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All-in-one design for all industrial applications Harmonic (Strain Wave) Gear Motors

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Page 1: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

All-in-one design for all industrial applications

Harmonic (Strain Wave) Gear Motors

Page 2: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 1 www.motioncontrolproducts.com

Contents

MAH Series Harmonic (Strain Wave) Gear Motors ............................................................................................. 2

- Standard hollow shaft design ............................................................................................................................. 2

MAT Series Harmonic (Strain Wave) Gear Motors .............................................................................................. 9

- Enlarged hollow shaft design ............................................................................................................................. 9

MAS Series Harmonic (Strain Wave) Gear Motors ........................................................................................... 12

- Solid shaft design .............................................................................................................................................. 12

MGM Series Harmonic Gear Motors with Integrated Electronics .................................................................... 17

- All-in-one design ............................................................................................................................................... 17

Motion Control Products Ltd

11-15 Francis Avenue

Bournemouth

Dorset, UK, BH11 8NX

TEL.: +44 (0)1202 599922

[email protected]

www.motioncontrolproducts.com

Page 3: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 2 www.motioncontrolproducts.com

MAH Series Harmonic (Strain Wave) Gear Motors

- Standard hollow shaft design

Main Features

• Frame size from 60mm to 145mm

• High precision: up to 30 Arc sec.

• Input voltages: 48VDC, 110VAC, 220VAC 220 VAC*

• Flexible, reliable, low maintenance and compact design

• Low cogging, low noise, high torque density up to 800Nm

• Integrated design of Harmonic (strain wave) gearbox, frameless motor with encoder option

• High protection grade (up to IP67) for extreme working environment

• Hollow shaft design for threading wires, gas pipe and laser beams to simplify system structure

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Typical Applications

● Electronic and semiconductor equipment ● Precision machine tool ● Detection device

● Factory automation systems ● Precision laser processing device ● Printing machines

● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment

● Precision measuring instrument ● Spray painting equipment ● LED equipment

Part Number Configuration

MAH - 25 C M 1 N E

① ② ③ ④ ⑤ ⑥ ⑦

① Series name

② Model No. 14 / 17 / 20 / 25 / 32 / 40 /

③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 (N/A for model 14) E = gear ratio 161:1 (N/A for model 14 or 17)

④ Voltage

L = DC bus voltage 48VDC

M = 220VAC

N = 110VAC

⑤ Motor Encoder Type

1 = Multi-turn hollow shaft absolute encoder, single-turn

19 bit / multi-turn 16 bit

2 = Multi-turn hollow shaft absolute encoder, single-turn

22 bit / multi-turn 16 bit

3 = Multi-turn hollow shaft absolute encoder, single-turn

24 bit / multi-turn 16 bit

4 = Hollow shaft incremental encoder, 10000P/R

5 = Hollow shaft incremental encoder, 2500P/R

⑥ Motor Brake

N = Without brake

B = With brake

⑦ Other Options E = cables from the rear

Page 4: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 3 www.motioncontrolproducts.com

MAH-14 / 17 Technical Specifications

Series /Model MAH-14 MAH-17

14A 14B 14C 17A 17B 17C 17D

Gear ratio 51:1 81:1 101:1 51:1 81:1 101:1 121:1

Maximum torque Nm 23 29 34 42 53 66 66

Rated torque Nm 8.6 13.5 13.5 32 33 49 49

220VAC

Maximum speed rpm 127.5 80.2 64.4 119.6 75.3 60.4 50.4

Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6

Maximum current A 1.96 1.56 1.41 3.35 2.1 2.51 2.09

Rated current A 0.56 0.56 0.44 1.65 1.04 1.24 1.04

Torque constant Nm/A 15.36 24.1 30.68 19.39 31.73 39.51 47.11

Phase resistance Ohms 4.311 2.135

Phase inductance mH 5.256 3.869

Back EMF Vrms/krpm 23.85 30.66

110VAC

Maximum speed rpm 40.8 64.8 80.8 100 63 50.5 42.1

Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6

Maximum current A 4.06 3.23 3.03 6.78 8.26 7.08 6.26

Rated current A 1.17 1.16 0.93 3.35 4.18 3.53 2.95

Torque constant Nm/A 7.36 11.68 14.57 9.56 7.85 13.87 16.58

Phase resistance Ohms 2.089 1.036

Phase inductance mH 2.593 1.684

Back EMF Vrms/krpm 11.07 14.79

DC bus voltage 48VDC

Maximum speed rpm 88.2 55.6 44.6 78.4 49.4 39.6 33.1

Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6

Maximum current A 7.59 7.67 5.66 16.5 11.23 13.2 10.98

Rated current A 2.84 3.57 2.25 8.47 5.34 6.53 5.46

Torque constant Nm/A 3.03 3.78 6.01 3.74 6.12 7.5 8.98

Phase resistance Ohms 0.275 0.262

Phase inductance mH 0.352 0.313

Back EMF Vrms/krpm 6.32 7.98

Absolute Encoder

Encoder type Multi-turn hollow shaft absolute encoder

Resolution (single motor revolution ) 219 (524,288), 222 (4,194,304) or 224 (16,777,216)

