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The Next Servo Power

SAFE

Details of Warranty

Warranty period of our products is one year after shipment from our factory. However, please note that
any failure or abnormality resulting from the following causes will not be covered by the warranty.
Modication by parties other than Nikki Denso.
Any non-standard operation that is dierent from rules and regulations stipulated by this catalog or our manual.
Natural disasters.
Connection with another maker's unit which is not approved by Nikki Denso.
Warranty of the device is limited for repairing only. Any damage caused by the fault of delivered device,
or lost opportunity on the customer's side, prot loss, secondary damage, and accident will not be covered.

Cautions
The products may be damaged if it is hit or dropped. Please handle carefully.
Please make sure to install the safety device in case the product is used in the system that
may have a serious accident or loss if the product is failed.
Since the unexpected noise, electrostatic, or incase of abnormal failure of input power source,
wiring, and parts may be occurred although we put our eort to keep the product quality, please
consider the fail-safe design and the safety in the range of movement before use.
Please read the instruction manual carefully and understand fully before use the product.
Also, please pay attention to the cautions mentioned in the manual.
In the product, strong magnets are used. Please do not stand near by the product if you have
the pace maker device in the heart in order to avoid serious accident.
Please make sure to unplug the all power supply cables before installing, checking, and
maintenance of the product. Also, please make sure to take measures such as safety plug or
locking the power supply cables to avoid re-inputting the power other than the operator.

"DISC" , "Linear" , "Servo compass", and "ENGINE" are the registered brand of Nikki Denso Co., Ltd.
The photos used in the catalog are for images only and may not be same as actual products.

The Next Servo Power

Nikki Denso Co., Ltd.

Overseas Sales Dept.


Address : 1-4-2, Osaku, Sakura-shi, Chiba-ken 285-0802 Japan

TEL : +81-43-498-2315/ FAX : +81-43-498-4654

E-Mail : overseas@nikkidenso.co.jpWebsite : http://www.nikkidenso.co.jp

Head oce
Address : 2-8-24, Arima, Miyamae-ku, Kawasaki-shi, Kanagawa-ken 216-0003 Japan

TEL : +81-44-855-4311/ FAX : +81-44-854-7746

English
Document No.N019B201105-2000
The contents in this catalog is as of May 2011.
The specications, rating, or dimensions of products in this catalog may be changed without notice for the improvement.
Although we carefully editing this catalogs, we are not responsible for any damage caused by errors and omissions.

c
Printed in japan. gyro
NIKKI

Reprint without permission is forbidden.

DISC

Characteristics P3
Model/Motor type P4
Speed stability performance characteristic graph

P4
High response performance characteristic graph

P4

Contents

DISC D series

Motor torque characters P5


SpecicationP6P7
Assembling encoder specications

P6
P7
Dimensions

P8P18

Driver
Controler

DISC HD series

Motor torque characters P19


SpecicationP20
Assembling encoder specications

P20
Dimensions

P21P24

DISC ND-cND series

Motor torque characters P25


SpecicationP26P27
Assembling encoder specications

P26
P27
Dimensions

P28P38

Motor optionstandards

P39
Interpolator unitIPU
Encoder cable connector kit P39
External power supply unit

P39
Encoder cable reference chart

P40
Motor cable reference chart

P41
P42
Absolute position accuracy compensation

P43
Overseas safety standard conformity

P43
RoHS command corresponding

P43
Special specications

P43

AC Servo driver/controller VC series

Model P45
Index P46
Common specications

P47
Special specications

P47
Function specications

P48

DISCVC series matching chart P49P50


Dimensions

P51
P52
Factory option

P52
Specications and the external connection diagram

P53
P54

AC Servo driver VPS series

Model P55
Index P56
Common specications

P57
Special specications

P57
Function specications

P58

DISCVPS series matching chart P59P60


Dimensions

P60
Specications and the external connection diagram

P61
P62

Driver option

I/O connectionVCseriesP63P64
I/O connectionVPS seriesP64P65
Serial communication
VC/VPS seriesP65
Other option

P66
VCseries
Noise prevention options
VC/VPS seriesP66
Regenerative resistor
AttachmentP67
Dynamic brake unit dimensions

P68

DISC servo motor


selection by index positioning of rotating object P69P70

Encoder/Encoder cable

Torque reference chart

DISC servo motor series torque reference chart P71P72


The other product line-ups Nikki Denso recommends P71P72

DISC D series

DISC HD series
Motor cable

DISC ND-cND series

DISC options

DISC
Direct drive Servo motor
tau

Model/Motor type

D Series/HD Series/ND-cND Series

Model

NMR - F A D B A 2 B - 0 6 1 A P

General motor specication


Item

Contents

Motor
type

Operating ambient temperature


Operating ambient humidity
Installation
location
Installation attitude
Cooling method
Insulating classes
Dielectric strength voltage

%RH, No condensation
No harmful substance such as corrosive
are not allowed in the installation location.

Horizontal, upward
Natural cooling

Middle classication2

AC V, min
m or lower

directions for each


Resistance to vibration
Shock resistant
Rotation direction

directions for each

Nominal diameter
1

Positive rotation is considered as the counter


clockwise from the view of rotation surface.

Please consult with our sales dept, if you intend to install other than horizontal.

Model FD series/HD seriesCND-c seriesNND series


Motor
type
DD series/HD seriesNDND-c series/ND series
NOND series/HD series/ND seriesCND-c series
Flange-less

A110Full scale range 110 to 119mm

P110Full scale range 110 to 119mm

C140Full scale range 140 to 149mm

R140Full scale range 140 to 149mm

D170/180Full scale range 170 to 189mm

S170/180Full scale range 170 to 189mm

E250Full scale range 250 to 269mm

T250Full scale range 250 to 269mm

F400Full scale range 400 to 409mm

U400Full scale range 400 to 409mm

G630Full scale range 630 to 639mm

V630Full scale range 630 to 639mm

Flange type

2 is a protection level of ND-c series ND250/400 motor type.

Flange type

IP
Degree of protection
Altitude

NMRDISC motor series

Middle classication1

Class F

D 110 - 4 0 - F P

gas, grinding uid, metal powder, and oil

Nominal height
1

Flange-less

D40Full scale range 40 to 49mm

D40Full scale range 40 to 59mm

M50/55Full scale range 50 to 59mm

M65/70Full scale range 60 to 69mm

E60/65Full scale range 60 to 79mm

E60/70/95/100Full scale range 70 to 95mm

U85Full scale range 80 to 99mm

F95/100/110Full scale range 96 to 119mm

F100Full scale range 100 to 119mm

G120/125Full scale range 120 to 149mm

H160Full scale range 150 to 169mm

H160Full scale range 150 to 169mm

I185Full scale range 170 to 199mm

I175/185Full scale range 170 to 199mm

P470Full scale range 400 to 499mm

J200Full scale range 200 to 219mm


K225Full scale range 220 to 225mm
N225Full scale range 225 to 249mm

Characteristics

V275Full scale range 250 to 299mm


Motor ange

FFlangeLFlange-less

Encoder type

B/G/IIncremental encoderHAbsolute encoderone revolution absolute value

Power supply

A2AC200/220VBased on the matching with particular servo driver, some motors can be used at AC100/110V

Design class

ABCStarting from A

Rated output

Example0610 6 1 = 6 x 10 1= 60W
Power value of accumulation of 10
Signicant gure

Brake (With or without)

AWithout brake

Accuracy of rotating table

WithoutStandard specPHigh precision spec

Motor structure

WithoutStandard specGAir cooling structureZReserved for maker

Symbol for special model

WithoutStandard specS + consecutive guresSpecial model specication

1 Motor type is indicated as gure.

Actual dimensions are dierent from nominal. Please refer to the dimensions.

speed feed-back

position deviation

torque command

Position completion signal

5rpm

ThinHigh performance type


Thinness44.5mm
Large capacity: Max torque 5800Nm
Speed stability performance
characteristicrefer to P4 chart
Large inertia load correspondence
High accuracy positioning

go to P5

High response type


High response performance
characteristicrefer to P4 chart
Suitable for high-speed index
movement
Forced air-cooling type is available
to pursue higher performance.

go to P19

Standard type
Abundant product line up22types
Corresponding with one revolution
absolute encoder and incremental
encoder

0.15
Sampling 100HZ

110mm middle hollow type is


available in the lineup.

20ms

Dwell time 50ms


1 cycle time

70ms

go to P25
Speed stability performance characteristic

Operation time
by completion
range

The waveform of motor movement at 5rpm(Momentary speed variation 0.15%).


Sampling frequency 100Hz

High response performance characteristic

The waveform of 22.5deg positioning movement 857shot/min

DISC D series Specication

Motor type
Model
External
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2
Allowable axial load2
Radial run out (No load)
Axial run out (No load)
Rotor inertia
Mass

D110-40-L
Frange-less
FPDBA2B-061A
110
55
2
6
63
2.0

Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2

DISC D series Motor torque characters

Allowable axial load2


Radial run out (No load)
Axial run out (No load)
Rotor inertia
Mass

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

6.1
1.1

0.0003
1.8

D170-40-F
Frange type
FDDBA2D-201A
177.5
44.5
7.5
22.5
235
2.1

D170-40-L
Frange-less
FSDBA2C-201A
177.8
57
7.5
22.5
235
2.1

49.2
3.2

49.2
3.2

300%
to the
rated torque

Torque

Motor type

Torque

0.002
5.5

Model
External
Height
Rated torque

Accelerate/
Decelerate range

Rated torque

200%
to the
rated torque

Accelerate/
Decelerate range

Rated torque

Max. torque

193%
to the
rated torque

Rated output

Accelerate/
Decelerate range

Rated current
Absolute position accuracy1
Allowable moment load2

Rated torque

Continuum region

Allowable axial load2

Continuum region

Radial run out (No load)

Continuum region

Axial run out (No load)


Rotor inertia

Rotation
speed

Rated
speed

D110-40-F/LD110-60-F/L
D170-40-F/LD170-100-F/L
D250-40-F/LD250-100-F/L

Accelerate/
Decelerate range

to the
rated torque

Continuum region
Rotation
speed

Rated
speed

D400-275-LHigh rigidity type

Rated
speed

0 Rotation
speed

2rps

When operating D110-40-F/L at AC100V.


When operating D110-60-F/L at AC100V.

140.4
5.4

0.017
9.5

Magnetic pole detection method

D250-100-F
Frange type
FEFBA2C-122A
254
104.5
62
186
1200
8.0

15
Option
140.4
337.4
5.4
13.3
25
Standard
10
Option
25
Standard
10
Option
0.017
0.047
10
23
Hall sensor

0.009
13

D250-100-L
Frange-less
FTFBA2C-122A
254
115.5
62
186
1200
8.0
337.4
13.3

0.047
23

2 Life of bearing and run out depend on a load.

Assembling encoder specications

300%
to the
rated torque

Motor type

Accelerate/
Decelerate range

D110

D170

Continuum region

5rps

D250-40-L
Frange-less
FTDBA2C-401A
254
57
20.7
60
51.753
400
3.4

89.9
6.9

In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.

Rated torque

Continuum region

D170-100-L
Frange-less
FSFBA2C-701A
177.8
115.5
22.5
67
700
4.8

3 The value of ( ) is when VPS series is used.

Accelerate/
Decelerate range

Mass

0.0005
3.3

1 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.

Torque

Rated torque

Rated torque

300%

Rotation
speed

D630-470-F

Torque

257%

Rated
speed

D400-40-F/LD400-100-F/L
D400-175-LD630-125-L
D630-175-LD630-225-L

Torque

to the
rated torque

Rotation
speed

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D250-40-F
Frange type
FEDBA2C-401A
254
44.5
20.7
60
51.753
400
3.4

15
Option

D170-100-F
Frange type
FDFBA2C-701A
177.8
104.5
22.5
67
700
4.8

6.1
1.1

89.9
6.9
20
Standard
10
Option
20
Standard
10
Option
0.009
0.002
13
5.5
Hall sensor

Magnetic pole detection method

Torque

D110-60-L
Frange-less
FPEBA2B-121A
110
75
4
12
126
2.4

6.1
1.1
20
Standard
10
Option
20
Standard
10
Option
0.0003
0.0005
3.1
2.0
Automatic

6.1
1.1

Magnetic pole detection method

Motor type

15
Option

D110-60-F
Frange type
FAEBA2C-121A
110
67
4
12
126
2.4

DISC / D series

DISC / D series

Thin
High performance
type

Height

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D110-40-F
Frange type
FADBA2C-061A
110
47
2
6
63
2.0

0 Rotation
speed

2.5rps

5rps

When operating D170-40-F/L at AC100V.

D250

Detecting pulse Electrical resolution Rated speed Encoder type


ppr
sec
rps
720,000
1.800
5.0
Incremental
1,440,000
0.900
5.0
3,686,400
0.352
5.0
400,000
3.240
5.0
1,000,000
1.296
5.0
Incremental
2,000,000
0.648
5.0
4,000,000
0.324
2.5
10,240,000
0.127
5.0
900,000
1.440
3.0
1,800,000
0.720
3.0
3,600,000
0.360
3.0
Incremental
7,200,000
0.180
1.5
9,216,000
0.141
3.0
18,432,000
0.071
3.0

Interpolator

Built-in
Built-in
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Separated

Model 2
NSR-REMP1-10
NSR-RENP1-10
NSR-RHSP2-10
NSR-REKH1-10
NSR-RELH1-10
NSR-REMH1-10
NSR-RENH1-10
NSN-RHSH2-10
NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10

External connecton diagram No.


VCseries
VPS series
C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

1 If the external type interpolator is selected, P39 interpolator unit (IPU) is installed separately.
E -B-1
E -B-2 .
In such case, the combination of encoder cable is P40

2 mark refers to the design orderNon-marking or start from A.

DISC D series Specication

Magnetic pole detection method

Hall sensor

Motor type
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2
Allowable axial load2
Radial run out (No load)
Axial run out (No load)
Rotor inertia
Mass
Magnetic pole detection method

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D630-125-L
Frange-less
FVGBA2C-322A
630
125
500
1000
3150
25.0
3000
50

4.1
260

D630-175-L
Frange-less
FVIBA2C-672A
630
175
1000
2000
6700
47.7

D630-225-L
Frange-less
FVKBA2B-872A
690
225
1500
3000
8700
47.1

15
Option
5000
6000
80
100
40
Standard
10
Option
40
Standard
10
Option
5
6.4
330
430
Hall sensor

.1
5
0

55

1101

D630-470-F
Frange type
FGPHA2A-133AGZ
660
470
3000 4
5800 4
12600 4
76.0 4

"B" section detail

View A

NMR-FPDBA2B-061A

12.1
815
Position detection

1 Absolute encoder is one resolution absolute value.


2 If the external type interpolator is selected, P39 interpolator unit (IPU) is installed separately.
E -B-1
E -B-2 .
In such case, the combination of encoder cable is P40
3 mark refers to the design orderNon-marking or start from A.

E -A-2

E -A-3

6M5 depth 6
Even position

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

C -2 P54 references

C -1 P53 references

C -2 P54 references

1.6
56Inner rotating part

1.6

Rotating position

4M5 depth 10

Motor connector

Motor cable

0.1
96
R

ot

2
ing 3
po
sit
ion

at

SensorEncoder cable

Fixed position

+20
500 0

External connecton diagram No.


VCseries
VPS series

53.5

C
0
.5

NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10
NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10
NSR-RPST2-05
NSR-RQSZ2-05
NSR-RJLR1-10
NSR-RJMR1-10
NSR-RJNR1-10
NSR-RHSR2-10
NSR-RPSNAPAAA2-10

Encoder cable exible type

E -A-1

6
4

Built-in
Built-in
Built-in
Built-in
Separated
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Separated
Separated
Separated
Built-in
Built-in
Built-in
Separated
Separated

Model 3

Zero point
detection position
range 2

Assembling encoder specications


2

Encoder cable

52.4

Interpolator

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

1.6

550.1

0.02
1.5Spigot joint

1 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.
2 Life of bearing and run out depend on a load.
3 Type in ( ) depends on encoder type.
D630-470-F type power supply specication of cooling fan
GEncoder type Incremental (Separated interpolator unit type)
Single phaseAC200V0.92A50Hz
HEncoder type Absolute (Separated interpolator unit type)
Power Supply
Single phaseAC200V0.72A60Hz
4 The value is when air cooling fan is used.
Connection
Connecting to the terminal block of motor body (M3 screw)
Please refer to the right side gure for power supply specication of cooling fan.

Detecting pulse Electrical resolution Rated speed Encoder type


sec
1
ppr
rps
2.0
900,000
1.440
0.720
2.0
1,800,000
D4002.0
3,600,000
0.360
Incremental
40/100
0.180
1.5
7,200,000
9,216,000
0.141
2.0
2.0
18,432,000
0.071
1.440
0.66/1.5
900,000
0.66/1.5
1,800,000
0.720
3,600,000
0.360
0.66/1.5
Incremental
D400-175
7,200,000
0.180
0.66/1.5
0.141
0.66/1.5
9,216,000
18,432,000
0.071
0.66/1.5
Absolute
0.1902
1.5
6,815,744
D400-275
High rigidity
Incremental
7,168,000
0.1809
1.5
1.0
1,800,000
0.720
D6300.360
1.0
3,600,000
Incremental
125/175/225
1.0
7,200,000
0.180
0.071
1.0
18,432,000
Absolute
D630-470
12,582,912
0.10
0.67

1.6

D110-40-L

7000
70

In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.

Motor type

0.02

+20
500 0

Mass

20
Hollow diameter

Motor cable

Rotor inertia

Note : Bottom view of cable layout is shown as right side

0.02

1.5

0.5

Encoder cable

Axial run out (No load)

0
50h7 0.025
Spigot joint

0.02
.5
0
C

Radial run out (No load)

tio

1101Diameter
65Rotating position

1.5

Allowable axial load2

Spigot joint

Allowable moment load2

45.5

Absolute position accuracy1

po

View ABase

470.1

Rated current

1101

44.4

Rated output

23

Fixed position

Motor connector

20

Max. torque

tin

si

1.6

Rated torque

Motor cable

ta

0
82h7 0
0.035

Height

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

Ro

46Inner rotating part

Model
External

D400-275-LHigh rigidity type


Frange-less
FUVA2A-662A 3
455
275
700
1800
6600
48.1
15
Option
3000
50
20
Standard
10
Option
20
Standard
10
Option
0.94
195
IncrementalHall sensor
AbsoluteAbsolute position detection

12

Motor type

D400-175-L0.66rps specication D400-175-L1.5rps specication


Frange-less
Frange-less
FUIBA2D-212AZ
FUIBA2D-472AZ
406
406
186
186
500
500
1000
1000
2100
4700
19.6
29.7
15
Option
1805.5
1805.5
44.6
44.6
30
Standard
10
Option
30
Standard
10
Option
0.61
0.61
110
111.3

Rotating position

1.6

Magnetic pole detection method

0.303
61

20
Hollow diameter

0.147
28

0
50h7 0.025
Spigot joint

Mass

1.6

Rotor inertia

Zero point
detection position
range 2

1101Diameter

Axial run out (No load)

Encoder connector

65Rotating position

Radial run out (No load)

1805.5
44.6

4
-C
5

Allowable axial load2

15
Option
1805.5
579.8
15.5
44.6
30
Standard
10
Option
30
Standard
10
Option
0.147
0.303
61
27
Hall sensor

579.8
15.5

Allowable moment load2

Encoder cable

16

Absolute position accuracy1

+20
500 0

24H7 0.012
depth 8Even position for positioning holes
0

6M5 depth 6Even position

DISC / D series

Rated current

0.02
47 Even position

20
1

DISC / D series

Rated output

NMR-FADBA2C-061A

Max. torque

D110-40-F

1.5

Rated torque

D400-100-L
Frange-less
FUFBA2C-252A
406.4
115.5
200
400
2500
14.3

0.5

Height

D400-100-F
Frange type
FFFBA2C-252A
406.4
104.5
200
400
2500
14.3

33

External

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D400-40-L
Frange-less
FUDBA2C-801A
406.4
57
67
134
800
6.3

33

Model

D400-40-F
Frange type
FFDBA2C-801A
406.4
48.5
67
134
800
6.3

Motor type

DISC D series dimensions

Encoder connector

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

Encoder cable
Encoder cable exible type
"A" section detail

E -A-1

E -A-2

E -A-3

DISC D series dimensions

DISC D series dimensions

D110-60-F

D170-40-F

NMR-FAEBA2C-121A

0.02

NMR-FDDBA2D-201A

0.02

24H7 0.012
depth 8Even position for positioning holes
0

6M5 depth 6Even position

47 Even position

26H7 0.012
depth 8Even position for positioning holes
0

+20
500 0

6M5 depth 7Even position

+20
500 0

Encoder cable
5

48

55
1731

55

ta

23

tin

po

Motor connector

si

12

48

33

1101

Ro

tio

Ro

.8

38

tio

si

po

16

20

0.

86

33

Zero point
detection position
range 2

in
at

DISC / D series

SensorEncoder connector

Rotating position

70
1

Rotating position
Motor cable

Motor cable

Fixed position

Fixed position

Motor connector

4
-C
5

R1
+20
500 0

1101

1731

411Even position

View ABase

20

20

3.5

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

44.50.1

0.5

1.6

41

Hollow diameter

E -A-1

D110-60-L

E -A-2

E -A-3

3Spigot joint

joint

43

Encoder cable exible type

0.02

35

10

65.5

Encoder cable

0.02

Encoder cable exible type

1.6

View A

1.6

View A

670.1

64.4

Motor cablePLN

0
96h7 0.035
Spigot

.5

"B" section detail

M -A

Motor cable with shieldPHS


M -B

177.5Diameter
108Rotating position

"B" section detail

C0

0.5

66Inner rotating part

1.6

Rotating position

Hollow diameter

0.02

Inner rotating part

A
1.5

0.2
0

20

1.5

0
50h7 0.025
Spigot joint

1.5

C0
.5

1.6

0.02

0.5

1101Diameter
65Rotating position

Spigot joint

View ABase

1.6

Encoder connector

20
1

DISC / D series

SensorEncoder cable

Zero point
detection position
range 2

E -A-4

E -A-5

D170-40-L

NMR-FPEBA2B-121A

750.1

0.02
1.5Spigot joint

NMR-FSDBA2C-201A

Motor connector

73.5

0.02

3
Spigot joint

1.5

0.5

0.5
Rotating position

+20
500 0

Motor cable

Ro

ta

tin

po

sit

0.1
5

ion

6
1

6
5

Magnetic pole sensor cable

Encoder cable
Encoder
cable
+20
500 0

SensorEncoder cable

1.6

Note : Bottom view of cable layout is shown as right side

Spigot joint

35

0
110h7 0.035

.5

1.6

+20
500 0

Encoder cable

.5

0.02

.8

Fixed position

Motorcable
cable
Motor

3
8

Fixed position

Rotating position

1.6
57
Inner rotating part

C
0
.5

SensorEncoder cable

Hollow diameter

2
ting 3
pos
itio
n

ota

108Rotating position

0
82h7 0
0.035

20
Hollow diameter

0
50h7 0.025
Spigot joint

1101Diameter

0.1
96

0.

