Mitsubishi HG-JR, HG-KR, HG-RR, HG-MR, HG-UR User Manual
...
General-Purpose AC Servo
MODEL
HG-MR
HG-KR
HG-SR
HG-JR
HG-RR
HG-UR
HG-AK
SERVO MOTOR INSTRUCTION MANUAL (Vol. 3)
J
Safety Instructions
Please read the instructions carefully before using the equipment.
Do not attempt to install, operate, maintain or inspect the equipment until you have read through this
Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the
equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
A - 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more (20 minutes or more for
converter unit and drive unit) until the charge lamp turns off. Then, confirm that the voltage between P+
and N- (L+ and L- for converter unit and drive unit) is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always
confirm it from the front of the servo amplifier (converter unit).
Ground the servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo motor until they have been installed. Otherwise, it may cause an electric
shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo motor on incombustible material. Installing it directly or close to combustibles will lead to
a fire.
Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo motor.
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo motor, etc. may be hot while power is on or for some time after power-off. Take safety
measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.
The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and
operating conditions.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Use the eyebolt of the servo motor for the transportation purpose only. Do not use the eyebolts to
transport the servo motor when it is mounted on a machine.
A - 2
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Do not carry the servo motor by holding the cables, shaft, encoder, or connector.
Install the servo motor in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Do not install or operate the servo motor which have been damaged or have any parts missing.
Do not block intake and exhaust areas of the servo motor with a cooling fan. Otherwise, it may cause a
malfunction.
Do not drop or strike the servo motor. Isolate it from all impact loads.
Securely fix the servo motor to the machine. If being attached insecurely, the servo motor may come off
during operation.
The geared servo motor must be installed in the specified direction to prevent oil leakage.
When handling the servo motor, be careful about the edged parts such as the corners of the servo motor.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when
checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake,
and reducer. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform
with a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor
during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise,
the encoder may malfunction.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient temperature
Storage -15 °C to 70 °C (non-freezing)
Ambient humidity
Storage 90 %RH or less (non-condensing)
Altitude Max. 1000 m above sea level
HG-SR51/HG-SR81/HG-SR52(4)/
Vibration resistance
(Note)
HG-SR121/HG-SR201/HG-SR202(4)/
HG-SR301/HG-SR421/HG-SR502(4)/
HG-JR45K1M4/HG-JR55K1M4/
Note. Except the geared servo motor.
Ambience
HG-MR Series/HG-KR Series/HG-AK Series X, Y: 49 m/s2
HG-SR102(4)/HG-SR152(4)/HG-JR53(4)/
HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/
HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/
HG-JR701M(4)/HG-JR11K1M(4)/
HG-JR15K1M(4)/HG-JR22K1M(4)/
HG-JR30K1M(4)/HG-JR37K1M(4)/
HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/
HG-JR15K1(4)/HG-JR20K1(4)/HG-JR25K1(4)/
HG-RR Series/HG-UR72/HG-UR152
HG-SR352(4)/HG-UR202/HG-UR352/HG-UR502
HG-SR702(4)/HG-JR703(4)/HG-JR903(4)
HG-JR30K1(4)/HG-JR37K1(4)
Operation 0 °C to 40 °C (non-freezing)
Operation 80 %RH or less (non-condensing)
Indoors (no direct sunlight), free from corrosive
gas, flammable gas, oil mist, dust, and dirt
X, Y: 24.5 m/s
X: 24.5 m/s
X: 24.5 m/s
X: 9.8 m/s
2
2
Y: 49 m/s2
2
Y: 29.4 m/s2
2
Y: 9.8 m/s2
A - 3
r
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo
amplifier (converter unit) output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier (converter unit) and servo motor.
Connect the servo amplifier (converter unit) power output (U, V, and W) to the servo motor power input
(U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
Servo amplifie
(converter unit)
U
V
W
Servo motor
U
V
W
M
Servo amplifier
(converter unit)
U
V
W
Servo motor
U
V
W
M
Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never adjust or change the parameter values extremely as it will make operation unstable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent.
Doing so may scuff the surface.
Do not disassemble, repair, or modify the equipment.
Use the servo amplifier (converter unit) with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
A - 4
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
Contacts must be opened
with the EMG stop switch.
Servo motor
B
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
RA
24 V DC
(6) Storage
CAUTION
Note the followings when storing the servo motor for an extended period of time (guideline: three or more
months).
Always store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, check how to store the equipment.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period.
If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to
the machined surfaces of the shaft, etc.
Before using the product after storage for an extended period of time, hand-turn the servo motor output
shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an
electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply.
When the product has been stored for an extended period of time, contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.
