Minas A4 PDF

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"A (Ace)" Servo for the Next Generation
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MINAS A4
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Series
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Advanced Gain Tuning

・ Further Evolution in Real-Time Auto-Gain Tuning
Agile and Intelligent

・ Improved Damping Control handles all types of machines,
from low to high stiffness machines with simple but solid
operation
Almighty
・ Position Control, Velocity Control and Torque Control in one
Driver supports multiplicity of application.
Amazingly slim size

・ Another Evolution in down-sizing, by 25% in size
(compared to A-series)
A4-1
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MINAS A4 Features/Contents
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MINAS A4 Series
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Contents
● Features A4-1
● Details of Features A4-3
● List of Specifications A4-7
● Model Designation A4-8
● Wiring Example A4-9
● Table of Part Numbers and Options A4-13
● Driver
010 <Common Specifications> A4-15
<Standard Wiring Example of Main Circuit> A4-17
<Encoder Wiring Diagram> A4-19
<Standard Wiring Example of Control Circuit Standard> A4-20
<Table of Applicable Motors>
100 10 010 A4-21
<Dimensions> A4-22
MINAS A4 Features/Contents
● Motor
<Ratings/Specifications/Torque Characteristics> A4-49
MAMA A4-49
MSMD A4-51
MQMA A4-59
MSMA A4-63
MDMA A4-67
MGMA A4-73
MFMA A4-77
MHMA A4-81
<Dimensions> A4-87
MAMA A4-87
MSMD A4-88
MQMA A4-90
MSMA A4-91
MDMA A4-93
MGMA A4-96
MFMA A4-99
MHMA A4-101
●Motor with Gear Reducer/MSMD
<General Specifications> A4-105
<Ratings/Specifications> A4-106
<Torque Characteristics> A4-107
<Dimensions> A4-108
● Conformity to CE and UL A4-109
● IP65 Rating A4-112
● Options A4-113
● Recommended components A4-127
Remarks :Instruction manual is available as an option as
Japanese version : DV0P4200 and
English version : DV0P4210
A4-2
Details of Features
Further Adjustment-Free Operation
■High-functionality Real-Time Auto-Gain Tuning

Waveform adjusted via auto-tuning driven by a ball screw
● Corresponds to even variation of load inertia. Offers real
Stabilization time of 4 ms or less
automatic gain tuning to low and high stiffness machines with a
actual speed (r/min) torque (N)
combination of an adaptive filter.
● Supports the vertical axis application where the load torque is
different in rotational direction.
● Prevents the machine from over-traveling during automatic gain
tuning with over-travel detecting function.
● Enables you to set and check while monitoring real-time automatic
gain tuning conditions on the front panel.
comand speed (r/min) positional deviation (pulse)
Further High-Speed and High-Response

■ Velocity response (bandwidth) of 1kHz
● Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and
higher resolution. *) In case of high stiffness machine
standard deviation of detected speed [r/min]
Variation of detected speed at stopping

10 100
magnitude (dB)
−10 Velocity gain is

10
doubled compared to
Present MINAS A-Series A-Series
−30 MINAS A-Series
1
MINAS-A4Series MINAS A4-Series
−50
10 100 1000
frequency (Hz)
0.1
100 1000
velocity gain [Hz]

● Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize
high-speed positioning with high-functionality real-time auto-gain tuning.
Clearwater Tech - Phone: 800.894.0412 - Fax: 208.368.0415 - Web: www.clrwtr.com - Email: info@clrwtr.com
A4-3
MINAS A4 Details of Features
Further Reduction of Vibration
■Adaptive filter
actual speed (r/min) Torque [%]
●Makes the notch filter frequency automatically follow the
machine resonance frequency. Speed Suppress
vibration
● Suppression of "Judder" noise of the machine can be quickly
expected which is caused by variation of the machines or
resonance frequency due to aging.
■2-channel notch filters

Filter is
● 2-channel notch filters are equipped in the driver independent invalid
from adaptive filter. Completion of filter frequency setup
●You can set up both frequency and width for each of 2 filters,
and set up frequency in unit of 1Hz. Corresponds to wider frequency range (-1500Hz)
●Suppression of "Judder" noise of the machine which has Suppresses vibration quickly
multiple resonance points can be expected
Effect of notch filter

without notch filter with notch filter
speed

(1000r/min/div)
torque
(33.3%/div)
50ms/div 50ms/div
■Damping control
● 2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping
in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
● You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to
correspond to the variation of vibration frequency caused by the machine position.
● Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
motor movement machine movement

500 500 400
400 400 320
300 300 240
200 200 160
without damping control 100 100 80

0 0 0
−100 −100 −80
−200 −200 −160
−300 −300 −240
−400 −400 −320
−500 −500 −400
0.1 0.2 0.3 0.4 0.5 0.6 0.7 ［s］
Position deviation [pulse]

500 20 400
400 16 320
300 12 240
200 8 160
100 4 80
with damping control 0 0 0
−100 −4 −80
−200 −8 −160 least vibration

no vibration at motor shaft and fast response
−300 −12 −240
−400 −16 −320
−500 −20 −400

0.1 0.2 0.3 0.4 0.5 0.6 0.7 ［s］
Command speed (r/min) Position deviation [pulse]
A4-4
Further Flexibility and Multiplicity
Setup support with substantial monitoring function Regeneration discharging function

● Faster communication speed of RS232/RS485 (Max.57600bps) ● Discharges the regenerative energy with resistor, which energy is
establishes an easy and comfortable operating condition for generated while stopping the load with large moment of inertia, or
setup support software, "PANATERM ® ". use in up-down operation, and is returned to the driver from the
● Displays the factors of no-motor run and helps you to analyze the motor.
causes of troubles. ● No regeneration discharge resistor is built-in to Frame A driver
● You can set up the panel operation lock to inhibit the operation (MADDT1105 type.) and Frame B driver (MBDDT2210 type.), and
from the front panel, thus enables you to prevent miss-operation we recommend you to connect optional regenerative resistor.
such as unintentional change of parameters. ● Regenerative resistor is built-in to Frame C to F drivers, however,
connection of the optional regenerative resistor bring you further
*Note) Refer to page "F4" for setup support software.
regenerative capability.
Command control modes

● Offers you "Position" , "Velocity (including internal 8-speed)" and Built-in dynamic brake
"Torque" command control modes
● You can set up any one of the command control modes, or
● You can select the dynamic brake action which short the servo
selectable two command control mode with parameter. motor windings of U, V and W, at Servo-OFF, CW/CCW over-
● You can set up any command control mode depending on your travel inhibition, power shutdown and trip.
application.
● You can select the action sequence setup depending on the
machine requirement.
Monitoring function with front panel
● LED display and analog monitor terminals are installed in the front Positioning pulse
panel.
● Displays "Motor speed" , "Motor torque" Position deviation" , "Motor ● Corresponds up to 2Mpps of pulse input at positioning control.
load factor" and "Regeneration load factor" on LED.
● You can monitor "Motor speed" ,"Motor torque" and "Position
deviation" through analog monitor terminals. Setup support software
● With the setup support software, "PANATERM ® " via
Trial run (JOG) RS232/RS485 communication port, you can monitor the running
status of the driver and set up parameters.
●Features the function for trial (JOG) run through the front panel or ● You can read out the absolute position data of the motor with
console (option) without connecting to a host controller. absolute encoder.
●You can shorten the machine setup time.
Full-closed control (High precision positioning) Wave-form graphic function

● Features the full-closed control of position and velocity, using the ● With the setup support software, "PANATERM ® " , you can
signals from linear scale installed on the load side and high monitor the "Command speed" , "Actual speed" ,"Torque" ,
resolution encoder. "Position deviation " and "Positioning complete signal" .
Note) Applicable external linear scales are as follows, ● Helps you to analyze the machine and shorten the setup time
AT500 series by Mitutoyo (Resolution 0.05[μm], max, speed 2[m/s]) *Note) Refer to page "F4" for setup support software.
ST771 series by Mitutoyo (Resolution 0.5[μm], max, speed 2[m/s])
● Best suits to high precision machines.
Torque limit value switching

Inrush current suppressing function ● You can setup 2 torque limits and use them for tension control or
press & hold control
● Inrush current suppressing resistor is equipped in this driver, which
● It is possible to apply it to bumping homing
prevents the circuit breaker shutdown of the power supply caused
by inrush current at power-on.
● Prevents unintentional shutdown of the power supply circuit breaker
in multi-axes application and does not give load to the power line.
A4-5
SEMI F47 voltage sag immunity Frequency analyzing function

● Features the function which complies to voltage sag immunity ● You can confirm the response frequency characteristics of total
standard of SEMI F47 at no load or light load. machine mechanism including the servo motor with the setup
● Useful for semiconductor industry. support software, "PANATERM ® "
Notes) ● Helps you to analyze the machine and shorten the setup time
1)Not applicable to single phase, 100V type. *Note) Refer to page "F4" for setup support software.
2)Verify with the actual machine condition to F47,
voltage sag immunity standard.
■Applicable overseas safety standards

Subject Standard conformed
Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 NO.100 Conforms to Low-
EN50178 UL508C Voltage Directives

EN55011 Radio Disturbance Characteristics of
Industrial, Scientific and Medical (ISM)
Radio-Frequency Equipment
EN61000-6-2 Immunity for Industrial Environments
IEC61000-4-2 Electrostatic Discharge Immunity Test
Motor Conforms to
IEC61000-4-3 Radio Frequency Electromagnetic Field
and references by
Immunity Test
driver EMC Directives
IEC61000-4-4 Electric High-Speed Transition
Phenomenon/Burst Immunity Test
IEC61000-4-5 Lightening Surge Immunity Test
IEC61000-4-6 High Frequency Conduction Immunity Test
IEC61000-4-11 Instantaneous Outage Immunity Test
IEC : International Electrotechnical Commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
U L : Underwriters Laboratories
CSA : Canadian Standards Association
A4-6
List of Specifications
Rated Rotary encoder Brake Gear
rotational
Rated output
Motor series speed 2500P/r 17bit High
CE/UL Enclosure Features Applications
(kW) incremen absolute/ Holding
(Max. speed) precision
tal incremental
(r/min)
Ultra low inertia
.Small capacity
MAMA .Suitable for the
.SMT machines
0.1-0.75 IP65 machines directly .Inserters
5000 (Except shaft coupled with high .High repetitive
4 models (6000) through hole speed ball screw
0.1, 0.2, and positioning
connector) and high stiffness
0.4 and 0.75 application
and high repetitive
application
MSMD 3000
0.05-0.75 (5000)
*For IP65 .Small capacity .Inserters
(Except shaft
5 models 400W/100V through hole .Suitable for all .Belt driven
0.05, and 750W and applications machines
connector)
0.1, 0.2, 3000 .Unloading robot
0.4 and 0.75 (4500)
MQMA
3000
Low inertia
.Small capacity .SMT machines

0.1-0.4 (5000) IP65 .Suitable for flat .Inserters
*For (Except shaft
through hole type and low .Belt driven
3 models 400W/100V and stiffness machines machines
3000 connector) .Unloading robot
0.1, 0.2, with belt driven
(4500)
and 0.4
MSMA .Middle capacity

3000 .Suitable for the
1.0-5.0 (5000) IP65
machines directly .
*For (Except SMT machines
6 models coupled with ball .
4kW and cannon plug/ Inserter
1.0,1.5,2.0, screw and high .Food machines
5kW connector
3.0,4.0 stiffness and high
3000 pins)
and 5.0 repetitive
(4500)
application
MDMA
2000
1.0-7.5
(3000) IP65 .Middle capacity .Belt driven
*For (Except .Suitable for low
6 models machines
7.5kW cannon plug/
1.0,1.5,2.0, stiffness machines .Conveyers
1500 connector .Robots
3.0,4.0,5.0 with belt driven
(3000) pins)
and 7.5
MGMA
Middle inertia
0.9-6.0 IP65 .Middle capacity

(Except .Suitable for .Belt driven
4 models 1000
cannon plug/ machines requiring machines
0.9,2.0, (2000) .Conveyers
connector low speed with
3.0,4.5 pins) .Robots
high torque
and 6.0
MFMA
IP65 .Middle capacity
0.4-4.5
(Except .Flat type and
2000 .Robots
4 models cannon plug/ suitable for
(3000) .Food machines
0.4,1.5, connector machines with
2.5 and 4.5 pins) space limitation
MHMA
High inertia
2000
.Middle capacity
0.5-7.5 (3000) IP65 .Suitable for low .Belt driven
*For (Except
stiffness machines machines
7 models 7.5kW cannon plug/
with belt driven, .Conveyors
0.5,1.0,1.5, 1500 connector
and large load .Robots
2.0,3.0,4.0, (3000) pins)
moment of inertia
5.0 and 7.5
Motor is sharing with A4P series

A4-7
List of Specifications/
MINAS A4 Model Designation
Model Designation
■ Servo Motor
ＭＳＭＤ５ＡＺＳ１Ｓ＊＊

Special specifications
Symbol Type Motor structure
Ultra low inertia MSMD(standard stock), MQMA (build to order)
MAMA Design order
(100W-750W) Shaft Holding brake Oil seal
Low inertia 1 : Standard
MSMD Symbol Round Key-way, without with without with
(50W-750W)
center tap
Low inertia
MQMA
(100W-400W)
Rotary encoder specifications A
Low inertia Symbol Format Pulse counts Resolution Wires B
MSMA
(1.0kW-5.0W) P Incremental 2500P/r 10000 5 S
Middle inertia
MDMA Absolute/ T
(1.0kW-7.5kW)
Middle inertia S Incremental 17bit 131072 7 Motor with oil seal is manufactured by order.
MGMA common
(900W-6.0kW) MSMA , MDMA , MGMA , MFMA , MHMA
Middle inertia
MFMA Shaft Holding brake Oil seal
(400W-4.5kW)
Voltage specifications Symbol
High inertia Round Key-way without with without with
MHMA
(500W-7.5kW) Symbol Specifications C
1 100V
Motor rated output D
2 200V
Symbol Rated output Symbol Rated output 100V/200V G
Z common(50W only)
5A 50W 15 1.5kW H
01 100W 20 2.0kW Products are standard stock items or build to order items. See index (page F31).
MAMA
02 200W 25 2.5kW
04 400W 30 3.0kW Shaft Holding brake Oil seal
Symbol
Round Key-way without with without with
05 500W 40 4.0kW
08 750W 45 4.5kW A
50 5.0kW B
09 900W
E
10 1.0kW 60 6.0kW
MINAS A4 List of Specifications/Model Designation

F
75 7.5kW
Products are standard stock items or build to order items. See index (page F31).
See page, A4-49 for motor specifications
■ Motor with reduction gear

ＭＳＭＤ０１１Ｐ３１Ｎ
Symbol Type Gear reduction ration, gear type

Low inertia Motor output (W)
ＭＳＭＤ (100W-750W) Symbol Gear reduction
ratio Gear type
100 200 400 750
Motor rated output 1N 1/5
Symbol Rated output Voltage specifications 2N 1/9
For high accuracy
01 100W Symbol Specifications 3N 1 / 15
02 200W １１００Ｖ 4N 1 / 25
04 400W ２２００Ｖ
08 750W Motor structure
Shaft Holding brake
Symbol
Rotary encoder specifications Key-way without with
Symbol Format Pulse counts Resolution Wires 3
P Incremental 2500P/r 10000 5 4
Absolute/
S Incremental 17bit 131072 7
common
See page, A4-105 for motor with gear reducer specifications
■ Servo Driver
ＭＡＤＤＴ１２０５＊＊＊

Frame symbol Power device Max. current rating Supply voltage specifications Current detector current rating
Symbol Frame Symbol Power device Max. current rating Symbol Specifications Symbol Current detector, current rating
MADD A4 series, Frame A T1 1 0A 1 Single phase, 100V 05 5A
MBDD A4 series, Frame B T2 1 5A 2 Single phase, 200V 07 7.5A
MCDD A4 series, Frame C T3 3 0A 3 3-phase, 200V 10 1 0A
MDDD A4 series, Frame D T5 5 0A 5 Single/3-phase,200V 20 2 0A
MEDD A4 series, Frame E T7 7 5A 30 3 0A
MFDD A4 series, Frame F TA 1 0 0A 40 4 0A
MGDD A4 series, Frame G TB 1 5 0A 64 6 4A
TC 3 0 0A 90 9 0A
A2 1 2 0A
B4 2 4 0A
See page, A4-15 for driver specifications

A4-8
Wiring example
Driver Frame Type Symbol (Frame A, B, C, D)
For details, refer to the Instruction Manual.
●Wiring of main circuit

Circuit Breaker (NFB)
Protects the power lines.
Shuts off the circuit when overcurrent passes.
Noise Filter (NF)

Prevents external noise from the power lines.
And reduces an effect of the noise generated by
the servo driver.
Magnetic Contactor (MC)

Turns on/off the main power of the servo driver.
Surge absorber to be used together with this. M
Reactor (L)
Reduces harmonic current of the main power. Console (DV0P4420)
Personal Computer
Pin RB1, RB2 and RB3…
・RB2 and RB3 to be kept shorted for normal Setup support software
operation. "PANATERM ® "
(DV0P4460)
・When the internal regenerative resistor
capacity has shortage, disconnect between
RB2 and RB3, then connect an external
PC communication cable
regenerative resistor between RB1 and RB2.
L1 (DV0P1960)
L2
L3
L1C
L2C
Connector for external equipment (DV0P4350)

or interface connector cable (DV0P4360)
Controller
Encoder cable
Regenerative resistor
(option)
Motor cable
Brake cable
Ground (Earth)
Power supply for
Motor to page A4-49 brake DC24V
Driver to page A4-15
Option to page A4-113
Recommended equipments to page A4-12
Parts customer to prepare
A4-9
MINAS A4 Wiring example
Driver Frame Type Symbol (Frame E, F)

Shuts off the circuit when overcurrent passes.
Noise Filter (NF)

the servo driver.
M

Console (DV0P4420)
Surge absorber to be used together with this. Personal Computer
Reactor (L) Setup support software

Reduces harmonic current of the main power. "PANATERM ® "
(DV0P4460)
P, B1 and B2…
・B1 and B2 to be kept shorted for normal
operation. PC communication cable
(DV0P1960)

capacity has shortage, disconnect between B1
and B2, then connect an external
regenerative resistor between P and B2.
Controller
Encoder cable
Regenerative resistor Ground (Earth)

(option)
Motor cable
Brake cable
Power supply for

brake DC24V
Motor to page A4-49
Recommended equipments to page A4-12
A4-10
Wiring example
Driver Frame Type Symbol (Frame G)

Magnetic Circuit Breaker (MCB)
Used to protect the power lines: overcurrent
will shutoff the circuit.
Noise filter (NF)

Prevents external noise coming from the
power line, or reduces noise generated by
the servo motor.
Magnetic contactor (MC)

Turns on/off the main power to the servo
motor.
Used together with a surge absorber.
Reactor (L)
Reduces harmonics in power line. Control power supply
input terminal
M
Console (DV0P4420)
Personal Computer
Setup support software

"PANATERM ® "
(DV0P4460)
PC communication cable
(DV0P1960)

Controller
Encoder cable
(option)
Motor cable
Ground (Earth)
Motor to page A4-49
Brake cable
Driver to page A4-15 Regenerative discharge
register overheat Power supply for
detection I/O terminal brake DC24V
Recommended equipments to page A4-12 Fan stop signal

output terminal
A4-11
■List of recommended peripheral equipments

Applicable
Connector
Power Power Circuit Noise Magnetic Cable Cable
motor Noise Surge
supply capacity breaker filter contactor diameter diameter
voltage filter absorber
Series Output (atrated load) (rated current) (signal) (Contact) (Main circuit) (controlcircuit)
MSMD 50W Approx.
0.4kVA DV0P BMFT61041N
Single 100W
MSMD 4170 （3P+1a）
phase, Approx.
200W 0.5kVA
100V MQMA Approx. DV0P BMFT61541N
400W 0.9kVA 4180 （3P+1a）
50W Approx.
MSMD
100W 0.5kVA
BBC
MAMA DV0P
Approx. 2101N 0.75mm2
100W 0.3kVA 4190
MQMA (10A) to
Single DV0P 2.0mm2
phase, MAMA 4170 AWG14
Approx.
Connection to exclusive connector

200V MSMD 200W 0.5kVA to
MQMA BMFT61542N 18
（3P+1a）
MSMD Approx.
400W 0.9kVA
MQMA
MAMA Approx.
400W 0.9kVA
MFMA DV0P
MHMA 500W Approx. 4180
1.1kVA BBC
Approx.
MSMD 1.3kVA 3151N
750W
MAMA Approx. (15A)
1.6kVA
MDMA
Single/ 1.0kW
3-phase, MHMA Approx.
200V 1.8kVA

MGMA 900W
BMFT61842N
MSMA 1.0kW （3P+1a）
MSMA BBC DV0P 2.0mm2 0.75mm2
3201N DV0P 1460 AWG14 AWG18
MDMA Approx. (20A)
1.5kW 4220
MFMA 2.3kVA
MHMA
MSMA
Approx. BBC
MDMA 2.0kW 3.3kVA 3301N
MHMA (30A) DV0P
MFMA 2.5kW Approx. 1450
MGMA 2.0kW 3.8kVA BMF6352N
（3P+2a2b）
MSMA
Connection to terminal block M5

MDMA Approx.
3.0kW 4.5kVA
MHMA 3.5mm2
AWG12
MGMA
3-phase, MSMA BBC
200V Approx.
MHMA (50A)
DV0P
MFMA Approx. 3410
6.8kVA
4.5kW
MGMA
MSMA BMF6652N 5.3mm2
Approx. （3P+2a2b） AWG10
MDMA 5.0kW 7.5kVA
MHMA
Approx. L1,L2,L3
MGMA 6.0kW 5.3mm
2
9.0kVA BBC AWG10
MDMA Approx. 3601N U.V.W2
7.5kW 11kVA (60A) 14mm
MHMA AWG6
● Select a single and 3-phase common specifications corresponding to the power supplies.
● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric Works.
To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL Listed and marked) between noise filter and power supply without fail.
● For details of noise filter, refer to Page A4-110.
<Remarks>
・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).
・ Terminal block and earth terminals
Use a copper conductor cables with temperature rating of 60℃ or higher.
Earth terminals for Frame A to D are M4 and M5 for Frame E to F.
Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m) may damage the terminal block.
・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 2.5kW, 3.5mm2 (AWG12) or larger for 3kW to 4kW, 5.3mm2 (AWG10) or larger for 4.5kW to 5kW and 14mm2 (AWG6)
or larger for 6kW to 7.5kW.
・ Use the attached exclusive connector for A to D-frame, and maintain the peeled off length of 8-9mm.
・ Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N・m.
A4-12
Table of Part Numbers and Options
Rated 2500P/r, Incremental 17bit, Absolute/Incremental common 2500P/r and 17bit common
Power Motor rotational Output Rating/ Rating/
supply series speed (W) Motor Encoder cable Motor Encoder cable Encoder cable Frame
Spec. Spec. Driver
Note) 1 Note) 2 Note) 1 Note) 2 Note) 2 symbol
(r/min) (page) (page)
100 MAMA012P1□ A4-49 MAMA012S1□ A4-49 MADDT1207 A-frame
Single
200 MAMA022P1□ A4-49 MAMA022S1□ A4-49 MBDDT2210 B-frame
phase
200V MAMA 400 MAMA042P1□ A4-49 MAMA042S1□ A4-49 MCDDT3520 C-frame
5000
Ultra 750 MAMA082P1□ A4-49 MAMA082S1□ A4-49 MDDDT5540 D-frame
3-phase, low inertia 400 MAMA042P1□ A4-49 MAMA042S1□ A4-49 MCDDT3520 C-frame
200V 750 MAMA082P1□ A4-49 MAMA082S1□ A4-49 MDDDT5540 D-frame
50 MSMD5AZP1□ A4-51 MSMD5AZS1□ A4-51 MADDT1105
A-frame
MSMD 100 MSMD011P1□ A4-51 MSMD011S1□ A4-51 MADDT1107
Single Low inertia 200 MSMD021P1□ A4-53 MSMD021S1□ A4-53 MBDDT2110 B-frame
phase 400 MSMD041P1□ A4-53 MSMD041S1□ A4-53 MCDDT3120 C-frame
100V MFECA MFECA MFECA
MQMA 100 MQMA011P1□ A4-59 MQMA011S1□ A4-59 0＊＊0EAE
0＊＊0EAM 0＊＊0EAD MADDT1107 A-frame
Low inertia 200 MQMA021P1□ A4-59 MQMA021S1□ A4-59 MBDDT2110 B-frame
Flat 400 MQMA041P1□ A4-59 MQMA041S1□ A4-59 MCDDT3120 C-frame
50 MSMD5AZP1□ A4-55 MSMD5AZS1□ A4-55
MADDT1205
3000 100 MSMD012P1□ A4-55 MSMD012S1□ A4-55 A-frame
MSMD
200 MSMD022P1□ A4-57 MSMD022S1□ A4-57 MADDT1207
Low inertia
400 MSMD042P1□ A4-57 MSMD042S1□ A4-57 MBDDT2210 B-frame
750 MSMD082P1□ A4-57 MSMD082S1□ A4-57 MCDDT3520 C-frame
MQMA 100 MQMA012P1□ A4-61 MQMA012S1□ A4-61 MADDT1205
A-frame
Low inertia 200 MQMA022P1□ A4-61 MQMA022S1□ A4-61 MADDT1207
Single Flat 400 MQMA042P1□ A4-61 MQMA042S1□ A4-61 MBDDT2210 B-frame
phase
200V MSMA 1000 MSMA102P1□ A4-63 MSMA102S1□ A4-63
MDDDT5540
Low inertia 1500 MSMA152P1□ A4-63 MSMA152S1□ A4-63
MDMA 1000 MDMA102P1□ A4-67 MDMA102S1□ A4-67 MDDDT3530
2000 D-frame
Middle inertia 1500 MDMA152P1□ A4-67 MDMA152S1□ A4-67
MGMA MFECA MDDDT5540
1000 900 MGMA092P1□ A4-73 MGMA092S1□ A4-73
Middle inertia 0＊＊0ESD MFECA MFECA
MFMA 400 MFMA042P1□ A4-77 MFMA042S1□ A4-77 0＊＊0ESE 0＊＊0ESD MCDDT3520 C-frame
Middle inertia 1500 MFMA152P1□ A4-77 MFMA152S1□ A4-77 MDDDT5540 D-frame
2000
500 MHMA052P1□ A4-81 MHMA052S1□ A4-81 MCDDT3520 C-frame
MHMA
1000 MHMA102P1□ A4-81 MHMA102S1□ A4-81 MDDDT3530
High inertia D-frame
1500 MHMA152P1□ A4-81 MHMA152S1□ A4-81 MDDDT5540
MSMD MFECA MFECA MFECA
750 MSMD082P1□ A4-57 MSMD082S1□ A4-57 MCDDT3520 C-frame
Low inertia 0＊＊0EAM 0＊＊0EAE 0＊＊0EAD
1000 MSMA102P1□ A4-63 MSMA102S1□ A4-63
MDDDT5540 D-frame
1500 MSMA152P1□ A4-63 MSMA152S1□ A4-63
MSMA 3000 2000 MSMA202P1□ A4-63 MSMA202S1□ A4-63 MEDDT7364 E-frame
Low inertia 3000 MSMA302P1□ A4-65 MSMA302S1□ A4-65 MFDDTA390
4000 MSMA402P1□ A4-65 MSMA402S1□ A4-65 F-frame
MFDDTB3A2
5000 MSMA502P1□ A4-65 MSMA502S1□ A4-65
1000 MDMA102P1□ A4-67 MDMA102S1□ A4-67 MDDDT3530
D-frame
1500 MDMA152P1□ A4-67 MDMA152S1□ A4-67 MDDDT5540
2000 MDMA202P1□ A4-69 MDMA202S1□ A4-69 MEDDT7364 E-frame
MDMA 2000
3000 MDMA302P1□ A4-69 MDMA302S1□ A4-69 MFDDTA390
Middle inertia Note) 3
4000 MDMA402P1□ A4-71 MDMA402S1□ A4-71 F-frame
MFDDTB3A2
5000 MDMA502P1□ A4-71 MDMA502S1□ A4-71
7500 MDMA752P1□ A4-71 MDMA752S1□ A4-71 MGDDTC3B4 G-frame
3-phase, 900 MGMA092P1□ A4-73 MGMA092S1□ A4-73 MDDDT5540 D-frame
200V
2000 MGMA202P1□ A4-73 MFECA MGMA202S1□ A4-73 MFECA MFECA MFDDTA390
MGMA
1000 3000 MGMA302P1□ A4-75 0＊＊0ESD MGMA302S1□ A4-75 0＊＊0ESE 0＊＊0ESD F-frame
Middle inertia MFDDTB3A2
4500 MGMA452P1□ A4-75 MGMA452S1□ A4-75
6000 MGMA602P1□ A4-75 MGMA602S1□ A4-75 MGDDTC3B4 G-frame
400 MFMA042P1□ A4-77 MFMA042S1□ A4-77 MCDDT3520 C-frame
MFMA 1500 MFMA152P1□ A4-77 MFMA152S1□ A4-77 MDDDT5540 D-frame
Middle inertia 2500 MFMA252P1□ A4-79 MFMA252S1□ A4-79 MEDDT7364 E-frame
4500 MFMA452P1□ A4-79 MFMA452S1□ A4-79 MFDDTB3A2 F-frame
500 MHMA052P1□ A4-81 MHMA052S1□ A4-81 MCDDT3520 C-frame
2000 1000 MHMA102P1□ A4-81 MHMA102S1□ A4-81 MDDDT3530
Note) 3 1500 D-frame
MHMA152P1□ A4-81 MHMA152S1□ A4-81 MDDDT5540
MHMA 2000 MHMA202P1□ A4-83 MHMA202S1□ A4-83 MEDDT7364 E-frame
High inertia 3000 MHMA302P1□ A4-83 MHMA302S1□ A4-83 MFDDTA390
4000 MHMA402P1□ A4-83 MHMA402S1□ A4-83 F-frame
MFDDTB3A2
5000 MHMA502P1□ A4-83 MHMA502S1□ A4-83
7500 MHMA752P1□ A4-85 MHMA752S1□ A4-85 MGDDTC3B4 G-frame
A4-13
Table of Part Numbers
MINAS A4 and Options
Optional parts
Motor cable
Motor cable (with brake) Brake cable Regenerative Reactor Noise filter ■Carrying page
Note) 2 Note) 2 Note) 2 resistor
Carrying
DV0P220 DV0P4170 Options Part No.
DV0P4283
page
DV0P4180 Japanese DV0P4200 −
DV0P221 Instruction manual
DV0P4284 DV0P4220 English DV0P4210 −
DV0P4283 DV0P220 DV0P4180 Console DV0P4420 A4-124
DV0P4284 DV0P221 DV0P4220 Setup support software, Japanese
DV0P4460 A4-123
PANATERM R English
DV0P4280 DV0P227
DV0P4170 RS232 communication cable (for connection with PC) DV0P1960 A4-119
DV0P4283 DV0P1970
DV0P228 RS485 communication
DV0P4282 DV0P4180 DV0P1971 A4-119
MFMCA MFMCB cable
― DV0P4280 DV0P227 DV0P1972
0＊＊0EED 0＊＊0GET DV0P4170
DV0P4283 Interface cable DV0P4360 A4-119
DV0P228
DV0P4282 DV0P4180 Connector kit for external equipment DV0P4350 A4-118
DV0P4290
DV0P4281 A4-120
DV0P220 DV0P4380
DV0P4170
DV0P4310
DV0P4283 DV0P4320
DV0P221 Connector kit for motor and encoder A4-121
DV0P4180 DV0P4330
DV0P4281 DV0P4340
DV0P220
DV0P4170 DV0P3470
DV0P4283 A4-122
DV0P221 DV0P3480
Battery for absolute encoder DV0P2990 A4-126
Frame A DV0P4271
MINAS A4 Table of Part Numbers and Options

MFMCD Frame B DV0P4272
DV0P4284 DV0P222 DV0P4220 Mounting bracket A4-123
0＊＊2ECD Frame C DV0P4273
MFMCA Frame D DV0P4274
―
0＊＊2FCD MFECA0＊＊0EAD
MFMCA DV0P4283 DV0P220 DV0P4180 MFECA0＊＊0EAE
0＊＊2ECD DV0P4284 DV0P222 DV0P4220 MFECA0＊＊0EAM A4-115
Encoder cable
DV0P4283 DV0P220 DV0P4180 MFECA0＊＊0ESD
MFMCD
0＊＊2ECD DV0P4284 DV0P222 DV0P4220 MFECA0＊＊0ESE
MFMCA0＊＊0EED
MFMCA MFMCB MFMCA0＊＊2ECD
― DV0P4283 DV0P221 DV0P4180
0＊＊0EED 0＊＊0GET
MFMCA0＊＊3ECT
MFMCD MFMCA Motor cable A4-116
DV0P4284 DV0P222 MFMCD0＊＊2ECD
0＊＊2ECD 0＊＊2FCD DV0P4220
MFMCD0＊＊2ECT
MFMCD0＊＊2ECT MFMCA0＊＊2FCT DV0P4285 DV0P223
MFMCD0＊＊3ECT
DV0P224
MFMCA MFMCA DV0P4285 MFMCA0＊＊2FCD
DV0P225 DV0P3410 Motor cable
0＊＊3ECT 0＊＊3FCT X2 in parallel MFMCA0＊＊2FCT A4-117
− (with brake)
MFMCA0＊＊3FCT
MFMCD MFMCA
DV0P4284 DV0P222 Brake cable MFMCB0＊＊0GET A4-117
0＊＊2ECD 0＊＊2FCD DV0P4220
50Ω , 25W DV0P4280
MFMCD0＊＊2ECT MFMCA0＊＊2FCT DV0P4285 DV0P223
100Ω , 25W DV0P4281
DV0P224
MFMCA MFMCA DV0P4285 25Ω , 50W DV0P4282
DV0P225 DV0P3410 Regenerative resistor A4-125
0＊＊3ECT 0＊＊3FCT X2 in parallel 50Ω , 50W DV0P4283
DV0P4285 − 30Ω , 100W DV0P4284
― ― X4 in parallel DV0P3410
20Ω , 130W DV0P4285
MFMCD０＊＊2ECD MFMCA０＊＊2FCD ― DV0P4284 DV0P222 DV0P4220
DV0P220
DV0P223
MFMCA MFMCA DV0P4285 Reactor to A4-124
DV0P224
0＊＊3ECT 0＊＊3FCT X2 in parallel DV0P3410 DV0P228
DV0P4285 − DV0P4170
― ― X4 in parallel
DV0P4180
MFMCA MFMCA DV0P4283 DV0P220 DV0P4180 Noise filter A4-110
DV0P222
DV0P4220
0＊＊2ECD 0＊＊2FCD DV0P4284
DV0P4220 DV0P3410
MFMCD MFMCA DV0P4285 DV0P224
DV0P4285 Single phase 100V, 200V DV0P4190
0＊＊3ECT 0＊＊3FCT X2 in parallel − DV0P3410 Surge absorber A4-110
3-phase 200V DV0P1450
DV0P4283 DV0P220 DV0P4180
MFMCD MFMCA Noise filter for signal wire DV0P1460 A4-111
0＊＊2ECD 0＊＊2FCD DV0P4284 DV0P222
DV0P4220 Note) 1. □ represents the motor structure.
DV0P4285 DV0P223 Note) 2. ＊＊represents the cable length (specified value)
MFMCA MFMCA DV0P224 For details, refer to cable specifications (A4-113).
DV0P4285 Note) 3. 7.5kW output type:1500(r/min)
0＊＊3ECT 0＊＊3FCT DV0P225
X2 in parallel DV0P3410
DV0P4285 −
― ― X4 in parallel
A4-14
Common Specifications of Driver
Main circuit +10%
Single phase, 100-115V 50/60Hz
-15%
100V
Control circuit +10%

Single phase, 100-115V 50/60Hz
-15%
+10%
Frame A, B Single phase, 200-240V 50/60Hz
-15%
Input power
Main circuit
+10%
Frame C, D Single/3-phase, 200-240V 50/60Hz
-15%
+10%
200V Frame E to G 3-phase, 200-230V 50/60Hz
-15%
+10%
Control circuit
Frame A to D Single phase, 200-240V 50/60Hz

-15%
+10%
Frame E to G Single phase, 200-230V 50/60Hz
-15%
Temperature Operating : 0 to 55℃, Storage : -20 to +80℃

Humidity Both operating and storage : 90%RH or less (free from condensation)
Environment
Altitude 1000m or lower
Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive

17-bit (131072 resolution) absolute/incremental encoder,
Encoder feedback
2500P/r (10000 resolution) incremental encoder
Basic Specifications
External scale feedback AT500 series, ST771 by Mitutoyo
10 inputs
Input (1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear
Other inputs vary depending on the control mode.

