A4-21
A4-22
●
Motor
A4-49
MAMA
A4-49
MSMD
A4-51
MQMA
A4-59
MSMA
A4-63
MDMA
A4-67
MGMA
A4-73
MFMA
A4-77
MHMA
A4-81
A4-87 MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA
A4-87 A4-88 A4-90 A4-91 A4-93 A4-96 A4-99 A4-101
Motor with Gear Reducer/MSMD
A4-105
A4-106
A4-107
A4-108
●
●
Conformity to CE and UL
A4-109
●
IP65 Rating
A4-112
●
Options
A4-113
●
Recommended components
A4-127
Remarks :Instruction manual is available as an option as Japanese version : DV0P4200 and English version : DV0P4210
A4-2
MINAS A4 Features/Contents
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
000100 10 0100 1000100 10 0100
MINAS A4 Features/Contents
Details of Features Further Adjustment-Free Operation ■High-functionality Real-Time Auto-Gain Tuning ●
Waveform adjusted via auto-tuning driven by a ball screw
Corresponds to even variation of load inertia. Offers real
Stabilization time of 4 ms or less
automatic gain tuning to low and high stiffness machines with a actual speed (r/min)
torque (N)
combination of an adaptive filter. ●
Supports the vertical axis application where the load torque is
●
Prevents the machine from over-traveling during automatic gain
●
Enables you to set and check while monitoring real-time automatic
different in rotational direction. tuning with over-travel detecting function. gain tuning conditions on the front panel. comand speed (r/min)
positional deviation (pulse)
Further High-Speed and High-Response ■ Velocity response (bandwidth) of 1kHz ●
Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and higher resolution. standard deviation of detected speed [r/min]
*) In case of high stiffness machine
magnitude (dB)
10
−10
Present MINAS A-Series −30
MINAS-A4Series −50
10
100 1000 frequency (Hz)
Variation of detected speed at stopping 100
Velocity gain is doubled compared to A-Series
10
MINAS A-Series 1
MINAS A4-Series 0.1 100
1000
velocity gain [Hz]
■High-functionality Real-Time Auto-Gain Tuning ●
Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize high-speed positioning with high-functionality real-time auto-gain tuning.
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MINAS A4 Details of Features
Further Reduction of Vibration ■Adaptive filter
Torque [%]
actual speed (r/min)
Makes the notch filter frequency automatically follow the machine resonance frequency.
●
●
Speed
Suppression of "Judder" noise of the machine can be expected which is caused by variation of the machines or resonance frequency due to aging.
Suppress vibration quickly
■2-channel notch filters ●
Filter is invalid
2-channel notch filters are equipped in the driver independent from adaptive filter.
Completion of filter frequency setup
You can set up both frequency and width for each of 2 filters, and set up frequency in unit of 1Hz.
●
Corresponds to wider frequency range (-1500Hz) Suppresses vibration quickly
Suppression of "Judder" noise of the machine which has multiple resonance points can be expected
●
Effect of notch filter without notch filter
with notch filter
torque (33.3%/div)
50ms/div
50ms/div
■Damping control ●
2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
●
You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to correspond to the variation of vibration frequency caused by the machine position.
●
Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
motor movement
machine movement Torque [%] 500 400
actual speed (r/min) 500
without damping control
400
400 320
300
300 240
200
200 160
100
100 80
0
0 0
−100
−100 −80
−200
−200 −160
−300
−300 −240
−400 −500
−400 −320 0.1
0.2
0.3
0.4
0.5
0.6
0.7
−500 −400 ［s］ Position deviation [pulse]
Torque [%] 20 400
actual speed (r/min) 500
with damping control
400
16 320
300
12 240
200
8 160
100
4 80
0
0 0
−100
−4 −80
−200
no vibration at motor shaft
−300 −400 −500
0.1 Command speed (r/min)
−8 −160 −12 −240
least vibration and fast response
−16 −320 0.2
0.3
0.4
0.5
0.6
0.7
−20 −400 ［s］ Position deviation [pulse]
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MINAS A4 Details of Features
speed (1000r/min/div)
Further Flexibility and Multiplicity Regeneration discharging function
Setup support with substantial monitoring function ●
Discharges the regenerative energy with resistor, which energy is
Faster communication speed of RS232/RS485 (Max.57600bps)
●
generated while stopping the load with large moment of inertia, or
establishes an easy and comfortable operating condition for setup support software, "PANATERM ●
®
use in up-down operation, and is returned to the driver from the
".
motor.
Displays the factors of no-motor run and helps you to analyze the
●
No regeneration discharge resistor is built-in to Frame A driver
●
causes of troubles.
(MADDT1105 type.) and Frame B driver (MBDDT2210 type.), and
You can set up the panel operation lock to inhibit the operation
we recommend you to connect optional regenerative resistor.
from the front panel, thus enables you to prevent miss-operation
Regenerative resistor is built-in to Frame C to F drivers, however,
●
such as unintentional change of parameters.
connection of the optional regenerative resistor bring you further
*Note) Refer to page "F4" for setup support software.
regenerative capability.
Command control modes Built-in dynamic brake
Offers you "Position" , "Velocity (including internal 8-speed)" and
●
"Torque" command control modes You can select the dynamic brake action which short the servo
●
You can set up any one of the command control modes, or
●
motor windings of U, V and W, at Servo-OFF, CW/CCW over-
selectable two command control mode with parameter.
travel inhibition, power shutdown and trip.
You can set up any command control mode depending on your
●
You can select the action sequence setup depending on the
●
application.
machine requirement.
Monitoring function with front panel Positioning pulse
LED display and analog monitor terminals are installed in the front
●
panel. Corresponds up to 2Mpps of pulse input at positioning control.
●
Displays "Motor speed" , "Motor torque" Position deviation" , "Motor
●
load factor" and "Regeneration load factor" on LED. You can monitor "Motor speed" ,"Motor torque" and "Position
●
Setup support software
deviation" through analog monitor terminals. ●
Trial run (JOG)
With the setup support software, "PANATERM ® " via RS232/RS485 communication port, you can monitor the running status of the driver and set up parameters.
Features the function for trial (JOG) run through the front panel or
●
You can read out the absolute position data of the motor with
●
console (option) without connecting to a host controller.
absolute encoder.
You can shorten the machine setup time.
●
Full-closed control (High precision positioning)
Wave-form graphic function
Features the full-closed control of position and velocity, using the
●
●
signals from linear scale installed on the load side and high
With the setup support software, "PANATERM ® " , you can monitor the "Command speed" , "Actual speed" ,"Torque" ,
resolution encoder.
"Position deviation " and "Positioning complete signal" .
Note) Applicable external linear scales are as follows,
Helps you to analyze the machine and shorten the setup time
●
AT500 series by Mitutoyo (Resolution 0.05[μm], max, speed 2[m/s])
*Note) Refer to page "F4" for setup support software.
ST771 series by Mitutoyo (Resolution 0.5[μm], max, speed 2[m/s]) Best suits to high precision machines.
●
Torque limit value switching Inrush current suppressing function
●
You can setup 2 torque limits and use them for tension control or press & hold control
Inrush current suppressing resistor is equipped in this driver, which
●
●
prevents the circuit breaker shutdown of the power supply caused by inrush current at power-on. Prevents unintentional shutdown of the power supply circuit breaker
●
in multi-axes application and does not give load to the power line.
A4-5
It is possible to apply it to bumping homing
MINAS A4 Details of Features
SEMI F47 voltage sag immunity ●
Frequency analyzing function
Features the function which complies to voltage sag immunity
●
standard of SEMI F47 at no load or light load. ●
You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "PANATERM ® "
Useful for semiconductor industry.
Helps you to analyze the machine and shorten the setup time
Notes)
●
*Note) Refer to page "F4" for setup support software.
1)Not applicable to single phase, 100V type. 2)Verify with the actual machine condition to F47, voltage sag immunity standard.
■Applicable overseas safety standards Subject Motor
IEC E N EMC U L CSA
Conforms to LowVoltage Directives
Conforms to references by EMC Directives
: International Electrotechnical Commission : Europaischen Normen : Electromagnetic Compatibility : Underwriters Laboratories : Canadian Standards Association
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-6
MINAS A4 Details of Features
Motor and driver
Standard conformed IEC60034-1 IEC60034-5 UL1004 CSA22.2 NO.100 EN50178 UL508C EN55011 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment EN61000-6-2 Immunity for Industrial Environments IEC61000-4-2 Electrostatic Discharge Immunity Test IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC61000-4-5 Lightening Surge Immunity Test IEC61000-4-6 High Frequency Conduction Immunity Test IEC61000-4-11 Instantaneous Outage Immunity Test
List of Specifications
Ultra low inertia
Motor series
Rated rotational Rated output speed (kW) (Max. speed) (r/min)
Rotary encoder
Brake
Gear
2500P/r 17bit incremen absolute/ incremental tal
Holding
High precision
CE/UL
Enclosure
.Small capacity .Suitable for the
MAMA 0.1-0.75
Applications
.SMT machines .Inserters .High repetitive
IP65 (Except shaft through hole and connector)
machines directly coupled with high speed ball screw and high stiffness and high repetitive application
3000 (5000) *For 400W/100V 5 models and 750W 0.05, 3000 0.1, 0.2, (4500) 0.4 and 0.75
IP65 (Except shaft through hole and connector)
.Small capacity .Suitable for all
.Inserters .Belt driven
applications
machines .Unloading robot
3000 (5000) *For 400W/100V 3000 (4500)
IP65 (Except shaft through hole and connector)
.Small capacity .Suitable for flat
.SMT machines .Inserters .Belt driven
4 models 0.1, 0.2, 0.4 and 0.75
MSMD
Features
5000 (6000)
0.05-0.75
positioning application
Low inertia
MQMA 0.1-0.4 3 models 0.1, 0.2, and 0.4
MSMA 1.0-5.0 6 models 1.0,1.5,2.0, 3.0,4.0 and 5.0
3000 (5000) *For 4kW and 5kW 3000 (4500)
IP65 (Except cannon plug/ connector pins)
type and low stiffness machines machines .Unloading robot with belt driven
.Middle capacity .Suitable for the machines directly . SMT machines coupled with ball . Inserter screw and high .Food machines stiffness and high repetitive application
MDMA 1.0-7.5
Middle inertia
6 models 1.0,1.5,2.0, 3.0,4.0,5.0 and 7.5
2000 (3000) *For 7.5kW 1500 (3000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Suitable for low
1000 (2000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Suitable for
.Belt driven
machines requiring low speed with high torque
machines .Conveyers .Robots
2000 (3000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Flat type and
.Belt driven
machines stiffness machines .Conveyers .Robots with belt driven
MGMA 0.9-6.0 4 models 0.9,2.0, 3.0,4.5 and 6.0
MFMA 0.4-4.5
High inertia
4 models 0.4,1.5, 2.5 and 4.5
MHMA
Motor is sharing with A4P series
0.5-7.5 7 models 0.5,1.0,1.5, 2.0,3.0,4.0, 5.0 and 7.5
2000 (3000) *For 7.5kW 1500 (3000)
IP65 (Except cannon plug/ connector pins)
A4-7
suitable for machines with space limitation
.Middle capacity .Suitable for low stiffness machines with belt driven, and large load moment of inertia
.Robots .Food machines
.Belt driven machines .Conveyors .Robots
List of Specifications/ Model Designation
MINAS A4
Model Designation ■ Servo Motor Ｍ Ｓ Ｍ Ｄ ５ Ａ Ｚ Ｓ １ Ｓ ＊ ＊ Special specifications Symbol MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA
Type Ultra low inertia (100W-750W) Low inertia (50W-750W) Low inertia (100W-400W) Low inertia (1.0kW-5.0W) Middle inertia (1.0kW-7.5kW) Middle inertia (900W-6.0kW) Middle inertia (400W-4.5kW) High inertia (500W-7.5kW)
Design order 1 : Standard Rotary encoder specifications
50W 100W 200W 400W 500W
08
750W
09 10
900W 1.0kW
S
Absolute/ Incremental common
Pulse counts Resolution Wires 2500P/r 10000 5 17bit
131072
Symbol 1 2
Rated output
15 20
1.5kW 2.0kW
25 30 40 45
2.5kW 3.0kW 4.0kW 4.5kW
50 60 75
5.0kW 6.0kW 7.5kW
Z
Specifications 100V 200V 100V/200V common(50W only)
7
C D G H Products are standard stock items or build to order items. See index (page F31). MAMA Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
A B E F Products are standard stock items or build to order items. See index (page F31).
See page, A4-49 for motor specifications
■ Motor with reduction gear Ｍ Ｓ Ｍ Ｄ ０ １ １ Ｐ ３ １ Ｎ Symbol
ＭＳＭＤ
Gear reduction ration, gear type Motor output (W) Symbol Gear reduction ratio 100 200 400 750 1N 1/5 2N 1/9 3N 1 / 15 4N 1 / 25
Type Low inertia (100W-750W)
Motor rated output Symbol Rated output 01 100W 02 200W 04 400W 08 750W
Voltage specifications Symbol Specifications １ １００Ｖ ２ ２００Ｖ
Rotary encoder specifications Symbol Format Pulse counts P Incremental 2500P/r Absolute/ Incremental S 17bit common
Resolution Wires 10000
5
131072
7
Motor structure Shaft Symbol Key-way 3 4
Gear type
For high accuracy
Holding brake without with
See page, A4-105 for motor with gear reducer specifications
■ Servo Driver Ｍ Ａ Ｄ Ｄ Ｔ １ ２ ０ ５ ＊ ＊ ＊ Special specifications
Symbol MADD MBDD MCDD MDDD MEDD MFDD MGDD
Frame symbol Frame A4 series, Frame A A4 series, Frame B A4 series, Frame C A4 series, Frame D A4 series, Frame E A4 series, Frame F A4 series, Frame G
Power device Max. current rating Symbol Power device Max. current rating T1 1 0A 1 5A T2 3 0A T3 5 0A T5 7 5A T7 1 0 0A TA 1 5 0A TB TC 3 0 0A
Supply voltage specifications Symbol Specifications 1 Single phase, 100V 2 Single phase, 200V 3 3-phase, 200V Single/3-phase,200V 5
Current detector current rating Symbol Current detector, current rating 05 5A 07 7.5A 10 1 0A 2 0A 20 3 0A 30 40 4 0A 64 6 4A 90 9 0A 1 2 0A A2 B4 2 4 0A
See page, A4-15 for driver specifications
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-8
MINAS A4 List of Specifications/Model Designation
5A 01 02 04 05
Format Incremental
Voltage specifications
Motor rated output Symbol Rated output Symbol
Symbol P
Motor structure MSMD(standard stock), MQMA (build to order) Shaft Holding brake Oil seal Symbol Round Key-way, without with without with center tap A B S T Motor with oil seal is manufactured by order. MSMA , MDMA , MGMA , MFMA , MHMA Shaft Holding brake Oil seal Symbol Round Key-way without with without with
Wiring example Driver Frame Type Symbol (Frame A, B, C, D) For details, refer to the Instruction Manual.
●Wiring of main circuit Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes. Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. M S
Reactor (L) Reduces harmonic current of the main power.
Console (DV0P4420) Personal Computer
Pin RB1, RB2 and RB3… ・RB2 and RB3 to be kept shorted for normal operation. ・When the internal regenerative resistor capacity has shortage, disconnect between RB2 and RB3, then connect an external regenerative resistor between RB1 and RB2.
Setup support software "PANATERM ® " (DV0P4460)
PC communication cable (DV0P1960)
L1 L2 L3 L1C L2C
Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360)
Controller Encoder cable Regenerative resistor (option) Motor cable Ground (Earth) Motor
to page A4-49
Driver
to page A4-15
Option
to page A4-113
Brake cable Power supply for brake DC24V
Recommended equipments to page A4-12 Parts customer to prepare
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MINAS A4 Wiring example Driver Frame Type Symbol (Frame E, F) For details, refer to the Instruction Manual.
●Wiring of main circuit Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes. Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver.
M S
Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this.
Console (DV0P4420) Personal Computer Setup support software "PANATERM ® " (DV0P4460)
Reactor (L) Reduces harmonic current of the main power.
P, B1 and B2… ・B1 and B2 to be kept shorted for normal operation. ・When the internal regenerative resistor capacity has shortage, disconnect between B1 and B2, then connect an external regenerative resistor between P and B2.
Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360)
Controller Encoder cable
Regenerative resistor (option)
Ground (Earth) Motor cable Brake cable Power supply for brake DC24V
Motor
to page A4-49
Driver
to page A4-15
Option
to page A4-113
Recommended equipments to page A4-12 Parts customer to prepare
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MINAS A4 Wiring example
PC communication cable (DV0P1960)
Wiring example Driver Frame Type Symbol (Frame G) For details, refer to the Instruction Manual.
●Wiring of main circuit Magnetic Circuit Breaker (MCB) Used to protect the power lines: overcurrent will shutoff the circuit. Noise filter (NF) Prevents external noise coming from the power line, or reduces noise generated by the servo motor. Magnetic contactor (MC) Turns on/off the main power to the servo motor. Used together with a surge absorber. Reactor (L) Reduces harmonics in power line.
Control power supply input terminal M S
Console (DV0P4420) Personal Computer Setup support software "PANATERM ® " (DV0P4460)
PC communication cable (DV0P1960)
Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360)
M
Controller Encoder cable
Regenerative resistor (option) Motor cable
Ground (Earth) Motor
to page A4-49
Driver
to page A4-15
Option
to page A4-113
Recommended equipments to page A4-12
Brake cable Regenerative discharge register overheat detection I/O terminal
Power supply for brake DC24V
Fan stop signal output terminal
Parts customer to prepare
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-11
MINAS A4 Wiring example
Single phase, 100V
Applicable motor Series
Output
MSMD
50W 100W
Approx. 0.4kVA
200W
Approx. 0.5kVA Approx. 0.9kVA
MSMD MQMA MSMD MAMA MQMA
Single phase, 200V
Power Circuit capacity breaker (atrated load) (rated current)
400W 50W 100W
Approx. 0.5kVA
100W
Approx. 0.3kVA
200W
Approx. 0.5kVA
Surge absorber
Noise filter (signal)
BMFT61041N （3P+1a）
DV0P 4180
BMFT61541N （3P+1a）
DV0P 4190 DV0P 4170 BMFT61542N （3P+1a）
MQMA MSMD MQMA MAMA MFMA MHMA MSMD MAMA MDMA MHMA
Approx. 0.9kVA
400W
Approx. 0.9kVA
500W 750W
Approx. 1.1kVA Approx. 1.3kVA Approx. 1.6kVA
0.75mm2 to 2.0mm2 AWG14 to 18
DV0P 4180 BBC 3151N (15A)
1.0kW
MGMA
900W
MSMA
1.0kW
Approx. 1.8kVA
MSMA MDMA 1.5kW
Approx. 2.3kVA
MDMA
2.0kW
Approx. 3.3kVA
MHMA MFMA
2.5kW
MGMA
2.0kW
Approx. 3.8kVA
3.0kW
Approx. 4.5kVA
4.0kW
Approx. 6.0kVA
MFMA
Cable Cable diameter diameter (Main circuit) (controlcircuit)
BBC 3201N (20A)
DV0P 1460
DV0P 4220
BMFT61842N （3P+1a）
2.0mm2 AWG14
MINAS A4 Wiring example
Single/ 3-phase, 200V
400W
Magnetic contactor (Contact)
DV0P 4170
BBC 2101N (10A)
MAMA MSMD
Noise filter
Connection to exclusive connector
Power supply voltage
Connector
■List of recommended peripheral equipments
0.75mm2 AWG18
MHMA MSMA
DV0P 1450
MSMA MDMA MHMA
BMF6352N （3P+2a2b）
3.5mm2 AWG12
MGMA 3-phase, 200V
MSMA MDMA MHMA MFMA MGMA
4.5kW
MSMA MDMA
BBC 3501N (50A)
Approx. 6.8kVA
5.0kW
Approx. 7.5kVA
6.0kW
Approx. 9.0kVA
7.5kW
Approx. 11kVA
DV0P 3410 BMF6652N （3P+2a2b）
5.3mm2 AWG10
Connection to terminal block M5
BBC 3301N (30A)
MHMA MGMA MDMA MHMA
L1,L2,L3 2 5.3mm AWG10
BBC 3601N (60A)
U.V.W2 14mm AWG6
● Select a single and 3-phase common specifications corresponding to the power supplies. ● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric Works. To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL Listed and marked) between noise filter and power supply without fail. ● For details of noise filter, refer to Page A4-110. ・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition). ・ Terminal block and earth terminals Use a copper conductor cables with temperature rating of 60℃ or higher. Earth terminals for Frame A to D are M4 and M5 for Frame E to F. Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m) may damage the terminal block. ・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 2.5kW, 3.5mm2 (AWG12) or larger for 3kW to 4kW, 5.3mm2 (AWG10) or larger for 4.5kW to 5kW and 14mm2 (AWG6) or larger for 6kW to 7.5kW. ・ Use the attached exclusive connector for A to D-frame, and maintain the peeled off length of 8-9mm. ・ Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N・m.
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Table of Part Numbers and Options Power supply
Motor series
Rated rotational Output speed (W) (r/min)
2500P/r, Incremental Motor Note) 1
17bit, Absolute/Incremental common
Rating/ Encoder cable Spec. Note) 2 (page)
Motor Note) 1
Rating/ Spec. (page)
Encoder cable Note) 2
Encoder cable Note) 2
2500P/r and 17bit common Driver
Frame symbol
100
MAMA012P1□ A4-49 MAMA022P1□ A4-49
MAMA012S1□ A4-49 MAMA022S1□ A4-49
MADDT1207 A-frame
200 400
MAMA042P1□ A4-49
MAMA042S1□ A4-49
MCDDT3520 C-frame
750
MAMA082P1□ A4-49
MAMA082S1□ A4-49
MDDDT5540 D-frame
400
MAMA042P1□ A4-49
MAMA042S1□ A4-49
MCDDT3520 C-frame
750
MAMA082P1□ A4-49
MAMA082S1□ A4-49
MDDDT5540 D-frame
50
MSMD5AZP1□ A4-51
MSMD5AZS1□ A4-51
MADDT1105
100
MSMD011P1□ A4-51
MSMD011S1□ A4-51
MADDT1107
Single Low inertia phase 100V MQMA
200
MSMD021P1□ A4-53
MSMD021S1□ A4-53
MBDDT2110 B-frame
400
MSMD041P1□ A4-53
MSMD041S1□ A4-53
MCDDT3120 C-frame
Low inertia
200
Flat
400
Single phase 200V
MAMA Ultra
3-phase, 200V
5000
low inertia
MSMD
100
50 MSMD
3000
100
MQMA022S1□ A4-61 MQMA042S1□ A4-61
MADDT1207
MSMA102P1□ A4-63 MSMA152P1□ A4-63
MSMA102S1□ A4-63 MSMA152S1□ A4-63
1500
MDMA102P1□ A4-67 MDMA152P1□ A4-67
MDMA102S1□ A4-67 MDMA152S1□ A4-67
900
MGMA092P1□ A4-73
400 1000
Low inertia
1500
MFMA Middle inertia
1000
MHMA High inertia MSMD Low inertia
MSMA
3000
MDDDT3530
D-frame
MDDDT5540
MGMA092S1□ A4-73
MCDDT3520 C-frame
1500
MHMA152P1□ A4-81
MHMA152S1□ A4-81
MDDDT5540
750
MSMD082P1□ A4-57
1000
MSMA102P1□ A4-63 MSMA152P1□ A4-63
MSMA102S1□ A4-63 MSMA152S1□ A4-63
MSMA202P1□ A4-63 MSMA302P1□ A4-65
MSMA202S1□ A4-63 MSMA302S1□ A4-65
MSMA402P1□ A4-65 MSMA502P1□ A4-65
MSMA402S1□ A4-65 MSMA502S1□ A4-65
MDMA102P1□ A4-67 MDMA152P1□ A4-67
MDMA102S1□ A4-67 MDMA152S1□ A4-67
MDDDT3530
MDMA202P1□ A4-69 MDMA302P1□ A4-69
MDMA202S1□ A4-69 MDMA302S1□ A4-69
MEDDT7364 E-frame
MDMA402P1□ A4-71 MDMA502P1□ A4-71
MDMA402S1□ A4-71 MDMA502S1□ A4-71
MDMA752P1□ A4-71 MGMA092P1□ A4-73 MGMA202P1□ A4-73 MFECA MGMA302P1□ A4-75 0＊＊0ESD MGMA452P1□ A4-75
MDMA752S1□ A4-71 MGMA092S1□ A4-73 MGMA202S1□ A4-73 MFECA MGMA302S1□ A4-75 0＊＊0ESE
2000
1000 1500 2000 2000 3000 Middle inertia Note) 3 4000 MDMA
5000 7500 900
Middle inertia
MDDDT5540
1000
5000
2000 1000
MBDDT2210 B-frame
MHMA052S1□ A4-81 MHMA102S1□ A4-81
4000
MGMA
A-frame
MHMA052P1□ A4-81 MHMA102P1□ A4-81
500
3000
3-phase, 200V
MADDT1205
MFMA042P1□ A4-77 MFMA152P1□ A4-77
1500
1500 Low inertia
MFECA 0＊＊0ESD
MADDT1207
MFECA MFMA042S1□ A4-77 0＊＊0ESE MFMA152S1□ A4-77
400 2000
A-frame
MQMA022P1□ A4-61 MQMA042P1□ A4-61
Flat
1000
MADDT1205
MSMD012S1□ A4-55
MBDDT2210 B-frame
MSMA
MGMA
MCDDT3120 C-frame
MCDDT3520 C-frame
200
Middle inertia
MQMA041S1□ A4-59
MSMD082S1□ A4-57 MQMA012S1□ A4-61
100
2000
MSMD5AZS1□ A4-55
MSMD042S1□ A4-57
MQMA
MDMA
MQMA041P1□ A4-59 MSMD5AZP1□ A4-55 MSMD012P1□ A4-55
MFECA 0＊＊0EAD MADDT1107 A-frame MBDDT2110 B-frame
MSMD082P1□ A4-57 MQMA012P1□ A4-61
400
Low inertia
Middle inertia
MFECA MQMA011S1□ A4-59 0＊＊0EAE MQMA021S1□ A4-59
MSMD022S1□ A4-57
750
Single phase 200V
MFECA MQMA011P1□ A4-59 0＊＊0EAM MQMA021P1□ A4-59
A-frame
MSMD022P1□ A4-57 MSMD042P1□ A4-57
200
Low inertia
MBDDT2210 B-frame
3000 4500 6000 400
MFMA
1500
Middle inertia
2500 4500 500 2000 1000 Note) 3 1500
MHMA
2000
High inertia
3000 4000 5000 7500
MGMA602P1□ A4-75 MFMA042P1□ A4-77 MFMA152P1□ A4-77 MFMA252P1□ A4-79
MFECA 0＊＊0EAM
MSMD082S1□ A4-57
MGMA452S1□ A4-75 MGMA602S1□ A4-75 MFMA042S1□ A4-77 MFMA152S1□ A4-77 MFMA252S1□ A4-79 MFMA452S1□ A4-79
MFECA 0＊＊0ESD MCDDT3520 C-frame MDDDT5540 D-frame MDDDT3530
MFECA 0＊＊0EAE
MFECA MCDDT3520 C-frame 0＊＊0EAD MDDDT5540 D-frame MEDDT7364 E-frame MFDDTA390 MFDDTB3A2
MDDDT5540
F-frame
D-frame
MFDDTA390 MFDDTB3A2
F-frame
MGDDTC3B4 G-frame MDDDT5540 D-frame MFDDTA390 MFECA F-frame 0＊＊0ESD MFDDTB3A2 MGDDTC3B4 G-frame MCDDT3520 C-frame MDDDT5540 D-frame MEDDT7364 E-frame
MFMA452P1□ A4-79 MHMA052P1□ A4-81 MHMA102P1□ A4-81
MHMA052S1□ A4-81 MHMA102S1□ A4-81
MHMA152P1□ A4-81 MHMA202P1□ A4-83
MHMA152S1□ A4-81 MHMA202S1□ A4-83
MDDDT5540
MHMA302P1□ A4-83 MHMA402P1□ A4-83
MHMA302S1□ A4-83 MHMA402S1□ A4-83
MFDDTA390
MHMA502P1□ A4-83 MHMA752P1□ A4-85
MHMA502S1□ A4-83 MHMA752S1□ A4-85
A4-13
D-frame
MFDDTB3A2 F-frame MCDDT3520 C-frame MDDDT3530
D-frame
MEDDT7364 E-frame
MFDDTB3A2
F-frame
MGDDTC3B4 G-frame
MINAS A4
Table of Part Numbers and Options
Optional parts Motor cable Note) 2
Motor cable (with brake) Note) 2
Brake cable Regenerative resistor Note) 2
DV0P4283 DV0P4284
―
MFMCB 0＊＊0GET
DV0P4280
DV0P227
DV0P4282 DV0P4280
DV0P4283
DV0P228 DV0P227 DV0P228
DV0P220
DV0P221 DV0P220
DV0P4180
DV0P4170
DV0P4180 DV0P4170
DV0P4284
DV0P222
DV0P4220
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4220
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4220
MFMCB 0＊＊0GET
DV0P4283
DV0P221
DV0P4180
DV0P4284
DV0P222 DV0P223
MFMCA
MFMCD0＊＊2ECT
MFMCA0＊＊2FCT
DV0P4285
MFMCA 0＊＊3ECT
MFMCA 0＊＊3FCT
DV0P4285
MFMCD 0＊＊2ECD
MFMCA 0＊＊2FCD
DV0P4284
DV0P222
MFMCD0＊＊2ECT
MFMCA0＊＊2FCT
DV0P4285
DV0P223
MFMCA 0＊＊3ECT
MFMCA 0＊＊3FCT
DV0P4285
0＊＊2FCD
X2 in parallel
DV0P4220
DV0P224 DV0P225
DV0P3410
− DV0P4220
DV0P224
―
MFMCD０＊＊2ECD MFMCA０＊＊2FCD ―
―
DV0P4170
DV0P221
MFMCD 0＊＊2ECD
0＊＊3ECT
DV0P4180
MFMCA 0＊＊3FCT ―
DV0P225
DV0P3410
X2 in parallel DV0P4285 X4 in parallel
DV0P4284 DV0P4285 X2 in parallel DV0P4285 X4 in parallel
− DV0P222
DV0P3410 DV0P4220
DV0P223 DV0P224
DV0P3410
−
MFMCA
MFMCA
DV0P4283
DV0P220
0＊＊2ECD
0＊＊2FCD
DV0P4284
DV0P222
MFMCD
MFMCA
DV0P4285
DV0P224
0＊＊3ECT
0＊＊3FCT
DV0P4285 X2 in parallel
−
DV0P3410
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4285
DV0P223
MFMCD
MFMCA
0＊＊2ECD
0＊＊2FCD
MFMCA
MFMCA
0＊＊3ECT
0＊＊3FCT
―
―
DV0P4285 X2 in parallel DV0P4285 X4 in parallel
DV0P4180 DV0P4220
DV0P4220
DV0P224 DV0P225 −
A4-14
DV0P3410
■Carrying page Options Instruction manual
Japanese English
Part No.
Carrying page
DV0P4200 − DV0P4210 − DV0P4420 A4-124
Console Setup support software, Japanese DV0P4460 A4-123 PANATERM R English RS232 communication cable (for connection with PC) DV0P1960 A4-119 DV0P1970 RS485 communication DV0P1971 A4-119 cable DV0P1972 Interface cable DV0P4360 A4-119 Connector kit for external equipment DV0P4350 A4-118 DV0P4290 A4-120 DV0P4380 DV0P4310 DV0P4320 A4-121 Connector kit for motor and encoder DV0P4330 DV0P4340 DV0P3470 A4-122 DV0P3480 Battery for absolute encoder DV0P2990 A4-126 Frame A DV0P4271 Frame B DV0P4272 Mounting bracket A4-123 Frame C DV0P4273 Frame D DV0P4274 MFECA0＊＊0EAD MFECA0＊＊0EAE MFECA0＊＊0EAM A4-115 Encoder cable MFECA0＊＊0ESD MFECA0＊＊0ESE MFMCA0＊＊0EED MFMCA0＊＊2ECD MFMCA0＊＊3ECT Motor cable A4-116 MFMCD0＊＊2ECD MFMCD0＊＊2ECT MFMCD0＊＊3ECT MFMCA0＊＊2FCD Motor cable MFMCA0＊＊2FCT A4-117 (with brake) MFMCA0＊＊3FCT MFMCB0＊＊0GET A4-117 Brake cable 50Ω , 25W DV0P4280 100Ω , 25W DV0P4281 25Ω , 50W DV0P4282 A4-125 Regenerative resistor 50Ω , 50W DV0P4283 30Ω , 100W DV0P4284 20Ω , 130W DV0P4285 DV0P220 to Reactor A4-124 DV0P228 DV0P4170 DV0P4180 A4-110 Noise filter DV0P4220 DV0P3410 Single phase 100V, 200V DV0P4190 A4-110 Surge absorber 3-phase 200V DV0P1450 DV0P1460 A4-111 Noise filter for signal wire Note) 1. □ represents the motor structure. Note) 2. ＊＊represents the cable length (specified value) For details, refer to cable specifications (A4-113). Note) 3. 7.5kW output type:1500(r/min)
MINAS A4 Table of Part Numbers and Options
MFMCD 0＊＊2ECD
MFMCA
DV0P4170
―
MFMCA 0＊＊2ECD
―
DV0P4220 DV0P4220
DV0P4281
―
DV0P4180 DV0P4180
DV0P4283
MFMCA 0＊＊0EED
DV0P221
DV0P221
DV0P4281
DV0P4170
DV0P220
DV0P4282
MFMCA 0＊＊2FCD
DV0P220
DV0P4284
DV0P4283
MFMCD 0＊＊2ECD
Noise filter
DV0P4283
DV0P4283 MFMCA 0＊＊0EED
Reactor
Common Specifications of Driver Main circuit
Single phase, 100-115V
+10% -15%
50/60Hz
Control circuit
Single phase, 100-115V
+10% -15%
50/60Hz
Frame A, B
Single phase, 200-240V
+10% -15%
50/60Hz
Frame C, D
Single/3-phase, 200-240V
+10% -15%
50/60Hz
Frame E to G
3-phase, 200-230V
+10% -15%
50/60Hz
Frame A to D
Single phase, 200-240V
+10% -15%
50/60Hz
Frame E to G
Single phase, 200-230V
+10% -15%
50/60Hz
Main circuit
Input power
100V
Control circuit
200V
Temperature Environment
Operating : 0 to 55℃,
Humidity
Storage : -20 to +80℃
Both operating and storage : 90%RH or less (free from condensation)
Altitude
1000m or lower
Vibration
5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency) IGBT PWM Sinusoidal wave drive
Control method
17-bit (131072 resolution) absolute/incremental encoder,
Basic Specifications
Encoder feedback
2500P/r (10000 resolution) incremental encoder
External scale feedback
AT500 series, ST771 by Mitutoyo 10 inputs
Input
(1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear Other inputs vary depending on the control mode.
Control signal 6 outputs Output
(1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection, (5) Torque in-limit. Other outputs vary depending on the control mode.
Input
3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs) 2 outputs (for monitoring) (1) Speed monitor (Monitoring of actual motor speed or command speed is enabled. Select the content
Analog signal Output
and scale with parameter.), (2) Torque monitor (Monitoring of torque command, (approx.. 3V/rated torque)), deviation counter or full-closed deviation is enabled. Select the content or scale with parameter.) 2 inputs
Input
Select the exclusive input for line driver or photo-coupler input with parameter. 4 outputs
Pulse signal Output
Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
Communication
RS232
1 : 1 communication to a host with RS232 interface is enabled.
function
RS485
1 : n communication up to 15 axes to a host with RS485 interface is enabled. (1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit) Frame A, B : no built-in regenerative resistor (external resistor only) Frame C to F : Built-in
Front panel Regeneration
regenerative resistor (external resistor is also enabled.) Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and over-travel
Dynamic brake
inhibit input is enabled. Switching among the following 7 mode is enabled, (1) Position control, (2) Velocity control,
Control mode
(3) Toque control, (4) Position/Velocity control, (5) Position/Torque control, (6) Velocity/Torque control and (7) Full-closed control.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-15
Common Specifications of Driver
① Deviation counter clear, ② Command pulse inhibition, ③ Electronic gear switching, ④ Damping control switching
Control output
① Positioning complete (In-position)
Pulse input
Control input
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Input pulse signal format
Support (1) RS422 line drive signal and (2) Open collector signal from controller.
Type of input pulse
Differential input. Selectable with parameter, ((1) CW/CCW, (2) A and B-phase, (3) Command and Direction)
Electronic gear Division/Multiplication of command pulse
(
)
Process the command pulse frequency x
(1 to 10000) x 2(0-17) 1 to 10000
as a position command input
Primary delay filter or FIR type filter is selectable to the command input.
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) Usable
Damping control
Usable
Control input
① Speed zero clamp, ② Selection of internal speed setup, ③ Gain switching or Torque limit switching input
Control output
① Speed arrival (at-speed)
Analog input
Smoothing filter
Instantaneous speed observer
Setup of scale and rotational direction of the motor against the command voltage is enabled with Velocity command input parameter, with the permissible max. voltage input = ± 10V and 6V/rated speed (default setup). Torque limit command input
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) 1 : 5000
Internal speed command
8-speed with parameter setup
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. S-shaped acceleration/deceleration is also enabled.
Zero-speed clamp
0-clamp of internal speed command with speed zero clamp input is enabled.
Instantaneous speed observer
Usable
Speed command filter
Usable
Control input
① Speed zero clamp
Control output
① Speed arrival (at-speed)
Analog input
Speed control range
Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is
Speed command input
enabled with parameter, with the permissible max. voltage input = ± 10V and 3V/rated speed (default setup). Speed limit input
Speed limit input by analog voltage is enabled. Scale setup with parameter.
Speed limit function
Speed limit value with parameter or analog input is enabled.
Control input
① Deviation counter clear, ② Command pulse input inhibition, ③ Electronic gear switching, ④ Damping control switching
Control output
① Full-closed positioning complete (in-position)
Max. command pulse frequency
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Input pulse signal format
Differential input. Selectable with parameter ((1) CCW/CW, (2) A and B-phase, (3) Command and direction
Electronic gear Division/Multiplication of command pulse
Process the command pulse frequency x
(
)
(1 to 10000) x 2(0-17) 1 to 10000
as a position command input
Smoothing filter
Primary delay filter is adaptable to the command input.
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Setup range of division / multiplication of external scale
Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is
Auto-gain tuning
Analog input
Pulse input
Torque control Full-closed control
Max. command pulse frequency
Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter.
Real-time
enabled within a range of (1 to 10000) x 2(0-17) / (1 to 10000).
Normal mode
Estimates load inertia and sets up an appropriate servo gain.
Fit-gain function
Automatically searches and sets up the value which makes the fastest settling time with external command input. Masking of the following input signal is enabled.
Protective function
Division of encoder feedback pulse
(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp, (5) Counter clear Set up of any value is enabled (encoder pulses count is the max.).
Soft error
Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
Hard error
Excess position deviation, command pulse division error, and EEPROM error etc.
Traceability of alarm data
Traceable up to past 14 alarms including the present one.
Damping control function
Manual setup with parameter ▽
Setup
Common
Masking of unnecessary input
Manual
5push switches on front panel ＭＯＤＥ ＳＥＴ △
Setup support software
PANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)
▽
R
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-16
MINAS A4 Common Specifications of Driver
Functions
Velocity control
Analog input
Position control
MINAS A4
Standard Wiring Example of Main Circuit ■ Frame A, B Use a reactor for 3phase in case of single phase, 200V.
Buiilt-in thermostat of external regenerative resistor (light yellow)
ALM
ON
MC
OFF
MC
Surge absorber
L
MC
Noise filter
NFB Power supply (single phase)
CN X1 L1
Main power supply connection Control power supply connection
L3 L1C L2C
CN X2 RB1
External regenerative resistor
RB3 RB2
Red White Black Green
1
1
U
2
2
V
3
3
W
4
4
Motor connection
172159-1 Tyco Electronics AMP 172167-1 Tyco Electronics AMP
Motor
ALM
DC12~24V （±5％）
CN X5 37
36
ALM+
ALM-
■ Frame C, D Buiilt-in thermostat of external regenerative resistor (light yellow)
Power supply (single phase)
ON
OFF
*When you use other model than MSMD, MQMA and MAMA, use the following connection.