A - 5
DISPOSAL OF WASTE
Please dispose a servo motor and other options according to your local laws and regulations.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
Quantity SI (metric) unit U.S. customary unit
A - 6
CONTENTS
1. INTRODUCTION 1- 1 to 1- 8
1.1 Rating plate ....................................................................................................................................... 1- 1
1.2 Parts identification ............................................................................................................................. 1- 2
1.3 Electromagnetic brake ...................................................................................................................... 1- 3
1.4 Servo motor shaft shapes ................................................................................................................. 1- 5
1.5 Servo motor with functional safety .................................................................................................... 1- 6
2. INSTALLATION 2- 1 to 2- 6
2.1 Mounting direction............................................................................................................................. 2- 2
2.2 Cooling fan ........................................................................................................................................ 2- 2
2.3 Load remove precautions ................................................................................................................. 2- 3
2.4 Permissible load for the shaft ........................................................................................................... 2- 4
2.5 Protection from oil and water ............................................................................................................ 2- 4
2.6 Cable ................................................................................................................................................. 2- 5
2.7 Servo motor with oil seal ................................................................................................................... 2- 5
2.8 Inspection items ................................................................................................................................ 2- 5
2.9 Parts having service lives ................................................................................................................. 2- 6
2.10 Machine accuracies ........................................................................................................................ 2- 6
3. CONNECTORS USED FOR SERVO MOTOR WIRING 3- 1 to 3-12
3.1 Selection of connectors .................................................................................................................... 3- 1
3.2 Wiring connectors (connector configurations A/B/C) ........................................................................ 3- 5
3.3 Wiring connectors (connector configurations D/E/F/G/H) ................................................................ 3- 6
3.4 Wiring connectors (connector configurations J/K/L/M/N/P/Q) ......................................................... 3-10
4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR 4- 1 to 4-26
4.1 Connection instructions .................................................................................................................... 4- 2
4.2 Wiring ................................................................................................................................................ 4- 3
4.2.1 HG-MR series/HG-KR series servo motor ................................................................................. 4- 3
4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor ................................... 4- 8
4.2.3 HG-AK series servo motor ........................................................................................................ 4-14
4.3 Selection example of wires .............................................................................................................. 4-16
4.4 Servo amplifier terminal section ....................................................................................................... 4-20
5. WIRING OPTION 5- 1 to 5-34
5.1 Cable/connector sets ........................................................................................................................ 5- 1
5.1.1 Combinations of cable/connector sets ....................................................................................... 5- 2
5.1.2 Cable and connector list ............................................................................................................. 5- 4
5.2 Encoder cable/connector sets ......................................................................................................... 5-10
5.3 Servo motor power cable ................................................................................................................. 5-27
5.4 Servo motor power cable (for HG-AK series) .................................................................................. 5-29
5.5 Electromagnetic brake cable ........................................................................................................... 5-30
5.6 Wires for option cables .................................................................................................................... 5-32
1
6. HG-MR SERIES/HG-KR SERIES 6- 1 to 6-58
6.1 Model code definition ........................................................................................................................ 6- 1
6.2 Combination list of servo motors and servo amplifiers ..................................................................... 6- 2
6.3 Standard specifications ..................................................................................................................... 6- 3
6.3.1 Standard specifications list......................................................................................................... 6- 3
6.3.2 Torque characteristics ................................................................................................................ 6- 5
6.4 Electromagnetic brake characteristics .............................................................................................. 6- 6
6.5 Servo motors with special shafts ...................................................................................................... 6- 7
6.5.1 Key shaft (with 2 round end key) ............................................................................................... 6- 7
6.5.2 D cut shaft .................................................................................................................................. 6- 7
6.6 Geared servo motors ........................................................................................................................ 6- 8
6.6.1 For general industrial machines (G1) ......................................................................................... 6- 8
6.6.2 For high precision applications (G5/G7) ................................................................................... 6-11
6.7 Mounting connectors ....................................................................................................................... 6-14
6.8 Dimensions ...................................................................................................................................... 6-15
6.8.1 Standard (without electromagnetic brake and reducer) ............................................................ 6-15
6.8.2 With an electromagnetic brake ................................................................................................. 6-18
6.8.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 6-21
6.8.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 6-28
6.8.5 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake) .............................................................................................................. 6-34
6.8.6 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake) .............................................................................................................. 6-40
6.8.7 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake) .............................................................................................................. 6-46
6.8.8 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake) .............................................................................................................. 6-52
7. HG-SR SERIES 7- 1 to 7-96
7.1 Model code definition ........................................................................................................................ 7- 1
7.2 Combination list of servo motors and servo amplifiers ..................................................................... 7- 2
7.3 Standard specifications ..................................................................................................................... 7- 3
7.3.1 Standard specifications list......................................................................................................... 7- 3
7.3.2 Torque characteristics ................................................................................................................ 7- 6
7.4 Electromagnetic brake characteristics .............................................................................................. 7- 8
7.5 Servo motors with special shafts ...................................................................................................... 7- 9
7.6 Geared servo motors ....................................................................................................................... 7-10
7.6.1 For general industrial machines (G1/G1H) ............................................................................... 7-10
7.6.2 For high precision applications (G5/G7) ................................................................................... 7-14