86

65Rotating position

Motor cable

6
4

Rotating position

1.6
Zero point
detection position
range 2

0
96h7 0.035
Spigot joint

+20
500 0

76Inner rotating part


1.6

6M6 depth 8
Even position

6M5 depth 7Even position

1.6

177.81Diameter

4M5 depth 10

Motor connector

Motor cable

6M5 depth 6
Even position
Zero point
detection position
range 2

1.6

1.6

72.4

Note : Bottom view of cable layout is shown as right side

Sensor
Encoder connector

0.02
Encoder connector

3.5

53.5
570.1

3
Spigot joint

60

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

"B" section detail

Encoder cable

E -A-1

Encoder cable exible type

E -A-2

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

Encoder cable exible type


"A" section detail
3

0.5

E -A-4

E -A-5

10

DISC D series dimensions

DISC D series dimensions

D170-100-F

D250-40-F

NMR-FDFBA2C-701A

0.02
+20
500 0

NMR-FEDBA2C-401A

0.025 A

26H7 0.012
depth8Even position for positioning holes
0

6M6depth10Even position

26H7 0.012
depth8Even position for positioning holes
0

6M6depth8Even position
500 +20
0

Zero point
detection position
range 2

0
0.

50

1731

15

55

Sensor
Encoder connector

Depth

0
11
75

Rotating position

28

Fixed position
Motor cable

Motor connector

itio

os

gp

in
tat

R
.8

8
6

2501.5

55

Sensor
Encoder cable
25

22

ion

sit

po

86

0.
1
Rotating position

Motor cable

Motor connector

Ro

.8

8
3

50

36

Zero point
detection position
range 2

t
ta

ing

DISC / D series

20

46
2

Sensor
Encoder connector

7
1

DISC / D series

SensorEncoder cable

Rotating position
Fixed position

+20
500 0

2hanging metal xture

411Even position

View ABase
2hanging metal xture

R25

1731

177.81Diameter

500 +20
0

0.02

413Even position
View ABase

2501.5

1.6

.5

C
B
1.6

3
0.5

35Hollow diameter

3.5

0
96h7 0.035
Spigot joint

0.02

3Spigot joint

108Rotating position

2541.5Diameter

D170-100-L

1.5

1.6

View A

3.5

3Spigot joint

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

44.50.1

20

43

Inner rotating part

1.6

0.025

Rotating position
0.5
41

1.6

10

101

104.50.1

Rotating position 0.5

1.5

10

E -A-4

E -A-5

Encoder cable exible type

20

Inner rotating part

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

1.6

65Hollow diameter

.5

View A

0.025

"B" section detail

0
162h7 0.040
Spigot joint

"B" section detail

103

0.5

185Rotating position

Encoder cable exible type

E -A-4

E -A-5

D250-40-L

NMR-FSFBA2C-701A

NMR-FTDBA2C-401A

Motor connector

Motor connector

Rotating position

SensorEncoder cable

.5

1.6

1.6

2hanging metal xture

Note : Bottom view of cable layout is shown as right side


0.025

1
12

Spigot joint

Rotating position
Fixed position

ting positio

68.8Rota

Magnetic pole sensor cable

Rotating position

Encoder cable

0.
2

4
2

3
Spigot joint

Sensor
Encoder
connector

Encoder cable

60

500 +20
0

6
5

Magnetic
pole sensor cable

Motor cable

SensorEncoder cable

57
Inner rotating part

0
156h7 0.040

th

p
De

65Hollow diameter

0.1
6

5
1

0
162h7 0.040
Spigot joint

2541.5Diameter

itio

1
1

+20
500 0

Sensor
Encoder
connector

os

0
0.

185Rotating position

+20
500 0

Motor cable
Spigot joint

1.6

1.6
Spigot joint

0.5

gp

15

.5

tin

Zero point
detection position
range 2

0.02

ota

1.6

.5

Fixed position

.8
R

.5

Motor cable
3
8

0
110h7 0.035

115.5
Inner rotating part
35
Hollow diameter

0
96h7 0.035
Spigot joint

177.81Diameter

108Rotating position

86

0.
1
Rotating position

2hanging metal xture

1.6

1.6

1.6

500 +20
0

6M6depth10Even position

6M6depth10Even position

Zero point
detection position
range 2

Motor cable

6M6depth8Even position

6M6depth8
Even position
Note : Bottom view of cable layout is shown as right side

0.5
Rotating position

0.025
0.02

3.5
3.5

112
115.50.1

53.5
570.1

60

3
Spigot joint

Spigot joint
118.5

M -A

Motor cable with shieldPHS


M -B

M -A

Motor cable with shieldPHS


M -B

Motor cablePLN

0.5

"A" section detail

11

Encoder cable exible type

E -A-4

E -A-5

Motor cablePLN

0.5

"A" section detail

Encoder cable exible type

E -A-4

E -A-5

12

DISC D series dimensions

DISC D series dimensions

D250-100-F

D400-40-F

NMR-FEFBA2C-122A

NMR-FFDBA2C-801A
0.025

26H7 0.012
depth8Even position for positioning holes
0

6M8depth10Even position

0.03 A
6M8depth10Even position

500 +20
0

80
80

75

5
1

Rotating position

60

position
Rotating

Motor cable

Motor connector

itio

pos

th2

ep
0D

ing

tat

Ro
8.8

4062

2501.5

Zero point
detection position
range 2

28

Rotating
position

Motor cable

45
0

55

30

25
50

DISC / D series

Sensor
Encoder connector

h2

ept

0D

1
1

ot

R
.8

8
6

0.
0

0
0.

Sensor
Encoder cable

ion

sit

po

2
2

1
5

Zero point
detection position
range 2

g
tin

91
3

4
2

DISC / D series

Sensor
Encoder cable

SensorEncoder connector

28H7 0.015
depth8Even position for positioning holes
0

500 +20
0

Rotating
position

Fixed position

Fixed position

R5

413Even position

2hanging metal xture

R25

500 +20
0

Motor connector
2501.5

417Even position

2hanging metal xture

500 +20
0

View ABase

View ABase

4062

2541.5Diameter

0.5

D250-100-L

3.5

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

Encoder cable exible type

48.50.1

3Spigot joint

1.6

0.03

45

47
1.5

1.6

20

1.6

10

View A

"B" section detail

Rotating position 0.5

View A

E -A-4

E -A-5

Inner rotating part

1.5

10

20

Encoder cable exible type

1.6

Hollow diameter

.5

Rotating position0.5

M -C-1

Motor cable with shieldPHS


M -D-1
Motor cablePLN

65

0.03

103

4052Diameter
300Rotating position
0
260h7 0.052
Spigot joint

Inner rotating part

1.6
"B" section detail

0.025

3.5

1.6

.5

C
B

104.50.1

65Hollow diameter

101

0.5

0
162h7 0.040
Spigot joint

0.025

3Spigot joint

185Rotating position

E -A-4

E -A-5

D400-40-L

NMR-FTFBA2C-122A

NMR-FUDBA2C-801A

Motor connector

Motor connector

1.6

112

118.5

0.03

3
Spigot joint

0.03

3
Spigot joint

M -C-1

Motor cable with shieldPHS


M -D-1

13

3.5

Encoder cable exible type

E -A-4

E -A-5

18
0
SensorEncoder cable

5
0.1

Magnetic pole sensor cable


Encoder cable

6M8depth10Even position
Note : Bottom view of cable layout is shown as right side

0.5

53.5

60

Motor cablePLN

0.5

3
8

Rotating position

570.1

500 +20
0

1.6

Rotating position

115.50.1

"A" section detail

Spigot joint

0
270h7 0.052

0
260h7 0.052
Spigot joint

65Hollow diameter

Sensor
Encoder
connector

itio

os
gp

atin

500 +20
0

1.6

1.6

Fixed position

Note : Bottom view of cable layout is shown as right side

0.5

0.025
3.5

.5

Spigot joint

6M8depth10Even position

2hanging metal xture

Motor cable

Rot
8.8

A
Rotating position

Sensor
Encoder
connector

Rotating position

60

.5

Encoder
Encoder
cable
cable

th

ep

0D

5
1

3
57
Inner rotating part

C0

.5

.5

406.42Diameter

0.
6

300Rotating position

22
00
.1

Magnetic
pole sensor cable

500 +20
0

0.025

500 +20
0

Motor cable

Rotating position

Fixed position

ition

ting pos
68.8Rota

3
2

Rotating
position
2hanging metal xture

1
1

Spigot joint

115.5
Inner rotating part

1.6

1.6

Zero point
detection position
range 2

Motor cable

SensorEncoder cable

pth

De

10
1

1.6

65Hollow diameter

0
0.1

0
162h7 0.040
Spigot joint

2541.5Diameter

1
5

185Rotating position

1.6

0
156h7 0.040

Zero point
detection position
range 2

Motor cable

6M8depth10
Even position

6M8depth10Even position

3
Spigot joint

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

0.5

"A" section detail

Encoder cable exible type

E -A-4

E -A-5

14

DISC D series dimensions

DISC D series dimensions

D400-100-F

D400-175-L

NMR-FFFBA2C-252A

NMR-FUIBA2D-212AZ0.66rps specication
NMR-FUIBA2D-472AZ1.5rps specication

28H7 0.015
depth8Even position for positioning holes
0

0.05 A

417Even position

Fixed position

.5

2hanging metal xture

Sensor
Encoder
connector

Rotating position
0.5

0.03

Motor cablePLN
Motor cable with shieldPHS
Encoder cable exible type

1.6

1.5

10

20

103

Inner rotating part

1.6

104.50.1

3Spigot joint

1.6

.5

0.03

"B" section detail

3.5

65
Hollow diameter

View A

500 +20
0

4 0.5
"A" section detail

D400-275-LHigh rigidity type

NMR-FUVGA2A-662AIncremental
NMR-FUVHA2A-662AAbsolute

1.2

Motor connector

30

NMR-FUFBA2C-252A

Ro

tat

po

sit

ion

Sensor
Encoder cable
50

ing

Motor cable

5Spigot joint

M -C-2

Motor cable with shieldPHS


M -D-2
E -A-6

E -A-7

Installation
surface24.5

Note : Bottom view of cable layout is shown as right side

280

Motor cablePLN

Encoder cable exible type

0.
0

43

(115)

2750.2

Installation surface

1.6

270

33

.5

(M
in

406Depth0.5

340h7 -0.057Spigot joint

65Hollow diameter

270h7 0.052Spigot joint

4153

338Rotating position

0.02
5Spigot joint

24.5

56.4

70

1.6

1.6

15

3
Spigot joint

13

1.6

"A" section detail

Zero point
detection position
range 2

0.02

112

118.5

0.5

6M8depth12Even position

Rotating position

115.50.1

Fixed position

.5

3.5

Rotating position

This surface is
sunk for 0.5mm
from installation
surface.

6
8

Spigot joint
0.03

4.5

Note : Bottom view of cable layout is shown as right side

0.5

275.5
Inner rotating part

+20
500 0

.5
C0

.5

0.03

Encoder cable

Rotating position

R
(M 30
in
)

Positioning holes
SensorEncoder cable

60
1

0
Sensor
Encoder
connector

Magnetic pole
sensor cable

4553Diameter

18
0

Fixed position

position
Rotating

0.
0

2hanging metal xture

1.6

4
2

Rotating position

Rotating position

0.

76

68.8

SensorEncoder cable

0
270h7 0.052

Spigot joint

pth2
0De
19

65Hollow diameter

300Rotating position

.1

0
0

406.42Diameter

h
pt

0
260h7 0.052
Spigot joint

1.6
115.5
Inner rotating part

45.5

40.5

50

(R)
6.1

0.018

2-12h7 0
depth12Even position

25

500 0

10
8-M16depth25Even position

25

8-M12depth24
Even position

500 0

remove after motor setup

4R2

102.6
82.6

2-hanging metal xture

Motor cable

Motor cable

Zero point
detection position
range 2

+20
500 0

Motor cable

1.6

1.6

depth12Even position

Positioning holes

.5

10

0.018

2-12H7 0

Interpolator
unit
IPU

IPU

90
80
60

6M8depth12Even position

0
15

M -M-11.5rps specication

M -M-20.66rps specication

M -N-11.5rps specication

M -N-20.66rps specication

E -A-6

E -A-7

D400-100-L

M -M-1

M -M-2

Motor cable with shieldPHS


M -N-1
M -N-2

Encoder cable exible type


E -C-1
E -C-2

Motor cablePLN

4
Spigot joint

190

M -C-2

M -D-2

Magnetic pole
sensor cable

Note : Bottom view of cable layout is shown as right side

181.5
1860.1

4.5

45

8M12depth20Even position

0.5
4
Spigot joint Rotating position

101

0
260h7 0.052
Spigot joint

0.03

1.6

0.03

300Rotating position

position

Encoder cable

1.6

3
0.5

4052Diameter

Motor cable

Rotating position

View ABase

.5

2hanging metal xture


4062

otating

68.8R

500 +20
0

C0

R50

Rotating position

37

18
0

Fixed position

0.
6

4
0
270h70.052

Rotating position

186
Inner rotating part

Motor cable

Spigot joint

4062

2
406
0Diameter

22.5

80

2
0.
0

h2
ept
80D
1
220

Rotating position

Motor cable

1.6

1.6

65
Hollow diameter

60

A
Zero point
detection position
range 2

2
2

0
15

300
Rotating position
0
260h7 0.052
Spigot joint

45

30
80

th2

Dep

Motor connector

Ro

8.
6

0.
0

SensorEncoder connector

Zero point
detection position
range 2

Even position for positioning holes

ion

sit

po

ing

t
ta

2-10 0.015
H7depth12
0

DISC / D series

91
3

SensorEncoder cable

2
2

DISC / D series

6M8depth20
Even position

SensorEncoder cable

500 +20
0

4042
Motor case diameter

6M8depth12Even position

Motor connector

500 +20
0

0.03 A

Encoder cable exible type

Connector kit for power cable

E -B-1

E -B-2

The motor cable is not included. Please prepare the motor cable.
Connector kit for power cable is accessory of the motor.

16

DISC D series dimensions

DISC D series dimensions

D630-125-L

D630-225-L

NMR-FVGBA2C-322A

NMR-FVKBA2B-872A

Motor connector
2M123OLW.switch
180

1250.5

Sensor
Encoder connector

1.6

2hanging metal xture


remove after motor setup

Note : Bottom view of cable layout is shown as right side

217

Motor cablePLN

1.5

D630-175-L

1000 +50
0
0
280 0.052
h7Spigot joint

660

Note : Bottom view of cable layout is shown as right side


SensorEncoder cable
SensorEncoder connector

M -K-2

Motor cable with shieldPHS


M -L- 2
Encoder cable exible type
E -D-1
E -D-2

.5

Motor cablePLN
4

1.5
"A" section detail

NMR-FGPHA2A-133AZG

59

6Spigot joint
8

32

390
4700.3

SensorEncoder cable
SensorEncoder connector

8M16depth25

40

1.2

225
80050
0
10

Power cable
15

M8 Screw

5
Hole to x the box

134

45.5

Sensor
Encoder cable
40

R
(M 60
in
R)

66
2-Grease nipple
2 Rotating position

240
260

668
7865

C2
0.040

Sensor
Encoder cable

24

Note : Bottom view of cable layout is shown as right side

Note : Bottom view of cable layout is shown as right side

Ground
25

110
160

25

Coated grommet

10

M -K-2

Motor cable with shieldPHS


M -L- 2
Encoder cable exible type
E -D-1
E -D-2

Motor cablePLN

40

179

90

20

0.021
220h7
depth 20Even position
0
P.C.D.720positioning holes

10
6.2

59

4M20 depth 30
4M2030
P.C.D.545For

hang bolt

1.6

Zero point
detection position
range 2

Interpolator
unitIPU

102.6
82.6 10
4-R
2.5
10

6.1
7702

SensorEncoder connector

1.6

30

822 hole
P.C.D.720
8M20 Screw transxed
P.C.D.720

40.5

8
3

1750.5

25

250

R
(M 30
in
)

Encoder cable

1000 +50
0
1.6

1.6

167

160

638Depth 1

200Fixed position
0
370h8 0.089
Spigot joint

R9

100

in

(R)
6.1

.5
C0 1.6

450h8 0.097Spigot joint


100Hollow diameter

6602Cooling ns

th3

ep

D
0

1
3

6402
470Rotating position

280h7

0
0.052Spigot

joint

106.4
Rotating position

300Depth4

100
Hollow diameter

6302

500Rotating position

0
450h7 0.063
Spigot joint

0.040

1.6

1.6

2hanging metal xture


remove after motor setup

.5

22.5

0.
0

8
5

Magnetic pole
sensor cable

70
A

Rotating position

Motor cable

Zero point
detection position
range 2

1.6

Fan cable
for air cooling
Fixed position

0
0.5

.5

Inner rotating part

20

Motor cable

1000 +50
0

45

4
0

90
80
60

0.021
220h7
depth 20Even position
0
P.C.D.370positioning holes

1.6

175

Encoder unit

4-Cooling fan

137

Motor cable

28

0.040

0.040

+50
1000 0

2-M20bolt
remove after motor setup

8M20 depth 40
P.C.D.370

30

Motor connector

8M16depth25

17

30

230

1.5

Magnetic pole
sensor cable

229

2M123OLW.switch

"A" section detail

R9

D630-470-F

NMR-FVIBA2C-672A

2M1645LFlat W

.5

M -K-1

M -L-1

Encoder cable exible type


E -D-1
E -D-2

"A" section detail

in

0
225 0.2

0.040

Motor cable with shieldPHS

106.4
Rotating position

Hollow diameter

joint
100

300
Depth4

630

129

8
5

90

0.040

0.040
8M16depth20

21.2

117

00

1-anti-rotation board for transportation


remove after motor setup

Sensor
Encoder cable

1000 +50
0

1.6

remove after motor setup

8
1.6

2hanging metal xture

0.5
0

R1

Encoder cable

.5

Motor cable

70

Min.bending position

30

225
Inner rotating part

+50
1000 0

Magnetic pole
sensor cable

120

Zero point
detection position
range 2

0
450h7 0.063
Spigot

Encoder cable

500
Rotating position

70
A

690
Fin diameter max695

106.4
Rotating position

0
280h70.052
Spigot joint

100

300
Depth4

Hollow diameter

0
450h70.003
Spigot joint

6302

4
R9

.5
C0 1.6

4
8
R

St
at
R4 ic b
5 end
or
i
m ng
or
e

Zero point
detection position
range 2

8
5

0
0.5

500
Rotating position

Inner rotating part

4
0

45

0.
0

Motor cable

1.6
Motor cable

0
0.5

1000 +50
0

1.6

4
0

.5

Motor cable

45
125

8M16depth22

20

1.6

28
1.6

Motor connector

140Fin length 45

8M16depth25
20

DISC / D series

DISC / D series

0.040

8M16depth20

55or more
Center of the
bending radius

6.2
10.35

Please prepare the motor cable between connector box


and driver by yourself.

Encoder cable exible type

E -B-1

E -B-2

18

DISC HD series Specication

Motor type
Model
External

High response
type

Height
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2
Allowable axial load2
Radial run out (No load)
Rotor inertia
Mass

D140-160-L
Frange-less
FRHBA2D-661A
140
160
21
58.8
660
5.8

15
Option
116.3
116.3
7.9
7.9
20
Standard
10
Option
20
Standard
10
Option
0.00302
0.00362
16.6
14.1
Automatic

116.3
7.9

0.00302
14.5

Magnetic pole detection method

Motor type
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2
Allowable axial load2

DISC HD series Motor torque characters

Radial run out (No load)

Axial run out (No load)


Rotor inertia
Mass

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

Magnetic pole detection method

Torque

Torque

300%

to the
rated torque

Accelerate/
Decelerate range

Model
External

290%
to the
rated torque

Motor type

Torque

Accelerate/
Decelerate range

Height

280%
to the
rated torque

Rated torque
Max. torque

Accelerate/
Decelerate range

Rated output
Rated current
Absolute position accuracy1
Allowable moment load2

Rated torque

Rated torque

Continuum region

Allowable axial load2

Rated torque

Continuum region

Radial run out (No load)

Continuum region

Axial run out (No load)


Rotor inertia
Mass

Rotation
speed

Rated
speed

D250-200-L

D170-225-L

Rotation
speed

Rated
speed

Rotation
speed

D140-160-F/L
D140-185-F/L

Rated
speed

Magnetic pole detection method

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D140-185-F
Frange type
FCIBA2D-751A
140
185
24
67.2
753
6.93

D140-185-L
Frange-less
FRIBA2D-751A
140
185
24
67.2
753
6.93
116.3
7.9

DISC / HD series

DISC / HD series

Axial run out (No load)

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

D140-160-F
Frange type
FCHBA2D-661A
140
160
21
58.8
660
5.8

0.00362
16.2

D170-225-L
D250-200-L
Frange-less
Frange-less
FSNBA2B-202AZ
FTJBA2F-302AZ
180
265
225
210
53
115
154
345
2000
3100
20.2
11.46
15
Option
80
500
15
6
20
Standard
10
Option
25
Standard
10
Option
20
Standard
10
Option
25
Standard
10
Option
0.020
0.10
52.5
30.3
Hall sensor
D140-160-LGForced air cooling specication
Frange-less
FRHBA2A-112AG
158.6
160
27.5 3
63
1310 3
10 3
15
Option
50
3
20
Standard
10
Option
20
Standard
10
Option
0.00266
11.6
Automatic

In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.
1 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.
2 Life of bearing and run out depend on a load.
3 The value is when forced air-cooling is used.

Torque

229%

203%
to the
rated torque

Assembling encoder specications

Accelerate/
Decelerate range

Rated torque

Detecting pulse Electrical resolution Rated speed


sec
ppr
rps
1,000,000
1.296
5.0
D140
5.0
2,000,000
0.648
10,240,000
0.127
5.0
1.296
7.5
1,000,000
D140-160G
1,800,000 3
0.720
7.5
Forced air cooling
2,000,000
0.648
6.7 4
6.0
1,000,000
1.296
D170
2,000,000
0.648
5.0
4.16
900,000
1.440
D250
1,800,000
0.720
4.16
Motor type

Continuum region
0 Rotation
speed

6.66rps

7.5rps

D140-160-LG
Forced air cooling specication
The characteristic is when forced air
cooling specication is used

Encoder type Interpolator


Incremental

Built-in
Built-in
Separated

Incremental

Built-in

Incremental

Built-in

Incremental

Built-in

Model 2
NSR-RJLH1-15
NSR-RJMH1-15
NSR-RRSH2-10
NSR-RJLH1-15
NSR-RJMM1-15
NSR-RJMH1-15
NSR-RELH1-10
NCR-REMH1-10
NSR-RELK1-10
NSR-REMK1-10

External connecton diagram No.


