AC Servo 2009/10

MINAS A5 series Catalog

High performance, multi function and easy use,

all advanced.

Easy
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Quic

Safe
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 Contents
A small step for axis.
Large step ahead for system motion. Features......................................................................................................... 2

Motor Line-up/ Driver and Motor Combination......................................... 10

Model Designation....................................................................................... 11

Peripheral equipments configuration........................................................ 12

List of recommended peripheral equipments.......................................... 14

Table of Part Numbers and Options.......................................................... 16

Driver
Common Specifications of Driver

Series A5 series (Standard type)..................................................................................... 18

A5E series (Positioning type)................................................................................ 20
Wiring example of main circuit
Wiring to the Connector XA, XB, XC, XD............................................................. 22
Safety function

Five industry-leading advantages supported Wiring to the Connector X3................................................................................... 24

Control circuit wiring diagram

by a variety of Wiring to the Connector X4................................................................................... 25

Wiring to the Connector X5................................................................................... 27

new technologies and new features. Wiring to the Connector X6................................................................................... 28

Dimensions of Driver............................................................................................. 30

Motor

1
Specifications of Motor.......................................................................................... 35
Motor specifications, ratings and Dimensions.................................................... 36
• 2.0 kHz frequency response Describes motor specifications.......................................................................... 104
• 20 bits/revolution

Quick
OPTION
• Low cogging torque
Conformance to EC Directives / UL Standards...................................................... 106
• The input/output pulse 4 Mpps
Cable part number designation...............................................................................110
Specifications of motor connector...........................................................................111
Junction Cable for Encoder.....................................................................................112

2 5
Junction Cable for Motor.........................................................................................114
Junction Cable for Brake.........................................................................................117
Connector kit...........................................................................................................118
Battery for absolute encoder.................................................................................. 125

Smart Easy Mounting bracket.................................................................................................... 126

Reactor................................................................................................................... 127
External regenerative resister................................................................................. 128
Surge absorber for motor brake............................................................................. 129
List of manufactures for peripheral equipments..................................................... 130
• Highly functional real-time auto-gain tuning
• Manual/auto notch filter • Set-up support software Information...................................................................................................F1
• Manual/auto damping filter Localized in 4 languages Index....................................................................................................................... F25
• Motion simulation Service life prediction Sales office............................................................................................................. F32
Encoder temperature monitor 　

3 4
MINAS A5 series Line-up

Light Safe

• New structure • Complies with European safety standards

• Innovative core • Low noise
• Innovative encoder • IP67 enclosure rating


 Features

1 2
Quick Smart

A5 2.0 kHz frequency response Highly Functional Real-time Auto-Gain Tuning

Conventional

Example application Semiconductor production equipment, packaging, etc. Example application Semiconductor production equipment, food processing machinery, etc.
Product
A5 A4

2.0kHz Auto tuning

Achieves the industry’s fastest frequency response 2.0kHz Incorporates the industry’s quickest
10
of 2.0 kHz. MINAS A5 high-performance real-time auto-gain tuning
Operation speed up by new developed LSI and high featuring simple setup.
−10

Gain（dB）
responsible control. By the industry’s fastest speed and
positioning response, a highly advanced system can be
created. What’s more, the shorter response delay will
realize an to extremely lower vibration.
20 bits/revolution, 1.04 million pulses
Example application Machine tools, textile machinery, etc.
20 bits/rev
After installation, tuning is completed automatically in several
Conventional
Product operations. When the response is adjusted, simple tuning is
−30
supported with a change to one parameter value. Use of the
gain adjustment mode in the setup support software
−50 contributes to optimum adjustment. The built-in auto
100 1000 2000
Frequency（Hz）
vibration suppression function reduces equipment
damage. Appropriate modes are provided for various
machines such as vertical axis machines and high friction
machines with belts.
This makes it possible to perform simple optimal adjustments
simply by selecting the mode and stiffness.

Ensures smoother operation and reduced vibration

at stopping.
Conventional
A5 Series Manual/Auto Notch Filters
A4 Series
Ensures accurate positioning in a short time. 1,048,576 p/r
Example application Semiconductor production equipment, food processing machinery, etc.
131,072 p/r
New proprietary signal processing technology achieves 1.04 130,000 pulses [1.04 million pulses]
million pulses with a 20-bit encoder. Nocth filters

Low cogging torque (Excluding MSMD, MHMD type) Equipped with auto-setting notch filters for greater convenience.
Now there is no need to measure troublesome during operation. The A5 Series features an
Example application Semiconductor production equipment, textile machinery, etc. vibration frequencies. Our notch filters automatically industry-largest total of four notch filters with setup
Low cogging detect vibration and provide simple auto-setting. frequencies of 50 to 5,000 Hz. This approach enables
These notch filters greatly reduce noise and vibration depth adjustment within this frequency range. (Two of
For the industry’s most stable speed and lowest caused by equipment resonance and respond quickly the filters share the auto set-up.)
A4 A5
cogging
Excessive noise & vibration Equipment Characteristics Reduced noise & vibration
We’ ve achieved the industry’s lowest cogging by minimizing
Resonance
the pulse width by a new design incorporating a 10-pole rotor Gain
for the motor and a magnetic field parsing technique.
Antiresonance Frequency
Positioning and stability are greatly improved by the
minimal torque variation. This results to improved speed Vibration reduced to only 1/8
stability and positioning of motor rotation. Gain

Frequency

The input/output pulse 4 Mpps Notch Filter Characteristics

Example application Semiconductor production equipment, machine tools, etc. Vibration Vibration
generated reduced
4 Mpps

Accommodates the industry’s leading positioning

Frequency scan
resolution commands (with pulse train commands).
The command input and feedback output operate at the high Completion of adaptive
Conventional Ａ５ filter setup
speed of 4 Mpps. Accommodates high-resolution and A4 Series
high-speed operation, including standard full closed operation. 2 Mpps 4Mpps

 
 Features

Manual/Auto Damping Filter

Example application
Chip mounters, food processing machinery, robots, 4
Safe
general production machinery, etc.
Damping filter

Equipped with a damping filter featuring simplified Without Damping Filter With Damping Filter
automatic setup.
The setup software features automatic setup of the damping
Complies with European Safety Standards. (to the safety standard. )
A5E series doesn't correspond
filter. This filter removes the natural vibration frequency
component from the command input, greatly reducing
Example application Semiconductor and LCD production equipment, etc.
vibration of the axis when stopping. The number of filters
has been increased to four from the conventional two filters Safe torque off
(two for simultaneous use). The adaptive frequency has also
been significantly expanded from 1 to 200 Hz.
Complies with the latest European safety standards.
Judder Vibration-free Features non-software-based (hardware-based?) accommodate low-voltage machinery commands.
independent redundant circuitry for motor power (The final safety compliance must be applied as
isolation. This obviates the need for magnetic
Motion Simulation machine.)
contactors to isolate the required motor in order to
Example application General production machinery, etc.

Simulation Low noise

Equipped with a simplified machine simulation Semiconductor and LCD production equipment, etc.
Example application
general production machinery for export to the European market
function.
Low noise
The setup software uses frequency response data acquired
from the actual machine. In addition, it features a machine Complies with the European EMC Directive
simulation function for performing simulated operation. This
By incorporating the latest circuit technology, A5 series
allows you to easily confirm the effects of gain and
achieves a further noise reduction of 3dB compared with the
various filters without adjusting the actual equipment.
conventional A4 Series, which also features noise suppression.
(The A4 Series also conforms to the EMC Directive.)
MINAS-A4 MINAS-A5
dB dB

3
Light
Frequency MHz Frequency MHz

IP67 Enclosure Rating (Excluding MSMD, MHMD type)

New Structure/ Innovative Core/ Innovative Encoder (Excluding MSMD, MHMD type)
Example application Machine tools, robots, printing machines, etc.
Example application Robots, chip mounters, general production machinery, etc.
IP67
New structure
IP67 enclosure rating for increased environmental
Featuring significantly reduced [Examples for MSM or MDM] resistance
weight and a more compact motor Our improved motor seals and direct-mount connectors in IP67
A4 A5 Weight
We’ ve developed new designs for both Series Series Reduction the motor power supply and encoder input-output areas Protection against dust
Innovative core compact motors and large motors. The contribute to this unit’s IP67 enclosure rating. • Protected against dust
MSM 1kW 4.5kg 3.5kg ▲1kg penetration when in full contact
new design used for the core has MSMA 2kW
succeeded in compact. The addition of MSM 2kW 6.5kg 5.3kg ▲1.2kg
Protection against water
an innovative compact encoder has Adoption of
MDM 1kW 6.8kg 5.2kg ▲1.6kg • Protection against temporary
contributed to a 10% to 25% (1 to 6 kg) direct-mount connector immersion in water
Innovative encoder reduction in motor weight in the 1 kW MSME 2kW MDM 2kW 10.6kg 8.0kg ▲2.6kg
and larger class when compared with IP65: MSMD, MHMD series
conventional motors.

 
 Features

5
Easy Other
Functions

PANATERM Set-up Support Software Command Control Mode (Excluding A5E Series) 6,000-rpm capability
• Command control mode is available for Position, The MSME motor (under 750 W) can accommodate a
Introducing the new PANATERM Set-up Support Software, Speed (including eight internal gears) and Torque. maximum speed of 6,000 r/min.
4 languages now with many added features. • Using parameter settings, you can set up one [Comparison of new and conventional 200 W]
Localized in 4 languages optional command control mode or two command
Choose either English, Japanese, control modes by switching. A4 Series
Chinese, or Korean*-language display. Torque
• With a suitable application utility, you can choose an [N·m]
* The Korean-language version is optional command control mode.
2.0
Life prediction scheduled for release in December. (1.91)

℃ Service Life Prediction ･ Service Life Prediction function Full closed Control (Excluding A5E Series) Peak running range
(Screen shown for reference only.) 1.0
The service life prediction function
You can use the AB-phase linear scale (for general (0.64)
considers the internal temperature for Continuous running range
all-purpose products) or the serial scale (for products
main components such as the fan and speed
Encoder temp. monitor with Panasonicﾕs exclusive format) for supported 0 1000 2000 3000 4000 5000 6000 [r/min]
condenser. If the rated value is exceeded,
scales (see table below).
an alarm is displayed. This approach A5 Series
prevents unexpected suspension of Torque
operation and allows for planning of SEMI F47 [N·m]
Continuous
systemized maintenance. • Includes a function in compliance with the SEMI F47 2.0
running range
(1.91)
Note: The life span prediction value standard for voltage sag immunity under no load or Peak running range
(1.3)
should be considered as a guide only. light load. 1.0
• Ideal for the semiconductor and LCD industries.
Encoder Temperature Monitor (0.64)
Continuous running range
The Encoder Temperature Monitor is a Notes:
(4600) speed
new function capable of real-time 1) Excluding the single-phase 100-V type. 0 1000 2000 3000 4000 5000 6000 [r/min]
measurement of the interior 2) Please verify the actual compliance of your
temperature of the encoder, something machine with the F47 standard for voltage sag
immunity. Inrush Current Preventive Function
that has been difficult to achieve in the
past. It is valuable for monitoring the • This driver is equipped with a rush current preventive
motor and can be used as a diagnostic in resistor to prevent the circuit breaker from shutting
the event of a malfunction (provided with off the power supply as a result of inrush current
20-bit encoder only). occurring at power-on.

Other New Function ･ The Data Logging function handles

The software offers a wide range of a variety of data types.
convenient features including motor and
driver data such as load factor, voltage,
Table 1
and driver temperature. Moreover, the
Maximum
logging function records the interface Resolution
Applicable Linear Scale Manufacturer Model No. Speed
history. As well, the trial run function [μs]
　(m/s)＊
supports positioning with a Z-phase Parallel Type Maximum speed after
General —
search and software limit as well as a (AB-phase) 4 × multiplication: 4 Mpps
non-rotating contributing factor display SR75 0.01 3.3
function. SR85 0.01 3.3
Serial Type
Sony Manufacturing Systems Corporation
(Incremental) SL700/PL101-RP 0.1 10
SL710/PL101-RP 0.1 10
AT573A 0.05 2
Mitutoyo Corporation ST771A(L) 0.5 5
Serial Type
ST773A(L) 0.1 4
(Absolute)
SR77 0.01 3.3
Sony Manufacturing Systems Corporation
SR87 0.01 3.3
* The maximum speed is a characteristic of the driver. It is limited by the configuration of the machine and the system.

 
 Features

Regenerative Energy Discharge Torque Feed Forward Applicable overseas safety standards
• A regenerative resistor is used to discharge The Torque Feed Forward function performs a
regenerative energy, which is the energy generated comparison with feedback and calculates the amount
when stopping a load with a large moment of inertia of torque to add to the necessary torque command in
or when using this unit in vertical operation. This the command for actuation.
energy is returned to the driver from the motor.
• Frame A and Frame B model drivers do not contain a Friction Torque Compensation Driver Motor
regenerative resistor. We recommend that you EN55011
connect an optional regenerative resistor. This function reduces the effect of machine-related
EMC Directives EN61000-6-2 —
• Frame C to Frame F model drivers contain one friction and improves responsiveness. Two kinds of IEC61800-3
regenerative resistor; however, adding an optional friction compensation can be set up: unbalanced load
Low-Voltage EN60034-1
compensation, which compensates with a constant EN61800-5-1
regenerative resistor provides additional Directives EN60034-5
regeneration capability. operational offset torque; and kinetic friction, which EC Directives
EN954-1(CAT3)
changes direction in response to the direction of
ISO13849-1(PL-D)
movement. Functional EN61508(SIL2)
Dynamic Braking —
safety EN62061(SIL2)
• With parameter settings, you can select dynamic 3-Step Gain EN61800-5-2(STO)
braking, which shorts servomotor windings U, V and IEC61326-3-1
W at Servo-OFF, during positive direction/ negative A 3-step gain switch is available in addition to the UL1004-1 (E327868: Small type)
normal gain switch. UL Standards UL508C (E164620) UL1004 (E166557: Large type)
direction over-travel inhibition, and during power
shutdown and tripping of the circuit breaker. This chooses appropriate gain tunings at both
stopping and running. CSA Standards C22.2 No.14 C22.2 No.100
• The desired action sequence can be set up to
accommodate your machine requirements. The 3-step gain switch gives you choices of 3 diffent IEC : International Electrotechnical Commission
tunings for normal running, stopping for faster EN : Europaischen Normen
positioning and at stopping. EMC : Electromagnetic Compatibility
Parameter Initialization
The right gaing tunings achieve lower vibration and UL : Underwriters Laboratories
Using the front panel or by connecting a PC, you can quicker positioning time of your application. CSA : Canadian Standards Association
restore the parameters to the factory settings. Pursuant to the directive 2004/108/EC, article 9(2)
Positional command
speed [r/min] Period of effectiveness Panasonic Testing Centre
changeable according Panasonic Service Europe, a division of
Disturbance Observer to parameters.
Motor speed

Panasonic Marketing Europe GmbH

By using a disturbance observer to add an estimated In operation Not in Winsbergring 15, 22525 Hamburg, F.R. Germany
disturbance torque value to the torque canceling operation
* When export this product, follow statutory provisions of the destination country.
command, this function diminishes the impact of the Gain: Gain: Gain:
Position 2 Position 3 Position 1 * A5E series doesn't correspond to the functional safety standard.
disturbance torque, reduces vibration, and offsets any Effective Effective Effective
speed decline.
MEMO
Disturbance observer function not in effect
Inertia Ratio Conversion
Disturbance
occurs You can adjust right inertia ratio by Inertia Ratio
Conversion input(J-SEL).
When you have significant load inertia changes, it can
adjust unbalanced speed and position gain turning
Speed: 1,000 r/min conbination.
20 ms/div It ends up quicker response of your system.

Input/Output Signal Assignment

You can use the parameters to arbitrarily allocate
Disturbance observer function in effect the universal 10 inputs and 6 outputs. (Inputs can
be selected as either A contacts or B contacts). The
Disturbance
occurs Panaterm setup software provides an exclusive screen
for a more simplified setup.

Torque Limiter Switching

Speed: 1,000 r/min You can use the I/Os to set up torque limits. These can
20 ms/div be used for applications such as simplified pressure,
tension control, and sensor-less homing.

 
 Motor Line-up/ Driver and Motor Combination Model Designation

Motor Line-up Servo Motor

Low inertia Middle inertia High inertia
MGME
M S M E 5 A Z G 1 S ＊＊
MSMD MSME MSME
(Small type) (Small type) (Large type)
MDME
( Low speed/
High torque type ) MHMD MHME
Symbol Type Special specifications
Low inertia
MSMD
Motor (50W to 750W) Motor specifications
Low inertia MSME(50W to 750W), MSMD, MHMD
MSME
(50W to 5.0kW)
Middle inertia Design order Shaft Holding brake Oil seal
MDME 1 : Standard Symbol Key-way,
(1.0kW to 5.0kW) Round without with without with
Middle inertia center tap
MGME
(0.9kW to 3.0kW) A ● ● ●
High inertia B ● ● ●
0.05 0.1 0.05 0.1 1.0 1.5 1.0 1.5 0.9 0.2 1.0 1.5 MHMD
(200W to 750W) C ● ● ●
Rated output (kW) 0.2 0.4 0.2 0.4 2.0 3.0 2.0 3.0 2.0 0.4 2.0 3.0 MHME
High inertia D ● ● ●
(1.0kW to 5.0kW)
0.75 0.75 4.0 5.0 4.0 5.0 3.0 0.75 4.0 5.0 S ● ● ●
Motor rated output T ● ● ●
Rated rotational 3000 (5000) 3000 (5000) 3000 (5000) Symbol Rated output Symbol Rated output Voltage specifications
3000 2000 1000 2000 U ● ● ●
speed (Max. speed) For 750W For 4.0kW and 5.0kW For 750W
5A 50W 10 1.0kW
(r/min) (6000) 3000 (4500) (3000) (2000) (3000) Symbol Specifications V ● ● ●
3000 (4500) 3000 (4500) 01 100W 15 1.5kW 1 100V
20-bit 02 200W 20 2.0kW 2 200V MSME(1.0kW to 5.0kW), MDME, MGME, MHME
○ ○ ○ ○ ○ ○ ○
Rotary incremental 04 400W 30 3.0kW 4 400V
Shaft Holding brake Oil seal
encoder 17-bit 08 750W 40 4.0kW 100V/200V Symbol
○ ○ ○ ○ ○ ○ ○ 09 0.9kW 50 5.0kW Z common Round Key-way without with without with
absolute (50W only) C ● ● ●
Enclosure IP65 (*) IP67 (*) IP67 (*) IP67 (*) IP67 (*) IP65 (*) IP67 (*) Rotary encoder specifications D ● ● ●
G ● ● ●
Symbol Format Pulse counts Resolution Wires
• Leadwire type • Small capacity • Middle • Middle • Middle • Leadwire type • Middle H ● ● ●
• Small capacity • Suitable for capacity capacity capacity • Small capacity capacity G Incremental 20-bit 1,048,576 5
• Suitable for high speed • Suitable for the • Suitable for • Flat type and • Suitable for • Suitable for S Absolute 17-bit 131,072 7
high speed application machines di- low stiffness suitable for low stiffness low stiffness * S: can be used in incremental.
application • Suitable for all rectly coupled machines with machines machines with machines with
Features • Suitable for all applications with ball screw belt driven with space belt driven belt driven,
applications and high
stiffness and
limitation and large load
moment of
Motor with reduction gear
high repetitive inertia
application
M S M E 0 1 1 G 3 1 N
• Bonder • SMT machines • Conveyors • Conveyors • Conveyors • Conveyors
• Semiconductor production • Food machines • Robots • Robots • Robots • Robots
equipment • LCD • Machine tool • Textile • LCD　 Motor rated output
Applications • Packing machines production etc machines manufacturing Symbol Type Symbol Rated output Gear ratio, gear type
etc equipment etc equipment
etc Low inertia 01 100W
MSME Gear Motor output (W) Gear
(50W to 750W) 02 200W Symbol
(*) Except for output shaft, and connector. 04 400W
reduction ratio 100 200 400 750 type
08 750W 1N 1/5 ● ● ● ●
2N 1/9 For high
Driver and Motor Combination Voltage specifications
3N 1/15
●
●
●
●
●
●
●
● accuracy
Symbol Specifications
Driver Motor 4N 1/25 ● ● ● ●
1 100V
Frame Part No. MSMD MSME MSME MDME MGME MHMD MHME
2 200V Motor structure
Rotary encoder specifications Shaft Holding brake
MADHT1105 MSMD5AZ＊＊＊ MSME5AZ＊＊＊ Symbol
Key-way without with
MADHT1107 MSMD011＊＊＊ MSME011＊＊＊ Motor (Scheduled to be released.) Symbol Format Pulse counts Resolution Wires
3 ● ●
A-Frame MSMD5AZ＊＊＊ MSME5AZ＊＊＊ • MDME 7.5kW, 11kW, 15kW G Incremental 20-bit 1,048,576 5
MADHT1505
4 ● ●
• MHME 7.5kW S Absolute 17-bit 131,072 7
MSMD012＊＊＊ MSME012＊＊＊
MADHT1507 MSMD022＊＊＊ MSME022＊＊＊ • MGME 4.5kW, 6.0kW MHMD022＊＊＊
* S: can be used in incremental.
MBDHT2110 MSMD021＊＊＊ MSME021＊＊＊ • MFME 1.5kW, 2.5kW, 4.5kW MHMD021＊＊＊
B-Frame
MBDHT2510 MSMD042＊＊＊ MSME042＊＊＊ • Motor with Gear Reduce: MHMD042＊＊＊ Servo Driver
100W, 200W, 400W, 750W
MCDHT3120 MSMD041＊＊＊ MSME041＊＊＊ MHMD041＊＊＊
C-Frame
MCDHT3520 MSMD082＊＊＊ MSME082＊＊＊ MHMD082＊＊＊ Standard type M A D H T 1 5 0 5 ＊＊＊ Special specifications
MDDHT3530 MDME102＊＊＊ MHME102＊＊＊
MDDHT2412 MDME104＊＊＊
MSME102＊＊＊ MDME152＊＊＊ MGME092＊＊＊
MHME104＊＊＊
MHME152＊＊＊
Positioning type M A D H T 1 5 0 5 E ＊＊ Special specifications
D-Frame MDDHT5540
MSME152＊＊＊ Only position control
Current detector
MSME104＊＊＊ MDME154＊＊＊ MGME094＊＊＊ MHME154＊＊＊ Power device Max. current rating
MDDHT3420 current rating
MSME154＊＊＊ Frame symbol
Symbol Current rating
MEDHT7364 MSME202＊＊＊ MDME202＊＊＊ MHME202＊＊＊ Symbol Frame Symbol Current rating
E-Frame 05 5A
MEDHT4430 MSME204＊＊＊ MDME204＊＊＊ MHME204＊＊＊ MADH Frame A T1 10A
Supply voltage 07 7.5A
MBDH Frame B T2 15A
MFDHTA390 MSME302＊＊＊ MDME302＊＊＊ MGME202＊＊＊ MHME302＊＊＊ specifications 10 10A
MCDH Frame C T3 30A
MFDHT5440 MSME304＊＊＊ MDME304＊＊＊ MGME204＊＊＊ MHME304＊＊＊ 12 12A
MDDH Frame D T4 35A Symbol Specifications
MSME402＊＊＊ MDME402＊＊＊ MGME302＊＊＊ MHME402＊＊＊ 20 20A
F-Frame MFDHTB3A2 MEDH Frame E T5 50A 1 Single phase, 100V
30 30A
MSME502＊＊＊ MDME502＊＊＊ MHME502＊＊＊ MFDH Frame F T7 75A 3 3-phase, 200V
40 40A
MSME404＊＊＊ MDME404＊＊＊ MGME304＊＊＊ MHME404＊＊＊ TA 100A 4 3-phase, 400V
MFDHTA464 64 64A
MSME504＊＊＊ MDME504＊＊＊ MHME504＊＊＊ TB 150A 5 Single/3-phase, 200V
90 90A
* A5E series (dedicated for position control) drivers are also used in combination with motors show above. A2 120A

10 11
 Overall Wiring

[Connector type (A to E-frame)] [Connector type (D, E-frame 400V)]

Digital/Analogue Monitor output
Digital/Analogue Monitor output
Connection to Monitor output
Connection to Monitor output 7セグメントLED表示パネル
Wiring of Main Connector パラメータ、エラーの表示
Wiring of Main Connector 7セグメントLED表示パネル Main Control
Connection to input power パラメータ、エラーの表示 power power
Mains supply supply
Residual Mains
current device DC Connection to PC
Residual power
Connection to PC current (24V) USB mini-B cable
device
Circuit Breaker (MCCB) USB mini-B cable （市販品をご用意下さい）
（市販品をご用意下さい）
Circuit Breaker (MCCB)

Noise Filter (NF)

(optional)
Noise Filter (NF) Setup support software “PANATERM”
Setup support software “PANATERM”
(optional) Please download from our web site.
Please download from our web site.
Magnetic Contactor (MC)
Connection to RS232, Magnetic Contactor (MC) Connection to RS232,
RS485 or host controller RS485 or host controller
Reactor (L) 上位コントローラとの通信等 上位コントローラとの通信等
(optional)
（A5E シリーズには X2 コネクタはありません） （A5E シリーズには X2 コネクタはありません）
Reactor (L)
(optional)
Connection to Safety Connection to Safety
by-pass plug by-pass plug
セーフティ回路を構築しない セーフティ回路を構築しない
場合に使用します。（標準装備） 場合に使用します。（標準装備）
（A5E シリーズには X3 コネクタはありません） （A5E シリーズには X3 コネクタはありません）
Charg lamp
主電源が入っている時に点灯します。 Connection to host controller Connection to host controller
50 ピンの入出力信号用 50 ピンの入出力信号用

Regenerative resistor
Regenerative resistor (optional)
(optional)
Controller Controller

Connection to external scale Connection to external scale

フィードバックスケール等の フィードバックスケール等の
外部機器を接続します。 外部機器を接続します。
（A5E シリーズには X5 コネクタはありません） （A5E シリーズには X5 コネクタはありません）

Junction cable Connection to encoder Junction cable Connection to encoder

for brake
Ground (earth)
機種別のエンコーダケーブル for brake Charg lamp
Ground 機種別のエンコーダケーブル
Junction cable for brake 主電源が入っている時に
（別売：オプション）を用意しています。 (earth) （別売：オプション）を用意しています。
(optional) DC Power supply 点灯します。
ブレーキ有りモータの for brake DC24V
場合のみ使用します。 (to be supplied by customer) Junction cable for brake
ブレーキ有りモータの (optional) DC Power supply
場合のみ使用します。 for brake DC24V
Junction cable for encoder (to be supplied by customer)

Junction cable for encoder

Motor Terminal block type

(F-frame)

Motor <Note>
回転方向の初期設定を
<Caution> 正方向（CCW）、負方向（CW）
と
製品の取り付けネジの締付トルクは使用されるネ 定義しています。
ジの強度、取り付け先の材質を考慮し、緩みや破
ご注意ください。
損の無い様に適切に選定してください。 Positive Negative
 例）鋼材への鋼材ネジ（M5）での direction direction
   締付けの場合、2.7∼3.3N・m。
(CCW) (CW)

12 13
 Driver and List of Applicable Peripheral Equipments

Required Circuit Noise

Magnetic Cable Cable • Select peripheral equipments for single/3phase common specification according to the power
Applicable Rated Power breaker Surge contactor diameter diameter Connection
Driver Voltage filter for source.
(rated load) (current) （ ） (circuit) ( control
circuit )
motor output at the rated absorber 定格通電電流 main
signal
／開放熱電流
• About circuit breaker and magnetic contactor
Single phase, 50W approx.
MSMD 100V to 100W 0.4kVA
DV0P4190 To comply to EC Directives, install a circuit breaker between the power and the noise filter
MADH MSME
MHMD Single/3-phase, 50W approx. DV0P4190
/
without fail, and the circuit breaker should conform to IEC Standards and UL recognized
200V to 200W 0.5kVA DV0P1450
0.75mm2/
(Listed and marked).
Single phase, approx.
MSMD 100V
200W
0.5kVA
10A DV0P4190 AWG18 Suitable for use on a circuit capable of delivering not more than 5,000 rms symmetrical amperes, be-
MBDH MSME 20A to
MHMD Single/3-phase,
400W
approx. DV0P4190
/ 2.0mm2/ low the maximum input voltage of the product.
200V 0.9kVA DV0P1450 AWG14
If the short-circuit current of the power supply exceeds this value, install a current limit device (current
Single phase, approx.
MSMD 100V
400W
0.9kVA
DV0P4190 limiting fuse, current limiting circuit breaker, transformer, etc.) to limit the short-circuit current.
MCDH MSME 0.75mm2/
MHMD Single/3-phase, 750W
approx.
AWG18
200V 1.3kVA <Remarks>
15A
MDME • Select a circuit breaker and noise filter which match to the capacity of power supply (including a

Connection to exclusive connector

approx.
1.0kW
MHME 1.8kVA
load condition).
approx.
MGME 900W DV0P4190
1.8kVA / • Terminal block and protective earth terminals
Single/3-phase, DV0P1450
MSME 200V 1.0kW
approx. 30A Use a copper conductor cables with temperature rating of 75˚C or higher.
1.8kVA 20A
MHME The screws of protective earth terminals for Frame A to D are M4 (Fastening torque: 0.7 to 0.8N·m)
approx.
MDME 1.5kW
2.3kVA
and M5 (Fastening torque: 1.4 to 1.6N·m) for Frame E, F.
MDDH MSME Fastening torque of earth screws.
MSME
2.0mm2/
Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0 N·m. Application of
MDME 1.0kW approx.
MHME 1.8kVA AWG14 overtorque (more than 2.0 N·m) will cause damage to terminal block. Maximum allowable torque to
0.5mm2/
3-phase,
MGME
400V
0.9kW 10A DV0PM20050 20A AWG the screw securing terminal block cover is 0.19 to 0.21 N·m.
20〜24
MSME
approx.
• The cable diameter of an earth cable.
MDME 1.5kW
2.3kVA Use an earth cable with the same diameter or larger as that of the main circuit cable.
MHME
MDME
If the diameter of the main circuit cable is 1.6mm2 or less, use an earth cable with a diameter of
3-phase, approx. DV0P1460 0.75mm2/
MSME
200V
2.0kＷ
3.3kVA
30A DV0P1450 60A
AWG18 2.0mm2 (AWG14).
MHME
MEDH
MSME 0.5mm2/
• Use the attached exclusive connector for A to E-frame, and maintain the peeled off length of 8 to
3-phase, approx.
MDME
400V
2.0kW
3.3kVA
15A DV0PM20050 30A AWG 9mm.
MHME 20〜24
approx.
• Tighten the screws of the connector, Connector X4 for the host controller with the torque of 0.3 to 0.35
MGME 2.0kＷ
3.8kVA N·m.
MDME
60A Larger torque than 0.35N·m may damage the connector at the driver side.
MHME approx.
3.0kＷ 3.5mm2/
MSME 4.5kVA
AWG12 <Caution>
MGME 3-phase,
50A DV0P1450 Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts
MDME 200V
MHME 4.0kＷ
approx. may generate heat (smoking, firing).
6kVA
MSME
100A 11mm or
MDME smaller
approx. 5.3mm2/
MHME 5.0kＷ
7.5kVA AWG10
MSME 0.75mm2/ φ5.3
MFDH
approx. AWG18 Terminal
MGME 2.0kW
3.8kVA block
MSME M5
MDME approx.
3.0kW
MGME 4.5kVA
MHME 3-phase, 3.5mm2/
30A DV0PM20050 60A
MSME 400V AWG12
approx.
MDME 4.0kW
6.8kVA
MHME
MSME
approx.
MDME 5.0kW
7.5kVA
MHME

14 15
 Table of Part Numbers
and Options Table of Part Numbers and Options
Motor Driver Optional parts • Options
Power Encoder cable Motor cable
Rating/ Part No. Brake Regenerative Title 構成品名 Part No. Page
Power Output Part No. Part No. capacity 20-bit 17-bit without with Noise
Motor series Spec. (Positioning Frame cable Reactor Interface cable DV0P4360 118
supply (W) Note) 1 (Standard type) (atrated load) Incremental Absolute brake brake resistor filter
(page) type) Note) 2

Driver
Note) 2 Note) 2 Note) 2 Note) 2 Interface Connector DV0P4350 118
50 MSMD5AZ□1＊ 66 MADHT1105 MADHT1105E Approx. 0.4kVA A to Single
A-frame DV0P4280 DV0P227 DV0PM20032 120
100 MSMD011□1＊ 68 MADHT1107 MADHT1107E Approx. 0.4kVA DV0P4170 D-frame row type

MSMD
Single phase 100V
200
400
MSMD021□1＊
MSMD041□1＊
70
72
MBDHT2110
MCDHT3120
MBDHT2110E
MCDHT3120E
B-frame
C-frame
Approx. 0.5kVA
Approx. 0.9kVA
DV0P4283
DV0P4282
DV0P228
DV0PM20042
Connector
for Power
Supply Input
( )
100V/ Double
200V row type
DV0PM20033 120

(Leadwire
type ) 50
100
MSMD5AZ□1＊
MSMD012□1＊
67
69
MADHT1505
MADHT1505
MADHT1505E
MADHT1505E A-frame
Approx. 0.5kVA
Approx. 0.5kVA
MFECA MFECA MFMCA
0**0EAM 0**0EAE 0**0EED — MFMCB
0**0GET DV0P4281
DV0P220
Connection E-frame (200V)
D-frame (400V)
DV0PM20044
DV0PM20051
120
121
Single phase/ 3-phase E-frame (400V) DV0PM20052 121
3000r/min 200 MSMD022□1＊ 71 MADHT1507 MADHT1507E Approx. 0.5kVA DV0PM20042
200V Connector for
400 MSMD042□1＊ 73 MBDHT2510 MBDHT2510E B-frame Approx. 0.9kVA DV0P4283 Control Power D, E-frame

Motor
DV0P221 DV0PM20053 121
750 MSMD082□1＊ 74 MCDHT3520 MCDHT3520E C-frame Approx. 1.3kVA Supply Input (400V)
Connection
50 MSME5AZ□1＊ 36 MADHT1105 MADHT1105E Approx. 0.4kVA
A-frame DV0P4280 DV0P227 Connector A to D-frame DV0PM20034 121
100 MSME011□1＊ 38 MADHT1107 MADHT1107E Approx. 0.4kVA DV0P4170 for Motor E-frame (200V) DV0PM20046 122
Single phase 100V
200 MSME021□1＊ 40 MBDHT2110 MBDHT2110E B-frame Approx. 0.5kVA DV0P4283 Connection D-frame (400V) DV0PM20054 122
DV0P228
MSME 400 MSME041□1＊ 42 MCDHT3120 MCDHT3120E C-frame Approx. 0.9kVA DV0P4282 DV0PM20042 Connector for E-frame DV0PM20045 121
MFECA MFECA MFMCA MFMCB
50 MSME5AZ□1＊ 37 MADHT1505 MADHT1505E Approx. 0.5kVA — Regenerative
Low inertia

3000r/min 0**0MJD 0**0MJE 0**0NJD 0**0PJT DV0P4281 D-frame (400V) DV0PM20055 121
100 MSME012□1＊ 39 MADHT1505 MADHT1505E A-frame Approx. 0.5kVA DV0P220 Resistor
Single phase/ 3-phase 200 MSME022□1＊ 41 MADHT1507 MADHT1507E Approx. 0.5kVA DV0P4290 122
DV0PM20042
200V

Options
400 MSME042□1＊ 43 MBDHT2510 MBDHT2510E B-frame Approx. 0.9kVA DV0P4283 DV0P4380 122
DV0P221 DV0PM20035 123
750 MSME082□1＊ 44 MCDHT3520 MCDHT3520E C-frame Approx. 1.3kVA Connector Kit for
DV0PM20036 123
Single phase/ 3-phase 1000 MSME102□1＊ 45 MDDHT5540 MDDHT5540E Approx. 1.8kVA Motor/Encoder Connection
D-frame MFMCD MFMCA DV0P4284 DV0P222 DV0P4220 DV0PM20037 123
200V 1500 MSME152□1＊ 46 MDDHT5540 MDDHT5540E Approx. 2.3kVA
0**2ECD 0**2FCD DV0PM20038 124
2000 MSME202□1＊ 47 MEDHT7364 MEDHT7364E E-frame Approx. 3.3kVA DV0P4285 DV0P223 DV0PM20043
DV0PM20039 124
3000 MSME302□1＊ 48 MFDHTA390 MFDHTA390E Approx. 4.5kVA DV0P224
3-phase 200V MFMCA MFMCA DV0P4285 Connector Kit for
4000 MSME402□1＊ 49 MFDHTB3A2 MFDHTB3A2E F-frame Approx. 6kVA DV0PM20040 124
0**3ECT 0**3FCT × 2 in parallel DV0P225 DV0P3410 Motor/Brake Connection
MSME 5000 MSME502□1＊ 50 MFDHTB3A2 MFDHTB3A2E Approx. 7.5kVA MFECA MFECA — RS485, RS232 DV0PM20024 119

Information
—
3000r/min 1000 MSME104□1＊ 82 MDDHT3420 MDDHT3420E Approx. 1.8kVA 0**0ETD 0**0ETE Safety DV0PM20025 119
D-frame MFMCD MFMCE DV0PM20048
1500 MSME154□1＊ 83 MDDHT3420 MDDHT3420E Approx. 2.3kVA External Scale DV0PM20026 119
0**2ECD 0**2FCD Connector
2000 MSME204□1＊ 84 MEDHT4430 MEDHT4430E E-frame Approx. 3.3kVA DV0PM20049 Encoder DV0PM20010 119
3-phase 400V — —
3000 MSME304□1＊ 85 MFDHT5440 MFDHT5440E Approx. 4.5kVA Analog Monitor
DV0PM20031 120
MFMCA MFMCA DV0PM20049 Signal
4000 MSME404□1＊ 86 MFDHTA464 MFDHTA464E F-frame Approx. 6.8kVA
0**3ECT 0**3FCT × 2 in parallel Battery For Absolute Encoder DV0P2990 125
5000 MSME504□1＊ 87 MFDHTA464 MFDHTA464E Approx. 7.5kVA
Battery Box DV0P4430 125
Single phase/ 3-phase 1000 MDME102□1＊ 51 MDDHT3530 MDDHT3530E Approx. 1.8kVA
D-frame MFMCD MFMCA DV0P4284 DV0P222 DV0P4220 A-frame DV0PM20027 126
200V 1500 MDME152□1＊ 52 MDDHT5540 MDDHT5540E Approx. 2.3kVA
0**2ECD 0**2FCD Mounting B-frame DV0PM20028 126
2000 MDME202□1＊ 53 MEDHT7364 MEDHT7364E E-frame Approx. 3.3kVA DV0P4285 DV0P223 DV0PM20043
bracket C-frame DV0PM20029 126
3000 MDME302□1＊ 54 MFDHTA390 MFDHTA390E Approx. 4.5kVA DV0P224
3-phase 200V MFMCA MFMCA DV0P4285 DV0P225 DV0P3410 D-frame DV0PM20030 126
4000 MDME402□1＊ 55 MFDHTB3A2 MFDHTB3A2E F-frame Approx. 6kVA
0**3ECT 0**3FCT × 2 in parallel MFECA0**0EAM 112
MDME 5000 MDME502□1＊ 56 MFDHTB3A2 MFDHTB3A2E Approx. 7.5kVA MFECA MFECA — without
— MFECA0**0MJD 112
1000 MDME104□1＊ 88 MDDHT2412 MDDHT2412E Approx. 1.8kVA 0**0ETD 0**0ETE Buttery Box
2000r/min D-frame DV0PM20048 Junction Cable MFECA0**0ETD 113
MFMCD MFMCE
Middle inertia

