Mitsubishi Electric

AC servo motor

MELSERVO J4 series

HG-KR series

AC geared rotary servo motor / gearmotor

keyed shaft
built-in absolute feedback encod. (22-bit)
1/21 high-precision gearhead (shaft output)
low inertia / small power capacity
natural cooling

200Vac class

4.8A

750W / 0.75kW

3000rpm
6000rpm (maximum)

2.4Nm nominal

8.4Nm

0.000203kg.m2 (2.03kg.cm2)

4-pin rectangular connector

48-84%

117.1 mm

120 mm

333 mm

120x120mm flange mounting (grbx. output)

22-bit (equivalent to 4194304ppr) feedback

IP44

H117.1mm x W120mm x D333mm

0...+40 °C

-15°C...+70 °C

392 N

147 N

17 A

HG-KR73G7K 1/21

Commercialized

HGKR73G7K121

CE marking
TUV Rheinland
cULus
UL
KC
EN61800-3
EN60034-1
EN62061
SILCL3
EN50581
UL1004-1
UL1004-6
CSA
KC
EAC

1/21 (gearhead)

3arcminutes (0.05°) maximum

for standard 1-axis use amplifiers
- MR-J4-70GF
- MR-J4-70GF-RJ
- MR-J4-70B
- MR-J4-70B-RJ
- MR-J4-70A
- MR-J4-70A-RJ
for standard 2-axis use amplifiers
- MR-J4W2-1010B
Use amplifier <=> motor cables as follows
- Encoder cable for HG-KR/HG-MR lead out in direction of motor shaft (direct connection type)
-- Standard bending life
--> 2m (MR-J3ENCBL2M-A1-L)
--> 5m (MR-J3ENCBL5M-A1-L)
--> 10m (MR-J3ENCBL10M-A1-L)
- Encoder cable for HG-KR/HG-MR lead out in opposite direction of motor shaft (direct connection type)
-- Standard bending life
--> 1m (MR-J3ENCBL1M-A2-L)
--> 2m (MR-J3ENCBL2M-A2-L)
--> 5m (MR-J3ENCBL5M-A2-L)
--> 10m (MR-J3ENCBL10M-A2-L)
-- Long bending life
--> 1m (MR-J3ENCBL1M-A2-H)
--> 2m (MR-J3ENCBL2M-A2-H)
--> 5m (MR-J3ENCBL5M-A2-H)
--> 10m (MR-J3ENCBL10M-A2-H)
- Encoder cable for HG-KR/HG-MR (junction type)
-- Standard bending life
--> 2m (MR-EKCBL2M-L or MR-J3ENSCBL2M-L)
--> 5m (MR-EKCBL5M-L or MR-J3ENSCBL5M-L)
--> 10m (MR-EKCBL10M-L or MR-J3ENSCBL10M-L)
--> 15m (MR-EKCBL15M-L)
--> 20m (MR-EKCBL20M-L or MR-J3ENSCBL20M-L)
--> 30m (MR-EKCBL30M-L or MR-J3ENSCBL30M-L)
-- Long bending life
--> 2m (MR-EKCBL2M-H or MR-J3ENSCBL2M-H)
--> 5m (MR-EKCBL5M-H or MR-J3ENSCBL5M-H)
--> 10m (MR-EKCBL10M-H or MR-J3ENSCBL10M-H)
--> 20m (MR-EKCBL20M-H or MR-J3ENSCBL20M-H)
--> 30m (MR-EKCBL30M-H or MR-J3ENSCBL30M-H)
--> 40m (MR-J3ENSCBL40M-H)
--> 50m (MR-EKCBL50M-H or MR-J3ENSCBL50M-H)
--> 60m (MR-J3ENSCBL60M-H)
- Encoder cable for HG-KR/HG-MR lead out in direction of motor shaft (junction type)
-- Standard bending life
--> 0.3m (MR-J3JCBL03M-A1-L)
--> 3m (MR-J3JSCBL03M-A1-L)
- Encoder cable for HG-KR/HG-MR lead out in opposite direction of motor shaft (junction type)
-- Standard bending life
--> 0.3m (MR-J3JCBL03M-A2-L)
--> 3m (MR-J3JSCBL03M-A2-L)
- Power supply cable for HG-KR/HG-MR lead out in direction of motor shaft (direct connection type)
-- Standard bending life
--> 2m (MR-PWS1CBL2M-A1-L)
--> 3m (MR-PWS1CBL3M-A1-L)
--> 5m (MR-PWS1CBL5M-A1-L)
--> 10m (MR-PWS1CBL10M-A1-L)
