Motor Specifications and Ratings 100V MQMA Low inertia, Flat, Small Capacity e.g.) AC100V Model No. Applicable driver 011P1 A4 series A4F series A4P series 011S1 021P1 021S1 041P1 041S1 MADDT1107 MBDDT2110 MCDDT3120 MADDT1107F MBDDT2110F MCDDT3120F MADDT1107P MBDDT2110P MCDDT3120P Frame A Frame B Frame C Frame symbol Power supply capacity (kVA) 0.4 0.5 0.9 Rated output (W) 100 200 400 Rated torque (N . m) 0.32 0.64 1.3 Momentary Max. peak torque (N . m) 0.95 1.91 3.82 Rated current (Arms) 1.6 2.5 4.4 6.9 10.5 18.6 Max. current (Ao-p) Without option Regenerative brake frequency (times/min) Note)1 No limit No limit DV0P4280 Tor No limit No limit 5000 4500 Without brake 0.09 0.10 0.34 0.35 0.64 0.65 With brake 0.12 0.13 0.42 0.43 0.72 0.73 Recommended moment of inertia ratio of the load and the rotor Note)3 Rotary encoder specifications Resolution per single turn 20 times or less 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 10000 131072 10000 131072 10000 131072 Protective enclosure rating Ambient temperature IP65 (except rotating portion of output shaft and lead wire end) 0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours <Nomal temperature>) Ambient humidity 85%RH or lower (free from condensing) Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust Altitude 1000m or lower Vibration resistance Mass (kg), ( ) represents holding brake type 2 2 2 49m / s or less 24m / s or less 49m / s or less 24m / s2 or less 49m / s2 or less 24m / s2 or less 0.65 (0.90) 0.75 (1.0) 1.3 (2.0) 1.4 (2.1) 1.8 (2.5) 1.9 (2.6) Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.) Static friction torque (N . m) Engaging time (ms) Releasing time (ms) Note)2 Note)2 3000 Max. rotational speed (r/min) Environment S Note)2 DV0P4282 Rated rotational speed (r/min) Moment of inertia of rotor (x10-4 kg . m2) M Note)2 DV0P4283 Note)4 Exciting current (DC) (A) M 0.29 1.27 50 60 15 (100) 15 (100) 0.29 0.41 MQMA With / Without Oil seal MQ MA Motor model Mod MQMA With / Without Oil seal 100W to 400W *When y range Torque Contin Releasing voltage DC1V or more Exciting voltage DC 24 V ±5% Radial lo Permissible load Radial load P-direction (N) 147 392 During assembly Thrust load A-direction (N) 88 147 Thrust load B-direction (N) 117 196 Radial load P-direction (N) 68 245 Thrust load A-direction (N) 58 98 Thrust load B-direction (N) 58 98 During operation For motor dimensions, refer to page A4-118, and for the diver, refer to pages A4-22, 23, 48, 49, 73 and 74. A4-87 L/2 Thrust lo A B A4 MQMA MINAS A4F A4P 100W - 400W Model designation MQMA series, 100W to 400W e.g.) M Q M A 0 1 1 S 1 S Motor structure Symbol Type Low inertia (100W-400W) MQMA Design order 1 : Standard Voltage specifications Symbol Specifications 1 100V Symbol Shaft Holding brake Oil seal Key-way, Round center tap without with without with A B S T Motor with oil seal is manufactured by order. Motor rated output Rotary encoder specifications Symbol Rated output 01 02 04 Symbol Format Pulse counts Resolution Wires P Incremental 2500P/r 10000 5 S Absolute/Incremental 17-bit 131072 7 100W 200W 400W Torque characteristics at AC100V of power voltage (Dotted line represents the torque at 10% less supply voltage.) 1.0 (0.95) 0.5 (0.32) *Continuous torque, ambient temperature 100 Peak run range Continuous run range 0 1000 2000 3000 4000 5000 rotational speed [r/min] 50 0 10 20 30 40 ambient temperature[˚C] *Continuous torque, ambient temperature torque [N . m] 2.0 (1.91) Peak run range 1.0 (0.64) 0 Continuous run range 1000 2000 3000 4000 5000 rotational speed [r/min] versus rated torque (%) torque [N . m] With / Without Oil seal MQMA021 1 versus rated torque (%) With / Without Oil seal MQMA011 1 100 50 0 10 20 30 40 ambient temperature[˚C] 4.0 (3.82) Peak run range 2.0 (1.3) Continuous run range 0 1000 2000 3000 4000 4500 rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature torque [N . m] 100 MINAS A4/A4F/A4P Motor With / Without Oil seal MQMA041 1 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 AC115V (at 100V of the main voltage). If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/115) relative to the value in the table. . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or a dealer. 