2)
(Note 2)
a) Junction connector for b) Junction connector for
extension cable
motor power supply cable
Note 1. CNP3 is for the MR-J4 3-axis servo amplifier.
2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
Description
IP rating
a) Junction connector for
extension cable
Connector: RM15WTPZ-4P(71)
IP65
Cord clamp: JR13WCC-5(72)
Numeral changes depending on the cable OD.
(Hirose Electric)
b) Junction connector for
motor power supply cable
IP65
Connector: RM15WTJZ-4S(71)
Cord clamp: JR13WCC-8(72)
Numeral changes depending on the cable OD.
(Hirose Electric)
4- 5
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(b) Electromagnetic brake cable wiring diagrams
1) When cable length is 10 m or less
10 m or less
(Note 4)
24 V DC power supply
for electromagnetic
brake
(Note 3)
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A2-H
MBR-A
CALM
(Electromagnetic
(AND
brake interlock
malfunction)
for A-axis)
(Note 1)
AWG20
U
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A2-H
MBR-B
(Electromagnetic
brake interlock
for B-axis)
(Note 1)
AWG20
U
AWG20
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A2-H
MBR-C
(Electromagnetic
brake interlock
for C-axis)
(Note 1)
AWG20
AWG20
U
AWG20
Servo motor
(Note 2)
B1
B2
B
Servo motor
(Note 2)
B1
B2
B
Servo motor
(Note 2)
B1
B2
B
(Note 5)
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. There is no polarity in electromagnetic brake terminals (B1 and B2).
3. Create the circuit in order to shut off by interlocking with the emergency stop switch.
4. Do not use the 24 V DC interface power supply for the electromagnetic brake.
5. This connection is for the MR-J4 3-axis servo amplifier.
When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-H, refer to section 5.4.
4- 6
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
2) When cable length exceeds 10 m
Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable
should be within 2 m.
Refer to section 4.3 for the wire used for the extension cable.
50 m or less
(Note 5)
24 V DC power supply
for electromagnetic
brake
(Note 3)
MBR-A
CALM
(Electromagnetic
(AND
brake interlock
malfunction)
for A-axis)
(Note 1)
U
2 m or less
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L Servo motor
MR-BKS2CBL03M-A2-L
(Note 4)
AWG20
B1
B
AWG20
B2
(Note 2)
(Note 2)
a) Junction connector for b) Junction connector for
extension cable
electromagnetic brake cable
MBR-B
(Electromagnetic
brake interlock
for B-axis)
(Note 1)
U
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L Servo motor
MR-BKS2CBL03M-A2-L
(Note 4)
AWG20
B1
B
AWG20
B2
(Note 2)
(Note 2)
a) Junction connector for b) Junction connector for
extension cable
electromagnetic brake cable
MBR-C
(Electromagnetic
brake interlock
for C-axis)
(Note 1)
U
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L Servo motor
MR-BKS2CBL03M-A2-L
(Note 4)
AWG20
B1
B
AWG20
B2
(Note 2)
(Note 2)
a) Junction connector for b) Junction connector for
extension cable
electromagnetic brake cable
(Note 6)
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Junction connector
a) Junction connector for
extension cable
Description
CM10-CR2P- (DDK)
Wire size: S, M, L
b) Junction connector for
CMV1-SP2S- (DDK)
electromagnetic brake cable
Wire size: S, M1, M2, L
3.
4.
5.
6.
Create the circuit in order to shut off by interlocking with the emergency stop switch.
There is no polarity in electromagnetic brake terminals (B1 and B2).
Do not use the 24 V DC interface power supply for the electromagnetic brake.
This connection is for the MR-J4 3-axis servo amplifier.
4- 7
IP rating
IP65
IP65
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor
Refer to section 4.3 for the wires used for wiring.
(1) Wiring diagrams
(a) Connection with MR-J4 1-axis servo amplifier
(Note 4)
Power supply
cooling fan
50 m or less
Servo amplifier
Servo motor
U
V
W
U
V
W
MBR
(Note 2)
ALM
24 V DC power supply (Electromagnetic
brake interlock) (Malfunction)
for electromagnetic
RA2
RA1
brake
Cooling fan
(Note 3)
RA3
B1
U
B2
MCCB
M
BU
BV
BW
(Note 1)
B
Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2).
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
3. Create the circuit in order to shut off by interlocking with the emergency stop switch.
4. Refer to the chapter of the servo motor series for the cooling fan power supply.
4- 8
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(b) Connection with MR-J4 multi-axis servo amplifier
50 m or less
A-axis servo motor
Servo amplifier
CNP3A
U
V
W
U
V
W
(Note 2)
24 V DC power supply
for electromagnetic
brake
24 V DC
(Note 3)
CALM
(AND
malfunction)
RA1
MBR-A
(Electromagnetic
brake interlock
for A-axis)
RA2
DOCOM
U
CALM
RA1
MBR-A
RA2
MBR-B
RA3
MBR-C
RA4
(Note 1)
B1
B
B2
MBR-B
(Electromagnetic
brake interlock B-axis servo motor
for B-axis)
(Note 1)
RA3
B1
U
CNP3B
U
V
W
M
B2
B
(Note 4)
U
V
W
M
MBR-C
(Electromagnetic
brake interlock C-axis servo motor
for C-axis)
(Note 1)
RA4
B1
U
CNP3C
U
V
W
B2
U
V
W
B
M
(Note 4)
Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2).
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
3. Create the circuit in order to shut off by interlocking with the emergency stop switch.
4. This connection is for the MR-J4 3-axis servo amplifier.
4- 9
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(2) Servo motor terminal section
The following table shows the servo motor terminal section. For details of the connectors, refer to (3) of
this section. For details of the terminal box, refer to (4) of this section.
The connector fitting the servo motor is prepared as optional equipment. Refer to chapter 5 for details of
the options. For types other than those prepared as optional equipment, refer to chapter 3.
(a) HG-SR series
Servo motor
Encoder
HG-SR52(4)
HG-SR102(4)
HG-SR152(4)
HG-SR51
HG-SR81
HG-SR202(4)
HG-SR352(4)
HG-SR502(4)
HG-SR121
HG-SR201
HG-SR301
HG-SR702(4)
HG-SR421
Servo motor terminal section
Electromagnetic
Power
brake
Connector C
Connector A
Connector H
Connector D
Connector E
(b) HG-JR series
Servo motor
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR3534
HG-JR5034
HG-JR353
HG-JR503
HG-JR703(4)
HG-JR903(4)
HG-JR11K1M(4)
HG-JR15K1M(4)
HG-JR22K1M(4)
Servo motor terminal section
Electromagnetic
Power
brake
Encoder
Cooling fan
Connector C
Connector A
Connector H
Connector D
Connector E
Connector J
Connector B
Terminal box
Connector K
(c) HG-RR series
Servo motor
Encoder
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
Servo motor terminal section
Electromagnetic
Power
brake
Connector F
Connector A
Connector G
4 - 10
The connector for
power is shared
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(d) HG-UR series
Servo motor
Encoder
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
Servo motor terminal section
Electromagnetic
Power
brake
Connector F
The connector for
power is shared
Connector G
Connector J
Connector A
(3) Details of servo motor-side connectors
The followings show the encoder connector, power connector, electromagnetic brake connector, and
cooling fan connector viewed from the connection side.
10
9
8
Connector A
Connector B
Connector C
Encoder connector
Encoder connector
Power supply connector
CMV1-R10P
MS3102A20-29P
MS3102A18-10P
7
6
5
4
Terminal
No.
Signal
3
1
MR
2
2
MRR
1
3
4
5
BAT
LG
Pin
L
A B
C
N
D
T
P
E
S R
M
K
J
H
G
A
C
D
B
F
6
7
8
9
10
Signal
P5
SHD
C
D
E
MR
MRR
F
BAT
G
H
J
LG
K
THM1
(Note)
L
THM1
(Note)
M
N
P
R
S
T
SHD
LG
P5
Note. This signal is for
HG-JR22K1M
(4).
4 - 11
B
A
Terminal
No.
Signal
A
U
B
V
C
W
D
(PE)
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
Connector D
Connector E
Connector F
Power supply connector
Power supply connector
Power supply connector
MS3102A22-22P
MS3102A32-17P
CE05-2A22-23P
C
D
B
A
Terminal
No.
Signal
A
B
C
U
V
W
D
C
B
Terminal
No.
Signal
A
B
C
U
V
W
D
A
D
(PE)
G
F
A
H
E
D
B
C
Terminal
No.
Signal
A
B
C
U
V
W
D
(PE)
(PE)
E
F
G
H
B1
(Note)
B2
(Note)
Note. For the motor
with an
electromagnetic
brake, supply
electromagnetic
brake power (24
V DC). There is
no polarity.
Connector G
Connector H
Connector J
Power supply connector
Electromagnetic brake connector
Electromagnetic brake connector
CE05-2A24-10P
CMV1-R2P
MS3102A10SL-4P
F
A
B
G
E
D
C
Terminal
No.
Signal
A
B
C
U
V
W
D
E
F
(PE)
B1
(Note)
B2
(Note)
G
Note. For the motor
with an
electromagnetic
brake, supply
electromagnetic
brake power
(24 V DC).
There is no
polarity.
2
Terminal
No.
Signal
Terminal
No.
Signal
1
B1
(Note)
A
B1
(Note)
2
B2
(Note)
B
B2
(Note)
1
Note. For the motor
with an
electromagnetic
brake, supply
electromagnetic
brake power
(24 V DC).
There is no
polarity.
4 - 12
A
B
Note. For the motor
with an
electromagnetic
brake, supply
electromagnetic
brake power
(24 V DC).
There is no
polarity.
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
Connector K
Cooling fan connector
CE05-2A14S-2P
Terminal
No.
C
D
A
B
A
B
C
Signal
BU
(Note)
BV
(Note)
BW
(Note)
D
Note. Refer to the
chapter of the
servo motor
series for the
specifications of
the power
supplied to the
cooling fan.
(4) Terminal box inside (HG-JR22K1M(4))
Power supply terminal block: M10 screw (3)
Connected to the encoder connector
Power lead
hole (Note)
Keep plate: M5 screw (4)
Keep plate
Protective earth (PE) terminal: M10 screw (2)
Terminal box lid: M4 screw (8)
Note. Provide measures to prevent oil, water, dust and dirt from entering the servo motor
through the power lead hole.
4 - 13
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
4.3 Selection example of wires
POINT
Wires indicated in this section are separated wires. When using a cable for
power line (U, V, and W) between the servo amplifier and servo motor, use a
600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
For selection of cables, refer to appendix 6.
To comply with the UL/CSA standard, use the wires shown in appendix 9 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection condition of wire size is as follows.
Construction condition: Single wire set in midair
Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
Servo amplifier
1) Servo motor power lead
Servo motor
U
U
V
V
W
W
Motor
2) Electromagnetic
brake lead
B1 Electromagnetic
B2
brake
Encoder
Encoder cable
Power supply
Cooling fan
BU
BV
BW
3) Cooling fan lead
4 - 14
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below.
(1) HG-MR series and HG-KR series
2
Wires [mm ]
Servo motor
2) B1/B2
1) U/V/W/
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
0.75 (AWG 18) (Note)
0.5 (AWG 20) (Note)
2
Note. It is for wire length of 10 m or less. When fabricating an extension cable, use 1.25 mm (AWG
16).
(2) HG-SR series
2
Wires [mm ]
Servo motor
1) U/V/W/
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
HG-SR52
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
HG-SR524
HG-SR1024
HG-SR1524
HG-SR2024
HG-SR3524
HG-SR5024
HG-SR7024
2) B1/B2
1.25 (AWG 16)
2 (AWG 14)
3.5 (AWG 12)
5.5 (AWG 10) (Note)
1.25 (AWG 16)
2 (AWG 14)
3.5 (AWG 12)
5.5 (AWG 10) (Note)
8 (AWG 8) (Note)
1.25 (AWG 16)
1.25 (AWG 16)
2 (AWG 14)
3.5 (AWG 12) (Note)
5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for
connection with the servo amplifier.
4 - 15
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(3) HG-JR series
2
Wires [mm ]
1) U/V/W/
Servo motor
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
Standard
When the
maximum torque
is 400% (Note 2)
1.25 (AWG 16)
1.25 (AWG 16)
2 (AWG 14)
2 (AWG 14)
5.5 (AWG 10)
(Note 1)
8 (AWG 8) (Note 1)
HG-JR703
HG-JR903
HG-JR11K1M
HG-JR15K1M
HG-JR22K1M
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
HG-JR2034
HG-JR3534
3) BU/BV/BW
3.5 (AWG 12)
(Note 1)
5.5 (AWG 10)
(Note 1)
3.5 (AWG 12)
HG-JR503
2) B1/B2
14 (AWG 6) (Note 1)
22 (AWG 4) (Note 1)
38 (AWG 2) (Note 1)
1.25 (AWG 16)
1.25 (AWG 16)
1.25 (AWG 16)
2 (AWG 14)
2 (AWG 14)
3.5 (AWG 12)
(Note 1)
5.5 (AWG 10)
(Note 1)
HG-JR5034
HG-JR7034
HG-JR9034
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
1.25 (AWG 16)
2 (AWG 14) (Note 1)
3.5 (AWG 12)
(Note 1)
8 (AWG 8) (Note 1)
14 (AWG 6) (Note 1)
1.25 (AWG 16)
Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for
connection with the servo amplifier.
2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for
the combinations.
(4) HG-RR series
2
Wires [mm ]
Servo motor
1) U/V/W/
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
2) B1/B2
2 (AWG 14)
3.5 (AWG 12)
1.25 (AWG 16)
5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for
connection with the servo amplifier.
4 - 16
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(5) HG-UR series
2
Wires [mm ]
Servo motor
2) B1/B2
1) U/V/W/
1.25 (AWG 16)
2 (AWG 14)
3.5 (AWG 12)
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
1.25 (AWG 16)
5.5 (AWG 10) (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for
connection with the servo amplifier.
4.4 Servo amplifier terminal section
POINT
For the sizes of wires used for wiring, refer to section 4.3.
To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors.
The following table shows the connectors to be connected to the servo amplifiers. The numbers in the rated
output field of the table indicate the symbol filling the underline "_" in the servo amplifier model. For details of
the connectors, refer to (1) of this section. For wiring, refer to (2) of this section.
Servo amplifier
10
20
MR-J4-_A
MR-J4-_A-RJ
MR-J4-_B
MR-J4-_B-RJ
MR-J4-_B-RJ010
MR-J4-_B-RJ020
40
60
70
100
Rated output
200
350
Connector A
500
Connector B
60
MR-J4-_A4
MR-J4-_A4-RJ
MR-J4-_B4
MR-J4-_B4-RJ
MR-J4-_B4-RJ010
MR-J4-_B4-RJ020
100
200
350
Rated output
500
700
Connector D
11K
15K
None (terminal block) (Note)
Note. For details on the terminal block, refer to each servo amplifier instruction manual.
Servo amplifier
MR-J4-_A1
MR-J4-_A1-RJ
MR-J4-_B1
MR-J4-_B1-RJ
MR-J4-_B1-RJ020
Servo amplifier
MR-J4W2-_B
MR-J4W3-_B
10
Rated output
20
40
Connector A
22 (222)
Rated output (Note)
44 (444)
77
Connector C
Connector C
Note. The numbers in parentheses are for the MR-J4 3-axis servo amplifier.
4 - 17
1010
11K
15K
None (terminal block) (Note)
Note. For details on the terminal block, refer to each servo amplifier instruction manual.
Servo amplifier
700
22K
22K
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(1) Connector details
(a) Connector A
Servo amplifier
CNP3
Table 4.1 Connector and applicable wire
Applicable wire
Connector
Receptacle assembly
CNP3
03JFAT-SAXGDK-H7.5
Wire size
Insulator OD
Stripped
length [mm]
Open tool
Manufacturer
AWG 18 to 14
3.9 mm or less
9
J-FAT-OT
JST
(b) Connector B
MR-J4-200_(-RJ_)
Servo amplifier
MR-J4-350_(-RJ_)
Servo amplifier
CNP3
CNP3
Table 4.2 Connector and applicable wire
Connector
Receptacle assembly
CNP3
03JFAT-SAXGFK-XL
Applicable wire
Wire size
Insulator OD
Stripped
length [mm]
Open tool
Manufacturer
AWG 16 to 10
4.7 mm or less
11.5
J-FAT-OT-EXL
JST
4 - 18
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(c) Connector C
MR-J4W_
Servo amplifier
CNP3A
CNP3B
CNP3C (Note)
Note. This figure shows the MR-J4 3-axis servo amplifier.
Table 4.3 Connector and applicable wire
Connector
Receptacle assembly
Applicable wire size
Stripped
length [mm]
Open tool
Manufacturer
CNP3A
CNP3B
CNP3C
04JFAT-SAGG-G-KK
AWG 18 to 14
9
J-FAT-OT-EXL
JST
(d) Connector D
Servo amplifier
CNP3
Table 4.4 Connector and applicable wire
Connector
Receptacle assembly
CNP3
03JFAT-SAXGDK-HT10.5
Applicable wire size
Wire size
Insulator OD
AWG 16 to 14
3.9 mm or less
4 - 19
Stripped
length [mm]
Open tool
Manufacturer
10
J-FAT-OT-XL
JST
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR
(2) Cable connection procedure
(a) Cable making
Refer to table 4.1 to 4.4 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator
Core
Stripped length
Twist strands slightly and straighten them as follows.
Loose and bent strands
Twist and straighten
the strands.
(b) Inserting wire
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the 03JFAT-SAXGFK-XL.
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
4 - 20
5. WIRING OPTION
5. WIRING OPTION
WARNING
Before connecting any option, turn off the power and wait for 15 minutes or more
until the charge lamp turns off. Then, confirm that the voltage between P+ and Nis safe with a voltage tester and others. Otherwise, an electric shock may occur.
In addition, when confirming whether the charge lamp is off or not, always confirm
it from the front of the servo amplifier.
CAUTION
Use specified options. Otherwise, it may cause a malfunction or fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, servo motors,
options, and peripheral equipment. Therefore, recommended wire sizes may
different from those of the used wires for the previous servo motors.
5.1 Cable/connector sets
POINT
The IP rating indicated is the cable's or connector's protection against ingress of
dust and water when the cable or connector is connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Please purchase the cable and connector options indicated in this section for the servo motor.
5- 1
5. WIRING OPTION
5.1.1 Combinations of cable/connector sets
(1) HG-MR series/HG-KR series servo motor
MR-J4 1-axis
servo amplifier
Direct connection (cable length 10 m or less, IP65)
13) 14) 15) 16)
CNP3
(Note 1)
Junction connection (cable length more than 10 m, IP65)
CN2
24) 25)
22) 23)
42)
CN4
26)
or
MR-BAT6V1BJ
MR-J4 multi-axis
servo amplifier
CNP3A
Junction connection (cable length more than 10 m, IP20)
19) 20)
17) 18)
CNP3B
CN2A
CN2B
CNP3C
(Note 3) (Note 2)
21)
To 24 V DC
power supply for
electromagnetic
brake
CN2C
(Note 2)
11) 12)
7) 8) 9) 10)
5) 6)
1) 2) 3) 4)
Power supply
connector
Electromagnetic
brake connector
Encoder
connector
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.
2. This connection is for the MR-J4 3-axis servo amplifier.
3. Refer to Appendix 7 for the crimp connector for CNP3_.
(2) HG-SR series/HG-JR53(4) to HG-JR15K1M(4)/HG-RR series/HG-UR series servo motor
MR-J4 1-axis
servo amplifier
CNP3
(Note 1)
26) 34) 35) 36) 41)
CN2
42)
24) 25) 40)
CN4
or
MR-BAT6V1BJ
MR-J4 multi-axis
servo amplifier
CNP3A
30) 31) 32) 33) 39)
27) 28) 29) 37) 38)
CNP3B
CNP3C
(Note 3) (Note 2)
CN2A
CN2B
Power supply
connector
CN2C
(Note 2)
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.
2. This connection is for the MR-J4 3-axis servo amplifier.
3. Refer to Appendix 7 for the crimp connector for CNP3_.
5- 2
Electromagnetic
brake connector
Encoder
connector
5. WIRING OPTION
(3) HG-JR22K1M(4) servo motor
Servo amplifier
41)
CN2
40) (Note 2)
42)
CN4
MR-BAT6V1BJ
Terminal box
(Note 1)
Note 1. Refer to section 3.1 for the connector used for connection of the cooling fan.
2. MR-ENECBL_M-H cannot be used.
5.1.2 Cable and connector list
No.
1)
Name
Servo motor
power cable
2)
Servo motor
power cable
3)
Servo motor
power cable
Model
Description
MRPWS1CBL_MA1-L (Note 1, 2)
Cable length:
2/5/10 m
Refer to section 5.3 for details.
MRPWS1CBL_MA1-H (Note 1)
Cable length:
2/5/10 m
MRPWS1CBL_MA2-L (Note 1, 2)
Cable length:
2/5/10 m
Remarks
Power supply connector
HG-MR series
HG-KR series
Power supply connector
HG-MR series
HG-KR series
Refer to section 5.3 for details.
4)
Servo motor
power cable
MRPWS1CBL_MA2-H (Note 1)
Cable length:
2/5/10 m
5)
Servo motor
power cable
MRPWS2CBL03M
-A1-L (Note 1)
Cable length:
0.3 m
Power supply connector
HG-MR series
HG-KR series
IP65
Load-side
lead
EN
compliant
IP65
Load-side
lead
Long
bending life
EN
compliant
IP65
Opposite to
load-side
lead
EN
compliant
IP65
Opposite to
load-side
lead
Long
bending life
EN
compliant
IP55
Load-side
lead
EN
compliant
Refer to section 5.3 for details.
6)
Servo motor
power cable
MRPWS2CBL03M
-A2-L (Note 1)
Cable length:
0.3 m
Power supply connector
HG-MR series
HG-KR series
Refer to section 5.3 for details.
5- 3
IP55
Opposite to
load-side
lead
EN
compliant
5. WIRING OPTION
No.
7)
Name
Electromagnetic
brake cable
8)
Electromagnetic
brake cable
9)
Electromagnetic
brake cable
10)
Electromagnetic
brake cable
11)
Electromagnetic
brake cable
Model
Description
MRBKS1CBL_MA1-L
Cable length:
2/5/10 m
Refer to section 5.4 for details.
MRBKS1CBL_MA1-H
Cable length:
2/5/10 m
MRBKS1CBL_MA2-L
Cable length:
2/5/10 m
MRRefer to section 5.4 for details.
BKS1CBL_MA2-H
Cable length:
2/5/10 m
MRBKS2CBL03MA1-L
Cable length:
0.3 m
Remarks
Electromagnetic brake connector
HG-MR series
HG-KR series
Electromagnetic brake connector
HG-MR series
HG-KR series
Electromagnetic brake connector
HG-MR series
HG-KR series
IP65
Load-side
lead
IP65
Load-side
lead
Long
bending life
IP65
Opposite to
load-side
lead
IP65
Opposite to
load-side
lead
Long
bending life
IP55
Load-side
lead
Refer to section 5.4 for details.
12)
13)
Electromagnetic
brake cable
Encoder cable
14)
Encoder cable
15)
Encoder cable
16)
Encoder cable
17)
Encoder cable
MRBKS2CBL03MA2-L
Cable length:
0.3 m
Electromagnetic brake connector
HG-MR series
HG-KR series
Refer to section 5.4 for details.
MRJ3ENCBL_MA1-L (Note 1)
Cable length:
2/5/10 m
MRRefer to section 5.2 (1) for details.
J3ENCBL_MA1-H (Note 1)
Cable length:
2/5/10 m
MRJ3ENCBL_MA2-L (Note 1)
Cable length:
2/5/10 m
Refer to section 5.2 (1) for details.
MRJ3ENCBL_MA2-H (Note 1)
Cable length:
2/5/10 m
MRJ3JCBL03MA1-L (Note 1)
Cable length:
0.3 m
Encoder connector
Encoder connector
HG-MR series
HG-KR series
HG-MR series
HG-KR series
5- 4
IP65
Load-side
lead
HG-MR series
HG-KR series
Encoder connector
Refer to section 5.2 (3) for details.
IP55
Opposite
to loadside lead
IP65
Load-side
lead
Long
bending life
IP65
Opposite
to loadside lead
IP65
Opposite
to loadside lead
Long
bending life
IP20
Load-side
lead
5. WIRING OPTION
No.
18)
Name
Encoder cable
19)
Encoder cable
20)
Encoder cable
21)
Encoder
connector set
Model
Description
MRJ3JCBL03MA2-L (Note 1)
Cable length:
0.3 m
Remarks
Encoder connector
HG-MR series
HG-KR series
Refer to section 5.2 (3) for details.
MR-EKCBL_ML
Cable length:
HG-MR/HG-KR series
20/30 m Refer to section 5.2 (2) for details.
MR-EKCBL_MH
Cable length:
20/30/40/50 m
MR-ECNM
IP20
Opposite to
load-side
lead
IP20
IP20
Long
bending life
IP20
HG-MR/HG-KR series
Refer to section 5.2 (2) for details.
22)
Encoder cable
MRJ3JSCBL03MA1-L (Note 1)
Cable length:
0.3 m
Encoder connector
IP65
Load-side
lead
HG-MR series
HG-KR series
Refer to section 5.2 (4) for details.
23)
Encoder cable
MRJ3JSCBL03MA2-L (Note 1)
Cable length:
0.3 m
Encoder connector
IP65
Load-side
lead
HG-MR series
HG-KR series
Refer to section 5.2 (4) for details.
24)
Encoder cable
25)
Encoder cable
26)
Encoder
connector set
MRJ3ENSCBL_ML (Note 1)
Cable length:
2/5/10/20/30 m
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/
HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/
HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4)
Refer to section 5.2 (5) for details.
IP67
Standard
bending
life
IP67
Long
bending life
MRJ3ENSCBL_MH (Note 1)
Cable length:
2/5/10/20/30/40
/50 m
MR-J3SCNS
(Note 1)
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/
HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/
HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4)
Refer to section 5.2 (5) for details.
5- 5
5. WIRING OPTION
No.
Name
27)
Power connector
set
28)
29)
30)
31)
Power connector
set
Power connector
set
Model
MR-PWCNS4
MR-PWCNS5
MR-PWCNS3
Electromagnetic
brake connector
set
MR-BKCNS1
(Note 1)
Electromagnetic
brake connector
set
MR-BKCNS1A
(Note 1)
Description
Plug: CE05-6A18-10SD-D-BSS
Cable clamp: CE3057-10A-1-D
(DDK)
Applicable cable
2
Applicable wire size: 2 mm (AWG 14) to
2
3.5 mm (AWG 12)
Cable OD: 10.5 mm to 14.1 mm
Plug: CE05-6A22-22SD-D-BSS
Cable clamp: CE3057-12A-1-D
(DDK)
Applicable cable
2
Applicable wire size: 5.5 mm (AWG 10) to
2
8 mm (AWG 8)
Cable OD: 12.5 mm to 16 mm
Plug: CE05-6A32-17SD-D-BSS
Cable clamp: CE3057-20A-1-D
(DDK)
Applicable cable
2
Applicable wire size: 14 mm (AWG 6) to
2
22 mm (AWG 4)
Cable OD: 22 mm to 23.8 mm
Straight plug: CMV1-SP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
Remarks
HG-SR51
HG-SR81
HG-SR52(4)
HG-SR102(4)
HG-SR152(4)
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR3534
HG-JR5034
HG-SR121
HG-SR201
HG-SR301
HG-SR202(4)
HG-SR352(4)
HG-SR502(4)
HG-JR353
HG-JR503
HG-SR421
HG-SR702(4)
HG-JR703(4)
HG-JR903(4)
HG-JR11K1M(4)
HG-JR15K1M(4)
IP67
EN
compliant
IP67
EN
compliant
IP67
HG-SR series
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR353(4)
HG-JR503(4)
HG-JR703(4)
HG-JR903(4)
Angle plug: CMV1-AP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
IP67
HG-SR series
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR353(4)
HG-JR503(4)
HG-JR703(4)
HG-JR903(4)
5- 6
IP67
EN
compliant
5. WIRING OPTION
No.
32)
33)
Name
Model
Electromagnetic
brake connector
set
MR-BKCNS2
Electromagnetic
brake connector
set
MR-BKCNS2A
Description
Straight plug: CMV1S-SP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
Remarks
IP67
HG-SR series
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR353(4)
HG-JR503(4)
HG-JR703(4)
HG-JR903(4)
Angle plug: CMV1S-AP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
IP67
HG-SR series
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR353(4)
HG-JR503(4)
HG-JR703(4)
HG-JR903(4)
34)
Encoder
Connector set
MR-ENCNS2
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/
HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/
HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4)
Refer to section 5.2 (5) for details.
35)
Encoder
Connector set
MR-J3SCNSA
(Note 1)
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/
HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/
HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4)
Refer to section 5.2 (5) for details.
36)
Encoder
Connector set
MR-ENCNS2A
37)
Power connector
set
MR-PWCNS1
38)
Power connector
set
MR-PWCNS2
IP67
HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/
HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/
HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4)
Refer to section 5.2 (5) for details.
Plug: CE05-6A22-23SD-D-BSS
Cable clamp: CE3057-12A-2-D
HG-RR103
(DDK)
HG-RR153
Applicable cable
2
2
HG-RR203
Applicable wire size: 2 mm to 3.5 mm
HG-UR72
(AWG 14 to 12)
HG-UR152
Cable OD: 9.5 mm to 13 mm
Plug: CE05-6A24-10SD-D-BSS
Cable clamp: CE3057-16A-2-D
(DDK)
Applicable cable
2
2
Applicable wire size: 5.5 mm to 8 mm
(AWG 10 to 8)
Cable OD: 13 mm to 15.5 mm
5- 7
HG-RR353
HG-RR503
HG-UR202
HG-UR352
HG-UR502
IP65
EN
compliant
5. WIRING OPTION
No.
39)
40)
Name
Model
Electromagnetic
brake connector
set
MR-BKCN
Encoder cable
MR-ENECBL_
M-H-MTH
Description
Plug: D/MS3106A10SL-4S(D190) (DDK)
Cable clamp: YSO10-5-8 (Daiwa Dengyo)
Applicable cable
2
2
Applicable wire size: 0.3 mm to 1.25 mm
(AWG 22 to 16)
Cable OD: 5 mm to 8.3 mm
Remarks
HG-UR202
HG-UR352
HG-UR502
HG-JR11K1M(4)
HG-JR15K1M(4)
HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)
Refer to section 5.2 (6) for details.
41)
Encoder
connector set
MR-ENECNS
IP65
EN
compliant
IP67
Long
bending
life
It is not a
resistance
to oil.
IP67
HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)
Refer to section 5.2 (6) for details.
42)
Junction battery
cable
MRBT6VCBL03M
Only for
MRBAT6V1BJ
Refer to section 5.2 (7) for details.
Note 1. The cable and the connector set may contain different connectors but still usable.
2. For servo motor power cable, MR-PWS3CBL_M-A_-L using shielded cable is also available. For details, contact your local
sales office.
5.2 Encoder cable/connector sets
POINT
For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the
shielded external conductor of the cable to the ground plate and fix it to the
connector shell.
Cable
Ground plate
Screw
5- 8
5. WIRING OPTION
(1) MR-J3ENCBL_M-_-_
These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable
length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the
lengths with the symbols are available.
Cable length
IP rating
2 m 5 m 10 m
Cable model
Bending life
MR-J3ENCBL_M-A1-L
2
5
10
IP65
Standard
MR-J3ENCBL_M-A1-H
2
5
10
IP65
Long
bending life
MR-J3ENCBL_M-A2-L
2
5
10
IP65
Standard
IP65
Long
bending life
MR-J3ENCBL_M-A2-H
2
5
10
Application
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
(a) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
MR-J3ENCBL_M-A1-L
MR-J3ENCBL_M-A1-H
CN2
1)
Servo motor
HG-MR
HG-KR
or
or
MR-J4 multi-axis
servo amplifier
MR-J3ENCBL_M-A2-L
MR-J3ENCBL_M-A2-H
CN2A
CN2B
CN2C
2)
2)
Servo motor
HG-MR
HG-KR
(Note)
1)
Note. This connection is for the MR-J4 3-axis servo amplifier.
Cable model
MR-J3ENCBL_M-A1-L
MR-J3ENCBL_M-A1-H
1) CN2, CN2A, CN2B, and CN2C side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M or equivalent)
2
LG
4
6
8
1
P5
MR-J3ENCBL_M-A2-L
3
MR
5
7
Connector set: 54599-1019
(Molex)
10
MRR
9
or
2
LG
Note. Keep open the pins shown with
4
6
8
10
5
7
9
Connector: 2174053-1
Crimping tool for ground clip:
1596970-1
Crimping tool for receptacle
contact: 1596847-1
(TE Connectivity)
MRR
1
3
P5 MR
BAT
View seen from wiring side. (Note)
MR-J3ENCBL_M-A2-H
2) Encoder-side connector
BAT
View seen from wiring side. (Note)
. Especially, pin 10 is provided
for manufacturer adjustment. If it is connected with any other pin, the
9 SHD
7
5 MR
3 P5
1
8
6 LG
4 MRR
2 BAT
View seen from wiring side.
(Note)
servo amplifier cannot operate normally.
Note. Keep open the pins
shown with
5- 9
.
5. WIRING OPTION
(b) Cable internal wiring diagram
CN2, CN2A, CN2B, and
CN2C side connector
P5
LG
MR
MRR
BAT
SD
Encoder-side
connector
1
2
3
4
9
Plate
3
6
5
4
2
9
P5
LG
MR
MRR
BAT
SHD
(2) MR-EKCBL_M-_
POINT
The following encoder cables are of four-wire type.
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
When using any of these encoder cables, select "four-wire type" referring each
servo amplifier instruction manual.
If the setting is incorrect, [AL. 16] occurs.
The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required.
The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Cable model
Cable length
IP rating
20 m 30 m 40 m 50 m
MR-EKCBL_M-L
20
MR-EKCBL_M-H
20
(Note)
30
(Note) (Note) (Note)
30
40
50
Note. Four-wire type cable
5 - 10
Bending life
IP20
Standard
IP20
Long
bending life
Application
For HG-MR/HG-KR servo motor
Use in combination with MRJ3JCBL03M-_-L.
5. WIRING OPTION
(a) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
CN2
MR-EKCBL_M-L
MR-EKCBL_M-H
or
MR-J4 multi-axis
servo amplifier
MR-J3JCBL03M-A2-L
Cable length: 0.3 m
Servo motor
HG-MR
HG-KR
1)
CN2A
CN2B
CN2C
2)
(Note)
Note. This connection is for the MR-J4 3-axis servo amplifier.
Cable model
MR-EKCBL_M-L
1) CN2, CN2A, CN2B, and CN2C side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
4
6
MRR
MR-EKCBL_M-H
1
P5
3
MR
8
10
MDR
5
7
MD
9
BAT
View seen from wiring side. (Note)
2) Junction connector
Connector set: 54599-1019
(Molex)
or
2
LG
4
6
MRR
1
3
P5 MR
8
10
MDR
5
7
MD
9
BAT
View seen from wiring side. (Note)
. Especially, pin 10 is provided
Note. Keep open the pins shown with
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
5 - 11
Housing: 1-172161-9
Connector pin: 170359-1
Crimping tool: 91529-1
(TE Connectivity or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
1
2
3
MR MRR BAT
4
5
6
MD MDR CONT
7
8
9
P5
LG SHD
View seen from wiring side.
5. WIRING OPTION
(b) Internal wiring diagram
MR-EKCBL30M-L
MR-EKCBL20M-L
CN2, CN2A, CN2B, and
CN2C side connector
Junction
connector
1
2
7
8
P5
LG
P5
LG
1
2
7
8
P5
LG
3
4
9
Plate
1
2
3
9
MR
MRR
BAT
SHD
MR
MRR
MD
MDR
BAT
3
4
7
8
9
1
2
4
5
3
6
9
MR
MRR
MD
MDR
BAT
CONT
SHD
P5
LG
MR
MRR
BAT
SD
(Note)
CN2, CN2A, CN2B, and
CN2C side connector
SD
Plate
P5
LG
MR
MRR
BAT
SD
(Note)
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
MR-EKCBL20M-H
CN2, CN2A, CN2B, and
CN2C side connector
Junction
connector
CN2, CN2A, CN2B, and
CN2C side connector
Junction
connector
Junction
connector
1
2
7
8
P5
LG
P5
LG
1
2
7
8
P5
LG
3
4
9
Plate
1
2
3
9
MR
MRR
BAT
SHD
MR
MRR
MD
MDR
BAT
3
4
7
8
9
1
2
4
5
3
6
9
MR
MRR
MD
MDR
BAT
CONT
SHD
(Note)
SD
Plate
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary
for use in an incremental system.
When fabricating the cable, use the wiring diagram corresponding to the length indicated below.
Cable bending life
Standard
Long bending life
Applicable wiring diagram
Less than 30 m
30 m to 50 m
MR-EKCBL20M-L
MR-EKCBL20M-H
5 - 12
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
5. WIRING OPTION
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts, and fabricate it according to the wiring
diagram in (b). Refer to section 5.5 for the specifications of the cable to use.
Parts
Connector set
Description
MR-ECNM
CN2, CN2A, CN2B, and CN2C side
connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
or
Connector set: 54599-1019
(Molex)
Encoder-side connector
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
(3) MR-J3JCBL03M-_-L
The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-EKCBL_M-_) is required.
Cable model
Cable length
IP rating
Bending life
Application
Standard
Load-side lead for HG-MR/HG-KR
servo motor
Use in combination with MREKCBL_M-_.
Opposite to load-side lead for HGMR/HG-KR servo motor
Use in combination with MREKCBL_M-_.
MR-J3JCBL03M-A1-L
0.3 m
MR-J3JCBL03M-A2-L
5 - 13
IP20
5. WIRING OPTION
(a) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
MR-J3JCBL03M-A1-L
2)
CN2
Servo motor
HG-MR
HG-KR
1)
or
MR-J4 multi-axis
servo amplifier
MR-EKCBL_M-_
or
MR-J3JCBL03M-A2-L 2)
CN2A
CN2B
CN2C
Servo motor
HG-MR
HG-KR
(Note)
1)
Note. This connection is for the MR-J4 3-axis servo amplifier.
Cable model
1) Junction connector
2) Encoder-side connector
Connector: 2174053-1
Crimping tool for ground clip: 1596970-1
Crimping tool for receptacle contact: 1596847-1
(TE Connectivity)
MR-J3JCBL03M-A1-L Housing: 1-172169-9
Contact: 1473226-1
Cable clamp: 316454-1
Crimping tool: 91529-1
(TE Connectivity)
9 SHD
7 MDR
5 MR
3 P5
1 CONT
3
2
1
BAT MRR MR
6
5
4
CONT MDR MD
9
8
7
SHD LG
P5
MR-J3JCBL03M-A2-L
8 MD
6 LG
4 MRR
2 BAT
View seen from wiring side.
View seen from wiring side.
(b) Internal wiring diagram
Junction
connector
Encoder-side
connector
P5
LG
MR
MRR
MD
MDR
BAT
CONT
7
8
1
2
4
5
3
6
3
6
5
4
8
7
2
1
P5
LG
MR
MRR
MD
MDR
BAT
CONT
SHD
9
9
SHD
5 - 14
5. WIRING OPTION
(4) MR-J3JSCBL03M-_-L
The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required.
Cable model
Cable length
IP rating
Bending life
MR-J3JSCBL03M-A1-L
0.3 m
IP65
Standard
MR-J3JSCBL03M-A2-L
Application
For HG-KR/HG-MR servo motor
Load-side lead
Use in combination with MRJ3ENSCBL_M-_.
For HG-KR/HG-MR servo motor
Opposite to load-side lead
Use in combination with MRJ3ENSCBL_M-_.
(a) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
MR-J3JSCBL03M-A1-L
CN2
(Note 2)
MR-J3ENSCBL_M-_
or
MR-J4 multi-axis
servo amplifier
CN2A
CN2B
CN2C
2)
Servo motor
HG-MR
HG-KR
1)
or
MR-J3JSCBL03M-A2-L 2)
Servo motor
HG-MR
HG-KR
(Note 1)
1)
Note 1. This connection is for the MR-J4 3-axis servo amplifier.
2. For details of this cable, refer to (5) in this section.
Cable model
1) Junction connector
2) Encoder-side connector
MR-J3JSCBL03M-A1-L Receptacle: CM10-CR10P-M
(DDK)
Applicable wire size: AWG 20 or less
3
7
MR-J3JSCBL03M-A2-L
2
10
SHD
1
MR
MRR
6
5
LG
9
Connector: 2174053-1
Crimping tool for ground clip: 1596970-1
Crimping tool for receptacle contact: 1596847-1
(TE Connectivity)
9 SHD
7
5 MR
3 P5
1
4
BAT
8
P5
View seen from wiring side. (Note)
Note. Keep open the pins shown with
.
5 - 15
8
6 LG
4 MRR
2 BAT
View seen from wiring side. (Note)
Note. Keep open the pins shown with
.
5. WIRING OPTION
(b) Internal wiring diagram
Junction
connector
Encoder-side
connector
8
5
1
2
6
7
4
3
3
6
5
4
8
7
2
1
P5
LG
MR
MRR
10
9
SHD
P5
LG
MR
MRR
BAT
SHD
BAT
(5) MR-J3ENSCBL_M-_
These cables are encoder cables for the HG-MR/HG-KR/HG-SR/HG-RR/HG-UR series/HGJR53(4)/HGJR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/HGJR703(4) and HG-JR903(4) servo motors. The numbers in the cable length field of the table indicate the
symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are
available.
Cable model
2m
Cable length
IP rating
5 m 10 m 20 m 30 m 40 m 50 m
MR-J3ENSCBL_M-L
2
5
10
20
30
MR-J3ENSCBL_M-H
2
5
10
20
30
40
50
Bending life
IP67
Standard
IP67
Long
bending life
Application
For HG-MR/HG-KR/HG-SR/
HG-RR/HG-UR series/
HG-JR53(4)/HGJR73(4)/
HG-JR103(4)/HG-JR153(4)/
HG-JR203(4)/HG-JR353(4)/
HG-JR503(4)/HG-JR703(4) and
HG-JR903(4) servo motor
(a) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
CN2
MR-J3ENSCBL_M-L
MR-J3ENSCBL_M-H
or
MR-J4 multi-axis
servo amplifier
CN2A
CN2B
CN2C
1)
(Note)
Note. This connection is for the MR-J4 3-axis servo amplifier.
5 - 16
2)
Servo motor
HG-SR
HG-RR
HG-UR
HG-JR53(4) to HG-JR903(4)
5. WIRING OPTION
Cable model
MR-J3ENSCBL_ML
1) CN2, CN2A, CN2B, and CN2C
side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
4
6
8
10
2) Encoder-side connector
Cable
length
10 m or
shorter
Plug (DDK)
Bending life
Straight plug
Socket contact
Long
bending life
Standard
CMV1-#22ASC-C1-100
Applicable wire size: AWG 24
to 20
Crimping tool:357J-53162T
CMV1-SP10S-M1
MRR
1
P5
3
MR
5
7
9
BAT
20 m or
longer
Long
bending life
Standard
CMV1-#22ASC-C2-100
Applicable wire size: AWG 28
to 24
Crimping tool:357J-53163T
CMV1-SP10S-M2
View seen from wiring side. (Note)
or
3
Connector set: 54599-1019
(Molex)
7
2
6
10
5
LG
9
SHD
MR-J3ENSCBL_MH
2
LG
4
6
8
5
7
1
MR
MRR
4
BAT
8
P5
10
MRR
1
3
P5 MR
View seen from wiring side. (Note)
9
BAT
Note. Keep open the pins shown with
View seen from wiring side. (Note)
Note. Keep open the pins shown
. Especially, pin 10
with
is provided for manufacturer
adjustment. If it is connected
with any other pin, the servo
amplifier cannot operate
normally.
5 - 17
.
5. WIRING OPTION
(b) Cable internal wiring diagram
MR-J3ENSCBL2M-L
MR-J3ENSCBL5M-L
MR-J3ENSCBL10M-L
MR-J3ENSCBL2M-H
MR-J3ENSCBL5M-H
MR-J3ENSCBL10M-H
CN2, CN2A, CN2B, and
CN2C side connector
P5
LG
MR
MRR
BAT
SD
MR-J3ENSCBL20M-L
MR-J3ENSCBL30M-L
Encoder-side
connector
8
5
1
2
4
10
1
2
3
4
9
Plate
P5
LG
MR
MRR
BAT
SHD
CN2, CN2A, CN2B, and
CN2C side connector
P5
LG
MR
MRR
BAT
SD
(Note)
Encoder-side
connector
1
2
8
5
P5
LG
3
4
9
Plate
1
2
4
10
MR
MRR
BAT
SHD
(Note)
MR-J3ENSCBL20M-H
MR-J3ENSCBL30M-H
MR-J3ENSCBL40M-H
MR-J3ENSCBL50M-H
CN2, CN2A, CN2B, and
CN2C side connector
P5
LG
MR
MRR
BAT
SD
Encoder-side
connector
1
2
8
5
P5
LG
3
4
9
Plate
1
2
4
10
MR
MRR
BAT
SHD
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary
for use in an incremental system.
5 - 18
5. WIRING OPTION
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts, and fabricate it according to the wiring
diagram in (b). Refer to section 5.5 for the specifications of the used cable.
Parts
(Connector set)
MR-J3SCNS
(one-touch connection
type)
(Note)
MR-ENCNS2
(screw type)
(Note)
Description
Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
or
Connector set: 54599-1019
(Molex)
MR-J3SCNSA
(one-touch connection
type)
(Note)
Encoder-side connector (DDK)
Straight plug: CMV1-SP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG 20 or less
Straight plug: CMV1S-SP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG 20 or less
Angle plug: CMV1-AP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG 20 or less
MR-ENCNS2A
(screw type)
(Note)
Angle plug: CMV1S-AP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG 20 or less
Note. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.
5 - 19
5. WIRING OPTION
(6) MR-ENECBL_M-H-MTH
These cables are encoder cables for HG-JR11K1M(4), HG-JR15K1M(4), and HG-JR22K1M(4) servo
motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in
the cable model. The cables of the lengths with the symbols are available.
Cable model
Cable length
IP rating
5 m 10 m 20 m 30 m 40 m 50 m
2m
MR-ENECBL_M-H-MTH
2
5
10
20
30
40
50
Bending life
Long
bending life
IP67
Application
For HG-JR11K1M(4),
HG-JR15K1M(4), and
HG-JR22K1M(4) servo motors
(a) Connection of servo amplifier and servo motor
Servo amplifier
2)
MR-ENECBL_M-H-MTH
CN2
Servo motor
HG-JR11K1M(4)/HG-JR15K1M(4)/
HG-JR22K1M(4)
1)
Cable model
MR-ENECBL_M-HMTH
1) CN2-side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
4
6
THM2
8
10
MRR
1
P5
3
MR
5
THM1
7
9
BAT
View seen from wiring side. (Note)
2) Encoder-side connector
Connector set: 54599-1019 (Molex)
or
2
LG
4
6
8
10
7
9
Plug: D/MS3106A20-29S(D190)
Cable clamp: CE3057-12A-3-D
Backshell: CE02-20BS-S-D
L
MRR THM2
1
3
P5 MR
5
THM1
K
View seen from wiring side. (Note)
Note. Do not connect anything to the pins shown as
. Especially, pin
10 is provided for manufacturer adjustment. If it is connected with any
other pin, the servo amplifier cannot operate normally.
J
BAT
A B
C
N
D
T
P
E
S R
M
H
G
F
View seen from wiring side.
(Note)
Pin
Signal
A
B
C
D
E
F
G
H
MR
MRR
BAT
LG
Pin
Signal
K
L
THM1
THM2
M
N
P
R
S
T
SHD
LG
P5
J
Note.
Do not connect
anything to the pins
shown as
5 - 20
.
5. WIRING OPTION
(b) Cable internal wiring diagram
MR-ENECBL2M-H-MTH
MR-ENECBL5M-H-MTH
MR-ENECBL10M-H-MTH
MR-ENECBL20M-H-MTH
CN2-side
connector
Encoder-side
connector
P5
LG
1
2
S
R
P5
LG
MR
MRR
THM1
THM2
BAT
3
4
5
6
9
C
D
MR
MRR
K
L
F
G
THM1
THM2
BAT
LG
N
SHD
Plate
SD
(Note 1) (Note 2)
CN2-side
connector
Encoder-side
connector
P5
LG
1
2
S
R
P5
LG
MR
MRR
THM1
THM2
BAT
3
4
5
6
9
C
D
K
MR
MRR
THM1
L
F
G
THM2
BAT
LG
N
SHD
SD
Plate (Note 1) (Note 2)
MR-ENECBL30M-H-MTH
MR-ENECBL40M-H-MTH
MR-ENECBL50M-H-MTH
CN2-side
connector
Encoder-side
connector
P5
LG
1
2
S
R
P5
LG
MR
MRR
THM1
THM2
BAT
3
4
5
6
9
C
D
K
L
F
G
MR
MRR
THM1
THM2
BAT
LG
N
SHD
SD
Plate (Note 1) (Note 2)
Note 1. Always make connection for use in an absolute position detection system. Wiring is not
necessary for use in an incremental system.
2. Always make connection for use with HG-JR22K1M(4). Wiring is not necessary for use with a
servo motor other than HG-JR22K1M(4).
5 - 21
5. WIRING OPTION
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts, and fabricate it according to the wiring
diagram in (b). Refer to section 5.5 for the specifications of the cable to use.
Parts
(Connector set)
Description
Servo amplifier-side connector
Encoder-side connector (DDK)
MR-ENECNS
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
or
Connector set: 54599-1019
(Molex)
Plug: D/MS3106A20-29S(D190)
Cable clamp: CE3057-12A-3-D
Backshell: CE02-20BS-S-D
(7) MR-BT6VCBL03M
This cable is a battery connection cable. Using this cable with an MR-BAT6V1BJ enables to hold
absolute position data recorded in the encoder even if they are disconnected from the servo amplifier.
Additionally, you can change the battery with the control circuit power supply off. For details, refer to
each servo amplifier instruction manual.
Cable model
Cable length
MR-BT6VCBL03M
Application
For HG-MR/HG-KR/HG-SR/HG-JR/HGRR/HG-UR series servo motor
0.3 m
Connection of servo amplifier and servo motor
Servo amplifier
1)
MR-BT6VCBL03M
2)
(Note)
Encoder cable
CN2
CN4
3)
Black: Connector for branch cable
HG series servo motors
MR-BAT6V1BJ
Orange: Connector for servo amplifier
Note. For the encoder cable, refer to (1) to (6) of this section.
Cable model
MR-BT6VCBL03M
1) CN2-side connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
or
Connector set: 54599-1019
(Molex)
2) Junction connector
Plug: 36110-3000FD
Shell kit: 36310-F200-008
(3M)
5 - 22
3) Battery connector
Connector: DF3-2EP-2C
Contact: DF3-EP2428PCFA
(Hirose Electric)
5. WIRING OPTION
5.3 Servo motor power cable
These cables are servo motor power cables for the HG-MR/HG-KR series servo motors.
The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Refer to section 4.2.1 for wiring.
Cable length
IP rating
0.3 m 2 m 5 m 10 m
Cable model
Bending life
MR-PWS1CBL_M-A1-L
2
5
10
IP65
Standard
MR-PWS1CBL_M-A2-L
2
5
10
IP65
Standard
MR-PWS1CBL_M-A1-H
2
5
10
IP65
MR-PWS1CBL_M-A2-H
2
5
10
IP65
Long
bending life
Long
bending life
MR-PWS2CBL03M-A1-L
03
IP55
Standard
MR-PWS2CBL03M-A2-L
03
IP55
Standard
Application
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
(1) Connection of servo amplifier and servo motor
MR-J4 1-axis
servo amplifier
MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A1-H
MR-PWS2CBL03M-A1-L
Connector for CNP3 packed
with the servo amplifier
1)
CNP3
or
or
MR-J4 multi-axis
servo amplifier
MR-PWS1CBL_M-A2-L
MR-PWS1CBL_M-A2-H
MR-PWS2CBL03M-A2-L
CNP3A
Servo motor
HG-MR
HG-KR
1)
CNP3B
Servo motor
HG-MR
HG-KR
CNP3C
(Note)
Connector for CNP3A, CNP3B and
CNP3C packed with the servo amplifier
Note. This connection is for the MR-J4 3-axis servo amplifier.
Cable model
MR-PWS1CBL_M-A1-L
MR-PWS1CBL_M-A2-L
MR-PWS1CBL_M-A1-H
MR-PWS1CBL_M-A2-H
1) Servo motor power-side connector
Connector: KN4FT04SJ1-R
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
Crimping tool: CT160-3-TMH5B
(JAE)
Connector: KN4FT04SJ2-R
Hood, socket insulator
MR-PWS2CBL03M-A1-L
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
MR-PWS2CBL03M-A2-L Crimping tool: CT160-3-TMH5B
(JAE)
5 - 23
1
2 U
3 V
4 W
View seen from wiring side.
5. WIRING OPTION
(2) Internal wiring diagram
(Red)
(White)
(Black)
(Green/yellow)
(Note)
U
V
W
Note. These are not shielded cables.
5.4 Electromagnetic brake cable
These cables are electromagnetic brake cables for the HG-MR/HG-KR series servo motors. The numbers in
the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables
of the lengths with the symbols are available.
Refer to section 4.2.1 for wiring.
Cable model
Cable length
IP rating
0.3 m 2 m 5 m 10 m
Bending life
MR-BKS1CBL_M-A1-L
2
5
10
IP65
Standard
MR-BKS1CBL_M-A2-L
2
5
10
IP65
Standard
MR-BKS1CBL_M-A1-H
2
5
10
IP65
MR-BKS1CBL_M-A2-H
2
5
10
IP65
Long
bending life
Long
bending life
MR-BKS2CBL03M-A1-L
03
IP55
Standard
MR-BKS2CBL03M-A2-L
03
IP55
Standard
5 - 24
Application
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
Load-side lead for HG-MR/HG-KR
servo motor
Opposite to load-side lead for HGMR/HG-KR servo motor
5. WIRING OPTION
(1) Connection of power supply for electromagnetic brake and servo motor
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A1-H
MR-BKS2CBL03M-A1-L
24 V DC power
supply for
electromagnetic
brake
1)
Servo motor
HG-MR
HG-KR
or
+
-
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A2-H
MR-BKS2CBL03M-A2-L
1)
Servo motor
HG-MR
HG-KR
Cable model
1) Connector for electromagnetic brake
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-L
MR-BKS1CBL_M-A1-H
MR-BKS1CBL_M-A2-H
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
Connector: JN4FT02SJ1-R
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
Crimping tool: CT160-3-TMH5B
(JAE)
1 B1
2 B2
View seen from wiring side.
