* This product image is 200W type of A5-series.

Operating Instructions (Overall)

AC Servo Motor & Driver
MINAS A5-series

Thank you for purchasing this Panasonic product.

Before operating this product, please read the instructions carefully, and save this manual for future use.
2
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5-series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5-series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
This is the original instruction.
Caution 1) Any part or whole of this document shall not be reproduced without written permis-
sion from us.
2) Contents of this document are subject to change without notice.
3
1. Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
read the specifcations, and how to install the equipment.
2. Preparation
Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.
3. Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4. Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.
5. Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6. When in Trouble
Read this section when you encounter trouble or error.
7. Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.
Organization of this manual
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Contents
Organization of this manual ............................................................................................ 3
Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11
1. Before Using the Products ................................................................... 1-1
1. Introduction ............................................................................................................... 1-2
2. Driver ........................................................................................................................ 1-3
3. Motor ....................................................................................................................... 1-21
4. Check of the Combination of the Driver and the Motor ........................................... 1-23
6. Installation ............................................................................................................... 1-28
7. Permissible Load at Output Shaft ........................................................................... 1-35
2. Preparation ......................................................................................................... 2-1
1. Conformance to international standards ................................................................... 2-2
2. System Confguration and Wiring ........................................................................... 2-10
3. Wiring to the Connector, X1 .................................................................................... 2-51
4. Wiring to the Connector, X2 .................................................................................... 2-51
5. Wiring to the Connector, X3 .................................................................................... 2-53
6. Wiring to the Connector, X4 .................................................................................... 2-54
7. Wiring to the Connector, X5 .................................................................................... 2-55
8. Wiring to the Connector, X6 .................................................................................... 2-57
9. Wiring to the Connector, X7 .................................................................................... 2-60
10. Timing Chart .......................................................................................................... 2-61
11. Built-in Holding Brake ............................................................................................ 2-65
12. Dynamic Brake ....................................................................................................... 2-67
13. Setup of Parameter and Mode .............................................................................. 2-72
14. Setup of command division and multiplication ratio (electronic gear ratio) ........... 2-84
15. How to Use the Front Panel .................................................................................. 2-86
3. Connection ......................................................................................................... 3-1
1. Outline of mode ......................................................................................................... 3-2
2. Control Block Diagram ............................................................................................ 3-14
3. Wiring to the Connector, X4 .................................................................................... 3-18
4. Inputs and outputs on connector X4 ....................................................................... 3-30
5. IF Monitor Settings .................................................................................................. 3-50
page
5
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4. Setup ........................................................................................................................ 4-1
1. Describes parameters ............................................................................................... 4-2
2. JOG running ............................................................................................................ 4-59
5. Adjustment .......................................................................................................... 5-1
1. Gain Adjustment ........................................................................................................ 5-2
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4
3. Adaptive Filter ......................................................................................................... 5-10
4. Manual Auto-Gain Tuning (Basic) ............................................................................ 5-13
5. Manual Auto-Gain Tuning (Application) ................................................................... 5-24
6. About Homing Operation ......................................................................................... 5-39
6. When in Trouble ............................................................................................. 6-1
1. When in Trouble ........................................................................................................ 6-2
2. Setup of gain pre-adjustment protection ................................................................. 6-18
3. Troubleshooting ...................................................................................................... 6-21
7. Supplement ........................................................................................................ 7-1
1. Safety function ..........................................................................................................7-2
2. Absolute System ..................................................................................................... 7-10
3. Setup Support Software, PANATERM ..................................................................... 7-26
4. Communication ....................................................................................................... 7-27
5. Motor Characteristics (S-T Characteristics) ............................................................ 7-55
6. Dimensions ............................................................................................................. 7-73
7. Options .................................................................................................................... 7-92
Warranty ........................................................................................................................... 7-126
Cautions for Proper Use ................................................................................................... 7-127
After-Sale Service .................................................................................................... Back cover
page
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The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
Misuses that could result in harm or damage are shown as follows, classifed according to the
degree of potential harm or damage.
Danger
Indicates great possibility of death or serious injury.
Caution
Indicates the possibility of injury or property damage.
The following indications show things that must be observed.
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
ammabIe gases, and combustibIes.
Failure to observe this instruc-
tion could result in fre, electrical
shocks, damages and break-
downs.
Do not place combustibles near by the motor,
driverd regenerative resistor and dynamic brake
resister..
Don't use the motor in a place subject to exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
shock, injury or fre.
Don't use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
The installation area should be away from heat
generating objects such as a heater and a large
wire wound resistor.
Failure to observe this instruc-
tion could result in fre and
breakdowns.
Never connect the motor directly to the commer-
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
Failure to observe this instruc-
tion could result in electrical
shock, injury or fre.
Do not put your hands in the servo driver.
Failure to observe this instruc-
tion could result in burn and
electrical shocks.
Safety Precautions
Please observe safety precautions fully.
7
In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands.
Failure to observe this instruc-
tion could result in personal
injury.
Do not touch the rotating portion of the motor
while it is running.
Failure to observe this instruction could result in
damages and breakdowns.
Do not touch the motor, servo driver, heat sink,
regenerative resistor and dynamic brake resister,
since they become very hot.
Failure to observe this instruc-
tion could result in burns.
Do not drive the motor with external power.
Failure to observe this instruc-
tion could result in fre.
Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Installation area should be free from excessive
dust, and from splashing water and oil.
Failure to heed this precaution
will result in electric shock, per-
sonal injury, fre, malfunction or
damage.
Mount the motor, driver and peripheral equip-
ments on incombustible material such as metal.
Installation on a fammable ma-
terial may cause fre.
Wiring has to be carried out by the quaIied and
authorized specialist.
Allowing a person with no ex-
pertise to carry out wiring will
result in electrical shocks.
Correctly run and arrange wiring.
Incorrect wiring will result in
short circuit, electric shock, per-
sonal injury, etc.
After correctly connecting cables, insulate the live
parts with insulator.
Incorrect wiring will result short
circuit, electric shock, fre or
malfunction.
Ground the earth terminal of the motor and driver
without fail.
Floating ground circuit will
cause electric shock.
Install and mount the Product and machinery
secureIy to prevent any possibIe re or accidents
incurred by earthquake.
Failure to heed this requirement
will result in electric shock, per-
sonal injury, fre, malfunction or
damage.
Install an emergency stop circuit externally so that
you can stop the operation and shut off the power
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emer-
gency stop apparatus without fail.
Failure to heed these require-
ments will result in electric
shock, personal injury or fre. Check and conrm the safety of the operation
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
than that specied on the name pIate on the side
panel of the product; and make sure that there is
no risk of electrical shock.
Energized circuit will cause
electric shock.
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Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruc-
tion could result in injuries.
Don't drop or cause topple over of something dur-
ing transportation or installation.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine.
Failure to heed these instruc-
tions will cause personal injury
or fre.
Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
shocks and fre.
Do not give strong impact shock to the Product.
Failure to observe this instruc-
tion could result in breakdowns.
Do not give strong impact shock to the motor
shaft.
Failure to observe this instruc-
tion could result in a failure of
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly.
Failure to observe this instruc-
tion could result in breakdowns.
Never run or stop the motor with the electro-mag-
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unsta-
bly.
Failure to observe this instruc-
tion could result in injuries.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
Failure to observe this instruc-
tion could result in injuries.
Never attempt to perform modication, dismantIe
or repair.
Failure to heed this instruction
will result in fre, electric shock,
personal injury or malfunction.
Safety Precautions
Please observe safety precautions fully.
9
Make an appropriate mounting of the Product
matching to its wight and output rating.
Failure to heed these require-
ments will result in personal
injury or malfunction.
Observe the specied mounting method and di-
rection.
Use the eye bolt of the motor for transportation of
the motor only, and never use this for transporta-
tion of the machine.
Using it for transportation of the
machine will cause personal
injury or malfunction.
Don't place any obstacle object around the motor
and peripheral, which blocks air passage.
Temperature rise will cause
burn injury or fre.
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity.
Failure to heed these require-
ments will result in personal
injury or malfunction.
Create the specied cIearance between the driver
and the control panel inner surface or other de-
vices.
Observe the specied voItage.
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
or fre.
Connect the brake control relay to the relay which
is to shut off at emergency stop in series.
Missing of one of these devices
will result in personal injury or
malfunction.
Provide protection device against idling of electro-
magnetic brake or gear head, or grease leakage
from gear head.
No protection will cause per-
sonal injury, damage, pollution
or fre.
Use the motor and the driver in the specied com-
bination.
Not using the motor and the
driver in the specifed combina-
tion will result in fre.
Test-run the secureIy xed motor without Ioading
to verify normal operation, and then connect it to
the mechanical system.
Operation using a wrong model
or wrong wiring connection will
result in personal injury.
When any error occurs, remove the cause and
release the error after securing the safety, then
restart.
Not removing the cause of the
error will result in personal in-
jury.
If the driver fails, shut off the power on the power
supply side of the driver.
Allowing a large current to con-
tinue to pass will result in fre.
Maintenance must be performed by an experi-
enced personnel.
Wrong wiring will cause person-
al injury or electric shock.
Always keep power disconnected when the power
is not necessary for a long time.
Improper operation will cause
personal injury.
When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.
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10
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3