Control signal
6 outputs
Output (1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection,
(5) Torque in-limit. Other outputs vary depending on the control mode.
Input 3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)
2 outputs (for monitoring)
Analog signal (1) Speed monitor (Monitoring of actual motor speed or command speed is enabled. Select the content
Output and scale with parameter.), (2) Torque monitor (Monitoring of torque command, (approx.. 3V/rated
torque)), deviation counter or full-closed deviation is enabled. Select the content or scale with parameter.)
2 inputs
Input
Select the exclusive input for line driver or photo-coupler input with parameter.
Pulse signal 4 outputs
Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and EXZ-phase) in
Output
line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
Communication RS232 1 : 1 communication to a host with RS232 interface is enabled.

function RS485 1 : n communication up to 15 axes to a host with RS485 interface is enabled.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit)
Frame A, B : no built-in regenerative resistor (external resistor only) Frame C to F : Built-in

Front panel Regeneration
regenerative resistor (external resistor is also enabled.)
Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and over-travel
Dynamic brake
inhibit input is enabled.
Switching among the following 7 mode is enabled, (1) Position control, (2) Velocity control,
Control mode (3) Toque control, (4) Position/Velocity control, (5) Position/Torque control,
(6) Velocity/Torque control and (7) Full-closed control.
A4-15
MINAS A4 Common Specifications of Driver
Control input ① Deviation counter clear, ② Command pulse inhibition, ③ Electronic gear switching, ④ Damping control switching
Control output ① Positioning complete (In-position)
Max. command pulse frequency Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Input pulse signal format Support (1) RS422 line drive signal and (2) Open collector signal from controller.
Pulse input
Position control
Type of input pulse Differential input. Selectable with parameter, ((1) CW/CCW, (2) A and B-phase, (3) Command and Direction)
Electronic gear
(1 to 10000) x 2(0-17)
(Division/Multiplication
of command pulse ) Process the command pulse frequency x
1 to 10000
as a position command input
Smoothing filter Primary delay filter or FIR type filter is selectable to the command input.
Analog
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
input
Torque limit command input

Instantaneous speed observer Usable
Damping control Usable
Control input ① Speed zero clamp, ② Selection of internal speed setup, ③ Gain switching or Torque limit switching input
Control output ① Speed arrival (at-speed)

Analog input
Setup of scale and rotational direction of the motor against the command voltage is enabled with
Velocity command input
parameter, with the permissible max. voltage input = ± 10V and 6V/rated speed (default setup).
Velocity control
Torque limit command input Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Speed control range 1 : 5000
Internal speed command 8-speed with parameter setup
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. S-shaped acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal speed command with speed zero clamp input is enabled.
MINAS A4 Common Specifications of Driver

Instantaneous speed observer Usable
Speed command filter Usable
Control input ① Speed zero clamp
Control output ① Speed arrival (at-speed)

Torque control
Analog input
Functions
Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is
Speed command input
enabled with parameter, with the permissible max. voltage input = ± 10V and 3V/rated speed (default setup).
Speed limit input Speed limit input by analog voltage is enabled. Scale setup with parameter.
Speed limit function Speed limit value with parameter or analog input is enabled.
Control input ① Deviation counter clear, ② Command pulse input inhibition, ③ Electronic gear switching, ④ Damping control switching
Control output ① Full-closed positioning complete (in-position)
Max. command pulse frequency Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Full-closed control
Pulse input
Input pulse signal format Differential input. Selectable with parameter ((1) CCW/CW, (2) A and B-phase, (3) Command and direction
Electronic gear
(1 to 10000) x 2(0-17)
(Division/Multiplication
of command pulse ) Process the command pulse frequency x
1 to 10000
as a position command input
Smoothing filter Primary delay filter is adaptable to the command input.

Analog
Torque limit command input Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
input
Setup range of division / Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is
multiplication of external scale enabled within a range of (1 to 10000) x 2(0-17) / (1 to 10000).
Auto-gain tuning
Real-time Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter.
Normal mode Estimates load inertia and sets up an appropriate servo gain.
Fit-gain function Automatically searches and sets up the value which makes the fastest settling time with external command input.
Masking of the following input signal is enabled.

Masking of unnecessary input
(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp, (5) Counter clear
Common
Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective
Soft error Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
function
Hard error Excess position deviation, command pulse division error, and EEPROM error etc.
Traceability of alarm data Traceable up to past 14 alarms including the present one.
Damping control function Manual setup with parameter

▽
Manual 5push switches on front panel ＭＯＤＥＳＥＴ △ ▽

Setup
R
Setup support software PANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)
A4-16
Standard Wiring Example of Main Circuit
■ Frame A, B
Buiilt-in thermostat of
external regenerative resistor
Use a reactor for 3- ON ALM (light yellow)
phase in case of MC
single phase, 200V. MC OFF
Surge absorber
MC L CN X1
NFB
Noise filter
Power supply L1 Main power
(single phase) supply
L3 connection
L1C Control power
supply
L2C connection
CN X2
RB1
External regenerative
resistor RB3
RB2
Red
1 1 U
White Motor
2 2 V
Black connection
3 3 W
Green
4 4
172159-1
Tyco Electronics AMP
172167-1
Motor
Tyco Electronics AMP ALM CN X5
37
ALM+
DC12~24V
（±5％）
36
ALM-
■ Frame C, D
(light yellow) *When you use other model than MSMD, MQMA and MAMA, use
Power supply the following connection.
(single phase) ON OFF ALM
MC [Motor portion]
*When you use single MC △ △
phase, G H A A B C
connect between L1 Surge absorber D △ A ○ ○ ○ ○ ○ ○
○ ○
and L3 terminals. NFB MC L F○ ○I ○B D○ ○E ○F
Noise filter
L1 CN X1 ○ ○
Power supply C B ○ ○ ○ ○ ○ ○
Main power E D C G H I
(3-phase) L2
supply JL04V-2E20-4PE-B-R
L3 connection JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
L1C Control power PIN Used for PIN Used for PIN Used for
supply
Use a reactor for 3- L2C connection A U-phase G Brake A Brake
phase in case of
single phase, 200V. B V-phase H Brake B Brake
C W-phase A NC C NC
(Connect these at normal operation)
D Ground F U-phase D U-phase
CN X2 I V-phase E V-phase
RB1
External regenerative B W-phase F W-phase
resistor RB3
E Ground G Ground
RB2 D Ground H Ground
Red
1 1 U C NC I NC
White Motor
2 2 V connection
Black
3 3 W Do not connect anything to NC pins.
Green
4 4
172159-1
172167-1
Motor
37
ALM+
DC12~24V
（±5％）
36
ALM-
A4-17
MINAS A4 Standard Wiring Example
of Main Circuit
■ Frame E, F
(light yellow)
ON ALM
MC
OFF [Motor portion]
MC
△ △
G H A A B C
Surge absorber D △ A ○ ○ ○ ○ ○ ○
○ ○
NFB MC L F○ ○I ○B D○ ○E ○F
L1 ○ ○
Noise filter
C B ○ ○ ○ ○ ○ ○
Power supply Main power E D C G H I
(3-phase) L2 supply
connection JL04V-2E20-4PE-B-R
L3 JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
r Control power PIN Used for PIN Used for PIN Used for
supply
t connection A U-phase G Brake A Brake
B V-phase H Brake B Brake
(Connect these at normal operation) P
C W-phase A NC C NC
External regenerative B1
resistor B2
I V-phase E V-phase
U
B W-phase F W-phase
V Motor
connection E Ground G Ground
W D Ground H Ground
C NC I NC
Cannon Connector Do not connect anything to NC pins.
ALM
37
ALM+
Motor DC12~24V
（±5％）
36
ALM-
MINAS A4 Standard Wiring Example of Main Circuit

■ Frame G
external regenerative resistor [Motor portion]
ON (light yellow)
OFF ALM D A
△
MC ○ ○
MC
○ ○
C B
Surge absorber
JL04V-2E32-17PE-B-R
PIN Used for

A U-phase
B V-phase
C W-phase
D Ground
NFB MC
Control power r
Noise Filter
L1
Main power supply [with brake]
Power supply
(3-phase) L2 supply connection t
connection D △ A
L3 ○ ○
External regenerative P ○ ○
C B
resistor B
N/MS3102A14S-2P
U PIN Used for
V Motor A Brake
connection
B Brake
W
Fan stop signal output terminal C NC
FN(+)
(When fan stops, output transistor turns OFF) D NC
Cannon Connector FN(–) Maximum rating: 30 V/50 mA
ALM Do not connect anything

to NC pins.
Motor ALM+ 37
DC12~24V
（±5％）
ALM
ALM- 36
A4-18
Encoder Wiring Diagram
■ 2500P/r Incremental encoder
Motor MAMA, MSMD and MQMA series Motor MSMA, MDMA and MFMA, MGMA series
Pin No. of cannon plug
Regulator
H +5V
E5V
Regulator
1 +5V G 2 0V
E5V E0V
2 0V 3
E0V
3
White 4 4
4
Black 5 K 5
5 PS
PS L 6
6 PS
Light blue 2 PS
Purple 3
6 J
Straight plug N/MS3106B20-29S Twisted pair

Shield wire
Twisted pair Cable clamp N/MS3057-12A
172168-1 172160-1 by Japan Aviation Electronics
(by Tyco Electronics, (by Tyco Electronics, AMP)
AMP)
Servo motor Servo motor

Motor side Junction cable Driver side Motor side Junction cable Driver side
■ 17bit Absolute encoder

1
Regulator
Regulator
White 7 1 +5V H +5V

E5V E5V
Black 8 2 0V G 2 0V
E0V E0V
3 3
4 4
Battery 5 T Battery 5
Red 1 PS
PS
Pink 2 6 S 6
PS PS
Light blue 4 K
Purple 5 L
Yellow/Green 3 J

172169-1 by Japan Aviation Electronics
172161-1
(by Tyco Electronics,
AMP) (by Tyco Electronics, AMP)

A4-19
MINAS A4 Encoder Wiring Diagram
Standard Wiring Example of Control Circuit
■ Wiring examples at each control mode
●CN X5 Wiring example at position control mode ① When you use the external resistor
with 12V and 24V power supply
PULS1 3
PULS2 4 R
In case of open collector I/F
7 COM+ 1 220Ω
OPC1 SIGN1 5
4.7kΩ 2.2kΩ 2
Command pulse inhibition input 33
INH OPC2
2.2kΩ 3 SIGN2 6 R
Deviation counter clear input 30 PULS1
CL 220Ω 13 VDC
Servo-ON input 29 SRV-ON 4 Command GND
PULS2
220Ω pulse
Gain switching input 27 GAIN 5 VDC specifications of R VDC−1.5
SIGN1 input A ≒10mA
Electronic gear switching input 28 6 (Use with 500kpps 12V 1kΩ1/2W R＋220
DIV SIGN2 24V 2kΩ1/2W
220Ω 13 or less.)
Damping control switching input 26 VS-SEL GND
② When you do not use the external
Control mode switching input 32 C-MODE 21 resistor with 24V power supply
Alarm clear input 31 A-CLR OA+ A-phase
22 330Ω output 2.2kΩ OPC1 1
OA-
CCW over-travel inhibition input 9 CCWL
Divider
48 PULS2 4
OB+ B-phase
CW over-travel inhibition input 8 CWL 49 330Ω output 220Ω
OB- 2.2kΩ
OPC2
2
Servo-Ready output 35 S-RD Y+ 23 24V
OZ+ Z-phase SIGN2 6
34 S-RDY- 24 330Ω output
OZ- 220Ω 13
Servo-Alarm output 37 GND
ALM+
36 ALM-
Positioning complete output 39 COIN+ 25
VDC GND
12 to 24V 38 COIN- 19 Z-phase output (open collector)
Brake release output CZ
11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
(Select with Pr09)
Zero speed detection output 12 ZSP 20kΩ 14
(Select with Pr0A) 41 COM- SPR/TRQR
15
GND
44 2kΩ 43kΩ 10kΩ 16 CCW torque limit input
PULSH1 PULS CCWTL/TRQR
220Ω 3.83kΩ
45 (0 to +10V)
PULSH2 2kΩ 43kΩ GND
MINAS A4 Encoder Wriring Diagram / Standard Wiring Example of Control Circuit

46 2kΩ 43kΩ 10kΩ 18
SIGNH1 SIGN CWTL CW torque limit input
220Ω 3.83kΩ
47 SIGNH2 (-10 to +10V)
2kΩ 43kΩ 1kΩ 43
13 GND SP Velocity monitor output
Command pulse input B 50 1kΩ 42 Torque monitor output
FG IM
(Use with 2Mpps or less.)
CN X5 ( represents twisted pair.)
●CN X5 Wiring example at velocity control mode
7
COM+
Internal command velocity selection 1 input 33 INTSPD1 4.7kΩ
Internal command velocity selection 2 input 30 INTSPD2

Servo-ON input 29 SRV-ON
Gain switching input 27
GAIN
Internal command velocity selection 3 input 28 INTSPD3
Speed zero clamp input 26
ZEROSPD
Control mode switching input 32 C-MODE OA+ 21
22 330Ω A-phase output
Alarm clear input 31 A-CLR OA-
48
Divider
CCW over-travel inhibition input 9 CCWL OB+

49 330Ω B-phase output
CW over-travel inhibition input 8 CWL OB-
23
Servo-Ready output OZ+
35 S-RDY+ 24 330Ω Z-phase output
OZ-
34 S-RDY-
Servo alarm output 37 ALM+
36 ALM- 25
Positioning complete output GND
VDC 39
AT-SPEED+
12~24V 38 AT-SPEED- 19 Z-phase output (open collector)
CZ
Brake release output 11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC
(Select with Pr09)
20kΩ 14
Zero speed detection output SPR/TRQR Velocity command input
12 ZSP
(Select with Pr0A) GND 15 (0 to ±10V)
41 COM- 10kΩ 16
CCWTL/TRQR CCW torque limit input
3.83kΩ
17 (0 to +10V)
GND
10kΩ
CWTL 18 CW torque limit input
3.83kΩ
(-10 to 0V)
1kΩ 43 Velocity monitor output
SPM
1kΩ 42 Torque monitor output
50 FG IM
CNX5
（ represents twisted pair.）
A4-20
● CN X5 Wiring example at torque control mode
7 COM+
33 4.7kΩ
INH
30 CL
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
28 DIV
Speed zero clamp input 26 ZEROSPD
Control mode switching input 32 C-MODE 21
OA+
22 330Ω A-phase output
Alarm clear input 31 A-CLR OA-
48
Divider
CCW over-travel inhibition input 9 CCWL OB+
49 330Ω B-phase output
CW over-travel inhibition input 8 CWL OB-
23
Servo-Ready output OZ+
35 S-RDY+ 24 330Ω Z-phase output
OZ-
34 S-RDY-
Servo alarm output 37 ALM+
36 ALM- 25
At-speed signal output GND
VDC 39
AT-SPEED+
12 - 24V 38 AT-SPEED- 19 Z-phase output (open collector)
CZ
Brake release output 11 BRKOFF+
10 BRKOFF-
Torque in-limit output 40 TLC 20kΩ 14
(Select with Pr09) SPR/TRQR Torque command input or speed limit input
GND 15 (0 to ±10V)
Zero speed detection output 12 ZSP
CCWTL/TRQR 16
10kΩ
(Select with Pr0A) 41 3.83kΩ
COM- 17
GND
10kΩ
CWTL 18
3.83kΩ
1kΩ 43 Velocity monitor output

SPM
1kΩ 42 Torque monitor output
IM
<Remarks> In case of Pr5B = 0, enter the 50 FG Wiring example when Pr02=5 or Pr5B=1
speed limit value to 4th speed of 16
velocity setup. CCWTL/TRQR Torque command
setup CNX5 17 (0 to ±10V) Select with Pr5B
GND
（ represents twisted pair.）
Table of Applicable Motors

Driver Motor series
Part No.
Frame symbol MAMＡ MSMD MQMA MSMＡ MDMＡ MGMＡ MFMＡ MHMＡ
MADDT1105 MSMD5AZ＊＊＊
MADDT1107 MSMD011＊＊＊ MQMA011＊＊＊
A-frame MADDT1205 MSMD5AZ＊＊＊ MQMA012＊＊＊
MSMD012＊＊＊
MADDT1207 MAMA012＊＊＊ MSMD022＊＊＊ MQMA022＊＊＊
MBDDT2110 MSMD021＊＊＊ MQMA021＊＊＊
B-frame
MBDDT2210 MAMA022＊＊＊ MSMD042＊＊＊ MQMA042＊＊＊
MCDDT3120 MSMD041＊＊＊ MQMA041＊＊＊
C-frame
MCDDT3520 MAMA042＊＊＊ MSMD082＊＊＊ MFMA042＊＊＊ MHMA052＊＊＊
MDDDT3530 MDMA102＊＊＊ MHMA102＊＊＊
D-frame MDDDT5540 MAMA082＊＊＊ MSMA102＊＊＊ MDMA152＊＊＊ MGMA092＊＊＊ MFMA152＊＊＊ MHMA152＊＊＊
MSMA152＊＊＊
E-frame MEDDT7364 MSMA202＊＊＊ MDMA202＊＊＊ MFMA252＊＊＊ MHMA202＊＊＊
MFDDTA390 MSMA302＊＊＊ MDMA302＊＊＊ MGMA202＊＊＊ MHMA302＊＊＊
F-frame MFDDTB3A2 MSMA402＊＊＊ MDMA402＊＊＊ MGMA302＊＊＊ MFMA452＊＊＊ MHMA402＊＊＊
MSMA502＊＊＊ MDMA502＊＊＊ MGMA452＊＊＊ MHMA502＊＊＊
G-frame MGDDTC3B4 MDMA752＊＊＊ MGMA602＊＊＊ MHMA752＊＊＊
Refer to page, A4-13, Table of Part Numbers and Options as well.
A4-21
MINAS A4 Table of Applicable Motor
Driver / Dimensions
Driver/Dimensions
Frame A
40
21 130 (41)
7 22 Mounting bracket
φ5.2
(Option)
5.2
φ
Main power input RS485 communication Name plate

terminals CN X1 terminal, CN X3
Control power input RS232/RS485
terminals CN X1 communication
150
170
180
140
Regenerative resistor terminal, CN X4
connecting terminals
Control signal
CN X2
terminals, CN X5
(Do not use RB3.)
Motor connecting
Encoder
terminals CN X2 terminals, CN X6
External scale R2.6
terminals, CN X7
.6
R2
5
5.2 (75) 5.2
7
Mounting bracket
(Option) 28 6
Rack mount type Base mount type
(Option : Front-end mounting) (Standard : Back-end mounting)
Connector at driver side

Connector sign Connector type Manufacturer
CNX7 53460-0629 (or equivalent) Molex Inc.
MINAS A4 Table of Applicable Motor / Driver / Dimensions

CNX5 529865079 (or equivalent) Molex Inc.
CNX4 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector at Power Supply and Motor side
CNX3 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign Connector type Manufacturer
CNX2 S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd. CNX2 06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
CNX1 S04B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd. Mass 0.8kg
Frame B
55
28 130
φ5.2
(Option)
5.2
φ
RS485
communication
Main power input Name plate
terminal, CN X3
terminals CN X1
140
150
170
180

Control signal
CN X2 terminals,
(Do not use RB3.)
CN X5
Motor connecting
terminals CN X2 Encoder
terminals, CN X6
External scale
terminals,
.6
CN X7 R2
5
.6 5.2
R2 (75) 5.2
7
Mounting bracket
(Option) 43 6
Rack mount type Base mount type
(Option : Front-end mounting) (Standard : Back-end mounting)

A4-22
Driver/Dimensions
Frame C
65 170
40
22 Mounting bracket
20
φ5 (Option)
.2
.2
φ5
RS485 communication Name plate

Main power input terminal, CN X3
terminals CN X1
terminals CN X1
140
communication
150
170
180
Regenerative resistor connecting terminal, CN X4
terminals CN X2
Control signal
( Short between RB2 and
)
RB3 in normal operation. terminals, CN X5
Motor connecting Encoder
External scale
terminals, CN X7
.6
5
R2
(75)
6
R2. 5.2 5.2
20 Mounting bracket
(Option) 50 7.5
40
Base mount type
Rack mount type (Standard : Back-end mounting)
(Option : Front-end mounting)

Frame D Air movement

(inside out)
85
60 170
10 40 22
φ5 φ 5.2 Mounting bracket
.2 (Option)
5.2
φ
Main power input RS485 communication Name plate

terminals CN X1 terminal, CN X3
140
150
170
180

CN X2 Control signal
terminals, CN X5
)
RB3 in normal operation.
External scale
terminals, CN X7 R2.6 .6
5
.6 5.2 5.2 R2
R2 (75)
5.2
10 40
Mounting bracket 70 7.5
(Option)
Air movement
Base mount type
(inside out)
(Standard : Back-end mounting)
Rack mount type

A4-23
MINAS A4 Driver / Dimensions
Driver/Dimensions
Air movement
Frame E (inside out)
（88）
85 (200)
50 17.5
42.5 32.1 Mounting bracket 3.5
5.2 5.2 2.6 (Standard)
φ5
Mounting bracket
.2
(put substitution of the Standard for the back-end)
Main power
input terminals
RS485 communication
terminal, CN X3 Name plate
Control power
input terminals RS232/RS485
communication
168
188
198
(short between Control signal
B1 and B2 in terminals, CN X5
normal operation)
Encoder
terminals, CN X6
Motor connecting
terminals External scale
terminals, CN X7
Earth terminals
5.2 5.2 (75)
.2
φ5
42.5
50 17.5
Air movement
(inside out)

CNX4 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd.
Mass 3.2kg
Frame F 130
100 15 (200)
65 32.3 Mounting bracket 3.5
5.2 5.2 (Standard)
2.6
φ5
Mounting bracket
.
2
Air movement (from front to back)

Main power
input terminals Name plate
RS485 communication
terminal, CN X3
Control power
input terminals RS232/RS485
communication
connecting terminals Control signal
(short between terminals, CN X5
220
240
250
B1 and B2 in
normal operation) Encoder
terminals, CN X6
Motor connecting
terminals, CN X7
Earth terminals
5.2 5.2 (75)

.2
φ5
65
100 15

85

Mass 6.0kg
A4-24
Driver/Dimensions
Frame G
[Terminal block cover B opened]
Control power connection
Terminal block
cover A
RS485 communication
Mains power terminal, CN X3
connection RS232/RS485
communication
External regenerative terminal, CN X4
discharge resistor Control signal
connection terminals, CN X5
Encoder
Unused terminals, CN X6
External scale
Motor connection terminals, CN X7
(U.V.W)
Fan stop signal output terminal

Earth connection
[Terminal block cover B closed]

248
37.5 90 90 Terminal block
82.5 90
cover B Mounting bracket
5.2 5.2 5.2 (2.3)
(2.3)
(4)
Nameplate
235
250
220
Fan wind direction

(from front to rear)
(4)
(75) 339.3
5.2 5.2 5.2
Mounting bracket
4-ø5.2
46
(2.3)
85
Terminal block
cover A
(26.3)

Mass 17.0kg
A4-25
A4-26
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 01
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100

I/O Command Type Servo Motor Inherits Strongest Servo Core 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 01
MINAS A4P
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 10
Series
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10

10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100

10 0100 1000100 10 0100 1000100 10 0100 10001
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
Achieves System Simplification and Cost Reduction

1.Built-in NC Functions
● NC functions allow positioning by I/O command only.
● A target can be positioned (by teaching) without complicated pulse calculations.
● In addition to travel distances, point tables combine 16 types of preset speeds, linear
acceleration/deceleration or S-shaped acceleration/deceleration, and 4 types of acceleration and

deceleration.
● Two types of continuous operations are available depending on required machine specifications;
continuous positioning with a temporary stop at any point and a combined block operation without a
temporary stop.
● Sequential operation can be set to execute a maximum of 60 positioning points automatically.
● 8 types of homing operation modes are available. If a bumping homing is selected, simplified return-
to-origin can be executed without any origin sensor.
2.Neither a positioning unit nor a pulse generator is required

● A maximum of 60 positioning points can be stored. No complicated programming is required as before.
● Positioning points can be specified as absolute positions or relative positions.
● Positioning can be performed directly at an absolute position without requiring homing operation by
using the MINAS A4P as an absolute encoder in combination with a motor equipped with a 17-bit
absolute/incremental encoder.
A4-27
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010
MINAS A4P Features/Contents
10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100 10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100
MINAS A4P Series

000100 10 0100 1000100 10 0100
Contents
● Features A4-27
● Details of Features A4-29
● List of Specifications A4-33
● Model Designation A4-34
● Wiring Example A4-35
● Table of Part Numbers and Options A4-37
● Driver
010 <Common Specifications> A4-39
<Standard Wiring Example of Main Circuit> A4-41
<Encoder Wiring Diagram> A4-43
<Standard Wiring Example of Control Circuit Standard> A4-44
<Table of Applicable Motors>
100 10 010 A4-44
<Dimensions> A4-45
● Motor
MAMA A4-49
MSMD A4-51
MINAS A4P Features/Contents

MQMA A4-59
MSMA A4-63
MDMA A4-67
MGMA A4-73
MFMA A4-77
MHMA A4-81
<Dimensions> A4-87
MAMA A4-87
MSMD A4-88
MQMA A4-90
MSMA A4-91
MDMA A4-93
MGMA A4-96
MFMA A4-99
MHMA A4-101
●Motor with Gear Reducer/MSMD
<Dimensions> A4-108
● Options A4-113
Remarks :Instruction manual is available as an option as
Japanese version : DV0P4480 and
English version : DV0P4490
A4-28
Details of Features
Inherits high performance and advanced functioning
Further Adjustment-Free Operation

Waveform adjusted via auto-tuning driven by a ball screw
● Corresponds to even variation of load inertia. Offers real automatic
Stabilization time of 4 ms or less
gain tuning to low and high stiffness machines with a combination
actual speed (r/min) torque (N)
of an adaptive filter.
● Supports the vertical axis application where the load torque is
different in rotational direction.
● Prevents the machine from over-traveling during automatic gain
tuning with software limit protective function.
comand speed (r/min) positional deviation (pulse)
Further High-Speed and High-Response

■ Velocity response (bandwidth) of 1kHz
● Implementation of Instantaneous Velocity Observer realizes a detection of motor speed with higher speed and
higher resolution. *) In case of high stiffness machine
Variation of detected speed at stopping

100
standard deviation of detected speed [r/min]
10
magnitude (dB)
−10 10
Velocity gain is
doubled compared to
Present MINAS A-Series MINAS A-Series A-Series
−30 1 MINAS
A4-Series
MINAS-A4Series
−50
10 100 1000 0.1
frequency (Hz) 100 1000
velocity gain [Hz]

● Supports the low stiffness machine of belt-driven and the high stiffness machine of short stroke ball screw driven, and enables to realize
high-speed positioning with high-functionality real-time auto-gain tuning.
A4-29
MINAS A4P Details of Features
Further Reduction of Vibration
■Adaptive filter
●Makes the notch filter frequency automatically follow the
machine resonance frequency. Speed Suppress
vibration
● Suppression of "Judder" noise of the machine can be quickly
expected which is caused by variation of the machines or
resonance frequency due to aging.
■2-channel notch filters

Filter is
● 2-channel notch filters are equipped in the driver independent invalid
from adaptive filter. Completion of filter frequency setup
You can set up both frequency and width for each of 2 filters,
●
and set up frequency in unit of 1Hz.

Corresponds to wider frequency range (-1500Hz)
Suppression of "Judder" noise of the machine which has
●
Suppresses vibration quickly
multiple resonance points can be expected
Effect of notch filter

without notch filter with notch filter
speed
(1000r/min/div)
torque
(33.3%/div)

50ms/div 50ms/div
■Damping control
● 2-channel damping filters are equipped in this driver. You can suppress vibration occurring at both starting and stopping
in low stiffness machine, by manually setting up vibration frequency in 0.1Hz unit.
● You can also switch the vibration frequency set by 2-channel with rotating direction or with an external input to
correspond to the variation of vibration frequency caused by the machine position.
● Easy setup with entry of only frequency and filter value. Improper setup values do not result in unstable operation
motor movement machine movement

500 500 400
400 400 320
300 300 240
200 200 160
without damping control 100 100 80
0 0 0
−100 −100 −80
−200 −200 −160
−300 −300 −240
−400 −400 −320
−500 −500 −400
0.1 0.2 0.3 0.4 0.5 0.6 0.7 ［s］
Position deviation [pulse]

500 20 400
400 16 320
300 12 240
200 8 160
100 4 80
with damping control 0 0 0
−100 −4 −80
−200 −8 −160 least vibration

no vibration at motor shaft and fast response
−300 −12 −240
−400 −16 −320
−500 −20 −400

0.1 0.2 0.3 0.4 0.5 0.6 0.7 ［s］
Command speed (r/min) Position deviation [pulse]
A4-30
Further Flexibility and Multiplicity
Dedicated Console (DV0P4420) Regeneration discharging function

● Enables easy parameter setting/changing, control state monitoring, ● Discharges the regenerative energy with resister, which energy is
status/error log viewing, and parameter saving/loading. generated while stopping the load with large moment of inertia, or
● Makes it easy to move a target position, set a positioning point and use in up-down operation, and is returned to the driver from the
perform teaching. motor.
● Can select and display 16 types of operation data including motor ● No regeneration discharge resistor is built-in to Frame A driver
rotational speed and torque in the monitor mode. (MADDT1105P type.) and Frame B driver (MBDDT2210P type.),
and we recommend you to connect optional regenerative resistor.
● Regenerative resistor is built-in to Frame C to F drivers, however,
Control Mode connection of the optional regenerative resistor bring you further
regenerative capability.
● Makes it possible to select position control via the motor´s internal
encoder or fully-closed control based on an external scale.
Built-in dynamic brake
Analog Monitor Terminal ● You can select the dynamic brake action which short the servo
motor windings of U, V and W, at Servo-OFF, CW/CCW over-
● "Motor rotational speed", "Command speed", "torque command" and travel inhibition, power shutdown and trip.
"positional deviation" can be observed by oscilloscope through the ● You can select the action sequence setup depending on the
analog monitor pin at the front panel of the amplifier. machine requirement.

Trial run (JOG)
● With the setup support software, "PANATERM ® " via
●Features the function for trial (JOG) run through console (option) RS232 communication port, you can monitor the running status of
without connecting to a host controller. the driver and set up parameters.
●You can shorten the machine setup time.
Wave-form graphic function

Full-closed control (High precision positioning)
● With the setup support software, "PANATERM ® " , you can
● Features the full-closed control of position and velocity, using the monitor the "Command speed" , "Actual speed" ,"Torque" ,
signals from linear scale installed on the load side and high "Position deviation " and "Positioning complete signal" .
resolution encoder. ● Helps you to analyze the machine and shorten the setup time
Note) Applicable external linear scales are as follows, *Note) Refer to page "F4" for setup support software.
AT500 series by Mitutoyo (Resolution 0.05[μm], max, speed 2[m/s])
ST771 series by Mitutoyo (Resolution 0.5[μm], max, speed 2[m/s])
● Best suits to high precision machines.
Selectable Torque Limit Value
● A torque limit can be set for each rotational direction.
Inrush current suppressing function
● According to the specification of the machine, a maximum torque
can be set for each rotational direction as necessary.
● Inrush suppressing resister is equipped in this driver, which
prevents the circuit breaker shutdown of the power supply caused
by inrush current at power-on.
● Prevents unintentional shutdown of the power supply circuit breaker Built in sequence of bumping homing
● You can select 8 kind of homing mode.
A4-31
SEMI F47 voltage sag immunity Frequency analyzing function

● Features the function which complies to voltage sag immunity ● You can confirm the response frequency characteristics of total
standard of SEMI F47 at no load or light load. machine mechanism including the servo motor with the setup
● Useful for semiconductor industry. support software, "PANATERM ® "
Notes) ● Helps you to analyze the machine and shorten the setup time
1)Not applicable to single phase, 100V type. *Note) Refer to page "F4" for setup support software.
2)Verify with the actual machine condition to F47,
voltage sag immunity standard.
■Applicable overseas safety standards

Subject Standard conformed
Motor IEC60034-1 IEC60034-5 UL1004 CSA22.2 NO.100 Conforms to Low-
EN50178 UL508C Voltage Directives
EN55011 Radio Disturbance Characteristics of
Industrial, Scientific and Medical (ISM)
Radio-Frequency Equipment
IEC61000-4-2 Electrostatic Discharge Immunity Test
Motor Conforms to
IEC61000-4-3 Radio Frequency Electromagnetic Field
and references by
Immunity Test

driver EMC Directives
IEC61000-4-4 Electric High-Speed Transition
Phenomenon/Burst Immunity Test
IEC : International Electrotechnical Commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
U L : Underwriters Laboratories
A4-32
List of Specifications
Rated Rotary encoder Brake Gear
rotational
Rated output
Motor series speed 2500P/r 17bit High
CE/UL Enclosure Features Applications
(kW) incremen absolute/ Holding
(Max. speed) precision
tal incremental
(r/min)
Ultra low inertia
.Small capacity
MAMA .Suitable for the
.SMT machines
0.1-0.75 IP65 machines directly .Inserters
5000 (Except shaft coupled with high .High repetitive
4 models (6000) through hole speed ball screw
0.1, 0.2, and positioning
connector) and high stiffness
0.4 and 0.75 application
and high repetitive
application
MSMD 3000
0.05-0.75 (5000)
*For IP65 .Small capacity .Inserters
(Except shaft
5 models 400W/100V through hole .Suitable for all .Belt driven
0.05, and 750W and applications machines
connector)
0.1, 0.2, 3000 .Unloading robot
0.4 and 0.75 (4500)
MQMA
3000
Low inertia
.Small capacity .SMT machines

0.1-0.4 (5000) IP65 .Suitable for flat .Inserters
*For (Except shaft
through hole type and low .Belt driven
3 models 400W/100V and stiffness machines machines
3000 connector) .Unloading robot
0.1, 0.2, with belt driven
(4500)
and 0.4
MSMA .Middle capacity

3000 .Suitable for the
1.0-5.0 (5000) IP65
machines directly .
*For (Except SMT machines
6 models coupled with ball .
4kW and cannon plug/ Inserter
1.0,1.5,2.0, screw and high .Food machines
5kW connector
3.0,4.0 stiffness and high
3000 pins)
and 5.0 repetitive
(4500)
application
MDMA
1.0-5.0
IP65 .Middle capacity .Belt driven
2000 (Except .Suitable for low
6 models machines
(3000) cannon plug/
1.0,1.5,2.0, stiffness machines .Conveyers
connector .Robots
3.0,4.0 with belt driven
pins)
and 5.0
MGMA
Middle inertia
0.9-4.5 IP65 .Middle capacity

(Except .Suitable for .Belt driven
1000
4 models cannon plug/ machines requiring machines
(2000) .Conveyers
0.9,2.0, connector low speed with
3.0 and 4.5 pins) .Robots
high torque
MFMA
IP65 .Middle capacity
0.4-4.5
(Except .Flat type and
2000 .Robots
4 models (3000) cannon plug/ suitable for
.Food machines
0.4,1.5, connector machines with
2.5 and 4.5 pins) space limitation
MHMA
High inertia
.Middle capacity
0.5-5.0 IP65 .Suitable for low .Belt driven
2000 (Except
stiffness machines machines
7 models (3000) cannon plug/ .Conveyors
with belt driven,
0.5,1.0,1.5, connector .Robots
and large load
2.0,3.0,4.0 pins)
moment of inertia
and 5.0
Motor is sharing with A4 series
A4-33
List of Specifications/
MINAS A4P Model Designation
Model Designation
■ Servo Motor
ＭＳＭＤ５ＡＺＳ１Ｓ＊＊

Symbol Type Motor structure
Ultra low inertia MSMD(standard stock), MQMA (build to order)
MAMA Design order
(100W-750W) Shaft Holding brake Oil seal
Low inertia 1 : Standard
MSMD Symbol Round Key-way, without with without with
(50W-750W)
center tap
Low inertia
MQMA
(100W-400W)
Rotary encoder specifications A
Low inertia Symbol Format Pulse counts Resolution Wires B
MSMA
(1.0kW-5.0W) P Incremental 2500P/r 10000 5 S
Middle inertia
MDMA Absolute/ T
(1.0kW-5.0kW)
Middle inertia S Incremental 17bit 131072 7 Motor with oil seal is manufactured by order.
MGMA common
(900W-4.5kW) MSMA , MDMA , MGMA , MFMA , MHMA
Middle inertia
MFMA Shaft Holding brake Oil seal
(400W-4.5kW)
High inertia Round Key-way without with without with
MHMA
(500W-5.0kW) Symbol Specifications C
1 100V
2 200V
Symbol Rated output Symbol Rated output 100V/200V G
Z common(50W only)
5A 50W 15 1.5kW H
01 100W 20 2.0kW Products are standard stock items or build to order items. See index (page F31).
02 200W 25 2.5kW MAMA
04 400W 30 3.0kW Shaft Holding brake Oil seal
Symbol
05 500W 40 4.0kW Round Key-way without with without with
08 750W 45 4.5kW A
09 900W 50 5.0kW B
10 1.0kW E
F
See page, A4-49 for motor specifications
■ Motor with reduction gear

ＭＳＭＤ０１１Ｐ３１Ｎ
MINAS A4P List of Specifications/Model Designation

Symbol Type Gear reduction ration, gear type
Low inertia Motor output (W)
ＭＳＭＤ (100W-750W) Symbol Gear reduction
ratio Gear type
100 200 400 750
Motor rated output 1N 1/5
Symbol Rated output Voltage specifications 2N 1/9
For high accuracy
01 100W Symbol Specifications 3N 1 / 15
02 200W １１００Ｖ 4N 1 / 25
04 400W ２２００Ｖ
08 750W Motor structure
Shaft Holding brake
Symbol
Rotary encoder specifications Key-way without with
Symbol Format Pulse counts Resolution Wires 3
P Incremental 2500P/r 10000 5 4
Absolute/
S Incremental 17bit 131072 7
common
See page, A4-105 for motor with gear reducer specifications
■ Servo Driver
ＭＡＤＤＴ１２０５ P ＊＊

