Tau-Disc English 1206

The Next Servo Power
SAFE
Details of Warranty
Warranty period of our products is one year after shipment from our factory. However, please note that
any failure or abnormality resulting from the following causes will not be covered by the warranty.
Modication by parties other than Nikki Denso.
Any non-standard operation that is dierent from rules and regulations stipulated by this catalog or our manual.
Natural disasters.
Connection with another maker's unit which is not approved by Nikki Denso.
Warranty of the device is limited for repairing only. Any damage caused by the fault of delivered device,
or lost opportunity on the customer's side, prot loss, secondary damage, and accident will not be covered.
Cautions
The products may be damaged if it is hit or dropped. Please handle carefully.
Please make sure to install the safety device in case the product is used in the system that
may have a serious accident or loss if the product is failed.
Since the unexpected noise, electrostatic, or incase of abnormal failure of input power source,
wiring, and parts may be occurred although we put our eort to keep the product quality, please
consider the fail-safe design and the safety in the range of movement before use.
Please read the instruction manual carefully and understand fully before use the product.
Also, please pay attention to the cautions mentioned in the manual.
In the product, strong magnets are used. Please do not stand near by the product if you have
the pace maker device in the heart in order to avoid serious accident.
Please make sure to unplug the all power supply cables before installing, checking, and
maintenance of the product. Also, please make sure to take measures such as safety plug or
locking the power supply cables to avoid re-inputting the power other than the operator.
"DISC" , "Linear" , "Servo compass", and "ENGINE" are the registered brand of Nikki Denso Co., Ltd.
The photos used in the catalog are for images only and may not be same as actual products.
The Next Servo Power
Nikki Denso Co., Ltd.
Overseas Sales Dept.

Address : 1-4-2, Osaku, Sakura-shi, Chiba-ken 285-0802 Japan
TEL : +81-43-498-2315/ FAX : +81-43-498-4654
E-Mail : overseas@nikkidenso.co.jpWebsite : http://www.nikkidenso.co.jp
Head oce
Address : 2-8-24, Arima, Miyamae-ku, Kawasaki-shi, Kanagawa-ken 216-0003 Japan
TEL : +81-44-855-4311/ FAX : +81-44-854-7746
English
Document No.N019B201105-2000
The contents in this catalog is as of May 2011.
The specications, rating, or dimensions of products in this catalog may be changed without notice for the improvement.
Although we carefully editing this catalogs, we are not responsible for any damage caused by errors and omissions.
c
Printed in japan. gyro
NIKKI
Reprint without permission is forbidden.
DISC
Characteristics P3
Model/Motor type P4
Speed stability performance characteristic graph
P4
High response performance characteristic graph
P4
Contents
DISC D series
Motor torque characters P5

SpecicationP6P7
Assembling encoder specications
P6
P7
Dimensions
P8P18
Driver
Controler
DISC HD series

SpecicationP20
P20
Dimensions
P21P24
DISC ND-cND series

SpecicationP26P27
P26
P27
Dimensions
P28P38
Motor optionstandards
P39
Interpolator unitIPU
Encoder cable connector kit P39
External power supply unit
P39
Encoder cable reference chart
P40
Motor cable reference chart
P41
P42
Absolute position accuracy compensation
P43
Overseas safety standard conformity
P43
RoHS command corresponding
P43
Special specications
P43
AC Servo driver/controller VC series
Model P45
Index P46
Common specications
P47
P47
Function specications
P48
DISCVC series matching chart P49P50

Dimensions
P51
P52
Factory option
P52
Specications and the external connection diagram
P53
P54
AC Servo driver VPS series
Model P55
Index P56
Common specications
P57
P57
Function specications
P58
DISCVPS series matching chart P59P60

Dimensions
P60
P61
P62
Driver option
I/O connectionVCseriesP63P64
I/O connectionVPS seriesP64P65
Serial communication
VC/VPS seriesP65
Other option
P66
VCseries
Noise prevention options
VC/VPS seriesP66
Regenerative resistor
AttachmentP67
Dynamic brake unit dimensions
P68
DISC servo motor

selection by index positioning of rotating object P69P70
Encoder/Encoder cable
Torque reference chart
DISC servo motor series torque reference chart P71P72

The other product line-ups Nikki Denso recommends P71P72
DISC D series
DISC HD series
Motor cable
DISC ND-cND series
DISC options
DISC
Direct drive Servo motor
tau
Model/Motor type
D Series/HD Series/ND-cND Series
Model
NMR - F A D B A 2 B - 0 6 1 A P
General motor specication

Item
Contents
Motor
type
Operating ambient temperature

Operating ambient humidity
Installation
location
Installation attitude
Cooling method
Insulating classes
Dielectric strength voltage
%RH, No condensation
No harmful substance such as corrosive
are not allowed in the installation location.
Horizontal, upward
Natural cooling
Middle classication2
AC V, min
m or lower
directions for each

Resistance to vibration
Shock resistant
Rotation direction
directions for each
Nominal diameter
1
Positive rotation is considered as the counter

clockwise from the view of rotation surface.
Please consult with our sales dept, if you intend to install other than horizontal.
Model FD series/HD seriesCND-c seriesNND series

Motor
type
DD series/HD seriesNDND-c series/ND series
NOND series/HD series/ND seriesCND-c series
Flange-less
A110Full scale range 110 to 119mm
P110Full scale range 110 to 119mm
C140Full scale range 140 to 149mm
R140Full scale range 140 to 149mm
D170/180Full scale range 170 to 189mm
S170/180Full scale range 170 to 189mm
E250Full scale range 250 to 269mm
T250Full scale range 250 to 269mm
F400Full scale range 400 to 409mm
U400Full scale range 400 to 409mm
G630Full scale range 630 to 639mm
V630Full scale range 630 to 639mm
Flange type
2 is a protection level of ND-c series ND250/400 motor type.
Flange type
IP
Degree of protection
Altitude
NMRDISC motor series
Middle classication1
Class F
D 110 - 4 0 - F P
gas, grinding uid, metal powder, and oil
Nominal height
1
Flange-less
D40Full scale range 40 to 49mm
D40Full scale range 40 to 59mm
M50/55Full scale range 50 to 59mm
M65/70Full scale range 60 to 69mm
E60/65Full scale range 60 to 79mm
E60/70/95/100Full scale range 70 to 95mm
U85Full scale range 80 to 99mm
F95/100/110Full scale range 96 to 119mm
F100Full scale range 100 to 119mm
G120/125Full scale range 120 to 149mm
H160Full scale range 150 to 169mm
H160Full scale range 150 to 169mm
I185Full scale range 170 to 199mm
I175/185Full scale range 170 to 199mm
P470Full scale range 400 to 499mm
J200Full scale range 200 to 219mm

K225Full scale range 220 to 225mm
N225Full scale range 225 to 249mm
Characteristics
V275Full scale range 250 to 299mm

Motor ange
FFlangeLFlange-less
Encoder type
B/G/IIncremental encoderHAbsolute encoderone revolution absolute value
Power supply
A2AC200/220VBased on the matching with particular servo driver, some motors can be used at AC100/110V
Design class
ABCStarting from A
Rated output
Example0610 6 1 = 6 x 10 1= 60W
Power value of accumulation of 10
Signicant gure
Brake (With or without)
AWithout brake
Accuracy of rotating table
WithoutStandard specPHigh precision spec
Motor structure
WithoutStandard specGAir cooling structureZReserved for maker
Symbol for special model
WithoutStandard specS + consecutive guresSpecial model specication
1 Motor type is indicated as gure.
Actual dimensions are dierent from nominal. Please refer to the dimensions.
speed feed-back
position deviation
torque command
Position completion signal
5rpm
ThinHigh performance type

Thinness44.5mm
Large capacity: Max torque 5800Nm
Speed stability performance
characteristicrefer to P4 chart
Large inertia load correspondence
High accuracy positioning
go to P5
High response type

High response performance
characteristicrefer to P4 chart
Suitable for high-speed index
movement
Forced air-cooling type is available
to pursue higher performance.
go to P19
Standard type
Abundant product line up22types
Corresponding with one revolution
absolute encoder and incremental
encoder
0.15
Sampling 100HZ
110mm middle hollow type is

available in the lineup.
20ms
Dwell time 50ms

1 cycle time
70ms
go to P25
Speed stability performance characteristic
Operation time
by completion
range
The waveform of motor movement at 5rpm(Momentary speed variation 0.15%).

Sampling frequency 100Hz
High response performance characteristic
The waveform of 22.5deg positioning movement 857shot/min
DISC D series Specication
Motor type
Model
External
Rated torque
Max. torque
Rated output
Rated current
Absolute position accuracy1
Allowable moment load2
Allowable axial load2
Radial run out (No load)
Axial run out (No load)
Rotor inertia
Mass
D110-40-L
Frange-less
FPDBA2B-061A
110
55
2
6
63
2.0
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
DISC D series Motor torque characters

Rotor inertia
Mass
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
6.1
1.1
0.0003
1.8
D170-40-F
Frange type
FDDBA2D-201A
177.5
44.5
7.5
22.5
235
2.1
D170-40-L
Frange-less
FSDBA2C-201A
177.8
57
7.5
22.5
235
2.1
49.2
3.2
49.2
3.2
300%
to the
rated torque
Torque
Motor type
Torque
0.002
5.5
Model
External
Height
Rated torque
Accelerate/
Decelerate range
Rated torque
200%
to the
rated torque
Accelerate/
Decelerate range
Rated torque
Max. torque
193%
to the
rated torque
Rated output
Accelerate/
Decelerate range
Rated current
Rated torque
Continuum region
Continuum region
Continuum region

Rotor inertia
Rotation
speed
Rated
speed
D110-40-F/LD110-60-F/L
D170-40-F/LD170-100-F/L
D250-40-F/LD250-100-F/L
Accelerate/
Decelerate range
to the
rated torque
Continuum region
Rotation
speed
Rated
speed
D400-275-LHigh rigidity type
Rated
speed
0 Rotation
speed
2rps
When operating D110-40-F/L at AC100V.

140.4
5.4
0.017
9.5
Magnetic pole detection method
D250-100-F
Frange type
FEFBA2C-122A
254
104.5
62
186
1200
8.0
15
Option
140.4
337.4
5.4
13.3
25
Standard
10
Option
25
Standard
10
Option
0.017
0.047
10
23
Hall sensor
0.009
13
D250-100-L
Frange-less
FTFBA2C-122A
254
115.5
62
186
1200
8.0
337.4
13.3
0.047
23
2 Life of bearing and run out depend on a load.
300%
to the
rated torque
Motor type
Accelerate/
Decelerate range
D110
D170
Continuum region
5rps
D250-40-L
Frange-less
FTDBA2C-401A
254
57
20.7
60
51.753
400
3.4
89.9
6.9
In order to maintain accuracy and prevent uneven wear by lack of bearing grease, please rotate the output axis for 90 deg or more in certain period.
Rated torque
Continuum region
D170-100-L
Frange-less
FSFBA2C-701A
177.8
115.5
22.5
67
700
4.8
3 The value of ( ) is when VPS series is used.
Accelerate/
Decelerate range
Mass
0.0005
3.3
1 The value is only when the absolute position compensation option is used. Refer to P43 [ Absolute position compensation ] for details.
Torque
Rated torque
Rated torque
300%
Rotation
speed
D630-470-F
Torque
257%
Rated
speed
D400-40-F/LD400-100-F/L
D400-175-LD630-125-L
D630-175-LD630-225-L
Torque
to the
rated torque
Rotation
speed
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D250-40-F
Frange type
FEDBA2C-401A
254
44.5
20.7
60
51.753
400
3.4
15
Option
D170-100-F
Frange type
FDFBA2C-701A
177.8
104.5
22.5
67
700
4.8
6.1
1.1
89.9
6.9
20
Standard
10
Option
20
Standard
10
Option
0.009
0.002
13
5.5
Hall sensor
Torque
D110-60-L
Frange-less
FPEBA2B-121A
110
75
4
12
126
2.4
6.1
1.1
20
Standard
10
Option
20
Standard
10
Option
0.0003
0.0005
3.1
2.0
Automatic
6.1
1.1
Motor type
15
Option
D110-60-F
Frange type
FAEBA2C-121A
110
67
4
12
126
2.4
DISC / D series
DISC / D series
Thin
High performance
type
Height
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D110-40-F
Frange type
FADBA2C-061A
110
47
2
6
63
2.0
0 Rotation
speed
2.5rps
5rps
D250
Detecting pulse Electrical resolution Rated speed Encoder type

ppr
sec
rps
720,000
1.800
5.0
Incremental
1,440,000
0.900
5.0
3,686,400
0.352
5.0
400,000
3.240
5.0
1,000,000
1.296
5.0
Incremental
2,000,000
0.648
5.0
4,000,000
0.324
2.5
10,240,000
0.127
5.0
900,000
1.440
3.0
1,800,000
0.720
3.0
3,600,000
0.360
3.0
Incremental
7,200,000
0.180
1.5
9,216,000
0.141
3.0
18,432,000
0.071
3.0
Interpolator
Built-in
Built-in
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Separated
Model 2
NSR-REMP1-10
NSR-RENP1-10
NSR-RHSP2-10
NSR-REKH1-10
NSR-RELH1-10
NSR-REMH1-10
NSR-RENH1-10
NSN-RHSH2-10
NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10
External connecton diagram No.

