A4 Motor with reducer Ratings and specifications MINAS A4F A4P Ratings and Specifications of Motor with Gear Reducer • Model No. designation e.g.) M S M D Symbol MSMD 0 1 1 P 3 1 N Type Low inertia (100-750W) Motor types with gear reducer Symbol Reduction ratio Motor rated output Symbol Rated output 01 02 04 08 100W 200W 400W 750W Voltage specifications Symbol 1 2 Specifications 100V 200V Rotary encoder specifications Symbol Format Pulse counts 1N 1/ 5 2N 1/ 9 3N 1/15 4N 1/25 100 Motor output (W) 200 400 750 Type of reducer For high precision Motor structure Symbol Resolution Wire 3 P Incremental 2500P/r 10000 5 4 S Absolute/Incremental 17-bit 131072 7 Shaft Holding brake Key way without with • The combination of the driver and the motor 100V Combination with driver Encoder Motor output Part No. of motor with reducer 200V Single phase, 100V Part No. of driver Part No. of motor with reducer MSMD011P N MADDT1107F MSMD012P N N 2500P/r Incremental 400W MSMD041P N MBDDT2110F MADDT1205F MSMD022P N MADDT1207F MBDDT2110P MADDT1207P MCDDT3120 MBDDT2210 MCDDT3120F Part No. of driver – – – – – – MADDT1207 MBDDT2110 MSMD021P MSMD042P N MBDDT2210F MCDDT3520 MCDDT3520 – – MSMD082P N MCDDT3520F MSMD082P N MCDDT3520P MCDDT3520P MADDT1107 100W MSMD011S N MADDT1107F MADDT1205 MSMD012S N MADDT1107P MSMD021S N 17-bit Absolute 400W MSMD041S N MBDDT2110F MADDT1205F – – – – – MADDT1207 MSMD022S N MADDT1207F MBDDT2110P MADDT1207P MCDDT3120 MBDDT2210 MCDDT3120F – MADDT1205P MBDDT2110 200W MSMD042S N MCDDT3120P MBDDT2210F MBDDT2210P MCDDT3520 MCDDT3520 750W – – MCDDT3520F MSMD082S N MCDDT3520F MCDDT3520P For dimensions, refer to pages, A4-22, 23, 48, 49, 73 and 74. * In the driver model number, the upper row is A4 series, the middle row is A4F series and the lower is A4P series. A4-134 MSMD082S N MCDDT3520F MCDDT3520P MINAS A4/A4F/A4P Motor with reducer / Ratings and specifications MBDDT2210P MCDDT3120P 750W 3-phase, 200V Part No. of motor with reducer MADDT1205P MADDT1107P 200W Part No. of driver MADDT1205 MADDT1107 100W Single phase, 200V Torque Characteristics of Motor with Gear Reducer • For high precision (MSMD Series 100W - 750W) Reduction Supply ratio voltage Motor to driver output 1/9 1/5 MSMD011 1N 1/15 MSMD011 torque 4.0 [N . m] (3.72) torque [N . m] 2N MSMD011 torque [N . m] 8.0 • MS 1/25 3N MSMD011 Dim w 4N torque 20.0 [N . m] (19.0) 16.0 (6.86) (11.4) 100W Peak run range Peak run range Peak run range 4.0 2.0 Peak run range 8.0 10.0 (2.25) (1.18) (6.72) Continuous run range 0 Continuous run range 500 600 1000 rotational speed [r/min] MSMD021 1N 0 0 200 2N 333 0 100 120 MSMD021 torque [N . m] 3N MSMD021 torque [N . m] 20.0 (18.8) 200 rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] torque 16.0 [N . m] Continuous run range Continuous run range 333 400 555 MSMD021 torque (8.04) 8.0 [N . m] (3.72) (3.72) 4N 40.0 (33.3) (11.3) Peak run range 100V 200W Peak run range 8.0 4.0 Peak run range 20.0 10.0 Peak run range (2.65) (11.1) (6.27) (3.72) Continuous run range Continuous run range Continuous run range 0 500 600 1000 0 333 400 555 MSMD041 1N 200 rotational speed [r/min] rotational speed [r/min] MSMD041 torque 20.0 [N . m] 0 torque [N . m] 2N 0 100 120 MSMD041 (16.2) 3N 200 rotational speed [r/min] rotational speed [r/min] torque [N . m] 40.0 Continuous run range 333 MSMD041 4N • 250 • 17-b torque 80.0 [N . m] (79.2) 60.0 (47.5) (28.5) 400W Peak run range 20.0 10.0 (5.39) Continuous run range 1000 0 333 400 555 MSMD012 1N 200 Continuous run range 333 0 MSMD01 100 120 rotational speed [r/min] 200 rotational speed [r/min] MSMD01 MSMD012 torque 4.0 [N . m] (3.72) 0 rotational speed [r/min] rotational speed [r/min] Mo Continuous run range Continuous run range 500 600 40.0 (26.4) (15.8) (9.51) 0 Peak run range Peak run range 30.0 Peak run range torque [N . m] 2N MSMD012 torque [N . m] 8.0 3N MSMD012 torque [N . m] 16.0 4N 20.0 (19.0) MSMD01 (6.86) (11.4) 100W Peak run range 4.0 (1.18) (2.25) (6.27) (3.72) 1000 0 1N torque (8.04) 8.0 [N . m] 0 333 200 rotational speed [r/min] rotational speed [r/min] MSMD022 torque [N . m] Continuous run range Continuous run range 333 400 555 rotational speed [r/min] MSMD022 Peak run range Continuous run range 500 600 MSMD01 10.0 8.0 Continuous run range 0 Peak run range Peak run range 2.0 2N MSMD022 torque [N . m] 16.0 3N 0 MSMD022 torque [N . m] 20.0 (18.8) MSMD02 200 100 120 rotational speed [r/min] MSMD02 4N 40.0 MSMD02 (33.3) (11.3) 200W Peak run range 8.0 4.0 Peak run range 10.0 Peak run range (2.65) (6.27) Continuous run range Continuous run range 500 600 1000 0 333 400 555 rotational speed [r/min] 200V MSMD042 MSMD02 (11.1) (3.72) Continuous run range 0 Peak run range 20.0 1N 200 torque [N . m] 2N MSMD042 torque [N . m] 40.0 Continuous run range 333 0 (16.2) 3N MSMD04 200 100 120 rotational speed [r/min] rotational speed [r/min] MSMD042 torque 20.0 [N . m] 0 rotational speed [r/min] MSMD042 MSMD04 4N torque 80.0 [N . m] (79.2) 60.0 MSMD04 (47.5) (28.5) 400W Peak run range Peak run range 20.0 10.0 30.0 Peak run range (5.39) (9.51) 1000 0 333 400 555 MSMD082 1N torque [N . m] 40.0 0 MSMD082 torque [N . m] 2N MSMD082 torque [N . m] 80.0 (32.1) MSMD08 333 200 rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] Continuous run range Continuous run range Continuous run range 500 600 MSMD04 (26.4) (15.8) Continuous run range 0 40.0 Peak run range 3N 0 200 100 120 rotational speed [r/min] MSMD082 torque [N . m] 120.0 MSMD08 4N 160.0 (152.0) MSMD08 (91.2) (54.7) 750W 20.0 Peak run range 40.0 (10.7) 500 600 60.0 80.0 0 333 400 500 rotational speed [r/min] rotational speed [r/min] Dotted line represents the torque at 10% less supply voltage. A4-135 MSMD08 (50.7) Continuous run range Continuous run range Continuous run range 900 Peak run range Peak run range (30.4) (18.2) Continuous run range 0 Peak run range 0 200 300 rotational speed [r/min] 0 100 120 180 rotational speed [r/min]