Advanced Gain Tuning Further Evolution in Real-Time Auto-Gain Tuning

Transcription

1 "A (Ace)" ervo for the Next Generation MINA A eries Advanced Gain Tuning Further Evolution in Real-Time Auto-Gain Tuning Agile and Intelligent Improved Damping Control handles all types of machines, from low to high stiffness machines with simple but solid operation Almighty osition Control, Velocity Control and Torque Control in one Driver supports multiplicity of application. Amazingly slim size Another Evolution in down-sizing, by 25% in size (compared to A-series)

2 Details of Features Further Adjustment-Free Operation High-functionality Real-Time Auto-Gain Tuning Corresponds to even variation of load inertia. Offers real automatic gain tuning to low and high stiffness machines with a combination of an adaptive filter. upports the vertical axis application where the load is different in rotational direction. revents the machine from over-traveling during automatic gain tuning with over-travel detecting function. Enables you to set and check while monitoring real-time automatic gain tuning conditions on the front panel. actual speed (r/min) Torque [%] peed uppress vibration quickly Filter is invalid Completion of filter frequency setup Corresponds to wider frequency range (-1500Hz) uppresses vibration quickly Further High-peed 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 magnitude db resent MINA A-eries 30 MINA-A4eries frequencyhz standard deviation of detected speed [r/min] Variation of detected speed at stopping Velocity gain is doubled compared to A-eries 0.1 velocity gain [Hz] MINA A4-eries High-functionality Real-Time Auto-Gain Tuning upports 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.

3 MINA A Details of Features Further Reduction of Vibration Adaptive filter Makes the notch filter frequency automatically follow the machine resonance frequency. uppression 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 2-channel notch filters are equipped in the driver independent from adaptive filter. You can set up both frequency and width for each of 2 filters, and set up frequency in unit of 1Hz. uppression of "Judder" noise of the machine which has multiple resonance points can be expected Effect of notch filter without notch filter with notch filter speed (1000r/min/div) 50ms/div Damping control (33.3%/div) 50ms/div 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 rot ating direction or with an external input to correspond to the variation of vibration frequency caused by the machine position. MINA A4 Details of Features Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation motor movement machine movement without damping control actual speed (r/min) Torque [%] s osition deviation pulse with damping control actual speed (r/min) Torque [%] no vibration st motor shaft least vibration and fast response s Command speedr/min osition deviation [pulse]

4 Further Flexibility and Multiplicity etup support with substantial monitoring function Regeneration discharging function Faster communication speed of R232C/R485 (Max.5600bps) establishes an easy and comfortable operating condition for setup support software, "ANATERM ". Displays the factors of no-motor run and helps you to analyze the causes of troubles. You can set up the panel operation lock to inhibit the operation from the front panel, thus enables you to prevent miss-operation such as unintentional change of parameters. *Note) Refer to page "F3" for setup support software. Command control modes Offers you "osition", "Velocity (including internal 8-speed)" and "Torque" command control modes You can set up any one of the command control modes, or selectable two command control mode with parameter. You can set up any command control mode depending on your application. Monitoring function with front panel LED display and analog monitor terminals are installed in the front panel. Displays " speed", " " osition deviation", " load factor" and "Regeneration load factor" on LED. You can monitor " speed"," " and "osition deviation" through analog monitor terminals. Discharges the regenerative energy with resister, which energy is generated while stopping the load with large moment of inertia, or use in up-down operation, and is returned to the driver from the motor. No regeneration discharge resistor is built-in to Frame A driver (MADDT1105 type.) and Frame B driver (MBDDT2210 type.), and we recommend you to connect optional regenerative resistor. Regenerative resistor is built-in to Frame C to F drivers, however, connection of the optional regenerative resistor bring you further regenerative capability. Built-in dynamic brake You can select the dynamic brake action which short the servo motor windings of U, V and W, at ervo-off, CW/CCW overtravel inhibition, power shutdown and trip. You can select the action sequence setup depending on the machine requirement. ositioning pulse Corresponds up to 2Mpps of pulse input at positioning control. etup support software Trial run (JOG) Features the function for trial (JOG) run through the front panel or console (option) without connecting to a host controller. You can shorten the machine setup time. With the setup support software, "ANATERM " via R232C/R485 communication port, you can monitor the running status of the driver and set up parameters. You can read out the absolute position data of the motor with absolute encoder. Full-closed control (High precision positioning) Features the full-closed control of position and velocity, using the signals from linear scale installed on the load side and high resolution encoder. Note) Applicable external linear scales are as follows, AT500 series by Mitutoyo T1 by Mitutoyo Best suits to high precision machines. Inrush current suppressing function 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. revents unintentional shutdown of the power supply circuit breaker in multi-axes application and does not give load to the power line. Wave-form graphic function With the setup support software, "ANATERM ", you can monitor the "Commanded speed", "Actual speed","torque", "osition deviation " and "ositioning complete signal". Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F3" for setup support software. Torque limit value switching You can setup 2 limits and use them for tension control or press & hold control

