Item	Specifications
Part Number	MDMF102L1G6M	MDMF202L1G6M	MDMF152L1G6M	MDMF102L1H6M
Details	Middle inertia, Connector type	Middle inertia, Connector type	Middle inertia, Connector type	Middle inertia, Connector type
Family Name	MINAS A6	MINAS A6	MINAS A6	MINAS A6
Series	MDMF Series	MDMF Series	MDMF Series	MDMF Series
Type	Middle inertia	Middle inertia	Middle inertia	Middle inertia
Special Order Product	Special Order Product	Special Order Product	Special Order Product	Special Order Product
Cautions for Special ordering product	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.
Protection class	IP67	IP67	IP67	IP67
About Enclosure	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.
Environmental Conditions	For more details, please refer to the instruction manual.	For more details, please refer to the instruction manual.	For more details, please refer to the instruction manual.	For more details, please refer to the instruction manual.
Flange sq. dimension	130 mm sq.	130 mm sq.	130 mm sq.	130 mm sq.
Flange sq. dimension (Unit:mm)	130	130	130	130
Motor lead-out configuration	Connector	Connector	Connector	Connector
Motor encoder connector	Motor connector: JL10, Encoder connector: Large size JL10	Motor connector: JL10, Encoder connector: Large size JL10	Motor connector: JL10, Encoder connector: Large size JL10	Motor connector: JL10, Encoder connector: Large size JL10
About Motor encoder connector	Connector JL10 (Large size): Also applicable to screwed type	Connector JL10 (Large size): Also applicable to screwed type	Connector JL10 (Large size): Also applicable to screwed type	Connector JL10 (Large size): Also applicable to screwed type
Power supply capacity (kVA)	2.4	3.8	2.9	2.4
Voltage specifications (V)	200	200	200	200
Rated output (W)	1000	2000	1500	1000
Rated current (A (rms))	5.2	9.9	8	5.2
Holding brake	without	without	without	with
Mass (kg)	4.6	6.9	5.7	6.1
Oil seal	with	with	with	with
Shaft	Key-way	Key-way	Key-way	Key-way
Rated torque (N ⋅ m)	4.77	9.55	7.16	4.77
Continuous stall torque (N ⋅ m)	5.25	10	7.52	5.25
Momentary Max. peak torque (N ⋅ m)	14.3	28.6	21.5	14.3
Max. current (A (o-p))	22	42	34	22
Regenerative brake frequency (times/min)	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4284	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4285	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4284	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4284
About regenerative brake frequency	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.
Rated rotational speed (r/min)	2000	2000	2000	2000
Rated rotational Max. speed (r/min)	3000	3000	3000	3000
Moment of inertia of rotor ( x10^-4 kg ⋅ m²)	6.18	12.1	9.16	7.4
Recommended moment of inertia ratio of the load and the rotor	10 times or less	10 times or less	10 times or less	10 times or less
About recommended moment of inertia ratio of the load and the rotor	Please refer to the details of [Motor Specification Description] ,Note: 3.	Please refer to the details of [Motor Specification Description] ,Note: 3.	Please refer to the details of [Motor Specification Description] ,Note: 3.	Please refer to the details of [Motor Specification Description] ,Note: 3.
Rotary encoder: specifications	23-bit Absolute/Incremental system	23-bit Absolute/Incremental system	23-bit Absolute/Incremental system	23-bit Absolute/Incremental system
Notice	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.
Rotary encoder: Resolution	8388608	8388608	8388608	8388608

