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MR-J4 Servomotors and Amplifiers
With a capacity range of 50W to 7kW (200V only), both the amplifier and motor size is reduced. We added a high resolution encoder of 4 million pulse/rev, with a speed frequency response of 2500Hz. Additional fetures include advanced one-touch auto tuning and advanced vibration suppression control II functions. The MR-J4 motors ahve the same flance size as J3 notors with the lenght of the motor bing the same or smaller than the J3.
The same cables for power, encoder and brake can be used for the MR-J3 and MR-J4. MR-J4 Series has four models: MR-J4A (analog/pulse train),
MR-J4B, (SSCNET III/H), MR-J4W2B (Dual axis amplifier with SSCNET III/H) and ME-J4W3B (Three axis in one amplifier with SSCNET III/H). In addition, MR-J4 has three motor models available: HG-KR similar to HF-KP, HG-MR similar to HF-MP, and HG-SR similar to HF-SP Series. M-Size software is used to size HG Series motors and setup is made easy using MR-Configurator.
MR-J4-B
Main circuit
power supply
A
Control circuit
power supply
Servo Amplifier
MR-J4-B
USB cable
MR-J3USBCBL3M
Personal computer
D
Setup software
MR Configurator2
MR-TBNATBL_M
STO I/O Signal Connector
MR-D05UDL3M-B
MR-J3BUS_M,
MR-J3BUS_M-A/-B cable
Controller
• Q173DSCPU
• Q172DSCPU
• QD77MS
MR-J3BUS_M,
MR-J3BUS_M-A/-B cable
Connects to CN1A, CN1B
Servo amplifier
MR-J4-B, MR-J4W_-B
MR-J4W2-B
A
Servo Amplifier
(1st and 2nd axis)
Junction Terminal
Block Cable
MR-TBNATBL_M
STO I/O Signal Connector
MR-D05UDL3M-B
MR-J3BUS_M,
MR-J3BUS_M-A/-B cable
Personal computer
D
Setup software
MR Configurator2
Controller
• Q173DSCPU
• Q172DSCPU
• QD77MS
Connects to CN1A, CN1B
Encoder cable
Power cable
Servo motor
C
B
MR-J4W3-B
A
A
MR-J4W3-B
(1st and 2nd axis)
Personal computer
D
Junction Terminal
Block Cable
MR-TBNATBL_M
STO I/O Signal Connector
MR-D05UDL3M-B
Controller
• Q173DSCPU
• Q172DSCPU
• QD77MS
Connects to CN1A, CN1B
MR-J4-A
A
Power cable
Encoder cable C
Servo motor
B
Personal computer
D
Setup software
MR Configurator2
Analog Monitor Output Connector
MR-J3CN6CBL1M
STO I/O Signal Connector
MR-D05UDL3M-B
FX
X0
X1
POWER
ERROR
PGO
FP
CLR
I/O Signal Connector
MR-J2M-CN1TBL_M
Servo amplifier
MR-J4-B, MR-J4W_-B
Encoder cable C
Encoder cable
Power cable
Power cable
B
Servo motor
A. MR-J4 Amplifiers .......................................................................................................................372
B. MR-J4 Servomotors ...................................................................................................................379
C. Cables and Connectors ..............................................................................................................385
D. Software and Manuals ...............................................................................................................393
E. System Options ..........................................................................................................................393
Servo motor
C
B
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 371
A. MR-J4 Amplifiers
Amplifier Types
Interface
Type
MR-J4-B
Control Mode
X = Compatible
- = Not compatible
Compatible Motor Series
SSCNET III / H
Fully Closed Loop Control
Number of Control Axes
X X X X X 1 axis
3-Phase
200VAC
0.01 ~ 7kW X X X X X X X X
MR-J4W2-B
X X X X X 2 axes
3-Phase
200VAC
0.02 ~ 1kW X X X X X X X
MR-J4W3-B
X X X X 3 axes
3-Phase
200VAC
0.02 ~ 0.04kW
X X X X X X
MR-J4-A
X X X X X X X 1 axis
3-Phase
200VAC
0.01 ~ 7kW X X X X X X X X
Note:
1. The values in the table shows the rated output of the servo amplifiers. Refer to theMR-J4 brochure for the compatible servo motor.
1-Axis Servo Amplifier Selection
(Example Part No. = MR-J4-10B-ED)
MR-J4-
Mitsubishi General
Purpose AC Servo
Amplifier
ED
Symbol Special Specification
ED Without a dynamic brake (*1)
Symbol Interface
A General-purpose
B SSCNET III/H
60
70
100
200
Symbol Rated Output [kW]
10 0.1
20
40
0.2
0.4
0.6
0.75
1
2
350
500
700
3.5
5
7
Multi-Axis Servo Amplifier Selection
(Example Part No. = MR-J4W2-22B-ED)
MR-J4W - B-ED
Mitsubishi General
Purpose AC Servo
Amplifier
Symbol Special Specification
ED Without a dynamic brake
(*1)
Symbol Interface
B SSCNET III/H
Symbol
22
44
77
1010
222
444
1
0.2
0.4
Rated Output [kW]
A-Axis B-Axis C-Axis
(*2)
0.2
0.4
0.75
0.2
0.4
0.75
-
-
-
1
0.2
0.4
-
0.2
0.4
Symbol Number of Axes
W2
W3
2 axes
3 axes
Notes:
1. When using the servo amplifier without a dynamic brake, the servo motor does not stop immediately at alarm occurrence or power failure. Take measures to ensure safety on the entire system.
2. For 3-axis servo amplifier.
372
Combinations of 1-Axis Servo Amplifier and Servo Motor
Servo Amplifier
MR-J4-10B
MR-J4-20B
Stocked Item Rotary Servo Motor
S
S
HG-KR053, 13
HG-MR053, 13
HG-KR23
HG-MR23
MR-J4-40B
MR-J4-60B
MR-J4-70B
MR-J4-200B
MR-J4-350B
MR-J4-500B
MR-J4-700B
S
S
S
S
S
S
S
HG-KR43
HG-MR43
HG-SR51, 52
HG-KR73
HG-MR73
HG-SR121, 201, 152, 202
HG-SR301, 352
HG-SR421, 502
HG-SR702
Linear Servo Motor (Primary Side) (*1)
-
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
LM-H3P3D-48P-CSS0
LM-H3P7B-48P-ASS0
LM-H3P7C-72P-ASS0
LM-FP2B-06M-1SS0
LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
LM-H3P7D-96P-ASS0
LM-K2P2C-07M-1SS1
LM-K2P3C-14M-1SS1
LM-U2P2C-60M-2SS0
LM-FP2D-12M-1SS0
LM-FP4B-12M-1SS0
LM-K2P2E-12M-1SS1
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
LM-FP2F-18M-1SS0
LM-FP4D-24M-1SS0
-
Direct Drive Motor
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
-
TM-RFM048G20
TM-RFM072G20
TM-RFM120J10
-
TM-RFM240J10
With MR-J4-A servo amplifier
Servo Amplifier
MR-J4-10A
MR-J4-20A
MR-J4-40A
MR-J4-60A
MR-J4-70A
MR-J4-100A
MR-J4-200A
MR-J4-350A
MR-J4-500A
MR-J4-700A
S
S
S
S
Stocked Item Rotary Servo Motor
S
S
S
S
S
S
HG-KR053, 13
HG-MR053, 13
HG-KR23
HG-MR23
HG-KR43
HG-MR43
HG-SR51, 52
HG-KR73
HG-MR73
HG-SR81, 102
HG-SR121, 201, 152, 202
HG-SR301, 352
HG-SR421, 502
HG-SR702
Linear Servo Motor (Primary Side) (*1)
Available in the future
Direct Drive Motor
Available in the future
Note:
1. Refer to “Combinations of Linear Servo Motor and Servo Amplifier” under section 3 Linear Servo Motor for the combinations of the primary and the secondary sides of the linear servo motors.
Mitsubishi Electric Automation
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Servomotors and Amplifiers 373
Combinations of Multi-Axis Servo Amplifier and Servo Motor
With MR-J4W2-B Servo Amplifier
Servo Amplifier
MR-J4W2-22B
Stocked Item Rotary Servo Motor
S
HG-KR053, 13, 23
HG-MR053, 13, 23
MR-J4W2-44B
MR-J4W2-77B
MR-J4W2-1010B
S
S
S
HG-KR053, 13, 23, 43
HG-MR053, 13, 23, 43
HG-KR43, 73
HG-MR43, 73
HG-SR51, 52
HG-KR43, 73
HG-MR43, 73
HG-SR51, 81, 52, 102
Linear Servo Motor (Primary Side) (*1)
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0
LM-H3P3C-36P-CSS0
LM-H3P7A-24P-ASS0
LM-K2P1A-01M-2SS1
LM-K2P2A-02M-1SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBD-15M-1SS0
LM-U2PBF-22M-1SS0
Direct Drive Motor
TM-RFM002C20
TM-RFM002C20
TM-RFM004C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM012G20
TM-RFM040J10
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
With MR-J4W3-B Servo Amplifier
Servo Amplifier
MR-J4W3-222B
MR-J4W3-444B
Stocked Item
S
S
Rotary Servo Motor
HG-KR053, 13, 23
HG-MR053, 13, 23
HG-KR053, 13, 23, 43
HG-MR053, 13, 23, 43
Linear Servo Motor (Primary Side) (*1)
LM-U2PAB-05M-0SS0
LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0
LM-H3P3A-12P-CSS0
LM-K2P1A-01M-2SS1
LM-U2PAB-05M-0SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2PBB-07M-1SS0
Direct Drive Motor
TM-RFM002C20
TM-RFM002C20
TM-RFM004C20
Note:
1. Refer to “Combinations of Linear Servo Motor and Servo Amplifier” in this guide for the combinations of the primary and the secondary sides of the linear servo motors.
374
MR-J4-B (SSCNET III/H Interface) Specifications
Servo Amplifier Model MR-J4-
Stocked Item
Output
Main Circuit
Power
Supply
Control
Circuit
Power
Supply
Rated Voltage
Rated Current (A)
Voltage/Frequency (*1, *2)
Rated Current (A)
Permissible Frequency Fluctuation
10B 20B
±5% maximum
40B 60B
S S
3-phase 170 VAC
1.1
1.5
S
2.8
S
3.2
3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz
0.9
1.5
2.6
3.2 (*9)
Permissible Voltage Fluctuation 3-phase or 1-phase 170 VAC to 264 VAC
Permissible Frequency Fluctuation ±5% maximum
Voltage/Frequency
Rated Current (A)
Permissible Voltage Fluctuation
1-phase 200 VAC to 240 VAC, 50/60 Hz
0.2
1-phase 170 VAC to 264 VAC
70B
S
5.8
3.8
Power Consumption (W)
Interface Power Supply
100B
S
6.0
3-phase 200 VAC to 240 VAC, 50/60 Hz
5.0
200B
S
11.0
10.5
3-phase 170 VAC to 264 VAC
30
24 VDC ±10% (required current capacity: 0.3 A (including CN8 connector signal))
350B
S
17.0
16.0
500B
S
28.0
21.7
0.3
45
Mitsubishi high-speed serial communication Load-Side Encoder Interface (*8)
Tolerable Regenerative Power of the Built-in
Regenerative Resistor (*2, *3) (W)
Control Method
Dynamic Brake
10 10 10 20 20 100 100 130
Protective Functions
Fully Closed Loop Control
Safety Function (*10)
700B
S
37.0
28.9
170
Sine-wave PWM control/current control method
Built-in (*4)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection
Available in the future
STO (IEC/EN 61800-5-2)
EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
8 ms or less (STO input OFF — energy shut-off)
Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum
Standards Certified by CB
Response Performance
Safety
Performance
Test Pulse Input (STO) (*7)
Mean Time to Dangerous
Failure (MTTFd)
Average Diagnostic Coverage
(DCavg)
Probability of Dangerous
Failure Per Hour (PFH)
Communication Function
Compliance to Standards
CE Marking
UL Standard (*10)
100 years
90%
1.01 × 10
USB: Connect a personal computer (MR Configurator2 compatible)
LVD: EN 61800-5-1; EMC: EN 61800-3; MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
-7 [1/h]
Structure (IP Rating)
Close Mounting
Natural cooling, open (IP20)
Possible (*6)
Force cooling, open (IP20)
Force cooling, open
(IP20) (*5)
Not possible
Weight kg 0.8
0.8
1.0
1.0
1.4
1.4
2.1
2.3
4.0
6.2
Notes:
1. Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency.
