μDDMotor Catalog MD_series English

μDD Motor Micro Direct Drive Motor MD series μDDMotor Miniature AC servomotor with high torque and high-resolution Features ■ Built-in high performance encoder that enables direct fine positioning from resolutions of 1 arc-sec. ■ Delivers high torque using high performance magnets and high density winding technology. ■ Delivers small size with the motor and encoder designed as a single unit. ■ Able to bear large loads directly through the use of a high stiffness bearing. ■ Able to support hollow shaft structures. ■ Customized designs are supported to suit our customer needs. MICROTECH LABORATORY INC.

Delivering a lineup with a wide range of application options of compact high-performance next-generation servo motors with built in encoders. MDS-13 series ■ Body diameter: φ13 mm Body length: 26/32/38 mm ■ Max torque: 7/15/25 mN・m ■ Max speed: 3000 rpm ■ Max resolution: 500 P/R, 11 bit MDS/MDH-20 series ■ Body diameter: φ21 mm Body length: 32/38/44 mm ■ Max torque: 40/90/130 mN・m ■ Max speed: 3000 rpm ■ Max resolution: 72,000 P/R, 18 bit ■ Hollow diameter: φ2.6 mm (MDH type) MDS/MDH-30 series ■ Body diameter: φ30 mm Body length: 32/38/44 mm ■ Max torque: 140/280/420 mN・m ■ Max speed: 1000 rpm ■ Max resolution: 108,000 P/R, 19 bit ■ Hollow diameter: φ4 mm (MDH type) MDS/MDH-40 series ■ Body diameter: φ40 mm Body length: 32/38/44 mm ■ Max torque: 0.33/0.70/1.0 N・m ■ Max speed: 450 rpm ■ Max resolution: 324,000 P/R, 20 bit ■ Hollow diameter: φ6 mm (MDH type) MDH-70 series ■ Body diameter: φ70 mm Body length: 32/38/44 mm ■ Max torque: 1.0/2.2/3.1 N・m (with DC48V drive) ■ Max speed: 200 rpm ■ Max resolution: 648,000 P/R, 21 bit ■ Hollow diameter: φ25 mm (MDH type) 01 Micro Direct Drive Motor

MC-110 series MC－110－2406 MC－110－4810 Note: Download the dedicated application "MTLParam.exe" from the web. URL：https://www.mtl.co.jp ■ Axle endurance load Example specifications 1000 ■ Built-in absolute encoder (11 to 21 bits) ■ Built-in electromagnetic encoder ■ Hollow shaft structure ■ Design with customized speed and torque characteristics ■ Ripple reducing design (torque/speed) ■ Clean room ready 100 Application examples ■ Radial load（N） Gearless structures ■ Axial load（N） High precision positioning applications ■ Robot arms ■ Small scalar robots 10 ■ Bilateral master/slave control 10 20 30 40 50 60 70 80 ■ System structure PC communication commands DC power supply Computer Motor drive Speed control Multi-axis control Position control module Force (torque) control Pulse commands Encoder signal MC series Various controllers dedicated driver Micro Direct Drive Motor 02

