Panasonic Motors PDF

INDEX
A6 family
A6 Family Line-up....................................... 3
Motor Features............................................ 7
Driver Features........................................... 9
Protective Features.................................. 11
Other Driver Functions............................ 11
Setup Support Software........................... 13
Compliance with International Standards..... 15
Motor Line-up............................................ 17
Model Designation.................................... 18
Overall Wiring........................................... 19
Applicable Peripheral Equipments......... 21
Table of Part Numbers and Options....... 23
Driver Specifications..........................33
A6SF series......................................33
A6SG series and A6SE series..........35
Wiring Diagram...................................37
Wiring to the connector
XA, XB, XC, and Terminal Block.......37
Driver
Safety Function...................................41
Wiring to the Connector, X3..............41
Control Circuit Diagram.....................42
Dimensions of Driver........................47
Motor Specifications..........................50
Motor Dimensions...........................101
Motor
Special Order Product....................177
Motors with Gear Reducer..............261
Motor Specification Description......271
Cable part No. Designation................274

Specifications of Motor connector......275
Encoder Cable....................................277
Motor Cable........................................281
Brake Cable........................................289
Interface Cable...................................290
Connector Kit......................................291
Options
Battery for Absolute Encoder..............302
Mounting Bracket...............................303
Reactor...............................................304
External Regenerative Resistor..........305
Surge Absorber for Motor Brake.........307
Daisy Chain........................................307
List of Peripheral Equipments
Manufacturers................................308
A6N serie…………………… 309
A6B serie…………………… 325
E serie……………………… 331
Information.............................................. 362
Index..................................................... 402
Sales Office of Overseas...................... 416
Panasonic Corporation Electromechanical Control Business Division Panasonic Corporation Electromechanical Control Business Division
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Servomotors that flexibly and effectively fit into
Controller
various system configurations
●For compatible ●For compatible

●For compatible controllers, controllers, see our controllers, see our
see our website or request website or request the website or request the
the necessary information necessary information necessary information
separately. separately. separately.
Modbus network
(Block operation position control)
Pulse train position command

(Block
control by external I/O )
operation position
Analog velocity control
Analog torque control

Driver
Basic type RS485 communication type Multifunction type Standard type Multifunction type Standard type Multifunction type
A6SE series A6SGseries A6SFseries A6NE series A6NFseries A6BE series A6BFseries
Special order product Special order product
Slim design and position control type DC 24 V / 48 V type Special order product
E series
MQMF
with gear reducer
Motor
Coming soon
MSMF MQMF MDMF MGMF MHMF A5M / A5ML A5MN / A5MNL A5MB / A5MBL
series series series
Low inertia Middle inertia/ Middle inertia Middle inertia/ High inertia ●Ultra-small design and pulse train command type
Flat type Low speed high torque MHMF
with gear reducer only, DIN-rail mountable (using mounting Kit) ●DC24 V power supply support, ultra-compact motor and driver.
Coming soon ●Rated output:50 W to 400 W ●Rated output : ・Flange size 20 mm square/10 W ・Flange size 25 mm square/10 W, 20 W, 30 W
Special order product For more information, visit the website or please request to our distributors separately.
It is MINAS A6 Family lineup that meets the manufacturing industry needs.
■Motor line-up ■Driver line-up
Series
MSMF MQMF MDMF MGMF MHMF Rotary motor Linear motor / DD motor
Low inertia Middle inertia/ Middle inertia Middle inertia/ High inertia
Flat type Low speed high torque ＊1
Basic type RS485 communication type Multifunction type Basic type Multifunction type
Rated
output
Rated rotational
speed
Rated rotational
speed
Rated rotational
speed
Rated rotational
speed
Rated rotational
speed
Rated rotational
speed
Rated rotational
speed A6SE series A6SGseries A6SFseries A6SL series A6SM series
（ Maximum
）
rotational speed （ Maximum
）
）
）
）
）
）
rotational speed
Special order product Special order product
Position control
50 38 sq. 40 sq.
W Block operation (External contact signal only) (External
Modbus communication )
contact signal or
(External
contact signal or
(External
contact signal or
(External
contact signal or
Control mode
Speed control
100 38 sq. 60 sq. 40 sq.
W Internal velocity command*2 (External contact signal only) (External
contact signal or
(External
contact signal or
(External
contact signal or
(External
contact signal or
G G 3000
r/min
(6500 r/min)
Torque control
200 3000
60 sq. 80 sq. r/min 60 sq. Full-close control
W (6500 r/min)
3000 G G
r/min
(6000 r/min)
Block operation (External
contact signal or
400 60 sq. 80 sq. 60 sq.

W Pulse
G G
Analog
750 80 sq. 80 sq.
W 850 W Modbus
Interface
G 3000
130 sq. r/min
(6000 r/min) External scale
1.0 80 sq. 100 sq. 130 sq. 80 sq. 130 sq.
kW 1.3 kW
RS-232/RS-485
130 sq.
1.5 STO (Safety Torques Off)
100 sq. 130 sq. 1.8 kW 130 sq.
kW
130 sq.
High speed communication
2.4 kW For Realtime Express Standard type Multifunction type Standard type Multifunction type
2.0 100 sq. 130 sq. 180 sq. Network servo driver
kW
3000 2000
180 sq.
1500 2000 For details see A6NE series A6NFseries A6NL series A6NM series
r/min r/min r/min r/min P.309 Special order product Special order product
(5000 r/min) (3000 r/min) 180 sq. (3000 r/min) (3000 r/min)
3.0
Interface Control mode

120 sq. 130 sq. 2.9 kW 180 sq. Position/Speed/Torque control
kW
Full-close control
4.0 130 sq. 180 sq. 180 sq.
kW 4.4 kW External scale
180 sq.
STO (Safety Torques Off)
5.0 130 sq. 180 sq. 180 sq.
kW 5.5 kW
180 sq. Servo drivers with
EtherCAT open network
Standard type Multifunction type Standard type Multifunction type
Table description 1500 1500
7.5 Flange sq. 180 sq. r/min 180 sq. r/min A6BE series A6BFseries A6BL series A6BM series
kW (3000 r/min) (3000 r/min)
For details see
dimension P.325 Special order product Special order product Special order product Under development Special order product Under development
38 sq. (unit:mm)
Interface Control mode
Also available
11 G with gear Position/Speed/Torque control
reducer. 220 sq.
kW 100 V specifications and
200 V specifications Full-close control
15 200 V specifications 1500 External scale

220 sq. r/min
kW (2000 r/min)
200 V specifications and 400 V specifications STO (Safety Torques Off)
(400 V: Scheduled to release in 2016)
22 200 V specifications and 400 V specifications 220 sq. ＊1 A6SE series driver (Position control only) does not correspond to the absolute system of using the serial communication with the host
kW (Scheduled to release in 2016) device. It supports incremental system only.
＊2 When using internal speed command with Modbus, external servo ON is required.
● Please check the instruction manual for necessary wiring.
Special order product For more information, please visit our website or request to our distributors separately.
Small, light, powerful
※1
and speedy Highest speed in the industry and high torque in a compact lightweight body
※1
Max. speed Max. torque Overall length Weight
6500 r/min ※2
Approx.350 ％ ※2
67.5 mm ※2
750 g ※2
Fast High Short Light

●Size of a typical business card (W90 mm × H55 mm)
（ A5Family※3
5000 r/min ）（ A5Family※3
Approx300 % ）（ A5Family※3
99.0 mm ）（ A5Family※3
960 g ）
※1 Middle and high inertia types only ※2 MHMF200 W ※3 MSMD200 W
Servo-motors
Motor Business Unit
Automotive & Industrial Systems Company Significantly extended running range by the highest speed and high torque in the industry's highest class.
Motors shorter than Torque[N·m]
a business card
2.0
Instantaneous Extended
（ 60 MHMF
mm sq. 200 W ）
operation area
type running range
(1.2)
Stall torque 1.0
Full-scale =Holding torque
Rated torque
= Continuous (0.32)
Continuous
torque at rated operation area (3800) (4600) Rotational speed
speed [r/min]
0 1000 2000 3000 4000 5000 6000 6500
● The graph shows performance of the MHMF200 W (200 V).
Enhanced position detecting resolution enables smoother and more precise positioning.
Encoder Communication speed
23 bit
（8388608 Pulse / rotation） 5 Mbps
8
Low vibrations High
times higher
resolution Improved speed and high precision
positioning
（A5Family※4 20 bit）（A5Family 2.5 Mbps）
※4 Incremental encoder
Swifter, smarter and
easier to use High-speed response, high-precision positioning for quick and accurate movement
Our proprietary algorithm in ●Comparison of position setting waveforms
addition to upgraded CPU and High stiffness ball screw Belt device
other hardware realized further 40 40
Command position deviation [per command]
Command position deviation [per command]

high-speed response. 30 30
A5Ⅱ
Furthermore, high-precision 20 20
A6
positioning is achieved by 10 10
A6
automatically eliminating micro
New two-degree-
0 0
Frequency response vibrations and machine oscillation

of-freedom
-10 -10
A5Ⅱ
3.2 kHz caused by the resonance.
control system
-20 -20
-5 -4 -3 -2 -1 0 1 2 3 4 5 6 7 8 9 10 0 50 100 150 200
Elapse time after completion of command [ms] Elapse time after completion of command [ms]
Powered Up Built-in filters

PANATERM
Example of operation with processing machine
compact and adjusting

functions
Support
A mirror finish is obtained
even if a process that tends
driver Modbus
to cause streaking. ●A5Ⅱ Family
Trace of
vertical lines ●A6 Family
Vertical lines are erased
Increased surface glossiness
Block operation
Support position control
（A6SF、A6SG Series）
Easy and quick setting, shortening conventional settling time by approx. 64%.
※1
Newly developed fit gain function ■Settling time

Ball screw Belt device
(Measured on low stiffness resonant mechanism)
substantially reduces adjustment time. settling settling
A6 Family time time
6 ms 0 ms 4 ms
Adaptive notch filter and various gains A5Ⅱ Ｆamily
can be automatically set and adjusted. 17 ms
※1 Comparison with conventional product A5Ⅱfamily ●The above is a measure based on our test environment
Full-scale
Adjustment completed in only processes3 ●Fit gain adjustment window ●Automatically proposes
various settings
① ② ③
Condition setting Measurement Result determination
Load
Stiffness
Command response
Realized 3.2 kHz frequency 10

3.2 kHz
response to improve productivity -10

A6 Family
（dB）
Realizes 3.2 kHz frequency response. At 139% that
Gain
-30
Conventional
of conventional models *1, it enables high-speed model
operation and improves productivity.

※1 Comparison with conventional product A5Ⅱfamily -50
100 1000 2000 3000 Frequency
（Hz）
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Reduced maintenance
work and trouble.
Lineup of motors protected by high dust-proof, high heat-resistant oil seal (With protective lip) IP67 enclosure rating (Motors with flange size of 80 mm or smaller are order-made products)
Motors protected by a highly dust-proof, oil-tight oil seal (with protection lip) have been added to Direct-mount connectors are used for the motor power supply and encoder
the lineup of motor products equipped with oil seals of conventional specifications. The oil seals of input and output to improve sealing performance of the motor to IP67.
this type of motor are made of a material of higher heat resistance. • IP67-compatible motors with flange size of 80 mm or smaller are order-made Adoption of
You can select appropriate motor type according to your application environment such as dusty, products.
direct-mount
powdery or gear connection necessity. • For environmental conditions of applications, refer to P.271.
connector
• Oil-seals (with protective lip) are not available for MSMF motors with flange size 80 mm or smaller.
What is IP? IP- 6 7
• MQMF and MHMF motors with flange size of 80 mm or smaller provided with oils seals (with
protective lip) are not mounting-compatible with A5 Family models. Some products are provided with “protective An international standard
lip” that prevents dust and oil penetration. that specifies the degree of
■Applicable oil seals dustproof and waterproof Dust-tight type:
Protected against water
penetration when immersed
performance. 6 Totally protected against 7 in water for the specified
Flange size Motor type With oil seal With oil seal (with protective lip) dust penetration. period of time and under
(IP: Ingress Protection) the specified pressure.
MSMF ◎ No setting
80 mm or less Made of nitrile
MHMF,MQMF ◎ ◎ Made of Not mounting-compatible with A5 family products Lifespan diagnosis / degradation diagnosis Servo motor with gear reducer
rubber (NBR)
fluororubber Mounting-compatible with A5 family products It warns expected lifetime of the motor & driver, and Motors with gear reducers are also available.
100 mm or more All Type ◎ ◎
deterioration limit of the equipment.
Other driver functions 3-step gain

A 3-step gain switch is available in addition to the normal
gain switch.This chooses appropriate gain tunings at both
stopping and running. The 3-step gain switch gives you
Inertia ratio conversion
You can adjust right inertia ratio by Inertia ratio conversion input
(J-SEL) of interface. When you have significant load inertia
changes, it can adjust unbalanced speed and position gain
choices of 3 different tunings for normal running, stopping turning combination.It ends up quicker response of your system.
Adaptive load control Manual/Auto notch filter for faster positioning and at stopping. The right gaining
Adaptive load control automatically sets the best suitable gain Equipped with auto-setting notch filters for greater conve- tunings achieve lower vibration and quicker positioning time Input/output signal assignment
table in response to fluctuations in inertia caused by changes in nience. Now there is no need to measure troublesome of your application. You can use the parameters to arbitrarily allocate the universal
workload, thus keeping machines operating stably at all times. vibration frequencies.
10 inputs and 6 outputs. (Inputs can be selected as either A
Our notch filters automatically detect vibration and provide Positional command speed [r/min]
Without adaptive load control With adaptive load control contacts or B contacts). The Panaterm setup software
simple auto-setting. These notch filters greatly reduce noise and In operation Period of effectiveness changeable
Motor speed
provides an exclusive screen for a more simplified setup.
Load change Load change vibration caused by equipment resonance and respond quickly. according to parameter
The A6 family is equipped with 5 notch filters with frequen- Not in operation Torque limiter switching
Speed Speed cies settable from 50 Hz to 5000 Hz. Depth can be individu- These can be used for applications such as simplified
Gain: position 2 effective Gain: position 3 effective Gain: position 1 effective
ally adjusted within this range. (Two of the filters share pressure, tension control, and sensor-less homing.
Speed 1000 rpm Speed 1000 rpm
automatic settings.)
Excessive noise & vibration Equipment Characteristics Reduced noise & vibration Supports semi-/full-closed loop (8 Mpps input pulse, 4 Mpps output pulse) control.
Positioning function (Block operation function) Supports full-closed loop control. The A6SF series accommodates a command input of 8 Mpps and feedback output of 4 Mpps,
Resonance
Positioning is possible by using Modbus (RS 232, RS 485) or
Anti- enabling high-resolution, high-speed operation.Supports the industry’s leading positioning resolution commands (pulse-train
interface signal. resonance
commands).
Frequency • The A6SE and A6SG series do not support full-closed loop
Friction torque compensation control.
This function reduces the effect of machine related friction Notch Filter Characteristics
• Applicable scale: AB-phase feedback scale (general purpose A5 family A6 family
and improves responsiveness. Three kinds of friction com- product) and serial feedback scale (dedicated to Panasonic Input 4 Mpps input 8 Mpps
pensation can be set: unbalanced load compensation, which format product)
sets an offset torque that is constantly applied; kinetic fric- Frequency
tion compensation, which changes direction in response to Completion of adaptive filter setup
Parameter initialization
scan
the direction of movement; and viscous friction compensa-
Dynamic braking Using the front panel or by connecting a PC, you can restore
tion, which changes according to the speed command. With parameter settings, you can select dynamic braking, which the parameters to the factory settings.
shorts servomotor windings U, V and W at Servo-OFF, during
positive direction/ negative direction, and during power shutdown Regenerative energy discharge
Manual/Auto damping filter without damping filter with damping filter
and tripping of the circuit breaker for over travel inhibition. A regenerative resistor is used to discharge regenerative
Equipped with a damping filter that is automatically set through
・The desired action sequence can be set up to accommodate energy, which is the energy generated when stopping a load
the setup support software.This filter removes the natural
your machine requirements. with a large moment of inertia or when using this unit in vertical
vibration frequency component from the command input, greatly
operation. This energy is returned to the driver from the motor.
reducing vibration of the axis when stopping. The number of
• Frame A, and frame B model drivers do not contain a regenerative
filters for simultaneous use has been increased to three from the Inrush current preventive function resistor. Optional regenerative resisters are recommended.
conventional two filters.（Two from one in the This driver is equipped with a rush current preventive resistor to • Frame C to frame F model drivers contain one regenerative
two-degree-of-freedom-control mode.）The adaptive frequency Judder Vibration-free prevent the circuit breaker from shutting off the power supply resistor; however, adding an optional regenerative resistor
has also been significantly expanded from 0.5 Hz to 300 Hz. as a result of inrush current occurring at power-on. provides additional regeneration capability.
industrial.panasonic.com/ac/e/ – 11 – © Panasonic Corporation 2018　AQCTB01E 201802-3YE industrial.panasonic.com/ac/e/ – 12 – © Panasonic Corporation 2018　AQCTB01E 201802-3YE
Multifunctional software for
quick adjustment support
PANATERM set-up support software
The PANATERM set-up support software, with many added features. The PANATERM assists users in setting Please download from our web site and use after install to the PC.
parameters, monitoring control conditions, setup support, and analyzing mechanical operation data on the https://industrial.panasonic.com/ww/products/motors-compressors/fa-motors/ac-servo-motors/minas-a5-panaterm
PC screen, when installed in a commercially available personal computer, and connected to the MINAS A6
Family through the USB interface. Choose either English, Japanese, Chinese, Korean-language display.
Setup wizard The fit gain function for setting Frequency characteristics measurement function Trial run
This wizard supports fundamental settings in each control Two-degree-of-freedom control. Can check frequency response characteristics of the This function supports positioning with the Z-phase search
mode step by step, including reading of default setting. In 1) Select the adjustment method 2) Load measurement mechanism and motor. Since resonance frequency of the and software limit.
On-line condition, Input data related to each step can be 3) Confirming results Adjust gain to meet your needs mechanism is measurable, it is effective for start-up time
monitored in real time. reduction.
Fit gain Service Life Prediction Added New screen for gain adjustment, equipped Significant increase of measuring objects
This function automatically searches the best suitable stiff- The service life prediction function considers the internal tem- with stiffness oscillation auto-reduction function Multi-functional waveform graphic
ness setting and mode and adjusts the gain once the target perature for main components such as the fan and condenser.
in-position range and setting time are set. If the rated value is exceeded, an alarm is displayed. This
approach prevents unexpected suspension of operation and
allows for planning of systemized maintenance.
Note: The life span prediction value should be considered as a guide only.
• Hardware configuration
Encoder temperature monitor Personal CPU 800 MHz or more
The Encoder Temperature Monitor is a new function capable of computer Memory System memory 512MB or more Graphics memory 32MB or more
real-time measurement of the interior temperature of the encoder,
Hard disk capacity Vacancy of 512MB or more recommended
something that has been difficult to achieve in the past. It is valuable
Windows® Vista SP1 (32 bit), Windows® 7 (32 bit, 64 bit),
for monitoring the motor and can be used as a diagnostic in the
OS Windows® 8 (32 bit, 64 bit), Windows® 10 (32 bit, 64 bit)
event of a malfunction .
Japanese, English, Chinese (Simplified), Korean version
Other New Function Serial communication USB port, COM port (Communication speeds: 2400 bps to 115200 bps)
function * A COM port is required to use RS232 communications. A 9600 bps or higher baud rate is recommended.
The software offers a wide range of convenient features including
motor and driver data such as load factor, voltage, and driver tem- Display Resolution 1024 × 768 pix or more
perature. Moreover, the logging function records the interface Number of colors 24 bit colors (TrueColor) or more
history. As well, a non-rotating contributing factor display function. <CAUTION> This software is applicable only to A5 family, A6 family. To apply this software to A, AⅢ, E or A4 series, consult our distributors.
MEMO
Compliance with
international standards
（A6SF series）（A6SE,A6SG series）
Driver Motor
EN55011
EN61000-6-2
EMC Directives —
EN61000-6-4
EN61800-3
EN61800-5-1 EN60034-1
Low-Voltage Directives
EU Directives EN50178 EN60034-5
ISO13849-1(PL e , Cat.3)
EN61508(SIL3)
Machinery Directives EN62061(SILCL 3)
—
Functional safety *1 EN61800-5-2(SIL3、STO)
IEC61326-3-1
IEC60240-1
UL508C UL1004-1 , UL 1004-6
UL Standards
(E164620) (E327868)
CSA Standards C22.2 No.14 C22.2 No.100 -04
Radio Waves Act KN11
—
(South Korea) (KC)*2 KN61000-4-2,3,4,5,6,8,11
IEC : International Electrotechnical Commission Pursuant to the directive 2004/108/EC, article 9(2)
EN : Europaischen Normen Panasonic Testing Centre
EMC : Electromagnetic Compatibility Panasonic Service Europe, a division of
UL : Underwriters Laboratories Panasonic Marketing Europe GmbH
CSA : Canadian Standards Association Winsbergring 15, 22525 Hamburg, F.R. Germany
• When export this product, follow statutory provisions of the destination country.
*1 A6SE, A6SG, A6NE and A6BE series doesn't correspond to the functional safety standard.
*2 Information related to the Korea Radio Law
This servo driver is a Class A commercial broadcasting radio wave generator not designed for home use.
The user and dealer should be aware of this fact.
This products is not an object of china compulsory

certification (CCC).
Servo Driver
Low noise, compliant with EMC directives SEMI-F47

Radiated noise is minimized to meet EMC directives and to Includes a function in compliance with the SEMI F47
support international standards. standard for voltage sag immunity under no load or light
load. Ideal for the semiconductor and LCD industries.
Compliance with EU safety standards. • Excluding the single-phase 100-V type.
• Please verify the actual compliance with your machine
Features non-software-based independent redundant circuitry for checking the F47 standard for voltage sag immunity.
motor power isolation. Independent redundant circuitry for motor power
isolation. This obviates the need for magnetic contactors to isolate the
required motor in order to accommodate low-voltage machinery
commands.(The final safety compliance must be applied as machine.)
industrial.panasonic.com/ac/e/ – 15 – © Panasonic Corporation 2018　AQCTB01E 201802-3YE industrial.panasonic.com/ac/e/ – 16 – MINAS A6 Family
© Panasonic Corporation 2018　AQCTB01E 201802-3YE 16
Series Motor Line-up Series Model Designation
* For combination of elements of model number, refer to Index P.402.
Motor Line-up ■ Servo Motor
Rated rotational Rotary
Motor
Motor
Rated output
(kW)
speed encoder Enclosure
(Max. speed) 23-bit (*1) lead-out Features Applications M S M F 5 A Z L 1 A 1 ＊ Special specifications
configuration
(r/min) absolute ① ② ③ ④ ⑤ ⑥ ⑦
① Type ② Series ⑦ Motor specifications: 80 mm sq. or less MSMF 50 W to 1000 W
0.05 0.1
3000 Symbol Type Symbol Series name Motor encorder
0.2 0.4 ○ IP65 Leadwire ･ Bonder Shaft Holding brake Oil seal
terminal *1
MSM Low inertia (50 W to 5.0 kW) F A6 family
(6000) ･ Semicon- Symbol
A6 Series
･ Small capacity MQM Middle inertia (100 W to 400 W) Key-way, Connector Lead
80 mm sq. or less
0.75 1.0 ･ Suitable for high
ductor
MDM Middle inertia (1.0 kW to 5.0 kW)
Round
center tap
without with without with
JN wire
production A 1 ● ● ● ●
speed application MGM Middle inertia (0.85 kW to 4.4 kW)
equipment A 2 ● ● ● ●
･ Suitable for all ap-
0.05 0.1 ･ Packing MHM High inertia (50 W to 5.0 kW) B 1 ● ● ● ●
Low inertia
plications
3000 machines B 2 ● ● ● ●
0.2 0.4 ○ IP67 Connector etc ③ Motor rated output
MSMF (6000)
Symbol Rated output Symbol Rated output
C 1 ● ● ● ●
80 mm sq. or less
0.75 1.0 5A 50 W 15 1.5 kW
C
D
2
1
●
●
●
●
●
● ●
●
･ SMT 01 100 W 18 1.8 kW D 2 ● ● ● ●

･ Middle capacity
1.0 1.5
A6N Series
machines 02 200 W 20 2.0 kW S 1 ● ● ● ●
3000 ･ Suitable for the
(5000) machines directly ･ Food 04 400 W 24 2.4 kW S 2 ● ● ● ●
2.0 3.0 machines T 1 ● ● ● ●
○ IP67 Connector coupled with ball
･ LCD
08 750 W 29 2.9 kW
T 2 ● ● ● ●
screw and high 0.85 kW, 1000 W 30 3.0 kW
3000 production 09
(130 mm sq.) (80 mm sq.)
U 1 ● ● ● ●
4.0 5.0 (4500)
stiffness and high equipment 40 4.0 kW U 2 ● ● ● ●
100 mm sq. or more repetitive application etc 10 1.0 kW 44 4.4 kW V 1 ● ● ● ●
13 1.3 kW 50 5.0 kW V 2 ● ● ● ●
･ Small capacity
0.1 0.2 ④ Voltage specifications ⑥ Design order
3000 ･ Flat type and suit- ･ SMT ⑦ Motor specifications: 80 mm sq. or less MHMF 50 W to 1000 W
○ IP65 Leadwire able for low stiffness machines Symbol Specifications Symbol Specifications MQMF 100 W to 400 W
Special Order Product

0.4 (6500)
A6B Series
machines with belt ･ Inserter 1 100 V 1 Standard
Motor encorder
MQMF 80 mm sq. or less driven machines 2 200 V
<Note>
Shaft Holding brake Oil seal
terminal *1
(Flat type) ･ Motors with gear ･ Belt drive Z

100 V/ 200 V common
When using a rotary encoder as an incre-
Symbol
Key-way, With Connector Lead
reducers are also (50 W only) Round without with without with protective
machines mental system (not using multi-turn data), do center tap lip JN wire
0.1 0.2 3000 available. ･ unloading not connect a battery for absolute encoder. A 1 ● ● ● ●
(6500)
○ IP67 Connector (See. P.261) robot ⑤ Rotary encoder specifications
0.4 Coming soon
A
B
2
1
●
●
●
●
●
● ●
●
Symbol Format Pulse counts Resolution Wires

80 mm sq. or less
Middle inertia
B 2 ● ● ● ●
L Absolute 23-bit 8388608 7
C 1 ● ● ● ●
⑦ Motor specifications: 100 mm sq. or more C 2 ● ● ● ●
1.0 1.5 ･ Conveyors
･ Middle capacity MSMF, MHMF, MDMF, MGMF C 3 ● ● ● ●
E Series
2000 ･ Robots
･ Suitable for low stiff- C 4 ● ● ● ●
MDMF 2.0 3.0 (3000)
○ IP67 Connector
ness machines with
･ Machine Shaft Holding brake Oil seal Encorder terminal
D 1 ● ● ● ●
tool Symbol With Connector Connector
Key-
4.0 5.0 belt driven Round without with with protective JN2 JL10 D 2 ● ● ● ●
etc way lip (Small size) (Large size)*2 D 3 ● ● ● ●
130 mm sq. or more C 5 ● ● ● ● D 4 ● ● ● ●
C 6 ● ● ● ● S 1 ● ● ● ●
C 7 ● ● ● ● S 2 ● ● ● ●
0.85 1.3 ･ Conveyors C 8 ● ● ● ● T 1 ● ● ● ●
MGME ･ Middle capacity
1500 ･ Robots D 5 ● ● ● ● T 2 ● ● ● ●
･ Suitable for low
( ) 1.8 2.4 ○ IP67 Connector ･ Textile
Imformation
Low speed/ D 6 ● ● ● ● U 1 ● ● ● ●
High torque (3000) speed and high
machines D 7 ● ● ● ● U 2 ● ● ● ●
type
2.9 4.4 torque application
etc D 8 ● ● ● ● U 3 ● ● ● ●
G 5 ● ● ● ●
130 mm sq. or more U 4 ● ● ● ●
G 6 ● ● ● ● V 1 ● ● ● ●
0.05 0.1 3000

G 7 ● ● ● ● V 2 ● ● ● ●
･ Small capacity G 8 ● ● ● ● V 3 ● ● ● ●
0.2 0.4 (6500)
○ IP65 Leadwire ･ Suitable for low stiff- H 5 ● ● ● ● V 4 ● ● ● ●
H 6 ● ● ● ●
ness machines with
3000 *1 Connector type: IP67, Lead wire type: IP65
80 mm sq. or less 0.75 1.0 (6000)
belt driven ･ Conveyors
H
H
7
8
●
●
●
●
●
●
●
● *2 Connector on the motor side encoder. (Also applicable to screwed type.)
･ Motors with gear ･ Robots
0.05 0.1 reducers are also etc
3000 available. ■ Servo Driver
High inertia
0.2 0.4 (6500) (See. P.261)

○ IP67 Connector
MHMF Coming soon
80 mm sq. or less 0.75 1.0

3000 M A D L N 1 5 S E ＊＊＊ Special specifications
(6000)
① ② ③ ④ ⑤ ⑥ ⑦
･ Middle capacity ･ Conveyors ① Frame symbol ④ Max. current rating ⑥ I/f specifications ⑦ Classification of type
1.0 1.5 ･ Suitable for low ･ Robots
Symbol Frame Symbol Frame Symbol Current rating Symbol Current rating Symbol
2000 stiffness machines ･ LCD man- Symbol Specification
2.0 3.0 (3000)
○ IP67 Connector
with belt driven, and ufacturing MAD A-Frame MDD D-Frame 0 6A 5 40 A (specification)
large load moment equipment MBD B-Frame MED E-Frame 1 8A 8 60 A Basic type
4.0 5.0 2 12 A 9 80 A
E
(Pulse train only)
of inertia etc MCD C-Frame MFD F-Frame
130 mm sq. or more 3 22 A A 100 A S Multi fanction type
② Series F
4 24 A B 120 A (Analog/Pulse) (Pulse, analog, full-closed)
(*1) IP65 motor (Lead wire type of MSMF, MQMF, MHMF) :Except output shaft
• When using a rotary encoder as an absolute Symbol Series name
rotating part and lead wire tip part ⑤ Supply voltage specifications G
RS485 communication type
system (using multi-turn data), connect a L A6 family (Pulse train only)
IP 67 Motor : Except rotating part of output shaft ,connecting pin of motor Symbol Specifications
battery to the absolute encoder.
connector and encoder connector. ③ Safety Function 1 Single phase 100 V
• When using a rotary encoder as an incremental
3 3-phase 200 V
* For possible combinations of motors and drivers, see P.23 to P.32. system (not using multi-turn data), do not Symbol Specifications
N without the safety function 5 Single/3-phase 200 V
connect a battery for absolute encoder.
T with the safety function
Series Overall Wiring
<A6SF Series (Driver: A-frame Motor: 200 W)> <A6SG Series/ A6SE Series (Driver: D-frame Motor: 1.0 kW)>
Front Panel
Wiring of Main Connector Indicates parameters and errors Front Panel
Connection to input power Wiring of Main Connector Indicates parameters and errors
Mains
Residual Connection to input power Mains
current device Display LED
Residual
Mode switching button current device Display LED
Data setting
Circuit Breaker (MCCB) button Mode switching button Data setting
A6 Series
SET Button
Circuit Breaker (MCCB) button
SET Button
Connection to PC
Noise Filter (NF) USB mini-B cable
(optional) (To be supplied by customer) Noise Filter (NF) Connection to PC
USB mini-B cable
(optional)
(To be supplied by customer)
Magnetic Contactor (MC)

Magnetic Contactor (MC)
A6N Series
Setup support software “PANATERM”
Reactor (L) Please download from our web site.
(optional) Reactor (L) Setup support software “PANATERM”
Connection to RS232, RS485 (optional) Please download from our web site.
or host controller
Communication with host controller
(X2 connector is not installed on A6 SE series.) Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug Communication with host controller

A6B Series
Use this connection when not configuring (X2 connector is not installed on A6 SE series.)
Charge lamp a safety circuit. (Standard accessory) Charge lamp
Lights while the main power is ON. (X3 connector is not installed on A6 SE, A6 SG series.) Lights while the main power is ON.
Connection to host controller

50-pin for I/O signals
Connection to host controller
Interface cable 50-pin for I/O signals
(optional)
Interface cable
(optional)
E Series
External regenerative resistor
(optional) External regenerative resistor
Controller
(optional)
A short wire is not required for Connection to external scale
A-frame and B-frame. Connect to external device, Short wire (accessory)
・For handling and wiring in case e.g. feedback scale ・For handling and wiring in case Controller
of using external regenerative (X5 connector is not installed on A6 SE, A6 SG series.)
of using external regenerative
resistor, please refer to P.37. resistor, please refer to P.38.
Connection to encoder
Ground (earth)
Imformation
Connection to encoder Motor cable Encoder cable dedicated to a specific
Encoder cable dedicated to a specific (optional) Ground model is available as option.
Brake cable model is available as option. (earth)
(optional) DC Power supply
Use this cable only for brake DC24 V
for a motor with brake. (to be supplied by customer) Brake cable
Use this cable only (optional) DC Power supply
for a motor with brake. for brake DC24 V
Encoder cable (to be supplied by customer)
Encoder cable
Terminal block type Terminal block type

Frames F is terminal block Frames F is terminal block
type. Terminate the cable type. Terminate the cable
or connect it to the or connect it to the
terminal block. terminal block.
(Photo: F-frame) (Photo: F-frame)
Motor
Motor
<Caution> <Note>
Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the Initial setup of rotational direction:
characteristics of material to which the product is installed. Overtightening can damage the screw and/or material; positive = CCW and negative = CW.
Positive direction (CCW)
undertightening can result in loosening. Pay an extra attention.
Example) Steel screw (M5) into steel section: 2.7 N·m to 3.3 N·m.
Negative direction (CW)
Series Driver and List of Applicable Peripheral Equipments
Required Circuit Rated Diameter Crimp

Diameter
and
Crimp
terminal
Diameter
Diameter
● Related page
Rated Noise Surge operating and terminal for and
Applicable
Voltage
output
Power breaker
filter absorber current of withstand main circuit voltage
withstand for control
withstand
and
Noise filter........................P.366 “Composition of Peripheral Equipments”
(rated load) (current)
Driver (V) at the rated Ferrite core power withstand
( ) ( )
motor Single phase Single phase magnetic voltage of terminal
of control supply
voltage of
voltage of
*1 (kW)
(kVA) (A) 3-phase 3-phase ( )
contactor contact main circuit
configuration cable
block
*2
power terminal
motor cable
*3
brake cable Surge absorber................P.367 “Composition of Peripheral Equipments”
supply cable block
Ferrite core.......................P.368 “Composition of Peripheral Equipments”
MSMF
0.05
MHMF
Single
Motor/brake connector.....P.275 “Specifications of Motor connector”
approx.
phase, DV0P4170 DV0P4190
MSMF 0.4
MQMF
100
0.1 ● About circuit breaker and magnetic contactor
A6 Series
MHMF
MADL To comply to EC Directives, install a circuit breaker between the power and the noise filter with-
MSMF
MHMF
0.05 out fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and
Single/ DV0P4170 DV0P4190
MSMF
3-phase
10 DV0PM20042 DV0P1450
marked).
200 0.28 mm2
MQMF 0.1, 0.2 approx. to Suitable for use on a circuit capable of delivering not more than 5000 Arms symmetrical amperes, below
MHMF 0.5 0.75 mm2/
20 A AWG22 the maximum input voltage of the product.
Single to
phase, 0.2 DV0P4170 DV0P4190 (3P+1a)
AWG18 If the short-circuit current of the power supply exceeds this value, install a current limit device (current
A6N Series
MSMF 100
MBDL MQMF 100 VAC limiting fuse, current limiting circuit breaker, transformer, etc.) to limit the short-circuit current.
MHMF Single/ or more
DV0P4170 DV0P4190
3-phase 0.4
approx.
0.75 mm2/ 0.75 mm2/ <Caution>
0.9 DV0PM20042 DV0P1450
200 AWG18 AWG18
600 VAC 600 VAC
・ Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).
MSMF Single or more or more
approx.
MQMF phase, 0.4 DV0P4190
MHMF 100
0.9 to to ● Terminal block and protective earth terminals
Connection to exclusive connector
Connection to exclusive connector

MCDL 15 DV0PM20042 2.0 mm2/ 2.0 mm2/
Single/ AWG14 AWG14 ・ Use a copper conductor cables with temperature rating of 75 ℃ or higher.
MSMF approx. DV0P4190

600 VAC 600 VAC
3-phase 0.75
・ Use the attached exclusive connector for A-frame to E-frame, and maintain the peeled off length of 8 mm to 9 mm.
A6B Series
MHMF 1.3 DV0P1450
200 or more or more
MGMF 0.85 ■ Fastening torque list (Terminal block screw/Terminal cover fastening screw)
1.0 Terminal cover
MSMF approx. Driver Terminal block screw
(80 mm sq.)
1.8 fastening screw
MDMF
1.0 Fastening Fastening
MHMF Nominal Nominal
0.75 mm2/ Frame Terminal name torque torque
Single/ size size
MDDL MHMF 3-phase
1.0
20 DV0P4220
DV0P4190
DV0P1460
30 A AWG18 (N·m) Note)1 (N·m) Note)1
(80 mm sq.) DV0P1450 (3P+1a) 600 VAC
200
E Series
or more F L1, L2, Ｌ３, L1C, L2C, P, RB, B, N, U, V, W M5 1.0 to 1.7 M3 0.19 to 0.21
MSMF 1.0
approx.
MGMF 1.3 2.3 ■ Fastening torque list (Ground terminal screw/Connector to host controller [X4])
MSMF
MDMF 1.5 Connector to
Ground screw
MHMF host controller (X4)
2.0 mm2/ Driver frame Fastening Fastening
MGMF 1.8 Nominal Nominal
AWG14 torque torque
Imformation
2.0 mm2/
600 VAC size size
AWG14 0.75 mm2/ (N·m) Note)1 (N·m) Note)1
600 VAC or more
approx. AWG18
to
MSMF
3-phase
3.8 or more 100 VAC MADL, MBDL, MCDL, MDDL, MEDL M4 0.7 to 0.8
MEDL MDMF 2.0 30 DV0PM20043 DV0P1450 to 3.5 mm2/
200 AWG12
or more M2.6 0.3 to 0.35
MHMF 3.5 mm2/
60 A
600 VAC MFDL M5 1.4 to 1.6
(3P+1a) AWG12 or more
600 VAC
or more Note)1 <Caution>
approx.
MGMF 2.4
4.5 ・ Applying fastening torque larger than the maximum value may result in damage to the product.
MSMF
approx. ・ Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts may
MDMF 3.0
MHMF
4.5 generate heat (smoking, firing）.
11 mm or 11 mm or
smaller smaller
MGMF 2.9 3.5 mm2/ <Remarks>
3.5 mm2/ AWG12
MSMF
3-phase AWG12 600 VAC ・ To check for looseness, conduct periodic inspection of fastening torque once a year.
MFDL MDMF 4.0 50 DV0P3410 DV0P1450 φ5.3 φ5.3 or more
200 600 VAC
MHMF
approx. 100 A or more Terminal Terminal
7.5 (3P+1a) block block
MGMF 4.4
M5 M5
MSMF
MDMF 5.0
MHMF
*1 Select peripheral equipments for single/3phase common specification according to the power source.
*2 For the ground screw, use the same crimp terminal as that for the main circuit terminal block.
*3 The diameter of the ground cable must be equal to, or larger than that of the motor cable.
A6 Series Table of Part Numbers 80 mm sq. or less　50 W to 1000 W　MSMF, MQMF, MHMF:
and Options Leadwire type IP65
Motor Driver Optional parts ■ Options

Title Part No. Page
A6SF series A6SG series Encoder Cable Note)3 Motor Cable Note)3
Power Interface Cable DV0P4360 290
Multi fanction RS485 capacity
Rating/ communication 23-bit Absolute
( )
type Brake External DV0P4120 290
at Reactor Noise Filter
Power Part No.
( ) ( ) ( )
Output Spec.
Motor series Pulse, analog, A6SE series Frame rated Use in the Use in the
without with Cable Regenerative Single phase
supply (W) Note)1 Dimensions full-closed load absolute Incremental
Single phase
DV0P4121 290
Basic Brake Brake Note)3 Resistor 3-phase 3-phase
(page) (kVA) system system
(Pulse signal input) (with battery box) (without battery box) Interface Conversion Cable DV0P4130 290
Note)2, Note)4 Note)5
A6 Family
DV0P4131 290
51
50 MSMF5AZL1 □ 2 MADLT01SF MADLN01S◇
101 Approx. DV0P4132 290
A-frame 0.4 DV0P4280 DV0P227
Single 53
100 MSMF011L1 □ 2 MADLT11SF MADLN11S◇ ★
DV0P4170 Connector Kit Single row
DV0PM20032 293
102 A-frame type
phase for Power
55 B-frame Approx. to
100 V 200 MSMF021L1 □ 2 MBDLT21SF MBDLN21S◇ DV0P4283 Supply Input Double row
103 ★ 0.5 D-frame type DV0PM20033 293
DV0P228 Connection
57 Approx. Connector Kit
400 MSMF041L1 □ 2 MCDLT31SF MCDLN31S◇ C-frame 0.9 DV0P4282 DV0PM20042 A-frame to
MSMF 105 for Motor DV0PM20034 294
D-frame
A6N Series
52 Connection
( )
Low inertia
Leadwire 50 MSMF5AZL1 □ 2 MADLT05SF MADLN05S◇ MFECA MFECA

101 MFMCA MFMCB Connector Kit for
type 0＊＊0EAE 0＊＊0EAD DV0P4281 DV0P227 DV0P4290 294
54 Approx. 0＊＊0EED 0＊＊0GET Motor/Encoder Connection
100 MSMF012L1 □ 2 MADLT05SF MADLN05S◇ A-frame 0.5 (For fixed) (For fixed) DV0P4170
3000 r/min 102 Note)6 DV0P220
★ RS485, RS232 DV0PM20102 291
IP65 Single 200 56 DV0PM20042
MSMF022L1 □ 2 MADLT15SF MADLN15S◇
phase/ 103 Safety DV0PM20103 291
3-phase 400 58 B-frame Approx.
MSMF042L1 □ 2 MBDLT25SF MBDLN25S◇ 0.9 DV0P4283 DV0P228 Connector Kit Interface DV0P4350 292
200 V 105 ★
59 Approx. DV0P220 DV0PM20042

750 MSMF082L1 □ 2 MCDLT35SF MCDLN35S◇ C-frame External Scale DV0PM20026 292

1.3
A6B Series
106
60 Approx. DV0P228 Encoder DV0PM20010 292
1000 MSMF092L1 □ 2 MDDLT45SF MDDLN45S◇ D-frame 1.8 DV0P4284 DV0P4220
107 DV0P222
Battery for Absolute Encoder DV0P2990 302
MQMF011L1 □ 2 67 A-frame Approx.
100 MADLT11SF MADLN11S◇ 0.4 DV0P4280 DV0P227 Battery Box for Absolute Encoder
MQMF011L1 □ 4 117 ★ DV0P4430 302
Single DV0P4170 Note)5
MQMF021L1 □ 2 69 B-frame Approx. For A-frame,
Middle inertia Flat type
phase 200 MBDLT21SF MBDLN21S◇ 0.5 DV0P4283 DV0PM20100 303

MQMF021L1 □ 4 121 ★
Mounting B-frame
MQMF 100 V DV0P228
MQMF041L1 □ 2 71 Approx. Bracket For C-frame,
(Leadwire
type )
400 MCDLT31SF MCDLN31S◇ C-frame DV0P4282 DV0PM20042 DV0PM20101 303
MQMF041L1 □ 4 125 0.9 MFECA MFECA D-frame
E Series
MFMCA MFMCB
0＊＊0EAE 0＊＊0EAD with
MQMF012L1 □ 2 68 0＊＊0EED 0＊＊0GET
3000 r/min 100 MADLT05SF MADLN05S◇ (For fixed) (For fixed) DV0P4281 Battery Box MFECA0＊＊0EAE 277
Single MQMF012L1 □ 4 117 Approx. Note)6 DV0P227 Encoder
A-frame Note)5
IP65 0.5 DV0P4170 Cable
phase/ MQMF022L1 □ 2 70 ★ DV0P220 without
200 MADLT15SF MADLN15S◇ MFECA0＊＊0EAD 277
3-phase MQMF022L1 □ 4 121 DV0PM20042 Battery Box
DV0P4283
200 V MQMF042L1 □ 2 72 Approx. DV0P228 Motor Cable without Brake MFMCA0＊＊0EED 281
400 MBDLT25SF MBDLN25S◇ B-frame
MQMF042L1 □ 4 125 ★ 0.9 DV0P220
Brake Cable MFMCB0＊＊0GET 289
Imformation
MHMF5AZL1 □ 2 73
50 MADLT01SF MADLN01S◇
MHMF5AZL1 □ 4 129 Approx. 50 Ω 25 W DV0P4280 305
A-frame 0.4 DV0P4280 DV0P227
Single MHMF011L1 □ 2 75
100 MADLT11SF MADLN11S◇ ★
DV0P4170
MHMF011L1 □ 4 133 100 Ω 25 W DV0P4281 305
phase External
MHMF021L1 □ 2 77 B-frame Approx.
100 V 200 MBDLT21SF MBDLN21S◇ 0.5 DV0P4283 regenerative 25 Ω 50 W DV0P4282 305
MHMF021L1 □ 4 137 ★
DV0P228 resistor
MHMF041L1 □ 2 79 Approx.
50 Ω 50 W DV0P4283 305
400 MCDLT31SF MCDLN31S◇ C-frame 0.9 DV0P4282 DV0PM20042
MHMF MHMF041L1 □ 4 141
MHMF5AZL1 □ 2 74 30 Ω 100 W DV0P4284 305
High inertia
( )
Leadwire 50 MADLT05SF MADLN05S◇ MFECA MFECA
MHMF5AZL1 □ 4 129 MFMCA MFMCB
type 0＊＊0EAE 0＊＊0EAD DV0P4281 DV0P227 DV0P220 304
MHMF012L1 □ 2 76 Approx. 0＊＊0EED 0＊＊0GET
100 MADLT05SF MADLN05S◇ A-frame 0.5 (For fixed) (For fixed) DV0P4170
3000 r/min MHMF012L1 □ 4 133 ★ Note)6 DV0P220 DV0P222 304
IP65 Single 200 MHMF022L1 □ 2 78 DV0PM20042 Reactor
MADLT15SF MADLN15S◇
phase/ MHMF022L1 □ 4 137 DV0P227 304
3-phase 400 MHMF042L1 □ 2 80 B-frame Approx.
MBDLT25SF MBDLN25S◇ 0.9 DV0P4283 DV0P228
200 V MHMF042L1 □ 4 141 ★ DV0P228 304
MHMF082L1 □ 2 81 Approx. DV0P220 DV0PM20042
750 MCDLT35SF MCDLN35S◇ C-frame 1.3 DV0P4170 366
MHMF082L1 □ 4 145
MHMF092L1 □ 2 82 Approx. DV0P228 Noise Filter DV0PM20042 366
1000 MDDLT55SF MDDLN55S◇ D-frame 2.3 DV0P4284 DV0P4220
MHMF092L1 □ 4 149 DV0P222
DV0P4220 366
★： Frame-A and B drivers are not equipped with regenerative resistors.When regeneration occurs, please prepare an optional Note)5 Please note that a battery is not supplied together with 23-bit
external regenerative resistor. absolute encoder cable (with battery box). DV0P4190 367
Surge Absorber
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.18.) Please buy the battery part number “DV0P2990” separately. DV0P1450 367
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.18.) Note)6 Brake cable and motor cables are required for the motors with
brake. Ferrite Core DV0P1460 368
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030EAE
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, only Daisy Chain DV0P24610 307
incremental system can be used in combination.
A6 Series Table of Part Numbers 80 mm sq. or less　50 W to 1000 W　MSMF, MQMF:
and Options Connector type IP67

Title Part No. Page
Multi fanction RS485 capacity DV0P4120 290
23-bit Absolute
Rating/ type communication
( )
Brake External DV0P4121 290
at Reactor Noise Filter
( )
Power Part No.
( ) ( )
Output Spec. Pulse, analog, Interface Conversion Cable DV0P4130 290
Motor series A6SE series Frame rated Use in the Use in the Cable Regenerative Single phase
supply (W) Note)1 Dimensions full-closed load absolute Incremental without with Single phase
DV0P4131 290
Basic Brake Brake Note)3 Resistor
(page) (kVA) system system 3-phase 3-phase
DV0P4132 290
(Pulse signal input) (with battery box) (without battery box) Connector Kit A-frame Single row
type DV0PM20032 293
Note)2, Note)5 Note)6 for Power
to
A6 Family
Supply Input Double row
DV0PM20033 293
Connection D-frame type
51
50 MSMF5AZL1 □ 1 MADLT01SF MADLN01S◇ Connector Kit
101 A-frame to
Approx. for Motor DV0PM20034 294
A-frame DV0P4280 DV0P227 D-frame
0.4 Connection
53 ★
Connector MSMF DV0PM20035 295
Single 100 MSMF011L1 □ 1 MADLT11SF MADLN11S◇ DV0P4170
103 Kit for Motor/
phase Encoder Con- MQMF DV0PM24582 296
100 V 55 MFMCA MFMCB nection
MBDLN21S◇ B-frame
Approx. MFECA MFECA
200 MSMF021L1 □ 1 MBDLT21SF 0.5 0＊＊0NJD 0＊＊0PJT DV0P4283 Connector Kit for Brake Connection DV0PM20040 301
104 0＊＊0MJE 0＊＊0MJD
( )
★
( )
A6N Series
For movable,
( ) ( )
For movable,
For movable, For movable, direction of direction of DV0P228 RS485, RS232 DV0PM20102 291
direction of direction of motor shaft
57 Approx. motor shaft motor shaft
motor shaft Safety DV0PM20103 291
400 MSMF041L1 □ 1 MCDLT31SF MCDLN31S◇ C-frame 0.9 DV0P4282 DV0PM20042
105 MFMCA Connector Kit Interface DV0P4350 292
MFECA MFECA MFMCB
0＊＊0NKD External Scale DV0PM20026 292
MSMF 0＊＊0MKE 0＊＊0MKD 0＊＊0PKT
52
( ) ( )
Encoder DV0PM20010 292
For movable,
( )( )
For movable,
( )
50 MSMF5AZL1 □ 1 MADLT05SF MADLN05S◇
Low inertia
For movable, For movable, opposite direction

Connector 101 opposite direction opposite direction of motor shaft
opposite direction
of motor shaft Battery for Absolute Encoder DV0P2990 302
type of motor shaft of motor shaft
DV0P4281 Battery Box for Absolute Encoder
MFMCB DV0P227 DV0P4430 302
54 Approx. MFECA MFECA MFMCA Note)6
3000 r/min 100 MSMF012L1 □ 1 MADLT05SF MADLN05S◇ A-frame 0＊＊0SJT
103 0.5 0＊＊0TJE 0＊＊0TJD 0＊＊0RJD Mounting For A-frame,B-frame DV0PM20100 303
( )
DV0P220 DV0P4170
( ) ( )
IP67 ★
( )
For fixed,