Connector: JN4FT02SJ2-R
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
Crimping tool: CT160-3-TMH5B
(JAE)
(2) Internal wiring diagram
AWG 20
(Note)
AWG 20
Note. These are not shielded cables.
5 - 25
B1
B2
5. WIRING OPTION
5.5 Wires for option cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 5.1 Wires for option cables
Characteristics of one core
Type
Model
MR-J3ENCBL_MA1-L
MR-J3ENCBL_MA2-L
MR-J3ENCBL_MA1-H
MR-J3ENCBL_MA2-H
MR-J3JCBL03MA1-L
MR-J3JCBL03MA2-L
Length
[m]
Core
size
Number
of cores Structure
[Wires/mm] [Ω/km]
2 to 10
AWG 22
2 to 10
AWG 22
0.3
AWG 26
AWG 28
6
(3 pairs)
6
(3 pairs)
8
(4 pairs)
4
(2 pairs)
AWG 22
20 30
AWG 23
2 to 10
0.2 mm
20
AWG 24
2
Encoder cable
30 to 50 AWG 24
MR-J3JSCBL03MA2-L
12
(6 pairs)
12
(6 pairs)
MR-EKCBL_M-H
MR-J3JSCBL03MA1-L
2
0.3
AWG 26
2 to 10
AWG 22
20/30
AWG 23
2 to 10
AWG 22
MR-J3ENSCBL_
M-L
12
(6 pairs)
14
(7 pairs)
8
(4 pairs)
6
(3 pairs)
12
(6 pairs)
6
(3 pairs)
OD
d [mm]
7/0.26
1.18
7.1
70/0.08
56 or
less
1.17
7.1
30/0.08
233 or
less
1.2
7.1 ± 0.3
7/0.127
232 or
less
1.18
17/0.16
28.7 or
less
1.50
12/0.18
63.6 or
less
1.2
40/0.08
105 or
less
0.88
40/0.08
105 or
less
0.88
40/0.08
105 or
less
0.88
7/0.16
146 or
less
1.0
7/0.26
53 or
less
1.18
12/0.18
63.3 or
less
1.2
70/0.08
56 or
less
1.17
40/0.08
105 or
less
0.88
40/0.08
105 or
less
0.88
40/0.08
105 or
less
0.88
40/0.08
105 or
less
0.88
7.0
MR-J3ENSCBL_
M-H
20 to 50 AWG 24
MR-ENECBL_MH-MTH
2 to 10
0.2 mm
2
20
0.2 mm
2
30 to 50 0.2 mm
2
12
(6 pairs)
8
(4 pairs)
12
(6 pairs)
14
(7 pairs)
Cable OD
[mm]
53 or
less
2 to 10
MR-EKCBL_M-L
(Note 1) (Note 2)
Conductor
Insulator
resistance
5 - 26
Wire model
(Manufacturer)
(Note 3)
VSVP 7/0.26 (AWG #22 or
equivalent)-3P
KB-1655-2 (Bando Densen)
(Note 3)
TPE SVP 70/0.08 (AWG #22
or equivalent)-3P
KB-2237-2 (Bando Densen)
T/2464-1061/IIA-SB
4P×26AWG (Taiyo Cabletec)
(Note 3)
20276 composite 6-core
shielded cable
Ban-gi-shi-16395-1 (Bando
Densen)
(Note 3)
8.2 ± 0.3 20276 VSVPAWG#23×6P
KB-0492 (Bando Densen)
(Note 3) A14B2339 6P
7.2
(Junkosha)
(Note 3)
TPE SVP 40/0.08 (AWG #24
7.2
or equivalent)-6P
KB-1928-2 (Bando Densen)
(Note 3)
TPE SVP 40/0.08 (AWG #24
8.0
or equivalent)-7P
KB-1929-2 (Bando Densen)
(Note 3)
VSVP 7/0.16 (AWG #26 or
7.1 ± 0.3 equivalent)-4P
Ban-gi-shi-16822 (Bando
Densen)
(Note 3)
VSVP 7/0.26 (AWG #22 or
7.1
equivalent)-3P
KB-1655-2 (Bando Densen)
(Note 3)
8.2 ± 0.3 20276 VSVPAWG#23×6P
KB-0492 (Bando Densen)
(Note 3)
TPE SVP 70/0.08 (AWG #22
7.1
or equivalent)-3P
KB-2237-2 (Bando Densen)
(Note 3)
TPE SVP 40/0.08 (AWG #24
7.2
or equivalent)-6P
KB-1928-2 (Bando Densen)
(Note 3)
7.2
A14B2339 4P (Junkosha)
(Note 3)
7.2
A14B2343 6P (Junkosha)
(Note 3)
8.0
J14B0238(0.2*7P) (Junkosha)
5. WIRING OPTION
Characteristics of one core
Electromagnetic brake cable
Servo motor power cable
Type
Length
[m]
Model
MR-PWS1CBL_
M-A1-L
MR-PWS1CBL_
M-A2-L
MR-PWS1CBL_
M-A1-H
MR-PWS1CBL_
M-A2-H
MRPWS2CBL03MA1-L
MRPWS2CBL03MA2-L
MR-BKS1CBL_
M-A1-L
MR-BKS1CBL_
M-A2-L
MR-BKS1CBL_
M-A1-H
MR-BKS1CBL_
M-A2-H
MRBKS2CBL03MA1-L
MRBKS2CBL03MA2-L
Core
size
Number
of cores Structure
[Wires/mm] [Ω/km]
2 to 10
2 to 10
AWG 18
4
34/0.18
AWG 19
2)
(0.75 mm
4
150/0.08
29.1
or less
1.63
AWG 19
4
30/0.18
25.8
or less
1.64
1.35
2 to 10
AWG 20
2
21/0.18
34.6
or less
AWG 20
2
110/0.08
39.0
or less
1.37
AWG 20
2
19/0.203
32.0
or less
1.42
2 to 10
2 to 10
2 to 10
-
Insulator
Standard OD. Max. OD is about 10% greater.
Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch
Purchase from Taisei Co., Ltd.
These models consist with solid wires. Specify the color, separately.
5 - 27
(Note 3, 5)
J11B2330 UL10125
(Junkosha)
(Note 4)
HRZFEV-A (CL3) AWG 20 2
4.7 ± 0.1
cores
(Dyden)
(Note 4)
RMFES-A (CL3X) AWG 20 2
4.5 ± 0.3
cores
(Dyden)
0.3
0.3
Wire model
(Manufacturer)
(Note 4)
HRZFEV-A (CL3) AWG 18 4
6.2 ± 0.3
cores
(Dyden)
(Note 4)
RMFES-A (CL3X) AWG 19 4
5.7 ± 0.5
cores
(Dyden)
0.3
d
2.
3.
4.
5.
1.71
Cable OD
[mm]
0.3
Note 1. The following shows the detail of d.
Conductor
OD
d [mm]
21.8
or less
2 to 10
2 to 10
(Note 1) (Note 2)
Conductor
Insulator
resistance
-
(Note 3, 5)
J11B2331 UL10125
(Junkosha)
5. WIRING OPTION
MEMO
5 - 28
6. HG-MR SERIES/HG-KR SERIES
6. HG-MR SERIES/HG-KR SERIES
This chapter provides information on the servo motor specifications and characteristics. When using the HGMR/HG-KR series servo motor, always read the Safety Instructions in the beginning of this manual and
chapters 1 to 5, in addition to this chapter.
6.1 Model code definition
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
HG-KR1 3B JG1D
Appearance
Shaft type
Series
Feature
HG-MR
Ultra-Low inertia/Small capacity
HG-KR
Low inertia/Small capacity
Symbol
Shaft shape
HG-MR_
HG-KR_
None
Standard
(straight shaft)
053 to 73
Keyway shaft
(with key)
23 to 73
D cut shaft
053/13
(Note 1)
Rated output
K
Symbol Rated output [kW]
(Note 1)
05
0.05
D
1
0.1
Reducer
2
0.2
Symbol
4
0.4
None
None
7
0.75
G1
For general industrial machine (flange-mounting)
G5
Flange-mounting flange output type for high precision application
G7
Flange-mounting shaft output type for high precision application
Rated speed
3000 [r/min]
Electromagnetic brake
Oil seal
Symbol Electromagnetic brake
None
B
Reducer
Symbol
Oil seal
None
None
None
With
(Note 2)
With
J
Note 1. The special shaft applies to the standard servo motor and servo motor with an electromagnetic brake. However, the key
shaft (with key) also applies to the servo motor with flange-mounting shaft output type reducer for high precision
application.
2. For details, contact your local sales office.
6- 1
6. HG-MR SERIES/HG-KR SERIES
6.2 Combination list of servo motors and servo amplifiers
Servo amplifier
Servo motor
MR-J4 1-axis
200 V class
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
MR-J4-10A
MR-J4-10A-RJ
MR-J4-10B
MR-J4-10B-RJ
MR-J4-10B-RJ010
MR-J4-10B-RJ020
MR-J4-20A
MR-J4-20A-RJ
MR-J4-20B
MR-J4-20B-RJ
MR-J4-20B-RJ010
MR-J4-20B-RJ020
MR-J4-40A
MR-J4-40A-RJ
MR-J4-40B
MR-J4-40B-RJ
MR-J4-40B-RJ010
MR-J4-40B-RJ020
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70B-RJ010
MR-J4-70B-RJ020
MR-J4-10A
MR-J4-10A-RJ
MR-J4-10B
MR-J4-10B-RJ
MR-J4-10B-RJ010
MR-J4-10B-RJ020
MR-J4-20A
MR-J4-20A-RJ
MR-J4-20B
MR-J4-20B-RJ
MR-J4-20B-RJ010
MR-J4-20B-RJ020
MR-J4-40A
MR-J4-40A-RJ
MR-J4-40B
MR-J4-40B-RJ
MR-J4-40B-RJ010
MR-J4-40B-RJ020
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70B-RJ010
MR-J4-70B-RJ020
100 V class
MR-J4-10A1
MR-J4-10A1-RJ
MR-J4-10B1
MR-J4-10B1-RJ
MR-J4-10B1-RJ020
MR-J4-20A1
MR-J4-20A1-RJ
MR-J4-20B1
MR-J4-20B1-RJ
MR-J4-20B1-RJ020
MR-J4-40A1
MR-J4-40A1-RJ
MR-J4-40B1
MR-J4-40B1-RJ
MR-J4-40B1-RJ020
MR-J4 2-axis
MR-J4 3-axis
MR-J4W2-22B
MR-J4W2-44B
MR-J4W3-222B
MR-J4W3-444B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4-10A1
MR-J4-10A1-RJ
MR-J4-10B1
MR-J4-10B1-RJ
MR-J4-10B1-RJ020
MR-J4-20A1
MR-J4-20A1-RJ
MR-J4-20B1
MR-J4-20B1-RJ
MR-J4-20B1-RJ020
MR-J4-40A1
MR-J4-40A1-RJ
MR-J4-40B1
MR-J4-40B1-RJ
MR-J4-40B1-RJ020
MR-J4W2-22B
MR-J4W2-44B
MR-J4W3-222B
MR-J4W3-444B
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W3-444B
MR-J4W2-77B
MR-J4W2-1010B
6- 2
6. HG-MR SERIES/HG-KR SERIES
6.3 Standard specifications
6.3.1 Standard specifications list
Servo motor
Item
Power supply capacity
HG-MR series
(ultra-low inertia/small capacity)
053(B)
13(B)
23(B)
43(B)
73(B)
HG-KR series (low inertia/small capacity)
053(B)
13(B)
23(B)
43(B)
73(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in
Servo Amplifier Instruction Manual.
0.05
0.1
0.2
0.4
0.75
0.05
0.1
0.2
0.4
0.75
0.16
0.32
0.64
1.3
2.4
0.16
0.32
0.64
1.3
2.4
0.48
0.95
1.9
3.8
7.2
0.56
1.1
2.2
4.5
8.4
3000
3000
6000
6000
Rated output
[kW]
Rated torque
[N•m]
Maximum torque (Note 10)
[N•m]
Rated speed (Note 1)
[r/min]
Maximum speed (Note 10)
[r/min]
Instantaneous permissible speed
[r/min]
6900
6900
(Note 10)
Standard
[kW/s] 15.6
33.8
46.9
114.2
97.3
5.63
13.0
18.3
43.7
45.2
Power rate at
With an
continuous rated
electromagnetic brake 11.3
28.0
37.2
98.8
82.1
5.37
12.1
16.7
41.3
41.6
torque
[kW/s]
Rated current
[A]
1.0
0.9
1.5
2.6
5.8
0.9
0.8
1.3
2.6
4.8
Maximum current
[A]
3.1
2.5
5.3
9.0
20
3.2
2.5
4.6
9.1
17
Standard
0.0162 0.0300 0.0865 0.142 0.586 0.0450 0.0777 0.221 0.371
1.26
-4
2
[× 10 kg•m ]
Moment of inertia J
With an
(Note 3)
electromagnetic
0.0224 0.0362 0.109 0.164 0.694 0.0472 0.0837 0.243 0.393
1.37
brake
-4
2
[× 10 kg•m ]
17
25
35
26
Recommended load to motor inertia ratio
times times
times
32 times or less
17 times or less times
(Note 2, 10)
or less
or less or less or less
22-bit encoder common to absolute position/incremental systems
Speed/position detector
(resolution per servo motor revolution: 4194304 pulses/rev)
Oil seal
None
None (Note 11)
None
None (Note 11)
Insulation class
130 (B)
Structure
Totally-enclosed, natural-cooling (IP rating: IP65 (Note 4, 9))
Operation
0 °C to 40 °C (non-freezing)
Ambient
temperature Storage
-15 °C to 70 °C (non-freezing)
Operation
80 %RH or less (non-condensing)
Ambient
humidity
Storage
90 %RH or less (non-condensing)
Environment
Indoors (no direct sunlight), free from corrosive gas, flammable gas,
Ambience
oil mist, dust, and dirt
Altitude
Max. 1000 m above sea level
Vibration resistance
2
X, Y: 49 m/s
(Note 6)
Vibration rank (Note 7)
V10
L
[mm]
25
30
40
25
30
40
Permissible load for
the shaft
Radial
[N]
88
245
392
88
245
392
(Note 8, 10)
Thrust
[N]
59
98
147
59
98
147
Standard
[kg] 0.34
0.54
0.91
1.4
2.8
0.34
0.54
0.91
1.4
2.8
With an
Mass (Note 3)
electromagnetic brake 0.54
0.74
1.3
1.8
3.8
0.54
0.74
1.3
1.8
3.8
[kg]
Continuous running
duty (Note 1)
6- 3
6. HG-MR SERIES/HG-KR SERIES
Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. Refer to the dimensions for the geared servo motor.
4. Except for the shaft-through portion.
5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications
may not be usable. Please contact your local sales office.
6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally
the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude
(both amplitudes) [ m]
the vibration to about half of the permissible value. Note that this does not apply to the geared servo motor.
Servo motor
X
Y
Vibration
1000
100
10
0
1000 2000 3000 4000 5000 6000 7000
Speed [r/min]
7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.
Servo motor
Top
Measuring position
Bottom
8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications
list. The value assumes that the load is applied independently.
L
Radial load
L: Distance from flange mounting surface to load center
Thrust load
9. For the geared servo motor, the reducer area is IP44-equivalent.
10. Refer to section 6.6 for the geared servo motor.
11. The servo motors with an oil seal are also available. For details, contact your local sales office.
6- 4
6. HG-MR SERIES/HG-KR SERIES
6.3.2 Torque characteristics
POINT
For the system where the unbalanced torque occurs, such as a vertical axis
system, it is recommended that the unbalanced torque of the machine be kept at
70% or less of the motor's rated torque.
When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque
characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque
characteristic is indicated by the thin line. For the 1-phase 100 V AC power supply, part of the torque
characteristic is indicated by the broken line.
0.2
0.1
2000
3000
4000
5000
Speed [r/min]
0.6
0.4
0.2
Continuous
running range
0
0 1000
0.8
0
6000
[HG-KR053]
Short-duration
running range
0 1000
2000
3000
4000
5000
Speed [r/min]
[HG-KR13]
Continuous
running range
2000
3000
4000
5000
Speed [r/min]
0.3
0.2
0.1
Continuous
running range
0
0 1000
2000
3000
4000
0.8
0.6
0.4
0.2
5000
Speed [r/min]
6000
Short-duration
running range
0
0 1000
2000
3000
4000
1.5
1
0.5
Continuous
running range
5000
Speed [r/min]
0
6000
Short-duration
running range
Short-duration
running range
0 1000
2000
0 1000
2000
3000
4000
5000
1
6000
3000
4000
5000
6- 5
6000
2000
3000
4000
5000
Speed [r/min]
6000
[HG-KR73]
8
4
7
3.5
2.5
Continuous
running range
0
0 1000
9
3
Short-duration
running range
3
4.5
Short-duration
running range
2
1.5
0.5
Speed [r/min]
4
5
1
Continuous
running range
5
2
Continuous
running range
[HG-KR43]
Torque [N•m]
Short-duration
running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
0.4
1.5
Speed [r/min]
2.5
1
2
6000
2
0.5
2.5
0
1.2
0.6
6
3
0.5
[HG-KR23]
1.4
0.7
Short-duration
running range
0
0 1000
6000
7
1
0.5
Continuous
running range
8
4
3.5
1.5
1
[HG-MR73]
4.5
Torque [N•m]
Short-duration
running range
2
Torque [N•m]
0.4
[HG-MR43]
2.5
1
Torque [N•m]
Torque [N•m]
0.5
0.3
[HG-MR23]
1.2
Torque [N•m]
[HG-MR13]
0.6
Torque [N•m]
[HG-MR053]
6
5
4
Short-duration
running range
3
2
Continuous
running range
0
0 1000
2000
3000
4000
1
5000
Speed [r/min]
6000
Continuous
running range
0
0 1000
2000
3000
4000
5000
Speed [r/min]
6000
6. HG-MR SERIES/HG-KR SERIES
6.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
Before performing the operation, be sure to confirm that the electromagnetic
brake operates properly.
The operation time of the electromagnetic brake differs depending on the power
supply circuit you use. Be sure to check the operation delay time with a real
machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake
are indicated below.
Servo motor
Item
HG-MR Series/HG-KR Series
13B
23B
43B
053B
Type (Note 1)
Rated voltage (Note 4)
Power consumption
Coil resistance (Note 6)
Inductance (Note 6)
Brake static friction torque
Release delay time (Note 2)
Braking delay time (Note 2)
73B
Spring actuated type safety brake
0
24 V DC -10%
[W] at 20 °C
[Ω]
[H]
[N•m]
[s]
[s] DC off
Per braking
[J]
Permissible braking work
Per hour
[J]
Brake looseness at servo motor shaft (Note 5)
[degrees]
Number of brakings
Brake life (Note 3)
[times]
Work per braking
[J]
For the suppressed
Selection example of surge absorbers
voltage 125 V
to be used
For the suppressed
(Note 7, 8)
voltage 350 V
6.3
91.0
0.15
0.32
0.03
0.01
5.6
56
2.5
7.9
73.0
0.18
1.3
0.03
0.02
22
220
1.2
10
57.0
0.13
2.4
0.04
0.02
64
640
0.9
22
64
20000
5.6
TND20V-680KB
TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine
centering, etc., use a separate 24 V DC power supply to release the brake electrically.
2. The value for initial on gap at 20 °C.
3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.
The brake life indicated is the number of braking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the electromagnetic brake.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake
and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.
6- 6
6. HG-MR SERIES/HG-KR SERIES
6.5 Servo motors with special shafts
The servo motors with special shafts indicated by the symbols (K and D) in the table are available. K and D
are the symbols included in the servo motor model names. Refer to section 6.6.2 (4) for geared servo motors
with special shaft.
Servo motor
Shaft shape
Key shaft (with key)
D cut shaft
HG-MR053(B)_
HG-MR13(B)_
HG-KR053(B)_
HG-KR13(B)_
HG-MR23(B)_
HG-MR43(B)_
HG-MR73(B)_
HG-KR23(B)_
HG-KR43(B)_
HG-KR73(B)_
D
K
6.5.1 Key shaft (with 2 round end key)
Variable dimension table
R
Q
Servo motor
QL
S
U
W
QK
A
A
T
S
R
Q
[Unit: mm]
Variable dimensions
W QK QL U T
HG-MR23(B)K
HG-MR43(B)K
14h6 30
HG-KR23(B)K
HG-KR43(B)K
26
5
20
3
3
5
HG-MR73(B)K
19h6 40
HG-KR73(B)K
36
6
25
5
3.5
6
Y
Shaft section view A-A
6.5.2 D cut shaft
[Unit: mm]
21.5
20.5
1
25
8h6
6- 7
Y
M4
Screw
hole
depth
15
M5
Screw
hole
depth
20
6. HG-MR SERIES/HG-KR SERIES
6.6 Geared servo motors
CAUTION
For the geared servo motor, transport it in the same status as in the installation
method. Tipping it over can cause oil leakage.
POINT
Geared servo motors are not included in the HG-MR series.
Servo motors are available with a reducer designed for general industrial machines and high precision
applications.
Servo motors with an electromagnetic brake are also available.
6.6.1 For general industrial machines (G1)
(1) Reduction ratio
The following table indicates the reduction ratios and actual reduction ratios of the geared servo motor
for general industrial machines.
Servo motor
HG-KR053(B)G1
HG-KR13(B)G1
HG-KR23(B)G1
HG-KR43(B)G1
HG-KR73(B)G1
6- 8
Nominal
Actual
reduction ratio reduction ratio
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
9/44
49/576
25/484
9/44
49/576
25/484
19/96
961/11664
513/9984
19/96
961/11664
7/135
1/5
7/87
625/12544
6. HG-MR SERIES/HG-KR SERIES
(2) Specifications
Item
Description
Mounting method
Mounting direction
Lubrication method
Flange mounting
In any directions
Grease lubrication (already packed)
Packed
with
Output shaft rotating direction
Backlash (Note 3)
Permissible load inertia moment
ratio (converted into equivalent
value on servo motor shaft)
(Note 1)
Maximum torque
Maximum speed
(at servo motor shaft)
IP rating (reducer area)
Reducer efficiency (Note 2)
200 W/400 W
1/12, 1/20
50 W/100 W
750 W
1/12
200 W/400 W
1/5
750 W
1/5, 1/20
Molynoc AP2
Mobil Grease SP
JX Nippon Oil & Energy
Exxon Mobil
Same as the servo motor output shaft direction.
60 minutes or less at reducer output shaft
Mobilplex 46 Exxon
Mobil
50 W/100 W/750 W: 5 times or less
200 W/400 W: 7 times or less
Three times of the servo motor rated torque
4500 r/min (permissible instantaneous speed: 5175 r/min)
IP44 equivalent
45% to 75%
Note 1. If the above indicated value is exceeded, please contact your local sales office.
2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the
operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical
value in the table is a typical value in the rated torque, rated speed and rotation and typical
temperature, and not a guaranteed value.
3. The backlash can be converted: 1 min = 0.0167 °
6- 9
6. HG-MR SERIES/HG-KR SERIES
(3) Permissible loads of servo motor shaft
The permissible radial load in the table is the value measured at the center of the reducer output shaft.
Q/2
Q: Length of axis (Refer to section 6.8.3, 6.8.4.)
Q
Servo motor
HG-KR053(B)G1
HG-KR13(B)G1
HG-KR23(B)G1
HG-KR43(B)G1
HG-KR73(B)G1
Reduction ratio
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
1/5
1/12
1/20
Permissible load (Note)
Permissible radial Permissible thrust
load
load
[N]
[N]
150
240
370
150
240
370
330
710
780
330
710
760
430
620
970
Note. Do not subject the shaft to load greater than the value.
The value in the table assumes that the load is applied independently.
6 - 10
200
320
450
200
320
450
350
720
780
350
720
760
430
620
960
6. HG-MR SERIES/HG-KR SERIES
6.6.2 For high precision applications (G5/G7)
(1) Reduction ratio
The symbols (11B, 14A, 20A, and 32A) in the following table indicate the model numbers of the reducers
assembled to the servo motors. Servo motors with a reducer having the indicated reduction gear model
numbers are available. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05.
Servo motor
HG-KR053(B)G5
HG-KR053(B)G7
HG-KR13(B)G5
HG-KR13(B)G7
1/5
1/9
11B/14A
11B
Reduction ratio
1/11
1/21
14A
HG-KR43(B)G5
HG-KR43(B)G7
14A
HG-KR73(B)G5
HG-KR73(B)G7
20A
1/45
14A
11B/14A
HG-KR23(B)G5
HG-KR23(B)G7
1/33
14A
14A
20A
20A
20A
20A
32A
32A
(2) Specifications
Item
Description
Mounting method
Mounting direction
Lubrication method
Packed
with
Output shaft rotating direction
Backlash (Note 3)
Permissible load inertia moment
ratio (when converting into the
servo motor shaft)
(Note 1)
Maximum torque
Maximum speed
(servo motor shaft)
IP rating (reducer area)
Reducer efficiency
(Note 2)
Flange mounting
In any directions
Grease lubrication (already packed)
Harmonic grease SK-2
(Harmonic Drive Systems)
Same as the servo motor output shaft direction.
3 minutes or less at reducer output shaft
50 W/100 W/750 W: 10 times or less
200 W/400 W: 14 times or less
Three times of the servo motor rated torque
6000 r/min (permissible instantaneous speed: 6900 r/min)
IP44 equivalent
50 W (reducer model No. 14A): 22% to 41%
50 W (reducer model No. 11B)/100 W/200 W/400 W/750 W: 58% to 87%
Note 1. If the above indicated value is exceeded, please contact your local sales office.
2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the
operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical
value in the table is a typical value in the rated torque, rated speed and rotation and typical
temperature, and not a guaranteed value.
3. The backlash can be converted: 1 min = 0.0167 °
6 - 11
6. HG-MR SERIES/HG-KR SERIES
(3) Permissible loads of servo motor shaft
The radial load point of a high precision reducer is as shown below.
Q/2
L
Q: Length of axis (Refer to section 6.8.7, 6.8.8.)
L: Distance between reducer
end face and load center
Q
Flange-mounting flange output type for
high precision application (G5)
Servo motor
HG-KR053(B)G5
HG-KR053(B)G7
HG-KR13(B)G5
HG-KR13(B)G7
HG-KR23(B)G5
HG-KR23(B)G7
HG-KR43(B)G5
HG-KR43(B)G7
HG-KR73(B)G5
HG-KR73(B)G7
Reduction ratio
1/5
1/5
1/9
1/11
1/21
1/33
1/45
1/5
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Flange-mounting shaft output type for
high precision application (G7)
Reducer model
number
Permissible load (Note)
Permissible radial Permissible thrust
Radial load point
load
load
L [mm]
[N]
[N]
11B
14A
11B
14A
11B
14A
20A
14A
20A
14A
20A
32A
20A
32A
Note. Do not subject the shaft to load greater than the value.
The value in the table assumes that the load is applied independently.
6 - 12
17
23
17
23
23
23
23
17
23
23
23
32
32
23
23
32
32
32
23
32
32
57
57
32
32
57
57
57
93
177
111
224
272
311
342
93
177
224
272
733
804
177
224
640
733
804
177
527
640
1252
1374
416
527
1094
1252
1374
431
706
514
895
1087
1244
1366
431
706
895
1087
2581
2833
706
895
2254
2581
2833
706
1856
2254
4992
5478
1465
1856
4359
4992
5478
6. HG-MR SERIES/HG-KR SERIES
(4) Servo motor with special shaft
Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7).
[Unit: mm]
Servo motor
Reducer
model
number
Q
φS
W
T
QK
U
11B
20
10h7
4
4
15
2.5
14A
28
16h7
5
5
25
3
20A
42
25h7
8
7
36
4
32A
82
40h7
12
8
70
5
HG-KR_(B)G7K
Y
Q
U
S
W
QK
T
6 - 13
Y
M3 screw hole
depth 6
M4 screw hole
depth 8
M6 screw hole
depth 12
M10 screw hole
depth 20
6. HG-MR SERIES/HG-KR SERIES
6.7 Mounting connectors
If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during
operation.
To achieve the IP rating IP65, pay attention to the following points and install the connectors.
(1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross
pattern.
1)
3)
4)
2)
Tightening order
1)
2)
3)
2)
4)
Tightening order
1)
2)
1)
Connector for power supply, connector for
encoder
Connector for electromagnetic
brake
(2) Tighten the screws evenly. Tightening torques are as indicated below.
Connector for encoder
Screw size: M2
Tightening torque: 0.1 [N•m]
Connector for electromagnetic brake
Screw size: M2
Tightening torque: 0.2 [N•m]
Connector for power supply
Screw size: M2
Tightening torque: 0.2 [N•m]
(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When
mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal
(O ring) has dropped or is pinched, a splash-proof effect is not produced.
6 - 14
6. HG-MR SERIES/HG-KR SERIES
6.8 Dimensions
Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for
servo motor, reducer, and electromagnetic brake with servo motor shaft.
When running the cables to the load side, take care to avoid interference with the machine. The dimensions
without tolerances are general tolerance.
The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to
3 mm larger than the drawing dimensions. Design the machine-side with allowances.
6.8.1 Standard (without electromagnetic brake and reducer)
Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR053
50
0.0162
0.34
HG-KR053
50
0.0450
0.34
Mass [kg]
[Unit: mm]
20.5
20.7
Caution plate
20.7
Motor
plate
Caution plate
25
66.4
Motor plate
(Opposite side)
Caution plate
5
21.5
Top
21
Use hexagon socket
head cap screw.
Top
37.1
36
Top
Encoder connector
13.7
4.9
27.4
10.9
11.7
9.9
11.7
Power supply connector
19.2
13.9
4
11.7
Power supply
connector
9°
3
21.7
11.7
7°
2
Pin No. Application
1
(PE)
2
U
3
V
4
W
6.4
27.5
23.8
21.7
Power supply connector
1
45°
Bottom
Bottom
Bottom
2.5
Encoder connector
19.2
9.9
Opposite-load side
BC38021C BC38016C
6 - 15
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR13
100
0.0300
0.54
HG-KR13
100
0.0777
0.54
Mass [kg]
[Unit: mm]
20.5
82.4
20.7
Caution plate
40
25
Motor plate
(Opposite side)
Caution plate
5
2- 4.5 mounting hole
Use hexagon socket
head cap screw.
2.5
21.5
45°
Bottom
Bottom
21
Top
46
Bottom
30h7
Caution plate
8h6
20.7
Motor plate
Top
37.1
36
Top
Encoder connector
13.7
4.9
10.9
11.7
27.4
9.9
11.7
Power supply connector
13.9
19.2
21.7
21.7
Power supply connector
3
4
9°
2
3
4
Power supply
connector
11.7
7°
1
2
11.7
Pin No. Application
1
(PE)
2
U
3
V
4
W
1
6.4
27.5
39.8
Encoder connector
19.2
9.9
Opposite-load side
BC38022C BC38017C
Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR23
200
0.0865
0.91
HG-KR23
200
0.221
0.91
Mass [kg]
[Unit: mm]
76.6
Bottom
Bottom
Caution plate
Top
26
46
Encoder connector
10.9
11.8 11.7
21.7
4-φ5.8 mounting hole
Use hexagon socket
head cap screw.
□60
45
φ7
0
Bottom
Top
Top
13.7 10
28.4
3
9.5
19.2
36.4
47.1
Caution plate
7
φ50h7
Motor
plate
30
Motor plate
(Opposite side)
φ14h6
Caution
plate
Power supply connector
13.9
27.8
5.9
2
3
4
7
1
Pin No. Application
1
(PE)
2
U
3
V
4
W
9
Power supply connector
1
2
3
4
Encoder connector
19.2
Power supply
connector
9.5
11.8 11.7
21.7
Opposite-load side
BC38023B BC38018B
6 - 16
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR43
400
0.142
1.4
HG-KR43
400
0.371
1.4
Mass [kg]
[Unit: mm]
98.3
Caution plate
Caution plate
Bottom
26
Bottom
Bottom
Top
Top
70
47.1
Top
46
60
45°
50h7
Motor plate
3
14h6
Caution plate
4- 5.8 mounting hole
Use hexagon socket
head cap screw.
30
7
Motor plate
(Opposite side)
Encoder connector
13.7 10
28.4
9.5
10.9
11.8 11.7
21.7
Power supply
connector
19.2
13.9
27.8
58.1
5.9
Power supply connector
3
4
Encoder connector
7°
2
3
4
9°
Pin No. Application
1
(PE)
2
U
3
V
4
W
1
1
2
Power supply
connector
9.5
19.2
11.8 11.7
21.7
Opposite-load side
BC38024B BC38019B
Model
Output [W]
Moment of inertia J [× 10-4 kg•m2]
HG-MR73
750
0.586
2.8
HG-KR73
750
1.26
2.8
Mass [kg]
[Unit: mm]
Caution plate Motor plate
(Opposite side)
8
4- 6.6 mounting hole
Use hexagon socket
head cap screw.
36
Top
Encoder connector
10.7
11.5
Power supply
connector
9.5
11.8 11.7
19.2
14 12
27.8
69.6
21.7
27.4
57.1
Top
Top
13.7
45°
70h7
Bottom
19h6
Caution plate
Bottom
Bottom
56
3
90
Caution plate
Motor plate
80
40
112
19.2 9.5
2
3
4
7°
1
Pin No. Application
1
(PE)
2
U
3
V
4
W
7°
Power supply connector
1
2
3
4
Power supply
connector
Encoder connector
11.8 11.7
21.7
Opposite-load side
BC38025B BC38020B
6 - 17
6. HG-MR SERIES/HG-KR SERIES
6.8.2 With an electromagnetic brake
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
HG-MR053B
50
0.32
0.0224
0.54
HG-KR053B
50
0.32
0.0472
0.54
Mass [kg]
[Unit: mm]
107
Motor plate
Caution plate (Opposite side)
20.7
Caution plate
20.7
Motor plate
21
Top
Top
37.1
38.8
36
Top
Encoder connector
13.7
40
45°
46
Bottom
Bottom
Bottom
2- 4.5mounting hole
Use hexagon socket
head cap screw.
30h7
Caution plate
25
2.5
21.5
5
8h6
20.5
4.9
27.4
10.9
11.7
Power supply connector
11.7
21.7
58.8
18.4
9.9
19.2
23.8
Electromagnetic brake connector
13.9
27.5
6.4
3
4
13°
2
9°
1
3
4
Pin No. Application
1
(PE)
2
U
3
V
4
W
7°
Power supply connector
1
2
Electromagnetic brake connector
1
1
2
2
Pin No. Application
1
B1
2
B2
11.7
Encoder connector
11.7
18.4
58.8
21.7
9.9
Power supply
connector
Electromagnetic brake
connector
Opposite-load side
BC38180A BC38175A
6 - 18
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
HG-MR13B
100
0.32
0.0362
0.74
HG-KR13B
100
0.32
0.0837
0.74
Mass [kg]
[Unit: mm]
2- 4.5 mounting hole
Use hexagon socket
head cap screw.
Caution plate
Caution plate
20.7
Motor
plate
Caution
plate
25
2.5
21.5
Motor plate
5
(Opposite side)
21
Bottom
Bottom
Bottom
Top
Top
46
37.1
38.8
36
Top
Power supply
connector
Electromagnetic brake
connector
10.9
Encoder connector
13.7
27.4
40
45°
8h6
20.7
30h7
123
20.5
11.7
4.9
9.9
11.7
21.7
19.2
58.8
18.4
39.8
13.9
6.4
27.5
Power supply connector
7°
1
3
2
4
4
13°
2
3
Pin No. Application
(PE)
1
U
2
V
3
W
4
9°
1
1
2
Electromagnetic brake connector
1
1
2
2
Pin No. Application
1
B1
2
B2
Encoder connector
11.7
18.4
11.7
58.8
21.7
9.9
Power supply
connector
Electromagnetic brake
connector
Opposite-load side
BC38181A BC38176A
6 - 19
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR23B
200
1.3
0.109
1.3
HG-KR23B
200
1.3
0.243
1.3
[Unit: mm]
113.4
Caution plate
Caution plate
3
26
70
Caution plate
Top
50h7
Bottom Bottom
Bottom
Top
47.1
Encoder connector
28.4
3
4
13.5°
2
9°
1
1
2
2
5.9
27.8
Electromagnetic brake connector
Electromagnetic brake connector
1
13.9
19.2
36.4
Power supply connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
Power supply connector
9.5
10.9
11.8 11.7
21.7
57.8
13.7 10
7°
47.1
Top
1
2
3
4
60
45°
14h6
Motor plate
4- 5.8mounting hole
Use hexagon socket
head cap screw.
30
7
Motor plate
(Opposite side)
11.8 11.7
Encoder connector
Power supply
connector
9.5
Electromagnetic brake
connector
18.3
57.8
Pin No. Application
1
B1
2
B2
21.7
Opposite-load side
BC38182A BC38177A
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR43B
400
1.3
0.164
1.8
HG-KR43B
400
1.3
0.393
1.8
[Unit: mm]
135.1
30
Top
26
Encoder connector
47.1
28.4
10.9
Top
Power supply
connector
9.5
19.2
11.8 11.7
21.7
57.8
70
Bottom
Top
13.7 10
45°
47.1
Bottom
Bottom
Caution
plate
3
60
50h7
Caution
plate
Motor plate
7
14h6
Motor plate
(Opposite side)
Caution plate
4- 5.8mounting hole
Use hexagon socket
head cap screw.
13.9
58.1
5.9
27.8
Electromagnetic brake connector
3
4
7°
2
Pin No. Application
(PE)
1
U
2
V
3
W
4
9°
1
1
2
3
4
13.5°
Power supply connector
Power supply
connector
9.5
11.8 11.7
Electromagnetic brake connector
1
1
2
2
Pin No. Application
1
B1
2
B2
6 - 20
Encoder connector
18.3
57.8
Electromagnetic brake
connector
21.7
Opposite-load side
BC38183A BC38178A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-MR73B
750
2.4
0.694
3.8
HG-KR73B
750
2.4
1.37
3.8
[Unit: mm]
152.3
Caution plate
4- 6.6mounting hole
Use hexagon socket
head cap screw.
40
8
Motor plate
(Opposite side)
3
36
80
45°
Caution
plate
Caution
plate
Bottom
Top
70h7
90
Bottom
19h6
Motor plate
Top
56
57.1
Bottom
Top
Encoder connector
10.7
13.7
11.5
27.4
Power supply
connector
9.5
19.2
11.8 11.7
21.7
63.1
14
69.6
12
27.8
Electromagnetic brake connector
Power supply connector
4
Power supply
connector
7°
3
7°
2
7°
Pin No. Application
(PE)
1
U
2
V
3
W
4
1
1
2
3
4
11.8 11.7
Encoder connector
9.5
Electromagnetic brake
connector
21.7
Electromagnetic brake connector
Opposite-load side
Pin No. Application
1
B1
2
B2
1
1
2
2
18.4
63.1
BC38184A BC38179A
6.8.3 For general industrial machine with a reducer (without an electromagnetic brake)
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G1
50
K6505
1/5 (9/44)
0.0820
1.4
[Unit: mm]
110.1
8
Motor plate
(Opposite side)
20.7
Caution plate
Motor
plate
60.5
34.5
6.5
25
45°
(R
3)
20.5
For reverse rotation command
Rotation direction
For forward rotation command
4-φ7
65
21
φ60h7
Top
Top
φ7
5
8
φ8
Bottom
37.1
36
Bottom
Bottom
φ16h6
20.7
Caution
plate
φ48
(φ51)
Caution plate
Top
Encoder connector
13.7
4.9
27.4
10.9
11.7 11.7
9.9
19.2
Power supply connector
21.7
M4 Screw hole depth 8
21.7
11.7 11.7
67.5
6.4
4
9°
3
Pin No. Application
(PE)
1
2
U
3
V
4
W
7°
Power supply connector
1
2
Encoder connector
19.2
9.9 Power supply connector
Opposite-load side
BC40915A
6 - 21
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G1
50
K6512
1/12
(49/576)
0.104
1.8
HG-KR053G1
50
K6520
1/20
(25/484)
0.0860
1.8
[Unit: mm]
128.9
20.5
Caution plate
(R
25
45
°
3)
φ48
(φ51)
φ60h7
φ16h6
20.7
21
37.1
36
8
φ8
Top
5
φ7
Top
Top
13.7
10.9
11.7 11.7
4.9
27.4
9.9
M4 Screw hole depth 8
Power supply connector
19.2
21.7
86.3
9°
7°
Pin No. Application
(PE)
1
2
U
3
V
4
W
6.4
21.7
11.7 11.7
Encoder connector
Power supply connector
3
8
Bottom
Bottom
Bottom
4
34.5
6.5
Caution plate
Motor plate
Caution
plate
1
2
60.5
Motor plate
(Opposite side)
20.7
For reverse rotation command
Rotation direction
For forward rotation command
4-φ7
65
19.2
Encoder connector
9.9 Power supply connector
BC40916A
Opposite-load side
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G1
100
K6505
1/5 (9/44)
0.115
1.6
[Unit: mm]
126.1
34.5
6.5
8
20.7
Motor plate
(Opposite side)
Caution plate
25
45
°
(R
3)
20.5
For reverse rotation command
Rotation direction
For forward rotation command
4-φ7
65
60.5
Caution plate
37.1
36
21
φ16h6
Top
8
φ8
Bottom
5
φ7
Bottom
Bottom
φ48
(φ51)
φ60h7
20.7
Motor
plate
Caution
plate
Top
Top
10.9
11.7 11.7
9.9
19.2
Power supply connector
21.7
M4 Screw hole depth 8
83.5
6.4
21.7
11.7 11.7
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
9°
4.9
7°
13.7
27.4
4
6 - 22
Encoder
connector
19.2
Power
supply
9.9 connector
Opposite-load side
BC40917A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G1
100
K6512
1/12 (49/576)
0.137
2.0
HG-KR13G1
100
K6520
1/20 (25/484)
0.119
2.0
[Unit: mm]
144.9
20.5
60.5
20.7
34.5
6.5
8
Motor plate
(Opposite side)
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
4-φ7
65
25
45
°
3)
(R
φ60h7
φ16h6
20.7
21
Top
5
φ7
8
φ8
Bottom
37.1
36
Bottom
Bottom
φ48
(φ51)
Caution plate
Motor
plate
Caution
plate
Top
Top
13.7
4.9
10.9
11.7 11.7
27.4
9.9
M4 Screw hole depth 8
Power supply connector
19.2
21.7
6.4
102.3
21.7
11.7 11.7
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
7°
1
2
3
9°
4
19.2
Encoder
connector
Power supply
9.9 connector
Opposite-load side
BC40918A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G1
200
K9005
1/5 (19/96)
0.375
3.3
[Unit: mm]
129.8
74
10
Motor plate
(Opposite side)
Caution plate
Caution plate
Bottom
Top
45
°
0
10
Bottom
Bottom
Caution plate
35
25h6
73
( 76)
82h7
Motor
plate
38
8
)
(R3
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
Top
4
11
47.1
46
Top
Encoder
connector
10.9
11.8
11.7
Power supply connector
9.5
5.9
M6 Screw hole depth 12
19.2
21.7
89.6
Power supply
connector
Power supply connector
Pin No. Application
1
(PE)
U
2
V
3
W
4
1
2
3
7°
28.4
9°
13.7 10
4
6 - 23
Encoder
connector
11.8
19.2 9.5
21.7
11.7
Opposite-load side
BC40919*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G1
200
K9012
1/12
(961/11664)
0.418
3.9
HG-KR23G1
200
K9020
1/20
(513/9984)
0.391
3.9
[Unit: mm]
149.6
74
38
10
60
Motor plate
(Opposite side)
Caution plate
Caution plate
Bottom
Top
45
°
3)
(R
Bottom
Bottom
Caution plate
35
8
00
φ1
φ25h6
φ72
(φ75)
φ82h7
Motor
plate
For reverse rotation command
Rotation direction
For forward rotation command
4-φ9
90
14
φ1
Top
47.1
46
Top
10.9
13.7 10
9.5
19.2
11.811.7
28.4
Power supply connector
21.7
M6 Screw hole depth 12
5.9
109.4
Encoder connector
Power supply
connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
4
7°
9°
3
Encoder
connector
19.2 9.5
11.811.7
21.7
Opposite-load side
BC40920A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K9005
1/5 (19/96)
0.525
3.7
[Unit: mm]
151.5
Caution plate
Motor
plate
74
Motor plate
10
(Opposite side)
60
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
38
8
(R3)
35
45
°
Caution plate
Bottom
Caution plate
Top
0
10
Bottom
25h6
73
( 76)
82h7
Bottom
Top
4
11
9.5
10.9
28.4
11.811.7
Power supply connector
M6 Screw hole depth 12
19.2
21.7
5.9
111.3
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
U
2
V
3
W
4
1
2
7°
13.7 10
9°
47.1
46
Top
3
4
6 - 24
Encoder
connector
Power supply
connector
19.2 9.5
11.811.7
21.7
Opposite-load side
BC40903*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K9012
1/12
(961/11664)
0.568
4.3
[Unit: mm]
171.3
74
Motor plate
(Opposite side)
60
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
4-φ9
90
38
8
)
(R3
10
35
45
°
Caution plate
Caution plate
Top
Top
47.1
46
14
φ1
Top
φ25h6
Bottom
00
φ1
φ82h7
Bottom
Bottom
φ72
(φ75)
Motor
plate
Power supply connector
9.5
10.9
13.7 10
11.811.7
28.4
M6 Screw hole depth 12
19.2
5.9
131.1
21.7
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
9°
7°
3
4
Power supply
connector
Encoder
connector
19.2 9.5
11.811.7
21.7
Opposite-load side
BC40904A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G1
400
K10020
1/20 (7/135)
0.881
5.4
[Unit: mm]
175.3
For reverse rotation command
Rotation direction
For forward rotation command
4-φ9
100
90
60
39
9.5
10
50
45
°
Motor plate
(Opposite side)
Caution plate
Caution plate
φ1
Bottom
Bottom
Bottom
47.1
46
Caution plate
Top
32
φ1
Top
Top
Encoder
connector
Power supply connector
19.2
M8 Screw hole depth 16
21.7
9.5
135.1
Power supply connector
1
2
3
7°
28.4
10.9
11.8
11.7
9°
5.9
10
13.7
15
φ32h6
φ73
φ83
φ95h7
Motor plate
4
Pin No. Application
(PE)
1
2
U
V
3
4
W
6 - 25
19.2
Encoder connector
11.8
Power supply
connector
9.5
11.7
21.7
Opposite-load side
BC40905A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K10005
1/5 (1/5)
1.68
6.0
[Unit: mm]
177
□80
90
39
10
10
Motor plate
(Opposite side)
Caution plate
Motor
plate
For reverse rotation command
Rotation direction
For forward rotation command
4-φ9
□100
50
45
Caution
plate
Top
32
57.1
56
φ1
Top
Bottom
15
φ1
φ32h6
φ73
φ81
φ95h7
Bottom
Bottom
Caution
plate
Top
13.7
11.5
27.4
10.7
11.8
11.7
Power supply connector
9.5
19.2
M8 Screw hole depth 16
21.7
12
134.6
19.2
9.5
Encoder connector
Power supply connector
7
1
2
Pin No. Application
1
(PE)
2
U
3
V
4
W
3
7
4
Power supply
connector
Encoder
connector
11.8
11.7
21.7
Opposite-load side
BC40906A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K10012
1/12 (7/87)
2.35
7.1
[Unit: mm]
199
Caution plate
Motor
plate
For reverse rotation command
Rotation direction
For forward rotation command
4- φ9
100
90
Motor plate
(Opposite side)
10
39
9.5
50
45°
Caution plate
Top
32
φ1
Top
15
φ1
φ73
φ83
φ95h7
Caution plate
Bottom
φ32h6
Bottom
57.1
56
Bottom
Top
27.4
10.7
11.8
11.7
9.5
Power supply connector
19.2
M8 Screw hole depth 16
21.7
156.6
Encoder connector
12
19.2
9.5
Power supply connector
7°
11.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
7°
13.7
4
6 - 26
Power supply
connector
Encoder
connector
11.8
11.7
21.7
Opposite-load side
BC40907A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G1
750
K12020
1/20
(625/12544)
2.41
10
[Unit: mm]
212
105.5
Motor plate
(Opposite side)
Caution plate
80
For reverse rotation command
Rotation direction
For forward rotation command
4-φ14
120
15
44.5
11.5
60
45°
Motor
plate
0
φ14
Caution plate
Bottom
Bottom
Top
Top
φ40h6
φ90
φ98
φ115h7
Caution plate
57.1
56
62
φ1
Bottom
Top
Power supply connector
27.4
9.5
19.2
M10 Screw hole depth 20
21.7
169.6
19.2
Encoder connector
9.5
Power supply connector
7°
13.7
10.7
11.8
11.7
7°
12
11.5
1
2
3
4
Pin No. Application
(PE)
1
2
U
3
V
4
W
6 - 27
Power supply
connector
Encoder connector
11.8
11.7
21.7
Opposite-load side
BC40908A
6. HG-MR SERIES/HG-KR SERIES
6.8.4 For general industrial machine with a reducer (with an electromagnetic brake)
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053BG1
50
K6505
1/5 (9/44)
0.32
0.0840
1.6
[Unit: mm]
20.7
Caution
plate
Caution plate
□65
25
(R
3)
20.5
8
Motor plate
(Opposite side)
φ16h6
60.5
34.5
6.5
150.7
For reverse rotation command
Rotation direction
For forward rotation command
45°
4-φ7
Bottom
Caution
plate
13.7
Top
Top
21
Top
4.9
10.9
11.7
9.9
11.7
19.2
58.8
Encoder connector
Power supply
connector
M4 Screw hole
depth 8
67.5
21.7
27.4
Electromagnetic brake connector
18.4
1
2
3
4
7°
Pin No. Application
(PE)
1
U
2
V
3
W
4
13°
9°
Pin No. Application
1
B1
2
B2
2
6.4
Power supply connector
Electromagnetic brake connector
1
5
φ7
8
φ8
38.8
36
Bottom
Bottom
φ48
(φ51)
φ60h7
20.7
Motor plate
18.4
11.7 11.7
Encoder connector
9.9
Power supply
connector
58.8
Electromagnetic brake
connector
Opposite-load side
21.7
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
HG-KR053BG1
50
K6512
1/12 (49/576)
HG-KR053BG1
50
K6520
1/20 (25/484)
BC41085A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.32
0.106
2.0
0.32
0.0880
2.0
[Unit: mm]
Caution plate
20.7
Motor
plate
21
38.8
36
13.7
27.4
Top
4.9
10.9
11.7
Encoder connector
21.7
58.8
Top
9.9
19.2
11.7
18.4
Power supply
connector
86.3
Electromagnetic brake connector
1
2
3
4
7°
9°
Pin No. Application
1
B1
2
B2
18.4
11.7 11.7
9.9
Power supply
connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
58.8
Encoder connector
21.7
6 - 28
6.4
Power supply connector
13°
2
4-φ7
5
φ7
M4 Screw hole
depth 8
Electromagnetic brake connector
1
45°
8
φ8
Caution
plate
□65
25
Bottom
Bottom
Bottom
Top
Motor plate
(Opposite side)
φ60h7
Caution
plate
φ48
(φ51)
20.7
(R
3)
20.5
60.5
34.5
6.5
8
φ16h6
169.5
For reverse rotation command
Rotation direction
For forward rotation command
Electromagnetic brake
connector
Opposite-load side
BC41086A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG1
100
K6505
1/5 (9/44)
0.32
0.121
1.8
[Unit: mm]
166.7
20.7
8
Motor plate
(Opposite side)
Caution plate
Caution
plate
60.5
34.5
6.5
3)
(R
□65
25
φ16h6
20.5
For reverse rotation command
Rotation direction
For forward rotation command
45°
Caution
plate
13.7
27.4
10.9
11.7
4.9
Top
9.9
19.2
11.7
M4 Screw hole
depth 8
Power supply
connector
58.8
18.4
Power supply connector
Electromagnetic brake connector
1
2
3
4
Electromagnetic brake connector
9°
2
7°
Pin No. Application
1
B1
2
B2
13°
1
6.4
83.5
21.7
Encoder connector
φ60h7
21
Top
5
φ7
8
φ8
38.8
36
Bottom
Top
Bottom
Bottom
φ48
(φ51)
20.7
Motor plate
4-φ7
18.4
11.7 11.7
Encoder connector
9.9
Power supply
connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
Electromagnetic brake
connector
Opposite-load side
58.8
21.7
BC41087A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13BG1
100
K6512
1/12 (49/576)
0.32
0.143
2.2
HG-KR13BG1
100
K6520
1/20 (25/484)
0.32
0.125
2.2
[Unit: mm]
20.5
20.7
8
Motor plate
(Opposite side)
Caution plate
Caution plate
60.5
34.5
6.5
3)
(R
□65
25
φ16h6
185.5
For reverse rotation command
Rotation direction
For forward rotation command
45°
21
Caution
plate
13.7
27.4
Top
4.9
10.9
11.7
Encoder connector
Top
M4 Screw hole
depth 8
9.9
11.7
21.7
58.8
19.2
18.4
Power supply connector
102.3
Electromagnetic brake connector
1
2
3
4
13°
7°
Pin No. Application
1
B1
2
B2
9°
2
18.4
11.7 11.7
Encoder connector
9.9
Power supply
connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
58.8
21.7
6 - 29
6.4
Power supply connector
Electromagnetic brake connector
1
5
φ7
8
φ8
38.8
36
Bottom
Top
Bottom
Bottom
φ48
(φ51)
φ60h7
20.7
Motor plate
4-φ7
Electromagnetic brake
connector
Opposite-load side
BC41088A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23BG1
200
K9005
1/5 (19/96)
1.3
0.397
3.7
[Unit: mm]
74
Caution plate
□90
Top
φ1
13.7
10.9
11.8
10
28.4
19.2
21.7
57.8
Encoder connector
M6 Screw hole
depth 12
9.5 Power supply
connector
89.6
Electromagnetic brake connector
11.7
00
7°
13.5°
9°
Pin No. Application
1
B1
2
B2
Encoder connector
11.8
Power supply
connector
9.5
Electromagnetic brake
connector
Opposite-load side
18.3
11.7
57.8
21.7
5.9
Power supply connector
1
2
3
4
Electromagnetic brake connector
2
4-φ9
4
Caution plate
1
45°
1
φ1
47.1
46
Bottom
Bottom
Top
Bottom
Top
35
3)
(R
φ73
(φ76)
Motor plate
10 8
φ82h7
38
φ25h6
166.6
Motor plate
(Opposite side)
Caution plate
□60
For reverse rotation command
Rotation direction
For forward rotation command
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41089*
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23BG1
200
K9012
1/12
(961/11664)
1.3
0.440
4.3
HG-KR23BG1
200
K9020
1/20
(513/9984)
1.3
0.413
4.3
[Unit: mm]
38
Motor plate
(Opposite side)
60
10 8
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
74
35
)
(R3
90
φ25h6
186.4
4-φ9
φ1
Top
47.1
46
Bottom
φ72
(φ75)
Bottom
Top
Top
1
φ1
13.7
10
10.9
11.8
28.4
Encoder connector
4
Caution plate
11.7
21.7
57.8
9.5
19.2 Power supply connector
109.4
Electromagnetic brake connector
M6 Screw hole depth 12
5.9
Power supply connector
1
2
3
4
13.5°
7°
Pin No. Application
1
B1
2
B2
9°
Electromagnetic brake connector
2
00
φ82h7
Caution plate
Bottom
1
45°
Encoder connector
11.8
18.3
11.7
57.8
21.7
6 - 30
Power supply
connector
9.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41090A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K9005
1/5 (19/96)
1.3
0.547
4.1
[Unit: mm]
74
38
Motor plate
10 8
35
3)
(R
□90
φ25h6
188.3
Motor plate
(Opposite side)
Caution plate
□60
For reverse rotation command
Rotation direction
For forward rotation command
45°
Caution plate
Top
4
47.1
46
Top
Caution plate
13.7
10.9
11.8
10
Encoder connector
M6 Screw hole
depth 12
9.5 Power supply
connector
111.3
Electromagnetic brake connector
11.7
19.2
21.7
57.8
28.4
1
2
3
4
13.5°
7°
9°
Pin No. Application
1
B1
2
B2
2
Encoder connector
Power supply
connector
9.5
Electromagnetic brake
connector
Opposite-load side
18.3
11.7
57.8
11.8
21.7
5.9
Power supply connector
Electromagnetic brake connector
1
00
1
φ1
Bottom
Top
φ1
φ73
(φ76)
φ82h7
Bottom
Bottom
4-φ9
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41091*
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K9012
1/12
(961/11664)
1.3
0.590
4.7
[Unit: mm]
74
38
10 8
Caution plate
Motor plate
35
)
(R3
90
φ25h6
208.1
Motor plate
(Opposite side)
60
For reverse rotation command
Rotation direction
For forward rotation command
45°
00
φ1
φ72
(φ75)
φ82h7
Caution plate
Bottom Bottom
Top
Bottom
Top
1
φ1
47.1
46
Top
13.7
4
Caution plate
10.9
11.8
10
28.4
Encoder connector
11.7
21.7
57.8
M6 Screw hole depth 12
9.5
19.2 Power supply connector
131.1
Electromagnetic brake connector
5.9
Power supply connector
1
2
3
4
Pin No. Application
1
B1
2
B2
13.5°
7°
2
9°
Electromagnetic brake connector
1
4-φ9
Encoder connector
11.8
18.3
11.7
57.8
21.7
6 - 31
Power supply
connector
9.5
Pin No. Application
1
(PE)
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41092A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43BG1
400
K10020
1/20 (7/135)
1.3
0.903
5.8
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
212.1
Motor plate
(Opposite side)
Caution plate
60
Motor plate
100
90
10
39
9.5
45°
50
4-φ9
φ1
Top
47.1
46
Bottom
Top
3
φ1
Top
2
10.9
11.8
9.5
11.7
28.4
9°
2
Power supply connector
1
2
3
4
Encoder connector
Pin No. Application
1
B1
2
B2
13.5°
1
Power supply connector
135.1
Electromagnetic brake connector
21.7
57.8
Electromagnetic brake connector
M8 Screw hole depth 16
19.2
7°
Caution plate
5.9
10
13.7
15
φ95h7
Bottom Bottom
φ73
φ83
φ32h6
Caution plate
Encoder connector
11.8
18.3
11.7
57.8
21.7
Power supply
connector
9.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41093A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K10005
1/5 (1/5)
2.4
1.79
7.0
[Unit: mm]
217.3
For reverse rotation command
Rotation direction
For forward rotation command
90
Motor plate
(Opposite side)
10
39
10
100
50
45°
Caution plate
4-φ9
Motor plate
φ81
φ95h7
φ73
Top
φ32h6
Top
15
φ1
56
2
Top
21.7
63.1
Power supply connector
19.2
12
Power supply connector
134.6
1
2
3
4
Electromagnetic brake connector
Encoder connector
7°
Pin No. Application
1
B1
2
B2
M8 Screw hole depth 16
9.5
11.7
7°
Electromagnetic brake connector
10.7
11.8
7°
Caution plate
11.5
27.4
2
Bottom
Bottom
13.7
1
Bottom
3
φ1
57.1
Caution plate
Encoder connector
11.8
18.4
11.7
63.1
Power supply
connector
9.5
Pin No. Application
1
(PE)
2
U
3
V
4
W
Electromagnetic brake connector
21.7
Opposite-load side
6 - 32
BC41094A
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K10012
1/12 (7/87)
2.4
2.46
8.1
[Unit: mm]
239.3
For reverse rotation command
Rotation direction
For forward rotation command
90
Motor plate
(Opposite side)
39
9.5
10
100
50
45°
4-φ9
Caution plate
Motor plate
φ83
φ95h7
Top
15
φ1
φ1
56
Bottom
32
Top
11.7
11.5
27.4
Pin No. Application
1
B1
2
B2
1
2
3
4
Electromagnetic brake connector
7°
Encoder connector
7°
2
Power supply connector
156.6
63.1
12
Power supply connector
19.2
21.7
Electromagnetic brake connector
1
M8 Screw hole depth 16
9.5
Caution plate 10.7
11.8
13.7
7°
57.1
Top
Bottom
φ73
Bottom
φ32h6
Caution plate
Encoder connector
11.8
18.4
11.7
63.1
Power supply
connector
9.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
Electromagnetic brake connector
21.7
Opposite-load side
BC41095A
Model
Output [W]
Reducer model
Reduction ratio
(actual
reduction ratio)
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73BG1
750
K12020
1/20
(625/12544)
2.4
2.52
11
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
105.5
252.3
Motor plate
(Opposite side)
Caution plate
□80
Motor
plate
15
45
°
Top
40
62
Top
Caution plate
10.7
11.8
Pin No. Application
1
B1
2
B2
9.5
Power supply connector
21.7
M10 Screw hole depth 20
Power supply connector
169.6
63.1
1
2
3
4
Electromagnetic brake connector
Encoder connector
7°
Electromagnetic brake connector
19.2
7°
27.4
11.7
7°
12
11.5
4-φ14
φ1
57.1
56
φ1
φ40h6
φ90
φ98
φ115h7
Bottom
Top
Bottom
13.7
2
□120
60
Caution
plate
Bottom
1
44.5
11.5
Encoder connector
11.8
18.4
11.7
63.1
21.7
Power supply
connector
9.5
Electromagnetic brake connector
Opposite-load side
6 - 33
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41096A
6. HG-MR SERIES/HG-KR SERIES
6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake)
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G5
50
HPG-11B-05-F0ADG-S
1/5
0.0485
0.55
HG-KR053G5
50
HPG-11B-09-F0ADG-S
1/9
0.0475
0.56
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.7
20.7
Caution
plate
5
15+0.25
-0.20
2.5
Bottom
Bottom
Bottom
3-M4 Screw hole depth 6
37.1
Top
Top
13.7
10.9
11.7 11.7
21.7
4.9
27.4
9.9
19.2
Power supply connector
13.9
27.5
63.3
9°
7°
Pin No. Application
(PE)
1
U
2
V
3
W
4
6.4
21.7
11.7 11.7
Encoder connector
Power supply connector
1
2
3
4
45°
Top
21
36
25.5
9
0°
12
Caution plate
Motor
plate
105.9
Motor plate
(Opposite side)
Caution plate
C
0.
