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.

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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: 9.8 m/s

2

Y: 49 m/s2

2

Y: 29.4 m/s2

2

Y: 9.8 m/s2

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(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

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

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

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

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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)

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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

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

c)

2 - 6

more

3. CONNECTORS USED FOR SERVO MOTOR WIRING

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

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

For cooling fan

Connector

configuration L

3 - 2

3. CONNECTORS USED FOR SERVO MOTOR WIRING

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

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

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

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations D/E/F/G/H)

Angle plug

Straight plug

(one-touch connection type)

Straight plug (screw type)

(one-touch connection type)

Angle plug

(screw type)

Connector

configuration

(for encoder)

Feature

D

IP67

Type Plug Socket contact Contact shape

Straight

Angle

Note. The other side connector

CMV1-SP10S-M1 (one-touch connection

type)

CMV1S-SP10S-M1 (screw type)

CMV1-SP10S-M2 (one-touch connection

type)

CMV1S-SP10S-M2 (screw type)

CMV1-AP10S-M1 (one-touch connection

type)

CMV1S-AP10S-M1 (screw type)

CMV1-AP10S-M2 (one-touch connection

type)

CMV1S-AP10S-M2 (screw type)

Plug (DDK)

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is

required. Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is

required. Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is

required. Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is

required. Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is

required. Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is

required. Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20 The crimping tool (357J-53162T) is

required. Crimping type Applicable wire size: AWG 28 to 24 The crimping tool (357J-53163T) is

required.

Cable OD

[mm]

(reference)

5.5 to 7.5

7.0 to 9.0

5.5 to 7.5

7.0 to 9.0

Servo motor

encoder

connector

(Note)

CMV1-R10P

3 - 6

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

E

(for power supply)

Feature

IP67 EN compliant

(Note 1) General

environment

Type Model

Straight

Angle

Straight

Angle

Note 1. Not comply with EN.

2. The other side connector

Plug (DDK) Cable clamp (DDK) Servo motor

CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12

CE05-8A18-10SD-D-BAS Applicable wire size: AWG 14 to 12

D/MS3106B18-10S Applicable wire size: AWG 14 to 12 D/MS3108B18-10S Applicable wire size: AWG 14 to 12

Cabel OD

[mm] (reference)

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

14.3 or less (bushing ID)

Model

D/MS3057-10A

power supply

connector

(Note 2)

MS3102A18-10P

3 - 7

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Angle plug

Straight plug

(one-touch connection type)

Connector

configuration

(for electro-

magnetic

brake)

Feature

F

IP67

Type Plug Socket contact Contact shape

Straight

Angle

Note. The other side connector

CMV1-SP2S-S (one-touch connection

type)

CMV1S-SP2S-S (screw type)

CMV1-SP2S-M1 (one-touch connection

type)

CMV1S-SP2S-M1 (screw type)

CMV1-SP2S-M2 (one-touch connection

type)

CMV1S-SP2S-M2 (screw type)

CMV1-SP2S-L (one-touch connection

type)

CMV1S-SP2S-L (screw type)

CMV1-AP2S-S (one-touch connection

type)

CMV1S-AP2S-S (screw type)

CMV1-AP2S-M1 (one-touch connection

type)

CMV1S-AP2S-M1 (screw type)

CMV1-AP2S-M2 (one-touch connection

type)

CMV1S-AP2S-M2 (screw type)

CMV1-AP2S-L (one-touch connection

type)

CMV1S-AP2S-L (screw type)

Straight plug (screw type)

Plug (DDK) Servo motor

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

(one-touch connection type)

Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is

required. Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is

required.

Cable OD

[mm]

(reference)

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

Angle plug

(screw type)

electro-

magnetic brake

connector

(Note)

CMV1-R2P

3 - 8

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

G

(for power supply)

Feature

IP67 EN compliant

(Note 1) General

environment

Type Model

Straight

Angle

Straight

Angle

Plug (DDK) Cable clamp (DDK) Servo motor

CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8

CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8

D/MS3106B22-22S Applicable wire size: AWG 10 to 8 D/MS3108B22-22S Applicable wire size: AWG 10 to 8

Cabel OD

[mm] (reference)

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

15.9 or less (bushing ID)

Model

D/MS3057-12A

power supply

connector

(Note 2)

MS3102A22-22P

Note 1. Not comply with EN.

2. The other side connector

Plug Cable clamp Cable Plug Cable clamp Cable

Backshell

Connector

configuration

H

(for power supply)

Feature

IP67 EN compliant

(Note 1) General

environment

Type Model Model

Straight

Angle

Straight

Angle

Plug (DDK) Backshell Cable clamp (DDK) Servo motor

power supply

MS3102A32-17P

(Note 3) CE05-6A32-17SD-D Applicable wire size: AWG 4

CE05-6A32-17SD-D-BSS Applicable wire size: AWG 6 to 4 CE05-8A32-17SD-D-BAS Applicable wire size: AWG 6 to 4 D/MS3106B32-17S Applicable wire size: AWG 6 to 4 D/MS3108B32-17S Applicable wire size: AWG 6 to 4

CE05-32BS-S-D-OB

Cabel OD

[mm] (reference)

30 to 32.5 CE3057-24A-1-D

27 to 29.6 CE3057-24A-2-D

22 to 23.8 CE3057-20A-1-D

23.8 or less (bushing ID)

Model

D/MS3057-20A

connector

(Note 2)

Note 1. Not comply with EN.

2. The other side connector

3. This connector is used only when the outer diameter of the cable used for HG-JR11K1M(4) and HG-JR15K1M(4) exceeds

23.8 mm.

3 - 9

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.4 Wiring connectors (connector configurations J/K/L/M/N/P/Q)

Plug Cable

Connector for cable

IP67 compatible IP67 compatible General environmental

Connector

configuration

J

(for

electro-

magnetic

brake)

Feature

IP67 EN

UL/CSA compliant

(Note1) General environment

D/MS3106A10SL-4S (D190)

Applicable wire size:

D/MS3106A10SL-4S Applicable wire size:

Note 1. Not comply with EN.

2. The connector to be mated.

Plug

Plug (DDK)

AWG 22 to 16

Cable clamp

Connector for cable Cable Plug

Plug

Cable-side connector

Connector for cable

Type Manufacturer

Straight

Angle

Straight

Nippon Flex

Daiwa Dengyo 5 to 8.3 YSO10-5 to 8

Nippon Flex

Daiwa Dengyo 5 to 8.3 YLO10-5 to 8

Cable

Backshell Cable

Cable OD

[mm]

(reference)

4 to 8

8 to 12

4 to 8

8 to 12

5.6 or less (bushing ID)

Model

ACS-08RLMS10F

ACS-12RLMS10F

ACA-08RLMS10F

ACA-12RLMS10F

D/MS3057-4A

Cable clamp

electromagnetic

MS3102A10SL4P

Cable

Servo motor

brake

connector

(Note 2)

Backshell

Connector

configuration

K

(for

encoder)

Feature

IP67 EN compliant

(Note 1) General environment

Type Model

Straight

Angle CE-20BA-S-D

Straight D/MS3106B20-29S

Angle D/MS3108B20-29S

Note 1. Not comply with EN.

2. The connector to be mated.

Plug (DDK)

D/MS3106A20-29S (D190)

Plug

Backshell

(DDK)

CE02-20BS-S-D

Cable clamp

Cable clamp (DDK) Servo motor

Cable OD

[mm]

6.8 to 10 CE3057-12A-3-D

15.9 or less (bushing ID)

Model

D/MS3057-12A

encoder

connector

(Note 2)

D/MS3102A2029P

3 - 10

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Cable

Plug

clamp

Connector

configuration

L

(for

cooling

fan)

Feature

IP67 EN compliant

Type Model

Straight

Note. The connector to be mated.

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

M

(for power

supply)

Feature

IP65 EN UL/CSA compliant

General environment UL/CSA compliant

Type Model

Straight

Angle

Straight

Angle

Note. The connector to be mated.

Plug (DDK) Cable clamp

Cable OD

[mm] (reference)

CE05-6A14S-2SD-D Applicable wire size: AWG 22 to 16

Plug (DDK) Cable clamp (DDK)

CE05-6A24-10SD-D-BSS Applicable wire size: AWG 10 to 8

CE05-8A24-10SD-D-BAS Applicable wire size: AWG 10 to 8

D/MS3106B24-10S Applicable wire size: AWG 10 to 8 D/MS3108B24-10S Applicable wire size: AWG 10 to 8

8.3 to 11.3

Cable OD

[mm] (reference) 13 to 15.5 CE3057-16A-2-D 15 to 19.1 CE3057-16A-1-D 13 to 15.5 CE3057-16A-2-D 15 to 19.1 CE3057-16A-1-D

19.1 or less (bushing ID)

Model

YSO14-9 to 11 (Daiwa Dengyo)

Model

D/MS3057-16A

Servo motor

cooling fan

connector (Note)

CE05-2A14S-2P

Servo motor

power supply

connector (Note)

CE05-2A24-10P

3 - 11

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

N

(for power

supply)

Feature

IP65 EN UL/CSA compliant

General environment UL/CSA compliant

Type Model

Straight

Angle

Straight

Angle

Note. The connector to be mated.

Connector

configuration

P

(for

encoder)

Feature

General environment (Note 1)

Tab housing Tab contact Applicable wire size

J21DPM-10V-KX

Note. Not comply with EN.

Plug (DDK) Cable clamp (DDK)

Cable OD

[mm] (reference)

CE05-6A22-23SD-D-BSS Applicable wire size: AWG 14 to 12

CE05-8A22-23SD-D-BAS Applicable wire size: AWG 14 to 12

D/MS3106B22-23S Applicable wire size: AWG 14 to 12 D/MS3108B22-23S Applicable wire size: AWG 14 to 12

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

15.9 or less (bushing ID)

Model

D/MS3057-12A

Servo motor

power supply

connector (Note)

CE05-2A22-23P

Connector (JST)

SJ2M-01GFM1.0N

2

to 0.50

0.20 mm

2

mm (AWG 24 to 20)

Insulator OD

[mm]

1.11 to 1.53 YRS-8861 J21DF-10V-KX-L

Crimping tool

Servo motor

encoder connector

Connector

configuration

Q

(for power

supply)

Feature

General environment (Note 1)

Note. Not comply with EN.

Connector (JST)

Tab housing Tab contact Applicable wire size

2

J21DPM-06V-KX

SJ2M-21GFM1.0N

0.30 mm

2

mm

to 0.75

Insulator OD

[mm]

1.30 to 1.90 YRF-1120 J21DF-06V-KX-L

Crimping tool

Servo motor power

connector

3 - 12

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise, it

WARNING

CAUTION

may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. Do not modify the equipment. Connect the servo amplifier (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 amplifier (converter unit)

U

V

W

Servo motor

U

V

W

M

Servo amplifier

(converter unit)

U

V

W

Servo motor

U

V

W

M

POINT

We recommend using HIV wires to connect the servo amplifier (converter unit) to the servo motor. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit".

4 - 1

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.1 Connection instructions

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. Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.

CAUTION

For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier (converter unit), and then connect the wire from the servo amplifier (converter unit) to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.

Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction.

POINT

Refer to chapter 5 for the selection of the encoder cable. Refer to the chapter of the servo motor series for the selection of a surge absorber for the electromagnetic brake.

Cabinet

Servo amplifier (converter unit)

Servo motor

PE

terminal

(Note)

Note. The number of PE terminals of the servo amplifier (converter unit) differs depending

()

(E)

on the amplifier types.