2. Optimal regenerative option varies for each system. Select the most suitable regenerative option for your system with our capacity selection software.
3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used.
4. When using the built-in dynamic brake, refer to "MR-J4-_B Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.
5. Terminal blocks are excluded.
6. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 °C to 45 °C, or use them with 75% or less of the effective load rate.
7. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on.
8. Not compatible with pulse train interface (A/B/Z-phase differential output type).
9. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
10. Some of the models are under application. Contact your local sales office for more details.
Mitsubishi Electric Automation
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Servomotors and Amplifiers 375
MR-J4W2-B (2-Axis) Specifications
Servo Amplifier Model MR-J4W2-
Stocked Item
Rated Output
Output
Rated Voltage
Rated Current (A)
Main Circuit
Power Supply
Rated Current (A)
Permissible Voltage Fluctuation
22B
S
0.2
3-phase 170 VAC
1.5
44B
S
0.4
77B
S
0.75
1010B
S
1
Voltage/Frequency (*1, *2)
2.9
2.8
3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz
5.2
3-phase or 1-phase 170 VAC to 264 VAC
5.8
7.5
6.0
3-phase 200 VAC to 240 VAC,
50/60 Hz
9.8
3-phase 170 VAC to
264 VAC
Permissible Frequency Fluctuation
Voltage/Frequency
Rated Current (A)
Control
Circuit Power
Supply
Permissible Voltage Fluctuation
Permissible Frequency Fluctuation
Power Consumption (W)
Interface Power Supply
±5% maximum
1-phase 200 VAC to 240 VAC, 50/60 Hz
0.4
1-phase 170 VAC to 264 VAC
±5% maximum
55
24 VDC ±10% (required current capacity: 0.35 A (including CN8 connector signal))
Mitsubishi high-speed serial communication Load-Side Encoder Interface (*8)
Capacitor
Regeneration
Tolerable Regenerative Power of the Built-in Regenerative Resistor
(*2, *3) (W)
Moment of inertia (J) Equivalent to Permissible Charging Amount
(× 10 -4 kg•m²) (*6)
Mass Equivalent to Permissible
Charging Amount
(kg) (*7)
LM-H3
LM-K2
LM-U2
Tolerable Regenerative Power of the Built-in
Regenerative Resistor (*2, *3) (W)
Control Method
Dynamic Brake
17
3.45
3.8
8.5
20
21
4.26
4.7
10.5
44
8.92
9.8
22.0
100
Protective Functions
Sine-wave PWM control/current control method
Built-in (*4)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection
Available in the future
STO (IEC/EN 61800-5-2)
Fully Closed Loop Control
Safety Function (*10)
Standards Certified by CB
Response Performance
Safety
Performance
Test Pulse Input (STO) (*7)
Mean Time to Dangerous
Failure (MTTFd)
Average Diagnostic Coverage
(DCavg)
Probability of Dangerous
Failure Per Hour (PFH)
Communication Function
Compliance to Standards
CE Marking
UL Standard (*10)
Structure (IP Rating)
EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
8 ms or less (STO input OFF — energy shut-off)
Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum
100 years
90%
1.01 × 10 -7 [1/h]
USB: Connect a personal computer (MR Configurator2 compatible)
LVD: EN 61800-5-1; EMC: EN 61800-3; MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
Natural cooling, open (IP20) Force cooling, open (IP20)
Close Mounting
Weight kg
Possible
1.5
1.5
2.0
2.0
Notes:
1. Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency.
2. Optimal regenerative option varies for each system. Select the most suitable regenerative option for your system with our capacity selection software.
3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used.
4. When using the built-in dynamic brake, refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.
5. For rotary servo motors and direct drive motors, "regenerative energy" is the energy generated when a machine, which has a moment of inertia equivalent to the permissible charging amount, decelerates from the rated speed to a stop. For linear servo motors, "regenerative energy" is the energy generated when a machine, which has mass equivalent to the permissible charging amount, decelerates from the maximum speed to a stop.
6. This is applicable for the rotary servo motor and the direct drive motor. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total moments of inertia of the two axes. Otherwise, the permissible charging amount is equivalent to the moment of inertia of each axis.
7. This is applicable for the linear servo motor. Mass of primary side (coil) is included. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total masses of the two axes. Otherwise, the permissible charging amount is equivalent to the mass of each axis.
8. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on.
9. Not compatible with pulse train interface (A/B/Z-phase differential output type).
10. STO is common for all axes.
11. Some of the models are under application. Contact your local sales office for more details.
376
MR-J4W3-B (3-Axis) Specifications
Servo Amplifier Model MR-J4W3-
Stocked Item
Rated Output
Output
Main Circuit
Power Supply
Control
Circuit Power
Supply
Rated Voltage
Rated Current (A)
Voltage/Frequency (*1, *2)
Rated Current (A)
Permissible Voltage Fluctuation
Permissible Frequency Fluctuation
Voltage/Frequency
Rated Current (A)
Permissible Voltage Fluctuation
Permissible Frequency Fluctuation
222B
S
0.2
3-phase 170 VAC
1.5
3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz
4.3
3-phase or 1-phase 170 VAC to 264 VAC
±5% maximum
1-phase 200 VAC to 240 VAC, 50/60 Hz
0.4
1-phase 170 VAC to 264 VAC
±5% maximum
444B
S
0.4
2.8
7.8
Power Consumption (W)
Interface Power Supply
Load-Side Encoder Interface (*8)
Capacitor
Regeneration
Tolerable Regenerative Power of the Built-in Regenerative Resistor
(*2, *3) (W)
Moment of inertia (J) Equivalent to Permissible Charging Amount
(× 10 -4 kg•m²) (*6)
Mass Equivalent to Permissible
Charging Amount
(kg) (*7)
LM-H3
LM-K2
LM-U2
Tolerable Regenerative Power of the Built-in
Regenerative Resistor (*2, *3) (W)
Control Method
Dynamic Brake
55
24 VDC ±10% (required current capacity: 0.45 A (including CN8 connector signal))
Mitsubishi high-speed serial communication
21
4.26
4.7
10.5
30
30
6.08
6.7
15.0
Protective Functions
Sine-wave PWM control/current control method
Built-in (*4)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection
Not compatible
STO (IEC/EN 61800-5-2) (*9)
Fully Closed Loop Control
Safety Function (*10)
Standards Certified by CB
Response Performance
Safety
Performance
Test Pulse Input (STO) (*7)
Mean Time to Dangerous
Failure (MTTFd)
Average Diagnostic Coverage
(DCavg)
Probability of Dangerous
Failure Per Hour (PFH)
Communication Function
Compliance to Standards
CE Marking
UL Standard (*10)
Structure (IP Rating)
EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
8 ms or less (STO input OFF — energy shut-off)
Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum
100 years
90%
1.01 × 10 -7 [1/h]
USB: Connect a personal computer (MR Configurator2 compatible)
LVD: EN 61800-5-1; EMC: EN 61800-3; MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
Natural cooling, open (IP20)
Close Mounting
Weight kg
Possible
1.9
1.9
Notes:
1. Rated output and speed of a rotary servo motor and a direct drive motor; and rated thrust and maximum speed of a linear servo motor are applicable when the servo amplifier, combined with the servo motor, is operated within the specified power supply voltage and frequency.
2. Optimal regenerative option varies for each system. Select the most suitable regenerative option for your system with our capacity selection software.
3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used.
4. When using the built-in dynamic brake, refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio and the permissible load to mass ratio.
5. For rotary servo motors and direct drive motors, "regenerative energy" is the energy generated when a machine, which has a moment of inertia equivalent to the permissible charging amount, decelerates from the rated speed to a stop. For linear servo motors, "regenerative energy" is the energy generated when a machine, which has mass equivalent to the permissible charging amount, decelerates from the maximum speed to a stop.
6. This is applicable for the rotary servo motor and the direct drive motor. When three axes are simultaneously decelerated, the permissible charging amount is equivalent to the total moments of inertia of the three axes. Otherwise, the permissible charging amount is equivalent to the moment of inertia of each axis.
7. This is applicable for the linear servo motor. Mass of primary side (coil) is included. When three axes are simultaneously decelerated, the permissible charging amount is equivalent to the total masses of the three axes. Otherwise, the permissible charging amount is equivalent to the mass of each axis.
8. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on.
9. STO is common for all axes.
10. Some of the models are under application. Contact your local sales office for more details.
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 377
MR-J4-A (General Purpose Interface) Specifications
Servo Amplifier Model MR-J410A 20A 40A 60A 70A 100A 200A 350A 500A
Stocked Item
Output
Main Circuit
Power
Supply
Control
Circuit
Power
Supply
Rated Voltage
Rated Current (A)
Voltage/Frequency (*1, *2)
Rated Current (A)
S S
3-phase 170 VAC
1.1
1.5
S
2.8
S
3.2
3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz
0.9
1.5
2.6
3.2 (*8)
Permissible Voltage Fluctuation 3-phase or 1-phase 170 VAC to 264 VAC
Permissible Frequency Fluctuation ±5% maximum
Voltage/Frequency
Rated Current (A)
Permissible Voltage Fluctuation
1-phase 200 VAC to 240 VAC, 50/60 Hz
0.2
1-phase 170 VAC to 264 VAC
Permissible Frequency Fluctuation ±5% maximum
Power Consumption (W) 30
Interface Power Supply
S
5.8
3.8
S
6.0
11.0
17.0
3-phase 200 VAC to 240 VAC, 50/60 Hz
28.0
5.0
S
10.5
S
16.0
3-phase 170 VAC to 264 VAC
24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))
S
21.7
0.3
45
700A
S
37.0
28.9
Load-Side Encoder Interface (*8)
Tolerable Regenerative Power of the Built-in
Regenerative Resistor (*2, *3) (W)
Control Method
Dynamic Brake
Protective Functions
-
Mitsubishi high-speed serial communication
10 10 10 20 20 100 100 130 170
Sine-wave PWM control/current control method
Built-in (*4)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection
4 Mpps (when using differential receiver), 200 kpps (when using open-collector)
Position
Control
Mode
Speed
Control
Mode
Maximum Input Pulse Frequency
Positioning Feedback Pulse Encoder resolution: 22 bits
Command Pulse Multiplying Factor Electronic gear A/B multiple, A: 1 to 16777216, B: 1 to 16777216, 1/10 < A/B < 4000
Positioning Complete Width Setting 0 pulse to ±65535 pulses (command pulse unit)
Error Excessive ±3 rotations
Torque Limit
Speed Control Range
Analog Speed Command Input
Speed Fluctuation Rate
Torque Limit
Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Analog speed command 1:2000, internal speed command 1:5000
0 V DC to ±10 V DC/rated speed (Speed at 10 V is changeable with [Pr. PC12].)
±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)
±0.2% maximum (ambient temperature: 25 °C ± 10 °C) only when using analog speed command
Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Torque
Control
Mode
Analog Torque Command Input
Speed Limit
Fully Closed Loop Control
0 V DC to ±8 V DC/maximum torque (input impedance: 10 kΩ to 12 kΩ)
Set by parameters or external analog input (0 V DC to ± 10 V DC/rated speed)
Available in the future
Safety Function (*10)
Standards Certified by CB
Response Performance
Safety
Performance
Test Pulse Input (STO) (*7)
Mean Time to Dangerous
Failure (MTTFd)
Average Diagnostic Coverage
(DCavg)
Probability of Dangerous
Failure Per Hour (PFH)
Communication Function
Compliance to Standards
CE Marking
UL Standard (*10)
STO (IEC/EN 61800-5-2)
EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2
8 ms or less (STO input OFF — energy shut-off)
Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum
100 years
90%
1.01 × 10
USB: Connect a personal computer (MR Configurator2 compatible)
LVD: EN 61800-5-1; EMC: EN 61800-3; MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL 508C
-7 [1/h]
Communication Function
USB: Connect a personal computer (MR Configurator2 compatible)
RS-422: 1 : n communication (up to 32 axes) (Available in the future)
Structure (IP Rating)
Close Mounting
Natural cooling, open (IP20)
Possible (*6)
Force cooling, open (IP20)
Force cooling, open
(IP20) (*5)
Not possible
Weight kg 0.8
0.8
1.0
1.0
1.4
1.4
2.1
2.3
4.0
6.2
Notes:
1. Rated output and speed of a rotary servo motor are applicable when the servo amplifier, combined with the rotary servo motor, is operated within the specified power supply voltage and frequency.