VCseries
VPS series
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
1 If the external type interpolator is selected, P39 interpolator unit (IPU) is installed separately.
E -B-1
E -B-2 .
In such case, the combination of encoder cable is P40
2 mark refers to the design orderNon-marking or start from A.
DISC D series Specication
Hall sensor
Motor type
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
Rotor inertia
Mass
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D630-125-L
Frange-less
FVGBA2C-322A
630
125
500
1000
3150
25.0
3000
50
4.1
260
D630-175-L
Frange-less
FVIBA2C-672A
630
175
1000
2000
6700
47.7
D630-225-L
Frange-less
FVKBA2B-872A
690
225
1500
3000
8700
47.1
15
Option
5000
6000
80
100
40
Standard
10
Option
40
Standard
10
Option
5
6.4
330
430
Hall sensor
.1
5
0
55
1101
D630-470-F
Frange type
FGPHA2A-133AGZ
660
470
3000 4
5800 4
12600 4
76.0 4
"B" section detail
View A
NMR-FPDBA2B-061A
12.1
815
Position detection
1 Absolute encoder is one resolution absolute value.

E -B-1
E -B-2 .
E -A-2
E -A-3
6M5 depth 6
Even position
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
C -2 P54 references
C -1 P53 references
C -2 P54 references
1.6
56Inner rotating part
1.6
Rotating position
4M5 depth 10
Motor connector
Motor cable
0.1
96
R
ot
2
ing 3
po
sit
ion
at
SensorEncoder cable
Fixed position
+20
500 0

VCseries
VPS series
53.5
C
0
.5
NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10
NSR-RELK1-10
NSR-REMK1-10
NSR-REML1-10
NSR-RENL1-10
NSR-RHSK2-10
NSR-RHSL2-10
NSR-RPST2-05
NSR-RQSZ2-05
NSR-RJLR1-10
NSR-RJMR1-10
NSR-RJNR1-10
NSR-RHSR2-10
NSR-RPSNAPAAA2-10
Encoder cable exible type
E -A-1
6
4
Built-in
Built-in
Built-in
Built-in
Separated
Separated
Built-in
Built-in
Built-in
Built-in
Separated
Separated
Separated
Separated
Built-in
Built-in
Built-in
Separated
Separated
Model 3
Zero point
detection position
range 2

2
Encoder cable
52.4
Interpolator
M -A
Motor cable with shieldPHS

M -B
Motor cablePLN
1.6
550.1
0.02
1.5Spigot joint
3 Type in ( ) depends on encoder type.
D630-470-F type power supply specication of cooling fan
GEncoder type Incremental (Separated interpolator unit type)
Single phaseAC200V0.92A50Hz
HEncoder type Absolute (Separated interpolator unit type)
Power Supply
Single phaseAC200V0.72A60Hz
4 The value is when air cooling fan is used.
Connection
Connecting to the terminal block of motor body (M3 screw)
Please refer to the right side gure for power supply specication of cooling fan.

sec
1
ppr
rps
2.0
900,000
1.440
0.720
2.0
1,800,000
D4002.0
3,600,000
0.360
Incremental
40/100
0.180
1.5
7,200,000
9,216,000
0.141
2.0
2.0
18,432,000
0.071
1.440
0.66/1.5
900,000
0.66/1.5
1,800,000
0.720
3,600,000
0.360
0.66/1.5
Incremental
D400-175
7,200,000
0.180
0.66/1.5
0.141
0.66/1.5
9,216,000
18,432,000
0.071
0.66/1.5
Absolute
0.1902
1.5
6,815,744
D400-275
High rigidity
Incremental
7,168,000
0.1809
1.5
1.0
1,800,000
0.720
D6300.360
1.0
3,600,000
Incremental
125/175/225
1.0
7,200,000
0.180
0.071
1.0
18,432,000
Absolute
D630-470
12,582,912
0.10
0.67
1.6
D110-40-L
7000
70
Motor type
0.02
+20
500 0
Mass
20
Hollow diameter
Motor cable
Rotor inertia
Note : Bottom view of cable layout is shown as right side
0.02
1.5
0.5
Encoder cable
0
50h7 0.025
Spigot joint
0.02
.5
0
C
tio
1101Diameter
65Rotating position
1.5
Spigot joint
45.5
po
View ABase
470.1
Rated current
1101
44.4
Rated output
23
Fixed position
Motor connector
20
Max. torque
tin
si
1.6
Rated torque
Motor cable
ta
0
82h7 0
0.035
Height
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
Ro
Model
External

Frange-less
FUVA2A-662A 3
455
275
700
1800
6600
48.1
15
Option
3000
50
20
Standard
10
Option
20
Standard
10
Option
0.94
195
IncrementalHall sensor
AbsoluteAbsolute position detection
12
Motor type
D400-175-L0.66rps specication D400-175-L1.5rps specication

Frange-less
Frange-less
FUIBA2D-212AZ
FUIBA2D-472AZ
406
406
186
186
500
500
1000
1000
2100
4700
19.6
29.7
15
Option
1805.5
1805.5
44.6
44.6
30
Standard
10
Option
30
Standard
10
Option
0.61
0.61
110
111.3
Rotating position
1.6
0.303
61
20
Hollow diameter
0.147
28
0
50h7 0.025
Spigot joint
Mass
1.6
Rotor inertia
Zero point
detection position
range 2
1101Diameter
Encoder connector
65Rotating position
1805.5
44.6
4
-C
5
15
Option
1805.5
579.8
15.5
44.6
30
Standard
10
Option
30
Standard
10
Option
0.147
0.303
61
27
Hall sensor
579.8
15.5
Encoder cable
16
+20
500 0
24H7 0.012
depth 8Even position for positioning holes
0
6M5 depth 6Even position
DISC / D series
Rated current
0.02
47 Even position
20
1
DISC / D series
Rated output
NMR-FADBA2C-061A
Max. torque
D110-40-F
1.5
Rated torque
D400-100-L
Frange-less
FUFBA2C-252A
406.4
115.5
200
400
2500
14.3
0.5
Height
D400-100-F
Frange type
FFFBA2C-252A
406.4
104.5
200
400
2500
14.3
33
External
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D400-40-L
Frange-less
FUDBA2C-801A
406.4
57
67
134
800
6.3
33
Model
D400-40-F
Frange type
FFDBA2C-801A
406.4
48.5
67
134
800
6.3
Motor type
DISC D series dimensions
Encoder connector
M -A

M -B
Motor cablePLN
Encoder cable
"A" section detail
E -A-1
E -A-2
E -A-3
D110-60-F
D170-40-F
NMR-FAEBA2C-121A
0.02
NMR-FDDBA2D-201A
0.02
24H7 0.012
0
47 Even position
26H7 0.012
0
+20
500 0
+20
500 0
Encoder cable
5
48
55
1731
55
ta
23
tin
po
Motor connector
si
12
48
33
1101
Ro
tio
Ro
.8
38
tio
si
po
16
20
0.
86
33
Zero point
detection position
range 2
in
at
DISC / D series
SensorEncoder connector
Rotating position
70
1
Rotating position
Motor cable
Motor cable
Fixed position
Fixed position
Motor connector
4
-C
5
R1
+20
500 0
1101
1731
411Even position
View ABase
20
20
3.5
M -A

M -B
Motor cablePLN
44.50.1
0.5
1.6
41
Hollow diameter
E -A-1
D110-60-L
E -A-2
E -A-3
3Spigot joint
joint
43
0.02
35
10
65.5
Encoder cable
0.02
1.6
View A
1.6
View A
670.1
64.4
Motor cablePLN
0
96h7 0.035
Spigot
.5
"B" section detail
M -A

M -B
177.5Diameter
108Rotating position
"B" section detail
C0
0.5
1.6
Rotating position
Hollow diameter
0.02
Inner rotating part
A
1.5
0.2
0
20
1.5
0
50h7 0.025
Spigot joint
1.5
C0
.5
1.6
0.02
0.5
1101Diameter
65Rotating position
Spigot joint
View ABase
1.6
Encoder connector
20
1
DISC / D series
SensorEncoder cable
Zero point
detection position
range 2
E -A-4
E -A-5
D170-40-L
NMR-FPEBA2B-121A
750.1
0.02
1.5Spigot joint
NMR-FSDBA2C-201A
Motor connector
73.5
0.02
3
Spigot joint
1.5
0.5
0.5
Rotating position
+20
500 0
Motor cable
Ro
ta
tin
po
sit
0.1
5
ion
6
1
6
5
Magnetic pole sensor cable
Encoder cable
Encoder
cable
+20
500 0
SensorEncoder cable
1.6
Spigot joint
35
0
110h7 0.035
.5
1.6
+20
500 0
Encoder cable
.5
0.02
.8
Fixed position
Motorcable
cable
Motor
3
8
Fixed position
Rotating position
1.6
57
Inner rotating part
C
0
.5
SensorEncoder cable
Hollow diameter
2
ting 3
pos
itio
n
ota
0
82h7 0
0.035
20
Hollow diameter
0
50h7 0.025
Spigot joint
1101Diameter
0.1
96
0.
86
65Rotating position
Motor cable
6
4
Rotating position
1.6
Zero point
detection position
range 2
0
96h7 0.035
Spigot joint
+20
500 0

1.6
6M6 depth 8
Even position
1.6
177.81Diameter
4M5 depth 10
Motor connector
Motor cable
6M5 depth 6
Even position
Zero point
detection position
range 2
1.6
1.6
72.4
Sensor
Encoder connector
0.02
Encoder connector
3.5
53.5
570.1
3
Spigot joint
60
M -A

M -B
Motor cablePLN
"B" section detail
Encoder cable
E -A-1
E -A-2
M -A

M -B
Motor cablePLN

"A" section detail
3
0.5
E -A-4
E -A-5
10
D170-100-F
D250-40-F
NMR-FDFBA2C-701A
0.02
+20
500 0
NMR-FEDBA2C-401A
0.025 A
26H7 0.012
depth8Even position for positioning holes
0
6M6depth10Even position
26H7 0.012
0
500 +20
0
Zero point
detection position
range 2
0
0.
50
1731
15
55
Sensor
Encoder connector
Depth
0
11
75
Rotating position
28
Fixed position
Motor cable
Motor connector
itio
os
gp
in
tat
R
.8
8
6
2501.5
55
Sensor
Encoder cable
25
22
ion
sit
po
86
0.
1
Rotating position
Motor cable
Motor connector
Ro
.8
8
3
50
36
Zero point
detection position
range 2
t
ta
ing
DISC / D series
20
46
2
Sensor
Encoder connector
7
1
DISC / D series
SensorEncoder cable
Rotating position
Fixed position
+20
500 0
2hanging metal xture
411Even position
View ABase
R25
1731
177.81Diameter
500 +20
0
0.02
413Even position
View ABase
2501.5
1.6
.5
C
B
1.6
3
0.5
35Hollow diameter
3.5
0
96h7 0.035
Spigot joint
0.02
3Spigot joint
2541.5Diameter
D170-100-L
1.5
1.6
View A
3.5
3Spigot joint
M -A

M -B
Motor cablePLN
44.50.1
20
43
Inner rotating part
1.6
0.025
Rotating position
0.5
41
1.6
10
101
104.50.1
Rotating position 0.5
1.5
10
E -A-4
E -A-5
20
Inner rotating part
M -A

M -B
Motor cablePLN
1.6
65Hollow diameter
.5
View A
0.025
"B" section detail
0
162h7 0.040
Spigot joint
"B" section detail
103
0.5
E -A-4
E -A-5
D250-40-L
NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
Motor connector
Motor connector
Rotating position
SensorEncoder cable
.5
1.6
1.6

0.025
1
12
Spigot joint
Rotating position
Fixed position
ting positio
68.8Rota
Rotating position
Encoder cable
0.
2
4
2
3
Spigot joint
Sensor
Encoder
connector
Encoder cable
60
500 +20
0
6
5
Magnetic
pole sensor cable
Motor cable
SensorEncoder cable
57
Inner rotating part
0
156h7 0.040
th
p
De
65Hollow diameter
0.1
6
5
1
0
162h7 0.040
Spigot joint
2541.5Diameter
itio
1
1
+20
500 0
Sensor
Encoder
connector
os
0
0.
+20
500 0
Motor cable
Spigot joint
1.6
1.6
Spigot joint
0.5
gp
15
.5
tin
Zero point
detection position
range 2
0.02
ota
1.6
.5
Fixed position
.8
R
.5
Motor cable
3
8
0
110h7 0.035
115.5
Inner rotating part
35
Hollow diameter
0
96h7 0.035
Spigot joint
177.81Diameter
86
0.
1
Rotating position
1.6
1.6
1.6
500 +20
0
Zero point
detection position
range 2
Motor cable
6M6depth8
Even position
0.5
Rotating position
0.025
0.02
3.5
3.5
112
115.50.1
53.5
570.1
60
3
Spigot joint
Spigot joint
118.5
M -A