Frame symbol Power device Max. current rating Supply voltage specifications Current detector current rating Interface
Symbol Frame Symbol Power device Max. current rating Symbol Specifications Symbol Current detector, current rating Symbol Specifications
MADD A4 series, Frame A T1 1 0A 1 Single phase, 100V 05 5A P I/O Operation
MBDD A4 series, Frame B T2 1 5A 2 Single phase, 200V 07 7.5A
MCDD A4 series, Frame C T3 3 0A 3 3-phase, 200V 10 1 0A
MDDD A4 series, Frame D T5 5 0A 5 Single/3-phase,200V 20 2 0A
MEDD A4 series, Frame E T7 7 5A 30 3 0A
MFDD A4 series, Frame F TA 1 0 0A 40 4 0A
TB 1 5 0A 64 6 4A
90 9 0A
A2 1 2 0A
See page, A4-39 for driver specifications
A4-34
Wiring example
Driver Frame Type Symbol (Frame A, B, C, D)

M

Console (DV0P4420)
Shuts off the circuit when overcurrent passes. Personal Computer
Noise Filter (NF) Setup support software

Prevents external noise from the power lines. "PANATERM ® "
And reduces an effect of the noise generated by (DV0P4460)
the servo driver.
Surge absorber to be used together with this. PC communication cable
L1 (DV0P1960)
Reactor (L) L2
L3
Reduces harmonic current of the main power.
L1C
L2C
Pin RB, RB2 and RB3… Connector for external equipment (DV0P4500)
・RB2 and RB3 to be kept shorted for normal or interface connector cable (DV0P4510)
operation.

capacity has shortage, disconnect between
Controller
RB2 and RB3, then connect an external
Encoder cable
regenerative resistor between RB1 and RB2.
(option)
Motor to page A4-49
Motor cable
to page A4-113 Brake cable
Option Ground (Earth)
Recommended equipments Power supply for
brake DC24V

Power Applicable Power Circuit Cable Power Applicable Power Circuit Cable
Connector
Connector
capacity breaker Noise Surge Noise Magnetic Cable Noise Magnetic Cable
supply motor diameter supply motor capacity breaker Noise Surge diameter
filter contactor diameter filter contactor diameter
voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit) (control
( )( ) voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit) (control
( )( )
put load current circuit) put load current circuit)
MSMD 50W Approx. MAMA 0.75mm2
Approx.
DVOP BMFT61041N 400W 0.9kVA to
Single 100W 0.4kVA MFMA BMFT61542N 2.0mm2
MSMD 4170 （3P+1a） DVOP
phase, Approx.
4180 （3P+1a） AWG14
200W MHMA 500W Approx.
100V MQMA 0.5kVA

1.1kVA BBC to
400W
Approx. DVOP BMFT61541N Approx.
0.9kVA 4180 （3P+1a） MSMD 3151N 18
750W 1.3kVA (15A)
50W Approx. MAMA Approx.
MSMD 1.6kVA
100W 0.5kVA 0.75mm2 MDMA 0.75mm2
BBC to Single/ 1.0kW AWG18
MAMA DVOP DVOP 0.75mm2 DVOP DVOP
Approx. 2101N 4190 1460 2.0mm2 3-phase, MHMA
100W AWG18 Approx. 1450 1460 2.0mm2
MQMA 0.3kVA (10A) AWG14 200V
BMFT61542N MGMA 900W 1.8kVA AWG14
Single DVOP to
（3P+1a） DVOP BMFT61842N
phase, MAMA 4170 18 MSMA 1.0kW
4220 （3P+1a）
200V MSMD 200W Approx. MSMA BBC
0.5kVA 3201N
MQMA MDMA Approx. (20A)
1.5kW 2.3kVA
MSMD Approx. MFMA
400W 0.9kVA
MQMA MHMA
● Select a single and 3-phase common specifications corresponding to the power supplies.
● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric Works.
To conform to EC Directives, install a circuit breaker which conforms to IEC and UL Standards (UL Listed and marked) between noise filter and power supply without fail.
● For details of noise filter, refer to Page A4-110.
<Remarks>
・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).
・ Terminal block and earth terminals
Use a copper conductor cables with temperature rating of 60℃ or higher.
Earth terminals for Frame A to D are M4 and M5 for Frame E to F.
Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m) may damage the terminal block.
・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 1.5kW, 3.5mm2 (AWG12) or larger for 3kW to 4kW and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW.
・ Use the attached exclusive connector for A to D-frame, and maintain the peeled off length of 8-9mm.
・ Tighten the screws of the connector, CN X5 for the host controller with the torque of 0.3 to 0.35 N・m.
・ Larger torque than 0.35N・m may damage the connector at the driver side.
A4-35
MINAS A4P Wiring example
Driver Frame Type Symbol (Frame E, F)
For details, refer to the Instruction Manual. M
Console (DV0P4420)
Personal Computer
Protects the power lines. Setup support software
Shuts off the circuit when overcurrent passes. "PANATERM ® "
(DV0P4460)
Noise Filter (NF)
the servo driver. PC communication cable
Magnetic Contactor (MC) (DV0P1960)
Surge absorber to be used together with this.
Reactor (L)
Reduces harmonic current of the main power. Connector for external equipment (DV0P4500)
Pin RB, RB2 and RB3…

・B1 and B2 to be kept shorted for normal
operation.
Controller
Encoder cable
capacity has shortage, disconnect between B1
and B2, then connect an external
regenerative resistor between P and B2.
Regenerative resistor Ground (Earth)
(option)
MINAS A4P Wiring example

Motor cable
Motor to page A4-49
Brake cable
to page A4-113 Power supply for
Option
brake DC24V
Recommended equipments

Cable
Power Applicable Power Circuit ● Select a single and 3-phase common specifications corresponding to the power supplies.
Connector
Noise Magnetic Cable diameter

supply motor capacity breaker Noise Surge ● Listed circuit breaker and magnetic contactor are manufactured by Matsushita Electric
filter contactor diameter (control
voltage Series Out atrated rated filter absorber (signal) (Contact) (Main circuit)
( )( ) Works.
put load current circuit)
To conform to EC Directives, install a circuit breaker which conforms to IEC and UL
MSMA
Approx. Standards (UL Listed and marked) between noise filter and power supply without
MDMA 2.0kW 3.3kVA BBC DVOP 2.0mm2
fail.
3301N AWG14
MHMA 4220
(30A) ● For details of noise filter, refer to Page A4-110.
MFMA 2.5kW <Remarks>
Approx.
BMF6352N ・ Select a circuit breaker and noise filter which match to the capacity of power supply
MGMA 2.0kW 3.8kVA
Connection to terminal block M5
（3P+2a2b） (including a load condition).

MSMA ・ Terminal block and earth terminals
MDMA Approx. Use a copper conductor cables with temperature rating of 60℃ or higher.
3.0kW 4.5kVA
MHMA 3.5mm2 Earth terminals for Frame A to D are M4 and M5 for Frame E to F.
DVOP DVOP AWG12 0.75mm2
3-phase, 1450 1460 AWG18 Larger tightening toque for screws than the max.value (M4 : 1.2 N・m, M5 : 2.0 N・m)
MGMA
200V may damage the terminal block.
MSMA
・ Use an earth cable with diameter of 2.0mm2 (AWG14) or larger for 50W to 1.5kW,
Approx. BBC DVOP
3410 3.5mm2 (AWG12) or larger for 3kW to 4kW and 5.3mm2 (AWG10) or larger for 4.5kW
(50A) to 5kW.
MHMA
Approx. ・ Use the attached exclusive connector for Frame A to D and maintain the peeled off
MFMA 6.8kVA BMF6652N
4.5kW length of 8-9mm.
MGMA （3P+2a2b）
・ Tighten the screws of the connector, CN X5 for the host controller with the torque of
MSMA 5.3mm2 0.3 to 0.35 N・m.
Approx. AWG10
MDMA 5.0kW 7.5kVA ・ Larger torque than 0.35N・m may damage the connector at the driver side.
MHMA
A4-36
Table of Part Numbers and Options
Rated 2500P/r, Incremental 17bit, Absolute/Incremental common 2500P/r and 17bit common
Power Motor rotational Output Rating/ Rating/
supply series speed (W) Motor Encoder cable Motor Encoder cable Encoder cable Frame
Spec. Spec. Driver
Note) 1 Note) 2 Note) 1 Note) 2 Note) 2 symbol
(r/min) (page) (page)
100 MAMA012P1□ A4-49 MAMA012S1□ A4-49 MADDT1207P A-frame
Single
200 MAMA022P1□ A4-49 MAMA022S1□ A4-49 MBDDT2210P B-frame
phase
200V MAMA 400 MAMA042P1□ A4-49 MAMA042S1□ A4-49 MCDDT3520P C-frame
5000
Ultra 750 MAMA082P1□ A4-49 MAMA082S1□ A4-49 MDDDT5540P D-frame
3-phase, low inertia 400 MAMA042P1□ A4-49 MAMA042S1□ A4-49 MCDDT3520P C-frame
200V 750 MAMA082P1□ A4-49 MAMA082S1□ A4-49 MDDDT5540P D-frame
50 MSMD5AZP1□ A4-51 MSMD5AZS1□ A4-51 MADDT1105P
A-frame
MSMD 100 MSMD011P1□ A4-51 MSMD011S1□ A4-51 MADDT1107P
Single Low inertia 200 MSMD021P1□ A4-53 MSMD021S1□ A4-53 MBDDT2110P B-frame
phase 400 MSMD041P1□ A4-53 MSMD041S1□ A4-53 MCDDT3120P C-frame
100V MFECA MFECA MFECA
MQMA 100 MQMA011P1□ A4-59
0＊＊0EAM
MQMA011S1□ A4-59 0＊＊0EAE 0＊＊0EAD MADDT1107P A-frame
Low inertia 200 MQMA021P1□ A4-59 MQMA021S1□ A4-59 MBDDT2110P B-frame
Flat 400 MQMA041P1□ A4-59 MQMA041S1□ A4-59 MCDDT3120P C-frame
50 MSMD5AZP1□ A4-55 MSMD5AZS1□ A4-55
MADDT1205P
3000 100 MSMD012P1□ A4-55 MSMD012S1□ A4-55 A-frame
MSMD
200 MSMD022P1□ A4-57 MSMD022S1□ A4-57 MADDT1207P
Low inertia
400 MSMD042P1□ A4-57 MSMD042S1□ A4-57 MBDDT2210P B-frame
750 MSMD082P1□ A4-57 MSMD082S1□ A4-57 MCDDT3520P C-frame
MQMA 100 MQMA012P1□ A4-61 MQMA012S1□ A4-61 MADDT1205P
A-frame
Low inertia 200 MQMA022P1□ A4-61 MQMA022S1□ A4-61 MADDT1207P
Single Flat 400 MQMA042P1□ A4-61 MQMA042S1□ A4-61 MBDDT2210P B-frame
phase
200V MSMA 1000 MSMA102P1□ A4-63 MSMA102S1□ A4-63
MDDDT5540P
Low inertia 1500 MSMA152P1□ A4-63 MSMA152S1□ A4-63
MDMA 1000 MDMA102P1□ A4-67 MDMA102S1□ A4-67 MDDDT3530P
2000 D-frame
Middle inertia 1500 MDMA152P1□ A4-67 MDMA152S1□ A4-67
MGMA MFECA MDDDT5540P
1000 900 MGMA092P1□ A4-73 MGMA092S1□ A4-73
Middle inertia 0＊＊0ESD MFECA MFECA
MFMA 400 MFMA042P1□ A4-77 MFMA042S1□ A4-77 0＊＊0ESE 0＊＊0ESD MCDDT3520P C-frame
Middle inertia 1500 MFMA152P1□ A4-77 MFMA152S1□ A4-77 MDDDT5540P D-frame
2000
500 MHMA052P1□ A4-81 MHMA052S1□ A4-81 MCDDT3520P C-frame
MHMA
1000 MHMA102P1□ A4-81 MHMA102S1□ A4-81 MDDDT3530P
High inertia D-frame
MSMD MFECA MFECA MFECA
750 MSMD082P1□ A4-57 MSMD082S1□ A4-57 MCDDT3520P C-frame
Low inertia 0＊＊0EAM 0＊＊0EAE 0＊＊0EAD
1000 MSMA102P1□ A4-63 MSMA102S1□ A4-63
MDDDT5540P D-frame
1500 MSMA152P1□ A4-63 MSMA152S1□ A4-63
MSMA 3000 2000 MSMA202P1□ A4-63 MSMA202S1□ A4-63 MEDDT7364P E-frame
Low inertia 3000 MSMA302P1□ A4-65 MSMA302S1□ A4-65 MFDDTA390P
4000 MSMA402P1□ A4-65 MSMA402S1□ A4-65 F-frame
MFDDTB3A2P
5000 MSMA502P1□ A4-65 MSMA502S1□ A4-65
1000 MDMA102P1□ A4-67 MDMA102S1□ A4-67 MDDDT3530P
D-frame
1500 MDMA152P1□ A4-67 MDMA152S1□ A4-67 MDDDT5540P
MDMA 2000 MDMA202P1□ A4-69 MDMA202S1□ A4-69 MEDDT7364P E-frame
2000
Middle inertia 3000 MDMA302P1□ A4-69 MDMA302S1□ A4-69 MFDDTA390P
4000 MDMA402P1□ A4-71 MDMA402S1□ A4-71 F-frame
MFDDTB3A2P
5000 MDMA502P1□ A4-71 MDMA502S1□ A4-71
3-phase, MFECA MFECA MFECA
900 MGMA092P1□ A4-73 MGMA092S1□ A4-73 D-frame
200V 0＊＊0ESD 0＊＊0ESE 0＊＊0ESD MDDDT5540P
MGMA 2000 MGMA202P1□ A4-73 MGMA202S1□ A4-73 MFDDTA390P
1000
Middle inertia 3000 MGMA302P1□ A4-75 MGMA302S1□ A4-75 F-frame
MFDDTB3A2P
4500 MGMA452P1□ A4-75 MGMA452S1□ A4-75
400 MFMA042P1□ A4-77 MFMA042S1□ A4-77 MCDDT3520P C-frame
MFMA 1500 MFMA152P1□ A4-77 MFMA152S1□ A4-77 MDDDT5540P D-frame
Middle inertia 2500 MFMA252P1□ A4-79 MFMA252S1□ A4-79 MEDDT7364P E-frame
4500 MFMA452P1□ A4-79 MFMA452S1□ A4-79 MFDDTB3A2P F-frame
500 MHMA052P1□ A4-81 MHMA052S1□ A4-81 MCDDT3520P C-frame
2000 1000 MHMA102P1□ A4-81 MHMA102S1□ A4-81 MDDDT3530P
D-frame
MHMA
2000 MHMA202P1□ A4-83 MHMA202S1□ A4-83 MEDDT7364P E-frame
High inertia
3000 MHMA302P1□ A4-83 MHMA302S1□ A4-83 MFDDTA390P
4000 MHMA402P1□ A4-83 MHMA402S1□ A4-83 F-frame
MFDDTB3A2P
5000 MHMA502P1□ A4-83 MHMA502S1□ A4-83
A4-37
Table of Part Numbers
MINAS A4P and Options
Optional parts
Motor cable
Motor cable (with brake) Brake cable Regenerative Reactor Noise filter
■Carrying page
Note) 2 Note) 2 Note) 2 resistor
Carrying
Options Part No.
DV0P220 DV0P4170 page
DV0P4283
DV0P4180 Japanese DV0P4480 −
Instruction manual
DV0P221 English DV0P4490 −
DV0P4284 DV0P4220
Console DV0P4420 A4-124
DV0P4283 DV0P220 DV0P4180
Setup support software, Japanese
DV0P4284 DV0P221 DV0P4220 DV0P4460 A4-123
PANATERM R English
DV0P4280 DV0P227 RS232 communication cable (for connection with PC)
DV0P1960 A4-119
DV0P4170
Interface cable DV0P4510 A4-119
DV0P4283
DV0P228 Connector kit for external equipment DV0P4500 A4-118
DV0P4282 DV0P4180
MFMCA MFMCB DV0P4290
― DV0P4280 DV0P227 A4-120
0＊＊0EED 0＊＊0GET DV0P4170 DV0P4380
DV0P4283
DV0P228 DV0P4310
DV0P4282 DV0P4180 Connector kit for motor and encoder
DV0P4320
A4-121
DV0P4281 DV0P4330
DV0P220 DV0P4340
DV0P4170
Battery for absolute encoder DV0P2990 A4-126
DV0P4283 Frame A DV0P4271
DV0P221
DV0P4180 Frame B DV0P4272
Mounting bracket A4-123
DV0P4281 Frame C DV0P4273
DV0P220
DV0P4170 Frame D DV0P4274
DV0P4283
DV0P221 MFECA0＊＊0EAD
MFECA0＊＊0EAE
Encoder cable MFECA0＊＊0EAM A4-115
MFMCD MFECA0＊＊0ESD
DV0P4284 DV0P222 DV0P4220
0＊＊2ECD MFECA0＊＊0ESE
MFMCA0＊＊0EED
MFMCA
― MFMCA0＊＊2ECD
MINAS A4 Table of Part Numbers and Options

0＊＊2FCD
MFMCA DV0P4283 DV0P220 DV0P4180 Motor cable MFMCA0＊＊3ECT
A4-116
0＊＊2ECD DV0P4284 DV0P222 DV0P4220 MFMCD0＊＊2ECD
DV0P4283 DV0P220 DV0P4180 MFMCD0＊＊2ECT
MFMCD MFMCD0＊＊3ECT
0＊＊2ECD DV0P4284 DV0P222 DV0P4220 MFMCA0＊＊2FCD
Motor cable A4-117
MFMCA MFMCA0＊＊2FCT
MFMCB (with brake)
― DV0P4283 DV0P221 DV0P4180 MFMCA0＊＊3FCT
0＊＊0EED 0＊＊0GET
Brake cable MFMCB0＊＊0GET A4-117
MFMCD MFMCA
DV0P4284 DV0P222 50Ω , 25W DV0P4280
0＊＊2ECD 0＊＊2FCD DV0P4220
MFMCD0＊＊2ECT MFMCA0＊＊2FCT
100Ω , 25W DV0P4281
DV0P4285 DV0P223
25Ω , 50W DV0P4282
DV0P224 Regenerative resistor A4-125
MFMCA MFMCA DV0P4285 50Ω , 50W DV0P4283
DV0P225 DV0P3410
0＊＊3ECT 0＊＊3FCT X2 in parallel 30Ω , 100W DV0P4284
−
20Ω , 130W DV0P4285
MFMCD MFMCA
DV0P4284 DV0P222 DV0P220
0＊＊2ECD 0＊＊2FCD DV0P4220
Reactor to A4-124
MFMCD0＊＊2ECT MFMCA0＊＊2FCT DV0P4285 DV0P223 DV0P228
DV0P224 DV0P4170
MFMCA MFMCA
DV0P4285 DV0P225 DV0P3410 DV0P4180
0＊＊3ECT 0＊＊3FCT A4-110
X2 in parallel − Noise filter
DV0P4220
MFMCD０＊＊2ECD MFMCA０＊＊2FCD ― DV0P4284 DV0P222 DV0P4220 DV0P3410
DV0P223 Single phase 100V, 200V DV0P4190
MFMCA MFMCA DV0P4285 Surge absorber A4-110
DV0P224 DV0P3410 3-phase 200V DV0P1450
0＊＊3ECT 0＊＊3FCT X2 in parallel
− Noise filter for signal wire DV0P1460 A4-111
MFMCA MFMCA DV0P4283 DV0P220 DV0P4180 Note) 1. □ represents the motor structure.
0＊＊2ECD 0＊＊2FCD DV0P4284 DV0P222 Note) 2. ＊＊represents the cable length (specified value)
DV0P4220
MFMCD MFMCA DV0P4285 DV0P224 For details, refer to cable specifications (A4-113).
DV0P4285
0＊＊3ECT 0＊＊3FCT X2 in parallel − DV0P3410
DV0P4283 DV0P220 DV0P4180
MFMCD MFMCA
0＊＊2ECD 0＊＊2FCD DV0P4284 DV0P222
DV0P4220
DV0P4285 DV0P223
MFMCA MFMCA DV0P224
DV0P4285
0＊＊3ECT 0＊＊3FCT DV0P225 DV0P3410
X2 in parallel
−
A4-38
Common Specifications of Driver
Main circuit +10%
Single phase, 100 – 115V 50/60Hz
power –15%
100V-
line Control circuit +10%
power Single phase, 100 – 115V 50/60Hz
–15%
Input power supply
Type +10%
A, B –15%
Main
Type +10%
circuit Single/3-phase, 200 – 240V 50/60Hz
power C, D –15%
200V- Type +10%
3-phase, 200 – 230V 50/60Hz
line E, F –15%
Type +10%
Control A to D –15%
circuit
power Type +10%
E, F –15%
Temperature Operation temperature: 0 to 55 degrees Storage temperature: –20 to 80 degrees
Operation Humidity Operation/storage humidity 90%RH or less (no condensation)
conditions Height above the sea Height above the sea level: 1000 m or less
Basic specifications
Vibration 5.88 m/s2 or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)
Control method IGBT PWM method, sinusoidal drive
Control mode Select Position control or Full-closed control by parameter.
17 Bit (resolution: 131072) 7-serial absolute encoder
Encoder feedback
2500 P/r (resolution: 10000) 5-serial incremental encoder
External scale feedback Compatible with ST771 and AT500 made by Mitutoyo Corporation
Input CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6
Control (14 inputs ) Servo-ON, Strobe, Multi- function input x2
signal Output Servo alarm, Brake release signal, Present position output x6,
(10 outputs ) Positioning completion / Output during deceleration, Motor operation condition
Pulse Input Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output by the line driver.
signal (4 inputs ) For encoder Z-phase pulse, an open collector output is also available.
Setup with PANATERM® or a console is available.
Setup
(PANATERM® and a console are sold separately)
[1] 7-segment LED 2-digit
Front panel
[2] Analogue monitor pin (velocity monitor and torque monitor)
Type A-B : No internal regenerative resist (external only)
Regeneration
Type C-F : internal regenerative resist (external is also available)
Dynamic brake Built in
A4-39
MINAS A4P Common Specifications of Driver
A function to reduce vibration by removing the vibration frequency component

Damping Control
when the front end of the machine vibrates.
External scale division
Ratio between the encoder pulse (numerator) and the external scale pulse (denominator)
gradual increase
setting range can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
The number of points maximum 60 points
Eight types of homing operations

Homing [home sensor + Z phase (based on the front end), home sensor (based on the front end),
operation home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor,
Z phase homing, Bumping homing, and data set]
The motor can be moved in a positive direction or negative direction independently.

Jog operation
This is useful for teaching or adjustment.
The most basic operation. Specify a point number set in advance when performing the operation.
Step operation The four types of modes [incremental operation, absolute operation,
Operation mode
rotary axis operation and dwell timer (waiting time)]
Continuous block Several step operations can be performed continuously.

operation Once an operation starts, the operation continues to a specified point number.
Block operation
Combined block A step operation is performed according to combined several point numbers.
operation This is useful when you want to change the speed during a step operation.
Sequential A point number increments by 1 automatically whenever an operation command is given.

Function
Operation A step operation can be performed easily only by turning the STB signal on/off.
Teaching You can operate the motor actually using this console,
(Console (option)
set a target position and execute some test operations.
is necessary)
Load inertia is determined at real time in the state of actual operation
MINAS A4P Common Specifications of Driver

Auto tuning
Real time
and gain corresponding to the rigidity is set automatically.
Load inertia is determined by driving the equipment with operation command

Normal mode
within the driver and gain corresponding to the rigidity is set automatically.
Available only for position control.

Instantaneous A function to improve the speed detection accuracy,
speed observer achieve the quick response and, at the same time,
reduce the vibration at the stop by estimating the motor speed using a load model.
The following control input signal can be masked:

Unnecessary wiring
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,
mask function
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON
Division function of
The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
encoder feedback pulse
Protection Hardware error Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
function Software error Large positional deviation, Undefined data error , EEPROM error, etc.
Alarm data trace back function Traceable up to 14 alarm data including present alarm data.
A4-40
Standard Wiring Example of Main Circuit
■ Frame A, B
Use a reactor for 3- ON ALM
phase in case of MC
single phase, 200V. MC OFF
Surge absorber
MC L CN X1
NFB
Noise filter
Power supply L1 Main power
(single phase) supply
L3 connection
L1C Control power
supply
L2C connection
CN X2
RB1
External regenerative
resistor RB3
RB2
Red
1 1 U
White Motor
2 2 V
Black connection
3 3 W
Green
4 4
172159-1
172167-1
Motor
37
ALM+
DC12~24V
（±5％）
36
ALM-
■ Frame C, D
external regenerative resistor *When you use other model than MSMD, MQMA and MAMA, use
Power supply the following connection.
(single phase) ON OFF ALM
MC [Motor portion]
*When you use single MC △ △
phase, G H A A B C
connect between L1 Surge absorber D △ A ○ ○ ○ ○ ○ ○
○ ○
and L3 terminals. NFB MC L F○ ○I ○B D○ ○E ○F
Noise filter
L1 CN X1 ○ ○
Power supply C B ○ ○ ○ ○ ○ ○
Main power E D C G H I
(3-phase) L2
supply JL04V-2E20-4PE-B-R
L3 connection JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
L1C Control power PIN Used for PIN Used for PIN Used for
supply
Use a reactor for 3- L2C connection A U-phase G Brake A Brake
phase in case of
single phase, 200V. B V-phase H Brake B Brake
C W-phase A NC C NC
(Connect these at normal operation)
CN X2 I V-phase E V-phase
RB1
External regenerative B W-phase F W-phase
resistor RB3
E Ground G Ground
RB2 D Ground H Ground
Red
1 1 U C NC I NC
White Motor
2 2 V connection
Black Do not connect anything to NC pins.
3 3 W
Green
4 4
172159-1
172167-1
Motor
37
ALM+
DC12~24V
（±5％）
36
ALM-
A4-41
MINAS A4P Standard Wiring Example
of Main Circuit
■ Frame E, F
ON ALM
MC
MC OFF
Surge absorber
NFB MC L
L1
Noise filter
Power supply Main power
(3-phase) L2 supply
connection
L3
r Control power
supply
t connection
(Connect these at normal operation) P
External regenerative B1
resistor B2
U
V Motor
connection
W
Cannon Connector
ALM
37
ALM+
Motor DC12~24V
（±5％）
36
ALM-
MINAS A4P Standard Wiring Example of Main Circuit

[Motor portion]
△ △
G H A A B C
D △ A ○ ○ ○ ○ ○ ○
○ ○
F○ ○I ○B D○ ○E ○F
○ ○
C B ○ ○ ○ ○ ○ ○
E D C G H I
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
PIN Used for PIN Used for PIN Used for

A U-phase G Brake A Brake
B V-phase H Brake B Brake
C W-phase A NC C NC
I V-phase E V-phase
B W-phase F W-phase
E Ground G Ground
D Ground H Ground
C NC I NC
Do not connect anything to NC pins.
A4-42
■ 2500P/r Incremental encoder
Regulator
H +5V
E5V
Regulator
1 +5V G 2 0V
E5V E0V
2 0V 3
E0V
3
White 4 4
4
Black 5 K 5
5 PS
PS L 6
6 PS
Light blue 2 PS
Purple 3
6 J

Shield wire
172168-1 172160-1 by Japan Aviation Electronics
(by Tyco Electronics, (by Tyco Electronics, AMP)
AMP)

■ 17bit Absolute encoder

1
Regulator
Regulator
White 7 1 +5V H +5V

E5V E5V
Black 8 2 0V G 2 0V
E0V E0V
3 3
4 4
Battery 5 T Battery 5
Red 1 PS
PS
Pink 2 6 S 6
PS PS
Light blue 4 K
Purple 5 L
Yellow/Green 3 J

172169-1 by Japan Aviation Electronics
172161-1
(by Tyco Electronics,
AMP) (by Tyco Electronics, AMP)

A4-43
MINAS A4P Table of Applicable Motors
■ Wiring example at each control mode
● CN X5 Wiring example at torque control mode
Control signal power supply Driver side

1
COM+ 4.7kΩ
Emargency stop input 2 EMG-STP
4.7kΩ
CCW over-travel inhibit input 19
CCWL 4.7kΩ
CW over-travel inhibit input 20
CWL 4.7kΩ
Home sensor input 21 Z-LS 4.7kΩ
Servo-ON signal input 23 SRV-ON
4.7kΩ
Strobe signal input 24 STB
4.7kΩ
Point specifying input 3 P1IN 4.7kΩ
Multi-function input 1 22 EX-IN1
4.7kΩ
Multi-function input 2 25 EX-IN2 11
OA+ A-phase
Present position 12 330Ω output
output MAX 50mA 29 OA-
P1OUT
Diviber
13
OB+ B-phase
Present position 14 330Ω output
output MAX 50mA 30 OB-
P2OUT 9
OZ+ Z-phase
VDC Present position 10 330Ω output
output MAX 50mA 31 OZ-
12 to 24V P4OUT
Present position
output MAX 50mA 32
P8OUT 26
GND
Present position
output MAX 50mA 33 16 Z-phase output (open collector)
P16OUT CZ
Present position
output MAX 50mA 34
P32OUT
Motor operation
condition output MAX 50mA 28
BUSY
Positioning completion
output / Output during
deceleration MAX 50mA 27
COIN/
DCLON
MINAS A4P Encoder Wiring Diagram / Table of Applicable Motors

Servo alarm output MAX 50mA 15
ALM
Brake release
signal MAX 50mA 36
BRK-OFF
Control signal power supply 17

COM–
18 FG
CN X5
（ represents twisted pair. ）
Table of Applicable Motors

Driver Motor series
Part No.
Frame symbol MAMＡ MSMD MQMA MSMＡ MDMＡ MGMＡ MFMＡ MHMＡ
MADDT1105P MSMD5AZ＊＊＊
MADDT1107P MSMD011＊＊＊ MQMA011＊＊＊
A-frame MADDT1205P MSMD5AZ＊＊＊ MQMA012＊＊＊
MSMD012＊＊＊
MADDT1207P MAMA012＊＊＊ MSMD022＊＊＊ MQMA022＊＊＊
MBDDT2110P MSMD021＊＊＊ MQMA021＊＊＊
B-frame
MBDDT2210P MAMA022＊＊＊ MSMD042＊＊＊ MQMA042＊＊＊
MCDDT3120P MSMD041＊＊＊ MQMA041＊＊＊
C-frame
MCDDT3520P MAMA042＊＊＊ MSMD082＊＊＊ MFMA042＊＊＊ MHMA052＊＊＊
MDDDT3530P MDMA102＊＊＊ MHMA102＊＊＊
D-frame MDDDT5540P MAMA082＊＊＊ MSMA102＊＊＊ MDMA152＊＊＊ MGMA092＊＊＊ MFMA152＊＊＊ MHMA152＊＊＊
MSMA152＊＊＊
E-frame MEDDT7364P MSMA202＊＊＊ MDMA202＊＊＊ MFMA252＊＊＊ MHMA202＊＊＊
MFDDTA390P MSMA302＊＊＊ MDMA302＊＊＊ MGMA202＊＊＊ MHMA302＊＊＊
F-frame MFDDTB3A2P MSMA402＊＊＊ MDMA402＊＊＊ MGMA302＊＊＊ MFMA452＊＊＊ MHMA402＊＊＊
MSMA502＊＊＊ MDMA502＊＊＊ MGMA452＊＊＊ MHMA502＊＊＊
Refer to page, A4-37, Table of Part Numbers and Options as well.
A4-44
Driver/Dimensions
Frame A
40
21 132 (41)
φ5.2
(Option)
5.2
φ
RS232
communication
X4
terminal, CN X4
Main power input For manufacturer's use only:
X3A
terminals CN X1 Not for individual use.
Control power input For manufacturer's use only:
X3B
150
170
180
140
(Do not use RB3.) terminals, CN X5
Motor connecting
terminals, CN X6
External scale R2.6
terminals, CN X7
.6
R2
5
5.2 (75) 5.2
7 Mounting bracket
(Option) 28 6
Rack mount type
Base mount type

CNX3B 855050013(or equivalent) Molex Inc. Connector at Power Supply and Motor side
CNX3A 855050013(or equivalent) Molex Inc. Connector sign Connector type Manufacturer
CNX2 S06B-F32SK-GGXR(or equivalent) J.S.T. Mfg.Co., Ltd. CNX2 06JFAT-SAXGF(or equivalent) J.S.T. Mfg.Co., Ltd.
CNX1 S04B-F32SK-GGXR(or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 04JFAT-SAXGF(or equivalent) J.S.T. Mfg.Co., Ltd. Mass 0.8kg
Frame B
55
28 132
φ5.2
(Option)
5.2
φ
RS232
communication
terminal, CN X4
140
150
170
180
(Do not use RB3.) terminals, CN X5
Motor connecting
terminals, CN X6
External scale
terminals, CN X7
.6
R2
5
R 2.6 5.2
(75) 5.2
7 Mounting bracket
Rack mount type (Option) 43 6
(Option : Front-end mounting) Base mount type
CNX1 S04B-F32SK-GGXR(or equivalent) J.S.T. Mfg.Co., Ltd. CNX1 04JFAT-SAXGF(or equivalent) J.S.T. Mfg.Co., Ltd. Mass 1.1kg
A4-45
MINAS A4P Driver / Dimensions
アンプ外形寸法図
Frame C
65 172
40
24 Mounting bracket
20
φ5 (Option)
.2
.2
φ5
RS232 communication
terminals CN X1
140
Not for individual use.
150
170
180
Regenerative resistor connecting
terminals CN X2
Control signal
RB3 in normal operation. ) terminals, CN X5
Motor connecting
terminals, CN X6
External scale
terminals, CN X7
.6
5
R2
(75)
6
R2. 5.2 5.2
20 Mounting bracket
(Option) 50 7.5
40
Base mount type
Rack mount type (Standard : Back-end mounting)
Mass 1.5kg
MINAS A4P Driver / Dimensions

Frame D Air movement
(inside out)
85
60 172
10 40 24
φ5 φ 5.2 Mounting bracket
.2 (Option)
5.2
φ
RS232 communication
terminals CN X1
Control power input Not for individual use.
terminals CN X1 For manufacturer's use only:
140
150
170
180
Regenerative resistor Not for individual use.

terminals, CN X5
)
RB3 in normal operation.
External scale
terminals, CN X7
R2.6 .6
5
.6 5.2 5.2 R2
R2 (75)
5.2
10 40
Mounting bracket 70 7.5
(Option)
Air movement Base mount type
(inside out) (Standard : Back-end mounting)
Rack mount type
Mass 1.7kg
A4-46
Driver/Dimensions
Air movement
Frame E (inside out)
(88)
85 (200)
50 17.5
42.5 32.1 Mounting bracket 3.5
5.2 5.2 2.6 (Standard)
φ5
Mounting bracket
.2
RS232 communication
Main power terminal, CN X4
input terminals
For manufacturer's use only: Name plate
Control power For manufacturer's use only:
input terminals
168
188
198
(short between Control signal
B1 and B2 in terminals, CN X5
normal operation)
Encoder
Motor connecting terminals, CN X6
terminals, CN X7
Earth terminals
5.2 5.2 (75)
.2
φ5
42.5
50 17.5
Air movement
Connector at driver side (inside out)
CNX3B 855050013(or equivalent) Molex Inc.
CNX3A 855050013(or equivalent) Molex Inc.
Mass 3.2kg
Frame F 130
100 15 (200)
65 32.3 Mounting bracket 3.5
5.2 5.2 (Standard)
2.6
φ5
Mounting bracket
.
2
Air movement (from front to back)

Main power RS232 communication
input terminals terminal, CN X4 Name plate
For manufacturer's use only:
Control power Not for individual use.
input terminals For manufacturer's use only:
connecting terminals Control signal
(short between terminals, CN X5
220
240
250
B1 and B2 in
normal operation) Encoder
terminals, CN X6
Motor connecting
terminals, CN X7
Earth terminals
5.2 5.2 (75)

.2
φ5
65
100 15

85

CNX3B 855050013(or equivalent) Molex Inc.
CNX3A 855050013(or equivalent) Molex Inc.
Mass 6.0kg
A4-47
MINAS A4P
A4P
Driver / Dimennsions
Motor/Option Index
A4
MINAS A4P Series
Motor/Option Contents
● Motor
MAMA A4-49
MSMD A4-51
MQMA A4-59
MSMA A4-63
MDMA A4-67
MGMA A4-73
MFMA A4-78
MHMA A4-81
<Dimensions> A4-87
MAMA A4-87
MSMD A4-88
MQMA A4-90
MSMA A4-91
MDMA A4-93
MGMA A4-96
MFMA A4-99
MHMA A4-101
● Motor with Gear Reducer/MSMD
MINAS A4,A4P Motor/Option

<Dimensions> A4-108
● Options A4-113
A4-48
Motor Specifications and Ratings 200V MAMA
100W to 750W Ultra low inertia Small capacity
AC200V
Motor model MAMA 0 1 2 P 1 □ 0 1 2 S 1□ 022P 1□ 022S 1□ 042P 1□ 042S 1□ 082P 1□ 0 82S1□
A4
series MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540
Model No.
Applicable driver A4P
series MADDT1207P MBDDT2210P MCDDT3520P MDDDT5540P
Frame symbol Frame A Frame B Frame C Frame D
Power supply capacity (kVA) 0.4 0.5 1.0 1.3