(

)

4 - 2

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

r

4.2 Wiring

4.2.1 HG-MR series/HG-KR series servo motor

(1) Connection with MR-J4 1-axis servo amplifier

(a) Servo motor power supply cable wiring diagrams

1) When cable length is 10 m or less

10 m or less

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L

Servo amplifier

CNP3

U V

MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H

(Red) (White) (Black)

(Green/yellow)

2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

50 m or less 2 m or less

Extension cable

Servo amplifier

CNP3

U V

Servo moto

U

M

V

WW

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

(Red) (White) (Black)

(Green/yellow)

Servo moto

U V

WW

M

(Note) a) Junction connector for

extension cable

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

(Note) b) Junction connector for

motor power supply cable

Junction connector

a) Junction connector for

extension cable

b)

Junction connector for motor power supply cable

Connector: RM15WTPZ-4P(71) Cord clamp: JR13WCC-5(72) (Hirose Electric) Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) (Hirose Electric)

Description IP rating

IP65

Numeral changes depending on the cable OD.

IP65

Numeral changes depending on the cable OD.

4 - 3

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(b) Electromagnetic brake cable wiring diagrams

1) When cable length is 10 m or less

10 m or less

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L

(Note 3)

24 V DC power supply

for electromagnetic

brake

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. Do not use the 24 V DC interface power supply for the electromagnetic brake.

4. Create the circuit in order to shut off by interlocking with the emergency stop switch.

MBR

(Electromagnetic

brake interlock)

ALM

(Malfunction)

(Note 4)

(Note 1)

When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-_, refer to section 5.5 and

5.6.

2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

50 m or less

Extension cable (To be fabricated)

(Note 5)

24 V DC power supply

for electromagnetic

brake

MBR

(Electromagnetic

brake interlock)

ALM

(Malfunction)

(Note 3)

(Note 1)

MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

U

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

U

AWG20

2 m or less

AWG20

Servo motor (Note 2)

B1

B

B2

Servo motor (Note 4)

B1

B

B2

(Note 2) a) Junction connector for

extension cable

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Junction connector Description IP rating

a)

Junction connector for extension cable

b)

Junction connector for electromagnetic brake cable

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. There is no polarity in electromagnetic brake terminals (B1 and B2).

5. Do not use the 24 V DC interface power supply for the electromagnetic brake.

CM10-CR2P- (DDK)

Wire size: S, M, L

CMV1-SP2S- (DDK)

Wire size: S, M1, M2, L

(Note 2) b) Junction connector for

electromagnetic brake cable

IP65

4 - 4

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(2) Connection with MR-J4 multi-axis servo amplifier

(a) Servo motor power supply cable wiring diagrams

1) When cable length is 10 m or less

10 m or less

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H

CNP3A/CNP3B/ CNP3C (Note)

Note. CNP3 is for the MR-J4 3-axis servo amplifier.

U V

W

(Red) (White) (Black)

(Green/yellow)

2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

50 m or less 2 m or less

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

(Green/yellow)

CNP3A/CNP3B/ CNP3C (Note 1)

Extension cable

U V

W

Servo motorServo amplifier

U V

W

(Red) (White) (Black)

M

Servo motorServo amplifier

U V

W

M

(Note 2) a) Junction connector for

extension cable

Note 1. CNP3 is for the MR-J4 3-axis servo amplifier.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Junction connector

a) Junction connector for

extension cable

b)

Junction connector for motor power supply cable

Connector: RM15WTPZ-4P(71) Cord clamp: JR13WCC-5(72) (Hirose Electric) Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) (Hirose Electric)

Description IP rating

Numeral changes depending on the cable OD.

(Note 2) b) Junction connector for

motor power supply cable

IP65

4 - 5

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(b) Electromagnetic brake cable wiring diagrams

1) When cable length is 10 m or less

10 m or less

MR-BKS1CBL_M-A1-L

(Note 4)

24 V DC power supply

for electromagnetic

brake

(Note 3)

CALM

(AND

malfunction)

MBR-A

(Electromagnetic

brake interlock

for A-axis)

MBR-B

(Electromagnetic

brake interlock

for B-axis)

MBR-C

(Electromagnetic

brake interlock

for C-axis)

(Note 1)

MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

AWG20

U

AWG20

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

AWG20

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

AWG20

Servo motor

(Note 2)

B1

B

B2

Servo motor

(Note 2)

B1

B

B2

Servo motor

(Note 2)

B1

B

B2

(Note 5)

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. Do not use the 24 V DC interface power supply for the electromagnetic brake.

5. This connection is for the MR-J4 3-axis servo amplifier.

When fabricating the electromagnetic brake cable MR-BKS1CBL-_M-_, refer to section 5.5 and

5.6.

4 - 6

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

2) When cable length exceeds 10 m Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

2 m or less50 m or less

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H

(Note 5)

24 V DC power supply

for electromagnetic

brake

(Note 3)

CALM

(AND

malfunction)

MBR-A

(Electromagnetic

brake interlock

for A-axis)

(Note 1)

U

MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

AWG20

Servo motor

(Note 4)

B1

B

B2

(Note 2) a) Junction connector for

extension cable

MBR-B

(Electromagnetic

brake interlock

for B-axis)

(Note 1)

(Note 2) a) Junction connector for

extension cable

MBR-C

(Electromagnetic

brake interlock

for C-axis)

(Note 1)

(Note 2) a) Junction connector for

extension cable

(Note 2) b) Junction connector for

electromagnetic brake cable

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

U

(Note 2) b) Junction connector for

electromagnetic brake cable

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

U

(Note 2) b) Junction connector for

electromagnetic brake cable

AWG20

Servo motor

(Note 4)

B1

B

B2

Servo motor

(Note 4)

B1

B

B2

(Note 6)

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Junction connector Description IP rating

a)

Junction connector for extension cable

b)

Junction connector for electromagnetic brake cable

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. There is no polarity in electromagnetic brake terminals (B1 and B2).

5. Do not use the 24 V DC interface power supply for the electromagnetic brake.

6. This connection is for the MR-J4 3-axis servo amplifier.

CM10-CR2P- (DDK)

Wire size: S, M, L

CMV1-SP2S- (DDK)

Wire size: S, M1, M2, L

IP65

4 - 7

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor

Refer to section 4.3 for the wires used for wiring.

(1) Wiring diagrams

(a) Connection with MR-J4 1-axis servo amplifier

50 m or less

Servo amplifier

Servo motor

(Note 4) Power supply cooling fan

U V

W

U V

M

W

MCCB

BU

(Note 2)

24 V DC power supply

for electromagnetic

brake

Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2).

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. Refer to the chapter of the servo motor series for the cooling fan power supply.

MBR

(Electromagnetic

brake interlock)

RA2

ALM

(Malfunction)

RA1

(Note 3)

RA3

Cooling fan

B1

U

B2

BV

BW

(Note 1)

B

4 - 8

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(b) Connection with MR-J4 multi-axis servo amplifier

Servo amplifier

CNP3A

U V

W

(Note 2)

24 V DC power supply

for electromagnetic

brake

50 m or less

(Note 3)

CALM

(AND

malfunction)

RA1

MBR-A

(Electromagnetic

brake interlock

for A-axis)

RA2

MBR-B

(Electromagnetic

brake interlock

for B-axis)

RA3

U

A-axis servo motor

U

M

V

W

(Note 1)

B1

B

B2

B-axis servo motor

(Note 1)

B1

B

B2

CNP3B

W

U V

U

M

V

W

MBR-C

(Electromagnetic

brake interlock

for C-axis)

RA4

C-axis servo motor

(Note 1) B1 B2

B

U

CNP3C

U V

W

U

M

V

W

Note 1. There is no polarity in electromagnetic brake terminals (B1 and B2).

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4 - 9

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(2) Servo motor terminal section

The following table shows the servo motor terminal section. For details of the connectors, refer to (3) of this section. For details of the terminal box, refer to (4) of this section. The connector fitting the servo motor is prepared as options. Refer to chapter 5 for details of the options. For types other than those prepared as options, refer to chapter 3.

(a) HG-SR series

(b) HG-JR series

Servo motor

HG-JR53(4)

HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4)

HG-JR3534

HG-JR5034

HG-JR353

HG-JR503 HG-JR703(4) HG-JR903(4)

HG-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)

Servo motor

HG-SR52(4) HG-SR102(4) HG-SR152(4)

HG-SR51 HG-SR81

HG-SR202(4) HG-SR352(4) HG-SR502(4)

HG-SR121 HG-SR201 HG-SR301

HG-SR702(4)

HG-SR421

Encoder Power

Connector A

Connector B Connector J

Connector L Terminal box Connector K

Encoder Power

Connector A

Servo motor terminal section

Connector C

Connector D

Connector E

Servo motor terminal section

Connector C

Connector D

Connector E

Electromagnetic

brake

Connector H

Electromagnetic

brake

Connector H

Cooling fan

4 - 10

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(c) HG-RR series

Servo motor

HG-RR103 HG-RR153 HG-RR203 HG-RR353 HG-RR503

Encoder Power

Connector A

(d) HG-UR series

Servo motor

HG-UR72 HG-UR152 HG-UR202 HG-UR352 HG-UR502

Encoder Power

Connector A

(3) Details of servo motor-side connectors

The followings show the encoder connector, power connector, electromagnetic brake connector, and cooling fan connector viewed from the connection side.

Connector A

Connector B

Servo motor terminal section

Connector F

Connector G

Servo motor terminal section

Connector F

Connector G Connector J

Connector C

Electromagnetic

The connector for

power is shared

Electromagnetic

The connector for

power is shared

brake

Encoder connector

CMV1-R10P

Terminal

7

10

9

8

3

6

2

5

1

4

L M N SHD P R LG S P5 T

No.

1 MR A A U 2 MRR B B V 3 C MR C W 4 BAT D MRR 5 LG E (PE) 6 F BAT 7 G LG 8 P5 H 9 J

10 SHD K

Signal

K

Encoder connector

MS3102A20-29P

A

N

T P

S R

G

B

C

D

E

M

L

J

HF

Pin Signal

Power supply connector

MS3102A18-10P

Terminal

No.

CD

AB

D

Signal

4 - 11

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

Connector D

Connector E

Connector F

Power supply connector

MS3102A22-22P

Terminal

No.

CD

AB

A U A U A U B V B V B V

C W C W C W

D

E

F

G

Connector G

Power supply connector

MS3102A32-17P

Signal

CD

(PE) (PE) (PE)

AB

Terminal

No.

D

Signal

Connector H

Power supply connector

CE05-2A22-23P

G

F

E

A

H

B

C

D

Connector J

Terminal

No.

D

H

Note. For the motor

Signal

B1

(Note)

B2

(Note)

with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.

Power supply connector

CE05-2A24-10P

A

F

B

G

E

D

C

Terminal

No.

A U B V

C W

D

E

F

G

Note. For the motor

Signal

(PE)

B1

(Note)

B2

(Note)

with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.

Electromagnetic brake connector

CMV1-R2P

Terminal

No.

12

1

2

Note. For the motor

Signal

B1

(Note)

B2

(Note)

with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.

Electromagnetic brake connector

MS3102A10SL-4P

Terminal

No.

A

B

Note. For the motor

Signal

(Note)

with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.

B1

B2

4 - 12

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

Connector K

Connector L

Cooling fan connector

CE05-2A14S-2P

Terminal

No.

CD

A

AB

B

C

D G LG

Note. Refer to the

chapter of the servo motor series for the specifications of the power supplied to the cooling fan.

Signal

BU

(Note)

BV

(Note)

BW

(Note)

S P5 T

K

Encoder connector

MS3102A20-29P

A

N

T P

S R

G

B

C

D

E

M

L

J

HF

Pin Signal

A B C MR D MRR E F BAT

H

J K THM1 L THM2 M N SHD P R LG

(4) Terminal box inside

HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4)

POINT

The terminal box of the HG-JR22K1M(4) servo motor has been changed since September 2014. Refer to appendix 9 for the terminal box detail diagram before change.

Power supply terminal block: M10 screw (3)

Power lead hole (Note)

Keep plate: M5 screw (4)

Note. Provide measures to prevent oil, water, dust and dirt from entering the servo motor through the power lead hole.