M -B
M -A

M -B
Motor cablePLN
0.5
"A" section detail
11
E -A-4
E -A-5
Motor cablePLN
0.5
"A" section detail
E -A-4
E -A-5
12
D250-100-F
D400-40-F
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A
0.025
26H7 0.012
0
0.03 A
500 +20
0
80
80
75
5
1
Rotating position
60
position
Rotating
Motor cable
Motor connector
itio
pos
th2
ep
0D
ing
tat
Ro
8.8
4062
2501.5
Zero point
detection position
range 2
28
Rotating
position
Motor cable
45
0
55
30
25
50
DISC / D series
Sensor
Encoder connector
h2
ept
0D
1
1
ot
R
.8
8
6
0.
0
0
0.
Sensor
Encoder cable
ion
sit
po
2
2
1
5
Zero point
detection position
range 2
g
tin
91
3
4
2
DISC / D series
Sensor
Encoder cable
28H7 0.015
0
500 +20
0
Rotating
position
Fixed position
Fixed position
R5
413Even position
R25
500 +20
0
Motor connector
2501.5
417Even position
500 +20
0
View ABase
View ABase
4062
2541.5Diameter
0.5
D250-100-L
3.5
M -A

M -B
Motor cablePLN
48.50.1
3Spigot joint
1.6
0.03
45
47
1.5
1.6
20
1.6
10
View A
"B" section detail
Rotating position 0.5
View A
E -A-4
E -A-5
Inner rotating part
1.5
10
20
1.6
Hollow diameter
.5
Rotating position0.5
M -C-1

M -D-1
Motor cablePLN
65
0.03
103
4052Diameter
0
260h7 0.052
Spigot joint
Inner rotating part
1.6
"B" section detail
0.025
3.5
1.6
.5
C
B
104.50.1
65Hollow diameter
101
0.5
0
162h7 0.040
Spigot joint
0.025
3Spigot joint
E -A-4
E -A-5
D400-40-L
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A
Motor connector
Motor connector
1.6
112
118.5
0.03
3
Spigot joint
0.03
3
Spigot joint
M -C-1

M -D-1
13
3.5
E -A-4
E -A-5
18
0
SensorEncoder cable
5
0.1

Encoder cable
0.5
53.5
60
Motor cablePLN
0.5
3
8
Rotating position
570.1
500 +20
0
1.6
Rotating position
115.50.1
"A" section detail
Spigot joint
0
270h7 0.052
0
260h7 0.052
Spigot joint
65Hollow diameter
Sensor
Encoder
connector
itio
os
gp
atin
500 +20
0
1.6
1.6
Fixed position
0.5
0.025
3.5
.5
Spigot joint
Motor cable
Rot
8.8
A
Rotating position
Sensor
Encoder
connector
Rotating position
60
.5
Encoder
Encoder
cable
cable
th
ep
0D
5
1
3
57
Inner rotating part
C0
.5
.5
406.42Diameter
0.
6
22
00
.1
Magnetic
pole sensor cable
500 +20
0
0.025
500 +20
0
Motor cable
Rotating position
Fixed position
ition
ting pos
68.8Rota
3
2
Rotating
position
1
1
Spigot joint
115.5
Inner rotating part
1.6
1.6
Zero point
detection position
range 2
Motor cable
SensorEncoder cable
pth
De
10
1
1.6
65Hollow diameter
0
0.1
0
162h7 0.040
Spigot joint
2541.5Diameter
1
5
1.6
0
156h7 0.040
Zero point
detection position
range 2
Motor cable
6M8depth10
Even position
3
Spigot joint
M -A

M -B
Motor cablePLN
0.5
"A" section detail
E -A-4
E -A-5
14
D400-100-F
D400-175-L
NMR-FFFBA2C-252A
NMR-FUIBA2D-212AZ0.66rps specication
NMR-FUIBA2D-472AZ1.5rps specication
28H7 0.015
0
0.05 A
417Even position
Fixed position
.5
Sensor
Encoder
connector
Rotating position
0.5
0.03
Motor cablePLN
1.6
1.5
10
20
103
Inner rotating part
1.6
104.50.1
3Spigot joint
1.6
.5
0.03
"B" section detail
3.5
65
Hollow diameter
View A
500 +20
0
4 0.5
"A" section detail
NMR-FUVGA2A-662AIncremental
NMR-FUVHA2A-662AAbsolute
1.2
Motor connector
30
NMR-FUFBA2C-252A
Ro
tat
po
sit
ion
Sensor
Encoder cable
50
ing
Motor cable
5Spigot joint
M -C-2

M -D-2
E -A-6
E -A-7
Installation
surface24.5
280
Motor cablePLN
0.
0
43
(115)
2750.2
Installation surface
1.6
270
33
.5
(M
in
406Depth0.5
340h7 -0.057Spigot joint
65Hollow diameter
270h7 0.052Spigot joint
4153
0.02
5Spigot joint
24.5
56.4
70
1.6
1.6
15
3
Spigot joint
13
1.6
"A" section detail
Zero point
detection position
range 2
0.02
112
118.5
0.5
Rotating position
115.50.1
Fixed position
.5
3.5
Rotating position
This surface is
sunk for 0.5mm
from installation
surface.
6
8
Spigot joint
0.03
4.5
0.5
275.5
Inner rotating part
+20
500 0
.5
C0
.5
0.03
Encoder cable
Rotating position
R
(M 30
in
)
Positioning holes
SensorEncoder cable
60
1
0
Sensor
Encoder
connector
Magnetic pole
sensor cable
4553Diameter
18
0
Fixed position
position
Rotating
0.
0
1.6
4
2
Rotating position
Rotating position
0.
76
68.8
SensorEncoder cable
0
270h7 0.052
Spigot joint
pth2
0De
19
65Hollow diameter
.1
0
0
406.42Diameter
h
pt
0
260h7 0.052
Spigot joint
1.6
115.5
Inner rotating part
45.5
40.5
50
(R)
6.1
0.018
2-12h7 0
depth12Even position
25
500 0
10
8-M16depth25Even position
25
8-M12depth24
Even position
500 0
remove after motor setup
4R2
102.6
82.6
2-hanging metal xture
Motor cable
Motor cable
Zero point
detection position
range 2
+20
500 0
Motor cable
1.6
1.6
depth12Even position
Positioning holes
.5
10
0.018
2-12H7 0
Interpolator
unit
IPU
IPU
90
80
60
0
15
M -M-11.5rps specication
M -N-11.5rps specication
E -A-6
E -A-7
D400-100-L
M -M-1
M -M-2

M -N-1
M -N-2

E -C-1
E -C-2
Motor cablePLN
4
Spigot joint
190
M -C-2
M -D-2
Magnetic pole
sensor cable
181.5
1860.1
4.5
45
0.5
4
Spigot joint Rotating position
101
0
260h7 0.052
Spigot joint
0.03
1.6
0.03
position
Encoder cable
1.6
3
0.5
4052Diameter
Motor cable
Rotating position
View ABase
.5

4062
otating
68.8R
500 +20
0
C0
R50
Rotating position
37
18
0
Fixed position
0.
6
4
0
270h70.052
Rotating position
186
Inner rotating part
Motor cable
Spigot joint
4062
2
406
0Diameter
22.5
80
2
0.
0
h2
ept
80D
1
220
Rotating position
Motor cable
1.6
1.6
65
Hollow diameter
60
A
Zero point
detection position
range 2
2
2
0
15
300
Rotating position
0
260h7 0.052
Spigot joint
45
30
80
th2
Dep
Motor connector
Ro
8.
6
0.
0
Zero point
detection position
range 2
Even position for positioning holes
ion
sit
po
ing
t
ta
2-10 0.015
H7depth12
0
DISC / D series
91
3
SensorEncoder cable
2
2
DISC / D series
6M8depth20
Even position
SensorEncoder cable
500 +20
0
4042
Motor case diameter
Motor connector
500 +20
0
0.03 A
Connector kit for power cable
E -B-1
E -B-2
The motor cable is not included. Please prepare the motor cable.
Connector kit for power cable is accessory of the motor.
16
D630-125-L
D630-225-L
NMR-FVGBA2C-322A
NMR-FVKBA2B-872A
Motor connector
2M123OLW.switch
180
1250.5
Sensor
Encoder connector
1.6

217
Motor cablePLN
1.5
D630-175-L
1000 +50
0
0
280 0.052
h7Spigot joint
660

SensorEncoder cable
M -K-2

M -L- 2
E -D-1
E -D-2
.5
Motor cablePLN
4
1.5
"A" section detail
NMR-FGPHA2A-133AZG
59
6Spigot joint
8
32
390
4700.3
SensorEncoder cable
8M16depth25
40
1.2
225
80050
0
10
Power cable
15
M8 Screw
5
Hole to x the box
134
45.5
Sensor
Encoder cable
40
R
(M 60
in
R)
66
2-Grease nipple
2 Rotating position
240
260
668
7865
C2
0.040
Sensor
Encoder cable
24
Ground
25
110
160
25
Coated grommet
10
M -K-2

M -L- 2
E -D-1
E -D-2
Motor cablePLN
40
179
90
20
0.021
220h7
depth 20Even position
0
P.C.D.720positioning holes
10
6.2
59
4M20 depth 30
4M2030
P.C.D.545For
hang bolt
1.6
Zero point
detection position
range 2
Interpolator
unitIPU
102.6
82.6 10
4-R
2.5
10
6.1
7702
1.6
30
822 hole
P.C.D.720
8M20 Screw transxed
P.C.D.720
40.5
8
3
1750.5
25
250
R
(M 30
in
)
Encoder cable
1000 +50
0
1.6
1.6
167
160
638Depth 1
200Fixed position
0
370h8 0.089
Spigot joint
R9
100
in
(R)
6.1
.5
C0 1.6

100Hollow diameter
6602Cooling ns
th3
ep
D
0
1
3
6402
280h7
0
0.052Spigot
joint
106.4
Rotating position
300Depth4
100
Hollow diameter
6302
0
450h7 0.063
Spigot joint
0.040
1.6
1.6

.5
22.5
0.
0
8
5
Magnetic pole
sensor cable
70
A
Rotating position
Motor cable
Zero point
detection position
range 2
1.6
Fan cable
for air cooling
Fixed position
0
0.5
.5
Inner rotating part
20
Motor cable
1000 +50
0
45
4
0
90
80
60
0.021
220h7
depth 20Even position
0
P.C.D.370positioning holes
1.6
175
Encoder unit
4-Cooling fan
137
Motor cable
28
0.040
0.040
+50
1000 0
2-M20bolt
8M20 depth 40
P.C.D.370
30
Motor connector
8M16depth25
17
30
230
1.5
Magnetic pole
sensor cable
229
2M123OLW.switch
"A" section detail
R9
D630-470-F
NMR-FVIBA2C-672A
2M1645LFlat W
.5
M -K-1
M -L-1

E -D-1
E -D-2
"A" section detail
in
0
225 0.2
0.040
106.4
Rotating position
Hollow diameter
joint
100
300
Depth4
630
129
8
5
90
0.040
0.040
8M16depth20
21.2
117
00
1-anti-rotation board for transportation

Sensor
Encoder cable
1000 +50
0
1.6
8
1.6
0.5
0
R1
Encoder cable
.5
Motor cable
70
Min.bending position
30
225
Inner rotating part
+50
1000 0
Magnetic pole
sensor cable
120
Zero point
detection position
range 2
0
450h7 0.063
Spigot
Encoder cable
500
Rotating position
70
A
690
Fin diameter max695
106.4
Rotating position
0
280h70.052
Spigot joint
100
300
Depth4
Hollow diameter
0
450h70.003
Spigot joint
6302
4
R9
.5
C0 1.6
4
8
R
St
at
R4 ic b
5 end
or
i
m ng
or
e
Zero point
detection position
range 2
8
5
0
0.5
500
Rotating position
Inner rotating part
4
0
45
0.
0
Motor cable
1.6
Motor cable
0
0.5
1000 +50
0
1.6
4
0
.5
Motor cable
45
125
8M16depth22
20
1.6
28
1.6
Motor connector
140Fin length 45
8M16depth25
20
DISC / D series
DISC / D series
0.040
8M16depth20
55or more
Center of the
bending radius
6.2
10.35
Please prepare the motor cable between connector box

and driver by yourself.
E -B-1
E -B-2
18
DISC HD series Specication
Motor type
Model
External
High response
type
Height
Rated torque
Max. torque
Rated output
Rated current
Rotor inertia
Mass
D140-160-L
Frange-less
FRHBA2D-661A
140
160
21
58.8
660
5.8
15
Option
116.3
116.3
7.9
7.9
20
Standard
10
Option
20
Standard
10
Option
0.00302
0.00362
16.6
14.1
Automatic
116.3
7.9
0.00302
14.5
Motor type
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
DISC HD series Motor torque characters

