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Mitsubishi HG-RR User Manual

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6. HG-MR SERIES/HG-KR SERIES 
6 -  3 
 
6.3 Standard specifications 
6.3.1 Standard specifications list 
Servo motor 
 
Item 
HG-MR series 
(ultra-low inertia/small capacity) 
HG-KR series (low inertia/small capacity) 
053(B)
13(B) 23(B) 43(B) 73(B) 053(B)
13(B) 23(B) 43(B) 73(B) 
Power supply capacity 
 
Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in 
Servo Amplifier Instruction Manual. 
Continuous running 
duty (Note 1) 
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 
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) 
[r/min]    6900    
   6900    
Power rate at 
continuous rated 
torque 
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 
[kW/s] 
11.3 28.0 37.2 98.8 82.1 5.37 12.1 16.7 41.3 41.6 
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) 
Standard 
 [× 
10
-4
 kg•m
2
] 
0.0162 0.0300 0.0865
0.142  0.586 0.0450 0.0777 0.221  0.371  1.26 
With an 
electromagnetic 
brake 
 [× 
10
-4
 kg•m
2
] 
0.0224 0.0362
0.109 0.164 0.694 0.0472 0.0837 0.243 0.393  1.37 
Recommended load to motor inertia ratio 
(Note 2, 10) 
35 
times 
or less
32 times or less 
17 times or less 
26 
times 
or less 
25 
times 
or less
17 
times 
or less
Speed/position detector 
 
 
22-bit encoder common to absolute position/incremental systems 
(resolution per servo motor revolution: 4194304 pulses/rev) 
 
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 
Ambient 
temperature 
Operation 
 
 
 
0 °C to 40 °C (non-freezing) 
 
 
 
Storage 
 
 
 
-15 °C to 70 °C (non-freezing) 
 
 
 
Ambient 
humidity 
Operation 
 
 
80 %RH or less (non-condensing) 
 
 
Storage 
 
 
90 %RH or less (non-condensing) 
 
 
Ambience  
Indoors (no direct sunlight), free from corrosive gas, flammable gas,  
oil mist, dust, and dirt 
Altitude 
 
 
 
 
Max. 1000 m above sea level 
 
 
 
Vibration resistance 
(Note 6) 
 
 
 
 
X, Y: 49 m/s
2
 
 
 
 
 
Vibration 
rank 
(Note 
7) 
 
     V10      
Permissible load for 
the shaft 
(Note 8, 10) 
L 
[mm] 
25 
30 40 25 
30 40 
Radial 
[N] 
88 245 
392 
88 245 
392 
Thrust 
[N] 
59 
98 147 59 
98 147 
Mass (Note 3) 
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 
[kg] 
0.54 0.74 1.3  1.8  3.8 0.54 0.74 1.3  1.8  3.8