Bracket
A6B Series
For fixed,
direction of
For fixed,
direction of
For fixed, direction of For C-frame,D-frame DV0PM20101 303
direction of
56 motor shaft motor shaft motor shaft
motor shaft DV0PM20042 For movable, direction
MFECA0＊＊0MJE 278
Single 200 MSMF022L1 □ 1 MADLT15SF MADLN15S◇ Encoder of motor shaft
104 MFECA MFECA MFMCA MFMCB
phase/ Cable For movable, opposite
MFECA0＊＊0MKE 278
0＊＊0SKT
( )
0＊＊0TKE 0＊＊0TKD direction of motor shaft
0＊＊0RKD with
( )
3-phase
( )( ) ( )
For fixed,
58 B-frame Approx. For fixed, For fixed, For fixed, Battery Box
For fixed, direction of
MFECA0＊＊0TJE 278
200 V 400 MSMF042L1 □ 1 MBDLT25SF MBDLN25S◇ 0.9
opposite direction opposite direction opposite direction
opposite direction DV0P4283 motor shaft
105 ★ of motor shaft of motor shaft of motor shaft
of motor shaft
DV0P228 Note)6 For fixed, opposite
Note)7 direction of motor shaft MFECA0＊＊0TKE 278
Note)4
59 Approx. DV0P220 For movable, direction
MFECA0＊＊0MJD 278
750 MSMF082L1 □ 1 MCDLT35SF MCDLN35S◇ C-frame 1.3 DV0PM20042 of motor shaft
107 Encoder For movable, opposite
Cable direction of motor shaft MFECA0＊＊0MKD 278
DV0P228
( )
E Series
60 Approx. without For fixed, direction of
MFECA0＊＊0TJD 278
1000 MSMF092L1 □ 1 MDDLT45SF MDDLN45S◇ D-frame 1.8 DV0P4284 DV0P4220 Battery Box motor shaft
108 DV0P222 For fixed, opposite
direction of motor shaft MFECA0＊＊0TKD 278
For movable, direction
MQMF011L1 □ 1 67 MFMCA0＊＊0NJD 281
MADLN11S◇ A-frame
Approx. of motor shaft
100 MADLT11SF 0.4 DV0P4280 DV0P227
MQMF011L1 □ 3 119 ★ MFECA MFECA MFMCA MFMCA For movable, opposite
MFMCA0＊＊0NKD 281
0＊＊0MJE 0＊＊0MJD 0＊＊0UFD 0＊＊0VFD DV0P4170 Motor Cable direction of motor shaft
Single
( ) ( ) ( ) ( )
For movable, For movable, For movable, For movable, (For MSMF type) For fixed, direction of
MQMF021L1 □ 1 69 motor shaft MFMCA0＊＊0RJD 281
MBDLN21S◇ B-frame
Approx. direction of direction of direction of direction of
phase 200 MBDLT21SF 0.5 motor shaft motor shaft motor shaft motor shaft DV0P4283 For fixed, opposite
MQMF021L1 □ 3 123 ★ MFMCA0＊＊0RKD 281
100 V direction of motor shaft
Imformation
MFECA MFECA MFMCA MFMCA DV0P228 For movable, direction
MQMF of motor shaft MFMCA0＊＊0UFD 282
MQMF041L1 □ 1 71 Approx. 0＊＊0MKE 0＊＊0MKD 0＊＊0UGD 0＊＊0VGD
( )( ) ( )( )
400 MCDLT31SF MCDLN31S◇ C-frame DV0P4282 DV0PM20042
( Connector
type )
For movable, For movable, For movable, For movable, Motor Cable For movable, opposite
MQMF041L1 □ 3 127 0.9 opposite direction opposite direction opposite direction opposite direction direction of motor shaft MFMCA0＊＊0UGD 282
of motor shaft of motor shaft of motor shaft of motor shaft (For MQMF type)
— (without Brake)
motor shaft MFMCA0＊＊0WFD 282
3000 r/min MQMF012L1 □ 1 68 MFECA MFECA MFMCA MFMCA For fixed, opposite
100 MADLT05SF MADLN05S◇ 0＊＊0TJE 0＊＊0TJD 0＊＊0WFD 0＊＊0XFD DV0P4281 direction of motor shaft MFMCA0＊＊0WGD 282
MQMF012L1 □ 3 119
( ) ( ) ( ) ( )
IP67 Approx. For fixed, For fixed, For fixed, For fixed, DV0P227 For movable, direction
Single A-frame direction of direction of direction of direction of of motor shaft MFMCA0＊＊0VFD 285
0.5 motor shaft motor shaft motor shaft motor shaft DV0P220
phase/ MQMF022L1 □ 1 70 ★ DV0P4170 Motor Cable For movable, opposite
MFMCA0＊＊0VGD 285
200 MADLT15SF MADLN15S◇ MFECA MFECA MFMCA MFMCA direction of motor shaft
3-phase MQMF022L1 □ 3 123 DV0PM20042
(For MQMF type)
0＊＊0TKE 0＊＊0TKD 0＊＊0WGD 0＊＊0XGD (with Brake) MFMCA0＊＊0XFD 285
200 V DV0P4283 motor shaft
( )( ) ( )( )
For fixed, For fixed, For fixed, For fixed,
DV0P228 For fixed, opposite
MQMF042L1 □ 1 72 Approx. opposite direction opposite direction opposite direction opposite direction MFMCA0＊＊0XGD 285
400 MBDLT25SF MBDLN25S◇ B-frame 0.9
of motor shaft of motor shaft of motor shaft of motor shaft direction of motor shaft
MQMF042L1 □ 3 127 ★
DV0P220 For movable, direction
MFMCB0＊＊0PJT 289
of motor shaft
For movable, opposite
MFMCB0＊＊0PKT 289
★： Frame-A and B drivers are not equipped with regenerative resistors.When regeneration occurs, please prepare an optional Movable : For application where the cable is movable. Brake Cable
direction of motor shaft
external regenerative resistor. Fixed : For application where the cable is fixed. motor shaft MFMCB0＊＊0SJT 289
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.18.) Direction of motor shaft/Opposite direction of motor shaft : Cable direction
For fixed, opposite
direction of motor shaft MFMCB0＊＊0SKT 289
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.18.) 50 Ω 25 W DV0P4280 305
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030MJE External 100 Ω 25 W DV0P4281 305
regenerative 25 Ω 50 W DV0P4282 305
Note)4 Cables for opposite to output shaft cannot be used with 50 W or 100 W motor. (MSMF connector type only.)
resistor 50 Ω 50 W DV0P4283 305
Note)5 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, 30 Ω 100 W DV0P4284 305
only incremental system can be used in combination. DV0P220, DV0P222
Reactor 304
Note)6 Please note that a battery is not supplied together with 23-bit absolute encoder cable (with battery box). DV0P227, DV0P228
DV0P4170, DV0PM20042
Please buy the battery part number “DV0P2990” separately. Noise Filter
DV0P4220
366
Note)7 Brake cable and motor cables are required for the motors with brake. Surge Absorber DV0P4190, DV0P1450 367
Ferrite Core DV0P1460 368
Daisy Chain DV0P24610 307
A6 Series Table of Part Numbers 80 mm sq. or less　50 W to 1000 W　MHMF:
and Options Connector type IP67

Title Part No. Page
Multi fanction RS485 capacity DV0P4120 290
23-bit Absolute
( )
at Brake External DV0P4121 290
Reactor Noise Filter
( )
Power Part No.
( ) ( )
Output Spec. Pulse, analog, Interface Conversion Cable DV0P4130 290
Motor series A6SE series Frame rated Use in the Use in the Cable Regenerative Single phase
supply (W) Note)1 Dimensions full-closed load absolute Incremental without with Single phase
Basic Note)3 Resistor DV0P4131 290
(page) (kVA) system system Brake Brake 3-phase 3-phase
DV0P4132 290
(Pulse signal input) (with battery box) (without battery box) Connector Kit A-frame Single row DV0PM20032 293
Note)2, Note)4 Note)5 for Power type
A6 Family
to
Supply Input Double row
MFMCA MFMCA Connection D-frame type DV0PM20033 293
MHMF5AZL1 □ 1 73 0＊＊7UFD 0＊＊7VFD
( ) ( )
Connector Kit A-frame to
50 MADLT01SF MADLN01S◇ Movable/fixed Movable/fixed
for Motor DV0PM20034 294
MHMF5AZL1 □ 3 131 common-use, common-use, D-frame
direction of direction of Connection
Approx. motor shaft motor shaft
A-frame DV0P4280 DV0P227 Connector MHMF 200 W to 1.0 kW DV0PM24582 296
★
0.4 MFMCA MFMCA Kit for Motor/
MHMF011L1 □ 1 75 0＊＊7UGD 0＊＊7VGD Encoder Con- MHMF 50 W, 100 W DV0PM24581 296
( )( )
100 MADLT11SF MADLN11S◇ Movable/fixed Movable/fixed nection
MHMF011L1 □ 3 135 common-use, common-use,
Connector Kit for Brake Connection DV0PM20040 301
A6N Series
opposite direction opposite direction
of motor shaft of motor shaft DV0P4170 RS485, RS232 DV0PM20102 291
MFMCA MFMCA Safety DV0PM20103 291
0＊＊0UFD 0＊＊0VFD Connector Kit Interface DV0P4350 292
Single
( ) ( ) External Scale DV0PM20026 292
For movable, For movable,
direction of direction of
phase MHMF021L1 □ 1 77 Approx. motor shaft motor shaft Encoder DV0PM20010 292
200 MBDLT21SF MBDLN21S◇ B-frame 0.5 DV0P4283
100 V MHMF021L1 □ 3 139 ★ Battery for Absolute Encoder DV0P2990 302
MFMCA MFMCA
Battery Box for Absolute Encoder
0＊＊0UGD 0＊＊0VGD DV0P4430 302
Note)5
( )( )
opposite direction opposite direction Mounting For A-frame,B-frame DV0PM20100 303

A6B Series
of motor shaft of motor shaft
DV0P228 Bracket For C-frame,D-frame DV0PM20101 303
MFECA MFECA MFMCA MFMCA For movable, direction
MFECA0＊＊0MJE 278
0＊＊0MJE 0＊＊0MJD 0＊＊0WFD 0＊＊0XFD Encoder of motor shaft
( ) ( ) ( ) ( )
For fixed, For fixed, Cable For movable, opposite
For movable, For movable, MFECA0＊＊0MKE 278
( )
direction of direction of direction of motor shaft
MHMF041L1 □ 1 79 Approx. direction of direction of
motor shaft motor shaft with
400 MCDLT31SF MCDLN31S◇ C-frame 0.9
motor shaft motor shaft DV0P4282 DV0PM20042 Battery Box For fixed, direction of
MFECA0＊＊0TJE 278
MHMF041L1 □ 3 143 MFMCA MFMCA motor shaft
MFECA MFECA 0＊＊0WGD 0＊＊0XGD
Note)5 For fixed, opposite
MHMF MFECA0＊＊0TKE 278
( )( )
0＊＊0MKE 0＊＊0MKD For fixed, For fixed, direction of motor shaft
( ) ( )( )
High inertia
For movable, For movable, opposite direction opposite direction For movable, direction
Connector opposite direction opposite direction of motor shaft of motor shaft of motor shaft MFECA0＊＊0MJD 278
type of motor shaft of motor shaft
— Encoder For movable, opposite
MFMCA MFMCA
E Series
Cable MFECA0＊＊0MKD 278
3000 r/min MFECA MFECA 0＊＊7UFD 0＊＊7VFD
direction of motor shaft
( )
MHMF5AZL1 □ 1 74
( ) ( )
50 MADLT05SF MADLN05S◇ 0＊＊0TJE 0＊＊0TJD Movable/fixed Movable/fixed without For fixed, direction of
MFECA0＊＊0TJD 278
( ) ( )
IP67 MHMF5AZL1 □ 3 131 For fixed, For fixed, common-use, common-use, Battery Box motor shaft
direction of direction of direction of direction of For fixed, opposite
motor shaft motor shaft motor shaft motor shaft direction of motor shaft MFECA0＊＊0TKD 278
DV0P4281
MFMCA MFMCA For movable, direction
MFECA MFECA of motor shaft MFMCA0＊＊0UFD 282
MHMF012L1 □ 1 76 Approx. 0＊＊0TKE 0＊＊0TKD 0＊＊7UGD 0＊＊7VGD DV0P227
( )( )
Motor Cable
MADLN05S◇ A-frame
( )( )
For movable, opposite
100 MADLT05SF MFMCA0＊＊0UGD 282
200 W to 1.0 kW )
For fixed, For fixed,
0.5
(For
Movable/fixed Movable/fixed
MHMF012L1 □ 3 135 ★ opposite direction opposite direction common-use, common-use, DV0P220 MHMF direction of motor shaft
of motor shaft of motor shaft opposite direction
of motor shaft
opposite direction
of motor shaft
DV0P4170 For fixed, direction of
MFMCA0＊＊0WFD 282
Imformation
(without Brake) motor shaft
DV0PM20042 For fixed, opposite
MFMCA MFMCA direction of motor shaft MFMCA0＊＊0WGD 282
MHMF022L1 □ 1 78 0＊＊0UFD 0＊＊0VFD
Single 200 MADLT15SF MADLN15S◇ For movable, direction
MFMCA0＊＊0VFD 285
MHMF022L1 □ 3 139
( ) ( ) of motor shaft
phase/ direction of direction of Motor Cable For movable, opposite
MFMCA0＊＊0VGD 285
200 W to 1.0 kW )
motor shaft motor shaft
3-phase (For MHMF direction of motor shaft
MFMCA0＊＊0XFD 285
200 V MHMF042L1 □ 1 80 Approx.
MFMCA MFMCA (with Brake) motor shaft
400 MBDLT25SF MBDLN25S◇ B-frame 0.9 0＊＊0UGD 0＊＊0VGD DV0P4283 For fixed, opposite
( )( )
MHMF042L1 □ 3 143 ★ For movable, For movable, direction of motor shaft MFMCA0＊＊0XGD 285
opposite direction opposite direction
of motor shaft of motor shaft DV0P228 Movable/fixed
Motor Cable common-use, direction MFMCA0＊＊7UFD 281
50 W, 100 W)
DV0P220
750
MHMF082L1 □ 1 81
MCDLT35SF MCDLN35S◇ C-frame
Approx.
MFMCA
0＊＊0WFD
MFMCA
0＊＊0XFD DV0PM20042
(For MHMF of motor shaft
Movable/fixed
1.3 MFMCA0＊＊7UGD 281
( ) ( )
MHMF082L1 □ 3 147 For fixed, For fixed, (without Brake) common-use, opposite
direction of direction of direction of motor shaft
motor shaft motor shaft Movable/fixed
Motor Cable common-use, direction MFMCA0＊＊7VFD 285
50 W, 100 W)
MFMCA MFMCA
1000
MHMF092L1 □ 1 82
MDDLT55SF MDDLN55S◇ D-frame
Approx. 0＊＊0WGD 0＊＊0XGD DV0P4284
DV0P228
DV0P4220
(For MHMF of motor shaft
Movable/fixed
2.3
( )( )
For fixed, For fixed,
MHMF092L1 □ 3 151 opposite direction opposite direction DV0P222 (with Brake) common-use, opposite MFMCA0＊＊7VGD 285
of motor shaft of motor shaft direction of motor shaft
50 Ω 25 W DV0P4280 305
★： Frame-A and B drivers are not equipped with regenerative resistors.When regeneration occurs, please prepare an optional Movable : For application where the cable is movable. External 100 Ω 25 W DV0P4281 305
external regenerative resistor. Fixed : For application where the cable is fixed. regenerative 25 Ω 50 W DV0P4282 305
resistor 50 Ω 50 W DV0P4283 305
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.18.) Direction of motor shaft/Opposite direction of motor shaft : Cable direction
30 Ω 100 W DV0P4284 305
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.18.) DV0P220, DV0P222
Reactor 304
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030MJE DV0P227, DV0P228
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, DV0P4170, DV0PM20042
Noise Filter 366
DV0P4220
only incremental system can be used in combination.
Surge Absorber DV0P4190, DV0P1450 367
Note)5 Please note that a battery is not supplied together with 23-bit absolute encoder cable (with battery box). Ferrite Core DV0P1460 368
Please buy the battery part number “DV0P2990” separately. Daisy Chain DV0P24610 307
A6 Series Table of Part Numbers 100 mm sq. or more　0.85 kW to 5.0 kW
and Options IP67 motor Encorder connector (Large size JL10) type

Title Part No. Page
Encoder Cable Note)3,5 Motor Cable Note)3,5
Interface Cable DV0P4360 290
A6SF series A6SG series JL10 (Large size) JL10
Power DV0P4120 290
（）（）
Multi fanction RS485 capacity One-touch lock type One-touch lock type DV0P4121 290
( )
at N/MS screwed type JL04 screwed type Interface Conversion Cable DV0P4130 290
( )
Power Output Part No. Spec. Pulse, analog, External
Motor series A6SE series Frame rated 23-bit Absolute Reactor Noise Filter DV0P4131 290
supply (W) Note)1 Dimensions full-closed load Regenerative
Basic Use in the Use in the (Single phase / 3-phase) DV0P4132 290
(page) (kVA) Resistor
absolute Incremental without with A-frame Single row
(Pulse signal input) Connector Kit DV0PM20032 293
system system Brake Brake to
type
A6 Family
Note)2, Note)4 for Power Double row
(with battery box) (without battery box) Supply Input D-frame type DV0PM20033 293
Note)7 Connection E-frame DV0PM20044 293
Single MSMF102L1 □ 6 61 Connector Kit A-frame to D-frame DV0PM20034 294
1000 MDDLT55SF MDDLN55S◇ MFMCD MFMCA DV0P228 / DV0P222
phase/ MSMF102L1 □ 8 109 Approx. for Motor
D-frame 2.3 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 E-frame DV0PM20046 294
3-phase MSMF152L1 □ 6 62 Connection
1500 MDDLT55SF MDDLN55S◇ DV0PM20047 / DV0P222
MSMF 200 V MSMF152L1 □ 8 110 Connector Kit
MFECA MFECA MFMCD MFMCA
MSMF202L1 □ 6 for Regenera- E-frame DV0PM20045 293
Low inertia
Large size 63 Approx.

0＊＊2ECD 0＊＊2FCD DV0P4285
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043
JL10 type MSMF202L1 □ 8 111 Note)6 tive Resistor
MSMF302L1 □ 6 64 DV0PM24587
A6N Series
Approx.
3000 r/min 3-phase 3000 MSMF302L1 □ 8 113
MFDLTA3SF MFDLNA3S◇ 4.5 MFECA MFECA MFMCA MFMCA DV0P224 MSMF 1.0 kW to 2.0 kW
0＊＊0ESE 0＊＊0ESD 0＊＊3EUT 0＊＊3FUT MDMF 1.0 kW to 2.0 kW 297
IP67 200 V MSMF402L1 □ 6 65 DV0P4285 MGMF 0.85 kW to 1.8 kW
4000 MFDLTB3SF MFDLNB3S◇ F-frame DV0P3410 MHMF 1.0 kW, 1.5 kW
MSMF402L1 □ 8 114 Approx. ×2 in parallel without Brake
MFMCA MFMCA DV0P225 DV0PM24588
MSMF502L1 □ 6 66 7.5
5000 MFDLTB3SF MFDLNB3S◇ 0＊＊3ECT 0＊＊3FCT MSMF 3.0 kW to 5.0 kW
MSMF502L1 □ 8 115 MDMF 3.0 kW to 5.0 kW 298
MDMF102L1 □ 6 89 Connector MGMF 2.4 kW to 4.4 kW
Single Approx.
1000 MDDLT45SF MDDLN45S◇ 1.8 MFMCD MFMCA DV0P228 / DV0P222 Kit for Motor/ MHMF 2.0 kW to 5.0 kW
phase/ MDMF102L1 □ 8 161 Encoder Con-
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 DV0PM24589
3-phase MDMF152L1 □ 6 90 Approx. nection MSMF 1.0 kW to 2.0 kW

MDMF152L1 □ 8 2.3 297
A6B Series
MDMF 200 V 162 MDMF 1.0 kW to 2.0 kW
MFECA MFECA MFMCD MFMCA MGMF 0.85 kW to 1.8 kW
Large size MDMF202L1 □ 6 91 Approx.
0＊＊2ECD 0＊＊2FCD DV0P4285 MHMF 1.0 kW, 1.5 kW
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043 with Brake
JL10 type MDMF202L1 □ 8 163 Note)6 DV0PM24590
MDMF302L1 □ 6 92 Approx. MSMF 3.0 kW to 5.0 kW
2000 r/min 3-phase 3000 MFDLTA3SF MFDLNA3S◇ 4.5 MFECA MFECA MFMCA MFMCA DV0P224 MDMF 3.0 kW to 5.0 kW 298
MDMF302L1 □ 8 165 MGMF 2.4 kW to 4.4 kW
IP67 0＊＊0ESE 0＊＊0ESD 0＊＊3EUT 0＊＊3FUT
200 V MDMF402L1 □ 6 93 DV0P4285 MHMF 2.0 kW to 5.0 kW
4000 MFDLTB3SF MFDLNB3S◇ F-frame DV0P3410
MDMF402L1 □ 8 166 Approx. ×2 in parallel RS485, RS232 DV0PM20102 291
MFMCA MFMCA DV0P225
MDMF502L1 □ 6 94 7.5 Safety DV0PM20103 291
5000 MFDLTB3SF MFDLNB3S◇ 0＊＊3ECT 0＊＊3FCT
Middle inertia
MDMF502L1 □ 8 167 Connector Kit Interface DV0P4350 292

Single MGMF092L1 □ 6 95 Approx. External Scale DV0PM20026 292
E Series
850 MDDLT45SF MDDLN45S◇ 1.8 MFMCD MFMCA DV0P228 / DV0P221
phase/ MGMF092L1 □ 8 169 Encoder DV0PM20010 292
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220
3-phase MGMF132L1 □ 6 96 Approx. Battery for Absolute Encoder DV0P2990 302
1300 MDDLT55SF MDDLN55S◇ 2.3 DV0PM20047 / DV0P222
200 V MGMF132L1 □ 8 170 Battery Box for Absolute Encoder
MGMF MFMCD MFMCA Note)7
DV0P4430 302
MGMF182L1 □ 6 97 Approx.
0＊＊2ECD 0＊＊2FCD
Large size 1800 MEDLT83SF MEDLN83S◇ 3.8 MFECA MFECA DV0P223 Mounting
MGMF182L1 □ 8 171 D-frame DV0PM20101 303
JL10 type 0＊＊0EPE 0＊＊0EPD Bracket
MFMCE MFMCD
( )
Low speed/ E-frame 0＊＊3EUT 0＊＊3FUT DV0P4285 DV0PM20043 Encoder
MGMF242L1 □ 6 98 Approx. One-touch lock type MFECA0＊＊0EPE 279
High torque 2400 MEDLT93SF MEDLN93S◇ 4.5 MFECA MFECA Cable
MGMF242L1 □ 8 173
( )
3-phase MFMCE MFMCD
Imformation
type 0＊＊0ESE 0＊＊0ESD DV0P224 with
200 V 0＊＊3ECT 0＊＊3FCT Battery Box
1500 r/min Screwed type MFECA0＊＊0ESE 280
MGMF292L1 □ 6 99 MFMCA MFMCA Note)7
IP67 2900 MFDLTB3SF MFDLNB3S◇
MGMF292L1 □ 8 174 Approx. 0＊＊3EUT 0＊＊3FUT DV0P4285 Encoder
F-frame DV0P3410 One-touch lock type MFECA0＊＊0EPD 279
MGMF442L1 □ 6 100 7.5 ×2 in parallel Cable
MFMCA MFMCA
4400
MGMF442L1 □ 8 175
MFDLTB3SF MFDLNB3S◇
0＊＊3ECT 0＊＊3FCT
DV0P225
(
without
Battery Box ) Screwed type MFECA0＊＊0ESD 279
Single MHMF102L1 □ 6 83 Approx. MFMCD MFMCA One-touch lock type MFMCD0＊＊2EUD 282
1000 MDDLT45SF MDDLN45S◇ 1.8 DV0P228 / DV0P222
phase/ MHMF102L1 □ 8 153 0＊＊2EUD 0＊＊2FUD Screwed type MFMCD0＊＊2ECD 282
D-frame DV0P4284 DV0P4220
3-phase MHMF152L1 □ 6 84 Approx. MFMCD MFMCA Motor Cable One-touch lock type MFMCE0＊＊2EUD 283
200 V MHMF152L1 □ 8 154 0＊＊2ECD 0＊＊2FCD (without Brake) Screwed type MFMCE0＊＊2ECD 283
MHMF MFMCE MFMCE One-touch lock type MFMCA0＊＊3EUT 284
MFECA MFECA
0＊＊2EUD 0＊＊2FUD
High inertia
Large size MHMF202L1 □ 6 85 Approx. DV0P4285 Screwed type MFMCA0＊＊3ECT 284

2000 MEDLT83SF MEDLN83S◇ E-frame 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043
JL10 type MHMF202L1 □ 8 155 3.8 MFMCE MFMCE Note)6 One-touch lock type MFMCA0＊＊2FUD 286
0＊＊2ECD 0＊＊2FCD Screwed type MFMCA0＊＊2FCD 286
2000 r/min MFECA MFECA
3-phase MHMF302L1 □ 6 86 Approx. 0＊＊0ESE 0＊＊0ESD Motor Cable One-touch lock type MFMCE0＊＊2FUD 286
IP67 200 V 3000 MFDLTA3SF MFDLNA3S◇ 4.5 MFMCA MFMCA DV0P224 (with Brake) Screwed type MFMCE0＊＊2FCD 287
MHMF302L1 □ 8 157
0＊＊3EUT 0＊＊3FUT DV0P4285 One-touch lock type MFMCA0＊＊3FUT 288
MHMF402L1 □ 6 87
4000 MFDLTB3SF MFDLNB3S◇ F-frame DV0P3410 Screwed type MFMCA0＊＊3FCT 288
MHMF402L1 □ 8 158 Approx. ×2 in parallel
MFMCA MFMCA DV0P225
MHMF502L1 □ 6 88 7.5 External 30 Ω 100 W DV0P4284
5000 MFDLTB3SF MFDLNB3S◇ 0＊＊3ECT 0＊＊3FCT regenerative 305
MHMF502L1 □ 8 159 20 Ω 130 W DV0P4285
resistor
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.18.) Note)5 Use of JL10 type encoder cables and motor cables enable one- DV0P222, DV0P223
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.18.) touch lock connections. Conventional screwed type N/MS and Reactor DV0P224, DV0P225 304
JL04V type cables can also be used. DV0P228, DV0PM20047
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030EPE
DV0P4220, DV0PM20043
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, Note)6 For other possible combinations, refer to P.303. Noise Filter 366
DV0P3410
only incremental system can be used in combination. Note)7 Please note that a battery is not supplied together with 23-bit Surge Absorber DV0P4190, DV0P1450 367
absolute encoder cable (with battery box). Ferrite Core DV0P1460 368
Please buy the battery part number “DV0P2990” separately. Daisy Chain DV0PM24610 307
A6 Series Table of Part Numbers 100 mm sq. or more　0.85 kW to 5.0 kW
and Options IP67 motor Encorder connector (Small size JN2) type

Title Part No. Page
Encoder Cable Note)3 Motor Cable Note)3,5
Interface Cable DV0P4360 290
A6SF series A6SG series JL10
Power DV0P4120 290
（）
Multi fanction RS485 JN2 (Small size) One-touch lock type
capacity DV0P4121 290
Rating/ type communication (One-touch lock type)
( )
at JL04 screwed type Interface Conversion Cable DV0P4130 290
( )
Power Output Part No. Spec. Pulse, analog, External
Motor series A6SE series Frame rated 23-bit Absolute Reactor Noise Filter DV0P4131 290
supply (W) Note)1 Dimensions full-closed load Regenerative
Basic Use in the Use in the (Single phase / 3-phase) DV0P4132 290
(page) (kVA) Resistor
absolute Incremental without with A-frame Single row
(Pulse signal input) Connector Kit DV0PM20032 293
type
A6 Family
Single MSMF102L1 □ 5 61
1000 MDDLT55SF MDDLN55S◇ MFMCD MFMCA DV0P228 / DV0P222 Connector Kit A-frame to
phase/ MSMF102L1 □ 7 109 Approx.
D-frame
DV0PM20034 294
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 for Motor
3-phase MSMF152L1 □ 5 62 2.3 Connection
1500 MDDLT55SF MDDLN55S◇ DV0PM20047 / DV0P222 E-frame DV0PM20046 294
MSMF 200 V MSMF152L1 □ 7 111
MFMCD MFMCA Connector Kit
MSMF202L1 □ 5
Low inertia
Small size 63 Approx.

0＊＊2ECD 0＊＊2FCD DV0P4285 for Regenera- E-frame DV0PM20045 293
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 DV0P223 DV0PM20043
JN2 type MSMF202L1 □ 7 112 MFECA MFECA Note)6 tive Resistor
MSMF302L1 □ 5 64 0＊＊0ETE 0＊＊0ETD
A6N Series
Approx. DV0PM24583
3000 r/min 3-phase 3000 MSMF302L1 □ 7 113
MFDLTA3SF MFDLNA3S◇ 4.5 MFMCA MFMCA DV0P224 MSMF 1.0 kW to 2.0 kW
IP67 0＊＊3EUT 0＊＊3FUT MDMF 1.0 kW to 2.0 kW 297
200 V MSMF402L1 □ 5 65 DV0P4285 MGMF 0.85 kW to 1.8 kW
MSMF402L1 □ 7 115 Approx. ×2 in parallel MHMF 1.0 kW, 1.5 kW
MFMCA MFMCA DV0P225 without Brake
MSMF502L1 □ 5 66 7.5 DV0PM24584
MSMF502L1 □ 7 116 MDMF 3.0 kW to 5.0 kW 298
Single MDMF102L1 □ 5 89 Approx. Connector MGMF 2.4 kW to 4.4 kW
phase/ MDMF102L1 □ 7 161
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 Encoder Con- DV0PM24585
3-phase MDMF152L1 □ 5 90 Approx. nection MSMF 1.0 kW to 2.0 kW

MDMF152L1 □ 7 2.3
A6B Series
MDMF 200 V 163 MDMF 1.0 kW to 2.0 kW 297
MFMCD MFMCA MGMF 0.85 kW to 1.8 kW
Small size MDMF202L1 □ 5 91 Approx.
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 DV0P223 DV0PM20043 with Brake
JN2 type MDMF202L1 □ 7 164 MFECA MFECA Note)6 DV0PM24586
MDMF302L1 □ 5 92 Approx. 0＊＊0ETE 0＊＊0ETD MSMF 3.0 kW to 5.0 kW
2000 r/min 3-phase 3000 MDMF302L1 □ 7 165
MFDLTA3SF MFDLNA3S◇ 4.5 MFMCA MFMCA DV0P224 MDMF 3.0 kW to 5.0 kW 298
MGMF 2.4 kW to 4.4 kW
IP67 0＊＊3EUT 0＊＊3FUT DV0P4285
200 V MDMF402L1 □ 5 93 MHMF 2.0 kW to 5.0 kW
4000 MFDLTB3SF MFDLNB3S◇ F-frame DV0P3410 RS485, RS232 DV0PM20102 291
MDMF402L1 □ 7 167 Approx. ×2 in parallel
MFMCA MFMCA DV0P225
MDMF502L1 □ 5 94 7.5 Safety DV0PM20103 291
Middle inertia
MDMF502L1 □ 7 168 Connector Kit Interface DV0P4350 292

Single MGMF092L1 □ 5 95 Approx. External Scale DV0PM20026 292
E Series
phase/ MGMF092L1 □ 7 169 Encoder DV0PM20010 292
3-phase MGMF132L1 □ 5 96 Approx. Battery for Absolute Encoder DV0P2990 302
200 V MGMF132L1 □ 7 171 Battery Box for Absolute Encoder
MGMF MFMCD MFMCA Note)7
DV0P4430 302
MGMF182L1 □ 5 97 Approx.
0＊＊2ECD 0＊＊2FCD
Small size 1800 MEDLT83SF MEDLN83S◇ 3.8 DV0P223 Mounting
MGMF182L1 □ 7 172 D-frame DV0PM20101 303
JN2 type Bracket
MFMCE MFMCD
( )
E-frame MFECA MFECA DV0P4285 DV0PM20043 Encoder
Low speed/ MGMF242 L1 □ 5 98 Approx. 0＊＊0ETE 0＊＊0ETD 0＊＊3EUT 0＊＊3FUT
High torque 2400 MEDLT93SF MEDLN93S◇ Cable
MGMF242 L1 □ 7 4.5
( )
3-phase 173
Imformation
type MFMCE MFMCD DV0P224 with MFECA0＊＊0ETE 280
1500 r/min MGMF292L1 □ 5 99 MFMCA MFMCA Note)7 One-touch lock type
IP67 2900 MFDLTB3SF MFDLNB3S◇ Encoder
MGMF292L1 □ 7 175 Approx. 0＊＊3EUT 0＊＊3FUT DV0P4285
F-frame 7.5 DV0P3410 Cable
MGMF442L1 □ 5 100 ×2 in parallel MFECA0＊＊0ETD 280
( )
4400 MFDLTB3SF MFDLNB3S◇ MFMCA MFMCA DV0P225 without
MGMF442L1 □ 7 176 0＊＊3ECT 0＊＊3FCT Battery Box
Single MHMF102L1 □ 5 83 Approx. MFMCD MFMCA One-touch lock type MFMCD0＊＊2EUD 282
phase/ MHMF102L1 □ 7 153 0＊＊2EUD 0＊＊2FUD Screwed type MFMCD0＊＊2ECD 282
3-phase MHMF152L1 □ 5 84 Approx. MFMCD MFMCA Motor Cable One-touch lock type MFMCE0＊＊2EUD 283
200 V MHMF152L1 □ 7 155 0＊＊2ECD 0＊＊2FCD (without Brake) Screwed type MFMCE0＊＊2ECD 283
MFMCE MFMCE One-touch lock type MFMCA0＊＊3EUT 284
MHMF
0＊＊2EUD 0＊＊2FUD Screwed type MFMCA0＊＊3ECT 284
High inertia
Small size MHMF202L1 □ 5 85 Approx. DV0P4285

2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 MFECA MFECA DV0P223 DV0PM20043 One-touch lock type MFMCA0＊＊2FUD 286
JN2 type MHMF202L1 □ 7 156 Note)6
MFMCE MFMCE Screwed type MFMCA0＊＊2FCD 286
0＊＊0ETE 0＊＊0ETD
2000 r/min 0＊＊2ECD 0＊＊2FCD Motor Cable One-touch lock type MFMCE0＊＊2FUD 286
3-phase
IP67 MHMF302L1 □ 5 86 Approx. (with Brake) Screwed type MFMCE0＊＊2FCD 287
200 V 3000 MHMF302L1 □ 7 157
MFDLTA3SF MFDLNA3S◇ 4.5 MFMCA MFMCA DV0P224
One-touch lock type MFMCA0＊＊3FUT 288
0＊＊3EUT 0＊＊3FUT DV0P4285
MHMF402L1 □ 5 87 Screwed type MFMCA0＊＊3FCT 288
MHMF402L1 □ 7 159 Approx. ×2 in parallel External
MFMCA MFMCA DV0P225 30 Ω 100 W DV0P4284
MHMF502L1 □ 5 88 7.5 regenerative 305
5000 MFDLTB3SF MFDLNB3S◇ 0＊＊3ECT 0＊＊3FCT 20 Ω 130 W DV0P4285
MHMF502L1 □ 7 160 resistor
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.18.) Note)5 Use of JL10 type motor cables enable one-touch lock connections. DV0P222, DV0P223
Reactor DV0P224, DV0P225 304
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.18.) Conventional screwed type JL04V type cables can also be used. DV0P228, DV0PM20047
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030ETE Note)6 For other possible combinations, refer to P.303. DV0P4220, DV0PM20043
Noise Filter 366
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, Note)7 Please note that a battery is not supplied together with 23-bit DV0P3410
only incremental system can be used in combination. absolute encoder cable (with battery box). Surge Absorber DV0P4190, DV0P1450 367
Please buy the battery part number “DV0P2990” separately. Ferrite Core DV0P1460 368
Position, Speed, Torque,
A6 Series Driver Specifications A6SF series (Multifanction type)　Full-closed type
+10 % +10 % (1) servo-ON input (2) Alarm clear input (3) Gain switch input
Main circuit Single phase　100 V to 120 V 50 Hz / 60 Hz Control input (4) Positive direction drive inhibit input (5) Negative direction drive inhibit input
–15 % –15 %
100 V (6) Forced alarm input (7) Inertia ratio switch input
+10 % +10 % (1) Servo-alarm output (2) Servo-ready output (3) External brake off output
Control circuit Single phase　100 V to 120 V 50 Hz / 60 Hz
–15 % –15 % Control output (4) At-speed output (5) Torque in-limit output (6) Zero speed detection output
A-frame to +10 % +10 % (7) Warning output (8) Alarm clear attribute output (9) Servo on status output
Input power
Single/3-phase　200 V to 240 V 50 Hz / 60 Hz (1) Deviation counter clear input (2) Command pulse inhibit input
Main D-frame –15 % –15 %
Control input (3) Command division/multiplication switch input (4) Anti-vibration switch input
circuit E-frame, +10 % +10 % (5) Torque limit switch input (6) Control mode switch input
Single/3-phase　200 V to 240 V 50 Hz / 60 Hz
F-frame –15 % –15 % Control output (1) In-position output (2) Position command ON/OFF output
200 V
A6 Family
A-frame to +10 % +10 % Max. command pulse frequency 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
Single phase　200 V to 240 V 50 Hz / 60 Hz
Control D-frame –15 % –15 % Differential input. Selectable by parameter.
Input pulse signal format
circuit E-frame, ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Position control
+10 % +10 %
Single phase　200 V to 240 V 50 Hz / 60 Hz Pulse Applicable scaling ratio: 1/1000 times to 8000 times
F-frame –15 % –15 % input Electronic gear
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder
(Division/Multiplication of
Ambient temperature: 0 ˚C to 55 ˚C (free from freezing) resolution) and denominator (which corresponds to command pulse resolution per
command pulse)
temperature Storage temperature: –20 ˚C to 65 ˚C motor revolution), but the combination has to be within the range shown above.
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1) Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog Torque limit command input Individual torque limit for both positive and negative direction is enabled.
A6N Series
Environment humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1) input Torque feed forward input Analog voltage can be used as torque feed forward input.
Altitude Lower than 1000 m Two-degree-of-freedom control Available
Anti-vibration control Available
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz Load variation suppression control Available
Control method IGBT PWM Sinusoidal wave drive Block operation Modbus (RS 232, RS 485) or interface is selectable
(1) Internal command velocity selection input (2) Speed zero clamp input
23-bit (8388608 resolution) absolute encoder, 7-wire serial Control input
(3) Velocity command sign input (4) Control mode switch input
Encoder feedback * When using it as an incremental system (not using multiturn data), do not connect the Control output (1) Speed coincidence output (2) Velocity command ON/OFF output

A6B Series
battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings). Velocity command input with analog voltage is possible. Scale setting and com-
Velocity command input
Speed control
Analog mand polarity vary depending on parameters. (6 V/Rated rotational speed: Default)
A/B phase, homing signal differential input. Serial communication is also supported.
input Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Manufacturers that support serial communication scale:
Basic Specifications
External scale feedback Torque feed forward input Analog voltage can be used as torque feed forward input.
Fagor Automation S.Coop., HEIDENHAIN, Magnescale Co., Ltd., Mitutoyo Corporation
Internal velocity command Switching the internal 8 speed is enabled by command input.
Nidec Sankyo Corporation, Renishaw plc
Individual setup of acceleration and deceleration is enabled,
Soft-start/down function
General purpose 10 inputs with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Input Speed zero clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
The function of general-purpose input is selected by parameters.
Function
Control signal Two-degree-of-freedom control Available
E Series
General purpose 6 outputs Control input Speed zero clamp input, torque command sign input, control mode switch input.
Output
Torque control
The function of general-purpose output is selected by parameters. Control output (1) Speed coincidence output (2) Speed in-limit output
Interface connector
Input 3 inputs (16-bit A/D : 1 input, 12-bit A/D : 2 inputs) Analog Torque command input with analog voltage is possible. Scale setting and com-
Torque command input
Analog signal input mand polarity vary depending on parameters. (3 V/rated torque Default)
Output 2 outputs (Analog monitor: 2 output) Speed limit function Speed limit value with parameter is enabled.
2 inputs (Photo-coupler input, Line receiver input) (1) Deviation counter clear input (2) Command pulse inhibit input
Control input (3) Command division/multiplication switch input
Input Both open collector and line driver interface can be connected. (4) Anti-vibration switch input (5) Torque limit switch input
Imformation
High speed line driver interface can be connected. Control output (1) In-position output (2) Position command ON/OFF output
Pulse signal Max. command pulse frequency 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
4 outputs ( Line driver: 3 output, open collector: 1 output)
Differential input. Selectable by parameter.
Output Line driver output for encoder pulses (A/B/Z signal) or external feedback pulses (EXA/ Input pulse signal format
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
EXB/EXZ signal) open collector output also available for Z or EXZ signal. Pulse Applicable scaling ratio: 1/1000 times to 8000 times
input Electronic gear
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder
Full-closed control
USB USB interface to connect to computers for parameter setting or status monitoring. (Division/Multiplication of
resolution) and denominator (which corresponds to command pulse resolution per
command pulse)
Communication motor revolution), but the combination has to be within the range shown above.
RS232 1:1 communication
function Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
RS485 1: n communication (max 31) Analog Torque limit command input Individual torque limit for both positive and negative direction is enabled.
input Torque feed forward input Analog voltage can be used as torque feed forward input.
Safety function A dedicated connector is provided for Functional Safety.
1/40 times to 1280 times
Front panel (1) 5 keys (2) LED (6-digit) Although ratio of the encoder pulse (numerator) and external scale pulse (de-
Setting range of external scale
nominator) can be arbitrarily set in the range of 1 to 2 23 for the numerator and in
A-frame, B,-frame: no built-in regenerative resistor (external resistor only) division/multiplication
the range of 1 to 2 23 for the denominator, this product should be used within the
Regeneration aforementioned range.
C-frame to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Two-degree-of-freedom control Available
Dynamic brake A-frame to F-frame: Built-in Anti-vibration control Available
Switching among the following 7 mode is enabled, Load variation suppression control Available
Block operation Modbus (RS 232, RS 485) or interface is selectable
Control mode (1) Position control (2) Speed control (3) Toque control (4) Position/Speed control
The load inertia is identified in real time by the driving state of the motor operating ac-
(5) Position/Torque control (6) Speed/Torque control (7) Full-closed control Auto tuning cording to the command given by the controlling device and set up support software
“PANATERM”. The gain is set automatically in accordance with the rigidity setting.
*1 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
Common
Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and
Hard error
Protective function encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Alarm data trace back Tracing back of alarm data is available
A6SG series (RS485 communication type)
A6 Series Driver Specifications A6SE series (Besic type)
Position control only type
+10 % +10 % (1) servo-ON input (2) Alarm clear input (3) Gain switch input
Main circuit Single phase　100 V to 120 V 50 Hz / 60 Hz
–15 % –15 % Control input (4) Positive direction drive inhibit input (5) Negative direction drive inhibit input
100 V (6) Forced alarm input (7) Inertia ratio switch input
+10 % +10 %
Control circuit Single phase　100 V to 120 V 50 Hz / 60 Hz
–15 % –15 % (1) Servo-alarm output (2) Servo-ready output (3) External brake off output
Control output (4) At-speed output (5) Torque in-limit output (6) Zero speed detection output
A-frame to +10 % +10 % (7) Warning output (8) Alarm clear attribute output (9) Servo on status output
Single/3-phase　200 V to 240 V 50 Hz / 60 Hz
Input power
D-frame –15 % –15 %

Main
(1) Deviation counter clear input (2) Command pulse inhibit input
circuit
E-frame to +10 % +10 % Control input (3) Command division/multiplication switch input (4) Anti-vibration switch input
A6 Family
Single/3-phase　200 V to 240 V 50 Hz / 60 Hz (5) Torque limit switch input (6) Control mode switch input
F-frame –15 % –15 %
200 V
A-frame to +10 % +10 % Control output (1) In-position output (2) Position command ON/OFF output
D-frame –15 % –15 %
Control Max. command
circuit 500 kpps (Optocoupler interface) 8 Mpps (Line receiver interface)
E-frame to +10 % +10 % pulse frequency
F-frame –15 % –15 %
Input pulse signal Differential input. Selectable by parameter.
A6N Series
Ambient temperature: 0 ˚C to 55 ˚C (free from freezing) format ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Position control
temperature Storage temperature: –20 ˚C to 65 ˚C Pulse
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1) input Electronic gear Applicable scaling ratio: 1/1000 times to 8000 times
(Division/Multiplica- Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder
Environment humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1) tion of command resolution) and denominator (which corresponds to command pulse resolution per
pulse) motor revolution), but the combination has to be within the range shown above.
Altitude Lower than 1000 m
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz

A6B Series
Anti-vibration control Available
Control method IGBT PWM Sinusoidal wave drive
Two-degree-of-freedom control Available
23-bit (8388608 resolution) absolute encoder, 7-wire serial
Basic Specifications
Function
* A6SG series Load variation suppression
Available
When using it as an incremental system (not using multiturn data), do not connect the control
Encoder feedback battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
* A6SE series Block operation Modbus (RS 232, RS 485) or interface is selectable. (A6SE : interface only.)
Since it can be used only as an incremental system, do not connect the battery for
E Series
absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings). (1) Internal command velocity selection input (2) Speed zero clamp input
Control input
(3) Velocity command sign input (4) Control mode switch input
General purpose 10 inputs
Input Control output (1) Speed coincidence output (2) Velocity command ON/OFF output
Speed control
Control signal
Internal velocity command Switching the internal 8 speed is enabled by command input.
Interface connector
General purpose 6 outputs

Output
Individual setup of acceleration and deceleration is enabled,
Soft-start/down function
Imformation
Input None with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Analog signal
Output 2 outputs (Analog monitor: 2 output) Zero-speed clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
Input 2 inputs (Photo-coupler input, Line receiver input) Two-degree-of-freedom control Available
Pulse signal
Output 4 outputs ( Line driver: 3 output, open collector: 1 output) The load inertia is identified in real time by the driving state of the motor operating ac-
Auto tuning cording to the command given by the controlling device and set up support software
USB USB interface to connect to computers for parameter setting or status monitoring. “PANATERM”. The gain is set automatically in accordance with the rigidity setting.
Communication Division of encoder feedback
RS232 1:1 communication Set up of any value is enabled (encoder pulses count is the max.).
function * RS485, RS232 connector is not installed
Common
pulse
on A6 SE series.
RS485 1: n communication (max 31)
Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encod-
Hard error
Front panel (1) 5 keys (2) LED (6-digit) Protective er error etc.
function
A-frame, B,-frame: no built-in regenerative resistor (external resistor only) Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Regeneration
C-frame to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Alarm data trace back Tracing back of alarm data is available
Dynamic brake A-frame to F-frame: Built-in
Control mode (1) Position control (2) Internal velocity command (3) Position/Internal velocity command
A6 Series Wiring Diagram Wiring to Connector, XA, XB, XC and Terminal Block
In Case of Single phase, A-frame, B-frame, 100 V / 200 V type In Case of Single phase, C-frame, D-frame, 100 V / 200 V type
● In Case of Leadwire type ● In Case of Connector type ● In Case of Leadwire type ● In Case of Connector type
Built-in thermal Built-in thermal Built-in thermal Built-in thermal
protector of an protector of an protector of an protector of an
ALM MC external ALM MC external ALM MC external ALM MC external
ON OFF ON OFF ON OFF ON OFF
regenerative regenerative regenerative regenerative
Coil surge suppression units resistor (light Coil surge suppression units resistor (light Coil surge suppression units resistor (light Coil surge suppression units resistor (light
yellow) yellow) yellow) yellow)
MCCB L XA MCCB L XA MCCB L XA MCCB L XA
A6 Family
Noise filter
Noise filter
Noise filter
Noise filter
L1 L1 L1 L1
Main power Main power Main power Main power
L2 supply L2 supply L2 supply L2 supply
L3 L3 L3 L3
For single phase For single phase For single phase For single phase
MC L1C Control power wiring, L2 is not MC L1C Control power wiring, L2 is not MC L1C Control power wiring, L2 is not MC L1C Control power wiring, L2 is not
L2C supply L2C supply L2C supply L2C supply
used. used. used. used.
Note)1 Short wire Note)1 Short wire XC XC
XB XB P Do not connect P Do not connect
P P For manufacturer For manufacturer
N use anything N use anything
External regenerative resistor N N Note)1 Short wire Note)1 Short wire
External regenerative resistor XB
B B XB P
Red Red P
1 1 U U RB
White Motor White Motor RB
A6N Series
2 2 V V External regenerative resistor External regenerative resistor
Black connection Black connection B B
3 3 W W Red Red
Green Green 1 1 U U
4 4 White Motor White Motor
2 2 V connection V connection
Black Black
172159-1 3 3 W W
172167-1 Green Green
4 4
Motor ALM Motor ALM
X4 X4 172159-1
37 37 172167-1
Insulated ALM+ Insulated ALM+ Motor
+ + Motor ALM ALM
DC12 V to 24 V DC12 V to 24 V X4
− 36 − 36 X4
(±5 %) ALM− (±5 %) ALM− 37 37
Insulated ALM+ Insulated ALM+
+ +

DC12 V to 24 V DC12 V to 24 V
A6B Series
− 36 − 36
(±5 %) ALM− (±5 %) ALM−
In Case of 3-phase, A-frame, B-frame, 200 V type In Case of 3-phase, C-frame, D-frame, 200 V type
● In Case of Leadwire type ● In Case of Connector type ● In Case of Leadwire type ● In Case of Connector type
Built-in thermal Built-in thermal Built-in thermal Built-in thermal
E Series
protector of an protector of an protector of an protector of an
ALM MC external ALM MC external ALM MC external ALM MC external
ON OFF ON OFF ON OFF ON OFF
regenerative regenerative regenerative regenerative
Coil surge suppression units resistor (light Coil surge suppression units resistor (light Coil surge suppression units resistor (light Coil surge suppression units resistor (light
yellow) yellow) yellow) yellow)
MCCB L XA MCCB L XA MCCB L XA MCCB L XA
Noise filter
Noise filter
Noise filter
Noise filter
L1 L1 L1 L1
Main power Main power Main power Main power
L2 supply L2 supply L2 supply L2 supply
L3 L3 L3 L3
MC L1C Control power MC L1C Control power MC L1C Control power MC L1C Control power
supply supply supply supply
Imformation
L2C L2C L2C L2C
Note)1 Short wire Note)1 Short wire XC XC
XB XB P Do not connect P Do not connect
P P For manufacturer For manufacturer
N use anything N use anything
External regenerative resistor N N Note)1 Short wire Note)1 Short wire
External regenerative resistor
B B XB XB
Red Red P P
1 1 U U
White Motor White Motor External regenerative resistor RB RB
2 2 V connection V connection External regenerative resistor
Black Black B B
3 3 W W Red Red
Green Green 1 1 U U
4 4 White Motor White Motor
2 2 V connection V connection
Black Black
172159-1 3 3 W W
172167-1 Green Green
4 4
Motor ALM Motor ALM
X4 X4 172159-1
37 37 172167-1
Insulated ALM+ Insulated ALM+ Motor Motor
+ + ALM ALM
− 36 − 36 X4 X4
(±5 %) ALM− (±5 %) ALM− 37 37
Insulated ALM+ Insulated ALM+
+ +
− 36 − 36
(±5 %) ALM− (±5 %) ALM−
Note)1 Note)1
Built-in Connection of the connector XB Built-in Connection of the connector XB
Frame Short wire Frame Short wire
regenerative In case of using In case of not using regenerative In case of using In case of not using
No. (Accessory) No. (Accessory)
resistor an external regenerative resistor an external regenerative resistor resistor an external regenerative resistor an external regenerative resistor
A-frame • Connect an external regenerative • Remove the short wire accessory from
without without • Always open between P-B.
B-frame resistor between P-B. C-frame between RB-B. • Shorted between RB-B with an attached
with with
D-frame • Connect an external regenerative resistor short wire
between P-B.
* Refer to P.275 Specifications of Motor connector. * Refer to P.275, P.276, Specifications of Motor connector.
A6 Series Wiring Diagram Wiring to Connector, XA, XB, XC and Terminal Block
In Case of 3-phase, E-frame, 200 V type In Case of 3-phase, F-frame, 200 V type
Built-in thermal protector Built-in thermal protector

of an external of an external
MC MC
ON OFF
ALM regenerative resistor ON OFF
ALM regenerative resistor
Coil surge suppression units (light yellow) (light yellow)
Coil surge suppression units
A6 Family
MCCB L XA Terminal block
Noise filter
L1 MCCB L
Noise filter
Main power L1
L2 supply Main power
L3 L2 supply
MC L1C Control power L3
L2C supply MC L1C Control power
L2C supply
Note)1 Short wire XC
P External regenerative resistor P
RB RB
External regenerative resistor B Note)1 Short bar B
N N
Red
A6N Series
Red XB U
U White Motor
White Motor V connection
V Black
Black connection W
W Green
Green
Motor ALM
Motor ALM X4
X4 37
37 Insulated ALM+
ALM+ +
Insulated + DC12 V to 24 V
DC12 V to 24 V − 36
− (±5 %) ALM−
(±5 %) 36

ALM−
A6B Series
Note)1 Note)1
Built-in Connection of the connector XC Built-in Connection of terminal block
Frame Short wire Frame Short bar
regenerative In case of using In case of not using regenerative In case of using In case of not using
No. (Accessory) No. (Accessory)
resistor an external regenerative resistor an external regenerative resistor resistor an external regenerative resistor an external regenerative resistor
E Series
• Remove the short wire accessory from • Remove the short bar accessory from
between RB-B. • Shorted between RB-B with an attached between RB-B. • Shorted between RB-B with an attached
E-frame with with F-frame with with
• Connect an external regenerative resistor short wire • Connect an external regenerative resistor short bar
between P-B. between P-B.
Imformation
* Refer to P.276, Specifications of Motor connector. * Refer to P.276, Specifications of Motor connector.
A6 Series Safety Function Wiring to the Connector, X3 * Excluding A6SE, A6SG Series Wiring to the Connector, X4 Control Circuit Diagram A6 Series
Connecting the host controller can configure a safety circuit that controls the safety functions. Wiring Example of Position Control Mode
When not constructing the safety circuit, use the supplied safety bypass plug.
In case of open collector I/F (1) When you use the external
7 COM+ 2.2 kΩ 1
Command pulse OPC1 resistor with 12 V and 24 V
3
Outline Description of Safe Torque Off (STO)
inhibition input 33 4.7 kΩ 2.2 kΩ
INH PULS1 power supply
Deviation counter
clear input 30 220 Ω 4
CL PULS2 PULS1 3
Servo-ON input 2 Command
The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output
2.2 kΩ
29 SRV-ON OPC2 R
pulse PULS2 4
Gain switch input 27 2.2 kΩ 5 input A 220 Ω
GAIN SIGN1
torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose, Electronic gear
switching input 1 28 DIV1
220 Ω
SIGN2
6 (Use with
SIGN1 5
VDC
500 kpps or less.) R
the STO uses safety input signal and hardware (circuit).
SIGN2 6
Anti-vibration 13
A6 Family
switch input 1 26 VS-SEL1 GND 220 Ω
Control mode
32 C-MODE
When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters switch input
Alarm clear input 31 A-CLR OA+
21
A-phase
Specifications VDC -1.5
22 output VDC ≒10 mA
STO state. When the driver becomes STO state, front panel displays the “St.”. Then, when the driver's state Positive direction
drive inhibit input 9 POT
OA-
48
of R R+220
Divider
Negative direction OB+ B-phase 12 V 820 Ω1/2 W
is STO input is off and servo-on input is off, the driver automatically becomes servo-off. drive inhibit input 8 NOT
OB-
49 output 24 V 2 kΩ1/2 W
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the external
24 output resistor with 24 V power supply
34 S-RDY- OZ-
Safety Precautions Servo-Alarm output 37 ALM+
OPC1 1
2.2 kΩ
A6N Series
36 ALM-
PULS2 4
• When using the STO function, be sure to perform equipment risk assessment to ensure that the system In-Position output 39 INP+ GND
25 220 Ω
OPC1 2
VDC Z-phase output
conforms to the safety requirements.
2.2 kΩ
12 V to 24 V 38 INP- 19 (open collector) SIGN2 6
24 VDC
External brake off output CZ

11 BRKOFF+ 220 Ω
• Even while the STO function is working, the following potential safety hazards exist. Check safety in risk 10 BRKOFF-
assessment. Torque in-limit output 40 TLC ( : Twisted pair)
• The motor may move when external force (e.g. gravity force on vertical axis) is exerted on it. Provide Zero speed detection output 33 kΩ <Note>
12 ZSP 14 Do not connect anythig to Pin No.14,
an external brake, etc., as necessary to secure the motor. Note that the purpose of motor with brake is
39 kΩ 39 kΩ
−
SPR/TRQR/SPL 15, 16, 18, A6 SE series and
41 COM- ＋
15 A6 SG series can not be used.

