Advanced Gain Tuning. Agile and Intelligent. Almighty. Amazingly slim size. Series. "A (Ace)" Servo for the Next Generation

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1 "A (Ace)" Servo for the Next Generation MINAS A Series 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 Position 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 Features Details of Features List of Specifications Model Designation Wiring Example Contents Table of Part Numbers and Options Driver MINAS A <Common Specifications> <Standard Wiring Example of Main Circuit> <Encoder Wiring Diagram> <Standard Wiring Example of Control Circuit Standard> <Table of Applicable Motors> <Dimensions> Motor <Ratings/Specifications/Torque Characteristics> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA <Dimensions> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA Motor with Gear Reducer/MSMD <General Specifications> <Ratings/Specifications> <Torque Characteristics> <Dimensions> Conformity to CE and UL IP65 Rating Options Recommended components Features/Contents MINAS A4 Series A4- A4-3 A4-7 A4-8 A4-9 A4-3 A4-5 A4-7 A4-9 A4-20 A4-2 A4-22 A4-49 A4-49 A4-5 A4-59 A4-63 A4-67 A4-73 A4-77 A4-8 A4-87 A4-87 A4-88 A4-90 A4-9 A4-93 A4-96 A4-99 A4-0 A4-05 A4-06 A4-07 A4-08 A4-09 A4-2 A4-3 A4-27 MINAS A4 Features/Contents Remarks :Instruction manual is available as an option as Japanese version : DV0P4200 and English version : DV0P420

3 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. 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 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) comand speed (r/min) Waveform adjusted via auto-tuning driven by a ball screw Stabilization time of 4 ms or less torque (N) positional deviation (pulse) Further High-Speed and High-Response Velocity response (bandwidth) of khz 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 Present MINAS A-Series MINAS-A4Series frequencyhz standard deviation of detected speed [r/min] 00 0 Variation of detected speed at stopping Velocity gain is doubled compared to A-Series 0. velocity gain [Hz] MINAS A4-Series 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.

4 MINAS A Further Reduction of Vibration Details of Features Adaptive filter Makes the notch filter frequency automatically follow the machine resonance frequency. 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 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 Hz. Suppression of "Judder" noise of the machine which has multiple resonance points can be expected actual speed (r/min) Torque [%] Speed Suppress vibration quickly Filter is invalid Completion of filter frequency setup Corresponds to wider frequency range (-500Hz) Suppresses vibration quickly Effect of notch filter without notch filter with notch filter 50ms/div Damping control speed (000r/min/div) torque (33.3%/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.Hz 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. 50ms/div Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation MINAS A4 Details of Features motor movement machine movement without damping control actual speed (r/min) Torque [%] s Position deviation pulse with damping control actual speed (r/min) Torque [%] no vibration at motor shaft s Command speedr/min Position deviation [pulse] least vibration and fast response

5 Further Flexibility and Multiplicity Setup support with substantial monitoring function Regeneration discharging function Faster communication speed of RS232/RS485 (Max.57600bps) establishes an easy and comfortable operating condition for setup support software, "PANATERM ". 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 "F4" for setup support software. Command control modes Offers you "Position", "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 "Motor speed", "Motor torque" Position deviation", "Motor load factor" and "Regeneration load factor" on LED. You can monitor "Motor speed","motor torque" and "Position deviation" through analog monitor terminals. Discharges the regenerative energy with resistor, 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 (MADDT05 type.) and Frame B driver (MBDDT220 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 Servo-OFF, CW/CCW overtravel inhibition, power shutdown and trip. You can select the action sequence setup depending on the machine requirement. Positioning pulse Corresponds up to 2Mpps of pulse input at positioning control. Setup 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, "PANATERM " via RS232/RS485 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) 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 resolution encoder. Note) Applicable external linear scales are as follows, AT500 series by Mitutoyo (Resolution 0.05[m], max, speed 2[m/s]) ST77 series by Mitutoyo (Resolution 0.5[m], max, speed 2[m/s]) Best suits to high precision machines. Inrush current suppressing function 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. With the setup support software, "PANATERM ", you can monitor the "Command speed", "Actual speed","torque", "Position deviation " and "Positioning complete signal". Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F4" for setup support software. Torque limit value switching You can setup 2 torque limits and use them for tension control or press & hold control It is possible to apply it to bumping homing

6 MINAS A Details of Features SEMI F47 voltage sag immunity Features the function which complies to voltage sag immunity standard of SEMI F47 at no load or light load. Useful for semiconductor industry. Notes) )Not applicable to single phase, 00V type. 2)Verify with the actual machine condition to F47, voltage sag immunity standard. Frequency analyzing function You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "PANATERM " Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F4" for setup support software. Applicable overseas safety standards Subject Motor Motor and driver Standard conformed IEC IEC UL004 CSA22.2 NO.00 EN5078 UL508C EN550 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment EN Immunity for Industrial Environments IEC Electrostatic Discharge Immunity Test IEC Radio Frequency Electromagnetic Field Immunity Test IEC Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC Lightening Surge 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 CSA : Canadian Standards Association Conforms to Low- Voltage Directives Conforms to references by EMC Directives MINAS A4 Details of Features

7 List of Specifications Motor series Rated output (kw) Rated rotational speed (Max. speed) (r/min) Rotary encoder incremen tal 7bit absolute/ incremental Brake Holding Gear High precision CE/UL Enclosure Features Applications Ultra low inertia MAMA models 0., 0.2, 0.4 and (6000) IP65 (Except shaft through hole and connector). Small capacity. Suitable for the machines directly coupled with high speed ball screw and high stiffness and high repetitive application. SMT machines. Inserters. High repetitive positioning application MSMD models 0.05, 0., 0.2, 0.4 and (5000) *For 400W/00V and 750W 3000 (4500) IP65. (Except shaft Small capacity through hole. Suitable for all and applications connector). Inserters. Belt driven machines. Unloading robot Low inertia MQMA models 0., 0.2, and (5000) *For 400W/00V 3000 (4500) IP65 (Except shaft through hole and connector). Small capacity. Suitable for flat type and low stiffness machines with belt driven. SMT machines. Inserters. Belt driven machines. Unloading robot MSMA models.0,.5,2.0, 3.0,4.0 and (5000) *For 4kW and 5kW 3000 (4500) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for the machines directly coupled with ball screw and high stiffness and high repetitive application. SMT machines. Inserter. Food machines MDMA models.0,.5,2.0, 3.0,4.0,5.0 and (3000) *For 7.5kW 500 (3000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for low stiffness machines with belt driven. Belt driven machines. Conveyers. Robots Middle inertia MGMA models 0.9,2.0, 3.0,4.5 and (2000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for machines requiring low speed with high torque. Belt driven machines. Conveyers. Robots MFMA models 0.4,.5, 2.5 and (3000) IP65 (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,.0,.5, 2.0,3.0,4.0, 5.0 and (3000) *For 7.5kW 500 (3000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for low stiffness machines with belt driven, and large load moment of inertia. Belt driven machines. Conveyors. Robots Motor is sharing with A4P series

8 Model Designation Servo Motor MINAS A List of Specifications/ Model Designation Symbol MAMA MSMD Type Ultra low inertia (00W-750W) Low inertia (50W-750W) MQMA MSMA MDMA MGMA MFMA MHMA Low inertia (00W-400W) Low inertia (.0kW-5.0W) Middle inertia (.0kW-7.5kW) Middle inertia (900W-6.0kW) Middle inertia (400W-4.5kW) High inertia (500W-7.5kW) Motor rated output Symbol Rated output Symbol Rated output 5A 50W 5.5kW W 200W kW 2.5kW W 500W 750W 900W.0kW kW 4.0kW 4.5kW 5.0kW 6.0kW 7.5kW Motor with reduction gear Symbol Type Low inertia (00W-750W) Motor rated output Symbol Rated output Voltage specifications Symbol Specifications Rotary encoder specifications Symbol Format Pulse counts Resolution Wires P S common 7bit Servo Driver Special specifications Motor structure MSMD(standard stock), MQMA(build to order) Design order Shaft Holding brake Oil seal : Standard Symbol Round Key-way, without with without with center tap Rotary encoder specifications A Symbol Format Pulse counts Resolution Wires B P S T S 7bit Motor with oil seal is manufactured by order. common MSMA, MDMA, MGMA, MFMA, MHMA Voltage specifications Symbol Shaft Holding brake Oil seal Round Key-way without with without with Symbol Specifications C 00V D 2 200V 00V/200V G Z common(50w only) H Products are standard stock items or build to order items. See index (page F3). 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 F3). See page, A4-49 for motor specifications Gear reduction ration, gear type Motor output (W) Symbol Gear reduction ratio N / 5 2N / 9 3N / 5 4N / 25 Motor structure Shaft Holding brake Symbol Key-way without with 3 4 Gear type For high accuracy See page, A4-05 for motor with gear reducer specifications MINAS A4 List of Specifications/Model Designation Special specifications Frame symbol 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 MGDD A4 series, Frame G Power device Max. current rating Symbol Power device Max. current rating T 0A T2 5A T3 3 0A T5 5 0A T7 7 5A TA 0 0A TB 5 0A TC 3 0 0A Supply voltage specifications Symbol Specifications Single phase, 00V 2 Single phase, 200V 3 3-phase, 200V 5 Single/3-phase,200V Current detector current rating Current detector, current rating Symbol A2 B4 5A 7.5A 0A 2 0A 3 0A 4 0A 6 4A 9 0A 2 0A 2 4 0A See page, A4-5 for driver specifications

9 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. Reactor (L) Reduces harmonic current of the main power. 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 RB and RB2. L L2 L3 LC L2C Console (DV0P4420) Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P960) Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360) Regenerative resistor (option) Encoder cable Controller Motor to page A4-49 Ground (Earth) Motor cable Brake cable Power supply for brake DC24V Driver Option Recommended equipments to page A4-5 to page A4-3 to page A4-2 Parts customer to prepare

10 MINAS A Wiring example Driver Frame Type Symbol (Frame E, F) For details, refer to the Instruction Manual. Wiring of main circuit Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes. Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. Reactor (L) Reduces harmonic current of the main power. P, B and B2 B and B2 to be kept shorted for normal operation. When the internal regenerative resistor capacity has shortage, disconnect between B and B2, then connect an external regenerative resistor between P and B2. Console (DV0P4420) Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P960) Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360) Encoder cable Controller MINAS A4 Wiring example Regenerative resistor (option) Ground (Earth) Motor cable Brake cable Power supply for brake DC24V Motor to page A4-49 Driver Option Recommended equipments to page A4-5 to page A4-3 to page A4-2 Parts customer to prepare

11 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 Console (DV0P4420) Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P960) Connector for external equipment (DV0P4350) or interface connector cable (DV0P4360) M Controller Encoder cable Regenerative resistor (option) Motor to page A4-49 Driver Option to page A4-5 to page A4-3 Ground (Earth) Regenerative discharge register overheat detection I/O terminal Motor cable Brake cable Power supply for brake DC24V Recommended equipments Parts customer to prepare to page A4-2 Fan stop signal output terminal

12 MINAS A Wiring example List of recommended peripheral equipments Power supply voltage Applicable motor Series Output Power Circuit capacity breaker (atrated load) (rated current) Noise filter Surge absorber Noise filter (signal) Magnetic contactor (Contact) Cable diameter (Main circuit) Cable diameter (controlcircuit) Connector Single phase, 00V Single phase, 200V Single/ 3-phase, 200V 3-phase, 200V MSMD MSMD MQMA MSMD MAMA MQMA MAMA MSMD MQMA MSMD MQMA MAMA MFMA MHMA MSMD MAMA MDMA MHMA MGMA MSMA MSMA MDMA MFMA MHMA MSMA MDMA MHMA MFMA MGMA MSMA MDMA MHMA MGMA MSMA MDMA MHMA MFMA MGMA MSMA MDMA MHMA MGMA MDMA MHMA 50W 00W 200W 400W 50W 00W 00W 200W 400W 400W 500W 750W.0kW 900W.0kW.5kW 2.0kW 2.5kW 2.0kW 3.0kW 4.0kW 4.5kW 5.0kW 6.0kW 7.5kW Approx. 0.4kVA Approx. 0.5kVA Approx. 0.9kVA Approx. 0.5kVA Approx. 0.3kVA Approx. 0.5kVA Approx. 0.9kVA Approx. 0.9kVA Approx..kVA Approx..3kVA Approx..6kVA Approx..8kVA Approx. 2.3kVA Approx. 3.3kVA Approx. 3.8kVA Approx. 4.5kVA Approx. 6.0kVA Approx. 6.8kVA Approx. 7.5kVA Approx. 9.0kVA Approx. kva BBC 20N (0A) BBC 35N (5A) BBC 320N (20A) BBC 330N (30A) BBC 350N (50A) BBC 360N (60A) DV0P 470 DV0P 480 DV0P 470 DV0P 480 DV0P 4220 DV0P 340 DV0P 490 DV0P 450 DV0P 460 BMFT604N 3P+a BMFT654N 3P+a BMFT6542N 3P+a BMFT6842N 3P+a BMF6352N 3P+2a2b BMF6652N 3P+2a2b 0.75mm 2 to 2.0mm 2 AWG4 to 8 2.0mm 2 AWG4 3.5mm 2 AWG2 5.3mm 2 AWG0 L,L2,L3 5.3mm 2 AWG0 U.V.W 4mm 2 AWG6 0.75mm 2 AWG8 Connection to exclusive connector Connection to terminal block M5 MINAS A4 Wiring example 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 A4-0. <Remarks> 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 :.2 Nm, M5 : 2.0 Nm) may damage the terminal block. Use an earth cable with diameter of 2.0mm 2 (AWG4) or larger for 50W to 2.5kW, 3.5mm 2 (AWG2) or larger for 3kW to 4kW, 5.3mm 2 (AWG0) or larger for 4.5kW to 5kW and 4mm 2 (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 Nm.

13 Table of Part Numbers and Options Single phase 200V 3-phase, 200V Single phase 00V Single phase 200V 3-phase, 200V MAMA Ultra low inertia MSMD Low inertia MQMA Low inertia Flat MSMD Low inertia MQMA Low inertia Flat MSMA Low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia MSMD Low inertia MSMA Low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia Note) Note) Power supply Motor series MFECA 00EAM MFECA 00ESD MFECA 00EAM MFECA 00ESD MFECA 00EAE MFECA 00ESE MFECA 00EAE MFECA 00ESE MFECA 00EAD MFECA 00ESD MFECA 00EAD MFECA 00ESD MAMA02P MAMA022P MAMA042P MAMA082P MAMA042P MAMA082P MSMD5AZP MSMD0P MSMD02P MSMD04P MQMA0P MQMA02P MQMA04P MSMD5AZP MSMD02P MSMD022P MSMD042P MSMD082P MQMA02P MQMA022P MQMA042P MSMA02P MSMA52P MDMA02P MDMA52P MGMA092P MFMA042P MFMA52P MHMA052P MHMA02P MHMA52P MSMD082P MSMA02P MSMA52P MSMA202P MSMA302P MSMA402P MSMA502P MDMA02P MDMA52P MDMA202P MDMA302P MDMA402P MDMA502P MDMA752P MGMA092P MGMA202P MGMA302P MGMA452P MGMA602P MFMA042P MFMA52P MFMA252P MFMA452P MHMA052P MHMA02P MHMA52P MHMA202P MHMA302P MHMA402P MHMA502P MHMA752P A4-49 A4-49 A4-49 A4-49 A4-49 A4-49 A4-5 A4-5 A4-53 A4-53 A4-59 A4-59 A4-59 A4-55 A4-55 A4-57 A4-57 A4-57 A4-6 A4-6 A4-6 A4-63 A4-63 A4-67 A4-67 A4-73 A4-77 A4-77 A4-8 A4-8 A4-8 A4-57 A4-63 A4-63 A4-63 A4-65 A4-65 A4-65 A4-67 A4-67 A4-69 A4-69 A4-7 A4-7 A4-7 A4-73 A4-73 A4-75 A4-75 A4-75 A4-77 A4-77 A4-79 A4-79 A4-8 A4-8 A4-8 A4-83 A4-83 A4-83 A4-83 A4-85 A4-49 A4-49 A4-49 A4-49 A4-49 A4-49 A4-5 A4-5 A4-53 A4-53 A4-59 A4-59 A4-59 A4-55 A4-55 A4-57 A4-57 A4-57 A4-6 A4-6 A4-6 A4-63 A4-63 A4-67 A4-67 A4-73 A4-77 A4-77 A4-8 A4-8 A4-8 A4-57 A4-63 A4-63 A4-63 A4-65 A4-65 A4-65 A4-67 A4-67 A4-69 A4-69 A4-7 A4-7 A4-7 A4-73 A4-73 A4-75 A4-75 A4-75 A4-77 A4-77 A4-79 A4-79 A4-8 A4-8 A4-8 A4-83 A4-83 A4-83 A4-83 A4-85 MAMA02S MAMA022S MAMA042S MAMA082S MAMA042S MAMA082S MSMD5AZS MSMD0S MSMD02S MSMD04S MQMA0S MQMA02S MQMA04S MSMD5AZS MSMD02S MSMD022S MSMD042S MSMD082S MQMA02S MQMA022S MQMA042S MSMA02S MSMA52S MDMA02S MDMA52S MGMA092S MFMA042S MFMA52S MHMA052S MHMA02S MHMA52S MSMD082S MSMA02S MSMA52S MSMA202S MSMA302S MSMA402S MSMA502S MDMA02S MDMA52S MDMA202S MDMA302S MDMA402S MDMA502S MDMA752S MGMA092S MGMA202S MGMA302S MGMA452S MGMA602S MFMA042S MFMA52S MFMA252S MFMA452S MHMA052S MHMA02S MHMA52S MHMA202S MHMA302S MHMA402S MHMA502S MHMA752S MADDT207 MBDDT220 MCDDT3520 MDDDT5540 MCDDT3520 MDDDT5540 MADDT05 MADDT07 MBDDT20 MCDDT320 MADDT07 MBDDT20 MCDDT320 MADDT205 MADDT207 MBDDT220 MCDDT3520 MADDT205 MADDT207 MBDDT220 MDDDT5540 MDDDT3530 MDDDT5540 MCDDT3520 MDDDT5540 MCDDT3520 MDDDT3530 MDDDT5540 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MGDDTC3B4 MDDDT5540 MFDDTA390 MFDDTB3A2 MGDDTC3B4 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MGDDTC3B4 Driver Frame symbol 7bit, common and 7bit common Output (W) Rating/ Spec. (page) Rating/ Spec. (page) Rated rotational speed (r/min) Motor Note) Motor Note) 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 G-frame D-frame F-frame G-frame C-frame D-frame E-frame F-frame C-frame D-frame E-frame F-frame G-frame