1500 MDME154□1＊ 89 MDDHT3420 MDDHT3420E Approx. 2.3kVA

for Encoder MFECA0**0EAE 112
0**2ECD 0**2FCD
2000 MDME204□1＊ 90 MEDHT4430 MEDHT4430E E-frame Approx. 3.3kVA DV0PM20049 with
3-phase 400V — — MFECA0**0MJE 113
3000 MDME304□1＊ 91 MFDHT5440 MFDHT5440E Approx. 4.5kVA Buttery Box
MFECA0**0ETE 113
MFMCA MFMCA DV0PM20049
4000 MDME404□1＊ 92 MFDHTA464 MFDHTA464E F-frame Approx. 6.8kVA MFMCA0**0EED 114
0**3ECT 0**3FCT × 2 in parallel
5000 MDME504□1＊ 93 MFDHTA464 MFDHTA464E Approx. 7.5kVA MFMCA0**0NJD 114
Single phase/ 3-phase 200V 900 MGME092□1＊ 57 MDDHT5540 MDDHT5540E D-frame Approx. 1.8kVA MFMCD0**2ECD MFMCA0**2FCD DV0P4284 DV0P222 DV0P4220 without Brake MFMCD0**2ECD 114
2000 MGME202□1＊ 58 MFDHTA390 MFDHTA390E Approx. 3.8kVA MFMCA MFMCA DV0P4285 DV0P223 Junction Cable MFMCE0**2ECD 115
MGME 3-phase 200V F-frame DV0P3410
3000 MGME302□1＊ 59 MFDHTB3A2 MFDHTB3A2E Approx. 4.5kVA MFECA MFECA 0**3ECT 0**3FCT × 2 in parallel DV0P224 for Motor MFMCA0**3ECT 115
—
1000r/min 900 MGME094□1＊ 94 MDDHT3420 MDDHT3420E D-frame Approx. 1.8kVA 0**0ETD 0**0ETE MFMCD0**2ECD MFMCE0**2FCD DV0PM20048 MFMCA0**2FCD 116
3-phase 400V 2000 MGME204□1＊ 95 MFDHT5440 MFDHT5440E Approx. 3.8kVA MFMCA MFMCA DV0PM20049 — — with Brake MFMCE0**2FCD 116
F-frame
3000 MGME304□1＊ 96 MFDHTA464 MFDHTA464E Approx. 4.5kVA 0**3ECT 0**3FCT × 2 in parallel MFMCA0**3FCT 116
200 MHMD021□1＊ 76 MBDHT2110 MBDHT2110E B-frame Approx. 0.5kVA DV0P4283 DV0P4170 MFMCB0**0GET 117
MHMD Single phase 100V DV0P228 Junction Cable for Brake
400 MHMD041□1＊ 78 MCDHT3120 MCDHT3120E C-frame Approx. 0.9kVA DV0P4282 DV0PM20042 MFMCB0**0PJT 117
(Leadwire
type ) Single phase/ 3-phase
200 MHMD022□1＊ 77 MADHT1507 MADHT1507E A-frame Approx. 0.5kVA
MFECA MFECA MFMCA
0**0EAM 0**0EAE 0**0EED — MFMCB
0**0GET DV0P220 50Ω 25W
100Ω 25W
DV0P4280
DV0P4281
128
128
200V 400 MHMD042□1＊ 79 MBDHT2510 MBDHT2510E B-frame Approx. 0.9kVA DV0P4283 DV0PM20042
3000r/min DV0P221 25Ω 50W DV0P4282 128
750 MHMD082□1＊ 80 MCDHT3520 MCDHT3520E C-frame Approx. 1.3kVA
External
50Ω 50W DV0P4283 128
Single phase/ 3-phase 1000 MHME102□1＊ 60 MDDHT3530 MDDHT3530E Approx. 1.8kVA MFMCD MFMCA Regenerative
D-frame DV0P4284 DV0P222 DV0P4220 30Ω 100W DV0P4284 128
200V 1500 MHME152□1＊ 61 MDDHT5540 MDDHT5540E Approx. 2.3kVA 0**2ECD 0**2FCD Resistor
High inertia

20Ω 130W DV0P4285 128

2000 MHME202□1＊ 62 MEDHT7364 MEDHT7364E E-frame Approx. 3.3kVA MFMCE0**2ECD MFMCE0**2FCD DV0P4285 DV0P223 DV0PM20043
120Ω 35W DV0PM20048 128
3000 MHME302□1＊ 63 MFDHTA390 MFDHTA390E Approx. 4.5kVA DV0P224
3-phase 200V MFMCA MFMCA DV0P4285 80Ω 65W DV0PM20049 128
4000 MHME402□1＊ 64 MFDHTB3A2 MFDHTB3A2E F-frame Approx. 6kVA
0**3ECT 0**3FCT × 2 in parallel DV0P225
DV0P3410
DV0P220, DV0P221, DV0P222,
MHME 5000 MHME502□1＊ 65 MFDHTB3A2 MFDHTB3A2E Approx. 7.5kVA MFECA MFECA — Reactor DV0P223, DV0P224, DV0P225, 127
—
2000r/min 1000 MHME104□1＊ 98 MDDHT2412 MDDHT2412E Approx. 1.8kVA 0**0ETD 0**0ETE MFMCD DV0P227, DV0P228
D-frame DV0PM20048
1500 MHME154□1＊ 99 MDDHT3420 MDDHT3420E Approx. 2.3kVA 0**2ECD MFMCE DV0P4170, DV0PM20042
0**2FCD Noise Filter DV0P4220, DV0PM20043 108
2000 MHME204□1＊ 100 MEDHT4430 MEDHT4430E E-frame Approx. 3.3kVA MFMCE0**2ECD DV0PM20048
3-phase 400V — — DV0P3410
3000 MHME304□1＊ 101 MFDHT5440 MFDHT5440E Approx. 4.5kVA
Single phase DV0P4190 109
MFMCA MFMCA DV0PM20049 Surge
4000 MHME404□1＊ 102 MFDHTA464 MFDHTA464E F-frame Approx. 6.8kVA
3-phase (200V) DV0P1450 109
0**3ECT 0**3FCT × 2 in parallel absorber
5000 MHME504□1＊ 103 MFDHTA464 MFDHTA464E Approx. 7.5kVA
3-phase (400V) DV0PM20050 109
note)1 Rotary encoder specifications: □ Motor specification: ＊ (refer to P.13) note)2 Cable length: ** (03: 3m, 05: 5m, 10: 10m, 20: 20m) Noise Filter for Signal Lines DV0P1460 109

16 17
 Driver Specifications A5 series (Standard type)

+10% (1) Deviation counter clear (2) Command pulse inhibition

Main circuit Single phase, 100 to 120V 50/60Hz Control input (3) Command dividing gradual increase switching
–15%
100V (4) Damping control switching etc.
+10%

Driver
Control circuit Single phase, 100 to 120V 50/60Hz Control output Positioning complete (In-position) etc.
–15%
Max. command Exclusive interface for Photo-coupler: 500kpps
A to +10% pulse frequency Exclusive interface for line driver : 4Mpps
Single/3-phase, 200 to 240V 50/60Hz
Main D-frame –15% Input pulse signal Differential input. Selectable with parameter. ((1) Positive and Negative direction,

Position control
circuit format (2) A and B-phase, (3) Command and direction)
E to +10% Pulse
Input power

3-phase, 200 to 230V 50/60Hz Electronic gear

F-frame –15% input
( 1 to 2 )
30

200V (Division/ Process command pulse frequency × electronic gear ratio 1 to 230 as positional
A to +10% Multiplication of command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Single phase, 200 to 240V 50/60Hz command pulse)

Motor
Control D-frame –15%
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
circuit E to +10%
Single phase, 200 to 230V 50/60Hz Analog Torque limit Individual torque limit for both positive and negative direction is enabled. (3V/rated
F-frame –15% input command input torque)
Main D to +10% Instantaneous Speed
Single phase, 380 to 480V 50/60Hz Available
circuit F-frame –15% Observer
400V
Control D to Damping Control Available
DC 24V ± 15% (1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2
circuit F-frame

Options
Control input
(3) Selection of internal velocity setup 3 (4) Speed zero clamp etc.
Withstand voltage Primary to earth: withstand 1500 VAC, 1 min,(sensed current: 20 mA)
Control output Speed arrival etc.
Ambient temperature: 0˚C to 55˚C (free from freezing) Velocity command Speed command input can be provided by means of analog voltage.
temperature
Storage temperature: –20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours) input Parameters are used for scale setting and command polarity.
Analog

Velocity control
humidity Both operating and storage : 20 to 85%RH or less (free from condensation) input Torque limit Individual torque limit for both positive and negative direction is enabled. (3V/rated
Environment
command input torque)
Altitude Lower than 1000m
Internal velocity command Switching the internal 8speed is enabled by command input.

Information
Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency) Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Soft-start/down function
Sigmoid acceleration/deceleration is also enabled.
Control method IGBT PWM Sinusoidal wave drive
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
17-bit (131072 resolution) absolute encoder, 7-wire serial Instantaneous Speed
Basic Specifications

Encoder feedback Available

20-bit (1048576 resolution) incremental encoder, 5-wire serial Observer
Velocity Control filter Available

Function
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale: Control input Speed zero clamp, Torque command sign input etc.
Feedback scale feedback

Torque control
Mitsutoyo Corp. Control output Speed arrival etc.
Sony Manufacturing Systems Corp.
Analog Torque command Speed command input can be provided by means of analog voltage.
General purpose 10 inputs input input Parameters are used for scale setting and command polarity.
Input
Control The function of general-purpose input is selected by parameters. Speed limit function Speed limit value with parameter t is enabled.
signal General purpose 6 outputs (1) Deviation counter clear (2) Command pulse inhibition
Output Control input
The function of general-purpose input is selected by parameters. (3) Command dividing gradual increase switching (4) Damping control switching etc.
Control output Full-closed positioning complete etc.
Analog Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
/Digital Max. command Exclusive interface for Photo-coupler: 500kpps
signal Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output) pulse frequency Exclusive interface for line driver : 4Mpps
Input pulse signal Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A
2 inputs (Photo-coupler input, Line receiver input)

Full-closed control
format and B-phase, (3) Command and direction)
Input Photocoupler input is compatible with both line driver I/F and open collector I/F. Pulse
Electronic gear
Line receiver input is compatible with line driver I/F. input
( 1 to 2 )
30
Pulse (Division/ Process command pulse frequency × electronic gear ratio 1 to 230 as positional
signal 4 outputs ( Line driver: 3 output, open collector: 1 output) Multiplication of command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Output Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and command pulse)
EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector. Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog Torque limit Individual torque limit for both positive and negative direction is enabled. (3V/rated
USB Connection with PC etc. input command input torque)
Communication 1/40 to 160 times
RS232 1 : 1 communication to a host with RS23 interface is enabled. Setup range of division/
function The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set
RS485 1 : n communication up to 15 axes to a host with RS485 interface is enabled. multiplication of
to 1 to 220 (numerator) to 1 to 220 (denominator), but should be set to a ratio within the
feedback scale
range shown above.
Safety function Used for IEC61800-5-2: STO.
The load inertia is identified in real time by the driving state of the motor operating
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit) according to the command given by the controlling device and set up support software
Front panel Auto tuning
(3) Analog monitor output (2ch) (4) Digital monitor output (1ch) “PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
A, B-frame: no built-in regenerative resistor (external resistor only)
Common

Regeneration Division of encoder feedback

C to F-frame: Built-in regenerative resistor (external resistor is also enabled.) Set up of any value is enabled (encoder pulses count is the max.).
pulse
Dynamic brake Built-in Over-voltage, under-voltage, over-speed, over-load,
Protective Hard error
Switching among the following 7 mode is enabled, over-heat, over-current and encoder error etc.
function
Control mode (1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control Soft error Excess position deviation, command pulse division error, EEPROM error etc.
(5) Position/Torque control (6) Velocity/Torque control (7) Full-closed control Traceability of alarm data The alarm data history can be referred to.

18 19
 Driver Specifications A5E series (Positioning type)

+10% (1) Deviation counter clear (2) Command pulse inhibition

Main circuit Single phase, 100 to 120V 50/60Hz
–15% Control input (3) Command dividing gradual increase switching
100V (4) Damping control switching etc.

Driver
+10%
Control circuit Single phase, 100 to 120V 50/60Hz Control output Positioning complete (In-position) etc.
–15%

A to +10% Max. command Exclusive interface for Photo-coupler: 500kpps

Single/3-phase, 200 to 240V 50/60Hz pulse frequency Exclusive interface for line driver : 4Mpps
D-frame –15%
Main

Position control
circuit Input pulse signal Differential input. Selectable with parameter. ((1) Positive and Negative direction,
E to +10%
Input power

3-phase, 200 to 230V 50/60Hz format (2) A and B-phase, (3) Command and direction)
F-frame –15% Pulse
200V input Electronic gear

Motor
( 1 to 2 )
30
A to +10% (Division/ Process command pulse frequency × electronic gear ratio 1 to 230 as positional
Single phase, 200 to 240V 50/60Hz
D-frame –15% Multiplication of command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Control
circuit command pulse)
E to +10%
Single phase, 200 to 230V 50/60Hz Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input

Function
F-frame –15%
Instantaneous Speed
+10% Available
Main D to Observer
Single phase, 380 to 480V 50/60Hz
circuit F-frame –15%

Options
400V Damping Control Available
Control D to
DC 24V ± 15%
circuit F-frame The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support software
Withstand voltage Primary to earth: withstand 1500 VAC, 1 min,(sensed current: 20 mA) Auto tuning
“PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Ambient temperature: 0˚C to 55˚C (free from freezing)
temperature
Storage temperature: –20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours) Division of encoder feedback

Common
Set up of any value is enabled (encoder pulses count is the max.).
pulse

Information
humidity Both operating and storage : 20 to 85%RH or less (free from condensation)
Environment Over-voltage, under-voltage, over-speed, over-load,
Hard error
Altitude Lower than 1000m Protective over-heat, over-current and encoder error etc.
function
Basic Specifications

Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency) Soft error Excess position deviation, command pulse division error, EEPROM error etc.

Control method IGBT PWM Sinusoidal wave drive Traceability of alarm data The alarm data history can be referred to.

17-bit (131072 resolution) absolute encoder, 7-wire serial

Encoder feedback
20-bit (1048576 resolution) incremental encoder, 5-wire serial

General purpose 10 inputs

Input
The function of general-purpose input is selected by parameters.
Control
signal
General purpose 6 outputs
Output
The function of general-purpose input is selected by parameters.

Analog Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)

/Digital
signal Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)

2 inputs (Photo-coupler input, Line receiver input)

Input Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Pulse
signal
4 outputs ( Line driver: 3 output, open collector: 1 output)
Output Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and
EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
Communication
USB Connection with PC etc.
function
Safety function Used for IEC61800-5-2: STO.

(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
Front panel
(3) Analog monitor output (2ch) (4) Digital monitor output (1ch)

A, B-frame: no built-in regenerative resistor (external resistor only)

Regeneration
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)

Dynamic brake Built-in

Control mode Position control

20 21
 Wiring Diagram Wiring to Connector, XA, XB, XC, XD

In Case of Single Phase, A to D-frame, 100 V / 200 V type and 3-Phase, A to D-frame, 200 V type In Case of 3-Phase, E-frame, 200 V type In Case of 3-Phase, E-frame, 400 V type
• MSMD, MHMD モータの場合 • MSME モータの場合 Built-in thermostat Built-in thermostat

Driver
Built-in Built-in thermostat of an external of an external
thermostat of of an external MC regenerative resistor MC regenerative resistor
ON OFF ALM ON OFF ALM
MC an external MC regenerative (light yellow) (light yellow)
ON OFF ALM ON OFF ALM Coil surge suppression units Coil surge suppression units
regenerative resistor (light
Coil surge suppression units resistor (light Coil surge suppression units yellow)
yellow) MCCB L XA XC

Noise filter
MCCB L XA MCCB L XA L1 DC 24V
Main power Control power
Noise filter

Noise filter
L1 L1 L2 supply 24V 0V supply
Main power Main power L
L2 L2 L3 MCCB

Noise filter
supply supply L1 XA
L3 L3 MC L1C Control power
単 相 の 場 合は 単 相 の 場 合は supply L2 Main power
MC L1C Control power L2端子は使用 MC L1C Control power L2端子は使用 L2C supply
supply supply Remove the short wire when L3
L2C しません L2C しません

Motor
Remove the short wire when Remove the short wire when you connect the external XC MC
you connect the external you connect the external regenerative resistor. B1 B1 XD
XB XB B3 B3
regenerative resistor. B1 regenerative resistor. B1 External regenerative resistor External regenerative resistor
B3 B3 B2 Remove the short wire when
B2
External regenerative resistor External regenerative resistor NC N
B2 B2 you connect the external
Red
1 1 U U ＜ご注意＞ XB
regenerative resistor. XB
White Motor Motor U U
Black
2 2 V connection V connection ［A枠, B枠］ V
Motor V
Motor
connection
3 3 W W connection
Green
4 4 B 2 - B 3 間 をオ ー W W

172159-1 プンでご使用くだ

Options
さい。
172167-1
Motor ALM Motor ALM Motor
［C枠, D枠］
ALM
X4 X4 Motor ALM
X4
37 37 X4
ALM+ ALM+ 37 37
ALM+
DC12 to 24V DC12 to 24V B2-B3間を短絡し ALM+
(±5%) (±5%) DC12 to 24V DC12 to 24V
36 36
ALM− ALM− てご 使 用くだ さ (±5%) 36 (±5%) 36
ALM−
ALM−
い。

In Case of 3-Phase, D-frame, 400 V type

In Case of 3-Phase, F-frame, 200 V type In Case of 3-Phase, F-frame, 400 V type

Information
Built-in thermostat
of an external Built-in thermostat Built-in thermostat
MC regenerative
ON OFF ALM of an external of an external
resistor (light MC regenerative resistor MC
Coil surge suppression units yellow) ON regenerative resistor
OFF ALM ON OFF ALM
(light yellow) (light yellow)
Coil surge suppression units Coil surge suppression units
XC
DC 24V Terminal block Terminal block
24V
Control power
0V supply MCCB L DC 24V Control power

Noise filter
MCCB L L1 24V
0V
Noise filter

L1 XA Main power supply

L2 supply MCCB L

Noise filter
L2 Main power L3 L1
L3 supply Main power
MC L1C Control power L2
MC supply supply
L2C L3
XD External regenerative resistor B1 MC B1
External regenerative resistor B1
B3 Remove the short wire when B3 B3
Remove the short wire when you connect the external External regenerative resistor
B2 B2
you connect the external B2 ＜ご注意＞ regenerative resistor. NC Remove the short wire when
regenerative resistor. NC
U XB ［A枠, B枠］ U
you connect the external
regenerative resistor. U
Motor Motor
Motor V V
V
connection B 2 - B 3 間 をオ ー W
connection connection
W W
プンでご使用くだ
さい。
ALM Motor
Motor X4 ［C枠, D枠］ ALM
X4 ALM
37 37 Motor X4
ALM+ B2-B3間を短絡し ALM+ 37
DC12 to 24V DC12 to 24V ALM+
(±5%) 36
ALM− てご 使 用くだ さ (±5%) 36 DC12 to 24V
ALM− (±5%) 36
い。 ALM−

Specifications of Motor connector (The figures show connectors for the motor.)
• When the motors of <MSMD, MHMD> • When the motors of <MSME (50 W to 750 W)> • When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MGME, MHME> are used, they are connected as shown below.
are used, they are connected as shown below. are used, they are connected as shown below. Connector: Made by Japan Aviation Electronics Industry, Ltd. * For detail of Applicable model, refer to P.111
Connector: Made by Tyco Electronics AMP Connector: Made by Japan Aviation Electronics Industry, Ltd. “Specifications of Motor connector”.
<Motor> <Brake> <Motor> <Brake> <without Brake> <with Brake>
2 D A
172167-1 172165-1 PE JN8AT04NJ1 JN4AT02PJM-R PIN No. Application PIN No. Application
PIN No. Application PIN No. Application PIN No. Application PIN No. Application G H A G Brake A B C A Brake
2 1 1 3
1 U-phase 1 Brake 1 U-phase 1 1 Brake C B H Brake B Brake
4 3 2 2 F I B D E F
2 V-phase 2 Brake 2 V-phase 2 Brake A NC C NC
3 W-phase 1 3 W-phase Tightening torque of JL04V-2E20-4PE-B-R F U-phase D U-phase
E D C G H I
4 Ground PE Ground the screw(M2) JL04HV-2E22-22PE-B-R I V-phase E V-phase
0.19 to 0.21 N·m JL04V-2E20-18PE-B-R B W-phase JL04V-2E24-11PE-B-R W-phase
Tightening torque of PIN No. Application F
the screw (M2) 0.085 to 0.095 A U-phase E Ground G Ground
N·m (screwed to plastic) D Ground H Ground
B V-phase
C W-phase C NC I NC
* Be sure to use only the screw supplied with the connector,
to avoid damage. D Ground <Remarks> Do not connect anything to NC.

22 23
 Safety function Wiring to the connector, X3 (Excluding A5E Series) Control Circuit Diagram Wiring to the connector, X4

上位コントローラを接続して、セーフティ機能をコントロールするセーフティ回路を構築することができます。 Wiring Example of Position Control Mode

セーフティ回路を構築しない場合は、付属のセーフティバイパスプラグをご使用ください。
In case of open collector I/F (1) When you use the external
1

Driver
7 COM+ 2.2kΩ
OPC1
Command pulse resistor with 12V and 24V
Outline description of safe torque off (STO)
inhibition input 33 4.7kΩ 2.2kΩ 3
Deviation counter
INH PULS1 power supply
clear input 30 220Ω 4
CL PULS2 2.2kΩ PULS1 3
2
The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output Servo-ON input Command
2.2kΩ
29 SRV-ON OPC2
pulse PULS2 4 R
Gain switching input 27 2.2kΩ 5 input A
GAIN SIGN1
torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose,
220Ω
Electronic gear
switching input 1 28
220Ω 6 (Use with 2.2kΩ SIGN1 5
DIV1 SIGN2 500 kpps or less.) VDC

the STO uses safety input signal and hardware (circuit). 13

Damping control SIGN2 6 R
switching input 1 26 VS-SEL1 GND 220Ω
Control mode

When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5 .
safety state. OA- VDC =10mA

Motor
Positive direction
9 of R R+220 .
over-travel inhibition input POT 48

Divider
Negative direction OB+ B-phase 12V 1kW1/2W
This is an alarm condition and the 7-seg LED on the front panel displays the error code number. over-travel inhibition input 8 NOT
OB-
49 output 24V 2kW1/2W
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
34 S-RDY- 24 output external resistor with 24V
OZ-
Safety precautions Servo-Alarm output 37 ALM+
power supply

36 2.2kΩ OPC1 1
ALM-
• When using the STO function, be sure to perform equipment risk assessment to ensure that the system VDC
Positioning complete output 39
INP+ GND
25 2.2kΩ
PULS2 4
Z-phase output
conforms to the safety requirements. 12 to 24V 220Ω
38 INP- 19 (open collector) 2.2kΩ OPC1 2

Options
External brake release output 11 CZ 2.2kΩ

• Even while the STO function is working, the following potential safety hazards exist. Check safety in risk
24VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220Ω

assessment. Torque in-limit output 40 TLC 20kΩ

• The motor may move when eternal force (e.g. gravity force on vertical axis) is exerted on it. Provide
47kΩ 47kΩ
( represents twisted pair.)
Zero speed detection output
–

12
+

ZSP 14
an external brake, etc., as necessary to secure the motor. Note that the purpose of motor with brake is
47kΩ 47kΩ
SPR/TRQR/SPL
41 COM- 20kΩ 15
GND
holding and it cannot be used for braking application. 44 2kΩ 20kΩ – 20kΩ 20kΩ 14kΩ
P-ATL/TRQR
16 Positive direction torque limit input
PULSH1
+

• When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic brake), the motor is free 17 (0 to +10V)
120Ω 10kΩ
45 GND

Information
PULSH2 2kΩ 20kΩ
46 20kΩ 20kΩ 14kΩ 18
run state and requires longer stop distance even if no external force is applied. Make sure that this does
–

SIGNH1 2kΩ 20kΩ N-ATL Negative direction torque limit input

10kΩ
47 SIGNH2 120Ω (-10 to +10V)
not cause any problem. 13 GND
2kΩ 20kΩ 1kΩ
SP
43
Velocity monitor output
42
• When power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180
1kΩ
Command pulse input B 50 FG IM Torque monitor output
(Use with 4Mpps or less.) The functions of the following pin can be changed using parameters.
electrical angle (max.). Make sure that this does not cause any problem. Be sure to connect.
X4 Input: 8, 9, 26, 27, 28, 29, 31, 32
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
• The STO turns off the current to the motor but does not turn off power to the servo driver and does not * For detail of connector, refer to P.118. * Pins in the figure above represent default parameter values.

isolate it. When starting maintenance service on the servo driver, turn off the driver by using a different
disconnecting device. Wiring Example of Velocity Control Mode (Excluding A5E Series)

• External device monitor (hereafter EDM) output signal is not a safety signal. Do not use it for an application
7 COM+
other than failure monitoring. Selection 1 input of
internal command speed 33 INTSPD1 4.7kΩ

• Dynamic brake and external brake release signal output are not related to safety function. When designing Selection 2 input of
internal command speed 30 INTSPD2

the system, make sure that the failure of external brake release during STO condition does not result in Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
danger condition. Slection 3 input of
internal command speed 28 INTSPD3 21
• When using STO function, connect equipment conforming to the safety standards. Speed zero clamp input 26
ZEROSPD
OA+
22 A-phase output
Control mode switching OA-
input 32 C-MODE 48

Divider
Alarm clear input 31 A-CLR OB+
49 B-phase output
[Connector pin assignment] SF2+ SF1+ Positive direction
over-travel inhibition input 9 POT
OB-
23
EDM+ NC Negative direction
8
OZ+
Z-phase output
(Viewed from cable) over-travel inhibition input
NOT
OZ-
24

8 6 4 2 Servo-Ready output
FG 35 S-RDY+
7 5 3 1 34 S-RDY-
EDM− NC Servo alarm output 37 25
ALM+ GND
SF2− SF1− 36 ALM- 19 Z-phase output (open collector)
At-speed output 39 AT-SPEED+ CZ
VDC
• System configuration 12 to 24V 38 AT-SPEED-
SUNX/ELAN A5 External brake release output 11 20kΩ
BRKOFF+
Emergency stop switch Servo driver 47kΩ 47kΩ
10 BRKOFF- –

ADRR40RT
+

Torque in-limit output 40 47kΩ 47kΩ 14

SUNX (Contact: 2NC) TLC SPR/TRQR/SPL Velocity command
SUNX GND 15 input (0 to ± 10V)
20kΩ
Light curtain
SF-C14EX Zero speed detection output 12 16
SF4B V2 Motor
20kΩ 20kΩ 14kΩ
–

ZSP +
P-ATL/TRQR Positive direction torque
Emergency stop signal 41 COM-
10kΩ
GND
17 limit input (0 to ± 10V)

N-ATL 18
– 20kΩ 20kΩ 14kΩ
Negative direction torque
Safety unit
+

EDM output 10kΩ

limit input (-10 to 0V)
1kΩ 43 Velocity monitor output
SP
STO signal 50
1kΩ
IM
42 Torque monitor output
FG
(Safe torque off)
X4 ( represents twisted pair.)
使用時はコネクタ X3セーフティ制御用
コネクタをユニット（DV0PM20025： The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
P.75参照）
と接続にお使いください。 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* Pins in the figure above represent default parameter values. * For detail of connector, refer to P.118.

24 25
 Control Circuit Diagram Wiring to the connector, X4 Control Circuit Diagram Wiring to the connector, X5 (Excluding A5E Series)

Wiring Example of Torque Control Mode (Excluding A5E Series) Applicable external scale
The manufacturers applicable external scales for this product are as follows.
7 COM+

Driver
33 INH
4.7kΩ • Mitutoyo Corp.
30 CL ST771A(L), ST773A(L), AT573A
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN • Sony Manufacturing Systems Corp.
Speed zero clamp 28 DIV1
21
SR75, SR85, SR77, SR87, SL700・PL101-RP, SL710・PL101-RP
input 26 ZEROSPD OA+ A-phase
Control mode
switching input 32 C-MODE OA-
22 output * For the details of the external scale product, contact each company.
Alarm clear input 31 A-CLR 48

Divider
OB+ B-phase
Positive direction 49 output

Motor
9 POT
Wiring Diagram of X5
over-travel inhibition input OB-
Negative direction 23
over-travel inhibition input 8 NOT OZ+ Z-phase
24 output
Servo-Ready output OZ-
35 S-RDY+
34 S-RDY- <A/B-phase>
Servo-Alarm output 37 ALM+ 25
GND Connector X5

Regulator
1
EX5V +5V
36 ALM-
At-speed output 19 Z-phase output (open collector) EX5V
VDC 39 AT-SPEED+ CZ 2 0V
EX0V EX0V
12 to 24V 38 AT-SPEED- 20kΩ
3

Options
External brake release output 11 BRKOFF+
47kΩ 47kΩ
–
+
4
10 BRKOFF- 47kΩ 47kΩ 14 5
Torque in-limit output 40 TLC
SPR/TRQR/SPL Torque command input or EXA EXA
20kΩ 15 velocity limit input (0 to ±10V) 6
GND EXA EXA
20kΩ 20kΩ 14kΩ
P-ATL/TRQR 16 7
Wiring example when control mode Pr0.01=0 or Pr3.17=1 EXB EXB
–

Zero speed detection output 12

+

ZSP 10kΩ
17 16 8
41 COM-
GND CCWTL/TRQR Negative direction torque EXB EXB
20kΩ 20kΩ 14kΩ
17 limit input (0 to ±10V) 9
EXZ EXZ
–
+
N-ATL 18 GND
10kΩ
Select with Pr3.17. 10
1kΩ 43
EXZ EXZ
SP Velocity monitor output

Information
1kΩ 42 Torque monitor output
IM
50
Twisted pair MUF-RS10DK-GKXR
FG
(J.S.T. Mfg. Co., Ltd.)
X4
( represents twisted pair.) FG Shell of X5 (FG)
The functions of the following pin can be changed using parameters. MUF-PK10-X
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Detection head (J.S.T. Mfg. Co., Ltd.)
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
本コネクタについては
* Pins in the figure above represent default parameter values. * For detail of connector, refer to P.118.
ご使用されるスケール
のメーカにお問い合わ
Wiring Example of Full-closed Control Mode (Excluding A5E Series) External scale unit せください。 Junction cable
External scale Servo driver
In case of open collector I/F (1) When you use the external
7 COM+ 2.2kΩ 1 side
Command pulse OPC1 resistor with 12V and 24V
inhibition input 33 4.7kΩ 2.2kΩ 3
Deviation counter
INH PULS1 power supply
clear input 30 CL
220Ω
PULS2
4
2.2kΩ PULS1 3
<Serial>
Servo-ON input 29 SRV-ON 2.2kΩ 2 Command
OPC2
Gain switching input 27 2.2kΩ 5
pulse PULS2 4 R Connector X5

Regulator
SIGN1 input A 1
EX5V +5V
GAIN 220Ω
Electronic gear
switching input 1 28
220Ω
SIGN2
6 (Use with 2.2kΩ SIGN1 5 EX5V
DIV1 500 kpps or less.) VDC 2 0V
Damping control
switching input 1 26 VS-SEL1 GND
13 SIGN2 6 R EX0V EX0V
220Ω 3
Control mode
32 C-MODE EXPS EXPS
switching input 21 4
OA+ A-phase EXPS EXPS
Alarm clear input 31 A-CLR output
Positive direction OA-
22
VDC
Specifications VDC -1.5 .
=10mA 5
9 of R R+220 .
over-travel inhibition input POT 48 6
Divider

Negative direction OB+ B-phase 12V 1kW1/2W

over-travel inhibition input 8 NOT 49 output Twisted 7
OB- 24V 2kW1/2W
Servo-Ready output 35 S-RDY+ 23
Z-phase (2) When you do not use the pair 8
OZ+
34 S-RDY- 24 output external resistor with 24V 9
OZ-
Servo-Alarm output power supply
37 ALM+ 10
36 2.2kΩ OPC1 1
ALM-
Positioning complete output 39 25 2.2kΩ
VDC INP+ GND PULS2 4
Z-phase output 220Ω
12 to 24V 38 INP- 19 (open collector) 2.2kΩ OPC1 2 MUF-RS10DK-GKXR
External brake release output 11 CZ
BRKOFF+
2.2kΩ
SIGN2 6
24VDC (J.S.T. Mfg. Co., Ltd.)
10 BRKOFF- 220Ω
Torque in-limit output 40 TLC
FG Shell of X5 (FG)
20kΩ
47kΩ 47kΩ MUF-PK10-X
( represents twisted pair.) Detection head
Zero speed detection output (J.S.T. Mfg. Co., Ltd.)
–

12
+

ZSP 47kΩ 47kΩ 14 本コネクタについては

SPR/TRQR/SPL
41 COM- 20kΩ 15 ご使用されるスケール
GND
16 のメーカにお問い合わ
44 2kΩ 20kΩ 20kΩ 20kΩ 14kΩ
Positive direction torque limit input
P-ATL/TRQR Junction cable
–

PULSH1 External scale unit せください。

+

45 120Ω 10kΩ 17 (0 to +10V)

PULSH2 GND
46
2kΩ 20kΩ – 20kΩ 20kΩ 14kΩ
N-ATL
18 External scale Servo driver
SIGNH1 2kΩ 20kΩ Negative direction torque limit input
47 SIGNH2 120Ω
10kΩ
(-10 to +10V) side
2kΩ 20kΩ 1kΩ 43
13 GND SP Velocity monitor output
1kΩ 42 Torque monitor output
Command pulse input B 50 FG IM
(Use with 4Mpps or less.) The functions of the following pin can be changed using parameters.
X4 Input: 8, 9, 26, 27, 28, 29, 31, 32
Be sure to connect. Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* For detail of connector, refer to P.118. * Pins in the figure above represent default parameter values.

26 27
 Control Circuit Diagram Wiring to the connector, X6

In case of 20-bit incremental encoder In case of 17-bit absolute encoder

MSMD 50W to 750W, MHMD 200W to 750W MSMD 50W to 750W, MHMD 200W to 750W

Driver
X6

Regulator
X6 White 7 1 +5V
E5V

Regulator
White 4 1 +5V E5V
E5V E5V Black 8 2 0V
Black 5 2 0V E0V E0V
E0V E0V 3
3
Twisted pair 4
4 battery
Red 1 5
Light blue 2 5 BAT+ PS
PS PS Pink 2 6
Purple 3 6 BAT– PS
PS PS

Motor
Light blue 4
6 PS Shell (FG)
FG Shell (FG) Purple 5
PS
Twisted pair Yellow/Green 3
FG
172168-1 172160-1 Connector: 55100-0670 Connector: 53460-0629
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP) Connector: 55100-0670 Connector: 53460-0629 (Japan Molex Inc.) (Japan Molex Inc.)
(Japan Molex Inc.) (Japan Molex Inc.) 172169-1 172161-1
Motor
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
Motor Junction cable Driver
Motor Motor Junction cable Driver

Options
MSME 50W to 750W MSME 50W to 750W

X6 X6

Regulator

Regulator
+5V
E5V 6 1
E5V E5V 6 1
E5V
+5V
E0V 3 2
E0V
0V E0V 3 2
E0V
0V
3 5
battery 3

Information
BAT+
4 2 4
BAT–
7 5 7 5
PS PS PS PS
4 6 4 6
PS PS PS PS
1 1
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN6CR07PM2 Connector: JN6FR07SM1 Connector: 55100-0670 Connector: 53460-0629 Connector: JN6CR07PM2 Connector: JN6FR07SM1 Connector: 55100-0670 Connector: 53460-0629
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Japan Molex Inc.) (Japan Molex Inc.) (by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Japan Molex Inc.) (Japan Molex Inc.)

Motor Encoder cable Driver Motor Encoder cable Driver

[Connector pin assignment (Motor side)] [Connector pin assignment (Motor side)]
Tighten the motor connector mounting screw (M2) Tighten the motor connector mounting screw (M2)
1 1
with a torque between 0.19 and 0.21 N•m. To avoid 2
5 with a torque between 0.19 and 0.21 N•m. To avoid 2
5
6 6
damage, be sure to use only the screw supplied with 3
7
damage, be sure to use only the screw supplied with 3
7
the connector. 4 (Viewed from cable) the connector. 4 (Viewed from cable)

MSME 1.0kW to 5.0kW, MDME 1.0kW to 5.0kW MSME 1.0kW to 5.0kW, MDME 1.0kW to 5.0kW
MHME 1.0kW to 5.0kW, MGME 0.9kW to 3.0kW MHME 1.0kW to 5.0kW, MGME 0.9kW to 3.0kW

X6 X6
Regulator

Regulator
+5V +5V
E5V 4 1
E5V E5V 4 1
E5V
E0V 1 2
E0V
0V E0V 1 2
E0V
0V
3 6
battery 3
BAT+
4 5 4
BAT–
3 5 3 5
PS PS PS PS
7 6 7 6
PS PS PS PS
9 9
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN2AS10ML3-R Connector: JN2DS10SL1-R Connector: 55100-0670 Connector: 53460-0629 Connector: JN2AS10ML3-R Connector: JN2DS10SL1-R Connector: 55100-0670 Connector: 53460-0629
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Japan Molex Inc.) (Japan Molex Inc.) (by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Japan Molex Inc.) (Japan Molex Inc.)

Motor Encoder cable Driver Motor Encoder cable Driver

[Connector pin assignment] [Connector pin assignment]

Refer to P.111 “Specifications of Motor connector”. Refer to P.111 “Specifications of Motor connector”.

28 29
 Dimensions Driver

A-frame C-frame
Unit [mm] Unit [mm]

Driver
15 (151)
(133)
40
22.4 2.5 3.5 65 15 (191)
7 40 (173)
ø5
.2 Mounting bracket 20
22.4 2.5 4
(Option) ø5 ø5.
.2 2 Mounting bracket
ø5
(Option) .2
X1: X1:
XA: USB connector USB connector
Main power X2: X2:
input terminals RS232/485 XA: RS232/485
communication connector Main power communication

Motor
Control power
input terminals input terminals connector
X3:
Safety function connector Control power

140
X3:

150
170
180
XB: input terminals Safety function

140
150
170
180
X4: connector
Name plate
Terminals for external
regenerative resistor Interface connector XB:
Terminals for X4:
Terminals for motor external Interface
connection X5: regenerative connector
for external scale resistor
X5:
connection Terminals for for external scale
motor connection connection

Options
5.2

5
X6:
5

Mounting bracket 5.2

5
for encoder connection 5.2 2.5 28 6 X6:

5
Name plate 7 (Option) for encoder connection 5.2 2.5 Mounting bracket 50 7.5
Rack mount type Base mount type 20 (Option)
(Option: Front-end mounting)
(
Standard:
) 40
Base mount type
( )
Back-end mounting Standard:
Connector of driver side Rack mount type
Connector XA S05B-F32SK-GGXR J.S.T. Mfg. Co., Ltd. (Option: Front-end mounting) Back-end mounting
Connector XB S06B-F32SK-GGXR J.S.T. Mfg. Co., Ltd.
Connector X1 UB-M5BR-DMP14-4S (or equivalent) J.S.T. Mfg. Co., Ltd.
Connector X2 1-2040537-1 (or equivalent) Tyco Electronics AMP k.k,

Information
Connector X3 2040537-1 (or equivalent) Tyco Electronics AMP k.k,
Connector X4 529865079 (or equivalent) Japan Molex Inc.
Connector X5 MUF-RS10DK-GKXR (or equivalent) J.S.T. Mfg. Co., Ltd.
Connector X6 53460-0629 (or equivalent) Japan Molex Inc.
Connector X7 530140610 (or equivalent) Japan Molex Inc.
Connector of power and motor side（アンプ本体に同梱）
Connector XA 05JFAT-SAXGF J.S.T. Mfg. Co., Ltd. ※アンプ側コネクタ及び電源側、モータ側コネクタは
Connector XB 06JFAT-SAXGF J.S.T. Mfg. Co., Ltd.
Mass: 0.8kg 　A 枠と同じですので、A 枠の表をご覧ください。
Mass: 1.6kg

B-frame
Unit [mm]

15 (151)
55 (133)
47 22.4 2.5 3.5
7
ø5
.2 Mounting bracket
(Option) ø5
X1: .2
USB connector

X2:
RS232/485
XA: communication
Main power connector
input terminals
Control power X3:
Safety function
140

input terminals
150
170
180

connector
XB:
Terminals for external X4:
regenerative resistor Interface
connector
Terminals for motor
connection X5:
for external scale
connection
5.2
5

X6:
for encoder connection 5.2 2.5 Mounting bracket 43 6
Name plate (Option)
7
Base mount type
Rack mount type
(Option: Front-end mounting)
(
Standard:
Back-end mounting )

※アンプ側コネクタ及び電源側、モータ側コネクタは
　A 枠と同じですので、A 枠の表をご覧ください。
Mass: 1.0kg

30 31
 Dimensions Driver

D-frame (200V) E-frame (200V)

Unit [mm] Unit [mm]

Driver
(86) 15 (212)
85 (196)
(86)
85 15 (191) 33.1 2.5 3.5
17.5 50
60 (173)
22.2 2.5 4 42.5 Mounting bracket
10 40
5.2 (deviation from shipping specification)
Mounting bracket

.2
2-ø5.2
Mounting bracket

ø5
(Option) ø5
.2 (to shipping specification)
X1:
USB connector

XA: X2:
RS232/485

Motor
Main power X1 XA:
input terminals communication
X2 Main power
connector
Control power X3 input terminals
input terminals Control power X3:

140
150
170
180
Name plate input terminals Safety function
Name plate

168
188

198
XB: connector
Terminals for X4 XC:
external Terminals for X4:
regenerative external Interface
resistor regenerative connector
X5
Terminals for resistor X5:
X6
motor connection for external scale

Options
XB:

5
R2
5.2 .6 Terminals for connection
5.2 5.2 2.5 Mounting bracket motor connection
Direction of air flowing 10 70 8.5 Mounting bracket
40 (Option) X6:
from the internal cooling fan 60 Base mount type (to shipping specification)
for encoder connection 5.2 5.2

( )

ø5.2
X1: USB connector Standard: 2.5 Mounting bracket
Direction of air flowing 42.5
X2: RS232/485 communication connector Rack mount type Back-end mounting (deviation from shipping specification)
(Option: Front-end mounting) from the internal cooling fan 17.5 50
X3: Safety function connector 85
X4: Interface connector
X5: for external scale connection Connector of driver side
X6: for encoder connection Connector XA S05B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd.