Item	Specifications
Part Number	MDMF152L1H6M	MDMF202L1H6M
Details	Middle inertia, Connector type	Middle inertia, Connector type
Family Name	MINAS A6	MINAS A6
Series	MDMF Series	MDMF Series
Type	Middle inertia	Middle inertia
Special Order Product	Special Order Product	Special Order Product
Cautions for Special ordering product	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.	Please avoid the motor, or equipment containing the motor to be distributed to Japan, or other regions through Japan.
Protection class	IP67	IP67
About Enclosure	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.	Except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector.
Environmental Conditions	For more details, please refer to the instruction manual.	For more details, please refer to the instruction manual.
Flange sq. dimension	130 mm sq.	130 mm sq.
Flange sq. dimension (Unit:mm)	130	130
Motor lead-out configuration	Connector	Connector
Motor encoder connector	Motor connector: JL10, Encoder connector: Large size JL10	Motor connector: JL10, Encoder connector: Large size JL10
About Motor encoder connector	Connector JL10 (Large size): Also applicable to screwed type	Connector JL10 (Large size): Also applicable to screwed type
Power supply capacity (kVA)	2.9	3.8
Voltage specifications (V)	200	200
Rated output (W)	1500	2000
Rated current (A (rms))	8	9.9
Holding brake	with	with
Mass (kg)	7.2	8.4
Oil seal	with	with
Shaft	Key-way	Key-way
Rated torque (N ⋅ m)	7.16	9.55
Continuous stall torque (N ⋅ m)	7.52	10
Momentary Max. peak torque (N ⋅ m)	21.5	28.6
Max. current (A (o-p))	34	42
Regenerative brake frequency (times/min)	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4284	Without option :No limit With option :No limit Option (External regenerative resistor) Part No. : DV0P4285
About regenerative brake frequency	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.	Please refer to the details of [Motor Specification Description] , Note: 1, and 2.
Rated rotational speed (r/min)	2000	2000
Rated rotational Max. speed (r/min)	3000	3000
Moment of inertia of rotor ( x10^-4 kg ⋅ m²)	10.4	13.3
Recommended moment of inertia ratio of the load and the rotor	10 times or less	10 times or less
About recommended moment of inertia ratio of the load and the rotor	Please refer to the details of [Motor Specification Description] ,Note: 3.	Please refer to the details of [Motor Specification Description] ,Note: 3.
Rotary encoder: specifications	23-bit Absolute/Incremental system	23-bit Absolute/Incremental system
Notice	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.	When using a rotary encoder as an incremental system (not using multi-turn data), do not connect a battery for absolute encoder.
Rotary encoder: Resolution	8388608	8388608

Brake specifications

Item	Specifications
Part Number	MDMF102L1H6M	MDMF152L1H6M	MDMF202L1H6M
Static friction torque (N ⋅ m)	13.7 or more	13.7 or more	13.7 or more
Engaging time (ms)	100 or less	100 or less	100 or less
Releasing time (ms)	50 or less	50 or less	50 or less
Exciting current (DC) (A)	0.79	0.79	0.79
Releasing voltage (DC) (V)	2 or more	2 or more	2 or more
Exciting voltage (DC) (V)	24 ± 2.4	24 ± 2.4	24 ± 2.4
About brake specifications	This brake will be released when it is energized. Do not use this for braking the motor in motion. Please refer to the details of [Motor Specification Description] , “Specifications of Built-in Holding Brake” and “Notes on [Motor specification] page, Note: 4.	This brake will be released when it is energized. Do not use this for braking the motor in motion. Please refer to the details of [Motor Specification Description] , “Specifications of Built-in Holding Brake” and “Notes on [Motor specification] page, Note: 4.	This brake will be released when it is energized. Do not use this for braking the motor in motion. Please refer to the details of [Motor Specification Description] , “Specifications of Built-in Holding Brake” and “Notes on [Motor specification] page, Note: 4.

Permissible Load

Item	Specifications
Part Number	MDMF102L1G6M	MDMF202L1G6M	MDMF152L1G6M	MDMF102L1H6M
During assembly: Radial load P-direction (N)	980	980	980	980
During assembly: Thrust load A-direction (N)	588	588	588	588
During assembly: Thrust load B-direction (N)	686	686	686	686
During operation: Radial load P-direction (N)	490	490	490	490
During operation: Thrust load A, B-direction (N)	196	196	196	196
About permissible load	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.

Item	Specifications
Part Number	MDMF152L1H6M	MDMF202L1H6M
During assembly: Radial load P-direction (N)	980	980
During assembly: Thrust load A-direction (N)	588	588
During assembly: Thrust load B-direction (N)	686	686
During operation: Radial load P-direction (N)	490	490
During operation: Thrust load A, B-direction (N)	196	196
About permissible load	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.	For details, refer to the [Motor Specification Description] “Permissible Load at Output Shaft”.