5 MINA A Details of Features EMI F4 voltage sag immunity Frequency analyzing function Features the function which complies to voltage sag immunity standard of EMI F4 at no load or light load. Useful for semiconductor industry. Notes) 1)Not applicable to single phase, 100V type. 2)Verify with the actual machine condition to F4, voltage sag immunity standard. You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "ANATERM " Helps you to analyze the machine and shorten the setup time Applicable overseas safety standards ubject tandard conformed IEC IEC UL1004 CA22.2 NO.100 EN5018 UL508C EN55011 Radio Disturbance Characteristics of Industrial, cientific and Medical (IM) Radio-Frequency Equipment EN Immunity for Industrial Environments IEC Electrostatic Discharge Immunity Test IEC Radio Frequency Electromagnetic Field Immunity Test IEC Electric High-peed Transition henomenon/burst Immunity Test IEC Lightening urge Immunity Test IEC High Frequency Conduction Immunity Test IEC Instantaneous Outage Immunity Test I E C : International Electrotechnical Commission E N : Europaischen Normen EMC : Electromagnetic Compatibility U L : Underwriters Laboratories CA : Canadian tandards Association and driver Conforms to Low- Voltage Directives Conforms to references by EMC Directives MINA A4 Details of Features

6 List of pecifications series Rated output (kw) Rated rotational speed (Max. speed) (r/min) Rotary encoder 2500p/r incremen tal 1bit absolute/ incremental Brake Holding Gear High precision CE/UL Enclosure Features Applications Ultra low inertia MAMA models 0.1, 0.2, 0.4 and (6000) I65 (Except shaft through hole and connector). mall capacity. uitable for the machines directly coupled with high speed ball screw and high stiffness and high repetitive application. MT machines. Inserters. High repetitive positioning application MMD models 0.05, 0.1, 0.2, 0.4 and (5000) *For 400W/100V and 50W 3000 (4500) I65. (Except shaft mall capacity through hole. uitable for all and applications connector). Inserters. Belt driven machines. Unloading robot Low inertia MQMA models 0.1, 0.2 and (5000) *For 400W/100V 3000 (4500) I65 (Except shaft through hole and connector). mall capacity. uitable for flat type and low stiffness machines with belt driven. MT machines. Inserters. Belt driven machines. Unloading robot MMA models 1.0,1.5,2.0, 3.0,4.0 and (5000) *For 4kW and 5kW 3000 (4500) I65 (Except cannon plug/ connector pins). Middle capacity. uitable for the machines directly coupled with ball screw and high stiffness and high repetitive application. MT machines. Inserter. Food machines MDMA models 1.0,1.5,2.0, 3.0,4.0 and (3000) I65 (Except cannon plug/ connector pins). Middle capacity. uitable for low stiffness machines with belt driven. Belt driven machines. Conveyers. Robots Middle inertia MGMA models 0.9,2.0, 3.0 and (0) I65 (Except cannon plug/ connector pins). Middle capacity. uitable for machines requiring low speed with high. Belt driven machines. Conveyers. Robots MFMA models 0.4,1.5, 2.5 and (3000) I65 (Except cannon plug/ connector pins). Middle capacity. Flat type and suitable for machines with space limitation. Robots. Food machines High inertia MHMA models 0.5,1.0,1.5, 2.0,3.0,4.0 and (3000) I65 (Except cannon plug/ connector pins). Middle capacity. uitable for low stiffness machines with belt driven, and large load moment of inertia. Belt driven machines. Conveyors. Robots

7 MINA A List of pecifications/ Model Designetion ervo MAMA MMD Type Ultra low inertia (100W-50W) Low inertia (50W-50W) MQMA MMA MDMA MGMA MFMA MHMA Low inertia (100W-400W) Low inertia (1.0kW-5.0W) Ultra low inertia (100W-50W) Middle inertia (900W-4.5kW) Middle inertia (400W-4.5kW) Hi inertia (500W-5.0kW) rated output Rated output Rated output 5A 50W kW W W kW 2.5kW W 500W 50W 900W kW 4.0kW 4.5kW 5.0kW kW with reduction gear Type Low inertia (100W-50W) rated output Rated output Design order 1 : tandard Voltage specifications 1 2 Z Voltage specifications pecifications Format common pecifications 100V V 100V/V common(50w only) Format ulse counts Resolution Wires common ervo Driver 1bit ulse counts Resolution bit pecial specifications structure haft Key-way 3 4 Wires 5 Gear reduction ration, gear type Gear reduction output (W) ratio N 1 / 5 2N 1 / 9 3N 1 / 15 4N 1 / 25 Holding brake without with structure MMD, MQMA haft Holding brake Oil seal Key-way, center tap without with without with T with oil seal is manufactured by order. MMA, MDMA, MGMA, MFMA, MHMA haft Holding brake Oil seal Round Key-way without with without with G H MAMA haft Holding brake Oil seal Round Key-way without with without with A B E F ee page, A4-1 for motor specifications Gear type For high accuracy ee page, A4-69 for motor with gear reducer specifications MINA A4 List of pecifications/model Designetion pecial specifications Frame symbol Frame MADD A4 series, Frame A MBDD A4 series, Frame B MCDD A4 series, Frame C MDDD A4 series, Frame D MEDD A4 series, Frame E MFDD A4 series, Frame F ower device Max. current rating ower device Max. current rating 1 0A T1 T2 T3 T5 T TA TB 1 5A 3 0A 5 0A 5A 1 0 0A 1 5 0A upply voltage specifications pecifications 1 ingle phase, 100V 2 ingle phase, V 3 3 hase, V 5 ingle/3-phase,v Current detector current rating A2 Current detector, current rating 5A.5A 1 0A 2 0A 3 0A 4 0A 6 4A 9 0A 1 2 0A ee page, A4-3 for driver specifications