Information
Connector XB S03B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd.
Connector XC S04B-JTSLSS-GSANXR J.S.T. Mfg. Co., Ltd.
Connector of power and motor side（アンプ本体に同梱）
Connector XA 05JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
Connector XB 03JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
※アンプ側コネクタ及び電源側、モータ側コネクタは Connector XC 04JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
　A 枠と同じですので、A 枠の表をご覧ください。
Mass: 1.8kg ※コネクタ X1 〜 X7 のアンプ側コネクタは、A 枠と同じですので、A 枠の表をご覧ください。
Mass: 2.7kg

D-frame (400V) E-frame (400V)

Unit [mm] Unit [mm]
94 15 (212)
85 (196)
X1: USB connector (92) 15 (191)
17.5 50 33.1 2.5 3.5
X2: RS232/485 communication connector 85 (173)
X3: Safety function connector 60 22.2 2.5 4 42.5 Mounting bracket
X4: Interface connector 10 40 5.2 5.2 (deviation from shipping specification)
Mounting bracket

.2
X5: for external scale connection 2-ø5.2 Mounting bracket

ø5
(Option) ø5
.2 (to shipping specification)
X6: for encoder connection
X1:
USB connector

XC: X2:
X1 Control power RS232/485
XC input terminals communication
X2 connector
XA X3 XA:
Main power X3:
140
150
170
180

Name plate input terminals Safety function

XD Name plate

168
188

198
X4 connector
XD:
Terminals for X4:
XB external Interface
X5 regenerative connector
resistor X5:
X6
XB: for external scale
5.2 Terminals for connection
5

Direction of air flowing

from the internal cooling fan 2.5 Mounting bracket motor connection
5.2 5.2 7.5 70 ø5.2
(Option) X6: Mounting bracket
10 40
XA: Main power input terminals Base mount type for encoder connection 5.2 5.2 (to shipping specification)

( )
XB: Terminals for motor connection Rack mount type Standard: Direction of air flowing Mounting bracket
42.5 2.5
XC: Control power input terminals (Option: Front-end mounting) Back-end mounting (deviation from shipping specification)
XD: Terminals for external regenerative resistor
from the internal cooling fan 17.5 50

Connector of driver side Connector of driver side

Connector XA S03B-JTSMSS-GSANYR J.S.T. Mfg. Co., Ltd. Connector XA S03B-JTSLSS-GSANYR J.S.T. Mfg. Co., Ltd.
Connector XB S03B-JTSMSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XB S03B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd.
Connector XC S02B-J25SK-GGR J.S.T. Mfg. Co., Ltd. Connector XC S02B-J25SK-GGR J.S.T. Mfg. Co., Ltd.
Connector XD S04B-JTSMSK-GSANXR J.S.T. Mfg. Co., Ltd. Connector XD S04B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd.
Connector of power and motor side（アンプ本体に同梱） Connector of power and motor side（アンプ本体に同梱）
Connector XA 03JFAT-SAYGSA-M J.S.T. Mfg. Co., Ltd. Connector XA 03JFAT-SAYGSA-L J.S.T. Mfg. Co., Ltd.
Connector XB 03JFAT-SAXGSA-M J.S.T. Mfg. Co., Ltd. Connector XB 03JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
Connector XC 02MJFAT-SAGF J.S.T. Mfg. Co., Ltd. Connector XC 02MJFAT-SAGF J.S.T. Mfg. Co., Ltd.
Connector XD 04JFAT-SAXGSA-M J.S.T. Mfg. Co., Ltd. Connector XD 04JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
Mass: 1.9kg Mass: 2.7kg
※コネクタ X1 〜 X7 のアンプ側コネクタは、A 枠と同じですので、A 枠の表をご覧ください。 ※コネクタ X1 〜 X7 のアンプ側コネクタは、A 枠と同じですので、A 枠の表をご覧ください。

32 33
 Dimensions Driver Motor Specifications Common Specifications of Motor

F-frame (200V) Features

Motor Contents
Unit [mm] • Line-up: 50W to 5.0kW

Driver
• Max speed: 6000r/min (MSME 50W to 750W)
130 214

MSME (100V/200V)
15 100 42.7 2.5 3
Mounting bracket
• Low inertia (MSME) to High inertia (MHME).
65
5.2 5.2 (deviation from shipping specification)

.2
50W to 750W........... P.36 to 44

ø5
Mounting bracket
(to shipping specification) • Low cogging torque: Rated torque ratio 0.5% (typical value).
• 20-bit incremental encoder (1,048,576 pulse)
MSME (200V)
• 17-bit absolute encoder (131,072 pulse). 1.0kW to 5.0kW....... P.45 to 50
Main power
input terminals
X1
X2
• Enclosure rating: IP67 (M*ME), IP65 (M*MD)
• Compact & Light weight MDME (200V)

Motor
X3
Control power
input terminals
Middle capacity type
X4
1.0kW to 5.0kW....... P.51 to 56
Terminals for Name plate

220
240

250
external
regenerative
resistor
X5 Small capacity type MGME (200V)
X6
0.9kW to 3.0kW....... P.57 to 59
Terminals for
motor connection

MHME (200V)

Options
1.0kW to 5.0kW....... P.60 to 65
Mounting bracket
(to shipping specification)
5.2 5.2 Mounting bracket
ø5.2

MSMD (100V/200V)
Direction of air flowing 2.5
(deviation from shipping specification)
65
from the internal cooling fan
15 100 [MSME (50W to 750W)] [MSME (1.0kW to 5.0kW)] 50W to 750W........... P.66 to 74
X1: USB connector 130
X2: RS232/485 communication connector
X3: Safety function connector
Motor (Scheduled to be released.)
X4: Interface connector • MDME 7.5kW, 11kW, 15kW • MFME 1.5kW, 2.5kW, 4.5kW MHMD (100V/200V)

Information
X5: for external scale connection
X6: for encoder connection • MHME 7.5kW • Motor with Gear Reduce:　 200W to 750W......... P.76 to 80
• MGME 4.5kW, 6.0kW 100W, 200W, 400W, 750W

MSME (400V)
Mass: 4.8kg
Environmental Conditions 1.0kW to 5.0kW....... P.82 to 87
※アンプ側コネクタは、A 枠と同じですので、A 枠の表をご覧ください。
Item Conditions
MDME (400V)
Ambient temperature *1 0˚C to 40˚C (free from freezing)
1.0kW to 5.0kW....... P.88 to 93
F-frame (400V) Ambient humidity 20% to 85% RH (free from condensation)

Unit [mm] –20˚C to 65˚C MGME (400V)

Storage temperature *2
214 (Max.temperature guarantee: 80˚C for 72 hours)
0.9kW to 3.0kW....... P.94 to 96
130
100 15 42.7 2.5 3
65 Mounting bracket Storage humidity 20% to 85% RH (free from condensation)
5.2 5.2 (deviation from shipping specification)
.2

Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
MHME (400V)
ø5

Mounting bracket
(to shipping specification)
Impact Motor only Lower than 98m/s2 (10G) 1.0kW to 5.0kW..... P.98 to 103
Leadwire IP65 (except rotating portion of output shaft and readwire
Enclosure type *3　　 end.)
Main power X1 rating
(Motor only) Connector IP67 (except rotating portion of output shaft and connecting
input terminals X2

Control power
X3 type*3*4 pin part of the motor connector and the encoder connector)
input terminals
Altitude Lower than 1000m
Terminals for X4 Name plate
220
240

250

external
regenerative *1 Ambient temperature to be measured at 5cm away from the motor.
resistor X5 *2 Permissible temperature for short duration such as transportation.
X6 *3 These motors conform to the test conditions specified in EN standards (EN60529,
Terminals for
motor connection EN60034-5). Do not use these motors in application where water proof performance is
required such as continuous wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or
Mounting bracket
less are tightened to the recommended tightening torque (Refer to 1-16, 2-18, 2-00). Be
5.2 5.2
(to shipping specification)
Mounting bracket sure to use mounting screw supplied with the connector.
ø5.2

Direction of air flowing 2.5 (deviation from shipping specification)

65
from the internal cooling fan
15 100
X1: USB connector
X2: RS232/485 communication connector
130
<Note>
X3: Safety function connector
X4: Interface connector
回転方向の初期設定を
正方向（CCW）
、
X5: for external scale connection
X6: for encoder connection

負方向（CW）
と
定義しています。
Positive direction Negative direction
※アンプ側コネクタは、A 枠と同じですので、A 枠の表をご覧ください。
Mass: 4.7kg ご注意ください。 (CCW) (CW)

34 35
 Motor Specifications 100V MSME 50W [Low inertia, Small capacity] Motor Specifications 200V MSME 50W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 5AZG1□ 5AZS1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 5AZG1□ 5AZS1□ Do not use this for braking the motor in motion.

Model A5 series MADHT1105 Static friction torque (N•m) 0.29 or more Model A5 series MADHT1505 Static friction torque (N•m) 0.29 or more
Applicable driver ＊2 No. A5E series MADHT1105E Applicable driver ＊2 No. A5E series MADHT1505E
Engaging time (ms) 35 or less Engaging time (ms) 35 or less
Frame symbol A-frame Releasing time (ms) Note)4 20 or less Frame symbol A-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 0.4 Exciting current (DC) (A) 0.3 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.3
Rated output (W) 50 Releasing voltage (DC) (V) 1 or more Rated output (W) 50 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.16 Rated torque (N•m) 0.16
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 0.48 Momentary Max. peak torque (N•m) 0.48
Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147 Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88
assembly assembly
frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6 frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6
Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 58.8 Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 58.8
Moment of inertia Without brake 0.025 Moment of inertia Without brake 0.025
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.027 of rotor (×10−4kg•m2) With brake 0.027
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
Without oil seal

Without oil seal

without without
With oil seal

With oil seal

Brake Brake
0.5 100 0.5 100 0.5 100 0.5 100
(0.48) (0.48) (0.48) (0.48)
Peak run range Peak run range 70 Peak run range Peak run range 70
(0.3) (0.3) 60 (0.3) (0.3) 60
0.25 50 0.25 50 with Brake 0.25 50 0.25 50 with Brake
(0.16) (0.16) (0.16) (0.16)
Continuous run range Continuous run range Continuous run range Continuous run range

0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.32 <With Brake> (74.8)
Mass (kg)/ 0.53
(44.8) (44.8)
.5) (28.8) (13.5) .5) (28.8) (13.5)
(21 (21

(1) Encoder connector (1) Encoder connector

(2) Motor connector (2) Brake connector
(32)

(32)
30

30
(3) Motor connector

(1)
30
(21

(21
.6)
)

(19
(26

)
72 25 Key way dimensions 102 25 Key way dimensions
24 48 □38 24 78 □38
(2) (2) (3)
(1) (1)
3 4-φ3.4 14 3 4-φ3.4 14
(46.6)

(46.6)
3h9 3h9

φ8h6
φ8h6

12.5 12.5
0.2 0.2
φ 45± φ 45±
3

3
23 23

φ30h7
φ30h7

M3 depth 6 M3 depth 6
6.2

6.2
6 6
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

36 37
 Motor Specifications 100V MSME 100W [Low inertia, Small capacity] Motor Specifications 200V MSME 100W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 011G1□ 011S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 012G1□ 012S1□ Do not use this for braking the motor in motion.

Model A5 series MADHT1107 Static friction torque (N•m) 0.29 or more Model A5 series MADHT1505 Static friction torque (N•m) 0.29 or more
Applicable driver ＊2 No. A5E series MADHT1107E Applicable driver ＊2 No. A5E series MADHT1505E
Engaging time (ms) 35 or less Engaging time (ms) 35 or less
Frame symbol A-frame Releasing time (ms) Note)4 20 or less Frame symbol A-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 0.4 Exciting current (DC) (A) 0.3 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.3
Rated output (W) 100 Releasing voltage (DC) (V) 1 or more Rated output (W) 100 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.32 Rated torque (N•m) 0.32
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 0.95 Momentary Max. peak torque (N•m) 0.95
Rated current (A(rms)) 1.6 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 6.9 Radial load P-direction (N) 147 Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88
assembly assembly
frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6 frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6
Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 58.8 Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 58.8
Moment of inertia Without brake 0.051 Moment of inertia Without brake 0.051
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.054 of rotor (×10−4kg•m2) With brake 0.054
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
Without oil seal

Without oil seal

without without
Brake Brake
With oil seal

With oil seal

1.0 100 1.0 100 1.0 100 1.0 100
(0.95) (0.95)
(0.95) (0.95)
75 (0.9) (0.9) 75
Peak run range Peak run range 70 70
(0.6) (0.6) with Brake Peak run range Peak run range with Brake
0.5 50 0.5 50 0.5 50 0.5 50
(0.4) (0.4) (0.32) (0.32)
(0.32) (0.32)
Continuous run range Continuous run range Continuous run range Continuous run range
(4600) (4600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.47 <With Brake> (94.8)
Mass (kg)/ 0.68
(64.8) (64.8)
.5) (28.8) (33.5) .5) (28.8) (33.5)
(21 (21

(1) Encoder connector (1) Encoder connector

(2) Motor connector (2) Brake connector
(32)

(32)
30

30
(3) Motor connector

(1)
30
(21

(21
.6)
)

)
(26

(19
)
92 25 Key way dimensions 122 25 Key way dimensions
24 68 □38 24 98 □38
(2) (2) (3)
(1) (1)
3 4-φ3.4 14 3 4-φ3.4 14
(46.6)

(46.6)
3h9 3h9

φ8h6
φ8h6

12.5 12.5
0.2 0.2
φ 45± φ 45±
3

3
43 43

φ30h7
φ30h7

M3 depth 6 M3 depth 6
6.2

6.2
6 6
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

38 39
 Motor Specifications 100V MSME 200W [Low inertia, Small capacity] Motor Specifications 200V MSME 200W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 021G1□ 021S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 022G1□ 022S1□ Do not use this for braking the motor in motion.

Model A5 series MBDHT2110 Static friction torque (N•m) 1.27 or more Model A5 series MADHT1507 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MBDHT2110E Applicable driver ＊2 No. A5E series MADHT1507E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol B-frame Releasing time (ms) Note)4 15 or less Frame symbol A-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36
Rated output (W) 200 Releasing voltage (DC) (V) 1 or more Rated output (W) 200 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.64 Rated torque (N•m) 0.64
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 1.91 Momentary Max. peak torque (N•m) 1.91
Rated current (A(rms)) 2.5 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.5 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 10.6 Radial load P-direction (N) 392 Max. current (A(o-p)) 6.5 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.14 Moment of inertia Without brake 0.14
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.16 of rotor (×10−4kg•m2) With brake 0.16
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
Without oil seal

Without oil seal

without without
Brake Brake
With oil seal

With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
(1.91) (1.91) (1.91) (1.91)
80 80
70 Peak run range Peak run range 70
(1.3) (1.3)
Peak run range Peak run range with Brake with Brake
1.0 50 1.0 50 1.0 50 1.0 50
(0.9) (0.9)
(0.64) (0.64) (0.64) (0.64)
Continuous run range Continuous run range Continuous run range Continuous run range
(2500) (2500) (4600) (4600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.82 <With Brake> Mass (kg)/ 1.30
(21.5) (28.8)
(21.5)

(21)
(21)

(8.4)
(19)

(1.6)
(1) Encoder connector

(15.8)
(1.6)
(15.8)

(1) Encoder connector

(32)
(2) Brake connector
(32)

(2) Motor connector (3) Motor connector

(26.6)
(28.8)
116 30
79.5 30 Key way dimensions 23 93 Key way dimensions
23 56.5 89.5
53 □60 □60
64.7
(2) 23.1 (2) (3) 23.1
6.5 3 4-φ4.5 20 6.5 3 4-φ4.5 20
(1) (1)
φ11h6

φ11h6
4h9 4h9
18 18
(52.5)

(52.5)
0.2 0.2
70± 70±
4

4
φ φ
φ50h7

φ50h7
M4 depth 8 M4 depth 8
8.5

8.5
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

40 41
 Motor Specifications 100V MSME 400W [Low inertia, Small capacity] Motor Specifications 200V MSME 400W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 041G1□ 041S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 042G1□ 042S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3120 Static friction torque (N•m) 1.27 or more Model A5 series MBDHT2510 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MCDHT3120E Applicable driver ＊2 No. A5E series MBDHT2510E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol C-frame Releasing time (ms) Note)4 15 or less Frame symbol B-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36
Rated output (W) 400 Releasing voltage (DC) (V) 1 or more Rated output (W) 400 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 1.3 Rated torque (N•m) 1.3
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 3.8 Momentary Max. peak torque (N•m) 3.8
Rated current (A(rms)) 4.6 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 2.4 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 19.5 Radial load P-direction (N) 392 Max. current (A(o-p)) 10.2 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4282 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.26 Moment of inertia Without brake 0.26
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.28 of rotor (×10−4kg•m2) With brake 0.28
• Dimensions of Driver, refer to P.31. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
Without oil seal

Without oil seal

With oil seal

With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
(3.9) 90 (3.9) (3.9) (3.9)
75 75
Peak run range Peak run range Peak run range Peak run range
(2.2) (2.2) (2.3) (2.3)
2.0 50 2.0 50 2.0 50 2.0 50
(1.6) (1.6) (1.8) (1.8)
(1.3) (1.3) (1.3) (1.3)
Continuous run range Continuous run range Continuous run range Continuous run range
(2600) (2600) (2600) (2600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 1.2 <With Brake> Mass (kg)/ 1.7
(21.5) (28.8)
(21.5)

(21)
(21)

(8.4)
(19)

(1.6)
(1) Encoder connector

(15.8)
(1.6)
(15.8)

(1) Encoder connector

(32)
(2) Brake connector
(2) Motor connector (3) Motor connector
(32)

(26.6)
(28.8)
135.5 30
99 30 Key way dimensions 23 112.5 Key way dimensions
23 76 109
72.5 □60 □60
83.9
(2) 42.6 (2) (3) 42.6
6.5 3 4-φ4.5 25 4-φ4.5 25
(1) (1) 6.5 3
φ14h6

φ14h6
5h9 5h9
22.5 22.5
(52.5)

(52.5)
0±0
.2 0.2
φ7 70±

5
φ
5
φ50h7

φ50h7
M5 depth 10 M5 depth 10
11

11
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

42 43
 Motor Specifications 200V MSME 750W [Low inertia, Small capacity] Motor Specifications 200V MSME 1.0kW [Low inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 082G1□ 082S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 102G1□ 102S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3520 Static friction torque (N•m) 2.45 or more Model A5 series MDDHT5540 Static friction torque (N•m) 7.8 or more
Applicable driver ＊2 No. A5E series MCDHT3520E Applicable driver ＊2 No. A5E series MDDHT5540E
Engaging time (ms) 70 or less Engaging time (ms) 50 or less
Frame symbol C-frame Releasing time (ms) Note)4 20 or less Frame symbol D-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 1.3 Exciting current (DC) (A) 0.42 Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.81±10%
Rated output (W) 750 Releasing voltage (DC) (V) 1 or more Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 2.4 Rated torque (N•m) 3.18
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 7.1 Momentary Max. peak torque (N•m) 9.55
Rated current (A(rms)) 4.1 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 6.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 17.4 Radial load P-direction (N) 686 Max. current (A(o-p)) 28 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 294 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 392 frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 392 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 6000 operation Thrust load A, B-direction (N) 147 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 0.87 Moment of inertia Without brake 2.03
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.97 of rotor (×10−4kg•m2) With brake 2.35
• Dimensions of Driver, refer to P.31. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
20 times or less 15 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%] [N•m] [%]
Without oil seal

With oil seal

With oil seal

8.0 8.0
(7.1) 100 (7.1) 100 10 100
(9.55)
Peak run range Peak run range
(4.9) (4.9)
Peak run range
4.0 50 4.0 50 5 50
(3.0) (3.0)
(2.4) (2.4) (3.18)
Continuous run range Continuous run range Continuous run range
(3200)(3600) (3200)(3600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<With Brake> (21.5) (28.8) Mass (kg)/ Without brake: 2.3 Mass (kg)/ Without brake: 3.5
With brake: 3.1 141[168] 55 With brake: 4.5
44 97[124]
(21)

(1) Encoder connector □100

(10)
(19)

119[146]
(17)

(32)

(2) Brake connector 66

(3) Motor connector Key way dimensions
(26.6) (2)

148.2[112] 35 (1) 10 3
26 122.2[86.2] Key way dimensions 4-φ9 45 M3 through

(101)
121.7[85.7]
42
(2) 94.8 □80
φ 135

φ19h6
(3) 52.4
6h9
(60)

25
φ19h6

8 3

6
4-φ6 6h9
(1) 22

φ95h7
(61.6)

2
±0.
φ90
6

φ11

15.5
5
φ70h7

M5 depth 10
15.5

(1) Encoder connector

* Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

44 45
 Motor Specifications 200V MSME 1.5kW [Low inertia, Middle capacity] Motor Specifications 200V MSME 2.0kW [Low inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 152G1□ 152S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 202G1□ 202S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT5540 Static friction torque (N•m) 7.8 or more Model A5 series MEDHT7364 Static friction torque (N•m) 7.8 or more
Applicable driver ＊2 No. A5E series MDDHT5540E Applicable driver ＊2 No. A5E series MEDHT7364E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol D-frame Releasing time (ms) Note)4 15 or less Frame symbol E-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.81±10% Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 0.81±10%
Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 4.77 Rated torque (N•m) 6.37
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 14.3 Momentary Max. peak torque (N•m) 19.1
Rated current (A(rms)) 8.2 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 11.3 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 35 Radial load P-direction (N) 980 Max. current (A(o-p)) 48 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4285 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 2.84 Moment of inertia Without brake 3.68
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 3.17 of rotor (×10−4kg•m2) With brake 4.01
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.33.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
15 times or less 15 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque without torque versus rated torque
without
[N•m] [%] Brake [N•m] [%] Brake
With oil seal

With oil seal

15 100 20 100
(14.3) (19.1)
85 85
with Brake 70
Peak run range Peak run range with Brake
7.5 50 10 50
(4.77) (6.37)
Continuous run range Continuous run range
(3500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 4.4 Mass (kg)/ Without brake: 5.3
159.5[186.5] 55 With brake: 5.4 178.5[205.5] 55 With brake: 6.3
44 115.5[142.5] 44 134.5[161.5]
□100 □100
137.5[164.5] 156.5[183.5]
84.5 103.5
Key way dimensions Key way dimensions
(2) (2)

(1) 10 3 (1) 10 3
4-φ9 45 M3 through 4-φ9 45 M3 through
(101)

(101)
42 42
φ 135 φ 135
φ19h6

φ19h6
6h9 6h9
(60)

(60)
6

6
φ95h7

φ95h7
φ11 φ11
15.5

15.5
5 5

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

46 47
 Motor Specifications 200V MSME 3.0kW [Low inertia, Middle capacity] Motor Specifications 200V MSME 4.0kW [Low inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 302G1□ 302S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 402G1□ 402S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA390 Static friction torque (N•m) 11.8 or more Model A5 series MFDHTB3A2 Static friction torque (N•m) 16.1 or more
Applicable driver ＊2 No. A5E series MFDHTA390E Applicable driver ＊2 No. A5E series MFDHTB3A2E
Engaging time (ms) 80 or less Engaging time (ms) 110 or less
Frame symbol F-frame Releasing time (ms) Note)4 15 or less Frame symbol F-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 0.81±10% Power supply capacity (kVA) 6.0 Exciting current (DC) (A) 0.90±10%
Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 4.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 9.55 Rated torque (N•m) 12.7
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 28.6 Momentary Max. peak torque (N•m) 38.2
Rated current (A(rms)) 18.1 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 19.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 77 Radial load P-direction (N) 980 Max. current (A(o-p)) 83 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 6.50 Moment of inertia Without brake 12.9
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 7.85 of rotor (×10−4kg•m2) With brake 14.2
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
15 times or less 15 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without without
[N•m] [%] Brake [N•m] [%] Brake
With oil seal

With oil seal

30 100 40 100
(28.6) 90 (38.2) 90
85 85
with Brake with Brake
Peak run range Peak run range
15 50 20 50
(9.55) (12.7)
Continuous run range Continuous run range

0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
190[215] 55 Mass (kg)/ Without brake: 8.3 208[233] 65 Mass (kg)/ Without brake: 11.0
44 146[171] With brake: 9.4 44 164[189] With brake: 12.6
168[193] □120 186[211] □130
112 127
(2) Key way dimensions (2) Key way dimensions
12 3 12 6
(1) 4-φ9 (1) 4-φ9
45 M3 through 55 M3 through
(113)

(118)
41 51
φ22h6

φ24h6
8h9 8h9
(60)

(60)

7
7
φ110h7

φ110h7
φ1 5 φ16
φ1
62 45 φ14 5
18

20
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

48 49
 Motor Specifications 200V MSME 5.0kW [Low inertia, Middle capacity] Motor Specifications 200V MDME 1.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 502G1□ 502S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 102G1□ 102S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTB3A2 Static friction torque (N•m) 16.1 or more Model A5 series MDDHT3530 Static friction torque (N•m) 4.9 or more
Applicable driver ＊2 No. A5E series MFDHTB3A2E Applicable driver ＊2 No. A5E series MDDHT3530E
Engaging time (ms) 110 or less Engaging time (ms) 80 or less
Frame symbol F-frame Releasing time (ms) Note)4 50 or less Frame symbol D-frame Releasing time (ms) Note)4 70 or less
Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 0.90±10% Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.59±10%
Rated output (W) 5.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 15.9 Rated torque (N•m) 4.77
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 47.7 Momentary Max. peak torque (N•m) 14.3
Rated current (A(rms)) 24.0 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 5.7 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 102 Radial load P-direction (N) 980 Max. current (A(o-p)) 24 Radial load P-direction (N) 980
During During
Regenerative brake Without option 357 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 17.4 Moment of inertia Without brake 4.60
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 18.6 of rotor (×10−4kg•m2) With brake 5.90
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
15 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

50 100 15 100
(47.7) (14.3)

70 10
Peak run range Peak run range
25 50 50
5
(15.9) (4.77)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
243[268] 65 Mass (kg)/ Without brake: 14.0 138[163] 55 Mass (kg)/ Without brake: 5.2
44 199[224] With brake: 16.0 44 94[119] With brake: 6.7
221[246] □130 116[141] □130
162 60

(2) Key way dimensions (2) Key way dimensions

12 6 12 6
(1) 4-φ9 (1) 4-φ9
55 M3 through 45 M3 through
(118)

(116)
51 41
φ24h6

φ22h6
8h9 8h9
(60)

(60)

7
7
φ110h7

φ110h7
5 φ16 5 φ1
φ14 5 φ14 65

18
20

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

50 51
 Motor Specifications 200V MDME 1.5kW [Middle inertia, Middle capacity] Motor Specifications 200V MDME 2.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 152G1□ 152S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 202G1□ 202S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT5540 Static friction torque (N•m) 13.7 or more Model A5 series MEDHT7364 Static friction torque (N•m) 13.7 or more
Applicable driver ＊2 No. A5E series MDDHT5540E Applicable driver ＊2 No. A5E series MEDHT7364E
Engaging time (ms) 100 or less Engaging time (ms) 100 or less
Frame symbol D-frame Releasing time (ms) Note)4 50 or less Frame symbol E-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.79±10% Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 0.79±10%
Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 7.16 Rated torque (N•m) 9.55
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 21.5 Momentary Max. peak torque (N•m) 28.6
Rated current (A(rms)) 9.4 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 11.5 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 40 Radial load P-direction (N) 980 Max. current (A(o-p)) 49 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4285 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 6.70 Moment of inertia Without brake 8.72
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 7.99 of rotor (×10−4kg•m2) With brake 10.0
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.33.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(21.5)
20 100 30 100
(28.6)

Peak run range Peak run range

10 50 15 50
(7.16)
(9.55)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
155.5[180.5] 55 Mass (kg)/ Without brake: 6.7 173[198] 55 Mass (kg)/ Without brake: 8.0
44 111.5[136.5] With brake: 8.2 44 129[154] With brake: 9.5
133.5[158.5] □130 151[176] □130
77.5 95

(2) Key way dimensions (2) Key way dimensions

12 6 12 6
(1) 4-φ9 M3 through (1) 4-φ9 M3 through
45 45
(116)

(116)
41 41
φ22h6

φ22h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ1 5 φ1
φ14 65 φ14 65
18

18
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

52 53
 Motor Specifications 200V MDME 3.0kW [Middle inertia, Middle capacity] Motor Specifications 200V MDME 4.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 302G1□ 302S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 402G1□ 402S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA390 Static friction torque (N•m) 16.2 or more Model A5 series MFDHTB3A2 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MFDHTA390E Applicable driver ＊2 No. A5E series MFDHTB3A2E
Engaging time (ms) 110 or less Engaging time (ms) 80 or less
Frame symbol F-frame Releasing time (ms) Note)4 50 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 0.90±10% Power supply capacity (kVA) 6.0 Exciting current (DC) (A) 1.3±10%
Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 4.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 14.3 Rated torque (N•m) 19.1
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 43.0 Momentary Max. peak torque (N•m) 57.3
Rated current (A(rms)) 17.4 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 21.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 74 Radial load P-direction (N) 980 Max. current (A(o-p)) 89 Radial load P-direction (N) 1666
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 12.9 Moment of inertia Without brake 37.6
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 14.2 of rotor (×10−4kg•m2) With brake 38.6
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(57.3)
50 100 50 100
(43.0)
Peak run range
Peak run range
25 50 25 50
(19.1)
(14.3)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
208[233] 65 Mass (kg)/ Without brake: 11.0 Mass (kg)/ Without brake: 15.5
44 164[189] With brake: 12.6 177[202] 70 With brake: 18.7
186[211] 44 133[158]
□130 □176
127 155[180]
96
(2) Key way dimensions Key way dimensions
(2)
12 6 18 3.2
(1) 4-φ9 4-φ13.5

φ35h6
55 M3 through 55 M3 through
(118)

(1)
51 50

(140)
φ24h6

8h9 10h9
(60)

(60)
7

8
φ114.3h7
φ110h7

5 φ1
φ14 65 33 φ2
φ2 00

30
20

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

54 55
 Motor Specifications 200V MDME 5.0kW [Middle inertia, Middle capacity] Motor Specifications 200V MGME 0.9kW [Middle inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 502G1□ 502S1□ Do not use this for braking the motor in motion. Motor model ＊1 MGME 092G1□ 092S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTB3A2 Static friction torque (N•m) 24.5 or more Model A5 series MDDHT5540 Static friction torque (N•m) 13.7 or more
Applicable driver ＊2 No. A5E series MFDHTB3A2E Applicable driver ＊2 No. A5E series MDDHT5540E
Engaging time (ms) 80 or less Engaging time (ms) 100 or less
Frame symbol F-frame Releasing time (ms) Note)4 25 or less Frame symbol D-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.79±10%
Rated output (W) 5.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 0.9 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 23.9 Rated torque (N•m) 8.59
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 71.6 Momentary Max. peak torque (N•m) 19.3
Rated current (A(rms)) 25.9 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 7.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 110 Radial load P-direction (N) 1666 Max. current (A(o-p)) 24 Radial load P-direction (N) 980
During During
Regenerative brake Without option 120 Thrust load A-direction (N) 784 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 686
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 48.0 Moment of inertia Without brake 6.70
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 48.8 of rotor (×10−4kg•m2) With brake 7.99
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without
[N•m] [%] Brake [N•m] [%]
With oil seal

With oil seal

(71.6)
70 100 20 100
90 (19.3)
85
Peak run range with Brake
Peak run range
35 50 10 50
(23.9) (8.59)

Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 18.6 155.5[180.5] 70 Mass (kg)/ Without brake: 6.7
196[221] 70 With brake: 21.8 44 111.5[136.5] With brake: 8.2
44 152[177] 133.5[158.5]
□176 □130
174[199] 77.5
115
Key way dimensions (2) Key way dimensions
(2)
18 3.2 12 6
4-φ13.5 (1) 4-φ9
φ35h6

55 M3 through 45 M3 through

(116)
(1)
50 41
(140)

φ22h6
10h9 8h9
(60)
(60)

7
8
φ114.3h7

φ110h7
5 φ1
33 φ2 φ14 65
φ2 00
30

18
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

56 57
 Motor Specifications 200V MGME 2.0kW [Middle inertia, Middle capacity] Motor Specifications 200V MGME 3.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MGME 202G1□ 202S1□ Do not use this for braking the motor in motion. Motor model ＊1 MGME 302G1□ 302S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA390 Static friction torque (N•m) 24.5 or more Model A5 series MFDHTB3A2 Static friction torque (N•m) 58.8 or more
Applicable driver ＊2 No. A5E series MFDHTA390E Applicable driver ＊2 No. A5E series MFDHTB3A2E
Engaging time (ms) 80 or less Engaging time (ms) 150 or less
Frame symbol F-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 3.8 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 1.4±10%
Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 19.1 Rated torque (N•m) 28.7
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 47.7 Momentary Max. peak torque (N•m) 71.7
Rated current (A(rms)) 17.0 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 22.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 60 Radial load P-direction (N) 1666 Max. current (A(o-p)) 80 Radial load P-direction (N) 2058
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 784 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 980
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0P4285×2 No limit Note)2 Thrust load B-direction (N) 1176

Options
Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 1176 Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 1470
Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 490 Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 490
Moment of inertia Without brake 30.3 Moment of inertia Without brake 48.4
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 31.4 of rotor (×10−4kg•m2) With brake 49.2
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(71.7)
50 100 70 100
(47.7)

Peak run range Peak run range

25 50 35 50
(19.1) (28.7)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 14.0 Mass (kg)/ Without brake: 20.0
163.5[188.5] 80 With brake: 17.5 209.5[234.5] 80 With brake: 23.5
44 119.5[144.5] 44 165.5[190.5]
141.5[166.5] □176 187.5[212.5] □176
82.5 128.5
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5
φ35h6

φ35h6
55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7

φ114.3h7
33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

58 59
 Motor Specifications 200V MHME 1.0kW [High inertia, Middle capacity] Motor Specifications 200V MHME 1.5kW [High inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 102G1□ 102S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 152G1□ 152S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT3530 Static friction torque (N•m) 4.9 Model A5 series MDDHT5540 Static friction torque (N•m) 13.7 or more
Applicable driver ＊2 No. A5E series MDDHT3530E Applicable driver ＊2 No. A5E series MDDHT5540E
Engaging time (ms) 80 or less Engaging time (ms) 100 or less
Frame symbol D-frame Releasing time (ms) Note)4 70 or less Frame symbol D-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.59±10% Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.79±10%
Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 4.77 Rated torque (N•m) 7.16
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 14.3 Momentary Max. peak torque (N•m) 21.5
Rated current (A(rms)) 5.7 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 9.4 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 24 Radial load P-direction (N) 980 Max. current (A(o-p)) 40 Radial load P-direction (N) 980
During During
Regenerative brake Without option 83 Thrust load A-direction (N) 588 Regenerative brake Without option 22 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0P4284 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0P4284 130 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 24.7 Moment of inertia Without brake 37.1
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 26.0 of rotor (×10−4kg•m2) With brake 38.4
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
5 times or less 5 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(21.5)
15 100 20 100
(14.3)

10 Peak run range

Peak run range
50 10 50
5 (7.16)
(4.77)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
173[198] 70 Mass (kg)/ Without brake: 6.7 190.5[215.5] 70 Mass (kg)/ Without brake: 8.6
44 129[154] With brake: 8.1 44 146.5[171.5] With brake: 10.1
151[176] □130 168.5[193.5] □130
95 112.5
(2) Key way dimensions (2) Key way dimensions
12 6 12 6
(1) 4-φ9 M3 through (1) 4-φ9 M3 through
45 45
(116)

(116)
41 41
φ22h6

φ22h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ1 5 φ1
φ14 65 φ14 65
18

18
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

60 61
 Motor Specifications 200V MHME 2.0kW [High inertia, Middle capacity] Motor Specifications 200V MHME 3.0kW [High inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 202G1□ 202S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 302G1□ 302S1□ Do not use this for braking the motor in motion.

Model A5 series MEDHT7364 Static friction torque (N•m) 24.5 or more Model A5 series MFDHTA390 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MEDHT7364E Applicable driver ＊2 No. A5E series MFDHTA390E
Engaging time (ms) 80 or less Engaging time (ms) 80 or less
Frame symbol E-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 1.3±10%
Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 9.55 Rated torque (N•m) 14.3
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 28.6 Momentary Max. peak torque (N•m) 43.0
Rated current (A(rms)) 11.1 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 16.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 47 Radial load P-direction (N) 1666 Max. current (A(o-p)) 68 Radial load P-direction (N) 1666
During During
Regenerative brake Without option 45 Thrust load A-direction (N) 784 Regenerative brake Without option 19 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0P4285 142 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0P4285×2 142 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 57.8 Moment of inertia Without brake 90.5
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 59.6 of rotor (×10−4kg•m2) With brake 92.1
• Dimensions of Driver, refer to P.33. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
5 times or less 5 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

30 100 50 100
(28.6) (43)

Peak run range Peak run range

15 50 25 50
(9.55) (14.3)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 12.2 Mass (kg)/ Without brake: 16.0
177[202] 80 With brake: 15.5 196[221] 80 With brake: 19.2
44 133[158] 44 152[177]
155[180] □176 174[199] □176
96 115
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5
φ35h6

φ35h6
55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7

φ114.3h7
33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

62 63
 Motor Specifications 200V MHME 4.0kW [High inertia, Middle capacity] Motor Specifications 200V MHME 5.0kW [High inertia, Middle capacity]

Specifications Specifications
AC200V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 402G1□ 402S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 502G1□ 502S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTB3A2 Static friction torque (N•m) 24.5 or more Model A5 series MFDHTB3A2 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MFDHTB3A2E Applicable driver ＊2 No. A5E series MFDHTB3A2E
Engaging time (ms) 80 or less Engaging time (ms) 80 or less
Frame symbol F-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 6.0 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 1.3±10%
Rated output (W) 4.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 5.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 19.1 Rated torque (N•m) 23.9
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 57.3 Momentary Max. peak torque (N•m) 71.6
Rated current (A(rms)) 21.0 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 25.9 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 89 Radial load P-direction (N) 1666 Max. current (A(o-p)) 110 Radial load P-direction (N) 1666
During During
Regenerative brake Without option 17 Thrust load A-direction (N) 784 Regenerative brake Without option 10 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0P4285×2 125 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0P4285×2 76 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 112 Moment of inertia Without brake 162
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 114 of rotor (×10−4kg•m2) With brake 164
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
5 times or less 5 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without
[N•m] [%] [N•m] [%] Brake
With oil seal

With oil seal

(57.3) (71.6)
50 100 70 100
90
85
Peak run range Peak run range with Brake
25 50 35 50
(19.1) (23.9)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 18.6 Mass (kg)/ Without brake: 23.0
209.5[234.5] 80 With brake: 21.8 238.5[263.5] 80 With brake: 26.2
44 165.5[190.5] 44 194.5[219.5]
187.5[212.5] □176 216.5[241.5] □176
128.5 157.5
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5

φ35h6
φ35h6

55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7
φ114.3h7

33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

64 65
 Motor Specifications 100V MSMD 50W [Low inertia, Small capacity] Motor Specifications 200V MSMD 50W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSMD 5AZG1□ 5AZS1□ Do not use this for braking the motor in motion. Motor model ＊1 MSMD 5AZG1□ 5AZS1□ Do not use this for braking the motor in motion.