2. Optimal regenerative option varies for each system. Select the most suitable regenerative option for your system with our capacity selection software.
3. Refer to "Regenerative Option" in this catalog for the tolerable regenerative power [W] when regenerative option is used.
4. When using the built-in dynamic brake, refer to "MR-J4-_A Servo Amplifier Instruction Manual" for the permissible load to motor inertia ratio.
5. Terminal blocks are excluded.
6. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 °C to 45 °C, or use them with 75% or less of the effective load rate.
7. This function makes a failure diagnosis on contacts including external circuits by instantaneously turning off the signals from a controller to a servo amplifier at constant period when the input signals of the servo amplifier are on.
8. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
9. Not compatible with pulse train interface (A/B/Z-phase differential output type).
10. Some of the models are under application. Contact your local sales office for more details.
378
B. MR-J4 Rotary Servomotors
Rated Output
Capacity (kW)
Servo Motor Type
Electromagnetic
Brake Available
With Reducer
(G1) (*1)
With Reducer
(G5, G7) (*1)
Protective
Degree
(*2)
Compatible
Series
Features
HG-KR
3000 (6000)
5 Types
0.05, 0.1, 0.2,
0.4, 0.75
X X X IP65 HF-KP
Low inertia: perfect for general industrial machines
X = Available
- = Not Available
Application Examples
• Belt Drive
• Robots
• Mounters
• Sewing Machines
• X-Y Tables
• Food Processing
Machines
• Semiconductor manufacturing devices
• Knitting and embroidery machines
HG-MR
3000 (6000)
5 Types
0.05, 0.1, 0.2,
0.4, 0.75
X IP65 HF-MP
Ultra-low inertia
Well suited for high-throughput operations
• Inserters
• Mounters
HG-SR
1000 (1500)
6 Types
0.5, 0.85, 1.2,
2.0, 3.0, 4.2
X
2000 (3000)
7 Types
0.5, 1.0, 1.5,
2.0, 3.5, 5.0,
7.0
X
-
X
-
X
IP67
IP67
HF-SP
Medium inertia
This series is available with two rated speeds
Notes:
1. G1 for general industrial machines. G5 and G7 for high precision applications.
2. The shaft-through portion is excluded. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-13 in this catalog for the shaft-through portion.
For geared servo motor, IP rating of the reducer portion is equivalent to IP44.
• Material handling systems
• Robots
• X-Y tables
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 379
Servo Motor Selection (Example Part No. = HG-KR053BG1)
Not all options available for every motor.
H G -
Symbol
None
J
None
B
Oil Seal
None
Installed
None
Installed
(*2, *3, *4)
Symbol Electromagnetic Brake
(*1)
Symbol Reducer (*5)
None
G1
None
With reducer for general industrial machines, flange mounting
G1H
G5
G7
With reducer for general industrial machines, foot mounting (*6)
With flange-output type reducer for high precision applications, flange mounting
With shaft-output type reducer for high precision applications, flange mounting
Symbol Shaft End
None
Standard (Straight shaft) (*7)
K
D
2
3
Symbol Rated Speed [r/min]
1 1000
2000
3000
Symbol Rated Output [kW]
05 0.05
1 to 8 0.1 to 0.85
10 to 70 1.0 to 7.0
Symbol Inertia/Capacity
HG-KR Low inertia, small capacity
HG-MR Ultra-low inertia, small capacity
HG-SR Medium inertia, medium capacity
Notes:
1. Refer to electromagnetic brake specifications of each servo motor series in this catalog for the available models and detailed specifications.
2. Available in 0.1 kW or larger HG-KR/HG-MR series and all HG-SR series.
3. Oil seal is not installed in the geared servo motor.
4. Dimensions for HG-KR/HG-MR/HG-SR series with an oil seal are different from the standard models. Contact your local sales office for more details.
5. Refer to "Geared Servo Motor Specifications" in this catalog for the available models and detailed specifications.
6. Available only in HF-SR 2000 r/min series.
7. Standard HG-SR G1/G1H has a key shaft (with key).
8. Refer to special shaft end specifications of each servo motor series in this catalog for the available models and detailed specifications.
Key shaft (with/without key) (*8)
D-cut shaft (*8)
Stocked Motors
Model Number
HG-KR053(B)
HG-KR13(B)
HG-KR23(B)
HG-KR43(B)
HG-KR73(B)
HG-KR053(B)D
HG-KR13(B)D
HG-KR23(B)K
HG-KR43(B)K
HG-KR73(B)K
HG-MR053(B)
HG-MR13(B)
HG-MR23(B)
HG-MR43(B)
HG-MR73(B)
HG-MR053(B)D
HG-MR13(B)D
HG-MR23(B)K
HG-MR43(B)K
HG-MR73(B)K
Model Number
HG-SR52(B)
HG-SR102(B)
HG-SR152(B)
HG-SR202(B)
HG-SR352(B)
HG-SR-502(B)
HG-SR702(B)
HG-SR52(B)K
HG-SR102(B)K
HG-SR152(B)K
HG-SR202(B)K
HG-SR502(B)K
HG-SR702(B)K
Combinations of Rotary Servo Motor and Servo Amplifier
With MR-J4 Servo Amplifier
-
-
-
-
-
43
-
73
Rotary Servo Motor
HG-KR
053, 13
23
-
-
-
-
-
43
-
73
HG-MR
053, 13
23 -
-
HG-SR
Servo Amplifier
MR-J4-10A/B
MR-J4-20A/B
-
51, 52
-
81, 102
MR-J4-40A/B
MR-J4-60A/B
MR-J4-70A/B
MR-J4-100A/B
121, 201, 152, 202 MR-J4-200A/B
301, 352
421, 502
702
MR-J4-350A/B
MR-J4-500A/B
MR-J4-700A/B
With MR-J4W2 Servo Amplifier
Rotary Servo Motor
HG-KR
053, 13, 23
053, 13, 23, 43
43, 73
43, 73
HG-MR
053, 13, 23
053, 13, 23, 43
43, 73
43, 73
With MR-J4W3 Servo Amplifier
Rotary Servo Motor
HG-KR
053, 13, 23
053, 13, 23, 43
HG-MR
053, 13, 23
053, 13, 23, 43
-
-
HG-SR
51, 52
51, 81, 52, 102
-
-
HG-SR
Notes:
1. Any combination of the servo motors is available such as rotary servo motor for A-axis, and linear servo motor or direct drive motor for B-axis. Refer to "Combinations of
Linear Servo Motor and Servo Amplifier" and "Combinations of Direct Drive Motor and Servo Amplifier" in the MR-J4 brochure.
2. Any combination of the servo motors is available such as rotary servo motor for A-axis, linear servo motor for B-axis, and direct drive motor for C-axis. Refer to "Combinations of Linear Servo Motor and Servo Amplifier" and "Combinations of Direct Drive Motor and Servo Amplifier" in the MR-J4 brochure.
Servo Amplifier
MR-J4W2-22B
MR-J4W2-44B
A/B
A/B
MR-J4W2-77B A/B
MR-J4W2-1010B A/B
Servo Amplifier
MR-J4W3-222B
MR-J4W3-444B
Axis (*1)
Axis (*2)
A/B/C
A/B/C
380
HG-KR Series (Low Inertia, Small Capacity) Specifications
Servomotor Model HG-KR_
Servo Amplifier Model
MR-J4-_
MR-J4W_-_
Power Supply Capacity (kVA) (*1)
Continuous Running Duty
Rated Output (kW)
Rated Torque (N•m) (*3)
Maximum Torque (N•m)
Rated Speed (r/min)
Maximum Speed (r/min)
Permissible Instantaneous Speed (r/min)
Power Rate Continuous
Rated Torque (kW/s)
Standard (kW/s)
With Electromagnetic
Brake (kW/s)
6900
5.63
5.37
Rated Current (A)
Maximum Current (A)
Regenerative Braking
Frequency (times/min)
(*2)
MR-J4- (times/min)
MR-J4W_- (times/min)
0.9
3.2
(*4)
2540
Moment of inertia J
(x10 -4 kg•m²) [J (oz•in²)]
Standard 0.0450
With Electromagnetic Brake 0.0472
Recommended Load/Motor Inertia Moment Ratio 15 times or less
Speed/Position Detector
Oil Seal
Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)
None
13.0
12.1
0.8
2.5
(*4)
1370
0.0777
0.0837
18.3
16.7
1.3
4.6
453
451
0.221
0.243
24 times or less
43.7
41.3
2.6
9.1
268
268
0.371
0.393
22 times or less
None (Servo motors with oil seal are available. (HG-KR_J))
Insulation Class
Structure
130 (B)
Environment
Ambient Temperature
Ambient Humidity
Atmosphere
Elevation / Vibration (*5)
Totally enclosed, natural cooling (IP rating: IP65) (*2)
0 °C to 40 °C (non-freezing), storage: -15 °C to 70 °C (non-freezing)
80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000 m or less above sea level; X: 49 m/s² Y: 49 m/s²
Vibration Rank
Permissible
Load for the
Shaft (*5)
Weight kg
053(B)
Refer to "Combinations of Servo Motor and Servo Amplifier" in this guide.
0.3
5.0
0.16
0.56
3000
6000
L (mm)
Radial (N)
Thrust (N)
V10 (*6)
25
88
59
Standard 0.34
With Electromagnetic Brake 0.54
13(B)
0.3
100
0.32
1.1
25
88
59
0.54
0.74
23(B)
0.5
200
0.64
2.2
30
245
98
0.91
1.3
43(B)
0.9
400
1.3
4.5
30
245
98
1.4
1.8
73(B)
1.3
750
2.4
8.4
45.2
41.6
4.8
17.2
157
393
1.26
1.37
15 times or less
40
392
147
2.8
3.8
Notes:
1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. IP67 for the servo motor with oil seal. Equivalent to IP44 for the reducer portion on the geared servo motor. Refer to this guide for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 70% of the servo motor rated torque.
4. When the servo motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range.
When the servo motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the following requirements are met.
• HG-KR053(B): The load to motor inertia ratio is 8 times or less, and the effective torque is within the rated torque range.
