I/O Command Type Servo Motor Inherits Strongest Servo Core
MINAS A4P
Series
Achieves System Simplification and Cost Reduction
1• .Built-in NC Functions
NC functions allow positioning by I/O command only.
• A target can be positioned (by teaching) without complicated pulse calculations.
• In addition to travel distances, point tables combine 16 types of preset speeds, linear
acceleration/deceleration or S-shaped acceleration/deceleration, and 4 types of
acceleration and deceleration.
• Two types of continuous operations are available depending on required machine
specifications; continuous positioning with a temporary stop at any point and a
combined block operation without a temporary stop.
• Sequential operation can be set to execute a maximum of 60 positioning points automatically.
• 8 types of homing operation modes are available. If a bumping homing is selected,
simplified return-to-origin can be executed without any origin sensor.
2• .Neither a positioning unit nor a pulse generator is required
A maximum of 60 positioning points can be stored. No complicated programming is required as before.
• Positioning points can be specified as absolute positions or relative positions.
• Positioning can be performed directly at an absolute position without requiring homing
operation by using the MINAS A4P as an absolute encoder in combination with a motor
equipped with a 17-bit absolute/incremental
encoder.
22/11/2012
A4-53
Details of Features
Inherits high performance and advanced functioning
Further Adjustment-Free Operation
High-functionality Real-Time Auto-Gain Tuning
Waveform adjusted via auto-tuning driven by a ball screw
• Corresponds to even variation of load inertia. Offers real
Stabilization time of 4 ms or less
automatic gain tuning to low and high stiffness machines with a
combination of an adaptive filter.
actual speed (r/min)
torque (N)
• Supports the vertical axis application where the load torque is
different in rotational direction.
• Prevents the machine from over-traveling during automatic gain
tuning with software limit protective function.
comand speed (r/min)
positional deviation (pulse)
Further High-Speed and High-Response
Velocity response (bandwidth) of 1kHz
• Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and
higher resolution.
*) In case of high stiffness machine
standard deviation of detected speed [r/min]
Variation of detected speed at stopping
magnitude (dB)
10
–10
Present MINAS A-Series
–30
MINAS-A4Series
–50
10
100
frequency (Hz)
1000
100
10
Velocity gain is
doubled compared to
MINAS A-Series A-Series
1
0.1
100
MINAS
A4-Series
velocity gain [Hz]
1000
High-functionality Real-Time Auto-Gain Tuning
• Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize
high-speed positioning with high-functionality real-time auto-gain tuning.
22/11/2012
A4-55
MINAS A4P Details of Features
Further Reduction of Vibration
Adaptive filter
Torque [%]
actual speed (r/min)
• Makes the notch filter frequency automatically follow the machine
resonance frequency.
Suppress
vibration
quickly
Speed
• Suppression of "Judder" noise of the machine can be expected
which is caused by variation of the machines or resonance
frequency due to aging.
2-channel notch filters
Filter is
invalid
• 2-channel notch filters are equipped in the driver independent from
Completion of filter frequency setup
adaptive filter.
• You can set up both frequency and width for each of 2 filters, and set
up frequency in unit of 1Hz.
Corresponds to wider frequency range (-1500Hz)
Suppresses vibration quickly
• Suppression of "Judder" noise of the machine which has multiple
resonance points can be expected
Effect of notch filter
without notch filter
with notch filter
speed
(1000r/min/div)
torque
(33.3%/div)
Damping control
• 2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping in
low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
• You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to correspond
to the variation of vibration frequency caused by the machine position.
• Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
motor movement
machine movement
Torque [%]
500 400
actual speed (r/min)
500
without damping control
400
400 320
300
300 240
200
200 160
100
100 80
0
0 0
–100
– 100 – 80
–200
– 200 – 160
–300
– 300 – 240
–400
–500
– 400 – 320
0.1
0.2
0.3
0.4
0.5
0.6
0.7
[s]
– 500 – 400
Position deviation [pulse]
Torque [%]
20 400
actual speed (r/min)
500
with damping control
400
16 320
300
12 240
200
8 160
100
4 80
0
0 0
–100
– 4 – 80
–200
no vibration at motor shaft
–300
–400
–500
0.1
Command speed (r/min)
– 8 – 160
– 12 – 240
– 16 – 320
0.2
0.3
0.4
0.5
0.6
0.7
[s]
– 20 – 400
Position deviation [pulse]
22/11/2012
A4-56
least vibration
and fast response
MINAS A4P Details of Features
50ms/div
50ms/div
Further Flexibility and Multiplicity
Dedicated Console (DV0P4420)
Regeneration discharging function
• Enables easy parameter setting/changing, control state
• Discharges the regenerative energy with resister, which energy is
monitoring, status/error log viewing, and parameter
saving/loading.
generated while stopping the load with large moment of inertia, or
use in up-down operation, and is returned to the driver from the
motor.
• Makes it easy to move a target position, set a positioning point
• No regeneration discharge resistor is built-in to Frame A driver
and perform teaching.
(MADDT1105P type.) and Frame B driver (MBDDT2210P type.),
and we recommend you to connect optional regenerative resistor.
• Can select and display 16 types of operation data including motor
rotational speed and torque in the monitor mode.
• Regenerative resistor is built-in to Frame C to F drivers, however,
connection of the optional regenerative resistor bring you further
regenerative capability.
Control Mode
• Makes it possible to select position control via the motor´s internal
encoder or fully-closed control based on an feedback scale.
Built-in dynamic brake
• You can select the dynamic brake action which short the servo
motor windings of U, V and W, at Servo-OFF, CW/CCW overtravel inhibition, power shutdown and trip.
Analog Monitor Terminal
• "Motor rotational speed", "Command speed", "torque command"
• You can select the action sequence setup depending on the
and "positional deviation" can be observed by oscilloscope
through the analog monitor pin at the front panel of the driver.
machine requirement.
Setup support software
Trial run (JOG)
• With the setup support software, "PANATERM" via RS232
• Features the function for trial (JOG) run through console (option)
communication port, you can monitor the running status of the
driver and set up parameters.
without connecting to a host controller.
• You can shorten the machine setup time.
Wave-form graphic function
Full-closed control (High precision positioning)
• With the setup support software, "PANATERM" , you can monitor
the "Command speed" , "Actual speed" ,"Torque" , "Position
deviation " and "Positioning complete signal" .
• Features the full-closed control of position and velocity, using the
signals from feedback scale installed on the load side and high
resolution encoder.
Note) Applicable feedback scales are as follows,
• Helps you to analyze the machine and shorten the setup time
* Note) Refer to page "F2" for setup support software.
• Made by Mitsutoyo
ABS AT573A Series
ABS ST771A Series
ABS ST773A Series
ABS ST771AL Series
ABS ST773AL Series
Resolution(μm)
0.05
0.5
0.1
0.5
0.1
Max. Speed*(m/s)
2
5
4
5
4
Selectable Torque Limit Value
• A torque limit can be set for each rotational direction.
• According to the specification of the machine, a maximum torque
maximum speed depends on the driver performance.
(* The
It is limited by the machine configuration and system configuration. )
can be set for each rotational direction as necessary.
• Best suits to high precision machines.
Built in sequence of bumping homing
• You can select 8 kind of homing mode.
Inrush current suppressing function
• Home sensor (based on the front end)
• Home sensor + Z phase (based on the front end)
• Home sensor + Z phase (based on the rear end)
• Limit sensor
• Limit sensor + Z phase
• Z phase homing
• Bumping homing
• Data set
• Inrush suppressing resister is equipped in this driver, which
prevents the circuit breaker shutdown of the power supply caused
by inrush current at power-on.
• Prevents unintentional shutdown of the power supply circuit
breaker
in multi-axes application and does not give load to the power line.
22/11/2012
A4-57
MINAS A4P Details of Features
SEMI F47 voltage sag immunity
Frequency analyzing function
• Features the function which complies to voltage sag immunity
• You can confirm the response frequency characteristics of total
standard of SEMI F47 at no load or light load.
machine mechanism including the servo motor with the setup
support software, "PANATERM"
• Useful for semiconductor industry.
Notes)
1) Not applicable to single phase, 100V type.
2) Verify with the actual machine condition to F47,
voltage sag immunity standard.
• Helps you to analyze the machine and shorten the setup time
*Note) Refer to page "F2" for setup support software.
Subject
Motor
Motor
and
driver
IEC
E N
EMC
U L
CSA
Standard conformed
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100
EN50178 UL508C CSA22.2 No.14
EN55011
Radio Disturbance Characteristics of Industrial,
Scientific and Medical (ISM) Radio-Frequency Equipment
EN61000-6-2
Immunity for Industrial Environments
IEC61000-4-2
Electrostatic Discharge Immunity Test
IEC61000-4-3
Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4
Electric High-Speed Transition Phenomenon/
Burst Immunity Test
IEC61000-4-5
Lightening Surge Immunity Test
IEC61000-4-6
High Frequency Conduction Immunity Test
IEC61000-4-11
Instantaneous Outage Immunity Test
: International Electrotechnical Commission
: Europaischen Normen
: Electromagnetic Compatibility
: Underwriters Laboratories
: Canadian Standards Association
Conforms to LowVoltage Directives
Conforms to
references by
EMC Directives
Pursuant to at the directive 2004/108/EC,article 9(2)
Panasonic Testing Centre
Panasonic Service Europe,
a division of Panasonic Marketing Europe GmbH
Winsbergring 15,22525 Hamburg,F.R.Germany
* When export this product, follow statutory provisions of the destination
country.
22/11/2012
A4-58
MINAS A4P Details of Features
Applicable overseas safety standards
Motor Line-up
Ultra low inertia
Motor series *
Rated output
(kW)
Rated
rotational
speed
(Max. speed)
(r/min)
Rotary encoder
Brake
Gear
2500P/r
17bit
incremen absolute/
incremental
tal
Holding
High
precision
CE/UL
Enclosure
MAMA
Features
.Small capacity
.Suitable for the
0.1-0.75
4 models
0.1, 0.2,
0.4 and 0.75
MSMD
0.05-0.75
5 models
0.05,
0.1, 0.2,
0.4 and 0.75
Applications
.SMT machines
.Inserters
.High repetitive
IP65
(Except shaft
through hole
and
connector)
machines directly
coupled with high
speed ball screw
and high stiffness
and high repetitive
application
3000
(5000)
*For
400W/100V
and 750W
3000
(4500)
IP65
(Except shaft
through hole
and
connector)
.Small capacity
.Suitable for all
.Inserters
.Belt driven
applications
machines
.Unloading robot
3000
(5000)
*For
400W/100V
3000
(4500)
IP65
(Except shaft
through hole
and
connector)
.Small capacity
.Suitable for flat
.SMT machines
.Inserters
.Belt driven
5000
(6000)
positioning
application
Low inertia
MQMA (Cube type)
0.1-0.4
3 models
0.1, 0.2,
and 0.4
MSMA
1.0-5.0
6 models
1.0,1.5,2.0,
3.0,4.0
and 5.0
type and low
stiffness machines machines
.Unloading robot
with belt driven
.Middle capacity
.Suitable for the
3000
(5000)
*For
4kW and
5kW
3000
(4500)
IP65
(Except
cannon plug/
connector
pins)
2000
(3000)
IP65
(Except
cannon plug/
connector
pins)
.Middle capacity
.Suitable for low
1000
(2000)
IP65
(Except
cannon plug/
connector
pins)
.Middle capacity
.Suitable for
2000
(3000)
IP65
(Except
cannon plug/
connector
pins)
.Middle capacity
.Flat type and
2000
(3000)
IP65
(Except
cannon plug/
connector
pins)
machines directly .
SMT machines
coupled with ball .
Inserter
screw and high
.Food machines
stiffness and high
repetitive
application
MDMA
1.0-5.0
Middle inertia
6 models
1.0,1.5,2.0,
3.0,4.0
and 5.0
.Belt driven
machines
stiffness machines .Conveyers
.Robots
with belt driven
speed/
MGMA (Low
High torque type )
0.9-4.5
4 models
0.9,2.0,3.0
and 4.5
machines requiring
low speed with
high torque
.Belt driven
machines
.Conveyers
.Robots
MFMA (Flat type)
0.4-4.5
4 models
0.4,1.5,
2.5 and 4.5
suitable for
machines with
space limitation
.Robots
.Food machines
High inertia
MHMA
* Motor is sharing with A4/A4F series
0.5-5.0
7 models
0.5,1.0,1.5,
2.0,3.0,4.0
and 5.0
22/11/2012
A4-59
.Middle capacity
.Suitable for low
.Belt driven
stiffness machines machines
.Conveyors
with belt driven,
.Robots
and large load
moment of inertia
MINAS A4P
Model Designation
Motor Line-up/
Model Designation
• Servo Motor
M
S
Symbol
M
D
5
A
Z
MSMD
MQMA
MSMA
MDMA
MGMA
MFMA
MHMA
Motor rated output
Symbol Rated output Symbol
5A
01
02
04
05
50W
100W
200W
400W
500W
08
750W
09
10
900W
1.0kW
Rated output
15
20
1.5kW
2.0kW
25
30
40
45
2.5kW
3.0kW
4.0kW
4.5kW
50
5.0kW
1
S
Special specifications
Motor structure
MSMD(standard stock), MQMA (build to order)
Design order
Shaft
Holding brake
Oil seal
1 : Standard
Symbol Round Key-way, without with without with
center tap
Rotary encoder specifications
A
B
Symbol
Pulse counts Resolution Wires
Format
P
Incremental
2500P/r
10000
5
S
Absolute/
T
Incremental
S
17bit
131072
7
Motor with oil seal is manufactured by order.
common
MSMA , MDMA , MGMA , MFMA , MHMA
Shaft
Holding brake
Oil seal
Symbol
Voltage specifications
Round Key-way without with without with
Specifications
Symbol
C
100V
1
D
200V
2
G
100V/200V
Z
common(50W only)
H
Products are standard stock items or build to order items. See index (page F31).
MAMA
Shaft
Holding brake
Oil seal
Symbol
Round Key-way without with without with
Type
Ultra low inertia
(100W-750W)
Low inertia
(50W-750W)
Low inertia
(100W-400W)
Low inertia
(1.0kW-5.0W)
Middle inertia
(1.0kW-5.0kW)
Middle inertia
(900W-4.5kW)
Middle inertia
(400W-4.5kW)
High inertia
(500W-5.0kW)
MAMA
S
A
B
E
F
Products are standard stock items or build to order items. See index (page F31).
See page, A4-77 for motor specifications
• Motor with reduction gear
M
MSMD
M
D
0
1
1
P
3
1
N
Gear reduction ration, gear type
Motor output (W)
Symbol Gear reduction
ratio
100 200 400 750
1N
1/5
2N
1/9
3N
1 / 15
4N
1 / 25
Type
Low inertia
(100W-750W)
Motor rated output
Symbol Rated output
01
100W
02
200W
04
400W
08
750W
Voltage specifications
Symbol Specifications
100V
1
200V
2
Rotary encoder specifications
Symbol
Format
Pulse counts
P
Incremental
2500P/r
Absolute/
Incremental
S
17bit
common
Motor structure
Shaft
Key-way
3
4
Symbol
Resolution Wires
10000
5
131072
7
Gear type
For high accuracy
Holding brake
without
with
See page, A4-133 for motor with gear reducer specifications
• Servo Driver
M
A
D
D
T
1
2
0
5
P
Special specifications
Symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame symbol
Frame
A4 series, Frame A
A4 series, Frame B
A4 series, Frame C
A4 series, Frame D
A4 series, Frame E
A4 series, Frame F
Power device Max. current rating
Symbol Power device Max. current rating
T1
1 0A
1 5A
T2
3 0A
T3
5 0A
T5
7 5A
T7
1 0 0A
TA
1 5 0A
TB
Supply voltage specifications
Symbol
Specifications
1
Single phase, 100V
2
Single phase, 200V
3
3-phase, 200V
5 Single/3-phase,200V
Current detector current rating
Symbol Current detector, current rating
05
5A
7.5A
07
1 0A
10
2 0A
20
3 0A
30
4 0A
40
6 4A
64
9 0A
90
1 2 0A
A2
Interface
Symbol Specifications
I/O Operation
P
See page, A4-67 for driver specifications
22/11/2012
A4-60
MINAS A4P Motor Line-up/Model Designation
Symbol
S
Wiring example
Driver Frame Type Symbol (Frame A, B, C, D)
For details, refer to the Instruction Manual.
• Wiring of main circuit
Circuit Breaker (NFB)
Protects the power lines.
Shuts off the circuit when overcurrent passes.
Noise Filter (NF)
Prevents external noise from the power lines.
And reduces an effect of the noise generated by
the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo driver.
Surge absorber to be used together with this.
M
Reactor (L)
Reduces harmonic current of the main power.
S
Console (DV0P4420)
Personal Computer
Setup support software
"PANATERM"
(DV0P4460)
PC communication cable
(DV0P1960)
L1
L2
L3
L1C
L2C
Connector for external equipment (DV0P4500)
or interface connector cable (DV0P4510)
Pin RB, RB2 and RB3 ...
• RB2 and RB3 to be kept shorted for normal
operation.
Controller
• When the internal regenerative resistor
capacity has shortage, disconnect between
RB2 and RB3, then connect an external
regenerative resistor between RB1 and RB2.
(Note: that no regenerative resistor is equipped
in Frame A and B type.)
Encoder cable
Regenerative
resistor
(option)
Motor cable
Ground (Earth)
Motor
to page A4-77
Driver
to page A4-67
Option
to page A4-141
Brake cable
Power supply for
brake DC24V
Recommended equipments to page A4-64
Parts customer to prepare
22/11/2012
A4-61
MINAS A4P Wiring example
Driver Frame Type Symbol (Frame E, F)
For details, refer to the Instruction Manual.
• Wiring of main circuit
Circuit Breaker (NFB)
Protects the power lines.
Shuts off the circuit when overcurrent passes.
Noise Filter (NF)
Prevents external noise from the power lines.
And reduces an effect of the noise generated by
the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo driver.
Surge absorber to be used together with this.
M
S
Console (DV0P4420)
Personal Computer
Reactor (L)
Reduces harmonic current of the main power.
Setup support software
"PANATERM"
(DV0P4460)
PC communication cable
(DV0P1960)
Connector for external equipment (DV0P4500)
or interface connector cable (DV0P4510)
• When the internal regenerative resistor
capacity has shortage, disconnect between B1
and B2, then connect an external
regenerative resistor between P and B2.
Controller
Encoder cable
Regenerative
resistor
(option)
Ground (Earth)
Motor cable
Brake cable
Power supply for
brake DC24V
Motor
to page A4-77
Driver
to page A4-67
Option
to page A4-141
Recommended equipments to page A4-64
Parts customer to prepare
22/11/2012
A4-62
MINAS A4P Wiring example
Pin P, B1 and B2 ...
• B1 and B2 to be kept shorted for normal
operation.
Wiring example
• List of recommended peripheral equipments
Power
supply
voltage
Applicable
Circuit
Power
motor
capacity
breaker
Series Output (atrated load) (rated current)
MSMD
Noise
filter
Surge
absorber
Noise
filter
(signal)
MSMD
phase,
100V
Cable
Cable
diameter
diameter Connector
(Main circuit) (controlcircuit)
50W
Approx. 0.4kVA
Single
Magnetic
contactor
(Contact)
100W
200W
Approx. 0.5kVA
400W
Approx. 0.9kVA
DVOP4170
BMFT61041N
(3P+1a)
DVOP4180
BMFT61541N
(3P+1a)
MQMA
50W
Approx. 0.5kVA
100W
BBW2102
(10A)
MAMA
100W
DVOP4190
Approx. 0.3kVA
0.75mm2
to
2.0mm2
AWG14 to 18
MQMA
Single
phase,
200V
DVOP4170
MAMA
MSMD
200W
Connection to exclusive connector
MSMD
Approx. 0.5kVA
BMFT61542N
(3P+1a)
MQMA
MSMD
400W
Approx. 0.9kVA
400W
Approx. 0.9kVA
500W
Approx. 1.1kVA
MQMA
MAMA
MFMA
MHMA
MSMD
DVOP4180
Approx. 1.3kVA
750W
Approx. 1.6kVA
MAMA
Single/
BBW3152
(15A)
MDMA
1.0kW
3-phase,
MHMA
200V
MGMA
900W
MSMA
1.0kW
Approx. 1.8kVA
DVOP4220
MSMA
BMFT61842N
(3P+1a)
DVOP1460
BBW3202
(20A)
MDMA
1.5kW
Approx. 2.3kVA
2.0kW
Approx. 3.3kVA
2.0mm2
AWG14
0.75mm2
AWG18
MFMA
MHMA
MSMA
MHMA
MFMA
2.5kW
MGMA
2.0kW
BBW3302
(30A)
DVOP4220
DVOP1450
Approx. 3.8kVA
BMF6352N
(3P+2a2b)
MSMA
MDMA
3.0kW
Approx. 4.5kVA
3.5mm2
AWG12
MHMA
3-phase,
200V
MGMA
11.0 or
smaller
MSMA
MDMA
4.0kW
Approx. 6.0kVA
BBW350S
(50A)
DVOP3410
MHMA
ø5.3
MFMA
Approx. 6.8kVA
BMF6652N
(3P+2a2b)
4.5kW
MGMA
MSMA
MDMA
Terminal block M5
MDMA
5.3mm2
AWG10
Approx. 7.5kVA
5.0kW
MHMA
22/11/2012
MINAS A4P Wiring example
•Select a single and 3-phase common specifications corresponding to the power supplies.
•Listed circuit breaker and magnetic contactor are manufactured by Panasonic Electric Works.
•
To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (Listed,
filter and power supply without fail.
For details of noise filter, refer to Page A4-138.
marked) between noise
• Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).
• Terminal block and earth terminals
• Use a copper conductor cables with temperature rating of 60˚C or higher.
• Earth terminals for Frame A to D are M4 and M5 for Frame E, F.
• Larger tightening toque for screws than the max.value (M4 : 1.2 N·m, M5 : 2.0 N·m) may damage the terminal block.
• Mounting screws on the cover of terminal block for frames E, F should be tightened with 0.2 N·m torque.
Application of torque larger than 0.2 N·m may damage the thread on the driver.
• Use an earth cable with the same diameter as that of the main circuit cable.
If the diameter of the main circuit cable is 1.6mm2 or less, use an earth cable with a diameter of 1.6mm2 (AWG14).
• Use the attached exclusive connector for A to D-frame, and maintain the peeled off length of 8 tot 9mm.
• Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N·m.
• Larger torque than 0.35N·m may damage the connector at the driver side.
Do not turn on power without first positively tightening all terminal block screws, otherwise, loose contacts may generate heat (smoking, firing).