ALM MC
[Motor portion]
MC
*When you use single phase, connect between L1 and L3 terminals.
Surge absorber MC
Noise filter
NFB
Power supply (3-phase)
D
L L2 L3
Use a reactor for 3phase in case of single phase, 200V.
CN X1
Main power supply connection Control power supply connection
Green
○
○
○ E
B
JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R
○I ○ D
○B
A ○ D○
○ C
○ G
△ B ○
C ○
○E ○ H
○F ○ I
JL04V-2E20-18PE-B-R
JL04V-2E24-11PE-B-R
PIN Used for
PIN Used for
A
U-phase
G
Brake
A
Brake
B
V-phase
H
Brake
B
Brake
C
W-phase
A
NC
C
NC
D
Ground
F
U-phase
D
U-phase
I
V-phase
E
V-phase
B
W-phase
F
W-phase
E
Ground
G
Ground
RB2
D
Ground
H
Ground
C
NC
I
NC
L2C
RB1
External regenerative resistor
C
A ○
Used for
CN X2
Black
○
△ H ○
PIN
(Connect these at normal operation)
White
○
F○
L1
L1C
Red
G ○
A
△
RB3
1
1
U
2
2
V
3
3
W
4
4
Motor connection
Do not connect anything to NC pins.
172159-1
Tyco Electronics AMP Motor
172167-1 Tyco Electronics AMP DC12~24V （±5％）
ALM
CN X5 37
36
ALM+
ALM-
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-17
MINAS A4
Standard Wiring Example of Main Circuit
■ Frame E, F Buiilt-in thermostat of external regenerative resistor (light yellow)
ALM
ON
MC
[Motor portion]
OFF
MC
D
Surge absorber
L
MC
NFB
○
○
○
○
F○
L1
Noise filter
Power supply (3-phase)
G ○
A
△
Main power supply connection
L2 L3
t P B1
External regenerative resistor
○I ○ D
A ○
A ○
○B
○ G
JL04V-2E20-18PE-B-R
C ○
○E
D○
○ C
△ B ○
○ H
○F ○ I
JL04V-2E24-11PE-B-R
Used for
Used for
PIN
Used for
PIN
A
U-phase
G
Brake
A
Brake
B
V-phase
H
Brake
B
Brake
C
W-phase
A
NC
C
NC
D
Ground
F
U-phase
D
U-phase
I
V-phase
E
V-phase
B
W-phase
F
W-phase
E
Ground
G
Ground
D
Ground
H
Ground
C
NC
I
NC
B2 U
Motor connection
V
○ E
B
JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R
Control power supply connection
r
(Connect these at normal operation)
C
△ H ○
W
PIN
Do not connect anything to NC pins.
Cannon Connector ALM
DC12~24V （±5％）
Motor
37
ALM+
ALM-
■ Frame G
ON
OFF
Buiilt-in thermostat of external regenerative resistor (light yellow)
ALM
[Motor portion] D
MC MC
A
△ ○
○
○
○
C
B
Surge absorber JL04V-2E32-17PE-B-R
NFB
Noise Filter
MC
Power supply (3-phase)
L1 L2 L3
External regenerative resistor
Main power supply connection
Control power supply connection
PIN
Used for
A
U-phase
B
V-phase
C
W-phase
D
Ground
r [with brake]
t
D
P
A
△ ○
○
○
○
C
B
B
N/MS3102A14S-2P
PIN
U V
Motor connection
W FN(+) FN(–)
Cannon Connector
Fan stop signal output terminal (When fan stops, output transistor turns OFF) Maximum rating: 30 V/50 mA
ALM+ 37 ALM- 36
ALM
Brake
B
Brake
C
NC
D
NC
Do not connect anything to NC pins.
ALM Motor
Used for
A
DC12~24V （±5％）
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-18
MINAS A4 Standard Wiring Example of Main Circuit
36
Encoder Wiring Diagram ■ 2500P/r Incremental encoder Motor MAMA, MSMD and MQMA series
Motor MSMA, MDMA and MFMA, MGMA series
Pin No. of cannon plug
Light blue
2
Purple
3
0V
E0V
Servo motor
2 3
+5V
E5V
0V
E0V
4 5 6
K L
PS
PS PS
PS J
6 Shield wire 172168-1 (by Tyco Electronics, AMP)
1
H G
Regulator
4 5
White Black
+5V
E5V
Regulator
1 2 3 4 5 6
Twisted pair Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A by Japan Aviation Electronics
Twisted pair
172160-1 (by Tyco Electronics, AMP)
Motor side
Servo motor
Driver side
Junction cable
Motor side
Driver side
Junction cable
■ 17bit Absolute encoder Motor MSMA, MDMA and MFMA, MGMA series
Motor MAMA, MSMD and MQMA series
Pin No. of cannon plug
Red Pink Light blue Purple Yellow/Green
1 2 4 5
172169-1 (by Tyco Electronics, AMP) Servo motor
Motor side
1 2 3 4 Battery 5 6
E5V E0V
+5V 0V
1
H G
2 3
E5V E0V
+5V 0V
Regulator
7 8
Regulator
White Black
4 T S K L
PS PS
Battery
5 6
PS PS
J
3
Straight plug N/MS3106B20-29S Twisted pair Cable clamp N/MS3057-12A by Japan Aviation Electronics
Twisted pair 172161-1 (by Tyco Electronics, AMP) Junction cable
Servo motor
Driver side
Motor side
Junction cable
Driver side
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Encoder Wiring Diagram Standard Wiring Example of Control Circuit
MINAS A4 Standard Wiring Example of Control Circuit ■ Wiring examples at each control mode ●CN X5 Wiring example at position control mode
① When you use the external resistor with 12V and 24V power supply PULS1 3
7 COM+ Command pulse inhibition input 33 INH
Deviation counter clear input
30
Servo-ON input
29 SRV-ON 27 GAIN
Gain switching input
2.2kΩ
4.7kΩ
2.2kΩ
OPC2 PULS1
CL
Electronic gear switching input 28
OPC1
220Ω
PULS2 SIGN1
DIV
220Ω
Damping control switching input 26 VS-SEL 32 C-MODE Alarm clear input 31 A-CLR
SIGN2 GND
Control mode switching input
CW over-travel inhibition input
Servo-Ready output Servo-Alarm output
9 CCWL 8 CWL
37
4 5 6 13
330Ω
A-phase output
330Ω
B-phase output
24
OZ-
330Ω
Z-phase output
R VDC
VDC specifications of R VDC−1.5 ≒10mA R＋220 12V 1kΩ1/2W 24V 2kΩ1/2W
(Use with 500kpps or less.)
23
OZ+
220Ω 13 GND
Command pulse input A
49
OB-
35 S-RD Y+ 34 S-RDY-
SIGN2 6
3
48
OB+
R
220Ω SIGN1 5
2
22
OA-
Divider
CCW over-travel inhibition input
1
21
OA+
PULS2 4
In case of open collector I/F
② When you do not use the external resistor with 24V power supply 2.2kΩ OPC1 1 PULS2 4 220Ω OPC2 2.2kΩ 2
24V
SIGN2 6 220Ω
ALM+
GND
13
36
VDC 12 to 24V
Positioning complete output
Brake release output Torque in-limit output (Select with Pr09) Zero speed detection output
ALM39 COIN+ 38 COIN-
GND
40
TLC
12
ZSP 41 COM-
(Select with Pr0A)
44 45
PULSH1
SIGNH1 47 SIGNH2 13 GND 50
20kΩ
SPR/TRQR GND
2kΩ 43kΩ
PULS
220Ω
10kΩ 3.83kΩ
CCWTL/TRQR
14 15 16
CCW torque limit input (0 to +10V)
GND
2kΩ 43kΩ 2kΩ 43kΩ
10kΩ SIGN
220Ω
3.83kΩ
2kΩ 43kΩ
1kΩ 1kΩ
FG
CWTL
18
CW torque limit input (-10 to +10V)
43
SP
Velocity monitor output Torque monitor output
42
IM
CN X5
(
represents twisted pair.)
●CN X5 Wiring example at velocity control mode
Internal command velocity selection 2 input Servo-ON input
7 COM+ 33 INTSPD1 30 INTSPD2
Internal command velocity selection 3 input
29 SRV-ON 27 GAIN 28 INTSPD3
Speed zero clamp input
26
Gain switching input
Control mode switching input Alarm clear input CCW over-travel inhibition input CW over-travel inhibition input Servo-Ready output Servo alarm output
ZEROSPD 32 C-MODE 31 A-CLR 9 CCWL 8
37
OAOB+ OBOZ+ OZ-
21 22
ALM-
39
Brake release output
38 AT-SPEED11 BRKOFF+
Torque in-limit output
10 BRKOFF40 TLC
GND
AT-SPEED+ CZ
20kΩ
Zero speed detection output
12
(Select with Pr0A)
41 COM-
49
A-phase output
330Ω
B-phase output
330Ω
Z-phase output
23 24
ZSP
SPR/TRQR
25 19 Z-phase output (open collector)
14
GND 15 10kΩ 16 CCWTL/TRQR 3.83kΩ 17 GND 10kΩ CWTL 18 3.83kΩ
1kΩ
50
330Ω
48
ALM+
Positioning complete output
(Select with Pr09)
OA+
35 S-RDY+ 34 S-RDY36
VDC 12~24V
CWL
4.7kΩ
Divider
Internal command velocity selection 1 input
1kΩ
FG
SPM IM
Velocity command input (0 to ±10V) CCW torque limit input (0 to +10V) CW torque limit input (-10 to 0V)
43
Velocity monitor output
42
Torque monitor output
CNX5 （ represents twisted pair.）
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MINAS A4 Encoder Wriring Diagram / Standard Wiring Example of Control Circuit
PULSH2
46
Command pulse input B (Use with 2Mpps or less.)
19 Z-phase output (open collector)
CZ
11 BRKOFF+ 10 BRKOFF-
25
● CN X5 Wiring example at torque control mode 7 COM+
Servo-ON input
33
INH
30
CL
4.7kΩ
29 SRV-ON 27 GAIN
Gain switching input
28
DIV 26 ZEROSPD 32 C-MODE
Speed zero clamp input Control mode switching input
31 A-CLR CCW over-travel inhibition input 9 CCWL
OA+
Alarm clear input
Servo-Ready output Servo alarm output
8
37
OZ+ OZ-
ALM-
39
Brake release output
38 AT-SPEED11 BRKOFF+
Torque in-limit output
10 BRKOFF40 TLC
GND
AT-SPEED+
Zero speed detection output
12
ZSP
(Select with Pr0A)
41
COM-
330Ω
A-phase output
330Ω
B-phase output
330Ω
Z-phase output
48 49 23 24
25
14 SPR/TRQR GND 15 10kΩ CCWTL/TRQR 16 20kΩ
3.83kΩ
GND 3.83kΩ 1kΩ 1kΩ
50
22
19 Z-phase output (open collector)
CZ
10kΩ
In case of Pr5B = 0, enter the speed limit value to 4th speed of velocity setup. setup
21
ALM+
At-speed signal output
(Select with Pr09)
OB+ OB-
35 S-RDY+ 34 S-RDY36
VDC 12 - 24V
CWL
Divider
CW over-travel inhibition input
OA-
Torque command input or speed limit input (0 to ±10V)
17
CWTL 18 SPM IM
43
Velocity monitor output
42
Torque monitor output
Wiring example when Pr02=5 or Pr5B=1
FG
CCWTL/TRQR
CNX5
GND
16 17
Torque command (0 to ±10V)
Select with Pr5B
（ represents twisted pair.）
Table of Applicable Motors Driver Part No. MADDT1105 MADDT1107 A-frame MADDT1205
Frame symbol
MADDT1207 MBDDT2110 MBDDT2210 MCDDT3120 C-frame MCDDT3520 MDDDT3530 D-frame MDDDT5540 B-frame
Motor series MSMD MSMD5AZ＊＊＊ MSMD011＊＊＊ MSMD5AZ＊＊＊ MSMD012＊＊＊ MAMA012＊＊＊ MSMD022＊＊＊ MSMD021＊＊＊ MAMA022＊＊＊ MSMD042＊＊＊ MSMD041＊＊＊ MAMA042＊＊＊ MSMD082＊＊＊ MAMＡ
MQMA
MSMＡ
MDMＡ
MGMＡ
MFMＡ
MHMＡ
MFMA042＊＊＊
MHMA052＊＊＊ MHMA102＊＊＊ MHMA152＊＊＊
MQMA011＊＊＊ MQMA012＊＊＊ MQMA022＊＊＊ MQMA021＊＊＊ MQMA042＊＊＊ MQMA041＊＊＊
MAMA082＊＊＊
E-frame MEDDT7364 MFDDTA390 F-frame MFDDTB3A2
MSMA102＊＊＊ MSMA152＊＊＊ MSMA202＊＊＊ MSMA302＊＊＊ MSMA402＊＊＊ MSMA502＊＊＊
G-frame MGDDTC3B4
MDMA102＊＊＊ MDMA152＊＊＊
MGMA092＊＊＊
MDMA202＊＊＊ MDMA302＊＊＊ MDMA402＊＊＊ MDMA502＊＊＊ MDMA752＊＊＊
MGMA202＊＊＊ MGMA302＊＊＊ MGMA452＊＊＊ MGMA602＊＊＊
MFMA152＊＊＊ MFMA252＊＊＊ MFMA452＊＊＊
MHMA202＊＊＊ MHMA302＊＊＊ MHMA402＊＊＊ MHMA502＊＊＊ MHMA752＊＊＊
Refer to page, A4-13, Table of Part Numbers and Options as well.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-21
MINAS A4
Table of Applicable Motor Driver / Dimensions
Driver/Dimensions Frame A 40
(41)
130
21 22
7 φ5.2
Mounting bracket (Option)
5.2
φ
Name plate
RS485 communication terminal, CN X3 150 170 180
RS232/RS485 communication terminal, CN X4
140
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2
Encoder terminals, CN X6 External scale R2.6 terminals, CN X7
.6
R2 5.2
(75)
7
5
Control signal terminals, CN X5
5.2 Mounting bracket (Option)
28
Rack mount type (Option : Front-end mounting)
6
Base mount type (Standard : Back-end mounting)
Connector at driver side Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Connector at Power Supply and Motor side Connector sign Connector type Manufacturer CNX2 06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
Mass 0.8kg
Frame B 55
130
28 22
7 φ5.2
Mounting bracket (Option)
5.2
φ
RS485 communication terminal, CN X3
140
Name plate
RS232/RS485 communication terminal, CN X4
150 170 180
Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 .6 R2 7
.6
R2 5.2
(75)
5
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2
5.2 Mounting bracket (Option)
Rack mount type (Option : Front-end mounting)
43
6
Base mount type (Standard : Back-end mounting)
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3 CNX2 CNX1
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Connector at Power Supply and Motor side Connector sign Connector type Manufacturer CNX2 06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
Mass 1.1kg
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MINAS A4 Table of Applicable Motor / Driver / Dimensions
Connector sign CNX7 CNX6 CNX5 CNX4 CNX3 CNX2 CNX1
Driver/Dimensions Frame C 65
170
40
φ5 .2
.2
φ5
Name plate
150 170 180
RS232/RS485 communication terminal, CN X4
140
RS485 communication terminal, CN X3
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 Short between RB2 and RB3 in normal operation. Motor connecting terminals CN X2
Mounting bracket (Option)
Control signal terminals, CN X5
)
Encoder terminals, CN X6
6
R2.
R2
.6
External scale terminals, CN X7 (75)
5.2
5.2
Mounting bracket (Option)
20 40
5
(
22
20
50
7.5
Base mount type (Standard : Back-end mounting)
Rack mount type (Option : Front-end mounting)
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3 CNX2 CNX1
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Frame D
Connector at Power Supply and Motor side Connector sign Connector type Manufacturer CNX2 06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
Mass 1.5kg
Air movement (inside out) 85 10 φ5 .2
170
60 40 φ
22
5.2
Mounting bracket (Option)
5.2
φ
)
150 170 180
140
Name plate
RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7
R2.6
.6 R2 10
5.2 40
.6
R2
5.2 (75) Mounting bracket (Option) Air movement (inside out)
5
(
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 Short between RB2 and RB3 in normal operation. Motor connecting terminals CN X2
5.2
70
7.5
Base mount type (Standard : Back-end mounting)
Rack mount type (Option : Front-end mounting)
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3 CNX2 CNX1
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) MD-S8000-10 (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Connector at Power Supply and Motor side Connector sign Connector type Manufacturer CNX2 06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
Mass 1.7kg
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Driver / Dimensions
MINAS A4 Driver/Dimensions Air movement (inside out)
Frame E 5.2
（88） 85 50 17.5 42.5
(200) 32.1 5.2
2.6
.2 φ5
Main power input terminals
Mounting bracket (put substitution of the Standard for the back-end)
RS485 communication terminal, CN X3
Control power input terminals
Name plate 168 188 198
RS232/RS485 communication terminal, CN X4
Regenerative resistor connecting terminals (short between B1 and B2 in normal operation)
3.5
Mounting bracket (Standard)
Control signal terminals, CN X5 Encoder terminals, CN X6
Motor connecting terminals
External scale terminals, CN X7
Earth terminals
(75)
5.2 42.5
φ5 .2
5.2
17.5
50
Air movement (inside out)
Connector at driver side Connector type
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529865079 (or equivalent)
Molex Inc.
CNX4
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
CNX3
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
Frame F
Mass 3.2kg
130 100
15 65
5.2
32.3 2.6
5.2
2
. φ5
(200) Mounting bracket 3.5 (Standard) Mounting bracket (put substitution of the Standard for the back-end) Air movement (from front to back)
Main power input terminals
Name plate
Control power input terminals Regenerative resistor connecting terminals (short between B1 and B2 in normal operation) Motor connecting terminals
220 240 250
RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7
5.2
φ5 .2
Earth terminals
100
(75)
5.2 65 15
85
Connector at driver side Connector sign
Connector type
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529865079 (or equivalent)
Molex Inc.
CNX4
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
CNX3
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
Mass 6.0kg
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MINAS A4 Driver / Dimensions
Connector sign
Driver/Dimensions Frame G [Terminal block cover B opened] Control power connection
Terminal block cover A
RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7
Mains power connection External regenerative discharge resistor connection Unused Motor connection (U.V.W)
Fan stop signal output terminal
Earth connection
[Terminal block cover B closed] 248
Terminal block cover B
90
82.5 5.2
90 5.2
5.2
Mounting bracket (2.3)
(4)
90
(2.3)
37.5
235 250
220
Nameplate
Fan wind direction (from front to rear) (4) (75)
5.2
5.2
339.3
5.2
Mounting bracket
4-ø5.2
46
85
(2.3)
Terminal block cover A
(26.3)
Connector at driver side Connector sign
Connector type
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529865079 (or equivalent)
Molex Inc.
CNX4
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
CNX3
MD-S8000-10 (or equivalent)
J.S.T. Mfg.Co., Ltd.
Mass 17.0kg
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-25
MINAS A4
Driver / Dimensions
MINAS A4 Driver / Dimensions
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-26
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 01 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 I/O Command Type Servo Motor Inherits Strongest Servo Core 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 01 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
MINAS A4P
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 10
Series
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 10001 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
Achieves System Simplification and Cost Reduction
1.Built-in NC Functions
NC functions allow positioning by I/O command only. A target can be positioned (by teaching) without complicated pulse calculations. ● In addition to travel distances, point tables combine 16 types of preset speeds, linear acceleration/deceleration or S-shaped acceleration/deceleration, and 4 types of acceleration and deceleration. ● Two types of continuous operations are available depending on required machine specifications; continuous positioning with a temporary stop at any point and a combined block operation without a temporary stop. ● Sequential operation can be set to execute a maximum of 60 positioning points automatically. ● 8 types of homing operation modes are available. If a bumping homing is selected, simplified returnto-origin can be executed without any origin sensor. ● ●
2.Neither a positioning unit nor a pulse generator is required A maximum of 60 positioning points can be stored. No complicated programming is required as before. Positioning points can be specified as absolute positions or relative positions. ● Positioning can be performed directly at an absolute position without requiring homing operation by using the MINAS A4P as an absolute encoder in combination with a motor equipped with a 17-bit absolute/incremental encoder. ● ●
A4-27
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
000100 10 0100 1000100 10 0100
010
100 10 010
MINAS A4P Features/Contents
MINAS A4P
Series
Contents
●
Features
A4-27
●
Details of Features
A4-29
●
List of Specifications
A4-33
●
Model Designation
A4-34
●
Wiring Example
A4-35
●
Table of Part Numbers and Options
A4-37
●
Driver
A4-39
A4-41
A4-43
A4-44
A4-44
A4-45
●
Motor
A4-49 A4-49
MSMD
A4-51
MQMA
A4-59
MSMA
A4-63
MDMA
A4-67
MGMA
A4-73
MFMA
A4-77
MHMA
A4-81
A4-87 MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA
A4-87 A4-88 A4-90 A4-91 A4-93 A4-96 A4-99 A4-101
Motor with Gear Reducer/MSMD
A4-105
A4-106
A4-107
A4-108
●
●
Conformity to CE and UL
A4-109
●
IP65 Rating
A4-112
●
Options
A4-113
●
Recommended components
A4-127
Remarks :Instruction manual is available as an option as Japanese version : DV0P4480 and English version : DV0P4490
A4-28
MINAS A4P Features/Contents
MAMA
Details of Features Inherits high performance and advanced functioning Further Adjustment-Free Operation ■High-functionality Real-Time Auto-Gain Tuning Waveform adjusted via auto-tuning driven by a ball screw
Corresponds to even variation of load inertia. Offers real automatic
●
Stabilization time of 4 ms or less
gain tuning to low and high stiffness machines with a combination
actual speed (r/min)
torque (N)
of an adaptive filter. Supports the vertical axis application where the load torque is
●
different in rotational direction. Prevents the machine from over-traveling during automatic gain
●
tuning with software limit protective function.
comand speed (r/min)
positional deviation (pulse)
Further High-Speed and High-Response ■ Velocity response (bandwidth) of 1kHz ●
Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and higher resolution.
*) In case of high stiffness machine
standard deviation of detected speed [r/min]
Variation of detected speed at stopping
magnitude (dB)
10
−10
Present MINAS A-Series −30
MINAS-A4Series −50
10
100 1000 frequency (Hz)
100
10
Velocity gain is doubled compared to MINAS A-Series A-Series
1
0.1 100 velocity gain [Hz]
MINAS A4-Series
1000
■High-functionality Real-Time Auto-Gain Tuning ●
Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize high-speed positioning with high-functionality real-time auto-gain tuning.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-29
MINAS A4P Details of Features
Further Reduction of Vibration ■Adaptive filter Torque [%]
actual speed (r/min)
Makes the notch filter frequency automatically follow the machine resonance frequency.
●
●
Suppress vibration quickly
Speed
Suppression of "Judder" noise of the machine can be expected which is caused by variation of the machines or resonance frequency due to aging.
■2-channel notch filters ●
Filter is invalid
2-channel notch filters are equipped in the driver independent from adaptive filter.
Completion of filter frequency setup
You can set up both frequency and width for each of 2 filters, and set up frequency in unit of 1Hz.
●
Corresponds to wider frequency range (-1500Hz)
Suppression of "Judder" noise of the machine which has multiple resonance points can be expected
●
Suppresses vibration quickly
Effect of notch filter without notch filter
with notch filter
speed (1000r/min/div)
torque (33.3%/div)
50ms/div
■Damping control ●
2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping
●
You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to
●
Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
correspond to the variation of vibration frequency caused by the machine position.
motor movement
machine movement Torque [%] 500 400
actual speed (r/min) 500
without damping control
400
400 320
300
300 240
200
200 160
100
100 80
0
0 0
−100
−100 −80
−200
−200 −160
−300
−300 −240
−400 −500
−400 −320 0.1
0.2
0.3
0.4
0.5
0.6
0.7
−500 −400 ［s］ Position deviation [pulse]
Torque [%] 20 400
actual speed (r/min) 500
with damping control
400
16 320
300
12 240
200
8 160
100
4 80
0
0 0
−100
−4 −80
−200
no vibration at motor shaft
−300 −400 −500
0.1 Command speed (r/min)
−8 −160 −12 −240
least vibration and fast response
−16 −320 0.2
0.3
0.4
0.5
0.6
0.7
−20 −400 ［s］ Position deviation [pulse]
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MINAS A4P Details of Features
50ms/div
Further Flexibility and Multiplicity Regeneration discharging function
Dedicated Console (DV0P4420) Enables easy parameter setting/changing, control state monitoring,
●
Discharges the regenerative energy with resister, which energy is
●
status/error log viewing, and parameter saving/loading.
generated while stopping the load with large moment of inertia, or
Makes it easy to move a target position, set a positioning point and
use in up-down operation, and is returned to the driver from the
●
motor.
perform teaching. Can select and display 16 types of operation data including motor
No regeneration discharge resistor is built-in to Frame A driver
●
●
(MADDT1105P type.) and Frame B driver (MBDDT2210P type.),
rotational speed and torque in the monitor mode.
and we recommend you to connect optional regenerative resistor. Regenerative resistor is built-in to Frame C to F drivers, however,
●
Control Mode
connection of the optional regenerative resistor bring you further regenerative capability.
Makes it possible to select position control via the motor´s internal
●
encoder or fully-closed control based on an external scale.
Built-in dynamic brake Analog Monitor Terminal
You can select the dynamic brake action which short the servo
●
motor windings of U, V and W, at Servo-OFF, CW/CCW overtravel inhibition, power shutdown and trip.
"Motor rotational speed", "Command speed", "torque command" and
●
You can select the action sequence setup depending on the
●
"positional deviation" can be observed by oscilloscope through the
machine requirement.
analog monitor pin at the front panel of the amplifier.
Setup support software Trial run (JOG) ●
With the setup support software, "PANATERM ® " via
Features the function for trial (JOG) run through console (option)
RS232 communication port, you can monitor the running status of
without connecting to a host controller.
the driver and set up parameters.
●
You can shorten the machine setup time.
●
Wave-form graphic function
Full-closed control (High precision positioning) ●
Features the full-closed control of position and velocity, using the
●
With the setup support software, "PANATERM ® " , you can monitor the "Command speed" , "Actual speed" ,"Torque" ,
signals from linear scale installed on the load side and high
"Position deviation " and "Positioning complete signal" .
resolution encoder.
Helps you to analyze the machine and shorten the setup time
●
Note) Applicable external linear scales are as follows,
*Note) Refer to page "F4" for setup support software.
AT500 series by Mitutoyo (Resolution 0.05[μm], max, speed 2[m/s]) ST771 series by Mitutoyo (Resolution 0.5[μm], max, speed 2[m/s]) Best suits to high precision machines.
●
Selectable Torque Limit Value
Inrush current suppressing function
●
A torque limit can be set for each rotational direction.
●
According to the specification of the machine, a maximum torque can be set for each rotational direction as necessary.
Inrush suppressing resister is equipped in this driver, which
●
prevents the circuit breaker shutdown of the power supply caused by inrush current at power-on.
Built in sequence of bumping homing
Prevents unintentional shutdown of the power supply circuit breaker
●
●
You can select 8 kind of homing mode.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-31
MINAS A4P Details of Features
SEMI F47 voltage sag immunity ●
Frequency analyzing function
Features the function which complies to voltage sag immunity
●
standard of SEMI F47 at no load or light load. ●
You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "PANATERM ® "
Useful for semiconductor industry.
Helps you to analyze the machine and shorten the setup time
Notes)
●
*Note) Refer to page "F4" for setup support software.
1)Not applicable to single phase, 100V type. 2)Verify with the actual machine condition to F47, voltage sag immunity standard.
■Applicable overseas safety standards Subject Motor
IEC E N EMC U L CSA
Conforms to LowVoltage Directives
Conforms to references by EMC Directives
: International Electrotechnical Commission : Europaischen Normen : Electromagnetic Compatibility : Underwriters Laboratories : Canadian Standards Association
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MINAS A4P Details of Features
Motor and driver
Standard conformed IEC60034-1 IEC60034-5 UL1004 CSA22.2 NO.100 EN50178 UL508C EN55011 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment EN61000-6-2 Immunity for Industrial Environments IEC61000-4-2 Electrostatic Discharge Immunity Test IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC61000-4-5 Lightening Surge Immunity Test IEC61000-4-6 High Frequency Conduction Immunity Test IEC61000-4-11 Instantaneous Outage Immunity Test
List of Specifications Ultra low inertia
Motor series
Rated rotational Rated output speed (kW) (Max. speed) (r/min)
Rotary encoder
Brake
Gear
2500P/r 17bit incremen absolute/ incremental tal
Holding
High precision
CE/UL
Enclosure
Features
.Small capacity .Suitable for the
MAMA 0.1-0.75 4 models 0.1, 0.2, 0.4 and 0.75
MSMD 0.05-0.75 5 models 0.05, 0.1, 0.2, 0.4 and 0.75
Applications
.SMT machines .Inserters .High repetitive
IP65 (Except shaft through hole and connector)
machines directly coupled with high speed ball screw and high stiffness and high repetitive application
3000 (5000) *For 400W/100V and 750W 3000 (4500)
IP65 (Except shaft through hole and connector)
.Small capacity .Suitable for all
.Inserters .Belt driven
applications
machines .Unloading robot
3000 (5000) *For 400W/100V 3000 (4500)
IP65 (Except shaft through hole and connector)
.Small capacity .Suitable for flat
.SMT machines .Inserters .Belt driven
5000 (6000)
positioning application
Low inertia
MQMA 0.1-0.4 3 models 0.1, 0.2, and 0.4
MSMA 1.0-5.0 6 models 1.0,1.5,2.0, 3.0,4.0 and 5.0
type and low stiffness machines machines .Unloading robot with belt driven
.Middle capacity .Suitable for the
3000 (5000) *For 4kW and 5kW 3000 (4500)
IP65 (Except cannon plug/ connector pins)
2000 (3000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Suitable for low
1000 (2000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Suitable for
.Belt driven
machines requiring low speed with high torque
machines .Conveyers .Robots
2000 (3000)
IP65 (Except cannon plug/ connector pins)
.Middle capacity .Flat type and
2000 (3000)
IP65 (Except cannon plug/ connector pins)
machines directly . SMT machines coupled with ball . Inserter screw and high .Food machines stiffness and high repetitive application
MDMA 1.0-5.0
Middle inertia
6 models 1.0,1.5,2.0, 3.0,4.0 and 5.0
.Belt driven
machines stiffness machines .Conveyers .Robots with belt driven
MGMA 0.9-4.5 4 models 0.9,2.0, 3.0 and 4.5
MFMA 0.4-4.5
High inertia
4 models 0.4,1.5, 2.5 and 4.5
suitable for machines with space limitation
.Robots .Food machines
MHMA 0.5-5.0 7 models 0.5,1.0,1.5, 2.0,3.0,4.0 and 5.0
Motor is sharing with A4 series
A4-33
.Middle capacity .Suitable for low stiffness machines with belt driven, and large load moment of inertia
.Belt driven machines .Conveyors .Robots
MINAS A4P
Model Designation
List of Specifications/ Model Designation
■ Servo Motor Ｍ Ｓ Ｍ Ｄ ５ Ａ Ｚ Ｓ １ Ｓ ＊ ＊ Special specifications Symbol MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA
Type Ultra low inertia (100W-750W) Low inertia (50W-750W) Low inertia (100W-400W) Low inertia (1.0kW-5.0W) Middle inertia (1.0kW-5.0kW) Middle inertia (900W-4.5kW) Middle inertia (400W-4.5kW) High inertia (500W-5.0kW)
Design order 1 : Standard Rotary encoder specifications
5A 01 02 04 05
50W 100W 200W 400W 500W
08
750W
09 10
900W 1.0kW
Format Incremental
S
Absolute/ Incremental common
Pulse counts Resolution Wires 2500P/r 10000 5 17bit
131072
7
Voltage specifications Symbol 1 2
Motor rated output Symbol Rated output Symbol
Symbol P
Rated output
15 20
1.5kW 2.0kW
25 30 40 45
2.5kW 3.0kW 4.0kW 4.5kW
50
5.0kW
Z
Specifications 100V 200V 100V/200V common(50W only)
Motor structure MSMD(standard stock), MQMA (build to order) Shaft Holding brake Oil seal Symbol Round Key-way, without with without with center tap A B S T Motor with oil seal is manufactured by order. MSMA , MDMA , MGMA , MFMA , MHMA Shaft Holding brake Oil seal Symbol Round Key-way without with without with C D G H Products are standard stock items or build to order items. See index (page F31). MAMA Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
A B E F Products are standard stock items or build to order items. See index (page F31).
See page, A4-49 for motor specifications
■ Motor with reduction gear Ｍ Ｓ Ｍ Ｄ ０ １ １ Ｐ ３ １ Ｎ Gear reduction ration, gear type Motor output (W) Symbol Gear reduction ratio 100 200 400 750 1N 1/5 2N 1/9 3N 1 / 15 4N 1 / 25
Type Low inertia (100W-750W)
Motor rated output Symbol Rated output 01 100W 02 200W 04 400W 08 750W
Voltage specifications Symbol Specifications １ １００Ｖ ２ ２００Ｖ
Rotary encoder specifications Symbol Format Pulse counts P Incremental 2500P/r Absolute/ Incremental S 17bit common
Resolution Wires 10000
5
131072
7
Motor structure Shaft Symbol Key-way 3 4
Gear type
For high accuracy
Holding brake without with
See page, A4-105 for motor with gear reducer specifications
■ Servo Driver Ｍ Ａ Ｄ Ｄ Ｔ １ ２ ０ ５ P ＊ ＊ Special specifications
Symbol MADD MBDD MCDD MDDD MEDD MFDD
Frame symbol Frame A4 series, Frame A A4 series, Frame B A4 series, Frame C A4 series, Frame D A4 series, Frame E A4 series, Frame F
Power device Max. current rating Symbol Power device Max. current rating T1 1 0A 1 5A T2 3 0A T3 5 0A T5 7 5A T7 1 0 0A TA 1 5 0A TB
Supply voltage specifications Symbol Specifications 1 Single phase, 100V 2 Single phase, 200V 3 3-phase, 200V 5 Single/3-phase,200V
Current detector current rating Symbol Current detector, current rating 05 5A 07 7.5A 10 1 0A 20 2 0A 30 3 0A 40 4 0A 64 6 4A 90 9 0A A2 1 2 0A
Interface Symbol Specifications P I/O Operation
See page, A4-39 for driver specifications
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MINAS A4P List of Specifications/Model Designation
Symbol
ＭＳＭＤ
Wiring example Driver Frame Type Symbol (Frame A, B, C, D) For details, refer to the Instruction Manual.
●Wiring of main circuit
M S
Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes.
Console (DV0P4420) Personal Computer Setup support software "PANATERM ® " (DV0P4460)
Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this.
PC communication cable (DV0P1960)
L1 L2 L3 L1C L2C
Reactor (L) Reduces harmonic current of the main power.
Connector for external equipment (DV0P4500) or interface connector cable (DV0P4510)
Pin RB, RB2 and RB3… ・RB2 and RB3 to be kept shorted for normal operation. ・When the internal regenerative resistor capacity has shortage, disconnect between RB2 and RB3, then connect an external regenerative resistor between RB1 and RB2.
Controller Encoder cable
Motor
Regenerative resistor (option) to page A4-49
Driver
to page A4-39
Option
to page A4-113
Motor cable Brake cable
Ground (Earth)
Recommended equipments
Power supply for brake DC24V
Parts customer to prepare
)(
)
(
MSMD 50W
Single MSMD phase, 200W 100V MQMA 400W MSMD
Approx. 0.5kVA Approx. 0.9kVA
DVOP 4170
BMFT61041N （3P+1a）
DVOP 4180
BMFT61541N （3P+1a）
50W
Approx. 100W 0.5kVA
BBC MAMA Approx. 2101N 100W 0.3kVA (10A) MQMA
Single phase, MAMA 200V MSMD 200W Approx. 0.5kVA MQMA MSMD MQMA
DVOP DVOP 4190 1460 DVOP 4170
0.75mm2 to 0.75mm2 2.0mm2 AWG18 AWG14 BMFT61542N to （3P+1a） 18
)
0.75mm2 to BMFT61542N 2.0mm2 （3P+1a） AWG14 to 18
MAMA
Approx. 400W 0.9kVA MFMA
Connection to exclusive connector
Approx. 100W 0.4kVA
)(
DVOP 4180 MHMA 500W Approx. 1.1kVA BBC Approx. MSMD 3151N 750W 1.3kVA (15A) Approx. MAMA 1.6kVA MDMA Single/ 1.0kW 3-phase, MHMA Approx. 200V MGMA 900W 1.8kVA
Approx. 400W 0.9kVA
MSMA 1.0kW
0.75mm2 AWG18
DVOP DVOP 1450 1460 DVOP 4220
2.0mm2 AWG14 BMFT61842N （3P+1a）
BBC MSMA 3201N MDMA Approx. (20A) 1.5kW 2.3kVA MFMA MHMA
● Select a single and 3-phase common specifications corresponding to the power supplies. ● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric Works. To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL Listed and marked) between noise filter and power supply without fail. ● For details of noise filter, refer to Page A4-110. ・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition). ・ Terminal block and earth terminals Use a copper conductor cables with temperature rating of 60℃ or higher. Earth terminals for Frame A to D are M4 and M5 for Frame E to F. Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m) may damage the terminal block. ・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 1.5kW, 3.5mm2 (AWG12) or larger for 3kW to 4kW and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW. ・ Use the attached exclusive connector for A to D-frame, and maintain the peeled off length of 8-9mm. ・ Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N・m. ・ Larger torque than 0.35N・m may damage the connector at the driver side.
A4-35
Connection to exclusive connector
(
Cable Power Applicable Power Circuit Cable Noise Magnetic capacity breaker Noise Surge diameter motor supply filter contactor diameter voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit) (control load put current circuit)
Connector
Cable Power Applicable Power Circuit Cable capacity breaker Noise Surge Noise Magnetic diameter motor supply diameter filter contactor voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit) (control load current put circuit)
Connector
■List of recommended peripheral equipments
MINAS A4P Wiring example Driver Frame Type Symbol (Frame E, F) For details, refer to the Instruction Manual. M S
Console (DV0P4420)
●Wiring of main circuit
Personal Computer
Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes.
Setup support software "PANATERM ® " (DV0P4460)
Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this.
PC communication cable (DV0P1960)
Reactor (L) Reduces harmonic current of the main power.
Connector for external equipment (DV0P4500) or interface connector cable (DV0P4510)
Pin RB, RB2 and RB3… ・B1 and B2 to be kept shorted for normal operation.
Controller
・When the internal regenerative resistor capacity has shortage, disconnect between B1 and B2, then connect an external regenerative resistor between P and B2.
Encoder cable
Regenerative resistor (option)
Ground (Earth)
to page A4-49
Driver
to page A4-39
Option
to page A4-113
Brake cable Power supply for brake DC24V
Recommended equipments Parts customer to prepare
Cable Power Applicable Power Circuit Noise Magnetic Cable diameter capacity breaker Noise Surge motor supply filter contactor diameter (control voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit) put circuit) load current
(
)(
)
Connector
■List of recommended peripheral equipments
MSMA Approx. MDMA 2.0kW 3.3kVA BBC DVOP 3301N 4220 MHMA (30A) MFMA 2.5kW Approx. MGMA 2.0kW 3.8kVA
BMF6352N （3P+2a2b）
MSMA MDMA MHMA
Approx. 3.0kW 4.5kVA
3-phase, MGMA 200V MSMA
3.5mm2 AWG12
DVOP DVOP 1450 1460
Approx. BBC DVOP MDMA 4.0kW 6.0kVA 3501N 3410 (50A) MHMA MFMA MGMA MSMA
4.5kW
Approx. 6.8kVA
Approx. MDMA 5.0kW 7.5kVA
BMF6652N （3P+2a2b） 5.3mm2 AWG10
0.75mm2 AWG18
Connection to terminal block M5
2.0mm2 AWG14
● Select a single and 3-phase common specifications corresponding to the power supplies. ● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric Works. To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL Listed and marked) between noise filter and power supply without fail. ● For details of noise filter, refer to Page A4-110. ・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition). ・ Terminal block and earth terminals Use a copper conductor cables with temperature rating of 60℃ or higher. Earth terminals for Frame A to D are M4 and M5 for Frame E to F. Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m) may damage the terminal block. ・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 1.5kW, 3.5mm2 (AWG12) or larger for 3kW to 4kW and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW. ・ Use the attached exclusive connector for Frame A to D and maintain the peeled off length of 8-9mm. ・ Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N・m. ・ Larger torque than 0.35N・m may damage the connector at the driver side.