• HG-KR13(B): The load to motor inertia ratio is 4 times or less, and the effective torque is within the rated torque range.
5. The vibration direction is shown in the diagram below. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
X
Y
6. Refer to the MR-J4 Servo Amplifier and Motors brochure for more detailed specifications.
HG-KR Series Electromagnetic Brake Specifications (*1)
Servomotor Model HG-KR_
Type
Rated Voltage
Power Consumption (W) at 20 °C
Electromagnetic Brake Static Friction Torque (N•m)
Permissible Braking
Work
Electromagnetic Brake
Life (*2)
Per Braking (J)
Per Hour (J)
Number of Times (Times)
Work Per Braking (J)
053B 13B
Spring actuated type safety brake
24 VDC -10 0%
6.3
0.32
6.3
0.32
5.6
56
20000
5.6
5.6
56
5.6
Notes:
1. The electromagnetic brake is for holding. It should not be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed.
23B
7.9
1.3
22
220
22
43B
7.9
1.3
22
220
22
73B
10
2.4
64
640
64
HG-KR053(B) (* 1, *2)
0.6
0.4
Short-duration running range
0.2
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-KR13(B) (*1, *2)
1.25
1.0
Short-duration running range
0.75
0.5
0.25
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-KR23(B) (*1, *2)
2.5
2.0 Short-duration
1.5
running range
1.0
0.5
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-KR43(B) (*1, *2)
5.0
HG-KR73(B) (*1, *2)
10.0
4.0 Short-duration running range
3.0
8.0
6.0
Short-duration running range
2.0
1.0
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
4.0
2.0
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
Notes: 1.
: For 3-phase 200 VAC or
1-phase 230 VAC.
2.
: For 1-phase 200 VAC.
3. Torque drops when the power supply voltage is below the specified value.
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 381
HG-MR Series (Ultra Low Inertia, Small Capacity) Specifications
Servomotor Model HG-MR_
Servo Amplifier Model
MR-J4-_
MR-J4W_-_
Power Supply Capacity (kVA) (*1)
Continuous Running Duty
Rated Output (kW)
Rated Torque (N•m) (*3)
Maximum Torque (N•m)
Rated Speed (r/min)
Maximum Speed (r/min)
Permissible Instantaneous Speed (r/min)
Power Rate Continuous
Rated Torque (kW/s)
Standard (kW/s)
With Electromagnetic
Brake (kW/s)
6900
15.6
11.3
Rated Current (A)
Maximum Current (A)
Regenerative Braking
Frequency (times/min)
(*2)
MR-J4- (times/min)
MR-J4W_- (times/min)
1.0
3.1
(*4)
7540
Moment of Inertia J
(x10 -4 kg•m²) [J (oz•in²)]
Standard 0.0162
With Electromagnetic Brake 0.0224
Recommended Load/Motor Inertia Moment Ratio 30 times or less
Speed/Position Detector
Oil Seal
Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)
None
33.8
28.0
0.9
2.5
(*4)
3640
0.0300
0.0362
46.9
37.2
1.5
5.3
1180
1170
0.0865
0.109
114.2
98.8
2.6
9.0
713
710
0.142
0.164
None (Servo motors with oil seal are available. (HG-MR_J))
Insulation Class
Structure
130 (B)
Environment
Ambient Temperature
Ambient Humidity
Atmosphere
Elevation / Vibration (*5)
Totally enclosed, natural cooling (IP rating: IP65) (*2)
0 °C to 40 °C (non-freezing), storage: -15 °C to 70 °C (non-freezing)
80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000 m or less above sea level; X: 49 m/s² Y: 49 m/s²
Vibration Rank
Permissible
Load for the
Shaft (*5)
Weight kg
053(B)
Refer to "Combinations of Servo Motor and Servo Amplifier" in this guide.
0.3
5.0
0.16
0.48
3000
6000
L (mm)
Radial (N)
Thrust (N)
V10 (*6)
25
88
59
Standard 0.34
With Electromagnetic Brake 0.54
13(B)
0.3
100
0.32
0.95
25
88
59
0.54
0.74
23(B)
0.5
200
0.64
1.9
30
245
98
0.91
1.3
43(B)
0.9
400
1.3
3.8
30
245
98
1.4
1.8
73(B)
1.3
750
2.4
7/2
97.3
82.1
5.8
20.0
338
846
0.586
0.694
40
392
147
2.8
3.8
Notes:
1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-13 in this catalog for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 70% of the servo motor rated torque.
4. When the servo motor decelerates to a stop from the rated speed, the regenerative frequency will not be limited if the effective torque is within the rated torque range.
When the servo motor decelerates to a stop from the maximum speed, the regenerative frequency will not be limited if the following requirements are met.
• HG-MR053(B): The load to motor inertia ratio is 24 times or less, and the effective torque is within the rated torque range.
• HG-MR13(B): The load to motor inertia ratio is 12 times or less, and the effective torque is within the rated torque range.
5. The vibration direction is shown in the diagram below. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
X
Y
6. Refer to the MR-J4 Servo Amplifier and Motors brochure for more detailed specifications.
HG-MR Series Electromagnetic Brake Specifications (*1)
Servomotor Model HG-MR_
Type
Rated Voltage
Power Consumption (W) at 20 °C
Electromagnetic Brake Static Friction Torque (N•m)
Permissible Braking
Work
Electromagnetic Brake
Life (*2)
Per Braking (J)
Per Hour (J)
Number of Times (Times)
Work Per Braking (J)
053B 13B
Spring actuated type safety brake
24 VDC -10 0%
6.3
0.32
5.6
56
20000
5.6
6.3
0.32
5.6
56
5.6
Notes:
1. The electromagnetic brake is for holding. It should not be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed.
23B
7.9
1.3
22
220
22
43B
7.9
1.3
22
220
22
73B
10
2.4
64
640
64
HG-MR053(B) (*1, *2)
0.6
0.4
Short-duration running range
0.2
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
382
HG-MR13(B) (*1, *2)
1.0
0.75
Short-duration running range
0.5
0.25
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-MR23(B) (*1, *2)
2.0
1.5
Short-duration running range
1.0
0.5
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-MR43(B) (*1, *2)
4.0
3.0
Short-duration running range
2.0
1.0
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
HG-MR73(B) (*1, *2)
8.0
6.0
Short-duration running range
4.0
2.0
0
Continuous running range
1000 2000 3000 4000
Speed [r/min]
5000 6000
Notes: 1.
: For 3-phase 200 VAC or
2.
1-phase 230 VAC.
: For 1-phase 200 VAC.
3. Torque drops when the power supply voltage is below the specified value.
HG-SR 1000 Series (Medium Inertia, Medium Capacity) Specifications
Servomotor Model HG-SR_ 51(B) 81(B) 121(B) 201(B) 301(B) 421(B)
Servo Amplifier Model
MR-J4-_
MR-J4W_-_
Power Supply Capacity (kVA) (*1)
Continuous Running Duty
Maximum Torque (N•m)
Rated Speed (r/min)
Rated Output (kW)
Rated Torque (N•m) (*3)
Refer to "Combinations of Servo Motor and Servo Amplifier" in this guide.
1.0
0.5
4.8
14.3
1000
1.5
0.85
8.1
24.4
2.1
1.2
11.5
34.4
3.5
2.0
19.1
57.3
Maximum Speed (r/min)
Permissible Instantaneous Speed (r/min)
Power Rate Continuous
Rated Torque (kW/s)
Standard (kW/s)
With Electromagnetic
Brake (kW/s)
Rated Current (A)
Maximum Current (A)
1500
1725
19.7
16.5
2.8
9.0
41.2
36.2
5.2
16.6
28.1
23.2
7.1
22.7
46.4
41.4
9.4
30.1
Regenerative Braking
Frequency (times/min)
(*2)
MR-J4- (times/min)
MR-J4W_- (times/min)
77
392
114
286 -
191
-
113
Moment of Inertia J
(x10 -4 kg•m²) [J (oz•in²)]
Oil Seal
Standard 11.6
With Electromagnetic Brake 13.8
Recommended Load/Motor Inertia Moment Ratio
Speed/Position Detector
15 times or less
16.0
18.2
46.8
56.5
78.6
88.2
Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)
None (Servo motors with oil seal are available. (HG-SR_J))
Insulation Class
Structure
Environment
Vibration Rank
Permissible
Load for the
Shaft (*5)
Weight kg
-
4.8
3.0
28.6
85.9
82.3
75.3
13
41.6
89
99.7
109
-
6.3
4.2
40.1
129
107
99.9
19
60.8
76
151
161
Ambient Temperature
Ambient Humidity
155 (F)
Totally enclosed, natural cooling (IP rating: IP67) (*2)
0 °C to 40 °C (non-freezing), storage: -15 °C to 70 °C (non-freezing)
80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)
Atmosphere
Elevation
Vibration (*4)
L (mm)
Radial (N)
Thrust (N)
Standard
55
980
490
6.2
With Electromagnetic Brake 8.2
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000 m or less above sea level
X: 24.5 m/s² Y: 24.5 m/s²
V10 (*6)
X: 24.5 m/s² Y: 49 m/s²
55
980
490
7.3
9.3
79
2058
980
11
17
79
2058
980
16
22
X: 24.5 m/s² Y: 29.4 m/s²
79
2058
980
20
26
79
2058
980
27
33
Notes:
1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-13 in this catalog for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 70% of the servo motor rated torque.
4. The vibration direction is shown in the diagram below. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
X
Y
5. Refer to the MR-J4 Servo Amplifier and Motors brochure for more detailed specifications.
HG-SR 1000 Series Electromagnetic Brake Specifications (*1)
Servomotor Model HG-SR_
Type
Rated Voltage
Power Consumption (W) at 20 °C
Electromagnetic Brake Static Friction Torque (N•m)
Permissible Braking
Work
Electromagnetic Brake
Life (*2)
Per Braking (J)
Per Hour (J)
Number of Times (Times)
Work Per Braking (J)
51B 81B
Spring actuated type safety brake
24 VDC -10 0%
20 20
8.5
400
4000
20000
200
8.5
400
4000
200
121B
34
44
4500
45000
1000
Notes:
1. The electromagnetic brake is for holding. It should not be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed.
201B
34
44
4500
45000
1000
301B
34
44
4500
45000
1000
421B
34
44
4500
45000
1000
HG-SR51(B) (*1, *2, *3)
15
10
Short-duration running range
5
0
Continuous running range
500 1000
Speed [r/min]
1500
HG-SR81(B) (*1)
30
20
Short-duration running range
10
0
Continuous running range
500 1000
Speed [r/min]
1500
HG-SR121(B) (*1)
40
30 Short-duration running range
20
10
0
Continuous running range
500 1000
Speed [r/min]
1500
HG-SR201(B) (*1)
60
Short-duration running range
40
20
0
Continuous running range
500 1000
Speed [r/min]
1500
HG-SR301(B) (*1)
90
Short-duration running range
60
30
0
Continuous running range
500 1000
Speed [r/min]
1500
HG-SR421(B) (*1)
150
100
Short-duration running range
50
0
Continuous running range
500 1000
Speed [r/min]
1500
Notes: 1.
2.
3.
: For 3-phase 200 V AC.
: For 1-phase 230 V AC.
: For 1-phase 200 V AC.
This line is drawn only where differs from the other two lines.
4. Torque drops when the power supply voltage is below the specified value.
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 383
HG-SR 2000 Series (Medium Inertia, Medium Capacity) Specifications
Servomotor Model HG-SR_ 52(B) 102(B) 152(B) 202(B) 352(B) 502(B) 702(B)
Servo Amplifier Model
MR-J4-
MR-J4W_-_
Power Supply Capacity (kVA) (*1)
Continuous Running
Duty
Rated Output (kW)
Rated Torque (N•m) (*3)
Refer to "Combinations of Servo Motor and Servo Amplifier" in this guide.