VC series
VPS series
C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

1 If the external type interpolator is selected, P39 interpolator unit (IPU) is installed separately.
E -B-1
E -B-2 .
In such case, the combination of encoder cable is P40

2 mark refers to the design orderNon-marking or start from A.


3 When the encoder is selected, Servo driver VPS series is not selected.
4 When Servo driver VPS series is selected, the rps is 5rps.

19

20

DISC HD series dimensions

DISC HD series dimensions

D140-160-F

D140-185-F

38

1.6

33
Rotating position

30
Hollow diameter

30
Hollow diameter

.4

joint

1.3

8M6depth11

183.7Inner rotating part

48
Depth1

1401

Zero point
detection position
range 2

22.5

0
80h7 0.03
Spigot

25

91
Rotating position

1.3

25

30
Hollow diameter
33
Rotating position

30
Hollow diameter

158.7Inner rotating part

.4

48
Depth1

80h70.03
Spigot joint

1401

91
Rotating position

25
25

1.6

30
MAX

8M6depth11

Even position

Even position

DISC / HD series

DISC / HD series

Zero point
detection position
range 2

22.5

1.6

30
MAX

0.02

20

161
17.5

1 1.6

0-062-9766

4
Rotating position

58

1850.2

0.02

2hanging metal xture

2
.6

2
.6

0.02

20

17.5

1.6

136

4
Rotating position

22-M515L
W.switch

D
C.
P.

D
C.
P.

2hanging metal xture


0-062-9766

1600.2

0.02

W.switch

38
58

22-M515L

NMR-FCIBA2D-751A

NMR-FCHBA2D-661A

38

1.6

38

1401

Motor connector

Motor cable
6.5

300 +20
0

D.

Motor cable with shieldPHS

411 hole

45

0.05 A B

26H7 0.012
depth12
0
Even position for positioning holes

300 +20
0

3.7

0
16

M -A

M -B

Encoder cable exible type


E -E-1
E -E-2

Motor cablePLN

C.

SensorEncoder connector

200 +20
0

48

P.

Sensor
Encoder cable

Motor cable with shieldPHS

SensorEncoder connector
411 hole

Even position for positioning holes

NMR-FRIBA2D-751A
SensorEncoder connector

22-M515L

0
P.

C.

23.7

1.6

0.02

20
181

4
Rotating position

1850.2

P.C

.D.6

1.6

Motor cable

35
MAX

Motor connector

Motor cable

20

.D.1

P.C

Motor connector

0.02

35

500 +20
0

1.6

Motor cable

MAX

0.02

62

0.
1 R

1600.2

D.

156

.4
0
1 R
1
C

20

0.02
4
Rotating position

1.6

1.3

188.7
Inner rotating part

33Rotating position

1401

33Rotating position

0
105h70.035
Spigot joint

30
Hollow diameter

30

Hollow diameter

Even position

.D.6

1.6

1.6

48Depth

91Rotating position

80h70.03Spigot joint

62

6M6depth12
Even position

.4

D.

SensorEncoder cable

163.5

8M6depth11
0

C.

P.C

21.5

3.7

1401

.4

P.

1.3

163.7
Inner rotating part

20

.D.1

P.C

Zero point
detection position
range 2

300 +20
0

1.6

8M6depth11
Even position

+20

200 0

48

0
2

22.5

Even position

48Depth

0-062-9766

30
Hollow diameter

6M6depth12

SensorEncoder cable

138.5

21.5

0
2

22.5

0
105h70.035
Spigot joint

W.switch
2hanging metal xture

0
80h70.03
Spigot joint

3.7

91Rotating position

300 +20
0

38

200 +20
0

58

48

Zero point
detection position
range 2

Sensor
Encoder cable

8
38

58

2hanging metal xture


0-062-9766

SensorEncoder connector

38

Sensor
Encoder cable

30
Hollow diameter

38

W.switch

View A Base

D140-185-L

NMR-FRHBA2D-661A

22-M515L

45

0.05 A B

26H7 0.012
depth12
0

View ABase

D140-160-L

M -C-1

M -D-1

Encoder cable exible type


E -E-1
E -E-2

Motor cablePLN

1.6

48

3.7

Sensor
Encoder cable

500 +20
0

P.C
.D.1
60

47

200 +20
0

20
.D.1
P.C

Motor cable

20
.D.1
P.C

500 +20
0

23.7

1401

R
4

R
4

Motor connector

47

500 +20
0

6.5

View ABase

Motor cable

M -A

M -B

Encoder cable exible type


E -E-1
E -E-2

Motor cablePLN
Motor cable with shieldPHS

21

M -C-1

Motor cable with shieldPHS


M -D-1
Encoder cable exible type
E -E-1
E -E-2

Motor cablePLN

22

DISC HD series dimensions

DISC HD series dimensions

D170-225-L

D140-160-LGForced air cooling specication

NMR-FSNBA2B-202AZ

NMR-FRHBA2A-112AG

SensorEncoder cable

SensorEncoder connector

+20
0

113
1600.2

B2

D-5200

1441
0

105h7 -0.035Spigot joint

33(Rotating position) (0.5)

20

Even position for positioning holes

+20
0

(MAX)

Motor cable

B1

229

.D.1

(35)
500

(47)

Spigot joint

P.C

2-6H7depth12

1.6

36

Hollow diameter

30
1.6

0.02
0.02

2250.2

0.020

10

Hollow diameter

46

1.6

Zero point
detection position
range 2

Spigot joint

300

23

7.3

Spigot
Spigot
joint
joint
80h7 -0.03
80h7
-0.03

Encoder cable

62

D.

C.

158.6(Diameter)

5
1

91(Rotating position)

0.
6

6
2

500 +20
0

0
110h7 0.035

Spigot joint

1.6

1.6
Motor
cable

P.

Motor cable

.5
C0

1.6

0.020
2hanging metal xture

SensorEncoder cable

C1

80
Depth 2
35
Hollow diameter

180 1
Diameter
0

0
120h70.035
Spigot joint

Fixed position

6-M6depth12Even position

30

228
Inner rotating part

hanging metal xture

30

Rotating position

1.6

8-M6depth9Even position

3.7
22

DISC / HD series

1.6

0.1
0

0
1

n
itio
pos
ting
ota
8R
3

DISC / HD series

Magnetic pole sensor cable

Even position

Zero point
detection position
range 2

6M8depth12Even position

+20
0

78

13

500 +20
0

C1

6M8depth12

200

(48)

SensorEncoder connector

Motor connector

Motor connector

M-I

M -J

Encoder cable exible type


E -C-1
E -C-2

M -C-1

M -D-1

Encoder cable exible type


E -E-1
E -E-2

Motor cablePLN

Motor cablePLN

Motor cable with shieldPHS

Motor cable with shieldPHS

D250-200-L

NMR-FTJBA2F-302AZ

Motor connector
C1

25.5

MIN 60

C0

in.pre

0
.5

.5

d co

rner

0.025

3
R5

ting position

0.
5

2
2

R5

Spigot joint

0
156h70.040

er

me

21.5 MIN 45
1.6

60

Magnetic pole
sensor cable
Encoder cable
6M10depth15Even position

Spigot joint

0.025

Motor
cable

68.8Rota

SensorEncoder cable
500 +20
0

Fixed position

1.6

2hanging metal xture

M
in.p

res

dc

R3
0
s-f
o

orn

4.2

65Hollow diameter

120Depth 2

0
180h70.046
Spigot joint

Rotating position

ome

210
Inner rotating part

30

265 2
Diameter
0

0.1
50
1

R4

ss-f

1.6

1.6

500 +20
0

8.5

Zero point
detection position
range 2

Motor cable

6M10depth15Even position

2100.1
213

3
Spigot joint

180.4
Depth

SensorEncoder connector

M-I

Motor cable with shieldPHS


M -J
Encoder cable exible type
E -C-1
E -C-2

Motor cablePLN

Spigot joint3.5
180h7 range

0.5 or lower
Relief width

"A" section detail

23

24

DISC ND-c series Specication

Motor type
Model

External
Height
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy4
Allowable moment load5
Allowable axial load5

Standard type

Radial run out (No load)


Axial run out (No load)
Rotor inertia6
Mass
Magnetic pole detection method

kg

Model

External
Height
Rated torque
Max. torque
Rated output

DISC ND-cND series Motor torque characters

Rated current
Absolute position accuracy4
Allowable moment load5
Allowable axial load5
Radial run out (No load)
Axial run out (No load)

Torque

300%
to the
rated torque

Accelerate/
Decelerate range

290%

to the
rated torque

Accelerate/
Decelerate range

Mass
Magnetic pole detection method

280%

to the
rated torque

Rotor inertia6

Torque

Torque

Accelerate/
Decelerate range

250%
to the
rated torque

Rated torque

Accelerate/
Decelerate range

Continuum region

Rotation
speed

Continuum region

Rated
speed

ND-cND110-65-FC/ND110-85-FC
ND140-70-LC/ND140-95-LC
ND180-70-LC/ND180-95-LC
ND250-70-LC

Rated torque

Rated torque

External

Rotation
speed

Rated
speed

N D ND110-100-L

Rotation
speed

Rated torque

Continuum region

Continuum region

Rated
speed

N D ND400-110-L

Rotation
speed

Rated
speed

ND-cND250-95-LC
ND400-70-LC/ND400-95-LC
N D ND400-55-F

Max. torque
Rated output
Rated current
Absolute position accuracy4
Allowable moment load5
Allowable axial load5
Radial run out (No load)
Axial run out (No load)
Rotor inertia6
Mass

N D ND110-50-F
ND180-55-FND180-110-L
ND250-55-FND250-110-L

Magnetic pole detection method

Torque

Torque

240%

to the
rated torque

Accelerate/
Decelerate range

Rated torque

to the
rated torque

Accelerate/
Decelerate range

Rated torque

Rotation
speed

200%

Continuum region

Rated
speed

ND-cND400-120-LC1rps specication

Rotation
speed

Accelerate/
Decelerate range
Continuum region

Rated
speed

ND-cND400-120-LC4.16rps specication

Torque

to the
rated torque

Torque

Accelerate/
Decelerate range

Accelerate/
Decelerate range

Rated torque

Rated torque

Continuum region

0 Rotation
speed

2rps

Continuum region

5rps

ND
When operating ND110-50-F/ND180-55-F at AC100V

0 Rotation
speed

1.67rps

15
0.6

15
0.6

0.00340.0034
6.0
ND400-70-LC
Frange-less
CUEA2A-951A
408
73
76
190
955
6.8

5rps

ND-c
When operation ND100-85-FC/ND140-70-LC at AC100V

15
Option

ND250-70-LC
Frange-less
CTEA2A-501A
260
73
27
81
508
4.5

ND250-95-LC
Frange-less
CTFA2A-841A
260
98
45
112.5
848
6.8

140
2.5
50
Standard
10
Option
50
Standard
10
Option
0.0048
0.0048
0.022
0.022
9.3
12.8
IncrementalHall sensorAbsoluteAbsolute position detection

15
Option

ND400-120-LC1rps specication
Frange-less
CUGHA2A-152A
408
126
250
600
1570
14.4

ND400-95-LC
Frange-less
CUFA2A-192A
408
98
152
380
1910
13.4

140
2.5

0.034
0.034
19

ND400-120-LC4.16rps specication
Frange-less
CUGHA2A-652A
408
126
250
570
6540
40.8

1280
16

1280
16
50
Standard
10
Option
50
Standard
10
Option
0.350
0.350
0.1530.153
0.223
0.223
63.6
63.6
30.5
44.5
IncrementalHall sensorAbsoluteAbsolute position detection
Absolute position detection
170
3

170
3

Rotation
speed

ND-cND400-175-L

Rated
speed

3 The value of ( ) is when incremental (built-in interpolator unit) type is used.


4 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.
5 Life of bearing and run out depend on a load.
6 The value of ( ) is when absolute encoder type is used.
Assembling encoder specications

Detecting pulse Electrical resolution Rated speed Encoder type


1
ppr
sec
rps
640,000
2.030
5.0
Incremental
ND110-C/
1,280,000
1.010
3.0
Incremental
140-C
3,276,800
0.396
5.0
Incremental
2,097,152
0.620
5.0
Absolute
840,000
1.540
5.0
Incremental
ND180-C
4,300,800
0.300
5.0
Incremental
2,097,152
0.620
5.0
Absolute
1,344,000
0.960
3.0
Incremental
ND250-C
7,168,000
0.180
3.0
Incremental
6,815,744
0.190
3.0
Absolute
1,344,000
0.960
2.0
Incremental
ND4007,168,000
0.180
2.0
Incremental
70-C/95-C
6,815,744
0.190
2.0
Absolute
ND400-120-C
1,048,576
1.240
1/4.16
Absolute

300%
to the
rated torque

ND180-95-LC
Frange-less
CSEA2A-561A
180
94
18
54
564
4.3

2 The value of ( ) is when VPS series is used.

Motor type

300%

kg

ND180-70-LC
Frange-less
CSMA2A-281A
180
67
9
27
282
2.6

1 Type in ( ) depends on encoder type.


IEncoder type Incremental (Built-in interpolator unit type)
GEncoder type Incremental (Separated interpolator unit type)
HEncoder type Absolute (Separated interpolator unit type)

Rated torque

Continuum region

to the
rated torque

NMRmm

mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2

ND140-70-LC
ND140-95-LC
Frange-less
Frange-less
CREA2A-151A
CRFA2A-311A
145
145
73
98
4.8
9.6
28.8
14.4
150
300
2.7
5.4
15
Option
4.8
8.4
8.4
0.15
0.2
0.2
50
Standard
10
Option30
Standard
10
Option
50
Standard
10
Option
50
Standard
10
Option30
Standard
10
Option
50
Standard
10
Option
0.00063
0.00067
0.00088
0.00093
0.00147
0.00151
3.4
4.4
5.9
IncrementalHall sensorAbsoluteAbsolute position detection

In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.

Torque

228%

kg

Motor type
Model
Height

Rated torque

NMRmm

mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2

ND110-85-FC
Frange type
CAUA2A-151A
112
86
4.8
14.4
122
150
3.4

DISC / ND-cND series

DISC / ND-cND series

Motor type

Torque

25

NMRmm

mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2

ND110-65-FC
Frange type
CAEA2A-071A
112
66
2.4
7.2
75
2
Option
15
203
4.6
0.15
20
Standard
10
Option
20
Standard
10
Option
0.00041
0.00045
2.2

Interpolator
2

Built-in
Built-in
Separated
Separated
Built-in
Separated
Separated
Built-in
Separated
Separated
Built-in
Separated
Separated
Separated

Model 3
NSR-RSMU1-05
NSR-RSNU1-05
NSR-RQSU2-05
NSR-RPSW2-05
NSR-RSMV1-05
NSR-RQSV2-05
NSR-RPSW2-05
NSR-RSUY1-05
NSR-RQSY2-05
NSR-RPST2-05
NSR-RSUZ1-05
NSR-RQSZ2-05
NSR-RPST2-05
NSR-RPSS2

External connecton diagram No.


VC series
VPS series
C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -1 P53 references

P -1 P61 references

C -2 P54 references

P -2 P62 references

C -2 P54 references

1 Absolute encoder is one resolution absolute value.


2 If the external type interpolator is selected, P39 interpolator unit (IPU) is installed separately.
E -B-1
E -B-2
In such case, the combination of encoder cable is P40

3 mark refers to the design orderNon-marking or start from A.

26

DISC ND series Specication

Rotor inertia
Mass
Magnetic pole detection method

Motor type
Model1
External
Height
Rated torque2
Max. torque2
Rated output
Rated current
Absolute position accuracy3
Allowable moment load4
Allowable axial load4
Radial run out (No load)5
Axial run out (No load)5
Rotor inertia
Mass

0.0515
0.144
22.8
28
IncrementalHall sensorAbsoluteAbsolute position detection

1.6

1.6

0
50 h7 -0.03Spigot
joint
19(Hollow diameter)

1121.5(Diameter)

65(Rotating position)

itio

.3

(min 80)

500 -0

+50

(22)

(m
in

+50

500 -0

(23.7)

SensorEncoder connector
When separated interpolator unitIPUtype,
please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

(23.7)

Motor connector

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

ND400-175-L1.5rps specication ND400-175-L3rps specication


Frange-less
Frange-less
NUIA2A-472AZ
NUIA2A-862AZ
404
404
186
186
500
450
1000
900
4700
8600
29.7
43
15
Option
1805.5
44.6
30
30
0.61
117
IncrementalHall sensorAbsoluteAbsolute position detection

os

0.306
61

Sensor
Encoder cable

(19)

30
30

gp

552

1805.5
44.6

(1.3)

E -A-4

E -A-5

E -B-1

E -B-2

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

h7tolerance range
1.5(Spigot joint)

0.7(Gap)

"A" section detail

ND110-85-FC NMR-CAUIA2A-151AIncremental

NMR-CAUGA2A-151AIncrementalSeparated interpolator unitIPUtype


NMR-CAUHA2A-151AAbsoluteSeparated interpolator unitIPUtype
860.2

0.05
1

1.5(Spigot joint)

1122.5

2
5

(84.5)
201

0.05

.5

1 Type in ( ) depends on encoder type.


GEncoder type Incremental (Separated interpolator unit type)
HEncoder type Absolute (Separated interpolator unit type)
2 Please refer to P49-50 [VC series], P59 [VPS series] for the details.
3 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.
4 Life of bearing and run out depend on a load.
5 Please consult with our sales dept, if you request high precision which is 10um or less of run-out accuracy.

In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.

R2
8-

Magnetic pole detection method

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

0.0208
10.2

25
25

tin

1.6

Axial run out (No load)5

520
13.7

5.5

Radial run out (No load)5

337.4
13.3

Motor
cable

6.5

Allowable axial load4

109.9
4.1

(18)

1.6

Allowable moment load4

15
Option

ota

12

37

.D3

P.C

1122.5

P.
C.
D1
25

Fixed position

1.6

2
1

.6
R

ota

12

57

tin

gp

os

itio

62.51

Rotating position

85Inner rotating part

Absolute position accuracy3

1122.5(Diameter)

Rated current

6-M5depth6.5Even position

12 counter boring depth2


(Even position)
Zero point
detection position
range 2

65(Rotating position)

Rated output

4-7Drill

.6
R

"A"

50 h7-0.030
Spigot joint
19(Hollow diameter)

Max. torque2

2
1

.3

Rated torque2

ND400-110-L
Frange-less
NUFA2B-252A
408
117
215
603
2701
16

Height

ND400-55-F
Frange type
NFMA2B-801A
408
58
76
190
955
6.8

(min 80)

External

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

ND250-110-L
Frange-less
NTFA2B-122A
260
117
82
246
1545
12.8

65Inner rotating part

DISC / ND-cND series

Model1

ND250-55-F
Frange type
NEMA2B-401A
250
58
27
81
508
4.5

Hall sensor

Rotating position

5
3 )
R R
in
(m

DISC / ND-cND series

Motor type

Automatic

0.007
11.5

1.6

(15)

Magnetic pole detection method

0.0028
5.5

Fixed position

2.5

0.0011
4.7

P.
C.
D1
25

R6

Mass

0.00034
1.9

89.9
6.9

2R5
R2

Rotor inertia

20
20

32.4
2.3

2-

Axial run out (No load)5

15
Option

45

Radial run out (No load)5

4.6
0.8

1121.5

Allowable axial load4

4.6
0.8

201

0.02
5
.D3
P.C

Allowable moment load4

(64.5)

1.5(Spigot joint)

.5

Absolute position accuracy3

660.2

0.02
1121.5

2
5

Rated current

NMR-CAEGA2A-071AIncrementalSeparated interpolator unitIPUtype


NMR-CAEHA2A-071AAbsoluteSeparated interpolator unitIPUtype

Rated output

ND110-65-FC NMR-CAEIA2A-071AIncremental

Max. torque2

ND180-110-L
Frange-less
NSFGA2B-701A
180
117
27
81
848
7.2

R2
8-

Rated torque2

ND180-55-F
Frange type
NDMGA2A-201A
180
58
9
27
282
2.6

62.51

Height

NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg

ND110-100-L
Frange-less
NPEBA2A-201A
112
95
7
20.3
220
3.4

Model
External

ND110-50-F
Frange type
NAMBA2A-071A
112
50
2.4
7.2
75
2

45

Motor type

DISC ND-c series dimensions

"A"

Assembling encoder specications

P -2 P62 references

(23.7)

(min 80)

in

Sensor
Encoder cable

Motor
cable

(m

552

+50
500 -0

+50

R5
R2

2-

(18)

(19)

C -2 P54 references

P -1 P61 references

5.5

C -1 P53 references

6.5

External connecton diagram No.


VC series
VPS series

500 -0

Model 2
NSR-REMP1-10-ND
NSR-RQSV2-05
NSR-RPST2-05
NSR-RQSY2-05
NSR-RPST2-05
NSR-RQSZ2-05
NSR-RPST2-05
NSR-RQSZ2-05

(min 80)

Built-in
Separated
Separated
Separated
Separated
Separated
Separated
Separated

(15)

Interpolator

ND110
ND180

12 counter boring depth2


(Even position)
Zero point
detection position
range 2

5
3 )
R R
in
(m

Detecting pulse Electrical resolution Rated speed Encoder type


1
ppr
sec
rps
Incremental
720,000
1.800
5.0
Incremental
4,300,800
0.302
5.0
Absolute
6,815,744
0.191
3.0
ND250
Incremental
7,168,000
0.181
3.0
Absolute
6,815,744
0.191
2.0
ND400-55/110
Incremental
7,168,000
0.181
2.0
Absolute
6,815,744
0.191
1.5 / 2 / 3
ND400-175
Incremental
7,168,000
0.181
1.5 / 2 / 3
Motor type

6-M5depth6.5Even position

2-

4-7 Drill

(22)

(23.7)

SensorEncoder connector
When separated interpolator unitIPUtype,
please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

Motor connector

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

1 Absolute encoder is one resolution absolute value.


2 mark refers to the design orderNon-marking or start from A.
(1.3)
h7tolerance range
1.5(Spigot joint)

0.7(Gap)

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

E -A-4

E -A-5

E -B-1

E -B-2

"A" section detail

27

28

ND140-70-LC NMR-CREIA2A-151AIncremental

ND180-70-LC

6-M5depth7.5(Even position)
(12)

.5

Fixed position

6
.D

15

SensorEncoder cable

60(Depth2)

35 +0.2
0 (Hollow diameter)

0
96h7 -0.035
(Spigot joint)

1802.5(Diameter)

100(Rotating position)

(70.5)
(Inner rotating part)

3
9

Ro

5 )
R3 in R
(m

P.C

.D

130
R4
1

118 h7 -0.035
Spigot joint

19(Hollow diameter)

1451.5(Diameter)

0
60 h7-0.030
Spigot joint

ion
sit
po

Rotating position

(15.6)

Sensor
Encoder cable

tat

ing

po

sit

45

ion

8.5

R4

DISC / ND-cND series

g
tin
ta
Ro
1
2

70(Rotating position)

0 R)
3
R in
(m
Motor cable

6-M6depth9
(Even position)

1.6

1.6

5.5

Sensor
Encoder cable

30

0
R6

50

(15.6)

(12)

Fixed position

Zero point
detection position
range 2

P.C.D

C.

