M

Technical Journal

M
NSK

EGATORQUE MOTOR
EGATORQUE MOTOR

1.1 Product Series List

RS Series Motor • • • • • • • • • • • • • • • • • • • • • • • • A 6
Standard Type • • • • • • • • • • • • • • • • • • • • • • A 7
Absolute Positioning Type • • • • • • • • • • • • • A15
Waterproof Type • • • • • • • • • • • • • • • • • • • • A18
Motor with brakes • • • • • • • • • • • • • • • • • • • A19
Precision Type • • • • • • • • • • • • • • • • • • • • • • A20
SS Series Motor • • • • • • • • • • • • • • • • • • • • • • • • A21
YS Series Motor • • • • • • • • • • • • • • • • • • • • • • • • A23
JS Series Motor • • • • • • • • • • • • • • • • • • • • • • • • A46
1.2 Features of
Megatorque Motor
(1) Direct Drive
The Megatorque Motor produces high torque and enables a
load directly coupled with the motor to be driven without using
a reduction gear. (See Figure 1.3 Structure of Megatorque
Motor RS Series.) Each motor has a built-in rotation position
detector enabling it to form a fully closed loop servo.

(2) High Rotational Positioning Accuracy

The Megatorque motor has a high resolution resolver featuring
614400 pulses/revolution (except for the RS series 4" motor,
SS Series Motor and JS0002FN001 in JS Series) Fig 1.1 Megatorque Motor
The megatorque Motor can drive a directly coupled load application (Direct drive Robot)

without using reduction gears, featuring repeatability of ±2.1arc

seconds for a rigid load. (The repeatability of the 4" Megatorque
motor and JS0002FN001 is ±3.2arc seconds, and that of SS
Series motor is ±2.7arc seconds.)

(3) High Rate of Acceleration and Reduced

Cycle Time
High torque allows quick acceleration and deceleration,
resulting in reduced cycle time.
Fig 1.2 Example of
RS0608 Resolver accuracy
(4) High Reliability
Simple structure of a brushless motor with no permanent
magnet and the use of a high performance, rigid, grease filled
bearing offer high reliability and maintenance free operation.

(5) High Rigidity

A heavy duty crossed roller bearing allows robot arms or other
heavy loads to be directly coupled with the rotor without using
external support bearings. As reduction gears are
unnecessary, a simple mechanism can be achieved.

(6) Hollow Structure

The motor has hollow space on the center part for wiring and
plumbing.
Fig 1.3 Structure of Megatorque Motor RS Series

A4

(7) Variety of Selections
In addition to the standard product type, a wide variety of
products are available such as Waterproof motor type, Motors
with brakes, Absolute Positioning type, Precision Motor type,
SS Series, economical YS Motor Series and compact JS
Series.
(8) Special Driver Units
1 Precision and multi-function digital servo
The EM, high power EP and ESA driver units, which drive and
control Megatorque motors, incorporate a 16-bit
microprocessor for complete digital servo control. It features a
vatiety of functions providing a high performance, multifunction
and easy-to-use controller.
Especially the compact ESA driver unit has a built-in auto-
tuning function to select the optismum senvo gain for the load.
2 Variety of Command Inputs
The driver units have a variety of I/O interfaces for connection
with personal computers, NC machines, Programmable logic
1.3 The Megatorque
Motor System
Figure 1.4 below shows an example of controlling the
Megatorque motor using the EM driver unit and Programmable
logic controller(PLC)
The handy terminal is required for the initial system
programming. it is not necessary during normal operation.
Fig 1.4
A5
MOTOR
MEGATORQUE
MEGATORQUE MOTOR
controllers(PLC), etc. It can accept a variety of input
commands issued by the user (such as BCD serial signals,
pulse train signals, RS-232C communication commands, and
so forth).
3 Easy and Variety of Operations
Position, velocity and torque mode selection and writing of
parameters and programs may be executed in real time
through the RS-232C interface. The use of the program
execution method allows positioning without user' s controller.
4 Easy maintenance
An error indicator LED on the front panel allows easy operation
check. The I/O and alarm status may be read out through the
RS-232C interface.
5 Compact reliable special IC' s and multi-layer boards are
used for down-sizing and improved reliability of the driver unit.
6 Various Options
Available in a wide selection of options such as driver units for
Absolute Positioning type, EM Super Series with electronic
cams, memory cards and single-axis NC control functions, etc.
1.4 Megatorque Motor RS Series
1.4.1 RS Series System Model Number
(1) Standerd Type, Waterproof Type, Precision Type
Motor with Brakes, Absolute Positioning Type
Megatorque motor system Includes the motor, driver unit and a table set

System Model Number

Moter Model Number Driver Unit

Specifications

M -R S 14 10 F N 001 M A 1 3 C
Megatorque Motor
C• • • Standard Cable Set (4m long)
No code• • • Specially Designed Cable Set
R• • • Standard(Base Mount)
B• • • Low Friction(Base Mount)
A• • • Low Friction(Flange Mount) 3• • • Position Control Type
5• • • Position Control Type with Analog Input
S • • • Standard A• • • EM Super Position Control Type
W• • • Waterproof B• • • EM Super Position Control Type
Z • • • Reinforced Waterproof with Analog Input
Motor Size (Indicates Driver Unit option If previous
14• • • 14 Inch Type digit isF.)
Motor Stack Height
10• • • 2.5"
1• • • Resolver 12bit/10bit Selectable
F• • • Standard(No Absolute Resolver) A• • • Absolute Resolver Installed
C• • • Absolute Resolver Installed F• • • Specially Designed Driver Unit
A• • • Main AC Line 220V
N• • • Standard(No Clamp Mechanism) C• • • Main AC Line 110V
C• • • Positive Actuated Electromagnetic Brake Installed M• • • EM Driver Unit(One Power Amplitier)
D• • • Negative Actuated Electromagnetic Brake Installed P • • • EP Driver Unit(Two Power Ampiifiera)
G• • • Negative Actuated Electromagnetic Brake
(Non-Backlash)Installed Motor Option(Standard=001)

(2) EM Driver Unit Model Number

Not an ordering number: the driver unit cannot be ordered separately.
Typical Model Number:

M - EM1410 A 1 3 - 04
Driver Unit Type Version Number
EM• • • Standard
(One power amplifier) Control Mode/Interface Option
EP • • • High-power 3• • • Position Control Type
(Two power ampifiers) 5• • • Position Control Type with AnalogInput
A• • • EM Super Position Control Type
Motor Size B• • • EM Super Position Control Type
Moter Size the four digit code is equal to with Analog Input
the four digits in the motor model number, (Indicates Driver Unit option if previous
eg a code 1410 driver unit is intended for digit is F.)
a RS1410 motor.

Control Option
Main Power Option
1• • • Resolver12bit/10bit selectable
A • • • Main AC Line 220V A• • • Absolute resolver installed
C • Main AC Line110V
• •
F • • • Specially designed driver unit

(3) Motor Options

The Megatorque Motors have a wide variety of connector positions, mounting configurations, etc. They are also available in other
sizes than those in the table below. For more informations on these variations, contact NSK.
Spec. Connector Mounting Spec. Connector Mounting Spec. Connector Mounting
Model Number(1) Location(2) Flange(3) Model Number(1) Location(2) Flange(3) Model Number(1) Location(2) Flange(3)
M-RS1410FN001 Side Yes M-RS1010FN003 Bottom Yes M-RS0608FN001 Side Yes
M-RS1410FN002 Side No M-RS1010FN004 Bottom No M-RS0608FN002 Side No
M-RS1410FN003 Bottom Yes M-RS0810FN001 Side Yes M-RS0608FN003 Bottom Yes
M-RS1410FN004 Bottom No M-RS0810FN002 Side No M-RS0608FN004 Bottom No

M-RS1010FN001 Side Yes M-RS0810FN003 Bottom Yes M-AS0408FN018(4) Yes

M-AS0408FN019(5) Non
(Permanent
M-RS1010FN002 Side No M-RS0810FN004 Bottom No
M-BS0408FN012(4) cables) No
M-BS0408FN013(5)
(1)The motors for the EP driver unit have different model numbers. (4)Main AC Line Voltage : 200/220 VAC
(2)Select for convenient cable outlet direction. (5)Main AC Line Voltage : 100/110 VAC
(3)To mount a motor with no flange, use the tapped holes in the bottom of the motor.

A6
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

1.4.2 RS Series standard Type

(1) specifications
Motor Model 0408, 0608, 0810, 1010, 1410 are standard.
Motor Model 0404, 0602, 0604, 0606, 0806 1006
1413, 1420, are semi-standard.