2. If the effective torque is within the rated torque, there is no limit in generative brake. 3. Consult us or a dealer if the load moment of inertia exceeds the specified value. 4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent). ( ) represents the actually measured value using a diode (200V, 1A or equivalent) A4-88 Motor Specifications and Ratings 200V MQMA Low inertia, Flat, Small Capacity e.g.) AC200V Model No. Applicable driver A4 series A4F series A4P series 012P1 012S1 022P1 022S1 042P1 042S1 MADDT1205 MADDT1207 MBDDT2210 MADDT1205F MADDT1207F MBDDT2210F MADDT1205P MADDT1207P MBDDT2210P Frame A Frame symbol Frame B Power supply capacity (kVA) 0.3 0.5 0.9 Rated output (W) 100 200 400 Rated torque (N . m) 0.32 0.64 1.3 Momentary Max. peak torque (N . m) 0.95 1.91 3.82 Rated current (Arms) 1.0 1.6 2.5 4.3 6.8 10.5 Max. current (Ao-p) Regenerative brake frequency (times/min) Note)1 Without option No limit Note)2 DV0P4283 No limit Note)2 Max. rotational speed (r/min) Tor MQMA 5000 0.090 0.100 0.340 0.350 0.640 0.650 With brake 0.120 0.130 0.420 0.430 0.720 0.730 Rotary encoder specifications Resolution per single turn 20 times or less 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 10000 131072 10000 131072 10000 131072 Protective enclosure rating Ambient temperature IP65 (except rotating portion of output shaft and lead wire end) 0 to 40˚C (free from freezing), Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours <Nomal temperature>) Ambient humidity 85%RH or lower (free from condensing) Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust Altitude 1000m or lower Vibration resistance Mass (kg), ( ) represents holding brake type 2 2 2 49m/s or less 24m/s or less 49m/s or less 24m/s2 or less 49m/s2 or less 0.65 (0.90) 0.75 (1.0) 1.3 (2.0) 1.4 (2.1) 1.8 (2.5) 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) 0.29 1.27 50 60 15 (100) 15 (100) 0.29 0.41 Releasing voltage DC1V or more Exciting voltage DC 24 V ±10% During operation 24m/s2 or less 1.9 (2.6) MQMA *When y range Torque Contin Radial lo Permissible load During assembly S Without brake Recommended moment of inertia ratio of the load and the rotor Note)3 Environment M 3000 Rated rotational speed (r/min) Moment of inertia of rotor (x10-4 kg . m2) M With / Without Oil seal MQ MA Motor model Mod With / Without Oil seal 100W to 400W Radial load P-direction (N) 147 392 Thrust load A-direction (N) 88 147 Thrust load B-direction (N) 117 196 Radial load P-direction (N) 68 245 Thrust load A-direction (N) 58 98 Thrust load B-direction (N) 58 98 For motor dimensions, refer to page A4-118, and for the diver, refer to pages A4-22, 48 and 73. A4-89 L/2 Thrust lo A B A4 MQMA MINAS A4F A4P 100W - 400W Model designation MQMA series, 100W to 400W e.g.) M Q M A 0 1 2 S 1 S Motor structure Symbol Type Low inertia (100W-400W) MQMA Design order 1 : Standard Voltage specifications Symbol Specifications 2 200V Symbol Shaft Holding brake Oil seal Key-way, Round center tap without with without with A B S T Motor with oil seal is manufactured by order. Motor rated output Rotary encoder specifications Symbol Rated output Symbol Format Pulse counts Resolution Wires P Incremental 2500P/r 10000 5 S Absolute/Incremental 17-bit 131072 7 01 02 04 100W 200W 400W Torque characteristics at AC200V of power voltage (Dotted line represents the torque at 10% less supply voltage.) 1.0 (0.95) Peak run range Continuous run range 0 1000 2000 3000 4000 5000 rotational speed [r/min] 100 50 0 10 20 30 40 ambient temperature[˚C] *Continuous torque, ambient temperature torque [N . m] 2.0 (1.91) Peak run range 1.0 (0.64) 0 Continuous run range 1000 2000 3000 4000 5000 rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature torque [N . m] 0.5 (0.32) With / Without Oil seal MQMA022 1 versus rated torque (%) With / Without Oil seal MQMA012 1 100 50 0 10 20 30 40 ambient temperature[˚C] 4.0 (3.82) Peak run range 2.0 (1.3) Continuous run range 0 1000 2000 3000 4000 5000 rotational speed [r/min] versus rated torque (%) *Continuous torque, ambient temperature torque [N . m] MINAS A4/A4F/A4P Motor With / Without Oil seal MQMA042 1 100 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) A4-90