5
20.5
Encoder connector
19.2
9.9
Power supply connector
BC40937*
Opposite-load side
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G5
50
HPG-14A-05-F0CBJS-S
1/5
0.113
1.1
HG-KR053G5
50
HPG-14A-11-F0CBKS-S
1/11
0.105
1.2
HG-KR053G5
50
HPG-14A-21-F0CBKS-S
1/21
0.0960
1.2
HG-KR053G5
50
HPG-14A-33-F0CBLS-S
1/33
0.0900
1.2
HG-KR053G5
50
HPG-14A-45-F0CBLS-S
1/45
0.0900
1.2
[Unit: mm]
21
Top
70
30
Bottom
37.1
36
Bottom
Bottom
8
14H7
40
56h7
20.7
Caution
plate
35
55.5
Motor
plate
21
Motor plate
(Opposite side)
Caution
plate
Caution plate
59
20.7
C
0.
5
130.4
20.5
For reverse rotation command
Rotation direction
For forward rotation command
4- 5.5
6-M4 Screw hole depth 7
60
21+0.4
-0.5
45
°
5( 14H7effective range)
3
60°
Top
Top
10.9
11.7 11.7
21.7
9.9
Power supply connector
19.2
6.4
87.8
21.7
11.7 11.7
Encoder connector
Power supply connector
1
2
3
9°
4.9
7°
13.7
27.4
4
Pin No. Application
(PE)
1
2
U
V
3
W
4
Encoder
connector
Power supply
connector
19.2
9.9
Opposite-load side
BC38196*
6 - 34
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-11B-05-F0ADG-S
1/5
0.0812
0.75
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.5
9
25.5
3-M4 Screw hole depth 6
2.5
5
20.7
0°
C
0.
5
Bottom
Bottom
Bottom
21
Top
37.1
Top
36
Top
13.7
27.4
10.9
11.7 11.7
21.7
4.9
9.9
19.2
Power supply connector
13.9
27.5
79.3
Encoder connector
9°
7°
Pin No. Application
(PE)
1
2
U
3
V
4
W
6.4
21.7
11.7 11.7
Power supply connector
1
2
3
4
45°
12
Caution plate
Motor
plate
Caution
plate
-0.20
15+0.25
121.9
Motor plate
(Opposite side)
Caution plate
20.7
Encoder connector
19.2
Power supply
9.9 connector
Opposite-load side
BC40939*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-14A-05-F0CBJS-S
1/5
0.146
1.3
HG-KR13G5
100
HPG-14A-11-F0CBKS-S
1/11
0.138
1.4
HG-KR13G5
100
HPG-14A-21-F0CBKS-S
1/21
0.129
1.4
[Unit: mm]
-0.5
21 +0.4
21
5(φ14H7effective
range)
Bottom
0
φ3
Top
21
45
60
0
φ7
C
0.
5
Bottom
Bottom
37.1
36
3
Motor plate
(Opposite side)
20.7
Caution
plate
Caution plate
8
φ55.5
Motor
plate
Caution
plate
φ59
20.7
35
φ14H7
φ40
φ56h7
146.4
20.5
For reverse rotation command
Rotation direction
For forward rotation command
4-φ5.5
6-M4 Screw hole
□60
depth 7
Top
Top
10.9
11.7 11.7
21.7
Encoder connector
9.9
19.2
Power supply connector
6.4
103.8
21.7
11.7 11.7
Power supply connector
1
2
9
4.9
7
13.7
27.4
3
4
6 - 35
Pin No. Application
1
(PE)
2
U
3
V
4
W
Encoder
connector
Power supply
connector
19.2
9.9
Opposite-load side
BC38197*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G5
100
HPG-20A-33-F0JMLAS-S
1/33
0.140
2.6
HG-KR13G5
100
HPG-20A-45-F0JMLAS-S
1/45
0.139
2.6
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
27 +0.4
-0.5
148.9
30.5
10 8
26
5( 24H7effective range)
20.5
6-M6 Screw hole depth 10
Motor plate
(Opposite side)
20.7
Motor
plate
Caution plate
5
10
84
Caution plate
45°
60°
24H7
59
85h7
C
0.
5
Top
Top
45
21
89
Bottom
Bottom
37.1
36
Bottom
55
20.7
Caution
plate
Top
13.7
27.4
10.9
11.7 11.7
21.7
6.4
4.9
9.9
19.2
Power supply
connector
106.3
21.7
11.7 11.7
Encoder connector
Power supply
connector
Power supply connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
1
2
9°
7°
3
4
Encoder connector
19.2
9.9
Opposite-load side
BC38198*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR23G5
200
HPG-14A-05-F0AZW-S
1/5
0.422
1.8
HG-KR23G5
200
HPG-14A-11-F0AZX-S
1/11
0.424
1.9
Mass [kg]
[Unit: mm]
140.6
Motor plate
Caution plate (Opposite side)
Top
C
0.
5
Top
14H7
47.1
46
Top
Encoder connector
13.7 10
28.4
10.9
11.8 11.7
9.5
19.2
Power supply connector
5.9
21.7
100.4
Power supply connector
4
Power supply connector
19.2
7°
3
Pin No. Application
(PE)
1
2
U
3
V
4
W
9°
1
2
45°
70
40
56h7
Caution plate
60°
30
Bottom
3
5( 14H7effective range)
Bottom
Bottom
Caution plate
8
59
Motor
plate
56
55.5
60
For reverse rotation command
Rotation direction
6-M4 Screw hole depth 7 For forward rotation command
4- 5.5
-0.5
21+0.4
60
Encoder connector
9.5
11.8 11.7
21.7
Opposite-load side
6 - 36
BC38199*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G5
200
HPG-20A-21-F0EKS-S
1/21
0.719
3.4
HG-KR23G5
200
HPG-20A-33-F0ELS-S
1/33
0.673
3.4
HG-KR23G5
200
HPG-20A-45-F0ELS-S
1/45
0.672
3.4
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
6-M6 Screw hole depth 10
4- 9
+0.4
90
27 -0.5
147.6
26
Motor plate
(Opposite side)
Caution plate
Caution plate
5
10
Top
C
0.
5
45
Caution plate
89
Bottom
Bottom
Bottom
45°
60°
24H7
59
85h7
Motor
plate
5( 24H7effective range)
10 8
35
84
60
Top
47.1
46
Top
9.5
10.9
13.7 10
Encoder connector
11.8 11.7
28.4
Power supply connector
19.2
21.7
5.9
107.4
Power supply connector
19.2 9.5
Encoder connector
7°
3
4
Pin No. Application
(PE)
1
2
U
3
V
4
W
9°
1
2
Power supply connector
11.811.7
21.7
Opposite-load side
BC40901*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-14A-05-J2CBJS-S
1/5
0.572
2.3
[Unit: mm]
70
0.
5
C
Bottom
Caution plate
Top
Top
Top
14H7
46
47.1
Bottom
30
40
56h7
59
Bottom
Caution plate
60
Motor
plate
56
55.5
162.3
Motor plate
(Opposite side)
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
6-M4 Screw hole depth 7
-0.5
21+0.4
4- 5.5
60
8
3
5( 14H7effective range)
45°
60°
13.7 10
28.4
10.9
11.8 11.7
21.7
9.5
19.2
5.9
Power supply connector
122.1
Encoder connector
Power supply connector
Power supply connector
Encoder connector
7°
Pin No. Application
(PE)
1
2
U
3
V
4
W
9°
1
2
3
4
6 - 37
19.2 9.5
11.8 11.7
21.7
Opposite-load side
BC38186*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-20A-11-F0EKS-S
1/11
0.947
3.9
HG-KR43G5
400
HPG-20A-21-F0EKS-S
1/21
0.869
3.9
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
6-M6 Screw hole depth 10
+0.4
27 -0.5
169.3
26
60
10 8
5( 24H7effective range)
Motor plate
(Opposite side)
Caution plate
45°
60°
5
10
Top
C
0.
5
Top
45
Bottom
Bottom
Caution plate
Bottom
89
Caution plate
24H7
59
85h7
84
Motor
plate
Top
46
47.1
35
13.7 10
28.4
5.9
Power supply connector
9.5
10.9
11.8 11.7
21.7
19.2
129.1
Encoder connector
Power supply
connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
9°
7°
3
4
19.2 9.5
11.811.7
21.7
Opposite-load side
Encoder connector
BC38187*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G5
400
HPG-32A-33-F0RLAS-S
1/33
0.921
6.0
HG-KR43G5
400
HPG-32A-45-F0RLAS-S
1/45
0.915
6.0
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
6-M8 Screw hole depth 12
+0.4
35 -0.5
181.3
29
4- 11
120
13 13
45
°
60°
5( 32H7effective range)
60
Motor plate
(Opposite side)
Caution plate
Top
84
115h7
Bottom
Top
114
Bottom
C
0.
5
Caution plate
32H7
Bottom
84
Motor plate
118
5
13
Caution plate
47.1
46
41
60
Top
28.4
Power supply connector
10.9
11.8
11.7
9.5
19.2
21.7
141.1
Power supply connector
1
2
3
7°
13.7
Encoder
connector
9°
5.9
10
4
6 - 38
Pin No. Application
(PE)
1
2
U
3
V
4
W
Power supply
connector
Encoder
connector
19.2
11.8
9.5
11.7
21.7
Opposite-load side
BC38188*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G5
750
HPG-20A-05-F0FEOS-S
1/5
1.91
4.8
HG-KR73G5
750
HPG-20A-11-F0FEPS-S
1/11
1.82
5.1
[Unit: mm]
+0.4
27 -0.5
190
26
10
5
10
C
0.
5
59
85h7
45
Top
24H7
84
89
Bottom Bottom
Top
45°
60°
6-M6 Screw hole depth 10
Caution plate
Caution plate
8
5( 24H7effective range)
80
Motor plate
12
30
Motor plate
(Opposite side)
Caution plate
80
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
57.1
56
Bottom
Top
Encoder connector
13.7
10.7
11.8
11.7 21.7
11.5
27.4
Power supply connector
9.5
19.2
12
147.6
19.2
9.5
Power supply connector
4
Encoder connector
11.8
7°
3
7°
Pin No. Application
(PE)
1
U
2
V
3
W
4
1
2
Power supply connector
11.7
21.7
Opposite-load side
BC38189*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR73G5
750
HPG-32A-21-F0SEIS-S
1/21
2.01
7.2
HG-KR73G5
750
HPG-32A-33-F0SEJS-S
1/33
1.79
7.2
HG-KR73G5
750
HPG-32A-45-F0SEJS-S
1/45
1.79
7.2
Mass [kg]
[Unit: mm]
-0.5
35+0.4
200
5
13
Top
32H7
84
115h7
Top
13 13
C
0.
5
Bottom Bottom
Caution plate
36
114
Caution plate
9
118
Motor
plate
Motor plate
(Opposite side)
Caution plate
80
80
30
For reverse rotation command
Rotation direction
For forward rotation command
4- 11
120
6-M8 Screw hole depth 12
45°
60°
5( 32H7effective range)
60
57.1
56
Bottom
Top
27.4
10.7
11.8
11.7
9.5
Power supply connector
19.2
21.7
157.6
19.2
9.5
Encoder connector
Power supply connector
7°
11.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
7°
13.7
4
6 - 39
Power supply
connector
Encoder
connector
11.8
11.7
21.7
Opposite-load side
BC38190*
6. HG-MR SERIES/HG-KR SERIES
6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake)
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass
[kg]
HG-KR053BG5
50
HPG-11B-05-F0ADG-S
1/5
0.32
0.0507
0.75
HG-KR053BG5
50
HPG-11B-09-F0ADG-S
1/9
0.32
0.0497
0.76
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Caution plate
20.7
Caution
plate
Caution plate
25.5
5
15+0.25
-0.20
2.5
Bottom
Bottom
Bottom
Top
3-M4 Screw hole depth 6
Top
Top
13.7
27.4
Power supply connector
10.9
11.7 11.7
21.7
58.8
4.9
9.9
19.2
18.4
13.9
27.5
63.3
Encoder connector
13°
2
9°
1
2
11.7 11.7
Encoder connector
Output
[W]
Model
Reduction
ratio
Reducer model
Pin No. Application
(PE)
1
U
2
3
V
4
W
1
2
3
4
7°
Pin No. Application
1
B1
2
B2
9.9 Power supply connector
18.4
58.8
21.7
6.4
Power supply connector
Electromagnetic brake connector
Electromagnetic brake connector
1
45°
37.1
21
38.8
36
9
0°
12
Motor
plate
146.5
Motor plate
(Opposite side)
20.7
C
0.
5
20.5
Opposite-load side
Brake static friction torque
[N•m]
Electromagnetic brake
connector
BC41764*
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
HG-KR053BG5
50
HPG-14A-05-F0CBJS-S
1/5
0.32
0.115
1.3
HG-KR053BG5
50
HPG-14A-11-F0CBKS-S
1/11
0.32
0.107
1.4
HG-KR053BG5
50
HPG-14A-21-F0CBKS-S
1/21
0.32
0.0980
1.4
HG-KR053BG5
50
HPG-14A-33-F0CBLS-S
1/33
0.32
0.0920
1.4
HG-KR053BG5
50
HPG-14A-45-F0CBLS-S
1/45
0.32
0.0920
1.4
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Caution plate
Top
Caution plate
4.9
13.7
27.4
Top
10.9
11.7
2
Encoder connector
21.7
58.8
6-M4 Screw hole depth 7
60°
45°
C
0.
Power supply connector
6.4
19.2
18.4
Power supply connector
87.8
Electromagnetic brake connector
1
2
3
4
7°
9°
Pin No. Application
1
B1
2
B2
21+0.4
-0.5
3
Top
9.9
11.7
Electromagnetic brake connector
1
8
Bottom
Bottom
21
38.8
36
Bottom
35
5
20.7
Motor plate
21
13°
20.5 20.7
171
Motor plate
(Opposite side)
Caution plate
Encoder connector
18.4
11.7 11.7
58.8
21.7
6 - 40
9.9
Power supply
connector
Pin No. Application
(PE)
1
U
2
V
3
W
4
Electromagnetic brake connector
Opposite-load side
BC41097*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR13BG5
100
HPG-11B-05-F0ADG-S
1/5
0.32
0.0872
0.95
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
162.5
20.7
Caution plate
20.7
Caution
plate
Caution plate
15+0.25
-0.20
2.5
Bottom
Bottom
Bottom
Top
3-M4 Screw hole depth 6
Top
Top
10.9
11.7 11.7
21.7
58.8
4.9
13.7
27.4
Power supply connector
Electromagnetic brake connector
9.9
19.2
13.9
27.5
79.3
18.4
Encoder connector
13°
9°
2
11.7 11.7
18.4
58.8
Encoder connector
21.7
Output
[W]
Model
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
4
7°
Pin No. Application
1
B1
2
B2
6.4
Power supply connector
Electromagnetic brake connector
1
45°
37.1
21
38.8
36
5
25.5
0°
12
Motor
plate
9
Motor plate
(Opposite side)
C
0.
5
20.5
Reduction
ratio
Reducer model
Power supply connector
9.9
Electromagnetic brake connector
BC41766*
Opposite-load side
Brake static friction torque
[N•m]
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
HG-KR13BG5
100
HPG-14A-05-F0CBJS-S
1/5
0.32
0.152
1.5
HG-KR13BG5
100
HPG-14A-11-F0CBKS-S
1/11
0.32
0.144
1.6
HG-KR13BG5
100
HPG-14A-21-F0CBKS-S
1/21
0.32
0.135
1.6
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.7
Electromagnetic brake connector
1
2
60°
21.7
58.8
18.4
Encoder connector
45°
Top
9.9
11.7
12
Pin No. Application
1
B1
2
B2
-0.5 6-M4 Screw hole depth 7
21+0.4
3
6.4
19.2 Power supply connector
103.8
Power supply connector
Electromagnetic brake connector
1
2
3
4
13°
27.4
8
7°
Caution plate
10.9
4.9
11.7
13.7
Top
9°
Top
35
Bottom
Bottom
21
38.8
36
Bottom
21
0.
5
Caution plate
Motor plate
187
Motor plate
(Opposite side)
Caution plate
C
20.5 20.7
Encoder connector
18.4
11.7 11.7
58.8
21.7
6 - 41
9.9
Pin No. Application
(PE)
1
2
U
3
V
4
W
Power supply connector
Electromagnetic brake connector
Opposite-load side
BC41098*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR13BG5
100
HPG-20A-33-F0JMLAS-S
1/33
0.32
0.146
2.8
HG-KR13BG5
100
HPG-20A-45-F0JMLAS-S
1/45
0.32
0.145
2.8
[Unit: mm]
+0.4
φ59
φ85h7
φ89
C
φ55
13°
05
Power supply connector
1
2
3
4
18.4 Electromagnetic brake connector
Encoder connector
7°
Pin No. Application
1
B1
2
B2
2
9.9 Power supply
connector
106.3
19.2
21.7
58.8
Electromagnetic brake connector
1
11.7
φ1
φ24H7
27.4
10.9
11.7
9°
38.8
36
Top
Caution plate
4.9
13.7
Bottom
Top
5
Top
Bottom
φ4
Bottom
Caution plate
21 20.7
Motor plate
0.
5
Motor plate
(Opposite side)
Caution plate
27 -0.5
26 10 8
30.5
φ84
189.5
20.5 20.7
For reverse rotation command
Rotation direction
For forward rotation command
6-M6 Screw hole
□90
depth 10
45
° 4-φ9
60°
5(φ24H7 effective range )
Pin No. Application
1
(PE)
2
U
3
V
4
W
Power supply
connector
18.4 9.9
11.7
Electromagnetic brake connector
58.8
Encoder connector
11.7
21.7
Opposite-load side
BC41099A
Mass
[kg]
Model
Output
[W]
Reducer model
HG-KR23BG5
200
HPG-14A-05-F0AZW-S
1/5
1.3
0.444
2.2
HG-KR23BG5
200
HPG-14A-11-F0AZX-S
1/11
1.3
0.446
2.3
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
[Unit: mm]
+0.4
Bottom
Bottom
Bottom
5
Top
10
28.4
Electromagnetic brake connector
10.9
11.8
11.7
21.7
57.8
Encoder connector
19.2
φ14H7
47.1
46
13.7
9.5 Power supply
connector
100.4
5.9
Power supply connector
Electromagnetic brake connector
1
2
3
4
7°
13.5°
Pin No. Application
1
B1
2
B2
9°
2
0
φ7
φ3
0
Top
Caution
plate
1
Top
21 -0.5
3
φ40
φ56h7
60
Caution
plate
8
C
0.
Motor
plate
φ59
56
Motor plate
(Opposite side)
Caution plate
φ55.5
177.4
□60
For reverse rotation command
Rotation direction
For forward rotation command
6-M4 Screw hole
□60
depth 7
45°
5(φ14H7effective range)
60°
4-φ5.5
Encoder connector
18.3
11.7
57.8
11.8
21.7
Power supply
connector
9.5
Electromagnetic brake
connector
Opposite-load side
6 - 42
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41100*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR23BG5
200
HPG-20A-21-F0EKS-S
1/21
1.3
0.741
3.8
HG-KR23BG5
200
HPG-20A-33-F0ELS-S
1/33
1.3
0.695
3.8
HG-KR23BG5
200
HPG-20A-45-F0ELS-S
1/45
1.3
0.694
3.8
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
184.4
Bottom
Top
φ4
5
10.9
11.8
11.7
28.4
19.2
9.5 Power supply
connector
21.7
5.9
Power supply connector
107.4
57.8
Electromagnetic brake connector
φ24H7
10
1
2
3
4
Electromagnetic brake connector
Encoder connector
9°
7°
Pin No. Application
1
B1
2
B2
Pin No. Application
1
(PE)
2
U
3
V
4
W
13.5°
47.1
46
Caution
plate
2
Top
Encoder connector
11.8
4-φ9
05
φ1
Top
13.7
1
Bottom
45
°
60°
φ59
φ85h7
Bottom
φ89
Caution plate
□90
φ84
Motor plate
10 8
35
C
0.
5
□60
6-M6 Screw hole
depth 10
5(φ24H7 effective range )
27 +0.4
-0.5
26
Motor plate
(Opposite side)
Caution plate
Power supply
connector
18.3
11.7
57.8
9.5
Electromagnetic brake
connector
Opposite-load side
21.7
BC41101*
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG5
400
HPG-14A-05-F0AZW-S
1/5
1.3
0.594
2.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
21+0.4
-0.5
199.1
Motor plate
(Opposite side)
56
8
3
6-M4 Screw hole depth 7
Caution plate
Motor
plate
Caution plate
Bottom
Pin No. Application
1
B1
2
B2
11.7
21.7
57.8
19.2
9.5
Power supply connector
122.1
5.9
Power supply connector
1
2
3
4
Electromagnetic brake connector
Encoder connector
Pin No. Application
(PE)
1
U
2
V
3
W
4
7°
28.4
Electromagnetic brake connector
10.9
11.8
13.5°
10
9°
47.1
46
Caution plate
2
Top
Top
13.7
1
Top
45°
.5
C0
Bottom
Bottom
60°
Encoder connector
11.8
18.3
11.7
57.8
21.7
Power supply connector
9.5
Electromagnetic brake connector
Opposite-load side
6 - 43
BC41102*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG5
400
HPG-20A-11-F0EKS-S
1/11
1.3
0.969
4.3
HG-KR43BG5
400
HPG-20A-21-F0EKS-S
1/21
1.3
0.891
4.3
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
-0.5
206.1
26
φ84
φ1
0.
5
C
φ24H7
Top
10.9
10
9.5
11.8
11.7
28.4
21.7
57.8
Power supply
connector
129.1
19.2
Power supply connector
1
2
3
4
Electromagnetic brake connector
Encoder connector
Encoder connector
11.8
7°
13.5°
9°
Pin No. Application
1
B1
2
B2
2
05
5.9
Electromagnetic brake connector
1
45°
60°
45
φ
Top
Top
Caution
plate
φ89
Bottom
Bottom
Bottom
□90
6-M6 Screw hole
depth 10
4-φ9
Caution
plate
47.1
46
5(φ24H7 effective
range )
Motor plate
(Opposite side)
Caution plate
Motor
plate
13.7
10 8
φ59
φ85h7
□60
35
18.3
11.7
57.8
21.7
Power supply
connector
9.5
Electromagnetic brake
connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41103*
Opposite-load side
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG5
400
HPG-32A-33-F0RLAS-S
1/33
1.3
0.943
6.4
HG-KR43BG5
400
HPG-32A-45-F0RLAS-S
1/45
1.3
0.937
6.4
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
218.1
29
41
-0.5
35+0.4
13 13
6-M8 Screw hole depth12
60°
45°
Motor plate
(Opposite side)
Caution plate
Motor plate
Bottom
Electromagnetic brake connector
1
2
Pin No. Application
1
B1
2
B2
19.2
21.7
57.8
C
9.5
Power supply connector
141.1
Power supply connector
Electromagnetic brake connector
1
2
3
4
Encoder connector
7°
28.4
11.7
Top
13.5°
13.7
Caution plate
10.9
11.8
9°
47.1
46
5.9
10
Bottom
Top
Bottom
Top
0.
5
Caution plate
Encoder connector
11.8
18.3
11.7
57.8
21.7
6 - 44
Power supply
connector
9.5
Pin No. Application
1
(PE)
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41104*
6. HG-MR SERIES/HG-KR SERIES
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HPG-20A-05-F0FEOS-S
1/5
2.4
2.02
5.8
HPG-20A-11-F0FEPS-S
1/11
2.4
1.93
6.1
Model
Output
[W]
Reducer model
HG-KR73BG5
750
HG-KR73BG5
750
[Unit: mm]
27
230.3
30
Motor plate
(Opposite side)
□80
12 26 10 8
6-M6 Screw hole
depth 10
56
φ59
φ85h7
C
Top
4-φ9
05
φ1
0.
5
φ89
Bottom
□80
Bottom
45°
60°
φ84
Caution
plate
Bottom
□90
5(φ24H7 effective range)
Caution plate
Motor
plate
Top
φ4
5
Top
Caution plate
13.7
11.5
10.7
11.8
11.7
1
2
3
4
Electromagnetic brake connector
Encoder connector
Electromagnetic brake connector
Pin No. Application
(PE)
1
U
2
V
3
W
4
Encoder connector
7°
7°
7°
Pin No. Application
1
B1
2
B2
2
12
Power supply connector
147.6
63.1
1
9.5
Power supply connector
19.2
21.7
27.4
φ24H7
57.1
For reverse rotation command
Rotation direction
For forward rotation command
+0.4
-0.5
Power supply
connector
9.5
18.4
11.8
11.7
63.1
Electromagnetic brake
connector
21.7
Opposite-load side
BC41105*
Mass
[kg]
Model
Output
[W]
HG-KR73BG5
750
HPG-32A-21-F0SEIS-S
1/21
2.4
2.12
8.2
HG-KR73BG5
750
HPG-32A-33-F0SEJS-S
1/33
2.4
1.90
8.2
HG-KR73BG5
750
HPG-32A-45-F0SEJS-S
1/45
2.4
1.90
8.2
Reduction
ratio
Reducer model
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
+0.4
240.3
Motor plate
(Opposite side)
Caution plate
35 -0.5
13 13
□120
6-M8 Screw
hole depth 12
φ114
60°
Top
φ84
φ115h7
C
Top
45°
4-φ11
35
φ1
0.
5
□80
Bottom
Bottom
57.1
56
36
5(φ32H7 effective range)
Caution plate
Bottom
9
φ118
□80
Motor plate
30
φ6
0
Top
Caution plate
Electromagnetic brake connector
1
2
Pin No. Application
1
B1
2
B2
19.2
9.5
Power supply connector
21.7
63.1
157.6
Power supply connector
1
2
3
4
Electromagnetic brake connector
Encoder connector
7°
27.4
11.7
φ32H7
10.7
11.8
7°
13.7
7°
12
11.5
Encoder connector
11.8
18.4
11.7
63.1
21.7
Power supply
connector
9.5
Electromagnetic brake connector
Opposite-load side
6 - 45
Pin No. Application
(PE)
1
U
2
V
3
W
4
BC41106*
6. HG-MR SERIES/HG-KR SERIES
6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake)
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G7
50
HPG-11B-05-F20ADG-S
1/5
0.0512
0.58
HG-KR053G7
50
HPG-11B-09-F20ADG-S
1/9
0.0492
0.58
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.5
20.7
105.9
9
Motor plate
(Opposite side)
Caution plate Caution plate
20.7
Motor
plate
Caution
plate
Top
15
2.5
20
R0
.4
Top
36
Top
13.7
27.4
45°
37.1
21
5
Bottom
Bottom
Bottom
42
25.5
4.9
9.9
19.2
10.9
11.7 11.7
21.7
Encoder connector
Power supply connector
63.3
13.9
27.5
21.7
11.7 11.7
6.4
Power supply connector
7°
Pin No. Application
1
(PE)
2
U
3
V
4
W
Encoder connector
9°
1
2
3
4
19.2
9.9
Power supply
connector
Opposite-load side
BC40938*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR053G7
50
HPG-14A-05-J2CBJS-S
1/5
0.119
1.2
HG-KR053G7
50
HPG-14A-11-J2CBKS-S
1/11
0.106
1.3
HG-KR053G7
50
HPG-14A-21-J2CBKS-S
1/21
0.0960
1.3
HG-KR053G7
50
HPG-14A-33-J2CBLS-S
1/33
0.0900
1.3
HG-KR053G7
50
HPG-14A-45-J2CBLS-S
1/45
0.0900
1.3
[Unit: mm]
130.4
Caution plate
Bottom
Bottom
Bottom
Top
21
37.1
36
21
3
Top
9.9
10.9
11.7 11.7
19.2
Power supply connector
21.7
87.8
6.4
21.7
11.7 11.7
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
7°
3
9°
4.9
70
R0.4
Top
13.7
27.4
45
°
28
Caution plate
20.7
Motor
plate
Caution
plate
8
16h7
20
40
56h7
20.7
35
55.5
20.5
58
21
Motor plate
(Opposite side)
For reverse rotation command
Rotation direction
For forward rotation command
4- 5.5
60
4
6 - 46
Encoder connector
Power supply
connector
19.2
9.9
Opposite-load side
BC38191*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-11B-05-J20ADG-S
1/5
0.0839
0.78
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.5
20.7
Caution plate
Motor
plate
20.7
Caution
plate
Caution plate
121.9
Motor plate
(Opposite side)
42
9
Top
15
2.5
20
45°
R0
Top
.4
37.1
21
5
Bottom
Bottom
Bottom
25.5
36
Top
13.7
27.4
Application
(PE)
U
V
W
9.9
19.2
Power supply connector
79.3
13.9
27.5
21.7
11.7 11.7
6.4
7°
Encoder connector
9°
Power supply connector
1
Pin No.
2
1
3
2
4
3
4
10.9
11.7 11.7
21.7
Encoder connector
4.9
19.2
9.9 Power supply connector
Opposite-load side
BC40940*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-14A-05-J2CBJS-S
1/5
0.152
1.4
HG-KR13G7
100
HPG-14A-11-J2CBKS-S
1/11
0.139
1.5
HG-KR13G7
100
HPG-14A-21-J2CBKS-S
1/21
0.129
1.5
[Unit: mm]
146.4
20.5
Motor
plate
58
21
Motor plate
(Opposite side)
20.7
For reverse rotation command
Rotation direction
For forward rotation command
4- 5.5
60
35
8
21
3
45°
28
Caution plate Caution plate
21
Top
10.9
11.7 11.7
9.9
R0.4
Power supply connector
6.4
19.2
21.7
Encoder connector
103.8
21.7
11.7 11.7
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
7°
3
9°
4.9
20
40
56h7
55.5
Top
Top
13.7
27.4
70
16h7
Bottom
37.1
36
Bottom
Bottom
59
20.7
Caution
plate
4
6 - 47
Encoder
connector
19.2
Opposite-load side
9.9
Power supply
connector
BC38192*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR13G7
100
HPG-20A-33-J2JMLAS-S
1/33
0.141
3.0
HG-KR13G7
100
HPG-20A-45-J2JMLAS-S
1/45
0.139
3.0
[Unit: mm]
148.9
80
30.5
20.5
20.7
Caution plate
Motor
plate
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
26
10
27
8
Motor plate
(Opposite side)
Caution plate
45°
42
21
Top
Top
Top
R0.4
6.4
4.9
13.7
59
85h7
84
25h7
32
Bottom
37.1
36
Bottom
Bottom
89
Caution
plate
55
20.7
5
10
9.9
10.9
11.711.7
27.4
Power supply connector
19.2
21.7
106.3
21.7
11.7 11.7
Encoder connector
Power supply connector
Pin No. Application
(PE)
1
U
2
V
3
W
4
7°
1
2
3
9°
4
Encoder connector
19.2 9.9
Power supply
connector
Opposite-load side
BC38193*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR23G7
200
HPG-14A-05-J2AZW-S
1/5
0.428
1.9
HG-KR23G7
200
HPG-14A-11-J2AZX-S
1/11
0.424
2.0
[Unit: mm]
Bottom
Caution plate
Top
Top
10.9
11.8 11.7
9.5
19.2
47.1
46
70
R0.4
Top
13.7 10
28.4
45°
28
20
40
56h7
Bottom
Bottom
21
3
16h7
Caution plate
8
59
Motor
plate
58
56
55.5
140.6
Motor plate
(Opposite side)
Caution plate
60
For reverse rotation command
Rotation direction
For forward rotation command
4- 5.5
60
5.9
Power supply connector
21.7
100.4
Encoder connector
Power supply connector
Power supply connector
19.2 9.5
Encoder connector
11.811.7
21.7
7°
3
4
Pin No. Application
(PE)
1
U
2
V
3
W
4
9°
1
2
BC38194*
6 - 48
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR23G7
200
HPG-20A-21-J2EKS-S
1/21
0.721
3.8
HG-KR23G7
200
HPG-20A-33-J2ELS-S
1/33
0.674
3.8
HG-KR23G7
200
HPG-20A-45-J2ELS-S
1/45
0.672
3.8
Mass [kg]
[Unit: mm]
147.6
80
26
Motor plate
(Opposite side)
Caution plate
60
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
10
35
27
8
45°
42
Bottom
Bottom
Caution plate
Top
89
Bottom
25h7
32
59
85h7
Caution plate
84
5
10
Motor
plate
Top
47.1
46
Top
R0.4
10.9
13.7 10
28.4
11.811.7
21.7
Power supply connector
9.5
19.2
5.9
107.4
Encoder connector
Power supply connector
3
4
7°
9°
Power supply
connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
Encoder
connector
19.2 9.5
11.811.7
21.7
Opposite-load side
BC38195*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-14A-05-J2AZW-S
1/5
0.578
2.4
[Unit: mm]
60
162.3
For reverse rotation command
Rotation direction
For forward rotation command
4- 5.5
60
58
Motor plate
(Opposite side)
Caution plate
56
8
21
3
45°
28
Bottom
Top
Top
11.8 11.7
40
19.2
5.9
21.7
122.1
Encoder connector
Encoder connector
Power supply
connector
Power supply connector
1
2
7°
3
9°
47.1
46
28.4
Power supply connector
9.5
10.9
56h7
R0.4
Top
13.7 10
20
60
Bottom
Caution plate
59
Bottom
16h7
Caution plate
55.5
70
Motor
plate
4
6 - 49
Pin No. Application
(PE)
1
U
2
V
3
W
4
19.2 9.5
11.811.7
21.7
Opposite-load side
BC40909*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-20A-11-J2EKS-S
1/11
0.955
4.3
HG-KR43G7
400
HPG-20A-21-J2EKS-S
1/21
0.871
4.3
[Unit: mm]
169.3
80
26
60
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
10
35
27
8
Motor plate
(Opposite side)
42
45
Caution plate
Motor plate
10
85h7
32
5
10
R0.4
Power supply connector
10.9
13.7
59
25h7
Top
Top
46
47.1
Top
Caution plate
84
Bottom
Bottom
Bottom
89
Caution plate
19.2
11.8
28.4
5.9
21.7
11.7
129.1
9.5
Encoder connector
Power supply
connector
Power supply connector
Pin No. Application
1
(PE)
U
2
V
3
W
4
1
2
7
9
3
4
Encoder connector
19.2
11.8
9.5
11.7
21.7
Opposite-load side
BC40910*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR43G7
400
HPG-32A-33-J2RLAS-S
1/33
0.927
7.4
HG-KR43G7
400
HPG-32A-45-J2RLAS-S
1/45
0.918
7.4
[Unit: mm]
181.3
133
29
60
For reverse rotation command
Rotation direction
For forward rotation command
4- 11
120
13
41
35
13
Motor plate
(Opposite side)
45°
82
Caution plate
47.1
46
Top
Caution plate
Top
40h7
44
84
115h7
Bottom
Bottom
Bottom
5
13
114
84
Caution plate
118
Motor
plate
Top
R0.4
19.2
11.7 21.7
9.5
141.1
Encoder connector
Power supply connector
1
2
7°
28.4
10.9
11.8
9°
5.9
10
13.7
Power supply connector
3
4
Pin No. Application
(PE)
1
2
U
3
V
4
W
6 - 50
Encoder connector
11.8
19.2
11.7
Power supply
connector
9.5
21.7
Opposite-load side
BC40911*
6. HG-MR SERIES/HG-KR SERIES
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-KR73G7
750
HPG-20A-05-J2FEOS-S
1/5
1.95
5.2
HG-KR73G7
750
HPG-20A-11-J2FEPS-S
1/11
1.83
5.5
[Unit: mm]
190
Motor plate
(Opposite side)
Caution plate
80
Motor
plate
For reverse rotation command
Rotation direction
For forward rotation command
4- 9
90
80
12
30
26
10
27
8
42
5
10
89
Top
57.1
56
Bottom
32
59
85h7
Top
25h7
Caution plate
80
Bottom Bottom
84
Caution plate
R0.4
Top
13.7
10.7
11.8
11.7
11.5
27.4
Power supply connector
9.5
12
19.2
21.7
147.6
19.2
9.5
Encoder connector
Power supply connector
Pin No. Application
1
(PE)
2
U
3
V
4
W
7°
1
2
3
7°
4
Encoder
connector
Power supply
connector
11.8
11.7
21.7
Opposite-load side
BC40912*
Model
Output [W]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HG-KR73G7
750
HPG-32A-21-J2SEIS-S
1/21
2.03
8.6
HG-KR73G7
750
HPG-32A-33-J2SEJS-S
1/33
1.80
8.6
HG-KR73G7
750
HPG-32A-45-J2SEJS-S
1/45
1.79
8.6
Mass [kg]
[Unit: mm]
200
133
30
Motor plate
(Opposite side)
80
For reverse rotation command
Rotation direction
For forward rotation command
4- 11
120
9
36
13
35
13
45°
82
Caution plate
5
13
57.1
56
Bottom
Top
R0.4
Top
19.2
9.5
Power supply connector
157.6
19.2
9.5
Encoder connector
Power supply connector
7°
27.4
10.7
11.8
11.7 21.7
1
2
3
7°
12
11.5
13.7
40h7
44
84
115h7
Top
114
Bottom Bottom
Caution plate
80
Caution plate
118
Motor
plate
4
Pin No. Application
1
(PE)
2
U
3
V
4
W
6 - 51
Power supply
connector
Encoder connector
11.8
11.7
21.7
Opposite-load side
BC40913*
6. HG-MR SERIES/HG-KR SERIES
6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake)
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR053BG7
50
HPG-11B-05-J20ADG-S
1/5
0.32
0.0534
0.78
HG-KR053BG7
50
HPG-11B-09-J20ADG-S
1/9
0.32
0.0514
0.78
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.7
Caution plate
20.7
Motor
plate
Caution
plate
146.5
Motor plate
Caution plate (Opposite side)
42
9
25.5
5
15
2.5
20
Bottom
Bottom
Bottom
21
Top
R0
.4
Top
38.8
36
Top
13.7
27.4
4.9
10.9
11.7 11.7
21.7
58.8
9.9
Power supply connector
13.9
27.5
19.2
18.4
Encoder connector
63.3
Electromagnetic brake connector
13°
2
Pin No. Application
(PE)
1
U
2
3
V
4
W
3
4
7°
1
Pin No. Application
1
B1
2
B2
9°
1
11.7 11.7
21.7
6 - 52
18.4
58.8
Encoder connector
6.4
Power supply connector
1
2
Electromagnetic brake connector
2
45°
37.1
20.5
Opposite-load side
9.9
Power supply connector
Electromagnetic brake connector
BC41765*
6. HG-MR SERIES/HG-KR SERIES
Output
[W]
Model
Reduction
ratio
Reducer model
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR053BG7
50
HPG-14A-05-J2CBJS-S
1/5
0.32
0.121
1.4
HG-KR053BG7
50
HPG-14A-11-J2CBKS-S
1/11
0.32
0.108
1.5
HG-KR053BG7
50
HPG-14A-21-J2CBKS-S
1/21
0.32
0.0980
1.5
HG-KR053BG7
50
HPG-14A-33-J2CBLS-S
1/33
0.32
0.0920
1.5
HG-KR053BG7
50
HPG-14A-45-J2CBLS-S
1/45
0.32
0.0920
1.5
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.5 20.7
171
Motor plate
(Opposite side)
Caution plate
Caution plate
20.7
Motor plate
Top
Top
Caution plate
4.9
13.7
10.9
11.7
27.4
Encoder connector
8
21
3
45
°
28
Top
R0.4
9.9
Power supply connector
87.8
Electromagnetic brake connector
11.7
21.7
58.8
35
Bottom
Bottom
21
38.8
36
Bottom
58
21
6.4
19.2
18.4
Power supply connector
7°
9°
Pin No. Application
1
B1
2
B2
2
13°
1
Encoder connector
18.4
11.7
58.8
11.7
21.7
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
4
Electromagnetic brake connector
9.9
Power supply connector
Electromagnetic brake connector
Opposite-load side
BC41107*
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR13BG7
50
HPG-11B-05-J20ADG-S
1/5
0.32
0.0899
0.98
[Unit: mm]
For reverse rotation comman
Rotation direction
For forward rotation comman
162.5
Motor plate
(Opposite side)
Caution plate
20.7
Caution plate
20.7
Motor
plate
Caution
plate
25.5
5 15
2.5
Bottom
21
Top
R0
.4
Top
4.9
10.9
11.7 11.7
21.7
58.8
Encoder connector
9.9
19.2
Power supply connector
Electromagnetic brake connector
6.4
Power supply connector
Pin No. Application
(PE)
1
2
U
3
V
4
W
1
2
3
4
7°
13°
9°
Pin No. Application
1
B1
2
B2
13.9
27.5
79.3
18.4
Electromagnetic brake connector
2
45°
Top
13.7
27.4
1
20
Bottom
Bottom
38.8
36
42
9
37.1
20.5
11.7 11.7
21.7
6 - 53
18.4
58.8
Encoder connector
Opposite-load side
9.9
Power supply connector
Electromagnetic brake connector
BC41767*
6. HG-MR SERIES/HG-KR SERIES
Output
[W]
Model
Reduction
ratio
Reducer model
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR13BG7
100
HPG-14A-05-J2CBJS-S
1/5
0.32
0.158
1.6
HG-KR13BG7
100
HPG-14A-11-J2CBKS-S
1/11
0.32
0.145
1.7
HG-KR13BG7
100
HPG-14A-21-J2CBKS-S
1/21
0.32
0.135
1.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
20.5 20.7
187
Motor plate
(Opposite side)
Caution plate
Caution plate
20.7
Motor plate
Top
Top
Caution plate
13.7
4.9
19.2
45
28
6.4
Power supply connector
103.8
58.8
18.4
Pin No. Application
1
(PE)
U
2
V
3
W
4
1
2
3
4
Electromagnetic brake connector
7°
Encoder connector
9°
°
R0.4
Power supply connector
21.7
Pin No. Application
1
B1
2
B2
2
21
3
9.9
11.7
Electromagnetic brake connector
1
8
Top
10.9
11.7
27.4
35
Bottom
Bottom
21
38.8
36
Bottom
58
21
13°
12
Encoder connector
18.4
11.7
58.8
11.7
21.7
Power supply connector
9.9
Electromagnetic brake connector
Opposite-load side
BC41108*
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR13BG7
100
HPG-20A-33-J2JMLAS-S
1/33
0.32
0.147
3.2
HG-KR13BG7
100
HPG-20A-45-J2JMLAS-S
1/45
0.32
0.145
3.2
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
80
20.5 20.7
Caution plate
Electromagnetic brake connecto
1
2
Pin No. Application
1
B1
2
B2
42
45
φ32
φ59
φ85h7
φ84
φ89
Top
°
4-φ9
05
φ1
R0.4
10.9
11.7
9.9
Power supply
connector
11.7
19.2
21.7
58.8
18.4
Encoder connector
106.3
Electromagnetic brake connector
Power supply connector
1
2
3
4
13°
27.4
□90
7°
13.7
Bottom
Top
9°
38.8
36
Caution plate
4.9
φ55
Bottom
Bottom
Top
26 10 27
8
Caution plate
21 20.7
Motor
plate
30.5
φ25h7
189.5
Motor plate
(Opposite side)
Power supply
connector
18.4 9.9
11.7
Electromagnetic brake
connector
58.8
Encoder connector
11.7
21.7
6 - 54
Opposite-load side
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41109A
6. HG-MR SERIES/HG-KR SERIES
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HPG-14A-05-J2AZW-S
1/5
1.3
0.450
2.3
HPG-14A-11-J2AZX-S
1/11
1.3
0.446
2.4
Model
Output
[W]
Reducer model
HG-KR23BG7
200
HG-KR23BG7
200
[Unit: mm]
177.4
Motor plate
(Opposite side)
Caution plate
Motor plate
56
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
58
8
21
3
28
45
°
Bottom
Bottom
Top
Top
R0.4
Top
46
47.1
Bottom
Caution plate
13.7
10.9
11.8
10
11.7
28.4
21.7
57.8
Electromagnetic brake connector
1
19.2
9.5
Power supply connector
5.9
Power supply connector
100.4
1
2
3
4
Electromagnetic brake connector
Encoder connector
13.5°
9°
7°
Pin No. Application
1
B1
2
B2
2
Pin No. Application
(PE)
1
2
U
3
V
4
W
Encoder connector
Power supply connector
18.3
11.7
57.8
11.8
9.5
Electromagnetic brake connector
21.7
Opposite-load side
BC41110*
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR23BG7
200
HPG-20A-21-J2EKS-S
1/21
1.3
0.743
4.2
HG-KR23BG7
200
HPG-20A-33-J2ELS-S
1/33
1.3
0.696
4.2
HG-KR23BG7
200
HPG-20A-45-J2ELS-S
1/45
1.3
0.694
4.2
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
184.4
80
26
Motor plate
(Opposite side)
Caution plate
Motor plate
27
8
45°
42
Bottom
Bottom
Top
Top
Electromagnetic brake connector
Pin No. Application
1
B1
2
B2
9.5
19.2 Power supply connector
107.4
11.7
21.7
57.8
5.9
Power supply connector
Electromagnetic brake connector
1
2
3
4
Encoder connector
7°
28.4
R0.4
13.5°
Caution plate
10.9
10
11.8
9°
47.1
46
Top
13.7
2
10
Caution plate
Bottom
1
35
Encoder connector
11.8
18.3
11.7
57.8
21.7
6 - 55
Pin No. Application
(PE)
1
2
U
3
V
4
W
Power supply connector
9.5
Electromagnetic brake connector
Opposite-load side
BC41111*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG7
400
HPG-14A-05-J2AZW-S
1/5
1.3
0.600
2.8
[Unit: mm]
199.1
For reverse rotation command
Rotation direction
For forward rotation command
58
56
Motor plate
(Opposite side)
8
21
3
28
45°
Caution plate
Caution plate
Motor plate
Bottom
Bottom
Top
Caution plate
13.7
10
10.9
11.7
19.2
21.7
57.8
5.9
Power supply connector
122.1
Power supply connector
1
2
3
4
Electromagnetic brake connector
Encoder connector
Electromagnetic brake connector
9°
Pin No. Application
1
B1
2
B2
2
R0.4
9.5
11.8
28.4
1
Top
Pin No. Application
1
(PE)
2
U
3
V
4
W
13.5°
7°
47.1
46
Bottom
Top
Encoder connector
11.8
18.3
11.7
57.8
21.7
Power supply connector
9.5
Electromagnetic brake connector
Opposite-load side
BC41112*
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG7
400
HPG-20A-11-J2EKS-S
1/11
1.3
0.977
4.7
HG-KR43BG7
400
HPG-20A-21-J2EKS-S
1/21
1.3
0.893
4.7
[Unit: mm]
206.1
For reverse rotation command
Rotation direction
For forward rotation command
80
26
35
10
27
8
Motor plate
(Opposite side)
42
45°
Caution plate
Motor plate
Caution plate
Bottom
10
28.4
R0.4
10.9
9.5
11.8
11.7
2
Pin No. Application
1
B1
2
B2
5.9
Power supply connector
129.1
Power supply connector
Electromagnetic brake connector
1
2
3
4
Encoder connector
9°
1
19.2
21.7
57.8
Electromagnetic brake connector
Top
7°
Caution plate
13.7
Top
13.5°
46
47.1
Bottom
Bottom
Top
Encoder connector
11.8
18.3
11.7
57.8
21.7
6 - 56
Power supply
connector
9.5
Pin No. Application
(PE)
1
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41113*
6. HG-MR SERIES/HG-KR SERIES
Model
Output
[W]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-KR43BG7
400
HPG-32A-33-J2RLAS-S
1/33
1.3
0.949
7.8
HG-KR43BG7
400
HPG-32A-45-J2RLAS-S
1/45
1.3
0.940
7.8
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
218.1
133
41
29
13
Motor plate
(Opposite side)
35
13
45
82
°
Caution plate
Motor plate
Caution plate
Bottom
Bottom
47.1
46
Bottom
Top
Caution plate
10.9
11.8
28.4
Electromagnetic brake connector
R0.4
11.7
21.7
57.8
Power supply connector
1
2
3
4
9°
7°
Encoder connector
Pin No. Application
1
B1
2
B2
2
9.5
19.2
Power supply connector
141.1
Electromagnetic brake connector
13.5°
5.9
10
13.7
1
Top
Top
Encoder connector
11.8
Power supply
connector
9.5
18.3
11.7
57.8
21.7
Pin No. Application
1
(PE)
2
U
3
V
4
W
Electromagnetic brake connector
Opposite-load side
BC41114*
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HPG-20A-05-J2FEOS-S
1/5
2.4
2.06
6.2
HPG-20A-11-J2FEPS-S
1/11
2.4
1.94
6.5
Model
Output
[W]
Reducer model
HG-KR73BG7
750
HG-KR73BG7
750
[Unit: mm]
230.3
For reverse rotation command
Rotation direction
For forward rotation command
80
30
Motor plate
(Opposite side)
12 26 10
27
8
42
45°
Caution plate
Motor plate
Caution plate
Bottom Bottom
Top
11.5
27.4
R0.4
9.5
10.7
11.8
11.7
21.7
63.1
Pin No. Application
1
B1
2
B2
1
2
3
4
7°
2
Power supply connector
147.6
Electromagnetic brake connector
Encoder connector
7°
Electromagnetic brake connector
12
Power supply connector
19.2
7°
57.1
56
Caution plate
13.7
1
Top
Bottom
Top
Encoder connector
Power supply
connector
18.4
11.8
11.7
63.1
21.7
9.5
Electromagnetic brake connector
Opposite-load side
6 - 57
Pin No. Application
(PE)
1
2
U
3
V
4
W
BC41115*
6. HG-MR SERIES/HG-KR SERIES
Mass
[kg]
Model
Output
[W]
HG-KR73BG7
750
HPG-32A-21-J2SEIS-S
1/21
2.4
2.14
9.6
HG-KR73BG7
750
HPG-32A-33-J2SEJS-S
1/33
2.4
1.91
9.6
HG-KR73BG7
750
HPG-32A-45-J2SEJS-S
1/45
2.4
1.90
9.6
Reduction
ratio
Reducer model
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
240.3
Bottom
Bottom
Top
57.1
56
Bottom
φ1
4-φ11
35
R0.4
Caution
plate
10.7
11.8
9.5 Power supply
connector
Power supply connector
157.6
1
2
3
4
Electromagnetic brake connector
Encoder connector
7°
Pin No. Application
1
B1
2
B2
21.7
63.1
19.2
7°
Electromagnetic brake connector
11.7
7°
12
11.5
27.4
2
45
°
82
Top
Top
13.7
1
35
13
φ40h7
φ44
φ84
φ115h7
□80
Caution
plate
13
φ114
Motor
plate
36
9
φ118
□80
□120
133
30
Motor plate
(Opposite side)
Caution plate
Encoder connector
11.8
18.4
11.7
63.1
21.7
6 - 58
Power supply
connector
9.5
Electromagnetic brake
connector
Opposite-load side
Pin No. Application
1
(PE)
2
U
3
V
4
W
BC41116*
7. HG-SR SERIES
7. HG-SR SERIES
This chapter provides information on the servo motor specifications and characteristics. When using the HGSR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to
5, in addition to this chapter.