7.7 Dimensions ...................................................................................................................................... 7-17
7.7.1 Standard (without electromagnetic brake and reducer) ............................................................ 7-17
7.7.2 With an electromagnetic brake ................................................................................................. 7-20
7.7.3 For general industrial machine with a reducer (without an electromagnetic brake) ................. 7-27
7.7.4 For general industrial machine with a reducer (with an electromagnetic brake) ...................... 7-37
7.7.5 For general industrial machine with a reducer (foot-mounting/without an
electromagnetic brake) ............................................................................................................ 7-47
7.7.6 For general industrial machine with a reducer (foot-mounting/with an
electromagnetic brake) .............................................................................................................. 7-57
2
7.7.7 With flange-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake) .............................................................................................................. 7-68
7.7.8 With flange-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake) .............................................................................................................. 7-75
7.7.9 With shaft-output type reducer for high precision applications, flange mounting (without an
electromagnetic brake) .............................................................................................................. 7-82
7.7.10 With shaft-output type reducer for high precision applications, flange mounting (with an
electromagnetic brake) ........................................................................................................... 7-89
8. HG-JR SERIES 8- 1 to 8-46
8.1 Model designation ............................................................................................................................. 8- 1
8.2 Combination list of servo motors and servo amplifiers/drive units ................................................... 8- 2
8.3 Standard specifications ..................................................................................................................... 8- 8
8.3.1 Standard specifications list......................................................................................................... 8- 8
8.3.2 Torque characteristics ............................................................................................................... 8-15
8.4 Electromagnetic brake characteristics ............................................................................................. 8-19
8.5 Servo motors with special shafts ..................................................................................................... 8-20
8.6 Oil seal ............................................................................................................................................. 8-21
8.7 Cooling fan ....................................................................................................................................... 8-21
8.8 Dimensions ...................................................................................................................................... 8-22
8.8.1 Terminal box detail diagram ...................................................................................................... 8-22
8.8.2 Standard (without an electromagnetic brake) ........................................................................... 8-23
8.8.3 With an electromagnetic brake ................................................................................................. 8-37
9. HG-RR SERIES 9- 1 to 9-12
9.1 Model designation ............................................................................................................................. 9- 1
9.2 Combination list of servo motors and servo amplifiers ..................................................................... 9- 1
9.3 Standard specifications ..................................................................................................................... 9- 2
9.3.1 Standard specifications list......................................................................................................... 9- 2
9.3.2 Torque characteristics ................................................................................................................ 9- 4
9.4 Electromagnetic brake characteristics .............................................................................................. 9- 5
9.5 Servo motors with special shafts ...................................................................................................... 9- 6
9.6 Oil seal .............................................................................................................................................. 9- 6
9.7 Dimensions ....................................................................................................................................... 9- 7
9.7.1 Standard (without an electromagnetic brake) ............................................................................ 9- 7
9.7.2 With an electromagnetic brake .................................................................................................. 9- 9
10. HG-UR SERIES 10- 1 to 10-12
10.1 Model designation .......................................................................................................................... 10- 1
10.2 Combination list of servo motors and servo amplifiers .................................................................. 10- 1
10.3 Standard specifications .................................................................................................................. 10- 2
10.3.1 Standard specifications list ...................................................................................................... 10- 2
10.3.2 Torque characteristics ............................................................................................................. 10- 4
10.4 Electromagnetic brake characteristics ........................................................................................... 10- 5
10.5 Servo motors with special shafts ................................................................................................... 10- 6
10.6 Oil seal ........................................................................................................................................... 10- 6
10.7 Dimensions .................................................................................................................................... 10- 7
10.7.1 Standard (without an electromagnetic brake) ......................................................................... 10- 7
3
10.7.2 With an electromagnetic brake ................................................................................................ 10- 9
11. HG-AK SERIES 11- 1 to 11-14
11.1 Model designation .......................................................................................................................... 11- 1
11.2 Combination list of servo motors and servo amplifiers .................................................................. 11- 1
11.3 Standard specifications .................................................................................................................. 11- 2
11.3.1 Standard specifications list ...................................................................................................... 11- 2
11.3.2 Torque characteristics ............................................................................................................. 11- 4
11.4 Electromagnetic brake characteristics ........................................................................................... 11- 5
11.5 Servo motors with special shafts ................................................................................................... 11- 6
11.6 Dimensions .................................................................................................................................... 11- 7
11.6.1 Standard (without an electromagnetic brake) ......................................................................... 11- 8
11.6.2 With an electromagnetic brake ............................................................................................... 11-11
APPENDIX App. - 1 to App. -35
App. 1 Servo motor ID codes .......................................................................................................... App.- 1
App. 2 Manufacturer list .................................................................................................................. App.- 3
App. 3 Compliance with the CE marking ......................................................................................... App.- 4
App. 4 Compliance with UL/CSA standard ..................................................................................... App.- 5
App. 5 Calculation methods for designing ....................................................................................... App.- 9
App. 6 Selection example of servo motor power cable .................................................................. App.-27
App. 7 Crimping connector for CNP3_ ........................................................................................... App.-28
App. 8 Connector dimensions ........................................................................................................ App.-29
App. 9 HG-JR22K1M(4) appearance change ................................................................................ App.-35
4
1. INTRODUCTION
1. INTRODUCTION
1.1 Rating plate
The following shows an example of rating plate for explanation of each item.