Photo 1.1
Standard
type

Motor Model
M-x x0404 M-x x0408 M-x x0602 M-x x0604 M-x x0606 M-x x0608 M-x x0806 M-x x0810
Items
Max. Torque(1) (N • m) 3.9 9.8 5.8 14.7 24.5 39.2 52.9 88.2
Max. Current/phase(2)
3/1.5 6/3 6/6 7.5/7.5
(A)
Winding Voltage(2) (VDC) 165/330
Max. Friction Torque
1 3 4.5
(N • m)
Allowable Axial Load(5)
1760 3729 4500
(N)
Allowable Moment
19 58 78
Load(5)(6) (N • m)
Motor

Axial Rigidity (mm/N) 2.55x10 –6 4.08x10 –6 3.06x10 –6

Moment Rigidity(6)
3.06x10 –6 3.57x10 –6 2.55x10 –6
(rad/N • m)
Rotor Inertia J(MR2)
0.002 0.0023 0.0038 0.005 0.007 0.0075 0.016 0.02
(kg • m2)
Mass (kg) 4.5 6.5 9 11 12.5 14 20 24
Environment conditions Operation Temp. : 0°C~40°C Humidity : 20%~80%, Indoor use only
Basic Specifications Rate : Fcontinuous, Protection : totally Enclosed, Non-Vented
Insulation : F, Winding Insulation Test : AC 1500V for one minute
compatible Driver EM0810
EM0404 EM0408 EM0602 EM0604 EM0606 EM0608 EM0806
Unit Type EP0810
Main AC Line Voltage (VAC) 3φ /1φ 220V±10% 50/60Hz or 1φ 100~128V 50/60Hz
Contol AC Line Voltage (VAC) 1φ 90~240V 50/60Hz
Main AC Line Power 1/0.5 1.5/0.5 1/1 1/1.5 1/1.5 1/2 1.5/2
Cap.(2)(3) (KVA) 2 3
Motor Driver

Max. Speed(4) (rps) 1.5/4.5 1/3

Coupling

Resolver Resolution (4)

409600/102400 614400/153600
(counts/rev)
Resolver Accuracy
120 60
(arc-sec)
Resolver Repeatability(4)
(arc-sec)
±3.2/±12.8 ±2.1/±8.4

(1) In case of the operation at zero speed for long periods, see Megatorque motor SI unit System : 1N=0.102kgf=0.225lb
output torque characteristics (A124 page) 1N • m=0.102kgf • m=0.738ft • lb
(2) The first figure indicates main AC line 110V, the second indicates main AC line 220V.
(3) The second line indicates in case that the compatible driver unit is EP type.
(4) The first figure indicates 12 bit resolver resolution, the second indicates 10 bit resolution.
(5) When more load capacity is required, the additional bearing is necessary. Consult with NSK.
(6) Allowable moment load and moment rigidity are mesured in case of the motor mounted on the rigid base.

A7
 Motor Model M-x x1006 M-x x1010 M-x x1404 M-x x1410 M-x x1413 M-x x1420
Items
Max. Torque(1) (N • m) 88.2 147 88.2 245 294 490
Max. Current/phase (2)
7.5/7.5
(A)
Winding Voltage(2)
165/330
(VDC)
Max. Friction Torque
5.4 7.9
(N • m)
Allowable Axial
9500 19600
Load(5) (N)
Allowable Moment
156 392
Load(5)(6) (N • m)
Motor

Axial Rigidity (mm/N) 1.43x10 –6 1.01x10 –6

Moment Rigidity (6)
1.53x10 –6 3.06x10 –7
(rad/N • m)
Rotor Inertia J(MR2)
0.07 0.075 0.2 0.27 0.32 0.61
(kg • m2)
Mass (kg) 31 40 39 73 90 150
Environmental Operation Temp. : 0°C~40°C Humidity : 20%~80%, Indoor use only
Conditions
Basic Specifications Rate : FContinuous, Protection : Totally Enclosed, Non-Vented
Insulation : F, Winding Insulation Test : AC1500V for one minute
Compatible Driver unit EM1010 EM1410
EM1006 EM1404 EP1413 EP1420
type EP1010 EP1410
Main AC Line
3φ/1φ 220V±10% 50/60Hz or 1φ 100~128V 50/60Hz
Voltage (VAC)
Contol AC Line
1φ 90~240V 50/60Hz
Voltage (VAC)
Main AC Line Power 1.5/2.5 1.5/2.5
1/2 1/2 3.5 4
Cap.(2)(3) (KVA) 3.5 3.5
Motor Driver

Max. Speed(4) (rps) 1/3

Coupling

Resolver Resolution(4)
614400/153600
(counts/rev)
Resolver Accuracy
60
(arc-sec)
Resolver
±2.1/±8.4
Repeatablility(4) (arc-sec)

(1) In case of the operation at zero speed for long periods, see Megatorque motor output SI unit System : 1N=0.102kgf=0.225lb
torque characteristics (A124 page) 1N • m=0.102kgf • m=0.738ft • lb
(2) The first figure indicates main AC line 110V, the second indicates main AC line 220V.
(3) The second line indicates in case that the compatible driver unit is EP type.
(4) The first figure indicates 12 bit resolver resolution, the second indicates 10 bit resolution.
(5) When more load capacity is required, the additional bearing is necessary. Consult with NSK.
(6) Allowable moment load and moment rigidity are measured in case of the motor mounted on the rigid base.

A8
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

(2) Speed Torque Characteristics

1 Driven by EM Driver unit (AC220V)

2 Driven by EP driver unit (AC220V)

Fig.1.5 Fig.1.6

A9
(3) Standard type Motor Dimensions
1 Motor Model AS0404, AS0408, RS0602, RS0608, RS0810, RS1010, RS1410

M-AS0404FN005 (Compalible Driver Unit : AC220V)

M-AS0404FN006 (Compalible Driver Unit : AC110V)

M-AS0408FN018 (Compalible Driver Unit : AC220V)

M-AS0408FN019 (Compalible Driver Unit : AC110V)

M-RS0602FN011 (Compalible Driver Unit : AC220V)

M-AS0602FN001 (Compalible Driver Unit : AC110V)

A 10
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

M-RS0608FN001

M-RS0810FN001

M-RS1010FN001

A 11
 M-RS1410FN001

2 Motor Model : RS0604, RS0606, RS0806, RS1006, RS1404, RS1413, RS1420

Connector Specification
(EM type driver unit)

A 12
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Motor Dimensions
(Unit : mm)

6" Motor 8" Motor 10" Motor 14" Motor

Motor
Model
M-x x M-x x M-x x M-x x M-x x M-x x M-x x M-x x M-x x M-x x M-x x
Dimensions 0604 0606 0608 0806 0810 1006 1010 1404 1410 1413 1420

A 176 176 176 220 220 286 286 378 378 378 390

B 176 176 176 220 220 282 282 377 377 377 390

C — — — — — 208 208 — — — —

D 110h7 110h7 110h7 135h7 135h7 170h7 170h7 245h7 245h7 245h7 245h7

E 40 40 40 50 50 64 64 118 118 118 118

F 40 40 40 50 50 90 90 154 154 154 130

G 215h8 215h8 215h8 250h8 250h8 320h8 320h8 420h8 420h8 420h8 450h8

H 111.2 111.2 111.2 133 133 164.5 164.5 210 210 210 223

I 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 16.5 22 22

J 28.3 28.3 37 34 34 37 37 42 42 56 56

K 36 50 44.5 42.3 67.3 49 74 44 82 87 157

L — — — — — 84 109 77 115 134 130

M 12 12 12 13 13 15 15 16 16 16 30

N — — — — — 66 66 47 71 90 —

O 83.5 97.5 110 101 126 110.5 135.5 111.5 149.5 168.5 241.5

P — — — — — 117 142 — — — 242

Q 95 109 121.5 114 139 135 160 132 170 189 250

R 35 35 35 42 42 42 42 42 42 42 42

S 30° 30° 30° 30° 30° 30° 30° 30° 30° 30° 30°

9-M12x1.75
6-M8x1.25 Deep 8 6-M8x1.25 Deep 12 9-M8x1.25 Deep 13 9-M10x1.5 Deep 15 Deep 20
T
PCD75, 60°Spacing PCD80, 60°Spacing PCD110, 40°Spacing PCD188, 40°Spacing PCD188, 40°
Spacing

6-φ13 Thru
6-φ7 Drill-Thru 6-φ7 Drill-Thru 6-φ9 Drill-Thru 6-φ11 Drill-Thru
U PCD420, 60°
PCD200, 60°Spacing PCD234, 60°Spacing PCD300, 60°Spacing PCD400, 60°Spacing Spacing