Model A5 series MADHT1105 Static friction torque (N•m) 0.29 or more Model A5 series MADHT1505 Static friction torque (N•m) 0.29 or more
Applicable driver ＊2 No. A5E series MADHT1105E Applicable driver ＊2 No. A5E series MADHT1505E
Engaging time (ms) 35 or less Engaging time (ms) 35 or less
Frame symbol A-frame Releasing time (ms) Note)4 20 or less Frame symbol A-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.3 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.3
Rated output (W) 50 Releasing voltage (DC) (V) 1 or more Rated output (W) 50 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.16 Rated torque (N•m) 0.16
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 0.48 Momentary Max. peak torque (N•m) 0.48
Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147 Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88
assembly assembly
frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6 frequency (times/min) Note)1 DV0P4281 No limit Note)2 Thrust load B-direction (N) 117.6

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 58.8 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 58.8
Moment of inertia Without brake 0.025 Moment of inertia Without brake 0.025
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.027 of rotor (×10−4kg•m2) With brake 0.027
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] without
[N•m] [%] [N•m] [%] without
With oil seal

With oil seal

Brake Brake
0.5 100 0.5 100 0.5 100 0.5 100
95 95
(0.4) (0.4) (0.4) (0.4)
70 70
Peak run range Peak run range 60 Peak run range Peak run range 60
0.25 50 0.25 50 with Brake 0.25 50 0.25 50 with Brake

Continuous run range Continuous run range Continuous run range Continuous run range
(3600) (3600) (3600) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.32 <With Brake> Mass (kg)/ 0.53

72 25 102 25
6 3 (1) Encoder connector 6 3 (1) Encoder connector
(1) (2) Motor connector (1) (2) Brake connector
(3) (3) Motor connector
(2) (2)

Key way dimensions Key way dimensions

230

230
200

200
(7) (7) 38 (7) (7) 38

4-φ3.4 14 4-φ3.4 14
3h9 3h9
φ8h6

φ8h6
12.5 12.5
φ45 φ45
32

32
3

3
φ30h7

φ30h7
M3 depth 6 M3 depth 6
6.2

6.2
26.5 26.5

* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

66 67
 Motor Specifications 100V MSMD 100W [Low inertia, Small capacity] Motor Specifications 200V MSMD 100W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSMD 011G1□ 011S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSMD 012G1□ 012S1□ Do not use this for braking the motor in motion.

Model A5 series MADHT1107 Static friction torque (N•m) 0.29 or more Model A5 series MADHT1505 Static friction torque (N•m) 0.29 or more
Applicable driver ＊2 No. A5E series MADHT1107E Applicable driver ＊2 No. A5E series MADHT1505E
Engaging time (ms) 35 or less Engaging time (ms) 35 or less
Frame symbol A-frame Releasing time (ms) Note)4 20 or less Frame symbol A-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 0.4 Exciting current (DC) (A) 0.3 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.3
Rated output (W) 100 Releasing voltage (DC) (V) 1 or more Rated output (W) 100 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.32 Rated torque (N•m) 0.32
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 0.95 Momentary Max. peak torque (N•m) 0.95
Rated current (A(rms)) 1.7 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.1 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 7.2 Radial load P-direction (N) 147 Max. current (A(o-p)) 4.7 Radial load P-direction (N) 147
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 88
assembly assembly
frequency (times/min) Note)1 DV0P4280 No limit Note)2 Thrust load B-direction (N) 117.6 frequency (times/min) Note)1 DV0P4281 No limit Note)2 Thrust load B-direction (N) 117.6

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 68.6
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 58.8 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 58.8
Moment of inertia Without brake 0.051 Moment of inertia Without brake 0.051
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.054 of rotor (×10−4kg•m2) With brake 0.054
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] without [N•m] [%] [N•m] [%] without
Brake Brake
With oil seal

With oil seal

1.0 100 1.0 100 1.0 100 1.0 100
95 (0.95) 95 (0.95)
(0.8) (0.8) 75 75
Peak run range Peak run range 70 Peak run range 70
(0.6) (0.6) with Brake Peak run range with Brake
0.5 50 0.5 50 0.5 50 0.5 50
(0.32) (0.32)
Continuous run range Continuous run range Continuous run range Continuous run range

0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.47 <With Brake> Mass (kg)/ 0.68

92 25 122 25
(2) 6 3 (1) Encoder connector (3) 6 3 (1) Encoder connector
(1) (2) Motor connector (1) (2) Brake connector
(3) Motor connector
(2)

Key way dimensions Key way dimensions

230

230
200

200
(7) (7) 38 (7) (7) 38

4-φ3.4 14 4-φ3.4 14
3h9 3h9
φ8h6

φ8h6
12.5 12.5
φ45 φ45
32

32
3

3
φ30h7

φ30h7
M3 depth 6 M3 depth 6
6.2

6.2
46.5 46.5

* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

68 69
 Motor Specifications 100V MSMD 200W [Low inertia, Small capacity] Motor Specifications 200V MSMD 200W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSMD 021G1□ 021S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSMD 022G1□ 022S1□ Do not use this for braking the motor in motion.

Model A5 series MBDHT2110 Static friction torque (N•m) 1.27 or more Model A5 series MADHT1507 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MBDHT2110E Applicable driver ＊2 No. A5E series MADHT1507E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol B-frame Releasing time (ms) Note)4 15 or less Frame symbol A-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36
Rated output (W) 200 Releasing voltage (DC) (V) 1 or more Rated output (W) 200 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.64 Rated torque (N•m) 0.64
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 1.91 Momentary Max. peak torque (N•m) 1.91
Rated current (A(rms)) 2.5 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 10.6 Radial load P-direction (N) 392 Max. current (A(o-p)) 6.9 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.14 Moment of inertia Without brake 0.14
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.16 of rotor (×10−4kg•m2) With brake 0.16
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] without [N•m] [%] [N•m] [%] without
Brake Brake
With oil seal

With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
80 (1.5) (1.5) 80
70 70
Peak run range Peak run range with Brake (1.2) (1.2) with Brake
1.0 50 1.0 50 1.0 Peak run range 50 1.0 Peak run range 50
(0.9) (0.9)
(0.5) (0.5)
Continuous run range Continuous run range Continuous run range Continuous run range
(3600) (3600) (4500) (4500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.82 <With Brake> Mass (kg)/ 1.3
79 30 115.5 30
6.5 3 6.5 3
(1) Encoder connector (1)
(1) Encoder connector
(1)
(2) Motor connector (2) Brake connector
(2) (2)
(3) Motor connector
(3)
Key way dimensions Key way dimensions
220

220
(7) (7) (7) (7)
200

200
4-ø4.5 60 4-ø4.5 60
20 20

ø11h6
ø11h6

4h9 4h9
18 18
ø70 ø70
43

43
4

4
ø50h7

ø50h7
M4 depth 8 M4 depth 8
8.5

8.5
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

70 71
 Motor Specifications 100V MSMD 400W [Low inertia, Small capacity] Motor Specifications 200V MSMD 400W [Low inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSMD 041G1□ 041S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSMD 042G1□ 042S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3120 Static friction torque (N•m) 1.27 or more Model A5 series MBDHT2510 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MCDHT3120E Applicable driver ＊2 No. A5E series MBDHT2510E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol C-frame Releasing time (ms) Note)4 15 or less Frame symbol B-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36
Rated output (W) 400 Releasing voltage (DC) (V) 1 or more Rated output (W) 400 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 1.3 Rated torque (N•m) 1.3
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 3.8 Momentary Max. peak torque (N•m) 3.8
Rated current (A(rms)) 4.6 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 2.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 19.5 Radial load P-direction (N) 392 Max. current (A(o-p)) 11.0 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4282 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.26 Moment of inertia Without brake 0.26
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.28 of rotor (×10−4kg•m2) With brake 0.28
• Dimensions of Driver, refer to P.31. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
30 times or less 30 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal

With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
90 90
75 75
Peak run range Peak run range Peak run range Peak run range
2.0 50 2.0 50 2.0 50 2.0 50
(1.7) (1.7)
(1.3) (1.3) (1.3) (1.3)
Continuous run range Continuous run range
(0.6) (0.6) Continuous run range Continuous run range
(2800) (3200) (2800) (3200) (3400)(3800) (3400)(3800)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 1.2 <With Brake> Mass (kg)/ 1.7
98.5 30 135 30
6.5 3 6.5 3
(1)
(1) Encoder connector (1)
(1) Encoder connector
(2) (2) Motor connector (3) (2) Brake connector
(2) (3) Motor connector
Key way dimensions Key way dimensions
220

220
(7) (7) (7) (7)
4-ø4.5 60 4-ø4.5 60
200

200
25 25
ø14h6

ø14h6
5h9 5h9
22.5 22.5
ø70 ø70
43

43
5

5
ø50h7

ø50h7
M5 depth 10 M5 depth 10
11

11
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

72 73
 Motor Specifications 200V MSMD 750W [Low inertia, Small capacity]
MEMO
Specifications
AC200V • Brake specifications (For details, refer to P.105)
( )

Driver
This brake will be released when it is energized.
Motor model ＊1 MSMD 082G1□ 082S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3520 Static friction torque (N•m) 2.45 or more

Applicable driver ＊2 No. A5E series MCDHT3520E Engaging time (ms) 70 or less
Frame symbol C-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 1.3 Exciting current (DC) (A) 0.42
Rated output (W) 750 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 2.4
Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 7.1
Rated current (A(rms)) 4.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 17.0 Radial load P-direction (N) 686
During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 294
assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 392

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 392
Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 147
Moment of inertia Without brake 0.87
• For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.97
• Dimensions of Driver, refer to P.31.
Recommended moment of inertia *1 Rotaly encoder specifications: □
20 times or less
ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5
Incremental Absolute
Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
Without oil seal

[N•m] [%] [N•m] [%]

With oil seal

8.0 100 8.0 100

Peak run range Peak run range

4.0 50 4.0 50
(3.0) (3.0)

Continuous run range Continuous run range

(3200)(3600) (3200)(3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions
112[149] 35 Mass (kg)/ Without brake: 2.3
8 3 With brake: 3.1

(1) (1) Encoder connector

(2) (2) Brake connector
(3) (3) Motor connector
Key way dimensions
220

(7) (7)
4-ø6
200

80
25
ø19h6

6h9
22
ø90
53

6
ø70h7

M5 depth 10
15.5

* Figures in [ ] represent the dimensions of with brake.

<Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

74 75
 Motor Specifications 100V MHMD 200W [High inertia, Small capacity] Motor Specifications 200V MHMD 200W [High inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHMD 021G1□ 021S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHMD 022G1□ 022S1□ Do not use this for braking the motor in motion.

Model A5 series MBDHT2110 Static friction torque (N•m) 1.27 or more Model A5 series MADHT1507 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MBDHT2110E Applicable driver ＊2 No. A5E series MADHT1507E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol B-frame Releasing time (ms) Note)4 15 or less Frame symbol A-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.5 Exciting current (DC) (A) 0.36
Rated output (W) 200 Releasing voltage (DC) (V) 1 or more Rated output (W) 200 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 0.64 Rated torque (N•m) 0.64
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 1.91 Momentary Max. peak torque (N•m) 1.91
Rated current (A(rms)) 2.5 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 1.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 10.6 Radial load P-direction (N) 392 Max. current (A(o-p)) 6.9 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.42 Moment of inertia Without brake 0.42
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.45 of rotor (×10−4kg•m2) With brake 0.45
• Dimensions of Driver, refer to P.30. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] without [N•m] [%] [N•m] [%] without
Brake Brake
With oil seal

With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
80 80
70 (1.5) (1.5) 70
(1.2) Peak run range (1.2) Peak run range
Peak run range Peak run range with Brake with Brake
1.0 50 1.0 50 1.0 50 1.0 50
(0.9) (0.9)
(0.5) (0.5)
Continuous run range Continuous run range Continuous run range Continuous run range
(3600) (3600) (4500) (4500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 0.96 <With Brake> Mass (kg)/ 1.4
128.5 165
98.5 30 135 30
22.5 76 22.5 112.5
42 (1) Encoder connector 42 (1) Encoder connector
6.5 3 (2) Motor connector 6.5 3 (2) Brake connector
(1) (2) (1) (3) (3) Motor connector
(2)
Key way dimensions Key way dimensions
220 +50

220 +50
200 +50

200 +50
0

0
0

0
□60 □60
(36) (36)
(13)

(13)
(30) (30)
20 20
φ11h6

φ11h6
4-φ4.5 4-φ4.5
4h9 4h9
18 18
±0.2 ±0.2
φ70 φ70
4

4
φ50h7

φ50h7
M4 depth 8 M4 depth 8
8.5

8.5
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

76 77
 Motor Specifications 100V MHMD 400W [High inertia, Small capacity] Motor Specifications 200V MHMD 400W [High inertia, Small capacity]

Specifications Specifications
AC100V • Brake specifications (For details, refer to P.105) AC200V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHMD 041G1□ 041S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHMD 042G1□ 042S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3120 Static friction torque (N•m) 1.27 or more Model A5 series MBDHT2510 Static friction torque (N•m) 1.27 or more
Applicable driver ＊2 No. A5E series MCDHT3120E Applicable driver ＊2 No. A5E series MBDHT2510E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol C-frame Releasing time (ms) Note)4 15 or less Frame symbol B-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36 Power supply capacity (kVA) 0.9 Exciting current (DC) (A) 0.36
Rated output (W) 400 Releasing voltage (DC) (V) 1 or more Rated output (W) 400 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 1.3 Rated torque (N•m) 1.3
Exciting voltage (DC) (V) 24±1.2 Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 3.8 Momentary Max. peak torque (N•m) 3.8
Rated current (A(rms)) 4.6 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 2.6 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 11 Radial load P-direction (N) 392 Max. current (A(o-p)) 19.5 Radial load P-direction (N) 392
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 147
assembly assembly
frequency (times/min) Note)1 DV0P4282 No limit Note)2 Thrust load B-direction (N) 196 frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 196

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 245
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 98
Moment of inertia Without brake 0.67 Moment of inertia Without brake 0.67
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 0.70 of rotor (×10−4kg•m2) With brake 0.70
• Dimensions of Driver, refer to P.31. • Dimensions of Driver, refer to P.30.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less 10 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC100V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque, *Continuous torque, *Continuous torque,
ambient temperature ambient temperature ambient temperature ambient temperature
torque versus rated torque torque versus rated torque torque versus rated torque torque versus rated torque
Without oil seal

Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal

With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
90 90
75 75
Peak run range Peak run range Peak run range Peak run range
2.0 50 2.0 50 2.0 50 2.0 50
(1.7) (1.7)
(1.3) (1.3) (1.3) (1.3)
Continuous run range Continuous run range
(0.6) (0.6) Continuous run range Continuous run range
(2800) (3200) (2800) (3200) (3400) (3800) (3400) (3800)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
<Without Brake> Mass (kg)/ 1.4 <With Brake> Mass (kg)/ 1.8
148 184.5
118 30 154.5 30
22.5 95.5 22.5 132
61.5 (1) Encoder connector 61.5 (1) Encoder connector
6.5 3 (2) Brake connector 6.5 3 (2) Brake connector
(1) (2) (1) (3)
(3) Motor connector (3) Motor connector
(2)
Key way dimensions Key way dimensions
220 +50

220 +50
200 +50

200 +50
0

0
0

0
□60 □60
(36) (36)
(13)

(13)
(30) (30)
25 25
φ14h6

φ14h6
4-φ4.5 4-φ4.5
5h9 5h9
22.5 22.5
±0.2 ±0.2
φ70 φ70
4

4
φ50h7

φ50h7
M5 depth 10 M5 depth 10
11

11
* For the dimensions of with brake, refer to the right page. * For the dimensions of without brake, refer to the left page.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

78 79
 Motor Specifications 200V MHMD 750W [High inertia, Small capacity]
MEMO
Specifications
AC200V • Brake specifications (For details, refer to P.105)
( )

Driver
This brake will be released when it is energized.
Motor model ＊1 MHMD 082G1□ 082S1□ Do not use this for braking the motor in motion.

Model A5 series MCDHT3520 Static friction torque (N•m) 2.45 or more

Applicable driver ＊2 No. A5E series MCDHT3520E Engaging time (ms) 70 or less
Frame symbol C-frame Releasing time (ms) Note)4 20 or less
Power supply capacity (kVA) 1.3 Exciting current (DC) (A) 0.42
Rated output (W) 750 Releasing voltage (DC) (V) 1 or more

Motor
Rated torque (N•m) 2.4
Exciting voltage (DC) (V) 24±1.2
Momentary Max. peak torque (N•m) 7.1
Rated current (A(rms)) 4.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 17.0 Radial load P-direction (N) 686
During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 294
assembly
frequency (times/min) Note)1 DV0P4283 No limit Note)2 Thrust load B-direction (N) 392

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 392
Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 147
Moment of inertia Without brake 1.51
• For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 1.61
• Dimensions of Driver, refer to P.31.
Recommended moment of inertia *1 Rotaly encoder specifications: □
10 times or less
ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5
Incremental Absolute
Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC200V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
Without oil seal

[N•m] [%] [N•m] [%]

With oil seal

8.0 8.0
100 100

Peak run range Peak run range

4.0 50 4.0 50
(3.0) (3.0)

Continuous run range Continuous run range

(3200) (3600) (3200) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions
162[199] Mass (kg)/ Without brake: 2.5
127[164] 35 With brake: 3.5
25.5 101.5[138.5]
67.2 (1) Encoder connector
(2) Brake connector
(3) 8 3
(1) (3) Motor connector
(2)
□80 Key way dimensions
220 +50

200 +50
0

(36)
(13)

(30)
25
φ19h6

4-φ6 6h9
22
±0.2
φ90
6
φ70h7

M5 depth 10
15.5

* Figures in [ ] represent the dimensions of with brake.

<Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

80 81
 Motor Specifications 400V MSME 1.0kW [Low inertia, Middle capacity] Motor Specifications 400V MSME 1.5kW [Low inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 104G1□ 104S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 154G1□ 154S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT3420 Static friction torque (N•m) 7.8 or more Model A5 series MDDHT3420 Static friction torque (N•m) 7.8 or more
Applicable driver ＊2 No. A5E series MDDHT3420E Applicable driver ＊2 No. A5E series MDDHT3420E
Engaging time (ms) 50 or less Engaging time (ms) 50 or less
Frame symbol D-frame Releasing time (ms) Note)4 15 or less Frame symbol D-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.81±10% Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.81±10%
Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 3.18 Rated torque (N•m) 4.77
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 9.55 Momentary Max. peak torque (N•m) 14.3
Rated current (A(rms)) 3.3 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 4.2 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 14 Radial load P-direction (N) 980 Max. current (A(o-p)) 18 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 2.03 Moment of inertia Without brake 2.84
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 2.35 of rotor (×10−4kg•m2) With brake 3.17
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque without
[N•m] [%] [N•m] [%] Brake
With oil seal

With oil seal

10 100 15 100
(9.55) (14.3)
85
with Brake
Peak run range Peak run range
5 50 7.5 50
(3.18) (4.77)
Continuous run range Continuous run range
(3500)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 3.5 Mass (kg)/ Without brake: 4.4
141[168] 55 With brake: 4.5 159.5[186.5] 55 With brake: 5.4
44 97[124] 44 115.5[142.5]
□100 □100
119[146] 137.5[164.5]
66[63] 84.5[81.5]
Key way dimensions Key way dimensions
(2) (2)

(1) 10 3 (1) 10 3
(101)[(103)]

(101)[(103)]
4-φ9 45 M3 through 4-φ9 45 M3 through
42 42
φ 135 φ 135
φ19h6

φ19h6
6h9 6h9
(60)

(60)
6

6
φ95h7

φ95h7
φ11 φ11
15.5

15.5
5 5

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

82 83
 Motor Specifications 400V MSME 2.0kW [Low inertia, Middle capacity] Motor Specifications 400V MSME 3.0kW [Low inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 204G1□ 204S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 304G1□ 304S1□ Do not use this for braking the motor in motion.

Model A5 series MEDHT4430 Static friction torque (N•m) 7.8 or more Model A5 series MFDHT5440 Static friction torque (N•m) 11.8 or more
Applicable driver ＊2 No. A5E series MEDHT4430E Applicable driver ＊2 No. A5E series MFDHT5440E
Engaging time (ms) 50 or less Engaging time (ms) 80 or less
Frame symbol E-frame Releasing time (ms) Note)4 15 or less Frame symbol F-frame Releasing time (ms) Note)4 15 or less
Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 0.81±10% Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 0.81±10%
Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more Rated output (kW) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 6.37 Rated torque (N•m) 9.55
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 19.1 Momentary Max. peak torque (N•m) 28.6
Rated current (A(rms)) 5.7 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 9.2 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 24 Radial load P-direction (N) 980 Max. current (A(o-p)) 39 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20049 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 5000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 3.68 Moment of inertia Without brake 6.50
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 4.01 of rotor (×10−4kg•m2) With brake 7.85
• Dimensions of Driver, refer to P.33. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without without
[N•m] [%] Brake [N•m] [%] Brake
With oil seal

With oil seal

20 100 30 100
(19.1) (28.6) 90
85 85
70 with Brake
Peak run range with Brake Peak run range
10 50 15 50
(6.37) (9.55)
Continuous run range Continuous run range

0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 5.3 190[215] 55 Mass (kg)/ Without brake: 8.3
178.5[205.5] 55 With brake: 6.3 44 With brake: 9.4
146[171]
44 134.5[161.5] 168[193]
□100 □120
156.5[183.5] 112
103.5[100.5]
Key way dimensions (2) Key way dimensions
(2)
12 3
(1) 10 3 (1) 4-φ9
(101)[(103)]

4-φ9 45 M3 through 45 M3 through

(113)
42 41
135

φ22h6
φ
φ19h6

8h9
(60)

6h9
(60)

7
6

φ110h7
φ95h7

62 φ1
φ1 45
φ11

18
15.5

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

84 85
 Motor Specifications 400V MSME 4.0kW [Low inertia, Middle capacity] Motor Specifications 400V MSME 5.0kW [Low inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MSME 404G1□ 404S1□ Do not use this for braking the motor in motion. Motor model ＊1 MSME 504G1□ 504S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA464 Static friction torque (N•m) 16.1 or more Model A5 series MFDHTA464 Static friction torque (N•m) 16.1 or more
Applicable driver ＊2 No. A5E series MFDHTA464E Applicable driver ＊2 No. A5E series MFDHTA464E
Engaging time (ms) 110 or less Engaging time (ms) 110 or less
Frame symbol F-frame Releasing time (ms) Note)4 50 or less Frame symbol F-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 6.8 Exciting current (DC) (A) 0.90±10% Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 0.90±10%
Rated output (kW) 4.0 Releasing voltage (DC) (V) 2 or more Rated output (kW) 5.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 12.7 Rated torque (N•m) 15.9
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 38.2 Momentary Max. peak torque (N•m) 47.7
Rated current (A(rms)) 9.9 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 12.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 42 Radial load P-direction (N) 980 Max. current (A(o-p)) 51 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option 357 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 3000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 4500 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 12.9 Moment of inertia Without brake 17.4
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 14.2 of rotor (×10−4kg•m2) With brake 18.6
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without
[N•m] [%] Brake [N•m] [%]
With oil seal

With oil seal

40 100 50 100
(38.2) 90 (47.7)
85
with Brake 70
Peak run range Peak run range
20 50 25 50
(12.7) (15.9)
Continuous run range Continuous run range

0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
208[233] 65 Mass (kg)/ Without brake: 11.0 243[268] 65 Mass (kg)/ Without brake: 14.0
44 164[189] With brake: 12.6 44 199[224] With brake: 16.0
186[211] □130 221[246] □130
127 162

(2) Key way dimensions (2) Key way dimensions

12 6 12 6
(1) 4-φ9 (1) 4-φ9
55 M3 through 55 M3 through
(118)

(118)
51 51
φ24h6

φ24h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ16 5 φ16
φ14 5 φ14 5
20

20
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

86 87
 Motor Specifications 400V MDME 1.0kW [Middle inertia, Middle capacity] Motor Specifications 400V MDME 1.5kW [Middle inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 104G1□ 104S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 154G1□ 154S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT2412 Static friction torque (N•m) 4.9 or more Model A5 series MDDHT3420 Static friction torque (N•m) 13.7 or more
Applicable driver ＊2 No. A5E series MDDHT2412E Applicable driver ＊2 No. A5E series MDDHT3420E
Engaging time (ms) 80 or less Engaging time (ms) 100 or less
Frame symbol D-frame Releasing time (ms) Note)4 70 or less Frame symbol D-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.59±10% Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.79±10%
Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 4.77 Rated torque (N•m) 7.16
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 14.3 Momentary Max. peak torque (N•m) 21.5
Rated current (A(rms)) 2.8 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 4.7 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 12 Radial load P-direction (N) 980 Max. current (A(o-p)) 20 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 4.60 Moment of inertia Without brake 6.70
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 5.90 of rotor (×10−4kg•m2) With brake 7.99
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(21.5)
15 100 20 100
(14.3)

10 Peak run range

Peak run range
50 10 50
5 (7.16)
(4.77)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
138[163] 55 Mass (kg)/ Without brake: 5.2 155.5[180.5] 55 Mass (kg)/ Without brake: 6.7
44 94[119] With brake: 6.7 44 111.5[136.5] With brake: 8.2
116[141] 133.5[158.5]
□130 □130
60[57] 77.5[74.5]

(2) Key way dimensions (2) Key way dimensions

12 6 12 6
(1) 4-φ9 M3 through (1) 4-φ9 M3 through
45 45
(116)

(116)
41 41
φ22h6

φ22h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ1 5 φ1
φ14 65 φ14 65
18

18
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

88 89
 Motor Specifications 400V MDME 2.0kW [Middle inertia, Middle capacity] Motor Specifications 400V MDME 3.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 204G1□ 204S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 304G1□ 304S1□ Do not use this for braking the motor in motion.

Model A5 series MEDHT4430 Static friction torque (N•m) 13.7 or more Model A5 series MFDHT5440 Static friction torque (N•m) 16.2 or more
Applicable driver ＊2 No. A5E series MEDHT4430E Applicable driver ＊2 No. A5E series MFDHT5440E
Engaging time (ms) 100 or less Engaging time (ms) 110 or less
Frame symbol E-frame Releasing time (ms) Note)4 50 or less Frame symbol F-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 0.79±10% Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 0.90±10%
Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 9.55 Rated torque (N•m) 14.3
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 28.6 Momentary Max. peak torque (N•m) 43.0
Rated current (A(rms)) 5.9 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 8.7 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 25 Radial load P-direction (N) 980 Max. current (A(o-p)) 37 Radial load P-direction (N) 980
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20049 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 8.72 Moment of inertia Without brake 12.9
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 10.0 of rotor (×10−4kg•m2) With brake 14.2
• Dimensions of Driver, refer to P.33. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

30 100 50 100
(28.6) (43.0)

Peak run range Peak run range

15 50 25 50
(9.55) (14.3)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
173[198] 55 Mass (kg)/ Without brake: 8.0 208[233] 65 Mass (kg)/ Without brake: 11.0
44 129[154] With brake: 9.5 44 164[189] With brake: 12.6
151[176] 186[211]
□130 □130
95[92] 127

(2) Key way dimensions (2) Key way dimensions

12 6 12 6
(1) 4-φ9 M3 through (1) 4-φ9 M3 through
45 55
(116)

(118)
41 51
φ22h6

φ24h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ1 5 φ1
φ14 65 φ14 65
18

20
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

90 91
 Motor Specifications 400V MDME 4.0kW [Middle inertia, Middle capacity] Motor Specifications 400V MDME 5.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MDME 404G1□ 404S1□ Do not use this for braking the motor in motion. Motor model ＊1 MDME 504G1□ 504S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA464 Static friction torque (N•m) 24.5 or more Model A5 series MFDHTA464 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MFDHTA464E Applicable driver ＊2 No. A5E series MFDHTA464E
Engaging time (ms) 80 or less Engaging time (ms) 80 or less
Frame symbol F-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 6.8 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 1.3±10%
Rated output (W) 4.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 5.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 19.1 Rated torque (N•m) 23.9
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 57.3 Momentary Max. peak torque (N•m) 71.6
Rated current (A(rms)) 10.6 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 13.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 45 Radial load P-direction (N) 1666 Max. current (A(o-p)) 55 Radial load P-direction (N) 1666
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 784 Regenerative brake Without option 120 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 37.6 Moment of inertia Without brake 48.0
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 38.6 of rotor (×10−4kg•m2) With brake 48.8
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without
[N•m] [%] [N•m] [%] Brake
With oil seal

With oil seal

(57.3) (71.6)
50 100 70 100
90
85
Peak run range Peak run range with Brake
25 50 35 50
(19.1) (23.9)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 15.5 Mass (kg)/ Without brake: 18.6
177[202] 70 With brake: 18.7 196[221] 70 With brake: 21.8
44 133[158] 44 152[177]
155[180] □176 174[199] □176
96 115
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5
φ35h6

φ35h6
55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7

φ114.3h7
33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

92 93
 Motor Specifications 400V MGME 0.9kW [Middle inertia, Middle capacity] Motor Specifications 400V MGME 2.0kW [Middle inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MGME 094G1□ 094S1□ Do not use this for braking the motor in motion. Motor model ＊1 MGME 204G1□ 204S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT3420 Static friction torque (N•m) 13.7 or more Model A5 series MFDHT5440 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MDDHT3420E Applicable driver ＊2 No. A5E series MFDHT5440E
Engaging time (ms) 100 or less Engaging time (ms) 80 or less
Frame symbol D-frame Releasing time (ms) Note)4 50 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.79±10% Power supply capacity (kVA) 3.8 Exciting current (DC) (A) 1.3±10%
Rated output (W) 0.9 Releasing voltage (DC) (V) 2 or more Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 8.59 Rated torque (N•m) 19.1
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 19.3 Momentary Max. peak torque (N•m) 47.7
Rated current (A(rms)) 3.8 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 8.5 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 12 Radial load P-direction (N) 980 Max. current (A(o-p)) 30 Radial load P-direction (N) 1666
During During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 588 Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 686 Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 1176
Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 490
Moment of inertia Without brake 6.70 Moment of inertia Without brake 30.3
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 7.99 of rotor (×10−4kg•m2) With brake 31.4
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

20 100 50 100
(19.3) (47.7)

Peak run range Peak run range

10 50 25 50
(8.59) (19.1)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
155.5[180.5] 70 Mass (kg)/ Without brake: 6.7 Mass (kg)/ Without brake: 14.0
44 111.5[136.5] With brake: 8.2 163.5[188.5] 80 With brake: 17.5
133.5[158.5] 44 119.5[144.5]
□130 □176
77.5[74.5] 141.5[166.5]
82.5
(2) Key way dimensions Key way dimensions
(2)
12 6 18 3.2
(1) 4-φ9 4-φ13.5

φ35h6
45 M3 through 55 M3 through
(116)

(1)
41 50

(140)
φ22h6

8h9 10h9
(60)

(60)
7

8
φ114.3h7
φ110h7

5 φ1
φ14 65 33 φ2
φ2 00

30
18

(1) Encoder connector (1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

94 95
 Motor Specifications 400V MGME 3.0kW [Middle inertia, Middle capacity]
MEMO
Specifications
AC400V • Brake specifications (For details, refer to P.105)
( )

Driver
This brake will be released when it is energized.
Motor model ＊1 MGME 304G1□ 304S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA464 Static friction torque (N•m) 58.8 or more

Applicable driver ＊2 No. A5E series MFDHTA464E Engaging time (ms) 150 or less
Frame symbol F-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 1.4±10%
Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 28.7
Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 71.7
Rated current (A(rms)) 11.3 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 40 Radial load P-direction (N) 2058
During
Regenerative brake Without option No limit Note)2 Thrust load A-direction (N) 980
assembly
frequency (times/min) Note)1 DV0PM20049×2 No limit Note)2 Thrust load B-direction (N) 1176

Options
Rated rotational speed (r/min) 1000 During Radial load P-direction (N) 1470
Max. rotational speed (r/min) 2000 operation Thrust load A, B-direction (N) 490
Moment of inertia Without brake 48.4
• For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 49.2
• Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less
ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5
Incremental Absolute
Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque,
ambient temperature
torque versus rated torque
[N•m] [%]
With oil seal

(71.7)
70 100

Peak run range

35 50
(28.7)
Continuous run range

0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C]

Dimensions
Mass (kg)/ Without brake: 20.0
209.5[234.5] 80 With brake: 23.5
44 165.5[190.5]
187.5[212.5] □176
128.5
Key way dimensions
(2)
18 3.2
4-φ13.5
φ35h6

55 M3 through
(1)
50
(140)

10h9
(60)

8
φ114.3h7

33 φ2
φ2 00
30

(1) Encoder connector

(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

96 97
 Motor Specifications 400V MHME 0.9kW [High inertia, Middle capacity] Motor Specifications 400V MHME 1.5kW [High inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 104G1□ 104S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 154G1□ 154S1□ Do not use this for braking the motor in motion.

Model A5 series MDDHT2412 Static friction torque (N•m) 4.9 or more Model A5 series MDDHT3420 Static friction torque (N•m) 13.7 or more
Applicable driver ＊2 No. A5E series MDDHT2412E Applicable driver ＊2 No. A5E series MDDHT3420E
Engaging time (ms) 80 or less Engaging time (ms) 100 or less
Frame symbol D-frame Releasing time (ms) Note)4 70 or less Frame symbol D-frame Releasing time (ms) Note)4 50 or less
Power supply capacity (kVA) 1.8 Exciting current (DC) (A) 0.59±10% Power supply capacity (kVA) 2.3 Exciting current (DC) (A) 0.79±10%
Rated output (W) 1.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 1.5 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 4.77 Rated torque (N•m) 7.16
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 14.3 Momentary Max. peak torque (N•m) 21.5
Rated current (A(rms)) 2.9 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 4.7 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 12 Radial load P-direction (N) 980 Max. current (A(o-p)) 20 Radial load P-direction (N) 980
During During
Regenerative brake Without option 83 Thrust load A-direction (N) 588 Regenerative brake Without option 22 Thrust load A-direction (N) 588
assembly assembly
frequency (times/min) Note)1 DV0PM20048 No limit Note)2 Thrust load B-direction (N) 686 frequency (times/min) Note)1 DV0PM20048 130 Thrust load B-direction (N) 686

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 490
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 196
Moment of inertia Without brake 24.7 Moment of inertia Without brake 37.1
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 26.0 of rotor (×10−4kg•m2) With brake 38.4
• Dimensions of Driver, refer to P.32. • Dimensions of Driver, refer to P.32.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

(21.5)
15 100 20 100
(14.3)

10 Peak run range

Peak run range
50 10 50
5 (7.16)
(4.77)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
173[198] 70 Mass (kg)/ Without brake: 6.7 190.5[215.5] 70 Mass (kg)/ Without brake: 8.6
44 129[154] With brake: 8.1 44 146.5[171.5] With brake: 10.1
151[176] 168.5[193.5]
□130 □130
95[92] 112.5[109.5]
(2) Key way dimensions (2) Key way dimensions
12 6 12 6
(1) 4-φ9 M3 through (1) 4-φ9 M3 through
45 45
(116)

(116)
41 41
φ22h6

φ22h6
8h9 8h9
(60)

(60)
7

7
φ110h7

φ110h7
5 φ1 5 φ1
φ14 65 φ14 65
18

18
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

98 99
 Motor Specifications 400V MHME 2.0kW [High inertia, Middle capacity] Motor Specifications 400V MHME 3.0kW [High inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 204G1□ 204S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 304G1□ 304S1□ Do not use this for braking the motor in motion.

Model A5 series MEDHT4430 Static friction torque (N•m) 24.5 or more Model A5 series MFDHT5440 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MEDHT4430E Applicable driver ＊2 No. A5E series MFDHT5440E
Engaging time (ms) 80 or less Engaging time (ms) 80 or less
Frame symbol E-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 3.3 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 4.5 Exciting current (DC) (A) 1.3±10%
Rated output (W) 2.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 3.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 9.55 Rated torque (N•m) 14.3
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 28.6 Momentary Max. peak torque (N•m) 43.0
Rated current (A(rms)) 5.5 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 8.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 24 Radial load P-direction (N) 1666 Max. current (A(o-p)) 34 Radial load P-direction (N) 1666
During During
Regenerative brake Without option 45 Thrust load A-direction (N) 784 Regenerative brake Without option 19 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0PM20048 142 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0PM20049×2 142 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 57.8 Moment of inertia Without brake 90.5
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 59.6 of rotor (×10−4kg•m2) With brake 92.1
• Dimensions of Driver, refer to P.33. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
[N•m] [%] [N•m] [%]
With oil seal

With oil seal

30 100 50 100
(28.6) (43)

Peak run range Peak run range

15 50 25 50
(9.55) (14.3)
Continuous run range Continuous run range
(2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 12.2 Mass (kg)/ Without brake: 16.0
177[202] 80 With brake: 15.5 196[221] 80 With brake: 19.2
44 133[158] 44 152[177]
155[180] □176 174[199] □176
96 115
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5
φ35h6

φ35h6
55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7

φ114.3h7
33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

100 101
 Motor Specifications 400V MHME 3.0kW [High inertia, Middle capacity] Motor Specifications 400V MHME 3.0kW [High inertia, Middle capacity]

Specifications Specifications
AC400V • Brake specifications (For details, refer to P.105) AC400V • Brake specifications (For details, refer to P.105)
( ) ( )

Driver
This brake will be released when it is energized. This brake will be released when it is energized.
Motor model ＊1 MHME 404G1□ 404S1□ Do not use this for braking the motor in motion. Motor model ＊1 MHME 504G1□ 504S1□ Do not use this for braking the motor in motion.