Rated output (W) 100 200 400 750
Rated torque (N . m) 0.19 0.38 0.76 1.43
Momentary Max. peak torque (N . m) 0.95 1.91 3.82 7.16
Rated current (Arms) 0.9 1.54 3.1 5.1
Max. current (Ao-p) 6.3 10.9 21.7 36.0
Regenerative brake Without option No limit Note)2
frequency
DV0P4283 No limit Note)2
(times/min)
Note)1 DV0P4284 No limit Note)2
Rated rotational speed (r/min) 5000
Max. rotational speed (r/min) 6000
Moment of inertia Without brake 0.025 0.035 0.078 0.088 0.14 0.15 0.50 0.51
of rotor
(x10-4 kg . m2) With brake 0.029 0.039 0.11 0.12 0.17 0.18 0.58 0.59
Recommended moment of inertia ratio
Smaller than 15 times
of the load and the rotor Note)3
17-bit 17-bit 17-bit 17-bit

2500P/r 2500P/r 2500P/r 2500P/r
Rotary encoder specifications Absolute/ Absolute/ Absolute/ Absolute/
Incremental Incremental Incremental Incremental
Resolution per single turn 10000 131072 10000 131072 10000 131072 10000 131072
Protective enclosure rating IP65 (except shaft through hole and cable end connector)
Ambient temperature 0 to 40℃ (free from freezing), Storage : -20 to + 80℃
Ambient humidity 85%RH or lower (free from condensing)
Environment Installation location Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Vibration resistance 49m/s or less 24m/s or less 49m/s or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less
2 2 2
Mass (kg), ( ) represents holding brake type 0.65 (0.85) 0.71 (0.91) 1.1 (1.5) 1.2 (1.6) 1.5 (1.9) 1.6 (2.0) 3.3 (4.0) 3.4 (4.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N・m) 0.29 1.27 2.45
Engaging time (ms) 35 50 70
Releasing time (ms) Note)4 10 (60) 10 (100) 20 (−)
Exciting current (DC) (A) 0.25 0.30 0.35
Releasing voltage DC2V or more
Exciting voltage DC 24 V ± 5%
Permissible load
Radial load P-direction (N) 147 392 686
During assembly Thrust load A-direction (N) 88 147 294
Thrust load B-direction (N) 117.6 196 392
Radial load P-direction (N) 68.6 245 392
During operation Thrust load A-direction (N) 49 68.6 68.6
Thrust load B-direction (N) 49 68.6 68.6
For motor dimensions, refer to page A4-87 , and for the diver, refer to pages A4-22,23 and A4-45,46.
A4-49
MINAS A4P
A4P
MAMA
100W - 750W
Model designation MAMA series, 100W to 750W

e.g.)
M A M A 0 1 2 S 1 A
Symbol Type Design order Motor structure
Voltage specifications
Ultra low inertia 1 : Standard Shaft Holding brake Oil seal
MAMA Symbol Specifications Symbol
(100W-750W) Round Key-way without with without with
2 200V
A ● ● ●
Motor rated output
B ● ● ●
Symbol Rated output
E ● ● ●
01 100W Rotary encoder specifications
F ● ● ●
02 200W Symbol Format Pulse counts Resolution Wires
04 400W P Incremental 2500P/r 10000 5
08 750W S Absolute/Incremental 17-bit 131072 7
Torque characteristics at AC200V of power voltage

MAMA012□1□ MAMA022□1□
torque *Continuous torque, torque *Continuous torque,

[N . m] ambient temperature [N . m] ambient temperature
versus rated torque (%)

1.0 2.0
（0.95） 100 （1.91） 100
0.5 Peak run range 1.0 Peak run range

50 50
（0.19）（0.38）
Continuous run range Continuous run range
（5000）（5000）
0 2000 4000 6000 0 10 20 30 40 0 2000 4000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature[℃] rotational speed [r/min] ambient temperature[℃]
MAMA042□1□ MAMA082□1□
*Continuous torque, *Continuous torque,
torque ambient temperature torque
ambient temperature
[N . m] [N . m]
MINAS A4/A4P Motor

4.0 8.0
（3.82） 100 （7.16） 100
2.0 Peak run range Peak run range

4.0
50 50
（0.76）（1.43）
（5000）（5000）
0 2000 4000 6000 0 10 20 30 40 0 2000 4000 6000 0 10 20 30 40
*When you lower the torque limit setup (Pr5E and 5F), running
range at high speed might be lowered as well.
Torque
Running range (Torque limit setup : 300%)
Continuous running range

rotational speed
Note) 1. Regenerative brake frequency represents the frequency of the motor's stops from the rated speed with deceleration without load.
Radial load (P) direction . If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/rotor moment of inertia.
L
. When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse proportion to the
square of (running speed/rated speed).
Shaft . Power supply voltage is AC230V (at 200V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running supply voltage/230)
L/2
relative to the value in the table.
P . When regeneration occurs continuously such cases as running speed frequently changes or vertical feeding, consult us or
Thrust load (A, B) direction
a dealer.
A 2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
Motor
4. Specified releasing time is obtained with the use of surge absorber for brake (Z15D151 by Ishizuka Electronic or equivalent).
( ) represents the actually measured value using a diode (200V, 1A or equivalent)
B
A4-50
Motor Specifications and Ratings 100V MSMD
50W to 100W Low inertia Small Capacity
AC100V
Motor model MSMD 5AZP1□ 5A ZS 1□ 011P 1□ 011S1□
A4
series MADDT1105 MADDT1107
Model No.
series MADDT1105P MADDT1107P
Frame symbol Frame A
Power supply capacity (kVA) 0.3 0.4

Rated output (W) 50 100
Rated torque (N . m) 0.16 0.32
Momentary Max. peak torque (N . m) 0.48 0.95
Rated current (Arms) 1.1 1.7
Max. current (Ao-p) 4.7 7.2
frequency
(times/min) Note)1 DV0P4280 No limit Note)2

Moment of inertia Without brake 0.025 0.051
of rotor
(x10-4 kg . m2) With brake 0.027 0.054
17-bit 17-bit
2500P/r 2500P/r
Rotary encoder specifications Absolute/ Absolute/
Incremental Incremental
Resolution per single turn 10000 131072 10000 131072

Vibration resistance 49m/s2 or less 49m/s2 or less

Mass (kg), ( ) represents holding brake type 0.32 (0.53) 0.47 (0.68)
Static friction torque (N・m) 0.29
Engaging time (ms) 35
Releasing time (ms) Note)4 20 (−)
Exciting current (DC) (A) 0.30
Permissible load
Radial load P-direction (N) 147
During assembly Thrust load A-direction (N) 88
Thrust load B-direction (N) 117
During operation
Thrust load A-direction (N) 58

For motor dimensions, refer to page A4-88 , and for the diver, refer to pages A4-22 and 45.
A4-51
MINAS A4P
A4P
MSMD
50W - 100W
Model designation MSMD series, 50W to 100W

e.g.)
M S M D 5 A Z S 1 S
Motor structure
Symbol Type Design order Shaft Holding brake Oil seal
Low inertia 1 : Standard Symbol Key-way,
Round center tap without with without with
MSMD Symbol Specifications
(50W-100W) A
1 100V
B
100/200V
Z S
(50W only)
T
Motor with oil seal is manufactured by order.
Motor rated output Rotary encoder specifications
Symbol Rated output Symbol Format Pulse counts Resolution Wires
5A 50W P Incremental 2500P/r 10000 5

(Dotted line represents the torque at 10% less supply voltage.)
MSMD5AZ□1□ MSMD011 □1□
torque
Without Oil seal
Without Oil seal

ambient temperature torque
[N . m] ambient temperature

[N . m]
0.5 100 1.0 100
（0.48） 95 （0.95） 95
Peak run range Peak run range
0.25 50 0.5 50
（0.16）（0.32）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
torque torque *Continuous torque,

[N . m] without Brake [N . m] ambient temperature without Brake

With Oil seal
With Oil seal
0.5 100 with Brake 1.0 100 with Brake

（0.48） 70 （0.95） 75
Peak run range 60 Peak run range 70
0.25 50 0.5 50
（0.16）（0.32）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
MINAS A4/A4P Motor

Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-52
AC100V
Motor model MSMD 0 2 1 P1 □ 021S 1□ 041P 1□ 041S 1□
A4
series MBDDT2110 MCDDT3120
Model No.
series MBDDT2110P MCDDT3120P
Frame symbol Frame B Frame C

Without option No limit Note)2

Regenerative brake
frequency DV0P4282 − No limit Note)2
(times/min) Note)1
DV0P4283 No limit Note)2 −

of rotor
(x10-4 kg . m2) With brake 0.16 0.28
17-bit 17-bit
2500P/r 2500P/r

Vibration resistance 49m/s2 or less
Permissible load
During operation Thrust load A-direction (N) 98
A4-53
MINAS A4P
A4P
MSMD
200W - 400W

e.g.)
M S M D 0 2 1 S 1 S
Motor structure
(200W-400W) A
1 100V
B
S
T

MSMD021□1□ MSMD041□1□
*Continuous torque,
torque *Continuous torque, ambient temperature
Without Oil seal
Without Oil seal
[N . m] ambient temperature torque

[N . m]
2.0 100 4.0 100
（1.91）（3.8） 90
1.0 50 2.0 50
（0.64）（1.3）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40

torque ambient temperature ambient temperature
MINAS A4/A4P Motor

[N . m] torque
without Brake
With Oil seal
With Oil seal
[N . m]
2.0 100 with Brake 4.0 100
（1.91） 80 （3.8） 75
70
Peak run range Peak run range 50
1.0 50 2.0
（0.64）（1.3）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-54
AC200V
Motor model MSMD 5AZP1□ 5A ZS 1□ 012P 1□ 012S 1□
A4
series MADDT1205
Model No.
series MADDT1205P
Frame symbol Frame A

Rated current (Arms) 1.1
Max. current (Ao-p) 4.7
frequency

of rotor
(x10-4 kg . m2) With brake 0.027 0.054
2500P/r 17-bit 2500P/r 17-bit

Rotary encoder specifications Incremental Absolute/ Incremental Absolute/

Vibration resistance 49m/s2 or less 49m/s2 or less
Mass (kg), ( ) represents holding brake type 0.32（0.53） 0.47（0.68）
Permissible load
A4-55
MINAS A4P
A4P
MSMD
50W - 100W

e.g.)
M S M D 5 A Z S 1 S
Motor structure
1 : Standard Symbol Key-way,
Low inertia Round center tap without with without with
(50W-100W) A
2 200V
B
100/200V
Z S
(50W only)
T
5A 50W P Incremental 2500P/r 10000 5

MSMD5AZ□1□ MSMD012□1□
torque
Without Oil seal
torque
Without Oil seal
ambient temperature

ambient temperature [N . m]
[N . m]
100 1.0 100
0.5 95
（0.48） 95 （0.95）
0.25 50 0.5 50
（0.16）（0.32）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[℃]
torque *Continuous torque, *Continuous torque,

torque ambient temperature
[N . m] [N . m]

ambient temperature without Brake without Brake
With Oil seal
With Oil seal
0.5 100 with Brake 1.0 100 with Brake

（0.48） 70
（0.95） 75
Peak run range 60 Peak run range 70
0.25 50 0.5 50
（0.16）（0.32）
MINAS A4/A4P Motor

0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
ambient temperature[℃] rotational speed [r/min] ambient temperature[℃]
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-56
AC200V
Motor model MSMD 022P1□ 022S 1□ 042P 1□ 042S 1□ 082P 1□ 08 2S1□
A4
series MADDT1207 MBDDT2210 MCDDT3520
Model No.
series MADDT1207P MBDDT2210P MCDDT3520P
Frame symbol Frame A Frame B Frame C
Power supply capacity (kVA) 0.5 0.9 1.3

Rated output (W) 200 400 750
Rated torque (N . m) 0.64 1.3 2.4
Momentary Max. peak torque (N . m) 1.91 3.8 7.1
Rated current (Arms) 1.6 2.6 4.0
Max. current (Ao-p) 6.9 11.0 17.0
frequency
Max. rotational speed (r/min) 5000 4500
Moment of inertia Without brake 0.14 0.26 0.87
of rotor
(x10-4 kg . m2) With brake 0.16 0.28 0.97
Smaller than 30 times Smaller than 20 times
17-bit 17-bit 17-bit

2500P/r 2500P/r 2500P/r
Rotary encoder specifications Absolute/ Absolute/ Absolute/
Incremental Incremental Incremental
Resolution per single turn 10000 131072 10000 131072 10000 131072
Mass (kg), ( ) represents holding brake type 0.82 (1.3) 1.2 (1.7) 2.3 (3.1)
Static friction torque (N・m) 1.27 2.45
Engaging time (ms) 50 70
Releasing time (ms) Note)4 15 (−) 20 (−)
Exciting current (DC) (A) 0.36 0.42
Permissible load
Radial load P-direction (N) 392 686
During assembly Thrust load A-direction (N) 147 294
Thrust load B-direction (N) 196 392
During operation Thrust load A-direction (N) 98 147
A4-57
MINAS A4P
A4P
MSMD
200W - 750W

e.g.)
M S M D 0 2 2 S 1 S
Motor structure
(200W-750W) A
2 200V
B
S
T
Motor rated output
Symbol Rated output Rotary encoder specifications
02 200W Symbol Format Pulse counts Resolution Wires

MSMD022□1□ MSMD042□1□
Without Oil seal
Without Oil seal

[N . m] ambient temperature [N . m] ambient temperature

2.0 100 4.0 100
（1.91）（3.8） 90
1.0 50 2.0 50
（0.64）（1.3）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40

[N . m] [N . m]

ambient temperature ambient temperature

With Oil seal
With Oil seal
without Brake
2.0 100 with Brake 4.0 100
（1.91） 80 （3.8）
70 75
1.0 2.0 50
（0.64）（1.3）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
MINAS A4/A4P Motor

MSMD082□1□
torque *Continuous torque,
Without Oil seal
8.0 100
（7.1）
Peak run range
4.0 50
（2.4）
Continuous run range
0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[℃] *When you lower the torque limit setup (Pr5E and 5F), running
[N . m] ambient temperature Torque
With Oil seal

8.0 100 Running range (Torque limit setup : 200%)
（7.1）
Peak run range Running range (Torque limit setup : 100%)
4.0 50
（2.4）
0 1000 2000 3000 4000 5000 0 10 20 30 40
rotational speed [r/min] ambient temperature[℃] rotational speed
L
L/2
a dealer.
Motor
B
A4-58
Motor Specifications and Ratings 100V MQMA
100W to 400W Low inertia, Flat, Small Capacity
AC100V
Motor model MQ MA 011P1□ 011S 1□ 021P 1□ 021S 1□ 041P 1□ 04 1S1□
A4
series MADDT1107 MBDDT2110 MCDDT3120
Model No.
series MADDT1107P MBDDT2110P MCDDT3120P
Frame symbol Frame A Frame B Frame C
Rated torque (N . m) 0.32 0.64 1.3

Max. current (Ao-p) 6.9 10.5 18.6
Regenerative brake DV0P4280 No limit Note)2
frequency

Moment of inertia Without brake 0.09 0.10 0.34 0.35 0.64 0.65
of rotor
(x10-4 kg . m2) With brake 0.12 0.13 0.42 0.43 0.72 0.73

2500P/r 2500P/r 2500P/r
2 2 2
Vibration resistance 49m/s or less 24m/s or less 49m/s or less 24m/s2 or less 49m/s2 or less 24m/s2 or less
Mass (kg), ( ) represents holding brake type 0.65 (0.90) 0.75 (1.0) 1.3 (2.0) 1.4 (2.1) 1.8 (2.5) 1.9 (2.6)
Static friction torque (N . m) 0.29 1.27

Releasing time (ms) Note)4 15 (100) 15 (100)
Permissible load
A4-59
MINAS A4P
A4P
MQMA
100W - 400W
Model designation MQMA series, 100W to 400W

e.g.)
M Q M A 0 1 1 S 1 S
Motor structure
Low inertia 1 : Standard Key-way,
MQMA Symbol Specifications
(100W-400W) A
1 100V
B
S
T
04 400W

MQMA011□1□ MQMA021□1□
With / Without Oil seal

torque torque ambient temperature
ambient temperature
[N . m] [N . m]

1.0 100 2.0 100
（0.95）（1.91）
0.5 50 1.0 50
（0.32）（0.64）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
MQMA041□1□
*Continuous torque,
MINAS A4/A4P Motor

torque
4.0 100
（3.82）
Peak run range
2.0 50
（1.3）
0 1000 2000 3000 4000 4500 0 10 20 30 40

Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-60
Motor Specifications and Ratings 200V MQMA
100W to 400W Low inertia, Flat, Small Capacity
AC200V
Motor model MQ MA 012P1□ 012S 1□ 022P 1□ 022S 1□ 042P 1□ 04 2S1□
A4
series MADDT1205 MADDT1207 MBDDT2210
Model No.
series MADDT1205P MADDT1207P MBDDT2210P
Frame symbol Frame A Frame B

Rated torque (N . m) 0.32 0.64 1.3
Max. current (Ao-p) 4.3 6.8 10.5
frequency

Moment of inertia Without brake 0.090 0.100 0.340 0.350 0.640 0.650
of rotor
(x10-4 kg . m2) With brake 0.120 0.130 0.420 0.430 0.720 0.730

2500P/r 2500P/r 2500P/r
Vibration resistance 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less 49m/s2 or less 24m/s2 or less
Mass (kg), ( ) represents holding brake type 0.65 (0.90) 0.75 (1.0) 1.3 (2.0) 1.4 (2.1) 1.8 (2.5) 1.9 (2.6)

Permissible load
A4-61
MINAS A4P
A4P
MQMA
100W - 400W
Model designation MQMA series, 100W to 400W

e.g.)
M Q M A 0 1 2 S 1 S
Motor structure
Low inertia 1 : Standard Key-way,
MQMA Symbol Specifications
(100W-400W) A
2 200V
B
S
T
04 400W

MQMA012□1□ MQMA022□1□

torque ambient temperature torque ambient temperature
[N . m] [N . m]

1.0 100 2.0 100

（0.95）（1.91）
0.5 50 1.0 50
（0.32）（0.64）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
MQMA042□1□
*Continuous torque,
MINAS A4/A4P Motor

[N . m]
4.0 100
（3.82）
Peak run range
2.0 50
（1.3）
0 1000 2000 3000 4000 5000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-62
Motor Specifications and Ratings 200V MSMA
1.0kW to 2.0kW Low inertia, Medium Capacity
AC200V
Motor model MSMA 1 0 2 P1 □ 102S 1□ 152P 1□ 152S 1□ 202P 1□ 202S1□
A4
series MDDDT5540 MEDDT7364
Model No.
series MDDDT5540P MEDDT7364P
Frame symbol Frame D Frame E

Rated output (W) 1000 1500 2000
Rated torque (N . m) 3.18 4.77 6.36
Max. current (Ao-p) 30 40 56
frequency
(times/min) Note)1 DV0P4284 No limit Note)2 −
DV0P4285×2 − No limit Note)2
of rotor
(x10-4 kg . m2) With brake 1.88 2.84 3.81

Rotary encoder specifications 2500P/r 2500P/r 2500P/r
Absolute/ Absolute/ Absolute/

Permissible load
A4-63
MINAS A4P
A4P
MSMA
1.0kW - 2.0kW
Model designation MSMA series, 1.0kW to 2.0kW

e.g.)
M S M A 1 0 2 S 1 G
Low inertia 1 : Standard Shaft Holding brake Oil seal
MSMA Symbol Specifications Symbol
(1.0kW-2.0kW) Round Key-way without with without with
2 200V
C
D
Motor rated output G
Rotary encoder specifications H
Symbol Rated output
Symbol Format Pulse counts Resolution Wires Products are standard stock items or build to order items. See index (page F31).
10 1.0kW
15 1.5kW P Incremental 2500P/r 10000 5
20 2.0kW S Absolute/Incremental 17-bit 131072 7

MSMA102□1□ MSMA152□1□
torque torque
without Brake
[N . m] [N . m]
with Brake

10 100 15 100
（9.5）（14.3） 85
5 50 7.5 50
（3.18）（4.77）
0 10 20 30 40 （3500）
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 10 20 30 40
MSMA202□1□
*Continuous torque,
ambient temperature
torque
without Brake
[N . m]
MINAS A4/A4P Motor

20 with Brake
100
（19.1） 85
Peak run range 70
10 50
（6.36）
0 1000 2000 3000 4000 5000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-64
Motor Specifications and Ratings 200V MSMA
AC200V
A4
series MFDDTA390 MFDDTB3A2
Model No.
series MFDDTA390P MFDDTB3A2P
Frame symbol Frame F

Rated output (W) 3000 4000 5000
Rated torque (N . m) 9.54 12.6 15.8
Max. current (Ao-p) 80 105 120
Regenerative brake Without option No limit Note)2 326
frequency
(times/min) Note)1 DV0P4285×2 No limit Note)2
of rotor
(x10-4 kg . m2) With brake 7.45 14.1 19.7

2500P/r 2500P/r 2500P/r

Permissible load

A4-65
MINAS A4P
A4P
MSMA
3.0kW - 5.0kW
Model designation MSMA series, 3.0kW to 5.0kW

e.g.)
M S M A 3 0 2 S 1 G
Low inertia 1 : Standard Shaft Holding brake Oil seal
MSMA Symbol Specifications Symbol
2 200V
C
D
Symbol Rated output Rotary encoder specifications H
30 3.0kW Symbol Format Pulse counts Resolution Wires Products are standard stock items or build to order items. See index (page F31).


MSMA302□1□ MSMA402□1□

without Brake torque without Brake
torque [N . m]

[N . m]
with Brake with Brake

30 40 100
100
（28.6） 90 （37.9） 90
85 85
15 50 20 50
（9.54）（12.6）
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40
MSMA502□1□
*Continuous torque,
[N . m]
MINAS A4/A4P Motor

50 100
（47.6）
70
Peak run range
25 50
（15.8）
0 1000 2000 3000 4000 5000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-66
Motor Specifications and Ratings 200V MDMA
AC200V
Motor model MDMA 1 0 2 P1 □ 102S 1□ 152P 1□ 152S 1□

A4
series MDDDT3530 MDDDT5540
Model No.
series MDDDT3530P MDDDT5540P
Frame symbol Frame D

Max. current (Ao-p) 24 40
frequency
of rotor
(x10-4 kg . m2) With brake 6.79 12.3
17-bit 17-bit
2500P/r 2500P/r

Permissible load
A4-67
MINAS A4P
A4P
MDMA
1.0kW - 1.5kW
Model designation MDMA series, 1.0kW to 1.5kW

e.g.)
M D M A 1 0 2 S 1 G
Middle inertia 1 : Standard Shaft Holding brake Oil seal
MDMA Symbol Specifications Symbol
2 200V C
D
G
Motor rated output Rotary encoder specifications H

MDMA102□1□ MDMA152□1□

torque
[N . m]
[N . m]

15 100 （21.5）
20 100
（14.4）
10 Peak run range Peak run range
50 10 50
5 （7.15）
（4.8） Continuous run range Continuous run range
（2200）
0 1000 2000 3000 0 10 20 30 40
0 1000 2000 3000 0 10 20 30 40
*When you lower the torque limit setup (Pr5E and 5F), running MINAS A4/A4P Motor
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-68
2.0kW to 3.0kW Middle inertia, Medium Capacity
AC200V
Motor model MDMA 202P1□ 202S 1□ 302P 1□ 302S1□
A4
series MEDDT7364 MFDDTA390
Model No.
series MEDDT7364P MFDDTA390P
Frame symbol Frame E Frame F

Max. current (Ao-p) 52 76
frequency

of rotor
(x10-4 kg . m2) With brake 16.7 24.6
17-bit 17-bit
2500P/r 2500P/r

Permissible load
A4-69
MINAS A4P
A4P
MDMA
2.0kW∼3.0kW

e.g.)
M D M A 2 0 2 S 1 G
2 200V C
D
Symbol Rated output
20 2.0kW Symbol Format Pulse counts Resolution Wires
S Absolute/Incremental 17-bit 131072 7

MDMA202□1□ MDMA302□1□
*Continuous torque,
ambient temperature *Continuous torque,
torque
[N . m]
[N . m]

30 100 50 100
（28.5）
（42.9）
Peak run range
15 50 Peak run range 50
25
（9.54）
Continuous run range （14.3）
（2200）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-70
AC200V
Motor model MDMA 4 0 2 P1 □ 402S 1□ 502P 1□ 502S 1□ 752P 1□ 752S1□
A4
series MFDDTB3A2 MGDDTC3B4
Model No.
series MFDDTB3A2P
Frame symbol Frame F Frame G
Power supply capacity (kVA) 6.0 7.5 11

Rated output (W) 4000 5000 7500
Rated torque (N . m) 18.8 23.8 48
Momentary Max. peak torque (N . m) 56.4 71.4 119
Max. current (Ao-p) 100.0 120.0 165.0
Without option 250 94 No limit Note)2

Regenerative brake
frequency DV0P4285×2 No limit Note)2
(times/min) Note)1
DV0P4285×4 No limit Note)2
Rated rotational speed (r/min) 2000 1500
of rotor
(x10-4 kg . m2) With brake 46.8 66.7 105.0

2500P/r 2500P/r 2500P/r
2
Vibration resistance 49m/s or less 24m/s2 or less
Static friction torque (N . m) 21.5 24.5 58.8
Engaging time (ms) 90 80 150
Releasing time (ms) Note)4 35 (150) 25 (200) 50 (130)
Exciting current (DC) (A) 1.10 1.3 1.4
Permissible load
For motor dimensions, refer to page A4-95 , and for the diver, refer to pages A4-24,25 and 47.
A4-71
MINAS A4P
A4P
MDMA
4.0kW - 7.5kW

e.g.)
M D M A 4 0 2 S 1 G
2 200V C
D
Motor rated output Rotary encoder specifications G
Symbol Rated output Symbol Format Pulse counts Resolution Wires H
75 7.5kW

MDMA402□1□ MDMA502□1□

torque torque
[N . m] without Brake [N . m] without Brake

（56.4） with Brake （71.4） with Brake

50 100 70 100
85 90
70 Peak run range 85
Peak run range
25 50 35 50
（18.8）（23.8）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
MDMA752□1□
*Continuous torque,
MINAS A4/A4P Motor

torque
ambient temperature
[N . m]
(119)
100 100
Peak run range
50 50

0 (1500) 0 10 20 30 40
1000 2000 3000
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-72
Motor Specifications and Ratings 200V MGMA
900W to 2.0kW Middle inertia, Medium Capacity
AC200V
Motor model MG MA 092P1□ 092S 1□ 202P 1□ 202S1□
A4
series MDDDT5540 MFDDTA390
Model No.
series MDDDT5540P MFDDTA390P
Frame symbol Frame D Frame F

Momentary Max. peak torque (N . m) 19.3 44

Regenerative brake
frequency DV0P4284 No limit Note)2
(times/min) Note)1

of rotor
(x10-4 kg . m2) With brake 12.3 41.4
17-bit 17-bit
2500P/r 2500P/r

Permissible load
A4-73
MINAS A4P
A4P
MGMA
900W - 2.0kW
Model designation MGMA series, 900W to 2.0kW

e.g.)
M G M A 0 9 2 S 1 G
MGMA Symbol Specifications Symbol
(900W-2.0kW) Round Key-way without with without with
2 200V C
D
Motor rated output
G
Symbol Rated output H
Rotary encoder specifications
09 900W Products are standard stock items or build to order items. See index (page F31).
Symbol Format Pulse counts Resolution Wires
20 2.0kW
P Incremental 2500P/r 10000 5

MGMA092□1□ MGMA202□1□

torque
[N . m]
[N . m]

50 100
20 100 （44）
（19.3） Peak run range
Peak run range
25 50
10 50
（19.1）
（8.62） Continuous run range
0 1000 2000 0 10 20 30 40
0 1000 2000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-74
Motor Specifications and Ratings 200V MGMA
AC200V
Motor model MG MA 3 0 2 P1 □ 302S 1□ 452P 1□ 452S 1□ 602P 1□ 60 2S1□
A4
series MFDDTB3A2 MGDDTC3B4
Model No.
series MFDDTB3A2 P
Frame symbol Frame F Frame G
Power supply capacity (kVA) 5.3 7.5 11

Rated output (W) 3000 4500 6000
Rated torque (N . m) 28.4 42.9 57.2
Momentary Max. peak torque (N . m) 63.7 107 137
Rated current (Arms) 24 33 47.0
Max. current (Ao-p) 80.0 118 170.0
Regenerative brake
frequency DV0P4285×2 No limit Note)2
(times/min) Note)1
Moment of inertia Without brake 55.7 80.9 99
of rotor
(x10-4 kg . m2) With brake 61.7 86.9 108

2500P/r 2500P/r 2500P/r
2
Vibration resistance 49m/s or less 24m/s2 or less
Static friction torque (N . m) 58.8
Releasing time (ms) Note)4 50 (130)
Permissible load
For motor dimensions, refer to page A4-97,98, and for the diver, refer to pages A4-24,25 and 47.
A4-75
MINAS A4P
A4P
MGMA
3.0kW∼6.0kW
Model designation MGMA series, 3.0kW to 6.0kW

e.g.)
M G M A 3 0 2 S 1 G
Symbol Specifications Symbol
MGMA Round Key-way without with without with
(3.0kW-6.0kW)
2 200V C
G
Symbol Rated output
30 3.0kW Products are standard stock items or build to order items. See index (page F31).

MGMA302□1□ MGMA452□1□
torque ambient temperature torque
ambient temperature
[N . m] [N . m]

（107）
70 100 100 100
（63.7） Peak run range
Peak run range
35 50 50 50
（28.4）（42.9）
0 1000 2000 0 10 20 30 40 0 1000 2000 0 10 20 30 40
MGMA602□1□
*Continuous torque,
[N . m]
MINAS A4/A4P Motor

150
(137)
100
Peak run range
75
50

0 1000 2000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-76
Motor Specifications and Ratings 200V MFMA
400W to 1.5kW Middle inertia, Medium Capacity
AC200V
Motor model MF MA 0 4 2 P1 □ 042S 1□ 152P 1□ 152S 1□
A4
series MCDDT3520 MDDDT5540
Model No.
series MCDDT3520P MDDDT5540P
Frame symbol Frame C Frame D

Without option No limit Note)2 100

Regenerative brake
(times/min) Note)1
of rotor
(x10-4 kg . m2) With brake 2.7 21.5
17-bit 17-bit
2500P/r 2500P/r

Releasing time (ms) Note)4 70 35
Permissible load
A4-77
MINAS A4P
A4P
MFMA
400W - 1.5kW
Model designation MFMA series, 400W to 1.5kW

e.g.)
M F M A 0 4 2 S 1 G
MFMA Symbol Specifications Symbol
2 200V C
Symbol Rated output G
04 400W

MFMA042□1□ MFMA152□1□

[N . m]
[N . m]
（5.3）

（21.5）
5 100 20 100
2.5 50 10 50
（1.9）（7.15）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-78
Motor Specifications and Ratings 200V MFMA
AC200V
Motor model MF MA 2 5 2 P1 □ 252S 1□ 452P 1□ 452S 1□
A4
series MEDDT7364 MFDDTB3A2
Model No.
series MEDDT7364 P MFDDTB3A2P

Regenerative brake Without option 75 67
frequency
(times/min) Note)1 DV0P4285×2 No limit Note)2 375
of rotor
(x10-4 kg . m2) With brake 45.3 78.5
17-bit 17-bit
2500P/r 2500P/r

Permissible load
A4-79
MINAS A4P
A4P
MFMA
2.5kW - 4.5kW
Model designation MFMA series, 2.5kW to 4.5kW

e.g.)
M F M A 2 5 2 S 1 G
MFMA Symbol Specifications Symbol
2 200V C
D
G
Motor rated output Rotary encoder specifications H

MFMA252□1□ MFMA452□1□

[N . m] [N . m]
（54.9）

（30.4）
30 100 50 100
15 50 25 50
（11.8）（21.5）
［％］
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-80
Motor Specifications and Ratings 200V MHMA
500W to 1.5kW High inertia, Medium Capacity
AC200V
Motor model MHMA 0 5 2 P1 □ 052S 1□ 102P 1□ 102S 1□ 152P 1□ 152S1□
A4
series MCDDT3520 MDDDT3530 MDDDT5540
Model No.
series MCDDT3520P MDDDT3530P MDDDT5540P
Frame symbol Frame C Frame D

Rated torque (N . m) 2.38 4.8 7.15
Max. current (Ao-p) 11.5 24.0 40.0
Regenerative brake Without option No limit Note)2 33 25

(times/min) Note)1
of rotor
(x10-4 kg . m2) With brake 15.2 27.2 44.1

2500P/r 2500P/r 2500P/r
Permissible load
A4-81
MINAS A4P
A4P
MHMA
500W - 1.5kW
Model designation MHMA series, 500W to 1.5kW

e.g.)
M H M A 0 5 2 S 1 G
High inertia 1 : Standard Shaft Holding brake Oil seal
MHMA Symbol Specifications Symbol
2 200V C
D
Symbol Rated output
Symbol Format Pulse counts Resolution Wires Products are standard stock items or build to order items. See index (page F31).
05 500kW

MHMA052□1□ MHMA102□1□
torque torque
[N . m] *Continuous torque,
ambient temperature [N . m] *Continuous torque,
ambient temperature
（6.0）

5.0 100 15 100
Peak run range （14.4）
10 Peak run range
2.5 50 50
（2.38） 5
Continuous run range （4.8） Continuous run range
（2200）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
MHMA152□1□

MINAS A4/A4P Motor

（21.5）
20 100
Peak run range

10 50
（7.15）
0 1000 2000 3000 0 10 20 30 40

Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-82
2.0kW to 5.0kW High inertia, Medium Capacity
AC200V
Motor model MHMA 2 0 2 P 1 □ 2 0 2 S 1□ 302P 1□ 302S 1□ 402P 1□ 402S 1□ 502P 1□ 5 02S1□
A4
series MEDDT7364 MFDDTA390 MFDDTB3A2
Model No.
A4P
Applicable driver
series MEDDT7364 P MFDDTA390P MFDDTB3A2 P
Power supply capacity (kVA) 3.3 4.5 6.0 7.5

Rated output (W) 2000 3000 4000 5000
Rated torque (N . m) 9.54 14.3 18.8 23.8
Momentary Max. peak torque (N . m) 28.5 42.9 56.4 71.4
Rated current (Arms) 12.3 17.8 23.4 28.0
Max. current (Ao-p) 52.0 76.0 100.0 120.0
Regenerative brake Without option 38 43 32 20
frequency
(times/min) Note)1 DV0P4285×2 No limit Note)2 200 150
Moment of inertia Without brake 62.0 94.1 120.0 170.0
of rotor
(x10-4 kg . m2) With brake 67.9 100.0 126.0 176.0

2500P/r 2500P/r 2500P/r 2500P/r
Rotary encoder specifications Absolute/ Absolute/ Absolute/ Absolute/
Resolution per single turn 10000 131072 10000 131072 10000 131072 10000 131072
Mass (kg), ( ) represents holding brake type 16.0 (19.5) 18.2 (21.7) 22.0 (25.5) 26.7 (30.2)
Permissible load

A4-83
MINAS A4P
A4P
MHMA
2.0kW - 5.0kW
Model designation MHMA series, 2.0kW to 5.0kW

e.g.)
M H M A 2 0 2 S 1 G
MHMA Round Key-way without with without with
(2.0kW-5.0kW)
2 200V C
G
Symbol Rated output

MHMA202□1□ MHMA302□1□
torque torque
[N . m] *Continuous torque, *Continuous torque,
[N . m]

30 100 50 100
（28.5）（42.9）
15 50 25 50
（9.54）（14.3）
（2200）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
MHMA402□1□ MHMA502□1□
torque torque
*Continuous torque,
[N . m] [N . m] *Continuous torque,
MINAS A4/A4P Motor

（56.4）（71.4）
50 100 70 100
85 85
Peak run range
25 50 35 50
（18.8）（23.8）
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-84
7.5kW High inertia, Large Capacity
AC200V
Motor model MHMA 752P 1□ 752S 1□
A4
series MGDDTC3B4
Model No.
series
Frame symbol Frame G
Power supply capacity (kVA) 11

Rated output (W) 7500
Rated torque (N . m) 48
Momentary Max. peak torque (N . m) 119
Rated current (Arms) 46.6
Max. current (Ao-p) 165.0
Regenerative brake Without option 0
frequency
Moment of inertia Without brake 282
of rotor
(x10-4 kg . m2) With brake 288
17-bit
2500P/r
Rotary encoder specifications Absolute/
Incremental
Incremental
Resolution per single turn 10000 131072

Mass (kg), ( ) represents holding brake type 43.5 (47.5)
Permissible load

For motor dimensions, refer to page A4-103 , and for the diver, refer to pages A4-25.
A4-85
MINAS A4P
A4P
MHMA
7.5kW
Model designation MHMA series, 7.5kW

e.g.)
M H M A 7 5 2 S 1 G
MHMA Round Key-way without with without with
(7.5kW)
2 200V C
G
Symbol Rated output
Symbol Format Pulse counts Resolution Wires