DISC / ND-cND series

Rotating position

76.5(Inner rotating part)

(15.6)
86

(23.7)

P.

1.6

Motor cable
(7)

6-M5depth7.
Even position

5 )
R3 n R
i
(m

500 +50
-0

1.6

Sensor
Encoder cable

(19)

(12)

4.3(Spigot joint)
1.6

(70)

1.6

0.03

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

P.C

3(Spigot joint)

(min 80)

140h7-0.040 (Spigot joint)

SensorEncoder connector
730.2

0.03

NMR-CSMIA2A-281AIncremental
NMR-CSMGA2A-281AIncrementalSeparated interpolator unitIPUtype
NMR-CSMHA2A-281AAbsoluteSeparated interpolator unitIPUtype

Motor cable

NMR-CREGA2A-151AIncrementalSeparated interpolator unitIPUtype


NMR-CREHA2A-151AAbsoluteSeparated interpolator unitIPUtype

Motor connector

(29)

(54)

DISC ND-c series dimensions

500 +50
+0

DISC ND-c series dimensions

1(5.5)

(Even position)

Motor cable

"A"

"A"
3(Spigot joint)

1 Encoder type: absolute encoder is R45.


(23.7)

Motor connector

(64)
670.2

0.05

.4

(71.3)

1 Encoder type: absolute encoder is 6.2.

4.3(Spigot joint)
Sensor
Encoder connector

(15)

(min 80)

M -A

Motor cable with shieldPHS


M -B

Encoder cable exible type

Motor cablePLN

E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

(2.7)
h7tolerance range
0.5(Gap)

M -E

Motor cable with shieldPHS


M -F

Encoder cable exible type

Motor cablePLN

E -A-4

E -A-5

E -B-1

E -B-2

E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

0.5(Gap)
3(Spigot joint)

"A" section detail

"A" section detail


Motor connector

ND180-95-LC

NMR-CSEIA2A-561AIncremental
NMR-CSEGA2A-561AIncrementalSeparated interpolator unitIPUtype
NMR-CSEHA2A-561AAbsoluteSeparated interpolator unitIPUtype

6
15
tat

ing

po

sit

ion

45

8.5

R4

Motor cable

1(5.5)

Motor connector

0.05
.4

"A"
(91)
940.2

4.3(Spigot joint)

(98.3)

(15)

550 +0

+100

3(Spigot joint)

1 Encoder type: absolute encoder is 6.2.


Sensor
Encoder connector When separated interpolator unitIPUtype,
please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

.5

(min 80)

1.6

0.05

1 Encoder type: absolute encoder is R45.

1.6

Motor cable

(23.7)

500 +50
-0

Ro

(m

in

R
"A"

Zero point
detection position
range 2

Sensor
Encoder cable

6-M5depth8
(Even position)

SensorEncoder cable

.5
0
C

6.5

(Inner rotating part)

Fixed position

3
9

5 )
R3 n R
i
(m

60(Depth2)

35 +0.2
0 (Hollow diameter)

96h7-0.035 (Spigot joint)

1802.5(Diameter)

(97.5)

Motor cable

(12)

86
.D

P.C.D
130
1
R4

(12)

118 h7 -0.035
Spigot joint

ion
sit
po

Rotating position

100(Rotating position)

19(Hollow diameter)

Sensor
Encoder cable

6-M6depth9
(Even position)

1.6

1.6

(15.6)

30

(15.6)

5.5

Motor cable
(7)

R6

Zero point
detection position
range 2

g
tin
ta
Ro
1
2

1452.5(Diameter)

(15.6)

0 )
3 R
in
(m

101.5(Inner rotating part)

6-M5depth7.5
(Even position)

6-M5depth7.5
Even position

70(Rotating position)

50
0
60 h7 -0.030
Spigot joint

SensorEncoder cable

5
R3 R)
in
(m

D
C.

P.

1.6

Fixed position

(19)

500 +50
-0
(23.7)

1.6

(12)

4.3(Spigot joint)

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

P.C

(95)

1.6

0.05

1.6

3(Spigot joint)

(min 80)

140h7-0.040 (Spigot joint)

SensorEncoder connector
980.2

0.05

.D

NMR-CRFGA2A-311AIncrementalSeparated interpolator unitIPUtype


NMR-CRFHA2A-311AAbsoluteSeparated interpolator unitIPUtype

(54)

ND140-95-LC NMR-CRFIA2A-311AIncremental

+50
500 +0

(29)

Rotating position

E -A-4

E -A-5

E -B-1

E -B-2

2.6(tolerance range)

P.C

3(Spigot joint)

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

.5

500 -0

1.6

0.05
+50

Zero point
detection position
range 2

1.6

(m
in

6-M5depth8

550 +100
+0

6.5

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

(2.7)
h7tolerance range
3(Spigot joint)

0.5(Gap)

"A" section detail

29

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

E -A-4

E -A-5

E -B-1

E -B-2

M -E

Motor cable with shieldPHS


M -F
Motor cablePLN

0.5(Gap)
2.6(tolerance range)

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

E -A-4

E -A-5

E -B-1

E -B-2

3(Spigot joint)
"A" section detail

30

DISC ND-c series dimensions

DISC ND-c series dimensions


(29)

+50

+50

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

3(Spigot joint)
"A" section detail

E -A-4

E -A-5

E -B-1

E -B-2

Motor connector

(54)

+50

1.6

Bottom view of cable layout is shown as right side


0.05

1 Encoder type: absolute encoder is 6.2.

3(Spigot joint)
1.6

(23.7)

0.05

(95)
980.2
(101.8)

3(Spigot joint)

E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

E -A-4

E -A-5

E -B-1

E -B-2

2.6(tolerance range)
3(Spigot joint)

0.6(Gap)

6
37
D
37
6
D
P.

C.

po

sit

ion

R69

R
(m 35
in
R)

SensorEncoder connector

Bottom view of cable layout is shown as right side

1 Encoder type: absolute encoder is 6.2.

M -G-2

Motor cable with shieldPHS


M -H-2
Motor cablePLN

.5

Encoder cable exible type

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

0.7(Gap)
2.6(tolerance range)

M -E

M -F

Motor cable with shieldPHS

tin

Sensor
Encoder
cable

3.8
(19)
(Spigot joint)

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

.5
0
C

Motor cablePLN

ta

1(5.5)

.4

SensorEncoder connector

"A"

0
270h7 -0.052 (Spigot

(22)
joint)
(101)
(Inner rotating part)

Ro

(23.7)

SensorEncoder cable

1(5.5)

0
R

(15.6)

(12)

2-hanging metal xture

6
8

+100

R69

Fixed position

(19)

(8)

500 +0

diameter)

ion

+0.2
0 (Hollow

sit

4082.5(Diameter)
285(Rotating position)

po

ing

Rotating position

.4

(101.8)

+100

3.8
(Spigot joint)

500 +0

1.6

1.6
(95)
980.2

(54)

6
23
D
C.
P.

tat

260 h7-0.052(Spigot joint)


180(Depth1)

(12)

Ro

22

(12)

diameter)

120(Depth1)

170(Rotating position)

65+0.2
-0 (Hollow

3(Spigot joint)

6-M8depth12
(Even position)

Motor cable

0.05

"A"

Motor connector

Motor cable
6
8

Fixed position

0.05

E -A-4

E -A-5

E -B-1

E -B-2

Sensor
Encoder cable
(24.5) 1.6

1.6

5 )
R3 n R
i
(m

(Inner rotating part)

E-B-1/2

Incremental separated IPU type


Absolute

R11

162 h7 -0.040 (Spigot joint)

P.C
.D

6-M8depth12(Even position)

Sensor
Encoder cable

(101)

E-A-4/5

Incremental

5
R3 R)
in
(m

(15.6)

(29)
Zero point detection positionrange 2

R69

2602.5(Motor diameter)

(7)

5
R3 R)
in
(m

Rotating position

0.6(GAP)

"A" section detail

6-M8depth12
(Even position)

(15.6)

0
186h7 -0.046
(Spigot joint)

15
0

1.6
1.6

Encoder cable exible type

NMR-CUFGA2A-192AIncrementalSeparated interpolator unitIPUtype


NMR-CUFHA2A-192AAbsoluteSeparated interpolator unitIPUtype

Motor cable

Motor cable

6-M6depth9
(Even position)

2-hanging metal xture

2.6(tolerance range)
3(Spigot joint)

+50

500 +0

Zero point detection position


range 2

M -E

Motor cable with shieldPHS


M -F
Motor cablePLN

ND400-95-LC NMR-CUFIA2A-192AIncremental

(29)

NMR-CTFIA2A-841AIncremental
NMR-CTFGA2A-841AIncrementalSeparated interpolator unitIPUtype
NMR-CTFHA2A-841AAbsoluteSeparated interpolator unitIPUtype

C.
(23.7)

1 Encoder type: absolute encoder is 6.2.

65

ND250-95-LC

R69

Bottom view of cable layout is shown as right side

SensorEncoder connector

500 +0

2.6(tolerance range)

P.

(18)
0
270h7-0.052 (Spigot joint)

1.6

.4

3.8
(19)
(Spigot joint)

0.7(Gap)

M -E

M -F

R
(m 35
in
R)

(12)

(70)
730.2
(76.8)

Motor cable with shieldPHS

ion

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

P.C
.D

Motor cablePLN

sit

When separated interpolator unitIPUtype,


please refer to the dimensions in P39 for the
connection of Interpolator (IPU).

po

+100

1.6
3(Spigot joint)

0.05

SensorEncoder connector

500 +0

diameter)

.D

260 h7 -0.052 (Spigot joint)


180(Depth1)

0
22

4082.5(Motor diameter)
285(Rotating position)

"B"

0.05

1(5.5)

.5

.5

(19)

(54)

500 +0

23
6
P.
C.
D

1 Encoder type: absolute encoder is 6.2.

tin

Sensor
Encoder cable

Bottom view of cable layout is shown as right side

(23.7)

+100

500 +0

SensorEncoder cable

1.6

1.6

P.C

(12)
(12)

120(Depth1)

65 +0.2
-0 (Hollow diameter)

0
162 h7 -0.040
(Spigot joint)

2602.5(Diameter)

170(Rotating position)

P.
C.
D

.4
0
R

Fixed position

ta

DISC / ND-cND series

(76.8)

(76)
(Inner rotating part)

Ro

3.8(Spigot joint)

(15.6)

6
8

R11

(70)

(7)

5 )
R3 R
in
(m

poo
ssitit
ioion
n

Rotating position

1(5.5)

6-M8depth12
(Even position)

Motor cable

Motor cable

5 )
R3 R
in
(m

730.2

(22) 1.6

1.6

R69

3(Spigot joint)

6
8
68
RRo
ottaa
ttinin
g

Motor connector

Sensor
Encoder cable

2-hanging metal xture

Fixed position

0.05

6-M8depth12(Even position)

R69

(76)

"A"

Zero point detection positionrange 2

Sensor
Encoder cable

(Inner rotating part)

0.05

(7)

5
R3 R)
in
(m

DISC / ND-cND series

(15.6)

(29)

6-M8depth12
(Even position)

(15.6)

0
186h7 -0.046
(Spigot joint)

15
0

1.6

Rotating position

(54)

500 +0

6-M6depth9(Even position)

1.6

NMR-CUEGA2A-951AIncrementalSeparated interpolator unitIPUtype


NMR-CUEHA2A-951AAbsoluteSeparated interpolator unitIPUtype

Motor cable

Motor cable

Zero point detection position


range 2

2-hanging metal xture

ND400-70LC NMR-CUEIA2A-951AIncremental

Motor connector

NMR-CTEIA2A-501AIncremental
NMR-CTEGA2A-501AIncrementalSeparated interpolator unitIPUtype
NMR-CTEHA2A-501AAbsoluteSeparated interpolator unitIPUtype

+0.2
65 0 (Hollow

ND250-70-LC

Encoder cable exible type


E-A-4/5

Incremental
E-B-1/2

Incremental separated IPU type


Absolute

E -A-4

E -A-5

E -B-1

E -B-2

"A" section detail

"A" section detail

31

32

DISC ND-c series dimensions

DISC ND series dimensions

ND400-120-LC NMR-CUGHA2A-152A1rps specication

ND110-50-F

NMR-NAMBA2A-071AIncremental

NMR-CUGHA2A-652A4.16rps specication

19

+20
500 0

(8)

551

+100

3.5(Spigot joint)

.4

0.05

(29)

Motor connector

Motor connector

Note : Bottom view of cable layout is shown as right side

Motor cable

SensorEncoder cable

SensorEncoder connector

1.5 0.7

M -A

Motor cable with shieldPHS


M -B

(129)

R0

Motor cablePLN

M -G-2

M -K-2

Motor cable with shieldPHS


M -H-2
M -L-2

Encoder cable exible type


E -B-1
E -B-2

Motor cablePLN

Note: Setup of grease nipple is that bottom view is correct.


C

.5

M -E1rps specication

M -K-14.16rps specication

(10)

0.6(GAP)

Encoder cable

M -F1rps specication

M -L-14.16rps specication

Motor connector

(114)

3(tolerance range)
3.5(Spigot joint)

0 0
R3 R3
in
m

(54)

(10)

1.6

10
(122.5)
1260.2

+20
500 0

min 70

Zero point
detection position
range 2

0
R3 R30
in
m

.5
C0

0.05

2R5

(8.1)
Grease nipple

33

0.02

600 +0

"A"

1
GAP

49

22

Motor cable

6.3

1.6

ion

min 70

Rotating position

Fixed position

R9

sit

5.1

po

5.5

ing

Hollow diameter

at

(m R4
in 0
R)

(Inner rotating part)

Fixed position

ot

Rotating position

35

(17)
(22)
0
270 -0.1
Spigot joint

(24.5)

6
R

.5
R62

DISC / ND-cND series

(127.5)

1
1

2
1

DISC / ND-cND series

.D

P.C

0
22

260 -0.1
Spigot joint
180(Depth10)
140(Depth38)
110 +0.3
-0 (Hollow diameter)

2-hanging metal xture

4082.5(Diameter)
285(Rotating position)

P.

C.

(20.5)

1.6

C
0
.3

30

55

"A"

1.6

30

37

1.6

1.6

Sensor
Encoder
cable

20

Sensor
Encoder cable

65
Rotating position

Motor cable

+0
50h7 0.025
Spigot joint

(40.5)
+100

600+0

22.5

5
12

30

R5
4-

2-4 H7+0.012
depth8Even position for positioning holes
0

48.5

1.5
Spigot joint

1121.5

Grease nipple
(A-MT61)

8-M10depth15(Even position)

500.1

0.02

6-M5depth6
Even position

(5.5)
0

0.05 A

13 counter boring depth 2


Even position

1121.5

90
80
60

Interpolator
unitIPU
4R2
.5

4-7Drill thru holes

SensorEncoder connector

8-M10depth15
(Even position)

10

R2

Zero point
detection position
range 2

(45.5)

10

102.6
82.6

(m
in

1.2

"A" section detail

(52)

When NMR-CUGHA2A(4.16rps specication) is selected, the diagram is this.

Encoder cable exible type


"A" section detail

E -A-1

E -A-2

E -A-3

ND110-100-L

NMR-NPEBA2A-201AIncremental

+50
500 0

25

20

6-M5depth6
Even position

95.5

1.6

P.C
.D
46

Motor cable

45

Motor cable
5.1

91.5
950.2
97

2
Spigot joint

25

0.7
Rotating position

+50
500 0

1.6
3.5
0.02

1.5
GAP

Inner rotating part

1.5
Spigot joint

82h7 0
Spigot joint
0.035

"A"

1
0.
6
D9
C.
.
P

5.1
SensorEncoder cable

1.6

19

Hollow diameter

1122.5

65
Rotating position

50h7 0
Spigot joint
0.025

1.6

C
0
.3

Fixed position

20.5

4-M5depth10
Even position

0
3
R nR
i
m

.5
0
C

Rotating position

Sensor
Encoder cable

min 80

0.02

P.C.D
35
0.1

SensorEncoder connector

R3
m
in 0
R

Zero point
detection position
range 2

18

Motor connector

M -A

Motor cable with shieldPHS


M -B
Motor cablePLN

Encoder cable
1.5

0.7

"A" section detail

33

Encoder cable exible type

E -A-1

E -A-2

E -A-3

34

DISC ND series dimensions

DISC ND series dimensions

ND180-55-F

ND250-55-F

4-13Drill thru holes

1.6
1.2

110
Depth2

65
Hollow diameter

185
Rotating position

54

102.6

3
Spigot joint

55

22

11.5

30

500 +50
0

Motor cable

4-

45.5

R2

.5

60
80
90

90

80

60
10

500 +50
0
Motor connector

82.6

10
3
Spigot joint 0.7
Gap

1261

Zero point
detection position
range 2

SensorEncoder connector

27

min 80or701

54
Motor connector Motor cable

R2

1
Gap

5
3 R
R
in
m

Interpolator
unitIPU

4
2
57

0.025

2-

29

22

40.5

0
6
1
-R
4

15

.5

Sensor
Encoder cable

29

R2

5
2-R

702

30
4-

45.5

5
3
R nR
i
m

min 80

500 +50
0

84.5

.5
12

6-M6depth8
Even position

0.05 A

Zero point
detection position
range 2

Rotating position

500 +50
0

Fixed position

0
162h7 0.040
Spigot joint

55

2-6 H7+0.012
depth8
0
Even position for positioning holes

6-M5depth7
Even position

1.6

out
er d
iam
ete
r

10

"A"

DISC / ND-cND series

.5
R96

27

2
55
1
.5
Fra
me

7
1

1
Gap
57
Inner rotating part

P.
C.
D2
84

2501.5

35
Hollow diameter

108
Rotating position

0
96h7 0.035
Spigot joint

"A"

.1
0
50
.D1
P.C

Fixed position

24.5

2-6 H7+0.012

0
depth8Even position for positioning holes

1.6

Rotating position

55

3
Spigot joint

0.025

0.02

0.05 A

580.2

25 counter boring depth 2


Even position

.5
0
C

r
ete
iam
er d
out

DISC / ND-cND series

P.
C.
D2
05

221

.5
0
C

me
Fra
1.5
80
1

1801.5

55

2501.5

P.C
.D
86
0
.1

-R

580.2

3
Spigot joint

.5

1.6

1801.5

6.3

4-11Drill thru holes


22 counter boring depth 2

NMR-NEMGA2B-401AIncremental
NMR-NEMHA2B-401AAbsolute

40.5

0.02

6.3

NMR-NDMGA2A-201AIncremental

Interpolator
unitIPU

Sensor
Encoder
cable

Sensor
Encoder
connector

0.7

1.2

82.6

10

10

102.6

1 Incrementalmin80
Absolutemin70

M -E

Motor cable with shieldPHS


M -F

M -E

Motor cable with shieldPHS


M -F

Motor cablePLN

Motor cablePLN

E -B-1

E -B-2

Encoder cable exible type

"A" section detail

ND180-110-L

Encoder cable exible type


"A" section detail

ND250-110-L

NMR-NSFGA2B-701AIncremental

NMR-NTFGA2B-122AIncremental
NMR-NTFHA2B-122AAbsolute

min 80

54

7.5
40.5

112.2
1170.2
120

10
A

3Spigot joint

82.6

0.5
Rotating position

11
2
.D
P.
C

Sensor
Encoder connector
45.5

500 +50
0

186h7 0
0.046Spigot joint

Sensor
Encoder cable

68

Ro

ta

tin

po

si

tio

6-M8depth10
Even position

10

102.6

60
80
90

M -G-1

Motor cable with shieldPHS


M -H-1
Encoder cable exible type

E -B-1

E -B-2

M -G-1

M -G-2

Motor cable with shieldPHS


M -H-1
M -H-2

Motor cablePLN

30

1.2

82.6
30

1.6

2 Incrementalmin90
Absolutemin80

Motor cablePLN
1.2

"A"

P.C.D
236
0.1

102.6

0.025

60

35

Sensor
Encoder cable

Motor cable

Interpolator
unitIPU
4R2
.5

10

4.8

90

"A" section detail

.5
0
C

3
Spigot joint

80

0.5
Gap

1.6
Gap

142

1.6

SensorEncoder cable

10

Interpolator
unitIPU

3
Spigot joint

110
Depth2
65Hollow diameter

2602.5
Diameter

D1

Fixed position

118.4
Inner rotating part

1.6

45.5

1.6

1.6

.5
4R2

1.6

120

20

0.02

3
Spigot joint

Rotating position

g positio

114
1170.2

185
Rotating position

Sensor
Encoder connector

40.5

1.6

0.02

P.
C.
.D6

2-hanging
metal xture

Sensor
Encoder cable

500 +50
0

0.5

6-M8depth10
Even position
.1
0
0
5
1
D
.
.C
P

Motor cable

.5
0
C

162h7 0
Spigot joint
0.040

0
140h7 0.040
Spigot joint

35
Hollow diameter

108
Rotating position

0
96h7 0.035
Spigot joint

P.C

"A"

3Spigot joint

min 90or802

Motor cable

1.6

Fixed position

Zero point
detection position
range 2

0
4
R R
in
m

Gap
2

tatin
37Ro

1802.5
Motor diameter

Motor cable

5
3
R nR
i
m

Rotating position

118
Inner rotating part

0.025

1
56

0.