GND
A6B Series
holding and it cannot be used for braking application. 44 2 kΩ 20 kΩ
− 20 kΩ 20 kΩ 18.7 kΩ
P-ATL/TRQR
16 Positive direction torque limit input
PULSH1
＋
33.2 kΩ
• When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic brake), the motor is free 17 (0 V to +10 V)
120 Ω 20 kΩ
45 GND
PULSH2 2 kΩ 20 kΩ
46
− 20 kΩ 20 kΩ 18.7 kΩ 18
run state and requires longer stop distance even if no external force is applied. Make sure that this does N-ATL Negative direction torque limit input
2 kΩ 20 kΩ
SIGNH1
＋
20 kΩ 33.2 kΩ
47 SIGNH2 120 Ω (-10 V to 0 V)
not cause any problem. 13 GND
2 kΩ 20 kΩ 1 kΩ
SP
43
Velocity monitor output
1 kΩ 42
• When power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180 Command pulse input B 50 FG IM Torque monitor output
(Use with 8 Mpps or less.) The functions of the following pin can be changed using parameters.
electrical angle (max.). Make sure that this does not cause any problem. Be sure to connect.
X4 Input: 8, 9, 26, 27, 28, 29, 31, 32
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
• The STO turns off the current to the motor but does not turn off power to the servo driver and does not <Remark> Refer to P.292, Specifications of Interface connector. * The above diagram is a composition of the shipment parameter.
E Series
isolate it. When starting maintenance service on the servo driver, turn off the driver by using a different
disconnecting device. Wiring Example of Velocity Control Mode * Excluding A6SE, A6SG Series
• External device monitor (EDM) output signal is not a safety signal. Do not use it for an application other
7 COM+
than failure monitoring. Internal command speed
selection 1 input 33 INTSPD1 4.7 kΩ
• Dynamic brake and external brake release signal output are not related to safety function. When designing Internal command speed
selection 2 input 30 INTSPD2
Servo-ON input
the system, make sure that the failure of external brake release during STO condition does not result in 29 SRV-ON
Imformation
( : Twisted pair)
Gain switch input 27 GAIN
danger condition. Internal command speed
selection 3 input 28 INTSPD3 21
• When using STO function, connect equipment conforming to the safety standards. Zero speed clamp input 26
ZEROSPD
OA+
22 A-phase output
Control mode switch OA-
input 32 C-MODE 48
[Connector pin assignment] SF2+ SF1+
Divider
Alarm clear input 31 A-CLR OB+
49 B-phase output
(Viewed from cable) EDM+ NC* Positive direction
drive inhibit input 9 POT
OB-
23
Negative direction OZ+
8 6 4 2 8 Z-phase output
FG
drive inhibit input
NOT 24
OZ-
7 5 3 1
EDM− NC* Servo-Ready output 35 S-RDY+
SF2− SF1− * Do not connect anything to NC. 34 S-RDY-
Servo-Alarm output 37 25
ALM+ GND
• System configuration 36 ALM- 19 Z-phase output (open collector)
Panasonic Corporation
A6SF series At-speed output 39 AT-SPEED+ CZ
VDC
Emergency stop switch Servo driver 38 AT-SPEED-
12 V to 24 V
ADRR40RT (Contact: 2NC) External brake off output 11 BRKOFF+
Panasonic Corporation
10 BRKOFF- 33 kΩ
Light curtain
Torque in-limit output 39 kΩ 39 kΩ 14
SF4B V2 Emergency stop signal 40 TLC −
SPR/TRQR/SPL Velocity command
Motor
＋
Panasonic Corporation GND 15 input (0 V to ± 10 V)

STO signal Zero speed detection output 12 20 kΩ 20 kΩ 18.7 kΩ 16
Safety unit
−
ZSP ＋
33.2 kΩ
P-ATL/TRQR Positive direction torque
SF-C14EX (Safe torque off) 41 COM-
20 kΩ
GND
17 limit input (0 V to +10 V)
N-ATL 18
− 20 kΩ 20 kΩ 18.7 kΩ
＋
33.2 kΩ Negative direction torque

EDM output 20 kΩ
limit input (–10 V to 0 V)
1 kΩ 43 Velocity monitor output
SP
1 kΩ 42 Torque monitor output
50 FG IM
When building the safety circuit , you can
use the (DV0PM20103) safety connector X4 The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
kit, please connect with connector X3. Output: 10-11, 12, 34-35, 36-37, 38-39, 40
<Remark> Refer to P.292, Specifications of Interface connector. * The above diagram is a composition of the shipment parameter.
Panasonic Corporation Automotive & Industrial Systems Company http://panasonic.net/id/
A6 Series Control Circuit Diagram Wiring to the Connector, X4 Wiring to the Connector, X5 * Excluding A6SE, A6SG Series Control Circuit Diagram A6 Series
Wiring Example of Torque Control Mode * Excluding A6SE, A6SG Series Applicable External Scale
Applicable Resolution Maximum speed
7 COM+ Manufacturer Model No.
33 4.7 kΩ External Scale [μm] 　(m/s)*1
INH
Parallel type Maximum speed after 4 × multiplication :
30 CL General —
Servo-ON input 29 SRV-ON
(AB-phase) 4 Mpps
( : Twisted pair) SL700-PL101RP/RHP
Gain switch input 27 GAIN 0.1 10
28 DIV1
SL710-PL101RP/RHP
Zero speed clamp
input 21 SR75 / SR85 0.01 to 1 3.3
A6 Family
26 ZEROSPD OA+ A-phase Magnescale Co., Ltd.
Control mode
switch input 32 C-MODE OA-
22 output BF1 0.001/0.01 0.4/1.8
48
Alarm clear input 31 A-CLR Serial type 0.05/0.1/
Divider
OB+ B-phase
49 SQ10 3
(Incremental system)
Positive direction
drive inhibit input 9 POT OB- output 0.5/1
Negative direction 23
drive inhibit input 8 NOT OZ+ Z-phase NIDEC SANKYO CORPORATION PSLH041 + PSLG 0.1 6
24 output
Servo-Ready output 35 S-RDY+
OZ- TONiC 0.001 to 5
6.48 m/s @ 1 μm
Renishaw plc ATOM 0.001 to 10
34 S-RDY- 0.648 m/s @ 0.1 μm
Servo-Alarm output 37 25
VIONIC 0.0025 to 5
ALM+
GND S2AP/SV2AP/G2AP 0.01/0.05 3
A6N Series
36 ALM-
At-speed output 39 AT-SPEED+ 19 Z-phase output (open collector) LAP 0.01/0.05 3
VDC CZ
12 V to 24 V 38 AT-SPEED- Fagor Automation S.Coop EXA/ EXG/ EXT 0.01/0.05 8
External brake off output 11 BRKOFF+
33 kΩ H2AP-D200/H2AP-D90 29 bit/23 bit 750 r/min, 1500 r/min
10 BRKOFF- 39 kΩ 39 kΩ 14 S2AP-D170,/S2AP-D90 23 bit 1500 r/min
Torque in-limit output
−
SPR/TRQR/SPL Torque command input or
40
LIC2197P/LIC2199P 0.05/0.1 10
＋
TLC GND 15 velocity limit input (0 V to ±10 V)

− 20 kΩ 20 kΩ 18.7 kΩ
P-ATL/TRQR 16 Wiring example when control mode Pr0.01=5 or Pr3.17=1 LIC4193P/LIC4195P
Zero speed detection output 12 0.001/0.005/0.01 10
＋
33.2 kΩ
ZSP 20 kΩ
GND
17 16 LIC4197P/LIC4199P
41 COM- CCWTL/TRQR Torque command inpiut
20 kΩ 20 kΩ 18.7 kΩ
17 LC195P/LC495P 0.001/0.01 3

(0 V to ±10 V)
−
N-ATL 18
A6B Series
GND HEIDENHAIN
＋
20 kΩ 33.2 kΩ
7000 r/min to 550 r/min
1 kΩ 43 Serial type ECA 4490P 27 bits to 29 bits
SP Velocity monitor output (Depends on drum size)
1 kΩ 42 Torque monitor output (Absolute system) RCN 2x90P/RCN 5x90P 26 bits/28 bits 1500 r/min
IM
50 FG RCN 8x90P 29 bit 500 r/min
X4
The functions of the following pin can be changed using parameters. RSF Electronik MC 15P MP/MC 15P MK 0.05/0.1 10
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40 Magnescale Co., Ltd. SR77 / SR87 0.01 to 1 3.3
<Remark> Refer to P.292, Specifications of Interface connector. * The above diagram is a composition of the shipment parameter. AT573-SC/H 0.05 2.5
Mitutoyo Corporation ST700 0.1 5
ST1300 0.001/0.01 8
E Series
Wiring Example of Full-closed Control Mode * Excluding A6SE, A6SG Series 0.001 A5/0.4, A6/4
Renishaw plc RESOLUTE 0.05 A5/20, A6/100
In case of open collector I/F (1) When you use the external
7 COM+ 2.2 kΩ 1 0.1 A5/40, A6/100
Command pulse OPC1 resistor with 12 V and 24 V
33 4.7 kΩ 2.2 kΩ 3
inhibition input
Deviation counter
INH PULS1 power supply *1 The maximum speed is a characteristic of the driver. It is limited by the configration of the machine and the system.
clear input 30 220 Ω 4
CL PULS2
Servo-ON input 29 SRV-ON 2.2 kΩ
OPC2
2 Command
PULS1 3
* For more information about the external scale product, please contact the manufacturer.
pulse PULS2 4 R
Gain switch input 27 2.2 kΩ 5 input A 220 Ω
GAIN SIGN1
Imformation
Electronic gear SIGN1 5
28 DIV1
220 Ω 6 (Use with
Wiring Diagram of X5
switching input 1 SIGN2 VDC
500 kpps or less.) SIGN2 6 R
Anti-vibration 13
switch input 1 26 VS-SEL1 GND 220 Ω
Control mode
switch input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5
VDC ≒10 mA
Positive direction OA- of R R+220
drive inhibit input 9 POT 48 Connector X5
Divider
Negative direction OB+ B-phase 12 V 820 Ω1/2 W
Regulator
drive inhibit input 8 NOT 49 output 24 V 2 kΩ1/2 W EX5V 1 EX5V +5 V
OB-
Servo-Ready output 23 2 0V
35 S-RDY+ OZ+ Z-phase (2) When you do not use the external EX0V EX0V
24 output resistor with 24 V power supply 3
34 S-RDY- OZ- EXPS EXPS
Servo-Alarm output 4
37 ALM+
OPC1 1
EXPS EXPS
2.2 kΩ
5
36 ALM-
PULS2 4 EXA EXA
In-Position output 25 220 Ω 6
39 INP+ GND OPC1 2 EXA EXA
VDC Z-phase output 7
2.2 kΩ
12 V to 24 V 38 INP- 19 (open collector) SIGN2 6
24 VDC
EXB EXB
External brake off output CZ 8
11 BRKOFF+ 220 Ω EXB EXB
10 BRKOFF- 9
EXZ EXZ
Torque in-limit output 40 10
TLC ( : Twisted pair) EXZ EXZ
<Note>
Zero speed detection output 33 kΩ
12 ZSP 14 Do not connect anythig to Pin No.14,
−
39 kΩ 39 kΩ
SPR/TRQR/SPL 15, 16, 18, A6 SE series and Twisted pair MUF-PK10K-X
41 COM- ＋
15 A6 SG series can not be used.

GND (J.S.T. Mfg. Co., Ltd.)
44 2 kΩ − 20 kΩ 20 kΩ 18.7 kΩ 16 Positive direction torque limit input
PULSH1
20 kΩ ＋
33.2 kΩ
P-ATL/TRQR
45 120 Ω 20 kΩ
GND
17 (0 V to +10 V) FG Shell of X5 (FG)
PULSH2 2 kΩ 20 kΩ
46
− 20 kΩ 20 kΩ 18.7 kΩ 18
SIGNH1 2 kΩ 20 kΩ ＋
N-ATL Negative direction torque limit input
47 SIGNH2 120 Ω
20 kΩ 33.2 kΩ
(-10 V to 0 V) Detection head
2 kΩ 20 kΩ 1 kΩ 43
13 GND SP Velocity monitor output
1 kΩ 42 Torque monitor output
Command pulse input B 50 FG IM
(Use with 8 Mpps or less.) The functions of the following pin can be changed using parameters. External scale unit Junction cable
X4 Input: 8, 9, 26, 27, 28, 29, 31, 32
Be sure to connect. Output: 10-11, 12, 34-35, 36-37, 38-39, 40 External scale Servo driver
<Remark> Refer to P.292, Specifications of Interface connector. * The above diagram is a composition of the shipment parameter. side
A6 Series Control Circuit Diagram Wiring to the Connector, X6
When using a 23-bit absolute encoder as an absolute system*. When using a 23-bit absolute encoder as a incremental system*.
* When use a multi-turn data. * When do not use a multi-turn data.
● MSMF 50 W to 1000 W ● MHMF 50 W to 1000 W ● MQMF 100 W to 400 W <Leadwire type> ● MSMF 50 W to 1000 W ● MHMF 50 W to 1000 W ● MQMF 100 W to 400 W <Leadwire type>
X6 X6
Regulator
White 7 1 +5 V
Regulator
E5V E5V White 7 1 +5 V
Black E5V E5V
8 2 0V Black 8 2 0V
E0V E0V E0V E0V
3
A6 Family
3
Twisted pair 4 4
Red 1 battery 5
BAT+ PS Light blue 4 5
PS PS
Pink 2 6 Purple 5 6
BAT– PS PS PS
Light blue 4 Yellow/Green 3
PS Shell (FG) FG
Purple 5 Shell (FG)
PS Twisted pair
Yellow/Green 3
FG
Connector: 3E206-0100 KV Connector: 3E106-2230 KV Connector: 3E206-0100 KV
Connector: 3E106-2230 KV
A6N Series
172169-1 172161-1 Shell kit: 3E306-3200-008
Shell kit: 3E306-3200-008 (Sumitomo 3M) or equivalent (Sumitomo 3M) or equivalent
(Tyco Electronics Japan G.K.) (Tyco Electronics Japan G.K.) (Sumitomo 3M) or equivalent
172169-1 172161-1 (Sumitomo 3M) or equivalent Motor
(Tyco Electronics Japan G.K.) (Tyco Electronics Japan G.K.) Motor Junction cable Driver
Motor
Motor Junction cable Driver
● MSMF 50 W to 1000 W ● MHMF 50 W to 1000 W ● MQMF 100 W to 400 W <Connector type>
● MSMF 50 W to 1000 W ● MHMF 50 W to 1000 W ● MQMF 100 W to 400 W <Connector type>
X6

X6
A6B Series
Regulator
+5 V
E5V 6 1
E5V
Regulator
+5 V
E5V 6 1
E5V
E0V 3 2
E0V
0V
E0V 3 2
E0V
0V
3
5 battery 3
BAT+ 4
2 4
BAT– 7 5
7 5 PS PS
PS PS 4 6
4 6 PS PS
PS PS 1
1 FG Shell (FG)
FG Shell (FG) Twisted pair
E Series
Twisted pair
Connector JN6CR07PM2 Connector JN6FR07SM1 Connector: 3E206-0100 KV Connector: 3E106-2230 KV
Connector JN6CR07PM2 Connector JN6FR07SM1 Connector: 3E206-0100 KV Connector: 3E106-2230 KV JN6CR07PM4 (by Japan Aviation Electronics Ind.)
JN6CR07PM4 Shell kit: 3E306-3200-008 (Sumitomo 3M) or equivalent
(by Japan Aviation Electronics Ind.) (Sumitomo 3M) or equivalent
Shell kit: 3E306-3200-008 (by Japan Aviation Electronics Ind.)
(Sumitomo 3M) or equivalent
(by Japan Aviation Electronics Ind.) (Sumitomo 3M) or equivalent
Motor Encoder cable Driver
Motor Encoder cable Driver
<Caution> <Caution> [Connector pin assignment (Motor side)]

[Connector pin assignment (Motor side)]
Imformation
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 N•m and
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 N•m and 1
1
5
5 0.21 N•m. To avoid damage, be sure to use only the screw supplied with the connector. 2
0.21 N•m. To avoid damage, be sure to use only the screw supplied with the connector. 2 6
6 • Do not remove the gasket supplied with the junction cable connector. Securely install 3
• Do not remove the gasket supplied with the junction cable connector. Securely install 3 7
4
7
(Viewed from cable) the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed. 4 (Viewed from cable)
the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.
● MSMF 1.0 kW to 5.0 kW ● MHMF 1.0 kW to 5.0 kW ● MSMF 1.0 kW to 5.0 kW ● MHMF 1.0 kW to 5.0 kW
● MDMF 1.0 kW to 5.0 kW ● MGMF 0.85 kW to 4.4 kW
● MDMF 1.0 kW to 5.0 kW ● MGMF 0.85 kW to 4.4 kW
* Pin No. of JN2AS10ML3-R
* Pin No. of JN2AS10ML3-R X6
X6 (4)
Regulator
+5 V
(4) E5V H 1
E5V
Regulator
+5 V
E5V H 1
E5V G (1) 2 0V
G (1) 2 0V E0V E0V
E0V E0V 3
T (6) battery 3
BAT+ 4
S (5) 4
BAT– K (3) 5
K (3) 5 PS PS
PS PS L (7) 6
L (7) 6 PS PS
PS PS J (9)
J (9) FG Shell (FG)
FG Shell (FG) Twisted pair
Twisted pair
JL10-2E20-29P JL10-6A20-29S-EB Connector: 3E206-0100 KV Connector: 3E106-2230 KV
JL10-2E20-29P JL10-6A20-29S-EB Connector: 3E206-0100 KV Connector: 3E106-2230 KV JN2AS10ML3-R JN2DS10SL1-R Shell kit: 3E306-3200-008 (Sumitomo 3M) or equivalent
JN2AS10ML3-R JN2DS10SL1-R Shell kit: 3E306-3200-008 (Sumitomo 3M) or equivalent (by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Sumitomo 3M) or equivalent
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.) (Sumitomo 3M) or equivalent
Motor Encoder cable Driver Motor Encoder cable Driver
[Connector pin assignment] Refer to P.275, P.276 “Specifications of Motor connector”. [Connector pin assignment] Refer to P.275, P.276 “Specifications of Motor connector”.
* All dimensions shown in this catalog are for the A6SF series, but outer dimensions
A6 Series Dimensions of Driver are the same as the A6SE series. For appearance, refer to P.19 and P.20.
A-frame C-frame
Unit [mm] Unit [mm]
X1: USB connector XA: ① Main power input terminals
X2: RS232/485 communication connector ② Control power input terminals
X3: Safety function connector XB: ① Terminals for external regenerative resistor
For mounting
X4: Interface connector 40 ② Terminals for motor connection
X5: For external scale connection 28 (49) 150 X1: USB connector
X6: For encoder connection 7(Mounting dimensions) 130 For mounting
ø5 X2: RS232/485 communication connector
.2 Mounting bracket X3: Safety function connector
Front Panel (Option)
.2
A6 Family
X4: Interface connector For mounting
ø5
XA: X5: For external scale connection
Main power 65
170(Mounting dimensions)
(50) 191
X1 X6: For encoder connection 60
input terminals
20(Mounting dimensions) 170 For mounting
X2 ø5.
Control power X3 2 Mounting bracket
input terminals Front Panel
180
Name plate (Option)
150
.2
ø5
XB: X4
Terminals for external
regenerative resistor X1
X5 XA: ① X2
Terminals for motor ② X3
A6N Series
connection
180
Mounting bracket For mounting Name plate
150
5
X6 (Option)
2.5 5.2
5
XB: ① X4
7(Mounting dimensions) 41 28 6 ②
5.2
28
(90) 109 (dimensions
Mounting
) X5
For mounting
Base mount type (18)
Rack mount type (
Standard:
) Mounting bracket For mounting
5
Back-end mounting X6
(Option: Front-end mounting) 2.5 (Option)
5
5.2
20(Mounting dimensions) 40
5.2 50 7.5
A-frame: Connector of driver side Multifunction type RS485 communication type Basic type (90) 151
Connector XA S05B-F32SK-GGXR J.S.T. Mfg. Co., Ltd. ● ● ● 60 (dimensions
Mounting
)

For mounting
A6B Series
Connector XB S06B-F32SK-GGXR J.S.T. Mfg. Co., Ltd. ● ● ●
Rack mount type Base mount type
(Standard:
Back-end mounting)
Connector X1 UB-M5BR-DMP14-4S (or equivalent) J.S.T. Mfg. Co., Ltd. ● ● ●
Connector X2 1-2040537-1 (or equivalent) Tyco Electronics Japan G.K. ● ● — (Option: Front-end mounting)
Connector X3 2040537-1 (or equivalent) Tyco Electronics Japan G.K. ● — —
Connector X4 10250-52A2PE (or equivalent) Sumitomo 3M ● ● ●
Connector X5 MUF-RS10DK-GKXR (or equivalent) J.S.T. Mfg. Co., Ltd. ● — —
Connector X6 3E106-2230 KV (or equivalent) Sumitomo 3M ● ● ●
<Attached to the driver>
Connector of power and motor side Multifunction type RS485 communication type Basic type
Connector XA 05JFAT-SAXGF J.S.T. Mfg. Co., Ltd. ● ● ● * For connectors used to connect to the driver, power supply and motor,
Connector XB 06JFAT-SAXGF J.S.T. Mfg. Co., Ltd. ● ● ●
Mass: 0.8 kg refer to the A-frame table because both frames use the same connectors.
Mass: 1.6 kg
E Series
B-frame D-frame (200 V)
Unit [mm] Unit [mm]
XA: ① Main power input terminals XA: ① Main power input terminals
② Control power input terminals ② Control power input terminals
XB: ① Terminals for external regenerative resistor XB: ① Terminals for external regenerative resistor
② Terminals for motor connection ② Terminals for motor connection
Imformation
X1: USB connector X1: USB connector
X2: RS232/485 communication connector X2: RS232/485 communication connector
X3: Safety function connector X3: Safety function connector 85
X4: Interface connector X4: Interface connector 60
X5: For external scale connection 55 X5: For external scale connection 10 40(Mounting dimensions)
X6: For encoder connection (49) 150 X6: For encoder connection
28 (50) 191
7(Mounting dimensions) For mounting 130
.2
For mounting For mounting 170 For mounting
ø5
ø5
.2 Mounting bracket Mounting bracket
2-
Front Panel Front Panel
(Option)
.2
(Option)
.2
ø5
ø5
X1 XA: ① X1
XA: ① X2 X2
X3 ② X3
②
180
180
Name plate Name plate
150
150
X4 X4
XB: ① XB: ①
② ②
X5 X5
X6 (18)
Mounting bracket For mounting Mounting bracket For mounting
5
5
X6 (Option) 5.2 Direction of air flowing 2.5 (Option)
5
5.2
5
2.5
7(Mounting dimensions) For mounting 43 7.5 to the internal cooling fan 40
41 70 7.5
5.2
28 (90) 109 (dimensions
Mounting
) For mounting (90) 151
(dimensions
Mounting
)
10 40(Mounting dimensions)
Base mount type
(Standard:
Back-end mounting)
2-5.2 Base mount type
(Standard:
Back-end mounting)
Rack mount type
60
(Option: Front-end mounting)
Rack mount type
(Option: Front-end mounting)
* For connectors used to connect to the driver, power supply and motor, * For connectors used to connect to the driver, power supply and motor,
refer to the A-frame table because both frames use the same connectors.
Mass: 1.0 kg refer to the A-frame table because both frames use the same connectors.
Mass: 2.1 kg
* All dimensions shown in this catalog are for the A6SF series, but outer dimensions
A6 Series Dimensions of Driver are the same as the A6SE series. For appearance, refer to P.19 and P.20. Features/ Lineup Motor Specifications A6 Series
E-frame (200 V) Features

Motor Contents
Unit [mm] • Line-up IP67 motor: 50 W to 5.0 kW
X1: USB connector XA: ① Main power
X2: RS232/485 communication input terminals • Max speed: 6500r/min (MHMF 50 W to 400 W)
connector ② Control power MSMF
X3: Safety function connector input terminals • Low inertia (MSMF) to High inertia (MHMF).
XB: Terminals for motor connection 50 W to 5.0 kW................. P.51
X4: Interface connector
X5: For external scale connection XC: Terminals for external • Low cogging torque: Rated torque ratio 0.5 % (typical value).
85 regenerative resistor
X6: For encoder connection • 23-bit absolute encoder (8388608 pulse).
50(Mounting dimensions) Mounting bracket MQMF
A6 Family
2-5.2 (70) 196.5 (If re-positioned from front end)
For mounting 2.5 100 W to 400 W................ P.67
ø5 Mounting bracket 160 33 (70)
Front Panel 2.5
Motor Lineup
.2
MHMF
3.5
50 W to 5.0 kW................. P.73
X1
XA: ① X2
② X3
MDMF
198
168
Name plate
XC X4 1.0 kW to 5.0 kW.............. P.89
A6N Series
XB X5
MGMF
80 mm sq. or less
X6
0.85 kW to 4.4 kW............ P.95

Mounting bracket MSMF MQMF MHMF
Low inertia (Flat type) High inertia
ø5
Mounting bracket
5
52
Direction of air flowing
Dimensions
.2
to the internal cooling fan 2-5.2 For mounting

(18)
(If re-positioned from front end) (18) Middle inertia Max. speed :
216
50(Mounting dimensions) Max. speed : 6000 r/min Max. speed : 6500 r/min 6500 r/min MSMF
Rated speed : 3000 r/min 6000 r/min (750 W,1000 W) (50 W to 1000 W)..................P.101

Rated speed : 3000 r/min
A6B Series
E-frame: Connector of driver side Rated output : Rated output : Rated speed : 3000 r/min
Connector XA S05B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. 50 W to 1000 W 100 W to 400 W Rated output : MSMF
Connector XB S03B-JTSLSK-GSANXR J.S.T. Mfg. Co., Ltd. Enclosure: 50 W to 1000 W
Enclosure: (1.0 kW to 5.0 kW).................P.109
Connector XC S04B-JTSLSS-GSANXR J.S.T. Mfg. Co., Ltd.
IP65: Leadwire type IP65: Leadwire type Enclosure:
<Attached to the driver> IP67: Connector type IP65: Leadwire type
IP67: Connector type MQMF
E-frame: Connector of power and motor side IP67: Connector type
Connector XA 05JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd.
(100 W to 400 W)..................P.117
Connector XB 03JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. * For connectors X1 to X6 for connection to the driver, refer to the those
Connector XC 04JFAT-SAXGSA-L J.S.T. Mfg. Co., Ltd. listed in the A-frame table because both frames use the same connectors. Mass: 2.7 kg MHMF
(50 W to 1000 W)..................P.129
E Series
F-frame (200 V) MHMF
(1.0 kW to 5.0 kW).................P.153
Unit [mm]
X1: USB connector MDMF
X2: RS232/485 communication connector
(1.0 kW to 5.0 kW).................P.161
X3: Safety function connector
X4: Interface connector
X5: For external scale connection MGMF
Imformation
X6: For encoder connection 130 (0.85 kW to 4.4 kW)...............P.169
100
MSMF MDMF
(dimensions
Mounting
) Mounting bracket
2-5.2 For mounting (20) 219.5
(If re-positioned from front end) Low inertia Middle inertia Special Order Product..P.177
2.5
ø5
169 47 (20) Max. speed : 5000 r/min Max. speed : 3000 r/min
Front Panel Mounting bracket 2.5
.2 4500 r/min (4.0 kW,5.0 kW) Rated speed : 2000 r/min
Motors with Gear
100 mm sq. or more

Rated speed : 3000 r/min Rated output : 1.0 kW to 5.0 kW
Rated output : 1.0 kW to 5.0 kW Enclosure : IP67: Connector type Reducer..............................P.261
3.5
X1 Enclosure : IP67: Connector type
① X2
Motor Specification
X3
②
X4
Description
250
Environmental Conditions....P.271
220
③ Name plate
X5
X6 Notes on [Motor specification]
④ page.....................................P.271
Permissible Load at
Output Shaft........................P.272
Mounting bracket
Built-in Holding Brake..........P.273
2.5 Mounting bracket
ø5
5
.2
Direction of air flowing 47 (If re-positioned from front end)

2-5.2 For mounting
to the internal cooling fan (67) 169
100
MGMF MHMF
(dimensions
Mounting
) (Low speed/ High torque type) High inertia
① Main power input terminals
② Control power input terminals Middle inertia Max. speed : 3000 r/min
③ Terminals for external regenerative resistor Max. speed : 3000 r/min Rated speed : 2000 r/min
④ Terminals for motor connection Rated speed : 1500 r/min Rated output : 1.0 kW to 5.0 kW
* For connectors X1 to X6 for connection to the driver, refer to the those
Rated output : 0.85 kW to 4.4 kW Enclosure : IP67: Connector type
listed in the A-frame table because both frames use the same connectors. Mass: 5.2 kg Enclosure : IP67: Connector type
A6 Series Motor Specifications 100 V MSMF 50 W [Low inertia 38 mm sq.] 200 V MSMF 50 W [Low inertia 38 mm sq.] Motor Specifications A6 Series
Specifications Specifications
AC100 V • Brake specifications (For details, refer to P.273) AC200 V • Brake specifications (For details, refer to P.273)
Motor model *1 IP65 MSMF5AZL1□□ (
This brake will be released when it is energized.
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MSMF5AZL1□□ (
Do not use this for braking the motor in motion. )
Multifunction type MADLT01SF Static friction torque (N•m) 0.294 or more Multifunction type MADLT05SF Static friction torque (N•m) 0.294 or more
Model Model
Applicable No.
RS485 communication type *2 MADLN01SG Engaging time (ms) 35 or less Applicable No.
RS485 communication type *2 MADLN05SG Engaging time (ms) 35 or less
driver Basic type *2 MADLN01SE Releasing time (ms) Note)4 20 or less driver Basic type *2 MADLN05SE Releasing time (ms) Note)4 20 or less
A6 Family
Frame symbol A-frame Exciting current (DC) (A) 0.30 Frame symbol A-frame Exciting current (DC) (A) 0.30
Power supply capacity (kVA) 0.4 Releasing voltage (DC) (V) 1 or more Power supply capacity (kVA) 0.5 Releasing voltage (DC) (V) 1 or more
Rated output (W) 50 Exciting voltage (DC) (V) 24±1.2 Rated output (W) 50 Exciting voltage (DC) (V) 24±1.2
Rated torque (N•m) 0.16 Rated torque (N•m) 0.16
• Permissible load (For details, refer to P.272) • Permissible load (For details, refer to P.272)
Continuous stall torque (N•m) 0.16 Continuous stall torque (N•m) 0.16
Radial load P-direction (N) 147 Radial load P-direction (N) 147
Momentary Max. peak torque (N•m) 0.48 During Momentary Max. peak torque (N•m) 0.48 During
Thrust load A-direction (N) 88.0 Thrust load A-direction (N) 88.0
Rated current (A(rms)) 1.1 assembly Rated current (A(rms)) 1.1 assembly
A6N Series
Thrust load B-direction (N) 117.6 Thrust load B-direction (N) 117.6
Max. current (A(o-p)) 4.7 Max. current (A(o-p)) 4.7
Without option No limit During Radial load P-direction (N) 68.6 Without option No limit During Radial load P-direction (N) 68.6
Regenerative brake Note)2 Regenerative brake Note)2
frequency (times/min) operation Thrust load A, B-direction (N) 58.8 frequency (times/min) operation Thrust load A, B-direction (N) 58.8
Note)1 DV0P4280 No limit Note)2 Note)1 DV0P4281 No limit Note)2
Rated rotational speed (r/min) 3000 • For details of Note)1 to Note)4, refer to P.271. Rated rotational speed (r/min) 3000 • For details of Note)1 to Note)4, refer to P.271.
Max. rotational speed (r/min) 6000 • Dimensions of Driver, refer to P.47. Max. rotational speed (r/min) 6000 • Dimensions of Driver, refer to P.47.
*1 □□ in the motor part number represents the motor *1 □□ in the motor part number represents the motor
Moment of inertia Without brake 0.026 Moment of inertia Without brake 0.026
specifications. specifications.

A6B Series
of rotor (×10−4 kg • m2) With brake 0.029 *2 Basic type and RS485 communication type are of rotor (×10−4 kg • m2) With brake 0.029 *2 Basic type and RS485 communication type are
Recommended moment of inertia “Position control type”. Recommended moment of inertia “Position control type”.
30 times or less Detail of model designation, refer to P.18. 30 times or less Detail of model designation, refer to P.18.
ratio of the load and the rotor Note)3 ratio of the load and the rotor Note)3
Rotary encoder specifications *3 23-bit Absolute *3 When using a rotary encoder as an incremental Rotary encoder specifications *3 23-bit Absolute *3 When using a rotary encoder as an incremental
system (not using multi-turn data), do not connect system (not using multi-turn data), do not connect
Resolution per single turn 8388608 a battery for absolute encoder. Resolution per single turn 8388608 a battery for absolute encoder.
Torque characteristics (at AC100 V of power voltage <Dotted line represents the torque at 10 % less supply voltage.>) Torque characteristics (at AC200 V of power voltage <Dotted line represents the torque at 10 % less supply voltage.>)
E Series
● Derating curve ● Derating curve ● Derating curve ● Derating curve
torque rated torque torque rated torque torque rated torque torque rated torque
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
without without
With oil seal
With oil seal

0.6 0.6 Brake 0.6 0.6 Brake
100 100 100 100
70 70
Peak run range Peak run range 60 Peak run range Peak run range 60
0.3 50 0.3 50 with 0.3 50 0.3 50 with
Brake Brake
Imformation
(0.08) (0.08) (0.08) (0.08)
Continuous run range Continuous run range Continuous run range Continuous run range
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40
rotational speed [r/min] ambient temperature [˚C] rotational speed [r/min] ambient temperature [˚C] rotational speed [r/min] ambient temperature [˚C] rotational speed [r/min] ambient temperature [˚C]
Dimensions Dimensions
Round shaft/ Key way, center tap shaft Round shaft/ Key way, center tap shaft
without brake with brake without brake with brake

Motor specifications Motor specifications
with protective lip/ with protective lip/ with protective lip/ with protective lip/
without oil seal with oil seal without oil seal with oil seal without oil seal with oil seal without oil seal with oil seal
with oil seal with oil seal with oil seal with oil seal
Leadwire type (P65) P.101 — P.101 — Leadwire type (P65) P.101 — P.101 —
Connector type (P67) P.101 — P.102 — Connector type (P67) P.101 — P.102 —
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required. <Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products. Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
Motor model *1 IP65 MSMF011L1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MSMF012L1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] without [N•m] [%] [N•m] [%] without
Brake Brake
With oil seal
With oil seal

1.0 100 1.0 100 1.0 100 1.0 100
95 (0.8) 95 (0.8)
75 75
(0.56) Peak run range (0.56) Peak run range 70 70
with Peak run range Peak run range with
0.5 50 0.5 50 Brake 0.5 50 0.5 50 Brake
(0.4) (0.4)
Imformation
(0.16) (0.16) (0.16)
Continuous run range (0.16)
Continuous run range
Continuous run range Continuous run range
(3700) (4300) (3700) (4300) (5500) (5500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Multifunction type MBDLT21SF Static friction torque (N•m) 1.27 or more Multifunction type MADLT15SF Static friction torque (N•m) 1.27 or more
Model Model
Applicable No.
RS485 communication type *2 MBDLN21SG Engaging time (ms) 50 or less Applicable No.
driver Basic type *2 MBDLN21SE Releasing time (ms) Note)4 15 or less driver Basic type *2 MADLN15SE Releasing time (ms) Note)4 15 or less
A6 Family
Frame symbol B-frame Exciting current (DC) (A) 0.36 Frame symbol A-frame Exciting current (DC) (A) 0.36
Thrust load A-direction (N) 147 Thrust load A-direction (N) 147
A6N Series
Thrust load B-direction (N) 196 Thrust load B-direction (N) 196
Without option No limit During Radial load P-direction (N) 245 Without option No limit During Radial load P-direction (N) 245

A6B Series
E Series
Without oil seal
Without oil seal

Brake Brake
With oil seal
With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
80 Peak run range Peak run range 80
Peak run range Peak run range 70 (1.3) (1.3) 70
with (1.1) (1.1) with
1.0 50 1.0 50 Brake 1.0 50 1.0 50 Brake
(0.8) (0.8)
Imformation
(0.16) (0.16) (0.16) (0.16)
(2600) (3100) (2600) (3100) (4600) (4600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Multifunction type MCDLT31SF Static friction torque (N•m) 1.27 or more Multifunction type MBDLT25SF Static friction torque (N•m) 1.27 or more
Model Model
Applicable No.
RS485 communication type *2 MCDLN31SG Engaging time (ms) 50 or less Applicable No.
RS485 communication type *2 MBDLN25SG Engaging time (ms) 50 or less
driver Basic type *2 MCDLN31SE Releasing time (ms) Note)4 15 or less driver Basic type *2 MBDLN25SE Releasing time (ms) Note)4 15 or less
A6 Family
Frame symbol C-frame Exciting current (DC) (A) 0.36 Frame symbol B-frame Exciting current (DC) (A) 0.36
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
90 90
2.0 50 2.0 50 2.0 50 2.0 50
(1.7) (1.7) (1.6) (1.6)
Imformation
Continuous run range Continuous run range (0.64)
(0.32) (0.32)
(2600) (3100) (2600) (3100) (3100) (3600) (3100) (3600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Multifunction type MCDLT35SF Static friction torque (N•m) 2.45 or more Multifunction type MDDLT45SF Static friction torque (N•m) 3.80 or more
Model Model
Applicable No.
RS485 communication type *2 MDDLN45SG Engaging time (ms) 70 or less
driver Basic type *2 MCDLN35SE Releasing time (ms) Note)4 20 or less driver Basic type *2 MDDLN45SE Releasing time (ms) Note)4 20 or less
A6 Family
Frame symbol C-frame Exciting current (DC) (A) 0.42 Frame symbol D-frame Exciting current (DC) (A) 0.42
A6N Series
frequency (times/min) operation Thrust load A, B-direction (N) 147 frequency (times/min) operation Thrust load A, B-direction (N) 147

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

8.0 100 8.0 100 8.0 100 8.0 100
Peak run range Peak run range
Peak run range Peak run range (5.5) (5.5)
4.0 50 4.0 50 4.0 50 4.0 50

(3.2) (3.2)
Imformation
(0.6) (0.6)
(3200) (3600) (3200) (3600) (3600) (4200) (3600) (4200)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications 200 V MSMF 1.0 kW [Low inertia 100 mm sq.] 200 V MSMF 1.5 kW [Low inertia 100 mm sq.] Motor Specifications A6 Series
Multifunction type MDDLT55SF Static friction torque (N•m) 8.0 or more Multifunction type MDDLT55SF Static friction torque (N•m) 8.0 or more
Model Model
Applicable No.
RS485 communication type *2 MDDLN55SG Engaging time (ms) 50 or less Applicable No.
driver Basic type *2 MDDLN55SE Releasing time (ms) Note)4 15 or less driver Basic type *2 MDDLN55SE Releasing time (ms) Note)4 15 or less
A6 Family
Frame symbol D-frame Exciting current (DC) (A) 0.81 Frame symbol D-frame Exciting current (DC) (A) 0.81
A6N Series
Max. current (A(o-p)) 28 Max. current (A(o-p)) 35

A6B Series
E Series
● Derating curve ● Derating curve
torque rated torque torque rated torque
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

10 100 15 100

(6.0)
5 50 7.5 50
(4.0)
(4.0)
Imformation
(1.1)
(3800) (4200) (3200) (3600)
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 [˚C] rotational speed [r/min] ambient temperature [˚C]
Key way shaft/ Round shaft Key way shaft/ Round shaft

Encoder connector Encoder connector
— P.109 — P.109 — P.110 — P.110
Large size (JL10) type Large size (JL10) type
— P.109 — P.110 — P.111 — P.111
Small size (JN2) type Small size (JN2) type
Multifunction type MEDLT83SF Static friction torque (N•m) 8.0 or more Multifunction type MFDLTA3SF Static friction torque (N•m) 12.0 or more
Model Model
Applicable No.
RS485 communication type *2 MEDLN83SG Engaging time (ms) 50 or less Applicable No.
RS485 communication type *2 MFDLNA3SG Engaging time (ms) 80 or less
driver Basic type *2 MEDLN83SE Releasing time (ms) Note)4 15 or less driver Basic type *2 MFDLNA3SE Releasing time (ms) Note)4 15 or less
A6 Family
Frame symbol E-frame Exciting current (DC) (A) 0.81 Frame symbol F-frame Exciting current (DC) (A) 0.81
A6N Series
Note)1 DV0P4285 No limit Note)2 Note)1 DV0P4285×2 No limit Note)2

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

20 100 30 100

10 50 15 50
(12)
(7.0)
(8.0)
Imformation
(2.0)
(3300) (3700) (3100) (3400)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40

— P.111 — P.112 — P.113 — P.113
— P.112 — P.112 — P.113 — P.114
Multifunction type MFDLTB3SF Static friction torque (N•m) 16.2 or more Multifunction type MFDLTB3SF Static friction torque (N•m) 22.0 or more
Model Model
Applicable No.
RS485 communication type *2 MFDLNB3SG Engaging time (ms) 110 or less Applicable No.
RS485 communication type *2 MFDLNB3SG Engaging time (ms) 110 or less
driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 50 or less driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 50 or less
A6 Family
Frame symbol F-frame Exciting current (DC) (A) 0.90 Frame symbol F-frame Exciting current (DC) (A) 0.90
A6N Series
Note)1 DV0P4285×2 No limit Note)2 Note)1 DV0P4285×2 No limit Note)2

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 50 100
90

20 50 25 50
(15)
Imformation
(10)
30 35 40
(2800) (3100) (2800) (3200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20

— P.114 — P.114 — P.115 — P.116
— P.115 — P.115 — P.116 — P.116
A6 Series Motor Specifications 100 V MQMF 100 W [Middle inertia Flat type 60 mm sq.] 200 V MQMF 100 W [Middle inertia Flat type 60 mm sq.] Motor Specifications A6 Series
Motor model *1 IP65 MQMF011L1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MQMF012L1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

Brake Brake
With oil seal
With oil seal

1.0 100 1.0 100 1.0 100 1.0 100
(0.85) (0.85)
75 75
with with
0.5 50 0.5 50 Brake 0.5 50 0.5 50 Brake
(0.3) (0.3)
Imformation
(0.16) (0.16) (0.16) (0.16)
　 0
(3100) (3700)
0 10 20 30 40 0
(3100) (3700)
0 10 20 30 40 0
(5500)
0 10 20 30 40 0
(5500)
0 10 20 30 40
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000

Leadwire type (P65) P.117 P.117 P.117 P.118 P.118 P.118 Leadwire type (P65) P.117 P.117 P.117 P.118 P.118 P.118
Connector type (P67) P.119 P.119 P.119 P.120 P.120 P.120 Connector type (P67) P.119 P.119 P.119 P.120 P.120 P.120
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
without
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%] without
Brake Brake
With oil seal
With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
80 80
Peak run range Peak run range 70 (1.1) Peak run range (1.1) Peak run range 70
with with
1.0 50 1.0 50 Brake 1.0 50 1.0 50 Brake
(0.8) (0.8)
(0.6) (0.6)
Imformation
(0.32) (0.32) (0.32) (0.32)
(2400) (2400) (3300) (4100) (3300) (4100)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
75 75
Peak run range Peak run range Peak run range Peak run range
2.0 50 2.0 50 2.0 50 2.0 50
(1.6) (1.6)
(1.4) (1.4)
(1.0) (1.0)
Imformation
Continuous run range Continuous run range (0.64) (0.64)
(0.32) (0.32) Continuous run range Continuous run range
(3400) (3400) (2500) (2500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications 100 V MHMF 50 W [High inertia 40 mm sq.] 200 V MHMF 50 W [High inertia 40 mm sq.] Motor Specifications A6 Series
Motor model *1 IP65 MHMF5AZL1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MHMF5AZL1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

With oil seal
With oil seal

Brake Brake
0.6 100 0.6 100 0.6 100 0.6 100
70 70
0.3 50 0.3 50 with 0.3 50 0.3 50 with
Brake Brake
Imformation
(0.08)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Motor model *1 IP65 MHMF011L1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MHMF012L1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

With oil seal
With oil seal

Brake Brake
1.0 100 1.0 100 1.0 100 1.0 100
Peak run range 95 Peak run range
Peak run range Peak run range 75 75
(0.7) (0.7)
70 70
0.5 50 0.5 50 with 0.5 50 0.5 50 with
Brake Brake
(0.3) (0.3)
Imformation
(0.16)
(3100) (3700) (3100) (3700) (4200) (4200)

0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

Brake Brake
With oil seal
With oil seal

2.0 100 2.0 100 2.0 100 2.0 100
Peak run range Peak run range 80 80
70 (1.2) (1.2) 70
1.0 50 1.0 50 with 1.0 50 1.0 50 with
Brake (0.9) (0.9) Brake
(0.6) (0.6)
Imformation
(0.32)
(2400) (2400) (3800) (4600) (3800) (4600)

0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

4.0 100 4.0 100 4.0 100 4.0 100
2.0 50 2.0 50 2.0 50 2.0 50
(1.4) (1.4) (1.6) (1.6)
Imformation
(1.0) (1.0) Continuous run range Continuous run range
Continuous run range Continuous run range (0.64) (0.64)
(0.32) (0.32)
(3400) (3400) (2500) (2500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

8.0 100 8.0 100 10.0 100 10.0 100
Peak run range Peak run range Peak run range Peak run range
(6.2) (6.2)
4.0 50 4.0 50 5.0 50 5.0 50
(3.0) (3.0)
Imformation
(0.6) (0.6) (0.6) (0.6)
(3500) (3500) (3300) (3300)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications 200 V MHMF 1.0 kW [High inertia 130 mm sq.] 200 V MHMF 1.5 kW [High inertia 130 mm sq.] Motor Specifications A6 Series
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

20 100 20 100
Peak run range
(12.0)
10 Peak run range 50 10 50
(7.7)
(6.0) (5.6)
Imformation
(3.0) Continuous run range
(2200) (2300)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.153 — P.153 — P.154 — P.154
— P.153 — P.154 — P.155 — P.155
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 40 100
Peak run range
(29.0)
(25.0)
20 Peak run range
(19.0) 50 20 50
(16.0) (10.9)
Imformation
(2200) (2200)(2400)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.155 — P.156 — P.157 — P.157
— P.156 — P.156 — P.157 — P.158
Model Model
Applicable No.
A6 Family
Rated current (A(rms)) 20 assembly Rated current (A(rms)) 23.3 assembly
A6N Series
Moment of inertia Without brake 104 Moment of inertia Without brake 146

A6B Series
of rotor (×10−4 kg • m2) With brake 110 *2 Basic type and RS485 communication type are of rotor (×10−4 kg • m2) With brake 151 *2 Basic type and RS485 communication type are
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

(25.0) Peak run range

20 50 40 50
(13.8) (36.0)
(13.0) (28.0)
Imformation
(4.3)
(1900) (2100) (1900) (2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.158 — P.158 — P.159 — P.160
— P.159 — P.159 — P.160 — P.160
A6 Series Motor Specifications 200 V MDMF 1.0 kW [Middle inertia 130 mm sq.] 200 V MDMF 1.5 kW [Middle inertia 130 mm sq.] Motor Specifications A6 Series
Motor model *1 IP67 MDMF102L1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP67 MDMF152L1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

15 100 15 Peak run range 100
(12.0)
10 Peak run range 10
(7.7)
(6.0)
50 (5.6)
50
5 5
Imformation
(2200) (2300)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.161 — P.161 — P.162 — P.162
— P.161 — P.162 — P.163 — P.163
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

30 100 60 100
20 Peak run range 40

(16.0) 50 (29.0) 50
(25.0)
10 20
Imformation
(6.9) (11.6)
(2200) (2200)(2400)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.163 — P.164 — P.165 — P.165
— P.164 — P.164 — P.165 — P.166
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

60 100 60 100
Peak run range
40 40
Peak run range (36.0)
(25.0)
50 (28.0) 50
20 20
Imformation
(1900)(2100) (1900)(2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.166 — P.166 — P.167 — P.168
— P.167 — P.167 — P.168 — P.168
A6 Series Motor Specifications 200 V MGMF 0.85 kW [130
Middle inertia Low speed/High torque type
mm sq. ] 200 V MGMF 1.3 kW [130
mm sq. ] Motor Specifications A6 Series
Motor model *1 IP67 MGMF092L1□□ (
Do not use this for braking the motor in motion. ) Motor model *1 IP67 MGMF132L1□□ (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

15 100 20 100
Peak run range
Peak run range (14.0)
10 (12.0)
(8.6)
50 10 50
5
(3.9) (5.1)
Imformation
(1500) (2200) (1500) (2300)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.169 — P.169 — P.170 — P.170
— P.169 — P.170 — P.171 — P.171
mm sq. ] 200 V MGMF 2.4 kW [176
Multifunction type MEDLT83SF Static friction torque (N•m) 13.7 or more Multifunction type MEDLT93SF Static friction torque (N•m) 25.0 or more
Model Model
Applicable No.
RS485 communication type *2 MEDLN93SG Engaging time (ms) 80 or less
driver Basic type *2 MEDLN83SE Releasing time (ms) Note)4 50 or less driver Basic type *2 MEDLN93SE Releasing time (ms) Note)4 25 or less
A6 Family
Frame symbol E-frame Exciting current (DC) (A) 0.79 Frame symbol E-frame Exciting current (DC) (A) 1.29
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 40 100
(32.0)
Peak run range
(23.0)
(17.0)
(14.0)
Imformation
(8.3) (7.1)
(1500) (2200) (1500) (2200) (2500)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.171 — P.172 — P.173 — P.173
— P.172 — P.172 — P.173 — P.174
mm sq. ] 200 V MGMF 4.4 kW [176
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 80 100
(32.0)
(23.0) (45.0)
20 50 40 50
(37.0)
Imformation
(7.1) (14.1)
(1500) (2200) (2500) (1500) (1900)(2100)

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.174 — P.174 — P.175 — P.176
— P.175 — P.175 — P.176 — P.176
A6 Series Dimensions MSMF 50 W MSMF 50 W to 100 W Dimensions A6 Series
MSMF　50 W MSMF　50 W
Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
● Motor model (Round shaft) Mass: 0.32 kg ● Motor model (Round shaft) Mass: 0.53 kg
(74.8)
① Encoder connector ① Encoder connector
Power supply without oil seal with oil seal (44.8) Power supply without oil seal with oil seal
② Motor connector .5) ② Brake connector
100 V (21 (28.8) (13.5) 100 V
MSMF5AZL1A2 MSMF5AZL1C2 ③ Motor connector MSMF5AZL1B1 MSMF5AZL1D1
① ② 200 V 200 V
● For model number of key-way, center tap shaft, please refer to ● For model number of key-way, center tap shaft, please refer to
□38
(32)
“Model Designation” in P.18. “Model Designation” in P.18.
A6 Family
(30°)
● Dimensions are subject to change without notice. Contact us ● Dimensions are subject to change without notice. Contact us
(1)
(3
230 +50
(21
200 +50
0°
0
or a dealer for the latest information. or a dealer for the latest information.
)
.6)
(19
)
97 (26
)
＊
Use hexagon socket head
72 25 screw for installation. ＊
24 48 Key way dimensions 127 screw for installation.
4-φ3.4 ＊ □38 102 25
(20.8) (27)
<Key way, center tap shaft>
24 78 Key way dimensions
4-φ3.4＊ □38
6 3 (20) ① ② 6 3 <Key way, center tap shaft>
25
14 ③
φ8h6
25
(27.6)
(25.1)
12.5 3h9
A6N Series
14
(32)
φ45
φ8h6
(46.6)
26.5 12.5 3h9
3
φ30h7
(18.3)
23
3
φ30h7
M3 depth 6
6.2
φ45
M3 depth 6
6.2
[Unit: mm] [Unit: mm]
Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
MSMF　100 W
Mass: 0.53 kg

● Motor model (Round shaft)
A6B Series
① Encoder connector
Power supply without oil seal with oil seal Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
② Brake connector 100 V
③ Motor connector MSMF5AZL1B2 MSMF5AZL1D2 ● Motor model (Round shaft) Mass: 0.47 kg
① ③ 200 V
② ① Encoder connector
● For model number of key-way, center tap shaft, please refer to Power supply without oil seal with oil seal
“Model Designation” in P.18. ② Motor connector 100 V MSMF011L1A2 MSMF011L1C2
Dimensions are subject to change without notice. Contact us ① ② 200 V MSMF012L1A2 MSMF012L1C2
●
230 +50
200 +50
0
or a dealer for the latest information.

0
● For model number of key-way, center tap shaft, please refer to

127 ＊
Use hexagon socket head “Model Designation” in P.18.
● Dimensions are subject to change without notice. Contact us
102 25 screw for installation.
230 +50
Key way dimensions
200 +50
0
E Series
0
24 78 □38
4-φ3.4＊ <Key way, center tap shaft>
(20.8) (27) 117 ＊
6 3 (20) 92 25 screw for installation.
25 Key way dimensions
14 24 68 □38
φ8h6

12.5 3h9 (40.8) (27)
(32)
φ45 (20)
26.5
3
25
φ30h7
6 3
14
φ8h6
M3 depth 6 12.5 3h9
(32)
6.2
φ45
Imformation
46.5
3
φ30h7
[Unit: mm]
M3 depth 6
6.2
Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
[Unit: mm]
● Motor model (Round shaft) Mass: 0.32 kg
Power supply without oil seal with oil seal Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
) (44.8) ② Motor connector 100 V
(2 1.5 (28.8) (13.5) MSMF5AZL1A1 MSMF5AZL1C1 ● Motor model (Round shaft) Mass: 0.68 kg
200 V
“Model Designation” in P.18. ② Brake connector 100 V MSMF011L1B2 MSMF011L1D2
□38
(32)

① ③ ③ Motor connector 200 V MSMF012L1B2 MSMF012L1D2
(30°)
or a dealer for the latest information. ②

(21

)
“Model Designation” in P.18.