MINAS A4P Wiring example
22/11/2012
Table of Part Numbers and Options
Motor
series
Power
supply
MAMA
Single phase
Ultra
low
inertia
200V
Rated
rotational Output
(W)
speed
(r/min)
5000
Motor
Note) 1
3-phase,
Single phase
100V
5000
3000
200V
MQMA
Low
inertia
Cube
type
Single phase
100V
Single phase
200V
Single phase
200V
B-frame
3-phase,
200V
3000
200V
2000
Middle
inertia
3-phase,
200V
2000
D-frame
C-frame
750 MAMA082P1
MAMA082S1
MDDDT5540P
D-frame
50 MSMD5AZP1
MSMD5AZS1
MADDT1105P
100 MSMD011P1
200 MSMD021P1
Low speed/
High torque
200 MQMA021P1
200 MQMA022P1
200V
200V
3-phase,
Flat type
200V
1000
2000
200V
A4-83
MFECA
MFECA
MSMD042S1
MSMD082S1
MBDDT2210P
A4-85
MCDDT3520P
MCDDT3520P
MQMA011S1
MQMA021S1
MFECA
MADDT1107P
MQMA041S1
MQMA022S1
0**0EAE 0**0EAD MADDT1205P
A-frame
MADDT1207P
A4-89
MDDDT5540P
MDDDT5540P
A4-91
MSMA152S1
1500 MSMA152P1
MFECA
2000 MSMA202P1
0**0ESD MSMA202S1
0**0ESE 0**0ESD MEDDT7364P
3000 MSMA302P1
MSMA302S1
MFDDTA390P
MSMA402S1
A4-93
MFECA
MFECA
MFDDTB3A2P
1000 MDMA102P1
MDMA102S1
MDDDT3530P
1500 MDMA152P1
MDMA152S1
MFECA
2000 MDMA202P1
0**0ESD MDMA202S1
A4-97
MDMA302S1
MDMA402S1
A4-99
MDMA502S1
MDDDT3530P
MFECA
A4-97
MFECA
A4-101
2000 MGMA202P1
MFECA
0**0ESD
A4-103
MGMA092S1
MGMA302S1
MGMA452S1
E-frame
MFDDTB3A2P F-frame
MFDDTB3A2P
MDDDT5540P
MGMA202S1
D-frame
MFDDTA390P
A4-99
A4-101
E-frame
MDDDT5540P
0**0ESE 0**0ESD MEDDT7364P
MGMA092S1
900 MGMA092P1
3000 MGMA302P1
MDDDT5540P
A4-95
MDMA152S1
1500 MDMA152P1
D-frame
MFDDTB3A2P F-frame
A4-93
MSMA502S1
MDMA102S1
B-frame
MDDDT5540P
5000 MSMA502P1
A4-95
A-frame
B-frame
MSMA152S1
MSMA102S1
C-frame
C-frame
MFECA
MDDDT5540P
A4-91
B-frame
MCDDT3120P
MFECA
MBDDT2210P
1500 MSMA152P1
A-frame
MBDDT2110P
A4-87
0**0EAM MQMA012S1
A4-89
MADDT1205P
MADDT1207P
MSMD082S1
A4-87
C-frame
0**0EAE 0**0EAD MADDT1205P
MSMD022S1
A4-85
B-frame
MCDDT3120P
MFECA
MFECA
0**0ESE 0**0ESD
A4-103
MDDDT5540P
D-frame
MFDDTA390P
MFDDTB3A2
F-frame
MFDDTB3A2P
400 MFMA042P1
MFMA042S1
MCDDT3520P
C-frame
1500 MFMA152P1
MFMA152S1
MDDDT5540P
D-frame
MCDDT3520P
C-frame
A4-105
MFECA
MFMA042S1
A4-105
MFECA
MFECA
1500 MFMA152P1
0**0ESD MFMA152S1
0**0ESE 0**0ESD MDDDT5540P
D-frame
Note)3 2500 MFMA252P1
MFMA252S1
MEDDT7364P
E-frame
2000
2000
2000
200V
Note)3
MFMA452S1
A4-107
MFDDTB3A2P F-frame
500 MHMA052P1
MHMA052S1
MCDDT3520P
MHMA102S1
MDDDT3530P
500 MHMA052P1
3-phase,
A4-107
1000 MHMA102P1
1500 MHMA152P1
MHMA
High
inertia
MSMD5AZS1
0**0EAM MSMD012S1
A-frame
MBDDT2110P
MSMA102S1
4500 MFMA452P1
Single phase
MFECA
A4-81
MQMA042S1
400 MFMA042P1
Middle
inertia
A4-83
MSMD041S1
MADDT1107P
400 MQMA042P1
4500 MGMA452P1
Single phase
MFMA
MSMD021S1
A4-81
A4-79
1000 MSMA102P1
900 MGMA092P1
3-phase,
MSMD011S1
750 MSMD082P1
5000 MDMA502P1
Middle
inertia
A4-79
200 MSMD022P1
Note)3 3000 MDMA302P1
Single phase 200V 1000
A4-77
MFECA
MCDDT3520P
4000 MDMA402P1
MGMA
0**0EAM MAMA082S1
MFECA
0**0EAE 0**0EAD MDDDT5540P
1000 MDMA102P1
MDMA
MAMA042S1
MAMA042S1
4000 MSMA402P1
Single phase
MFECA
400 MAMA042P1
1000 MSMA102P1
MSMA
low
inertia
A4-77
100 MQMA012P1
3000
A-frame
C-frame
400 MQMA041P1
3000
Frame
symbol
MCDDT3520P
400 MAMA042P1
100 MQMA011P1
3000
Driver
MBDDT2210P
400 MSMD042P1
3000
2500P/r and 17bit common
MADDT1207P
750 MSMD082P1
3-phase, 200V
Encoder
cable
Note) 2
MAMA022S1
100 MSMD012P1
3000
Motor
Note) 1
Rating/ Encoder
Spec.
cable
(page) Note) 2
MAMA012S1
50 MSMD5AZP1
Single phase
17bit, Absolute/Incremental common
Encoder
cable
Note) 2
200 MAMA022P1
400 MSMD041P1
MSMD
Rating/
Spec.
(page)
100 MAMA012P1
750 MAMA082P1
200V
low
inertia
2500P/r, Incremental
MHMA152S1
A4-109
MHMA052S1
MDDDT5540P
A4-109
MHMA102S1
MCDDT3520P
1000 MHMA102P1
MFECA
1500 MHMA152P1
0**0ESD MHMA152S1
2000 MHMA202P1
MHMA202S1
MEDDT7364P
3000 MHMA302P1
MHMA302S1
MFDDTA390P
4000 MHMA402P1
5000 MHMA502P1
A4-111
MHMA402S1
MHMA502S1
22/11/2012
A4-65
MFECA
MFECA
MDDDT3530P
0**0ESE 0**0ESD MDDDT5540
A4-111
C-frame
D-frame
C-frame
D-frame
E-frame
MFDDTB3A2P F-frame
MFDDTB3A2P
MINAS A4P
Table of Part Numbers
and Options
Optional parts
Motor cable
Note) 2
Motor cable
(with brake)
Note) 2
Brake cable
Note) 2
Regenerative
resistor
DV0P4283
MFMCA
0**0EED
–
MFMCB
0**0GET
DV0P4284
0**0EED
–
0**0GET
MFMCA
0**2ECD
0**2FCD
MFMCD0**2ECT
MFMCA0**2FCT
DV0P4280
DV0P227
DV0P4281
MFMCB
DV0P4282
0**0GET
DV0P4281
–
DV0P227
DV0P228
DV0P220
x 2 in parallel
MFMCD
MFMCA
0**2ECD
0**2FCD
DV0P4284
DV0P4285
MFMCA
MFMCA
DV0P4285
0**3ECT
0**3FCT
x 2 in parallel
MFMCD
MFMCA
0**2ECD
0**2FCD
MFMCA
MFMCA
0**3ECT
0**3FCT
DV0P4284
DV0P4285
x 2 in parallel
DV0P4180
DV0P4170
DV0P4180
DV0P4170
DV0P4180
DV0P4170
DV0P4220
DV0P224
DV0P225
DV0P3410
–
DV0P222
DV0P4220
DV0P223
DV0P224
DV0P225
DV0P3410
–
DV0P222
DV0P4220
DV0P223
DV0P224
–
DV0P3410
DV0P4283
DV0P220
DV0P4180
MFMCA
MFMCA
DV0P4284
DV0P222
DV0P4220
0**2ECD
0**2FCD
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4285
DV0P224
MFMCD
MFMCA
0**3ECT
0**3FCT
MFMCD
MFMCA
0**2ECD
0**2FCD
–
DV0P4285
x 2 in parallel
–
MFMCA
MFMCA
0**3ECT
0**3FCT
DV0P4220
DV0P3410
–
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4220
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4285
DV0P223
DV0P4285
x 2 in parallel
DV0P3410
–
22/11/2012
A4-66
Options
Technical reference
Japanese
English
Console
Setup support software, Japanese
PANATERM
English
RS232 communication cable (for connection with PC)
Interface cable
Connector kit for external equipment
Part No.
DV0P4480
–
DV0P4490
–
DV0P4420 A4-152
DV0P4460 A4-151
DV0P1960
DV0P4510
DV0P4500
DV0P4290
DV0P4380
DV0P4310
Connector kit for motor and encoder
DV0P4320
DV0P4330
DV0P4340
Battery for absolute encoder
DV0P2990
DV0P4271
Frame A
DV0P4272
Frame B
Mounting bracket
DV0P4273
Frame C
DV0P4274
Frame D
MFECA0**0EAD
MFECA0**0EAE
Encoder cable
MFECA0**0EAM
MFECA0**0ESD
MFECA0**0ESE
MFMCA0**0EED
MFMCA0**2ECD
MFMCA0**3ECT
Motor cable
MFMCD0**2ECD
MFMCD0**2ECT
MFMCD0**3ECT
MFMCA0**2FCD
Motor cable
MFMCA0**2FCT
(with brake)
MFMCA0**3FCT
MFMCB0**0GET
Brake cable
50 Ω , 25W DV0P4280
100 Ω , 25W DV0P4281
25 Ω , 50W DV0P4282
Regenerative resistor
50 Ω , 50W DV0P4283
30 Ω , 100W DV0P4284
20 Ω , 130W DV0P4285
DV0P220
Reactor
to
DV0P228
DV0P4170
DV0P4180
Noise filter
DV0P4220
DV0P3410
Single phase 100V, 200V DV0P4190
Surge absorber
DV0P1450
3-phase 200V
DV0P1460
Noise filter for signal wire
Note) 1.
Note) 2.
Carrying
page
A4-147
A4-147
A4-146
A4-148
A4-149
A4-154
A4-151
A4-143
A4-144
A4-145
A4-145
A4-153
A4-152
A4-138
A4-139
A4-139
represents the motor structure.
** represents the cable length (specified value)
For details, refer to cable specifications (A4-141).
DV0P4220
DV0P224
DV0P225
• Carrying page
MINAS A4 Table of Part Numbers and Options
0**3FCT
DV0P4170
DV0P221
DV0P223
0**3ECT
–
DV0P221
DV0P4285
DV0P4285
MFMCA0**2FCT
DV0P220
DV0P222
MFMCA
MFMCD0**2ECT
DV0P228
DV0P4284
MFMCA
–
DV0P4220
DV0P4220
DV0P4283
MFMCD
DV0P4180
DV0P4180
DV0P4283
0**0EED
DV0P221
DV0P221
DV0P4280
–
DV0P4170
DV0P220
DV0P4283
MFMCA
DV0P220
DV0P4284
DV0P4282
MFMCB
Noise filter
DV0P4283
DV0P4283
MFMCA
Reactor
Common Specifications of Driver
Single phase, 100 – 115V
+10%
50/60Hz
–15%
Single phase, 100 – 115V
+10%
50/60Hz
–15%
Type
A, B
Single phase, 200 – 240V
+10%
50/60Hz
–15%
Type
C, D
Single/3-phase, 200 – 240V
+10%
50/60Hz
–15%
Type
E, F
3-phase, 200 – 230V
+10%
50/60Hz
–15%
Single phase, 200 – 240V
+10%
50/60Hz
–15%
Single phase, 200 – 230V
+10%
50/60Hz
–15%
Main circuit
power
Input power supply
100Vline Control circuit
power
Main
circuit
power
200Vline
Type
Control A to D
circuit
power Type
E, F
Operating : 0 to 55˚C, Storage : –20 to +65˚C
Temperature
(Max.temperature guarantee 80˚C for 72 hours )
Operation Humidity
conditions Height above the sea
Basic specifications
Vibration
Withstand voltage
Operation/storage humidity 90%RH or less (no condensation)
Height above the sea level: 1000 m or less
5.88
m/s2
or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)
Should be 1500VAC (Sensed current: 20mA) or higher for 1 minute between Primary and Ground.
Control method
Control mode
Encoder feedback
IGBT PWM method, sinusoidal drive
Select Position control or Full-closed control by parameter.
17-bit (131072 resolution) absolute/incremental encoder,
2500P/r (10000 resolution) incremental encoder
Made by Mitsutoyo
Feedback scale
ABS AT573A Series
ABS ST771A Series
ABS ST773A Series
ABS ST771AL Series
ABS ST773AL Series
Resolution(μm)
0.05
0.5
0.1
0.5
0.1
Max. Speed*(m/s)
2
5
4
5
4
* The maximum speed depends on the driver performance. It is limited by the machine configuration and system configuration.
Control
signal
Pulse
signal
Input
(14 inputs )
Output
(10 outputs )
Input
(4 inputs )
Setup
Front panel
Regeneration
CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6
Servo-ON, Strobe, Multi- function input x2
Servo alarm, Brake release signal, Present position output x6,
Positioning completion / Output during deceleration, Motor operation condition
Encoder pulse (A/B/Z-phase) or feedback scale pulse (EXA/EXB-phase)is output by the line driver.
For encoder Z-phase pulse, an open collector output is also available.
Setup with PANATERM or a console is available.
(PANATERM and a console are sold separately)
[1] 7-segment LED 2-digit
[2] Analogue monitor pin (velocity monitor and torque monitor)
Type A, B : No internal regenerative resist (external only)
Type C-F : internal regenerative resist (external is also available)
Dynamic brake
Built in
22/11/2012
A4-67
MINAS A4P
Damping Control
Feedback scale division
gradual increase
setting range
A function to reduce vibration by removing the vibration frequency component
when the front end of the machine vibrates.
Ratio between the encoder pulse (numerator) and the feedback scale pulse (denominator)
can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
The number of points
Operation mode
Homing
operation
Eight types of homing operations
[home sensor + Z phase (based on the front end), home sensor (based on the front end),
home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor,
Z phase homing, Bumping homing, and data set]
The motor can be moved in a positive direction or negative direction independently.
This is useful for teaching or adjustment.
Step operation
The most basic operation. Specify a point number set in advance when performing the operation.
The four types of modes [incremental operation, absolute operation,
rotary axis operation and dwell timer (waiting time)]
Continuous block Several step operations can be performed continuously.
operation
Once an operation starts, the operation continues to a specified point number.
Block operation
Combined block
operation
Teaching
(Console (option)
is necessary)
Real time
Normal mode
Instantaneous
speed observer
Unnecessary wiring
mask function
Division function of
encoder feedback pulse
A step operation is performed according to combined several point numbers.
This is useful when you want to change the speed during a step operation.
A point number increments by 1 automatically whenever an operation command is given.
A step operation can be performed easily only by turning the STB signal on/off.
You can operate the motor actually using this console,
set a target position and execute some test operations.
Load inertia is determined at real time in the state of actual operation
and gain corresponding to the rigidity is set automatically.
Load inertia is determined by driving the equipment with operation command
within the driver and gain corresponding to the rigidity is set automatically.
Available only for position control.
A function to improve the speed detection accuracy,
achieve the quick response and, at the same time,
reduce the vibration at the stop by estimating the motor speed using a load model.
The following control input signal can be masked:
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON
The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
Protection Hardware error
function Software error
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
Alarm data trace back function
Traceable up to 14 alarm data including present alarm data.
Large positional deviation, Undefined data error , EEPROM error, etc.
22/11/2012
A4-68
MINAS A4P Common Specifications of Driver
Auto tuning
maximum 60 points
Jog operation
Sequential
Operation
Function
Common Specifications of Driver
Standard Wiring Example of Main Circuit
• Frame A, B
• In Case of Single Phase, 100V
ON OFF ALM
MC
Surge absorber
L1
L3
L1C
L2C
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
MC
NFB
Control power
supply
ON OFF ALM
MC
Surge absorber
MC L
L1
L3
L1C
L2C
Use a reactor for
3-phase
CN X2
RB1
RB3
RB2
U
V
W
1
2
3
4
Built-in thermostat of an external
regenerative resistor (light yellow)
CN X1
Main power
supply
MC L
Noise
filter
NFB
• In Case of Single Phase, 200V
Noise
filter
Built-in thermostat of an external
regenerative resistor (light yellow)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
Motor
connection
Motor
RB1
RB3
RB2
U
V
W
1
2
3
4
MC
CN X1
Main power
supply
Control power
supply
CN X2
Motor
connection
Motor
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
ALM
37
CN X5
ALM
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
ALM+
36 ALM–
37
CN X5
ALM+
36 ALM–
• Frame C, D
• In Case of Single Phase, 200V
• In Case of 3-Phase, 200V
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
CN X1
MC L
NFB
Noise
filter
L1
L2
L3
Use a reactor for
3-phase
(Remove the short wire when you connect
the external regenerative resistor.)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
U
V
W
*1
2
3
4
DC12 to 24V
(±5%)
* When you use motor model of
MSMA, MDMA, MFMA, MHMA
and MGMA, use the connections
as the right table shows..
L1
L2
L3
L1C
L2C
Control power
supply
(Remove the short wire when you connect
the external regenerative resistor.)
CN X2
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
*1
Motor
connection
Main power
supply
Control power
supply
CN X2
U
2
3
4
V
W
Motor
connection
Motor
Motor
172159-1
Tyco Electronics AMP
CN X1
MC L
NFB
Main power
supply
L1C
L2C
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
When you use single
phase, connect the main
power between L1 and
L3 terminals.
Noise
filter
When you use single
phase, connect the main
power between L1 and
L3 terminals.
ALM
37
172159-1
Tyco Electronics AMP
CN X5
ALM+
DC12 to 24V
(±5%)
36 ALM–
D
ALM
A
PIN No.
G
C
B
H
JL04V-2E20-4PE-B-R
G H A
A
JL04HV-2E22-22PE-B-R
F
F
I
B
[Motor portion]
PIN No. Application
I
Connector :
A
U-phase
B
E D C
V-phase
B
E
by Japan Aviation Electronics Ind.
JL04V-2E20-18PE-B-R
W-phase
C
D
Ground
D
C
Do not connect anything to NC.
22/11/2012
A4-69
Application
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
37
CN X5
ALM+
36 ALM–
PIN No.
A
B
A B C
C
D
D
E
F
E
F
G H I
G
JL04V-2E24-11PE-B-R
H
I
Application
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
Standard Wiring Example
of Main Circuit
MINAS A4P
• Frame E, F
Buiilt-in thermostat of external regenerative resistor (light yellow)
ALM
ON
MC
OFF
MC
Surge absorber
L
MC
NFB
L1
Noise filter
Power supply
(3-phase)
Main power
supply
connection
L2
L3
Control power
supply
connection
r
t
(Connect these at normal operation)
P
B1
External regenerative
resistor
B2
U
Motor
connection
V
W
*
Cannon Connector
ALM
DC12 to 24V
(± 5%)
Motor
37
36
ALM+
ALM-
[Motor portion]
D
A
C
B
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
G
H
F
A
I
E
D
PIN No. Application
A
U-phase
V-phase
B
W-phase
C
Ground
D
A
B
B
D
C
C
E
G
H
F
I
JL04V-2E20-18PE-B-R
JL04V-2E24-11PE-B-R
PIN No. Application
G
Brake
H
Brake
A
NC
F
U-phase
I
V-phase
W-phase
B
E
Ground
D
Ground
NC
C
PIN No. Application
A
Brake
Brake
B
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
Do not connect anything to NC.
22/11/2012
A4-70
MINAS A4P Standard Wiring Example of Main Circuit
* One of the following connections applies in
accordance with the series of motors.
Refer to "Connector and Plug Specifications"
on page A4-142.
Encoder Wiring Diagram
• 2500P/r Incremental encoder
Motor MAMA, MSMD and MQMA series
Motor MSMA, MDMA and MFMA, MGMA series
E5V
E0V G
CN X6
4
E5V
Black
E0V
Light blue
PS
Purple
1
E5V
2
E0V
3
5
+5V
0V
E5V
E0V
+5V
0V
4
PS
4
PS
2
5
FG
3
6
PS
2
CN X6
3
Regulator
White
Pin No. of cannon plug
1
Regulator
H
PS
K
5
L
6
PS
PS
J
PS
6
FG
Straight plug N/MS3106B20-29S
Twisted pair
Cable clamp N/MS3057-12A
by Japan Aviation Electronics
Shield wire
Twisted pair
172160-1
(by Tyco Electronics, AMP)
172168-1
(by Tyco Electronics,
AMP)
Servo motor
Servo motor
Junction cable
Motor side
Driver side
Junction cable
Motor side
Driver side
• 17bit Absolute/ Incremental common encoder
Motor MSMA, MDMA and MFMA, MGMA series
Motor MAMA, MSMD and MQMA series
Pin No. of cannon plug
CN X6
E5V
E0V
7
1
8
2
E5V
E0V
3
+5V
0V
E5V
E0V
1
G
2
Pink
Light blue
BAT+
BAT–
PS
Purple
Yellow/Green
1
Battery
2
5
6
172169-1
(by Tyco Electronics,
AMP)
PS
BAT+
PS
BAT–
4
PS
5
PS
3
FG
0V
T
Battery
5
6
S
PS
PS
K
L
J
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
by Japan Aviation Electronics Twisted pair
Twisted pair
172161-1
(by Tyco Electronics, AMP)
Servo motor
Servo motor
Motor side
E0V
+5V
4
PS
FG
E5V
3
4
Red
CN X6
Regulator
Black
Regulator
White
H
Junction cable
Motor side
Driver side
22/11/2012
A4-71
Junction cable
Driver side
MINAS A4P
Standard Wiring Example of Control Circuit
Encoder Wiring Diagram
Table of Applicable Motors
• Wiring example at each control mode
• CN X5 Wiring example at torque control mode
Control signal power supply
Driver side
1
COM+ 4.7kΩ
2 EMG-STP
4.7kΩ
CCW over-travel inhibit input 19
CCWL 4.7kΩ
CW over-travel inhibit input 20
CWL
Emargency stop input
Home sensor input
Servo-ON signal input
Strobe signal input
Z-LS
4.7kΩ
23 SRV-ON
4.7kΩ
24 STB
4.7kΩ
Point specifying input
3
P1IN
Point specifying input
4.7kΩ
4
P2IN
Point specifying input
4.7kΩ
5
P4IN
Point specifying input
4.7kΩ
6
P8IN
Point specifying input
4.7kΩ
7
P16IN
Point specifying input
4.7kΩ
8
P32IN
4.7kΩ
Multi-function input 2
22 EX-IN1
25 EX-IN2
Present position
output
MAX 50mA 29
Present position
output
MAX 50mA 30
Present position
output
MAX 50mA 31
Present position
output
MAX 50mA 32
Present position
output
MAX 50mA 33
Present position
output
MAX 50mA 34
Motor operation
condition output
MAX 50mA 28
Positioning completion
output / Output during
MAX 50mA 27
deceleration
MAX 50mA 15
MAX 50mA 36
Control signal power supply
17
OA+
P1OUT
OA-
P2OUT
OB+
OBOZ+
OZ-
P4OUT
P8OUT
GND
CZ
P16OUT
11
12
330Ω
A-phase
output
330Ω
B-phase
output
330Ω
Z-phase
output
13
14
9
10
26
16 Z-phase output (open collector)
P32OUT
BUSY
COIN/
DCLON
ALM
BRK-OFF
COM–
18
FG
CN X5
(
represents twisted pair.)
Table of Applicable Motors
Driver
Frame symbol
Part No.
Motor series
MAMA
MSMD
MAMA012***
MSMD5AZ***
MSMD011***
MSMD5AZ***
MSMD012***
MSMD022***
MSMD021***
MSMD042***
MSMD041***
MSMD082***
MADDT1105P
MADDT1107P
A-frame MADDT1205P
MADDT1207P
MBDDT2110P
MBDDT2210P
MCDDT3120P
C-frame
MCDDT3520P
MDDDT3530P
D-frame MDDDT5540P
B-frame
MAMA022***
MAMA042***
MQMA
MSMA
MDMA
MGMA
MFMA
MHMA
MFMA042***
MHMA052***
MHMA102***
MHMA152***
MQMA011***
MQMA012***
MQMA022***
MQMA021***
MQMA042***
MQMA041***
MAMA082***
E-frame MEDDT7364P
MFDDTA390P
F-frame MFDDTB3A2P
MSMA102***
MSMA152***
MSMA202***
MSMA302***
MSMA402***
MSMA502***
Refer to page, A4-65, Table of Part Numbers and Options as well.
22/11/2012
A4-72
MDMA102***
MDMA152***
MGMA092***
MDMA202***
MDMA302***
MDMA402***
MDMA502***
MGMA202***
MGMA302***
MGMA452***
MFMA152***
MFMA252***
MFMA452***
MHMA202***
MHMA302***
MHMA402***
MHMA502***
MINAS A4P Encoder Wiring Diagram / Table of Applicable Motors
Servo alarm output
Brake release
signal
4.7kΩ
Diviber
Multi-function input 1
VDC
12 to 24V
4.7kΩ
21
Driver/Dimensions
[unit: mm]
Frame A
40
132
21
24
7
ø5.2
(41)
Mounting bracket
(Option)
.2
ø5
140
Main power input
terminals CN X1
Control power input
terminals CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals CN X2
150
170
180
RS232
communication
terminal, CN X4
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
Encoder
terminals, CN X6
Feedback scale R2.6
terminals, CN X7
.