6-M6depth10
Even position

.5
0
C

2-hanging
metal xture

500 +50
0

Motor connector

141.2

Zero point
detection position
range 2

.5
0
C

P.
C.
D8
6
0.
1

29 Motor connector

54

500+50
0

29

6-M6depth9
Even position

E -B-1

E -B-2

Servo Driver Capacity matching


M -G-1/
M -H-1
1.5kW/1.6kW:
M -G-2/
M -H-2
2.2kW:
3

0.5

"A" section detail

Encoder cable exible type

E -B-1

E -B-2

36

DISC ND series dimensions

ND400-55-F

ND400-175-L

NMR-NFMGA2B-801AIncremental
NMR-NFMHA2B-801AAbsolute
0.1 A
0.03

6-M8depth10
Even position

2-8 H7+0.015

0
depth8Even position for positioning holes

580.2

3
Spigot joint

4082

13

"A"

R
5
M 0
IN
R

60

1.6

P.
C.
D4
50

3rps specication
NMR-NUIGA2A-862AZIncremental/ NMR-NUIHA2A-862AZAbsolute

1.6

55
22

50.8
Motor
connector

3.5

0.03 A

E -B-1

E -B-2

po

4
0.5
Spigot joint Rotating position
4.5

181.5
1860.1
190

4
Spigot joint

0.
6

37

Motor cable
+50
0

IN
M

tio

Sensor
Encoder cable

Sensor
Encoder connector

8-M12depth18Even position

Note : Bottom view of cable layout is shown as right side

30

1.2

60
80
90

ND400-110-L

NMR-NUFGA2B-252AIncremental
NMR-NUFHA2B-252AAbsolute

1.6

1.6
0.03

tin

SensorEncoder cable

+2

65
Hollow diameter

.5

.5

Encoder cable exible type

6.1

Motor cablePLN

"A" section detail

M -E

Motor cable with shieldPHS


M -F

ta

si

Fixed position

Ro

18
0

"C"
2-hanging
metal xture

68

3.5

406 -0Diameter

Rotating position

10

R
50
M
IN
R

270h7 +0
-0.052 (Spigot joint)

1.2

82.6
102.6

10

300
Rotating position

Sensor
Encoder connector

SensorEncoder cable

.5

Interpolator
unitIPU

186.5
Inner rotating part

C0

Motor cable

R2

260h7 0.052Spigot joint

54
Motor connector

45.5

30

4-

80
1
220

4042
Motor case diameter

40.5

0.7

500 +50
0

5
R3 R
in
m

1001
3

500 +50
0

29

2R3
2-R
3

2-

22

R3

Zero point
detection position
range 2

th
Dep

60
80
90

C0
.5

min 80

29

22.5

1.6
(23)

Motor cable

500

10
B
1.6

0.03

This drawing is for 3rps specication.


Motor connector
+50
0

1
Gap

2
0.
0

R216

-R

+0.015

H7depth12
2-10 0
(Even positionEven position for positioning holes)

Interpolator
unitIPU
4R2
.5
82.6
10
102.6 10

57

85.5

8-M12depth20Even position

Zero point
detection position
range 2

0.05 B

500

9
3

45

180
Depth2

65
Hollow diameter

84

DISC / ND-cND series

P.
C.
D2
20

0.
1

4082

Rotating position

44

2
2

DISC / ND-cND series

295
Rotating position

2-hanging
metal xture

0
260h7 0.052
Spigot joint

24.5
Fixed position

Motor cable
+50
500 0

32 counter boring depth2


Even position

6.3

4-17 Drill thru holes

1.5rps specication
NMR-NUIGA2A-472AZIncremental/ NMR-NUIHA2A-472AZAbsolute

115

DISC ND series dimensions

4 0.5
"C"section detail

Zero point
detection position
range 2

M -M-11.5rps specication

M -K-23rps specication

34

P.

0
270h70.052
Spigot joint

19.5

1.6
114

40.5

1170.2

A
3

120

Spigot joint

Sensor
Encoder connector

P.

Interpolator
unitIPU
4R2
.5 45.5
82.6
10
102.6 10

1.6
0.03

0.5

Sensor
Encoder cable

Sensor
Encoder cable

18

D
C.

1.6

0.03
3
Spigot joint

tio
si

Fixed position

"A"

76

0.

po

1.6

D3

Rotating position

C.

23.5

500 +50
0

180
Depth2

65
Hollow diameter

141.2

2
GAP

M -N-11.5rps specication

M -L-23rps specication

in
at

300
Rotating position

Motor cable

Motor cable
8

118
Inner rotating part

6-M8depth12
Even position

t
Ro

0
260h7 0.052
Spigot joint

Motor connector

68

4082.5
Motor diameter

m
in
R
R5
0

.5
0
C

1.6

P
.C
.D
2
2
0
0
.1

.5
0
C

2-hanging
metal xture

57

500 +50
0

6-M8depth12
Even position

M -M-1

M -K-2

Motor cable with shieldPHS


M -N-1
M -L-2

Encoder cable exible type


E -B-1
E -B-2

Motor cablePLN

min 100

30

1.2

60
80
90

M-I

Motor cable with shieldPHS


M -J
Motor cablePLN

Encoder cable exible type


3
Spigot joint

0.5
Gap

"A" section detail

37

E -B-1

E -B-2

38

E -

Encoder cable reference chart

E -A-1

Interpolator unit (IPU)

90

.5

60

40.5

R2

E -A-2

10
Driver side

1.2

10

82.6
102.6

E -A-3

Motor side

Encoder cable connector kit

E -A-4

Driver side

Model No. Encoder connector kit


ZCK-ENC

ZRC-300A

30m

NCR-XBCNA-030
-050
-100
-150

NCR-XBCNA-200
-300

33.3

NCR-XBDFA
NCR-XBDMA

3m
5m
10m
15m
20m

12.7

E -A-1/
E -A-2 Twist pair sealed cable 0.5SQ1P0.2SQ4P

E -A-3 Twist pair sealed cable 0.5SQ1P0.2SQ6P

P1

J1

3m
5m
10m
15m

E -A-4

E -A-5

Twist pair sealed cable 0.5SQ1P0.2SQ6P


Twist pair sealed cable 1.25SQ1P0.2SQ5P

20m
30m

P1

J1

E -A-5

39

There is no lineup for connector kit of separated interpolator unit (IPU)


type. Please order encoder cable (NCR-XBCLA).

E -B-1

NCR-XBCLA-030
-050
-100

3m
5m
10m

E -B-1

E -B-2

Robot encoder cable 0.5SQ1P0.2SQ4P


Robot encoder cable 0.5SQ1P0.2SQ6P

P1

External power supply unit

E -B-2

Model
NCR-XAD1A

NCR-XAD1A is external power supply unit for 30m


E -B-1
E -B-2
specication of P40
.
4.8
10MAX.

22.5
4

AC input terminal
L

E -C-1

PE (protective earth) terminal


85

35.2

Signal chart

NCR-XBC8A
NCR-XBDCA

ZRC-030A
-050A
-100A
-150A
-200A

Encoder cable dimensions

Output indicating light


DC ONGreen

NCR-XBCLA-150
-200
-300-Z

J1

15m
20m
30m

E -B-1

E -B-2 L

L 50

0
100

For using 30m cable, the external DC5V power is required.


P39 NCR-XAD1A type are available as an option.

NCR-XBCOA-030
-050
-100
-150

NCR-XBCOA-200
-300

3m
5m
10m
15m

20m
30m

E -C-1

E -C-2

Twist pair sealed cable 0.5SQ1P0.2SQ6P


Twist pair sealed cable 1.25SQ1P0.2SQ5P

P1

J1

E -C-2

Under voltage indicator


DC LOWRed

4.8
10MAX.

Output voltage adjust trimmer


V.ADJ

96.4

DC output terminal
V

E -D-1

NCR-XBCRA-030
-050
-100
-150

NCR-XBCRA-200
-300

3m
5m
10m
15m

20m
30m

E -D-1

E -D-2

Twist pair sealed cable 0.5SQ1P0.2SQ6P


Twist pair sealed cable 1.25SQ1P0.2SQ5P

P1

J1

E -D-2

E -E-1

NCR-XBCUA-030
-050
-100
-150

NCR-XBCUA-200
-300

E -E-2

39

3m
5m
10m
15m

20m
30m

E -E-1

E -E-2

Robot encoder cable 0.5SQ1P0.2SQ4P


Robot encoder cable 1.25SQ1P0.2SQ5P

P1

J1

P1Driver sidesignal list J1Encoder sidesignal list


Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 +5V
7
A
8 GND
8
A
9 FGGround 9
B
10
B
11
Z
12
Z
13
14
15
16
17
RX
18
RX
19
FGGround 20
FGGroundMetal
P1Driver sidesignal list J1Encoder sidesignal list
Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 PS
7
A
8 PS
8
A
9 PC
9
B
10 PC
10
B
11 +5V
11
Z
12 GND
12
Z
13 +5V
13
PS
14 GND
14
PS
15 FGGround 15
PC
16
PC
17
18
19
FGGround 20
FGGroundMetal
P1Driver sidesignal list J1Encoder sidesignal list
Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 GND
1
GND
2 GND
2
+5V
3 +5V
3
+5V
4 +5V
4
SD
5 SD
5
SD
6 SD
6
7
7
8
8
9
9
10
10
11 Z
11
Z
12 Z
12
Z
13
13
14
14
15
15
16
16
17
17
18
18
19
19
FGGround 20 FGGround 20
FGGroundMetal FGGroundMetal
P1Driver sidesignal list J1Encoder sidesignal list
Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 PS
7
A
8 PS
8
A
9 PC
9
B
10 PC
10
B
11 +5V
11
Z
12 GND
12
Z
13 +5V
13
PS
14 GND
14
PS
15 FGGround 15
PC
16
PC
17
18
19
FGGround 20
FGGroundMetal
P1Driver sidesignal list J1Encoder sidesignal list
Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 A
C
GND
2 A
D
+5V
3 B
A
+5V
4 B
B
5 Z
E
6 Z
F
7 PS
G
A
8 PS
H
A
9 PC
J
B
10 PC
K
B
11 +5V
L
Z
12 GND
M
Z
13 +5V
N
PS
14 GND
P
PS
15 FGGround R
PC
16
PC
17
18
19
FGGroundMetal
P1Driver sidesignal list J1Encoder sidesignal list
Name of signal chart Pin No. Name of signal chart Pin No.
14
GND
1 A
6
2 A
13
3 B
+5V
5
4 B
12
5 Z
4
6 Z
8
7 +5V
A
9
8 GND
A
Metal
9 FG
B
10
B
11
Z
12
Z
13
14
15
16
17
18
19
FGGroundMetal

Encoder connectorMotor side

ZCK-ENC

3 2 1
6 5 4
9 8 7

21

23.7

NCR-XBC8A

5 4 3 2 1
10 9 8 7 6
15 14 13 12 11

30.4

Motor optionstandards

Motor optionstandards

Motor type
D110
ND110
ND-cbuilt-in Interpolator unit
D170/D250/D400
D400-175
D170/D250
D630
D140

LengthL
3m
5m
10m
15m
20m

23.7

NCR-XBDCA

4321
98765
13121110
161514

54

NCR-XBDFA

C
D
E

B A M
P N T
R S
F G H

L
K
J

55.6

NCR-XBDMA

41.5

4-

Model
ZEC-030A
-050A
-100A
-150A
-200A

16.5

45.5

Encoder cable No.

16.5

30

+50

500 0

80

Cable length

29.2

If the external type interpolator is selected, please


refer to the diagram for interpolator (IPU) setting.

37.3

Interpolator unit

IPU

45.1

15

40

M -

M -

Motor cable without shield

PLNFor slow movingchart

M -A

Model
LengthL
3m
NCR-XBBAA-030
5m
-050
-100 10m
-150 15m
-200 20m
-300 30m

Dimensions

L
50

50
Robotop 0.75SQ 4 cores

Connection table
Signal name J Pin No. Cable color
1
U
red
2
V
white
3
W
black
4
E
green
Connector kit for power cable
CSZ-MOT

J1
12.3

M -C-1

M -E

L
70

M -C-1

M -C-2

70
1.25SQ 4 cores
2SQ 4 cores

33.4

50
Robotop 0.75SQ 4 cores

A1 B1

Connector kit for power cable


NCR-XBDDA

J1
2

30

M -G-2

M -I

3m
5m
10m
15m
20m

NCR-XBE7A-030
-050
-100
-150
-200

3m
5m
10m
15m
20m

NCR-XBBPA-030
-050
-100
-150
-200

3m
5m
10m
15m
20m

M -G-1

M -G-2

70

Robotop 1.25SQ 4 cores


Robotop 2SQ 4 cores

M -F

M -G-1

M -G-2

Crimp contact R1.25-4


Crimp contact R2-4

M -H-1

M -H-2

30

L
70
Robotop 2SQ 4 cores
J1

54

Signal name J Pin No. Cable color


X
U
red
Y
V
white
Z
W
black
G
E
green
Connector kit for power cable
NCR-XBDEA

Crimp contact R2-4

Y
Z

Connector kit for power cable


CSZ-MOT

J1

NCR-XBBFA-030
-050
-100
-150
-200
-300
NCR-XBBIA-030
-050
-100
-150
-200
-300
NCR-XBBLA-030
-050
-100
-150
-200

3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m

L
70

M -D-1

M -D-2

Heat shrink tube


UL type
8 35mm

1.25SQ 4 cores
2SQ 4 cores

Heat shrink tube


UL type

70

8 35mm

Signal name J Pin No. Cable color


U
B1
red
V
B2
white
W
A1
black
E
A2
green/yellow
Connector kit for power cable
NCR-XBB4A

J1

M -D-1

M -D-2

Crimp contact R1.25-4

33.4

Crimp contact R2-4

L
Heat shrink tube
UL type
8 35mm

0.75SQ 4 cores

50

Signal name J Pin No. Cable color


U
1
red
V
2
white
W
3
black
E
4
green/yellow
Connector kit for power cable
NCR-XBDDA

J1

M -J

NCR-XBBOA-030
-050
-100
-150
-200
-300
NCR-XBE9A-030
-050
-100
-150
-200
-300
NCR-XBBRA-030
-050
-100
-150
-200

3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m

M -H-1

M -H-2

Heat shrink tube


UL type

1.25SQ 4 cores
2SQ 4 cores

70

8 35mm

54

Signal name J Pin No. Cable color


U
1
red
V
2
white
W
3
black
E
4
green/yellow
Connector kit for power cable
NCR-XBDDA

J1

M -H-1

M -H-2

Crimp contact R1.25-4


Crimp contact R2-4
30

L
Heat shrink tube
UL type

2SQ 4 cores

70

8 35mm

J1

54

Signal name J Pin No. Cable color


U
X
red
V
Y
white
W
Z
black
E
G
green/yellow
Connector kit for power cable
NCR-XBDEA

Crimp contact R2-4

Y
Z

M -M-2

41

VCT cable Robotop 8SQ 4 cores

M -L-1

Connector kit for power cable


NCR-XBD9A

J1

M -K-1

M -K-2

Crimp contact R5.5-4


Crimp contact R8-5

M -L-2

70

M -M-1

M -M-2

Robotop 5.5SQ 4 cores

70

Robotop 3.5SQ 4 cores

J1

Signal name J Pin No. Cable color


X
U
red
Y
V
white
Z
W
black
G
E
green

M -N-1

Connector kit for power cable


NCR-XBDHA

M -M-1

M -M-2

Crimp contact R5.5-5


Crimp contact R5.5-4

M -N-2

X
Y

83.0

NCR-XBBUA-030
-050
-100
-150
-200
-300
NCR-XBBVA-030
-050
-100
-150
-200
-300
NCR-XBBXA-030
-050
-100
-150
-200
-300
NCR-XBBZA-030
-050
-100
-150
-200
-300

3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m

M -L-1

M -L-2

Heat shrink tube


UL type

Shield cable 5.5SQ 4 cores


Shield cable 8SQ 4 cores

70

35mm

Signal name J Pin No. Cable color


U
A
red
V
B
white
W
C
black
E
D
green/yellow
Connector kit for power cable
NCR-XBD9A

J1

M -L-1

M -L-2

Crimp contact R5.5-4


Crimp contact R8-4

56.4

70

VCT cable Robotop 3.5SQ 4 cores

57.2

70

M -N-1

M -N-2

Shield cable 5.5SQ 4 cores


Shield cable 3.5SQ 4 cores
Heat shrink tube
UL type

70

35mm

Signal name J Pin No. Cable color


U
X
red
V
Y
white
W
Z
black
E
G
green/yellow
Connector kit for power cable
NCR-XBDHA

J1

M -N-1

M -N-2

Crimp contact R5.5-5


Crimp contact R5.5-4

44

M -M-1

M -K-1

M -K-2

Signal name J Pin No. Cable color


A
U
red
B
V
white
C
W
black
D
E
green

56.4

M -K-2

44

M -K-1

3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m

29

20

57.2

NCR-XBBSA-030
-050
-100
-150
-200
-300
NCR-XBBTA-030
-050
-100
-150
-200
-300
NCR-XBBWA-030
-050
-100
-150
-200
-300
NCR-XBBYA-030
-050
-100
-150
-200
-300

23.7

30

Connector kit for power cable


NCR-XBDDA

J1

50

8 35mm

54

Signal name J Pin No. Cable color


1
U
red
2
V
white
3
W
black
4
E
green

34

M -G-1

NCR-XBBMA-030
-050
-100
-150
-200

M -D-1

29

Signal name J Pin No. Cable color


1
U
red
2
V
white
3
W
black
4
E
green

0.75SQ 4 cores

8 35mm

16.7

M -D-2

A2 B2

20

Heat shrink tube


UL type

Heat shrink tube


UL type

23.7

Signal name J Pin No. Cable color


B1
U
red
B2
V
white
A1
W
black
A2
E
green

M -C-1 Crimp contact R1.25-4

M -C-2 Crimp contact R2-4

L
50

Connection table
Signal name J Pin No. Cable color
U
1
red
V
2
white
W
3
black
E
4
green/yellow

12.3

Connector kit for power cable


NCR-XBB4A

J1

Dimensions

Motor optionstandards

Motor optionstandards

M -C-2

3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m

M -B

Model
LengthL
3m
NCR-XBBCA-030
5m
-050
-100 10m
-150 15m
-200 20m
-300 30m

2 1
4 3

16.7

NCR-XBBDA-030
-050
-100
-150
-200
-300
NCR-XBBGA-030
-050
-100
-150
-200
-300
NCR-XBBJA-030
-050
-100
-150
-200

Dimension No./Model

34

Dimension No./Model

Motor cable with shield type

PHSFor fast movingreference chart

X
Y

83.0

42

AC Servo driver / controller

Absolute position accuracy compensation

VCII Series

This option ensure the absolute position accuracy of DISC series.


There is three type of setting method of absolute position accuracy compensation data. Please refer to the charts in the below.
Encoder type : built-in interpolator uinit type
Option model No.

Option model No.

NCR-XAJD1
NCR-XAAD1

Install the compensation data at factory


Eective absolute position accuracy compensation data function + install the compensation data
Measuring DISC absolute position accuracy compensation data (IPU)

Install the overcompensation data to servo driver by the customer


NCR-XAID1
Eective absolute position accuracy compensation data function
NCR-XABD1
Measuring DISC absolute position accuracy compensation data (IPU)

Encoder type : external interpolator unit typeWhen the servo driver connects to interpolator unit (IPU), the compensation data is set to servo driver automatically.
Compensation data to be installed to the interpolator unit (IPU) the separate unit of encoder at the factory before shipment
NCR-XAID1
Eective absolute position accuracy compensation data function
NCR-XADD1
Measuring DISC absolute position accuracy compensation data (IPU)

Option model No.

In case VC series is selected, in the model No. is "B", and VPS series selected, it will be "C".

VC-D type

50W20kW

It is the high performance servo driver to optimize the motor potential for the needs of "High response" to "Ultra slow".
Pulse train, Speed control, and Torque control mode can be selected.

VC-C1 type
In addition to the high performance servo driver VC-D, multiple functions are set up to VC-C1 servo controller.
It has the program operation functions such as Stand-alone positioning and Speed/ Torque/ Spinner control.

Motor optionstandards

VC-C6 type

Overseas safety standard conformity

RoHS command corresponding

Some of DISC servomotor are compliant to overseas safety


standard as listed in the below.

DISC series correspond to RoHS command.

In addition to the high performance servo driver VC-D, Free-curve control functions are set up for VC-C6 servo controller.
It works as the slave axis following the master axis movement like electric cam.

RoHS command corresponding


CE marking corresponded (All type), UL/cUL corresponded (800W or less)

Please note that the model, specications, and dimensions of conformed


motors may be dierent from the standard models in the catalog.

Corresponding to network

Field

Conformed Safety standard

networkCC-Link/DeviceNet

Motion

networkSSCNET
MECHATROLINK-

North America safety standard


UL1004-1CSA22.2 NO.100cUL
UL le No. E254021

Special specications

European safety standard


EN60034-1
EN61800-3
The related standard to the EMC Directives will be achieved by that model.

Besides standard lineup of DISC series, we deal with following


requirement as special model.

Thus, it is necessary for the nally congured product to conrm and measure

Caution
By deciding the setting model (conditions) of the driver and motor.

if the EMC compliance is applicable.

DISC servo motors with safety standard conformity


Conformed items of and
D110-40F
D170-100F
D170-100L
D250-100F
D400-100L
D110-40L
D250-100L

Built-in motor

Built-in air bearing, coater and stator of ball bearing spindle or rotor and stator is supplied

Conformed items of
ND180-55F
ND180-110L
ND250-55FABS
ND250-110LABS
ND400-55FABS
ND400-110LABS
ND250-55FINC
ND250-110LINC
ND400-55FINC
ND400-110LINC

Change material and surface treatment

Improve torque and revolution

Exchange to specied connector and shield cable

Expand hollow size and change hollow shape

Outer circumference encoder specication

Forced air or water cooling

AC Servo driver

VPS Series

Improve rotational accuracy (Bearing change), To improved


atness or parallelism
Dustproof system

Please consult with our sales dept, if you have other requirement.

For the other model not listed, please contact to our sales department.

50W1.6kW

I/O type / CC-Link type


servo driver easy to use and high cost performance model.
Pulse train/Mode selection of Speed control.
7 points positioning and Zero return function are equipped as standard function.
For the other standard functions: Feed-forward control torque control, resonace control lter function,
4ch real time oscilloscope function.

CE marking, ULcUL conformity

RoHS command corresponding

43

44

VC Index

AC Servo driver / controller

VCII Series

DISC
Motor cableP4142

D type / C1 type / C6 type

Interpolator
P39
Encoder cable
P40

Absolute position accuracy


compensation function
P43

Dynamic brake unitP68

Zero phase reactorP66

SDI DeviceP66

Synchronous
communication cable
P66

High performance servo driver VCseries

VCseries

VCseries

High performance and versatility control function

Open collector pulse


input unit

High performance type motor for utilizing its optimal performance from high response to ultra slow motion
Useful lter function to control the vibration at the distal end of machine.
Auto notch lter function to increase eciency of resonance control operation.
4 kinds of Gain selection function (GSEL) to enable to select suitable gain according to the condition of load.
Eective feed forward function to shorten the settlement time.