Motor Multi-turn counter 216(65,536)

Incremental encoder

Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft resolution pulse/rev 2040000 3240000 4040000 2040000 3240000 4040000 4840000

Uni-directional positional accuracy Arc sec 40 30 30 40 30 30 30

Repeatability of positioning accuracy Arc sec 8 7 7 8 7 7 7

Rotational stiffness ×104Nm/rad 7.05 9.8 22.08 25.8

Torsional stiffness ×104Nm/rad 0.46 0.6 1.07 1.3

Inertia moment

Without brake kg·m2 0.09 0.19 0.28 0.15 0.41 0.51 1.16

With brake kg·m2 0.11 0.22 0.31 0.17 0.45 0.56 1.28

Mass Without brake kg 1.3 1.8

With brake kg 1.5 2.0

Number of motor poles 16

Motor insulation

Heat-resistant class:F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Page 5: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 4 www.motioncontrolproducts.com

Outline Dimensions (in mm)

MAH-14

Notes: please contact us for specific model drawings before placing your order

MAH-17

Notes: please contact us for specific model drawings before placing your order

Page 6: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 5 www.motioncontrolproducts.com

MAH-20 / 25 Technical Specifications

Series /Model MAH -20 MAH -25

20A 20B 20C 20D 20E 25A 25B 25C 25D 25E

Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1

Maximum torque Nm 69 91 102 108 113 121 169 194 207 217

Rated torque Nm 42 58 61 61 61 68.5 107 133 133 133

220VAC

Maximum speed rpm 119.6 75.3 60.4 50.4 37.9 102 64.2 51.5 43 32.3

Rated speed rpm 60.8 38.3 30.7 25.6 19.3 58.8 37 29.7 24.8 18.6

Maximum current A 4.53 3.89 3.41 2.78 2.21 8.05 7.08 6.52 5.81 4.58

Rated current A 2.12 1.85 1.56 1.3 0.98 3.38 3.32 3.31 2.76 2.08

Torque constant Nm/A 19.81 31.35 39.1 46.92 62.24 20.28 32.21 40.16 48.11 64.02

Phase resistance Ohms 2.135 1.779

Phase inductance mH 3.869 3.375

Back EMF Vrms / krpm 30.66 40.84

110VAC

Maximum speed rpm 100 63 50.5 42.1 31.7 80.4 50.6 40.6 33.9 25.5

Rated speed rpm 60.8 38.3 30.7 25.6 19.3 54.9 34.6 27.7 23.1 17.4

Maximum current A 9.49 7.87 7.08 6.25 4.91 13.57 11.93 10.99 9.78 7.71

Rated current A 4.28 3.72 3.14 2.62 1.97 5.69 5.6 5.58 4.66 3.52

Torque constant Nm/A 9.82 15.61 19.45 23.32 31.04 12.04 19.12 23.84 28.56 38

Phase resistance Ohms 1.036 0.809

Phase inductance mH 1.684 1.534

Back EMF Vrms / krpm 14.79 18.56

DC bus

voltage

48VDC

Maximum speed rpm 78.4 49.4 39.6 33.1 24.8 60.8 38.3 30.7 25.6 19.3

Rated speed rpm 60.8 38.3 30.7 25.6 19.3 51 32.1 25.7 21.5 16.2

Maximum current A 17.89 18.86 13.33 11.79 9.27 28.61 32.01 23.15 20.62 16.24

Rated current A 10.88 12.03 7.97 6.66 5.03 16.19 20.27 15.87 13.25 9.96

Torque constant Nm/A 3.86 4.82 7.65 9.16 12.19 4.23 5.28 8.38 10.04 13.36

Phase resistance Ohms 0.262 0.239

Phase inductance mH 0.313 0.282

Back EMF Vrms/krpm 7.98 10.57

Absolute

Encoder

Encoder type Multi-turn hollow shaft absolute encoder

Resolution (single motor revolution) 219 (524,288), 222 (4,194,304) or 224 (16,777,216)

Motor Multi-turn counter 216 (65,536)

