Serwomotory Inovance Ms1 Instrukcja Obslugi

Selection Guide
MS1 Series Servo Motor
User Guide
B00
Data code 19010786
Preface
Preface
Thank you for purchasing the MS1 series servo motor.
This MS1 series servo motor selection guide provides the product information,
installation guide, wiring guide, and other necessary information. Contact our technical
personnel if you have any question about functions and performance of the motor.
Inovance commits itself to continuously improving the servo motor. Therefore, this
document is subject to change without notice.
The guide is delivered to the end user together with the servo motor.
Precautions
◆◆ The drawings in the guide are sometimes shown without covers or protective guards to
help describe the product details clearly. Remember to install the covers or protective
guards as specified first, and then perform operations in accordance with the guide.
◆◆ The drawings in the guide are for reference only and may differ from the actual
product.
◆◆ The guide will be updated in time after product upgrades or specification changes, and
for applicability and accuracy.
◆◆ If your guide is damaged or missing, contact our agent in your region or our Customer
Service Center for a new one.
◆◆ In case of any question in use, contact our Customer Service Center.
Version History
Date Version Change Description
May 2018 A00 First edition
January 2019 A01 Added a note for the flexible cable
◆◆ Added with information related to MS1H2/
MS1H3 motors.
◆◆ Updated information related to the matching
December 2019 B00 servo drive and cable connections.
◆◆ Added with descriptions of the oil sealing and
flat key disassembly.
◆◆ Updated outline drawings of the motor.
-1-
Preface
Contents
Preface......................................................................................................................................... 1
Version History............................................................................................................................ 1
Safety Precautions...................................................................................................................... 4
Safety Disclaimer.................................................................................................................. 4
Details of Safety Precautions............................................................................................... 4
1 Product Information................................................................................................................ 5
1.1 Nameplate and Model.................................................................................................... 5
1.2 Component Description................................................................................................. 6
1.3 Specifications................................................................................................................. 7
1.3.1 Mechanical Characteristics..................................................................................... 7
1.3.2 Ratings.................................................................................................................... 7
1.3.3 Overload Characteristics........................................................................................ 9
1.3.4 Radial/Axial Allowable Load................................................................................. 10
1.3.5 Electrical Specifications of Motor Brake.............................................................. 11
1.3.6 Torque/Speed Characteristics.............................................................................. 12
1.3.7 Derating Characteristics....................................................................................... 16
1.3.8 Temperature Curve of the Oil Sealing................................................................... 17
1.4 Cables............................................................................................................................ 17
1.4.1 IS620/IS810............................................................................................................ 17
1.4.2 SV820N.................................................................................................................. 20
1.4.3 SV660P/N............................................................................................................... 22
1.5 Connector Kit................................................................................................................ 24
2 Installation and Wiring........................................................................................................... 25
2.1 Installation.................................................................................................................... 25
2.2 Wiring............................................................................................................................. 26
2.2.1 Wiring of Power Cables......................................................................................... 26
2.2.2 Wiring of Absolute Encoder................................................................................... 33
3 Mounting Dimension Diagrams............................................................................................. 41
3.1 Flange Frame Size: 40................................................................................................... 41
3.4 Flange Frame Size: 100................................................................................................. 45
-2-
Preface

4 Cable Information.................................................................................................................. 50
4.1 Models with Front or Rear Cable Outlets.................................................................... 50
4.2 Outline Drawing of Cables with Front Outlets............................................................ 51
4.3 Outline Drawing of Cables with Rear Outlets............................................................. 52
4.4 Outline Drawing of Connectors................................................................................... 53
Appendix: Disassembly of Flat Key and Oil Sealing................................................................ 54
-3-
Safety Precautions
Safety Precautions
Safety Disclaimer
1) Read and follow the safety precautions when installing, operating, and maintaining
the product.
2) To ensure your safety and prevent damage to the device, follow the marks on
the product and safety precautions in this guide when installing, operating, and
maintaining the product.
3) The "CAUTION", "WARNING", and "DANGER" items in the guide do not include all
safety precautions that need to be followed; instead, they just supplement the
safety precautions.
4) Use this product in environments that meet the design and specification
requirements; otherwise, a fault may occur. Faults and component damages
caused by noncompliance are not covered by the product quality warranty.
5) Inovance assumes no legal responsibility for any personal safety accidents or

property losses caused by improper operations of this product.
Details of Safety Precautions

To use the product properly, read the Safety Precautions of High-Response Servo Motor
(data code: 19010073) carefully.
You can visit www.inovance.com and choose Support > Download > Keywords
"High- Response Servo Motor" to download the manual 19010073.
-4-
1 Product Information
1.1 Nameplate and Model

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Figure 1-1 Model and nameplate
-5-
1.2 Component Description

■■ See Figure 1-2 and Figure 1-3 for details on frame sizes 40, 60, and 80.
&ODPEFSPVUMFU
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Figure 1-2 Components of terminal-type motors
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1PXFSPVUMFU
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Figure 1-3 Components of lead wire-type motors

■■ See the following figure for details on frame sizes 100, 130, and 180.
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1PXFSDBCMFBWJBUJPOQMVH
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Figure 1-4 Components of high-power motors
-6-
1.3 Specifications
1.3.1 Mechanical Characteristics
Item Description
Running mode Continuous
Vibration level V15
Insulation resistance 500 VDC, above 10 MΩ
Ambient temperature 0ºC to 40ºC
Excitation mode Permanent magnetic
Installation method Flanged
Heat-resistance level Level H
1500 VAC 1 min (200 V)
Insulation voltage
1800 VAC 1 min (400 V)
Enclosure IP rating IP67 (excluding shaft opening
Ambient humidity 20% to 80% (no condensing)

In forward RUN mode, the motor runs counterclockWise (CCW)
Rotating direction
when viewed from the load side.
1.3.2 Ratings
Rated Rated Maximum Rated Maximum
Frame Size
Model Output Torque Torque Current Current
(mm)
(kW)[1] (N·m) (N·m) (Arms) (Arms)
MS1H1-05B30CB 40 0.05 0.16 0.56 1.3 4.70
MS1H1-10B30CB 40 0.1 0.32 1.12 1.3 4.70
MS1H1-20B30CB 60 0.2 0.64 2.24 1.5 5.80
MS1H1-40B30CB 60 0.4 1.27 4.46 2.8 10.10
MS1H1-55B30CB 80 0.55 1.75 6.13 3.8 15.00
MS1H1-75B30CB 80 0.75 2.39 8.36 4.8 16.90
MS1H1-10C30CB 80 1.0 3.18 11.1 7.6 28.00
MS1H2-10C30CB 100 1.0 3.18 9.54 7.50 23.00
MS1H2-10C30CD 100 1.0 3.18 9.54 3.65 11.00
MS1H2-15C30CB 100 1.5 4.90 14.7 10.8 32.00
MS1H2-15C30CD 100 1.5 4.90 14.7 4.50 14.00
MS1H2-20C30CD 100 2.0 6.36 19.1 5.89 20.00
MS1H2-25C30CD 100 2.5 7.96 23.9 7.56 25.00
MS1H2-30C30CD 130 3.0 9.8 29.4 10.00 30.00
MS1H2-40C30CD 130 4.0 12.6 37.8 13.60 40.80
MS1H2-50C30CD 130 5.0 15.8 47.6 16.00 48.00
MS1H3-85B15CB 130 0.85 5.39 13.5 6.60 16.50
MS1H3-13C15CB 130 1.3 8.34 20.85 10.00 25.00
MS1H3-85B15CD 130 0.85 5.39 13.5 3.30 8.25
MS1H3-13C15CD 130 1.3 8.34 20.85 5.00 12.50
MS1H3-18C15CD 130 1.8 11.5 28.75 6.60 16.50
MS1H3-29C15CD 180 2.9 18.6 37.2 11.90 23.80
-7-
MS1H3-44C15CD 180 4.4 28.4 71.1 16.50 40.50