MDS－13 series（Characteristic example） Development information ■ MDS-13 ［The photo is full size］ ■ Outer Dimensions Motor cable φ3.3 Encoder cable 1 φ17.5 9 1 7.5 L1 (Body length) 4-φ3 PCD15.2 ■ Standard models Model L1 dimension MDS－1306 25.4 MDS－13△－11B（Absolute） MDS－1312 31.4 　△：Body length　06,12,18 MDS－1318 37.4 Note: Please ask us if there is a particular resolution you prefer. ■ MDS－１３ series（ Representative characteristics of standard models） Unit MDS－1306 MDS－1312 MDS－1318 Input power (driver input) DCV 24 Maximum speed rpm 3000 Rated speed rpm 3000 Peak torque at stall mNm 7.0 15 25 Rated torque mNm 3.0 5.5 8.0 Continuous rated torque mNm 3.0 5.0 7.5 Peak power W 2.0 4.0 8.0 Peak power rate ｋW/s 4.5 13 27 Peak armature current Arms 2.6 2.6 2.6 Rated armature curren（t *1） Arms 1.1 1.0 1.0 Voltage constant V/krpm 0.28 0.61 1.0 Torque constan（t at25℃） Nm/Arms 2.7 5.8 9.6 Line armature resistance（at25℃） Ω 1.1 1.8 2.5 Line armature inductance mH 0.13 0.21 0.39 Rotor Poles P 8 Max encoder resolution P/R Incremental:500/Absolute：2,048（11bit） Moment of inertia J g・cm2 0.11 0.17 0.23 Permissible radial load Fr N 20 Permissible axial load Fa N 10 Load reference point distance La mm 19.7 25.7 31.7 Mass kｇ 0.04 0.05 0.06 Applicable motor driver MC－110－2406 Standard heat sink 55×55×４ Aluminum Note: (*1) Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C. * Only available with the MDS type. ■ Explanation of motor characteristic terminology ■ Peak armature current The maximum current that can flow through the motor momentarily, determined by the instantaneous heat capacity of the armature winding. ■ Rated armature current The maximum current that can flow through the motor continuously, determined from the degree of temperature increase of the motor. ■ Peak torque The maximum instantaneous torque that occurs at the peak armature current, which is the maximum torque that occurs instantaneously during acceleration and deceleration such as when starting or stopping the load. ■ Rated torque The maximum torque that occurs at the rated armature current when the motor is restrained. ■ Continuous rated torque The maximum torque that occurs at the rated armature current when the motor is at the rated speed. ■ Peak power The maximum power that can occur when driven by the designated dedicated driver. ■ Peak power rate The power increase rate when the motor alone is accelerating at the peak armature torque. ■ Moment of inertia〔J〕 The moment of inertia is represented by J (=GD2/4). ■ Load reference point distance LA The distance from the bearing start point to the load reference point. (S: Total shaft length/2 H: Flange end) ■ Load point distance LR The distance from the point of application of radial load to the load reference point. ■ LaRelationship between tolerated F ［ R N ］ = － － － － － × F r F：R User load [N]　F：r Tolerated radial load [N] radial load and load point La+LR 03 Micro Direct Drive Motor φ13 φ3 h7 φ10 h7 300 □13

MDS/MDH－20 series（Characteristic example） ■ MDS-20 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ3.3 φ28 3 0.5 12 2 10 4-φ2 PCD24 L1（Body length） 12 ■ MDH-20 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ3.3 3 φ28 3 0.5 12 0.5 3.5 2 6-M1.6 depth 2.5 PCD10 L1（Body length） 6 4-φ2 PCD24 ■ Standard models Model L1 dimension MD□－2006 31.5 MD■－20△－36KE（Incremental） MD□－2012 37.5 MDS－20△－18B（Absolute） MD□－2018 43.5 　■：Shaft shape S（solid shaft）, H（Hollow shaft）　△：Body length　06,12,18 Note: Please ask us if there is a particular resolution you prefer. ■ MDS/H－20 series（ Representative characteristics of standard models） Unit MDS－2006 MDH－2006 MDS－2012 MDH－2012 MDS－2018 MDH－2018 Input power (Driver input) DCV 24 Maximum speed rpm 3000 Rated speed rpm 1500 Peak torque at stall Nm 0.04 0.09 0.13 Rated torque Nm 0.017 0.030 0.040 Continuous rated torque Nm 0.014 0.026 0.030 Peak power W 5.0 10 17 Peak power rate ｋW/s 19 15 62 43 99 65 Peak armature current Arms 2.6 4.3 5.6 Rated armature curren（t *1） Arms 1.1 1.2 1.4 Voltage constant V/krpm 1.6 2.5 2.4 Torque constan（t at25℃） Nm/Arms 0.015 0.024 0.023 Line armature resistance（at25℃） Ω 3.5 2.2 1.9 Line armature inductance mH 1.1 0.79 0.82 Rotor Poles P 10 Max encoder resolution P/R Incremental:72,000/Absolute：262,144（18bit） Moment of inertia J g・cm2 0.78 1.5 1.2 2.0 1.7 2.4 Permissible radial load Fr N 44 Permissible axial load Fa N 22 Load reference point distance La mm 29.8 28.5 35.7 34.5 41.7 40.4 Mass kｇ 0.088 0.10 0.12 Applicable motor driver MC－110－2406 Standard heat sink 100×100×5 Aluminum Note: (*1) Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C. * The absolute encoder is only available with the MDS type. Micro Direct Drive Motor 04 φ21 φ21 φ2.6 Through hole φ7 φ6 G7 φ13 h7 φ4 h6 φ18 h7 φ18 h7 300 300 □21 □21