MHMA752□1□
*Continuous torque,
[N . m]
(119)
100 100
Peak run range
50 50

0 (1500) 0 10 20 30 40
1000 2000 3000
Torque

rotational speed
L
L/2
a dealer.
Motor
B
A4-86
Motor Dimensions
MAMA 100W - 750W
Encoder Motor connector
connector
Brake connector
LL LR
LF LE
Motor
cable
□ LC
（7）（7）
230
(Key way dimensions)

200
4-φLZ
LW
φSh6
LH
LK KW
φLA
KH
φLBh7
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information
MAMA series (Ultra low inertia)

Motor output 100W 200W 400W 750W
Motor model MAMA 012P1□ 012S1□ 022P1□ 022S1□ 042P1□ 042S1□ 082P1□ 082S1□

Rotary encoder specifications 2500P/r 2500P/r 2500P/r 2500P/r
Absolute/ Absolute/ Absolute/ Absolute/
Without brake 110.5 127 111 126 139 154 160 175
LL
With brake 138 154.5 139 154 167 182 192.5 207.5
LR 24 30 30 35
S 8 11 14 19
LA 48 70 70 90
LB 22 50 50 70
LC 42 60 60 80
LD
LE 2 3 3 3
LF 7 7 7 8
LG
LH 34 43 43 53
LZ 3.4 4.5 4.5 6
LW 14 20 25 25
LK 12.5 18 22.5 22
Key way KW 3h9 4h9 5h9 6h9
KH 3 4 5 6
RH 6.2 8.5 11 15.5
Without brake 0.65 0.71 1.1 1.2 1.5 1.6 3.3 3.4
Mass (kg)
With brake 0.85 0.91 1.5 1.6 1.9 2.0 4.0 4.1
Connector/Plug specifications refer to page A4-120
* Cautions : Reduce the moment of inertia ratio if high speed response operation is required.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
A4-87
MINAS A4P MAMA
Motor Dimensions A4P 100W - 750W / MSMD 50W - 100W
MSMD 50W - 100W
Brake connector
Encoder
Motor connector
connector
LL LR
LF LE
230
200 (Key way dimensions)

（7）（7） 4-φ LZ □LC LW
LK
KW
KH
φSh6 φL
A
LH
φLBh7
RH
LN TP
MSMD series (Low inertia)

Motor output 50W 100W
Motor model MSMD 5 A □P1 □ 5A □S 1□ 01□P 1□ 01□S1□
17-bit 17-bit
Rotary encoder specifications 2500P/r Absolute/ 2500P/r Absolute/
72 92
MINAS A4/A4P Motor

Without brake
LL
With brake 102 122
LR 25 25
S 8 8
LA 45 45
LB 30 30
LC 38 38
LD
LE 3 3
LF 6 6
LG
LH 32 32
LN 26.5 46.5
LZ 3.4 3.4
LW 14 14
LK 12.5 12.5
KW 3h9 3h9
Key way
KH 3 3
RH 6.2 6.2
TP M3 x 6 (depth) M3 x 6 (depth)
Without brake 0.32 0.47

Mass (kg)
With brake 0.53 0.68
A4-88
Motor Dimensions
MSMD 200W - 750W
LW
Brake connector
Encoder Motor connector LK
KW
KH
connector
LL LR
LF LE
RH
TP
220
（7）（7）
4-φ LZ □LC
200 A
LH
φL
φSh6
φLBh7
MSMD series (Low inertia)

Motor output 200W 400W 750W
Motor model MSMD 0 2 □P1 □ 02□S 1□ 04□P 1□ 04□S 1□ 08□P 1□ 08□S1□

Rotary encoder specifications 2500P/r Absolute/ 2500P/r Absolute/ 2500P/r Absolute/
Incremental Incremental Incremental Incremental Incremental Incremental
Without brake 79 98.5 112

LL
With brake 115.5 135 149
LR 30 30 35
S 11 14 19
LA 70 70 90
LB 50 50 70
LC 60 60 80
LD
LE 3 3 3
LF 6.5 6.5 8
LG
LH 43 43 53
LN
LZ 4.5 4.5 6
LW 20 25 25
LK 18 22.5 22
KW 4h9 5h9 6h9
Key way
KH 4 5 6
RH 8.5 11 15.5
TP M4 x 8 (depth) M5 x 10 (depth) M5 x 10 (depth)
Without brake 0.82 1.2 2.3

Mass (kg)
With brake 1.3 1.7 3.1
A4-89
MINAS A4P MSMD
Motor Dimensions A4P 200W - 750W / MQMA 100W - 400W
MQMA 100W - 400W

Encoder
connector Motor connector
LL LR
Brake connector
LF
LE LC
220
（7）（7）
200
4-φLZ
LW
LK
KW
KH
LH
φSh6
φLBh7
øLA
RH
TP
MQMA series (Low inertia)

Motor output 100W 200W 400W
Motor model MQ MA 0 1 □P1 □ 01□S 1□ 02□P 1□ 02□S 1□ 04□P 1□ 04□S1□
2500P/r 2500P/r 2500P/r
MINAS A4/A4P Motor

Without brake 60 87 67 94 82 109
LL
With brake 84 111 99.5 126.5 114.5 141.5
LR 25 30 30
S 8 11 14
LA 70 90 90
LB 50 70 70
LC 60 80 80
LD
LE 3 5 5
LF 7 8 8
LG
LH 43 53 53
LZ 4.5 5.5 5.5
LW 14 20 25
LK 12.5 18 22.5
KW 3h9 4h9 5h9
Key way
KH 3 4 5
RH 6.2 8.5 11
TP M3 x 6 (depth) M4 x 8 (depth) M5 x 10 (depth)
Without brake 0.65 0.75 1.3 1.4 1.8 1.9

Mass (kg)
With brake 0.90 1.00 2.0 2.1 2.5 2.6
A4-90
Motor Dimensions
MSMA 1.0kW - 2.0kW
Motor
cannon plug LL LR LC
Encoder (Key way dimensions)

cannon plug
LF LE 4-φLZ
φSh6
LW
LH
LK
LG
KW
KH
φLBh7 D φ
φL LA
RH
MSMA series (Low inertia)

Motor output 1.0kW 1.5kW 2.0kW

2500P/r 2500P/r 2500P/r
Without brake 175 175 180 180 205 205

LL
With brake 200 200 205 205 230 230
LR 55 55 55
S 19 19 19
LA 100 115 115
LB 80 95 95
LC 90 100 100
LD 120 135 135
LE 3 3 3
LF 7 10 10
LG 84 84 84
LH 98 103 103
LZ 6.6 9 9
LW 45 45 45
LK 42 42 42
Key way KW 6h9 6h9 6h9
KH 6 6 6
RH 15.5 15.5 15.5
Without brake 4.5 4.5 5.1 5.1 6.5 6.5

Mass (kg)
With brake 5.1 5.1 6.5 6.5 7.9 7.9
A4-91
MINAS A4P
Motor Dimensions A4P
MSMA
1.0kW - 2.0kW / MSMA 3.0kW - 5.0kW
MSMA 3.0kW - 5.0kW
Motor
cannon plug LL LR LC
Encoder (Key way dimensions)

cannon plug LF LE 4-φLZ
φSh6
LW
LH
LK
LG
KW
KH
φLBh7 D φ
φL LA
RH
MSMA series (Low inertia)

2500P/r 17-bit 2500P/r 17-bit 2500P/r 17-bit
MINAS A4/A4P Motor

Without brake 217 217 240 240 280 280

LL
With brake 242 242 265 265 305 305
LR 55 65 65
S 22 24 24
LA 130/145 (slot) 145 145
LB 110 110 110
LC 120 130 130
LD 162 165 165
LE 3 6 6
LF 12 12 12
LG 84 84 84
LH 111 118 118
LZ 9 9 9
LW 45 55 55
LK 41 51 51
KH 7 7 7
RH 18 20 20
Without brake 9.3 9.3 12.9 12.9 17.3 17.3

Mass (kg)
With brake 11.0 11.0 14.8 14.8 19.2 19.2
A4-92
Motor Dimensions
MDMA 1.0kW - 1.5kW
Motor
cannon plug
LL LR □LC
Encoder
cannon plug LF (Key way dimensions)
LE 4-φLZ
LW
LH
LK
LG
KW
φSh6
KH
φLBh7
φ
D LA
φL
RH
MDMA series (Middle inertia)

Motor output 1.0kW 1.5kW
Motor model MDMA 1 0 2 P1 □ 102S 1□ 152P 1□ 152S 1□
2500P/r 17-bit 2500P/r 17-bit

Without brake 150 150 175 175

LL
With brake 175 175 200 200
LR 55 55
S 22 22
LA 145 145
LB 110 110
LC 130 130
LD 165 165
LE 6 6
LF 12 12
LG 84 84
LH 118 118
LZ 9 9
LW 45 45
LK 41 41
Key way KW 8h9 8h9
KH 7 7
RH 18 18
Without brake 6.8 6.8 8.5 8.5

Mass (kg)
With brake 8.7 8.7 10.1 10.1
A4-93
MINAS A4P
MDMA MDMA
1.0kW - 1.5kW / 2.0kW - 3.0kW
MDMA 2.0kW - 3.0kW
Motor
cannon plug LL LR □LC
Encoder
cannon plug LF (Key way dimensions)
LE 4-φLZ
LW
LH
LK
LG
KW
φSh6
KH
φLBh7
φ
D LA
φL
RH

Motor model MDMA 202P1□ 202S 1□ 302P 1□ 302S1□
17-bit 17-bit
Rotary encoder specifications 2500P/r Absolute/ 2500P/r Absolute/
MINAS A4/A4P Motor


LL
With brake 225 225 275 275
LR 55 65
S 22 24
LA 145 145
LB 110 110
LC 130 130
LD 165 165
LE 6 6
LF 12 12
LG 84 84
LH 118 118
LZ 9 9
LW 45 55
LK 41 51
Key way KW 8h9 8h9
KH 7 7
RH 18 20
Without brake 10.6 10.6 14.6 14.6

Mass (kg)
With brake 12.5 12.5 16.5 16.5
A4-94
Motor Dimensions
MDMA 4.0kW - 7.5kW
Motor
MDMA 4.0kW - 5.0kW cannon plug
LL LR □LC
Encoder
cannon plug
LF LE 4-φLZ
LH
LG
φSh6
φLBh7
φ
D LA
φL
MDMA 7.5kW
LW
Motor Brake cannon plug Eye bolt (Thread 10)
cannon plug (Note) LK
□LC
LL LR
Encoder LF 4-φLZ
LE
cannon plug
LH
φSh6
LG
KW
KH
φLBh7
φ
D LA
φL
RH
(Note) for with brake

Motor model MDMA 402P1□ 402S1□ 502P1□ 502S1□ 752P1□ 752S1□

Rotary encoder specifications 2500P/r Absolute/ 2500P/r Absolute/ 2500P/r Absolute/
Incremental Incremental Incremental Incremental Incremental Incremental
Without brake 242 242 225 225 340.5 340.5

LL
With brake 267 267 250 250 380.5 380.5
LR 65 70 113
S 28 35 42
LA 165 200 200
LB 130 114.3 114.3
LC 150 176 176
LD 190 233 233
LE 3.2 3.2 3.2
LF 18 18 24
LG 84 84 84
LH 128 143 183
LZ 11 13.5 13.5
LW 55 55 96
LK 51 50 90
KH 7 8 8
RH 24 30 37
Without brake 18.8 18.8 25.0 25.0 41.0 41.0

Mass (kg)
With brake 21.3 21.3 28.5 28.5 45.0 45.0
A4-95
MINAS A4P
MDMA MGMA
4.0kW - 7.5kW / 900W - 2.0kW
MGMA 900W - 2.0kW
Encoder cannon plug
Motor cannon plug
LL LR
LC

LF LE 4-φLZ LW
LK
LH
KW
LG
φSh6
KH
φ
LA
φLD
RH
MGMA series (Middle inertia)

Motor output 900W 2.0kW
Motor model MG MA 092P1□ 092S 1□ 202P1□ 202S1□
17-bit 17-bit
2500P/r Absolute/ 2500P/r Absolute/
MINAS A4/A4P Motor


LL
With brake 200 200 207 207
LR 70 80
S 22 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 84 84
LH 118 143
LZ 9 13.5
LW 45 55
LK 41 50
Key way KW 8h9 10h9
KH 7 8
RH 18 30
Without brake 8.5 8.5 17.5 17.5

Mass (kg)
With brake 10.0 10.0 21.0 21.0
A4-96
Motor Dimensions
MGMA 3.0kW - 4.5kW
MGMA 3.0kW
Motor cannon plug LL LR
LC
Encoder cannon plug 4-φLZ

LF LE
LH
LG
φSh6
φL Bh7
φ
D LA
φL

MGMA 4.5kW LW
LK
LL LR
Motor cannon plug
LC
Eye bolt (Thread 10)
LF LE
Encoder cannon plug 4-φLZ
LH
LG
KW
φL Bh7
φSh6
KH
φ
φLD LA
RH

Motor model MG MA 302P1□ 302S1□ 452P1□ 452S1□
17-bit 17-bit
2500P/r Absolute/ 2500P/r Absolute/
Without brake 222 222 300.5 300.5

LL
With brake 271 271 337.5 337.5
LR 80 113
S 35 42
LA 200 200
LB 114.3 114.3
LC 176 176
LD 233 233
LE 3.2 3.2
LF 18 24
LG 84 84
LH 143 143
LZ 13.5 13.5
LW 55 96
LK 50 90
Key way KW 10h9 12h9
KH 8 8
RH 30 37
Without brake 25.0 25.0 34.0 34.0

Mass (kg)
With brake 28.5 28.5 39.5 39.5
A4-97
MINAS A4P
A4P
MGMA
Motor Dimensions 3.0kW - 6.0kW
MGMA 6.0kW
Brake cannon plug

(Note) Eye bolt (Thread 10)
Motor
cannon plug □LC
LL LR
4-φLZ
LF LE (Key way dimensions)
LW
LH
LK
φSh6
KH
KW
LG
φLBh7
φ
D LA
φL
RH

Motor output 6.0kW
Motor model MG MA 602P 1□ 602S 1□
17-bit
2500P/r Absolute/
MINAS A4/A4P Motor


LL
LR 113
S 42
LA 200
LB 114.5
LC 176
LD 233
LE 3.2
LF 24
LG 84
LH 183
LZ 13.5
LW 96
LK 90
Key way KW 12h9
KH 8
RH 37

Mass (kg)
A4-98
Motor Dimensions
MFMA 400W - 1.5kW
Encoder cannon plug
Motor cannon plug 4-φLZ

LL LR □LC
LF LE
LW
LH LK
φSh6
KH
LG
KW
φLBh7
D φ
φL LA
RH
MFMA series (Middle inertia)

Motor output 400W 1.5kW
Motor model MF MA 042P1□ 042S 1□ 152P 1□ 152S 1□
17-bit 17-bit
2500P/r 2500P/r

LL
With brake 145 145 170 170
LR 55 65
S 19 35
LA 145 200
LB 110 114.3
LC 130 176
LD 165 233
LE 6 3.2
LF 12 18
LG 84 84
LH 118 143
LZ 9 13.5
LW 45 55
LK 42 50
Key way KW 6h9 10h9
KH 6 8
RH 15.5 30
Without brake 4.7 4.7 11.0 11.0

Mass (kg)
With brake 6.7 6.7 14.0 14.0
A4-99
MINAS A4P
A4P
MFMA
Motor Dimensions 400W - 4.5kW
MFMA 2.5kW - 4.5kW
Encoder cannon plug
Motor cannon plug 4-φLZ

LL LR □LC
LF LE
LW
LH
LK
φSh6
KH
LG
KW
φLBh7
D φ
φL LA
RH
MFMA series (Middle inertia)

Motor model MF MA 252P1□ 252S 1□ 452P 1□ 452S1□
2500P/r 17-bit 2500P/r 17-bit
MINAS A4/A4P Motor

Rotary encoder specifications Incremental Absolute/ Incremental Absolute/

LL
With brake 166 166 194 194
LR 65 70
S 35 35
LA 235 235
LB 200 200
LC 220 220
LD 268 268
LE 4 4
LF 16 16
LG 84 84
LH 164 164
LZ 13.5 13.5
LW 55 55
LK 50 50
Key way KW 10h9 10h9
KH 8 8
RH 30 30
Without brake 14.8 14.8 19.9 19.9

Mass (kg)
With brake 17.5 17.5 24.3 24.3
A4-100
Motor Dimensions
MHMA 500W - 1.5kW
Encoder cannon plug
Motor cannon plug

LL LR □LC

LF LE 4-φLZ
LW
LH
LK
LG
KW
φSh6
KH
φLBh7
φ
D LA
φL
RH
MHMA series (High inertia)

Motor output 500W 1.0kW 1.5kW
Motor model MHMA 052P1□ 052S 1□ 102P 1□ 102S 1□ 152P 1□ 15 2S1□

Rotary encoder specifications 2500P/r 2500P/r 2500P/r
Absolute/ Absolute/ Absolute/
Without brake 150 150 175 175 200 200

LL
With brake 175 175 200 200 225 225
LR 70 70 70
S 22 22 22
LA 145 145 145
LB 110 110 110
LC 130 130 130
LD 165 165 165
LE 6 6 6
LF 12 12 12
LG 84 84 84
LH 118 118 118
LZ 9 9 9
LW 45 45 45
LK 41 41 41
KH 7 7 7
RH 18 18 18
Without brake 5.3 5.3 8.9 8.9 10.0 10.0

Mass (kg)
With brake 6.9 6.9 9.5 9.5 11.6 11.6
A4-101
MINAS A4P
A4P
MHMA
Motor Dimensions 500W - 5.0kW
MHMA 2.0kW - 5.0kW
Encoder cannon plug
Motor cannon plug

LL LR □LC
LF LE 4-φLZ (Key way dimensions)

LW
LH
LK
LG
KW
φSh6
KH
φLBh7
φ
D LA
φL
RH

Motor output 2.0kW 3.0kW 4.0kW 5.0kW
Motor model MHMA 202P1□ 202S1□ 302P1□ 302S1□ 402P1□ 402S1□ 502P1□ 502S1□
2500P/r 17-bit 2500P/r 17-bit 2500P/r 17-bit 2500P/r 17-bit
MINAS A4/A4P Motor

Rotary encoder specifications Incremental Absolute/ Incremental Absolute/ Incremental Absolute/ Incremental Absolute/
Without brake 190 190 205 205 230 230 255 255
LL
With brake 215 215 230 230 255 255 280 280
LR 80 80 80 80
S 35 35 35 35
LA 200 200 200 200
LB 114.3 114.3 114.3 114.3
LC 176 176 176 176
LD 233 233 233 233
LE 3.2 3.2 3.2 3.2
LF 18 18 18 18
LG 84 84 84 84
LH 143 143 143 143
LZ 13.5 13.5 13.5 13.5
LW 55 55 55 55
LK 50 50 50 50
Key way KW 10h9 10h9 10h9 10h9
KH 8 8 8 8
RH 30 30 30 30
Without brake 16.0 16.0 18.2 18.2 22.0 22.0 26.7 26.7
Mass (kg)
With brake 19.5 19.5 21.7 21.7 25.5 25.5 30.2 30.2
A4-102
Motor Dimensions
MHMA 7.5kW
Motor Brake cannon plug

cannon plug (Note) Eye bolt (Thread 10)
□LC
LL LR
LF LE 4-φLZ (Key way dimensions)
LH
LW
LK
φSh6
KH
KW
LG
φLBh7
φ
D LA
φL
RH

Motor output 7.5kW
Motor model MHMA 752P 1□ 752S 1□
17-bit
Rotary encoder specifications 2500P/r
Absolute/
Incremental
Incremental

LL
LR 113
S 42
LA 200
LB 114.3
LC 176
LD 233
LE 3.2
LF 24
LG 84
LH 183
LZ 13.5
LW 96
LK 90
Key way KW 12h9
KH 8
RH 37

Mass (kg)
A4-103
MINAS A4P
A4P
MHMA
7.5kW
MINAS A4/A4P Motor / MEMO
A4-104
Conformity to CE and UL
Compliance to EC and EMC Directives
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly
sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the
products.
MINAS AC Servos conforms to the EC Directives for Low Voltage Equipment so that the machine incorporating our servos has an easy
access to the conformity to relevant EC Directives for the machine.
EMC Directives
MINAS Servo System conforms to relevant standards under EMC Directives setting up certain model (condition) with certain locating
distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in
wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise
terminal voltage, it is necessary to examine the machine incorporating our servos.
Conformed Standards
Subject Conformed Standard IEC : International Electrotechnical Commission

Motor IEC60034-1 Conforms to Low- EN : Europaischen Normen
EN50178 UL508C Voltage Directives EMC : Electromagnetic Compatibility
EN55011 Radio Disturbance Characteristics of Industrial, Scientific and Medical UL : Underwriters Laboratories
(ISM) Radio-Frequency Equipment
Motor
and IEC61000-4-2 Electrostatic Discharge Immunity Test Conforms to
driver references by EMC
IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test
Directives
IEC61000-4-4 Electric High-Speed Transition Phenomenon/Burst Immunity Test
Composition of peripheral equipment

<Precautions in using options>
Use
This options
product correctly after
is intended reading
to be operation
used with manuals
a general of the
industrial optionsbut
product, to not
better understand
designed the precautions.
or manufactured to be used in a machine or system
Take care not to apply excessive stress to each
that may cause personal death when it is failed. optional part.
Installation environment Power supply

＋ 10％＋ 10％
Use the MINAS driver in environment of Pollution Degree 100V system : Single phase 100V − 15％ -115V − 15％ 50/60Hz
1 or 2 prescribed in IEC-60664-1 (Frame A to C)
＋ 10％＋ 10％
(e.g. Install the driver in control panel with IP54 protection structure.) 200V system : Single 200V -240V 50/60Hz
− 15％ − 15％
(Frame A to B)
Control panel ＋ 10％＋ 10％
200V system : Single/3- phase 200V -240V 50/60Hz
− 15％ − 15％
(Frame C to D)
Controller
200V system : 3- phase 200V ＋ 10％ -230V ＋ 10％ 50/60Hz
(Frame E to F) − 15％ − 15％
Insulated power
supply for interface
CN–X5 (1)This product is designed to be used under Overvoltage
Driver
Noise filter for Category (Installation Category) Ⅱ of EN50178 :1997.
Power signal lines Noise filter for
supply Leakage signal lines
Circuit current L1 Servo
Install a surge absorber which conforms to EN61643-11 :
Noise filter L2
breaker breaker motor
(RCD) L3 U
2002 and other relevant standards at the power entry when
V
W
M
L1C(r)
L2C(t) RE
you want to use this product under Overvoltage Category
Surge
absorber
CN–X6 (Installation Category) Ⅲ .
Ground (PE)
(2)For a interface power supply, use an insulated one with
12 to 24 VDC which conforms to CE Marking or EN
Standards.
A4-109
MINAS A4P
A4P
Circuit breaker
Connect a circuit breaker which conforms to IEC standards and is UL recognized (listed and marked), between the power supply
and the noise filter.
Noise filter
When you install one noise filter in the power supply for multi- Option part No. Part No. Manufacturer
axes application, consult with the manufacture of the filter. DV0P4170 SUP-EK5-ER-6
DV0P4180 3SUP-HQ10-ER-6 Okaya Electric
DV0P4220 3SUP-HU30-ER-6 Industries Co.
DV0P3410 3SUP-HL50-ER-6B
DV0P4170
Terminal cover
(transparent) Earth terminal M4
Label
Cover attachment
screw M3
Label
Cover
Main body
Option part No. A B C D E F G H

DV0P4180 115 105 95 70 43 10 52 5.5
DV0P4220 145 135 125 70 50 10 52 5.5
DV0P3410
MINAS A4/A4P Conformity to CE and UL

Label
Surge absorber
Install a surge absorber at primary side of the noise filter.
Option part No. Driver voltage spec Part No. Manufacturer Option part No. Driver voltage spec Part No. Manufacturer
DV0P1450 3-phase, 200V R . A . V-781BXZ-4 Okaya Electric DV0P4190 Single phase, 100V, 200V R . A . V-781BWZ-4 Okaya Electric
Circuit diagram Circuit diagram
<Remarks>
Remove this surge absorber when you perform dielectric test on the
machine, or serge absorber might be damaged.
A4-110
39±1
Noise filter for signal lines
Install noise filters for signal lines to all cables (Power line,
34±1
motor cable, encoder cable, interface cable)
Mass : 62.8g
Option part No. Part No. Manufacturer
DV0P1460 ZCAT3035-1330 TDK Corp.
<Caution>
13±1
30±1
Fix the signal line noise filter in place to eliminate excessive
stress to the cables.
Ground-fault breaker
Install a B-type ground-fault breaker (RCD) at primary side of the power supply of the driver.
Grounding
(1)Connect the protective earth terminal of the driver ( ) and protective earth terminal of the control panel (PE) without fail to
prevent electrical shocks.
(2)Do not co-clamp to the protective earth terminals ( ). Two protective earth terminals are provided.
Conformity to UL Standards
Observe the following conditions ( (1) and (2)) to make the system conform to UL508C (File No. E164620).
(1)Use Minas driver in environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1.
(e.g. Install in the control panel with IP54 protective structure)
(2)Connect the UL recognized (UL Listed, marked) circuit breaker or UL recognized (UL Listed, marked) fuse between the
power supply and noise filter.
A4-111
MINAS A4P
A4P
IP65 Rating
IP65 Rating
●MSMD, MQMA and MAMA motors conform to IP65 rating except for the connecter and shaft through hole.
●For MSMA, MDMA, MGMA, MFMA and MHMA motors, customer to supply the plug and cable clamp which conform to
IP65 rating.
(Optional connector kits for encoder cable and motor cable do not provide IP65 rating.)
Plug and clamp (Customer to supply ) manufactured by Japan Aviation Electronics Ind.
Motor Motor side
Receptacle type Plug
Cable clamp type
(or equivalent) Straight type Angle type (L-shape) (or equivalent)
Series Output (kW) (or equivalent) (or equivalent)
1.0 - 2.0 JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R
MSMA
3.0 - 5.0 JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
JL04-2022CK (14)-R
MDMA 3.0 - 5.0 JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
7.5 JL04V-2E32-17PE-B-R N/MS3106B-32-17S N/MS3108 32-17S N/MS3057-20A

Without brake
0.9 JL04V-2E20-4PE-B-R JL04V-6A20-4SE-EB-R JL04V-8A20-4SE-EB-R

JL04-2022CK (14)-R
MGMA 2.0 - 4.5 JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R

JL04-2022CK (14)-R
MHMA 2.0 - 5.0 JL04HV-2E22-22PE-B-R JL04V-6A22-22SE-EB-R JL04V-8A22-22SE-EB-R
0.4 - 1.5 JL04V-2E20-18PE-B-R JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R

MFMA
MINAS A4/A4P Conformity to CE and UL / IP65 Rating

MSMA

MDMA
Motor JL04V-2E32-17PE-B-R N/MS3106B 32-17S N/MS3108B 32-17S N/MS3057-20A
7.5
Brake N/MS3102A 14S-2P N/MS3106B 14S-2S N/MS3108B 14S-2S N/MS3057-6A
0.9 JL04V-2E20-18PE-B-R JL04V-6A20-18SE-EB-R JL04V-8A20-18SE-EB-R JL04-2022CK (14)-R

With brake

MGMA
6.0

MHMA
7.5

MFMA
Encoder N/MS3102A 20-29P JA06A-20-29S-J1-EB-R JA08A-20-29S-J1-EB-R JL04-2022CK (14)-R
Note) MDMA 7.5kW, MGMA 6kW and MHMA 7.5kW do not provide IP65 rating.
A4-112
Options
Cable part No. designation
Encoder cable
1 2 3 4 5 6 7 8 9 10 11 12
M F E C A 0 0 5 0 E A M
Cable end (Driver side)

D Molex connector (MINAS A4,A4P series, incremental)
E Molex connector (MINAS A4,A4P series, absolute)
M Molex connector (MINAS A4,A4P series, E series)
Cable end (Encoder side) S S-type cannon plug

A AMP connector
Cable type
E PVC cable with shield by Oki Electric Cable Co., 0.20mm2 x 8P, 3P
0030 3m
Cable length 0050 5m
0100 10m
0200 20m
Type classification
MFECA : Encoder cable
Motor cable
1 2 3 4 5 6 7 8 9 10 11 12
M F M C A 0 0 5 2 F C T
Cable end at driver side

D Plus clamp terminal for MINAS A4,A4P by Phoenix contact
T Clamp terminal
Cable end at motor side E 4 pole AMP connector

C 4 pin S type cannon plug
E ROBOTOP 4-wire by Daiden Co., Ltd.

Cable type
F ROBOTOP 6-wire by Daiden Co., Ltd.
G ROBOTOP 2-wire by Daiden Co., Ltd.
0 0.75mm2
Cross section of cable core 1 1.25mm2
2 2.0mm2
3 3.5mm2
Type 003 3m
classification Cable length 005 5m
A Standard 010 10m
B Special 020 20m
…
Design order
AC servo motor cable
A4-113
MINAS A4P
A4P
Option
• Pin configuration for encoder connector • Pin configuration for motor/brake connector (with brake)
MSMA MSMA MSMA 1kW, 1.5kW, 2kW MSMA 3kW, 4kW, 5kW MDMA 7.5kW
MDMA MDMA MDMA 1kW, 1.5kW, 2kW MDMA 3kW, 4kW, 5kW MGMA 6kW
MFMA MFMA MFMA 400W, 1.5kW MFMA 2.5kW, 4.5kW MHMA 7.5kW
MHMA MHMA MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW
MGMA MGMA MGMA 900W MGMA 2kW, 3kW, 4.5kW Motor Cable
A A G H A A B C D A
M B M B
L N C L N C C B
F I B D E F
T P T P
K D K D
E D C G H I JL04V-2E32-17PE-B-R
J S R E J S R E
(by Japan Aviation
H F H F
G G Electronics or equivalent)
N/MS3102A20-29P N/MS3102A20-29P JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R PIN No. Content
• Specifications of 2500P/r • Specifications of 17bit (by Japan Aviation (by Japan Aviation A U-phase
incremental encoder absolute/incremental Electronics or equivalent) Electronics or equivalent) B V-phase
encoder C W-phase
PIN No. Content PIN No. Content
PIN No. Content PIN No. Content PIN No. Content PIN No. Content D Ground
G Brake A Brake
A NC K PS A NC K PS
H Brake B Brake Brake Cable
B NC L PS B NC L PS
A NC C NC
C NC M NC C NC M NC
F U-phase D U-phase
D NC N NC D NC N NC
I V-phase E V-phase D A
E NC P NC E NC P NC
B W-phase F W-phase C B
F NC R NC F NC R NC
E Ground G Ground
G EOV S NC G EOV S BAT–*
D Ground H Ground N/MS3102A 14S-2P
H E5V T NC H E5V T BAT+*
C NC I NC (by Japan Aviation
J Frame
GND J Frame
GND
Electronics or equivalent)
*Connection to Pin-S and T are not
required when used in incremental. PIN No. Content
A Brake
B Brake
C NC
D NC
• Pin configuration for motor/brake connector (without brake)
MINAS A4/A4P Options

MSMA 1kW, 1.5kW, 2kW MSMA 3kW, 4kW, 5kW MDMA 7.5kW MFMA 400W, 1.5kW MFMA 2.5kW, 4.5kW
MDMA 1kW, 1.5kW, 2kW MDMA 3kW, 4kW, 5kW MGMA 6kW
MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW MHMA 7.5kW
MGMA 900W MGMA 2kW, 3kW, 4.5kW
G H A A B C
D A D A D A F I B D E F
E D C G H I
C B C B C B
JL04V-2E20-4PE-B-R JL04V-2E22-22PE-B-R JL04V-2E32-17PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R

(by Japan Aviation (by Japan Aviation (by Japan Aviation (by Japan Aviation (by Japan Aviation
Electronics or equivalent) Electronics or equivalent) Electronics or equivalent) Electronics or equivalent) Electronics or equivalent)
PIN No. Content PIN No. Content PIN No. Content PIN No. Content PIN No. Content
A U-phase A U-phase A U-phase G NC A NC
B V-phase B V-phase B V-phase H NC B NC
C W-phase C W-phase C W-phase A NC C NC
D Ground D Ground D Ground F U-phase D U-phase
I V -phase E V -phase
B W-phase F W-phase
E Ground G Ground
D Ground H Ground
C NC I NC
Do not connect anything to NC pins.
A4-114
Options
Encoder cable
MSMD50W - 750W,MQMA100W - 400W,MAMA100W - 750W

MFECA0＊＊0EAE
17-bit absolute encoder, with battery holder
Title Part No. (Manufacturer's) Manufacturer

55100-0600
L Connector or Molex Inc. L（m） Part No.
110 300 55100-0670 3 MFECA0030EAE
Connector 172161-1 5 MFECA0050EAE
Tyco Electronics, AMP
(φ8)
Connector pin 170365-1 10 MFECA0100EAE
(16)
Cable 0.20mm2×4P Oki Electric Cable Co. 20 MFECA0200EAE

(4) (14) (4)
Note) Battery for absolute encoder is an option.
MSMA,MDMA,MHMA,MGMA,MFMA
MFECA0＊＊0ESE
17-bit absolute encoder, with battery holder

L
55100-0600
110 300 Connector or Molex Inc. L（m） Part No.
55100-0670 3 MFECA0030ESE
(φ8)
Straight plug N/MS3106B20-29S Japan Aviation 5 MFECA0050ESE

φ37.3
Cable clamp N/MS3057-12A Electronics Industry Ltd. 10 MFECA0100ESE

Cable 0.20mm2×4P Oki Electric Cable Co. 20 MFECA0200ESE
Note) Battery for absolute encoder is an option.

MFECA0＊＊0EAD
17-bit incremental encoder, without battery holder
L Title Part No. (Manufacturer's) Manufacturer
55100-0600
(φ6.5)
Connector or Molex Inc. L（m） Part No.

(16)
55100-0670 3 MFECA0030EAD
(4) (14) (4) Connector 172161-1 5 MFECA0050EAD
Connector pin 170365-1 10 MFECA0100EAD
Cable 0.20mm2×3P Oki Electric Cable Co. 20 MFECA0200EAD
MSMA,MDMA,MHMA,MGMA,MFMA
MFECA0＊＊0ESD
17-bit incremental/2500P/r encoder, without battery holder
L
(φ6.5)
55100-0600
φ37.3
55100-0670 3 MFECA0030ESD
Straight plug N/MS3106B20-29S Japan Aviation 5 MFECA0050ESD
Cable clamp N/MS3057-12A Electronics Industry Ltd. 10 MFECA0100ESD
Cable 0.20mm2×3P Oki Electric Cable Co. 20 MFECA0200ESD

MFECA0＊＊0EAM
2500P/r encoder, without battery holder
L Title Part No. (Manufacturer's) Manufacturer
55100-0600
(φ6.5)

(11.8)
55100-0670 3 MFECA0030EAM
(4) (14) (4) Connector 172160-1 5 MFECA0050EAM
Connector pin 170365-1 10 MFECA0100EAM
Cable 0.20mm2×3P Oki Electric Cable Co. 20 MFECA0200EAM
A4-115
MINAS A4P
A4P
Option
Options
Motor cable (ROBO TOP R 105℃,600V, DP)
ROBO TOP R is a trade mark of Daiden Co., Ltd.

MFMCA0＊＊0EED

(50) L (50)
Connector 172159-1 L（m） Part No.
(φ11)
Connector pin 170366-1 3 MFMCA0030EED
Rod terminal AI0.75-8GY Phoenix 5 MFMCA0050EED
(12.0)
(4) (10.0) (4) Nylon insulated roundterminal N1.25-M4 J.S.T. Mfg. Co., Ltd. 10 MFMCA0100EED
Cable ROBO-TOP 600V 0.75mm2 Daiden Co., Ltd. 20 MFMCA0200EED
MSMA1.0kW - 1.5kW,MDMA1.0kW - 1.5kW

MFMCDO＊＊2ECD
MHMA500W - 1.5kW,MGMA900W
L (50) Straight plug JL04V-6A20-4SE-EB-R Japan Aviation L（m） Part No.
Cable clamp JL04-2022CK(14)-R Electronics Industry Ltd. 3 MFMCD0032ECD
(φ12.5)
Rod terminal AI2.5-8BU Phoenix 5 MFMCD0052ECD

φ37.3
Nylon insulated roundterminall N2-M4 J.S.T. Mfg. Co., Ltd. 10 MFMCD0102ECD

Cable ROBO-TOP 600V 2.0mm2 Daiden Co., Ltd. 20 MFMCD0202ECD
MSMA2.0kW,MDMA2.0kW
MFMCDO＊＊2ECT
L (50) Title Part No. (Manufacturer's) Manufacturer L（m） Part No.