R2
5.2
(75)
7
6
5
Control signal
terminals, CN X5
5.2
Mounting bracket
(Option)
Rack mount type
(Option : Front-end mounting)
28
6
Base mount type
(Standard : Back-end mounting)
Connector at driver side
Connector sign
CNX7
CNX6
CNX5
CNX4
CNX3B
CNX3A
CNX2
CNX1
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
MD-S8000-10 (or equivalent)
855050013(or equivalent)
855050013(or equivalent)
S06B-F32SK-GGXR(or equivalent)
S04B-F32SK-GGXR(or equivalent)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector at Power Supply and Motor side
Connector sign
Connector type
CNX2
06JFAT-SAXGF(or equivalent)
CNX1
04JFAT-SAXGF(or equivalent)
Manufacturer
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Mass 0.8kg
[unit: mm]
Frame B
55
132
28
7
ø5.2
24
Mounting bracket
(Option)
.2
150
170
180
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Feedback scale
terminals, CN X7
.6
R2
.6
R2
5.2
7
(75)
Mounting bracket
(Option)
Rack mount type
(Option : Front-end mounting)
5.2
43
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
MD-S8000-10 (or equivalent)
855050013(or equivalent)
855050013(or equivalent)
S06B-F32SK-GGXR(or equivalent)
S04B-F32SK-GGXR(or equivalent)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
6
Base mount type
(Standard : Back-end mounting)
Connector at driver side
Connector sign
CNX7
CNX6
CNX5
CNX4
CNX3B
CNX3A
CNX2
CNX1
5
Main power input
terminals CN X1
Control power input
terminals CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals CN X2
RS232
communication
terminal, CN X4
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
140
ø5
Connector at Power Supply and Motor side
Connector type
Connector sign
06JFAT-SAXGF(or equivalent)
CNX2
CNX1
04JFAT-SAXGF(or equivalent)
22/11/2012
A4-73
Manufacturer
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Mass 1.1kg
Driver / Dimensions
MINAS A4P
[unit: mm]
Frame C
65
172
40
Name plate
150
170
180
Encoder
terminals, CN X6
Feedback scale
terminals, CN X7
6
R2.
(75)
5.2
40
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
MD-S8000-10 (or equivalent)
855050013(or equivalent)
855050013(or equivalent)
S06B-F32SK-GGXR(or equivalent)
S05B-F32SK-GGXR(or equivalent)
Connector at Power Supply and Motor side
Connector type
Connector sign
06JFAT-SAXGF(or equivalent)
CNX2
CNX1
05JFAT-SAXGF(or equivalent)
172
24
.2
ø5
RS232 communication
terminal, CN X3
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
Mounting bracket
(Option)
ø5
.2
150
170
180
140
Name plate
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Feedback scale
terminals, CN X7
.6
R2
10
Connector at driver side
Connector sign
CNX7
CNX6
CNX5
CNX4
CNX3B
CNX3A
CNX2
CNX1
60
40
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
MD-S8000-10 (or equivalent)
855050013(or equivalent)
855050013(or equivalent)
S06B-F32SK-GGXR(or equivalent)
S05B-F32SK-GGXR(or equivalent)
R2.6
5.2
40
6
.
R2
5.2
(75)
Mounting bracket
(Option)
Air movement
(inside out)
Rack mount type
(Option : Front-end mounting)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
5.2
70
Connector at Power Supply and Motor side
Connector type
Connector sign
06JFAT-SAXGF(or equivalent)
CNX2
CNX1
05JFAT-SAXGF(or equivalent)
22/11/2012
A4-74
Manufacturer
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
7.5
Base mount type
(Standard : Back-end mounting)
Mass 1.7kg
MINAS A4P Driver / Dimensions
10
ø5.2
)
Mass 1.5kg
Air movement
(inside out)
85
(
Manufacturer
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
[unit: mm]
Frame D
Main power input
terminals CN X1
Control power input
terminals CN X1
Regenerative resistor
connecting terminals
CN X2
Short between RB2 and
RB3 in normal operation.
Motor connecting
terminals CN X2
7.5
Base mount type
(Standard : Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
50
5
Connector sign
CNX7
CNX6
CNX5
CNX4
CNX3B
CNX3A
CNX2
CNX1
5.2
Mounting bracket
(Option)
20
Connector at driver side
5
Control signal
terminals, CN X5
.6
)
RS232 communication
terminal, CN X4
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
.2
ø5
R2
(
Main power input
terminals CN X1
Control power input
terminals CN X1
Regenerative resistor connecting
terminals CN X2
Short between RB2 and
RB3 in normal operation.
Motor connecting
terminals CN X2
Mounting bracket
(Option)
140
ø5.2
24
20
Driver/Dimensions
Air movement
(inside out)
Frame E
5.2
(88)
85
50
17.5
42.5
[unit: mm]
(200)
32.1
5.2
2.6
ø5
.2
Name plate
168
188
198
Control power
input terminals
Regenerative resistor
connecting terminals
(short between
B1 and B2 in
normal operation)
3.5
Mounting bracket
(put substitution of the Standard for the back-end)
RS232 communication
terminal, CN X4
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
Main power
input terminals
Mounting bracket
(Standard)
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Feedback scale
terminals, CN X7
Motor connecting
terminals
5.2
ø5.2
Earth terminals
17.5
50
Air movement
(inside out)
Connector at driver side
Connector sign
Connector type
(75)
5.2
42.5
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529863679 (or equivalent)
CNX4
MD-S8000-10 (or equivalent)
Molex Inc.
J.S.T. Mfg.Co., Ltd.
CNX3B
855050013(or equivalent)
Molex Inc.
CNX3A
855050013(or equivalent)
Molex Inc.
Mass 3.2kg
[unit: mm]
Frame F
130
100
15
65
5.2
32.3
2.6
5.2
.2
ø5
(200)
Mounting bracket
3.5
(Standard)
Mounting bracket
(put substitution of the Standard for the back-end)
Air movement (from front to back)
Main power
input terminals
RS232 communication
terminal, CN X4
For manufacturer's use only:
Not for individual use.
For manufacturer's use only:
Not for individual use.
Control power
input terminals
Regenerative resistor
connecting terminals
(short between
B1 and B2 in
normal operation)
Motor connecting
terminals
Name plate
220
240
250
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Feedback scale
terminals, CN X7
5.2
ø5.2
Earth terminals
100
(75)
5.2
65
15
Connector at driver side
Connector type
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529863679 (or equivalent)
CNX4
MD-S8000-10 (or equivalent)
85
Connector sign
Molex Inc.
J.S.T. Mfg.Co., Ltd.
CNX3B
855050013(or equivalent)
Molex Inc.
CNX3A
855050013(or equivalent)
Molex Inc.
Mass 6.0kg
22/11/2012
A4-75
Motor Specifications and Ratings 200V MAMA
100W to 750W
Ultra low inertia Small capacity
AC200V
M AM A
Motor model
Model No.
Applicable driver
A4
series
A4F
series
A4P
series
Frame symbol
012P1
012S1
022P1
022S1
042P1
042S1
082P1
082S1
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1207F
MBDDT2210F
MCDDT3520F
MDDDT5540F
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
Frame A
Frame B
Frame C
Frame D
0.3
0.5
0.9
1.6
Power supply capacity (kVA)
Rated output (W)
100
200
400
750
Rated torque (N . m)
0.19
0.38
0.76
1.43
Momentary Max. peak torque (N . m)
0.95
1.91
3.82
7.16
Rated current (Arms)
0.9
1.54
3.1
5.1
Max. current (Ao-p)
6.3
10.9
21.7
36.0
Regenerative brake
frequency
(times/min)
Note)1
Without option
No limit
No limit
DV0P4283
No limit
DV0P4284
6000
Max. rotational speed (r/min)
Without brake
0.025
0.035
0.078
0.088
0.14
0.15
0.50
0.51
With brake
0.029
0.039
0.11
0.12
0.17
0.18
0.58
0.59
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
15 times or less
2500P/r
Incremental
17-bit
17-bit
2500P/r
Absolute/
Absolute/
Incremental
Incremental
Incremental
10000
131072
Ambient temperature
131072
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Ambient humidity
Installation location
10000
IP65 (except rotating portion of output shaft and lead wire end)
Protective enclosure rating
Environment
Note)2
5000
Rated rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
Note)2
Note)2
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
1000m or lower
Altitude
Vibration resistance
Mass (kg), ( ) represents holding brake type
49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less
0.65 (0.85)
0.71 (0.91)
1.1 (1.5)
1.2 (1.6)
1.5 (1.9)
1.6 (2.0)
3.3 (4.0)
3.4 (4.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
1.27
0.29
2.45
35
50
70
10 (60)
10 (100)
20 (–)
0.30
0.35
0.25
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
147
392
686
Thrust load A-direction (N)
88
147
294
Thrust load B-direction (N)
117.6
196
392
Radial load P-direction (N)
68.6
245
392
Thrust load A-direction (N)
49
68.6
68.6
Thrust load B-direction (N)
49
68.6
68.6
For motor dimensions, refer to page A4-115, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74.
22/11/2012
A4-77
A4
MAMA
MINAS A4F
A4P
100W-750W
Model designation MAMA series, 100W to 750W
e.g.)
M A M A 0
Symbol
MAMA
Type
Ultra low inertia
(100W-750W)
1
2 S 1 A
Design order
1 : Standard
Voltage specifications
Symbol
2
Specifications
200V
Motor structure
Symbol
Holding brake
Shaft
Round Key-way without
with
Oil seal
without
with
A
Motor rated output
B
Symbol
Rated output
01
02
04
08
100W
200W
400W
750W
E
Rotary encoder specifications
Symbol
Format
Pulse counts
P
Incremental
S
Absolute/Incremental
Resolution
Wires
2500P/r
10000
5
17-bit
131072
7
F
Torque characteristics at AC200V of power voltage
torque
[N . m]
1.0
(0.95)
Peak run range
(0.19)
Continuous run range
(5000)
0
2000
4000
6000
(1.91)
100
(0.38)
10
20
30
0
40
4000
6000
100
50
0
10
20
30
40
ambient temperature[˚C]
MAMA082 1
(3.82)
Peak run range
Continuous run range
(5000)
4000
6000
2000
rotational speed [r/min]
*Continuous torque,
ambient temperature
100
(7.16)
Peak run range
4.0
50
(1.43)
0
*Continuous torque,
ambient temperature
torque
[N . m]
8.0
Continuous run range
(5000)
10
20
30
40
ambient temperature[˚C]
0
4000
6000
2000
rotational speed [r/min]
100
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-78
MINAS A4/A4F/A4P Motor
versus rated torque (%)
torque
[N . m]
4.0
0
2000
*Continuous torque,
ambient temperature
rotational speed [r/min]
ambient temperature[˚C]
MAMA042 1
(0.76)
Continuous run range
(5000)
0
rotational speed [r/min]
2.0
Peak run range
1.0
50
versus rated torque (%)
0.5
torque
[N . m]
2.0
*Continuous torque,
ambient temperature
versus rated torque (%)
MAMA022 1
versus rated torque (%)
MAMA012 1
Motor Specifications and Ratings 100V MSMD
50W to 100W
Low inertia Small Capacity
AC100V
MSMD
Motor model
Model No.
Applicable driver
5AZS1
5AZP1
A4
series
A4F
series
A4P
series
011P1
011S1
MADDT1105
MADDT1107
MADDT1105F
MADDT1107F
MADDT1105P
MADDT1107P
Frame symbol
Frame A
Power supply capacity (kVA)
0.5
0.4
Rated output (W)
50
100
Rated torque (N . m)
0.16
0.32
Momentary Max. peak torque (N . m)
0.48
0.95
Rated current (Arms)
1.1
1.7
Max. current (Ao-p)
4.7
7.2
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4280
No limit
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
0.025
0.051
With brake
0.027
0.054
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
30 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Ambient humidity
Environment
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
1000m or lower
Altitude
Vibration resistance
Mass (kg), ( ) represents holding brake type
2
49m / s or less
49m / s2 or less
0.32 (0.53)
0.47 (0.68)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
0.29
Static friction torque (N . m)
35
Engaging time (ms)
Releasing time (ms)
20 (–)
Note)4
0.30
Exciting current (DC) (A)
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
147
Thrust load A-direction (N)
88
Thrust load B-direction (N)
117
Radial load P-direction (N)
68
Thrust load A-direction (N)
58
Thrust load B-direction (N)
58
For motor dimensions, refer to page A4-116, and for the diver, refer to pages A4-22, 48 and 73.
22/11/2012
A4-79
A4
MSMD
MINAS A4F
A4P
50W - 100W
Model designation MSMD series, 50W to 100W
e.g.)
M S M D 5 A Z S 1 S
Motor structure
Symbol
Type
MSMD
Low inertia
(50W-100W)
Motor rated output
Design order
1 : Standard
Voltage specifications
Symbol Specifications
1
100V
100/200V
Z
(50W only)
Symbol
A
B
S
T
Motor with oil seal is manufactured by order.
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
5A
50W
P
Incremental
2500P/r
10000
5
01
100W
S
Absolute/Incremental
17-bit
131072
7
Symbol Rated output
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
Torque characteristics at AC100V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MSMD5AZ 1
1000 2000 3000 4000 5000
rotational speed [r/min]
With Oil seal
torque
[N . m]
0.5
(0.48)
Peak run range
0.25
(0.16)
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
50
0
10
20
30
40
ambient temperature[˚C]
without Brake
with Brake
100
70
60
50
0
10
20
30
40
ambient temperature[˚C]
torque
[N . m]
1.0
(0.95)
0.5
(0.32)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
torque
[N . m]
1.0
(0.95)
0.5
(0.32)
0
Peak run range
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
0
Without Oil seal
Continuous run range
100
95
With Oil seal
Peak run range
0.25
(0.16)
versus rated torque (%)
0.5
(0.48)
versus rated torque (%)
Without Oil seal
torque
[N . m]
versus rated torque (%)
MSMD011 1
*Continuous torque,
ambient temperature
*Continuous torque,
ambient temperature
100
95
50
0
10
20
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature without Brake
with Brake
100
75
70
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC115V (at 100V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-80
Motor Specifications and Ratings 100V MSMD
200W to 400W
Low inertia Small Capacity
AC100V
MSMD
Motor model
021P1
A4
series
A4F
series
A4P
series
021S1
041P1
041S1
MBDDT2110
MCDDT3120
MBDDT2110F
MCDDT3120F
MBDDT2110P
MCDDT3120P
Frame B
Frame C
Power supply capacity (kVA)
0.5
0.9
Rated output (W)
200
400
Rated torque (N . m)
0.64
1.3
Momentary Max. peak torque (N . m)
1.91
3.8
Rated current (Arms)
2.5
4.6
Max. current (Ao-p)
10.6
19.5
Model No.
Applicable driver
Frame symbol
Regenerative brake
frequency
(times/min) Note)1
No limit
Without option
Note)2
–
DV0P4282
DV0P4283
No limit
No limit
–
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
0.14
0.26
With brake
0.16
0.28
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
30 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Ambient humidity
Environment
Note)2
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
0.82 (1.3)
1.2 (1.7)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
1.27
Engaging time (ms)
Releasing time (ms)
50
Note)4
15 (–)
Exciting current (DC) (A)
0.36
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
392
Thrust load A-direction (N)
147
Thrust load B-direction (N)
196
Radial load P-direction (N)
245
Thrust load A-direction (N)
98
Thrust load B-direction (N)
98
For motor dimensions, refer to page A4-117, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74.
22/11/2012
A4-81
A4
MSMD
MINAS A4F
A4P
200W - 400W
Model designation MSMD series, 200W to 400W
e.g.)
M S M D 0
2
1 S 1 S
Motor structure
Symbol
Type
Low inertia
(200W-400W)
MSMD
Design order
1 : Standard
Voltage specifications
Symbol Specifications
1
100V
Symbol
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
A
B
S
T
Motor rated output
Symbol Rated output
02
04
Motor with oil seal is manufactured by order.
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
200W
400W
Torque characteristics at AC100V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MSMD041 1
1.0
(0.64)
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
10
20
30
40
2.0
(1.3)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
100
90
50
0
rotational speed [r/min]
ambient temperature[˚C]
versus rated torque (%)
without Brake
with Brake
Peak run range
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
0
10
20
30
40
4.0
(3.8)
ambient temperature[˚C]
Peak run range
Continuous run range
0
20
30
40
*Continuous torque,
ambient temperature
torque
[N . m]
2.0
(1.3)
10
ambient temperature[˚C]
1000 2000 3000 4000 5000
rotational speed [r/min]
100
75
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC115V (at 100V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-82
MINAS A4/A4F/A4P Motor
With Oil seal
0
100
80
70
50
2.0
(1.91)
0
50
4.0
(3.8)
*Continuous torque,
ambient temperature
torque
[N . m]
1.0
(0.64)
100
*Continuous torque,
ambient temperature
torque
[N . m]
versus rated torque (%)
0
Without Oil seal
Peak run range
*Continuous torque,
ambient temperature
With Oil seal
2.0
(1.91)
versus rated torque (%)
Without Oil seal
torque
[N . m]
versus rated torque (%)
MSMD021 1
Motor Specifications and Ratings 200V MSMD
50W to 100W
Low inertia Small Capacity
AC200V
MSMD
Motor model
Model No.
Applicable driver
5AZP1
5AZS1
A4
series
A4F
series
A4P
series
012P1
012S1
MADDT1205
MADDT1205F
MADDT1205P
Frame A
Frame symbol
Power supply capacity (kVA)
0.5
0.5
Rated output (W)
50
100
Rated torque (N . m)
0.16
0.32
Momentary Max. peak torque (N . m)
0.48
0.95
Rated current (Arms)
1.1
Max. current (Ao-p)
4.7
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4281
No limit
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
0.025
0.051
With brake
0.027
0.054
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
30 times or less
17-bit
Absolute/
Incremental
2500P/r
Incremental
10000
131072
Installation location
10000
131072
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
17-bit
Absolute/
Incremental
2500P/r
Incremental
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
Mass (kg), ( ) represents holding brake type
2
49m / s or less
49m / s2 or less
0.32(0.53)
0.47(0.68)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
0.29
Static friction torque (N . m)
35
Engaging time (ms)
Releasing time (ms)
20 (–)
Note)4
0.30
Exciting current (DC) (A)
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
147
Thrust load A-direction (N)
88
Thrust load B-direction (N)
117
Radial load P-direction (N)
68
Thrust load A-direction (N)
58
Thrust load B-direction (N)
58
For motor dimensions, refer to page A4-116, and for the diver, refer to pages A4-22, 48 and 73.
22/11/2012
A4-83
A4
MSMD
MINAS A4F
A4P
50W - 100W
Model designation MSMD series, 50W to 100W
e.g.)
M S M D 5 A Z S 1 S
Motor structure
Symbol
Type
Low inertia
(50W-100W)
MSMD
Voltage specifications
Symbol Specifications
2
200V
100/200V
Z
(50W only)
Symbol
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
A
B
S
T
Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
5A
01
Design order
1 : Standard
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
50W
100W
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
Continuous run range
0
1000 2000 3000 4000 5000
100
95
50
0
10
20
30
40
torque
[N . m]
1.0
(0.95)
0.5
(0.32)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
0.25
(0.16)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
*Continuous torque,
ambient temperature without Brake
With Oil seal
0.5
(0.48)
versus rated torque (%)
With Oil seal
torque
[N . m]
with Brake
100
70
60
50
0
10
20
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature
100
95
50
0
torque
[N . m]
1.0
(0.95)
0.5
(0.32)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
10
20
30
40
ambient temperature[˚C]
rotational speed [r/min]
ambient temperature[˚C]
versus rated torque (%)
Peak run range
0.25
(0.16)
*Continuous torque,
ambient temperature
Without Oil seal
0.5
(0.48)
versus rated torque (%)
Without Oil seal
torque
[N . m]
versus rated torque (%)
MSMD012 1
MSMD5AZ 1
*Continuous torque,
ambient temperature
without Brake
with Brake
100
75
70
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-84
Motor Specifications and Ratings 200V MSMD
200W to 750W
Low inertia Small Capacity
AC200V
MSMD
Motor model
A4
series
A4F
series
A4P
series
022P1
022S1
042P1
042S1
082P1
082S1
MADDT1207
MBDDT2210
MCDDT3520
MADDT1207F
MBDDT2210F
MCDDT3520F
MADDT1207P
MBDDT2210P
MCDDT3520P
Frame A
Frame B
Frame C
0.5
0.9
1.3
Rated output (W)
200
400
750
Rated torque (N . m)
0.64
1.3
2.4
Momentary Max. peak torque (N . m)
1.91
3.8
7.1
Rated current (Arms)
1.6
2.6
4.0
Model No.
Applicable driver
Frame symbol
Power supply capacity (kVA)
Max. current (Ao-p)
Regenerative brake
frequency
(times/min) Note)1
No limit
Note)2
DV0P4283
No limit
Note)2
3000
Rated rotational speed (r/min)
5000
Max. rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
4500
Without brake
0.14
0.26
0.87
With brake
0.16
0.28
0.97
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
30 times or less
2500P/r
Incremental
Ambient temperature
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
131072
10000
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Installation location
20 times or less
17-bit
Absolute/
Incremental
Protective enclosure rating
Environment
17.0
11.0
6.9
Without option
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
1.2 (1.7)
0.82 (1.3)
2.3 (3.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
1.27
2.45
Engaging time (ms)
50
70
Releasing time (ms)
15 (–)
20 (–)
0.36
0.42
Note)4
Exciting current (DC) (A)
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
392
686
Thrust load A-direction (N)
147
294
Thrust load B-direction (N)
196
392
Radial load P-direction (N)
245
392
Thrust load A-direction (N)
98
147
Thrust load B-direction (N)
98
147
For motor dimensions, refer to page A4-117, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74.
22/11/2012
A4-85
A4
MSMD
MINAS A4F
A4P
200W - 750W
Model designation MSMD series, 200W to 750W
e.g.)
M S M D 0
2
2 S 1 S
Motor structure
Symbol
Type
Low inertia
(200W-750W)
MSMD
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
A
B
S
T
Motor rated output
Motor with oil seal is manufactured by order.
Rotary encoder specifications
Symbol Rated output
02
04
08
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
200W
400W
750W
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
1.0
Continuous run range
0
1000 2000 3000 4000 5000
With Oil seal
torque
[N . m]
(0.64)
Peak run range
Continuous run range
0
50
0
10
20
1000 2000 3000 4000 5000
rotational speed [r/min]
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature
100
80
70
2.0
(1.91)
1.0
versus rated torque (%)
rotational speed [r/min]
100
With Oil seal
Peak run range
Without Oil seal
versus rated torque (%)
Without Oil seal
2.0
(1.91)
(0.64)
*Continuous torque,
ambient temperature
without Brake
with Brake
0
10
20
30
40
torque
[N . m]
4.0
(3.8)
2.0
(1.3)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
torque
[N . m]
4.0
(3.8)
2.0
Peak run range
(1.3)
Continuous run range
0
ambient temperature[˚C]
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
MSMD042 1
torque
[N . m]
versus rated torque (%)
MSMD022 1
*Continuous torque,
ambient temperature
100
90
50
0
10
20
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature
100
75
50
0
10
20
30
40
ambient temperature[˚C]
(7.1)
4.0
(2.4)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
With Oil seal
torque
[N . m]
8.0
(7.1)
4.0
(2.4)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
versus rated torque (%)
8.0
versus rated torque (%)
Without Oil seal
torque
[N . m]
*Continuous torque,
ambient temperature
100
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
*Continuous torque,
ambient temperature
Torque
100
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
50
0
10
20
30
Continuous running range
40
rotational speed
ambient temperature[˚C]
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-86
MINAS A4/A4F/A4P Motor
MSMD082 1
Motor Specifications and Ratings 100V MQMA
100W to 400W
Low inertia, Flat, Small Capacity
AC100V
MQMA
Motor model
Model No.
Applicable driver
011P1
A4
series
A4F
series
A4P
series
011S1
021P1
021S1
041P1
041S1
MADDT1107
MBDDT2110
MCDDT3120
MADDT1107F
MBDDT2110F
MCDDT3120F
MADDT1107P
MBDDT2110P
MCDDT3120P
Frame A
Frame B
Frame C
Frame symbol
Power supply capacity (kVA)
0.4
0.5
0.9
Rated output (W)
100
200
400
Rated torque (N . m)
0.32
0.64
1.3
Momentary Max. peak torque (N . m)
0.95
1.91
3.82
Rated current (Arms)
1.6
2.5
4.4
10.5
18.6
Max. current (Ao-p)
6.9
Without option
Regenerative brake
frequency
(times/min) Note)1
No limit
No limit
DV0P4280
Note)2
No limit
DV0P4282
No limit
DV0P4283
Max. rotational speed (r/min)
5000
4500
Without brake
0.09
0.10
0.34
0.35
0.64
0.65
With brake
0.12
0.13
0.42
0.43
0.72
0.73
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
20 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
131072
10000
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
85%RH or lower (free from condensing)
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
Mass (kg), ( ) represents holding brake type
2
2
2
49m / s or less
24m / s or less
49m / s or less
24m / s2 or less
49m / s2 or less
24m / s2 or less
0.65 (0.90)
0.75 (1.0)
1.3 (2.0)
1.4 (2.1)
1.8 (2.5)
1.9 (2.6)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
0.29
1.27
Engaging time (ms)
50
60
Releasing time (ms)
15 (100)
15 (100)
0.29
0.41
Note)4
Exciting current (DC) (A)
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±5%
Permissible load
Radial load P-direction (N)
147
392
During assembly Thrust load A-direction (N)
88
147
Thrust load B-direction (N)
117
196
Radial load P-direction (N)
68
245
Thrust load A-direction (N)
58
98
Thrust load B-direction (N)
58
98
During operation
Note)2
Note)2
3000
Rated rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
Note)2
For motor dimensions, refer to page A4-118, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74.