6-M10x1.5
6-M5x0.8 Deep 12 6-M6x1.0 Deep 15 6-M8x1.25 Deep 20 6-M8x1.25 Deep 20 Deep 25
V
PCD97, 60°Spacing PCD120, 60°Spacing PCD152, 60°Spacing PCD230, 60°Spacing PCD228, 60°
Spacing

Mass(kg) 11 12.5 14 20 24 31 40 39 73 90 150

Compatible EM0604 EM0606 EM0608 EM0806 EM0810 EM1006 EM1010 EM1404 EM1410
Driver Unit EP1010 EP1410 EP1413 EP1420

A 13
(4) Cable set 1 Cable Set Model Number
A cable set comsists of a motor cable for connecting a motor
with a driver unit and a resolver cable. The standard cable M - C 004 S M 05
length is 4 meters, which may be changed at user's request if
specified when placing an order. Longer cables are also
Megatorque 05• • • Straight Plug
available. Contact us if you need long cables. A shipped motor Motor 03• • • Angled Plug
07• • • Straight Plug for Absolute
has been tuned on the assumption that it will be used with the 10• • • Angled Plug Positioning Series

cables supplied. If the cable length is to be changed, please

Cabel Set M• • • For EM Driver Unit
consult with NSK. P • • • For EP Driver Unit

Cable Length S • • • Standard

(in meters) W• • • Waterproof

2 Cable Set Dimensions

M-C × × × SM05

M-C × × × SP05

3 Cable Connector pin-out

A 14
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

1.4.3 RS Series Absolute Positioning Type

Photo 1.2
Absolute Positioning Type

(1) Features 4 Easy operation

The Megatorque motors RS Series Absolute Positioning Type Programming using the EM driver unit allows absolute
detect the absolute position within one revolution using built-in positioning to any position with the performances and functions
resolver. features are as follows : of the Megatorque motor unchanged.

1 Needless of Home Return Sequence 5 Driver Unit

When power is turned on, operations start immediately without
returning the motor to the home position.
2 Battery backup is unnecessary
Positioning operation goes without battery back up.
The driver unit for a Megatorque motor with the absolute
resolver has the same size as the EM and EP driver units. The
driver unit for a Megatorque motor with the absolute position
detection fuction is an absolute position detection driver unit of
the same size as the EM and EP driver units.

3 Optional home position setting 6 Specifications

The home position is set with the driver unit through the The specifications of Absolute Positioning Type and
RS232C interface. Once it has been set, it is stored. Further, it combination with the driver unit are the same as those of the
may be changed at any time. standard Type, except for motor size, motor mass, and rotor
inertia.

Rotor Inertia and Mass

Motor Model
M-AS0408 M-BS0408 M-RS0608 M-RS0810 M-RS1010 M-RS1410
Items

Rotor Inertia J (kg • m2) 0.0023 0.0023 0.01 0.024 0.088 0.308

Mass (kg) 7.5 7.0 20 35.5 61 98

A 15
(2) Absolute Positioning Type Motor Dimensions

M-AS0408CN501

M-BS0408CN501

M-RS0608CN001

A 16
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

M-RS0810CN001

M-RS1010CN001

M-RS1410CN001

∗If Absolute Positioning Type with Waterproof Option or with a Brake is required, consult with NSK.

A 17
1.4.4 RS Series Waterproof Type This type of motor may be used for strong jet water falling
The waterproof motors may be used for operations where the under the IP66 level by means of air purging [i.e., applying air
motor is subjected to splashing of cutting fluid, grinding fluid, oil pressure of approx. 4.9x104Pa(0.5kg/cm2)to the inside of the
or water. They are available in two types; the waterproof type motor] For this purpose, this type of motor has a tapered
and reinforced waterproof type. They have the following threaded hole for air purge piping.
features.
(1) Features
1 waterproof type
The outside dimensions of the waterproof type motors are
quite the same as those of the standard type motors. The
waterproof type motor is sealed with an online gasket in the
motor connection and has waterproof connections for the
motor cable and resolver cable rated to the MIL-C-5015
Standard. It is suitable for opeation where the motor is subject
to intermittent splashing of oil or water or dew condensation.
However, it is not waterproof in the flat surface at the end of
the output shaft and hollow space of the center part.
Thus, the user should take appropriate measures against
water penetration through the portions marked with arrows in
Figure 1.24
2 Reinforced Waterproof type Photo 1.3 Reinforced Waterproof type Motor
The Reinforced waterproof type is sealed with an O-ring and
seal washer in the motor connection and has the same
waterproof connections for the motor and resolver cables as
used for the waterproof type motor. It is waterproof in
compliance with the IP65 level (dust-proofness and protection
against jet water in compliance with the International
Protection/DIN-10050). It may be used for operations subject
to continuous splashing of oil or water. It is also sealed in the
flat surface at the end of the output shaft and hollow space of
the center part.

Fig. 1.24
∗ For the waterproof type motors, the user should take appropriate
measures against water penetration through the portion marked with
(2) Reinforced WaterproofMotor arrows.

Dimensions

M-RZ0608 M-RZ1010
M-RZ0810 M-RZ1410

Moder Model D1 D2 D3 D4 D5 H1 H2 H3 Mass (kg)

M-RZ0608 215 176 110 40 — 130 115.5 — 14.6
M-RZ0810 250 220 135 50 — 149 136.5 — 25
M-RZ1010 320 286 170 64 90 170 149 112 41
M-RZ1410 420 379 245 118 154 180 155 119 80

A 18
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

1.4.5 RS Series Motors with Brakes

If there is a risk that a motor may remain stationary with a load
applied to the motor for a long period of time or an unbalanced
load may rotate the motor shaft when the motor is powered
down, a Meatorque motor with a brake is suitable.
In addition to a mechanical electromagnetic brake, a motor
with an electronic brake making use of an uninterruptive power
supply unit is also available. However, care should be taken
with this type of brake since it produces no restraint after it has
stopped rotation of a motor. For details of the electronic brake,
see the part "DRIVER UNITS."

(1) Features
Motors with positive actuatied brakes
The brake is applied and prevents the motor from rotating,
when excited. A motor with a positive actuated brake may be Photo 1.4 Motor with Brake

retained in the correct position in the case where load or

vibration is applied in the rotarional direction while machining
or a load is being applied for a long period of time. The brake
incorporates a dry type single-plate electromagnetic brake with
a diaphragm featuring rigidity and no backlash.
Motors with negative actuated brakes
The brake is applied when unexcited. While the motor is
rotating, the brake should be excited. The brake is actuated
when excitation is removed, when the line is discontinued or
stoppes in an emergency, or in the case of a power failure.
This type of motor is available in two types: The FD type with
backlash (6 to 7 arc-min.) in the brake due to the use of a
spline, and the FG type with no backlash.

(2) Dimensions of Motors with brakes

Positive actuated brake with no backlash (Fig.1.27)

D1 D2 H1 H2 Brake Brake Mass

Motor Model Torque Power
(mm) (mm) (mm) (mm) (N • m) Capacity (kg)

M-RS0608FC001 141 18 185.5 132.5 49 DC24V,36W 19

M-RS0810FC001 157 24 204 150 88.2 DC24V,40W 34
M-RS1010FC001 176 35 235 171 147 DC24V,46W 52
M-RS1410FC001 221 60 257 181 245 DC24V,64W 98

Negative actuated brake with backlash (6 to 7 arc-min) (Fig.1.28)

D1 D2 H1 H2 Brake Brake Mass

Motor Model Torque Power
(mm) (mm) (mm) (mm) (N • m) Capacity (kg)

M-RS0608FD001 157 18 192 132.5 49 DC24V,36W 21

M-RS0810FD001 177 24 209.5 150 88.2 DC24V,40W 37
M-RS1010FD001 187 35 245 171 147 DC24V,46W 56
M-RS1410FD001 207 60 267 181 245 DC24V,64W 100

Negative actuated brake with no backlash (Fig.1.29)

D1 D2 H1 H2 Brake Brake Mass

Motor Model Torque Power
(mm) (mm) (mm) (mm) (N • m) Capacity (kg)

M-RS0608FG001 157 18 189.5 132.5 29.4 DC24V,36W 21

M-RS0810FG001 177 24 207 150 49 DC24V,40W 37
M-RS1010FG001 187 35 239 171 88.2 DC24V,46W 56
M-RS1410FG001 257 60 257 181 147 DC24V,64W 100

A 19
1.4.6 RS Series Precision Motor Type (2) Measurement Method
The Megatorque Motor RS Series Precision Type are suitable
for rotary table applications, etc. requiring strict control of
rotational deflection or parallelism allowance or much more
enhanced concentricity between the rotation center and table
center than the standard series (normal grade) motors.
The following shows the parallelism and accuracy ratings of
the standard serise (normal grade) and precision series motors.