Rotor inertia
Mass
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
Torque
Torque
300%
to the
rated torque
Accelerate/
Decelerate range
Model
External
290%
to the
rated torque
Motor type
Torque
Accelerate/
Decelerate range
Height
280%
to the
rated torque
Rated torque
Max. torque
Accelerate/
Decelerate range
Rated output
Rated current
Rated torque
Rated torque
Continuum region
Rated torque
Continuum region
Continuum region

Rotor inertia
Mass
Rotation
speed
Rated
speed
D250-200-L
D170-225-L
Rotation
speed
Rated
speed
Rotation
speed
D140-160-F/L
D140-185-F/L
Rated
speed
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D140-185-F
Frange type
FCIBA2D-751A
140
185
24
67.2
753
6.93
D140-185-L
Frange-less
FRIBA2D-751A
140
185
24
67.2
753
6.93
116.3
7.9
DISC / HD series
DISC / HD series
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
D140-160-F
Frange type
FCHBA2D-661A
140
160
21
58.8
660
5.8
0.00362
16.2
D170-225-L
D250-200-L
Frange-less
Frange-less
FSNBA2B-202AZ
FTJBA2F-302AZ
180
265
225
210
53
115
154
345
2000
3100
20.2
11.46
15
Option
80
500
15
6
20
Standard
10
Option
25
Standard
10
Option
20
Standard
10
Option
25
Standard
10
Option
0.020
0.10
52.5
30.3
Hall sensor
D140-160-LGForced air cooling specication
Frange-less
FRHBA2A-112AG
158.6
160
27.5 3
63
1310 3
10 3
15
Option
50
3
20
Standard
10
Option
20
Standard
10
Option
0.00266
11.6
Automatic
3 The value is when forced air-cooling is used.
Torque
229%
203%
to the
rated torque
Accelerate/
Decelerate range
Rated torque
Detecting pulse Electrical resolution Rated speed

sec
ppr
rps
1,000,000
1.296
5.0
D140
5.0
2,000,000
0.648
10,240,000
0.127
5.0
1.296
7.5
1,000,000
D140-160G
1,800,000 3
0.720
7.5
Forced air cooling
2,000,000
0.648
6.7 4
6.0
1,000,000
1.296
D170
2,000,000
0.648
5.0
4.16
900,000
1.440
D250
1,800,000
0.720
4.16
Motor type
Continuum region
0 Rotation
speed
6.66rps
7.5rps
D140-160-LG
Forced air cooling specication
The characteristic is when forced air
cooling specication is used
Encoder type Interpolator

Incremental
Built-in
Built-in
Separated
Incremental
Built-in
Incremental
Built-in
Incremental
Built-in
Model 2
NSR-RJLH1-15
NSR-RJMH1-15
NSR-RRSH2-10
NSR-RJLH1-15
NSR-RJMM1-15
NSR-RJMH1-15
NSR-RELH1-10
NCR-REMH1-10
NSR-RELK1-10
NSR-REMK1-10

VC series
VPS series
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
E -B-1
E -B-2 .

3 When the encoder is selected, Servo driver VPS series is not selected.
4 When Servo driver VPS series is selected, the rps is 5rps.
19
20
DISC HD series dimensions
D140-160-F
D140-185-F
38
1.6
33
Rotating position
30
Hollow diameter
30
Hollow diameter
.4
joint
1.3
8M6depth11
183.7Inner rotating part
48
Depth1
1401
Zero point
detection position
range 2
22.5
0
80h7 0.03
Spigot
25
91
Rotating position
1.3
25
30
Hollow diameter
33
Rotating position
30
Hollow diameter
158.7Inner rotating part
.4
48
Depth1
80h70.03
Spigot joint
1401
91
Rotating position
25
25
1.6
30
MAX
8M6depth11
Even position
Even position
DISC / HD series
DISC / HD series
Zero point
detection position
range 2
22.5
1.6
30
MAX
0.02
20
161
17.5
1 1.6
0-062-9766
4
Rotating position
58
1850.2
0.02
2
.6
2
.6
0.02
20
17.5
1.6
136
4
Rotating position
22-M515L
W.switch
D
C.
P.
D
C.
P.

0-062-9766
1600.2
0.02
W.switch
38
58
22-M515L
NMR-FCIBA2D-751A
NMR-FCHBA2D-661A
38
1.6
38
1401
Motor connector
Motor cable
6.5
300 +20
0
D.
411 hole
45
0.05 A B
26H7 0.012
depth12
0
300 +20
0
3.7
0
16
M -A
M -B

E -E-1
E -E-2
Motor cablePLN
C.
200 +20
0
48
P.
Sensor
Encoder cable
411 hole
NMR-FRIBA2D-751A
22-M515L
0
P.
C.
23.7
1.6
0.02
20
181
4
Rotating position
1850.2
P.C
.D.6
1.6
Motor cable
35
MAX
Motor connector
Motor cable
20
.D.1
P.C
Motor connector
0.02
35
500 +20
0
1.6
Motor cable
MAX
0.02
62
0.
1 R
1600.2
D.
156
.4
0
1 R
1
C
20
0.02
4
Rotating position
1.6
1.3
188.7
Inner rotating part
33Rotating position
1401
33Rotating position
0
105h70.035
Spigot joint
30
Hollow diameter
30
Hollow diameter
Even position
.D.6
1.6
1.6
48Depth
91Rotating position
80h70.03Spigot joint
62
6M6depth12
Even position
.4
D.
SensorEncoder cable
163.5
8M6depth11
0
C.
P.C
21.5
3.7
1401
.4
P.
1.3
163.7
Inner rotating part
20
.D.1
P.C
Zero point
detection position
range 2
300 +20
0
1.6
8M6depth11
Even position
+20
200 0
48
0
2
22.5
Even position
48Depth
0-062-9766
30
Hollow diameter
6M6depth12
SensorEncoder cable
138.5
21.5
0
2
22.5
0
105h70.035
Spigot joint
W.switch
0
80h70.03
Spigot joint
3.7
91Rotating position
300 +20
0
38
200 +20
0
58
48
Zero point
detection position
range 2
Sensor
Encoder cable
8
38
58

0-062-9766
38
Sensor
Encoder cable
30
Hollow diameter
38
W.switch
View A Base
D140-185-L
NMR-FRHBA2D-661A
22-M515L
45
0.05 A B
26H7 0.012
depth12
0
View ABase
D140-160-L
M -C-1
M -D-1

E -E-1
E -E-2
Motor cablePLN
1.6
48
3.7
Sensor
Encoder cable
500 +20
0
P.C
.D.1
60
47
200 +20
0
20
.D.1
P.C
Motor cable
20
.D.1
P.C
500 +20
0
23.7
1401
R
4
R
4
Motor connector
47
500 +20
0
6.5
View ABase
Motor cable
M -A
M -B

E -E-1
E -E-2
Motor cablePLN
21
M -C-1

M -D-1
E -E-1
E -E-2
Motor cablePLN
22
D170-225-L
D140-160-LGForced air cooling specication
NMR-FSNBA2B-202AZ
NMR-FRHBA2A-112AG
SensorEncoder cable
+20
0
113
1600.2
B2
D-5200
1441
0
105h7 -0.035Spigot joint
33(Rotating position) (0.5)
20
+20
0
(MAX)
Motor cable
B1
229
.D.1
(35)
500
(47)
Spigot joint
P.C
2-6H7depth12
1.6
36
Hollow diameter
30
1.6
0.02
0.02
2250.2
0.020
10
Hollow diameter
46
1.6
Zero point
detection position
range 2
Spigot joint
300
23
7.3
Spigot
Spigot
joint
joint
80h7 -0.03
80h7
-0.03
Encoder cable
62
D.
C.
158.6(Diameter)
5
1
91(Rotating position)
0.
6
6
2
500 +20
0
0
110h7 0.035
Spigot joint
1.6
1.6
Motor
cable
P.
Motor cable
.5
C0
1.6
0.020
SensorEncoder cable
C1
80
Depth 2
35
Hollow diameter
180 1
Diameter
0
0
120h70.035
Spigot joint
Fixed position
30
228
Inner rotating part
hanging metal xture
30
Rotating position
1.6
3.7
22
DISC / HD series
1.6
0.1
0
0
1
n
itio
pos
ting
ota
8R
3
DISC / HD series
Even position
Zero point
detection position
range 2
+20
0
78
13
500 +20
0
C1
6M8depth12
200
(48)
Motor connector
Motor connector
M-I
M -J

E -C-1
E -C-2
M -C-1
M -D-1

E -E-1
E -E-2
Motor cablePLN
Motor cablePLN
D250-200-L
NMR-FTJBA2F-302AZ
Motor connector
C1
25.5
MIN 60
C0
in.pre
0
.5
.5
d co
rner
0.025
3
R5
ting position
0.
5
2
2
R5
Spigot joint
0
156h70.040
er
me
21.5 MIN 45
1.6
60
Magnetic pole
sensor cable
Encoder cable
Spigot joint
0.025
Motor
cable
68.8Rota
SensorEncoder cable
500 +20
0
Fixed position
1.6
M
in.p
res
dc
R3
0
s-f
o
orn
4.2
65Hollow diameter
120Depth 2
0
180h70.046
Spigot joint
Rotating position
ome
210
Inner rotating part
30
265 2
Diameter
0
0.1
50
1
R4
ss-f
1.6
1.6
500 +20
0
8.5
Zero point
detection position
range 2
Motor cable
2100.1
213
3
Spigot joint
180.4
Depth
M-I

M -J
E -C-1
E -C-2
Motor cablePLN
Spigot joint3.5
180h7 range
0.5 or lower
Relief width
"A" section detail
23
24
DISC ND-c series Specication
Motor type
Model
External
Height
Rated torque
Max. torque
Rated output
Rated current
Standard type

Rotor inertia6
Mass
kg
Model
External
Height
Rated torque
Max. torque
Rated output
DISC ND-cND series Motor torque characters
Rated current
Torque
300%
to the
rated torque
Accelerate/
Decelerate range
290%
to the
rated torque
Accelerate/
Decelerate range
Mass
280%
to the
rated torque
Rotor inertia6
Torque
Torque
Accelerate/
Decelerate range
250%
to the
rated torque
Rated torque
Accelerate/
Decelerate range
Continuum region
Rotation
speed
Continuum region
Rated
speed
ND-cND110-65-FC/ND110-85-FC
ND140-70-LC/ND140-95-LC
ND180-70-LC/ND180-95-LC
ND250-70-LC
Rated torque
Rated torque
External
Rotation
speed
Rated
speed
N D ND110-100-L
Rotation
speed
Rated torque
Continuum region
Continuum region
Rated
speed
N D ND400-110-L
Rotation
speed
Rated
speed
ND-cND250-95-LC
ND400-70-LC/ND400-95-LC
N D ND400-55-F
Max. torque
Rated output
Rated current
Rotor inertia6
Mass
N D ND110-50-F
ND180-55-FND180-110-L
ND250-55-FND250-110-L
Torque
Torque
240%
to the
rated torque
Accelerate/
Decelerate range
Rated torque
to the
rated torque
Accelerate/
Decelerate range
Rated torque
Rotation
speed
200%
Continuum region
Rated
speed
ND-cND400-120-LC1rps specication
Rotation
speed
Accelerate/
Decelerate range
Continuum region
Rated
speed
ND-cND400-120-LC4.16rps specication
Torque
to the
rated torque
Torque
Accelerate/
Decelerate range
Accelerate/
Decelerate range
Rated torque
Rated torque
Continuum region
0 Rotation
speed
2rps
Continuum region
5rps
ND
When operating ND110-50-F/ND180-55-F at AC100V
0 Rotation
speed
1.67rps
15
0.6
15
0.6
0.00340.0034
6.0
ND400-70-LC
Frange-less
CUEA2A-951A
408
73
76
190
955
6.8
5rps
ND-c
When operation ND100-85-FC/ND140-70-LC at AC100V
15
Option
ND250-70-LC
Frange-less
CTEA2A-501A
260
73
27
81
508
4.5
ND250-95-LC
Frange-less
CTFA2A-841A
260
98
45
112.5
848
6.8
140
2.5
50
Standard
10
Option
50
Standard
10
Option
0.0048
0.0048
0.022
0.022
9.3
12.8
IncrementalHall sensorAbsoluteAbsolute position detection
15
Option
ND400-120-LC1rps specication
Frange-less
CUGHA2A-152A
408
126
250
600
1570
14.4
ND400-95-LC
Frange-less
CUFA2A-192A
408
98
152
380
1910
13.4
140
2.5
0.034
0.034
19
ND400-120-LC4.16rps specication
Frange-less
CUGHA2A-652A
408
126
250
570
6540
40.8
1280
16
1280
16
50
Standard
10
Option
50
Standard
10
Option
0.350
0.350
0.1530.153
0.223
0.223
63.6
63.6
30.5
44.5
Absolute position detection
170
3
170
3
Rotation
speed
ND-cND400-175-L
Rated
speed
3 The value of ( ) is when incremental (built-in interpolator unit) type is used.

