Mitsubishi HG-KR43 Servo Motor

모델 코드 설명

– HG-KR: Low-inertia rotary 서보 모터 of MELSERVO-J4 series

– 43: Rated power 400W

-Suffix descriptions:

HG-KR43: Without shaft seal, 브레이크 없음

HG-KR43J: With shaft seal, 브레이크 없음 (most widely-used in China)

HG-KR43B: Without shaft seal, 전자기 브레이크 포함

HG-KR43BJ: With shaft seal + electromagnetic brake (for vertical-axis applications)

핵심 전기 사양

호환 가능한 드라이브

-Single-axis: MR-J4-40A / MR-J4-40B (일반적인 / SSCNETⅢ optical fiber)

-Multi-axis: MR-J4W2-44B (2-axis integrated)

⚠️ HG-KR series motors only work with J4-series drives. They are not directly compatible with J3 / J2S drives; direct replacement with legacy drives is invalid.

응용 시나리오

Low inertia and fast response, ideal for high-speed point-to-point motion: XY gantries, 반도체 장비, small manipulators, chip mounters, small-scale processing machines.

교체 옵션

1. Intra-series replacement:

Vertical axis requiring brake → HG-KR43BJ

Heavy dust/oil-polluted environment → select -J suffix with shaft seal

2. 시리즈 간 업그레이드: MR-J5 counterpart HG-KS43J (new-generation J5, identical mechanical mounting dimensions)
3. Legacy project retrofit: J3-era 400W motor HF-KP43, similar electrical performance, but drives are not interchangeable.

Second-hand Unit Inspection Checklist

1. Rotate motor shaft: Smooth rotation without jamming or abnormal noise.
2. 절연 테스트: Measure winding-to-ground insulation resistance.
3. Encoder communication test: Connect to MR-J4-40A, read encoder position; confirm no AL25 / AL16 encoder alarms.
4. Brake-equipped models: Verify brake pull-in and release under power-on / power-off conditions.
5. Shaft-seal models: Inspect shaft end for oil leakage.

Common Alarms

-AL16 / AL25: 인코더 고장; usually caused by rear-end impact or cable damage.

-AL30: 초과 적재. Check load-to-motor inertia ratio; maximum allowable ratio: 25× motor inertia.

-AL50: 과전류. Check power-cable insulation and grounding.

MR-J4W2-44B (J4 2-axis Integrated Servo Drive, SSCNETⅢ/H, 맥스. 400W per axis)

This 2-axis drive supports arbitrary mixing of motor types on Axis A / Axis B (rotary / linear / DD direct-drive). Maximum power rating per axis: 400여, AC200V class.

1. Rotary Servo Motors (가장 일반적인)

HG-KR Low-inertia Series (includes HG-KR43 mentioned above)

HG-KR053(비), HG-KR13(비), HG-KR23(비), HG-KR43(비)

Suffix B = brake; J = shaft seal; combined suffix-BJ available; power range: 50W-400W

HG-MR Ultra-low-inertia Series

HG-MR053(비), HG-MR13(비), HG-MR23(비), HG-MR43(비)

Ultra-low rotor inertia for high-frequency reciprocating motion, 50-400여

❗Critical Limitations:

1. J3 legacy motors HF-KP, HF-MP are NOT supported and cannot be driven directly.
2. HG-SR, HG-JR medium-high-power motors exceed power rating of MR-J4W2-44B; use MR-J4W2-77B / MR-J4W2-1010B instead.
3. Linear Servo Motors (LM 시리즈)

Supports primary coils of LM-H3, LM-K2, LM-U2 series:

-LM-H3P2A-07P-BSS0

-LM-H3P3A-12P-CSS0

-LM-K2P1A-01M-2SS1

-LM-U2PAB-05중-0SS0, LM-U2PAD-10M-0SS0, LM-U2PAF-15M-0SS0, LM-U2PBB-07M-1SS0

3. DD Direct-Drive Motors (TM-R / TM-RF Series)

TM-RG2M002C30, TM-RU2M002C30, TM-RG2M004E30, TM-RU2M004E30, TM-RG2M009G30, TM-RU2M009G30, TM-RFM002C20, TM-RFM004C20

Key Application Notes

1. Maximum rated power per axis: 400여. Configurations like Axis A:400여 + Axis B:400W or Axis A:400여 + Axis B:50W are allowed; mismatched-power axes are permitted.
2. 의사소통: SSCNETⅢ/H optical-fiber bus only; no pulse-train interface.
3. Supports full-closed-loop control (2-wire serial encoder).
4. J5-series HG-KS motors are incompatible; HG-KS motors require MR-J5 drives exclusively.
5. Mixed configurations (rotary + linear motor, rotary + DD motor) are allowed on one MR-J4W2-44B unit.

일반적인 구성 예

-Axis A: HG-KR43 (400여) + Axis B: HG-KR23 (200여)

-Axis A: HG-MR43 + Axis B: LM-U2 linear motor

MR-J4W2-44B (J4 2-axis SSCNETⅢ/H Drive, Max.400W per axis, AC200V)

Mixed motor assignment supported: rotary, linear and DD direct-drive motors can be freely combined. Per-axis power limit:400여; Axis A / Axis B can run at different power levels. Only compatible with J4-series motors; J3-series and J5-series motors are unsupported.

1. Rotary Servo Motors (가장 일반적인)

HG-KR Low-inertia (including HG-KR43 above)

HG-KR053(비), HG-KR13(비), HG-KR23(비), HG-KR43(비)

B = brake; J = shaft seal; combined-BJ suffix available; power range: 50-400여

HG-MR Ultra-low-inertia

HG-MR053(비), HG-MR13(비), HG-MR23(비), HG-MR43(비)

50-400여, for high-frequency reciprocating motion

❗Prohibited Applications:

1. Cannot drive legacy J3 motors HF-KP / HF-MP.
2. HG-SR, HG-JR motors ≥500W exceed power rating of 44B; MR-J4W2-77B is required.
3. Cannot drive J5-series HG-KS motors.
4. Linear Servo Motors (Primary Coils)

Identical small-power linear-motor coverage as single-axis MR-J4-40B:

-LM-H3P2A-07P-BSS0

-LM-H3P3A-12P-CSS0

-LM-K2P1A-01M-2SS1

-LM-U2PAB-05중-0SS0, LM-U2PAD-10M-0SS0, LM-U2PAF-15M-0SS0, LM-U2PBB-07M-1SS0

III. DD Direct-Drive Motors

-TM-RFM002C20

-TM-RFM004C20

1. Critical Hardware Constraints
2. Per-axis maximum output power: 400여. Valid examples: Axis A-HG-KR43(400여) + Axis B-HG-KR13(100여); Axis-A linear motor + Axis-B rotary motor.
3. 통신 인터페이스: SSCNETⅢ/H optical-fiber bus only; no pulse or analog-input port.
4. Full-closed-loop control supported (external serial encoder).
5. Fault code 1A.1: Motor combination error. Usually caused by incompatible motor hardware or incorrect motor-model parameter setting.

Practical Typical Configurations

1. Axis A: HG-KR43 (400여) + Axis B: HG-KR23 (200여)
2. Axis A: HG-MR43 + Axis B: LM-U2 linear motor
3. Axis A: TM-RFM004C20 DD motor + Axis B: HG-KR13