Incremental

encoder

Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft

resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000

Uni-directional positional accuracy Arc sec 40 30 30 30 30 40 30 30 30 30

Repeatability of positioning accuracy Arc sec 8 7 7 7 7 8 7 7 7 7

Rotational stiffness ×104Nm/rad 23.5 27.3 34.7 42.8

Torsional stiffness ×104Nm/rad 1.8 2.3 3.4 4.6

Inertia

moment

Without brake kg·m2 0.19 0.57 0.86 1.23 2.18 0.49 1.24 1.93 2.85 5.01

With brake kg·m2 0.22 0.63 0.95 1.35 2.35 0.58 1.51 2.31 3.31 5.97

Mass Without brake kg 2.2 3.2

With brake kg 2.5 3.6

Number of motor poles 16

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Page 7: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 6 www.motioncontrolproducts.com

Outline Dimensions (in mm)

MAH-20

Notes: please contact us for specific model drawings before placing your order

MAH-25

Notes: please contact us for specific model drawings before placing your order

Page 8: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 7 www.motioncontrolproducts.com

MAH-32 / 40 Technical Specifications

MAH MAH -32 MAH -40

32A 32B 32C 32D 32E 40A 40B 40C 40D 40E

Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1

Maximum torque Nm 267 376 411 436 459 497 641 702 762 800

Rated torque Nm 133 206 267 267 267 242 351 460 557 557

220VAC

Maximum speed rpm 88.2 55.6 44.6 37.2 28 76.5 48.1 38.6 32.2 24.2

Rated speed rpm 51 32.1 25.7 21.5 16.1 43.1 27.2 21.8 18.2 13.7

Maximum current A 14.37 12.74 11.17 9.89 7.82 22.79 18.51 16.26 14.73 11.62

Rated current A 5.96 5.82 6.04 5.05 3.79 8.67 7.92 8.32 8.41 6.32

Torque constant Nm/A 22.3 35.42 44.17 52.92 70.41 27.91 44.32 55.26 66.23 88.09

Phase resistance Ohms 1.438 1.024

Phase inductance mH 3.165 3.026

Back EMF Vrms/krpm 44.29 50.87

110VAC

Maximum speed rpm 68.6 43.2 34.7 28.9 21.7 52.9 33.3 26.7 22.3 16.8

Rated speed rpm 45.1 28.4 22.8 19 14.3 35.3 22.2 17.8 14.9 11.2

Maximum current A 25.29 22.42 19.66 17.41 13.77 35.85 29.12 25.58 23.17 18.29

Rated current A 10.5 10.24 10.64 8.88 6.68 14.55 13.29 13.97 14.11 10.61

Torque constant Nm/A 12.67 20.12 25.09 30.06 39.99 16.63 26.41 32.93 39.47 52.5

Phase resistance Ohms 0.73 0.53

Phase inductance mH 1.408 1.207

Back EMF Vrms/krpm 22.51 44.96

DC bus

voltage

48VDC

Maximum speed rpm 51 32.1 25.7 21.5 16.1 35.3 22.2 17.8 14.9 11.2

Rated speed rpm 41.2 25.9 20.8 17.4 13 29.4 18.5 14.9 12.4 9.3

Maximum current A 51.25 57.94 39.83 35.33 27.95 72.66 75.06 51.81 46.98 37.05

Rated current A 25.53 31.74 25.87 21.64 16.26 35.38 41.1 33.95 34.34 25.8

Torque constant Nm/A 5.21 6.49 10.32 12.34 16.42 6.84 8.54 13.55 16.22 21.59

Phase resistance Ohms 0.188 0.139

Phase inductance mH 0.265 0.207

Back EMF Vrms/krpm 12.05 17.48

Absolute

Encoder

Encoder type Multi-turn hollow shaft absolute encoder

Resolution (single motor revolution) 219 (524,288), 222(,194,304) or 224 (16,777,216)

Motor Multi-turn counter 216 (65,536)

Incremental

encoder

Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft

resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000

Uni-directional positional accuracy Arc sec 40 30 30 30 30 40 30 30 30 30

Repeatability of positioning accuracy Arc sec 8 7 7 7 7 8 7 7 7 7

Rotational stiffness ×104Nm/rad 87.5 113.6 149.5 187.4

Torsional stiffness ×104Nm/rad 7.6 9.9 14 18.6

Inertia

moment

Without brake kg·m2 1.72 4.34 6.76 9.98 17.54 3.91 9.86 15.36 22.68 39.86

With brake kg·m2 2.03 5.29 8.09 11.59 20.9 4.62 12.03 18.39 26.35 47.5

Mass Without brake kg 6.2 9.1

With brake kg 6.7 9.7

Number of motor poles 16

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Page 9: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 8 www.motioncontrolproducts.com

Outline Dimensions (in mm)

MAH-32

Notes: please contact us for specific model drawings before placing your order

MAH-40

Notes: please contact us for specific model drawings before placing your order

Page 10: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 9 www.motioncontrolproducts.com

MAT Series Harmonic (Strain Wave) Gear Motors

- Enlarged hollow shaft design

Main Features

• Enlarged hollow shaft (through bore) compared to MAH series

• High precision: up to 40 Arc sec.