(1) Accuracy Ratings

Unit : Fmm
Accuracy Motor Size
14" 10" 8" 6" 4"
Ratings
Stan-
dard 0.020 0.015 0.012 0.012 0.015
1 Output shaft
surface runout Preci-
sion 0.010 0.008 0.007 0.007 0.005
Stan-
dard 0.030 0.024 0.020 0.020 0.015
2 Output shaft
radial runout Preci-
sion 0.010 0.008 0.007 0.007 0.005
Stan-
3 Parallelism between dard 0.100 0.080 0.070 0.070 0.070
output shaft and Preci-
mount surface sion 0.020 0.016 0.014 0.014 0.014
Stan-
4 Concentricity
between output shaft dard 0.100 0.080 0.070 0.070 0.070
and base mount Preci-
outer race sion 0.050 0.040 0.035 0.035 0.035
Stan-
dard h7 h7 h7 h7 h7
5 Output shaft diameter
tolerance Preci-
sion
Stan-
Base mount diameter tol- dard h8 h8 h8 h8
erance (Base mount bore
Preci- (H8) (H8) (H8) (H8) h8
tolerance)
sion
Fig. 1.33

A 20
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

1.5 Megatorque Motor SS Serires

Photo 1.5 SS Series

The outer rotor Megatorque motors use only a single outer
rotor and achieve small size, light weight and low cost.
They may be used in robots, printers, and conveyor roll drive
FA equipment.
Feature
(1) Simple structure, compact, light in weight, and low cost.
(2) Low friction due to special bearings. The starting friction
torque is less than 1% maxium torque (except for the
SSB014).

System Model Number

System Model Number

Driver Unit
Motor Model Number Specifications

M - SS B 030 FN 001 M A 1 3 C
C• • • Standard Cable set(4m long)
SS Series No Code• • • Specially Designed Cable set
Megatorque Motor

3• • • Positon Control Type

1• • • Resolver 12bit/10bit 5• • • Positon Control Type
Diameter
B• • • φ 164 Selectable with Analog Input
Output Torque(N•m) F• • • Specially Designed (Indicates Driver Unit option
Driver Unit if previous digit is F.)
FN• • • Standard
(No Clanp Mechanism)
M• • • EM Driver Unit A• • • Main AC Line 220V
Motor Option (Standard=001) (One power amplifier) C• • • Main AC Line 110V

Specifications
Motor Model
M-SSB014 M-SSB030 M-SSB045 M-SSB060 M-SSB090
Specifications
Max.Torque(1) (N • m) 14 30 45 60 90
Max.Current/phase(2) (A) 6/3 7.5/7.5
Winding voltage(2) (VDC) 165/330
Max. Friction torque (N • m) 2.9 0.29
Allowable Axial Load (N) 4500 1760
Allowable Moment Load (N • m) 39 53 57 67 76
Motor Rotor Inertia J (MR2) (kg • m2) 0.013 0.018 0.023 0.028 0.037
Mass (kg) 6 11 13 16 20
Environmental Conditions Operation Temp:0-40°C
Humidity:20-80%, Indoor use only
Basic Specifications Rate : Continuous, Protection:Totally Enclosed, Non-Vented, Winding Insulation class:F,
Winding Insulation Test:AC1500V for one minute
Compatible Driver Unit Type EMB014 EMB030 EMB045 EMB060 EMB090
Main AC Line Voltage (VAC) 3φ /1φ 220V±10% 50/60Hz or 1φ 100-128V
Control AC Line Voltage (VAC) 1φ 90-240V 50/60Hz
Motor
Max. Speed(3) (rps) 1.25/3.75
Driver
Resolver Resolution(3) (counts/rev) 491520/122880
Coupling
Resolver Accuracy (are-sec) 60
Resolver Repeatability(3) (are-sec) ±2.7/±10.8
(1) Consult with NSK for operation at zero speed for long periods. SI unit System : 1N=0.102kgf=0.225lb
(2) The first figure indicates main AC line 110V, the second indicates main AC line 220V. 1N • m=0.102kgf • m=0.738ft • lb
(3) The first figure indicates 12 bit resolver resolution, the second indicates 10 bit resolutions.

A 21
Motor Dimensions
M-SSB014

M-SSB030
M-SSB045
M-SSB060
M-SSB090

Motor Model L(mm)

M-SSB030 153
M-SSB045 178
M-SSB060 204
M-SSB090 255

A 22
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

1.6 Megatorque Motor YS Series

The New YS Series
The NSK Megatorque Motors is a direct drive motor which The New YS Series system combines NSK's technical
achieves highly precise positioning with very high torque at low excellence and reliability with outstanding performance and
speed. features including

The New NSK Series combines the performance and reliability • simple motor structure and dedicated compact driver units for
of the existing Megatorque Motor range with the advantages of low cost.
compact size and simple design for low cost. In addition to five • standard stock for short delivery times,
standard motors that cover a wide range of performance • interchangeability of motors and driver units and cable sets
requirements while assuring low cost and short delivery times, (lengths 2~30m),
NSK now offers special order motors featuring a low profile, • high resolution, full closed-loop control and zero backlash for
locating-pin holes or a brake. Some types in the New YS high precision,
Series conform to European safty requirements and bear the • high load-capacity bearings,
CE Marking. A new analog command function has been added • max. torque 240 N • m,
to the dedicated ESA25 Driver Unit. • max. speed 3rps,
• repeatability of ±2.1 sec,
The Megatorque Motor is suitable for a wide range of industrial • hollow-core structure allowing wires and pipes to run inside
applications, including use as a rotary actuator for robots, the motor,
transfer systems, chamfering machines and printing machines • an auto-tuning function to eliminate the time-consuming task
or as a rotary indexer fir assembly machines, welding systems, of gain adjustment, and
measuring instruments and machining centers. • conformity with CE Marking requirements.

Conform to CE Marking

A 23
How to use this guide
Use this guide to select the motors, driver units and acces-
Index
sories you need for your application.
System components A24

Pages A24~A34 describe the principal specifications and Motors A25

characteristics of each component in the motor system and Motor specifications A25,A31,A34
how to choose the right components for your application. Motor dimensions A26~A30,A32~A33,A35
ESA Driver Unit A36
The section “Determing your requirements” on page A44~45 Cables A37
lists all of the product numbers you will need to order a Handy Terminal A37
complete system.
Choosing a motor A39~A42
About CE Marking A43
If you have any uncertainties, or would like more detailed
Determining your requirements A44~A45
information about any aspect of the Megatorque Motor YS
Series, please contact your NSK representative at one of our
worldwide offices listed on the back cover.

Motor model number

M-YS 20 20 G N 001
Design no. 001: no locating-pin holes
011: with locating-pin holes
N: no brake
Megatorque motor YS series G: with brake
Motor size number
G: conformig to CE Marking
Maxium torque(N • m) F: not conforming to CE Marking

System Components
The typical NSK Megatorque Motor system consists of a
motor, a driver unit, cables and a Handy Terminal(or PC). You
will also need AC and DC power supplies and a
sequencer(PLC) or numerical controller.

Schema of a typical Megatorque Motor system

A 24
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Megatorque Motors
Standard type motors & Motors with locating-pin holes.
The NSK Megatorque Motor is a direct drive motor which
eliminates all gears and other transmission mechanisms to
achieve very high torque at low speeds. The New YS Series
Conform to CE Marking
offers five standard type motors, assuring low cost and short
delivery times. Motors with locating-pin holes, motors with a
brake and low-profile motors are also available.

Principal Specifications of the five standard type motors and five motors with
locating-pin holes in the New YS Series
If your requirements differ from the standard specifications, please contact NSK.