14 MINAS A Table of Part Numbers and Options Motor cable Note) 2 MFMCA 00EED MFMCD 02ECD MFMCA 02ECD MFMCD 02ECD MFMCA 00EED MFMCD 02ECD MFMCD02ECT MFMCA 03ECT MFMCD 02ECD MFMCD02ECT MFMCA 03ECT MFMCA 03ECT MFMCA 02ECD MFMCD 03ECT MFMCD 02ECD MFMCA 03ECT MFMCA 02FCD MFMCA 02FCD MFMCA02FCT MFMCA 03FCT MFMCA 02FCD MFMCA02FCT MFMCA 03FCT MFMCD2ECD MFMCA2FCD Motor cable (with brake) Note) 2 MFMCA 03FCT MFMCA 02FCD MFMCA 03FCT MFMCA 02FCD MFMCA 03FCT Optional parts Brake cable Note) 2 MFMCB 00GET MFMCB 00GET Regenerative resistor DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4280 DV0P4283 DV0P4282 DV0P4280 DV0P4283 DV0P4282 DV0P428 DV0P4283 DV0P428 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4285 X4 in parallel DV0P4284 DV0P4285 X2 in parallel DV0P4285 X4 in parallel DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4285 X4 in parallel Reactor DV0P220 DV0P22 DV0P220 DV0P22 DV0P227 DV0P228 DV0P227 DV0P228 DV0P220 DV0P22 DV0P220 DV0P22 DV0P222 DV0P220 DV0P222 DV0P220 DV0P222 DV0P22 DV0P222 DV0P223 DV0P224 DV0P225 DV0P222 DV0P223 DV0P224 DV0P225 DV0P222 DV0P223 DV0P224 DV0P220 DV0P222 DV0P224 DV0P220 DV0P222 DV0P223 DV0P224 DV0P225 Noise filter DV0P470 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P470 DV0P480 DV0P470 DV0P480 DV0P470 DV0P480 DV0P470 DV0P4220 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P340 DV0P4220 DV0P340 DV0P340 DV0P4220 DV0P340 DV0P480 DV0P4220 DV0P340 DV0P480 DV0P4220 DV0P340 Carrying page Options Japanese Instruction manual English Console Setup support software, Japanese PANATERM English RS232 communication cable (for connection with PC) RS485 communication cable Interface cable Connector kit for external equipment Connector kit for motor and encoder Battery for absolute encoder Frame A Frame B Mounting bracket Frame C Encoder cable Motor cable Motor cable (with brake) Brake cable Regenerative resistor Reactor Noise filter 50, 25W 00, 25W 25, 50W 50, 50W 30, 00W 20, 30W Part No. Frame D DV0P4274 MFECA00EAD MFECA00EAE MFECA00EAM MFECA00ESD MFECA00ESE MFMCA00EED MFMCA02ECD MFMCA03ECT MFMCD02ECD MFMCD02ECT MFMCD03ECT MFMCA02FCD MFMCA02FCT MFMCA03FCT MFMCB00GET Single phase 00V, 200V Surge absorber 3-phase 200V Noise filter for signal wire DV0P960 DV0P970 DV0P97 DV0P972 DV0P4360 DV0P4350 DV0P4290 DV0P4380 DV0P430 DV0P4320 DV0P4330 DV0P4340 DV0P3470 DV0P3480 DV0P2990 DV0P427 DV0P4272 DV0P4273 DV0P228 DV0P470 DV0P480 DV0P4220 DV0P340 DV0P490 DV0P450 DV0P460 Carrying page A4-24 A4-23 A4-9 A4-9 A4-9 A4-8 A4-20 A4-2 A4-22 A4-26 A4-23 A4-5 A4-6 A4-7 A4-7 DV0P4280 DV0P428 DV0P4282 A4-25 DV0P4283 DV0P4284 DV0P4285 DV0P220 to A4-24 A4-0 A4-0 A4- Note). represents the motor structure. Note) 2. represents the cable length (specified value) For details, refer to cable specifications (A4-3). Note) 3. MINAS A4 Table of Part Numbers and Options

15 Common Specifications of Driver Main circuit Single phase, 00-5V +0% -5% 50/60Hz 00V Control circuit Single phase, 00-5V +0% -5% 50/60Hz Frame A, B Single phase, V +0% -5% 50/60Hz Input power Main circuit Frame C, D Single/3-phase, V +0% -5% 50/60Hz 200V Frame E to G 3-phase, V +0% -5% 50/60Hz Control circuit Frame A to D Frame E to G Single phase, V Single phase, V +0% -5% +0% -5% 50/60Hz 50/60Hz Environment Control method Encoder feedback Temperature Humidity Altitude Vibration Operating : 0 to 55, Storage : -20 to +80 Both operating and storage : 90%RH or less (free from condensation) 000m or lower 5.88m/s 2 or less, 0 to 60Hz (No continuous use at resonance frequency) IGBT PWM Sinusoidal wave drive (3072 resolution) absolute/incremental encoder, (0000 resolution) incremental encoder Basic Specifications External scale feedback Input Control signal Output Input AT500 series, ST77 by Mitutoyo 0 inputs () Servo-ON, (2) Control mode switching, (3) Gain switching/torque limit switching, (4) Alarm clear Other inputs vary depending on the control mode. 6 outputs () 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. 3 inputs (6Bit A/D : input, 0Bit A/D : 2 inputs) 2 outputs (for monitoring) Analog signal Pulse signal Communication function Output Input Output RS232 RS485 () Speed monitor (Monitoring of actual motor speed or command speed is enabled. Select the content 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 Select the exclusive input for line driver or photo-coupler input with parameter. 4 outputs 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 to a host with RS232 interface is enabled. : n communication up to 5 axes to a host with RS485 interface is enabled. () 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit) Front panel Regeneration Dynamic brake Frame A, B : no built-in regenerative resistor (external resistor only) Frame C to F : Built-in regenerative resistor (external resistor is also enabled.) Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and over-travel inhibit input is enabled. Switching among the following 7 mode is enabled, () 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.

16 MINAS A Common Specifications of Driver Position control Control input Control output Max. command pulse frequency Input pulse signal format Type of input pulse Electronic gear Division/Multiplication ( of command pulse ) Smoothing filter Pulse input Analog input Torque limit command input Instantaneous speed observer Damping control Control input Control output Deviation counter clear, Command pulse inhibition, Electronic gear switching, Damping control switching Positioning complete (In-position) Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps Support () RS422 line drive signal and (2) Open collector signal from controller. Differential input. Selectable with parameter, (() CW/CCW, (2) A and B-phase, (3) Command and Direction) ( to 0000) x 2 (0-7) Process the command pulse frequency x as a position command input to 0000 Primary delay filter or FIR type filter is selectable to the command input. Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) Usable Usable Speed zero clamp, Selection of internal speed setup, Gain switching or Torque limit switching input Speed arrival (at-speed) Functions Velocity control Torque control Full-closed control Pulse input Analog input Analog input Velocity command input Torque limit command input Speed control range Internal speed command Soft-start/down function Zero-speed clamp Instantaneous speed observer Speed command filter Control input Control output Speed command input Speed limit input Speed limit function Control input Control output Max. command pulse frequency Input pulse signal format Electronic gear Division/Multiplication ( of command pulse ) Smoothing filter Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter, with the permissible max. voltage input = 0V and 6V/rated speed (default setup). Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) : speed with parameter setup Individual setup of acceleration and deceleration is enabled, with 0 to 0s/000r/min. S-shaped acceleration/deceleration is also enabled. 0-clamp of internal speed command with speed zero clamp input is enabled. Usable Usable Speed zero clamp Speed arrival (at-speed) Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is enabled with parameter, with the permissible max. voltage input = 0V and 3V/rated speed (default setup). Speed limit input by analog voltage is enabled. Scale setup with parameter. Speed limit value with parameter or analog input is enabled. Deviation counter clear, Command pulse input inhibition, Electronic gear switching, Damping control switching Full-closed positioning complete (in-position) Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps Differential input. Selectable with parameter (() CCW/CW, (2) A and B-phase, (3) Command and direction ( to 0000) x 2 (0-7) Process the command pulse frequency x as a position command input to 0000 Primary delay filter is adaptable to the command input. MINAS A4 Common Specifications of Driver Analog 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 enabled within a range of ( to 0000) x 2 (0-7) / ( to 0000). Auto-gain tuning Real-time Normal mode Fit-gain function Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter. Estimates load inertia and sets up an appropriate servo gain. Automatically searches and sets up the value which makes the fastest settling time with external command input. Common Masking of unnecessary input Division of encoder feedback pulse Protective function Traceability of alarm data Damping control function Setup Soft error Hard error Manual Setup support software Masking of the following input signal is enabled. () 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.). Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. Excess position deviation, command pulse division error, and EEPROM error etc. Traceable up to past 4 alarms including the present one. Manual setup with parameter panel R PANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)

17 Standard Wiring Example of Main Circuit Frame A, B Use a reactor for 3- phase in case of single phase, 200V. MC ON OFF ALM Surge absorber Buiilt-in thermostat of external regenerative resistor (light yellow) MC Power supply (single phase) NFB Noise filter MC L L L3 LC L2C CN X Main power supply connection Control power supply connection External regenerative resistor RB RB3 CN X2 Red White Black Green RB2 U V W Motor connection Tyco Electronics AMP Motor Tyco Electronics AMP ALM 37 ALM+ CN X5 DC2~24V 36 ALM- Frame C, D Power supply (single phase) *When you use single phase, connect between L and L3 terminals. Power supply (3-phase) NFB Use a reactor for 3- phase in case of single phase, 200V. Noise filter (Connect these at normal operation) MC ON MC Buiilt-in thermostat of external regenerative resistor (light yellow) OFF ALM MC Surge absorber L L CN X L2 Main power supply L3 connection LC Control power supply L2C connection *When you use other model than MSMD, MQMA and MAMA, use the following connection. [Motor portion] G H A A D A B C F I B D E F C B E D C G H I JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-8PE-B-R JL04V-2E24-PE-B-R PIN A B C D Used for U-phase V-phase W-phase Ground PIN G H A F Used for Brake Brake NC U-phase PIN A B C D Used for Brake Brake NC U-phase External regenerative resistor Red White Black Green RB RB3 RB2 U V W CN X2 Motor connection I B E D C V-phase W-phase Ground Ground NC Do not connect anything to NC pins. E F G H I V-phase W-phase Ground Ground NC Tyco Electronics AMP Motor Tyco Electronics AMP ALM 37 ALM+ CN X5 DC2~24V 36 ALM-

18 MINAS A Standard Wiring Example of Main Circuit Frame E, F Power supply (3-phase) NFB External regenerative resistor Noise filter (Connect these at normal operation) ON MC MC OFF ALM Surge absorber L L Main power L2 supply connection L3 r Control power supply t connection P B B2 U V Motor connection W Buiilt-in thermostat of external regenerative resistor (light yellow) MC [Motor portion] G H A A D A B C F I B D E F C B E D C G H I JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-8PE-B-R JL04V-2E24-PE-B-R PIN A B C D Used for U-phase V-phase W-phase Ground PIN G H A F I B E D C Used for Brake Brake NC U-phase V-phase W-phase Ground Ground NC PIN A B C D E F G H I Used for Brake Brake NC U-phase V-phase W-phase Ground Ground NC Cannon Connector Do not connect anything to NC pins. ALM 37 ALM+ Frame G Power supply (3-phase) Motor NFB Noise Filter DC2~24V MC MC ON External regenerative resistor 36 ALM- OFF L L2 L3 P B ALM Surge absorber Main power supply connection Buiilt-in thermostat of external regenerative resistor (light yellow) MC Control power supply connection r t [Motor portion] D A C B JL04V-2E32-7PE-B-R PIN Used for A U-phase B V-phase C W-phase D Ground [with brake] D A C B MINAS A4 Standard Wiring Example of Main Circuit N/MS302A4S-2P Cannon Connector U V W Motor connection FN(+) FN( ) Fan stop signal output terminal (When fan stops, output transistor turns OFF) Maximum rating: 30 V/50 ma PIN A B C D Used for Brake Brake NC NC Motor ALM+ 37 ALM- 36 ALM ALM DC2~24V Do not connect anything to NC pins.

19 Encoder Wiring Diagram encoder Motor MAMA, MSMD and MQMA series Motor MSMA, MDMA and MFMA, MGMA series Pin No. of cannon plug White Black Light blue Purple E5V E0V PS PS +5V 0V Regulator J H G K L E5V E0V PS PS +5V 0V Regulator Shield wire (by Tyco Electronics, AMP) Twisted pair (by Tyco Electronics, AMP) Straight plug N/MS306B20-29S Twisted pair Cable clamp N/MS3057-2A by Japan Aviation Electronics Servo motor Motor side Junction cable Driver side Servo motor Motor side Junction cable Driver side 7bit Absolute encoder Motor MAMA, MSMD and MQMA series Motor MSMA, MDMA and MFMA, MGMA series Pin No. of cannon plug White Black Red Pink Light blue Purple Yellow/Green Battery 5 6 E5V E0V PS PS +5V 0V Regulator J H G T S K L Battery E5V E0V PS PS +5V 0V Regulator (by Tyco Electronics, AMP) Twisted pair 726- (by Tyco Electronics, AMP) Straight plug N/MS306B20-29S Twisted pair Cable clamp N/MS3057-2A by Japan Aviation Electronics Servo motor Motor side Junction cable Driver side Servo motor Motor side Junction cable Driver side

20 Standard Wiring Example of Control Circuit Wiring examples at each control mode CN X5 Wiring example at position control mode MINAS A Encoder Wiring Diagram Standard Wiring Example of Control Circuit When you use the external resistor with 2V and 24V power supply PULS 3 VDC 2 to 24V CN X5 Wiring example at velocity control mode VDC 2~24V PULS2 4 In case of open collector I/F COM+ OPC 4.7kΩ 2.2kΩ SIGN 5 Command pulse inhibition input 33 2 INH OPC2 2.2kΩ Deviation counter clear input 3 SIGN CL PULS Servo-ON input 29 4 Command GND SRV-ON PULS2 220Ω Gain switching input pulse 27 5 GAIN SIGN input A Electronic gear switching input 28 6 (Use with 500kpps DIV SIGN2 220Ω 3 or less.) Damping control switching input 26 VS-SEL GND Control mode switching input 32 C-MODE 2 Alarm clear input OA+ A-phase 3 A-CLR Ω output 2.2k OPC OA- CCW over-travel inhibition input 9 CCWL 48 PULS2 OB+ B-phase 4 CW over-travel inhibition input 8 CWL Ω output 220 OB- OPC2 2.2k 2 Servo-Ready output S-RD Y+ OZ+ Z-phase SIGN Ω 6 34 output S-RDY- OZ Servo-Alarm output GND 37 ALM+ Positioning complete output 36 ALM- 39 COIN+ GND 25 Brake release output 38 COIN- 9 Z-phase output (open collector) CZ BRKOFF+ 0 Torque in-limit output 40 (Select with Pr09) BRKOFF- TLC Zero speed detection output 2 ZSP 20kΩ 4 (Select with Pr0A) 4 SPR/TRQR COM- 5 GND 44 2kΩ 43kΩ 0kΩ 6 PULSH PULS CCWTL/TRQR CCW torque limit input 220Ω 3.83kΩ 45 (0 to +0V) PULSH2 2kΩ 43kΩ GND 46 2kΩ 0kΩ 8 SIGNH 43kΩ SIGN CWTL CW torque limit input 3.83kΩ Ω SIGNH2 (-0 to +0V) 3 GND 2kΩ 43kΩ kω SP 43 Velocity monitor output Command pulse input B kω FG IM (Use with 2Mpps or less.) Torque monitor output CN X5 ( represents twisted pair.) Internal command velocity selection input Internal command velocity selection 2 input Servo-ON input Gain switching input Internal command velocity selection 3 input Speed zero clamp input Control mode switching input Alarm clear input CCW over-travel inhibition input CW over-travel inhibition input Servo-Ready output Servo alarm output Positioning complete output Brake release output Torque in-limit output (Select with Pr09) Zero speed detection output (Select with Pr0A) OZ- 7 COM+ 33 INTSPD 30 INTSPD2 29 SRV-ON 27 GAIN 28 INTSPD3 26 ZEROSPD 32 C-MODE 3 A-CLR 9 CCWL 8 CWL 35 S-RDY+ 34 S-RDY- 37 ALM+ 36 ALM- 39 AT-SPEED+ 38 AT-SPEED- BRKOFF+ 0 BRKOFF- 40 TLC 2 ZSP 4 COM- 50 FG Divider 4.7k Divider OA+ OB+ OZ+ OA- OB- GND CZ 20k 4 SPR/TRQR GND 5 0k 6 CCWTL/TRQR 3.83k 7 GND 0k CWTL k k k SPM IM When you do not use the external resistor with 24V power supply A-phase output B-phase output Z-phase output Velocity command input (0 to 0V) CCW torque limit input (0 to +0V) CW torque limit input (-0 to 0V) Velocity monitor output Torque monitor output VDC R R 24V MINAS A4 Encoder Wriring Diagram / Standard Wiring Example of Control Circuit CNX5 represents twisted pair.