22/11/2012
A4-87
A4
MQMA
MINAS A4F
A4P
100W - 400W
Model designation MQMA series, 100W to 400W
e.g.)
M Q M A 0
1
1 S 1 S
Motor structure
Symbol
Type
Low inertia
(100W-400W)
MQMA
Design order
1 : Standard
Voltage specifications
Symbol Specifications
1
100V
Symbol
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
A
B
S
T
Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
01
02
04
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
100W
200W
400W
Torque characteristics at AC100V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
1.0
(0.95)
0.5
(0.32)
*Continuous torque,
ambient temperature
100
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
50
0
10
20
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature
torque
[N . m]
2.0
(1.91)
Peak run range
1.0
(0.64)
0
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
torque
[N . m]
With / Without Oil seal
MQMA021 1
versus rated torque (%)
With / Without Oil seal
MQMA011 1
100
50
0
10
20
30
40
ambient temperature[˚C]
4.0
(3.82)
Peak run range
2.0
(1.3)
Continuous run range
0
1000 2000 3000 4000 4500
rotational speed [r/min]
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
100
MINAS A4/A4F/A4P Motor
With / Without Oil seal
MQMA041 1
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC115V (at 100V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-88
Motor Specifications and Ratings 200V MQMA
100W to 400W
Low inertia, Flat, Small Capacity
AC200V
MQMA
Motor model
Model No.
Applicable driver
A4
series
A4F
series
A4P
series
012P1
012S1
022P1
022S1
042P1
042S1
MADDT1205
MADDT1207
MBDDT2210
MADDT1205F
MADDT1207F
MBDDT2210F
MADDT1205P
MADDT1207P
MBDDT2210P
Frame A
Frame symbol
Frame B
Power supply capacity (kVA)
0.3
0.5
0.9
Rated output (W)
100
200
400
Rated torque (N . m)
0.32
0.64
1.3
Momentary Max. peak torque (N . m)
0.95
1.91
3.82
Rated current (Arms)
1.0
1.6
2.5
6.8
10.5
Max. current (Ao-p)
Regenerative brake
frequency
(times/min) Note)1
4.3
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
0.090
0.100
0.340
0.350
0.640
0.650
With brake
0.120
0.130
0.420
0.430
0.720
0.730
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
20 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Installation location
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
Mass (kg), ( ) represents holding brake type
49m /s2 or less
24m / s2 or less
49m/s2 or less
24m/s2 or less
49m / s2 or less
0.65 (0.90)
0.75 (1.0)
1.3 (2.0)
1.4 (2.1)
1.8 (2.5)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.29
1.27
50
60
15 (100)
15 (100)
0.29
0.41
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
147
392
Thrust load A-direction (N)
88
147
Thrust load B-direction (N)
117
196
Radial load P-direction (N)
68
245
Thrust load A-direction (N)
58
98
Thrust load B-direction (N)
58
98
For motor dimensions, refer to page A4-118, and for the diver, refer to pages A4-22, 48 and 73.
22/11/2012
A4-89
24m/s2 or less
1.9 (2.6)
A4
MQMA
MINAS A4F
A4P
100W - 400W
Model designation MQMA series, 100W to 400W
e.g.)
M Q M A 0
1
2 S 1 S
Motor structure
Symbol
Type
Low inertia
(100W-400W)
MQMA
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
Shaft
Holding brake
Oil seal
Key-way,
Round center tap without with without with
A
B
S
T
Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
01
02
04
100W
200W
400W
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
1.0
(0.95)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
100
50
0
10
20
30
40
ambient temperature[˚C]
*Continuous torque,
ambient temperature
torque
[N . m]
2.0
(1.91)
Peak run range
1.0
(0.64)
0
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
0.5
(0.32)
With / Without Oil seal
MQMA022 1
versus rated torque (%)
With / Without Oil seal
MQMA012 1
100
50
0
10
20
30
40
ambient temperature[˚C]
4.0
(3.82)
Peak run range
2.0
(1.3)
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
MINAS A4/A4F/A4P Motor
With / Without Oil seal
MQMA042 1
100
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-90
Motor Specifications and Ratings 200V MSMA
1.0kW to 2.0kW
Low inertia, Medium Capacity
AC200V
MSMA
Motor model
Model No.
Applicable driver
102P1
102S1
A4
series
A4F
series
A4P
series
152P1
152S1
202P1
MDDDT5540
MEDDT7364
MDDDT5540F
MEDDT7364F
MDDDT5540P
MEDDT7364P
Frame symbol
Frame D
Power supply capacity (kVA)
202S1
Frame E
1.8
2.3
3.3
Rated output (W)
1000
1500
2000
Rated torque (N . m)
3.18
4.77
6.36
Momentary Max. peak torque (N . m)
9.5
14.3
19.1
Rated current (Arms)
7.2
9.4
13.0
Max. current (Ao-p)
30
40
56
Regenerative brake
frequency
(times/min) Note)1
No limit
Without option
DV0P4284
No limit
Note)2
Note)2
–
–
DV0P4285 x 2
No limit
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
1.69
2.59
3.46
With brake
1.88
2.84
3.81
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
15 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Installation location
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
49m / s2 or less
Vibration resistance
Mass (kg), ( ) represents holding brake type
4.5 (5.1)
5.1 (6.5)
6.5 (7.9)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
4.9
7.8
Engaging time (ms)
50
50
15 (100)
15 (100)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.81
0.74
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Note)2
Radial load P-direction (N)
686
980
Thrust load A-direction (N)
392
588
Thrust load B-direction (N)
490
686
Radial load P-direction (N)
392
490
Thrust load A-direction (N)
147
196
Thrust load B-direction (N)
147
196
For motor dimensions, refer to page A4-119, and for the diver, refer to pages
A4-23, 24, 49, 50, 74 and 75.
22/11/2012
A4-91
A4
MSMA
MINAS A4F
A4P
1.0kW - 2.0kW
Model designation MSMA series, 1.0kW to 2.0kW
e.g.)
M S M A 1
Symbol
Type
Low inertia
(1.0kW-2.0kW)
MSMA
0
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
Motor rated output
Symbol Rated output
10
15
20
1.0kW
1.5kW
2.0kW
Motor structure
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MSMA102 1
MSMA152 1
*Continuous torque,
ambient temperature
10
(9.5)
5
(3.18)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
*Continuous torque,
ambient temperature
torque
[N . m]
100
15
(14.3)
50
7.5
(4.77)
without Brake
10
20
30
Peak run range
(3500)
40
0
1000 2000 3000 4000 5000
rotational speed [r/min]
ambient temperature[˚C]
with Brake
100
85
Continuous run range
0
versus rated torque (%)
versus rated torque (%)
torque
[N . m]
50
0
10
20
30
40
ambient temperature[˚C]
MSMA202 1
*Continuous torque,
ambient temperature
torque
[N . m]
20
(19.1)
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
with Brake
100
85
70
50
0
10
20
30
MINAS A4/A4F/A4P Motor
10
(6.36)
versus rated torque (%)
without Brake
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-92
Motor Specifications and Ratings 200V MSMA
3.0kW to 5.0kW
Low inertia, Medium Capacity
AC200V
MSMA
Motor model
Applicable driver
Model No.
A4
series
A4F
series
A4P
series
302P1
302S1
402P1
402S1
502P1
MFDDTA390
MFDDTB3A2
MFDDTA390F
MFDDTB3A2F
MFDDTA390P
MFDDTB3A2P
502S1
Frame F
Frame symbol
Power supply capacity (kVA)
4.5
6.0
7.5
Rated output (W)
3000
4000
5000
Rated torque (N . m)
9.54
12.6
15.8
Momentary Max. peak torque (N . m)
28.6
37.9
47.6
Rated current (Arms)
18.6
24.7
28.5
80
105
120
Max. current (Ao-p)
Regenerative brake
frequency
(times/min) Note)1
No limit
Without option
Note)2
326
No limit
DV0P4285 x 2
Note)2
3000
Rated rotational speed (r/min)
Max. rotational speed (r/min)
5000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
6.77
12.7
17.8
With brake
7.45
14.1
19.7
4500
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
15 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
131072
10000
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Installation location
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
49m / s2 or less
Vibration resistance
Mass (kg), ( ) represents holding brake type
9.3 (11.0)
12.9 (14.8)
17.3 (19.2)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
16.1
11.8
80
110
15 (100)
50 (130)
0.81
0.90
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
784
Thrust load A-direction (N)
196
343
Thrust load B-direction (N)
196
343
For motor dimensions, refer to page A4-120, and for the diver, refer to pages A4-24, 50 and 75.
22/11/2012
A4-93
A4
MSMA
MINAS A4F
A4P
3.0kW - 5.0kW
Model designation MSMA series, 3.0kW to 5.0kW
e.g.)
M S M A 3
Symbol
Type
Low inertia
(3.0kW-5.0kW)
MSMA
0
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
Motor rated output
Symbol Rated output
30
40
50
3.0kW
4.0kW
5.0kW
Motor structure
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MSMA302 1
MSMA402 1
*Continuous torque,
ambient temperature
Continuous run range
1000 2000 3000 4000 5000
with Brake
40
(37.9)
100
90
85
50
0
rotational speed [r/min]
20
(12.6)
10
20
30
without Brake
0
40
Peak run range
Continuous run range
1000 2000 3000 4000 5000
rotational speed [r/min]
ambient temperature[˚C]
versus rated torque (%)
Peak run range
versus rated torque (%)
30
(28.6)
0
torque
[N . m]
without Brake
torque
[N . m]
15
(9.54)
*Continuous torque,
ambient temperature
with Brake
100
90
85
50
0
10
20
30
40
ambient temperature[˚C]
MSMA502 1
50
(47.6)
100
Peak run range
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
70
50
0
10
20
30
MINAS A4/A4F/A4P Motor
25
(15.8)
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-94
Motor Specifications and Ratings 200V MDMA
1.0kW to 1.5kW
Low inertia, Medium Capacity
AC200V
MDMA
Motor model
Model No.
Applicable driver
102P1
A4
series
A4F
series
A4P
series
102S1
152P1
152S1
MDDDT3530
MDDDT5540
MDDDT3530F
MDDDT5540F
MDDDT3530P
MDDDT5540P
Frame D
Frame symbol
Power supply capacity (kVA)
Rated output (W)
1.8
2.3
1000
1500
Rated torque (N . m)
4.8
7.15
Momentary Max. peak torque (N . m)
14.4
21.5
Rated current (Arms)
5.6
9.4
Max. current (Ao-p)
24
40
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4284
No limit
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
6.17
11.2
With brake
6.79
12.3
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
10 times or less
2500P/r
Incremental
Installation location
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
17-bit
Absolute/
Incremental
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
6.8 (8.7)
8.5 (10.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
4.9
13.7
80
100
70 (200)
50 (130)
0.59
0.79
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
Thrust load A-direction (N)
196
Thrust load B-direction (N)
196
For motor dimensions, refer to page A4-121, and for the diver, refer to pages A4-23, 49 and 74.
22/11/2012
A4-95
A4
MDMA
MINAS A4F
A4P
1.0kW - 1.5kW
Model designation MDMA series, 1.0kW to 1.5kW
e.g.)
M D M A 1
Symbol
Type
Middle inertia
(1.0kW-1.5kW)
MDMA
0
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
10
15
1.0kW
1.5kW
Motor structure
Shaft
Holding brake
Oil seal
Round Key-way without with without with
Symbol
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MDMA102 1
MDMA152 1
5
(4.8) Continuous run range
0
1000
(2200)
2000
3000
rotational speed [r/min]
100
Peak run range
50
0
*Continuous torque,
ambient temperature
torque
[N . m]
(21.5)
20
10
(7.15)
10
20
30
40
0
ambient temperature[˚C]
Continuous run range
1000
2000
3000
rotational speed [r/min]
versus rated torque (%)
15
(14.4)
10 Peak run range
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-96
Motor Specifications and Ratings 200V MDMA
2.0kW to 3.0kW
Middle inertia, Medium Capacity
AC200V
MDMA
Motor model
202P1
A4
series
A4F
series
A4P
series
202S1
302P1
302S1
MEDDT7364
MFDDTA390
MEDDT7364F
MFDDTA390F
MEDDT7364P
MFDDTA390P
Frame E
Frame F
3.3
4.5
Rated output (W)
2000
3000
Rated torque (N . m)
9.54
14.3
Momentary Max. peak torque (N . m)
28.5
42.9
Rated current (Arms)
12.3
17.8
52
76
Model No.
Applicable driver
Frame symbol
Power supply capacity (kVA)
Max. current (Ao-p)
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4285 x 2
No limit
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
15.2
22.3
With brake
16.7
24.6
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
10 times or less
2500P/r
Incremental
Installation location
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
10000
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
17-bit
Absolute/
Incremental
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
Mass (kg), ( ) represents holding brake type
49m / s2 or less
10.6 (12.5)
14.6 (16.5)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
16.1
13.7
100
110
50 (130)
50 (130)
0.79
0.90
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
Radial load P-direction (N)
980
980
During assembly Thrust load A-direction (N)
588
588
Thrust load B-direction (N)
686
686
Radial load P-direction (N)
490
784
During operation Thrust load A-direction (N)
196
343
Thrust load B-direction (N)
196
343
For motor dimensions, refer to page A4-122, and for the diver, refer to pages A4-24, 50 and 75.
22/11/2012
A4-97
A4
MDMA
MINAS A4F
A4P
2.0kW-3.0kW
Model designation MDMA series, 2.0kW to 3.0kW
e.g.)
M D M A 2
Symbol
Type
Middle inertia
(2.0kW-3.0kW)
MDMA
0
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
20
30
2.0kW
3.0kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure
Shaft
Holding brake
Oil seal
Round Key-way without with without with
Symbol
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MDMA202 1
MDMA302 1
Peak run range
15
(9.54)
Continuous run range
(2200)
0
1000
2000
3000
rotational speed [r/min]
*Continuous torque,
ambient temperature
torque
[N . m]
100
50
(42.9)
50
25
(14.3)
0
10
20
30
40
0
Peak run range
Continuous run range
1000
2000
3000
ambient temperature[˚C]
rotational speed [r/min]
versus rated torque (%)
30
(28.5)
versus rated torque (%)
*Continuous torque,
ambient temperature
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-98
Motor Specifications and Ratings 200V MDMA
4.0kW to 7.5kW
Middle inertia, Medium Capacity
AC200V
MDMA
Motor model
Model No.
Applicable driver
402P1
402S1
A4
series
A4F
series
A4P
series
502P1
502S1
752P1
752S1
MFDDTB3A2
MGDDTC3B4
MFDDTB3A2F
MGDDTC3B4F
MFDDTB3A2P
Frame symbol
Frame F
Power supply capacity (kVA)
Frame G
6.0
7.5
11
Rated output (W)
4000
5000
7500
Rated torque (N . m)
18.8
23.8
48
Momentary Max. peak torque (N . m)
56.4
71.4
119
Rated current (Arms)
23.4
28.0
46.6
Max. current (Ao-p)
100.0
120.0
165.0
Regenerative brake
frequency
(times/min) Note)1
94
250
Without option
No limit
DV0P4285 x 2
DV0P4285 x 4
Max. rotational speed (r/min)
No limit
Note)2
1500
3000
3000
Without brake
42.5
60.7
99.0
With brake
46.8
66.7
105.0
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
10 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Note)2
2000
Rated rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
No limit
Note)2
Installation location
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
2
Mass (kg), ( ) represents holding brake type
24m / s2 or less
49m / s or less
Vibration resistance
18.8 (21.3)
25.0 (28.5)
41.0 (45.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
21.5
24.5
58.8
90
80
150
35 (150)
25 (200)
50 (130)
1.30
1.40
1.10
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
1666
2058
Thrust load A-direction (N)
784
980
Thrust load B-direction (N)
980
1176
Radial load P-direction (N)
784
1176
Thrust load A-direction (N)
343
490
Thrust load B-direction (N)
343
490
For motor dimensions, refer to page A4-123, and for the diver, refer to pages
A4-24, 25, 50, 51 and 75.
22/11/2012
A4-99
A4
MDMA
MINAS A4F
A4P
4.0kW - 7.5kW
Model designation MDMA series, 4.0kW to 7.5kW
e.g.)
M D M A 4
Symbol
Type
Middle inertia
(4.0kW-7.5kW)
MDMA
0
2 S 1 G
Symbol Specifications
2
200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
40
50
75
4.0kW
5.0kW
7.5kW
Motor structure
Design order
1 : Standard
Voltage specifications
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MDMA502 1
MDMA402 1
*Continuous torque,
ambient temperature
Peak run range
25
(18.8)
Continuous run range
0
1000
2000
3000
versus rated torque (%)
without Brake
(56.4)
50
*Continuous torque,
ambient temperature
torque
[N . m]
with Brake
without Brake
(71.4)
70
100
85
70
50
0
10
rotational speed [r/min]
20
30
0
40
ambient temperature[˚C]
Continuous run range
1000
2000
with Brake
100
90
85
Peak run range
35
(23.8)
versus rated torque (%)
torque
[N . m]
3000
rotational speed [r/min]
50
0
10
20
30
40
ambient temperature[˚C]
MDMA752 1
*Continuous torque,
ambient temperature
Peak run range
50
Continuous run range
0
(1500)
1000
2000
3000
rotational speed [r/min]
MINAS A4/A4F/A4P Motor
(119)
100
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-100
Motor Specifications and Ratings 200V MGMA
900W to 2.0kW
Middle inertia, Medium Capacity
AC200V
M GM A
Motor model
092P1
A4
series
A4F
series
A4P
series
092S1
202P1
202S1
MDDDT5540
MFDDTA390
MDDDT5540F
MFDDTA390F
MDDDT5540P
MFDDTA390P
Frame D
Frame F
Power supply capacity (kVA)
1.8
3.8
Rated output (W)
900
2000
Rated torque (N . m)
8.62
19.1
Momentary Max. peak torque (N . m)
19.3
44
Rated current (Arms)
7.6
18.5
Max. current (Ao-p)
24.0
60.0
Model No.
Applicable driver
Frame symbol
Regenerative brake
frequency
(times/min) Note)1
No limit
Without option
No limit
DV0P4284
DV0P4285 x 2
No limit
2000
Max. rotational speed (r/min)
Without brake
11.2
35.5
With brake
12.3
41.4
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
10 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
10000
131072
10000
Installation location
131072
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
17-bit
Absolute/
Incremental
IP65 (except rotating portion of output shaft and lead wire end)
Ambient humidity
Environment
Note)2
1000
Rated rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
Note)2
Note)2
8.5 (10.0)
17.5 (21.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
13.7
24.5
Engaging time (ms)
100
80
50 (130)
25 (200)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.79
1.30
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
980
1666
Thrust load A-direction (N)
588
784
Thrust load B-direction (N)
686
980
Radial load P-direction (N)
686
1176
Thrust load A-direction (N)
196
490
Thrust load B-direction (N)
196
490
For motor dimensions, refer to page A4-124, and for the diver, refer to pages
A4-23, 24, 49, 50, 74 and 75.
22/11/2012
A4-101
A4
MGMA
MINAS A4F
A4P
900W - 2.0kW
Model designation MGMA series, 900W to 2.0kW
e.g.)
M G M A 0
Symbol
Type
Middle inertia
(900W-2.0kW)
MGMA
9
2 S 1 G
Motor structure
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
Motor rated output
Symbol Rated output
09
20
900W
2.0kW
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MGMA092 1
MGMA202 1
*Continuous torque,
ambient temperature
20
(19.3) Peak run range
10
(8.62)
Continuous run range
0
1000
2000
rotational speed [r/min]
*Continuous torque,
ambient temperature
torque
[N . m]
50
100
(44)
Peak run range
25
50
(19.1)
Continuous run range
0
10
20
30
0
40
1000
2000
rotational speed [r/min]
ambient temperature[˚C]
versus rated torque (%)
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-102
Motor Specifications and Ratings 200V MGMA
3.0kW to 6.0kW
Middle inertia, Medium Capacity
AC200V
M GM A
Motor model
Model No.
Applicable driver
302P1
302S1
A4
series
A4F
series
A4P
series
452P1
452S1
602P1
602S1
MFDDTB3A2
MGDDTC3B4
MFDDTB3A2F
MGDDTC3B4F
MFDDTB3A2 P
Frame F
Frame symbol
Power supply capacity (kVA)
Frame G
4.5
7.5
11
Rated output (W)
3000
4500
6000
Rated torque (N . m)
28.4
42.9
57.2
Momentary Max. peak torque (N . m)
63.7
107
137
24
33
47.0
80.0
118
170.0
Rated current (Arms)
Max. current (Ao-p)
Regenerative brake
frequency
(times/min) Note)1
No limit
Without option
No limit
DV0P4285 x 2
No limit
DV0P4285 x 4
Max. rotational speed (r/min)
2000
Without brake
55.7
80.9
99
With brake
61.7
86.9
108
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
10 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Installation location
Note)2
1000
Rated rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
Note)2
Note)2
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
2
Vibration resistance
Mass (kg), ( ) represents holding brake type
24m/ s2 or less
49m / s or less
25.0 (28.5)
34.0 (39.5)
41.0 (45.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
58.8
Engaging time (ms)
150
Releasing time (ms)
Note)4
50 (130)
Exciting current (DC) (A)
1.40
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
Radial load P-direction (N)
2058
2058
During assembly Thrust load A-direction (N)
980
980
Thrust load B-direction (N)
1176
1176
Radial load P-direction (N)
1470
1764
During operation Thrust load A-direction (N)
490
588
Thrust load B-direction (N)
490
588
For motor dimensions, refer to page A4-125, 128 and for the diver, refer
to pages A4-24, 25, 50, 51 and 75.
22/11/2012
A4-103
A4
MGMA
MINAS A4F
A4P
3.0kW - 6.0kW
Model designation MGMA series, 3.0kW to 6.0kW
e.g.)
M G M A 3
Symbol
Type
Middle inertia
(3.0kW-6.0kW)
MGMA
0
2 S 1 G
Motor structure
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Symbol
Motor rated output
Symbol Rated output
30
45
60
3.0kW
Rotary encoder specifications
4.5kW
Symbol
Format
Pulse counts
Resolution
Wires
6.0kW
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MGMA452 1
MGMA302 1
*Continuous torque,
ambient temperature
70
(63.7)
Peak run range
35
(28.4)
Continuous run range
0
1000
2000
*Continuous torque,
ambient temperature
torque
[N . m]
(107)
100
100
Peak run range
50
(42.9)
50
Continuous run range
0
rotational speed [r/min]
10
20
30
0
40
ambient temperature[˚C]
1000
2000
rotational speed [r/min]
versus rated torque (%)
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MGMA602 1
*Continuous torque,
ambient temperature
150
(137)
Peak run range
75
Continuous run range
0
1000
2000
rotational speed [r/min]
100
MINAS A4/A4F/A4P Motor
versus rated torque (%)
torque
[N . m]
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-104
Motor Specifications and Ratings 200V MFMA
400W to 1.5kW
Middle inertia, Medium Capacity
AC200V
M FM A
Motor model
042P1
A4
series
A4F
series
A4P
series
042S1
152P1
152S1
MCDDT3520
MDDDT5540
MCDDT3520F
MDDDT5540F
MCDDT3520P
MDDDT5540P
Frame C
Frame D
Power supply capacity (kVA)
0.9
2.3
Rated output (W)
400
1500
Rated torque (N . m)
1.9
7.15
Momentary Max. peak torque (N . m)
5.3
21.5
Rated current (Arms)
2.8
9.5
Max. current (Ao-p)
12.0
40.0
Model No.
Applicable driver
Frame symbol
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
100
DV0P4284
No limit
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
2.45
20.1
With brake
2.7
21.5
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
10 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Ambient humidity
Environment
Note)2
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
4.7 (6.7)
11.0 (14.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
4.9
7.8
Engaging time (ms)
80
80
70
35
0.59
0.83
Releasing time (ms)
Note)4
Exciting current (DC) (A)
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
During operation
686
Radial load P-direction (N)
392
490
Thrust load A-direction (N)
147
196
Thrust load B-direction (N)
147
196
For motor dimensions, refer to page A4-127, and for the diver, refer to pages
A4-23, 49 and 74.
22/11/2012
A4-105
A4
MFMA
MINAS A4F
A4P
400W - 1.5kW
Model designation MFMA series, 400W to 1.5kW
e.g.)