Straight plug JL04V-6A20-4SE-EB-R Japan Aviation 3 MFMCD0032ECT
(φ12.5)
Cable clamp JL04-2022CK(14)-R Electronics Industry Ltd. 5 MFMCD0052ECT

Nylon insulated roundterminall N2-5 J.S.T. Mfg. Co., Ltd. 10 MFMCD0102ECT
φ37.3
Cable ROBO-TOP 600V 2.0mm2 Daiden Co., Ltd. 20 MFMCD0202ECT
MSMA3.0kW - 5.0kW,MDMA3.0kW - 5.0kW

MFMCAO＊＊3ECT

MHMA2.0kW - 5.0kW,MGMA2.0kW - 4.5kW
L (50)
Title Part No. (Manufacturer's) Manufacturer L（m） Part No.
Straight plug JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCA0033ECT
(φ14)
Cable clamp JL04-2022CK(14)-R Electronics Industry Ltd. 5 MFMCA0053ECT

φ40.5
Nylon insulated roundterminal N5.5-5 J.S.T. Mfg. Co., Ltd. 10 MFMCA0103ECT

Cable ROBO-TOP 600V 3.5mm2 Daiden Co., Ltd. 20 MFMCA0203ECT
MFMA400W - 1.5kW
MFMCAO＊＊2ECD
L (50) Straight plug JL04V-6A20-18SE-EB-R Japan Aviation L（m） Part No.
Cable clamp Electronics Industry Ltd.
(φ12.5)
JL04-2022CK(14)-R 3 MFMCA0032ECD
Rod terminal AI2.5-8BU Phoenix 5 MFMCA0052ECD
φ37.3
Nylon insulated roundterminal N2-M4 J.S.T. Mfg. Co., Ltd. 10 MFMCA0102ECD

Cable ROBO-TOP 600V 2.0mm2 Daiden Co., Ltd. 20 MFMCA0202ECD
MFMA2.5kW - 4.5kW
MFMCDO＊＊3ECT
L (50) Title Part No. (Manufacturer's) Manufacturer L（m） Part No.

Straight plug JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCD0033ECT
Cable clamp JL04-2428CK(17)-R Electronics Industry Ltd. 5 MFMCD0053ECT
(φ14)
Nylon insulated roundterminal N5.5-5 J.S.T. Mfg. Co., Ltd. 10 MFMCD0103ECT

φ43.7
Cable ROBO-TOP 600V 3.5mm2 Daiden Co., Ltd. 20 MFMCD0203ECT
A4-116
Options
Brake cable (ROBO TOP R 105℃,600V, DP)
MSMD 50W - 750W

MFMCB0＊＊0GET
MQMA100W - 400W
MAMA 100W - 750W
(40) L (50)
Title Part No. (Manufacturer's) Manufacturer L（m） Part No.
Connector 172157-1 Japan Aviation 3 MFMCB0030GET
(φ9.8)
Connector pin 170366-1,170362-1 Electronics Industry Ltd. 5 MFMCB0050GET

(12.0)
(10.0)
Nylon insulated roundterminal N1.25-M4 J.S.T. Mfg. Co., Ltd. 10 MFMCB0100GET

Cable ROBO-TOP 600V 0.75mm2 Daiden Co., Ltd. 20 MFMCB0200GET
(5.6)
Motor cable (with brake) (ROBO TOP R 105℃,600V, DP)

ROBO TOP R is a trade mark of Daiden Co., Ltd.
MSMA1.0kW -1.5kW,MDMA1.0kW - 1.5kW
MFMCAO＊＊2FCD
MHMA 500W -1.5kW,MFMA 400W - 1.5kW
MGMA 900W
L (50) Title Part No. (Manufacturer's) Manufacturer

Straight plug JL04V-6A20-18SE-EB-R Japan Aviation
(φ12.5)
Cable clamp JL04-2022CK(14)-R Electronics Industry Ltd.

Rod terminal Phoenix
φ37.3
AI2.5-8BU
L（m） Part No.
N2-M4
.8)
J.S.T. Mfg. Co., Ltd.

(φ 9
Nylon insulated roundterminal 3 MFMCA0032FCD

L N1.25-M4
5 MFMCA0052FCD
RROBO-TOP 600V 2.0mm2
(50
) Cable or Daiden Co., Ltd. 10 MFMCA0102FCD
ROBO-TOP 600V 0.75mm2 20 MFMCA0202FCD
MSMA2.0kW,MDMA2.0kW
MFMCAO＊＊2FCT

(φ12.5)

L（m） Part No.
φ37.3
N2-5
Nylon insulated roundterminal J.S.T. Mfg. Co., Ltd. 3 MFMCA0032FCT
N1.25-M4
.8)
(φ 9
5 MFMCA0052FCT
L ROBO-TOP 600V 2.0mm2
Cable or Daiden Co., Ltd. 10 MFMCA0102FCT
(50
) ROBO-TOP 600V 0.75mm2 20 MFMCA0202FCT
MSMA 3.0kW - 5.0kW ,MDMA 3.0kW - 5.0kW

MFMCA0＊＊3FCT
MHMA 2.0kW - 5.0kW ,MFMA 2.5kW - 4.5kW
MGMA 2.0kW - 4.5kW

(φ14)

L（m） Part No.
φ43.7
N5.5-5
Nylon insulated roundterminal J.S.T. Mfg. Co., Ltd. 3 MFMCA0033FCT
.8)
N1.25-M4
( φ9
5 MFMCA0053FCT
L ROBO-TOP 600V 3.5mm2
Cable or Daiden Co., Ltd. 10 MFMCA0103FCT
(50
) ROBO-TOP 600V 0.75mm2 20 MFMCA0203FCT
A4-117
MINAS A4P
A4P
Options
Options
Connector kit for external peripheral equipments
●MINAS A4
1) Part No. DV0P4350
2) Components Title Part No. Number Manufacturer Note

54306-5011
Connector or 1 For CN X5
54306-5019 Molex Inc.
(50-pins)
Connector cover 54331-0501 1
3) Pin Configuration(50-pins) (viewed from the soldering side)

<Cautions>
26 28 30 32 34 36 38 40 42 44 46 48 50 1. Check the stamped pin No. on the connector
ZERO SPD / DIV / CL C- S- ALM COIN- / TLC IM PULSH1 SIGNH1 OB FG
VS-SEL INTSPD3 INTSPD2 MODE RDY AT-SPEED- body while making a wiring.
27 29 31 33 35 37 39 41 43 45 47 49 2. For the function of each signal title or its
GAIN SRV A- INH S- ALM COIN+ / COM SP PULSH2 SIGNH2 OB
/ TL-SEL -ON CLR / INTSPD1 RDY AT-SPEED+ symbol, refer to the wiring example of
1 3 5 7 9 11 13 15 17 19 21 23 25
0PC1 PULS1 SIGN1 COM CCWL BRK- GND GND GND CZ OA OZ GND connector, CN I/F.
DIV2 OFF
2 4 6 8 10 12 14 16 18 20 22 24
3. Check the stamped pin-No. on the Connector
0PC2 PULS2 SIGN2 CWL BRK- ZSP SPR / TRQR CCWTL CWTL NC OA OZ body while marking a wiring.
OFF / SPL /TRQR
●MINAS A4P

54306-3611
Connector or 1 For CN X5
54306-3619 Molex Inc.
(36-pins)
Connector cover 54331-0361 1
3) Pin Configuration(50-pins) (viewed from the soldering side)

<Cautions>
19 21 23 25 27 29 31 33 35 1. Check the stamped pin No. on the connector
CCWL Z-LS SRV-ON EX-IN2 COIN/ P1OUT P4OUT P16OUT （NC）
DCLON body while making a wiring.
20 22 24 26 28 30 32 34 36 2. For the function of each signal title or its
CWL EX-IN1 STB GND BUSY P2OUT P8OUT P32OUT BRK-OFF
symbol, refer to the wiring example of
1 3 5 7 9 11 13 15 17
COM P1IN P4IN P16IN OZ OA DB ALM COM connector, CN I/F.
2 4 6 8 10 12 14 16 18
3. Check the stamped pin-No. on the Connector
EMG-
STP
P2IN P8IN P32IN OZ OA DB CZ FG body while marking a wiring.
A4-118
Interface cable
Cable of 2m is connected.
●MINAS A4 3) Table for wiring
1) Part No. DV0P4360 PIN No. color PIN No. color PIN No. color PIN No. color PIN No. color
Orange Orange Orange Orange Orange
1 (Red1) 11 (Black2) 21 (Red3) 31 (Red4) 41 (Red5)
2) Dimensions Orange Yellow Orange Orange Orange
2 (Black1) 12 (Black1) 22 (Black3) 32 (Black4) 42 (Black5)
2000+200
0 (39) 12.7
Gray Gray Gray Gray Gray
3 (Red1) 13 (Red2) 23 (Red3) 33 (Red4) 43 (Red5)
50 +10
0 Gray Gray Gray White White
25
50
4 (Black1) 14 (Black2) 24 (Black3) 34 (Red4) 44 (Red5)
White White White White White
(52.35)
5 15 25 35 45
molex
(Red1) (Red2) (Red3) (Black4) (Black5)
White Yellow White Yellow Yellow
6 (Black1) 16 (Red2) 26 (Black3) 36 (Red4) 46 (Red5)
Yellow Yel(Blk2)/ Yellow Yellow Yellow
7 17 Pink(Blk2) 27 37 47
26
(Red1) (Red3) (Black4) (Black5)
Pink Pink Yellow Pink Pink
<Remarks> 8 (Red1) 18 (Red2) 28 (Black3)
38 (Red4) 48 (Red5)
Color designation of the cable 9
Pink
19
White
29
Pink
39
Pink
49
Pink
(Black1) (Black2) (Red3) (Black4) (Black5)
e.g.) Pin-1 Cable color : Orange Orange Pink Gray Gray
10 20 30 40 50
(Red1) : One red dot on the cable (Red2) (Black3) (Black4) (Black5)
●MINAS A4P 3) Table for wiring

1) Part No. DV0P4510 PIN No. color PIN No. color PIN No. color
1 Orange(Red1) 13 Gray(Red2) 25 White(Red3)
2) Dimensions 2 Orange(Black1) 14 Gray(Black2) 26 White(Black3)
20000+200 (39) 12.7 3 Gray(Red1) 15 White(Red2) 27 Yellow(Red3)
50 +10 4 White(Red1) 16 White(Black2) 28 Yellow(Black3)

0
18
36
5 White(Black1) 17 Yellow(Red2) 29 Pink(Red3)

(43.46)
6 Gray(Black1) 18 Yellow(Black2) 30 Pink(Black3)

molex
7 Yellow(Red1) 19 Pink(Red2) 31 Orange(Red4)

8 Yellow(Black1) 20 Pink(Black2) 32 Orange(Black4)
1
19
9 Pink(Red1) 21 Orange(Red3) 33 Gray(Red4)

<Remarks>
10 Pink(Black1) 22 Orange(Black3) 34 Gray(Black4)
Color designation of the cable
11 Orange(Red2) 23 Gray(Red3) 35 White(Red4)
e.g.) Pin-1 Cable color : Orange
12 Orange(Black2) 24 Gray(Black3) 36 White(Black4)
(Red1) : One red dot on the cable
Communication cable (for connection with PC)
2) Dimensions
2000
Mini-DIN 8P
D-sub connector 9P MD connector
Communication cable (for RS485) 〈 This cable cannot be used for the A4P series 〉
L Part No. L[mm]
DV0P1970 200
DV0P1971 500
Mini-DIN 8P
MD connector
DV0P1972 1000
A4-119
MINAS A4P
A4P
Options
• Applicable motor models : MSMD 50W to 750W

For brake, purchase our
MQMA 100W to 400W 17-bit absolute
optional brake cable.
MAMA 100W to 750W

55100-0600 or
Connector 1 Molex Inc. For CN X6 (6-pins)
55100-0670 (lead-free)
Connector 172161-1 1 For junction cable to
Connector pin 170365-1 9 encoder (9-pins)
Connector pin 170366-1 4 motor (4-pins)
3) Pin configuration of connector, CN X6 4) Pin configuration of junction cable 5) Pin configuration of junction cable
for encoder for motor power
1 E5V 2 E0V
3 4
1 2 3
5 PS 6 PS BAT+ BAT– FG 1 2
4 5 6 U V
PS PS NC 3 4
7 8 9 W E
E5V E0V NC
( Case
FG )
*When you connect the battery for absolute encoder, refer to A4-126,
"When you make your own cable for 17-bit absolute encoder"
• Applicable motor models : MSMD 50W to 750W

2500P/r incremental For brake, purchase our
MQMA 100W to 400W
encoder optional brake cable.
MAMA 100W to 750W

55100-0600 or
55100-0670 (lead-free)
3) Pin configuration of connector, CN X6 4) Pin configuration of junction 5) Pin configuration of junction

cable for encoder cable for motor power
1 E5V 2 E0V
3 4
5 PS 6 PS 1 2 3 1 2
NC PS PS U V
4 5 6 3 4
E5V E0V FG W E
( Case
FG )
For DV0P2490, DV0P3480, Title Part No. Manufacturer

• recommended manual
crimp tool For junction cable to encoder 755330 - 1
(to be prepared by customer) For junction cable to motor 755331 - 1
A4-120
Options
• Applicable motor models : MSMA 1.0kW to 2.0kW
MDMA 1.0kW to 2.0kW 17-bit absolute incremental encoder, Without brake
MHMA 500W to 1.5kW 2500P/r incremental encoder
MGMA 900W

55100-0600 or 55100-0670
(lead-free)
Straight plug N/MS3106B20-29S 1 Japan Aviation Electronics For junction cable to
Cable clamp N/MS3057-12A 1 Industry Ltd. encoder
Cable clamp N/MS3057-12A 1 Industry Ltd. motor power

MDMA 3.0kW to 5.0kW 17-bit absolute incremental encoder,
Without brake
MHMA 2.0kW to 5.0kW 2500P/r incremental encoder
MGMA 2.0kW to 4.5kW

55100-0600 or 55100-0670
(lead-free)
Straight plug N/MS3106B-20-29S 1 Japan Aviation Electronics For junction cable to

MDMA 1.0kW to 2.0kW 17-bit absolute incremental encoder,
With brake
MGMA 900W
17-bit absolute incremental encoder, Without brake
MFMA 0.4kW to 1.5kW 2500P/r incremental encoder With brake

55100-0600 or 55100-0670
(lead-free)

MDMA 3.0kW to 5.0kW 17-bit absolute incremental encoder, With brake
MGMA 2.0kW to 4.5kW
17-bit absolute incremental encoder, Without brake
MFMA 2.5kW to 4.5kW 2500P/r incremental encoder With brake

55100-0600 or 55100-0670
(lead-free)
A4-121
MINAS A4P
A4P
Options
• Applicable motor models : MDMA 7.5kW

MGMA 6.0kW 17-bit absolute incremental encoder,
With brake
2500P/r incremental encoder
MHMA 7.5kW

55100-0600 or 55100-0670
(lead-free)
• Applicable motor models : MDMA 7.5kW

MGMA 6.0kW 17-bit absolute incremental encoder,
Without brake
2500P/r incremental encoder
MHMA 7.5kW

55100-0600 or 55100-0670
(lead-free)
Straight plug N/MS3106B14S-2S 1 Japan Aviation Electronics For junction cable to
Cable clamp N/MS3057-6A 1 Industry Ltd. brake cable
A4-122
Options
R
Setup support software "PANATERM "
1) Part No. DV0P4460 (Japanese / English version) <Caution>
2) Supply media : CD-ROM For setup circumstance, refer to the Instruction
R
Manual of "PANATERM ".
Mounting bracket
Frame Dimensions
symbol of part No. Mounting
applicable screw
driver Upper side Bottom side
2-M4, Pan head

2-M4, Pan head
17
17
9.5
9.5
11 ±0.2
M4 x L6 11 ±0.2
DV0P .2 2.6
Frame A Pan head φ5 5.2 2.6
4271
4pcs
15
R2
2.6
2.6
15
10
.6
10
7 7
21 21
2-M4, Pan head 2-M4, Pan head
17
17
9.5
9.5
2.6 18 ±0.2
M4 x L6 18 ±0.2
DV0P 5.2 2.6
Frame B Pan head φ5
.2
4272
4pcs
R 2.6
2.6
15
15
2.6
10
10
7 7
28 28
2-M4, Pan head

2-M4, Pan head
17
17
9.5
9.5
30 ±0.2
30 ±0.2
M4 x L6
DV0P 5.2 2.6
Frame C Pan head φ 5.2 2.6
4273
4pcs
15
2.6
2.6
15
10
10
20 20
40 40
2-M4, Pan head 2-M4, Pan head

17
17
9.5
9.5
19 36 ±0.2
5 36 ±0.2
M4 x L6
DV0P
5.2
Frame D Pan head 2.6 5.2 5.2 2.6

2-φ
4274
4pcs
2.6
15
2.6
15
10
10
10 40 10 40 ±0.2
60 60
<Caution> For Frame E, F you can make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).
A4-123
MINAS A4P
A4P
Options
Options
Console
1) Part No. DV0P4420 Caution) An existing console(DV0P3690) cannot be used for the A4P series.
2) Dimensions
(62) (24)
(15)
M3 length 5mm
Tightening torque for the insert screw
(114)
Name plate shall be 0.5N・m or less
(15)
MD connector
(1500)
Mini DIN-8P
Reactor
Fig.1 Fig.2
6-1 E 2-1 E
X Y Z
D
D
NP
C
C
R S T
A 4-H F A 4-H F
(Mounting pitch) (Mounting pitch) (Mounting pitch) (Mounting pitch)
B G B G
Part No. A B C D E F G H I Inductance Rated current

(mH) (A)

DV0P220 65 125 83 118 145 70 85 7 (width) x 12 (length) M4 6.81 3
Fig. DV0P222 60 150 113 137 130 70 95 7 (width) x 12 (length) M4 2 8
1 DV0P223 60 150 113 137 140 79 95 7 (width) x 12 (length) M4 1.39 11
DV0P226 55 80 68 90 90 41 55 φ7 M4 6.81 3
Fig.
DV0P227 55 80 68 90 90 41 55 φ7 M4 4.02 5
2
DV0P228 55 80 68 90 95 46 60 φ7 M4 2 8
• Harmonic restraint on general-purpose inverter and servo driver

On September, 1994, Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high
voltage system and Guidelines for harmonic restraint on household electrical appliances and general-purpose articles established by the
Agency for Natural Resources and Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and
Industry). According to those guidelines, the Japan Electrical Manufacturers Association (JEMA) have prepared technical documents
(procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 201) and have been requesting the users to understand
the restraint and to cooperate with us. On January, 2004, it has been decided to exclude the general-purpose inverter and servo driver
from the Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”. After that, the Guidelines for
harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6, 2004.
We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver will be
modified as follows.
1. All types of the general-purpose inverters and servo drivers used by specific users are under the control of the Guidelines for harmonic
restraint on heavy consumers who receive power through high voltage system or extra high voltage system”. The users who are required
to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate
countermeasures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR 210 and JEM-TR 225.)
2. The Guidelines for harmonic restraint on household electrical appliances and general-purpose articles was abolished on September 6,
2004. However, based on conventional guidelines, JEMA applies the technical documents JEM-TR 226 and JEM-TR 227 to any users
who do not fit into the Guidelines for harmonic restraint on heavy consumers who receive power through high voltage system or extra high
voltage system from a perspective on enlightenment on general harmonic restraint. The purpose of these guidelines is the execution of
harmonic restraint at every device by a user as usual to the utmost extent.
A4-124
Options
External regenerative resistor
Specifications
Manufacturer's Reted power (reference)* Activation temperature of

Part No.
part No. Resis with fan[W] built-in thermostat
tance Free air
1m/s 2m/s 3m/s
DV0P4280 RF70M 50Ω 10W 25 35 45
140±5℃
DV0P4281 RF70M 100Ω 10W 25 35 45
B-contact
DV0P4282 RF180B 25Ω 17W 50 60 75 Open/Close capacity
DV0P4283 RF180B 50Ω 17W 50 60 75 (resistance load)
DV0P4284 RF240 30Ω 40W 100 120 150 4A 125VAC 10000 times
2.5A 250VAC 10000 times
DV0P4285 RH450F 20Ω 52W 130 160 200
*Power with which the driver can be used without activating the built-in thermostat.
Manufacturer : Iwaki Musen Kenkyusho
DV0P4280,DV0P4281 DV0P4282,DV0P4283
65 170 thermostat
280min 57±0.5 5 160±0.5 5 light yellow×2
6-φ4.5
2-φ4.5
24
28±0.5 28±0.5
white 420min
85
23
52±0.5
21
13
60
white
25.5 7
10 270min
13
17
14.5
420min
13
white×2
30 Drawing process
thermostat
10MAX
(2mmMAX)
6.8
light yellow×2
10MAX
1.5
2.5
7
DV0P4284 DV0P4285
300 300
290±0.5 white 288±0.5
280 4-φ4.5
thermostat 278 white
290min light yellow×2 thermostat
420min light yellow×2
φ4.5
100
4.5
25
70
420min
130±0.5
420min
15
53
140
100
14
290min
15
50
10 71 10 white
9MAX
20
10MAX
white
18±1
11
3
<Remarks>
Thermal fuse and thermostat are installed for safety. Compose the circuit so that
the power will be turned off when the thermostat is activated.The thermal fuse <Caution>
may blow due to heat dissipating condition, working temperature, supply voltage Regenerative resistor gets very hot.
or load fluctuation.
Take preventive measures for fire and burns.
Avoid the installation near inflammable objects,
Make it sure that the surface temperature of the resistor may not exceed 100℃
at the worst running conditions with the machine, which brings large and easily accessible place by hand.
regeneration (such case as high supply voltage, load inertia is large or
deceleration time is short) Install a fan for a forced cooling if necessary.
A4-125
MINAS A4P
A4P
Options
Battery for absolute encoder

84
Battery (Frame A to G) Lead wire length : 50mm
DV0P2990
1) Part No. DV0P2990 00090001
ZHR-2
2) Lithium battery by Toshiba Battery Co. (by J.S.T. Mfg. co., Ltd.)
14.5
ER6V, 3.6V 2000mAh
1 2
<Caution> BAT＋ BAT−
18
This battery is categorized as hazardous substance, and
you may be required to present an application of
hazardous substance when you transport by air (both Insulation Paper
passenger and cargo airlines).
When you make your own cable for 17-bit absolute encoder
When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2990 as per the wiring
diagram below. Connector of the battery for absolute encoder to be provided by customer.
<Cautions>
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause the wire breakdown or damage
of the battery.
Refer to the instruction manual of the battery for handling of the battery.
■ where to install the battery
(1) indoors, where the products are not subjected to rain or direct sun beam
(2) where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas,
acid, alkaline, salt and so on, and free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
(3) well-ventilated and humid and dust free place
(4) vibration-free place
Wiring Diagram
Junction connector

for encoder cable Pin number when the connector is used.
Twisted pair Connector CN X6
(Optional connector kit) Pin number when the cannon plug is used. (Optional connector kit)
7（H） 1 E5V
E5V
8（G） 2 E0V
E0V
1（T） 1 BAT＋ BAT＋ 1 Battery 5 PS

BAT＋
2（S） 2 BAT− BAT− 2 6
BAT− PS
PS 4（K） Connector ZHR-2 FG（CASE）
5（L） (by J.S.T. Mfg.Co., Ltd.)
PS
3（J） Battery for absolute encoder (Option)
FG
DV0P2990
Title Part No. Manufacturer
Connector ZMR-2 J.S.T. Mfg. co., Ltd.
Connector pin SMM-003T-P0.5 J.S.T. Mfg. co., Ltd. Connector for absolute encoder
Clamping jig YRS-800 J.S.T. Mfg. co., Ltd. (to be provided by customer)
<Precautions in using options>

Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
A4-126
Recommended components
Surge absorber for motor brake
Motor Surge absorber for motor brake
MSMD 50W - 750W ・Z15D271 Ishizuka Electronics Co.

MAMA 100W - 750W
MHMA 2.0kW - 7.5kW
MGMA 900W - 2.0kW
・Z15D151
MSMA 1.0kW - 5.0kW Ishizuka Electronics Co.
MDMA 4.0kW - 7.5kW
MFMA 1.5kW
MGMA 3.0kW - 6.0kW
MDMA 1.0kW - 3.0kW
MFMA 400W ・TNR9V820K
MFMA 2.5kW - 4.5kW Nippon Chemi_Con Co.
MHMA 500W - 1.5kW
List of Manufactures for peripheral equipments (reference only)
Peripheral components Manufacturer
Automation Controls Company

Matsushita Electric Works, Ltd.
Regenerative resistor Iwaki Musen Kenkyusho Co., Ltd.
Nippon Chemi_Con Corp.

Surge absorber for holding brake
Ishizuka Electronics Corp.
Noise filter for signal lines TDK Corp.
Surge absorber/Noise filter Okaya Electric Industries Co. Ltd.
Japan Aviation Electronics

Industry, Ltd.
Sumitomo 3M
Tyco Electronics AMP k.k,

Connector
Cable
Linear scale
* The above list is for reference only. We may change the manufacturer without notice.
A4-127
MINAS A4P
A4P
Recommended components
MINAS A4/A4P Recommended components
A4-128
Information
Index
Motor capacity selection software F2
Option selection software F3
Setup support software F4
Guide to the International System of Units (SI) F5
Selecting Motor Capacity F7
Request Sheet for Motor Selection F13
Connection between driver and controller F21
Index F31
Sales Office F49
F1
Information
Motor capacity selection software
Motor capacity selection software

AC servo motor capacity selection software
We have prepared PC software “M-SELECT” for AC servo motor capacity selection.
Consult our sales representative or authorized distributor.
Example of capacity calculation screen
Information
F2
Option selection software
Option selection software for AC servo motor MINAS series
We have prepared PC software to enable fast, easy, and correct option selection, a complicated job without the software.
Option Selection Method

Selection based on series and type
● Options are selected by motor series and type based on
motor specifications such as motor output and power
requirements.
Direct selection based on a part number of
motor and driver
● Options can be selected directly based on a part number of
motor and driver if it is already determined.
Part Number Search Function

One-shot search for a part number of motor
and driver
● One-shot search is possible to search for a part number of
motor and driver based on motor specifications such as motor
output, power used, presence of brake and gear, and encoder
type.
Display of All Dedicated Options

Total elimination of incorrect selection
● Only necessary options can be selected without fail.
Storage of selection results

● Selection results can be printed and stored with comments.
F3
Option select software
Setup support software PANATERM® for MINAS series AC servo motor & Driver
The PANATERM® assists users in setting parameters, monitoring control conditions, setup support, and analyzing
mechanical operation data on the PC screen, when installed in a commercially available personal computer, and
connected to the MINAS series through the RS232 serial interface.
Basic function
Parameter setup
• After a parameter is defined on the screen, it will be sent to
the driver immediately.
• Once you register parameters you frequently use, they can be
easily set up on the screen.
Monitoring control conditions

Monitor
Parameter
• Control conditions: Control mode, velocity, torque, error and warning
• Driver input signal
• Load conditions: Total count of command/feedback pulses,
Load ratio, Regenerative resistor load ratio
Alarm
• Displays the numbers and contents of the current alarm and
up to 14 error events in the past.
• Clears the numbers and contents of the current alarm and up
to 14 error events in the past.
Setup Software
Auto tuning
Monitor
• Gain adjustment and inertia ratio measurement
Graphic waveform display
• The graphic display shows command velocity, actual velocity,
torque, and error waveforms.
Absolute encoder setup
• Clears absolute encoder at the origin.
• Displays single revolution/multi-revolution data.
• Displays absolute encoder status.
Analysis of mechanical operation data

Frequency analysis Graphic waveform display
• Measures frequency characteristics of the machine, and
displays Bode diagram.
F4
Guide to the International System of Units (SI)
Organization of the system of units
SI unit Table 5 : Prefix
(Multiples of 10)
Table1: Basic unit Table 2: Auxiliary unit Derived unit
Table 4 : Unit combined Table 3 : Derived unit with Other derived unit
with SI unit proper name
Table1: Basic unit Table 2: Auxiliary unit

Quantity Name of unit Symbol of unit Quantity Name of unit Symbol of unit
Length meter m
Weight kilogram kg
Plane angle radian rad
Time second s Solid angle steradian sr
Current ampere A
Thermodynamic temperature kelvin K
Amount of substance mol mol
Luminous intensity candela cd
Table 3: Major derived unit with proper name

Derivation from basic unit,
Quantity Name Symbol of unit
auxiliary unit or other derived unit
Frequency hertz Hz 1Hz=1s–1
Force newton N 1N=1kg-m/s2
Pressure, Stress pascal Pa 1Pa=1N/m2
Energy, Work, Amount of heat joule J 1J=1N-m
Amount of work, Work efficiency, Power, Electric power watt W 1W=1J/s
Electric charge, Amount of electricity coulomb C 1C=1A-s
Electric potential, Potential difference, Voltage, Electromotive force volt V 1V=1J/C
Electrostatic capacity, Capacitance farad F 1F=1C/V
Electric resistance ohm Ω 1Ω=1V/A
Electric conductance siemens S 1S=1Ω–1
Magnetic flux weber Wb 1Wb=1V-s
Magnetic flux density, Magnetic induction tesla T 1T=1Wb/m2
Inductance henry H 1H=1Wb/A
Degree centigrade (Celsius) degree centigrade (Celsius) / degree ˚C t˚C=(t+273.15)K
Luminous flux lumen lm 1lm=1cd-sr
Illuminance lux lx 1lx=1lm/m2
Table 4: Unit combined with SI unit Table 5: Prefix

Multiples powered Prefix
Quantity Name Symbol of unit
to unit Name Symbol
18
minute min 10 exa E
15
10 peta P
Time hour h 10
12
tera T
9
10 giga G
day d 6
10 mega M
3
degree ˚ 10 kilo k
2
10 hecto h
Plane angle minute ' 10 deca da
-1
10 deci d
second " 10
-2
centi c
-3
Volume liter l, L 10 milli m
10
-6
micro µ
-9
Weight ton t 10 nano n
-12
10 pico p
-15
10 femto f
-18
10 atto a
F5
Guide to the Informational System of Units(SI)
Major compatible unit

Symbol of Symbol of SI unit and
Quantity conventional unit compatible unit Conversion value
Length µ (micron) µm 1µ=1µm (micrometer)

2
Acceleration Gal m/s 1Gal=10-2m/s2
2
G m/s 1G=9.806 65m/s2
Frequency c/s, c Hz 1c/s=Hz
Revolving speed, Number of revolutions rpm s-1 or min–1, r/min 1rpm=1min-1
Weight kgf –
Same value
Mass – kg
Weight flow rate kgf/s –
Same value
Mass flow rate – kg/s
Specific weight kgf/m3 –
Same value
Density – kg/m3
Specific volume m3/kgf m3/kg Same value
Load kgf N 1kgf=9.806 65N
Force kgf N 1kgf=9.806 65N
dyn N 1dyn=10-3N
Moment of force kgf-m N-m 1kgf-m=9.806 N • m
(2)
Pressure kgf/cm 2
Pa, bar or kgf/cm 2
1kgf/cm2=9.806 65 x 104Pa=0.980
at (Engineering atmospheric pressure) Pa 665bar
atm (Atmospheric pressure) Pa 1at=9.806 65 x 104Pa
mH2o, mAq Pa 1atm=1.013 25 x 103Pa
(2)
mmHg Pa or mmHg 1mH2O=9.806 65 x 103Pa
Torr Pa 1mmHg=133.322Pa
Stress kgf/mm 2
Pa or N/m 2
1kgf/mm2=9.806 65 x 104Pa
=9.806 65 x 106N/m2
kgf/cm 2
Pa or N/m 2
1kgf/cm 9.806 65 x 104Pa
2=
=9.806 65 x 104N/m2
Elastic modulus kgf/m2 Pa or N/m2 1kgf/m2=9.806 65Pa=9.806 65N/m2
1kgf/cm2=9.806 65 x 104N/m2
Energy, Work kgf-m J (joule) 1kgf • m=9.806 65J
erg J 1erg=107J
Work efficiency, Power kgf-m/s W (watt) 1kgf-m/s=9.806 65W
PS W 1PS=0.735 5kW
Viscosity PP Ps-s 1P=0.1Pa-s
Kinetic viscosity St mm /s 2
10-2St=1mm2/s
Thermodynamic temperature K K (kelvin) 1K=1K
(3)
Temperature interval deg K 1deg=1K
Amount of heat cal J 1cal=4.186 05J
Information
Heat capacity cal/˚C J/K (3) 1cal/˚C=4.186 05J/K

Specific heat, Specific heat capacity cal/ (kgf • ˚C) cal/ (kgf • K)(3) 1cal/ (kgf • ˚C)=4.186 05J/ (kg • K)
Entropy cal/K J/K 1cal/K=4.186 05J/K
Specific entropy cal/ (kgf • K) J/(kg • K) 1cal/ (kgf • K)=4.186 05J/ (kg • K)
Internal energy (Enthalpy) cal J 1cal=4.186 05J
Specific internal energy (Specific enthalpy) cal/kgf J/kg 1cal/kgf=4.186 05J/kg
Heat flux cal/h W 1kcal/h=1.162 79W
Heat flux density cal/ (h • m2) W/m2 1kcal (h • m2)=1.162 79W/m2
Thermal conductivity cal/ (h • m • ˚C) W/ (m • K) (3) 1kcal (h • m • ˚C)=1.162 79W/ (m • K)
2
Coefficient of thermal conductivity cal/ (h • m2 • ˚C) W/ (m • K) (3) 1kcal (h • m • ˚C)=1.162 79W/ (m2 • K)
Intensity of magnetic field Oe A/m 1Oe=102/ (4π)A/m
Magnetic flux Mx Wb (weber) 1Mx=10-3Wb
Magnetic flux density Gs,G T (tesla) 1Gs=10-4T
Note
(1) Applicable to liquid pressure. Also applicable to atmospheric pressure of meteorological data, when “bar” is used in international standard.
(2) Applicable to scale or indication of blood pressure manometers.
(3) “°C” can be substituted for “K”.
F6
Selecting Motor Capacity
Flow of motor selection
1. Definition of mechanism to be driven by motor.
Define details of individual mechanical components (ball screw length, lead and pulley diameters, etc.)
<Typical mechanism>
Ball screw mechanism Belt mechanism Rack & pinion, etc.
2. Definition of operating pattern.

Acceleration/deceleration time, Constant-velocity time, Stop time, Cycle time, Travel distance
Velocity
Travel distance
(slashed area)
Time
Acceleration Constant- Deceleration Stop time

time velocity time time
Cycle time
Note) Selection of motor capacity significantly varies depending on the operating pattern.
The motor capacity can be reduced if the acceleration/deceleration time and stop time are set as
long as possible.
3. Calculation of load inertia and inertia ratio.