21 CN X5 Wiring example at torque control mode VDC 2-24V 2 OA+ 22 OA- 48 OB+ 49 OB- 23 OZ+ 24 OZ- 7 COM+ 33 INH 30 CL Servo-ON input 29 SRV-ON Gain switching input 27 GAIN 28 DIV Speed zero clamp input 26 ZEROSPD Control mode switching input 32 C-MODE Alarm clear input 3 A-CLR CCW over-travel inhibition input 9 CCWL CW over-travel inhibition input 8 CWL Servo-Ready output 35 S-RDY+ 34 S-RDY- Servo alarm output 37 ALM+ 36 ALM- At-speed signal output 39 AT-SPEED+ 38 AT-SPEED- Brake release output BRKOFF+ 0 BRKOFF- Torque in-limit output 40 TLC (Select with Pr09) Zero speed detection output 2 ZSP (Select with Pr0A) 4 COM- 4.7k Divider GND CZ 20k 4 SPR/TRQR GND 5 0k CCWTL/TRQR k 7 GND 0k CWTL 3.83k A-phase output B-phase output Z-phase output Torque command input or speed limit input (0 to 0V) <Remarks> In case of Pr5B = 0, enter the speed limit value to 4th speed of velocity setup. setup 50 FG CNX5 k k SPM IM Velocity monitor output Torque monitor output Wiring example when Pr02=5 or Pr5B= 6 CCWTL/TRQR Torque command 7 (0 to 0V) Select with Pr5B GND represents twisted pair. Table of Applicable Motors Driver Frame symbol MADDT05 MADDT07 A-frame MADDT205 B-frame C-frame D-frame E-frame F-frame G-frame MADDT207 MBDDT20 MBDDT220 MCDDT320 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MGDDTC3B4 MAM MAMA02 MAMA022 MAMA042 MAMA082 MSMD MSMD5AZ MSMD0 MSMD5AZ MSMD02 MSMD022 MSMD02 MSMD042 MSMD04 MSMD082 Refer to page, A4-3, Table of Part Numbers and Options as well. MQMA MQMA0 MQMA02 MQMA022 MQMA02 MQMA042 MQMA04 Motor series MSM MDM MSMA02 MSMA52 MSMA202 MSMA302 MSMA402 MSMA502 MDMA02 MDMA52 MDMA202 MDMA302 MDMA402 MDMA502 MDMA752 MGM MGMA092 MGMA202 MGMA302 MGMA452 MGMA602 MFM MFMA042 MFMA52 MFMA252 MFMA452 MHM MHMA052 MHMA02 MHMA52 MHMA202 MHMA302 MHMA402 MHMA502 MHMA752

22 Driver/Dimensions MINAS A Table of Applicable Motor Driver / Dimensions Frame A Mounting bracket (Option) 30 (4) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2 RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X Name plate 40 External scale terminals, CN X7 R Rack mount type (Option : Front-end mounting) (75) Mounting bracket (Option) R Base mount type (Standard : Back-end mounting) Connector at driver side Connector sign CN7 CN6 CN5 CN4 CN3 CN2 CN Frame B Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) MD-S (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent) 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 R Rack mount type (Option : Front-end mounting) Connector at Power Supply and Motor side Connector sign CN2 CN Connector type 06JFAT-SAXGF (or equivalent) 04JFAT-SAXGF (or equivalent) (75) Mounting bracket (Option) Name plate Mounting bracket (Option) Mass 0.8kg 5.2 R Base mount type (Standard : Back-end mounting) MINAS A4 Table of Applicable Motor / Driver / Dimensions Connector at driver side Connector sign CN7 CN6 CN5 CN4 CN3 CN2 CN Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) MD-S (or equivalent) S06B-F32SK-GGXR (or equivalent) S04B-F32SK-GGXR (or equivalent) Connector at Power Supply and Motor side Connector sign CN2 CN Connector type 06JFAT-SAXGF (or equivalent) 04JFAT-SAXGF (or equivalent) Mass.kg

23 Driver/Dimensions Frame C Mounting bracket (Option) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 Short between RB2 and ( RB3 in normal operation. ) Motor connecting terminals CN X2 Connector at driver side Connector sign CN7 CN6 CN5 CN4 CN3 CN2 CN 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 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) MD-S (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent) R Rack mount type (Option : Front-end mounting) (75) Mounting bracket (Option) Name plate Connector at Power Supply and Motor side Connector sign CN2 CN Connector type 06JFAT-SAXGF (or equivalent) 05JFAT-SAXGF (or equivalent) R Mass.5kg 40 5 Base mount type (Standard : Back-end mounting) Frame D Air movement (inside out) Mounting bracket (Option) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 Short between RB2 and ( RB3 in normal operation. ) Motor connecting terminals CN X2 Connector at driver side Connector sign CN7 CN6 CN5 CN4 CN3 CN2 CN RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X R2.6 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) MD-S (or equivalent) S06B-F32SK-GGXR (or equivalent) S05B-F32SK-GGXR (or equivalent) R Air movement (inside out) Rack mount type (Option : Front-end mounting) Connector sign CN2 CN (75) Name plate Mounting bracket (Option) Connector at Power Supply and Motor side Connector type 06JFAT-SAXGF (or equivalent) 05JFAT-SAXGF (or equivalent) R Mass.7kg 40 5 Base mount type (Standard : Back-end mounting)

24 Driver/Dimensions MINAS A Driver / Dimensions Frame E Air movement (inside out) Mounting bracket (Standard) Mounting bracket (put substitution of the Standard for the back-end) Main power input terminals Control power input terminals Regenerative resistor connecting terminals (short between B and B2 in normal operation) Motor connecting terminals 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 Name plate Earth terminals (75) Connector at driver side Connector sign Connector type CN (or equivalent) CN (or equivalent) CN (or equivalent) CN4 MD-S (or equivalent) CN3 MD-S (or equivalent) Frame F 5.2 Air movement (inside out) Mass 3.2kg (200) Mounting bracket (Standard) Mounting bracket (put substitution of the Standard for the back-end) MINAS A4 Driver / Dimensions Main power input terminals Control power input terminals Regenerative resistor connecting terminals (short between B and B2 in normal operation) Motor connecting terminals RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X Air movement (from front to back) Name plate Earth terminals (75) Connector at driver side Connector sign Connector type CN (or equivalent) CN (or equivalent) CN (or equivalent) CN4 MD-S (or equivalent) CN3 MD-S (or equivalent) 85 Mass 6.0kg

25 Driver/Dimensions Frame G Terminal block cover A [Terminal block cover B opened] Control power connection Mains power connection External regenerative discharge resistor connection Unused Motor connection (U.V.W) 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 Earth connection Fan stop signal output terminal [Terminal block cover B closed] Terminal block cover B (2.3) Mounting bracket (2.3) (4) (75) 46 (2.3) Nameplate Fan wind direction (from front to rear) 4-ø Mounting bracket (4) Terminal block cover A Connector at driver side Connector sign Connector type CN (or equivalent) CN (or equivalent) CN (or equivalent) CN4 MD-S (or equivalent) CN3 MD-S (or equivalent) (26.3) Mass 7.0kg

26 MINAS A Driver / Dimensions MINAS A4 Driver / Dimensions

27 I/O Command Type Servo Motor Inherits Strongest Servo Core MINAS A4PSeries MINAS A4PSeries Achieves System Simplification and Cost Reduction 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 6 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.Built-in NC Functions. 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 absolute/incremental encoder.

28 Features MINAS A4PSeries Details of Features List of Specifications Model Designation Wiring Example Contents Table of Part Numbers and Options Driver MINAS A Features/Contents <Common Specifications> <Standard Wiring Example of Main Circuit> <Encoder Wiring Diagram> <Standard Wiring Example of Control Circuit Standard> <Table of Applicable Motors> <Dimensions> Motor <Ratings/Specifications/Torque Characteristics> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA <Dimensions> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA Motor with Gear Reducer/MSMD <General Specifications> <Ratings/Specifications> <Torque Characteristics> <Dimensions> Conformity to CE and UL IP65 Rating Options Recommended components A4-27 A4-29 A4-33 A4-34 A4-35 A4-37 A4-39 A4-4 A4-43 A4-44 A4-44 A4-45 A4-49 A4-49 A4-5 A4-59 A4-63 A4-67 A4-73 A4-77 A4-8 A4-87 A4-87 A4-88 A4-90 A4-9 A4-93 A4-96 A4-99 A4-0 A4-05 A4-06 A4-07 A4-08 A4-09 A4-2 A4-3 A4-27 MINAS A4P Features/Contents Remarks :Instruction manual is available as an option as Japanese version : DV0P4480 and English version : DV0P4490

29 Details of Features Inherits high performance and advanced functioning 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. 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. actual speed (r/min) Waveform adjusted via auto-tuning driven by a ball screw Stabilization time of 4 ms or less torque (N) comand speed (r/min) positional deviation (pulse) Further High-Speed and High-Response Velocity response (bandwidth) of khz 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 Present MINAS A-Series MINAS-A4Series frequencyhz standard deviation of detected speed [r/min] Variation of detected speed at stopping MINAS A-Series Velocity gain is doubled compared to A-Series velocity gain [Hz] MINAS A4-Series 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.

30 MINAS A Details of Features Further Reduction of Vibration Adaptive filter Makes the notch filter frequency automatically follow the machine resonance frequency. 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 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 Hz. Suppression of "Judder" noise of the machine which has multiple resonance points can be expected actual speed (r/min) Torque [%] Speed Suppress vibration quickly Filter is invalid Completion of filter frequency setup Corresponds to wider frequency range (-500Hz) Suppresses vibration quickly Effect of notch filter without notch filter with notch filter speed (000r/min/div) torque (33.3%/div) Damping control 50ms/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.Hz 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 MINAS A4P Details of Features motor movement machine movement without damping control actual speed (r/min) Torque [%] s Position deviation pulse with damping control actual speed (r/min) Torque [%] no vibration at motor shaft least vibration and fast response s Command speedr/min Position deviation [pulse]

31 Further Flexibility and Multiplicity Dedicated Console (DV0P4420) Regeneration discharging function Enables easy parameter setting/changing, control state monitoring, status/error log viewing, and parameter saving/loading. Makes it easy to move a target position, set a positioning point and perform teaching. Can select and display 6 types of operation data including motor rotational speed and torque in the monitor mode. Control Mode Makes it possible to select position control via the motor s internal encoder or fully-closed control based on an external scale. Analog Monitor Terminal "Motor rotational speed", "Command speed", "torque command" and "positional deviation" can be observed by oscilloscope through the analog monitor pin at the front panel of the amplifier. 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 (MADDT05P type.) and Frame B driver (MBDDT220P 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 Servo-OFF, CW/CCW overtravel inhibition, power shutdown and trip. You can select the action sequence setup depending on the machine requirement. Trial run (JOG) Features the function for trial (JOG) run through console (option) without connecting to a host controller. You can shorten the machine setup time. 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 (Resolution 0.05[m], max, speed 2[m/s]) ST77 series by Mitutoyo (Resolution 0.5[m], max, speed 2[m/s]) 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. Prevents unintentional shutdown of the power supply circuit breaker Setup support software With the setup support software, "PANATERM " via RS232 communication port, you can monitor the running status of the driver and set up parameters. Wave-form graphic function With the setup support software, "PANATERM ", you can monitor the "Command speed", "Actual speed","torque", "Position deviation " and "Positioning complete signal". Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F4" for setup support software. Selectable Torque Limit Value 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. Built in sequence of bumping homing You can select 8 kind of homing mode.

32 MINAS A Details of Features SEMI F47 voltage sag immunity Features the function which complies to voltage sag immunity standard of SEMI F47 at no load or light load. Useful for semiconductor industry. Notes) )Not applicable to single phase, 00V type. 2)Verify with the actual machine condition to F47, voltage sag immunity standard. Frequency analyzing function You can confirm the response frequency characteristics of total machine mechanism including the servo motor with the setup support software, "PANATERM " Helps you to analyze the machine and shorten the setup time *Note) Refer to page "F4" for setup support software. Applicable overseas safety standards Subject Motor Motor and driver Standard conformed IEC IEC UL004 CSA22.2 NO.00 EN5078 UL508C EN550 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment EN Immunity for Industrial Environments IEC Electrostatic Discharge Immunity Test IEC Radio Frequency Electromagnetic Field Immunity Test IEC Electric High-Speed Transition Phenomenon/Burst Immunity Test IEC Lightening Surge 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 CSA : Canadian Standards Association Conforms to Low- Voltage Directives Conforms to references by EMC Directives MINAS A4P Details of Features

33 List of Specifications Motor series Rated output (kw) Rated rotational speed (Max. speed) (r/min) Rotary encoder incremen tal 7bit absolute/ incremental Brake Holding Gear High precision CE/UL Enclosure Features Applications Ultra low inertia MAMA models 0., 0.2, 0.4 and (6000) IP65 (Except shaft through hole and connector). Small capacity. Suitable for the machines directly coupled with high speed ball screw and high stiffness and high repetitive application. SMT machines. Inserters. High repetitive positioning application MSMD models 0.05, 0., 0.2, 0.4 and (5000) *For 400W/00V and 750W 3000 (4500) IP65. (Except shaft Small capacity through hole. Suitable for all and applications connector). Inserters. Belt driven machines. Unloading robot Low inertia MQMA models 0., 0.2, and (5000) *For 400W/00V 3000 (4500) IP65 (Except shaft through hole and connector). Small capacity. Suitable for flat type and low stiffness machines with belt driven. SMT machines. Inserters. Belt driven machines. Unloading robot MSMA models.0,.5,2.0, 3.0,4.0 and (5000) *For 4kW and 5kW 3000 (4500) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for the machines directly coupled with ball screw and high stiffness and high repetitive application. SMT machines. Inserter. Food machines MDMA models.0,.5,2.0, 3.0,4.0 and (3000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for low stiffness machines with belt driven. Belt driven machines. Conveyers. Robots Middle inertia MGMA models 0.9,2.0, 3.0 and (2000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for machines requiring low speed with high torque. Belt driven machines. Conveyers. Robots MFMA models 0.4,.5, 2.5 and (3000) IP65 (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,.0,.5, 2.0,3.0,4.0 and (3000) IP65 (Except cannon plug/ connector pins). Middle capacity. Suitable for low stiffness machines with belt driven, and large load moment of inertia. Belt driven machines. Conveyors. Robots Motor is sharing with A4 series

34 Model Designation Servo Motor MINAS A List of Specifications/ Model Designation Symbol MAMA MSMD Type Ultra low inertia (00W-750W) Low inertia (50W-750W) MQMA MSMA MDMA MGMA MFMA MHMA Low inertia (00W-400W) Low inertia (.0kW-5.0W) Middle inertia (.0kW-5.0kW) Middle inertia (900W-4.5kW) Middle inertia (400W-4.5kW) High inertia (500W-5.0kW) Motor rated output Symbol Rated output Symbol Rated output 5A 50W 5.5kW W 200W kW 2.5kW W 500W 750W 900W kW 4.0kW 4.5kW 5.0kW 0.0kW Motor with reduction gear Design order : Standard Rotary encoder specifications Symbol Format Pulse counts Resolution P S common 7bit Voltage specifications Symbol Specifications 00V 2 200V 00V/200V Z common(50w only) Special specifications Motor structure MSMD(standard stock), MQMA(build to order) Wires 5 7 Shaft Holding brake Oil seal Symbol Round Key-way, without center tap with without with A B S T Motor with oil seal is manufactured by order. MSMA, MDMA, MGMA, MFMA, MHMA 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 F3). 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 F3). See page, A4-49 for motor specifications Symbol Type Low inertia (00W-750W) Motor rated output Symbol Rated output Voltage specifications Symbol Specifications Rotary encoder specifications Symbol Format Pulse counts Resolution Wires P S common 7bit Servo Driver Gear reduction ration, gear type Motor output (W) Symbol Gear reduction ratio N / 5 2N / 9 3N / 5 4N / 25 Motor structure Shaft Holding brake Symbol Key-way without with 3 4 Special specifications Gear type For high accuracy See page, A4-05 for motor with gear reducer specifications MINAS A4P List of Specifications/Model Designation Frame symbol 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 Power device Max. current rating Power device Max. current rating 0A Symbol T T2 T3 T5 T7 TA TB 5A 3 0A 5 0A 7 5A 0 0A 5 0A Supply voltage specifications Symbol Specifications Single phase, 00V 2 Single phase, 200V 3 3-phase, 200V 5 Single/3-phase,200V Current detector current rating Symbol A2 Current detector, current rating 5A 7.5A 0A 2 0A 3 0A 4 0A 6 4A 9 0A 2 0A Symbol Interface Specifications I/O Operation See page, A4-39 for driver specifications

35 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. Reactor (L) Reduces harmonic current of the main power. Pin RB, RB2 and RB3 RB2 and RB3 to be kept shorted for normal operation. Console (DV0P4420) Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P960) Connector for external equipment (DV0P4500) or interface connector cable (DV0P450) When the internal regenerative resistor capacity has shortage, disconnect between RB2 and RB3, then connect an external regenerative resistor between RB and RB2. Regenerative resistor (option) Motor to page A4-49 Driver to page A4-39 Option to page A4-3 Ground (Earth) Motor cable Brake cable Encoder cable Controller Recommended equipments Parts customer to prepare Power supply for brake DC24V List of recommended peripheral equipments Power supply voltage Single phase, 00V Single phase, 200V Applicable motor Power capacity atrated Circuit breaker rated Series Out put load current MSMD 50W Approx. 00W 0.4kVA MSMD Approx. 200W 0.5kVA MQMA Approx. 400W 0.9kVA 50W MSMD Approx. 00W 0.5kVA BBC MAMA Approx. 20N 00W 0.3kVA (0A) MQMA MAMA MSMD 200W MQMA MSMD 400W MQMA ( )( ) Approx. 0.5kVA Approx. 0.9kVA Noise filter DVOP 470 DVOP 480 DVOP 470 Noise Surge filter absorber (signal) DVOP DVOP Magnetic contactor (Contact) BMFT604N 3P+a BMFT654N 3P+a BMFT6542N 3P+a Cable diameter (Main circuit) 0.75mm 2 to 2.0mm 2 AWG4 to 8 Cable diameter (control circuit) 0.75mm 2 AWG8 Connection to exclusive connector Connector Power supply voltage Single/ 3-phase, 200V Applicable motor Series Out put Power capacity MAMA Approx. 400W MFMA 0.9kVA Approx. MHMA 500W.kVA Approx. MSMD.3kVA 750W Approx. MAMA.6kVA MDMA.0kW MHMA Approx. MGMA 900W.8kVA MSMA.0kW MSMA MDMA Approx..5kW MFMA 2.3kVA MHMA Circuit breaker rated ( ) ( ) atrated load current BBC 35N (5A) BBC 320N (20A) Noise filter DVOP 480 DVOP 4220 Noise Surge filter absorber (signal) DVOP DVOP Magnetic contactor (Contact) BMFT6542N 3P+a BMFT6842N 3P+a Cable diameter (Main circuit) 0.75mm 2 to 2.0mm 2 AWG4 to 8 Cable diameter (control circuit) 0.75mm 2 AWG8 2.0mm 2 AWG4 Connection to exclusive connector Connector 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 A4-0. <Remarks> 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 :.2 Nm, M5 : 2.0 Nm) may damage the terminal block. Use an earth cable with diameter of 2.0mm 2 (AWG4) or larger for 50W to.5kw, 3.5mm 2 (AWG2) or larger for 3kW to 4kW and 5.3mm 2 (AWG0) 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 Nm. Larger torque than 0.35Nm may damage the connector at the driver side.