MHMA
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-36
MINAS A4P Wiring example
Motor cable Motor
Table of Part Numbers and Options Power supply
Single phase 200V
Motor series
MAMA Ultra
3-phase, 200V
Rated rotational Output speed (W) (r/min)
5000
low inertia
2500P/r, Incremental Motor Note) 1
17bit, Absolute/Incremental common
Rating/ Encoder cable Spec. Note) 2 (page)
100
MAMA012P1□ A4-49
200
MAMA022P1□ A4-49
400
MAMA042P1□ A4-49
750
MAMA082P1□ A4-49
400
MAMA042P1□ A4-49
750
MAMA082P1□ A4-49
50 MSMD5AZP1□ A4-51 100
MSMD011P1□ A4-51
Single Low inertia phase 100V MQMA
200
MSMD021P1□ A4-53
400
MSMD041P1□ A4-53
Low inertia
200
Flat
400
MSMD
100
3000
Low inertia
Single phase 200V
MSMD012P1□ A4-55
200
MSMD022P1□ A4-57
400
MSMD042P1□ A4-57
750
MSMD082P1□ A4-57
MQMA
100
MQMA012P1□ A4-61
200
MQMA022P1□ A4-61
Flat MSMA
400
MQMA042P1□ A4-61
1000
MSMA102P1□ A4-63
Low inertia
1500
MSMA152P1□ A4-63
1000
MDMA102P1□ A4-67
1500
MDMA152P1□ A4-67
900
MGMA092P1□ A4-73
MDMA MGMA Middle inertia
2000 1000
MFMA
400
MFMA042P1□ A4-77
Middle inertia
1500
MFMA152P1□ A4-77
500
MHMA052P1□ A4-81
1000 1500 750
MSMD082P1□ A4-57
2000
MHMA High inertia MSMD Low inertia
MSMA
3000
Low inertia
MDMA Middle inertia
3-phase, 200V
MGMA Middle inertia
2000
1000
MSMD5AZS1□ A4-51 MSMD011S1□ A4-51
MADDT1105P
MDDDT5540P D-frame MADDT1107P
A-frame
MBDDT2110P B-frame MCDDT3120P C-frame
MFECA 0＊＊0EAD MADDT1107P A-frame MBDDT2110P B-frame
MCDDT3120P C-frame MADDT1205P
A-frame
MSMD022S1□ A4-57 MSMD042S1□ A4-57
MADDT1207P
MSMD082S1□ A4-57 MQMA012S1□ A4-61
MCDDT3520P C-frame
MQMA022S1□ A4-61 MQMA042S1□ A4-61
MADDT1207P
MSMA102S1□ A4-63 MSMA152S1□ A4-63 MDMA102S1□ A4-67 MDMA152S1□ A4-67 MGMA092S1□ A4-73 MFECA MFMA042S1□ A4-77 0＊＊0ESE MFMA152S1□ A4-77
MBDDT2210P B-frame MADDT1205P
A-frame
MBDDT2210P B-frame MDDDT5540P MDDDT3530P
D-frame
MDDDT5540P MFECA 0＊＊0ESD MCDDT3520P C-frame MDDDT5540P D-frame
MHMA102P1□ A4-81 MHMA152P1□ A4-81
MHMA152S1□ A4-81
MDDDT5540P
1500 2000
MSMA202P1□ A4-63
3000
MSMA302P1□ A4-65
4000
MSMA402P1□ A4-65
5000
MSMA502P1□ A4-65
1000
MDMA102P1□ A4-67
1500
MDMA152P1□ A4-67
2000
MDMA202P1□ A4-69
3000
MDMA302P1□ A4-69
4000
MDMA402P1□ A4-71
5000
MDMA502P1□ A4-71
900
MGMA092P1□ A4-73
2000
MGMA202P1□ A4-73
3000
MGMA302P1□ A4-75
4500
MGMA452P1□ A4-75
400
MFMA042P1□ A4-77 MFMA152P1□ A4-77
Middle inertia
2500
MFMA252P1□ A4-79
4500
MFMA452P1□ A4-79
High inertia
MCDDT3520P C-frame
MDDDT5540P D-frame
MCDDT3520P C-frame
1500
MHMA
MAMA042S1□ A4-49 MAMA082S1□ A4-49
MBDDT2210P B-frame
MHMA052S1□ A4-81 MHMA102S1□ A4-81
MFMA
2000
MCDDT3520P C-frame
MFECA MFECA MSMD082S1□ A4-57 0＊＊0EAE 0＊＊0EAM MSMA102P1□ A4-63 MSMA102S1□ A4-63 MSMA152P1□ A4-63 MSMA152S1□ A4-63
1000
Frame symbol
MAMA042S1□ A4-49 MAMA082S1□ A4-49
MSMD5AZS1□ A4-55 MSMD012S1□ A4-55
MFECA 0＊＊0ESD
Driver
MADDT1207P A-frame
MFECA MFECA MQMA011S1□ A4-59 0＊＊0EAE 0＊＊0EAM MQMA021P1□ A4-59 MQMA021S1□ A4-59 MQMA041P1□ A4-59 MQMA041S1□ A4-59
100
Encoder cable Note) 2
2500P/r and 17bit common
MAMA012S1□ A4-49 MAMA022S1□ A4-49
MQMA011P1□ A4-59
Low inertia
Middle inertia
Encoder cable Note) 2
MSMD021S1□ A4-53 MSMD041S1□ A4-53
50 MSMD5AZP1□ A4-55 MSMD
Motor Note) 1
Rating/ Spec. (page)
500
MHMA052P1□ A4-81
1000
MHMA102P1□ A4-81
1500
MHMA152P1□ A4-81
2000
MHMA202P1□ A4-83
3000
MHMA302P1□ A4-83
4000 5000
MSMA202S1□ A4-63 MSMA302S1□ A4-65 MSMA402S1□ A4-65 MSMA502S1□ A4-65
D-frame
MFECA MCDDT3520P C-frame 0＊＊0EAD MDDDT5540P D-frame MEDDT7364P E-frame MFDDTA390P MFDDTB3A2P
F-frame
MDMA102S1□ A4-67 MDMA152S1□ A4-67
MDDDT3530P
MDMA202S1□ A4-69 MDMA302S1□ A4-69
MEDDT7364P E-frame
MDMA402S1□ A4-71 MDMA502S1□ A4-71
MFECA 0＊＊0ESD
MDDDT3530P
MFECA MGMA092S1□ A4-73 0＊＊0ESE MGMA202S1□ A4-73 MGMA302S1□ A4-75 MGMA452S1□ A4-75
MDDDT5540P
D-frame
MFDDTA390P MFDDTB3A2P
F-frame
MFECA D-frame 0＊＊0ESD MDDDT5540P MFDDTA390P F-frame MFDDTB3A2P
MFMA042S1□ A4-77 MFMA152S1□ A4-77
MCDDT3520P C-frame MDDDT5540P D-frame
MFMA252S1□ A4-79 MFMA452S1□ A4-79
MEDDT7364P E-frame MFDDTB3A2P F-frame MCDDT3520P C-frame
MHMA052S1□ A4-81 MHMA102S1□ A4-81
MDDDT3530P
MHMA152S1□ A4-81 MHMA202S1□ A4-83
MDDDT5540P MFDDTA390P
MHMA402P1□ A4-83
MHMA302S1□ A4-83 MHMA402S1□ A4-83
MHMA502P1□ A4-83
MHMA502S1□ A4-83
A4-37
D-frame
MEDDT7364P E-frame
MFDDTB3A2P
F-frame
MINAS A4P
Table of Part Numbers and Options
Optional parts Motor cable Note) 2
Motor cable (with brake) Note) 2
Brake cable Regenerative resistor Note) 2
DV0P4283 DV0P4284
MFMCA 0＊＊0EED
―
DV0P4280
DV0P227
DV0P4282 DV0P4280
DV0P4283
DV0P228 DV0P227 DV0P228
DV0P220
DV0P221 DV0P220
DV0P4170 DV0P4180 DV0P4170 DV0P4180
DV0P4170
DV0P4180 DV0P4170
DV0P221
DV0P222
DV0P4220
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4220
MFMCD 0＊＊2ECD
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4220
MFMCB 0＊＊0GET
DV0P4283
DV0P221
DV0P4180
DV0P4284
DV0P222 DV0P223
MFMCD 0＊＊2ECD
MFMCA
MFMCD0＊＊2ECT
MFMCA0＊＊2FCT
DV0P4285
MFMCA 0＊＊3ECT
MFMCA 0＊＊3FCT
DV0P4285
MFMCD 0＊＊2ECD
MFMCA 0＊＊2FCD
DV0P4284
DV0P222
MFMCD0＊＊2ECT
MFMCA0＊＊2FCT
DV0P4285
DV0P223
MFMCA 0＊＊3ECT
MFMCA 0＊＊3FCT
DV0P4285
DV0P225
X2 in parallel DV0P4284
−
0＊＊2FCD
X2 in parallel
DV0P4220
DV0P224 DV0P225
DV0P3410
− DV0P4220
DV0P224
MFMCD０＊＊2ECD MFMCA０＊＊2FCD ―
DV0P4285
DV0P222
DV0P3410 DV0P4220
DV0P223
0＊＊3ECT
MFMCA 0＊＊3FCT
X2 in parallel
MFMCA
MFMCA
DV0P4283
DV0P220
0＊＊2ECD
0＊＊2FCD
DV0P4284
DV0P222
MFMCD
MFMCA
DV0P4285
DV0P224
0＊＊3ECT
0＊＊3FCT
DV0P4285 X2 in parallel
−
DV0P3410
DV0P4283
DV0P220
DV0P4180
DV0P4284
DV0P222
DV0P4285
DV0P223
MFMCD
MFMCA
0＊＊2ECD
0＊＊2FCD
MFMCA
MFMCA
0＊＊3ECT
0＊＊3FCT
DV0P4285 X2 in parallel
DV0P224
DV0P3410
− DV0P4180 DV0P4220
DV0P4220
DV0P224 DV0P225 −
A4-38
DV0P3410
■Carrying page Options Instruction manual
Japanese English
Console Setup support software, Japanese PANATERM R English RS232 communication cable (for connection with PC) Interface cable Connector kit for external equipment
Part No.
Carrying page
DV0P4480 − DV0P4490 − DV0P4420 A4-124 DV0P4460 A4-123
DV0P1960 DV0P4510 DV0P4500 DV0P4290 DV0P4380 DV0P4310 Connector kit for motor and encoder DV0P4320 DV0P4330 DV0P4340 Battery for absolute encoder DV0P2990 DV0P4271 Frame A DV0P4272 Frame B Mounting bracket Frame C DV0P4273 Frame D DV0P4274 MFECA0＊＊0EAD MFECA0＊＊0EAE Encoder cable MFECA0＊＊0EAM MFECA0＊＊0ESD MFECA0＊＊0ESE MFMCA0＊＊0EED MFMCA0＊＊2ECD MFMCA0＊＊3ECT Motor cable MFMCD0＊＊2ECD MFMCD0＊＊2ECT MFMCD0＊＊3ECT MFMCA0＊＊2FCD Motor cable MFMCA0＊＊2FCT (with brake) MFMCA0＊＊3FCT MFMCB0＊＊0GET Brake cable 50Ω , 25W DV0P4280 100Ω , 25W DV0P4281 25Ω , 50W DV0P4282 Regenerative resistor 50Ω , 50W DV0P4283 30Ω , 100W DV0P4284 20Ω , 130W DV0P4285 DV0P220 Reactor to DV0P228 DV0P4170 DV0P4180 Noise filter DV0P4220 DV0P3410 Single phase 100V, 200V DV0P4190 Surge absorber DV0P1450 3-phase 200V DV0P1460 Noise filter for signal wire
A4-119 A4-119 A4-118 A4-120
A4-121
A4-126
A4-123
A4-115
A4-116
A4-117 A4-117
A4-125
A4-124
A4-110
A4-110 A4-111
Note) 1. □ represents the motor structure. Note) 2. ＊＊represents the cable length (specified value) For details, refer to cable specifications (A4-113).
MINAS A4 Table of Part Numbers and Options
DV0P4284
―
MFMCA 0＊＊2ECD
MFMCA
DV0P4220 DV0P4220
DV0P4281
―
DV0P4180
DV0P221
DV0P4283
MFMCA 0＊＊0EED
DV0P221
DV0P4284
DV0P4281
DV0P4170
DV0P4180
DV0P4282
MFMCA 0＊＊2FCD
DV0P220
DV0P220
DV0P4283
MFMCD 0＊＊2ECD
Noise filter
DV0P4283
DV0P4283 MFMCB 0＊＊0GET
Reactor
Common Specifications of Driver Single phase, 100 – 115V
+10% 50/60Hz –15%
Single phase, 100 – 115V
+10% 50/60Hz –15%
Type A, B
Single phase, 200 – 240V
+10% 50/60Hz –15%
Type C, D
Single/3-phase, 200 – 240V
+10% 50/60Hz –15%
Type E, F
3-phase, 200 – 230V
+10% 50/60Hz –15%
Single phase, 200 – 240V
+10% 50/60Hz –15%
Single phase, 200 – 230V
+10% 50/60Hz –15%
Main circuit power
Input power supply
100Vline Control circuit power
Main circuit power 200Vline
Type Control A to D circuit power Type E, F Temperature
Operation temperature: 0 to 55 degrees
Basic specifications
Operation Humidity conditions Height above the sea Vibration Control method Control mode Encoder feedback
Storage temperature: –20 to 80 degrees
Operation/storage humidity 90%RH or less (no condensation) Height above the sea level: 1000 m or less 5.88
m/s2
or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed) IGBT PWM method, sinusoidal drive Select Position control or Full-closed control by parameter. 17 Bit (resolution: 131072) 7-serial absolute encoder 2500 P/r (resolution: 10000) 5-serial incremental encoder
External scale feedback
Control signal
Pulse signal
Input (14 inputs ) Output (10 outputs ) Input (4 inputs )
Setup
Compatible with ST771 and AT500 made by Mitutoyo Corporation CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6 Servo-ON, Strobe, Multi- function input x2 Servo alarm, Brake release signal, Present position output x6, Positioning completion / Output during deceleration, Motor operation condition Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output by the line driver. For encoder Z-phase pulse, an open collector output is also available. Setup with PANATERM® or a console is available. (PANATERM® and a console are sold separately)
Front panel
[1] 7-segment LED 2-digit [2] Analogue monitor pin (velocity monitor and torque monitor)
Regeneration
Type A-B : No internal regenerative resist (external only) Type C-F : internal regenerative resist (external is also available)
Dynamic brake
Built in
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-39
MINAS A4P Damping Control
Common Specifications of Driver
A function to reduce vibration by removing the vibration frequency component when the front end of the machine vibrates.
External scale division gradual increase setting range
Ratio between the encoder pulse (numerator) and the external scale pulse (denominator) can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
The number of points
maximum 60 points
Operation mode
Homing operation
Jog operation
The motor can be moved in a positive direction or negative direction independently. This is useful for teaching or adjustment.
Step operation
The most basic operation. Specify a point number set in advance when performing the operation. The four types of modes [incremental operation, absolute operation, rotary axis operation and dwell timer (waiting time)] Continuous block Several step operations can be performed continuously. operation Once an operation starts, the operation continues to a specified point number.
Block operation Combined block operation Sequential Operation
Function
Teaching (Console (option) is necessary) Real time
Normal mode
Instantaneous speed observer
Unnecessary wiring mask function Division function of encoder feedback pulse
A step operation is performed according to combined several point numbers. This is useful when you want to change the speed during a step operation.
A point number increments by 1 automatically whenever an operation command is given. A step operation can be performed easily only by turning the STB signal on/off. You can operate the motor actually using this console, set a target position and execute some test operations. Load inertia is determined at real time in the state of actual operation and gain corresponding to the rigidity is set automatically. Load inertia is determined by driving the equipment with operation command within the driver and gain corresponding to the rigidity is set automatically. Available only for position control. A function to improve the speed detection accuracy, achieve the quick response and, at the same time, reduce the vibration at the stop by estimating the motor speed using a load model. The following control input signal can be masked: CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 , point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
Protection Hardware error function Software error
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
Alarm data trace back function
Traceable up to 14 alarm data including present alarm data.
Large positional deviation, Undefined data error , EEPROM error, etc.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-40
MINAS A4P Common Specifications of Driver
Auto tuning
Eight types of homing operations [home sensor + Z phase (based on the front end), home sensor (based on the front end), home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor, Z phase homing, Bumping homing, and data set]
Standard Wiring Example of Main Circuit ■ Frame A, B Use a reactor for 3phase in case of single phase, 200V.
Buiilt-in thermostat of external regenerative resistor
ALM
ON
MC
OFF
MC
Surge absorber
L
MC
Noise filter
NFB Power supply (single phase)
CN X1 L1
Main power supply connection Control power supply connection
L3 L1C L2C
CN X2 RB1
External regenerative resistor
RB3 RB2
Red White Black Green
1
1
U
2
2
V
3
3
W
4
4
Motor connection
172159-1 Tyco Electronics AMP 172167-1 Tyco Electronics AMP
Motor
ALM
DC12~24V （±5％）
CN X5 37
36
ALM+
ALM-
■ Frame C, D Buiilt-in thermostat of external regenerative resistor
Power supply (single phase)
ON
OFF
*When you use other model than MSMD, MQMA and MAMA, use the following connection.
ALM MC
[Motor portion]
MC
*When you use single phase, connect between L1 and L3 terminals.
Surge absorber MC
Noise filter
NFB
Power supply (3-phase)
D
L L2 L3
Use a reactor for 3phase in case of single phase, 200V.
CN X1
Main power supply connection Control power supply connection
Green
○
○
○ E
B
JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R
○I ○ D
○B
A ○ D○
○ C
JL04V-2E20-18PE-B-R
Used for
○ G
△ B ○
C ○
○E ○ H
○F ○ I
JL04V-2E24-11PE-B-R
Used for
PIN
A
U-phase
G
Brake
A
Brake
B
V-phase
H
Brake
B
Brake
C
W-phase
A
NC
C
NC
D
Ground
F
U-phase
D
U-phase
I
V-phase
E
V-phase
B
W-phase
F
W-phase
E
Ground
G
Ground
RB2
D
Ground
H
Ground
C
NC
I
NC
L2C
RB1
External regenerative resistor
C
A ○
Used for
CN X2
Black
○
△ H ○
PIN
(Connect these at normal operation)
White
○
F○
L1
L1C
Red
G ○
A
△
RB3
1
1
U
2
2
V
3
3
W
4
4
Motor connection
PIN
Do not connect anything to NC pins.
172159-1
Tyco Electronics AMP Motor
172167-1 Tyco Electronics AMP DC12~24V （±5％）
ALM
CN X5 37
36
ALM+
ALM-
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-41
Standard Wiring Example of Main Circuit
MINAS A4P ■ Frame E, F
Buiilt-in thermostat of external regenerative resistor
ALM
ON
MC
OFF
MC
Surge absorber MC
NFB
L L1
Noise filter
Power supply (3-phase)
Main power supply connection
L2 L3
Control power supply connection
r t
(Connect these at normal operation)
P B1
External regenerative resistor
B2 U
Motor connection
V W
Cannon Connector ALM
DC12~24V （±5％）
Motor
37
ALM-
[Motor portion] D
G ○
A
△ ○
○
F○ ○ C
○
○ E
B
JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R
△ H ○ ○I ○ D
A ○ ○B
A ○ D○
○ C
JL04V-2E20-18PE-B-R
Used for
○ G
△ B ○
C ○
○E ○ H
○F ○ I
JL04V-2E24-11PE-B-R
Used for
PIN
Used for
PIN
A
U-phase
G
Brake
A
Brake
B
V-phase
H
Brake
B
Brake
C
W-phase
A
NC
C
NC
D
Ground
F
U-phase
D
U-phase
I
V-phase
E
V-phase
B
W-phase
F
W-phase
E
Ground
G
Ground
D
Ground
H
Ground
C
NC
I
NC
PIN
Do not connect anything to NC pins.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-42
MINAS A4P Standard Wiring Example of Main Circuit
36
ALM+
Encoder Wiring Diagram ■ 2500P/r Incremental encoder Motor MAMA, MSMD and MQMA series
Motor MSMA, MDMA and MFMA, MGMA series
Pin No. of cannon plug
Light blue
2
Purple
3
0V
E0V
Servo motor
2 3
+5V
E5V
0V
E0V
4 5 6
K L
PS
PS PS
PS J
6 Shield wire 172168-1 (by Tyco Electronics, AMP)
1
H G
Regulator
4 5
White Black
+5V
E5V
Regulator
1 2 3 4 5 6
Twisted pair Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A by Japan Aviation Electronics
Twisted pair
172160-1 (by Tyco Electronics, AMP)
Motor side
Servo motor
Driver side
Junction cable
Motor side
Driver side
Junction cable
■ 17bit Absolute encoder Motor MSMA, MDMA and MFMA, MGMA series
Motor MAMA, MSMD and MQMA series
Pin No. of cannon plug
Red Pink Light blue Purple Yellow/Green
1 2 4 5
172169-1 (by Tyco Electronics, AMP) Servo motor
Motor side
1 2 3 4 Battery 5 6
E5V E0V
+5V 0V
1
H G
2 3
E5V E0V
+5V 0V
Regulator
7 8
Regulator
White Black
4 T S K L
PS PS
Battery
5 6
PS PS
J
3
Straight plug N/MS3106B20-29S Twisted pair Cable clamp N/MS3057-12A by Japan Aviation Electronics
Twisted pair 172161-1 (by Tyco Electronics, AMP) Junction cable
Servo motor
Driver side
Motor side
Junction cable
Driver side
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-43
MINAS A4P Standard Wiring Example of Control Circuit
Encoder Wiring Diagram Table of Applicable Motors
■ Wiring example at each control mode ● CN X5 Wiring example at torque control mode
Control signal power supply
Driver side
1
COM+ 4.7kΩ 2 EMG-STP 4.7kΩ CCW over-travel inhibit input 19 CCWL
Emargency stop input
4.7kΩ
CW over-travel inhibit input 20
4.7kΩ
Z-LS
4.7kΩ
21
Servo-ON signal input
23 SRV-ON 4.7kΩ 24 STB
Strobe signal input
4.7kΩ
Point specifying input
3
P1IN
Point specifying input
4.7kΩ
4
P2IN
Point specifying input
4.7kΩ
5
P4IN
Point specifying input
4.7kΩ
6
P8IN
Point specifying input
4.7kΩ
7
P16IN
Point specifying input
4.7kΩ
8
P32IN
4.7kΩ
22 EX-IN1 25 EX-IN2
Multi-function input 2 Present position output
MAX 50mA 29
Present position output
MAX 50mA 30
Present position output
MAX 50mA 31
Present position output
MAX 50mA 32
Present position output
MAX 50mA 33
Present position output
MAX 50mA 34
Motor operation condition output
MAX 50mA 28
Positioning completion output / Output during MAX 50mA 27 deceleration MAX 50mA 15 MAX 50mA 36
Control signal power supply
17
OA+
P1OUT
OA-
P2OUT
OB+ OBOZ+ OZ-
P4OUT P8OUT
GND CZ
P16OUT
11 12
330Ω
A-phase output
330Ω
B-phase output
330Ω
Z-phase output
13 14 9 10
26 16 Z-phase output (open collector)
P32OUT BUSY COIN/ DCLON ALM BRK-OFF COM–
18
FG
CN X5 represents twisted pair. ）
（
Table of Applicable Motors Driver Part No. MADDT1105P MADDT1107P A-frame MADDT1205P
Frame symbol
Motor series
MSMD MSMD5AZ＊＊＊ MSMD011＊＊＊ MSMD5AZ＊＊＊ MSMD012＊＊＊ MADDT1207P MAMA012＊＊＊ MSMD022＊＊＊ MBDDT2110P MSMD021＊＊＊ B-frame MBDDT2210P MAMA022＊＊＊ MSMD042＊＊＊ MCDDT3120P MSMD041＊＊＊ C-frame MCDDT3520P MAMA042＊＊＊ MSMD082＊＊＊ MDDDT3530P D-frame MDDDT5540P MAMA082＊＊＊ MAMＡ
MQMA
MSMＡ
MDMＡ
MGMＡ
MFMＡ
MHMＡ
MFMA042＊＊＊
MHMA052＊＊＊ MHMA102＊＊＊ MHMA152＊＊＊
MQMA011＊＊＊ MQMA012＊＊＊ MQMA022＊＊＊ MQMA021＊＊＊ MQMA042＊＊＊ MQMA041＊＊＊
E-frame MEDDT7364P MFDDTA390P F-frame MFDDTB3A2P
MSMA102＊＊＊ MSMA152＊＊＊ MSMA202＊＊＊ MSMA302＊＊＊ MSMA402＊＊＊ MSMA502＊＊＊
MDMA102＊＊＊ MDMA152＊＊＊
MGMA092＊＊＊
MDMA202＊＊＊ MDMA302＊＊＊ MDMA402＊＊＊ MDMA502＊＊＊
MGMA202＊＊＊ MGMA302＊＊＊ MGMA452＊＊＊
MFMA152＊＊＊ MFMA252＊＊＊ MFMA452＊＊＊
MHMA202＊＊＊ MHMA302＊＊＊ MHMA402＊＊＊ MHMA502＊＊＊
Refer to page, A4-37, Table of Part Numbers and Options as well.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-44
MINAS A4P Encoder Wiring Diagram / Table of Applicable Motors
Servo alarm output Brake release signal
4.7kΩ
Diviber
Multi-function input 1
VDC 12 to 24V
CWL
Home sensor input
Driver/Dimensions Frame A 40
132
21 24
7 φ5.2
(41)
Mounting bracket (Option)
5.2
φ
X3A X3B
140
150 170 180
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2
X4
RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
Encoder terminals, CN X6 External scale R2.6 terminals, CN X7
.6
R2 5.2
(75)
7
5
Control signal terminals, CN X5
5.2 Mounting bracket (Option)
Rack mount type (Option : Front-end mounting)
28
6
Base mount type (Standard : Back-end mounting)
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) 855050013(or equivalent) 855050013(or equivalent) S06B-F32SK-GGXR(or equivalent) S04B-F32SK-GGXR(or equivalent)
Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX1 04JFAT-SAXGF(or equivalent)
Manufacturer J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Mass 0.8kg
Frame B 55 132
28 7 φ5.2
24
Mounting bracket (Option)
5.2
150 170 180
Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 R
.6
R2
2.6
5.2 7
(75) Mounting bracket (Option)
Rack mount type (Option : Front-end mounting)
5
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2
RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
140
φ
5.2 43
6
Base mount type (Standard : Back-end mounting)
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) 855050013(or equivalent) 855050013(or equivalent) S06B-F32SK-GGXR(or equivalent) S04B-F32SK-GGXR(or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX1 04JFAT-SAXGF(or equivalent)
Manufacturer J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Mass 1.1kg
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-45
Driver / Dimensions
MINAS A4P アンプ外形寸法図 Frame C 65
172
40
RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
Name plate
150 170 180
Encoder terminals, CN X6 External scale terminals, CN X7 6
R2.
(75)
5.2 40
Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) 855050013(or equivalent) 855050013(or equivalent) S06B-F32SK-GGXR(or equivalent) S05B-F32SK-GGXR(or equivalent)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
50
7.5
Base mount type (Standard : Back-end mounting)
Rack mount type (Option : Front-end mounting)
Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX1 05JFAT-SAXGF(or equivalent)
Manufacturer J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Mass 1.5kg
MINAS A4P Driver / Dimensions
Frame D
5.2
Mounting bracket (Option)
20
Connector at driver side
5
Control signal terminals, CN X5
.6
)
.2
φ5
R2
(
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 Short between RB2 and RB3 in normal operation. Motor connecting terminals CN X2
Mounting bracket (Option)
140
φ5 .2
24
20
Air movement (inside out) 85 10 φ5 .2
172
60 40 φ
24
5.2
Mounting bracket (Option)
5.2
φ
)
RS232 communication terminal, CN X3 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
140
150 170 180
Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 .6 R2 10
Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1
Name plate
Connector type 53460-0629 (or equivalent) 53460-0629 (or equivalent) 529865079 (or equivalent) MD-S8000-10 (or equivalent) 855050013(or equivalent) 855050013(or equivalent) S06B-F32SK-GGXR(or equivalent) S05B-F32SK-GGXR(or equivalent)
R2.6
5.2 40
.6
R2
5.2 (75) Mounting bracket (Option)
Air movement (inside out) Rack mount type (Option : Front-end mounting)
Manufacturer Molex Inc. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. Molex Inc. Molex Inc. J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
5
(
Main power input terminals CN X1 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 Short between RB2 and RB3 in normal operation. Motor connecting terminals CN X2
5.2
70
7.5
Base mount type (Standard : Back-end mounting)
Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX1 05JFAT-SAXGF(or equivalent)
Manufacturer J.S.T. Mfg.Co., Ltd. J.S.T. Mfg.Co., Ltd.
Mass 1.7kg
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-46
Driver/Dimensions Air movement (inside out)
Frame E
(88) 85 50 17.5 42.5
5.2
(200) 32.1 5.2
2.6
.2 φ5
Mounting bracket (put substitution of the Standard for the back-end)
RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
Control power input terminals Regenerative resistor connecting terminals (short between B1 and B2 in normal operation)
Name plate 168 188 198
Main power input terminals
3.5
Mounting bracket (Standard)
Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7
Motor connecting terminals
Earth terminals
17.5
50
Air movement (inside out)
Connector at driver side Connector sign
Connector type
(75)
5.2 42.5
φ5 .2
5.2
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529865079 (or equivalent)
CNX4
MD-S8000-10 (or equivalent)
Molex Inc. J.S.T. Mfg.Co., Ltd.
CNX3B
855050013(or equivalent)
Molex Inc.
CNX3A
855050013(or equivalent)
Molex Inc.
Mass 3.2kg
Frame F
130 100
15 65
5.2
32.3 2.6
5.2
2
. φ5
(200) Mounting bracket 3.5 (Standard) Mounting bracket (put substitution of the Standard for the back-end) Air movement (from front to back)
Main power input terminals
RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use.
Control power input terminals Regenerative resistor connecting terminals (short between B1 and B2 in normal operation)
Name plate
Motor connecting terminals
220 240 250
Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7
5.2
φ5 .2
Earth terminals
100
(75)
5.2 65 15
Connector at driver side Connector type
Manufacturer
CNX7
53460-0629 (or equivalent)
Molex Inc.
CNX6
53460-0629 (or equivalent)
Molex Inc.
CNX5
529865079 (or equivalent)
CNX4
MD-S8000-10 (or equivalent)
85
Connector sign
Molex Inc. J.S.T. Mfg.Co., Ltd.
CNX3B
855050013(or equivalent)
Molex Inc.
CNX3A
855050013(or equivalent)
Molex Inc.
Mass 6.0kg
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-47
MINAS A4P A4P
Driver / Dimennsions Motor/Option Index
A4 MINAS A4P
Series
Motor/Option Contents ●
Motor
A4-49
MSMD
A4-51
MQMA
A4-59
MSMA
A4-63
MDMA
A4-67
MGMA
A4-73
MFMA
A4-78
MHMA
A4-81
A4-87
MAMA
A4-87
MSMD
A4-88
MQMA
A4-90
MSMA
A4-91
MDMA
A4-93
MGMA
A4-96
MFMA
A4-99
MHMA
A4-101
Motor with Gear Reducer/MSMD
A4-105
A4-106
A4-107
A4-108
●
Conformity to CE and UL
A4-109
●
IP65 Rating
A4-112
●
Options
A4-113
●
Recommended components
A4-127
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-48
MINAS A4,A4P Motor/Option
●
A4-49
MAMA
Motor Specifications and Ratings 200V MAMA 100W to 750W Ultra low inertia Small capacity AC200V MAMA
Motor model
Model No. Applicable driver
A4 series A4P series
0 1 2 P 1 □ 0 1 2 S 1□ 022P 1□ 022S 1□ 042P 1□ 042S 1□ 082P 1□ 0 82S1□ MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
Frame A
Frame B
Frame C
Frame D
0.4
0.5
1.0
1.3
Frame symbol Power supply capacity (kVA) Rated output (W)
100
200
400
750
Rated torque (N . m)
0.19
0.38
0.76
1.43
Momentary Max. peak torque (N . m)
0.95
1.91
3.82
7.16
Rated current (Arms)
0.9
1.54
3.1
5.1
Max. current (Ao-p)
6.3
10.9
21.7
36.0
Regenerative brake frequency (times/min) Note)1
Without option
No limit No limit
DV0P4283
No limit
DV0P4284
6000
Max. rotational speed (r/min) Without brake
0.025
0.035
0.078
0.088
0.14
0.15
0.50
0.51
With brake
0.029
0.039
0.11
0.12
0.17
0.18
0.58
0.59
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications Resolution per single turn
Smaller than 15 times
2500P/r Incremental
17-bit 17-bit 2500P/r Absolute/ Absolute/ Incremental Incremental Incremental
10000
131072
10000
131072
IP65 (except shaft through hole and cable end connector)
Protective enclosure rating
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient temperature
85%RH or lower (free from condensing)
Ambient humidity Environment
Note)2
5000
Rated rotational speed (r/min)
Moment of inertia of rotor (x10-4 kg . m2)
Note)2
Note)2
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Installation location
1000m or lower
Altitude Vibration resistance Mass (kg), ( ) represents holding brake type
2
2
49m/s or less 24m/s or less 49m/s or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 0.65 (0.85)
0.71 (0.91)
2
1.1 (1.5)
1.2 (1.6)
1.5 (1.9)
1.6 (2.0)
3.3 (4.0)
3.4 (4.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N・m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
1.27
0.29
2.45
35
50
70
10 (60)
10 (100)
20 (−)
0.30
0.35
0.25
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ± 5%
Permissible load Radial load P-direction (N)
147
392
686
During assembly Thrust load A-direction (N)
88
147
294
Thrust load B-direction (N)
117.6
196
392
Radial load P-direction (N)
68.6
245
392
During operation Thrust load A-direction (N)
49
68.6
68.6
Thrust load B-direction (N)
49
68.6
68.6
For motor dimensions, refer to page A4-87 , and for the diver, refer to pages A4-22,23 and A4-45,46.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-49
MINAS A4P A4P
MAMA 100W - 750W
Model designation MAMA series, 100W to 750W e.g.)
M A M A 0 Symbol MAMA
Type Ultra low inertia (100W-750W)
1
2 S 1 A Design order 1 : Standard
Voltage specifications Symbol 2
Specifications 200V
Motor structure Symbol
Motor rated output Symbol
Rated output
01 02 04 08
100W 200W 400W 750W
Rotary encoder specifications Resolution
Wires
2500P/r
10000
5
17-bit
131072
7
Format
Pulse counts
P
Incremental
S
Absolute/Incremental
Symbol
Holding brake
Shaft
Round Key-way without
A
●
B
●
with
Oil seal
●
● ●
E
●
F
●
with
without ● ●
● ●
●
Torque characteristics at AC200V of power voltage
torque [N . m] 1.0 （0.95） Peak run range
（0.19）
Continuous run range
0
2000
（5000）
4000
6000
100
（0.38） 0
10
20
30
（5000）
4000
6000
100 50
0
10
20
30
40
ambient temperature[℃]
MAMA082□1□ versus rated torque (%)
Peak run range
Continuous run range （5000）
4000 6000 2000 rotational speed [r/min]
*Continuous torque, ambient temperature 100
Peak run range
4.0
50
（1.43） 0
*Continuous torque, ambient temperature
torque [N . m] 8.0 （7.16）
10 20 30 40 ambient temperature[℃]
0
Continuous run range （5000）
4000 6000 2000 rotational speed [r/min]
100 50
0
10 20 30 40 ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-50
MINAS A4/A4P Motor
torque [N . m] 4.0 （3.82）
0
2000
*Continuous torque, ambient temperature
rotational speed [r/min]
MAMA042□1□
（0.76）
Continuous run range
0
40
ambient temperature[℃]
rotational speed [r/min]
2.0
Peak run range
1.0
50
versus rated torque (%)
0.5
torque [N . m] 2.0 （1.91）
*Continuous torque, ambient temperature
versus rated torque (%)
MAMA022□1□
versus rated torque (%)
MAMA012□1□
Motor Specifications and Ratings 100V MSMD 50W to 100W Low inertia Small Capacity AC100V MSMD
Motor model
Model No. Applicable driver
5AZP1□
A4 series A4P series
5A ZS 1□
011P 1□
011S1□
MADDT1105
MADDT1107
MADDT1105P
MADDT1107P Frame A
Frame symbol Power supply capacity (kVA)
0.3
0.4
Rated output (W)
50
100
Rated torque (N . m)
0.16
0.32
Momentary Max. peak torque (N . m)
0.48
0.95
Rated current (Arms)
1.1
1.7
Max. current (Ao-p)
4.7
7.2
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4280
No limit
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
0.025
0.051
With brake
0.027
0.054
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature
Smaller than 30 times 2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
131072
10000
131072
10000
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃ 85%RH or lower (free from condensing)
Ambient humidity Environment
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower
Altitude Vibration resistance Mass (kg), ( ) represents holding brake type
49m/s2 or less
49m/s2 or less
0.32 (0.53)
0.47 (0.68)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) 0.29
Static friction torque (N・m)
35
Engaging time (ms) Releasing time (ms)
20 (−)
Note)4
0.30
Exciting current (DC) (A) Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ± 5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
147
Thrust load A-direction (N)
88
Thrust load B-direction (N)
117
Radial load P-direction (N)
68
Thrust load A-direction (N)
58
Thrust load B-direction (N)
58
For motor dimensions, refer to page A4-88 , and for the diver, refer to pages A4-22 and 45.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-51
MINAS A4P A4P
MSMD 50W - 100W
Model designation MSMD series, 50W to 100W e.g.)
M S M D 5 A Z S 1 S Motor structure Symbol MSMD
Type Low inertia (50W-100W)
Design order 1 : Standard
Voltage specifications Symbol Specifications 1 100V 100/200V Z (50W only)
Symbol
A B S T Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
5A 01
50W 100W
Shaft Holding brake Oil seal Key-way, without with without with Round center tap
Torque characteristics at AC100V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MSMD5AZ□1□
1000 2000 3000 4000 5000
rotational speed [r/min]
0.5
（0.48） 0.25
（0.16）
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
0
10
20
30
40
ambient temperature[℃]
without Brake with Brake
100 70 60 50
0
10
20
30
40
ambient temperature[℃]
1.0
（0.95） 0.5
Peak run range
（0.32） Continuous run range 0
1000 2000 3000 4000 5000
rotational speed [r/min] torque [N . m] 1.0
（0.95） 0.5
（0.32） 0
Peak run range Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
*Continuous torque, ambient temperature 100 95 50
0
10
20
30
40
ambient temperature[℃] *Continuous torque, ambient temperature without Brake with Brake
100 75 70 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC115V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-52
MINAS A4/A4P Motor
With Oil seal
torque [N . m]
50
torque [N . m]
versus rated torque (%)
0
Without Oil seal
Continuous run range
100 95
With Oil seal
Peak run range
0.25
（0.16）
versus rated torque (%)
0.5
（0.48）
versus rated torque (%)
Without Oil seal
torque [N . m]
versus rated torque (%)
MSMD011 □1□ *Continuous torque, ambient temperature
Motor Specifications and Ratings 100V MSMD 200W to 400W Low inertia Small Capacity AC100V MSMD
Motor model
Applicable driver
Model No.