(1) HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR series servo motor
Model
Input power and rated output
Mass and insulation class
Rated speed
Serial number (Note 1)
(Note 2)
Country of origin
(2) HG-AK series servo motor
Note 1. Production year and month of the servo motor are indicated in a serial number on
the rating plate.
The year and month are indicated by the last two digits of the year and one digit
of the month [1 to 9, X(10), Y(11), and Z(12)].
For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".
2. Products approved by Certification Bodies are marked. The marks depends on
the Certification Bodies.
AC SERVO MOTORMITSUBISHI
Model, Insulation class
Input power, Mass
Rated output, IP rating
Rated speed
Serial number (Note)
Country of origin
Note. Production year and month of the servo motor are indicated in a serial number on the
rating plate.
The year and month of manufacture are indicated by the last two digits of the year
and one digit of the month [1 to 9, X (10), Y (11), and Z (12)].
For June 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 126".
HG-AK0336
INPUT 3AC 13V 2.2A 0.16kg
OUTPUT 30W IP55
3000 r/min (200Hz)
SER. J12345678 125
CI.B
QR
code
MADE IN JAPANMITSUBISHI ELECTRIC
1 - 1
1. INTRODUCTION
A
)
r
1.2 Parts identification
(1) HG-MR series/HG-KR series servo motor
Power cable (Note 1, 2)
Power lead (U/V/W)
Grounding lead
Encoder cable (Note 1)
Servo motor shaft
Note 1. The encoder cable and power supply cable are options.
2.
n electromagnetic brake cable is separately required for the servo motor with an
electromagnetic brake.
Encoder
(2) HG-SR series/HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HG-
JR12K1(4)/HG-RR series/HG-UR series servo motor
Power supply connector (Note
Power supply (U/V/W)
Grounding ( )
Servo motor shaft
Note. The servo motor with an electromagnetic brake has the electromagnetic brake
connector separately.
Encoder connector
Encoder
(3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4)
servo motor
Cooling fan connecto
Terminal box
(4) HG-AK series servo motor
Encoder connector
Power lead hole
Servo motor shaft
Power cable (Note)
Power lead (U V W)
Earth lead
Servo motor shaft
Note. The servo motor with an electromagnetic brake has electromagnetic brake lead.
Encoder cable
Encoder
1 - 2
1. INTRODUCTION
1.3 Electromagnetic brake
The electromagnetic brake is provided to prevent a drop at a power failure or
servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not
use it for normal braking (including braking at servo-lock).
The electromagnetic brake has a time lag. Use the electromagnetic brake so that
servo motor control starts after the electromagnetic brake has completely opened.
Be sure to check the time lag of the braking with a real machine.
Configure an electromagnetic brake circuit so that it is activated also by an
CAUTION
The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to
ensure double safety at an emergency stop, for example. When operating the servo motor, supply power to
the electromagnetic brake to release the brake. Switching power off enables the electromagnetic brake.
(1) Electromagnetic brake power supply
Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic
brake terminals (B1 and B2) have no polarity.
external EMG stop switch.
For details of the circuit configuration and timing chart, refer to each servo
amplifier instruction manual.
While the electromagnetic brake is opened, the motor may be raised to high
temperature regardless of driving.
The life will be shorten under sudden acceleration/deceleration conditions.
B1
B1
24 V DC
power supply for
electromagnetic brake
Switch
VAR
B
U
B2
Electromagnetic brake
24 V DC
or
power supply for
electromagnetic brake
Switch
VAR
The surge absorber (VAR) must be installed between B1 and B2. For the selection and example of
surge absorbers, refer to "Electromagnetic brake characteristic" in the chapter of servo motor series.
When you use a diode for a surge absorber, the electromagnetic braking time will be longer.
B
U
B2
Electromagnetic brake
1 - 3
1. INTRODUCTION
(2) Sound generation
Though the brake lining may rattle during operation, it poses no functional problem.
If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo
amplifier (converter unit) parameters. For details, refer to each servo amplifier instruction manual.
(3) Selection of surge absorbers for electromagnetic brake circuit
The following shows an example how to select a varistor with a surge absorber.
(a) Selection conditions
Electromagnetic brake
specification
Desired suppression
voltage
Durable surge
application time
(b) Tentative selection and verification of surge absorber
1) Maximum allowable circuit voltage of varistor
Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].
2) Brake current (Ib)
Ib =
3) Energy (E) generated by brake coil
E =
4) Varistor limit voltage (Vi)
From the energy (E) generated in the brake coil and the varister characteristic diagram, calculate
the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor
during opening of the circuit.
Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed
voltage (Vs) [V].
If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.
5) Surge current width (τ)
Given that the varistor absorbs all energies, the surge current width (τ) will be as follows.
τ =
6) Examining surge life of varister
From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number of
the surge application life is N at the surge current width (τ). Calculate the guaranteed current
value (Ip) ratio to brake current (Ib).
If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be
considered as favorable.