36 MINAS A Wiring example Driver Frame Type Symbol (Frame E, F) For details, refer to the Instruction Manual. Wiring of main circuit Circuit Breaker (NFB) Protects the power lines. Shuts off the circuit when overcurrent passes. Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC) Turns on/off the main power of the servo driver. Surge absorber to be used together with this. Reactor (L) Reduces harmonic current of the main power. Console (DV0P4420) Personal Computer Setup support software "PANATERM " (DV0P4460) PC communication cable (DV0P960) Connector for external equipment (DV0P4500) or interface connector cable (DV0P450) Pin RB, RB2 and RB3 B and B2 to be kept shorted for normal operation. When the internal regenerative resistor capacity has shortage, disconnect between B and B2, then connect an external regenerative resistor between P and B2. Regenerative resistor (option) Motor to page A4-49 Driver to page A4-39 Option to page A4-3 Recommended equipments Parts customer to prepare List of recommended peripheral equipments Power supply voltage 3-phase, 200V Applicable motor Series MSMA MDMA 2.0kW MHMA MFMA 2.5kW MGMA 2.0kW MSMA MDMA 3.0kW MHMA MGMA MSMA MDMA 4.0kW MHMA Out put MFMA 4.5kW MGMA MSMA MDMA 5.0kW MHMA Power capacity Approx. 3.3kVA Approx. 3.8kVA Approx. 4.5kVA Approx. 6.0kVA Approx. 6.8kVA Approx. 7.5kVA Circuit breaker rated ( )( ) atrated load current BBC 330N (30A) BBC 350N (50A) Noise filter DVOP 4220 DVOP 340 Noise Surge filter absorber (signal) DVOP 450 DVOP 460 Magnetic contactor (Contact) BMF6352N 3P+2a2b BMF6652N 3P+2a2b Cable diameter (Main circuit) 2.0mm 2 AWG4 3.5mm 2 AWG2 5.3mm 2 AWG0 Cable diameter (control circuit) 0.75mm 2 AWG8 Ground (Earth) Connection to terminal block M5 Connector Motor cable Brake cable Power supply for brake DC24V Encoder cable Controller 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 A4-0. <Remarks> 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 :.2 Nm, M5 : 2.0 Nm) may damage the terminal block. Use an earth cable with diameter of 2.0mm 2 (AWG4) or larger for 50W to.5kw, 3.5mm 2 (AWG2) or larger for 3kW to 4kW and 5.3mm 2 (AWG0) 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 Nm. Larger torque than 0.35Nm may damage the connector at the driver side. MINAS A4P Wiring example

37 Table of Part Numbers and Options Single phase 200V 3-phase, 200V Single phase 00V Single phase 200V 3-phase, 200V MAMA Ultra low inertia MSMD Low inertia MQMA Low inertia Flat MSMD Low inertia MQMA Low inertia Flat MSMA Low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia MSMD Low inertia MSMA Low inertia MDMA Middle inertia MGMA Middle inertia MFMA Middle inertia MHMA High inertia Power supply Motor series MFECA 00EAM MFECA 00ESD MFECA 00EAM MFECA 00ESD MFECA 00EAE MFECA 00ESE MFECA 00EAE MFECA 00ESE MFECA 00EAD MFECA 00ESD MFECA 00EAD MFECA 00ESD MAMA02P MAMA022P MAMA042P MAMA082P MAMA042P MAMA082P MSMD5AZP MSMD0P MSMD02P MSMD04P MQMA0P MQMA02P MQMA04P MSMD5AZP MSMD02P MSMD022P MSMD042P MSMD082P MQMA02P MQMA022P MQMA042P MSMA02P MSMA52P MDMA02P MDMA52P MGMA092P MFMA042P MFMA52P MHMA052P MHMA02P MHMA52P MSMD082P MSMA02P MSMA52P MSMA202P MSMA302P MSMA402P MSMA502P MDMA02P MDMA52P MDMA202P MDMA302P MDMA402P MDMA502P MGMA092P MGMA202P MGMA302P MGMA452P MFMA042P MFMA52P MFMA252P MFMA452P MHMA052P MHMA02P MHMA52P MHMA202P MHMA302P MHMA402P MHMA502P A4-49 A4-49 A4-49 A4-49 A4-49 A4-49 A4-5 A4-5 A4-53 A4-53 A4-59 A4-59 A4-59 A4-55 A4-55 A4-57 A4-57 A4-57 A4-6 A4-6 A4-6 A4-63 A4-63 A4-67 A4-67 A4-73 A4-77 A4-77 A4-8 A4-8 A4-8 A4-57 A4-63 A4-63 A4-63 A4-65 A4-65 A4-65 A4-67 A4-67 A4-69 A4-69 A4-7 A4-7 A4-73 A4-73 A4-75 A4-75 A4-77 A4-77 A4-79 A4-79 A4-8 A4-8 A4-8 A4-83 A4-83 A4-83 A4-83 A4-49 A4-49 A4-49 A4-49 A4-49 A4-49 A4-5 A4-5 A4-53 A4-53 A4-59 A4-59 A4-59 A4-55 A4-55 A4-57 A4-57 A4-57 A4-6 A4-6 A4-6 A4-63 A4-63 A4-67 A4-67 A4-73 A4-77 A4-77 A4-8 A4-8 A4-8 A4-57 A4-63 A4-63 A4-63 A4-65 A4-65 A4-65 A4-67 A4-67 A4-69 A4-69 A4-7 A4-7 A4-73 A4-73 A4-75 A4-75 A4-77 A4-77 A4-79 A4-79 A4-8 A4-8 A4-8 A4-83 A4-83 A4-83 A4-83 MAMA02S MAMA022S MAMA042S MAMA082S MAMA042S MAMA082S MSMD5AZS MSMD0S MSMD02S MSMD04S MQMA0S MQMA02S MQMA04S MSMD5AZS MSMD02S MSMD022S MSMD042S MSMD082S MQMA02S MQMA022S MQMA042S MSMA02S MSMA52S MDMA02S MDMA52S MGMA092S MFMA042S MFMA52S MHMA052S MHMA02S MHMA52S MSMD082S MSMA02S MSMA52S MSMA202S MSMA302S MSMA402S MSMA502S MDMA02S MDMA52S MDMA202S MDMA302S MDMA402S MDMA502S MGMA092S MGMA202S MGMA302S MGMA452S MFMA042S MFMA52S MFMA252S MFMA452S MHMA052S MHMA02S MHMA52S MHMA202S MHMA302S MHMA402S MHMA502S MADDT207P MBDDT220P MCDDT3520P MDDDT5540P MCDDT3520P MDDDT5540P MADDT05P MADDT07P MBDDT20P MCDDT320P MADDT07P MBDDT20P MCDDT320P MADDT205P MADDT207P MBDDT220P MCDDT3520P MADDT205P MADDT207P MBDDT220P MDDDT5540P MDDDT3530P MDDDT5540P MCDDT3520P MDDDT5540P MCDDT3520P MDDDT3530P MDDDT5540P MCDDT3520P MDDDT5540P MEDDT7364P MFDDTA390P MFDDTB3A2P MDDDT3530P MDDDT5540P MEDDT7364P MFDDTA390P MFDDTB3A2P MDDDT5540P MFDDTA390P MFDDTB3A2P MCDDT3520P MDDDT5540P MEDDT7364P MFDDTB3A2P MCDDT3520P MDDDT3530P MDDDT5540P MEDDT7364P MFDDTA390P MFDDTB3A2P Driver Frame symbol 7bit, common and 7bit common Output (W) Rating/ Spec. (page) Rating/ Spec. (page) Rated rotational speed (r/min) Motor Note) Motor Note) 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

38 MINAS A Table of Part Numbers and Options Motor 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 Motor 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 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4280 DV0P4283 DV0P4282 DV0P4280 DV0P4283 DV0P4282 DV0P428 DV0P4283 DV0P428 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4284 DV0P4285 X2 in parallel DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel DV0P4283 DV0P4284 DV0P4285 DV0P4285 X2 in parallel Reactor DV0P220 DV0P22 DV0P220 DV0P22 DV0P227 DV0P228 DV0P227 DV0P228 DV0P220 DV0P22 DV0P220 DV0P22 DV0P222 DV0P220 DV0P222 DV0P220 DV0P222 DV0P22 DV0P222 DV0P223 DV0P224 DV0P225 DV0P222 DV0P223 DV0P224 DV0P225 DV0P222 DV0P223 DV0P224 DV0P220 DV0P222 DV0P224 DV0P220 DV0P222 DV0P223 DV0P224 DV0P225 Noise filter DV0P470 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P470 DV0P480 DV0P470 DV0P480 DV0P470 DV0P480 DV0P470 DV0P4220 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P480 DV0P4220 DV0P340 DV0P4220 DV0P340 DV0P4220 DV0P340 DV0P480 DV0P4220 DV0P340 DV0P480 DV0P4220 DV0P340 Carrying page Instruction manual Options Console Setup support software, PANATERM Japanese English Japanese English RS232 communication cable (for connection with PC) Interface cable Connector kit for external equipment Connector kit for motor and encoder Battery for absolute encoder Frame A Frame B Mounting bracket Frame C Encoder cable Motor cable Motor cable (with brake) Brake cable Regenerative resistor Reactor Noise filter Frame D MFECA00EAD MFECA00EAE MFECA00EAM MFECA00ESD MFECA00ESE MFMCA00EED MFMCA02ECD MFMCA03ECT MFMCD02ECD MFMCD02ECT MFMCD03ECT MFMCA02FCD MFMCA02FCT MFMCA03FCT MFMCB00GET 50, 25W 00, 25W 25, 50W 50, 50W 30, 00W 20, 30W Single phase 00V, 200V Surge absorber 3-phase 200V Noise filter for signal wire Carrying Part No. page A4-24 A4-23 DV0P960 DV0P450 DV0P4500 DV0P4290 DV0P4380 DV0P430 DV0P4320 DV0P4330 DV0P4340 DV0P2990 DV0P427 DV0P4272 DV0P4273 DV0P4274 DV0P228 DV0P470 DV0P480 DV0P4220 DV0P340 DV0P490 DV0P450 DV0P460 A4-9 A4-9 A4-8 A4-20 A4-2 A4-26 A4-23 A4-5 A4-6 A4-7 A4-7 DV0P4280 DV0P428 DV0P4282 A4-25 DV0P4283 DV0P4284 DV0P4285 DV0P220 to A4-24 A4-0 A4-0 A4- Note). represents the motor structure. Note) 2. represents the cable length (specified value) For details, refer to cable specifications (A4-3). MINAS A4 Table of Part Numbers and Options

39 Common Specifications of Driver Basic specifications Input power supply Operation conditions Control method Control mode Encoder feedback External scale feedback Control signal Pulse signal Setup 00Vline 200Vline Front panel Regeneration Dynamic brake Main circuit power Control circuit power Main circuit power Control circuit power Type A, B Type C, D Type E, F Type A to D Type E, F Temperature Humidity Height above the sea Vibration Input (4 inputs ) Output (0 outputs ) Input (4 inputs ) Single phase, 00 5V Single phase, 00 5V Single phase, V Single/3-phase, V 3-phase, V Single phase, V Single phase, V Operation temperature: 0 to 55 degrees +0% 5% +0% 5% +0% 5% +0% 5% +0% 5% +0% 5% +0% 5% 50/60Hz 50/60Hz 50/60Hz 50/60Hz 50/60Hz 50/60Hz 50/60Hz Storage temperature: 20 to 80 degrees Operation/storage humidity 90%RH or less (no condensation) Height above the sea level: 000 m or less 5.88 m/s 2 or less, 0 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. 7 Bit (resolution: 3072) 7-serial absolute encoder 2500 P/r (resolution: 0000) 5-serial incremental encoder Compatible with ST77 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) [] 7-segment LED 2-digit [2] Analogue monitor pin (velocity monitor and torque monitor) Type A-B : No internal regenerative resist (external only) Type C-F : internal regenerative resist (external is also available) Built in

40 MINAS A4P Common Specifications of Driver Damping Control External scale division gradual increase setting range The number of points Homing operation Jog operation A function to reduce vibration by removing the vibration frequency component when the front end of the machine vibrates. Ratio between the encoder pulse (numerator) and the external scale pulse (denominator) can be set within the setting range : ( to 0000 x 2 (0 7) )/( to 0000) maximum 60 points Eight types of homing operations [home sensor + Z phase (based on the front end), home sensor (based on the front end), home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor, Z phase homing, Bumping homing, and data set] The motor can be moved in a positive direction or negative direction independently. This is useful for teaching or adjustment. Operation mode Step operation Block 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 operation Combined block operation Several step operations can be performed continuously. Once an operation starts, the operation continues to a specified point number. 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. Function Auto tuning Protection function Sequential Operation Teaching (Console (option) is necessary) Real time Normal mode Instantaneous speed observer Unnecessary wiring mask function Division function of encoder feedback pulse Hardware error Software error Alarm data trace back function A point number increments by 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 input and 2, point specifying input(p8-in,p6-in,p32-in), Servo-ON The number of pulses can be set up arbitrarily. (at the maximum encoder pulse) Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc. Large positional deviation, Undefined data error, EEPROM error, etc. Traceable up to 4 alarm data including present alarm data. MINAS A4P Common Specifications of Driver

41 Standard Wiring Example of Main Circuit Frame A, B Use a reactor for 3- phase in case of single phase, 200V. MC ON OFF ALM Surge absorber Buiilt-in thermostat of external regenerative resistor MC Power supply (single phase) NFB Noise filter MC L L L3 LC L2C CN X Main power supply connection Control power supply connection External regenerative resistor RB RB3 CN X2 Red White Black Green RB2 U V W Motor connection Tyco Electronics AMP Motor Tyco Electronics AMP ALM 37 ALM+ CN X5 DC2~24V 36 ALM- Frame C, D Power supply (single phase) *When you use single phase, connect between L and L3 terminals. Power supply (3-phase) NFB Use a reactor for 3- phase in case of single phase, 200V. Noise filter (Connect these at normal operation) MC ON MC Buiilt-in thermostat of external regenerative resistor *When you use other model than MSMD, MQMA and MAMA, use the following connection. OFF ALM MC [Motor portion] G Surge absorber D A H A A B C L F I B D E F L CN X C B L2 Main power E D C G H I supply JL04V-2E20-4PE-B-R L3 connection JL04HV-2E22-22PE-B-R JL04V-2E20-8PE-B-R JL04V-2E24-PE-B-R LC Control power PIN Used for PIN Used for PIN Used for L2C supply connection 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 External regenerative resistor Red White Black Green RB RB3 RB2 U V W CN X2 Motor connection I B E D C V-phase W-phase Ground Ground NC Do not connect anything to NC pins. E F G H I V-phase W-phase Ground Ground NC Tyco Electronics AMP Motor Tyco Electronics AMP ALM 37 ALM+ CN X5 DC2~24V 36 ALM-

42 MINAS A4P Standard Wiring Example of Main Circuit Frame E, F Power supply (3-phase) NFB External regenerative resistor Noise filter (Connect these at normal operation) ON MC MC OFF ALM Surge absorber L L Main power L2 supply connection L3 r Control power supply t connection P B B2 U V Motor connection W Buiilt-in thermostat of external regenerative resistor MC Cannon Connector ALM 37 ALM+ Motor [Motor portion] DC2~24V 36 ALM- G H A A D A B C F I B D E F C B E D C G H I JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R JL04V-2E20-8PE-B-R JL04V-2E24-PE-B-R PIN A B C D Used for U-phase V-phase W-phase Ground PIN G H A F I B E D C Used for Brake Brake NC U-phase V-phase W-phase Ground Ground NC PIN A B C D E F G H I Used for Brake Brake NC U-phase V-phase W-phase Ground Ground NC Do not connect anything to NC pins. MINAS A4P Standard Wiring Example of Main Circuit