Low-Voltage
Directives
EN61800-5-1
EN60034-1
EN60034-5
Machinery
Directives
Functional
safety
(*1)
EN954-1 (Cat. 3)
ISO13849-1 (PL c,d
*2
) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1

UL Standards UL508C (E164620)

UL1004-1

E327868: to 750W (200V)
(

from 6.0kW
)
UL1004

E327868: 400W (400V)
600W (400V), 750W (400V)
(
0.9kW to 5.0kW

)
CSA Standards C22.2 No.14 C22.2 No.100
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
Products shall conform to the statutory regulations applied in the place of destination.
Only for position control type does not support functional safety
(*1)
standards.
*2 PL d: Provided that EDM is used.
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.
Conformance to international standards
11
Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves. When es-
tablishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they
can discolor or damage the exterior case.
5) The upper fan on H-frame driver is kept deactivated while servo is off, for the purpose
of energy saving. This is normal.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30C (annuaI average), Ioad factor of 80% or
lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection
Daily
Ambient temperature, humidity, speck, dust or foreign object
Abnormal vibration and noise
Main circuit voltage
Odor
Lint or other particles at air holes
Cleanness at front portion of the driver and connector
Damage of the cables
Loose connection or misalignment between the motor and
machine or equipment
Pinching of foreign object at the load
Motor
with Gear
Reducer
Annual
Loose tightening
Trace of overheat
Damage to the terminal block
Loose fasteners on terminal block
Note Inspection cycle may change when the running conditions of the above change.
Maintenance and Inspections
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Related page P.7-126 "Warranty"
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
Prohibited
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Product Component
Standard replacement
cycles (hour)
Note
Driver
Smoothing condenser Approx. 5 years
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Cooling fan
2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB)
Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times
(depending on working
condition)
Motor
Bearing
3 to 5 years
(20,000 to 30,000 hours)
Oil seal 5000 hours
Encoder
3 to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.
Maintenance and Inspections
1-1
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1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package ...............................................................1-2
2. Driver
Check of the Model ......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6
H-frame .....................................................................................................1-7
D to F-frame (400 V) .................................................................................1-8
G-frame (400 V) ........................................................................................1-9
H-frame (400 V) ......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15
3. Motor
Check of the Model ....................................................................................1-21
Parts Description .......................................................................................1-22
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit ..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Junction cable for motor ...........................................................................1-27
5. Installation
Driver .........................................................................................................1-28
Motor..........................................................................................................1-32
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-35
1-2
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all
demands from a variety of machines which require high speed, high precision and high
performance or which require simplifed settings.
Compared with the preceding A4-series, product of A5-series offers superior performance
while requiring simple setup and adjustment by the user.
Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
with 20-bit incremental encoder and reduced cogging torque.
(Only for position control type have range of outputs from 50 W to 5.0 kW.)
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
(Only for position control type do not conform to full-closed control.)
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.
1 Before Using
the Products
1. Introduction
On Opening the Product Package
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the Operating Instructions (safety) are included or not.
Check if the power connector, motor connectors, connector for external regenerative
resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are includ-
ed or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)
Contact to a deaIer if you nd any faiIures.
1 Before Using
the Products
1. Introduction
Outline
1-3
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1 Before Using
the Products
2. Driver
Check of the Model
Contents of Name Plate
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Serial Number
e.g.) : P09040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture date Manufacture year
Manufacture month
Model Designation
M A D H T 1 5 0 5 E
Special specifications
(letters and numbers)
Special specifications
(letters and numbers)
Only for position control type
Current detector rating
Power supply
Max. current rating
of power device Frame-size symbol
Velocity, position,
torque and full-closed
controI type
Only for position
control type
MADH
MBDH
MCDH
MDDH
MEDH
MFDH
MGDH
MHDH
Frame Symbol
A5-series, A-frame
A5-series, B-frame
A5-series, C-frame
A5-series, D-frame
A5-series, E-frame
A5-series, F-frame
A5-series, G-frame
A5-series, H-frame
Current rating Symbol
Specifications Symbol
1
3
4
5
Single phase, 100V
3-phase, 200V
3-phase, 400V
Single/3-phase, 200V
Current rating Symbol
1 to 4 7 10 5 to 6 11 to 12 8 to 9
M A D H T 1 5 0 5
1 to 4 7 5 to 6 10 to 12 8 to 9
NOTE)
Only for position control type is
provided A-Frame to F-frame.
T1
T2
T3
T4
T5
T7
TA
TB
TC
10A
15A
30A
35A
50A
70A
100A
150A
300A
05
07
10
12
20
30
40
64
90
A2
B4
5A
7.5A
10A
12A
20A
30A
40A
64A
90A
120A
240A
Related page P.1-23 "Check of the Combination of the Driver and the Motor"
1-4
A to D-frame
E-frame
LED cover
Safety by-pass prug
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
V
U
W
Connector XA:
for main power connection
05JFAT-SAXGF (JST)
Connector XB:
for motor connection
06JFAT-SAXGF (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
1 Before Using
the Products
2. Driver
Parts Description
Note
Connector XA and XB are attached in A to D-frame driver.
Connector XA, XB and XC are attached in E-frame driver.
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
NC*
* NC is no connect.
U
V
W
Connector XA:
for main power connection
05JFAT-SAXGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
1-5
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2. Driver
Parts Description
F-frame
Terminal cover
LED cover
Safety by-pass prug
Control power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
* NC is no connect.
Details of terminal block
Note
Related page
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
P.1-23 "Check of the Combination of the Driver and the Motor" P.1-28 "Installation"
P.2-10 "Driver and List of Applicable Peripheral Equipments" P.7-73 to 7-78 "Dimensions"
1-6
2. Driver
Parts Description
G-frame
Terminal cover
LED cover
Safety by-pass prug
}
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[[
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L1
L2
L3
B1
B2
NC
U
V
W
X1
X
X
X^
X[
X(
H/R[
Control power input terminals
NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
L2
L3
B1
B2
NC*
U
V
W
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Details of terminal block
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
* NC is no connect.
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
P.1-23 "Check of the Combination of the Driver and the Motor" P.1-28 "Installation"
P.2-10 "Driver and List of Applicable Peripheral Equipments" P.7-73 to 7-78 "Dimensions"
1-7
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2. Driver
Parts Description
H-frame
X1
X
X
X^
X[
X(
H/R[
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
U V W
L1
L1C
L2C
DB1
DB2
L2 L3
B1 B2
NC*
U V W
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Control terminal for
dynamic brake resister
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
Details of terminal block
* NC is no connect.
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
P.1-23 "Check of the Combination of the Driver and the Motor" P.1-28 "Installation"
P.2-10 "Driver and List of Applicable Peripheral Equipments" P.7-73 to 7-78 "Dimensions"
1-8
2. Driver
Parts Description
D, E-frame (400 V)
F-frame (400 V)
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
24V
0V
L1
L2
L3
B1
B3
B2
U
V
W
Connector XA:
for main power connection
03JFAT-SAYGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XD:
Control power input terminals
02MJFAT-SAGF (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L(JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for
motor connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
NC*
* NC is no connect.
Control power
input terminals
L1
L2
L3
24V
0V
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Terminal cover
LED cover
Safety by-pass prug
* NC is no connect.
Details of terminal block
Note
Connector X1 and X2 are attached in A to D-frame driver.
Connector XA, XB, XC and XD are attached in D and E-frame (400 V) driver.
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-9
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2. Driver
Parts Description
G-frame (400 V)
Terminal cover
LED cover
Safety by-pass prug
NC*
NC*
NC*
NC*
NC*
NC*
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Details of terminal block
* NC is no connect.
NC*
24V
0V
DB1
DB2
DB3
DB4
L1
L2
L3
B1
B2
U
V
W
}
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(V
^V
}
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[[
[[
[[1
[[^
X1
X
X
X^
X[
X(
H/R[
^((V
Control power input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
L1
L2
L3
B1
B2
NC
U
V
W
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
P.1-23 "Check of the Combination of the Driver and the Motor" P.1-28 "Installation"
P.2-10 "Driver and List of Applicable Peripheral Equipments" P.7-73 to 7-78 "Dimensions"
1-10
2. Driver
Parts Description
H-frame (400 V) H-frame (400 V)
Control terminal for
dynamic brake resister
Details of terminal block
NC*
* NC is no connect.
L1
24V
0V
DB1
DB2
L2 L3
B1 B2 U V W
X1
X
X
X^
X[
X(
H/R[
L1 L2 L3 B1 B2 NC
DB2 24V 0V DB1
U V W
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
P.1-23 "Check of the Combination of the Driver and the Motor" P.1-28 "Installation"
P.2-10 "Driver and List of Applicable Peripheral Equipments" P.7-73 to 7-78 "Dimensions"
1-11
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1 Before Using
the Products
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
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100V
Main circuit Single phase, 100 to 120V
+10%
50/60Hz
15%
Control circuit Single phase, 100 to 120V
+10%
50/60Hz
15%
200V
Main
circuit
A to
D-frame
Single/3-phase, 200 to 240V
+10%
50/60Hz
15%
E to
H-frame
3-phase, 200 to 230V
+10%
50/60Hz
15%
Control
circuit
A to
D-frame
Single phase, 200 to 240V
+10%
50/60Hz
15%
E to
H-frame
Single phase, 200 to 230V
+10%
50/60Hz
15%
400V
*1
Main circuit 3-phase, 380 to 480V
+10%
50/60Hz
15%
Control circuit DC24V 15%
Withstand voltage
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
Environment
temperature
Ambient temperature: 0`C to 55`C (free from freezing)
Storage temperature: -20`C to 65`C (Max. temperature guarantee: 80`C for 72 hours
free from condensation
*2
)
humidity Both operating and storage : 20 to 85%RH or less (free from condensation
*2
)
Altitude Lower than 1000m
Vibration 5.88m/s
2
or less, 10 to 60Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback
17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale feedback
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
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Control signal
Input
General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output
General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog signal
Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse (EXA,
EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open
collector.
Communication
function
USB Connection with PC etc.
RS232 1 : 1 communication to a host.
RS485 1 : n communication to a host.
Safety function Used for functional safety.
Front panel
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch))
Regeneration
A, B, G and H-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake
A to G-frame: Built-in (external resistor is also available to G-frame)
H-frame: External only
Control mode
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control
(5) Position/Torque control (6) Velocity/Torque control (7) Full-closed control
Caution
Related page
*1 The specifcation out of Japan.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
P.1-28 "Installation of Driver" P.1-32 "Installation of Motor"
1-12
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Control input
(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
(4) Positive direction over-travel inhibition input (5) Negative direction over-travel inhibition input
(6) Forced alarm input (7) Inertia ratio switching input
Control output
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
(4) Speed arrival output (5) Torque in-limit signal output
(6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output
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Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
(5) Torque limit switching (6) Control mode switching
Control output (1) Positioning complete (In-position) (2)Positional command ON/OFF output
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
Process command pulse frequency electronic gear ratio (
1 to 2
30
1 to 2
30 ) as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing flter Primary delay flter or FIR type flter is adaptable to the command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Instantaneous Speed Observer Available
Damping Control Available
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Control input
(1) Selection of internal velocity setup (2) Speed zero clamp
(3) Speed command sign input (4)Control mode switching
Control output (1) Speed coincidence output (2)Speed command ON/OFF output
Analog
input
Velocity command
input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6V/Rated rotational speed Default)
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min.
Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed Observer Available
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Control input (1) Speed zero clamp (2) Torque command sign input (3) Control mode switching
Control output (1) Speed coincidence output (2) Speed in-limit output
Analog
input
Torque command
input
Torque command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (3V/rated torque Default)
Speed limit function Speed limit value with parameter t is enabled.
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Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
(5) Torque limit switching
Control output (1) Full-closed positioning complete (2) Positional command ON/OFF output
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
Process command pulse frequency electronic gear ratio (
1 to 2
30
1 to 2
30 ) as positional command
input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing flter Primary delay flter or FIR type flter is adaptable to the command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Setup range of division/
multiplication of feedback
scale
1/40 to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 2
20