M F M A 0
Symbol
Type
Middle inertia
(400W-1.5kW)
MFMA
4
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Symbol Rated output
04
15
400W
1.5kW
Rotary encoder specifications
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MFMA042 1
MFMA152 1
*Continuous torque,
ambient temperature
Peak run range
2.5
(1.9)
Continuous run range
0
1000
2000
3000
rotational speed [r/min]
*Continuous torque,
ambient temperature
torque
[N . m]
(21.5)
20
100
Peak run range
50
10
(7.15)
Continuous run range
0
10
20
30
40
0
ambient temperature[˚C]
1000
2000
rotational speed [r/min]
3000
versus rated torque (%)
(5.3)
5
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-106
Motor Specifications and Ratings 200V MFMA
2.5kW to 4.5kW
Middle inertia, Medium Capacity
AC200V
M FM A
Motor model
252P1
A4
series
A4F
series
A4P
series
252S1
452P1
452S1
MEDDT7364
MFDDTB3A2
MEDDT7364F
MFDDTB3A2F
MEDDT7364 P
MFDDTB3A2P
Frame E
Frame F
3.8
6.8
Rated output (W)
2500
4500
Rated torque (N . m)
11.8
21.5
Momentary Max. peak torque (N . m)
30.4
54.9
Rated current (Arms)
13.4
23.5
Max. current (Ao-p)
57.0
100.0
Model No.
Applicable driver
Frame symbol
Power supply capacity (kVA)
Regenerative brake
frequency
(times/min) Note)1
75
Without option
DV0P4285 x 2
67
No limit
375
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
41.3
72.3
With brake
45.3
78.5
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
10 times or less
2500P/r
Incremental
10000
Installation location
2500P/r
Incremental
17-bit
Absolute/
Incremental
131072
10000
131072
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
17-bit
Absolute/
Incremental
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
Mass (kg), ( ) represents holding brake type
49m / s2 or less
14.8 (17.5)
19.9 (24.3)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
Engaging time (ms)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
31.4
21.6
150
150
100 (450)
100 (450)
0.75
0.75
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
1862
Thrust load A-direction (N)
686
Thrust load B-direction (N)
686
Radial load P-direction (N)
784
Thrust load A-direction (N)
294
Thrust load B-direction (N)
294
For motor dimensions, refer to page A4-128, and for the diver, refer to pages A4-24, 50 and 75.
22/11/2012
A4-107
A4
MFMA
MINAS A4F
A4P
2.5kW - 4.5kW
Model designation MFMA series, 2.5kW to 4.5kW
e.g.)
M F M A 2
Symbol
Type
Middle inertia
(2.5kW-4.5kW)
MFMA
5
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
25
45
2.5kW
4.5kW
Motor structure
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MFMA252 1
MFMA452 1
*Continuous torque,
ambient temperature
Peak run range
15
(11.8)
Continuous run range
0
1000
2000
3000
rotational speed [r/min]
*Continuous torque,
ambient temperature
torque
[N . m]
(54.9)
50
100
Peak run range
25
(21.5)
50
0
10
20
30
0
40
ambient temperature[˚C]
Continuous run range
1000
2000
rotational speed [r/min]
3000
versus rated torque (%)
(30.4)
30
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-108
Motor Specifications and Ratings 200V MHMA
500W to 1.5kW
High inertia, Medium Capacity
AC200V
MHMA
Motor model
Model No.
Applicable driver
A4
series
A4F
series
A4P
series
052P1
052S1
102P1
102S1
152P1
152S1
MCDDT3520
MDDDT3530
MDDDT5540
MCDDT3520F
MDDDT3530F
MDDDT5540F
MCDDT3520P
MDDDT3530P
MDDDT5540P
Frame symbol
Frame C
Frame D
Power supply capacity (kVA)
1.1
1.8
2.3
Rated output (W)
500
1000
1500
Rated torque (N . m)
2.38
4.8
7.15
Momentary Max. peak torque (N . m)
6.0
14.4
21.5
Rated current (Arms)
3.2
5.6
9.4
Max. current (Ao-p)
11.5
24.0
40.0
33
25
Regenerative brake
frequency
(times/min) Note)1
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
DV0P4284
No limit
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg . m2)
3000
Without brake
14.0
26.0
42.9
With brake
15.2
27.2
44.1
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
5 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
Ambient temperature
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Ambient humidity
Environment
Note)2
Installation location
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m / s2 or less
Mass (kg), ( ) represents holding brake type
5.3 (6.9)
8.9 (9.5)
10.0 (11.6)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
4.9
13.7
Engaging time (ms)
80
100
70 (200)
50 (130)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.79
0.59
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
Thrust load A-direction (N)
196
Thrust load B-direction (N)
196
For motor dimensions, refer to page A4-129, and for the diver, refer to pages
A4-23, 49 and 74.
22/11/2012
A4-109
A4
MHMA
MINAS A4F
A4P
500W - 1.5kW
Model designation MHMA series, 500W to 1.5kW
e.g.)
M H M A 0
Symbol
Type
High inertia
(500W-1.5kW)
MHMA
5
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
05
10
15
0.5kW
1.0kW
1.5kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MHMA052 1
MHMA102 1
Peak run range
2.5
Continuous run range
0
1000
2000
3000
versus rated torque (%)
(6.0)
5.0
(2.38)
torque
[N . m]
*Continuous torque,
ambient temperature
100
*Continuous torque,
ambient temperature
15
(14.4)
10
Peak run range
50
5
(4.8) Continuous run range
0
rotational speed [r/min]
10
20
30
40
0
ambient temperature[˚C]
1000
(2200)
2000
rotational speed [r/min]
3000
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[˚C]
MHMA152 1
torque
[N . m]
(21.5)
20
10
(7.15)
Continuous run range
0
1000
2000
3000
rotational speed [r/min]
100
MINAS A4/A4F/A4P Motor
Peak run range
versus rated torque (%)
*Continuous torque,
ambient temperature
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-110
Motor Specifications and Ratings 200V MHMA
2.0kW to 5.0kW
High inertia, Medium Capacity
AC200V
MHMA
Motor model
Model No.
Applicable driver
A4
series
A4F
series
A4P
series
Frame symbol
202P1
202S1
302P1
302S1
402P1
402S1
502P1
MEDDT7364
MFDDTA390
MFDDTB3A2
MEDDT7364F
MFDDTA390F
MFDDTB3A2F
MEDDT7364 P
MFDDTA390P
MFDDTB3A2 P
Frame E
Power supply capacity (kVA)
502S1
Frame F
3.3
4.5
6.0
7.5
Rated output (W)
2000
3000
4000
5000
Rated torque (N . m)
9.54
14.3
18.8
23.8
Momentary Max. peak torque (N . m)
28.5
42.9
56.4
71.4
Rated current (Arms)
12.3
17.8
23.4
28.0
Max. current (Ao-p)
52.0
76.0
100.0
120.0
Without option
38
43
32
20
DV0P4285
100
200
150
Regenerative brake
frequency
(times/min) Note)1
No limit
DV0P4285 x 2
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
62.0
94.1
120.0
170.0
With brake
67.9
100.0
126.0
176.0
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
5 times or less
2500P/r
Incremental
10000
17-bit
17-bit
2500P/r
Absolute/
Absolute/
Incremental
Incremental
Incremental
131072
Protective enclosure rating
Ambient temperature
Installation location
131072
10000
17-bit
17-bit
2500P/r
Absolute/
Absolute/
Incremental
Incremental
Incremental
131072
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
1000m or lower
49m / s2 or less
Vibration resistance
Mass (kg), ( ) represents holding brake type
16.0 (19.5)
18.2 (21.7)
22.0 (25.5)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
24.5
80
Engaging time (ms)
25 (200)
Note)4
1.30
Exciting current (DC) (A)
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
Radial load P-direction (N)
1666
During assembly Thrust load A-direction (N)
784
Thrust load B-direction (N)
980
Radial load P-direction (N)
784
Thrust load A-direction (N)
343
Thrust load B-direction (N)
343
During operation
131072
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
Altitude
Releasing time (ms)
10000
IP65 (except rotating portion of output shaft and lead wire end)
Ambient humidity
Environment
10000
2500P/r
Incremental
For motor dimensions, refer to page A4-130, and for the diver, refer to pages
A4-24, 50 and 75.
22/11/2012
A4-111
26.7 (30.2)
A4
MHMA
MINAS A4F
A4P
2.0kW - 5.0kW
Model designation MHMA series, 2.0kW to 5.0kW
e.g.)
M H M A 2
Symbol
Type
High inertia
(2.0kW-5.0kW)
MHMA
0
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Symbol Rated output
20
30
40
50
Rotary encoder specifications
2.0kW
3.0kW
4.0kW
5.0kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MHMA202 1
MHMA302 1
torque
[N . m]
30
(28.5)
Peak run range
15
(9.54)
Continuous run range
(2200)
1000
2000
3000
rotational speed [r/min]
100
50
(42.9)
50
25
(14.3)
0
10
20
30
40
0
ambient temperature[˚C]
1000
2000
3000
0
10
20
30
40
ambient temperature[˚C]
torque
[N . m]
(56.4)
50
2000
3000
rotational speed [r/min]
*Continuous torque,
ambient temperature
(71.4)
70
100
85
Peak run range
50
35
Continuous run range
0
10
20
30
40
0
ambient temperature[˚C]
1000
2000
rotational speed [r/min]
3000
100
85
50
0
10
20
30
40
ambient temperature[˚C]
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-112
MINAS A4/A4F/A4P Motor
Continuous run range
versus rated torque (%)
*Continuous torque,
ambient temperature
1000
Continuous run range
50
MHMA502 1
torque
[N . m]
0
Peak run range
100
rotational speed [r/min]
MHMA402 1
25
(18.8)
*Continuous torque,
ambient temperature
versus rated torque (%)
0
versus rated torque (%)
*Continuous torque,
ambient temperature
versus rated torque (%)
torque
[N . m]
Motor Specifications and Ratings 200V MHMA
7.5kW
High inertia, Large Capacity
AC200V
MHMA
Motor model
Model No.
Applicable driver
752P1
752S1
A4
series
A4F
series
A4P
series
MGDDTC3B4
MGDDTC3B4F
Frame G
Frame symbol
Power supply capacity (kVA)
11
Rated output (W)
7500
Rated torque (N . m)
48
Momentary Max. peak torque (N . m)
119
Rated current (Arms)
46.6
Max. current (Ao-p)
165.0
Regenerative brake
frequency
(times/min) Note)1
Without option
0
No limit
DV0P4285 x 4
Note)2
Rated rotational speed (r/min)
1500
Max. rotational speed (r/min)
3000
Moment of inertia
of rotor
(x10-4 kg . m2)
Without brake
282
With brake
288
Recommended moment of inertia ratio
of the load and the rotor
Note)3
Rotary encoder specifications
Resolution per single turn
Protective enclosure rating
Ambient temperature
Ambient humidity
Environment
Installation location
5 times or less
2500P/r
Incremental
17-bit
Absolute/
Incremental
10000
131072
IP65 (except rotating portion of output shaft and lead wire end)
0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours )
85%RH or lower (free from condensing)
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
24m / s2 or less
Vibration resistance
43.5 (47.5)
Mass (kg), ( ) represents holding brake type
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N . m)
58.8
150
Engaging time (ms)
Releasing time (ms)
50 (130)
Note)4
1.40
Exciting current (DC) (A)
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ±10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
2058
Thrust load A-direction (N)
980
Thrust load B-direction (N)
1176
Radial load P-direction (N)
1176
Thrust load A-direction (N)
490
Thrust load B-direction (N)
490
For motor dimensions, refer to page A4-131, and for the diver, refer to pages A4-25 and 51.
22/11/2012
A4-113
A4
MHMA
MINAS A4F
A4P
7.5kW
Model designation MHMA series, 7.5kW
e.g.)
M H M A 7
Symbol
Type
High inertia
(7.5kW)
MHMA
5
2 S 1 G
Design order
1 : Standard
Voltage specifications
Symbol Specifications
2
200V
Motor rated output
Symbol Rated output
75
Rotary encoder specifications
7.5kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure
Symbol
Shaft
Holding brake
Oil seal
Round Key-way without with without with
C
D
G
H
Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage
(Dotted line represents the torque at 10% less supply voltage.)
MHMA752 1
*Continuous torque,
ambient temperature
(119)
100
Peak run range
50
Continuous run range
(1500)
0
1000
2000
3000
rotational speed [r/min]
versus rated torque (%)
torque
[N . m]
100
50
0
10
20
30
40
ambient temperature[ºC]
MINAS A4/A4F/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
rotational speed
Radial load (P) direction
L
Shaft
L/2
P
Thrust load (A, B) direction
A
Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
. If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
. Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
relative to the value in the table.
. When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
a dealer.
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
(
) represents the actually measured value using a diode (200V, 1A or equivalent)
22/11/2012
A4-114
Motor Dimensions
MAMA 100W - 750W
Motor connector
Encoder
connector
Brake connector
LL
LR
LF
LE
Motor
cable
230
LC
(7)
(7)
200
(Key way dimensions)
LW
LK
KW
RH
øLBh7
øLA
KH
LH
øSh6
4-øLZ
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MAMA series (Ultra low inertia)
100W
Motor output
MAMA
Motor model
Rotary encoder specifications
LL
012P1
200W
012S1
022P1
[unit: mm]
400W
022S1
042P1
750W
042S1
082P1
082S1
17-bit
17-bit
17-bit
17-bit
2500P/r
2500P/r
2500P/r
Absolute/
Absolute/
Absolute/
Absolute/
Incremental
Incremental
Incremental
Incremental
Incremental
Incremental
Incremental
2500P/r
Incremental
Without brake
110.5
127
111
126
139
154
160
175
With brake
138
154.5
139
154
167
182
192.5
207.5
LR
24
30
30
35
S
8
11
14
19
LA
48
70
70
90
LB
22
50
50
70
LC
42
60
60
80
LE
2
3
3
3
LF
7
7
7
8
LD
LG
Key way
LH
34
43
43
53
LZ
3.4
4.5
4.5
6
LW
14
20
25
25
LK
12.5
18
22.5
22
KW
3h9
4h9
5h9
6h9
KH
3
4
5
6
RH
8.5
6.2
11
15.5
Without brake
0.65
0.71
1.1
1.2
1.5
1.6
3.3
3.4
With brake
0.85
0.91
1.5
1.6
1.9
2.0
4.0
4.1
Mass (kg)
Connector/Plug specifications
refer to page A4-148
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-115
A4
MAMA
MINAS A4F
A4P
100W - 750W
/
MSMD
50W - 100W
MSMD 50W - 100W
Brake connector
Motor connector
LL
LR
LE
(7)
4-øLZ
LC
LW
LK
øLA
KW
RH
øLBh7
LH
øSh6
(7)
(Key way dimensions)
200
230
LF
KH
Encoder
connector
LN
TP
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMD series (Low inertia)
50W
Motor output
MSMD
Motor model
Rotary encoder specifications
5A
P1
100W
5A
S1
01
17-bit
Absolute/
Incremental
2500P/r
Incremental
[unit: mm]
P1
01
17-bit
Absolute/
Incremental
2500P/r
Incremental
92
122
LR
25
25
S
8
8
LA
45
45
LB
30
30
LC
38
38
LE
3
3
LF
6
6
With brake
LD
LG
Key way
Mass (kg)
LH
32
32
LN
26.5
46.5
LZ
3.4
3.4
LW
14
14
LK
12.5
12.5
KW
3h9
3h9
KH
3
3
RH
6.2
6.2
TP
M3 x 6 (depth)
M3 x 6 (depth)
Without brake
0.32
0.47
With brake
0.53
0.68
Connector/Plug specifications
refer to page A4-148
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-116
MINAS A4/A4F/A4P Motor
72
102
Without brake
LL
S1
Motor Dimensions
MSMD 200W - 750W
(Key way dimensions)
LW
Brake connector
Motor connector
LL
LK
KH
Encoder
connector
KW
LR
LE
(7)
TP
(7)
4-øLZ
LC
øSh6
200
220
RH
LF
øLBh7
LH
øLA
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMD series (Low inertia)
200W
Motor output
MSMD
Motor model
Rotary encoder specifications
02
P1
400W
02
S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
[unit: mm]
04
P1
750W
04
S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
08
P1
08
17-bit
Absolute/
Incremental
2500P/r
Incremental
79
98.5
112
115.5
135
149
LR
30
30
35
S
11
14
19
LA
70
70
90
LB
50
50
70
LC
60
60
80
LE
3
3
3
LF
6.5
6.5
8
43
43
53
LZ
4.5
4.5
6
LW
20
25
25
LK
18
22.5
22
KW
4h9
5h9
6h9
Without brake
LL
With brake
LD
LG
LH
LN
Key way
Mass (kg)
KH
4
5
6
RH
8.5
11
15.5
TP
M4 x 8 (depth)
M5 x 10 (depth)
M5 x 10 (depth)
Without brake
0.82
1.2
2.3
With brake
1.3
1.7
3.1
Connector/Plug specifications
refer to page A4-148
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-117
S1
A4
MSMD
MINAS A4F
A4P
200W - 750W
/
MQMA
100W - 400W
MQMA 100W - 400W
Encoder
connector
Motor connector
LL
LR
Brake connector
LC
LE
200
220
LF
(7)
(7)
(Key way dimensions)
4-øLZ
LW
LH
KH
KW
øLA
RH
øLBh7
øSh6
LK
TP
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MQMA series (Low inertia)
100W
Motor output
M QM A
Motor model
P1
200W
01
S1
02
P1
400W
02
S1
04
P1
04
S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
60
87
67
94
82
109
With brake
84
111
99.5
126.5
114.5
LR
141.5
25
30
30
S
8
11
14
LA
70
90
90
LB
50
70
70
LC
60
80
80
LE
3
5
5
LF
7
8
8
LH
43
53
53
LD
LG
LZ
4.5
5.5
5.5
LW
14
20
25
LK
12.5
18
22.5
KW
3h9
4h9
5h9
Key way
KH
3
4
5
RH
6.2
8.5
11
TP
Mass (kg)
M3 x 6 (depth)
M4 x 8 (depth)
M5 x 10 (depth)
Without brake
0.65
0.75
1.3
1.4
1.8
1.9
With brake
0.90
1.00
2.0
2.1
2.5
2.6
Connector/Plug specifications
refer to page A4-148
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-118
MINAS A4/A4F/A4P Motor
2500P/r
Incremental
Rotary encoder specifications
LL
01
[unit: mm]
Motor Dimensions
MSMA 1.0kW - 2.0kW
Motor
cannon plug
LL
LC
LR
Encoder
cannon plug
(Key way dimensions)
4-øLZ
LW
LK
KW
øL
A
D
øL
RH
øLBh7
LK/2
KH
LH
øSh6
LE
LG
LF
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMA series (Low inertia)
1.0kW
Motor output
MSMA
Motor model
Mass (kg)
102S1
152P1
17-bit
Absolute/
Incremental
Without brake
175
175
180
With brake
200
200
205
LR
Key way
1.5kW
2500P/r
Incremental
Rotary encoder specifications
LL
102P1
[unit: mm]
152S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
55
2.0kW
202P1
202S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
180
205
205
205
230
55
230
55
S
19
19
19
LA
100
115
115
LB
80
95
95
LC
90
100
100
LD
120
135
135
LE
3
3
3
LF
7
10
10
LG
84
84
84
LH
98
103
103
LZ
6.6
9
9
LW
45
45
45
LK
42
42
42
KW
6h9
6h9
6h9
KH
6
6
6
RH
15.5
15.5
15.5
Without brake
4.5
4.5
5.1
5.1
6.5
6.5
With brake
5.1
5.1
6.5
6.5
7.9
7.9
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-119
A4
MSMA
MINAS A4F
A4P
1.0kW - 2.0kW
/
MSMA
3.0kW - 5.0kW
MSMA 3.0kW - 5.0kW
Motor
cannon plug
LL
LC
LR
(Key way dimensions)
4-øLZ
LH
LW
LK
KW
D
øL
øL
A
RH
øLBh7
LK/2
KH
LE
LG
LF
øSh6
Encoder
cannon plug
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMA series (Low inertia)
3.0kW
Motor output
MSMA
Motor model
Rotary encoder specifications
217
With brake
242
LR
Key way
Mass (kg)
302S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
Without brake
4.0kW
402P1
402S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
217
240
242
265
55
5.0kW
502P1
502S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
240
280
280
265
305
65
305
65
S
22
24
24
LA
130/145 (slot)
145
145
LB
110
110
110
LC
120
130
130
LD
162
165
165
LE
3
6
6
LF
12
12
12
LG
84
84
84
LH
111
118
118
LZ
9
9
9
LW
45
55
55
LK
41
51
51
KW
8h9
8h9
8h9
KH
7
7
7
RH
18
20
20
Without brake
With brake
9.3
9.3
12.9
12.9
17.3
17.3
11.0
11.0
14.8
14.8
19.2
19.2
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-120
MINAS A4/A4F/A4P Motor
LL
302P1
[unit: mm]
Motor Dimensions
MDMA 1.0kW - 1.5kW
Motor
cannon plug
LL
LR
LC
(Key way dimensions)
Encoder
cannon plug
LE
4-øLZ
LW
LK
LK/2
KW
KH
øSh6
øLBh7
øL
D
øL
A
RH
LG
LH
LF
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MDMA series (Middle inertia)
1.0kW
Motor output
MDMA
Motor model
Key way
102S1
152P1
152S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
150
150
175
175
With brake
175
175
200
200
LR
55
55
S
22
22
LA
145
145
LB
110
110
LC
130
130
LD
165
165
LE
6
6
LF
12
12
LG
84
84
LH
118
118
LZ
9
9
LW
45
45
LK
41
41
KW
8h9
8h9
KH
7
7
18
RH
Mass (kg)
1.5kW
2500P/r
Incremental
Rotary encoder specifications
LL
102P1
[unit: mm]
18
Without brake
6.8
6.8
8.5
8.5
With brake
8.7
8.7
10.1
10.1
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-121
A4
/
MDMA MDMA
MINAS A4F
A4P
1.0kW - 1.5kW
2.0kW - 3.0kW
MDMA 2.0kW - 3.0kW
Motor
cannon plug
LL
LR
LC
(Key way dimensions)
Encoder
cannon plug
LE
4-øLZ
LW
LK
LK/2
KW
KH
øSh6
øLBh7
øL
D
øL
A
RH
LG
LH
LF
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MDMA series (Middle inertia)
2.0kW
Motor output
MDMA
Motor model
202S1
302P1
302S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
200
200
250
250
With brake
225
225
275
275
LR
55
65
S
22
24
LA
145
145
LB
110
110
LC
130
130
LD
165
165
LE
6
6
LF
12
12
LG
84
84
LH
118
118
LZ
9
9
LW
45
55
LK
41
51
KW
8h9
8h9
KH
7
7
RH
18
20
Without brake
10.6
10.6
14.6
14.6
With brake
12.5
12.5
16.5
16.5
Mass (kg)
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-122
MINAS A4/A4F/A4P Motor
Key way
3.0kW
2500P/r
Incremental
Rotary encoder specifications
LL
202P1
[unit: mm]
Motor Dimensions
MDMA 4.0kW - 7.5kW
Motor
cannon plug
(Key way dimensions)
LL
LR
Encoder
cannon plug
LE
Motor
cannon plug
M3
It is used to pull out the key.
Brake cannon plug
(Note)
LL
øL
A
D
øL
KW
KH
øSh6
øLBh7
LG
MDMA 7.5kW
LK/2
4-øLZ
LH
LF
LW
LK
LC
RH
MDMA 4.0kW - 5.0kW
Eye bolt (Thread 10)
(Key way dimensions)
LC
LR
LW
LK
Encoder
cannon plug
LF
LK/2
4-øLZ
M4
It is used to pull out the key.
øL
A
D
øL
KW
KH
LG
øSh6
øLBh7
LH
LE
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
(Note) for with brake
MDMA series (Middle inertia)
4.0kW
Motor output
MDMA
Motor model
Rotary encoder specifications
LL
Key way
402P1
17-bit
Absolute/
Incremental
502P1
7.5kW
502S1
752P1
752S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
242
242
225
225
340.5
340.5
With brake
267
267
250
250
380.5
380.5
LR
65
70
113
S
28
35
42
LA
165
200
200
LB
130
114.3
114.3
LC
150
176
176
LD
190
233
233
LE
3.2
3.2
3.2
LF
18
18
24
LG
84
84
84
LH
128
143
183
LZ
11
13.5
13.5
LW
55
55
96
LK
51
50
90
KW
8h9
10h9
12h9
KH
7
8
8
RH
Mass (kg)
5.0kW
402S1
2500P/r
Incremental
[unit: mm]
24
37
30
Without brake
18.8
18.8
25.0
25.0
41.0
41.0
With brake
21.3
21.3
28.5
28.5
45.0
45.0
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-123
A4
/
MDMA MGMA
MINAS A4F
A4P
4.0kW - 7.5kW
900W - 2.0kW
MGMA 900W - 2.0kW
Encoder cannon plug
Motor cannon plug
LL
LR
LC
(Key way dimensions)
4-øLZ
LF LE
LW
LK
KH
KW
øL
D
øL
A
RH
øL Bh7
øSh6
LG
LH
LK/2
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MGMA series (Middle inertia)
900W
Motor output
M GM A
Motor model
202P1
2500P/r
Incremental
Without brake
175
175
182
With brake
200
200
207
70
202S1
17-bit
Absolute/
Incremental
182
207
80
S
22
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
6
3.2
LF
12
18
LG
84
84
LH
118
143
LZ
9
13.5
LW
45
55
LK
41
50
KW
8h9
10h9
KH
7
8
RH
18
30
Without brake
With brake
8.5
8.5
17.5
17.5
10.0
10.0
21.0
21.0
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-124
MINAS A4/A4F/A4P Motor
Mass (kg)
092S1
17-bit
Absolute/
Incremental
LR
Key way
2.0kW
2500P/r
Incremental
Rotary encoder specifications
LL
092P1
[unit: mm]
Motor Dimensions
MGMA 3.0kW - 4.5kW
MGMA 3.0kW
Motor cannon plug
LL
LR
LC
(Key way dimensions)
LW
Encoder cannon plug
4-øLZ
LK
LK/2
KH
KW
øL
øL
D
RH
øL Bh7
øSh6
LG
LH
LF LE
A
M3
It is used to pull out the key.