1.0
0.5
2.4
Maximum Torque (N•m)
Rated Speed (r/min)
Maximum Speed (r/min)
Permissible Instantaneous Speed (r/min)
7.2
2000
3000
3450
7.85
Power Rate Continuous
Rated Torque (kW/s)
Standard (kW/s)
With Electromagnetic
Brake (kW/s)
6.01
Rated Current (A)
Maximum Current (A)
Regenerative Braking
Frequency (times/min)
(*2)
MR-J4- (times/min)
MR-J4W_- (times/min)
2.9
9.0
31
154
Moment of inertia J
(x10 -4 kg•m²) [J (oz•in²)]
Standard 7.26
With Electromagnetic Brake 9.48
Recommended Load/Motor Inertia Moment Ratio 15 times or less
1.7
1.0
4.8
14.3
19.7
16.5
5.6
17.4
38
96
11.6
13.8
-
2.5
1.5
7.2
21.5
32.1
28.2
9.4
29.1
139
16.0
18.2
-
3.5
2.0
9.5
28.6
19.5
16.1
9.6
30.7
47
46.8
56.5
-
35.5
31.7
14
44.8
28
78.6
88.2
5.5
3.5
16.7
50.1
Speed/Position Detector
Oil Seal
Insulation Class
Structure
Absolute/incremental 22-bit encoder (resolution: 4194304 pulses/rev)
None (Servo motors with oil seal are available. (HG-SR_J))
155 (F)
Totally enclosed, natural cooling (IP rating: IP67) (*2)
-
7.5
5.0
23.9
71.6
57.2
52.3
22
70.4
29
99.7
109
-
10
7.0
33.4
1000
74.0
69.4
26
83.2
25
151
161
Environment
Vibration Rank
Permissible
Load for the
Shaft (*5)
Weight kg
Ambient Temperature
Ambient Humidity
Atmosphere
Elevation
Vibration (*4)
0 °C to 40 °C (non-freezing), storage: -15 °C to 70 °C (non-freezing)
80% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
1000 m or less above sea level
X: 24.5 m/s² Y: 24.5 m/s² X: 24.5 m/s² Y: 49 m/s²
L (mm)
Radial (N)
Thrust (N)
Standard 4.8
With Electromagnetic Brake 6.7
V10 (*6)
55
980
490
55
980
490
6.2
8.2
55
980
490
7.3
9.3
79
2058
980
11
17
79
2058
980
16
22
X: 24.5 m/s² Y: 29.4 m/s²
79
2058
980
20
26
79
2058
980
27
33
Notes:
1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. IP67 for the servo motor with oil seal. Refer to the asterisk 7 of "Annotations for Rotary Servo Motor Specifications" on p. 2-13 in this catalog for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, it is recommended that the unbalanced torque of the machine be kept under 70% of the servo motor rated torque.
4. The vibration direction is shown in the diagram below. The numeric value indicates the maximum value of the component (commonly the bracket in the opposite direction of the motor shaft). Fretting of the bearing occurs easily when the motor stops, so maintain vibration to approximately one-half of the allowable value.
X
Y
5. Refer to the MR-J4 Servo Amplifier and Motors brochure for more detailed specifications.
HG-SR 2000 Series Electromagnetic Brake Specifications (*1)
Servomotor Model HG-SR_
Type
Rated Voltage
Power Consumption (W) at 20 °C
Electromagnetic Brake Static Friction Torque (N•m)
Permissible Braking
Work
Per Braking (J)
Per Hour (J)
Electromagnetic Brake
Life (*2)
Number of Times (Times)
Work Per Braking (J)
52B 102B
Spring actuated type safety brake
24 VDC -10 0%
20 20
8.5
400
4000
20000
200
8.5
400
4000
200
152B
34
44
4500
45000
1000
Notes:
1. The electromagnetic brake is for holding. It should not be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until the readjustment is needed.
202B
34
44
4500
45000
1000
352B
34
44
4500
45000
1000
502B
34
44
4500
45000
1000
702B
34
44
4500
45000
1000
HG-SR52(B) (*1, *2, *3)
9
6 Short-duration running range
3
0
Continuous running range
1000 2000
Speed [r/min]
3000
384
HG-SR102(B) (*1)
15
10
Short-duration running range
5
0
Continuous running range
1000 2000
Speed [r/min]
3000
HG-SR152(B) (*1)
24
16
Short-duration running range
8
0
Continuous running range
1000 2000
Speed [r/min]
3000
HG-SR202(B) (*1)
30
Short-duration running range
20
10
0
Continuous running range
1000 2000
Speed [r/min]
3000
HG-SR352(B)
60
(*1)
40
Short-duration running range
20
0
Continuous running range
1000 2000
Speed [r/min]
3000
HG-SR702(B) (*1)
120
80
Short-duration running range
HG-SR502(B) (*1)
75
50
Short-duration running range
40
0
Continuous running range
1000 2000
Speed [r/min]
3000
25
0
Continuous running range
1000 2000
Speed [r/min]
3000
Notes: 1.
2.
3.
: For 3-phase 200 V AC.
: For 1-phase 230 V AC.
: For 1-phase 200 V AC.
This line is drawn only where differs from the other two lines.
4. Torque drops when the power supply voltage is below the specified value.
C. Servo Amplifier Cables and Connectors
MR-J4-B Type Amplifier Cables and Connectors
For 3.5 kW or smaller
Q173DSCPU
Q172DSCPU
QD77MS
MR Configurator2
(Setup software)
MRZJW3-SETUP221E
Controller
27 28
24
Servo amplifier
7 8 9
CNP1
CN5
CN3
1
2
3
4
To servo motor power supply
CNP2
CN8
CN1A
CN1B
CNP3
CN2
CN4
11
16 17
18 19
Safety Logic Unit
MR-J3-D05
26 27
26 27
7 8 9
To servo motor encoder
26 28
Servo amplifier
CNP1
CN5
CN3
CNP2
CN8
CN1A
CN1B
CNP3
CN2
CN4
10
For 5 kW or larger
26 27 28
Q173DSCPU
Q172DSCPU
QD77MS
MR Configurator
(Setup software)
MRZJW3-SETUP221E
Controller
16 17
11 18 19
7 8 9
24
Servo amplifier
CN5
CN3
CN8
CN1A
CN1B
CN2
Safety Logic Unit
MR-J3-D05
26 27
CN4
To servo motor encoder
Note: Attach a SSCNET III connector cap to the unused connector.
MR-J4W2-B and MR-J4W3-B Type Amplifier Cables and Connectors
26 27
7 8 9
26 28
Servo amplifier
CN5
CN3
CN8
CN1A
CN1B
CN2
CN4
Attach a cap to the unused connector.
10
24
26 28
Controller
Q173DSCPU
Q172DSCPU
QD77MS
MR Configurator
(Setup software)
MRZJW3-SETUP221E
11 16 17 18 19
26 28
7 8 9
Safety Logic Unit
MR-J3-D05
Drive unit Drive unit
CN5
CN3
26 27
26 27
CN40A
CN8
CN1A
CN40B
CN1B
CN2
CN2L
CN4
7 8 9
To servo motor encoder
Notes:
1. MR-BT6VCASE and MR-BAT6V1 are not required when using the linear servo motor or when configuring incremental system with the MR-J4W_-B servo amplifier.
2.
3.
4.
Attach a SSCNET III connector cap to the unused connector.
Refer to "Junction Terminal Block" in this catalog.
CNP3C and CN2C connectors are available for MR-J4W3-B servo amplifier.
CN5
CN3
CN40A
CN8
CN1A
CN40B CN1B
CN2
CN2L
CN4
Attach a cap to the unused connector.
10
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 385
MR-J4-A Type Amplifier Cables and Connectors
For 3.5 kW or smaller
Controller
QD70P
QD70D
QD75P_N
QD75D_N
LD75P
LD75D
FX
2N
-20GM
FX
2N
-10GM
FX
2N
-10PG
FX
2N
-1PG
3 4
5 1
8
Junction terminal block
MR-TB50 (*1)
To servo motor power
Servo amplifier
CNP1
CNP2
CN5
CN6
CN3
CN8
CN1
CNP3
26
24 Setup software
MR Configurator2
25
15
RS-422/RS-232C conversion cable (*2)
27
CN2
CN4
To servo motor encoder
For 5 kW or larger
Controller
QD70P
QD70D
QD75P_N
QD75D_N
LD75P
LD75D
FX
2N
-20GM
FX
2N
-10GM
FX
2N
-10PG
FX
2N
-1PG
3 4
8
Junction terminal block
MR-TB50 (Note 1)
5
Servo amplifier
CN5
CN6
CN3
CN8
CN1
26
24 Setup software
MR Configurator2
25
15
RS-422/RS-232C conversion cable (Note 2)
27
CN2
CN4
To servo motor encoder
Notes:
1.
2.
Refer to "Junction Terminal Block" in this catalog.
Refer to "Products on the Market for Servo Amplifiers" in this catalog.
For CNP1, CNP2, CNP3
Item Model Number
Servo Amplifier Power Connector Set (Insertion
Type) For MR-J4-100A or Smaller/MR-J4-100B or
Smaller (*1)
Supplied with Amplifier
1
Servo Amplifier Power Connector Set (Insertion
Type) For MR-J4-200A/MR-J4-200B/MR-J4-350A/
MR-J4-350B (*1)
Supplied with Amplifier -
-
Stocked Item
-
-
Protection Level
CNP1 connector
Description
CNP2 connector
CNP3 connector
Open tool
CNP1 connector
CNP2 connector
CNP3 connector
Open tool
2
Servo Amplifier Power Connector Set (Insertion
Type) For MR-J4W2-B/MR-J4W3-B (*3)
Supplied with Amplifier -
Notes:
1. This connector set is not required for 5 kW or larger servo amplifiers since terminal blocks are mounted. Refer to servo amplifier dimensions in this catalog for more details.
2. The wire size shows wiring specification of the connector. Refer to "Selection Example in HIV Wires for Servo Motors" in this catalog for examples of wire size selection.
3. Press bonding type is also available. Refer to "MR-J4W_-_B Servo Amplifier Instruction Manual" for details.
CNP3A/CNP3B/
CNP3C connector
Open tool
386
For CN1
Item
3 Connector Set For MR-J4-A
Model Number
MR-J3CN1 S -
4 CN1 Pigtail Cable (50 Pin)
MR-J3CCN1CBL-_M
_ = cable length 3, 5m
3, 5 -
5
Junction Terminal Block Cable
For Connecting MRJ4-A and MR-TB50
6 Junction Terminal Block
MR-J2M-CN1TBL_M
(_ = cable length 0.5, 1m) 05, 1
S MR-TB50
MR-TB50MIN (reduced size - width = 145mm
(5.71 in))
S -
-
-
For Controller, CN1A, CN1B
Item
7
8
9
10
Model Number
SSCNET III Cable (Standard Cord for Inside Cabinet)
Compatible With SSCNET III(/H)
For MR-J4-B/MR-J4W2-B/MR-J4W3-B (*1)
SSCNET III Cable (Standard Cable for Outside cabinet) Compatible With SSCNET III(/H)
For MR-J4-B/MR-J4W2-B/MR-J4W3-B (*1)
SSCNET III Cable (Long Distance Cable, Long
Bending Life) Compatible With SSCNET III(/H) For
MR-J4-B/MR-J4W2-B/MR-J4W3-B (*1, *3)
SSCNET III Connector Cap. Compatible With SSCNET
III(/H). For MR-J4-B/MR-J4W2-B/MR-J4W3-B
MR-J3BUS_M _ (= cable length 0.15, 0.3, 0.5, 1, 3m)
MR-J3BUS_M-A
(_ = cable length 5, 10, 20m)
MR-J3BUS_M-B
( _ = cable length 30, 40, 50m)
Supplied with Amplifier
S
S
S
S -
-
-
-
Notes:
1. Read carefully through the precautions enclosed with the options before use.
2. Dedicated tools are required. Contact your local sales office for more details.
3. When SSCNET III/H is used, refer to "Products on the Market for Servo Amplifiers" in this catalog for cables over 50 m or with ultra-long bending life.