MS1H3-55C15CD 180 5.5 35.0 87.6 20.85 52.00
MS1H3-75C15CD 180 7.5 48.0 119 25.70 65.00
MS1H4-40B30CB 60 0.4 1.27 4.46 2.8 10.1
MS1H4-75B30CB 80 0.75 2.39 8.36 4.8 16.9
Rated Maximum Torque Rotor
Frame Size Voltage
Model Speed Speed Coefficient Inertia
(mm) (Vdc)
(rpm) (rpm) (N·m/Arms) (kg·cm2)
0.026
MS1H1-05B30CB 40 0.15
(0.028)[4]
0.041
MS1H1-10B30CB 40 0.26
(0.043)[4]
0.207
MS1H1-20B30CB 60 0.46
(0.220)[4]
3000 6000 220
0.376
MS1H1-40B30CB 60 0.53
(0.390)[4]
MS1H1-55B30CB 80 0.49 1.06
1.38
MS1H1-75B30CB 80 0.58
(1.43)[4]
MS1H1-10C30CB 80 0.46 1.75
1.87
MS1H2-10C30CB 100 6000 0.47
(3.12)[4]
220
2.46
MS1H2-15C30CB 100 5000 0.54
(3.71)[4]
1.87
MS1H2-10C30CD 100 6000 0.89
(3.12)[4]
2.46
MS1H2-15C30CD 100 3000 1.07
(3.71)[4]
3.06
MS1H2-20C30CD 100 1.14 380
(4.31)[4]
5000
3.65
MS1H2-25C30CD 100 1.11
(4.90)[4]
7.72
MS1H2-30C30CD 130 1.16
(10.22)[4]
12.1
MS1H2-40C30CD 130 1.16
(14.6)[4]
3000 5000 380
15.4
MS1H2-50C30CD 130 1.16
(17.9)[4]
13.3
MS1H3-85B15CB 130 0.95
(14)[4]
220
17.8
MS1H3-13C15CB 130 0.95
(18.5)[4]
13.3
MS1H3-85B15CD 130 1.87
(14)[4]
1500 3000
17.8
MS1H3-13C15CD 130 1.87
(18.5)[4]
380
25
MS1H3-18C15CD 130 1.87
(25.7)[4]
55
MS1H3-29C15CD 180 1.82
(57.2)[4]
-8-
88.9
MS1H3-44C15CD 180 1.90
(90.8)[4]
107
MS1H3-55C15CD 180 1500 3000 1.74 380
(109.5)[4]
141
MS1H3-75C15CD 180 1.99
(143.1)[4]
0.657
MS1H4-40B30CB 60 0.53
(0.667)[4]
3000 6000 220
2
MS1H4-75B30CB 80 0.58
(2.012)[4]
◆◆ [1] The motor with oil sealing must be derated by 10% during use.
◆◆ [2]Values in () represent the maxiumum torque of the motor at a speed of 2000
rpm.
◆◆ [3]Values in () represent the maxiumum torque of the motor at a speed of 2000
rpm.
NOTE
◆◆ [4] Parameters in () are for the motor with brake.
The parameters in the preceding table are the values when the motor works together
with Inovance servo drive and the armature coil temperature is 20ºC.
The preceding features are based on the cooling conditions when the following
heatsinks are installed.
MS1H1/MS1H4: 250 x 250 x 6 mm (aluminum)
MS1H2-10C to 25C：300 x 300 x 12mm（aluminum）
MS1H2-30C to 50C：400 x 400 x 20mm（aluminum）
MS1H3-85B to 18C：400 x 400 x 20mm（iron）
MS1H3-29C to 75C：360 x 360 x 5mm（dual-layer aluminum plate）
1.3.3 Overload Characteristics

Load Ratio (%) Running Time (s)
120 230
130 80
140 40
150 30
160 20
170 17
180 15
190 12
200 10
210 8.5
220 7
230 6
240 5.5
250 5
300 3
350 2
-9-
Running time (s)

1000
100
10
1
Load ratio
100 150 200 250 300 350 (%)
Figure 1-5 Overload curve

◆◆ The maximum torque of an H1 or H4 motor is 3.5 times of the rated torque.
◆◆ The maximum torque of H2 models is three times the rated torque.
◆◆ The maximum torque of H3 models, except for those in 2.9 kW, is 2.5 times
NOTE the rated torque.
◆◆ For the models in 2.9 kW, the maximum torque is two times the rated torque.
1.3.4 Radial/Axial Allowable Load
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Figure 1-6 Diagram of radial and axial loads
Motor Model Frame Size (mm) Radial Allowable Load (N) Axial Allowable Load (N)
MS1H1-05B30CB 40 78 54
MS1H1-10B30CB 40 78 54
MS1H1-20B30CB 60 245 74
MS1H1-40B30CB 60 245 74
MS1H1-55B30CB 80 392 147
MS1H1-75B30CB 80 392 147
MS1H1-10C30CB 80 392 147
MS1H2-10C30CB 100 686 196
MS1H2-10C30CD 100 686 196
MS1H2-15C30CB 100 686 196
- 10 -
Motor Model Frame Size (mm) Radial Allowable Load (N) Axial Allowable Load (N)
MS1H2-15C30CD 100 686 196
MS1H2-20C30CD 100 686 196
MS1H2-25C30CD 100 686 196
MS1H2-30C30CD 130 980 392
MS1H2-40C30CD 130 1176 392
MS1H2-50C30CD 130 1176 392
MS1H3-85B15CB 130 686 196
MS1H3-13C15CB 130 686 196
MS1H3-85B15CD 130 686 196
MS1H3-13C15CD 130 686 196
MS1H3-18C15CD 130 686 196
MS1H3-29C15CD 180 1470 490
MS1H3-44C15CD 180 1470 490
MS1H3-55C15CD 180 1764 588
MS1H3-75C15CD 180 1764 588
MS1H4-40B30CB 60 245 74
MS1H4-75B30CB 80 392 147
1.3.5 Electrical Specifications of Motor Brake
Holding Supply Brake Brake Rotary

Frame Size
Motor Model Torque Voltage Release Time Apply Time Clearance
(mm)
(Nm) (Vdc) ± 10% (ms) (ms) (° )
MS1H1-05B/10B 40 0.3 20 35 <1.7

MS1H1-20B/40B 60 1.5 20 60 <1.5
MS1H1-75B 80 2.5 40 60 <1.7
MS1H2-
100 8 30 90 <0.5
10C/15C/20C/25C
MS1H2-
130 16 24 60 120 <0.5
30C/40C/50C
MS1H3-
130 12 60 120 <0.5
85B/13C/18C
MS1H3-
180 48 100 230 <0.5
29C/44C/55C/75C
MS1H4-40B 60 1.5 20 60 <1.5
MS1H4-75B 80 2.5 40 60 <1.7
◆◆ The brake must not share power supply with other electrical devices. This is to
prevent malfunction of the brake due to voltage or current drop when other
electrical devices work.
◆◆ Cables thicker than 0.5 mm2 are recommended.
NOTE
- 11 -
1.3.6 Torque/Speed Characteristics