Keep plate

Terminal box lid: M4 screw (10)

Protective earth (PE) terminal: M10 screw (2)

4 - 13

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.2.3 HG-AK series servo motor

(1) Connection with MR-J4-03A6(-RJ) servo amplifier

(a) Motor power cable wiring diagram (without electromagnetic brake)

30 m or less 0.2 m

Servo motorServo amplifier

U

MR-J4W03PWCBL_M-H

V

W

E

CNP1

(b) Motor power cable wiring diagram (with electromagnetic brake)

30 m or less 0.2 m

MR-J4W03PWBRCBL_M-H

brake

(Note 4)

Fabricate it.

MBR

(Electromagnetic

brake interlock)

RA2

CNP1

U V

W

E

(Note 3)

24 V DC power

supply for

electromagnetic

ALM

(Malfunction)

RA1

(Note 1)

Power cable supplied with the servo motor

(Note 2)

(Note 3)

U

Power cable supplied with the servo motor

Servo motorServo amplifier

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. Do not use the 24 V DC interface power supply for the electromagnetic brake.

4. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4 - 14

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(2) Connection with MR-J4W2-0303B6 servo amplifier

(a) Motor power cable wiring diagram (without electromagnetic brake)

30 m or less 0.2 m

A-axis servo motorServo amplifier

U1

V1

MR-J4W03PWCBL_M-H

W1

E1

CNP1

U2

V2

W2

MR-J4W03PWCBL_M-H

E2

(b) Motor power cable wiring diagram (with electromagnetic brake)

30 m or less 0.2 m

CNP1

U1 V1

W1

E1

(Note 3)

24 V DC power

supply for

electromagnetic

MR-J4W03PWBRCBL_M-H

brake

CALM

(AND malfunction)

(Note 4)

MBR-A

(Electromagnetic brake

interlock for A-axis)

RA2

MBR-B

(Electromagnetic brake

interlock for B-axis)

RA4

(Note 1)

Power cable supplied with the servo motor

(Note 2)

(Note 3)

U

(Note 3)

U

B-axis servo motor

A-axis servo motorServo amplifier

Power cable supplied with the servo motor

B-axis servo motor

U2

Fabricate it.

(Note 2) V2 W2 E2

MR-J4W03PWBRCBL_M-H

Power cable supplied with the servo motor

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. Do not use the 24 V DC interface power supply for the electromagnetic brake.

4. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4 - 15

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.3 Selection example of wires

POINT

Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection condition of wire size is as follows.

Construction condition: Single wire set in midair Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

Servo amplifier

1) Servo motor power lead Servo motor

U V

W

2) Electromagnetic brake lead

Encoder cable

Power supply

3) Cooling fan lead

U

V

Motor

W

B1

Electromagnetic brake

B2

Encoder

Cooling fan

BU BV BW

4 - 16

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

When using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below.

(1) HG-MR series and HG-KR series

(2) HG-SR series

Servo motor

HG-MR053

HG-MR13 HG-MR23 HG-MR43 HG-MR73

HG-KR053

HG-KR13 HG-KR23 HG-KR43 HG-KR73

Note 1. It is for wire length of 10 m or less. When fabricating an extension cable, use 1.25 mm2

(AWG 16).

2. For the motor power connector wiring, use fluorine resin wire of 0.75 mm

Servo motor

HG-SR51

HG-SR81 HG-SR121 HG-SR201 HG-SR301 3.5 (AWG 12) HG-SR421 5.5 (AWG 10) (Note)

HG-SR52 HG-SR102 HG-SR152 HG-SR202 HG-SR352 3.5 (AWG 12) HG-SR502 5.5 (AWG 10) (Note) HG-SR702 8 (AWG 8) (Note) HG-SR524

HG-SR1024 HG-SR1524 HG-SR2024 HG-SR3524 HG-SR5024 3.5 (AWG 12) (Note) HG-SR7024 5.5 (AWG 10) (Note)

Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for

connection with the servo amplifier.

1) U/V/W/ 2) B1/B2

0.75 (AWG 18) (Note 1, 2) 0.5 (AWG 20) (Note 1)

1) U/V/W/ 2) B1/B2

1.25 (AWG 16)

2 (AWG 14)

1.25 (AWG 16)

2 (AWG 14)

1.25 (AWG 16)

2 (AWG 14)

Wires [mm

2

]

2

]

1.25 (AWG 16)

2

(AWG 18).

4 - 17

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

2

(3) HG-JR series

(a) 3000 r/min series

(b) 1500 r/min series

Wires [mm

Servo motor

Standard

HG-JR53

HG-JR73 HG-JR103 HG-JR153 HG-JR203

HG-JR353 3.5 (AWG 12)

HG-JR503

HG-JR703 8 (AWG 8) (Note 1) HG-JR903 14 (AWG 6) (Note 1) HG-JR534 HG-JR734

HG-JR1034 HG-JR1534 HG-JR2034 2 (AWG 14) HG-JR3534 2 (AWG 14) (Note 1)

HG-JR5034

HG-JR7034

HG-JR9034 8 (AWG 8) (Note 1)

Note 1. Refer to each servo amplifier instruction manual for crimp terminals and crimping

tools used for connection with the servo amplifier.

2. The maximum torque can be increased to 400% by changing the servo amplifier. Refer to section 8.2 for the combinations.

Servo motor

HG-JR701M 8 (AWG 8) (Note) HG-JR11K1M 14 (AWG 6) (Note) 1.25 (AWG 16) HG-JR15K1M 22 (AWG 4) (Note) HG-JR22K1M 38 (AWG 2) (Note) HG-JR30K1M HG-JR37K1M

HG-JR701M4

HG-JR11K1M4 HG-JR15K1M4 HG-JR22K1M4 14 (AWG 6) (Note) HG-JR30K1M4 22 (AWG 4) (Note) HG-JR37K1M4 1.25 (AWG 16) HG-JR45K1M4 38 (AWG 2) (Note) HG-JR55K1M4

Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools

used for connection with the servo amplifier.

1.25 (AWG 16) 1.25 (AWG 16)

2 (AWG 14) 2 (AWG 14)

5.5 (AWG 10) (Note 1)

1.25 (AWG 16) 1.25 (AWG 16)

3.5 (AWG 12) (Note 1)

5.5 (AWG 10) (Note 1)

1) U/V/W/ 2) B1/B2 3) BU/BV/BW

60 (AWG 2/0)

3.5 (AWG 12)

8 (AWG 8) (Note)

1) U/V/W/ When the

maximum torque is

400% (Note 2)

3.5 (AWG 12) (Note 1)

5.5 (AWG 10) (Note 1)

2 (AWG 14)

3.5 (AWG 12) (Note 1)

Wires [mm

(Note)

1.25 (AWG 16)

]

2) B1/B2

1.25 (AWG 16)

4 - 18

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(c) 1000 r/min series

(4) HG-RR series

(5) HG-UR series

(6) HG-AK series

Servo motor

HG-JR601 8 (AWG 8) (Note)

HG-JR801 HG-JR12K1 HG-JR15K1 22 (AWG 4) (Note) HG-JR20K1 HG-JR25K1 1.25 (AWG 16) HG-JR30K1 HG-JR37K1

HG-JR6014

HG-JR8014

HG-JR12K14 HG-JR15K14 HG-JR20K14 HG-JR25K14 14 (AWG 6) (Note) 1.25 (AWG 16) HG-JR30K14 HG-JR37K14 22 (AWG 4) (Note)

Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools

used for connection with the servo amplifier.

Servo motor

HG-RR103 HG-RR153 HG-RR203 3.5 (AWG 12) 1.25 (AWG 16) HG-RR353 HG-RR503

Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for

connection with the servo amplifier.

Servo motor

HG-UR72 1.25 (AWG 16) HG-UR152 2 (AWG 14) HG-UR202 3.5 (AWG 12) 1.25 (AWG 16) HG-UR352 HG-UR502

Note. Refer to each servo amplifier instruction manual for crimp terminals and crimping tools used for

connection with the servo amplifier.

Servo motor

HG-AK0136 HG-AK0236 0.75 (AWG 19) (Note 1, 2) 0.75 (AWG 19) (Note 3, 4) HG-AK0336

Note 1. For the servo motor power connector wiring, use fluorine resin wire of 0.75 mm2 (AWG 19).

2. It is for wire length of 5 m or less. For over 5 m, the short-duration running range in the torque characteristics may be lower because of voltage drop.

3. For the electromagnetic connector wiring, use fluorine resin wire of 0.75 mm

4. It is for wire length of 5 m or less. For over 5 m, use HIV wires of 3.5 mm extend the wiring.

14 (AWG 6) (Note)

38 (AWG 2) (Note)

8 (AWG 8) (Note)

1) U/V/W/ 2) B1/B2 3) BU/BV/BW

60 (AWG 2/0)

(Note)

3.5 (AWG 12) (Note)

5.5 (AWG 10) (Note)

1) U/V/W/ 2) B1/B2

2 (AWG 14)

5.5 (AWG 10) (Note)

1) U/V/W/ 2) B1/B2

5.5 (AWG 10) (Note)

U/V/W/ 2) B1/B2

Wires [mm

1.25 (AWG 16)

Wires [mm

Wire [mm

2

]

2

]

2

]

2

]

2

(AWG 19).

2

(AWG12) to

4 - 19

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.4 Servo amplifier terminal section

POINT

For the sizes of wires used for wiring, refer to section 4.3. The drive unit do not have these connectors.

To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors. The following table shows the connectors to be connected to the servo amplifiers. The numbers in the rated output field of the table indicate the symbol filling the underline "_" in the servo amplifier model. For details of the connectors, refer to (1) of this section. For wiring, refer to (2) of this section.

Servo amplifier

MR-J4-_A MR-J4-_A-RJ MR-J4-_B MR-J4-_B-RJ MR-J4-_B-RJ010 MR-J4-_B-RJ020

Rated output

10 20 40 60 70 100 200 350 500 700 11K 15K 22K

Note. For details on the terminal block, refer to each servo amplifier instruction manual.

Servo amplifier

MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ MR-J4-_B4-RJ010 MR-J4-_B4-RJ020

Rated output

60 100 200 350 500 700 11K 15K 22K

Connector D None (terminal block) (Note)

Note. For details on the terminal block, refer to each servo amplifier instruction manual.

Servo amplifier

MR-J4-_A1 MR-J4-_A1-RJ MR-J4-_B1 MR-J4-_B1-RJ MR-J4-_B1-RJ020

Rated output

10 20 40

Connector A

Servo amplifier

MR-J4W2-_B Connector C MR-J4W3-_B Connector C

Rated output (Note)

22 (222) 44 (444) 77 1010

Note. The numbers in parentheses are for the MR-J4 3-axis servo amplifier.

Servo amplifier Connector MR-J4-03A6(-RJ) Connector E MR-J4W2-0303B6 Connector F

Connector A Connector B None (terminal block) (Note)

4 - 20

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(1) Connector details

(a) Connector A

Servo amplifier

CNP3

Table 4.1 Connector and applicable wire

Connector Receptacle assembly

CNP3 03JFAT-SAXGDK-H7.5 AWG 18 to 14 3.9 mm or less 9 J-FAT-OT JST

Applicable wire

Wire size Insulator OD

(b) Connector B

MR-J4-200_(-RJ_)

Servo amplifier

Stripped

length [mm]

Open tool Manufacturer

MR-J4-350_(-RJ_)

Servo amplifier

CNP3

Table 4.2 Connector and applicable wire

Connector Receptacle assembly

CNP3 03JFAT-SAXGFK-XL AWG 16 to 10 4.7 mm or less 11.5 J-FAT-OT-EXL JST

Applicable wire

Wire size Insulator OD

Stripped

length [mm]

Open tool Manufacturer

4 - 21

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

r

(c) Connector C

MR-J4W_

Servo amplifier

CNP3A

CNP3B

CNP3C (Note)

Note. This figure shows the MR-J4 3-axis servo amplifier.

