All-in-one design for all industrial applications Harmonic (Strain Wave) Gear Motors
All-in-one design for all industrial applications
Harmonic (Strain Wave) Gear Motors
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Contents
MAH Series Harmonic (Strain Wave) Gear Motors ............................................................................................. 2
- Standard hollow shaft design ............................................................................................................................. 2
MAT Series Harmonic (Strain Wave) Gear Motors .............................................................................................. 9
- Enlarged hollow shaft design ............................................................................................................................. 9
MAS Series Harmonic (Strain Wave) Gear Motors ........................................................................................... 12
- Solid shaft design .............................................................................................................................................. 12
MGM Series Harmonic Gear Motors with Integrated Electronics .................................................................... 17
- All-in-one design ............................................................................................................................................... 17
Motion Control Products Ltd
11-15 Francis Avenue
Bournemouth
Dorset, UK, BH11 8NX
TEL.: +44 (0)1202 599922
www.motioncontrolproducts.com
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MAH Series Harmonic (Strain Wave) Gear Motors
- Standard hollow shaft design
Main Features
• Frame size from 60mm to 145mm
• High precision: up to 30 Arc sec.
• Input voltages: 48VDC, 110VAC, 220VAC 220 VAC*
• Flexible, reliable, low maintenance and compact design
• Low cogging, low noise, high torque density up to 800Nm
• Integrated design of Harmonic (strain wave) gearbox, frameless motor with encoder option
• High protection grade (up to IP67) for extreme working environment
• Hollow shaft design for threading wires, gas pipe and laser beams to simplify system structure
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
Typical Applications
● Electronic and semiconductor equipment ● Precision machine tool ● Detection device
● Factory automation systems ● Precision laser processing device ● Printing machines
● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment
● Precision measuring instrument ● Spray painting equipment ● LED equipment
Part Number Configuration
MAH - 25 C M 1 N E
① ② ③ ④ ⑤ ⑥ ⑦
① Series name
② Model No. 14 / 17 / 20 / 25 / 32 / 40 /
③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 (N/A for model 14) E = gear ratio 161:1 (N/A for model 14 or 17)
④ Voltage
L = DC bus voltage 48VDC
M = 220VAC
N = 110VAC
⑤ Motor Encoder Type
1 = Multi-turn hollow shaft absolute encoder, single-turn
19 bit / multi-turn 16 bit
2 = Multi-turn hollow shaft absolute encoder, single-turn
22 bit / multi-turn 16 bit
3 = Multi-turn hollow shaft absolute encoder, single-turn
24 bit / multi-turn 16 bit
4 = Hollow shaft incremental encoder, 10000P/R
5 = Hollow shaft incremental encoder, 2500P/R
⑥ Motor Brake
N = Without brake
B = With brake
⑦ Other Options E = cables from the rear
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MAH-14 / 17 Technical Specifications
Series /Model MAH-14 MAH-17
14A 14B 14C 17A 17B 17C 17D
Gear ratio 51:1 81:1 101:1 51:1 81:1 101:1 121:1
Maximum torque Nm 23 29 34 42 53 66 66
Rated torque Nm 8.6 13.5 13.5 32 33 49 49
220VAC
Maximum speed rpm 127.5 80.2 64.4 119.6 75.3 60.4 50.4
Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6
Maximum current A 1.96 1.56 1.41 3.35 2.1 2.51 2.09
Rated current A 0.56 0.56 0.44 1.65 1.04 1.24 1.04