＊
Use hexagon socket head ● Dimensions are subject to change without notice. Contact us
97
230 +50
200 +50
screw for installation.
0
0
72 25
4-φ3.4＊ □38 147 ＊
① 6 3 <Key way, center tap shaft>
② 122 25 screw for installation.
25 24 98 Key way dimensions
(27.6)
4-φ3.4＊ □38
14 (40.8) <Key way, center tap shaft>
φ8h6
(46.6)
3h9 (27)
12.5
(20) 25
6 3
(18.3)
23
3
φ30h7
14
φ8h6
3h9
φ45 12.5
(32)
M3 depth 6 φ45
6.2
46.5
3
φ30h7
[Unit: mm]
M3 depth 6
6.2
[Unit: mm]
* For motors specifications, refer to P.51, P.52. * For motors specifications, refer to P.51 to P.54.
A6 Series Dimensions MSMF 100 W to 200 W MSMF 200 W Dimensions A6 Series
Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
(64.8) Power supply without oil seal with oil seal Power supply without oil seal with oil seal
.5) ② Motor connector ② Brake connector
(21 (28.8) (33.5) 100 V MSMF011L1A1 MSMF011L1C1 100 V MSMF021L1B2 MSMF021L1D2
③ ③ Motor connector
200 V MSMF012L1A1 MSMF012L1C1 ① ② 200 V MSMF022L1B2 MSMF022L1D2
□38
(32)
A6 Family
“Model Designation” in P.18. ＊
Use hexagon
220 +50
(30°)
200 +50
0
0
● Dimensions are subject to change without notice. Contact us socket head screw ● Dimensions are subject to change without notice. Contact us
(21
or a dealer for the latest information. for installation. or a dealer for the latest information.
146
)
116 30
22.5 93 4-ø4.5＊
□60 Key way dimensions
＊
Use hexagon socket head (36)
117 screw for installation. (22.5) <Key way, center tap shaft>
92 25 (30) 30
Key way dimensions 6.5 3
24 68 □38
φ11h6
4-φ3.4＊ 20
① 6 3 <Key way, center tap shaft>
18
② 4h9
φ70
(43)
25
(27.6)
A6N Series
4
14
φ8h6
(46.6)
φ50h7
12.5 3h9
(18.3)
43 M4 depth 8
3
φ30h7
8.5
φ45
M3 depth 6
6.2
Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
Mass: 0.68 kg (21.5) Mass: 0.82 kg

● Motor model (Round shaft) ● Motor model (Round shaft)
A6B Series
(94.8) ① Encoder connector ① Encoder connector
(64.8) Power supply without oil seal with oil seal Power supply without oil seal with oil seal
(21)
.5) ② Brake connector ② Motor connector
(21 (28.8) (33.5) 100 V MSMF011L1B1 MSMF011L1D1 100 V MSMF021L1A1 MSMF021L1C1
(1.6)
(15.8)
③ Motor connector
200 V MSMF012L1B1 MSMF012L1D1 200 V MSMF022L1A1 MSMF022L1C1
(32)
□60
□38
(32)

(30°)
● Dimensions are subject to change without notice. Contact us Dimensions are subject to change without notice. Contact us
(1)
●
(3
(21
0°
or a dealer for the latest information. (28.8) or a dealer for the latest information.
)
.6)
Use hexagon
(19
＊
)
(26 109.5 socket head screw

)
79.5 30 for installation.

＊
Use hexagon socket head Key way dimensions
147 23 56.5
E Series
122 25 (53) □60 <Key way, center tap shaft>
24 98 Key way dimensions ① 4-ø4.5＊
4-φ3.4＊ □38 ② (23.1)
① ② 6 3 <Key way, center tap shaft> 6.5 30
3
(22.5)
φ11h6
③ 20
(18)
25
(27.6)
(25.1)
18
(52.5)
14 4h9
φ8h6
(46.6)
12.5 3h9
4
φ50h7
(18.3)
43
3
φ30h7
φ45 M4 depth 8
φ70
Imformation
M3 depth 6
8.5
6.2
Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
MSMF　200 W
(21.5) (28.8) ● Motor model (Round shaft) Mass: 1.3 kg
Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft ① Encoder connector Power supply without oil seal with oil seal
(21)
② Brake connector 100 V MSMF021L1B1 MSMF021L1D1
Mass: 0.82 kg
(1.6)
(15.8)
(8.4)
(19)
① Encoder connector ③ Motor connector 200 V MSMF022L1B1 MSMF022L1D1
(32)
□60
Power supply without oil seal with oil seal
② Motor connector ● For model number of key-way, center tap shaft, please refer to
100 V MSMF021L1A2 MSMF021L1C2 “Model Designation” in P.18.
① ②
200 V MSMF022L1A2 MSMF022L1C2 ● Dimensions are subject to change without notice. Contact us
● For model number of key-way, center tap shaft, please refer to (26.6) or a dealer for the latest information.
＊
Use hexagon “Model Designation” in P.18. 146 ＊
Use hexagon
220 +50
200 +50
116 30
0
socket head screw

0
socket head screw ● Dimensions are subject to change without notice. Contact us
109.5 for installation. or a dealer for the latest information. 23 93 for installation.
Key way dimensions
(89.5)
79.5 30 Key way dimensions □60 <Key way, center tap shaft>
□60 (64.7) 4-ø4.5＊
22.5 56.5 4-ø4.5＊ ① ② (23.1)
(36) <Key way, center tap shaft> ③ 30
(22.5) 6.5 3
(22.5)
(30)
φ11h6
30 20
(18)
6.5 3
φ11h6
20 18
(52.5)
4h9
(18.5)
18
4h9
φ70
(43)
4
φ50h7
4
φ50h7
M4 depth 8
φ70
8.5
M4 depth 8
8.5
[Unit: mm]
[Unit: mm]
* For motors specifications, refer to P.53 to P.56. * For motors specifications, refer to P.55, P.56.
A6 Series Dimensions MSMF 400 W MSMF 400 W to 750 W Dimensions A6 Series
Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
● Motor model (Round shaft) Mass: 1.2 kg (21.5) (28.8) ● Motor model (Round shaft) Mass: 1.7 kg
Power supply without oil seal with oil seal Power supply without oil seal with oil seal
(21)
② Motor connector ② Brake connector
100 V MSMF041L1A2 MSMF041L1C2 100 V MSMF041L1B1 MSMF041L1D1
(1.6)
(15.8)
(8.4)
(19)
③ Motor connector
□60
②
(32)
①
A6 Family
＊
Use hexagon ● Dimensions are subject to change without notice. Contact us ● Dimensions are subject to change without notice. Contact us
220 +50
200 +50
0
0 socket head screw or a dealer for the latest information. or a dealer for the latest information.
(26.6) Use hexagon
129 for installation. 165.5 ＊
socket head screw

99 30 □60
Key way dimensions 135.5 30
for installation. Key way dimensions
4-ø4.5＊ 23 112.5
22.5 76 (36) <Key way, center tap shaft> <Key way, center tap shaft>
(109)
(42) □60
(30) (83.9) 4-ø4.5＊
6.5 3 30 ① ② (42.6)
φ14h6 ③
25 30
6.5 3
(22.5)
φ14h6
22.5 5h9 25
(18)
φ70
(43)
22.5 5h9
A6N Series
(52.5)
5
(18.5)
φ50h7
5
φ50h7
M5 depth 10
11
φ70 M5 depth 10
11
[Unit: mm]
[Unit: mm]
Mass: 1.7 kg MSMF　750 W

A6B Series
② Brake connector Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
100 V MSMF041L1B2 MSMF041L1D2
③ Motor connector
③ 200 V MSMF042L1B2 MSMF042L1D2 ● Motor model (Round shaft) Mass: 2.3 kg
① ② ① Encoder connector
“Model Designation” in P.18. ② Motor connector
＊
Use hexagon ● Dimensions are subject to change without notice. Contact us
200 V MSMF082L1A2 MSMF082L1C2
220 +50
200 +50
②
0
socket head screw or a dealer for the latest information. ① ● For model number of key-way, center tap shaft, please refer to
for installation. “Model Designation” in P.18.
165.5
135.5 30 □60
Key way dimensions ● Dimensions are subject to change without notice. Contact us
220 +50
＊
Use hexagon
200 +50
0
4-ø4.5＊
0
22.5 112.5 (36) <Key way, center tap shaft> socket head screw
E Series
(42) 147.2 for installation.
(30) 30 Key way dimensions
6.5 3 112.2 35
φ14h6
25 4-ø6＊ □80 <Key way, center tap shaft>

25.5 86.7
22.5 5h9 (36)
(52.2) (30)
φ70
(43)
35
8 3
5
φ19h6
25
φ50h7
22 6h9
M5 depth 10 φ90
(53)
11
Imformation
φ70h7
[Unit: mm]
M5 depth 10
Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
15.5
● Motor model (Round shaft) Mass: 1.2 kg [Unit: mm]
(1.6)
(21.5)
② Motor connector Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
(21)
100 V MSMF041L1A1 MSMF041L1C1

Mass: 3.1 kg
(15.8)
200 V MSMF042L1A1 MSMF042L1C1 ● Motor model (Round shaft)

□60
(32)
“Model Designation” in P.18. ② Brake connector
200 V MSMF082L1B2 MSMF082L1D2
＊
Use hexagon or a dealer for the latest information. ① ● For model number of key-way, center tap shaft, please refer to
(28.8) socket head screw ② “Model Designation” in P.18.
129 for installation. Key way dimensions ● Dimensions are subject to change without notice. Contact us
220 +50
＊
Use hexagon
200 +50
0
99 30 or a dealer for the latest information.
0
<Key way, center tap shaft> socket head screw
23 76 □60
(72.5) 4-ø4.5＊ 184.2 for installation.
① 149.2 35 Key way dimensions
② (42.6) 30 4-ø6＊ □80
25.5 123.7 <Key way, center tap shaft>
(22.5)
6.5 3 25 (36)
(18)
φ14h6
22.5 5h9 (52.2) (30) 35

(52.5)
8 3
φ19h6
25
5
22 6h9
φ50h7
φ90
(53)
6
φ70 M5 depth 10
11
φ70h7
[Unit: mm]
M5 depth 10
15.5
[Unit: mm]
* For motors specifications, refer to P.57, P.58. * For motors specifications, refer to P.57 to P.59.
A6 Series Dimensions MSMF 750 W to 1000 W MSMF 1000 W Dimensions A6 Series
Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
(21.5) (28.8) ● Motor model (Round shaft) Mass: 2.3 kg ● Motor model (Round shaft) Mass: 3.6 kg
② Brake connector
(21)
② Motor connector
(17)
● For model number of key-way, center tap shaft, please refer to ① ● For model number of key-way, center tap shaft, please refer to
□80
(32)
“Model Designation” in P.18. ② “Model Designation” in P.18.
Use hexagon
A6 Family
＊
220 +50
200 +50
0
0
or a dealer for the latest information. socket head screw or a dealer for the latest information.
＊
Use hexagon
socket head screw 199.2 for installation.
147.2 for installation. Key way dimensions 164.2 35 Key way dimensions
112.2 35 4-ø6＊ □80
<Key way, center tap shaft> 25.5 138.7 <Key way, center tap shaft>
26 86.2 (36)
85.7 4-ø6＊ □80
(67.2) (30) 35
① 52.4 35
② 8 3
φ19h6
φ19h6 25
8 3 25
(20)
(18)
22 6h9
22 6h9
φ90
(53)
(60)
φ90
A6N Series
6
6
φ70h7
φ70h7
M5 depth 10
M5 depth 10
15.5
15.5
Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
(21.5) (28.8) Mass: 3.1 kg (21.5) (28.8) Mass: 2.8 kg

A6B Series
(21)
② Brake connector ② Motor connector
(21)
200 V MSMF082L1B1 MSMF082L1D1 200 V MSMF092L1A1 MSMF092L1C1
③ Motor connector
(19)
(10)
(17)
(17)
□80
For model number of key-way, center tap shaft, please refer to For model number of key-way, center tap shaft, please refer to
(32)
● ●
□80
(32)
＊
Use hexagon
(26.6) socket head screw
Key way dimensions Use hexagon socket head Key way dimensions
＊
183.2 for installation. 162.2
148.2 35 screw for installation.
<Key way, center tap shaft> 127.2 35 <Key way, center tap shaft>
26 122.2 26 101.2
4-ø6＊ □80
E Series
121.7 100.7
94.8 35 4-ø6＊ □80
① ②
③ 52.4 ① 35
(21.5)
25 ② 67.4
φ19h6
(20)
(18)
8 3
φ19h6
22 8 3 25
(20)
(18)
6h9
22
(61.6)
φ90 6h9
(60)
φ90
6
6
φ70h7
φ70h7
M5 depth 10
15.5
Imformation
M5 depth 10
15.5
[Unit: mm]
[Unit: mm]
MSMF　1000 W Connector type (P67) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
(21.5) (28.8) ● Motor model (Round shaft) Mass: 3.6 kg

Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft ① Encoder connector
Mass: 2.8 kg ② Brake connector
(21)
● Motor model (Round shaft) 200 V MSMF092L1B1 MSMF092L1D1
① Encoder connector ③ Motor connector
(19)
(10)
(17)
Power supply without oil seal with oil seal ● For model number of key-way, center tap shaft, please refer to
② Motor connector
□80
(32)
200 V MSMF092L1A2 MSMF092L1C2 “Model Designation” in P.18.
① ② ● Dimensions are subject to change without notice. Contact us
＊
Use hexagon
220 +50
200 +50
(26.6)
0

socket head screw Use hexagon socket head Key way dimensions
＊
198.2
162.2 for installation. screw for installation.
163.2 35 <Key way, center tap shaft>
127.2 35 Key way dimensions 26 137.2
4-ø6＊ □80
136.7
25.5 101.7 <Key way, center tap shaft> 4-ø6＊ □80
(36) 109.8
(67.2) (30) ① ② 35
35 ③ 67.4
8 3
φ19h6
8 3 25
φ19h6
(21.5)
25
(20)
(18)
22 22 6h9
6h9
(61.6)
φ90 φ90
(53)
6
6
φ70h7
φ70h7
M5 depth 10 M5 depth 10
15.5
15.5
* For motors specifications, refer to P.59, P.60. * For motors specifications, refer to P.60.
A6 Series Dimensions MSMF 1.0 kW MSMF 1.0 kW to 1.5 kW Dimensions A6 Series
MSMF　1.0 kW MSMF　1.0 kW
Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Small size connector (JN2) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
● Motor model (Key way shaft) Mass: 3.6 kg ● Motor model (Key way shaft) Mass: 4.7 kg
① Encoder connector (Large size JL10) ① Encoder connector (Small size JN2)
② Motor connector Power supply with oil seal with protective lip ② Motor/Brake connector Power supply with oil seal with protective lip
200 V MSMF102L1G6 MSMF102L1G8 200 V MSMF102L1H5 MSMF102L1H7
● For model number of round shaft, refer to “Model Designation” in P.18. ● For model number of round shaft, refer to “Model Designation” in P.18.
137 55 ● Dimensions are subject to change without notice. Contact us
163 55 ＊
45 92 ＊
Use hexagon or a dealer for the latest information. 44 119 socket head screw or a dealer for the latest information.
A6 Family
(117) socket head screw (141) for installation.
for installation. (59)
(72) Key way dimensions ② □100 Key way dimensions
① 4-ø9＊ □100 4-ø9＊
②
55 55
10 3 ① 10 3
φ19h6
φ19h6
45 45
42 M3 through 42 M3 through
(101)
(90)
135 6h9 135 6h9
φ19h6
φ19h6
φ φ
A6N Series
φ95h7
φ95h7
φ95h7
φ95h7
φ11 φ11
15.5
15.5
5 5
Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
MSMF　1.5 kW
Mass: 4.7 kg

● Motor model (Key way shaft)
A6B Series
① Encoder connector (Large size JL10)
② Motor/Brake connector Power supply with oil seal with protective lip Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
200 V MSMF102L1H6 MSMF102L1H8
● Motor model (Key way shaft) Mass: 4.6 kg
164 55
● For model number of round shaft, refer to “Model Designation” in P.18. ① Encoder connector (Large size JL10)
＊
Use hexagon Dimensions are subject to change without notice. Contact us Power supply with oil seal with protective lip
② Motor connector
●
45 119 socket head screw or a dealer for the latest information.
(144) for installation.
200 V MSMF152L1G6 MSMF152L1G8
● For model number of round shaft, refer to “Model Designation” in P.18.
② □100 155.5 55
(59)
4-ø9＊
Key way dimensions ● Dimensions are subject to change without notice. Contact us
45 110.5 ＊
Use hexagon or a dealer for the latest information.
① 55 (135.5) socket head screw
for installation.
10 3
φ19h6
45 Key way dimensions
E Series
(90.5)
42 M3 through 4-ø9＊ □100
①
(101)
②
35 6h9 55
φ1
φ19h6
10 3
φ19h6
45
42 M3 through
6
φ95h7
φ95h7
(90)
135 6h9
φ19h6
φ
φ11
15.5
5
6
φ95h7
φ95h7
Imformation
φ11
15.5
[Unit: mm] 5
Small size connector (JN2) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
[Unit: mm]
① Encoder connector (Small size JN2)
② Motor connector Power supply with oil seal with protective lip Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
136 55
Dimensions are subject to change without notice. Contact us Power supply with oil seal with protective lip
② Motor/Brake connector
●
44 92 ＊
(114) socket head screw 200 V MSMF152L1H6 MSMF152L1H8
for installation. ● For model number of round shaft, refer to “Model Designation” in P.18.
182.5 55
(72)
4-ø9＊
Key way dimensions ＊
□100 45 137.5 socket head screw or a dealer for the latest information.
② (162.5) for installation.
55
① 10 3 (77.5)
φ19h6
45 ② □100 Key way dimensions

42 M3 through 4-ø9＊
①
(90)
35 6h9 55
φ1
φ19h6
10 3
φ19h6
45
42 M3 through
6
φ95h7
φ95h7
(101)
35 6h9
φ1
φ19h6
φ11
15.5
6
φ95h7
φ95h7
φ11
15.5
[Unit: mm] 5
[Unit: mm]
* For motors specifications, refer to P.61. * For motors specifications, refer to P.61, P.62.
A6 Series Dimensions MSMF 1.5 kW to 2.0 kW MSMF 2.0 kW Dimensions A6 Series
Small size connector (JN2) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
① Encoder connector (Small size JN2) ① Encoder connector (Large size JL10)
Power supply with oil seal with protective lip Power supply with oil seal with protective lip
② Motor connector ② Motor/Brake connector
154.5 55 ● Dimensions are subject to change without notice. Contact us
44 110.5 ＊
Use hexagon or a dealer for the latest information. 45 156.5 ＊
A6 Family
(132.5) socket head screw (181.5) socket head screw
for installation. (96.5) for installation.
(90.5)
4-ø9＊ □100
Key way dimensions ②
4-ø9＊ □100
Key way dimensions
② ①
55 55
① 10 3 10 3
φ19h6
φ19h6
45 45
(101)
(90)
135 6h9 135 6h9
φ19h6
φ19h6
φ φ
A6N Series
φ95h7
φ95h7
φ95h7
φ95h7
φ11 φ11
15.5
15.5
5 5
Small size connector (JN2) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Small size connector (JN2) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
Mass: 5.6 kg Mass: 5.6 kg

● Motor model (Key way shaft) ● Motor model (Key way shaft)
A6B Series
① Encoder connector (Small size JN2) ① Encoder connector (Small size JN2)
② Motor/Brake connector Power supply with oil seal with protective lip ② Motor connector Power supply with oil seal with protective lip
200 V MSMF152L1H5 MSMF152L1H7 200 V MSMF202L1G5 MSMF202L1G7
181.5 55 ＊
44 137.5 socket head screw or a dealer for the latest information. 44 129.5 ＊
(159.5) for installation. (151.5) socket head screw
(77.5) for installation.
② □100 Key way dimensions (109.5) Key way dimensions
4-ø9＊ 4-ø9＊ □100
②
55 55
① 10 3 ① 10 3
φ19h6
φ19h6
45 45
E Series
(101)
(90)
135 6h9 135 6h9
φ19h6
φ19h6
φ φ
6
φ95h7
φ95h7
φ95h7
φ95h7
φ11 φ11
15.5
15.5
5 5
Imformation
Small size connector (JN2) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
MSMF　2.0 kW
Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft ② Motor/Brake connector Power supply with oil seal with protective lip
① Encoder connector (Large size JL10) 200.5 55
Power supply with oil seal with protective lip ● Dimensions are subject to change without notice. Contact us
② Motor connector 44 156.5 ＊
Use hexagon
200 V MSMF202L1G6 MSMF202L1G8 or a dealer for the latest information.
● For model number of round shaft, refer to “Model Designation” in P.18. (96.5) for installation.
174.5 55 ● Dimensions are subject to change without notice. Contact us ②
4-ø9＊
Key way dimensions
45 129.5 ＊
Use hexagon or a dealer for the latest information. □100
55
for installation.
① 10 3
φ19h6
(109.5) Key way dimensions 45
4-ø9＊ □100 42 M3 through
① ②
55 (101)
35 6h9
φ1
φ19h6
10 3
φ19h6
45
42 M3 through
6
φ95h7
φ95h7
(90)
35 6h9
φ1
φ19h6
φ11
15.5
5
6
φ95h7
φ95h7
φ11
15.5
5 [Unit: mm]
[Unit: mm]
A6 Series Dimensions MSMF 3.0 kW MSMF 3.0 kW to 4.0 kW Dimensions A6 Series
For model number of round shaft, refer to “Model Designation” in P.18. For model number of round shaft, refer to “Model Designation” in P.18.
186 55 210 55
● ●
＊
＊
45 141 socket head screw or a dealer for the latest information. 44 166 socket head screw or a dealer for the latest information.
A6 Family
(166) for installation. (188) for installation.
② (107) □120 Key way dimensions ② (107) □120 Key way dimensions
4-ø9＊ 4-ø9＊
55 55
①
12 3 45 12 3 45
41 M3 through ① 41 M3 through
(113)
(113)
162 8h9 162 8h9
φ22h6
φ22h6
φ22h6
φ22h6
φ φ
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ1 φ1
18
18
45 45
MSMF　4.0 kW
Mass: 9.9 kg

A6B Series
211 55
＊
② Motor connector
●
45 166 socket head screw or a dealer for the latest information. 200 V MSMF402L1G6 MSMF402L1G8
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.18.
② (107) □120 Key way dimensions 205 65
4-ø9＊ socket head screw ● Dimensions are subject to change without notice. Contact us
45 160 for installation. or a dealer for the latest information.

55
① (185)
12 3 45 (123)
□130
② Key way dimensions
E Series
41 M3 through 4-ø9＊
(113)
8h9 ① 12 6
62 65
φ1
φ22h6
φ22h6
55
51 M3 through
(118)
φ110h7
φ110h7
8h9
φ24h6
φ24h6
5
φ14
φ1
7
18
45
φ110h7
φ110h7
Imformation
[Unit: mm] φ16
20
5
[Unit: mm]
185 55
＊
●
44 141 socket head screw or a dealer for the latest information. 200 V MSMF402L1H6 MSMF402L1H8
＊
② (107) □120 Key way dimensions 233 65
4-ø9＊ socket head screw ● Dimensions are subject to change without notice. Contact us

55
(213)
12 3 45 (123)
□130
① ② 4-ø9＊ Key way dimensions
41 M3 through
(113)
8h9 ① 12 6
62 65
φ1
φ22h6
φ22h6
55
51 M3 through
7
(118)
φ110h7
φ110h7
8h9
φ24h6
φ24h6
5
φ14
φ1
7
18
45
φ110h7
φ110h7
[Unit: mm] φ16
20
5
[Unit: mm]
A6 Series Dimensions MSMF 4.0 kW to 5.0 kW MSMF 5.0 kW Dimensions A6 Series
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.18. ＊
204 65 socket head screw ● Dimensions are subject to change without notice. Contact us 268 65 socket head screw ● Dimensions are subject to change without notice. Contact us
44 160 for installation. or a dealer for the latest information. 45 223 for installation. or a dealer for the latest information.
A6 Family
(182) (248)
□130 □130
② (123) ② (158)
4-ø9＊ Key way dimensions 4-ø9＊ Key way dimensions
12 6 65 ① 12 6 65
① 55 55
(118)
(118)
8h9 8h9
φ24h6
φ24h6
φ24h6
φ24h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
20
20
5 5

A6B Series
200 V MSMF402L1H5 MSMF402L1H7 200 V MSMF502L1G5 MSMF502L1G7
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.18. ＊
232 65 socket head screw ● Dimensions are subject to change without notice. Contact us 239 65 socket head screw ● Dimensions are subject to change without notice. Contact us
44 188 for installation. or a dealer for the latest information. 44 195 for installation. or a dealer for the latest information.
(210) (217)
□130 □130
② (123) ② (158)
4-ø9＊ Key way dimensions 4-ø9＊ Key way dimensions
12 6 65 12 6 65
① 55 55
E Series
①
(118)
(118)
8h9 8h9
φ24h6
φ24h6
φ24h6
φ24h6
5 5
φ14 φ14
7
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
20
20
5 5
Imformation
MSMF　5.0 kW
① Encoder connector (Large size JL10) ＊
Power supply with oil seal with protective lip 267 65 ● Dimensions are subject to change without notice. Contact us
② Motor connector socket head screw
200 V MSMF502L1G6 MSMF502L1G8 44 223 for installation. or a dealer for the latest information.
(245)
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.18. □130
65 ② (158)
240 socket head screw ● Dimensions are subject to change without notice. Contact us 4-ø9＊ Key way dimensions
(220) 12 6 65
□130
② (158) Key way dimensions ① 55
4-ø9 ＊
M3 through
51
① 12 6 65 (118) 8h9
φ24h6
φ24h6
5
55 φ14
M3 through
7
51
(118)
φ110h7
φ110h7
8h9
φ24h6
φ24h6
5
φ14
φ16
7
20
5
φ110h7
φ110h7
φ16 [Unit: mm]

20
[Unit: mm]
A6 Series Dimensions MQMF 100 W MQMF 100 W Dimensions A6 Series
MQMF　100 W MQMF　100 W
Leadwire type (P65) ・ without brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ with brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft
Power supply Motor model No. Power supply Motor model No.
② Motor connector 100 V MQMF011L1A2 ② Brake connector 100 V MQMF011L1B2
① ② 200 V MQMF012L1A2 ③
③ Motor connector 200 V MQMF012L1B2
① ● For model number of key-way, center tap shaft, please refer to
A6 Family
220 +50
220 +50
200 +50
200 +50
Use hexagon Use hexagon
0
＊＊
0
0
0
socket head screw or a dealer for the latest information. socket head screw or a dealer for the latest information.
81.2 for installation. 102.5 for installation.
56.2 25 Key way dimensions 77.5 25 Key way dimensions
□60 □60
16.5 39.7 16.5 61
<Key way, center tap shaft> <Key way, center tap shaft>
(14) (30.8) (14) 3 (30.8)
5.7 3 4-ø4.5＊ (2.1) 5.7 4-ø4.5＊ (2.1)
25 25
φ8h6
φ8h6
14 14
12.5 12.5
(43)
(43)
3h9 3h9
A6N Series
3
3
φ50h7
φ50h7
φ70 φ70
6.2
6.2
Leadwire type (P65) ・ without brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ with brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft

A6B Series
② Motor connector 100 V MQMF011L1C2 ② Brake connector 100 V MQMF011L1D2
① ② 200 V MQMF012L1C2 ③
③ Motor connector 200 V MQMF012L1D2
220 +50
220 +50
200 +50
200 +50
0
＊＊
0
●
0
0
84.7 for installation. 106 for installation.
59.7 25 Key way dimensions 81 25 Key way dimensions
□60 □60
16.5 43.2 16.5 64.5
E Series
(17.5) (30.8) (17.5) 3 (30.8)
5.7 3 4-ø4.5＊ (2.1) 5.7 4-ø4.5＊ (2.1)
25 25
φ8h6
φ8h6
14 14
12.5 12.5
(43)
(43)
3h9 3h9
3
3
φ50h7
φ50h7
φ70 φ70
6.2
6.2
Imformation
Leadwire type (P65) ・ without brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ with brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft
② Motor connector 100 V MQMF011L1C4 ② Brake connector 100 V MQMF011L1D4
② 200 V MQMF012L1C4 ③
③ Motor connector 200 V MQMF012L1D4
220 +50
220 +50
200 +50
200 +50
＊
Use hexagon ＊
Use hexagon
0
0
0
0
□60 □60
16.5 39.7 12.1 16.5 61 12.1
(14) 1.5 (30.8) (14) 1.5 (30.8)
5.7 4-ø4.5＊ (2.1) 5.7 4-ø4.5＊ (2.1)
30 30
φ8h6
φ8h6
14 14
12.5 12.5
(43)
(43)
3h9 3h9
3
3
φ50h7
φ50h7
φ49.4
φ49.4
φ70 φ70
6.2
6.2
* For motors specifications, refer to P.67, P.68. * For motors specifications, refer to P.67, P.68.
Connector type (P67) ・ without brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ with brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft
(26.6) (8.8) ● Motor model (Round shaft) Mass: 0.54 kg (26.6) (8.8) ● Motor model (Round shaft) Mass: 0.79 kg
100 V MQMF011L1A1 100 V MQMF011L1B1
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
A6 Family
(21.5) (30.8) (21.5) (52.1)
(21)
(21)
＊
Use hexagon socket head ＊
81.2 screw for installation. Key way dimensions 102.5 screw for installation. Key way dimensions
56.2 25 <Key way, center tap shaft> 77.5 25 <Key way, center tap shaft>
16.5 39.7
□60 16.5 61
□60
4-ø4.5＊ 4-ø4.5＊
5.7 3 5.7 3
① ② 25 ① ② 25
φ8h6
φ8h6
14 14
12.5 12.5
(44)
(44)
(44)
(44)
A6N Series
3h9 3h9
3
φ50h7
φ50h7
φ70 φ70
6.2
6.2
Connector type (P67) ・ without brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ with brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft
(26.6) (12.3) Mass: 0.57 kg (26.6) (12.3) Mass: 0.82 kg

A6B Series
100 V MQMF011L1C1 100 V MQMF011L1D1
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21.5) (34.3)
(21)
(21.5) (55.6)
(21)
＊
84.7 screw for installation. Key way dimensions 106 screw for installation. Key way dimensions
59.7 25 <Key way, center tap shaft> 81 25 <Key way, center tap shaft>
E Series
16.5 43.2
□60 □60
4-ø4.5＊ 16.5 64.5 4-ø4.5＊
5.7 3 5.7 3
① ② 25 ① ② 25
φ8h6
φ8h6
14 14
12.5 12.5
(44)
(44)
(44)
(44)
3h9 3h9
3
3
φ50h7
φ50h7
φ70 φ70
6.2
6.2
Imformation
Connector type (P67) ・ without brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft Connector type (P67) ・ with brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft
(26.6) (8.8) ● Motor model (Round shaft) Mass: 0.61 kg (26.6) (8.8) Mass: 0.86 kg
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21.5) (30.8)
(21)
(21.5) (52.1)
(21)
＊
(86.2) screw for installation. Key way dimensions 107.5 screw for installation. Key way dimensions
16.5 □60 □60
39.7 12.1 4-ø4.5＊ 16.5 61 12.1 4-ø4.5＊
5.7 1.5 5.7 1.5
① ② ①
30 ② 30
φ8h6
φ8h6
14 14
12.5 12.5
(44)
(44)
(44)
(44)
3h9 3h9
3
3
φ50h7
φ49.4
φ50h7
φ49.4
φ70 φ70
6.2
6.2
③ Motor connector
① ② 200 V MQMF022L1A2 ① ③ 200 V MQMF022L1B2
A6 Family
＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
0
socket head screw socket head screw
0
for installation. or a dealer for the latest information. for installation. or a dealer for the latest information.
92.3 115.9
62.3 30 □80 Key way dimensions 85.9 30 □80 Key way dimensions
16.5 45.8 3 4-ø6 ＊ <Key way, center tap shaft> 16.5 69.4 4-ø6＊ <Key way, center tap shaft>
(18.9) (30.8) (18.9) 3 (30.8)
30 30
8
φ11h6 (2.1) 8 (2.1)
φ11h6
20 20
18 18
4h9 4h9
(53)
(53)
A6N Series
4
4
φ70h7
φ70h7
φ90 φ90
8.5
8.5

A6B Series
③ Motor connector
① ② 200 V MQMF022L1C2 ① ③ 200 V MQMF022L1D2
＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
socket head screw
0
socket head screw
0
0
95.8 119.4
□80 Key way dimensions 89.4 30 □80 Key way dimensions
65.8 30
16.5 49.3 3 4-ø6＊ <Key way, center tap shaft> 16.5 72.9 4-ø6＊ <Key way, center tap shaft>
E Series
(30.8) (22.4) 3 (30.8)
(22.4) 30 30
8 (2.1) 8 (2.1)
φ11h6
φ11h6
20 20
18 18
4h9 4h9
(53)
(53)
4
4
φ70h7
φ70h7
φ90 φ90
8.5
8.5
Imformation
③ Motor connector
① ② 200 V MQMF022L1C4 ① ③ 200 V MQMF022L1D4
Use hexagon “Model Designation” in P.18. ② “Model Designation” in P.18.
＊＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
0
0
0
97.3 120.9
62.3 35 □80 Key way dimensions □80 Key way dimensions
85.9 35
16.5 45.8 12.1 4-ø6＊ <Key way, center tap shaft> 16.5 69.4 12.1 4-ø6＊ <Key way, center tap shaft>
(30.8) (30.8)
(18.9) 1.5 (2.1) 35 (18.9) 1.5 (2.1) 35
8 8
φ11h6
φ11h6
20 20
18 18
4h9 4h9
(53)
(53)
4
4
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
8.5
8.5
(21.5) ② Motor connector ② Motor/Brake connector
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
A6 Family
＊
Use hexagon ＊
Use hexagon
(21.5) (36.9) socket head screw (21.5) (60.5) socket head screw
92.3 for installation. Key way dimensions 115.9 for installation. Key way dimensions
□80 □80
16.5 45.8 4-ø6＊ 16.5 69.4 4-ø6＊
8 3 30 8 3 30
② ②
φ11h6
φ11h6
① 20 ① 20
18 18
4h9 4h9
(54)
(54)
A6N Series
(54)
(54)
4
4
φ70h7
φ70h7
φ90 φ90
8.5
8.5

(26.6) (17.2) (26.6) (17.2)
A6B Series
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊
Use hexagon ＊
Use hexagon
(21.5) (40.4) socket head screw (21.5) (64) socket head screw
E Series
□80 □80
16.5 49.3 4-ø6＊ 16.5 72.9 4-ø6＊
8 3 30 8 3 30
② ②
φ11h6
φ11h6
① 20 ① 20
18 18
4h9 4h9
(54)
(54)
(54)
(54)
4
4
φ70h7
φ70h7
φ90
Imformation
8.5
8.5
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊
Use hexagon ＊
Use hexagon
□80 □80
16.5 45.8 12.1 16.5 69.4 12.1
4-ø6＊ 35 4-ø6＊ 35
8 1.5 8 1.5
② ②
φ11h6
φ11h6
① 20 ① 20
18 18
4h9 4h9
(54)
(54)
(54)
(54)
4
4
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
8.5
8.5
③ Motor connector
① ② 200 V MQMF042L1A2 ① ③ 200 V MQMF042L1B2
A6 Family
＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
0
0
104.8 Key way dimensions 128.4 Key way dimensions
74.8 30 □80 98.4 30 □80
16.5 58.3 3 4-ø6 ＊ <Key way, center tap shaft> 16.5 81.9 4-ø6＊ <Key way, center tap shaft>
(31.4) (30.8) (31.4) 3 (30.8)
30 30
8
φ14h6 (2.1) 8 (2.1)
φ14h6
25 25
22.5 22.5
5h9 5h9
(53)
(53)
A6N Series
5
5
φ70h7
φ70h7
φ90 φ90
11
11

A6B Series
③ Motor connector
① ② 200 V MQMF042L1C2 ① ③ 200 V MQMF042L1D2
＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
●
0
0
0
0
78.3 30 □80 101.9 30 □80
16.5 61.8 3 4-ø6＊ <Key way, center tap shaft> 16.5 85.4 4-ø6＊ <Key way, center tap shaft>
E Series
(34.9) (30.8) (34.9) 3 (30.8)
30 30
8 (2.1) 8 (2.1)
φ14h6
φ14h6
25 25
22.5 22.5
5h9 5h9
(53)
(53)
5
5
φ70h7
φ70h7
φ90 φ90
11
11
Imformation
③ Motor connector
① ② 200 V MQMF042L1C4 ① ③ 200 V MQMF042L1D4
＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
0
0
0
109.8 133.4
(30.8) (30.8)
(31.4) 1.5 (2.1) 35 (31.4) 1.5 (2.1) 35
8 8
φ14h6
φ14h6
20.5 20.5
18 18
5h9 5h9
(53)
(53)
5
5
φ70h7
φ70h7
φ69.4
φ69.4
11
11
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
A6 Family
＊
Use hexagon ＊
Use hexagon
(21.5) (49.4) socket head screw (21.5) (73) socket head screw
□80 □80
16.5 58.3 16.5 81.9
4-ø6＊ 30 4-ø6＊ 30
② 8 3 8 3
φ14h6
φ14h6
① 25 ① ② 25
22.5 22.5
5h9 5h9
(54)
(54)
A6N Series
(54)
(54)
5
5
φ70h7
φ70h7
φ90 φ90
11
11

(26.6) (29.7) (26.6) (29.7)
A6B Series
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊
Use hexagon ＊
Use hexagon
E Series
□80 □80
16.5 61.8 16.5 85.4
4-ø6＊ 30 4-ø6＊ 30
② 8 3 8 3
φ14h6
φ14h6
① 25 ① ② 25
22.5 22.5
5h9 5h9
(54)
(54)
(54)
(54)
5
5
φ70h7
φ70h7
φ90 φ90
Imformation
11
11
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊
Use hexagon ＊
Use hexagon
(21.5) (49.4) (21.5) (73)
socket head screw
Key way dimensions
socket head screw
Key way dimensions
<Key way, center tap shaft> 98.4
74.8 35 35
□80 □80
16.5 58.3 12.1 16.5 81.9 12.1
4-ø6＊ 35 4-ø6＊ 35
② 8 1.5 8 1.5
φ14h6
φ14h6
① 20.5 ① ② 20.5
18 18
5h9 5h9
(54)
(54)
(54)
(54)
5
5
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
11
11
A6 Series Dimensions MHMF 50 W MHMF 50 W Dimensions A6 Series
MHMF　50 W MHMF　50 W
② Motor connector 100 V ② Brake connector 100 V
MHMF5AZL1A2 ③ Motor connector MHMF5AZL1B2
① ② 200 V ① ② ③ 200 V
A6 Family
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
78.5 screw for installation. 112.4 screw for installation.
53.5 25 □40
Key way dimensions 87.4 25 □40
Key way dimensions
2-φ4.3＊ 2-φ4.3＊
16.6 36.9 3 <Key way, center tap shaft> 16.6 70.8 <Key way, center tap shaft>
(22.8) (22.8)
(14) (8.6) (14) 3 (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
A6N Series
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2

A6B Series
MHMF5AZL1C2 ③ Motor connector MHMF5AZL1D2
① ② 200 V ① ② ③ 200 V
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
Key way dimensions Key way dimensions
E Series
57.5 25 2-φ4.3＊ □40 91.4 25 2-φ4.3＊ □40
(22.8) (22.8)
(18) (8.6) (18) 3 (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2
Imformation
① ② MHMF5AZL1C4 ① ② ③ ③ Motor connector MHMF5AZL1D4
200 V 200 V
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
□40 <Key way, center tap shaft> □40 <Key way, center tap shaft>
16.6 36.9 12.1 2-φ4.3＊ 16.6 70.8 12.1 2-φ4.3＊
(22.8) (22.8)
(14) 1.5 (14) 1.5
30 30
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ29.6
φ29.6
φ46 φ46
6.2
6.2
(25.9) (8.9) ● Motor model (Round shaft) Mass: 0.29 kg ● Motor model (Round shaft) Mass: 0.51 kg
(25.9) (8.9)
② Motor connector 100 V ② Motor/Brake connector 100 V
(22.1)
(9.1)
(22.1)
(9.1)
MHMF5AZL1A1 MHMF5AZL1B1
200 V 200 V
(21)
(21)
● ●
A6 Family
(8.6)
(8.6)
(21.5) (28.4) or a dealer for the latest information. or a dealer for the latest information.
(21.5) (62.3)
78.5 ＊
Use hexagon socket head 112.4 ＊
screw for installation. screw for installation.
16.6 36.9 <Key way, center tap shaft> 16.6 70.8 <Key way, center tap shaft>
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 3 ① 5 3
25 ② 25
14 14
φ8h6
φ8h6
A6N Series
3h9 3h9
(34.5)
(34.5)
12.5 12.5
(34)
(34)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2

A6B Series
(25.9) (12.9) (25.9) (12.9)
(22.1)
(22.1)
(9.1)
(9.1)
MHMF5AZL1C1 MHMF5AZL1D1
200 V 200 V
(21)
(21)
● ●

(8.6)
(8.6)
(21.5) (32.4) (21.5) (66.3)
82.5 ＊
E Series
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 3
25 ① 5 3
25
②
14 14
φ8h6
φ8h6
3h9 3h9
(34.5)
(34.5)
12.5 12.5
(34)
(34)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2
Imformation
(22.1)
(22.1)
(9.1)
(9.1)
MHMF5AZL1C3 MHMF5AZL1D3
200 V 200 V
(21)
(21)
● ●

(8.6)
(8.6)
(21.5) (28.4) or a dealer for the latest information. (21.5) (62.3) or a dealer for the latest information.
83.5 ＊
53.5 30
87.4 30
screw for installation. Key way dimensions
Key way dimensions <Key way, center tap shaft>
16.6 36.9 12.1 <Key way, center tap shaft> 16.6 70.8 12.1
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 1.5
30 ① 5 1.5
30
②
14 14
φ8h6
φ8h6
12.5 3h9 12.5 3h9

(34.5)
(34.5)
(34)
(34)
3
3
φ30h7
φ30h7
φ29.6
φ29.6
φ46 φ46
6.2
6.2
② Motor connector 100 V MHMF011L1A2 ② Brake connector 100 V MHMF011L1B2
200 V MHMF012L1A2 ②
③ Motor connector 200 V MHMF012L1B2
① ② ① ③
A6 Family
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
67.5 25 □40
Key way dimensions
2-φ4.3＊ 2-φ4.3＊
(22.8) (22.8)
(28) (8.6) (28) 3 (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
A6N Series
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2

A6B Series
② Motor connector 100 V MHMF011L1C2 ② Brake connector 100 V MHMF011L1D2
200 V MHMF012L1C2 ②
③ Motor connector 200 V MHMF012L1D2
① ② ① ③
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
E Series
71.5 25 2-φ4.3＊ □40 105.4 25 2-φ4.3＊ □40
(22.8) (22.8)
(32) (8.6) (32) 3 (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2
Imformation
① ② 200 V MHMF012L1C4 ① ② ③ ③ Motor connector 200 V MHMF012L1D4
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
16.6 50.9 12.1 2-φ4.3＊ 16.6 84.8 12.1 2-φ4.3＊
(22.8) (22.8)
(28) 1.5 (28) 1.5
30 30
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ29.6
φ29.6
φ46 φ46
6.2
6.2
(25.9) (22.9) ① Encoder connector (25.9) (22.9) ① Encoder connector
② Motor connector 100 V MHMF011L1A1 ② Motor/Brake connector 100 V MHMF011L1B1
(22.1)
(9.1)
(22.1)
(9.1)
200 V MHMF012L1A1 200 V MHMF012L1B1
(21)
(21)
● ●
A6 Family
(8.6)
(8.6)
(21.5) (76.3)
(21.5) (42.4)
＊
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 3 ① 5 3
25 ② 25
14 14
φ8h6
φ8h6
A6N Series
3h9 3h9
(34.5)
(34.5)
12.5 12.5
(34)
(34)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2

A6B Series
(25.9) (26.9)
① Encoder connector (25.9) (26.9) ① Encoder connector
② Motor connector 100 V MHMF011L1C1 ② Motor/Brake connector 100 V MHMF011L1D1
(22.1)
(22.1)
(9.1)
(9.1)
200 V MHMF012L1C1 200 V MHMF012L1D1

(21)
(21)
● ●

(8.6)
(8.6)
(21.5) (80.3)
(21.5) (46.4)
＊
E Series
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 3 ① 5 3
25 ② 25
14 14
φ8h6
φ8h6
3h9 3h9
(34.5)
(34.5)
12.5 12.5
(34)
(34)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2
Imformation
(25.9) (22.9) ① Encoder connector (25.9) (22.9) ① Encoder connector
② Motor connector 100 V MHMF011L1C3 ② Motor/Brake connector 100 V MHMF011L1D3
(22.1)
(9.1)
(22.1)
(9.1)
(21)
(21)
● ●

(8.6)
(8.6)
(21.5) (76.3)
(21.5) (42.4)
97.5
＊
Use hexagon socket head 131.4
＊
67.5 30
screw for installation. Key way dimensions 101.4 30
screw for installation. Key way dimensions
16.6 50.9 12.1 16.6 84.8 12.1
2-φ4.3＊ □40 2-φ4.3＊ □40
① ② 5 1.5 ① 5 1.5
30 ② 30
14 14
φ8h6
φ8h6
12.5 3h9 12.5 3h9

(34.5)
(34.5)
(34)
(34)
3
3
φ30h7
φ30h7
φ29.6
φ29.6
φ46 φ46
6.2
6.2
① ② ① ③ Motor connector
200 V MHMF022L1A2 ③ 200 V MHMF022L1B2
A6 Family
220 +50
0
220 +50
＊＊
200 +50
200 +50
0
0
□60 □60
16.5 51 4-ø4.5＊ <Key way, center tap shaft> 16.5 80.3 4-ø4.5＊ <Key way, center tap shaft>
(25.3) (30.8) (25.3) 3 (30.8)
6.5 3 (2.1) 30 6.5 (2.1) 30
φ11h6
φ11h6
20 20
18 18
4h9 4h9
(43)
(43)
A6N Series
4
4
φ50h7
φ50h7
φ70 φ70
8.5
8.5

A6B Series
① ② 200 V MHMF022L1C2 ① ③
220 +50
0
220 +50
＊＊
200 +50
200 +50
0
●
0
0
101 for installation. 130.3 for installation.
71 30 Key way dimensions 100.3 30 Key way dimensions
□60 □60
16.5 54.5 4-ø4.5＊ <Key way, center tap shaft> 16.5 83.8 4-ø4.5＊ <Key way, center tap shaft>
(30.8) (30.8)
E Series
(28.8) (28.8) 3
6.5 3 (2.1) 30 6.5 (2.1) 30
φ11h6
φ11h6
20 20
18 18
4h9 4h9
(43)
(43)
4
4
φ50h7
φ50h7
φ70 φ70
8.5
8.5
Imformation
① ② 200 V MHMF022L1C4 ① ③ ③ Motor connector 200 V MHMF022L1D4
②
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊＊
16.5 51 12.1 □60 <Key way, center tap shaft> 16.5 80.3 12.1 □60 <Key way, center tap shaft>
(25.3) 1.5 (30.8) (25.3) 1.5 (30.8)
6.5 (2.1) 35 6.5 (2.1) 35
φ11h6
φ11h6
4-ø4.5＊ 20 4-ø4.5＊ 20
18 18
4h9 4h9
(43)
(43)
4
4
φ50h7
φ50h7
φ49.4
φ49.4
φ70 M4 depth 8 φ70 M4 depth 8
8.5
8.5
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
A6 Family
(21)
(21)
(21.5) (42.1) ＊
Use hexagon (21.5) (71.4) ＊
Use hexagon
16.5 51
4-ø4.5＊ 16.5 80.3
4-ø4.5＊
□60 □60
30 30
① ② 6.5 3 ① ② 6.5 3
20 20
φ11h6
φ11h6
18 18
4h9 4h9
(44)
(44)
(44)
(44)
A6N Series
4
4
φ50h7
φ50h7
φ70 φ70
8.5
8.5
(26.6) (23.6) Mass: 0.78 kg (26.6) (23.6) Mass: 1.2 kg

A6B Series
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21)
(21)
(21.5) (45.6) ＊
Use hexagon (21.5) (74.9) ＊
Use hexagon
101 for installation. Key way dimensions 130.3 for installation. Key way dimensions
E Series
71 30 100.3 30
16.5 54.5
4-ø4.5＊ 16.5 83.8
4-ø4.5＊
□60 □60
30 30
① ② 6.5 3 ① ② 6.5 3
20 20
φ11h6
φ11h6
18 18
4h9 4h9
(44)
(44)
(44)
(44)
4
4
φ50h7
φ50h7
φ70 φ70
8.5
8.5
Imformation
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21)
(21)
(21.5) (42.1) ＊
Use hexagon (21.5) (71.4) ＊
Use hexagon
socket head screw Key way dimensions socket head screw Key way dimensions
67.5 35 96.8 35
16.5 51 12.1
4-ø4.5＊ 16.5 80.3 12.1
4-ø4.5＊
□60 □60
35 35
① ② 6.5 1.5 ① ② 6.5 1.5
20 20
φ11h6
φ11h6
18 18
(44)
(44)
(44)
(44)
4h9 4h9
4
4
φ50h7
φ50h7
φ49.4
φ49.4
8.5
8.5
① ② 200 V MHMF042L1A2 ① ③
③ Motor connector 200 V MHMF042L1B2
A6 Family
220 +50
220 +50
＊＊
200 +50
200 +50
0
0
0
0
□60 □60
16.5 68 4-ø4.5＊ <Key way, center tap shaft> 16.5 97.3 4-ø4.5＊ <Key way, center tap shaft>
(42.3) (30.8) (42.3) 3 (30.8)
6.5 3 (2.1) 30 6.5 (2.1) 30
φ14h6
φ14h6
25 25
22.5 22.5
5h9 5h9
(43)
(43)
A6N Series
5
5
φ50h7
φ50h7
11
11

A6B Series
① ② 200 V MHMF042L1C2 ① ③
220 +50
220 +50
＊＊
200 +50
200 +50
0
0
●
0
0
88 30 Key way dimensions 117.3 30 Key way dimensions
□60 □60
(30.8) (30.8)
E Series
(45.8) (45.8) 3
6.5 3 (2.1) 30 6.5 (2.1) 30
φ14h6
φ14h6
25 25
22.5 22.5
5h9 5h9
(43)
(43)
5
5
φ50h7
φ50h7
11
11
Imformation
① ② 200 V MHMF042L1C4 ① ③ ③ Motor connector 200 V MHMF042L1D4
②
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊＊
16.5 68 12.1 □60 <Key way, center tap shaft> 16.5 97.3 12.1 □60 <Key way, center tap shaft>
(42.3) 1.5 (30.8) (42.3) 1.5 (30.8)
6.5 (2.1) 35 6.5 (2.1) 35
φ14h6
φ14h6
4-ø4.5＊ 20.5 4-ø4.5＊ 20.5
18 18
(43)
(43)
5h9 5h9
5
5
φ50h7
φ50h7
φ49.4
φ49.4
φ70 φ70
11
11
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
A6 Family
(21)
(21)
(21.5) (59.1) ＊
Use hexagon (21.5) (88.4) ＊
Use hexagon
84.5 30 113.8 30
16.5 68
4-ø4.5＊ 16.5 97.3
4-ø4.5＊
□60 □60
30 30
① ② 6.5 3 ① ② 6.5 3
25 25
φ14h6
φ14h6
22.5 22.5
(44)
(44)
(44)
(44)
5h9 5h9
A6N Series
5
5
φ50h7
φ50h7
11
11
(26.6) (40.6) Mass: 1.2 kg (26.6) (40.6) Mass: 1.6 kg

A6B Series
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21)
(21)
(21.5) (62.6) ＊
Use hexagon (21.5) (91.9) ＊
Use hexagon
E Series
88 30 117.3 30
16.5 71.5
4-ø4.5＊ 16.5 100.8
4-ø4.5＊
□60 □60
30 30
① ② 6.5 3 ① ② 6.5 3
25 25
φ14h6
φ14h6
22.5 22.5
(44)
(44)
(44)
(44)
5h9 5h9
5
5
φ50h7
φ50h7
Imformation
11
11
(2.1)
(2.1)
(30.8)
(30.8)
(19.2)
(19.2)
(21)
(21)
(21.5) (59.1) ＊
Use hexagon (21.5) (88.4) ＊
Use hexagon
84.5 35 113.8 35
16.5 68 12.1
4-ø4.5＊ 16.5 97.3 12.1
4-ø4.5＊
□60 □60
35 35
① ② 6.5 1.5 ① ② 6.5 1.5
20.5 20.5
φ14h6
φ14h6
18 18
(44)
(44)
(44)
(44)
5h9 5h9
5
5
φ50h7
φ50h7
φ49.4
φ49.4
φ70 φ70
11
11
③ Motor connector
① ② ● For model number of key-way, center tap shaft, please refer to ● For model number of key-way, center tap shaft, please refer to
“Model Designation” in P.18. ① ③ “Model Designation” in P.18.
②
A6 Family
＊
＊
220 +50
200 +50
220 +50
0
200 +50
0
0
0
for installation. for installation.
91.9 35 □80 <Key way, center tap shaft> 125.5 35 □80 <Key way, center tap shaft>
16.5 75.4 4-ø6 ＊
(30.8) 16.5 109 4-ø6 ＊
(30.8)
(48.5) 3 (2.1) 35 (48.5) 3 (2.1) 35
8 φ19h6 8
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
A6N Series
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5

A6B Series
① ② ① ③ ③ Motor connector
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊
＊
130.4 Key way dimensions 164 Key way dimensions
95.4 35 □80 <Key way, center tap shaft> 129 35 □80 <Key way, center tap shaft>
16.5 78.9 (30.8) 16.5 112.5 (30.8)
E Series
(52) 3 (2.1) 35 (52) 3 (2.1) 35
8 4-ø6＊ 8 4-ø6＊
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
Imformation
③ Motor connector
① ② ● For model number of key-way, center tap shaft, please refer to ① ③ ● For model number of key-way, center tap shaft, please refer to
● Dimensions are subject to change without notice. Contact us ② ● Dimensions are subject to change without notice. Contact us
220 +50
220 +50
＊
＊
200 +50
200 +50
0
0
0
0
16.5 75.4 12.1 (30.8) 16.5 109 12.1 (30.8)
(48.5) 1.5 (2.1) 40 (48.5) 1.5 (2.1) 40
8 4-ø6 ＊
8 4-ø6＊
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
15.5
15.5
* For motors specifications, refer to P.81. * For motors specifications, refer to P.81.
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
A6 Family
(21)
(21)
Use hexagon socket head Key way dimensions Use hexagon socket head Key way dimensions
＊＊
(21.5) (66.5) (21.5) (100.1)
126.9 <Key way, center tap shaft> 160.5 <Key way, center tap shaft>
91.9 35 □80 125.5 35 □80
16.5 75.4 4-ø6＊ 35 16.5 109 4-ø6＊ 35
② φ19h6
φ19h6
① 8 3 25 ① ② 8 3 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
A6N Series
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
(26.6) (46.8) Mass: 2.3 kg (26.6) (46.8) Mass: 3.0 kg

A6B Series
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊＊
(21.5) (70.0) (21.5) (103.6)
130.4 <Key way, center tap shaft> 164 <Key way, center tap shaft>
95.4 35 129 35
E Series
□80 □80
16.5 78.9 4-ø6＊ 35 16.5 112.5 4-ø6＊ 35
②
φ19h6
φ19h6
① 8 3 25 ① ② 8 3 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
Imformation
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊＊
(21.5) (66.5) (21.5) (100.1)
91.9 40 125.5 40
16.5 75.4 12.1 4-ø6＊ □80 16.5 109 12.1 4-ø6＊ □80
40 40
② 8 1.5 ② 8 1.5
φ19h6
φ19h6
① 25 ① 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
6
6
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
15.5
15.5
③ Motor connector
① ② “Model Designation” in P.18.
① ③ “Model Designation” in P.18.
②
A6 Family
＊
＊
220 +50
220 +50
200 +50
200 +50
0
0
0
0
16.5 88.2 4-ø6 ＊
(30.8) 16.5 121.8 4-ø6 ＊
(30.8)
(61.3) 3 (2.1) 35 (61.3) 3 (2.1) 35
8 φ19h6 8
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
A6N Series
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5

A6B Series
① ② ① ③ ③ Motor connector
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊
＊
16.5 91.7 (30.8) 16.5 125.3 (30.8)
E Series
(64.8) 3 (2.1) 35 (64.8) 3 (2.1) 35
8 4-ø6＊ 8 4-ø6＊
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
Imformation
③ Motor connector
① ② ● For model number of key-way, center tap shaft, please refer to ① ③ ● For model number of key-way, center tap shaft, please refer to
● Dimensions are subject to change without notice. Contact us ② ● Dimensions are subject to change without notice. Contact us
220 +50
220 +50
＊
Use hexagon ＊
Use hexagon
200 +50
200 +50
0
0
0
0
16.5 88.2 12.1 (30.8) 16.5 121.8 12.1 (30.8)
(61.3) 1.5 (2.1) 40 (61.3) 1.5 (2.1) 40
8 4-ø6 ＊
8 4-ø6＊
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
15.5
15.5
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
A6 Family
(21)
(21)
＊＊
(21.5) (79.3) (21.5) (112.9)
104.7 35 □80 138.3 35 □80
16.5 88.2 4-ø6＊ 35 16.5 121.8 4-ø6＊ 35
φ19h6
① ② 8 3 φ19h6
25 ① ② 8 3 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
A6N Series
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
(26.6) (59.6) Mass: 2.8 kg (26.6) (59.6) Mass: 3.5 kg

A6B Series
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊＊
(21.5) (82.8) (21.5) (116.4)
108.2 35 141.8 35
E Series
□80 □80
16.5 91.7 4-ø6＊ 35 16.5 125.3 4-ø6＊ 35
φ19h6
② 8 3 ② 8 3
φ19h6
① 25 ① 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
Imformation
(21.5)
(21.5)
(2.1)
(2.1)
(30.8)
(30.8)
(21)
(21)
＊＊
(21.5) (79.3) (21.5) (112.9)
104.7 40 138.3 40
16.5 88.2 12.1 4-ø6＊ □80 16.5 121.8 12.1 4-ø6＊ □80
40 40
② ②
φ19h6
φ19h6
① 8 1.5 25 ① 8 1.5 25
22 6h9 22 6h9
(54)
(54)
(54)
(54)
6
6
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
15.5
15.5
A6 Series Dimensions MHMF 1.0 kW MHMF 1.0 kW to 1.5 kW Dimensions A6 Series
MHMF　1.0 kW MHMF　1.0 kW
200 V MHMF102L1G6 MHMF102L1G8 200 V MHMF102L1H5 MHMF102L1H7
● For model number of round shaft, refer to “Model Designation” in P.18. 177 70 ＊
Use hexagon
＊
150 70 socket head screw
or a dealer for the latest information. (155) for installation. or a dealer for the latest information.
45 105
A6 Family
for installation.
(130) (71)
□130 Key way dimensions □130 Key way dimensions
(85) 4-ø9＊ ② 12 6 4-ø9＊
②
① 12 6 70 70
45 45
M3 through ① M3 through
41 41
(105)
(116)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
7
φ110h7
A6N Series
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5
MHMF　1.5 kW
Mass: 7.6 kg

A6B Series
200 V MHMF102L1H6 MHMF102L1H8
178 70 ＊
Use hexagon
45 133 Dimensions are subject to change without notice. Contact us Power supply with oil seal with protective lip
② Motor connector
●
socket head screw
(158) for installation. or a dealer for the latest information. 200 V MHMF152L1G6 MHMF152L1G8
(71) For model number of round shaft, refer to “Model Designation” in P.18.
Key way dimensions
●
□130 ＊
Use hexagon
② 12 6 ● Dimensions are subject to change without notice. Contact us
4-ø9＊ 164 70 socket head screw or a dealer for the latest information.
45 119 for installation.
① 70 (144)
45 □130 Key way dimensions
E Series
M3 through (99) 4-ø9＊
41 ②
(116)
φ22h6
8h9 ① 12 6 70
φ22h6
5
φ14 45
41 M3 through
7
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
5
φ110h7
φ110h7
Imformation
[Unit: mm] φ16
18
5
[Unit: mm]
200 V MHMF102L1G5 MHMF102L1G7
＊
70 ② Motor/Brake connector
●
149 socket head screw or a dealer for the latest information. 200 V MHMF152L1H6 MHMF152L1H8
(127) 192 70 For model number of round shaft, refer to “Model Designation” in P.18.
Key way dimensions
●
□130
＊
Use hexagon
(85) 4-ø9＊ 45 147 socket head screw
② (172) for installation. or a dealer for the latest information.