• Input voltages available: 48VDC, 110VAC, 220VAC 220 VAC*

• Flexible, reliable, low maintenance and compact design

• Low cogging, low noise, high torque density up to 800Nm

• Integrated design of harmonic (strain wave) gearbox, frameless motorwith encoder

• High protection grade (up to IP67) for extreme working environment

• Hollow shaft design for threading wires, gas pipe and laser beams to simplify system structure

• Black anodised version availiable * Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Typical Applications

● Electronic and semiconductor equipment ● Precision machine tool ● Detection device

● Factory automation systems ● Precision laser processing device ● Printing machines

● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment

● Precision measuring instrument ● Spray painting equipment ● LED equipment

Part Number Configuration

MAT - 25 C M 1 N E

① ② ③ ④ ⑤ ⑥ ⑦

① Series name

② Model No.20 / 40

③ Gear RatioA = gear ratio 51:1C = gear ratio 101:1E = gear ratio 161:1

④ Voltage

L = DC bus voltage 48VDC

M = 220VAC

N = 110VAC

⑤ Motor Encoder Type

1 = Multi-turn hollow shaft absolute encoder, single-turn

19 bit / multi-turn 16 bit

2 = Multi-turn hollow shaft absolute encoder, single-turn

22 bit / multi-turn 16 bit

3 = Multi-turn hollow shaft absolute encoder, single-turn

24 bit / multi-turn 16 bit

4 = Hollow shaft incremental encoder, 10000P/R

5 = Hollow shaft incremental encoder, 2500P/R

⑥ Motor Brake

N = Without brake

B = With brake

⑦ Other OptionsE = cables from the rearS = cables from the side

Page 11: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 10 www.motioncontrolproducts.com

MAT-25 / 40 Technical Specifications

Series / Model MAT-25 MAT -40

25A 25C 25E 40A 40C 40E

Gear ratio 51:1 101:1 161:1 51:1 101:1 161:1

Maximum torque Nm 121 194 217 497 702 800

Rated torque Nm 68.5 133 133 242 460 557

220VAC

Maximum speed rpm 102 51.5 32.3 76.5 38.6 24.2

Rated speed rpm 58.8 29.7 18.6 43.1 21.8 13.7

Maximum current A 8.3 6.72 4.72 23.49 16.76 11.98

Rated current A 3.48 3.41 2.14 8.94 8.58 6.52

Torque constant Nm/A 19.67 38.96 62.1 27.07 53.6 85.45

Phase resistance Ohms 1.779 1.024

Phase inductance mH 3.375 3.026

Back EMF Vrms/krpm 40.84 50.87

110VAC

Maximum speed rpm 80.4 40.6 25.5 52.9 26.7 16.8

Rated speed rpm 54.9 27.7 17.4 35.3 17.8 11.2

Maximum current A 13.93 11.28 7.92 36.81 26.26 18.78

Rated current A 5.84 5.73 3.61 14.94 14.34 10.89

Torque constant Nm/A 11.73 23.22 37.01 16.2 32.07 51.14

Phase resistance Ohms 0.809 0.53

Phase inductance mH 1.534 1.207

Back EMF Vrms/krpm 18.56 44.96

DC bus

voltage

48VDC

Maximum speed rpm 60.8 30.7 19.3 35.3 17.8 11.2

Rated speed rpm 51 25.7 16.2 29.4 14.9 9.3

Maximum current A 29.28 23.69 16.62 74.37 53.03 37.92

Rated current A 16.57 16.24 10.19 36.21 34.75 26.41

Torque constant Nm/A 4.13 8.19 13.05 6.68 13.24 21.09

Phase resistance Ohms 0.239 0.139

Phase inductance mH 0.282 0.207

Back EMF Vrms/krpm 10.57 17.48

Absolute

Encoder

Encoder type Multi-turn hollow shaft absolute encoder

Resolution (single motor revolution) 219 (524,288), 222(,194,304) or 224 (16,777,216)

Motor Multi-turn counter 216 (65,536)

Incremental

encoder

Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft resolution pulse/rev 2040000 4040000 6440000 2040000 4040000 6440000