0 2 1 P1 □
A4 series A4P series
021S 1□
041P 1□
041S 1□
MBDDT2110
MCDDT3120
MBDDT2110P
MCDDT3120P
Frame B
Frame C
Frame symbol Power supply capacity (kVA)
0.5
1.0
Rated output (W)
200
400
Rated torque (N . m)
0.64
1.3
Momentary Max. peak torque (N . m)
1.91
3.8
Rated current (Arms)
2.5
4.6
Max. current (Ao-p)
10.6
19.5
Regenerative brake frequency (times/min) Note)1
No limit
Without option
Note)2
−
DV0P4282 DV0P4283
No limit
No limit
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
0.14
0.26
With brake
0.16
0.28
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating Ambient temperature
Smaller than 30 times
2500P/r Incremental
Installation location
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
131072
10000
131072
10000
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Note)2 −
Note)2
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
0.82 (1.3)
1.2 (1.7)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N・m)
1.27
Engaging time (ms) Releasing time (ms)
50 Note)4
15 (−)
Exciting current (DC) (A)
0.36
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ± 5%
Permissible load Radial load P-direction (N)
392
During assembly Thrust load A-direction (N)
147
Thrust load B-direction (N)
196
Radial load P-direction (N)
245
During operation Thrust load A-direction (N)
98
Thrust load B-direction (N)
98
For motor dimensions, refer to page A4-89 , and for the diver, refer to pages A4-22,23 and A4-45,46.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-53
MINAS A4P A4P
MSMD 200W - 400W
Model designation MSMD series, 200W to 400W e.g.)
M S M D 0
2
1 S 1 S Motor structure
Symbol
Type Low inertia (200W-400W)
MSMD
Design order 1 : Standard
Voltage specifications Symbol Specifications 1 100V
Symbol
Shaft Holding brake Oil seal Key-way, Round center tap without with without with
A B S T Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
02 04
200W 400W
Torque characteristics at AC100V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MSMD041□1□
2.0
Peak run range
1.0
（0.64） Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
20
30
40
Peak run range
0
1000 2000 3000 4000 5000
100 90 50
0
rotational speed [r/min]
versus rated torque (%)
without Brake with Brake
Peak run range
（0.64） Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
50
0
10
20
30
40
4.0
（3.8） Peak run range
（1.3） Continuous run range 0
ambient temperature[℃]
20
30
40
*Continuous torque, ambient temperature
torque [N . m]
2.0
10
ambient temperature[℃]
1000 2000 3000 4000 5000
rotational speed [r/min]
100 75 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC115V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
A4-54
MINAS A4/A4P Motor
With Oil seal
10
2.0
（1.3） Continuous run range
ambient temperature[℃]
100 80 70
2.0
（1.91）
0
0
4.0
（3.8）
*Continuous torque, ambient temperature
torque [N . m]
1.0
50
*Continuous torque, ambient temperature
torque [N . m]
versus rated torque (%)
0
100
With Oil seal
（1.91）
*Continuous torque, ambient temperature
Without Oil seal
versus rated torque (%)
Without Oil seal
torque [N . m]
versus rated torque (%)
MSMD021□1□
Motor Specifications and Ratings 200V MSMD 50W to 100W Low inertia Small Capacity AC200V MSMD
Motor model
Applicable driver
Model No.
5AZP1□
5A ZS 1□
A4 series A4P series
012P 1□
012S 1□
MADDT1205 MADDT1205P
Frame symbol
Frame A
Power supply capacity (kVA)
0.3
0.3
Rated output (W)
50
100
Rated torque (N . m)
0.16
0.32
Momentary Max. peak torque (N . m)
0.48
0.95
Rated current (Arms)
1.1
Max. current (Ao-p)
4.7
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4281
No limit
Note)2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
0.025
0.051
With brake
0.027
0.054
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating Ambient temperature
Smaller than 30 times 17-bit Absolute/ Incremental
2500P/r Incremental 10000
131072
Installation location
10000
131072
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
17-bit Absolute/ Incremental
2500P/r Incremental
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance Mass (kg), ( ) represents holding brake type
49m/s2 or less
49m/s2 or less
0.32（0.53）
0.47（0.68）
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) 0.29
Static friction torque (N・m)
35
Engaging time (ms) Releasing time (ms)
20 (−)
Note)4
0.30
Exciting current (DC) (A) Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ± 5%
Permissible load Radial load P-direction (N)
147
During assembly Thrust load A-direction (N)
88
Thrust load B-direction (N)
117
Radial load P-direction (N)
68
During operation Thrust load A-direction (N)
58
Thrust load B-direction (N)
58
For motor dimensions, refer to page A4-88 , and for the diver, refer to pages A4-22 and 45.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-55
MINAS A4P A4P
MSMD 50W - 100W
Model designation MSMD series, 50W to 100W e.g.)
M S M D 5 A Z S 1 S
Motor structure Symbol
Type Low inertia (50W-100W)
MSMD
Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V 100/200V Z (50W only)
Symbol
A B S T Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
5A 01
Shaft Holding brake Oil seal Key-way, without with without with Round center tap
50W 100W
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
0.5
（0.48） Peak run range
0.25
（0.16）
Continuous run range
0
1000 2000 3000 4000 5000
50
0
10
20
30
40
*Continuous torque, ambient temperature without Brake with Brake
100 70 60 50
0
10
20
30
40
ambient temperature[℃]
torque [N . m] 1.0
（0.95） Peak run range
0.5
（0.32）
Continuous run range
0
1000 2000 3000 4000 5000
*Continuous torque, ambient temperature 100 95 50
0
torque [N . m] 1.0
（0.95） 0.5
（0.32） 0
Peak run range Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
10
20
30
40
ambient temperature[℃]
rotational speed [r/min] versus rated torque (%)
torque [N . m]
Without Oil seal
1000 2000 3000 4000 5000
100 95
With Oil seal
Continuous run range
0
versus rated torque (%)
Peak run range
0.25
（0.16）
versus rated torque (%)
0.5
（0.48）
*Continuous torque, ambient temperature
*Continuous torque, ambient temperature
without Brake
100 75 70 50
0
with Brake
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-56
MINAS A4/A4P Motor
With Oil seal
Without Oil seal
torque [N . m]
versus rated torque (%)
MSMD012□1□
MSMD5AZ□1□
Motor Specifications and Ratings 200V MSMD 200W to 750W Low inertia Small Capacity AC200V MSMD
Motor model
A4 series A4P series
022P1□
022S 1□
042P 1□
042S 1□
082P 1□
08 2S1□
MADDT1207
MBDDT2210
MCDDT3520
MADDT1207P
MBDDT2210P
MCDDT3520P
Frame A
Frame B
Frame C
0.5
0.9
1.3
Rated output (W)
200
400
750
Rated torque (N . m)
0.64
1.3
2.4
Momentary Max. peak torque (N . m)
1.91
3.8
7.1
Rated current (Arms)
1.6
2.6
4.0
Max. current (Ao-p)
6.9
11.0
17.0
Model No. Applicable driver
Frame symbol Power supply capacity (kVA)
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
3000
Rated rotational speed (r/min) 5000
Max. rotational speed (r/min) Moment of inertia of rotor (x10-4 kg . m2)
Without brake
0.14
0.26
0.87
With brake
0.16
0.28
0.97
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications Resolution per single turn
Smaller than 30 times 17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Installation location
Smaller than 20 times
2500P/r Incremental
Protective enclosure rating
Environment
4500
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
0.82 (1.3)
1.2 (1.7)
2.3 (3.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N・m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
1.27
2.45
50
70
15 (−)
20 (−)
0.36
0.42
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ± 5%
Permissible load
During assembly
During operation
Radial load P-direction (N)
392
686
Thrust load A-direction (N)
147
294
Thrust load B-direction (N)
196
392
Radial load P-direction (N)
245
392
Thrust load A-direction (N)
98
147
Thrust load B-direction (N)
98
147
For motor dimensions, refer to page A4-89 , and for the diver, refer to pages A4-22,23 and A4-45,46.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-57
MINAS A4P A4P
MSMD 200W - 750W
Model designation MSMD series, 200W to 750W e.g.)
M S M D 0
2
2 S 1 S Motor structure
Symbol MSMD
Type Low inertia (200W-750W)
Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
A B S T
Motor rated output
Motor with oil seal is manufactured by order.
Rotary encoder specifications
Symbol Rated output 02 04 08
Shaft Holding brake Oil seal Key-way, without with without with Round center tap
200W 400W 750W
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min] torque [N . m]
1.0
Peak run range Continuous run range
0
0
10
20
1000 2000 3000 4000 5000
40
*Continuous torque, ambient temperature
without Brake with Brake
0
10
20
30
40
4.0
（3.8） 2.0
（1.3）
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min] torque [N . m] 4.0
（3.8） 2.0
Peak run range
（1.3） Continuous run range 0
ambient temperature[℃]
1000 2000 3000 4000 5000
rotational speed [r/min]
*Continuous torque, ambient temperature 100 90 50
0
10
20
30
40
ambient temperature[℃] *Continuous torque, ambient temperature 100 75 50
0
10
20
30
40
ambient temperature[℃]
8.0
（7.1） 4.0
（2.4）
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min] torque [N . m] 8.0
（7.1） 4.0
（2.4）
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
versus rated torque (%)
torque [N . m]
versus rated torque (%)
With Oil seal
Without Oil seal
MSMD082□1□ *Continuous torque, ambient temperature 100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well.
*Continuous torque, ambient temperature
Torque
100
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
50
0
10
20
30
Continuous running range
40
rotational speed
ambient temperature[℃]
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D271 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-58
MINAS A4/A4P Motor
rotational speed [r/min]
30
ambient temperature[℃]
100 80 70
2.0
（1.91） （0.64）
50
torque [N . m]
versus rated torque (%)
1.0
（0.64）
100
With Oil seal
Peak run range
Without Oil seal
versus rated torque (%)
2.0
（1.91）
*Continuous torque, ambient temperature
versus rated torque (%)
MSMD042□1□
torque [N . m]
versus rated torque (%)
With Oil seal
Without Oil seal
MSMD022□1□
Motor Specifications and Ratings 100V MQMA 100W to 400W Low inertia, Flat, Small Capacity AC100V MQ MA
Motor model
Model No. Applicable driver
011P1□
A4 series A4P series
011S 1□
021P 1□
021S 1□
041P 1□
04 1S1□
MADDT1107
MBDDT2110
MCDDT3120
MADDT1107P
MBDDT2110P
MCDDT3120P
Frame A
Frame B
Frame C
Frame symbol Power supply capacity (kVA)
0.4
0.5
1.0
Rated output (W)
100
200
400
Rated torque (N . m)
0.32
0.64
1.3
Momentary Max. peak torque (N . m)
0.95
1.91
3.82
Rated current (Arms)
1.6
2.5
4.4
Max. current (Ao-p)
6.9
10.5
18.6
Without option Regenerative brake frequency (times/min) Note)1
No limit No limit
DV0P4280
No limit
DV0P4282 No limit
DV0P4283
Max. rotational speed (r/min)
Note)2
5000
4500
Without brake
0.09
0.10
0.34
0.35
0.64
0.65
With brake
0.12
0.13
0.42
0.43
0.72
0.73
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 20 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
85%RH or lower (free from condensing)
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance Mass (kg), ( ) represents holding brake type
2
2
2
49m/s or less
24m/s or less
49m/s or less
24m/s2 or less
49m/s2 or less
24m/s2 or less
0.65 (0.90)
0.75 (1.0)
1.3 (2.0)
1.4 (2.1)
1.8 (2.5)
1.9 (2.6)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.29
1.27
50
60
15 (100)
15 (100)
0.29
0.41
Releasing voltage
DC1V or more
Exciting voltage
DC 24 V ± 5%
Permissible load
During assembly
During operation
Note)2
3000
Rated rotational speed (r/min)
Moment of inertia of rotor (x10-4 kg . m2)
Note)2
Note)2
Radial load P-direction (N)
147
392
Thrust load A-direction (N)
88
147
Thrust load B-direction (N)
117
196
Radial load P-direction (N)
68
245
Thrust load A-direction (N)
58
98
Thrust load B-direction (N)
58
98
For motor dimensions, refer to page A4-90 , and for the diver, refer to pages A4-22,23 and A4-45,46.
A4-59
MINAS A4P A4P
MQMA 100W - 400W
Model designation MQMA series, 100W to 400W e.g.)
M Q M A 0
1
1 S 1 S Motor structure
Symbol
Type Low inertia (100W-400W)
MQMA
Design order 1 : Standard
Voltage specifications Symbol Specifications 1 100V
Symbol
Shaft Holding brake Oil seal Key-way, without with without with Round center tap
A B S T Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
01 02 04
100W 200W 400W
Torque characteristics at AC100V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
1.0
*Continuous torque, ambient temperature
100
（0.95）
Peak run range
0.5
（0.32）
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
50
0
10
20
30
40
ambient temperature[℃]
*Continuous torque, ambient temperature
torque [N . m] 2.0
（1.91）
Peak run range
1.0
（0.64） 0
Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
torque [N . m]
With / Without Oil seal
MQMA021□1□ versus rated torque (%)
With / Without Oil seal
MQMA011□1□
100 50
0
10
20
30
40
ambient temperature[℃]
4.0
（3.82）
Peak run range
2.0
（1.3）
Continuous run range
0
1000 2000 3000 4000 4500
rotational speed [r/min]
versus rated torque (%)
*Continuous torque, ambient temperature
torque [N . m]
MINAS A4/A4P Motor
With / Without Oil seal
MQMA041□1□
100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC115V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-60
Motor Specifications and Ratings 200V MQMA 100W to 400W Low inertia, Flat, Small Capacity AC200V MQ MA
Motor model
Model No. Applicable driver
A4 series A4P series
012P1□
012S 1□
Momentary Max. peak torque (N . m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1
MADDT1205P
MADDT1207P
MBDDT2210P
Frame A
Frame B 0.5
1.0
100
200
400
0.32
0.64
1.3
0.95
1.91
3.82
1.0
1.6
2.5
4.3
6.8
10.5
0.4
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
Rated rotational speed (r/min) Max. rotational speed (r/min)
5000
Without brake
0.090
0.100
0.340
0.350
0.640
0.650
With brake
0.120
0.130
0.420
0.430
0.720
0.730
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 20 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
04 2S1□
MBDDT2210
3000
Moment of inertia of rotor (x10-4 kg . m2)
042P 1□
MADDT1207
Power supply capacity (kVA)
Rated torque (N . m)
022S 1□
MADDT1205
Frame symbol
Rated output (W)
022P 1□
Installation location
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance Mass (kg), ( ) represents holding brake type
49m/s2 or less
24m/s2 or less
49m/s2 or less
24m/s2 or less
49m/s2 or less
0.65 (0.90)
0.75 (1.0)
1.3 (2.0)
1.4 (2.1)
1.8 (2.5)
24m/s2 or less 1.9 (2.6)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.29
1.27
50
60
15 (100)
15 (100)
0.29
0.41
Releasing voltage
DC1V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
147
392
Thrust load A-direction (N)
88
147
Thrust load B-direction (N)
117
196
Radial load P-direction (N)
68
245
Thrust load A-direction (N)
58
98
Thrust load B-direction (N)
58
98
For motor dimensions, refer to page A4-90 , and for the diver, refer to pages A4-22 and 45.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-61
MINAS A4P A4P
MQMA 100W - 400W
Model designation MQMA series, 100W to 400W e.g.)
M Q M A 0
1
2 S 1 S Motor structure
Symbol
Type Low inertia (100W-400W)
MQMA
Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
Shaft Holding brake Oil seal Key-way, Round center tap without with without with
A B S T Motor with oil seal is manufactured by order.
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
01 02 04
100W 200W 400W
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
1.0
（0.95） Peak run range
0.5
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
100 50
0
10
20
30
40
ambient temperature[℃]
*Continuous torque, ambient temperature
torque [N . m] 2.0
（1.91） 1.0
（0.64） 0
Peak run range Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
*Continuous torque, ambient temperature
torque [N . m]
（0.32）
With / Without Oil seal
MQMA022□1□
versus rated torque (%)
With / Without Oil seal
MQMA012□1□
100 50
0
10
20
30
40
ambient temperature[℃]
4.0
（3.82） Peak run range 2.0
（1.3）
Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
*Continuous torque, ambient temperature
torque [N . m]
MINAS A4/A4P Motor
With / Without Oil seal
MQMA042□1□
100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-62
Motor Specifications and Ratings 200V MSMA 1.0kW to 2.0kW Low inertia, Medium Capacity AC200V MSMA
Motor model
Model No. Applicable driver
1 0 2 P1 □
102S 1□
A4 series A4P series
152P 1□
152S 1□
202P 1□
MDDDT5540
MEDDT7364
MDDDT5540P
MEDDT7364P
Frame symbol
Frame D
Power supply capacity (kVA)
202S1□
Frame E
1.8
2.3
3.3
Rated output (W)
1000
1500
2000
Rated torque (N . m)
3.18
4.77
6.36
Momentary Max. peak torque (N . m)
9.5
14.3
19.1
Rated current (Arms)
7.2
9.4
13.0
Max. current (Ao-p)
30
40
56
Regenerative brake frequency (times/min) Note)1
No limit
Without option DV0P4284
No limit
Note)2 −
Note)2 −
DV0P4285×2
No limit
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
5000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
1.69
2.59
3.46
With brake
1.88
2.84
3.81
Recommended moment of inertia ratio of the load and the rotor Note)3 Rotary encoder specifications
Resolution per single turn
Smaller than 15 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Installation location
Note)2
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 49m/s2 or less
Vibration resistance Mass (kg), ( ) represents holding brake type
4.5 (5.1)
5.1 (6.5)
6.5 (7.9)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
7.8
4.9 50
50
15 (100)
15 (100)
0.74
0.81
Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
686
980
Thrust load A-direction (N)
392
588
Thrust load B-direction (N)
490
686
Radial load P-direction (N)
392
490
Thrust load A-direction (N)
147
196
Thrust load B-direction (N)
147
196
For motor dimensions, refer to page A4-91 , and for the diver, refer to pages A4-23,24 and A4-46,47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-63
MINAS A4P A4P
MSMA 1.0kW - 2.0kW
Model designation MSMA series, 1.0kW to 2.0kW e.g.)
M S M A 1 Symbol
Type Low inertia (1.0kW-2.0kW)
MSMA
0
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
Motor rated output Symbol Rated output 10 15 20
1.0kW 1.5kW 2.0kW
Motor structure
Rotary encoder specifications Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MSMA102□1□
MSMA152□1□ *Continuous torque, ambient temperature
10
（9.5） 5
Peak run range
（3.18） Continuous run range 0
1000 2000 3000 4000 5000
rotational speed [r/min]
*Continuous torque, ambient temperature
torque [N . m]
without Brake
15
100
7.5
（4.77） 0
10
20
30
40
0
Peak run range Continuous run range （3500）
1000 2000 3000 4000 5000
rotational speed [r/min]
ambient temperature[℃]
with Brake
100 85
（14.3）
50
versus rated torque (%)
versus rated torque (%)
torque [N . m]
50
0
10
20
30
40
ambient temperature[℃]
MSMA202□1□ *Continuous torque, ambient temperature
torque [N . m]
10
（6.36） 0
Peak run range Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
versus rated torque (%)
20
（19.1）
with Brake
100 85 70 50
0
MINAS A4/A4P Motor
without Brake
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-64
Motor Specifications and Ratings 200V MSMA 3.0kW to 5.0kW Low inertia, Medium Capacity AC200V MSMA
Motor model
Model No. Applicable driver
A4 series A4P series
3 0 2 P1 □
302S 1□
402P 1□
402S 1□
502P 1□
MFDDTA390
MFDDTB3A2
MFDDTA390P
MFDDTB3A2P
Frame symbol
502S1□
Frame F
Power supply capacity (kVA)
4.5
6.0
7.5
Rated output (W)
3000
4000
5000
Rated torque (N . m)
9.54
12.6
15.8
Momentary Max. peak torque (N . m)
28.6
37.9
47.6
Rated current (Arms)
18.6
24.7
28.5
80
105
120
Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1
No limit
Without option
Note)2
326 No limit
DV0P4285×2
Note)2
3000
Rated rotational speed (r/min) Max. rotational speed (r/min)
5000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
6.77
12.7
17.8
With brake
7.45
14.1
19.7
4500
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 15 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Installation location
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 49m/s2 or less
Vibration resistance Mass (kg), ( ) represents holding brake type
9.3 (11.0)
12.9 (14.8)
17.3 (19.2)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
11.8
16.1
80
110
15 (100)
50 (130)
0.81
0.90
Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
784
Thrust load A-direction (N)
196
343
Thrust load B-direction (N)
196
343
For motor dimensions, refer to page A4-92 , and for the diver, refer to pages A4-24 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-65
MINAS A4P A4P
MSMA 3.0kW - 5.0kW
Model designation MSMA series, 3.0kW to 5.0kW e.g.)
M S M A 3 Symbol
Type Low inertia (3.0kW-5.0kW)
MSMA
0
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
Motor rated output Symbol Rated output 30 40 50
3.0kW 4.0kW 5.0kW
Motor structure
Rotary encoder specifications Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MSMA302□1□
MSMA402□1□ *Continuous torque, ambient temperature
*Continuous torque, ambient temperature
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
with Brake
100 90 85 50
0
rotational speed [r/min]
without Brake
40
（37.9） 20
（12.6） 10
20
30
0
40
Peak run range Continuous run range 1000 2000 3000 4000 5000
rotational speed [r/min]
ambient temperature[℃]
versus rated torque (%)
15
versus rated torque (%)
30
（28.6） （9.54）
torque [N . m]
without Brake
torque [N . m]
with Brake
100 90 85 50
0
10
20
30
40
ambient temperature[℃]
MSMA502□1□
100
（47.6） 25
（15.8）
MINAS A4/A4P Motor
50
versus rated torque (%)
*Continuous torque, ambient temperature
torque [N . m]
Peak run range Continuous run range
0
1000 2000 3000 4000 5000
rotational speed [r/min]
70 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-66
Motor Specifications and Ratings 200V MDMA 1.0kW to 1.5kW Low inertia, Medium Capacity AC200V MDMA
Motor model
Applicable driver
Model No.
1 0 2 P1 □
A4 series A4P series
102S 1□
152P 1□
152S 1□
MDDDT3530
MDDDT5540
MDDDT3530P
MDDDT5540P
Frame symbol
Frame D
Power supply capacity (kVA) Rated output (W)
1.8
2.3
1000
1500
Rated torque (N . m)
4.8
7.15
Momentary Max. peak torque (N . m)
14.4
21.5
Rated current (Arms)
5.6
9.4
Max. current (Ao-p)
24
40
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4284
No limit
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
6.17
11.2
With brake
6.79
12.3
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating
Smaller than 10 times
2500P/r Incremental
17-bit Absolute/ Incremental
131072
10000
131072
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Installation location
2500P/r Incremental
10000
Ambient temperature
Environment
17-bit Absolute/ Incremental
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
6.8 (8.7)
8.5 (10.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
4.9
13.7
Engaging time (ms)
80
100
70 (200)
50 (130)
Releasing time (ms)
Note)4
Exciting current (DC) (A)
0.59
0.79
Releasing voltage
DC2V or more
Exciting voltage
DC 24 V ± 10%
Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
Thrust load A-direction (N)
196
Thrust load B-direction (N)
196
For motor dimensions, refer to page A4-93 , and for the diver, refer to pages A4-23 and 46.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-67
MINAS A4P A4P
MDMA 1.0kW - 1.5kW
Model designation MDMA series, 1.0kW to 1.5kW e.g.)
M D M A 1 Symbol
Type Middle inertia (1.0kW-1.5kW)
MDMA
0
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
10 15
1.0kW 1.5kW
Motor structure Shaft Holding brake Oil seal Round Key-way without with without with
Symbol
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MDMA102□1□
MDMA152□1□
5 （4.8） Continuous run range 0
1000
（2200）
2000
3000
rotational speed [r/min]
100
Peak run range
50
0
*Continuous torque, ambient temperature
torque [N . m] （21.5） 20 10 （7.15） Continuous run range 10
20
30
40
0
ambient temperature[℃]
1000
2000
3000
rotational speed [r/min]
versus rated torque (%)
15 （14.4） 10 Peak run range
versus rated torque (%)
*Continuous torque, ambient temperature
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-68
Motor Specifications and Ratings 200V MDMA 2.0kW to 3.0kW Middle inertia, Medium Capacity AC200V MDMA
Motor model
Model No. Applicable driver
202P1□
A4 series A4P series
202S 1□
302P 1□
302S1□
MEDDT7364
MFDDTA390
MEDDT7364P
MFDDTA390P
Frame E
Frame F
Frame symbol Power supply capacity (kVA)
3.3
4.5
Rated output (W)
2000
3000
Rated torque (N . m)
9.54
14.3
Momentary Max. peak torque (N . m)
28.5
42.9
Rated current (Arms)
12.3
17.8
52
76
Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4285×2
No limit
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
15.2
22.3
With brake
16.7
24.6
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating Ambient temperature
Smaller than 10 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Installation location
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance Mass (kg), ( ) represents holding brake type
49m/s2 or less 10.6 (12.5)
14.6 (16.5)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
13.7
16.1
Engaging time (ms)
100
110
50 (130)
50 (130)
0.79
0.90
Releasing time (ms)
Note)4
Exciting current (DC) (A) Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
980
980
Thrust load A-direction (N)
588
588
Thrust load B-direction (N)
686
686
Radial load P-direction (N)
490
784
Thrust load A-direction (N)
196
343
Thrust load B-direction (N)
196
343
For motor dimensions, refer to page A4-94 , and for the diver, refer to pages A4-24 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-69
MINAS A4P A4P
MDMA 2.0kW∼3.0kW
Model designation MDMA series, 2.0kW to 3.0kW e.g.)
M D M A 2 Symbol
Type Middle inertia (2.0kW-3.0kW)
MDMA
0
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output Rotary encoder specifications
Symbol Rated output 20 30
2.0kW 3.0kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure Shaft Holding brake Oil seal Round Key-way without with without with
Symbol
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MDMA202□1□
MDMA302□1□
30 （28.5）
Peak run range 15 （9.54） 0
Continuous run range 1000
（2200）
2000
3000
rotational speed [r/min]
*Continuous torque, ambient temperature
torque [N . m] 100
50 （42.9）
50
25 （14.3）
0
10
20
30
40
0
Peak run range Continuous run range 1000
2000
3000
ambient temperature[℃] rotational speed [r/min]
versus rated torque (%)
torque [N . m]
versus rated torque (%)
*Continuous torque, ambient temperature
100 50
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-70
Motor Specifications and Ratings 200V MDMA 4.0kW to 7.5kW Middle inertia, Medium Capacity AC200V MDMA
Motor model
Applicable driver
Model No.
4 0 2 P1 □
402S 1□
A4 series A4P series
502P 1□
502S 1□
752P 1□
MFDDTB3A2
752S1□
MGDDTC3B4
MFDDTB3A2P
Frame symbol
Frame F
Power supply capacity (kVA)
Frame G
6.0
7.5
11
Rated output (W)
4000
5000
7500
Rated torque (N . m)
18.8
23.8
48
Momentary Max. peak torque (N . m)
56.4
71.4
119
Rated current (Arms)
23.4
28.0
46.6
Max. current (Ao-p)
100.0
120.0
165.0
250
94
Regenerative brake frequency (times/min) Note)1
Without option
No limit
DV0P4285×2
No limit
Note)2
No limit
Note)2
Note)2
DV0P4285×4
Rated rotational speed (r/min)
2000
1500
Max. rotational speed (r/min)
3000
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
42.5
60.7
99.0
With brake
46.8
66.7
105.0
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 10 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Installation location
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 2
Mass (kg), ( ) represents holding brake type
24m/s2 or less
49m/s or less
Vibration resistance 18.8 (21.3)
25.0 (28.5)
41.0 (45.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
21.5
24.5
58.8
90
80
150
35 (150)
25 (200)
50 (130)
1.10
1.3
1.4
Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
1666
Thrust load A-direction (N)
784
980
Thrust load B-direction (N)
980
1176
Radial load P-direction (N)
784
1176
Thrust load A-direction (N)
343
490
Thrust load B-direction (N)
343
490
2058
For motor dimensions, refer to page A4-95 , and for the diver, refer to pages A4-24,25 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-71
MINAS A4P A4P
MDMA 4.0kW - 7.5kW
Model designation MDMA series, 4.0kW to 7.5kW e.g.)
M D M A 4 Symbol
Type Middle inertia (4.0kW-7.5kW)
MDMA
0
2 S 1 G
Symbol Specifications 2 200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
40 50 75
4.0kW 5.0kW 7.5kW
Motor structure
Design order 1 : Standard
Voltage specifications
Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MDMA502□1□
MDMA402□1□ *Continuous torque, ambient temperature
Peak run range 25 （18.8） Continuous run range 0
1000
2000
3000
versus rated torque (%)
without Brake
（56.4） 50
*Continuous torque, ambient temperature
torque [N . m]
with Brake
without Brake
（71.4） 70
100 85 70 50
35 （23.8） Continuous run range
0
10
20
30
0
40
ambient temperature[℃]
1000
2000
with Brake
100 90 85
Peak run range
rotational speed [r/min]
versus rated torque (%)
torque [N . m]
3000
rotational speed [r/min]
50
0
10
20
30
40
ambient temperature[℃]
MDMA752□1□
Peak run range 50
Continuous run range 0
(1500)
1000
2000
3000
rotational speed [r/min]
versus rated torque (%)
(119) 100
MINAS A4/A4P Motor
*Continuous torque, ambient temperature
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-72
Motor Specifications and Ratings 200V MGMA 900W to 2.0kW Middle inertia, Medium Capacity AC200V MG MA
Motor model
092P1□
A4 series A4P series
092S 1□
202P 1□
202S1□
MDDDT5540
MFDDTA390
MDDDT5540P
MFDDTA390P
Frame D
Frame F
Power supply capacity (kVA)
1.8
3.8
Rated output (W)
900
2000
Rated torque (N . m)
8.62
19.1
Momentary Max. peak torque (N . m)
Applicable driver
Model No.
Frame symbol
19.3
44
Rated current (Arms)
7.6
18.5
Max. current (Ao-p)
24.0
60.0
Regenerative brake frequency (times/min) Note)1
No limit
Without option No limit
DV0P4284
Note)2
Note)2
DV0P4285×2
No limit
Rated rotational speed (r/min)
1000
Max. rotational speed (r/min)
2000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
11.2
35.5
With brake
12.3
41.4
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating
Smaller than 10 times
2500P/r Incremental
2500P/r Incremental
131072
10000
131072
0 to 40℃ (free from freezing), Storage : -20 to + 80℃ 85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
17-bit Absolute/ Incremental
IP65 (except shaft through hole and cable end connector)
Ambient humidity Installation location
17-bit Absolute/ Incremental
10000
Ambient temperature
Environment
Note)2
8.5 (10.0)
17.5 (21.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
13.7
24.5
Engaging time (ms)
100
80
Releasing time (ms)
50 (130)
25 (200)
0.79
1.30
Note)4
Exciting current (DC) (A)
DC2V or more
Releasing voltage
DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
980
1666
Thrust load A-direction (N)
588
784
Thrust load B-direction (N)
686
980
Radial load P-direction (N)
686
1176
Thrust load A-direction (N)
196
490
Thrust load B-direction (N)
196
490
For motor dimensions, refer to page A4-96 , and for the diver, refer to pages A4-23,24 and A4-46,47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-73
MINAS A4P A4P
MGMA 900W - 2.0kW
Model designation MGMA series, 900W to 2.0kW e.g.)
M G M A 0 Symbol
Type Middle inertia (900W-2.0kW)
MGMA
9
2 S 1 G Motor structure
Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
Motor rated output Symbol Rated output 09 20
900W 2.0kW
Rotary encoder specifications Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MGMA092□1□
MGMA202□1□
*Continuous torque, ambient temperature
20 （19.3） Peak run range 10 （8.62） Continuous run range 0
1000
2000
rotational speed [r/min]
50 （44） Peak run range 25 （19.1） Continuous run range
100 50
0
*Continuous torque, ambient temperature
torque [N . m]
10
20
30
0
40
1000
2000
rotational speed [r/min]
ambient temperature[℃]
versus rated torque (%)
versus rated torque (%)
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-74
Motor Specifications and Ratings 200V MGMA 3.0kW to 6.0kW Middle inertia, Medium Capacity AC200V MG MA
Motor model
Model No. Applicable driver
3 0 2 P1 □
302S 1□
A4 series A4P series
452P 1□
452S 1□
602P 1□
MFDDTB3A2
60 2S1□
MGDDTC3B4
MFDDTB3A2 P
Frame symbol
Frame F
Power supply capacity (kVA)
Frame G
5.3
7.5
11
Rated output (W)
3000
4500
6000
Rated torque (N . m)
28.4
42.9
57.2
Momentary Max. peak torque (N . m)
63.7
107
137
24
33
47.0
80.0
118
Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1
No limit
Without option No limit
DV0P4285×2
Note)2 No limit
DV0P4285×4
Rated rotational speed (r/min)
1000
Max. rotational speed (r/min)
2000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
55.7
80.9
99
With brake
61.7
86.9
108
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Installation location
Note)2
Smaller than 10 times
Protective enclosure rating
Environment
170.0
Note)2
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 2
Vibration resistance Mass (kg), ( ) represents holding brake type
24m/s2 or less
49m/s or less 25.0 (28.5)
34.0 (39.5)
41.0 (45.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
58.8
Engaging time (ms)
150
Releasing time (ms)
Note)4
50 (130)
Exciting current (DC) (A)
1.40 DC2V or more
Releasing voltage
DC 24 V ± 10%
Exciting voltage Permissible load Radial load P-direction (N) During assembly
During operation
2058
2058
Thrust load A-direction (N)
980
980
Thrust load B-direction (N)
1176
1176
Radial load P-direction (N)
1470
1764
Thrust load A-direction (N)
490
588
Thrust load B-direction (N)
490
588
For motor dimensions, refer to page A4-97,98, and for the diver, refer to pages A4-24,25 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-75
MINAS A4P A4P
MGMA 3.0kW∼6.0kW
Model designation MGMA series, 3.0kW to 6.0kW e.g.)
M G M A 3 Symbol
Type Middle inertia (3.0kW-6.0kW)
MGMA
0
2 S 1 G Motor structure
Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Symbol
Motor rated output Symbol Rated output 3.0kW
Rotary encoder specifications
45
4.5kW
Symbol
Format
Pulse counts
Resolution
Wires
60
6.0kW
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
30
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MGMA452□1□
MGMA302□1□ *Continuous torque, ambient temperature
70 （63.7） Peak run range 35 （28.4） Continuous run range 0
1000
2000
*Continuous torque, ambient temperature
torque [N . m] （107） 100 Peak run range
100
50 （42.9）
50
Continuous run range 0
rotational speed [r/min]
10
20
30
0
40
ambient temperature[℃]
1000
2000
rotational speed [r/min]
versus rated torque (%)
versus rated torque (%)
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MGMA602□1□ *Continuous torque, ambient temperature versus rated torque (%)
150 (137)
Peak run range 75
Continuous run range 0
1000
2000
rotational speed [r/min]
MINAS A4/A4P Motor
torque [N . m] 100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-76
Motor Specifications and Ratings 200V MFMA 400W to 1.5kW Middle inertia, Medium Capacity AC200V MF MA
Motor model
Model No. Applicable driver
0 4 2 P1 □
A4 series A4P series
042S 1□
152P 1□
152S 1□
MCDDT3520
MDDDT5540
MCDDT3520P
MDDDT5540P
Frame C
Frame D
Frame symbol Power supply capacity (kVA)
1.0
2.3
Rated output (W)
400
1500
Rated torque (N . m)
1.9
7.15
Momentary Max. peak torque (N . m)
5.3
21.5
Rated current (Arms)
2.8
9.5
Max. current (Ao-p)
12.0
40.0
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
100
DV0P4284
No limit
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
2.45
20.1
With brake
2.7
21.5
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating
Smaller than 10 times
2500P/r Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
131072
10000
131072
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃ 85%RH or lower (free from condensing)
Ambient humidity Installation location
17-bit Absolute/ Incremental
10000
Ambient temperature
Environment
Note)2
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
4.7 (6.7)
11.0 (14.0)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
4.9
7.8
Engaging time (ms)
80
80
70
35
0.59
0.83
Releasing time (ms)
Note)4
Exciting current (DC) (A) Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
392
490
Thrust load A-direction (N)
147
196
Thrust load B-direction (N)
147
196
For motor dimensions, refer to page A4-99 , and for the diver, refer to pages A4-24 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-77
MINAS A4P A4P
MFMA 400W - 1.5kW
Model designation MFMA series, 400W to 1.5kW e.g.)
M F M A 0 Symbol
Type Middle inertia (400W-1.5kW)
MFMA
4
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output Symbol Rated output 04 15
Rotary encoder specifications
400W 1.5kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MFMA042□1□
MFMA152□1□ *Continuous torque, ambient temperature
Peak run range 2.5 （1.9）
Continuous run range
0
1000
2000
3000
rotational speed [r/min]
*Continuous torque, ambient temperature
torque [N . m] （21.5） 20
100
Peak run range 50
0
10 （7.15） 10
20
30
40
0
ambient temperature[℃]
Continuous run range 1000
2000
rotational speed [r/min]
3000
versus rated torque (%)
（5.3） 5
versus rated torque (%)
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-78
Motor Specifications and Ratings 200V MFMA 2.5kW to 4.5kW Middle inertia, Medium Capacity AC200V MF MA
Motor model
Model No. Applicable driver
2 5 2 P1 □
A4 series A4P series
252S 1□
452P 1□
452S 1□
MEDDT7364
MFDDTB3A2
MEDDT7364 P
MFDDTB3A2P
Frame E
Frame F
Frame symbol Power supply capacity (kVA)
3.8
6.8
Rated output (W)
2500
4500
Rated torque (N . m)
11.8
21.5
Momentary Max. peak torque (N . m)
30.4
54.9
Rated current (Arms)
13.4
23.5
Max. current (Ao-p)
57.0
100.0
75
67
Regenerative brake frequency (times/min) Note)1
Without option
No limit
DV0P4285×2
375
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
41.3
72.3
With brake
45.3
78.5
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating Ambient temperature
Smaller than 10 times
2500P/r Incremental
Environment
2500P/r Incremental
17-bit Absolute/ Incremental
131072
10000
131072
10000
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Installation location
17-bit Absolute/ Incremental
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance Mass (kg), ( ) represents holding brake type
49m/s2 or less 14.8 (17.5)
19.9 (24.3)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
21.6
31.4
Engaging time (ms)
150
150
100 (450)
100 (450)
0.75
0.75
Releasing time (ms)
Note)4
Exciting current (DC) (A) Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
1862
Thrust load A-direction (N)
686
Thrust load B-direction (N)
686
Radial load P-direction (N)
784
Thrust load A-direction (N)
294
Thrust load B-direction (N)
294
For motor dimensions, refer to page A4-100 , and for the diver, refer to pages A4-24 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-79
MINAS A4P A4P
MFMA 2.5kW - 4.5kW
Model designation MFMA series, 2.5kW to 4.5kW e.g.)