7.1 Model code definition
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
HG-SR5 2 4B JG1K
Appearance
Shaft type
Series
Rated output
Symbol Rated output [kW]
1000
[r/min]
2000
[r/min]
Symbol
None
K
Shaft shape
Standard
(straight shaft)
(Note 1)
Keyway shaft
(with key)
5
0.5
8
0.85
10
1.0
Reducer
12
1.2
Symbol
Reducer
1.5
None
None
20
2.0
G1
For general industrial machine (flange-mounting)
30
3.0
G1H
For general industrial machine (foot-mounting)
35
3.5
G5
Flange-mounting flange output type for high precision application
42
4.2
G7
Flange-mounting shaft output type for high precision application
50
5.0
Oil seal
70
7.0
Symbol
Oil seal
None
None
(Note 2)
With
15
Rated speed
Symbol
Speed [r/min]
1
1000
2
2000
Power supply voltage of servo amplifier
Symbol
Voltage
None
3-phase 200 V AC to 240 V AC
4
3-phase 380 V AC to 480 V AC
J
Electromagnetic brake
Symbol Electromagnetic brake
None
None
B
With
Note 1. The key is packed only with the geared servo motor of flange mounting shaft-output type for high precision applications.
2. For details, contact your local sales office.
7- 1
7. HG-SR SERIES
7.2 Combination list of servo motors and servo amplifiers
(1) Compatible with 3-phase 200 V AC
Servo motor
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
Servo amplifier
MR-J4 1-axis
MR-J4 2-axis
MR-J4-60A
MR-J4-60A-RJ
MR-J4-60B
MR-J4-60B-RJ
MR-J4-60B-RJ010
MR-J4-60B-RJ020
MR-J4-100A
MR-J4-100A-RJ
MR-J4-100B
MR-J4-100B-RJ
MR-J4-100B-RJ010
MR-J4-100B-RJ020
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
Servo motor
MR-J4W2-77B
MR-J4W2-1010B
HG-SR52
MR-J4W2-1010B
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
Servo amplifier
MR-J4 1-axis
MR-J4 2-axis
MR-J4-60A
MR-J4-60A-RJ
MR-J4-60B
MR-J4-60B-RJ
MR-J4-60B-RJ010
MR-J4-60B-RJ020
MR-J4-100A
MR-J4-100A-RJ
MR-J4-100B
MR-J4-100B-RJ
MR-J4-100B-RJ010
MR-J4-100B-RJ020
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W2-1010B
MR-J4-700A
MR-J4-700A-RJ
MR-J4-700B
MR-J4-700B-RJ
MR-J4-700B-RJ010
MR-J4-700B-RJ020
(2) Compatible with 3-phase 400 V AC
Servo motor
HG-SR524
HG-SR1024
Servo amplifier
MR-J4-60A4
MR-J4-60A4-RJ
MR-J4-60B4
MR-J4-60B4-RJ
MR-J4-60B4-RJ010
MR-J4-60B4-RJ020
MR-J4-100A4
MR-J4-100A4-RJ
MR-J4-100B4
MR-J4-100B4-RJ
MR-J4-100B4-RJ010
MR-J4-100B4-RJ020
Servo motor
HG-SR1524
HG-SR2024
HG-SR3524
Servo amplifier
MR-J4-200A4
MR-J4-200A4-RJ
MR-J4-200B4
MR-J4-200B4-RJ
MR-J4-200B4-RJ010
MR-J4-200B4-RJ020
MR-J4-350A4
MR-J4-350A4-RJ
MR-J4-350B4
MR-J4-350B4-RJ
MR-J4-350B4-RJ010
MR-J4-350B4-RJ020
7- 2
Servo motor
HG-SR5024
HG-SR7024
Servo amplifier
MR-J4-500A4
MR-J4-500A4-RJ
MR-J4-500B4
MR-J4-500B4-RJ
MR-J4-500B4-RJ010
MR-J4-500B4-RJ020
MR-J4-700A4
MR-J4-700A4-RJ
MR-J4-700B4
MR-J4-700B4-RJ
MR-J4-700B4-RJ010
MR-J4-700B4-RJ020
7. HG-SR SERIES
7.3 Standard specifications
7.3.1 Standard specifications list
Servo motor
Item
Power supply capacity
Rated output
[kW]
Rated torque
[N•m]
Maximum torque (Note 10)
[N•m]
Rated speed (Note 1)
[r/min]
Maximum speed (Note 10)
[r/min]
Instantaneous permissible speed
[r/min]
(Note 10)
Standard
[kW/s]
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current
[A]
Maximum current
[A]
Standard
-4
2
[× 10 kg•m ]
Moment of inertia J
With an
(Note 3)
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2, 10)
Continuous running
duty (Note 1)
HG-SR 2000 r/min series
(Compatible with 3-phase 200 V AC,
medium inertia/medium capacity)
HG-SR 1000 r/min series
(Compatible with 3-phase 200 V AC,
medium inertia/medium capacity)
51(B) 81(B)
121
(B)
201
(B)
301
(B)
421
102
52(B)
(B)
(B)
152
(B)
202
(B)
352
(B)
502
(B)
702
(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in
Servo Amplifier Instruction Manual.
0.5 0.85 1.2
2.0
3.0
4.2
0.5
1.0
1.5
2.0
3.5
5.0
7.0
4.8
8.1 11.5 19.1 28.6 40.1 2.4
4.8
7.2
9.5 16.7 23.9 33.4
14.3 24.4 34.4 57.3 85.9 120 7.2 14.3 21.5 28.6 50.1 71.6 100
1000
2000
1500
3000
1725
3450
19.7 41.2
28.1
46.4
82.3
107
7.85
19.7
32.1
19.5
35.5
57.2
74.0
16.5 36.2
23.2
41.4
75.3
99.9
6.01
16.5
28.2
16.1
31.7
52.3
69.4
2.8
9.0
5.2
17
7.1
23
9.4
30
13
42
19
61
2.9
9.0
5.6
17
9.4
29
9.6
31
14
45
22
70
26
83
11.6 16.0
46.8
78.6
99.7
151
7.26
11.6
16.0
46.8
78.6
99.7
151
13.8 18.2
56.5
88.2
109
161
9.48
13.8
18.2
56.5
88.2
109
161
17 times
15 times or less
or less
22-bit encoder common to absolute position/incremental systems
Speed/position detector
(resolution per servo motor revolution: 4194304 pulses/rev)
Oil seal
None (Note 11)
Insulation class
155 (F)
Structure
Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9))
Operation
0 °C to 40 °C (non-freezing)
Ambient
temperature Storage
-15 °C to 70 °C (non-freezing)
Operation
80 %RH or less (non-condensing)
Ambient
humidity
Storage
90 %RH or less (non-condensing)
Environment (Note 5)
Indoors (no direct sunlight), free from corrosive gas,
Ambience
flammable gas, oil mist, dust, and dirt
Altitude
Max. 1000 m above sea level
2
2
2
2
X: 24.5 m/s X: 24.5 m/s
X, Y:
X: 24.5 m/s X: 24.5 m/s
Vibration resistance
2
X, Y: 24.5 m/s
2
2
2
2
2
(Note 6)
Y: 49 m/s Y: 29.4 m/s
24.5 m/s
Y: 49 m/s Y: 29.4 m/s
Vibration rank (Note 7)
V10
L
[mm]
55
79
55
79
Permissible load for
the shaft
Radial
[N]
980
2058
980
2058
(Note 8)
Thrust
[N]
490
980
490
980
Standard
[kg] 6.2
7.3
11
16
20
27
4.8
6.2
7.3
11
16
20
27
With an
Mass (Note 3)
electromagnetic brake 8.2
9.3
17
22
26
33
6.7
8.2
9.3
17
22
26
33
[kg]
17 times
or less
15 times or less
7- 3
7. HG-SR SERIES
Servo motor
Item
HG-SR series
(3-phase 400 V AC compatible, medium inertia/medium capacity)
524(B)
1024(B) 1524(B) 2024(B) 3524(B) 5024(B) 7024(B)
Refer to "Power supply equipment capacity and generated loss of servo
amplifiers" in Servo Amplifier Instruction Manual.
0.5
1.0
1.5
2.0
3.5
5.0
7.0
2.4
4.8
7.2
9.5
16.7
23.9
33.4
7.2
14.3
21.5
28.6
50.1
71.6
100
2000
3000
Power supply capacity
Rated output
[kW]
Rated torque
[N•m]
Maximum torque (Note 10)
[N•m]
Rated speed (Note 1)
[r/min]
Maximum speed (Note 10)
[r/min]
Instantaneous permissible speed
[r/min]
(Note 10)
Standard
[kW/s]
7.85
Power rate at
With an
continuous rated
electromagnetic brake
6.01
torque
[kW/s]
Rated current
[A]
1.5
Maximum current
[A]
4.5
Standard
7.26
-4
2
[× 10 kg•m ]
Moment of inertia J
With an
(Note 3)
electromagnetic brake
9.48
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
15 times
(Note 2, 10)
or less
Continuous running
duty (Note 1)
Speed/position detector
Oil seal
Insulation class
Structure
Operation
Ambient
temperature Storage
Ambient
humidity
Environment (Note 5)
Operation
Storage
Ambience
Altitude
Vibration resistance
(Note 6)
Vibration rank (Note 7)
Permissible load for
the shaft (Note 8)
Mass (Note 3)
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
3450
19.7
32.1
19.5
35.5
57.2
74.0
16.5
28.2
16.1
31.7
52.3
69.4
2.8
8.9
4.7
17
4.9
17
7.0
27
11
42
13
59
11.6
16.0
46.8
78.6
99.7
151
13.8
18.2
56.5
88.2
109
161
17 times or less
15 times or less
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
None (Note 11)
155 (F)
Totally-enclosed, natural-cooling (IP rating: IP67 (Note 4, 9))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
2
2
X: 24.5 m/s
X: 24.5 m/s
2
X, Y: 24.5 m/s
2
2
Y: 49 m/s
Y: 29.4 m/s
V10
55
79
980
2058
490
980
4.8
6.2
7.3
11
16
20
27
6.7
8.2
7- 4
9.3
17
22
26
33
7. HG-SR SERIES
Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. Refer to the dimensions for the geared servo motor.
4. Except for the shaft-through portion.
5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications
may not be usable. Please contact your local sales office.
6. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally
the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude
(both amplitudes) [ m]
the vibration to about half of the permissible value.
Servo motor
X
Y
Vibration
1000
100
10
0
1000 2000 3000
Speed [r/min]
7. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.
Servo motor
Top
Measuring position
Bottom
8. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications
list. The value assumes that the load is applied independently.
L
Radial load
L: Distance from flange mounting surface to load center
Thrust load
9. For the geared servo motor, the reducer area is IP44-equivalent.
10. Refer to section 7.6 for the geared servo motor.
11. The servo motors with an oil seal are also available. For details, contact your local sales office.
7- 5
7. HG-SR SERIES
7.3.2 Torque characteristics
POINT
For the system where the unbalanced torque occurs, such as a vertical axis
system, it is recommended that the unbalanced torque of the machine be kept at
70% or less of the motor's rated torque.
(1) 3-phase 200 V AC
When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque
characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque
characteristic is indicated by the thin line. HG-SR51 and HG-SR52 support single-phase power supply.
[HG-SR121]
30
14
25
20
Short-duration
running range
15
10
0
0
60
25
20
Short-duration
running range
15
10
4
2
35
Torque [N•m]
Short-duration
running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
10
6
70
30
12
8
[HG-SR201]
40
5
Continuous
running range
500
1000
Speed [r/min]
0
0
1500
[HG-SR421]
Continuous
running range
500
1000
Speed [r/min]
5
1500
[HG-SR52]
150
0
0
Continuous
running range
500
1000
Speed [r/min]
[HG-SR102]
Short-duration
running range
4
10
Short-duration
running range
5
2
Continuous
running range
0
0
500
1000
Speed [r/min]
Continuous
running range
0
0
1500
1000
2000
Speed [r/min]
60
0
0
3000
2000
3000
[HG-SR702]
120
80
70
50
1000
Speed [r/min]
100
30
Short-duration
running range
20
50
Torque [N•m]
Torque [N•m]
Torque [N•m]
60
40
Short-duration
running range
40
30
80
Short-duration
running range
60
40
20
10
0
0
Continuous
running range
1000
2000
Speed [r/min]
3000
0
20
Continuous
running range
10
0
1000
2000
Speed [r/min]
3000
0
Continuous
running range
0
1000
2000
Speed [r/min]
7- 6
15
Short-duration
running range
30
Continuous
running range
500
1000
Speed [r/min]
Continuous
running range
0
0
1500
500
1000
Speed [r/min]
1500
[HG-SR202]
30
3000
Short-duration
running range
10
5
Continuous
running range
[HG-SR502]
[HG-SR352]
20
25
Torque [N•m]
50
30
60
20
Torque [N•m]
Torque [N•m]
Torque [N•m]
Short-duration
running range
Short-duration
running range
[HG-SR152]
6
100
40
0
0
15
8
90
50
10
1500
[HG-SR301]
Torque [N•m]
[HG-SR81]
16
Torque [N•m]
[HG-SR51]
0
0
20
Short-duration
running range
10
Continuous
running range
1000
2000
Speed [r/min]
Continuous
running range
3000
0
0
1000
2000
Speed [r/min]
3000
7. HG-SR SERIES
(2) 3-phase 400 V AC
When the power supply input of the servo amplifier are 3-phase 400 V AC, the torque characteristic is
indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is
indicated by the thin line.
Short-duration
running range
3
10
Short-duration
running range
5
Continuous
running range
1000
2000
Speed [r/min]
Short-duration
running range
8
3000
[HG-SR5024]
1000
2000
Speed [r/min]
3000
1000
[HG-SR7024]
80
120
70
100
40
Torque [N•m]
Torque [N•m]
60
50
Short-duration
running range
30
80
60
Short-duration
running range
40
20
10
0
0
20
Continuous
running range
1000
2000
Speed [r/min]
3000
0
0
Continuous
running range
1000
2000
Speed [r/min]
2000
Speed [r/min]
3000
7- 7
60
20
Short-duration
running range
10
Continuous
running range
0
0
[HG-SR3524]
30
16
Continuous
running range
0
0
[HG-SR2024]
24
Torque [N•m]
Torque [N•m]
Torque [N•m]
6
0
0
[HG-SR1524]
15
Torque [N•m]
[HG-SR1024]
9
Torque [N•m]
[HG-SR524]
40
Short-duration
running range
20
Continuous
running range
3000
0
0
1000
2000
Speed [r/min]
Continuous
running range
3000
0
0
1000
2000
Speed [r/min]
3000
7. HG-SR SERIES
7.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
The operation time of the electromagnetic brake differs depending on the power
supply circuit you use. Be sure to check the operation delay time with a real
machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake
are indicated below.
Servo motor
Item
Type (Note 1)
Spring actuated type safety brake
0
24 V DC -10%
Rated voltage (Note 4)
Power consumption
Coil resistance (Note 6)
Inductance (Note 6)
Brake static friction torque
Release delay time (Note 2)
Braking delay time (Note 2)
HG-SR series
121B/201B/301B/421B/
51B/81B/52(4)B/
202(4)B/352(4)B/502(4)B/
102(4)B/152(4)B
702(4)B
[W] at 20 °C
[Ω]
[H]
[N•m]
[s]
[s] DC off
Per braking
[J]
Permissible braking work
Per hour
[J]
Brake looseness at servo motor shaft (Note 5)
[degrees]
Number of brakings
Brake life (Note 3)
[times]
Work per braking
[J]
For the suppressed
Selection example of surge absorbers
voltage 125 V
to be used
For the suppressed
(Note 7, 8)
voltage 350 V
20
29.0
0.80
8.5
0.04
0.03
400
4000
0.2 to 0.6
34
16.8
1.10
44
0.1
0.03
4500
45000
0.2 to 0.6
20000
20000
200
1000
TND20V-680KB
TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine
centering, etc., use a separate 24 V DC power supply to release the brake electrically.
2. The value for initial on gap at 20 °C.
3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.
The brake life indicated is the number of braking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the electromagnetic brake.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake
and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.
7- 8
7. HG-SR SERIES
7.5 Servo motors with special shafts
The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol
attached to the servo motor model names.
Shaft shape
Key shaft (without key)
Servo motor
HG-SR_(B)K
K
Variable dimension table
R
Servo motor
QK
A
R
r
Y
4
M8
Screw
hole
depth
20
5
M8
Screw
hole
depth
20
U
QL
W
A
HG-SR51(B)K
HG-SR81(B)K
HG-SR52(4)(B)K
HG-SR102(4)(B)K
HG-SR152(4)(B)K
HG-SR121(B)K
r
Y
HG-SR201(B)K
Shaft section view A-A HG-SR301(B)K
HG-SR421(B)K
HG-SR202(4)(B)K
HG-SR352(4)(B)K
HG-SR502(4)(B)K
HG-SR702(4)(B)K
S
24h6
55
0
50 8 -0.036
36
5
4 +0.2
0
S
Q
[Unit: mm]
Variable dimensions
Q
W
QK QL U
Key shaft (without key)
7- 9
35
+0.010
0
79
0
75 10 -0.036 55
5
5 +0.2
0
7. HG-SR SERIES
7.6 Geared servo motors
CAUTION
Geared servo motors must be mounted in the specified direction. Otherwise, it
can leak oil, leading to a fire or malfunction.
For the geared servo motor, transport it in the same status as in the installation
method. Tipping it over can cause oil leakage.
Servo motors are available with a reducer designed for general industrial machines and high precision
applications.
Servo motors with an electromagnetic brake are also available.
7.6.1 For general industrial machines (G1/G1H)
(1) Reduction ratio
The following table indicates the reduction ratios and reducer frame numbers of the geared servo motor
for general industrial machines.
Servo motor
1/6
HG-SR52(4)(B)G1(H)
HG-SR102(4)(B)G1(H)
HG-SR152(4)(B)G1(H)
HG-SR202(4)(B)G1(H)
HG-SR352(4)(B)G1(H)
HG-SR502(4)(B)G1(H)
HG-SR702(4)(B)G1(H)
1/11
1/17
Reduction ratio
1/29
1/35
1/43
6100
6120
6120
6120
6135
6165
6165
1/59
6120
6130
6130
6160
6160
6165
6165
6175
6180
6170
6180
6185
6195
(2) Specifications
Item
Description
Mounting method
Mounting direction
Refer to (2) (b) in this section.
Refer to (2) (b) in this section.
Refer to (2) (b)/(c) in this section.
Lubrication
method
Recommended
products
(Note 1)
Output shaft rotating direction
Backlash (Note 5)
Permissible load inertia
moment ratio (when converting
into the servo motor shaft)
(Note 2)
Maximum torque
Maximum speed
(servo motor shaft)
IP rating (reducer area)
Reducer efficiency (Note 3)
Refer to (2) (c) in this section.
Opposite direction to the servo motor output shaft
40 minutes to 2 ° at reducer output shaft (Note 4)
4 times or less
Three times of the servo motor rated torque
Refer to (2) (a) in this section.
IP44 equivalent
85% to 94%
Note 1. Already packed with grease.
2. If the above indicated value is exceeded, please contact your local sales office.
3. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on
the operating conditions such as the output torque, speed and rotation, temperature, etc. The
numerical value in the table is a typical value in the rated torque, rated speed and rotation and
typical temperature, and not a guaranteed value.
4. These values are design values and not guaranteed values.
5. The backlash can be converted: 1 min = 0.0167 °
7 - 10
7. HG-SR SERIES
(a) Maximum speed
Servo motor
1/6
1/11
1/17
Reduction ratio
1/29
1/35
1/43
1/59
HG-SR52(4)(B)G1(H)
3000 r/min (permissible instantaneous speed:
3450 r/min)
HG-SR102(4)(B)G1(H)
HG-SR152(4)(B)G1(H)
HG-SR202(4)(B)G1(H)
2000 r/min (permissible instantaneous speed:
2300 r/min)
HG-SR352(4)(B)G1(H)
HG-SR502(4)(B)G1(H)
HG-SR702(4)(B)G1(H)
(b) Lubrication method and mounting direction
Oil lubrication cannot be used in applications where the servo motor will move. Specify grease
lubrication.
For grease lubrication, the reducer is already grease-packed. For oil lubrication, pack the reducer
with oil on the customer side.
Mounting
direction
Reducer
model
Reducer
frame No.
6100
6120
6130/6135
6160/6165
6170/6175
6180/6185
6195
Shaft any direction
Shaft horizontal
Shaft downward
Shaft upward
CNHM
CNVM
CHHM
CHVM
CVHM
CVVM
CWHM
CWVM
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
(Footmounting)
(Flangemounting)
Grease
Grease
Grease
Grease
(Note) Oil
(Note) Oil
Oil
Oil
Oil
(Note) Oil
(Note) Oil
Oil
Oil
Oil
(Note) Oil
(Note) Oil
Oil
Oil
Oil
(Note) Oil
(Note) Oil
Oil
Oil
Oil
Grease
Grease
Grease
Grease
Note. Grease-lubricated type is also available as optional products.
7 - 11
7. HG-SR SERIES
(c) Recommended lubricants
1) Grease
Albania Grease RA (Shell)
2) Lubricating oil
POINT
Since the oil-lubricated models are shipped without oil, make sure to fill oil up to
the upper red line of the oil gauge before operation.
Ambient
temperature
[°C]
COSMO OIL
-10 to 5
COSMO
GEAR SE68
0 to 35
COSMO
GEAR
SE100/150
30 to 50
COSMO
GEAR
SE200/320/4
60
JX Nippon Oil
& Energy
Idemitsu
Kosan
DAPHNE
BONNOC
SUPER GEAR
M68
OIL 68
DIAMOND
GEAR LUBE
SP68
DAPHNE
BONNOC
SUPER GEAR
M100/150
OIL 100/150
DIAMOND
GEAR LUBE
SP100/150
BONNOC
M200 to 460
DIAMOND
GEAR LUBE
SP220 to 460
Shell
Esso
Exxon Mobil
Japan Energy
Omala Oils 68
SPARTAN
EP68
Mobilgear
626
(ISOVG68)
JOMO
Reductus 68
Omala Oils
100/150
SPARTAN
EP100/150
Mobilgear
627/629
(ISOVG100/1
50)
JOMO
Reductus
100/150
Omala Oils
200 to 460
SPARTAN
EP220 to 460
JOMO
Mobilgear
Reductus 200
630 to 634
to 460
(ISOVG220 to
460)
Lubricating oil fill amount
Fill amount [L]
Reducer frame No.
Horizontal type
Vertical type
0.7
1.4
1.9
2.5
4.0
1.1
1.0
1.9
2.0
2.7
6130/6135
6160/6165
6170/6175
6180/6185
6195
(d) Changing intervals
1) Grease
Maintenance-free. (Limited to the case where the grease-lubricated type is standard)
2) Lubricating oil
Changing intervals
Operation hours per day
Less than 10 hours
10 hours to 24 hours
First time
Second time and later
7 - 12
500 hours
Half year
2500 hours
7. HG-SR SERIES
(3) Permissible loads of servo motor shaft
The permissible radial load in the table is the value measured at the center of the reducer output shaft.
Q/2
Q: Length of axis (Refer to section 7.7.3 to 7.7.6.)
Q
Servo motor
HG-SR52(4)(B)G1(H)
HG-SR102(4)(B)G1(H)
HG-SR152(4)(B)G1(H)
HG-SR202(4)(B)G1(H)
Reduction
ratio
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
Permissible load
Reducer
(Note)
frame Permissible Permissible
No.
radial load thrust load
6100
6120
6120
6130
6160
6120
6130
6160
6120
6165
[N]
[N]
2058
2391
2832
3273
5253
5253
5880
2842
3273
3646
4410
5253
6047
9741
2842
3273
3646
5135
6047
8555
9741
1470
1470
1470
1470
2940
2940
2940
2352
2764
2940
2940
2940
3920
6860
2352
2764
2940
3920
3920
6860
6860
2842
3273
3646
7291
8555
8555
9741
2352
2764
2940
6860
6860
6860
6860
Servo motor
HG-SR352(4)(B)G1(H)
HG-SR502(4)(B)G1(H)
HG-SR702(4)(B)G1(H)
Note. Do not subject the shaft to load greater than the value.
The value in the table assumes that the load is applied independently.
7 - 13
Reduction
ratio
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
1/6
1/11
1/17
1/29
1/35
1/43
1/59
Permissible load
Reducer
(Note)
frame Permissible Permissible
No.
radial load thrust load
6135
6165
6175
6165
6180
6185
6165
6170
6180
6195
[N]
[N]
3332
3871
4420
7291
8555
11662
13132
5448
5488
6468
13426
16072
16072
16072
7526
7526
8683
13426
16072
22540
22540
3920
3920
3920
6860
6860
9800
9800
5000
6292
6860
13720
13720
13720
13720
5000
8085
9673
13720
13720
19600
19600
7. HG-SR SERIES
7.6.2 For high precision applications (G5/G7)
(1) Reduction ratio
The symbols (20A, 30A, 50A) in the following table indicate the model numbers of the reducers
assembled to the servo motors. Geared servo motors having the indicated reducer model numbers are
available. The reducer model number indicates _ _ _ of the reducer model HPG-_ _ _-05.
Reduction ratio
Servo motor
1/5
HG-SR52(4)(B)G5
HG-SR52(4)(B)G7
HG-SR102(4)(B)G5
HG-SR102(4)(B)G7
HG-SR152(4)(B)G5
HG-SR152(4)(B)G7
HG-SR202(4)(B)G5
HG-SR202(4)(B)G7
HG-SR352(4)(B)G5
HG-SR352(4)(B)G7
HG-SR502(4)(B)G5
HG-SR502(4)(B)G7
HG-SR702(4)(B)G5
HG-SR702(4)(B)G7
1/11
1/21
20A
1/33
32A
20A
32A
20A
1/45
32A
50A
32A
32A
50A
50A
50A
50A
50A
(2) Specifications
Item
Description
Mounting method
Mounting direction
Lubrication
method
Packed with
Output shaft rotating direction
Backlash (Note 3)
Permissible load to motor
inertia ratio (when converting
into the servo motor shaft)
(Note 1)
Maximum torque
Maximum speed
(servo motor shaft)
IP rating (reducer area)
Reducer efficiency (Note 2)
Flange mounting
In any directions
Grease lubrication (already packed)
Reducer model number 20A, 32A: Harmonic grease SK-2
(Harmonic Drive Systems)
Reducer model number 50A: Epiknock grease AP(N)2
(JX Nippon Oil & Energy)
Same as the servo motor output shaft direction.
3 minutes or less at reducer output shaft
10 times or less
Three times of the servo motor rated torque
3000 r/min (permissible instantaneous speed: 3450 r/min)
IP44 equivalent
77% to 92%
Note 1. If the above indicated value is exceeded, please contact your local sales office.
2. The reducer efficiency differs depending on the reduction ratio. Also, it changes depending on the
operating conditions such as the output torque, speed and rotation, temperature, etc. The
numerical value in the table is a typical value in the rated torque, rated speed and rotation and
typical temperature, and not a guaranteed value.
3. The backlash can be converted: 1 min = 0.0167 °
7 - 14
7. HG-SR SERIES
(3) Permissible loads of servo motor shaft
The radial load point of a high precision reducer is as shown below.
Q/2
L
Q: Length of axis (Refer to section 7.7.9, 7.7.10.)
L: Distance between reducer
end face and load center
Q
Flange-mounting flange output type for
high precision application (G5)
Servo motor
HG-SR52(4)(B)G5
HG-SR52(4)(B)G7
HG-SR102(4)(B)G5
HG-SR102(4)(B)G7
HG-SR152(4)(B)G5
HG-SR152(4)(B)G7
HG-SR202(4)(B)G5
HG-SR202(4)(B)G7
HG-SR352(4)(B)G5
HG-SR352(4)(B)G7
HG-SR502(4)(B)G5
HG-SR502(4)(B)G7
HG-SR702(4)(B)G5
HG-SR702(4)(B)G7
Reduction ratio
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/5
1/11
1/5
Flange-mounting shaft output type for
high precision application (G7)
Reducer model
number
20A
32A
20A
32A
50A
20A
32A
50A
32A
50A
32A
50A
50A
50A
Radial load point
L [mm]
32
32
57
57
57
32
57
57
62
62
32
57
62
62
62
57
57
62
62
62
57
62
62
62
62
416
527
1094
1252
1374
416
901
1094
2929
3215
416
901
2558
2929
3215
711
901
2558
2929
3215
711
2107
2558
1663
2107
1465
1856
4359
4992
5478
1465
3590
4359
10130
11117
1465
3590
8845
10130
11117
2834
3590
8845
10130
11117
2834
7285
8845
5751
7285
62
1663
5751
Note. Do not subject the shaft to load greater than the value.
The value in the table assumes that the load is applied independently.
7 - 15
Permissible load (Note)
Permissible radial Permissible thrust
load
load
[N]
[N]
7. HG-SR SERIES
(4) Servo motor with special shaft
Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7).
[Unit: mm]
φS
W
T
QK
U
Y
20A
42
25h7
8
7
36
4
M6 screw hole
depth 12
32A
50A
82
82
40h7
50h7
12
14
8
9
70
70
5
5.5
M10 screw hole
depth 20
Y
Q
U
QK
S
HG-SR_(4)(B)G7K
Q
W
Servo motor
Reducer
model
number
T
7 - 16
7. HG-SR SERIES
7.7 Dimensions
Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for
servo motor, reducer, and electromagnetic brake with servo motor shaft.
The dimensions without tolerances are general tolerance.
The outer frame of the reducer is a material surface such as casting. Its actual dimensions may be 1 mm to
3 mm larger than the drawing dimensions. Design the machine-side with allowances.
7.7.1 Standard (without electromagnetic brake and reducer)
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR52
HG-SR524
0.5
7.26
4.8
[Unit: mm]
118.5
12
Motor plate
(Opposite side)
Caution plate
38.2
3
50
130
45
°
14
5
Caution plate
Motor plate
4- 9 mounting hole
Use hexagon socket
head cap screw.
55
Top
Bottom
Bottom
Top
Top
16
5
(PE)
W
13
Encoder connector
CMV1-R10P
112.5
50.9
Top
Bottom
24h6
Bottom
110h7
Caution plate
Key
Power supply connector
MS3102A18-10P
C
D
B
A
20.9
13.5
V
57.8
U
58
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR51
0.5
HG-SR102
HG-SR1024
1.0
BC41038A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
11.6
6.2
[Unit: mm]
38.2
4- 9 mounting hole
Use hexagon socket
head cap screw.
55
12
3
50
Bottom
Top
Top
16
5
24h6
112.5
Top
Bottom
50.9
Top
Bottom
45
°
110h7
Caution plate
Bottom
130
14
5
Caution plate
Motor plate
132.5
Motor plate
(Opposite side)
Caution plate
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
(PE)
W
13
Key
C
D
B
A
20.9
71.8
V
U
Power supply connector
Motor flange direction
7 - 17
13.5
58
BC41045A BC41039A
7. HG-SR SERIES
Model
Output [kW]
HG-SR81
0.85
HG-SR152
HG-SR1524
1.5
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
16.0
7.3
[Unit: mm]
146.5
Motor plate
(Opposite side)
Caution plate
38.2
Caution plate
12
130
4- 9 mounting hole
Use hexagon socket
head cap screw.
3
50
45
°
14
5
Motor plate
55
Bottom
Top
24h6
Top
Bottom
Top
16
5
Encoder connector
CMV1-R10P
(PE)
W
13
112.5
50.9
Top
Bottom
110h7
Caution plate
Bottom
Key
Power supply connector
MS3102A18-10P
20.9
C
D
B
A
V
85.8
13.5
U
58
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR121
1.2
HG-SR202
HG-SR2024
2.0
BC41046A BC41040A
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
46.8
11
[Unit: mm]
138.5
3
Bottom
Bottom
Top
Top
13
(PE)
W
Key
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
φ2
30
140.9
Top
φ114.3
Bottom
50.9
Top
45
75
Caution plate
Bottom
□176
φ2
00
Caution plate
Motor plate
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
79
Motor plate 18
(Opposite side)
Caution plate
φ35 +0.010
0
38.5
V
24.8
74.8
7 - 18
C
D
B
A
U
Power supply connector
Motor flange direction
82
BC41047A BC41041A
7. HG-SR SERIES
Model
Output [kW]
HG-SR201
2.0
HG-SR352
HG-SR3524
3.5
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
78.6
16
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
162.5
(Note)
*1
(Note)
*1
Caution plate
Top
Top
Bottom
Bottom
Top
Top
(Note)
*2
φ2
3
0
140.9
Bottom
50.9
Bottom
45°
75
φ2
00
Caution plate
3
0
φ114.3 -0.025
Motor plate
□176
79
Motor plate
18
(Opposite side)
Caution plate
φ35 +0.010
0
38.5
(Note)
*2
13
Encoder connector
CMV1-R10P
(PE)
W
Key
Power supply connector
MS3102A22-22P
24.8
82
98.8
V
U
Power supply connector
Motor flange direction
BC41048A BC41042A
Note. *1 and *2 are screw hole for eyebolt (M8).
Model
Output [kW]
HG-SR301
3.0
HG-SR502
HG-SR5024
5.0
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
99.7
20
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Bottom
Top
(Note)
*2
13
(Note)
*2
W
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
φ2
3
0
140.9
Top
Bottom
Top
φ114.3
Top
Caution plate
50.9
Bottom
45°
75
(Note)
*1
(Note)
*1
Bottom
3
φ2
00
Caution plate
□176
79
18
0
-0.025
Motor plate
178.5
Motor plate
(Opposite side)
Caution plate
φ35 +0.010
0
38.5
(PE)
Key
24.8
82
114.8
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 19
V
U
Power supply connector
Motor flange direction
BC41049A BC41043A
7. HG-SR SERIES
Model
Output [kW]
HG-SR421
4.2
HG-SR702
HG-SR7024
7.0
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
151
27
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
218.5
Motor plate
(Opposite side)
Caution plate
(Note)
*2
Bottom
Top
Top
Bottom
Bottom
Top
Top
0
φ114.3 -0.025
Caution plate
Bottom
φ2
(Note)
*3
13
(Note)
*1
30
149.1
(Note)
*1
φ2
(Note)
*2
45°
75
(Note)
*4
50.9
(Note)
*4
3
00
Caution plate
Motor plate
□176
79
18
φ35 +0.010
0
38.5
(Note)
*3
Encoder connector
CMV1-R10P
(PE)
W
Key
Power supply connector
MS3102A32-17P
82
32
146.8
V
U
Power supply connector
Motor flange direction
BC41050A BC41044A
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
7.7.2 With an electromagnetic brake
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR52B
HG-SR524B
0.5
8.5
9.48
6.7
[Unit: mm]
43.5
3
φ1
φ24h6
Top
Encoder connector
CMV1-R10P
29
φ110h7
Bottom
Top
65
112.5
50.9
Top
Top
Bottom
79.9
Bottom
45
50
Caution plate
Bottom
□130
4-φ9 mounting hole
Use hexagon socket
head cap screw.
55
12
φ1
45
Caution plate
Motor plate
153
Motor plate
(Opposite side)
Caution plate
13
59
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
20.9
13.5
57.8
(PE)
W
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 20
58
Key
Main key
position mark
C
D
B
A
V
U
Power supply connector
Motor flange direction
BC41051*
7. HG-SR SERIES
Model
Output [kW]
HG-SR51B
0.5
HG-SR102B
HG-SR1024B
1.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
13.8
8.2
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
43.5
3
Bottom
Top
Top
45
φ1
65
112.5
Encoder connector
CMV1-R10P
29
φ1
50.9
Bottom
79.9
Top
φ110h7
Caution plate
Bottom
45
50
Bottom
Top
□130
55
12
φ24h6
Caution plate
Motor plate
167
Motor plate
(Opposite side)
Caution plate
13
59
Electromagnetic brake connector
CMV1-R2P
20.9
13.5
71.8
Power supply connector
MS3102A18-10P
W
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 21
(PE)
58
Key
V
U
Power supply connector
Motor flange direction
BC41058* BC41052*
7. HG-SR SERIES
Model
Output [kW]
HG-SR81B
0.85
HG-SR152B
HG-SR1524B
1.5
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
18.2
9.3
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
43.5
Caution plate
Motor plate
181
Motor plate
(Opposite side)
Caution plate
□130
55
12
3
45
50
φ1
Top
φ1
65
112.5
Encoder connector
CMV1-R10P
29
φ24h6
Top
φ110h7
Bottom
Bottom
50.9
Top
79.9
Top
Bottom
45
Caution
plate
Bottom
13
59
Electromagnetic brake connector
CMV1-R2P
20.9
13.5
85.8
Power supply connector
MS3102A18-10P
W
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 22
(PE)
58
Key
V
U
Power supply connector
Motor flange direction
BC41059* BC41053*
7. HG-SR SERIES
Model
Output [kW]
HG-SR121B
1.2
HG-SR202B
HG-SR2024B
2.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
56.5
17
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
□176
79
18
3
45
75
φ2
00
Caution plate
Motor plate
188
Motor plate
(Opposite side)
Caution plate
φ35 +0.010
0
45.5
Bottom
Top
Bottom
Bottom
Top
Top
50.9
φ2
Encoder connector
CMV1-R10P
44
30
140.9
Top
96.9
Bottom
0
φ114.3 -0.025
Caution plate
13
66.5
Electromagnetic brake connector
CMV1-R2P
24.8
Power supply connector
MS3102A22-22P
82
74.8
W
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 23
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41060* BC41054*
7. HG-SR SERIES
Model
Output [kW]
HG-SR201B
2.0
HG-SR352B
HG-SR3524B
3.5
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
88.2
22
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Caution plate
3
75
(Note)
*1
(Note)
*1
Bottom
Bottom
Top
Top
0
φ114.3 -0.025
Bottom
Top
φ2
(Note)
*2
(Note)
*2
Encoder connector
CMV1-R10P
44
30
140.9
96.9
Top
45°
Caution plate
50.9
Bottom
□176
79
18
φ2
00
Motor plate
212
Motor plate
(Opposite side)
Caution plate
φ35 +0.010
0
45.5
13
66.5
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A22-22P
24.8
82
98.8
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 24
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41061* BC41055*
7. HG-SR SERIES
Model
Output [kW]
HG-SR301B
3.0
HG-SR502B
HG-SR5024B
5.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
109
26
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Bottom
Bottom
Top
Top
φ2
(Note)
*2
(Note)
*2
Encoder connector
CMV1-R10P
44
30
140.9
96.9
Top
Caution plate
φ114.3
Bottom
Top
(Note)
*1
45°
0
-0.025
Bottom
3
75
50.9
(Note)
*1
□176
79
18
φ2
00
Caution plate
Motor plate
228
Motor plate
(Opposite side)
Caution plate
φ35 +0.010
0
45.5
13
66.5
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A22-22P
24.8
82
114.8
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
Note. *1 and *2 are screw hole for eyebolt (M8).