43 Encoder Wiring Diagram encoder Motor MAMA, MSMD and MQMA series Motor MSMA, MDMA and MFMA, MGMA series Pin No. of cannon plug White Black Light blue Purple E5V E0V PS PS +5V 0V Regulator J H G K L E5V E0V PS PS +5V 0V Regulator Shield wire (by Tyco Electronics, AMP) Twisted pair (by Tyco Electronics, AMP) Straight plug N/MS306B20-29S Twisted pair Cable clamp N/MS3057-2A by Japan Aviation Electronics Servo motor Motor side Junction cable Driver side Servo motor Motor side Junction cable Driver side 7bit Absolute encoder Motor MAMA, MSMD and MQMA series Motor MSMA, MDMA and MFMA, MGMA series Pin No. of cannon plug White Black Red Pink Light blue Purple Yellow/Green Battery 5 6 E5V E0V PS PS +5V 0V Regulator J H G T S K L Battery E5V E0V PS PS +5V 0V Regulator (by Tyco Electronics, AMP) Twisted pair 726- (by Tyco Electronics, AMP) Straight plug N/MS306B20-29S Twisted pair Cable clamp N/MS3057-2A by Japan Aviation Electronics Servo motor Motor side Junction cable Driver side Servo motor Motor side Junction cable Driver side

44 Standard Wiring Example of Control Circuit Wiring example at each control mode MINAS A4P Encoder Wiring Diagram Table of Applicable Motors CN X5 Wiring example at torque control mode Driver Frame symbol MADDT05P MADDT07P A-frame MADDT205P B-frame C-frame D-frame E-frame F-frame MADDT207P MBDDT20P MBDDT220P MCDDT320P MCDDT3520P MDDDT3530P MDDDT5540P MEDDT7364P MFDDTA390P MFDDTB3A2P VDC 2 to 24V MAM MAMA02 MAMA022 MAMA042 MAMA082 Control signal power supply Driver side COM+ 4.7k Emargency stop input 2 EMG-STP 4.7k CCW over-travel inhibit input 9 CCWL 4.7k CW over-travel inhibit input 20 CWL 4.7k Home sensor input 2 Z-LS 4.7k Servo-ON signal input 23 SRV-ON 4.7k Strobe signal input 24 STB 4.7k Point specifying input 3 PIN 4.7k Point specifying input 4 P2IN 4.7k Point specifying input 5 P4IN 4.7k Point specifying input 6 P8IN 4.7k Point specifying input 7 P6IN 4.7k Point specifying input 8 P32IN 4.7k Multi-function input 22 EX-IN 4.7k Multi-function input 2 25 EX-IN2 Present position output MAX 50mA 29 POUT Present position output Present position output Present position output Present position output Present position output Motor operation condition output Positioning completion output / Output during deceleration Servo alarm output Brake release signal MSMD MSMD5AZ MSMD0 MSMD5AZ MSMD02 MSMD022 MSMD02 MSMD042 MSMD04 MSMD082 MAX 50mA 30 MAX 50mA 3 MAX 50mA 32 MAX 50mA 33 MAX 50mA 34 Control signal power supply MAX 50mA 28 MAX 50mA 27 MAX 50mA 5 P2OUT P4OUT P8OUT P6OUT P32OUT BUSY COIN/ DCLON ALM MAX 50mA 36 BRK-OFF Refer to page, A4-37, Table of Part Numbers and Options as well. 7 8 COM FG MQMA MQMA0 MQMA02 MQMA022 MQMA02 MQMA042 MQMA04 CN X5 Table of Applicable Motors Diviber OA+ OB+ OZ+ OA- OB- OZ- GND CZ Motor series MSM MDM MSMA02 MSMA52 MSMA202 MSMA302 MSMA402 MSMA Z-phase output (open collector) represents twisted pair. MDMA02 MDMA52 MDMA202 MDMA302 MDMA402 MDMA502 MGM MGMA092 MGMA202 MGMA302 MGMA452 A-phase output B-phase output Z-phase output MFM MFMA042 MFMA52 MFMA252 MFMA452 MHM MHMA052 MHMA02 MHMA52 MHMA202 MHMA302 MHMA402 MHMA502 MINAS A4P Encoder Wiring Diagram/ Table of Applicable Motors

45 Driver/Dimensions Frame A (4) Mounting bracket (Option) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2 Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX RS232 communication terminal, CN X4 For manufacturer's use only : Not for individual use. For manufacturer's use only : Not for individual use. Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) S06B-F32SK-GGXR(or equivalent) S04B-F32SK-GGXR(or equivalent) R Rack mount type (Option : Front-end mounting) (75) Mounting bracket (Option) Connector at Power Supply and Motor side Connector sign CNX2 CNX Connector type 06JFAT-SAXGF(or equivalent) 04JFAT-SAXGF(or equivalent) R Base mount type (Standard : Back-end mounting) Mass 0.8kg Frame B Mounting bracket (Option) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Motor connecting terminals CN X2 Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX RS232 communication terminal, CN X4 For manufacturer's use only: Not for individual use. For manufacturer's use only: Not for individual use. Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) S06B-F32SK-GGXR(or equivalent) S04B-F32SK-GGXR(or equivalent) Rack mount type (Option : Front-end mounting) (75) Mounting bracket (Option) Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX 04JFAT-SAXGF(or equivalent) R Base mount type (Standard : Back-end mounting) Mass.kg

46 Frame C MINAS A4P Driver / Dimensions Mounting bracket (Option) 5.2 Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 Short between RB2 and ( RB3 in normal operation. ) Motor connecting terminals CN X2 Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX Frame D Main power input terminals CN X Control power input terminals CN X Regenerative resistor connecting terminals CN X2 Short between RB2 and ( RB3 in normal operation. ) Motor connecting terminals CN X2 Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) S06B-F32SK-GGXR(or equivalent) S05B-F32SK-GGXR(or equivalent) RS232 communication terminal, CN X4 For manufacturer's use only : Not for individual use. For manufacturer's use only : Not for individual use. Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X R2.6 RS232 communication terminal, CN X3 For manufacturer's use only : Not for individual use. For manufacturer's use only : Not for individual use. Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) S06B-F32SK-GGXR(or equivalent) S05B-F32SK-GGXR(or equivalent) R R Rack mount type (Option : Front-end mounting) Air movement (inside out) Air movement (inside out) Rack mount type (Option : Front-end mounting) (75) (75) 24 Mounting bracket (Option) 72 Mounting bracket (Option) Name plate Mounting bracket (Option) Name plate Connector at Power Supply and Motor side Connector sign CNX2 CNX Connector type 06JFAT-SAXGF(or equivalent) 05JFAT-SAXGF(or equivalent) Connector at Power Supply and Motor side Connector sign Connector type CNX2 06JFAT-SAXGF(or equivalent) CNX 05JFAT-SAXGF(or equivalent) 5.2 R Base mount type (Standard : Back-end mounting) Mass.5kg R Base mount type (Standard : Back-end mounting) Mass.7kg MINAS A4P Driver / Dimensions

47 Driver/Dimensions Frame E Air movement (inside out) (88) (200) Mounting bracket (Standard) Mounting bracket (put substitution of the Standard for the back-end) Main power input terminals Control power input terminals Regenerative resistor connecting terminals (short between B and B2 in normal operation) Motor connecting 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 signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X Name plate Earth terminals (75) Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) Air movement (inside out) Mass 3.2kg Frame F (200) Mounting bracket (Standard) Mounting bracket (put substitution of the Standard for the back-end) Main power input terminals Control power input terminals Regenerative resistor connecting terminals (short between B and B2 in normal operation) Motor connecting 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 signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X Air movement (from front to back) Name plate Earth terminals (75) Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A Connector type (or equivalent) (or equivalent) (or equivalent) MD-S (or equivalent) (or equivalent) (or equivalent) 85 Mass 6.0kg

48 MINAS A4P A4P Driver / Dimennsions Motor/Option Index MINAS A4 A4P Series Motor/Option Contents Motor <Ratings/Specifications/Torque Characteristics> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA <Dimensions> MAMA MSMD MQMA MSMA MDMA MGMA MFMA MHMA Motor with Gear Reducer/MSMD <General Specifications> <Ratings/Specifications> <Torque Characteristics> <Dimensions> Conformity to CE and UL IP65 Rating Options Recommended components A4-49 A4-49 A4-5 A4-59 A4-63 A4-67 A4-73 A4-78 A4-8 A4-87 A4-87 A4-88 A4-90 A4-9 A4-93 A4-96 A4-99 A4-0 A4-05 A4-06 A4-07 A4-08 A4-09 A4-2 A4-3 A4-27 MINAS A4,A4P Motor/Option

49 Motor Specifications and Ratings 200V MAMA 00W to 750W Ultra low inertia Small capacity AC200V MAMA A4 series Model No. A4P series Frame symbol 02P 02S 022P 022S 042P 042S 082P 082S MADDT207 MBDDT220 MCDDT3520 MDDDT5540 MADDT207P MBDDT220P MCDDT3520P MDDDT5540P Frame A Frame B Frame C Frame D Power supply capacity (kva) Rated output (W) Rated torque (N m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Without option DV0P4283 DV0P4284 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 (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m 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) 0.7 (0.9). (.5).2 (.6).5 (.9).6 (2.0) 3.3 (4.0) 3.4 (4.) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (Nm) Engaging time (ms) Releasing time (ms) Note)4 0 (60) 0 (00) 20 () Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 5% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-87, and for the diver, refer to pages A4-22,23 and A4-45,

50 MINAS A4P A4P MAMA 00W 750W Model designation MAMA series, 00W to 750W e.g.) M A M A 0 2 S A Symbol MAMA Type Ultra low inertia (00W-750W) Motor rated output Symbol Rated output 0 00W W W W Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure Shaft Symbol Round Key-way A B E F Holding brake without with Oil seal without with Torque characteristics MAMA02 at AC200V of power voltage MAMA022 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] MAMA042 MAMA082 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

51 Motor Specifications and Ratings 00V MSMD 50W to 00W Low inertia Small Capacity AC00V Motor model Applicable driver MSMD A4 series Model No. A4P series Frame symbol 5AZP 5AZS 0P 0S MADDT05 MADDT07 MADDT05P MADDT07P Frame A Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake Without option frequency (times/min) Note) DV0P4280 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) No limit Note)2 No limit Note) Smaller than 30 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 49m/s 2 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.) Static friction torque (Nm) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage () 0.30 DCV or more DC 24 V 5% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-88, and for the diver, refer to pages A4-22 and

52 MINAS A4P A4P MSMD 50W 00W Model designation MSMD series, 50W to 00W M S M D 5 A Z S S Symbol MSMD Type Low inertia (50W-00W) Motor rated output Symbol Rated output 5A 50W 0 00W Voltage specifications Symbol Specifications 00V Z 00/200V (50W only) Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Torque characteristics MSMD5AZ Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) *Continuous torque, ambient temperature *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. at AC00V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MSMD0 ambient temperature[] without Brake with Brake ambient temperature[] With Oil seal Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *Continuous torque, ambient temperature without Brake with Brake ambient temperature[] MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 AC5V (at 00V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/5) 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 (Z5D27 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

53 Motor Specifications and Ratings 00V MSMD 200W to 400W Low inertia Small Capacity AC00V Motor model Applicable driver MSMD A4 series Model No. A4P series Frame symbol 02P 02S 04P 04S MBDDT20 MCDDT320 MBDDT20P MCDDT320P Frame B Frame C Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P4282 DV0P4283 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 (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 30 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 0.82 (.3).2 (.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 (Nm) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage () 0.36 DCV or more DC 24 V 5% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-89, and for the diver, refer to pages A4-22,23 and A4-45,46.

54 MINAS A4P A4P MSMD 200W 400W Model designation MSMD series, 200W to 400W e.g.) M S M D 0 2 S S Symbol MSMD Type Low inertia (200W-400W) Motor rated output Symbol Rated output W W Voltage specifications Symbol Specifications 00V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Torque characteristics MSMD02 at AC00V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MSMD04 Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *Continuous torque, ambient temperature without Brake with Brake ambient temperature[] Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 AC5V (at 00V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/5) 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 (Z5D27 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

55 Motor Specifications and Ratings 200V MSMD 50W to 00W Low inertia Small Capacity AC200V Motor model Applicable driver MSMD A4 series Model No. A4P series Frame symbol 5AZP 5AZS 02P 02S MADDT205 MADDT205P Frame A Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake Without option frequency (times/min) Note) DV0P428 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) No limit Note)2 No limit Note) Smaller than 30 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m 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.) Static friction torque (Nm) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage () 0.30 DCV or more DC 24 V 5% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-88, and for the diver, refer to pages A4-22 and 45.

56 MINAS A4P A4P MSMD 50W 00W Model designation MSMD series, 50W to 00W e.g.) M S M D 5 A Z S S Symbol MSMD Type Low inertia (50W-00W) Motor rated output Symbol Rated output 5A 50W 0 00W Voltage specifications Symbol Specifications 2 200V Z 00/200V (50W only) Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Wires 5 7 Torque characteristics MSMD5AZ Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range torque [N. m] Peak run range Continuous run range versus rated torque (%) versus rated torque (%) *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) *Continuous torque, ambient temperature *Continuous torque, ambient temperature without Brake with Brake ambient temperature[] MSMD02 Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *Continuous torque, ambient temperature without Brake with Brake ambient temperature[] MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D27 by IshizukaElectronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

57 Motor Specifications and Ratings 200V MSMD 200W to 750W Low inertia Small Capacity AC200V Motor model Applicable driver Model No. MSMD Frame symbol A4 series A4P series 022P 022S 042P 042S 082P 082S MADDT207 MBDDT220 MCDDT3520 MADDT207P MBDDT220P MCDDT3520P Frame A Frame B Frame C Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake Without option No limit Note)2 frequency (times/min) Note) DV0P4283 No limit Note)2 Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor Without brake (x0-4 kg. m 2 ) With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 30 times Smaller than 20 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 0.82 (.3).2 (.7) 2.3 (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 (Nm) Engaging time (ms) Releasing time (ms) Note)4 5 () 20 () Exciting current (DC) (A) Releasing voltage DCV or more Exciting voltage DC 24 V 5% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-89, and for the diver, refer to pages A4-22,23 and A4-45,46.

58 MINAS A4P A4P MSMD 200W 750W Model designation MSMD series, 200W to 750W e.g.) M S M D S S Symbol MSMD Type Low inertia (200W-750W) Motor rated output Symbol Rated output W W W Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Wires 5 7 Torque characteristics MSMD022 Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MSMD042 *Continuous torque, ambient temperature ambient temperature[] Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] MSMD082 Without Oil seal With Oil seal torque [N. m] Peak run range Continuous run range torque [N. m] rotational speed [r/min] Peak run range Continuous run range rotational speed [r/min] *Continuous torque, ambient temperature without Brake with Brake versus rated torque (%) versus rated torque (%) versus rated torque (%) ambient temperature[] *Continuous torque, ambient temperature ambient temperature[] *Continuous torque, ambient temperature ambient temperature[] With Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque Continuous running range rotational speed versus rated torque (%) *Continuous torque, ambient temperature Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) ambient temperature[] MINAS A4/A4P Motor Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D27 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

59 Motor Specifications and Ratings 00V MQMA 00W to 400W Low inertia, Flat, Small Capacity AC00V Motor model Applicable driver MQMA A4 series Model No. A4P series Frame symbol 0P 0S 02P 02S 04P 04S MADDT07 MBDDT20 MCDDT320 MADDT07P MBDDT20P MCDDT320P Frame A Frame B Frame C Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Without option Regenerative brake DV0P4280 frequency (times/min) Note) DV0P4282 DV0P4283 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) No limit Note) No limit Note)2 No limit Note)2 No limit Note) Smaller than 20 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m 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 Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N m) 0.29 Engaging time (ms) 50 Releasing time (ms) Note)4 500 Exciting current (DC) (A) 0.29 Releasing voltage DCV or more Exciting voltage DC 24 V 5% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) 7 96 Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-90, and for the diver, refer to pages A4-22,23 and A4-45,46.

60 MINAS A4P A4P MQMA 00W 400W Model designation MQMA series, 00W to 400W e.g.) M Q M A 0 S S Symbol MQMA Type Low inertia (00W-400W) Motor rated output Symbol Rated output 0 00W W W Voltage specifications Symbol Specifications 00V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Wires 5 7 Torque characteristics MQMA0 at AC00V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MQMA02 With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] MQMA04 With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. *Continuous torque, ambient temperature ambient temperature[] MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 AC5V (at 00V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/5) 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

61 Motor Specifications and Ratings 200V MQMA 00W to 400W Low inertia, Flat, Small Capacity AC200V Motor model Applicable driver MQMA A4 series Model No. A4P series Frame symbol 02P 02S 022P 022S 042P 042S MADDT205 MADDT207 MBDDT220 MADDT205P MADDT207P MBDDT220P Frame A Frame B Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P No limit Note)2 No limit Note)2 0.5 Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) 5000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 20 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 49m/s 2 or less 0.65 (0.90) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 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 0.75 (.0).3 (2.0).4 (2.).8 (2.5).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 5 (00) 5 (00) Exciting current (DC) (A) Releasing voltage DCV or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) 7 96 Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-90, and for the diver, refer to pages A4-22 and 45.

62 MINAS A4P A4P MQMA 00W 400W Model designation MQMA series, 00W to 400W e.g.) M Q M A 0 2 S S Symbol MQMA Motor rated output Type Low inertia (00W-400W) Symbol Rated output 0 00W W W Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Motor structure Shaft Holding brake Oil seal Symbol Key-way, Round without center tap with without with A B S T Motor with oil seal is manufactured by order. Wires 5 7 Torque characteristics MQMA02 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MQMA022 With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] MQMA042 With / Without Oil seal torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

63 Motor Specifications and Ratings 200V MSMA.0kW to 2.0kW Low inertia, Medium Capacity AC200V Motor model Applicable driver MSMA A4 series Model No. A4P series Frame symbol 02P 02S 52P 52S 202P 202S MDDDT5540 MEDDT7364 MDDDT5540P MEDDT7364P Frame D Frame E Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency Without option (times/min) Note) DV0P4284 DV0P42852 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) No limit Note)2 No limit Note)2 No limit Note) Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less Mass (kg), ( ) represents holding brake type 4.5 (5.) 5. (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 5 (00) 5 (00) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-9, and for the diver, refer to pages A4-23,24 and A4-46,47.