Model A5 series MFDHTA464 Static friction torque (N•m) 24.5 or more Model A5 series MFDHTA464 Static friction torque (N•m) 24.5 or more
Applicable driver ＊2 No. A5E series MFDHTA464E Applicable driver ＊2 No. A5E series MFDHTA464E
Engaging time (ms) 80 or less Engaging time (ms) 80 or less
Frame symbol F-frame Releasing time (ms) Note)4 25 or less Frame symbol F-frame Releasing time (ms) Note)4 25 or less
Power supply capacity (kVA) 6.8 Exciting current (DC) (A) 1.3±10% Power supply capacity (kVA) 7.5 Exciting current (DC) (A) 1.3±10%
Rated output (W) 4.0 Releasing voltage (DC) (V) 2 or more Rated output (W) 5.0 Releasing voltage (DC) (V) 2 or more

Motor
Rated torque (N•m) 19.1 Rated torque (N•m) 23.9
Exciting voltage (DC) (V) 24±2.4 Exciting voltage (DC) (V) 24±2.4
Momentary Max. peak torque (N•m) 57.3 Momentary Max. peak torque (N•m) 71.6
Rated current (A(rms)) 10.5 • Permissible load (For details, refer to P.104) Rated current (A(rms)) 13.0 • Permissible load (For details, refer to P.104)
Max. current (A(o-p)) 45 Radial load P-direction (N) 1666 Max. current (A(o-p)) 55 Radial load P-direction (N) 1666
During During
Regenerative brake Without option 17 Thrust load A-direction (N) 784 Regenerative brake Without option 10 Thrust load A-direction (N) 784
assembly assembly
frequency (times/min) Note)1 DV0PM20049×2 125 Thrust load B-direction (N) 980 frequency (times/min) Note)1 DV0PM20049×2 76 Thrust load B-direction (N) 980

Options
Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784 Rated rotational speed (r/min) 2000 During Radial load P-direction (N) 784
Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343 Max. rotational speed (r/min) 3000 operation Thrust load A, B-direction (N) 343
Moment of inertia Without brake 112 Moment of inertia Without brake 162
• For details of Note 1 to Note 5, refer to P.104. • For details of Note 1 to Note 5, refer to P.104.
of rotor (×10−4kg•m2) With brake 114 of rotor (×10−4kg•m2) With brake 164
• Dimensions of Driver, refer to P.34. • Dimensions of Driver, refer to P.34.
Recommended moment of inertia *1 Rotaly encoder specifications: □ Recommended moment of inertia *1 Rotaly encoder specifications: □
0 times or less 0 times or less
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
*2 The product that the end of driver model designation *2 The product that the end of driver model designation

Information
20-bit 17-bit has “E” is “positioning type”. 20-bit 17-bit has “E” is “positioning type”.
Rotary encoder specifications Note)5 Rotary encoder specifications Note)5
Incremental Absolute Incremental Absolute
Detail of model designation, refer to P.11. Detail of model designation, refer to P.11.
Resolution per single turn 1,048,576 131,072 Resolution per single turn 1,048,576 131,072

Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>) Torque characteristics (at AC400V of power voltage <Dotted line represents the torque at 10% less supply voltage.>)
*Continuous torque, *Continuous torque,
ambient temperature ambient temperature
torque versus rated torque torque versus rated torque
without
[N•m] [%] [N•m] [%] Brake
With oil seal

With oil seal

(57.3) (71.6)
50 100 70 100
90
85
Peak run range Peak run range with Brake
25 50 35 50
(19.1) (23.9)
Continuous run range Continuous run range

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

rotational speed [r/min] ambient temperature[˚C] rotational speed [r/min] ambient temperature[˚C]

Dimensions Dimensions
Mass (kg)/ Without brake: 18.6 Mass (kg)/ Without brake: 23.0
209.5[234.5] 80 With brake: 21.8 238.5[263.5] 80 With brake: 26.2
44 165.5[190.5] 44 194.5[219.5]
187.5[212.5] □176 216.5[241.5] □176
128.5 157.5
Key way dimensions Key way dimensions
(2) (2)
18 3.2 18 3.2
4-φ13.5 4-φ13.5

φ35h6
φ35h6

55 M3 through 55 M3 through
(1) (1)
50 50
(140)

(140)
10h9 10h9
(60)

(60)
8

8
φ114.3h7
φ114.3h7

33 φ2 33 φ2
φ2 00 φ2 00
30

30
(1) Encoder connector (1) Encoder connector
(2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake. (2) Motor/Brake connector * Figures in [ ] represent the dimensions of with brake.
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.

102 103
 モータ仕様説明

「モータ仕様」ページの注釈について Built-in Holding Brake

Note) 1. [At AC100V of power voltage] In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the

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).
Driver
work (moving load) from falling by gravity while the power to the servo is shut off.
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.
• Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is

Motor
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply in motion, refer to the Operating Instructions (Overall).
voltage/115) relative to the value in the table. • With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in motion), you can set
• When regeneration occurs continuously such cases as running speed frequently changes or up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal
vertical feeding, consult us or a dealer. turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion. その
[At AC200V of power voltage] 詳細については、弊社ホームページから取扱説明書をダウンロードして参照してください。
Regenerative brake frequency represents the frequency of the motor's stops from the rated speed
<Note>
with deceleration without load.

Options
• If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/ 1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with
rotor moment of inertia. built-in brake, however this does not affect any functionality.
• When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse 2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is
proportion to the square of (running speed/rated speed). open). Pay an extra attention when magnetic sensors are used nearby the motor.
• Power supply voltage is AC230V (at 200V of the main voltage). • Specifications of Built-in Holding Brake
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply
Static Exciting Permissible
voltage/230) relative to the value in the table. Rotor Engaging Releasing Permissible Permissible

Information
Motor Motor friction current Releasing angular
inertia time time work (J) per total work
• When regeneration occurs continuously such cases as running speed frequently changes or series output torque
x 10–4 kg·m2 ms ms
DC A voltage
one braking x 103J
acceleration
N·m (at cool-off) rad/s2
vertical feeding, consult us or a dealer.
50W, 100W 0.29 or more 0.002 35 or less 20 or less 0.3 39.2 4.9
[At AC400V of power voltage] DC1V
MSMD 200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1 30000
Regenerative brake frequency represents the frequency of the motor's stops from the rated speed 750W 2.45 or more 0.075 70 or less 20 or less 0.42
or more
196 147
with deceleration without load. 50W, 100W 0.29 or more 0.002 35 or less 20 or less 0.3 39.2 4.9
• If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/ DC1V
200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1 30000
or more
rotor moment of inertia. 750W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
• When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse MSME 1.0kW, 1.5kW, 7.8 or more 50 or less 15 or less
2.0kW 0.33 0.81 392 490
proportion to the square of (running speed/rated speed). （100） DC2V
3.0kW 11.8 or more 80 or less 10000
• Power supply voltage is AC460V (at 400V of the main voltage). 50 or less
or more
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply 4.0kW, 5.0kW 16.1 or more 1.35 110 or less 0.9 1470 2200
（130）
voltage/460) relative to the value in the table. 1.0kW 4.9 or more 80 or less
70 or less
0.59 588 780
• When regeneration occurs continuously such cases as running speed frequently changes or （200）
1.35 10000
1.5kW, 2.0kW 13.7 or more 100 or less 50 or less 0.79 DC2V 1176 1500
vertical feeding, consult us or a dealer. MDME
3.0kW 16.2 or more 110 or less （130） 0.9 or more 1470 2200
Note) 2. If the effective torque is within the rated torque, there is no limit in generative brake.
25 or less
Note) 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4.0kW, 5.0kW 24.5 or more 4.7 80 or less
（200）
1.3 1372 2900 5440
Note) 4. Releasing time values represent the ones with DC-cutoff using a varistor. 50 or less
900W 13.7 or more 1.35 100 or less 0.79 1176 1500 10000
Note) 5. 17 ビット アブソリュートエンコーダは、17 ビット インクリメンタルエンコーダとしても使用可 （130）
25 or less DC2V
能です。 MGME 2.0kW 24.5 or more 80 or less 1.3
（200） or more
4.7 1372 2900 5440
50 or less
3.0kW 58.8 or more 150 or less 1.4
Permissible Load at Output Shaft （130）
200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 DC1V 137 44.1
MHMD 30000
The radial load is defined as a load applied to the output shaft in the right- 750W 2.45 or more 0.075 70 or less 20 or less 0.42 or more 196 147
Radial load (P) direction 70 or less
angle direction. This load is generated when the gear head is coupled to L 1.0kW 4.9 or more 80 or less 0.59 588 780
（200）
the machine using a chain, belt, etc., but not when the gear head is directly 1.35
50 or less DC2V
10000
MHME 1.5kW 13.7 or more 100 or less 0.79 1176 1500
connected to the coupling. As shown in the right figure, the permissible value （130） or more
Shaft
is determined based on the load applied to the L/2 position of the output 2.0kW to 5.0kW 24.5 or more 4.7 or less以下
25 or less
1.3 1372 2900 5440
（200）
shaft. The thrust load is defined as a load applied to the output shaft in the L/2
axial direction. P • Excitation voltage is DC24V±10% (Large type motor) and DC24V±5% (Small type motor).
Thrust load (A and B) direction • Releasing time values represent the ones with DC-cutoff using a varistor.
Because the radial load and thrust load significantly affect the life A Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.)
of the bearing, take care not to allow the load during operation to • Above values (except static friction torque, releasing voltage and excitation current) represent typical values.
Motor
exceed the permissible radial load and thrust load shown in the • Backlash of the built-in holding brake is kept ±1˚or smaller at ex-factory point.
table below. B
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than
10 million times. (Life end is defined as when the brake backlash drastically changes.)

104 105
 Conformance to Conformance to
international standards EC Directives/Conformity to UL Standards international standards Composition of Peripheral Equipments

EC Directives Installation Environment

The EC Directives apply to all such electronic products as those having specific functions and have been Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the

Driver
exported to EU and directly sold to general consumers. Those products are required to conform to the EU driver in control panel with IP54 protection structure.)
unified standards and to furnish the CE marking on the products. <100V/200V> Control box
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so that the machine or
Controller
equipment comprising our AC servos can meet EC Directives.
Insulated power supply Safety
for interface X4 controller

EMC Directives Power Noise filter for

Driver X3

Motor
supply signal lines Noise filter
Residual
MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model (condition) Circuit current device Noise filter XA L1
L2
for signal lines
Motor
breaker (RCD) U XB
with certain locating distance and wiring of the servo motor and the driver. And actual working condition often L3
V M
L1C W
differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to Surge L2C RE
X6
conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to absorber

examine the machine incorporating our servos. Protective earth (PE)

<400V>

Options
Control box
Conformity to UL Standards Controller

Insulated power supply Safety

Observe the following conditions of (1) and (2) to make the system conform to UL508C (E164620). for interface X4 controller
DC
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1. 24V Noise filter for signal lines Driver X3
XC 24V
(e.g. Install in the control box with IP54 enclosure.) Power
0V
Noise filter
supply Residual for signal lines
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed marked) between the Circuit Motor

Information
current device Noise filter U XB
breaker (RCD) XA L1
power supply and the noise filter. L2 V
W
M
Noise filter for signal lines L3
For rated current of circuit breaker and fuse, refer to P.14 “Driver and List of Applicable Peripheral Surge X6
RE

absorber
Equipments”. Overload protection time characteristics Protective earth (PE)
Use a copper cable with
• Motor type: M□ME <Caution>
temperature rating of 75˚C or
higher.
MSME 50W Time [s] Use options correctly after reading Operating Instructions of the options to better understand the precautions.
MSME 100W（100V） 100
(3) Over-load protection level Take care not to apply excessive stress to each optional part.
MSME 100W（200V）
Over-load protective function will MSME 200W 10
be activated when the effective MSME 400W Power Supply
current exceeds 115% or more MSME 750W ＋ 10％ ＋ 10％
100V type : Single phase, 100V 　to 120V 　50/60Hz
than the rated current based MSME 1.0kW to 5.0kW
1
－ 15％ － 15％
on the time characteristics (see MDME 1.0kW to 5.0kW (A to C-frame)
MHME 1.0kW to 5.0kW ＋ 10％ ＋ 10％
the next page). Confirm that the 0.1 200V type : Single/3-phase, 200V 　to 240V 　50/60Hz
MGME 0.9kW to 3.0kW 115 － 15％ － 15％
effective current of the driver does
100 200 300 400 500
Torque [%] (A to D-frame)
not exceed the rated current. • Motor type: M□MD ＋ 10％ ＋ 10％
200V type : 3-phase, 200V 　to 230V 　50/60Hz
Set up the peak permissible Time [s] － 15％ － 15％
MSMD 50W
100
(E, F-frame)
current with Pr0.13 (Setup of 1st MSMD （100V）
100W
MHMD 100W（100V） ＋ 10％ ＋ 10％
torque limit) and Pr5.22 (Setup 400 V type (Main power supply): 3-phase, 380V 　to 480V 　50/60Hz
MSMD 100W（200V）
－ 15％ － 15％
2nd torque limit). 10 (D to F-frame)
MHMD 100W（200V）
400 V type (Control power supply): DC 24V ±15%
MSMD 200W
MHMD 200W 1 (D to F-frame)
MSMD 400W
(1) This product is designed to be used in over-voltage category (installation category) III of EN 61800-5-1:2007.
MHMD 400W
0.1 (2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950.
MSMD 750W 115
100 200 300 400 500
MHMD 750W Torque [%]
Circuit Breaker
Conformed Standards Install a circuit breaker which complies with IEC Standards and UL recognized (Listed and marked) between
power supply and noise filter.
For details, refer to P.9.
The short-circuit protection circuit on the product is not for protection of branch circuit.
The branch circuit should be protected in accordance with NEC and the applicable local regulations in your
area.

106 107
 Conformance to Conformance to
international standards Composition of Peripheral Equipments international standards Composition of Peripheral Equipments

Noise Filter Surge Absorber

When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of Provide a surge absorber for the primary side of noise filter.

Driver
the noise filter. If noise margin is required, connect 2 filters in series to emphasize effectiveness. Voltage specifications Manufacturer's
Option part No. Manufacturer
for driver part No.
• Options
DV0P1450 3-phase 200V RAV-781BXZ-4
Voltage specifications Manufacturer's Applicable driver Okaya Electric Ind.
Option part No. Manufacturer DV0PM20050 3-phase 400V RAV-801BXZ-4
for driver part No. (frame)
DV0P4170 Single phase 100V, 200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind. [Unit: mm]

5.5±1
11±1
φ4.2±0.2
100.0 ± 2.0 Terminal cover
Circuit diagram
88.0 (transparent)

Motor
7.0 5.0 (1) (1) (3)
75.0 53.1±1.0 Circuit diagram
IN OUT

28.5±1
1 L
Cy
L 3
2.0
R
12.0

Label Cx Cx UL-1015 AWG16

50.0
60.0

Cy

+30
200 -0
10.0

2 4

4.5±0.5
1 2 3
(11.6)
　　

28±1
2 – ø4.5 x 6.75 2 – ø4.5 6 – M4
(13.0)
[Unit: mm]

Options
41±1
Voltage specifications Manufacturer's Applicable driver 　　
Option part No. Manufacturer
for driver part No. (frame)
3-phase 200V A and B-frame Voltage specifications Manufacturer's
Option part No. Manufacturer
DV0PM20042 Single phase 100V, 200V 3SUP-HU10-ER-6 for driver part No.
C-frame DV0P4190 Single phase 100V, 200V RAV-781BWZ-4 Okaya Electric Ind.
3-phase 200V Okaya Electric Ind.
DV0P4220 Single/3-phase 200V 3SUP-HU30-ER-6 D-frame [Unit: mm]

5.5±1
DV0PM20043 3-phase 200V 3SUP-HU50-ER-6 E-frame

11±1

Information
φ4.2±0.2
Circuit diagram
[DV0PM20042, DV0P4220] [DV0PM20043] H (1) (2)

28.5±1
A A
B B Earth terminal
C H C M4
Earth terminal
M4 Circuit diagram UL-1015 AWG16

+30
F

200 -0
Label Label IN OUT
10
F

1 L1 4
D
E
D
E

Screw for cover

4.5±0.5
1 2
M3 2 5

28±1
Screw for cover
M4 M3 3 6
M5
R Cx1 Cx1 　　 41±1
Cover
Cover Cy1
G

Body
Noise Filter for Signal Lines
Body

[Size] [Unit: mm]

A B C D E F G H
DV0PM20042 115 105 95 70 43 10 52 5.5
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)
DV0P4220 145 135 125 70 50 10 52 5.5
Manufacturer's 39±1
　　 DV0PM20043 165 136 165 90 80 40 54 5.5 Option part No. Number Manufacturer [Unit: mm]
part No. 34±1
DV0P1460 ZCAT3035-1330 4 TDK Corp. Mass: 62.8g
Voltage specifications Manufacturer's Applicable driver
Option part No. Manufacturer
for driver part No. (frame) <Caution>
DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind.
Fix the signal line noise filter in place to eliminate excessive stress

13±1

30±1
286±3.0
270 Circuit diagram to the cables.
2-ø5.5 x 7 255±1.0 2-ø5.5 IN OUT
150 240

Residual current device

1 4
6-6M
(13) (18)

2
90±1.0

5
Label
120

3 6
Install a type B Residual current device (RCD) at primary side of the power supply.
[Unit: mm]

• Recommended components Grounding

Voltage specifications Current rating <Remarks> (1) Connect the protective earth terminal ( ) of the driver and the protective earth terminal (PE) of the con-
part No. Manufacturer
for driver (A) • Select a noise filter of capacity that trol box without fail to prevent electrical shocks.
RTHN-5010 10 TDK-Lambda exceeds the capacity of the power
RTHN-5020
Single phase 100V, 200V
30 (2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are provided for protec-
3-phase 200V Corp. source (also check for load condition).
RTHN-5030 50 tive earth.
• For detailed specification of the filter,
FN258L-16-07 16 <Note>
3-phase 400V SCHAFFNER contact the manufacturer.
FN258L-30-07 30 For driver and applicable peripheral equipments, refer to P.14 "Driver and List of Applicable Peripheral Equip-
ments".

108 109
 Options Cable part No. designation Options Specifications of Motor connector

Encoder cable • When the motors of <MSMD, MHMD> are used, they are connected as shown below.
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
1 2 3 4 5 6 7 8 9 10 11 12 <Connector for encoder> <Connector for motor> <Connector for brake>

Driver
M F E C A 0 0 5 0 M J D 3 2 1
3 2 1 6 5 4 2 1 1
6 5 4 9 8 7 4 3 2
Connector for encoder
172168-1 172169-1 172167-1 172165-1
Connector for brake 20-bit Incremental 17-bit Absolute
Type classification Cable end (Driver side) PIN No. Application PIN No. Application PIN No. Application PIN No. Application
MFECA: Encoder cable D Molex Inc. connector (Incremental) Connector 1 NC 1 BAT+ 1 U-phase 1 Brake
for motor 2 PS 2 BAT−

Motor
E Molex Inc. connector (Absolute) 2 V-phase 2 Brake
3 PS 3 FG(SHIELD)
3 W-phase
M Molex Inc. connector (MSMD, MHMD) 4 E5V 4 PS
5 E0V 5 PS 4 Ground
6 FG(SHIELD) 6 NC
Cable end (Encoder side) 7 E5V
J Japan Aviation Electronics Industry, Ltd. connector 8 E0V
T Japan Aviation Electronics Industry, Ltd. plug connector 9 NC
A Tyco Electronics, AMP connector
• When the motors of <MSME (50 W to 750 W)> are used, they are connected as shown below.

Options
Cable type Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)

E PVC cable with shield by Oki Electric Cable Co., 0.20mm 2

8P, 3P <Connector for encoder> <Connector for motor> <Connector for brake>
M Hitachi Cable, Ltd. 1 5 PE
2 6 3
2
3
Cable length 2
4 7
0030 3m Connector for encoder JN6CR07PM2 1
1
Connector for brake

Information
0050 5m 20-bit Incremental 17-bit Absolute
0100 10m Connector for motor PIN No. Application PIN No. Application JN8AT04NJ1 JN4AT02PJM-R
0200 20m 1 FG(SHIELD) 1 FG(SHIELD) PIN No. Application PIN No. Application
2 — 2 BAT− 1 U-phase 1 Brake
3 E0V 3 E0V 2 V-phase 2 Brake
4 PS 4 PS 3 W-phase * Electromagnetic brake is
5 — 5 BAT+ PE Ground a nonpolar device.
Motor cable, Brake cable 6 E5V 6 E5V Tightening torque of Tightening torque of
7 PS 7 PS the screw (M2) the screw (M2)
0.085 to 0.095 N·m 0.19 to 0.21 N·m
1 2 3 4 5 6 7 8 9 10 11 12 Tightening torque of the screw (M2) 0.19 to 0.21 N·m (screwed to plastic)
* Be sure to use only the screw supplied with the connector, to avoid damage.
M F M C A 0 0 5 2 N J D
• When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MGME, MHME> are used,
they are connected as shown below.
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
Type
classification Cable end at driver side Connector Connector for motor
A Standard D Phoenix contact Clamp terminal for encoder
<Connector for motor>
B Special T Clamp terminal
<with Brake> <without Brake>
Design order
…

Cable end at motor side G H A A B C

C S type cannon plug D A

F I B D E F
AC servo motor cable J Japan Aviation Electronics Industry, Ltd. connector E D C G H I
<Connector for encoder> C B
E Tyco Electronics, AMP connector
1 2 3 JL04V-2E20-4PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
4 5 6 7
Cable type 8 9 10 MSME 1.0kW to 2.0kW MSME 1.0kW to 2.0kW 200V:
MSME 3.0kW to 5.0kW
E ROBOTOP 4-wire by Daiden Co., Ltd. MDME 1.0kW to 2.0kW MDME 1.0kW to 2.0kW MDME 3.0kW to 5.0kW
JN2AS10ML3-R MGME 0.9kW MGME 0.9kW MGME 2.0kW to 3.0kW
F ROBOTOP 6-wire by Daiden Co., Ltd. MHME 1.0kW to 1.5kW MHME 2.0kW to 5.0kW
Cable length 20-bit Incremental 17-bit Absolute MHME 1.0kW to 1.5kW
N 4-wire by Hitachi Cable, Ltd. 400V:
003 3m PIN No. Application PIN No. Application JL04HV-2E22-22PE-B-R PIN No. Application MSME 1.0kW to 5.0kW
P 2-wire by Hitachi Cable, Ltd. 1 E0V 1 E0V MDME 1.0kW to 5.0kW
005 5m MSME 3.0kW to 5.0kW G Brake MGME 0.9kW to 3.0kW
2 NC 2 NC MDME 3.0kW to 5.0kW H Brake MHME 1.0kW to 5.0kW
010 10m Cross section of cable core 3 PS 3 PS MGME 2.0kW to 3.0kW
A NC PIN No. Application
020 20m 0 0.75mm2 4 E5V 4 E5V MHME 2.0kW to 5.0kW A Brake
F U-phase
1 1.25mm2 5 NC 5 BAT− PIN No. Application I V-phase B Brake
6 NC 6 BAT+ C NC
2 2.0mm2 A U-phase B W-phase
7 PS 7 PS D U-phase
3 3.5mm2 B V-phase E Ground V-phase
8 NC 8 NC E
C W-phase D Ground F W-phase
9 FG(SHIELD) 9 FG(SHIELD) D Ground C NC G Ground
10 NC 10 NC Ground
H
I NC
<Remarks> Do not connect anything to NC.

110 111
 Options Junction Cable for Encoder

Compatible Compatible
Part No. MFECA0 * * 0EAM motor output MSMD 50W to 750W, MHMD 200W to 750W Part No. MFECA0 * * 0MJE motor output MSME 50W to 750W
Specifications For 20-bit incremental encoder (Without battery box) Specifications For 17-bit absolute encoder (With battery box)

Driver
L
L
110 300

(ø6.5)
(11.8)

(ø6)
　　 　　 (4) (14) (4) 　
　　

Motor
Title Part No. Manufacturer L (m) Part No.
Connector 55100-0670 Molex Inc 3 MFECA0030EAM
Connector 172160-1 5 MFECA0050EAM Title Part No. Manufacturer L (m) Part No.
Tyco Electronics AMP
Connector pin 170365-1 10 MFECA0100EAM Connector 55100-0670 Molex Inc 3 MFECA0030MJE
Cable 0.20mm2×3P Oki Electric Cable Co., Ltd. 20 MFECA0200EAM Connector SMM-003T-P0.5 5 MFECA0050MJE
J.S.T Mfg. Co., Ltd.
Connector pin ZMR-02 10 MFECA0100MJE

Options
Compatible
Part No. MFECA0 * * 0EAE motor output MSMD 50W to 750W, MHMD 200W to 750W Connector JN6FR07SM1 Japan Aviation 20 MFECA0200MJE
Connector pin LY10-C1-A1-10000 Electronics Ind.
Specifications For 17-bit absolute encoder (With battery box)
Cable AWG24 ×4P, AWG22×2P Hitachi Cable, Ltd.

L
Compatible
110 300 Part No. MFECA0 * * 0ETD motor output 0.9kW to 5.0kW

Information
Specifications For 20-bit incremental encoder (Without battery box)

(ø8)
L
(16)

(ø6)
　　　　 　
(4) (14) (4) 　
　 　 　
Title Part No. Manufacturer L (m) Part No.
Connector 55100-0670 Molex Inc 3 MFECA0030EAE Title Part No. Manufacturer L (m) Part No.
Connector 172161-1 5 MFECA0050EAE Connector 55100-0670 Molex Inc 3 MFECA0030ETD
Tyco Electronics AMP
Connector pin 170365-1 10 MFECA0100EAE Connector JN2DS10SL1-R Japan Aviation 5 MFECA0050ETD
Cable 0.20mm ×4P
2
Oki Electric Cable Co., Ltd. 20 MFECA0200EAE Connector pin JN1-22-22S-PKG100 Electronics Ind. 10 MFECA0100ETD
Cable 0.2mm ×3P2
Oki Electric Cable Co., Ltd. 20 MFECA0200ETD
Compatible
Part No. MFECA0 * * 0MJD motor output MSME 50W to 750W
Compatible
Specifications For 20-bit incremental encoder (Without battery box)
Part No. MFECA0 * * 0ETE motor output 0.9kW to 5.0kW
Specifications For 17-bit absolute encoder (With battery box)
L
(ø5)

L
110 300
　　　　　

(ø6)
Title Part No. Manufacturer L (m) Part No. 　　　
Connector 55100-0670 Molex Inc 3 MFECA0030MJD
Connector JN6FR07SM1 Japan Aviation 5 MFECA0050MJD
Electronics Ind. Title Part No. Manufacturer L (m) Part No.
Connector pin LY10-C1-A1-10000 10 MFECA0100MJD
Connector 55100-0670 Molex Inc 3 MFECA0030ETE
Cable AWG24×4P, AWG22×2P Hitachi Cable, Ltd. 20 MFECA0200MJD
Connector ZMR-02 5 MFECA0050ETE
J.S.T Mfg. Co., Ltd.
Connector pin SMM-003T-P0.5 10 MFECA0100ETE
Connector JN2DS10SL1-R Japan Aviation 20 MFECA0200ETE
Connector pin JN1-22-22S-PKG100 Electronics Ind.
Cable 0.2mm2 ×3P Oki Electric Cable Co., Ltd.

112 113
 Options Junction Cable for Motor (Without brake)

Applicable
Part No. MFMCA0 * * 0EED model MSMD 50W to 750W, MHMD 200W to 750W
Applicable
Part No. MFMCE0 * * 2ECD model MHME 2.0kW (200V and 400V commonness)

Driver
(50) L (50)

L (50)

(φ11)
(12.0)

　　　　 (4) (10.0) (4)

　
　　　　　
Title Part No. Manufacturer L (m) Part No.

Motor
Connector 172159-1 3 MFMCA0030EED Title Part No. Manufacturer L (m) Part No.
Tyco Electronics AMP
Connector pin 170366-1 5 MFMCA0050EED Straight plug JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCE0032ECD
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100EED Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0052ECD
Nylon insulated Rod terminal AI2.5-8BU Phoenix Contact 10 MFMCE0102ECD
N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200EED
round terminal
Nylon insulated
N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCE0202ECD
Cable ROBO-TOP 600V 0.75mm2 Daiden Co.,Ltd. round terminal

Options
Cable ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.
Applicable
Part No. MFMCA0 * * 0NJD model MSME 50W to 750W
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
Applicable
L2
Part No. MFMCA0 * * 3ECT model MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
(28.8) L1 (50) (All model 200V and 400V commonness)
(ø6)

Information
L (50)

(φ14)
　　　　　

ø40.5
　　　　　
Title Part No. Manufacturer L (m) Part No.
Connector JN8FT04SJ1 Japan Aviation 3 MFMCA0030NJD
Connector pin ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCA0050NJD Title Part No. Manufacturer L (m) Part No.
Rod terminal AI0.75-8GY Phoenix Contact 10 MFMCA0100NJD Straight plug JL04V-6A22-22SE-EB-R 3 MFMCA0033ECT
Japan Aviation
Nylon insulated Electronics Ind.
N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200NJD Cable clamp JL04-2022CK(14)-R 5 MFMCA0053ECT
round terminal
Nylon insulated
Cable AWG18×4P Hitachi Cable, Ltd. N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103ECT
round terminal
Cable ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd. 20 MFMCA0203ECT
MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
Applicable
Part No. MFMCD0 * * 2ECD model MHME 1.0kW to 1.5kW, MGME 0.9kW
(All model 200V and 400V commonness)

L (50)
(φ12.5)
ø37.3

　　　　　

Title Part No. Manufacturer L (m) Part No.

Connector JL04V-6A20-4SE-EB-R Japan Aviation 3 MFMCD0032ECD
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCD0052ECD
Rod terminal AI2.5-8BU Phoenix Contact 10 MFMCD0102ECD
Nylon insulated
N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCD0202ECD
round terminal
Cable ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.

114 115
 Options Junction Cable for Motor (With brake) Options Junction Cable for Brake

Applicable
Applicable MSME 1.0kW to 2.0kW (200V), MDME 1.0kW to 2.0kW (200V) Part No. MFMCB0 * * 0GET MSMD 50W to 750W, MHMD 200W to 750W
Part No. MFMCA0 * * 2FCD model
model
MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V)
L (50) (40) L (50)

Driver
(ø12.5)

(φ9.8)
(12.0)
(10.0)
.8)
(ø9
L
(5.6)
　　　　　
(50
　　　　　 ) * This cable does not conform to IP67. Title Part No. Manufacturer L (m) Part No.

Motor
Title Part No. Manufacturer L (m) Part No. Connector 172157-1 3 MFMCB0030GET
Tyco Electronics AMP
Straight plug JL04V-6A20-18SE-EB-R Japan Aviation 3 MFMCA0032FCD Connector pin 170366-1, 170362-1 5 MFMCB0050GET
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0052FCD Nylon insulated
Rod terminal AI2.5-8BU Phoenix Contact 10 MFMCA0102FCD N1.25-M4 J.S.T Mfg. Co., Ltd. 10 MFMCB0100GET
round terminal
Nylon insulated Earth N2-M4 20 MFMCA0202FCD
J.S.T Mfg. Co., Ltd. Cable ROBO-TOP 600V 0.75mm2 Daiden Co.,Ltd. 20 MFMCB0200GET
round terminal Brake N1.25-M4
ROBO-TOP 600V 0.75mm2 and

Options
Cable Daiden Co.,Ltd.
ROBO-TOP 600V 2.0mm2 Applicable
Part No. MFMCB0 * * 0PJT model MSME 50W to 750W

MHME 2.0kW (200V),

Applicable (26.6) L (50)
Part No. MFMCE0 * * 2FCD model MSME 1.0kW to 2.0kW (400V), MDME 1.0kW to 2.0kW (400V)
MHME 1.0kW to 2.0kW (400V), MGME 0.9kW (400V)
L (50)

Information
　　　　　
Title Part No. Manufacturer L (m) Part No.
Connector JN4FT02SJMR Japan Aviation 3 MFMCB0030PJT
L
Connector pin ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCB0050PJT
Nylon insulated
(50
) N1.25-M4 J.S.T Mfg. Co., Ltd. 10 MFMCB0100PJT
　　　　 　　 round terminal
Cable AWG22 Hitachi Cable, Ltd. 20 MFMCB0200PJT
Title Part No. Manufacturer L (m) Part No.
Straight plug JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCE0032FCD
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCE0052FCD
Rod terminal AI2.5-8BU Phoenix Contact 10 MFMCE0102FCD
Nylon insulated Earth N2-M4 20 MFMCE0202FCD
J.S.T Mfg. Co., Ltd.
round terminal Brake N1.25-M4
ROBO-TOP 600V 0.75mm2 and
Cable Daiden Co.,Ltd.
ROBO-TOP 600V 2.0mm2

MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW

Applicable
Part No. MFMCA0 * * 3FCT model MHME 3.0kW to 5.0kW, MGME 2.0kW to 3.0kW
(All model 200V and 400V commonness)
L (50)
(ø14)
ø43.7

.8 )
(ø9

　　　　　 (50
) 　 * This cable does not conform to IP67.

Title Part No. Manufacturer L (m) Part No.

Straight plug JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCA0033FCT
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCA0053FCT
Nylon insulated Earth N5.5-5 10 MFMCA0103FCT
J.S.T Mfg. Co., Ltd.
round terminal Brake N1.25-M4 20 MFMCA0203FCT
ROBO-TOP 600V 0.75mm2 and
Cable Daiden Co.,Ltd.
ROBO-TOP 600V 3.5mm2

116 117
 Options Connector Kit

Connector Kit for Interface Connector Kit for Communication Cable (for RS485, RS232) (Excluding A5E Series)

Part No. DV0P4350 Part No. DV0PM20024

Driver
• Components • Components
Title Part No. Number Manufacturer Note Title Part No. Manufacturer Note
Connector 54306-5011 1 For Connector X4 Connector 2040008-1 Tyco Electronics AMP For Connector X2 (8-pins)
Molex Inc
Connector cover 54331-0501 1 (50-pins) • Pin disposition of connector, connector X2 • Dimensions
485+ RXD
• Pin disposition (50 pins) (viewed from the soldering side)

10.7

7.3
11
485+ NC

Motor
(ø6.7)
Shell: FG

8 (1.5)
8 6 4 2
7 5 3 1

5.2
26 28 30 32 34 36 38 40 42 44 46 48 50 485− GND
SI3 SI5 SI7 SI9 SO2– SO3– SO4– SO6 IM PULSH1 SIGNH1 OB FG 　 485− TXD (Viewed from cable) (33) (11)

27 29 31 33 35 37 39 41 43 45 47 49
SI4 SI6 SI8 SI10 SO2+ SO3+ SO4+ COM SP PULSH2 SIGNH2 OB
Connector Kit for Safety (Excluding A5E Series)
1 3 5 7 9 11 13 15 17 19 21 23 25

Options
OPC1 PULS1 SIGN1 COM SI2 SO1+ GND GND GND CZ OA OZ GND
Part No. DV0PM20025
2 4 6 8 10 12 14 16 18 20 22 24
OPC2 PULS2 SIGN2 SI1 SO1– SO5 SPR/ P-ATL N-ATL NC OA OZ
SPL /TRQR • Components
Title Part No. Manufacturer Note
Connector 2013595-1 Tyco Electronics AMP For Connector X3 (8-pins)
1) Check the stamped pin-No. on the connector body while making a wiring.
• Pin disposition of connector, connector X3 • Dimensions

Information
2) For the function of each signal title or its symbol, refer to the wiring example of the connector X4.
3) Do not connect anything to NC pins in the above 　
SF2+ SF1+
table.

10.7

7.3
11
EDM+ NC

(ø6.7)
Shell: FG

8 (1.5)
8 6 4 2

Interface Cable
7 5 3 1

5.2
EDM− NC
　 SF2− SF1− (Viewed from cable) (33) (11)

Part No. DV0P4360

2000+200
0 (39) 12.7 Connector Kit for External Scale (Excluding A5E Series)

50 +10
0 Part No. DV0PM20026
25

50
(ø8.0)

• Components
(52.35)

Title Part No. Manufacturer Note

Connector MUF-PK10K-X J.S.T Mfg. Co., Ltd. For Connector X5
1

26

• Dimensions

7.1
This 2 m connector cable contains AWG28 conductors.
• Table for wiring

18.5
11.9
Pin No. color Pin No. color Pin No. color Pin No. color Pin No. color
1 Orange (Red1) 11 Orange (Black2) 21 Orange (Red3) 31 Orange (Red4) 41 Orange (Red5)

13.6
10.4
2 Orange (Black1) 12 Yellow (Black1) 22 Orange (Black3) 32 Orange (Black4) 42 Orange (Black5)
　 (10.5) (32)
3 Gray (Red1) 13 Gray (Red2) 23 Gray (Red3) 33 Gray (Red4) 43 Gray (Red5)
4 Gray (Black1) 14 Gray (Black2) 24 Gray (Black3) 34 White (Red4) 44 White (Red5)
5 White (Red1) 15 White (Red2) 25 White (Red3) 35 White (Black4) 45 White (Black5)
Connector Kit for Encoder
6 White (Black1) 16 Yellow (Red2) 26 White (Black3) 36 Yellow (Red4) 46 Yellow (Red5)
Part No. DV0PM20010
7 Yellow (Red1) 17 Yel (Blk2)/Pink (Blk2) 27 Yellow (Red3) 37 Yellow (Black4) 47 Yellow (Black5)
8 Pink (Red1) 18 Pink (Red2) 28 Yellow (Black3) 38 Pink (Red4) 48 Pink (Red5) • Components
9 Pink (Black1) 19 White (Black2) 29 Pink (Red3) 39 Pink (Black4) 49 Pink (Black5)
Title Part No. Manufacturer Note
10 Orange (Red2) 20 30 Pink (Black3) 40 Gray (Black4) 50 Gray (Black5)
Connector 55100-0670 Molex Inc For Connector X6
<Remarks>
Color designation of the cable 　
e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable <Remarks>
Connector X1: use with commercially available • Configuration of connector X1: USB mini-B
cable. 　　　 　　　　　　
　　　　　　　　　