7 - 25
BC41062* BC41056*
7. HG-SR SERIES
Model
Output [kW]
HG-SR421B
4.2
HG-SR702B
HG-SR7024B
7.0
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
161
33
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
(Note)
*1
(Note)
*3
Bottom
Bottom
Top
Top
(Note)
*1
Encoder connector
CMV1-R10P
44
φ2
30
149.1
Top
0
φ114.3 -0.025
Bottom
Top
45°
(Note)
*2
50.9
Bottom
75
(Note)
*4
Caution
plate
3
96.9
(Note)
*2
(Note)
*4
□176
79
18
φ2
00
Caution plate
Motor plate
268
Motor plate
(Opposite side)
Caution plate
φ35 +0.010
0
45.5
(Note)
*3
13
66.5
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
32
82
146.8
W
Main key
position mark
(PE)
Key
Electromagnetic brake
V
U
Electromagnetic brake connector Power supply connector
Motor flange direction
Motor flange direction
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
7 - 26
BC41063* BC41057*
7. HG-SR SERIES
7.7.3 For general industrial machine with a reducer (without an electromagnetic brake)
Model
Output [kW]
HG-SR52G1
HG-SR524G1
0.5
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CNVM-6100
1/6
8.08
1/11
7.65
1/17
7.53
1/29
7.47
Mass [kg]
18
[Unit: mm]
275
□130
60.7
112.5
Caution plate
Motor plate
48
20.9
Caution plate
Motor plate
38.2
50.9
For reverse rotation command
Rotation direction
For forward rotation command
13
108
9
45° 4-φ11
3
35
A
φ160
φ110f8
A
φ150
13.5
Bottom Top
119
32
Top
58
Bottom
34
φ1
Caution
plate
Encoder connector
CMV1-R10P
(Side view of motor only) Power supply connector
MS3102A18-10P
(PE)
W
8
7
4
Key
φ28h6
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
M8 Screw hole depth 20
Shaft section view AA
BC41117*
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/35
HG-SR52G1
HG-SR524G1
0.5
CNVM-6120
Mass [kg]
8.26
1/43
8.22
1/59
8.18
27
[Unit: mm]
□130
60.7
38.2
13
112.5
Caution plate
Motor plate
50.9
20.9
267.5
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
30° 6-φ11
69
117
13
4
Top
A
80
φ1
φ140f8
φ210
φ204
13.5
58
Bottom Top
50
132
55
Bottom
A
Caution
plate
10
(PE)
Key
5
W
8
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
V
U
Power supply connector
Motor flange direction
7 - 27
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41118*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102G1
HG-SR1024G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1.0
CNVM-6120
1/6
14.8
1/11
13.3
1/17
12.9
1/29
12.6
1/35
12.6
Mass [kg]
30
[Unit: mm]
□130
281.5
112.5
60.7
50.9
117
20.9
Caution plate
Motor plate
38.2
For reverse rotation command
Rotation direction
For forward rotation command
69
13
30°
4
6-φ11
13
Caution plate
Motor plate
132
55
Bottom
Top
Caution
plate
φ1
80
φ210
A
φ140f8
A
φ204
Bottom Top
58
13.5
50
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
(PE)
W
10
8
5
Key
M8 Screw hole depth 20
V
φ38h6
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR102G1
HG-SR1024G1
1.0
Shaft section view AA
BC41119*
Reducer model Reduction ratio
CHVM-6130
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
13.8
49
1/43
[Unit: mm]
327
□130
60.7
112.5
38.2
50.9
13
20.9
For reverse rotation command
Rotation direction
For forward rotation command
76
164
Caution plate 15
Motor plate
208
60
°
4
6-φ11
φ230
70
56
φ260
φ200f8
30
A
Caution
plate
(PE)
W
14
Key
9
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
φ2
A
5.5
Bottom Top
13.5
Top
58
Bottom
145
Caution plate
Motor plate
V
U
Power supply connector
Motor flange direction
7 - 28
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41120*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102G1
HG-SR1024G1
1.0
Reducer model Reduction ratio
CHVM-6160
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
19.1
81
1/59
[Unit: mm]
384.5
For reverse rotation command
Rotation direction
For forward rotation command
89
219
228
Encoder connector
CMV1-R10P
φ270f8
192
0
φ31
A
Power supply connector
MS3102A18-10P
18
(PE)
Key
W
7
(Side view of motor only)
A
11
Caution
plate
175
90
80
φ300
Bottom Top
6-φ11
Motor plate
13.5
Top
60
°
4
15°
Caution 13
plate
20
20.9
58
Bottom
60.7
38.2
φ340
□130
112.5
50.9
Caution plate
Motor plate
φ60h6
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
M10 Screw hole depth 18
Shaft section view AA
Reducer model Reduction ratio
BC41121*
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR152G1
HG-SR1524G1
1.5
CNVM-6120
Mass [kg]
19.2
1/11
17.7
1/17
17.3
31
[Unit: mm]
□130
295.5
112.5
60.7
50.9
38.2
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
69
117
20.9
Caution plate
Motor plate
13
30° 6-φ11
4
13
132
55
Bottom
Top
φ1
80
Encoder connector
CMV1-R10P
(PE)
W
10
Key
5
Power supply connector
MS3102A18-10P
8
(Side view of motor only)
φ210
A
Caution
plate
φ140f8
A
φ204
Top
58
Bottom
13.5
50
V
U
Power supply connector
Motor flange direction
7 - 29
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41122*
7. HG-SR SERIES
Model
Output [kW]
HG-SR152G1
HG-SR1524G1
1.5
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CHVM-6130
1/29
18.4
1/35
18.3
Mass [kg]
50
[Unit: mm]
341
164
208
70
56
A
Caution
plate
(PE)
Key
W
φ260
0
14
9
(Side view of motor only)
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
3
φ2
A
6-φ11
5.5
Bottom Top
60
°
4
145
15
φ230
13.5
Top
13
20.9
Caution plate
Motor plate
58
Bottom
60.7
38.2
φ200f8
□130
112.5
50.9
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
76
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR152G1
HG-SR1524G1
1.5
M10 Screw hole depth 18
φ50h6
Shaft section view AA
Reducer model Reduction ratio
CHVM-6160
BC41123*
Moment of inertia J [× 10-4 kg•m2]
1/43
23.6
1/59
23.5
Mass [kg]
82
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
89
398.5
219
φ270f8
φ340
13.5
0
φ31
A
18
(PE)
W
Key
7
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
A
11
Caution
plate
90
80
φ300
Bottom Top
6-φ11
228
Caution plate
Motor plate
Top
60
°
4
58
Bottom
20
192
13
50.9
Caution plate
Motor plate
20.9
175
60.7
38.2
15°
□130
112.5
V
U
Power supply connector
Motor flange direction
7 - 30
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41124*
7. HG-SR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/6
HG-SR202G1
HG-SR2024G1
2.0
CNVM-6120
Mass [kg]
50.0
1/11
48.4
1/17
48.1
36
[Unit: mm]
305.5
□176
63.7
140.9
69
24.8
38.5
50.9
13
4
30°
Motor plate
13
55
Caution plate
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
117
6-φ11
50
A
Encoder connector
CMV1-R10P
Caution plate
(PE)
W
Power supply connector
MS3102A22-22P
10
5
Key
8
(Side view of motor only)
φ210
φ140f8
82
Top
Bottom
φ204
A
142
80
φ1
Top
Bottom
V
Shaft section view AA
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR202G1
HG-SR2024G1
2.0
M8 Screw hole depth 20
φ38h6
U
BC41125*
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CHVM-6165
1/29
54.8
1/35
54.5
1/43
54.3
1/59
54.2
Mass [kg]
87
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
402.5
63.7
38.5
140.9
13
50.9
228
20
Motor
plate
4
60
°
φ340
φ300
A
10
φ3
6-φ11
15°
90
φ270f8
Top
175
80
Top
82
Bottom
89
219
Caution plate
Caution plate
Motor plate
Bottom
24.8
181
□176
A
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
(Side view of motor only)
Caution plate
18
(PE)
W
11
7
Key
V
U
Power supply connector
Motor flange direction
7 - 31
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41126*
7. HG-SR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/6
HG-SR352G1
HG-SR3524G1
3.5
CHVM-6135
Mass [kg]
87.1
1/11
82.8
1/17
81.5
60
[Unit: mm]
24.8
63.7
70
208
60°
56
Caution plate
6-φ11
3
φ2
Top
φ230
A
Encoder connector
CMV1-R10P
(Side view of motor only)
(PE)
W
14
5.5
Caution plate
Key
9
Power supply connector
MS3102A22-22P
V
φ50h6
U
Model
Output [kW]
BC41127*
Reducer model Reduction ratio
3.5
CHVM-6165
M10 Screw hole depth 18
Shaft section view AA
Power supply connector
Motor flange direction
HG-SR352G1
HG-SR3524G1
φ260
Top
0
A
φ200f8
Bottom
50.9
4
Motor plate
82
Bottom
15
13
140.9
For reverse rotation command
Rotation direction
For forward rotation command
164
38.5
□176
Caution plate
Motor plate
76
145
372
Moment of inertia J [× 10-4 kg•m2]
1/29
86.6
1/35
86.3
Mass [kg]
92
[Unit: mm]
426.5
63.7
□176
89
219
38.5
13
140.9
50.9
Caution plate
Motor plate
24.8
For reverse rotation command
Rotation direction
For forward rotation command
20
4
228
Motor plate
60
°
Caution plate
6-φ11
A
181
15°
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
18
(PE)
W
Key
V
U
Power supply connector
Motor flange direction
7 - 32
7
(Side view of motor only)
10
φ3
11
Caution plate
φ340
φ300
A
φ270f8
Top
90
82
Bottom
Top
175
80
Bottom
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41128*
7. HG-SR SERIES
Model
Output [kW]
HG-SR352G1
HG-SR3524G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
3.5
CHVM-6175
1/43
105
1/59
104
Mass [kg]
134
[Unit: mm]
466
63.7
38.5
□176
140.9
50.9
Motor plate
8-φ14
80
90
6
φ3
A
A
(Side view of motor only)
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
(PE)
W
20
12
Key
7.5
Caution plate
0
φ400
φ340
Top
Top
22.5°
Caution plate
φ316f8
Bottom
243
5
181
Bottom
22
82
Caution plate
Motor plate
258
24.8
13
For reverse rotation command
Rotation direction
For forward rotation command
94
φ70h6
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
M12 Screw hole depth24
Shaft section viewAA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/6
HG-SR502G1
HG-SR5024G1
5.0
CHVM-6165
BC41129*
Mass [kg]
126
1/11
114
1/17
110
96
[Unit: mm]
442.5
□176
63.7
140.9
89
24.8
219
38.5
13
50.9
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
20
228
4
Motor plate
60
°
175
15°
φ340
φ270f8
φ300
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
(Side view of motor only)
1
φ3
W
18
(PE)
Key
V
U
Power supply connector
Motor flange direction
7 - 33
0
φ60h6
7
Caution plate
A
A
11
Top
90
82
Bottom
Top
181
Caution plate
80
Bottom
6-φ11
M10 Screw hole depth 18
Shaft section view AA
BC41130*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR502G1
HG-SR5024G1
5.0
CHVM-6180
Mass [kg]
141
1/35
140
1/43
139
165
[Unit: mm]
506
63.7
110
258
279
22
38.5
13
110
100
A
φ370
82
φ3
90
8-φ18
176
Top
Bottom Top
22.5°
Motor plate
Caution plate
Bottom
5
A
φ430
Caution plate
Motor plate
24.8
φ345f8
□176
140.9
50.9
For reverse rotation command
Rotation direction
For forward rotation command
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
(Side view of motor only)
Caution plate
(PE)
Key
22
φ80h6
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR502G1
HG-SR5024G1
5.0
9
14
W
M12 Screw hole depth 24
Shaft section view AA
Reducer model Reduction ratio
CHVM-6185
BC41131*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
138
165
1/59
[Unit: mm]
506
38.5
13
110
279
22.5°
8-φ18
φ370
176
110
100
82
Bottom Top
5
Motor plate
Caution plate
Top
258
22
A
A
V
U
Power supply connector
Motor flange direction
7 - 34
22
φ80h6
9
(PE)
Key
W
14
Encoder connector
CMV1-R10P
Caution plate
Power supply connector
MS3102A22-22P
(Side view of motor only)
φ3
90
Caution plate
Motor plate
Bottom
24.8
φ430
63.7
φ345f8
□176
140.9
50.9
For reverse rotation command
Rotation direction
For forward rotation command
M12 Screw hole depth 24
Shaft section view AA
BC41132*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702G1
HG-SR7024G1
7.0
Reducer model Reduction ratio
CHVM-6165
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
177
103
1/6
[Unit: mm]
89
482.5
□176
71.7
32
219
38.5
149.1
50.9
20
228
4
Motor plate
13
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
6-φ11
60
°
Caution plate
175
φ340
φ300
A
φ270f8
Top
A
15°
90
82
Bottom
Encoder connector
CMV1-R10P
Caution plate
(PE)
18
Key
V
U
Model
Output [kW]
HG-SR702G1
HG-SR7024G1
7.0
M10 Screw hole depth 18
φ60h6
Power supply connector
Motor flange direction
10
7
W
11
(Side view of motor only)
φ3
Power supply connector
MS3102A32-17P
181
80
Top
Bottom
BC41133*
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CHVM-6170
1/11
190
1/17
182
Mass [kg]
145
[Unit: mm]
71.7
50.9
Caution plate
Motor plate
22
Caution plate
Top
φ3
80
90
φ340
Top
(PE)
W
60
A
A
Encoder connector
CMV1-R10P
Caution plate
Power supply connector
MS3102A32-17P
(Side view of motor only)
22.5°
8-φ14
82
Bottom
243
5
Motor plate
13
181
Bottom
258
32
38.5
φ400
149.1
φ316f8
□176
For reverse rotation command
Rotation direction
For forward rotation command
94
522
20
7.5
12
Key
V
φ70h6
U
Power supply connector
Motor flange direction
7 - 35
M12 Screw hole depth 24
Shaft section view AA
BC41134*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702G1
HG-SR7024G1
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
7.0
CHVM-6180
1/29
192
1/35
192
Mass [kg]
172
[Unit: mm]
110
546
258
279
32
22
38.5
13
8-φ18
Motor plate
Caution plate
Bottom Top
0
100
φ370
A
A
(Side view of motor only)
(PE)
Key
W
V
22
U
φ80h6
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR702G1
HG-SR7024G1
9
Caution plate
14
Power supply
connector
MS3102A32-17P
Encoder connector
CMV1-R10P
φ3
9
176
110
Top
82
Bottom
22.5°
5
φ430
Caution plate
Motor plate
71.7
φ345f8
□176
149.1
50.9
For reverse rotation command
Rotation direction
For forward rotation command
M12 Screw hole depth 24
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
7.0
CHVM-6195
BC41135*
1/43
267
1/59
266
Mass [kg]
240
[Unit: mm]
602
135
125
A
φ400f8
82
Bottom Top
12-φ18
Motor plate
φ430
Top
15°
6
φ45
0
13
285
30
38.5
Caution
plate
Bottom
145
320
32
210
Caution plate
Motor plate
71.7
φ490
□176
149.1
50.9
For reverse rotation command
Rotation direction
For forward rotation command
A
Key
V
25
(PE)
W
U
Power supply connector
Motor flange direction
7 - 36
φ95h6
9
(Side view of motor only)
Power supply
connector
MS3102A32-17P
Encoder connector
CMV1-R10P
14
Caution plate
M20 Screw hole depth 34
Shaft section view AA
BC41136*
7. HG-SR SERIES
7.7.4 For general industrial machine with a reducer (with an electromagnetic brake)
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR52BG1
HG-SR524BG1
0.5
1/11
CNVM-6100
Mass [kg]
10.3
9.85
8.5
1/17
20
9.73
1/29
9.67
[Unit: mm]
□130
48
108
9
45° 4-φ11
3
13
35
34
φ1
29
A
φ160
A
φ110f8
Top
119
32
Top
φ150
Bottom
59
43.5
13.5
Bottom
112.5
79.9
50.9
309.5
Caution plate
Motor plate
20.9
58
Caution plate
Motor plate
95.2
For reverse rotation command
Rotation direction
For forward rotation command
Main key
position mark
HG-SR52BG1
HG-SR524BG1
Reducer model Reduction ratio
C
D
B
A
V
Electromagnetic brake connector
Motor flange direction
Output [kW]
8
Key
Electromagnetic brake
Model
(PE)
W
4
Encoder connector
CMV1-R10P
Electromagnetic brake connector
(Side view of motor only)
CMV1-R2P
Power supply connector
MS3102A18-10P
7
Caution
plate
Shaft section view AA
CNVM-6120
BC41185*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/35
0.5
M8 Screw hole depth 20
φ28h6
U
Power supply connector
Motor flange direction
Mass [kg]
10.5
8.5
1/43
29
10.4
1/59
10.4
[Unit: mm]
□130
95.2
59
112.5
79.9
Caution plate
Motor plate
302
Caution plate
Motor plate
117
43.5
13
50.9
For reverse rotation command
Rotation direction
For forward rotation command
6-φ11
30
69
55
13
4
50
Top
132
Bottom
20.9
0
φ210
φ140f8
φ204
58
Encoder connector
CMV1-R10P
(Side view of motor only) Electromagnetic brake
connector
CMV1-R2P
8
φ1
A
29
Bottom Top
13.5
A
Caution plate
10
(PE)
W
5
Main key
position mark
Key
8
Power supply connector
MS3102A18-10P
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 37
V
C
D
B
A
U
φ38h6
M8 Screw hole depth 20
Power supply connector Shaft section view AA
Motor flange direction
BC41186*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
1/11
HG-SR102BG1
HG-SR1024BG1
1.0
CNVM-6120
Mass [kg]
17.0
15.5
8.5
1/17
32
15.1
1/29
14.8
1/35
14.8
[Unit: mm]
316
□130
95.2
59
112.5
79.9
Caution plate
Motor plate
43.5
50.9
69
20.9
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
117
13
Motor plate
30°
4
6-φ11
13
132
55
φ210
29
A
φ140f8
A
φ204
Bottom Top
58
13.5
50
φ1
80
Bottom Top
Caution
plate
Encoder connector
CMV1-R10P
Electromagnetic brake
connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
(PE)
W
10
5
Key
8
(Side view of motor only)
M8 Screw hole depth 20
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
HG-SR102BG1
HG-SR1024BG1
1.0
Reducer model Reduction ratio
CHVM-6130
φ38h6
U
Power supply connector
Motor flange direction
Shaft section view AA
BC41187*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
16.0
51
1/43
[Unit: mm]
361.5
□130
112.5
79.9
208
15
60
°
4
Motor plate
A
6-φ11
Main key
position mark
145
φ260
0
(PE)
W
Power supply connector
MS3102A18-10P
14
9
Key
5.5
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
3
φ2
A
φ200f8
13.5
φ230
70
56
29
Bottom Top
Caution
plate
Caution plate
13
50.9
Bottom Top
76
164
58
Caution plate
Motor plate
20.9
95.2
59
43.5
For reverse rotation command
Rotation direction
For forward rotation command
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 38
U
Power supply connector
Motor flange direction
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41188*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102BG1
HG-SR1024BG1
1.0
Reducer model Reduction ratio
CHVM-6160
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
21.3
83
1/59
[Unit: mm]
95.2
Caution plate
□130
112.5
79.9
Caution plate 50.9
Motor plate
89
219
20
60
°
4
59
43.5
6-φ11
228
13
Caution plate
A
192
φ31
15°
φ340
φ300
29
Bottom Top
φ270f8
A
58
Top
175
90
80
13.5
Bottom
419
20.9
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
0
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Main key
position mark
V
Electromagnetic brake connector
Motor flange direction
Output [kW]
Reducer model Reduction ratio
11
7
Key
Electromagnetic brake
Model
18
(PE)
W
Power supply connector
MS3102A18-10P
U
φ60h6
Power supply connector
Motor flange direction
M10 Screw hole depth 18
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR152BG1
HG-SR1524BG1
1.5
CNVM-6120
BC41189*
Shaft section view AA
Mass [kg]
21.4
8.5
1/11
33
19.9
1/17
19.5
[Unit: mm]
330
□130
95.2
59
112.5
43.5
79.9
Caution plate
Motor plate
50.9
For reverse rotation command
Rotation direction
For forward rotation command
69
20.9
Caution plate
117
Motor plate
13
30°
4
6-φ11
13
13.5
φ140f8
29
A
φ210
A
φ204
58
Bottom Top
φ1
80
50
132
55
Bottom Top
Caution plate
Encoder connector
CMV1-R10P
Main key
position mark
Electromagnetic brake connector
CMV1-R2P
(PE)
W
10
5
Key
8
(Side view of motor only)
Power supply connector
MS3102A18-10P
M8 Screw hole depth 20
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 39
V
U
Power supply connector
Motor flange direction
φ38h6
Shaft section view AA
BC41190*
7. HG-SR SERIES
Model
Output [kW]
HG-SR152BG1
HG-SR1524BG1
1.5
Reducer model Reduction ratio
1/29
CHVM-6130
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
8.5
1/35
Mass [kg]
20.6
52
20.5
[Unit: mm]
□130
59
43.5
112.5
208
15
60
°
4
6-φ11
70
56
φ230
A
29
23
0
φ260
Bottom Top
eφ
A
φ200f8
Top
145
13
13.5
Bottom
79.9
50.9
76
164
58
Caution plate
Motor plate
375.5
20.9
Caution plate
Motor plate
95.2
For reverse rotation command
Rotation direction
For forward rotation command
Caution plate
Encoder connector
(Side view of motor only) CMV1-R10P
Main key
position mark
(PE)
Key
W
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
HG-SR152BG1
HG-SR1524BG1
1.5
Reducer model Reduction ratio
CHVM-6160
14
9
Electromagnetic brake
MS3102A18-10P
5.5
Electromagnetic brake connector
CMV1-R2P
Brake static friction torque [N•m]
1/43
Shaft section view AA
BC41191*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
25.8
8.5
1/59
M10 Screw hole depth 18
φ50h6
U
V
Power supply connector
Motor flange direction
84
25.7
[Unit: mm]
95.2
Caution plate
□130
112.5
79.9
Caution plate 50.9
Motor plate
20
60
4
59
43.5
°
6-φ11
228
φ300
29
175
A
0
φ31
15°
φ340
A
φ270f8
90
80
192
13
Bottom Top
Caution plate
219
13.5
Top
89
433
20.9
Motor plate
58
Bottom
For reverse rotation command
Rotation direction
For forward rotation command
Encoder connector
Main key
position mark
18
(PE)
Key
W
7
Power supply connector
MS3102A18-10P
11
(Side view of motor only) CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
U
Power supply connector
Motor flange direction
7 - 40
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41192*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR202BG1
HG-SR2024BG1
2.0
CNVM-6120
Mass [kg]
59.4
44
1/11
42
57.8
1/17
57.5
[Unit: mm]
355
113.2
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
117
13
45.5
96.9
4
Motor plate
30°
13
55
Caution plate
50
50.9
6-φ11
80
φ1
Top
Encoder connector
CMV1-R10P
Main key
position mark
Electromagnetic brake
connector
CMV1-R2P
φ210
(PE)
W
10
Key
5
(Side view of motor only)
A
8
Caution plate
φ140f8
A
44
82
Bottom Top
φ204
Bottom
24.8
66.5
140.9
Power supply connector
MS3102A22-22P
Electromagnetic brake
Output [kW]
Reducer model Reduction ratio
φ38h6
U
V
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
Model
2.0
BC41193*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
Mass [kg]
64.2
1/35
CHVM-6165
M8 Screw hole depth 20
Shaft section view AA
1/29
HG-SR202BG1
HG-SR2024BG1
142
□176
69
63.9
44
1/43
93
63.7
1/59
63.6
[Unit: mm]
□176
113.2
66.5
45.5
140.9
96.9
20
Motor plate
60
°
13
Caution plate
φ340
φ300
A
1
φ3
0
6-φ11
15°
175
80
90
Top
Top
228
4
φ270f8
Bottom
219
24.8
82
Bottom
50.9
44
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
89
181
452
A
Main key
position mark
18
(PE)
W
Key
11
Power supply connector
MS3102A22-22P
7
Encoder connector
Caution plate
CMV1-R10P
Electromagnetic brake
connector
(Side view of motor only)
CMV1-R2P
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 41
U
Power supply connector
Motor flange direction
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41194A
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR352BG1
HG-SR3524BG1
3.5
CHVM-6135
Mass [kg]
96.5
44
1/11
66
92.2
1/17
90.9
[Unit: mm]
421.5
□176
113.2
76
24.8
66.5
140.9
50.9
4
15
45.5
96.9
70
Motor plate
13
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
164
208
6-φ11
Caution plate
3
φ2
(Side view of motor only)
A
Encoder connector
CMV1-R10P
Main key
position mark
Electromagnetic brake
connector
CMV1-R2P
φ260
φ200f8
φ230
A
(PE)
W
14
Key
5.5
Caution plate
82
Top
44
Bottom
9
Power supply connector
MS3102A22-22P
V
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Output [kW]
HG-SR352BG1
HG-SR3524BG1
3.5
Reducer model Reduction ratio
φ50h6
U
Power supply connector
Motor flange direction
BC41195*
Mass [kg]
96.0
44
1/35
M10 Screw hole depth 18
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
CHVM-6165
0
145
Top
Bottom
Model
60
°
56
98
95.7
[Unit: mm]
140.9
66.5
96.9
45.5
For reverse rotation command
Rotation direction
For forward rotation command
89
219
24.8
20
4
228
Motor plate
13
50.9
60
°
Caution plate
80
Top
A
Caution plate Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake
connector
CMV1-R2P
Main key
position mark
W
φ3
15°
φ340
φ270f8
A
φ300
82
(PE)
18
7
Key
Power supply connector
MS3102A22-22P
10
11
Bottom Top
90
44
Bottom
6-φ11
175
Caution plate
Motor plate
113.2
181
476
□176
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 42
U
V
Power supply connector
Motor flange direction
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41196*
7. HG-SR SERIES
Model
Output [kW]
HG-SR352BG1
HG-SR3524BG1
3.5
Reducer model Reduction ratio
1/43
CHVM-6175
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
44
1/59
Mass [kg]
114
140
113
[Unit: mm]
515.5
113.2
66.5
96.9
45.5
5
22
243
8-φ14
Caution plate
Top
181
80
90
6
φ3
A
φ340
82
Bottom
Top
44
Bottom
22.5°
Motor plate
13
50.9
Caution plate
Motor plate
258
24.8
A
0
φ400
140.9
φ316f8
□176
For reverse rotation command
Rotation direction
For forward rotation command
94
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake
connector
CMV1-R2P
Main key
position mark
(PE)
W
12
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
20
Key
Power supply connector
MS3102A22-22P
Reducer model Reduction ratio
φ70h6
U
Power supply connector
Motor flange direction
M12 Screw hole depth 24
Shaft section view AA
5.0
CHVM-6165
BC41197*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR502BG1
HG-SR5024BG1
7.5
Caution plate
Mass [kg]
135
44
1/11
102
123
1/17
119
[Unit: mm]
89
492
□176
113.2
140.9
219
24.8
20
66.5
45.5
96.9
50.9
4
228
Motor plate
13
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
60
6-φ11
°
175
Encoder connector
CMV1-R10P
Main key
position mark
Key
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 43
U
Power supply connector
Motor flange direction
10
18
(PE)
W
Power supply connector
MS3102A22-22P
11
Electromagnetic brake
connector
(Side view of motor only)
CMV1-R2P
15°
φ3
Caution plate
φ60h6
7
A
φ340
A
φ270f8
φ300
82
Top
90
44
Bottom
80
Top
181
Caution plate
Bottom
M10 Screw hole depth 18
Shaft section view AA
BC41198*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
HG-SR502BG1
HG-SR5024BG1
5.0
CHVM-6180
Mass [kg]
150
44
1/35
171
150
1/43
149
[Unit: mm]
555.5
113.2
66.5
45.5
22
5
φ3
φ345f8
φ370
A
Encoder connector
CMV1-R10P
Caution plate
Electromagnetic brake
(Side view of motor only)
connector
CMV1-R2P
Power supply connector
MS3102A22-22P
Main key
position mark
key
Electromagnetic brake
V
Output [kW]
HG-SR502BG1
HG-SR5024BG1
5.0
Reducer model Reduction ratio
CHVM-6185
φ80h6
U
M12 Screw hole depth 24
Shaft section view AA
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
Model
22
(PE)
W
14
44
82
Bottom Top
A
9
110
100
176
Top
90
8-φ18
Caution plate
Bottom
22.5°
258
Motor plate
13
50.9
Caution plate
Motor plate
110
279
24.8
φ430
□176
140.9
96.9
For reverse rotation command
Rotation direction
For forward rotation command
BC41199*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
147
171
1/59
[Unit: mm]
555.5
110
279
22
5
110
100
A
φ370
44
82
Bottom Top
90
8-φ18
176
Top
22.5°
Motor plate
Caution plate
Bottom
258
φ3
13
24.8
A
φ430
Caution plate
Motor plate
113.2
66.5
45.5
φ345f8
□176
140.9
96.9
50.9
For reverse rotation command
Rotation direction
For forward rotation command
Encoder connector
CMV1-R10P
Caution plate
(Side view of motor only)
(PE)
Key
W
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 44
U
Power supply connector
Motor flange direction
22
φ80h6
9
Main key
position mark
14
Electromagnetic brake
connector
CMV1-R2P
Power supply connector
MS3102A22-22P
M12 Screw hole depth 24
Shaft section view AA
BC41200*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702BG1
HG-SR7024BG1
7.0
Reducer model Reduction ratio
CHVM-6165
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
187
109
1/6
[Unit: mm]
532
□176
121.2
149.1
96.9
50.9
89
32
219
20
66.5
45.5
4
228
Motor plate
13
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
60
°
175
A
15°
φ340
φ300
82
Encoder connector
CMV1-R10P
1
φ3
Caution plate
Main key
position mark
(Side view of motor only)
Electromagnetic brake
connector
CMV1-R2P
Power supply connector
MS3102A32-17P
V
Electromagnetic brake connector
Motor flange direction
HG-SR702BG1
HG-SR7024BG1
7.0
Reducer model Reduction ratio
Shaft section view AA
BC41201*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
Mass [kg]
199
44
1/17
M10 Screw hole depth 18
φ60h6
U
Power supply connector
Motor flange direction
1/11
CHVM-6170
11
Key
Electromagnetic brake
Output [kW]
18
(PE)
W
0
7
44
Bottom Top
A
φ270f8
80
90
Top
181
Caution plate
Bottom
Model
6-φ11
151
192
[Unit: mm]
121.2
5
243
Motor plate
φ3
Main key
position mark
φ400
(PE)
W
20
7.5
key
12
Power supply connector
MS3102A32-17P
60
A
82
44
φ340
80
90
A
Encoder connector
CMV1-R10P
Caution plate
Electromagnetic brake
connector
(Side view of motor only)
CMV1-R2P
22.5°
8-φ14
φ316f8
Caution plate
Bottom Top
22
181
13
Caution plate
Motor plate
Bottom Top
258
32
66.5
45.5
149.1
96.9
50.9
For reverse rotation command
Rotation direction
For forward rotation command
94
571.5
□176
Electromagnetic brake
V
Electromagnetic brake connector Power supply connector
Motor flange direction
Motor flange direction
7 - 45
M12 Screw hole depth 24
U
φ70h6
Shaft section view AA
BC41202*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702BG1
HG-SR7024BG1
Reducer model Reduction ratio
7.0
1/29
CHVM-6180
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
44
1/35
Mass [kg]
202
178
201
[Unit: mm]
32
279
22
5
258
8-φ18
φ370
A
Power supply
connector
MS3102A32-17P
Electromagnetic brake
connector
Main key
CMV1-R2P
position mark
Encoder connector
CMV1-R10P
(Side view of motor only)
φ3
90
82
44
A
(PE)
W
Key
Electromagnetic brake
U
V
Electromagnetic brake connector Power supply connector
Motor flange direction
Motor flange direction
Model
Output [kW]
HG-SR702BG1
HG-SR7024BG1
7.0
Reducer model Reduction ratio
CHVM-6195
φ80h6
BC41203*
Mass [kg]
277
44
1/59
M12 Screw hole depth 24
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/43
22
9
110
100
14
Caution plate
Top
Caution plate
°
φ430
13
Bottom Top
22.5
Motor plate
176
Bottom
121.2
66.5
45.5
φ345f8
□176
149.1
96.9
50.9
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
110
595.5
246
275
[Unit: mm]
651.5
121.2
66.5
45.5
Caution
plate
6
285
135
125
φ400f8
82
44
12-φ18
A
Top
Bottom Top
15°
Motor plate
φ430
Bottom
30
φ45
0
Caution plate
Motor plate
145
320
210
13
32
φ490
□176
149.1
96.9
50.9
For reverse rotation command
Rotation direction
For forward rotation command
A
W
Electromagnetic brake
V
Encoder
CMV1-R10P
(PE)
Key
U
Electromagnetic brake connector Power supply connector
Motor flange direction
Motor flange direction
7 - 46
25
9
(Side view of motor only)
Power supply
connector
MS3102A32-17P
Electromagnetic brake
connector
Main key
CMV1-R2P
position mark
connector
14
Caution plate
φ95h6
M20 Screw hole depth 34
Shaft section view AA
BC41204*
7. HG-SR SERIES
7.7.5 For general industrial machine with a reducer (foot-mounting/without an electromagnetic brake)
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/6
HG-SR52G1H
HG-SR524G1H
0.5
CNHM-6100
Mass [kg]
8.08
1/11
7.65
1/17
7.53
1/29
7.47
20
[Unit: mm]
323
121
60.7 20.9 Caution
plate
38.2
Motor plate
13
A
219
Bottom Top
35
32
φ150
Top
58
Bottom
13.5
□130
112.5
Caution plate 50.9
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
Encoder connector
CMV1-R10P
15
60
45
45
135
Power supply connector
MS3102A18-10P
4-φ11
75
75
180
(PE)
Key
8
7
W
40
4
(Side view of motor only)
100
Caution plate
12
A
Model
Output [kW]
HG-SR52G1H
HG-SR524G1H
M8 Screw hole depth 20
φ28h6
V
U
Power supply connector
Motor flange direction
Shaft section view AA
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/35
0.5
CNHM-6120
BC41137*
Mass [kg]
8.26
1/43
8.22
1/59
8.18
28
[Unit: mm]
336.5
60.7 20.9 Caution plate
Motor plate 131
38.2
13
□130
112.5
A
252
Bottom Top
φ204
Top
55
50
58
Bottom
50.9
13.5
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
Power supply connector
MS3102A18-10P
15
Encoder connector
CMV1-R10P
57.5
57.5
82
4-φ14
55
20
95
W
(PE)
Key
U
V
Power supply connector
Motor flange direction
7 - 47
95
230
155
10
5
(Side view of motor only)
8
Caution plate
120
A
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41138*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102G1H
HG-SR1024G1H
1.0
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
CNHM-6120
1/6
14.8
1/11
13.3
1/17
12.9
1/29
12.6
1/35
12.6
Mass [kg]
31
[Unit: mm]
60.7
□130
For reverse rotation command
Rotation direction
For forward rotation command
55
50
Motor plate
φ204
13
13.5
Bottom Top
A
252
Bottom Top
131
58
Caution plate
Motor plate
38.2
112.5
50.9
350.5
20.9
Caution plate
(Side view of motor only)
15
Encoder connector
CMV1-R10P
120
A
Caution plate
Power supply connector
MS3102A18-10P
20
82
57.5 57.5
155
55
4-φ14
95
95
230
W
10
(PE)
8
5
Key
Shaft section view AA
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR102G1H
HG-SR1024G1H
1.0
Reducer model Reduction ratio
CHHM-6130
M8 Screw hole depth 20
φ38h6
U
V
BC41139*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
13.8
50
1/43
[Unit: mm]
403
60.7
130
112.5
38.2
50.9
For reverse rotation command
Rotation direction
For forward rotation command
70
230
56
A
295
Bottom Top
13.5
Bottom Top
170
58
Caution plate
Motor plate
13
20.9
Caution plate
Motor plate
A
150
Encoder connector
CMV1-R10P
22
(Side view of motor only)
Power supply connector
MS3102A18-10P
25
72.5
72.5
65
100
145
4- 18
195
(PE)
W
145
330
14
9
Key
5.5
Caution plate
V
U
Power supply connector
Motor flange direction
7 - 48
50h6
M10 Screw hole depth 18
Shaft section view AA
BC41140*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102G1H
HG-SR1024G1H
1.0
Reducer model Reduction ratio
CHHM-6160
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
19.1
86
1/59
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
473.5
□130
218
90
80
Motor plate
13
Top
φ300
Caution plate
13.5
Bottom Top
A
352
Bottom
112.5
50.9
20.9
58
Caution plate
Motor plate
60.7
38.2
A
Caution plate
160
Encoder connector
CMV1-R10P
25
(Side view of motor only)
Power supply connector
MS3102A18-10P
44
75
75
75
185
139
238
18
7
(PE)
W
11
Key
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
185
410
4-φ18
M10 Screw hole depth 18
φ60h6
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1/6
HG-SR152G1H
HG-SR1524G1H
1.5
CNHM-6120
BC41141*
Mass [kg]
19.2
1/11
17.7
1/17
17.3
32
[Unit: mm]
364.5
□130
60.7
112.5
38.2
50.9
13
20.9
131
Caution plate
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
55
50
A
252
Bottom Top
φ204
Top
58
Bottom
13.5
Caution plate
Motor plate
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
15
Caution plate
20
57.5
57.5
55
95
82
95
4-φ14
155
(PE)
W
120
A
230
10
V
C
D
B
A
8
5
Key
U
Power supply connector
Motor flange direction
7 - 49
φ38h6
M8 Screw hole depth 20
Shaft section view AA
BC41142*
7. HG-SR SERIES
Model
Output [kW]
HG-SR152G1H
HG-SR1524G1H
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1.5
CHHM-6130
1/29
18.4
1/35
18.3
Mass [kg]
51
[Unit: mm]
417
130
60.7
38.2
112.5
50.9
13
20.9
Caution plate
Motor plate
170
For reverse rotation command
Rotation direction
For forward rotation command
70
56
13.5
Bottom Top
230
Caution plate
Motor plate
A
295
58
Bottom Top
A
150
Encoder connector
CMV1-R10P
(Side view of motor only)
22
Caution plate
Power supply connector
MS3102A18-10P
25
65
72.5
100
145
4- 18
195
145
330
(PE)
W
14
9
Key
5.5
72.5
M10 Screw hole depth 18
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR152G1H
HG-SR1524G1H
50h6
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Reducer model Reduction ratio
1.5
CHHM-6160
BC41143*
1/43
23.6
1/59
23.5
Mass [kg]
87
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
487.5
13.5
Top
13
Caution
plate
218
20.9
90
80
Motor plate
A
Bottom Top
352
58
Bottom
60.7
38.2
φ300
□130
112.5
50.9
Caution plate
Motor plate
A
160
25
Caution plate
Encoder connector
CMV1-R10P
(Side view of motor only)
Power supply connector
MS3102A18-10P
44
75
75
139
238
185
185
410
4-φ18
V
U
Power supply connector
Motor flange direction
7 - 50
18
7
(PE)
Key
W
11
75
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41144*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR202G1H
HG-SR2024G1H
2.0
CNHM-6120
Mass [kg]
50.0
1/11
48.4
1/17
48.1
37
[Unit: mm]
□176
140.9
50.9
Caution plate
Motor plate
63.7
38.5
55
50
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Top
A
262
82
Bottom Top
φ204
Bottom
374.5
131
24.8
57.557.5
Power supply connector
MS3102A22-22P
(Side view of motor only)
4-φ14
15
55
20
82
95
95
230
155
10
(PE)
Key
8
W
5
Caution plate
120
A
Encoder connector
CMV1-R10P
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
M8 Screw hole depth 20
φ38h6
Shaft section view AA
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR202G1H
HG-SR2024G1H
2.0
CHHM-6165
BC41145*
Mass [kg]
54.8
1/35
54.5
1/43
54.3
1/59
54.2
92
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
90
80
13
Caution plate
Top
Motor plate
341
A
A
25
Encoder connector
CMV1-R10P
Caution plate
75
44
75
75
238
139
(PE)
Key
W
V
U
Power supply connector
Motor flange direction
7 - 51
185
4-φ18
185
410
18
φ60h6
7
Power supply connector
MS3102A22-22P
11
(Side view of motor only)
160
Bottom Top
24.8
φ300
Bottom
63.7
38.5
82
Caution plate
Motor plate
□176
140.9
50.9
491.5
218
M10 Screw hole depth 18
Shaft section view AA
BC41146*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR352G1H
HG-SR3524G1H
3.5
CHHM-6135
Mass [kg]
87.1
1/11
82.8
1/17
81.5
61
[Unit: mm]
448
63.7
□176
140.9
50.9
Caution plate
Motor plate
70
56
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
Caution plate
Top
A
82
Bottom Top
295
φ230
Bottom
170
24.8
38.5
13
150
A
Encoder connector
CMV1-R10P
65
25
100
72.5 72.5
195
Power supply connector
MS3102A22-22P
145
4-φ18
(PE)
W
145
330
14
9
Key
22
(Side view of motor only)
5.5
Caution plate
U
V
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR352G1H
HG-SR3524G1H
3.5
Reducer model Reduction ratio
CHHM-6165
φ50h6
M10 Screw hole depth 18
Shaft section view AA
BC41147*
Moment of inertia J [× 10-4 kg•m2]
1/29
86.6
1/35
86.3
Mass [kg]
97
[Unit: mm]
63.7
□176
140.9
50.9
Caution plate
Motor plate
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
Caution plate
φ300
Top
A
341
Bottom Top
24.8
82
Bottom
38.5
13
515.5
218
44
75
75
139
75
238
185
4-φ18
(PE)
W
25
Power supply connector
MS3102A22-22P
185
410
18
Key
7
(Side view of motor only)
11
Caution plate
160
A
Encoder connector
CMV1-R10P
V
U
Power supply connector
Motor flange direction
7 - 52
φ60h6
M10 Screw hole depth 18
Shaft section view AA
BC41148*
7. HG-SR SERIES
Model
Output [kW]
HG-SR352G1H
HG-SR3524G1H
3.5
Reducer model Reduction ratio
CHHM-6175
Moment of inertia J [× 10-4 kg•m2]
1/43
105
1/59
104
Mass [kg]
137
[Unit: mm]
560
63.7
□176
140.9
Caution plate 50.9
38.5
13
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
φ340
A
82
381
Top
Bottom Top
90
80
Caution plate
Motor plate
Bottom
262
24.8
200
A
Power supply connector
MS3102A22-22P
(Side view of motor only)
137.5
80
30
125
137.5
20
V
12
Key
φ70h6
U
Power supply connector
Motor flange direction
Output [kW]
M12 Screw hole depth 24
Shaft section view AA
Reducer model Reduction ratio
5.0
CHHM-6165
BC41149*
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR502G1H
HG-SR5024G1H
190
430
(PE)
W
Model
190
4-φ22
335
7.5
Caution plate
30
Encoder connector
CMV1-R10P
Mass [kg]
126
1/11
114
1/17
110
101
[Unit: mm]
531.5
Caution plate
Motor plate
Caution plate
(Side view of motor only)
Power supply connector
MS3102A22-22P
25
44
75
75
238
4-φ18
75
185
139
185
410
Key
V
18
(PE)
W
U
Power supply connector
Motor flange direction
7 - 53
160
A
Encoder connector
CMV1-R10P
φ60h6
7
Caution plate
A
11
Bottom Top
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
341
Top
90
80
218
82
Bottom
24.8
φ300
63.7
38.5
13
181
□176
140.9
50.9
M10 Screw hole depth 18
Shaft section view AA
BC41150*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR502G1H
HG-SR5024G1H
5.0
CHHM-6180
Mass [kg]
141
1/35
140
1/43
139
178
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
616
176
Caution plate
110
100
A
405
Top
Bottom Top
279
24.8
Motor plate
82
Bottom
63.7
38.5
13
φ370
□176
140.9
50.9
Caution plate
Motor plate
A
(Side view of motor only)
30
220
Encoder connector
CMV1-R10P
Caution plate
Power supply connector
MS3102A22-22P
160
85
30
145
160
210
4-φ22
210
380
470
V
HG-SR502G1H
HG-SR5024G1H
5.0
Reducer model Reduction ratio
CHHM-6185
9
φ80h6
U
Power supply connector
Motor flange direction
Output [kW]
14
Key
Model
22
(PE)
W
M12 Screw hole depth 24
Shaft section view AA
BC41151*
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
138
178
1/59
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
616
(Side view of motor only)
405
A
A
30
220
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
160
30
145
160
380
Key
U
Power supply connector
Motor flange direction
7 - 54
210
210
470
22
(PE)
W
V
85
4-φ22
φ80h6
9
Caution plate
Motor plate
14
Bottom Top
110
100
φ370
Caution plate
Top
279
24.8
82
Bottom
63.7
38.5
13
176
□176
140.9
50.9
Caution plate
Motor plate
M12 Screw hole depth 24
Shaft section view AA
BC41152*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702G1H
HG-SR7024G1H
7.0
Reducer model Reduction ratio
CHHM-6165
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
177
108
1/6
[Unit: mm]
571.5
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
A
341
181
Caution plate
Top
Caution plate
25
44
Power supply connector
MS3102A32-17P
(Side view of motor only)
75
75
238
4-φ18
139
(PE)
Power supply connector
Motor flange direction
7.0
185
Reducer model Reduction ratio
CHHM-6170
11
M10 Screw hole depth 18
φ60h6
U
V
HG-SR702G1H
HG-SR7024G1H
185
18
Key
Output [kW]
75
410
W
Model
160
A
Encoder connector
CMV1-R10P
7
Bottom Top
218
32
82
Bottom
71.7
38.5
13
φ300
□176
149.1
50.9
Caution plate
Motor plate
Shaft section view AA
BC41153*
Moment of inertia J [× 10-4 kg•m2]
1/11
190
1/17
182
Mass [kg]
148
[Unit: mm]
616
(Side view of motor only)
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
381
A
A
30
200
Encoder connector
CMV1-R10P
Power supply connector
MS3102A32-17P
137.5
30
125
137.5
80
190
4-φ22
190
430
335
(PE)
W
20
Key
7.5
Caution plate
90
80
12
Bottom Top
262
φ340
Caution plate
Top
32
82
Bottom
71.7
38.5
13
181
□176
149.1
50.9
Caution plate
Motor plate
V
U
Power supply connector
Motor flange direction
7 - 55
φ70h6
M12 Screw hole depth 24
Shaft section view AA
BC41154*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702G1H
HG-SR7024G1H
Reducer model Reduction ratio
7.0
CHHM-6180
Moment of inertia J [× 10-4 kg•m2]
1/29
192
1/35
192
Mass [kg]
185
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
656
32
71.7
38.5
13
279
110
100
Motor plate
176
Caution plate
φ370
□176
149.1
50.9
Caution plate
Motor plate
A
82
405
Bottom Top
Bottom Top
A
30
220
Encoder connector
CMV1-R10P
Caution plate
Power supply connector
MS3102A32-17P
160
85
30
145
160
380
22
14
(PE)
Key
φ80h6
U
V
Power supply connector
Motor flange direction
Model
Output [kW]
7.0
210
470
W
HG-SR702G1H
HG-SR7024G1H
210
4-φ22
9
(Side view of motor only)
Shaft section view AA
Reducer model Reduction ratio
CHHM-6180
M12 Screw hole depth 24
BC41155*
Moment of inertia J [× 10-4 kg•m2]
1/43
267
1/59
266
Mass [kg]
256
[Unit: mm]
747
32
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
135
125
Motor plate
φ430
38.5
13
330
A
465
Top
82
Bottom
71.7
210
□176
149.1
50.9
Caution plate
Motor plate
Bottom Top
A
250
Encoder connector
CMV1-R10P
Power supply connector
MS3102A32-17P
190
30
170
190
4-φ26
90
240
240
530
440
V
U
Power supply connector
Motor flange direction
7 - 56
25
φ95h6
9
(PE)
Key
W
14
(Side view of motor only)
35
Caution plate
M20 Screw hole depth 34
Shaft section view AA
BC41156*
7. HG-SR SERIES
7.7.6 For general industrial machine with a reducer (foot-mounting/with an electromagnetic brake)
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR52BG1H
HG-SR524BG1H
0.5
1/11
CNHM-6100
Mass [kg]
10.3
9.85
8.5
1/17
22
9.73
1/29
9.67
[Unit: mm]
357.5
Caution plate
Motor plate
95.2
59
43.5
112.5
79.9
50.9
20.9
Caution plate
Motor plate
121
35
32
For reverse rotation command
Rotation direction
For forward rotation command
13
Bottom Top
219
13.5
58
Bottom Top
A
100
29
A
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
12
Caution
plate
15
45
45
135
Main key
position mark
40
60
75
75
180
(PE)
W
8
7
4
Key
M8 Screw hole depth 20
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 57
U
Power supply connector
Motor flange direction
Shaft section view AA
BC41205*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/35
HG-SR52BG1H
HG-SR524BG1H
0.5
CNHM-6120
Mass [kg]
10.5
8.5
1/43
30
10.4
1/59
10.4
[Unit: mm]
371
130
95.2
112.5
59
79.9
Caution plate
Motor plate
Bottom
20.9
Caution plate
Motor plate
131
55
43.5
13
50.9
For reverse rotation command
Rotation direction
For forward rotation command
50
Top
204
252
58
A
82
Power supply connector
MS3102A18-10P
57.5
57.5
20
55
4- 14
155
95
95
230
Main key
position mark
10
(PE)
W
5
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
15
Encoder connector
CMV1-R10P
Key
8
Caution plate
120
29
Bottom Top
13.5
A
C
D
B
A
M8 Screw hole depth 20
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 58
V
U
Power supply connector
Motor flange direction
38h6
Shaft section view AA
BC41206*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
1/6
1/11
HG-SR102BG1H
HG-SR1024BG1H
1.0
CNHM-6120
Mass [kg]
17.0
15.5
8.5
1/17
33
15.1
1/29
14.8
1/35
14.8
[Unit: mm]
385
For reverse rotation command
Rotation direction
For forward rotation command
55
50
13
A
252
15
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
20
82
57.5 57.5
155
55
95
4- 14
95
230
(PE)
Key
10
8
W
120
A
Encoder connector
CMV1-R10P
5
29
58
Bottom Top
Caution plate
131
Caution plate
Motor plate
204
Bottom Top
59
43.5
20.9
13.5
Caution plate
Motor plate
95.2
130
112.5
79.9
50.9
V
Electromagnetic brake
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
HG-SR102BG1H
HG-SR1024BG1H
1.0
Reducer model Reduction ratio
CHHM-6130
M8 Screw hole depth 20
38h6
U
Shaft section view AA
BC41207*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
16.0
52
1/43
[Unit: mm]
112.5
79.9
50.9
170
13
A
295
58
Bottom Top
A
150
29
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
70
56
Encoder connector
CMV1-R10P
22
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
25
Power supply connector
MS3102A18-10P
72.5
72.5
65
100
145
145
195
Main key
position mark
330
(PE)
W
14
9
Key
5.5
Bottom Top
437.5
20.9
Caution plate
Motor plate
13.5
Caution plate
Motor plate
95.2
59
43.5
V
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
U
Power supply connector
Motor flange direction
7 - 59
M10 Screw hole depth 18
Shaft section view AA
BC41208*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102BG1H
HG-SR1024BG1H
1.0
Reducer model Reduction ratio
CHHM-6160
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
8.5
21.3
88
1/59
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
508
112.5
79.9
13
50.9
218
90
80
Motor plate
13.5
Bottom Top
20.9
58
Bottom Top
A
352
Caution plate
Motor plate
95.2
59
Caution plate 43.5
160
29
A
25
Caution plate
(Side view of motor only)
Encoder connector
CMV1-R10P
75
139
18
7
(PE)
W
U
V
Electromagnetic brake connector
Motor flange direction
Reducer model Reduction ratio
11
Key
Electromagnetic brake
HG-SR152BG1H
HG-SR1524BG1H
M10 Screw hole depth 18
Power supply connector
Motor flange direction
Shaft section view AA
CNHM-6120
BC41209*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
1.5
185
410
Main key
position mark
Power supply connector
MS3102A18-10P
Output [kW]
185
238
Electromagnetic brake connector
CMV1-R2P
Model
75
44
75
Mass [kg]
21.4
8.5
1/11
34
19.9
1/17
19.5
[Unit: mm]
399
For reverse rotation command
Rotation direction
For forward rotation command
55
50
Motor plate
13
A
252
58
Bottom Top
15
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
57.5 57.5
155
55
95
95
230
(PE)
Key
W
10
8
Main key
position mark
20
82
120
A
29
Caution plate
131
5
Bottom Top
20.9
Caution plate
13.5
Caution plate
Motor plate
95.2
59
43.5
112.5
79.9
50.9
M8 Screw hole depth 20
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
7 - 60
U
Power supply connector
Motor flange direction
Shaft section view AA
BC41210*
7. HG-SR SERIES
Model
Output [kW]
HG-SR152BG1H
HG-SR1524BG1H
Reducer model Reduction ratio
1.5
1/29
CHHM-6130
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
8.5
1/35
Mass [kg]
20.6
53
20.5
[Unit: mm]
112.5
79.9
50.9
170
For reverse rotation command
Rotation direction
For forward rotation command
70
56
13
13.5
Bottom Top
A
58
Bottom Top
295
Caution plate
Motor plate
451.5
20.9
Caution plate
Motor plate
95.2
59
43.5
A
150
29
Caution plate
Encoder connector
CMV1-R10P
22
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
25
72.5
Power supply connector
MS3102A18-10P
65
100
72.5
145
145
195
Main key
position mark
(PE)
Key
14
9
W
5.5
330
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
HG-SR152BG1H
HG-SR1524BG1H
Reducer model Reduction ratio
1.5
CHHM-6160
M10 Screw hole depth 18
U
V
Power supply connector
Motor flange direction
Brake static friction torque [N•m]
1/43
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
25.8
8.5
1/59
BC41211*
89
25.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
522
95.2
59
43.5
112.5
Caution plate 79.9
Motor plate 50.9
13
90
80
Caution plate
Motor plate
13.5
Bottom Top
218
20.9
58
352
A
29
Bottom Top
160
A
25
Caution plate
(Side view of motor only)
75
44
75
139
185
185
238
410
Main key
position mark
Key
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
V
U
Power supply connector
Motor flange direction
7 - 61
18
(PE)
W
7
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
75
11
Encoder connector
CMV1-R10P
M10 Screw hole depth 18
Shaft section view AA
BC41212*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
1/6
HG-SR202BG1H
HG-SR2024BG1H
2.0
CNHM-6120
Mass [kg]
59.4
44
1/11
43
57.8
1/17
57.5
[Unit: mm]
Caution plate
Motor plate
176
140.9
96.9
50.9
113.2
66.5
45.5
424
24.8
131
55
Motor plate 50
For reverse rotation command
Rotation direction
For forward rotation command
13
Caution plate
Bottom Top
Caution plate
262
120
A
Encoder connector
CMV1-R10P
20
57.5 57.5 82
155
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A22-22P
Main key
position mark
55
95
4- 14
15
Bottom Top
82
44
204
A
95
230
(PE)
Key
10
8
5
W
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
Reducer model Reduction ratio
Brake static friction torque [N•m]
M8 Screw hole depth 20
38h6
U
V
Power supply connector
Motor flange direction
Moment of inertia J [× 10-4 kg•m2]
1/29
HG-SR202BG1H
HG-SR2024BG1H
2.0
CHHM-6165
BC41213*
Shaft section view AA
Mass [kg]
64.2
1/35
63.9
44
1/43
98
63.7
1/59
63.6
[Unit: mm]
113.2
66.5
45.5
24.8
90
80
For reverse rotation command
Rotation direction
For forward rotation command
13
Caution plate
300
Bottom Top
341
A
A
25
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
44
75
Power supply connector
MS3102A22-22P
Main key
position mark
75
238
75
139
V
Electromagnetic brake connector
Motor flange direction
7 - 62
U
Power supply connector
Motor flange direction
185
410
18
(PE)
W
Key
Electromagnetic brake
185
4- 18
7
(Side view of motor only)
160
82
44
Bottom Top
Caution plate
218
Motor plate
11
Caution plate
Motor plate
176
140.9
96.9
50.9
541
60h6
M10 Screw hole depth 18
Shaft section view AA
BC41214*
7. HG-SR SERIES
Model
Output [kW]
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR352BG1H
HG-SR3524BG1H
3.5
CHHM-6135
Mass [kg]
96.5
44
1/11
67
92.2
1/17
90.9
[Unit: mm]
Caution plate
Motor plate
497.5
24.8
113.2
66.5
45.5
140.9
96.9
50.9
170
70
56
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Bottom Top
295
82
Electromagnetic brake connector
CMV1-R2P
(Side view of motor only)
72.5 72.5
195
Power supply connector
MS3102A22-22P
25
100
22
Caution plate
150
A
Encoder connector
CMV1-R10P
65
145
145
330
Main key
position mark
W
(PE)
14
9
Key
5.5
Bottom Top
44
230
A
Electromagnetic brake
Model
Output [kW]
HG-SR352BG1H
HG-SR3524BG1H
Reducer model Reduction ratio
3.5
CHHM-6165
Shaft section view AA
Mass [kg]
96.0
44
1/35
BC41215*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
M10 Screw hole depth 18
V
U
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
103
95.7
[Unit: mm]
565
Caution plate
Motor plate
113.2
66.5
45.5
140.9
96.9
50.9
13
218
24.8
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
Caution plate
Bottom Top
341
160
A
Encoder connector
CMV1-R10P
44
75
75
238
Main key
position mark
185
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 63
185
410
(PE)
Key
W
18
11
Power supply connector
MS3102A22-22P
75
139
25
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
V
U
Power supply connector
Motor flange direction
7
Caution plate
82
Bottom Top
44
A
M10 Screw hole depth 18
Shaft section view AA
BC41216*
7. HG-SR SERIES
Model
Output [kW]
HG-SR352BG1H
HG-SR3524BG1H
Reducer model Reduction ratio
3.5
1/43
CHHM-6175
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
44
1/59
Mass [kg]
114
143
113
[Unit: mm]
609.5
113.2
66.5
45.5
140.9
96.9
50.9
Caution plate
Motor plate
262
24.8
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Bottom Top
137.5
Reducer model Reduction ratio
(PE)
Key
W
V
U
Power supply connector
Motor flange direction
20
M12 Screw hole depth 24
Shaft section view AA
5.0
CHHM-6165
BC41217*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/6
HG-SR502BG1H
HG-SR5024BG1H
190
430
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Output [kW]
190
335
Main key
position mark
Model
80
30
125
137.5
7.5
Caution plate
Encoder connector
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A22-22P
30
200
A
12
Bottom Top
381
44
82
A
Mass [kg]
135
44
1/11
107
123
1/17
119
[Unit: mm]
581
113.2
66.5
45.5
140.9
96.9
50.9
218
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Motor plate
24.8
Caution plate
Bottom Top
341
25
44
75
75
238
Main key
position mark
75
139
185
185
410
(PE)
Key
W
18
7
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A22-22P
160
A
Encoder connector
CMV1-R10P
11
Caution plate
82
Bottom Top
44
A
M10 Screw hole depth 18
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 64
V
U
Power supply connector
Motor flange direction
Shaft section view AA
BC41218*
7. HG-SR SERIES
Model
Output [kW]
HG-SR502BG1H
HG-SR5024BG1H
Reducer model Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/29
5.0
CHHM-6180
Mass [kg]
150
44
1/35
184
150
1/43
149
[Unit: mm]
665.5
113.2
66.5
45.5
13
Caution plate
Motor plate
24.8
279
176
Caution plate
A
405
A
30
220
Encoder connector
CMV1-R10P
160
Power supply connector
MS3102A22-22P
Main key
position mark
Output [kW]
HG-SR502BG1H
HG-SR5024BG1H
5.0
85
Reducer model Reduction ratio
CHHM-6185
210
4- 22
210
470
22
(PE)
Key
W
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Model
30
145
160
380
9
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
14
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
82
Bottom Top
44
Bottom Top
110
100
Motor plate
370
176
140.9
96.9
50.9
80h6
M12 Screw hole depth 24
Shaft section view AA
V
U
Power supply connector
Motor flange direction
BC41219*
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
147
184
1/59
[Unit: mm]
665.5
113.2
66.5
45.5
140.9
96.9
50.9
13
Caution plate
Motor plate
24.8
279
Motor plate
110
100
For reverse rotation command
Rotation direction
For forward rotation command
176
Caution plate
405
A
30
220
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
160
160
30
145
85
210
380
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 65
210
470
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
22
9
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
14
Caution plate
A
82
Bottom Top
44
Bottom Top
M12 Screw hole depth 24
Shaft section viewAA
BC41220*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702BG1H
HG-SR7024BG1H
7.0
Reducer model Reduction ratio
CHHM-6165
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
44
187
114
1/6
[Unit: mm]
621
121.2
66.5
45.5
149.1
96.9
50.9
32
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Motor plate
218
181
Caution plate
Bottom
Top
341
25
Caution plate
Electromagnetic brake connector
(Side view of motor only)
CMV1-R2P
75
44
75
75
238
Power supply connector
MS3102A32-17P
Main key
position mark
160
A
Encoder connector
CMV1-R10P
185
139
185
410
18
(PE)
W
11
Key
7
Bottom Top
82
44
A
M10 Screw hole depth 18
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output [kW]
HG-SR702BG1H
HG-SR7024BG1H
Reducer model Reduction ratio
7.0
Power supply connector
Motor flange direction
Shaft section view AA
199
44
1/17
BC41221*
Moment of inertia J [× 10-4 kg•m2]
Brake static friction torque [N•m]
1/11
CHHM-6170
U
Mass [kg]
154
192
[Unit: mm]
665.5
121.2
66.5
45.5
149.1
96.9
50.9
262
90
80
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
13
Caution plate
Motor plate
32
181
Caution plate
Bottom Top
(Side view of motor only)
381
A
30
200
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
137.5
137.5
80
30
125
190
Main key
position mark
190
430
335
(PE)
W
Key
20
7.5
Caution plate
12
Bottom Top
44
82
A
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 66
V
U
Power supply connector
Motor flange direction
M12 Screw hole depth 24
Shaft section view AA
BC41222*
7. HG-SR SERIES
Model
Output [kW]
HG-SR702BG1H
HG-SR7024BG1H
Reducer model Reduction ratio
7.0
Brake static friction torque [N•m]
1/29
CHHM-6180
Moment of inertia J [× 10-4 kg•m2]
44
1/35
Mass [kg]
202
191
201
[Unit: mm]
705.5
121.2
66.5
45.5
149.1
96.9
50.9
13
Caution plate
Motor plate
405
A
30
220
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
160
160
30
145
85
210
470
Main key
position mark
Model
Output [kW]
7.0
Reducer model Reduction ratio
Brake static friction torque [N•m]
1/43
CHHM-6195
22
(PE)
Key
W
Electromagnetic brake
V
U
Electromagnetic brake connector Power supply connector
Motor flange direction
Motor flange direction
HG-SR702BG1H
HG-SR7024BG1H
210
380
M12 Screw hole depth 24
Shaft section view AA
Moment of inertia J [× 10-4 kg•m2]
277
44
1/59
9
(Side view of motor only)
A
14
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
82
44
Bottom Top
Bottom Top
110
100
176
Caution plate
279
32
BC41223*
Mass [kg]
262
275
[Unit: mm]
796.5
330
Motor plate
13
Caution plate
135
125
A
44
82
465
Bottom Top
35
250
A
190
190
30
170
90
240
240
440
Main key
position mark
530
(PE)
W
Key
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 67
V
U
Power supply connector
Motor flange direction
25
9
Encoder connector
Caution plate
CMV1-R10P
(Side view of motor only)
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
14
Bottom Top
For reverse rotation command
Rotation direction
For forward rotation command
32
210
Caution plate
Motor plate
121.2
66.5
45.5
149.1
96.9
50.9
M20 Screw hole depth 34
Shaft section view AA
BC41224*
7. HG-SR SERIES
7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake)
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-20A-05-F0KSAWS-S
1/5
7.91
7.6
HPG-20A-11-F0KSAXS-S
1/11
7.82
7.8
Output [kW]
HG-SR52G5
HG-SR524G5
0.5
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
213.5
38.2
25
Motor plate
(Opposite side)
Caution plate
Caution plate
Motor
plate
8
effective range)
6-M6 Screw hole depth 10
60°
45°
Top
Bottom
Bottom
Top
Top
C
0.