(numerator) to 1 to 2
20
(denominator), but should be set to a ratio within the range shown above.
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Auto tuning
The load inertia is identified in real time by the driving state of the motor operating according
to the command given by the controlling device and set up support software "PANATERM".
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback pulse Set up of any value is enabled (encoder feedback pulses count is the max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

2. Driver
Specifications (Velocity, position, torque, full-closed control type)
1-13
1

B
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2

P
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3

C
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4

S
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5

A
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6

W
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7

S
u
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p
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m
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t
1 Before Using
the Products
2. Driver
Specifications (Only for position control type)
B
a
s
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c

S
p
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c
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t
i
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s
I
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p
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p
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r
100V
Main circuit Single phase, 100 to 120V
+10%
50/60Hz
15%
Control circuit Single phase, 100 to 120V
+10%
50/60Hz
15%
200V
Main
circuit
A to
D-frame
Single/3-phase, 200 to 240V
+10%
50/60Hz
15%
E to
F-frame
3-phase, 200 to 230V
+10%
50/60Hz
15%
Control
circuit
A to
D-frame
Single phase, 200 to 240V
+10%
50/60Hz
15%
E to
F-frame
Single phase, 200 to 230V
+10%
50/60Hz
15%
400V
Main
circuit
D to
F-frame
3-phase, 380 to 480V
+10%
50/60Hz
15%
Control
circuit
D to
F-frame
DC 24V 15%
Withstand voltage
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100V/200V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400V]
* 400V control circuit is excluded.
Environment
temperature
Ambient temperature: 0`C to 55`C (free from freezing)
Storage temperature: -20`C to 65`C (Max. temperature guarantee: 80`C for 72
hours free from condensation
*2
)
humidity Both operating and storage : 20 to 85%RH or less (free from condensation)
Altitude Lower than 1000m
Vibration 5.88m/s
2
or less, 10 to 60Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial
P
a
r
a
l
l
e
l

I
/
O

c
o
n
n
e
c
t
o
r
Control signal
Input
General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output
General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog signal Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse
(EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed
out in open collector.
Communication
function
USB Connection with PC etc.
Front panel (1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2ch)
Regeneration
A, B-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A to F-frame: Built-in
Control mode (1) Position control (2) Internal velocity control (3) Position/ Internal velocity control
Caution
Related page
Caution
*1 The specifcation out of Japan.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
P.1-28 "Installation of Driver" P.1-32 "Installation of Motor"
Only for position control type is provided A-Frame to F-frame.
1-14
2. Driver
Specifications (Only for position control type)
F
u
n
c
t
i
o
n
P
o
s
i
t
i
o
n

c
o
n
t
r
o
l
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse signal
format
Differential input
((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency electronic gear ratio (
1 to 2
30
1 to 2
30 ) as positional
command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
Smoothing flter Primary delay flter or FIR type flter is adaptable to the command input
Instantaneous Speed
Observer
Available
Damping Control Available
I
n
t
e
r
n
a
l

v
e
l
o
c
i
t
y

c
o
n
t
r
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l
Control input (1) Selection of internal velocity setup (2) Speed zero clamp
Control output Speed arrival
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/
min. Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
C
o
m
m
o
n
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support
software "PANATERM".
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback
pulse
Set up of any value is enabled (encoder pulses count is the max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.
1-15
1

B
e
f
o
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e

U
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g

t
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P
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2

P
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p
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t
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3

C
o
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e
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t
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4

S
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t
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5

A
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m
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6

W
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T
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7