1 MS1H1 (low inertia and small capacity)
A Continuous operating area
B Short time area
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5PSRVF /vN
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4QFFE SQN

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5PSRVF /vN
5PSRVF /vN
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4QFFE SQN

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5PSRVF /vN
5PSRVF /vN
- 12 -
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2 MS1H2 (low inertia and medium capacity）
B Short time area
MS1H2-10C30CB/MS1H2-10C30CD MS1H2-15C30CB/MS1H2-15C30CD
Speed(rpm) Speed(rpm)
6000 6000
5000 5000
4000 4000
3000 A B 3000
2000
A B
2000
1000
1000
0
0 2 4 6 8 10 0
Torque(N·m) 0 3 6 9 12 15
Torque(N·m)
MS1H2-20C30CD MS1H2-25C30CD
6000 6000
5000 5000
4000 4000
3000 A B
3000 A B
2000 2000
1000 1000
0 0
0 4 8 12 16 20 0 5 10 15 20 25
Torque(N·m) Torque(N·m)
- 13 -
MS1H2-30C30CD
Speed(rpm)
MS1H2-40C30CD
Speed(rpm)
6000 6000
5000 5000
4000 4000
3000 3000 A B
A B
2000 2000
1000
1000
0
0
0 8 16 24 32 40
Torque(N·m)
0 6 12 18 24 30
Torque(N·m)
Speed(rpm)
MS1H2-50C30CD
6000
5000
4000
3000 A B
2000
1000
0
0 10 20 30 40 50
Torque(N·m)
3 MS1H3 (medium inertia and medium capacity）
B Short time area
MS1H3-85B15CB/MS1H3-85B15CD MS1H3-13C15CB/MS1H3-13C15CD
3000 3000
2500 2500
2000 2000
A B A B
1500 1500
1000 1000
500 500
0 0
0 3 6 9 12 15 0 5 10 15 20 25
- 14 -
MS1H3-18C15CD
MS1H3-29C15CD
3000 3000
2500 2500
2000 2000
A B A B
1500 1500
1000 1000
500 500
0 0
0 6 12 18 24 30 0 8 16 24 32 40
MS1H3-44C15CD
MS1H3-55C15CD
3000 3000
2500 2500
2000 2000
A B
A B
1500 1500
1000 1000
500 500
0 0
0 15 30 45 60 75 0 20 40 60 80 100
MS1H3-75C15CD
Speed(rpm)
3000
2500
2000
A B
1500
1000
500
0
0 25 50 75 100 125
Torque(N·m)
4 MS1H4 (medium inertia and small capacity)
B Short time area
- 15 -
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1.3.7 Derating Characteristics

■■ Derating curve (altitude)

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■■ Derating curve (high temperature)

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- 16 -
1.3.8 Temperature Curve of the Oil Sealing

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1.4 Cables
1.4.1 IS620/IS810
■■ Frame size 40/60/80（50W-1kW）
Table 1-1 Cables for terminal-type (Z series) motors with front cable outlets
Cable Length (m)

Cable Type
3.0 5.0 10.0
Power cable (without brake) S6-L-M007-3.0 S6-L-M007-5.0 S6-L-M007-10.0
Power cable (with brake) S6-L-B007-3.0 S6-L-B007-5.0 S6-L-B007-10.0
Absolute encoder cable S6-L-P024-3.0 S6-L-P024-5.0 S6-L-P024-10.0
Incremental encoder cable S6-L-P014-3.0 S6-L-P014-5.0 S6-L-P014-10.0
Table 1-2 Cables for terminal-type (Z series) motors with rear cable outlets
Cable Length (m)

Cable Type
3.0 5.0 10.0
- 17 -
Table 1-3 Cables for lead wire-type (Z-S series) motors
Cable Length (m)

Cable Type
3.0 5.0 10.0
Table 1-4 Cables for terminal-type (Z series) motors with front cable outlets (drag chain)
Cable Length (m)

Cable Type
3.0 5.0 10.0
Power cable (without brake) S6-L-M007-3.0-T S6-L-M007-5.0-T S6-L-M007-10.0-T
Power cable (with brake) S6-L-B007-3.0-T S6-L-B007-5.0-T S6-L-B007-10.0-T
Absolute encoder cable S6-L-P024-3.0-T S6-L-P024-5.0-T S6-L-P024-10.0-T
Incremental encoder cable S6-L-P014-3.0-T S6-L-P014-5.0-T S6-L-P014-10.0-T
Table 1-5 Cables for terminal-type (Z series) motors with rear cable outlets (drag chain)
Cable Length (m)

Cable Type
3.0 5.0 10.0
Table 1-6 Cables for lead wire-type (Z-S series) motors (drag chain)
Cable Length (m)

Cable Type
3.0 5.0 10.0
- 18 -
◆◆ The term "drag chain" in the table title means the cables used in the moving
parts such as manipulators must be flexible cables applicable to drag chains.
◆◆ Terminal-type motor encoder cables shorter than 25 m require no adapter
cables.
Specification for cables between 10 m to 25 m: 1Px22AWG+2Px26AWG
Specification for cables shorter than 10 m: 3Px26AWG
◆◆ The S6-C24 cable kit is required for terminal-type motor encoder cables longer
NOTE than 25 m. Contact Inovance sales staff for details on the cable length.
◆◆ Specifications of swinging-type motor encoder cables:
10 m to 25 m: 1Px22AWG+2Px26AWG
below 10 m: 3Px26AWG
◆◆ Contact our sales staff for purchasing swinging-type motor encoder cables
longer than 25 m.
■■ Frame size100/130（1.8KW and below）
Table 1-7 Cables for MS1H2/MS1H3 series motors

Cable Length (m)
Cable Type
3.0 5.0 10.0
■■ Frame size180（2.9kW）
Table 1-8 Cables for MS1H3 series motors

Cable Length (m)
Cable Type
3.0 5.0 10.0
■■ Frame size180（2.9kW above）
Table 1-9 Cables for MS1H3 series motors

Cable Length (m)
Cable Type
3.0 5.0 10.0
- 19 -
1.4.2 SV820N
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
- 20 -
Table 1-14 Cables for terminal-type (Z series) motors with rear cable outlets (drag chain)
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
◆◆ The cables matching SV820N servo drives are re-named from SV82-L-** to S6-L-
**.
◆◆ The term "drag chain" in the table title means the cables used in the moving
parts such as manipulators must be flexible cables applicable to drag chains.
◆◆ Terminal-type motor encoder cables shorter than 25 m require no adapter
cables.
Specification for cables between 10 m to 25 m: 1Px22AWG+2Px26AWG
Specification for cables shorter than 10 m: 3Px26AWG
NOTE ◆◆ The S6-C24 cable kit is required for terminal-type motor encoder cables longer
than 25 m. Contact Inovance sales staff for details on the cable length.
◆◆ Specifications of swinging-type motor encoder cables:
10 m to 25 m: 1Px22AWG+2Px26AWG
below 10 m: 3Px26AWG
◆◆ Contact our sales staff for purchasing swinging-type motor encoder cables
longer than 25 m.
- 21 -
1.4.3 SV660P/N
■■ Frame Size 40/60/80（50W-1kW）
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
Table 1-19 Cables for terminal-type (Z series) motors with rear cable outlets (drag chain）
Cable Length (m)