Table 4.3 Connector and applicable wire

(d) Connector D

Connector Receptacle assembly Applicable wire size

CNP3A CNP3B CNP3C

04JFAT-SAGG-G-KK AWG 18 to 14 9 J-FAT-OT-EXL JST

Servo amplifie

Stripped

length [mm]

Open tool Manufacturer

CNP3

Table 4.4 Connector and applicable wire

Connector Receptacle assembly

CNP3 03JFAT-SAXGDK-HT10.5 AWG 16 to 14 3.9 mm or less 10 J-FAT-OT-XL JST

Applicable wire size

Wire size Insulator OD

Stripped

length [mm]

Open tool Manufacturer

4 - 22

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(e) Connector E

MR-J4-03A6(-RJ)

servo amplifier

CNP1

Table 4.5 Connector and applicable wire

Stripped

length [mm]

(f) Connector F

Connector Receptacle assembly Applicable wire size

CNP1

DFMC 1,5/ 4-ST-3,5-LR

or equivalent

MR-J4W2-0303B6

servo amplifier

AWG 24 to 16 10 Phoenix Contact

Manufacturer

CNP1

Table 4.6 Connector and applicable wire

Connector Receptacle assembly Applicable wire size

CNP1

DFMC 1,5/ 6-ST-3,5-LR

or equivalent

AWG 24 to 16 10 Phoenix Contact

Stripped

length [mm]

Manufacturer

4 - 23

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

r

(2) Cable connection procedure

(a) Cable making

Refer to table 4.1 to 4.4 for stripped length of cable insulator. The appropriate stripped length of cables depends on their type, etc. Set the length considering their status.

Insulato

Stripped length

Twist strands slightly and straighten them as follows.

Core

(b) Inserting wire

1) For connectors requiring an open tool (connector A to connector D) Insert the open tool as follows and push down it to open the spring. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable insulator does not get caught by the spring. Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. The following shows a connection example of the 03JFAT-SAXGFK-XL.

Loose and bent strands Twist and straighten

1) Push down the open tool.

the strands.

3) Release the open tool to fix the wire.

2) Insert the wire.

4 - 24

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

2) For connectors not requiring an open tool (connector E and connector F) When using solid wire, insert the wire to the end. When using stranded wire, insert the wire to the end while pushing the release button with a small flat head screwdriver, etc. The following shows a connection example of connecting stranded wire to the CNP1 connector.

Release button

Stranded wire

4 - 25

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

MEMO

4 - 26

5. WIRING OPTION

Before connecting any option, 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

WARNING

CAUTION

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).

Use specified options. Otherwise, it may cause a malfunction or fire. MR-J3SCNS(A) and MR-ENCNS2(A) connector sets are packed with a plug and contacts. Using contacts for other plugs may damage the connector. Be sure to use the enclosed contacts.

POINT

We recommend using HIV wires to wire the servo motors, options, and peripheral equipment. Therefore, recommended wire sizes may different from those of the used wires for the previous servo motors. When you use a drive unit, "servo amplifier" explained above will be "drive unit".

5.1 Cable/connector sets

POINT

The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo motor. If the IP rating of the cable, connector and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

Please purchase the cable and connector options indicated in this section for the servo motor.

5 - 1

5. WIRING OPTION

5.1.1 Combinations of cable/connector sets

(1) HG-MR series/HG-KR series servo motor

MR-J4 1-axis

servo amplifier

Direct connection (cable length 10 m or less, IP65)

13) 14) 15) 16)

CNP3

(Note 1)

MR-J4 multi-axis

CNP3A CNP3B

CNP3C

(Note 3)

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. This connection is for the MR-J4 3-axis servo amplifier.

3. Refer to Appendix 7 for the crimp connector for CNP3_.

(Note 2)

CN2

CN4

or

servo amplifier

42)

MR-BAT6V1BJ

CN2A CN2B

CN2C

(Note 2)

To 24 V DC power supply for electromagnetic brake

Junction connection (cable length more than 10 m, IP65)

24) 25)

26)

Junction connection (cable length more than 10 m, IP20)

19) 20)

21)

7) 8) 9) 10)

5) 6)

1) 2) 3) 4)

Power supply connector

22) 23)

17) 18)

11) 12)

Electromagnetic brake connector

(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

MR-J4 1-axis

servo amplifier

Encoder connector

CNP3

(Note 1)

MR-J4 multi-axis

CNP3A CNP3B

CNP3C (Note 2)(Note 3)

Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. This connection is for the MR-J4 3-axis servo amplifier.

3. Refer to Appendix 7 for the crimp connector for CNP3_.

CN2

CN4

or

servo amplifier

42)

MR-BAT6V1BJ

CN2A CN2B

CN2C

(Note 2)

5 - 2

24) 25) 40)

30) 31) 32) 33) 39)

27) 28) 29) 37) 38)

Power supply connector

26) 34) 35) 36) 41)

Electromagnetic brake connector

Encoder connector

5. WIRING OPTION

(3) HG-JR22K1M(4) to HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/HG-JR15K1(4) to HG-JR37K1(4)

servo motor

Servo amplifier

41)

CN4

Note. MR-ENECBL_M-H cannot be used.

(4) HG-AK series servo motor

MR-J4-03A6(-RJ)

servo amplifier

CNP1

MR-J4W2-0303B6

servo amplifier

CN2

or

42)

MR-BAT6V1BJ

CN2

40) (Note)

45) 46)

44)

47)

48)

43)

Cooling fan connector

Terminal box

Encoder connector

CNP1

CN2A CN2B

49) 50)

Power connector

Encoder connector

HG-AK servo motor

5 - 3

5. WIRING OPTION

r

5.1.2 Cable and connector list

No. Name Model Description Remark

IP65 Load-side

lead

IP65 Load-side

lead Long

bending life

IP65 Opposite to

load-side lead

IP65 Opposite to

load-side lead

Long bending life

IP55 Load-side

lead

IP55 Opposite to

load-side lead

IP65 Load-side

lead

IP65 Load-side

lead Long

bending life

IP65 Opposite to

load-side lead

IP65 Opposite to

load-side lead

Long bending life

IP55 Load-side

lead

1) Servo motor power cable

2) Servo motor power cable

3) Servo motor power cable

4) Servo motor power cable

5) Servo motor power cable

6) Servo motor power cable

7) Electromagnetic brake cable

8) Electromagnetic brake cable

9) Electromagnetic brake cable

10) Electromagnetic brake cable

11) Electromagnetic brake cable

MRPWS1CBL_MA1-L (Note 1, 2)

Cable length:

2/5/10 m

MRPWS1CBL_MA1-H (Note 1)

Cable length:

2/5/10 m

MRPWS1CBL_MA2-L (Note 1, 2)

Cable length:

2/5/10 m

MRPWS1CBL_MA2-H (Note 1)

Cable length:

2/5/10 m

MRPWS2CBL03M

-A1-L (Note 1) Cable length:

0.3 m

MRPWS2CBL03M

-A2-L (Note 1) Cable length:

0.3 m

MRBKS1CBL_MA1-L

Cable length:

2/5/10 m

MRBKS1CBL_MA1-H

Cable length:

2/5/10 m

MRBKS1CBL_MA2-L

Cable length:

2/5/10 m

MRBKS1CBL_MA2-H

Cable length:

2/5/10 m

MRBKS2CBL03MA1-L

Cable length:

0.3 m

Refer to section 5.3 for details.

Refer to section 5.5 for details.

Power supply connector

HG-MR series HG-KR series

Power supply connector

HG-MR series HG-KR series

Power supply connector

HG-MR series HG-KR series

Power supply connector

HG-MR series HG-KR series

Electromagnetic brake connector

HG-MR series HG-KR series

Electromagnetic brake connector

HG-MR series HG-KR series

Electromagnetic brake connecto

HG-MR series HG-KR series

5 - 4

5. WIRING OPTION

r

No. Name Model Description Remark

12) Electromagnetic brake cable

13) Encoder cable MR-

14) Encoder cable MR-

15) Encoder cable MR-

16) Encoder cable MR-

17) Encoder cable MR-

18) Encoder cable MR-

19) Encoder cable MR-EKCBL_M-

20) Encoder cable MR-EKCBL_M-

21) Encoder connector set

22) Encoder cable MR-

MRBKS2CBL03MA2-L

Cable length:

0.3 m

J3ENCBL_MA1-L (Note 1)

Cable length:

2/5/10 m

J3ENCBL_MA1-H (Note 1)

Cable length:

2/5/10 m

J3ENCBL_MA2-L (Note 1)

Cable length:

2/5/10 m

J3ENCBL_MA2-H (Note 1)

Cable length:

2/5/10 m

J3JCBL03MA1-L (Note 1)

Cable length:

0.3 m

J3JCBL03MA2-L (Note 1)

Cable length:

0.3 m

L Cable length:

20/30 m

H Cable length: 20/30/40/50 m MR-ECNM

J3JSCBL03MA1-L (Note 1)

Cable length:

0.3 m

Electromagnetic brake connector

Refer to section 5.5 for details.

Refer to section 5.2 (1) for details.

HG-MR series HG-KR series

Encoder connecto

HG-MR series HG-KR series

Encoder connector

HG-MR series HG-KR series

Encoder connector

HG-MR series HG-KR series

Refer to section 5.2 (3) for details.

Encoder connector

HG-MR series HG-KR series

Refer to section 5.2 (3) for details.

HG-MR/HG-KR series Refer to section 5.2 (2) for details. IP20

HG-MR/HG-KR series Refer to section 5.2 (2) for details.

Encoder connector

HG-MR series HG-KR series

IP55 Opposite

to loadside lead

IP65 Load-side lead

IP65 Load-side

lead Long

bending life

IP65 Opposite

to loadside lead

IP65 Opposite

to loadside lead

Long bending life

IP20 Load-side

lead

IP20 Opposite to

load-side lead

IP20

Long bending life

IP20

IP65 Load-side

lead

Refer to section 5.2 (4) for details.

5 - 5

5. WIRING OPTION

No. Name Model Description Remark

23) Encoder cable MR-

J3JSCBL03MA2-L (Note 1)

Cable length:

0.3 m

Refer to section 5.2 (4) for details.

24) Encoder cable MR-

J3ENSCBL_ML (Note 1)

Cable length: 2/5/10/20/30 m

25) Encoder cable MR-

J3ENSCBL_MH (Note 1)

Cable length: 2/5/10/20/30/40

/50 m

26) Encoder connector set

HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/

27) Power connector set

28) Power connector set

29) Power connector set

MR-J3SCNS (Note 1)

MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS

MR-PWCNS5 Plug: CE05-6A22-22SD-D-BSS

MR-PWCNS3 Plug: CE05-6A32-17SD-D-BSS

HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/ HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.

HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.

Cable clamp: CE3057-10A-1-D (DDK) Applicable cable Applicable wire size: 2 mm

3.5 mm

Cable OD: 10.5 mm to 14.1 mm

Cable clamp: CE3057-12A-1-D (DDK) Applicable cable Applicable wire size: 5.5 mm

8 mm

Cable OD: 12.5 mm to 16 mm

Cable clamp: CE3057-20A-1-D (DDK) Applicable cable Applicable wire size: 14 mm

22 mm

Cable OD: 22 mm to 23.8 mm

Encoder connector

2

(AWG 14) to

2

(AWG 12)

2

(AWG 10) to

2

(AWG 8)

2

(AWG 6) to

2

(AWG 4)

HG-MR series HG-KR series

HG-SR51 HG-SR81 HG-SR52(4) HG-SR102(4) HG-SR152(4) HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR3534 HG-JR5034

HG-SR121 HG-SR201 HG-SR301 HG-SR202(4) HG-SR352(4) HG-SR502(4) HG-JR353 HG-JR503

HG-SR421 HG-SR702(4) HG-JR703(4) HG-JR903(4) HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4)

IP65 Load-side

lead

IP67 Standard

bending life

IP67 Long

bending life

IP67

IP67 EN

compliant

IP67 EN

compliant

IP67 EN

compliant

5 - 6

5. WIRING OPTION

No. Name Model Description Remark

30) Electromagnetic brake connector set

31) Electromagnetic brake connector set

32) Electromagnetic brake connector set

33) Electromagnetic brake connector set

34) Encoder Connector set

HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/

MR-BKCNS1 (Note 1)

MR-BKCNS1A (Note 1)

MR-BKCNS2 Straight plug: CMV1S-SP2S-L

MR-BKCNS2A Angle plug: CMV1S-AP2S-L

MR-ENCNS2

Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)

Angle plug: CMV1-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)

Socket contact: CMV1-#22BSC-S2-100 (DDK)

HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.