64 MINAS A4P A4P MSMA.0kW 2.0kW Model designation MSMA series,.0kw to 2.0kW e.g.) M S M A 0 2 S G Symbol MSMA Motor rated output Type Low inertia (.0kW-2.0kW) Symbol Rated output 0.0kW 5.5kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MSMA02 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MSMA52 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake MSMA202 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

65 Motor Specifications and Ratings 200V MSMA 3.0kW to 5.0kW Low inertia, Medium Capacity AC200V Motor model Applicable driver MSMA A4 series Model No. A4P series Frame symbol 302P 302S 402P 402S 502P 502S MFDDTA390 MFDDTB3A2 MFDDTA390P MFDDTB3A2P Frame F Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P No limit 05 Note)2 No limit Note) Rated rotational speed (r/min) 3000 Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less Mass (kg), ( ) represents holding brake type 9.3 (.0) 2.9 (4.8) 7.3 (9.2) 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).8 6. Engaging time (ms) 80 0 Releasing time (ms) Note)4 5 (00) 50 (30) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load During assembly Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-92, and for the diver, refer to pages A4-24 and 47.

66 MINAS A4P A4P MSMA 3.0kW 5.0kW Model designation MSMA series, 3.0kW to 5.0kW e.g.) M S M A S G Symbol MSMA Motor rated output Type Low inertia (3.0kW-5.0kW) Symbol Rated output kW kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

67 Motor Specifications and Ratings 200V MDMA.0kW to.5kw Low inertia, Medium Capacity AC200V Motor model Applicable driver MDMA A4 series Model No. A4P series Frame symbol 02P 02S 52P 52S MDDDT3530 MDDDT5540 MDDDT3530P MDDDT5540P Frame D Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P No limit No limit Note)2 Note)2 40 Rated rotational speed (r/min) 2000 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 6.8 (8.7) 8.5 (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 70 (200) 50 (30) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-93, and for the diver, refer to pages A4-23 and 46.

68 MINAS A4P A4P MDMA.0kW.5kW Model designation MDMA series,.0kw to.5kw e.g.) M D M A 0 2 S G Symbol MDMA Motor rated output Type Middle inertia (.0kW-.5kW) Symbol Rated output 0.0kW 5.5kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MDMA02 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MDMA52 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

69 Motor Specifications and Ratings 200V MDMA 2.0kW to 3.0kW Middle inertia, Medium Capacity AC200V Motor model Applicable driver MDMA A4 series Model No. A4P series Frame symbol 202P 202S 302P 302S MEDDT7364 MFDDTA390 MEDDT7364P MFDDTA390P Frame E Frame F Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P42852 No limit No limit Note)2 Note)2 Rated rotational speed (r/min) 2000 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 0.6 (2.5) 4.6 (6.5) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N. m) Engaging time (ms) 00 0 Releasing time (ms) Note)4 50 (30) 50 (30) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-94, and for the diver, refer to pages A4-24 and 47.

70 MINAS A4P A4P MDMA 2.0kW3.0kW Model designation MDMA series, 2.0kW to 3.0kW e.g.) M D M A S G Symbol MDMA Motor rated output Type Middle inertia (2.0kW-3.0kW) Symbol Rated output kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MDMA202 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MDMA302 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

71 Motor Specifications and Ratings 200V MDMA 4.0kW to 7.5kW Middle inertia, Medium Capacity AC200V Motor model MDMA 402P 402S 502P 502S 752P 752S Applicable driver Model No. A4 series A4P series MFDDTB3A2 MFDDTB3A2P MGDDTC3B4 Frame symbol Frame F Frame G Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P42852 DV0P No limit Note)2 94 No limit No limit Note)2 Note)2 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 24m/s 2 or less 8.8 (2.3) 25.0 (28.5) 4.0 (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 35 (50) 25 (200) 50 (30) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-95, and for the diver, refer to pages A4-24,25 and 47.

72 MINAS A4P A4P MDMA 4.0kW 7.5kW Model designation MDMA series, 4.0kW to 7.5kW e.g.) M D M A S G Symbol MDMA Motor rated output Type Middle inertia (4.0kW-7.5kW) Symbol Rated output kW kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MDMA402 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MDMA502 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] without Brake with Brake MDMA752 torque [N. m] (9) 00 Peak run range 50 0 Continuous run range 000 (500) rotational speed [r/min] versus rated torque (%) 00 *Continuous torque, ambient temperature ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

73 Motor Specifications and Ratings 200V MGMA 900W to 2.0kW Middle inertia, Medium Capacity AC200V Motor model Applicable driver MGMA A4 series Model No. A4P series Frame symbol 092P 092S 202P 202S MDDDT5540 MFDDTA390 MDDDT5540P MFDDTA390P Frame D Frame F Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P4284 DV0P42852 No limit Note)2 No limit Note)2 No limit Note)2 Rated rotational speed (r/min) 000 Max. rotational speed (r/min) 2000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 8.5 (0.0) 7.5 (2.0) 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 50 (30) 25 (200) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-96, and for the diver, refer to pages A4-23,24 and A4-46,47.

74 MINAS A4P A4P MGMA 900W 2.0kW Model designation MGMA series, 900W to 2.0kW e.g.) M G M A S G Symbol MGMA Motor rated output Type Middle inertia (900W-2.0kW) Symbol Rated output W kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MGMA092 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MGMA202 torque [N. m] *Continuous torque, ambient temperature torque [N. m] *Continuous torque, ambient temperature Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

75 Motor Specifications and Ratings 200V MGMA 3.0kW to 6.0kW Middle inertia, Medium Capacity AC200V Motor model MGMA 302P 302S 452P 452S 602P 602S Applicable driver Model No. A4 series A4P series MFDDTB3A2 MFDDTB3A2P MGDDTC3B4 Frame symbol Frame F Frame G Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P42852 DV0P42854 No limit No limit Note)2 Note)2 No limit Note)2 Rated rotational speed (r/min) 000 Max. rotational speed (r/min) 2000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 24m/s 2 or less 25.0 (28.5) 34.0 (39.5) 4.0 (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) Releasing voltage Exciting voltage (30).40 DC2V or more DC 24 V 0% Permissible load Radial load P-direction (N) During assembly Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-97,98, and for the diver, refer to pages A4-24,25 and 47.

76 MINAS A4P A4P MGMA 3.0kW6.0kW Model designation MGMA series, 3.0kW to 6.0kW e.g.) M G M A S G Symbol MGMA Motor rated output Type Middle inertia (3.0kW-6.0kW) Symbol Rated output kW kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MGMA302 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MGMA452 torque [N. m] *Continuous torque, ambient temperature torque [N. m] *Continuous torque, ambient temperature Peak run range Continuous run range versus rated torque (%) Peak run range Continuous run range versus rated torque (%) rotational speed [r/min] ambient temperature[] rotational speed [r/min] ambient temperature[] MGMA602 torque [N. m] 50 (37) Peak run range 75 0 Continuous run range rotational speed [r/min] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

77 Motor Specifications and Ratings 200V MFMA 400W to.5kw Middle inertia, Medium Capacity AC200V Motor model Applicable driver MFMA A4 series Model No. A4P series Frame symbol 042P 042S 52P 52S MCDDT3520 MDDDT5540 MCDDT3520P MDDDT5540P Frame C Frame D Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P4283 DV0P4284 No limit No limit Note)2 Note)2 00 No limit Note)2 Rated rotational speed (r/min) 2000 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 4.7 (6.7) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less.0 (4.0) 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) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load Radial load P-direction (N) 980 During assembly Thrust load A-direction (N) 588 Thrust load B-direction (N) 686 Radial load P-direction (N) During operation Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-99, and for the diver, refer to pages A4-24 and 47.

78 MINAS A4P A4P MFMA 400W.5kW Model designation MFMA series, 400W to.5kw e.g.) M F M A S G Symbol MFMA Motor rated output Type Middle inertia (400W-.5kW) Symbol Rated output W 5.5kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MFMA042 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MFMA52 torque [N. m] *Continuous torque, ambient temperature torque [N. m] *Continuous torque, ambient temperature Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

79 Motor Specifications and Ratings 200V MFMA 2.5kW to 4.5kW Middle inertia, Medium Capacity AC200V Motor model Applicable driver MFMA A4 series Model No. A4P series Frame symbol 252P 252S 452P 452S MEDDT7364 MFDDTB3A2 MEDDT7364P MFDDTB3A2P Frame E Frame F Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency Without option 75 (times/min) Note) DV0P42852 No limit Note)2 Rated rotational speed (r/min) Max. rotational speed (r/min) Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) Smaller than 0 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 4.8 (7.5) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 9.9 (24.3) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N. m) Engaging time (ms) Releasing time (ms) Note)4 00 (450) 00 (450) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-00, and for the diver, refer to pages A4-24 and 47.

80 MINAS A4P A4P MFMA 2.5kW 4.5kW Model designation MFMA series, 2.5kW to 4.5kW e.g.) M F M A S G Symbol MFMA Motor rated output Type Middle inertia (2.5kW-4.5kW) Symbol Rated output kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MFMA252 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MFMA452 torque [N. m] *Continuous torque, ambient temperature torque [N. m] *Continuous torque, ambient temperature Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

81 Motor Specifications and Ratings 200V MHMA 500W to.5kw High inertia, Medium Capacity AC200V Motor model Applicable driver MHMA A4 series Model No. A4P series Frame symbol 052P 052S 02P 02S 52P 52S MCDDT3520 MDDDT3530 MDDDT5540 MCDDT3520P MDDDT3530P MDDDT5540P Frame C Frame D Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency (times/min) Note) Without option DV0P4283 DV0P4284 No limit No limit Note)2 Note)2 33 No limit Note)2 25 Rated rotational speed (r/min) 2000 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 5.3 (6.9) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 8.9 (9.5) 0.0 (.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 70 (200) 50 (30) Exciting current (DC) (A) Releasing voltage DC2V or more Exciting voltage DC 24 V 0% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-0, and for the diver, refer to pages A4-23 and 46.

82 MINAS A4P A4P MHMA 500W.5kW Model designation MHMA series, 500W to.5kw e.g.) M H M A S G Symbol MHMA Motor rated output Type High inertia (500W-.5kW) Symbol Rated output kW 0.0kW 5.5kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MHMA052 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MHMA02 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] MHMA52 torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. *Continuous torque, ambient temperature ambient temperature[] MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

83 Motor Specifications and Ratings 200V MHMA 2.0kW to 5.0kW High inertia, Medium Capacity AC200V Motor model Applicable driver MHMA A4 series Model No. A4P series Frame symbol 202P 202S 302P 302S 402P 402S 502P 502S MEDDT7364 MFDDTA390 MFDDTB3A2 MEDDT7364P MFDDTA390P MFDDTB3A2P Frame E Frame F Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency Without option (times/min) Note) DV0P42852 No limit Note) Rated rotational speed (r/min) 2000 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note)3 Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 49m/s 2 or less 6.0 (9.5) 8.2 (2.7) 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) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage (200).30 DC2V or more DC 24 V 0% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-02, and for the diver, refer to pages A4-24 and 47.

84 MINAS A4P A4P MHMA 2.0kW 5.0kW Model designation MHMA series, 2.0kW to 5.0kW e.g.) M H M A S G Symbol MHMA Type High inertia (2.0kW-5.0kW) Motor rated output Symbol Rated output kW kW kW kW Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MHMA202 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) MHMA302 torque [N. m] *Continuous torque, ambient temperature torque [N. m] *Continuous torque, ambient temperature Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) ambient temperature[] MHMA402 MHMA502 torque [N. m] Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] torque [N. m] Peak run range Continuous run range rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature 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 : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

85 Motor Specifications and Ratings 200V MHMA 7.5kW High inertia, Large Capacity AC200V Motor model MHMA 752P 752S Applicable driver Model No. A4 series A4P series MGDDTC3B4 Frame symbol Frame G Power supply capacity (kva) Rated output (W) Rated torque (N. m) Momentary Max. peak torque (N m) Rated current (Arms) Max. current (Ao-p) Regenerative brake frequency Without option 0 (times/min) Note) DV0P42854 No limit Note)2 Rated rotational speed (r/min) 500 Max. rotational speed (r/min) 3000 Moment of inertia of rotor (x0-4 kg. m 2 ) Without brake With brake Recommended moment of inertia ratio of the load and the rotor Note) Smaller than 5 times Rotary encoder specifications Resolution per single turn Protective enclosure rating Ambient temperature Ambient humidity Environment Installation location Altitude Vibration resistance Mass (kg), ( ) represents holding brake type IP65 (except shaft through hole and cable end connector) 0 to 40 (free from freezing), Storage : -20 to %RH or lower (free from condensing) Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust 000m or lower 24m/s 2 or less 43.5 (47.5) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N. m) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) Releasing voltage Exciting voltage (30).30 DC2V or more DC 24 V 0% Permissible load During assembly During operation Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) Radial load P-direction (N) Thrust load A-direction (N) Thrust load B-direction (N) For motor dimensions, refer to page A4-03, and for the diver, refer to pages A4-25.

86 MINAS A4P A4P MHMA 7.5kW Model designation MHMA series, 7.5kW e.g.) M H M A S G Symbol MHMA Motor rated output Symbol 75 Rated output 7.5kW Type High inertia (7.5kW) Voltage specifications Symbol Specifications 2 200V Rotary encoder specifications Symbol P S Format Pulse counts Design order : Standard Resolution Wires 5 7 Motor structure 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 F3). Torque characteristics MHMA752 at AC200V of power voltage (Dotted line represents the torque at 0% less supply voltage.) torque [N. m] (9) 00 Peak run range 50 0 Continuous run range 000 (500) rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature ambient temperature[] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. MINAS A4/A4P Motor Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 00%) Continuous running range rotational speed Radial load (P) direction L L/2 P Thrust load (A, B) direction A B Shaft Motor Note). 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 /(m+), 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 (Z5D5 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, A or equivalent)

87 Motor Dimensions MAMA 00W - 750W Encoder connector Motor connector Brake connector (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MAMA series (Ultra low inertia) Motor output Motor model MAMA 00W 200W 400W 750W 02P 02S 022P 022S 042P 042S 082P 082S Rotary encoder specifications LL Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW 3h9 4h9 5h9 6h9 KH RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-20 * 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.

88 Motor Dimensions MINAS A4P A4P MAMA 00W 750W / MSMD 50W 00W MSMD 50W - 00W Encoder connector LL Brake connector Motor connector LR LF LE 230 (Key way dimensions) LZ LC LW Sh6 LBh7 LH LA LK KH KW LN RH TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MSMD series (Low inertia) Motor output 50W 00W Motor model 5AP 5AS 0P 0S Rotary encoder specifications LL LR S LA LB LC LD Without brake With brake MINAS A4/A4P Motor LE 3 3 LF 6 6 LG LH LN LZ LW 4 4 LK Key way KW KH 3h9 3 3h9 3 RH TP M3 x 6 (depth) M3 x 6 (depth) Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-20 * 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.

89 Motor Dimensions MSMD 200W - 750W (Key way dimensions) Encoder connector LL Brake connector Motor connector LR LF LE LW LK KH KW RH TP LZ LC Sh6 LBh7 LH LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MSMD series (Low inertia) Motor output Motor model MSMD 200W 400W 750W 02P 02S 04P 04S 08P 08S Rotary encoder specifications Without brake LL With brake LR S LA LB LC LD LE LF LG LH LN LZ LW LK KW h h9 Key way KH RH TP M4 x 8 (depth) 5 M5 x 0 (depth) Without brake Mass (kg) With brake.3.7 Connector/Plug specifications refer to page A h M5 x 0 (depth) * 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.

90 Motor Dimensions MINAS A4P A4P MSMD 200W 750W / MQMA 00W 400W MQMA 00W - 400W Encoder connector Motor connector LL LR Brake connector LF LE 4-LZ LC (Key way dimensions) LW Sh6 LBh7 LH øla LK KH KW RH TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MQMA series (Low inertia) Motor output Motor model MQMA 00W 200W 400W 0P 0S 02P 02S 04P 04S Rotary encoder specifications Without brake LL With brake LR S LA LB LC LD LE LF LG LH LZ LW LK KW h h9 Key way KH RH TP M3 x 6 (depth) M4 x 8 (depth) Without brake Mass (kg) With brake Connector/Plug specifications refer to page A h9 5 M5 x 0 (depth) MINAS A4/A4P Motor * 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.