M F M A 2 Symbol
Type Middle inertia (2.5kW-4.5kW)
MFMA
5
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output
Rotary encoder specifications
Symbol Rated output
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
25 45
2.5kW 4.5kW
Motor structure Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MFMA252□1□
MFMA452□1□
*Continuous torque, ambient temperature
Peak run range 15 （11.8）
Continuous run range
0
1000
2000
3000
rotational speed [r/min]
*Continuous torque, ambient temperature
torque [N . m] （54.9） 50
100
Peak run range 25 （21.5）
50
0
10
20
30
0
40
ambient temperature[℃]
Continuous run range 1000
2000
rotational speed [r/min]
versus rated torque (%)
（30.4） 30
versus rated torque (%)
torque [N . m]
100 50
［％］ 3000
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-80
Motor Specifications and Ratings 200V MHMA 500W to 1.5kW High inertia, Medium Capacity AC200V MHMA
Motor model
Model No. Applicable driver
A4 series A4P series
0 5 2 P1 □
052S 1□
102P 1□
102S 1□
152P 1□
152S1□
MCDDT3520
MDDDT3530
MDDDT5540
MCDDT3520P
MDDDT3530P
MDDDT5540P
Frame symbol
Frame C
Frame D
Power supply capacity (kVA)
1.0
1.8
2.3
Rated output (W)
500
1000
1500
Rated torque (N . m)
2.38
4.8
7.15
Momentary Max. peak torque (N . m)
6.0
14.4
21.5
Rated current (Arms)
3.2
5.6
9.4
Max. current (Ao-p)
11.5
24.0
40.0
33
25
Regenerative brake frequency (times/min) Note)1
Without option
No limit
Note)2
DV0P4283
No limit
Note)2
DV0P4284
No limit
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
14.0
26.0
42.9
With brake
15.2
27.2
44.1
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 5 times
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
10000
131072
10000
131072
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient temperature
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Environment
Note)2
Installation location
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents holding brake type
5.3 (6.9)
8.9 (9.5)
10.0 (11.6)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms)
Note)4
Exciting current (DC) (A)
13.7
4.9 80
100
70 (200)
50 (130)
0.59
0.79
Releasing voltage
DC2V or more DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
980
Thrust load A-direction (N)
588
Thrust load B-direction (N)
686
Radial load P-direction (N)
490
Thrust load A-direction (N)
196
Thrust load B-direction (N)
196
For motor dimensions, refer to page A4-101 , and for the diver, refer to pages A4-23 and 46.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-81
MINAS A4P A4P
MHMA 500W - 1.5kW
Model designation MHMA series, 500W to 1.5kW e.g.)
M H M A 0 Symbol
Type High inertia (500W-1.5kW)
MHMA
5
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output Rotary encoder specifications
Symbol Rated output 05 10 15
500kW 1.0kW 1.5kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MHMA052□1□
MHMA102□1□
2.5 （2.38）
Peak run range
Continuous run range
0
1000
2000
3000
versus rated torque (%)
（6.0） 5.0
torque [N . m]
*Continuous torque, ambient temperature 100
*Continuous torque, ambient temperature
15 （14.4） 10 Peak run range
50 5 （4.8） Continuous run range 0
rotational speed [r/min]
10
20
30
40
0
ambient temperature[℃]
1000
（2200）
2000
rotational speed [r/min]
3000
versus rated torque (%)
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MHMA152□1□ torque [N . m]
Peak run range 10 （7.15） Continuous run range 0
1000
2000
3000
rotational speed [r/min]
MINAS A4/A4P Motor
（21.5） 20
versus rated torque (%)
*Continuous torque, ambient temperature 100 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-82
Motor Specifications and Ratings 200V MHMA 2.0kW to 5.0kW High inertia, Medium Capacity AC200V MHMA
Motor model
Model No. Applicable driver
A4 series A4P series
Frame symbol
2 0 2 P 1 □ 2 0 2 S 1□ 302P 1□ 302S 1□ 402P 1□ 402S 1□ 502P 1□ 5 02S1□ MEDDT7364
MFDDTA390
MFDDTB3A2
MEDDT7364 P
MFDDTA390P
MFDDTB3A2 P
Frame E
Power supply capacity (kVA)
Frame F
3.3
4.5
6.0
7.5
Rated output (W)
2000
3000
4000
5000
Rated torque (N . m)
9.54
14.3
18.8
23.8
Momentary Max. peak torque (N . m)
28.5
42.9
56.4
71.4
Rated current (Arms)
12.3
17.8
23.4
28.0
Max. current (Ao-p)
52.0
76.0
100.0
120.0
38
43
32
20
200
150
Regenerative brake frequency (times/min) Note)1
Without option
No limit
DV0P4285×2
Note)2
Rated rotational speed (r/min)
2000
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
62.0
94.1
120.0
170.0
With brake
67.9
100.0
126.0
176.0
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn
Smaller than 5 times
2500P/r Incremental 10000
17-bit 17-bit 2500P/r Absolute/ Absolute/ Incremental Incremental Incremental 131072
Protective enclosure rating
10000
131072
10000
131072
0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity Installation location
131072
17-bit 17-bit 2500P/r Absolute/ Absolute/ Incremental Incremental Incremental
IP65 (except shaft through hole and cable end connector)
Ambient temperature
Environment
10000
2500P/r Incremental
85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 49m/s2 or less
Vibration resistance Mass (kg), ( ) represents holding brake type
16.0 (19.5)
18.2 (21.7)
22.0 (25.5)
26.7 (30.2)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
24.5 80
Engaging time (ms) Releasing time (ms)
25 (200)
Note)4
1.30
Exciting current (DC) (A)
DC2V or more
Releasing voltage
DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
1666
Thrust load A-direction (N)
784
Thrust load B-direction (N)
980
Radial load P-direction (N)
784
Thrust load A-direction (N)
343
Thrust load B-direction (N)
343
For motor dimensions, refer to page A4-102 , and for the diver, refer to pages A4-24 and 47.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-83
MINAS A4P A4P
MHMA 2.0kW - 5.0kW
Model designation MHMA series, 2.0kW to 5.0kW e.g.)
M H M A 2 Symbol
Type High inertia (2.0kW-5.0kW)
MHMA
0
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output Symbol Rated output 20 30 40 50
Rotary encoder specifications
2.0kW 3.0kW 4.0kW 5.0kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MHMA202□1□
MHMA302□1□ torque [N . m]
30 （28.5） Peak run range 15 （9.54） Continuous run range 1000
（2200）
2000
3000
rotational speed [r/min]
100
50 （42.9）
50
25 （14.3）
0
10
20
30
40
0
ambient temperature[℃]
2000
3000
0
10
20
30
40
ambient temperature[℃]
3000
rotational speed [r/min]
versus rated torque (%)
Continuous run range
*Continuous torque, ambient temperature
（71.4） 70
100 85
Peak run range
50
35 （23.8） Continuous run range
0
10
20
30
40
0
ambient temperature[℃]
1000
2000
rotational speed [r/min]
3000
100 85 50
0
10
20
30
40
ambient temperature[℃]
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-84
MINAS A4/A4P Motor
（56.4） 50
2000
1000
50
torque [N . m]
*Continuous torque, ambient temperature
1000
Continuous run range
MHMA502□1□
torque [N . m]
0
Peak run range
100
rotational speed [r/min]
MHMA402□1□
25 （18.8）
*Continuous torque, ambient temperature
versus rated torque (%)
0
versus rated torque (%)
*Continuous torque, ambient temperature
versus rated torque (%)
torque [N . m]
Motor Specifications and Ratings 200V MHMA 7.5kW High inertia, Large Capacity AC200V MHMA
Motor model
Model No. Applicable driver
752P 1□
752S 1□
A4 series A4P series
MGDDTC3B4
Frame symbol
Frame G
Power supply capacity (kVA)
11
Rated output (W)
7500
Rated torque (N . m)
48
Momentary Max. peak torque (N . m)
119
Rated current (Arms)
46.6
Max. current (Ao-p)
165.0
Regenerative brake frequency (times/min) Note)1
Without option
0 No limit
DV0P4285×4
Note)2
Rated rotational speed (r/min)
1500
Max. rotational speed (r/min)
3000
Moment of inertia of rotor (x10-4 kg . m2)
Without brake
282
With brake
288
Recommended moment of inertia ratio of the load and the rotor Note)3
Rotary encoder specifications
Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment
Installation location
Smaller than 5 times
2500P/r Incremental
17-bit Absolute/ Incremental
10000
131072
IP65 (except shaft through hole and cable end connector) 0 to 40℃ (free from freezing), Storage : -20 to + 80℃ 85%RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower 24m/s2 or less
Vibration resistance
43.5 (47.5)
Mass (kg), ( ) represents holding brake type
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m)
58.5
Engaging time (ms)
150
Releasing time (ms)
50 (130)
Note)4
1.30
Exciting current (DC) (A)
DC2V or more
Releasing voltage
DC 24 V ± 10%
Exciting voltage Permissible load
During assembly
During operation
Radial load P-direction (N)
2058
Thrust load A-direction (N)
980
Thrust load B-direction (N)
1176
Radial load P-direction (N)
1176
Thrust load A-direction (N)
490
Thrust load B-direction (N)
490
For motor dimensions, refer to page A4-103 , and for the diver, refer to pages A4-25.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-85
MINAS A4P A4P
MHMA 7.5kW
Model designation MHMA series, 7.5kW e.g.)
M H M A 7 Symbol
Type High inertia (7.5kW)
MHMA
5
2 S 1 G Design order 1 : Standard
Voltage specifications Symbol Specifications 2 200V
Motor rated output Symbol Rated output 75
Rotary encoder specifications
7.5kW
Symbol
Format
Pulse counts
Resolution
Wires
P
Incremental
2500P/r
10000
5
S
Absolute/Incremental
17-bit
131072
7
Motor structure Symbol
Shaft Holding brake Oil seal Round Key-way without with without with
C D G H Products are standard stock items or build to order items. See index (page F31).
Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.)
MHMA752□1□
*Continuous torque, ambient temperature
(119) 100
Peak run range 50
Continuous run range (1500)
0
1000
2000
3000
rotational speed [r/min]
versus rated torque (%)
torque [N . m]
100 50
0
10
20
30
40
ambient temperature[℃]
MINAS A4/A4P Motor
*When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque
Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%)
Continuous running range rotational speed
Radial load (P) direction L
Shaft
L/2 P
Thrust load (A, B) direction A Motor
B
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-86
Motor Dimensions MAMA 100W - 750W Motor connector
Encoder connector
Brake connector LL
LR
LF
LE
230
Motor cable （7）
□ LC
（7） 200
(Key way dimensions)
LW LK
KW
RH
φLBh7
φLA
KH
LH
φSh6
4-φLZ
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MAMA series (Ultra low inertia) 100W
Motor output
MAMA
Motor model
Rotary encoder specifications
LL
012P1□
200W
012S1□
022P1□
400W
022S1□
042P1□
750W
042S1□
082P1□
082S1□
17-bit 17-bit 17-bit 17-bit 2500P/r 2500P/r 2500P/r Absolute/ Absolute/ Absolute/ Absolute/ Incremental Incremental Incremental Incremental Incremental Incremental Incremental
2500P/r Incremental
Without brake
110.5
127
111
126
139
154
160
175
With brake
138
154.5
139
154
167
182
192.5
207.5
LR
24
30
30
35
S
8
11
14
19
LA
48
70
70
90
LB
22
50
50
70
LC
42
60
60
80
LE
2
3
3
3
LF
7
7
7
8
LD
LG
Key way
LH
34
43
43
53
LZ
3.4
4.5
4.5
6
LW
14
20
25
25
LK
12.5
18
22.5
22
KW
3h9
4h9
5h9
6h9
KH
3
4
5
6
RH
6.2
8.5
11
15.5
Without brake
0.65
0.71
1.1
1.2
1.5
1.6
3.3
3.4
With brake
0.85
0.91
1.5
1.6
1.9
2.0
4.0
4.1
Mass (kg) Connector/Plug specifications
refer to page A4-120
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-87
MINAS A4P A4P
Motor Dimensions
MAMA 100W - 750W
/ MSMD 50W - 100W
MSMD 50W - 100W Brake connector Motor connector
Encoder connector
LL
（7）
LR LE
(Key way dimensions)
200
230
LF
（7）
4-φ LZ
□LC
LW KW
KH
A φL
RH
LH
φLBh7
φSh6
LK
LN
TP
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMD series (Low inertia) 50W
Motor output
MSMD
Motor model
Rotary encoder specifications
100W
5 A □P1 □
5A □S 1□
01□P 1□
01□S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental 92 122
LR
25
25
S
8
8
LA
45
45
LB
30
30
LC
38
38
LE
3
3
LF
6
6
With brake
LD
LG
Key way
Mass (kg)
LH
32
32
LN
26.5
46.5
LZ
3.4
3.4
LW
14
14
LK
12.5
12.5
KW
3h9
3h9
KH
3
3
RH
6.2
6.2
TP
M3 x 6 (depth)
M3 x 6 (depth)
Without brake
0.32
0.47
With brake
0.53
0.68
Connector/Plug specifications
refer to page A4-120
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-88
MINAS A4/A4P Motor
72 102
Without brake
LL
Motor Dimensions MSMD 200W - 750W (Key way dimensions) LW
Brake connector Motor connector
LL
LK
KW
KH
Encoder connector
LR LE
（7）
TP
（7）
4-φ LZ
□LC
LH
A
φL
φLBh7
φSh6
200
220
RH
LF
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMD series (Low inertia) 200W
Motor output
MSMD
Motor model
Rotary encoder specifications
400W
750W
0 2 □P1 □
02□S 1□
04□P 1□
04□S 1□
08□P 1□
08□S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
79
98.5
112
115.5
135
149
LR
30
30
35
S
11
14
19
LA
70
70
90
LB
50
50
70
LC
60
60
80
LE
3
3
3
LF
6.5
6.5
8
43
43
53
LZ
4.5
4.5
6
LW
20
25
25
LK
18
22.5
22
KW
4h9
5h9
6h9
Without brake
LL
With brake
LD
LG LH LN
Key way
Mass (kg)
KH
4
5
6
RH
8.5
11
15.5
TP
M4 x 8 (depth)
M5 x 10 (depth)
M5 x 10 (depth)
Without brake
0.82
1.2
2.3
With brake
1.3
1.7
3.1
Connector/Plug specifications
refer to page A4-120
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-89
MINAS A4P A4P
Motor Dimensions
MSMD 200W - 750W
/ MQMA
100W - 400W
MQMA 100W - 400W Encoder connector
Motor connector
LL
LR
Brake connector
220
LF LC
LE
（7） 200
（7）
(Key way dimensions)
4-φLZ
LW
φSh6 φLBh7
LH
KH
LK
KW
RH
øLA
TP
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MQMA series (Low inertia) 100W
Motor output
02□P 1□
02□S 1□
04□P 1□
04□S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
60
87
67
94
82
109
With brake
84
111
99.5
126.5
114.5
LR
141.5
25
30
30
S
8
11
14
LA
70
90
90
LB
50
70
70
LC
60
80
80
LE
3
5
5
LF
7
8
8
LH
43
53
53
LD
LG
Key way
Mass (kg)
LZ
4.5
5.5
5.5
LW
14
20
25
LK
12.5
18
22.5
KW
3h9
4h9
5h9
KH
3
4
5
RH
6.2
8.5
11
TP
M3 x 6 (depth)
M4 x 8 (depth)
M5 x 10 (depth)
Without brake
0.65
0.75
1.3
1.4
1.8
1.9
With brake
0.90
1.00
2.0
2.1
2.5
2.6
Connector/Plug specifications
refer to page A4-120
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-90
MINAS A4/A4P Motor
01□S 1□
Rotary encoder specifications
LL
400W
0 1 □P1 □
MQ MA
Motor model
200W
Motor Dimensions MSMA 1.0kW - 2.0kW
Motor cannon plug
LL
LC
LR
Encoder cannon plug
(Key way dimensions) 4-φLZ
KW
φ
D
LA
φL
RH
φLBh7
KH
LW LK
LH
φSh6
LE
LG
LF
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMA series (Low inertia) 1.0kW
Motor output
1 0 2 P1 □
102S 1□
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
175
175
180
With brake
200
200
205
MSMA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
1.5kW
152P 1□
2.0kW
152S 1□
202P 1□
202S1□
2500P/r Incremental
17-bit Absolute/ Incremental
180
205
205
205
230
230
17-bit Absolute/ Incremental
2500P/r Incremental
LR
55
55
55
S
19
19
19
LA
100
115
115
LB
80
95
95
LC
90
100
100
LD
120
135
135
LE
3
3
3
LF
7
10
10
LG
84
84
84
LH
98
103
103
LZ
6.6
9
9
LW
45
45
45
LK
42
42
42
KW
6h9
6h9
6h9
KH
6
6
6
RH
15.5
15.5
15.5
Without brake
4.5
4.5
5.1
5.1
6.5
6.5
With brake
5.1
5.1
6.5
6.5
7.9
7.9
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-91
MINAS A4P A4P
Motor Dimensions
MSMA 1.0kW - 2.0kW
/ MSMA
3.0kW - 5.0kW
MSMA 3.0kW - 5.0kW
Motor cannon plug
LL
LC
LR
(Key way dimensions) 4-φLZ
φ
D
LA
φL
RH
φLBh7
KW
KH
LW LK
LH
LE
LG
LF
φSh6
Encoder cannon plug
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MSMA series (Low inertia) 3.0kW
Motor output
MSMA
Motor model
LL
Key way
Mass (kg)
302S 1□ 17-bit Absolute/ Incremental
2500P/r Incremental
402P 1□
5.0kW
402S 1□ 17-bit Absolute/ Incremental
2500P/r Incremental
502P 1□
502S1□
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
217
217
240
240
280
280
With brake
242
242
265
265
305
305
LR
55
65
65
S
22
24
24
LA
130/145 (slot)
145
145
LB
110
110
110
LC
120
130
130
LD
162
165
165
LE
3
6
6
LF
12
12
12
LG
84
84
84
LH
111
118
118
LZ
9
9
9
LW
45
55
55
LK
41
51
51
KW
8h9
8h9
8h9
KH
7
7
7
RH
18
20
20
Without brake With brake
9.3
9.3
12.9
12.9
17.3
17.3
11.0
11.0
14.8
14.8
19.2
19.2
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-92
MINAS A4/A4P Motor
Rotary encoder specifications
3 0 2 P1 □
4.0kW
Motor Dimensions MDMA 1.0kW - 1.5kW
LL
Encoder cannon plug
LR
4-φLZ
LE
(Key way dimensions) LW LK
D φL
KW
φ LA
RH
φSh6 φLBh7
LG
LH
LF
□LC
KH
Motor cannon plug
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MDMA series (Middle inertia) 1.0kW
Motor output
1 0 2 P1 □
102S 1□
152P 1□
152S 1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
150
150
175
175
With brake
175
175
200
200
MDMA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
1.5kW
LR
55
55
S
22
22
LA
145
145
LB
110
110
LC
130
130
LD
165
165
LE
6
6
LF
12
12
LG
84
84
LH
118
118
LZ
9
9
LW
45
45
LK
41
41
KW
8h9
8h9
KH
7
7
RH
18
18
Without brake
6.8
6.8
8.5
8.5
With brake
8.7
8.7
10.1
10.1
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-93
MINAS A4P A4P
Motor Dimensions
/
MDMA MDMA 1.0kW - 1.5kW
2.0kW - 3.0kW
MDMA 2.0kW - 3.0kW
LL
Encoder cannon plug
LR
4-φLZ
LE
(Key way dimensions) LW LK
D φL
KW
φ LA
RH
φSh6 φLBh7
LG
LH
LF
□LC
KH
Motor cannon plug
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MDMA series (Middle inertia) 2.0kW
Motor output
202S 1□
302P 1□
302S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
200
200
250
250
With brake
225
225
275
275
Rotary encoder specifications
LL
Key way
LR
55
65
S
22
24
LA
145
145
LB
110
110
LC
130
130
LD
165
165
LE
6
6
LF
12
12
LG
84
84
LH
118
118
LZ
9
9
LW
45
55
LK
41
51
KW
8h9
8h9
KH
7
7
RH
18
20
Without brake
10.6
10.6
14.6
14.6
With brake
12.5
12.5
16.5
16.5
Mass (kg) Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-94
MINAS A4/A4P Motor
202P1□
MDMA
Motor model
3.0kW
Motor Dimensions MDMA 4.0kW - 7.5kW MDMA 4.0kW - 5.0kW
Motor cannon plug
LL
LR
Encoder cannon plug
LF
□LC
4-φLZ
φSh6 φLBh7
LG
LH
LE
φ LA
D φL
(Key way dimensions)
MDMA 7.5kW Motor cannon plug
Brake cannon plug (Note) LL
LW
Eye bolt (Thread 10)
LR
Encoder cannon plug
LF
LK
□LC
4-φLZ
KH
KW
φ LA
D φL
RH
LG
φSh6 φLBh7
LH
LE
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake
MDMA series (Middle inertia) 4.0kW
Motor output
MDMA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
5.0kW
7.5kW
402P1□
402S1□
502P1□
502S1□
752P1□
752S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
242
242
225
225
340.5
340.5
With brake
267
267
250
250
380.5
380.5
LR
65
70
113
S
28
35
42
LA
165
200
200
LB
130
114.3
114.3
LC
150
176
176
LD
190
233
233
LE
3.2
3.2
3.2
LF
18
18
24
LG
84
84
84
LH
128
143
183
LZ
11
13.5
13.5
LW
55
55
96
LK
51
50
90
KW
8h9
10h9
12h9
KH
7
8
8
RH
24
30
37
Without brake
18.8
18.8
25.0
25.0
41.0
41.0
With brake
21.3
21.3
28.5
28.5
45.0
45.0
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-95
MINAS A4P A4P
Motor Dimensions
/
MDMA MGMA 4.0kW - 7.5kW
900W - 2.0kW
MGMA 900W - 2.0kW
Encoder cannon plug Motor cannon plug
LL
LR LC
(Key way dimensions) 4-φLZ
LW LK KW KH
φSh6
LG
LH
LF LE
φ LA
RH
φLD
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MGMA series (Middle inertia) 900W
Motor output
092S 1□
202P1□
202S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
175
175
182
182
With brake
200
200
207
207
Rotary encoder specifications
LL
Key way
Mass (kg)
LR
70
80
S
22
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
6
3.2
LF
12
18
LG
84
84
LH
118
143
LZ
9
13.5
LW
45
55
LK
41
50
KW
8h9
10h9
KH
7
8
RH
18
30
Without brake With brake
8.5
8.5
17.5
17.5
10.0
10.0
21.0
21.0
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-96
MINAS A4/A4P Motor
092P1□
MG MA
Motor model
2.0kW
Motor Dimensions MGMA 3.0kW - 4.5kW MGMA 3.0kW Motor cannon plug
LL
LR
LC
Encoder cannon plug
4-φLZ
φSh6
φL Bh7
LG
LH
LF LE
φ LA
D φL
(Key way dimensions)
MGMA 4.5kW Motor cannon plug
LL
LW LK
LR
LC
Eye bolt (Thread 10) LF LE
Encoder cannon plug
φ LA
RH
φSh6
φLD
KH
KW
φL Bh7
LG
LH
4-φLZ
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MGMA series (Middle inertia) 3.0kW
Motor output
302P1□
302S1□
452P1□
452S1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
222
222
300.5
300.5
With brake
271
271
337.5
337.5
MG MA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
4.5kW
LR
80
113
S
35
42
LA
200
200
LB
114.3
114.3
LC
176
176
LD
233
233
LE
3.2
3.2
LF
18
24
LG
84
84
LH
143
143
LZ
13.5
13.5
LW
55
96
LK
50
90
KW
10h9
12h9
KH
8
8
RH
30
37
Without brake
25.0
25.0
34.0
34.0
With brake
28.5
28.5
39.5
39.5
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-97
MINAS A4P A4P
Motor Dimensions
MGMA 3.0kW - 6.0kW
MGMA 6.0kW
Brake cannon plug (Note)
Eye bolt (Thread 10)
□LC
LR
4-φLZ
LE φSh6 φLBh7
LG
(Key way dimensions) LW
LH
LF
LK
KH
LL
φ LA
D φL
KW
RH
Motor cannon plug
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake
MGMA series (Middle inertia) 6.0kW
Motor output
602S 1□
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
340.5
340.5
With brake
380.5
380.5
Rotary encoder specifications
LL
Key way
Mass (kg)
LR
113
S
42
LA
200
LB
114.5
LC
176
LD
233
LE
3.2
LF
24
LG
84
LH
183
LZ
13.5
LW
96
LK
90
KW
12h9
KH
8
RH
37 Without brake
41.0
41.0
With brake
45.0
45.0
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-98
MINAS A4/A4P Motor
602P 1□
MG MA
Motor model
Motor Dimensions MFMA 400W - 1.5kW Encoder cannon plug
4-φLZ
Motor cannon plug
LL LF
□LC
LR LE
(Key way dimensions) LH
LK KH
φSh6
φ LA
D φL
KW
RH
φLBh7
LG
LW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MFMA series (Middle inertia) 400W
Motor output
042P1□
042S 1□
152P 1□
152S 1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
120
120
145
145
With brake
145
145
170
170
MF MA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
1.5kW
LR
55
65
S
19
35
LA
145
200
LB
110
114.3
LC
130
176
LD
165
233
LE
6
3.2
LF
12
18
LG
84
84
LH
118
143
LZ
9
13.5
LW
45
55
LK
42
50
KW
6h9
10h9
KH
6
8
RH
15.5
30
Without brake
4.7
4.7
11.0
11.0
With brake
6.7
6.7
14.0
14.0
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-99
Motor Dimensions
MINAS A4P A4P
MFMA 400W - 4.5kW
MFMA 2.5kW - 4.5kW Encoder cannon plug
4-φLZ
Motor cannon plug
LL LF
□LC
LR LE
(Key way dimensions) LH
LK KH
φSh6
φ LA
D φL
KW
RH
φLBh7
LG
LW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MFMA series (Middle inertia) 2.5kW
Motor output
MF MA
Motor model
Mass (kg)
452P 1□
452S1□
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
139
139
163
163
With brake
166
166
194
194
LR
65
70
S
35
35
LA
235
235
LB
200
200
LC
220
220
LD
268
268
LE
4
4
LF
16
16
LG
84
84
LH
164
164
LZ
13.5
13.5
LW
55
55
LK
50
50
KW
10h9
10h9
KH
8
8
RH
30
30
Without brake
14.8
14.8
19.9
19.9
With brake
17.5
17.5
24.3
24.3
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-100
MINAS A4/A4P Motor
Key way
252S 1□
2500P/r Incremental
Rotary encoder specifications
LL
252P1□
4.5kW
Motor Dimensions MHMA 500W - 1.5kW Encoder cannon plug Motor cannon plug
LL
LR
LF
□LC
4-φLZ
LE
(Key way dimensions)
LH
KW
KH
LK
φ LA
D φL
RH
φSh6 φLBh7
LG
LW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MHMA series (High inertia) 500W
Motor output
052S 1□
102P 1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
Without brake
150
150
With brake
175
175
Rotary encoder specifications
LL
Key way
1.5kW
102S 1□
152P 1□
15 2S1□
17-bit Absolute/ Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
175
175
200
200
200
200
225
225
LR
70
70
70
S
22
22
22
LA
145
145
145
LB
110
110
110
LC
130
130
130
LD
165
165
165
LE
6
6
6
LF
12
12
12
LG
84
84
84
LH
118
118
118
LZ
9
9
9
LW
45
45
45
LK
41
41
41
KW
8h9
8h9
8h9
KH
7
7
7
18
RH Mass (kg)
1.0kW
052P1□
MHMA
Motor model
18
18
Without brake
5.3
5.3
8.9
8.9
10.0
10.0
With brake
6.9
6.9
9.5
9.5
11.6
11.6
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-101
MINAS A4P A4P
Motor Dimensions
MHMA 500W - 5.0kW
MHMA 2.0kW - 5.0kW Encoder cannon plug Motor cannon plug
LL
LR
LF
□LC
(Key way dimensions)
4-φLZ
LE
LK
KW
KH
LH
φ LA
D φL
RH
φSh6 φLBh7
LG
LW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MHMA series (High inertia) 2.0kW
Motor output
302P1□
Key way
Mass (kg)
302S1□
402P1□
2500P/r Incremental
17-bit Absolute/ Incremental
2500P/r Incremental
Without brake
190
190
205
205
230
With brake
215
215
230
230
255
5.0kW
402S1□
502P1□
502S1□
17-bit 17-bit 2500P/r Absolute/ Incremental Absolute/ Incremental Incremental
2500P/r Incremental
17-bit Absolute/ Incremental
230
255
255
255
280
280
LR
80
80
80
80
S
35
35
35
35
LA
200
200
200
200
LB
114.3
114.3
114.3
114.3
LC
176
176
176
176
LD
233
233
233
233
LE
3.2
3.2
3.2
3.2
LF
18
18
18
18
LG
84
84
84
84
LH
143
143
143
143
LZ
13.5
13.5
13.5
13.5
LW
55
55
55
55
LK
50
50
50
50
KW
10h9
10h9
10h9
10h9
KH
8
8
8
8
RH
30
30
30
30
Without brake
16.0
16.0
18.2
18.2
22.0
22.0
26.7
26.7
With brake
19.5
19.5
21.7
21.7
25.5
25.5
30.2
30.2
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-102
MINAS A4/A4P Motor
202S1□
Rotary encoder specifications
LL
4.0kW
202P1□
MHMA
Motor model
3.0kW
Motor Dimensions MHMA 7.5kW
Eye bolt (Thread 10)
□LC
LR
4-φLZ
LE
LG
φSh6 φLBh7
LH
LF
(Key way dimensions) LW LK
KH
LL
φ LA
D φL
RH
Brake cannon plug (Note)
Motor cannon plug
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake
MHMA series (High inertia) 7.5kW
Motor output
752P 1□
752S 1□
2500P/r Incremental
17-bit Absolute/ Incremental
Without brake
380.5
380.5
With brake
420.5
420.5
MHMA
Motor model
Rotary encoder specifications
LL
Key way
Mass (kg)
LR
113
S
42
LA
200
LB
114.3
LC
176
LD
233
LE
3.2
LF
24
LG
84
LH
183
LZ
13.5
LW
96
LK
90
KW
12h9
KH
8
RH
37 Without brake
43.5
43.5
With brake
47.5
47.5
Connector/Plug specifications
refer to page A4-114
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-103
KW
MINAS A4P A4P
MHMA 7.5kW
MINAS A4/A4P Motor / MEMO
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Conformity to CE and UL Compliance to EC and EMC Directives EC Directives The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products. MINAS AC Servos conforms to the EC Directives for Low Voltage Equipment so that the machine incorporating our servos has an easy access to the conformity to relevant EC Directives for the machine.
EMC Directives MINAS Servo System conforms to relevant standards under EMC Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos.
Conformed Standards Subject Motor
IEC : International Electrotechnical Commission
Conformed Standard IEC60034-1
Conforms to LowVoltage Directives
EN50178
UL508C
EN55011
Radio Disturbance Characteristics of Industrial, Scientific and Medical
: Europaischen Normen
EMC : Electromagnetic Compatibility UL
: Underwriters Laboratories
CSA : Canadian Standards Association
(ISM) Radio-Frequency Equipment Motor and driver
EN
EN61000-6-2
Immunity for Industrial Environments
IEC61000-4-2
Electrostatic Discharge Immunity Test
IEC61000-4-3
Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4
Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5
Lightening Surge Immunity Test
IEC61000-4-6
High Frequency Conduction Immunity Test
Conforms to references by EMC Directives
IEC61000-4-11 Instantaneous Outage Immunity Test
Composition of peripheral equipment Use after reading operation manuals of the optionsbut to not better understand the precautions. This options product correctly is intended to be used with a general industrial product, designed or manufactured to be used in a machine or system Take care not to apply excessive stress to each optional part. that may cause personal death when it is failed.
Installation environment
Power supply ＋ 10％ ＋ 10％ 100V system : Single phase 100V − 15％ -115V − 15％ 50/60Hz (Frame A to C) ＋ 10％ ＋ 10％ 200V system : Single 200V -240V 50/60Hz − 15％ − 15％ (Frame A to B) ＋ 10％ ＋ 10％ 200V system : Single/3- phase 200V -240V 50/60Hz − 15％ − 15％ (Frame C to D) 200V system : 3- phase 200V ＋ 10％ -230V ＋ 10％ 50/60Hz − 15％ − 15％ (Frame E to F)
Use the MINAS driver in environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) Control panel Controller
Insulated power supply for interface
(1)This product is designed to be used under Overvoltage
CN–X5 Driver
Category (Installation Category) Ⅱ of EN50178 :1997.
Noise filter for signal lines
Power supply Circuit breaker
Leakage current breaker (RCD)
Noise filter
Noise filter for signal lines L1 L2 L3 L1C(r) L2C(t)
Servo motor U V W
M RE
Surge absorber
Install a surge absorber which conforms to EN61643-11 : 2002 and other relevant standards at the power entry when you want to use this product under Overvoltage Category (Installation Category) Ⅲ .
CN–X6 Ground (PE)
(2)For a interface power supply, use an insulated one with 12 to 24 VDC which conforms to CE Marking or EN Standards.
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MINAS A4P A4P
Conformity to CE and UL
Circuit breaker Connect a circuit breaker which conforms to IEC standards and is UL recognized (listed and
marked), between the power supply
and the noise filter.
Noise filter When you install one noise filter in the power supply for multi-
Option part No.
Part No.
DV0P4170
SUP-EK5-ER-6
DV0P4180
3SUP-HQ10-ER-6
axes application, consult with the manufacture of the filter.
Manufacturer
DV0P4220
3SUP-HU30-ER-6
DV0P3410
3SUP-HL50-ER-6B
Okaya Electric Industries Co.
DV0P4170 Terminal cover (transparent)
Earth terminal M4 Label
Cover attachment screw M3
Label Cover Main body Option part No. DV0P4180 DV0P4220
A B C 115 105 95 145 135 125
D 70 70
E 43 50
F 10 10
G 52 52
H 5.5 5.5
DV0P3410
Surge absorber Install a surge absorber at primary side of the noise filter. Option part No.
Driver voltage spec
Part No.
3-phase, 200V
R . A . V-781BXZ-4
DV0P1450
Manufacturer Okaya Electric
Circuit diagram
Option part No. DV0P4190
Driver voltage spec
Part No.
Manufacturer
Single phase, 100V, 200V
R . A . V-781BWZ-4
Okaya Electric
Circuit diagram
Remove this surge absorber when you perform dielectric test on the machine, or serge absorber might be damaged.
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MINAS A4/A4P Conformity to CE and UL
Label
Conformity to CE and UL 39±1
Noise filter for signal lines Install noise filters for signal lines to all cables (Power line,
34±1
motor cable, encoder cable, interface cable) Part No.
Manufacturer
DV0P1460
ZCAT3035-1330
TDK Corp.
Mass : 62.8g
13±1
Fix the signal line noise filter in place to eliminate excessive stress to the cables.
30±1
Option part No.
Ground-fault breaker Install a B-type ground-fault breaker (RCD) at primary side of the power supply of the driver.
Grounding (1)Connect the protective earth terminal of the driver (
) and protective earth terminal of the control panel (PE) without fail to
prevent electrical shocks. (2)Do not co-clamp to the protective earth terminals (
). Two protective earth terminals are provided.
Conformity to UL Standards Observe the following conditions ( (1) and (2)) to make the system conform to UL508C (File No. E164620). (1)Use Minas driver in environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1. (e.g. Install in the control panel with IP54 protective structure) (2)Connect the UL recognized (UL Listed,
marked) circuit breaker or UL recognized (UL Listed,
marked) fuse between the
power supply and noise filter.
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IP65 Rating
MINAS A4P A4P
Conformity to CE and UL IP65 Rating
●MSMD, MQMA and MAMA motors conform to IP65 rating except for the connecter and shaft through hole. ●For MSMA, MDMA, MGMA, MFMA and MHMA motors, customer to supply the plug and cable clamp which conform to IP65 rating. (Optional connector kits for encoder cable and motor cable do not provide IP65 rating.) Plug and clamp (Customer to supply ) manufactured by Japan Aviation Electronics Ind. Motor Series
MSMA
Without brake
MDMA
MGMA
MHMA
Output (kW)
Motor side Receptacle type (or equivalent)
Plug Straight type (or equivalent)
Angle type (L-shape) (or equivalent)
Cable clamp type (or equivalent)
1.0 - 2.0
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
3.0 - 5.0
JL04HV-2E22-22PE-B-R
JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
1.0 - 2.0
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
3.0 - 5.0
JL04HV-2E22-22PE-B-R
JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
7.5
JL04V-2E32-17PE-B-R
N/MS3106B-32-17S
N/MS3108 32-17S
0.9
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
2.0 - 4.5
JL04HV-2E22-22PE-B-R
JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
6.0
JL04V-2E32-17PE-B-R
N/MS3106B-32-17S
N/MS3108 32-17S
0.5 - 1.5
JL04V-2E20-4PE-B-R
JL04V-6A20-4SE-EB-R
JL04V-8A20-4SE-EB-R
2.0 - 5.0
JL04HV-2E22-22PE-B-R
JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
7.5
JL04V-2E32-17PE-B-R
N/MS3106B-32-17S
0.4 - 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
2.5 - 4.5
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
1.0 - 2.0
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
3.0 - 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
1.0 - 2.0
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
3.0 - 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
JL04-2022CK (14)-R
JL04V-8A20-4SE-EB-R
N/MS3108 32-17S
N/MS3057-20A JL04-2022CK (14)-R N/MS3057-20A JL04-2022CK (14)-R N/MS3057-20A
MFMA
MDMA
With brake
7.5
Motor JL04V-2E32-17PE-B-R
N/MS3106B 32-17S
N/MS3108B 32-17S
N/MS3057-20A
Brake N/MS3102A 14S-2P
N/MS3106B 14S-2S
N/MS3108B 14S-2S
N/MS3057-6A
0.9
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
2.0 - 4.5
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
MGMA 6.0
Motor JL04V-2E32-17PE-B-R
N/MS3106B 32-17S
N/MS3108B 32-17S
N/MS3057-20A
Brake N/MS3102A 14S-2P
N/MS3106B 14S-2S
N/MS3108B 14S-2S
N/MS3057-6A
0.5 - 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
2.0 - 5.0
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
MHMA Motor JL04V-2E32-17PE-B-R
N/MS3106B 32-17S
N/MS3108B 32-17S
N/MS3057-20A
Brake N/MS3102A 14S-2P
N/MS3106B 14S-2S
N/MS3108B 14S-2S
N/MS3057-6A
7.5 0.4 - 1.5
JL04V-2E20-18PE-B-R
JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R
2.5 - 4.5
JL04V-2E24-11PE-B-R
JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R JL04-2428CK (17)-R
N/MS3102A 20-29P
JA06A-20-29S-J1-EB-R
MFMA Encoder
JA08A-20-29S-J1-EB-R
JL04-2022CK (14)-R
Note) MDMA 7.5kW, MGMA 6kW and MHMA 7.5kW do not provide IP65 rating.
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MINAS A4/A4P Conformity to CE and UL / IP65 Rating
MSMA
Options Cable part No. designation Encoder cable
1
2
3
4
5
6
7
8
9
10 11 12
M F E C A 0 0 5 0 E A M
Cable end (Driver side) D E M
Molex connector (MINAS A4,A4P series, incremental) Molex connector (MINAS A4,A4P series, absolute) Molex connector (MINAS A4,A4P series, E series)
Cable end (Encoder side)
Cable type
Cable length
Type classification
E
S A
S-type cannon plug AMP connector
PVC cable with shield by Oki Electric Cable Co., 0.20mm2 x 8P, 3P
3m 5m 10m 20m
0030 0050 0100 0200
MFECA : Encoder cable
Motor cable
1
2
3
4
5
6
7
8
9
10 11 12
M F M C A 0 0 5 2 F C T Cable end at driver side D Plus clamp terminal for MINAS A4,A4P by Phoenix contact T Clamp terminal Cable end at motor side
Cable type
E F G
Cross section of cable core
Type classification A B
Cable length
…
Standard Special Design order
003 005 010 020
E C
4 pole AMP connector 4 pin S type cannon plug
ROBOTOP 4-wire by Daiden Co., Ltd. ROBOTOP 6-wire by Daiden Co., Ltd. ROBOTOP 2-wire by Daiden Co., Ltd. 0 1 2 3
0.75mm2 1.25mm2 2.0mm2 3.5mm2 3m 5m 10m 20m
AC servo motor cable
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MINAS A4P A4P
Option
• Pin configuration for encoder connector • Pin configuration for motor/brake connector (with brake) MSMA
MSMA
MSMA 1kW, 1.5kW, 2kW
MSMA 3kW, 4kW, 5kW
MDMA 7.5kW
MDMA
MDMA
MDMA 1kW, 1.5kW, 2kW
MDMA 3kW, 4kW, 5kW
MGMA 6kW
MFMA
MFMA
MFMA
MFMA
MHMA 7.5kW
MHMA
MHMA
MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW
MGMA
MGMA
MGMA 900W
M
B
N
L K
A
C P
T R
S
J
H
G
M
D E
F
C P
T R
S
J
H
G
G
B
N
L K
A
2.5kW, 4.5kW
MGMA 2kW, 3kW, 4.5kW
H
A
A B
I
F
B
D
E
D
C
E G
F
H
I
F
PIN No. Content PIN No. Content K A NC PS NC L B PS M NC C NC D NC N NC E P NC NC R NC F NC S BAT–* G EOV T BAT+* H E5V J Frame GND
JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) Content Brake Brake NC U-phase V-phase W-phase Ground Ground NC
PIN No. G H A F I B E D C
JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) Content Brake Brake NC U-phase V-phase W-phase Ground Ground NC
PIN No. A B C D E F G H I
Motor Cable
C
D E
N/MS3102A20-29P N/MS3102A20-29P • Specifications of 2500P/r • Specifications of 17bit absolute/incremental incremental encoder encoder PIN No. Content PIN No. Content K A NC PS NC L B PS M NC C NC D NC N NC E NC P NC R NC F NC S G EOV NC T H E5V NC J Frame GND
400W, 1.5kW
*Connection to Pin-S and T are not required when used in incremental.