For CN3
Item
11 Connector Set For MR-J4-B
12
Connector Set (Qty: 1 pc) For MR-J4W2-B/
MR-J4W3-B
13 Connector Set For MR-J4W2-B/MR-J4W3-B
14
Junction Terminal Block Cable For Connecting
MR-J4W2-B/MR-J4W3-B and MR-TB26A
15 RS-232 to RS-485 Converter PC to CN3 (3M)
16 CN10 or CN3 Signal Connector (20 pin)
17 CN10 or CN3 Pigtail Cable (20 pin)
Model Number
MR-CCN1
MR-J2CMP2
MR-ECN1
MR-TBNATBL_M
_ = cable length 0.5, 1m
SC-FRPC
(Cable length 3m)
S
MR-J2CN1 S
MR-CCN1CBL-_M
(_ = cable length 3, 5m)
3, 5
S
S
-
Stocked Item
S
-
-
-
-
-
-
-
Protection
Level
18 Cable for PS7DW-20V14B-F Terminal Block MR-J2HBUS_M 05, 1, 3, 5 -
19
20 Pin Terminal B Lock for J4-B
(TB20 cannot be used)
20 CN6 Pigtail Cable (26 Pin)
21 Junction Terminal Block
PS7DW-20V14B-F
MR-ECN1CBL-3M
MR-TB26A
S
S
S -
-
-
Description
Description
Description
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 387
For CN4
Item
22
Battery Cable For Connecting MR-J4W2-B/
MR-J4W3-B and MR-BT6VCASE
Model Number
MR-BT6V1CBL_M
_ = cable length 0.3, 1m
23 Junction Battery Cable For MR-J4W2-B/MR-J4W3-B MR-BT6V2CBL_M
S
S
For CN5 and CN6
Item
24
CN5 Personal Computer Communication Cable
(USB cable) For MR-J4-A/MR-J4-B/MR-J4W2-B/
MR-J4W3-B
25 CN6 Monitor Cable For MR-J4-A
Model Number
MR-J3USBCBL3M
MR-J3CN6CBL1M
3m
1m
For CN8
Item
26
Short-Circuit Connector For MR-J4-A/MR-J4-B/
MR-J4W2-B/MR-J4W3-B
27 STO Cable
28
STO Cable For Connecting Servo Amplifier with
MRJ3-D05 or Other Safety Control Device
Model Number
Supplied with Amplifier
MR-D05UDL-_M
_ = cable length 0.3, 1, 3m
MR-D05UDL3M-B
-
0.3, 1, 3
3m
For CN9 AND CN10
Item
29 CN9 Connector
30 CN10 Connector
Model Number
(Standard accessory of
MR-J3-D05)
(Standard accessory of
MR-J3-D05)
-
3m -
-
-
-
-
-
-
-
Description
Description
Description
Description
388
C. Servo Motor Cables and Connectors
For HG-KR/HG-MR Servo Motor Series: Encoder Cable Length 10m or Shorter
For leading the cables out in direction of load side (*1)
Power cable
To servo amplifier CNP3/CNP3A/CNP3B/CNP3C connector
17
(MR-J4W2-B, MR-J4W3-B only)
24 26
Electromagnetic brake cable
32
Encoder cable
To servo amplifier CN2/CN2A/CN2B/CN2C connector
1
Servo motor
For HG-KR/HG-MR Servo Motor Series: Encoder Cable Length 10m or Shorter
For leading the cables out in opposite direction of load side (*1)
Power cable
18
To servo amplifier CNP3/CNP3A/CNP3B/CNP3C connector
(MR-J4W2-B, MR-J4W3-B only)
25 27
Electromagnetic brake cable
Encoder cable
33
2
To servo amplifier CN2/CN2A/CN2B/CN2C connector
Servo motor
Note: Cables for leading two different directions may be used for one servo motor.
For HG-KR/HG-MR Servo Motor Series: Encoder Cable Length Over 10m
For leading the cables out in direction of load side (*4)
19 Power cable
32
(*2)
Electromagnetic brake cable
(*3)
Encoder cable
3
(*1)
5
8
(*1)
Encoder cable
10
7
To servo amplifier CNP3/CNP3A/CNP3B/CNP3C connector
To servo amplifier CN2/CN2A/CN2B/CN2C connector
12
Servo motor
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 389
For HG-KR/HG-MR Servo Motor Series: Encoder Cable Length Over 10m
For leading the cables out in opposite direction of load side (*4)
20 Power cable
33
(*2)
Electromagnetic brake cable
(*3)
4
(*1)
Encoder cable
5
9 (*1)
Encoder cable
10
7
To servo amplifier CNP3/CNP3A/CNP3B/CNP3C connector
To servo amplifier CN2/CN2A/CN2B/CN2C connector
12
Servo motor
Notes:
1. This cable does not have a long bending life. Thus, be sure to fix the cable before using.
2.
3.
4.
5.
Relay a cable using MR-PWS2CBL03M-A1-L or MR-PWS2CBL03M-A2-L. This cable does not have a long bending life. Thus, be sure to fix the cable before using.
Relay a cable using MR-BKS2CBL03M-A1-L or MR-BKS2CBL03M-A2-L. This cable does not have a long bending life. Thus, be sure to fix the cable before using.
Cables for leading two different directions may be used for one servo motor.
Cables drawn with dashed lines need to be fabricated by user. Refer to relevant Servo Motor Instruction Manual for fabricating the cables.
For HG-SR Servo Motor Series
Power connector set
16 21 22 23
To servo amplifier CNP3/CNP3A/CNP3B connector
(MR-J4W2-B, MR-J4W2-B only) 28 29
Electromagnetic brake connector set
34 35 36 38
37
Encoder cable
10
To servo amplifier
CN2/CN2A/CN2B connector
15
13 14 15
Servo motor
390
Encoder Cables and Connectors
Item
2
3 Encoder Cable.
4
(Junction Type) Use
This In Combination
With (5) or (7). (*2)
5
1
Encoder Cable 10m or Shorter (Direct
Connection Type)
(*2)
Encoder Cable. Use
This In Combination
With (3) or (4).
Lead Out in Direction of Motor
Shaft For HG-KR/HG-MR
Lead Out in Opposite Direction of Motor Shaft For HG-KR/
HG-MR
Lead Out in Direction of Motor
Shaft For HG-KR/HG-MR
Lead Out in Opposite Direction of Motor Shaft For HG-KR/
HG-MR
Model Number
(_ =cable length in meters)
MR-J3ENCBL_M-A1-H
_= 2, 5 or 10 (*1)
MR-J3ENCBL_M-A1-L
_= 2, 5, or 10 (*1)
MR-J3ENCBL_M-A2-H
_= 2, 5, or 10 (*1)
MR-J3ENCBL_M-A2-L
_= 2, 5, or 10 (*1)
MR-J3JCBL03M-A1-L cable length 0.3 (*1)
MR-J3JCBL03M-A2-L cable length 0.3 (*1)
For HG-KR/HG-MR
(Junction Type)
MR-EKCBL_M-H
_= 20, 30, 40, or 50 (*1,
*3)
MR-EKCBL_M-L
_= 20 or 30 (*1, *3)
7
8
9
10
11
12
13
14
For Connecting
Linear Encoder (*5)
Exceeding 10m
(Relay Type)
Use this in combination with
(10) or (11).
Amplifier-Side Connector
(Junction Type)
For HG-KR/HG-MR
(Junction Type)
For HG-KR/HG-MR
(Junction Type)
Encoder Cable (*2)
For HG-KR/HG-MR (Junction Type)
For HG-SR (Direct Connection Type)
Use this in combination with (8) or (9) for HG-KR/
HG-MR Series.
Encoder Connector Set (One-Touch Connection Type)
For HG-KR/HG-MR (Junction Type)
For HG-SR (Direct Connection Type) (Straight Type)
Encoder Connector Set (Screw Type) (*2, *3, *6, *7)
For HG-SR (Straight Type)
Encoder Connector Set (One-Touch Connection Type)
For HG-SR (Angle Type) (*2, *7)
Encoder Connector Set (Screw Type) (*2, *3, *6, *7)
For HG-SR (Angle Type)
MR-ECNM
MR-J3SCNS
MR-ENCNS2
MR-J3SCNSA
MR-ENCNS2A
Stocked
Lengths
2, 5, 10
-
2, 5, 10
2, 5, 10
2, 5, 10
S
S
20, 30
S
MR-J3JSCBL03M-A1-L
Cable length 0.3m (*1, *3) S
MR-J3JSCBL03M-A2-L
Cable length 0.3m (*1)
S
MR-J3ENSCBL_M-H
_ = cable length 2, 5, 10,
20, 30, 40, 50m (*1)
MR-J3ENSCBL_M-L
_ = cable length 2, 5, 10,
20, 30m (*1)
2, 5, 10,
20, 30
2, 5
S
S
S
S
15 CN2 Connector Only MR-J3CN2 S -
IP67
IP67
IP67
Protection
Level
IP65
IP65
IP65
IP65
IP20
IP20
IP20
IP20
IP20
IP65 (*4)
IP65 (*4)
IP67
IP67
IP67
Encoder connector
Encoder connector
Junction connector
Junction connector
Encoder connector
Diagram
Junction connector or encoder connector
Encoder Side
Servo amplifier connector
Junction connector
Servo amplifier connector
Servo amplifier connector
Junction connector
Servo amplifier connector
Amplifier Side
Notes:
1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo amplifier/servo motor differs from that of these connectors, overall IP rating depends on the lowest of all.
2. -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
3. This encoder cable is available in four-wire type. Parameter setting is required to use the four-wire type encoder cable. Refer to relevant Servo Amplifier Instruction Manual for more details.
4. The encoder cable is rated IP65 while the junction connector itself is rated IP67.
5. MR-EKCBL_M-H and MR-ECNM can be connected to an output cable for Mitutoyo Corporation scale AT343A, AT543A-SC or AT545A-SC.
6. A screw thread is cut on the encoder connector of HG-SR series, and the screw type connector can be used.
7. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.