91 Motor Dimensions MSMA.0kW - 2.0kW Motor cannon plug LC Encoder cannon plug 4-LZ (Key way dimensions) LD LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MSMA series (Low inertia) Motor output Motor model MSMA.0kW.5kW 2.0kW 02P 02S 52P 52S 202P 202S Rotary encoder specifications LL Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW 6h9 6h9 6h9 KH RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

92 Motor Dimensions MSMA 3.0kW - 5.0kW MINAS A4P A4P MSMA.0kW 2.0kW/ MSMA 3.0kW 5.0kW Motor cannon plug LC Encoder cannon plug 4-LZ (Key way dimensions) LD LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MSMA series (Low inertia) Motor output Motor model MSMA 3.0kW 4.0kW 5.0kW 302P 302S 402P 402S 502P 502S Rotary encoder specifications Without brake LL With brake LR S LA LB /45 (slot) MINAS A4/A4P Motor LC LD LE LF LG LH 8 8 LZ LW LK Key way KW 8h9 8h9 8h9 KH RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

93 Motor Dimensions MDMA.0kW -.5kW Motor cannon plug Encoder cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MDMA series (Middle inertia) Motor output Motor model MDMA.0kW.5kW 02P 02S 52P 52S Rotary encoder specifications LL Without brake With brake LR S LA LB 0 0 LC LD LE 6 6 LF 2 2 LG LH 8 8 LZ 9 9 LW LK 4 4 Key way KW 8h9 8h9 KH 7 7 RH 8 8 Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

94 Motor Dimensions MDMA 2.0kW - 3.0kW MINAS A4P A4P MDMA.0kW.5kW/ MDMA 2.0kW 3.0kW Motor cannon plug Encoder cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MDMA series (Middle inertia) Motor output Motor model MDMA 2.0kW 3.0kW 202P 202S 302P 302S Rotary encoder specifications LL LR S LA LB Without brake With brake MINAS A4/A4P Motor LC LD LE 6 6 LF 2 2 LG LH 8 8 LZ 9 9 LW LK 4 5 Key way KW 8h9 8h9 KH 7 7 RH 8 20 Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

95 Motor Dimensions MDMA 4.0kW - 7.5kW MDMA 4.0kW - 5.0kW Motor cannon plug Encoder cannon plug (Key way dimensions) MDMA 7.5kW Motor cannon plug Brake cannon plug (Note) Eye bolt (Thread 0) Encoder cannon plug * Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake MDMA series (Middle inertia) Motor output 4.0kW 5.0kW 7.5kW Motor model MDMA 402P 402S 502P 502S 752P 752S Rotary encoder specifications LL Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW 8h9 0h9 2h9 KH RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

96 Motor Dimensions MINAS A4P A4P MDMA 4.0kW 7.5kW / MGMA 900W 2.0kW MGMA 900W - 2.0kW Encoder cannon plug Motor cannon plug LL LR LC (Key way dimensions) LF LE 4-LZ LW LK LG Sh6 LH KH KW LD LA RH * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MGMA series (Middle inertia) Motor output Motor model MGMA 900W 2.0kW 092P 092S 202P 202S Rotary encoder specifications LL LR S LA LB Without brake With brake MINAS A4/A4P Motor LC LD LE LF 2 8 LG LH 8 43 LZ LW LK 4 50 Key way KW 8h9 0h9 KH 7 8 RH 8 30 Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

97 Motor Dimensions MGMA 3.0kW - 4.5kW MGMA 3.0kW Motor cannon plug LL LR LC Encoder cannon plug LF LE 4- LZ Motor cannon plug Eye bolt (Thread 0) LC (Key way dimensions) LW LK Encoder cannon plug 4- LZ LD LA KH KW RH Sh6 L Bh7 LD LA MGMA 4.5kW Sh6 L Bh7 LG LH LL LR LF LE LH LG * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MGMA series (Middle inertia) Motor output Motor model MGMA 3.0kW 4.5kW 302P 302S 452P 452S Rotary encoder specifications Without brake LL With brake LR 80 S 35 LA 200 LB 4.3 LC 76 LD 233 LE 3.2 LF 8 LG 84 LH 43 LZ 3.5 LW 55 LK 50 Key way KW 0h9 KH 8 RH 30 Without brake Mass (kg) With brake Connector/Plug specifications refer to page A4-4 * 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 h

98 Motor Dimensions MGMA 6.0kW MINAS A4P A4P MGMA 3.0kW 6.0kW Motor cannon plug Brake cannon plug (Note) Eye bolt (Thread 0) 4-LZ (Key way dimensions) LD LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake MGMA series (Middle inertia) Motor output 6.0kW Motor model MGMA 602P 602S Rotary encoder specifications Without brake LL With brake Key way LR S LA LB LC LD LE LF LG LH LZ LW LK KW KH RH h Without brake 4.0 Mass (kg) With brake 45.0 Connector/Plug specifications refer to page A MINAS A4/A4P Motor * 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.

99 Motor Dimensions MFMA 400W -.5kW Encoder cannon plug Motor cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MFMA series (Middle inertia) Motor output Motor model MFMA 400W.5kW 042P 042S 52P 52S Rotary encoder specifications Without brake LL With brake Key way LR S LA LB LC LD LE LF LG LH LZ LW LK KW KH RH h Without brake Mass (kg) With brake Connector/Plug specifications refer to page A4-4 * 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 h

100 Motor Dimensions MFMA 2.5kW - 4.5kW MINAS A4P A4P MFMA 400W 4.5kW Encoder cannon plug Motor cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MFMA series (Middle inertia) Motor output Motor model MFMA 2.5kW 4.5kW 252P 252S 452P 452S Rotary encoder specifications LL LR S LA LB Without brake With brake MINAS A4/A4P Motor LC LD LE 4 4 LF 6 6 LG LH LZ LW LK Key way KW 0h9 0h9 KH 8 8 RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

101 Motor Dimensions MHMA 500W -.5kW Encoder cannon plug Motor cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MHMA series (High inertia) Motor output Motor model MHMA 500W.0kW.5kW 052P 052S 02P 02S 52P 52S Rotary encoder specifications LL Without brake With brake LR S LA LB LC LD LE LF LG LH LZ LW LK Key way KW 8h9 8h9 8h9 KH RH Mass (kg) Without brake With brake Connector/Plug specifications refer to page A4-4 * 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.

102 Motor Dimensions MHMA 2.0kW - 5.0kW MINAS A4P A4P MHMA 500W 5.0kW Encoder cannon plug Motor cannon plug (Key way dimensions) * Dimensions are subject to change without notice. Contact us or a dealer for the latest information MHMA series (High inertia) Motor output Motor model MHMA 2.0kW 3.0kW 4.0kW 5.0kW 202P 202S 302P 302S 402P 402S 502P 502S Rotary encoder specifications Without brake LL With brake LR S LA LB LC LD LE LF 8 8 LG LH LZ LW LK Key way KW 0h9 0h9 KH 8 8 RH Without brake Mass (kg) With brake Connector/Plug specifications refer to page A h h MINAS A4/A4P Motor * 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.

103 Motor Dimensions MHMA 7.5kW Motor cannon plug Brake cannon plug (Note) Eye bolt (Thread 0) 4-LZ (Key way dimensions) LD LA * Dimensions are subject to change without notice. Contact us or a dealer for the latest information (Note) for with brake MHMA series (High inertia) Motor output 7.5kW Motor model MHMA 752P 752S Rotary encoder specifications Without brake LL With brake Key way LR S LA LB LC LD LE LF LG LH LZ LW LK KW KH RH h Without brake 43.5 Mass (kg) With brake 47.5 Connector/Plug specifications refer to page A * 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.

104 MINAS A4P A4P MHMA 7.5kW MINAS A4/A4P Motor / MEMO

105 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 EN5078 EN550 Conformed Standard UL508C Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment Conforms to Low- Voltage Directives IEC : International Electrotechnical Commission EN : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CSA : Canadian Standards Association Motor and driver EN IEC IEC IEC Immunity for Industrial Environments Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-Speed Transition Phenomenon/Burst Immunity Test Conforms to references by EMC Directives IEC Lightening Surge Immunity Test IEC High Frequency Conduction Immunity Test IEC Instantaneous Outage Immunity Test Composition of peripheral equipment <Precautions in using options> Use This options product correctly is intended after to be reading used with operation a general manuals industrial of the product, options but to not better designed understand or manufactured the precautions. to be used in a machine or system Take that may care cause not to personal apply excessive death when stress it is to failed. each optional part. Installation environment Use the MINAS driver in environment of Pollution Degree or 2 prescribed in IEC (e.g. Install the driver in control panel with IP54 protection structure.) Power supply Circuit breaker Leakage current breaker (RCD) Surge absorber Control panel Insulated power supply for interface Noise filter Controller Noise filter for signal lines Ground (PE) L L2 L3 Driver LC(r) L2C(t) CN X5 U V W Noise filter for signal lines CN X6 Servo motor M RE Power supply V system : Single phase 00V 5-5V 5 50/60Hz (Frame A to C) V system : Single 200V -240V 50/60Hz 5 5 (Frame A to B) V system : Single/3- phase 200V -240V 50/60Hz 5 5 (Frame C to D) 200V system : 3- phase 200V 0-230V 0 50/60Hz (Frame E to F) 5 5 ()This product is designed to be used under Overvoltage Category (Installation Category) of EN5078 :997. Install a surge absorber which conforms to EN6643- : 2002 and other relevant standards at the power entry when you want to use this product under Overvoltage Category (Installation Category). (2)For a interface power supply, use an insulated one with 2 to 24 VDC which conforms to CE Marking or EN Standards.

106 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 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. DV0P470 DV0P480 DV0P4220 DV0P340 Part No. SUP-EK5-ER-6 3SUP-HQ0-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B Manufacturer Okaya Electric Industries Co. DV0P470 Terminal cover (transparent) Earth terminal M4 Label Cover attachment screw M3 Label Cover Main body Option part No. A B C D E F G H DV0P DV0P DV0P340 Surge absorber Install a surge absorber at primary side of the noise filter. Option part No. Driver voltage spec Part No. Manufacturer Option part No. Driver voltage spec Part No. Manufacturer DV0P450 3-phase, 200V R. A. V-78BXZ-4 Okaya Electric DV0P490 Single phase, 00V, 200V R. A. V-78BWZ-4 Okaya Electric Label MINAS A4/A4P Conformity to CE and UL Circuit diagram Circuit diagram <Remarks> Remove this surge absorber when you perform dielectric test on the machine, or serge absorber might be damaged.

107 Conformity to CE and UL Noise filter for signal lines 39 Install noise filters for signal lines to all cables (Power line, motor cable, encoder cable, interface cable) 34 Option part No. Part No. Manufacturer Mass : 62.8g DV0P460 ZCAT TDK Corp. <Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables Ground-fault breaker Install a B-type ground-fault breaker (RCD) at primary side of the power supply of the driver. Grounding ()Connect the protective earth terminal of the driver ( prevent electrical shocks. (2)Do not co-clamp to the protective earth terminals ( ) and protective earth terminal of the control panel (PE) without fail to ). Two protective earth terminals are provided. Conformity to UL Standards Observe the following conditions ( () and (2)) to make the system conform to UL508C (File No. E64620). ()Use Minas driver in environment of Pollution Degree or 2 prescribed in IEC (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.

108 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.) Series MSMA Motor Output (kw) Motor side Receptacle type (or equivalent) Plug and clamp (Customer to supply ) manufactured by Japan Aviation Electronics Ind. Straight type (or equivalent) Plug Angle type (L-shape) (or equivalent) JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R Cable clamp type (or equivalent) JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL CK (4)-R JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R MDMA JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R 7.5 JL04V-2E32-7PE-B-R N/MS306B-32-7S N/MS S N/MS A Without brake 0.9 JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R JL CK (4)-R MGMA JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R 6.0 JL04V-2E32-7PE-B-R N/MS306B-32-7S N/MS S N/MS A JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R MHMA JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R JL CK (4)-R 7.5 JL04V-2E32-7PE-B-R N/MS306B-32-7S N/MS S N/MS A With brake MFMA MSMA MDMA MGMA MHMA MFMA JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R 7.5 Motor JL04V-2E32-7PE-B-R N/MS306B 32-7S N/MS308B 32-7S N/MS A Brake N/MS302A 4S-2P N/MS306B 4S-2S N/MS308B 4S-2S N/MS3057-6A 0.9 JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R 6.0 Motor JL04V-2E32-7PE-B-R N/MS306B 32-7S N/MS308B 32-7S N/MS A Brake N/MS302A 4S-2P N/MS306B 4S-2S N/MS308B 4S-2S N/MS3057-6A JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R Motor JL04V-2E32-7PE-B-R N/MS306B 32-7S N/MS308B 32-7S N/MS A 7.5 Brake N/MS302A 4S-2P N/MS306B 4S-2S N/MS308B 4S-2S N/MS3057-6A JL04V-2E20-8PE-B-R JL04V-6A20-8SE-EB-R JL04V-8A20-8SE-EB-R JL CK (4)-R JL04V-2E24-PE-B-R JL04V-6A24-SE-EB-R JL04V-8A24-SE-EB-R JL CK (7)-R MINAS A4/A4P Conformity to CE and UL / IP65 Rating Encoder N/MS302A 20-29P JA06A-20-29S-J-EB-R JA08A-20-29S-J-EB-R JL CK (4)-R Note) MDMA 7.5kW, MGMA 6kW and MHMA 7.5kW do not provide IP65 rating.

109 Options Cable part No. designation Encoder cable 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) S A S-type cannon plug AMP connector Cable type E PVC cable with shield by Oki Electric Cable Co., 0.20mm 2 x 8P, 3P Cable length m 5m 0m 20m Type classification MFECA : Encoder cable Motor cable Cable end at driver side D Plus clamp terminal for MINAS A4,A4P by Phoenix contact T Clamp terminal Cable end at motor side E C 4 pole AMP connector 4 pin S type cannon plug Cable type E F G ROBOTOP 4-wire by Daiden Co., Ltd. ROBOTOP 6-wire by Daiden Co., Ltd. ROBOTOP 2-wire by Daiden Co., Ltd. Cross section of cable core mm 2.25mm 2 2.0mm 2 3.5mm 2 Type classification A B Standard Special Design order Cable length AC servo motor cable m 5m 0m 20m

110 MINAS A4P A4P Option Pin configuration for encoder connector Pin configuration for motor/brake connector (with brake) MSMA MDMA MFMA MHMA MGMA MSMA MDMA MFMA MHMA MGMA MSMA MDMA MFMA MHMA MGMA kw,.5kw, 2kW kw,.5kw, 2kW 400W,.5kW 500W, kw,.5kw 900W MSMA MDMA MFMA MHMA MGMA 3kW, 4kW, 5kW 3kW, 4kW, 5kW 2.5kW, 4.5kW 2kW,3kW,4kW,5kW 2kW, 3kW, 4.5kW MDMA 7.5kW MGMA 6kW MHMA 7.5kW Motor Cable A M B L N C T P K D J S R E H F G N/MS302A20-29P Specifications of incremental encoder PIN No. Content PIN No. Content A B C D E F G H NC NC NC NC NC NC EOV E5V K L M N P R S T PS PS NC NC NC NC NC NC J Frame GND N/MS302A20-29P Specifications of 7bit absolute/incremental encoder PIN No. Content PIN No. Content A B C D E F G H J A M B L N C T P K D J S R E H F G NC NC NC NC NC NC EOV E5V Frame GND K L M N P R S T PS PS NC NC NC NC BAT * BAT+* *Connection to Pin-S and T are not required when used in incremental. F G E PIN No. G H A F I B E D C H I D A C JL04V-2E20-8PE-B-R (by Japan Aviation Electronics or equivalent) B Content Brake Brake NC U-phase V-phase W-phase Ground Ground NC D A G JL04V-2E24-PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D E F G H I B E H C I F Content Brake Brake NC U-phase V-phase W-phase Ground Ground NC JL04V-2E32-7PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D Brake Cable N/MS302A 4S-2P (by Japan Aviation Electronics or equivalent) PIN No. A B C D D C D C A B Content U-phase V-phase W-phase Ground A B Content Brake Brake NC NC Pin configuration for motor/brake connector (without brake) MSMA MDMA MHMA MGMA kw,.5kw, 2kW kw,.5kw, 2kW 500W, kw,.5kw 900W D A C B MSMA MDMA MHMA MGMA 3kW, 4kW, 5kW 3kW, 4kW, 5kW 2kW,3kW,4kW,5kW 2kW, 3kW, 4.5kW D A C B MDMA MGMA MHMA 7.5kW 6kW 7.5kW D C A B MFMA 400W,.5kW MFMA 2.5kW, 4.5kW G H A A B C F I B D E F E D C G H I MINAS A4/A4P Options JL04V-2E20-4PE-B-R (by Japan Aviation Electronics or equivalent) JL04V-2E22-22PE-B-R (by Japan Aviation Electronics or equivalent) JL04V-2E32-7PE-B-R (by Japan Aviation Electronics or equivalent) JL04V-2E20-8PE-B-R (by Japan Aviation Electronics or equivalent) JL04V-2E24-PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D Content U-phase V-phase W-phase Ground PIN No. A B C D Content U-phase V-phase W-phase Ground PIN No. A B C D Content U-phase V-phase W-phase Ground PIN No. G H A F I B E D C Content NC NC NC U-phase V-phase W-phase Ground Ground NC 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.