Item Condition
R [Ω]: Resistance
L [H]: Inductance
Vb [V]: Power supply voltage
Vs [V] or less
N times
Vb
[A]
R
2
L × lb
[J]
2
E
Vi × lb
[S]
Relay
24 V DC
U
Varistor
Brake coil
1 - 4
1. INTRODUCTION
(4) Others
A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic
brake. Note that chips, screws, etc. are attracted.
1.4 Servo motor shaft shapes
In addition to the straight shaft, the key shaft and D cut shaft are available.
The key shaft and D cut shaft cannot be used in frequent start/stop applications.
Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key,
use a friction coupling, etc. when coupling the shaft with a machine.
The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the
chapter of the servo motor series.
The key shaft (with single pointed key) applies to only the geared servo motor for high precision application.
A
A
A
Shaft section view AA
A
Shaft section view AA
Key shaft (with 2 round end key) Key shaft (without key)
D cut shaft Straight shaft
Key shaft (with single pointed key)
1 - 5
1. INTRODUCTION
1.5 Servo motor with functional safety
POINT
When you use a servo motor with functional safety, MR-BT6VCASE battery
case cannot be used.
HG-KR, HG-SR, and HG-JR series provide a special specification which expands the safety observation
function with the use of MR-D30 functional safety units and MR-J4-_-RJ servo amplifiers. When using the
servo motor with functional safety, be sure to attach MR-D30 functional safety unit to the servo amplifier.
Other servo motors than HG-KR, HG-SR, and HG-JR series are not compatible with the functional safety.
The servo motors with functional safety have the same specifications and dimensions with the standard
servo motors.
The following is a list of servo amplifiers which are compatible with the servo motors with functional safety.
Refer to section 4.1 of "MR-D30 Instruction Manual" (SH030132) for the available safety observation
functions and achievable safety level.
(1) A combination with 200 V/100 V class servo amplifiers
Servo motor with functional safety Servo amplifier
HG-KR053W0C
HG-KR13W0C
HG-KR23W0C MR-J4-20B-RJ
HG-KR43W0C MR-J4-40B-RJ
HG-SR51W0C
HG-SR52W0C
HG-JR53W0C MR-J4-60B-RJ
HG-KR73W0C MR-J4-70B-RJ
HG-JR73W0C MR-J4-70B-RJ
HG-SR81W0C
HG-SR102W0C
HG-JR103W0C MR-J4-100B-RJ
HG-SR121W0C
HG-SR201W0C
HG-SR152W0C
HG-SR202W0C
MR-J4-10B-RJ
MR-J4-10A-RJ
MR-J4-10B1-RJ
MR-J4-10A1-RJ
MR-J4-20A-RJ
MR-J4-20B1-RJ
MR-J4-20A1-RJ
MR-J4-40A-RJ
MR-J4-40B1-RJ
MR-J4-40A1-RJ
MR-J4-60B-RJ
MR-J4-60A-RJ
MR-J4-60A-RJ
MR-J4-100B-RJ (Note)
MR-J4-100A-RJ (Note)
MR-J4-70A-RJ
MR-J4-70A-RJ
MR-J4-200B-RJ (Note)
MR-J4-200A-RJ (Note)
MR-J4-100B-RJ
MR-J4-100A-RJ
MR-J4-100A-RJ
MR-J4-200B-RJ (Note)
MR-J4-200A-RJ (Note)
MR-J4-200B-RJ
MR-J4-200A-RJ
1 - 6
1. INTRODUCTION
Servo motor with functional safety Servo amplifier
HG-JR153W0C
HG-JR203W0C
HG-SR301W0C
HG-SR352W0C
HG-JR353W0C MR-J4-350B-RJ
HG-SR421W0C
HG-SR502W0C
HG-JR503W0C MR-J4-500B-RJ
HG-SR702W0C
HG-JR703W0C
HG-JR701MW0C
HG-JR903W0C
HG-JR11K1MW0C
HG-JR15K1MW0C MR-J4-15KB-RJ
HG-JR22K1MW0C MR-J4-22KB-RJ
(2) A combination with 400 V class servo amplifiers
Note. This combination increases the maximum torque from 300% to 400% of the rated
torque.