12 6 70 (83)
① M3 through ② 12 6 4-ø9＊
41
(105)
8h9 ① 70
φ22h6
φ22h6
5
φ14 45
41 M3 through
7
(116)
φ110h7
φ110h7
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
φ110h7
φ110h7
[Unit: mm] φ16
18
5
[Unit: mm]
A6 Series Dimensions MHMF 1.5 kW to 2.0 kW MHMF 2.0 kW Dimensions A6 Series
190 80 ＊
＊
45 145 socket head screw ● Dimensions are subject to change without notice. Contact us
163 70 socket head screw (170) for installation.
44 119
A6 Family
for installation. (79)
(141) ② □176
□130 Key way dimensions 18 3.2 4-ø13.5＊ Key way dimensions
(99) 4-ø9＊
② 80
12 6 70 ① 55
45 M3 through
① 50
(140)
41 M3 through 33
φ2 10h9
(105)
φ35h6
8h9
φ22h6
φ22h6 φ14
5
8
φ114.3h7
φ114.3h7
7
φ110h7
A6N Series
φ110h7
φ35h6
30
φ16
18
5 φ2
00

A6B Series
200 V MHMF152L1H5 MHMF152L1H7 200 V MHMF202L1G5 MHMF202L1G7
191 70 ● For model number of round shaft, refer to “Model Designation” in P.18.
160 80 ＊
＊
Use hexagon 44 116
(169) or a dealer for the latest information. (138) for installation. or a dealer for the latest information.
for installation.
(83) (79)
□176
□130 Key way dimensions ② 18 3.2 4-ø13.5＊ Key way dimensions
② 12 6 4-ø9＊
80
70 55
45 M3 through
E Series
① ① 50
(140)
41 M3 through 33
(116)
φ2 10h9
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
7
φ110h7
φ110h7
φ35h6
30
φ16
18
5 φ2
00
Imformation
MHMF　2.0 kW
● Motor model (Key way shaft) Mass: 11.3 kg 189 80
① Encoder connector (Large size JL10) 44 145
＊
② Motor connector (167) socket head screw
200 V MHMF202L1G6 MHMF202L1G8 for installation. or a dealer for the latest information.
161 80 (79)
＊
Use hexagon For model number of round shaft, refer to “Model Designation” in P.18. ② □176
4-ø13.5＊ Key way dimensions
●
45 116 socket head screw ● Dimensions are subject to change without notice. Contact us 18 3.2
(141) for installation. or a dealer for the latest information. 80
(79)
□176 55
② 18 3.2 4-ø13.5＊ Key way dimensions 50
M3 through
①
(140)
33
80 φ2 10h9
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
8
φ114.3h7
φ35h6
φ114.3h7
30
φ2
00
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MHMF 3.0 kW MHMF 3.0 kW to 4.0 kW Dimensions A6 Series
176 80 ＊
204 80 ＊
(156) for installation. or a dealer for the latest information. (182) for installation. or a dealer for the latest information.
A6 Family
(92) (92)
□176 ② □176
② 18 3.2 4-ø13.5＊ Key way dimensions 18 3.2 4-ø13.5＊ Key way dimensions
80 80
① 55 55
M3 through M3 through
50 ① 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
A6N Series
φ35h6
φ35h6
30
30
φ2 φ2
00 00
MHMF　4.0 kW
Mass: 17.2 kg

A6B Series
205 80 ● Motor model (Key way shaft) Mass: 16.2 kg
45 160
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.18. ① Encoder connector (Large size JL10)
socket head screw Dimensions are subject to change without notice. Contact us Power supply with oil seal with protective lip
② Motor connector
●
(185) for installation. or a dealer for the latest information. 200 V MHMF402L1G6 MHMF402L1G8
(92) 190.5 80
② □176 ＊
Use hexagon For model number of round shaft, refer to “Model Designation” in P.18.
●
18 3.2 45 145.5 socket head screw ● Dimensions are subject to change without notice. Contact us
(170.5) for installation. or a dealer for the latest information.
80
(108.5)
① 55 □176
M3 through ② 18 3.2 4-ø13.5＊ Key way dimensions
E Series
50
(140)
φ233 10h9 80
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
8
φ114.3h7
φ35h6
φ114.3h7
30
φ2
00
Imformation
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm]
200 V MHMF302L1G5 MHMF302L1G7
44 131
＊
●
(153) for installation. or a dealer for the latest information. 200 V MHMF402L1H6 MHMF402L1H8
(92) 219.5 80
□176 ＊
② 18 4-ø13.5 Key way dimensions
＊ ●
3.2 45 174.5 socket head screw ● Dimensions are subject to change without notice. Contact us
80
(108.5)
55 ② □176
50
M3 through 18 3.2 4-ø13.5＊ Key way dimensions
①
(140)
33
φ2 10h9 80
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
φ233 10h9
φ35h6
8
φ114.3h7
φ35h6
φ114.3h7
30
φ2
00
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MHMF 4.0 kW to 5.0 kW MHMF 5.0 kW Dimensions A6 Series
189.5 80 ＊
235.5 80 ＊
44 145.5 socket head screw ● Dimensions are subject to change without notice. Contact us
(167.5) for installation. or a dealer for the latest information. (215.5) for installation. or a dealer for the latest information.
A6 Family
(108.5) (124.5)
□176 ② □176
② 18 3.2 4-ø13.5＊ Key way dimensions 18 3.2 4-ø13.5＊ Key way dimensions
80 80
55 ① 55
① 50 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
A6N Series
φ35h6
φ35h6
30
30
φ2 φ2
00 00

A6B Series
200 V MHMF402L1H5 MHMF402L1H7 200 V MHMF502L1G5 MHMF502L1G7
218.5 80 ＊
205.5 80 ＊
(196.5) for installation. or a dealer for the latest information. (183.5) for installation. or a dealer for the latest information.
(108.5) (124.5)
② □176 □176
18 3.2 4-ø13.5＊ Key way dimensions ② 18 3.2 4-ø13.5＊ Key way dimensions
80 80
55 55
E Series
① 50 ① 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
φ35h6
φ35h6
30
30
φ2 φ2
00 00
Imformation
MHMF　5.0 kW
● Motor model (Key way shaft) Mass: 19.6 kg 234.5 80
① Encoder connector (Large size JL10) 44 190.5
＊
Power supply with oil seal with protective lip socket head screw ● Dimensions are subject to change without notice. Contact us
② Motor connector (212.5) for installation.
200 V MHMF502L1G6 MHMF502L1G8 or a dealer for the latest information.
206.5 80 (124.5)
＊
●
45 161.5 socket head screw ● Dimensions are subject to change without notice. Contact us 18 3.2
(186.5) for installation. or a dealer for the latest information. 80
(124.5)
□176 55
M3 through
①
(140)
33
80 φ2 10h9
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
8
φ114.3h7
φ35h6
φ114.3h7
30
φ2
00
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MDMF 1.0 kW MDMF 1.0 kW to 1.5 kW Dimensions A6 Series
MDMF　1.0 kW MDMF　1.0 kW
200 V MDMF102L1G6 MDMF102L1G8 200 V MDMF152L1G6 MDMF152L1G8
149 55
122 55 ＊
44 105 ＊
Use hexagon
(127) socket head screw
45 77 socket head screw or a dealer for the latest information. for installation. or a dealer for the latest information.
A6 Family
(102) for installation. (43)
(57) 12 6 □130
4-ø9 ＊ □130 Key way dimensions ② 4-ø9＊ Key way dimensions
②
① 12 6 55 55
45 45
41 41
(116)
(105)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5
MDMF　1.5 kW
Mass: 6.1 kg

A6B Series
200 V MDMF102L1H6 MDMF102L1H8
＊
Use hexagon
② Motor connector
●
socket head screw
45 105 or a dealer for the latest information.
for installation. 200 V MDMF152L1G6 MDMF152L1G8
(130)
□130 ● For model number of round shaft, refer to “Model Designation” in P.18.
(43)
② 4-ø9＊ Key way dimensions 136 55
＊
socket head screw or a dealer for the latest information.
12 6 45 91 for installation.
① 55 (116)
E Series
41 ②
(116)
φ22h6
8h9 ① 12 6 55
φ22h6
5
φ14 45
41 M3 through
7
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
5
φ110h7
φ110h7
Imformation
[Unit: mm] φ16
18
5
[Unit: mm]
200 V MDMF102L1G5 MDMF102L1G7
121 55 ＊
●
for installation. 200 V MDMF152L1H6 MDMF152L1H8
(99)
(57) ＊
Use hexagon
4-ø9＊
□130 Key way dimensions 45 119 socket head screw

12 6 55 (57)
□130
45 ② 12 6 4-ø9＊ Key way dimensions
① M3 through
41
(105)
8h9 ① 55
φ22h6
φ22h6
5
φ14 45
41 M3 through
7
(116)
φ110h7
φ110h7
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
φ110h7
φ110h7
[Unit: mm] φ16
18
5
[Unit: mm]
A6 Series Dimensions MDMF 1.5 kW to 2.0 kW MDMF 2.0 kW Dimensions A6 Series
200 V MDMF152L1G5 MDMF152L1G7 200 V MDMF202L1H6 MDMF202L1H8
● For model number of round shaft, refer to “Model Designation” in P.18. ＊
Use hexagon
135 55 ＊
Use hexagon ● Dimensions are subject to change without notice. Contact us 178 55 ● Dimensions are subject to change without notice. Contact us
socket head screw
44 91 socket head screw or a dealer for the latest information. 45 133 for installation. or a dealer for the latest information.
A6 Family
(71) (71) □130
4-ø9＊
□130 Key way dimensions ② 4-ø9＊ Key way dimensions
②
12 6 55 ① 12 6 55
45 45
① M3 through M3 through
41 41
(116)
(105)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5

A6B Series
200 V MDMF152L1H5 MDMF152L1H7 200 V MDMF202L1G5 MDMF202L1G7
163 55 ＊
Use hexagon
＊
44 119 socket head screw 149 55 socket head screw
(141) for installation. or a dealer for the latest information. or a dealer for the latest information.
(57) □130 (127)
② 12 6 4-ø9＊ Key way dimensions (85) 4-ø9＊
②
55 12 6 55
45 45
E Series
① M3 through ① M3 through
41 41
(116)
(105)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
7
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5
Imformation
MDMF　2.0 kW
① Encoder connector (Large size JL10) 55
＊
Use hexagon
Power supply with oil seal with protective lip 177 ● Dimensions are subject to change without notice. Contact us
② Motor connector 44 133
socket head screw
200 V MDMF202L1G6 MDMF202L1G8 for installation. or a dealer for the latest information.
(155)
● For model number of round shaft, refer to “Model Designation” in P.18. □130
② (71)
150 55
＊
Use hexagon ● Dimensions are subject to change without notice. Contact us 4-ø9＊ Key way dimensions
45 105 for installation. 12 6
(130) 55
(85)
□130 Key way dimensions 45
4-ø9 ＊
① M3 through
② 41
(116)
① 12 6 55 8h9
φ22h6
φ22h6
5
45 φ14
41 M3 through
7
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
5
φ110h7
φ110h7
φ16 [Unit: mm]

18
[Unit: mm]
A6 Series Dimensions MDMF 3.0 kW MDMF 3.0 kW to 4.0 kW Dimensions A6 Series
178 65 ＊
205 65 ＊
Use hexagon
A6 Family
(97) (97) □130
② 4-ø9＊
① 12 6 65 12 6 65
55 55
51 M3 through ① 51 M3 through
(118)
(118)
8h9 8h9
φ24h6
φ24h6
φ24h6
φ24h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
20
20
5 5
MDMF　4.0 kW
Mass: 10.9 kg

A6B Series
206 65
＊
② Motor connector
●
(186) for installation. 200 V MDMF402L1G6 MDMF402L1G8
161 70 ＊
(97) 45 116
●
② 4-ø9＊
□130 Key way dimensions socket head screw ● Dimensions are subject to change without notice. Contact us
(141) for installation. or a dealer for the latest information.
12 6 65 (79)
① ② □176
55 18 3.2 4-ø13.5＊ Key way dimensions
E Series
51 M3 through
70
(118)
8h9 ① 55
φ24h6
φ24h6
5
φ14 50
M3 through
(140)
33
7
φ2
φ110h7
φ110h7
10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
φ16
20
5
Imformation
30
[Unit: mm]
φ2
00
[Unit: mm]
177 65 ＊
Use hexagon
Dimensions are subject to change without notice. Contact us Power supply with oil seal with protective lip
●
for installation. or a dealer for the latest information. 200 V MDMF402L1H6 MDMF402L1H8
(155) 190 70
(97) □130
＊
② Key way dimensions 45 145 socket head screw ● Dimensions are subject to change without notice. Contact us
4-ø9＊
12 6 65 (79)
② □176
55 18 3.2 4-ø13.5＊ Key way dimensions
① 51 M3 through
70
(118)
8h9 ① 55
φ24h6
φ24h6
5
φ14 50
M3 through
(140) 233
7
φ
φ110h7
φ110h7
10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
φ16
20
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MDMF 4.0 kW to 5.0 kW MDMF 5.0 kW Dimensions A6 Series
160 70 ＊
205 70 ＊
A6 Family
(79) (92)
② □176 ② □176
18 3.2 4-ø13.5＊ Key way dimensions 18 3.2 4-ø13.5＊ Key way dimensions
70 70
55 ① 55
① 50 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
A6N Series
30
30
φ2 φ2
00 00

A6B Series
200 V MDMF402L1H5 MDMF402L1H7 200 V MDMF502L1G5 MDMF502L1G7
189 70 ＊
175 70 ＊
(79) (92)
② □176 ② □176
18 3.2 4-ø13.5＊ Key way dimensions 18 3.2 4-ø13.5＊ Key way dimensions
70 70
55 55
E Series
① 50 ① 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
30
30
φ2 φ2
00 00
Imformation
MDMF　5.0 kW
44 160
② Motor connector Power supply with oil seal with protective lip
(182)
socket head screw ● Dimensions are subject to change without notice. Contact us
for installation. or a dealer for the latest information.

176 70 (92)
＊
4-ø13.5＊
●
45 131 socket head screw ● Dimensions are subject to change without notice. Contact us 18 3.2 Key way dimensions
(92) 70
② □176 55
18 3.2 4-ø13.5＊ Key way dimensions M3 through
① 50
(140)
70 33
φ2 10h9
φ35h6
φ35h6
① 55
M3 through
50
8
(140)
φ114.3h7
φ114.3h7
33
φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
30
φ2
00
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MGMF 0.85 kW MGMF 0.85 kW to 1.3 kW Dimensions A6 Series
MGMF　0.85 kW MGMF　0.85 kW
200 V MGMF092L1G6 MGMF092L1G8 200 V MGMF092L1H5 MGMF092L1H7
● For model number of round shaft, refer to “Model Designation” in P.18. 149 55 ● For model number of round shaft, refer to “Model Designation” in P.18.
44 105
＊
Use hexagon
122 55 ＊
socket head screw
45 77 socket head screw or a dealer for the latest information. (127) for installation. or a dealer for the latest information.
A6 Family
for installation.
(102) (43)
(57) 12 6 □130
4-ø9 ＊ □130 Key way dimensions ② 4-ø9＊ Key way dimensions
②
① 12 6 55 55
45 45
41 41
(116)
(105)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5
MGMF　1.3 kW
Mass: 6.1 kg

A6B Series
200 V MGMF092L1H6 MGMF092L1H8
＊
Use hexagon
② Motor connector
●
socket head screw
(130) or a dealer for the latest information.
for installation. 200 V MGMF132L1G6 MGMF132L1G8
(43)
□130 ● For model number of round shaft, refer to “Model Designation” in P.18.
② 12 6 Key way dimensions ＊
4-ø9＊ 136 55 socket head screw or a dealer for the latest information.
① 55 (116)
E Series
41 ②
(116)
φ22h6
8h9 ① 12 6 55
φ22h6
5
φ14 45
41 M3 through
7
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
5
φ110h7
φ110h7
Imformation
[Unit: mm] φ16
18
5
[Unit: mm]
200 V MGMF092L1G5 MGMF092L1G7
＊
55 ② Motor/Brake connector
●
121 socket head screw or a dealer for the latest information. 200 V MGMF132L1H6 MGMF132L1H8
(99) 164 55 ● For model number of round shaft, refer to “Model Designation” in P.18.
45 119
＊
Use hexagon
(57) 4-ø9＊
□130 Key way dimensions socket head screw

12 6 55 (57)
45 12 6 □130
① M3 through
② 4-ø9＊ Key way dimensions
41
(105)
8h9 ① 55
φ22h6
φ22h6
5
φ14 45
41 M3 through
7
(116)
φ110h7
φ110h7
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
φ110h7
φ110h7
[Unit: mm] φ16
18
5
[Unit: mm]
A6 Series Dimensions MGMF 1.3 kW to 1.8 kW MGMF 1.8 kW Dimensions A6 Series
● For model number of round shaft, refer to “Model Designation” in P.18. 178 55 ＊
Use hexagon
＊
44 91 (158)
A6 Family
for installation.
(113) (71) □130
(71) 4-ø9＊
12 6
②
12 6 55 ① 55
45 45
① M3 through M3 through
41 41
(105)
(116)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5

A6B Series
200 V MGMF132L1H5 MGMF132L1H7 200 V MGMF182L1G5 MGMF182L1G7
163 55 ● For model number of round shaft, refer to “Model Designation” in P.18. ● For model number of round shaft, refer to “Model Designation” in P.18.
44 119
＊
Use hexagon ＊
Use hexagon
(141)
socket head screw 149 55 socket head screw
for installation. or a dealer for the latest information. or a dealer for the latest information.
(57)
□130 (127)
② 12 6 Key way dimensions □130 Key way dimensions
4-ø9＊ (85) 4-ø9＊
②
55 12 6 55
45 45
E Series
① M3 through ① M3 through
41 41
(116)
(105)
8h9 8h9
φ22h6
φ22h6
φ22h6
φ22h6
5 5
φ14 φ14
7
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
18
5 5
Imformation
MGMF　1.8 kW
① Encoder connector (Large size JL10) 177 55 ＊
Use hexagon
② Motor connector 44 133 socket head screw
200 V MGMF182L1G6 MGMF182L1G8 for installation. or a dealer for the latest information.
(155)
● For model number of round shaft, refer to “Model Designation” in P.18. (71) □130
150 55
＊
Use hexagon ● Dimensions are subject to change without notice. Contact us ②
12 6 4-ø9＊ Key way dimensions
(130) 55
(85)
4-ø9 ＊
① M3 through
② 41
(116)
① 12 6 55 8h9
φ22h6
φ22h6
5
45 φ14
41 M3 through
7
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
18
5
φ110h7
φ110h7
φ16 [Unit: mm]

18
[Unit: mm]
A6 Series Dimensions MGMF 2.4 kW MGMF 2.4 kW to 2.9 kW Dimensions A6 Series
161 70 ＊
189 70 ＊
A6 Family
(79) (79)
② □176 Key way dimensions ② □176 Key way dimensions
18 3.2 4-ø13.5＊ 18 3.2 4-ø13.5＊
70 70
① 55 55
φ35h6
50 ① 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
A6N Series
30
30
φ2 φ2
00 00
MGMF　2.9 kW
Mass: 16.8 kg

A6B Series
45 145
＊
② Motor connector
●
(170) for installation. or a dealer for the latest information. 200 V MGMF292L1G6 MGMF292L1G8
(79) 161 70
② □176 Key way dimensions ＊
4-ø13.5＊
●
18 3.2 45 116 socket head screw ● Dimensions are subject to change without notice. Contact us
70
(79)
① 55 ② 4-ø13.5＊
M3 through 18 3.2
E Series
50
(140)
φ233 10h9 70
φ35h6
φ35h6 ① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
30
φ2
00
Imformation
30
[Unit: mm]
φ2
00
[Unit: mm]
200 V MGMF242L1G5 MGMF242L1G7
44 116
＊
●
(138) for installation. or a dealer for the latest information. 200 V MGMF292L1H6 MGMF292L1H8
(79) 190 70
② □176 Key way dimensions ＊
4-ø13.5 ＊ ●
18 3.2 45 145 socket head screw ● Dimensions are subject to change without notice. Contact us
70
(79)
55 ② □176 Key way dimensions
φ35h6
M3 through 18 3.2 4-ø13.5＊

① 50
(140)
33
φ2 10h9 70
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
φ233 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
30
φ2
00
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Dimensions MGMF 2.9 kW to 4.4 kW MGMF 4.4 kW Dimensions A6 Series
160 70 ＊
205 70 ＊
A6 Family
(79) (92)
18 3.2 4-ø13.5＊ 18 3.2 4-ø13.5＊
70 70
55 ① 55
φ35h6
① 50 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
A6N Series
30
30
φ2 φ2
00 00

A6B Series
200 V MGMF292L1H5 MGMF292L1H7 200 V MGMF442L1G5 MGMF442L1G7
189 70 ＊
175 70 ＊
(79) (92)
18 3.2 4-ø13.5＊ 18 3.2 4-ø13.5＊
70 70
55 55
φ35h6
φ35h6
E Series
① 50 ① 50
(140)
(140)
33 33
φ2 10h9 φ2 10h9
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
30
30
φ2 φ2
00 00
Imformation
MGMF　4.4 kW
＊
② Motor connector (182) for installation.
200 V MGMF442L1G6 MGMF442L1G8 or a dealer for the latest information.
176 70 (92)
＊
Use hexagon For model number of round shaft, refer to “Model Designation” in P.18. ② □176 Key way dimensions
4-ø13.5＊
●
(92)
② □176 Key way dimensions 55
φ35h6
18 3.2 4-ø13.5 ＊
M3 through
① 50
(140)
33
70 φ2 10h9
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
30
φ2
00
30
[Unit: mm]
φ2
00
[Unit: mm]
A6 Series Special Order Product Features/ Lineup Model Designation Special Order Product A6 Series
Features Servo Motor
• Line-up IP67 motor: 1.0 kW to 5.0 kW
• Max speed: 6500r/min (MHMF 50 W to 400 W) M S M F 5 A Z L 1 A 2 ＊ Special specifications
• Low inertia (MSMF) to High inertia (MHMF). ① ② ③ ④ ⑤ ⑥ ⑦
• Low cogging torque: Rated torque ratio 0.5 % (typical value). ① Type ⑦ Motor specifications: 80 mm sq. or less Leadwire type IP65
• 23-bit absolute encoder (8388608 pulse). Symbol Type MSMF 50 W to 1000 W
MSM Low inertia (50 W to 5.0 kW) Shaft Holding brake Oil seal
A6 Family
Motor Lineup
MQM Middle inertia (100 W to 400 W) Symbol Key-way,
Round without with without with
center tap
Special Order Product MDM Middle inertia (1.0 kW to 5.0 kW)
A 2 ● ● ●
MGM Middle inertia (0.85 kW to 4.4 kW)
Motor Contents MHM High inertia (50 W to 5.0 kW) B 2 ● ● ●
C 2 ● ● ●
D 2 ● ● ●
MSMF (200 V) ② Series S 2 ● ● ●
Symbol Series name T 2 ● ● ●
50 W to 5.0 kW................. P.183 U 2 ● ● ●
F A6 family
A6N Series
V 2 ● ● ●
MQMF (200 V)
80 mm sq. or less
③ Motor rated output ⑦ Motor specifications: 80 mm sq. or less Leadwire type IP65
100 W to 400 W................ P.195 Symbol Rated output Symbol Rated output MHMF 50 W to 1000 W, MQMF 100 W to 400 W
5A 50 W 15 1.5 kW
MSMF MQMF MHMF 01 100 W 18 1.8 kW
Shaft Holding brake Oil seal
Low inertia (Flat type) High inertia MHMF (200 V) 02 200 W 20 2.0 kW
Symbol
Round Key-way, without with without with
With
protective
Middle inertia Max. speed : center tap lip
Max. speed : 6000 r/min 6500 r/min
50 W to 5.0 kW................. P.198 04 400 W 24 2.4 kW
A 2 ● ● ●
Max. speed : 6500 r/min 08 750 W 29 2.9 kW
Rated speed : 3000 r/min Rated speed : 3000 r/min 6000 r/min (750 W,1000 W) 0.85 kW, 1000 W 30 3.0 kW B 2 ● ● ●

A6B Series
09
Rated output : Rated output : Rated speed : 3000 r/min MDMF (200 V) (130 mm sq.) (80 mm sq.) 40 4.0 kW
C
C
2
4
●
●
●
●
●
●
50 W to 1000 W 100 W to 400 W Rated output : 10 1.0 kW 44 4.4 kW
Enclosure: 50 W to 1000 W 1.0 kW to 5.0 kW.............. P.210 13 1.3 kW 50 5.0 kW
D 2 ● ● ●
Enclosure: D 4 ● ● ●
IP65: Leadwire type IP65: Leadwire type Enclosure: S 2 ● ● ●
IP65: Leadwire type MGMF (200 V) ④ Voltage specifications T 2 ● ● ●
U 2 ● ● ●
0.85 kW to 4.4 kW............ P.216 Symbol Specifications
U 4 ● ● ●
2 200 V
V 2 ● ● ●
Z 100 V/200 V common (50 W only)
Dimensions V 4 ● ● ●
E Series
MSMF ⑤ Rotary encoder specifications ⑦ Motor specifications: 100 mm sq. or more Encoder connector : JL10 IP67
(50 W to 1000 W)..................P.222 Symbol Format Pulse counts Resolution Wires
MSMF, MHMF, MDMF, MGMF
L Absolute 23-bit 8388608 7 Shaft Holding brake Oil seal
MSMF With
<Note> Symbol
(1.0 kW to 5.0 kW).................P.226 Round Key-way without with with protective
When using a rotary encoder as an incremental system (not using lip
MQMF multi-turn data), do not connect a battery for absolute encoder. C 6 ● ● ●
C 8 ● ● ●
(100 W to 400 W)..................P.230
D 6 ● ● ●
⑥ Design order
Imformation
MSMF MDMF MHMF D 8 ● ● ●
(50 W to 1000 W)..................P.236 Symbol Specifications G 6 ● ● ●
Low inertia Middle inertia
1 Standard G 8 ● ● ●
Max. speed : 5000 r/min Max. speed : 3000 r/min MHMF H 6 ● ● ●
4500 r/min (4.0 kW,5.0 kW) Rated speed : 2000 r/min (1.0 kW to 5.0 kW).................P.248 H 8 ● ● ●
100 mm sq. or more
Rated speed : 3000 r/min Rated output : 1.0 kW to 5.0 kW * Encoder connector JL10: Also applicable to screwed type
Rated output : 1.0 kW to 5.0 kW Enclosure : IP67 MDMF
Enclosure : IP67 (1.0 kW to 5.0 kW).................P.252
MGMF Servo Driver
(0.85 kW to 4.4 kW)...............P.256
M A D L N 1 5 S E ＊＊＊ Special specifications
Motor Specification ① ② ③ ④ ⑤ ⑥ ⑦
Description
① Frame symbol ④ Max. current rating ⑥ I/f specifications ⑦ Classification of type
Environmental Conditions.... P.271
Symbol Frame Symbol Frame Symbol Current rating Symbol Current rating Symbol
Notes on [Motor specification] Symbol Specification
MAD A-Frame MDD D-Frame 0 6A 5 40 A (specification)
page..................................... P.271 MBD B-Frame MED E-Frame 1 8A 8 60 A E
Basic type
(Pulse train only)
Permissible Load at MCD C-Frame MFD F-Frame 2 12 A 9 80 A
S Multi fanction type
3 22 A A 100 A F
Output Shaft........................ P.272 (Analog/Pulse) (Pulse, analog, full-closed)
MGMF MHMF ② Series 4 24 A B 120 A RS485 communication type
Built-in Holding Brake.......... P.273 G
(Low speed/ High torque type) High inertia Symbol Series name (Pulse train only)
Middle inertia Max. speed : 3000 r/min L A6 family ⑤ Supply voltage specifications
Max. speed : 3000 r/min Rated speed : 2000 r/min
Symbol Specifications
Rated speed : 1500 r/min Rated output : 1.0 kW to 5.0 kW ③ Safety Function
3 3-phase 200 V
Rated output : 0.85 kW to 4.4 kW Enclosure : IP67 Symbol Specifications 5 Single/3-phase 200 V
Enclosure : IP67 N without the safety function
T with the safety function
<Cautions> Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.
A6 Series Special Order Product Table of Part Numbers and Options: 80 mm sq. or less 50 W to 1000 W

Title Part No. Page
A6SF series A6 G series Encoder Cable Note)3 Motor Cable Note)3
Multi fanction RS485 capacity
communication 23-bit Absolute
Rating/ type
( )
at Brake External Reactor Noise Filter DV0P4120 290
( )
Power Output Part No.
( ) ( )
Spec. Pulse, analog,
Motor series A6 SE series Frame rated Use in the Use in the
without with Cable Regenerative Single phase
supply (W) Note)1 Dimensions full-closed load absolute Incremental
Single phase
DV0P4121 290
Basic Brake Brake Note)3 Resistor 3-phase 3-phase
(page) (kVA) system system
(Pulse signal input) (with battery box) (without battery box) Interface Conversion Cable DV0P4130 290
Note)2, Note)4 Note)5
A6 Family
DV0P4131 290
183 DV0P4132 290
50 MSMF5AZL1 □ 2M MADLT05SF MADLN05S◇
222
Connector Kit Single row
DV0PM20032 293
DV0P4281 A-frame type
for Power
184 Approx. DV0P227 to
100 MSMF012L1 □ 2M MADLT05SF MADLN05S◇ A-frame Supply Input Double row
222 0.5 D-frame type DV0PM20033 293
★ DV0P220 DV0P4170 Connection
Connector Kit
MSMF DV0PM20042 A-frame to
185 for Motor DV0PM20034 294
Single 200 MSMF022L1 □ 2M MADLT15SF MADLN15S◇ D-frame
( )
Low inertia
A6N Series
Leadwire 223 MFECA MFECA Connection
type phase/ MFMCA MFMCB
0＊＊0EAE 0＊＊0EAD Connector Kit for
3-phase 0＊＊0EED 0＊＊0GET DV0P4290 294
186 (For fixed) (For fixed) Motor/Encoder Connection
3000 r/min 200 V 400 MSMF042L1 □ 2M MBDLT25SF MBDLN25S◇ B-frame
Approx.
Note)6 DV0P4283
224 0.9 RS485, RS232 DV0PM20102 291
IP65 ★ DV0P228
187 Approx.
DV0P220 Safety DV0PM20103 291
750 MSMF082L1 □ 2M MCDLT35SF MCDLN35S◇ C-frame 1.3 DV0PM20042
224 Connector Kit Interface DV0P4350 292
188 DV0P228 External Scale DV0PM20026 292

Approx.
A6B Series
1000 MSMF092L1 □ 2M MDDLT45SF MDDLN45S◇ D-frame 1.8 DV0P4284 DV0P4220
225 DV0P222
Encoder DV0PM20010 292
MQMF012L1 □ 2M 195
100 MADLT05SF MADLN05S◇ DV0P4281 Battery for Absolute Encoder DV0P2990 302
MQMF MQMF012L1 □ 4M 230 DV0P227
Approx. Battery Box for Absolute Encoder
Single A-frame DV0P4430 302
( )
Leadwire 0.5 MFECA MFECA DV0P220 Note)5
phase/ MQMF022L1 □ 2M 196 ★
MFMCA MFMCB DV0P4170
type 200 MADLT15SF MADLN15S◇ 0＊＊0EAE 0＊＊0EAD For A-frame,
3-phase MQMF022L1 □ 4M 232 0＊＊0EED 0＊＊0GET DV0PM20100 303
(For fixed) (For fixed) DV0PM20042 Mounting B-frame
3000 r/min 200 V Note)6 DV0P4283 Bracket For C-frame,
IP65 MQMF042L1 □ 2M DV0P228 DV0PM20101 303
197 Approx. D-frame
E Series
400 MBDLT25SF MBDLN25S◇ B-frame 0.9
MQMF042L1 □ 4M 234 ★ DV0P220 with
Battery Box MFECA0＊＊0EAE 277
Encoder
MHMF5AZL1 □ 2M 198 Note)5
50 MADLT05SF MADLN05S◇ Cable
MHMF5AZL1 □ 4M 236 without
MFECA0＊＊0EAD 277
DV0P4281 Battery Box
MHMF012L1 □ 2M 199 Approx. DV0P227 Motor Cable without Brake MFMCA0＊＊0EED 281
100 MADLT05SF MADLN05S◇ A-frame 0.5
MHMF012L1 □ 4M 238 ★ DV0P220 DV0P4170 Brake Cable MFMCB0＊＊0GET 289
Imformation
MHMF DV0PM20042
MHMF022L1 □ 2M 200 50 Ω 25 W DV0P4280 305
Single 200 MADLT15SF MADLN15S◇
High inertia
( Leadwire
type )
phase/
3-phase
MHMF022L1 □ 4M 240 MFECA
0＊＊0EAE
MFECA
0＊＊0EAD
MFMCA
0＊＊0EED
MFMCB
0＊＊0GET External
100 Ω 25 W DV0P4281 305
3000 r/min 200 V 400 MHMF042L1 □ 2M 201 Approx. (For fixed) (For fixed)
MBDLT25SF MBDLN25S◇ B-frame 0.9 Note)6 DV0P4283 regenerative 25 Ω 50 W DV0P4282 305
MHMF042L1 □ 4M 242 DV0P228
IP65 ★ resistor
50 Ω 50 W DV0P4283 305
MHMF082L1 □ 2M 202 Approx.
DV0P220
750 MCDLT35SF MCDLN35S◇ C-frame 1.3 DV0PM20042 30 Ω 100 W DV0P4284 305
MHMF082L1 □ 4M 244
DV0P220 304
MHMF092L1 □ 2M 203 Approx. DV0P228
1000 MDDLT55SF MDDLN55S◇ D-frame 2.3 DV0P4284 DV0P4220
MHMF092L1 □ 4M 246 DV0P222 DV0P222 304
Reactor
★： Frame-A and B drivers are not equipped with regenerative resistors.When regeneration occurs, please prepare an optional DV0P227 304
external regenerative resistor.
DV0P228 304
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.178.)
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.178.) DV0P4170 366
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030EAE Noise Filter DV0PM20042 366
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification,
DV0P4220 366
only incremental system can be used in combination.
Note)5 Please note that a battery is not supplied together with 23-bit absolute encoder cable (with battery box). DV0P4190 367
Please buy the battery part number “DV0P2990” separately. Surge Absorber
DV0P1450 367
Note)6 Brake cable and motor cable are required for the motor with brake.
Ferrite Core DV0P1460 368
A6 Series Special Order Product Table of Part Numbers and Options: 100 mm sq. or more 0.85 kW to 5.0 kW

Title Part No. Page
Encoder Cable Note)3,5 Motor Cable Note)3,5
A6 SF series A6 SG series Interface Cable DV0P4360 290
Power JL10 (Large size) JL10 DV0P4120 290
RS485
（）（）
Multi fanction One-touch lock type One-touch lock type
type communication capacity DV0P4121 290
Rating/
( )
N/MS screwed type JL04 screwed type Interface Conversion Cable DV0P4130 290
( Pulse,
full-closed )
at
Power Output Part No. Spec. analog, A6 SE series External
Motor series Frame rated 23-bit Absolute Reactor Noise Filter DV0P4131 290
supply (W) Note)1 Dimensions Basic load Regenerative
(Single phase / 3-phase) DV0P4132 290
(page) (kVA) Use in the Use in the
without with
Resistor
(Pulse signal input) absolute Incremental A-frame Single row DV0PM20032 293
Connector Kit
type
A6 Family
Single MSMF102L1 □ 6M 189
1000 MDDLT55SF MDDLN55S◇ MFMCD MFMCA DV0P228 / DV0P222 Connector Kit A-frame to
phase/ MSMF102L1 □ 8M 226 Approx.
D-frame
DV0PM20034 294
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 for Motor
3-phase MSMF152L1 □ 6M 190 2.3 Connection
1500 MDDLT55SF MDDLN55S◇ DV0PM20047 / DV0P222 E-frame DV0PM20046 294
MSMF 200 V MSMF152L1 □ 8M 226
MFECA MFECA MFMCD MFMCA Connector Kit
MSMF202L1 □ 6M
Low inertia
Large size 191 Approx.

0＊＊2ECD 0＊＊2FCD DV0P4285 for Regenera- E-frame DV0PM20045 293
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043
JL10 type MSMF202L1 □ 8M 227 Note)6 tive Resistor
MSMF302L1 □ 6M 192
A6N Series
Approx. DV0PM24587
3000 r/min 3000 MFDLTA3SF MFDLNA3S◇ 4.5 MFECA MFECA MFMCA MFMCA DV0P224
3-phase MSMF302L1 □ 8M 228 MSMF 1.0 kW to 2.0 kW
IP67 0＊＊0ESE 0＊＊0ESD 0＊＊3EUT 0＊＊3FUT MDMF 1.0 kW to 2.0 kW 297
200 V MSMF402L1 □ 6M 193 DV0P4285 MGMF 0.85 kW to 1.8 kW
MSMF402L1 □ 8M 228 Approx. ×2 in parallel MHMF 1.0 kW, 1.5 kW
MFMCA MFMCA DV0P225 without Brake
MSMF502L1 □ 6M 194 7.5 DV0PM24588
MSMF502L1 □ 8M 229 MDMF 3.0 kW to 5.0 kW 298
Single MDMF102L1 □ 6M 210 Approx. Connector MGMF 2.4 kW to 4.4 kW
phase/ MDMF102L1 □ 8M 252
D-frame 0＊＊2EUD 0＊＊2FUD DV0P4284 DV0P4220 Encoder Con- DV0PM24589
3-phase MDMF152L1 □ 6M 211 Approx.
nection MSMF 1.0 kW to 2.0 kW

MDMF152L1 □ 8M 2.3
A6B Series
MDMF 200 V 252 MDMF 1.0 kW to 2.0 kW 297
MFECA MFECA MFMCD MFMCA MGMF 0.85 kW to 1.8 kW
Large size MDMF202L1 □ 6M 212 Approx.
2000 MEDLT83SF MEDLN83S◇ E-frame 3.8 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043 with Brake
JL10 type MDMF202L1 □ 8M 253 Note)6 DV0PM24590
MDMF302L1 □ 6M 213 Approx. MSMF 3.0 kW to 5.0 kW
2000 r/min 3000 MFDLTA3SF MFDLNA3S◇ 4.5 MFECA MFECA MFMCA MFMCA DV0P224 MDMF 3.0 kW to 5.0 kW 298
3-phase MDMF302L1 □ 8M 254 MGMF 2.4 kW to 4.4 kW
IP67 0＊＊0ESE 0＊＊0ESD 0＊＊3EUT 0＊＊3FUT
200 V MDMF402L1 □ 6M 214 DV0P4285 MHMF 2.0 kW to 5.0 kW
MDMF402L1 □ 8M 254 Approx. ×2 in parallel RS485, RS232 DV0PM20102 291
MFMCA MFMCA DV0P225
MDMF502L1 □ 6M 215 7.5 Safety DV0PM20103 291
Middle inertia
MDMF502L1 □ 8M 255 Connector Kit Interface DV0P4350 292

Single MGMF092L1 □ 6M 216 Approx. External Scale DV0PM20026 292
E Series
phase/ MGMF092L1 □ 8M 256 Encoder DV0PM20010 292
3-phase MGMF132L1 □ 6M 217 Approx. Battery for Absolute Encoder DV0P2990 302
200 V MGMF132L1 □ 8M 256 Battery Box for Absolute Encoder
MGMF MFMCD MFMCA DV0P4430 302
MGMF182L1 □ 6M 218 Approx. Note)7
1800 MEDLT83SF MEDLN83S◇ 0＊＊2ECD 0＊＊2FCD DV0P223
Large size MGMF182L1 □ 8M 257 3.8 MFECA MFECA Mounting
JL10 type D-frame DV0PM20101 303
0＊＊0EPE 0＊＊0EPD MFMCE MFMCD Bracket
( )
Low speed/ E-frame 0＊＊3EUT 0＊＊3FUT DV0P4285 DV0PM20043 Encoder
MGMF242L1 □ 6M 219 Approx.
One-touch lock type MFECA0＊＊0EPE 279
High torque 2400 MEDLT93SF MEDLN93S◇ 4.5 MFECA MFECA Cable
MGMF242L1 □ 8M 258
( )
3-phase MFMCE MFMCD
Imformation
type 0＊＊0ESE 0＊＊0ESD DV0P224 with
1500 r/min Screwed type MFECA0＊＊0ESE 280
MGMF292L1 □ 6M 220 MFMCA MFMCA Note)7
IP67 2900 MFDLTB3SF MFDLNB3S◇
MGMF292L1 □ 8M 258 Approx. 0＊＊3EUT 0＊＊3FUT DV0P4285 Encoder
F-frame DV0P3410 One-touch lock type MFECA0＊＊0EPD 279
MGMF442L1 □ 6M 221 7.5 ×2 in parallel Cable
MFMCA MFMCA
4400
MGMF442L1 □ 8M 259
MFDLTB3SF MFDLNB3S◇
0＊＊3ECT 0＊＊3FCT
DV0P225
(
without
Battery Box ) Screwed type MFECA0＊＊0ESD 279
Single MHMF102L1 □ 6M 204 Approx. MFMCD MFMCA One-touch lock type MFMCD0＊＊2EUD 282
phase/ MHMF102L1 □ 8M 248 0＊＊2EUD 0＊＊2FUD Screwed type MFMCD0＊＊2ECD 282
3-phase MHMF152L1 □ 6M 205 Approx. MFMCD MFMCA Motor Cable One-touch lock type MFMCE0＊＊2EUD 283
200 V MHMF152L1 □ 8M 248 0＊＊2ECD 0＊＊2FCD (without Brake) Screwed type MFMCE0＊＊2ECD 283
MHMF MFMCE MFMCE One-touch lock type MFMCA0＊＊3EUT 284
MFECA MFECA
0＊＊2EUD 0＊＊2FUD
High inertia
Large size MHMF202L1 □ 6M 206 Approx. DV0P4285 Screwed type MFMCA0＊＊3ECT 284
2000 MEDLT83SF MEDLN83S◇ E-frame 0＊＊0EPE 0＊＊0EPD DV0P223 DV0PM20043
JL10 type MHMF202L1 □ 8M 249 3.8 MFMCE MFMCE Note)6 One-touch lock type MFMCA0＊＊2FUD 286
0＊＊2ECD 0＊＊2FCD Screwed type MFMCA0＊＊2FCD 286
2000 r/min MFECA MFECA
3-phase MHMF302L1 □ 6M 207 Approx. 0＊＊0ESE 0＊＊0ESD Motor Cable One-touch lock type MFMCE0＊＊2FUD 286
IP67 200 V 3000 MHMF302L1 □ 8M MFDLTA3SF MFDLNA3S◇ 4.5 MFMCA MFMCA DV0P224 (with Brake) Screwed type MFMCE0＊＊2FCD 287
250
0＊＊3EUT 0＊＊3FUT DV0P4285 One-touch lock type MFMCA0＊＊3FUT 288
MHMF402L1 □ 6M 208
4000 MFDLTB3SF MFDLNB3S◇ F-frame DV0P3410 Screwed type MFMCA0＊＊3FCT 288
MHMF402L1 □ 8M 250 Approx. ×2 in parallel
MFMCA MFMCA DV0P225
MHMF502L1 □ 6M 209 7.5 External
5000 MFDLTB3SF MFDLNB3S◇ 0＊＊3ECT 0＊＊3FCT 30 Ω 100 W DV0P4284
MHMF502L1 □ 8M 251 regenerative 305
20 Ω 130 W DV0P4285
resistor
Note)1 □ : Represents the motor specifications. (refer to “Model designation” P.178.) Note)5 Use of JL10 type encoder cables and motor cables enable one- DV0P222, DV0P223
Note)2 ◇ : Represents the driver specifications. (refer to “Model designation” P.178.) touch lock connections. Conventional screwed type N/MS and Reactor DV0P224, DV0P225 304
JL04V type cables can also be used. DV0P228, DV0PM20047
Note)3 ＊＊ : Represents the cable length (03/3 m, 05/5 m, 10/10 m, 20/20 m). Example. 3 m/MFECA0030EPE
DV0P4220, DV0PM20043
Note)4 Because A6SE series driver (dedicated for position control) does not support the absolute system specification, Note)6 For other possible combinations, refer to P.303. Noise Filter
DV0P3410
366
only incremental system can be used in combination. Note)7 Please note that a battery is not supplied together with 23-bit Surge Absorber DV0P4190, DV0P1450 367
absolute encoder cable (with battery box). Ferrite Core DV0P1460 368
Please buy the battery part number “DV0P2990” separately. Daisy Chain DV0P24610 307
Special Order Special Order
A6 Series Motor Specifications Product 200 V MSMF 50 W [Low inertia 38 mm sq.] Product 200 V MSMF 100 W [Low inertia 38 mm sq.] Motor Specifications A6 Series
• Please contact us for more information. • Please contact us for more information.
Motor model *1 IP65 MSMF5AZL1□□M (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MSMF012L1□□M (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
Torque
Torquecharacteristics
characteristics(at
(atAC200
AC200VVofofpower
powervoltage
voltage<Dotted
<Dottedline
linerepresents
representsthe
thetorque
torqueatat1010%%less
lesssupply
supplyvoltage.>))
voltage.> Torque characteristics (at AC200 V of power voltage <Dotted line represents the torque at 10 % less supply voltage.>)
E Series
Without oil seal
Without oil seal

without Brake
With oil seal
With oil seal

0.6 0.6 Brake 1.0 1.0
100 100 100 100
(0.8) 95 (0.8)
70 75
60 70
Peak run range Peak run range Peak run range Peak run range with
0.3 50 0.3 50 with 0.5 50 0.5 50 Brake
Brake
Imformation
(0.08) (0.08) (0.16)
(5500) (5500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan. Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.
Motor model *1 IP65 MSMF022L1□□M (
Multifunction type MADLT15SF Static friction torque (N•m) 1.27 or more Multifunction type MBDLT25SF Static friction torque (N•m) 1.27 or more
Model Model
Applicable No.
driver Basic type *2 MADLN15SE Releasing time (ms) Note)4 15 or less driver Basic type *2 MBDLN25SE Releasing time (ms) Note)4 15 or less
A6 Family
Frame symbol A-frame Exciting current (DC) (A) 0.36 Frame symbol B-frame Exciting current (DC) (A) 0.36
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] without [N•m] [%] [N•m] [%]
Brake
With oil seal
With oil seal

2.0 100 2.0 100 4.0 100 4.0 100
90
Peak run range Peak run range 80
(1.3) (1.3) 70 Peak run range Peak run range 75
(1.1) (1.1) with
1.0 50 1.0 50 Brake 2.0 50 2.0 50
(1.6) (1.6)
Imformation
(0.16) (0.16)
(4600) (4600) (3100) (3600) (3100) (3600)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

8.0 100 8.0 100 8.0 100 8.0 100
Peak run range Peak run range (5.5) (5.5)
4.0 50 4.0 50 4.0 50 4.0 50

(3.2) (3.2)
Imformation
(0.6) (0.6)
(3200) (3600) (3200) (3600) (3600) (4200) (3600) (4200)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications Product 200 V MSMF 1.0 kW [Low inertia 100 mm sq.] Product 200 V MSMF 1.5 kW [Low inertia 100 mm sq.] Motor Specifications A6 Series
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

10 100 15 100

(6.0)
5 50 7.5 50
(4.0)
(4.0)
Imformation
(1.1)
(3800) (4200) (3200) (3600)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40

— P.226 — P.226 — P.226 — P.227
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

20 100 30 100

10 50 15 50
(12)
(7.0)
(8.0)
Imformation
(2.0)
(3300) (3700) (3100) (3400)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20 30 40

— P.227 — P.227 — P.228 — P.228
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 50 100
90

20 50 25 50
(15)
Imformation
(10)
30 35 40
(2800) (3100) (2800) (3200)
0 1000 2000 3000 4000 5000 0 10 20 30 40 0 1000 2000 3000 4000 5000 0 10 20

— P.228 — P.229 — P.229 — P.229
A6 Series Motor Specifications Product 200 V MQMF 100 W [Middle inertia Flat type 60 mm sq.] Product 200 V MQMF 200 W [Middle inertia Flat type 80 mm sq.] Motor Specifications A6 Series
Motor model *1 IP65 MQMF012L1□□M (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MQMF022L1□□M (
Model Model
Applicable No.
A6 Family
A6N Series
Thrust load B-direction (N) 117.6 Thrust load B-direction (N) 196
Without option No limit During Radial load P-direction (N) 68.6 Without option No limit During Radial load P-direction (N) 245
frequency (times/min) operation Thrust load A, B-direction (N) 58.8 frequency (times/min) operation Thrust load A, B-direction (N) 98

A6B Series
E Series
Without oil seal
Without oil seal

Brake Brake
With oil seal
With oil seal

1.0 100 1.0 100 2.0 100 2.0 100
(0.85) (0.85)
75 80
Peak run range Peak run range 70 (1.1) Peak run range (1.1) Peak run range 70
with with
0.5 50 0.5 50 Brake 1.0 50 1.0 50 Brake
(0.8) (0.8)
Imformation
(0.16) (0.16) (0.32) (0.32)
(5500) (5500) (3300) (4100) (3300) (4100)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications Product 200 V MQMF 400 W [Middle inertia Flat type 80 mm sq.] Product 200 V MHMF 50 W [High inertia 40 mm sq.] Motor Specifications A6 Series
Motor model *1 IP65 MQMF042L1□□M (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MHMF5AZL1□□M (
Model Model
Applicable No.
A6 Family
A6N Series
Thrust load B-direction (N) 196 Thrust load B-direction (N) 117.6
Without option No limit During Radial load P-direction (N) 245 Without option No limit During Radial load P-direction (N) 68.6