5
Bottom
112.5
Top
10
Caution plate
50.9
Bottom
27 +0.4
- 0.5
60
W
13
(PE)
Key
Encoder connector
CMV1-R10P
13.5
58
20.9
152.8
Power supply connector
MS3102A18-10P
Model
0.5
BC41157*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-21-F0MCSYS-S
1/21
10.2
Output [kW]
HG-SR52G5
HG-SR524G5
U
V
Power supply connector
Motor flange direction
HPG-32A-33-F0MCSZS-S
1/33
9.96
HPG-32A-45-F0MCSZS-S
1/45
9.96
Mass [kg]
12
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
35+0.4
- 0.5
225.5
38.2
39.5 13 13
effective range)
6-M8 Screw hole depth 12
Caution plate
Caution plate
Motor
plate
Motor plate
(Opposite side)
54.5
60°
45°
Caution plate
Top
Bottom
Bottom
Top
Top
50.9
Bottom
Top
.5
C0
112.5
Bottom
13
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
(PE)
W
Key
20.9
164.8
V
U
Power supply connector
Motor flange direction
7 - 68
BC41158*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102G5
HG-SR1024G5
1.0
HPG-20A-05-F0KSAWS-S
1/5
12.3
9.0
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
- 0.5
227.5
38.2
Motor plate
(Opposite side)
Caution plate
Caution plate
Motor
plate
10
8
effective range)
6-M6 Screw hole depth 10
60°
45°
Top
Bottom
Bottom
Top
Top
C
0.
5
Bottom
112.5
Top
60
Caution plate
50.9
Bottom
25
(PE)
W
13
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
13.5
58
Model
Key
1.0
166.8
U
V
Power supply connector
Motor flange direction
BC41159*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-11-F0MCSPS-S
1/11
14.9
HPG-32A-21-F0MCSYS-S
1/21
14.5
Output [kW]
HG-SR102G5
HG-SR1024G5
20.9
Mass [kg]
13
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
239.5
38.2 Motor plate
(Opposite side)
Caution plate
Motor
plate
effective range)
60°
45°
Bottom
Bottom
Top
Top
C
Bottom
Top
0.
5
Caution plate
112.5
Top
39.5 13 13
6-M8 Screw hole depth 12
Caution plate
50.9
Bottom
35 +0.4
- 0.5
54.5
13
(PE)
W
Key
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
20.9
178.8
V
U
Power supply connector
Motor flange direction
7 - 69
BC41160*
7. HG-SR SERIES
Model
Output [kW]
HG-SR102G5
HG-SR1024G5
1.0
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-33-F0AABC-S
1/33
16.3
HPG-50A-45-F0AABC-S
1/45
16.2
Mass [kg]
23
[Unit: mm]
53 +0.5
- 0.8
255.5
38.2
130
Caution plate
7( 47H7 effective range)
122
Top
165h8
Top
163
Bottom
170
Bottom
C
0.
5
47H7
Top
45°
°
19
Caution plate
Bottom
.5
22
0
10
0
112.5
Top
16 13
Caution plate
50.9
Bottom
107
Motor plate
(Opposite side)
6×22.5°(=135°)
Motor
plate
For reverse rotation command
Rotation direction
14-M8 Screw hole depth 12 For forward rotation command
4- 14
170
13
Encoder connector
CMV1-R10P
13.5
58
(PE)
W
20.9
Key
194.8
Power supply connector
MS3102A18-10P
V
U
Power supply connector
Motor flange direction
BC41161*
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G5
HG-SR1524G5
1.5
HPG-20A-05-F0KSAWS-S
1/5
16.7
11
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
- 0.5
241.5
38.2
Caution plate
Motor
plate
60
10
8
effective range)
6-M6 Screw hole depth 10
Caution plate
60°
45°
Bottom
Top
Bottom
Bottom
Top
Top
C
0.
5
Caution plate
112.5
Top
Motor plate
(Opposite side)
50.9
Bottom
25
(PE)
Key
W
13
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
20.9
180.8
V
U
Power supply connector
Motor flange direction
7 - 70
BC41162*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G5
HG-SR1524G5
1.5
HPG-32A-11-F0MCSPS-S
1/11
19.3
14
[Unit: mm]
Bottom
Top
Top
114
84
Bottom
C
0.
5
Top
118
Bottom
60
5
13
112.5
Top
Caution plate
50.9
Bottom
Caution plate
115h7
Caution plate
Motor
plate
54.5
Motor plate
(Opposite side)
32H7
253.5
38.2
For reverse rotation command
Rotation direction
For forward rotation command
35+0.4
- 0.5
130
4- 11
39.5 13 13
120
5( 32H7 effective range)
45°
60°
6-M8 Screw hole depth 12
13
Key
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
13.5
58
(PE)
W
20.9
192.8
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR152G5
HG-SR1524G5
1.5
BC41163*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-F0AABC-S
1/21
21.7
HPG-50A-33-F0AABC-S
1/33
20.7
HPG-50A-45-F0AABC-S
1/45
20.6
Mass [kg]
24
[Unit: mm]
53 +0.5
- 0.8
269.5
38.2
Caution plate
Caution plate
Top
Bottom
Bottom
Top
Top
C
0.
5
Bottom
.5°
22
45°
112.5
Top
effective range)
Caution plate
50.9
Bottom
Motor plate
(Opposite side)
16 13
6×22.5°(=135°)
Motor
plate
107
For reverse rotation command
Rotation direction
14-M8 crew hole depth 12 For forward rotation command
13
13.5 Encoder connector
CMV1-R10P
58
Power supply connector
MS3102A18-10P
W
20.9
208.8
(PE)
Key
V
U
Power supply connector
Motor flange direction
7 - 71
BC41164*
7. HG-SR SERIES
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-05-F0PBZI-S
1/5
51.4
HPG-32A-11-F0PBZJ-S
1/11
51.2
Output [kW]
HG-SR202G5
HG-SR2024G5
2.0
Mass [kg]
19
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
267.5
91
38.5 Motor plate 25
(Opposite side)
12.5
Caution plate
Caution plate
35 +0.4
- 0.5
13 13
effective range)
6-M8 Screw hole depth 12
60°
Bottom
Top
Bottom
Bottom
Top
Top (Note)*
140.9
Top
50.9
Bottom
C
0.
5
Caution plate
Key
Encoder connector
CMV1-R10P
24.8
Power supply connector
MS3102A22-22P
82
(PE)
W
13
203.8
V
U
Power supply connector
Motor flange direction
BC41165*
Note. * is a screw hole for eyebolt (M8).
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-F0BBDF-S
1/21
53.2
Output [kW]
HG-SR202G5
HG-SR2024G5
2.0
HPG-50A-33-F0BBDF-S
1/33
52.2
HPG-50A-45-F0BBDF-S
1/45
52.2
Mass [kg]
29
[Unit: mm]
Caution plate
63
12.5
45 16
13
122
165h8
Top (Note)*
47H7
Bottom
Top
163
Bottom
140.9
Top
170
Bottom
.5
C0
13
(PE)
Key
W
Encoder connector
CMV1-R10P
0
19
0
10
Top
50.9
Bottom
129
Caution plate
22
.5°
Motor
plate
25
6×22.5°(=135°)
53+0.5
- 0.8
287.5
38.5 Motor plate
(Opposite side)
Caution plate
176
For reverse rotation command
Rotation direction
For forward rotation command
4- 14
180
14-M8 Screw hole depth 12
170
7( 47H7 effective range)
24.8
82
Power supply connector
MS3102A22-22P
223.8
V
U
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 72
BC41166*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352G5
HG-SR3524G5
3.5
HPG-32A-05-F0PBZI-S
1/5
83.2
24
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
35+0.4
- 0.5
291.5
91
25
38.5 Motor plate
(Opposite side)
12.5
Caution plate
Caution plate
13 13
effective range)
6-M8 Screw hole depth 12
60°
Top
Bottom
Bottom
Top
Top
(Note)*
140.9
Top
Bottom
50.9
Bottom
C
0.
5
Caution plate
(PE)
W
13
Encoder connector
CMV1-R10P
Key
24.8
Power supply connector
MS3102A22-22P
82
227.8
V
U
Power supply connector
Motor flange direction
BC41167*
Note. * is a screw hole for eyebolt (M8).
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-11-F0BBDF-S
1/11
86.7
HPG-50A-21-F0BBDF-S
1/21
85.0
Output [kW]
HG-SR352G5
HG-SR3524G5
3.5
Mass [kg]
34
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
+0.5
- 0.8
14-M8 Screw hole depth 12
effective range)
13
°
Caution plate
53
45 16
Bottom
Bottom
Top
Top
0.
5
Bottom
(Note)*
140.9
Top
Top
50.9
C
Bottom
6×22.5°(=135°)
Caution plate
22
.5
Motor
plate
311.5
38.5 Motor plate
25
63
(Opposite side)
12.5
Caution plate
13
(PE)
W
Encoder connector
CMV1-R10P
Key
24.8
82
Power supply connector
MS3102A22-22P
247.8
V
U
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 73
BC41168*
7. HG-SR SERIES
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-05-F0BBCF-S
1/5
110
36
HPG-50A-11-F0BBDF-S
1/11
108
38
Output [kW]
HG-SR502G5
HG-SR5024G5
5.0
Mass [kg]
[Unit: mm]
Motor
plate
Caution plate
53+0.5
- 0.8
45 16
13
6×22.5°(=135°)
122
165h8
(Note)*
47H7
0.
5
Top
C
Bottom
Top
163
Bottom
140.9
Top
170
Bottom
13
Encoder connector
CMV1-R10P
0
19
0
10
Top
50.9
Bottom
129
Caution plate
22
.5°
327.5
38.5 Motor plate
25
63
(Opposite side)
12.5
Caution plate
176
For reverse rotation command
Rotation direction
For forward rotation command
4- 14
180
14-M8 Screw hole depth 12
170
7( 47H7 effective range)
(PE)
W
Key
24.8
Power supply connector
MS3102A22-22P
82
263.8
V
U
Power supply connector
Motor flange direction
BC41169*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702G5
HG-SR7024G5
7.0
HPG-50A-05-F0BBCF-S
1/5
161
43
[Unit: mm]
Motor
plate
Caution plate
25
63
45 16
13
12.5
6×22.5°(=135°)
122
165h8
(Note)*
47H7
0.
5
C
Top
163
Bottom
Top
170
Bottom
50.9
Top
149.1
Bottom
Top
0
19
0
10
Bottom
129
Caution plate
22
.5°
53+0.5
- 0.8
367.5
Motor plate
(Opposite side)
Caution plate
38.5
176
For reverse rotation command
Rotation direction
For forward rotation command
4- 14
180
14-M8 Screw hole depth 12
170
7( 47H7 effective range)
13
Encoder connector
CMV1-R10P
82
Power supply connector
MS3102A32-17P
(PE)
Key
W
32
295.8
V
U
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 74
BC41170*
7. HG-SR SERIES
7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake)
Model
Output
[kW]
HG-SR52BG5
HG-SR524BG5
0.5
Reduction
ratio
Reducer model
HPG-20A-05-F0KSAWS-S
1/5
HPG-20A-11-F0KSAXS-S
1/11
Brake static friction torque
[N•m]
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
8.5
10.1
9.5
10.0
9.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
- 0.5
248
43.5
Motor plate
Caution plate
25
Motor plate
(Opposite side)
60
10
8
effective range)
60°
6-M6 Screw hole depth 10
Caution plate
Top
Bottom
Top
Top
112.5
Top
79.9
50.9
Bottom
Bottom
29
13.5
58
13
59
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
C
0.
5
Caution plate
Bottom
20.9
152.8
Key
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output
[kW]
HG-SR52BG5
HG-SR524BG5
0.5
Reduction
ratio
Reducer model
HPG-32A-21-F0MCSYS-S
1/21
HPG-32A-33-F0MCSZS-S
1/33
HPG-32A-45-F0MCSZS-S
1/45
(PE)
W
Main key
position mark
Power supply connector
MS3102A18-10P
U
Power supply connector
Motor flange direction
BC41225*
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
8.5
12.2
Mass
[kg]
12.4
14
12.2
[Unit: mm]
For forward rotation command
Rotation direction
For forward rotation command
43.5
Motor plate
35 +0.4
- 0.5
260
Motor plate
(Opposite side)
54.5
effective range)
Caution plate
Caution plate
39.5 13 13
6-M8 Screw hole depth 12
60°
45°
112.5
29
Bottom
Top
Top
79.9
50.9
Top
Top
Bottom
13.5
58
Encoder connector
CMV1-R10P
C
Bottom
0.
5
Caution plate
Bottom
13
59
20.9
Electromagnetic brake connector
CMV1-R2P
164.8
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 75
(PE)
W
Key
V
U
Power supply connector
Motor flange direction
BC41226*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR102BG5
HG-SR1024BG5
1.0
HPG-20A-05-F0KSAWS-S
1/5
8.5
14.5
11
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
- 0.5
262
43.5
Motor plate
Caution plate
25
Motor plate
(Opposite side)
10
60
8
effective range)
6-M6 Screw hole depth 10
Caution plate
60°
45°
Bottom
Bottom
Top
Top
112.5
79.9
50.9
Top
Top
Bottom
29
13.5
58
Encoder connector
CMV1-R10P
C
0.
5
Caution plate
Bottom
13
59
20.9
Electromagnetic brake connector
CMV1-R2P
166.8
Power supply connector
MS3102A18-10P
Key
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output
[kW]
HG-SR102BG5
HG-SR1024BG5
1.0
Reduction
ratio
Reducer model
HPG-32A-11-F0MCSPS-S
1/11
HPG-32A-21-F0MCSYS-S
1/21
(PE)
W
Main key
position mark
U
Power supply connector
Motor flange direction
Brake static friction torque
[N•m]
BC41227*
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
17.1
8.5
15
16.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
35 +0.4
- 0.5
274
5( 32H7 effective range)
6-M8 Screw hole depth 12
112.5
29
13.5
58
Bottom
Top
Top
13
Encoder connector
59
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
84
Bottom
45°
60
115h7
Top
79.9
50.9
Bottom
Top
60°
4- 11
5
13
32h7
Caution plate
Caution plate
Bottom
130
120
114
Caution plate
Motor plate
(Opposite side)
39.5 13 13
118
Motor plate
54.5
C
0.
5
43.5
20.9
178.8
Main key
position mark
Power supply connector
MS3102A18-10P
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 76
(PE)
W
Key
V
U
Power supply connector
Motor flange direction
BC41228*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR102BG5
HG-SR1024BG5
1.5
Reduction
ratio
Reducer model
HPG-50A-33-F0AABC-S
1/33
HPG-50A-45-F0AABC-S
1/45
Brake static friction torque
[N•m]
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
18.5
8.5
25
18.4
[Unit: mm]
53+0.5
- 0.8
290
□130
43.5
Caution plate
107
Motor plate
(Opposite side)
112.5
Top
φ122
φ165h8
Bottom
Top
φ170
Bottom
C
0.
5
φ47H7
Top
79.9
50.9
Bottom
Top
6×22.5°(=135°)
Caution plate
Caution plate
Bottom
16 13
φ163
Motor plate
For reverse rotation command
Rotation direction
For forward rotation command
4-φ14
□170
14-M8 Screw hole depth 12
45°
.5 °
7(φ47H7 effective range)
22
90
φ1
φ1
00
13
59
13.5
58
29
20.9
Encoder connector
CMV1-R10P
194.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
(PE)
W
Main key
position mark
Key
Electromagnetic brake
V
U
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
BC41229A
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR152BG5
HG-SR1524BG5
1.5
HPG-20A-05-F0KSAWS-S
1/5
8.5
18.9
13
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
27 +0.4
- 0.5
276
43.5
Motor plate
25
60
10
Motor plate
(Opposite side
Caution plate
Caution plate
8
effective range)
6-M6 Screw hole depth 10
60°
45°
Bottom
Bottom
Top
Top
112.5
79.9
50.9
Top
Top
Bottom
Encoder connector
CMV1-R10P
29
13.5
58
C
0.
5
Caution plate
Bottom
13
59
Electromagnetic brake connector
CMV1-R2P
20.9
180.8
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 77
(PE)
W
Key
V
U
Power supply connector
Motor flange direction
BC41230*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR152BG5
HG-SR1524BG5
1.5
HPG-32A-11-F0MCSPS-S
1/11
8.5
21.5
16
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
35 +0.4
- 0.5
288
43.5
Motor plate
Caution plate
54.5
Motor plate
(Opposite side)
39.5 13 13
effective range)
6-M8 Screw hole depth 12
Caution plate
60°
45°
Top
112.5
Bottom
Top
13.5
29
58
13
Encoder connector
59
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
C
Top
Top
Bottom
79.9
50.9
Bottom
0.
5
Caution plate
Bottom
20.9
192.8
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Model
Output
[kW]
HG-SR152BG5
HG-SR1524BG5
1.5
Reducer model
Reduction
ratio
HPG-50A-21-F0AABC-S
1/21
HPG-50A-33-F0AABC-S
1/33
HPG-50A-45-F0AABC-S
1/45
(PE)
W
Main key
position mark
Key
V
U
Power supply connector
Motor flange direction
Brake static friction torque
[N•m]
BC41231*
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
23.9
8.5
26
22.9
22.8
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
53+0.5
- 0.8
304
43.5
Caution plate
107
Motor plate
(Opposite side)
16 13
14-M8 Screw hole depth 12
effective range)
Bottom
Top
Bottom
Top
79.9
50.9
Top
112.5
Top
C
0.
5
Bottom
°
45°
Caution plate
Caution plate
Bottom
.5
22
6×22.5°(=135°)
Motor plate
13
59
29
13.5
58
Encoder connector
CMV1-R10P
20.9
208.8
Main key
position mark
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 78
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41232*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR202BG5
HG-SR2024BG5
2.0
Reduction
ratio
Reducer model
HGP-32A-05-F0PBZI-S
1/5
HGP-32A-11-F0PBZJ-S
1/11
Brake static friction torque
[N•m]
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
61.1
44
25
60.9
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
35 +0.4
- 0.5
317
Motor
plate
45.5 Motor plate
(Opposite side)
Caution plate
Caution plate
25
91
13 13
effective range)
6-M8 Screw hole depth 12
12.5
Caution plate
Top
Bottom
Bottom
Top
Top (Note)*
13
66.5
140.9
Encoder connector
CMV1-R10P
44
82
C
0.
5
Bottom
Top
96.9
50.9
Bottom
45°
60°
24.8
Electromagnetic brake connector
CMV1-R2P
203.8
Power supply connector
MS3102A22-22P
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
(PE)
Key
W
Main key
position mark
U
Power supply connector
Motor flange direction
BC41233*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
HG-SR202BG5
HG-SR2024BG5
2.0
Reducer model
Reduction
ratio
HPG-50A-21-F0BBDF-S
1/21
HPG-50A-33-F0BBDF-S
1/33
HPG-50A-45-F0BBDF-S
1/45
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
62.9
44
61.9
35
61.9
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
Caution plate
53+0.5
- 0.8
45 16
14-M8 Screw hole depth 12
13
effective range)
44
82
13
Encoder connector
66.5
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
5
Top
C
0.
Bottom
Top
96.9
50.9
Top
Bottom
140.9
Top
Bottom
6×22.5°(=135°)
Caution plate
Bottom
(Note)*
45°
22
.5°
337
Motor plate
25
63
(Opposite side)
12.5
Caution plate
45.5
24.8
223.8
Power supply connector
MS3102A22-22P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 79
W
(PE)
Key
U
V
Power supply connector
Motor flange direction
BC41234*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR352BG5
HG-SR3524BG5
3.5
HPG-32A-05-F0PBZI-S
1/5
44
92.8
30
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
35 +0.4
- 0.5
341
Motor plate
(Opposite side)
Caution plate
45.5
Caution plate
25
91
13 13
effective range
6-M8 Screw hole depth 12
12.5
Top
Bottom
Bottom
Top
Top
140.9
96.9
50.9
Bottom
Top
44
82
13
66.5
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
C
0.
5
Caution plate
Bottom
45°
60°
(Note)*
24.8
227.8
Power supply connector
MS3102A22-22P
(PE)
Key
W
Main key
position mark
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
U
Power supply connector
Motor flange direction
BC41235*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
HG-SR352BG5
HG-SR3524BG5
3.5
Reduction
ratio
Reducer model
HPG-50A-11-F0BBDF-S
1/11
HPG-50A-21-F0BBDF-S
1/21
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
96.3
44
94.6
Mass
[kg]
40
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
53+0.5
- 0.8
361
Caution plate
25
63
12.5
45 16
13
14-M8 Screw hole depth 12
effective range)
Bottom
Top
Top
0.
5
Bottom
Top
140.9
Top
96.9
50.9
C
Bottom
6×22.5°(=135°)
Caution plate
Bottom
Encoder connector
CMV1-R10P
44
82
(Note)*
45°
22
.5°
Motor
plate
45.5 Motor plate
(Opposite side)
Caution plate
13
66.5
Electromagnetic brake connector
CMV1-R2P
24.8
247.8
Power supply connector
MS3102A22-22P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 80
(PE)
Key
W
V
U
Power supply connector
Motor flange direction
BC41236*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR502BG5
HG-SR5024BG5
5.0
Reduction
ratio
Reducer model
HPG-50A-05-F0BBCF-S
1/5
HPG-50A-11-F0BBDF-S
1/11
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
44
Mass
[kg]
119
42
117
44
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
Caution plate
Motor plate
(Opposite side)
25
63
45 16
12.5
Caution plate
53+0.5
- 0.8
13 14-M8 Screw hole depth 12
effective range)
Top
82
(Note)*
13
66.5
Encoder connector
CMV1-R10P
44
C
0.
5
Bottom
Top
96.9
50.9
Top
Bottom
140.9
Top
Bottom
6×22.5°(=135°)
Caution plate
Bottom
45°
22
.5 °
377
45.5
24.8
Electromagnetic brake connector
CMV1-R2P
263.8
Power supply connector
MS3102A22-22P
(PE)
Key
W
Main key
position mark
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
U
Power supply connector
Motor flange direction
BC41237*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR702BG5
HG-SR7024BG5
7.0
HPG-50A-05-F0BBCF-S
1/5
44
171
49
[Unit: mm]
149.1
Bottom
Bottom
Top
Top
(Note)*
22
.5°
6×22.5°(=135°)
Top
φ122
φ165h8
Bottom
90
φ1
00
φ1
Top
96.9
50.9
Bottom
φ129
Caution plate
63
12.5
φ47H7
25
C
0.
5
Caution plate
Motor plate
(Opposite side
Caution plate
φ163
Motor
plate
45.5
φ170
417
□176
For reverse rotation command
Rotation direction
For forward rotation command
4-φ14
53 +0.5
□180
- 0.8
□170
45 16 13 14-M8 Screw hole depth 12
7(φ47H7 effective range)
45°
13
66.5
44
Encoder connector
CMV1-R10P
32
82
Electromagnetic brake connector
CMV1-R2P
295.8
Main key
position mark
Power supply connector
MS3102A32-17P
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 81
(PE)
W
Key
V
U
Power supply connector
Motor flange direction
BC41238A
7. HG-SR SERIES
7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake)
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-20A-05-J2KSAWS-S
1/5
7.95
8.0
HPG-20A-11-J2KSAXS-S
1/11
7.82
8.2
Output [kW]
HG-SR52G7
HG-SR524G7
0.5
Mass [kg]
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Caution plate
Motor
plate
42
45°
Top
Bottom
Bottom
Top
Top
4
0.
R
112.5
Top
10 27
8
60
Caution plate
Bottom
50.9
Bottom
80
213.5
25
38.2
Motor plate
(Opposite side)
Caution plate
(PE)
W
13
13.5
58
Model
Key
Encoder connector
CMV1-R10P
20.9
152.8
Power supply connector
MS3102A18-10P
0.5
BC41171*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-21-J2MCSYS-S
1/21
10.2
Output [kW]
HG-SR52G7
HG-SR524G7
V
U
Power supply connector
Motor flange direction
HPG-32A-33-J2MCSZS-S
1/33
9.96
HPG-32A-45-J2MCSZS-S
1/45
9.96
Mass [kg]
13
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
225.5
38.2 Motor plate
(Opposite side)
Bottom
Bottom
Top
Top
82
45
°
Bottom
Top
R
0.
4
112.5
Top
35
13
Caution plate
50.9
Bottom
39.5 13
Caution plate
Caution plate
Motor
plate
133
54.5
13
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
W
(PE)
Key
20.9
164.8
V
U
Power supply connector
Motor flange direction
7 - 82
BC41172*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR102G7
HG-SR1024G7
1.0
HPG-20A-05-J2KSAWS-S
1/5
12.3
9.4
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
80
227.5
38.2
Caution plate
Motor plate
25
Motor plate
(Opposite side)
60
10 27
8
42
45°
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
112.5
Bottom
Key
Encoder connector
CMV1-R10P
13.5
58
20.9
166.8
Power supply connector
MS3102A18-10P
Model
Output [kW]
HG-SR102G7
HG-SR1024G7
1.0
(PE)
W
13
V
U
Power supply connector
Motor flange direction
BC41173*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-32A-11-J2MCSPS-S
1/11
15.0
HPG-32A-21-J2MCSYS-S
1/21
14.5
Mass [kg]
15
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
239.5
38.2
Caution plate
133
54.5
Motor plate
(Opposite side)
39.5 13
35
13
82
45
Caution plate
°
Motor plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
112.5
Bottom
W
13
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
(PE)
Key
20.9
178.8
V
U
Power supply connector
Motor flange direction
7 - 83
BC41174*
7. HG-SR SERIES
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-33-J2AABC-S
1/33
16.3
HPG-50A-45-J2AABC-S
1/45
16.3
Output [kW]
HG-SR102G7
HG-SR1024G7
1.0
Mass [kg]
26
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
255.5
38.2
Caution plate
Motor
plate
156
107
Motor plate
(Opposite side)
16
53
82
45°
13
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
112.5
Bottom
13
58
(PE)
W
Encoder connector
CMV1-R10P
13.5
20.9
Key
194.8
Power supply connector
MS3102A18-10P
V
U
Power supply connector
Motor flange direction
BC41175*
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G7
HG-SR1524G7
1.5
HPG-20A-05-J2KSAWS-S
1/5
16.7
11
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
241.5
38.2
Caution plate
Motor
plate
80
25
Motor plate
(Opposite side)
60
10 27
8
42
45°
Caution plate
Caution plate
Top
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
Top
112.5
Bottom
13.5
58
Encoder connector
CMV1-R10P
Power supply connector
MS3102A18-10P
(PE)
Key
W
13
20.9
180.8
V
U
Power supply connector
Motor flange direction
7 - 84
BC41176*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR152G7
HG-SR1524G7
1.5
HPG-32A-11-J2MCSPS-S
1/11
19.4
16
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
133
253.5
38.2
Caution plate
54.5
Motor plate
(Opposite side)
39.5 13
82
35
13
45
Caution plate
°
Motor plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
R
50.9
Bottom
4
0.
112.5
Bottom
13
58
Key
Encoder connector
CMV1-R10P
13.5
(PE)
W
20.9
192.8
Power supply connector
MS3102A18-10P
V
U
Power supply connector
Motor flange direction
Model
Output [kW]
HG-SR152G7
HG-SR1524G7
1.5
BC41177*
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-J2AABC-S
1/21
21.7
HPG-50A-33-J2AABC-S
1/33
20.7
HPG-50A-45-J2AABC-S
1/45
20.7
Mass [kg]
27
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
269.5
38.2
Caution plate
Motor
plate
156
107
Motor plate
(Opposite side)
16
53
82
45°
13
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
112.5
Bottom
13
Encoder connector
13.5
CMV1-R10P
58
Power supply connector
MS3102A18-10P
W
20.9
(PE)
Key
208.8
V
U
Power supply connector
Motor flange direction
7 - 85
BC41178*
7. HG-SR SERIES
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-32A-05-J2PBZI-S
1/5
51.7
20
HPG-32A-11-J2PBZJ-S
1/11
51.3
21
Output [kW]
HG-SR202G7
HG-SR2024G7
2.0
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
267.5
38.5 Motor plate 25
91
(Opposite side)
12.5
Caution plate
Caution plate
Motor plate
133
13 35
13
82
Caution plate
Bottom
Top
Bottom
Bottom
Top
Top
4
0.
R
140.9
Top
50.9
Bottom
(Note)*
(PE)
Key
W
13
Encoder connector
CMV1-R10P
Power supply connector
MS3102A22-22P
82
24.8
V
203.8
U
Power supply connector
Motor flange direction
BC41179*
Note. * is a screw hole for eyebolt (M8).
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-21-J2BBDF-S
1/21
53.3
Output [kW]
HG-SR202G7
HG-SR2024G7
2.0
HPG-50A-33-J2BBDF-S
1/33
52.2
HPG-50A-45-J2BBDF-S
1/45
52.2
Mass [kg]
32
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor plate
38.5 Motor plate
(Opposite side)
Caution plate
Caution plate
287.5
25
156
63
12.5
45 16
53
13
82
Caution plate
Bottom
Top
Top
Bottom
Bottom
Top
Top
R
50.9
Bottom
140.9
4
0.
(Note)*
13
(PE)
Key
W
Encoder connector
CMV1-R10P
24.8
82
Power supply connector
MS3102A22-22P
223.8
V
U
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 86
BC41180*
7. HG-SR SERIES
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR352G7
HG-SR3524G7
3.5
HPG-32A-05-J2PBZI-S
1/5
83.5
25
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
Motor
plate
133
291.5
25
38.5 Motor plate
91
(Opposite side)
12.5
Caution plate
Caution plate
13 35
13
82
Caution plate
Bottom
Top
Bottom
Top
Bottom
Top
4
0.
R
140.9
Top
50.9
Bottom
Encoder connector
CMV1-R10P
24.8
Power supply connector
MS3102A22-22P
82
(PE)
Key
W
(Note)*
13
227.8
U
V
Power supply connector
Motor flange direction
BC41181*
Note. * is a screw hole for eyebolt (M8).
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
HPG-50A-11-J2BBDF-S
1/11
87.0
HPG-50A-21-J2BBDF-S
1/21
85.1
Output [kW]
HG-SR352G7
HG-SR3524G7
3.5
Mass [kg]
37
[Unit: mm]
311.5
25
63
38.5 Motor plate
(Opposite side)
12.5
Caution plate
176
Motor
plate
Caution plate
For reverse rotation command
Rotation direction
For forward rotation command
4- 14
180
170
156
45 16
53
13
82
45°
165h8
122
56
Top
0
19
50h7
Top
163
Bottom
170
Bottom
4
0.
R
140.9
Top
Bottom
Top
50.9
Bottom
129
Caution plate
(Note)*
13
ncoder connector
CMV1-R10P
W
(PE)
Key
24.8
82
Power supply connector
MS3102A22-22P
247.8
V
U
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 87
BC41182*
7. HG-SR SERIES
Model
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HPG-50A-05-J2BBCF-S
1/5
111
39
HPG-50A-11-J2BBDF-S
1/11
108
41
Output [kW]
HG-SR502G7
HG-SR5024G7
5.0
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
327.5
38.5 Motor plate
25
63
(Opposite side)
12.5
Caution plate
Caution plate
Motor plate
156
45 16
53
13
82
Caution plate
Bottom
Top
Bottom
Bottom
Top
Top
4
0.
R
140.9
Top
50.9
Bottom
(Note)*
13
Encoder connector
CMV1-R10P
(PE)
Key
W
24.8
Power supply connector
MS3102A22-22P
82
263.8
V
U
Power supply connector
Motor flange direction
BC41183*
Note. * is a screw hole for eyebolt (M8).
Model
Output [kW]
Reducer model
Reduction ratio
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-SR702G7
HG-SR7024G7
7.0
HPG-50A-05-J2BBCF-S
1/5
163
46
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
156
367.5
38.5 Motor plate
(Opposite side)
Caution plate
Caution plate
Motor plate
25
63
12.5
45 16
53
82
13
Caution plate
Bottom
Top
Bottom
Bottom
Top
Top
4
0.
R
149.1
Top
50.9
Bottom
(Note)*
13
Encoder connector
CMV1-R10P
82
Power supply connector
MS3102A32-17P
W
(PE)
Key
32
295.8
U
V
Power supply connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 88
BC41184*
7. HG-SR SERIES
7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake)
Model
Output
[kW]
HG-SR52BG7
HG-SR524BG7
0.5
Reduction
ratio
Reducer model
HPG-20A-05-J2KSAWS-S
1/5
HPG-20A-11-J2KSAXS-S
1/11
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
10.2
9.9
10.0
11
8.5
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
248
Motor plate
(Opposite side)
43.5
Motor plate
80
25
60
10 27
8
42
45°
Caution plate
Caution plate
Caution plate
Bottom
Top
29
13.5
58
Bottom
Bottom
Top
Top
4
0.
R
112.5
Top
79.9
50.9
Bottom
13
59
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
20.9
152.8
Main key
position mark
Power supply connector
MS3102A18-10P
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Model
Output
[kW]
HG-SR52BG7
HG-SR524BG7
0.5
Reducer model
Reduction
ratio
HPG-32A-21-J2MCSYS-S
1/21
HPG-32A-33-J2MCSZS-S
1/33
HPG-32A-45-J2MCSZS-S
1/45
Brake static friction torque
[N•m]
(PE)
Key
W
U
Power supply connector
Motor flange direction
BC41239*
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
12.4
8.5
15
12.2
12.2
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
43.5
Motor plate
260
Motor plate
(Opposite side)
133
54.5
39.5 13 35
13
82
45°
Caution plate
Caution plate
Caution plate
Bottom
Top
Bottom
Bottom
Top
Top
4
0.
R
112.5
Top
79.9
50.9
Bottom
13
59
29
13.5
58
Encoder connector
CMV1-R10P
20.9
164.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 89
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41240*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR102BG7
HG-SR1024BG7
1.0
HPG-20A-05-J2KSAWS-S
1/5
8.5
14.5
12
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
262
43.5
Motor plate
80
25
Motor plate
(Opposite side)
60
10 42
8
27
45°
Caution plate
Caution plate
Caution plate
Top
Top
Bottom
Bottom
Top
Top
4
0.
R
79.9
50.9
Bottom
112.5
Bottom
13
Encoder connector
CMV1-R10P
29
13.5
58
59
20.9
Electromagnetic brake connector
CMV1-R2P
166.8
Main key
position mark
Power supply connector
MS3102A18-10P
Electromagnetic brake
Output
[kW]
HG-SR102BG7
HG-SR1024BG7
1.0
Reduction
ratio
Reducer model
HPG-32A-11-J2MCSPS-S
1/11
HPG-32A-21-J2MCSYS-S
1/21
(PE)
Key
V
U
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
Model
W
Brake static friction torque
[N•m]
BC41241*
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
17.2
8.5
17
16.7
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
133
274
43.5
Motor plate
54.5
Motor plate
(Opposite side)
39.5 13
35
13
130
120
82
45
Caution plate
Caution plate
44
84
115h7
4
0.
R
79.9
50.9
Top
°
5
13
40h7
114
Bottom
Bottom
Top
112.5
Top
Bottom
Top
118
Caution plate
Bottom
4- 11
13
59
29
13.5
58
Encoder connector
CMV1-R10P
20.9
178.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 90
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41242*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR102BG7
HG-SR1024BG7
1.0
Reduction
ratio
Reducer model
HPG-50A-33-J2AABC-S
1/33
HPG-50A-45-J2AABC-S
1/45
Brake static friction torque
[N•m]
Mass
[kg]
Moment of inertia J
[× 10-4 kg•m2]
18.5
8.5
28
18.5
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
290
Motor plate
43.5
Caution plate
156
107
Motor plate
(Opposite side)
16
82
53
45°
13
Caution plate
Caution plate
Bottom
Top
Bottom
Top
4
0.
R
112.5
Top
Bottom
Top
79.9
50.9
Bottom
13
59
29
13.5
58
20.9
Encoder connector
CMV1-R10P
194.8
Electromagnetic brake connector
CMV1-R2P
Main key
position mark
Power supply connector
MS3102A18-10P
Electromagnetic brake
Key
V
Electromagnetic brake connector
Motor flange direction
(PE)
W
U
Power supply connector
Motor flange direction
BC41243*
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR152BG7
HG-SR1524BG7
1.5
HPG-20A-05-J2KSAWS-S
1/5
8.5
18.9
13
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
276
43.5
Motor plate
80
25
Motor plate
(Opposite side)
60
10 27
8
42
45°
Caution plate
Caution plate
Caution plate
Bottom
Bottom
Top
Top
4
0.
R
50.9
Bottom
Top
112.5
Top
79.9
Bottom
13
59
29
13.5
58
Encoder connector
CMV1-R10P
20.9
180.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 91
W
(PE)
Key
V
U
Power supply connector
Motor flange direction
BC41244*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR152BG7
HG-SR1524BG7
1.5
HPG-32A-11-J2MCSPS-S
1/11
8.5
21.6
18
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
288
43.5
Motor plate
Caution plate
133
39.5 13 35
13
54.5
Motor plate
(Opposite side)
82
45°
Caution plate
Caution plate
Bottom
Top
Top
Bottom
Bottom
Top
Top
112.5
4
0.
R
79.9
50.9
Bottom
13
59
29
13.5
58
20.9
Encoder connector
CMV1-R10P
192.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Model
Output
[kW]
HG-SR152BG7
HG-SR1524BG7
1.5
Key
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
Reducer model
Reduction
ratio
HPG-50A-21-J2AABC-S
1/21
HPG-50A-33-J2AABC-S
1/33
HPG-50A-45-J2AABC-S
1/45
(PE)
W
Main key
position mark
U
Power supply connector
Motor flange direction
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
BC41245*
Mass
[kg]
23.9
8.5
22.9
29
22.9
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
304
Motor plate
43.5
Caution plate
156
107
Motor plate
(Opposite side)
16
53
82
45°
13
Caution plate
Caution plate
Bottom
Bottom
Top
Top
4
0.
R
112.5
Top
Bottom
Top
79.9
50.9
Bottom
13
59
29
13.5
58
20.9
Encoder connector
CMV1-R10P
208.8
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A18-10P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
7 - 92
W
(PE)
Key
U
V
Power supply connector
Motor flange direction
BC41246*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR202BG7
HG-SR2024BG7
2.0
Reduction
ratio
Reducer model
HPG-32A-05-J2PBZI-S
1/5
HPG-32A-11-J2PBZJ-S
1/11
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
61.4
26
61.0
27
44
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
317
Motor plate
(Opposite side)
Caution plate
45.5
Motor
plate
Caution plate
133
25
91
12.5
13 35
13
82
45°
Caution plate
Bottom
140.9
Top
4
0.
R
96.9
Top
Bottom
Top
Bottom
Top
50.9
Bottom
(Note)*
Encoder connector
CMV1-R10P
44
82
13
66.5
24.8
Electromagnetic brake connector
CMV1-R2P
203.8
Power supply connector
MS3102A22-22P
(PE)
Key
W
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
V
U
Power supply connector
Motor flange direction
BC41247*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
HG-SR202BG7
HG-SR2024BG7
2.0
Reducer model
Reduction
ratio
HPG-50A-21-J2BBDF-S
1/21
HPG-50A-33-J2BBDF-S
1/33
HPG-50A-45-J2BBDF-S
1/45
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
63.0
44
61.9
38
61.9
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
45.5
Motor
plate
Caution plate
337
Motor plate
25
63
(Opposite side)
12.5
Caution plate
156
45 16
53
82
13
45°
Caution plate
Bottom
Top
Top
44
82
4
0.
Encoder connector
CMV1-R10P
R
50.9
Bottom
Top
140.9
Top
Bottom
96.9
Bottom
(Note)*
13
66.5
Electromagnetic brake connector
CMV1-R2P
24.8
223.8
Power supply connector
MS3102A22-22P
Main key
position mark
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 93
(PE)
Key
W
V
U
Power supply connector
Motor flange direction
BC41248*
7. HG-SR SERIES
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR352BG7
HG-SR3524BG7
3.5
HPG-32A-05-J2PBZI-S
1/5
44
93.1
31
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
341
Motor
plate
133
45.5 Motor plate
(Opposite side)
Caution plate
Caution plate
25
13 35
13
91
12.5
82
45°
Caution plate
Bottom
Top
Bottom
Bottom
Top
Top
4
0.
R
140.9
Top
96.9
50.9
Bottom
(Note)*
13
66.5
Encoder connector
CMV1-R10P
44
82
Electromagnetic brake connector
CMV1-R2P
24.8
227.8
Power supply connector
MS3102A22-22P
(PE)
W
Main key
position mark
Key
Electromagnetic brake
V
Electromagnetic brake connector
Motor flange direction
U
Power supply connector
Motor flange direction
BC41249*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
HG-SR352BG7
HG-SR3524BG7
3.5
Reduction
ratio
Reducer model
HPG-50A-11-J2BBDF-S
1/11
HPG-50A-21-J2BBDF-S
1/21
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
96.6
44
94.7
Mass
[kg]
43
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
361
45.5
Motor
plate
Caution plate
Motor plate
(Opposite side)
Caution plate
156
25
63
12.5
45 16
53
13
82
45°
Caution plate
Bottom
Top
Bottom
Top
Bottom
Encoder connector
CMV1-R10P
44
82
Top
4
0.
R
140.9
Top
96.9
50.9
Bottom
(Note)*
13
66.5
Electromagnetic brake connector
CMV1-R2P
24.8
247.8
Main key
position mark
Power supply connector
MS3102A22-22P
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 94
(PE)
Key
W
V
U
Power supply connector
Motor flange direction
BC41250*
7. HG-SR SERIES
Model
Output
[kW]
HG-SR502BG7
HG-SR5024BG7
5.0
Reduction
ratio
Reducer model
HPG-50A-05-J2BBCF-S
1/5
HPG-50A-11-J2BBDF-S
1/11
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
121
45
117
47
44
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
377
45.5
Motor
plate
156
Motor plate
(Opposite side)
Caution plate
Caution plate
25
63
12.5
45 16
53
82
13
45°
Caution plate
Top
Bottom
Top
4
0.
R
140.9
Top
Bottom
Bottom
Top
96.9
50.9
Bottom
(Note)*
13
66.5
Encoder connector
CMV1-R10P
44
82
24.8
263.8
Electromagnetic brake connector
CMV1-R2P
(PE)
Key
W
Main key
position mark
Power supply connector
MS3102A22-22P
Electromagnetic brake
U
V
Power supply connector
Motor flange direction
Electromagnetic brake connector
Motor flange direction
BC41251*
Note. * is a screw hole for eyebolt (M8).
Model
Output
[kW]
Reducer model
Reduction
ratio
Brake static friction torque
[N•m]
Moment of inertia J
[× 10-4 kg•m2]
Mass
[kg]
HG-SR702BG7
HG-SR7024BG7
7.0
HPG-50A-05-J2BBCF-S
1/5
44
173
52
[Unit: mm]
For reverse rotation command
Rotation direction
For forward rotation command
156
417
45.5
Motor
plate
Caution plate
Motor plate
(Opposite side)
25
63
45 16
12.5
Caution plate
53
82
13
Caution plate
Bottom
Bottom
Top
Top
4
0.
R
149.1
Top
Bottom
Top
96.9
50.9
Bottom
(Note)*
13
66.5
44
82
Encoder connector
CMV1-R10P
32
295.8
Electromagnetic brake connector
CMV1-R2P
Main key
position mark
Power supply connector
MS3102A32-17P
(PE)
Key
W
C
B
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Note. * is a screw hole for eyebolt (M8).
7 - 95
V
D
A
U
Power supply connector
Motor flange direction
BC41252*
7. HG-SR SERIES
MEMO
7 - 96
8. HG-JR SERIES
8. HG-JR SERIES
POINT
HG-JR22K1M(4) with an electromagnetic brake is not available.
This chapter provides information on the servo motor specifications and characteristics. When using the HGJR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to
5, in addition to this chapter.
8.1 Model designation
The following describes model designation. Not all combinations of the symbols are available.
HG- J R5 3 4BK
Series
Appearance
Shaft type
Symbol
Shaft shape
None
Standard
(straight shaft)
K
(Note) Keyway shaft
Rated output
Symbol
Rated output [kW]
5
0.5
7
0.75
None
None
10
1
B
With
15
1.5
20
2
35
3.5
50
5
70
7
Electromagnetic brake
Symbol Electromagnetic brake
Power supply voltage of servo amplifier
Symbol
Voltage
None
3-phase 200 V AC to 240 V AC
4
3-phase 380 V AC to 480 V AC
90
9
11K
11
Symbol
Speed [r/min]
15K
15
1M
1500
22K
22
3
3000
Rated speed
Note. Key is not included.
8- 1
8. HG-JR SERIES
8.2 Combination list of servo motors and servo amplifiers
(1) Compatible with 3-phase 200 V AC
Servo motor
Standard
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
HG-JR503
HG-JR703
HG-JR903
HG-JR11K1M
MR-J4-60A
MR-J4-60A-RJ
MR-J4-60B
MR-J4-60B-RJ
MR-J4-60B-RJ010
MR-J4-60B-RJ020
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70B-RJ010
MR-J4-70B-RJ020
MR-J4-100A
MR-J4-100A-RJ
MR-J4-100B
MR-J4-100B-RJ
MR-J4-100B-RJ010
MR-J4-100B-RJ020
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
MR-J4-700A
MR-J4-700A-RJ
MR-J4-700B
MR-J4-700B-RJ
MR-J4-700B-RJ010
MR-J4-700B-RJ020
MR-J4-11KA
MR-J4-11KA-RJ
MR-J4-11KB
MR-J4-11KB-RJ
MR-J4-11KB-RJ010
MR-J4-11KB-RJ020
Servo amplifier
MR-J4 1-axis
When the maximum torque
Standard
is 400% (Note)
MR-J4-100A
MR-J4-100A-RJ
MR-J4-100B
MR-J4-100B-RJ
MR-J4-100B-RJ010
MR-J4-100B-RJ020
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
MR-J4-700A
MR-J4-700A-RJ
MR-J4-700B
MR-J4-700B-RJ
MR-J4-700B-RJ010
MR-J4-700B-RJ020
8- 2
MR-J4W2-77B
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W2-1010B
MR-J4 2-axis
When the maximum torque
is 400% (Note)
MR-J4W2-1010B
8. HG-JR SERIES
Servo amplifier
MR-J4 1-axis
When the maximum torque
Standard
is 400% (Note)
Servo motor
Standard
HG-JR15K1M
MR-J4-15KA
MR-J4-15KA-RJ
MR-J4-15KB
MR-J4-15KB-RJ
MR-J4-15KB-RJ010
MR-J4-15KB-RJ020
HG-JR22K1M
MR-J4-22KA
MR-J4-22KA-RJ
MR-J4-22KB
MR-J4-22KB-RJ
MR-J4-22KB-RJ010
MR-J4-22KB-RJ020
MR-J4 2-axis
When the maximum torque
is 400% (Note)
Note. The maximum torque can be increased to 400% by changing the servo amplifier.
(2) Compatible with 3-phase 400 V AC
Servo amplifier
Servo motor
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
HG-JR2034
HG-JR3534
HG-JR5034
Standard
When the maximum torque
is 400% (Note)
MR-J4-60A4
MR-J4-60A4-RJ
MR-J4-60B4
MR-J4-60B4-RJ
MR-J4-60B4-RJ010
MR-J4-60B4-RJ020
MR-J4-100A4
MR-J4-100A4-RJ
MR-J4-100B4
MR-J4-100B4-RJ
MR-J4-100B4-RJ010
MR-J4-100B4-RJ020
MR-J4-200A4
MR-J4-200A4-RJ
MR-J4-200B4
MR-J4-200B4-RJ
MR-J4-200B4-RJ010
MR-J4-200B4-RJ020
MR-J4-350A4
MR-J4-350A4-RJ
MR-J4-350B4
MR-J4-350B4-RJ
MR-J4-350B4-RJ010
MR-J4-350B4-RJ020
MR-J4-100A4
MR-J4-100A4-RJ
MR-J4-100B4
MR-J4-100B4-RJ
MR-J4-100B4-RJ010
MR-J4-100B4-RJ020
MR-J4-200A4
MR-J4-200A4-RJ
MR-J4-200B4
MR-J4-200B4-RJ
MR-J4-200B4-RJ010
MR-J4-200B4-RJ020
MR-J4-350A4
MR-J4-350A4-RJ
MR-J4-350B4
MR-J4-350B4-RJ
MR-J4-350B4-RJ010
MR-J4-350B4-RJ020
MR-J4-500A4
MR-J4-500A4-RJ
MR-J4-500B4
MR-J4-500B4-RJ
MR-J4-500B4-RJ010
MR-J4-500B4-RJ020
MR-J4-500A4
MR-J4-500A4-RJ
MR-J4-500B4
MR-J4-500B4-RJ
MR-J4-500B4-RJ010
MR-J4-500B4-RJ020
MR-J4-700A4
MR-J4-700A4-RJ
MR-J4-700B4
MR-J4-700B4-RJ
MR-J4-700B4-RJ010
MR-J4-700B4-RJ020
Note. The maximum torque can be increased to 400% by changing the servo amplifier.
8- 3
Servo motor
HG-JR7034
HG-JR9034
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
Servo amplifier
MR-J4-700A4
MR-J4-700A4-RJ
MR-J4-700B4
MR-J4-700B4-RJ
MR-J4-700B4-RJ010
MR-J4-700B4-RJ020
MR-J4-11KA4
MR-J4-11KA4-RJ
MR-J4-11KB4
MR-J4-11KB4-RJ
MR-J4-11KB4-RJ010
MR-J4-11KB4-RJ020
MR-J4-15KA4
MR-J4-15KA4-RJ
MR-J4-15KB4
MR-J4-15KB4-RJ
MR-J4-15KB4-RJ010
MR-J4-15KB4-RJ020
MR-J4-22KA4
MR-J4-22KA4-RJ
MR-J4-22KB4
MR-J4-22KB4-RJ
MR-J4-22KB4-RJ010
MR-J4-22KB4-RJ020
8. HG-JR SERIES
8.3 Standard specifications
8.3.1 Standard specifications list
Servo motor
53(B)
Item
Power supply capacity
Continuous running
duty (Note 1)
Rated output
(Note 8)
Rated torque
(Note 8)
[kW]
[N•m]
Maximum torque (Note 8)
[N•m]
Rated speed (Note 1)
[r/min]
Maximum speed
[r/min]
Instantaneous permissible speed
[r/min]
Standard
[kW/s]
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current (Note 8)
[A]
Maximum current (Note 8)
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
12.5
22.0
32.2
53.1
74.8
3.0
5.6
5.6
11
11
9.0
(12)
1.52
17
(23)
2.09
17
(23)
2.65
32
(43)
3.79
2.02
2.59
3.15
4.29
93.9
125
27
34
41
32
(43)
4.92
17
(18)
51
(71)
13.2
81
(108)
19.0
103
134
43.3
55.8
5.42
15.4
21.2
52.9
65.4
3.0
4.4
5.1
Ambience
Altitude
Vibration resistance
(Note 5)
Vibration rank (Note 6)
Mass
119
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
2
X: 24.5 m/s
2
X, Y: 24.5 m/s
2
Y: 29.4 m/s
V10
40
55
79
323
980
2450
284
490
980
3.7
4.5
5.9
7.5
13
18
29
36
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
71.6
10 times or less
Oil seal
Insulation class
Structure
Permissible load for
the shaft (Note 7)
903(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers"
in Servo Amplifier Instruction Manual.
3.3
5.0
7.0
9.0
0.5
0.75
1.0
1.5
2.0
(3.5)
10.5
15.9
22.3
28.6
1.6
2.4
3.2
4.8
6.4
(11.1)
4.8
7.2
9.6
14.3
19.1
32.0
47.7
66.8
85.8
(6.4)
(9.6)
(12.7)
(19.1)
(25.5)
(44.6)
(63.7)
3000
6000
5000
6900
5750
16.7
27.3
38.2
60.2
82.4
83.5
133
115
147
Speed/position detector
Environment (Note 4)
HG-JR 3000 r/min series
(Compatible with 3-phase 200 V AC, low inertia/medium capacity)
73(B)
103(B) 153(B) 203(B) 353(B) 503(B) 703(B)
8- 4
5.9
7.3
8.9
15
20
35
42
8. HG-JR SERIES
Servo motor
Item
Power supply capacity
Continuous running
duty (Note 1)
Rated output
Rated torque
[kW]
[N•m]
[N•m]
[r/min]
[r/min]
[r/min]
[kW/s]
Maximum torque
Rated speed (Note 1)
Maximum speed
Instantaneous permissible speed
Standard
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current
[A]
Maximum current
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
Speed/position detector
Oil seal
Insulation class
Structure
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
Environment (Note 4)
Ambience
Altitude
Vibration resistance
(Note 5)
HG-JR 1500 r/min series
(Compatible with 3-phase 200 V AC, low inertia/large capacity)
11K1M(B)
15K1M(B)
22K1M
Refer to "Power supply equipment capacity and generated loss of servo amplifiers"
in Servo Amplifier Instruction Manual.
11
15
22
70.0
95.5
140
210
286
420
1500
3000
2500
3450
2875
223
290
401
204
271
61
200
220
76
246
315
240
336
10 times or less
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed,
Totally-enclosed, natural-cooling
force-cooled
(IP rating: IP67 (Note 3))
(IP rating: IP44 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
X, Y: 24.5 m/s
Vibration rank (Note 6)
Permissible load for
the shaft (Note 7)
Mass
2
V10
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
116
2940
980
62
86
74
97
140
3234
1470
120
3-phase 200 V AC to
230 V AC
50 Hz/60 Hz
Voltage/
Frequency
Cooling fan
99
315
489
Power
supply Power
consumption
[W]
Rated current
[A]
60 (50 Hz)/80 (60 Hz)
0.20 (50 Hz)/0.27 (60 Hz)
8- 5
8. HG-JR SERIES
Servo motor
Item
Power supply capacity
Continuous running
duty (Note 1)
Rated output
(Note 8)
Rated torque
(Note 8)
[kW]
[N•m]
Maximum torque (Note 8)
[N•m]
Rated speed (Note 1)
[r/min]
Maximum speed
[r/min]
Instantaneous permissible speed
[r/min]
Standard
[kW/s]
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current (Note 8)
[A]
Maximum current (Note 8)
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
HG-JR 3000 r/min series
(Compatible with 3-phase 400 V AC, low inertia/medium capacity)
534(B) 734(B) 1034(B) 1534(B) 2034(B) 3534(B) 5034(B) 7034(B) 9034(B)
Refer to "Power supply equipment capacity and generated loss of servo amplifiers"
in Servo Amplifier Instruction Manual.
