Micro DirectDrive Motor & mistubishi Collaboration Catalog

SERVO SYSTEM PARTNER μDD Motor

Example of implementation Although hollow shaft is indispensable, Although we aim to improve takt time, considering precision, existing servomotor is too big we don’t want to increase machine elements Existing rotary actuator ・ Smaller size, lighter weight ・ Maintenance free ・ Highly responsive ・ Low vibration θ drive shaft Instead of rotary actuator By using µDD motor to the θ drive shaft of the end effector, it is By using µDD it is possible to consist hollow shaft only with motor. possible to realize smaller size and lighter weight. It can also contribute to picking up workpieces by passing air tube in hollow shaft and the highly-precise, gear-less positioning. Want to make robot hand that can Less human resource for production facility pick up various work Want to develop automation robot Sensor-less torque control Scalar development It can realize small / high backdrivability robot hand. It provides highly By using µDD motor, it can develop easy-to-use, essentially safe, small responsive torque control. scalar. It is possible to consist elements required for cobot such as direct teaching, external force detection, quiet operation only with motor.

What’s μDD motor? Extremely small, high torque direct drive motor ■ High torque realized with aperiodic compass and high density winding technology. ■ Achieved both smaller size and lighter weight and precise positioning by comprehensive design of motor and high resolution encoder. ■ Using high stiffness bearing that can bear direct heavy load. ■ There is also a hollow shaft type. ■ It could be customized depending on the needs of users. MDS/MDH-20 series The smallest through-shaft servomotor in the world. Perfect for end effector (hand, gripper, Zθ unit) with through-shaft. It could be used for small hand in combination with low slowdown rate gear. ■ Shell diamete：r φ21mm Shell length： 32/38/44mm ■ Maximum speed： 3000rpm ■ Maximum resolution: 144,000C/R ■ Hollow diamete：r φ2.6mm(MDH model) MDS/MDH-30 series Perfect for highly-precise dispenser and small gimbal driving. ■ Shell diamete：r φ30mm Shell length： 32/38/44mm ■ Maximum speed： 1000rpm ■ Maximum resolution: 432,000C/R ■ Hollow diamete：r φ4mm(MDH model) MDS/MDH-40 series Perfect for end effector (convey θ axis and for alignment purpose), automation of production facility and robot (corresponds to wrest). ■ Shell diamete：r φ40mm Shell length： 32/38/44mm ■ Maximum speed： 450rpm ■ Maximum resolution: 1,296,000C/R ■ Hollow diamete：r φ6・12mm(MDH model) MDH-70 series Small-sized large diameter hollow shaft. Perfect for index table, replacement of rotary actuator, robot (corresponds to elbow and shoulder) ■ Shell diamete：r φ70mm Shell length： 32/38/44mm ■ Maximum speed： 200rpm ■ Maximum resolution: 2,592,000C/R ■ Hollow diamete：r φ25mm(MDH model) ＊Please refer to μDD motor catalogue for detail of full view. ＊Currently, only incremental encoder is intended for collaboration.