MDS/MDH－30 series（Characteristic example） ■ MDS-30 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ4.2 4 φ40 1 12 13.5 2 13 4-φ3 PCD35 L1（Body length） 15 ■ MDH-30 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ4.2 4 φ40 3 0.5 1 4 6-M2 depth 3.5 PCD12.5 13.5 2 5 4-φ3 PCD35 L1（Body length） ■ Standard models Model L1 dimension MD□－3006 31.5 MD■－30△－108KE（Incremental） MD□－3012 37.5 MD■－30△－19B（Absolute） MD□－3018 43.5 　■：Shaft shape S（solid shaft）, H（Hollow shaft）　△：Body length　06,12,18 Note: Please ask us if there is a particular resolution you prefer. ■ MDS/H－30 series（Representative characteristics of standard models） Unit MDS－3006 MDH－3006 MDS－3012 MDH－3012 MDS－3018 MDH－3018 Input power (Driver input) DCV 48 Maximum speed rpm 1000 Rated speed rpm 1000 Peak torque at stall Nm 0.14 0.28 0.42 Rated torque Nm 0.060 0.095 0.13 Continuous rated torque Nm 0.044 0.068 0.10 Peak power W 15 20 30 Peak power rate ｋW/s 31 23 71 60 110 98 Peak armature current Arms 4.6 5.6 6.3 Rated armature curren（t *1） Arms 1.8 1.8 1.7 Voltage constant V/krpm 2.8 4.5 6.8 Torque constan（t at25℃） Nm/Arms 0.026 0.043 0.065 Line armature resistance（at25℃） Ω 2.1 2.3 2.5 Line armature impedance mH 1 1.3 1.5 Rotor Poles P 16 Max encoder resolution P/R Incremental:108,000/Absolute：524,288（19bit） Moment of inertia J g・cm2 6.5 8.9 11.2 13.6 15.9 18.3 Permissible radial load Fr N 94 Permissible axial load Fa N 47 Load reference point distance La mm 32.0 30.0 38.0 36.0 43.9 41.9 Mass kｇ 0.13 0.16 0.18 Applicable motor driver MC－110－2406/MC－110－4810 Standard heat sink 120×120×8 Aluminum Note: (*1) Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C. 05 Micro Direct Drive Motor φ30 φ30 φ4 Through hole φ8 φ8 H7 φ5 h6 φ17 h7 φ27 h7 φ27 h7 300 300 □30 □30

MDS/MDH－40 series（Characteristic example） ■ MDS-40 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ4.2 4 φ54 1 15 12 2 16 4-φ3.5 PCD47 L1（Body length） 18 ■ MDH-40 ［The photo is full size］ ■ Outer Dimensions Motor cable Encoder cable φ4.2 4 φ54 3 0.5 1 5 12 2 6 6-M2.6 depth 4.5 PCD15 L1（Body length） 4-φ3.5 PCD47 ■ Standard models Model L1 dimension MD□－4006 31.5 MD■－40△－324KE（Incremental） MD□－4012 37.5 MD■－40△－20B（Absolute） MD□－4018 43.5 　■：Shaft shape S（solid shaft）, H（Hollow shaft）　△：Body length　06,12,18 Note: Please ask us if there is a particular resolution you prefer. ■ MDS/H－40 series（Representative characteristics of standard models） Unit MDS－4006 MDH－4006 MDS－4012 MDH－4012 MDS－4018 MDH－4018 Input power (Driver input) DCV 48 Maximum speed rpm 450 Rated speed rpm 450 Peak torque at stall Nm 0.33 0.70 1.0 Rated torque Nm 0.12 0.20 0.28 Continuous rated torque Nm 0.10 0.16 0.23 Peak power W 14 27 40 Peak power rate ｋW/s 50 39 140 120 180 160 Peak armature current Arms 6.3 7.5 10 Rated armature curren（t *1） Arms 1.6 1.7 2.3 Voltage constant V/krpm 6.1 10 11 Torque constan（t at25℃） Nm/Arms 0.058 0.096 0.10 Line armature resistance（at25℃） Ω 2.6 2.5 1.7 Line armature inductance mH 2.6 3.0 2.0 Rotor Poles P 16 Max encoder resolution P/R Incremental:324,000/Absolute：1,048,576（20bit） Moment of inertia J g・cm2 22.6 28.8 38.4 44.5 54.2 60.3 Permissible radial load Fr N 140 Permissible axial load Fa N 70 Load reference point distance La mm 37.7 35.2 43.7 41.2 49.6 47.1 Mass kｇ 0.21 0.26 0.30 Applicable motor driver MC－110－4810 Standard heat sink 150×150×8 Aluminum Note: (*1) Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C. Micro Direct Drive Motor 06 φ40 φ40 φ6 Through hole φ10 φ10 H7 φ6 h6 φ20 h7 φ36 h7 φ36 h7 300 300 □40 □40