118 119
 Options Connector Kit

Connector Kit for Analog Monitor Signal Part No. DV0PM20051 (For D-frame 400V)

Part No. DV0PM20031 • Components

Driver
Title Part No. Number Manufacturer Note
• Components
Connector 03JFAT-SAYGSA-M 1
Title Part No. Number Manufacturer Note J.S.T Mfg. Co., Ltd. For Connector XA (D-frame)
Handle lever J-FAT-OT-L 2
Connector 510040600 1
Molex Inc For Connector X7 (6-pins)
Connector pin 500118100 6
Part No. DV0PM20052 (For E-frame 400V)
• Pin disposition of connector, connector X7 • Dimensions

Motor
• Components
GND 3 4 DM 14±0.3

0.8
2 AM2 5 NC Title Part No. Number Manufacturer Note
Connector 03JFAT-SAYGSA-L 1

5.3±0.3
1 AM1 6 NC
J.S.T Mfg. Co., Ltd. For Connector XA (E-frame)
1 Handle lever J-FAT-OT-L 2
MX

12.9±0.3 3.35±0.3
　

Options
Connector Kit for Control Power Supply Input
Connector Kit for Power Supply Input
Part No. DV0PM20053 (For D, E-frame 400V)
Part No. DV0PM20032 (For A to D-frame: Single row type)
• Components
• Components Title Part No. Number Manufacturer Note

Information
Title Part No. Number Manufacturer Note Connector 02MJFAT-SAGF 1 For Connector XC
J.S.T Mfg. Co., Ltd.
Connector 05JFAT-SAXGF 1 Handle lever MJFAT-0T 2 (D, E-frame)
J.S.T Mfg. Co., Ltd. For Connector XA
Handle lever J-FAT-OT 2

Part No. DV0PM20033 (For A to D-frame: Double row type)

Connector Kit for Regenerative Resistor Connection (E-frame)

• Components Part No. DV0PM20045 (For E-frame 200V/400V)

Title Part No. Number Manufacturer Note • Components
Connector 05JFAT-SAXGSA-C 1
J.S.T Mfg. Co., Ltd. For Connector XA Title Part No. Number Manufacturer Note
Handle lever J-FAT-OT 2 Connector 04JFAT-SAXGSA-L 1 200V: For Connector XC
J.S.T Mfg. Co., Ltd. 400V: For Connector XD
• Dimensions Handle lever J-FAT-OT-L 2 ※ジャンパー線も付属しています。
B
5 4 3 2 1

Part No. DV0PM20055 (For D-frame 400V)

26

5 4 3 2 1

39.3 • Components
Title Part No. Number Manufacturer Note
Connector 04JFAT-SAXGSA-M 1
27.6

J.S.T Mfg. Co., Ltd. For Connector XD

5 4 3 2 1

Handle lever J-FAT-OT-L 2

　　

Part No. DV0PM20044 (For E-frame)

Connector Kit for Motor Connection (Driver side)
• Components
Part No. DV0PM20034 (For A to D-frame 100V/200V)
Title Part No. Number Manufacturer Note
Connector 05JFAT-SAXGSA-L 1 • Components
J.S.T Mfg. Co., Ltd. For Connector XA (E-frame)
Handle lever J-FAT-OT-L 2 Title Part No. Number Manufacturer Note
Connector 06JFAT-SAXGF 1 For Connector XB
J.S.T Mfg. Co., Ltd.
Connector pin J-FAT-OT 2 ※ジャンパー線も付属しています。

120 121
 Options Connector Kit Options Connector Kit

Part No. DV0PM20046 (For E-frame 200V/400V)

Applicable
Part No. DV0PM20035 model MSME 50W to 750W
• Components

Driver
Title Part No. Number Manufacturer Note • Components
Connector 03JFAT-SAXGSA-L 1 Title Part No. Number Manufacturer Note
J.S.T Mfg. Co., Ltd. For Connector XB (E-frame)
Handle lever J-FAT-OT-L 2 Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins)
Encoder plug connector JN6FR07SM1 1 Japan Aviation For junction cable to
Part No. DV0PM20054 (For D-frame 400V) Socket contact LY10-C1-A1-10000 7 Electronics Ind. encoder (7-pins)
Motor plug connector JN8FT04SJ1 1 Japan Aviation For junction cable to

Motor
• Components Socket contact ST-TMH-S-C1B-3500 4 Electronics Ind. motor power (4-pins)
Title Part No. Number Manufacturer Note
Connector 03JFAT-SAXGSA-M 1
• Pin disposition of connector, • Pin disposition of junction cable • Pin disposition of junction cable
J.S.T Mfg. Co., Ltd. For Connector XB (D-frame) connector X3 for motor power for encoder
Handle lever J-FAT-OT-L 2
1 U 4 PS 7 PS
1 E5V 2 E0V
2 V 3 E0V
Connector Kit for Motor/Encoder Connection NC NC

Options
3 4 6 E5V

PS PS 3 W
5 6 2 BAT–
Applicable MSMD 50W to 750W, MHMD 200W to 750W
Part No. DV0P4290 model
PE E FG BAT+
(absolute encoder type) 1 5
( Case
FG )
※インクリメンタルエンコーダの場合は
• Components
 2 ピンと 5 ピンは使用しません。
Title Part No. Number Manufacturer Note

Information
Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins) MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW
Connector 172161-1 1 Applicable Without
For junction cable to Part No. DV0PM20036 model MHME 1.0kW to 1.5kW, MGME 0.9kW
Tyco Electronics AMP
encoder (9-pins) brake
Connector pin 170365-1 9 (All model 200V and 400V commonness)
Connector 172159-1 1 For junction cable to
Tyco Electronics AMP • Components
Connector pin 170366-1 4 motor power (4-pins)
Title Part No. Number Manufacturer Note
• Pin disposition of connector, • Pin disposition of junction cable • Pin disposition of junction cable
Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins)
connector X6 for motor power for encoder
Encoder connector JN2DS10SL1-R 1 Japan Aviation For junction cable to
1 E5V 2 E0V Connector pin JN1-22-22S-PKG100 5 Electronics Ind. encoder
3 E5V 4 E0V
1 2 3
Motor connector JL04V-6A-20-4SE-EB-R 1 Japan Aviation For junction cable to
5 PS 6 PS 1 2 BAT+ BAT– FG Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. motor power
U V 4 5 6
3 4 PS PS NC
W E 7 8 9

( Case
FG )
E5V E0V NC
MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
Without
Applicable
* When you connect the battery for absolute encoder, refer to P.125, "When you make your own cable for 17-bit absolute encoder" Part No. DV0PM20037 model MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW
brake
(All model 200V and 400V commonness)
Applicable MSMD 50W to 750W, MHMD 200W to 750W
Part No. DV0P4380 model • Components
(incremental encoder type)
Title Part No. Number Manufacturer Note
• Components Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins)
Title Part No. Number Manufacturer Note Encoder connector JN2DS10SL1-R 1 Japan Aviation For junction cable to
Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins) Connector pin JN1-22-22S-PKG100 5 Electronics Ind. encoder
Connector 172160-1 1 For junction cable to
Tyco Electronics AMP Motor connector JL04V-6A22-22SE-EB-R 1 Japan Aviation For junction cable to
Connector pin 170365-1 6 encoder (6-pins)
Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. motor power
Connector 172159-1 1 For junction cable to
Tyco Electronics AMP
Connector pin 170366-1 4 motor power (4-pins)

• Pin disposition of connector, • Pin disposition of junction cable • Pin disposition of junction cable
connector X6 for motor power for encoder

1 E5V 2 E0V
3 E5V 4 E0V
5 PS 6 PS 1 2 1 2 3
U V NC PS PS
3 4 4 5 6
W E E5V E0V FG

( Case
FG )

122 123
 Options Connector Kit Options Battery For Absolute Encoder

MSME 1.0kW to 2.0kW, MDME 1.0kW to 2.0kW

With
Battery For Absolute Encoder
Applicable
Part No. DV0PM20038 model MHME 1.0kW to 1.5kW, MGME 0.9kW
brake
(All model 200V) Part No. DV0P2990

Driver
• Components • Lithium battery: 3.6V 2000mAh
84
Lead wire length 50mm <Caution>
Title Part No. Number Manufacturer Note DV0P2990
This battery is categorized as
Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins)
00090001
ZHR-2
(J.S.T Mfg. Co., Ltd.) hazardous substance, and you may
Encoder connector JN2DS10SL1-R 1 Japan Aviation For junction cable to
14.5
1 2 be required to present an application
Connector pin JN1-22-22S-PKG100 5 Electronics Ind. encoder BAT+ BAT–
of hazardous substance when you
Motor connector JL04V-6A20-18SE-EB-R 1

Motor
Japan Aviation For junction cable to 18
transport by air (both passenger and
Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. motor power
　　 cargo airlines).
Paper insulator

(200V) Battery Box For Absolute Encoder

MSME 3.0kW to 5.0kW, MDME 3.0kW to 5.0kW
Applicable MHME 2.0kW to 5.0kW, MGME 2.0kW to 3.0kW With Part No. DV0P4430
Part No. DV0PM20039 model (400V) brake

Options
MSME 1.0kW to 5.0kW, MDME 1.0kW to 5.0kW (112)
(110)
MHME 1.0kW to 5.0kW, MGME 0.9kW to 3.0kW R5

• Components DV0P4430

(31)
P04090001*

Title Part No. Number Manufacturer Note

Connector 55100-0670 1 Molex Inc For Connector X6 (6-pins)

Information
Encoder connector JN2DS10SL1-R 1 Japan Aviation For junction cable to

(27)
Connector pin JN1-22-22S-PKG100 5 Electronics Ind. encoder 　
Motor connector JL04V-6A24-11SE-EB-R 1 Japan Aviation For junction cable to
Cable clamp JL04-2428CK(17)-R 1 Electronics Ind. motor power 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 encod-
er, DV0P2060 or DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder
Connector Kit for Motor/Brake Connection shall be provided by customer as well.
Part No. DV0PM20040 <Caution>
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause
• Components the wire breakdown or damage of the battery.
Title Part No. Number Manufacturer Note Refer to the instruction manual of the battery for handling the battery.
Connector JN4FT02SJM-R 1 • Installation Place
Japan Aviation
Electronics Ind. 1) Indoors, where the products are not subjected to rain or direct sun beam.
Handle lever ST-TMH-S-C1B-3500 2
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are 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
Pin number when a connector (readwire type motor) is used
• Wiring Junction connector for Pin number when a connector (small motor) is used Connector, X6
Diagram encoder cable
Pin number when a connector (large motor) is used (Optional connector kit)
(Optional connector kit)
7 (6) (4) 1
E5V E5V
8 (3) (1) 2
E0V E0V
Battery box for absolute encoder:
DV0P2990
Twisted
*1 pair
1 (5) (6) 1 1 Battery 5
BAT+ BAT+ BAT+ PS
2 (2) (5) 2 2 6
BAT– BAT– BAT– PS
4 (7) (3)
PS Connector, ZHR-2 FG (Case)
5 (4) (7) (by J.S.T.)
PS
3 (1) (9)
FG

Title Part No. Manufacturer

Connector ZMR-2 J.S.T.
Connector pin SMM-003T-P0.5 J.S.T.
Connector for absolute encoder connection
Clamping Jig YRS-800 J.S.T. (To be provided by customer) *1 Battery for absolute encoder (Option): DV0P2990

124 125
 Options Mounting Bracket Options Reactor

Frame symbol of Fig.1 Fig.2

Part No. DV0PM20027 applicable driver A-frame Mounting screw M4 × L6 Pan head 4pcs 2-I E
X Y Z
H F

Driver
2-M4, Pan head 2-M4, Pan head NP

2-

2-
C

C
5

D
A

C
R S T
17

17
9.5

9.5
Bottom side
Dimensions

6-I
Upper side

24 11 ±0.2 5 11 ±0.2
E

2.5
2-R 5.2
2.5
A 4-H F F: Center-to-center
.2 ss
1
ss
H F (Mounting pitch) (Mounting pitch)
distance on
ø5 R2 rl
e R2 rl
e B G
R

R
slotted hole
2

2
o o
R1 R1

2.5

2.5

D
15

15
A
10

10

Motor
7 33
40 40

A 4-H F F: Center-to-center distance

(Mounting pitch) (Mounting pitch)
B G on outer circular arc
Frame symbol of
Part No. DV0PM20028 applicable driver B-frame Mounting screw M4 × L6 Pan head 4pcs
Inductance Rated
　 Part No. A B C D E (Max) F G H I current
(mH) (A)
2-M4, Pan head 2-M4, Pan head
2-

2-
DV0P220 65±1 125±1 (93) 136Max 155 70+3/−0 85±2 4-7φ×12 M4 6.81 3
C

Options
5

5
DV0P221 60±1 150±1 (113) 155Max 130 60+3/−0 75±2 4-7φ×12 M4 4.02 5
17

17
9.5

9.5
DV0P222 60±1 150±1 (113) 155Max 140 70+3/−0 85±2 4-7φ×12 M4 2 8
Bottom side
Dimensions

Upper side

Fig.1
24 18 ±0.2 5 18 ±0.2 DV0P223 60±1 150±1 (113) 155Max 150 79+3/−0 95±2 4-7φ×12 M4 1.39 11
2-R 5.2
.2
2.5 1 2.5 DV0P224 60±1 150±1 (113) 160Max 155 84+3/−0 100±2 4-7φ×12 M5 0.848 16
R2 ss R2 ss
ø5 le le
DV0P225 60±1 150±1 (113) 160Max 170 100+3/−0 115±2 4-7φ×12 M5 0.557 25
R

R
or or
2

2
R1 R1
DV0P227 55±0.7 80±1 66.5±1 110Max 90 41±2 55±2 4-5φ×10 M4 4.02 5
2.5

2.5
15

15

Fig.2
10

10
DV0P228 55±0.7 80±1 66.5±1 110Max 95 46±2 60±2 4-5φ×10 M4 2 8

Information
7 40
47 47
* For application, refer to P.16, 17 “Table of Part Numbers and Options”.

Part No. DV0PM20029

Frame symbol of
C-frame Mounting screw M4 × L6 Pan head 4pcs Harmonic restraint
applicable driver
On September, 1994, “Guidelines for harmonic restraint on heavy consumers who receive power through
2-M4, Pan head 2-M4, Pan head high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household
2-

2-
C

electrical appliances and general-purpose articles” established by the Agency for Natural Resources
5

5
17

and Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and
17

9.5
9.5

Bottom side
Dimensions

Upper side

30 ±0.2 30 ±0.2 Industry). According to those guidelines, the Japan Electrical Manufacturers’ Association (JEMA) have
2
2.5
2-R
1
5.2
2.5 prepared technical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and
. ss R2 ss
ø5 R2 e le
rl JEM-TR 201) and have been requesting the users to understand the restraint and to cooperate with us.
R
R

or
2
2

o
R1 R1
On January, 2004, it has been decided to exclude the general-purpose inverter and servo driver from the
2.5

2.5
15
15

10
10

20 20 “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”. After
40 40
that, the “Guidelines for harmonic restraint on household electrical appliances and general-purpose ar-
ticles” was abolished on September 6, 2004.
Part No. DV0PM20030
Frame symbol of
D-frame Mounting screw M4 × L6 Pan head 4pcs We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose
applicable driver
inverter and servo driver was modified as follows.
2-M4, Pan head 2-M4, Pan head 1. All types of the general-purpose inverters and servo drivers used by specific users are under the con-
2-

2-
C

C
5

trol of the “Guidelines for harmonic restraint on heavy consumers who receive power through high
17
17

voltage system or extra high voltage system”. The users who are required to apply the guidelines must
9.5
9.5

Bottom side
Dimensions

Upper side

5 36 ±0.2 19 36 ±0.2
calculate the equivalent capacity and harmonic current according to the guidelines and must take ap-
5.2 5.2
2.5 1 2.5
propriate countermeasures if the harmonic current exceeds a limit value specified in a contract de-
.2

s 4-R ss
es
ø5

R2 l R2 le
R

R
2-

or or
mand. (Refer to JEM-TR 210 and JEM-TR 225.)
2

R1 R1
2.5

2.5
15

15

2. The “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”
10

10

10 40 ±0.2
60
10 40 ±0.2
60
was abolished on September 6, 2004. However, based on conventional guidelines, JEMA applies the
technical documents JEM-TR 226 and JEM-TR 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
<Caution> voltage system” from a perspective on enlightenment on general harmonic restraint. The purpose of
For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost
L-shape bracket (attachment). extent.

<Remarks> When using a reactor, be sure to install one reactor to one servo driver.

126 127
 Options External Regenerative Resistor Options Surge absorber for motor brake

Specifications Motor Part No. Manufacturer

Rated power (reference) * Activation
Manufacturer's
Part No. Resistance temperature of MSME 50W to 750W Z15D271 Ishizuka Electronics Co.
part No. Free air with fan [W]

Driver
built-in thermostat
Ω [W] 1m/s 2m/s 3m/s
MHME 2.0kW to 5.0kW
DV0P4280 RF70M 50 10 25 35 45
DV0P4281 RF70M 100 10 25 35 45 MGME 0.9kW to 2.0kW
DV0P4282 RF180B 25 17 50 60 75 140±5℃
B-contact MSME 1.0kW to 5.0kW Z15D151 Ishizuka Electronics Co.
DV0P4283 RF180B 50 17 50 60 75 Open/Close capacity
DV0P4284 RF240 30 40 100 120 150 (resistance load) MDME 4.0kW to 5.0kW

Motor
4A 125VAC 10000 times
DV0P4285 RH450F 20 52 130 160 200 2.5A 250VAC 10000 times MGME 3.0kW
DV0PM20048 RF240TF 120 35 80 70 75
DV0PM20049 RH450FTF 80 65 190 100 110 MDME 1.0kW to 3.0kW
TND09V-820KB00AAA0 Nippon Chemi_Con Co.
Manufacturer : Iwaki Musen Kenkyusho * Power with which the driver can be used MHME 1.0kW to 1.5kW
without activating the built-in thermostat.
DV0P4280, DV0P4281

Options
300 65 Power supply
57
2-φ4.5
Frame Single phase, Single phase,
200V 3-phase, 400V
100V
21 3-phase, 200V
52
13

60

DV0P4281
13

A DV0P4280
8

450
17
13

thermostat 30 —
B DV0P4283 DV0P4283

Information
10MAX

(light yellow x2)

1.5

C DV0P4282
7

D DV0P4284 DV0PM20048
DV0P4282, DV0P4283
170±1 E DV0P4285 DV0PM20049
thermostat —
5 160±0.5 5
6-φ4.5 (light yellow ×2) DV0P4285 DV0PM20049
F
24 × 2 in parallel × 2 in parallel
56±0.5

<Remarks>
85±1

450
23

7
28±0.5

10
300±30
Thermal fuse is installed for safety.
25.5
14.5

Drawing process Compose the circuit so that the power

6.8

(2mm MAX)
will be turned off when the thermostat is
10MAX
2.5

activated. The thermal fuse may blow due

DV0P4284, DV0PM20048 to heat dissipating condition, working
300
290
280
(5) temperature, supply voltage or load
thermostat
300 (light yellow ×2) fluctuation.
Make it sure that the surface temperature
.5
φ4
of the resistor may not exceed 100˚C at the
100
25
4.5

70

53 450
worst running conditions with the machine,
15
14

300
which brings large regeneration (such case
15

10 71 10
as high supply voltage, load inertia is large
10MAX

9MAX

or deceleration time is short) Install a fan

for a forced cooling if necessary.
DV0P4285, DV0PM20049
300
278
<Caution>
4-φ4.5
450
thermostat
(light yellow ×2)
Regenerative resistor gets very hot.

450 Take preventive measures for fire

and burns.
130
140

100

Avoid the installation near

50

inflammable objects, and easily

20

accessible place by hand.

288
11
18

128 129
 Options List of Peripheral Equipments

Manufacturer Tel No. / Home Page Peripheral components

Automation Controls Company 81-6-6908-1131 Circuit breaker

Panasonic Electric Works, Co.,Ltd http://panasonic-denko.co.jp/ac Surge absorber

81-44-833-4311
Iwaki Musen Kenkyusho Co., Ltd. Regenerative resistor
http://www.iwakimusen.co.jp/

81-3-5436-7711
Nippon Chemi-Con Co.
http://www.chemi_con.co.jp/ Surge absorber
81-3-3621-2703 for holding brake
Ishizuka Electronics Corp.
http://www.semitec.co.jp/

81-3-5201-7229
TDK Corp. Noise filter for signal lines
http://www.tdk.co.jp/

81-3-4544-7040 Surge absorber

Okaya Electric Industries Co. Ltd.
http://www.okayatec.co.jp/ Noise filter

81-3-3780-2717
Japan Aviation Electronics Industry, Ltd.
http://www.jae.co.jp

81-3-5716-7290
Sumitomo 3M
http://www.mmmco.jp

81-44-844-8111
Tyco Electronics AMP k.k, http://www.tycoelectronics.com/ Connector
japan/amp

81-462-65-2313
Japan Molex Inc.
http://www.molex.co.jp

81-45-543-1271
J.S.T. Mfg. Co., Ltd.
http://www.jst-mfg.com/index_i.html

81-3-5805-5880
Daiden Co., Ltd. Cable
http://www.dyden.co.jp/

81-44-813-8236
Mitutoyo Corp.
http://www.mitutoyo.co.jp
External scale
81-3-3490-3920
Sony Manufacturing Systems Corp.
http://www.sonysms.co.jp/
* The above list is for reference only. We may change the manufacturer without notice.

130
 Information

Driver
Contents

Motor
Setup support software “PANATERM”........................................................................ F2

Motor capacity selection software

AC servo motor capacity selection software . ......................................................... F3

Option selection software for AC servo motor ........................................................ F3

Options
Guide to the International System of Units (SI) ......................................................... F4

Selecting Motor Capacity .......................................................................................... F6

Request Sheet for Motor Selection ......................................................................... F12

Connection between Driver and Controller ............................................................. F20

Information
Index (Alphabetical order) ....................................................................................... F25

Sales Office ............................................................................................................. F32

F1
 Motor capacity AC servo motor capacity selection software
Setup support software Setup support software “PANATERM” selection software Option selection software for AC servo motor

先進機能満載の次世代サポートツール AC servo motor capacity selection software

新しくなったセットアップ支援ソフトウェア「PANATERM」のご紹介 We have prepared PC software “M-SELECT” for AC servo motor capacity selection.

Driver
Consult our sales representative or authorized distributor.
■パソコン上で監視・設定・解析 • Three-step selection
・USB通信により、アンプ・パソコン間のアクセスが高速に。
1. Select components and specified values 3. Select the motor
・4言語対応（日・英・中・韓）。 Select appropriate mechanical parameter items When the data required in step 1 and 2 above
・Windows Vista、Windows XP（SP3）対応（現行32ビット版のみ）。 and fill them with parameter values derived from have been input, the software lists the motors,
the real machine. which will be
To simulate the appropriate to

Motor
target machine use with your
as practical as machine. Select
設定 調整 possible, use the motor that is
maximum best suitable for
number of your machine
parameters application.
available.

Options
2. Enter operation pattern Details of motor
Input the planned operation pattern that will contain Once the motor is selected, specifications of the
入力し易い階層別パラメータ表示 発振時剛性自動低減付きゲイン調 [speed and rotation standard] or [absolute position motor and amplifier, and details of reason for
整専用画面追加 standard] with determination
optional settings are displayed
such as and may be

Information
S-acceleration/de printed out.
celeration.
モニタ 試運転

Option selection software for AC servo motor

録再機能装備のユニバーサルモニタ 動作範囲制限で安心な試運転機能搭載 We have prepared PC software to enable fast, easy, and correct option selection, a complicated job without the software.
• Two procedures for option selection
1. Selection according to driver series
Driver series
and motor type
Suitable option can be selected by selecting driver
解析 その他 Motor type
series, motor type and motor specification through
・周波数特性測定 pulldown menu.

・トラブルシュート Motor specification

・アナログ入力調整
・Ｚ相サーチ機能 Model number input area
・アラームモニタ
測定対象が大幅増加高機能波形グラフィック ・外部ツール使用による機能拡張 2. Entry of model number
If you know the model number based on the servo
motor and driver currently used, enter the model
Hardware configuration number. Tab
CPU Pentium 100MHz or more
Memory 256MB or more (512MB recommended)    Result of selection
Personal Hard disk capacity Vacancy of 512MB or more recommended Tab sheet specific to each of option model numbers
computer
Windows® XP SP3, Windows® Vista SP1 (Japanese/US/Chinese version) is used for easier identification of the desired option.
OS
※64bit版Windows(x64)には非対応
serial communication port USB port * When you are using the motor capacity selection
Resolution 1024 × 768pix or more (desirably 1024 × 768) software, simply press [Option Selection] tab and
Display Number of colors 24bit colors (TrueColor) or more
the screen as shown right will appear.

Please download from our web site and use after install to the PC. http://panasonic.co.jp/motor/ Please download from our web site and use after install to the PC. http://panasonic.co.jp/motor/

F2 F3
 Guide to the International Guide to the International
System of Units (SI) Organization of the system of units System of Units (SI) Major compatible unit
SI unit Table 5 : Prefix
Symbol of Symbol of SI unit and
(Multiples of 10) Quantity conventional unit compatible unit Conversion value

Driver
Length μ (micron) μm 1μ=1μm (micrometer)
Acceleration Gal m/s2 1Gal=10-2m/s2
Table1: Basic unit Table 2: Auxiliary unit Derived unit
G m/s 2
1G=9.806 65m/s2
Frequency c/s, c Hz 1c/s=Hz
Revolving speed, Number of revolutions rpm s-1 or min–1, r/min 1rpm=1min-1
Table 4 : Unit combined Table 3 : Derived unit with Other derived unit Weight kgf –
Same value
with SI unit proper name Mass – kg

Motor
Weight flow rate kgf/s –
Same value
Mass flow rate – kg/s
Table1: Basic unit Table 2: Auxiliary unit Specific weight kgf/m3 –
Same value
Quantity Name of unit Symbol of unit Quantity Name of unit Symbol of unit Density – kg/m3
Length meter m Specific volume m3/kgf m3/kg Same value
Plane angle radian rad
Weight kilogram kg Load kgf N 1kgf=9.806 65N
Time second s Solid angle steradian sr
Force kgf N 1kgf=9.806 65N

Options
Current ampere A 1dyn=10-3N
dyn N
Thermodynamic temperature kelvin K
Moment of force kgf-m N-m 1kgf-m=9.806 N • m
Amount of substance mol mol
Pressure kgf/cm2 Pa, bar (2) or kgf/cm2 1kgf/cm2=9.806 65 x 104Pa=0.980
Luminous intensity candela cd
at (Engineering atmospheric pressure) Pa 665bar
atm (Atmospheric pressure) Pa 1at=9.806 65 x 104Pa
Table 3: Major derived unit with proper name mH2o, mAq Pa 1atm=1.013 25 x 103Pa

Information
Symbol of Derivation from basic unit, mmHg Pa or mmHg (2)
1mH2O=9.806 65 x 103Pa
Quantity Name unit auxiliary unit or other derived unit Torr Pa 1mmHg=133.322Pa
Frequency hertz Hz 1Hz=1s–1 Stress kgf/mm2 Pa or N/m2 1kgf/mm2=9.806 65 x 104Pa
Force newton N 1N=1kg•m/s2 =9.806 65 x 106N/m2
Pressure, Stress pascal Pa 1Pa=1N/m2 kgf/cm2 Pa or N/m2 1kgf/cm2=9.806 65 x 104Pa
Energy, Work, Amount of heat joule J 1J=1N•m =9.806 65 x 104N/m2
Amount of work, Work efficiency, Power, Electric power watt W 1W=1J/s Elastic modulus kgf/m 2
Pa or N/m 2 1kgf/m 9.806 65Pa=9.806 65N/m2
2=

Electric charge, Amount of electricity coulomb C 1C=1A•s 1kgf/cm2=9.806 65 x 104N/m2

Electric potential, Potential difference, Voltage, Electromotive force volt V 1V=1J/C Energy, Work kgf-m J (joule) 1kgf • m=9.806 65J
Electrostatic capacity, Capacitance farad F 1F=1C/V erg J 1erg=107J
Electric resistance ohm Ω 1Ω=1V/A Work efficiency, Power kgf-m/s W (watt) 1kgf-m/s=9.806 65W
Electric conductance siemens S 1S=1Ω–1 PS W 1PS=0.735 5kW
Magnetic flux weber Wb 1Wb=1V•s Viscosity PP Ps-s 1P=0.1Pa-s
Magnetic flux density, Magnetic induction tesla T 1T=1Wb/m2 Kinetic viscosity St mm /s 2 10-2St=1mm2/s
Inductance henry H 1H=1Wb/A Thermodynamic temperature K K (kelvin) 1K=1K
Degree centigrade (Celsius) degree centigrade (Celsius) / degree ˚C t˚C=(t+273.15)K Temperature interval deg K (3) 1deg=1K
Luminous flux lumen lm 1lm=1cd•sr Amount of heat cal J 1cal=4.186 05J
Illuminance lux lx 1lx=1lm/m2 Heat capacity cal/˚C J/K (3) 1cal/˚C=4.186 05J/K
Specific heat, Specific heat capacity cal/ (kgf • ˚C) cal/ (kgf • K)(3) 1cal/ (kgf • ˚C)=4.186 05J/ (kg • K)

Table 4: Unit combined with SI unit Table 5: Prefix Entropy

Specific entropy
cal/K
cal/ (kgf • K)
J/K
J/(kg • K)
1cal/K=4.186 05J/K
1cal/ (kgf • K)=4.186 05J/ (kg • K)
Multiples powered Prefix
Quantity Name Symbol of unit Internal energy (Enthalpy) cal J 1cal=4.186 05J
to unit Name Symbol
minute min 10
18
exa E Specific internal energy (Specific enthalpy) cal/kgf J/kg 1cal/kgf=4.186 05J/kg
10
15
peta P Heat flux cal/h W 1kcal/h=1.162 79W
Time hour h
10
12
tera T Heat flux density cal/ (h • m2) W/m 2 1kcal (h • m2)=1.162 79W/m2
day d 10
9
giga G
1kcal (h • m • ˚C)=1.162 79W/ (m • K)
Thermal conductivity cal/ (h • m • ˚C) W/ (m • K) (3)
10
6
mega M
degree ˚ 10
3
kilo k Coefficient of thermal conductivity cal/ (h • m ˚C)2•
W/ (m • K)
2 (3) 1kcal (h • m • ˚C)=1.162 79W/ (m2 • K)
hecto h 1Oe=102/ (4π)A/m
2
10 Intensity of magnetic field Oe A/m
Plane angle minute '
10 deca da Magnetic flux Mx Wb (weber) 1Mx=10-3Wb
second " 10
-1
deci d
Magnetic flux density Gs,G T (tesla) 1Gs=10-4T
10
-2
centi c
Volume liter l, L 10
-3
milli m Note
10
-6
micro μ (1) Applicable to liquid pressure. Also applicable to atmospheric pressure of meteorological data, when “bar” is used in international standard.
Weight ton t 10
-9
nano n (2) Applicable to scale or indication of blood pressure manometers.
pico p (3) “˚C” can be substituted for “K”.
-12
10
10
-15
femto f
10
-18
atto a

F4 F5
 Description on the items related to
Selecting Motor Capacity Flow of motor selection Selecting Motor Capacity motor selection

Flow of motor selection Description on the items related to motor selection

1. Definition of mechanism to be driven by motor. 1. Torque

Driver
Define details of individual mechanical components (ball screw length, lead and pulley diameters, etc.) (1) Peak torque
Indicate the maximum torque that the motor requires during operation (mainly in acceleration and
<Typical mechanism> deceleration steps). The reference value is 80% or less of the maximum motor torque. If the torque is a
Ball screw mechanism Belt mechanism Rack & pinion, etc. negative value, a regenerative discharge resistor may be required.
(2) Traveling torque, Stop holding torque
Indicates the torque that the motor requires for a long time. The reference value is 80% or less of the

Motor
rated motor torque. If the torque is a negative value, a regenerative discharge resistor may be required.

2. Definition of operating pattern. Traveling torque calculation formula for each mechanism
Acceleration/deceleration time, Constant-velocity time, Stop time, Cycle time, Travel distance

Options
Ball screw mechanism P
Traveling torque Tf= (μ g W+F)
Velocity F 2π
Travel distance
W
(slashed area) W : Weight [kg] : Mechanical efficiency
P : Lead [m] μ : Coefficient of friction
P F : External force [N] g : Acceleration of gravity 9.8[m/s2]

Information
Time

Acceleration Constant- Deceleration Stop time

time velocity time time
Belt mechanism D
Cycle time Traveling torque Tf= (μ g W + F)
2π
F
W W : Weight [kg] : Mechanical efficiency
Note) Selection of motor capacity significantly varies depending on the operating pattern.
D P : Pulley diameter [m] μ : Coefficient of friction
The motor capacity can be reduced if the acceleration/deceleration time and stop time are set
as long as possible. F : External force [N] g : Acceleration of gravity 9.8[m/s2]

3. Calculation of load inertia and inertia ratio.

Calculate load inertia for each mechanical component. (Refer to "General inertia calculation method" (3) Effective torque
described later.) Indicates a root-mean-square value of the total torque required for running and stopping the motor per
Divide the calculated load inertia by the inertia of the selected motor to check the inertia ratio. unit time. The reference value is approx. 80% or less of the rated motor torque.
For calculation of the inertia ratio, note that the catalog value of the motor inertia is expressed
as "× 10–4kg•m2". Ta2 x ta + Tf2 x tb + Td2 x td
Trms =
tc
4. Calculation of motor velocity
Calculate the motor velocity from the moving distance, acceleration / deceleration time and T a : Acceleration torque [N • m] t a : Acceleration time [s] t c : Cycle time [s]
constant-velocity time. T f : Traveling torque [N • m] t b : Constant-velocity time [s] (Run time + Stop time)
T d : Deceleration torque [N • m] t d : Deceleration time [s]
5. Calculation of torque
Calculate the required motor torque from the load inertia, acceleration/deceleration time and 2. Motor velocity
constant-velocity time. Maximum velocity
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value.
6. Calculation of motor When the motor runs at the maximum velocity, you must pay attention to the motor torque and
Select a motor that meets the above 3 to 5 requirements. temperature rise. For actual calculation of motor velocity, see "Example of motor selection" described later.

F6 F7
 Description on the items related to
Selecting Motor Capacity motor selection Selecting Motor Capacity To drive ball screw mechanism

To drive ball screw mechanism

3. Inertia and inertia ratio 1. Example of motor selection for driving ball screw mechanism

Driver
Inertia is like the force to retain the current moving condition. Workpiece weight WA = 10 [kg]
Inertia ratio is calculated by dividing load inertia by rotor inertia. Ball screw length B L = 0.5 [m]
Generally, for motors with 750 W or lower capacity, the inertia ratio should be “20” or less. For motors with Ball screw diameter B D = 0.02 [m]
1000 W or higher capacity, the inertia ratio should be “10” or less. Ball screw pitch B P = 0.02 [m]
If you need quicker response, a lower inertia ratio is required. Ball screw efficiency B = 0.9

(
For example, when the motor takes several seconds in acceleration step, the inertia ratio can be further
) Travel distance 0.3[m]

Motor
increased. Coupling inertia Jc = 10 x 10– 6 [kg • m2] (Use manufacturer-specified catalog value, or calculation value.)

2. Running pattern :
General inertia calculation method Acceleration time ta = 0.1 [s]
Velocity
Travel distance
(slashed area)

Shape J calculation formula Shape J calculation formula Constant-velocity time tb = 0.8 [s]
Deceleration time td = 0.1 [s]
1 Cycle time tc = 2 [s] Time

Options
Disk 1 Hollow cylinder J= W(D 2 + d 2) [kg • m 2]
J = WD 2 [ k g • m 2] Travel distance 0.3[m]
Acceleration Constant- Deceleration Stop time

8 d
8 time velocity time time
Cycle time

W : Weight [ kg]
W : Weight [kg] 2 2
× π × BD × BL = 7.9 × 103 × π × 0.02
D
D : Outer diameter [m] 3. Ball screw weight BW = × 0.5
D : Outer diameter [m] D 2 2
d : Inner diameter [m] = 1.24 [kg]

Information
Prism 1 Uniform rod 1 4. Load inertia JL = JC + JB = JC + 1 BW × BD2 + WA B2P
• 2

J= W (a2 + b2) [ k g • m 2] J= W(3D 2 + 4L 2) [kg • m 2] 8 4π

12 48
= 0.00001 + (1.24 × 0.022 ) / 8 + 10 × 0.022 / 4 π 2
W : Weight [ kg]
c W : Weight [kg] = 1.73 × 10–4 [ k g • m 2]
D D : Outer diameter [m]
a, b, c : Side length [m] L/2 5. Provisional motor selection
a b
L/2 L : Length [m]
In case of 200 W motor : JM = 0.17 × 10–4 [ k g • m 2]
1 1
Straight rod J= WL 2 [ k g • m 2]
Separated rod J= WD 2 + WS 2 [kg • m 2] 6. Calculation of inertia ratio
3 S
8 JL / JM = 1.73 x 10–4 / 0.17 x 10–4 Therefore, the inertia ratio is "10.2" (less than "20")
W : Weight [ kg] (In case of 100 W motor: JM = 0.064 x 10–4 Therefore, the inertia ratio is "27.0".)
W : Weight [kg]
L
D : Outer diameter [m]
L : Length [m] D 7. Calculation of maximum velocity (Vmax)
S : Distance [m] 1 1
× Acceleration time× Vmax+ Constant-velocity time× Vmax+ × Deceleration time× Vmax = Travel distance
2 2
Reduction gear Inertia on shaft "a" 1 1
× 0.1 × Vmax + 0.8 × Vmax + × 0.1 × Vmax = 0.3
n 2 2
a J = J 1 + ( n 2 ) 2 J 2 [ k g • m 2] 0.9 × Vmax = 0.3
J1 n1 1

n2 J2 n 1 : A rotational speed of a shaft [r/min] = 0.3 / 0.9 = 0.334 [m/s]

b

n 2 : A rotational speed of b shaft [r/min]

8. Calculation of motor velocity (N [r/min]) Ball screw lead per resolution: BP = 0.02 [m]
1 N = 0.334 / 0.02 = 16.7 [r/s]
Conveyor J= WD 2 [ k g • m 2] Ball screw W • P2
J = JB + [kg • m 2] = 16.7 × 60 = 1002 [min–1] < 3000 [min–1] (Rated velocity of 200W motor)
4 4π2
W : Workpiece weight on conveyor [kg] 9. Calculation of torque
F W : Weight [ kg]
W W
Traveling torque Tf = BP (μ g WA + F ) = 0.02 ( 0 . 1 × 9.8 × 10 + 0)
D D : Drum diameter [m] P : Lead 2 πB 2π x 0.9
* Excluding drum J
P JB : J of ball screw = 0 . 0 3 5 [N m ]
•

(JL + JM) × 2πN [ r / s ]

Acceleration torque T a = + Traveling torque
If weight (W [kg]) is unknown, calculate it with the following formula:
Acceleration time [s]
Weight W[kg]=Density [kg/m3] x Volume V[m3] (1.73 × 10–4 + 0.17 × 10–4) × 2π × 1 6 . 7
= + 0.035
Density of each material 0.1
Iron =7.9 x 103 [kg/m3] Aluminum =2.8 x 103 [kg/m3] = 0 . 1 9 9 + 0 . 0 3 5 = 0 . 2 3 4 [ N •m ]
Brass =8.5 x 103 [kg/m3]

F8 F9
 To drive ball screw mechanism
Selecting Motor Capacity Example of motor selection Selecting Motor Capacity Example of motor selection

6. Calculation of maximum velocity (Vmax)

(JL + JM) × 2πN [r/s]

Driver
Deceleration torque Td = – Traveling torque 1 × Acceleration time× Vmax+ Constant-velocity time× Vmax+ 1 × Deceleration time× Vmax=Travel distance
Deceleration time [s]
2 2
(1.73 × 10–4 + 0.17 × 10–4) × 2π × 16.7 1 × 0.1 × Vmax + 0.8 × Vmax + 1 × 0.1 × Vmax = 1
= – 0.035
0.1 2 2
= 0 . 1 9 9 – 0.035 = 0.164 [ N • m]
0.9 × Vmax = 1
10. Verification of maximum torque Vmax = 1 / 0.9 = 1.111[m/s]

Motor
Acceleration torque = Ta = 0.234 [ N • m] < 1.91 [ N • m] (Maximum torque of 200 W motor)

7. Calculation of motor velocity (N [r/min])

11. Verification of effective torque
A single rotation of pulley : π × PD = 0.157[m]
Ta2 × ta + Tf2 × tb + Td2 × td
Trms = N = 1.11 / 0.157 = 7.08[r/s]
tc
= 7.08 × 60 = 424.8[min–1] < 3000[min–1] (Rated velocity of 750 W motor)

Options
0 . 2 3 4 × 0 . 1 + 0 . 0 3 5 × 0.8 + 0.164 × 0.1
2 2 2
=
2
8. Calculation of torque
= 0.065 [N • m ] < 0.64 [N • m ] (Rated torque of 200 W motor)

12. Judging from the inertia ratio calculated above, selection of 200 W motor is preferable,
Traveling torque T f = PD (μgWA + F) = 0.05 (0.1 × 9.8 × 3 + 0)
2 2 × 0.8
although the torque margin is significantly large.
= 0.092[N • m ]

Information
Acceleration torque
(JL + JM) x 2πN [ r / s ]
Example of motor selection Ta = + Traveling torque
Acceleration time[s]
Example of motor selection for timing belt mechanism (21.9 × 10–4 + 1.31 × 10–4) × 2π × 7.08
= + 0.092
1.Mechanism Workpiece weight WA =3[kg] (including belt)
0.1
Pulley diameter P D =0.05[m]
= 1.032 + 0.092 = 1.124[ N • m ]
Pulley weight WP =0.5[kg] (Use manufacturer-specified catalog value, or calculation value.)
Mechanical efficiency B = 0.8 (JL + JM) × 2πN [ r / s ]
Deceleration torque Td = – Traveling torque
Coupling inertia Jc = 0 (Direct connection to motor shaft)
Deceleration time[s]
Belt mechanism inertia JB (21.9 × 10–4 + 1.31 × 10–4) × 2π × 7.08
= – 0.092
0.1
Pulley inertia JP
= 1.032 – 0.092 = 0.94[ N • m ]
2. Running pattern
Velocity
Acceleration time ta = 0.1[s] Travel distance
(slashed area)
Constant-velocity time tb = 0.8[s] 9. Verification of maximum torque
Deceleration time td = 0.1[s]
Cycle time tc = 2[s] Time Acceleration torque Ta = 1.124[ N • m ] < 7.1[ N • m ] (Maximum torque of 750 W motor)
Travel distance 1[m] Acceleration Constant-
time velocity time
Deceleration Stop time
time
Cycle time 10. Verification of effective torque
3. Load inertia JL = JC + JB + JP
Ta2 × ta + Tf2 × tb + Td2 × td
= JC + 1 WA × PD2 + 1 WP × PD2 × 2 Trms =
4 8 tc
1 1
=0 + × 3 × 0.05 +
2
× 0.5 × 0.05 2 × 2 1.124 2 × 0.1 + 0.092 2 × 0.8 + 0.94 2 × 0.1
4 8 =
= 0.00219 = 21.9 × 10–4 [ k g • m 2] 2
= 0.333 [N • m ] < 2.4 [ N • m ] (Rated torque of 750 W motor)
4. Provisional motor selection
In case of 750 W motor : JM = 1.31 × 10–4 [kg • m 2]
11. Judging from the above calculation result, selection of 750W motor is acceptable.
5. Calculation of inertia ratio
JL / JM = 21.9 × 10–4 / 1.31 × 10–4 Therefore, the inertia ratio is "16.7" (less than "20")

F10 F11
 Customer Service Technical Support Center, Customer Service Technical Support Center,
Request Sheet for Motor Selection Motor Company, Panasonic Corporation Request Sheet for Motor Selection Motor Company, Panasonic Corporation

1. Driven mechanism and running data 1. Driven mechanism and running data Motor side Motor side

Driver
1) Travel distance of the work load per one cycle 1: mm 15) Diameter of the pulley D 1: mm D2: mm
1) Travel distance of the work load per one cycle 1: mm

Running pattern 2) Cycle time t0: s 16) Weight of the pulley W 1: kg W2: kg
2) Cycle time t0: s

velocity
(Fill in items 3) and 4) if required.)
(Fill in items 3) and 4) if required.) (or item 17) and 18))
1
17) Width of the pulley L1: mm
3) Acceleration time ta: s

Motor
3) Acceleration time ta: s
ta td time 18) Material of the pulley
4) Deceleration time td: s
4) Deceleration time td: s t0 ts
19) Weight of the belt WM: kg
5) Stopping time ts: s
5) Stopping time ts: s
6) Max. velocity V: mm/s Running pattern
6) Max. velocity V: mm/s F

Options
WA
7) External force F: kg
7) External force F: kg

velocity
1
8) Positioning accuracy of the work load ± mm
8) Positioning accuracy of the work load ± mm
9) Total weight of the work load and the table WA: kg ta td time
9) Total weight of the work load and the table WA: kg t0 ts

Information
10) Power supply voltage V
10) Power supply voltage V F WA
11) Diameter of the ball screw mm
11) Diameter of the ball screw mm
12) Total length o the ball screw mm
12) Total length of the ball mm
13) Lead of the ball screw mm D2(W2)
13) Lead of the ball screw mm 14) Traveling direction
(horizontal, vertical etc.) 14) Traveling WM
L1
D1(W1)

2. Other data 2. Other data

(Fill the details on specific mechanism and its configurations in the following blank.) (Fill the details on specific mechanism and its configurations in the following blank.)