Factory optionP52

Regenerative resisterP67
Equipped to output capacity 800W or higher model
Ferrite coreP66

Serial
MECHATRO SSCNET DeviceNet
communication
LINK-

Motion networkSSCNET/MECHATROLINK-
Field networkCC-Link/DeviceNet

CC-Link

I/O connection

Model

DDriver

Classication
of Product

CController

Series

Machine
model
type

DVC series

Input power source


specications

Design order

RRegenerative driver
SRegenerative controller

Output
capacity

CInduction motor

Motor

combination

1Positioning control controller


6Free-curve control controller

A1AC100V
A2AC200V
ABCStarting from A
Ex.)4014 0 1 = 40 x 10 1= 400W
Exponent of accumulation of 10
Eective digit
BDISC D/ND series / linear NLA-MANA type
Clinear NLA-S type
DDISC HDND-c series / linear NVANLD series

0Drive
Function
type

NONSynchronous/Induction AC servomotor

ADISC motor / linear


BSynchronous motor

Encoder
combination Special
specications

NONStandard type

Special specications

MECHATRO SSCNET DeviceNet


LINK-
I/F unit
I/F unit
I/F unit

Factory optionP52

CC-Link Control input/


I/F unit output expansion
unit

Cable for the expansion unit


P64

NCRNikki AC servo controller series

VC main unit I/O cableP63

serial communication cable


P65

N C R - D D A 0 A2 A - 401 B -

USB cable (Available in market)

I/F method selection

Selectable network

Data editing software


P66

Master controller

Option in will be installed to VC unit at our factory before the shipment.

45

46

VCseries Common specications

VCseries Function specications

Item

Specication

Temperature
Ambient
Condition

Humidity

055050
When UL standard is applied

Storage temperature

-2060

Type

Altitude

No harmful substance such as corrosive gas, grinding uid, metal powder, and oil are not allowed in the installation location.
1000m or lower

Cooling method
Installation method
Resistance to vibration
Shock resistant

25Mpps

20Mpps

However, frequency of encoder pulse 4-multiplication

However, frequency of encoder pulse 4-multiplication

0.5G
1050Hz

Command
input style

Radiation noise1000V
50ns
10cm

1 minute
Electro-static noise10kVA
between earth and case

Analog command

Common type

1A-101

1A-201

2A-201

2A-401

2A-801

2A-152

100

200

200

400

800

1.5k

50 60Hz single phase


Voltage specications AC100115V
Allowable voltage change

Maximum input frequency 6.25Mpps

Each type

Maximum input frequency 5Mpps

GND is common for line receiver input; thus, pay attention to noise
Servo control communication
Internal master axis command

Speed control runTorque control runDC -10V +10V


Input resolution14bit
Simple positioning/Zero point return/

Program run by internal stored data 280 points

Manual run, by internal pulse train command

Address 0255 set by control signal

Zero point return run, Manual (jog) run, Serial communication run, Self-diagnosis, Torque limit, Electronic thermal

Simple positioning
Pulse train command correction

Pulse train run, Program run (Positioning, Simple continuous positioning, External trigger positioning,
4 rules of arithmetic/Logic computing, Timer, No-conditional/conditional jump,
Sub-routine spinner control), Electric gear ratio set, Backlash compensation
Program run (Continuous control)

Program run (Free curving control)

Linear accel-decelS-letter accel-decel

Acceleration deceleration pattern

AC200230V50 60Hz 3-phase

Auto-tuning function

Parameter setting can cope with cases even in relatively big inertia ratio

AC180242V50 60Hz

Gain select function

With combination of GSEL signal, 4-type gain select is enabledPosition loop gain also corresponds to gain select

AC90121V50 60Hz

3-phase sin wave PWM

Drive method

Line driver or open collector output (option) compatible. However, line drive method is recommendable, due to noise resistance

Servo-onSON*
resetRST
mode-selectMD1MD2
Command pulse input prohibitionCIH(*)
Emergency stopEMG*
Proportion controlPC

Power capacity (at rated output)

kVA

0.3

0.6

0.6

1.1

1.8

3.0

Forward direction jogFJOG


Reverse direction jogRJOG
Zero point decelerationZLS
Speed overrideOR14
Deviation clearCLR

Continuous output current

Arms

2.0

3.4

2.0

3.4

5 (6.8) 4

10.0

Forward over travelFOT*


Reverse over travelROT*
Gain selectGSEL
Gain select 2GSEL2
Compulsory brake ONBRON
Torque limitTL

Instant output current

Arms

6.0

9.9

6.0

9.9

17.0

30.0

Control input signal

Semi closed loop with encoder (linear sensor) feedback

DriveDR

External input signal Basic 8 points

Speed/Torque selectSS1,SS2

Regenerative brake : regenerative resister external installation

Simple positioning startPST

Control method
Brake method

25

Hz

Carrier frequency
Speed control range1
Max speed frequency

Mpps

No fuse breaker
Rated current2
Mass 3

16

Zero point return(ORG)

20

Command direction select(SSD)

10

10

10

kg

1.0

1.4

1.0

1.4

2.4

4.0

Regenerative resistor (Refer to P67)


Item

Specication

Model

NCR-DAA

Output capacity
Input
power supply

2A-222

2A-402

2.2k

4.0k

2A-752

2A-113

2A-153

2A-203

7.5k

11.0k

15.0k

20.0k

Voltage specications

AC200230V50 60Hz3-phase

Allowable voltage change

AC180242V50 60Hz

Drive method

3-phase sin wave PWM

Power capacity (at rated output)

kVA

Control power capacity

4.7

7.8

15 5

20 5

25 5

30 5

36

36

36

56

Continuous output current

Arms

16.0

27.0

41.8

47.7

62.6

87.3

Instant output current

Arms

48.0

78.0

83.6

95.4

125.2

174.6

Control method

Regenerative brake : regenerative resister external installation


Hz

Carrier frequency

16

15000
Mpps

No fuse breaker
Rated current2
Mass 3

15

30

60

75

100

125

kg

4.0

6.0

7.4

7.7

10.0

18.5

Option

Regenerative resistor (Refer to P67)

Command direction select(SSD)

Electronic clutchD14
Master axis selectionD18

Cycle endD21
Pattern selectionD22/D24/D28

Internal master axis speed selection (MSSP)

Rough matching
PRF
Program end
PEND
Auto run ready
PRDY

Output signalBasic 4 points

In speed run modeSMOD

In torque run modeTMOD

In manual run
MMOD
In auto run
AMOD
In zero point return run
HMOD

M strobe
MSTB
General output
OUT18
M output
M0180

In simple positioning run mode


NMOD
In pulse train run modePMOD

In pulse train run mode


PMOD

Electronic clutch stopping


FCRP
In free curving motionFC
Master axis speed zeroMSZ
Mode in servo lock(PMOD)

Encoder pulse output

90
phase dierence pulse train outputDivision output possible: maximum output frequency of A/B-phase 2-signal is 20Mpps with 4-multiplication

Operation/display function

Device front LCD module or optional SDI device can display input of each data and various statuses

Filter function

Notch lter, Torque command lter, Disturbance correction lter, Active vibration control lter

Monitor function

Control signal status is displayed on device front LCD module or on signal display block of optional SDI device
Each type operation conditions, setting status (data), error detection content history record is displayed on device
front LCD module or on data display block of optional SDI device
Analog monitor: 2 items (It can monitor 2 items that are selected with parameter in various operation status)
Various monitoring is enable with USB compatible exclusive editing software (Option)

Data sustain function

Below data is sustained in nonvolatile memory (Up to 10,000 times of rewriting is possible to nonvolatile memory)Parameter, alarm history record
History record up to last ve occasions is sustained. However, event that is identical to the latest alarm is not registered)

Protective function

IPM error, Excessive voltage, Low voltage, Excessive speed, Overloadelectronic thermal,Regenerative resistor overload, Deviation over ow,
Communication error, Data error, CPU error, Encoder error, automatic magnetic pole detection error, Absolute encoder error, etc.

20

Backlash alignment progressD11


Backlash delayD12

Speed zero
SZ
Brake release
BRK
Soft limit switch
SLSA,SLSB
Encoder maker (OCEM)

10

Speed control range1

Auto start
PST
Address set
PS18
Hold
HLD
External trigger
TRG
M complete
MFIN
Program cancel
PCAN
Block stop
BSTP
External auto start inhibit
EPIH
Jog speed change
JOSP

Servo ready
RDY
Alarm
ALM
*

Warning
WNG
*

Position complete
PN
In torque limit
LIM

Semi closed loop with encoder (linear sensor) feedback

Brake method

Max speed frequency

Address set(PS1PS3)

15000

Option

VCseries

VCseries

Input
power supply

AutomaticManual
Zero point returnServo lock

Pulse train run

Major function

Specication
W

VC-D/CI type
Pulse train command

VC-C6 type
Master axis
positioning command

Internal command

Item
NCR-DAA

AutomaticManual
Zero point returnPulse train

VCseries Special specications

Output capacity

Speed controlTorque control


Pulse train commandSimple positioning

90-degree phase dierence pulseDirectional pulseDirectional signal + sending pulse

Panel installation type

Please avoid using at high temperature and high humidity conditions since the Life is heavily depended on the temperature and moisture.

Model

VC-C6NCR-CDA6

1 axis

Input frequency
Operation mode

Capacity 800W or less : Natural air cooling, Capacity 1.2kw or more : Forced air cooling

FT B2000V
Frequency 5 100kHz
Synchronous 300ms

1 minute

Noise

VC-C1NCR-CDA1

Encoder feedback

5G

resistance

VC-DNCR-DDA0

Number of control axis

85% or lower, No condensation

Installation location

Specication

Item

Operating temperature

Communication function

Serial communication (RS-422A) enable various data transceiving


By USB (1.1/2.0 standard compliance), it can communicate with data editing software

Refer to P51-52 "external connection diagram" for initial value of external input/output 8/4 point signal.
The value except initial value is used in remote control or allocated according to input/output signal allocation.
of signal sign is non logic. () sign is the signal which can change logic by parameter,

1When the load is 100%, the motor will be not stopped within the speed control range.
2Select a molded case circuit breaker which has appropriate interruption capacity for the power capacity to achieve protective coordination.
3Weight without options.
4When UL standard is not applied, the rated current is 6.8A.

47

5Power supply capacity.

48

DISCVCseries matching chart

D seriesVCseries matching chart


DISC servo motorD series
Type
D110

D170
D250

ModelFrange type
40

NMR-FADBA2C-061A

NMR-FPDBA2B-061A

60

NMR-FAEBA2C-121A

NMR-FPEBA2B-121A

40

NMR-FDDBA2D-201A

NMR-FSDBA2C-201A

100
40
100
40
100

NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A
NMR-FFFBA2C-252A

175

D400

ModelFlange-less

275
High rigidity
125
175
D630
225
470

NMR-FGPHA2A-133AGZ

NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A
NMR-FUFBA2C-252A
NMR-FUIBA2D-212AZ
NMR-FUIBA2D-472AZ
NMR-FUVHA2A-662A
NMR-FUVVA2A-662A
NMR-F V G A 2 C -322A
NMR-FVIBA2C-672A
NMR-FVKBA2B-872A

When combined
Input
Rated torque Peak torque Voltage
ACV
N.m
Single phase100
2
6
3 phase200
Single phase100
4
12
3 phase200
Single phase100
7.5
22.5
3 phase200
67
22.5
20.7
60
186
62
67
134
400
200
3 phase200
1000
500

NCR-DDA0A1A-101B
NCR-DDA0A2A-201B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A2A-801B
NCR-DDA0A2A-401B
NCR-DDA0A2A-152B
NCR-DDA0A2A-801B
NCR-DDA0A2A-222B
NCR-DDA0A2A-402B
NCR-DDA0A2A-752B

VC series
VC-C1
Model
NCR-CDA1A1A-101B
NCR-CDA1A2A-201B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A2A-801B
NCR-CDA1A2A-401B
NCR-CDA1A2A-152B
NCR-CDA1A2A-801B
NCR-CDA1A2A-222B
NCR-CDA1A2A-402B
NCR-CDA1A2A-752B

NCR-CDA6A1A-101B
NCR-CDA6A2A-201B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A2A-801B
NCR-CDA6A2A-401B
NCR-CDA6A2A-152B
NCR-CDA6A2A-801B
NCR-CDA6A2A-222B
NCR-CDA6A2A-402B
NCR-CDA6A2A-752B

NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-402-UL
NCR-XABCA2B-113-UL

VC-D

VC-C6

Dynamic brake unit

NCR-XABCA2B-801-UL

700

1800

NCR-DDA0A2A-153B

NCR-CDA1A2A-153B

NCR-CDA6A2A-153B

500
1000
1500
3000

1000
2000
3000
5800

NCR-DDA0A2A-402B

NCR-CDA1A2A-402B

NCR-CDA6A2A-402B

NCR-XABCA2B-402-UL

NCR-DDA0A2A-113B

NCR-CDA1A2A-113B

NCR-CDA6A2A-113B

NCR-XABCA2B-113-UL

NCR-DDA0A2A-203B

NCR-CDA1A2A-203B

NCR-CDA6A2A-203B

HD seriesVCseries matching chart


DISC servo motorHD series
160
160GForced air cooling
185
225
200

D140
D170
D250

ModelFrange type
NMR-FCHBA2D-661A

NMR-FCIBA2D-751A

ModelFlange-less
NMR-FRHBA2D-661A
NMR-FRHBA2A-112AG
NMR-FRIBA2D-751A
NMR-FSNBA2B-202AZ
NMR-FTJBA2F-302AZ

VC-D
NCR-DDA0A2A-801D
NCR-DDA0A2A-152D
NCR-DDA0A2A-152D
NCR-DDA0A2A-222D
NCR-DDA0A2A-402D

VC series
VC-C1
Model
NCR-CDA1A2A-801D
NCR-CDA1A2A-152D
NCR-CDA1A2A-152D
NCR-CDA1A2A-222D
NCR-CDA1A2A-402D

VC-C6

Dynamic brake unit

NCR-CDA6A2A-801D
NCR-CDA6A2A-152D
NCR-CDA6A2A-152D
NCR-CDA6A2A-222D
NCR-CDA6A2A-402D

NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-402-UL

VC-C6

Dynamic brake unit

VCseries

VCseries

Type

When combined
Input
Rated torque Peak torque Voltage
ACV
N.m
21
58.8
27.5
63
3 phase200
24
67.2
53
154
115
345

ND-c seriesVCseries with built-in Interpolator unit encoder matching chart


DISC servo motorND-c series
Type
ND110

ND140
ND180
ND250
ND400

ModelIncremental

65-C

NMR-CAEIA2A-071A

85-C

NMR-CAUIA2A-151A

70-C

NMR-CREIA2A-151A

95-C
70-C
95-C
70-C
95-C
70-C
95-C

NMR-CRFIA2A-311A
NMR-CSMIA2A-281A
NMR-CSEIA2A-561A
NMR-CTEIA2A-501A
NMR-CTFIA2A-841A
NMR-CUEIA2A-951A
NMR-CUFIA2A-192A

ModelAbsolute

When combined
Input
Rated torque Peak torque Voltage
ACV
N.m
Single phase100
2.4
7.2
3 phase200
Single phase100
14.4
4.8
3 phase200
Single phase100
4.8
14.4
9.6
9
18
27
45
76
152

28.8
27
54
81
112.5
190
380

3 phase200

NCR-DDA0A1A-101D
NCR-DDA0A2A-201D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A2A-801D
NCR-DDA0A2A-401D

VC series
VC-C1
Model
NCR-CDA1A1A-101D
NCR-CDA1A2A-201D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A2A-801D
NCR-CDA1A2A-401D

NCR-CDA6A1A-101D
NCR-CDA6A2A-201D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A2A-801D
NCR-CDA6A2A-401D

NCR-DDA0A2A-801D

NCR-CDA1A2A-801D

NCR-CDA6A2A-801D

NCR-DDA0A2A-222D

NCR-CDA1A2A-222D

NCR-CDA6A2A-222D

NCR-DDA0A1A-101D
NCR-DDA0A2A-201D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A2A-801D
NCR-DDA0A2A-401D

NCR-CDA1A1A-101D
NCR-CDA1A2A-201D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A2A-801D
NCR-CDA1A2A-401D

NCR-CDA6A1A-101D
NCR-CDA6A2A-201D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A2A-801D
NCR-CDA6A2A-401D

NCR-DDA0A2A-801D

NCR-CDA1A2A-801D

NCR-CDA6A2A-801D

NCR-DDA0A2A-222D

NCR-CDA1A2A-222D

NCR-CDA6A2A-222D

NCR-XABCA2B-222-UL

NCR-DDA0A2A-113D

NCR-CDA1A2A-113D

NCR-CDA6A2A-113D

NCR-XABCA2B-113-UL

VC-C6

Dynamic brake unit

VC-D

NCR-XABCA2B-801-UL

NCR-XABCA2B-222-UL

ND-c seriesVCseries with external Interpolator unit (IPU) encoder matching chart
ND110

ND140
ND180
ND250

ND400

65-C

NMR-CAEGA2A-071A

NMR-CAEHA2A-071A

2.4

7.2

85-C

NMR-CAUGA2A-151A

NMR-CAUHA2A-151A

4.8

14.4

70-C

NMR-CREGA2A-151A

NMR-CREHA2A-151A

4.8

14.4

95-C
70-C
95-C
70-C
95-C
70-C
95-C

NMR-CRFGA2A-311A
NMR-CSMGA2A-281A
NMR-CSEGA2A-561A
NMR-CTEGA2A-501A
NMR-CTFGA2A-841A
NMR-CUEGA2A-951A
NMR-CUFGA2A-192A

NMR-CRFHA2A-311A
NMR-CSMHA2A-281A
NMR-CSEHA2A-561A
NMR-CTEHA2A-501A
NMR-CTFHA2A-841A
NMR-CUEHA2A-951A
NMR-CUFHA2A-192A
NMR-CUGHA2A-152A
NMR-CUGHA2A-652A

9.6
9
18
27
43
76
152
250
250

28.8
27
54
81
108
190
380
600
570

120-C

Single phase100
3 phase200
Single phase100
3 phase200
Single phase100

3 phase200

NCR-XABCA2B-801-UL

ND seriesVCseries matching chart


DISC servo motorND series
Type
ND110

ND180

ND250

ND400

ModelIncremental

ModelAbsolute

50

NMR-NAMBA2A-071A

100

NMR-NPEBA2A-201A

55

NMR-NDMGA2A-201A

110

NMR-NSFGA2B-701A

55

NMR-NEMGA2B-401A

NMR-NEMHA2B-401A

110

NMR-NTFGA2B-122A

NMR-NTFHA2B-122A

55
110

NMR-NFMGA2B-801A
NMR-NUFGA2B-252A
NMR-NUIGA2A-472AZ
NMR-NUIGA2A-862AZ

NMR-NFMHA2B-801A
NMR-NUFHA2B-252A
NMR-NUIHA2A-472AZ
NMR-NUIHA2A-862AZ

175

When combined
Input
Rated torque Peak torque Voltage
ACV
N.m
Single phase100
2.4
7.2
3 phase200
3 phase200
20.3
7
Single phase100
9
27
3 phase200
81
27
21.5
65
81
27
67
201
3 phase200
82
246
190
76
215
603
500
1000
450
900

VC-D
NCR-DDA0A1A-101B
NCR-DDA0A2A-201B
NCR-DDA0A2A-401B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A2A-152B
NCR-DDA0A2A-401B
NCR-DDA0A2A-801B
NCR-DDA0A2A-152B
NCR-DDA0A2A-222B
NCR-DDA0A2A801B
NCR-DDA0A2A-222B
NCR-DDA0A2A-752B
NCR-DDA0A2A-113B

VC series
VC-C1
Model
NCR-CDA1A1A-101B
NCR-CDA1A2A-201B
NCR-CDA1A2A-401B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A2A-152B
NCR-CDA1A2A-401B
NCR-CDA1A2A-801B
NCR-CDA1A2A-152B
NCR-CDA1A2A-222B
NCR-CDA1A2A-801B
NCR-CDA1A2A-222B
NCR-CDA1A2A-752B
NCR-CDA1A2A-113B

NCR-CDA6A1A-101B
NCR-CDA6A2A-201B
NCR-CDA6A2A-401B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A2A-152B
NCR-CDA6A2A-401B
NCR-CDA6A2A-801B
NCR-CDA6A2A-152B
NCR-CDA6A2A-222B
NCR-CDA6A2A-801B
NCR-CDA6A2A-222B
NCR-CDA6A2A-752B
NCR-CDA6A2A-113B

NCR-XABCA2B-801-UL

NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-752-UL
NCR-XABCA2B-113-UL
Refer to P68 for dimension of dynamic brake unit.

49

50

VCseries dimensions

VCseries dimensions

AC100V

AC200V
NCR-DAA1A-201
65 1

55 1

10

77

24

36(40) 3

24

151

24

130 1
100

36(40) 3

(9.5)

151

210

(19)

(9.5)

16.5

195

118

(26)

16.5

220

225
245
255

300

290

270

190

180

160

190

180

160

15

15

15

40

10 23

24

15
5

25

25

NCR-DAA2A-752/113

NCR-DAA2A-402

NCR-DAA1A-101

5.5

5.5
89842

79742

1531532

The size is the same when the interface unit option is installed.

NCR-DAA2A-153

48.5

(26)

24

24

151

TB2

TB3

(9.5)

15

15

(9.5)

36(40) 3

250

24

151

1.5

B1

B2

L1

169

36(40) 3

15

24

48.5

230

77

25

165

16.5

118

65 1

55 1

265

195
16.5

25

NCR-DAA2A-203

9.5

NCR-DAA2A-401

20

NCR-DAA2A-201

VCseries

VCseries

AC200V

STATION No.

364

404

10

B RATE

CN2

385

J2

TB1

280

250

190

180

160

190

180

160

J1
CHARGE

270

J3

L2

TB7

T
CN1

195

L ERR/L RUN
SD / RD

TB5
DC24VCC-Link

0V-

5.5

5.5
79742

The size is the same when the interface unit option is installed.

89842

NCR-DAA2A-801

40

121 1
90

10

23

(18.5)
5

10

15

95 1
79
31

10

24

36(40) 3
15

190

Factory option will be installed at our factory before the shipment. Please specify when you order.
Please note that it is unable to add factory option to VC by yourself.

I/F unit option

160

When setting up VC, it is possible to set up following network I/F unit or control input/output extension unit (unable to set up multi-units
Network I/F unit enables network connection to other maker's product which corresponded with each network.
Control input/output extension unit is the unit which adds input/output signal to connect to I/O. (For standard input 8 points, output 4 points)

(9.5)

10

The size is the same when the interface unit option is installed.

VCseries factory option

NCR-DAA2A-152/222

240

230

190

180

160

210

The list of I/F unit option

2
5.5
1191142

5.5
1441412

1The unit size of VCseries.