Servo motor with functional safety Servo amplifier
HG-SR524W0C MR-J4-60B4-RJ
HG-JR534W0C MR-J4-60B4-RJ
HG-SR1024W0C
HG-JR1034W0C
HG-JR734W0C
HG-JR1034W0C
HG-SR1524W0C
HG-SR2024W0C
HG-JR1534W0C
HG-JR2034W0C
HG-SR3524W0C MR-J4-350B4-RJ
HG-JR3534W0C MR-J4-350B4-RJ
MR-J4-200B-RJ
MR-J4-200A-RJ
MR-J4-350B-RJ (Note)
MR-J4-350A-RJ (Note)
MR-J4-350B-RJ
MR-J4-350A-RJ
MR-J4-350A-RJ
MR-J4-500B-RJ (Note)
MR-J4-500A-RJ (Note)
MR-J4-500B-RJ
MR-J4-500A-RJ
MR-J4-500A-RJ
MR-J4-700B-RJ (Note)
MR-J4-700A-RJ (Note)
MR-J4-700B-RJ
MR-J4-700A-RJ
MR-J4-11KB-RJ
MR-J4-11KA-RJ
MR-J4-15KA-RJ
MR-J4-22KA-RJ
MR-J4-60A4-RJ
MR-J4-60A4-RJ
MR-J4-100B4-RJ (Note 1)
MR-J4-100A4-RJ (Note 1)
MR-J4-100B4-RJ
MR-J4-100A4-RJ
MR-J4-100B4-RJ
MR-J4-100A4-RJ
MR-J4-200B4-RJ (Note 1)
MR-J4-200A4-RJ (Note 1)
MR-J4-200B4-RJ
MR-J4-200A4-RJ
MR-J4-200B4-RJ
MR-J4-200A4-RJ
MR-J4-350B4-RJ (Note 1)
MR-J4-350A4-RJ (Note 1)
MR-J4-350A4-RJ
MR-J4-350A4-RJ
MR-J4-500B4-RJ (Note 1)
MR-J4-500A4-RJ (Note 1)
1 - 7
1. INTRODUCTION
Servo motor with functional safety Servo amplifier
HG-SR5024W0C MR-J4-500B4-RJ
MR-J4-500A4-RJ
HG-JR5034W0C MR-J4-500B4-RJ
MR-J4-500A4-RJ
MR-J4-700B4-RJ (Note)
MR-J4-700A4-RJ (Note)
HG-SR7024W0C
HG-JR7034W0C
HG-JR701M4W0C
HG-JR9034W0C
HG-JR11K1M4W0C
HG-JR15K1M4W0C MR-J4-15KB4-RJ
HG-JR22K1M4W0C MR-J4-22KB4-RJ
Note. This combination increases the maximum torque from 300% to 400% of the rated
torque.
MR-J4-700B4-RJ
MR-J4-700A4-RJ
MR-J4-11KB4-RJ
MR-J4-11KA4-RJ
MR-J4-15KA4-RJ
MR-J4-22KA4-RJ
1 - 8
2. INSTALLATION
2. INSTALLATION
WARNING
CAUTION
To prevent electric shock, ground each equipment securely.
Stacking in excess of the specified number of product packages is not allowed.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environmental range. For the
environment, refer to the specifications of the servo motor series.
Do not drop or strike the servo motor. Isolate it from all impact loads.
Do not install or operate a faulty servo motor.
Do not carry the servo motor by holding the cables, shaft, encoder, or connector.
Otherwise, it may cause a malfunction or injury.
Use the eyebolts of the servo motor to only transport it. Do not use the eyebolts to
transport the servo motor when it is mounted on a machine.
The geared servo motor must be mounted in the specified direction. Otherwise, it
can leak oil, leading to a fire or malfunction.
Securely fix the servo motor to the machine. If being attached insecurely, the
servo motor may come off during operation, leading to injury.
Be sure to measure the motor vibration level with the servo motor mounted on the
machine when checking the vibration level. A great vibration may cause the early
damage of a bearing, encoder, brake, and reducer. The great vibration may also
cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and
the speed waveform with a measurement device to check that no vibration
occurs. If the vibration occurs due to high gain, the vibration may cause the early
damage of the servo motor.
Never hit the servo motor or shaft, especially when coupling the servo motor to
the machine. Otherwise, the encoder may malfunction.
When coupling a load to the servo motor, do not use a rigid coupling. Doing so
can cause the shaft to break and the bearing to wear out.
Balance the load to the extent possible. Not doing so can cause vibration during
servo motor operation or damage the bearings and encoder.
Take safety measures, e.g. provide covers, to prevent accidental access to the
rotor of the servo motor during operation.
Do not subject the servo motor shaft to more than the permissible load.
Otherwise, the shaft may break, leading to injury.
When the product has been stored for an extended period of time, contact your
local sales office.
When handling the servo motor, be careful about the edged parts such as the
corners of the servo motor.
2 - 1
2. INSTALLATION
2.1 Mounting direction
(1) Standard servo motor
The following table indicates the mounting direction of the standard servo motor.
For mounting in the horizontal direction, it is recommended to set the connector section downward.
When mounting the motor vertically or obliquely, give a little slack for the connection cable.
Servo motor series Mounting direction
HG-MR
HG-KR
HG-SR
HG-JR
HG-RR
HG-UR
HG-AK
All directions
Little slack
(2) Servo motor with an electromagnetic brake
The servo motor with an electromagnetic brake can also be installed in the same orientation as the
standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft
end at top, the brake plate may generate sliding sound but it is not a fault.
(3) Geared servo motors
The mounting direction of the geared servo motor differs depending on the reducer type. Be sure to
mount it in the specified direction. Refer to the chapter of the servo motor series for details.
2.2 Cooling fan
For the servo motor with a cooling fan, ensure to put enough space for the distance L between intake port
and wall surface. Refer to the chapter of the servo motor series for the distance L.
L or more
Servo motor
Intake
Cooling fan
2 - 2
2. INSTALLATION
2.3 Load remove precautions
During assembling, the shaft end must not be hammered. Otherwise, the encoder
may malfunction.
CAUTION
Do not process the shaft to avoid damage to the encoder and bearing.