Cable Type
3.0 5.0 10.0
Cable Length (m)

Cable Type
3.0 5.0 10.0
- 22 -

Cable Length (m)

Cable Type
3.0 5.0 10.0
■■ Frame Size 100/130（1kW-1.8kW）
Table 1-22 Cables for MS1H3 series motors (1.8KW and below)
Cable Length (m)

Cable Type
3.0 5.0 10.0
■■ Frame Size 180（2.9kW-7.5kW）
Table 1-23 Cables for MS1H3 series motors (2.9kW)
Cable Length (m)

Cable Type
3.0 5.0 10.0
Table 1-24 Cables for MS1H3 series motors (above 2.9kW)
Cable Length (m)

Cable Type
3.0 5.0 10.0
- 23 -
1.5 Connector Kit

Optional Battery Kit for Motor
Motor Model Connector
with Absolute Encoder
MS1H1-*******-U3*** S6-C1
-
MS1H4-*******-U3*** Kit contents: CN1 terminal, CN2
MS1H1-*******-A3*** terminal, 6-pin connector, and 9-pin S6 － C4(battery, battery
MS1H4-*******-A3*** connector box)
MS1H2-*******-U3*** S6-C2 -
Kit contents: CN1 terminal, CN2
terminal, 20-18 aviation plug S6 － C4(battery, battery
MS1H2-*******-A3***
(elbow), and 20-29 aviation plug box)
(elbow)
MS1H3-*******-U3*** S6-C2 -
Kit contents: CN1 terminal, CN2
MS1H3-*******-A3*** terminal, 20-18 aviation plug S6 － C4(battery, battery
(1.8 kW and below) (elbow), and 20-29 aviation plug box)
(elbow)
MS1H3-*******-U3*** -
S6-C3
MS1H3-*******-A3*** S6 － C4(battery, battery
Kit contents: CN1 terminal, CN2 box)
(2.9kW)
terminal, 20-22 aviation plug
MS1H3-*******-U3*** -
(elbow), and 20-29 aviation plug
MS1H3-*******-A3*** S6 － C4(battery, battery
(elbow)
(2.9 kW and above) box)
- 24 -
2 Installation and Wiring

2.1 Installation
1 Installation location
Install the servo motor in an environment free from corrosive or inflammable gases or
combustible goods, such as hydrogen sulfide, chlorine, anmonia, sulphur gas, chloridize
gas, acid, soda and salt.
■■ Use the servo motor with oil sealing when the motor is to be used in a place with
grinding fluid, oil spray, iron powder or cuttings.
■■ Install the servo motor away from heat sources such as heating stove.
■■ Do not use the servo motor in an enclosed environment. Working in the enclosed
environment will lead to high temperature of the servo motor, which will shorten
its service life.
■■ Prevent water and foreign matters from entering the terminals to avoid impacts on
installation and use of the product.
Oil, dirt, and dust Direct sunlight Strong vibration (> 0.6 G)
High temperature and Corrosive, combustible

humidity Combustible materials
or explosive gases
Figure 2-1 Installation environment requirements
2 Installation environment
Table 2-1 Installation environment
Item Description
Ambient temperature 0ºC to 40ºC (no freezing)
Ambient humidity 20% to 80% RH (no condensing)
Storage temperature -20ºC to 60ºC (maximum temperature and duration: 80ºC, 72h)
Storage humidity 20% to 90% RH (no condensing)
Vibration Below 49 m/s2
Impact Below 490 m/s2
H1, H2, H3 and H4: IP67 (except for shaft opening; connectors of
Ingress protection
power cables and encoder cables are in good connection)
Altitude Below 1000 m (de-rated for altitude above 1000 m)
- 25 -
2.2 Wiring
■■ The frame size refers to flange width.
■■ The motor cable colors are subject to the actual. The cable colors mentioned in this guide
are all Inovance cables.
2.2.1 Wiring of Power Cables

1 Connection to power cables of IS620 series servo drive
V U
W
V
PE W
PE
P+
P+
D
D
C
C
U
U
V
W V
W
PE
PE
Direction of cable outlet: Front Direction of cable outlet: Rear
Figure 2-2 Diagram of connection to power cables of IS620 series servo drive

Table 2-2 Connectors of power cables on the motor side
Frame Size of
Outline Drawing Pin Layout
Matching Motor
Black 6-pin connector
5 6
4
3
2
1
Pin No. Signal Color Terminal-type

motor:
Yellow/
1 PE Size 40 (Z series)
green
Size 60 (Z series)
2 W Red Size 80 (Z series)
3 V Black
4 U White
Brake
5 Positive Brown
signal
Brake
6 Negative Blue
signal
- 26 -
Frame Size of
Outline Drawing Pin Layout
Matching Motor
BWJBUJPOQMVH
" ) (
# * '
$ % &
MIL-DTL-5015 series 3108E20-18S aviation plug

New Structure Old Structure
Color
Pin No. Signal Pin No. Signal Size 100
B U B U Blue
Size 130
I V I V Black
F W F W Red
Yellow/
G PE G PE
green
Brake signal
C - - -
(Positive)
Brake signal
E - - -
(Negative)
BWJBUJPOQMVH
'
" &
# %
$

Y Series Terminal Z Series Terminal
Definition Definition Color
A U A U Blue
C V C V Black
E W E W Red
Yellow/
F PE F PE
green
Brake signal
B
(Negative)
- -
Brake signal
D
(Positive)
- 27 -
2 Connection to power cables of SV820N or IS810 series servo drive
PE
BR+
BR-
PE
U
V
W
PE
Figure 2-3 Diagram of connection to power cables of SV820N series servo drive

Frame Size of
Outline Drawing Terminal Pin Arrangement
Matching Motor
5 6
4
3
2
1
Terminal-type
Pin No. Signal Color motor:
Size 40 (Z series)
Yellow/
1 PE Size 60 (Z series)
green
Size 80 (Z series)
2 W Red
3 V Black
4 U White
5 Brake signal Positive Brown
6 Brake signal Negative Blue
- 28 -
Table 2-4 Connectors of power cables on the motor side of IS810 series servo drive
Frame Size of
Matching Motor
BWJBUJPOQMVH
" ) (
# * '
$ % &

Color
Pin No. Signal Pin No. Signal
B U B U Blue Size100
Size130
I V I V Black
F W F W Red
Yellow/
G PE G PE
green
Brake signal
C - - -
(Positive)
Brake signal
E - - -
(Negative)
3 Connection to power cables of SV660 series servo drive
Figure 2-4 Diagram of connection between servo drive output terminals and the servo motor
- 29 -
Frame Size of
Matching Motor
5 6
4
3
2
1
Terminal-type
Pin No. Signal Color motor:
Yellow/ Size 40 (Z series)
1 PE
green Size 60 (Z series)
Size 80 (Z series)
2 W Red
3 V Black
4 U White
Brake
5 Positive Brown
signal
Brake
6 Negative Blue
signal
Figure 2-5 Diagram of connection between servo drive output terminals and the servo motor
- 30 -
Frame Size of
Matching Motor
4 1
5 2
6 3
Pin No. Signal Color

1 U White Lead wire-type
motor:
2 V Black Size 40 (Z-S series)
4 W Red Size 60 (Z-S series)
Size 80 (Z-S series)
Yellow/
5 PE
green
Brake signal
3
(Positive)
-
Brake signal
6
(Negative)
Recommendation:
Plastic housing: MOLEX-50361736
Terminal: MOLEX-39000061
- 31 -
Frame Size
Outline Drawing Terminal Pin Arrangement of Matching
Motor