HG-SR series HG-JR53(4) HG-JR73(4) HG-JR103(4) HG-JR153(4) HG-JR203(4) HG-JR353(4) HG-JR503(4) HG-JR703(4) HG-JR903(4)

IP67

5 - 7

5. WIRING OPTION

No. Name Model Description Remark

35) Encoder Connector set

MR-J3SCNSA (Note 1)

IP67

HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/

HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.

36) Encoder Connector set

HG-KR/HG-MR/HG-SR/HG-RR/HG-UR series/

37) Power connector set

38) Power connector set

39) Electromagnetic brake connector set

40) Encoder cable MR-ENECBL_

41) Encoder connector set

42) Junction battery cable

MR-ENCNS2A

HG-JR53(4)/HG-JR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/ HG-JR353(4)/HG-JR503(4)/HG-JR703(4)/HG-JR903(4) Refer to section 5.2 (5) for details.

MR-PWCNS1 Plug: CE05-6A22-23SD-D-BSS

Cable clamp: CE3057-12A-2-D (DDK) Applicable cable Applicable wire size: 2 mm

Cable OD: 9.5 mm to 13 mm

MR-PWCNS2 Plug: CE05-6A24-10SD-D-BSS

Cable clamp: CE3057-16A-2-D (DDK) Applicable cable Applicable wire size: 5.5 mm

Cable OD: 13 mm to 15.5 mm

MR-BKCN Plug: D/MS3106A10SL-4S(D190) (DDK)

Cable clamp: YSO10-5-8 (Daiwa Dengyo) Applicable cable Applicable wire size: 0.3 mm

Cable OD: 5 mm to 8.3 mm

M-H-MTH

HG-JR701M(4)/HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/HG-JR15K1(4)/HG-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4)

Refer to section 5.2 (6) for details.

MR-ENECNS

HG-JR701M(4)/HG-JR11K1M(4)/HG-JR15K1M(4)/HG-JR22K1M(4)/ HG-JR30K1M(4)/HG-JR37K1M(4)/HG-JR45K1M4/HG-JR55K1M4/ HG-JR601(4)/HG-JR801(4)/HG-JR12K1(4)/HG-JR15K1(4)/HG-JR20K1(4)/ HG-JR25K1(4)/HG-JR30K1(4)/HG-JR37K1(4)

Refer to section 5.2 (6) for details.

MRBT6VCBL03M

Refer to section 5.2 (7) for details.

2

to 3.5 mm2

(AWG 14 to 12)

2

to 8 mm2

(AWG 10 to 8)

2

to 1.25 mm2

(AWG 22 to 16)

HG-RR103 HG-RR153 HG-RR203 HG-UR72 HG-UR152

HG-RR353 HG-RR503 HG-UR202 HG-UR352 HG-UR502

HG-UR202 HG-UR352 HG-UR502 HG-JR701M(4) HG-JR11K1M(4) HG-JR15K1M(4) HG-JR601(4) HG-JR801(4) HG-JR12K1(4)

IP67

IP65 EN

compliant

IP65 EN

compliant

IP67 Long

bending life

IP67

Only for MRBAT6V1BJ

5 - 8

5. WIRING OPTION

No. Name Model Description Remark

43) Cooling fan power connector set

44) Encoder cable MR-

45) Encoder connector set

46) MR-

47) Servo motor power cable

48) Servo motor power cable

49) Servo motor power connector set

50) MR-

Note 1. The cable and the connector set may contain different connectors but still usable.

2. For servo motor power cable, MR-PWS3CBL_M-A_-L using shielded cable is also available. For details, contact your local sales office.

MR-PWCNF Plug: CE05-6A14S-2SD-D (DDK)

Cable clamp: YSO14-9 to 11 (Daiwa Dengyo)

J3W03ENCBL _M-A-H Cable length: 1/2/5/10/20/30 m

MRJ3W03CN2-2P

J3W03CN2-20P MR-

J4W03PWCBL _M-H Cable length: 1/2/5/10/20/30 m

MRJ4W03PWBRC BL_M-H Cable length: 1/2/5/10/20/30 m

MRJ4W03CNP2-2P

J4W03CNP220P

Applicable cable Applicable wire size: 0.3 mm

Cable OD: 8.3 mm to 11.3 mm

Refer to section 5.2 (8) for details.

Refer to section 5.4 for details.

2

to 1.25 mm

(AWG 22 to 16)

2

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)

IP67 EN

compliant

Long bending life

Quantity: 2

Quantity: 20

Long bending life

Long bending life Servo motor with an electromagnetic brake

Quantity: 2

Quantity: 20

5 - 9

5. WIRING OPTION

5.2 Encoder cable/connector sets

POINT

For CN2, CN2A, CN2B, and CN2C side connectors, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.

Ground plate

Cable

Screw

5 - 10

5. WIRING OPTION

r

(1) MR-J3ENCBL_M-_-_

These cables are encoder cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-J3ENCBL_M-A1-L 2 5 10 IP65 Standard

MR-J3ENCBL_M-A1-H 2 5 10 IP65

MR-J3ENCBL_M-A2-L 2 5 10 IP65 Standard

MR-J3ENCBL_M-A2-H 2 5 10 IP65

(a) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

MR-J4 multi-axis

servo amplifier

CN2A CN2B

CN2C

Cable length

2 m 5 m 10 m

CN2

or

IP rating Bending life Application

Long

bending life

Long

bending life

MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H

1)

MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H

(Note)

1)

Load-side lead for HG-MR/HG-KR

Opposite to load-side lead for HGMR/HG-KR

or

2)

Servo moto HG-MR HG-KR

Note. This connection is for the MR-J4 3-axis servo amplifier.

Cable model 1) CN2, CN2A, CN2B, and CN2C side connector 2) Encoder-side connector

MR-J3ENCBL_M-A1-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M or equivalent)

MR-J3ENCBL_M-A1-H

MR-J3ENCBL_M-A2-L

MR-J3ENCBL_M-A2-H

2

LG 8

1

P5

View seen from wiring side. (Note)

Note. Keep open the pins shown with . Especially, pin 10 is provided

6

4

MRR

5

3

MR

for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section

5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell.

10

9

BAT

7

Connector set: 54599-1019 (Molex)

4

2

MRR

LG

or

1P53

MR

View seen from wiring side. (Note)

8610

5

79

BAT

Connector: 2174053-1 Crimping tool for ground clip:

1596970-1 Crimping tool for receptacle

contact: 1596847-1 (TE Connectivity)

SHD

9 7 5MR 3P5 1

View seen from wiring side. (Note)

Note. Keep open the pins

shown with

8 6LG

MRR

4

BAT

2

.

5 - 11

5. WIRING OPTION

(b) Cable internal wiring diagram

CN2, CN2A, CN2B, and

CN2C side connector

Encoder-side

connector

P5 LG MR MRR34

Plate

SD

1 2

9

P5

3

LG

6 5 4 2 9

MR MRR BATBAT SHD

(2) MR-EKCBL_M-_

POINT

The following encoder cables are of four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H When using any of these encoder cables, select "four-wire type" referring each servo amplifier instruction manual. If the setting is incorrect, [AL. 16] occurs.

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-EKCBL_M-L 20

MR-EKCBL_M-H 20

Cable length

20 m 30 m 40 m 50 m

(Note)

IP20 Standard

30

(Note)

30

40

50

IP rating Bending life Application

For HG-MR/HG-KR Use in combination with MR-

J3JCBL03M-_-L.

IP20

Long

bending life

Note. Four-wire type cable

5 - 12

5. WIRING OPTION

(a) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

CN2

or

MR-J4 multi-axis

servo amplifier

CN2A CN2B CN2C

MR-EKCBL_M-L MR-EKCBL_M-H

1)

2)

(Note)

MR-J3JCBL03M-A2-L Cable length: 0.3 m

Note. This connection is for the MR-J4 3-axis servo amplifier.

Cable model 1) CN2, CN2A, CN2B, and CN2C side connector 2) Junction connector

MR-EKCBL_M-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M)

Connector set: 54599-1019 (Molex)

Housing: 1-172161-9 Connector pin: 170359-1 Crimping tool: 91529-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)

123

MR

456

MD

789

P5

View seen from wiring side.

MR-EKCBL_M-H

2

LG

15

P5

View seen from wiring side. (Note)

6

4

MRR

37

MR

8

MDR

MD

10

BAT

9

428610

LG

MRR

MDR

or

13 79

P5 MR

5

MD

View seen from wiring side. (Note)

BAT

Note. Keep open the pins shown with . Especially, pin 10 is provided

for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section

5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Servo motor HG-MR HG-KR

MRR BAT

CONT

MDR

LG SHD

5 - 13

5. WIRING OPTION

(b) Internal wiring diagram

MR-EKCBL20M-L

CN2, CN2A, CN2B, and

CN2C side connector

Junction

connector

MR-EKCBL30M-L

CN2, CN2A, CN2B, and

CN2C side connector

Junction

connector

P5 LG

MR MRR34

SD

CN2, CN2A, CN2B, and

CN2C side connector

P5 LG

1 2

9

Plate

MR-EKCBL20M-H

1 2

(Note)

7 8

1 2 3 9

Junction

connector

7 8

P5 LG

MR MRR BATBAT SHD

P5 LG

1 2

MR MRR34 MD MDR 8 5

SD

CN2, CN2A, CN2B, and

CN2C side connector

P5 LG

7

9

Plate

MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H

1 2

(Note)

7 8

1 2 4

3 6 CONT 9

Junction

connector

7 8

P5 LG

MR MRR MD MDR BATBAT

SHD

P5 LG

1

MR

2

MRR

4

MD MDR

3

BATBAT

6

CONT SHD

9

MR MRR34

Plate

SD

1

MR

2

MRR BATBAT

9

(Note)

3

SHD

9

MR MRR34 MD MDR

Plate

SD

7 85 9

(Note)

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary

for use in an incremental system.

When fabricating the cable, use the wiring diagram corresponding to the length indicated below.

Cable bending life

Standard MR-EKCBL20M-L MR-EKCBL30M-L Long bending life MR-EKCBL20M-H MR-EKCBL30M-H

Less than 30 m 30 m to 50 m

Applicable wiring diagram

MR-EKCBL40M-H MR-EKCBL50M-H

5 - 14

5. WIRING OPTION

(c) When fabricating the encoder cable

When fabricating the cable, prepare the following parts, and fabricate it according to the wiring

(3) MR-J3JCBL03M-_-L

diagram in (b). Refer to section 5.6 for the specifications of the cable to use.

Parts Description

Connector set MR-ECNM

CN2, CN2A, CN2B, and CN2C side connector

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

or Connector set: 54599-1019 (Molex)

Encoder-side connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-EKCBL_M-_) is required.

Cable model Cable length IP rating Bending life Application

Load-side lead for HG-MR/HG-KR

MR-J3JCBL03M-A1-L

0.3 m IP20 Standard

MR-J3JCBL03M-A2-L

Use in combination with MREKCBL_M-_.

Opposite to load-side lead for HGMR/HG-KR

Use in combination with MREKCBL_M-_.

5 - 15

5. WIRING OPTION

(a) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

CN2

or

MR-J4 multi-axis

servo amplifier

MR-EKCBL_M-_

MR-J3JCBL03M-A1-L

1)

or

2)

Servo motor HG-MR HG-KR

CN2A CN2B CN2C

Note. This connection is for the MR-J4 3-axis servo amplifier.

(Note)

MR-J3JCBL03M-A2-L

1)

Cable model 1) Junction connector 2) Encoder-side connector

MR-J3JCBL03M-A1-L Housing: 1-172169-9

Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity)

MR-J3JCBL03M-A2-L

CONT

View seen from wiring side.