6 The value of ( ) is when absolute encoder type is used.

1
ppr
sec
rps
640,000
2.030
5.0
Incremental
ND110-C/
1,280,000
1.010
3.0
Incremental
140-C
3,276,800
0.396
5.0
Incremental
2,097,152
0.620
5.0
Absolute
840,000
1.540
5.0
Incremental
ND180-C
4,300,800
0.300
5.0
Incremental
2,097,152
0.620
5.0
Absolute
1,344,000
0.960
3.0
Incremental
ND250-C
7,168,000
0.180
3.0
Incremental
6,815,744
0.190
3.0
Absolute
1,344,000
0.960
2.0
Incremental
ND4007,168,000
0.180
2.0
Incremental
70-C/95-C
6,815,744
0.190
2.0
Absolute
ND400-120-C
1,048,576
1.240
1/4.16
Absolute
300%
to the
rated torque
ND180-95-LC
Frange-less
CSEA2A-561A
180
94
18
54
564
4.3
2 The value of ( ) is when VPS series is used.
Motor type
300%
kg
ND180-70-LC
Frange-less
CSMA2A-281A
180
67
9
27
282
2.6

IEncoder type Incremental (Built-in interpolator unit type)
Rated torque
Continuum region
to the
rated torque
NMRmm
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
ND140-70-LC
ND140-95-LC
Frange-less
Frange-less
CREA2A-151A
CRFA2A-311A
145
145
73
98
4.8
9.6
28.8
14.4
150
300
2.7
5.4
15
Option
4.8
8.4
8.4
0.15
0.2
0.2
50
Standard
10
Option30
Standard
10
Option
50
Standard
10
Option
50
Standard
10
Option30
Standard
10
Option
50
Standard
10
Option
0.00063
0.00067
0.00088
0.00093
0.00147
0.00151
3.4
4.4
5.9
Torque
228%
kg
Motor type
Model
Height
Rated torque
NMRmm
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
ND110-85-FC
Frange type
CAUA2A-151A
112
86
4.8
14.4
122
150
3.4
DISC / ND-cND series
Motor type
Torque
25
NMRmm
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
ND110-65-FC
Frange type
CAEA2A-071A
112
66
2.4
7.2
75
2
Option
15
203
4.6
0.15
20
Standard
10
Option
20
Standard
10
Option
0.00041
0.00045
2.2
Interpolator
2
Built-in
Built-in
Separated
Separated
Built-in
Separated
Separated
Built-in
Separated
Separated
Built-in
Separated
Separated
Separated
Model 3
NSR-RSMU1-05
NSR-RSNU1-05
NSR-RQSU2-05
NSR-RPSW2-05
NSR-RSMV1-05
NSR-RQSV2-05
NSR-RPSW2-05
NSR-RSUY1-05
NSR-RQSY2-05
NSR-RPST2-05
NSR-RSUZ1-05
NSR-RQSZ2-05
NSR-RPST2-05
NSR-RPSS2

VC series
VPS series
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -1 P53 references
P -1 P61 references
C -2 P54 references
P -2 P62 references
C -2 P54 references

E -B-1
E -B-2
26
DISC ND series Specication
Rotor inertia
Mass
Motor type
Model1
External
Height
Rated torque2
Max. torque2
Rated output
Rated current
Radial run out (No load)5
Axial run out (No load)5
Rotor inertia
Mass
0.0515
0.144
22.8
28
1.6
1.6
0
50 h7 -0.03Spigot
joint
19(Hollow diameter)
1121.5(Diameter)
itio
.3
(min 80)
500 -0
+50
(22)
(m
in
+50
500 -0
(23.7)
When separated interpolator unitIPUtype,
please refer to the dimensions in P39 for the
connection of Interpolator (IPU).
(23.7)
Motor connector
M -A

M -B
Motor cablePLN
ND400-175-L1.5rps specication ND400-175-L3rps specication

Frange-less
Frange-less
NUIA2A-472AZ
NUIA2A-862AZ
404
404
186
186
500
450
1000
900
4700
8600
29.7
43
15
Option
1805.5
44.6
30
30
0.61
117
os
0.306
61
Sensor
Encoder cable
(19)
30
30
gp
552
1805.5
44.6
(1.3)
E -A-4
E -A-5
E -B-1
E -B-2

E-A-4/5
Incremental
E-B-1/2
Incremental separated IPU type

Absolute
h7tolerance range
1.5(Spigot joint)
0.7(Gap)
"A" section detail
ND110-85-FC NMR-CAUIA2A-151AIncremental
NMR-CAUGA2A-151AIncrementalSeparated interpolator unitIPUtype

NMR-CAUHA2A-151AAbsoluteSeparated interpolator unitIPUtype
860.2
0.05
1
1.5(Spigot joint)
1122.5
2
5
(84.5)
201
0.05
.5

2 Please refer to P49-50 [VC series], P59 [VPS series] for the details.
5 Please consult with our sales dept, if you request high precision which is 10um or less of run-out accuracy.
R2
8-
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
0.0208
10.2
25
25
tin
1.6
520
13.7
5.5
337.4
13.3
Motor
cable
6.5
109.9
4.1
(18)
1.6
15
Option
ota
12
37
.D3
P.C
1122.5
P.
C.
D1
25
Fixed position
1.6
2
1
.6
R
ota
12
57
tin
gp
os
itio
62.51
Rotating position
1122.5(Diameter)
Rated current
6-M5depth6.5Even position
12 counter boring depth2

(Even position)
Zero point
detection position
range 2
Rated output
4-7Drill
.6
R
"A"
50 h7-0.030
Spigot joint
19(Hollow diameter)
Max. torque2
2
1
.3
Rated torque2
ND400-110-L
Frange-less
NUFA2B-252A
408
117
215
603
2701
16
Height
ND400-55-F
Frange type
NFMA2B-801A
408
58
76
190
955
6.8
(min 80)
External
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
ND250-110-L
Frange-less
NTFA2B-122A
260
117
82
246
1545
12.8
Model1
ND250-55-F
Frange type
NEMA2B-401A
250
58
27
81
508
4.5
Hall sensor
Rotating position
5
3 )
R R
in
(m
Motor type
Automatic
0.007
11.5
1.6
(15)
0.0028
5.5
Fixed position
2.5
0.0011
4.7
P.
C.
D1
25
R6
Mass
0.00034
1.9
89.9
6.9
2R5
R2
Rotor inertia
20
20
32.4
2.3
2-
15
Option
45
4.6
0.8
1121.5
4.6
0.8
201
0.02
5
.D3
P.C
(64.5)
1.5(Spigot joint)
.5
660.2
0.02
1121.5
2
5
Rated current
NMR-CAEGA2A-071AIncrementalSeparated interpolator unitIPUtype

NMR-CAEHA2A-071AAbsoluteSeparated interpolator unitIPUtype
Rated output
ND110-65-FC NMR-CAEIA2A-071AIncremental
Max. torque2
ND180-110-L
Frange-less
NSFGA2B-701A
180
117
27
81
848
7.2
R2
8-
Rated torque2
ND180-55-F
Frange type
NDMGA2A-201A
180
58
9
27
282
2.6
62.51
Height
NMRmm()
mm
Nm
Nm
W
A
sec.
Nm
kN
m
m
kgm2
kg
ND110-100-L
Frange-less
NPEBA2A-201A
112
95
7
20.3
220
3.4
Model
External
ND110-50-F
Frange type
NAMBA2A-071A
112
50
2.4
7.2
75
2
45
Motor type
DISC ND-c series dimensions
"A"
P -2 P62 references
(23.7)
(min 80)
in
Sensor
Encoder cable
Motor
cable
(m
552
+50
500 -0
+50
R5
R2
2-
(18)
(19)
C -2 P54 references
P -1 P61 references
5.5
C -1 P53 references
6.5

VC series
VPS series
500 -0
Model 2
NSR-REMP1-10-ND
NSR-RQSV2-05
NSR-RPST2-05
NSR-RQSY2-05
NSR-RPST2-05
NSR-RQSZ2-05
NSR-RPST2-05
NSR-RQSZ2-05
(min 80)
Built-in
Separated
Separated
Separated
Separated
Separated
Separated
Separated
(15)
Interpolator
ND110
ND180

(Even position)
Zero point
detection position
range 2
5
3 )
R R
in
(m

1
ppr
sec
rps
Incremental
720,000
1.800
5.0
Incremental
4,300,800
0.302
5.0
Absolute
6,815,744
0.191
3.0
ND250
Incremental
7,168,000
0.181
3.0
Absolute
6,815,744
0.191
2.0
ND400-55/110
Incremental
7,168,000
0.181
2.0
Absolute
6,815,744
0.191
1.5 / 2 / 3
ND400-175
Incremental
7,168,000
0.181
1.5 / 2 / 3
Motor type
6-M5depth6.5Even position
2-
4-7 Drill
(22)
(23.7)
Motor connector
M -A

M -B
Motor cablePLN

(1.3)
h7tolerance range
1.5(Spigot joint)
0.7(Gap)

E-A-4/5
Incremental
E-B-1/2

Absolute
E -A-4
E -A-5
E -B-1
E -B-2
"A" section detail
27
28
ND140-70-LC NMR-CREIA2A-151AIncremental
ND180-70-LC
6-M5depth7.5(Even position)
(12)
.5
Fixed position
6
.D
15
SensorEncoder cable
60(Depth2)
35 +0.2
0 (Hollow diameter)
0
96h7 -0.035
(Spigot joint)
1802.5(Diameter)
(70.5)
(Inner rotating part)
3
9
Ro
5 )
R3 in R
(m
P.C
.D
130
R4
1
118 h7 -0.035
Spigot joint
19(Hollow diameter)
1451.5(Diameter)
0
60 h7-0.030
Spigot joint
ion
sit
po
Rotating position
(15.6)
Sensor
Encoder cable
tat
ing
po
sit
45
ion
8.5
R4
g
tin
ta
Ro
1
2
0 R)
3
R in
(m
Motor cable
6-M6depth9
(Even position)
1.6
1.6
5.5
Sensor
Encoder cable
30
0
R6
50
(15.6)
(12)
Fixed position
Zero point
detection position
range 2
P.C.D
C.
Rotating position
76.5(Inner rotating part)
(15.6)
86
(23.7)
P.
1.6
Motor cable
(7)
6-M5depth7.
Even position
5 )
R3 n R
i
(m
500 +50
-0
1.6
Sensor
Encoder cable
(19)
(12)
4.3(Spigot joint)
1.6
(70)
1.6
0.03

P.C
3(Spigot joint)
(min 80)
140h7-0.040 (Spigot joint)
730.2
0.03
NMR-CSMIA2A-281AIncremental
NMR-CSMGA2A-281AIncrementalSeparated interpolator unitIPUtype
NMR-CSMHA2A-281AAbsoluteSeparated interpolator unitIPUtype
Motor cable
NMR-CREGA2A-151AIncrementalSeparated interpolator unitIPUtype

NMR-CREHA2A-151AAbsoluteSeparated interpolator unitIPUtype
Motor connector
(29)
(54)
500 +50
+0
1(5.5)
(Even position)
Motor cable
"A"
"A"
3(Spigot joint)
1 Encoder type: absolute encoder is R45.