Comforming to CE Marking
Standard type motors M-YS2020GN001 M-YS3040GN501 M-YS4080GN001 M-YS5120GN001 M-YS5240GN001
Motors with locating-pin holes M-YS2020GN011 M-YS3040GN511 M-YS4080GN011 M-YS5120GN011 M-YS5240GN011
Not Comforming to CE Marking
Standard type motors M-YS2020FN001 M-YS3040FN501 M-YS4080FN001 M-YS5120FN001 M-YS5240FN001
Motors with locating-pin holes M-YS2020FN011 M-YS3040FN511 M-YS4080FN011 M-YS5120FN011 M-YS5240FN011
Maximum torque(2) (N • m) 20 40 80 120 240
Maximum stall torque (N • m) 15 35 70 105 198
Maximum current/phase (A) 6
Allowable axial load(3) (N) 3700 4500 9500 19600 19600
Allowable moment load(3) (N • m) 60 80 160 400 400
Axial rigidity(1) (mm/N) 4.0 x 10–6 3.0 x 10–6 1.4 x 10–6 1.0 x 10–6 1.0 x 10–6
Moment rigidity(1) (rad/N • m) 3.5 x 10–6 2.5 x 10–6 1.5 x 10–6 3.0 x 10–7 3.0 x 10–7
Rotor moment of inertia (kg • m2) 0.007 0.020 0.065 0.212 0.255
Rotor inertia GD2 (kgf • m2) 0.028 0.080 0.260 0.850 1.020
Mass (kg) 10 16 29 55 95
Operating conditions Temperature: 0-40°C; Humidity: 20-80% Use indoors, free from dust, condensation and corrosive gases.
Maximum speed [S–1 (rps)] 3
Resolver resolution (p/rev) 614400
Resolver accuracy (sec) 150
Resolver repeatability (sec) ±2.1
M-ESA-Y2020A23 M-ESA-Y3040A23 M-ESA-Y4080A23 M-ESA-Y5120A23 M-ESA-Y5240A23
M-ESA-Y2020C23 M-ESA-Y3040C23 M-ESA-Y4080C23 M-ESA-Y5120C23
M-ESA-Y2020T23 M-ESA-Y3040T23 M-ESA-Y4080T23 M-ESA-Y5120T23 M-ESA-Y5240T23
Compatible M-ESA-Y2020V23 M-ESA-Y3040V23 M-ESA-Y4080V23 M-ESA-Y5120V23
driver units M-ESA-Y2020A25 M-ESA-Y3040A25 M-ESA-Y4080A25 M-ESA-Y5120A25 M-ESA-Y5240A25
M-ESA-Y2020C25 M-ESA-Y3040C25 M-ESA-Y4080C25 M-ESA-Y5120C25
M-ESA-Y2020T25 M-ESA-Y3040T25 M-ESA-Y4080T25 M-ESA-Y5120T25 M-ESA-Y5240T25
M-ESA-Y2020V25 M-ESA-Y3040V25 M-ESA-Y4080V25 M-ESA-Y5120V25
Notes:
S1 Unit system: 1N=0.225 lb; 1N • m=0.738 ft • 1lb
(1) These values assume that the motor is mounted on a rigid base.
(2) For speed torque characteristics, see page A39.
(3) For details of how to calculate axial and moment load, see page A40.
∗ New YS Series Megatorque Motors can be run on either 100/110V or 200/220V AC except M-YS5240 ∗ ∗ ∗ ∗ ∗.
M-YS5240 ∗ ∗ ∗ is available only in 200/220V AC version.
∗ For order numbers of compatible Driver Units, cables and other accessories, see pages A44~A45.

A 25
Motor dimensions
The figures on pages A26~A30 show the external dimensions motors with locating-pin holes. Please check that the motors
of the five standard motors in the New YS Series and the five you plan to order will fit your workspace specifications.

M-YS2020GN001 / M-YS2020FN001(standard type motor)

M-YS3040GN501 / M-YS3040FN501(standard type motor)

A 26
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

M-YS4080GN001 / M-YS4080FN001(standard type motor)

M-YS5120GN001 / M-YS5120FN001(standard type motor)

A 27
M-YS5240GN001 / M-YS5240FN001(standard type motor)

M-YS2020GN011 / M-YS2020FN011(with locating-pin holes)

A 28
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

M-YS3040GN511 / M-YS3040FN511(with locating-pin holes)

M-YS4080GN011 / M-YS4080FN011(with locating-pin holes)

A 29
M-YS5120GN011 / M-YS5120FN011(with locating-pin holes)

M-YS5240GN011 / M-YS5240FN011(with locating-pin holes)

A 30
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Motors with brake

The New YS Series of Megatorque Motors includes four Conform to CE Marking
motors with an integral brake that is actuated by an extemal
power supply.
Fordetails of power supply, see page A38.

Principal specifications of the four motors with brake in the New YS Series
If your requirements differ from the standard specifications, please contact NSK.

Motors with brake

Comforming to CE Marking M-YS2020GG001 M-YS3040GG001 M-YS4080GG001 M-YS5120GG001
Not Comforming to CE Marking M-YS2020FG001 M-YS3040FG001 M-YS4080FG001 M-YS5120FG001
Maximum torque(2) (N • m) 20 40 80 120
Maximum stall torque (N • m) 15 35 70 105
Maximum current/phase (A) 6
Allowable axial load(3) (N) 3700 4500 9500 19600
Allowable moment load(3) (N • m) 60 80 160 400
Axial rigidity(1) (mm/N) 4.0x10 –6 3.0x10 –6 1.4x10 –6 1.0x10 –6
Moment rigidity(1) (rad/N • m) 3.5x10 –6 2.5x10 –6 1.5x10 –6 3.0x10 –7
Rotor moment of inertia (kg • m2) 0.008 0.023 0.072 0.240
Rotor inertia GD2 (kgf • m2) 0.032 0.092 0.288 0.960
Brake output torque (N • m) 20 40 80 120
Mass (kg) 12 20 36 66
Operating conditions Temperature: 0-40°C; Humidity: 20-80%; Use indoors, free from oil mist, dust, condensation and corrosive gases.
Maximum speed [S1(rps)] 3
Resolver resolution (p/rev) 614400
Resolver accuracy (sec) 150
Resolver repeatability (sec) ±2.1
Compatible M-ESA-Y2020A25 M-ESA-Y3040A25 M-ESA-Y4080A25 M-ESA-Y5120A25
driver units M-ESA-Y2020C25 M-ESA-Y3040C25 M-ESA-Y4080C25 M-ESA-Y5120C25
M-ESA-Y2020T25 M-ESA-Y3040T25 M-ESA-Y4080T25 M-ESA-Y5120T25
M-ESA-Y2020V25 M-ESA-Y3040V25 M-ESA-Y4080V25 M-ESA-Y5120V25
Notes:
Sl unit system: 1N=0.225lb; 1N • m=0.738ft • lb
(1) These values assume that the motor is mounted on a rigid base.
(2) For speed-torque characteristics, see page A39.
(3) For details of how to calculate axial and moment loads, see page A40.
∗ New YS Series Megatorque Motors can be run on either 100/110V or 200/220V AC.
∗ For order numbers of compatible Driver Units, cables and other accessories, see pages A44~A45

A 31
Motor dimensions
The figures on pages A32-A33 show the external dimensions Please check that the motors you plan to order will fit your
of the four motors in the New YS Series with an integral brake. workspace specifications.

M-YS2020GG001 / M-YS2020FG001(with brake)

M-YS3040GG001 / M-YS3040FG001(with brake)

A 32
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

M-YS4080GG001 / M-YS4080FG001(with brake)

M-YS5120GG001 / M-YS5120FG001(with brake)

A 33
Low-profile motors
Conform to CE Marking
The New YS Series of Megatorque Motors includes two
motors with an extra-low profile for use in conditions where
space is at a premium.

Principal specifications of the two low-profile motors in the New YS Series

If your requirements differ from the standard specifications, please contact NSK.

Low-profile motors
Comforming to CE Marking M-YS2005GN001 M-YS3008GN001
Not Comforming to CE Marking M-YS2005FN001 M-YS3008FN001
Maximum torque(2) (N • m) 5 8
Maximum stall torque (N • m) 4 5
Maximum current/phase (A) 1.5
Allowable axial load(3) (N) 3700 4500
Allowable moment load(3) (N • m) 60 80
Axial rigidity(1) (mm/N) 4.0x10 –6 3.0x10 –6
Moment rigidity(1) (rad/N • m) 3.5x10 –6 2.5x10 –6
Rotor moment of inertia (kg • m2) 0.003 0.006
Rotor inertia GD2 (kgf • m2) 0.012 0.024
Mass (kg) 4 6
Operating conditions Temperature: 0-40°C; Humidity: 20-80%; Use indoors, free from dust, condensation and corrosive gases.
Maximum speed [S–1(rps)] 3 2(4)/3(5)
Resolver resolution (p/rev) 614400
Resolver accuracy (sec) 150
Resolver repeatability (sec) ±2.1
Compatible M-ESA-Y2005A23 M-ESA-Y3008A23
driver units M-ESA-Y2005C23 M-ESA-Y3008C23
M-ESA-Y2005T23 M-ESA-Y3008T23
M-ESA-Y2005V23 M-ESA-Y3008V23
M-ESA-Y2005A25 M-ESA-Y3008A25
M-ESA-Y2005C25 M-ESA-Y3008C25
M-ESA-Y2005T25 M-ESA-Y3008V25
M-ESA-Y2005V25 M-ESA-Y3008T25
Notes:
Sl unit system: 1N=0.225lb; 1N • m=0.738ft • lb
(1) These values assume that the motor is mounted on a rigid base.
(2) For speed-torque characteristics, see page A39.
(3) For details of how to calculate axial and moment loads, see page A40.
(4) On 100/110V AC
(5) On 200/220V AC
∗ New YS Series Megatorque Motors can be run on either 100/110V or 200/220V AC.
∗ For order numbers of compatible Driver Units, cables and other accessories, see pages A44~A45