Uni-directional positional accuracy Arc sec 40 30 30 40 30 30

Repeatability of positioning accuracy Arc sec 8 7 7 8 7 7

Rotational stiffness ×104Nm/rad 34.7 42.8 149.5 187.4

Torsional stiffness ×104Nm/rad 3.4 4.6 14 18.6

Inertia

moment

Without brake kg·m2 0.89 3.75 8.91 6.15 21.2 56.7

With brake kg·m2 0.97 4.03 9.7 6.65 23.11 61.8

Mass Without brake kg 4.3 11.2

With brake kg 4.7 11.7

Number of motor poles 16

Motor insulation

Heat-resistant class F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Page 12: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 11 www.motioncontrolproducts.com

Outline Dimensions (in mm)

MAT-25

Notes: please contact us for specific model drawings before placing your order

MAT-40

Notes: please contact us for specific model drawings before placing your order

Page 13: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 12 www.motioncontrolproducts.com

MAS Series Harmonic (Strain Wave) Gear Motors

- Solid shaft design

Main Features

• Solid shaft/ non-through bore, compared to MAH / MAT series

• High precision: up to 50 Arc sec.

• Input voltages available: 48VDC, 110VAC, 220VAC 220 VAC*

• Flexible, reliable, less maintenance and compact design

• Low cogging, low noise, high torque density up to 800Nm

• Integrated design of Harmonic (strain wave) gearbox, torque motor with encoder and brake

• High protection grade (up to IP67) for extreme working environment

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

Typical Applications

● Electronic and semiconductor equipment ● Precision machine tool ● Detection device

● Factory automation systems ● Precision laser processing device ● Printing machines

● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment

● Precision measuring instrument ● Spray painting equipment ● LED equipment

Part Number Configuration

MAS - 25 C M 1 N S

① ② ③ ④ ⑤ ⑥ ⑦

① Series name

② Model No. 17 / 20 / 25 / 32

③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 E = gear ratio 161:1 (N/A for model 17)

④ Voltage

M = 220VAC

⑤ Motor Encoder Type

1 = Tamagawa multi-turn absolute encoder, single-turn

17 bit / multi-turn 16 bit

2 = Tamagawa multi-turn absolute encoder, single-turn

23 bit / multi-turn 16 bit

3 = Niko multi-turn absolute encoder, single-turn 20 bit /

multi-turn 16 bit

4 = Incremental encoder, 2500P/R

5 = Incremental encoder, 5000P/R

⑥ Motor Brake

N = Without brake

B = With brake

⑦ Other Options S = cables from the side

Page 14: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 13 www.motioncontrolproducts.com

MAS-17 / 20 Technical Specifications

Series /Model MAS-17 MAS-20

17A 17B 17C 17D 20A 20B 20C 20D 20E

Gear ratio 50:1 80:1 100:1 120:1 50:1 80:1 100:1 120:1 160:1

Maximum torque Nm 42 53 66 66 69 91 102 108 113

Rated torque Nm 32 33 49 49 42 58 61 61 61

220VAC

Maximum speed rpm 120 75 60 50 120 75 60 50 37.5

Rated speed rpm 60 37.5 30 25 60 37.5 30 25 18.75

Maximum current A 4.22 3.35 3.34 2.79 6.79 5.64 5.07 4.48 3.52

Rated current A 2.37 1.54 1.83 1.53 3.05 2.65 2.23 1.86 1.4

Torque constant Nm/A 18.93 30.07 37.49 44.92 19.3 30.66 38.23 45.8 60.94

Phase resistance Ohms 4.203 3.856

Phase inductance mH 6.542 5.984

Incremental

encoder

Resolution 10000 pulse/rev (multiplied by 4)

Output shaft

resolution pulse/rev 500000 800000 1000000 1200000 500000 800000 1000000 1200000 1600000

Absolute

encoder

Encoder type Multi-turn absolute encoder

Resolution (single motor revolution) 217(524,288), 219(4,194,30) or 223(8,388,608)

Motor Multi-turn counter 216(65,536)

Uni-directional positional accuracy Arc sec 50 40 40 40 50 40 40 40 40

Repeatability of positioning

accuracy Arc sec 9 8 8 8 9 8 8 8 8

Rotational stiffness ×104 Nm/rad 22.08 25.8 23.5 27.3

Torsional stiffness ×104 Nm/rad 1.07 1.3 1.8 2.3

Inertia

moment

Without brake kg·m2 0.12 0.33 0.41 0.93 0.16 0.47 0.73 1.06 1.87

With brake kg·m2 0.14 0.36 0.45 1.02 0.19 0.54 0.82 1.15 2.03

Mass Without brake kg 1.42 2.07

With brake kg 1.64 2.51

Number of motor poles 10

Motor insulation

Heat-resistant class F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

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Outline Dimensions (in mm)