Motor Power Supply Cables
Item Motor Model Number
16
Standard-Flex,
Unshielded Type
Cables (Straight
Type Connector
Only) (*2)
High-Flex,
Shielded Type
Cables (Straight
Type Connector
Only) (*2)
HG-SR51(B), HG-SR52(B) (*1)
HG-SR81(B), HG-SR102(B), HG-SR152(B) (*1)
HG-SR121(B), HG-SR201(B), HG-SR202(B) (*1)
HG-SR502(B) (*1)
HG-SR421(B), HG-SR702(B) (*1)
HG-SR301(B), HG-SR352(B) (*1)
HG-SR51(B), HG-SR52(B), HG-SR152(B) (*1)
HG-SR81(B), HG-SR102(B) (*1)
HG-SR121(B), HG-SR201(B), HG-SR202(B) (*1)
HG-SR502(B) (*1)
HG-SR421(B), HG-SR702(B) (*1)
HG-SR301(B), HG-SR352(B) (*1)
Notes:
1. Must order separate brake cable for these motors.
Cable Number ( _ = cable length 2, 5, 10, 15,
20, 25, 30 meter)
MR-J3P1-_M
MR-J3P2-_M
MR-J3P4-_M
MR-J3P6-_M
MR-J3P7-_M
MR-J3P8-_M
MR-J3PWS1-_M
MR-J3PWS2-_M
MR-J3PWS4-_M
MR-J3PWS6-_M
MR-J3PWS7-_M
MR-J3PWS9-_M
Stocked
Lengths
2, 5, 10,
20, 30
2, 5 10, 15,
20, 30
Protection
Level
IP65
IP67
Description
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 391
Motor Power Supply Cables
Item
17
18
19
20
10m Or
Shorter (Direct
Connection
Type
Exceeding 10m
(Relay Type)
Power Supply Cable For HG-KR/
HG-MR. Lead Out In Direction Of
Motor Shaft (Non-Shielded) (*2)
Power Supply Cable For HG-KR/
HG-MR. Lead Out In Opposite
Direction of Motor Shaft (Non-
Shielded) (*2)
Power Supply Cable For HG-KR/
HG-MR (Junction Type) Motor Lead
Out In Direction Of Motor Shaft
(Non-Shielded) (*2)
Power Supply Cable For HG-KR/
HG-MR (Junction Type) Motor Lead
Out In Opposite Direction Of Motor
Shaft (Non-Shielded) (*2)
Model Number
Stocked
Lengths
MR-PWS1CBL_M-A1-H
(_ = cable length 2, 5, 10m) (*1) 2, 5, 10
MR-PWS1CBL_M-A1-L
(_ = cable length 2, 5, 10m) (*1) 2, 5, 10
MR-PWS1CBL_M-A2-H
(_ = cable length 2, 5, 10m) (*1) 2, 5, 10
MR-PWS1CBL_M-A2-L
( _ = cable length 2, 5, 10m) (*1)
2, 5, 10
MR-PWS2CBL03M-A1-L
(Cable length 0.3m)
MR-PWS2CBL03M-A2-L
(Cable length 0.3m)
21 Power Connector Set For HG-SR51, 81, 52, 102, 152 MR-PWCNS4 (*2)
22
Power Connector Set For HG-SR121, 201, 301, 202,
352, 502
MR-PWCNS5 (*2) -
-
S
S
23 Power Connector Set For HG-SR421, 702 MR-PWCNS3 (*2) -
Protection
Level (*1)
IP65
IP65
IP65
IP65
IP55
IP55
IP67
IP67
IP67
Description
Notes:
1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo amplifier/servo motor differs from that of these connectors, overall IP rating depends on the lowest of all.
2. -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
Power Supply Cable for HF-KP/HF-MP Rotary Servo Motors (Direct Connection Type)
Item Model (*1)
Stocked
Lengths
24
Lead Out in Direction of Motor Shaft
Standard Bending Life
SC-EPWS1CBL_M-A1-L
(_= cable length: 2, 5, 10m)
-
25
26
27
Lead Out in Opposite Direction of Motor Shaft
Standard Bending Life
Lead Out in Direction of Motor Shaft
Long Bending Life
Lead out in Opposite Direction of Motor Shaft
Long Bending Life
SC-EPWS1CBL_M-A2-L
(_= cable length: 2, 5, 10m)
SC-EPWS1CBL_M-A1-H
(_= cable length: 2, 5, 10m)
SC-EPWS1CBL_M-A2-H
(_= cable length: 2, 5, 10m)
-
2, 5, 10
2, 5, 10
-
-
-
-
Protection
Level
Description
Power Supply Cable for MR-J4W2 and MR-J4W3
Item Model (*1)
Stocked
Lengths
28
29
Standard Bending Life
Long Bending Life
SC-EPWS2CBL_M-L
(_= cable length: 2, 5, 10, 20,
30m)
SC-EPWS2CBL_M-H
(_= cable length: 2, 5, 10, 20,
30m)
-
2, 5, 10
Note:
1. A separate motor-side power supply connector (listed below) is required for HF-SP/HC-LP/HC-UP rotary servo motors.
-
-
Protection
Level
Description
Motor Brake Cables for HG-KR/HG-MR Rotary Servo Motors
Item
30
31
32
33
Brake Cable for
HG-KR/HG-MR
Series 10m or
Shorter (Direct
Connection Type)
(*2)
Brake Cable for
HG-KR/HG-MR
Series Exceeding
10m (Relay Type)
(*2)
Lead Out in Direction of
Motor Shaft
Lead Out in Opposite Direction of Motor Shaft
Lead Out in Direction of
Motor Shaft
Lead Out in Opposite Direction of Motor Shaft
Model Number
(_=cable length in meters)
MR-BKS1CBL_M-A1-H
(_= 2, 5, or 10) (*1)
MR-BKS1CBL_M-A1-L
(_= 2, 5, or 10) (*1)
MR-BKS1CBL_M-A2-H
(_= 2, 5, or 10) (*1)
MR-BKS1CBL_M-A2-L
_= 2, 5, or 10 (*1)
MR-BKS2CBL03M-A1-L
(cable length 0.3) (*1)
MR-BKS2CBL03M-A2-L
(cable length 0.3) (*1)
-
-
Stocked
Lengths
2, 5, 10
2, 5, 10
S
S
Protection
Level (*1)
IP65
IP65
IP65
IP65
IP55
IP55
Diagram
Notes:
1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo amplifier/servo motor differs from that of these connectors, overall IP rating depends on the lowest of all.
2. -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
3. A screw thread is cut on the electromagnetic brake connector of HG-SR Series and the screw type connector can be used.
392
Brake Cables for HG-SR Servo Motor Series
Item
Standard-Flex, Unshielded Type Cables
34
High-Flex, Shielded Type Cables
Model Number
(_ = cable length 2, 5, 10,
15, 20, 25, 30 Meter)
MR-J3BK-_M
MR-J3BRKS1-_M
Stocked
Lengths
2, 5, 10,
20, 30
Protection
Level
IP65
2, 5, 10, 15,
20, 30
IP65
Diagram
Brake Connector Set
Item Model Number
Stocked
Lengths
Protection
Level (*1)
Diagram
35
36
37
38
Electromagnetic Brake Connector Set (One-Touch
Connection Type) For HG-SR (Straight Type)
Electromagnetic Brake Connector Set (Screw Type) For
HG-SR (Straight Type) (*3)
Electromagnetic Brake Connector Set (One-Touch
Connection Type) For HG-SR (Angle Type)
Electromagnetic Brake Connector Set (Screw type) For
HG-SR (Angle Type) (*3)
MR-BKCNS1
MR-BKCNS2
MR-BKCNS1A
MR-BKCNS1A
S
S
S
S
IP67
IP67
IP67
IP67
Notes:
1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo amplifier/servo motor. If the IP rating of the servo amplifier/servo motor differs from that of these connectors, overall IP rating depends on the lowest of all.
2. -H and -L indicate a bending life. -H indicates a long bending life, and -L indicates a standard bending life.
3. A screw thread is cut on the electromagnetic brake connector of HG-SR Series and the screw type connector can be used.
D. Software and Manuals
Servo Support Software • (MRZJW3-MOTSZ111E)
This software makes it easy to perform setup, tuning, monitor display, diagnostics, reading and writing of parameters, and test operations with a personal computer. User-satisfying functions that enable the balance with the machine system, optimum control and short start up time are available.
• This software can set up and tune your servo system easily with a personal computer.
• Multiple monitor functions. Graphic display functions are provided to display the servo motor status with the input signal triggers, such as the command pulse, droop pulse and speed.
• Test operations with a personal computer. Test operation of the servo motors can be performed with a personal computer using multiple test mode menus.
• Further advanced tuning is possible with the improved advanced functions.
E. System Options
Line Noise Filter
Servo Amplifier Type Model Number
MR-J4_
For wire size 3.5mm²
(AWG12) or smaller
FR-BSF01
Stocked Item
S
Description
MR-J4_
For wire size 5.5mm²
(AWG10) or larger
FR-BLF S
Extension I/O Unit
Servo Amplifier Type Model Number Stocked Item Description
Manuals
Hardware Description
MR-J4B Instruction Manual
MR-J4A Instruction Manual
MR-J4W Instruction Manual
Model Number
SH(NA)030106-A
SH(NA)030107-A
SH(NA)030105-A
Stocked Item
MEAU.com
MEAU.com
MEAU.com
Description Model Number
Stocked
Item
Windows Communication Software MR-CONFIGURATOR2 S
Communication Cable MR-J3USBCBL3M S
Radio Noise Filter
Servo Amplifier Type Model Number Stocked Item
All J4 Models FR-BIF
Manual Pulse Generator
Servo Amplifier Type Model Number
S
Stocked Item
Description
Description
MR-J4-B Only MR-J3-D05 S
MR-J4-A Only MR-HDP01 S
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 393
EMC Filter (*1)
Servo Amplifier Type
MR-J4-10A/B to 100A/B
MR-J4W2-22B
MR-J4W3-222B
MR-J4W2-44B
MR-J4-200A/B, 350A/B
MR-J4W2-77B, 1010B
MR-J4W3-444B
MR-J4-500A/B, 700A/B
Model Number
HF3010A-UN (*1)
HF3010A-UN2 (*1)
HF3030A-UN (*1) -
-
-
Stocked Item Description
HF3040A-UN (*1) -
Note: Contact MEAU for additional filter opportunities.
1. Manufactured by Soshin Electric Co., Ltd. A surge protector is separately required to use this EMC filter. Refer to "EMC Installation Guidelines."
20 Pin Terminal Block (*1)
Servo Amplifier Type Model Number Stocked Item Description
MR-J3-B Safety Only PS7DW-20V14B-F S
Power Factor Improving DC Reactor
Servo Amplifier Type
MR-J4-10A/B, MR-J4-20A/B
MR-J4-40A/B
MR-J4-60A/B, MR-J4-70A/B
MR-J4-100A/B
MR-J4-200A/B
MR-J4-350A/B
MR-J4-500A/B
MR-J4-700A/B
FR-HEL-0.4K
FR-HEL-0.75K
-
-
FR-HEL-1.5K
-
FR-HEL-2.2K
FR-HEL-3.7K
FR-HEL-7.5K
FR-HEL-11K
FR-HEL-15K
-
-
-
-
-
Power Factor Improving AC Reactor
Servo Amplifier Type
MR-J4-10A/B, MR-J4-20A/B
MR-J4-40A/B
MR-J4-60A/B, MR-J4-70A/B
MR-J4-100A/B
MR-J4-200A/B
MR-J4-350A/B
MR-J4-500A/B
MR-J4-700A/B
FR-HAL-0.4K
FR-HAL-0.75K -
-
FR-HAL-1.5K
-
FR-HAL-2.2K
FR-HAL-3.7K
FR-HAL-7.5K
FR-HAL-11K
FR-HAL-15K
-
-
-
-
-
Description
Description
Note: MR-TB20 terminal block cannot be used for MR-J3-B Safety.
Battery
Item Number Model Number
Battery
Battery
Battery Case
MR-BAT6V1SET
MR-BAT6V1
MR-BT6VCASE
Description Stocked Item
The servo motor’s absolute value can be maintained by installing the battery in the servo amplifier. The battery is not required when the servo system is used in an incremental mode.
S
The battery case and the batteries are required when configuring absolute position detection system using the rotary servo motor or the direct drive motor. MR-BT6VCASE is a case that stores 5 pieces of MR-BAT6V1 batteries by connecting the connectors. Up to 8 axes of MR-J4W_-_B servo amplifiers are able to be connected to this battery case. Use optional MR-BT6V2CBL_M junction battery cable for branching off the connection when connecting multiple servo amplifiers. MR-BT6VCASE and MR-BAT6V1 are not required when using the linear servo motor or when configuring incremental system with the MR-J4W_-B servo amplifier. MR-BAT6V1 is not included with
MR-BT6VCASE. Please purchase the batteries separately.