A6B Series
Torque characteristics (at AC200 V of power voltage <Dotted line represents the torque at 10 % less supply voltage.>) Torque
Torquecharacteristics
characteristics(at
(atAC200
AC200VVofofpower
powervoltage
voltage<Dotted
<Dottedline
linerepresents
representsthe
thetorque
torqueatat1010%%less
lesssupply
supplyvoltage.>))
voltage.>
E Series
Without oil seal
Without oil seal

With oil seal
With oil seal

Brake
4.0 100 4.0 100 0.6 100 0.6 100
75 70
Peak run range Peak run range 60
2.0 50 2.0 50 0.3 50 0.3 50 with
(1.6) (1.6) Brake
Imformation
(0.64) (0.64)
(0.08)
(2500) (2500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications Product 200 V MHMF 100 W [High inertia 40 mm sq.] Product 200 V MHMF 200 W [High inertia 60 mm sq.] Motor Specifications A6 Series
Motor model *1 IP65 MHMF012L1□□M (
Do not use this for braking the motor in motion. ) Motor model *1 IP65 MHMF022L1□□M (
Model Model
Applicable No.
A6 Family
A6N Series
Thrust load B-direction (N) 117.6 Thrust load B-direction (N) 196
Without option No limit During Radial load P-direction (N) 68.6 Without option No limit During Radial load P-direction (N) 245
frequency (times/min) operation Thrust load A, B-direction (N) 58.8 frequency (times/min) operation Thrust load A, B-direction (N) 98

A6B Series
E Series
Without oil seal
Without oil seal

Brake
With oil seal
With oil seal

Brake
1.0 100 1.0 100 2.0 100 2.0 100
Peak run range 95 Peak run range Peak run range Peak run range
(0.7) (0.7) 75 80
70 (1.2) (1.2) 70
0.5 50 0.5 50 with 1.0 50 1.0 50 with
Brake (0.9) (0.9) Brake
Imformation
(0.16) (0.16)
(4200) (4200) (3800) (4600) (3800) (4600)

0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications Product 200 V MHMF 400 W [High inertia 60 mm sq.] Product 200 V MHMF 750 W [High inertia 80 mm sq.] Motor Specifications A6 Series
Multifunction type MBDLT25SF Static friction torque (N•m) 1.6 or more Multifunction type MCDLT35SF Static friction torque (N•m) 3.8 or more
Model Model
Applicable No.
RS485 communication type *2 MCDLN35SG Engaging time (ms) 70 or less
driver Basic type *2 MBDLN25SE Releasing time (ms) Note)4 20 or less driver Basic type *2 MCDLN35SE Releasing time (ms) Note)4 20 or less
A6 Family
Frame symbol B-frame Exciting current (DC) (A) 0.36 Frame symbol C-frame Exciting current (DC) (A) 0.42
A6N Series

A6B Series
E Series
Without oil seal
Without oil seal

[N•m] [%] [N•m] [%] [N•m] [%] [N•m] [%]
With oil seal
With oil seal

4.0 100 4.0 100 8.0 100 8.0 100
Peak run range Peak run range 75 Peak run range Peak run range
2.0 50 2.0 50 4.0 50 4.0 50
(1.6) (1.6) (3.0) (3.0)
Imformation
(0.64)
Continuous run range Continuous run range Continuous run range
(0.6) (0.6)
(2500) (2500) (3500) (3500)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40

A6 Series Motor Specifications Product 200 V MHMF 1000 W [High inertia 80 mm sq.] Product 200 V MHMF 1.0 kW [High inertia 130 mm sq.] Motor Specifications A6 Series
Model Model
Applicable No.
A6 Family
A6N Series
Max. current (A(o-p)) 28.2 Max. current (A(o-p)) 22

A6B Series
E Series
● Derating curve ● Derating curve ● Derating curve
torque rated torque torque rated torque torque rated torque
Without oil seal
[N•m] [%] [N•m] [%] [N•m] [%]

With oil seal
With oil seal

10.0 100 10.0 100 20 100
(6.2) (6.2)
5.0 50 5.0 50 10 Peak run range 50
(7.7)
(6.0)
Imformation
(0.6) (0.6) Continuous run range
(3300) (3300) (2200)
0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 4000 5000 6000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature [˚C] rotational speed [r/min] ambient temperature [˚C] rotational speed [r/min] ambient temperature [˚C]
Round shaft/ Key way, center tap shaft Key way shaft/ Round shaft

Encoder connector
Leadwire type (P65) P.246 P.246 P.246 P.247 P.247 P.247 — P.248 — P.248
Large size (JL10) type
A6 Series Motor Specifications Product 200 V MHMF 1.5 kW [High inertia 130 mm sq.] Product 200 V MHMF 2.0 kW [High inertia 176 mm sq.] Motor Specifications A6 Series
Multifunction type MDDLT55SF Static friction torque (N•m) 13.7 or more Multifunction type MEDLT83SF Static friction torque (N•m) 25.0 or more
Model Model
Applicable No.
driver Basic type *2 MDDLN55SE Releasing time (ms) Note)4 50 or less driver Basic type *2 MEDLN83SE Releasing time (ms) Note)4 25 or less
A6 Family
Frame symbol D-frame Exciting current (DC) (A) 0.79 Frame symbol E-frame Exciting current (DC) (A) 1.29
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

20 100 40 100
Peak run range
10 50 20 50
(19.0)
(5.6) (16.0)
Imformation
(2300) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.248 — P.249 — P.249 — P.249
A6 Series Motor Specifications Product 200 V MHMF 3.0 kW [High inertia 176 mm sq.] Product 200 V MHMF 4.0 kW [High inertia 176 mm sq.] Motor Specifications A6 Series
Multifunction type MFDLTA3SF Static friction torque (N•m) 25.0 or more Multifunction type MFDLTB3SF Static friction torque (N•m) 25.0 or more
Model Model
Applicable No.
RS485 communication type *2 MFDLNA3SG Engaging time (ms) 80 or less Applicable No.
driver Basic type *2 MFDLNA3SE Releasing time (ms) Note)4 25 or less driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 25 or less
A6 Family
Rated current (A(rms)) 17.0 assembly Rated current (A(rms)) 20 assembly
A6N Series
Moment of inertia Without brake 85.3 Moment of inertia Without brake 104

A6B Series
of rotor (×10−4 kg • m2) With brake 90.7 *2 Basic type and RS485 communication type are of rotor (×10−4 kg • m2) With brake 110 *2 Basic type and RS485 communication type are
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

Peak run range
(29.0)
(25.0) (25.0)
20 50 20 50
(13.8)
(10.9) (13.0)
Imformation
(2200)(2400) (1900) (2100)

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.250 — P.250 — P.250 — P.251
A6 Series Motor Specifications Product 200 V MHMF 5.0 kW [High inertia 176 mm sq.] Product 200 V MDMF 1.0 kW [Middle inertia 130 mm sq.] Motor Specifications A6 Series
Do not use this for braking the motor in motion. ) Motor model *1 IP67 MDMF102L1□□M (
Multifunction type MFDLTB3SF Static friction torque (N•m) 44.1 or more Multifunction type MDDLT45SF Static friction torque (N•m) 13.7 or more
Model Model
Applicable No.
driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 30 or less driver Basic type *2 MDDLN45SE Releasing time (ms) Note)4 50 or less
A6 Family
Frame symbol F-frame Exciting current (DC) (A) 1.29 Frame symbol D-frame Exciting current (DC) (A) 0.79
A6N Series
Note)1 DV0P4285×2 No limit Note)2 Note)1 DV0P4284 No limit Note)2
Moment of inertia Without brake 146 Moment of inertia Without brake 6.18

A6B Series
of rotor (×10−4 kg • m2) With brake 151 *2 Basic type and RS485 communication type are of rotor (×10−4 kg • m2) With brake 7.40 *2 Basic type and RS485 communication type are
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

80 100 15 100
Peak run range 10 Peak run range

40 50 (7.7)
50
(36.0) (6.0)
(28.0) 5
Imformation
(1900) (2100) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.251 — P.251 — P.252 — P.252
A6 Series Motor Specifications Product 200 V MDMF 1.5 kW [Middle inertia 130 mm sq.] Product 200 V MDMF 2.0 kW [Middle inertia 130 mm sq.] Motor Specifications A6 Series
Motor model *1 IP67 MDMF152L1□□M (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

(12.0)
20 Peak run range
10 (19.0)
(5.6)
50 (16.0) 50
5 10
Imformation
(2300) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.252 — P.253 — P.253 — P.253
A6 Series Motor Specifications Product 200 V MDMF 3.0 kW [Middle inertia 130 mm sq.] Product 200 V MDMF 4.0 kW [Middle inertia 176 mm sq.] Motor Specifications A6 Series
Multifunction type MFDLTA3SF Static friction torque (N•m) 22.0 or more Multifunction type MFDLTB3SF Static friction torque (N•m) 25.0 or more
Model Model
Applicable No.
RS485 communication type *2 MFDLNA3SG Engaging time (ms) 110 or less Applicable No.
driver Basic type *2 MFDLNA3SE Releasing time (ms) Note)4 50 or less driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 25 or less
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

60 100 60 100
40 40
(29.0) Peak run range Peak run range
(25.0)
50 (25.0)
50
20 20
Imformation
(11.6) (13.1)
(2200)(2400) (1900)(2100)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.254 — P.254 — P.254 — P.255
A6 Series Motor Specifications
Special Order
Product 200 V MDMF 5.0 kW [Middle inertia 176 mm sq.]
Special Order
Product 200 V MGMF 0.85 kW [High torque type 130 mm sq.]
Middle inertia Low speed/
Motor Specifications A6 Series
Do not use this for braking the motor in motion. ) Motor model *1 IP67 MGMF092L1□□M (
Multifunction type MFDLTB3SF Static friction torque (N•m) 44.1 or more Multifunction type MDDLT45SF Static friction torque (N•m) 13.7 or more
Model Model
Applicable No.
driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 30 or less driver Basic type *2 MDDLN45SE Releasing time (ms) Note)4 50 or less
A6 Family
Frame symbol F-frame Exciting current (DC) (A) 1.29 Frame symbol D-frame Exciting current (DC) (A) 0.79
A6N Series
Note)1 DV0P4285×2 No limit Note)2 Note)1 DV0P4284 No limit Note)2

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

60 100 15 100
Peak run range
40 Peak run range
(36.0)
10
(8.6)
(28.0) 50 50
20 5
(3.9)
Imformation
(4.3)
(1900)(2100) (1500) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.255 — P.255 — P.256 — P.256
Special Order
Middle inertia Low speed/ Special Order
Motor model *1 IP67 MGMF132L1□□M (
Model Model
Applicable No.
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

20 100 40 100
Peak run range
(14.0)
(12.0)
(17.0)
(14.0)
(5.1)
Imformation
(8.3)
(1500) (2300) (1500) (2200)
0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.256 — P.257 — P.257 — P.257
Special Order
Multifunction type MEDLT93SF Static friction torque (N•m) 25.0 or more Multifunction type MFDLTB3SF Static friction torque (N•m) 25.0 or more
Model Model
Applicable No.
driver Basic type *2 MEDLN93SE Releasing time (ms) Note)4 25 or less driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 25 or less
A6 Family
A6N Series

A6B Series
E Series
[N•m] [%] [N•m] [%]
With oil seal
With oil seal

40 100 40 100
(32.0) (32.0)
(23.0) (23.0)
20 50 20 50
Imformation
(7.1) (7.1)
(1500) (2200) (2500) (1500) (2200) (2500)

0 1000 2000 3000 0 10 20 30 40 0 1000 2000 3000 0 10 20 30 40

— P.258 — P.258 — P.258 — P.259
Special Order
Product MSMF 50 W to 100 W Dimensions A6 Series
• Please contact us for more information.
Specifications MSMF　50 W
AC200 V • Brake specifications (For details, refer to P.273) Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft

Do not use this for braking the motor in motion. ) ① Encoder connector
Power supply without oil seal
Mass: 0.32 kg
with oil seal
Multifunction type MFDLTB3SF Static friction torque (N•m) 44.1 or more ② Motor connector 200 V MSMF5AZL1A2M MSMF5AZL1C2M
Model
Applicable No.
RS485 communication type *2 MFDLNB3SG Engaging time (ms) 150 or less ① ② ● For model number of key-way, center tap shaft, please refer to
driver Basic type *2 MFDLNB3SE Releasing time (ms) Note)4 30 or less ● Dimensions are subject to change without notice. Contact us
A6 Family
Frame symbol F-frame Exciting current (DC) (A) 1.29 or a dealer for the latest information.
230 +50
200 +50
0
0
Power supply capacity (kVA) 7.5 Releasing voltage (DC) (V) 2 or more
97 ＊
Rated output (W) 4400 Exciting voltage (DC) (V) 24±2.4 72 25 screw for installation.
Rated torque (N•m) 28.0 24 48 Key way dimensions
□38
• Permissible load (For details, refer to P.272) (20.8)
4-φ3.4＊
(27)
Continuous stall torque (N•m) 28.0
Radial load P-direction (N) 1666 6 3 (20) 25
Momentary Max. peak torque (N•m) 70.0 During 14
φ8h6
Thrust load A-direction (N) 784 3h9
Rated current (A(rms)) 27.2 assembly 12.5
A6N Series
(32)
Thrust load B-direction (N) 980 φ45
26.5
3
Max. current (A(o-p)) 96
φ30h7
Without option No limit During Radial load P-direction (N) 1470
Regenerative brake Note)2
M3 depth 6
6.2
frequency (times/min) operation Thrust load A, B-direction (N) 490
Note)1 DV0P4285×2 No limit Note)2
Rated rotational speed (r/min) 1500 • For details of Note)1 to Note)4, refer to P.271. [Unit: mm]
Max. rotational speed (r/min) 3000 • Dimensions of Driver, refer to P.49.

*1 □□ in the motor part number represents the motor
Moment of inertia Without brake 58.2
specifications. Mass: 0.53 kg

A6B Series
of rotor (×10−4 kg • m2) With brake 63.0 *2 Basic type and RS485 communication type are ① Encoder connector
Recommended moment of inertia “Position control type”. ② Brake connector 200 V MSMF5AZL1B2M MSMF5AZL1D2M
10 times or less Detail of model designation, refer to P.178.
ratio of the load and the rotor Note)3 ① ③ ③ Motor connector ● For model number of key-way, center tap shaft, please refer to
*3 When using a rotary encoder as an incremental ②
Rotary encoder specifications *3 23-bit Absolute
system (not using multi-turn data), do not connect ● Dimensions are subject to change without notice. Contact us
Resolution per single turn 8388608 a battery for absolute encoder. or a dealer for the latest information.
230 +50
200 +50
0
0
127
Torque characteristics (at AC200 V of power voltage <Dotted line represents the torque at 10 % less supply voltage.>)
＊
Key way dimensions
E Series
24 78 □38
● Derating curve (20.8) (27)
torque rated torque 6 3 (20) 25
[N•m] [%]
14
φ8h6
With oil seal
80 100 12.5 3h9
(32)
φ45
26.5
3
φ30h7
Peak run range
(45.0)
40 50
(37.0) M3 depth 6
6.2
Imformation
(14.1)
(1500) (1900)(2100) [Unit: mm]

0 1000 2000 3000 0 10 20 30 40
rotational speed [r/min] ambient temperature [˚C]
MSMF　100 W
Dimensions Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft

Key way shaft/ Round shaft ① Encoder connector
without brake with brake ② Motor connector 200 V MSMF012L1A2M MSMF012L1C2M
Motor specifications
① ② ● For model number of key-way, center tap shaft, please refer to
with protective lip/ with protective lip/
without oil seal with oil seal without oil seal with oil seal “Model Designation” in P.178.
with oil seal with oil seal ● Dimensions are subject to change without notice. Contact us

Encoder connector
230 +50
200 +50
— P.259 — P.259
0
Large size (JL10) type
117 ＊
4-φ3.4＊ □38
(40.8) <Key way, center tap shaft>
(27)
(20) 25
6 3
14
φ8h6
12.5 3h9
(32)
φ45
46.5
3
φ30h7
M3 depth 6
6.2
<Cautions> Reduce the moment of inertia ratio if high speed response operation is required.
Dimensions are subject to change without notice. Contact us or a dealer for the latest information. [Unit: mm]
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan. * For motors specifications, refer to P.183, P.184.
A6 Series Dimensions Product MSMF 100 W to 200 W Product MSMF 400 W to 750 W Dimensions A6 Series
Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
200 V MSMF012L1B2M MSMF012L1D2M 200 V MSMF042L1A2M MSMF042L1C2M
① ③ ③ Motor connector For model number of key-way, center tap shaft, please refer to For model number of key-way, center tap shaft, please refer to
②
●
① ② ●

A6 Family
or a dealer for the latest information. ＊
220 +50
200 +50
0
230 +50
0
200 +50
socket head screw
0
0 for installation.
129
147 ＊
Key way dimensions
99 30 □60
Key way dimensions 22.5 76 4-ø4.5＊ <Key way, center tap shaft>
24 98 □38
(36)
4-φ3.4＊ (42)
(40.8) <Key way, center tap shaft> (30)
(27) 6.5 3 30
φ14h6
(20) 25 25
6 3 22.5 5h9
14
φ8h6
φ70
(43)
12.5 3h9
A6N Series
(32)
φ45
5
46.5
3
φ30h7
φ50h7
6.2
11
MSMF　200 W
Mass: 1.7 kg

A6B Series
Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft ② Brake connector Power supply without oil seal with oil seal
200 V MSMF042L1B2M MSMF042L1D2M
● Motor model (Round shaft) Mass: 0.82 kg ③ Motor connector
① Encoder connector ② ③ ● For model number of key-way, center tap shaft, please refer to
Power supply without oil seal with oil seal ① “Model Designation” in P.178.
② Motor connector ● Dimensions are subject to change without notice. Contact us
200 V MSMF022L1A2M MSMF022L1C2M
② ＊
220 +50
①
200 +50
For model number of key-way, center tap shaft, please refer to
0
●
0
socket head screw
for installation.
● Dimensions are subject to change without notice. Contact us 165.5
＊
Use hexagon Key way dimensions
220 +50
135.5 30
200 +50
0
or a dealer for the latest information. □60

0
socket head screw

22.5 112.5 4-ø4.5＊ <Key way, center tap shaft>
(36)
E Series
for installation.
109.5 (42)
79.5 30 Key way dimensions (30) 30
□60 6.5 3
4-ø4.5
φ14h6
22.5 56.5 ＊
(36) <Key way, center tap shaft> 25
(22.5) 22.5
(30) 5h9
6.5 3 30
φ70
(43)
φ11h6
20
5
18
φ50h7
4h9
φ70
(43)
M5 depth 10
4
11
φ50h7
Imformation
M4 depth 8 [Unit: mm]
8.5
[Unit: mm] MSMF　750 W
Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft
200 V MSMF022L1B2M MSMF022L1D2M 200 V MSMF082L1A2M MSMF082L1C2M
③ ③ Motor connector ②
① ② ● For model number of key-way, center tap shaft, please refer to ① ● For model number of key-way, center tap shaft, please refer to
＊
Use hexagon
220 +50
220 +50
Use hexagon
200 +50
200 +50
0
0
0
0
for installation.
146 147.2 for installation.
116 30 112.2 35 Key way dimensions
22.5 93 4-ø4.5＊
□60 Key way dimensions 4-ø6＊ □80 <Key way, center tap shaft>
(36) 25.5 86.7
<Key way, center tap shaft> (36)
(22.5) (52.2)
(30) 30 (30) 35
6.5 3
8 3
φ11h6
φ19h6
20 25
18 22 6h9
4h9
φ70
(43)
φ90
(53)
4
6
φ50h7
φ70h7
M4 depth 8
8.5
M5 depth 10
15.5
A6 Series Dimensions Product MSMF 750 W to 1000 W Product MSMF 1.0 kW to 1.5 kW Dimensions A6 Series
MSMF　750 W MSMF　1.0 kW
Leadwire type (P65) ・ with brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
● Motor model (Round shaft) Mass: 3.1 kg ● Motor model (Key way shaft) Mass: 3.6 kg
① Encoder connector ① Encoder connector (Large size JL10)
Power supply without oil seal with oil seal ② Motor connector Power supply with oil seal with protective lip
② Brake connector
200 V MSMF082L1B2M MSMF082L1D2M 200 V MSMF102L1G6M MSMF102L1G8M
① ● For model number of key-way, center tap shaft, please refer to ● For model number of round shaft, refer to “Model Designation” in P.178.
137 55
② “Model Designation” in P.178. ● Dimensions are subject to change without notice. Contact us

45 92 ＊
A6 Family
220 +50
＊
Use hexagon (117) socket head screw
200 +50
0

0 socket head screw for installation.
184.2 for installation. (72) Key way dimensions
149.2 35 Key way dimensions ① 4-ø9＊ □100
4-ø6 ＊ □80 ②
25.5 123.7 <Key way, center tap shaft> 55
(36) 10 3
φ19h6
(52.2) 45
(30) 35 42 M3 through
8 3 φ19h6 25
(90)
135 6h9
φ19h6
22 6h9 φ
φ90
(53)
A6N Series
φ95h7
φ95h7
6
φ70h7
φ11
15.5
5
M5 depth 10
15.5
MSMF　1000 W
Mass: 4.7 kg

A6B Series
Leadwire type (P65) ・ without brake ・ without/with oil seal ・ Round shaft/ Key way, center tap shaft Power supply with oil seal with protective lip
Mass: 2.8 kg 200 V MSMF102L1H6M MSMF102L1H8M
① Encoder connector ● For model number of round shaft, refer to “Model Designation” in P.178.
Power supply without oil seal with oil seal 164 55 ＊
200 V MSMF092L1A2M MSMF092L1C2M socket head screw or a dealer for the latest information.
① ② (144) for installation.
“Model Designation” in P.178. ② (59) □100 Key way dimensions
＊
Use hexagon
● Dimensions are subject to change without notice. Contact us 4-ø9＊
220 +50
200 +50
0
①
0

55
162.2 for installation.
10 3
φ19h6
45
E Series
127.2 35 Key way dimensions 42 M3 through
(101)
4-ø6＊ □80
25.5 101.7 <Key way, center tap shaft>
(36)
135 6h9
φ19h6
(67.2) (30) φ
35
8 3
6
φ19h6
25
φ95h7
φ95h7
22 6h9
φ90 φ11
(53)
15.5
5
6
φ70h7
Imformation
[Unit: mm]
M5 depth 10
15.5
[Unit: mm]
MSMF　1.5 kW
Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
① Encoder connector ● Motor model (Key way shaft) Mass: 4.6 kg
Power supply without oil seal with oil seal ① Encoder connector (Large size JL10)
② Brake connector Power supply with oil seal with protective lip
200 V MSMF092L1B2M MSMF092L1D2M ② Motor connector
① ③ ③ Motor connector 200 V MSMF152L1G6M MSMF152L1G8M
② ● For model number of round shaft, refer to “Model Designation” in P.178.
“Model Designation” in P.178. 155.5 55 ● Dimensions are subject to change without notice. Contact us
＊
Use hexagon 45 110.5
220 +50
＊
Use hexagon
200 +50

0

199.2 for installation. for installation.
164.2 35 Key way dimensions (90.5)
4-ø9＊ □100
Key way dimensions
4-ø6＊ □80 ①
25.5 138.7 <Key way, center tap shaft> ②
(36) 55
(67.2) (30) 35 10 3
φ19h6
45
8 3 M3 through
φ19h6
25 42
(90)
22 6h9 35 6h9
φ1
φ19h6
φ90
(53)
6
φ95h7
φ95h7
φ70h7
M5 depth 10 φ11
15.5
5
15.5
[Unit: mm]
[Unit: mm]
A6 Series Dimensions Product MSMF 1.5 kW to 2.0 kW Product MSMF 3.0 kW to 4.0 kW Dimensions A6 Series
Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
① Encoder connector (Large size JL10) ① Encoder connector (Large size JL10)
200 V MSMF152L1H6M MSMF152L1H8M 200 V MSMF302L1G6M MSMF302L1G8M
For model number of round shaft, refer to “Model Designation” in P.178. For model number of round shaft, refer to “Model Designation” in P.178.
186 55
● ●
182.5 55 ＊
＊
45 137.5 socket head screw or a dealer for the latest information. 45 141 socket head screw or a dealer for the latest information.
A6 Family
(162.5) for installation. (166) for installation.
② (77.5) □100 (107) Key way dimensions

Key way dimensions ② 4-ø9＊ □120
4-ø9＊
① 55
55 ①
10 3 12 3 45
φ19h6
45
(113)
(101)
162 8h9
135 6h9
φ22h6
φ22h6
φ19h6
φ φ
7
6
A6N Series
φ110h7
φ110h7
φ95h7
φ95h7
φ11 φ1
15.5
5
18
45
MSMF　2.0 kW
Mass: 9.9 kg

A6B Series
200 V MSMF302L1H6M MSMF302L1H8M
Power supply with oil seal with protective lip
＊
200 V MSMF202L1G6M MSMF202L1G8M or a dealer for the latest information.
174.5 55 (107) Key way dimensions
● Dimensions are subject to change without notice. Contact us ② 4-ø9＊ □120
45 129.5 ＊
(154.5) 55
socket head screw ①
for installation.
12 3 45
Key way dimensions
E Series
(109.5)
4-ø9＊ □100 41 M3 through
①
(113)
②
55 62 8h9
φ1
φ22h6
φ22h6
10 3
φ19h6
45
42 M3 through
7
φ110h7
φ110h7
(90)
135 6h9
φ19h6
φ
φ1
6
18
45
φ95h7
φ95h7
Imformation
φ11
15.5
5 [Unit: mm]
[Unit: mm] MSMF　4.0 kW
Power supply with oil seal with protective lip Power supply with oil seal with protective lip
② Motor/Brake connector ② Motor connector
200 V MSMF202L1H6M MSMF202L1H8M 200 V MSMF402L1G6M MSMF402L1G8M
● For model number of round shaft, refer to “Model Designation” in P.178. For model number of round shaft, refer to “Model Designation” in P.178.
201.5 55
＊
Use hexagon ●
45 156.5 ＊
Use hexagon or a dealer for the latest information. 45 160 for installation. or a dealer for the latest information.
(181.5) socket head screw (185)
(123)
□130
② Key way dimensions ② 4-ø9＊ Key way dimensions
4-ø9＊ □100
① 55 ① 12 6 65
10 3
φ19h6
45 55
(101)
(118)
35 6h9 8h9
φ24h6
φ24h6
φ1
φ19h6
5
φ14
7
6
φ110h7
φ110h7
φ95h7
φ95h7
φ11 φ16
15.5
20
5
A6 Series Dimensions Product MSMF 4.0 kW to 5.0 kW Product MQMF 100 W Dimensions A6 Series
MSMF　4.0 kW MQMF　100 W
Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Leadwire type (P65) ・ without brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft
● Motor model (Key way shaft) Mass: 13.2 kg ● Motor model (Round shaft) Mass: 0.54 kg
① Encoder connector (Large size JL10) ① Encoder connector
② Motor/Brake connector Power supply with oil seal with protective lip Power supply Motor model No.
200 V MSMF402L1H6M MSMF402L1H8M ② Motor connector 200 V MQMF012L1A2M
＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.178. ① ② ● For model number of key-way, center tap shaft, please refer to
233 65 socket head screw ● Dimensions are subject to change without notice. Contact us “Model Designation” in P.178.
45 188 for installation. or a dealer for the latest information. ● Dimensions are subject to change without notice. Contact us
A6 Family
(213) or a dealer for the latest information.
220 +50
200 +50
Use hexagon
0
＊
0
□130
② (123) Key way dimensions socket head screw
4-ø9＊ 81.2 for installation.
① 12 6 56.2 25 Key way dimensions
65 □60
16.5 39.7
55 <Key way, center tap shaft>
M3 through (14) (30.8)
51 5.7 3
(118)
4-ø4.5＊ (2.1)
8h9 25
φ24h6
φ24h6
φ8h6
5 14
φ14 12.5
(43)
3h9
A6N Series
φ110h7
φ110h7
3
φ50h7
φ16 φ70
20
5
M3 depth 6
6.2
Leadwire type (P65) ・ without brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft
MSMF　5.0 kW
Mass: 0.57 kg

A6B Series
Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Power supply Motor model No.
② Motor connector 200 V MQMF012L1C2M
① Encoder connector (Large size JL10) ① ② ● For model number of key-way, center tap shaft, please refer to
Power supply with oil seal with protective lip “Model Designation” in P.178.
② Motor connector ● Dimensions are subject to change without notice. Contact us
200 V MSMF502L1G6M MSMF502L1G8M
220 +50
200 +50
Use hexagon
0
＊
0
＊
240 65 socket head screw ● Dimensions are subject to change without notice. Contact us socket head screw
45 195 for installation. or a dealer for the latest information. 84.7 for installation.
(220) 59.7 25 Key way dimensions
□60
(158)
□130 16.5 43.2
② Key way dimensions <Key way, center tap shaft>
E Series
4-ø9 ＊
(17.5) (30.8)
5.7 3 4-ø4.5＊ (2.1)
① 12 6 65 25
φ8h6
55 14
M3 through 12.5
51
(43)
(118)
3h9
8h9
3
φ24h6
φ24h6
φ50h7
φ14 7
φ70
φ110h7
φ110h7
M3 depth 6
6.2
Imformation
φ16 [Unit: mm]
20
5
Leadwire type (P65) ・ without brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft
[Unit: mm]
Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft Power supply Motor model No.
② Motor connector 200 V MQMF012L1C4M
① Encoder connector (Large size JL10) ② ● For model number of key-way, center tap shaft, please refer to
Power supply with oil seal with protective lip ① “Model Designation” in P.178.
200 V MSMF502L1H6M MSMF502L1H8M ● Dimensions are subject to change without notice. Contact us
220 +50
200 +50
＊
Use hexagon
0
For model number of round shaft, refer to “Model Designation” in P.178.
0
＊
Use hexagon ●
268 65 socket head screw ● Dimensions are subject to change without notice. Contact us socket head screw
45 223 for installation. or a dealer for the latest information. 86.2 for installation.
(248) 56.2 30 Key way dimensions
□60
(158)
□130 16.5 39.7 12.1
② 4-ø9 Key way dimensions (30.8)
＊
(14) 1.5
5.7 4-ø4.5＊ (2.1)
① 12 6 65 30
φ8h6
55 14
M3 through 12.5
51
(43)
(118)
3h9
8h9
3
φ24h6
φ24h6
145
φ50h7
φ49.4
φ
7
φ70
φ110h7
φ110h7
M3 depth 6
6.2
φ16 [Unit: mm]
20
[Unit: mm]
A6 Series Dimensions Product MQMF 100 W Product MQMF 200 W Dimensions A6 Series
Leadwire type (P65) ・ with brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ without brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft
200 V MQMF012L1B2M 200 V MQMF022L1A2M
③
③ Motor connector For model number of key-way, center tap shaft, please refer to For model number of key-way, center tap shaft, please refer to
① ②
● ●
① “Model Designation” in P.178. “Model Designation” in P.178.

② ● Dimensions are subject to change without notice. Contact us ● Dimensions are subject to change without notice. Contact us
A6 Family
＊
220 +50
220 +50
200 +50
200 +50
＊
Use hexagon
0
0
socket head screw
0
socket head screw for installation.
77.5 25 □80 Key way dimensions
□60 Key way dimensions 62.3 30
16.5 61 16.5 45.8 3 4-ø6＊
<Key way, center tap shaft> (30.8)
(14) 3 (30.8) (18.9) 30
5.7 4-ø4.5 ＊ (2.1) 8 (2.1)
φ11h6
φ8h6 25 20
14 18
12.5 4h9
(53)
(43)
3h9
A6N Series
4
3
φ70h7
φ50h7
φ70 φ90
6.2
8.5
Leadwire type (P65) ・ with brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ without brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft

A6B Series
200 V MQMF012L1D2M 200 V MQMF022L1C2M
③
① ②
● ●


＊
220 +50
220 +50
200 +50
200 +50
＊
Use hexagon
0
0
socket head screw
0
0
106 for installation. 95.8
81 25 □80 Key way dimensions
16.5 64.5 16.5 49.3 3 4-ø6＊
E Series
(17.5) 3 (30.8) (22.4) (30.8)
30
5.7 4-ø4.5＊ (2.1) 8 (2.1)
φ11h6
25 20
φ8h6
14 18
12.5 4h9
(53)
(43)
3h9
4
3
φ70h7
φ50h7
φ70 φ90
6.2
8.5
Imformation
Leadwire type (P65) ・ with brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft Leadwire type (P65) ・ without brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft
③
① ②
● ●

＊
220 +50
220 +50
200 +50
200 +50
＊
Use hexagon
0
0
socket head screw
0
0
77.5 30 □80 Key way dimensions
4-ø6＊ <Key way, center tap shaft>
16.5 61 12.1 16.5 45.8 12.1 (30.8)
(14) 1.5 (30.8) (18.9) 1.5 (2.1) 35
5.7 4-ø4.5 ＊ (2.1) 8
φ11h6
30 20
φ8h6
14 18
12.5 4h9
(53)
(43)
3h9
4
3
φ70h7
φ69.4
φ50h7
φ49.4
φ70 φ90
6.2
8.5
A6 Series Dimensions Product MQMF 200 W Product MQMF 400 W Dimensions A6 Series
200 V MQMF022L1B2M 200 V MQMF042L1A2M
③ Motor connector
① ③ ① ②
● ●

A6 Family
＊
＊
220 +50
220 +50
200 +50
200 +50
0
0
0
115.9 104.8
16.5 69.4 4-ø6 ＊ <Key way, center tap shaft> 16.5 58.3 3 4-ø6＊ <Key way, center tap shaft>
(18.9) 3 (30.8) (31.4) (30.8)
30 30
8 (2.1) 8 (2.1)
φ14h6
φ11h6
20 25
18 22.5
4h9 5h9
(53)
(53)
A6N Series
5
4
φ70h7
φ70h7
φ90 φ90
11
8.5

A6B Series
③ Motor connector
① ③ ① ②
● ●

＊
Use hexagon ＊
Use hexagon
220 +50
220 +50
200 +50
200 +50
0
socket head screw
0
socket head screw
0
0
119.4 108.3
89.4 30 □80 Key way dimensions □80 Key way dimensions
78.3 30
16.5 72.9 4-ø6＊ <Key way, center tap shaft> 16.5 61.8 3 4-ø6＊ <Key way, center tap shaft>
E Series
(22.4) 3 (30.8) (30.8)
30 (34.9) 30
8 (2.1) 8 (2.1)
φ14h6
φ11h6
20 25
18 22.5
4h9 5h9
(53)
(53)
5
4
φ70h7
φ70h7
φ90 φ90
11
8.5
Imformation
③ Motor connector
① ③ ① ②
● ●

＊
＊
220 +50
220 +50
200 +50
200 +50
0
0
0
0
120.9 109.8
(30.8) (30.8)
(18.9) 1.5 (2.1) 35 (31.4) 1.5 (2.1) 35
8 8
φ14h6
φ11h6
20 20.5
18 18
4h9 5h9
(53)
(53)
5
4
φ70h7
φ70h7
φ69.4
φ69.4
φ90
8.5
11
A6 Series Dimensions Product MQMF 400 W Product MHMF 50 W Dimensions A6 Series
MQMF　400 W MHMF　50 W
200 V MQMF042L1B2M 200 V MHMF5AZL1A2M
③ Motor connector
For model number of key-way, center tap shaft, please refer to ① ② For model number of key-way, center tap shaft, please refer to
① ③
● ●

A6 Family
＊
Use hexagon or a dealer for the latest information. or a dealer for the latest information.
220 +50
200 +50
0
socket head screw
0
for installation.
230 +50
200 +50
0
0
128.4 Key way dimensions
□80
＊
98.4 30
4-ø6＊ <Key way, center tap shaft> 78.5 screw for installation.
16.5 81.9 Key way dimensions
(31.4) 3 (30.8) 53.5 25 2-φ4.3＊ □40
8
φ14h6 (2.1) 16.6 36.9 3 (22.8)
25 (8.6)
(14)
22.5 25
5h9 14
φ8h6
5
(53)
12.5 3h9
A6N Series
(33)
5
φ70h7
3
φ30h7
φ90 φ46
6.2
11

A6B Series
200 V MQMF042L1D2M 200 V MHMF5AZL1C2M
③ Motor connector
For model number of key-way, center tap shaft, please refer to ① ② For model number of key-way, center tap shaft, please refer to
① ③
● ●

＊
220 +50
200 +50
0
socket head screw

0
for installation.
230 +50
200 +50
0
0
131.9 Key way dimensions
□80
＊
101.9 30
E Series
(34.9) 3 (30.8) 57.5 25 2-φ4.3＊ □40
8 (2.1) 16.6 40.9 3 (22.8)
φ14h6
25 (8.6)
(18)
22.5 25
5h9 14
φ8h6
5
(53)
12.5 3h9
(33)
5
φ70h7
3
φ30h7
φ90 φ46
6.2
11
Imformation
200 V MQMF042L1D4M 200 V MHMF5AZL1C4M
③ Motor connector ① ②
① ③
● ●

＊
220 +50
200 +50
0
socket head screw

0
230 +50
200 +50
for installation.
0
133.4
98.4 35 □80 Key way dimensions ＊
16.5 81.9 12.1 (30.8) Key way dimensions
(31.4) 1.5 53.5 30
(2.1) 35 □40 <Key way, center tap shaft>
8 16.6 36.9 12.1 2-φ4.3＊
φ14h6
20.5 (22.8)
(14) 1.5
18 30
5h9 14
φ8h6
5
(53)
12.5 3h9
(33)
5
3
φ70h7
φ69.4
φ30h7
φ29.6
φ46
6.2
11
A6 Series Dimensions Product MHMF 50 W Product MHMF 100 W Dimensions A6 Series
② Brake connector 200 V MHMF5AZL1B2M ② Motor connector 200 V MHMF012L1A2M
②
① ③
●
① ②
●

A6 Family
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
87.4 25 □40
Key way dimensions
2-φ4.3＊ 2-φ4.3＊
16.6 70.8 <Key way, center tap shaft> 16.6 50.9 3 <Key way, center tap shaft>
(22.8) (22.8)
(14) 3 (8.6) (28) (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
A6N Series
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2

A6B Series
② Brake connector 200 V MHMF5AZL1D2M ② Motor connector 200 V MHMF012L1C2M
②
① ③
●
① ②
●

230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
E Series
91.4 25 2-φ4.3＊ □40 71.5 25 2-φ4.3＊ □40
16.6 74.8 <Key way, center tap shaft> 16.6 54.9 3 <Key way, center tap shaft>
(22.8) (22.8)
(18) 3 (8.6) (32) (8.6)
25 25
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ46 φ46
6.2
6.2
Imformation
② Brake connector 200 V MHMF5AZL1D4M ② Motor connector 200 V MHMF012L1C4M
① ② ③ ③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
230 +50
230 +50
200 +50
200 +50
0
0
0
0
＊
16.6 70.8 12.1 2-φ4.3＊ 16.6 50.9 12.1 2-φ4.3＊
(22.8) (22.8)
(14) 1.5 (28) 1.5
30 30
14 14
φ8h6
φ8h6
5 5
12.5 3h9 12.5 3h9
(33)
(33)
3
3
φ30h7
φ30h7
φ29.6
φ29.6
φ46 φ46
6.2
6.2
② Brake connector 200 V MHMF012L1B2M ② Motor connector 200 V MHMF022L1A2M
① ② ③
A6 Family
or a dealer for the latest information. Use hexagon or a dealer for the latest information.
220 +50
＊
200 +50
0
0
socket head screw
230 +50
for installation.
200 +50
97.5
0
0
＊
Use hexagon socket head 67.5 30 Key way dimensions
126.4 screw for installation. □60
16.5 51 4-ø4.5＊ <Key way, center tap shaft>
101.4 25 □40
Key way dimensions (25.3) (30.8)
2-φ4.3＊
16.6 84.8 <Key way, center tap shaft> 6.5 3 (2.1) 30
(22.8)
φ11h6
(28) 3 (8.6) 20
25
14 18
φ8h6
5
4h9
(43)
12.5 3h9
A6N Series
(33)
4
3
φ30h7
φ50h7
φ46 φ70
6.2
8.5

A6B Series
② Brake connector 200 V MHMF012L1D2M ② Motor connector 200 V MHMF022L1C2M
②
③ Motor connector For model number of key-way, center tap shaft, please refer to ① ② For model number of key-way, center tap shaft, please refer to
① ③
● ●

220 +50
＊
200 +50
0
0
socket head screw
230 +50
for installation.
200 +50
101
0
＊
Use hexagon socket head 71 30 Key way dimensions
130.4 screw for installation. □60
16.5 54.5 4-ø4.5＊ <Key way, center tap shaft>
Key way dimensions (30.8)
E Series
105.4 25 2-φ4.3＊ □40 (28.8)
16.6 88.8 <Key way, center tap shaft> 6.5 3 (2.1) 30
(22.8)
φ11h6
(32) 3 (8.6) 20
25
14 18
φ8h6
5
4h9
(43)
12.5 3h9
(33)
4
3
φ30h7
φ50h7
φ46 φ70
6.2
8.5
Imformation
① ② ③ ③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
220 +50
200 +50
0
0
＊
socket head screw

230 +50
200 +50
0
102.5 for installation.

＊
Use hexagon socket head 67.5 35 Key way dimensions
131.4 screw for installation.
16.5 51 12.1 □60 <Key way, center tap shaft>
101.4 30 Key way dimensions (25.3) 1.5 (30.8)
□40 <Key way, center tap shaft>
16.6 84.8 12.1 2-φ4.3＊ 6.5 (2.1) 35
(22.8)
φ11h6
(28) 1.5 4-ø4.5＊ 20
30
14 18
φ8h6
5 4h9
(43)
12.5 3h9
(33)
4
3
φ30h7
φ50h7
φ29.6
φ49.4
φ46 φ70
6.2
8.5
② Brake connector 200 V MHMF022L1B2M ② Motor connector 200 V MHMF042L1A2M
① ③
③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
②
A6 Family
220 +50
0
Use hexagon or a dealer for the latest information. Use hexagon or a dealer for the latest information.
220 +50
＊＊
200 +50
200 +50
0
0
0
□60 □60
16.5 80.3 4-ø4.5＊ <Key way, center tap shaft> 16.5 68 4-ø4.5＊ <Key way, center tap shaft>
(25.3) 3 (30.8) (42.3) (30.8)
6.5 (2.1) 30 6.5 3 (2.1) 30
φ14h6
φ11h6 20 25
18 22.5
4h9 5h9
(43)
(43)
A6N Series
5
4
φ50h7
φ50h7
φ70 φ70 M5 depth 10
M4 depth 8
8.5
11

A6B Series
① ③
③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
②
220 +50
0
220 +50
＊＊
200 +50
200 +50
0
0
0
130.3 for installation. 118 for installation.
100.3 30 Key way dimensions 88 30 Key way dimensions
□60 □60
(30.8) (30.8)
E Series
(28.8) 3 (45.8)
6.5 (2.1) 30 6.5 3 (2.1) 30
φ14h6
φ11h6
20 25
18 22.5
4h9 5h9
(43)
(43)
5
4
φ50h7
φ50h7
φ70 φ70 M5 depth 10
M4 depth 8
8.5
11
Imformation
① ③ ③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊＊

16.5 80.3 12.1 □60 <Key way, center tap shaft> 16.5 68 12.1 □60 <Key way, center tap shaft>
(25.3) 1.5 (30.8) (42.3) 1.5 (30.8)
6.5 (2.1) 35 6.5 (2.1) 35
φ14h6
φ11h6
4-ø4.5＊ 20 4-ø4.5＊ 20.5

18 18
4h9
(43)
(43)
5h9
4
5
φ50h7
φ50h7
φ49.4
φ49.4
φ70 M4 depth 8 φ70

M5 depth 10
11
8.5
200 V MHMF042L1B2M 200 V MHMF082L1A2M
① ③
●
① ② ●

②
A6 Family
＊
220 +50
Use hexagon
220 +50
200 +50
200 +50
0
0
0
0
113.8 30 Key way dimensions 91.9 35 □80 <Key way, center tap shaft>
□60
16.5 97.3 4-ø4.5＊ <Key way, center tap shaft> 16.5 75.4 4-ø6 ＊
(30.8)
(42.3) 3 (30.8)
(2.1) (48.5) 3 (2.1) 35
6.5 30 8
φ19h6
φ14h6 25 25
22.5 22 6h9
5h9
(53)
(43)
A6N Series
6
5
φ50h7
φ70h7
M5 depth 10
15.5
11

A6B Series
200 V MHMF042L1D2M 200 V MHMF082L1C2M
① ③ ● For model number of key-way, center tap shaft, please refer to ● For model number of key-way, center tap shaft, please refer to
②
220 +50
200 +50
0
0
＊
220 +50
＊
200 +50
0

□60
16.5 100.8 4-ø4.5 ＊ <Key way, center tap shaft> 16.5 78.9 (30.8)
(30.8)
E Series
(45.8) 3 (52) 3 (2.1)
6.5 (2.1) 35
30 8 4-ø6＊
φ19h6
25
φ14h6
25
22.5 22 6h9
5h9
(53)
(43)
6
5
φ50h7
φ70h7
M5 depth 10
15.5
11
Imformation
① ③ ③ Motor connector ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
220 +50
200 +50
220 +50
0

＊
200 +50
Use hexagon
0
0
16.5 97.3 12.1 □60 <Key way, center tap shaft> 16.5 75.4 12.1 (30.8)
(42.3) 1.5 (30.8)
(48.5) 1.5 (2.1) 40
6.5 (2.1) 35 8 4-ø6＊
φ19h6
25
φ14h6
4-ø4.5＊ 20.5
18 22 6h9
(43)
(53)
5h9
6
5
φ70h7
φ50h7
φ69.4
φ49.4
φ70 φ90
11
15.5
200 V MHMF082L1B2M 200 V MHMF092L1A2M
③ Motor connector
① ② “Model Designation” in P.178.
②
A6 Family
＊
＊
220 +50
220 +50
200 +50
200 +50
0
0
0
0
16.5 109 4-ø6 ＊
(30.8) 16.5 88.2 4-ø6 ＊
(30.8)
(48.5) 3 (2.1) 35 (61.3) 3 (2.1) 35
8 8
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
A6N Series
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5

A6B Series
① ③ ③ Motor connector ① ②
② “Model Designation” in P.178. “Model Designation” in P.178.
220 +50
220 +50
200 +50
200 +50
0
0
0
0
＊
＊
164 Key way dimensions 143.2 Key way dimensions
129 35 □80 <Key way, center tap shaft> 108.2 35 □80 <Key way, center tap shaft>
16.5 112.5 (30.8) 16.5 91.7 (30.8)
E Series
(52) 3 (2.1) 35 (64.8) 3 (2.1) 35
8 8 4-ø6＊
φ19h6
4-ø6＊
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ90 φ90
15.5
15.5
Imformation
③ Motor connector
① ③ ● For model number of key-way, center tap shaft, please refer to ① ② ● For model number of key-way, center tap shaft, please refer to
220 +50
220 +50
＊
Use hexagon ＊
Use hexagon
200 +50
200 +50
0
0
0
0

125.5 40 □80 104.7 40 □80 <Key way, center tap shaft>
16.5 109 12.1 (30.8) 16.5 88.2 12.1 (30.8)
(48.5) 1.5 (2.1) 40 (61.3) 1.5 (2.1) 40
8 4-ø6 ＊
8 4-ø6＊
φ19h6
φ19h6
25 25
22 6h9 22 6h9
(53)
(53)
6
6
φ70h7
φ70h7
φ69.4
φ69.4
φ90 φ90
15.5
15.5
A6 Series Dimensions Product MHMF 1000 W Product MHMF 1.0 kW to 1.5 kW Dimensions A6 Series
MHMF　1000 W MHMF　1.0 kW
Leadwire type (P65) ・ with brake ・ without oil seal ・ Round shaft/ Key way, center tap shaft Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
● Motor model (Round shaft) Mass: 3.4 kg ● Motor model (Key way shaft) Mass: 6.1 kg
Power supply Motor model No. ② Motor connector Power supply with oil seal with protective lip
② Brake connector
200 V MHMF092L1B2M 200 V MHMF102L1G6M MHMF102L1G8M
③ Motor connector
● For model number of key-way, center tap shaft, please refer to ● For model number of round shaft, refer to “Model Designation” in P.178.
＊
● Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
② 45 105
A6 Family
＊
Use hexagon for installation.
220 +50
(130)
200 +50
0
socket head screw

Key way dimensions
0
□130
for installation. (85) 4-ø9＊
173.3 Key way dimensions ②
138.3 35 □80 <Key way, center tap shaft> 12 6
① 70
16.5 121.8 4-ø6＊ (30.8) 45
(61.3) 3 (2.1) 35 41 M3 through
8
(105)
φ19h6
25 8h9
φ22h6
φ22h6
5
22 6h9 φ14
7
(53)
φ110h7
A6N Series
φ110h7
6
φ70h7
φ16
18
φ90 5
M5 depth 10
15.5
Leadwire type (P65) ・ with brake ・ with oil seal ・ Round shaft/ Key way, center tap shaft Large size connector (JL10) type ・ with brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft

● Motor model (Round shaft) ● Motor model (Key way shaft)
A6B Series
Power supply Motor model No. ② Motor/Brake connector Power supply with oil seal with protective lip
② Brake connector
200 V MHMF092L1D2M 200 V MHMF102L1H6M MHMF102L1H8M
① ③ ③ Motor connector
● For model number of key-way, center tap shaft, please refer to 178 70 ＊
Use hexagon
“Model Designation” in P.178. ● Dimensions are subject to change without notice. Contact us
② 45 133 socket head screw
● Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
220 +50
200 +50
0
＊
(71)
socket head screw □130 Key way dimensions
176.8
for installation.
Key way dimensions ② 12 6 4-ø9＊
141.8 35 □80 <Key way, center tap shaft> ① 70
16.5 125.3 (30.8) 45
E Series
(64.8) 3 (2.1) 35 41 M3 through
(116)
8 4-ø6＊
φ19h6
25 8h9
φ22h6
φ22h6
5
22 6h9 φ14
7
(53)
φ110h7
φ110h7
6
φ70h7
φ16
18
φ90 5
M5 depth 10
15.5
Imformation
Leadwire type (P65) ・ with brake ・ with protective lip/ with oil seal ・ Round shaft/ Key way, center tap shaft
MHMF　1.5 kW
② Brake connector Power supply Motor model No. Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft
200 V MHMF092L1D4M
③ Motor connector ● Motor model (Key way shaft) Mass: 7.7 kg
① ③ ● For model number of key-way, center tap shaft, please refer to ① Encoder connector (Large size JL10)
“Model Designation” in P.178. Power supply with oil seal with protective lip
② ● Dimensions are subject to change without notice. Contact us
② Motor connector
200 V MHMF152L1G6M MHMF152L1G8M
220 +50
＊
Use hexagon
200 +50

0
socket head screw ● For model number of round shaft, refer to “Model Designation” in P.178.
＊
for installation. 164 70
178.3 Key way dimensions socket head screw or a dealer for the latest information.
□80 45 119 for installation.
138.3 40 <Key way, center tap shaft>
(30.8) (144)
16.5 121.8 12.1 □130 Key way dimensions
(2.1) (99) 4-ø9＊
(61.3) 1.5 40
8 4-ø6 ＊ ②
φ19h6
25 ① 12 6 70
22 6h9 45
41 M3 through
(53)
(105)
6
8h9
φ22h6
φ22h6
5
φ70h7
φ14
φ69.4
7
φ90
φ110h7
φ110h7
M5 depth 10
15.5
[Unit: mm] φ16
18
5
[Unit: mm]
A6 Series Dimensions Product MHMF 1.5 kW to 2.0 kW Product MHMF 3.0 kW to 4.0 kW Dimensions A6 Series
200 V MHMF152L1H6M MHMF152L1H8M 200 V MHMF302L1G6M MHMF302L1G8M
176 80
192 70 ＊
Use hexagon
45 131
＊
or a dealer for the latest information. (156) for installation. or a dealer for the latest information.
A6 Family
(92)
(83) □176
□130 Key way dimensions ② 18 3.2 4-ø13.5＊ Key way dimensions
② 12 6 4-ø9＊
80
① 70 ① 55
45 M3 through
50
(140)
41 M3 through 33
(116)
φ2 10h9
φ35h6
8h9
φ22h6
φ22h6 φ14
5
8
φ114.3h7
φ114.3h7
7
φ110h7
A6N Series
φ110h7
φ35h6
30
φ16
18
5 φ2
00
MHMF　2.0 kW
Mass: 17.2 kg

A6B Series
200 V MHMF302L1H6M MHMF302L1H8M
＊
200 V MHMF202L1G6M MHMF202L1G8M or a dealer for the latest information.
161 80 (92)
＊
●
(79)
□176 ① 55
② 18 3.2 4-ø13.5＊ Key way dimensions M3 through
E Series
50
(140)
33
80 φ2 10h9
φ35h6
① 55
M3 through
8
50
φ114.3h7
(140)
φ114.3h7
33
φ2 10h9
φ35h6
8
φ114.3h7
φ35h6
φ114.3h7
30
φ2
00
Imformation
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm] MHMF　4.0 kW
200 V MHMF202L1H6M MHMF202L1H8M 200 V MHMF402L1G6M MHMF402L1G8M
190 80 ＊
190.5 80 ＊
(170) for installation. or a dealer for the latest information. (170.5) for installation. or a dealer for the latest information.
(79) (108.5)
② □176 □176
18 3.2 4-ø13.5＊ Key way dimensions ② 18 3.2 4-ø13.5＊ Key way dimensions
80 80
① 55 ① 55
50 50
(140)
(140)
φ233 10h9 φ233 10h9
φ35h6
φ35h6
8
8
φ114.3h7
φ114.3h7
φ114.3h7
φ114.3h7
φ35h6
φ35h6
30
30
φ2 φ2
00 00
A6 Series Dimensions Product MHMF 4.0 kW to 5.0 kW Product MDMF 1.0 kW to 1.5 kW Dimensions A6 Series
MHMF　4.0 kW MDMF　1.0 kW
200 V MHMF402L1H6M MHMF402L1H8M 200 V MDMF102L1G6M MDMF102L1G8M
219.5 80 ＊
Use hexagon ● For model number of round shaft, refer to “Model Designation” in P.178. ● For model number of round shaft, refer to “Model Designation” in P.178.
45 174.5 socket head screw ● Dimensions are subject to change without notice. Contact us 122 55 ＊
(199.5) for installation. or a dealer for the latest information. 45 77 socket head screw or a dealer for the latest information.
A6 Family
(108.5) (102) for installation.
② □176
18 3.2 4-ø13.5＊ Key way dimensions (57) □130 Key way dimensions
4-ø9＊
②
80
① 12 6 55
① 55
M3 through 45
50
(140)
33 41 M3 through
φ2 10h9
(105)
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
A6N Series
φ110h7
φ110h7
φ35h6
30
φ16
18
φ2 5
00
MHMF　5.0 kW
Mass: 6.1 kg