MGMA 4.5kW
Motor cannon plug
LL
LR
LC
Eye bolt (Thread 10)
(Key way dimensions)
LW
LF LE
Encoder cannon plug
LK
KW
øLD
RH
LH
øSh6
øL Bh7
LG
LK/2
KH
4-øLZ
øL
A
M4
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MGMA series (Middle inertia)
3.0kW
Motor output
M GM A
Motor model
Mass (kg)
302S1
452P1
452S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
222
222
300.5
300.5
With brake
271
271
337.5
337.5
LR
Key way
4.5kW
2500P/r
Incremental
Rotary encoder specifications
LL
302P1
[unit: mm]
80
113
S
35
42
LA
200
200
LB
114.3
114.3
LC
176
176
LD
233
233
LE
3.2
3.2
LF
18
24
LG
84
84
LH
143
143
LZ
13.5
13.5
LW
55
96
LK
50
90
KW
10h9
12h9
KH
8
8
RH
30
37
Without brake
25.0
25.0
34.0
34.0
With brake
28.5
28.5
39.5
39.5
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-125
A4
MGMA
MINAS A4F
A4P
3.0kW - 6.0kW
MGMA 6.0kW
Motor
cannon plug
Brake cannon plug
(Note)
Eye bolt (Thread 10)
LL
LC
LR
(Key way dimensions)
LE
LK/2
KH
LW
LK
D
øL
øL
A
KW
RH
LG
øSh6
øLBh7
LH
LF
4-øLZ
M4
It is used to pull out the key.
(Note) for with brake
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MGMA series (Middle inertia)
6.0kW
Motor output
602S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
340.5
340.5
With brake
380.5
Rotary encoder specifications
LL
LR
Mass (kg)
380.5
113
S
42
LA
200
LB
114.3
LC
176
LD
233
LE
3.2
LF
24
LG
84
LH
183
LZ
13.5
LW
96
LK
90
KW
12h9
KH
8
RH
37
Without brake
41.0
41.0
With brake
45.0
45.0
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-126
MINAS A4/A4F/A4P Motor
602P1
M GM A
Motor model
Key Way
[unit: mm]
Motor Dimensions
MFMA 400W - 1.5kW
Encoder cannon plug
4-øLZ
Motor cannon plug
LL
LF
LC
LR
LE
(Key way dimensions)
LH
LK/2
KH
øSh6
øL
øL
D
A
KW
RH
øLBh7
LG
LW
LK
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MFMA series (Middle inertia)
400W
Motor output
MFMA
Motor model
Mass (kg)
152P1
152S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
120
120
145
145
With brake
145
145
170
55
LR
Key way
1.5kW
042S1
2500P/r
Incremental
Rotary encoder specifications
LL
042P1
[unit: mm]
170
65
S
19
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
6
3.2
LF
12
18
LG
84
84
LH
118
143
LZ
9
13.5
LW
45
55
LK
42
50
KW
6h9
10h9
KH
6
8
RH
15.5
30
Without brake
4.7
4.7
With brake
6.7
6.7
Connector/Plug specifications
11.0
11.0
14.0
14.0
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all22/11/2012
precautions and remarks before using the products.
A4-127
A4
MFMA
MINAS A4F
A4P
400W - 4.5kW
MFMA 2.5kW - 4.5kW
Encoder cannon plug
4-øLZ
Motor cannon plug
LL
LF
LC
LR
LE
(Key way dimensions)
LH
LK/2
KH
øSh6
øL
øL
D
A
KW
RH
øLBh7
LG
LW
LK
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MFMA series (Middle inertia)
2.5kW
Motor output
MFMA
Motor model
452S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
139
139
163
163
With brake
166
166
194
65
194
70
S
35
35
LA
235
235
LB
200
200
LC
220
220
LD
268
268
LE
4
4
LF
16
16
LG
84
84
LH
164
164
LZ
13.5
13.5
LW
55
55
LK
50
50
KW
10h9
10h9
KH
8
8
RH
30
30
Without brake
14.8
14.8
With brake
17.5
17.5
Connector/Plug specifications
19.9
19.9
24.3
24.3
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all22/11/2012
precautions and remarks before using the products.
A4-128
MINAS A4/A4F/A4P Motor
Mass (kg)
452P1
17-bit
Absolute/
Incremental
LR
Key way
4.5kW
252S1
2500P/r
Incremental
Rotary encoder specifications
LL
252P1
[unit: mm]
Motor Dimensions
MHMA 500W - 1.5kW
Encoder cannon plug
Motor cannon plug
LL
LR
LE
(Key way dimensions)
LK/2
KW
KH
LW
LK
øL
D
øL
A
RH
øSh6
øLBh7
LH
4-øLZ
LG
LF
LC
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MHMA series (High inertia)
500W
Motor output
M HM A
Motor model
Mass (kg)
052S1
102P1
1.5kW
102S1
152P1
152S1
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Without brake
150
150
175
175
200
200
With brake
175
175
200
200
225
70
LR
Key way
1.0kW
2500P/r
Incremental
Rotary encoder specifications
LL
052P1
[unit: mm]
70
225
70
S
22
22
22
LA
145
145
145
LB
110
110
110
LC
130
130
130
LD
165
165
165
LE
6
6
6
LF
12
12
12
LG
84
84
84
LH
118
118
118
LZ
9
9
9
LW
45
45
45
LK
41
41
41
KW
8h9
8h9
8h9
KH
7
7
7
RH
18
18
18
Without brake
5.3
5.3
8.9
8.9
10.0
10.0
With brake
6.9
6.9
9.5
9.5
11.6
11.6
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-129
A4
MHMA
MINAS A4F
A4P
500W - 5.0kW
MHMA 2.0kW - 5.0kW
Encoder cannon plug
Motor cannon plug
LL
LR
LC
(Key way dimensions)
LE
4-øLZ
LW
LK
LK/2
KW
KH
LH
øL
D
øL
A
RH
øSh6
øLBh7
LG
LF
M3
It is used to pull out the key.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MHMA series (High inertia)
2.0kW
Motor output
M HM A
Motor model
302S1
2500P/r
Incremental
Without brake
190
190
205
With brake
215
215
230
80
4.0kW
402P1
5.0kW
402S1
17-bit
17-bit
2500P/r
Absolute/ Incremental Absolute/
Incremental
Incremental
205
230
230
255
80
502P1
502S1
2500P/r
Incremental
17-bit
Absolute/
Incremental
230
255
255
255
280
80
280
80
S
35
35
35
35
LA
200
200
200
200
LB
114.3
114.3
114.3
114.3
LC
176
176
176
176
LD
233
233
233
233
LE
3.2
3.2
3.2
3.2
LF
18
18
18
18
LG
84
84
84
84
LH
143
143
143
143
LZ
13.5
13.5
13.5
13.5
LW
55
55
55
55
LK
50
50
50
50
KW
10h9
10h9
10h9
10h9
KH
8
8
8
8
RH
30
30
30
30
Without brake
16.0
16.0
18.2
18.2
22.0
22.0
26.7
26.7
With brake
19.5
19.5
21.7
21.7
25.5
25.5
30.2
30.2
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-130
MINAS A4/A4F/A4P Motor
Mass (kg)
302P1
17-bit
Absolute/
Incremental
LR
Key way
202S1
2500P/r
Incremental
Rotary encoder specifications
LL
202P1
3.0kW
[unit: mm]
Motor Dimensions
MHMA 7.5kW
Brake cannon plug
(Note)
Motor
cannon plug
Eye bolt (Thread 10)
LL
LC
LR
(Key way dimensions)
LE
LW
LK
KH
LK/2
D
øL
øL
A
KW
RH
LG
øSh6
øLBh7
LH
LF
4-øLZ
M4
It is used to pull out the key.
(Note) for with brake
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MHMA series (High inertia)
7.5kW
Motor output
M HM A
Motor model
LL
752P1
17-bit
Absolute/
Incremental
Without brake
380.5
380.5
With brake
420.5
LR
Mass (kg)
752S1
2500P/r
Incremental
Rotary encoder specifications
Key way
[unit: mm]
420.5
113
S
42
LA
200
LB
114.3
LC
176
LD
233
LE
3.2
LF
24
LG
84
LH
183
LZ
13.5
LW
96
LK
90
KW
12h9
KH
8
RH
37
Without brake
43.5
43.5
With brake
47.5
47.5
Connector/Plug specifications
refer to page A4-142
Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all 22/11/2012
precautions and remarks before using the products.
A4-131
MINAS A4, A4F, A4P Series (MSMD)
Motors with Gear Reducer
Efficiency of the gear reducer show the following inclination in relation
to output torque and rotational speed.
• Motor types with gear reducer
Reduction
ratio
Motor output (W)
100
200
400
750
Type of
reducer
1/9
efficiency
For high
precision
1/15
1/25
efficiency
1/5
output torque
rotational speed
• Specifications of motor with gear reducer
Motor type
Gear reducer
MSMD
Backlash
3 minutes or smaller (initial value) at output shaft of the reducer
Composition of gear
Planetary gear
Gear efficiency
65% to 85%
Rotational direction at output shaft (of reducer)
Same direction as the motor output shaft
Composition of gear
Planetary gear
Mounting method
Flange mounting
Permissible moment of inertia of the load
10 times or smaller than rotor moment of inertia of the motor
(conversion to the motor shaft)
Protective structure
Environment
IP44 (at gear reducer)
Ambient temperature
0 to 40˚C
Ambient humidity
85%RH (free from condensation) or less
Vibration resistance
49m/s2 or less (at motor frame)
Impact resistance
98m/s2 or less
• Table of motor specifications
Motor
Model
Motor
Reduction
ratio
(W)
Output
(W)
Rated
speed
Max.
speed
(r / m i n ) (r / m i n )
MSMD with gear reducer
Moment of inertia
(motor + reducer/converted
Mass
Peak max.
Rated
Permissible Permissible
to motor shaft)
torque
torque
radial load thrust load
w/o brake w/ brake w/o brake w/ brake
(N . m )
(N . m )
3.72
J( x 10 – 4 kg . m2)
(N)
(N)
1.23
490
245
1.02
1.23
588
294
1.17
1.38
784
392
2.17
2.38
1670
833
0.278
1.54
2.02
490
245
0.428
2.52
3.00
1180
588
0.440
0.460
2.52
3.00
1470
735
0.428
0.448
2.52
3.00
1670
833
16.2
0.623
0.643
2.9
3.4
980
490
28.5
0.528
0.548
2.9
3.4
1180
588
1N
1/5
75
600
1000
1.18
MSMD01
2N
1/9
80
333
555
2.25
6.86
0.0853
0.0883
MSMD01
3N
1 / 15
80
200
333
3.72
11.4
0.0860
0.0890
MSMD01
4N
1 / 25
80
120
200
6.27
19.0
0.0885
0.0915
MSMD02
1N
1/5
170
600
1000
2.65
8.04
0.258
MSMD02
2N
1/9
132
333
555
3.72
11.3
0.408
MSMD02
3N
1 / 15
132
200
333
6.27
18.8
MSMD02
4N
1 / 25
140
120
200
11.1
33.3
MSMD04
1N
1/5
340
600
1000
5.39
MSMD04
2N
1/9
332
333
555
9.51
MSMD01
100
200
0.0910
0.0940
(kg)
1.02
400
MSMD04
3N
1 / 15
332
200
333
15.8
47.5
0.560
0.580
3.3
3.8
1470
735
MSMD04
4N
1 / 25
332
120
200
26.4
79.2
0.560
0.580
4.4
4.9
2060
1030
MSMD082
1N
1/5
672
600
900
10.7
32.1
1.583
1.683
4.4
5.2
980
490
MSMD082
2N
1/9
635
333
500
18.2
54.7
1.520
1.620
5.7
6.5
1470
735
750
MSMD082
3N
1 / 15
635
200
300
30.4
91.2
1.570
1.670
6.1
6.9
1760
882
MSMD082
4N
1 / 25
635
120
180
50.7
152
1.520
1.620
6.1
6.9
2650
1320
For dimensions, refer to page, A4-136.
22/11/2012
A4-133
A4
Motor with reducer
Ratings and specifications
MINAS A4F
A4P
Ratings and
Specifications of Motor with Gear Reducer
• Model No. designation
e.g.)
M S M D
Symbol
MSMD
0 1
1 P 3 1 N
Type
Low inertia
(100-750W)
Motor types with gear reducer
Symbol Reduction
ratio
Motor rated output
Symbol
Rated output
01
02
04
08
100W
200W
400W
750W
Voltage specifications
Symbol
Specifications
100V
200V
1
2
Rotary encoder specifications
Symbol
Format
Pulse counts
1N
1/ 5
2N
1/ 9
3N
1/15
4N
1/25
100
Motor output (W)
200 400 750
Type of
reducer
For high
precision
Motor structure
Symbol
Resolution
Wire
3
P
Incremental
2500P/r
10000
5
4
S
Absolute/Incremental
17-bit
131072
7
Shaft Holding brake
Key way without with
• The combination of the driver and the motor
100V
Combination with driver
Encoder
Motor
output
Part No. of motor
with reducer
200V
Single phase, 100V
Part No. of driver
Part No. of motor
with reducer
200W
MSMD011P
MSMD021P
N
N
MADDT1107F
MSMD012P
N
MADDT1205P
MBDDT2110
MADDT1207
MBDDT2110F
MSMD022P
N
MSMD041P
N
MCDDT3120F
Part No. of driver
–
–
MADDT1207F
–
–
–
–
MBDDT2210
MSMD042P
N
MBDDT2210F
MCDDT3520
MCDDT3520
750W
–
MSMD082P
N
MCDDT3520F
MSMD082P
N
MCDDT3520P
MCDDT3520P
MADDT1205
MADDT1107
100W
200W
MSMD011S
MSMD021S
N
N
MADDT1107F
MSMD012S
N
MADDT1205P
MBDDT2110
MADDT1207
MSMD022S
N
MSMD041S
N
MCDDT3120F
–
–
–
–
–
MBDDT2210
MCDDT3120
400W
MADDT1207F
–
MADDT1207P
MBDDT2110P
17-bit Absolute
MADDT1205F
MADDT1107P
MBDDT2110F
MSMD042S
N
MBDDT2210F
MBDDT2210P
MCDDT3120P
MCDDT3520
MCDDT3520
750W
–
–
MCDDT3520F
MSMD082S
N
MCDDT3520F
MCDDT3520P
For dimensions, refer to pages, A4-22, 23, 48, 49, 73 and 74.
* In the driver model number, the upper row is A4 series, the middle row is A4F series and the lower is A4P series.
22/11/2012
A4-134
MSMD082S
N
MCDDT3520F
MCDDT3520P
MINAS A4/A4F/A4P Motor with reducer / Ratings and specifications
MBDDT2210P
MCDDT3120P
–
3-phase, 200V
Part No. of motor
with reducer
MADDT1207P
MCDDT3120
400W
MADDT1205F
MADDT1107P
MBDDT2110P
2500P/r
Incremental
Part No. of driver
MADDT1205
MADDT1107
100W
Single phase, 200V
Torque Characteristics of Motor with Gear Reducer
• For high precision (MSMD Series 100W - 750W)
Reduction
Supply
ratio
voltage Motor
to driver output
1/9
1/5
MSMD011
1N
1/15
MSMD011
torque
4.0
[N . m]
(3.72)
torque
[N . m]
2N
MSMD011
torque
[N . m]
8.0
1/25
3N
MSMD011
4N
torque 20.0
[N . m] (19.0)
16.0
(6.86)
(11.4)
100W
Peak run range
Peak run range
Peak run range
4.0
2.0
Peak run range
8.0
10.0
(2.25)
(1.18)
(6.72)
Continuous run range
0
Continuous run range
500 600
1000
rotational speed [r/min]
MSMD021
1N
0
0
200
rotational speed [r/min]
2N
torque 16.0
[N . m]
Continuous run range
Continuous run range
333 400 555
MSMD021
torque (8.04)
8.0
[N . m]
(3.72)
(3.72)
333
0
100 120
MSMD021
torque
[N . m]
3N
MSMD021
torque
[N . m]
20.0
(18.8)
200
rotational speed [r/min]
rotational speed [r/min]
4N
40.0
(33.3)
(11.3)
Peak run range
100V
200W
Peak run range
8.0
4.0
Peak run range
20.0
10.0
Peak run range
(2.65)
(11.1)
(6.27)
(3.72)
Continuous run range
Continuous run range
Continuous run range
0
500 600
1000
0
333 400 555
rotational speed [r/min]
MSMD041
1N
200
rotational speed [r/min]
MSMD041
torque
[N . m]
torque
20.0
[N . m]
0
2N
0
100 120
rotational speed [r/min]
MSMD041
torque
[N . m]
40.0
Continuous run range
333
(16.2)
3N
200
rotational speed [r/min]
MSMD041
4N
torque 80.0
[N . m] (79.2)
60.0
(47.5)
(28.5)
400W
Peak run range
20.0
10.0
(5.39)
0
1000
0
333 400 555
1N
MSMD012
torque 4.0
[N . m]
(3.72)
0
200
rotational speed [r/min]
rotational speed [r/min]
MSMD012
(26.4)
torque
[N . m]
2N
333
0
100 120
MSMD012
3N
MSMD012
torque
[N . m]
16.0
200
rotational speed [r/min]
rotational speed [r/min]
torque
[N . m]
8.0
Continuous run range
Continuous run range
Continuous run range
500 600
40.0
(15.8)
(9.51)
Continuous run range
Peak run range
Peak run range
30.0
Peak run range
4N
20.0
(19.0)
(6.86)
(11.4)
100W
Peak run range
Peak run range
Peak run range
2.0
4.0
(1.18)
10.0
8.0
Peak run range
(6.27)
(2.25)
(3.72)
Continuous run range
0
Continuous run range
500 600
1000
0
333 400 555
rotational speed [r/min]
MSMD022
1N
0
333
200
rotational speed [r/min]
rotational speed [r/min]
MSMD022
torque (8.04)
8.0
[N . m]
torque
[N . m]
Continuous run range
Continuous run range
2N
MSMD022
torque
[N . m]
16.0
3N
0
200
100 120
rotational speed [r/min]
MSMD022
torque
[N . m]
20.0
(18.8)
4N
40.0
(33.3)
(11.3)
200W
Peak run range
8.0
4.0
Peak run range
10.0
Peak run range
(2.65)
(6.27)
(11.1)
(3.72)
Continuous run range
Continuous run range
Continuous run range
0
500 600
1000
0
333 400 555
MSMD042
1N
MSMD042
torque
[N . m]
torque
20.0
[N . m]
0
200
2N
MSMD042
torque
[N . m]
40.0
Continuous run range
333
0
(16.2)
3N
200
100 120
rotational speed [r/min]
rotational speed [r/min]
rotational speed [r/min]
rotational speed [r/min]
200V
Peak run range
20.0
MSMD042
4N
torque
80.0
[N . m] (79.2)
60.0
(47.5)
(28.5)
400W
Peak run range
Peak run range
20.0
10.0
30.0
Peak run range
(5.39)
1000
0
333 400 555
1N
torque
[N . m] 40.0
0
333
200
rotational speed [r/min]
rotational speed [r/min]
rotational speed [r/min]
MSMD082
torque
[N . m]
2N
MSMD082
torque
[N . m]
80.0
(32.1)
Continuous run range
Continuous run range
Continuous run range
500 600
MSMD082
(26.4)
(15.8)
(9.51)
Continuous run range
0
40.0
Peak run range
3N
0
200
100 120
rotational speed [r/min]
MSMD082
torque
[N . m]
120.0
4N
160.0
(152.0)
(91.2)
(54.7)
750W
20.0
Peak run range
40.0
(10.7)
500 600
60.0
80.0
(50.7)
0
333 400 500
rotational speed [r/min]
rotational speed [r/min]
Dotted line represents the torque at 10% less supply voltage.
22/11/2012
A4-135
Continuous run range
Continuous run range
Continuous run range
900
Peak run range
Peak run range
(30.4)
(18.2)
Continuous run range
0
Peak run range
0
200
300
rotational speed [r/min]
0
100 120
180
rotational speed [r/min]
A4
MINAS A4F
A4P
Dimensions of Motor
with Gear Reducer
Torque Characteristics of Motor with Gear Reducer
Dimension of Motor with Gear Reducer
• MSMD series with gear reducer
L
T
( LG )
LL
Encoder connecter (AMP)
LR
(7)
B
H
(Key way dimensions)
(7)
LQ
LH
LE
200
220
Motor connector (AMP)
Brake connector (AMP)
LC
LK
LD
øL
øLBh7
øSh6
A
4-øLZ
encoder
• 2500P/r
• 17-bit encoder
Motor
output
Model
MSMD01
MSMD01
1N
Reduction
rati0
1/5
2N
1/9
100W
MSMD01
MSMD01
MSMD02
3N
1/15
4N
1/25
1N
1/5
[unit: mm]
L
191.5
92
221.5
122
191.5
92
221.5
122
202
92
232
122
234
92
264
122
183.5
2N
1/9
255
200W
MSMD02
3N
218.5
1/15
229
265.5
MSMD02
4N
1/25
229
265.5
MSMD04
MSMD04
1N
1/5
2N
1/9
400W
MSMD04
MSMD04
MSMD082
MSMD082
3N
1/15
4N
1/25
1N
1/5
2N
1/9
750W
MSMD082
MSMD082
3N
4N
1/15
1/25
238
79
LR
LQ
LC
LB
LA
S
LH
LZ
LK
32
20
52
50
60
12
10
M5
(Depth : 12)
18
(LG)
LE
T
4 x 4 x 16
2.5
67.5
78
50
30
78
70
90
19
17
M6
(Depth : 20)
26
92
6 x 6 x 22
3.5
32
20
52
50
60
12
10
M5
(Depth : 12)
18
72.5
4 x 4 x 16
2.5
6 x 6 x 22
3.5
5
8 x 7 x 30
4
3
6 x 6 x 22
3.5
5
8 x 7 x 30
4
115.5
79
89.5
3
115.5
79
115.5
100
79
115.5
50
30
78
70
90
19
17
98.5
274.5
135
238
98.5
274.5
135
248.5
98.5
285
135
263.5
98.5
300
135
255.5
112
292.5
149
270.5
112
307.5
149
283
112
320
149
283
112
320
149
M6
(Depth : 20)
26
89.5
100
61
40
98
90
115
24
18
M8
(Depth : 20)
35
50
30
78
70
90
19
17
M6
(Depth : 20)
26
104
93.5
97.5
61
40
98
90
115
24
18
M8
(Depth : 20)
35
110
Upper column : without brake
Lower column : with brake
22/11/2012
A4-136
MINAS A4/A4F/A4P Motor with Gear Reducer
220
MSMD02
LL
Key way
BXHXLD
Conformity to CE and UL
Compliance to EC and EMC Directives
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly
sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the
products.
MINAS AC Servos conforms to the EC Directives for Low Voltage Equipment so that the machine incorporating our servos has an easy
access to the conformity to relevant EC Directives for the machine.
EMC Directives
MINAS Servo System conforms to relevant standards under EMC Directives setting up certain model (condition) with certain locating
distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in
wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise
terminal voltage, it is necessary to examine the machine incorporating our servos.
Conformed Standards
Subject
Motor
IEC : International Electrotechnical Commission
Conformed Standard
IEC60034-1
IEC60034-5
EN50178
UL508C CSA22.2 No.14
EN55011
Radio Disturbance Characteristics of Industrial, Scientific and Medical
UL1004
CSA22.2 No.100
Conforms to LowVoltage Directives
: Europaischen Normen
EMC : Electromagnetic Compatibility
UL
: Underwriters Laboratories
CSA : Canadian Standards Association
(ISM) Radio-Frequency Equipment
Motor
and
driver
EN
EN61000-6-2
Immunity for Industrial Environments
IEC61000-4-2
Electrostatic Discharge Immunity Test
IEC61000-4-3
Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4
Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5
Lightening Surge Immunity Test
IEC61000-4-6
High Frequency Conduction Immunity Test
Standards
referenced by
EMC Directives
Pursuant to at the directive 2004/108/EC,article 9(2)
Panasonic Testing Centre
Panasonic Service Europe,
a division of Panasonic Marketing Europe GmbH
IEC61000-4-11 Instantaneous Outage Immunity Test
Winsbergring 15,22525 Hamburg,F.R.Germany
Composition of peripheral equipment
Use
after
reading
operation
manuals
of the
optionsbut
to not
better
understand
the precautions.