S
S
Description
Optional Regeneration Resistors
Optional Regeneration Resistors/Tolerable Regenerative Power (W) (*2)
Servo Amplifier
Model MR-J4-_
Built-in Regenerative
Resistor/Tolerable
Regenerative Power (W)
MR-RB
032 (40Ω) 12 (40Ω) 30 (13Ω) 3N (9Ω) 31 (6.7Ω) 32 (40Ω)
Stocked Item
MR-J4-10A/B
MR-J4-20A/B
-
-
10
MR-J4-40A/B
MR-J4-60A/B
MR-J4-70A/B
MR-J4-100A/B
MR-J4-200A/B
MR-J4-350A/B
MR-J4-500A/B
MR-J4-700A/B
MR-J4W2-22B
MR-J4W2-44B
MR-J4W2-77B
20
100
MR-J4W2-1010B 100
MR-J4W3-222B
MR-J4W3-444B
30
30
100
100
130
170
20
10
10
20
20
-
-
-
-
-
-
-
-
-
-
S
30
30
30
30
30
30
-
-
-
-
-
-
-
-
-
-
-
S
100
100
100
100
100
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
S
300
-
-
-
-
-
-
-
-
-
-
-
-
-
S
300
300
300
-
-
-
-
-
-
-
-
-
-
-
-
-
-
S
300
300
Notes:
1. Be sure to cool the unit forcibly with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m³/min). The cooling fan must be prepared by user.
2. The power values in this table are resistor-generated powers, not rated powers
-
-
-
-
-
-
-
-
-
-
-
-
S
-
-
300
300
50 (13Ω)
(*1)
-
-
-
-
-
-
-
-
-
500
-
-
-
-
-
-
S
5N (9Ω)
(*1)
-
-
-
-
-
-
-
-
-
500
-
-
-
-
-
-
S
14
(26Ω)
-
100
-
100
100
-
-
-
-
100
-
-
-
-
-
-
-
51 (6.7Ω)
(*1)
-
-
-
-
-
-
-
500
500
-
-
-
-
-
-
-
S
394
34 (26Ω)
-
-
-
300
300
-
-
-
-
-
-
-
-
-
-
-
-
MR-J4 Motor Shaft Details and Servomotor Dimensions
HG-KR / HG-MR Series: D-Cut Shaft (50W & 100W Motors Only)
25 (0.98)
21.5 (0.85)
20.5 (0.81)
Unit: mm (inch)
Keyway With Key Included
R
Q
QK
A
QL U
A T
Cross Section
A-A
Y
(Unit: mm)
Motor
Model
HG-KR_K
Capacity
(W)
23(B),
43(B)
73(B)
Variable Dimensions
T
5
(0.20)
6
(0.24)
S
14h6
(0.554)
19h6
(0.7480)
R
30
(1.18)
40
(1.57)
Q
26
36
Motor
Model
Capacity
(W)
23(B),
43(B)
HG-MR_K
73(B)
Variable Dimensions
T
5
(0.20)
6
(0.24)
S
14h6
(0.554)
19h6
(0.7480)
R
30
(1.18)
40
(1.57)
Q
26
36
W
5
(0.20)
6
(0.24)
QK
20
(0.79)
25
(0.98)
QL
3
(0.12)
5
(0.20)
U
3
(0.12)
3.5
(0.14)
Y
M4 Depth
15 (0.59)
M5 Depth
20 (0.79)
W
5
(0.20)
6
(0.24)
QK
20
(0.79)
25
(0.98)
QL
3
(0.12)
5
(0.20)
U
3
(0.12)
3.5
(0.14)
Y
M4 Depth
15 (0.59)
M5 Depth
20 (0.79)
HG-SR Series
Keyway With No Key Supplied (Customer must supply key or order key part separately below)
R
Q
QK
A
QL
A r
Figure A
U
A-A
Y
Motor
Model
Capacity
(W)
Variable Dimensions
S R Q W
51(B),
81(B)
14h6
0
HG-SR_K 121(B)
201(B)
301(B)
421(B)
(Unit: mm)
Motor
Model
Capacity
(W)
Variable Dimensions
S R Q W
52(B),
102(B)
152(B)
14h6
0
HG-SR_K 202(B)
352(B)
502(B)
702(B)
QK QL
36
55
U
5
(0.20) 4
+0.2
0
4
5
(0.20) 5
+0.2
0
5 r Y
Key
Dimensions
8x7x28
M8 screw depth
20 10x8x45
Key Model
Number
Stocked
Item
MTR KEY
8-7-28
S
MTR KEY
10-8-45
S
QK QL U
(0.20) 4
+0.2
0
(0.20) 5
+0.2
0 r
4
5
Y
Key
Dimensions
8x7x28
M8 screw depth
20 10x8x45
Key Model
Number
Stocked
Item
MTR KEY
8-7-28
MTR KEY
10-8-45
S
S
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 395
HG-KR/HG-MR Series Dimensions (*1, *5, *6)
HG-KR053(B), HG-KR13(B)
HG-MR053(B), HG-MR13(B)
20.5
20.7
13.7
27.4
Encoder connector
4.9
10.9
11.7
11.7
21.7
58.8 (Note 3)
(Note 3)
7°
L
18.4
(Note 3)
13°
9.9
19.2
KL
5
45°
40
ø46
When the cables are led out in opposite direction of load side
Encoder connector
25
2.5
21.5
2-ø4.5 mounting hole
Use hexagonal cap head bolts.
Power connector
Electromagnetic brake connector
(Note 3)
11.7 11.7
58.8 (Note 3)
18.4
(Note 3)
21.7
13.9
27.5
6.4
Power connector
9.9
Electromagnetic brake connector (Note 3)
3
4
1
2
Power connector
Pin No. Signal name
1
2
3
4
U
(PE)
V
W
Electromagnetic brake connector (Note 2)
1
2
Pin No. Signal name
1
2
B1
B2
Model
HG-KR053(B)
HG-MR053(B)
HG-KR13(B)
HG-MR13(B)
Variable dimensions (Note 4)
L KL
66.4
(107)
23.8
82.4
(123)
39.8
[Unit: mm]
HG-KR23(B), HG-KR43(B))
HG-MR23(B), HG-MR43(B)
13.7 10
28.4
10.9
11.8
11.7
21.7
57.8 (Note 3)
(Note 3)
L
7 3
30
26
4-ø5.8 mounting hole head bolts.
45°
ø70
60
Power connector
Pin No. Signal name
3
4
1
2
1
2
3
4
U
V
(PE)
W
9.5
19.2
KL
Power connector
Electromagnetic brake connector (Note 3)
13.9
27.8
5.9
When the cables are led out in opposite direction of load side
13.5°
7°
Encoder connector
11.8 11.7
57.8 (Note 3)
18.3
(Note 3)
21.7
9.5
Electromagnetic brake connector (Note 3)
Electromagnetic brake connector (Note 2)
1
2
Pin No. Signal name
1 B1
2 B2
Model
HG-KR23(B)
HG-MR23(B)
Variable dimensions (Note 4)
L KL
76.6
(113.4)
36.4
HG-KR43(B)
HG-MR43(B)
98.3
(135.1)
58.1
[Unit: mm]
HG-KR73(B)
HG-MR73(B)
112 (152.3) (Note 4)
13.7
27.4
11.5
Encoder connector
10.7
11.8
11.7
21.7
63.1 (Note 3)
9.5
19.2
Power connector
69.6
Electromagnetic brake connector (Note 3)
8 3
40
36
4-ø6.6 mounting hole
Use hexagonal cap head bolts.
45°
ø90
80
14 12
27.8
When the cables are led out in opposite direction of load side
3
4
1
2
Power connector
Pin No. Signal name
1
2
3
4
V
W
U
(PE)
Electromagnetic brake connector (Note 2)
1
2
Pin No. Signal name
1
2
B1
B2
(Note 3)
7° Encoder connector 11.8 11.7
(Note 3)
63.1 (Note 3)
18.4
21.7
Power connector
9.5
Electromagnetic brake connector (Note 3)
[Unit: mm]
Notes:
1. For dimensions without tolerance, general tolerance applies.
2. The electromagnetic brake terminals (B1, B2) do not have polarity.
3. Only for the models with electromagnetic brake.
4. Dimensions inside ( ) are for the models with electromagnetic brake.
5. Use a friction coupling to fasten a load.
6. Servo motors with oil seal (HG-KR_J and HG-MR_J) have different dimensions. Contact your local sales office for more details.
396
HG-SR Series Dimensions (*1, *5)
HG-SR51(B), HG-SR81(B)
HG-SR52(B), HG-SR102(B), HG-SR152(B)
38.2 (43.5)
(Note 4)
(Note 3)
L
12 3
55
50
(Note 3)
130
45°
4-ø9 mounting hole
Use hexagonal cap head bolts.
ø145
ø165
(Note 3) 29
(Note 3)
Encoder connector
CMV1-R10P
13
59 (Note 3)
Electromagnetic brake connector
CMV1-R2P (Note 3)
Power connector
MS3102A18-10P
Main key
Position mark
20.9
KL
W
C
B
(Note 2)
Electromagnetic brake
Electromagnetic brake connector
Servo motor flange direction
V
D
A
U
(PE)
Key
Power connector
Servo motor flange direction
(Note 3)
13.5
58
1000 r/min
Model
2000 r/min
HG-SR52(B)
HG-SR51(B) HG-SR102(B)
HG-SR81(B) HG-SR152(B)
Variable dimensions (Note 4)
L KL
118.5 (153) 57.8
132.5 (167) 71.8
146.5 (181) 85.8
[Unit: mm]
HG-SR121(B), HG-SR201(B), HG-SR301(B), HG-SR421(B)
HG-SR202(B), HG-SR352(B), HG-SR502(B), HG-SR702(B)
L
3
79
75
176
*6
*1
*4
38.5
(45.5)
(Note 4)
(Note 3)
*1
*4
18
*6
+0.010 0
0 -0
(Note 3)
*3 *5 *3 *5
*2 *2
(Note 3) 44
(Note 3)
Encoder connector
CMV1-R10P
13
66.5
(Note 3)
Electromagnetic brake connector
CMV1-R2P (Note 3)
Power connector
MS3102A22-22P (3.5 kW or smaller, and 5 kW)
MS3102A32-17P (4.2 kW and 7 kW)
Main key
Position mark
(Note 2)
Electromagnetic brake
Electromagnetic brake connector
Servo motor flange direction
KA
W
C
B
KL
D
A
(PE)
Key
V U
Power connector
Servo motor flange direction
*1, *2, *3, *4, *5 and *6 are screw (M8) holes for eyebolt.
•HG-SR201(B), 301(B), 352(B), 502(B): *1, *2
•HG-SR421(B), 702(B): *3, *4, *5, *6
1000 r/min
Model
2000 r/min
HG-SR121(B) HG-SR202(B)
HG-SR201(B) HG-SR352(B)
82
HG-SR301(B) HG-SR502(B)
ø200
45°
ø230
HG-SR421(B) HG-SR702(B)
(Note 3)
4-ø13.5 mounting hole
Use hexagonal cap head bolts.
Variable dimensions
(Note 4)
L
138.5
(188)
162.5
(212)
178.5
(228)
218.5
(268)
KL
74.8
98.8
114.8
146.8
KA
24.8 140.9
32
KB
149.1
[Unit: mm]
Mitsubishi Electric Automation
|
Servomotors and Amplifiers 397
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