111 Options Encoder cable MFECA00EAE MSMD50W - 750W,MQMA00W - 400W,MAMA00W - 750W absolute encoder, with battery holder L (8) Title Connector Connector Connector pin Cable Part No. (Manufacturer's) or mm 2 4P Manufacturer Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co Part No. MFECA0030EAE MFECA0050EAE MFECA000EAE MFECA0200EAE Note) Battery for absolute encoder is an option. MFECA00ESE MSMA,MDMA,MHMA,MGMA,MFMA absolute encoder, with battery holder L (8) Title Connector Straight plug Cable clamp Cable Part No. (Manufacturer's) or N/MS306B20-29S N/MS3057-2A 0.20mm 2 4P Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Oki Electric Cable Co Part No. MFECA0030ESE MFECA0050ESE MFECA000ESE MFECA0200ESE Note) Battery for absolute encoder is an option. MFECA00EAD MSMD50W - 750W,MQMA00W - 400W,MAMA00W - 750W incremental encoder, without battery holder L (6.5) Title Connector Connector Connector pin Cable Part No. (Manufacturer's) or mm 2 3P Manufacturer Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co Part No. MFECA0030EAD MFECA0050EAD MFECA000EAD MFECA0200EAD MFECA00ESD MSMA,MDMA,MHMA,MGMA,MFMA incremental/ encoder, without battery holder L (6.5) Title Connector Straight plug Cable clamp Cable Part No. (Manufacturer's) or N/MS306B20-29S N/MS3057-2A 0.20mm 2 3P Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Oki Electric Cable Co Part No. MFECA0030ESD MFECA0050ESD MFECA000ESD MFECA0200ESD MFECA00EAM MSMD50W - 750W,MQMA00W - 400W,MAMA00W - 750W encoder, without battery holder L (6.5) Title Connector Connector Connector pin Cable Part No. (Manufacturer's) or mm 2 3P Manufacturer Molex Inc. Tyco Electronics, AMP Oki Electric Cable Co Part No. MFECA0030EAM MFECA0050EAM MFECA000EAM MFECA0200EAM

112 Options Motor cable (ROBO TOP R 05,600V, DP) MINAS A4P A4P Option ROBO TOP R is a trade mark of Daiden Co., Ltd. MFMCA00EED MSMD50W - 750W,MQMA00W - 400W,MAMA00W - 750W Title Connector Connector pin Rod terminal Nylon insulated roundterminal Cable Part No. (Manufacturer's) AI0.75-8GY N.25-M4 ROBO-TOP 600V 0.75mm 2 Manufacturer Tyco Electronics, AMP Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0030EED MFMCA0050EED MFMCA000EED MFMCA0200EED MFMCDO2ECD MSMA.0kW -.5kW,MDMA.0kW -.5kW MHMA500W -.5kW,MGMA900W Title Straight plug Cable clamp Rod terminal Nylon insulated roundterminall Cable Part No. (Manufacturer's) JL04V-6A20-4SE-EB-R JL CK(4)-R AI2.5-8BU N2-M4 ROBO-TOP 600V 2.0mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCD0032ECD MFMCD0052ECD MFMCD002ECD MFMCD0202ECD MFMCDO2ECT MSMA2.0kW,MDMA2.0kW Title Straight plug Cable clamp Nylon insulated roundterminall Cable Part No. (Manufacturer's) JL04V-6A20-4SE-EB-R JL CK(4)-R N2-5 ROBO-TOP 600V 2.0mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCD0032ECT MFMCD0052ECT MFMCD002ECT MFMCD0202ECT MFMCAO3ECT MFMCAO2ECD MSMA3.0kW - 5.0kW,MDMA3.0kW - 5.0kW MHMA2.0kW - 5.0kW,MGMA2.0kW - 4.5kW MFMA400W -.5kW Title Straight plug Cable clamp Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A22-22SE-EB-R JL CK(4)-R N5.5-5 ROBO-TOP 600V 3.5mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0033ECT MFMCA0053ECT MFMCA003ECT MFMCA0203ECT MINAS A4/A4P Options Title Straight plug Cable clamp Rod terminal Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A20-8SE-EB-R JL CK(4)-R AI2.5-8BU N2-M4 ROBO-TOP 600V 2.0mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0032ECD MFMCA0052ECD MFMCA002ECD MFMCA0202ECD MFMCDO3ECT MFMA2.5kW - 4.5kW Title Straight plug Cable clamp Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A24-SE-EB-R JL CK(7)-R N5.5-5 ROBO-TOP 600V 3.5mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCD0033ECT MFMCD0053ECT MFMCD003ECT MFMCD0203ECT

113 Options Brake cable (ROBO TOP R 05,600V, DP) MFMCB00GET MSMD 50W - 750W MQMA00W - 400W MAMA 00W - 750W Title Connector Connector pin Nylon insulated roundterminal Cable Part No. (Manufacturer's) , N.25-M4 ROBO-TOP 600V 0.75mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCB0030GET MFMCB0050GET MFMCB000GET MFMCB0200GET Motor cable (with brake) (ROBO TOP R 05,600V, DP) ROBO TOP R is a trade mark of Daiden Co., Ltd. MFMCAO2FCD MSMA.0kW-.5kW,MDMA.0kW -.5kW MHMA 500W-.5kW,MFMA 400W -.5kW MGMA 900W Title Straight plug Cable clamp Rod terminal Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A20-8SE-EB-R JL CK(4)-R AI2.5-8BU N2-M4 N.25-M4 RROBO-TOP 600V 2.0mm 2 or ROBO-TOP 600V 0.75mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. Phoenix J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0032FCD MFMCA0052FCD MFMCA002FCD MFMCA0202FCD MFMCAO2FCT MSMA2.0kW,MDMA2.0kW Title Straight plug Cable clamp Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A20-8SE-EB-R JL CK(4)-R N2-5 N.25-M4 ROBO-TOP 600V 2.0mm 2 or ROBO-TOP 600V 0.75mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0032FCT MFMCA0052FCT MFMCA002FCT MFMCA0202FCT MFMCA03FCT 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 Title Straight plug Cable clamp Nylon insulated roundterminal Cable Part No. (Manufacturer's) JL04V-6A24-SE-EB-R JL CK(7)-R N5.5-5 N.25-M4 ROBO-TOP 600V 3.5mm 2 or ROBO-TOP 600V 0.75mm 2 Manufacturer Japan Aviation Electronics Industry Ltd. J.S.T. Mfg. Co., Ltd. Daiden Co., Ltd Part No. MFMCA0033FCT MFMCA0053FCT MFMCA003FCT MFMCA0203FCT

114 Options MINAS A4P A4P Options Connector kit for external peripheral equipments ) Part No.DV0P4350 2) Components Title Part No. Number Manufacturer Note Connector or Connector cover Molex Inc. For CN X5 (50-pins) 3) Pin Configuration(50-pins) (viewed from the soldering side) ZERO SPD / DIV / CL C- S- VS-SEL INTSPD3 INTSPD2 MODE RDY GAIN SRV / TL-SEL -ON 0PC 2 0PC2 3 PULS 3 A- 5 SIGN 36 ALM INH S- CLR / INTSPD RDY 7 COM PULS2 SIGN2 CWL 9 CCWL COIN- / TLC AT-SPEED- 37 ALM BRK- OFF DIV2 0 BRK- OFF 2 ZSP 39 COIN+ / AT-SPEED+ 3 GND 5 GND 42 IM 4 COM 43 SP 7 GND PULSH SIGNH OB 9 CZ SPR / TRQR CCWTL CWTL NC / SPL /TRQR PULSH2 SIGNH2 OB 2 OA 22 OA 23 OZ 24 OZ 50 FG 25 GND <Cautions>. 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. ) Part No.DV0P4500 2) Components Title Part No. Number Manufacturer Note Connector or Connector cover Molex Inc. For CN X5 (36-pins) 3) Pin Configuration(50-pins) (viewed from the soldering side) 9 CCWL COM 20 CWL 2 EMG- STP 2 Z-LS 3 PIN 22 EX-IN 4 P2IN 23 SRV-ON 5 P4IN 24 STB 6 P8IN 25 EX-IN2 7 P6IN 26 GND 8 P32IN 27 COIN/ DCLON 9 OZ 28 BUSY 0 OZ 29 POUT OA 30 P2OUT 2 OA 3 P4OUT 3 DB 32 P8OUT 4 DB P6OUT NC 5 ALM P32OUT BRK-OFF 6 CZ 7 COM 8 FG <Cautions>. 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. MINAS A4/A4P Options

115 Interface cable ) Part No. DV0P4360 2) Dimensions (39) 2.7 <Remarks> Color designation of the cable e.g.) Pin- Cable color : Orange (Red) : One red dot on the cable molex (52.35) ) Table for wiring Cable of 2m is connected. 3) Table for wiring ) Part No. DV0P450 2) Dimensions (39) <Remarks> Color designation of the cable e.g.) Pin- Cable color : Orange (Red) : One red dot on the cable molex (43.46) Communication cable (for connection with PC) ) Part No. DV0P960 2) Dimensions 2000 D-sub connector 9P Mini-DIN 8P MD connector Communication cable (for RS485) This cable cannot be used for the A4P series L Part No. DV0P970 DV0P97 L[mm] Mini-DIN 8P MD connector DV0P

116 MINAS A4P A4P Options Applicable motor models : ) Part No. DV0P4290 MSMD 50W to 750W MQMA 00W to 400W MAMA 00W to 750W absolute For brake, purchase our optional brake cable. 2) Components 3) Pin configuration of connector, CN X6 E5V 3 5 PS Case ( ) FG 2 E0V 4 6 PS Title Connector Connector Connector pin Connector Connector pin Part No or (lead-free) Number 4) Pin configuration of junction cable for encoder BAT+ 4 PS 7 E5V 2 BAT 5 PS 8 E0V 3 FG 6 NC 9 NC *When you connect the battery for absolute encoder, refer to A4-26, "When you make your own cable for absolute encoder" 9 4 Manufacturer Molex Inc. Tyco Electronics AMP Tyco Electronics AMP Note 5) Pin configuration of junction cable for motor power U 3 W 2 V 4 E For CN X6 (6-pins) For junction cable to encoder (9-pins) For junction cable to motor (4-pins) Applicable motor models : ) Part No. DV0P4380 MSMD 50W to 750W MQMA 00W to 400W MAMA 00W to 750W incremental encoder For brake, purchase our optional brake cable. 2) Components Title Part No. Number ) Pin configuration of connector, CN X6 4) Pin configuration of junction cable for encoder E5V 3 5 PS ( ) Case FG Connector Connector Connector pin Connector Connector pin 2 E0V 4 6 PS or (lead-free) NC 4 E5V 2 PS 5 E0V 3 PS 6 FG Manufacturer Molex Inc. Tyco Electronics AMP Tyco Electronics AMP Note For CN X6 (6-pins) For junction cable to encoder (6-pins) For junction cable to encoder (4-pins) 5) Pin configuration of junction cable for motor power U 3 W 2 V 4 E MINAS A4/A4P Options For DV0P2490, DV0P3480, recommended manual crimp tool (to be prepared by customer) Title Part No. Manufacturer For junction cable to encoder Tyco Electronics AMP For junction cable to motor

117 Options Applicable motor models : MSMA.0kW to 2.0kW MDMA.0kW to 2.0kW MHMA 500W to.5kw MGMA 900W ) Part No. DV0P430 absolute incremental encoder, incremental encoder Without brake 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B20-29S N/MS3057-2A N/MS306B20-4S N/MS3057-2A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power Applicable motor models : MSMA 3.0kW to 5.0kW MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW MGMA 2.0kW to 4.5kW ) Part No. DV0P4320 absolute incremental encoder, incremental encoder Without brake 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B-20-29S N/MS3057-2A N/MS306B22-22S N/MS3057-2A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power Applicable motor models : MSMA.0kW to 2.0kW MDMA.0kW to 2.0kW MHMA 0.5kW to.5kw MGMA 900W absolute incremental encoder, incremental encoder With brake ) Part No. DV0P4330 MFMA 0.4kW to.5kw absolute incremental encoder, incremental encoder Without brake With brake 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B20-29S N/MS3057-2A N/MS306B20-8S N/MS3057-2A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power Applicable motor models : MSMA 3.0kW to 5.0kW MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW MGMA 2.0kW to 4.5kW absolute incremental encoder, incremental encoder With brake ) Part No. DV0P4340 MFMA 2.5kW to 4.5kW absolute incremental encoder, incremental encoder Without brake With brake 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B20-29S N/MS3057-2A N/MS306B24-S N/MS3057-6A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power

118 MINAS A4P A4P Options Applicable motor models : MDMA 7.5kW MGMA 6.0kW MHMA 7.5kW absolute incremental encoder, incremental encoder With brake ) Part No. DV0P3470 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B20-29S N/MS3057-2A N/MS306B32-7S N/MS A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power Applicable motor models : MDMA 7.5kW MGMA 6.0kW MHMA 7.5kW absolute incremental encoder, incremental encoder Without brake ) Part No. DV0P3480 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp Straight plug Cable clamp Part No or (lead-free) N/MS306B20-29S N/MS3057-2A N/MS306B32-7S N/MS A N/MS306B4S-2S N/MS3057-6A Number Manufacturer Molex Inc. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Japan Aviation Electronics Industry Ltd. Note For CN X6 (6-pins) For junction cable to encoder For junction cable to motor power For junction cable to brake cable MINAS A4/A4P Options

119 Options Setup support software "PANATERM " ) Part No. DV0P4460 (Japanese/ English version) 2) Supply media : CD-ROM <Caution> For setup circumstance, refer to the Instruction Manual of "PANATERM ". Mounting bracket Frame symbol of applicable part No. driver Mounting screw Upper side Dimensions Bottom side 2-M4, Pan head 2-M4, Pan head 7 7 Frame A DV0P 427 M4 x L6 Pan head 4pcs R M4, Pan head 2-M4, Pan head Frame B DV0P 4272 M4 x L6 Pan head 4pcs R M4, Pan head 2-M4, Pan head Frame C DV0P 4273 M4 x L6 Pan head 4pcs M4, Pan head 2-M4, Pan head 7 Frame D DV0P 4274 M4 x L6 Pan head 4pcs <Caution> For Frame E, F you can make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).

120 Options Console ) Part No. DV0P4420 MINAS A4P A4P Caution) An existing console(dv0p3690) cannot be used for the A4P series. Options 2) Dimensions (62) (24) Reactor Fig. 6- (5) (4) Name plate M3 length 5mm Tightening torque for the insert screw shall be 0.5Nm or less (5) (500) MD connector Mini DIN-8P E Fig.2 2- E X Y Z NP C D C D R S T A (Mounting pitch) B 4-H F (Mounting pitch) G A (Mounting pitch) B 4-H F (Mounting pitch) G Fig. Fig. 2 Part No. A B C D E F G H I DV0P220 DV0P22 DV0P222 DV0P223 DV0P224 DV0P225 DV0P226 DV0P227 DV0P (width) x 2 (length) 7 (width) x 2 (length) 7 (width) x 2 (length) 7 (width) x 2 (length) 7 (width) x 2 (length) 7 (width) x 2 (length) M4 M4 M4 M4 M4 M5 M4 M4 M4 Inductance (mh) Rated current (A) MINAS A4/A4P Options Harmonic restraint on general-purpose inverter and servo driver On September, 994, 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 98, JEM-TR 99 and JEM-TR 20) 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, 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.. 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 20 and JEM-TR 225.) 2. The Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 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.

121 Options External regenerative resistor Part No. DV0P4280 DV0P428 DV0P4282 DV0P4283 DV0P4284 DV0P4285 Manufacturer's part No. RF70M RF70M RF80B RF80B RF240 RH450F Resis tance Free air 0W 0W 7W 7W 40W 52W Specifications Reted power (reference)* *Power with which the driver can be used without activating the built-in thermostat. Manufacturer : Iwaki Musen Kenkyusho DV0P4280,DV0P428 with fan[w] m/s 2m/s 3m/s DV0P4282,DV0P4283 Activation temperature of built-in thermostat 405 B-contact Open/Close capacity (resistance load) 4A 25VAC 0000 times 2.5A 250VAC 0000 times DV0P4284 DV0P4285 <Remarks> 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 00 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. <Caution> Regenerative resistor gets very hot. Take preventive measures for fire and burns. Avoid the installation near inflammable objects, and easily accessible place by hand.

122 MINAS A4P A4P Options Battery for absolute encoder Battery (Frame A to G) 84 Lead wire length : 50mm ) Part No. DV0P2990 2) Lithium battery by Toshiba Battery Co. ER6V, 3.6V 2000mAh <Caution> 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) Insulation Paper ZHR-2 (by J.S.T. Mfg. co., Ltd.) BAT 2 BAT When you make your own cable for absolute encoder When you make your own cable for 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. <Cautions> 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 () 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 Junction connector for encoder cable (Optional connector kit) E5V E0V BAT BAT PS PS FG 7H 8G Pin number when the connector is used. Pin number when the cannon plug is used. T 2S 2 4K 5L 3J Title Part No. Manufacturer Connector ZMR-2 J.S.T. Mfg. co., Ltd. Connector pin SMM-003T-P0.5 J.S.T. Mfg. co., Ltd. Clamping jig YRS-800 J.S.T. Mfg. co., Ltd. BAT BAT BAT BAT Battery 2 Connector ZHR-2 (by J.S.T. Mfg.Co., Ltd.) Battery for absolute encoder (Option) DV0P2990 Connector for absolute encoder (to be provided by customer) Twisted pair Connector CN X6 (Optional connector kit) E5V 2 E0V 5 6 PS PS FGCASE MINAS A4/A4P Options <Precautions in using options> 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.

123 Recommended components Surge absorber for motor brake Motor MSMD 50W - 750W MAMA 00W - 750W MHMA 2.0kW - 7.5kW MGMA 900W - 2.0kW MSMA.0kW - 5.0kW MDMA 4.0kW - 7.5kW MFMA.5kW MGMA 3.0kW - 6.0kW MDMA.0kW - 3.0kW Surge absorber for motor brake Z5D27 Ishizuka Electronics Co. Z5D5 Ishizuka Electronics Co. MFMA 400W TNR9V820K MFMA 2.5kW - 4.5kW Nippon Chemi_Con Co. MHMA 500W -.5kW List of Manufactures for peripheral equipments (reference only) Peripheral components Manufacturer Automation Controls Company Matsushita Electric Works, Ltd. Regenerative resistor Iwaki Musen Kenkyusho Co., Ltd. Surge absorber for holding brake Nippon Chemi_Con Corp. 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 Connector Tyco Electronics AMP k.k, Cable Linear scale * The above list is for reference only. We may change the manufacturer without notice.

124 MINAS A4P A4P Recommended components MINAS A4/A4P Recommended components

125 Information Index Motor capacity selection software Option selection software Setup support software Guide to the International System of Units (SI) Selecting Motor Capacity Request Sheet for Motor Selection Connection between driver and controller Index Sales Office F2 F3 F4 F5 F7 F3 F2 F3 F49

126 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. Information Motor capacity selection software Example of capacity calculation screen Information

127 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.

128 Setup support software Option select 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 Alarm Displays the numbers and contents of the current alarm and up to 4 error events in the past. Clears the numbers and contents of the current alarm and up to 4 error events in the past. Setup Auto tuning 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 Frequency analysis Measures frequency characteristics of the machine, and displays Bode diagram. Parameter Monitor Graphic waveform display Software