MRRBAT

MDR

LGSHD

MR

MD

P5

123

456

789

Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)

SHD

9

MDR

7 5MR 3P5

CONT

1

View seen from wiring side.

MD

8 6LG

MRR

4

BAT

2

2)

Servo motor HG-MR HG-KR

(b) Internal wiring diagram

Junction

connector

P5 LG MR MRR12 MD 4 8 MD MDR 5 7 MDR BAT 3 2 BAT

SHD

7 8

6

9

Encoder-side

connector

3 6 5 4

1

9

P5 LG MR MRR

CONTCONT

SHD

5 - 16

5. WIRING OPTION

)

(4) MR-J3JSCBL03M-_-L

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required.

(a) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

CN2

or

MR-J4 multi-axis

servo amplifier

Cable model Cable length IP rating Bending life Application

For HG-KR/HG-MR

MR-J3JSCBL03M-A1-L

0.3 m IP65 Standard

MR-J3JSCBL03M-A2-L

(Note 2) MR-J3ENSCBL_M-_

Load-side lead Use in combination with MR-

J3ENSCBL_M-_. For HG-KR/HG-MR Opposite to load-side lead Use in combination with MR-

J3ENSCBL_M-_.

MR-J3JSCBL03M-A1-L

1)

or

2)

Servo motor HG-MR HG-KR

CN2A CN2B CN2C

Note 1. This connection is for the MR-J4 3-axis servo amplifier.

2. For details of this cable, refer to (5) in this section.

(Note 1)

MR-J3JSCBL03M-A2-L

1)

Cable model 1) Junction connector 2) Encoder-side connector

MR-J3JSCBL03M-A1-L Receptacle: CM10-CR10P-M

(DDK) Applicable wire size: AWG 20 or less

2

3

MRR

MR-J3JSCBL03M-A2-L

View seen from wiring side. (Note)

Note. Keep open the pins shown with . Note. Keep open the pins shown with .

10

SHD

98

1

MR

5LG476

BAT

P5

Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)

SHD

9 7 5MR 3P5 1

View seen from wiring side. (Note

8 6LG

MRR

4

BAT

2

2)

Servo motor HG-MR HG-KR

5 - 17

5. WIRING OPTION

R

(b) Internal wiring diagram

Junction

connector

Encoder-side

connector

P5 LG MR MRR

BAT BAT

SHD

8 5 1 2 68 77 42 3

10

P5

3

LG

6

MR

5

MR

4

1

9

SHD

(5) MR-J3ENSCBL_M-_

These cables are encoder cables for the HG-MR/HG-KR/HG-SR/HG-RR/HG-UR series/HGJR53(4)/HGJR73(4)/HG-JR103(4)/HG-JR153(4)/HG-JR203(4)/HG-JR353(4)/HG-JR503(4)/HGJR703(4) and HG-JR903(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-J3ENSCBL_M-L 2 5 10 20 30 IP67 Standard For HG-MR/HG-KR/HG-SR/

MR-J3ENSCBL_M-H 2 5 10 20 30 40 50 IP67

Cable length

2 m 5 m 10 m 20 m 30 m 40 m 50 m

IP rating Bending life Application

HG-RR/HG-UR series/ HG-JR53(4)/HGJR73(4)/

Long

bending life

HG-JR103(4)/HG-JR153(4)/ HG-JR203(4)/HG-JR353(4)/ HG-JR503(4)/HG-JR703(4) and HG-JR903(4)

(a) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

CN2

MR-J3ENSCBL_M-L MR-J3ENSCBL_M-H

or

MR-J4 multi-axis

servo amplifier

CN2A

CN2B

CN2C

Note. This connection is for the MR-J4 3-axis servo amplifier.

1)

(Note)

2)

Servo motor HG-SR HG-RR HG-UR HG-JR53(4) to HG-JR903(4)

5 - 18

5. WIRING OPTION

V

)

Cable model

MR-J3ENSCBL_M-L Receptacle: 36210-0100PL

1) CN2, CN2A, CN2B, and CN2C side connector

Shell kit: 36310-3200-008 (3M)

2

LG

MRR

6

4

8

15

P5

37

MR

View seen from wiring side. (Note)

10

BAT

2) Encoder-side connector

Cable length

10 m or

shorter

9

20 m or

longer

Bending life

Long

bending life

Standard

Long

bending life

Standard CMV1-SP10S-M2

Straight plug Socket contact

CMV1-SP10S-M1

Plug (DDK)

CMV1-#22ASC-C1-100 Applicable wire size: AWG 24

to 20 Crimping tool:357J-53162T CMV1-#22ASC-C2-100 Applicable wire size: AWG 28

to 24 Crimping tool:357J-53163T

or

Connector set: 54599-1019

2

3

MRR

5LG476

(Molex)

10

98

SHD

MR-J3ENSCBL_MH

428610

MRR

LG

13 79

P5 MR

5

BAT

View seen from wiring side. (Note)

Note. Keep open the pins shown with .

iew seen from wiring side. (Note

Note. Keep open the pins shown

with

. Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell.

MR

1

BAT

P5

5 - 19

5. WIRING OPTION

R

(b) Cable internal wiring diagram

MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L

MR-J3ENSCBL10M-L

MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H

MR-J3ENSCBL10M-H

CN2, CN2A, CN2B, and

CN2C side connector

Encoder-side

connector

MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L

CN2, CN2A, CN2B, and

CN2C side connector

Encoder-side

connector

P5 LG MR MRR34

SD

CN2, CN2A, CN2B, and

CN2C side connector

P5 LG

1 2

9

Plate

MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H

1 2

(Note)

Encoder-side

connector

10

P5

8

LG

5

MR

1

MR

2

BATBAT

4

SHD

P5 LG

1 2

MR MRR

SD

3 4 9

Plate

(Note)

10

8

P5

5

LG

1

MR

2

MRR

4

BATBAT SHD

P5

8 5

LG

10

1

MR

2

MRR BATBAT

4

SHD

MR MRR34

Plate

SD

9

(Note)

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary

for use in an incremental system.

5 - 20

5. WIRING OPTION

(c) When fabricating the encoder cable

When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (b). Refer to section 5.5 for the specifications of the used cable.

Parts

(Connector set)

MR-J3SCNS (one-touch connection

type) (Note)

MR-ENCNS2 (screw type) (Note)

MR-J3SCNSA (one-touch connection

type) (Note)

MR-ENCNS2A (screw type) (Note)

Note. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

Connector set: 54599-1019 (Molex)

Description

Servo amplifier side connector Encoder-side connector (DDK)

Straight plug: CMV1-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

or

Straight plug: CMV1S-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

Angle plug: CMV1-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

Angle plug: CMV1S-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

5 - 21

5. WIRING OPTION

(6) MR-ENECBL_M-H-MTH

These cables are encoder cables for HG-JR701M(4), HG-JR11K1M(4), HG-JR15K1M(4), HGJR22K1M(4), HG-JR30K1M(4), HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, HG-JR601(4), HGJR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HGJR37K1(4) servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-ENECBL_M-H-MTH 2 5 10 20 30 40 50 IP67

(a) Connection of servo amplifier and servo motor

Cable length

2 m 5 m 10 m 20 m 30 m 40 m 50 m

Servo amplifier

CN2

1)

MR-ENECBL_M-H-MTH

IP rating Bending life Application

For HG-JR701M(4), HG-JR11K1M(4), HG-JR15K1M(4), HG-JR22K1M(4), HG-JR30K1M(4),

Long

bending life

2)

HG-JR37K1M(4), HG-JR45K1M4, HG-JR55K1M4, HG-JR601(4), HG-JR801(4), HG-JR12K1(4), HG-JR15K1(4), HG-JR20K1(4), HG-JR25K1(4), HG-JR30K1(4), and HG-JR37K1(4)

Servo motor HG-JR701M(4) to HG-JR37K1M(4) HG-JR45K1M4 HG-JR55K1M4 HG-JR601(4) to HG-JR37K1(4)

Cable model 1) CN2-side connector 2) Encoder-side connector

MR-ENECBL_M-HMTH

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from wiring side. (Note)

Note. Do not connect anything to the pins shown as . Especially, pin

F BAT R LG G LG S P5 H T J

6

THM2

4

MRR

5

THM1

3

MR

10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of section 5.2, securely connect the shielded cable external conductor of the shielded cable to the ground plate and fix it to the connector shell.

10

9

BAT

7

Connector set: 54599-1019 (Molex) Plug: D/MS3106A20-29S(D190)

Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D

4

2

MRR

LG

or

1P53

MR

View seen from wiring side. (Note)

THM2

5

THM1

8610

79

BAT

Note. Do not connect

M

L

K

View seen from wiring side. (Note)

Pin Signal Pin Signal

A K THM1 B L THM2 C MR M D MRR N SHD E P

N

T

J

S R

HF

G

anything to the pins shown as

B

A

C

D

P

E

.

5 - 22

5. WIRING OPTION

T

A

(b) Cable internal wiring diagram

MR-ENECBL2M-H-MTH MR-ENECBL5M-H-MTH

MR-ENECBL10M-H-MTH

MR-ENECBL20M-H-MTH

CN2-side

connector

P5 LG

MR MRR34 THM1 5 THM2 6 BAT BAT

SD

P5 LG

1 2

9

Plate

(Note 1)

MR-ENECBL30M-H-MTH MR-ENECBL40M-H-MTH MR-ENECBL50M-H-MTH

CN2-side

connector

1 2

Encoder-side

(Note 2)

Encoder-side

connector

S R

C D

K L THM2 F

GLG

N

connector

S

R

P5 LG

MR MRR

THM1

SHD

P5 LG

CN2-side

connector

P5 LG

MR MRR34

HM1 5 HM2 6 L THM2

BAT

SD

1 2

9

Plate

(Note 1)

Encoder-side

(Note 2)

connector

S R

C D K THM1

F

GLG

N

P5 LG

MR MRR

BAT

SHD

MR

MR MRR34 THM1 5 THM2 6 L BAT

SD

9

Plate

(Note 1)

(Note 2)

C

MRR

D

THM1

K

THM2 BAT

F

LG

G

SHD

N

Note 1. Always make connection for use in an absolute position detection system. Wiring is not

necessary for use in an incremental system.

2.

lways make connection for use with the following servo motors. Wiring is not necessary for

use with other servo motors.

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)

5 - 23

5. WIRING OPTION

r

(c) When fabricating the encoder cable

When fabricating the cable, prepare the following parts, and fabricate it according to the wiring

(7) MR-BT6VCBL03M

diagram in (b). Refer to section 5.6 for the specifications of the cable to use.

Parts

(Connector set)

MR-ENECNS

Servo amplifier-side connector Encoder-side connector (DDK)

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

or Connector set: 54599-1019 (Molex)

Description

Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Backshell: CE02-20BS-S-D

This cable is a battery connection cable. Using this cable with an MR-BAT6V1BJ enables to hold absolute position data recorded in the encoder even if they are disconnected from the servo amplifier. Additionally, you can change the battery with the control circuit power supply off. For details, refer to each servo amplifier instruction manual.

Cable model Cable length Application

MR-BT6VCBL03M 0.3 m

For HG-MR/HG-KR/HG-SR/HG-JR/HGRR/HG-UR series

Connection of servo amplifier and servo motor

Servo amplifie

MR-BT6VCBL03M

1)

CN2 CN4

3)

Black: Connector for branch cable

MR-BAT6V1BJ

Orange: Connector for servo amplifier

Note. For the encoder cable, refer to (1) to (6) of this section.