Torque constant Nm/A 15.36 24.1 30.68 19.39 31.73 39.51 47.11
Phase resistance Ohms 4.311 2.135
Phase inductance mH 5.256 3.869
Back EMF Vrms/krpm 23.85 30.66
110VAC
Maximum speed rpm 40.8 64.8 80.8 100 63 50.5 42.1
Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6
Maximum current A 4.06 3.23 3.03 6.78 8.26 7.08 6.26
Rated current A 1.17 1.16 0.93 3.35 4.18 3.53 2.95
Torque constant Nm/A 7.36 11.68 14.57 9.56 7.85 13.87 16.58
Phase resistance Ohms 2.089 1.036
Phase inductance mH 2.593 1.684
Back EMF Vrms/krpm 11.07 14.79
DC bus voltage 48VDC
Maximum speed rpm 88.2 55.6 44.6 78.4 49.4 39.6 33.1
Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6
Maximum current A 7.59 7.67 5.66 16.5 11.23 13.2 10.98
Rated current A 2.84 3.57 2.25 8.47 5.34 6.53 5.46
Torque constant Nm/A 3.03 3.78 6.01 3.74 6.12 7.5 8.98
Phase resistance Ohms 0.275 0.262
Phase inductance mH 0.352 0.313
Back EMF Vrms/krpm 6.32 7.98
Absolute Encoder
Encoder type Multi-turn hollow shaft absolute encoder
Resolution (single motor revolution ) 219 (524,288), 222 (4,194,304) or 224 (16,777,216)
Motor Multi-turn counter 216(65,536)
Incremental encoder
Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft resolution pulse/rev 2040000 3240000 4040000 2040000 3240000 4040000 4840000
Uni-directional positional accuracy Arc sec 40 30 30 40 30 30 30
Repeatability of positioning accuracy Arc sec 8 7 7 8 7 7 7
Rotational stiffness ×104Nm/rad 7.05 9.8 22.08 25.8
Torsional stiffness ×104Nm/rad 0.46 0.6 1.07 1.3
Inertia moment
Without brake kg·m2 0.09 0.19 0.28 0.15 0.41 0.51 1.16
With brake kg·m2 0.11 0.22 0.31 0.17 0.45 0.56 1.28
Mass Without brake kg 1.3 1.8
With brake kg 1.5 2.0
Number of motor poles 16
Motor insulation
Heat-resistant class:F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAH-14
Notes: please contact us for specific model drawings before placing your order
MAH-17
Notes: please contact us for specific model drawings before placing your order
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MAH-20 / 25 Technical Specifications
Series /Model MAH -20 MAH -25
20A 20B 20C 20D 20E 25A 25B 25C 25D 25E
Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1
Maximum torque Nm 69 91 102 108 113 121 169 194 207 217
Rated torque Nm 42 58 61 61 61 68.5 107 133 133 133
220VAC
Maximum speed rpm 119.6 75.3 60.4 50.4 37.9 102 64.2 51.5 43 32.3
Rated speed rpm 60.8 38.3 30.7 25.6 19.3 58.8 37 29.7 24.8 18.6
Maximum current A 4.53 3.89 3.41 2.78 2.21 8.05 7.08 6.52 5.81 4.58
Rated current A 2.12 1.85 1.56 1.3 0.98 3.38 3.32 3.31 2.76 2.08
Torque constant Nm/A 19.81 31.35 39.1 46.92 62.24 20.28 32.21 40.16 48.11 64.02
Phase resistance Ohms 2.135 1.779
Phase inductance mH 3.869 3.375
Back EMF Vrms / krpm 30.66 40.84
110VAC
Maximum speed rpm 100 63 50.5 42.1 31.7 80.4 50.6 40.6 33.9 25.5
Rated speed rpm 60.8 38.3 30.7 25.6 19.3 54.9 34.6 27.7 23.1 17.4
Maximum current A 9.49 7.87 7.08 6.25 4.91 13.57 11.93 10.99 9.78 7.71
Rated current A 4.28 3.72 3.14 2.62 1.97 5.69 5.6 5.58 4.66 3.52
Torque constant Nm/A 9.82 15.61 19.45 23.32 31.04 12.04 19.12 23.84 28.56 38
Phase resistance Ohms 1.036 0.809
Phase inductance mH 1.684 1.534
Back EMF Vrms / krpm 14.79 18.56
DC bus
voltage
48VDC
Maximum speed rpm 78.4 49.4 39.6 33.1 24.8 60.8 38.3 30.7 25.6 19.3
Rated speed rpm 60.8 38.3 30.7 25.6 19.3 51 32.1 25.7 21.5 16.2
Maximum current A 17.89 18.86 13.33 11.79 9.27 28.61 32.01 23.15 20.62 16.24
Rated current A 10.88 12.03 7.97 6.66 5.03 16.19 20.27 15.87 13.25 9.96
Torque constant Nm/A 3.86 4.82 7.65 9.16 12.19 4.23 5.28 8.38 10.04 13.36
Phase resistance Ohms 0.262 0.239
Phase inductance mH 0.313 0.282
Back EMF Vrms/krpm 7.98 10.57
Absolute
Encoder
Encoder type Multi-turn hollow shaft absolute encoder
Resolution (single motor revolution) 219 (524,288), 222 (4,194,304) or 224 (16,777,216)
Motor Multi-turn counter 216 (65,536)