3.3
5.0
7.0
9.0
0.5
0.75
1.0
1.5
2.0
(3.5)
10.5
15.9
22.3
28.6
1.6
2.4
3.2
4.8
6.4
(11.1)
4.8
7.2
9.6
14.3
19.1
32.0
47.7
66.8
85.8
(6.4)
(9.6)
(12.7)
(19.1)
(25.5)
(44.6)
(63.7)
3000
6000
5000
6900
5750
16.7
27.3
38.2
60.2
82.4
83.5
133
115
147
12.5
22.0
32.2
53.1
74.8
1.5
2.8
2.8
5.4
5.4
4.5
(6.0)
1.52
8.4
(12)
2.09
8.4
(12)
2.65
17
(22)
3.79
2.02
2.59
3.15
4.29
14
17
21
17
(22)
4.92
8.3
(8.8)
26
(36)
13.2
41
(54)
19.0
52
67
43.3
55.8
5.42
15.4
21.2
52.9
65.4
4.4
5.1
Ambience
Altitude
Vibration resistance
(Note 5)
Vibration rank (Note 6)
Mass
125
3.0
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
93.9
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed, natural-cooling (IP rating: IP67 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
2
X: 24.5 m/s
2
X, Y: 24.5 m/s
2
Y: 29.4 m/s
V10
40
55
79
323
980
2450
284
490
980
3.7
4.5
5.9
7.5
13
18
29
36
Oil seal
Insulation class
Structure
Permissible load for
the shaft (Note 7)
119
10 times or less
Speed/position detector
Environment (Note 4)
71.6
8- 6
5.9
7.3
8.9
15
20
35
42
8. HG-JR SERIES
Servo motor
Item
Power supply capacity
Continuous running
duty (Note 1)
Rated output
Rated torque
[kW]
[N•m]
[N•m]
[r/min]
[r/min]
[r/min]
[kW/s]
Maximum torque
Rated speed (Note 1)
Maximum speed
Instantaneous permissible speed
Standard
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current
[A]
Maximum current
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
Speed/position detector
Oil seal
Insulation class
Structure
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
Environment (Note 4)
Ambience
Altitude
Vibration resistance
(Note 5)
HG-JR 1500 r/min series
(Compatible with 3-phase 400 V AC, low inertia/large capacity)
11K1M4(B)
15K1M4(B)
22K1M4
Refer to "Power supply equipment capacity and generated loss of servo amplifiers"
in Servo Amplifier Instruction Manual.
11
15
22
70.0
95.5
140
210
286
420
1500
3000
2500
3450
2875
223
290
401
204
271
31
100
220
38
123
315
240
336
10 times or less
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed,
Totally-enclosed, natural-cooling
force-cooling
(IP rating: IP67 (Note 3))
(IP rating: IP44 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
X, Y: 24.5 m/s
Vibration rank (Note 6)
Permissible load for
the shaft (Note 7)
Mass
2
V10
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
116
2940
980
62
86
74
97
140
3234
1470
120
3-phase 380 V AC to
480 V AC
50 Hz/60 Hz
Voltage/
Frequency
Cooling fan
50
170
489
Power
supply Power
consumption
[W]
Rated current
[A]
58 (50 Hz)/72 (60 Hz)
0.12 (50 Hz)/0.14 (60 Hz)
8- 7
8. HG-JR SERIES
Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. Except for the shaft-through portion.
4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications
may not be usable. Please contact your local sales office.
5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally
the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude
(both amplitudes) [ m]
the vibration to about half of the permissible value.
Servo motor
X
Y
Vibration
1000
100
10
0
1000 2000 3000 4000 5000 6000 7000
Speed [r/min]
6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.
Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications
list. The value assumes that the load is applied independently.
L
Radial load
L: Distance from flange mounting surface to load center
Thrust load
8. Values in parentheses are at the maximum torque of 400%. The maximum torque can be increased to 400% by changing the
servo amplifier. Refer to section 8.2 for the combinations.
8- 8
8. HG-JR SERIES
8.3.2 Torque characteristics
POINT
For the system where the unbalanced torque occurs, such as a vertical axis
system, it is recommended that the unbalanced torque of the machine be kept at
70% or less of the motor's rated torque.
(1) 3-phase 200 V AC
When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the
torque characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the
torque characteristic is indicated by the thin line. HG-JR53 and HG-JR73 support 1-phase power supply
input.
Torque [N•m]
Torque [N•m]
4
Short-duration
running range
Short-duration
running range
0
0 1000
3000
[HG-JR353]
3000
[HG-JR503]
70
(Note 4)
Short-duration
running range
3000
(Note 4)
[HG-JR703]
Short-duration
running range
Short-duration
running range
Continuous
running range
0
0 1000
50006000
Speed [r/min]
3000
Continuous
running range
50006000
Speed [r/min]
[HG-JR903]
Speed [r/min]
[HG-JR11K1M]
90
70
(Note 4)
9
3
Continuous
running range
0
0 1000
50006000
Speed [r/min]
45
40
2
Continuous
running range
0
0 1000
50006000
Speed [r/min]
(Note 4)
15
10
6
[HG-JR203]
20
(Note 4)
6
2
Continuous
running range
[HG-JR153]
14
(Note 4)
6
2
[HG-JR103]
10
Torque [N•m]
[HG-JR73]
(Note 4)
Torque [N•m]
7
Torque [N•m]
[HG-JR53]
250
80
30
Short-duration
running range
30
Short-duration
running range
10
40
Short-duration
running range
Short-duration
running range
100
20
Continuous
running range
0
0 1000
3000
10
Continuous
running range
0
0 1000
50006000
Speed [r/min]
3000
10
50006000
Speed [r/min]
0
0
Continuous
running range
1000 2000 3000 4000 5000
Speed [r/min]
Continuous
running range
0
0
1000 2000 3000 4000 5000
Speed [r/min]
Continuous
running range
0
0
1000
2000
Speed [r/min]
[HG-JR22K1M]
[HG-JR15K1M]
500
350
300
400
200
Torque [N•m]
Torque [N•m]
60
Torque [N•m]
Short-duration
running range
50
Torque [N•m]
20
50
Torque [N•m]
Torque [N•m]
Torque [N•m]
200
30
Short-duration
running range
100
300
200
100
Continuous
running range
0
0
1000
2000
Speed [r/min]
3000
0
0
Short-duration
running range
Continuous
running range
500 1000 1500 2000 2500
Speed [r/min]
Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to
section 8.2 for the combinations.
8- 9
3000
8. HG-JR SERIES
(2) 3-phase 400 V AC
When the power supply input of the servo amplifier is 3-phase 400 V AC, the torque characteristic is
indicated by the heavy line. For the 3-phase 380 V AC power supply, part of the torque characteristic is
indicated by the thin line.
Torque [N•m]
Torque [N•m]
4
Short-duration
running range
0
0 1000
3000
Short-duration
running range
0
0 1000
50006000
Speed [r/min]
[HG-JR3534]
3000
50006000
[HG-JR5034]
70
(Note 4)
15
6
Short-duration
running range
2
Continuous
running range
3000
9
3
50006000
[HG-JR7034]
Short-duration
running range
Continuous
running range
0
0 1000
Speed [r/min]
3000
12
Short-duration
running range
Continuous
running range
0
0 1000
50006000
[HG-JR9034]
[H
(Note 4)
20
4
Speed [r/min]
70
(Note 4)
28
(Note 4)
10
0
0 1000
Speed [r/min]
45
40
Continuous
running range
[HG-JR2034]
20
(Note 4)
6
2
Continuous
running range
[HG-JR1534]
14
(Note 4)
6
2
[HG-JR1034]
10
Torque [N•m]
[HG-JR734]
(Note 4)
Torque [N•m]
7
Torque [N•m]
[HG-JR534]
3000
50006000
Speed [r/min]
[HG-JR11K1M4]
90
250
80
30
Short-duration
running range
30
Short-duration
running range
10
40
Short-duration
running range
Short-duration
running range
100
20
Continuous
running range
0
0 1000
3000
10
Continuous
running range
0
0 1000
50006000
Speed [r/min]
3000
10
50006000
Speed [r/min]
0
0
Continuous
running range
1000 2000 3000 4000 5000
Speed [r/min]
Continuous
running range
0
0
1000 2000 3000 4000 5000
Speed [r/min]
Continuous
running range
0
0
1000
2000
Speed [r/min]
[HG-JR22K1M4]
[HG-JR15K1M4]
500
350
300
400
Torque [N•m]
Torque [N•m]
60
Torque [N•m]
Short-duration
running range
50
Torque [N•m]
20
50
Torque [N•m]
Torque [N•m]
Torque [N•m]
200
30
200
Short-duration
running range
100
300
200
100
Continuous
running range
0
0
1000
2000
Speed [r/min]
3000
0
0
Short-duration
running range
Continuous
running range
500 1000 1500 2000 2500
Speed [r/min]
Note. Value at the maximum torque 400%. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to
section 8.2 for the combinations.
8 - 10
3000
8. HG-JR SERIES
8.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
The operation time of the electromagnetic brake differs depending on the power
supply circuit you use. Be sure to check the operation delay time with a real
machine.
POINT
HG-JR22K1M(4) with an electromagnetic brake is not available.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake
are indicated below.
Servo motor
HG-JR series
53(4)B/73(4)B/
103(4)B/153(4)B/
203(4)B
Item
Type (Note 1)
For the suppressed
voltage 125 V
Selection example of surge
absorbers to be used (Note 7) For the suppressed
voltage 350 V
703(4)B/
903(4)B
11K1M(4)B/
15K1M(4)B
Spring actuated type safety brake
0
24 V DC -10%
Rated voltage (Note 4)
Power consumption
[W] at 20 °C
Coil resistance (Note 6)
[Ω]
Inductance (Note 6)
[H]
Brake static friction torque
[N•m]
Release delay time (Note 2)
[s]
Braking delay time (Note 2)
DC off
[s]
Per braking
[J]
Permissible braking work
Per hour
[J]
Brake looseness at servo motor shaft (Note 5)
[degrees]
Number of brakings
[times]
Brake life (Note 3)
Work per braking
[J]
353(4)B/
503(4)B
11.7
49
0.37
6.6
0.09
23
25
0.25
16
0.12
34
16.8
1.10
44
0.1
32
18.2
0.73
126
0.5
0.03
0.03
0.03
0.2
64
640
400
4000
4500
45000
5000
45200
0.01 to 0.8
0.01 to 0.6
0.2 to 0.6
0.01 to 0.6
5000
5000
20000
20000
64
400
1000
400
(Note 8)
TND20V-680KB
(Note 8)
TND10V-221KB
(Note 9)
ERZV10D221
(Note 9) ERZV10D221
(Note 8) TNR-10V221K
(Note 8)
TNR-10V221K
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering, etc.,
use a separate 24 V DC power supply to release the brake electrically.
2. The value for initial on gap at 20 °C.
3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.
The brake life indicated is the number of braking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the electromagnetic brake.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge
absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.
9. Manufactured by Panasonic
8 - 11
8. HG-JR SERIES
8.5 Servo motors with special shafts
The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol
attached to the servo motor model names.
Shaft shape
Key shaft (without key)
Servo motor
HG-JR_(4)(B)K
K
Variable dimension table
Servo motor
HG-JR53(4)(B)K
HG-JR73(4)(B)K
HG-JR103(4)(B)K
HG-JR153(4)(B)K
HG-JR203(4)(B)K
R
Q
QK
R
16h6 40
0
30 5 -0.030 25
2
r
3 +0.1
2.5
0
U
QL
r
S
W
A
A
S
[Unit: mm]
Variable dimensions
Q
W QK QL U
HG-JR353(4)(B)K
HG-JR503(4)(B)K
28h6 55
0
50 8 -0.036 36
5
4 +0.2
0
4
HG-JR703(4)(B)K
HG-JR903(4)(B)K
35+0.010
79
0
0
75 10 -0.036 55
5
5 +0.2
0
5
HG-JR11K1M(4)(B)K
0
55m6 116 110 16 -0.040 90
HG-JR15K1M(4)(B)K
5
6 +0.2
0
8
5
7 +0.2
0
9
Y
Shaft section view A-A
HG-JR22K1M(4)
Key shaft (without key)
8 - 12
0
65m6 140 130 18 -0.040 120
Y
M4
screw
hole
depth
15
M8
screw
hole
depth
20
M8
screw
hole
depth
20
M10
screw
hole
depth
27
M12
screw
hole
depth
25
8. HG-JR SERIES
8.6 Oil seal
The oil seal prevents the entry of oil into the servo motor.
Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip
always.
Shaft
Gear
Servo motor
Height above oil level h
Lip
Oil seal
Oil level h
[mm]
Servo motor
HG-JR53(4)(B)
HG-JR73(4)(B)
HG-JR103(4)(B)
HG-JR153(4)(B)
HG-JR203(4)(B)
HG-JR353(4)(B)
HG-JR503(4)(B)
HG-JR703(4)(B)
HG-JR903(4)(B)
HG-JR11K1M(4)(B)
HG-JR15K1M(4)(B)
HG-JR22K1M(4)
18
20
25
40
50
8.7 Cooling fan
The HG-JR22K1M(4) servo motor has a cooling fan. Leave the following distance between the servo motor's
suction face and the wall.
Servo motor
HG-JR22K1M(4)
Distance L [mm]
150
L or more
Servo motor
Cooling fan
Intake
8 - 13
8. HG-JR SERIES
8.8 Dimensions
Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for
servo motor and electromagnetic brake with servo motor shaft.
The dimensions without tolerances are general tolerance.
8.8.1 Terminal box detail diagram (HG-JR22K1M(4))
[Unit: mm]
Power supply terminal block: M10 screw (3)
Approx. 235
Approx. 88.6
Approx. 230
Connected to the
encoder connector
Keep plate: M5 screw (4)
Keep plate
Approx. 52.5
hole
e
φ80
ox sid
inal b
Term
φ63 hole
Keep p
late sid
e
Approx. 50.5
Terminal box lid: M4 screw (8)
Protective earth (PE) terminal: M10 screw (2)
8.8.2 Standard (without an electromagnetic brake)
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.5
1.52
3.0
HG-JR53
HG-JR534
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
Caution plate
Caution plate
□90
40
7.5
5
18
φ1
Motor plate
127.5
Motor plate
(Opposite side)
38.2
4.5
Caution plate
45°
φ1
00
Bottom
Bottom
Top
Top
Top
φ80h7
Bottom
Top
50.9
Bottom
φ41
φ16h6
30
93.8
Oil seal
76 from the flange surface
35°
Power supply connector
MS3102A18-10P
.8
21
V
W
36
B
A
16
10.6
Encoder connector
CMV1-R10P
.2
42
25.7
13
8 - 14
U
Key
C
D
(PE)
Power connector viewed from
the connection side
BC42604* BC42615*
8. HG-JR SERIES
Model
HG-JR73
HG-JR734
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.75
2.09
3.7
[Unit: mm]
5
4.5
Caution plate
φ1
00
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
φ41
φ16h6
30
Top
45°
18
Caution plate
40
7.5
φ80h7
Caution plate
145.5
Motor plate
(Opposite side)
φ1
Motor plate
38.2
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
□90
93.8
Oil seal
94 from the flange surface
35°
25.7
13
.8
21
V
W
36
B
A
16
10.6
Encoder connector
CMV1-R10P
.2
42
Power supply connector
MS3102A18-10P
U
Key
C
D
(PE)
Power connector viewed from
the connection side
8 - 15
BC42605* BC42616*
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.0
2.65
4.5
HG-JR103
HG-JR1034
[Unit: mm]
Caution plate
40
7.5
5
4.5
Caution plate
φ1
00
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
φ41
φ16h6
30
Bottom
45°
φ80h7
Caution plate
163.5
Motor plate
(Opposite side)
18
φ1
Motor plate
38.2
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
□90
93.8
Oil seal
112 from the flange surface
35°
25.7
13
.8
21
16
36
10.6
Encoder connector
CMV1-R10P
.2
42
Power supply connector
MS3102A18-10P
8 - 16
V
W
B
A
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42606* BC42617*
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.5
3.79
5.9
HG-JR153
HG-JR1534
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
199.5
40
7.5
φ1
00
30
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ41
φ16h6
Caution plate
4.5
45°
18
Motor plate
(Opposite side)
φ1
Caution plate
Motor plate
□90
5
φ80h7
38.2
Caution plate
93.8
Oil seal
148 from the flange surface
35°
.2
25.7
13
42
Power supply connector
MS3102A18-10P
V
.8
21
Encoder connector
CMV1-R10P
W
36
16
B
A
C
D
10.6
(PE)
U
Key
Power connector viewed from
the connection side
Model
BC42607* BC42618*
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
2.0
4.92
7.5
HG-JR203
HG-JR2034
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
235.5
Caution plate
4.5
φ1
00
30
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ41
φ16h6
Caution plate
Motor plate
(Opposite side)
5
4 5°
φ80h7
Caution plate
7.5
18
φ1
Motor plate
□90
40
38.2
93.8
Oil seal
184 from the flange surface
V
W
B
A
C
D
16
36
.8
21
Encoder connector
CMV1-R10P
.2
42
25.7
13
10.6
35°
Power supply connector
MS3102A18-10P
8 - 17
(PE)
U
Key
Power connector viewed from
the connection side
BC42608* BC42619*
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR353
3.5
13.2
13
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
213
□130
55
38.2
12
3
45°
50
Caution plate
Caution plate
φ1
65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
116.8
95.8
50.9
Bottom
φ110h7
Motor plate
Motor plate
(Opposite side)
Oil seal
φ1
45
13
V
15.5
34
71
Encoder connector
CMV1-R10P
W
80
B
A
228
Power supply connector
MS3102A22-22P
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42609*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR3534
3.5
13.2
13
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
213
□130
55
38.2
12
3
45°
50
Motor plate
(Opposite side)
Caution plate
Caution plate
φ1
65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ110h7
Motor plate
φ1
45
114.8
Oil seal
161 from the flange surface
25.7
35°
.2
42
Power supply connector
MS3102A18-10P
13.1
36
V
13.5
.8
21
13
Encoder connector
CMV1-R10P
8 - 18
W
B
A
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42620*
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR503
5.0
19.0
18
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
267
□130
55
38.2
12
3
45°
50
Caution plate
Motor plate
(Opposite side)
φ1
65
Bottom
Bottom
Bottom
Top
Top
Top
Top
116.8
95.8
50.9
Bottom
φ110h7
φ28h6
Caution plate
Oil seal
13
V
15.5
34
71
Encoder connector
CMV1-R10P
W
B
A
80
φ1
45
Motor plate
Caution plate
C
D
282
(PE)
U
Key
Power connector viewed from
the connection side
Power supply connector
MS3102A22-22P
BC42610*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR5034
5.0
19.0
18
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
267
□130
55
38.2
12
3
45°
50
Caution plate
φ1
65
φ28h6
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
φ110h7
Motor plate
Motor plate
(Opposite side)
Caution plate
φ1
45
114.8
Oil seal
215 from the flange surface
25.7
35°
.2
42
Power supply connector
MS3102A18-10P
13.5
36
V
13.1
.8
21
13
Encoder connector
CMV1-R10P
8 - 19
W
B
A
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42621*
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
7.0
43.3
29
HG-JR703
HG-JR7034
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
263.5
Caution plate
Bottom
Top
0
Bottom
Top
φ114.3 -0.025
Top
50.9
Bottom
75
(Note) *2
(Note) *2
Bottom
45°
3
(Note) *4
Caution plate
(Note) *4
Top
Caution plate
□176
79
18
Motor plate
(Opposite side)
φ35 +0.010
0
Motor plate
38.5
0
φ20
Oil seal
(Note) *1
163.3
13
30
133.5
φ2
(Note) *1
(Note) *3
(Note) *3
V
W
B
A
28.5
Encoder connector
CMV1-R10P
(PE)
U
Key
Power connector viewed from
the connection side
92.1
285.4
Power supply connector
MS3102A32-17P
C
D
44
102.3
BC42611* BC42622*
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
9.0
55.8
36
HG-JR903
HG-JR9034
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
303.5
Caution plate
18
45°
3
75
(Note) *4
Bottom
Top
Top
0
Bottom
Top
50.9
Bottom
φ114.3 -0.025
(Note) *2
(Note) *2
Top
□176
79
Motor plate
(Opposite side)
Caution plate
(Note) *4
Bottom
Caution plate
φ35 +0.010
0
Motor plate
38.5
Oil seal
(Note) *1
0
φ20
163.3
133.5
13
(Note) *3
V
W
B
A
Encoder connector
CMV1-R10P
Power supply connector
MS3102A32-17P
28.5
30
φ2
(Note) *1
(Note) *3
92.1
325.4
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
8 - 20
C
D
(PE)
U
Key
Power connector viewed from
the connection side
44
102.3
BC42612* BC42623*
8. HG-JR SERIES
Model
HG-JR11K1M
HG-JR11K1M4
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
11
220
62
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
339.5
Caution plate
110
20
Caution plate
°
37.5
4
2-M8 screw
(Note) *1,*2
Top
Top
(Note)
*4
Bottom
Bottom
Top
Top
81
Bottom
φ 27
0
φ200h7
Caution plate
Bottom
27
φ55m6
(Note)
*2
50
φ2
(Note)
*1
45°
35
φ2
M10 screw
(Note)
*3
171.1
Motor plate
□220
116
Motor plate
(Opposite side)
40
Oil seal
(Note) *3,*4
19.5
(PE)
Key
W
Encoder connector
MS3102A20-29P
Power supply connector
MS3102A32-17P
C
B
32
D
4
A
265.5
82
V
U
Power supply connector
Motor flange direction
BC42613A BC42624A
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M10).
Model
HG-JR15K1M
HG-JR15K1M4
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
15
315
86
[Unit: mm]
2-M8 screw
116
40
Motor plate
20
(Opposite side)
Caution plate
4
Caution
plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
81
Bottom
(Note)
*4
27
M10 screw
(Note)
*3
45°
50
φ2
(Note)
*2
φ55m6
(Note) *1,*2
(Note)
*1
°
37.5
φ200h7
Caution plate
□220
110
φ27
0
φ2
35
171.1
439.5
Motor plate
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Oil seal
(Note) *3,*4
19.5
Encoder connector
MS3102A20-29P
(PE)
Key
W
C
B
32
Power supply connector
MS3102A32-17P
365.5
V
D
A
4
U
Power supply connector
Motor flange direction
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M10).
8 - 21
82
BC42614A BC42625A
8. HG-JR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
22
489
120
HG-JR22K1M
HG-JR22K1M4
[Unit: mm]
Motor plate
Caution plate
Top
101
476
439
230
φ63
Cooling fan connector
CE05-2A14S-2P
140
174
227
35
Top
Bottom
352
250 (Flange)
235
45°
5
130
φ65m6
8
φ3
φ230h7
25
125
Intake
163
154
Top Bottom
154
220
190
Exhaust
Cooling fan
rotation
direction
4-φ24 mounting hole
Use hexagon socket
head cap screw.
Motor plate/Caution plate
Power lead hole
Encoder connector
MS3102A20-29P
Approx. 37
107
Bottom
30
65
φ2
M12 screw
Oil seal
Eyebolt (Note 1,2)
4 in total
Key
BU
(Red)
To be left open
D
A
C
B
BV
BW
(White)
(Black)
Cooling fan connector viewed from the connection side
Motor flange direction
BC37772A
Note 1. When the motor is used without the eyebolt, plug the threaded hole with a bolt of M12 × 20 or less.
2. An angle adjusting washer is inserted into the eyebolt.
8 - 22
8. HG-JR SERIES
8.8.3 With an electromagnetic brake
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.5
6.6
2.02
4.4
HG-JR53B
HG-JR534B
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
Caution plate
5
4.5
30
Caution plate
φ1
00
Top
Top
φ80h7
Bottom
Top
φ41
Bottom
50.9
Bottom
93.8
Oil seal
57.4
76 from the flange surface
35°
13
V
W
B
A
.8
21
36
15
16
Encoder connector
CMV1-R10P
25.7
Main key
position mark
.2
42
Power supply connector
MS3102A18-10P
66.5
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
10.6
Top
φ16h6
Caution plate
Bottom
45°
18
Motor plate
□90
40
7.5
φ1
173
Motor plate
(Opposite side)
38
Electromagnetic brake connector
CMV1-R2P
BC42626* BC42637*
8 - 23
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
0.75
6.6
2.59
5.1
HG-JR73B
HG-JR734B
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
191
Motor plate
(Opposite side)
38
30
φ1
φ41
Bottom
Top
93.8
50.9
Top
00
φ80h7
φ16h6
Bottom
45°
18
Oil seal
57.4
25.7
Main key
position mark
V
W
.2
B
A
.8
21
36
15
16
Encoder connector
CMV1-R10P
94 from the flange surface
35°
42
Power supply connector
MS3102A18-10P
66.5
13
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
10.6
Top
Bottom
Top
4.5
Caution plate
Caution plate
Bottom
5
φ1
Caution plate
Motor plate
□90
40
7.5
Electromagnetic brake connector
CMV1-R2P
BC42627* BC42638*
8 - 24
8. HG-JR SERIES
Model
HG-JR103B
HG-JR1034B
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.0
6.6
3.15
5.9
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
209
38
Caution plate
5
4.5
30
Caution plate
φ1
Top
φ80h7
Bottom
00
50.9
Bottom
Top
93.8
Oil seal
57.4
112 from the flange surface
35°
25.7
W
B
A
.8
21
C
D
16
36
15
Electromagnetic brake connector
CMV1-R2P
V
.2
13
Encoder connector
CMV1-R10P
Main key
position mark
42
Power supply connector
MS3102A18-10P
66.5
10.6
Top
Bottom
Top
φ41
Bottom
φ16h6
Caution plate
45°
18
φ1
Motor plate
□90
40
7.5
Motor plate
(Opposite side)
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
(PE)
U
Key
Power connector viewed from
the connection side
BC42628* BC42639*
8 - 25
8. HG-JR SERIES
Model
HG-JR153B
HG-JR1534B
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
1.5
6.6
4.29
7.3
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
245
Caution plate
Caution plate
Bottom
Top
Top
φ41
Bottom
45°
50.9
Oil seal
57.4
148 from the flange surface
35°
13
16
36
15
Electromagnetic brake connector
CMV1-R2P
V
W
B
A
.8
21
Encoder connector
CMV1-R10P
25.7
Main key
position mark
.2
42
Power supply connector
MS3102A18-10P
66.5
10.6
Top
Bottom
Top
93.8
Bottom
φ1
00
30
φ16h6
Caution
plate
4.5
8
Motor plate
(Opposite side)
5
φ80h7
7.5
1
φ1
Motor plate
□90
40
38
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42629* BC42640*
8 - 26
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
2.0
6.6
5.42
8.9
HG-JR203B
HG-JR2034B
[Unit: mm]
4-φ6.6 mounting hole
Use hexagon socket
head cap screw.
281
Caution plate
Motor plate
(Opposite side)
Caution plate
Bottom
Bottom
Top
Top
00
45°
50.9
Bottom
Top
93.8
Oil seal
57.4
184 from the flange surface
35°
13
Electromagnetic
brake
16
36
15
Electromagnetic brake connector
CMV1-R2P
V
W
B
A
.8
21
Encoder connector
CMV1-R10P
25.7
Main key
position mark
.2
42
Power supply connector
MS3102A18-10P
66.5
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
10.6
Top
φ1
30
φ41
Bottom
4.5
φ16h6
Caution
plate
5
φ80h7
7.5
18
φ1
Motor plate
□90
40
38
BC42630* BC42641*
8 - 27
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR353B
3.5
16
15.4
15
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
251.5
Motor plate
(Opposite side)
43.5
Caution plate
3
45°
50
Caution plate
φ1
65
φ28h6
Caution plate
Bottom
Top
Top
Oil seal
13
φ1
45
95.8
Bottom
50.9
Top
79.9
Bottom
Top
116.8
Bottom
φ110h7
Motor plate
□130
55
12
63
29
15.5
34
71
Main key
position mark
80
Encoder connector
CMV1-R10P
V
228
W
Power supply connector
MS3102A22-22P
Electromagnetic brake connector
CMV1-R2P
B
A
C
D
(PE)
U
Key
Electromagnetic brake connector Power connector viewed from
the connection side
Motor flange direction
Electromagnetic
brake
BC42631*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR3534B
3.5
16
15.4
15
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
251.5
Motor plate
Caution plate
Caution
plate
□130
55
Motor plate
(Opposite side)
43.5
12
3
45°
50
Caution plate
Bottom
Bottom
Top
Top
Top
50.9
Bottom
45
Oil seal
φ1
79.9
13
.8
21
36
Main key
position mark
V
W
B
A
Electromagnetic
brake
29
Encoder connector
CMV1-R10P
25.7
.2
42
Power supply connector
MS3102A18-10P
161 from the flange surface
35°
13.5
63
13.1
Top
114.8
Bottom
φ110h7
φ28h6
φ1
65
Electromagnetic brake connector
CMV1-R2P
8 - 28
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42642*
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-JR503B
5.0
16
21.2
20
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
305.5
□130
55
43.5
12
3
45°
50
Motor plate
Caution plate
Caution plate
Motor plate
(Opposite side)
φ1
6
Bottom
Top
Top
50.9
Bottom
Top
79.9
Bottom
Oil seal
13
45
95.8
Top
116.8
Bottom
φ1
63
29
15.5
34
71
5
φ110h7
φ28h6
Caution plate
Encoder connector
CMV1-R10P
Main key
position mark
80
V
W
282
Power supply connector
MS3102A22-22P
Electromagnetic brake connector
CMV1-R2P
B
A
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42632*
-4
2
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10 kg•m ]
Mass [kg]
HG-JR5034B
5.0
16
21.2
20
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
305.5
12
Caution plate
Caution plate
Motor plate
(Opposite side)
Caution
plate
3
φ28h6
φ1
65
Bottom
Bottom
Top
Top
Top
50.9
Bottom
45
Oil seal
φ1
79.9
63
13
W
.8
13.5
21
B
A
36
29
Electromagnetic
brake
Electromagnetic brake connector
CMV1-R2P
V
.2
Encoder connector
CMV1-R10P
Main key
position mark
25.7
42
Power supply connector
MS3102A18-10P
215 from the flange surface
35°
13.1
Top
114.8
Bottom
45°
50
φ110h7
Motor plate
□130
55
43.5
8 - 29
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42643*
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
7.0
44
52.9
35
HG-JR703B
HG-JR7034B
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
313
Caution plate
18
Motor plate
(Opposite side)
Caution plate
φ35
(Note) *2
Bottom
Bottom
Bottom
Top
Top
Top
Top
0
φ20
30
13
163.3
Oil seal
(Note) *1
φ2
133.5
96.9
50.9
Bottom
(Note) *3
45°
75
+0.010
0
(Note) *2
(Note) *1
3
(Note) *4
Caution plate
(Note) *4
□176
79
45.5
0
φ114.3 -0.025
Motor plate
(Note) *3
66.5
Encoder connector
CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
44
28.5
92.1
44
285.4
Main key
position mark
102.3
V
W
B
A
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42633* BC42644*
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
9.0
44
65.4
42
HG-JR903B
HG-JR9034B
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
353
18
Caution plate
Caution plate
3
Motor plate
(Opposite side)
Caution plate
+0.010
0
(Note) *4
(Note) *4
φ35
(Note) *2
Bottom
Bottom
Top
Top
Top
163.3
Oil seal
0
φ20
(Note) *1
30
φ2
(Note) *3
96.9
50.9
Bottom
Top
133.5
Bottom
0
(Note) *2
(Note) *1
45°
75
φ114.3 -0.025
Motor plate
□176
79
45.5
13
(Note) *3
66.5
44
Encoder connector
28.5 CMV1-R10P
Electromagnetic brake connector
CMV1-R2P
Power supply connector
MS3102A32-17P
92.1
44
325.4
Main key
position mark
102.3
V
W
B
A
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M8).
8 - 30
C
D
(PE)
U
Key
Power connector viewed from
the connection side
BC42634* BC42645*
8. HG-JR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
11
126
240
74
HG-JR11K1MB
HG-JR11K1M4B
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
412
Motor plate
(Opposite side)
40
Motor plate
Caution plate
□220
116
110
20
°
37.5
4
Caution
plate
(Note) *1,*2
(Note)
*4
φ55m6
Top
Top
(Note)
*3
φ 27
0
35
φ2
M10 screw
Oil seal
171.1
Top
Bottom
φ200h7
Top
Bottom
81
Bottom
136.2
Bottom
27
0
(Note)
*2
5
φ2
(Note)
*1
45°
2-M8 screw
Caution plate
(Note) *3,*4
19.5
130
Encoder connector
MS3102A20-29P
Electromagnetic brake connector
MS3102A10SL-4P
Power supply connector
MS3102A32-17P
32
4
265.5
(PE)
Key
W
Key
A
C
D
B
B
A
V
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
54
82
U
Power supply connector
Motor flange direction
BC42635A BC42646A
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M10).
Model
HG-JR15K1MB
HG-JR15K1M4B
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
15
126
336
97
[Unit: mm]
2-M8 screw
116
110
4
512
40
Top
Top
(Note)
*4
Bottom
Bottom
Top
Top
(Note)
*3
27
M10 screw
φ27
0
35
φ2
Oil seal
171.1
Bottom
(Note) *1,*2
136.2
81
Bottom
Caution
plate
φ55m6
(Note)
*2
45°
50
φ2
(Note)
*1
Motor plate
20
(Opposite side)
Caution plate
Caution plate
□220
°
37.5
φ200h7
Motor plate
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
(Note) *3,*4
Encoder connector
MS3102A20-29P
19.5
130
32
Electromagnetic brake connector
MS3102A10SL-4P
Power supply connector
MS3102A32-17P
4
365.5
Key
(PE)
Key
W
A
C
B
B
Electromagnetic
brake
Electromagnetic brake connector
Motor flange direction
Note. *1, *2, *3 and *4 are screw hole for eyebolt (M10).
8 - 31
54
82
V
D
A
U
Power supply connector
Motor flange direction
BC42636A BC42647A
8. HG-JR SERIES
MEMO
8 - 32
9. HG-RR SERIES
9. HG-RR SERIES
This chapter provides information on the servo motor specifications and characteristics. When using the HGRR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to
5, in addition to this chapter.
9.1 Model designation
The following describes model designation. Not all combinations of the symbols are available.
HG-RR1 0 3BK
Appearance
Shaft type
Series
Rated output
Symbol
None
Symbol
Rated output [kW]
10
K
Shaft shape
Standard
(straight shaft)
(Note) Keyway shaft
15
1
1.5
20
2
35
3.5
None
None
50
5
B
With
Electromagnetic brake
Symbol Electromagnetic brake
Rated speed
3000 [r/min]
Note. Key is not included.
9.2 Combination list of servo motors and servo amplifiers
Servo motor
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
9- 1
Servo amplifier
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
9. HG-RR SERIES
9.3 Standard specifications
9.3.1 Standard specifications list
Servo motor
Item
103(B)
Power supply capacity
Continuous running
duty (Note 1)
Rated output
Rated torque
[kW]
[N•m]
[N•m]
[r/min]
[r/min]
[r/min]
[kW/s]
Maximum torque
Rated speed (Note 1)
Maximum speed
Instantaneous permissible speed
Standard
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current
[A]
Maximum current
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
54.8
101
153
105
163
6.1
18
1.50
8.8
23
1.90
14
37
2.30
23
58
8.30
28
70
12.0
1.85
2.25
2.65
11.8
15.5
5 times or less
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
Oil seal
Insulation class
Structure
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
Ambience
Altitude
Vibration resistance
(Note 5)
X, Y: 24.5 m/s
Vibration rank (Note 6)
Permissible load for
the shaft (Note 7)
Mass
503(B)
Refer to "Power supply equipment capacity and generated loss of servo
amplifiers" in Servo Amplifier Instruction Manual.
1.0
1.5
2.0
3.5
5.0
3.2
4.8
6.4
11.1
15.9
8.0
11.9
15.9
27.9
39.8
3000
4500
5175
67.4
120
176
150
211
Speed/position detector
Environment (Note 4)
HG-RR series (ultra-low inertia/medium capacity)
153(B)
203(B)
353(B)
2
V10
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
3.9
45
686
196
5.0
6.2
12
17
6.0
7.0
8.3
15
21
9- 2
63
980
392
9. HG-RR SERIES
Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. Except for the shaft-through portion.
4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications
may not be usable. Please contact your local sales office.
5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally
the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude
(both amplitudes) [μm]
the vibration to about half of the permissible value.
Servo motor
X
Y
Vibration
1000
100
10
0
1000 2000 3000 4000 4500
Speed [r/min]
6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.
Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications
list. The value assumes that the load is applied independently.
L
Radial load
L: Distance from flange mounting surface to load center
Thrust load
9- 3
9. HG-RR SERIES
9.3.2 Torque characteristics
POINT
For the system where the unbalanced torque occurs, such as a vertical axis
system, it is recommended that the unbalanced torque of the machine be kept at
70% or less of the motor's rated torque.
When the power supply input of the servo amplifier is 3-phase 200 V AC, the torque characteristic is
indicated by the heavy line.
3
10
Short-duration
running range
5
Continuous
running range
1000 2000 3000 40004500
Speed [r/min]
Short-duration
running range
6
1000 2000 3000 40004500
Speed [r/min]
1000 2000 3000 40004500
Speed [r/min]
9- 4
45
20
Short-duration
running range
10
Continuous
running range
0
0
[HG-RR503]
30
12
Continuous
running range
0
0
[HG-RR353]
18
Torque [N•m]
Short-duration
running range
Torque [N•m]
Torque [N•m]
6
0
0
[HG-RR203]
15
Torque [N•m]
[HG-RR153]
[H
9
Torque [N•m]
[HG-RR103]
30
Short-duration
running range
15
Continuous
running range
0
0
1000 2000 3000 40004500
Speed [r/min]
Continuous
running range
0
0
1000 2000 3000 40004500
Speed [r/min]
9. HG-RR SERIES
9.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
The operation time of the electromagnetic brake differs depending on the power
supply circuit you use. Be sure to check the operation delay time with a real
machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake
are indicated below.
Servo motor
Item
Type (Note 1)
353B/503B
Spring actuated type safety brake
0
24 V DC -10%
Rated voltage (Note 4)
Power consumption
Coil resistance (Note 6)
Inductance (Note 6)
Brake static friction torque
Release delay time (Note 2)
Braking delay time (Note 2)
HG-RR series
103B/153B/203B
[W] at 20 °C
[Ω]
[H]
[N•m]
[s]
[s] DC off
Per braking
[J]
Permissible braking work
Per hour
[J]
Brake looseness at servo motor shaft (Note 5)
[degrees]
Number of brakings
[times]
Brake life (Note 3)
Work per braking
[J]
For the suppressed
Selection example of surge absorbers to voltage 125 V
be used (Note 7, 8)
For the suppressed
voltage 350 V
19
30.0
0.81
7.0
0.03
0.03
400
4000
0.2 to 0.6
23
25
0.70
17
0.04
0.03
400
4000
0.2 to 0.6
20000
20000
200
200
TND20V-680KB
TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering,
etc., use a separate 24 V DC power supply to release the brake electrically.
2. The value for initial on gap at 20 °C.
3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.
The brake life indicated is the number of braking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the electromagnetic brake.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and
surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.
9- 5
9. HG-RR SERIES
9.5 Servo motors with special shafts
The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol
attached to the servo motor model names.
Shaft shape
Key shaft (without key)
Servo motor
HG-RR_(B)K
Servo motor
HG-RR103(B)K
HG-RR153(B)K
HG-RR203(B)K
HG-RR353(B)K
HG-RR503(B)K
K
Variable dimensions
W
QK
S
R
Q
24h6
45
40
0
8 -0.036
28h6
63
58
0
8 -0.036
QL
U
r
25
5
4 +0.2
0
4
53
3
4 +0.2
0
4
R
M8 Depth 20
Q
QK
U
QL
W
φS
A
A
r
Shaft section view A-A
9.6 Oil seal
The oil seal prevents the entry of oil into the servo motor.
Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip
always.
Shaft
Gear
Servo motor
Height above oil level h
Lip
Oil seal
Servo motor
HG-RR103(B)
HG-RR153(B)
HG-RR203(B)
HG-RR353(B)
HG-RR503(B)
Oil level h
[mm]
20
9- 6
9. HG-RR SERIES
9.7 Dimensions
Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for
servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are
general tolerance.
9.7.1 Standard (without an electromagnetic brake)
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR103
1.0
1.50
3.9
[Unit: mm]
145.5
38
Motor plate
10
Motor plate
(Opposite side)
Caution plate
□100
45
3
45°
40
4-φ9 mounting hole
Use hexagon socket
head cap screw.
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1
15
φ1
35
94.8
Oil seal
Encoder connector
CMV1-R10P
13
(PE)
Key
E F
D
Power supply connector
CE05-2A22-23P
69.5
C
H
B
G
44
A
U
V
W
Power supply connector
Motor flange direction
BC42648*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR153
1.5
1.90
5.0
[Unit: mm]
170.5
38
Motor plate
Caution plate
□100
45
10
Motor plate
(Opposite side)
3
45°
40
4-φ9 mounting hole
Use hexagon socket
head cap screw.
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1
35
15
φ1
94.8
Oil seal
Encoder connector
CMV1-R10P
13
Power supply connector
CE05-2A22-23P
(PE)
Key
E F
D H G
C
A
B
94.5
W
U
V
Power supply connector
Motor flange direction
9- 7
44
BC42649*
9. HG-RR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR203
2.0
2.30
6.2
[Unit: mm]
195.5
Motor plate
Caution plate
Caution plate
□100
45
10
38
Motor plate
(Opposite side)
3
45°
40
4-φ9 mounting hole
Use hexagon socket
head cap screw.
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ95h7
φ24h6
Caution plate
φ1
35
15
φ1
94.8
Oil seal
Encoder connector
CMV1-R10P
13
(PE)
Key
E F
D
C
Power supply connector
CE05-2A22-23P
H
B
G
A
U
119.5
44
V
W
Power supply connector
Motor flange direction
BC42650*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR353
3.5
8.30
12
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
215.5
12
Caution plate
Motor plate
Caution plate
□130
63
38.2
Motor plate
(Opposite side)
3
45°
58
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ1
6
45
φ1
5
Oil seal
117.4
Encoder connector
CMV1-R10P
φ110h7
φ28h6
Caution plate
13
(PE)
Key
D
C
Power supply connector
CE05-2A24-10P
147.5
W
E
G
B
F
A
U
Power supply connector
Motor flange direction
9- 8
46
V
BC42651*
9. HG-RR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR503
5.0
12.0
17
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
272.5
12
Caution plate
Motor plate
3
45°
58
Motor plate
(Opposite side)
Caution plate
□130
63
38.2
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ110h7
φ28h6
Caution plate
φ1
6
45
φ1
5
117.4
Oil seal
Encoder connector
CMV1-R10P
13
(PE)
Key
D
C
Power supply connector
CE05-2A24-10P
204.5
E
G
B
F
A
46
U
V
W
Power supply connector
Motor flange direction
BC42652*
9.7.2 With an electromagnetic brake
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR103B
1.0
7.0
1.85
6.0
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
183
38
Motor plate
Caution plate
□100
45
Motor plate
(Opposite side)
10
3
45
°
40
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
Encoder connector
CMV1-R10P
φ95h7
φ24h6
Caution plate
φ1
35
15
φ1
94.8
Oil seal
Electromagnetic
brake
13
(PE)
Power supply connector
CE05-2A22-23P
69.5
Key
E F
D H G
C
A
B
U
V
W
Power supply connector
Motor flange direction
9- 9
44
BC42653*
9. HG-RR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR153B
1.5
7.0
2.25
7.0
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
208
Motor plate
(Opposite side)
38
Motor plate
□100
45
10
3
45°
40
Caution plate
Caution plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
φ95h7
φ24h6
Caution plate
1
φ1
φ1
35
5
Electromagnetic
brake
13
Encoder connector
CMV1-R10P
94.8
Oil seal
(PE)
Key
E F
D
C
Power supply connector
CE05-2A22-23P
94.5
H
B
G
A
U
44
V
W
Power supply connector
Motor flange direction
BC42654*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR203B
2.0
7.0
2.65
8.3
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
233
Motor plate
10
Caution plate
Caution plate
□100
45
38
Motor plate
(Opposite side)
3
45°
40
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
Encoder connector
CMV1-R10P
φ95h7
φ24h6
Caution plate
φ1
35
15
φ1
94.8
Oil seal
Electromagnetic
brake
13
(PE)
Key
E F
D
119.5
Power supply connector
CE05-2A22-23P
H G
C
A
B
U
V
W
Power supply connector
Motor flange direction
9 - 10
44
BC42655*
9. HG-RR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR353B
3.5
17
11.8
15
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
252
12
Caution plate
3
Motor plate
(Opposite side)
Caution plate
45°
58
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ110h7
φ28h6
Caution plate
4
φ1
φ1
65
5
Oil seal
Encoder connector
CMV1-R10P
117.4
Motor plate
□130
63
42
Electromagnetic
brake
13
(PE)
Key
D
C
Power supply connector
CE05-2A24-10P
147.5
E
G
B
F
A
46
U
V
W
Power supply connector
Motor flange direction
BC42656*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-RR503B
5.0
17
15.5
21
[Unit: mm]
4-φ9 mounting hole
Use hexagon socket
head cap screw.
309
12
Caution plate
Caution plate
Motor plate
(Opposite side)
3
45°
58
φ28h6
Caution
plate
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
φ110h7
φ1
6
45
φ1
5
Oil seal
13
Electromagnetic
brake
Encoder connector
CMV1-R10P
Power supply connector
CE05-2A24-10P
117.4
Motor plate
□130
63
42
(PE)
204.5
Key
D
C
E
G
B
F
46
A
U
V
W
Power supply connector
Motor flange direction
9 - 11
BC42657*
9. HG-RR SERIES
MEMO
9 - 12
10. HG-UR SERIES
10. HG-UR SERIES
This chapter provides information on the servo motor specifications and characteristics. When using the HGUR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to
5, in addition to this chapter.
10.1 Model designation
The following describes model designation. Not all combinations of the symbols are available.
HG-UR7 2BK
Series
Rated output
Symbol
Rated output [kW]
7
0.75
15
1.5
20
2
35
3.5
50
5
Appearance
Shaft type
Symbol
Shaft shape
None
Standard
(straight shaft)
K
(Note) Keyway shaft
Electromagnetic brake
Symbol Electromagnetic brake
None
None
B
With
Rated speed
2000 [r/min]
Note. Key is not included.
10.2 Combination list of servo motors and servo amplifiers
Servo motor
HG-UR72
HG-UR152
Servo amplifier
MR-J4 1-axis
MR-J4 2-axis
MR-J4-70A
MR-J4-70A-RJ
MR-J4-70B
MR-J4-70B-RJ
MR-J4-70B-RJ010
MR-J4-70B-RJ020
MR-J4-200A
MR-J4-200A-RJ
MR-J4-200B
MR-J4-200B-RJ
MR-J4-200B-RJ010
MR-J4-200B-RJ020
MR-J4W2-77B
MR-J4W2-1010B
Servo motor
HG-UR202
HG-UR352
HG-UR502
10 - 1
Servo amplifier
MR-J4-350A
MR-J4-350A-RJ
MR-J4-350B
MR-J4-350B-RJ
MR-J4-350B-RJ010
MR-J4-350B-RJ020
MR-J4-500A
MR-J4-500A-RJ
MR-J4-500B
MR-J4-500B-RJ
MR-J4-500B-RJ010
MR-J4-500B-RJ020
10. HG-UR SERIES
10.3 Standard specifications
10.3.1 Standard specifications list
Servo motor
Item
72(B)
Power supply capacity
Continuous running
duty (Note 1)
Rated output
Rated torque
[kW]
[N•m]
[N•m]
[r/min]
[r/min]
[r/min]
[kW/s]
Maximum torque
Rated speed (Note 1)
Maximum speed
Instantaneous permissible speed
Standard
Power rate at
With an
continuous rated
electromagnetic brake
torque
[kW/s]
Rated current
[A]
Maximum current
[A]
-4
2
Standard [× 10 kg•m ]
With an
Moment of inertia J
electromagnetic brake
-4
2
[× 10 kg•m ]
Recommended load to motor inertia ratio
(Note 2)
10.3
21.2
19.5
32.8
46.0
5.4
16
10.4
9.7
29
22.1
14
42
38.2
23
69
76.5
28
84
115
12.5
24.2
46.8
85.1
124
15 times or less
22-bit encoder common to absolute position/incremental
(resolution per servo motor revolution: 4194304 pulses/rev)
With
155 (F)
Totally-enclosed, natural-cooling (IP rating: IP65 (Note 3))
0 ˚C to 40 ˚C (non-freezing)
-15 ˚C to 70 ˚C (non-freezing)
80 %RH or less (non-condensing)
90 %RH or less (non-condensing)
Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt
1000 m or less above sea level
Oil seal
Insulation class
Structure
Operation
Ambient
temperature Storage
Operation
Ambient
humidity
Storage
Ambience
Altitude
Vibration resistance
(Note 5)
X, Y: 24.5 m/s
2
Vibration rank (Note 6)
Permissible load for
the shaft (Note 7)
Mass
502(B)
Refer to "Power supply equipment capacity and generated loss of servo
amplifiers" in Servo Amplifier Instruction Manual.
0.75
1.5
2.0
3.5
5.0
3.6
7.2
9.5
16.7
23.9
10.7
21.5
28.6
50.1
71.6
2000
3000
2500
3450
2875
12.3
23.2
23.9
36.5
49.6
Speed/position detector
Environment (Note 4)
HG-UR 2000 r/min series (flat type/medium capacity)
152(B)
202(B)
352(B)
2
X: 24.5 m/s Y: 49 m/s
2
V10
L
[mm]
Radial
[N]
Thrust
[N]
Standard
[kg]
With an
electromagnetic brake
[kg]
55
637
490
65
882
1176
8.0
11
16
784
20
10
13
22
26
10 - 2
24
30
10. HG-UR SERIES
Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. Except for the shaft-through portion.
4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications
may not be usable. Please contact your local sales office.
5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally
the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress
Vibration amplitude
(both amplitudes) [μm]
the vibration to about half of the permissible value.
Servo motor
X
Y
Vibration
1000
100
10
0
1000 2000 30003450
Speed [r/min]
6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.
Servo motor
Top
Measuring position
Bottom
7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications
list. The value assumes that the load is applied independently.
L
Radial load
L: Distance from flange mounting surface to load center
Thrust load
10 - 3
10. HG-UR SERIES
10.3.2 Torque characteristics
POINT
For the system where the unbalanced torque occurs, such as a vertical axis
system, it is recommended that the unbalanced torque of the machine be kept at
70% or less of the motor's rated torque.
When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque
characteristic is indicated by the heavy line. For the 1-phase 200 V AC power supply, part of the torque
characteristic is indicated by the thin line. HG-UR72 supports 1-phase power supply input.
[HG-UR72]
[HG-UR152]
12
[HG-UR202]
24
[HG-UR352]
30
[HG-UR502]
60
80
Short-duration
running range
8
20
Short-duration
running range
10
40
Short-duration
running range
20
Torque [N•m]
4
16
Torque [N•m]
Short-duration
running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
60
8
40
Short-duration
running range
20
Continuous
running range
0
0
1000
2000
Speed [r/min]
Continuous
running range
3000
0
0
1000
2000
Speed [r/min]
Continuous
running range
3000
0
0
1000
2000
Speed [r/min]
10 - 4
Continuous
running range
3000
0
0
1000
20002500
Speed [r/min]
Continuous
running range
0
0
1000
20002500
Speed [r/min]
10. HG-UR SERIES
10.4 Electromagnetic brake characteristics
CAUTION
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
The operation time of the electromagnetic brake differs depending on the power
supply circuit you use. Be sure to check the operation delay time with a real
machine.
The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake
are indicated below.
Servo motor
Item
72B/152B
Type (Note 1)
HG-UR series
202B/352B/502B
Spring actuated type safety brake
0
24 V DC -10%
Rated voltage (Note 4)
Power consumption
Coil resistance (Note 6)
Inductance (Note 6)
Brake static friction torque
Release delay time (Note 2)
Braking delay time (Note 2)
[W] at 20 °C
[Ω]
[H]
[N•m]
[s]
[s] DC off
Per braking
[J]
Permissible braking work
Per hour
[J]
Brake looseness at servo motor shaft (Note 5)
[degrees]
Number of brakings
[times]
Brake life (Note 3)
Selection example of surge absorbers to
be used (Note 7, 8)
Work per braking
[J]
For the suppressed
voltage 125 V
For the suppressed
voltage 350 V
19
29.0
0.8
8.5
0.04
0.03
400
4000
0.2 to 0.6
34
17.0
1.17
44
0.1
0.03
4500
45000
0.2 to 0.6
20000
20000
200
1000
TND20V-680KB
TND10V-221KB
Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine centering,
etc., use a separate 24 V DC power supply to release the brake electrically.
2. The value for initial on gap at 20 °C.
3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.
The brake life indicated is the number of braking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the electromagnetic brake.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and
surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.
10 - 5
10. HG-UR SERIES
10.5 Servo motors with special shafts
The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol
attached to the servo motor model names.
Shaft shape
Key shaft (without key)
Servo motor
HG-UR_(B)K
Servo motor
K
Variable dimensions
W
QK
0
6 -0.036
42
S
R
Q
HG-UR72(B)K
22h6
55
50
HG-UR152(B)K
28h6
55
50
0
8 -0.036
65
60
0
10 -0.036
HG-UR202(B)K
HG-UR352(B)K
HG-UR502(B)K
35
+0.010
0
QL
3
U
3.5 +0.1
0
3
r
40
3
4 +0.2
0
4
50
5
5 +0.2
0
5
R
M8 Depth 20
Q
QK
U
QL
W
φS
A
A
r
Shaft section view A-A
10.6 Oil seal
The oil seal prevents the entry of oil into the servo motor.
Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip
always.
Shaft
Gear
Servo motor
Height above oil level h
Lip
Oil seal
Servo motor
HG-UR72(B)
HG-UR152(B)
HG-UR202(B)
HG-UR352(B)
HG-UR502(B)
Oil level h
[mm]
20
25
10 - 6
10. HG-UR SERIES
10.7 Dimensions
Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for
servo motor and electromagnetic brake with servo motor shaft.
The dimensions without tolerances are general tolerance.