Company name : Company name :

Department/Section : Department/Section :

Name : Name :

Address : Address :

Tel : Tel :

Fax : Fax :

E-mail address: E-mail address:

F12 F13
 Customer Service Technical Support Center, Customer Service Technical Support Center,
Request Sheet for Motor Selection Motor Company, Panasonic Corporation Request Sheet for Motor Selection Motor Company, Panasonic Corporation

1. Driven mechanism and running data 1. Driven mechanism and running data Motor side Belt side

Driver
1) Travel distance of the work load per one cycle 1: mm 16) Diameter of the pulley D 3: mm D4: mm
1) Travel distance of the work load per one cycle 1: mm Running pattern
2) Cycle time t0 : s 17) Weight of the pulley W3: kg W4: kg
2) Cycle time t0: s
(Fill in items 3) and 4) if required.) (or item 18) and 19))

velocity
1
(Fill in items 3) and 4) if required.)
18) Width of the pulley L 2: mm
3) Acceleration time ta : s

Motor
3) Acceleration time ta: s ta td time
t0 ts 19) Material of the pulley
4) Deceleration time td : s
4) Deceleration time td: s
20) Weight of the belt W L: kg
WA 5) Stopping time ts: s
5) Stopping time ts: s
F 21) Traveling direction
6) Max. velocity V: mm/s (horizontal, vertical etc.)
6) Max. velocity V: mm/s

Options
L1 Running pattern
7) External force F: kg
7) External force F: kg
8) Positioning accuracy of the work load ± mm
8) Positioning accuracy of the work load ± mm D1

velocity
1

W1 9) Total weight of the work load and the table WA: kg

9) Total weight of the work load WA: kg

Information
ta td time
10) Power supply voltage V t0 ts
10) Power supply voltage V
(or item 14) and 15)) F
11) Weight of motor site belt WM: kg
11) Weight of the belt W M: kg 14)Width of the pulley L 1: mm L2
Motor side Belt side WL
12) Diameter of the driving pulley D1: mm 15) Material of the pulley WA
12) Diameter of the pully D1: mm D2: mm

13) Total weight of the pulley W1: kg 16) Traveling direction

(horizontal, vertical etc.)
13) Weight of the pulley W1: kg W2: kg D2(W2)
D4(W4)
(or item 14) and 15)) WM
14) Weight of the belt L1 : mm
D3(W3)
2. Other data 15) Material of the pulley
(Fill the details on specific mechanism and its configurations in the following blank.)
D1(W1)
2. Other data L1
(Fill the details on specific mechanism and its configurations in the following blank.)

Company name : Company name :

Department/Section : Department/Section :

Name : Name :

Address : Address :

Tel : Tel :

Fax : Fax :

E-mail address: E-mail address:

F14 F15
 Customer Service Technical Support Center, Customer Service Technical Support Center,
Request Sheet for Motor Selection Motor Company, Panasonic Corporation Request Sheet for Motor Selection Motor Company, Panasonic Corporation

1. Driven mechanism and running data Prism Cylinder 1. Driven mechanism and running data Motor side Turntable side

Driver
1) Travel distance of the work load per one cycle d 1: deg 14) Dimensions of the work load a: mm a: mm 1) Travel distance of the work load per one cycle d 1: deg 16) Diameter of the pulley D 2: mm D 3: mm

2) Cycle time t0: s b: mm b: mm 2) Cycle time t0: s 17) Weight of the pulley W2: kg W 3: kg

(or item 18) and 19))

(Fill in items 3) and 4) if required.) c: mm c: mm (Fill in items 3) and 4) if required.)
18) Width of the pulley L 1: mm
3) Acceleration time ta: s 15) Number of work loads pcs 3) Acceleration time ta: s

Motor
19) Material of the pulley
4) Deceleration time td: s 4) Deceleration time td: s
Running pattern
20) Weight of the belt WM: kg
5) Stopping time ts: s 5) Stopping time ts: s

velocity
d1 Running pattern
6) Max. rotational speed of the table v: deg/s 6) Max. rotating speed of the table v: deg/s

Options
(or) V: r/s ta td (or) V: r/s
time
t0 ts

velocity
d1
7) Positioning accuracy of the work load ± deg 7) Positioning accuracy of the work load ± deg
R1
ta td time
8) Weight of one work load WA: kg WA 8) Weight of one work load WA: kg t0 ts

Information
9) Driving radius of the center of gravity of the R1: mm 9) Driving radius of the center of gravity of the R1 : mm R1
WA
10) Diameter of the table D1: mm 10) Diameter of the table D1: mm
D1
D1
11) Mass of the table W1: kg 11) Mass of the table W1: kg

12) Diameter of the table support T1: mm 12) Diameter of the table support T1: mm

13) Power supply voltage V 13) Power supply voltage V D2(W2)

b b D3(W3)
a (Prism) (Cylinder) L1
14) Dimension of the work load a: mm a: mm WM
c
b
c b: mm b: mm b
a
a c: mm c: mm a
2. Other data c

(Fill the details on specific mechanism and its configurations in the following blank.) 15) Number of work loads pcs c

2. Other data
(Fill the details on specific mechanism and its configurations in the following blank.)
Company name : Company name :
Department/Section : Department/Section :
Name : Name :
Address : Address :
Tel : Tel :
Fax : Fax :
E-mail address: E-mail address:

F16 F17
 Customer Service Technical Support Center, Customer Service Technical Support Center,
Request Sheet for Motor Selection Motor Company, Panasonic Corporation Request Sheet for Motor Selection Motor Company, Panasonic Corporation

1. Driven mechanism and running data 1. Driven mechanism and running data

Driver
1) Travel distance of the work load per one cycle 1: mm
1) Travel distance of the work load per one cycle 1: mm
2) Cycle time t0: s Running pattern
Running pattern
2) Cycle time t0: s
(Fill in items 3) and 4) if required.)
(Fill in items 3) and 4) if required.)

velocity
1

velocity
1
3) Acceleration time ta: s

Motor
3) Acceleration time ta: s
4) Deceleration time td: s ta td time
ta td time t0 ts
t0 ts
4) Deceleration time td: s
5) Stopping time ts: s
WA
5) Stopping time ts: s
6) Max. velocity V: mm/s

Options
6) Max. velocity v: mm/s F F
7) External force F: kg
L1
7) External pulling force F: kg 8) Positioning accuracy of the work load ± mm

8) Positioning accuracy of the work load ± mm D1(W1) 9) Total weight of the work load WA: kg W3

Information
D3
9) Total weight of the work load pcs 10) Power supply voltage V

10) Power supply voltage V (or item 13) and 14)) 11) Diameter of the pinion D3: mm

13) Width of the roller L 1: mm 12) Mass of the pinion W3: kg

11) Diameter of the roller D1 : mm

14) Material of the roller 13) Traveling direction

12) Mass of the roller W 1: kg (horizontal, vertical, etc)

2. Other data
(Fill the details on specific mechanism and its configurations in the following blank.)

2. Other data
(Fill the details on specific mechanism and its configurations in the following blank.)

Company name : Company name :

Department/Section : Department/Section :

Name : Name :

Address : Address :

Tel : Tel :

Fax : Fax :

E-mail address: E-mail address:

F18 F19
 Connection between
Driver and Controller

Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works) Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric Works)

PLC Driver PLC Driver

Driver
FP2-PP22 AFP2434 A5-series FP2-PP2 AFP2430 A5-series
(Panasonic Electric Works) * Process of shield wire varies with equipment. (Panasonic Electric Works) * Process of shield wire varies with equipment.
50 FG 50 FG
A1 3 PULS1 Command pulse CW pulse command A1 3 PULS1 Command pulse
CW pulse command 220Ω 220Ω
output B1 4 PULS2 input 2 output B1 4 PULS2 input 2

CCW pulse command A2 5 SIGN1 Command sign CCW pulse command A2 5 SIGN1 Command sign
220Ω input 2 220Ω input 2
output B2 6 SIGN2 output B2 6 SIGN2
390Ω 220Ω
A4 23 OZ+ A5 23 OZ+
Origin input Z-phase output Origin input Z-phase output
B3 24 OZ− B5 24 OZ−

Motor
13,25 GND 13,25 GND
7 COM+ 7 COM+
4.7Ω 4.7Ω
A7 30 CL Counter clear input Deviation counter A6 30 CL Counter clear input
Deviation counter 4.7Ω 4.7Ω
reset output B7 29 SRV-ON Servo-ON input reset output B6 29 SRV-ON Servo-ON input
3.6kΩ 4.7Ω 1.6Ω 4.7Ω
B4 27 GAIN Gain switching input A7 27 GAIN Gain switching input
Origin proximity input from 4.7Ω Origin proximity input from 4.7Ω
A5 PLC I/O 31 A-CLR Alarm clear input B7 31 A-CLR Alarm clear input
6.8kΩ 4.7Ω PLC I/O 4.7Ω
output Inhibit positive direction Inhibit positive direction
9 POT travel input output 9 POT travel input
Limit excess + 4.7Ω 4.7Ω
A6 8 NOT Inhibit negative direction 8 NOT Inhibit negative direction
travel input travel input

Options
35 S-RDY+ FG A19 35 S-RDY+
Limit excess − Servo-Ready output Servo-Ready output
B6 to 34 S-RDY− FG B19 34 S-RDY−
to
External power supply input +24VDC A20 PLC I/O 37 ALM+ External power supply input +24VDC A20 37 ALM+
Servo-Alarm output PLC I/O Servo-Alarm output
input input
GND B20 36 ALM− GND B20 36 ALM−
39 INP+ Positioning complete 39 INP+ Positioning complete
38 INP− output 38 INP− output
Origin proximity sensor Origin proximity sensor
CW limit sensor 41 COM− CW limit sensor 41 COM−
to PLC I/O
CCW limit sensor * Pulse train interface exclusive for line driver CCW limit sensor input * Pulse train interface exclusive for line driver

Information
44 PULSH1 Command pulse 44 PULSH1 Command pulse
45 PULSH2 input 1 45 PULSH2 input 1
GND +24V 46 SIGNH1 Command sign GND +24V 46 SIGNH1 Command sign
DC24V input 1 DC24V input 1
47 SIGNH2 47 SIGNH2
Power supply Power supply
Pulse train interface exclusive for line driver. Pulse train interface exclusive for line driver.
Use this interface when you use pulse command frequency Use this interface when you use pulse command frequency
between 500kpps and 4Mpps between 500kpps and 4Mpps

Connection between MINAS A5 and FPG-PP12 AFPG432 (Panasonic Electric Works) Connection between MINAS A5 and FPG-C32T (Panasonic Electric Works)

PLC Driver PLC Driver

FPG-PP12 AFPG432 A5-series FPG-C32T A5-series

(Panasonic Electric Works) * Process of shield wire varies with equipment. 50 FG (Panasonic Electric Works) * Process of shield wire varies with equipment. 50 FG
2kΩ
CW pulse command A1 3 PULS1 Command pulse CW pulse command Y0 3 OCP1 Command pulse
220Ω 220Ω
output B1 4 PULS2 input 2 output 4 PULS2 input 2
2kΩ
CCW pulse command A2 5 SIGN1 Command sign CCW pulse command Y1 5 OCP2 Command sign
220Ω 220Ω
output B2 6 SIGN2 input 2 output 6 SIGN2 input 2
560Ω 5.6kΩ
A4 23 OZ+ X2 19 CZ
Origin input Z-phase output Origin input Z-phase output
B3 24 OZ− COM 13 GND
13,25 GND + 25 GND
7 COM+ 7 COM+
4.7Ω 4.7Ω
Deviation counter A7 30 CL Counter clear input Deviation counter Y2 30 CL Counter clear input
4.7Ω 4.7Ω
reset output B7 29 SRV-ON Servo-ON input reset output − 29 SRV-ON Servo-ON input
6.8kΩ 4.7Ω 4.7Ω
B4 from 27 GAIN Gain switching input 27 GAIN Gain switching input
Origin proximity input 4.7Ω from 4.7Ω
A5 PLC I/O 31 A-CLR Alarm clear input PLC I/O 31 A-CLR Alarm clear input
output 4.7Ω Inhibit positive direction 4.7Ω Inhibit positive direction
9 POT travel input COM output 9 POT travel input
4.7Ω Origin proximity input 3kΩ 4.7Ω
8 NOT Inhibit negative direction X3 8 NOT Inhibit negative direction
travel input travel input
FG A19 35 S-RDY+ 35 S-RDY+
Servo-Ready output CCW limit excess input 5.6kΩ Servo-Ready output
FG B19 to 34 S-RDY− X5 34 S-RDY−
to
External power supply input +24VDC A20 PLC I/O 37 ALM+ 37 ALM+
Servo-Alarm output PLC I/O Servo-Alarm output
input CW limit excess input 5.6kΩ
GND B20 36 ALM− X6 input 36 ALM−
39 INP+ Positioning complete 39 INP+ Positioning complete
38 INP− output 38 INP− output
Origin proximity sensor Origin proximity sensor
CW limit sensor 41 COM− CCW limit sensor 41 COM−
to PLC I/O
CCW limit sensor input * Pulse train interface exclusive for line driver CW limit sensor
44 PULSH1 Command pulse
45 PULSH2 input 1
GND +24V 46 SIGNH1 GND +24V
Command sign
DC24V input 1 DC24V
47 SIGNH2
Power supply Power supply
Pulse train interface exclusive for line driver.
Use this interface when you use pulse command frequency
between 500kpps and 4Mpps

F20 F21
 Connection between
Driver and Controller

Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Yokogawa Electric Corp.) Connection between MINAS A5 and CJ1W-NC113 (Omron Corp.)

PLC Driver PLC Driver

Driver
F3YP14-ON/F3YP18-ON A5-series CJ1W-NC113 A5-series
(Yokogawa Electric Corp.) * Process of shield wire varies with equipment. 50 FG (Omron Corp.) * Process of shield wire varies with equipment. 50 FG
CW pulse command 14a 3 PULS1 Command pulse CW pulse command A6 3 PULS1 Command pulse
220Ω 1.6kΩ 220Ω
output 13a 4 PULS2 input 2 output 4 PULS2 input 2
1.6kΩ
CCW pulse command 12a 5 SIGN1 Command sign CCW pulse command A8 5 SIGN1 Command sign
220Ω input 2 220Ω input 2
output 11a 6 SIGN2 output 6 SIGN2
240Ω 150Ω
15a 23 OZ+ A16 23 OZ+
Origin line driver input Z-phase output Origin line driver input Z-phase output
16a 24 OZ− A14 24 OZ−

Motor
13,25 GND +V A1 13,25 GND
Power supply for output
7 COM+ GND A2 7 COM+
4.7Ω 4.7Ω
Deviation counter 10a 30 CL Counter clear input Deviation counter A10 30 CL Counter clear input
4.7Ω 4.7Ω
reset output 9a 29 SRV-ON Servo-ON input reset output 29 SRV-ON Servo-ON input
4.7Ω 4.7Ω
27 GAIN Gain switching input A24 27 GAIN Gain switching input
from 4.7Ω Emergency stop input 4.7kΩ from 4.7Ω
5V power supply +V 8b PLC I/O 31 A-CLR Alarm clear input A20 PLC I/O 31 A-CLR Alarm clear input
for pulse output output 4.7Ω Inhibit positive direction output 4.7Ω Inhibit positive direction
GND 8a 9 POT 9 POT
4.7Ω
travel input Origin proximity input 4.7kΩ 4.7Ω
travel input
8 NOT Inhibit negative direction A21 8 NOT Inhibit negative direction
travel input travel input

Options
1a 35 S-RDY+ 35 S-RDY+
CCW limit input 7.4kΩ Servo-Ready output CCW limit excess input 4.7kΩ Servo-Ready output
3a to 34 S-RDY− A23 to 34 S-RDY−
PLC I/O 37 ALM+ PLC I/O 37 ALM+
CW limit input 7.4kΩ Servo-Alarm output CW limit excess input 4.7kΩ Servo-Alarm output
input input
2a 36 ALM− A22 36 ALM−

Origin proximity input 39 INP+ Positioning complete 39 INP+ Positioning complete

7.4kΩ
4a 38 INP− output 38 INP− output
Origin proximity sensor
41 COM− CCW limit sensor 41 COM−

Origin proximity sensor * Pulse train interface exclusive for line driver CW limit sensor

Information
CCW limit sensor 44 PULSH1 Command pulse
CW limit sensor 45 PULSH2 input 1
46 SIGNH1 Command sign GND +24V
input 1 DC24V
47 SIGNH2
Power supply
GND +5V GND +24V
Pulse train interface exclusive for line driver.
DC5V DC24V Use this interface when you use pulse command frequency
Power supply Power supply between 500kpps and 4Mpps

Connection between MINAS A5 and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.) Connection between MINAS A5 and CJ1W-NC133 (Omron Corp.)

PLC Driver PLC Driver

F3NC32-ON/F3NC34-ON A5-series CJ1W-NC113 A5-series

(Yokogawa Electric Corp.) * Process of shield wire varies with equipment. 50 FG (Omron Corp.) * Process of shield wire varies with equipment. 50 FG
3a 3 PULS1 Command pulse CW pulse command A5 3 PULS1 Command pulse
Pulse output A 220Ω 220Ω
4a 4 PULS2 input 2 output A6 4 PULS2 input 2
5a 5 SIGN1 Command sign CCW pulse command A7 5 SIGN1 Command sign
Pulse output B 220Ω 220Ω
6a 6 SIGN2 input 2 output A8 6 SIGN2 input 2
240Ω 150Ω
Encoder Z-phase output + 19a 23 OZ+ A16 23 OZ+
Z-phase output Origin line driver input Z-phase output
Encoder Z-phase output – 20a 24 OZ− A14 24 OZ−
13,25 GND 24V power supply +V A1 13,25 GND
7 COM+ for output GND A2 7 COM+
4.7Ω 4.7Ω
Deviation counter 14a 30 CL Counter clear input Deviation counter A10 30 CL Counter clear input
4.7Ω 4.7Ω
reset output 29 SRV-ON Servo-ON input reset output 29 SRV-ON Servo-ON input
4.7Ω 4.7Ω
External power supply 24VDC input 1a 27 GAIN Gain switching input A24 27 GAIN Gain switching input
from 4.7Ω Emergency stop input 4.7kΩ from 4.7Ω
External power supply 24VDC input 1b PLC I/O 31 A-CLR Alarm clear input A20 PLC I/O 31 A-CLR Alarm clear input
(GND) output 4.7Ω Inhibit positive direction output 4.7Ω Inhibit positive direction
9 POT travel input 9 POT travel input
4.7Ω Origin proximity input 4.7kΩ 4.7Ω
Contact point input COM 13a 8 NOT Inhibit negative direction A21 8 NOT Inhibit negative direction
travel input travel input
35 S-RDY+ 35 S-RDY+
Positive direction 7.4kΩ Servo-Ready output CCW limit over input 4.7kΩ Servo-Ready output
8a to 34 S-RDY− A23 to 34 S-RDY−
limit input
PLC I/O 37 ALM+ PLC I/O 37 ALM+
Negative direction 7.4kΩ input Servo-Alarm output CW limit over input 4.7kΩ input Servo-Alarm output
9a 36 ALM− A22 36 ALM−
limit input
39 INP+ Positioning complete 5V power supply GND A3 39 INP+ Positioning complete
Origin input 7.4kΩ
for pulse output +V
7a 38 INP− output A4 38 INP− output
41 COM− 41 COM−

Origin proximity sensor * Pulse train interface exclusive for line driver Origin proximity sensor
CCW limit sensor 44 PULSH1 CCW limit sensor
Command pulse
CW limit sensor 45 PULSH2 input 1 CW limit sensor
46 SIGNH1 Command sign
47 SIGNH2 input 1
GND +24V GND +5V GND +24V
Pulse train interface exclusive for line driver.
DC24V Use this interface when you use pulse command frequency DC5V DC24V
Power supply between 500kpps and 4Mpps Power supply Power supply

F22 F23
 Connection between
Driver and Controller Index (Alphabetical order)

DV0P MADHT
Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.) Part No. Title Page Part No. Title Page
DV0P1450 Surge absorber (3-phase) 109 MADHT1105 A5 series Driver: A-frame 18/30
PLC Driver DV0P1460 Noise Filter for Signal Lines 109 MADHT1107 A5 series Driver: A-frame 18/30

Driver
QD75D1 A5-series DV0P220 Reactor 127 MADHT1505 A5 series Driver: A-frame 18/30
(Mitsubishi Electric Corp.) * Process of shield wire varies with equipment. 50 FG DV0P221 Reactor 127 MADHT1507 A5 series Driver: A-frame 18/30
CW pulse command 15 3 PULS1 DV0P222 Reactor 127 MADHT1105E A5E series Driver: A-frame 20/30
Command pulse
220Ω
output 16 4 PULS2 input 2 DV0P223 Reactor 127 MADHT1107E A5E series Driver: A-frame 20/30
CCW pulse command 17 5 SIGN1 Command sign DV0P224 Reactor 127 MADHT1505E A5E series Driver: A-frame 20/30
220Ω
output 18 6 SIGN2 input 2 DV0P225 Reactor 127 MADHT1507E A5E series Driver: A-frame 20/30
300Ω
Zero point signal
9 23 OZ+ DV0P227 Reactor 127
Z-phase output
10 24 OZ− DV0P228 Reactor 127 MBDHT

Motor
13,25 GND DV0P2990 Battery For Absolute Encoder 125 Part No. Title Page
7 COM+
4.7Ω
DV0P3410 Noise Filter 108 MBDHT2110 A5 series Driver: B-frame 18/30
13 30 CL Counter clear input DV0P4170 Noise Filter 108 MBDHT2510 A5 series Driver: B-frame 18/30
Deviation counter clear 4.7Ω
14 29 SRV-ON Servo-ON input
4.7Ω DV0P4190 Surge absorber (Single phase) 109 MBDHT2110E A5E series Driver: B-frame 20/30
12 27 GAIN Gain switching input
Drive unit ready 4.7kΩ from 4.7Ω DV0P4220 Noise Filter 108 MBDHT2510E A5E series Driver: B-frame 20/30
11 PLC I/O 31 A-CLR Alarm clear input
output 4.7Ω Inhibit positive direction DV0P4280 External Regenerative Resistor: 50Ω 25W 128
9 POT
Common 4.7Ω
travel input
Inhibit negative direction
DV0P4281 External Regenerative Resistor: 100Ω 25W 128 MCDHT
6 8 NOT
travel input DV0P4282 External Regenerative Resistor: 25Ω 50W 128 Part No. Title Page

Options
7 35 S-RDY+
Proximity signal 4.3kΩ Servo-Ready output DV0P4283 External Regenerative Resistor: 50Ω 50W 128 MCDHT3120 A5 series Driver: C-frame 18/31
3 34 S-RDY−
Upper limit 4.7kΩ DV0P4284 External Regenerative Resistor: 30Ω100W 128 MCDHT3520 A5 series Driver: C-frame 18/31
1 to 37 ALM+
Lower limit 4.7kΩ Servo-Alarm output DV0P4285 External Regenerative Resistor: 20Ω130W 128 MCDHT3120E A5E series Driver: C-frame 20/31
2 PLC I/O 36 ALM−
input
39 INP+ DV0P4290 Connector Kit for Motor/Encoder Connection 122 MCDHT3520E A5E series Driver: C-frame 20/31
Positioning complete
38 INP− output DV0P4350 Interface Connector 118
Origin proximity sensor
41 COM− DV0P4360 Interface cable 118 MDDHT
CW limit sensor
CCW limit sensor DV0P4380 Connector Kit for Motor/Encoder Connection 122 Part No. Title Page
* Pulse train interface exclusive for line driver
DV0P4430 Battery Box 125 MDDHT3530 A5 series Driver: D-frame 18/32

Information
44 PULSH1 Command pulse
45 PULSH2 input 1 DV0PM20010 Connector Kit: Encoder 119 MDDHT5540 A5 series Driver: D-frame 18/32
GND +24V 46 SIGNH1 DV0PM20021 Operation manual (Japanese) – MDDHT3530E A5E series Driver: D-frame 20/32
Command sign
DC24V
47 SIGNH2 input 1 DV0PM20022 Operation manual (English) – MDDHT5540E A5E series Driver: D-frame 20/32
Power supply
Pulse train interface exclusive for line driver.
DV0PM20023 Operation manual (Chinese (simplified)) –
Use this interface when you use pulse command frequency DV0PM20024 Connector Kit: RS485, 232 119 MDME (Middle inertia)
between 500kpps and 4Mpps
DV0PM20025 Connector Kit: Safety 119 Part No. Title Page
DV0PM20026 Connector Kit: External Scale 119 MDME102G1C MDME 1.0kW Incremental encoder 51
DV0PM20027 Mounting bracket: A-frame 126 MDME102G1D MDME 1.0kW Incremental encoder 51
Connection between MINAS A5 and KV-5000/3000 (keyence Corp.) DV0PM20028 Mounting bracket: B-frame 126 MDME102G1G MDME 1.0kW Incremental encoder 51
DV0PM20029 Mounting bracket: C-frame 126 MDME102G1H MDME 1.0kW Incremental encoder 51
PLC Driver DV0PM20030 Mounting bracket: D-frame 126 MDME102S1C MDME 1.0kW Incremental encoder 51
DV0PM20031 Connector Kit: Analog Monitor Signal 120 MDME102S1D MDME 1.0kW Incremental encoder 51
KV-5000/3000 A5-series
(keyence Corp.) Connector for Power Supply Input Connection MDME102S1G MDME 1.0kW Incremental encoder 51
* Process of shield wire varies with equipment. 50 FG DV0PM20032 120
(A to D-frame (Single row type)) MDME102S1H MDME 1.0kW Incremental encoder 51
1 3 PULS1
Origin sensor input 4.3kΩ 2kΩ 220Ω
Command pulse Connector for Power Supply Input Connection MDME104G1C MDME 1.0kW Incremental encoder 88
3 4 PULS2 input 2 DV0PM20033 120
X axis limit switch CW 4.3kΩ (A to D-frame (Double row type)) MDME104G1D MDME 1.0kW Incremental encoder 88
4 5 SIGN1
X axis limit switch CCW 4.3kΩ 2kΩ 220Ω
Command sign DV0PM20034 Connector for Motor Connection (A to D-frame) 121 MDME104G1G MDME 1.0kW Incremental encoder 88
6 SIGN2 input 2
DV0PM20035 Connector Kit for Motor/Encoder Connection 123 MDME104G1H MDME 1.0kW Incremental encoder 88
14 23 OZ+
1.2kΩ Z-phase output DV0PM20036 Connector Kit for Motor/Encoder Connection 123 MDME104S1C MDME 1.0kW Absolute encoder 88
15 24 OZ−
DV0PM20037 Connector Kit for Motor/Encoder Connection 123 MDME104S1D MDME 1.0kW Absolute encoder 88
16 13,25 GND
X axis CW DV0PM20038 Connector Kit for Motor/Encoder Connection 123 MDME104S1G MDME 1.0kW Absolute encoder 88
7 COM+
4.7Ω
Counter clear input
DV0PM20039 Connector Kit for Motor/Encoder Connection 124 MDME104S1H MDME 1.0kW Absolute encoder 88
X sxis deviation 19 30 CL
counter clear 29 SRV-ON
4.7Ω
Servo-ON input
DV0PM20040 Connector Kit for Motor/Brake Connection 124 MDME152G1C MDME 1.5kW Incremental encoder 52
27 GAIN
4.7Ω
Gain switching input DV0PM20042 Noise Filter 108 MDME152G1D MDME 1.5kW Incremental encoder 52
from
26 PLC I/O 31 A-CLR
4.7Ω
Alarm clear input DV0PM20043 Noise Filter 108 MDME152G1G MDME 1.5kW Incremental encoder 52
4.7Ω
output
9 POT
Inhibit positive direction Connector for Power Supply Input MDME152G1H MDME 1.5kW Incremental encoder 52
travel input DV0PM20044 120
8 NOT
4.7Ω
Inhibit negative direction Connection (E-frame)
travel input MDME152S1C MDME 1.5kW Absolute encoder 52
Connector for Regenerative Resistor
35 S-RDY+ DV0PM20045 121 MDME152S1D MDME 1.5kW Absolute encoder 52
36 34 S-RDY−
Servo-Ready output (E-frame 200V/400V 共用）
X axis CCW to
Connector for Motor Connection (E-frame MDME152S1G MDME 1.5kW Absolute encoder 52
PLC I/O 37 ALM+ DV0PM20046 122 MDME152S1H MDME 1.5kW Absolute encoder 52
input Servo-Alarm output 200V/400V 共用 )
40 36 ALM−
DV0PM20048 External Regenerative Resistor: 120Ω 240W 128 MDME154G1C MDME 1.5kW Incremental encoder 89
39 INP+ Positioning complete
output DV0PM20049 External Regenerative Resistor: 80Ω 450W 128 MDME154G1D MDME 1.5kW Incremental encoder 89
38 INP−
Origin proximity sensor MDME154G1G MDME 1.5kW Incremental encoder 89
41 COM− DV0PM20050 Surge absorber 109
CW limit sensor
Connector for Power Supply Input MDME154G1H MDME 1.5kW Incremental encoder 89
CCW limit sensor * Pulse train interface exclusive for line driver DV0PM20051 121
Connection (D-frame 400V) MDME154S1C MDME 1.5kW Absolute encoder 89
44 PULSH1 Command pulse Connector for Power Supply Input MDME154S1D MDME 1.5kW Absolute encoder 89
45 PULSH2 input 1 DV0PM20052 121
Connection (E-frame 400V) MDME154S1G MDME 1.5kW Absolute encoder 89
GND +24V 46 SIGNH1 Command sign Connector for Control Power Supply Input MDME154S1H MDME 1.5kW Absolute encoder 89
DC24V input 1 DV0PM20053 121
47 SIGNH2 Connection (D,E-frame 400V)
Power supply MDME202G1C MDME 2.0kW Incremental encoder 53
Pulse train interface exclusive for line driver. DV0PM20054 Connector for Motor Connection (D-frame 400V) 122
Use this interface when you use pulse command frequency MDME202G1D MDME 2.0kW Incremental encoder 53
Connector for Regenerative Resistor
between 500kpps and 4Mpps DV0PM20055 121 MDME202G1G MDME 2.0kW Incremental encoder 53
(D-frame 400V)

F24 F25
 Index (Alphabetical order)

MDME (Middle inertia) MFDHT MFMCD MHMD (High inertia)

Part No. Title Page Part No. Title Page Part No. Title Page Part No. Title Page
MDME202G1H MDME 2.0kW Incremental encoder 53 MFDHTA390 A5 series Driver: F-frame 18/34 MFMCD0032ECD Motor Cable (without Brake) 114 MHMD021G1A MHMD 200W Incremental encoder 76
MDME202S1C MDME 2.0kW Absolute encoder 53 MFDHTB3A2 A5 series Driver: F-frame 18/34 MFMCD0052ECD Motor Cable (without Brake) 114 MHMD021G1B MHMD 200W Incremental encoder 76

Driver
MDME202S1D MDME 2.0kW Absolute encoder 53 MFDHTA390E A5E series Driver: F-frame 20/34 MFMCD0102ECD Motor Cable (without Brake) 114 MHMD021G1C MHMD 200W Incremental encoder 76
MDME202S1G MDME 2.0kW Absolute encoder 53 MFDHTB3A2E A5E series Driver: F-frame 20/34 MFMCD0202ECD Motor Cable (without Brake) 114 MHMD021G1D MHMD 200W Incremental encoder 76
MDME202S1H MDME 2.0kW Absolute encoder 53 MHMD021G1S MHMD 200W Incremental encoder 76
MDME204G1C MDME 2.0kW Incremental encoder 90 MFECA MFMCE MHMD021G1T MHMD 200W Incremental encoder 76
MDME204G1D MDME 2.0kW Incremental encoder 90 Part No. Title Page Part No. Title Page MHMD021G1U MHMD 200W Incremental encoder 76
MDME204G1G MDME 2.0kW Incremental encoder 90 MFECA0030EAE Encoder Cable (with Buttery Box) 112 MFMCE0032ECD Motor Cable (without Brake) 115 MHMD021G1V MHMD 200W Incremental encoder 76
MDME204G1H MDME 2.0kW Incremental encoder 90 MFECA0030EAM Encoder Cable (without Buttery Box) 112 MFMCE0032FCD Motor Cable (with Brake) 116 MHMD021S1A MHMD 200W Absolute encoder 76
MDME204S1C MDME 2.0kW Absolute encoder 90 MFECA0030ETD Encoder Cable (without Buttery Box) 113 MFMCE0052ECD Motor Cable (without Brake) 115 MHMD021S1B MHMD 200W Absolute encoder 76

Motor
MDME204S1D MDME 2.0kW Absolute encoder 90 MFECA0030ETE Encoder Cable (with Buttery Box) 113 MFMCE0052FCD Motor Cable (with Brake) 116 MHMD021S1C MHMD 200W Absolute encoder 76
MDME204S1G MDME 2.0kW Absolute encoder 90 MFECA0030MJD Encoder Cable (without Buttery Box) 112 MFMCE0102ECD Motor Cable (without Brake) 115 MHMD021S1D MHMD 200W Absolute encoder 76
MDME204S1H MDME 2.0kW Absolute encoder 90 MFECA0030MJE Encoder Cable (with Buttery Box) 113 MFMCE0102FCD Motor Cable (with Brake) 116 MHMD021S1S MHMD 200W Absolute encoder 76
MDME302G1C MDME 3.0kW Incremental encoder 54 MFECA0050EAE Encoder Cable (with Buttery Box) 112 MFMCE0202ECD Motor Cable (without Brake) 115 MHMD021S1T MHMD 200W Absolute encoder 76
MDME302G1D MDME 3.0kW Incremental encoder 54 MFECA0050EAM Encoder Cable (without Buttery Box) 112 MFMCE0202FCD Motor Cable (with Brake) 116 MHMD021S1U MHMD 200W Absolute encoder 76
MDME302G1G MDME 3.0kW Incremental encoder 54 MFECA0050ETD Encoder Cable (without Buttery Box) 113 MHMD021S1V MHMD 200W Absolute encoder 76
MDME302G1H MDME 3.0kW Incremental encoder 54 MFECA0050ETE Encoder Cable (with Buttery Box) 113 MGME (Middle inertia: Low speed/ High torque type) MHMD022G1A MHMD 200W Incremental encoder 77
MDME302S1C MDME 3.0kW Absolute encoder 54 MFECA0050MJD Encoder Cable (without Buttery Box) 112 Part No. Title Page MHMD022G1B MHMD 200W Incremental encoder 77

Options
MDME302S1D MDME 3.0kW Absolute encoder 54 MFECA0050MJE Encoder Cable (with Buttery Box) 113 MGME092G1C MGME 0.9kW Incremental encoder 57 MHMD022G1C MHMD 200W Incremental encoder 77
MDME302S1G MDME 3.0kW Absolute encoder 54 MFECA0100EAE Encoder Cable (with Buttery Box) 112 MGME092G1D MGME 0.9kW Incremental encoder 57 MHMD022G1D MHMD 200W Incremental encoder 77
MDME302S1H MDME 3.0kW Absolute encoder 54 MFECA0100EAM Encoder Cable (without Buttery Box) 112 MGME092G1G MGME 0.9kW Incremental encoder 57 MHMD022G1S MHMD 200W Incremental encoder 77
MDME304G1C MDME 3.0kW Incremental encoder 91 MFECA0100ETD Encoder Cable (without Buttery Box) 113 MGME092G1H MGME 0.9kW Incremental encoder 57 MHMD022G1T MHMD 200W Incremental encoder 77
MDME304G1D MDME 3.0kW Incremental encoder 91 MFECA0100ETE Encoder Cable (with Buttery Box) 113 MGME092S1C MGME 0.9kW Absolute encoder 57 MHMD022G1U MHMD 200W Incremental encoder 77
MDME304G1G MDME 3.0kW Incremental encoder 91 MFECA0100MJD Encoder Cable (without Buttery Box) 112 MGME092S1D MGME 0.9kW Absolute encoder 57 MHMD022G1V MHMD 200W Incremental encoder 77
MDME304G1H MDME 3.0kW Incremental encoder 91 MFECA0100MJE Encoder Cable (with Buttery Box) 113 MGME092S1G MGME 0.9kW Absolute encoder 57 MHMD022S1A MHMD 200W Absolute encoder 77
MDME304S1C MDME 3.0kW Absolute encoder 91 MFECA0200EAE Encoder Cable (with Buttery Box) 112 MGME092S1H MGME 0.9kW Absolute encoder 57 MHMD022S1B MHMD 200W Absolute encoder 77

