MINAS A4, A4F, A4P Series (MSMD) Motors with Gear Reducer Motor output (W) 100 200 400 750 • Mo e.g.) Efficiency of the gear reducer show the following inclination in relation to output torque and rotational speed. • Motor types with gear reducer Reduction ratio Rat Spe Type of reducer 1/9 efficiency For high precision 1/15 1/25 efficiency 1/5 rotational speed output torque • Specifications of motor with gear reducer Motor type Gear reducer MSMD Backlash 3 minutes or smaller (initial value) at output shaft of the reducer Composition of gear Planetary gear Gear efficiency 65% to 85% Rotational direction at output shaft (of reducer) Same direction as the motor output shaft Composition of gear Planetary gear Mounting method Flange mounting • The Com Enc Permissible moment of inertia of the load 10 times or smaller than rotor moment of inertia of the motor (conversion to the motor shaft) Protective structure Environment IP44 (at gear reducer) Ambient temperature 0 to 40˚C Ambient humidity 85%RH (free from condensation) or less Vibration resistance 49m/s2 or less (at motor frame) Impact resistance 98m/s2 or less 250 Incre • Table of motor specifications Motor Model Motor Reduction ratio (W) Output Max. speed (N . m ) J( x 10 – 4 kg . m2) (N) (N) 75 600 1000 1.18 3.72 0.0910 0.0940 1.02 1.23 490 245 1/9 80 333 555 2.25 6.86 0.0853 0.0883 1.02 1.23 588 294 1 / 15 80 200 333 3.72 11.4 0.0860 0.0890 1.17 1.38 784 392 1 / 25 80 120 200 6.27 19.0 0.0885 0.0915 2.17 2.38 1670 833 1/5 170 600 1000 2.65 8.04 0.258 0.278 1.54 2.02 490 245 1/9 132 333 555 3.72 11.3 0.408 0.428 2.52 3.00 1180 588 3N 1 / 15 132 200 333 6.27 18.8 0.440 0.460 2.52 3.00 1470 735 MSMD02 4N 1 / 25 140 120 200 11.1 33.3 0.428 0.448 2.52 3.00 1670 833 MSMD04 1N 1/5 340 600 1000 5.39 16.2 0.623 0.643 2.9 3.4 980 490 2N 1/9 332 333 555 9.51 28.5 0.528 0.548 2.9 3.4 1180 588 1N MSMD01 2N MSMD01 3N MSMD01 4N MSMD02 1N MSMD02 2N MSMD02 MSMD04 (r / m i n ) (r / m i n ) (N . m ) 1/5 MSMD01 (W) Rated speed MSMD with gear reducer Moment of inertia (motor + reducer/converted Mass Peak max. Rated Permissible Permissible to motor shaft) torque torque radial load thrust load w/o brake w/ brake w/o brake w/ brake 100 200 (kg) 17-bit 400 MSMD04 3N 1 / 15 332 200 333 15.8 47.5 0.560 0.580 3.3 3.8 1470 735 MSMD04 4N 1 / 25 332 120 200 26.4 79.2 0.560 0.580 4.4 4.9 2060 1030 1/5 672 600 900 10.7 32.1 1.583 1.683 4.4 5.2 980 490 1/9 635 333 500 18.2 54.7 1.520 1.620 5.7 6.5 1470 735 MSMD082 1N MSMD082 2N 750 MSMD082 3N 1 / 15 635 200 300 30.4 91.2 1.570 1.670 6.1 6.9 1760 882 MSMD082 4N 1 / 25 635 120 180 50.7 152 1.520 1.620 6.1 6.9 2650 1320 For dimensions, refer to page, A4-136. A4-133 For dime * In the d