Small motor with large diameter ratio hollow shaft.
Ideal for end effectors, robot joints, etc.
Body diameter: φ60mm
Body length:：31.5/37.5/43.5mm
Maximum torque: 1.1/2.1/2.7N･m
Maximum speed: 300rpm
Max encoder resolution：2,000,000P/R（Incremental）, 20bit（Absolute）
Hollow diameter： φ20mm
| Unit | MDH-6006 | MDH-6012 | MDH-6018 | |
|---|---|---|---|---|
| Input power （driver input） | DCV | 24(※1)/48 | ||
| Maximum speed(※2) | rpm | 300 | ||
| Rated speed | rpm | 300 | ||
| Peak torque at stall | Nm | 1.1 | 2.1 | 2.7 |
| Rated torque | Nm | 0.29 | 0.58 | 0.77 |
| Continuous rated torque | Nm | 0.29 | 0.58 | 0.77 |
| Peak power | W | 25 | 51 | 77 |
| Peak power rate | kW/s | 15 | 46 | 83 |
| Peak armature current | Arms | 11.1 | 13.7 | 16.6 |
| Rated armature current(※3) | Arms | 3.0 | 2.9 | 3.2 |
| Voltage constant | V/krpm | 11 | 19 | 26 |
| Torque constant(at25℃) | Nm/Arms | 0.1 | 0.2 | 0.24 |
| Line armature resistance（at25℃） | Ω | 1.0 | 1.5 | 1.3 |
| Line armature inductance | mH | 0.9 | 1.1 | 1.1 |
| Rotor Poles | P | 16 | ||
| Max encoder resolution | P/R | Incremental：2,000,000(Multiplied by 4)(※4) Absolute：1,048,576（20bit） |
||
| Moment of inertia J=GD2/4 | kg･cm^2 | 0.31 | 0.42 | 0.53 |
| Permissible radial load Fr | Ｎ | 320 | ||
| Permissible axial load Fa | N | 160 | ||
| Allowable moment | Nm | 8.3 | 10.1 | 11.9 |
| Repeated positioning accuracy at shuttling | PULSE | ±1 | ||
| Weight | kg | 0.37 | 0.46 | 0.55 |
| Recommend Driver | MC-200-7220▢ / MC-200C-6018▢ | |||
| Standard heat sink | 200×200×10 A5052 | |||
【NOTE】
(※1) In case you use with 24V, please contact us since peak torque would change.
(※2)Please ask us if there is a speed you prefer.
(※3)Rated armature current is the value measured with the standard heat sink attached to the motor at an ambient temperature of 40°C.
(※4)The resolution can be changed from 500,000, 640,000, 1,000,000, 1,280,000, 2,500,000, and 2,560,000(all after multiplication by 4).
Also, the maximum rotation speed changes depending on the resolution.
Calculation formula: 3MHz/4 resolution before multiplication × 60 = ○○ [rpm]
However, it depends on the case where driver input voltage value > equivalent induced voltage constant × 1.5
| Type | MD－6006 | MD－6012 | MD－6018 |
|---|---|---|---|
| L1 Length | 31.5 | 37.5 | 43.5 |