BWJBUJPOQMVH
" ) (
# * '
$ % &

Color
Pin No. Signal Pin No. Signal
B U B U Blue Size 100
Size 130
I V I V Black
F W F W Red
Yellow
G PE G PE
/Green
Brake signal
C - - -
(Positive)
Brake signal
E - - -
(Negative)

BWJBUJPOQMVH
'
" &
# %
$
Y Series Terminal Z Series Terminal

Definition Definition Color
A U A U Blue
C V C V Black
E W E W Red
Yellow
F PE F PE
/Green
B Negative
- -
D Positive
- 32 -
2.2.2 Wiring of Absolute Encoder

1 Connection to encoder cables of IS620 or IS810N-INT series servo drive
CN2
Battery
case
Figure 2-6 Diagram of connection to encoder cables of IS620 series servo drive
Wiring of battery case of Wiring of battery case of

single-axis servo drive dual-axis servo drive
Figure 2-7 Diagram of connection to encoder cables of IS810N-INT series servo drive
- 33 -
Colors of external wires of the battery case:
Pin No. Wire Color Pin Definition
1 Red Power supply+
1
2
Pin No. Wire Color Pin Definition
2 Black Power supply-
◆◆ Model of battery case (including batteries):

Battery case of single-axis servo drive: S6-C4
NOTE Battery case of dual-axis servo drive: S81-C4
Table 2-8 Connectors of encoder cables
Outline Drawing and Pin Layout

Frame Size of
On drive side On motor side Matching Motor
7-pin connector
DB9 male connector
9 5
6 1
Terminal-type
motor:
Size 40 (Z series)
Pin
Signal Color Type Size 60 (Z series)
No.
Pin No. Signal Color Type Size 80 (Z series)
1 PS+ Blue Twisted-
1 PS+ Blue Twisted- pair
2 PS- Purple
2 PS- Purple pair
3 DC+ Brown Twisted-
7 +5 V RedTwisted- pair
4 DC- Black
8 0V Orange pair
5 +5 V Red Twisted-
Housing PE - - pair
6 0V Orange
7 PE - -
- 34 -

Frame Size of
&ODPEFSMFBE
XJSFDPOOFDUPS
&ODPEFSDPOOFDUJOHTPDLFU
$POOFDUFEUPUIF
TFSWPESJWF$/
BWJBUJPOQMVH
7JFXFEGSPNUIJTTJEF
.
" # Size 100
- / $
Size 130
BWJBUJPOQMVH ,
5 1
%
4 3
+ &
Size 180
" .
#
$ / - ) '
1 5 (
% ,
3 4
& +
Pin
Signal Color Type
' )
No.
(
A PS+ Yellow Twisted-

Pin No. Signal Type
B PS- Blue pair
A PS+ Twisted- G +5V Red
B PS- pair H GND White
G +5V J Shield -
H GND
J Shield
- 35 -
2 Connection to encoder cables of SV820N series servo drive
SUNCHU
SC-06
C- end
2-black
1-brown
Battery case
Signal cable
of encoder
Battery case
Figure 2-8 Diagram of connection to encoder cables of SV820N series servo drive

Table 2-9 Connectors of encoder cables (9-pin)
Outline Drawing and Pin Layout Frame Size of

7-pin connector
6-pin male connector (left:
connecting side; right: welding side)
6 5
4 3
Terminal-type
motor:
2 1
Pin Size 40 (Z series)
Signal Color Type
No. Size 60 (Z series)
Pin No. Signal Color Type 1 PS+ Blue Twisted- Size 80 (Z series)
1 +5 V Red Twisted- 2 PS- Purple pair
2 0V Orange pair 3 DC+ Brown Twisted-
5 PS+ Blue Twisted- 4 DC- Black pair
6 PS- Purple pair 5 +5 V Red Twisted-
Housing PE - - 6 0V Orange pair
7 PE - -
- 36 -
Table 2-10 Absolute encoder cable connector（MIL-DTL-5015 series 3108E20-29S aviation

plug ）
Frame Size
Outline Drawing and Pin Layout of Matching
Motor
&ODPEFSMFBE
XJSFDPOOFDUPS &ODPEFSDPOOFDUJOHTPDLFU
$POOFDUFEUPUIF
TFSWPESJWF$/
BWJBUJPOQMVH
7JFXFEGSPN .
" #
UIJTTJEF - / $
5 1
Size 100
, %
4 3
Size 130
+ &
BWJBUJPOQMVH ) '
( Size 180
" .
#
Pin
$ / -
Signal Color Type

1 5
No.
% ,
3 4
& +
A PS+ Yellow
Twisted-
' )
Yellow/
(
B PS- pair
Pin No. Signal Type Black
A PS+ Twisted- E Battery+ Blue
pair Blue/ -
B PS- F Battery-
Black
E Battery+
- G +5V Red
F Battery-
H GND Black -
G +5V
J Shield -
H GND -
J Shield
- 37 -
3 Connection to encoder cables of SV660N series servo drive
SUNCHU
SC-06
C端
2-黑色
1-棕色
Figure 2-9 Diagram of connection to encoder cables of SV660N series servo drive

Table 2-11 Terminal-type motor encoder cable connector
Outline Drawing and Pin Layout Frame Size

of Matching
On drive side On motor side Motor
6-pin male connector (left:

BWJBUJPOQMVH
connecting side; right: welding side) M

A B
L N C
T P
K D
S R
J E
6 5
Terminal-type
H F
G
motor:
4 3
2 1 Pin S i z e 4 0
Signal Color Type
No. (Z series)
S i z e 6 0
1 PS+ Blue Twisted-
Pin No. Signal Color Type (Z series)
2 PS- Purple pair
1 +5V Red Twisted- S i z e 8 0
pair 3 DC+ Brown Twisted- (Z series)
2 0V Orange
4 DC- Black pair
5 PS+ Blue Twisted-
pair 5 +5V Red Twisted-
6 PS- Purple
6 0V Orange pair
Housing PE - -
7 PE - -
- 38 -
Table 2-12 Lead wire-type motor encoder cable connector (9-pin connector)
Frame Size of
Matching Motor
&ODPEFSMFBEXJSF
&ODPEFSMFBE
XJSFDPOOFDUPS
$POOFDUFEUPUIF
TFSWPESJWF$/
9-pin connector
7JFXFEGSPNUIJTTJEF Lead wire-type

motor:
7JFXFEGSPNUIJTTJEF
7 4 1 Size 40
(Z-S series)
1 4 7
Size 60
2 5 8 8 5 2
3 6 9 9 6 3 (Z-S series)
Size 80
Pin (Z-S series)
Pin No. Signal Type Signal Color Type
No.
1 Battery+ 1 Battery+ Blue
-
4 Battery- Blue
4 Battery-
3 PS+ Twisted- /Black Twisted-
6 PS- pair 3 PS+ Yellow pair
9 +5V Yellow
6 PS-
/Black
8 GND -
9 +5V Red
7 Shield
8 GND Black -
Recommendation:
7 Shield -
Plastic housing: AMP 172161-1
Terminal: AMP 770835-1
- 39 -
Table 2-13 Absolute encoder cable connector（MIL-DTL-5015 series 3108E20-29S aviation

plug）
Frame Size
Outline Drawing and Pin Layout of Matching
Motor
&ODPEFSMFBE &ODPEFSDPOOFDUJOHTPDLFU
XJSFDPOOFDUPS
$POOFDUFEUPUIF
TFSWPESJWF$/
BWJBUJPOQMVH
A B
BWJBUJPOQMVH M
L N C
T P
Size 100
A M K D
B R
N L S
C J E
Size 130
P T
D K H F
R S
Size 180
7JFXFEGSPN E J G
UIJTTJEF F H
Pin
G
Signal Color
Pin No. Signal No.
A PS+ Twisted- A PS+ Yellow
Twisted-
B PS- pair Yellow/
B PS- pair
Black
E Battery+
- E Battery+ Blue
F Battery-
Blue/ -
G +5V F Battery-
Black
H GND -
G +5V Red
J Shield
H GND Black -
J Shield
- 40 -
3 Mounting Dimension Diagrams

