Motor Specifications and Ratings 200V MAMA 100W to 750W Ultra low inertia Small capacity e.g.) AC200V MAMA Motor model Model No. Applicable driver A4 series A4F series A4P series Frame symbol 012P1 012S1 022P1 022S1 042P1 042S1 082P1 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1207F MBDDT2210F MCDDT3520F MDDDT5540F MADDT1207P MBDDT2210P MCDDT3520P MDDDT5540P Frame A Frame B Frame C Frame D 0.3 0.5 0.9 1.6 Rated output (W) 100 200 400 750 Rated torque (N . m) 0.19 0.38 0.76 1.43 Momentary Max. peak torque (N . m) 0.95 1.91 3.82 7.16 Rated current (Arms) 0.9 1.54 3.1 5.1 Max. current (Ao-p) 6.3 10.9 21.7 36.0 Regenerative brake frequency (times/min) Note)1 Without option No limit No limit DV0P4283 MAMA No limit DV0P4284 Max. rotational speed (r/min) 6000 Moment of inertia of rotor (x10-4 kg . m2) Tor Note)2 5000 Note)2 0.025 0.035 0.078 0.088 0.14 0.15 0.50 0.51 With brake 0.029 0.039 0.11 0.12 0.17 0.18 0.58 0.59 Rotary encoder specifications Resolution per single turn 0.5 (0.19) 15 times or less 2500P/r Incremental 17-bit 17-bit 2500P/r Absolute/ Absolute/ Incremental Incremental Incremental 10000 131072 10000 0 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 10000 131072 10000 131072 131072 IP65 (except rotating portion of output shaft and lead wire end) Protective enclosure rating Ambient temperature torque [N . m 1.0 (0.95) Without brake Recommended moment of inertia ratio of the load and the rotor Note)3 M S Note)2 Rated rotational speed (r/min) M 082S1 MADDT1207 Power supply capacity (kVA) Mod 0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours <Nomal temperature>) MAMA torque [N . m 4.0 (3.82) 85%RH or lower (free from condensing) Ambient humidity 2.0 Environment Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust (0.76) 1000m or lower Altitude Vibration resistance Mass (kg), ( ) represents holding brake type 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 0.65 (0.85) 0.71 (0.91) 1.1 (1.5) 1.2 (1.6) 1.5 (1.9) 1.6 (2.0) 3.3 (4.0) 3.4 (4.1) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms) Note)4 Exciting current (DC) (A) 0.29 1.27 2.45 35 50 70 10 (60) 10 (100) 20 (–) 0.30 0.35 0.25 Releasing voltage DC2V or more Exciting voltage DC 24 V ±5% During operation *When y range Torque Contin Permissible load During assembly 0 Radial lo Radial load P-direction (N) 147 392 686 Thrust load A-direction (N) 88 147 294 Thrust load B-direction (N) 117.6 196 392 Radial load P-direction (N) 68.6 245 392 Thrust load A-direction (N) 49 68.6 68.6 Thrust load B-direction (N) 49 68.6 68.6 L/2 Thrust lo A For motor dimensions, refer to page A4-115, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74. B A4-77 A4 MAMA MINAS A4F A4P 100W-750W Model designation MAMA series, 100W to 750W e.g.) M A M A 0 Symbol MAMA Type Ultra low inertia (100W-750W) 1 2 S 1 A Design order 1 : Standard Voltage specifications Symbol 2 Specifications 200V Motor structure Symbol Holding brake Shaft Round Key-way without with Oil seal without with A Motor rated output B Symbol Rated output 01 02 04 08 100W 200W 400W 750W E Rotary encoder specifications Symbol Format Pulse counts Resolution Wires P Incremental S Absolute/Incremental 2500P/r 10000 5 17-bit 131072 7 F Torque characteristics at AC200V of power voltage torque [N . m] 1.0 (0.95) Peak run range (0.19) Continuous run range (5000) 0 2000 4000 6000 (1.91) 100 (0.38) 10 20 30 0 40 4000 6000 100 50 0 10 20 30 40 ambient temperature[˚C] MAMA082 1 (3.82) Peak run range Continuous run range (5000) 4000 6000 2000 rotational speed [r/min] *Continuous torque, ambient temperature 100 (7.16) Peak run range 4.0 50 (1.43) 0 *Continuous torque, ambient temperature torque [N . m] 8.0 Continuous run range (5000) 10 20 30 40 ambient temperature[˚C] 0 4000 6000 2000 rotational speed [r/min] 100 50 0 10 20 30 40 ambient temperature[˚C] *When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Continuous running range rotational speed Radial load (P) direction L Shaft L/2 P Thrust load (A, B) direction A Motor B Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load. . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia. . When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the square of (running speed/rated speed). . Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent) A4-78 MINAS A4/A4F/A4P Motor versus rated torque (%) torque [N . m] 4.0 0 2000 *Continuous torque, ambient temperature rotational speed [r/min] ambient temperature[˚C] MAMA042 1 (0.76) Continuous run range (5000) 0 rotational speed [r/min] 2.0 Peak run range 1.0 50 versus rated torque (%) 0.5 torque [N . m] 2.0 *Continuous torque, ambient temperature versus rated torque (%) MAMA022 1 versus rated torque (%) MAMA012 1