Mitsubishi | MR-508C | User manual | MR-J4 Product Selection Guide

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Mitsubishi | MR-508C | User manual | MR-J4 Product Selection Guide | Manualzz

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

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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

|

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)

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°

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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