-- Long bending life
--> 2m (MR-PWS1CBL2M-A1-H)
--> 3m (MR-PWS1CBL3M-A1-H)
--> 5m (MR-PWS1CBL5M-A1-H)
--> 7m (MR-PWS1CBL7M-A1-H)
--> 8m (MR-PWS1CBL8M-A1-H)
--> 10m (MR-PWS1CBL10M-A1-H)
- Power supply cable; Shielded type for HG-KR/HG-MR lead out in direction of motor shaft (direct connection type)
-- Standard bending life
--> 0.3m (MR-J3PS03M-A1)
--> 5m (MR-J3PS5M-A1)
--> 10m (MR-J3PS10M-A1)
- Power supply cable; Shielded type for HG-KR/HG-MR lead out in opposite direction of motor shaft (direct connection type)
-- Standard bending life
--> 0.3m (MR-J3PS03M-A2)
--> 5m (MR-J3PS5M-A2)
--> 10m (MR-J3PS10M-A2)
- Power supply cable for HG-KR/HG-MR lead out in opposite direction of motor shaft (direct connection type)
-- Standard bending life
--> 1m (MR-PWS1CBL1M-A2-L)
--> 2m (MR-PWS1CBL2M-A2-L)
--> 5m (MR-PWS1CBL5M-A2-L)
--> 10m (MR-PWS1CBL10M-A2-L)
-- Long bending life
--> 1m (MR-PWS1CBL1M-A2-H)
--> 5m (MR-PWS1CBL5M-A2-H)
--> 10m (MR-PWS1CBL10M-A2-H)
--> 15m (MR-PWS1CBL15M-A2-H)
- Power supply cable for HG-KR/HG-MR lead out in direction of motor shaft (relay type)
-- Standard bending life
--> 0.3m (MR-PWS2CBL03M-A1-L)
- Power supply cable for HG-KR/HG-MR lead out in opposite direction of motor shaft (relay type)
-- Standard bending life
--> 0.3m (MR-PWS2CBL03M-A2-L)
- Power supply cable for HG-KR/HG-MR series to MR-J4W2/MR-J4W3 series amplifier
-- Direct connection type lead out in direction of motor shaft
--> 2m (SC-EPWS1CBL2M-A1-L)
--> 5m (SC-EPWS1CBL5M-A1-L)
-- Direct connection type lead out in opposite direction of motor shaft
--> 2m (SC-EPWS1CBL2M-A2-L)
--> 5m (SC-EPWS1CBL5M-A2-L)
-- Direct connection type lead out in direction of motor shaft (Long bending life)
--> 2m (SC-EPWS1CBL2M-A1-H)
--> 5m (SC-EPWS1CBL5M-A1-H)
-- Direct connection type lead out in opposite direction of motor shaft (Long bending life)
--> 2m (SC-EPWS1CBL2M-A2-H)
--> 5m (SC-EPWS1CBL5M-A2-H)
- Motor brake cables for HG-KR/HG-MR Lead out in direction of motor shaft (direct connection type)
-- Standard bending life
--> 2m (MR-BKS1CBL2M-A1-L)
--> 5m (MR-BKS1CBL5M-A1-L)
--> 10m (MR-BKS1CBL10M-A1-L)
-- Long bending life
--> 2m (MR-BKS1CBL2M-A1-H)
--> 5m (MR-BKS1CBL5M-A1-H)
--> 7m (MR-BKS1CBL7M-A1-H)
--> 10m (MR-BKS1CBL10M-A1-H)
- Motor brake cables for HG-KR/HG-MR Lead out in opposite direction of motor shaft (direct connection type)
-- Standard bending life
--> 2m (MR-BKS1CBL2M-A2-L)
--> 5m (MR-BKS1CBL5M-A2-L)
--> 10m (MR-BKS1CBL10M-A2-L)
-- Long bending life
--> 2m (MR-BKS1CBL2M-A2-H)
--> 5m (MR-BKS1CBL5M-A2-H)
--> 10m (MR-BKS1CBL10M-A2-H)
- Motor brake cables for HG-KR/HG-MR lead out in direction of motor shaft (relay type)
-- standard
--> 0.3m (MR-BKS2CBL03M-A1-L)
- Motor brake cables for HG-KR/HG-MR lead out in opposite direction of motor shaft (relay type)
-- standard
--> 0.3m (MR-BKS2CBL03M-A2-L)