This options
product correctly
is intended
to be
used with
a general
industrial
product,
designed
or manufactured
to be used in a machine or system
Take
care
not
to
apply
excessive
stress
to
each
optional
part.
that may cause personal death when it is failed.
Installation environment
Power supply
+10%
100V system : Single phase 100V –15%
(Frame A to C)
+10%
200V system : Single 200V
–15%
(Frame A to B)
+10%
200V system : Single/3- phase 200V
–15%
(Frame C to D)
200V system : 3- phase 200V +10%
–15%
(Frame E to G)
Use the MINAS driver in environment of Pollution Degree
1 or 2 prescribed in IEC-60664-1
(e.g. Install the driver in control panel with IP54 protection structure.)
Control panel
Controller
Insulated power
supply for interface
Leakage
current
breaker
(RCD)
Noise filter
L1C(r)
L2C(t)
+10% 50/60Hz
–230V –15%
a surge absorber which conforms to EN61643-11 : 2002
Noise filter for
signal lines
L1
L2
L3
+10%
–240V –15% 50/60Hz
Category (Installation Category) II of EN50178 :1997. Install
Noise filter for
signal lines
Circuit
breaker
+10%
–240V –15% 50/60Hz
(1) This product is designed to be used under Overvoltage
CN–X5
Driver
Power
supply
+10%
–115V –15% 50/60Hz
and other relevant standards at the power entry when you
Servo
motor
U
V
W
want to use this product under Overvoltage Category
M
(Installation Category) III .
RE
Surge
absorber
(2) For a interface power supply, use an insulated one with
CN–X6
12 to 24 VDC which conforms to CE Marking or EN
Ground (PE)
Standards.
22/11/2012
A4-137
A4
Conformity to CE and UL
MINAS A4F
A4P
Circuit breaker
Connect a circuit breaker which conforms to IEC standards and is UL recognized (UL Listed,
marked), between the power supply
and the noise filter.
Noise filter
When you install one noise filter in the power supply for multi-
Option part No.
Part No.
DV0P4170
SUP-EK5-ER-6
DV0P4180
3SUP-HQ10-ER-6
DV0P4220
3SUP-HU30-ER-6
DV0P3410
3SUP-HL50-ER-6B
axes application, consult with the manufacture of the filter.
Manufacturer
Okaya Electric
Industries Co.
[unit: mm]
DV0P4170
[unit: mm]
Terminal cover
(transparent)
Earth terminal M4
Label
Cover attachment
screw M3
Label
Cover
Main body
Option part No.
DV0P4180
DV0P4220
A
B
C
115 105 95
145 135 125
D
70
70
E
43
50
F
10
10
G
52
52
H
5.5
5.5
[unit: mm]
DV0P3410
Surge absorber
Install a surge absorber at primary side of the noise filter.
Option part No.
Driver voltage spec
Part No.
3-phase, 200V
R . A . V-781BXZ-4
DV0P1450
Manufacturer
Option part No.
Driver voltage spec
Part No.
Manufacturer
Okaya Electric
DV0P4190
Single phase, 100V, 200V
R . A . V-781BWZ-4
Okaya Electric
[unit: mm]
Circuit diagram
[unit: mm]
Circuit diagram
Remove this surge absorber when you perform dielectric test on the machine, or serge absorber might be damaged.
22/11/2012
A4-138
MINAS A4/A4F/A4P Conformity to CE and UL
Label
Conformity to CE and UL
39 ±1
Noise filter for signal lines
Install noise filters for signal lines to all cables (Power line,
[unit: mm]
34 ±1
motor cable, encoder cable, interface cable)
Part No.
Qty.
Manufacturer
DV0P1460
ZCAT3035-1330
4
TDK Corp.
Mass : 62.8g
13 ±1
Fix the signal line noise filter in place to eliminate excessive
stress to the cables.
(Refer to page A4-137 [Composition of peripheral equipment])
30 ±1
Option part No.
Ground-fault breaker
Install a B-type ground-fault breaker (RCD) at primary side of the power supply of the driver.
Grounding
(1) Connect the protective earth terminal of the driver (
) and protective earth terminal of the control panel (PE) without fail to
prevent electrical shocks.
(2) Do not co-clamp to the protective earth terminals (
). Two protective earth terminals are provided.
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1. (e.g. Install in the control box with IP54
enclosure.)
(2) Install a circuit breaker or fuse which are UL recognized (LISTED
marked) between the power supply and the noise filter without
fail.
For the rated current of the circuit breaker or fuse, refer to P.A4-12, A4-38, A4-63, "List of recommneded prripheral equipments".
Use a copper cable with temperature rating of 60˚C or higher.
Tightening torque of more than the max. values (M4:1.2N Em, M5: 2.0N Em) may break the terminal block.
•
•
22/11/2012
A4-139
A4
Conformity to CE and UL
IP65 Rating
MINAS A4F
A4P
IP65 Rating
• MSMD, MQMA and MAMA motors conform to IP65 rating except for the connecter and shaft through hole.
MSMA, MDMA, MGMA, MFMA and MHMA motors, customer to supply the plug and cable clamp which conform to
• For
IP65 rating.
(Optional connector kits for encoder cable and motor cable do not provide IP65 rating.)
Motor
Series
Output
(kW)
MSMA 1.0 to 2.0
3.0 to 5.0
MDMA 1.0 to 2.0
(1)
Receptacle
connector
(motor side)
(or equivalent)
JL04V-2E20-4PE-B-R
Plug and clamp (Customer to supply ) manufactured by Japan Aviation Electronics Ind.
Plug
(6)
(2)
(3)
Low profile type
Cable clump
Straight type
Angle (L) type
(5) Low profile (or equivalent)
(4) Plug connector
(or equivalent)
(or equivalent)
type endbell
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
JL04V-6A20-4SE-R
JL04-22EBA
JL04V-2E20-4PE-B-R
JL04-20EBA
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
JL04V-6A20-4SE-R
Without brake
3.0 to 5.0
JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04V-6A22-22SE-R
7.5
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
N/MS3108B32-17S
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
MGMA 0.9
JL04V-6A20-4SE-R
JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04V-6A22-22SE-R
6.0
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
N/MS3108B32-17S
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
–
JL04-20EBA
JL04-22EBA
–
–
JL04V-6A20-4SE-R
JL04-20EBA
2.0 to 5.0
JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04V-6A22-22SE-R
7.5
JL04-2022CK(14)-R
JL04-22EBA
–
2.0 to 4.5
MGMA 0.5 to 1.5
JL04-20EBA
JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL04V-6A22-22SE-R
JL04-22EBA
–
–
N/MS3057-20A
JL04-2022CK(14)-R
N/MS3057-20A
JL04-2022CK(14)-R
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
MFMA 0.4 to 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
N/MS3108B32-17S
N/MS3057-20A
With brake
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
3.0 to 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
MDMA 1.0 to 2.0
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
3.0 to 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
7.5
Motor
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
N/MS3108B32-17S
–
–
N/MS3057-20A
Brake
N/MS3102A14S-2P
N/MS3106B14S-2S
N/MS3108B14S-2S
–
–
N/MS3057-6A
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
2.0 to 4.5
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
6.0
Motor
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
N/MS3108B32-17S
–
–
N/MS3057-20A
Brake
N/MS3102A14S-2P
N/MS3106B14S-2S
N/MS3108B14S-2S
–
–
N/MS3057-6A
MHMA 0.5 to 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
2.0 to 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
7.5
Motor
JL04V-2E32-17PE-B-R
N/MS3106B32-17S
N/MS3108B32-17S
–
–
N/MS3057-20A
Brake
N/MS3102A14S-2P
N/MS3106B14S-2S
N/MS3108B14S-2S
–
–
N/MS3057-6A
MFMA 0.4 to 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04V-6A20-18SE-R
JL04-20EBA JL04-2022CK(14)-R
2.5 to 4.5
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04V-6A24-11SE-R
JL04-24EBA JL04-2428CK(17)-R
N/MS3102A 20-29P
JA06A-20-29S-J1-EB-R
MGMA 0.9
Encoder
JA08A-20-29S-J1-EB-R
JA06A-20-29S-J1-R
JL04-20EBA JL04-2022CK(14)-R
• Example of connector connection
(2) Plug connector (straight type)
(3) Plug connector (angle (L) type)
(1) Receptacle connector
(motor side)
(6) Cable clump
(4) Plug connector
(5) Low profile type endbell
22/11/2012
A4-140
MINAS A4/A4F/A4P Conformity to CE and UL / IP65 Rating
2.5 to 4.5
MSMA 1.0 to 2.0
Options
Cable part No. designation
Encoder cable
1
2
3
4
5
6
7
8
9
10 11 12
M F E C A 0 0 5 0 E A M
Cable end (Driver side)
D
E
M
Molex Inc. connector (MINAS A4,A4P series, incremental)
Molex Inc. connector (MINAS A4,A4P series, absolute)
Molex Inc. connector (MINAS A4,A4P series, E series)
Cable end (Encoder side)
Cable type
Cable length
Type classification
E
S
A
S-type cannon plug
Tyco Electronics, AMP connector
PVC cable with shield by Oki Electric Cable Co., 0.20mm2 x 8P, 3P
3m
5m
10m
20m
0030
0050
0100
0200
MFECA : Encoder cable
Motor cable, Brake cable
1
2
3
4
5
6
7
8
9
10 11 12
M F E C A 0 0 5 2 F C T
Cable end at driver side
D Plus clamp terminal for MINAS A4,A4P by Phoenix contact
T Clamp terminal
Cable end at motor side
Cable type
E
F
G
Cross section of cable core
Type
classification
A
B
Cable length
Standard
Special
Design order
AC servo motor cable
22/11/2012
A4-141
003
005
010
020
E
C
Tyco Electronics, AMP connector
S type cannon plug
ROBOTOP 4-wire by Daiden Co., Ltd.
ROBOTOP 6-wire by Daiden Co., Ltd.
ROBOTOP 2-wire by Daiden Co., Ltd.
0
1
2
3
0.75mm2
1.25mm2
2.0mm2
3.5mm2
3m
5m
10m
20m
A4
Option
MINAS A4F
A4P
• Pin configuration for encoder connector • Pin configuration for motor/brake connector (with brake)
MSMA
MSMA
MSMA 1kW, 1.5kW, 2kW
MSMA 3kW, 4kW, 5kW
MDMA 7.5kW
MDMA
MDMA
MDMA 1kW, 1.5kW, 2kW
MDMA 3kW, 4kW, 5kW
MGMA 6kW
MFMA
MFMA
MFMA
MFMA
MHMA 7.5kW
MHMA
MHMA
MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW
MGMA
MGMA
MGMA 900W
M
L
K
A
B
N
P
T
R
S
J
H
G
M
C
D
E
F
C
P
T
R
S
J
H
G
G
B
N
L
K
A
MGMA 2kW, 3kW, 4.5kW
H
A
A
B
I
F
2.5kW, 4.5kW
B
D
E
E
D
C
E
G
F
H
I
F
PIN No. Content PIN No. Content
K
A
PS
NC
L
B
NC
PS
M NC
C NC
D NC
N NC
E
P
NC
NC
R NC
F
NC
S BAT–*
G E0V
T BAT+*
H E5V
J Frame
GND
JL04V-2E20-18PE-B-R
(by Japan Aviation
Electronics or equivalent)
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No.
G
H
A
F
I
B
E
D
C
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No.
A
B
C
D
E
F
G
H
I
Motor Cable
C
D
N/MS3102A20-29P
N/MS3102A20-29P
• Specifications of 2500P/r • Specifications of 17bit
absolute/incremental
incremental encoder
encoder
PIN No. Content PIN No. Content
K
PS
A
NC
L
B
NC
PS
M NC
C NC
D NC
N NC
E
P
NC
NC
R NC
F
NC
S
G E0V
NC
T
H E5V
NC
J Frame
GND
400W, 1.5kW
*Connection to Pin-S and T are not
required when used in incremental.
D
A
C
B
JL04V-2E32-17PE-B-R
(by Japan Aviation
Electronics or equivalent)
Content
U-phase
V-phase
W-phase
Ground
PIN No.
A
B
C
D
Brake Cable
D
A
C
B
N/MS3102A 14S-2P
(by Japan Aviation
Electronics or equivalent)
PIN No.
A
B
C
D
Content
Brake
Brake
NC
NC
• Pin configuration for motor/brake connector (without brake)
MSMA 3kW, 4kW, 5kW
MDMA 7.5kW
MDMA 1kW, 1.5kW, 2kW
MDMA 3kW, 4kW, 5kW
MGMA 6kW
MFMA 400W, 1.5kW
MFMA 2.5kW, 4.5kW
MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW MHMA 7.5kW
MGMA 900W
MGMA 2kW, 3kW, 4.5kW
G
D
A
D
A
D
A
C
B
C
B
C
B
JL04V-2E20-4PE-B-R
(by Japan Aviation
Electronics or equivalent)
PIN No.
A
B
C
D
Content
U-phase
V-phase
W-phase
Ground
JL04V-2E22-22PE-B-R
(by Japan Aviation
Electronics or equivalent)
PIN No.
A
B
C
D
Content
U-phase
V-phase
W-phase
Ground
JL04V-2E32-17PE-B-R
(by Japan Aviation
Electronics or equivalent)
PIN No.
A
B
C
D
Content
U-phase
V-phase
W-phase
Ground
Do not connect anything to NC pins.
22/11/2012
A4-142
F
H
A
B
I
E
D
A
C
JL04V-2E20-18PE-B-R
(by Japan Aviation
Electronics or equivalent)
PIN No.
G
H
A
F
I
B
E
D
C
Content
NC
NC
NC
U-phase
V -phase
W-phase
Ground
Ground
NC
D
B
C
E
G
H
F
I
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
PIN No.
A
B
C
D
E
F
G
H
I
Content
NC
NC
NC
U-phase
V -phase
W-phase
Ground
Ground
NC
MINAS A4/A4F/A4P Options
MSMA 1kW, 1.5kW, 2kW
Options
Encoder cable
[unit: mm]
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W
17-bit absolute encoder, with battery holder
MFECA0**0EAE
Title
L
Connector
300
Connector
Connector pin
Cable
(16)
(ø8)
110
Part No. (Manufacturer's)
55100-0600
or
55100-0670
172161-1
170365-1
0.20mm2 x 4P
Manufacturer
Molex Inc.
Tyco Electronics, AMP
Oki Electric Cable Co.
L(m)
3
5
10
20
Part No.
MFECA0030EAE
MFECA0050EAE
MFECA0100EAE
MFECA0200EAE
L(m)
3
5
10
20
Part No.
MFECA0030ESE
MFECA0050ESE
MFECA0100ESE
MFECA0200ESE
L(m)
3
5
10
20
Part No.
MFECA0030EAD
MFECA0050EAD
MFECA0100EAD
MFECA0200EAD
L(m)
3
5
10
20
Part No.
MFECA0030ESD
MFECA0050ESD
MFECA0100ESD
MFECA0200ESD
L(m)
3
5
10
20
Part No.
MFECA0030EAM
MFECA0050EAM
MFECA0100EAM
MFECA0200EAM
(4) (14) (4)
Note) Battery for absolute encoder (DV0P2990) is an option.
MSMA,MDMA,MHMA,MGMA,MFMA
17-bit absolute encoder, with battery holder
MFECA0**0ESE
Title
L
300
ø37.3
(ø8)
110
Part No. (Manufacturer's)
55100-0600
Connector
or
55100-0670
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
0.20mm2 x 4P
Cable
Manufacturer
Molex Inc.
Japan Aviation
Electronics Industry Ltd.
Oki Electric Cable Co.
Note) Battery for absolute encoder (DV0P2990) is an option.
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W
17-bit incremental encoder, without battery holder
MFECA0**0EAD
L
(16)
(ø6.5)
Title
(4)
(14)
Connector
Connector pin
Cable
(4)
L
Part No. (Manufacturer's)
55100-0600
Connector
or
55100-0670
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
Cable
0.20mm2 x 3P
ø37.3
(ø6.5)
Title
Title
(ø6.5)
(11.8)
(14)
(4)
Molex Inc.
Tyco Electronics, AMP
Oki Electric Cable Co.
Manufacturer
Molex Inc.
Japan Aviation
Electronics Industry Ltd.
Oki Electric Cable Co.
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W
2500P/r encoder, without battery holder
L
(4)
Manufacturer
MSMA,MDMA,MHMA,MGMA,MFMA
17-bit incremental/2500P/r encoder, without battery holder
MFECA0**0ESD
MFECA0**0EAM
Connector
Part No. (Manufacturer's)
55100-0600
or
55100-0670
172161-1
170365-1
0.20mm2 x 3P
Connector
Connector
Connector pin
Cable
22/11/2012
A4-143
Part No. (Manufacturer's)
55100-0600
or
55100-0670
172160-1
170365-1
0.20mm2 x 3P
Manufacturer
Molex Inc.
Tyco Electronics, AMP
Oki Electric Cable Co.
A4
Option
MINAS A4F
A4P
Motor cable (ROBO TOP® 105˚C,600V, DP)
[unit: mm]
ROBO TOP® is a trade mark of Daiden Co., Ltd.
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W
MFMCA0**0EED
(50)
(50)
(12.0)
(ø11)
L
(4)
(10.0)
(4)
L (m)
3
5
10
20
Part No.
MFMCA0030EED
MFMCA0050EED
MFMCA0100EED
MFMCA0200EED
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A20-4SE-EB-R
Electronics Industry Ltd.
Cable clamp
JL04-2022CK(14)-R
Rod terminal
NTUB-2
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminall
N2-M4
2
Cable
ROBO-TOP 600V 2.0mm Daiden Co., Ltd.
L (m)
3
5
10
20
Part No.
MFMCD0032ECD
MFMCD0052ECD
MFMCD0102ECD
MFMCD0202ECD
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A20-4SE-EB-R
Electronics Industry Ltd.
Cable clamp
JL04-2022CK(14)-R
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminall
N2-5
2
Daiden
Co., Ltd.
Cable
ROBO-TOP 600V 2.0mm
L (m)
3
5
10
20
Part No.
MFMCD0032ECT
MFMCD0052ECT
MFMCD0102ECT
MFMCD0202ECT
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A22-22SE-EB-R
Electronics Industry Ltd.
Cable clamp
JL04-2022CK(14)-R
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminal
N5.5-5
Cable
ROBO-TOP 600V 3.5mm2 Daiden Co., Ltd.
L (m)
3
5
10
20
Part No.
MFMCA0033ECT
MFMCA0053ECT
MFMCA0103ECT
MFMCA0203ECT
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A20-18SE-EB-R
Electronics Industry Ltd.
Cable clamp
JL04-2022CK(14)-R
Rod terminal
NTUB-2
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminal
N2-M4
Cable
ROBO-TOP 600V 2.0mm2 Daiden Co., Ltd.
L (m)
3
5
10
20
Part No.
MFMCA0032ECD
MFMCA0052ECD
MFMCA0102ECD
MFMCA0202ECD
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A24-11SE-EB-R
Electronics Industry Ltd.
Cable clamp
JL04-2428CK(17)-R
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminal
N5.5-5
Cable
ROBO-TOP 600V 3.5mm2 Daiden Co., Ltd.
L (m)
3
5
10
20
Part No.
MFMCD0033ECT
MFMCD0053ECT
MFMCD0103ECT
MFMCD0203ECT
MSMA1.0kW - 1.5kW,MDMA1.0kW - 1.5kW
MHMA500W - 1.5kW,MGMA900W
MFMCDO**2ECD
(50)
ø37.3
(ø12.5)
L
MSMA2.0kW,MDMA2.0kW
MFMCDO**2ECT
(50)
ø37.3
(ø12.5)
L
(50)
ø40.5
(ø14)
L
MFMA400W - 1.5kW
MFMCAO**
(50)
ø37.3
(ø12.5)
L
MFMA2.5kW - 4.5kW
MFMCDO**3ECT
(ø14)
L
(50)
22/11/2012
A4-144
MINAS A4/A4F/A4P Options
MSMA3.0kW - 5.0kW,MDMA3.0kW - 5.0kW
MHMA2.0kW - 5.0kW,MGMA2.0kW - 4.5kW
MFMCAO**3ECT
ø43.7
Title
Part No. (Manufacturer's)
Manufacturer
Connector
172159-1
Tyco Electronics, AMP
Connector pin
170366-1
Rod terminal
AI0.75-8GY
Phoenix
Nylon insulated roundterminal
N1.25-M4
J.S.T. Mfg. Co., Ltd.
Cable
ROBO-TOP 600V 0.75mm2 Daiden Co., Ltd.
Options
Brake cable (ROBO-TOP® 105˚C 600V . DP)
MSMD 50W - 750W
MQMA100W - 400W
MAMA 100W - 750W
MFMCB0**0GET
(40)
(50)
L
(ø9.8)
(12.0)
(10.0)
[unit: mm]
Part No. (Manufacturer's)
Manufacturer
Title
Japan Aviation
Connector
172157-1
Connector pin 170366-1,170362-1 Electronics Industry Ltd.
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminal
N1.25-M4
Cable
ROBO-TOP 600V 0.75mm2 Daiden Co., Ltd.
L(m)
3
5
10
20
Part No.
MFMCB0030GET
MFMCB0050GET
MFMCB0100GET
MFMCB0200GET
(5.6)
Motor cable (with brake) (ROBO-TOP® 105˚C 600V . DP)
[unit: mm]
ROBO TOP® is a trade mark of Daiden Co., Ltd.
MSMA1.0kW -1.5kW,MDMA1.0kW - 1.5kW
MHMA 500W -1.5kW,MFMA 400W - 1.5kW
MGMA 900W
MFMCAO**2FCD
(50)
(ø9.8
)
ø37.3
(ø12.5)
L
L
(50
)
Title
Part No. (Manufacturer's)
Manufacturer
Japan Aviation
Straight plug JL04V-6A20-18SE-EB-R
Cable clamp
JL04-2022CK(14)-R Electronics Industry Ltd.
Rod terminal
NTUB-2
N2-M4
J.S.T. Mfg. Co., Ltd.
Nylon insulated roundterminal
N1.25-M4
ROBO-TOP 600V 2.0mm2
Daiden Co., Ltd.
Cable
or
ROBO-TOP 600V 0.75mm2
L(m)
3
5
10
20
Part No.
MFMCA0032FCD
MFMCA0052FCD
MFMCA0102FCD
MFMCA0202FCD
L(m)
3
5
10
20
Part No.
MFMCA0032FCT
MFMCA0052FCT
MFMCA0102FCT
MFMCA0202FCT
L(m)
3
5
10
20
Part No.
MFMCA0033FCT
MFMCA0053FCT
MFMCA0103FCT
MFMCA0203FCT
MSMA2.0kW,MDMA2.0kW
MFMCAO**2FCT
(50)
(ø9.8
)
ø37.3
(ø12.5)
L
L
(50
)
Title
Straight plug
Cable clamp
Part No. (Manufacturer's)
Manufacturer
JL04V-6A20-18SE-EB-R
Japan Aviation
JL04-2022CK(14)-R Electronics Industry Ltd.
N2-5
Nylon insulated roundterminal
J.S.T. Mfg. Co., Ltd.
N1.25-M4
ROBO-TOP 600V 2.0mm2
Daiden Co., Ltd.
Cable
or
ROBO-TOP 600V 0.75mm2
MSMA 3.0kW - 5.0kW ,MDMA 3.0kW - 5.0kW
MHMA 2.0kW - 5.0kW ,MFMA 2.5kW - 4.5kW
MGMA 2.0kW - 4.5kW
MFMCA0**3FCT
(50)
(ø9.8
)
ø43.7
(ø14)
L
L
(50
)
Title
Straight plug
Cable clamp
Part No. (Manufacturer's)
Manufacturer
JL04V-6A24-11SE-EB-R
Japan Aviation
JL04-2428CK(17)-R Electronics Industry Ltd.
N5.5-5
Nylon insulated roundterminal
J.S.T. Mfg. Co., Ltd.
N1.25-M4
ROBO-TOP 600V 3.5mm2
Daiden Co., Ltd.
Cable
or
ROBO-TOP 600V 0.75mm2
22/11/2012
A4-145
A4
Options
MINAS A4F
A4P
Connector kit for external peripheral equipments
• MINAS A4, A4F
1) Par No. DV0P4350
2) Components
Title
Part No.