8 Wiring example Driver Frame Type (Frame A, B, C, D) For details, refer to the Instruction Manual. Wiring of main circuit Circuit Breaker (NFB) rotects the power lines. huts off the circuit when overcurrent passes. Noise Filter (NF) revents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. (A4-page 14) Magnetic Contactor (MC) Turns on/off the main power of the servo driver. urge absorber to be used together with this. Reactor (L) Reduces harmonic current of the main power. L1 L2 L3 L1C L2C Console ersonal Computer etup support software "ANATERM " C communication cable DC01160 (for C98 series) DV01960 (for DO/V) in RB, RB2 and RB3 RB2 and RB3 to be kept shorted for normal operation. Connector for external equipment (DV04350) or interface connector cable (DV04360) When the internal regenerative resistor capacity has shortage, disconnect between RB2 and RB3, then connect an external regenerative resistor between RB1 and RB2. Regenerative resistor (option) to page A4-1 Driver to page A4-3 Option to page A4-83 Ground (Earth) cable Brake cable Encoder cable Controller Recommended equipments arts customer to prepare ower supply for brake DC24V List of recommended peripheral equipments ower supply voltage ingle phase, 100V ingle phase, V Appli cable motor ower capacity atrated Circuit breaker rated eries Out put load current MMD 50W Approx. 100W 0.4kVA MMD Approx. W 0.5kVA MQMA Approx. 400W 0.9kVA 50W MMD Approx. 100W 0.5kVA BBC MAMA Approx. 2101N 100W 0.3kVA (10A) MQMA MAMA MMD W MQMA MMD 400W MQMA ( )( ) Approx. 0.5kVA Approx. 0.9kVA Noise filter DVO 410 DVO 4180 DVO 410 Noise urge filter absorber (signal) DVO DVO Magnetic contactor (Contact) BMFT61041N 3+1a BMFT61541N 3+1a BMFT61542N 3+1a Cable diameter (Main circuit) 0.5mm 2 to 2.0mm 2 AWG14 to 18 Cable diameter (control circuit) 0.5mm 2 AWG18 Connection to exclusive connector Connector ower supply voltage ingle/ 3-phase, V Appli cable motor eries Out put ower capacity MAMA Approx. 400W MFMA 0.9kVA Approx. MHMA 500W 1.1kVA Approx. MMD 1.3kVA 50W Approx. MAMA 1.6kVA MDMA 1.0kW MHMA Approx. MGMA 900W 1.8kVA MMA 1.0kW MMA MDMA Approx. 1.5kW MFMA 2.3kVA MHMA Circuit breaker rated ( ) ( ) atrated load current BBC 3151N (15A) BBC 3201N (20A) Noise filter DVO 4180 DVO 4220 Noise urge filter absorber (signal) DVO DVO Magnetic contactor (Contact) BMFT61542N 3+1a BMFT61842N 3+1a Cable diameter (Main circuit) 0.5mm 2 to 2.0mm 2 AWG14 to 18 Cable diameter (control circuit) 0.5mm 2 AWG18 2.0mm 2 AWG14 Connection to exclusive connector Connector elect 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 tandards (UL Listed and marked) between noise filter and power supply without fail. For details of noise filter, refer to age A4-14. <Remarks> elect 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 Nm, M5 : 2.0 Nm) may damage the terminal block. Use an earth cable with diameter of 2.0mm 2 (AWG14) or larger for 50W to 1.5kW, 3.5mm 2 (AWG12) or larger for 3kW to 4kW and 5.3mm 2 (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 of 0.3 to 0.35 Nm. Larger than 0.35Nm may damage the connector at the driver side.