A6B Series
200 V MDMF102L1H6M MDMF102L1H8M
Use hexagon
socket head screw
200 V MHMF502L1G6M MHMF502L1G8M for installation. or a dealer for the latest information.
206.5 80 (130)
＊
45 161.5 (43)
socket head screw ● Dimensions are subject to change without notice. Contact us ② 4-ø9＊ Key way dimensions
(124.5) 12 6 55
□176 ①
E Series
41 M3 through
(116)
80
① 55 8h9
φ22h6
φ22h6
5
50
M3 through φ14
(140)
33
7
φ2
φ110h7
φ110h7
10h9
φ35h6
8
φ114.3h7
φ114.3h7
φ16
18
5
Imformation
φ35h6
30
[Unit: mm]
φ2
00
[Unit: mm] MDMF　1.5 kW
200 V MHMF502L1H6M MHMF502L1H8M 200 V MDMF152L1G6M MDMF152L1G8M
235.5 80 ＊
＊
(124.5) 45 91 for installation.
② □176 (116)
18 3.2 4-ø13.5＊ Key way dimensions □130 Key way dimensions
(71) 4-ø9＊
②
80
① 12 6 55
① 55
M3 through 45
50
(140)
33 41 M3 through
φ2 10h9
(105)
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
7
φ110h7
φ110h7
φ35h6
30
φ16
18
φ2 5
00
A6 Series Dimensions Product MDMF 1.5 kW to 2.0 kW Product MDMF 3.0 kW to 4.0 kW Dimensions A6 Series
200 V MDMF152L1H6M MDMF152L1H8M 200 V MDMF302L1G6M MDMF302L1G8M
164 55 ● For model number of round shaft, refer to “Model Designation” in P.178. ● For model number of round shaft, refer to “Model Designation” in P.178.
45 119
＊
Use hexagon
178 65 ＊
socket head screw 45 133 socket head screw
(144) for installation. or a dealer for the latest information. or a dealer for the latest information.
A6 Family
(57) (158) for installation.
□130 (97)
② 12 6 4-ø9＊ Key way dimensions ② 4-ø9＊
① 55 ① 12 6 65
45 55
(116)
(118)
8h9 8h9
φ24h6
φ22h6
φ24h6
φ22h6
5 5
φ14 φ14
7
7
A6N Series
φ110h7
φ110h7
φ110h7
φ110h7
φ16 φ16
18
20
5 5
MDMF　2.0 kW
Mass: 10.9 kg

A6B Series
200 V MDMF302L1H6M MDMF302L1H8M
Power supply with oil seal with protective lip
＊
200 V MDMF202L1G6M MDMF202L1G8M or a dealer for the latest information.
● For model number of round shaft, refer to “Model Designation” in P.178. (97)
150 55
＊
Use hexagon ● Dimensions are subject to change without notice. Contact us ② 4-ø9＊
45 105 for installation. 12 6
(130) ① 65
E Series
(85) 4-ø9 ＊
M3 through
② 51
(118)
① 12 6 55 8h9
φ24h6
φ24h6
5
45 φ14
M3 through
7
41
φ110h7
φ110h7
(105)
8h9
φ22h6
φ22h6
5
φ14
φ16
7
20
5
φ110h7
φ110h7
Imformation
φ16 [Unit: mm]
18
[Unit: mm] MDMF　4.0 kW
200 V MDMF202L1H6M MDMF202L1H8M 200 V MDMF402L1G6M MDMF402L1G8M
161 70 ＊
178 55
＊
Use hexagon 45 116
socket head screw
45 133 or a dealer for the latest information. (141) for installation. or a dealer for the latest information.
for installation.
(158) (79)
② □176
(71) □130 18 3.2 4-ø13.5＊ Key way dimensions
70
① 12 6 55 ① 55
45 M3 through
50
(140)
M3 through
41 233
(116)
φ 10h9
φ35h6
φ35h6
8h9
φ22h6
φ22h6
145
8
φ
φ114.3h7
φ114.3h7
7
φ110h7
φ110h7
30
φ16
18
5 φ2
00
A6 Series Dimensions Product MDMF 4.0 kW to 5.0 kW Product MGMF 0.85 kW to 1.3 kW Dimensions A6 Series
MDMF　4.0 kW MGMF　0.85 kW
200 V MDMF402L1H6M MDMF402L1H8M 200 V MGMF092L1G6M MGMF092L1G8M
190 70 ＊
45 145 socket head screw ● Dimensions are subject to change without notice. Contact us 122 55 ＊
(170) for installation. or a dealer for the latest information. 45 77 socket head screw or a dealer for the latest information.
A6 Family
□176 (102)
② 4-ø13.5＊
18 3.2 Key way dimensions (57) □130 Key way dimensions
4-ø9＊
②
70
① 12 6 55
① 55
M3 through 45
50
(140)
33 41 M3 through
φ2 10h9
(105)
φ35h6
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
A6N Series
φ110h7
φ110h7
30
φ16
18
φ2 5
00
MDMF　5.0 kW
Mass: 6.1 kg

A6B Series
200 V MGMF092L1H6M MGMF092L1H8M
Use hexagon
② Motor connector (130)
socket head screw
200 V MDMF502L1G6M MDMF502L1G8M for installation. or a dealer for the latest information.
176 70 (43)
＊
45 131 socket head screw Dimensions are subject to change without notice. Contact us ② 12 6 Key way dimensions
●
4-ø9＊
(92) 55
② □176 ①
18 3.2 4-ø13.5＊ Key way dimensions 45
E Series
41 M3 through
(116)
70
① 55 8h9
φ22h6
φ22h6
5
50
M3 through φ14
(140)
33
7
φ2
φ110h7
φ110h7
10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
φ16
18
5
Imformation
30
[Unit: mm]
φ2
00
[Unit: mm] MGMF　1.3 kW
200 V MDMF502L1H6M MDMF502L1H8M 200 V MGMF132L1G6M MGMF132L1G8M
205 70 ＊
＊
(92) 45 91 for installation.
② □176 (116)
18 3.2 4-ø13.5＊ Key way dimensions (71) 4-ø9＊
②
70
① 12 6 55
① 55
M3 through 45
50
(140)
33 41 M3 through
φ2 10h9
(105)
φ35h6
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
7
φ110h7
φ110h7
30
φ16
18
φ2 5
00
A6 Series Dimensions Product MGMF 1.3 kW to 1.8 kW Product MGMF 2.4 kW to 2.9 kW Dimensions A6 Series
200 V MGMF132L1H6M MGMF132L1H8M 200 V MGMF242L1G6M MGMF242L1G8M
161 70 ＊
45 119
＊
Use hexagon 45 116
socket head screw
(144) or a dealer for the latest information. (141) for installation. or a dealer for the latest information.
for installation.
A6 Family
(57) (79)
② □176 Key way dimensions
12 6 □130 18 3.2 4-ø13.5＊
70
① 55 ① 55
45 M3 through
50
(140)
41 M3 through 33
(116)
φ2 10h9
φ35h6
φ35h6
8h9
φ22h6
φ22h6
5
φ14
8
φ114.3h7
φ114.3h7
7
A6N Series
φ110h7
φ110h7
30
φ16
18
5 φ2
00
MGMF　1.8 kW
Mass: 16.8 kg

A6B Series
＊
200 V MGMF182L1G6M MGMF182L1G8M or a dealer for the latest information.
(79)
For model number of round shaft, refer to “Model Designation” in P.178. ② □176 Key way dimensions
4-ø13.5＊
●
＊
Use hexagon Dimensions are subject to change without notice. Contact us 18 3.2
55
●
150 socket head screw or a dealer for the latest information. 70
(130) ① 55
□130 Key way dimensions M3 through
E Series
(85) 4-ø9＊ 50
(140)
② 33
φ2 10h9
φ35h6
φ35h6
① 12 6 55
45
8
φ114.3h7
φ114.3h7
41 M3 through
(105)
8h9
φ22h6
φ22h6
5
φ14
30
7
φ2
φ110h7
φ110h7
00
Imformation
φ16 [Unit: mm]
18
[Unit: mm] MGMF　2.9 kW
200 V MGMF182L1H6M MGMF182L1H8M 200 V MGMF292L1G6M MGMF292L1G8M
For model number of round shaft, refer to “Model Designation” in P.178.
161 70 ＊
178 55 ＊
Use hexagon
●
45 116
●
for installation. or a dealer for the latest information. or a dealer for the latest information.
(158) (79)
(71) ② □176 Key way dimensions
②
□130 18 3.2 4-ø13.5＊
12 6 4-ø9＊ Key way dimensions
70
① 55 ① 55
45 M3 through
50
(140)
M3 through
41
φ233 10h9
(116)
φ35h6
φ35h6
8h9
φ22h6
φ22h6
145
8
φ
φ114.3h7
φ114.3h7
7
φ110h7
φ110h7
30
φ16
18
5 φ2
00
Special Order
A6 Series Dimensions Product MGMF 2.9 kW to 4.4 kW
MEMO
MGMF　2.9 kW

② Motor/Brake connector Power supply with oil seal with protective lip
190 70 ＊
A6 Family
(79)
18 3.2 4-ø13.5＊
70
① 55
M3 through
50
(140)
33
φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
A6N Series
30
φ2
00
[Unit: mm]
MGMF　4.4 kW

A6B Series
Large size connector (JL10) type ・ without brake ・ with oil seal/ with protective lip ・ Key way shaft/ Round shaft

② Motor connector Power supply with oil seal with protective lip
200 V MGMF442L1G6M MGMF442L1G8M
176 70 ＊
(92)
18 3.2 4-ø13.5＊
E Series
70
① 55
M3 through
50
(140)
33
φ2 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
Imformation
30
φ2
00
[Unit: mm]

② Motor/Brake connector Power supply with oil seal with protective lip
205 70 ＊
(92)
18 3.2 4-ø13.5＊
70
① 55
M3 through
50
(140)
φ233 10h9
φ35h6
φ35h6
8
φ114.3h7
φ114.3h7
30
φ2
00
[Unit: mm]
* For motors specifications, refer to P.220, P.221.
Motors with Model Designation/ Motors with
A6 Series Gear Reducer
Types and Specifications Coming soon
The Combination of the Driver and the Motor
Coming soon
Gear Reducer A6 Series
Motor Types with Gear Reducer Model Designation
M Q M F 0 1 1 L 3 1 N
Motor rated output N: Standard
Symbol Type Symbol Specifications
A6 Family
Middle inertia 01 100 W Motor types with gear reducer
MQMF Flat type
02 200 W Motor output (W)
100 W to 400 W Reduction Type of
04 400 W Symbol
High inertia
ratio 100 200 400 750 reducer
MHMF
100 W to 750 W 08 750 W 1N 1/5 ● ● ● ●
2N 1/9 ● ● ● ● For high
Symbol Series Voltage specifications precision
MQMF MHMF 3N 1/15 ● ● ● ●
A6N Series
100 W to 400 W 100 W to 750 W F A6 family Symbol Rated output
4N 1/25 ● ● ● ●
1 100 V
* MQMF 750 W is not prepared.
Efficiency of the gear reducer show the following inclination in relation 2 200 V * MHMF 100 W 1/25, 400 W 1/25 are not prepared.
Reduction Motor output (W) Type of to output torque and rotational speed.
ratio 100 200 400 750 reducer Rotary encoder specifications Motor structure
1/5 ● ● ● ● Symbol Format Pulse counts Resolution Wire Shaft Holding brake
Symbol Motor I/F
1/9 ● ● ● ● For high L Absolute 23-bit 8388608 7 Key way without with

A6B Series
1/15 ● ● ● ● precision 3 ● ●
<Note> Connector
1/25 ● ● ● ● When using it as an incremental system (not using multiturn data), do not 4 ● ●
efficiency
efficiency
* MQMF 750 W is not prepared. connect the battery for absolute encoder. 7 ● ●
* MHMF 100 W 1/25, 400 W 1/25 are not prepared. Leadwire
8 ● ●
output torque rotational speed
The Combination of the Driver and the Motor
E Series
Specifications of Motor with Gear Reducer Driver
Motor
Items Specifications A6SF series A6SE series
Multi fanction type Basic type

3 minutes or smaller (initial value) Power Output
Backlash Motor series Part No.*
at output shaft of the reducer supply (W) Pulse, analog, Pulse signal input
full-closed (Incremental only)
Imformation
Composition of gear Planetary gear
100 MQMF011L □□ N MADLT11SF MADLN11SE
Gear efficiency 76 % to 87 % Single
phase 200 MQMF021L □□ N MBDLT21SF MBDLN21SE
Lubrication Grease lubrication 100 V
Gear reducer MQMF 400 MQMF041L □□ N MCDLT31SF MCDLN31SE
Rotational direction at output shaft Same direction as the motor output shaft Middle inertia
Flat type Single 100 MQMF012L □□ N MADLT05SF MADLN05SE
Mounting method Flange mounting phase/
3-phase 200 MQMF022L □□ N MADLT15SF MADLN15SE
Permissible moment of inertia of the load
10 times or smaller than rotor moment of inertia of the motor
(conversion to the motor shaft) 200 V 400 MQMF042L □□ N MBDLT25SF MBDLN25SE
Enclosure rating IP44 (at gear reducer) 100 MHMF011L □□ N MADLT11SF MADLN11SE
Single
Ambient temperature 0 °C to 40 °C (free from freezing) phase 200 MHMF021L □□ N MBDLT21SF MBDLN21SE
100 V
–20 °C to 65 °C 400 MHMF041L □□ N MCDLT31SF MCDLN31SE
Storage temperature
( Max.temperature guarantee:
80 °C for 72 hours free from condensation ) MHMF
High inertia
100 MHMF012L □□ N MADLT05SF MADLN05SE
Single
Environment Ambient humidity, Storage humidity 20 % to 85 % RH (free from condensation) phase/ 200 MHMF022L □□ N MADLT15SF MADLN15SE
3-phase
Vibration Lower than 49 m/s2 (5G) at runninng, 24.5 m/s2 (2.5G) at stall 400 MHMF042L □□ N MBDLT25SF MBDLN25SE
200 V
Impact Lower than 98 m/s2 (10G) 750 MHMF082L □□ N MCDLT35SF MCDLN35SE
Altitude Lower than 1000 m * The symbols of the motor structure and the gear reduction ratio are entered in □□ of the motor part number.
Please refer to the above “Model Designation”.
A6 Series Motors with Table of Motor Specifications Coming soon Torque Characteristics of Motor Coming soon Motors with A6 Series
Gear 000
Reducer Gear 000
Reducer
Table of Motor Specifications MQMF series (100 W to 400 W)

Supply Reduction
Moment of inertia voltage Motor ratio 1/5 1/9 1/15 1/25
Peak (motor + reducer/ to driver output
Motor Reduction Rated Max. Rated Mass Permissible Permissible
Output max. converted MQMF011L□1N MQMF011L□2N MQMF011L□3N MQMF011L□4N
Part No.* Output ratio speed speed torque radial load thrust load
torque to motor shaft) torque
[N･m]
torque
[N･m]
torque
[N･m]
torque
[N･m]
w/o brake w/ brake w/o brake w/ brake 6.0 10.0 20.0 25.0
（W）（W）（r/min）（r/min）（N・m）

（N・m） J
（×10－4kg・m2）（kg）（N）（N） 5.0 8.0
15.0
20.0
100 W 4.0
Peak run range 6.0 Peak run range 15.0 Peak run range
A6 Family
10.0 Peak run range
MQMF01□L□1N 1/5 85 600 1300 1.36 5.01 0.210 0.240 1.2 1.4 490 245 3.0
4.0 10.0
2.0
5.0
1.0 2.0 5.0 Continuous run range
MQMF01□L□2N 1/9 85 333 722 2.45 9.02 0.200 0.230 1.2 1.4 588 294 0.0 0.0
0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300
100 rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
MQMF01□L□3N 1/15 81 200 433 3.89 14.4 0.207 0.237 1.4 1.7 784 392
MQMF021L□1N MQMF021L□2N MQMF021L□3N MQMF021L□4N
MQMF Middle inertiaa Flat type
torque torque torque torque

MQMF01□L□4N 1/25 76 120 260 6.08 22.5 0.287 0.317 2.6 2.9 1670 833 [N･m] [N･m] [N･m] [N･m]
12.0 20.0 35.0 60.0
10.0 30.0 50.0
MQMF02□L□1N 1/5 175 600 1300 2.78 10.2 0.650 0.740 1.9 2.3 490 245 15.0
A6N Series
25.0
100 V 200 W 8.0
20.0
40.0
6.0 Peak run range 10.0 Peak run range Peak run range 30.0 Peak run range
MQMF02□L□2N
15.0
1/9 157 333 722 4.49 16.6 0.770 0.860 3.0 3.4 1180 588 4.0
10.0
20.0
5.0
200 2.0 5.0 10.0
MQMF02□L□3N 1/15 163 200 433 7.78 28.7 0.800 0.890 3.4 3.8 1470 735 0.0
0 500 1000 1500
0.0
0 400 800
0.0
0 100 200 300 400 500
0.0
0 100 200 300
rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
MQMF02□L□4N 1/25 163 120 260 13.0 47.9 0.790 0.880 3.4 3.8 1670 833 MQMF041L□1N MQMF041L□2N MQMF041L□3N MQMF041L□4N
[N･m] [N･m] [N･m] [N･m]
MQMF04□L□1N 1/5 331 600 1300 5.27 19.6 1.35 1.43 3.4 3.9 980 490 25.0 40.0 70.0 120.0

A6B Series
60.0 100.0
20.0
30.0
MQMF04□L□2N 1/9 331 333 722 9.49 35.3 1.25 1.33 3.4 3.9 1180 588 400 W 15.0
50.0
40.0 Peak run range
80.0
Peak run range
60.0 Peak run range
400 10.0
Peak run range 20.0
30.0
MQMF04□L□3N 1/15 335 200 433 16.0 59.4 1.28 1.36 3.8 4.3 1470 735 5.0
10.0 20.0
40.0
Continuous run range 10.0 Continuous run range 20.0

0.0 0.0 0.0 0.0
MQMF04□L□4N 1/25 327 120 260 26.0 96.9 1.31 1.39 5.4 5.9 2060 1030 0 500 1000 1500
rotational speed [r/min]
0 400
800 0 100 200 300 400
500 0 100 200
300
MHMF01□L□1N 1/5 85 600 1300 1.36 5.01 0.131 0.134 1.0 1.2 490 245 MQMF012L□1N MQMF012L□2N MQMF012L□3N MQMF012L□4N
[N･m] [N･m] [N･m] [N･m]
MHMF01□L□2N 100 1/9 85 333 722 2.45 9.02 0.121 0.124 1.0 1.2 588 294 6.0 10.0 20.0 25.0
E Series
5.0 8.0 20.0
15.0
MHMF01□L□3N 1/15 81 200 433 3.89 14.4 0.124 0.127 1.1 1.3 784 392 100 W 4.0
6.0 Peak run range 15.0 Peak run range
4.0 10.0
2.0
MHMF02□L□1N 1/5 175 600 1300 2.78 10.2 0.437 0.457 1.5 1.8 490 245 1.0 2.0
5.0
5.0
0.0 0.0 0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300
MHMF02□L□2N 1/9 157 333 722 4.49 16.6 0.563 0.583 2.5 2.8 1180 588 rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
200 MQMF022L□1N MQMF022L□2N MQMF022L□3N MQMF022L□4N

MHMF High inertia
MHMF02□L□3N 1/15 163 200 433 7.78 28.7 0.592 0.612 2.9 3.2 1470 735 torque torque torque torque
Imformation
[N･m] [N･m] [N･m] [N･m]
12.0 20.0 35.0 60.0
MHMF02□L□4N 1/25 163 120 260 13.0 47.9 0.583 0.603 2.9 3.2 1670 833 10.0 30.0 50.0
15.0 25.0
200 V 200 W 8.0
Peak run range Peak run range 20.0
Peak run range
40.0
Peak run range
MHMF04□L□1N 1/5 339 600 1300 5.39 19.6 0.930 0.950 2.8 3.2 980 490 6.0 10.0
15.0
30.0
4.0 20.0
5.0 10.0
MHMF04□L□2N 400 1/9 332 333 722 9.51 35.3 0.833 0.853 2.8 3.2 1180 588
2.0
5.0
10.0
0.0 0.0 0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300
MHMF04□L□3N 1/15 335 200 433 16.0 59.4 0.862 0.882 3.2 3.6 1470 735
MQMF042L□1N MQMF042L□2N MQMF042L□3N MQMF042L□4N
MHMF082L□1N
1/5 672 600 1200 10.7 38.4 2.38 2.48 4.3 5.0 980 490 [N･m] [N･m] [N･m] [N･m]
25.0 40.0 70.0 120.0
MHMF082L□2N
60.0
1/9 645 333 667 18.5 68.4 2.32 2.42 5.6 6.3 1470 735 20.0
30.0 50.0
100.0
750 400 W 15.0

Peak run range 40.0 Peak run range
80.0
MHMF082L□3N 1/15 637 200 400 30.4 111 2.25 2.35 6.0 6.7 1760 882 10.0 30.0
40.0
10.0 20.0
5.0 20.0
10.0
MHMF082L□4N 1/25 637 120 240 50.7 186 2.22 2.32 6.0 6.7 2060 1030 0.0
0
500 1000 1500
0.0
0
400 800
0.0
0
100 200 300 400 500
0.0
0
100 200 300
* The symbols of the voltage specifications and the motor structure are entered in □ of the motor part number.
Please refer to “Model Designation” in P.262. Dotted line represents the torque at 10 % less supply voltage to driver.
Derating curve
* The symbols of the motor structure are entered in □ of the motor
rated torque
part number. Please refer to “Model Designation” in P.262. [%]
100
50
ambient
temperature
0 10 20 30 40 [˚C]
A6 Series Motors with Torque Characteristics of Motor Coming soon
Gear Reducer
MHMF series (100 W to 750 W)

Supply Reduction Supply Reduction
voltage Motor ratio 1/5 1/9 1/15 1/25 voltage Motor ratio 1/5 1/9 1/15 1/25
to driver output to driver output
MHMF011L□1N *1
MHMF011L□2N *1
MHMF011L□3N *1
MHMF012L□1N *1
MHMF012L□2N *1
MHMF012L□3N *1
torque torque torque torque torque torque

[N･m] [N･m] [N･m] [N･m] [N･m] [N･m]
6.0 10.0 20.0 6.0 10.0 20.0
5.0 8.0 5.0 8.0
15.0 15.0
100 W 4.0
Peak run range 6.0 Peak run range 100 W 4.0
Peak run range 6.0 Peak run range
Peak run range
A6 Family
3.0 10.0 Peak run range 3.0 10.0
4.0 4.0
2.0 2.0
5.0 5.0
1.0 2.0 1.0 2.0
Continuous run range Continuous run range Continuous run range Continuous run range Continuous run range Continuous run range
0.0 0.0 0.0 0.0 0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 500 1000 1500 0 400 800 0 100 200 300 400 500
rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
MHMF021L□1N MHMF021L□2N MHMF021L□3N MHMF021L□4N MHMF022L□1N MHMF022L□2N MHMF022L□3N MHMF022L□4N

torque torque torque torque torque torque torque torque
[N･m] [N･m] [N･m] [N･m] [N･m] [N･m] [N･m] [N･m]
12.0
20.0 35.0 60.0 12.0 20.0 35.0 60.0
10.0 30.0 50.0 10.0 30.0 50.0
15.0 15.0
A6N Series
25.0 25.0
100 V 200 W 200 W
8.0 40.0 8.0 40.0
Peak run range Peak run range Peak run range Peak run range Peak run range
20.0 Peak run range 20.0
6.0 10.0 Peak run range 30.0 Peak run range 6.0 10.0 30.0
15.0 15.0
4.0 20.0 4.0 20.0
5.0 10.0 5.0 10.0
2.0 Continuous run range 5.0 Continuous run range 10.0 2.0 5.0 10.0
Continuous run range Continuous run range Continuous run range Continuous run range Continuous run range Continuous run range
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300 0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300
rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
200 V
MHMF041L□1N *2 MHMF041L□2N *2 MHMF041L□3N *2 MHMF042L□1N *2 MHMF042L□2N *2 MHMF042L□3N *2
torque torque torque torque torque torque
[N･m] [N･m] [N･m] [N･m] [N･m] [N･m]
25.0 40.0 70.0 25.0 40.0 70.0

A6B Series
60.0 60.0
20.0 20.0
30.0 50.0 30.0 50.0
400 W 15.0
Peak run range 40.0 Peak run range 400 W 15.0
Peak run range Peak run range 40.0 Peak run range
Peak run range 20.0 20.0
10.0 30.0 10.0 30.0
10.0 20.0 10.0 20.0

5.0 5.0
Continuous run range Continuous run range 10.0 Continuous run range 10.0
Continuous run range Continuous run range Continuous run range
0.0 0.0 0.0 0.0 0.0 0.0
0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 500 1000 1500 0 400 800 0 100 200 300 400 500
rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min] rotational speed [r/min]
Dotted line represents the torque at 10 % less supply voltage to driver. MHMF082L□1N MHMF082L□2N MHMF082L□3N *3 MHMF082L□4N *3
* The symbols of the motor structure are entered in □ of the motor part number. Please refer to “Model Designation” in P.262. torque
[N･m]
torque
[N･m]
torque
[N･m]
torque
[N･m]
50.0 80.0 120.0 200.0
E Series
100.0
40.0
60.0 150.0
*1 Derating curve *2 Derating curve 750 W 30.0
Peak run range
80.0
Peak run range 40.0 60.0 100.0
rated torque rated torque 20.0
40.0
[%] [%] 10.0
20.0
20.0
50.0
0.0 0.0 0.0 0.0
100 100 0 500 1000 1500 0 400 800 0 100 200 300 400 500 0 100 200 300
90 85
Dotted line represents the torque at 10 % less supply voltage to driver.

50 50 * The symbols of the motor structure are entered in □ of the motor part number. Please refer to “Model Designation” in P.262.
Imformation
*1 Derating curve *2 Derating curve
0 10 20 30 40 0 10 20 30 40
rated torque rated torque
ambient temperature [˚C] ambient temperature [˚C] [%] [%]
100 100
Motor number without *1, *2 Derating curve 90 85
rated torque
[%] 50 50
100
0 10 20 30 40 0 10 20 30 40
50
ambient temperature [˚C] ambient temperature [˚C]
*3 Derating curve Motor number without *1, *2, *3 Derating curve

0 10 20 30 40 rated torque rated torque
ambient temperature [˚C] [%] [%]
100 100
90
50 50
0 10 20 30 35 40 0 10 20 30 40
ambient temperature [˚C] ambient temperature [˚C]
A6 Series Motors with Dimensions of Motor Coming soon
Gear 000
Reducer
MQMF series (Leadwire type) MQMF series (Connector type)

■ without Brake Motor connector T ■ without Brake T
Encoder connecter Motor connector

Encoder connecter (Key way dimensions) (Key way dimensions)
+50
+50
220 0
200 0
L
B
H LL (LG) LR H
L
LE
LL (LG) LR □LC □LC
LE LQ LQ
A6 Family
4-LZ depth X 4-LZ depth X
φS(h6)
φS(h6)
LW LW
LK A LK A
φL φL
φLB(h7)
φLB(h7)
□AF
□AF
ST depth Y ST depth Y
A6N Series
■ with Brake ■ with Brake T
T
Motor connector Encoder connecter Motor/Brake connector
Brake
+50
+50
B
220 0
200 0
connector
B
H LL (LG) LR H
L LE
LL (LG) LR □LC
□LC
LE LQ LQ 4-LZ depth X
4-LZ depth X
φS(h6)

LW
A6B Series
φS(h6)
LW
LK A
LK
φL
A φL
φLB(h7)
φLB(h7)
□AF
□AF

without without without without
Motor Reduction Motor Reduction
E Series
Brake Brake Brake Brake
Motor Part No.* output L with LL with (LG) LR LQ LW LK S B×T H ST Y LB LA LE LZ LC X AF Motor Part No.* output L with LL with (LG) LR LQ LW LK S B×T H ST Y LB LA LE LZ LC X AF
(W) ratio (W) ratio
155.7 56.2 155.7 56.2
MQMF01□L□1N 1/5 MQMF01□L□1N 1/5
177 77.5 177 77.5
67.5 67.5
155.7 56.2 155.7 56.2
MQMF01□L□2N 1/9 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12 MQMF01□L□2N 1/9 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12
177 77.5 177 77.5
100 3 60 100 3 60
171.7 56.2 171.7 56.2
Imformation
MQMF01□L□3N 1/15 83.5 MQMF01□L□3N 1/15 83.5
193 77.5 193 77.5
199.7 56.2 199.7 56.2
MQMF01□L□4N 1/25 93.5 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20 MQMF01□L□4N 1/25 93.5 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20
221 77.5 221 77.5
166.8 62.3 166.8 62.3
MQMF02□L□1N 1/5 72.5 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12 MQMF02□L□1N 1/5 72.5 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12
190.4 85.9 190.4 85.9
201.8 62.3 201.8 62.3
MQMF02□L□2N 1/9 89.5 MQMF02□L□2N 1/9 89.5
225.4 85.9 225.4 85.9
200 3 80 200 3 80
212.3 62.3 212.3 62.3
MQMF02□L□3N 1/15 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20 MQMF02□L□3N 1/15 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20
235.9 85.9 235.9 85.9
100 100
212.3 62.3 212.3 62.3
MQMF02□L□4N 1/25 MQMF02□L□4N 1/25
235.9 85.9 235.9 85.9
214.3 74.8 214.3 74.8
MQMF04□L□1N 1/5 MQMF04□L□1N 1/5
237.9 98.4 237.9 98.4
89.5 89.5
214.3 74.8 214.3 74.8
MQMF04□L□2N 1/9 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78 MQMF04□L□2N 1/9 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78
237.9 98.4 237.9 98.4
400 20 80 400 20 80
224.8 74.8 224.8 74.8
MQMF04□L□3N 1/15 100 MQMF04□L□3N 1/15 100
248.4 98.4 248.4 98.4
239.8 74.8 239.8 74.8
MQMF04□L□4N 1/25 104 61 40 35 30 24 8×4 7 M8 16 90 115 5 M8 98 MQMF04□L□4N 1/25 104 61 40 35 30 24 8×4 7 M8 16 90 115 5 M8 98
263.4 98.4 263.4 98.4
* The symbols of the voltage specifications and the motor structure are entered in □ of the motor part number. * The symbols of the voltage specifications and the motor structure are entered in □ of the motor part number.
Please refer to “Model Designation” in P.262. Please refer to “Model Designation” in P.262.
A6 Series Motors with Dimensions of Motor Coming soon
Gear Reducer
MHMF series (Leadwire type) MHMF series (Connector type)

■ without Brake Motor connector T ■ without Brake T
Encoder connecter Motor connector
+50
+50
L
220 0
200 0
B
*220: 200 W or more
*(230)
H LL (LG) LR H
L LE
LL (LG) LR □LC □LC
LE LQ 4-LZ depth X LQ 4-LZ depth X
A6 Family
φS(h6)
φS(h6)
LW LW
LK A LK A
φL φL
φLB(h7)
φLB(h7)
□AF
□AF
A6N Series
■ with Brake ■ with Brake T
T
Encoder Motor connector Encoder connecter Motor/Brake connector
(Key way dimensions) (Key way dimensions)
connecter Brake L
+50
+50
connector
B
220 0
200 0
B
(LG)
*(230)
H LL LR H
*220: 200 W or more L LE
(LG) □LC □LC
LL LR
LE LQ LQ 4-LZ depth X
4-LZ depth X
φS(h6)
LW

φS(h6)
A6B Series
LW
LK A
LK
φL
A φL
φLB(h7)
φLB(h7)
□AF
□AF

without without without without
Motor Reduction Motor Reduction
E Series
Motor Part No.* output L with LL with (LG) LR LQ LW LK S B×T H ST Y LB LA LE LZ LC X AF Motor Part No.* output L with LL with (LG) LR LQ LW LK S B×T H ST Y LB LA LE LZ LC X AF
(W) ratio (W) ratio
167 67.5 167 67.5
MHMF01□L□1N 1/5 MHMF01□L□1N 1/5
200.9 101.4 200.9 101.4
67.5 67.5
167 67.5 167 67.5
MHMF01□L□2N 100 1/9 32 20 18 16 12 4×2.5 4 M5 10 50 60 3 M5 52 12 40 MHMF01□L□2N 100 1/9 32 20 18 16 12 4×2.5 4 M5 10 50 60 3 M5 52 12 40
200.9 101.4 200.9 101.4
177.5 67.5 177.5 67.5
MHMF01□L□3N 1/15 78 MHMF01□L□3N 1/15 78
Imformation
211.4 101.4 211.4 101.4
172 67.5 172 67.5
MHMF02□L□1N 1/5 72.5 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12 MHMF02□L□1N 1/5 72.5 32 20 18 16 12 4×2.5 4 M5 10 50 60 M5 52 12
201.3 96.8 201.3 96.8
207 67.5 207 67.5
MHMF02□L□2N 1/9 89.5 MHMF02□L□2N 1/9 89.5
236.3 96.8 236.3 96.8
200 3 60 200 3 60
217.5 67.5 217.5 67.5
MHMF02□L□3N 1/15 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20 MHMF02□L□3N 1/15 50 30 26 22 19 6×3.5 6 M6 12 70 90 M6 78 20
246.8 96.8 246.8 96.8
100 100
217.5 67.5 217.5 67.5
MHMF02□L□4N 1/25 MHMF02□L□4N 1/25
246.8 96.8 246.8 96.8
224 84.5 224 84.5
MHMF04□L□1N 1/5 MHMF04□L□1N 1/5
253.3 113.8 253.3 113.8
89.5 89.5
224 84.5 224 84.5
MHMF04□L□2N 400 1/9 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78 20 60 MHMF04□L□2N 400 1/9 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78 20 60
253.3 113.8 253.3 113.8
234.5 84.5 234.5 84.5
MHMF04□L□3N 1/15 100 MHMF04□L□3N 1/15 100
263.8 113.8 263.8 113.8
235.4 91.9 235.4 91.9
MHMF082L□1N 1/5 93.5 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78 MHMF082L□1N 1/5 93.5 50 30 26 22 19 6×3.5 6 M6 12 70 90 3 M6 78
269 125.5 269 125.5
250.4 91.9 250.4 91.9
MHMF082L□2N 1/9 97.5 MHMF082L□2N 1/9 97.5
284 125.5 284 125.5
750 20 80 750 20 80
262.9 91.9 262.9 91.9
MHMF082L□3N 1/15 61 40 35 30 24 8×4 7 M8 16 90 115 5 M8 98 MHMF082L□3N 1/15 61 40 35 30 24 8×4 7 M8 16 90 115 5 M8 98
296.5 125.5 296.5 125.5
110 110
262.9 91.9 262.9 91.9
MHMF082L□4N 1/25 MHMF082L□4N 1/25
296.5 125.5 296.5 125.5
* The symbols of the voltage specifications and the motor structure are entered in □ of the motor part number. * The symbols of the voltage specifications and the motor structure are entered in □ of the motor part number.
Please refer to “Model Designation” in P.262. Please refer to “Model Designation” in P.262.
A6 Series Motor Specification
Description
Environmental Conditions Permissible Load at Output Shaft

Item Conditions The radial load is defined as a load applied to the output shaft in the right-angle direction. This load is
*1
Ambient temperature 0 ˚C to 40 ˚C (free from freezing) generated when the gear head is coupled to the machine using a chain, belt, etc., but not when the gear
Ambient humidity 20 % to 85 % RH (free from condensation) head is directly connected to the coupling. As shown in the right figure, the permissible value is determined
Storage temperature *2
–20 ˚C to 65 ˚C (Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*5) based on the load applied to the L/2 position of the output shaft. The thrust load is defined as a load applied
Storage humidity 20 % to 85 % RH (free from condensation*5) to the output shaft in the axial direction.
A6 Family
Vibration Motor only Lower than 49 m/s2 (5 G) at running, 24.5 m/s2 (2.5 G) at stall
Because the radial load and thrust load significantly affect the life of the bearing, take care not to
Impact Motor only Lower than 98 m/s2 (10 G)
allow the load during operation to exceed the permissible radial load and thrust load shown in the
MSMF, MQMF, MHMF (except rotating portion of output shaft and leadwire end.)
IP65 *3　　 table below.
Enclosure (MSMF, MQMF, MHMF In case of leadwire type.)
rating IP67 motor
(Motor only) IP67 *3*4 (except rotating portion of output shaft and connecting pin part of the motor connector
and the encoder connector) Radial load (P) direction Thrust load (A and B) direction
A6N Series
Altitude Lower than 1000 m
L
*1 Ambient temperature to be measured at 5 cm away from the motor. A
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529, EN60034-5). Do not use these motors in applica-
tion where water proof performance is required such as continuous wash-down operation. Shaft Motor
*4 This condition is applied when the connector mounting screw are tightened to the recommended tightening torque.
L/2 B

A6B Series
<Note> Positive IP65 IP67
P
(1000 W or less)
Initial setup of rotational direction: direction <Leadwire type> <Connector type>
positive = CCW and negative = CW. (CCW)
Pay an extra attention.
Negative Built-in Holding Brake
direction
(CW) In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the
work (moving load) from falling by gravity while the power to the servo is shut off.
E Series
Notes on [Motor specification] page
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Note) 1. Regenerative resistors are not built in drivers of A and B frames. When regeneration occurs, Never use this for "Brake" purpose to stop the load in motion.
prepare an optional external regenerative resistor.
[At AC100 V of power voltage]
• Output Timing of BRK-OFF Signal
Regenerative brake frequency represents the frequency of the motor's stops from the rated speed
with deceleration without load. • For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is
Imformation
• If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/ in motion, refer to the Operating Instructions (Overall).
rotor moment of inertia. • With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in motion), you can set
• When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal
proportion to the square of (running speed/rated speed).
• Power supply voltage is AC115 V (at 100 V of the main voltage). turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion. For
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running details, download a copy of the instruction manual from our website.
supply voltage/115) relative to the value in the table. <Note>
• When regeneration occurs continuously such cases as running speed frequently changes or
1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with
vertical feeding, consult us or a dealer.
built-in brake, however this does not affect any functionality.
[At AC200 V of power voltage]
Regenerative brake frequency represents the frequency of the motor's stops from the rated speed 2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is
with deceleration without load. open). Pay an extra attention when magnetic sensors are used nearby the motor.
• If the load is connected, frequency will be defines as 1/(m+1), where m=load moment of inertia/
rotor moment of inertia.
• When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse
proportion to the square of (running speed/rated speed).
• Power supply voltage is AC230 V (at 200 V of the main voltage).
If the supply voltage fluctuates, frequency is in inverse proportion to the square of (Running
supply voltage/230) relative to the value in the table.
• When regeneration occurs continuously such cases as running speed frequently changes or
vertical feeding, consult us or a dealer.
Note) 2. If the effective torque is within the rated torque, there is no limit in generative brake.
Note) 3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
Note) 4. Releasing time values represent the ones with DC-cutoff using a varistor.
A6 Series Motor Specification Cable part No. Designation A6 Series
Description Options
● Specifications of Built-in Holding Brake Encoder Cable
Releasing
Static Exciting voltage Permissible 1 2 3 4 5 6 7 8 9 10 11 12
Rotor Engaging Releasing Permissible Permissible
Motor Motor friction current DC V angular
series output torque
inertia
× 10–4 kg·m2
time
ms
time
ms
DC A Exciting
work (J) per total work
acceleration M F E C A 0 0 5 0 M J D
voltage one braking × 10 J
3
N·m (at cool-off) rad/s2
DC V
① ② ③ ④
Type classification
50 W,100 W 0.294 or more 0.002 35 or less 20 or less 0.30 39.2 4.9
1 or more MFECA: Encoder cable
A6 Family
200 W,400 W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1
① Cable length ② Cable type
MSMF 24±1.2
30000 0030 3m E PVC cable with shield by Oki Electric Cable Co., 0.20 mm2 4P(8-wire), 3P(6-wire)
（ 80 mm sq.
or less ） 750 W 2.45 or more 196 147
0050 5m M Hitachi Cable, Ltd. Highly bendable type
0.075 70 or less 20 or less 0.42 1 or more 0100 10 m T Hitachi Cable, Ltd. Standard bendable type
1000 W 3.80 or more 185 80.0 0200 20 m
24±2.4 ③ Cable end (Encoder side)
A Tyco Electronics Japan G.K. connector
1.0 kW, 1.5 kW,
A6N Series
8.0 or more 50 or less 50 J Japan Aviation Electronics Industry, Ltd. connector (Direction of motor shaft)
2.0 kW
0.175 15 or less 0.81 600 K Japan Aviation Electronics Industry, Ltd. connector (Opposite direction of motor shaft)
MSMF 3.0 kW 12.0 or more 80 or less 2 or more 900 P Japan Aviation Electronics Industry, Ltd. plug connector
10000
（）
100 mm sq. S “S” shaped cannonplug
or more 24±2.4
4.0 kW 16.2 or more 1470 2160 T Japan Aviation Electronics Industry, Ltd. plug connector
1.12 110 or less 50 or less 0.90
5.0 kW 22.0 or more 1545 2000 ④ Cable end (Driver side)
D Connector (Without battery box)

A6B Series
MQMF 100 W 0.39 or more 0.018 15 or less 0.30 1 or more 105 44.1 E Connector (With battery box)
20 or less 30000
（ 80 mm sq.
or less ） 200 W, 400 W 1.6 or more 0.075 70 or less 0.36 24±2.4 185 80
50 W, 100 W 0.38 or more 0.002 35 or less 0.30 39.2 4.9 Motor Cable, Brake Cable
MHMF 1 or more
200 W, 400 W 1.6 or more 0.018 50 or less 20 or less 0.36 105 44.1 30000 1 2 3 4 5 6 7 8 9 10 11 12
（80ormmlesssq.） 24±2.4
M F M C A 0 0 5 2 N J D
E Series
750 W, 1000 W 3.8 or more 0.075 70 or less 0.42 185 80
① ② ③ ④ ⑤ ⑥
1.0 kW, 1.5 kW 13.7 or more 1.12 100 or less 50 or less 0.79 1470 2160 10000 AC servo motor cable
MHMF 2 or more
2.0 kW, 3.0 kW, ① Type classification ④ Cable type ROBO-TOP® is a trade mark of DYDEN CORPORATION
25.0 or more 4.7 80 or less 25 or less 1800 3000 5440
（）
100 mm sq.
4.0 kW
or more 1.29 24±2.4 A Standard E ROBO-TOP® 4-wire by DYDEN CORPORATION
B Special F ROBO-TOP® 6-wire by DYDEN CORPORATION
Imformation
5.0 kW 44.1 or more 4.1 150 or less 30 or less 1800 3100 5108
Design order G ROBO-TOP® 2-wire by DYDEN CORPORATION
…
1.0 kW, 1.5 kW, N 4-wire by Hitachi Cable, Ltd. (Highly bendable type)
13.7 or more 100 or less 0.79 1470 2160
2.0 kW ② Cable length P 4-wire by Hitachi Cable, Ltd. (Standard bendable type)
1.12 50 or less 10000
2 or more 003 3m R 2-wire by Hitachi Cable, Ltd. (Highly bendable type)
MDMF 3.0 kW 22.0 or more 110 or less 0.90 1545 2000
005 5m S 2-wire by Hitachi Cable, Ltd. (Standard bendable type)
（ or more ）
100 mm sq.
24±2.4 010 10 m U 4-wire for A6 series small motor* (Highly bendable type)
4.0 kW 25.0 or more 4.7 80 or less 25 or less 3000 5440
1.29 1800
020 20 m V 6-wire for A6 series small motor* (Highly bendable type)
5.0 kW 44.1 or more 4.1 150 or less 30 or less 3100 5108 W 4-wire for A6 series small motor* (Standard bendable type)
③ Sectional area of X 6-wire for A6 series small motor* (Standard bendable type)
0.85 kW, 1.3 kW, cable core
* 80 mm sq. or less
13.7 or more 1.12 100 or less 50 or less 0.79 1470 2160 10000 0 0.75 mm2
1.8 kW ⑤ Cable end at motor side
MGMF 2 or more
1 1.25 mm2
C S type cannon plug
（ or more ） 2.9 kW 25.0 or more 4.7 80 or less 25 or less 1800 3000 5440
100 mm sq. 2 2.0 mm2
1.29 24±2.4 E Tyco Electronics Japan G.K. connector
3 3.5 mm2
4.4 kW 44.1 or more 3.93 150 or less 30 or less 1800 3100 5108 F Japan Aviation Electronics Industry, Ltd. connector (Direction of motor shaft)
7 0.3 mm2
G Japan Aviation Electronics Industry, Ltd. connector (Opposite direction of motor shaft)
• Releasing time values represent the ones with DC-cutoff using a varistor. J Japan Aviation Electronics Industry, Ltd. connector (Direction of motor shaft)
• Above values (except static friction torque, releasing voltage and excitation current) represent typical values. K Japan Aviation Electronics Industry, Ltd. connector (Opposite direction of motor shaft)
• Backlash of the built-in holding brake is kept ±1° or smaller at ex-factory point. U Japan Aviation Electronics Industry, Ltd. plug connector
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than
⑥ Cable end at driver side
10 million times. (Life end is defined as when the brake backlash drastically changes.)
D Rod terminal
T Clamp terminal
A6 Series Options Specifications of Motor connector
50 W to 1000 W　80 mm sq. or less 0.85 kW to 5.0 kW　100 mm sq. or more

● When the motors of <MSMF, MQMF, MHMF (Leadwire type)> are used, they are connected as shown below. ● When the motors of <MSMF, MDMF, MGMF, MHMF> are used, they are connected as shown below.
Connector: Tyco Electronics Japan G.K. (The figures below show connectors for the motor.) Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.)
• Connector for encoder

[Connector for encoder] [Connector for motor]
Connector <Large size Encoder connector> 
PIN No. Application PIN No. Application
for encoder 3 2 1 2 1
6 5 4 1 BAT+* 4 3
1 U-phase IP67 motor
A6 Family
A
Connector 2 BAT–* 2 V-phase Connector for encoder M B
9 8 7 L N C
for brake 3 FG(SHIELD) 172167-1 3 W-phase (Large size) T P
1 2 3
D
172169-1 4 Ground
K
4 5 6 7
4 PS S R
Connector 23-bit Absolute
J E
8 9 10
5 PS H F
for motor
G
* Connector pin diagram is viewed from the direction
6 NC of the arrow. JL10-2A20-29P JN2AS10ML3-R
7 E5V
8 E0V 23-bit Absolute 23-bit Absolute
[Connector for Brake] PIN No. Application PIN No. Application
9 NC
A6N Series
PIN No. Application A NC 1 E0V
* Connector pin diagram is <Remarks> 1
B NC 2 NC
viewed from the direction 1 Brake
Do not connect anything 2
of the arrow. 2 Brake C NC 3 PS
to NC.
172165-1 IP67 motor D NC 4 E5V
* Electromagnetic brake
E NC 5 BAT− *
* When using the motor as an incremental system, is a nonpolar device. Connector for encoder
BAT+ and BAT– can be left unconnected. F NC 6 BAT+ *
* Connector pin diagram is viewed from the direction (Small size)
G E0V 7 PS
of the arrow.
H E5V 8 NC
● When the motors of <MSMF, MQMF, MHMF (Connector type)> are used, they are connected as shown below. J FG(SHIELD) 9 FG(SHIELD)

A6B Series
Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.) K PS 10 NC
L PS
23-bit Absolute M NC
1 5 PIN No. Application Tightening torque of the screw (M2) N NC
Connector <Remarks>
2 6 1 FG(SHIELD) 0.19 N·m to 0.21 N·m P NC
for encoder * Be sure to use only the screw supplied with R NC Do not connect anything to NC.
3 2 BAT–*
the connector, to avoid damage. S BAT− * * When using the motor as an incremental system,
4 7 3 E0V
T BAT+ * BAT+ and BAT– can be left unconnected.
4 PS * When using the motor as an incremental system,
JN6CR07PM2 5 BAT+* BAT+ and BAT– can be left unconnected.
E Series
JN6CR07PM4 6 E5V
* Top view of the motor.
7 PS • Connector for motor/brake
Table for motor connector and brake connector
<MSMF> PE 200 V 200 V
Motor Motor
3 PIN No. Application Tightening torque of the screw (M2) Motor output Motor output
part No. without Brake with Brake part No. without Brake with Brake
1 U-phase 0.085 N·m to 0.095 N·m (screwed to plastic)
2
2 V-phase * Be sure to use only the screw supplied with 1.0 kW to 2.0 kW A C 0.85 kW to 1.8 kW A C
1 the connector, to avoid damage. MSMF MGMF
3 W-phase 3.0 kW to 5.0 kW B D 2.9 kW to 4.4 kW B D
Imformation
* Secure the gasket in place without removing
PE Ground 1.0 kW to 2.0 kW A C 1.0 kW to 1.5 kW A C
JN8AT04NJ1 it from the connector. MDMF MHMF
3.0 kW to 5.0 kW B D 2.0 kW to 5.0 kW B D
* Top view of the motor.
Connector without Brake with Brake * Electromagnetic brake

<MHMF 50 W, 100 W> is a nonpolar device.
for motor PE PIN No. Application PIN No. Application
5 1 U-phase 1 U-phase
4 2 V-phase 2 V-phase Connector for G H A A B C
JN11AH06NN2
3 3 W-phase 3 W-phase F I B D F
2
* Top view of the motor. motor/brake D A
E
4 NC 4 Brake
1 E D C G H I
5 NC 5 Brake C B
<MQMF, MHMF 200 W to 1000 W> PE Ground PE Ground
A C D
PE Tightening torque of the screw (M2) JL10-2E20-18PE-B JL10-2E24-11PE-B
JL10-2E20-4PE-B
5 0.085 N·m to 0.095 N·m
4
JN11AH06NN1
* Electromagnetic brake is a nonpolar device. B with Brake : Brake with Brake : Brake
* Be sure to use only the screw supplied with the G A
3 * Top view of the motor. connector, to avoid damage. JL10-2E22-22PE-B without Brake : NC without Brake : NC
2 * Secure the gasket in place without removing it with Brake : Brake with Brake : Brake
PIN No. Application H B
1 from the connector. without Brake : NC without Brake : NC
A U-phase
<Remarks> Do not connect anything to NC. A NC C NC
B V-phase
C W-phase F U-phase D U-phase
1 I V-phase E V-phase
[Motor with brake] <MSMF> PIN No. Application Tightening torque of the screw (M2) D Ground
0.19 N·m to 0.21 N·m B W-phase F W-phase
1 Brake
Connector for brake * Electromagnetic brake is a nonpolar device. E Ground G Ground
2 Brake D Ground H Ground
* Be sure to use only the screw supplied with
2 the connector, to avoid damage. C NC I NC
JN4AT02PJM-R * Secure the gasket in place without removing
* Top view of the motor. it from the connector. <Remarks> Do not connect anything to NC.
A6 Series Options Encoder Cable * It doesn't correspond to IP65 and IP67.
MSMF 50 W to 1000 W, MQMF 100 W to 400 W MFECA0 ＊＊ 0MJD (Highly bendable type, Direction of motor shaft)
80 mm sq. or less MSMF 50 W to 1000 W
80 mm sq.
Part No. MFECA0 ＊＊ 0EAD MHMF 50 W to 1000 W MFECA0 ＊＊ 0MKD (Highly bendable type, Opposite direction of motor shaft)
Applicable model MQMF 100 W to 400 W
or less
(Leadwire type) Part No.
Applicable MHMF 50 W to 1000 W
MFECA0 ＊＊ 0TJD (Standard bendable type, Direction of motor shaft)
Specifications 23-bit absolute encoder When used in incremental system (without battery box) model (Connector type)
MFECA0 ＊＊ 0TKD (Standard bendable type, Opposite direction of motor shaft)
[Unit: mm]
L Specifications 23-bit absolute encoder When used in incremental system (without battery box)
(ø6.5)
[Unit: mm]
Direction of Opposite direction of L
A6 Family
motor shaft motor shaft
(16)
(ø5.5)
(4) (14) (4)
Title Part No. Manufacturer L (m) Part No.(ex.)