A 34
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Motor dimensions
The figures on pages show the external dimensions of the two motors you plan to order will fit your workspace specifications.
ow-profile motors in the New YS Series. Please check that the

M-YS2005GN001 / M-YS2005FN001(low-profile)

M-YS3008GN001 / M-YS3008FN001(low-profile)

A 35
ESA Driver Units
Conform to CE Marking
The compact low-cost ESA Driver Units are specially designed
for use with YS Series Megatorque Motors. They feature a
built-in auto-tuning function to eliminate the time-consuming
task of gain compensation and a new analog speed or torque
command function.
There are seven basic ESA Driver Units, one to suit the
maximum torque of each size of Megatorque Motor.
Each is available in two versions, the ESA25 version having a
wider range of functions than the ESA23 version, and available
in either 100/110V or 200/220V AC types (except for the M-
ESA-Y5240 models which run only on 200/220V). Driver unit dimensions
When ordering, please specify the power supply and motor These figures show the external dimensions of the ESA Driver
model you plan to use as some diver units may be Units.
incompatible with some motors.

Driver Unit Model Number

M-ESA Y2020 T 23
Design no. 23: ESA23 version
ESA driver Unit
25: ESA25 version
Supply voltage
Not conforming to CE Macking
A: AC200/220V, C: AC100/110V
Comforming to CE Marking
T: AC200/220V, V: AC100/110V
Motor model number
Y2005: M-YS2005∗ ∗ ∗ ∗ ∗
Y3008: M-YS3008∗ ∗ ∗ ∗ ∗
Y2020: M-YS2020∗ ∗ ∗ ∗ ∗
Y3040: M-YS3040∗ ∗ ∗ ∗ ∗
Y4080: M-YS4080∗ ∗ ∗ ∗ ∗
Y5120: M-YS5120∗ ∗ ∗ ∗ ∗
Y5240: M-YS5240∗ ∗ ∗ ∗ ∗

For detaile of specifiations, see pages A92~A95.

A 36
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Accessories
The motor and driver cable set is made of NSK’s special Robot
Cable, which will stand up to repeated bending.
Please note that motors with a brake need a special cable
(see table and diagrams below).

Motor and driver unit cable set

Cable are available in standard lengths of 2, 4, 8, 15 and 30
meters.

Reference number
Referrence number
M-C 004 SS 29
Design no.
Comformity to CE Marking Not comformity to CE Marking
Cable set
28: motor with brake 32: Motor with brake
29: except motor with brake 31: Except motor with brake
Cable lemgth
002: 2m 015: 15m
foe ESA driber unit
004: 4m 030: 30m
008: 8m

Cable length L: 2m(M-C002SS∗ ∗),4m(M-C004SS∗ ∗),8m(M-C008SS∗ ∗),15m(M-C015SS∗ ∗),30m(M-CO30SS∗ ∗)

Handy Terminal (Model number M-FHT11)

When setting up a Megatorque Motor system for the first time or if the motor is not connected to a personal computer, you will need
a Handy Terminal to input parameters and programs. The Handy Terminal uses an RS-232C interface.

A 37
Brake power supply (M-FZ063)
The M-FZ063 brake power supply is specially designed for use
with New YS Series motors with a brake. The power supply is
of the overexcitation type, allowing it to be switched between
full- and half-wave settings (overexcitation: full-wave
rectification: retention: half-wave). It conforms to CE safety
requirements.

Specifications of the brake power supply

Input voltage 200/220V AC, 50/60 Hz

180V DC, 4A (overexcitation)

Output voltage 90V DC, 2A (rated)

Overexcitation time 0.35 seconds

Mass 0.3 kg

Dimensions of brake power supply Connecting

Important: The brake output of the ESA Driver Unlts cannot be used directory to
switch the brake on or off. Please use on extemal brake switch
contact for this purpose.
The capacity of the brake switch contacts must be at least 10 times
that of the inductive load current et 180V DC.
Do not short out terminals 4 and 5 while the power is switched on.
Always switch the brake on and off using terminals 6 and 7.
Never short out terminals 6 and switch the brake on and off
using the AC side.

Motor No.s starting M-YS2020 M-YS3040 M-YS4080 M-YS5120

Inductive load current(A) 0.36 0.50 0.66 0.72

Sequences Recommended sequence

The brake fitted to motors in the New YS Series is of a simple
type, operated by deenergization (when the brake power
supply is off, the brake is on) and giving zero backlash. Please
use the brake as an emergency safety device and to increase
holding rigidity after positioning is completed.
If your motor has a brake, you will need an ESA25 Driver Unit.
Important: You will need to provide your own brake control
device. If the brake is to serve as a holding device, please use
the the” integration control off” input of the ESA25 Driver Unit.

A 38
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Choosing a Motor
When selecting a motor, please take note of the characteristics
described on the next four pages.

Speed-torque characteristics
Each of the New YS Series of Megatorque Motors gives very
high torque at low speeds. These graphs show the speed-
torque characteristics at 200V and 100V AC.

A 39
Maximum speed-load characteristics
This graph shows the maximum speed of each motor when
rotated through 180° under a load.
important: This graph does not show maximum inertia values.
If you plan to use a New YS Series motor at or near the inertia
limit, please consult NSK before placing your order.

How to calculate axial and moment loads

Axial and moment loads

If is an external force, then If is an external force, then If is an external force, then

• Axial load Fa = F+weight of payload • Axial load Fa = F+weight of payload • Axial load Fa = F+weight of payload
• Moment load M = 0 • Moment load M = FxL • Moment load M = Fx(L+A)

Motor order numbers starting with M-YS2005 M-YS3008 M-YS2020 M-YS3040 M-YS4080 M-YS5120 M-YS5240

Dimension A (mm) 26 25.5 46.5 52.5 54 58.5 58.5

A 40
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

How to determine minimum positioning time

For your reference, this page shows how to determine Minimum positioning time curves
minimum positioning time with a New YS Series Megatorque
Motor. Motor No.s starting M-YS2005
(100V and 200V power supplies give identical curves)
To determine minimum positioning time, find the total pf the
moment of inertia of the work or jig mounted on the motor and
the moment of inertia of the motor itself, then read off the
minimum positioning time from the appropriate graph below.

Example
Motor: M-YS3040FN501 (at 100/110V AC)
Total moment of inertia: 1.25 kg • m2 (GD2=5 kgf • m2)
Index angle: 30°
In this case, the minimum positioning time will be 0.5 sec
as shown by the arrow on page A42.

Power supply:
200/220V AC
100/110V AC

A 41
A 42
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

About CE Marking
Conform to CE Marking
Outline
Before any item of machinery can be exported to a country in the European Union, it must conform to the new European system of
safety requirements (CE Marking).
The CE Mark certifies that a product conforms to EC directives.
NSK has worked with specialist consultants, an EU Notified Body and an EU Competent Body to ensure that the all products in the
Megatorque Motor New YS Series conform to the CE Marking Directives.
NSK positions the New YS Series as “components” to be incorporated in any system that you, the user, may build and has published
an “EC Declaration of Incorporation” to this effect. This is intended to facilitate their incorporation into your system and the CE
Marking of the overall system.

The pertinent EC directives are as follows:

• Machinary Directive Effective as of January 1, 1995
A directive governing mechanical, electrical and human safety.
• Electromagnetic Compatibility Directive Effective as of January 1, 1996
A directive governing the effect of electromagnetic waves on other devices.
• Low Voltage Directive Effective as of January 1, 1997
A directive governing electrical safety.

If you plan to incorporate a Megatorque Motor into your own system, you must
• install an isolation transformer and circuit breaker in front of the mainpower supply
• install a noise filter(s) in front of the main power supply
• install a circuit that will shut down the main power supply on detecting output from the motor’s internal thermal sensor
• provide additional protection against water and foreign particles, depending on the specifications of the system into which the motor
is to be incorporated (for more information, please contact NSK).

Example wiring diagram

For your convenience, we offer this example wiring diagram of
a system incorporating a Megatorque Motor.