D
A
C
B
JL04V-2E32-17PE-B-R (by Japan Aviation Electronics or equivalent) Content U-phase V-phase W-phase Ground
PIN No. A B C D
Brake Cable D
A
C
B
N/MS3102A 14S-2P (by Japan Aviation Electronics or equivalent) PIN No. A B C D
Content Brake Brake NC NC
• Pin configuration for motor/brake connector (without brake) MSMA 3kW, 4kW, 5kW
MDMA 7.5kW
MDMA 1kW, 1.5kW, 2kW
MDMA 3kW, 4kW, 5kW
MGMA 6kW
MFMA 400W, 1.5kW
MFMA 2.5kW, 4.5kW
MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW MHMA 7.5kW MGMA 900W
MGMA 2kW, 3kW, 4.5kW
G D
A
D
A
D
A
C
B
C
B
C
B
JL04V-2E20-4PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D
Content U-phase V-phase W-phase Ground
JL04V-2E22-22PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D
Content U-phase V-phase W-phase Ground
JL04V-2E32-17PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D
Content U-phase V-phase W-phase Ground
H
A B
I
F E
D
A
C
JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. G H A F I B E D C
Content NC NC NC U-phase V -phase W-phase Ground Ground NC
D
B
C
E G
H
F I
JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D E F G H I
Content NC NC NC U-phase V -phase W-phase Ground Ground NC
Do not connect anything to NC pins.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-114
MINAS A4/A4P Options
MSMA 1kW, 1.5kW, 2kW
Options Encoder cable MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W 17-bit absolute encoder, with battery holder
MFECA0＊＊0EAE
Title L
Connector 300
(16)
(φ8)
110
Connector Connector pin Cable
Part No. (Manufacturer's) 55100-0600 or 55100-0670 172161-1 170365-1 0.20mm2×4P
Manufacturer Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co.
L（m） 3 5 10 20
Part No. MFECA0030EAE MFECA0050EAE MFECA0100EAE MFECA0200EAE
L（m） 3 5 10 20
Part No. MFECA0030ESE MFECA0050ESE MFECA0100ESE MFECA0200ESE
L（m） 3 5 10 20
Part No. MFECA0030EAD MFECA0050EAD MFECA0100EAD MFECA0200EAD
L（m） 3 5 10 20
Part No. MFECA0030ESD MFECA0050ESD MFECA0100ESD MFECA0200ESD
L（m） 3 5 10 20
Part No. MFECA0030EAM MFECA0050EAM MFECA0100EAM MFECA0200EAM
(4) (14) (4)
Note) Battery for absolute encoder is an option. MSMA,MDMA,MHMA,MGMA,MFMA 17-bit absolute encoder, with battery holder
MFECA0＊＊0ESE
Title
L 300
φ37.3
(φ8)
110
Connector Straight plug Cable clamp Cable
Part No. (Manufacturer's) 55100-0600 or 55100-0670 N/MS3106B20-29S N/MS3057-12A 0.20mm2×4P
Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Oki Electric Cable Co.
Note) Battery for absolute encoder is an option. MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W 17-bit incremental encoder, without battery holder
MFECA0＊＊0EAD
L
(16)
(φ6.5)
Title
(4)
(14)
Connector Connector Connector pin Cable
(4)
L (φ6.5)
Title
φ37.3
Connector Straight plug Cable clamp Cable
Title (φ6.5)
(11.8)
(14)
(4)
Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co.
Part No. (Manufacturer's) 55100-0600 or 55100-0670 N/MS3106B20-29S N/MS3057-12A 0.20mm2×3P
Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Oki Electric Cable Co.
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W 2500P/r encoder, without battery holder L
(4)
Manufacturer
MSMA,MDMA,MHMA,MGMA,MFMA 17-bit incremental/2500P/r encoder, without battery holder
MFECA0＊＊0ESD
MFECA0＊＊0EAM
Part No. (Manufacturer's) 55100-0600 or 55100-0670 172161-1 170365-1 0.20mm2×3P
Connector Connector Connector pin Cable
Part No. (Manufacturer's) 55100-0600 or 55100-0670 172160-1 170365-1 0.20mm2×3P
Manufacturer Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-115
MINAS A4P A4P
Options
Option
Motor cable (ROBO TOP R 105℃,600V, DP) ROBO TOP R is a trade mark of Daiden Co., Ltd. MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W
MFMCA0＊＊0EED (50)
(50)
(12.0)
(φ11)
L
(4)
(10.0)
(4)
Manufacturer
Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCA0030EED MFMCA0050EED MFMCA0100EED MFMCA0200EED
Title Part No. (Manufacturer's) Straight plug JL04V-6A20-4SE-EB-R Cable clamp JL04-2022CK(14)-R Rod terminal AI2.5-8BU Nylon insulated roundterminall N2-M4 Cable ROBO-TOP 600V 2.0mm2
Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCD0032ECD MFMCD0052ECD MFMCD0102ECD MFMCD0202ECD
Title Part No. (Manufacturer's) Straight plug JL04V-6A20-4SE-EB-R Cable clamp JL04-2022CK(14)-R Nylon insulated roundterminall N2-5 Cable ROBO-TOP 600V 2.0mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCD0032ECT MFMCD0052ECT MFMCD0102ECT MFMCD0202ECT
Title Part No. (Manufacturer's) Straight plug JL04V-6A22-22SE-EB-R Cable clamp JL04-2022CK(14)-R Nylon insulated roundterminal N5.5-5 Cable ROBO-TOP 600V 3.5mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCA0033ECT MFMCA0053ECT MFMCA0103ECT MFMCA0203ECT
Title Part No. (Manufacturer's) Straight plug JL04V-6A20-18SE-EB-R Cable clamp JL04-2022CK(14)-R Rod terminal AI2.5-8BU Nylon insulated roundterminal N2-M4 Cable ROBO-TOP 600V 2.0mm2
Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCA0032ECD MFMCA0052ECD MFMCA0102ECD MFMCA0202ECD
Title Part No. (Manufacturer's) Straight plug JL04V-6A24-11SE-EB-R Cable clamp JL04-2428CK(17)-R Nylon insulated roundterminal N5.5-5 Cable ROBO-TOP 600V 3.5mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCD0033ECT MFMCD0053ECT MFMCD0103ECT MFMCD0203ECT
Tyco Electronics, AMP
MSMA1.0kW - 1.5kW,MDMA1.0kW - 1.5kW MHMA500W - 1.5kW,MGMA900W
MFMCDO＊＊2ECD
(50)
φ37.3
(φ12.5)
L
MSMA2.0kW,MDMA2.0kW
MFMCDO＊＊2ECT
(50)
φ37.3
(φ12.5)
L
(50)
φ40.5
(φ14)
L
MFMA400W - 1.5kW
MFMCAO＊＊2ECD
(50)
φ37.3
(φ12.5)
L
MFMA2.5kW - 4.5kW
MFMCDO＊＊3ECT
(φ14)
L
(50)
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-116
MINAS A4/A4P Options
MSMA3.0kW - 5.0kW,MDMA3.0kW - 5.0kW MHMA2.0kW - 5.0kW,MGMA2.0kW - 4.5kW
MFMCAO＊＊3ECT
φ43.7
Title Part No. (Manufacturer's) Connector 172159-1 Connector pin 170366-1 Rod terminal AI0.75-8GY Nylon insulated roundterminal N1.25-M4 Cable ROBO-TOP 600V 0.75mm2
Options Brake cable (ROBO TOP R 105℃,600V, DP) MSMD 50W - 750W MQMA100W - 400W MAMA 100W - 750W
MFMCB0＊＊0GET
(40) (φ9.8)
(12.0)
(10.0)
(50)
L
Title Part No. (Manufacturer's) Connector 172157-1 Connector pin 170366-1,170362-1 Nylon insulated roundterminal N1.25-M4 Cable ROBO-TOP 600V 0.75mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCB0030GET MFMCB0050GET MFMCB0100GET MFMCB0200GET
(5.6)
Motor cable (with brake) (ROBO TOP R 105℃,600V, DP) ROBO TOP R is a trade mark of Daiden Co., Ltd. MSMA1.0kW -1.5kW,MDMA1.0kW - 1.5kW MHMA 500W -1.5kW,MFMA 400W - 1.5kW MGMA 900W
MFMCAO＊＊2FCD
(50)
(φ 9
.8)
φ37.3
(φ12.5)
L
L (50
)
Title Straight plug Cable clamp Rod terminal
Part No. (Manufacturer's) JL04V-6A20-18SE-EB-R JL04-2022CK(14)-R AI2.5-8BU N2-M4 Nylon insulated roundterminal N1.25-M4 RROBO-TOP 600V 2.0mm2 Cable or ROBO-TOP 600V 0.75mm2
Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
L（m） 3 5 10 20
Part No. MFMCA0032FCD MFMCA0052FCD MFMCA0102FCD MFMCA0202FCD
L（m） 3 5 10 20
Part No. MFMCA0032FCT MFMCA0052FCT MFMCA0102FCT MFMCA0202FCT
L（m） 3 5 10 20
Part No. MFMCA0033FCT MFMCA0053FCT MFMCA0103FCT MFMCA0203FCT
MSMA2.0kW,MDMA2.0kW
MFMCAO＊＊2FCT
(50)
(φ 9
.8)
φ37.3
(φ12.5)
L
L (50
)
Title Straight plug Cable clamp
Part No. (Manufacturer's) JL04V-6A20-18SE-EB-R JL04-2022CK(14)-R N2-5 Nylon insulated roundterminal N1.25-M4 ROBO-TOP 600V 2.0mm2 Cable or ROBO-TOP 600V 0.75mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
MSMA 3.0kW - 5.0kW ,MDMA 3.0kW - 5.0kW MHMA 2.0kW - 5.0kW ,MFMA 2.5kW - 4.5kW MGMA 2.0kW - 4.5kW
MFMCA0＊＊3FCT
(50)
( φ9
.8)
φ43.7
(φ14)
L
L (50
)
Title Straight plug Cable clamp
Part No. (Manufacturer's) JL04V-6A24-11SE-EB-R JL04-2428CK(17)-R N5.5-5 Nylon insulated roundterminal N1.25-M4 ROBO-TOP 600V 3.5mm2 Cable or ROBO-TOP 600V 0.75mm2
Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-117
MINAS A4P A4P
Options
Options
Connector kit for external peripheral equipments ●MINAS A4 1) Part No.
DV0P4350
2) Components
Title
Part No.
Number
Connector
54306-5011 or 54306-5019
1
54331-0501
1
Connector cover
Manufacturer
Note
Molex Inc.
For CN X5 (50-pins)
3) Pin Configuration(50-pins) (viewed from the soldering side) 26 28 30 32 34 36 38 40 42 44 46 48 ZERO SPD / DIV / COIN- / PULSH1 SIGNH1 OB CL CSALM TLC IM INTSPD2 MODE RDY VS-SEL INTSPD3 AT-SPEED27 29 31 33 35 37 39 41 43 45 47 GAIN INH COIN+ / COM SP PULSH2 SIGNH2 SRV ASALM / TL-SEL AT-SPEED+ -ON CLR / INTSPD1 RDY 1 3 5 7 9 11 13 15 17 19 21 23 0PC1 PULS1 SIGN1 COM CCWL BRK- GND GND GND CZ OA OZ DIV2 OFF 2 4 6 8 10 12 14 16 18 20 22 SPR / TRQR CCWTL CWTL NC 0PC2 PULS2 SIGN2 CWL BRK- ZSP OA / SPL /TRQR OFF
1. Check the stamped pin No. on the connector body while making a wiring. 2. For the function of each signal title or its symbol, refer to the wiring example of connector, CN I/F. 3. Check the stamped pin-No. on the Connector body while marking a wiring.
50 FG 49 OB 25 GND 24 OZ
●MINAS A4P 1) Part No.
DV0P4500
2) Components
Title
Part No.
Number
Connector
54306-3611 or 54306-3619
1
54331-0361
1
Connector cover
Manufacturer
Note
Molex Inc.
For CN X5 (36-pins)
19 CCWL
21 Z-LS
20 CWL 1 COM
23 SRV-ON 22 EX-IN1
3 P1IN 2 EMGSTP
24 STB
5 P4IN 4 P2IN
25 EX-IN2
27 29 31 33 35 COIN/ P1OUT P4OUT P16OUT （NC） DCLON 26 28 30 32 34 36 GND BUSY P2OUT P8OUT P32OUT BRK-OFF
7 P16IN 6 P8IN
9 OZ
8 P32IN
11 OA 10 OZ
13 DB 12 OA
15 ALM 14 DB
17 COM 16 CZ
18 FG
1. Check the stamped pin No. on the connector body while making a wiring. 2. For the function of each signal title or its symbol, refer to the wiring example of connector, CN I/F. 3. Check the stamped pin-No. on the Connector body while marking a wiring.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-118
MINAS A4/A4P Options
3) Pin Configuration(50-pins) (viewed from the soldering side)
Interface cable Cable of 2m is connected.
●MINAS A4 1) Part No.
3) Table for wiring
DV0P4360
PIN No. 1
2) Dimensions 2000+200 0
2
12.7
(39)
3
molex
(52.35)
50
25
50 +10 0
5 6
26
1
Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
7 8 9 10
●MINAS A4P 1) Part No.
4
color PIN No. color PIN No. Orange Orange 11 21 (Red1) (Black2) Orange Yellow 12 22 (Black1) (Black1) Gray Gray 23 13 (Red1) (Red2) Gray Gray 14 24 (Black1) (Black2) White White 15 25 (Red1) (Red2) Yellow White 16 26 (Red2) (Black1) Yel(Blk2)/ Yellow 17 Pink(Blk2) 27 (Red1) Pink Pink 18 28 (Red1) (Red2) Pink White 19 29 (Black1) (Black2) Orange 30 20 (Red2)
color
PIN No.
Orange (Red3) Orange (Black3) Gray (Red3) Gray (Black3) White (Red3) White (Black3) Yellow (Red3) Yellow (Black3) Pink (Red3) Pink (Black3)
31 32 33 34 35 36 37 38 39 40
color PIN No. Orange 41 (Red4) Orange 42 (Black4) Gray 43 (Red4) White 44 (Red4) White 45 (Black4) Yellow 46 (Red4) Yellow 47 (Black4) Pink 48 (Red4) Pink 49 (Black4) Gray 50 (Black4)
color Orange (Red5) Orange (Black5) Gray (Red5) White (Red5) White (Black5) Yellow (Red5) Yellow (Black5) Pink (Red5) Pink (Black5) Gray (Black5)
3) Table for wiring
DV0P4510
2) Dimensions 20000+200
12.7
(39)
molex
(43.46)
36
18
50 +10 0
19
1
Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
PIN No.
color
PIN No.
color
PIN No.
color
1
Orange(Red1)
13
Gray(Red2)
25
White(Red3)
2
Orange(Black1)
14
Gray(Black2)
26
White(Black3)
3
Gray(Red1)
15
White(Red2)
27
Yellow(Red3)
4
White(Red1)
16
White(Black2)
28
Yellow(Black3)
5
White(Black1)
17
Yellow(Red2)
29
Pink(Red3)
6
Gray(Black1)
18
Yellow(Black2)
30
Pink(Black3)
7
Yellow(Red1)
19
Pink(Red2)
31
Orange(Red4)
8
Yellow(Black1)
20
Pink(Black2)
32
Orange(Black4)
9
Pink(Red1)
21
Orange(Red3)
33
Gray(Red4)
10
Pink(Black1)
22
Orange(Black3)
34
Gray(Black4)
11
Orange(Red2)
23
Gray(Red3)
35
White(Red4)
12
Orange(Black2)
24
Gray(Black3)
36
White(Black4)
Communication cable (for connection with PC) 1) Part No.
DV0P1960
2) Dimensions
D-sub connector 9P
2000
Mini-DIN 8P MD connector
Communication cable (for RS485) 〈 This cable cannot be used for the A4P series 〉 L
Mini-DIN 8P MD connector
Part No.
L[mm]
DV0P1970
200
DV0P1971
500
DV0P1972
1000
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-119
MINAS A4P A4P • Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W
Options
For brake, purchase our optional brake cable.
17-bit absolute
1) Part No. DV0P4290 2) Components
Title Connector
Part No. 55100-0600 or 55100-0670 (lead-free)
Connector Connector pin Connector Connector pin
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
Tyco Electronics AMP
For junction cable to encoder (9-pins)
Tyco Electronics AMP
For junction cable to motor (4-pins)
172161-1 170365-1 172159-1
1 9 1
170366-1
4
3) Pin configuration of connector, CN X6 4) Pin configuration of junction cable for encoder 1 E5V
2 E0V
3
4
5 PS
6 PS
1
2
BAT+ BAT– 4
( Case FG )
5
5) Pin configuration of junction cable for motor power
3 1
2
6
U
V
3
4
W
E
FG
PS
PS
NC
7
8
9
E5V
E0V
NC
*When you connect the battery for absolute encoder, refer to A4-126, "When you make your own cable for 17-bit absolute encoder"
• Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W
For brake, purchase our optional brake cable.
2500P/r incremental encoder
1) Part No. DV0P4380 Title
Part No.
Number
Manufacturer
Note
Molex Inc.
For CN X6 (6-pins)
Tyco Electronics AMP
For junction cable to encoder (6-pins)
Tyco Electronics AMP
For junction cable to encoder (4-pins)
Connector
55100-0600 or 55100-0670 (lead-free)
1
Connector
172160-1
1
Connector pin
170365-1
6
Connector
172159-1
1
Connector pin
170366-1
4
3) Pin configuration of connector, CN X6 4) Pin configuration of junction cable for encoder 1 E5V
2 E0V
3
4
5 PS
6 PS
5) Pin configuration of junction cable for motor power
1
2
3
1
2
NC
PS
PS
U
V
4
5
6
3
4
E5V
E0V
FG
W
E
( Case FG ) For DV0P2490, DV0P3480, • recommended manual crimp tool (to be prepared by customer)
Title
Part No.
For junction cable to encoder
755330 - 1
For junction cable to motor
755331 - 1
Manufacturer Tyco Electronics AMP
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-120
MINAS A4/A4P Options
2) Components
Options • Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4310 2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp
Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B20-4S N/MS3057-12A
• Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4320 2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp
2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp
2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power
1.0kW to 2.0kW 1.0kW to 2.0kW 17-bit absolute incremental encoder, With brake 0.5kW to 1.5kW 2500P/r incremental encoder 900W 17-bit absolute incremental encoder, Without brake With brake
MFMA 0.4kW to 1.5kW 2500P/r incremental encoder Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B20-18S N/MS3057-12A
• Applicable motor models : MSMA MDMA MHMA MGMA
1) Part No. DV0P4340
Number
3.0kW to 5.0kW 3.0kW to 5.0kW 17-bit absolute incremental encoder, Without brake 2.0kW to 5.0kW 2500P/r incremental encoder 2.0kW to 4.5kW
Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B-20-29S N/MS3057-12A N/MS3106B22-22S N/MS3057-12A
• Applicable motor models : MSMA MDMA MHMA MGMA
1) Part No. DV0P4330
1.0kW to 2.0kW 1.0kW to 2.0kW 17-bit absolute incremental encoder, Without brake 500W to 1.5kW 2500P/r incremental encoder 900W
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power
3.0kW to 5.0kW 3.0kW to 5.0kW 17-bit absolute incremental encoder, With brake 2.0kW to 5.0kW 2500P/r incremental encoder 2.0kW to 4.5kW 17-bit absolute incremental encoder, Without brake With brake
MFMA 2.5kW to 4.5kW 2500P/r incremental encoder Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B24-11S N/MS3057-16A
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-121
MINAS A4P A4P • Applicable motor models : MDMA 7.5kW MGMA 6.0kW MHMA 7.5kW
Options
17-bit absolute incremental encoder, With brake 2500P/r incremental encoder
1) Part No. DV0P3470 2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp
Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B32-17S N/MS3057-20A
• Applicable motor models : MDMA 7.5kW MGMA 6.0kW MHMA 7.5kW
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power
17-bit absolute incremental encoder, Without brake 2500P/r incremental encoder
1) Part No. DV0P3480 2) Components
Title Connector Straight plug Cable clamp Straight plug Cable clamp Straight plug Cable clamp
Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B32-17S N/MS3057-20A N/MS3106B14S-2S N/MS3057-6A
Number
Manufacturer
Note
1
Molex Inc.
For CN X6 (6-pins)
1 1 1 1 1 1
Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power Japan Aviation Electronics For junction cable to Industry Ltd. brake cable
MINAS A4/A4P Options
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] A4-122
Options Setup support software "PANATERM 1) Part No.
DV0P4460
R
"
(Japanese / English version)
For setup circumstance, refer to the Instruction R Manual of "PANATERM ".
2) Supply media : CD-ROM
Mounting bracket Frame symbol of part No. Mounting applicable screw driver
Dimensions Bottom side
Upper side
2-M4, Pan head
11 ±0.2
11 ±0.2 2.6
15
2.6
R2
.6
7
7 21
21
2-M4, Pan head
9.5
9.5
17
17
2-M4, Pan head
M4 x L6 Pan head 4pcs
2.6
18 ±0.2
18 ±0.2 5.2
15
2.6
R 2.6
10
2.6
.2 φ5 15
DV0P 4272
10
Frame B
7
2.6
15
2.6
5.2
2.6
.2
φ5
10
M4 x L6 Pan head 4pcs
10
DV0P Frame A 4271
9.5
9.5
17
17
2-M4, Pan head
7 28
28
2-M4, Pan head
9.5
9.5
17
17
2-M4, Pan head
30 ±0.2
30 ±0.2 2.6
2.6
15
10
2.6
5.2
2.6
15
φ
5.2
10
DV0P Frame C 4273
M4 x L6 Pan head 4pcs 20
20 40
40
2-M4, Pan head
9.5
9.5
17
17
2-M4, Pan head
19
36 ±0.2
5.2
5 2.6
10
40 60
5.2
2.6
15 10
2.6
5.2
2.6
2-φ
DV0P 4274
15 10
Frame D
36 ±0.2
M4 x L6 Pan head 4pcs
10
40 ±0.2 60
For Frame E, F you can make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).
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MINAS A4P A4P
Options
Options
Console 1) Part No.
DV0P4420
Caution) An existing console(DV0P3690) cannot be used for the A4P series.
2) Dimensions
(24) (15)
(62)
(114)
M3 length 5mm Tightening torque for the insert screw shall be 0.5N・m or less
Name plate
(15)
MD connector Mini DIN-8P
(1500)
Reactor Fig.1
Fig.2 6-1
2-1
E
E
D
C
C
NP
D
X Y Z
R S T
A
Fig. 2
F
A
4-H
F
(Mounting pitch)
(Mounting pitch)
(Mounting pitch)
B
G
B
G
Part No.
A
B
C
D
E
F
G
H
I
DV0P220 DV0P221 DV0P222 DV0P223 DV0P224 DV0P225 DV0P226 DV0P227 DV0P228
65 60 60 60 60 60 55 55 55
125 150 150 150 150 150 80 80 80
83 113 113 113 113 113 68 68 68
118 137 137 137 137 137 90 90 90
145 120 130 140 145 160 90 90 95
70 60 70 79 84 100 41 41 46
85 75 95 95 100 115 55 55 60
7 (width) x 12 (length) 7 (width) x 12 (length) 7 (width) x 12 (length) 7 (width) x 12 (length) 7 (width) x 12 (length) 7 (width) x 12 (length) φ7 φ7 φ7
M4 M4 M4 M4 M4 M5 M4 M4 M4
Inductance (mH) 6.81 4.02 2 1.39 0.848 0.557 6.81 4.02 2
Rated current (A) 3 5 8 11 16 25 3 5 8
• Harmonic restraint on general-purpose inverter and servo driver On September, 1994, Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system and Guidelines for harmonic restraint on household electrical appliances and general-purpose articles established by the Agency for Natural Resources and Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and Industry). According to those guidelines, the Japan Electrical Manufacturers Association (JEMA) have prepared technical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have been requesting the users to understand the restraint and to cooperate with us. On January, 2004, it has been decided to exclude the general-purpose inverter and servo driver from the Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”. After that, the Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 2004. We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver will be modified as follows. 1. All types of the general-purpose inverters and servo drivers used by specific users are under the control of the Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high voltage system”. The users who are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR 210 and JEM-TR 225.) 2. The Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 2004. However, based on conventional guidelines, JEMA applies the technical documents JEM-TR 226 and 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 voltage system from a perspective on enlightenment on general harmonic restraint. The purpose of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.
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MINAS A4/A4P Options
Fig. 1
4-H
(Mounting pitch)
Options External regenerative resistor Specifications Reted power (reference)*
Manufacturer's part No.
Part No.
Resis tance
Free air
Activation temperature of built-in thermostat
with fan[W] 1m/s
2m/s
3m/s
DV0P4280
RF70M
50Ω
10W
25
35
45
DV0P4281
RF70M
100Ω
10W
25
35
45
DV0P4282
RF180B
25Ω
17W
50
60
75
Open/Close capacity
DV0P4283
RF180B
50Ω
17W
50
60
75
(resistance load)
DV0P4284
RF240
30Ω
40W
100
120
150
DV0P4285
RH450F
20Ω
52W
130
160
200
140±5℃ B-contact
4A 125VAC 10000 times 2.5A 250VAC 10000 times
*Power with which the driver can be used without activating the built-in thermostat. Manufacturer : Iwaki Musen Kenkyusho
DV0P4282,DV0P4283
52±0.5 60
21
24 420min
10
270min
6.8
DV0P4285 300 290±0.5 280
300 288±0.5 278
white thermostat light yellow×2
290min
420min
70 white
white thermostat light yellow×2
420min
20
9MAX
3
11
white 18±1
10MAX
290min 10
140 130±0.5
14 71
10
15
420min
15
100 25 4.5
φ4.5 53
4-φ4.5
50
DV0P4284
white×2 Drawing process (2mmMAX)
2.5
10MAX
10MAX
30
7
thermostat light yellow×2
1.5
13
420min
14.5
17
8
13
white
thermostat light yellow×2
5
100
13
white
170 160±0.5
5
85
6-φ4.5 28±0.5 28±0.5
280min 2-φ4.5
25.5 7
65 57±0.5
23
DV0P4280,DV0P4281
Thermal fuse and thermostat are installed for safety. Compose the circuit so that the power will be turned off when the thermostat is activated.The thermal fuse may blow due to heat dissipating condition, working temperature, supply voltage or load fluctuation. Make it sure that the surface temperature of the resistor may not exceed 100℃ at the worst running conditions with the machine, which brings large regeneration (such case as high supply voltage, load inertia is large or deceleration time is short) Install a fan for a forced cooling if necessary.
Regenerative resistor gets very hot. Take preventive measures for fire and burns. Avoid the installation near inflammable objects, and easily accessible place by hand.
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MINAS A4P A4P
Options
Battery for absolute encoder 84
Battery (Frame A to G)
Lead wire length : 50mm DV0P2990
1) Part No. DV0P2990 2) Lithium battery by Toshiba Battery Co. ER6V, 3.6V 2000mAh
00090001
ZHR-2 (by J.S.T. Mfg. co., Ltd.)
14.5
This battery is categorized as hazardous substance, and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines).
1 2 BAT＋ BAT−
18
Insulation Paper
When you make your own cable for 17-bit absolute encoder When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder to be provided by customer. Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause the wire breakdown or damage of the battery. Refer to the instruction manual of the battery for handling of the battery. ■ where to install the battery (1) indoors, where the products are not subjected to rain or direct sun beam (2) where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, acid, alkaline, salt and so on, and free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc. (3) well-ventilated and humid and dust free place (4) vibration-free place
Wiring Diagram
E5V E0V
BAT＋ BAT− PS PS FG Title Part No. Connector ZMR-2 Connector pin SMM-003T-P0.5 Clamping jig YRS-800
Pin number when the connector is used. Pin number when the cannon plug is used.
7（H） 8（G）
1（T） 2（S） 4（K） 5（L） 3（J）
Connector CN X6 (Optional connector kit)
Twisted pair
1 BAT＋ BAT＋ 1 Battery 2 BAT− BAT− 2 Connector ZHR-2 (by J.S.T. Mfg.Co., Ltd.) Battery for absolute encoder (Option) DV0P2990
1 2
E5V E0V
5 6
PS PS FG（CASE）
Manufacturer J.S.T. Mfg. co., Ltd. J.S.T. Mfg. co., Ltd. Connector for absolute encoder J.S.T. Mfg. co., Ltd. (to be provided by customer)
Use options correctly after reading operation manuals of the options to better understand the precautions. Take care not to apply excessive stress to each optional part.
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MINAS A4/A4P Options
Junction connector for encoder cable (Optional connector kit)
Recommended components Surge absorber for motor brake Surge absorber for motor brake
Motor MSMD
50W -
750W
MAMA
100W -
750W
MHMA
2.0kW - 7.5kW
MGMA
900W - 2.0kW
MSMA
1.0kW - 5.0kW
MDMA
4.0kW - 7.5kW
MFMA
1.5kW
MGMA
3.0kW - 6.0kW
MDMA
1.0kW - 3.0kW
MFMA
400W
MFMA
2.5kW - 4.5kW
MHMA
500W - 1.5kW
・Z15D271 Ishizuka Electronics Co.
・Z15D151 Ishizuka Electronics Co.
・TNR9V820K Nippon Chemi_Con Co.
List of Manufactures for peripheral equipments
Peripheral components
(reference only)
Manufacturer Automation Controls Company Matsushita Electric Works, Ltd.
Regenerative resistor
Iwaki Musen Kenkyusho Co., Ltd. Nippon Chemi_Con Corp.
Surge absorber for holding brake Ishizuka Electronics Corp. Noise filter for signal lines
TDK Corp.
Surge absorber/Noise filter
Okaya Electric Industries Co. Ltd. Japan Aviation Electronics Industry, Ltd. Sumitomo 3M Tyco Electronics AMP k.k,
Connector
Cable Linear scale * The above list is for reference only. We may change the manufacturer without notice.
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MINAS A4P A4P
Recommended components
MINAS A4/A4P Recommended components
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Information
Index
Motor capacity selection software
F2
Option selection software
F3
Setup support software
F4
Guide to the International System of Units (SI)
F5
Selecting Motor Capacity
F7
Request Sheet for Motor Selection
F13
Connection between driver and controller
F21
Index
F31
Sales Office
F49
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Information Motor capacity selection software
Motor capacity selection software AC servo motor capacity selection software We have prepared PC software “M-SELECT” for AC servo motor capacity selection. Consult our sales representative or authorized distributor.
Example of capacity calculation screen
Information
F2
Option selection software Option selection software for AC servo motor MINAS series We have prepared PC software to enable fast, easy, and correct option selection, a complicated job without the software.
Option Selection Method Selection based on series and type ●
Options are selected by motor series and type based on
motor specifications such as motor output and power requirements.
Direct selection based on a part number of motor and driver ●
Options can be selected directly based on a part number of
motor and driver if it is already determined.
Part Number Search Function One-shot search for a part number of motor and driver ●
One-shot search is possible to search for a part number of
motor and driver based on motor specifications such as motor output, power used, presence of brake and gear, and encoder type.
Display of All Dedicated Options Total elimination of incorrect selection ●
Only necessary options can be selected without fail.
Storage of selection results ●
Selection results can be printed and stored with comments.
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Option select software Setup support software
Setup support software Setup support software PANATERM® for MINAS series AC servo motor & Driver The PANATERM® assists users in setting parameters, monitoring control conditions, setup support, and analyzing mechanical operation data on the PC screen, when installed in a commercially available personal computer, and connected to the MINAS series through the RS232 serial interface.
Basic function Parameter setup • After a parameter is defined on the screen, it will be sent to the driver immediately. • Once you register parameters you frequently use, they can be easily set up on the screen.
Monitoring control conditions Monitor • Control conditions: Control mode, velocity, torque, error and warning • Driver input signal • Load conditions: Total count of command/feedback pulses, Load ratio, Regenerative resistor load ratio
Parameter
Alarm • Displays the numbers and contents of the current alarm and up to 14 error events in the past. • Clears the numbers and contents of the current alarm and up to 14 error events in the past.
Auto tuning
Monitor
• Gain adjustment and inertia ratio measurement
Graphic waveform display • The graphic display shows command velocity, actual velocity, torque, and error waveforms.
Absolute encoder setup • Clears absolute encoder at the origin. • Displays single revolution/multi-revolution data. • Displays absolute encoder status.
Analysis of mechanical operation data Graphic waveform display
Frequency analysis • Measures frequency characteristics of the machine, and displays Bode diagram.
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Software
Setup
Guide to the International System of Units (SI) Organization of the system of units Table 5 : Prefix (Multiples of 10)
SI unit
Table1: Basic unit
Table 4 : Unit combined with SI unit
Name of unit meter kilogram second ampere kelvin mol candela
Other derived unit
Table 3 : Derived unit with proper name
Table1: Basic unit Quantity Length Weight Time Current Thermodynamic temperature Amount of substance Luminous intensity
Derived unit
Table 2: Auxiliary unit
Table 2: Auxiliary unit Symbol of unit m kg s A K mol cd
Quantity
Name of unit
Symbol of unit
Plane angle
radian
rad
Solid angle
steradian
sr
Table 3: Major derived unit with proper name Quantity
Name
Symbol of unit
hertz newton pascal joule watt coulomb volt farad ohm siemens weber tesla henry degree centigrade (Celsius) / degree lumen lux
Frequency Force Pressure, Stress Energy, Work, Amount of heat Amount of work, Work efficiency, Power, Electric power Electric charge, Amount of electricity Electric potential, Potential difference, Voltage, Electromotive force Electrostatic capacity, Capacitance Electric resistance Electric conductance Magnetic flux Magnetic flux density, Magnetic induction Inductance Degree centigrade (Celsius) Luminous flux Illuminance
Table 5: Prefix
Table 4: Unit combined with SI unit Name
Symbol of unit
Multiples powered to unit
minute
min
hour
h
day
d
degree
˚
minute
'
second
"
Volume
liter
l, L
Weight
ton
t
10 15 10 12 10 9 10 6 10 3 10 2 10 10 -1 10 -2 10 -3 10 -6 10 -9 10 -12 10 -15 10 -18 10
Quantity
Time
Plane angle
Hz N Pa J W C V F Ω S Wb T H ˚C lm lx
Derivation from basic unit, auxiliary unit or other derived unit 1Hz=1s–1 1N=1kg-m/s2 1Pa=1N/m2 1J=1N-m 1W=1J/s 1C=1A-s 1V=1J/C 1F=1C/V 1Ω=1V/A 1S=1Ω–1 1Wb=1V-s 1T=1Wb/m2 1H=1Wb/A t˚C=(t+273.15)K 1lm=1cd-sr 1lx=1lm/m2
18
Prefix Name exa peta tera giga mega kilo hecto deca deci centi milli micro nano pico femto atto
Symbol E P T G M k h da d c m µ n p f a
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Guide to the Informational System of Units(SI) Major compatible unit Quantity Length
Symbol of conventional unit
Symbol of SI unit and compatible unit µm
µ (micron)
Acceleration
1µ=1µm (micrometer)
2
1Gal=10-2m/s2
2
1G=9.806 65m/s2
m/s
Gal
m/s
G
Conversion value
1c/s=Hz
Frequency
c/s, c
Hz
Revolving speed, Number of revolutions
rpm
s-1 or min–1, r/min
Weight
kgf
–
Mass
–
kg
Weight flow rate
kgf/s
–
Mass flow rate
–
kg/s
Specific weight
kgf/m3
–
Density
–
kg/m3
Specific volume
m3/kgf
m3/kg
Load
kgf
N
1kgf=9.806 65N
Force
kgf
N
1kgf=9.806 65N
dyn
N
1dyn=10-3N
kgf-m
Moment of force Pressure
Same value Same value Same value Same value
1kgf-m=9.806 N • m
N-m
kgf/cm
2
Pa, bar
(2)
2
or kgf/cm
1kgf/cm2=9.806 65 x 104Pa=0.980
at (Engineering atmospheric pressure)
Pa
665bar
atm (Atmospheric pressure)
Pa
1at=9.806 65 x 104Pa
mH2o, mAq
Pa
mmHg
1atm=1.013 25 x 103Pa
Pa or mmHg
(2)
kgf/mm
2
1mH2O=9.806 65 x 103Pa 1mmHg=133.322Pa
Pa
Torr Stress
1rpm=1min-1
2
Pa or N/m
1kgf/mm2=9.806 65 x 104Pa =9.806 65 x 106N/m2
2
2
kgf/cm
Pa or N/m
2=
1kgf/cm 9.806 65 x 104Pa =9.806 65 x 104N/m2
kgf/m2
Elastic modulus
Pa or N/m2
1kgf/m2=9.806 65Pa=9.806 65N/m2 1kgf/cm2=9.806 65 x 104N/m2
kgf-m
J (joule)
erg
J
kgf-m/s
W (watt)
PS
W
PP
Ps-s
Energy, Work Work efficiency, Power Viscosity
1erg=107J
2
Kinetic viscosity
St
mm /s
Thermodynamic temperature
K
K (kelvin) K
1kgf • m=9.806 65J
(3)
1kgf-m/s=9.806 65W 1PS=0.735 5kW 1P=0.1Pa-s 10-2St=1mm2/s 1K=1K 1deg=1K
deg
Amount of heat
cal
J
Heat capacity
cal/˚C
J/K (3)
Specific heat, Specific heat capacity
cal/ (kgf • ˚C)
cal/ (kgf • K)(3)
Entropy
cal/K
J/K
Specific entropy
cal/ (kgf • K)
J/(kg • K)
Internal energy (Enthalpy)
cal
J
Specific internal energy (Specific enthalpy)
cal/kgf
J/kg
Heat flux
cal/h
W
Heat flux density
cal/ (h • m2)
W/m2
Thermal conductivity
cal/ (h • m • ˚C)
W/ (m • K) (3)
1kcal (h • m • ˚C)=1.162 79W/ (m • K)
2
1kcal (h • m • ˚C)=1.162 79W/ (m2 • K)
Coefficient of thermal conductivity
cal/
(h • m2 • ˚C)
W/ (m
1cal=4.186 05J 1cal/˚C=4.186 05J/K 1cal/ (kgf • ˚C)=4.186 05J/ (kg • K) 1cal/K=4.186 05J/K 1cal/ (kgf • K)=4.186 05J/ (kg • K) 1cal=4.186 05J
• K) (3)
Intensity of magnetic field
Oe
A/m
Magnetic flux
Mx
Wb (weber)
Magnetic flux density
Gs,G
T (tesla)
1cal/kgf=4.186 05J/kg 1kcal/h=1.162 79W 1kcal (h • m2)=1.162 79W/m2
1Oe=102/ (4π)A/m 1Mx=10-3Wb 1Gs=10-4T
Note (1) Applicable to liquid pressure. Also applicable to atmospheric pressure of meteorological data, when “bar” is used in international standard. (2) Applicable to scale or indication of blood pressure manometers. (3) “°C” can be substituted for “K”.
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Information
Temperature interval
Selecting Motor Capacity Flow of motor selection 1. Definition of mechanism to be driven by motor. Define details of individual mechanical components (ball screw length, lead and pulley diameters, etc.) Ball screw mechanism
Belt mechanism
Rack & pinion, etc.