■■ The dimensions are given in mm.
■■ Tighten the screws on the terminals with force 0.19 N·m to 0.21 N·m. Larger force may
cause damage.
■■ Values inside the brackets "()" are for the motor with holding brake.
3.1 Flange Frame Size: 40

■■ Terminal-type motor
øS h6 0-0.009
øLB h7 0-0.021
KW N9
KH
shaft end diagram keyed shaft end
■■ Lead-wire type motor
300 mm
300 mm
ØSh0-0.013
0.02
ØLA
0.06 A
-0.030
Ø0.04 A
0
ØLB h7
KW N9
KH
- 41 -
Motor Model LL LC LR LA LZ LH LG LE LJ
MS1H1-05B30CB-A3**Z
65(96) 40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
MS1H1-05B30CB-U3**Z
MS1H1-10B30CB-A3**Z
77.5(109) 40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
MS1H1-10B30CB-U3**Z
Motor Model S LB TP LK KH KW W T Weigh（kg）
MS1H1-05B30CB-A3**Z
8 30 M3×6 15.5 6.2 0-0.1 3 3 3 0.39(0.50)
MS1H1-05B30CB-U3**Z
MS1H1-10B30CB-A330Z
8 30 M3×6 15.5 6.2 0-0.1 3 3 3 0.45(0.64)
MS1H1-10B30CB-U3**Z

øS h6 0-0.011
-0.025
0
øLB h7
KW N9
Wh8
KH
- 42 -
■■ Lead-wire type motor
300 mm
300 mm
ØSh0-0.013
0.02
ØLA
0.06 A
-0.030
Ø0.04 A
0
ØLB h7
KW N9
KH
MS1H1-20B30CB-A3**Z
72.5(100) 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-20B30CB-U3**Z
MS1H1-40B30CB-A3**Z
91(119) 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-40B30CB-U3**Z
MS1H4-40B30CB-A3**Z
105(128) 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H4-40B30CB-U3**Z
Motor Model S LB TP LK KH KW W T Weight（kg）

MS1H1-20B30CB-A3**Z
14 50 M5×8 16.5 11 0-0.1 5 5 5 0.78(1.16)
MS1H1-20B30CB-U3**Z
MS1H1-40B30CB-A3**Z
14 50 M5×8 16.5 11 0-0.1 5 5 5 1.11(1.48)
MS1H1-40B30CB-U3**Z
MS1H4-40B30CB-A3**Z
14 50 M5×8 16.5 11 0-0.1 5 5 5 1.27(1.62)
MS1H4-40B30CB-U3**Z
- 43 -

øS h6 -0.013
0
øLB h7 -0.030
0
KW N9
KH
■■ Lead wire-type motor

300 mm
300 mm
ØSh0-0.013
0.02
ØLA
0.06 A
-0.030
Ø0.04 A
0
ØLB h7
KW N9
KH
- 44 -
MS1H1-55B30CB-A3**Z
96.2(107) 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H1-75B30CB-U3**Z
MS1H1-75B30CB-A3**Z
140(118.2) 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H1-10C30CB-U3**Z
MS1H4-75B30CB-A3**Z
117.5(147.5) 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H4-75B30CB-U3**Z
Motor Model S LB TP LK KH KW W T Weight（kg）
MS1H1-55B30CB-A3**Z
19 70 M6×20 25 15.5 0-0.1 6 6 6 1.85(2.18)
MS1H1-75B30CB-U3**Z
MS1H1-75B30CB-A3**Z
19 70 M6×20 25 15.5 0-0.1 6 6 6 2.82(2.55)
MS1H1-10C30CB-U3**Z
MS1H4-75B30CB-A331Z
19 70 M6×20 25 15.5 0-0.1 6 6 6 2.40(3.04)
MS1H4-75B30CB-A334Z

■■ Dimension drawing for MS1H2 series motors in frame size 100
KB2
KB1
18.5
LZ EQS ⏊ 0.10 A
ØLA
仅抱闸电机
◎ Ø0.06 A
KA1
52° LJ
TP
KA2
-0.035
-0.013
0
0
ØLBh7
ØSh6
LK A
↗ 0.03 A
Ø118
2-M3 LE
□LC LG
LL LR
KW N9
W h8
80
KH T h11
100
- 45 -
Motor Model LL LC LE LA LZ KA1 KA2 KW LG KB1 KB2
MS1H2-10C30CB(D)-U3**Z 164 94.5 143.5

100 5±0.3 115 4-Φ7 88 74 8 10
MS1H2-10C30CB(D)-A3**Y (213.5) (101) (192.5)
MS1H2-15C30CB(D)-U3**Z 189 119.5 168.5

100 5±0.3 115 4-Φ7 88 74 8 10
MS1H2-15C30CB(D)-A3**Y (239) (128) (219.5)
MS1H2-20C30CD-U3**Z 214 144.5 193.5

100 5±0.3 115 4-Φ7 88 74 8 10
MS1H2-20C30CD-A3**Y(-S4) (265) (153) (244)
MS1H2-25C30CD-U3**Z 240.5 169.5 218.5

100 5±0.3 115 4-Φ7 88 74 8 10
MS1H2-25C30CD-A3**Y(-S4) (290) (178) (269)
Motor Model LR S LB TP LK KH LJ W T Weight(kg)
MS1H2-10C30CB(D)-U3**Z 5.11
45±1 24 95 M8×16 36 20 0-0.2 2.5±0.75 8 7
MS1H2-10C30CB(D)-A3**Y (6.41)
MS1H2-15C30CB(D)-U3**Z 6.22
45±1 24 95 M8×16 36 20 0-0.2 2.5±0.75 8 7
MS1H2-15C30CB(D)-A3**Y (7.52)
MS1H2-20C30CD-U3**Z 7.39
45±1 24 95 M8×16 36 20 0-0.2 2.5±0.75 8 7
MS1H2-20C30CD-A3**Y(-S4) (8.7)
MS1H2-25C30CD-U3**Z 8.55
45±1 24 95 M8×16 36 20 0-0.2 2.5±0.75 8 7
MS1H2-25C30CD-A3**Y(-S4) (9.8)

KB2
KB1
18.5
仅抱闸电机
ØLA LZ EQS ⏊ 0.10 A
◎ Ø0.06 A
KA1
TP LJ
51°
KA2
-0.035
ØSh6 -0.013
0
0
ØLBh7
LK A
↗ 0.03 A
Ø154
2-M5 LE
□LC LG
LL LR
KW N9
W h8
80
KH T h11
100 shaft end diagram keyed shaft end
- 46 -