Incremental
encoder
Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft
resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000
Uni-directional positional accuracy Arc sec 40 30 30 30 30 40 30 30 30 30
Repeatability of positioning accuracy Arc sec 8 7 7 7 7 8 7 7 7 7
Rotational stiffness ×104Nm/rad 23.5 27.3 34.7 42.8
Torsional stiffness ×104Nm/rad 1.8 2.3 3.4 4.6
Inertia
moment
Without brake kg·m2 0.19 0.57 0.86 1.23 2.18 0.49 1.24 1.93 2.85 5.01
With brake kg·m2 0.22 0.63 0.95 1.35 2.35 0.58 1.51 2.31 3.31 5.97
Mass Without brake kg 2.2 3.2
With brake kg 2.5 3.6
Number of motor poles 16
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAH-20
Notes: please contact us for specific model drawings before placing your order
MAH-25
Notes: please contact us for specific model drawings before placing your order
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MAH-32 / 40 Technical Specifications
MAH MAH -32 MAH -40
32A 32B 32C 32D 32E 40A 40B 40C 40D 40E
Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1
Maximum torque Nm 267 376 411 436 459 497 641 702 762 800
Rated torque Nm 133 206 267 267 267 242 351 460 557 557
220VAC
Maximum speed rpm 88.2 55.6 44.6 37.2 28 76.5 48.1 38.6 32.2 24.2
Rated speed rpm 51 32.1 25.7 21.5 16.1 43.1 27.2 21.8 18.2 13.7
Maximum current A 14.37 12.74 11.17 9.89 7.82 22.79 18.51 16.26 14.73 11.62
Rated current A 5.96 5.82 6.04 5.05 3.79 8.67 7.92 8.32 8.41 6.32
Torque constant Nm/A 22.3 35.42 44.17 52.92 70.41 27.91 44.32 55.26 66.23 88.09
Phase resistance Ohms 1.438 1.024
Phase inductance mH 3.165 3.026
Back EMF Vrms/krpm 44.29 50.87
110VAC
Maximum speed rpm 68.6 43.2 34.7 28.9 21.7 52.9 33.3 26.7 22.3 16.8
Rated speed rpm 45.1 28.4 22.8 19 14.3 35.3 22.2 17.8 14.9 11.2
Maximum current A 25.29 22.42 19.66 17.41 13.77 35.85 29.12 25.58 23.17 18.29
Rated current A 10.5 10.24 10.64 8.88 6.68 14.55 13.29 13.97 14.11 10.61
Torque constant Nm/A 12.67 20.12 25.09 30.06 39.99 16.63 26.41 32.93 39.47 52.5
Phase resistance Ohms 0.73 0.53
Phase inductance mH 1.408 1.207
Back EMF Vrms/krpm 22.51 44.96
DC bus
voltage
48VDC
Maximum speed rpm 51 32.1 25.7 21.5 16.1 35.3 22.2 17.8 14.9 11.2
Rated speed rpm 41.2 25.9 20.8 17.4 13 29.4 18.5 14.9 12.4 9.3
Maximum current A 51.25 57.94 39.83 35.33 27.95 72.66 75.06 51.81 46.98 37.05
Rated current A 25.53 31.74 25.87 21.64 16.26 35.38 41.1 33.95 34.34 25.8
Torque constant Nm/A 5.21 6.49 10.32 12.34 16.42 6.84 8.54 13.55 16.22 21.59
Phase resistance Ohms 0.188 0.139
Phase inductance mH 0.265 0.207
Back EMF Vrms/krpm 12.05 17.48
Absolute
Encoder
Encoder type Multi-turn hollow shaft absolute encoder
Resolution (single motor revolution) 219 (524,288), 222(,194,304) or 224 (16,777,216)
Motor Multi-turn counter 216 (65,536)
Incremental
encoder
Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft
resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000
Uni-directional positional accuracy Arc sec 40 30 30 30 30 40 30 30 30 30
Repeatability of positioning accuracy Arc sec 8 7 7 7 7 8 7 7 7 7
Rotational stiffness ×104Nm/rad 87.5 113.6 149.5 187.4
Torsional stiffness ×104Nm/rad 7.6 9.9 14 18.6
Inertia
moment
Without brake kg·m2 1.72 4.34 6.76 9.98 17.54 3.91 9.86 15.36 22.68 39.86
With brake kg·m2 2.03 5.29 8.09 11.59 20.9 4.62 12.03 18.39 26.35 47.5
Mass Without brake kg 6.2 9.1
With brake kg 6.7 9.7
Number of motor poles 16
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAH-32
Notes: please contact us for specific model drawings before placing your order
MAH-40
Notes: please contact us for specific model drawings before placing your order
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MAT Series Harmonic (Strain Wave) Gear Motors
- Enlarged hollow shaft design
Main Features
• Enlarged hollow shaft (through bore) compared to MAH series
• High precision: up to 40 Arc sec.