10.7.1 Standard (without an electromagnetic brake)
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR72
0.75
10.4
8.0
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
109
Motor plate
Caution plate
□176
55
38
13
3
Caution
plate
2-M6 screw
50
45°
40°
1
φ2
Bottom
Bottom
Top
Top
Top
Oil seal
141.3
Bottom
Top
50.9
Bottom
00
φ2
0
φ114.3 -0.025
φ22h6
φ2
30
5
Caution plate
13
(PE)
Encoder connector
CMV1-R10P
Key
E F
D
C
Power supply connector
CE05-2A22-23P
H
B
G
A
W
38
U
V
44
Power supply connector
Motor flange direction
BC42658*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR152
1.5
22.1
11
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
118.5
Motor plate
Caution plate
□176
55
38
13
3
2-M6 screw
50
Caution
plate
45°
40°
15
φ2
Top
φ28h6
Bottom
Bottom
Top
Top
0
Bottom
00
φ2
Oil seal
141.3
Top
50.9
Bottom
φ2
30
φ114.3 -0.025
Caution plate
13
(PE)
Power supply connector
CE05-2A22-23P
Key
E F
D H G
C
A
B
Encoder connector
CMV1-R10P
W
47.5
10 - 7
U
V
Power supply connector
Motor flange direction
44
BC42659*
10. HG-UR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR202
2.0
38.2
16
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
116.5
Caution plate
16
4
2-M8 screw
60
Bottom
Bottom
Bottom
Top
Top
Top
Top
50.9
Bottom
φ 27
35
φ2
0
0
Caution plate
45
°
50
φ2
φ35 +0.010
0
Caution
plate
°
37.5
φ200 -0.046
Motor plate
□220
65
38
164.9
Oil seal
13
Encoder connector
CMV1-R10P
(PE)
Key
42.5
Power supply connector
CE05-2A24-10P
D
C
E
G
B
47
F
A
U
V
W
Power supply connector
Motor flange direction
BC42660*
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR352
3.5
76.5
20
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
Caution plate
Caution
plate
4
Bottom
Bottom
Top
Top
Top
50.9
Bottom
Top
45
°
°
50
φ2
Caution plate
Bottom
37.5
2-M8 screw
60
φ35 +0.010
0
Motor plate
□220
65
16
φ 27
35
φ2
0
0
φ200 -0.046
140.5
38
164.9
Oil seal
13
Encoder connector
CMV1-R10P
(PE)
Key
D
Power supply connector
CE05-2A24-10P
66.5
C
W
E
G
B
F
47
A
U
V
Power supply connector
Motor flange direction
10 - 8
BC42661*
10. HG-UR SERIES
Model
Output [kW]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR502
5.0
115
24
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
164.5
16
Caution plate
4
Caution
plate
φ35 +0.010
0
Bottom
Top
Top
45
°
35
φ2
φ27
0
φ200
Bottom
Top
50.9
Bottom
Top
°
50
φ2
Caution plate
Bottom
37.5
2-M8 screw
60
0
-0.046
Motor plate
□220
65
38
164.9
Oil seal
13
Encoder connector
CMV1-R10P
(PE)
Key
D
90.5
Power supply connector
CE05-2A24-10P
C
E
G
B
F
47
A
U
V
W
Power supply connector
Motor flange direction
BC42662*
10.7.2 With an electromagnetic brake
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR72B
0.75
8.5
12.5
10
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
142.5
40
Caution
plate
Caution plate
Motor plate
□176
55
13
3
40°
2-M6 screw
50
45°
1
φ2
φ22h6
Bottom
Top
Top
00
0
Bottom
Top
φ2
φ114.3 -0.025
Bottom
Top
50.9
Bottom
φ2
30
5
Caution plate
141.3
Oil seal
13
Encoder connector
CMV1-R10P
Electromagnetic
brake
(PE)
Power supply connector
CE05-2A22-23P
38
Key
E F
D H G
C
A
B
U
V
W
Power supply connector
Motor flange direction
10 - 9
44
BC42663*
10. HG-UR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR152B
1.5
8.5
24.2
13
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
152
Motor plate
13
Caution plate
□176
55
40
3
Caution
plate
40°
2-M6 screw
50
45°
φ2
φ28h6
Bottom
Bottom
Top
Top
Top
00
φ2
0
φ114.3 -0.025
Bottom
Top
50.9
Bottom
φ2
30
15
Caution plate
141.3
Oil seal
13
Encoder connector
CMV1-R10P
Electromagnetic
brake
(PE)
Key
E F
Power supply connector
CE05-2A22-23P
D
47.5
C
H
B
G
44
A
U
V
W
Power supply connector
Motor flange direction
BC42664*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR202B
2.0
44
46.8
22
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Motor plate
(Opposite side)
159.5
Caution
plate
Caution plate
4
60
Top
Bottom
Bottom
Bottom
Top
Top
Top
50.9
Bottom
50
φ2
Caution plate
45
°
°
37.5
2-M8 screw
φ35 +0.010
0
Motor plate
□220
65
16
35
φ2
φ27
0
0
φ200 -0.046
39.2
138.7
Oil seal
164.9
13
Encoder connector
CMV1-R10P
42
Electromagnetic brake connector
53.5
MS3102A10SL-4P
Power supply connector
CE05-2A24-10P
42.5
47
Key
Key
D
B
C
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
10 - 10
(PE)
A
W
E
G
B
F
A
U
V
Power supply connector
Motor flange direction
BC42665*
10. HG-UR SERIES
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR352B
3.5
44
85.1
26
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
Caution plate
□220
65
4
16
2-M8 screw
60
Caution plate
Bottom
Bottom
Top
Top
Top
35
φ2
φ27
0
0
φ200 -0.046
Bottom
50.9
Top
45
°
50
φ2
Caution plate
Bottom
°
37.5
φ35 +0.010
0
Motor plate
183.5
39.2 Motor plate
(Opposite side)
164.9
138.7
Oil seal
13
Encoder connector
CMV1-R10P
42
Electromagnetic brake connector
53.5
MS3102A10SL-4P
Power supply connector
CE05-2A24-10P
66.5
47
(PE)
Key
Key
A
E
D
G
C
B
B
F
A
U
V
W
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
Power supply connector
Motor flange direction
BC42666*
Model
Output [kW]
Brake static friction torque [N•m]
Moment of inertia J [× 10-4 kg•m2]
Mass [kg]
HG-UR502B
5.0
44
124
30
[Unit: mm]
4-φ13.5 mounting hole
Use hexagon socket
head cap screw.
39.2
Caution plate
Motor plate
207.5
Motor plate
(Opposite side)
□220
65
16
4
2-M8 screw
60
Caution plate
φ35 +0.010
0
Bottom
Top
Top
φ 27
0
0
φ200 -0.046
Bottom
Top
50.9
Bottom
35
φ2
0
Top
45
°
5
φ2
Caution
plate
Bottom
°
37.5
164.9
138.7
Oil seal
13
Encoder connector
CMV1-R10P
53.5
42
Electromagnetic brake connector
MS3102A10SL-4P
90.5
47
Power supply connector
CE05-2A24-10P
Key
(PE)
A
C
B
Electromagnetic brake
Electromagnetic brake connector
Motor flange direction
10 - 11
Key
D
W
E
G
B
F
A
U
V
Power supply connector
Motor flange direction
BC42667*
10. HG-UR SERIES
MEMO
10 - 12
APPENDIX
App. 1 Servo motor ID codes
Servo motor series ID
0101
0111
0121
0131
Servo motor type ID
F053
FF13
FF23
FF43
FF73
F053
FF13
FF23
FF43
FF73
FF51
FF81
F121
F201
F301
F421
FF52
F102
F152
F202
F352
F502
F702
FF52
F102
F152
F202
F352
F502
F702
FF53
FF73
F103
F153
F203
F353
F503
F703
F903
1101
1501
2201
App. - 1
Servo motor encoder ID
Servo motor
0044
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-KR053
HG-KR13
HG-KR23
HG-KR43
HG-KR73
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
HG-SR52
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
HG-SR524
HG-SR1024
HG-SR1524
HG-SR2024
HG-SR3524
HG-SR5024
HG-SR7024
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
HG-JR503
HG-JR703
HG-JR903
HG-JR11K1M
HG-JR15K1M
HG-JR22K1M
APPENDIX
Servo motor series ID
0132
0141
0151
Servo motor type ID
FF53
FF73
F103
F153
F203
F353
F503
F703
F903
1101
1501
2201
F103
F153
F203
F353
F503
FF72
F152
F202
F352
F502
Servo motor encoder ID
Servo motor
0044
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
HG-JR2034
HG-JR3534
HG-JR5034
HG-JR7034
HG-JR9034
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
App. 2 Manufacturer list
Names given in the table are as of February 2014.
Manufacturer
3M
JST
JX Nippon Oil & Energy
Idemitsu Kosan
Exxon Mobil
Cosmo Oil
Shell Oil
DDK
TE Connectivity
Taiyo Cabletec
Toa Electric Industrial
Nippon Chemi-Con
JAE
Harmonic Drive Systems
Panasonic
Hirose Electric
Molex
App. - 2
Contact
3M
J.S.T. Mfg. Co., Ltd.
JX Nippon Oil & Energy Corporation
Idemitsu Kosan Co., Ltd
Exxon Mobil Corporation
Cosmo Oil Co., Ltd.
Shell Oil Company
DDK Ltd.
TE Connectivity Ltd. Company
Taiyo Cabletec Corporation
Toa Electric Industrial Co., Ltd.
Nippon Chemi-con Corporation
Japan Aviation Electronics Industry, Limited
Harmonic Drive Systems Inc.
Panasonic Corporation
Hirose Electric Co., Ltd.
Molex
APPENDIX
App. 3 Compliance with the CE marking
App. 3.1 What is CE marking?
The CE marking is mandatory and must be affixed to specific products placed on the European Union. When
a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking
also applies to machines and equipment incorporating servos.
(1) EMC directive
The EMC directive applies to the servo motor alone. Therefore servo motor is designed to comply with
the EMC directive. The EMC directive also applies to machines and equipment incorporating servo
motors.
(2) Low voltage directive
The low voltage directive also applies to the servo motor alone. The servo motor is designed to comply
with the low voltage directive.
(3) Machinery directive
The servo motor as a single unit does not comply with the Machinery directive due to correspondence
with "Partly completed machinery" of 2006/42/EC article2 (g). However, machines and equipment
incorporating servo motors will be complied. Please check your machines and equipment as a whole if
they are complied.
App. 3.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.
(1) Wiring
Use wirings which complies with EN for the servo motor power. Complying EN products are available as
options. Refer to chapter 5 for details of the options.
(2) Performing EMC tests
When EMC tests are run on a machine and device into which the servo motor and servo motor have
been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after
it has satisfied the operating environment and electrical equipment specifications.
For EMC directive conforming methods about servo amplifiers and servo motors, refer to the EMC
Installation Guidelines (IB(NA)67310) and each Servo Amplifier Instruction Manual.
App. - 3
APPENDIX
App. 4 Compliance with UL/CSA standard
Use the UL/CSA standard-compliant model of servo motor. For the latest information of compliance, contact
your local sales office.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/CSA standardcompliant models are the same as those of the standard models.
(1) Flange size
The servo motor is compliant with the UL/CSA standard when it is mounted on the flanges made of
aluminum whose sizes are indicated in the following table.
The rated torque of the servo motor under the UL/CSA standard indicates the continuous permissible
torque value that can be generated when it is mounted on the flange specified in this table and used in
the environment of 0 °C to 40 °C ambient temperature. Therefore, to conform to the UL/CSA standard,
mount the servo motor on a flange with a heat radiating effect equivalent to that of this flange.
Flange size
[mm]
250 × 250 × 6
HG-MR/HG-KR
Servo motor
HG-JR
51
81
52(4)
102(4)
152(4)
53(4)
73(4)
103(4)
153(4)
203(4)
43
300 × 300 × 12
73
HG-UR
103
153
203
121
201
202(4)
352(4)
550 × 550 × 30
650 × 650 × 35
HG-RR
053
13
23
250 × 250 × 12
300 × 300 × 20
HG-SR
301
421
502(4)
702(4)
App. - 4
353(4)
503(4)
703(4)
903(4)
11K1M(4)
15K1M(4)
22K1M(4)
353
503
72
152
202
352
502
APPENDIX
(2) Selection example of wires
To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 °C for wiring.
The following table shows wires [AWG] rated at 75 °C.
(a) HG-MR series and HG-KR series
Servo motor
Wire [AWG]
U/V/W/
B1/B2
HG-MR053
HG-MR13
HG-MR23
HG-MR43
HG-MR73
HG-KR053
14 (Note)
16 (Note)
HG-KR13
HG-KR23
HG-KR43
HG-KR73
Note. For fabricating extension cables to wire a servo amplifier and a servo motor, use the
option. Refer to chapter 5 for details of the options.
(b) HG-SR series
Servo motor
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
HG-SR52
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
HG-SR524
HG-SR1024
HG-SR1524
HG-SR2024
HG-SR3524
HG-SR5024
HG-SR7024
Wire [AWG]
U/V/W/
B1/B2
14
12
10 (Note)
14
12
10 (Note)
8 (Note)
16
14
12 (Note)
10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping
tools used for connection with the servo amplifier.
App. - 5
APPENDIX
(c) HG-JR series
Wire [AWG]
U/V/W/
Servo motor
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
HG-JR503
HG-JR703
HG-JR903
HG-JR11K1M
HG-JR15K1M
HG-JR22K1M
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
HG-JR2034
HG-JR3534
HG-JR5034
HG-JR7034
HG-JR9034
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
Standard
When the maximum
torque
is 400% (Note 2)
14
14
12
10 (Note 1)
8 (Note 1)
12 (Note 1)
10 (Note 1)
B1/B2
BU/BV/BW
6 (Note 1)
4 (Note 1)
2 (Note 1)
16
16
14
14
12 (Note 1)
10 (Note 1)
14 (Note 1)
12 (Note 1)
8 (Note 1)
6 (Note 1)
16
Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for connection
with the servo amplifier.
2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for
the combinations.
(d) HG-RR series
Servo motor
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
Wire [AWG]
U/V/W/
B1/B2
14
16
12
10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping
tools used for connection with the servo amplifier.
(e) HG-UR series
Servo motor
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
Wire [AWG]
U/V/W/
B1/B2
14
12
16
10 (Note)
Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping
tools used for connection with the servo amplifier.
App. - 6
APPENDIX
App. 5 Calculation methods for designing
5.1 Specification symbol list
The following symbols are required for selecting the proper servo.
Ta: Acceleration torque
Td: Deceleration torque
TMa: Torque necessary for acceleration
TMd: Torque necessary for deceleration
TLH: Load torque converted into equivalent value
on servo motor shaft during stop
2
[N•m]
[N•m]
[N•m]
[N•m]
[N•m]
[N•m]
g: Gravitational acceleration (9.8 [m/s ])
µ: Friction coefficient
π: Pi constant (3.14)
Pf: Number of feedback pulses in position control mode
[pulse/rev]
f: Input pulse frequency in position control mode
[pulse/s]
f0: Input pulse frequency during fast feed in position control
[pulse/s]
mode
TL: Load torque converted into equivalent value
[N•m] tpsa: Acceleration time constant of pulse frequency
[s]
on servo motor shaft
command in position control mode
TU: Unbalanced torque
[N•m] tpsd: Deceleration time constant of pulse frequency
[s]
command in position control mode
TF: Load friction torque
[N•m]
TB: Brake static friction torque
[N•m] Kp: Position loop gain 1
[rad/s]
TL0: Load torque on load shaft
[N•m] Tp: Position control time constant (Tp = 1/Kp)
[s]
Trms: Continuous effective load torque converted
[N•m] Δl: Feed per feedback pulses in position control mode
[mm/pulse]
into equivalent value on servo motor shaft
Travel distance per pulse
-4
2
JL: Load inertia moment converted into
[× 10 kg•m ] Δl0: Feed per command pulse in position control mode
[mm/pulse]
equivalent value on servo motor shaft
Travel distance per command pulse
-4
2
JL0: Load inertia moment on load shaft
[× 10 kg•m ] l: Feed
[mm]
-4
2
JM: Servo motor's rotor inertia moment
[× 10 kg•m ] P: Number of internal command pulses
[pulse]
N: Servo motor speed
[r/min] ts: Internal settling time
[s]
N0: Servo motor speed during fast feed
[r/min] t0: Positioning time
[s]
NL0: Load shaft speed during fast feed
[r/min] tc: Time at constant speed of servo motor in one cycle
[s]
V: Moving part speed
[mm/min] tl: Stopping time in one cycle
[s]
V0: Moving part speed during fast feed
[mm/min] Δε: Positioning accuracy
[mm]
PB: Ball screw lead
[mm] ε: Number of droop pulses
[pulse]
Z1: Number of gear teeth on servo motor shaft
ΔS: Travel distance per servo motor revolution
[mm/rev]
Z2: Number of gear teeth on load gear
W: Mass
[kg]
Z2
Lmax: Maximum coasting distance
[mm]
n: Gear ratio n =
Z1
Speed reduced when n > 1, Speed increased when n < 1
η: Drive system efficiency
App. - 7
APPENDIX
App. 5.2 Position resolution and electronic gear setting
Position resolution (travel distance per pulse Δl) is determined by travel distance per servo motor revolution
ΔS and the number of encoder feedback pulses Pf, and is represented by Equation 5.1. As the number of
feedback pulses depends on the servo motor series, refer to standard specifications in the chapter of each
servo motor series.
Δl = P ····················································································································································· (5.1)
f
Δl: Travel distance per pulse [mm/pulse]
ΔS: Travel distance per servo motor revolution [mm/rev]
Pf: Number of feedback pulses [pulse/rev]
Since Δl has the relation represented by equation 5.1, its value is fixed in the control system after the drive
system and encoder have been determined. However, travel distance per command pulse can be set as
desired using the parameters.
Servo motor
Command pulse
frequency f0
CMX
CDV
+
-
Electronic gear
CMX
CDV
Deviation
counter
M
Pf = 4194304 pulses/rev
Encoder
As shown above, command pulses are multiplied by CMX/CDV set in the parameters to be position control
pulses. Travel distance per command pulse Δl0 is expressed by Equation 5.2.
CMX
CMX
Δl0 = P •
= Δl •
···················································································································· (5.2)
CDV
CDV
f
CMX : Electronic gear (command pulse multiplication numerator)
CDV : Electronic gear (command pulse multiplication denominator)
Using the above relation, travel distance per command pulse can be set to a value without fraction.
[Setting example]
Find a parameter value for Δl0 = 0.001 mm/pulse in a drive system where ball screw lead PB = 10 mm and
reduction ratio 1/n = 1.
The encoder feedback pulses Pf of the HG-KR = 4194304 pulses/rev.
Since ΔS = 10 mm/rev, the following is obtained according to equation 5.2.
Pf
4194304
262144
CMX
= Δl0 •
= 0.001 •
=
10
625
CDV
App. - 8
APPENDIX
Relation between position resolution Δl and overall accuracy
Positioning accuracy of machine is the sum of electrical errors and mechanical errors. Normally, provisions
should be made so that positioning accuracy are not affected by electrical system errors. As a guideline,
Equation 5.3 should be satisfied.
Δl <
1
5
1
• Δε ····································································································································· (5.3)
10
Δl: Travel distance per feedback pulse [mm/pulse]
Δε: Positioning accuracy [mm]
App. 5.3 Speed and command pulse frequency
The servo motor is run at a speed where the command pulses and feedback pulses are equivalent.
Therefore, the command pulse frequency and feedback pulse frequency are equivalent. The following shows
the relation including the parameter settings (CMX and CDV). (Refer to the following diagram.)
f0 •
CMX
N
= Pf • 0 ···································································································································· (5.4)
CDV
60
Electronic
gear
f0
CMX
CDV
Feedback pulse
frequency
Servo motor
f0: Command pulse frequency [pulse/s]
(differential line driver)
CMX: Electronic gear
(command pulse multiplication numerator)
CDV: Electronic gear
(command pulse multiplication denominator)
N0: Servo motor speed [r/min]
Pf: Number of feedback pulses [pulse/rev]
(Pf = 4194304 for HG-KR)
According to equation 5.4, the following equations may be used to obtain the electronic gear and command
pulse frequency to rotate the servo motor at N0.
Electronic gear
1
CMX
N
= Pf • 0 • ······························································································································· (5.5)
CDV
60 f0
Command pulse frequency
N
CDV
f0 = Pf • 0 •
································································································································· (5.6)
60 CMX
App. - 9
APPENDIX
[Setting example]
Obtain the command pulse frequency required to run the HG-KR at 3000 r/min.
The following result will be found according to equation 5.6.
f0 = 4194304 •
N0 CDV
•
60 CMX
(Command pulse frequency)
= 4194304 •
3000
•1
60
= 209715200 [pulses/s]
However, as the maximum input command pulse frequency in the differential line driver type is 4 Mpulses/s
for MR-J4 servo amplifier, 209715200 pulses/s cannot be entered.
To run the servo motor at the speed of 3000 r/min at not more than 4 Mpulses/s, the electronic gear setting
must be changed. This electronic gear is found by equation 5.5.
1
CMX
3000
= 4194304 •
•
4 • 106
CDV
60
(Electronic gear)
=
32768
625
Therefore, the parameters are set to CMX = 32768 and CDV = 625.
App. - 10
APPENDIX
5.4 Stopping characteristics
(1) Droop pulses (ε)
When you use a pulse train command to run the servo motor, the relation between the command pulse
frequency and servo motor speed will be as follows. The difference between the command pulses and
feedback pulses during acceleration are called droop pulses, which are accumulated in the servo
amplifier deviation counter. Equation 5.7 defines a relation between the command pulse frequency (f)
and position control gain 1 (Kp).
ε≈
f0
[pulse] ······································································································································ (5.7)
Kp
Supposing that the value of position control gain 1 is 70 rad/s, the droop pulses during operation will be
as follows at the command pulse frequency of 200 kpulses/s according to equation 5.7.
Command pulse frequency f [pulse/s]
Servo motor speed [r/min]
3
ε ≈ 200 • 10 ≈ 2858 [pulses]
70
Command
Droop pulses
Servo motor
speed
0
Time
Tp
tpsa
tpsd
ts
ts
App. - 11
1
3 • 70
0.04
APPENDIX
(2) Settling time (ts) during linear acceleration/deceleration
Since droop pulses still exist regardless of zero command pulse, settling time (ts) is required until the
servo motor stops.
Set the operation pattern in consideration for the settling time.
The settling time (ts) value is obtained according to equation 5.8.
ts ≈ 3 • Tp
=3•
1
[s] ······································································································································· (5.8)
Kp
*When Kp = 70 [rad/s], ts ≈ 0.04 [s]. (above diagram)
The settling time (ts) indicates the time required for the servo motor to stop in the necessary positioning
accuracy range. This does not always mean that the servo motor has stopped completely. Thus,
especially when the servo motor is used in high-duty operation and positioning accuracy has no margin
for travel distance per pulse (Δl), the value obtained by equation 5.8 must be increased.
The settling time (ts) will vary with the moving part conditions. Especially when the load friction torque is
large, movement may be unstable near the stopping position.
App. - 12
APPENDIX
App. 5.5 Capacity selection
As a first step, confirm the load conditions and temporarily select the servo motor capacity.
Then, determine the operation pattern, calculate required torques according to the following equations, and
check that the servo motor of the initially selected capacity may be used for operation .
(1) Initial selection of servo motor capacity
After calculating the load torque (TL) and load moment of inertia (JL), select a servo motor which will
satisfy the following two relations.
Servo motor rated torque > TL
Servo motor JM > JL/m
m = 3: High duty (more than 100 times/min.)
Settling time; 40 ms or less
m = 5: Middle frequency (60 times/min. to 100 times/min.)
Settling time; 100 ms or less
m = Permissible load moment of inertia: Low duty (less than 60 times/min.)
Settling time; more than 100 ms
Find the acceleration and deceleration torques and continuous effective load torque as described in (2)
to make a final selection. For high-duty positioning, the load moment of inertia (JL) value should be as
small as possible.
If positioning is infrequent as in line control, the load moment of inertia (JL) value may be slightly larger
than in the above conditions.
App. - 13
APPENDIX
Command pulse frequency f [pulse/s]
Deceleration Acceleration
torque
torque
Servo motor speed [r/min]
(2) Acceleration and deceleration torques
The following equations are used to calculate the acceleration and deceleration torques in the following
operation pattern.
Command
N0f0
Servo motor
speed
0
tpsa
tpsd
Time
Ta
Time
0
Td
Acceleration torque Ta =
(JL + JM) • N0
1
•
·················································································· (5.9)
tpsa
9.55 • 104
Deceleration torque Td =
(JL + JM) • N0
1
•
·················································································· (5.10)
4
t
9.55 • 10
psd
App. - 14
APPENDIX
(3) Torques required for operation
POINT
For the gain adjustment, check that the machine operates below the maximum
torque of the servo motor. It is recommended that generated torque during
operation is under 90% of the maximum torque of the servo motor.
Command pulse frequency f [pulse/s]
Servo motor speed [r/min]
Torques required for the servo motor are the highest during acceleration. If the servo motor torque found
with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set
the calculated value within the servo motor's maximum torque. Since a friction load is normally applied
during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the
value found by equation 5.13 is negative.
Command
N0f0
Servo motor
speed
0
tpsa
tpsd
Time
Servo motor torque
T1
Ta
TMa
T2
TL
Time
0
Td
TMd
T1 = TMa = Ta + TL ································································································································ (5.11)
T2 = TL ················································································································································· (5.12)
T3 = TMd = -Td + TL ······························································································································· (5.13)
App. - 15
APPENDIX
0
Servo motor torque
Servo motor speed N [r/min]
(4) Continuous effective load torque
If the torque required for the servo motor changes with time, the continuous effective load torque should
be lower than the rated torque of the servo motor. There may be a servo motor torque delay at the start
of acceleration or deceleration due to a delay in the control system. To simplify the calculation, however,
it is assumed that constant acceleration and deceleration torques are applied during tpsa and tpsd.
The following equation is used to calculate the continuous effective load torque in the following operation
pattern. TLH indicates the torque applied during a servo motor stop. A large torque may be applied
especially during a stop in vertical motion applications, and this must be fully taken into consideration.
During vertical drive, the unbalanced torque TU will become TLH.
Time
Ta
TMa
TLH
TL
0
Td
tpsa
tc
Time
TMd
tpsd
tl
tf (1 cycle)
Trms =
TMa2 • tpsa + TL2 • tc + TMd2 • tpsd + TLH2 • tl
tf
··············································································· (5.14)
App. - 16
APPENDIX
App. 5.6 Load torque equations
Typical load torque equations are indicated below.
Type
Mechanism
Equation
FC
Servo motor
Z2
Linear
movement
W
Z1
FG
F
TL =
2 • 103 •
F• S
V
•
=
N
2 • 103 •
·············································(5.15)
F: Force in the axial direction of the machine in linear motion [N]
F in equation 5.15 is obtained with equation 5.16 when the table is moved,
for example, as shown in the left diagram.
F = Fc + µ • (W • g + FG) ········································································(5.16)
Fc: Force applied in the axial direction of the moving part [N]
FG: Tightening force of the table guide surface [N]
W: Full mass of the moving part [kg]
TL0
TL =
Rotary
movement
Z1
Z2
1 1
• • TL0 + TF ···············································································(5.17)
n
TF: Load friction torque converted into equivalent value on servo motor
shaft [N•m]
Servo motor
Servo motor
1/n
Vertical
movement
Guide
During rise
TL = TU + TF ·························································································(5.18)
During fall
2
TL = -TU • η + TF ·················································································(5.19)
Counterweight
TF: Friction torque of the moving part [N•m]
(W1 - W2) • g
(W1 - W2) • g • S
V
TU =
•
=
···································(5.20)
2 • 103 •
2 • 103 •
N
W2
(W1 - W2) • g • S
Load
TF =
····································································(5.21)
2 • 103 •
W1
W1: Mass of load [kg]
W2: Mass of counterweight [kg]
App. - 17
APPENDIX
App. 5.7 Load moment of inertia equations
Typical load moment of inertia equations is indicated below.
Type
Mechanism
Equation
Axis of rotation is on the cylinder
center
•L
JL0 =
W
• (D41 - D42) =
• (D21 + D22) ·············································(5.22)
8
32
3
ρ: Cylinder material density [kg/cm ]
L: Cylinder length [cm]
D1: Cylinder outside diameter [cm]
D2: Cylinder inside diameter [cm]
W: Cylinder mass [kg]
L
D1
D2
Reference data: material density
-3
3
Iron: 7.8 • 10 [kg/cm ]
-3
3
Aluminum: 2.7 • 10 [kg/cm ]
-3
3
Copper: 8.96 • 10 [kg/cm ]
Axis of rotation
Cylinder
Axis of rotation is on the cylinder
center
R
JL0 =
W
2
2
• (D + 8R )···············································································(5.23)
8
Axis of rotation D
R
b
a
a
Square block
b
V
Servo motor
JL = W •
D
JL = W •
Object that is
hung with pulley
Servo motor
Converted
load
Load B
JB
2
=W•
1
2•
•N
•
V
10
2
D
2
··············(5.25)
+ JP ··················································································(5.26)
-4
2
J31
J21
N2
N1
2
+ (J31 + JB) •
N3
N1
-4
J22
2
2
JL = J11 + (J21 + J22 + JA) •
N1
S
20 •
=W•
JP: Pulley moment of inertia [× 10 kg•m ]
D: Pulley diameter [cm]
W: Square block mass [kg]
W
N3
V
600 •
V: Speed of object which moves linearly [mm/min]
ΔS: Travel distance of object moving linearly per servo motor revolution
[mm/rev]
W: Square block mass [kg]
W
N
a2 + b2
+ R2 ·········································································(5.24)
3
W: Square block mass [kg]
a, b, R: Left diagram [cm]
Axis of rotation
Object which
moves linearly
JL0 = W •
Load A
JA
N2
2
·····························(5.27)
2
JA, JB: Moment of inertia of load A, B [× 10 kg•m ]
-4
2
J11 to J31: Moment of inertia [× 10 kg•m ]
N1 to N3: Speed of each shaft [r/min]
J11
App. - 18
APPENDIX
App. 5.8 Precautions for home position return
When a general positioning unit is used, the sequence of events is as shown in the following figure.
Home position return speed V1
Proximity dog on starts deceleration
Creep speed V2
Proximity dog
Zero pulse signal On
Off
When determining the on duration of the proximity dog,
consider the deceleration time so that the speed reaches
the creep speed.
Considering the variations of the proximity dog
operation, adjust the proximity dog so that it
switches off at the middle during the the zero
pulse signal on.
(1) When determining the on duration of the proximity dog, consider the delay time of the control section
and the deceleration time so that the creep speed is attained. If the proximity dog signal switches off
during deceleration, precise home position return cannot be performed.
Home position
return speed V1
Travel distance until reaching the
creep speed after proximity dog is
detected L1
Creep speed V2
Deceleration
time td
Control delay
time t1
On duration of the
proximity dog LD
Travel distance L1 in the chart can be obtained by equation 5.28.
L1 =
1
1
V
• V1 • t1 • +
• V1 • td • 1 - 2
60
120
V1
2
+
1
• V1 • TP ···························································· (5.28)
60
On duration of the proximity dog LD [mm] must be longer than L1 obtained by equation 5.28, as indicated
in equation 5.29.
LD > L1 ················································································································································· (5.29)
where,
V1, V2: As shown in the chart [mm/min]
t1, td: As shown in the chart [s]
L1: As shown in the chart [mm]
LD: As shown in the chart [mm]
(2) Set the end (off position) of the proximity dog signal at the middle of two on positions (lows) of the zero
pulse signal. If it is set near either on position of the zero pulse signal, the positioning unit is liable to
misdetect the zero pulse signal. In this case, a fault will occur, e.g. the home position will shift by one
revolution of the servo motor.
App. - 19
APPENDIX
App. 5.9 Selection example
Machine
specification
Servo motor
Gear ratio 5: 8
Servo amplifier
Feed speed of moving part
Travel distance per command pulse
Feed per cycle
Positioning time
Number of feeds
Operation cycle
Reduction ratio
Moving part mass
Drive system efficiency
Friction coefficient
Ball screw lead
Ball screw diameter
Ball screw length
Gear diameter (servo motor shaft)
Gear diameter (load shaft)
Gear face width
Number of feedback pulses
V0 = 30000 [mm/min]
Δl0 = 0.001 [mm/pulse]
l = 400 [mm]
t0 = within 1 [s]
40 [times/min]
tf = 1.5 [s]
1/n = 5/8
W = 60 [kg]
η = 0.8
µ = 0.2
PB = 16 [mm]
DB = 20 [mm]
LB = 500 [mm]
DG1 = 25 [mm]
DG2 = 40 [mm]
LG = 10 [mm]
Pf = 4194304 [pulses/rev]
(1) Selection of control parameters
Setting of electronic gear (command pulse multiplication numerator/denominator)
There is the following relation between the electronic gear and command resolution Δl0.
Δl0 =
PB
CMX
•
Pf • n
CDV
When the above machining specifications are substituted in the above equation
0.001 =
16
CMX
•
4194304 • 8/5 CDV
1
4194304 • 8/5 262144
CMX
=
•
=
16
625
CDV 1000
CMX
Acceptable as CMX/CDV is within 1/10 to 4000
CDV
(2) Servo motor speed
V0 1
30000 8
N0 = P •
=
• = 3000 [r/min]
1/n
5
16
B
App. - 20
APPENDIX
(3) Acceleration/deceleration time constant
tpsa = tpsd = t0 -
l
- t = 0.05 [s]
V0/60 s
ts: Settling time (Here, this is assumed to be 0.15 s.)
Servo motor speed [r/min]
(4) Operation pattern
3000
0
tpsa
0.05
t0 = 1.0
tpsd
0.05
1 cycle tf = 1.5
(5) Load torque (converted into equivalent value on servo motor shaft)
Travel distance per servo motor revolution
ΔS = PB •
TL =
5
1
= 16 • = 10 [mm]
8
n
•W•g• S
0.2 • 60 • 9.8 • 10
=
= 0.23 [N•m]
2 • 103 •
2 • 103 • 3.14 • 0.8
App. - 21
ts
0.15
Time [s]
APPENDIX
(6) Load moment of inertia (converted into equivalent value on servo motor shaft)
Moving part
S 10-3
2
JL1 = W •
2
= 1.52 • 10-4 [kg•m2]
Ball screw
JL2 =
B
32
• DB4 •
1
n
2
= 0.24 • 10-4 [kg•m2]
ρ = 7.8 • 103 [kg/m3] (iron)
Gear (servo motor shaft)
JL3 =
G
32
• DG14 = 0.03 • 10-4 [kg•m2]
Gear (load shaft)
JL4 =
G
32
• DG24 •
1
n
2
= 0.08 • 10-4 [kg•m2]
Full load moment of inertia (converted into equivalent value on servo motor shaft)
JL = JL1 + JL2 + JL3 + JL4 = 1.9 • 10-4 [kg•m2]
(7) Temporary selection of servo motor
Selection conditions
(a) Load torque < servo motor rated torque
(b) Full load moment of inertia < JR • moment of inertia of the servo motor
JR: Recommended load to motor inertia ratio
According to above conditions, HG-KR23 (rated torque: 0.64 N•m, maximum torque: 2.2 N•m,
moment of inertia: 0.221 • 10-4 kg•m2) is selected temporarily.
App. - 22
APPENDIX
(8) Acceleration/deceleration torque
Torque necessary for acceleration
TMa =
(JL/ + JM) • N0
+ TL = 1.84 [N•m]
9.55 • 104 • tpsa
JM: Moment of inertia of the servo motor
Torque necessary for deceleration
TMd =
-(JL • + JM) • N0
+ TL = -0.85 [N•m]
9.55 • 104 • tpsd
The torque required for the servo motor during acceleration/deceleration must be lower than the servo
motor's maximum torque.
(9) Continuous effective load torque
Trms =
TMa2 • tpsa + TL2 • tc + TMd2 • tpsd
tf
= 0.40 [N•m]
The continuous effective load torque must be lower than the servo motor rated torque.
Torque [N•m]
(10) Torque pattern
1.84
0.23
0
0.05
0.75
0.05
0.15
-0.85
1.5
(11) Selection results
The following servo motor and servo amplifier are selected as a result of the calculation.
Servo motor: HG-KR23
Servo amplifier: MR-J4-20A
(a) Electronic gear setting
CMX = 262144
CDV = 625
(b) During rapid feed
Servo motor speed N0 = 3000 [r/min]
(c) Acceleration/deceleration time constant
tpsa = tpsd = 0.05 [s]
App. - 23
Time [s]
APPENDIX
App. 5.10 Coasting distance of electromagnetic brake
At an emergency stop, the servo motor with an electromagnetic brake stops as the following diagram. Here,
the maximum coasting distance (during fast feed) Lmax will be the area shown with the diagonal line in the
figure and can be calculated approximately with equation 5.30. The effect of the load torque is greater near
the stopping area. When the load torque is large, the servo motor will stop faster than the value obtained in
the equation.
Emergency stop
Brake current
t1
t2
t3
Machine speed
V0
Lmax =
V0
t
• t1 + t2 + 3 ····························································································································· (5.30)
60
2
Lmax: Maximum coasting distance [mm]
V0: Machine's fast feed speed [mm/min]
t1: Delay time of control section [s]
t2: Braking delay time (Note) [s]
t3: Braking time [s]
(JL + JM) • N0
t3 =
9.55 • 104 • (TL + 0.8 • TB)
JL: Load moment of inertia converted into equivalent value on servo motor shaft (Note) [× 10-4 kg•m2]
JM: Servo motor rotor's inertia moment [× 10-4 kg•m2]
N0: Servo motor speed during fast feed [r/min]
TL: Load torque converted into equivalent value on servo motor shaft [N•m]
TB: Brake static friction torque (Note) [N•m]
Note. Refer to the chapter of the servo motor series for t2 and TB. JL is moment of inertia of the machine at the servo motor shaft.
App. 5.11 Equation for calculating the electromagnetic brake workload
Calculate the brake workload Eb [J] at an emergency stop with the following equation.
Eb =
(JM + JL) • N2
• 10-4
182
N: Servo motor speed [r/min]
JM: Servo motor rotor's inertia moment [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft [× 10-4 kg•m2]
App. - 24
APPENDIX
App. 6 Selection example of servo motor power cable
POINT
Selection condition of wire size is as follows.
Wire length: 30 m or less
Some cables do not fit into the option or the recommended cable clamp. Select
a cable clamp according to the cable diameter.
Selection example when using the 600 V grade EP rubber insulated chloroprene sheath cab-tire cable
(2PNCT) for servo motor power (U, V, and W) is indicated below.
2
2
2
Servo motor
Wire size [mm ]
Servo motor
Wire size [mm ]
Servo motor
Wire size [mm ]
HG-SR51
HG-SR81
HG-SR121
HG-SR201
HG-SR301
HG-SR421
HG-SR52
HG-SR102
HG-SR152
HG-SR202
HG-SR352
HG-SR502
HG-SR702
HG-SR524
HG-SR1024
HG-SR1524
HG-SR2024
HG-SR3524
1.25
1.25
2
2
3.5
5.5
1.25
1.25
2
2
3.5
5.5
8
1.25
1.25
2
2
2
HG-SR5024
HG-SR7024
HG-JR53
HG-JR73
HG-JR103
HG-JR153
HG-JR203
HG-JR353
HG-JR503
HG-JR703
HG-JR903
HG-JR11K1M
HG-JR15K1M
HG-JR22K1M
HG-JR534
HG-JR734
HG-JR1034
HG-JR1534
3.5
5.5
1.25
1.25
2
2
2
3.5
5.5
8
14
22
30
30
1.25
2
2
2
HG-JR2034
HG-JR3534
HG-JR5034
HG-JR7034
HG-JR9034
HG-JR11K1M4
HG-JR15K1M4
HG-JR22K1M4
HG-RR103
HG-RR153
HG-RR203 (Note)
HG-RR353 (Note)
HG-RR503 (Note)
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
2
5.5
5.5
8
8
8
22
22
2
2
3.5
5.5
5.5
1.25
2
3.5
5.5
5.5
Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable.
App. - 25
APPENDIX
App. 7 Crimping connector for CNP3_
MR-J4W_
Servo amplifier
CNP3A
1)2)3)4)
CNP3B
CNP3C (Note)
Note. This figure shows the 3-axis servo amplifier.
No.
1)
2)
Name
Connector set
Connector set
Description
Application
MR-J3WCNP3DL
Model
The connector set is used for connecting to the servo amplifier directly using
MR-PWS1CBL_M-_.
Quantity: 1
For thin
wire
MR-J3WCNP3DL-20P
For CNP3A/CNP3B/CNP3C
Receptacle housing: F35FDC-04V-K
Receptacle contact: LF3F-41GF-P2.0
(JST)
Applicable wire
2
2
Wire size: 0.75 mm (AWG 19) to 1.25 mm (AWG 16)
Insulator OD: 1.8 mm to 2.8 mm
The crimping tool (YRF-880) is required.
3)
4)
Connector set
Connector set
MR-J3WCNP3D2L
The connector set is used for connecting to the servo amplifier directly
without using MR-PWS1CBL_M-_.
MR-J3WCNP3D2L-20P
For CNP3A/CNP3B/CNP3C
Receptacle housing: F35FDC-04V-K
Receptacle contact: BF3F-71GF-P2.0
(JST)
Applicable wire
2
2
Wire size: 1.25 mm (AWG 16) to 2.0 mm (AWG 14)
Insulator OD: 2.4 mm to 3.4 mm
The crimping tool (YRF-1070) is required.
App. - 26
Quantity:
20
For thin
wire
Quantity: 1
For thick
wire
Quantity:
20
For thick
wire
APPENDIX
App. 8 Connector dimensions
The connector dimensions for wiring the servo motor are shown below.
(1) TE Connectivity
2174053-1
[Unit: mm]
31.1
19.6
24.6
(Note)
22
Note. The recommended screw tightening torque is
13.5
6.5
19
0.1 N•m.
13.6
Crimping tool: 1596970-1 (for ground clip)
1596847-1 (for receptacle contact)
(2) JAE
JN4FT02SJ1-R
[Unit: mm]
19
14.3
12.5
26.6
17
12.3
12.7
R4
R6
2.5
11.8
11.6
(Note)
Note. The recommended screw tightening torque
is 0.2 N•m.
Crimping tool: CT160-3-TMH5B
App. - 27
APPENDIX
KN4FT04SJ1-R
[Unit: mm]
7°
24.5 ± 0.3
20.1 ± 0.2
18.5 ± 0.3
Approx. 29
16 ± 0.3
11.7 ± 0.2
12.2 ± 0.3
(Note)
11 ± 0.3
3.5 ± 0.2
13 ± 0.3
13.7 ± 0.3
R6
Note. The recommended screw tightening torque
is 0.2 N•m.
Main key
Crimping tool: CT160-3-TMH5B
(3) DDK
(a) CMV1-SP10S-M_/CMV1-SP2S-_
Refer to section 3.3 for details of crimping tools.
21
21
[Unit: mm]
Approx. 50
CMV1-SP10S-M_
App. - 28
CMV1-SP2S-_
APPENDIX
(b) CMV1-AP10S-M_/CMV1-AP2S-_
Refer to section 3.3 for details of crimping tools.
Approx. 33
21
[Unit: mm]
Approx. 32
CMV1-AP10S-M_
CMV1-AP2S-_
(c) CE05-6A_-_SD-D-BSS
[Unit: mm]
D or shorter
W
A
0
B -0.38
C ± 0.8
7.85 or longer
Model
A
B
C
D
W
CE05-6A18-10SD-D-BSS
CE05-6A22-22SD-D-BSS
CE05-6A32-17SD-D-BSS
1 1/8-18UNEF-2B
1 3/8-18UNEF-2B
2-18UNS-2B
34.13
40.48
56.33
32.1
38.3
54.2
57
61
79
1-20UNEF-2A
1 3/16-18UNEF-2A
1 3/4-18UNS-2A
(d) CE05-8A_-_SD-D-BAS
[Unit: mm]
0
-0.38
A
B
Y or longer
U ± 0.7 R ± 0.7
Approx. S ± 1
D or shorter
W
Model
CE05-8A18-10SD-D-BAS
CE05-8A22-22SD-D-BAS
CE05-8A32-17SD-D-BAS
A
B
1 1/8-18UNEF-2B 34.13
1 3/8-18UNEF-2B 40.48
2-18UNS-2B
56.33
App. - 29
D
W
R
U
S
Y
69.5
75.5
93.5
1-20UNEF-2A
1 3/16-18UNEF-2A
1 3/4-18UNS-2A
13.2
16.3
24.6
30.2
33.3
44.5
43.4
49.6
61.9
7.5
7.5
8.5
APPENDIX
(e) CE3057-_A-_-D
[Unit: mm]
G ± 0.7
B ± 0.7
Effective thread length C
V threads 1.6
Approx. D
A ± 0.7
H
F
(Bushing ID)
Model
CE3057-10A-1-D
CE3057-10A-2-D
CE3057-12A-1-D
CE3057-12A-2-D
CE3057-20A-1-D
Shell
size
A
B
C
D
E
18
23.8
30.1
10.3
41.3
15.9
22
23.8
35
10.3
41.3
19
32
27.8
51.6
11.9
43
31.7
E
(Cable clamp ID)
F
14.1
11.0
16.0
13.0
23.8
(Movable range on one side)
G
H
V
31.7
3.2
1-20UNEF-2B
Cable
OD
Bushing
37.3
4.0
1 3/16-18UNEF-2B
51.6
6.3
1 3/4-18UNS-2B
CE3420-10-1
CE3420-10-2
CE342012-1
CE342012-2
CE3420-20-1
10.5 to
14.1
8.5 to 11
12.5 to 16
9.5 to 13
22 to 23.8
(f) D/MS3106B_-_S
[Unit: mm]
L or shorter
J ± 0.12
Y or shorter
W or longer
0
Q -0.38
A
V
Model
D/MS3106B18-10S
D/MS3106B22-22S
D/MS3106B32-17S
A
J
L
Q
V
W
Y
1 1/8-18UNEF
1 3/8-18UNEF
2-18UNS
18.26
18.26
18.26
52.37
56.57
61.92
34.13
40.48
56.33
1-20UNEF
1 3/16-18UNEF
1 3/4-18UNS
9.53
9.53
11.13
42
50
66
App. - 30
APPENDIX
(g) D/MS3108B_-_S
[Unit: mm]
J ± 0.12
U ± 0.5 R ± 0.5
L or shorter
0
Q -0.38
A
W or longer
V
Model
D/MS3108B18-10S
D/MS3108B22-22S
D/MS3108B32-17S
A
J
L
Q
R
U
V
W
1 1/8-18UNEF
1 3/8-18UNEF
2-18UNS
18.26
18.26
18.26
68.27
76.98
95.25
34.13
40.48
56.33
20.5
24.1
32.8
30.2
33.3
44.4
1-20UNEF
1 3/16-18UNEF-2A
1 3/4-18UNS
9.53
9.53
11.13
(h) D/MS3057-_A
[Unit: mm]
E (Bushing ID)
A ± 0.7
1.6
B ± 0.7
D (Cable clamp ID)
G ± 0.7
Effective thread length C
V
F (Movable range)
Model
Shell size
A
B
C
D
E
F
G
V
Bushing
D/MS3057-10A
D/MS3057-12A
D/MS3057-20A
18
22
32
23.8
23.8
27.8
30.1
35.0
51.6
10.3
10.3
11.9
15.9
19.0
31.7
14.3
15.9
23.8
3.2
4.0
6.3
31.7
37.3
51.6
1-20UNEF
1 3/16-18UNEF-2A
1 3/4-18UNS
AN3420-10
AN3420-12
AN3420-20
(i) CMV1S-SP10S-M_/CMV1S-SP2S-_
Refer to section 3.3 for details of crimping tools.
21
21
[Unit: mm]
Approx. 50
CMV1S-SP10S-M_
App. - 31
CMV1S-SP2S-_
APPENDIX
(j) CMV1S-AP10S-M_/CMV1S-AP2S-_
Refer to section 3.3 for details of crimping tools.
Approx. 33
21
[Unit: mm]
Approx. 32
CMV1S-AP10S-M_
CMV1S-AP2S-_
(k) CE05-6A32-17SD-D
[Unit: mm]
Model
CE05-6A32-17SD-D
A
B
C
D
E
G
H
J
2-18UNS-2B
56.33
37.0
1 7/8-16UN-2A
13.14
45.3
9.2
19.4
App. - 32
REVISION
*The manual number is given on the bottom left of the back cover.
Print Data
*Manual Number
Mar. 2012
SH(NA)030113-A
Jun. 2012
SH(NA)030113-B
Revision
First edition
4. Additional instructions
The part of table is changed.
(1) Transportation and
installation
Feb. 2013
SH(NA)030113-C
Section 2.2
The sentences are added to CAUTION.
Section 2.6 (2)
The sentences are added.
Section 5.1.2
The sentences of Note are changed.
Section 6.3.1
The part of table is changed.
Section 6.6.1 (2)
The part of table is changed.
Section 6.6.2 (2)
The part of table is changed.
Section 7.3.1
The part of table is changed.
Section 7.6.1 (2)
The part of table is changed.
Section 7.6.2 (2)
The part of table is changed.
4. Additional instructions
The part of table is changed.
(1) Transportation and
installation
Section 1.1
The part of diagram is changed.
Section 1.2 (3) (4)
Addition
Section 2.1 (1)
The part of table is changed.
Section 2.2 to Section 2.10
A part is newly added, construction of sentences is changed.
Section 3.1 (3) to (5)
Addition
Section 3.4
Addition
Chapter 4
POINT is added.
Section 4.2.2
A part is newly added, construction of sentences is changed.
Section 4.3
A part is newly added, construction of sentences is changed.
Section 4.4
A part is newly added, construction of sentences is changed.
Chapter 5
POINT is added.
Section 5.1.1 (2)
The part of diagram is changed.
Section 5.1.1 (3)
Addition
Section 5.1.2
The part of table is changed.
Section 5.2 (2)
POINT is changed.
Section 5.2 (4)
The part of diagram is changed.
Section 5.2 (6)
Addition
Section 5.5
The part of table is changed.
Section 6.2
The part of table is changed.
Section 6.3.1
The part of table is changed.
Section 6.8
The part of diagram is changed.
Section 7.1
The part of diagram is changed.
The sentences of Note 1 are changed.
Section 7.2
The part of table is changed.
Section 7.3.1
The part of table is changed.
Section 7.3.2 (2)
Addition
Section 7.4
The part of table is changed.
Section 7.5
The part of table is changed.
Section 7.6
The part of table is changed.
Section 7.7
The part of table is changed.
The part of diagram is changed.
Chapter 8
Addition
Chapter 9
Addition
Chapter 10
Addition
Appendix 1
The part of table is changed.
Appendix 2
The part of table is changed.
Print Data
*Manual Number
Revision
Feb. 2013
SH(NA)030113-C
Jun. 2013
SH(NA)030113-D
Aug. 2013
SH(NA)030113-E
Oct. 2013
SH(NA)030113-F
Mar. 2014
SH(NA)030113-G
Appendix 4
The part of table is changed.
Appendix 5.9 (8) to (10)
Some numbers are changed.
Appendix 6
The part of table is changed.
"The following servo amplifiers will be available in the future. All specifications of followings may be
changed without notice. MR-J4-_B(4)-RJ020" is deleted.
Section 4.4
The part of table is changed.
Section 8.2
The part of table is changed.
MR-BT6VCBL03M is added.
The sentences are added.
Section 1.1
Section 5.1.1
The part of diagram is changed.
Section 5.1.2
The part of table is changed.
Section 5.2 (7)
Addition
The sentences of Note 7 are added.
Section 6.4
Section 7.4
The sentences of Note 7 are added.
Section 8.4
The sentences of Note 7 are added.
Section 9.4
The sentences of Note 7 are added.
The sentences of Note 7 are added.
Section 10.4
1-phase 100 V AC of servo amplifier power supply input is added to torque characteristics of
HG-MR and HG-KR servo motors.
Section 4.4
The part of table is changed.
Section 6.2
The part of table is changed.
Section 6.3.2
The part of graph is changed.
Section 7.2 (2)
The part of table is changed.
Section 8.2
The part of table is changed.
Appendix 3.1
The sentences are added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
 2012 MITSUBISHI ELECTRIC CORPORATION
Country/Region
Sales office
Tel/Fax
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MITSUBISHI ELECTRIC AUTOMATION, INC.
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México
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France
MITSUBISHI ELECTRIC EUROPE B.V. French Branch
25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel : +33-1-55-68-55-68
Fax : +33-1-55-68-57-57
Czech Republic
MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch
Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic
Tel : +420-251-551-470
Fax : +420-251-551-471
Poland
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch
ul. Krakowska 50, 32-083 Balice, Poland
Tel : +48-12-630-47-00
Fax : +48-12-630-47-01
Russia
MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office
Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; RU-195027
St. Petersburg, Russia
Tel : +7-812-633-3497
Fax : +7-812-633-3499
Turkey
MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch
Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye, İstanbul, Türkey
Tel : +90-216-526-3990
Fax : +90-216-526-3995
South Africa
ADROIT TECHNOLOGIES
20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa
Tel : +27-11-658-8100
Fax : +27-11-658-8101
China
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning
District, Shanghai, China
Tel : +86-21-2322-3030
Fax : +86-21-2322-3000
Taiwan
SETSUYO ENTERPRISE CO., LTD.
6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan,
R.O.C.
Tel : +886-2-2299-2499
Fax : +886-2-2299-2509
Korea
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.
1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea
Tel : +82-2-3660-9510
Fax : +82-2-3664-8372/8335
Singapore
MITSUBISHI ELECTRIC ASIA PTE. LTD.
307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Tel : +65-6473-2308
Fax : +65-6476-7439
Thailand
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD.
12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road,
Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120,Thailand
Tel : +66-2682-6522 to 6531
Fax : +66-2682-6020
Indonesia
PT. MITSUBISHI ELECTRIC INDONESIA
Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340,
Indonesia
Tel : +62-21-3192-6461
Fax : +62-21-3192-3942
Vietnam
MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED
Unit 01 - 04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1,
Ho Chi Minh City, Vietnam
Tel : +84-8-3910-5945
Fax : +84-8-3910-5947
India
MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Maharashtra
State, India
Tel : +91-20-2710-2000
Fax : +91-20-2710-2100
Australia
MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.
348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia
Tel : +61-2-9684-7777
Fax : +61-2-9684-7245
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be
charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i)
a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any
damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of
local machines and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system
to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
SH(NA)030113-G
General-Purpose AC Servo
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL
HG-MR
HG-KR
HG-SR
HG-JR
HG-RR
HG-UR
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
MODEL MOTOR INSTRUCTIONMANUAL(3SYU)
MODEL
CODE
1CW949
SH (NA) 030113-G (1403) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications are subject to change without notice.
G
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
G

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Download Mitsubishi VS-6047 Instruction manual