2) (Note)

Encoder cable

HG series servo motors

Cable model 1) CN2-side connector 2) Junction connector 3) Battery connector

MR-BT6VCBL03M Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)

Connector: DF3-2EP-2C Contact: DF3-EP2428PCFA (Hirose Electric)

5 - 24

5. WIRING OPTION

(8) MR-J3W03ENCBL_M-A-H

These cables are encoder cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-J3W03ENCBL_M-A-H 1 2 5 10 20 30

(a) Connection of servo amplifier and servo motor

MR-J4-03A6(-RJ)

servo amplifier

Cable length

1 m 2 m 5 m 10 m 20 m 30 m

CN2

IP rating Bending life Application

Long

bending life

HG-AK series

or

MR-J4W2-0303B6

servo amplifier

CN2A

CN2B

Note. Remove the connector by pressing the lock lever on the encoder connector. You do not need to press the

lock lever on the encoder cable.

MR-J3W03ENCBL_M-A-H

1) 2)

(Note)

Encoder connector

Servo motor HG-AK

Lock lever

5 - 25

5. WIRING OPTION

Cable model 1) CN2, CN2A, and CN2B-side connector 2) Encoder-side connector

MR-J3W03ENCBL_ M-A-H

Receptacle housing: 1-1827862-5 Contact: 1827587-2 Crimping tool: 1762846-1 (TE Connectivity)

5B

5A

BAT

SD

4B

4A P5

LG

3A

3B

2A

2B

1A

1B

MRR

MR

Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.0N Crimping tool: YRS-8861 (JST)

5A

5B

BAT

SHD

4A

4B

LG

P5

3A

3B

2A

2B

1A

1B

MRR

MR

Note. Do not connect anything to the pins shown as

.

(b) Cable internal wiring diagram

MR-J3W03ENCBL1M-A-H MR-J3W03ENCBL2M-A-H MR-J3W03ENCBL5M-A-H

MR-J3W03ENCBL10M-A-H

CN2, CN2A, and

CN2B-side connector

4A

P5

4B

LG

5B 1A

MR

1B

MRR

5A

SD 5B SHD

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use

in an incremental system.

(c) When fabricating the encoder cable

When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (8) (b) of this section. Refer to section 5.6 for the specifications of the cable to use.

Connector set

model

MR-J3W03CN2-2P

MR-J3W03CN2-20P

CN2, CN2A, and CN2B side connector Encoder-side connector

Receptacle housing: 1-1827862-5 Contact: 1827587-2 (TE Connectivity)

Encoder-side

(Note)

connector

4B 4A

5A 1B 1A

P5 LG

BATBAT MR MRR

Note.Do not connect anything to the pins shown as

.

MR-J3W03ENCBL20M-A-H MR-J3W03ENCBL30M-A-H

CN2, CN2A, and

CN2B-side connector

4A

P5

4B

LG

Encoder-side

connector

5B 1A

MR

1B

MRR SD 5B SHD

5A

Description

(Note)

Tab housing: J21DPM-10V-KX Contact: SJ2M-01GF-M1.0N (JST)

4B 4A

5A 1B 1A

P5 LG

BATBAT MR MRR

5 - 26

5. WIRING OPTION

5.3 Servo motor power cable

These cables are servo motor power cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring.

Cable model

MR-PWS1CBL_M-A1-L 2 5 10 IP65 Standard Load-side lead for HG-MR/HG-KR

MR-PWS1CBL_M-A2-L 2 5 10 IP65 Standard

MR-PWS1CBL_M-A1-H 2 5 10 IP65

MR-PWS1CBL_M-A2-H 2 5 10 IP65

MR-PWS2CBL03M-A1-L 03 IP55 Standard Load-side lead for HG-MR/HG-KR

MR-PWS2CBL03M-A2-L 03 IP55 Standard

(1) Connection of servo amplifier and servo motor

MR-J4 1-axis

servo amplifier

Connector for CNP3 packed with the servo amplifier

CNP3

Cable length

0.3 m 2 m 5 m 10 m

IP rating Bending life Application

Opposite to load-side lead for HGMR/HG-KR

Long

bending life

Long

bending life

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A1-H MR-PWS2CBL03M-A1-L

Load-side lead for HG-MR/HG-KR

Opposite to load-side lead for HGMR/HG-KR

1)

Servo motor HG-MR HG-KR

or

MR-J4 multi-axis

servo amplifier

CNP3A CNP3B CNP3C

(Note)

Note. This connection is for the MR-J4 3-axis servo amplifier.

Connector for CNP3A, CNP3B and CNP3C packed with the servo amplifier

or

MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A2-H MR-PWS2CBL03M-A2-L

1)

Cable model 1) Servo motor power-side connector

MR-PWS1CBL_M-A1-L

MR-PWS1CBL_M-A2-L

MR-PWS1CBL_M-A1-H

MR-PWS1CBL_M-A2-H

MR-PWS2CBL03M-A1-L

MR-PWS2CBL03M-A2-L

Connector: KN4FT04SJ1-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

Connector: KN4FT04SJ2-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

1

U

2

V

3 4

W

View seen from wiring side.

5 - 27

5. WIRING OPTION

(2) Internal wiring diagram

(Red)

(Note)

Note. These are not shielded cables.

(White)

(Black)

(Green/yellow)

U V

W

5 - 28

5. WIRING OPTION

5.4 Servo motor power cable (for HG-AK series)

These cables are servo motor power cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-J4W03PWCBL_M-H 1 2 5 10 20 30

MR-J4W03PWBRCBL_MH

(1) Connection of servo amplifier and servo motor

MR-J4-03A6(-RJ)

servo amplifier

CNP1

Cable length

1 m 2 m 5 m 10 m 20 m 30 m

1 2 5 10 20 30

IP rating Bending life Application

Long

bending life

Long

bending life

For standard servo motor (without electromagnetic brake)

For servo motor with an electromagnetic brake

MR-J4W03PWCBL_M-H

or

MR-J4W2-0303B6

servo amplifier

MR-J4W03PWBRCBL_M-H

CNP1

Note. Remove the connector by pressing the lock lever on the power connector. You do not need to press the

lock lever on the servo motor power cable.

or

(Note)

Power connector

Servo motor HG-AK

Lock lever

Cable model Servo motor-side connector

MRJ4W03PWCBL_MH

MRJ4W03PWBRCBL_ M-H

Tab housing: J21DPM-06V-KX Contact: SJ2M-21GF-M1.0N Crimping tool: YRF-1120 (JST)

3A 3B

B2B1

2A

2B

WU

1B1A

VE

5 - 29

5. WIRING OPTION

(2) Internal wiring diagram

MR-J4W03PWCBL_M-H

White

Yellow/green

(Note)

Black

Servo motor power-

side connector

1B 1A

Red

2B 2A

MR-J4W03PWBRCBL_M-H

Servo motor power-

side connector

V E W U

(Note)

White

Yellow/green

Black

Red

1B

V E

1A 2B

W

2A

U 3B B1 3A B2

Note. These are not shielded cables.

(3) When fabricating the motor power cable

When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram in (2) of this section. Refer to section 5.6 for the specifications of the cable to use.

Connector set model Servo motor-side connector

MR-J4W03CNP22P

MR-J4W03CNP220P

Tab housing: J21DPM-06V-KX Contact: BJ2M-21GF-M1.0N (JST)

5.5 Electromagnetic brake cable

These cables are electromagnetic brake cables for the HG-MR/HG-KR series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring.

Cable model

MR-BKS1CBL_M-A1-L 2 5 10 IP65 Standard Load-side lead for HG-MR/HG-KR

MR-BKS1CBL_M-A2-L 2 5 10 IP65 Standard

MR-BKS1CBL_M-A1-H 2 5 10 IP65

MR-BKS1CBL_M-A2-H 2 5 10 IP65

MR-BKS2CBL03M-A1-L 03 IP55 Standard Load-side lead for HG-MR/HG-KR

MR-BKS2CBL03M-A2-L 03 IP55 Standard

Cable length

0.3 m 2 m 5 m 10 m

IP rating Bending life Application

Opposite to load-side lead for HGMR/HG-KR

Long

bending life

Long

bending life

Load-side lead for HG-MR/HG-KR

Opposite to load-side lead for HGMR/HG-KR

5 - 30

5. WIRING OPTION

(1) Connection of power supply for electromagnetic brake and servo motor

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L

24 V DC power

supply for

Cable model 1) Connector for electromagnetic brake

MR-BKS1CBL_M-A1-L

MR-BKS1CBL_M-A2-L

MR-BKS1CBL_M-A1-H

MR-BKS1CBL_M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS2CBL03M-A2-L

(2) Internal wiring diagram

electromagnetic

brake

+

-

Connector: JN4FT02SJ1-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

Connector: JN4FT02SJ2-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

AWG 20

(Note)

AWG 20

or

MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L

1)

Servo motor HG-MR HG-KR

1)

Servo motor HG-MR HG-KR

1B1

B22

View seen from wiring side.

B1

B2

Note. These are not shielded cables.

5 - 31

5. WIRING OPTION

5.6 Wires for option cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 5.1 Wires for option cables

Type Model

MR-J3ENCBL_MA1-L

MR-J3ENCBL_MA2-L

MR-J3ENCBL_MA1-H

MR-J3ENCBL_MA2-H

MR-J3JCBL03MA1-L

MR-J3JCBL03MA2-L

MR-EKCBL_M-L

MR-EKCBL_M-H

Encoder cable

MR-J3JSCBL03MA1-L

MR-J3JSCBL03MA2-L

MR-J3ENSCBL_ M-L

MR-J3ENSCBL_ M-H

MR-ENECBL_MH-MTH

Length

[m]

Core

size

2 to 10 AWG 22

0.3 AWG 26

AWG 28

2 to 10

AWG 22 2 17/0.16

20 30 AWG 23

2 to 10 0.2 mm

2

20 AWG 24

30 to 50 AWG 24

0.3 AWG 26

2 to 10 AWG 22

20/30 AWG 23

2 to 10 AWG 22

20 to 50 AWG 24

2 to 10 0.2 mm

2

20 0.2 mm2

30 to 50 0.2 mm2

Number of cores

(3 pairs)

(4 pairs)

(2 pairs)

(6 pairs)

(7 pairs)

(4 pairs)

(3 pairs)

(6 pairs)

(3 pairs)

(6 pairs)

(4 pairs)

(6 pairs)

(7 pairs)

Characteristics of one core

Structure

Conductor

[Wires/mm]

6

7/0.26

6

70/0.08

8

30/0.08

4

7/0.127

12

12/0.18

12

40/0.08

12

40/0.08

14

40/0.08

8

7/0.16

6

7/0.26

12

12/0.18

6

70/0.08

12

40/0.08

8

40/0.08

12

40/0.08

14

40/0.08

resistance

[Ω/km]

53

or less

56

or less

233

or less

232

or less

28.7

or less

63.6

or less

105

or less

105

or less

105

or less

146

or less

53

or less

63.3

or less

56

or less

105

or less

105

or less

105

or less

105

or less

(Note 1)

Insulator

d [mm]

(Note 2)

Cable OD

OD

[mm]

1.18 7.1

1.17 7.1

1.2 7.1 ± 0.3

1.18

7.0

1.50

1.2 8.2 ± 0.3

0.88 7.2

0.88 8.0

1.0 7.1 ± 0.3

1.18 7.1

1.2 8.2 ± 0.3

1.17 7.1

0.88 7.2

0.88 8.0

(Note 3) VSVP 7/0.26 (AWG #22 or

equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) TPE

or equivalent)-3P KB-2237-2 (Bando Densen)

T/2464-1061/IIA-SB 4P×26AWG (Taiyo Cabletec)

(Note 3) 20276 composite 6-core

shielded cable Ban-gi-shi-16395-1 (Bando

Densen) (Note 3)

20276 VSVPAWG#23×6P KB-0492 (Bando Densen)

(Note 3) A14B2343 6P (Junkosha)

(Note 3) TPE

or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) TPE

or equivalent)-7P KB-1929-2 (Bando Densen) (Note 3) VSVP 7/0.16 (AWG #26 or

equivalent)-4P Ban-gi-shi-16822 (Bando

Densen) (Note 3) VSVP 7/0.26 (AWG #22 or

equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) TPE

or equivalent)-3P KB-2237-2 (Bando Densen) (Note 3) TPE

or equivalent)-6P KB-1928-2 (Bando Densen) (Note 3) A14B2339 4P (Junkosha) (Note 3) A14B2343 6P (Junkosha) (Note 3) J14B0238(0.2*7P) (Junkosha)