2. Definition of operating pattern. Acceleration/deceleration time, Constant-velocity time, Stop time, Cycle time, Travel distance Velocity Travel distance (slashed area)
Time Deceleration Stop time Acceleration Constanttime time velocity time Cycle time
Note) Selection of motor capacity significantly varies depending on the operating pattern. The motor capacity can be reduced if the acceleration/deceleration time and stop time are set as long as possible. 3. Calculation of load inertia and inertia ratio. Calculate load inertia for each mechanical component. (Refer to "General inertia calculation method" described later.) Divide the calculated load inertia by the inertia of the selected motor to check the inertia ratio. For calculation of the inertia ratio, note that the catalog value of the motor inertia is expressed as "x 10–4kg•m2". 4. Calculation of motor velocity Calculate the motor velocity from the moving distance, acceleration / deceleration time and constant-velocity time. 5. Calculation of torque Calculate the required motor torque from the load inertia, acceleration/deceleration time and constant-velocity time. 6. Calculation of motor Select a motor that meets the above 3 to 5 requirements.
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Selecting Motor Capacity Description on the items related to motor selection 1. Torque (1) Peak torque Indicate the maximum torque that the motor requires during operation (mainly in acceleration and deceleration steps). The reference value is 80% or less of the maximum motor torque. If the torque is a 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 rated motor torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque calculation formula for each mechanism
Ball screw mechanism
Traveling torque
Tf=
F W
W : Weight [kg]
Belt mechanism
Traveling torque
Tf=
F W : Weight [kg] P : Pulley diameter [m] F : External force [N]
W D
( µgW + F)
: Mechanical efficiency
P : Lead [m] F : External force [N]
P
P 2π
µ : Coefficient of friction g : Acceleration of gravity 9.8[m/s2]
D 2π
( µgW + F)
: Mechanical efficiency µ : Coefficient of friction g : Acceleration of gravity 9.8[m/s2]
(3) Effective torque Indicates a root-mean-square value of the total torque required for running and stopping the motor per unit time. The reference value is approx. 80% or less of the rated motor torque.
Ta2 × ta
＋
Tf2
× tb ＋
Td2
× td
tc
T a : Acceleration torque [N • m] t a : Acceleration time [s] t c : Cycle time [s] 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] 2. Motor velocity Maximum velocity Maximum velocity of motor in operation: The reference value is the rated velocity or lower value. When the motor runs at the maximum velocity, you must pay attention to the motor torque and temperature rise. For actual calculation of motor velocity, see "Example of motor selection" described later.
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Information
Trms =
Selecting Motor Capacity 3. Inertia and inertia ratio Inertia is like the force to retain the current moving condition. Inertia ratio is calculated by dividing load inertia by rotor inertia. Generally, for motors with 750 W or lower capacity, the inertia ratio should be “20” or less. For motors with 1000 W or higher capacity, the inertia ratio should be ”10” or less. If you need quicker response, a lower inertia ratio is required. For example, when the motor takes several seconds in acceleration step, the inertia ratio can be further increased.
(
)
General inertia calculation method J calculation formula
Shape Disk
J=
Shape
1 WD 2 [k g • m 2] 8
Hollow cylinder
J= c
a
Straight rod
d : Inner diameter [m]
1 WD (a2 + b2) [k g • m 2] 12
Uniform rod
1 WL 2 3
L/2
J1
a
n1
n2
b
J2
Conveyor
Separated rod
[k g • m 2]
S
D
J=
1 W D 2 + WS 2 8
[kg • m 2]
W : Weight [kg] D : Outer diameter [m] D
S : Distance [m]
Inertia on shaft "a"
n J = J 1 + ( n 2 ) 2 J 2 [k g • m 2] 1 n 1 : A rotational speed of a shaft [r/min] n 2 : A rotational speed of b shaft [r/min]
J=
1 WD 2 [k g • m 2] 4
Ball screw
W : Workpiece weight on conveyor [kg] W
L : Length [m]
L/2
L : Length [m]
Reduction gear
1 W(3D 2 + 4L 2) [kg • m 2] 48
D : Outer diameter [m]
D
W : Weight [kg]
L
J=
W : Weight [kg]
W : Weight [kg]
J=
[kg • m 2]
D : Outer diameter [m]
D
a, b, c : Side length [m]
b
1 W (D 2 + d 2) 8
W : Weight [kg]
D : Outer diameter [m]
Prism
J=
d
W : Weight [kg]
D
J calculation formula
F
J = JB +
W • P2 4π 2
[kg • m 2]
W : Weight [kg]
W
D : Drum diameter [m]
P : Lead P
* Excluding drum J
JB : J of ball screw
If weight (W [kg]) is unknown, calculate it with the following formula: Weight W[kg]=Density [kg/m3] x Volume V[m3] Density of each material Iron =7.9 x 103 [kg/m3] Aluminum =2.8 x 103 [kg/m3] 3 3 Brass =8.5 x 10 [kg/m ]
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F9
Selecting Motor Capacity To drive ball screw mechanism 1. Example of motor selection for driving ball screw mechanism Workpiece weight WA = 10 [kg] Ball screw length B L = 0.5 [m] Ball screw diameter B D = 0.02 [m] Ball screw pitch B P = 0.02 [m] Ball screw efficiency B = 0.9 Travel distance 0.3 [m] Coupling inertia Jc = 10 × 10– 6 [kg • m2] (Use manufacturer-specified catalog value, or calculation value.) 2. Running pattern : Acceleration time Constant-velocity time Deceleration time Cycle time Travel distance 0.3 [m]
ta tb td tc
Velocity
= 0.1 [s] = 0.8 [s] = 0.1 [s] = 2 [s]
Travel distance (slashed area)
Time Deceleration Stop time Acceleration Constanttime time velocity time Cycle time
π × BD 2 = 1.24 [kg]
3. Ball screw weight
BW =
×
4. Load inertia
JL = JC
＋
2
×
BL = 7.9 × 103 × π × 0.02 2
2
×
0.5
1 BW × BD2 ＋ WA • BP2 4π 2 8 (1.24 x 0.02 2 ) / 8 ＋ 10 × 0.02 2 / 4π 2
JB = JC
＋
= 0.00001 ＋ = 1.73 × 10– 4 [ kg • m 2 ] 5. Provisional motor selection In case of 200 W motor : JM
= 0.17 × 10–4 [ kg • m 2 ]
6. Calculation of inertia ratio
JL / JM = 1.73 × 10–4 / 0.17 × 10–4 Therefore, the inertia ratio is "10.2" (less than "20") (In case of 100 W motor: JM = 0.064 × 10–4 Therefore, the inertia ratio is "27.0".) 7. Calculation of maximum velocity (Vmax) × Acceleration time × Vmax ＋ Constant-velocity time × Vmax ＋ ×
0.1 × Vmax
＋
0.8 × Vmax
＋
1 2
×
1 2
× Deceleration time × Vmax = Travel distance
0.1 × Vmax = 0.3 Information
1 2 1 2
0.9 × Vmax = 0.3 = 0.3 / 0.9 = 0.334 [m/s] 8. Calculation of motor velocity (N [r/min]) Ball screw lead per resolution: BP = 0.02 [m]
N = 0.334 / 0.02 = 16.7 [r/s] = 16.7 × 60 = 1002 [min–1] < 3000 [min–1] (Rated velocity of 200W motor) 9. Calculation of torque
Traveling torque
BP ( µgWA 2 πB = 0.0 3 5 [ N • m]
Tf =
Acceleration torque T a =
＋
F) =
(JL ＋ JM) × 2πN [ r /s] Acceleration time [s]
0.02 ( 0.1 2π × 0.9
＋
F10
9.8
×
10
Traveling torque
(1.73 × 10–4 ＋ 0.17 × 10–4) × 2π × 16.7 0.1 = 0.1 9 9 ＋ 0.035 = 0.234 [ N • m] =
×
＋
0.035
＋
0)
Selecting Motor Capacity Deceleration torque
Td =
(JL ＋ JM) × 2πN [ r /s] Deceleration time [s]
– Traveling torque
(1.73 × 10–4 ＋ 0.17 × 10–4) × 2π × 16.7 – 0.035 0.1 = 0.1 9 9 – 0.035 = 0.164 [ N • m]
=
10. Verification of maximum torque
Acceleration torque = Ta = 0.234 [N • m] < 1.91 [ N • m] (Maximum torque of 200 W motor) 11. Verification of effective torque
T rms =
=
Ta2 × ta
＋
Tf2 × tb tc
0 .2 3 4 2 × 0 .1
＋
＋
Td2 × td
0.0352 × 0.8 2
＋
0.1642 × 0.1
= 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, although the torque margin is significantly large.
Example of motor selection Example of motor selection for timing belt mechanism 1.Mechanism Workpiece weight WA =3[kg] (including belt) Pulley diameter P D =0.05[m] Pulley weight WP =0.5[kg] (Use manufacturer-specified catalog value, or calculation value.) Mechanical efficiency B = 0.8 Coupling inertia Jc = 0 (Direct connection to motor shaft) Belt mechanism inertia JB Pulley inertia JP Velocity
2. Running pattern Acceleration time Constant-velocity time Deceleration time Cycle time Travel distance 1[m] 3. Load inertia
JL = JC
Travel distance (slashed area)
ta tb td tc
= 0.1[s] = 0.8[s] = 0.1[s] = 2[s]
Time Deceleration Stop time Acceleration Constanttime time velocity time Cycle time
JB ＋ JP = JC ＋ 1 WA × PD2 ＋ 1 WP × PD2 × 2 4 8 1 1 2 =0 ＋ × 3 × 0.05 ＋ × 0.5 × 0.05 2 4 8 = 0.00219 = 21.9 × 10–4 [ kg • m 2] ＋
4. Provisional motor selection In case of 750 W motor : JM
×
2
= 1.31 × 10–4 [ kg • m 2]
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") F11
Selecting Motor Capacity 6. Calculation of maximum velocity (Vmax)
1 2 1 2
× Acceleration time × Vmax ＋ ×
0.1 × Vmax
＋
Constant-velocity time × Vmax
0.8 × Vmax
＋
1 2
＋
1 2
× Deceleration time × Vmax = Travel distance
0.1 × Vmax = 1
×
0.9 × Vmax = 1 Vmax = 1 / 0.9 = 1.111[m/s] 7. Calculation of motor velocity (N [r/min]) A single rotation of pulley : π × PD = 0.157[m]
N = 1.11 / 0.157 = 7.08[r/s] = 7.08 × 60 = 424.8[min–1] < 3000[min–1] (Rated velocity of 750 W motor) 8. Calculation of torque Traveling torque
T f = PD (µgWA ＋ F) = 0.05 (0.1 x 9.8 x 3 ＋ 0) 2 2 x 0.8 = 0.092[N • m]
Acceleration torque
Deceleration torque
(JL ＋ JM) × 2πN[ r /s] ＋ Traveling torque Acceleration time[s] (21.9 × 10–4 ＋ 1.31 × 10–4) × 2π × 7.08 = 0.1 = 1.032 ＋ 0.092 = 1.124[ N • m]
Ta =
＋
0.092
(JL ＋ JM) × 2πN[ r /s] – Traveling torque Deceleration time[s] (21.9 × 10–4 ＋ 1.31 × 10–4) × 2π × 7.08 = – 0.092 0.1 = 1.032 – 0.092 = 0.94[ N • m]
Td =
9. Verification of maximum torque
Ta = 1.124[N • m] < 7.1[ N • m] (Maximum torque of 750 W motor)
10. Verification of effective torque
T rms =
=
Ta2 × ta
＋
Tf2 × tb tc
1 .1 2 4 2 × 0 . 1
＋
＋
Td2 × td
0.0922 × 0.8 2
＋
0.942 × 0.1
= 0.333 [N • m] < 2.4 [ N • m] (Rated torque of 750 W motor) 11. Judging from the above calculation result, selection of 750W motor is acceptable.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F12
Information
Acceleration torque
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
Fax No. (81)-72-870-3120
1. Driven mechanism and running data
1) Travel distance of the work load per one cycle
d1:
deg
2) Cycle time
t0:
velocity
Running pattern s
(Fill in items 3) and 4) if required.) 3) Acceleration time
ta:
s
4) Deceleration time
td:
s
5) Stopping time
ts:
s
6) Max. velocity
V:
mm/s
7) External force
F:
kg
±
mm
9) Total weight of the work load and the table WA:
kg
R1
ta
t0
td
F
8) Positioning accuracy of the work load
10) Power supply voltage
WA
V
11) Diameter of the ball screw
mm
12) Total length of the ball
mm
13) Lead of the ball screw
mm
14) Traveling direction (horizontal, vertical etc.)
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F13
time ts
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
1. Driven mechanism and running data
Motor side
1) Travel distance of the work load per one cycle
d1:
deg
2) Cycle time
t0:
s
D1:
mm D2:
mm
16) Weight of the pulley
W1:
kg W2:
kg
L1:
mm
WM:
kg
(or item 17) and 18)) ta:
s
4) Deceleration time
td:
s
5) Stopping time
ts:
s
6) Max. velocity
V:
mm/s
7) External force
F:
kg
±
mm
9) Total weight of the work load andthe table WA:
kg
17) Wedth of the pulley 18) Material of the pulley 19) Weight of the belt
Running pattern
velocity
3) Acceleration time
R1
ta
10) Power supply voltage
Motor side
15) Diameter of the pulley
(Fill in items 3) and 4) if required.)
8) Positioning accuracy of the work load
Fax No. (81)-72-870-3120
F
V
11) Diameter of the ball screw
mm
12) Total length o the ball screw
mm
13) Lead of the ball screw
mm
t0
td
ts
time
WA
D（ 2 W2 ） WM
14) Traveling
L1 D（ 1 W1 ）
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Information
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F14
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
Fax No. (81)-72-870-3120
1. Driven mechanism and running data
d1:
deg
2) Cycle time
t0:
s
Running pattern
velocity
1) Travel distance of the work load per one cycle
(Fill in items 3) and 4) if required.) 3) Acceleration time
ta:
s
4) Deceleration time
td:
s
5) Stopping time
ts:
s
6) Max. velocity
V:
mm/s
7) External force
F:
kg
±
mm
WA:
kg
R1
ta
td
t0
time ts
WA F
8) Positioning accuracy of the work load 9) Total weight of the work load
L1
D1 W1
V
(or item 14) and 15))
WM:
kg
14)Width of the pulley
12) Diameter of the driving pulley
D1:
mm
13) Total weight of the pulley
W 1:
kg
10) Power supply voltage 11) Weight of the belt
L 1:
15) Material of the pulley 16) Traveling direction (horizontal, vertical etc.)
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F15
mm
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
Request Sheet for Motor Selection 1. Driven mechanism and running data
Fax No. (81)-72-870-3120
Motor side
1) Travel distance of the work load per one cycle
d1:
deg
2) Cycle time
t0:
s
Belt side
16) Diameter of the pulley
D3:
mm
D 4:
mm
17) Weight of the pulley
W3:
kg
W 4:
kg
(or item 18) and 19))
(Fill in items 3) and 4) if required.) t a:
s
4) Deceleration time
t d:
s
5) Stopping time
ts:
s
6) Max. velocity
V:
mm/s
7) External force
F:
kg
±
mm
WA:
kg
8) Positioning accuracy of the work load 9) Total weight of the work load and the table 10) Power supply voltage
18) Width of the pulley
L2:
mm
19) Material of the pulley WL:
20) Weight of the belt
kg
21) Traveling direction (horizontal, vertical etc.) Running pattern
velocity
3) Acceleration time
R1
ta
V
t0
td
F
time
ts
L2 WM:
11) Weight of motor site belt Motor side 12) Diameter of the pully D1: 13) Weight of the pulley
W1:
WL
kg
WA
Belt side
mm D2: kg W2:
mm
D（ 2 W2 ）
kg
WM
(or item 14) and 15)) 14) Weight of the belt
L1:
D（ 4 W4 ）
3 W3 ） D（
mm
15) Material of the pulley
D（ 1 W1 ） L1
2. Other data
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F16
Information
(Fill the details on specific mechanism and its configurations in the following blank.)
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
1. Driven mechanism and running data
Fax No. (81)-72-870-3120
Prism
Cylinder
1) Travel distance of the work load per one cycle
d1:
deg
14) Dimensions of the work load a:
mm
a:
mm
2) Cycle time
t0:
s
b:
mm
b:
mm
c:
mm
c:
mm
(Fill in items 3) and 4) if required.) t a:
s
4) Deceleration time
t d:
s
5) Stopping time
ts:
s
6) Max. rotational speed of the table
v:
deg/s
V:
r/s
(or)
±
deg
8) Weight of one work load
W A:
kg
9) Driving radius of the center of gravity of the
R1:
mm
D1:
mm
7) Positioning accuracy of the work load
10) Diameter of the table
15) Number of work loads
pcs
Running pattern
velocity
3) Acceleration time
d1
ta
td
t0
time
ts
R1 WA
D1 11) Mass of the table 12) Diameter of the table support 13) Power supply voltage
W1:
kg
T1:
mm V
a
b
b
c c
a
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F17
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
1. Driven mechanism and running data
Fax No. (81)-72-870-3120
Motor side
1) Travel distance of the work load per one cycle
d1:
deg
2) Cycle time
t 0:
s
16) Diameter of the pulley
Turntable side
D2:
mm D3:
mm
17) Weight of the pulley W2:
kg W3:
kg
(or item 18) and 19))
(Fill in items 3) and 4) if required.)
18) Width of the pulley 3) Acceleration time
t a:
s
4) Deceleration time
t d:
s
5) Stopping time
ts:
s
6) Max. rotating speed of the table
v:
deg/s
V:
r/s
±
deg
8) Weight of one work load
WA:
kg
9) Driving radius of the center of gravity of the
R1:
mm
D 1:
mm
L1 :
mm
WM:
kg
19) Material of the pulley 20) Weight of the belt
7) Positioning accuracy of the work load
velocity
(or)
Running pattern
d1
ta
10) Diameter of the table
td
t0
time
ts
R1 WA D1
11) Mass of the table 12) Diameter of the table support
W 1:
kg
T1:
mm
D2（W2） 13) Power supply voltage
V (Prism)
D3（W3） L1
(Cylinder)
WM
14) Dimension of the work load a: mm a:
mm
b: mm b:
mm
c: mm c:
mm
b
a c
b
a
pcs
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.) Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F18
Information
c 15) Number of work loads
Request Sheet for Motor Selection
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
Fax No. (81)-72-870-3120
1. Driven mechanism and running data
1) Travel distance of the work load per one cycle
R1:
mm Running pattern
t0:
s velocity
2) Cycle time (Fill in items 3) and 4) if required.) 3) Acceleration time
ta:
s
4) Deceleration time
td:
s
5) Stopping time
ts:
s
6) Max. velocity
v:
mm/s
R1 ta
t0
td
time
ts
F 7) External pulling force 8) Positioning accuracy of the work load
F:
kg
±
mm
L1 D（ 1 W1 ）
9) Total weight of the work load
pcs
(or item 13) and 14)) 10) Power supply voltage
V
11) Diameter of the roller
D1:
mm
12) Mass of the roller
W1:
kg
13) Width of the roller
L1:
14) Material of the roller
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F19
mm
Customer Service Technical Support Center, Motor Company, Matsushita Electric Industrial Co., Ltd.
Request Sheet for Motor Selection
Fax No. (81)-72-870-3120
1. Driven mechanism and running data 1) Travel distance of the work load per one cycle 2) Cycle time
R1:
mm
t0:
s
Running pattern
3) Acceleration time
ta:
velocity
(Fill in items 3) and 4) if required.) s
R1 ta
4) Deceleration time
td:
s
5) Stopping time
ts:
s
6) Max. velocity
V:
mm/s
7) External force
F:
kg
8) Positioning accuracy of the work load
±
mm
WA:
kg
t0
td
ts
time
WA
F
W3 9) Total weight of the work load
D3 10) Power supply voltage
V
11) Diameter of the pinion
D3:
mm
12) Mass of the pinion
W3:
kg
13) Traveling direction (horizontal, vertical, etc)
2. Other data (Fill the details on specific mechanism and its configurations in the following blank.)
Information
Company name : Department/Section : Name : Address : Tel : Fax : E-mail address: F20
Connection between Driver and Controller Connection between MINAS A4 and FP2-PP22 AFP2434 (Matsushita Electric Works) Driver
Controller
MINAS A4 Series
FP2-PP22 AFP2434(by Matsushita Electric Works)
B2
3 (44)* 4 (45)* 5 (46)* 6 (47)*
A4
23
OZ+
B3
24
OZ-
A1 CW pulse command output
B1 A2
CCW pulse command output 390Ω Origin input
PULS1 PULS2
220Ω
CW pulse command input
220Ω
CCW pulse command input
SIGN1 SIGN2
13 25
GND
7
COM+
A7
30
CL
B7
29
SRV-ON
B4
27
GAIN/TC
Z-phase input
4.7kΩ Deviation counter clear output
Counter clear input
4.7kΩ
From PLC I/O output
Origin proximity input A5 6.8kΩ Limit over +
A6
Limit over −
Servo-ON input
4.7kΩ
3.6kΩ
B6 +24VDC
A20
GND
B20
To PLC I/O input
External power supply input
Origin proximity sensor CW limit sensor
31
A-CLR
9
CCWL
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 4.7kΩ
Servo-Ready output
Servo-alarm output
Positioning complete output
Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps
CCW limit sensor GND
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input
+24V
DC24V Power supply
CCW pulse command input
Connection between MINAS E and FP2-PP22 AFP2434 (Matsushita Electric Works) Driver
Controller
MINAS E Series
FP2-PP22 AFP2434(by Matsushita Electric Works) CW pulse command output
A1
22
PULS1
B1
23
PULS2
A2
24
SIGN1
B2
25
SIGN2
A4
19
OZ+
20
OZ-
CCW pulse command output 390Ω Origin input
14
GND
1
COM+
4
CL
2
SRV-ON
5
GAIN/TC
A7 B7 3.6kΩ B4 Origin proximity input A5
From PLC I/O output
6.8kΩ Limit over +
A6
Limit over −
B6 +24VDC
A20
GND
B20
CW pulse command input
220Ω
CCW pulse command input
Z-phase input
B3
Deviation counter clear output
220Ω
3
A-CLR
8
CCWL
7
CWL
9
ALM
4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm output
External power supply input 10
COIN
11
BRKOFF
To PLC I/O input
Positioning complete output
Brake release output
Origin proximity sensor CW limit sensor
12
CCW limit sensor
WARN Warning output
GND
+24V
13
COM-
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F21
Connection between Driver and Controller
Connection between Driver and Controller Connection between MINAS A4 and FPG-PP12 AFPG432 (Matsushita Electric Works) Controller
Driver MINAS A4 Series
FPG-PP12 AFPG432 (by Matsushita Electric Works) 3 (44)* 4 (45)* 5 (46)* 6 (47)*
A1 CW pulse command output
B1 A2
CCW pulse command output B2 560Ω Origin input
A4 B3
PULS1
SIGN2
23
OZ+
24
OZ-
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
31
A-CLR
9
CCWL CWL
B7 6.8kΩ B4 Origin proximity input A5
From PLC I/O output
35
S-RDY+
A20
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
To PLC I/O input
CCW limit sensor
GND
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ
+24VDC
CW limit sensor
Servo-ON input Gain switching/Torque limit switching input
4.7kΩ
A19
Origin proximity sensor
Counter clear input
4.7kΩ
B19
B20
Z-phase input
4.7kΩ
FG
GND
CCW pulse command input
4.7kΩ
FG
External power supply input
220Ω
4.7kΩ
8
To PLC I/O input
CW pulse command input
SIGN1
A7
Deviation counter clear output
220Ω PULS2
Servo-Ready output
Servo-alarm output
Positioning complete output
Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps
+24V
DC24V Power supply
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input CCW pulse command input
Connection between MINAS E and FPG-PP12 AFPG432 (Matsushita Electric Works)
Controller
Driver MINAS E Series
FPG-PP12 AFPG432 (by Matsushita Electric Works) A1
22
PULS1
B1
23
PULS2
A2
24
SIGN1
B2
25
SIGN2
A4
19
OZ+
20
OZ-
CW pulse command output
CCW pulse command output 560Ω Origin input
GND
1
COM+
4
CL
2
SRV-ON
5
GAIN/TC
3
A-CLR
8
CCWL
B7 6.8kΩ B4
External power supply input
A5
A19
FG
B19
+24VDC
A20
GND
B20
From PLC I/O output
7
CWL
9
ALM
CCW limit sensor
CCW pulse command input
4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm output
To PLC I/O input
10
COIN
11
BRKOFF
Origin proximity sensor CW limit sensor
220Ω
To PLC I/O input
12
Positioning complete output
Brake release output
WARN Warning output
GND
+24V
13
COM-
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F22
Information
14
A7 Deviation counter clear output
FG
CW pulse command input
Z-phase input
B3
Origin proximity input
220Ω
Connection between Driver and Controller Connection between MINAS A4 and FP2-PP2 AFP2430 (Matsushita Electric Works) Controller
Driver MINAS A4 Series
FP2-PP2 AFP2430 (by Matsushita Electric Works) 3 (44)* 4 (45)* 5 (46)* 6 (47)*
A1 CW pulse command output B1 A2
CCW pulse command output
B2 220Ω Origin input
A5 B5
PULS1
SIGN2
23
OZ+
24
OZ-
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
31
A-CLR
9
CCWL
B6 1.6kΩ A7 Origin proximity input B7
From PLC I/O output
CWL S-RDY+
+24VDC
A20
34
S-RDY-
GND
B20
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
GND
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ
8
To PLC I/O input
Servo-ON input Gain switching/Torque limit switching input
4.7kΩ
35
CCW limit sensor
Counter clear input
4.7kΩ
B19
CW limit sensor
Z-phase input
4.7kΩ
A19
Origin proximity sensor
CCW pulse command input
4.7kΩ
FG External power supply input
220Ω
4.7kΩ
FG
To PLC I/O input
CW pulse command input
SIGN1
A6
Deviation counter clear output
220Ω PULS2
Servo-Ready output
Servo-alarm output
Positioning complete output
Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps
+24V
DC24V Power supply
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input CCW pulse command input
Connection between MINAS E and FP2-PP2 AFP2430 (Matsushita Electric Works)
Controller
Driver MINAS E Series
FP2-PP2 AFP2430 (by Matsushita Electric Works) CW pulse command output
CCW pulse command output 220Ω Origin input
A1
22
PULS1
B1
23
PULS2
A2
24
SIGN1
B2
25
SIGN2
A5
19
OZ+
20
OZ-
A6
14
GND
1
COM+
4
CL
2
SRV-ON
5
GAIN/TC
3
A-CLR
8
CCWL
B6 1.6kΩ
A7
Origin proximity input B7
External power supply input
FG
A19
FG
B19
24V＋
A20
24V−
B20
From PLC I/O output
7
CWL
9
ALM
10
COIN
11
BRKOFF
12
WARN
To PLC I/O input
Origin proximity sensor CW limit sensor CCW limit sensor
CW pulse command input
220Ω
CCW pulse command input
Z-phase input
B5
Deviation counter clear output
220Ω
To PLC I/O input +24V GND DC24V Power supply
13
4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm output
Positioning complete output
Brake release output
Warning output
COM-
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F23
Connection between Driver and Controller
Connection between Driver and Controller Connection between MINAS A4 and FPG-C32T (FPΣ, Matsushita Electric Works) Controller
Driver MINAS A4 Series
FPG-C32T (FPΣ by Matsushita Electric Works) Y0
CW pulse command output
Y1
2KΩ
2KΩ
CCW pulse command output 5.6KΩ Origin input
X2 COM
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
19
CZ
13
GND
25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
31
A-CLR
9
CCWL
COM
8
CWL
X3
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
+
220Ω
CW pulse command input
220Ω
CCW pulse command input Z-phase input
4.7kΩ Y2
Deviation counter clear output
4.7kΩ 4.7kΩ
― From PLC I/O output
Origin proximity input
CCW limit over input
CW limit over input
3kΩ
5.6kΩ
5.6kΩ
To PLC I/O input
X5
X6
Origin proximity sensor
4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready output
Servo-alarm output
Positioning complete output
CW limit sensor CCW limit sensor GND
+24V
DC24V Power supply
Connection between MINAS E and FPG-C32T (FPΣ, Matsushita Electric Works) Controller
Driver MINAS E Series
FPG-C32T (FPΣ by Matsushita Electric Works) Y0
CW pulse command output
Y1
CCW pulse command output
2KΩ
2KΩ
22
PULS1
23
PULS2
24
SIGN1
25
SIGN2
21
CZ
220Ω
CW pulse command input
220Ω
CCW pulse command input
5.6KΩ X2
Origin input
Z-phase input
COM
Deviation counter clear output
14
GND
1
COM+
Y2
4
CL
―
2
SRV-ON
5
GAIN/TC
3
A-CLR
COM
8
CCWL
X3
7
CWL
9
ALM
From PLC I/O output Origin proximity input
3kΩ
CCW limit over input
5.6kΩ
CW limit over input
5.6kΩ
4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Alarm output
X5 10
COIN
11
BRKOFF
To PLC I/O input
X6
Origin proximity sensor
Positioning complete output
Brake release output
CW limit sensor 12
CCW limit sensor
WARN Warning output
GND
+24V
13
COM-
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F24
Information
+
Connection between Driver and Controller Connection between MINAS A4 and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.) Controller
Driver
F3YP14-0N/F3YP-18-0N (by Yokogawa Electric Corp.)
MINAS A4 Series 3 (44)* 4 (45)* 5 (46)* 6 (47)*
14a CW pulse command output 13a 12a CCW pulse command output 11a 240Ω 15a
Origin line driver input
16a
PULS1 220Ω
CW pulse command input
220Ω
CCW pulse command input
PULS2 SIGN1 SIGN2
23
OZ+
24
OZ-
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
Z-phase input
4.7kΩ 10a
Deviation counter clear output
9a
5V power supply for pulse output
＋V
8b
GND
8a
From PLC I/O output
1a CW limit input
To PLC I/O input
7.4kΩ 3a
CCW limit input
7.4kΩ 2a 7.4kΩ
Origin proximity input
4a
31
A-CLR
9
CCWL
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
4.7kΩ
Servo-Ready output
Positioning complete output
Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps Origin proximity sensor CCW limit sensor CW limit sensor
GND +5V DC5V Power supply
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input CCW pulse command input
+24V GND DC24V Power supply
Connection between MINAS E and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.) Controller
Driver MINAS E Series
F3YP14-0N/F3YP-18-0N (by Matsushita Electric Works) 14a
22
PULS1
13a
23
PULS2
12a
24
SIGN1
11a
25
SIGN2
15a
19
OZ+
16a
20
OZ-
CW pulse command output
CCW pulse command output 240Ω
Deviation counter clear output
CW limit input
CW pulse command input
220Ω
CCW pulse command input
Z-phase input
Origin input
5V power supply for pulse output
220Ω
14
GND
1
COM+
10a
4
CL
9a
2
SRV-ON
5
GAIN/TC
＋V
8b
GND
8a
From PLC I/O output
1a
3
A-CLR
8
CCWL
7
CWL
9
ALM
4.7kΩ
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 4.7kΩ
Servo-Alarm output
7.4kΩ 3a
CCW limit input
2a Origin proximity input
10
COIN
11
BRKOFF
To PLC I/O input
7.4kΩ
Positioning complete output
Brake release output
7.4kΩ 4a 12
WARN
Warning output
Origin proximity sensor CW limit sensor
13
COM-
CCW limit sensor GND +5V DC5V Power supply
+24V GND DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F25
Connection between Driver and Controller
Connection between Driver and Controller Connection between MINAS A4 and F3NC32-ON/ F3NC34-ON (Yokogawa Electric Corp.) Controller
Driver
F3NC32-ON/ F3NC34-ON (by Yokogawa Electric Corp.)
MINAS A4 Series 3 (44)* 4 (45)* 5 (46)* 6 (47)*
3a
Pulse command output A
4a 5a
Pulse command output B
6a 240Ω
Encoder Z-phase input + Encoder Z-phase input -
19a 20a
External power supply 24VDC input
1a
External power supply 24VDC input(GND)
1b
Contact point input COM
13a
From PLC I/O output
To PLC I/O input
7.4kΩ 8a 7.4kΩ 9a
CCW limit input 7.4kΩ
Origin input
PULS2
7a
220Ω
CW pulse command input
220Ω
CCW pulse command input
SIGN1 SIGN2
23
OZ+
24
OZ-
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
14a
Diviation pulse clear output
CW limit input
PULS1
31
A-CLR
9
CCWL
Z-phase input
4.7kΩ
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
4.7kΩ
Servo-Ready output
Servo-alarm output
Positioning complete output
※Pulse train interface exclusive for line driver Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps
Origin proximity sensor CCW limit sensor CW limit sensor
GND +24V DC24V Power supply
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input CCW pulse command input
Connection between MINAS E and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.) Driver
Controller
MINAS E Series
F3NC32-ON/ F3NC34-ON (by Yokogawa Electric Corp.) Pulse command output A
Pulse command output B 240Ω
Encoder Z-phase input + Encoder Z-phase input -
Contact point input COM
Origin input
4a
PULS2
5a
24
SIGN1
6a
25
SIGN2
19a
19
OZ+
20a
20
OZ-
1a
External power supply 24VDC input(GND)
CCW limit input
PULS1
23
14a
External power supply 24VDC input
CW limit input
22
From PLC I/O output
1b
13a
14
GND
1
COM+
4
CL
2
SRV-ON
5
GAIN/TC
3
A-CLR
8
CCWL
7
CWL
9
ALM
10
COIN
11
BRKOFF
7.4kΩ
220Ω
CW pulse command input
220Ω
CCW pulse command input
Z-phase input
4.7kΩ
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input
4.7kΩ
CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ
Servo-alarm output
8a To PLC I/O input
7.4kΩ 9a
Positioning complete output
Brake release output
7.4kΩ 7a 12
WARN Warning output
Origin proximity sensor CCW limit sensor
13
COM-
CW limit sensor GND +24V DC24V Power supply
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Information
Diviation pulse clear output
3a
Connection between Driver and Controller Connection between MINAS A4 and CS1W-NC113(Omron Corp.) Controller
Driver
CS1W-NC113 (by Omron Corp.)
MINAS A4 Series
1.6kΩ
A6
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
23
OZ+
24
OZ-
CW pulse command output 1.6kΩ
A8
CCW pulse command output 150Ω Origin line driver input
A16 A14
Power supply for output
A1
V+ GND
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
A2
CW pulse command input
220Ω
CCW pulse command input Z-phase input
4.7kΩ
A10
Deviation counter reset output
220Ω
4.7kΩ 4.7kΩ From PLC I/O output
A24 Emergency stop input
4.7kΩ
Origin proximity input
4.7kΩ
CCW limit over input
4.7kΩ
CW limit over input
4.7kΩ
A20
A21 To PLC I/O input
A23
A22
Origin proximity sensor
31
A-CLR
9
CCWL
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
4.7kΩ 4.7kΩ
36
ALM-
39
COIN+
38
COIN-
41
COM-
4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready output
Positioning complete output
CW limit sensor CCW limit sensor GND
+24V
DC24V Power supply
Connection between MINAS E and CS1W-NC113(Omron Corp.) Driver
Controller
MINAS E Series
CS1W-NC113 (by Omron Corp.) 1.6kΩ
22
PULS1
23
PULS2
24
SIGN1
25
SIGN2
A16
19
OZ+
A14
20
OZ-
V+
A1
14
GND
GND
A2
1
COM+
A10
4
CL
2
SRV-ON
5
GAIN/TC
A6
CW pulse command output 1.6kΩ
A8
CCW pulse command output 150Ω Origin line driver input Power supply for output
Deviation counter reset output
Emergency stop input
A24 4.7kΩ
Origin proximity input
4.7kΩ
CCW limit over input
4.7kΩ
CW limit over input
4.7kΩ
From PLC I/O output
A20
A21
3
A-CLR
8
CCWL
7
CWL
9
ALM
10
COIN
220Ω
CW pulse command input
220Ω
CCW pulse command input Z-phase input
4.7kΩ
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 4.7kΩ
Servo-Alarm output
A23 To PLC I/O input
Servo-Ready output
A22 11
BRKOFF
12
WARN
Brake release output
Origin proximity sensor CW limit sensor CCW limit sensor GND
+24V
13
Warning output
COM-
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F27
Connection between Driver and Controller
Connection between Driver and Controller Connection between MINAS A4 and C200H-NC211 (Omron Corp.) Controller
Driver
C200H-NC211 (by Omron Corp.)
MINAS A4 Series
1.6kΩ
2
Pulse output (CW + CCW) output 1.6kΩ 13
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
23
OZ+
24
OZ-
Direction output 150Ω
9
Origin line driver input 11 Power supply for output
1
V+ GND
23
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
CW pulse command input
220Ω
CCW pulse command input Z-phase input
4.7kΩ
4
Deviation counter reset output
220Ω
4.7kΩ 4.7kΩ From PLC I/O output
22 Emergency stop input
2kΩ
Origin proximity input
2kΩ
CCW limit over input
2kΩ
CW limit over input
2kΩ
19
7
To PLC I/O input
17
18
Origin proximity sensor
31
A-CLR
9
CCWL
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
4.7kΩ 4.7kΩ 4.7kΩ
Counter clear input Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-Ready output
Servo-alarm output
Positioning complete output
CW limit sensor CCW limit sensor GND
+24V
DC24V Power supply
Connection between MINAS E and C200H-NC211 (Omron Corp.) Controller
Driver
C200H-NC211 (by Omron Corp.) 1.6kΩ
23
PULS2
24
SIGN1
25
SIGN2
9
19
OZ+
11
20
OZ-
V+
1
14
GND
GND
23
1
COM+
4
4
CL
2
SRV-ON
5
GAIN/TC
3
A-CLR
8
CCWL
7
CWL
9
ALM
1.6kΩ Direction output 150Ω Origin line driver input
Deviation counter reset output
22
Emergency stop input
2kΩ
Origin proximity input
2kΩ
CCW limit over input
2kΩ
CW limit over input
13
2kΩ
From PLC I/O output
19
7
220Ω
Pulse command input
220Ω
Directional command input Z-phase input
4.7kΩ
Counter clear input Servo-ON input
4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
Servo-alarm output 17 10
COIN
11
BRKOFF
To PLC I/O input
18
Positioning complete output
Brake release output
Origin proximity sensor CW limit sensor
12
CCW limit sensor
WARN Warning output
GND
+24V
13
COM-
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F28
Information
PULS1
Pulse (CW + CCW) output
Power supply for output
MINAS E Series 22
2
Connection between Driver and Controller Connection between MINAS A4 and CS1W-NC133(Omron Corp.) Driver
Controller CS1W-NC133 (by Omron Corp.)
MINAS A4 Series A5
3
PULS1
A6
4
PULS2
A7
5
SIGN1
A8
6
SIGN2
A16
23
OZ+
A14
24
OZ-
V+
A1
13 25
GND
GND
A2
7
COM+
A10
30
CL
CW pulse command output
CCW pulse command output 150Ω Origin line driver input
24V power supply for output Deviation counter reset output
A24
From PLC I/O output
4.7kΩ A20
Origin proximity input
4.7kΩ
CW limit over input
4.7kΩ
4.7kΩ
CCW limit over input 5V power supply for pulse output
CW pulse command input
220Ω
CCW pulse command input
Z-phase input
29
Prompt stop input
220Ω
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
SRV-ON
27
GAIN/TC
31
A-CLR
4.7kΩ
A21
A23 To PLC I/O input
A22
4.7kΩ
9
CCWL
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
GND
A3
39
COIN+
+V
A4
38
COIN-
41
COM-
4.7kΩ
Servo-Ready output
Servo-alarm output Positioning complete output
Origin proximity sensor CW limit sensor CCW limit sensor
GND +5V DC5V Power supply
+24V GND DC24V Power supply
Connection between MINAS E and CS1W-NC133(Omron Corp.) Driver Controller CS1W-NC133 (by Omron Corp.)
