Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


MA Motors

MA Hollow shaft servo motor available in 5 frame sizes. Large Hollow Shaft design allows cables, shafts or lasers to pass through the axis of rotation.

Models:

MAC08*200 | MAB09*200 | MAB09*100 | MAB12*200 | MAB15*200 | MAA21A*200

Key Features:

  • AC Servomotor
  • Large Hollow Shaft
  • Absolute Encoder (17 bit single-turn, 16 bit multi-turn)
  • Available in 5 frame sizes
  • Available with or without brake
  • Available with Low Voltage

Specifications:

Item MAC08A200
MAC08B200*
(for SHA20A)
MAB09A200
MAB09B200*
(for SHA25A 200V)
MAB09A100
MAB09B100*
(for SHA25A 100V)
MAB12A200
MAB12B200*
(for SHA32A)
MAB15A200
MAB15B200*
(for SHA40A)
MAA21AA200
MAA21AB200*
(for SHA58A)
Number of poles 10 10 10 10 10 16
Rated torque *1,*2 Nm 0.52 1 0.88 2.2 4.5 14
Rated rotational speed *1,*2 rpm 3000 3000 3000 2500 2000 1500
Rated power *1,*2 W 163 314 276 576 942 2200
Torque constant *1 Nm/A(rms) 0.35 0.41 0.24 0.44 0.54 0.72
Rated current *1,*2 A(rms) 2.1 3 4.7 6 10 23
Rated stall current *2 A 2.4 3.6 6.2 8.5 13 33
Max. torque *1 Nm 1.8 3 3 7 13 45
Max. rotational speed *1 rpm 6000 5600 4800 4800 4000 3000
Max. current *1 A(rms) 6.5 8.9 15.4 19 29 75
EMF constant *3 V/(rpm) 0.037 0.043 0.025 0.046 0.057 0.075
Phase resistance (at 20℃) Ω 1.43 1.2 0.4 0.33 0.19 0.028
Phase inductance mH 2.5 3 1 1.4 1.2 0.29
Moment of Inertia (without brake) kg・m2 0.69 x10-4 1.4 x10-4 1.4 x10-4 4.8 x10-4 13 x10-4 115 x10-4
Moment of Inertia (with brake) kg・m2 0.78 x10-4 1.8 x10-4 1.8 x10-4 6.0 x10-4 17 x10-4 131 x10-4
Mass (without brake) kg 1.1 1.5 1.5 2.8 4.4 14.8
Mass (with brake) kg 1.2 1.65 1.65 3.2 5.2 17.1
Power Supply Voltage V AC200 AC200 AC100 AC200 AC200 AC200
Encoder type Absolute encoder
Single turn motor revolution encoder resolution

217 (131072)

Motor multi revolution counter

(battery buffered)

216 ( 65536)
Motor insulation Insulation resistance : 100MΩ MIN (DC 500V)
Dielectric strength : AC1500V/1min Insulation class : A

* B indicates with brake
* 1 The table show typical output values of actuators
* 2 Value after temperature rise and saturation when it is used with aluminum radiation plate shown below:
MAC08:320×320×16[mm]
MAB09:350×350×18[mm]
MAB12:400×400×20[mm]
MAB15:500×500×25[mm]
MAA21A:650×650×30[mm]
* 3 This value is 3 times phase-value


Spec Sheet

PDF Drawings

3D CAD Files

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Brake Specifications

MAC08B200 MAB15B200 MAA21AB200 MAB09B200 MAB09B100 MAB12B200
Type (with power-saving control) Dry non-excitation actuation type
Brake voltage(no polarity) V DC24V±10%(no polarity) DC24V±10%
Current consumption during suction 1, 2) A 0.37 0.7 0.9 0.8
Current consumption during holding 1,) A 0.37 0.7 0.9 0.3
Holding torque Nm 0.6 4 15 1 1 2
Insulation class F B
Dielectric strength AC500V/1min
Insulation resistance 100MΩ MIN ( DC500V )

Allowable number of normal brakings 3)

times 100000
Allowable number of emergency stops 4) times 200

Note 1) Value at 20℃.
Note 2) The duration for current consumption during suction is 0.5 second or less for the power supply of DC24V±10%.
Note 3) The service time for normal holding when the brake activates at motor shaft rotation speed of 150 rpm or less.
Note 4) The service time for emergency stop is assured when the brake activates at motor speed of 3000 rpm or less provided the load inertia moment is 3 times of less than that of the motor.

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