9 MINA A Wiring example Driver Frame Type (Frame E, F) For details, refer to the Instruction Manual. Wiring of main circuit Circuit Breaker (NFB) rotects the power lines. huts off the circuit when overcurrent passes. Noise Filter (NF) revents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. (A4-page 14) Magnetic Contactor (MC) Turns on/off the main power of the servo driver. urge absorber to be used together with this. Reactor (L) Reduces harmonic current of the main power. Console ersonal Computer etup support software "ANATERM " C communication cable DC01160 (for C98 series) DV01960 (for DO/V) Connector for external equipment (DV04350) or interface connector cable (DV04360) in RB, RB2 and RB3 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 and B2. Regenerative resistor (option) to page A4-1 Driver to page A4-3 Option to page A4-83 Recommended equipments arts customer to prepare Ground (Earth) cable Brake cable ower supply for brake DC24V Encoder cable Controller MINA A4 Wiring example List of recommended peripheral equipments ower supply voltage 3-phase, V Appli cable motor eries Out put MMA MDMA 2.0kW MHMA MFMA 2.5kW MGMA 2.0kW MMA MDMA 3.0kW MHMA MGMA MMA MDMA 4.0kW MHMA MFMA 4.5kW MGMA MMA MDMA 5.0kW MHMA ower capacity Approx. 3.3kVA Approx. 3.8kVA Approx. 4.5kVA Approx. 6.0kVA Approx. 6.8kVA Approx..5kVA Circuit breaker rated ( )( ) atrated load current BBC 3301N (30A) BBC 3501N (50A) Noise filter DVO 4220 DVO 3410 Noise urge filter absorber (signal) DVO 1450 DVO 1460 Magnetic contactor (Contact) BMF6352N 3+2a2b BMF6652N 3+2a2b Cable diameter (Main circuit) 2.0mm 2 AWG14 3.5mm 2 AWG12 5.3mm 2 AWG10 Cable diameter (control circuit) 0.5mm 2 AWG18 Connection to terminal block M5 Connector elect 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 tandards (UL Listed and marked) between noise filter and power supply without fail. For details of noise filter, refer to age A4-14. <Remarks> elect 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 Nm, M5 : 2.0 Nm) may damage the terminal block. Use an earth cable with diameter of 2.0mm 2 (AWG14) or larger for 50W to 1.5kW, 3.5mm 2 (AWG12) or larger for 3kW to 4kW and 5.3mm 2 (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 of 0.3 to 0.35 Nm. Larger than 0.35Nm may damage the connector at the driver side.

10 Table of art Numbers and Options ingle phase V 3-phase, V ingle phase 100V ingle phase V 3-phase, V MAMA Ultra low inertia MMD low inertia MQMA low inertia Flat MMD low inertia MQMA low inertia Flat MMA low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia MMD low inertia MMA low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia ower supply series MFECA 00EAM MFECA 00ED MFECA 00EAM MFECA 00ED MFECA 00EAE MFECA 00EE MFECA 00EAE MFECA 00EE MFECA 00EAD MFECA 00ED MFECA 00EAD MFECA 00ED MAMA0121 MAMA0221 MAMA0421 MAMA0821 MAMA0421 MAMA0821 MMD5AZ1 MMD0111 MMD0211 MMD0411 MQMA0111 MQMA0211 MQMA0411 MMD5AZ1 MMD0121 MMD0221 MMD0421 MMD0821 MQMA0121 MQMA0221 MQMA0421 MMA1021 MMA1521 MDMA1021 MDMA1521 MGMA0921 MFMA0421 MFMA1521 MHMA0521 MHMA1021 MHMA1521 MMD0821 MMA1021 MMA1521 MMA2021 MMA3021 MMA4021 MMA5021 MDMA1021 MDMA1521 MDMA2021 MDMA3021 MDMA4021 MDMA5021 MGMA0921 MGMA2021 MGMA3021 MGMA4521 MFMA0421 MFMA1521 MFMA2521 MFMA4521 MHMA0521 MHMA1021 MHMA1521 MHMA2021 MHMA3021 MHMA4021 MHMA5021 A4-1 A4-1 A4-1 A4-1 A4-1 A4-1 A4-19 A4-19 A4-21 A4-21 A4-2 A4-2 A4-2 A4-23 A4-23 A4-25 A4-25 A4-25 A4-29 A4-29 A4-29 A4-31 A4-31 A4-35 A4-35 A4-41 A4-45 A4-45 A4-49 A4-49 A4-49 A4-25 A4-31 A4-31 A4-31 A4-33 A4-33 A4-33 A4-35 A4-35 A4-3 A4-3 A4-39 A4-39 A4-41 A4-41 A4-43 A4-43 A4-45 A4-45 A4-4 A4-4 A4-49 A4-49 A4-49 A4-51 A4-51 A4-51 A4-51 A4-1 A4-1 A4-1 A4-1 A4-1 A4-1 A4-19 A4-19 A4-21 A4-21 A4-2 A4-2 A4-2 A4-23 A4-23 A4-25 A4-25 A4-25 A4-29 A4-29 A4-29 A4-31 A4-31 A4-35 A4-35 A4-41 A4-45 A4-45 A4-49 A4-49 A4-49 A4-25 A4-31 A4-31 A4-31 A4-33 A4-33 A4-33 A4-35 A4-35 A4-3 A4-3 A4-39 A4-39 A4-41 A4-41 A4-43 A4-43 A4-45 A4-45 A4-4 A4-4 A4-49 A4-49 A4-49 A4-51 A4-51 A4-51 A4-51 MAMA0121 MAMA0221 MAMA0421 MAMA0821 MAMA0421 MAMA0821 MMD5AZ1 MMD0111 MMD0211 MMD0411 MQMA0111 MQMA0211 MQMA0411 MMD5AZ1 MMD0121 MMD0221 MMD0421 MMD0821 MQMA0121 MQMA0221 MQMA0421 MMA1021 MMA1521 MDMA1021 MDMA1521 MGMA0921 MFMA0421 MFMA1521 MHMA0521 MHMA1021 MHMA1521 MMD0821 MMA1021 MMA1521 MMA2021 MMA3021 MMA4021 MMA5021 MDMA1021 MDMA1521 MDMA2021 MDMA3021 MDMA4021 MDMA5021 MGMA0921 MGMA2021 MGMA3021 MGMA4521 MFMA0421 MFMA1521 MFMA2521 MFMA4521 MHMA0521 MHMA1021 MHMA1521 MHMA2021 MHMA3021 MHMA4021 MHMA5021 MADDT120 MBDDT2210 MCDDT3520 MDDDT5540 MCDDT3520 MDDDT5540 MADDT1105 MADDT110 MBDDT2110 MCDDT3120 MADDT110 MBDDT2110 MCDDT3120 MADDT1205 MADDT120 MBDDT2210 MCDDT3520 MADDT1205 MADDT120 MBDDT2210 MDDDT5540 MDDDT3530 MDDDT5540 MCDDT3520 MDDDT5540 MCDDT3520 MDDDT3530 MDDDT5540 MCDDT3520 MDDDT5540 MEDDT364 MFDDTA390 MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT364 MFDDTA390 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT364 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT364 MFDDTA390 MFDDTB3A2 Driver Frame symbol 1bit, Absolute and 1bit common Output (W) Rating/ pec. (page) Rating/ pec. (page) Rated rotational speed (r/min) Note) 1 Note) 1 Encoder cable Note) 2 Encoder cable Note) 2 Encoder cable Note) 2, A-frame B-frame C-frame D-frame C-frame D-frame A-frame B-frame C-frame A-frame B-frame C-frame A-frame B-frame C-frame A-frame B-frame D-frame C-frame D-frame C-frame D-frame C-frame D-frame E-frame F-frame D-frame E-frame F-frame D-frame F-frame C-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame

11 MINA A Table of art Numbers and Options cable Note) 2 MFMCA 00EED MFMCD 02ECD MFMCA 02ECD MFMCD 02ECD MFMCA 00EED MFMCD 02ECD MFMCD02ECT MFMCA 03ECT MFMCD 02ECD MFMCD02ECT MFMCA 03ECT MFMCD2ECD MFMCA 03ECT MFMCA 02ECD MFMCD 03ECT MFMCD 02ECD MFMCA 03ECT cable (with brake) Note) 2 MFMCA 02FCD MFMCA 02FCD MFMCA02FCT MFMCA 03FCT MFMCA 02FCD MFMCA02FCT MFMCA 03FCT MFMCA2FCD MFMCA 03FCT MFMCA 02FCD MFMCA 03FCT MFMCA 02FCD MFMCA 03FCT Optional parts Brake cable Note) 2 MFMCB 00GET MFMCB 00GET Regenerative resistor DV04283 DV04284 DV04283 DV04284 DV04280 DV04283 DV04282 DV04280 DV04283 DV04282 DV04281 DV04283 DV04281 DV04283 DV04284 DV04283 DV04284 DV04283 DV04284 DV04283 DV04284 DV04285 X2 in parallel DV04284 DV04285 X2 in parallel DV04284 DV04285 X2 in parallel DV04283 DV04284 DV04285 X2 in parallel DV04283 DV04284 DV04285 X2 in parallel Reactor DV0220 DV0221 DV0220 DV0221 DV022 DV0228 DV022 DV0228 DV0220 DV0221 DV0220 DV0221 DV0222 DV0220 DV0222 DV0220 DV0222 DV0221 DV0222 DV0223 DV0224 DV0225 DV0222 DV0223 DV0224 DV0225 DV0222 DV0223 DV0224 DV0220 DV0222 DV0224 DV0220 DV0222 DV0223 DV0224 DV0225 Noise filter DV0410 DV04180 DV04220 DV04180 DV04220 DV0410 DV04180 DV0410 DV04180 DV0410 DV04180 DV0410 DV04220 DV04180 DV04220 DV04180 DV04220 DV04180 DV04220 DV03410 DV04220 DV03410 DV04220 DV03410 DV04180 DV04220 DV03410 DV04180 DV04220 DV03410 Carrying page Instruction manual Options Console etup support software, ANATERM R232C communication cable R485 communication cable Japanese English Japanese English DO/V C98 L=mm L=mm L=500mm L=1000mm Interface cable Connector kit for external equipment Connector kit for motor and encoder Battery for absolute encoder Mounting bracket Encoder cable cable cable (with brake) Brake cable Regenerative resistor Reactor Noise filter Frame A Frame B Frame C 50, 25W 100, 25W 25, 50W 50, 50W 30, 100W 20, 130W ingle hase 100V urge absorber 3-hase V Noise filter for signal wire art No. DV04 DV04210 DV03690 DV04230 DV04240 DV01960 DV01160 DV0190 DV0191 DV0192 DV04360 DV04350 DV04290 DV04380 DV04310 DV04320 DV04330 DV04340 DV02990 DV0421 DV0422 DV0423 DV0424 Frame D MFECA00EAD MFECA00EAE MFECA00EAM MFECA00ED MFECA00EE MFMCA00EED MFMCA02ECD MFMCA03ECT MFMCD02ECD MFMCD02ECT MFMCD03ECT MFMCA02FCD MFMCA02FCT MFMCA03FCT MFMCB00GET DV04280 DV04281 DV04282 DV04283 DV04284 DV04285 DV0220 to DV0228 DV0410 DV04180 DV04220 DV03410 DV04190 DV01450 DV01460 Carrying page A4-91 A4-90 A4-90 A4-89 A4-89 A4-90 A4-90 A4-90 A4-8 A4-8 A4-8 A4-88 A4-88 A4-88 A4-89 A4-89 A4-92 A4-90 A4-90 A4-90 A4-90 A4-84 A4-84 A4-84 A4-84 A4-84 A4-85 A4-85 A4-85 A4-85 A4-85 A4-85 A4-86 A4-86 A4-86 A4-86 A4-92 A4-91 A4-14 A4-14 A4-14 A4-15 Note) 1. represents the motor structure. Note) 2. represents the cable length (specified value) For details, refer to cable specifications (A4-83). MINA A4 Table of art Numbers and Options