MS1H2-30C30CD-U3**Z
209.5 136 188.5
130 6±0.3 145 4-Φ9 103 74 8 14
MS1H2-30C30CD-A3**Y(-S4) (265.5) （139) (244.5)
MS1H2-40C30CD-U3**Z
252 178.5 231
130 6±0.3 145 4-Φ9 103 74 8 14
MS1H2-40C30CD-A3**Y(-S4) (308) (181.5) (287)
MS1H2-50C30CD-U3**Z 294.5 221 273.5

130 6±0.3 145 4-Φ9 103 74 8 14
MS1H2-50C30CD-A3**Y(-S4) (350.5) (224) (329.5)
MS1H2-30C30CD-U3**Z 10.73
63±1 28 110 M8×20 54 24 0-0.2 0.5±0.75 8 7
MS1H2-30C30CD-A3**Y(-S4) (13.2)
MS1H2-40C30CD-U3**Z 15.43
63±1 28 110 M8×20 54 24 0-0.2 0.5±0.75 8 7
MS1H2-40C30CD-A3**Y(-S4) (17.9)
MS1H2-50C30CD-U3**Z 16.2
63±1 28 110 M8×20 54 24 0-0.2 0.5±0.75 8 7
MS1H2-50C30CD-A3**Y(-S4) (18.7)

KB2
KB1
◎ Ø 0.06 A
⏊ 0.10 A
仅抱闸电机
ØLA LZ EQS
Ø154
KA1
51°
LJ
KA2
-0.035
-0.013
0
0
Ø LBh7
ØSh6
TP LK A
↗ 0.02 A
2-M5
LE
□LC LG
LL LR
KW N9
W h8
80
KH T h11
- 47 -
Motor Model LL LC LE LA LZ KA1 KB1 KA2 KB2 LG KW
MS1H3-85B15CB(D)-U3**Z 146 125

130 4 145 4-Φ9 103 72.5 74 14 8
MS1H3-85B15CB(D)-A3**Z （182）（161）
MS1H3-13C15CB(D)-U3**Z 163 142

130 4 145 4-Φ9 103 89.5 74 14 8
MS1H3-13C15CB(D)-A3**Z （199）（178）
MS1H3-18C15CD-U3**Z 181 160

130 4 145 4-Φ9 103 107.5 74 14 8
MS1H3-18C15CD-A3**Z （217）（196）
MS1H3-85B15CB(D)-U3**Z
55±1 22 110 M6×20 36 18 0-0.2 0.5±0.75 8 7 7（8）
MS1H3-85B15CB(D)-A3**Z
MS1H3-13C15CB(D)-U3**Z
55±1 22 110 M6×20 36 18 0-0.2 0.5±0.75 8 7 8（9.5）
MS1H3-13C15CB(D)-A3**Z
MS1H3-18C15CD-U3**Z
55±1 22 110 M6×20 36 18 0-0.2 0.5±0.75 8 7 9.5（11）
MS1H3-18C15CD-A3**Z

KB2
KB1
◎ Ø 0.06 A
18.5
LZ ⏊ 0.10 A
∅207
ØLA
KA1
LJ
KA2
5°
ØLBh7 -0.035
53.
ØSh6 -0.016
0
0
LK
TP A ↗ 0.03 A
LE
LG
2-M6 LL LR
□LC
KW N9
W h8
80
KH T h11
- 48 -
MS1H3-29C15CD-U3**Z 197 136 177

180 3.2±0.3 200 4-Φ13.5 138 74 10 18
MS1H3-29C15CD-A3**Z (273) （134) (253)
MS1H3-44C15CD-U3**Z 230 169 210

180 3.2±0.3 200 4-Φ13.5 138 74 10 18
MS1H3-44C15CD-A3**Z (307) （167) (286)
MS1H3-55C15CD-U3**Z 274 213 254

180 3.2±0.3 200 4-Φ13.5 138 74 12 18
MS1H3-55C15CD-A3**Z (350) （211) (330)
MS1H3-75C15CD-U3**Z 330 269 310

180 3.2±0.3 200 4-Φ13.5 138 74 12 18
MS1H3-75C15CD-A3**Z (407) （267) (386)
Weight
Motor Model LR S LB TP LK KH LJ W T
（kg）
MS1H3-29C15CD-U3**Z 15
79±1 35 114.3 M12×25 65 30 0-0.2 0.3±0.75 10 8
MS1H3-29C15CD-A3**Z （25）
MS1H3-44C15CD-U3**Z 19.5
79±1 35 114.3 M12×25 65 30 0-0.2 0.3±0.75 10 8
MS1H3-44C15CD-A3**Z （30）
MS1H3-55C15CD-U3**Z 28
113±1 42 114.3 M16×32 96 37 0-0.2 0.3±0.75 12 8
MS1H3-55C15CD-A3**Z （38）
MS1H3-75C15CD-U3**Z 32
113±1 42 114.3 M16×32 96 37 0-0.2 0.3±0.75 12 8
MS1H3-75C15CD-A3**Z （42）
- 49 -
4 Cable Information
4 Cable Information
4.1 Models with Front or Rear Cable Outlets

&ODPEFSPVUMFU &ODPEFSPVUMFU
1PXFSPVUMFU 1PXFSPVUMFU
1MVH
DPSF
1PXFSQMVH &ODPEFSQMVH 1PXFSQMVH &ODPEFSQMVH
%JSFDUJPOPGDBCMFPVUMFU'SPOU %JSFDUJPOPGDBCMFPVUMFU3FBS
Figure 4-1 Models of Z series (terminal-type) motors with front or rear cable outlets
◆◆ You can adjust the direction of the plug core to switch between front cable
outlet and rear cable outlet. Determine the cable specifications in advance
because the stripped length is different for front and rear cable outlets during
wiring.
NOTE
- 50 -
4 Cable Information
4.2 Outline Drawing of Cables with Front Outlets

Cable
Cable Type Cable Model Length Appearance
L (m)
S6-L-M007-3.0 3.0 Φ8.0*30mm
55±5mm
S6-L-M007-5.0 5.0
U
V
W
PE
Power cable S6-L-M007-10.0 10.0

100±10mm
L±30mm
(without
brake) S6-L-M107-3.0 3.0 Φ8.0*30mm
55±5mm
S6-L-M107-5.0 5.0
U
V
W
PE
S6-L-M107-10.0 10.0
100±10mm
L±30mm
S6-L-B007-3.0 3.0 Φ8.0*30mm

55±5mm
S6-L-B007-5.0 5.0
BK+
BK-
U
V
W
PE
S6-L-B007-10.0 10.0
200±10mm
Power cable
L±30mm
(with brake)
S6-L-B107-3.0 3.0 Φ8.0*30mm
55±5mm
S6-L-B107-5.0 5.0
BK+
BK-
U
V
W
PE
S6-L-B107-10.0 10.0
200±10mm
L±30mm
S6-L-P024-3.0 3.0 55±5 mm
S6-L-P024-5.0 5.0 End C

2-Black
Absolute
1-Brown
S6-L-P024-10.0 10.0
End A 90±5 mm End B
L±30 mm
encoder
cable S6-L-P124-3.0 3.0 55±5 mm
S6-L-P124-5.0 5.0
SUNCH
SC-06
U
End C
2-Black
1-Brown
S6-L-P124-10.0 10.0
End A 200±10 mm End B
L±30 mm
S6-L-P014-3.0 3.0 55±5 mm
S6-L-P014-5.0 5.0
Incremental S6-L-P014-10.0 10.0