Calculate load inertia for each mechanical component. (Refer to "General inertia calculation method" described
later.)
Divide the calculated load inertia by the inertia of the selected motor to check the inertia ratio.
For calculation of the inertia ratio, note that the catalog value of the motor inertia is expressed as "x 10–4kg•m2".
4. Calculation of motor velocity

Calculate the motor velocity from the moving distance, acceleration / deceleration time and constant-velocity
time.
5. Calculation of torque
Calculate the required motor torque from the load inertia, acceleration/deceleration time and constant-velocity
time.
6. Calculation of motor
Select a motor that meets the above 3 to 5 requirements.
F7
Description on the items related to motor selection

1. Torque
(1) Peak torque
Indicate the maximum torque that the motor requires during operation (mainly in acceleration and
deceleration steps). The reference value is 80% or less of the maximum motor torque. If the torque is a
negative value, a regenerative discharge resistor may be required.
(2) Traveling torque, Stop holding torque
Indicates the torque that the motor requires for a long time. The reference value is 80% or less of the rated
motor torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque calculation formula for each mechanism
Ball screw mechanism P

Traveling torque Tf= ( µgW + F)
F 2π
W
W : Weight [kg] : Mechanical efficiency
P : Lead [m] µ : Coefficient of friction
P F : External force [N] g : Acceleration of gravity 9.8[m/s2]
Belt mechanism D
Traveling torque Tf= ( µgW + F)
2π
F
W W : Weight [kg] : Mechanical efficiency
D P : Pulley diameter [m] µ : Coefficient of friction
F : External force [N] g : Acceleration of gravity 9.8[m/s2]
(3) Effective torque

Indicates a root-mean-square value of the total torque required for running and stopping the motor per unit
time. The reference value is approx. 80% or less of the rated motor torque.
Ta2 × ta ＋ Tf2 × tb ＋ Td2 × td

Trms =
Information
tc
T a : Acceleration torque [N • m] t a : Acceleration time [s] t c : Cycle time [s]
T f : Traveling torque [N • m] t b : Constant-velocity time [s] (Run time + Stop time)
T d : Deceleration torque [N m]• t d : Deceleration time [s]
2. Motor velocity
Maximum velocity
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value.
When the motor runs at the maximum velocity, you must pay attention to the motor torque and temperature rise.
For actual calculation of motor velocity, see "Example of motor selection" described later.
F8
3. Inertia and inertia ratio
Inertia is like the force to retain the current moving condition.
Inertia ratio is calculated by dividing load inertia by rotor inertia.
Generally, for motors with 750 W or lower capacity, the inertia ratio should be “20” or less. For motors with 1000
W or higher capacity, the inertia ratio should be ”10” or less.
If you need quicker response, a lower inertia ratio is required.
For example, when the motor takes several seconds in acceleration step, the inertia ratio can be further
( increased. )
General inertia calculation method
Shape J calculation formula Shape J calculation formula
Disk 1 Hollow cylinder 1

J= WD 2 [k g • m 2] J= W (D 2 + d 2) [kg • m 2]
8 d
8
W : Weight [kg]
D
W : Weight [kg]
D : Outer diameter [m]
D : Outer diameter [m] D
d : Inner diameter [m]
Prism 1 Uniform rod 1

J= WD (a2 + b2) [k g • m 2] J= W(3D 2 + 4L 2) [kg • m 2]
12 48
W : Weight [kg]
c W : Weight [kg]
D D : Outer diameter [m]
a b a, b, c : Side length [m] L/2
L/2 L : Length [m]
1 1
Straight rod J= WL 2 [k g • m 2]
Separated rod J= W D 2 + WS 2 [kg • m 2]
3 S
8
W : Weight [kg]
L
W : Weight [kg]
D : Outer diameter [m]
L : Length [m] D
S : Distance [m]
Reduction gear Inertia on shaft "a"

n
a J = J 1 + ( n 2 ) 2 J 2 [k g • m 2]
J1 n1 1
n2 b
J2 n 1 : A rotational speed of a shaft [r/min]
n 2 : A rotational speed of b shaft [r/min]
Conveyor 1 Ball screw W • P2

J= WD 2 [k g • m 2] J = JB + [kg • m 2]
4 4π 2
W : Workpiece weight on conveyor [kg] F W : Weight [kg]
W W
D D : Drum diameter [m] P : Lead
P JB : J of ball screw
* Excluding drum J
If weight (W [kg]) is unknown, calculate it with the following formula:

Weight W[kg]=Density [kg/m3] x Volume V[m3]
Density of each material
Iron =7.9 x 103 [kg/m3] Aluminum =2.8 x 103 [kg/m3]
Brass 3
=8.5 x 10 [kg/m ]3
F9
To drive ball screw mechanism

1. Example of motor selection for driving ball screw mechanism
Workpiece weight WA = 10 [kg]
Ball screw length B L = 0.5 [m]
Ball screw diameter B D = 0.02 [m]
Ball screw pitch B P = 0.02 [m]
Ball screw efficiency B = 0.9
Travel distance 0.3 [m]
Coupling inertia Jc = 10 × 10– 6 [kg • m2] (Use manufacturer-specified catalog value, or calculation value.)
2. Running pattern :
Velocity
Acceleration time ta = 0.1 [s] Travel distance
(slashed area)
Constant-velocity time tb = 0.8 [s]
Deceleration time td = 0.1 [s]
Time
Cycle time tc = 2 [s]
Acceleration Constant- Deceleration Stop time
Travel distance 0.3 [m] time velocity time time
Cycle time
2 2
3. Ball screw weight BW = π × BD
× × BL = 7.9 × 103 × π × 0.02 × 0.5
2 2
= 1.24 [kg]
4. Load inertia JL = JC ＋ JB = JC 1 BW × BD2 ＋ WA • BP2
＋
8 4π 2
= 0.00001 ＋ (1.24 x 0.02 2 ) / 8 ＋ 10 × 0.02 2 / 4π 2
= 1.73 × 10– 4 [ kg • m 2 ]
5. Provisional motor selection
In case of 200 W motor : JM = 0.17 × 10–4 [ kg • m 2 ]
6. Calculation of inertia ratio
JL / JM = 1.73 × 10–4 / 0.17 × 10–4 Therefore, the inertia ratio is "10.2" (less than "20")
(In case of 100 W motor: JM = 0.064 × 10–4 Therefore, the inertia ratio is "27.0".)
7. Calculation of maximum velocity (Vmax)
1 1
× Acceleration time × Vmax ＋ Constant-velocity time × Vmax ＋ × Deceleration time × Vmax = Travel distance
2 2
1 1
× 0.1 × Vmax ＋ 0.8 × Vmax ＋ × 0.1 × Vmax = 0.3
2 2 Information
0.9 × Vmax = 0.3

= 0.3 / 0.9 = 0.334 [m/s]
8. Calculation of motor velocity (N [r/min]) Ball screw lead per resolution: BP = 0.02 [m]
N = 0.334 / 0.02 = 16.7 [r/s]
= 16.7 × 60 = 1002 [min–1] < 3000 [min–1] (Rated velocity of 200W motor)
Traveling torque Tf = BP ( µgWA ＋ F) = 0.02 ( 0.1 × 9.8 × 10 ＋ 0)
2 πB 2π × 0.9
= 0.0 3 5 [ N • m]
(JL ＋ JM) × 2πN [ r /s]
Acceleration torque T a = ＋ Traveling torque
Acceleration time [s]
(1.73 × 10–4 ＋ 0.17 × 10–4) × 2π × 16.7
= ＋ 0.035
0.1
= 0.1 9 9 ＋ 0.035 = 0.234 [ N • m]
F10
(JL ＋ JM) × 2πN [ r /s]
Deceleration torque Td = – Traveling torque
Deceleration time [s]
(1.73 × 10–4 ＋ 0.17 × 10–4) × 2π × 16.7
= – 0.035
0.1
= 0.1 9 9 – 0.035 = 0.164 [ N • m]
10. Verification of maximum torque

Acceleration torque = Ta = 0.234 [N • m] < 1.91 [ N • m] (Maximum torque of 200 W motor)
11. Verification of effective torque

T rms =
tc
0 .2 3 4 2 × 0 .1 ＋ 0.0352 × 0.8 ＋ 0.1642 × 0.1

=
2
= 0.065 [N • m] < 0.64 [ N • m] (Rated torque of 200 W motor)
12. Judging from the inertia ratio calculated above, selection of 200 W motor is preferable,
although the torque margin is significantly large.
Example of motor selection

Example of motor selection for timing belt mechanism
1.Mechanism Workpiece weight WA =3[kg] (including belt)
Pulley diameter P D =0.05[m]
Pulley weight WP =0.5[kg] (Use manufacturer-specified catalog value, or calculation value.)
Mechanical efficiency B = 0.8
Coupling inertia Jc = 0 (Direct connection to motor shaft)
Belt mechanism inertia JB
Pulley inertia JP
Velocity
Travel distance
(slashed area)
2. Running pattern
Acceleration time ta = 0.1[s]
Constant-velocity time tb = 0.8[s] Time
Deceleration time td = 0.1[s] Acceleration Constant- Deceleration Stop time

time velocity time time
Cycle time tc = 2[s] Cycle time
Travel distance 1[m]
3. Load inertia JL = JC JB ＋ JP
＋
= JC ＋ 1 WA × PD2 ＋ 1 WP × PD2 × 2
4 8
1 2 1
=0 ＋ × 3 × 0.05 ＋ × 0.5 × 0.05 2 × 2
4 8
= 0.00219 = 21.9 × 10–4 [ kg • m 2]
4. Provisional motor selection

In case of 750 W motor : JM = 1.31 × 10–4 [ kg • m 2]
5. Calculation of inertia ratio

JL / JM = 21.9 × 10–4 / 1.31 × 10–4 Therefore, the inertia ratio is "16.7" (less than "20")
F11
6. Calculation of maximum velocity (Vmax)

1 × Acceleration time × Vmax ＋ Constant-velocity time × Vmax ＋
1 × Deceleration time × Vmax = Travel distance
2 2
1 × 0.1 × Vmax ＋ 0.8 × Vmax ＋
1 × 0.1 × Vmax = 1
2 2
0.9 × Vmax = 1
Vmax = 1 / 0.9 = 1.111[m/s]
7. Calculation of motor velocity (N [r/min])

A single rotation of pulley : π × PD = 0.157[m]
N = 1.11 / 0.157 = 7.08[r/s]
= 7.08 × 60 = 424.8[min–1] < 3000[min–1] (Rated velocity of 750 W motor)
Traveling torque T f = PD (µgWA ＋ F) = 0.05 (0.1 x 9.8 x 3 ＋ 0)

2 2 x 0.8
= 0.092[N • m]
Acceleration torque (JL ＋ JM) × 2πN[ r /s]

Ta = ＋ Traveling torque
Acceleration time[s]
(21.9 × 10–4 ＋ 1.31 × 10–4) × 2π × 7.08
= ＋ 0.092
0.1
= 1.032 ＋ 0.092 = 1.124[ N • m]
Deceleration torque (JL ＋ JM) × 2πN[ r /s]

Td = – Traveling torque
Deceleration time[s]
(21.9 × 10–4 ＋ 1.31 × 10–4) × 2π × 7.08
= – 0.092
0.1
= 1.032 – 0.092 = 0.94[ N • m]
9. Verification of maximum torque

Information
Acceleration torque Ta = 1.124[N • m] < 7.1[ N • m] (Maximum torque of 750 W motor)
10. Verification of effective torque

T rms =
tc
1 .1 2 4 2 × 0 . 1 ＋ 0.0922 × 0.8 ＋ 0.942 × 0.1

=
2
= 0.333 [N • m] < 2.4 [ N • m] (Rated torque of 750 W motor)
11. Judging from the above calculation result, selection of 750W motor is acceptable.
F12
Customer Service Technical Support Center, Motor Fax No.
Request Sheet for Motor Selection Company, Matsushita Electric Industrial Co., Ltd. (81)-72-870-3120
1. Driven mechanism and running data
1) Travel distance of the work load per one cycle d1: deg
Running pattern
velocity
2) Cycle time t0: s
(Fill in items 3) and 4) if required.) R1
3) Acceleration time ta: s time

ta td
t0 ts
4) Deceleration time td: s
5) Stopping time ts: s

F
6) Max. velocity V: mm/s WA
7) External force F: kg
8) Positioning accuracy of the work load ± mm
9) Total weight of the work load and the table WA: kg
10) Power supply voltage V
11) Diameter of the ball screw mm
12) Total length of the ball mm
14) Traveling direction

13) Lead of the ball screw mm (horizontal, vertical etc.)
2. Other data
(Fill the details on specific mechanism and its configurations in the following blank.)
Company name :
Department/Section :
Name :
Address :
Tel :
Fax :
E-mail address:
F13

Motor side Motor side
1) Travel distance of the work load per one cycle d1: deg 15) Diameter of the pulley D1: mm D2: mm
2) Cycle time t0: s 16) Weight of the pulley W1: kg W2: kg
(Fill in items 3) and 4) if required.) (or item 17) and 18))
17) Wedth of the pulley L1: mm

3) Acceleration time ta: s
18) Material of the pulley

19) Weight of the belt WM: kg

Running pattern
6) Max. velocity V: mm/s
velocity
R1

ta td time
9) Total weight of the work load andthe table WA: kg t0 ts
10) Power supply voltage V F WA
11) Diameter of the ball screw mm
12) Total length o the ball screw mm
D（
2 W2 ）
13) Lead of the ball screw mm
WM
14) Traveling L1
D（
1 W1 ）
2. Other data
Information
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F14
1) Travel distance of the work load per one cycle d1: deg
Running pattern
2) Cycle time t0: s
velocity
3) Acceleration time ta: s time

ta td
t0 ts
5) Stopping time ts: s WA

F
L1

D1
9) Total weight of the work load WA: kg W1
10) Power supply voltage V (or item 14) and 15))
11) Weight of the belt WM: kg 14)Width of the pulley L 1: mm
12) Diameter of the driving pulley D1: mm 15) Material of the pulley
13) Total weight of the pulley W 1: kg 16) Traveling direction

(horizontal, vertical etc.)
2. Other data
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F15

Motor side Belt side
1) Travel distance of the work load per one cycle d1: deg 16) Diameter of the pulley D3: mm D 4: mm
2) Cycle time t0: s 17) Weight of the pulley W3: kg W 4: kg
(Fill in items 3) and 4) if required.) (or item 18) and 19))
18) Width of the pulley L2: mm

3) Acceleration time t a: s

4) Deceleration time t d: s
20) Weight of the belt WL: kg

6) Max. velocity V: mm/s (horizontal, vertical etc.)
7) External force F: kg Running pattern
8) Positioning accuracy of the work load ± mm velocity

R1
9) Total weight of the work load and the table WA: kg
ta td F
10) Power supply voltage V time
t0 ts
L2
11) Weight of motor site belt WM: kg WL
WA
Motor side Belt side
12) Diameter of the pully D1: mm D2: mm D（
2 W2 ）
D（
4 W4 ）
13) Weight of the pulley W1: kg W2: kg WM

(or item 14) and 15))
D（
3 W3 ）
14) Weight of the belt L1: mm

D（
1 W1 ）
L1
2. Other data
(Fill the details on specific mechanism and its configurations in the following blank.) Information
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F16

Prism Cylinder
1) Travel distance of the work load per one cycle d1: deg 14) Dimensions of the work load a: mm a: mm
2) Cycle time t0: s b: mm b: mm
(Fill in items 3) and 4) if required.) c: mm c: mm
3) Acceleration time t a: s 15) Number of work loads pcs
Running pattern
velocity
d1
6) Max. rotational speed of the table v: deg/s
(or)
V: r/s ta td time
t0 ts
7) Positioning accuracy of the work load ± deg
R1
8) Weight of one work load W A: kg
WA
9) Driving radius of the center of gravity of the R1: mm
10) Diameter of the table D1: mm

D1
11) Mass of the table W1: kg
12) Diameter of the table support T1: mm

b b
a
c
c
2. Other data a
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F17

Motor side Turntable side
1) Travel distance of the work load per one cycle d1: deg 16) Diameter of the pulley D2: mm D3: mm
2) Cycle time t 0: s 17) Weight of the pulley W2: kg W3: kg

(Fill in items 3) and 4) if required.)
18) Width of the pulley L1 : mm
3) Acceleration time t a: s
20) Weight of the belt WM: kg
Running pattern
6) Max. rotating speed of the table v: deg/s
(or)
V: r/s
velocity
d1
7) Positioning accuracy of the work load ± deg

ta td time
t0 ts
8) Weight of one work load WA: kg
R1
9) Driving radius of the center of gravity of the R1: mm WA
10) Diameter of the table D 1: mm

D1
11) Mass of the table W 1: kg
12) Diameter of the table support T1: mm

D2（W2）
13) Power supply voltage V D3（W3）
L1
(Prism) (Cylinder)
WM
14) Dimension of the work load a: mm a: mm
b
b
b: mm b: mm a
a
c: mm c: mm c
c
Information
15) Number of work loads pcs
2. Other data
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F18
1) Travel distance of the work load per one cycle R1: mm

Running pattern
2) Cycle time t0: s
velocity
3) Acceleration time ta: s ta td time

t0 ts
6) Max. velocity v: mm/s

F
7) External pulling force F: kg
L1
D（
1 W1 ）
9) Total weight of the work load pcs

13) Width of the roller L1: mm

11) Diameter of the roller D1: mm
14) Material of the roller

12) Mass of the roller W1: kg
2. Other data
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F19
1) Travel distance of the work load per one cycle R1: mm
Running pattern
2) Cycle time t0: s
(Fill in items 3) and 4) if required.)
velocity
R1
3) Acceleration time ta: s
ta td time
t0 ts
5) Stopping time ts: s WA

F

W3
9) Total weight of the work load WA: kg
D3
11) Diameter of the pinion D3: mm
12) Mass of the pinion W3: kg

(horizontal, vertical, etc)
2. Other data
Information
Company name :
Name :
Address :
Tel :
Fax :
E-mail address:
F20
Connection between Driver and Controller
Connection between MINAS A4 and FP2-PP22 AFP2434 (Matsushita Electric Works)
Controller Driver
FP2-PP22 AFP2434(by Matsushita Electric Works) MINAS A4 Series
3
A1 (44)* PULS1
CW pulse command output CW pulse
4 220Ω
B1 (45)* PULS2 command input
5
A2 (46)* SIGN1
CCW pulse command output 220Ω CCW pulse
6 command input
B2 (47)* SIGN2
390Ω
A4 23 OZ+
Origin input Z-phase input
B3 24 OZ-
13
25 GND
7 COM+
4.7kΩ
A7 30 CL Counter clear input
Deviation counter
clear output 4.7kΩ
B7 29 SRV-ON Servo-ON input
3.6kΩ 4.7kΩ Gain switching/Torque
B4 27 GAIN/TC
From limit switching input
Origin proximity input 4.7kΩ
A5 PLC I/O 31 A-CLR Alarm clear input
6.8kΩ output 4.7kΩ CCW over-travel
9 CCWL prohibit input
Limit over + 4.7kΩ CW over-travel
A6 8 CWL
prohibit input
35 S-RDY+ Servo-Ready output
Limit over −
B6 34 S-RDY-
To
+24VDC A20 PLC I/O 37 ALM+
External power supply input input Servo-alarm output
GND B20 36 ALM-
39 COIN+ Positioning complete

output
38 COIN-
Origin proximity sensor 41 COM-
CW limit sensor
Pulse train interface exclusive for line driver. Use this interface when you
CCW limit sensor use pulse command frequency between 500kpps and 2Mpps
44 PULSH1 CW pulse
GND +24V command input
45 PULSH2
DC24V Power supply
46 SIGNH1 CCW pulse
command input
47 SIGNH2
Connection between MINAS E and FP2-PP22 AFP2434 (Matsushita Electric Works)
Controller Driver
FP2-PP22 AFP2434(by Matsushita Electric Works) MINAS E Series

A1 22 PULS1
220Ω
B1 23 PULS2 command input
A2 24 SIGN1
CCW pulse command output CCW pulse
B2 220Ω
25 SIGN2 command input
390Ω
A4 19 OZ+
Origin input
Z-phase input
B3
20 OZ-
14 GND
1 COM+
A7 4.7kΩ
Deviation counter 4 CL Counter clear input
clear output B7 4.7kΩ
3.6kΩ 2 SRV-ON Servo-ON input
B4
4.7kΩ Gain switching/Torque
Origin proximity input 5 GAIN/TC
A5 limit switching input
From 4.7kΩ
6.8kΩ PLC I/O 3 A-CLR Alarm clear input
output 4.7kΩ CCW over-travel
Limit over + 8 CCWL
A6 prohibit input
4.7kΩ CW over-travel
7 CWL
prohibit input
Limit over − 9
B6 ALM
Servo-Alarm output
+24VDC A20
External power supply input
GND B20 10 COIN Positioning complete
To
output
PLC I/O
input
11 BRKOFF
Brake release output
Origin proximity sensor
CW limit sensor
12 WARN
CCW limit sensor Warning output
GND +24V
13 COM-
DC24V Power supply
F21
Connection between MINAS A4 and FPG-PP12 AFPG432 (Matsushita Electric Works)
Controller Driver
FPG-PP12 AFPG432 (by Matsushita Electric Works) MINAS A4 Series
A1 3
(44)* PULS1
4 220Ω
B1 PULS2 command input
(45)*
A2 5
(46)* SIGN1
B2 6 220Ω
SIGN2 command input
560Ω (47)*
A4 23
Origin input OZ+
Z-phase input
B3
24 OZ-
13
25 GND
7 COM+
A7 4.7kΩ
Deviation counter clear output 30 CL Counter clear input
B7 4.7kΩ
B4
From 4.7kΩ
PLC I/O 31 A-CLR Alarm clear input
output 4.7kΩ
9 CCW over-travel
CCWL
prohibit input
4.7kΩ
8 CWL CW over-travel
FG A19 prohibit input
FG B19 35 S-RDY+
Servo-Ready output
+24VDC A20 34 S-RDY-
External power supply input To
GND B20 PLC I/O 37 ALM+
input Servo-alarm output
36 ALM-

Origin proximity sensor output
38 COIN-
CW limit sensor To
PLC I/O 41 COM-
CCW limit sensor input
+24V use pulse command frequency between 500kpps and 2Mpps
GND
DC24V Power supply 44 PULSH1
CW pulse
45 PULSH2 command input
46 SIGNH1 CCW pulse

47 SIGNH2 command input
Connection between MINAS E and FPG-PP12 AFPG432 (Matsushita Electric Works)
Controller Driver
FPG-PP12 AFPG432 (by Matsushita Electric Works) MINAS E Series
A1 22 PULS1
220Ω
A2 24 SIGN1
B2 220Ω command input
25 SIGN2
560Ω
Origin input A4 19 OZ+
Z-phase input
B3
20 OZ-
Information
14 GND
1 COM+
A7 4.7kΩ
B7 4.7kΩ
B4
A5 From limit switching input
4.7kΩ
output 4.7kΩ
8 CCWL CCW over-travel
prohibit input
4.7kΩ
FG A19
prohibit input
FG B19 9 ALM
Servo-Alarm output
+24VDC A20
GND B20 PLC I/O 10 COIN Positioning complete
input output
11 BRKOFF
CW limit sensor To
PLC I/O 12 WARN
input
GND +24V 13 COM-

DC24V Power supply
F22
Connection between MINAS A4 and FP2-PP2 AFP2430 (Matsushita Electric Works)
Controller Driver
FP2-PP2 AFP2430 (by Matsushita Electric Works) MINAS A4 Series
A1 3
(44)* PULS1
4 220Ω
B1 PULS2 command input
(45)*
A2 5
CCW pulse command output (46)* SIGN1
CCW pulse
B2 6 220Ω command input
(47)* SIGN2
220Ω
A5 23
Origin input OZ+
Z-phase input
B5
24 OZ-
13
25 GND
7 COM+
A6 4.7kΩ
B6 4.7kΩ
A7
B7 limit switching input
From
4.7kΩ
FG A19 8 CWL
prohibit input
FG B19 35 S-RDY+ Servo-Ready output
+24VDC A20 34 S-RDY-
GND B20 PLC I/O 37 ALM+
36 ALM-

Origin proximity sensor output
38 COIN-
CW limit sensor To
PLC I/O 41 COM-
CCW limit sensor
input
use pulse command frequency between 500kpps and 2Mpps
GND +24V
DC24V Power supply 44 PULSH1
CW pulse
46 SIGNH1 CCW pulse

Connection between MINAS E and FP2-PP2 AFP2430 (Matsushita Electric Works)
Controller Driver
FP2-PP2 AFP2430 (by Matsushita Electric Works) MINAS E Series
A1 22 PULS1
220Ω
A2 24 SIGN1
CCW pulse command output
CCW pulse
B2 220Ω command input
25 SIGN2
220Ω
Origin input A5 19 OZ+
Z-phase input
B5
20 OZ-
14 GND
1 COM+
A6 4.7kΩ
B6 4.7kΩ
A7
B7 From limit switching input
4.7kΩ
output 4.7kΩ
prohibit input
4.7kΩ
FG A19
prohibit input
FG B19 9 ALM
Servo-Alarm output
24V＋ A20
External power supply input
24V− B20 10 COIN Positioning complete
To output
PLC I/O
input
11 BRKOFF
CW limit sensor To
PLC I/O 12 WARN
input
GND +24V 13 COM-

DC24V Power supply
F23
Connection between MINAS A4 and FPG-C32T (FPΣ, Matsushita Electric Works)
Controller Driver
FPG-C32T (FPΣ by Matsushita Electric Works) MINAS A4 Series
2KΩ
Y0 3 PULS1
CW pulse command output 220Ω CW pulse
4 PULS2 command input
2KΩ 5 SIGN1
Y1
5.6KΩ 19 CZ
X2 Z-phase input
Origin input
13 GND
COM
25 GND
+
7 COM+
4.7kΩ Counter clear input
30 CL
Y2 4.7kΩ
Deviation counter clear output 29 SRV-ON Servo-ON input
― 4.7kΩ Gain switching/Torque
27 GAIN/TC limit switching input
From 4.7kΩ
output 4.7kΩ
prohibit input
COM 4.7kΩ
Origin proximity input 3kΩ prohibit input
X3 35 S-RDY+ Servo-Ready output
34 S-RDY-
CCW limit over input 5.6kΩ To
X5 PLC I/O 37 ALM+
36 ALM-
CW limit over input 5.6kΩ
X6 39 COIN+
Positioning complete
38 COIN- output

CW limit sensor
CCW limit sensor
GND +24V
DC24V Power supply
Connection between MINAS E and FPG-C32T (FPΣ, Matsushita Electric Works)
Controller Driver
FPG-C32T (FPΣ by Matsushita Electric Works) MINAS E Series

2KΩ
Y0 22 PULS1
220Ω
2KΩ 24 SIGN1
Y1
220Ω
5.6KΩ
X2 21 CZ
COM Information
+ 14 GND
1 COM+
4.7kΩ
Y2 4 CL Counter clear input
Deviation counter clear output
4.7kΩ
― 2 SRV-ON Servo-ON input
5 GAIN/TC
limit switching input
From 4.7kΩ
output 4.7kΩ
COM 8 CCWL CCW over-travel
prohibit input
Origin proximity input 3kΩ 4.7kΩ
X3 7 CWL CW over-travel
prohibit input
9 ALM
Servo-Alarm output
CCW limit over input 5.6kΩ
X5
10 COIN Positioning complete

CW limit over input 5.6kΩ To output
X6 PLC I/O
input
11 BRKOFF
CW limit sensor
12 WARN
GND +24V
13 COM-
DC24V Power supply
F24
Connection between MINAS A4 and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.)
Controller Driver
F3YP14-0N/F3YP-18-0N (by Yokogawa Electric Corp.) MINAS A4 Series
3
14a (44)* PULS1
4 command input
13a (45)* PULS2
5
12a (46)* SIGN1
220Ω CCW pulse
CCW pulse command output 6
(47)* SIGN2 command input
11a
240Ω 23 OZ+
15a Z-phase input
Origin line driver input
24 OZ-
16a
13
25 GND
7 COM+
4.7kΩ
30 Counter clear input
CL
10a 4.7kΩ Servo-ON input
Deviation counter clear output 29 SRV-ON
9a 4.7kΩ Gain switching/Torque
From
4.7kΩ Alarm clear input
PLC I/O 31 A-CLR
＋V 8b
5V power supply 9 CCWL prohibit input
for pulse output GND 8a 4.7kΩ CW over-travel
8 CWL
prohibit input
1a 34 S-RDY-
CW limit input 7.4kΩ To
3a PLC I/O 37 ALM+
input
36 ALM-
CCW limit input 7.4kΩ
2a 39 COIN+ Positioning complete
output
38 COIN-
Origin proximity input 7.4kΩ
4a 41 COM-
44 PULSH1
CCW limit sensor CW pulse
CW limit sensor
46 SIGNH1 CCW pulse
GND +5V GND +24V
DC5V Power supply DC24V Power supply
Connection between MINAS E and F3YP14-0N/F3YP18-0N (Yokogawa Electric Corp.)
Controller Driver
F3YP14-0N/F3YP-18-0N (by Matsushita Electric Works) MINAS E Series
14a 22 PULS1
CW pulse
CW pulse command output 220Ω
13a 23 PULS2 command input
12a 24 SIGN1
11a 25 SIGN2 command input
240Ω
15a 19 OZ+
16a 20 OZ-
14 GND
1 COM+
4.7kΩ
10a 4 CL Counter clear input
4.7kΩ Servo-ON input
9a 2 SRV-ON
From 4.7kΩ
8b PLC I/O 3 A-CLR Alarm clear input
5V power supply for ＋V
pulse output GND 8 CCWL prohibit input
8a
7 CWL prohibit input
1a 9 ALM
CW limit input 7.4kΩ Servo-Alarm output
3a
10 COIN
CCW limit input To Positioning complete
7.4kΩ output
2a PLC I/O
input
11 BRKOFF
Origin proximity input 7.4kΩ Brake release output
4a
12 WARN
Warning output
CW limit sensor 13 COM-
CCW limit sensor
GND +5V GND +24V

F25
Connection between MINAS A4 and F3NC32-ON/ F3NC34-ON (Yokogawa Electric Corp.)
Controller Driver
F3NC32-ON/ F3NC34-ON (by Yokogawa Electric Corp.) MINAS A4 Series
3
3a (44)* PULS1
Pulse command output A 220Ω CW pulse
4 command input
4a (45)* PULS2
5
5a (46)* SIGN1
Pulse command output B 220Ω CCW pulse
6 command input
6a (47)* SIGN2
240Ω 23 OZ+
Encoder Z-phase input + 19a Z-phase input
24 OZ-
Encoder Z-phase input - 20a
13
25 GND
7 COM+
4.7kΩ
30 Counter clear input
CL
Diviation pulse clear output 14a 4.7kΩ Servo-ON input
29 SRV-ON
From
External power supply 24VDC input 1a 4.7kΩ
External power supply 24VDC input(GND) 1b
8 CWL
prohibit input
Contact point input COM 13a
34 S-RDY-
7.4kΩ To
CW limit input 8a PLC I/O 37 ALM+
36 ALM-
7.4kΩ
CCW limit input 9a 39 COIN+ Positioning complete
output
38 COIN-
Origin input 7.4kΩ
7a 41 COM-
※Pulse train interface exclusive for line driver

Origin proximity sensor use pulse command frequency between 500kpps and 2Mpps
CCW limit sensor
44 PULSH1
CW limit sensor CW pulse
46 SIGNH1 CCW pulse

GND +24V command input
47 SIGNH2
DC24V Power supply
Connection between MINAS E and F3NC32-ON/F3NC34-ON (Yokogawa Electric Corp.)
Controller Driver
F3NC32-ON/ F3NC34-ON (by Yokogawa Electric Corp.) MINAS E Series

3a 22 PULS1
Pulse command output A CW pulse
220Ω
4a 23 PULS2 command input
5a 24 SIGN1
Pulse command output B CCW pulse
220Ω command input
6a 25 SIGN2
240Ω
Encoder Z-phase input + 19a 19 OZ+
Z-phase input
Encoder Z-phase input - 20a 20 OZ-
14 GND
Information
1 COM+
4.7kΩ
Diviation pulse clear output 14a 4 CL Counter clear input
2 SRV-ON
External power supply 24VDC input 1a 5 GAIN/TC limit switching input
From
PLC I/O 4.7kΩ Alarm clear input
External power supply 24VDC input(GND) 1b 3 A-CLR
output
4.7kΩ CCW over-travel
8 CCWL
prohibit input
Contact point input COM 13a 7 CWL
prohibit input
9 ALM
Servo-alarm output
7.4kΩ
CW limit input 8a
7.4kΩ To output
CCW limit input 9a PLC I/O
input
11 BRKOFF
Origin input 7.4kΩ Brake release output
7a
12 WARN
Warning output
CCW limit sensor 13 COM-
CW limit sensor
GND +24V
DC24V Power supply
F26
Connection between MINAS A4 and CS1W-NC113(Omron Corp.)
Controller Driver
CS1W-NC113 (by Omron Corp.) MINAS A4 Series
1.6kΩ 3
A6 PULS1
220Ω
1.6kΩ 5 SIGN1
A8
150Ω 23 OZ+
A16 Z-phase input
24 OZ-
A14
13
25 GND
Power supply for V+ A1
output 7 COM+
GND A2 4.7kΩ
30 CL Counter clear input
Deviation counter A10 4.7kΩ
29 SRV-ON Servo-ON input
reset output
From 27 GAIN/TC limit switching input
A24 PLC I/O 4.7kΩ
Emergency stop output 31 A-CLR Alarm clear input
4.7kΩ
input A20 4.7kΩ CCW over-travel
8 CWL
Origin proximity input 4.7kΩ prohibit input
A21 35 S-RDY+ Servo-Ready output
34 S-RDY-
CCW limit over input 4.7kΩ To
A23 PLC I/O 37 ALM+
input
36 ALM-
CW limit over input
4.7kΩ
A22 39 COIN+ Positioning complete
output
38 COIN-
CW limit sensor
CCW limit sensor
GND +24V
DC24V Power supply
Connection between MINAS E and CS1W-NC113(Omron Corp.)
Controller Driver
CS1W-NC113 (by Omron Corp.) MINAS E Series

1.6kΩ 22 PULS1
A6
1.6kΩ
A8 24 SIGN1
220Ω
150Ω
A16 19 OZ+
Z-phase input
A14 20 OZ-
Power supply for V+ A1 14 GND

output
GND A2 1 COM+
4.7kΩ
Deviation counter A10 4 CL Counter clear input
reset output 4.7kΩ Servo-ON input
2 SRV-ON
A24 5 GAIN/TC limit switching input
Emergency stop From
4.7kΩ 4.7kΩ
input A20 PLC I/O 3 A-CLR Alarm clear input
Origin proximity input 4.7kΩ 4.7kΩ CW over-travel
A21 7 CWL prohibit input
9 ALM
CCW limit over input Servo-Alarm output
4.7kΩ
A23
To
PLC I/O 10 COIN
CW limit over input input Servo-Ready output
4.7kΩ
A22
11 BRKOFF Brake release output

CW limit sensor
12 WARN
GND +24V
13 COM-
DC24V Power supply
F27
Connection between MINAS A4 and C200H-NC211 (Omron Corp.)
Controller Driver
C200H-NC211 (by Omron Corp.) MINAS A4 Series
1.6kΩ
2 3 PULS1
Pulse output (CW + CCW) 220Ω CW pulse
output 4 PULS2 command input
1.6kΩ
13 5 SIGN1
Direction output 220Ω CCW pulse
150Ω 23
9 OZ+
Z-phase input
24 OZ-
11
13
25 GND
Power supply for V+ 1
output 7 COM+
GND 23 4.7kΩ
4 4.7kΩ
Deviation counter Servo-ON input
29 SRV-ON
reset output
22 From
4.7kΩ
Emergency stop PLC I/O 31 A-CLR Alarm clear input
2kΩ output
input 19 4.7kΩ CCW over-travel
8 CWL
Origin proximity input 2kΩ prohibit input
7
34 S-RDY-
CCW limit over input 2kΩ To
17 PLC I/O 37 ALM+
Servo-alarm output
input
36 ALM-
CW limit over input 2kΩ
18 39 COIN+ Positioning complete
output
38 COIN-
CW limit sensor
CCW limit sensor
GND +24V
DC24V Power supply
Connection between MINAS E and C200H-NC211 (Omron Corp.)
Controller Driver
C200H-NC211 (by Omron Corp.) MINAS E Series

1.6kΩ 22 PULS1
2
Pulse (CW + CCW) Pulse
output 220Ω command input
23 PULS2
1.6kΩ
13 24 SIGN1
Direction output Directional command
220Ω input
25 SIGN2
150Ω
9 19 OZ+ Z-phase input
11 20 OZ- Information
Power supply for V+ 1 14 GND
output
GND 23 1 COM+
Counter clear input
4.7kΩ
Deviation counter 4 4 CL
Servo-ON input
reset output 4.7kΩ
2 SRV-ON Gain switching/Torque
4.7kΩ limit switching input
22 5 GAIN/TC
Emergency stop From Alarm clear input
2kΩ 4.7kΩ
input 19 PLC I/O 3 A-CLR CCW over-travel
output 4.7kΩ prohibit input
8 CCWL CW over-travel
Origin proximity input 2kΩ 4.7kΩ prohibit input
7 7 CWL
9 ALM
CCW limit over input Servo-alarm output
2kΩ
17

CW limit over input To
2kΩ output
18 PLC I/O
input
11 BRKOFF
CW limit sensor
12 WARN
GND +24V
13 COM-
DC24V Power supply
F28
Connection between MINAS A4 and CS1W-NC133(Omron Corp.)
Controller Driver
CS1W-NC133 (by Omron Corp.) MINAS A4 Series
A5 3 PULS1
220Ω command input
A6 4 PULS2
A7 5 SIGN1
220Ω command input
A8 6 SIGN2
150Ω
A16 23 OZ+
Origin line driver input Z-phase input
A14 24 OZ-
A1 13
24V power supply for V+ 25 GND
output GND A2 7 COM+
4.7kΩ Counter clear input
Deviation counter A10 30 CL
reset output 4.7kΩ Servo-ON input
29 SRV-ON
A24 27 GAIN/TC limit switching input
From
Prompt stop input 4.7kΩ 4.7kΩ Alarm clear input
A20 PLC I/O 31 A-CLR
Origin proximity input 4.7kΩ 4.7kΩ CW over-travel
A21 8 CWL prohibit input
A23 34 S-RDY-
To
PLC I/O 37 ALM+
4.7kΩ input Servo-alarm output
CCW limit over input
A22 36 ALM-
GND A3 39 COIN+ Positioning complete

5V power supply for
output
pulse output +V A4 38 COIN-
41 COM-
CW limit sensor
CCW limit sensor
GND +5V GND +24V

Connection between MINAS E and CS1W-NC133(Omron Corp.)
Driver
Controller
CS1W-NC133 (by Omron Corp.) MINAS E Series
A5 22 PULS1
220Ω
A6 23 PULS2 command input
A7 24 SIGN1
A8 220Ω command input
25 SIGN2
150Ω
A16
19 OZ+
Origin line driver input Z-phase input
A14
20 OZ-
24V power supply for V+ A1
14 GND
output GND A2
1 COM+
Deviation counter A10 4.7kΩ
reset output 4 CL Counter clear input
2 SRV-ON
A24
Prompt stop input 4.7kΩ 5 GAIN/TC
From 4.7kΩ
Origin proximity input 4.7kΩ 8 CCWL prohibit input
A21
7 CWL prohibit input
A23 9 ALM
Servo-alarm output
CCW limit over input 4.7kΩ

A22 10 COIN Positioning complete
To output
5V power supply for GND A3 PLC I/O
pulse output input
+V A4 11 BRKOFF
Origin proximity sensor 12 WARN