12 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. MINA AC ervos 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 MINA ervo ystem 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 tandards ubject IEC EN5018 EN55011 Conformed tandard UL508C Radio Disturbance Characteristics of Industrial, cientific and Medical (IM) Radio-Frequency Equipment Conforms to Low- Voltage Directives IEC : International Electrotechnical Commission EN : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CA : Canadian tandards Association and driver EN IEC IEC IEC Immunity for Industrial Environments Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-peed Transition henomenon/burst Immunity Test Conforms to references by EMC Directives IEC Lightening urge Immunity Test IEC High Frequency Conduction Immunity Test IEC Instantaneous Outage Immunity Test Composition of peripheral equipment Installation environment Use the MINA driver in environment of ollution Degree 1 or 2 prescribed in IEC (e.g. Install the driver in control panel with I54 protection structure.) ower supply Circuit breaker Leakage current breaker (RCD) urge absorber Control panel Insulated power supply for interface Noise filter Controller Noise filter for signal lines L1 L2 L3 Driver L1C(r) L2C(t) CNÐX5 U V W Noise filter for signal lines CNÐX6 ervo motor M RE ower supply 100V system : ingle phase 100V (Frame A to C) V system : ingle V (Frame A to B) V system : ingle/3- phase V (Frame C to D) V system : 3- phase V (Frame E to F) (1)This product is designed to be used under Overvoltage Category (Installation Category) of EN5018 :199. Install a surge absorber which conforms to EN : 2 and other relevant standards at the power entry when you want to use this product under Overvoltage Category (Installation Category) V 15 50/60Hz V 50/60Hz V 50/60Hz V 10 50/60Hz Ground (E) (2)For a interface power supply, use an insulated one with 12 to 24 VDC which conforms to CE Marking or EN tandards.

13 MINA A Conformity to CE and UL Circuit breaker Connect a circuit breaker which conforms to IEC standards and is UL recognized (listed and and the noise filter. marked), between the power supply Noise filter When you install one noise filter in the power supply for multiaxes application, consult with the manufacture of the filter. Option part No. DV0410 DV04180 DV04220 DV03410 art No. U-EK5-ER-6 3U-HQ10-ER-6 3U-HU30-ER-6 3U-HL50-ER-6B Manufacturer Okaya Electric Industries Co. DV0410 Terminal cover (transparent) Earth terminal M4 Label Cover attachment screw M3 Label Cover DV03410 Main body Option part No. A B C D E F G H DV DV Label urge absorber Install a surge absorber at primary side of the noise filter. Option part No. Driver voltage spec art No. Manufacturer Option part No. Driver voltage spec art No. Manufacturer DV phase, V R. A. V-81BXZ-4 Okaya Electric DV04190 ingle phase, 100V, V R. A. V-81BWZ-4 Okaya Electric Circuit diagram Circuit diagram <Remarks> Remove this surge absorber when you perform dielectric test on the machine, or serge absorber might be damaged.

14 Conformity to CE and UL Noise filter for signal lines 391 Install noise filters for signal lines to all cables (ower line, motor cable, encoder cable, interface cable) 341 Option part No. art No. Manufacturer Mass : 62.8g DV01460 ZCAT TDK Corp 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 (E) 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 tandards Observe the following conditions ( (1) and (2)) to make the system conform to UL508C (File No. E164620). (1)Use Minas driver in environment of ollution Degree 1 or 2 prescribed in IEC (e.g. Install in the control panel with I54 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.