Wire model

(Manufacturer)

SVP 70/0.08 (AWG #22

SVP 40/0.08 (AWG #24

SVP 70/0.08 (AWG #22

SVP 40/0.08 (AWG #24

5 - 32

5. WIRING OPTION

Type Model

MRJ3W03ENCBL_M

-A-H

Encoder cable

MR-PWS1CBL_ M-A1-L

MR-PWS1CBL_ M-A2-L

MR-PWS1CBL_ M-A1-H

MR-PWS1CBL_ M-A2-H

MRPWS2CBL03MA1-L

MRPWS2CBL03MA2-L

Servo motor power cable

MRJ4W03PWCBL_ M-H

MRJ4W03PWBRCBL _M-H

MR-BKS1CBL_ M-A1-L

MR-BKS1CBL_ M-A2-L

MR-BKS1CBL_ M-A1-H

MR-BKS1CBL_ M-A2-H

MRBKS2CBL03MA1-L

Electromagnetic brake cable

MRBKS2CBL03MA2-L

Note 1. The following shows the detail of d.

d

Length

[m]

1 to 10 AWG 22 6 70/0.08

20/30 AWG 22 10 70/0.08

2 to 10

(0.75 mm

2 to 10

0.3

1 to 30 AWG 19 4 150/0.08

2 to 10

0.3

Characteristics of one core

Core

Number of cores

size

AWG 18 4 34/0.18

AWG 19

2)

AWG 19 4 30/0.18

AWG 20 2 21/0.18

AWG 20 2 110/0.08

AWG 20 2 19/0.203

Structure

[Wires/mm]

4 150/0.08

Conductor

resistance

[Ω/km]

56

or less

56

or less

21.8

or less

29.1

or less

25.8

or less

29.1

or less

29.1

or less

34.6

or less

39.0

or less

32.0

or less

(Note 1)

Insulator

d [mm]

(Note 2)

Cable OD

OD

[mm]

1.17 7.1 ± 0.3

1.17 7.7 ± 0.3

1.71 6.2 ± 0.3

1.63 5.7 ± 0.5

1.64 -

1.63 5.7 ± 0.5

1.35 4.7 ± 0.1

1.37 4.5 ± 0.3

1.42 -

Wire model

(Manufacturer)

(Note 3) TPE・SVP 70/0.08 (AWG #22

or equivalent)-3P KB-2237-2 (Bando Densen)

(Note 3) TPE・SVP 70/0.08 (AWG#22 or equivalent)-5P (Bando Densen)

(Note 4) HRZFEV-A (CL3) AWG 18 4

cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 19 4

cores (Dyden)

(Note 3, 5) J11B2330 UL10125 (Junkosha)

(Note 4) RMFES-A(CL3X) AWG 19, 4 cores

(Dyden) (Note 4)

RMFES-A(CL3X) AWG 19, 4 cores

(Dyden) (Note 4) HRZFEV-A (CL3) AWG 20 2

cores (Dyden) (Note 4) RMFES-A (CL3X) AWG 20 2

cores (Dyden)

(Note 3, 5) J11B2331 UL10125 (Junkosha)

InsulatorConductor

2. Standard OD. Max. OD is about 10% greater.

3. Purchase from Toa Electric Industrial Co. Ltd., Nagoya Branch

4. Purchase from Taisei Co., Ltd.

5. These models consist with solid wires. Specify the color, separately.

5 - 33

5. WIRING OPTION

MEMO

5 - 34

6. HG-MR SERIES/HG-KR SERIES

This chapter provides information on the servo motor specifications and characteristics. When using the HGMR/HG-KR series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.

6.1 Model code definition

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

HG-KR13BJG1DW0

Series HG-MR Ultra-Low inertia/Small capacity HG-KR

Rated output

Symbol

05 0.05

1 0.1

2 0.2

4 0.4

7 0.75

Rated speed 3000 [r/min]

Electromagnetic brake

Symbol Electromagnetic brake

None None

B

Oil seal

Symbol Oil seal

None None

(Note 2)

J

Low inertia/Small capacity

Rated output [kW]

With

Feature

With

C

Special specification

Symbol Special specification

None Standard

(Note 3)

W0C

Shaft type

Symbol Shaft shape

None

(Note 1)

Reducer

Symbol

None

G1 G5 G7

Servo motor with

functional safety

Standard

(straight shaft)

Keyway shaft

K

D

(with key)

D cut shaft

For general industrial machine (flange-mounting)

Flange-mounting flange output type for high precision application

Flange-mounting shaft output type for high precision application

HG-MR_

HG-KR_

053 to 73

23 to 73

053/13

Reducer

None

Appearance

Note 1. The special shaft applies to the standard servo motor and servo motor with an electromagnetic brake. However, the key shaft

(with key) also applies to the servo motor with flange-mounting shaft output type reducer for high precision application.

2. For details, contact your local sales office.

3. Refer to section 1.5 for details.

6 - 1

6. HG-MR SERIES/HG-KR SERIES

6.2 Combination list of servo motors and servo amplifiers

Servo amplifier

MR-J4 1-axis

MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020

MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020

MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020

MR-J4-10A1 MR-J4-10A1-RJ MR-J4-10B1 MR-J4-10B1-RJ MR-J4-10B1-RJ020

MR-J4-20A1 MR-J4-20A1-RJ MR-J4-20B1 MR-J4-20B1-RJ MR-J4-20B1-RJ020

MR-J4-40A1 MR-J4-40A1-RJ MR-J4-40B1 MR-J4-40B1-RJ MR-J4-40B1-RJ020

Servo motor

HG-MR053

HG-MR13

HG-MR23

HG-MR43

HG-MR73

HG-KR053

HG-KR13

HG-KR23

HG-KR43

HG-KR73

200 V class 100 V class

MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020 MR-J4-10A MR-J4-10A-RJ MR-J4-10B MR-J4-10B-RJ MR-J4-10B-RJ010 MR-J4-10B-RJ020 MR-J4-20A MR-J4-20A-RJ MR-J4-20B MR-J4-20B-RJ MR-J4-20B-RJ010 MR-J4-20B-RJ020 MR-J4-40A MR-J4-40A-RJ MR-J4-40B MR-J4-40B-RJ MR-J4-40B-RJ010 MR-J4-40B-RJ020 MR-J4-70A MR-J4-70A-RJ MR-J4-70B MR-J4-70B-RJ MR-J4-70B-RJ010 MR-J4-70B-RJ020

MR-J4 2-axis MR-J4 3-axis

MR-J4W2-22B MR-J4W2-44B

MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B

MR-J4W2-77B MR-J4W2-1010B

MR-J4W2-22B MR-J4W2-44B

MR-J4W2-44B MR-J4W2-77B MR-J4W2-1010B

MR-J4W2-77B MR-J4W2-1010B

MR-J4W3-222B MR-J4W3-444B

MR-J4W3-444B

MR-J4W3-222B MR-J4W3-444B

MR-J4W3-444B

6 - 2

6. HG-MR SERIES/HG-KR SERIES

6.3 Standard specifications

6.3.1 Standard specifications list

Servo motor

(ultra-low inertia/small capacity)

Item

Power supply capacity

Continuous running duty (Note 1)

Maximum torque (Note 10) [N•m] 0.48 0.95 1.9 3.8 7.2 0.56 1.1 2.2 4.5 8.4 Rated speed (Note 1) [r/min] 3000 3000 Maximum speed (Note 10) [r/min] 6000 6000 Instantaneous permissible speed

(Note 10)

Power rate at continuous rated torque

Rated current [A] 1.0 0.9 1.5 2.6 5.8 0.9 0.8 1.3 2.6 4.8 Maximum current [A] 3.1 2.5 5.3 9.0 20 3.2 2.5 4.6 9.1 17

Moment of inertia J (Note 3)

Recommended load to motor inertia ratio (Note 2, 10)

Speed/position detector

Oil seal None None (Note 11) None None (Note 11) Insulation class 130 (B) Structure Totally-enclosed, natural-cooling (IP rating: IP65 (Note 4, 9))

Environment

Vibration rank (Note 7) V10 Permissible load for

the shaft (Note 8, 10)

Mass (Note 3)

Rated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75 Rated torque [N•m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4

Standard [kW/s] 15.6 33.8 46.9 114.2 97.3 5.63 13.0 18.3 43.7 45.2 With an

electromagnetic brake

Standard [× 10 With an

electromagnetic brake

[× 10

Ambient temperature

Ambient humidity

Ambience

Altitude Max. 1000 m above sea level Vibration resistance

(Note 6)

L [mm] 25 30 40 25 30 40 Radial [N] 88 245 392 88 245 392 Thrust [N] 59 98 147 59 98 147 Standard [kg] 0.34 0.54 0.91 1.4 2.8 0.34 0.54 0.91 1.4 2.8 With an

electromagnetic brake

-4

kg•m2]

-4

kg•m2]

Operation

Storage

Operation

Storage

053(B) 13(B) 23(B) 43(B) 73(B) 053(B) 13(B) 23(B) 43(B) 73(B)

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in

[r/min] 6900 6900

11.3 28.0 37.2 98.8 82.1 5.37 12.1 16.7 41.3 41.6

[kW/s]

0.0162 0.0300 0.0865 0.142 0.586 0.0450 0.0777 0.221 0.371 1.26

0.0224 0.0362 0.109 0.164 0.694 0.0472 0.0837 0.243 0.393 1.37

35

times

or less

0 °C to 40 °C (non-freezing)

-15 °C to 70 °C (non-freezing) 80 %RH or less (non-condensing) 90 %RH or less (non-condensing)

X, Y: 49 m/s

0.54 0.74 1.3 1.8 3.8 0.54 0.74 1.3 1.8 3.8

[kg]

HG-MR series

Servo Amplifier Instruction Manual.

32 times or less 17 times or less

22-bit encoder common to absolute position/incremental systems

(resolution per servo motor revolution: 4194304 pulses/rev)

Indoors (no direct sunlight), free from corrosive gas, flammable gas,

oil mist, dust, and dirt

HG-KR series (low inertia/small capacity)

26

times

or less

2

25

times

or less

17

times

or less

6 - 3

Mitsubishi HG-JR, HG-KR, HG-RR, HG-MR, HG-UR User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

CONTENTS

1. INTRODUCTION

1.1 Rating plate

1.2 Parts identification

1.3 Electromagnetic brake

1.4 Servo motor shaft shapes

1.5 Servo motor with functional safety

2. INSTALLATION

2.1 Mounting direction

2.2 Cooling fan

2.3 Load remove precautions

2.4 Permissible load for the shaft

2.5 Protection from oil and water

2.6 Cable

2.7 Servo motor with oil seal

2.8 Inspection items

2.9 Parts having service lives

2.10 Machine accuracies

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.1 Selection of connectors

3.2 Wiring connectors (connector configurations A/B/C)

3.3 Wiring connectors (connector configurations D/E/F/G/H)

3.4 Wiring connectors (connector configurations J/K/L/M/N/P/Q)

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.1 Connection instructions

4.2 Wiring

4.2.1 HG-MR series/HG-KR series servo motor

4.2.2 HG-SR series/HG-JR series/HG-RR series/HG-UR series servo motor

4.2.3 HG-AK series servo motor

4.3 Selection example of wires

4.4 Servo amplifier terminal section

5. WIRING OPTION

5.1 Cable/connector sets

5.1.1 Combinations of cable/connector sets

5.1.2 Cable and connector list

5.2 Encoder cable/connector sets

5.3 Servo motor power cable

5.4 Servo motor power cable (for HG-AK series)

5.5 Electromagnetic brake cable

5.6 Wires for option cables

6. HG-MR SERIES/HG-KR SERIES

6.1 Model code definition

6.2 Combination list of servo motors and servo amplifiers

6.3 Standard specifications

6.3.1 Standard specifications list