(23.7)
Motor connector
(64)
670.2
0.05
.4
(71.3)
1 Encoder type: absolute encoder is 6.2.
4.3(Spigot joint)
Sensor
Encoder connector
(15)
(min 80)
M -A

M -B
Motor cablePLN
E-A-4/5
Incremental
E-B-1/2

Absolute
(2.7)
h7tolerance range
0.5(Gap)
M -E

M -F
Motor cablePLN
E -A-4
E -A-5
E -B-1
E -B-2
E-A-4/5
Incremental
E-B-1/2

Absolute
0.5(Gap)
3(Spigot joint)
"A" section detail
"A" section detail

Motor connector
ND180-95-LC
NMR-CSEIA2A-561AIncremental
NMR-CSEGA2A-561AIncrementalSeparated interpolator unitIPUtype
NMR-CSEHA2A-561AAbsoluteSeparated interpolator unitIPUtype
6
15
tat
ing
po
sit
ion
45
8.5
R4
Motor cable
1(5.5)
Motor connector
0.05
.4
"A"
(91)
940.2
4.3(Spigot joint)
(98.3)
(15)
550 +0
+100
3(Spigot joint)

Sensor
Encoder connector When separated interpolator unitIPUtype,
.5
(min 80)
1.6
0.05
1 Encoder type: absolute encoder is R45.
1.6
Motor cable
(23.7)
500 +50
-0
Ro
(m
in
R
"A"
Zero point
detection position
range 2
Sensor
Encoder cable
6-M5depth8
(Even position)
SensorEncoder cable
.5
0
C
6.5
Fixed position
3
9
5 )
R3 n R
i
(m
60(Depth2)
35 +0.2
0 (Hollow diameter)
1802.5(Diameter)
(97.5)
Motor cable
(12)
86
.D
P.C.D
130
1
R4
(12)
118 h7 -0.035
Spigot joint
ion
sit
po
Rotating position
19(Hollow diameter)
Sensor
Encoder cable
6-M6depth9
(Even position)
1.6
1.6
(15.6)
30
(15.6)
5.5
Motor cable
(7)
R6
Zero point
detection position
range 2
g
tin
ta
Ro
1
2
1452.5(Diameter)
(15.6)
0 )
3 R
in
(m
101.5(Inner rotating part)
6-M5depth7.5
(Even position)
6-M5depth7.5
Even position
50
0
60 h7 -0.030
Spigot joint
SensorEncoder cable
5
R3 R)
in
(m
D
C.
P.
1.6
Fixed position
(19)
500 +50
-0
(23.7)
1.6
(12)
4.3(Spigot joint)

P.C
(95)
1.6
0.05
1.6
3(Spigot joint)
(min 80)
980.2
0.05
.D
NMR-CRFGA2A-311AIncrementalSeparated interpolator unitIPUtype

NMR-CRFHA2A-311AAbsoluteSeparated interpolator unitIPUtype
(54)
ND140-95-LC NMR-CRFIA2A-311AIncremental
+50
500 +0
(29)
Rotating position
E -A-4
E -A-5
E -B-1
E -B-2
2.6(tolerance range)
P.C
3(Spigot joint)

.5
500 -0
1.6
0.05
+50
Zero point
detection position
range 2
1.6
(m
in
6-M5depth8
550 +100
+0
6.5
M -A

M -B
Motor cablePLN
(2.7)
h7tolerance range
3(Spigot joint)
0.5(Gap)
"A" section detail
29

E-A-4/5
Incremental
E-B-1/2

Absolute
E -A-4
E -A-5
E -B-1
E -B-2
M -E

M -F
Motor cablePLN
0.5(Gap)

E-A-4/5
Incremental
E-B-1/2

Absolute
E -A-4
E -A-5
E -B-1
E -B-2
3(Spigot joint)
"A" section detail
30

(29)
+50
+50

E-A-4/5
Incremental
E-B-1/2

Absolute
3(Spigot joint)
"A" section detail
E -A-4
E -A-5
E -B-1
E -B-2
Motor connector
(54)
+50
1.6
Bottom view of cable layout is shown as right side

0.05
3(Spigot joint)
1.6
(23.7)
0.05
(95)
980.2
(101.8)
3(Spigot joint)
E-A-4/5
Incremental
E-B-1/2

Absolute
E -A-4
E -A-5
E -B-1
E -B-2
3(Spigot joint)
0.6(Gap)
6
37
D
37
6
D
P.
C.
po
sit
ion
R69
R
(m 35
in
R)
M -G-2

M -H-2
Motor cablePLN
.5

0.7(Gap)
M -E
M -F
tin
Sensor
Encoder
cable
3.8
(19)
(Spigot joint)

.5
0
C
Motor cablePLN
ta
1(5.5)
.4
"A"
0
270h7 -0.052 (Spigot
(22)
joint)
(101)
Ro
(23.7)
SensorEncoder cable
1(5.5)
0
R
(15.6)
(12)
6
8
+100
R69
Fixed position
(19)
(8)
500 +0
diameter)
ion
+0.2
0 (Hollow
sit
4082.5(Diameter)
po
ing
Rotating position
.4
(101.8)
+100
3.8
(Spigot joint)
500 +0
1.6
1.6
(95)
980.2
(54)
6
23
D
C.
P.
tat
260 h7-0.052(Spigot joint)

180(Depth1)
(12)
Ro
22
(12)
diameter)
120(Depth1)
65+0.2
-0 (Hollow
3(Spigot joint)
6-M8depth12
(Even position)
Motor cable
0.05
"A"
Motor connector
Motor cable
6
8
Fixed position
0.05
E -A-4
E -A-5
E -B-1
E -B-2
Sensor
Encoder cable
(24.5) 1.6
1.6
5 )
R3 n R
i
(m
E-B-1/2

Absolute
R11
162 h7 -0.040 (Spigot joint)
P.C
.D
6-M8depth12(Even position)
Sensor
Encoder cable
(101)
E-A-4/5
Incremental
5
R3 R)
in
(m
(15.6)
(29)
Zero point detection positionrange 2
R69
2602.5(Motor diameter)
(7)
5
R3 R)
in
(m
Rotating position
0.6(GAP)
"A" section detail
6-M8depth12
(Even position)
(15.6)
0
186h7 -0.046
(Spigot joint)
15
0
1.6
1.6
NMR-CUFGA2A-192AIncrementalSeparated interpolator unitIPUtype

NMR-CUFHA2A-192AAbsoluteSeparated interpolator unitIPUtype
Motor cable
Motor cable
6-M6depth9
(Even position)
3(Spigot joint)
+50
500 +0
Zero point detection position

range 2
M -E

M -F
Motor cablePLN
ND400-95-LC NMR-CUFIA2A-192AIncremental
(29)
NMR-CTFIA2A-841AIncremental
NMR-CTFGA2A-841AIncrementalSeparated interpolator unitIPUtype
NMR-CTFHA2A-841AAbsoluteSeparated interpolator unitIPUtype
C.
(23.7)
65
ND250-95-LC
R69
500 +0
P.
(18)
0
1.6
.4
3.8
(19)
(Spigot joint)
0.7(Gap)
M -E
M -F
R
(m 35
in
R)
(12)
(70)
730.2
(76.8)
ion

P.C
.D
Motor cablePLN
sit

po
+100
1.6
3(Spigot joint)
0.05
500 +0
diameter)
.D
260 h7 -0.052 (Spigot joint)

180(Depth1)
0
22
4082.5(Motor diameter)
"B"
0.05
1(5.5)
.5
.5
(19)
(54)
500 +0
23
6
P.
C.
D
tin
Sensor
Encoder cable
(23.7)
+100
500 +0
SensorEncoder cable
1.6
1.6
P.C
(12)
(12)
120(Depth1)
65 +0.2
-0 (Hollow diameter)
0
162 h7 -0.040
(Spigot joint)
2602.5(Diameter)
P.
C.
D
.4
0
R
Fixed position
ta
(76.8)
(76)
Ro
3.8(Spigot joint)
(15.6)
6
8
R11
(70)
(7)
5 )
R3 R
in
(m
poo
ssitit
ioion
n
Rotating position
1(5.5)
6-M8depth12
(Even position)
Motor cable
Motor cable
5 )
R3 R
in
(m
730.2
(22) 1.6
1.6
R69
3(Spigot joint)
6
8
68
RRo
ottaa
ttinin
g
Motor connector
Sensor
Encoder cable
Fixed position
0.05
R69
(76)
"A"
Zero point detection positionrange 2
Sensor
Encoder cable
0.05
(7)
5
R3 R)
in
(m
(15.6)
(29)
6-M8depth12
(Even position)
(15.6)
0
186h7 -0.046
(Spigot joint)
15
0
1.6
Rotating position
(54)
500 +0
1.6
NMR-CUEGA2A-951AIncrementalSeparated interpolator unitIPUtype

NMR-CUEHA2A-951AAbsoluteSeparated interpolator unitIPUtype
Motor cable
Motor cable
Zero point detection position

range 2
ND400-70LC NMR-CUEIA2A-951AIncremental
Motor connector
NMR-CTEIA2A-501AIncremental
NMR-CTEGA2A-501AIncrementalSeparated interpolator unitIPUtype
NMR-CTEHA2A-501AAbsoluteSeparated interpolator unitIPUtype
+0.2
65 0 (Hollow
ND250-70-LC

E-A-4/5
Incremental
E-B-1/2

Absolute
E -A-4
E -A-5
E -B-1
E -B-2
"A" section detail
"A" section detail
31
32
DISC ND series dimensions
ND400-120-LC NMR-CUGHA2A-152A1rps specication
ND110-50-F
NMR-NAMBA2A-071AIncremental
NMR-CUGHA2A-652A4.16rps specication
19
+20
500 0
(8)
551
+100
3.5(Spigot joint)
.4
0.05
(29)
Motor connector
Motor connector
Motor cable
SensorEncoder cable
1.5 0.7
M -A

M -B
(129)
R0
Motor cablePLN
M -G-2
M -K-2

M -H-2
M -L-2

E -B-1
E -B-2
Motor cablePLN
Note: Setup of grease nipple is that bottom view is correct.

C
.5
M -E1rps specication
M -K-14.16rps specication
(10)
0.6(GAP)
Encoder cable
M -F1rps specication
M -L-14.16rps specication
Motor connector
(114)
3(tolerance range)
3.5(Spigot joint)
0 0
R3 R3
in
m
(54)
(10)
1.6
10
(122.5)
1260.2
+20
500 0
min 70
Zero point
detection position
range 2
0
R3 R30
in
m
.5
C0
0.05
2R5
(8.1)
Grease nipple
33
0.02
600 +0
"A"
1
GAP
49
22
Motor cable
6.3
1.6
ion
min 70
Rotating position
Fixed position
R9
sit
5.1
po
5.5
ing
Hollow diameter
at
(m R4
in 0
R)
Fixed position
ot
Rotating position
35
(17)
(22)
0
270 -0.1
Spigot joint
(24.5)
6
R
.5
R62
(127.5)
1
1
2
1
.D
P.C
0
22
260 -0.1
Spigot joint
180(Depth10)
140(Depth38)
110 +0.3
-0 (Hollow diameter)
4082.5(Diameter)
P.
C.
(20.5)
1.6
C
0
.3
30
55
"A"
1.6
30
37
1.6
1.6
Sensor
Encoder
cable
20
Sensor
Encoder cable
65
Rotating position
Motor cable
+0
50h7 0.025
Spigot joint
(40.5)
+100
600+0
22.5
5
12
30
R5
4-
2-4 H7+0.012
0
48.5
1.5
Spigot joint
1121.5
Grease nipple
(A-MT61)
500.1
0.02
6-M5depth6
Even position
(5.5)
0
0.05 A
13 counter boring depth 2

Even position
1121.5
90
80
60
Interpolator
unitIPU
4R2
.5
4-7Drill thru holes
8-M10depth15
(Even position)
10
R2
Zero point
detection position
range 2
(45.5)
10
102.6
82.6
(m
in
1.2
"A" section detail
(52)
When NMR-CUGHA2A(4.16rps specication) is selected, the diagram is this.

"A" section detail
E -A-1
E -A-2
E -A-3
ND110-100-L
NMR-NPEBA2A-201AIncremental
+50
500 0
25
20
6-M5depth6
Even position
95.5
1.6
P.C
.D
46
Motor cable
45
Motor cable
5.1
91.5
950.2
97
2
Spigot joint
25
0.7
Rotating position
+50
500 0
1.6
3.5
0.02
1.5
GAP
Inner rotating part
1.5
Spigot joint
82h7 0
Spigot joint
0.035
"A"
1
0.
6
D9
C.
.
P
5.1
SensorEncoder cable
1.6
19
Hollow diameter
1122.5
65
Rotating position
50h7 0
Spigot joint
0.025
1.6
C
0
.3
Fixed position
20.5
4-M5depth10
Even position
0
3
R nR
i
m
.5
0
C
Rotating position
Sensor
Encoder cable
min 80
0.02
P.C.D
35
0.1
R3
m
in 0
R
Zero point
detection position
range 2
18
Motor connector
M -A

M -B
Motor cablePLN
Encoder cable
1.5
0.7
"A" section detail
33
E -A-1
E -A-2
E -A-3
34
ND180-55-F
ND250-55-F
4-13Drill thru holes
1.6
1.2
110
Depth2
65
Hollow diameter
185
Rotating position
54
102.6
3
Spigot joint
55
22
11.5
30
500 +50
0
Motor cable
4-
45.5
R2
.5
60
80
90
90
80
60
10
500 +50
0
Motor connector
82.6
10
3
Spigot joint 0.7
Gap
1261
Zero point
detection position
range 2
27
min 80or701
54
Motor connector Motor cable
R2
1
Gap
5
3 R
R
in
m
Interpolator
unitIPU
4
2
57
0.025
2-
29
22
40.5
0
6
1
-R
4
15
.5
Sensor
Encoder cable
29
R2
5
2-R
702
30
4-
45.5
5
3
R nR
i
m
min 80
500 +50
0
84.5
.5
12
6-M6depth8
Even position
0.05 A
Zero point
detection position
range 2
Rotating position
500 +50
0
Fixed position
0
162h7 0.040
Spigot joint
55
2-6 H7+0.012
depth8
0
6-M5depth7
Even position
1.6
out
er d
iam
ete
r
10
"A"
.5
R96
27
2
55
1
.5
Fra
me
7
1
1
Gap
57
Inner rotating part
P.
C.
D2
84
2501.5
35
Hollow diameter
108
Rotating position
0
96h7 0.035
Spigot joint
"A"
.1
0
50
.D1
P.C
Fixed position
24.5
2-6 H7+0.012
0
1.6
Rotating position
55
3
Spigot joint
0.025
0.02
0.05 A
580.2