• Input voltages available: 48VDC, 110VAC, 220VAC 220 VAC*
• Flexible, reliable, low maintenance and compact design
• Low cogging, low noise, high torque density up to 800Nm
• Integrated design of harmonic (strain wave) gearbox, frameless motorwith encoder
• High protection grade (up to IP67) for extreme working environment
• Hollow shaft design for threading wires, gas pipe and laser beams to simplify system structure
• Black anodised version availiable * Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
Typical Applications
● Electronic and semiconductor equipment ● Precision machine tool ● Detection device
● Factory automation systems ● Precision laser processing device ● Printing machines
● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment
● Precision measuring instrument ● Spray painting equipment ● LED equipment
Part Number Configuration
MAT - 25 C M 1 N E
① ② ③ ④ ⑤ ⑥ ⑦
① Series name
② Model No.20 / 40
③ Gear RatioA = gear ratio 51:1C = gear ratio 101:1E = gear ratio 161:1
④ Voltage
L = DC bus voltage 48VDC
M = 220VAC
N = 110VAC
⑤ Motor Encoder Type
1 = Multi-turn hollow shaft absolute encoder, single-turn
19 bit / multi-turn 16 bit
2 = Multi-turn hollow shaft absolute encoder, single-turn
22 bit / multi-turn 16 bit
3 = Multi-turn hollow shaft absolute encoder, single-turn
24 bit / multi-turn 16 bit
4 = Hollow shaft incremental encoder, 10000P/R
5 = Hollow shaft incremental encoder, 2500P/R
⑥ Motor Brake
N = Without brake
B = With brake
⑦ Other OptionsE = cables from the rearS = cables from the side
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MAT-25 / 40 Technical Specifications
Series / Model MAT-25 MAT -40
25A 25C 25E 40A 40C 40E
Gear ratio 51:1 101:1 161:1 51:1 101:1 161:1
Maximum torque Nm 121 194 217 497 702 800
Rated torque Nm 68.5 133 133 242 460 557
220VAC
Maximum speed rpm 102 51.5 32.3 76.5 38.6 24.2
Rated speed rpm 58.8 29.7 18.6 43.1 21.8 13.7
Maximum current A 8.3 6.72 4.72 23.49 16.76 11.98
Rated current A 3.48 3.41 2.14 8.94 8.58 6.52
Torque constant Nm/A 19.67 38.96 62.1 27.07 53.6 85.45
Phase resistance Ohms 1.779 1.024
Phase inductance mH 3.375 3.026
Back EMF Vrms/krpm 40.84 50.87
110VAC
Maximum speed rpm 80.4 40.6 25.5 52.9 26.7 16.8
Rated speed rpm 54.9 27.7 17.4 35.3 17.8 11.2
Maximum current A 13.93 11.28 7.92 36.81 26.26 18.78
Rated current A 5.84 5.73 3.61 14.94 14.34 10.89
Torque constant Nm/A 11.73 23.22 37.01 16.2 32.07 51.14
Phase resistance Ohms 0.809 0.53
Phase inductance mH 1.534 1.207
Back EMF Vrms/krpm 18.56 44.96
DC bus
voltage
48VDC
Maximum speed rpm 60.8 30.7 19.3 35.3 17.8 11.2
Rated speed rpm 51 25.7 16.2 29.4 14.9 9.3
Maximum current A 29.28 23.69 16.62 74.37 53.03 37.92
Rated current A 16.57 16.24 10.19 36.21 34.75 26.41
Torque constant Nm/A 4.13 8.19 13.05 6.68 13.24 21.09
Phase resistance Ohms 0.239 0.139
Phase inductance mH 0.282 0.207
Back EMF Vrms/krpm 10.57 17.48
Absolute
Encoder
Encoder type Multi-turn hollow shaft absolute encoder
Resolution (single motor revolution) 219 (524,288), 222(,194,304) or 224 (16,777,216)
Motor Multi-turn counter 216 (65,536)
Incremental
encoder
Resolution Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft resolution pulse/rev 2040000 4040000 6440000 2040000 4040000 6440000
Uni-directional positional accuracy Arc sec 40 30 30 40 30 30
Repeatability of positioning accuracy Arc sec 8 7 7 8 7 7
Rotational stiffness ×104Nm/rad 34.7 42.8 149.5 187.4
Torsional stiffness ×104Nm/rad 3.4 4.6 14 18.6
Inertia
moment
Without brake kg·m2 0.89 3.75 8.91 6.15 21.2 56.7
With brake kg·m2 0.97 4.03 9.7 6.65 23.11 61.8
Mass Without brake kg 4.3 11.2
With brake kg 4.7 11.7
Number of motor poles 16
Motor insulation
Heat-resistant class F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAT-25
Notes: please contact us for specific model drawings before placing your order
MAT-40
Notes: please contact us for specific model drawings before placing your order
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MAS Series Harmonic (Strain Wave) Gear Motors
- Solid shaft design
Main Features
• Solid shaft/ non-through bore, compared to MAH / MAT series
• High precision: up to 50 Arc sec.
