MELSERVO-J4 Rotating Type Servo Motor HG-KR Series (200 V Class, Small Capacity, Low Inertia)

Brand :

MITSUBISHI

Caution

Product Description

The maximum rotation speed is 6,000 r/min against the rated rotation speed of 3,000 r/min.
The maximum torque is applicable with 350% of the rated torque, and high torque is realized in the high rotation range.
[Features]
・ High resolution absolute position encoder (4,194,304 pulses/rev (22 bit)) is standard equipment. It achieves higher accuracy positioning.
・ IP65 is adopted as standard. No problem with water and dust
・ The power cable, encoder cable, and electromagnetic brake cable can be pulled out from the servo motor either on the load side or the non-load side by selecting the cable.
・ Torque ripple is greatly reduced by optimizing the combination of motor poles and slots.
・ It operates smoothly even at low speed operation, which is easily affected by torque ripple, and improves stability.

Standard specifications

(1) Standard specifications list (when combined with MR-JN- A servo amplifier.)

Item

Servo motor

HG-KR series (low inertia/small capacity)

053(B)G1/G5/G7

13(B)G1/G5/G7

23(B)G1/G5/G7

43(B)G1/G5/G7

Power supply capacity

[kVA]

0.3

0.5

0.9

Continuous
running duty ^{(Note 1)}

Rated output

[kW]

0.05

0.1

0.2

0.4

Rated torque ^{(Note 8)}

[N▪m]

0.16

0.32

0.64

1.3

Maximum torque ^{(Note 8)}

[N▪m]

0.48

0.96

1.9

3.9

Rated speed ^{(Note 1, 3)}

[r/min]

3000

Maximum speed ^{(Note 3)}

[r/min]

4500

Permissible instantaneous speed

[r/min]

4500

Power rate at
continuous rated
torque ^{(Note 8)}

Standard

[kW/s]

5.63

13.0

18.3

43.7

With an
electromagnetic
brake

[kW/s]

5.37

12.1

16.7

41.3

Rated current

[A]

0.9

0.8

1.3

2.6

Maximum current

[A]

2.7

2.4

3.9

7.8

Moment of
inertia J

Standard

[×10－4kg m²]

G1:	0.0820~0.104
G5:	0.0475~0.113
G7:	0.0492~0.119

G1:	0.115~0.137
G5:	0.0812~0.146
G7:	0.0839~0.152

G1:	0.375~0.418
G5:	0.422~0.719
G7:	0.424~0.721

G1:	0.525~0.881
G5:	0.572~0.947
G7:	0.578~0.955

With an
electromagnetic
brake

[×10－4kg m²]

BG1:	0.0840~0.106
BG5:	0.0497~0.115
BG7:	0.0514~0.121

BG1:	0.121~0.143
BG5:	0.0872~0.152
BG7:	0.0899~0.158

BG1:	0.397~0.440
BG5:	0.444~0.741
BG7:	0.446~0.743

BG1:	0.547~0.903
BG5:	0.594~0.969
BG7:	0.600~0.977

Recommended load
to motor inertia ratio ^{(Note 2)}

For general industrial machines (G1)

50W/100W: 5 times or less
200W/400W: 7 times or less

For high precision application (G5/G7)

50W/100W: 10 times or less
200W/400W: 14 times or less

Speed/position detector

Incremental 18-bit encoder system
(resolution per servo motor revolution: 262144 pulses/rev)

Insulation class

130 (B)

Structure

Totally enclosed, natural cooling (IP rating: IP44 (Note 4))

Environmental
conditions ^{(Note 5)}

Ambient
temperature

Operation

0 ˚C to 40 ˚C (non-freezing)

Storage

-15 ˚C to 70 ˚C (non-freezing)

Ambient
humidity

Operation

10 %RH to 80 %RH (non-condensing)

Storage

10 %RH to 90 %RH (non-condensing)

Ambience

Indoors (no direct sunlight),
free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude

1000m or less

Vibration resistance ^{(Note 6)}

X, Y: 49m/s²

Vibration rank ^{(Note 7)}

V10

Permissible load
for the shaft

For general industrial machines (G1)

Permissible radial
load [N]

150~370

330~780

330~760

Permissible thrust
load [N]

200~450

350~780

350~760

For high precision application (G5/G7)

Radial load
point L [mm]

17~23

17~32

23~32

23~57

Permissible radial
load [N]

93~342

93~804

177~804

177~1374

Permissible thrust
load [N]

431~1366

431~2833

706~2833

706~5478

Mass

Standard

[kg]

G1:	1.4~1.8
G5:	0.55~1.2
G7:	0.58~1.3

G1:	1.6~2.0
G5:	0.75~2.6
G7:	0.78~3.0

G1:	3.3~3.9
G5:	1.8~3.4
G7:	1.9~3.8

G1:	3.7~5.4
G5:	2.3~6.0
G7:	2.4~7.4

With an
electromagnetic
brake

[kg]

BG1:	1.6~2.0
BG5:	0.75~1.4
BG7:	0.78~1.5

BG1:	1.8~2.2
BG5:	0.95~2.8
BG7:	0.98~3.2

BG1:	3.7~4.3
BG5:	2.2~3.8
BG7:	2.3~4.2

BG1:	4.1~5.8
BG5:	2.7~6.4
BG7:	2.8~7.8

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.
2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.
3. The value on the gear reducer input axis.
4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and
water in electrical enclosures.
5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may
not be usable. Please contact your local sales office.
6. The servo motor alone. The following figure shows the vibration directions. The value is the one at the part that indicates the
maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the
bearing. Therefore, suppress the vibration to about half of the permissible value. Note that this does not apply to the geared
servo motor.

7. V10 indicates that the amplitude of a servo motor alone is 10 μm or less. The following figure shows the servo motor mounting
position for measurement and the measuring position.

8. The servo motor alone.

(2) Torque characteristics
POINT
▪ For the system where the unbalanced torque occurs, such as a vertical axis,
the unbalanced torque of the machine should be kept at 70% or lower of the
motor's rated torque.
The torque characteristics shown in the following diagrams are for the servo motor alone. When the input
power supply specification of the servo amplifier is 1-phase 230 V AC, the torque characteristic is indicated
by the heavy line. For 1-phase AC 100 V, part of the torque characteristics is indicated by a broken line,
and for 1-phase 200 V AC part of the torque characteristics is indicated by a continuous line.