Even position
.5
0
C
r
ete
iam
er d
out
P.
C.
D2
05
221
.5
0
C
me
Fra
1.5
80
1
1801.5
55
2501.5
P.C
.D
86
0
.1
-R
580.2
3
Spigot joint
.5
1.6
1801.5
6.3
4-11Drill thru holes

NMR-NEMGA2B-401AIncremental
NMR-NEMHA2B-401AAbsolute
40.5
0.02
6.3
NMR-NDMGA2A-201AIncremental
Interpolator
unitIPU
Sensor
Encoder
cable
Sensor
Encoder
connector
0.7
1.2
82.6
10
10
102.6
1 Incrementalmin80
Absolutemin70
M -E

M -F
M -E

M -F
Motor cablePLN
Motor cablePLN
E -B-1
E -B-2
"A" section detail
ND180-110-L

"A" section detail
ND250-110-L
NMR-NSFGA2B-701AIncremental
NMR-NTFGA2B-122AIncremental
NMR-NTFHA2B-122AAbsolute
min 80
54
7.5
40.5
112.2
1170.2
120
10
A
3Spigot joint
82.6
0.5
Rotating position
11
2
.D
P.
C
Sensor
Encoder connector
45.5
500 +50
0
186h7 0
0.046Spigot joint
Sensor
Encoder cable
68
Ro
ta
tin
po
si
tio
6-M8depth10
Even position
10
102.6
60
80
90
M -G-1

M -H-1
E -B-1
E -B-2
M -G-1
M -G-2

M -H-1
M -H-2
Motor cablePLN
30
1.2
82.6
30
1.6
2 Incrementalmin90
Absolutemin80
Motor cablePLN
1.2
"A"
P.C.D
236
0.1
102.6
0.025
60
35
Sensor
Encoder cable
Motor cable
Interpolator
unitIPU
4R2
.5
10
4.8
90
"A" section detail
.5
0
C
3
Spigot joint
80
0.5
Gap
1.6
Gap
142
1.6
SensorEncoder cable
10
Interpolator
unitIPU
3
Spigot joint
110
Depth2
65Hollow diameter
2602.5
Diameter
D1
Fixed position
118.4
Inner rotating part
1.6
45.5
1.6
1.6
.5
4R2
1.6
120
20
0.02
3
Spigot joint
Rotating position
g positio
114
1170.2
185
Rotating position
Sensor
Encoder connector
40.5
1.6
0.02
P.
C.
.D6
2-hanging
metal xture
Sensor
Encoder cable
500 +50
0
0.5
6-M8depth10
Even position
.1
0
0
5
1
D
.
.C
P
Motor cable
.5
0
C
162h7 0
Spigot joint
0.040
0
140h7 0.040
Spigot joint
35
Hollow diameter
108
Rotating position
0
96h7 0.035
Spigot joint
P.C
"A"
3Spigot joint
min 90or802
Motor cable
1.6
Fixed position
Zero point
detection position
range 2
0
4
R R
in
m
Gap
2
tatin
37Ro
1802.5
Motor diameter
Motor cable
5
3
R nR
i
m
Rotating position
118
Inner rotating part
0.025
1
56
0.
6-M6depth10
Even position
.5
0
C
2-hanging
metal xture
500 +50
0
Motor connector
141.2
Zero point
detection position
range 2
.5
0
C
P.
C.
D8
6
0.
1
29 Motor connector
54
500+50
0
29
6-M6depth9
Even position
E -B-1
E -B-2
Servo Driver Capacity matching

M -G-1/
M -H-1
1.5kW/1.6kW:
M -G-2/
M -H-2
2.2kW:
3
0.5
"A" section detail
E -B-1
E -B-2
36
ND400-55-F
ND400-175-L
NMR-NFMGA2B-801AIncremental
NMR-NFMHA2B-801AAbsolute
0.1 A
0.03
6-M8depth10
Even position
2-8 H7+0.015
0
580.2
3
Spigot joint
4082
13
"A"
R
5
M 0
IN
R
60
1.6
P.
C.
D4
50
3rps specication
NMR-NUIGA2A-862AZIncremental/ NMR-NUIHA2A-862AZAbsolute
1.6
55
22
50.8
Motor
connector
3.5
0.03 A
E -B-1
E -B-2
po
4
0.5
Spigot joint Rotating position
4.5
181.5
1860.1
190
4
Spigot joint
0.
6
37
Motor cable
+50
0
IN
M
tio
Sensor
Encoder cable
Sensor
Encoder connector
30
1.2
60
80
90
ND400-110-L
NMR-NUFGA2B-252AIncremental
NMR-NUFHA2B-252AAbsolute
1.6
1.6
0.03
tin
SensorEncoder cable
+2
65
Hollow diameter
.5
.5
6.1
Motor cablePLN
"A" section detail
M -E

M -F
ta
si
Fixed position
Ro
18
0
"C"
2-hanging
metal xture
68
3.5
406 -0Diameter
Rotating position
10
R
50
M
IN
R
270h7 +0
-0.052 (Spigot joint)
1.2
82.6
102.6
10
300
Rotating position
Sensor
Encoder connector
SensorEncoder cable
.5
Interpolator
unitIPU
186.5
Inner rotating part
C0
Motor cable
R2
54
Motor connector
45.5
30
4-
80
1
220
4042
Motor case diameter
40.5
0.7
500 +50
0
5
R3 R
in
m
1001
3
500 +50
0
29
2R3
2-R
3
2-
22
R3
Zero point
detection position
range 2
th
Dep
60
80
90
C0
.5
min 80
29
22.5
1.6
(23)
Motor cable
500
10
B
1.6
0.03
This drawing is for 3rps specication.

Motor connector
+50
0
1
Gap
2
0.
0
R216
-R
+0.015
H7depth12
2-10 0
(Even positionEven position for positioning holes)
Interpolator
unitIPU
4R2
.5
82.6
10
102.6 10
57
85.5
Zero point
detection position
range 2
0.05 B
500
9
3
45
180
Depth2
65
Hollow diameter
84
P.
C.
D2
20
0.
1
4082
Rotating position
44
2
2
295
Rotating position
2-hanging
metal xture
0
260h7 0.052
Spigot joint
24.5
Fixed position
Motor cable
+50
500 0

Even position
6.3
4-17 Drill thru holes
1.5rps specication
NMR-NUIGA2A-472AZIncremental/ NMR-NUIHA2A-472AZAbsolute
115
4 0.5
"C"section detail
Zero point
detection position
range 2
M -K-23rps specication
34
P.
0
270h70.052
Spigot joint
19.5
1.6
114
40.5
1170.2
A
3
120
Spigot joint
Sensor
Encoder connector
P.
Interpolator
unitIPU
4R2
.5 45.5
82.6
10
102.6 10
1.6
0.03
0.5
Sensor
Encoder cable
Sensor
Encoder cable
18
D
C.
1.6
0.03
3
Spigot joint
tio
si
Fixed position
"A"
76
0.
po
1.6
D3
Rotating position
C.
23.5
500 +50
0
180
Depth2
65
Hollow diameter
141.2
2
GAP
M -L-23rps specication
in
at
300
Rotating position
Motor cable
Motor cable
8
118
Inner rotating part
6-M8depth12
Even position
t
Ro
0
260h7 0.052
Spigot joint
Motor connector
68
4082.5
Motor diameter
m
in
R
R5
0
.5
0
C
1.6
P
.C
.D
2
2
0
0
.1
.5
0
C
2-hanging
metal xture
57
500 +50
0
6-M8depth12
Even position
M -M-1
M -K-2

M -N-1
M -L-2

E -B-1
E -B-2
Motor cablePLN
min 100
30
1.2
60
80
90
M-I

M -J
Motor cablePLN

3
Spigot joint
0.5
Gap
"A" section detail
37
E -B-1
E -B-2
38
E -
Encoder cable reference chart
E -A-1
Interpolator unit (IPU)
90
.5
60
40.5
R2
E -A-2
10
Driver side
1.2
10
82.6
102.6
E -A-3
Motor side
Encoder cable connector kit
E -A-4
Driver side
Model No. Encoder connector kit

ZCK-ENC
ZRC-300A
30m
NCR-XBCNA-030
-050
-100
-150
NCR-XBCNA-200
-300
33.3
NCR-XBDFA
NCR-XBDMA
3m
5m
10m
15m
20m
12.7
E -A-1/
E -A-2 Twist pair sealed cable 0.5SQ1P0.2SQ4P
E -A-3 Twist pair sealed cable 0.5SQ1P0.2SQ6P
P1
J1
3m
5m
10m
15m
E -A-4
E -A-5
Twist pair sealed cable 0.5SQ1P0.2SQ6P

20m
30m
P1
J1
E -A-5
39
There is no lineup for connector kit of separated interpolator unit (IPU)

type. Please order encoder cable (NCR-XBCLA).
E -B-1
NCR-XBCLA-030
-050
-100
3m
5m
10m
E -B-1
E -B-2
Robot encoder cable 0.5SQ1P0.2SQ4P

P1
External power supply unit
E -B-2
Model
NCR-XAD1A
NCR-XAD1A is external power supply unit for 30m

E -B-1
E -B-2
specication of P40
.
4.8
10MAX.
22.5
4
AC input terminal
L
E -C-1
PE (protective earth) terminal

85
35.2
Signal chart
NCR-XBC8A
NCR-XBDCA
ZRC-030A
-050A
-100A
-150A
-200A
Encoder cable dimensions
Output indicating light

DC ONGreen
NCR-XBCLA-150
-200
-300-Z
J1
15m
20m
30m
E -B-1
E -B-2 L
L 50
0
100
For using 30m cable, the external DC5V power is required.

P39 NCR-XAD1A type are available as an option.
NCR-XBCOA-030
-050
-100
-150
NCR-XBCOA-200
-300
3m
5m
10m
15m
20m
30m
E -C-1
E -C-2

P1
J1
E -C-2
Under voltage indicator

DC LOWRed
4.8
10MAX.
Output voltage adjust trimmer

V.ADJ
96.4
DC output terminal
V
E -D-1
NCR-XBCRA-030
-050
-100
-150
NCR-XBCRA-200
-300
3m
5m
10m
15m
20m
30m
E -D-1
E -D-2

P1
J1
E -D-2
E -E-1
NCR-XBCUA-030
-050
-100
-150
NCR-XBCUA-200
-300
E -E-2
39
3m
5m
10m
15m
20m
30m
E -E-1
E -E-2

P1
J1
P1Driver sidesignal list J1Encoder sidesignal list

Name of signal chart Pin No. Name of signal chart Pin No.
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 +5V
7
A
8 GND
8
A
9 FGGround 9
B
10
B
11
Z
12
Z
13
14
15
16
17
RX
18
RX
19
FGGround 20
FGGroundMetal
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 PS
7
A
8 PS
8
A
9 PC
9
B
10 PC
10
B
11 +5V
11
Z
12 GND
12
Z
13 +5V
13
PS
14 GND
14
PS
15 FGGround 15
PC
16
PC
17
18
19
FGGround 20
FGGroundMetal
GND
1 GND
1
GND
2 GND
2
+5V
3 +5V
3
+5V
4 +5V
4
SD
5 SD
5
SD
6 SD
6
7
7
8
8
9
9
10
10
11 Z
11
Z
12 Z
12
Z
13
13
14
14
15
15
16
16
17
17
18
18
19
19
FGGround 20 FGGround 20
FGGroundMetal FGGroundMetal
GND
1 B
1
GND
2 B
2
+5V
3 A
3
+5V
4 A
4
5 Z
5
6 Z
6
7 PS
7
A
8 PS
8
A
9 PC
9
B
10 PC
10
B
11 +5V
11
Z
12 GND
12
Z
13 +5V
13
PS
14 GND
14
PS
15 FGGround 15
PC
16
PC
17
18
19
FGGround 20
FGGroundMetal
GND
1 A
C
GND
2 A
D
+5V
3 B
A
+5V
4 B
B
5 Z
E
6 Z
F
7 PS
G
A
8 PS
H
A
9 PC
J
B
10 PC
K
B
11 +5V
L
Z
12 GND
M
Z
13 +5V
N
PS
14 GND
P
PS
15 FGGround R
PC
16
PC
17
18
19
FGGroundMetal
14
GND
1 A
6
2 A
13
3 B
+5V
5
4 B
12
5 Z
4
6 Z
8
7 +5V
A
9
8 GND
A
Metal
9 FG
B
10
B
11
Z
12
Z
13
14
15
16
17
18
19
FGGroundMetal
Encoder connectorMotor side
ZCK-ENC
3 2 1
6 5 4
9 8 7
21
23.7
NCR-XBC8A
5 4 3 2 1
10 9 8 7 6
15 14 13 12 11
30.4
Motor type
D110
ND110
ND-cbuilt-in Interpolator unit
D170/D250/D400
D400-175
D170/D250
D630
D140
LengthL
3m
5m
10m
15m
20m
23.7
NCR-XBDCA
4321
98765
13121110
161514
54
NCR-XBDFA
C
D
E
B A M
P N T
R S
F G H
L
K
J
55.6
NCR-XBDMA
41.5
4-
Model
ZEC-030A
-050A
-100A
-150A
-200A
16.5
45.5
Encoder cable No.
16.5
30
+50
500 0
80
Cable length
29.2
If the external type interpolator is selected, please

refer to the diagram for interpolator (IPU) setting.
37.3
Interpolator unit
IPU
45.1
15
40
M -
M -
Motor cable without shield
PLNFor slow movingchart
M -A
Model
LengthL
3m
NCR-XBBAA-030
5m
-050
-100 10m
-150 15m
-200 20m
-300 30m
Dimensions
L
50
50
Robotop 0.75SQ 4 cores
Connection table
Signal name J Pin No. Cable color
1
U
red
2
V
white
3
W
black
4
E
green
CSZ-MOT
J1
12.3
M -C-1
M -E
L
70
M -C-1
M -C-2
70
1.25SQ 4 cores
2SQ 4 cores
33.4
50
A1 B1