MDH－70 series（Characteristic example） ■ MDH-70 ［The photo is full size］ ■ Outer Dimensions φ70 φ25 Through hole Encoder cable Motor cable φ30 H7 φ50 h7 φ65 h7 4-φ5.5 PCD80 6-M3 depth 5 PCD40 300 ■ Standard models MDH－70△－648KE（Incremental） MDH－70△－21B（Absolute） φ90 　△：Body length　06,12,18 Note: Please ask us if there is a particular resolution you prefer. □70 Model L1 dimension MDH－7006 31.5 MDH－7012 37.5 MDH－7018 43.5 ■ MDH－７０ series（Representative characteristics of standard models） Note: When MC-110-4810 driven at DC48V Unit MDH－7006 MDH－7012 MDH－7018 Input power (Driver input) DCV 48 Maximum speed rpm 200 Rated speed rpm 200 Peak torque at stall Nm 1.0 2.2 3.1 Rated torque Nm 0.36 0.66 1.0 Continuous rated torque Nm 0.36 0.66 1.0 Peak power W 30 60 90 Peak power rate ｋW/s 24 83 147 Peak armature current Arms 13 16 19 Rated armature curren（t *1） Arms 2.8 3.0 3.5 Voltage constant V/krpm 0.013 0.023 0.031 Torque constan（t at25℃） Nm/Arms 0.13 0.22 0.30 Line armature resistance（at25℃） Ω 2.1 1.9 1.8 Line armature inductance mH 2.6 3.1 3.3 Rotor Poles P 20 Max encoder resolution P/R Incremental:648,000/Absolute：2,097,152（21bit） Moment of inertia J kg・cm2 0.65 0.82 0.99 Permissible radial load Fr N 500 Permissible axial load Fa N 250 Load reference point distance La mm 27 33 38.9 Mass kｇ 0.53 0.65 0.77 Applicable motor driver MC－110－4810, MC－200－10020（Under development） Standard heat sink 225×225×10 Aluminum Note: (*1) Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C. 07 Micro Direct Drive Motor L1（Body length） 6 2 9 5 1 0.5 2.2 5 φ4.2

Dedicated driver unit MC series ■ MC－110－2406 ■ MC－110－2406 Outer Dimensions 22 18 4.1 max 74 0－0.2 3.5 1.5 Name plate R1.75 CN5 ALM INP PWR CN3 CN2 C N 1 R1.75 3.5 11 ■ MC－110－4810 ■ MC－110－4810 Outer Dimensions 22 11 4.1 max 74 0－0.2 3.5 1.5 Name plate CN5 R1.75 ALM - INP - PWR - CN4 CN3 CN2 C N 1 R1.75 3.5 11 ■ MC－110 series specifications MC－110－2406 MC－110－4810 Supply power DC24V（20～40） DC48V（20～60） Continuous output current 2.0Arms 6.0Arms Peak output current 5.6Arms 10.0Arms Drive type Sine wave PWM drive (20 kHz) Protection functions Overcurrent, overload, overvoltage, undervoltage, heat, encoder error, damage prevention by fuse Communication functions USB2.0 mini-B parameter settings, speed/position control, status monitoring Speed position commands Forward/reverse pulse series method, pulse/direction method, 2-phase pulse series method Torque commands Voltage command (0 to +10V) While in torque control mode Auxiliary signal inputs Servo on, alarm reset, suppression mode, torque/speed control, zero point return, other general-purpose inputs Signal outputs In-position, alarm, encoder A, B, Z, analog monitor output (current/speed/position difference), U, V phase output current values Communication specifications 9600, 19200, 38400 bps, data bits: 8, no parity, stop bits: 1, no flow control External dimensions 83×74×22mm 113×74×22mm Mass 110ｇ 140g Dedicated application Download the MC-110 software package from the software download page at https://www.mtl.co.jp ■ Various cables Model Type No. of cores Length Model Type No. of cores Length CN1 cable（4.2）1M－TE Power cable 2 1m CN2 bent cable（4.2）0.7M 0.7m CN4 cable MC－110 Flat cable for interface 30 1m 2.7M Motor extension cable 3 2.7m CN5 cable USB2.0 cable mini-B 1m 4.7M 4.7m CN3 bent cable（4.2）0.7M 0.7m 2.7M Encoder extension cable 14 2.7m 4.7M 4.7m Micro Direct Drive Motor 08 132 100 (3.5) 125 (Mounting pitch) (3.5) 0 (3) 94 (Mounting pitch) (3)113 －0.2 83 0－0.2 3.2 max CN4 ＭＴＬ ＭＴＬ