15 I65 Rating MINA A Conformity to CE and UL I65 Rating MMD, MQMA and MAMA motors conform to I65 rating except for the connecter and shaft through hole. For MMA, MDMA, MGMA, MFMA and MHMA motors, customer to supply the plug and cable clamp which conform to I65 rating. (Optional connector kits for encoder cable and motor cable do not provide I65 rating.) eries Output (kw) side Receptacle type lug and clamp (Customer to supply ) manufactured by Japan Aviation Electronics Ind. lug Cable clamp type traight type Angle type (L-shape) MMA JL04V-2E20-4E-B JL04V-6A20-4E-EB JL04V-8A20-4E-EB JL CK (14) JL04HV-2E22-22E-B JL04V-6A22-22E-EB JL04V-8A22-22E-EB MDMA JL04V-2E20-4E-B JL04V-6A20-4E-EB JL04V-8A20-4E-EB JL04HV-2E22-22E-B JL04V-6A22-22E-EB JL04V-8A22-22E-EB MGMA 0.9 JL04V-2E20-4E-B JL04V-6A20-4E-EB JL04V-8A20-4E-EB JL04HV-2E22-22E-B JL04V-6A22-22E-EB JL04V-8A22-22E-EB MHMA JL04V-2E20-4E-B JL04V-6A20-4E-EB JL04V-8A20-4E-EB JL04HV-2E22-22E-B JL04V-6A22-22E-EB JL04V-8A22-22E-EB MFMA JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) MMA JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL CK (14) JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) MDMA JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL CK (14) JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) MGMA 0.9 JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL CK (14) JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) MHMA JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL CK (14) JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) MFMA JL04V-2E20-18E-B JL04V-6A20-18E-EB JL04V-8A20-18E-EB JL CK (14) JL04V-2E24-11E-B JL04V-6A24-11E-EB JL04V-8A24-11E-EB JL CK (1) Encoder M3102A JA06A J1-EB JA08A J1-EB JL CK (14)

16 pecifications and Ratings V MAMA 100W to 50W Ultra low inertia mall capacity ACV MAMA Model No. Frame symbol MADDT120 Frame A MBDDT2210 Frame B MCDDT3520 Frame C MDDDT5540 Frame D ower supply capacity (kva) Rated output (W) Rated (N m) Momentary Max. peak (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Without option DV04283 DV04284 No limit No limit Note)2 Note)2 No limit Note)2 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x10-4 kg. m 2 ) Recommended moment of inertia ratio of the load and the rotor Note)3 maller than 15 times Resolution per single turn rotective enclosure rating Ambient temperature Ambient humidity Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type I65 (except shaft through hole and cable end connector) 0to40 (free from freezing), torage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower 49m/s 2 or less 24m/s 2 or less 49m/s 2 or less 24m/s 2 or less 49m/s 2 or less 24m/s 2 or less 49m/s 2 or less 24m/s 2 or less 0.65 (0.85) 0.1 (0.91) 1.1 (1.5) 1.2 (1.6) 1.5 (1.9) 1.6 (2.0) 3.3 (4.0) 3.4 (4.1) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) tatic friction (Nm) Engaging time (ms) Releasing time (ms) Note)4 10 (60) 10 (100) 20 () Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 5% ermissible load Radial load -direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load -direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-53, and for the diver, refer to pages A4-80 and 81.

17 MINA A MAMA 100W 50W Model designation MAMA series, 100W to 50W e.g.) M A M A A MAMA Type Ultra low inertia (100W-50W) rated output Rated output W 02 W W 08 50W Voltage specifications 2 pecifications V Format ulse counts Design order 1 : tandard Resolution Wires 5 structure haft Holding brake Rounded Key-way without with A B E F Oil seal without with Torque characteristics MAMA0121 at ACV of power voltage MAMA0221 MAMA0421 versus rated (%) versus rated (%) *Continuous, [] *Continuous, [] MAMA0821 versus rated (%) versus rated (%) *Continuous, [] *Continuous, [] *When you lower the limit setup (r5e and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : %) Running range (Torque limit setup : %) Continuous running range rotational speed Radial load () direction L L/2 Thrust load (A, B) direction A B haft 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).. ower supply voltage is AC230V (at V 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 is within the rated, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. pecified 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 (V, 1A or equivalent)

18 pecifications and Ratings 100V MMD 50W to 100W Low inertia mall Capacity AC100V model MMD 5AZ1 5AZ Applicable driver Model No. Frame symbol MADDT1105 Frame A MADDT110 ower supply capacity (kva) Rated output (W) Rated (N. m) Momentary Max. peak (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1 Without option DV No limit No limit Note)2 Note)2.2 Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor (x10-4 kg. m 2 ) Recommended moment of inertia ratio of the load and the rotor Note)3 maller than 30 times Resolution per single turn rotective enclosure rating Ambient temperature Ambient humidity I65 (except shaft through hole and cable end connector) 0to40 (free from freezing), torage : -20 to %RH or lower (free from condensing) Environment Installation location Altitude Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower Vibration resistance 49m/s 2 or less 49m/s 2 or less Mass (kg), ( ) represents holding brake type 0.32 (0.53) 0.4 (0.68) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) tatic friction (Nm) Engaging time (ms) Releasing time (ms) Exciting current (DC) (A) Releasing voltage Exciting voltage Note)4 20 () 0.30 DC1V or more DC 24 V 5% ermissible load During assembly During operation Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-54, and for the diver, refer to pages A4-80.