S
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t
A, B-frame (100/200 V)
B1
B3
N
P

Fuse
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
X5
Feedback scale signal
processing limit
Feedback scale unit
DC/DC
X1
X2
X6
U
V
W
M
RE
X4
+
12V
+5V
PS for gate drive
Gate drive
PS for RE
Front panel
Alarm
signal
USB
Serial
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Division
processing
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
Control
output
X3
Safety function
L 1
L 2
L 3
Fuse
Fuse
C, D-frame (100/200 V)
B1
B3
N
P

Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
Feedback scale signal
processing limit
DC/DC
X6
U
V
W
M
RE
+
12V
+5V
PS for gate drive
Gate drive
PS for RE
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
Control
output
Fuse
Fan (D-frame only)
Front panel
X5
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 2
L 3
L 1
Fuse
Fuse
Resistor
1 Before Using
the Products
2. Driver
Block Diagram
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-16
E-frame (200 V)
B1
B3
N
P

Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+
12V
+5V
PS for gate drive
PS for RE
Fuse
Parameter control EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
Fuse
Fuse
L 2
L 3 Resistor
F-frame (200 V)
B1
B3
Error
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+
12V
+5V
PS for gate drive
PS for RE
Fuse
Parameter control EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
N
P

Fuse
Resistor
Fuse
Voltage
detection
2. Driver
Block Diagram
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-17
1

B
e
f
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e

U
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P
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s
2

P
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p
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i
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3

C
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4

S
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5

A
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m
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6

W
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T
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7

S
u
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p
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t
G-frame (200 V)
H-frame (200 V)
2. Driver
Block Diagram
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive

Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
12V
+5V
PS for gate drive
PS for RE
Fan
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive

Fuse
Fuse
Fuse
Voltage
detection
12V
+5V
PS for gate drive
PS for RE
Fan
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-18
D-frame (400 V)
E-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P

Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+
12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
L 2
L 3
L 1
B1
B3
N
P

Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+
12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-19
1

B
e
f
o
r
e

U
s
i
n
g

t
h
e

P
r
o
d
u
c
t
s
2

P
r
e
p
a
r
a
t
i
o
n
3

C
o
n
n
e
c
t
i
o
n
4

S
e
t
u
p
5

A
d
j
u
s
t
m
e
n
t
6

W
h
e
n

i
n

T
r
o
u
b
l
e
7

S
u
p
p
l
e
m
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t
F-frame (400 V)
G-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P

Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+
12V
+5V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive

Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
12V
+5V
PS for gate drive
PS for RE
Fan
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
G-frame: Only for position control type is not provided.
1-20
H-frame (400 V)
2. Driver
Block Diagram
B1
B3
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
+
+

A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command
Speed
detection
Position
deviation amp.
Speed
deviation
amp. Torque
limit
Current
control
PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive

Fuse
Fuse
Fuse
Voltage
detection
12V
+5V
PS for gate drive
PS for RE
Fan
Note
The fgure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided.
1-21
1

B
e
f
o
r
e

U
s
i
n
g

t
h
e

P
r
o
d
u
c
t
s
2

P
r
e
p
a
r
a
t
i
o
n
3

C
o
n
n
e
c
t
i
o
n
4

S
e
t
u
p
5

A
d
j
u
s
t
m
e
n
t
6

W
h
e
n

i
n

T
r
o
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b
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e
7

S
u
p
p
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m
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t
1 Before Using
the Products
3. Motor
Check of the Model
Contents of Name Plate
Serial Number
e.g.) : 0904 0001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 20090401
Manufacture date Manufacture year
Manufacture month
Model
Rated output
Rated input voltage/current
Rated frequency
Rated
rotational speed
Model Designation
M S M E 5 A Z S 1 S
1 to 4 5 to 6 11 to 12 7 8 9 10
Special specifications
Motor structure
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
Low inertia
(50W to 750W)
High inertia
(200W to 750W)
Low inertia
(50W to 5.0kW)
Middle inertia
(400W to 15.0kW)
Middle inertia
(1.5kW to 4.5kW)
Middle inertia
(0.9kW to 6.0kW)
High inertia
(1.0kW to 7.5kW)
G
S
Incremental
Absolute
Specifications
Symbol
Format Pulse count
Output
Motor rated output
Symbol
Specifications Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MSME (50W to 750W)
*4 The product with oil seal is a special order product. *5 Key way with center tap
[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
A
B
S
T
Shaft Holding brake Oil seal
Without With Round Key way Without With
Symbol
MSME (750W(400V), 1.0kW to 5.0kW),
MDME, MFME, MGME, MHME
C
D
G
H
Shaft Holding brake Oil seal
Without With Round Key way Without With
Symbol
*4
*5
*5
MSMD
MHMD
MSME
MDME
MFME
MGME
MHME
5A
01
02
04
06
08
09
10
15
20
25
30
40
45
50
60
75
C1
C5
50W
100W
200W
400W
600W
750W
900W
1.0kW
1.5kW
2.0kW
2.5kW
3.0kW
4.0kW
4.5kW
5.0kW
6.0kW
7.5kW
11.0kW
15.0kW
20bit
17bit
1,048,576
131,072
*1 The position control type only.
*2 Only for position control type is
MSME, MDME and MHME:
1.0kW to 5.0kW,
MGME: 0.9kW to 3.0kW,
MFME is none.
1
2
4
Z
100 V
200 V
400 V
100/200 V common
(50W only)
Design order
Symbol Specifications
1
C
Standard
Connector for encoder
: N/MS3102A20-29P
IP65 motor
0.9 kW to 5.0 kW
(
only selectable
)
*3 Only for position control type does not support the 17-bit absolute
specification. It supports only 20-bit incremental specification.
*1
*1
*2
*2
*2
*2
*2
*3
Note
Related page
For details of specifc model, refer to the Dimensions of Supplement.
P.1-23 "Check of the Combination of the Driver and the Motor" P.7-79 to 7-93 "Dimensions"
1-22
1 Before Using
the Products
3. Motor
Parts Description
Motor frame
Flange
Connector for motor
Connector for encoder
Connector for motor
Connector for brake
Connector for encoder
[with Brake]
Motor frame
Flange
Mounting holes (X4)
Mounting holes (X4)
Connector for motor
Connector for encoder
Oil seal
Motor frame
Flange
Mounting holes (X4)
Note For details of specifc model, refer to the Dimensions of Supplement. (P.7-79 to 7-93)
MSME 50W to 750W
MSME 750W(400V), 1.0kW to 5.0kW
MDME 400W to 15.0kW
MFME 1.5kW to 4.5kW
MGMA 0.9kW to 6.0kW
MHME 1.0kW to 7.5kW
e.g.) : Low inertia type (MSME series, 50W)
e.g.) : Middle inertia type (MDME series, 1.0kW)
1-23
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1 Before Using
the Products
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
This driver is designed to be used in a combination with the motor which are specifed by
us. Check the series name of the motor, rated output torque, voltage specifcations and
encoder specifcations.
Remarks Do not use in other combinations than those listed below.
Motor Driver
Power
supply
Type
Rated
rotational
speed
Model
Rated
output
Model of velocity,
position, torque and
full-closed control type
Model of Only for
position control
type
Frame
Single
phase,
100V
MSMD
Low inertia
3000r/min
MSMD5AZG1 * 50W MADHT1105 MADHT1105E
A-frame
MSMD011G1 * 100W MADHT1107 MADHT1107E
MSMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MSMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MSMD5AZG1 * 50W
MADHT1505 MADHT1505E
A-frame MSMD012G1 * 100W
MSMD022G1 * 200W MADHT1507 MADHT1507E
MSMD042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MSMD082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Single
phase,
100V
MSME
Low inertia
3000r/min
MSME5AZG1 * 50W MADHT1105 MADHT1105E
A-frame
MSME011G1 * 100W MADHT1107 MADHT1107E
MSME021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MSME041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MSME5AZG1 * 50W
MADHT1505 MADHT1505E
A-frame MSME012G1 * 100W
MSME022G1 * 200W MADHT1507 MADHT1507E
MSME042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MSME082G1 * 750W MCDHT3520 MCDHT3520E C-frame
MSME102G_ * 1.0kW
MDDHT5540 MDDHT5540E D-frame
MSME152G_ * 1.5kW
3-phase,
200V
MSME202G_ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MSME302G_ * 3.0kW MFDHTA390 MFDHTA390E
F-frame MSME402G_ * 4.0kW
MFDHTB3A2 MFDHTB3A2E
MSME502G_ * 5.0kW
3-phase,
400V
MSME084G1 * 750W MDDHT2412 MDDHT2412E
D-frame MSME104G_ * 1.0kW MDDHT3420 MDDHT3420E
MSME154G_ * 1.5kW MDDHT3420 MDDHT3420E
MSME204G_ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MSME304G_ * 3.0kW MFDHT5440 MFDHT5440E
F-frame MSME404G_ * 4.0kW
MFDHTA464 MFDHTA464E
MSME504G_ * 5.0kW
Single/
3-phase, 200V
MDME
Middle inertia
2000r/min
MDME102G_ * 1.0kW MDDHT3530 MDDHT3530E
D-frame
MDME152G_ * 1.5kW MDDHT5540 MDDHT5540E
3-phase,
200V
MDME202G_ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MDME302G_ * 3.0kW MFDHTA390 MFDHTA390E
F-frame MDME402G_ * 4.0kW
MFDHTB3A2 MFDHTB3A2E
MDME502G_ * 5.0kW
1500r/min
MDME752G1 * 7.5kW MGDHTC3B4