(1) When mounting a pulley to the servo motor with a key shaft, use the screw hole in the shaft end. To fit
the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end
face of the coupling, and insert and tighten a nut to force the pulley in.
Servo motor
Double-end stud
Nut
Pulley
Washer
(2) For the shaft without a key, use a friction coupling or the like.
(3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or impact.
(4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to the
shaft.
(5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales
office.
(6) The direction of the encoder on the servo motor cannot be changed.
(7) When mounting the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not
become loose due to vibration.
2 - 3
2. INSTALLATION
2.4 Permissible load for the shaft
CAUTION
For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series.
(1) Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load.
(2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load.
(3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break.
(4) The load indicated in this section is static load in a single direction and does not include eccentric load.
Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged.
2.5 Protection from oil and water
Do not use a rigid coupling as it may apply excessive bending load to the shaft of
the servo motor, leading the shaft to break and the bearing to wear out.
Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When
installing the servo motor, consider the items in this section.
(1) Do not use the servo motor with its cable soaked in oil or water.
Cover
Servo
motor
Oil/water pool
Capillary action
(2) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not
exposed to oil and water entering from the machine side, gear box, etc.
Gear
Lubricating oil
Servo motor
(3) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected
depending on the oil type.
(4) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, a
standard specifications servo motor may not be usable. Please contact your local sales office.
2 - 4
2. INSTALLATION
2.6 Cable
The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to
keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the connectors,
terminals and others at the ends of the cables.
2.7 Servo motor with oil seal
For the servo motor with oil seal, the oil seal prevents the entry of oil into the servo motor. Make sure to
install it according in this section.
The functions have no problem even if the servo motor with oil seal may sound during operation.
(1) Pressure and oil level
Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip
always. If the oil level is higher than the oil seal lip, the oil enter the servo motor and may cause a
malfunction. Refer to the chapter of the servo motor series for the oil level.
Shaft
Gear
Servo motor
Height above oil level h
Lip
Oil seal
High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant
internal pressure by equipping a ventilator to the gear box.
(2) Temperature
High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high
temperature oil since applicable temperature of the material is up to 100 °C and temperature of the oil
seal lip rises within 10 °C to 15 °C at maximum rotation.
2.8 Inspection items
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more (20 minutes or more for converter unit and drive unit) until the
charge lamp turns off. Then, confirm that the voltage between P+ and N- (L+ and
L- for converter unit and drive unit) is safe with a voltage tester and others.
WARNING
CAUTION
It is recommended that the following points periodically be checked.
(1) Check the bearings, brake section, etc. for unusual noise.
Otherwise, an electric shock may occur. In addition, when confirming whether the
charge lamp is off or not, always confirm it from the front of the servo amplifier
(converter unit).
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
Do not perform insulation resistance test on the servo motor. Otherwise, it may
cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
2 - 5
2. INSTALLATION
(2) Check the cables and the like for scratches or cracks. Especially when the cable is movable, perform
periodic inspection according to operating conditions.
(3) Check the servo motor shaft and coupling for misalignment.
(4) Check the power supply connector and encoder connector tightening screws for looseness.
2.9 Parts having service lives
Service lives of the following parts are listed below. However, the service lives vary depending on operation
and environment. If any fault is found in the parts, they must be replaced immediately regardless of their
service lives. For parts replacement, please contact your local sales office.
(1) Bearings
When the servo motor is run at rated speed under rated load, bearings should be exchanged in 20,000
to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be
changed if unusual noise or vibration is found during inspection.
(2) Oil seal (including oil seal used on the reducer)
Oil seals must be changed in 5,000 hours of operation at rated speed as a guideline. They must also be
changed if oil leakage, etc. is found during inspection.
The functions have no problem even if an oil seal may sound during operation.
2.10 Machine accuracies
Part name Life guideline
Bearings 20,000 hours to
30,000 hours
Encoder 20,000 hours to
30,000 hours
Cooling fan 20,000 hours
Oil seal 5000 hours
Reducer 10,000 hours to
20,000 hours
The following table indicates the machine accuracies of the servo motor around the output shaft and
mounting. (except the optional products)
Accuracy [mm]
Runout of flange surface to output
shaft
Runout of fitting OD of flange surface b) 0.04 0.04 0.06 0.08
Runout of output shaft end c) 0.02 0.02 0.03 0.03
Measuring
position
a) 0.05 0.06 0.08 0.08
Flange size
100 × 100 or
less
130 × 130
176 × 176 to
250 × 250
280 × 280 or
a)
A
b)
A
A
c)
2 - 6
more
3. CONNECTORS USED FOR SERVO MOTOR WIRING
r
r
3. CONNECTORS USED FOR SERVO MOTOR WIRING
POINT
The IP rating indicated is the connector's protection against ingress of dust and
water when the connector is connected to a servo motor. If the IP rating of the
connector and servo motor vary, the overall IP rating depends on the lowest IP
rating of all components.
3.1 Selection of connectors
Use the connector configuration products given in the table as the connectors for connection with the servo
motor. Refer to section 3.2 to 3.4 for the compatible connector configuration products.