Information
MDME304S1D MDME 3.0kW Absolute encoder 91 MFECA0200EAM Encoder Cable (without Buttery Box) 112 MGME094G1C MGME 0.9kW Incremental encoder 94 MHMD022S1C MHMD 200W Absolute encoder 77
MDME304S1G MDME 3.0kW Absolute encoder 91 MFECA0200ETD Encoder Cable (without Buttery Box) 113 MGME094G1D MGME 0.9kW Incremental encoder 94 MHMD022S1D MHMD 200W Absolute encoder 77
MDME304S1H MDME 3.0kW Absolute encoder 91 MFECA0200ETE Encoder Cable (with Buttery Box) 113 MGME094G1G MGME 0.9kW Incremental encoder 94 MHMD022S1S MHMD 200W Absolute encoder 77
MDME402G1C MDME 4.0kW Incremental encoder 55 MFECA0200MJD Encoder Cable (without Buttery Box) 112 MGME094G1H MGME 0.9kW Incremental encoder 94 MHMD022S1T MHMD 200W Absolute encoder 77
MDME402G1D MDME 4.0kW Incremental encoder 55 MFECA0200MJE Encoder Cable (with Buttery Box) 113 MGME094S1C MGME 0.9kW Absolute encoder 94 MHMD022S1U MHMD 200W Absolute encoder 77
MDME402G1G MDME 4.0kW Incremental encoder 55 MGME094S1D MGME 0.9kW Absolute encoder 94 MHMD022S1V MHMD 200W Absolute encoder 77
MDME402G1H MDME 4.0kW Incremental encoder 55 MFMCA MGME094S1G MGME 0.9kW Absolute encoder 94 MHMD041G1A MHMD 400W Incremental encoder 78
MDME402S1C MDME 4.0kW Absolute encoder 55 Part No. Title Page MGME094S1H MGME 0.9kW Absolute encoder 94 MHMD041G1B MHMD 400W Incremental encoder 78
MDME402S1D MDME 4.0kW Absolute encoder 55 MFMCA0030EED Motor Cable (without Brake) 114 MGME202G1C MGME 2.0kW Incremental encoder 58 MHMD041G1C MHMD 400W Incremental encoder 78
MDME402S1G MDME 4.0kW Absolute encoder 55 MFMCA0030NJD Motor Cable (without Brake) 114 MGME202G1D MGME 2.0kW Incremental encoder 58 MHMD041G1D MHMD 400W Incremental encoder 78
MDME402S1H MDME 4.0kW Absolute encoder 55 MFMCA0032FCD Motor Cable (with Brake) 116 MGME202G1G MGME 2.0kW Incremental encoder 58 MHMD041G1S MHMD 400W Incremental encoder 78
MDME404G1C MDME 4.0kW Incremental encoder 92 MFMCA0033ECT Motor Cable (without Brake) 115 MGME202G1H MGME 2.0kW Incremental encoder 58 MHMD041G1T MHMD 400W Incremental encoder 78
MDME404G1D MDME 4.0kW Incremental encoder 92 MFMCA0033FCT Motor Cable (with Brake) 116 MGME202S1C MGME 2.0kW Absolute encoder 58 MHMD041G1U MHMD 400W Incremental encoder 78
MDME404G1G MDME 4.0kW Incremental encoder 92 MFMCA0050EED Motor Cable (without Brake) 114 MGME202S1D MGME 2.0kW Absolute encoder 58 MHMD041G1V MHMD 400W Incremental encoder 78
MDME404G1H MDME 4.0kW Incremental encoder 92 MFMCA0050NJD Motor Cable (without Brake) 114 MGME202S1G MGME 2.0kW Absolute encoder 58 MHMD041S1A MHMD 400W Absolute encoder 78
MDME404S1C MDME 4.0kW Absolute encoder 92 MFMCA0052FCD Motor Cable (with Brake) 116 MGME202S1H MGME 2.0kW Absolute encoder 58 MHMD041S1B MHMD 400W Absolute encoder 78
MDME404S1D MDME 4.0kW Absolute encoder 92 MFMCA0053ECT Motor Cable (without Brake) 115 MGME204G1C MGME 2.0kW Incremental encoder 95 MHMD041S1C MHMD 400W Absolute encoder 78
MDME404S1G MDME 4.0kW Absolute encoder 92 MFMCA0053FCT Motor Cable (with Brake) 116 MGME204G1D MGME 2.0kW Incremental encoder 95 MHMD041S1D MHMD 400W Absolute encoder 78
MDME404S1H MDME 4.0kW Absolute encoder 92 MFMCA0100EED Motor Cable (without Brake) 114 MGME204G1G MGME 2.0kW Incremental encoder 95 MHMD041S1S MHMD 400W Absolute encoder 78
MDME502G1C MDME 5.0kW Incremental encoder 56 MFMCA0100NJD Motor Cable (without Brake) 114 MGME204G1H MGME 2.0kW Incremental encoder 95 MHMD041S1T MHMD 400W Absolute encoder 78
MDME502G1D MDME 5.0kW Incremental encoder 56 MFMCA0102FCD Motor Cable (with Brake) 116 MGME204S1C MGME 2.0kW Absolute encoder 95 MHMD041S1U MHMD 400W Absolute encoder 78
MDME502G1G MDME 5.0kW Incremental encoder 56 MFMCA0103ECT Motor Cable (without Brake) 115 MGME204S1D MGME 2.0kW Absolute encoder 95 MHMD041S1V MHMD 400W Absolute encoder 78
MDME502G1H MDME 5.0kW Incremental encoder 56 MFMCA0103FCT Motor Cable (with Brake) 116 MGME204S1G MGME 2.0kW Absolute encoder 95 MHMD042G1A MHMD 400W Incremental encoder 79
MDME502S1C MDME 5.0kW Absolute encoder 56 MFMCA0200EED Motor Cable (without Brake) 114 MGME204S1H MGME 2.0kW Absolute encoder 95 MHMD042G1B MHMD 400W Incremental encoder 79
MDME502S1D MDME 5.0kW Absolute encoder 56 MFMCA0200NJD Motor Cable (without Brake) 114 MGME302G1C MGME 3.0kW Incremental encoder 59 MHMD042G1C MHMD 400W Incremental encoder 79
MDME502S1G MDME 5.0kW Absolute encoder 56 MFMCA0202FCD Motor Cable (with Brake) 116 MGME302G1D MGME 3.0kW Incremental encoder 59 MHMD042G1D MHMD 400W Incremental encoder 79
MDME502S1H MDME 5.0kW Absolute encoder 56 MFMCA0203ECT Motor Cable (without Brake) 115 MGME302G1G MGME 3.0kW Incremental encoder 59 MHMD042G1S MHMD 400W Incremental encoder 79
MDME504G1C MDME 5.0kW Incremental encoder 93 MFMCA0203FCT Motor Cable (with Brake) 116 MGME302G1H MGME 3.0kW Incremental encoder 59 MHMD042G1T MHMD 400W Incremental encoder 79
MDME504G1D MDME 5.0kW Incremental encoder 93 MGME302S1C MGME 3.0kW Absolute encoder 59 MHMD042G1U MHMD 400W Incremental encoder 79
MDME504G1G MDME 5.0kW Incremental encoder 93 MFMCB MGME302S1D MGME 3.0kW Absolute encoder 59 MHMD042G1V MHMD 400W Incremental encoder 79
MDME504G1H MDME 5.0kW Incremental encoder 93 Part No. Title Page MGME302S1G MGME 3.0kW Absolute encoder 59 MHMD042S1A MHMD 400W Absolute encoder 79
MDME504S1C MDME 5.0kW Absolute encoder 93 MFMCB0030GET Brake Cable 117 MGME302S1H MGME 3.0kW Absolute encoder 59 MHMD042S1B MHMD 400W Absolute encoder 79
MDME504S1D MDME 5.0kW Absolute encoder 93 MFMCB0030PJT Brake Cable 117 MGME304G1C MGME 3.0kW Incremental encoder 96 MHMD042S1C MHMD 400W Absolute encoder 79
MDME504S1G MDME 5.0kW Absolute encoder 93 MFMCB0050GET Brake Cable 117 MGME304G1D MGME 3.0kW Incremental encoder 96 MHMD042S1D MHMD 400W Absolute encoder 79
MDME504S1H MDME 5.0kW Absolute encoder 93 MFMCB0050PJT Brake Cable 117 MGME304G1G MGME 3.0kW Incremental encoder 96 MHMD042S1S MHMD 400W Absolute encoder 79
MFMCB0100GET Brake Cable 117 MGME304G1H MGME 3.0kW Incremental encoder 96 MHMD042S1T MHMD 400W Absolute encoder 79
MEDHT MFMCB0100PJT Brake Cable 117 MGME304S1C MGME 3.0kW Absolute encoder 96 MHMD042S1U MHMD 400W Absolute encoder 79
Part No. Title Page MFMCB0200GET Brake Cable 117 MGME304S1D MGME 3.0kW Absolute encoder 96 MHMD042S1V MHMD 400W Absolute encoder 79
MEDHT7364 A5 series Driver: E-frame 18/32 MFMCB0200PJT Brake Cable 117 MGME304S1G MGME 3.0kW Absolute encoder 96 MHMD082G1A MHMD 750W Incremental encoder 80
MEDHT7364E A5E series Driver: E-frame 20/32 MGME304S1H MGME 3.0kW Absolute encoder 96 MHMD082G1B MHMD 750W Incremental encoder 80
MHMD082G1C MHMD 750W Incremental encoder 80

F26 F27
 Index (Alphabetical order)

MHMD (High inertia) MHME (High inertia) MSMD (Low inertia) MSMD (Low inertia)
Part No. Title Page Part No. Title Page Part No. Title Page Part No. Title Page
MHMD082G1D MHMD 750W Incremental encoder 80 MHME302G1H MHME 3.0kW Incremental encoder 63 MSMD012G1D MSMD 100W Incremental encoder 69 MSMD042G1U MSMD 400W Incremental encoder 73
MHMD082G1S MHMD 750W Incremental encoder 80 MHME302S1C MHME 3.0kW Absolute encoder 63 MSMD012G1S MSMD 100W Incremental encoder 69 MSMD042G1V MSMD 400W Incremental encoder 73

Driver
MHMD082G1T MHMD 750W Incremental encoder 80 MHME302S1D MHME 3.0kW Absolute encoder 63 MSMD012G1T MSMD 100W Incremental encoder 69 MSMD042S1A MSMD 400W Absolute encoder 73
MHMD082G1U MHMD 750W Incremental encoder 80 MHME302S1G MHME 3.0kW Absolute encoder 63 MSMD012G1U MSMD 100W Incremental encoder 69 MSMD042S1B MSMD 400W Absolute encoder 73
MHMD082G1V MHMD 750W Incremental encoder 80 MHME302S1H MHME 3.0kW Absolute encoder 63 MSMD012G1V MSMD 100W Incremental encoder 69 MSMD042S1C MSMD 400W Absolute encoder 73
MHMD082S1A MHMD 750W Absolute encoder 80 MHME304G1C MHME 3.0kW Incremental encoder 101 MSMD012S1A MSMD 100W Absolute encoder 69 MSMD042S1D MSMD 400W Absolute encoder 73
MHMD082S1B MHMD 750W Absolute encoder 80 MHME304G1D MHME 3.0kW Incremental encoder 101 MSMD012S1B MSMD 100W Absolute encoder 69 MSMD042S1S MSMD 400W Absolute encoder 73
MHMD082S1C MHMD 750W Absolute encoder 80 MHME304G1G MHME 3.0kW Incremental encoder 101 MSMD012S1C MSMD 100W Absolute encoder 69 MSMD042S1T MSMD 400W Absolute encoder 73
MHMD082S1D MHMD 750W Absolute encoder 80 MHME304G1H MHME 3.0kW Incremental encoder 101 MSMD012S1D MSMD 100W Absolute encoder 69 MSMD042S1U MSMD 400W Absolute encoder 73
MHMD082S1S MHMD 750W Absolute encoder 80 MHME304S1C MHME 3.0kW Absolute encoder 101 MSMD012S1S MSMD 100W Absolute encoder 69 MSMD042S1V MSMD 400W Absolute encoder 73

Motor
MHMD082S1T MHMD 750W Absolute encoder 80 MHME304S1D MHME 3.0kW Absolute encoder 101 MSMD012S1T MSMD 100W Absolute encoder 69 MSMD082G1A MSMD 750W Incremental encoder 74
MHMD082S1U MHMD 750W Absolute encoder 80 MHME304S1G MHME 3.0kW Absolute encoder 101 MSMD012S1U MSMD 100W Absolute encoder 69 MSMD082G1B MSMD 750W Incremental encoder 74
MHMD082S1V MHMD 750W Absolute encoder 80 MHME304S1H MHME 3.0kW Absolute encoder 101 MSMD012S1V MSMD 100W Absolute encoder 69 MSMD082G1C MSMD 750W Incremental encoder 74
MHME402G1C MHME 4.0kW Incremental encoder 64 MSMD021G1A MSMD 200W Incremental encoder 70 MSMD082G1D MSMD 750W Incremental encoder 74
MHME (High inertia) MHME402G1D MHME 4.0kW Incremental encoder 64 MSMD021G1B MSMD 200W Incremental encoder 70 MSMD082G1S MSMD 750W Incremental encoder 74
Part No. Title Page MHME402G1G MHME 4.0kW Incremental encoder 64 MSMD021G1C MSMD 200W Incremental encoder 70 MSMD082G1T MSMD 750W Incremental encoder 74
MHME102G1C MHME 1.0kW Incremental encoder 60 MHME402G1H MHME 4.0kW Incremental encoder 64 MSMD021G1D MSMD 200W Incremental encoder 70 MSMD082G1U MSMD 750W Incremental encoder 74
MHME102G1D MHME 1.0kW Incremental encoder 60 MHME402S1C MHME 4.0kW Absolute encoder 64 MSMD021G1S MSMD 200W Incremental encoder 70 MSMD082G1V MSMD 750W Incremental encoder 74

Options
MHME102G1G MHME 1.0kW Incremental encoder 60 MHME402S1D MHME 4.0kW Absolute encoder 64 MSMD021G1T MSMD 200W Incremental encoder 70 MSMD082S1A MSMD 750W Absolute encoder 74
MHME102G1H MHME 1.0kW Incremental encoder 60 MHME402S1G MHME 4.0kW Absolute encoder 64 MSMD021G1U MSMD 200W Incremental encoder 70 MSMD082S1B MSMD 750W Absolute encoder 74
MHME102S1C MHME 1.0kW Absolute encoder 60 MHME402S1H MHME 4.0kW Absolute encoder 64 MSMD021G1V MSMD 200W Incremental encoder 70 MSMD082S1C MSMD 750W Absolute encoder 74
MHME102S1D MHME 1.0kW Absolute encoder 60 MHME404G1C MHME 4.0kW Incremental encoder 102 MSMD021S1A MSMD 200W Absolute encoder 70 MSMD082S1D MSMD 750W Absolute encoder 74
MHME102S1G MHME 1.0kW Absolute encoder 60 MHME404G1D MHME 4.0kW Incremental encoder 102 MSMD021S1B MSMD 200W Absolute encoder 70 MSMD082S1S MSMD 750W Absolute encoder 74
MHME102S1H MHME 1.0kW Absolute encoder 60 MHME404G1G MHME 4.0kW Incremental encoder 102 MSMD021S1C MSMD 200W Absolute encoder 70 MSMD082S1T MSMD 750W Absolute encoder 74
MHME104G1C MHME 1.0kW Incremental encoder 98 MHME404G1H MHME 4.0kW Incremental encoder 102 MSMD021S1D MSMD 200W Absolute encoder 70 MSMD082S1U MSMD 750W Absolute encoder 74
MHME104G1D MHME 1.0kW Incremental encoder 98 MHME404S1C MHME 4.0kW Absolute encoder 102 MSMD021S1S MSMD 200W Absolute encoder 70 MSMD082S1V MSMD 750W Absolute encoder 74

Information
MHME104G1G MHME 1.0kW Incremental encoder 98 MHME404S1D MHME 4.0kW Absolute encoder 102 MSMD021S1T MSMD 200W Absolute encoder 70 MSMD5AZG1A MSMD 50W Incremental encoder 66,67
MHME104G1H MHME 1.0kW Incremental encoder 98 MHME404S1G MHME 4.0kW Absolute encoder 102 MSMD021S1U MSMD 200W Absolute encoder 70 MSMD5AZG1B MSMD 50W Incremental encoder 66,67
MHME104S1C MHME 1.0kW Absolute encoder 98 MHME404S1H MHME 4.0kW Absolute encoder 102 MSMD021S1V MSMD 200W Absolute encoder 70 MSMD5AZG1C MSMD 50W Incremental encoder 66,67
MHME104S1D MHME 1.0kW Absolute encoder 98 MHME502G1C MHME 5.0kW Incremental encoder 65 MSMD022G1A MSMD 200W Incremental encoder 71 MSMD5AZG1D MSMD 50W Incremental encoder 66,67
MHME104S1G MHME 1.0kW Absolute encoder 98 MHME502G1D MHME 5.0kW Incremental encoder 65 MSMD022G1B MSMD 200W Incremental encoder 71 MSMD5AZG1S MSMD 50W Incremental encoder 66,67
MHME104S1H MHME 1.0kW Absolute encoder 98 MHME502G1G MHME 5.0kW Incremental encoder 65 MSMD022G1C MSMD 200W Incremental encoder 71 MSMD5AZG1T MSMD 50W Incremental encoder 66,67
MHME152G1C MHME 1.5kW Incremental encoder 61 MHME502G1H MHME 5.0kW Incremental encoder 65 MSMD022G1D MSMD 200W Incremental encoder 71 MSMD5AZG1U MSMD 50W Incremental encoder 66,67
MHME152G1D MHME 1.5kW Incremental encoder 61 MHME502S1C MHME 5.0kW Absolute encoder 65 MSMD022G1S MSMD 200W Incremental encoder 71 MSMD5AZG1V MSMD 50W Incremental encoder 66,67
MHME152G1G MHME 1.5kW Incremental encoder 61 MHME502S1D MHME 5.0kW Absolute encoder 65 MSMD022G1T MSMD 200W Incremental encoder 71 MSMD5AZS1A MSMD 50W Absolute encoder 66,67
MHME152G1H MHME 1.5kW Incremental encoder 61 MHME502S1G MHME 5.0kW Absolute encoder 65 MSMD022G1U MSMD 200W Incremental encoder 71 MSMD5AZS1B MSMD 50W Absolute encoder 66,67
MHME152S1C MHME 1.5kW Absolute encoder 61 MHME502S1H MHME 5.0kW Absolute encoder 65 MSMD022G1V MSMD 200W Incremental encoder 71 MSMD5AZS1C MSMD 50W Absolute encoder 66,67
MHME152S1D MHME 1.5kW Absolute encoder 61 MHME504G1C MHME 5.0kW Incremental encoder 103 MSMD022S1A MSMD 200W Absolute encoder 71 MSMD5AZS1D MSMD 50W Absolute encoder 66,67
MHME152S1G MHME 1.5kW Absolute encoder 61 MHME504G1D MHME 5.0kW Incremental encoder 103 MSMD022S1B MSMD 200W Absolute encoder 71 MSMD5AZS1S MSMD 50W Absolute encoder 66,67
MHME152S1H MHME 1.5kW Absolute encoder 61 MHME504G1G MHME 5.0kW Incremental encoder 103 MSMD022S1C MSMD 200W Absolute encoder 71 MSMD5AZS1T MSMD 50W Absolute encoder 66,67
MHME154G1C MHME 1.5kW Incremental encoder 99 MHME504G1H MHME 5.0kW Incremental encoder 103 MSMD022S1D MSMD 200W Absolute encoder 71 MSMD5AZS1U MSMD 50W Absolute encoder 66,67
MHME154G1D MHME 1.5kW Incremental encoder 99 MHME504S1C MHME 5.0kW Absolute encoder 103 MSMD022S1S MSMD 200W Absolute encoder 71 MSMD5AZS1V MSMD 50W Absolute encoder 66,67
MHME154G1G MHME 1.5kW Incremental encoder 99 MHME504S1D MHME 5.0kW Absolute encoder 103 MSMD022S1T MSMD 200W Absolute encoder 71
MHME154G1H MHME 1.5kW Incremental encoder 99 MHME504S1G MHME 5.0kW Absolute encoder 103 MSMD022S1U MSMD 200W Absolute encoder 71 MSME (Low inertia)
MHME154S1C MHME 1.5kW Absolute encoder 99 MHME504S1H MHME 5.0kW Absolute encoder 103 MSMD022S1V MSMD 200W Absolute encoder 71 Part No. Title Page
MHME154S1D MHME 1.5kW Absolute encoder 99 MSMD041G1A MSMD 400W Incremental encoder 72 MSME011G1A MSME 100W Incremental encoder 38
MHME154S1G MHME 1.5kW Absolute encoder 99 MSMD (Low inertia) MSMD041G1B MSMD 400W Incremental encoder 72 MSME011G1B MSME 100W Incremental encoder 38
MHME154S1H MHME 1.5kW Absolute encoder 99 Part No. Title Page MSMD041G1C MSMD 400W Incremental encoder 72 MSME011G1C MSME 100W Incremental encoder 38
MHME202G1C MHME 2.0kW Incremental encoder 62 MSMD011G1A MSMD 100W Incremental encoder 68 MSMD041G1D MSMD 400W Incremental encoder 72 MSME011G1D MSME 100W Incremental encoder 38
MHME202G1D MHME 2.0kW Incremental encoder 62 MSMD011G1B MSMD 100W Incremental encoder 68 MSMD041G1S MSMD 400W Incremental encoder 72 MSME011G1S MSME 100W Incremental encoder 38
MHME202G1G MHME 2.0kW Incremental encoder 62 MSMD011G1C MSMD 100W Incremental encoder 68 MSMD041G1T MSMD 400W Incremental encoder 72 MSME011G1T MSME 100W Incremental encoder 38
MHME202G1H MHME 2.0kW Incremental encoder 62 MSMD011G1D MSMD 100W Incremental encoder 68 MSMD041G1U MSMD 400W Incremental encoder 72 MSME011G1U MSME 100W Incremental encoder 38
MHME202S1C MHME 2.0kW Absolute encoder 62 MSMD011G1S MSMD 100W Incremental encoder 68 MSMD041G1V MSMD 400W Incremental encoder 72 MSME011G1V MSME 100W Incremental encoder 38
MHME202S1D MHME 2.0kW Absolute encoder 62 MSMD011G1T MSMD 100W Incremental encoder 68 MSMD041S1A MSMD 400W Absolute encoder 72 MSME011S1A MSME 100W Absolute encoder 38
MHME202S1G MHME 2.0kW Absolute encoder 62 MSMD011G1U MSMD 100W Incremental encoder 68 MSMD041S1B MSMD 400W Absolute encoder 72 MSME011S1B MSME 100W Absolute encoder 38
MHME202S1H MHME 2.0kW Absolute encoder 62 MSMD011G1V MSMD 100W Incremental encoder 68 MSMD041S1C MSMD 400W Absolute encoder 72 MSME011S1C MSME 100W Absolute encoder 38
MHME204G1C MHME 2.0kW Incremental encoder 100 MSMD011S1A MSMD 100W Absolute encoder 68 MSMD041S1D MSMD 400W Absolute encoder 72 MSME011S1D MSME 100W Absolute encoder 38
MHME204G1D MHME 2.0kW Incremental encoder 100 MSMD011S1B MSMD 100W Absolute encoder 68 MSMD041S1S MSMD 400W Absolute encoder 72 MSME011S1S MSME 100W Absolute encoder 38
MHME204G1G MHME 2.0kW Incremental encoder 100 MSMD011S1C MSMD 100W Absolute encoder 68 MSMD041S1T MSMD 400W Absolute encoder 72 MSME011S1T MSME 100W Absolute encoder 38
MHME204G1H MHME 2.0kW Incremental encoder 100 MSMD011S1D MSMD 100W Absolute encoder 68 MSMD041S1U MSMD 400W Absolute encoder 72 MSME011S1U MSME 100W Absolute encoder 38
MHME204S1C MHME 2.0kW Absolute encoder 100 MSMD011S1S MSMD 100W Absolute encoder 68 MSMD041S1V MSMD 400W Absolute encoder 72 MSME011S1V MSME 100W Absolute encoder 38
MHME204S1D MHME 2.0kW Absolute encoder 100 MSMD011S1T MSMD 100W Absolute encoder 68 MSMD042G1A MSMD 400W Incremental encoder 73 MSME012G1A MSME 100W Incremental encoder 39
MHME204S1G MHME 2.0kW Absolute encoder 100 MSMD011S1U MSMD 100W Absolute encoder 68 MSMD042G1B MSMD 400W Incremental encoder 73 MSME012G1B MSME 100W Incremental encoder 39
MHME204S1H MHME 2.0kW Absolute encoder 100 MSMD011S1V MSMD 100W Absolute encoder 68 MSMD042G1C MSMD 400W Incremental encoder 73 MSME012G1C MSME 100W Incremental encoder 39
MHME302G1C MHME 3.0kW Incremental encoder 63 MSMD012G1A MSMD 100W Incremental encoder 69 MSMD042G1D MSMD 400W Incremental encoder 73 MSME012G1D MSME 100W Incremental encoder 39
MHME302G1D MHME 3.0kW Incremental encoder 63 MSMD012G1B MSMD 100W Incremental encoder 69 MSMD042G1S MSMD 400W Incremental encoder 73 MSME012G1S MSME 100W Incremental encoder 39
MHME302G1G MHME 3.0kW Incremental encoder 63 MSMD012G1C MSMD 100W Incremental encoder 69 MSMD042G1T MSMD 400W Incremental encoder 73 MSME012G1T MSME 100W Incremental encoder 39

F28 F29
 Index (Alphabetical order)

MSME (Low inertia) MSME (Low inertia) MSME (Low inertia) MSME (Low inertia)
Part No. Title Page Part No. Title Page Part No. Title Page Part No. Title Page
MSME012G1U MSME 100W Incremental encoder 39 MSME042S1B MSME 400W Absolute encoder 43 MSME204S1C MSME 2.0kW Absolute encoder 84 MSME5AZS1V MSME 50W Absolute encoder 36,37
MSME012G1V MSME 100W Incremental encoder 39 MSME042S1C MSME 400W Absolute encoder 43 MSME204S1D MSME 2.0kW Absolute encoder 84

Driver
MSME012S1A MSME 100W Absolute encoder 39 MSME042S1D MSME 400W Absolute encoder 43 MSME204S1G MSME 2.0kW Absolute encoder 84
MSME012S1B MSME 100W Absolute encoder 39 MSME042S1S MSME 400W Absolute encoder 43 MSME204S1H MSME 2.0kW Absolute encoder 84
MSME012S1C MSME 100W Absolute encoder 39 MSME042S1T MSME 400W Absolute encoder 43 MSME302G1C MSME 3.0kW Incremental encoder 48
MSME012S1D MSME 100W Absolute encoder 39 MSME042S1U MSME 400W Absolute encoder 43 MSME302G1D MSME 3.0kW Incremental encoder 48
MSME012S1S MSME 100W Absolute encoder 39 MSME042S1V MSME 400W Absolute encoder 43 MSME302G1G MSME 3.0kW Incremental encoder 48
MSME012S1T MSME 100W Absolute encoder 39 MSME082G1A MSME 750W Incremental encoder 44 MSME302G1H MSME 3.0kW Incremental encoder 48
MSME012S1U MSME 100W Absolute encoder 39 MSME082G1B MSME 750W Incremental encoder 44 MSME302S1C MSME 3.0kW Absolute encoder 48
MSME012S1V MSME 100W Absolute encoder 39 MSME082G1C MSME 750W Incremental encoder 44 MSME302S1D MSME 3.0kW Absolute encoder 48

Motor
MSME021G1A MSME 200W Incremental encoder 40 MSME082G1D MSME 750W Incremental encoder 44 MSME302S1G MSME 3.0kW Absolute encoder 48
MSME021G1B MSME 200W Incremental encoder 40 MSME082G1S MSME 750W Incremental encoder 44 MSME302S1H MSME 3.0kW Absolute encoder 48
MSME021G1C MSME 200W Incremental encoder 40 MSME082G1T MSME 750W Incremental encoder 44 MSME304G1C MSME 3.0kW Incremental encoder 85
MSME021G1D MSME 200W Incremental encoder 40 MSME082G1U MSME 750W Incremental encoder 44 MSME304G1D MSME 3.0kW Incremental encoder 85
MSME021G1S MSME 200W Incremental encoder 40 MSME082G1V MSME 750W Incremental encoder 44 MSME304G1G MSME 3.0kW Incremental encoder 85
MSME021G1T MSME 200W Incremental encoder 40 MSME082S1A MSME 750W Absolute encoder 44 MSME304G1H MSME 3.0kW Incremental encoder 85
MSME021G1U MSME 200W Incremental encoder 40 MSME082S1B MSME 750W Absolute encoder 44 MSME304S1C MSME 3.0kW Absolute encoder 85
MSME021G1V MSME 200W Incremental encoder 40 MSME082S1C MSME 750W Absolute encoder 44 MSME304S1D MSME 3.0kW Absolute encoder 85

Options
MSME021S1A MSME 200W Absolute encoder 40 MSME082S1D MSME 750W Absolute encoder 44 MSME304S1G MSME 3.0kW Absolute encoder 85
MSME021S1B MSME 200W Absolute encoder 40 MSME082S1S MSME 750W Absolute encoder 44 MSME304S1H MSME 3.0kW Absolute encoder 85
MSME021S1C MSME 200W Absolute encoder 40 MSME082S1T MSME 750W Absolute encoder 44 MSME402G1C MSME 4.0kW Incremental encoder 49
MSME021S1D MSME 200W Absolute encoder 40 MSME082S1U MSME 750W Absolute encoder 44 MSME402G1D MSME 4.0kW Incremental encoder 49
MSME021S1S MSME 200W Absolute encoder 40 MSME082S1V MSME 750W Absolute encoder 44 MSME402G1G MSME 4.0kW Incremental encoder 49
MSME021S1T MSME 200W Absolute encoder 40 MSME102G1C MSME 1.0kW Incremental encoder 45 MSME402G1H MSME 4.0kW Incremental encoder 49
MSME021S1U MSME 200W Absolute encoder 40 MSME102G1D MSME 1.0kW Incremental encoder 45 MSME402S1C MSME 4.0kW Absolute encoder 49
MSME021S1V MSME 200W Absolute encoder 40 MSME102G1G MSME 1.0kW Incremental encoder 45 MSME402S1D MSME 4.0kW Absolute encoder 49

Information
MSME022G1A MSME 200W Incremental encoder 41 MSME102G1H MSME 1.0kW Incremental encoder 45 MSME402S1G MSME 4.0kW Absolute encoder 49
MSME022G1B MSME 200W Incremental encoder 41 MSME102S1C MSME 1.0kW Absolute encoder 45 MSME402S1H MSME 4.0kW Absolute encoder 49
MSME022G1C MSME 200W Incremental encoder 41 MSME102S1D MSME 1.0kW Absolute encoder 45 MSME404G1C MSME 4.0kW Incremental encoder 86
MSME022G1D MSME 200W Incremental encoder 41 MSME102S1G MSME 1.0kW Absolute encoder 45 MSME404G1D MSME 4.0kW Incremental encoder 86
MSME022G1S MSME 200W Incremental encoder 41 MSME102S1H MSME 1.0kW Absolute encoder 45 MSME404G1G MSME 4.0kW Incremental encoder 86
MSME022G1T MSME 200W Incremental encoder 41 MSME104G1C MSME 1.0kW Incremental encoder 82 MSME404G1H MSME 4.0kW Incremental encoder 86
MSME022G1U MSME 200W Incremental encoder 41 MSME104G1D MSME 1.0kW Incremental encoder 82 MSME404S1C MSME 4.0kW Absolute encoder 86
MSME022G1V MSME 200W Incremental encoder 41 MSME104G1G MSME 1.0kW Incremental encoder 82 MSME404S1D MSME 4.0kW Absolute encoder 86
MSME022S1A MSME 200W Absolute encoder 41 MSME104G1H MSME 1.0kW Incremental encoder 82 MSME404S1G MSME 4.0kW Absolute encoder 86
MSME022S1B MSME 200W Absolute encoder 41 MSME104S1C MSME 1.0kW Absolute encoder 82 MSME404S1H MSME 4.0kW Absolute encoder 86
MSME022S1C MSME 200W Absolute encoder 41 MSME104S1D MSME 1.0kW Absolute encoder 82 MSME502G1C MSME 5.0kW Incremental encoder 50
MSME022S1D MSME 200W Absolute encoder 41 MSME104S1G MSME 1.0kW Absolute encoder 82 MSME502G1D MSME 5.0kW Incremental encoder 50
MSME022S1S MSME 200W Absolute encoder 41 MSME104S1H MSME 1.0kW Absolute encoder 82 MSME502G1G MSME 5.0kW Incremental encoder 50
MSME022S1T MSME 200W Absolute encoder 41 MSME152G1C MSME 1.5kW Incremental encoder 46 MSME502G1H MSME 5.0kW Incremental encoder 50
MSME022S1U MSME 200W Absolute encoder 41 MSME152G1D MSME 1.5kW Incremental encoder 46 MSME502S1C MSME 5.0kW Absolute encoder 50
MSME022S1V MSME 200W Absolute encoder 41 MSME152G1G MSME 1.5kW Incremental encoder 46 MSME502S1D MSME 5.0kW Absolute encoder 50
MSME041G1A MSME 400W Incremental encoder 42 MSME152G1H MSME 1.5kW Incremental encoder 46 MSME502S1G MSME 5.0kW Absolute encoder 50
MSME041G1B MSME 400W Incremental encoder 42 MSME152S1C MSME 1.5kW Absolute encoder 46 MSME502S1H MSME 5.0kW Absolute encoder 50
MSME041G1C MSME 400W Incremental encoder 42 MSME152S1D MSME 1.5kW Absolute encoder 46 MSME504G1C MSME 5.0kW Incremental encoder 87
MSME041G1D MSME 400W Incremental encoder 42 MSME152S1G MSME 1.5kW Absolute encoder 46 MSME504G1D MSME 5.0kW Incremental encoder 87
MSME041G1S MSME 400W Incremental encoder 42 MSME152S1H MSME 1.5kW Absolute encoder 46 MSME504G1G MSME 5.0kW Incremental encoder 87
MSME041G1T MSME 400W Incremental encoder 42 MSME154G1C MSME 1.5kW Incremental encoder 83 MSME504G1H MSME 5.0kW Incremental encoder 87
MSME041G1U MSME 400W Incremental encoder 42 MSME154G1D MSME 1.5kW Incremental encoder 83 MSME504S1C MSME 5.0kW Absolute encoder 87
MSME041G1V MSME 400W Incremental encoder 42 MSME154G1G MSME 1.5kW Incremental encoder 83 MSME504S1D MSME 5.0kW Absolute encoder 87
MSME041S1A MSME 400W Absolute encoder 42 MSME154G1H MSME 1.5kW Incremental encoder 83 MSME504S1G MSME 5.0kW Absolute encoder 87
MSME041S1B MSME 400W Absolute encoder 42 MSME154S1C MSME 1.5kW Absolute encoder 83 MSME504S1H MSME 5.0kW Absolute encoder 87
MSME041S1C MSME 400W Absolute encoder 42 MSME154S1D MSME 1.5kW Absolute encoder 83 MSME5AZG1A MSME 50W Incremental encoder 36,37
MSME041S1D MSME 400W Absolute encoder 42 MSME154S1G MSME 1.5kW Absolute encoder 83 MSME5AZG1B MSME 50W Incremental encoder 36,37
MSME041S1S MSME 400W Absolute encoder 42 MSME154S1H MSME 1.5kW Absolute encoder 83 MSME5AZG1C MSME 50W Incremental encoder 36,37
MSME041S1T MSME 400W Absolute encoder 42 MSME202G1C MSME 2.0kW Incremental encoder 47 MSME5AZG1D MSME 50W Incremental encoder 36,37
MSME041S1U MSME 400W Absolute encoder 42 MSME202G1D MSME 2.0kW Incremental encoder 47 MSME5AZG1S MSME 50W Incremental encoder 36,37
MSME041S1V MSME 400W Absolute encoder 42 MSME202G1G MSME 2.0kW Incremental encoder 47 MSME5AZG1T MSME 50W Incremental encoder 36,37
MSME042G1A MSME 400W Incremental encoder 43 MSME202G1H MSME 2.0kW Incremental encoder 47 MSME5AZG1U MSME 50W Incremental encoder 36,37
MSME042G1B MSME 400W Incremental encoder 43 MSME202S1C MSME 2.0kW Absolute encoder 47 MSME5AZG1V MSME 50W Incremental encoder 36,37
MSME042G1C MSME 400W Incremental encoder 43 MSME202S1D MSME 2.0kW Absolute encoder 47 MSME5AZS1A MSME 50W Absolute encoder 36,37
MSME042G1D MSME 400W Incremental encoder 43 MSME202S1G MSME 2.0kW Absolute encoder 47 MSME5AZS1B MSME 50W Absolute encoder 36,37
MSME042G1S MSME 400W Incremental encoder 43 MSME202S1H MSME 2.0kW Absolute encoder 47 MSME5AZS1C MSME 50W Absolute encoder 36,37
MSME042G1T MSME 400W Incremental encoder 43 MSME204G1C MSME 2.0kW Incremental encoder 84 MSME5AZS1D MSME 50W Absolute encoder 36,37
MSME042G1U MSME 400W Incremental encoder 43 MSME204G1D MSME 2.0kW Incremental encoder 84 MSME5AZS1S MSME 50W Absolute encoder 36,37
MSME042G1V MSME 400W Incremental encoder 43 MSME204G1G MSME 2.0kW Incremental encoder 84 MSME5AZS1T MSME 50W Absolute encoder 36,37
MSME042S1A MSME 400W Absolute encoder 43 MSME204G1H MSME 2.0kW Incremental encoder 84 MSME5AZS1U MSME 50W Absolute encoder 36,37

F30 F31
 Sales Office

[Panasonic Sales Office of Motors] (Sep. 1. 2009)

TEL
Country Company Name City Address
FAX

Two Panasonic Way Secaucus, 1-201-348-5356

New Jersey
New Jersey 07094 U.S.A. 1-201-392-4315
Panasonic Industrial
U.S.A.
Company(PIC) 1-408-487-9536
2033 Gateway Place, Suite 200 San
California
Jose, CA 95110, U.S.A. 1-408-436-8037

Panasonic Electric Works Barajas Park, San Severo 20, 34-91-329-3875

Spain Madrid
Espana S.A. 28042 Madrid,Spain 34-91-329-2976

Panasonic Electric Works Rudolf-Diesel-Ring 2, 83607 Holzkirchen, 49-8024-648-0

Germany Munich
Europe AG Germany 49-8024-648-555

Panasonic Electric Works Via del Commercio 3-5 (Z.I. Ferlina), 39-045-6752711
Italy Verona
Italia srl 37012 Bussolengo (VR), Italy 39-045-6700444
Sunrise Parkway,Linford Wood, 44-1908-231-555
United Panasonic Electric Works
Milton Keynes Milton Keynes, MK14 6 LF,
Kingdom UK Ltd. 44-1908-231-599
the United Kingdom
Panasonic Industrial Sales 886-2-2757-1878
12F, No.9, SongGao Rd., Taipei 110,
Taiwan (Taiwan) Taipei
Taiwan, R.O.C. 886-2-2757-1907
Co., Ltd.(PIST)

Panasonic Industrial 300 Beach Road #16-01 The Concourse 65-6390-3727

Singapore Singapore
Singapore(PICS) Singapore 199555 65-6390-3834
Floor 7, China Insurance Building, 86-21-3855-2442
Panasonic Industrial (China)
Shanghai 166 East Road LuJiaZui PuDong New
Co.,Ltd.(PICN) 86-21-3855-2375
District, Shanghai, China

Panasonic Shun Hing Industrial Level 33, Office Tower, Langham Place, 852-2529-7322
China Hong kong
Sales (Hong kong) Co., Ltd. 8 Argyle Street, Mongkok, Kin.,Hong Kong 852-2598-9743
6th Floor, Excellence Times Square, 86-755-8255-8551
Panasonic Shun Hing Industrial
Shenzhen #4068 Yitian Road, Futian District,
Sales (Shenzhen) Co., Ltd. 86-755-8255-8668
Shenzhen, China

Panasonic Industrial Asia Pte 510, E-Block, International Trade Tower, 91-11-26292870
India New Delhi
Ltd. (PIAI) Nehru Place, New Delhi 91-11-26292878

[Distributor]
TEL
Country Company Name City Address
FAX

3Fr-, Young-il, 982-4, Shi-heung 3 Dong, 82-2-805-2471

YOUNG IL Electric Co.,Ltd. Seoul
Keum-cheon Ku, Seoul, Korea 82-2-805-2475

333-11, Sangdaewon-Dong, Jungwon-Ku, 82-31-737-1660

Korea Soonhan Engineering Co.,Ltd. Sungnam
Sungnam City, Kyungki-Do, 462-806, Korea 82-31-732-9188

163-1, Busan-Dong, Osan-City, 82-31-377-9500

Zeus Co.,Ltd. Osan
Kyunggi-Do, 447-050, Korea 82-31-378-8660

F32
 AC Servo 2009/9
MINAS A5 series Catalog

Combined Version
Cautions for Proper Use
• This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine
or system that may cause personal death when it is failed.
• Installation, wiring, operation, maintenance, etc., of the equipment should be done by qualified and experienced personnel. High performance, multi function and easy use,
• Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the
characteristics of material to which the product is installed. Overtightening can damage the screw and/or material;
undertightening can result in loosening.
all advanced.
Example) Steel screw (M5) into steel section: 2.7 to 3.3 N·m.

Easy
• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the
failure of this product.

k
• Consult us if the application of this product is under such special conditions and environments as nuclear energy control,
aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air
contamination.
Quic
• We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger
external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected

AC Servo <MINAS A5 Series>

action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition

Safe
of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is
required.
• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when
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the application of the machine is clean room related.
• Please be careful when using in an environment with high concentrations of sulfur or sulfric gases, as sulfuration can lead to
disconnection from the chip resistor or a poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product.
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Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble. Ligh
• The user is responsible for matching between machine and components in terms of configuration, dimensions, life expectancy,
characteristics, when installing the machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• Read and observe the instruction manual without fail for proper usage of the products.

Consult to the dealer from whom you have purchased this product for details of repair work.
Repair
When the product is incorporated to the machine you have purchased, consult to the machine manufacturer or its dealer.

Electric data of this product (Instruction Manual, CAD data) can be download from the following web site;
URL
<http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Contact to :

1-1 Morofuku 7-chome, Daito, Osaka 574-0044, Japan

Tel : +81-72-871-1212
Fax: +81-72-870-3151

ISO14001 Certificate division

CERTIFICATE OF APPROVAL ISO14001

ISO9001 Certificate division

CERTIFICATE OF APPROVAL ISO9001
2009 / 9

The contents of this catalog apply

to the products as of Sep. 1, 2009.

• Printed colors may be slightly different from the actual products.

• Specifications and design of the products are subject to change without notice for the product improvement. <09.09 M >