Quantity
Connector
54306-5011 or
54306-5019 (lead-free)
1
Connector cover
54331-0501
1
Manufacturer
Note
Molex Inc.
For CN X5
(50-pins)
3) Pin disposition (50 pins) (viewed from the soldering side)
26
28
30
32
34
36
38
40
42
44
46
48
COIN-/
CL
CSALM
IM
ZEROSPD/ DIV/
PULSH1 SIGNH1 OB
EX-COIN-/ TLC
VS-SEL INTSPD3
INTSPD2 MODE RDY
AT-SPEED27
29
31
33
35
37
39
41
43
45
47
COIN+/
GAIN/ SRV
ASALM
SP
INH/
PULSH2 SIGNH2
EX-COIN+/ COM
TL-SEL -ON
CLR INTSPD1 RDY
AT-SPEED+
1
3
5
7
9
11
13
15
17
19
21
23
OPC1 PULS1 SIGN1 COM CCWL BRK- GND GND GND CZ
OA
OZ
OFF
2
4
6
8
10
12
14
16
18
20
22
OPC2 PULS2 SIGN2 CWL BRK- ZSP
CCWTL CWTL NC
OA
SPR/
OFF
TRQR/SPL /TRQR
50
FG
49
OB
25
GND
24
OZ
1) Check the stamped pin-No. on the
connector body while making a wiring.
2) For the function of each signal title or
its symbol, refer to the wiring example
of the connector CN I/F.
3) Check the stamped pin-No. on the
connector body while making a wiring.
• MINAS A4P
1) Par No. DV0P4500
2) Components
Title
Part No.
54306-3611 or
54306-3619 (lead-free)
1
54331-0361
1
Connector cover
Manufacturer
Note
Molex Inc.
For CN X5
(36-pins)
3) Pin disposition (36 pins) (viewed from the soldering side)
19
CCWL
21
Z-LS
20
CWL
1
COM
23
SRV-ON
22
EX-IN1
3
P1IN
2
EMGSTP
24
STB
5
P4IN
4
P2IN
25
EX-IN2
27
29
31
33
35
COIN/
P1OUT
P4OUT
P16OUT (NC)
DCLON
26
28
30
32
34
36
GND
BUSY
P2OUT
P8OUT
P32OUT BRK-OFF
7
P16IN
6
P8IN
9
OZ
8
P32IN
11
OA
10
OZ
13
DB
12
OA
15
ALM
14
DB
17
COM
16
CZ
18
FG
22/11/2012
A4-146
1) Check the stamped pin-No. on the
connector body while making a wiring.
2) For the function of each signal title or
its symbol, refer to the wiring example
of the connector CN I/F.
3) Check the stamped pin-No. on the
connector body while making a wiring.
MINAS A4/A4F/A4P Options
Connector
Quantity
Options
Interface cable
[unit: mm]
Cable of 2m is connected.
• MINAS A4, A4F
1) Part No.
3) Table for wiring
DV0P4360
PIN No.
1
2) Dimensions
2000
+200
0
2
12.7
(39)
3
molex
(52.35)
50
25
50 +10
0
5
6
26
1
Color designation of the cable
e.g.) Pin-1 Cable color : Orange
(Red1) : One red dot on the cable
9
10
11
12
13
14
15
16
17
18
19
PIN No.
color
PIN No.
Orange
(Black2)
Yellow
(Black1)
Gray
(Red2)
Gray
(Black2)
White
(Red2)
Yellow
(Red2)
Yel(Blk2)/
Pink(Blk2)
Pink
(Red2)
White
(Black2)
21
22
23
24
25
26
27
28
29
30
20
color
PIN No.
Orange
(Red3)
Orange
(Black3)
Gray
(Red3)
Gray
(Black3)
White
(Red3)
White
(Black3)
Yellow
(Red3)
Yellow
(Black3)
Pink
(Red3)
Pink
(Black3)
31
32
33
34
35
36
37
38
39
40
color
Orange
(Red4)
Orange
(Black4)
Gray
(Red4)
White
(Red4)
White
(Black4)
Yellow
(Red4)
Yellow
(Black4)
Pink
(Red4)
Pink
(Black4)
Gray
(Black4)
PIN No.
41
42
43
44
45
46
47
48
49
50
color
Orange
(Red5)
Orange
(Black5)
Gray
(Red5)
White
(Red5)
White
(Black5)
Yellow
(Red5)
Yellow
(Black5)
Pink
(Red5)
Pink
(Black5)
Gray
(Black5)
3) Table for wiring
1) Part No. DV0P4510
2) Dimensions
+200
0
12.7
(39)
+10
0
molex
(43.46)
36
18
50
7
8
• MINAS A4P
2000
4
color
Orange
(Red1)
Orange
(Black1)
Gray
(Red1)
Gray
(Black1)
White
(Red1)
White
(Black1)
Yellow
(Red1)
Pink
(Red1)
Pink
(Black1)
Orange
(Red2)
19
1
Color designation of the cable
e.g.) Pin-1 Cable color : Orange
(Red1) : One red dot on the cable
PIN No.
color
PIN No.
color
PIN No.
color
1
Orange(Red1)
13
Gray(Red2)
25
White(Red3)
2
Orange(Black1)
14
Gray(Black2)
26
White(Black3)
3
Gray(Red1)
15
White(Red2)
27
Yellow(Red3)
4
White(Red1)
16
White(Black2)
28
Yellow(Black3)
5
White(Black1)
17
Yellow(Red2)
29
Pink(Red3)
6
Gray(Black1)
18
Yellow(Black2)
30
Pink(Black3)
7
Yellow(Red1)
19
Pink(Red2)
31
Orange(Red4)
8
Yellow(Black1)
20
Pink(Black2)
32
Orange(Black4)
9
Pink(Red1)
21
Orange(Red3)
33
Gray(Red4)
10
Pink(Black1)
22
Orange(Black3)
34
Gray(Black4)
11
Orange(Red2)
23
Gray(Red3)
35
White(Red4)
12
Orange(Black2)
24
Gray(Black3)
36
White(Black4)
Communication cable (for connection with PC)
[unit: mm]
1) Part No. DV0P1960
2) Dimensions
2000
D-sub connector 9P
Mini-DIN 8P
MD connector
Communication cable (for RS485) < This cable cannot be used for the A4P series >
L
Mini-DIN 8P
MD connector
22/11/2012
A4-147
Part No.
L[mm]
DV0P1970
200
DV0P1971
500
DV0P1972
1000
A4
Options
MINAS A4F
A4P
Connector kit for motor and encoder
There may be cases where parts equivalent to those indicated by the part Nos. shown follow are used as components such as
connectors, connector covers, straight plugs and cable clamps.
• Applicable motor models : MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
For brake, purchase our
optional brake cable.
17-bit absolute
1) Part No. DV0P4290
2) Components
Part No.
Title
Connector
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
Tyco Electronics AMP
For junction cable to
encoder (9-pins)
Tyco Electronics AMP
For junction cable to
motor (4-pins)
55100-0600 or
55100-0670 (lead-free)
172161-1
Connector
Connector pin
Connector
Connector pin
172159-1
1
9
1
170366-1
4
170365-1
3) Pin configuration of connector, CN X6 4) Pin configuration of junction cable
for encoder
1 E5V
2 E0V
3 E5V
4 E0V
5 PS
6 PS
1
2
BAT+ BAT–
( Case
FG )
5) Pin configuration of junction cable
for motor power
3
FG
4
5
6
PS
PS
NC
7
8
9
E5V
E0V
NC
1
2
U
V
3
4
W
E
*When you connect the battery for absolute encoder, refer to A4-154,
"When you make your own cable for 17-bit absolute encoder"
For brake, purchase our
optional brake cable.
2500P/r incremental
encoder
1) Part No. DV0P4380
2) Components
Title
Part No.
Number
Manufacturer
Note
Molex Inc.
For CN X6 (6-pins)
Tyco Electronics AMP
For junction cable to
encoder (6-pins)
Tyco Electronics AMP
For junction cable to
encoder (4-pins)
Connector
55100-0600 or
55100-0670 (lead-free)
1
Connector
172160-1
1
Connector pin
170365-1
6
Connector
172159-1
1
Connector pin
170366-1
4
3) Pin configuration of connector, CN X6 4) Pin configuration of junction
cable for encoder
1 E5V
2 E0V
3 E5V
4 E0V
5 PS
6 PS
5) Pin configuration of junction
cable for motor power
1
2
3
1
2
NC
PS
PS
U
V
4
5
6
3
4
E5V
E0V
FG
W
E
( Case
FG )
• For DV0P2490, DV0P4380, recommended manual crimp tool
(to be prepared by customer)
Title
Part No.
For junction cable to encoder
755330 - 1
For junction cable to motor
755331 - 1
22/11/2012
A4-148
Manufacturer
Tyco Electronics AMP
MINAS A4/A4F/A4P Options
• Applicable motor models : MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
Options
Pin configuration of connector CN X6 plug
1.Shown in the figure at right is the pin configuration as seen from the soldering side of the
connector. Also check the pin No. inscribed on the case main body and take care to carry
out wiring properly.
2.Be sure to connect to the case (FG) the shield of the shielded wire to be used.
3.For wiring and connecting, refer to pages A4-19, 45 and 71.
• Applicable motor models : MSMA
MDMA
MHMA
MGMA
1) Part No. DV0P4310
2) Components
4 E0V
5 PS
6 PS
(Case FG)
1.0kW to 2.0kW
1.0kW to 2.0kW 17-bit absolute incremental encoder, Without brake
500W to 1.5kW 2500P/r incremental encoder
900W
Part No.
Number
Manufacturer
Note
Connector
55100-0600 or 55100-0670
1
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-4S
N/MS3057-12A
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
3.0kW to 5.0kW
3.0kW to 5.0kW 17-bit absolute incremental encoder,
Without brake
2.0kW to 5.0kW 2500P/r incremental encoder
2.0kW to 4.5kW
Title
Part No.
Number
Manufacturer
Note
Connector
55100-0600 or 55100-0670
1
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B-20-29S
N/MS3057-12A
N/MS3106B22-22S
N/MS3057-12A
1
1
1
1
• Applicable motor models : MSMA
MDMA
MHMA
MGMA
1) Part No. DV0P4330
2) Components
2 E0V
3 E5V
Title
• Applicable motor models : MSMA
MDMA
MHMA
MGMA
1) Part No. DV0P4320
2) Components
1 E5V
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
1.0kW to 2.0kW
1.0kW to 2.0kW 17-bit absolute incremental encoder,
With brake
0.5kW to 1.5kW 2500P/r incremental encoder
900W
17-bit absolute incremental encoder, Without brake
With brake
MFMA 0.4kW to 1.5kW 2500P/r incremental encoder
Title
Part No.
Number
Manufacturer
Note
Connector
55100-0600 or 55100-0670
1
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-18S
N/MS3057-12A
1
1
1
1
22/11/2012
A4-149
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
A4
Options
MINAS A4F
A4P
• Applicable motor models : MSMA
MDMA
MHMA
MGMA
1) Part No. DV0P4340
2) Components
3.0kW to 5.0kW
3.0kW to 5.0kW 17-bit absolute incremental encoder, With brake
2.0kW to 5.0kW 2500P/r incremental encoder
2.0kW to 4.5kW
17-bit absolute incremental encoder, Without brake
With brake
MFMA 2.5kW to 4.5kW 2500P/r incremental encoder
Title
Part No.
Number
Manufacturer
Note
Connector
55100-0600 or 55100-0670
1
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B24-11S
N/MS3057-16A
1
1
1
1
• Applicable motor models : MDMA 7.5kW
MGMA 6.0kW
MHMA 7.5kW
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
17-bit absolute incremental encoder,
Without brake
2500P/r incremental encoder
1) Part No. DV0PM20005
2) Components
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B32-17S
N/MS3057-20A
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
17-bit absolute incremental encoder,
With brake
2500P/r incremental encoder
1) Part No. DV0PM20006
2) Components
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B32-17S
N/MS3057-20A
N/MS3106B14S-2S
N/MS3057-6A
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
Part No.
55100-0600 or 55100-0670
(lead-free)
Number
Manufacturer
1
Molex Inc.
1
1
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
Japan Aviation Electronics For junction cable to
Industry Ltd.
brake cable
1) Part No. DV0PM20010
2) Components
Title
Connector
22/11/2012
A4-150
Note
For CN X6 or CN X7
(6-pins)
MINAS A4/A4F/A4P Options
• Applicable motor models : MDMA 7.5kW
MGMA 6.0kW
MHMA 7.5kW
Number
Options
Setup support software "PANATERM"
1) Part No.
DV0P4460
(Japanese / English version)
2) Supply media : CD-ROM
PANATERM
For information on the software and operating
environment, refer to p.F2 of this document or
[PANATERM] instruction manual.
Mounting bracket
Frame
Mounting
symbol of
applicable part No.
screw
driver
Dimensions
[unit: mm]
Upper side
Bottom side
2-M4, Pan head
11 ±0.2
11 ±0.2
2.6
2.6
5.2
15
R2
.6
7
7
21
21
2-M4, Pan head
9.5
9.5
17
17
2-M4, Pan head
18 ±0.2
2.6
18 ±0.2
5.2
15
2.6
R2
.6
10
2.6
15
.2
ø5
2.6
M4 x L6
Pan head
4pcs
10
DV0P
Frame B
4272
2.6
2
2.6
.
ø5
10
M4 x L6
Pan head
4pcs
15
DV0P
4271
10
Frame A
9.5
9.5
17
17
2-M4, Pan head
7
7
28
28
2-M4, Pan head
30 ±0.2
30 ±0.2
15
20
20
40
40
2-M4, Pan head
36 ±0.2
40
60
5.2
2.6
2.6
5.2
2.6
2ø5
.2
15
10
10
36 ±0.2
5
2.6
15
10
19
M4 x L6
Pan head
4pcs
9.5
9.5
17
17
2-M4, Pan head
DV0P
Frame D
4274
2.6
5.2
2.6
15
2.6
2.6
.2
ø5
10
M4 x L6
Pan head
4pcs
10
DV0P
Frame C
4273
9.5
9.5
17
17
2-M4, Pan head
10
40 ±0.2
60
For Frame E, F you can make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).
22/11/2012
A4-151
A4
Options
MINAS A4F
A4P
Console
1) Part No.
[unit: mm]
DV0P4420
Caution) An existing console(DV0P3690) cannot be used for the A4P series.
(24)
(62)
(15)
2) Dimensions
(114)
M3 length 5mm
Tightening torque for the insert screw
shall be 0.5N . m or less
Name plate
(15)
MD connector
Mini DIN-8P
(1500)
Reactor
Fig.1
Fig.2
X Y Z
2-I
NP
E
H
F
6-I
A
A
4-H
(Mounting pitch)
B
Part No.
4-H
A
F
(Mounting pitch)
(Mounting pitch)
B
G
F: Center-to-center
distance on slotted
hole
F: Center-to-center distance
on outer circular arc
G
[unit: mm]
A
B
C
D
E (Max)
F
G
H
I
65±1
60±1
60±1
60±1
60±1
60±1
55±0.7
55±0.7
125±1
150±1
150±1
150±1
150±1
150±1
80±1
80±1
(93)
(113)
(113)
(113)
(113)
(113)
66.5±1
66.5±1
136Max
155Max
155Max
155Max
160Max
160Max
110Max
110Max
155
130
140
150
155
170
90
95
70 + 3/–0
60 + 3/–0
70 + 3/–0
79 + 3/–0
84 + 3/–0
100 + 3/–0
41±2
46±2
85±2
75±2
85±2
95±2
100±2
115±2
55±2
60±2
4-7ø X 12
4-7ø X 12
4-7ø X 12
4-7ø X 12
4-7ø X 12
4-7ø X 12
4-5ø X 10
4-5ø X 10
M4
M4
M4
M4
M4
M5
M4
M4
Inductance Rated current
(A)
(mH)
6.81
4.02
2
1.39
0.848
0.557
4.02
2
3
5
8
11
16
25
5
8
Harmonic restraint on general-purpose inverter and servo driver
On September, 1994, Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or
extra high voltage system and Guidelines for harmonic restraint on household electrical appliances and general-purpose articles
established by the Agency for Natural Resources and Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of
International Trade and Industry). According to those guidelines, the Japan Electrical Manufacturers Association (JEMA) have
prepared technical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have
been requesting the users to understand the restraint and to cooperate with us. On January, 2004, it has been decided to exclude
the general-purpose inverter and servo driver from the Guidelines for harmonic restraint on household electrical appliances and
general-purpose articles”. After that, the Guidelines for harmonic restraint on household electrical appliances and general-purpose
articles was abolished on September 6, 2004.
We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver
will be modified as follows.
1. All types of the general-purpose inverters and servo drivers used by specific users are under the control of the Guidelines for
harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system”. The
users who are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the
guidelines and must take appropriate countermeasures if the harmonic current exceeds a limit value specified in a contract
demand. (Refer to JEM-TR 210 and JEM-TR 225.)
2. The Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on
September 6, 2004. However, based on conventional guidelines, JEMA applies the technical documents JEM-TR 226 and JEMTR 227 to any users who do not fit into the Guidelines for harmonic restraint on heavy consumers who receive power through
high voltage system or extra high voltage system from a perspective on enlightenment on general harmonic restraint. The
purpose of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.
When using a reactor, be sure to install one reactor to one servo driver.
22/11/2012
A4-152
MINAS A4/A4F/A4P Options
DV0P220
DV0P221
Fig. DV0P222
1 DV0P223
DV0P224
DV0P225
Fig. DV0P227
2 DV0P228
F
(Mounting pitch)
A
F
D
C
H
C
E
D
R S T
Options
External regenerative resistor
Specifications
Reted power (reference)*
Manufacturer's
part No.
Part No.
Resis
tance
Free air
Activation temperature of
built-in thermostat
with fan[W]
1m/s
2m/s
3m/s
DV0P4280
RF70M
50 Ω
10W
25
35
45
DV0P4281
RF70M
100 Ω
10W
25
35
45
DV0P4282
RF180B
25 Ω
17W
50
60
75
DV0P4283
RF180B
50 Ω
17W
50
60
75
DV0P4284
RF240
30 Ω
40W
100
120
150
DV0P4285
RH450F
20 Ω
52W
130
160
200
140 ±5˚C
B-contact
Open/Close capacity
(resistance load)
4A 125VAC 10000 times
2.5A 250VAC 10000 times
*Power with which the driver can be used without activating the built-in thermostat.
Manufacturer : Iwaki Musen Kenkyusho
[unit: mm]
DV0P4280, DV0P4281
DV0P4282, DV0P4283
300
170 ±1
65
57
2-ø4.5
7
85 ±1
300 ±30
25.5
23
Drawing process
(2mmMAX)
450
white x 2
7
2.5
10MAX
6.8
10MAX
30
1.5
thermostat
light yellow x 2
28 ±0.5
56 ±0.5
17
450
10
14.5
8
13
52
21
white
60
13
thermostat
light yellow x 2
5
24
white
13
160 ±0.5
5
6-ø4.5
DV0P4284
DV0P4285
300
290
280
(5)
300
300
278
white
thermostat
light yellow x 2
450
50
100
70
20
10
white
288
white
18
11
9MAX
10MAX
71
140
130
14
300
10
thermostat
light yellow x 2
450
15
450
15
100
25
4.5
.5
ø4
53
white
4-ø4.5
Thermal fuse and thermostat are installed for safety. Compose the
circuit so that the power will be turned off when the thermostat is
activated.The thermal fuse may blow due to heat dissipating
condition, working temperature, supply voltage or load fluctuation.
Make it sure that the surface temperature of the resistor may not
exceed 100˚C at the worst running conditions with the machine,
which brings large regeneration (such case as high supply voltage,
load inertia is large or deceleration time is short) Install a fan for a
forced cooling if necessary.
22/11/2012
A4-153
Regenerative resistor gets very hot.
Take preventive measures for fire and burns.
Avoid the installation near inflammable objects,
and easily accessible place by hand.
A4
Options
MINAS A4F
A4P
Battery for absolute encoder (Frame A to G)
1) Part No.
[unit: mm]
DV0P2990
84
Lead wire length : 50mm
2) Lithium battery, 3.6V 2000mAh
DV0P2990
00090001
This battery is categorized as hazardous substance, and
you may be required to present an application of
hazardous substance when you transport by air (both
passenger and cargo airlines).
ZHR-2
(by J.S.T. Mfg. co., Ltd.)
14.5
1
BAT+
18
2
BAT–
Insulation Paper
Battery holder for absolute encoder
1) Part No.
[unit: mm]
(112)
DV0P4430
(110)
(31)
R5
DV0P4430
(27)
P04090001*
When you make your own cable for 17-bit absolute encoder
When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2990 as
per the wiring diagram below. Connector of the battery for absolute encoder to be provided by customer.
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause the wire breakdown
or damage of the battery.
Refer to the instruction manual of the battery for handling of the battery.
Wiring Diagram
Junction connector
for encoder cable
(Optional connector kit)
E5V
E0V
Pin number when the connector is used.
Pin number when the cannon plug is used.
Connector CN X6
(Optional connector kit)
Twisted pair
7 (H)
8 (G)
1
2
E5V
E0V
5
6
PS
PS
Battery holder: DV0P4430
BAT+
BAT–
PS
PS
FG
Title
Part No.
Connector
ZMR-2
Connector pin SMM-003T-P0.5
Clamping jig
YRS-800
1 (T)
2 (S)
4 (K)
5 (L)
3 (J)
1
2
BAT+
BAT–
1 Battery*1
BAT+
2
BAT–
Connector ZHR-2
(by J.S.T. Mfg.Co., Ltd.)
Manufacturer
J.S.T. Mfg. co., Ltd.
J.S.T. Mfg. co., Ltd. Connector for absolute encoder
J.S.T. Mfg. co., Ltd. (to be provided by customer)
22/11/2012
A4-154
FG (CASE)
*1) Battery for absolute encoder (Option): DV0P2990
MINAS A4/A4F/A4P Options
• where to install the battery
(1) indoors, where the products are not subjected to rain or direct sun beam
(2) where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia,
chloric gas, acid, alkaline, salt and so on, and free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips
and etc.
(3) well-ventilated and humid and dust free place
(4) vibration-free place
Recommended components
Surge absorber for motor brake
Motor
MSMD
50W to 750W
MAMA
100W to 750W
MHMA
2.0kW to 7.5kW
MGMA
900W to 2.0kW
MSMA
1.0kW to 5.0kW
MDMA
4.0kW to 7.5kW
MFMA
1.5kW
MGMA
3.0kW to 6.0kW
MDMA
1.0kW to 3.0kW
MFMA
400W
MFMA
2.5kW to 4.5kW
MHMA
500W to 1.5kW
Surge absorber for motor brake
Part No. (Manufacturer's)
Manufacturer
Z15D271
Ishizuka Electronics Co.
Z15D151
Ishizuka Electronics Co.
TND09V-820KB00AAA0
(old type:TNR9V820K)
Nippon Chemi-Con Co.
List of Manufactures for peripheral equipments
Peripheral components
Manufacturer
(reference only)
Tel No. / Home Page
Circuit breaker
Magnetic contactor
Surge absorber
Automation Controls Company
Panasonic Electric Works, Co.,Ltd
81-6-6908-1131
http://panasonic-denko.co.jp/ac
Regenerative resistor
Iwaki Musen Kenkyusho Co., Ltd.
81-44-833-4311
http://www.iwakimusen.co.jp/
Nippon Chemi-Con Co.
81-3-5436-7608
http://www.chemi_con.co.jp/
Ishizuka Electronics Corp.
81-3-3621-2703
http://www.semitec.co.jp/
Noise filter for signal lines
TDK Corp.
81-3-5201-7229
http://www.tdk.co.jp/
Surge absorber/Noise filter
Okaya Electric Industries Co. Ltd.
81-3-4544-7030
http://www.okayatec.co.jp/
Japan Aviation Electronics
Industry, Ltd.
81-3-3780-2717
http://www.jae.co.jp
Sumitomo 3M
81-3-5716-7290
http://www.mmmco.jp
Tyco Electronics AMP k.k,
81-44-844-8111
http://www.tycoelectronics.com/japan/amp
Japan Molex Inc.
81-462-65-2313
http://www.molex.co.jp
Hirose Electric Co., Ltd.
81-3-3492-2161
http://www.hirose.co.jp/
J.S.T. Mfg. Co., Ltd.
81-45-543-1271
http://www.jst-mfg.com/index_i.html
Daiden Co., Ltd.
81-3-5805-5880
http://www.dyden.co.jp/
Mitutoyo Corp.
81-44-813-5410
http://www.mitutoyo.co.jp
Sony Manufacturing Systems Corp.
81-3-3490-3920
http://www.sonysms.co.jp/
Surge absorber for holding brake
Connector
Cable
Feed back scale
* The above list is for reference only. We may change the manufacturer without notice.
22/11/2012
A4-155