Specification MR-J4W2-0303B6-MX940J○○○ Amplifier Servo amplifier model Rated Motor rated Motor peak current Rated Maximumtorque current Peak torque Peak current rotation rate rotation rate Series Motor model supply voltage MR-J4W2-0303B6-MX940○○○ (DC24/48V) (○○○ part) N・m Arms N・m Arms rpm rpm MDS-2006-36KE J183 0.014 1.100 0.033 2.600 1,500 3,000 MDH-2006-36KE J184 0.014 1.100 0.033 2.600 1,500 3,000 MDS-2012-36KE J185 0.026 1.200 0.090 4.300 1,500 3,000 MD-20 DC24V MDH-2012-36KE J186 0.026 1.200 0.090 4.300 1,500 3,000 MDS-2018-36KE J187 0.030 1.400 0.120 5.600 1,500 3,000 MDH-2018-36KE J188 0.030 1.400 0.120 5.600 1,500 3,000 MDS-3006-108KE J189 0.044 1.800 0.110 4.600 1,000 1,000 MDH-3006-108KE J190 0.044 1.800 0.110 4.600 1,000 1,000 MDS-3012-108KE J191 0.068 1.800 0.210 5.600 1,000 1,000 MD-30 DC48V MDH-3012-108KE J192 0.068 1.800 0.210 5.600 1,000 1,000 MDS-3018-108KE J193 0.100 1.700 0.370 6.300 1,000 1,000 MDH-3018-108KE J194 0.100 1.700 0.370 6.300 1,000 1,000 MDS-4006-324KE J195 0.100 1.600 0.330 6.300 450 450 MDH-4006-324KE J196 0.100 1.600 0.330 6.300 450 450 MDS-4012-324KE J197 0.160 1.700 0.700 7.500 450 450 MD-40 DC48V MDH-4012-324KE J198 0.160 1.700 0.700 7.500 450 450 MDS-4018-324KE J199 0.230 2.300 1.000 10.000 450 450 MDH-4018-324KE J200 0.230 2.300 1.000 10.000 450 450 MDH（12）-4006-324KE J214 0.100 1.600 0.330 6.300 450 450 MDH （12）-40 MDH（12）-4012-324KE DC48V J215 0.160 1.700 0.700 7.500 450 450 MDH（12）-4018-324KE J216 0.230 2.300 1.000 10.000 450 450 MDH-7006-648KE J201 0.309 2.400 1.000 10.000 200 200 MDH-70 MDH-7012-648KE DC48V J202 0.528 2.400 2.200 10.000 200 200 MDH-7018-648KE J203 0.686 2.400 2.850 10.000 200 200 MR-J4-○○△-RJJ001 Rated Motor rated Motor peak current Rated Maximum torque current Peak torque Peak current rotation rate rotation rate Series Motor model Recommended servo amplifier model (＊1) N・m Arms N・m Arms rpm rpm MDS-3006-108KE 0.044 1.800 0.110 4.600 1,000 1,000 MDH-3006-108KE MR-J4-40A-RJJ001/ 0.044 1.800 0.110 4.600 1,000 1,000 MDS-3012-108KE MR-J4-40B-RJJ001 0.068 1.800 0.210 5.600 1,000 1,000 MD-30 MDH-3012-108KE 0.068 1.800 0.210 5.600 1,000 1,000 MDS-3018-108KE 0.100 1.700 0.370 6.300 1,000 1,000 MDH-3018-108KE MR-J4-60A-RJJ001/ 0.100 1.700 0.370 6.300 1,000 1,000 MDS-4006-324KE MR-J4-60B-RJJ001 0.100 1.600 0.330 6.300 450 450 MDH-4006-324KE 0.100 1.600 0.330 6.300 450 450 MDS-4012-324KE 0.160 1.700 0.700 7.500 450 450 MD-40 MDH-4012-324KE MR-J4-70A-RJJ001/ 0.160 1.700 0.700 7.500 450 450 MDS-4018-324KE MR-J4-70B-RJJ001 0.230 2.300 1.000 10.00 450 450 MDH-4018-324KE 0.230 2.300 1.000 10.00 450 450 MDH（12）-4006-324KE MR-J4-60A-RJJ001/MR-J4-60B-RJJ001 0.100 1.600 0.330 6.300 450 450MDH （12）-40 MDH（12）-4012-324KE 0.160 1.700 0.700 7.500 450 450 MDH（12）-4018-324KE 0.203 2.300 1.000 10.00 450 450 MR-J4-70A-RJJ001/ MDH-7006-648KE MR-J4-70B-RJJ001 0.360 2.800 1.000 10.00 200 200 MDH-70 MDH-7012-648KE 0.660 3.000 2.200 10.00 200 200 MDH-7018-648KE 1.000 3.500 3.100 10.00 200 200 ＊1) It can be used at lower volume. Please contact MICROTECH LABORATORY INC. for the motor torque for such case. ＊Continuous rated current is the index measured at 40℃ ambient temperature with standard heat sink attached to motor. For heat sink size, please refer to μDD motor catalogue. ＊Due to pressure, MD-20 series can’t be used in MR-J4-○○△-RJJ001.

Partner collaboration Partner driving device General-purpose interface Pulse-train input Analogue voltage input MR-J4-B MR-J4-B MR-J4-B MR-J4-B-RJ MR-J4-A-RJ J001 MR-J4W2-0303B6-MX940Jxxx（xxx differs by motor） J001 Now it can be connected to μDD motor which is perfect for end effector! Implementation advantage ■ Hollow shaft (Can pass through cable, air tube, laser, ball screw, splined shaft) ■ Smaller size, lighter weight ■ Highly-precise positioning, highly-precise position・torque measure ■ Compliance control, high backdrivability ■ Low speed high torque drive, lower speed ripple ■ More silent driving

Connection example＊1 MR-J4W2-0303B6-MX940Jxxx　(xxx differs by motor) MR Configurator2 SSCNETⅢ/H connection ＊2 CN3 flexible cable (4.2)0.2M-TE(J4) DC24/48V ＊2 CN2 flexible cable (4.2)0.2M-(CF) ＊3 MR-J4-RJJ001＊4 AC200V MR Configurator2 SSCNETⅢ/H connection ＊2 CN2 flexible cable (4.2)0.2M-(CF) CN3 flexible cable (4.2)0.2M-3M(J4) ＊2 ＊1： above is a connecting example. For actual connection, please refer to product specification. ＊2： For exchange cable, please contact MICROTECH LABORATORY. ＊3： The driving motor of MR-J4W2-0303B6-MX940Jxxx (xxx differs by motor) is 2-axis integrated model. In case you want to have different type for each axis, please contact us. ＊4： Photo with display cover open. MICROTECH LABORATORY INC. ■Head office: 8-1-46 Honcho, Kamitsuruma, minami-ku Sagamihara-shi Kanagawa 252-0318, Japan PHONE.81-42-746-0123 FAX.81-42-746-0960 https://motor.mtl.co.jp MEL-MTL.2019.11.E