G-frame
MDMEC12G1 * 11.0kW
MHDHTC3B4 H-frame
MDMEC52G1 * 15.0kW
3-phase,
400V
2000r/min
MDME044G1 * 400W
MDDHT2407 MDDHT2407E
D-frame
MDME064G1 * 600W
MDME104G_ * 1.0kW MDDHT2412 MDDHT2412E
MDME154G_ * 1.5kW MDDHT3420 MDDHT3420E
MDME204G_ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MDME304G_ * 3.0kW MFDHT5440 MFDHT5440E
F-frame MDME404G_ * 4.0kW
MFDHTA464 MFDHTA464E
MDME504G_ * 5.0kW
1500r/min
MDME754G1 * 7.5kW MGDHTB4A2

G-frame
MDMEC14G1 * 11.0kW
MHDHTB4A2 H-frame
MDMEC54G1 * 15.0kW
Note Suffx of "_" in the applicable motor model represents design order.
Suffx of " * " in the applicable motor model represents the motor structure.
1-24
Motor Driver
Power
supply
Type
Rated
rotational
speed
Model
Rated
output
Model of velocity,
position, torque and
full-closed control type
Model of Only for
position control
type
Frame
Single/
3-phase,
200V
MFME
Middle inertia
2000r/min
MFME152G1 * 1.5kW MDDHT5540 MDDHT5540E D-frame
3-phase,
200V
MFME252G1 * 2.5kW MEDHT7364 MEDHT7364E E-frame
MFME452G1 * 4.5kW MFDHTB3A2 MFDHTB3A2E F-frame
3-phase,
400V
MFME154G1 * 1.5kW MDDHT3420 MDDHT3420E D-frame
MFME254G1 * 2.5kW MEDHT4430 MEDHT4430E E-frame
MFME454G1 * 4.5kW MFDHTA464 MFDHTA464E F-frame
Single/
3-phase,
200V
MGME
Middle inertia
1000r/min
MGME092G_ * 0.9kW MDDHT5540 MDDHT5540E D-frame
3-phase,
200V
MGME202G_ * 2.0kW MFDHTA390 MFDHTA390E
F-frame MGME302G_ * 3.0kW
MFDHTB3A2 MFDHTB3A2E
MGME452G1 * 4.5kW
MGME602G1 * 6.0kW MGDHTC3B4 G-frame
3-phase,
400V
MGME094G_ * 0.9kW MDDHT3420 MDDHT3420E D-frame
MGME204G_ * 2.0kW MFDHT5440 MFDHT5440E
F-frame MGME304G_ * 3.0kW
MFDHTA464 MFDHTA464E
MGME454G1 * 4.5kW
MGME604G1 * 6.0kW MGDHTB4A2 G-frame
Single
phase,
100V MHMD
High inertia
3000r/min
MHMD021G1 * 200W MBDHT2110 MBDHT2110E B-frame
MHMD041G1 * 400W MCDHT3120 MCDHT3120E C-frame
Single/
3-phase,
200V
MHMD022G1 * 200W MADHT1507 MADHT1507E A-frame
MHMD042G1 * 400W MBDHT2510 MBDHT2510E B-frame
MHMD082G1 * 750W MCDHT3520 MCDHT3520E C-frame
Single/
3-phase,
200V
MHME
High inertia
2000r/min
MHME102G_ * 1.0kW MDDHT3530 MDDHT3530E
D-frame
MHME152G_ * 1.5kW MDDHT5540 MDDHT5540E
3-phase,
200V
MHME202G_ * 2.0kW MEDHT7364 MEDHT7364E E-frame
MHME302G_ * 3.0kW MFDHTA390 MFDHTA390E
F-frame MHME402G_ * 4.0kW
MFDHTB3A2 MFDHTB3A2E
MHME502G_ * 5.0kW
1500r/min MHME752G1 * 7.5kW MGDHTC3B4 G-frame
3-phase,
400V
2000r/min
MHME104G_ * 1.0kW MDDHT2412 MDDHT2412E
D-frame
MHME154G_ * 1.5kW MDDHT3420 MDDHT3420E
MHME204G_ * 2.0kW MEDHT4430 MEDHT4430E E-frame
MHME304G_ * 3.0kW MFDHT5440 MFDHT5440E
F-frame MHME404G_ * 4.0kW
MFDHTA464 MFDHTA464E
MHME504G_ * 5.0kW
1500r/min MHME754G1 * 7.5kW MGDHTB4A2 G-frame
Note Suffx of "_" in the applicable motor model represents design order.
Suffx of " * " in the applicable motor model represents the motor structure.
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
1-25
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1 Before Using
the Products
4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
This driver is designed to be used in a combination with the motor which are specifed by
us. Check the series name of the motor, rated output torque, voltage specifcations and
encoder specifcations.
Remarks Do not use in other combinations than those listed below.
Motor Driver
Power
supply
Type
Rated rotational
speed
Model
Rated
output
Model of velocity,
position, torque and
full-closed control type
Frame
Single phase,
100V
MSME
Low inertia
3000r/min
MSME5AZS1 * 50W MADHT1105
A-frame
MSME011S1 * 100W MADHT1107
MSME021S1 * 200W MBDHT2110 B-frame
MSME041S1 * 400W MCDHT3120 C-frame
Single/
3-phase,
200V
MSME5AZS1 * 50W
MADHT1505
A-frame MSME012S1 * 100W
MSME022S1 * 200W MADHT1507
MSME042S1 * 400W MBDHT2510 B-frame
MSME082S1 * 750W MCDHT3520 C-frame
MSME102S_ * 1.0kW
MDDHT5540 D-frame
MSME152S_ * 1.5kW
3-phase,
200V
MSME202S_ * 2.0kW MEDHT7364 E-frame
MSME302S_ * 3.0kW MFDHTA390
F-frame MSME402S_ * 4.0kW
MFDHTB3A2
MSME502S_ * 5.0kW
3-phase,
400V
MSME084S1 * 750W MDDHT2412
D-frame MSME104S_ * 1.0kW MDDHT3420
MSME154S_ * 1.5kW MDDHT3420
MSME204S_ * 2.0kW MEDHT4430 E-frame
MSME304S_ * 3.0kW MFDHT5440
F-frame MSME404S_ * 4.0kW
MFDHTA464
MSME504S_ * 5.0kW
Single/3-phase,
200V
MDME
Middle inertia
2000r/min
MDME102S_ * 1.0kW MDDHT3530
D-frame
MDME152S_ * 1.5kW MDDHT5540
3-phase,
200V
MDME202S_ * 2.0kW MEDHT7364 E-frame
MDME302S_ * 3.0kW MFDHTA390
F-frame MDME402S_ * 4.0kW
MFDHTB3A2
MDME502S_ * 5.0kW
1500r/min
MDME752S1 * 7.5kW MGDHTC3B4 G-frame
MDMEC12S1 * 11.0kW
MHDHTC3B4 H-frame
MDMEC52S1 * 15.0kW
3-phase,
400V
2000r/min
MDME044S1 * 400W
MDDHT2407
D-frame
MDME064S1 * 600W
MDME104S_ * 1.0kW MDDHT2412
MDME154S_ * 1.5kW MDDHT3420
MDME204S_ * 2.0kW MEDHT4430 E-frame
MDME304S_ * 3.0kW MFDHT5440
F-frame MDME404S_ * 4.0kW
MFDHTA464
MDME504S_ * 5.0kW
1500r/min
MDME754S1 * 7.5kW MGDHTB4A2 G-frame
MDMEC14S1 * 11.0kW
MHDHTB4A2 H-frame
MDMEC54S1 * 15.0kW
Note Suffx of "_" in the applicable motor model represents design order.
Suffx of " * " in the applicable motor model represents the motor structure.
Default of the driver is set for the incremental encoder specifcations.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
Only for position control type does not support the 17-bit absolute specifcation.
It supports only 20-bit incremental specifcation.
1-26
Motor Driver
Power
supply
Type
Rated rotational
speed
Model
Rated
output
Model of velocity,
position, torque and
full-closed control type
Frame
Single/3-phase,
200V
MFME
Middle inertia
2000r/min
MFME152S1 * 1.5kW MDDHT5540 D-frame
3-phase,
200V
MFME252S1 * 2.5kW MEDHT7364 E-frame
MFME452S1 * 4.5kW MFDHTB3A2 F-frame
3-phase,
400V
MFME154S1 * 1.5kW MDDHT3420 D-frame
MFME254S1 * 2.5kW MEDHT4430 E-frame
MFME454S1 * 4.5kW MFDHTA464 F-frame
Single/3-phase,
200V
MGME
Middle inertia
1000r/min
MGME092S_ * 0.9kW MDDHT5540 D-frame
3-phase,
200V
MGME202S_ * 2.0kW MFDHTA390
F-frame MGME302S_ * 3.0kW
MFDHTB3A2
MGME452S1 * 4.5kW
MGME602S1 * 6.0kW MGDHTC3B4 G-frame
3-phase,
400V
MGME094S_ * 0.9kW MDDHT3420 D-frame
MGME204S_ * 2.0kW MFDHT5440
F-frame MGME304S_ * 3.0kW
MFDHTA464
MGME454S1 * 4.5kW
MGME604S1 * 6.0kW MGDHTB4A2 G-frame
Single/
3-phase,
200V
MHME
High inertia
2000r/min
MHME102S_ * 1.0kW MDDHT3530
D-frame
MHME152S_ * 1.5kW MDDHT5540
3-phase,
200V
MHME202S_ * 2.0kW MEDHT7364 E-frame
MHME302S_ * 3.0kW MFDHTA390
F-frame MHME402S_ * 4.0kW
MFDHTB3A2
MHME502S_ * 5.0kW
1500r/min MHME752S1 * 7.5kW MGDHTC3B4 G-frame
3-phase,
400V
2000r/min
MHME104S_ * 1.0kW MDDHT2412
D-frame
MHME154S_ * 1.5kW MDDHT3420
MHME204S_ * 2.0kW MEDHT4430 E-frame
MHME304S_ * 3.0kW MFDHT5440
F-frame MHME404S_ * 4.0kW
MFDHTA464
MHME504S_ * 5.0kW
1500r/min MHME754S1 * 7.5kW MGDHTB4A2 G-frame
Note Suffx of "_" in the applicable motor model represents design order.
Suffx of " * " in the applicable motor model represents the motor structure.
Default of the driver is set for the incremental encoder specifcations.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
Only for position control type does not support the 17-bit absolute specifcation.
It supports only 20-bit incremental specifcation.
4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
1-27
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Encoder cable
Motor series IncrementaI Specications, 20-bit
Note)1
Absolute Specifications, 17-bit
Note)1
Detail
page
MSMD 50W to 750W MFECA0 ** 0EAM 7-98
MSME 50W
to 750W (200V)
MFECA0 ** 0MJD
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJD
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD
(Standard bendable type, Opposite direction of motor shaft)
MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKE
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJE
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKE
(Standard bendable type, Opposite direction of motor shaft)
7-98
7-99
MSME 750W (400V),
1.0kW to 5.0kW
MFECA0 ** 0ESD
note)2
MFECA0 ** 0ETD
note)3
MFECA0 ** 0ESE
note)2
MFECA0 ** 0ETE
note)3
7-99
to
7-100
MDME 400W to 15.0kW
MFECA0 ** 0ESD
note)2
MFECA0 ** 0ETD
note)3
MFECA0 ** 0ESE
note)2
MFECA0 ** 0ETE
note)3
MFME 1.5kW to 4.5kW MFECA0 ** 0ETD MFECA0 ** 0ETE
MGME 0.9kW to 6.0kW
MFECA0 ** 0ESD
note)2
MFECA0 ** 0ETD
note)3
MFECA0 ** 0ESE
note)2
MFECA0 ** 0ETE
note)3
MHMD 200W to 750W MFECA0 ** 0EAM
MHME 1.0kW to 7.5kW
MFECA0 ** 0ESD
note)2
MFECA0 ** 0ETD
note)3
MFECA0 ** 0ESE
note)2
MFECA0 ** 0ETE
note)3
Note)1 " ** " represents the cable length. Note)2 Design order: C (0.9kW to 5.0kW (MGME: to 3.0kW)) Note)3 Design order:1
Motor cable/ Brake cable
Motor series
Motor cable
Note)1
Brake cable
Note)1
Detail
page without Brake with Brake
MSMD 50W to 750W MFMCA0 ** 0EED MFMCB0 ** 0GET
7-101
7-106
MSME 50W to 750W
MFMCA0 ** 0NJD
Highly bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0NKD
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCA0 ** 0RJD
Standard bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0RKD
Standard bendable type,
(
Opposite direction of motor shaft
)