End A End B
L±30 mm
encoder
cable S6-L-P114-3.0 3.0 55±5 mm
S6-L-P114-5.0 5.0 　
SUNCH
SC-06
U
S6-L-P114-10.0 10.0
End A End B
L±30 mm
- 51 -
4 Cable Information
4.3 Outline Drawing of Cables with Rear Outlets

Cable
Cable Type Cable Model Length Appearance
L (m)
S6-L-M008-3.0 3.0
55±5mm
S6-L-M008-5.0 5.0
U
Power cable S6-L-M008-10.0 10.0

100±10mm
L±30mm
(without
brake) S6-L-M108-3.0 3.0
55±5mm
S6-L-M108-5.0 5.0
U
S6-L-M108-10.0 10.0
100±10mm
L±30mm
S6-L-B008-3.0 3.0
55±5mm
S6-L-B008-5.0 5.0
S6-L-B008-10.0 10.0
200±10mm
Power cable
L±30mm
(with brake)
S6-L-B108-3.0 3.0
55±5mm
S6-L-B108-5.0 5.0
S6-L-B108-10.0 10.0
200±10mm
L±30mm
S6-L-P025-3.0 3.0 55±5mm
S6-L-P025-5.0 5.0
2-黑色
Absolute S6-L-P025-10.0 10.0

1-棕色
90±5mm
L±30mm
encoder
cable S6-L-P125-3.0 3.0 55±5mm
S6-L-P125-5.0 5.0
S UNCHU
S C-06
2-黑色
1-棕色
S6-L-P125-10.0 10.0
200±10mm
L±30mm
S6-L-P015-3.0 3.0 55±5mm
S6-L-P015-5.0 5.0
Incremental S6-L-P015-10.0 10.0 L±30mm

encoder
cable S6-L-P115-3.0 3.0 55±5mm
S6-L-P115-5.0 5.0
S UNCHU
S C-06
S6-L-P115-10.0 10.0 L±30mm
- 52 -
4 Cable Information
4.4 Outline Drawing of Connectors
Model Appearance

S6-C8

4PMEFSJOHTJEF
%# DPOOFDUPSLJU

S6-C12
4PMEFSJOHTJEF
S6-C26
QJONBMF 1JOCBTF JOTVMBUFEUFSNJOBM $SJNQJOHUFSNJOBM
46/$)6
4$
S6-C29
+45

QJONBMF #BTF $SJNQJOHUFSNJOBM "WJBUJPOQMVH
- 53 -
Appendix: Disassembly of Flat Key and Oil Sealing
Appendix: Disassembly of Flat Key and Oil Sealing

■■ Removal of the motor flat key
Standard MS1 series motors in frame sizes 60, 80, and 130 adopt C-type flat keys. All the
flat keys carry holes for easy key removal. To take the flat key out, select a proper bolt
(inner hexagon bolt recommended) and an Allen wrench to screw down the bolt until
the A-A end of the flat key is completely detached from the keyway, as shown below.
Key removal hole
M3 bolt for key removal
Specifications of bolts for key removal

Specifications of Bolts (Inner
MS1 Motor Specifications Dimensions of Flat Keys
Hexagon Bolts) for Key Removal
Frame size 40 A-type flat key - A3x3x14 No key removal hole
Frame size 60 C-type flat key - C5x5x16.5 Length above M3X10
Frame size 80 C-type flat key - C6x6x25 Length above M3X15
■■ Removal of motor oil sealing
Tools needed: a needle-nose plier, a pair of slip-proof gloves, and a piece of cotton cloth
Operating steps:
1) Put the cotton cloth on the support point B to avoid end cover scratches during
removal.
2) Secure the motor and use the needle-nose plier to hold point A of the oil sealing
lip.
3) Pry the oil sealing out Frame Sized on the support point B.
"
#
（Point B acts on the shaft extension stairs) （Point A acts on the oil sealing lip）
- 54 -
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
Service Hotline: 400-777-1260
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.

Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-512-6637 6666
Fax: +86-512-6285 6720
Service Hotline: 400-777-1260
*19010786B00* 19010786B00
http: //www.inovance.com Copyright 　 Shenzhen Inovance Technology Co., Ltd.

Serwomotory Inovance Ms1 Instrukcja Obslugi

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Selection Guide

MS1 Series Servo Motor

3.6 Flange Frame Size: 180................................................................................................. 48

5) Inovance assumes no legal responsibility for any personal safety accidents or

Details of Safety Precautions

1.1 Nameplate and Model

$ Y  4PMJE LFZFE XJUI

.BSL 3BUFE4QFFE 31.

Figure 1-1 Model and nameplate

1.2 Component Description

Figure 1-2 Components of terminal-type motors

Figure 1-3 Components of lead wire-type motors

Figure 1-4 Components of high-power motors

Enclosure IP rating IP67 (excluding shaft opening

Ambient humidity 20% to 80% (no condensing)

MS1H3-44C15CD 180 4.4 28.4 71.1 16.50 40.50

◆◆ [4] Parameters in () are for the motor with brake.

MS1H1/MS1H4: 250 x 250 x 6 mm (aluminum)

MS1H2-10C to 25C：300 x 300 x 12mm（aluminum）

MS1H2-30C to 50C：400 x 400 x 20mm（aluminum）

MS1H3-85B to 18C：400 x 400 x 20mm（iron）

MS1H3-29C to 75C：360 x 360 x 5mm（dual-layer aluminum plate）

1.3.3 Overload Characteristics

Running time (s)

Figure 1-5 Overload curve

1.3.4 Radial/Axial Allowable Load

Figure 1-6 Diagram of radial and axial loads

1.3.5 Electrical Specifications of Motor Brake

Holding Supply Brake Brake Rotary

MS1H1-05B/10B 40 0.3 20 35 <1.7

1.3.6 Torque/Speed Characteristics

A Continuous operating area

B Short time area

.4)#$# 4QFFE SQN

  " #

.4)#$# 4QFFE SQN

  " #

2 MS1H2 (low inertia and medium capacity）

A Continuous operating area

B Short time area

3 MS1H3 (medium inertia and medium capacity）

A Continuous operating area

B Short time area

4 MS1H4 (medium inertia and small capacity)

A Continuous operating area

B Short time area

1.3.7 Derating Characteristics

■■ Derating curve (high temperature)

1.3.8 Temperature Curve of the Oil Sealing

        

Cable Length (m)

Power cable (without brake) S6-L-M007-3.0 S6-L-M007-5.0 S6-L-M007-10.0

Power cable (with brake) S6-L-B007-3.0 S6-L-B007-5.0 S6-L-B007-10.0

Absolute encoder cable S6-L-P024-3.0 S6-L-P024-5.0 S6-L-P024-10.0

Incremental encoder cable S6-L-P014-3.0 S6-L-P014-5.0 S6-L-P014-10.0

Cable Length (m)

Power cable (with brake) S6-L-B008-3.0 S6-L-B008-5.0 S6-L-B008-10.0

Absolute encoder cable S6-L-P025-3.0 S6-L-P025-5.0 S6-L-P025-10.0

Incremental encoder cable S6-L-P015-3.0 S6-L-P015-5.0 S6-L-P015-10.0

Table 1-3 Cables for lead wire-type (Z-S series) motors

$ Y 4PMJE LFZFE XJUI

.4)#$# 4QFFE SQN

" #

.4)#$# 4QFFE SQN

" #