2The size of VC series with options of CC-Link, DeviceNet, MECHATROLINK- and SSCNET interface unit.
The size of VC series with the input/output expansion unit is indicated in ( ).
For model name of each option, refer to P52VC series factory option
.
3The size of connector height of the input/output expansion unit indicated in ( ).

51

VCmodel

I/F unit

NCR-DAAA-101
NCR-DAAA-201
NCR-DAA2A-401
NCR-DAA2A-801
NCR-DAA2A-152
NCR-DAA2A-222
NCR-DAA2A-402
NCR-DAA2A-752
NCR-DAA2A-113
NCR-DAA2A-153
NCR-DAA2A-203

Network I/F unit

MECHATROLINK- I/F unit

SSCNET I/F unit

CC-Link I/F unit

Device Net I/F unit

Control input/
output extension unit

NCR-XABPD1A-201/401

NCR-XABLD1A-201/401

NCR-XAB7D1A-201/401

NCR-XAB6D1A-201/401

NCR-XAA2D1A-201/401

NCR-XABPD1A-801

NCR-XABLD1A-801

NCR-XAB7D1A-801

NCR-XAB6D1A-801

NCR-XAA2D1A-801

NCR-XABPD1A-152/222

NCR-XABLD1A-152/222

NCR-XAB7D1B-152/222

NCR-XAB6D1B-152/222

NCR-XAA2D1B-152/222

NCR-XABPD1A-402

NCR-XABLD1A-402

NCR-XAB7D1A-402

NCR-XAB6D1A-302/402

NCR-XAA2D1B-302/402

NCR-XABPD1A-153

NCR-XABLD1A-153

NCR-XAB7D1A-153

NCR-XAB6D1A-153

NCR-XAA2D1A-153

NCR-XABPD1A-203

NCR-XABLD1A-203

NCR-XAB7D1A-203

NCR-XAB6D1A-203

NCR-XAA2D1A-203

Pulse train command open collector receiving unit


For pulse train command to VC, the unit enables open collector method of photo coupler.
Model
NCR-XAD2D0A

52

Specications and the external connection diagram for

VC series with the built-in type interpolator unit encoder.

Output capacity
7.5kW or higher

Output capacity
4kW or lower

NFB

AC200/220V
50/60Hz

C -1

NFB

MC

24V
DC 24V
power supply 0V

T
AC100/110
or AC200/220V

0V

50/60Hz

E
MC
ON

MC

Grounding
Thermostat
OFF

r
s

Grounding
FG

Motor regenerative
resistor

OFF

CN2

T
AC100/110
or AC200/220V

24V
0V

MC

50/60Hz
MC

OFF

Thermostat

Motor regenerative
resistor

ON

Motor regenerative
resistor

OFF

E
MC

MC

Surge killer

3
4

Surge killer

L1

DC reactor grounding terminal


Options

L2

EPS

MC

CN2

MC

EPS

19,20

L2
3

Regenerative resistor
connection terminal

Option

Pulse train command

Open collector

Regenerative resistor

Line driver

CN1

FC

26

DI 2SON

FC

FC

25

RC

24

DI 4FJOG

RC

RC

23

DI 5RJOG

GND

GND

21

10
11
12
6
5
13

Control input signal

DI 7MD1

14

V1224V

DI 8MD2

15

18

16

COM

Control
output signal
CR

DO 2ALM
DO 3WNG

CR
CR

DO 4PN

SD

5V

SD

GND

PS

PS

PS

PS

PC

PC

PC

PC

Encoder

Option

FC

25

RC

24

DI 4FJOG

RC

RC

23

DI 5RJOG

GND

GND

21

EA

DO 1RDY

DI 6SS2

31

DI 7MD1

30

EA

DO 2ALM

DI 8MD2

29

EB

DO 3WNG

EB

EM

EM

GND

CR

DO 4PN

COM

16

CR

CR
CR
CR

DO 4PN

14

VC-D type

DI 3D14

27

GND

DI 4D18

FG

FG

11

12

35
34

DI 4CIH

33

DI 5SS1

32

EA

DI 6SS2

31

DI 7MD1

30

EA

DI 8MD2

29

EB

EB

J1

EM

EM

CN1

13

GND

Encoder pulse output

17

CR
CR

16

Analog monitor

15

CR
CR

DI 7D24

DI 8D28

MON2

10

14

GND
11

MON1

27

GND

J1

Control
output signal

Analog command
CR

DO 2FC

CR
CR

DO 4

VC-C6 type

TXDA

TXDA

TQH

GND

TXDB

INH

19

TXDB

GND

20

RXDA

RXDA

RLRA

CR

FG

ConnectorFG metal

ConnectorFG metal

ConnectorFG metal

J1

Serial communication
RS-422A
COM

Control
output signal
330

COM

FG

FG

DI 8D28

ConnectorFG metal

ConnectorFG metal

RLTB 10

DO 1FCRP

Analog command
CR

DO 2FC
DO 3MSZ

CR
CR

DO 4

RXDB 12

VC-C6 type

RXDB 11
7
C5V
GND 14

GND

TXDA

TXDA

TQH

GND

TXDB

INH

19

TXDB

GND

20

RXDA

RXDA

RLRA

CR

FG

ConnectorFG metal

RLTB 10

RXDB 12
RXDB 11
7
C5V
GND 14

ConnectorFG metal

J2

GND

ConnectorFG metal

Servo control communication


RS-485

J2

DT 3,6

DT 3,6

DT 4,8

DT 4,8

CK 1,5

CK 1,5

CK 2,6

CK 2,6

FG

Serial communicationRS-422A

FG

FG

1The user must supply with the power supply for control input signals.
ConnectorFG metal
2COM of CN1 connector is the common of control input/output signals.
GND is the common of inner control power source (5V) in the device.
3Common wiring should not be done because COM of CN1 and GND are isolated.
4The status of switch connected to the control input signals indicates the state of OFF of each input signals
5The pin not mentioned in this diagram is NC
6Please refer to the instruction manual of "VC series options" if the user is using the control input/output expansion unit.
7GND of pulse train command should be connected in case of using the line receiver option.
8The initial value of is indicated in ( ) of control input/output signals

53

IPU

DI 6D22

DI 7D24

Cautions

J2

VC-D type

DI 5D21

DI 6D22

SD

36

DO 4PN

DI 2D12

MON1

SD

DI 3DR

DO 3WNG

11

DI 2SON

DO 2ALM

DI 1D11

GND

GND

DI 1RTS

DO 1RDY

MON2

12

GND

18

Control
output signal

Analog monitor
10

6
11

CR

VC-C1 type

Encoder pulse output

15

CR

V1224V

DI 8MD2

32

EP5

Control input signal

DI 7MD1

DI 5SS1

DI 3D14

DO 3MSZ

FC

33

DO 3WNG

DO 1FCRP

DI 2SON

Control
output signal

17

CN1
26

DI 4CIH

CR

Line driver
FC

DI 6ZLS

CN1

Regenerative resistor

512V

DI 3PST

Magnetic pole
sensor

B2

DI 1RTS

34

13

Pulse train command

Open collector

PG

35

DO 2ALM

DI 5D21

36

DO 1RDY

DI 4D18

B1

Regenerative resistor
connection terminal

DI 3DR

Control
output signal

DI 2D12

DI 2SON

COM

DI 1D11

DI 1RTS

CR

VC-C1 type

330

DO 1RDY

EP5

VCseries

VCseries

512V

DI 6ZLS

B2

DI 1RTS
DI 3PST

B1

Magnetic pole
sensor
ConnectorFG metal

L1

DC reactor grounding terminal


Options

GND

FG

Surge killer

Surge killer

GND

Encoder

Grounding

Thermostat
ON

Motor

Grounding

ConnectorFG metal

Disc motor

Motor

Driver

MC

24V
DC 24V
power supply 0V

50/60Hz

Thermostat
ON

NFB

MC

AC200/220V

Motor regenerative
resistor

NFB

C -2

Output capacity
4kW or lower

Disc motor

24V

Output capacity
7.5kW or higher
Driver

MC

Specications and the external connection diagram for

VC series with the seprate type interpolator unitIPUencoder.

Cautions

Servo control communicationRS-485

FG

1The user must supply with the power supply for control input signals.
ConnectorFG metal
2COM of CN1 connector is the common of control input/output signals.
GND is the common of inner control power source (5V) in the device.
3Common wiring should not be done because COM of CN1 and GND are isolated.
4The status of switch connected to the control input signals indicates the state of OFF of each input signals
5The pin not mentioned in this diagram is NC
6Please refer to the instruction manual of "VC series options" if the user is using the control input/output expansion unit.
7GND of pulse train command should be connected in case of using the line receiver option.
8The initial value of is indicated in ( ) of control input/output signals

54

VPS Index

AC Servo driver

VPS Series
/

Motor cableP4142

CC-Link type

Interpolator
P39

Absolute position accuracy


compensation function
P43

Encoder cable
P40

I/O type

DISC

Dynamic brake unitP68

Zero phase reactorP66

I/F method selection

VPS series
CC-Link type

VPS series
I/O type

VPS Series

VPS Series

VPS series with variety of functions.


Cost eective and easy to use servo driver.
I/O type and CC-Link interface installed type are in the line-ups.
7 points positioning and zero return functions are equipped as the standard.
Feed forward control function and Resonance control lter function are also equipped.

Classication

of Product
Input power source
specications

Design order
Output
capacity

DCA0VPS series servo controller specially designed for NA80 series motors
DCC0I/O type VPS series
DCD0CC-Link type VPS series

ASynchronous AC servomotor NA80/800 seriesserial encoder


Motor
combination
encoder

A1AC100V

Regenerative resisterP67
Equipped to output capacity
800W or higher model

Clinear motorSeparated interpolator unit specication


Dlinear motorStandard encoder
EDISC motorSeparated interpolator unit specication
FDISC motorStandard encoder

A2AC200V
ABCStarting from A
Ex.)4014 0 1 = 40 x 10 1= 400w

Special

specications

NONStandard type
SSpecial specications

Data editing software


P66

Exponent of accumulation of 10
Eective digit

Master controller

55

Serial communication cable


P65

I/O cableP65

NCRNikki AC servo controller series

CC-Link cable

A2 A - 401 F

I/O cableP64

NCR - DCC0

USB cable (Available in market)

Regenerative resisterP67
Equipped to output capacity
800W or higher model

Model

Master controller

56

VPS series Common specications

VPS series Function specications

Item

Specication

Temperature
Ambient
Condition

Humidity

055

Storage temperature

-2060

85% or lower, No condensation

Installation location
Altitude

No harmful substance such as corrosive gas, grinding uid, metal powder, and oil are not allowed in the installation location.

Installation method
Resistance to vibration
Shock resistant

Capacity 800W or less : Natural air cooling, Capacity 1.6kw or more : Forced air cooling

0.5G
1050Hz

Encoder feedback Input frequency

16Mpps
However, frequency of encoder pulse 4-multiplication

Operation mode

Speed controlPulse train command

Noise
resistance

Pulse train
command
Analog command
Internal command

5G
Line noise2000V
50ns
1s

1 minute

Linear accel-decelS-letter accel-decel


Command averaging function use

Radiation noise1000V
50ns
10cm

1 minute

Gain select function

Control input signal

Specication

Allowable voltage change

1B-201

2B-401

2B-801

2B-162

200

400

800

1.6K

AC1001155060Hz single phase AC200230V5060Hz single phase

AC200230V
5060Hz 3-phase
AC180242V
5060Hz

AC90121V
5060Hz

AC180242V
5060Hz

0.52

0.92

1.8

3.0

Drive method

3-phase sin wave PWM


kVA

Continuous output current

Arms

3.5

3.5

6.8

10

Instant output current

Arms

8.75

8.75

17

30

Semi closed loop with encoder (linear sensor) feedback

Brake method
Carrier frequency

No fuse breaker
Rated current2
Mass 3
Option

Alarm code output request


ALRQ

Brake release
BRK
, Marker output
OCEM
, Emergency stop onward
EMG0
, Zero point return completed
HCP

Encoder pulse output


Operation/display function

90
phase dierence pulse train output
Division output
possible: maximum output frequency of A/B-phase 2-signal
is 7.99Mpps with 4-multiplication

By operating panel, it is possible to run status display, editing parameter and self-diagnosis.
Notch lter, Torque command lter

Filter function

Protective function

By data display LED (7 segment LED 4 digits), select and display Alarm, Frequency, Torque, Deviation rate, Speed command input, I/O signal and Parameter status.
Various monitoring is enable with USB compatible exclusive editing software (option).
IPM error, Excessive voltage, Low voltage, Over speed, Overload (electronic thermal), Regenerative excessive current, Deviation
over ow, RAM error, Encoder error, Magnetic pole detection error, DSP error, etc. Latest ve alarmrecords can be indicated
Serial communication (RS-422A) or CC-Link enable various data transceiving
By USB (1.1/2.0 standard compliance), it can communicate with data editing software

1In the range of -0.2V +0.2V, the accuracy in the relation between input voltage and motor speed is decreasing. The motor movement according to command
value is not guaranteed in the operation at this range.

10
12000

Mpps

Servo ready
RDY
, Alarm
ALM
, Deection range A
PNA
, Deection range B
PNB
, Speed zero
SZ
,

Communication function

Regenerative brake : regenerative resister external installation


Hz

Speed control range1


Max speed frequency

Present position data output request


APRQ

Output signalBasic 4 points

Monitor function

Power capacity (at rated output)

Control method

Internal pulse startZST,Zero point makerZMK,Command direction reverseRVS,Command data reection prohibitionNRF

VPS series

VPS series

Voltage specications

Forward jogFJ,Reverse jogRJ,Zero point decelerationZLS,Forward over travelFOT,Reverse over travelROT,Gain selectGSEL,Torque limitTL,

ABS data output request


ABRQ

Item

Input
power supply

Speed gain change 3 points


Normal, Slow-speed, GSEL-change
StartDR,Servo ON(SON), ResetRST,Mode-selectMD,Command pulse input prohibitionCIH,Emergency stopEMG,Command selectSS13,

VPS series Special specications

Positioning (7points), Zero point return, Manual run, by internal pulse train command
Speed control run, Pulse train run, Zero point return run, Manual (Jog) run, torque limit, Self-diagnosis, Electronic thermal, Auto tuning function

External input signal Basic 8 points

Output capacity

Capable to meet Line driver output. Max. input is 4Mpps


Speed control runDC -10V +10V1

Major function

Electro-static noise10kVA
between earth and case

NCR-DAA

90-degree phase dierence pulseDirectional pulseDirectional signal + sending pulse

Acceleration deceleration pattern

Please avoid using at high temperature and high humidity conditions since the Life is heavily depended on the temperature and moisture.

Model

CC-Link TypeNCR-DCD0
1 axis

Command
input style

Panel installation type

I/O TypeNCR-DCC0

Number of control axis

1000m or lower

Cooling method

Specication

Item
Type

Operating temperature

2Refer to P61-62 "external connection diagram" for initial value of external input/output 8/4 point signal.

16

It enables allocated input/output signal allocation or communication and CC-Link except initial value. For CC-Link, OCEM can do the external output only.

10

15

kg

1.0

1.5

2.0

The control input signal enables immobilization of the signal status.


When being assigned to the external output signal, signal logic change is possible (OCEM is excluded).

Regenerative resistor (Refer to P67)

1When the load is 100%, the motor will be not stopped within the speed control range.
2Select a molded case circuit breaker which has appropriate interruption capacity for the power capacity to achieve protective coordination.

57

58

DISCVPS series matching chart

VPS series Dimensions

D series VPS series with built-in Interpolator unit encoder matching chart

60

NMR-FAEBA2C-121A

NMR-FPEBA2B-121A

4 / 12

D170

40

NMR-FDDBA2D-201A

NMR-FSDBA2C-201A

7.5 / 22.5

D250

100
40
100
40

NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A

NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A

22.5 / 67
20.7 / 51.75
62 / 186
67 / 134

D400

3 phase200

9.5

50

37

132

37

132

37

132

12.7

2/6

NCR-XABCA2B-801-UL

NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL

5.5

124.6

NMR-FPDBA2B-061A

NCR-DC0A1-201/A2-401

150

NMR-FADBA2C-061A

Dynamic brake unit

155

40

D110

VPS series
I/O Type
CC-Link Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-162F
NCR-DCD0A2B-162F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F

Flange-less

Type

Input
Voltage
ACV
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200

145

Frange type

Rated /Max torque


when combined with
servo driverNm

DISC servo motorD series

D series VPS series with external Interpolator unit (IPU) encoder matching chart
NMR-FPDBA2B-061A

2/6

60

NMR-FAEBA2C-121A

NMR-FPEBA2B-121A

4 / 12

D170

40

NMR-FDDBA2D-201A

NMR-FSDBA2C-201A

7.5 / 22.5

100
40
100
40

NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A

NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A

22.5 / 67
20.7 / 51.75
62 / 186
67 / 134

D250
D400

Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200
3 phase200

NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A2B-801E
NCR-DCC0A2B-401E
NCR-DCC0A2B-162E
NCR-DCC0A2B-801E

NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A2B-801E
NCR-DCD0A2B-401E
NCR-DCD0A2B-162E
NCR-DCD0A2B-801E

5.5

NCR-XABCA2B-801-UL

12.7

NMR-FADBA2C-061A

40

D110

35

NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL

NCR-DC0A2-801
9.5

DISC servo motorHD series


Frange type
NMR-FCHBA2D-661A
NMR-FCIBA2D-751A

Flange-less
NMR-FRHBA2D-661A
NMR-FRIBA2D-751A

Rated /Max torque


when combined with
servo driverNm

Input
Voltage
ACV

21 / 58.8
24 / 67.2

3 phase200

I/O Type
Model
NCR-DCC0A2B-801F
NCR-DCC0A2B-162F

CC-Link Type
Model
NCR-DCD0A2B-801F
NCR-DCD0A2B-162F

NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL

NCR-DCC0A2B-801E
NCR-DCC0A2B-162E

NCR-DCD0A2B-801E
NCR-DCD0A2B-162E

NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL

88

Dynamic brake unit


5.5

VPS Series

160
185

NMR-FCHBA2D-661A
NMR-FCIBA2D-751A

NMR-FRHBA2D-661A
NMR-FRIBA2D-751A

21 / 58.8
24 / 67.2

3 phase200

150

D140

150

HD series VPS series with external Interpolator unit (IPU) encoder matching chart
145

VPS Series

Type
160
D140
185

VPS series

HD series VPS series with built-in Interpolator unit encoder matching chart

ND-c series VPS series with built-in Interpolator unit encoder matching chart

NMR-CAEIA2A-071A

2.4 / 7.2

85-C

NMR-CAUIA2A-151A

4.8 / 12

70-C

NMR-CREIA2A-151A

95-C
70-C
ND180
95-C
70-C
ND250
95-C
ND400 70-C

NMR-CRFIA2A-311A
NMR-CSMIA2A-281A
NMR-CSEIA2A-561A
NMR-CTEIA2A-501A
NMR-CTFIA2A-841A
NMR-CUEIA2A-951A

ND140

4.8 / 14.4
9.6 / 28.8
9 / 27
18 / 54
27 / 81
45/ 112.5
76 / 190

3 phase200

NCR-DCC0A2B-801F

NCR-DCD0A2B-801F

NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A2B-801E
NCR-DCC0A2B-401E

NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A2B-801E
NCR-DCD0A2B-401E

NCR-DCC0A2B-801E

NCR-DCD0A2B-801E

5.5

NCR-DC0A2-162
9.5

NMR-CAEHA2A-071A

2.4 / 7.2

85-C

NMR-CAUGA2A-151A

NMR-CAUHA2A-151A

4.8 / 12

70-C

NMR-CREGA2A-151A

NMR-CREHA2A-151A

4.8 / 14.4

95-C
70-C
ND180
95-C
70-C
ND250
95-C
ND400 70-C

NMR-CRFGA2A-311A
NMR-CSMGA2A-281A
NMR-CSEGA2A-561A
NMR-CTEGA2A-501A
NMR-CTFGA2A-841A
NMR-CUEGA2A-951A

NMR-CRFHA2A-311A
NMR-CSMHA2A-281A
NMR-CSEHA2A-561A
NMR-CTEHA2A-501A
NMR-CTFHA2A-841A
NMR-CUEHA2A-951A

9.6 / 28.8
9 / 27
18 / 54
27 / 81
45/ 112.5
76 / 190

ND140

Single phase100
Single phase200
Single phase100
Single phase200
Single phase100

3 phase200

5.5

NCR-XABCA2B-801-UL

5.5

DISC servo motorND series

ND110

ND180

ND250

Model (Incremental)

59

Model (Absolute)

Rated /Max torque


when combined with
servo driverNm

50

NMR-NAMBA2A-071A

2.4 / 7.2

100

NMR-NPEBA2A-201A

7 / 17.5

55

NMR-NAMGA2A-201A

9 / 27

110

NMR-NSFGA2B-701A

55

NMR-NEMGA2B-401A

NMR-NEMHA2B-401A

NMR-NTFGA2B-122A
NMR-NFMGA2B-801A

NMR-NTFHA2B-122A
NMR-NFMHA2B-801A

27 / 81
21.5 / 53.75
27 / 81
67 / 187.6
76 / 190

110
ND400 55

35
51.5

ND series VPS series matching chart

Type

101.3

145

NMR-CAEGA2A-071A

50

65-C

38

NCR-XABCA2B-801-UL

ND-c series VPS series with external Interpolator unit (IPU) encoder matching chart
ND110

35

155

65-C

ND110

Dynamic brake unit

152

Model (Absolute)

VPS series
CC-Link Type
I/O Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F

157.1

Model (Incremental)

Input
Voltage
ACV
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200

Type

Rated /Max torque


when combined with
servo driverNm

DISC servo motorND-c series

Input
Voltage
ACV
Single phase100
Single phase200
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200
3 phase200

VPS series
CC-Link Type
I/O Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201E
NCR-DCD0A1B-201E
NCR-DCC0A2B-401E
NCR-DCD0A2B-401E
NCR-DCC0A2B-162E
NCR-DCD0A2B-162E
NCR-DCC0A2B-401E
NCR-DCD0A2B-401E
NCR-DCC0A2B-801E
NCR-DCD0A2B-801E
NCR-DCC0A2B-162E
NCR-DCD0A2B-162E
NCR-DCC0A2B-801E
NCR-DCD0A2B-801E

50

Dynamic brake unit

NCR-XABCA2B-801-UL

Indicated dimensions are I/O type (same size as CC-Link type)

NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL

60

Specications and the external connection diagram

for VPS series with the built-in interpolator encoder

P -1

Driver

NFB
MC

R
S

50/60Hz

MC

S phase is not
connected when
it is using single phase

OFF

FG

Analog speed command


INH

B2

3
4
1

CN1

36

9
10

Line driver
FC

11

11

FC

29

12

RC

12

RC

30

GND

31

Analog speed command

GND

19

16

SD

+5V

SD

GND

PS

PS

PS

PS

PC

PC

PC

PC

Pulse train command

Encoder

FC

11

FC

29

RC

12

RC

30

GND

31

+V+1224V

Pulse train command

CN1

19

20

FC

DI 2SON

20

21

FC

DI 3TL

21

RC

22

DI 4RST

RC

RC

22

GND

10

23

DI 4RST

DI 5GSEL

RC

23

24

10

DI 5GSEL

DI 6MD

GND

DI 6MD

24

DI 7CIH

25

DI 7CIH

25

DI 8RVS

26

DI 8RVS

26

DI 2SON

COM

13

USB
D

+D

GND

GND
COM

11
12

CR

DO 1RDY

CR

DI 1DR

DI 2SON

J1A

CR

DO 4PNB

DO 1RDY

3
CR

FG

Connector metal

13

CR

Encoder pulse output


EA

14

EA

32

EB

15

EB

33

EM

16

EM

34

GND

35

General purpose signal

RXDA

RXDB

TXDA

TXDB

GND

DO 2ALM

COM

11

CR

12

CR

DO 1RDY

SD

SD

11

12

IPU

11
12

J1

J2

J2

USB

+D

GND

Connector metal

5,6

CR

DO 3PNA

3
CR

DO 2ALM

DO 4PNB

7
8

CR

Encoder pulse output

GND

Connector metal

For I/O type only

J1A

CR

FG

Connector metal

EA

14

EA

32

EB

15

EB

33

EM

16

EM

34

GND

35

General purpose signal

RXDA

RXDB

TXDA

TXDB

GND

+5V

GND

Connector metal

For I/O type only

FG

FG

Connector metal

Connector metal

VPS-I/O type

VPS-I/O type

TB3

TB3

DA

DA

DB

DB

DG

DG

4SLD

5SLD

GND

GND

+5V

GND

Control output signal

Control output signal

DO 2ALM
DO 3PNA

+V+1224V

COM

Control output signal


CR

Control input signal

Connector metal

5,6

EP5

1,2

DI 1DR

DI 3TL

EP5

Control input signal


Magnetic pole
sensor

DI 2SON

Line driver

Line driver

J2

Control output signal

61

DI 1DR

CC-Link type

CN1

36

19,20

18

GND

ConnectorFG metal

VPS Series

VPS Series

DI 1DR

15

FG

B2

FC

+V+1224V

DO 2ALM

1,2

CN2

GND

Encoder

Magnetic pole
sensor

B1
R
Regenerative resistor

Ground terminal

MC
Surge killer

EP5

Motor Regenerative resistor

FC

Control input signal

DO 1RDY

14

+V+1224V

CN1

13

Control input signal

OFF

Thermostat
ON

Motor

Grounding

INH

Pulse train command

MC

EP5

18

GND

Line driver

50/60Hz
S phase is not
connected when
it is using single phase

B1
R
Regenerative resistor

Ground terminal

ConnectorFG metal

MC
Surge killer

Ground terminal

CN2

Motor Regenerative resistor

Output signal for dynamic brake

DBC

AC100/110
or AC200/220V

Thermostat
ON

DBK

Motor

Grounding

R
S

U
Ground terminal

MC

Output signal for dynamic brake

DBC

P -2

Driver

NFB

DBK

T
AC100/110
or AC200/220V

Pulse train command

Specications and the external connection diagram

for VPS series with the separated interpolatorIPUencoder

4SLD

5SLD

Caution 1
The customer to provide with the power supply for the control input/output signal

Caution 1
The customer to provide with the power supply for the control input/output signal

Caution 2
The signals are allocated by the default value of parameters in the ( ) for the names of control input/output signals.

Caution 2
The signals are allocated by the default value of parameters in the ( ) for the names of control input/output signals.

Caution 3
COM is the common of the control input/output signals. GND is the common of internal power sauce of unit.

Caution 3
COM is the common of the control input/output signals. GND is the common of internal power sauce of unit.

Caution 4
Please do not combine the common wires since CN1's COM and GND is isolated.

Caution 4
Please do not combine the common wires since CN1's COM and GND is isolated.

CC-Link type

62

I/O connection

VC series

I/O connection

VCseries

Input/output cable for the control input/output expansion unit VCFIC series

VC unit I/O cable VCIC series

Model
Cable lengthmm
--010
100030
--020
200030
--030
300030

18P Twist pair shield cable

VCIC series is the I/O cable to connect to the control input/output


connector (CN-1) of and to input/output each signals.

405

CN1 of VC unit

405

10010
J1

25P Twist pair shield cable

Drain wires

The cables to connect VCseries servo driver options and


connect to the control output/input expansion board
connector (CN3) to input and output each signals.

10010

VC unit I/O terminal cable VCTC series

7P Twist pair shield cable


Installation unit CN3

J2

I/O terminal cable for the control input/output expansion unit FTTC series
L

Model
Cable lengthmm
-2-010
100030
-2-020
200030
-2-030
300030

4010

Crimp contact
1.25-R4

18P Twist pair shield cable

25*- ** **

VCTC series is the I/O terminal cable to connect to the control


input/output connector (CN-1) of unit to I/O terminal
unit(40 poles)

Model
Cable lengthmm
NCR-XBA3A-010
100030
NCR-XBA3A-020
200030
NCR-XBA3A-030
300030

Drain wires

CN1 of VC unit

Terminal unit side

Model
FTTC-010
FTTC-020
FTTC-030

Installation unit CN3

Cable lengthmm
1000
2000
3000

L
Heat shrinkable tube

The connection cable for CN3 connector of control


input/output expansion unit and I/O terminal unit (50 poles,
20 poles)

25P shield cable

25P shield cable

Terminal unit

5515mm
Terminal unit

I/O connection

VPS series

I/O terminal unitscrew type

Terminal block

Connector
2
1

50
49

1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50

L2
L1

Insert hole for electric wire

The unit is the terminal unit to exchange input connector.


The connection type is cage clamp type. For connecting to
VC, it needs special I/O terminal unit cableVCTC series.

CN1 of VPS unit

Shield drain cable0.3SQgreen

1.25SQgreenDrain wires

CN1 of VPS unit

Cable lengthmm
100030
300050

100

20015

Crimp contact
1.25-R4

20P Twist pair shield cable

ZTTC series is the connection cable for I/O signal (CN1) of


VPS series servo driver I/O type to connect with the terminal
unit (40 poles)

Terminal unit side

5515

L
Operating lever
Insert hole for electric wire

Driver slot
Insert hole for electric wire

I/O terminal unitscrew type


Model
No. of terminal
ZTB-400
40 poles

Please use it when it is necessary to connect 2 or more cables to a terminal.


28.9

33.4

Model
NCR-XABRD0A

L2mm
193

26.6

Driver for operation

L1mm
203

The size when DIN35mm rail is installed.

The unit is the terminal unit to exchange input connector.


The connection type is screw type. For connecting to VPS,
it needs special I/O terminal unit cableZTTC series.

Connector
CN

2f 4.5

Terminal block
TE

8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40

9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39

L21.0

I/O signal connector kit CSZ-INF

L11.0
1

Model
CSZ-INF

Model
NCR-XABND3A

No. of terminal
40 poles

Lmm
77

Connector
CN

Terminal block
TB
Driver slot

55

CSZ-INF is the connector kit for control input/output


connector (CN1) of VC series

Insert hole for electric wire

Cover

Connector

45.11.0

19

I/O terminal unitcage clamp type

18

50.00.5

Lmm
38

36

The unit is the terminal unit to exchange input connector.


The connection type is cage clamp type. For connecting to
VPS, it needs special I/O terminal unit cableZTTC series.
Cage clamp type common terminal
Model
NCR-XABQD3A

No. of terminal
82

Lmm
38

41.6

46.1

Operating lever
Insert hole for electric wire

Driver slot

55

No. of terminal
82

41.6

46.1

Cage clamp type common terminal


Model
NCR-XABQD3A

ZIC series is the connection cable for I/O signal (CN-1) of


VPS series servo driver I/O type

Model
ZTTC-010
ZTTC-030

Driver slot
55

connection
VCunit
control input/
output expansion unit

40

18P Twist pair shield cable

I/O terminal cable ZTTC series

55

Lmm
77
52
95

Cable lengthmm
200050
300030

Driver option

Driver option

No. of terminal
40 poles
20 poles
50 poles

45.1

Connector

I/O terminal unitcage clamp type


Model
NCR-XABND3A
NCR-XABMD3A
NCR-XABSD3A

Model
ZIC-020
ZIC-030

50

The unit is the terminal unit to exchange input connector.


The connection type is screw type. For connecting to VC,
it needs special I/O terminal unit cableVCTC series.

I/O type I/O cable ZIC series


2-4.5

2.5

Model
No. of terminal L1mm L2mm
connection
VCunit
ZTB-400
40 poles
203
193
ZTB-200
20 poles
118
108
control input/
output expansion unit
ZTB-500
50 poles
245
235

Insert hole for electric wire

Please use it when it is necessary to connect 2 or more cables to a terminal.

Driver for operation


Model
NCR-XABRD0A

63

26.6
28.9

33.4

The size when DIN35mm rail is installed.

64

I/O connection

VPS series

Other option

VC series

I/O type I/O signal connector kit CSZ-INF

SDI device
19

CSZ-INF is the connector kit to connect I/O signal (CN-1) of


VPS series servo driver I/O type.

Data input unit of servo controller 800W or lower for inputting


parameters and data.Also, it works ad data display unit to show
the status of controller.
The built-in device is installed for VC series 1.5kW or higher.

36

Connector

Synchronous communication cable SHCC series

CC-Link type I/O cable VPIC series


Model
Cable lengthmm
NCR-XBA5A-010
100030
NCR-XBA5A-020
200030
NCR-XBA5A-030
300030

Model
SHCC-005
SHCC-010
SHCC-030

L
40

100

12
AWG28 2:4 core shield cable

Cable length
mm
500
1000
3000

31
Enlarged view

The cable for synchronous operation of VC series.


The synchronous communication terminal resistance SHCC-R
to be connected to the each cable ends.

Cable7/0. 127PVX10-SV

VPIC series is the connection cable for I/O signal (CN-1) of


VPS series servo driver with CC-Link unit.

L
8

16

18

Cover

190

Model
NCR-XAA1D1B

12

18.5

65

Model
CSZ-INF

42

53

B side connector
Same as A side

The synchronous communication terminal resistance

No.4

51

No.3
No.2
No.1

50

12

CN1 of VPS unit

A side connector

Shrinkable tube

Model
SHCC-R

ZCK-COM : CC-Link type I/O signal connector kit


Model
ZCK-COM

Noise prevention options

VC/VPS series

Communication cable for RS-232C

131MAX

78MAX

Caution : Please consider the wiring and grounding method since it may aect the performance.

80
26MAX

Serial communication

VC/VPSseries

95MAX
2-5.5

26MAX

Reduce the noise generated by servo driver and lower the noise inuence to
the peripheral devices.

Driver option

Driver option

Model
NCR-XAB4A
NCR-XAB5A

NCR-XAB5A

74MIN

NCR-XAB4A

Zero phase reactorFor common mode

181MAX

13 0.3

14

39.5MIN

13 0.3

ZCK-COM is the connector kit for connecting I/O signal


(CN1) of VPS seriesCC-Link.

146

4-R4

In regard of the number of zero phase reactor


L

Cable length
mm
100030
300050
5000100
10000100

The relation between power size AWG (mm2) and Zero phase reactor
Zero phase
reactor
NCR-XAB4A
NCR-XAB5A

4P Twist pair shield cable


DDK
17J-25

25*-****

Model
NCR-XBF1A-010
NCR-XBF1A-030
NCR-XBF1A-050
NCR-XBF1A-100

References
2 pcs/set

inner
diameter
39.5mm
74.0mm

Power size AWGmm2


18100.755.5
868.014.0
35 turn 1unit
35 turn 1unit

This diagram is calculated based on the size of AWG (mm2) of MLFC cable (600V, 110) and the zero phase reactor. This diagram may be used as
the guide line since the diameter and stiness of wires to be used are all dierent. Recommended wrapping method: Wrap at least 3 to 5 times.

The communication cable is for inputting and outputting


each data from RS232 to VCseries servo driver.

Installation sample

Caution

wire wrapping method

When connecting to PC, please supply DOS/V PC D-sub 25 pin (Female) <=>9 pin
(Female) straight type exchange adapter. In case of using USB, please supply
USB-Serial exchange cable.

wire glands method

Zero phase reactor for 3 cps / cable to be transxed

Zero phase reactor 1 unit/electric wire 3-5 turn

U
Machine
VCseries

AC servo motor

AC servo motor

U
Machine
VCseries

V
W

V
W

Communication cable for RS-422C


Model
NCR-XBF5A-010
NCR-XBF5A-030
NCR-XBF5A-050
NCR-XBF5A-100

Cable lengthmm
100030
300050
5000100
10000100

Drain wires

10010

4P Twist pair shield cable

Ferrite core NCR-XAA9A for noise prevention

For the prevention of malfunctioninterruption of monitor display,


shut down of data editing software, etc
.

Serial communication connector kit

65

14.8

NCR-XBDPA is the connector kit to RS-422 serial


communication (J1) of VCseries.

View A

39

30

34

13

Model
NCR-XAA9A

405

The communication cable is for inputting and outputting


each data from RS422 to VC series servo driver.

Model
NCR-XBDPA

50.5

TDK

Data editing softVC/ VPSseries


Corresponding driver
VCseries
VPS series

Model
Japanese
English
NCR-XCM000
NCR-XCN000
NCR-XCB000
NCR-XCE000

Data editing software has the functions which are to edit VC/VPS series servo driver
from PC. Editing parameter, program, editing indirect data (only VC-C1,C6 type),
measuring and display of oscilloscope data, Remote run, self-diagnosis and so on.

66

Dynamic brake unitOption

Regenerative resistor

Attachment

Dynamic brake unit is the supplement unit of servo driver to slow down the motor.
It prevents the connected motor to fail in the "free-run"situation when error or electric power failure is occurrend.

Optional regenerative resistor type


Specication/Figure

None

NCR-DAA2A-401
CAN60UT 82 ohm J

60W 821

cement resistor Dimension


A -1

NCR-DAA2A-152/222

CAN200UT 24 ohm J

200W241

cement resistor Dimension


A -2

NCR-DAA2A-402

CAN400UR 20 ohm J

400W201

cement resistor Dimension


A -3

NCR-DAA2A-752

RGH-300-OS30J

300W303Parallel connectionTotal900W10.0 Enamel resistor Dimension


B -1

NCR-DAA2A-113

RGH-500-OS22J

500W223Parallel connectionTotal 1.5kW7.3 Enamel resistor Dimension


B -2

NCR-DAA2A-153

RGH-500-OS22J

500W224Parallel connectionTotal 2.0kW5.5 Enamel resistor Dimension


B -2

NCR-DAA2A-203

RGH-500-OS22J

500W226Parallel connectionTotal 3.0kW3.7 Enamel resistor Dimension


B -2

NCR-DAA2A-801

NCR-DC0A1B-201

NCR-XABCA2B-222-UL Model
(5)

(17)

60

30
(11)

35

74

30
15

CAN60UT 82 ohm J

60W 821

cement resistor Dimension


A -1

NCR-DC0A2B-162

CAN200UT 39 ohm J

200W 391

cement resistor Dimension


C

120

120

112

None

NCR-DC0A2B-801

135

50

None

NCR-DC0A2B-401

VPS series

NCR-XABCA2B-801-UL Model

100

VC series

Dynamic brake unit dimensions

None

146

None

NCR-DAA2A-201

13

NCR-DAA1A-201

Dimension

136

None

Model

NCR-DAA1A-101

10

Servo driver/controller model

When regenerative resistor is needed, we can supply CAN60UT82OhmJ(60W/820/1unit) as an option.


4.5

5.5

Regenerative resistor dimension


It indicates the dimension of regenerative resistor and mounting position of thermostat.
NCR-XABCA2B-113-UL Model

12

(29)

135

135

56
28

13
5

28

E
22
D

30

79
56

79

Driver option

4
AMP187 equal

2
1

10.5

193

C
32

183

167

167

18
H

193

G
6.5

Temperature sensor
Thermostat
screw type

183

Driver option

30

NCR-XABCA2B-752-UL Model

NCR-XABCA2B-402-UL Model

Dimension
B -12

13

Dimension
A -123

10
A 2

Thermostat table for regenerative resistor

11
B6

Thermostat is installed and fasten with the screw of regenerative resistor

5.5

Dimension
A -1
Dimension

Model

Rated

L1

L2

L3

CAN60

60W

Dimension

Model

Rated

115

100

20

40

4.3

B -1
Dimension

RGH300

300W 304 334 84 10 46 13 6.0 44

A -2
Dimension

CAN200 200W 215

200

26

50

5.3

B -2
Dimension

RGH500

500W 350 380 99 10 57 13 6.0 49

A -3
Dimension

CAN400 400W 265

250

33

61

13

5.3

5.5

Please refer to P.4950 (VC driver), P5960 (VPS driver) for the combination of DISC motor and servo driver.

Dimension
C

26

5.3

12

27

200
215

AMP 250 equal

50

AMP187 equal

Temperature sensor
Thermostat
screw type

Thermostat table for regenerative resistor

Thermostat is installed and fasten with the screw of regenerative resistor

67

68

From last page


DISC servomotor selection by index positioning of rotating object

This calculation formula is based on theoretical formula for your references only and it does not guarantee the result of selected value.
Please review and understand that this calculation formula would be suitable before use it.

Calculation of positioning speed

Figure out the positioning speed by using the formula in the below.

How to select
You may select the DISC servomotor by follow the instructions in the below :

In case of t2N360s

CautionThe calculated value is for references only.


The value mentioned in the below is for general, and it is not absolute value.

Positioning speed

t3

In case of t2N360s

s
t2 t4 t5sec
360N

st2
ksec
360N

t2a

t4Processing time at start

Positioning speed

Usually 0.005 sec.


For high shot requirement, please consider

Acceleration time

Motion specications, Movement pattern, the conrmation of load specications

t5Settle time

t5aSettle time
The target should be around the acceleration time
2a
.
It may dier depend on the required positioning accuracy.
Also, it may be aected by the mechanical rigidity, and the value
is not absolute

The target should be around the acceleration time


2
.
It may dier depend on the required positioning accuracy.
Also, it may be aected by the mechanical rigidity, and the value
is not absolute

Following items must be claried.

Rotating speed

Traveling angle

s
Positioning speed

t0sec
Cycle time

t1sec
Load inertia moment

JLkgm2

t3 t2a 2 t4 t5asec

Rotating speed

Time

Time
t4

t2

t5

t4

t2a

t2a

t3

t3

Motor selection

The multiplying factor may be dierent depend on the movement specications.


For the high speed positioning, it should be less than 3 times.
Due to the movement or specications of machine, it often has to correspond for 300 times.
Please consult with our Sales Dept. for details.
Trial selection of DISC servomotor specications

Calculating the eective torque

Figure out the eective torque by using the formula in the below.
Acceleration torque

tp

2NJmJL
TLNm
t2

In case of t2N360s

Rated speed

Nrps
Rated torque

TmNm
Peak torque

TpmNm
Rotor inertia

Jmkgm2

Constant speed

Eective torque

trms

Eective torque

t2 2sec

tp 2t2tL 2t6tb 2t2


t1

trms

t p 2t 2at b 2t 2a
t1

Nm

Nm

t2

t6

t2

t5

Time
t4

t3

Figure out the acceleration /deceleration time by using the formula in the below.
JmJL
2N
TpmTL

2NJmJL
TLNm
t2

Time
t4

t2

tb

Rotating speed

the acceleration and deceleration time

Acceleration time reaching to the rated speed

Deceleration torque

In case of t2N360s

s
t6
3 6 0N

Rotating speed

Calculating

Motor selection

Motor selection

For DISC servomotor, the target load inertia moment should beJm
30
Load inertia moment.

t5a

t2a

t2a

t5a

t3
t1

t1

ksec

Safe margin1.5 for common


TL

Total of Load torque by external force and torque lossLoss from pressurizing the motor bearing, etc.
Usual torque loss should be considered as 10% of the rated torque

Conclusion

The motor selected at trial selection must meet with following 2 conditions :
If it does not meet these conditions, please re-select the suitable motor or reconsider the required specications.
Positioning condition t3t0
Heat condition
eective rate

t rm s
70
Depend on the heat radiation condition, it is possible to use depend even if the it exceeds 70%
Tm

CautionDue to the rate between the load inertia moment and the rotor inertia of the selected motor and the acceleration and deceleration time,

N E X T
69

larger regenerative resistor or additional regenerative resistors may be required.

70

DISC servo motor series torque reference chart

D110-60
4Nm

D110

Thin
High performance
type

D400-275
700Nm

D110-40
2Nm

D170-110
22.5Nm

D170

D250-110
62Nm

D170-40
7.5Nm

D250

D630-470
3000Nm

D250-40
20.7Nm

D400

D400-110
200Nm

D400-40
67Nm

D630

2.5

10

20

30

40

50

75

100

125

150

D630-225
1500Nm
D630-175
1000Nm

D630-125
500Nm

Rated torqueNm

200

500

1500

3000

200

500

1500

3000

D140-185
24Nm

D140

D140-160G
27.5Nm

D170

High response type

D400-175
500Nm

D140-160
21Nm

D250

Rated torqueNm

2.5

10

20

D170-225
53Nm

30

40

50

D250-200
115Nm

75

100

125

150

ND110-100
7Nm

ND/ND-c

110

ND110-85
4.8Nm

ND110-50/65
2.4Nm
ND/ND-c

140

ND140-70
4.8Nm

ND140-95
9.6Nm

ND400-120
250Nm

Standard type
ND/ND-c

ND180-55/70
9Nm

180

ND180-110
27Nm
ND180-95
18Nm

ND/ND-c

ND250-110
82Nm

250

ND250-55/70
27Nm

ND/ND-c

ND250-95
43N
45Nm

iD roll

ND400-110
215Nm

ND400-175
500Nm
450/500N
m

ND400-55/70
76Nm

400

The other product line-ups


Nikki Denso recommends

ND400-95
152Nm

Linear servo motor

Servo compass

AC servo motor

Linear stage

With Nano level High precision control technology


and eective production system,
Nikki Denso can provide with a solution for the
high accuracy ne processing requirements.

Hollow type 5502550Nm


Shaft type 5503000Nm

71

Core-less type 71000N


Core type 2501500N

Moving radius 178mm1525mm


Arc motion type

Synchronous type50W 29W / 2000rpm3000rpm


Induction type1.2kW55W / 1000rpm4000rpm

X/XY/X/XY stage
Corresponding custom-made

72