• Input voltages available: 48VDC, 110VAC, 220VAC 220 VAC*
• Flexible, reliable, less maintenance and compact design
• Low cogging, low noise, high torque density up to 800Nm
• Integrated design of Harmonic (strain wave) gearbox, torque motor with encoder and brake
• High protection grade (up to IP67) for extreme working environment
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
Typical Applications
● Electronic and semiconductor equipment ● Precision machine tool ● Detection device
● Factory automation systems ● Precision laser processing device ● Printing machines
● Medical apparatus and instruments ● Robot and mechanical arms ● Glass processing equipment
● Precision measuring instrument ● Spray painting equipment ● LED equipment
Part Number Configuration
MAS - 25 C M 1 N S
① ② ③ ④ ⑤ ⑥ ⑦
① Series name
② Model No. 17 / 20 / 25 / 32
③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 E = gear ratio 161:1 (N/A for model 17)
④ Voltage
M = 220VAC
⑤ Motor Encoder Type
1 = Tamagawa multi-turn absolute encoder, single-turn
17 bit / multi-turn 16 bit
2 = Tamagawa multi-turn absolute encoder, single-turn
23 bit / multi-turn 16 bit
3 = Niko multi-turn absolute encoder, single-turn 20 bit /
multi-turn 16 bit
4 = Incremental encoder, 2500P/R
5 = Incremental encoder, 5000P/R
⑥ Motor Brake
N = Without brake
B = With brake
⑦ Other Options S = cables from the side
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MAS-17 / 20 Technical Specifications
Series /Model MAS-17 MAS-20
17A 17B 17C 17D 20A 20B 20C 20D 20E
Gear ratio 50:1 80:1 100:1 120:1 50:1 80:1 100:1 120:1 160:1
Maximum torque Nm 42 53 66 66 69 91 102 108 113
Rated torque Nm 32 33 49 49 42 58 61 61 61
220VAC
Maximum speed rpm 120 75 60 50 120 75 60 50 37.5
Rated speed rpm 60 37.5 30 25 60 37.5 30 25 18.75
Maximum current A 4.22 3.35 3.34 2.79 6.79 5.64 5.07 4.48 3.52
Rated current A 2.37 1.54 1.83 1.53 3.05 2.65 2.23 1.86 1.4
Torque constant Nm/A 18.93 30.07 37.49 44.92 19.3 30.66 38.23 45.8 60.94
Phase resistance Ohms 4.203 3.856
Phase inductance mH 6.542 5.984
Incremental
encoder
Resolution 10000 pulse/rev (multiplied by 4)
Output shaft
resolution pulse/rev 500000 800000 1000000 1200000 500000 800000 1000000 1200000 1600000
Absolute
encoder
Encoder type Multi-turn absolute encoder
Resolution (single motor revolution) 217(524,288), 219(4,194,30) or 223(8,388,608)
Motor Multi-turn counter 216(65,536)
Uni-directional positional accuracy Arc sec 50 40 40 40 50 40 40 40 40
Repeatability of positioning
accuracy Arc sec 9 8 8 8 9 8 8 8 8
Rotational stiffness ×104 Nm/rad 22.08 25.8 23.5 27.3
Torsional stiffness ×104 Nm/rad 1.07 1.3 1.8 2.3
Inertia
moment
Without brake kg·m2 0.12 0.33 0.41 0.93 0.16 0.47 0.73 1.06 1.87
With brake kg·m2 0.14 0.36 0.45 1.02 0.19 0.54 0.82 1.15 2.03
Mass Without brake kg 1.42 2.07
With brake kg 1.64 2.51
Number of motor poles 10
Motor insulation
Heat-resistant class F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAS-17
Notes: please contact us for specific model drawings before placing your order
MAS-20
Notes: please contact us for specific model drawings before placing your order
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MAS-25 / 32 Technical Specifications
Series /Model MAS-25 MAS-32
25A 25B 25C 25D 25E 32A 32B 32C 32D 32E
Gear ratio 50:1 80:1 100:1 120:1 160:1 50:1 80:1 100:1 120:1 160:1
Maximum torque Nm 121 169 194 207 217 267 376 411 436 459
Rated torque Nm 68.5 107.5 133 133 133 133 206 267 267 267
220VAC
Maximum
speed rpm 110 68.75 55 45.83 34.38 90 56.25 45 37.5 28.125
Rated speed rpm 60 37.5 30 25 18.75 60 37.5 30 25 18.75
Maximum
current A 8.54 7.52 6.93 6.17 4.86 17.41 15.43 13.53 11.98 9.48
Rated current A 3.45 3.42 3.39 2.83 2.13 6.19 6.04 6.28 5.24 3.94