MFMCB0 ** 0PJT
Highly bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0PKT
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCB0 ** 0SJT
Standard bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0SKT
Standard bendable type,
(
Opposite direction of motor shaft
)
7-101
7-106
MSME 1.0kW to 2.0kW200V|
MFMCD0 ** 2ECD
MFMCA0 ** 2FCD

7-102
to
7-106
MSME 750W to 2.0kW400V| MFMCE0 ** 2FCD
MSME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MDME 1.0kW to 2.0kW200V|
MFMCD0 ** 2ECD
MFMCA0 ** 2FCD
MDME 400W to 2.0kW400V| MFMCE0 ** 2FCD
MDME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MFME 1.5kW200V| MFMCA0 ** 2ECD MFMCA0 ** 2FCD

MFME 1.5kW400V|
MFMCF0 ** 2ECD MFMCE0 ** 2FCD
MFME 2.5kW
MFME 4.5kW MFMCD0 ** 3ECT MFMCA0 ** 3FCT
MGME 0.9kW200V|
MFMCD0 ** 2ECD
MFMCA0 ** 2FCD
MGME 0.9kW400V| MFMCE0 ** 2FCD
MGME 2.0kW to 4.5kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MHMD 200W to 750W MFMCA0 ** 0EED MFMCB0 ** 0GET
MHME 1.0kW, 1.5kW200V|
MFMCD0 ** 2ECD
MFMCA0 ** 2FCD