CW limit sensor Warning output
CCW limit sensor

13 COM-
GND +5V GND +24V

F29
Connection between MINAS A4 and QD75D1(Mitsubishi Electric Corp.)
Controller Driver
QD75D1(by Mitsubishi Electric Corp.) MINAS A4 Series
15 3 PULS1
CW pulse 220Ω CW pulse
command output 16 4 PULS2 command input
17 5 SIGN1
CCW pulse 220Ω CCW pulse
command output 18 6 SIGN2 command input
300Ω
9 23 OZ+
Origin signal Z-phase input
24 OZ-
10
13
25 GND
7 COM+
4.7kΩ
13 4.7kΩ
Deviation counter clear output 29 SRV-ON Servo-ON input
14 4.7kΩ Gain switching/Torque
12 From 4.7kΩ
Drive unit ready 4.7kΩ PLC I/O 31 A-CLR Alarm clear input
11 output 4.7kΩ CCW over-travel
8 CWL
Common prohibit input
6
7 34 S-RDY-
Proximity signal 4.3kΩ
3 37 ALM+
Upper limit 4.7kΩ To Servo-alarm output
1 PLC I/O 36 ALM-
Lower limit 4.7kΩ input
2 39 COIN+ Positioning complete
output
38 COIN-
CW limit sensor ※Pulse train interface exclusive for line driver
CCW limit sensor
GND +24V
44 PULSH1
DC24V Power supply CW pulse
46 SIGNH1 CCW pulse

Connection between MINAS E and QD75D1(Mitsubishi Electric Corp.)
Controller Driver
QD75D1(by Mitsubishi Electric Corp.) MINAS E Series

15 22 PULS1
CW pulse CW pulse
220Ω
command output 16 23 PULS2 command input
17 24 SIGN1
CCW pulse CCW pulse
220Ω command input
command output 18 25 SIGN2
300Ω
9 19 OZ+ Z-phase input
Origin signal
10 20 OZ- Information
14 GND
1 COM+
4.7kΩ
13 4 CL Counter clear input
4.7kΩ
14 2 SRV-ON Servo-ON input
5 GAIN/TC
From limit switching input
4.7kΩ
output
4.7kΩ CCW over-travel
6 7 CWL
prohibit input
7 9 ALM
Proximity signal 4.7kΩ Servo-alarm output
3
Upper limit 4.7kΩ
1 10 COIN Positioning complete
Lower limit 4.7kΩ To output
2 PLC I/O
input
11 BRKOFF
CW limit sensor
12 WARN
GND +24V 13 COM-

DC24V Power supply
F30
Index (Alphabetical order)
● : Standard stock item
▲ : Build order item
DV0P
Carrying page
Part No. A4 A4P E Delivery
Specifications Dimension Specifications Dimension Specifications Dimension
DV0P0770 E27 E27 ●
DV0P0800 E28 E28 ●
DV0P1450 A4-110 A4-110 A4-110 A4-110 E10 E10 ●
DV0P1460 A4-111 A4-111 A4-111 A4-111 E10 E10 ●
DV0P1960 A4-119 A4-119 A4-119 A4-119 E28 E28 ●
DV0P1970 A4-119 A4-119 A4-119 A4-119 ●
DV0P1971 A4-119 A4-119 A4-119 A4-119 ●
DV0P1972 A4-119 A4-119 A4-119 A4-119 ●
DV0P220 A4-124 A4-124 A4-124 A4-124 E29 E29 ●
DV0P221 A4-124 A4-124 A4-124 A4-124 ●
DV0P222 A4-124 A4-124 A4-124 A4-124 ●
DV0P223 A4-124 A4-124 A4-124 A4-124 ●
DV0P224 A4-124 A4-124 A4-124 A4-124 ●
DV0P225 A4-124 A4-124 A4-124 A4-124 ●
DV0P227 A4-124 A4-124 A4-124 A4-124 E29 E29 ●
DV0P228 A4-124 A4-124 A4-124 A4-124 E29 E29 ●
DV0P2870 E26 E26 ●
DV0P2890 E29 E29 ●
DV0P2891 E29 E29 ●
DV0P2990 A4-126 A4-126 A4-126 A4-126 ●
DV0P3410 A4-110 A4-110 A4-110 A4-110 ●
DV0P3470 A4-122 A4-122 A4-122 A4-122 ●
DV0P3480 A4-122 A4-122 A4-122 A4-122 ●
DV0P3670 E26 E26 ●
DV0P3680 - - ●
DV0P3700 - - ●
DV0P37300 E25 E25 ●
DV0P3811 E30 E30 ●
DV0P39200 E25 E25 ●
DV0P4160 E10 E10 ●
DV0P4170 A4-110 A4-110 A4-110 A4-110 ●
DV0P4180 A4-110 A4-110 A4-110 A4-110 ●
DV0P4190 A4-110 A4-110 A4-110 A4-110 E10 E10 ●
DV0P4200 - - ●
DV0P4210 - - ●
DV0P4220 A4-110 A4-110 A4-110 A4-110 ●
DV0P4271 A4-123 A4-123 A4-123 A4-123 ●
DV0P4272 A4-123 A4-123 A4-123 A4-123 ●
DV0P4273 A4-123 A4-123 A4-123 A4-123 ●
DV0P4274 A4-123 A4-123 A4-123 A4-123 ●
DV0P4280 A4-125 A4-125 A4-125 A4-125 ●
DV0P4281 A4-125 A4-125 A4-125 A4-125 ●
DV0P4282 A4-125 A4-125 A4-125 A4-125 ●
DV0P4283 A4-125 A4-125 A4-125 A4-125 ●
DV0P4284 A4-125 A4-125 A4-125 A4-125 ●
DV0P4285 A4-125 A4-125 A4-125 A4-125 ●
DV0P4290 A4-120 A4-120 A4-120 A4-120 ●
DV0P4310 A4-120 A4-120 A4-120 A4-120 ●
F31
Index
DV0P
Carrying page
DV0P4320 A4-121 A4-121 A4-121 A4-121 ●
DV0P4330 A4-121 A4-121 A4-121 A4-121 ●
DV0P4340 A4-121 A4-121 A4-121 A4-121 ●
DV0P4350 A4-118 A4-118 A4-118 A4-118 ●
DV0P4360 A4-119 A4-119 A4-119 A4-119 ●
DV0P4380 A4-120 A4-120 A4-120 A4-120 ●
DV0P4420 A4-124 A4-124 A4-124 A4-124 E25 E25 ●
DV0P4460 A4-123 A4-123 A4-123 A4-123 E28 E28 ●
DV0P4480 - - ●
DV0P4490 - - ●
DV0P4500 A4-118 A4-118 A4-118 A4-118 ●
DV0P4510 A4-119 A4-119 A4-119 A4-119 ●

MADDT
Carrying page
MADDT1105 A4-15 A4-22 ●
MADDT1105P A4-39 A4-45 ●
MADDT1107 A4-15 A4-22 ●
MADDT1107P A4-39 A4-45 ●
MADDT1205 A4-15 A4-22 ●
MADDT1205P A4-39 A4-45 ●
MADDT1207 A4-15 A4-22 ●
MADDT1207P A4-39 A4-45 ●

MAMA
Carrying page
Specifications Dimension Specifications Dimension Specifications Dimension Infomation
MAMA012P1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA012P1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA012P1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA012P1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA012S1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA012S1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA012S1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA012S1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA022P1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA022P1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA022P1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA022P1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA022S1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA022S1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA022S1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA022S1F A4-49 A4-87 A4-49 A4-87 ▲
F32
MAMA
Carrying page
MAMA042P1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA042P1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA042P1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA042P1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA042S1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA042S1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA042S1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA042S1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA082P1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA082P1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA082P1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA082P1F A4-49 A4-87 A4-49 A4-87 ▲
MAMA082S1A A4-49 A4-87 A4-49 A4-87 ▲
MAMA082S1B A4-49 A4-87 A4-49 A4-87 ▲
MAMA082S1E A4-49 A4-87 A4-49 A4-87 ▲
MAMA082S1F A4-49 A4-87 A4-49 A4-87 ▲

MBDDT
Carrying page
MBDDT2110 A4-15 A4-22 ●
MBDDT2110P A4-39 A4-45 ●
MBDDT2210 A4-15 A4-22 ●
MBDDT2210P A4-39 A4-45 ●

MCDDT
Carrying page
MCDDT3120 A4-15 A4-23 ●
MCDDT3120P A4-39 A4-46 ●
MCDDT3520 A4-15 A4-23 ●
MCDDT3520P A4-39 A4-46 ●

MDDDT
Carrying page
MDDDT3530 A4-15 A4-23 ●
MDDDT3530P A4-39 A4-46 ●
MDDDT5540 A4-15 A4-23 ●
MDDDT5540P A4-39 A4-46 ●
F33
Index
MDMA
Carrying page
MDMA102P1C A4-67 A4-93 A4-67 A4-93 ▲
MDMA102P1D A4-67 A4-93 A4-67 A4-93 ▲
MDMA102P1G A4-67 A4-93 A4-67 A4-93 ●
MDMA102P1H A4-67 A4-93 A4-67 A4-93 ●
MDMA102S1C A4-67 A4-93 A4-67 A4-93 ▲
MDMA102S1D A4-67 A4-93 A4-67 A4-93 ▲
MDMA102S1G A4-67 A4-93 A4-67 A4-93 ●
MDMA102S1H A4-67 A4-93 A4-67 A4-93 ●
MDMA152P1C A4-67 A4-93 A4-67 A4-93 ▲
MDMA152P1D A4-67 A4-93 A4-67 A4-93 ▲
MDMA152P1G A4-67 A4-93 A4-67 A4-93 ●
MDMA152P1H A4-67 A4-93 A4-67 A4-93 ●
MDMA152S1C A4-67 A4-93 A4-67 A4-93 ▲
MDMA152S1D A4-67 A4-93 A4-67 A4-93 ▲
MDMA152S1G A4-67 A4-93 A4-67 A4-93 ●
MDMA152S1H A4-67 A4-93 A4-67 A4-93 ●
MDMA202P1C A4-69 A4-94 A4-69 A4-94 ▲
MDMA202P1D A4-69 A4-94 A4-69 A4-94 ▲
MDMA202P1G A4-69 A4-94 A4-69 A4-94 ●
MDMA202P1H A4-69 A4-94 A4-69 A4-94 ●
MDMA202S1C A4-69 A4-94 A4-69 A4-94 ▲
MDMA202S1D A4-69 A4-94 A4-69 A4-94 ▲
MDMA202S1G A4-69 A4-94 A4-69 A4-94 ●
MDMA202S1H A4-69 A4-94 A4-69 A4-94 ●
MDMA302P1C A4-69 A4-94 A4-69 A4-94 ▲
MDMA302P1D A4-69 A4-94 A4-69 A4-94 ▲
MDMA302P1G A4-69 A4-94 A4-69 A4-94 ●
MDMA302P1H A4-69 A4-94 A4-69 A4-94 ●
MDMA302S1C A4-69 A4-94 A4-69 A4-94 ▲
MDMA302S1D A4-69 A4-94 A4-69 A4-94 ▲
MDMA302S1G A4-69 A4-94 A4-69 A4-94 ●
MDMA302S1H A4-69 A4-94 A4-69 A4-94 ● Infomation
MDMA402P1C A4-71 A4-95 A4-71 A4-95 ▲
MDMA402P1D A4-71 A4-95 A4-71 A4-95 ▲
MDMA402P1G A4-71 A4-95 A4-71 A4-95 ●
MDMA402P1H A4-71 A4-95 A4-71 A4-95 ●
MDMA402S1C A4-71 A4-95 A4-71 A4-95 ▲
MDMA402S1D A4-71 A4-95 A4-71 A4-95 ▲
MDMA402S1G A4-71 A4-95 A4-71 A4-95 ●
MDMA402S1H A4-71 A4-95 A4-71 A4-95 ●
MDMA502P1C A4-71 A4-95 A4-71 A4-95 ▲
MDMA502P1D A4-71 A4-95 A4-71 A4-95 ▲
MDMA502P1G A4-71 A4-95 A4-71 A4-95 ●
MDMA502P1H A4-71 A4-95 A4-71 A4-95 ●
MDMA502S1C A4-71 A4-95 A4-71 A4-95 ▲
MDMA502S1D A4-71 A4-95 A4-71 A4-95 ▲
MDMA502S1G A4-71 A4-95 A4-71 A4-95 ●
MDMA502S1H A4-71 A4-95 A4-71 A4-95 ●
F34
MDMA
Carrying page
MDMA752P1C A4-71 A4-95 ▲
MDMA752P1D A4-71 A4-95 ▲
MDMA752P1G A4-71 A4-95 ▲
MDMA752P1H A4-71 A4-95 ▲
MDMA752S1C A4-71 A4-95 ▲
MDMA752S1D A4-71 A4-95 ▲
MDMA752S1G A4-71 A4-95 ▲
MDMA752S1H A4-71 A4-95 ▲

MEDDT
Carrying page
MEDDT7364 A4-15 A4-24 ●
MEDDT7364P A4-39 A4-47 ●

MFDDT
Carrying page
MFDDTA390 A4-15 A4-24 ●
MFDDTA390P A4-39 A4-47 ●
MFDDTB3A2 A4-15 A4-24 ●
MFDDTB3A2P A4-39 A4-47 ●

MFECA
Carrying page
MFECA0030EAD A4-115 A4-115 A4-115 A4-115 ●
MFECA0030EAE A4-115 A4-115 A4-115 A4-115 ●
MFECA0030EAM A4-115 A4-115 A4-115 A4-115 E25 E25 ●
MFECA0030ESD A4-115 A4-115 A4-115 A4-115 ●
MFECA0030ESE A4-115 A4-115 A4-115 A4-115 ●
MFECA0050EAD A4-115 A4-115 A4-115 A4-115 ●
MFECA0050EAE A4-115 A4-115 A4-115 A4-115 ●
MFECA0050EAM A4-115 A4-115 A4-115 A4-115 E25 E25 ●
MFECA0050ESD A4-115 A4-115 A4-115 A4-115 ●
MFECA0050ESE A4-115 A4-115 A4-115 A4-115 ●
MFECA0100EAD A4-115 A4-115 A4-115 A4-115 ●
MFECA0100EAE A4-115 A4-115 A4-115 A4-115 ●
MFECA0100EAM A4-115 A4-115 A4-115 A4-115 E25 E25 ●
MFECA0100ESD A4-115 A4-115 A4-115 A4-115 ●
MFECA0100ESE A4-115 A4-115 A4-115 A4-115 ●
MFECA0200EAD A4-115 A4-115 A4-115 A4-115 ●
F35
Index
MFECA
Carrying page
MFECA0200EAE A4-115 A4-115 A4-115 A4-115 ●
MFECA0200EAM A4-115 A4-115 A4-115 A4-115 E25 E25 ●
MFECA0200ESD A4-115 A4-115 A4-115 A4-115 ●
MFECA0200ESE A4-115 A4-115 A4-115 A4-115 ●

MFMA
Carrying page
MFMA042P1C A4-77 A4-99 A4-77 A4-99 ▲
MFMA042P1D A4-77 A4-99 A4-77 A4-99 ▲
MFMA042P1G A4-77 A4-99 A4-77 A4-99 ▲
MFMA042P1H A4-77 A4-99 A4-77 A4-99 ▲
MFMA042S1C A4-77 A4-99 A4-77 A4-99 ▲
MFMA042S1D A4-77 A4-99 A4-77 A4-99 ▲
MFMA042S1G A4-77 A4-99 A4-77 A4-99 ▲
MFMA042S1H A4-77 A4-99 A4-77 A4-99 ▲
MFMA152P1C A4-77 A4-99 A4-77 A4-99 ▲
MFMA152P1D A4-77 A4-99 A4-77 A4-99 ▲
MFMA152P1G A4-77 A4-99 A4-77 A4-99 ▲
MFMA152P1H A4-77 A4-99 A4-77 A4-99 ▲
MFMA152S1C A4-77 A4-99 A4-77 A4-99 ▲
MFMA152S1D A4-77 A4-99 A4-77 A4-99 ▲
MFMA152S1G A4-77 A4-99 A4-77 A4-99 ▲
MFMA152S1H A4-77 A4-99 A4-77 A4-99 ▲
MFMA252P1C A4-79 A4-100 A4-79 A4-100 ▲
MFMA252P1D A4-79 A4-100 A4-79 A4-100 ▲
MFMA252P1G A4-79 A4-100 A4-79 A4-100 ▲
MFMA252P1H A4-79 A4-100 A4-79 A4-100 ▲
MFMA252S1C A4-79 A4-100 A4-79 A4-100 ▲
MFMA252S1D A4-79 A4-100 A4-79 A4-100 ▲ Infomation
MFMA252S1G A4-79 A4-100 A4-79 A4-100 ▲
MFMA252S1H A4-79 A4-100 A4-79 A4-100 ▲
MFMA452P1C A4-79 A4-100 A4-79 A4-100 ▲
MFMA452P1D A4-79 A4-100 A4-79 A4-100 ▲
MFMA452P1G A4-79 A4-100 A4-79 A4-100 ▲
MFMA452P1H A4-79 A4-100 A4-79 A4-100 ▲
MFMA452S1C A4-79 A4-100 A4-79 A4-100 ▲
MFMA452S1D A4-79 A4-100 A4-79 A4-100 ▲
MFMA452S1G A4-79 A4-100 A4-79 A4-100 ▲
MFMA452S1H A4-79 A4-100 A4-79 A4-100 ▲
F36
MFMCA
Carrying page
MFMCA0030AEB E25 E25 ●
MFMCA0030EED A4-116 A4-116 A4-116 A4-116 ●
MFMCA0032ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCA0032FCD A4-117 A4-117 A4-117 A4-117 ●
MFMCA0032FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0033ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCA0033FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0050EED A4-116 A4-116 A4-116 A4-116 ●
MFMCA0052ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCA0052FCD A4-117 A4-117 A4-117 A4-117 ●
MFMCA0052FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0053ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCA0053FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0100EED A4-116 A4-116 A4-116 A4-116 ●
MFMCA0102ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCA0102FCD A4-117 A4-117 A4-117 A4-117 ●
MFMCA0102FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0103ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCA0103FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0200EED A4-116 A4-116 A4-116 A4-116 ●
MFMCA0202ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCA0202FCD A4-117 A4-117 A4-117 A4-117 ●
MFMCA0202FCT A4-117 A4-117 A4-117 A4-117 ●
MFMCA0203ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCA0203FCT A4-117 A4-117 A4-117 A4-117 ●

MFMCB
Carrying page
MFMCB0030GET A4-117 A4-117 A4-117 A4-117 E25 E25 ●
MFMCB0050GET A4-117 A4-117 A4-117 A4-117 E25 E25 ●
MFMCB0100GET A4-117 A4-117 A4-117 A4-117 E25 E25 ●
MFMCB0200GET A4-117 A4-117 A4-117 A4-117 E25 E25 ●

MFMCD
Carrying page
MFMCD0032ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCD0032ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0033ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0052ECD A4-116 A4-116 A4-116 A4-116 ●
F37
Index
MFMCD
Carrying page
MFMCD0052ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0053ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0102ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCD0102ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0103ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0202ECD A4-116 A4-116 A4-116 A4-116 ●
MFMCD0202ECT A4-116 A4-116 A4-116 A4-116 ●
MFMCD0203ECT A4-116 A4-116 A4-116 A4-116 ●

MGDDT
Carrying page
MGDDTC3B4 A4-15 A4-25

MGMA
Carrying page
MGMA092P1C A4-73 A4-96 A4-73 A4-96 ▲
MGMA092P1D A4-73 A4-96 A4-73 A4-96 ▲
MGMA092P1G A4-73 A4-96 A4-73 A4-96 ▲
MGMA092P1H A4-73 A4-96 A4-73 A4-96 ▲
MGMA092S1C A4-73 A4-96 A4-73 A4-96 ▲
MGMA092S1D A4-73 A4-96 A4-73 A4-96 ▲
MGMA092S1G A4-73 A4-96 A4-73 A4-96 ▲
MGMA092S1H A4-73 A4-96 A4-73 A4-96 ▲
MGMA202P1C A4-73 A4-96 A4-73 A4-96 ▲
MGMA202P1D A4-73 A4-96 A4-73 A4-96 ▲
MGMA202P1G A4-73 A4-96 A4-73 A4-96 ▲ Infomation
MGMA202P1H A4-73 A4-96 A4-73 A4-96 ▲
MGMA202S1C A4-73 A4-96 A4-73 A4-96 ▲
MGMA202S1D A4-73 A4-96 A4-73 A4-96 ▲
MGMA202S1G A4-73 A4-96 A4-73 A4-96 ▲
MGMA202S1H A4-73 A4-96 A4-73 A4-96 ▲
MGMA302P1C A4-75 A4-97 A4-75 A4-97 ▲
MGMA302P1D A4-75 A4-97 A4-75 A4-97 ▲
MGMA302P1G A4-75 A4-97 A4-75 A4-97 ▲
MGMA302P1H A4-75 A4-97 A4-75 A4-97 ▲
MGMA302S1C A4-75 A4-97 A4-75 A4-97 ▲
MGMA302S1D A4-75 A4-97 A4-75 A4-97 ▲
MGMA302S1G A4-75 A4-97 A4-75 A4-97 ▲
MGMA302S1H A4-75 A4-97 A4-75 A4-97 ▲
MGMA452P1C A4-75 A4-97 A4-75 A4-97 ▲
MGMA452P1D A4-75 A4-97 A4-75 A4-97 ▲
MGMA452P1G A4-75 A4-97 A4-75 A4-97 ▲
F38
MGMA
Carrying page
MGMA452P1H A4-75 A4-97 A4-75 A4-97 ▲
MGMA452S1C A4-75 A4-97 A4-75 A4-97 ▲
MGMA452S1D A4-75 A4-97 A4-75 A4-97 ▲
MGMA452S1G A4-75 A4-97 A4-75 A4-97 ▲
MGMA452S1H A4-75 A4-97 A4-75 A4-97 ▲
MGMA602P1C A4-75 A4-98 ▲
MGMA602P1D A4-75 A4-98 ▲
MGMA602P1G A4-75 A4-98 ▲
MGMA602P1H A4-75 A4-98 ▲
MGMA602S1C A4-75 A4-98 ▲
MGMA602S1D A4-75 A4-98 ▲
MGMA602S1G A4-75 A4-98 ▲
MGMA602S1H A4-75 A4-98 ▲

MHMA
Carrying page
MHMA052P1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA052P1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA052P1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA052P1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA052S1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA052S1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA052S1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA052S1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA102P1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA102P1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA102P1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA102P1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA102S1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA102S1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA102S1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA102S1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA152P1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA152P1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA152P1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA152P1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA152S1C A4-81 A4-101 A4-81 A4-101 ▲
MHMA152S1D A4-81 A4-101 A4-81 A4-101 ▲
MHMA152S1G A4-81 A4-101 A4-81 A4-101 ▲
MHMA152S1H A4-81 A4-101 A4-81 A4-101 ▲
MHMA202P1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA202P1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA202P1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA202P1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA202S1C A4-83 A4-102 A4-83 A4-102 ▲
F39
Index
MHMA
Carrying page
MHMA202S1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA202S1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA202S1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA302P1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA302P1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA302P1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA302P1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA302S1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA302S1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA302S1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA302S1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA402P1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA402P1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA402P1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA402P1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA402S1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA402S1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA402S1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA402S1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA502P1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA502P1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA502P1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA502P1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA502S1C A4-83 A4-102 A4-83 A4-102 ▲
MHMA502S1D A4-83 A4-102 A4-83 A4-102 ▲
MHMA502S1G A4-83 A4-102 A4-83 A4-102 ▲
MHMA502S1H A4-83 A4-102 A4-83 A4-102 ▲
MHMA752P1C A4-85 A4-103 ▲
MHMA752P1D A4-85 A4-103 ▲
MHMA752P1G A4-85 A4-103 ▲
MHMA752P1H A4-85 A4-103 ▲
MHMA752S1C A4-85 A4-103 ▲ Infomation
MHMA752S1D A4-85 A4-103 ▲
MHMA752S1G A4-85 A4-103 ▲
MHMA752S1H A4-85 A4-103 ▲
MKDET
Carrying page
MKDET1105P E20 E23 ●
F40
MLDET
Carrying page
MLDET2110P E20 E23 ●

MQMA
Carrying page
MQMA011P1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA011P1B A4-59 A4-90 A4-59 A4-90 ▲
MQMA011P1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA011P1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA011S1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA011S1B A4-59 A4-90 A4-59 A4-90 ▲
MQMA011S1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA011S1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA012P1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA012P1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA012P1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA012P1T A4-61 A4-90 A4-61 A4-90 ▲
MQMA012S1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA012S1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA012S1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA012S1T A4-61 A4-90 A4-61 A4-90 ▲
MQMA021P1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA021P1B A4-59 A4-90 A4-59 A4-90 ▲
MQMA021P1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA021P1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA021S1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA021S1B A4-59 A4-90 A4-59 A4-90 ▲
MQMA021S1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA021S1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA022P1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA022P1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA022P1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA022P1T A4-61 A4-90 A4-61 A4-90 ▲
MQMA022S1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA022S1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA022S1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA022S1T A4-61 A4-90 A4-61 A4-90 ▲
MQMA041P1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA041P1B A4-59 A4-90 A4-59 A4-90 ▲
MQMA041P1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA041P1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA041S1A A4-59 A4-90 A4-59 A4-90 ▲
MQMA041S1B A4-59 A4-90 A4-59 A4-90 ▲
F41
Index
MQMA
Carrying page
MQMA041S1S A4-59 A4-90 A4-59 A4-90 ▲
MQMA041S1T A4-59 A4-90 A4-59 A4-90 ▲
MQMA042P1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA042P1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA042P1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA042P1T A4-61 A4-90 A4-61 A4-90 ▲
MQMA042S1A A4-61 A4-90 A4-61 A4-90 ▲
MQMA042S1B A4-61 A4-90 A4-61 A4-90 ▲
MQMA042S1S A4-61 A4-90 A4-61 A4-90 ▲
MQMA042S1T A4-61 A4-90 A4-61 A4-90 ▲

MSMA
Carrying page
MSMA102P1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA102P1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA102P1G A4-63 A4-91 A4-63 A4-91 ●
MSMA102P1H A4-63 A4-91 A4-63 A4-91 ●
MSMA102S1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA102S1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA102S1G A4-63 A4-91 A4-63 A4-91 ●
MSMA102S1H A4-63 A4-91 A4-63 A4-91 ●
MSMA152P1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA152P1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA152P1G A4-63 A4-91 A4-63 A4-91 ●
MSMA152P1H A4-63 A4-91 A4-63 A4-91 ●
MSMA152S1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA152S1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA152S1G A4-63 A4-91 A4-63 A4-91 ●
MSMA152S1H A4-63 A4-91 A4-63 A4-91 ● Infomation
MSMA202P1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA202P1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA202P1G A4-63 A4-91 A4-63 A4-91 ●
MSMA202P1H A4-63 A4-91 A4-63 A4-91 ●
MSMA202S1C A4-63 A4-91 A4-63 A4-91 ▲
MSMA202S1D A4-63 A4-91 A4-63 A4-91 ▲
MSMA202S1G A4-63 A4-91 A4-63 A4-91 ●
MSMA202S1H A4-63 A4-91 A4-63 A4-91 ●
MSMA302P1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA302P1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA302P1G A4-65 A4-92 A4-65 A4-92 ●
MSMA302P1H A4-65 A4-92 A4-65 A4-92 ●
MSMA302S1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA302S1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA302S1G A4-65 A4-92 A4-65 A4-92 ●
MSMA302S1H A4-65 A4-92 A4-65 A4-92 ●
F42
MSMA
Carrying page
MSMA402P1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA402P1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA402P1G A4-65 A4-92 A4-65 A4-92 ●
MSMA402P1H A4-65 A4-92 A4-65 A4-92 ●
MSMA402S1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA402S1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA402S1G A4-65 A4-92 A4-65 A4-92 ●
MSMA402S1H A4-65 A4-92 A4-65 A4-92 ●
MSMA502P1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA502P1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA502P1G A4-65 A4-92 A4-65 A4-92 ●
MSMA502P1H A4-65 A4-92 A4-65 A4-92 ●
MSMA502S1C A4-65 A4-92 A4-65 A4-92 ▲
MSMA502S1D A4-65 A4-92 A4-65 A4-92 ▲
MSMA502S1G A4-65 A4-92 A4-65 A4-92 ●
MSMA502S1H A4-65 A4-92 A4-65 A4-92 ●

MSMD
Carrying page
MSMD011P1A A4-51 A4-88 A4-51 A4-88 ●
MSMD011P1B A4-51 A4-88 A4-51 A4-88 ●
MSMD011P1S A4-51 A4-88 A4-51 A4-88 ●
MSMD011P1T A4-51 A4-88 A4-51 A4-88 ●
MSMD011P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S1A A4-51 A4-88 A4-51 A4-88 ●
MSMD011S1B A4-51 A4-88 A4-51 A4-88 ●
MSMD011S1S A4-51 A4-88 A4-51 A4-88 ●
MSMD011S1T A4-51 A4-88 A4-51 A4-88 ●
MSMD011S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD011S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P1A A4-55 A4-88 A4-55 A4-88 ●
MSMD012P1B A4-55 A4-88 A4-55 A4-88 ●
F43
Index
MSMD
Carrying page
MSMD012P1S A4-55 A4-88 A4-55 A4-88 ●
MSMD012P1T A4-55 A4-88 A4-55 A4-88 ●
MSMD012P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S1A A4-55 A4-88 A4-55 A4-88 ●
MSMD012S1B A4-55 A4-88 A4-55 A4-88 ●
MSMD012S1S A4-55 A4-88 A4-55 A4-88 ●
MSMD012S1T A4-55 A4-88 A4-55 A4-88 ●
MSMD012S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD012S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P1A A4-53 A4-89 A4-53 A4-89 ●
MSMD021P1B A4-53 A4-89 A4-53 A4-89 ●
MSMD021P1S A4-53 A4-89 A4-53 A4-89 ●
MSMD021P1T A4-53 A4-89 A4-53 A4-89 ●
MSMD021P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P42N A4-105 A4-108 A4-105 A4-108 ▲ Infomation
MSMD021P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S1A A4-53 A4-89 A4-53 A4-89 ●
MSMD021S1B A4-53 A4-89 A4-53 A4-89 ●
MSMD021S1S A4-53 A4-89 A4-53 A4-89 ●
MSMD021S1T A4-53 A4-89 A4-53 A4-89 ●
MSMD021S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD021S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P1A A4-57 A4-89 A4-57 A4-89 ●
MSMD022P1B A4-57 A4-89 A4-57 A4-89 ●
F44
MSMD
Carrying page
MSMD022P1S A4-57 A4-89 A4-57 A4-89 ●
MSMD022P1T A4-57 A4-89 A4-57 A4-89 ●
MSMD022P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S1A A4-57 A4-89 A4-57 A4-89 ●
MSMD022S1B A4-57 A4-89 A4-57 A4-89 ●
MSMD022S1S A4-57 A4-89 A4-57 A4-89 ●
MSMD022S1T A4-57 A4-89 A4-57 A4-89 ●
MSMD022S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD022S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P1A A4-53 A4-89 A4-53 A4-89 ●
MSMD041P1B A4-53 A4-89 A4-53 A4-89 ●
MSMD041P1S A4-53 A4-89 A4-53 A4-89 ●
MSMD041P1T A4-53 A4-89 A4-53 A4-89 ●
MSMD041P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S1A A4-53 A4-89 A4-53 A4-89 ●
MSMD041S1B A4-53 A4-89 A4-53 A4-89 ●
MSMD041S1S A4-53 A4-89 A4-53 A4-89 ●
MSMD041S1T A4-53 A4-89 A4-53 A4-89 ●
MSMD041S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD041S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P1A A4-57 A4-89 A4-57 A4-89 ●
MSMD042P1B A4-57 A4-89 A4-57 A4-89 ●
F45
Index
MSMD
Carrying page
MSMD042P1S A4-57 A4-89 A4-57 A4-89 ●
MSMD042P1T A4-57 A4-89 A4-57 A4-89 ●
MSMD042P31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S1A A4-57 A4-89 A4-57 A4-89 ●
MSMD042S1B A4-57 A4-89 A4-57 A4-89 ●
MSMD042S1S A4-57 A4-89 A4-57 A4-89 ●
MSMD042S1T A4-57 A4-89 A4-57 A4-89 ●
MSMD042S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD042S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082P1A A4-57 A4-89 A4-57 A4-89 ●
MSMD082P1B A4-57 A4-89 A4-57 A4-89 ●
MSMD082P1S A4-57 A4-89 A4-57 A4-89 ●
MSMD082P1T A4-57 A4-89 A4-57 A4-89 ●
MSMD082P31N A4-105 A4-108 A4-105 A4-108 ●
MSMD082P32N A4-105 A4-108 A4-105 A4-108 ●
MSMD082P33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082P34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082P41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082P42N A4-105 A4-108 A4-105 A4-108 ▲ Infomation
MSMD082P43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082P44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S1A A4-57 A4-89 A4-57 A4-89 ●
MSMD082S1B A4-57 A4-89 A4-57 A4-89 ●
MSMD082S1S A4-57 A4-89 A4-57 A4-89 ▲
MSMD082S1T A4-57 A4-89 A4-57 A4-89 ▲
MSMD082S31N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S32N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S33N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S34N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S41N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S42N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S43N A4-105 A4-108 A4-105 A4-108 ▲
MSMD082S44N A4-105 A4-108 A4-105 A4-108 ▲
MSMD5AZP1A A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZP1B A4-51,55 A4-88 A4-51,55 A4-88 ●
F46
MSMD
Carrying page
MSMD5AZP1S A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZP1T A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZS1A A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZS1B A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZS1S A4-51,55 A4-88 A4-51,55 A4-88 ●
MSMD5AZS1T A4-51,55 A4-88 A4-51,55 A4-88 ●

MUMA
Carrying page
MUMA011P1S E11 E15 ●
MUMA011P1T E11 E15 ●
MUMA011P31N E17 E19 ▲
MUMA011P32N E17 E19 ▲
MUMA011P34N E17 E19 ▲
MUMA011P41N E17 E19 ▲
MUMA011P42N E17 E19 ▲
MUMA011P44N E17 E19 ▲
MUMA012P31N E17 E19 ▲
MUMA012P32N E17 E19 ▲
MUMA012P34N E17 E19 ▲
MUMA012P41N E17 E19 ▲
MUMA012P42N E17 E19 ▲
MUMA012P44N E17 E19 ▲
MUMA021P31N E17 E19 ▲
MUMA021P32N E17 E19 ▲
MUMA021P34N E17 E19 ▲
MUMA021P41N E17 E19 ▲
MUMA021P42N E17 E19 ▲
MUMA021P44N E17 E19 ▲
MUMA022P31N E17 E19 ▲
MUMA022P32N E17 E19 ▲
MUMA022P34N E17 E19 ▲
MUMA022P41N E17 E19 ▲
MUMA022P42N E17 E19 ▲
MUMA022P44N E17 E19 ▲
MUMA042P31N E17 E19 ▲
MUMA042P32N E17 E19 ▲
F47
MUMA
Carrying page
MUMA042P34N E17 E19 ▲
MUMA042P41N E17 E19 ▲
MUMA042P42N E17 E19 ▲
MUMA042P44N E17 E19 ▲
MUMA5AZP1S E11,13 E15 ●
MUMA5AZP1T E11,13 E15 ●
Infomation
F48

Minas A4 PDF

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Minas A4 PDF

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10 0100 1000100 10 0100 1000100 10 0100 1000100 10 010

10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100

10 0100 1000100 10 0100 1000100 10 0100 1000100 10

10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100

10 0100 1000100 10 0100 1000100 10 0100 1000100 10 0100

Advanced Gain Tuning

Agile and Intelligent

Amazingly slim size

■High-functionality Real-Time Auto-Gain Tuning

Further High-Speed and High-Response

Variation of detected speed at stopping

−10 Velocity gain is

■High-functionality Real-Time Auto-Gain Tuning

■2-channel notch filters

multiple resonance points can be expected

Effect of notch filter

MINAS A4 Details of Features

motor movement machine movement

without damping control 100 100 80

actual speed (r/min) Torque [%]

−200 −8 −160 least vibration

−400 −16 −320

−500 −20 −400

Setup support with substantial monitoring function Regeneration discharging function

Command control modes

Full-closed control (High precision positioning) Wave-form graphic function

Torque limit value switching

SEMI F47 voltage sag immunity Frequency analyzing function

■Applicable overseas safety standards

MINAS A4 Details of Features

.Small capacity .SMT machines

MSMA .Middle capacity

0.9-6.0 IP65 .Middle capacity

Motor is sharing with A4P series

Ｍ Ｓ Ｍ Ｄ ５ Ａ Ｚ Ｓ １ Ｓ ＊ ＊

MINAS A4 List of Specifications/Model Designation

■ Motor with reduction gear

Symbol Type Gear reduction ration, gear type

Ｍ Ａ Ｄ Ｄ Ｔ １ ２ ０ ５ ＊ ＊ ＊

See page, A4-15 for driver specifications

For details, refer to the Instruction Manual.

●Wiring of main circuit

Noise Filter (NF)

Magnetic Contactor (MC)

Connector for external equipment (DV0P4350)

Driver to page A4-15

Option to page A4-113

Recommended equipments to page A4-12

Parts customer to prepare

Driver Frame Type Symbol (Frame E, F)

For details, refer to the Instruction Manual.

●Wiring of main circuit

Noise Filter (NF)

Magnetic Contactor (MC)

Reactor (L) Setup support software

MINAS A4 Wiring example

Regenerative resistor Ground (Earth)

Power supply for

Motor to page A4-49

Driver to page A4-15

Option to page A4-113

Recommended equipments to page A4-12

Parts customer to prepare

ＭＳＭＤ５ＡＺＳ１Ｓ＊＊

ＭＡＤＤＴ１２０５＊＊＊

Manual 5push switches on front panel ＭＯＤＥＳＥＴ △ ▽