Torque constant Nm/A 19.83 31.45 39.21 46.98 62.51 21.47 34.11 42.54 50.96 67.8
Phase
resistance Ohms 3.217 1.354
Phase
inductance mH 5.269 3.852
Incremental
encoder
Resolution 10000 pulse/rev (multiplied by 4)
Output shaft
resolution pulse/rev 500000 800000 1000000 1200000 1200000 500000 800000 1000000 1200000 1600000
Absolute
encoder
Encoder type Multi-turn absolute encoder
Resolution (single motor
revolution) 217 (524,288), 219 (4,194,30) or 223 (8,388,608)
Motor Multi-turn counter 216 (65,536)
Uni-directional positional
accuracy Arc sec 50 40 40 40 40 50 40 40 40 40
Repeatability of positioning
accuracy Arc sec 9 8 8 8 8 9 8 8 8 8
Rotational stiffness ×104
Nm/rad 34.7 42.8 87.5 113.6
Torsional stiffness ×104
Nm/rad 3.4 4.6 7.6 9.9
Inertia
moment
Without brake kg·m2 0.42 1.05 1.64 2.42 4.26 1.41 3.56 5.54 8.18 14.38
With brake kg·m2 0.49 1.28 1.96 2.81 5.07 1.66 4.34 6.63 9.5 17.14
Mass Without brake kg 2.93 5.74
With brake kg 3.48 6.57
Number of motor poles 10
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200MΩ (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP65, Optional: IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
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Outline Dimensions (in mm)
MAS-20
Notes: please contact us for specific model drawings before placing your order
MAS-25
Notes: please contact us for specific model drawings before placing your order
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MGM Series Harmonic Gear Motors with Integrated Electronics
- All-in-one design
Main Features
• All-in-one design: harmonic (strain wave) gearbox, torque motor with encoder & brake and servo drive
• Supports EtherCAT or CANopen communication, which can be matched with most mainstream controllers on the market
• High precision: up to 60 Arc sec.
• Flexible, reliable, less maintenance and compact design
• Hollow shaft (through hole) design for threading wires, gas pipe and laser beams to simplify system structure
• High torque density up to 557Nm, suitable for collaborative robot application with the effective load less than 25kgs
• High protection grade (up to IP67) for extreme working environment
Typical Applications
● Collaborative robots ● Multi-joint industrial robots ● Service robots
● Electronic and semiconductor equipment ● Factory automation systems ● LED equipment
● Medical apparatus and instruments ● Precision laser processing device ● Detection device
● Spray painting equipment ● Precision measuring instrument ● Printing machines
● Precision machine tools ● Glass processing equipment
Part Number Configuration
MGM - 25 C L S E N
① ② ③ ④ ⑤ ⑥ ⑦
① Series name
② Model No. 14 / 17 / 20 / 25 / 32 / 40 /
③ Gear Ratio A = gear ratio 51:1 B = gear ratio 81:1 C = gear ratio 101:1 D = gear ratio 121:1 (N/A for model 14) E = gear ratio 161:1 (N/A for model 14 or 17)
④ Voltage
T = DC bus voltage 24VDC
L = DC bus voltage 48VDC
⑤ Motor Encoder Type
S = Dual encoders-
• Output shaft encoder: multi-turn absolute encoder
(multi-turn 16 bit) or single-turn 19 bit
• Motor shaft encoder: incremental, 2500 P/R
T = Dual encoders-
• Output shaft encoder: multi-turn absolute encoder
(multi-turn 16 bit) or single-turn 19 bit
• Motor shaft encoder: incremental, 1000 P/R
⑥ Integrated Servo Drive
N = Without integrated servo drive
E = Integrated with EtherCAT servo drive
C = Integrated with CANOpen servo drive
⑦ Other Options N = default / no other options
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MGM-14 / 17 Technical Specifications
Series /Model MGM-14 MGM -17
14A 14B 14C 17A 17B 17C 17D
Gear ratio 51:1 81:1 101:1 51:1 81:1 101:1 121:1
Maximum torque Nm 23 29 34 42 53 66 66
Rated torque Nm 8.6 13.5 13.5 32 33 49 49
DC bus
voltage