MAS-17

Notes: please contact us for specific model drawings before placing your order

MAS-20

Notes: please contact us for specific model drawings before placing your order

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MAS-25 / 32 Technical Specifications

Series /Model MAS-25 MAS-32

25A 25B 25C 25D 25E 32A 32B 32C 32D 32E

Gear ratio 50:1 80:1 100:1 120:1 160:1 50:1 80:1 100:1 120:1 160:1

Maximum torque Nm 121 169 194 207 217 267 376 411 436 459

Rated torque Nm 68.5 107.5 133 133 133 133 206 267 267 267

220VAC

Maximum

speed rpm 110 68.75 55 45.83 34.38 90 56.25 45 37.5 28.125

Rated speed rpm 60 37.5 30 25 18.75 60 37.5 30 25 18.75

Maximum

current A 8.54 7.52 6.93 6.17 4.86 17.41 15.43 13.53 11.98 9.48

Rated current A 3.45 3.42 3.39 2.83 2.13 6.19 6.04 6.28 5.24 3.94

Torque constant Nm/A 19.83 31.45 39.21 46.98 62.51 21.47 34.11 42.54 50.96 67.8

Phase

resistance Ohms 3.217 1.354

Phase

inductance mH 5.269 3.852

Incremental

encoder

Resolution 10000 pulse/rev (multiplied by 4)

Output shaft

resolution pulse/rev 500000 800000 1000000 1200000 1200000 500000 800000 1000000 1200000 1600000

Absolute

encoder

Encoder type Multi-turn absolute encoder

Resolution (single motor

revolution) 217 (524,288), 219 (4,194,30) or 223 (8,388,608)

Motor Multi-turn counter 216 (65,536)

Uni-directional positional

accuracy Arc sec 50 40 40 40 40 50 40 40 40 40

Repeatability of positioning

accuracy Arc sec 9 8 8 8 8 9 8 8 8 8

Rotational stiffness ×104

Nm/rad 34.7 42.8 87.5 113.6

Torsional stiffness ×104

Nm/rad 3.4 4.6 7.6 9.9

Inertia

moment

Without brake kg·m2 0.42 1.05 1.64 2.42 4.26 1.41 3.56 5.54 8.18 14.38

With brake kg·m2 0.49 1.28 1.96 2.81 5.07 1.66 4.34 6.63 9.5 17.14

Mass Without brake kg 2.93 5.74

With brake kg 3.48 6.57

Number of motor poles 10

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200MΩ (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

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Outline Dimensions (in mm)

MAS-20

Notes: please contact us for specific model drawings before placing your order

MAS-25

Notes: please contact us for specific model drawings before placing your order

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MGM Series Harmonic Gear Motors with Integrated Electronics

- All-in-one design

Main Features

• All-in-one design: harmonic (strain wave) gearbox, torque motor with encoder & brake and servo drive

• Supports EtherCAT or CANopen communication, which can be matched with most mainstream controllers on the market

• High precision: up to 60 Arc sec.

• Flexible, reliable, less maintenance and compact design

• Hollow shaft (through hole) design for threading wires, gas pipe and laser beams to simplify system structure

• High torque density up to 557Nm, suitable for collaborative robot application with the effective load less than 25kgs

• High protection grade (up to IP67) for extreme working environment

Typical Applications

● Collaborative robots ● Multi-joint industrial robots ● Service robots

● Electronic and semiconductor equipment ● Factory automation systems ● LED equipment

● Medical apparatus and instruments ● Precision laser processing device ● Detection device

● Spray painting equipment ● Precision measuring instrument ● Printing machines

● Precision machine tools ● Glass processing equipment

Part Number Configuration

MGM - 25 C L S E N

① ② ③ ④ ⑤ ⑥ ⑦

① Series name

② Model No. 14 / 17 / 20 / 25 / 32 / 40 /

③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 (N/A for model 14) E = gear ratio 161:1 (N/A for model 14 or 17)

④ Voltage

T = DC bus voltage 24VDC

L = DC bus voltage 48VDC

⑤ Motor Encoder Type

S = Dual encoders-

• Output shaft encoder: multi-turn absolute encoder

(multi-turn 16 bit) or single-turn 19 bit

• Motor shaft encoder: incremental, 2500 P/R

T = Dual encoders-

• Output shaft encoder: multi-turn absolute encoder

(multi-turn 16 bit) or single-turn 19 bit

• Motor shaft encoder: incremental, 1000 P/R

⑥ Integrated Servo Drive

N = Without integrated servo drive

E = Integrated with EtherCAT servo drive

C = Integrated with CANOpen servo drive

⑦ Other Options N = default / no other options

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MGM-14 / 17 Technical Specifications