MINAS E Series A5
22
PULS1
A6
23
PULS2
A7
24
SIGN1
A8
25
SIGN2
19
OZ+
20
OZ-
CW pulse command output
CCW pulse command output 150Ω Origin line driver input 24V power supply for output
A16
V+ GND
A2
14
GND
1
COM+
4
CL
2
SRV-ON
5
GAIN/TC
A10
Deviation counter reset output
A24 Prompt stop input
4.7kΩ A20
Origin proximity input
4.7kΩ
CW limit over input
4.7kΩ
CCW limit over input 5V power supply for pulse output
4.7kΩ
From PLC I/O output
A21
A23
A3
+V
A4
220Ω
CCW pulse command input
3
A-CLR
8
CCWL
7
CWL
9
ALM
4.7kΩ
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 4.7kΩ
Servo-alarm output
A22
GND
CW pulse command input
Z-phase input
A14 A1
220Ω
10
COIN
11
BRKOFF
12
WARN
To PLC I/O input
Origin proximity sensor
Positioning complete output
Brake release output
Warning output
CW limit sensor CCW limit sensor 13 GND
GND
+5V
DC5V Power supply
COM-
+24V
DC24V Power supply
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F29
Connection between Driver and Controller Connection between MINAS A4 and QD75D1(Mitsubishi Electric Corp.) Controller
Driver
QD75D1(by Mitsubishi Electric Corp.)
MINAS A4 Series
CW pulse command output
15
3
PULS1
16
4
PULS2
CCW pulse command output
17
5
SIGN1
18
6
SIGN2
9
23
OZ+
24
OZ-
300Ω Origin signal
10
13 25
GND
7
COM+
30
CL
29
SRV-ON
27
GAIN/TC
220Ω
CW pulse command input
220Ω
CCW pulse command input Z-phase input
4.7kΩ 13
Deviation counter clear output
14 From PLC I/O output
12 4.7kΩ
Drive unit ready
11
Common
6 7
Proximity signal
4.3kΩ
Upper limit
4.7kΩ
Lower limit
4.7kΩ
3 To PLC I/O input
1 2
Origin proximity sensor CW limit sensor
Counter clear input
4.7kΩ
Servo-ON input
4.7kΩ
31
A-CLR
9
CCWL
8
CWL
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
COIN+
38
COIN-
41
COM-
Gain switching/Torque limit switching input
4.7kΩ
Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input
4.7kΩ 4.7kΩ
Servo-Ready output
Servo-alarm output
Positioning complete output
※Pulse train interface exclusive for line driver
CCW limit sensor
Pulse train interface exclusive for line driver. Use this interface when you use pulse command frequency between 500kpps and 2Mpps GND +24V DC24V Power supply
44
PULSH1
45
PULSH2
46
SIGNH1
47
SIGNH2
CW pulse command input CCW pulse command input
Connection between MINAS E and QD75D1(Mitsubishi Electric Corp.) Controller
Driver
QD75D1(by Mitsubishi Electric Corp.)
MINAS E Series 22
PULS1
CW pulse command output
15 16
23
PULS2
CCW pulse command output
17
24
SIGN1
18
25
SIGN2
9
19
OZ+
10
20
OZ-
220Ω
CW pulse command input
220Ω
CCW pulse command input
300Ω Origin signal
GND
1
COM+
13
4
CL
14
2
SRV-ON
5
GAIN/TC
3
A-CLR
8
CCWL
6
7
CWL
7
9
ALM
10
COIN
11
BRKOFF
12
WARN
13
COM-
From PLC I/O output
Proximity signal
4.7kΩ
Upper limit
4.7kΩ
Lower limit
4.7kΩ
4.7kΩ Counter clear input 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ 4.7kΩ
Servo-ON input Gain switching/Torque limit switching input Alarm clear input CCW over-travel prohibit input CW over-travel prohibit input Servo-alarm output
3 1 To PLC I/O input
2
Origin proximity sensor
Positioning complete output
Brake release output
CW limit sensor CCW limit sensor
GND +24V DC24V Power supply
Warning output
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F30
Information
Deviation counter clear output
14
Z-phase input
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item DV0P Part No.
Carrying page A4P
A4
Specifications DV0P0770
E27
E27
●
DV0P0800
E28
E28
●
E10
E10
●
A4-110
A4-110
Dimension
Delivery Dimension
A4-110
Specifications
E
Specifications
DV0P1450
Dimension
A4-110
DV0P1460
A4-111
A4-111
A4-111
A4-111
E10
E10
●
DV0P1960
A4-119
A4-119
A4-119
A4-119
E28
E28
●
DV0P1970
A4-119
A4-119
A4-119
A4-119
●
DV0P1971
A4-119
A4-119
A4-119
A4-119
●
DV0P1972
A4-119
A4-119
A4-119
A4-119
DV0P220
A4-124
A4-124
A4-124
A4-124
DV0P221
A4-124
A4-124
A4-124
A4-124
●
DV0P222
A4-124
A4-124
A4-124
A4-124
●
DV0P223
A4-124
A4-124
A4-124
A4-124
●
DV0P224
A4-124
A4-124
A4-124
A4-124
●
DV0P225
A4-124
A4-124
A4-124
A4-124
●
DV0P227
A4-124
A4-124
A4-124
A4-124
E29
E29
●
DV0P228
A4-124
A4-124
A4-124
A4-124
E29
E29
●
DV0P2870
E26
E26
●
DV0P2890
E29
E29
●
E29
E29
●
DV0P2891 DV0P2990
A4-126
A4-126
A4-126
● E29
E29
A4-126
●
●
DV0P3410
A4-110
A4-110
A4-110
A4-110
●
DV0P3470
A4-122
A4-122
A4-122
A4-122
●
DV0P3480
A4-122
A4-122
A4-122
A4-122
●
DV0P3670
E26
E26
●
DV0P3680
-
-
●
DV0P3700
-
-
●
DV0P37300
E25
E25
●
DV0P3811
E30
E30
●
DV0P39200
E25
E25
●
E10
E10
●
DV0P4160 DV0P4170
A4-110
A4-110
A4-110
A4-110
DV0P4180
A4-110
A4-110
A4-110
A4-110
DV0P4190
A4-110
A4-110
A4-110
A4-110
● ● E10
E10
●
DV0P4200
-
-
●
DV0P4210
-
-
●
DV0P4220
A4-110
A4-110
A4-110
A4-110
●
DV0P4271
A4-123
A4-123
A4-123
A4-123
●
DV0P4272
A4-123
A4-123
A4-123
A4-123
●
DV0P4273
A4-123
A4-123
A4-123
A4-123
●
DV0P4274
A4-123
A4-123
A4-123
A4-123
●
DV0P4280
A4-125
A4-125
A4-125
A4-125
●
DV0P4281
A4-125
A4-125
A4-125
A4-125
●
DV0P4282
A4-125
A4-125
A4-125
A4-125
●
DV0P4283
A4-125
A4-125
A4-125
A4-125
●
DV0P4284
A4-125
A4-125
A4-125
A4-125
●
DV0P4285
A4-125
A4-125
A4-125
A4-125
●
DV0P4290
A4-120
A4-120
A4-120
A4-120
●
DV0P4310
A4-120
A4-120
A4-120
A4-120
●
F31
Index ● : Standard stock item ▲ : Build order item DV0P Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
DV0P4320
A4-121
A4-121
A4-121
A4-121
●
DV0P4330
A4-121
A4-121
A4-121
A4-121
●
DV0P4340
A4-121
A4-121
A4-121
A4-121
●
DV0P4350
A4-118
A4-118
A4-118
A4-118
●
DV0P4360
A4-119
A4-119
A4-119
A4-119
●
DV0P4380
A4-120
A4-120
A4-120
A4-120
DV0P4420
A4-124
A4-124
A4-124
A4-124
E25
E25
DV0P4460
A4-123
A4-123
A4-123
A4-123
E28
E28
-
-
●
DV0P4480 DV0P4490
● ● ●
-
-
●
DV0P4500
A4-118
A4-118
A4-118
A4-118
●
DV0P4510
A4-119
A4-119
A4-119
A4-119
● ● : Standard stock item ▲ : Build order item
MADDT Part No.
MADDT1105
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-22
MADDT1105P MADDT1107
A4-15
A4-22
A4-15
A4-22
A4-15
A4-22
MADDT1107P MADDT1205
Dimension
A4-39
A4-45
Dimension ● ●
A4-45
● ●
A4-39
MADDT1207P
Delivery
E
Specifications
●
A4-39
MADDT1205P MADDT1207
Specifications
A4-45
● ●
A4-39
A4-45
● ● : Standard stock item ▲ : Build order item
MAMA Part No.
Carrying page A4P
A4
Delivery
E
Dimension
Specifications
Dimension
MAMA012P1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA012P1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA012P1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA012P1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA012S1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA012S1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA012S1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA012S1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA022P1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA022P1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA022P1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA022P1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA022S1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA022S1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA022S1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA022S1F
A4-49
A4-87
A4-49
A4-87
▲
F32
Specifications
Dimension
Infomation
Specifications
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MAMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MAMA042P1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA042P1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA042P1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA042P1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA042S1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA042S1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA042S1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA042S1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA082P1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA082P1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA082P1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA082P1F
A4-49
A4-87
A4-49
A4-87
▲
MAMA082S1A
A4-49
A4-87
A4-49
A4-87
▲
MAMA082S1B
A4-49
A4-87
A4-49
A4-87
▲
MAMA082S1E
A4-49
A4-87
A4-49
A4-87
▲
MAMA082S1F
A4-49
A4-87
A4-49
A4-87
▲ ● : Standard stock item ▲ : Build order item
MBDDT Part No.
MBDDT2110
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-22
A4-15
A4-22
MBDDT2110P MBDDT2210
Specifications
Delivery
E
Specifications
Dimension ●
A4-39
MBDDT2210P
Dimension A4-45
● ●
A4-39
A4-45
● ● : Standard stock item ▲ : Build order item
MCDDT Part No.
MCDDT3120
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-23
A4-15
A4-23
MCDDT3120P MCDDT3520
Specifications
Delivery
E
Specifications
Dimension ●
A4-39
MCDDT3520P
Dimension A4-46
● ●
A4-39
A4-46
● ● : Standard stock item ▲ : Build order item
MDDDT Part No.
MDDDT3530
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-23
A4-15
A4-23
MDDDT3530P MDDDT5540 MDDDT5540P
Specifications
Dimension
Delivery
E
Specifications
Dimension ●
A4-39
A4-46
● ●
A4-39
A4-46
●
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F33
Index ● : Standard stock item ▲ : Build order item MDMA Part No.
Carrying page A4P
A4
Delivery
E
Dimension
Specifications
Dimension
MDMA102P1C
A4-67
A4-93
A4-67
A4-93
▲
MDMA102P1D
A4-67
A4-93
A4-67
A4-93
▲
MDMA102P1G
A4-67
A4-93
A4-67
A4-93
●
MDMA102P1H
A4-67
A4-93
A4-67
A4-93
●
MDMA102S1C
A4-67
A4-93
A4-67
A4-93
▲
MDMA102S1D
A4-67
A4-93
A4-67
A4-93
▲
MDMA102S1G
A4-67
A4-93
A4-67
A4-93
●
MDMA102S1H
A4-67
A4-93
A4-67
A4-93
●
MDMA152P1C
A4-67
A4-93
A4-67
A4-93
▲
MDMA152P1D
A4-67
A4-93
A4-67
A4-93
▲
MDMA152P1G
A4-67
A4-93
A4-67
A4-93
●
MDMA152P1H
A4-67
A4-93
A4-67
A4-93
●
MDMA152S1C
A4-67
A4-93
A4-67
A4-93
▲
MDMA152S1D
A4-67
A4-93
A4-67
A4-93
▲
MDMA152S1G
A4-67
A4-93
A4-67
A4-93
●
MDMA152S1H
A4-67
A4-93
A4-67
A4-93
●
MDMA202P1C
A4-69
A4-94
A4-69
A4-94
▲
MDMA202P1D
A4-69
A4-94
A4-69
A4-94
▲
MDMA202P1G
A4-69
A4-94
A4-69
A4-94
●
MDMA202P1H
A4-69
A4-94
A4-69
A4-94
●
MDMA202S1C
A4-69
A4-94
A4-69
A4-94
▲
MDMA202S1D
A4-69
A4-94
A4-69
A4-94
▲
MDMA202S1G
A4-69
A4-94
A4-69
A4-94
●
MDMA202S1H
A4-69
A4-94
A4-69
A4-94
●
MDMA302P1C
A4-69
A4-94
A4-69
A4-94
▲
MDMA302P1D
A4-69
A4-94
A4-69
A4-94
▲
MDMA302P1G
A4-69
A4-94
A4-69
A4-94
●
MDMA302P1H
A4-69
A4-94
A4-69
A4-94
●
MDMA302S1C
A4-69
A4-94
A4-69
A4-94
▲
MDMA302S1D
A4-69
A4-94
A4-69
A4-94
▲
MDMA302S1G
A4-69
A4-94
A4-69
A4-94
●
MDMA302S1H
A4-69
A4-94
A4-69
A4-94
●
MDMA402P1C
A4-71
A4-95
A4-71
A4-95
▲
MDMA402P1D
A4-71
A4-95
A4-71
A4-95
▲
MDMA402P1G
A4-71
A4-95
A4-71
A4-95
●
MDMA402P1H
A4-71
A4-95
A4-71
A4-95
●
MDMA402S1C
A4-71
A4-95
A4-71
A4-95
▲
MDMA402S1D
A4-71
A4-95
A4-71
A4-95
▲
MDMA402S1G
A4-71
A4-95
A4-71
A4-95
●
MDMA402S1H
A4-71
A4-95
A4-71
A4-95
●
MDMA502P1C
A4-71
A4-95
A4-71
A4-95
▲
MDMA502P1D
A4-71
A4-95
A4-71
A4-95
▲
MDMA502P1G
A4-71
A4-95
A4-71
A4-95
●
MDMA502P1H
A4-71
A4-95
A4-71
A4-95
●
MDMA502S1C
A4-71
A4-95
A4-71
A4-95
▲
MDMA502S1D
A4-71
A4-95
A4-71
A4-95
▲
MDMA502S1G
A4-71
A4-95
A4-71
A4-95
●
MDMA502S1H
A4-71
A4-95
A4-71
A4-95
●
F34
Specifications
Dimension
Infomation
Specifications
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MDMA Part No.
Carrying page A4P
A4
Specifications
Dimension
Delivery
E
Specifications
Dimension
Specifications
Dimension
MDMA752P1C
A4-71
A4-95
▲
MDMA752P1D
A4-71
A4-95
▲
MDMA752P1G
A4-71
A4-95
▲
MDMA752P1H
A4-71
A4-95
▲
MDMA752S1C
A4-71
A4-95
▲
MDMA752S1D
A4-71
A4-95
▲
MDMA752S1G
A4-71
A4-95
▲
MDMA752S1H
A4-71
A4-95
▲ ● : Standard stock item ▲ : Build order item
MEDDT Part No.
MEDDT7364
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-24
MEDDT7364P
Specifications
Dimension
A4-39
A4-47
Delivery
E
Specifications
Dimension ● ● ● : Standard stock item ▲ : Build order item
MFDDT Part No.
MFDDTA390
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-24
MFDDTA390P MFDDTB3A2
A4-15
Specifications
Dimension
A4-39
A4-47
A4-39
A4-47
Delivery
E
Specifications
Dimension ● ●
A4-24
MFDDTB3A2P
● ● ● : Standard stock item ▲ : Build order item
MFECA Part No.
MFECA0030EAD
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
A4-115
A4-115
A4-115
A4-115
MFECA0030EAE
A4-115
A4-115
A4-115
A4-115
MFECA0030EAM
A4-115
A4-115
A4-115
A4-115
MFECA0030ESD
A4-115
A4-115
A4-115
A4-115
Delivery
E
Specifications
Dimension ● ●
E25
E25
● ●
MFECA0030ESE
A4-115
A4-115
A4-115
A4-115
●
MFECA0050EAD
A4-115
A4-115
A4-115
A4-115
●
MFECA0050EAE
A4-115
A4-115
A4-115
A4-115
MFECA0050EAM
A4-115
A4-115
A4-115
A4-115
● E25
E25
●
MFECA0050ESD
A4-115
A4-115
A4-115
A4-115
●
MFECA0050ESE
A4-115
A4-115
A4-115
A4-115
●
MFECA0100EAD
A4-115
A4-115
A4-115
A4-115
●
MFECA0100EAE
A4-115
A4-115
A4-115
A4-115
●
MFECA0100EAM
A4-115
A4-115
A4-115
A4-115
MFECA0100ESD
A4-115
A4-115
A4-115
A4-115
E25
E25
● ●
MFECA0100ESE
A4-115
A4-115
A4-115
A4-115
●
MFECA0200EAD
A4-115
A4-115
A4-115
A4-115
●
F35
Index ● : Standard stock item ▲ : Build order item MFECA Part No.
MFECA0200EAE
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
A4-115
A4-115
A4-115
A4-115
Delivery
E
Specifications
Dimension ●
MFECA0200EAM
A4-115
A4-115
A4-115
A4-115
MFECA0200ESD
A4-115
A4-115
A4-115
A4-115
E25
E25
● ●
MFECA0200ESE
A4-115
A4-115
A4-115
A4-115
● ● : Standard stock item ▲ : Build order item
MFMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MFMA042P1C
A4-77
A4-99
A4-77
A4-99
▲
MFMA042P1D
A4-77
A4-99
A4-77
A4-99
▲
MFMA042P1G
A4-77
A4-99
A4-77
A4-99
▲
MFMA042P1H
A4-77
A4-99
A4-77
A4-99
▲
MFMA042S1C
A4-77
A4-99
A4-77
A4-99
▲
MFMA042S1D
A4-77
A4-99
A4-77
A4-99
▲
MFMA042S1G
A4-77
A4-99
A4-77
A4-99
▲
MFMA042S1H
A4-77
A4-99
A4-77
A4-99
▲
MFMA152P1C
A4-77
A4-99
A4-77
A4-99
▲
MFMA152P1D
A4-77
A4-99
A4-77
A4-99
▲
MFMA152P1G
A4-77
A4-99
A4-77
A4-99
▲
MFMA152P1H
A4-77
A4-99
A4-77
A4-99
▲
MFMA152S1C
A4-77
A4-99
A4-77
A4-99
▲
MFMA152S1D
A4-77
A4-99
A4-77
A4-99
▲
MFMA152S1G
A4-77
A4-99
A4-77
A4-99
▲
MFMA152S1H
A4-77
A4-99
A4-77
A4-99
▲
MFMA252P1C
A4-79
A4-100
A4-79
A4-100
▲
MFMA252P1D
A4-79
A4-100
A4-79
A4-100
▲
MFMA252P1G
A4-79
A4-100
A4-79
A4-100
▲
A4-79
A4-100
A4-79
A4-100
▲
MFMA252S1C
A4-79
A4-100
A4-79
A4-100
▲
MFMA252S1D
A4-79
A4-100
A4-79
A4-100
▲
MFMA252S1G
A4-79
A4-100
A4-79
A4-100
▲
MFMA252S1H
A4-79
A4-100
A4-79
A4-100
▲
MFMA452P1C
A4-79
A4-100
A4-79
A4-100
▲
MFMA452P1D
A4-79
A4-100
A4-79
A4-100
▲
MFMA452P1G
A4-79
A4-100
A4-79
A4-100
▲
MFMA452P1H
A4-79
A4-100
A4-79
A4-100
▲
MFMA452S1C
A4-79
A4-100
A4-79
A4-100
▲
MFMA452S1D
A4-79
A4-100
A4-79
A4-100
▲
MFMA452S1G
A4-79
A4-100
A4-79
A4-100
▲
MFMA452S1H
A4-79
A4-100
A4-79
A4-100
▲
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F36
Infomation
MFMA252P1H
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MFMCA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
MFMCA0030EED
A4-116
A4-116
A4-116
A4-116
●
MFMCA0032ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCA0032FCD
A4-117
A4-117
A4-117
A4-117
●
MFMCA0032FCT
A4-117
A4-117
A4-117
A4-117
●
MFMCA0033ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCA0033FCT
A4-117
A4-117
A4-117
A4-117
●
MFMCA0050EED
A4-116
A4-116
A4-116
A4-116
●
MFMCA0052ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCA0052FCD
A4-117
A4-117
A4-117
A4-117
●
MFMCA0030AEB
MFMCA0050AEB
Specifications
Dimension
E25
E25
E25
●
E25
●
MFMCA0052FCT
A4-117
A4-117
A4-117
A4-117
●
MFMCA0053ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCA0053FCT
A4-117
A4-117
A4-117
A4-117
MFMCA0100AEB
● E25
E25
●
MFMCA0100EED
A4-116
A4-116
A4-116
A4-116
●
MFMCA0102ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCA0102FCD
A4-117
A4-117
A4-117
A4-117
●
MFMCA0102FCT
A4-117
A4-117
A4-117
A4-117
●
MFMCA0103ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCA0103FCT
A4-117
A4-117
A4-117
A4-117
MFMCA0200AEB
● E25
E25
●
MFMCA0200EED
A4-116
A4-116
A4-116
A4-116
●
MFMCA0202ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCA0202FCD
A4-117
A4-117
A4-117
A4-117
●
MFMCA0202FCT
A4-117
A4-117
A4-117
A4-117
●
MFMCA0203ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCA0203FCT
A4-117
A4-117
A4-117
A4-117
● ● : Standard stock item ▲ : Build order item
MFMCB Part No.
MFMCB0030GET
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
A4-117
A4-117
A4-117
A4-117
E25
E25
●
MFMCB0050GET
A4-117
A4-117
A4-117
A4-117
E25
E25
●
MFMCB0100GET
A4-117
A4-117
A4-117
A4-117
E25
E25
●
MFMCB0200GET
A4-117
A4-117
A4-117
A4-117
E25
E25
●
● : Standard stock item ▲ : Build order item MFMCD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
MFMCD0032ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCD0032ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0033ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0052ECD
A4-116
A4-116
A4-116
A4-116
●
F37
Specifications
Dimension
Index ● : Standard stock item ▲ : Build order item MFMCD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MFMCD0052ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0053ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0102ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCD0102ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0103ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0202ECD
A4-116
A4-116
A4-116
A4-116
●
MFMCD0202ECT
A4-116
A4-116
A4-116
A4-116
●
MFMCD0203ECT
A4-116
A4-116
A4-116
A4-116
● ● : Standard stock item ▲ : Build order item
MGDDT Part No.
MGDDTC3B4
Carrying page A4P
A4
Specifications
Dimension
A4-15
A4-25
Specifications
Dimension
Delivery
E
Specifications
Dimension
● : Standard stock item ▲ : Build order item MGMA Part No.
Carrying page A4P
A4
Delivery
E
Dimension
Specifications
Dimension
MGMA092P1C
A4-73
A4-96
A4-73
A4-96
▲
MGMA092P1D
A4-73
A4-96
A4-73
A4-96
▲
MGMA092P1G
A4-73
A4-96
A4-73
A4-96
▲
MGMA092P1H
A4-73
A4-96
A4-73
A4-96
▲
MGMA092S1C
A4-73
A4-96
A4-73
A4-96
▲
MGMA092S1D
A4-73
A4-96
A4-73
A4-96
▲
MGMA092S1G
A4-73
A4-96
A4-73
A4-96
▲
MGMA092S1H
A4-73
A4-96
A4-73
A4-96
▲
MGMA202P1C
A4-73
A4-96
A4-73
A4-96
▲
MGMA202P1D
A4-73
A4-96
A4-73
A4-96
▲
MGMA202P1G
A4-73
A4-96
A4-73
A4-96
▲
MGMA202P1H
A4-73
A4-96
A4-73
A4-96
▲
MGMA202S1C
A4-73
A4-96
A4-73
A4-96
▲
MGMA202S1D
A4-73
A4-96
A4-73
A4-96
▲
MGMA202S1G
A4-73
A4-96
A4-73
A4-96
▲
MGMA202S1H
A4-73
A4-96
A4-73
A4-96
▲
MGMA302P1C
A4-75
A4-97
A4-75
A4-97
▲
MGMA302P1D
A4-75
A4-97
A4-75
A4-97
▲
MGMA302P1G
A4-75
A4-97
A4-75
A4-97
▲
MGMA302P1H
A4-75
A4-97
A4-75
A4-97
▲
MGMA302S1C
A4-75
A4-97
A4-75
A4-97
▲
MGMA302S1D
A4-75
A4-97
A4-75
A4-97
▲
MGMA302S1G
A4-75
A4-97
A4-75
A4-97
▲
MGMA302S1H
A4-75
A4-97
A4-75
A4-97
▲
MGMA452P1C
A4-75
A4-97
A4-75
A4-97
▲
MGMA452P1D
A4-75
A4-97
A4-75
A4-97
▲
MGMA452P1G
A4-75
A4-97
A4-75
A4-97
▲
F38
Specifications
Dimension
Infomation
Specifications
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MGMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MGMA452P1H
A4-75
A4-97
A4-75
A4-97
▲
MGMA452S1C
A4-75
A4-97
A4-75
A4-97
▲
MGMA452S1D
A4-75
A4-97
A4-75
A4-97
▲
MGMA452S1G
A4-75
A4-97
A4-75
A4-97
▲
MGMA452S1H
A4-75
A4-97
A4-75
A4-97
▲
MGMA602P1C
A4-75
A4-98
▲
MGMA602P1D
A4-75
A4-98
▲
MGMA602P1G
A4-75
A4-98
▲
MGMA602P1H
A4-75
A4-98
▲
MGMA602S1C
A4-75
A4-98
▲
MGMA602S1D
A4-75
A4-98
▲
MGMA602S1G
A4-75
A4-98
▲
MGMA602S1H
A4-75
A4-98
▲ ● : Standard stock item ▲ : Build order item
MHMA Part No.
MHMA052P1C
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
A4-81
A4-101
A4-81
A4-101
Delivery
E
Specifications
Dimension ▲
MHMA052P1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA052P1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA052P1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA052S1C
A4-81
A4-101
A4-81
A4-101
▲
MHMA052S1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA052S1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA052S1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA102P1C
A4-81
A4-101
A4-81
A4-101
▲
MHMA102P1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA102P1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA102P1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA102S1C
A4-81
A4-101
A4-81
A4-101
▲
MHMA102S1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA102S1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA102S1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA152P1C
A4-81
A4-101
A4-81
A4-101
▲
MHMA152P1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA152P1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA152P1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA152S1C
A4-81
A4-101
A4-81
A4-101
▲
MHMA152S1D
A4-81
A4-101
A4-81
A4-101
▲
MHMA152S1G
A4-81
A4-101
A4-81
A4-101
▲
MHMA152S1H
A4-81
A4-101
A4-81
A4-101
▲
MHMA202P1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA202P1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA202P1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA202P1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA202S1C
A4-83
A4-102
A4-83
A4-102
▲
F39
Index ● : Standard stock item ▲ : Build order item MHMA Part No.
Carrying page A4P
A4
Specifications
Dimension
Delivery
E
Specifications
Dimension
Specifications
Dimension
MHMA202S1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA202S1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA202S1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA302P1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA302P1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA302P1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA302P1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA302S1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA302S1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA302S1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA302S1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA402P1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA402P1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA402P1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA402P1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA402S1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA402S1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA402S1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA402S1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA502P1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA502P1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA502P1G
A4-83
A4-102
A4-83
A4-102
▲
MHMA502P1H
A4-83
A4-102
A4-83
A4-102
▲
MHMA502S1C
A4-83
A4-102
A4-83
A4-102
▲
MHMA502S1D
A4-83
A4-102
A4-83
A4-102
▲
MHMA502S1G
A4-83
A4-102
A4-83
A4-102
▲
A4-83
A4-102
▲
A4-83
A4-102
A4-85
A4-103
▲
MHMA752P1D
A4-85
A4-103
▲
MHMA752P1G
A4-85
A4-103
▲
MHMA752P1H
A4-85
A4-103
▲
MHMA752S1C
A4-85
A4-103
▲
MHMA752S1D
A4-85
A4-103
▲
MHMA752S1G
A4-85
A4-103
▲
MHMA752S1H
A4-85
A4-103
▲ ● : Standard stock item ▲ : Build order item
MKDET Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
MKDET1105P
E20
E23
●
MKDET1110P
E20
E23
●
MKDET1310P
E20
E23
●
MKDET1505P
E20
E23
●
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F40
Infomation
MHMA502S1H MHMA752P1C
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MLDET Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
MLDET2110P
E20
E23
●
MLDET2210P
E20
E23
●
MLDET2310P
E20
E23
●
MLDET2510P
E20
E23
●
● : Standard stock item ▲ : Build order item MQMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
MQMA011P1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA011P1B
A4-59
A4-90
A4-59
A4-90
▲
MQMA011P1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA011P1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA011S1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA011S1B
A4-59
A4-90
A4-59
A4-90
▲
MQMA011S1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA011S1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA012P1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA012P1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA012P1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA012P1T
A4-61
A4-90
A4-61
A4-90
▲
MQMA012S1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA012S1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA012S1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA012S1T
A4-61
A4-90
A4-61
A4-90
▲
MQMA021P1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA021P1B
A4-59
A4-90
A4-59
A4-90
▲
MQMA021P1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA021P1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA021S1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA021S1B
A4-59
A4-90
A4-59
A4-90
▲
MQMA021S1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA021S1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA022P1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA022P1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA022P1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA022P1T
A4-61
A4-90
A4-61
A4-90
▲
MQMA022S1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA022S1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA022S1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA022S1T
A4-61
A4-90
A4-61
A4-90
▲
MQMA041P1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA041P1B
A4-59
A4-90
A4-59
A4-90
▲
MQMA041P1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA041P1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA041S1A
A4-59
A4-90
A4-59
A4-90
▲
MQMA041S1B
A4-59
A4-90
A4-59
A4-90
▲
F41
Specifications
Dimension
Index ● : Standard stock item ▲ : Build order item MQMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MQMA041S1S
A4-59
A4-90
A4-59
A4-90
▲
MQMA041S1T
A4-59
A4-90
A4-59
A4-90
▲
MQMA042P1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA042P1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA042P1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA042P1T
A4-61
A4-90
A4-61
A4-90
▲
MQMA042S1A
A4-61
A4-90
A4-61
A4-90
▲
MQMA042S1B
A4-61
A4-90
A4-61
A4-90
▲
MQMA042S1S
A4-61
A4-90
A4-61
A4-90
▲
MQMA042S1T
A4-61
A4-90
A4-61
A4-90
▲ ● : Standard stock item ▲ : Build order item
MSMA Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
MSMA102P1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA102P1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA102P1G
A4-63
A4-91
A4-63
A4-91
●
MSMA102P1H
A4-63
A4-91
A4-63
A4-91
●
MSMA102S1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA102S1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA102S1G
A4-63
A4-91
A4-63
A4-91
●
MSMA102S1H
A4-63
A4-91
A4-63
A4-91
●
MSMA152P1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA152P1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA152P1G
A4-63
A4-91
A4-63
A4-91
●
MSMA152P1H
A4-63
A4-91
A4-63
A4-91
●
MSMA152S1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA152S1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA152S1G
A4-63
A4-91
A4-63
A4-91
●
A4-63
A4-91
A4-63
A4-91
●
MSMA202P1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA202P1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA202P1G
A4-63
A4-91
A4-63
A4-91
●
MSMA202P1H
A4-63
A4-91
A4-63
A4-91
●
MSMA202S1C
A4-63
A4-91
A4-63
A4-91
▲
MSMA202S1D
A4-63
A4-91
A4-63
A4-91
▲
MSMA202S1G
A4-63
A4-91
A4-63
A4-91
●
MSMA202S1H
A4-63
A4-91
A4-63
A4-91
●
MSMA302P1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA302P1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA302P1G
A4-65
A4-92
A4-65
A4-92
●
MSMA302P1H
A4-65
A4-92
A4-65
A4-92
●
MSMA302S1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA302S1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA302S1G
A4-65
A4-92
A4-65
A4-92
●
MSMA302S1H
A4-65
A4-92
A4-65
A4-92
●
F42
Infomation
MSMA152S1H
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MSMA Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MSMA402P1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA402P1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA402P1G
A4-65
A4-92
A4-65
A4-92
●
MSMA402P1H
A4-65
A4-92
A4-65
A4-92
●
MSMA402S1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA402S1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA402S1G
A4-65
A4-92
A4-65
A4-92
●
MSMA402S1H
A4-65
A4-92
A4-65
A4-92
●
MSMA502P1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA502P1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA502P1G
A4-65
A4-92
A4-65
A4-92
●
MSMA502P1H
A4-65
A4-92
A4-65
A4-92
●
MSMA502S1C
A4-65
A4-92
A4-65
A4-92
▲
MSMA502S1D
A4-65
A4-92
A4-65
A4-92
▲
MSMA502S1G
A4-65
A4-92
A4-65
A4-92
●
MSMA502S1H
A4-65
A4-92
A4-65
A4-92
● ● : Standard stock item ▲ : Build order item
MSMD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MSMD011P1A
A4-51
A4-88
A4-51
A4-88
●
MSMD011P1B
A4-51
A4-88
A4-51
A4-88
●
MSMD011P1S
A4-51
A4-88
A4-51
A4-88
●
MSMD011P1T
A4-51
A4-88
A4-51
A4-88
●
MSMD011P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S1A
A4-51
A4-88
A4-51
A4-88
●
MSMD011S1B
A4-51
A4-88
A4-51
A4-88
●
MSMD011S1S
A4-51
A4-88
A4-51
A4-88
●
MSMD011S1T
A4-51
A4-88
A4-51
A4-88
●
MSMD011S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD011S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P1A
A4-55
A4-88
A4-55
A4-88
●
MSMD012P1B
A4-55
A4-88
A4-55
A4-88
●
F43
Index ● : Standard stock item ▲ : Build order item MSMD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MSMD012P1S
A4-55
A4-88
A4-55
A4-88
●
MSMD012P1T
A4-55
A4-88
A4-55
A4-88
●
MSMD012P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S1A
A4-55
A4-88
A4-55
A4-88
●
MSMD012S1B
A4-55
A4-88
A4-55
A4-88
●
MSMD012S1S
A4-55
A4-88
A4-55
A4-88
●
A4-55
A4-88
A4-55
A4-88
●
MSMD012S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD012S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P1A
A4-53
A4-89
A4-53
A4-89
●
MSMD021P1B
A4-53
A4-89
A4-53
A4-89
●
MSMD021P1S
A4-53
A4-89
A4-53
A4-89
●
MSMD021P1T
A4-53
A4-89
A4-53
A4-89
●
MSMD021P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S1A
A4-53
A4-89
A4-53
A4-89
●
MSMD021S1B
A4-53
A4-89
A4-53
A4-89
●
MSMD021S1S
A4-53
A4-89
A4-53
A4-89
●
MSMD021S1T
A4-53
A4-89
A4-53
A4-89
●
MSMD021S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD021S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P1A
A4-57
A4-89
A4-57
A4-89
●
MSMD022P1B
A4-57
A4-89
A4-57
A4-89
●
F44
Infomation
MSMD012S1T
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MSMD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MSMD022P1S
A4-57
A4-89
A4-57
A4-89
●
MSMD022P1T
A4-57
A4-89
A4-57
A4-89
●
MSMD022P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S1A
A4-57
A4-89
A4-57
A4-89
●
MSMD022S1B
A4-57
A4-89
A4-57
A4-89
●
MSMD022S1S
A4-57
A4-89
A4-57
A4-89
●
MSMD022S1T
A4-57
A4-89
A4-57
A4-89
●
MSMD022S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD022S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P1A
A4-53
A4-89
A4-53
A4-89
●
MSMD041P1B
A4-53
A4-89
A4-53
A4-89
●
MSMD041P1S
A4-53
A4-89
A4-53
A4-89
●
MSMD041P1T
A4-53
A4-89
A4-53
A4-89
●
MSMD041P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S1A
A4-53
A4-89
A4-53
A4-89
●
MSMD041S1B
A4-53
A4-89
A4-53
A4-89
●
MSMD041S1S
A4-53
A4-89
A4-53
A4-89
●
MSMD041S1T
A4-53
A4-89
A4-53
A4-89
●
MSMD041S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD041S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P1A
A4-57
A4-89
A4-57
A4-89
●
MSMD042P1B
A4-57
A4-89
A4-57
A4-89
●
F45
Index ● : Standard stock item ▲ : Build order item MSMD Part No.
Carrying page A4P
A4
Delivery
E
Specifications
Dimension
Specifications
Dimension
Specifications
Dimension
MSMD042P1S
A4-57
A4-89
A4-57
A4-89
●
MSMD042P1T
A4-57
A4-89
A4-57
A4-89
●
MSMD042P31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S1A
A4-57
A4-89
A4-57
A4-89
●
MSMD042S1B
A4-57
A4-89
A4-57
A4-89
●
MSMD042S1S
A4-57
A4-89
A4-57
A4-89
●
A4-57
A4-89
A4-57
A4-89
●
MSMD042S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD042S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P1A
A4-57
A4-89
A4-57
A4-89
●
MSMD082P1B
A4-57
A4-89
A4-57
A4-89
●
MSMD082P1S
A4-57
A4-89
A4-57
A4-89
●
MSMD082P1T
A4-57
A4-89
A4-57
A4-89
●
MSMD082P31N
A4-105
A4-108
A4-105
A4-108
●
MSMD082P32N
A4-105
A4-108
A4-105
A4-108
●
MSMD082P33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082P44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S1A
A4-57
A4-89
A4-57
A4-89
●
MSMD082S1B
A4-57
A4-89
A4-57
A4-89
●
MSMD082S1S
A4-57
A4-89
A4-57
A4-89
▲
MSMD082S1T
A4-57
A4-89
A4-57
A4-89
▲
MSMD082S31N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S32N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S33N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S34N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S41N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S42N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S43N
A4-105
A4-108
A4-105
A4-108
▲
MSMD082S44N
A4-105
A4-108
A4-105
A4-108
▲
MSMD5AZP1A
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZP1B
A4-51,55
A4-88
A4-51,55
A4-88
●
F46
Infomation
MSMD042S1T
Index (Alphabetical order) ● : Standard stock item ▲ : Build order item MSMD Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
MSMD5AZP1S
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZP1T
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZS1A
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZS1B
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZS1S
A4-51,55
A4-88
A4-51,55
A4-88
●
MSMD5AZS1T
A4-51,55
A4-88
A4-51,55
A4-88
● ● : Standard stock item ▲ : Build order item
MUMA Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Delivery
E
Specifications
Dimension
MUMA011P1S
E11
E15
●
MUMA011P1T
E11
E15
●
MUMA011P31N
E17
E19
▲
MUMA011P32N
E17
E19
▲
MUMA011P34N
E17
E19
▲
MUMA011P41N
E17
E19
▲
MUMA011P42N
E17
E19
▲
MUMA011P44N
E17
E19
▲
MUMA012P1S
E13
E15
●
MUMA012P1T
E13
E15
●
MUMA012P31N
E17
E19
▲
MUMA012P32N
E17
E19
▲
MUMA012P34N
E17
E19
▲
MUMA012P41N
E17
E19
▲
MUMA012P42N
E17
E19
▲
MUMA012P44N
E17
E19
▲
MUMA021P1S
E11
E15
●
MUMA021P1T
E11
E15
●
MUMA021P31N
E17
E19
▲
MUMA021P32N
E17
E19
▲
MUMA021P34N
E17
E19
▲
MUMA021P41N
E17
E19
▲
MUMA021P42N
E17
E19
▲
MUMA021P44N
E17
E19
▲
MUMA022P1S
E13
E15
●
MUMA022P1T
E13
E15
●
MUMA022P31N
E17
E19
▲
MUMA022P32N
E17
E19
▲
MUMA022P34N
E17
E19
▲
MUMA022P41N
E17
E19
▲
MUMA022P42N
E17
E19
▲
MUMA022P44N
E17
E19
▲
MUMA042P1S
E13
E15
●
MUMA042P1T
E13
E15
●
MUMA042P31N
E17
E19
▲
MUMA042P32N
E17
E19
▲
F47
Dimension
● : Standard stock item ▲ : Build order item MUMA Part No.
Carrying page A4P
A4
Specifications
Dimension
Specifications
Dimension
Delivery
E
Specifications
Dimension
MUMA042P34N
E17
E19
▲
MUMA042P41N
E17
E19
▲
MUMA042P42N
E17
E19
▲
MUMA042P44N
E17
E19
▲
MUMA5AZP1S
E11,13
E15
●
MUMA5AZP1T
E11,13
E15
●
Infomation
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.ctiautomation.net - Email: [email protected] F48