24VDC
Maximum speed rpm 71.5 67.5 36.3 52.0 33.0 26.0 22.0
Rated speed rpm 58.5 37.0 29.5 49.0 30.5 24.5 20.5
Maximum current A 11.7 9.3 8.8 14.3 11.4 11.4 9.5
Rated current A 4.4 4.4 3.4 10.9 7.1 8.4 7.1
Torque constant Nm/A 2.0 3.1 4.0 2.9 4.7 5.8 7.0
Phase resistance Ohms 0.34 0.26
Phase inductance mH 0.85 0.65
Back EMF Vrms/krpm 3.70 5.06
DC bus
voltage
48VDC
Maximum speed rpm 88.2 55.6 44.6 78.4 49.4 39.6 33.1
Rated speed rpm 70.6 44.4 35.6 60.8 38.3 30.7 25.6
Maximum current A 7.91 7.99 5.9 17.16 11.68 13.73 11.42
Rated current A 2.96 3.72 2.34 8.81 5.55 6.79 5.68
Torque constant Nm/A 2.91 3.63 5.77 3.63 5.88 7.21 8.63
Phase resistance Ohms 0.275 0.262
Phase inductance mH 0.352 0.313
Back EMF Vrms/krpm 6.32 7.98
Motor
encoder
Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft resolution pulse/rev 2040000 3240000 4040000 2040000 3240000 4040000 4840000
Output
shaft
encoder
Encoder type Single-turn or multi-turn absolute encoder
Resolution (Single-turn encoder) 219 (524,288)
Resolution (Multi-turn encoder) 216 (65,536)
Communication function EtherCAT or CANopen
Control mode velocity control, position control, torque control etc.
Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity
deviation, excess deviation, serial communication error, emergency stop etc.
Uni-directional positional accuracy Arc sec 60 50 50 60 50 50 50
Repeatability of positioning accuracy Arc sec 10 9 9 10 9 9 9
Torsional stiffness ×104 Nm/rad 0.46 0.6 1.07 1.3
Inertia moment kg·m2 0.11 0.23 0.31 0.17 0.45 0.56 1.28
Mass kg 1.8 2.1
Length mm 116 123
Outer diameter mm 93 108
Number of motor poles 16
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200M Ω (DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 19 www.motioncontrolproducts.com
Outline Dimensions (in mm)
MGM-14
Notes: please contact us for specific model drawings before placing your order
MGM-17
Notes: please contact us for specific model drawings before placing your order
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MGM-20 / 25 Technical Specifications
Series /Model MGM-20 MGM -25
20A 20B 20C 20D 20E 25A 25B 25C 25D 25E
Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1
Maximum torque Nm 69 91 102 108 113 121 169 194 207 217
Rated torque Nm 42 58 61 61 61 68.5 107 133 133 133
DC bus
voltage
24VDC
Maximum speed rpm 52.0 33. 26.0 22.0 16.3 49.5 31.0 25.0 20.5 15.5
Rated speed rpm 43.0 27.0 21.5 18.0 13.5 39.0 24.5 19.5 16.5 12.0
Maximum current A 23.4 19.5 17.6 15.5 12.2 36.3 14.2 12.9 11.6 9.2
Rated current A 14.3 12.5 10.5 8.7 6.6 20.5 9.0 9.0 7.5 5.6
Torque constant Nm/A 2.9 4.7 5.8 7.0 9.2 3.3 11.9 14.8 17.7 23.8
Phase resistance Ohms 0.26 0.18
Phase inductance mH 0.65 0.48
Back EMF Vrms/krpm 5.06 5.50
DC bus
voltage
48VDC
Maximum speed rpm 78.4 49.4 39.6 33.1 24.8 60.8 38.3 30.7 25.6 19.3
Rated speed rpm 60.8 38.3 30.7 25.6 19.3 51 32.1 25.7 21.5 16.2
Maximum current A 18.54 19.54 13.81 12.22 9.61 29.65 33.17 23.99 21.37 16.83
Rated current A 11.27 12.47 8.26 6.9 5.21 16.78 21.01 16.45 13.73 10.32
Torque constant Nm/A 3.72 4.65 7.38 8.84 11.76 4.08 5.1 8.09 9.69 12.89
Phase resistance Ohms 0.262 0.239
Phase inductance mH 0.313 0.282
Back EMF Vrms/krpm 7.98 10.57
Motor
encoder
Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft
resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000
Output
shaft
encoder
Encoder type Single-turn or multi-turn absolute encoder
Resolution (Single-turn encoder) 219 (524,288)
Resolution (Multi-turn encoder) 216 (65,536)
Communication function EtherCAT or CANopen
Control mode velocity control, position control, torque control etc.
Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity deviation,
excess deviation, serial communication error, emergency stop etc.