19 MINA A MMD 50W 100W Model designation MMD series, 50W to 100W M M D 5 A Z 1 MMD Type Low inertia (50W-100W) Voltage specifications 1 Z pecifications 100V 100/V (50W only) Design order 1 : tandard structure haft Key-way, center tap T Holding brake without with Oil seal without with rated output Rated output 5A 50W W Format ulse counts Resolution Wires 5 Torque characteristics MMD5AZ1 Without Oil seal With Oil seal versus rated (%) versus rated (%) *Continuous, at AC100V of power voltage (Dotted line represents the at 10% less supply voltage.) MMD011 1 [] without Brake with Brake [] With Oil seal Without Oil seal versus rated (%) versus rated (%) *Continuous, [] *Continuous, without Brake with Brake [] *When you lower the limit setup (r5e and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : %) Running range (Torque limit setup : %) Continuous running range rotational speed Radial load () direction L L/2 Thrust load (A, B) direction A B haft 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).. ower 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 is within the rated, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. pecified releasing time is obtained with the use of surge absorber for brake (Z15D21 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (V, 1A or equivalent)

20 pecifications and Ratings 100V MMD W to 400W Low inertia mall Capacity AC100V model MMD Applicable driver Model No. Frame symbol MBDDT2110 Frame B MCDDT3120 Frame C ower supply capacity (kva) Rated output (W) Rated (N. m) Momentary Max. peak (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1 Without option DV04282 DV04283 No limit Note)2 No limit Note)2 No limit Note)2 Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor (x10-4 kg. m 2 ) Recommended moment of inertia ratio of the load and the rotor Note)3 maller than 30 times Resolution per single turn rotective enclosure rating Ambient temperature Ambient humidity I65 (except shaft through hole and cable end connector) 0to40 (free from freezing), torage : -20 to %RH or lower (free from condensing) Environment Mass (kg), ( Installation location Altitude Vibration resistance ) represents holding brake type Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower 49m/s 2 or less 0.82 (1.3) 1.2 (1.) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) tatic friction (Nm) Engaging time (ms) Releasing time (ms) Exciting current (DC) (A) Releasing voltage Exciting voltage Note)4 15 () 0.36 DC1V or more DC 24 V 5% ermissible load During assembly During operation Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-55, and for the diver, refer to pages A4-80 and 81.

21 MINA A MMD W 400W Model designation MMD series, W to 400W e.g.) M M D MMD Type Low inertia (W-400W) Voltage specifications pecifications 1 100V Design order 1 : tandard structure haft Key-way, center tap T Holding brake without with Oil seal without with rated output Rated output 02 W W Format ulse counts Resolution Wires 5 Torque characteristics MMD0211 at AC100V of power voltage (Dotted line represents the at 10% less supply voltage.) MMD0411 Without Oil seal With Oil seal versus rated (%) versus rated (%) *Continuous, [] *Continuous, without Brake with Brake [] Without Oil seal With Oil seal versus rated (%) versus rated (%) *Continuous, [] *Continuous, [] *When you lower the limit setup (r5e and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : %) Running range (Torque limit setup : %) Continuous running range rotational speed Radial load () direction L L/2 Thrust load (A, B) direction A B haft 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).. ower 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 is within the rated, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. pecified releasing time is obtained with the use of surge absorber for brake (Z15D21 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (V, 1A or equivalent)

22 pecifications and Ratings V MMD 50W to 100W Low inertia mall Capacity ACV model Applicable driver MMD Model No. Frame symbol 5AZ1 5AZ MADDT1205 Frame A ower supply capacity (kva) Rated output (W) Rated (N. m) Momentary Max. peak (N m) Rated current (Arms) 1.1 Max. current (Ao-p) 4. Regenerative brake frequency (times/min) Note)1 Without option DV04281 No limit No limit Note)2 Note)2 Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor (x10-4 kg. m 2 ) Recommended moment of inertia ratio of the load and the rotor Note)3 maller than 30 times Resolution per single turn rotective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type I65 (except shaft through hole and cable end connector) 0to40 (free from freezing), torage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 1000m or lower 49m/s 2 or less 49m/s 2 or less Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) tatic friction (Nm) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage () 0.30 DC1V or more DC 24 V 5% ermissible load During assembly During operation Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load -direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-54, and for the diver, refer to pages A4-80.

23 MINA A MMD 50W 100W Model designation MMD series, 50W to 100W e.g.) M M D 5 A Z 1 MMD Type Low inertia (50W-100W) Voltage specifications 2 Z pecifications V 100/V (50W only) Design order 1 : tandard structure haft Key-way, center tap T Holding brake without with Oil seal without with rated output Rated output 5A 50W W Format ulse counts Resolution Wires 5 Torque characteristics MMD5AZ1 Without Oil seal With Oil seal versus rated (%) versus rated (%) at ACV of power voltage *Continuous, *Continuous, without Brake with Brake [] MMD0121 Without Oil seal With Oil seal versus rated (%) versus rated (%) *Continuous, [] *Continuous, without Brake with Brake [] *When you lower the limit setup (r5e and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : %) Running range (Torque limit setup : %) Continuous running range rotational speed Radial load () direction L L/2 Thrust load (A, B) direction A B haft 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).. ower supply voltage is AC230V (at V 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 is within the rated, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. pecified releasing time is obtained with the use of surge absorber for brake (Z15D21 by IshizukaElectronic or equivalent). ( ) represents the actually measured value using a diode (V, 1A or equivalent)