MHME 1.0kW, 1.5kW400V|

MFMCE0 ** 2FCD
MHME 2.0kW MFMCE0 ** 2ECD
MHME 3.0kW to 5.0kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
Note)1 " ** " represents the cable length.
1 Before Using
the Products
4. Check of the Combination of the Driver and the Motor
Junction cable for motor
Caution
Related page
Motor cable (for MHME 7.5kW, MGME 6.0kW, MDME 7.5kW to 15.0kW) is not prepared in
option.
For other cable, connector and connector kit, refer to P.7-100 "Options"
1-28
1 Before Using
the Products
5. Installation
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed in-
door where the product is not subjected to rain or direct sunlight. The products are not
waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-
fde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline
and salt and so on, and are free from splash of infammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.
Environmental Conditions
Item Conditions
Ambient temperature 0`C to 55`C (free from freezing)
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature
*1
-20`C to 65`C
(Max. temperature guarantee: 80`C for 72 hours free from condensation
*2
)
Storage humidity 20% to 85% RH (free from condensation
*2
)
Vibration
Lower than 5.88m/s
2
(0.6G), 10 to 60Hz
(Do not continuously use the driver for along time at the resonance point.)
Altitude Lower than 1000m
*1 Extreme temperatures are permissible only for short period such as during transportation.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting brack-
et. For choosing the correct optional mounting bracket, refer to P.7-119 "Mounting Bracket".
4) In consideration of strength of the screws and the material of the mounting base, se-
lect appropriate fastening torque for the product mounting screws, so that the screws
will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
A to G-frame: M5 2.7 to 3.3 Nm, H-frame: M6 4.68 to 5.72 Nm
A to D-frame E to G-frame
Basemount (Standard)
[Rear mount]
Frontmount
[Use mounting bracket]
Front or rearmount
[Use mounting bracket]
Mounting bracket
(optional parts)
Mounting bracket
(Attachment)
Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 Nm.
<E-frame> Fastening torque of ground terminal (M4)
to be 0.7 to 0.8 Nm.
<F, G-frame> Fastening torque of ground terminal (M5)
to be 1.4 to 1.6 Nm.
H-frame
Rearmount [Basemount]
Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 Nm.
1-29
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Related page P.1-11 "Specifcations" P.1-32 "Installation of motor"
P.7-73 "Dimensions" P.7-119 "Mounting bracket"
Mounting Direction and Spacing
Reserve enough surrounding space for effective cooling.
Install fans to provide uniform distribution of temperature in the control panel.
D to H-frame is provided with a cooling fan at the bottom. (On the H-frame, the cooling
fan is also installed on the upper side.)
Observe the environmental conditions of the control panel described in the previous page.
Note It is recommended to use the conductive paint when you make your own mounting brack-
et, or repaint after peeling off the paint on the machine for installing the products, in order
to make noise countermeasure.
Caution on Installation
Caution Whenever lifting the product (during transportation/installation of H frame servo driver), two or
more persons should hold it by metallic member, not by plastic member.
We have been making the best effort to ensure the highest quality, however, application of excep-
tionally large external noise disturbance and static electricity, or failure in input power, wiring and
components may result in unexpected action. It is highly recommended that you make a fail-safe
design and secure the safety in the operative range.
If stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or
a round terminals. If stranded wires are used as they are, unexpected accidents such as an electric
shock and short circuit or injury may result.
There might be a chance of smoke generation due to the failure of these products. Pay an extra
attention when you apply these products in a clean room environment.
Be sure to install a no-fuse breaker in the power supply. In addition, be sure to ground the
grounding terminal or grounding wire provided. (In order to prevent electric shock and malfunc-
tions, Class D grounding (grounding resistance of 100O or less) is recommended.)
If the product is grounded insuffciently, not only the driver may not deliver its performance suf-
fciently, but also safety hazards such as a malfunction due to a electrifcation or a disturbance
may be caused.
If electric wires are bound and run through metal duct, they cannot carry the rated current due to
temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
Do not use or store the product in a place subject to 5.88 m/s
2
or more vibration or shock, for-
eign materials such as dust, metallic powder and oilmist, liquids such as water, oil and grinding
fuid, close to fammable materials, or in an atmosphere of corrosive gas (H2S, SO2, NO2, Cl2,
etc.) or infammable gas under any circumstance.
Fan Fan
100mm
or more
100mm
or more
40mm
or
more
40mm
or
more
a a a
Direction of air flowing
from the internal
cooling fan (D to H-frame)
Control panel
5. Installation
Driver
a
A to F-frame 10mm or more
G, H-frame 50mm or more
1-30
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the mo-
tor running out of control or being damaged from overheating. In addition, pay attention not to al-
low conductive materials, such as wire chips, entering the driver during the installation and wiring.
Secure the screws and earth screw on the terminal block with the torque specifed in the specif-
cation.
When establishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
Never make an approach to the motor and the machine(s) driven by the motor while power is
applied because they may become failure or malfunction.
Do not use servo-on signal (SRV-ON) as the start/stop signal. Doing so may damage the built-in
dynamic brake circuit in the driver.
Pay attention to the heat dissipation. The driver will generate heat while the motor is in opera-
tion. Using the driver in a sealed control box may cause an abnormal heating of the control
box. A proper consideration should be given to cool the driver so that the ambient temperature
matches the specifed operating temperature range.
There is a possibility that the motor will be damaged by heat or emit smoke or dust due to a fault
in the motor itself or the driver coupled with it. A proper consideration should be given if the mo-
tor is used in a clean room or similar environment.
The upper fan on the H-frame driver stops during servo OFF to save energy. This is normal.
If the dynamic brake is applied during operation at a high speed, provide approx. 10-minute
dwell period.
Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake in-
operable.
The capacitance of capacitor in the power supply rectifer circuit decreases its capacitance with
age.
To prevent a secondary accident due to malfunction, it should be replaced with new one after
5-year use.
Replacement should be performed by us or our authorized distributor.
Before using the product, be sure to read the instruction manual (Safety part).
Recommended Electric Wires for Driver
For the main circuit, use electric wire that withstands at least 600 VAC with tempera-
ture rating 75 or higher.
When using bundled wires running through metallic conduit, the amounts of current
determined according to the reduction rate must be subtracted from the nominal allow-
able current.
Electric wires
<In high ambient temperature>
Use heat resistant wire.
Common polyvinyl chloride wires will deteriorate by heat at a higher rate.
<In low ambient temperature>
The surface of vinyl chloride insulation becomes hardened and brittle at low tempera-
ture and needs specifc protective measure when used in cold region.
Bend radius of the cable must be 10 times or more its fnish outside diameter.
Cables cannot be used for continuous regeneration because they are not designed for
such application.
5. Installation
Driver
Related page P.1-27 "Junction cable for motor"
1-31
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Relationship between Wire Diameter and Permissible Current
Caution
Caution
When selecting a cable, refer to the following selection guide showing relationship be-
tween cable specifcation and current carrying capacity.
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30C
Determine the fundamental permissible current according to the
cable conductor material (example: stranded copper wire). (For the
purpose of this example, the ampere indicated by

is selected from
the table right.)
Next, determine the number of conductors. (In this example, the
cable contains 4 conductors (3 + ground).) Determine the applicable
permissible current using the following formula.
Applicable permissible current
= fundamental permissible current x current reduction coeffcient x current
correction coeffcient
= 37 x 0.7 x 1.414

.
=. 36.6 (A)
This permissible value is larger than 35 A to be carried though the
cable. Therefore, according to the list of recommended eco-cables,
the cable to be selected for the cable with nominal cross section 3.5
mm
2
is a polyethylene-insulated heat-resistant 4-conductor power
cable having 13.5 mm fnish O.D. (approx. 14.5 mm with shield).
<Supplement>
The current correction coeffcient is determined using the following formula:

(Max. permissible temp. ambient temp.) 30
The current correction coeffcient is determined according to the cable. Check the specifcation of the cable
used.
The current reduction coefficient is provided for the case
where the cable (4-conductor cable in the case of example),
is housed in plastic race/sheath, plastic tube, metal race/
sheath, metal tube or fexible conduit.
Because the neutral conductor is not counted as a wire, the cur-
rent reduction coeffcient for "3 or less" is applied as indicated by
( ) in the table right.
Conductor
Insulation
thickness
(mm)
Sheath
thickness
(mm)
(Reference)
Finish O.D.
(mm)
Max.
conductor
resistance
(20C)
(W/km)
Test
voltage
(V/1 min.)
Minimum
insulation
resistance
(MWkm)
(Reference)
Approx.
mass
(kg/km)
Nominal
cross
section
(mm
2
)
Structure
or shape
(wires/mm
2
)
Outside
diameter
(mm)
2 7/0.6 1.8 0.8 1.5 12.0 9.42 1500 2500 170
3.5 7/0.8 2.4 0.8 1.5 13.5 5.30 1500 2500 250
5.5 7/1.0 3.0 1.0 1.5 16.0 3.40 1500 2500 360
8 7/1.2 3.6 1.0 1.5 17.0 2.36 1500 2000 475
14
Circular
compression
4.4 1.0 1.5 19.0 1.34 2000 1500 730
22
Circular
compression
5.5 1.2 1.6 23 0.849 2000 1500 1100
38
Circular
compression
7.3 1.2 1.8 28 0.491 2500 1500 1800
60
Circular
compression
9.3 1.5 2.0 35 0.311 2500 1500 2790
100
Circular
compression
12.0 2.0 2.4 44 0.187 2500 1500 4630
150
Circular
compression
14.7 2.0 2.6 51 0.124 3000 1000 6710
200
Circular
compression
17.0 2.5 2.9 60 0.0933 3000 1500 8990
Caution
Note
Recommended eco-cabIe
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
(Standard: EM JIS C 3605) Maximum permissible temperature: 90C
ShieId wiII increase nish outside diameter by approx. 1 mm.
Appropriate cable should be selected to have suffcient allowance for parameters such as operating ambi-
ent temperature and current.
Current reduction coefficient, fundamental permissible current, etc., stated on this page are subject to
change due to e.g. standard revision. Consult cable manufacturers for the latest information.
5. Installation
Driver
Current reduction coefficient
No. of wires in a tube Coefficient
_ Up to 3 0.70
4 0.63
5 or 6 0.56
7 to 15 0.49
16 to 40 0.43
41 to 60 0.39
61 or more 0.34
FundamentaI permissibIe
current
Stranded conductor
(nominal cross section: mm
2
)
Copper
wire
(unit: A)
2 to 3.5 (excl.) 27
3.5 to 5.5 (excl.) 37
5.5 to 8 (excl.) 49
8 to 14 (excl.) 61
14 to 22 (excl.) 88
11 to 30 (excl.) 115
30 to 38 (excl.) 139
38 to 68 (excl.) 162
60 to 100 (excl.) 217
100 to 150 (excl.) 298
150 to 200 (excl.) 395
1-32
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which
meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products
are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-
fde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline
and salt and so on, and are free from splash of infammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item Conditions
Ambient temperature
*1
0`C to 40`C (free from freezing)
Ambient humidity 20% to 85% RH (free from condensation)
Storage temperature
*2
-20`C to 65`C
(Max. temperature guarantee: 80`C for 72 hours free from condensation
*5
)
Storage humidity 20% to 85% RH (free from condensation
*5
)
Vibration Motor only Lower than 49m/s
2
(5G) at running, 24.5m/s
2
(2.5G) at stall
Impact Motor only Lower than 98m/s
2
(10G)
Enclosure
rating
Motor only
(Connector type)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)
*3*4
Altitude Lower than 1000m
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specifed in EN standards (EN60529, EN60034-5). Do
not use these motors in application where water proof performance is required such as continuous
wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750W or less are
tightened to the recommended tightening torque (Refer to P.2-11, 2-48). Be sure to use mounting
screw supplied with the connector. Correctly install and secure the gasket supplied with the cable
connector.
*5 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
Use the motor with oil seal (make-to-order in case of motor 750W or less) when
mounting the motor with gear reducer to prevent the reducer oil/grease from entering
to the motor.
1 Before Using
the Products
5. Installation
Motor
1-33
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Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is always subject-
ed to oil or water.
4) Use the motor with an oil seal when used with the
gear reducer, so that the oil may not enter to the
motor through shaft.
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-
weight.
2) Especially in an application where the motor itself travels, fx the junction cable into the
bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (When you use our optional cable,
Minimum R20mm)
Permissible Load to Output Shaft
Note
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specifed to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may dam-
age the shaft or deteriorate the bearing life.)
3) Use a fexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
For permissible load of each model, refer to P.1-35, "Permissible Load at Output Shaft".
Notes on Installation
1) Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
the motor shaft.
(Or it may damage the encoder mounted on the
other side of the shaft.)
2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the
bearing depending on the condition of the machine and its mounting environment, and
may result in the bearing noise. Check and verifcation by customer is required.

Cable
Motor
Oil / Water
Motor
Related page P.1-27 "Junction cable for motor" P.1-28 "Installation of driver"
P.1-35 "Permissible Load at Output Shaft" P.7-79 "Dimensions"
5. Installation
Motor
1-34
Wiring Precautions on Movable Section
When wiring cable bear, take the following precautions:
CabIe bear wiring
The bend radius of the cable must be 10 times or more its fnish outside diameter.
(For fnish outside diameter, refer to P.1-31 How to Install, "Relationship between Wire
Diameter and Permissible Current" and associated tables.)
Do not fx or bundle wires in the cable bear.
When securing the cable, fx it only at non-movable ends of the cable bear where the
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Caution Do not keep the cable loosened (too long) or under tension (too short).
Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other
cable, etc., causing unpredictable troubles.
CabIe distortion
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.
Lamination factor of cabIe in cabIe bear
Place cables on a fat surface in parallel without bringing them into contact with each
other and measure the dimension necessary to cover these cables. Then select a ca-
ble bear which is wider than the measured dimension.
The lamination factor of cables should be lower than 60% (recommended factor is 30%
or below).
Do not run smaller and larger size cables in the same cable bear. Thin cables may
break under the pressure of thick cables. If it is necessary to mix cables of different
size, isolate them by using suitable separating material such as partition.
[Wiring arrangement in cable bear example]
Cable
Cable bear
Cable end
Cable Cable Partition
Partition
Thick cable Thin cable
5. Installation
Motor
1-35
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1 Before Using
the Products
6. Permissible Load at Output Shaft
Motor
L
L/2
P
A
M
B
Radial load (P) direction Thrust load (A and B) direction
Unit : N (1kgf=9.8N)
Motor
series
Motor output
At assembly During running
Radial thrust
Thrust load
Radial thrust
Thrust load A
and
B-direction
A-direction B-direction
MSMD
50W, 100W 147 88 117.6 68.6 58.8
200W, 400W 392 147 196 245 98
750W 686 294 392 392 147
MSME
50W, 100W 147 88 117.6 68.6 58.8
200W, 400W 392 147 196 245 98
750W (200V) 686 294 392 392 147
750W (400V),
1.0kW, 1.5kW,
2.0kW, 3.0kW
980 588 686
490 196
4.0kW, 5.0kW 784 343
MDME
400W to 2.0kW
980 588 686
490 196
3.0kW
784 343 4.0kW
1666 784 980
5.0kW
7.5kW 2058 980 1176 1176 490
11.0kW, 15.0kW 4508 1470 1764 2254 686
MGME
0.9kW 980 588 686 686 196
2.0kW 1666 784 980 1176
490 3.0kW
2058 980 1176
1470
4.5kW
6.0kW 1764 588
MFME
1.5kW 980 588
686
490 196
2.5kW, 4.0kW 1862 686 784 294
MHMD
200W, 400W 392 147 196 245 98
750W 686 294 392 392 147
MHME
1.0kW, 1.5kW 980 588 686 490 196
2.0kW to 5.0kW 1666 784 980 784 343
7.5kW 2058 980 1176 1176 490
Note When the load point varies, calculate the permissible radial load, P (N) from the distance
of the load point, L (mm) from the mounting fange based on the formula of the right ta-
ble, and make it smaller than the calculated result.
1-36
L
P
Motor
series
Motor
output
Formula of Load
and load point
relation
MSMD
50W P-
3533
L+39
100W P-
4905
L+59
200W P-
14945
L+46
400W P-
19723
L+65.5
750W P-
37044
L+77
MSME
50W P-
3533
L+39
100W P-
4905
L+59
200W P-
14945
L+46
400W P-
19723
L+65.5
750W (200V) P-
37044
L+77
750W (400V)
1.0kW to 3.0kW
P-
20090
L+13.5
4.0kW
5.0kW
P-
36848
L+14.5
MDME
400W
600W
P-
20090
L13.5
1.0kW to 2.0kW P-
20580
L14.5
3.0kW P-
36848
L+14.5
4.0kW
5.0kW
P-
42336
L+19
7.5kW P-
89946
L+20
11.0kW
15.0kW
P-
200606
L+31
Motor
series
Motor
output
Formula of Load
and load point
relation
MGME
0.9kW P-
33957
L+14.5
2.0kW P-
69384
L+19
3.0kW P-
86730
L+19
4.5kW
6.0kW
P-
89964
L+20
MFME
1.5kW P-
25235
L+19
2.5kW P-
40376
L+19
4.0kW P-
42336
L+19
MHMD
200W P-
14945
L+46
400W P-
19723
L+65.5
750W P-
37044
L77
MHME
1.0kW
1.5kW
P-
24255
L14.5
2.0kW to 5.0kW P-
46256
L+19
7.5kW P-
89964
L+20
6. Permissible Load at Output Shaft
Motor