Series /Model MGM-14 MGM -17

14A 14B 14C 17A 17B 17C 17D

Gear ratio 51:1 81:1 101:1 51:1 81:1 101:1 121:1

Maximum torque Nm 23 29 34 42 53 66 66

Rated torque Nm 8.6 13.5 13.5 32 33 49 49

DC bus

voltage

24VDC

Maximum speed rpm 71.5 67.5 36.3 52.0 33.0 26.0 22.0

Rated speed rpm 58.5 37.0 29.5 49.0 30.5 24.5 20.5

Maximum current A 11.7 9.3 8.8 14.3 11.4 11.4 9.5

Rated current A 4.4 4.4 3.4 10.9 7.1 8.4 7.1

Torque constant Nm/A 2.0 3.1 4.0 2.9 4.7 5.8 7.0

Phase resistance Ohms 0.34 0.26

Phase inductance mH 0.85 0.65

Back EMF Vrms/krpm 3.70 5.06

DC bus

voltage

48VDC

Maximum speed rpm 88.2 55.6 44.6 78.4 49.4 39.6 33.1

Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6

Maximum current A 7.91 7.99 5.9 17.16 11.68 13.73 11.42

Rated current A 2.96 3.72 2.34 8.81 5.55 6.79 5.68

Torque constant Nm/A 2.91 3.63 5.77 3.63 5.88 7.21 8.63

Phase resistance Ohms 0.275 0.262

Phase inductance mH 0.352 0.313

Back EMF Vrms/krpm 6.32 7.98

Motor

encoder

Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft resolution pulse/rev 2040000 3240000 4040000 2040000 3240000 4040000 4840000

Output

shaft

encoder

Encoder type Single-turn or multi-turn absolute encoder

Resolution (Single-turn encoder) 219 (524,288)

Resolution (Multi-turn encoder) 216 (65,536)

Communication function EtherCAT or CANopen

Control mode velocity control, position control, torque control etc.

Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity

deviation, excess deviation, serial communication error, emergency stop etc.

Uni-directional positional accuracy Arc sec 60 50 50 60 50 50 50

Repeatability of positioning accuracy Arc sec 10 9 9 10 9 9 9

Torsional stiffness ×104 Nm/rad 0.46 0.6 1.07 1.3

Inertia moment kg·m2 0.11 0.23 0.31 0.17 0.45 0.56 1.28

Mass kg 1.8 2.1

Length mm 116 123

Outer diameter mm 93 108

Number of motor poles 16

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200M Ω (DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

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Outline Dimensions (in mm)

MGM-14

Notes: please contact us for specific model drawings before placing your order

MGM-17

Notes: please contact us for specific model drawings before placing your order

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MGM-20 / 25 Technical Specifications

Series /Model MGM-20 MGM -25

20A 20B 20C 20D 20E 25A 25B 25C 25D 25E

Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1

Maximum torque Nm 69 91 102 108 113 121 169 194 207 217

Rated torque Nm 42 58 61 61 61 68.5 107 133 133 133

DC bus

voltage

24VDC

Maximum speed rpm 52.0 33. 26.0 22.0 16.3 49.5 31.0 25.0 20.5 15.5

Rated speed rpm 43.0 27.0 21.5 18.0 13.5 39.0 24.5 19.5 16.5 12.0

Maximum current A 23.4 19.5 17.6 15.5 12.2 36.3 14.2 12.9 11.6 9.2

Rated current A 14.3 12.5 10.5 8.7 6.6 20.5 9.0 9.0 7.5 5.6

Torque constant Nm/A 2.9 4.7 5.8 7.0 9.2 3.3 11.9 14.8 17.7 23.8

Phase resistance Ohms 0.26 0.18

Phase inductance mH 0.65 0.48

Back EMF Vrms/krpm 5.06 5.50

DC bus

voltage

48VDC

Maximum speed rpm 78.4 49.4 39.6 33.1 24.8 60.8 38.3 30.7 25.6 19.3

Rated speed rpm 60.8 38.3 30.7 25.6 19.3 51 32.1 25.7 21.5 16.2

Maximum current A 18.54 19.54 13.81 12.22 9.61 29.65 33.17 23.99 21.37 16.83

Rated current A 11.27 12.47 8.26 6.9 5.21 16.78 21.01 16.45 13.73 10.32

Torque constant Nm/A 3.72 4.65 7.38 8.84 11.76 4.08 5.1 8.09 9.69 12.89

Phase resistance Ohms 0.262 0.239

Phase inductance mH 0.313 0.282

Back EMF Vrms/krpm 7.98 10.57

Motor

encoder

Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft

resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000

Output

shaft

encoder

Encoder type Single-turn or multi-turn absolute encoder

Resolution (Single-turn encoder) 219 (524,288)

Resolution (Multi-turn encoder) 216 (65,536)

Communication function EtherCAT or CANopen

Control mode velocity control, position control, torque control etc.

Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity deviation,

excess deviation, serial communication error, emergency stop etc.

Uni-directional positional

accuracy Arc sec 60 50 50 50 50 60 50 50 50 50

Repeatability of positioning

accuracy Arc sec 10 9 9 9 9 10 9 9 9 9

Torsional stiffness ×104Nm/rad 22.5 27.3 32.7 42.8

Inertia moment kg·m2 0.28 0.64 0.98 1.38 2.43 0.51 1.3 2.03 2.99 5.26

Mass kg 2.4 3.6

Length mm 131 155

Outer diameter mm 112 110

Number of motor poles 16

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200M Ω(DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more details.

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Outline Dimensions (in mm)

MGM-20

Notes: please contact us for specific model drawings before placing your order

MGM-25

Notes: please contact us for specific model drawings before placing your order

Page 23: Harmonic (Strain Wave) Gear Motors · Factory automation systems Precision laser processing device Printing machines ... Rotational 4stiffness ×10 Nm/rad 7.05 9.8 22.08 25.8

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MGM-32 / 40 Technical Specifications

Series /Model MGM-32 MGM-40

32A 32B 32C 32D 32E 40A 40B 40C 40D 40E

Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1

Maximum torque Nm 267 376 411 436 459 497 641 702 762 800

Rated torque Nm 133 206 267 267 267 242 351 460 557 557

DC bus

voltage

24VDC

Maximum speed rpm 35.0 22.0 17.5 14.5 11.0 32.5 20.0 16.0 13.5 10.0

Rated speed rpm 26.0 16.0 13.0 11.0 8.0 19.0 12.0 9.5 8.0 6.0

Maximum current A 56.5 50.1 43.9 38.9 30.8 110.0 89.3 78.4 71.1 56.1

Rated current A 28.1 27.4 28.5 23.8 17.9 53.5 48.9 51.4 51.9 39.0

Torque constant Nm/A 4.7 7.5 9.4 11.2 14.9 4.5 7.2 8.9 10.7 14.3

Phase resistance Ohms 0.16 0.15

Phase inductance mH 0.58 0.55

Back EMF Vrms/krpm 7.80 7.50

DC bus

voltage

48VDC

Maximum speed rpm 51.00 32.10 25.70 21.50 16.10 35.30 22.20 17.80 14.90 11.20

Rated speed rpm 41.20 25.90 20.8 17.4 13 29.40 18.50 14.90 12.40 9.30

Maximum current A 52.84 59.73 41.06 36.42 28.81 74.91 77.38 53.41 48.43 38.20

Rated current A 26.32 32.72 26.67 22.31 16.76 36.47 42.37 35.00 35.40 26.60

Torque constant Nm/A 5.05 6.30 10.01 11.97 15.93 6.63 8.28 13.14 15.73 20.94

Phase resistance Ohms 0.188 0.139

Phase inductance mH 0.265 0.207

Back EMF Vrms/krpm 12.05 17.48

Motor

encoder

Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)

Output shaft resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000

Output

shaft

encoder

Encoder type Single-turn or multi-turn absolute encoder

Resolution (Single-turn encoder) 219 (524,288)

Resolution (Multi-turn encoder) 216 (65,536)

Communication function EtherCAT or CANopen

Control mode velocity control, position control, torque control etc.

Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity deviation,

excess deviation, serial communication error, emergency stop etc.

Uni-directional positional accuracy Arc sec 60 50 50 50 50 60 50 50 50 50

Repeatability of positioning

accuracy Arc sec 10 9 9 9 9 10 9 9 9 9

Torsional stiffness ×104 Nm/rad 7.6 9.9 14 18.6

Inertia moment kg·m2 0.51 1.3 2.03 2.99 5.26 4.42 11.14 17.36 25.63 45.04

Mass kg 6.7 9.9

Length mm 168 171

Outer diameter mm 142 170

Number of motor poles 16

Motor insulation

Heat-resistant class: F (155 °C)

Insulation resistance: more than 200M Ω(DC500V)

Dielectric strength: AC1500V (1 minute)

Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)

* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more

details.

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Outline Dimensions (in mm)

MGM-32

Notes: please contact us for specific model drawings before placing your order

MGM-40

Notes: please contact us for specific model drawings before placing your order

Copyright © 2019 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance (V2019-0814)