　　　　　　
Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030EAD
Identification label
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050EAD
Connector (Motor side) 172161-1 Tyco Electronics Japan 10 MFECA0100EAD
A6N Series
Connector pin 170365-1 G.K. 20 MFECA0200EAD Title Part No. Manufacturer L (m) Part No.(ex.)
Cable 0.20 mm2×3P (6-wire) Oki Electric Cable Co., Ltd. Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030MJD
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050MJD
Connector (Motor side) JN6FR07SM1 Japan Aviation 10 MFECA0100MJD
MSMF 50 W to 1000 W, MQMF 100 W to 400 W Connector pin LY10-C1-A1-10000 Electronics Ind. 20 MFECA0200MJD
80 mm sq. or less
Part No. MFECA0 ＊＊ 0EAE Applicable model
MHMF 50 W to 1000 W Cable AWG24 4-wire, AWG22 2-wire (ø5.5) Hitachi Cable, Ltd.
(Leadwire type)

A6B Series
Specifications 23-bit absolute encoder When used in absolute system (with battery box) *
MFECA0 ＊＊ 0MJE (Highly bendable type, Direction of motor shaft)
MSMF 50 W to 1000 W
80 mm sq.
* Battery is not included. Please buy the absolute encoder battery “DV0P2990” separately. [Unit: mm]
MFECA0 ＊＊ 0MKE (Highly bendable type, Opposite direction of motor shaft) MQMF 100 W to 400 W
or less
Part No.
L MFECA0 ＊＊ 0TJE (Standard bendable type, Direction of motor shaft) Applicable MHMF 50 W to 1000 W
110 300 model
(Connector type)
MFECA0 ＊＊ 0TKE (Standard bendable type, Opposite direction of motor shaft)
Specifications 23-bit absolute encoder When used in absolute system (with battery box) *
　　　　　 (ø8)
* Battery is not included. Please buy the absolute encoder battery “DV0P2990” separately. [Unit: mm]
E Series
(16)
L
(4) (14) (4) 　 Direction of 110 300
motor shaft
(ø5.5)
Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030EAE
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050EAE
Connector (Motor side) 172161-1 Tyco Electronics Japan 10 MFECA0100EAE
Imformation
Opposite direction of
Connector pin 170365-1 G.K. 20 MFECA0200EAE motor shaft
Cable 0.20 mm2×4P (8-wire) Oki Electric Cable Co., Ltd. 　 Identification label 　

Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030MJE
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050MJE
Connector (Motor side) JN6FR07SM1 Japan Aviation 10 MFECA0100MJE
Connector pin LY10-C1-A1-10000 Electronics Ind. 20 MFECA0200MJE
Cable AWG24 4-wire、AWG22 2-wire (φ5.5) Hitachi Cable, Ltd.
A6 Series Options Encoder Cable * It doesn't correspond to IP65 and IP67.
100 mm sq. or more 100 mm sq. or more

Part No. MFECA0 ＊＊ 0EPD Applicable model
0.85 kW to 5.0 kW Part No. MFECA0 ＊＊ 0ESE Applicable model
0.85 kW to 5.0 kW (IP67 motor)
23-bit absolute encoder When used in incremental system (without battery box) 23-bit absolute encoder When used in absolute system (with battery box) *
<Large one-touch lock type> <Large screwed type>
L
* Battery is not included. Please buy the absolute encoder battery “DV0P2990” separately.
[Unit: mm]
[Unit: mm]
(ø6.5)
L
110 300
ø37.3
A6 Family
　　　　
(ø8)
ø37.3
Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030EPD 　　
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050EPD
Connector (Motor side) JL10-6A20-29S-EB Japan Aviation 10 MFECA0100EPD Title Part No. Manufacturer L (m) Part No.(ex.)
A6N Series
Cable clamp JL04-2022CK(09)-R Electronics Ind. 20 MFECA0200EPD Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030ESE
Cable 0.2 mm2 ×3P (6-wire) Oki Electric Cable Co., Ltd. Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050ESE
Connector (Motor side) N/MS3106B20-29S Japan Aviation 10 MFECA0100ESE
100 mm sq. or more Cable clamp N/MS3057-12A Electronics Ind. 20 MFECA0200ESE
Part No. MFECA0 ＊＊ 0ESD Applicable model
0.85 kW to 5.0 kW Cable 0.2 mm2 ×4P (8-wire) Oki Electric Cable Co., Ltd.
23-bit absolute encoder When used in incremental system (without battery box)
Specifications
<Large screwed type> 100 mm sq. or more
MFECA0 ＊＊ 0ETD

Part No. 0.85 kW to 5.0 kW (IP67 motor)
A6B Series
Applicable model
L
[Unit: mm] 23-bit absolute encoder When used in incremental system (without battery box)
Specifications
(ø6.5)


ø37.3
[Unit: mm]
　　　 L
(ø6)
ø20
E Series
Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030ESD 　　　　　
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050ESD
Connector (Motor side) N/MS3106B20-29S Japan Aviation 10 MFECA0100ESD Title Part No. Manufacturer L (m) Part No.(ex.)
Cable clamp N/MS3057-12A Electronics Ind. 20 MFECA0200ESD Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030ETD
Cable 0.2 mm2 ×3P (6-wire) Oki Electric Cable Co., Ltd. Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050ETD
Connector (Motor side) JN2DS10SL1-R Japan Aviation 10 MFECA0100ETD
Imformation
100 mm sq. or more Connector pin JN1-22-22S-PKG100 Electronics Ind. 20 MFECA0200ETD
Part No. MFECA0 ＊＊ 0EPE Applicable model
0.85 kW to 5.0 kW (IP67 motor) Cable 0.2 mm2 ×3P (6-wire) Oki Electric Cable Co., Ltd.
23-bit absolute encoder When used in absolute system (with battery box) *
Specifications
<Large one-touch lock type> 100 mm sq. or more
Part No. MFECA0 ＊＊ 0ETE Applicable model
0.85 kW to 5.0 kW (IP67 motor)
[Unit: mm]
23-bit absolute encoder When used in absolute system (with battery box) *
L Specifications
110 300

[Unit: mm]
L
(ø8)
110 300
ø37.3
(ø6)
　　
Title Part No. Manufacturer L (m) Part No.(ex.) ø20
Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030EPE
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050EPE
Connector (Motor side) JL10-6A20-29S-EB 10 MFECA0100EPE Title Part No. Manufacturer L (m) Part No.(ex.)
Japan Aviation
Cable clamp JL04-2022CK(09)-R Electronics Ind. 20 MFECA0200EPE Connector (Driver side) 3E206-0100 KV Sumitomo 3M 3 MFECA0030ETE
Shell kit 3E306-3200-008 (or equivalent) 5 MFECA0050ETE
Cable 0.2 mm2 ×3P (6-wire) Oki Electric Cable Co., Ltd.
Connector (Motor side) JN2DS10SL1-R Japan Aviation 10 MFECA0100ETE
Connector pin JN1-22-22S-PKG100 Electronics Ind. 20 MFECA0200ETE
Cable 0.2 mm2 ×3P (6-wire) Oki Electric Cable Co., Ltd.
A6 Series Options Motor Cable (without Brake) * It doesn't correspond to IP65 and IP67.
MSMF 50 W to 1000 W, MQMF 100 W to 400 W MFMCA0 ＊＊ 0UFD (Highly bendable type, Direction of motor shaft)
80 mm sq. or less 80 mm sq.
Part No. MFMCA0 ＊＊ 0EED Applicable model
MHMF 50 W to 1000 W MFMCA0 ＊＊ 0UGD (Highly bendable type, Opposite direction of motor shaft) MQMF 100 W to 400 W
or less
(Leadwire type) Part No. MHMF 200 W to 1000 W
MFMCA0 ＊＊ 0WFD (Standard bendable type, Direction of motor shaft) Applicable
(Connector type)
(50) L (50) [Unit: mm] model
MFMCA0 ＊＊ 0WGD (Standard bendable type, Opposite direction of motor shaft)
(φ11)
[Unit: mm]
Direction of (26.6) L (50)
(12.0)
motor shaft
(φ6.8)
(20)
　　　　 (4) (10.0) (4) 　
A6 Family
1
2
3
4
5
Connector 172159-1 Tyco Electronics Japan 3 MFMCA0030EED
6
Cable clamp 170366-1 G.K. 5 MFMCA0050EED Opposite direction of
Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0100EED motor shaft
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200EED
Cable ROBO-TOP 600V 0.75 mm2 4-wire DYDEN CORPORATION
6
5
A6N Series
4
3
2
　　　　　
1
MFMCA0 ＊＊ 0NJD (Highly bendable type, Direction of motor shaft) MSMF 50 W to 1000 W
80 mm sq.
MFMCA0 ＊＊ 0RJD (Standard bendable type, Direction of motor shaft) or less (Connector type) Title Part No. Manufacturer L (m) Part No.(ex.)
Part No. Connector JN11FH06SN1 Japan Aviation 3 MFMCA0030UFD
MFMCA0 ＊＊ 0NKD (Highly bendable type, Opposite direction of motor shaft) Applicable
MSMF 200 W to 1000 W Electronics Ind.
model Cable clamp JN11S35H3A1 5 MFMCA0050UFD
MFMCA0 ＊＊ 0RKD (Standard bendable type, Opposite direction of motor shaft) (Connector type) Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0100UFD
[Unit: mm]
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200UFD

A6B Series
motor shaft
Cable AWG18 6-wire（φ6.8） NIKKO ELECTRIC WIRE CO.,LTD
(ø6.7)
MSMF 1.0 kW to 2.0 kW, MDMF 1.0 kW to 2.0 kW

100 mm sq. or more
Part No. MFMCDO ＊＊ 2EUD Applicable model
MHMF 1.0 kW, 1.5 kW, MGMF 0.85 kW to 1.8 kW
<One-touch lock type>
Opposite direction of Identification label
[Unit: mm]
motor shaft L (50)
(φ12.5)
<Remarks>
E Series
Motor cable for opposite direction of motor shaft
ø37.3
　　　　　 cannot be used with a motor 50 W and 100 W.
　　　　　
Connector JN8FT04SJ1 Japan Aviation 3 MFMCA0030NJD Title Part No. Manufacturer L (m) Part No.(ex.)
Cable clamp ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCA0050NJD Connector JL10-6A20-4SE-EB Japan Aviation 3 MFMCD0032EUD
Imformation
Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0100NJD Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCD0052EUD
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200NJD Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCD0102EUD
Cable AWG18 4-wire (φ6.7 mm) Hitachi Cable, Ltd. Nylon insulated round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCD0202EUD
Cable ROBO-TOP 600V 2.0mm2 4-wire DYDEN CORPORATION
Part No.
MFMCA0 ＊＊ 7UFD （Movable/fixed common-use,
direction of motor shaft ） 80 mm sq.
or less MHMF　50 W, 100 W
（opposite directionof motor shaft） (Connector type)
Movable/fixed common-use, Applicable
MFMCA0 ＊＊ 7UGD model Part No. MFMCDO ＊＊ 2ECD
100 mm sq. or more
MHMF 1.0 kW, 1.5 kW, MGMF 0.85 kW to 1.8 kW
Applicable model
[Unit: mm]
<Screwed type>
motor shaft [Unit: mm]
(φ5.4)
(20) L (50)
3 2 1
(φ12.5)
6 5 4
ø37.3
motor shaft 　　　　　
6 5 4

3 2 1
　　　　　
Connector JL04V-6A20-4SE-EB-R Japan Aviation 3 MFMCD0032ECD
Title Part No. Manufacturer L (m) Part No.(ex.) Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCD0052ECD
Connector JN11FH06SN2 Japan Aviation 3 MFMCA0037UFD Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCD0102ECD
Cable clamp JN11S10K4A1 Electronics Ind. 5 MFMCA0057UFD Nylon insulated round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCD0202ECD
Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0107UFD Cable ROBO-TOP 600V 2.0mm2 4-wire DYDEN CORPORATION
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0207UFD
Cable AWG22 6-wire (φ5.4 mm) NIKKO ELECTRIC WIRE CO.,LTD
A6 Series Options Motor Cable (without Brake) * It doesn't correspond to IP65 and IP67.

Part No. MFMCEO ＊＊ 2EUD Applicable model
MHMF 2.0 kW　<One-touch lock type> Part No. MFMCE0 ＊＊ 3ECT Applicable model
MGMF 2.4 kW　<Screwed type>
L (50) [Unit: mm] [Unit: mm]

L (50)
(φ12.5)
(φ14)
ø42.2
ø40.5
　　　　　　　　　　　　
A6 Family
Connector JL10-6A22-22SE-EB Japan Aviation 3 MFMCE0032EUD Title Part No. Manufacturer L (m) Part No.(ex.)
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0052EUD Connector JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCE0033ECT
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCE0102EUD Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0053ECT
Nylon insulated round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCE0202EUD Rod terminal TMENTC3.5-11S NICHIFU Co., Ltd. 10 MFMCE0103ECT
Cable ROBO-TOP DP6/2501 2.0 mm2 4-wire DYDEN CORPORATION Nylon insulated round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 20 MFMCE0203ECT
Cable ROBO-TOP 600V 3.5 mm2 4-wire DYDEN CORPORATION
A6N Series
100 mm sq. or more
Part No. MFMCEO ＊＊ 2ECD Applicable model
MHMF 2.0 kW　<Screwed type>
100 mm sq. or more
L (50) [Unit: mm] Part No. MFMCAO ＊＊ 3EUT Applicable model
MHMF 3.0 kW to 5.0 kW, MGMF 2.9 kW to 4.4 kW
<One-touch lock type>
(φ12.5)
L (50) [Unit: mm]

ø40.5
　　　　　　
(φ14)

A6B Series
ø42.2
Connector JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCE0032ECD 　　　　　
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0052ECD
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCE0102ECD Title Part No. Manufacturer L (m) Part No.(ex.)
Nylon insulated round terminal N2-M4 J.S.T Mfg. Co., Ltd. 20 MFMCE0202ECD Connector JL10-6A22-22SE-EB Japan Aviation 3 MFMCA0033EUT
Cable ROBO-TOP 600V 2.0 mm2 4-wire DYDEN CORPORATION Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0053EUT
Nylon insulated round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103EUT
E Series
Cable ROBO-TOP DP6/2501 3.5 mm2 4-wire DYDEN CORPORATION 20 MFMCA0203EUT
100 mm sq. or more
Part No. MFMCE0 ＊＊ 3EUT Applicable model
MGMF 2.4 kW　<One-touch lock type>
[Unit: mm]
100 mm sq. or more
L (50) Part No. MFMCAO ＊＊ 3ECT Applicable model
<Screwed type>
(φ14)
L (50) [Unit: mm]

ø42.2
Imformation
(φ14)
　　　　　
ø40.5
　　　　　　
Connector JL10-6A22-22SE-EB Japan Aviation 3 MFMCE0033EUT
Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCE0053EUT
Connector JL04V-6A22-22SE-EB-R Japan Aviation 3 MFMCA0033ECT
Rod terminal TMENTC3.5-11S NICHIFU Co., Ltd. 10 MFMCE0103EUT Electronics Ind.
Cable clamp JL04-2022CK(14)-R 5 MFMCA0053ECT
Nylon insulated round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 20 MFMCE0203EUT
Nylon insulated round terminal N5.5-5 J.S.T Mfg. Co., Ltd. 10 MFMCA0103ECT
Cable ROBO-TOP DP6/2501 3.5 mm2 4-wire DYDEN CORPORATION
Cable ROBO-TOP 600V 3.5 mm2 4-wire DYDEN CORPORATION 20 MFMCA0203ECT
A6 Series Options Motor Cable (with Brake) * It doesn't correspond to IP65 and IP67.
Part No.
MFMCA0 ＊＊ 7VFD （Movable/fixed common-use,
direction of motor shaft ） 80 mm sq.
or less MHMF　50 W, 100 W Part No. MFMCA0 ＊＊ 2FUD
100 mm sq. or more
（opposite directionof motor shaft）
Movable/fixed common-use, Applicable (Connector type) Applicable model
MFMCA0 ＊＊ 7VGD <One-touch lock type>
model
L (50) [Unit: mm]
[Unit: mm]
(ø12.5)
motor shaft
(φ5.4)
ø37.3
(20)
3 2 1
.8)
A6 Family
(ø9
6 5 4
L
motor shaft Identification label (50
)
　　　　　
6 5 4

3 2 1
　　　　　
Connector JL10-6A20-18SE-EB Japan Aviation 3 MFMCA0032FUD
A6N Series
Cable clamp JL042022CK(14)-R Electronics Ind. 5 MFMCA0052FUD
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCA0102FUD
Connector JN11FH06SN2 Japan Aviation 3 MFMCA0037VFD
Electronics Ind. Nylon insulated Earth N2-M4 20 MFMCA0202FUD
Cable clamp JN11S10K4A1 5 MFMCA0057VFD J.S.T Mfg. Co., Ltd.
round terminal Brake N1.25-M4
Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0107VFD
ROBO-TOP 600V 2.0 mm2 4-wire
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0207VFD Cable DYDEN CORPORATION
Cable AWG22 6-wire（φ5.4 mm） NIKKO ELECTRIC WIRE CO.,LTD

100 mm sq. or more
A6B Series
MFMCA0 ＊＊ 0VFD (Highly bendable type, Direction of motor shaft) Part No. MFMCA0 ＊＊ 2FCD Applicable model
80 mm sq. MQMF 100 W to 400 W <Screwed type>
MFMCA0 ＊＊ 0VGD (Highly bendable type, Opposite direction of motor shaft) or less
Part No. MHMF 200 W to 1000 W L (50)
[Unit: mm]
MFMCA0 ＊＊ 0XFD (Standard bendable type, Direction of motor shaft) Applicable
(Connector type)
(ø12.5)
model
MFMCA0 ＊＊ 0XGD (Standard bendable type, Opposite direction of motor shaft)
ø37.3
[Unit: mm]
.8)
(ø9
motor shaft L
(φ6.8)
E Series
(20)
(50
　　　　　 )
1
2
3
4

5
6
Connector JL04V-6A20-18SE-EB-R Japan Aviation 3 MFMCA0032FCD

Opposite direction of Identification label
motor shaft Cable clamp JL04-2022CK(14)-R Electronics Ind. 5 MFMCA0052FCD
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCA0102FCD
Imformation
Nylon insulated Earth N2-M4 20 MFMCA0202FCD
6
J.S.T Mfg. Co., Ltd.

5

4
3

2
　　　　　 Cable DYDEN CORPORATION

1
Title Part No. Manufacturer L (m) Part No.(ex.) 100 mm sq. or more
Connector JN11FH06SN1 3 MFMCA0030VFD
Part No. MFMCE0 ＊＊ 2FUD Applicable model
MHMF 2.0 kW　<One-touch lock type>
Japan Aviation
Cable clamp JN11S35H3A1 Electronics Ind. 5 MFMCA0050VFD L (50) [Unit: mm]
Rod terminal AI0.75-8GY PHOENIX CONTACT 10 MFMCA0100VFD
(ø12.5)
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 20 MFMCA0200VFD
Cable AWG18 6-wire（φ6.8 mm） NIKKO ELECTRIC WIRE CO.,LTD
ø42.2
.8)
(ø9
L
(50
)
　　　　　
Connector JL10-6A24-11SE-EB Japan Aviation 3 MFMCE0032FUD
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCE0052FUD
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCE0102FUD
Nylon insulated Earth N2-M4 20 MFMCE0202FUD
ROBO-TOP DP6/2501 2.0 mm2 4-wire
Cable DYDEN CORPORATION
ROBO-TOP DP6/2501 0.75 mm2 2-wire
A6 Series Options Motor Cable (with Brake) * It doesn't correspond to IP65 and IP67.
Part No. MFMCE0 ＊＊ 2FCD

100 mm sq. or more
MHMF 2.0 kW　<Screwed type> MSMF 3.0 kW to 5.0 kW, MDMF 3.0 kW to 5.0 kW
100 mm sq. or more
Applicable model Part No. MFMCA0 ＊＊ 3FUT Applicable model
MHMF 3.0 kW to 5.0 kW, MGMF 2.9 kW, 4.4 kW
L (50) [Unit: mm] <One-touch lock type>
(ø12.5)
L (50) [Unit: mm]
(ø14)
ø43.7
ø42.2
.8)
(ø9
.8)
(ø9
A6 Family
L
L
　　　　 (50
)
　
　 (50
)
Title Part No. Manufacturer L (m) Part No.(ex.) 　　　　　
Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCE0032FCD Title Part No. Manufacturer L (m) Part No.(ex.)
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCE0052FCD Connector JL10-6A24-11SE-EB Japan Aviation 3 MFMCA0033FUT
A6N Series
Rod terminal NTUB-2 J.S.T Mfg. Co., Ltd. 10 MFMCE0102FCD Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCA0053FUT
Nylon insulated Earth N2-M4 20 MFMCE0202FCD Nylon insulated Earth N5.5-5 10 MFMCA0103FUT
J.S.T Mfg. Co., Ltd. J.S.T Mfg. Co., Ltd.
round terminal Brake N1.25-M4 round terminal Brake N1.25-M4 20 MFMCA0203FUT
ROBO-TOP 600V 2.0 mm2 4-wire ROBO-TOP DP6/2501 3.5 mm2 4-wire
Cable DYDEN CORPORATION Cable DYDEN CORPORATION
ROBO-TOP 600V 0.75 mm2 2-wire ROBO-TOP DP6/2501 0.75 mm2 2-wire
100 mm sq. or more MSMF 3.0 kW to 5.0 kW, MDMF 3.0 kW to 5.0 kW
Part No. MFMCD0 ＊＊ 3FUT Applicable model
MGMF 2.4 kW　<One-touch lock type> 100 mm sq. or more
Part No. MFMCA0 ＊＊ 3FCT MHMF 3.0 kW to 5.0 kW, MGMF 2.9 kW, 4.4 kW

A6B Series
Applicable model
L (50) [Unit: mm] <Screwed type>
(ø14)
L (50) [Unit: mm]

ø42.2
(ø14)
ø43.7
.8)
(ø9
.8)
L
(ø9
L
E Series
(50
)
　　　　　
　　　　　 (50
) 　
Title Part No. Manufacturer L (m) Part No.(ex.) This product does not correspond to IP67.
Connector JL10-6A24-11SE-EB Japan Aviation 3 MFMCD0033FUT Title Part No. Manufacturer L (m) Part No.(ex.)
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCD0053FUT Connector JL04V-6A24-11SE-EB-R 3 MFMCA0033FCT
Japan Aviation
Rod terminal TMENTC3.5-11S NICHIFU Co., Ltd. 10 MFMCD0103FUT Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCA0053FCT
Nylon insulated Earth N5.5-5 20 MFMCD0203FUT
Imformation
J.S.T Mfg. Co., Ltd. Nylon insulated Earth N5.5-5 10 MFMCA0103FCT
round terminal Brake N1.25-M4 J.S.T Mfg. Co., Ltd.
round terminal Brake N1.25-M4 20 MFMCA0203FCT
ROBO-TOP DP6/2501 3.5 mm2 4-wire ROBO-TOP 600V 3.5 mm2 4-wire
Cable DYDEN CORPORATION Cable DYDEN CORPORATION
ROBO-TOP DP6/2501 0.75 mm2 2-wire ROBO-TOP 600V 0.75 mm2 2-wire
100 mm sq. or more

Part No. MFMCD0 ＊＊ 3FCT Applicable model
MGMF 2.4 kW　<Screwed type>
L (50) [Unit: mm]
(ø14)
ø43.7
.8 )
(ø9
　　　　　 (50
) 　
This product does not correspond to IP67.

Connector JL04V-6A24-11SE-EB-R Japan Aviation 3 MFMCD0033FCT
Cable clamp JL04-2428CK(17)-R Electronics Ind. 5 MFMCD0053FCT
Rod terminal TMENTC3.5-11S NICHIFU Co., Ltd. 10 MFMCD0103FCT
Nylon insulated Earth N5.5-5 20 MFMCD0203FCT
Cable DYDEN CORPORATION
A6 Series Options Brake Cable * It doesn't correspond to IP65 and IP67. Interface Cable Options A6 Series
80 mm sq. or less
MSMF 50 W to 1000 W, MQMF 100 W to 400 W Cable for Interface
Part No. MFMCB0 ＊＊ 0GET Applicable model
MHMF 50 W to 1000 W
(Leadwire type) Part No. DV0P4360
[Unit: mm]
(40) L (50) Connector cover: 10350-52A0-008 Connector: 10150-3000PE
Sumitomo 3M or equivalent Sumitomo 3M or equivalent
(φ9.8)
2000+200
0 39 12.7
(12.0)
(10.0)
A6 Family
50 +10
50
25
0
(φ8)
(5.6)
　　　　　
52.4
Connector 172157-1 3 MFMCB0030GET
26
Tyco Electronics Japan
1
Connector pin 170366-1, 170362-1 G.K. 5 MFMCB0050GET
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 10 MFMCB0100GET 18
　 This 2 m connector cable contains AWG28 conductors.
A6N Series
[Unit: mm]
Cable ROBO-TOP 600V 0.75 mm2 2-wire DYDEN CORPORATION 20 MFMCB0200GET
• Table for wiring
Pin No. color Pin No. color Pin No. color Pin No. color Pin No. color
MFMCB0 ＊＊ 0PJT (Highly bendable type, Direction of motor shaft) 1 Orange (Red1) 11 Orange (Black2) 21 Orange (Red3) 31 Orange (Red4) 41 Orange (Red5)
80 mm sq. 2 Orange (Black1) 12 Yellow (Black1) 22 Orange (Black3) 32 Orange (Black4) 42 Orange (Black5)
MFMCB0 ＊＊ 0PKT (Highly bendable type, Opposite direction of motor shaft) or less MSMF 50 W to 1000 W
Part No. 3 Gray (Red1) 13 Gray (Red2) 23 Gray (Red3) 33 Gray (Red4) 43 Gray (Red5)
MFMCB0 ＊＊ 0SJT (Standard bendable type, Direction of motor shaft) Applicable (Connector type) 4 Gray (Black1) 14 Gray (Black2) 24 Gray (Black3) 34 White (Red4) 44 White (Red5)
model
5 White (Red1) 15 White (Red2) 25 White (Red3) 35 White (Black4) 45 White (Black5)
MFMCB0 ＊＊ 0SKT (Standard bendable type, Opposite direction of motor shaft)

A6B Series
6 White (Black1) 16 Yellow (Red2) 26 White (Black3) 36 Yellow (Red4) 46 Yellow (Red5)
(26.6) L (50)
[Unit: mm] 7 Yellow (Red1) 17 Yel (Blk2)/Pink (Blk2) 27 Yellow (Red3) 37 Yellow (Black4) 47 Yellow (Black5)
Direction of 8 Pink (Red1) 18 Pink (Red2) 28 Yellow (Black3) 38 Pink (Red4) 48 Pink (Red5)
motor shaft
(φ4.3)
9 Pink (Black1) 19 White (Black2) 29 Pink (Red3) 39 Pink (Black4) 49 Pink (Black5)
10 Orange (Red2) 20 – 30 Pink (Black3) 40 Gray (Black4) 50 Gray (Black5)
<Remarks>
Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable
motor shaft Identification label <Caution>
E Series
Pin No.50 is connected to the shell (housing) of the connector but the braided wire of the cable is not connected to the shell
(housing) of the connector.
　　　　　
Title Part No. Manufacturer L (m) Part No.(ex.) Interface Conversion Cable
Connector JN4FT02SJMR Japan Aviation 3 MFMCB0030PJT
Connector pin ST-TMH-S-C1B-3500 Electronics Ind. 5 MFMCB0050PJT Part No. DV0P4120, 4121, 4130, 4131, 4132
Imformation
Nylon insulated round terminal N1.25-M4 J.S.T Mfg. Co., Ltd. 10 MFMCB0100PJT
Cable AWG22 2-wire（φ4.3） Hitachi Cable, Ltd. 20 MFMCB0200PJT Interface cables for old product (XX series or V series) can be connected to the current product by using the
connector conversion cable shown below.
DV0P4120 MINAS XX → A6 series (A5Ⅱ, A5, A4, A series) for position control/ velocity control
DV0P4121 MINAS XX → A6 series (A5Ⅱ, A5, A4, A series) for torque control
DV0P4130 MINAS V → A6 series (A5Ⅱ, A5, A4, A series) for position control
DV0P4131 MINAS V → A6 series (A5Ⅱ, A5, A4, A series) for velocity control
DV0P4132 MINAS V → A6 series (A5Ⅱ, A5, A4, A series) for torque control
* For details of wiring, contact our sales department.
Converts 36-pin configuration to 50-pin.

(13) (40) (200) (39) (12.7) (13) (40) (200) (39) (12.7)
(φ11)
(φ11)
(16.17)
(67.4)
(52.4)
(67.4)
(52.4)
(25.06)
<DV0P4120, 4121> <DV0P4130, 4131, 4132>
A6 Series Options Connector Kit
Connector Kit for Communication Cable (for RS485, RS232) (Excluding A6SE, A6NE, A6BE Series) Connector Kit for Interface
Part No. DV0PM20102 Part No. DV0P4350
• Components • Components
Title Part No. Manufacturer Note Title Part No. Number Manufacturer Note
Connector CIF-PCNS08KK-072R J.S.T Mfg. Co., Ltd. For Connector X2 (8-pins) Connector 10150-3000PE 1 Sumitomo 3M For Connector X4 (50-
Connector cover 10350-52A0-008 1 (or equivalent) pins)
A6 Family
• Pin disposition of connector, connector X2 • Dimensions [Unit: mm]
• Pin disposition (50 pins) (viewed from the soldering side)
ø11
7.3
485+ RXD Recommended wire size:
485+ NC ø6 mm
Recommended corewire size: 26 28 30 32 34 36 38 40 42 44 46 48 50
1) Check the stamped pin-No. on the
8 6 4 2 Shell: FG
485– 7 5 3 1 GND (37) AWG 26 to AWG 30 SI3 SI5 SI7 SI9 SO2– SO3– SO4– SO6 IM PULSH1 SIGNH1 OB+ FG
connector body while making a wiring.
(11) Note:
485– TXD <Remarks>
Do not connect No wires are supplied
27
SI4
29
SI6
31
SI8
33
SI10
35 37 39 41 43
SO2+ SO3+ SO4+ COM– SP
45 47 49
PULSH2 SIGNH2 OB– 2) For the function of each signal title or its
(Viewed from cable) anything to NC. with the connector kit. symbol, refer to the operating manual.
5.2
1 3 5 7 9 11 13 15 17 19 21 23 25
　
A6N Series
OPC1 PULS1 SIGN1 COM+ SI2 SO1+ GND GND GND CZ OA+ OZ+ GND
　 3) Do not connect anything to NC pins in
2 4 6 8 10 12 14 16 18 20 22 24
OPC2 PULS2 SIGN2 SI1 SO1– SO5 SPR/
SPL
P-ATL N-ATL NC
/TRQR
OA– OZ– the above table.
Connector Kit for Safety (Excluding A6SE, A6SG, A6NE, A6BE Series)
Part No. DV0PM20103 Connector Kit for External Scale (Excluding A6SE, A6SG, A6NE, A6BE Series)
• Components Part No. DV0PM20026

A6B Series
Title Part No. Manufacturer Note
• Components
Connector CIF-PCNS08KK-071R J.S.T Mfg. Co., Ltd. For Connector X3 (8-pins)
• Pin disposition of connector, connector X3 • Dimensions [Unit: mm] Connector MUF-PK10K-X J.S.T Mfg. Co., Ltd. For Connector X5 (10-pins)
• Pin disposition of connector, connector X5 • Dimensions
ø11
SF2+ SF1+
7.3
Recommended wire size: [Unit: mm]

ø6 mm
EDM+ NC Recommended corewire size: PS EXB
7.1
8 6 4 2
EDM– NC Shell: FG (37) AWG 26 to AWG 30 Recommended wire size:
7 5 3 1 E5V EXA EXZ
18.5
11.9
(11) Note: ø6.8 mm (MAX)
E Series
SF2– SF1– <Remarks> Recommended corewire size:
No wires are supplied
Do not connect 1 3 5 7 9 AWG 26 to AWG 30
with the connector kit.
(Viewed from cable) anything to NC. 2 4 6 8 10
5.2
　 EXZ Note:
13.6
10.4
E0V No wires are supplied
PS EXA EXB (10.5) (32) with the connector kit.
Safety bypass plug (Excluding A6SE, A6SG, A6NE, A6BE Series) 　 (Viewed from cable)
Part No. DV0PM20094 Connector Kit for Encoder
Imformation
• Components Part No. DV0PM20010
Connector CIF-PB08AK-GF1R J.S.T Mfg. Co., Ltd. For Connector X3 • Components
• Internal wiring • Dimensions (Resin color : black) [Unit: mm]
Connector (Driver side) 3E206-0100 KV
(Wiring of the following has been applied inside the plug.) Sumitomo 3M
For Connector X6
24
Shell kit 3E306-3200-008 (or equivalent)
(12.8)
• Pin disposition of connector, connector X6 • Dimensions

7.3
[Unit: mm]
<Shell kit> <Connector>

　Pin No.
(8.2)
1 2 3 4 5 6 7 8
6.6
1 E5V 2 E0V
18.8
18.8
10.1
11.0
7.8
7.1
3 NC 4 NC
Shell: FG
2.0
2.0
2.4 1.7
5 PS 6 PS 0.8 37.4 13.7
18.2
5.4
5.8
<Remarks>
Do not connect
12.0
(Viewed from cable)
4.5
anything to NC.
　 33.0
<Remarks>
<Remarks> Connector X1: use with commercially available 　 • Configuration of connector X1: USB mini-B
• For crimp tool etc., necessary to produce a cable, access the web site of the manufacturer or consult with cable. 　　　　　　　　　
the manufacturer for details. For inquiries of manufacturer, refer to P.308 "List of Peripheral Equipments". 　　　　　　　　　
A6 Series Options Connector Kit Connector Kit for Motor/Encoder Connection Options A6 Series
Connector Kit for Power Supply Input Connector Kit for Motor Connection (Driver side)
Part No. DV0PM20032 (For A-frame to D-frame: Single row type) Part No. DV0PM20034 (For A-frame to D-frame)
● Please refer to the Dimensions of driver P.47 for connector XA. ● Please refer to the Dimensions of driver P.47 for connector XB.
Title Part No. Number Manufacturer Note Title Part No. Number Manufacturer Note
Connector 05JFAT-SAXGF 1 Connector 06JFAT-SAXGF 1 For Connector XB
J.S.T Mfg. Co., Ltd. For Connector XA J.S.T Mfg. Co., Ltd.
A6 Family
Handle lever J-FAT-OT 2 Handle lever J-FAT-OT 2 * Jumper wire is included.
Part No. DV0PM20033 (For A-frame to D-frame: Double row type) Part No. DV0PM20046 (For E-frame)
● Please refer to the Dimensions of driver P.49 for connector XB.
Connector 05JFAT-SAXGSA-C 1 Connector 03JFAT-SAXGSA-L 1
A6N Series
J.S.T Mfg. Co., Ltd. For Connector XA J.S.T Mfg. Co., Ltd. For Connector XB
Handle lever J-FAT-OT 2 Handle lever J-FAT-OT-L 2
• Dimensions Rated input

Driver part No. Power supply
B
5 4 3 2 1
current Connector Kit for Motor/Encoder Connection
Single phase
MADL＊01＊＊ 1.7 A
26
5 4 3 2 1
100 V * When IP65 or IP67 are necessary, the customer must give appropriate processing.
Single phase
MADL＊11＊＊ 2.0 A
A

A6B Series
39.3 100 V MSMF 50 W to 1000 W *, MQMF 100 W to 400 W
Single phase/3-phase 80 mm sq. or less
MADL＊05＊＊
200 V
1.6 A/0.9 A Part No. DV0P4290 Applicable model
MHMF 50 W to 1000 W *
Single phase/3-phase (Leadwire type IP65)
MADL＊15＊＊ 2.0 A/1.1 A
27.6
5 4 3 2 1
200 V * MSMF092L1□2, MHMF092L1□□

[Unit: mm] Single phase • Components
MBDL＊21＊＊ 4.5 A
100 V Title Part No. Number Manufacturer Note
* When connection multiple axes in series, make sure the sum Single phase/3-phase
MBDL＊25＊＊
200 V
3.7 A/2.1 A Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M
of the current value does not exceed the rated current (11.25 For Connector X6 (6-pins)
Single phase Shell kit 3E306-3200-008 1 (or equivalent)
A) of DV0PM20033.
E Series
MCDL＊31＊＊ 7.0 A
100 V
Connector 172161-1 1 Tyco Electronics Japan For Encoder cable
Remarks Single phase/3-phase
MCDL＊35＊＊ 6.4 A/3.4 A Connector pin 170365-1 9 G.K. (9-pins)
200 V
When using drivers MDDL＊55＊＊ in single-phase power Single phase/3-phase Connector 172159-1 1
MDDL＊45＊＊ 7.9 A/4.6 A Tyco Electronics Japan For Motor cable
　　supply, do not use DV0PM20033. 200 V
Connector pin 170366-1 4 G.K. (4-pins)
Single phase/3-phase
MDDL＊55＊＊ 13.6 A/7.2 A
200 V
• Pin disposition of connector, • Pin disposition of connector • Pin disposition of connector
Imformation
connector X6 for encoder cable for motor cable
Part No. DV0PM20044 (For E-frame)
1 E5V 2 E0V 1 2 3
1 2
• Components 3 NC 4 NC 4 5 6
3 4
7 8 9
Title Part No. Number Manufacturer Note 5 PS 6 PS
Connector 05JFAT-SAXGSA-L 1 * Connector pin diagram is * Connector pin diagram is
J.S.T Mfg. Co., Ltd. For Connector XA <Remarks>
Handle lever J-FAT-OT-L 2 (Case
FG ) Do not connect viewed from the direction
of the arrow.
viewed from the direction
of the arrow.
anything to NC.
(Viewed from cable) 1 BAT+* 1 U-phase
Connector Kit for Regenerative Resistor Connection 2 BAT–* 2 V-phase
3 FG(SHIELD) * When using the motor as 3 W-phase
4 PS an incremental system, 4 Ground
Part No. DV0PM20045 (For E-frame) BAT+ and BAT– can be
5 PS
left unconnected.
6 NC
• Components 7 E5V <Remarks>
Title Part No. Number Manufacturer Note 8 E0V Do not connect anything
9 NC to NC.
Connector 04JFAT-SAXGSA-L 1 200 V: For Connector XC
Handle lever J-FAT-OT-L 2 * Jumper wire is included.
* When you connect the battery for absolute encoder, refer to P.302, "When you make your own cable for 23-bit
absolute encoder"
<Remarks> <Remarks>
• For crimp tool etc., necessary to produce a cable, access the web site of the manufacturer or consult with • For crimp tool etc., necessary to produce a cable, access the web site of the manufacturer or consult with
the manufacturer for details. For inquiries of manufacturer, refer to P.308 "List of Peripheral Equipments". the manufacturer for details. For inquiries of manufacturer, refer to P.308 "List of Peripheral Equipments".
A6 Series Options Connector Kit for Motor/Encoder Connection
80 mm sq. or less 80 mm sq. or less MHMF 50 W, 100 W with/without brake

Part No. DV0PM20035 MSMF 50 W to 1000 W * (Connector type IP67) Part No. DV0PM24581
Applicable model Applicable model (Connector type IP67) common use
* MSMF092L1□1
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M
For Connector X6 (6-pins) For Connector X6 (6-pins)
Shell kit 3E306-3200-008 1 (or equivalent) Shell kit 3E306-3200-008 1 (or equivalent)
Encoder connector JN6FR07SM1 1 Japan Aviation For Encoder cable Encoder connector JN6FR07SM1 1 Japan Aviation For Encoder cable
A6 Family
Socket contact LY10-C1-A1-10000 7 Electronics Ind. (7-pins) Socket contact LY10-C1-A1-10000 7 Electronics Ind. (7-pins)
Motor connector JN8FT04SJ1 1 Japan Aviation For Motor cable Motor connector JN11FH06SN2 1 Japan Aviation For Motor cable
Socket contact ST-TMH-S-C1B-3500 4 Electronics Ind. (4-pins) Socket contact JN11S10K4A1 6 Electronics Ind. (6-pins)
• Pin disposition of connector • Pin disposition of connector • Pin disposition of connector • Pin disposition of connector • Pin disposition of connector • Pin disposition of connector
connector X6 for encoder cable for motor cable connector X6 for encoder cable for motor cable
[Direction of motor shaft]
1 E5V 2 E0V [Direction of motor shaft] 1 E5V 2 E0V Gasket
4 PS 7 PS 1 U
A6N Series
3 NC 4 NC 4 PS Gasket PS 1 U 3 NC 4 NC Gasket
7 3 E0V 2 V
2 V Gasket 6 E5V
5 PS 6 PS 3 E0V 5 PS 6 PS 3 W
3 2 1
6 E5V
<Remarks> <Remarks> 2 BAT– 4Brake
6 5 4
3 W
(Case
FG )
Do not connect
anything to NC.
2 BAT– (Case
FG )
Do not connect
anything to NC. 1 FG 5 BAT+
5Brake
PE E PE E
1 FG 5 BAT+
(Viewed from cable) (Viewed from cable)
[Opposite direction of motor shaft]
[Opposite direction of motor shaft] Gasket 1 FG E

5 BAT+ PE
A6B Series
<Remarks> Brake Gasket
Gasket 1 FG E 2 BAT– 5
<Remarks> 5 BAT+ PE
Secure the gasket in place 6 E5V
Gasket 4 Brake
6 5 4
Secure the gasket in place 2 BAT– 3 W
6 E5V without removing it from the 3 E0V 3 W
3 2 1
without removing it from the connector.
2 V 2 V
connector. 3 E0V Otherwise, the degree of 7 PS 4 PS
1 U
Otherwise, the degree of 1 U protection of IP67 will not be
7 PS 4 PS * Pins 2 and 5 are left unused (NC) * 4-pin and 5-pin are not used in
protection of IP67 will not be guaranteed.
guaranteed. * Pins 2 and 5 are left unused (NC) when used in incremental system. case of no brake.
when used in incremental system.
E Series
MQMF 100 W to 400 W,
80 mm sq. or less with/without brake
Part No. DV0PM24582 MHMF 200 W to 1000 W
Applicable model common use
(Connector type IP67)
• Components
Title Part No. Number Manufacturer Note
Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M
Imformation
For Connector X6 (6-pins)
Shell kit 3E306-3200-008 1 (or equivalent)
Encoder connector JN6FR07SM1 1 Japan Aviation For Encoder cable
Socket contact LY10-C1-A1-10000 7 Electronics Ind. (7-pins)
Motor connector JN11FL06SN1 1 Japan Aviation For Motor cable
Socket contact JN11S35H3A1 6 Electronics Ind. (6-pins)
• Pin disposition of connector • Pin disposition of connector • Pin disposition of connector

connector X6 for encoder cable for motor cable
[Direction of motor shaft]
1 E5V 2 E0V 4 PS Gasket 1 U
7 PS Gasket
3 NC 4 NC 2 V
3 E0V
3 W
1
6 E5V
PS PS
2
5 6
Brake
3
4
<Remarks> 2 BAT–
4
5Brake
5
(Case
FG )
Do not connect
6
anything to NC. 1 FG 5 BAT+ PE E
(Viewed from cable)

[Opposite direction of motor shaft]
5 BAT+
Gasket 1 FG PE E
Brake Gasket
<Remarks> 2 BAT–
5
E5V 4 Brake
6
Secure the gasket in place 6
5
4
without removing it from the 3 W
E0V
3
3
connector. V
2
2
<Remarks>
1
7 PS 4 PS 1 U
Otherwise, the degree of
• For crimp tool etc., necessary to produce a cable, access the web site of the manufacturer or consult with protection of IP67 will not be * Pins 2 and 5 are left unused (NC) * 4-pin and 5-pin are not used in
the manufacturer for details. For inquiries of manufacturer, refer to P.308 "List of Peripheral Equipments". guaranteed. when used in incremental system. case of no brake.
* When IP65 or IP67 are necessary, the customer must give appropriate processing.
(IP67 motor) Encoder JN2 (IP67 motor) Encoder JN2 
100 mm sq. or more Without 100 mm sq. or more Without
Part No. DV0PM24583 MSMF 1.0 kW * to 2.0 kW, MDMF 1.0 kW to 2.0 kW Part No. DV0PM24584 MSMF 3.0 kW to 5.0 kW, MDMF 3.0 kW to 5.0 kW
Applicable model brake Applicable model brake
MHMF 1.0 kW *, 1.5 kW, MGMF 0.85 kW to 1.8 kW MHMF 2.0 kW to 5.0 kW, MGMF 2.4 kW to 4.4 kW
* MSMF102L1□□, MHMF102L1□□
A6 Family
Encoder connector JN2DS10SL1-R 1 Japan Aviation For Encoder cable Encoder connector JN2DS10SL1-R 1 Japan Aviation For Encoder cable
Connector pin JN1-22-22S-PKG100 5 Electronics Ind. (One-touch lock type) Connector pin JN1-22-22S-PKG100 5 Electronics Ind. (One-touch lock type)
Motor connector JL10-6A20-4SE-EB 1 Japan Aviation For Motor cable Motor connector JL10-6A22-22SE-EB 1 Japan Aviation For Motor cable
Cable clamp JL04-2022-CK(14)-R 1 Electronics Ind. (One-touch lock type) Cable clamp JL04-2022-CK(14)-R 1 Electronics Ind. (One-touch lock type)
With With
A6N Series
* MSMF102L1□□, MHMF102L1□□

A6B Series
(IP67 motor) Encoder JL10 <Large size connector> (IP67 motor) Encoder JL10 <Large size connector>
brake brake
E Series
Applicable model Applicable model
* MSMF102L1□□, MHMF102L1□□
Imformation
Encoder connector JL10-6A20-29S-EB 1 Japan Aviation For Encoder cable Encoder connector JL10-6A20-29S-EB 1 Japan Aviation For Encoder cable
100 mm sq. or more With 100 mm sq. or more With
* MSMF102L1□□, MHMF102L1□□
Encoder connector JL10-6A20-29S-EB 1 Japan Aviation For Encoder cable Encoder connector JL10-6A20-29S-EB 1 Japan Aviation For Encoder cable
<Remarks> <Remarks>
* MSMF102L1□□, MHMF102L1□□
A6 Family
Motor connector JL04V-6A20-4SE-EB-R 1 Japan Aviation For Motor cable Motor connector JL04V-6A22-22SE-EB-R 1 Japan Aviation For Motor cable
Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. (Screwed type) Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. (Screwed type)
With With
A6N Series
* MSMF102L1□□, MHMF102L1□□

A6B Series
Motor connector JL04V-6A20-18SE-EB-R 1 Japan Aviation For Motor cable Motor connector JL04V-6A24-11SE-EB-R 1 Japan Aviation For Motor cable
Cable clamp JL04-2022CK(14)-R 1 Electronics Ind. (Screwed type) Cable clamp JL04-2428CK(17)-R 1 Electronics Ind. (Screwed type)
Part No. DV0P4310 MSMF 1.0 kW * to 2.0 kW, MDMF 1.0 kW to 2.0 kW Part No. DV0P4320 MSMF 3.0 kW to 5.0 kW, MDMF 3.0 kW to 5.0 kW
brake brake
E Series
Applicable model Applicable model
* MSMF102L1□□, MHMF102L1□□
Imformation
Encoder connector N/MS3106B20-29S 1 Japan Aviation For Encoder cable Encoder connector N/MS3106B20-29S 1 Japan Aviation For Encoder cable
Cable clamp N/MS3057-12A 1 Electronics Ind. (Screwed type) Cable clamp N/MS3057-12A 1 Electronics Ind. (Screwed type)
Motor connector N/MS3106B20-4S 1 Japan Aviation For Motor cable Motor connector N/MS3106B22-22S 1 Japan Aviation For Motor cable
100 mm sq. or more With 100 mm sq. or more With
Part No. DV0P4330 MSMF 1.0 kW * to 2.0 kW, MDMF 1.0 kW to 2.0 kW Part No. DV0P4340 MSMF 3.0 kW to 5.0 kW, MDMF 3.0 kW to 5.0 kW
* MSMF102L1□□, MHMF102L1□□
Encoder connector N/MS3106B20-29S 1 Japan Aviation For Encoder cable Encoder connector N/MS3106B20-29S 1 Japan Aviation For Encoder cable
Motor connector N/MS3106B20-18S 1 Japan Aviation For Motor cable Motor connector N/MS3106B24-11S 1 Japan Aviation For Motor cable
<Remarks> <Remarks>
A6 Series Options Connector Kit for Motor/Brake Connection Battery for Absolute Encoder Options A6 Series
Connector Kit for Motor/Brake Connection Battery for Absolute Encoder
Part No. DV0PM20040

80 mm sq. or less
MSMF 50 W to 1000 W * (Connector type IP67) Part No. DV0P2990
Applicable model
* MSMF092L1□1 • Lithium battery: 3.6 V 2000 mAh
• Components 84 <Caution>
Lead wire length 50mm
Title Part No. Number Manufacturer Note DV0P2990 This battery is categorized as
hazardous substance, and you may
00090001
Connector JN4FT02SJM-R 1 Japan Aviation ZHR-2
A6 Family
For brake cable (J.S.T Mfg. Co., Ltd.)
Socket contact ST-TMH-S-C1B-3500 2 Electronics Ind. 14.5
be required to present an application
1 2
BAT+ BAT– of hazardous substance when you
• Pin disposition of connector for brake cable 18
transport by air (both passenger and
[Direction of motor shaft] [Opposite direction of motor shaft] 　　 cargo airlines).
Paper insulator [Unit: mm]
2 Brake 1 Brake
Gasket Gasket Battery Box for Absolute Encoder *
A6N Series
Part No. DV0P4430

（112）
1 Brake 2 Brake
（110）
R5
<Remarks>
（31）
Secure the gasket in place without removing it from the connector. DV0P4430
P04090001*
Otherwise, the degree of protection of IP67 will not be guaranteed.

A6B Series
（27）
　 [Unit: mm]
When waking a cable for 23-bit absolute encoder by yourself

When you make your own cable for 23-bit absolute encoder, connect the optional battery for absolute en-
E Series
coder, DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder shall be
provided by customer as well.
<Caution>
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 the battery.
Imformation
• Installation Place of 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, sulfuric gas, acid, alkaline and salt and so on, and are 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 80 mm sq. or less 50 W to 1000 W (Leadwire type)
80 mm sq. or less 50 W to 1000 W (Connector type)
Junction connector for Connector, X6
encoder cable 100 mm sq. or more 0.85 kW to 5.0 kW (JN2 small size connector)
(Optional connector kit)
(Optional connector kit)
100 mm sq. or more 0.85 kW to 5.0 kW (JL10 large size connector)
7 (6) (4) (H) 1
E5V E5V
8 (3) (1) (G) 2
E0V E0V
Battery box for absolute encoder:
DV0P4430
Twisted
*2 Battery *1 pair
1 (5) (6) (T) 1 1 5
BAT+ BAT+ BAT+ PS
2 (2) (5) (S) *2 2 2 6
BAT– BAT– BAT– PS
4 (7) (3) (K)
PS Connector, ZHR-2 (by J.S.T.) FG (Shell)
5 (4) (7) (L)
PS
3 (1) (9) (J)
FG
Title Part No. Manufacturer *1 Battery for absolute encoder (Option): DV0P2990
Connector ZMR-2 J.S.T. *2 Since applicable wire diameters of the battery
Connector pin SMM-003T-P0.5 J.S.T.
Connector for absolute encoder connection connector and connector at encoder side are
Clamping Jig YRS-800 J.S.T. (To be provided by yourself) different, please connect wires by soldering.
A6 Series Options Mounting Bracket Reactor Options A6 Series
Fig.1 Fig.2
Frame symbol of A-frame
Part No. DV0PM20100 applicable driver
Mounting screw M4 × L6 Pan head 4pcs
B-frame
14 2-M4, Pan head
2-
E
C
5
6-I E 4-I
2 pcs
Top / Bottom side
11.5 10
29
Dimension
A6 Family
C D
21 C D
7 5.2 2.5
2-R
2 2-R
1 ss
le
or A
4-H
F A 4-H F
1 (Mounting pitch) (Mounting pitch) B G
(Ｒ R
15
) B G
10
28
.2
H F 4-H
F
• Wiring of the reactor <3-Phase> • Wiring of the reactor <Single phase>
φ5
[Unit: mm]
A6N Series
A Power Servo A
Servo supply driver
Frame symbol of C-frame driver side side
Part No. DV0PM20101 applicable driver
Mounting screw M4 × L6 Pan head 4pcs Power
D-frame supply side
F: Center-to-center distance F: Center-to-center
side on outer circular arc distance on
slotted hole
23 14+0.1 23 14+0.1
2-
2-
2-M4, Pan head
C
2-M4, Pan head
C

5
5
A6B Series
[Unit: mm]
1 piece each 1 piece each
Inductance Rated
33.4
33.4
　 Part No. A B C D E (Max) F G H I current

25.9
25.9
(mH)
Bottom side
(A)
Dimension
Top side
DV0P220 65±1 125±1 (93) 136Max 155 70+3/−0 85±2 4-7φ×12 M4 6.81 3
2- 2.5
R2 s DV0P221 60±1 150±1 (113) 155Max 130 60+3/−0 75±2 4-7φ×12 M4 4.02 5
les 40 10
or 3-5.2 20 DV0P222 60±1 150±1 (113) 155Max 140 70+3/−0 85±2 4-7φ×12 M4 2 8
R
1 2.5 Fig.1
2-R 1 DV0P223 60±1 150±1 (113) 155Max 150 79+3/−0 95±2 4-7φ×12 M4 1.39 11
15
2 6-R ss
10
le
or DV0P224 60±1 150±1 (113) 160Max 155 84+3/−0 100±2 4-7φ×12 M5 0.848 16
E Series
20

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INDEX

Cable part No. Designation................274

A6N serie…………………… 309

A6B serie…………………… 325

●For compatible ●For compatible

Pulse train position command

Analog velocity control

Analog torque control

400 60 sq. 80 sq. 60 sq.

Interface Control mode

15 200 V specifications 1500 External scale

Max. speed Max. torque Overall length Weight

Fast High Short Light

Motors shorter than Torque[N·m]

Command position deviation [per command]

Command position deviation [per command]

Frequency response vibrations and machine oscillation

Powered Up Built-in ﬁlters

compact and adjusting

Newly developed fit gain function ■Settling time

Realized 3.2 kHz frequency 10

response to improve productivity -10

operation and improves productivity.

Other driver functions 3-step gain

This products is not an object of china compulsory

Low noise, compliant with EMC directives SEMI-F47

･ SMT 01 100 W 18 1.8 kW D 2 ● ● ● ●

Special Order Product

(Flat type) ･ Motors with gear ･ Belt drive Z

Symbol Format Pulse counts Resolution Wires

0.05 0.1 3000

0.2 0.4 (6500) (See. P.261)

80 mm sq. or less 0.75 1.0

Magnetic Contactor (MC)

Special Order Product

Connection to host controller

Terminal block type Terminal block type

Required Circuit Rated Diameter Crimp

Connection to exclusive connector

Connection to exclusive connector

Special Order Product

Motor Driver Optional parts ■ Options

Leadwire 50 MSMF5AZL1 □ 2 MADLT05SF MADLN05S◇ MFECA MFECA

59 Approx. DV0P220 DV0PM20042

Special Order Product

phase 200 MBDLT21SF MBDLN21S◇ 0.5 DV0P4283 DV0PM20100 303

Motor Driver Optional parts ■ Options

For movable, For movable, opposite direction

Special Order Product

Motor Driver Optional parts ■ Options

Special Order Product

Motor Driver Optional parts ■ Options

Large size 63 Approx.

Special Order Product

MDMF502L1 □ 8 167 Connector Kit Interface DV0P4350 292

Large size MHMF202L1 □ 6 85 Approx. DV0P4285 Screwed type MFMCA0＊＊3ECT 284

Motor Driver Optional parts ■ Options

Small size 63 Approx.

Special Order Product

MDMF502L1 □ 7 168 Connector Kit Interface DV0P4350 292

Small size MHMF202L1 □ 5 85 Approx. DV0P4285

Special Order Product

D-frame –15 % –15 %