Uni-directional positional
accuracy Arc sec 60 50 50 50 50 60 50 50 50 50
Repeatability of positioning
accuracy Arc sec 10 9 9 9 9 10 9 9 9 9
Torsional stiffness ×104Nm/rad 22.5 27.3 32.7 42.8
Inertia moment kg·m2 0.28 0.64 0.98 1.38 2.43 0.51 1.3 2.03 2.99 5.26
Mass kg 2.4 3.6
Length mm 131 155
Outer diameter mm 112 110
Number of motor poles 16
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200M Ω(DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more details.
MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 21 www.motioncontrolproducts.com
Outline Dimensions (in mm)
MGM-20
Notes: please contact us for specific model drawings before placing your order
MGM-25
Notes: please contact us for specific model drawings before placing your order
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MGM-32 / 40 Technical Specifications
Series /Model MGM-32 MGM-40
32A 32B 32C 32D 32E 40A 40B 40C 40D 40E
Gear ratio 51:1 81:1 101:1 121:1 161:1 51:1 81:1 101:1 121:1 161:1
Maximum torque Nm 267 376 411 436 459 497 641 702 762 800
Rated torque Nm 133 206 267 267 267 242 351 460 557 557
DC bus
voltage
24VDC
Maximum speed rpm 35.0 22.0 17.5 14.5 11.0 32.5 20.0 16.0 13.5 10.0
Rated speed rpm 26.0 16.0 13.0 11.0 8.0 19.0 12.0 9.5 8.0 6.0
Maximum current A 56.5 50.1 43.9 38.9 30.8 110.0 89.3 78.4 71.1 56.1
Rated current A 28.1 27.4 28.5 23.8 17.9 53.5 48.9 51.4 51.9 39.0
Torque constant Nm/A 4.7 7.5 9.4 11.2 14.9 4.5 7.2 8.9 10.7 14.3
Phase resistance Ohms 0.16 0.15
Phase inductance mH 0.58 0.55
Back EMF Vrms/krpm 7.80 7.50
DC bus
voltage
48VDC
Maximum speed rpm 51.00 32.10 25.70 21.50 16.10 35.30 22.20 17.80 14.90 11.20
Rated speed rpm 41.20 25.90 20.8 17.4 13 29.40 18.50 14.90 12.40 9.30
Maximum current A 52.84 59.73 41.06 36.42 28.81 74.91 77.38 53.41 48.43 38.20
Rated current A 26.32 32.72 26.67 22.31 16.76 36.47 42.37 35.00 35.40 26.60
Torque constant Nm/A 5.05 6.30 10.01 11.97 15.93 6.63 8.28 13.14 15.73 20.94
Phase resistance Ohms 0.188 0.139
Phase inductance mH 0.265 0.207
Back EMF Vrms/krpm 12.05 17.48
Motor
encoder
Encoder type Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4)
Output shaft resolution pulse/rev 2040000 3240000 4040000 4840000 6440000 2040000 3240000 4040000 4840000 6440000
Output
shaft
encoder
Encoder type Single-turn or multi-turn absolute encoder
Resolution (Single-turn encoder) 219 (524,288)
Resolution (Multi-turn encoder) 216 (65,536)
Communication function EtherCAT or CANopen
Control mode velocity control, position control, torque control etc.
Protection function over-current, over-voltage, under-voltage, over-temp., over-load, excess velocity deviation,
excess deviation, serial communication error, emergency stop etc.
Uni-directional positional accuracy Arc sec 60 50 50 50 50 60 50 50 50 50
Repeatability of positioning
accuracy Arc sec 10 9 9 9 9 10 9 9 9 9
Torsional stiffness ×104 Nm/rad 7.6 9.9 14 18.6
Inertia moment kg·m2 0.51 1.3 2.03 2.99 5.26 4.42 11.14 17.36 25.63 45.04
Mass kg 6.7 9.9
Length mm 168 171
Outer diameter mm 142 170
Number of motor poles 16
Motor insulation
Heat-resistant class: F (155 °C)
Insulation resistance: more than 200M Ω(DC500V)
Dielectric strength: AC1500V (1 minute)
Protection structure (Degrees of Protection) Totally enclosed self-cooled type (Default: IP54, Optional: IP65 & IP67)
* Note: Input voltage, torque etc. may be customised upon request. Please contact our technical sales team at (+44) 01202 599 922 for more
details.
MOTION CONTROL PRODUCTS LTD. TEL.: +44 (0)1202 599922 Page | 23 www.motioncontrolproducts.com
Outline Dimensions (in mm)
MGM-32
Notes: please contact us for specific model drawings before placing your order
MGM-40
Notes: please contact us for specific model drawings before placing your order
Copyright © 2019 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance (V2019-0814)