A 43
Determining Your Requirements Conform to CE Marking
These two pages give all the numbers you will need to order any product from the New YS Series or a complete Megatorque Motor
system. For your convenience, the numbers are grouped according to compatibility of components, the order numbers for the
appropriate ESA Driver Units and cable sets being shown next to the order numbers for the Megatorque Motors.

Comforming to CE Marking Systems based on a New YS motor standard type.

Combinations with ESA23 Driver Units Combinations with ESA25 Driver Units
Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020T23 200V AC M-C002SS29 2m M-ESA-Y2020T25 200V AC M-C002SS29 2m
M-YS2020GN001 M-YS2020GN001
M-ESA-Y2020V23 100V AC M-C004SS29 4m M-ESA-Y2020V25 100V AC M-C004SS29 4m
M-ESA-Y3040T23 200V AC M-C008SS29 8m M-ESA-Y3040T25 200V AC M-C008SS29 8m
M-YS3040GN501 M-YS3040GN501
M-ESA-Y3040V23 100V AC M-C015SS29 15m M-ESA-Y3040V25 100V AC M-C015SS29 15m
M-ESA-Y4080T23 200V AC M-C030SS29 30m M-ESA-Y4080T25 200V AC M-C030SS29 30m
M-YS4080GN001 M-YS4080GN001
M-ESA-Y4080V23 100V AC M-ESA-Y4080V25 200V AC
M-ESA-Y5120T23 200V AC M-ESA-Y5120T25 200V AC
M-YS5120GN001 M-YS5120GN001
M-ESA-Y5120V23 100V AC M-ESA-Y5120V25 100V AC
M-YS5240GN001 M-ESA-Y5240T23 200V AC M-YS5240GN001 M-ESA-Y5240T25 200V AC

Comforming to CE Marking Systems based on a New YS motor with locating-pin holes

Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020T23 200V AC M-C002SS29 2m Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-YS2020GN011 M-ESA-Y2020T25 200V AC M-C002SS29 2m
M-ESA-Y2020V23 100V AC M-C004SS29 4m
M-YS2020GN011
M-ESA-Y3040T23 200V AC M-C008SS29 8m M-ESA-Y2020V25 100V AC M-C004SS29 4m
M-YS3040GN511 M-ESA-Y3040T25 200V AC M-C008SS29 8m
M-ESA-Y3040V23 100V AC M-C015SS29 15m
M-YS3040GN511
M-ESA-Y4080T23 200V AC M-C030SS29 30m M-ESA-Y3040V25 100V AC M-C015SS29 15m
M-YS4080GN011 M-ESA-Y4080T25 200V AC M-C030SS29 30m
M-ESA-Y4080V23 100V AC
M-YS4080GN011
M-ESA-Y5120T23 200V AC M-ESA-Y5120T25 200V AC
M-YS5120GN011 M-ESA-Y4080V25 100V AC
M-ESA-Y5120V23 100V AC
M-YS5120GN011
M-YS5240GN011 M-ESA-Y5240T23 200V AC M-ESA-Y5120V25 100V AC
M-YS5240GN011 M-ESA-Y5240T25 200V AC

Comforming to CE Marking Systems based on a low-profile New YS motor

Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2005T23 200V AC M-C002SS29 2m
M-YS2005GN001 Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2005V23 100V AC M-C004SS29 4m
M-ESA-Y2005T25 200V AC M-C002SS29 2m
M-ESA-Y3008T23 200V AC M-C008SS29 8m M-YS2005GN001
M-YS3008GN001 M-ESA-Y2005V25 100V AC M-C004SS29 4m
M-ESA-Y3008V23 100V AC M-C015SS29 15m
M-ESA-Y3008T25 200V AC M-C008SS29 8m
M-C030SS29 30m M-YS3008GN001
M-ESA-Y3008V25 100V AC M-C015SS29 15m
M-C030SS29 30m

Comforming to CE Marking Systems based on a New YS motor with brake

Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020T25 200V AC M-C002SS28 2m
M-YS2020GG001
M-ESA-Y2020V25 100V AC M-C004SS28 4m
M-ESA-Y3040T25 200V AC M-C008SS28 8m
M-YS3040GG001
M-ESA-Y3040V25 100V AC M-C015SS28 15m
M-ESA-Y4080T25 200V AC M-C030SS28 30m
M-YS4080GG001
M-ESA-Y4080V25 100V AC Brake power suply Supply voltage
M-ESA-Y5120T25 200V AC M-FZ063 200V AC
M-YS5120GG001
M-ESA-Y5120V25 100V AC

Note: The external brake power supply runs only on 200V AC.
if you plan to use a 100V AC power supply, you will
need a voltage transformer.

M-YS5240 motors are available only in 200V AC ver-

sions.

A 44
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Not Comforming to CE Marking Systems based on a New YS motor standard type

Combinations with ESA23 Driver Units Combinations with ESA25 Driver Units
Not Comforming to CE Marking
Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020A23 200V AC M-C002SS31 2m M-ESA-Y2020A25 200V AC M-C002SS29 2m
M-YS2020FN001 M-YS2020FN001
M-ESA-Y2020C23 100V AC M-C004SS31 4m M-ESA-Y2020C25 100V AC M-C004SS29 4m
M-ESA-Y3040A23 200V AC M-C008SS31 8m M-ESA-Y3040A25 200V AC M-C008SS29 8m
M-YS3040FN501 M-YS3040FN501
M-ESA-Y3040C23 100V AC M-C015SS31 15m M-ESA-Y3040C25 100V AC M-C015SS29 15m
M-ESA-Y4080A23 200V AC M-C030SS31 30m M-ESA-Y4080A25 200V AC M-C030SS29 30m
M-YS4080FN001 M-YS4080FN001
M-ESA-Y4080C23 100V AC M-ESA-Y4080C25 200V AC
M-ESA-Y5120A23 200V AC M-ESA-Y5120A25 200V AC
M-YS5120FN001 M-YS5120FN001
M-ESA-Y5120C23 100V AC M-ESA-Y5120C25 100V AC
M-YS5240FN001 M-ESA-Y5240A23 200V AC M-YS5240FN001 M-ESA-Y5240A25 200V AC

Not Comforming to CE Marking Systems based on a New YS motor with locating-pin holes
Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020A23 200V AC M-C002SS31 2m Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-YS2020FN011 M-ESA-Y2020A25 200V AC M-C002SS31 2m
M-ESA-Y2020C23 100V AC M-C004SS31 4m
M-YS2020FN011
M-ESA-Y3040A23 200V AC M-C008SS31 8m M-ESA-Y2020C25 100V AC M-C004SS31 4m
M-YS3040FN511 M-ESA-Y3040A25 200V AC M-C008SS31 8m
M-ESA-Y3040C23 100V AC M-C015SS31 15m
M-YS3040FN511
M-ESA-Y4080A23 200V AC M-C030SS31 30m M-ESA-Y3040C25 100V AC M-C015SS31 15m
M-YS4080FN011 M-ESA-Y4080A25 200V AC M-C030SS31 30m
M-ESA-Y4080C23 100V AC
M-YS4080FN011
M-ESA-Y5120A23 200V AC M-ESA-Y4080C25 100V AC
M-YS5120FN011 M-ESA-Y5120A25 200V AC
M-ESA-Y5120C23 100V AC
M-YS5120FN011
M-YS5240FN011 M-ESA-Y5240A23 200V AC M-ESA-Y5120C25 100V AC
M-YS5240FN011 M-ESA-Y5240A25 200V AC

Not Comforming to CE Marking Systems based on a low-profile New YS motor

Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2005A23 200V AC M-C002SS31 2m
M-YS2005FN001 Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2005C23 100V AC M-C004SS31 4m
M-ESA-Y2005A25 200V AC M-C002SS31 2m
M-ESA-Y3008A23 200V AC M-C008SS31 8m M-YS2005FN001
M-YS3008FN001 M-ESA-Y2005C25 100V AC M-C004SS31 4m
M-ESA-Y3008C23 100V AC M-C015SS31 15m
M-ESA-Y3008A25 200V AC M-C008SS31 8m
M-C030SS31 30m M-YS3008FN001
M-ESA-Y3008C25 100V AC M-C015SS31 15m
M-C030SS31 30m

Not Comforming to CE Marking Systems based on a New YS motor with brake

Motor order No. Driver Unit order No. Supply voltage Cable set order No Coble length
M-ESA-Y2020A25 200V AC M-C002SS32 2m
M-YS2020FG001
M-ESA-Y2020C25 100V AC M-C004SS32 4m
M-ESA-Y3040A25 200V AC M-C008SS32 8m
M-YS3040FG001
M-ESA-Y3040C25 100V AC M-C015SS32 15m
M-ESA-Y4080A25 200V AC M-C030SS32 30m
M-YS4080FG001
M-ESA-Y4080C25 100V AC Brake power suply Supply voltage
M-ESA-Y5120A25 200V AC M-FZ063 200V AC
M-YS5120FG001
M-ESA-Y5120C25 100V AC

