MDH-20

Perfect for end effector (hand, gripper, Zθ unit) with through-shaft.
It could be used for small hand in combination with low slowdown rate gear.
Body diameter: φ21 mm
Body length:：31.5/37.5/43.5mm
Max torque：40/80/120mN･m
Max speed: 3000 rpm
Max resolution：288,000P/R（Incremental），18-bit（Absolute）
中空內徑： φ2.6mm

Specification

	Unit	MDS-2006	MDH-2006	MDS-2012	MDH-2012	MDS-2018	MDH-2018
Input power （driver input）	DCV	24
Maximum speed(※1)	rpm	3,000
Rated speed	rpm	1,500
Peak torque at stall	Nm	0.04		0.09		0.12
Rated torque	Nm	0.017		0.030		0.040
Continuous rated torque	Nm	0.014		0.026		0.030
Peak power	W	5.0		10		17
Peak power rate	kW/s	19	15	62	43	99	65
Peak armature current	Arms	2.6		4.3		5.6
Rated armature current (※2)	Arms	1.1		1.2		1.4
Voltage constant	V/krpm	1.6		2.5		2.4
Torque constant(at25℃)	Nm/Arms	0.015		0.024		0.023
Line armature resistance（at25℃）	Ω	3.5		2.2		1.9
Line armature inductance	mH	1.1		0.79		0.82
Rotor Poles	P	10
Max encoder resolution(※3)	P/R	Incremental：288,000(Multiplied by 4) Absolute：262,144（18bit）
Moment of inertia J=GD²/4	g･cm^2	0.78	1.5	1.2	2.0	1.7	2.4
Permissible radial load Fr	N	44
Permissible axial load Fa	N	22
Allowable moment	Nm	1.27	1.22	1.51	1.48	1.76	1.71
Repeated positioning accuracy at shuttling	PULSE	±1
Weight	kg	0.088		0.10		0.12
Recommend Driver		MC-200-7220▢　/　MC-200C-6018▢
Standard heat sink		100×100×5 Aluminum

【Note】
(*1)Please ask us if there is a speed you prefer.
(*2)Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C.
(*3) Please ask us if there is a particular resolution you prefer.