(1) HG-MR series and HG-KR series
Electromagnetic brake connector
Power supply connector
Encoder connecto
Wiring connector
Servo motor
HG-MR_
HG-KR_
For encoder For power supply
Connector
configuration A
Connector
configuration B
For electromagnetic
brake
Connector
configuration C
(2) HG-SR series
Electromagnetic brake connecto
Power supply connector
Encoder connector
Wiring connector
Servo motor
HG-SR51
HG-SR81
HG-SR52(4)
HG-SR102(4)
HG-SR152(4)
HG-SR121
HG-SR201
HG-SR301
HG-SR202(4)
HG-SR352(4)
HG-SR502(4)
HG-SR421
HG-SR702(4)
For encoder For power supply
Connector
configuration E
Connector
configuration D
Connector
configuration G
Connector
configuration H
For electromagnetic
brake
Connector
configuration F
3 - 1
3. CONNECTORS USED FOR SERVO MOTOR WIRING
r
(3) HG-JR series
HG-JR53(4) to HG-JR903(4)/HG-JR701M(4) to HG-JR15K1M(4)/HG-JR601(4) to HG-JR12K1(4)
Electromagnetic brake connector
HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4)
Cooling fan connecto
Encoder connector
Encoder connector
Power supply connector
Servo motor
HG-JR53(4)
HG-JR73(4)
HG-JR103(4)
HG-JR153(4)
HG-JR203(4)
HG-JR3534
HG-JR5034
HG-JR353
HG-JR503
HG-JR703(4)
HG-JR903(4)
HG-JR701M(4)
HG-JR11K1M(4)
HG-JR15K1M(4)
HG-JR601(4)
HG-JR801(4)
HG-JR12K1(4)
HG-JR22K1M(4)
HG-JR30K1M(4)
HG-JR37K1M(4)
HG-JR45K1M4
HG-JR55K1M4
HG-JR15K1(4)
HG-JR20K1(4)
HG-JR25K1(4)
HG-JR30K1(4)
HG-JR37K1(4)
For encoder For power supply
Connector
configuration E
Connector
configuration D
Connector
configuration G
Connector
configuration H
Connector
configuration K
None (terminal box)
Wiring connector
For electromagnetic
configuration F
configuration J
brake
Connector
Connector
For cooling fan
Connector
configuration L
3 - 2
3. CONNECTORS USED FOR SERVO MOTOR WIRING
r
r
(4) HG-RR series
Power connecto
Encoder connector
(5) HG-UR series
Servo motor
HG-RR103
HG-RR153
HG-RR203
HG-RR353
HG-RR503
Power connecto
For encoder For power supply
Connector
configuration D
Wiring connector
Connector
configuration N
Connector
configuration M
Encoder connector
For electromagnetic
brake
Sharing for power
supply
Wiring connector
Servo motor
HG-UR72
HG-UR152
HG-UR202
HG-UR352
HG-UR502
Note. Electromagnetic brake connector is not required since the power supply connector has a pin
assigned for electromagnetic brake.
For encoder For power supply
Connector
Connector
configuration D
configuration N
Connector
configuration M
For electromagnetic
brake
Sharing for power
supply (Note)
Connector
configuration J
3 - 3
3. CONNECTORS USED FOR SERVO MOTOR WIRING
r
(6) HG-AK series
Power connecto
Encoder connector
Wiring connector
Servo motor
HG-AK0136
HG-AK0236
HG-AK0336
Note.An electromagnetic brake connector is not required since the power connector has a pin assigned
for electromagnetic brake.
For encoder For power supply
Connector configuration P Connector configuration Q Sharing for power supply
For electromagnetic
brake
(Note)
3 - 4
3. CONNECTORS USED FOR SERVO MOTOR WIRING
3.2 Wiring connectors (connector configurations A/B/C)
Connector
configuration
A
(for encoder)
Feature
IP65
Connector: 2174053-1
(TE Connectivity)
Note. The other side connector
Connector
configuration
B
(for power supply)
Feature
Connector: KN4FT04SJ1-R
IP65
Contact: ST-TMH-S-C1B-100 (A534G)
Note. The other side connector
Connector Crimping tool
For ground clip: 1596970-1
For REC. contact: 1596847-1
(TE Connectivity)
Servo motor encoder
1674339-1
(TE Connectivity)
Connector Crimping tool
HOOD/SOCKET INSULATOR/
BUSHING/GROUND NUT
(JAE)
CT170-14-TMH5B
(JAE)
Servo motor power supply
JN4AT04NJ1
(JAE)
connector (Note)
connector (Note)
Connector
configuration
C
(for
electromagnetic
brake)
Feature
Connector: JN4FT02SJ1-R
IP65
Contact: ST-TMH-S-C1B-100 (A534G)
Note. The other side connector
Connector Crimping tool
HOOD/SOCKET INSULATOR/
BUSHING/GROUND NUT
(JAE)
CT170-14-TMH5B
(JAE)
Servo motor
electromagnetic brake
connector (Note)
JN4AT02PJ1
(JAE)
3 - 5
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