Speed/torque characteristic examples ■ MDS－1306 ■ MDS－1312 ■ MDS－1318 4500 4500 4500 3000 3000 3000 CDZ IDZ CDZ IDZ CDZ IDZ 1500 1500 1500 0 0 0 0 0.002 0.004 0.006 0.008 0.01 0 0.005 0.01 0.015 0.02 0 0.01 0.02 0.03 Torque T[Nm] Torque T[Nm] Torque T[Nm] ■ MDS/H－2006 ■ MDS/H－2012 ■ MDS/H－2018 4500 4500 4500 3000 3000 3000 CDZ IDZ CDZ IDZ CDZ IDZ 1500 1500 1500 0 0 0 0 0.01 0.02 0.03 0.04 0.05 0 0.02 0.04 0.06 0.08 0.1 0 0.03 0.06 0.09 0.12 0.15 Torque T[Nm] Torque T[Nm] Torque T[Nm] ■ MDS/H－3006 ■ MDS/H－3012 ■ MDS/H－3018 1500 1500 1500 1000 1000 1000 CDZ IDZ CDZ IDZ CDZ IDZ 500 500 500 0 0 0 0 0.03 0.06 0.09 0.12 0.15 0 0.05 0.1 0.15 0.2 0.25 0.3 0 0.1 0.2 0.3 0.4 0.5 Torque T[Nm] Torque T[Nm] Torque T[Nm] 09 Micro Direct Drive Motor Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm]

■ MDS/H－4006 ■ MDS/H－4012 ■ MDS/H－4018 600 600 600 450 450 450 300 300 300 CDZ IDZ CDZ IDZ CDZ IDZ 150 150 150 0 0 0 0 0.1 0.2 0.3 0.4 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1 1.2 Torque T[Nm] Torque T[Nm] Torque T[Nm] ■ MDH－7006 ■ MDH－7012 ■ MDH－7018 300 300 300 200 200 200 CDZ IDZ CDZ IDZ CDZ IDZ 100 100 100 0 0 0 0 0.2 0.4 0.6 0.8 1 1.2 0 1 2 3 0 1 2 3 4 Torque T[Nm] Torque T[Nm] Torque T[Nm] Notes Usage regimes ①Continuous usage regime (CDZ) 　Indicates the range of continuously operable torques and speeds. The continuous operation range is the value when measures with the standard heat sink at the bottom of each spec table is fitted to the motor under an ambient temperature of 40°C. ②Intermittent usage regime (IDZ) 　The range that can be used such as during short intermittent operation, startup, acceleration, deceleration, etc. Refer to the overload duty characteristics in the separate document for details on the limits on torque and operation time during intermittent use. (Check the website or contact us) Speed 　The maximum speed of an incremental encoder is limited by the response frequency. The speed range can also be further increased by reducing the encoder resolution. Micro Direct Drive Motor 10 Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm] Rotational speed N[rpm]

Dedicated driver unit MC－110 series ■ System block diagram gate power control power supply supply Voltage detection Current gate drive Temperature detection detection Position control Speed control Torque control Micro Direct Drive Motor MD series ■This product, you may want to change without notice MICROTECH LABORATORY INC. because the development of binding products. ■Head office: 8-1-46 Honcho, Kamitsuruma, minami-ku Sagamihara-shi Kanagawa 252-0318, Japan ■For inquiries about these products, contact the following PHONE.81-42-746-0123 FAX.81-42-746-0960 coordinator at our company. E-mai l : motor@mtl.co.jp ＜Coordinator: Motor unit: Nomura＞ https://www.mtl.co.jp/en.html 201710MD-06E