A 45
1.7 The Compact Megatorque Motor JS Series
The NSK Megatorque Motor is a direct drive motor that
combines very high torque at low speeds with highly precise
positioning.
The new JS Series combines the performance and reliability of
the existing Megatorque Motor range with the advantages of
compact size and simple design for low cost. It offers four
compact motors with external diameters ranging between 75
and 130 mm and outer-roter structure. A full range of
peripheral devices and cables is available allowing you to build
a complete system.
The Megatorque Motor is suitable for a wide range of industrial
applications. The compact size of JS Series motors makes
them ideally suited to use as totary actuators or rotary
indexeres for robots, transfer systems, and assembly
machines in semiconductor, LC panel and circuit board
manufacturing.
A 46
JS Series Megatorque Motor system features
• simple motor structure and compact driver units for low cost,
• standard inventory for short delivery times,
• high resolution, full closed-loop control and zero backlash for
high precision,
• Compact size for use in confined workspace,
• interchangeabillity of motors, driver units and driver unit
cables,
• high axial and moment rigidity,
• hollow-core structure allowing wires or pipes to run inside the
motor,
• a built-in auto-tuning function to select the optimum servo
gain for the lord,
• motors can also be used with a pulse train controller
connected to the ESA driver unit.
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Principal specifications of the four standard motors in JS Series

If your requirements differ from the standard specifications, please contact NSK.

M-JS0002FN001 M-JS1003FN001 M-JS2006FN001 M-JS2014FN001

External diameter (mm) 75 100 130
Maximum torque (N • m) 2 3 6 14
Allowable Axial load (N) 950 1960 3700
Allowabale moment load (N • m) 10 40 60
Maximum stall torque (N • m) 1.4 2.1 4.2 9.8
Rotor moment of inertia (kg • m2) 0.002 0.00375 0.00525 0.0095
Rotor inertia GD2 (kgf • m2) 0.008 0.015 0.021 0.038
Mass (Kg) 2.4 3.2 4.8 5.5
Operating conditions Temperature: 0-40°C; Humidity:20-80%. Use indoors in a dust-free location.
Maximum speed [s –1 (rps)] 4.5 3
Resolver resolution (p/rev) 409600 614400
Resolver accuracy (sec) 300 150
Resolver repeatability (sec) ±3.2 ±2.1
M-ESA-J0002C23 or M-ESA-JS1003C23 or M-ESA-J2006C23 or M-ESA-J2014C23 or
Compatible driver units
M-ESA-J0002A23 M-ESA-J1003A23 M-ESA-J2006A23 M-ESA-J2014A23
JS Series Megatorque Motors can be run on either 100V/110V or 200V/220V/ AC. SI unit System : 1N=0.225lb
1N • m=0.738ft•lb

The JS Series Offers Four Compact Models

System Components
The typical NSK Megatorque Motor system consists of a
motor, a driver unit, cables and a Handy Terminal(or PC) and
cables. You will also need AC and DC power supplies and a
sequencer(PLC) or numerical controller.
Optional mounting brakets are available for JS Series motors.

A 47
Speed-torque characteristics
These graphs show speed-torque characteristics of JS Series Megatorque Motors at 200V and 100V AC.

How to calculate axial and moment loads

Axial and moment loads

If F is external force, then If F is external force, then If F is external force, then

• Axial load Fa = F+weight of payload • Axial load Fa = F+weight of payload • Axial load Fa = F+weight of payload
• Moment load M = 0 • Moment load M = FxL • Moment load M = Fx(L+A)

Moter Model JS0002FN001 JS2006FN001

JS1003FN001 JS2014FN001
number
Dimension A 31 32 30 30
(mm)

A 48
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Maximum speed-load characteristics

This graph shows the maximum speed of each motor when
rotated through 180° under a load.

Note : This graph does not show maximum inertia values. If you plan to use a JS motor at or near the inertia limit, please consult with NSK before placing your
order.

Accuracy standards

The JS Series achieves small runout for accurate positioning:

Axial runout (mm): 0.050 max
Radial runout (mm): 0.050 max

A 49
How to determine minimum positioning time
To determine minimum positioning time, find the total of the Example :
work or jig mounted on the motor and the rotor moment of Motor : M-JS2014FN001(200V AC)
inertia of the motor and read off the minimum positioning time Total moment of inertia : 1.25kg • m2(inertia GD2=5kgf • m2)
from the appropriate graph below. Index angle : 180°
In this case, the minimum positioning time will be 0.7sec, as
shown by the arrow.
Minimum positioning time curves
M-JS2020FN001 M-JS1003FN001

M-JS2006FN001 M-JS2014FN001

A 50
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

Motor dimensions specifications.

The figures on these two pages show the external dimensions NSK also supplies mounting brakets to allow the JS motors to
of the four standard models in the JS Series. Please check that be mounted by the top or side. Please contact NSK for details.
the motors you plan to order will fit your workspace

M-JS0002FN001

M-JS1003FN001

A 51
M-JS2006FN001

M-JS2014FN001

A 52
 MOTOR
MEGATORQUE
MEGATORQUE MOTOR

ESA Driver Units

The compact low-cost ESA Driver Units are specially designes
for use with JS Series Megatorque Motors. They feature a
built-in auto-tuning function to eliminate the time-monsuming
task of gain compensation and a new analog speed or torque
command function.

There are seven basic ESA Driver Units, one to suit the
maximum torque of each size of Megatorque Motor.
Each is available in two versions, the ESA25 version having a
wider range of functions than the ESA23 version, and available
in either 100/110V or 200/220V AC types.
When ordering, please specify the power supply and motor Driver Unit dimensions
model you plan to use as some driver units may be This figures show the external dimensions of the ESA Driver
incompatible with some motors. Units.

ESA23 version ESA23 version

Driver Unit Model Number

M-ESA-J2006 A 23
Design no. 23: ESA23 version
ESA driver unit
25: ESA25 version
Supply voltage A:AC200/220V, C:AC100/110V
Motor model number
J0002:M-JS0002∗ ∗ ∗ ∗ ∗
J2006:M-JS2006∗ ∗ ∗ ∗ ∗
J1003:M-JS1003∗ ∗ ∗ ∗ ∗
J2014:M-JS2014∗ ∗ ∗ ∗ ∗

For detailes of specifications, see pages A92~A95.

A 53
Motor and Driver Unit cable set
The motor and driver cable set uses NSK’s Robot Cable, which
will stand up to frequent bending. Unless otherwise specified,
each motor is supplied with a standard 4m cable set.

Cable and connector dimensions

Cables are available in standard length of 2, 4, 8, 15 and 30
meters.

Cable set No. Cable length

M-C002SS26 2m
M-C004SS26 4m
M-C008SS26 8m
M-C015SS26 15m
M-C030SS26 30m

Handy Terminal
When setting up a Megatorue Motor system for the first time or if the motor is not
connected to a personal computer, the Handy Terminal is used to input parameters
and programs. The Handy Terminal uses an RS-232C interface.
The reference number for the Handy Terminal is M-FHT11

Reference Numbers
For your convenience when ordering, this section lists the
reference numbers for each component of a complete JS
Series Megatorque Motor system.

Motor and driver units

This table lists the reference numbers for the four standard
models of motor in the JS Series and the ESA Driver Unit Caution
required to deive each motoir according to power supply
• Do not use these units in environmens prone to fire or
voltage. explosion. Please contact NSK if you require antiexplosion
specifications.
Motor ESA Driver Unit Power supply • These units do not conform to CE markings. Please contact
M-ESA-J0002C23 NSK if you require conformity to CE markings.
100/110V AC
M-ESA-J0002C25
M-JS0002FN001 • Please read the instruction manual carefully before using
M-ESA-J0002A23
200/220V AC
M-ESA-J0002A25 these units.
M-ESA-J1003C23
100/110V AC
M-ESA-J1003C25
M-JS1003FN001
M-ESA-J1003A23
200/220V AC
M-ESA-J1003A25
M-ESA-J2006C23
100/110V AC
M-ESA-J2006C25
M-JS2006FN001
M-ESA-J2006A23
200/220V AC
M-ESA-J2006A25
M-ESA-J2014C23
100/110V AC
M-ESA-J2014C25
M-JS2014FN001
M-ESA-J2014A23
200/220V AC
M-ESA-J2014A25

A 54