NCR-XBDDA
J1
2
30
M -G-2
M -I
3m
5m
10m
15m
20m
NCR-XBE7A-030
-050
-100
-150
-200
3m
5m
10m
15m
20m
NCR-XBBPA-030
-050
-100
-150
-200
3m
5m
10m
15m
20m
M -G-1
M -G-2
70

Robotop 2SQ 4 cores
M -F
M -G-1
M -G-2
Crimp contact R1.25-4

Crimp contact R2-4
M -H-1
M -H-2
30
L
70
Robotop 2SQ 4 cores
J1
54

X
U
red
Y
V
white
Z
W
black
G
E
green
NCR-XBDEA
Crimp contact R2-4
Y
Z

CSZ-MOT
J1
NCR-XBBFA-030
-050
-100
-150
-200
-300
NCR-XBBIA-030
-050
-100
-150
-200
-300
NCR-XBBLA-030
-050
-100
-150
-200
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
L
70
M -D-1
M -D-2
Heat shrink tube

UL type
8 35mm
1.25SQ 4 cores
2SQ 4 cores
Heat shrink tube

UL type
70
8 35mm

U
B1
red
V
B2
white
W
A1
black
E
A2
green/yellow
NCR-XBB4A
J1
M -D-1
M -D-2
33.4
Crimp contact R2-4
L
Heat shrink tube
UL type
8 35mm
0.75SQ 4 cores
50

U
1
red
V
2
white
W
3
black
E
4
green/yellow
NCR-XBDDA
J1
M -J
NCR-XBBOA-030
-050
-100
-150
-200
-300
NCR-XBE9A-030
-050
-100
-150
-200
-300
NCR-XBBRA-030
-050
-100
-150
-200
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
M -H-1
M -H-2
Heat shrink tube

UL type
1.25SQ 4 cores
2SQ 4 cores
70
8 35mm
54

U
1
red
V
2
white
W
3
black
E
4
green/yellow
NCR-XBDDA
J1
M -H-1
M -H-2

Crimp contact R2-4
30
L
Heat shrink tube
UL type
2SQ 4 cores
70
8 35mm
J1
54

U
X
red
V
Y
white
W
Z
black
E
G
green/yellow
NCR-XBDEA
Crimp contact R2-4
Y
Z
M -M-2
41
VCT cable Robotop 8SQ 4 cores
M -L-1

NCR-XBD9A
J1
M -K-1
M -K-2

Crimp contact R8-5
M -L-2
70
M -M-1
M -M-2
70
J1

X
U
red
Y
V
white
Z
W
black
G
E
green
M -N-1

NCR-XBDHA
M -M-1
M -M-2

M -N-2
X
Y
83.0
NCR-XBBUA-030
-050
-100
-150
-200
-300
NCR-XBBVA-030
-050
-100
-150
-200
-300
NCR-XBBXA-030
-050
-100
-150
-200
-300
NCR-XBBZA-030
-050
-100
-150
-200
-300
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
M -L-1
M -L-2
Heat shrink tube

UL type
Shield cable 5.5SQ 4 cores

Shield cable 8SQ 4 cores
70
35mm

U
A
red
V
B
white
W
C
black
E
D
green/yellow
NCR-XBD9A
J1
M -L-1
M -L-2

Crimp contact R8-4
56.4
70
VCT cable Robotop 3.5SQ 4 cores
57.2
70
M -N-1
M -N-2

Heat shrink tube
UL type
70
35mm

U
X
red
V
Y
white
W
Z
black
E
G
green/yellow
NCR-XBDHA
J1
M -N-1
M -N-2

44
M -M-1
M -K-1
M -K-2

A
U
red
B
V
white
C
W
black
D
E
green
56.4
M -K-2
44
M -K-1
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
29
20
57.2
NCR-XBBSA-030
-050
-100
-150
-200
-300
NCR-XBBTA-030
-050
-100
-150
-200
-300
NCR-XBBWA-030
-050
-100
-150
-200
-300
NCR-XBBYA-030
-050
-100
-150
-200
-300
23.7
30

NCR-XBDDA
J1
50
8 35mm
54

1
U
red
2
V
white
3
W
black
4
E
green
34
M -G-1
NCR-XBBMA-030
-050
-100
-150
-200
M -D-1
29

1
U
red
2
V
white
3
W
black
4
E
green
0.75SQ 4 cores
8 35mm
16.7
M -D-2
A2 B2
20
Heat shrink tube

UL type
Heat shrink tube

UL type
23.7

B1
U
red
B2
V
white
A1
W
black
A2
E
green
M -C-1 Crimp contact R1.25-4
M -C-2 Crimp contact R2-4
L
50
Connection table
U
1
red
V
2
white
W
3
black
E
4
green/yellow
12.3

NCR-XBB4A
J1
Dimensions
M -C-2
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
30m
3m
5m
10m
15m
20m
M -B
Model
LengthL
3m
NCR-XBBCA-030
5m
-050
-100 10m
-150 15m
-200 20m
-300 30m
2 1
4 3
16.7
NCR-XBBDA-030
-050
-100
-150
-200
-300
NCR-XBBGA-030
-050
-100
-150
-200
-300
NCR-XBBJA-030
-050
-100
-150
-200
Dimension No./Model
34
Dimension No./Model
Motor cable with shield type
PHSFor fast movingreference chart
X
Y
83.0
42
AC Servo driver / controller
Absolute position accuracy compensation
VCII Series
This option ensure the absolute position accuracy of DISC series.

There is three type of setting method of absolute position accuracy compensation data. Please refer to the charts in the below.
Encoder type : built-in interpolator uinit type
Option model No.
Option model No.
NCR-XAJD1
NCR-XAAD1
Install the compensation data at factory

Eective absolute position accuracy compensation data function + install the compensation data
Measuring DISC absolute position accuracy compensation data (IPU)
Install the overcompensation data to servo driver by the customer

NCR-XAID1
Eective absolute position accuracy compensation data function
NCR-XABD1
Encoder type : external interpolator unit typeWhen the servo driver connects to interpolator unit (IPU), the compensation data is set to servo driver automatically.
Compensation data to be installed to the interpolator unit (IPU) the separate unit of encoder at the factory before shipment
NCR-XAID1
Eective absolute position accuracy compensation data function
NCR-XADD1
Option model No.
In case VC series is selected, in the model No. is "B", and VPS series selected, it will be "C".
VC-D type
50W20kW
It is the high performance servo driver to optimize the motor potential for the needs of "High response" to "Ultra slow".
Pulse train, Speed control, and Torque control mode can be selected.
VC-C1 type
In addition to the high performance servo driver VC-D, multiple functions are set up to VC-C1 servo controller.
It has the program operation functions such as Stand-alone positioning and Speed/ Torque/ Spinner control.
VC-C6 type
Overseas safety standard conformity
Some of DISC servomotor are compliant to overseas safety

standard as listed in the below.
DISC series correspond to RoHS command.
In addition to the high performance servo driver VC-D, Free-curve control functions are set up for VC-C6 servo controller.
It works as the slave axis following the master axis movement like electric cam.

CE marking corresponded (All type), UL/cUL corresponded (800W or less)
Please note that the model, specications, and dimensions of conformed

motors may be dierent from the standard models in the catalog.
Corresponding to network
Field
Conformed Safety standard
networkCC-Link/DeviceNet
Motion
networkSSCNET
MECHATROLINK-
North America safety standard

UL1004-1CSA22.2 NO.100cUL
UL le No. E254021
European safety standard

EN60034-1
EN61800-3
The related standard to the EMC Directives will be achieved by that model.
Besides standard lineup of DISC series, we deal with following

requirement as special model.
Thus, it is necessary for the nally congured product to conrm and measure
Caution
By deciding the setting model (conditions) of the driver and motor.
if the EMC compliance is applicable.
DISC servo motors with safety standard conformity

Conformed items of and
D110-40F
D170-100F
D170-100L
D250-100F
D400-100L
D110-40L
D250-100L
Built-in motor
Built-in air bearing, coater and stator of ball bearing spindle or rotor and stator is supplied
Conformed items of
ND180-55F
ND180-110L
ND250-55FABS
ND250-110LABS
ND400-55FABS
ND400-110LABS
ND250-55FINC
ND250-110LINC
ND400-55FINC
ND400-110LINC
Change material and surface treatment
Improve torque and revolution
Exchange to specied connector and shield cable
Expand hollow size and change hollow shape
Outer circumference encoder specication
Forced air or water cooling
AC Servo driver
VPS Series
Improve rotational accuracy (Bearing change), To improved

atness or parallelism
Dustproof system
Please consult with our sales dept, if you have other requirement.
For the other model not listed, please contact to our sales department.
50W1.6kW
I/O type / CC-Link type

servo driver easy to use and high cost performance model.
Pulse train/Mode selection of Speed control.
7 points positioning and Zero return function are equipped as standard function.
For the other standard functions: Feed-forward control torque control, resonace control lter function,
4ch real time oscilloscope function.
CE marking, ULcUL conformity
43
44
VC Index
AC Servo driver / controller
VCII Series
DISC
Motor cableP4142
D type / C1 type / C6 type
Interpolator
P39
Encoder cable
P40
Absolute position accuracy

compensation function
P43
Dynamic brake unitP68
Zero phase reactorP66
SDI DeviceP66
Synchronous
communication cable
P66
High performance servo driver VCseries
VCseries
VCseries
High performance and versatility control function
Open collector pulse

input unit
High performance type motor for utilizing its optimal performance from high response to ultra slow motion
Useful lter function to control the vibration at the distal end of machine.
Auto notch lter function to increase eciency of resonance control operation.
4 kinds of Gain selection function (GSEL) to enable to select suitable gain according to the condition of load.
Eective feed forward function to shorten the settlement time.
Factory optionP52
Regenerative resisterP67
Equipped to output capacity 800W or higher model
Ferrite coreP66
Serial
MECHATRO SSCNET DeviceNet
communication
LINK-
Motion networkSSCNET/MECHATROLINK-
Field networkCC-Link/DeviceNet
CC-Link
I/O connection
Model
DDriver
Classication
of Product
CController
Series
Machine
model
type
DVC series
Input power source

specications
Design order
RRegenerative driver
SRegenerative controller
Output
capacity
CInduction motor
Motor
combination
1Positioning control controller

6Free-curve control controller
A1AC100V
A2AC200V
ABCStarting from A
Ex.)4014 0 1 = 40 x 10 1= 400W
Exponent of accumulation of 10
Eective digit
BDISC D/ND series / linear NLA-MANA type
Clinear NLA-S type
DDISC HDND-c series / linear NVANLD series
0Drive
Function
type
NONSynchronous/Induction AC servomotor
ADISC motor / linear

BSynchronous motor
Encoder
combination Special
specications
NONStandard type
MECHATRO SSCNET DeviceNet

LINK-
I/F unit
I/F unit
I/F unit
Factory optionP52
CC-Link Control input/

I/F unit output expansion
unit
Cable for the expansion unit

P64
NCRNikki AC servo controller series
VC main unit I/O cableP63
serial communication cable

P65
N C R - D D A 0 A2 A - 401 B -
USB cable (Available in market)
I/F method selection
Selectable network
Data editing software

P66
Master controller
Option in will be installed to VC unit at our factory before the shipment.
45
46
VCseries Common specications
VCseries Function specications
Item
Specication
Temperature
Ambient
Condition
Humidity
055050
When UL standard is applied
Storage temperature
-2060
Type
Altitude
No harmful substance such as corrosive gas, grinding uid, metal powder, and oil are not allowed in the installation location.
1000m or lower
Cooling method
Installation method
Shock resistant
25Mpps
20Mpps
However, frequency of encoder pulse 4-multiplication
0.5G
1050Hz
Command
input style
Radiation noise1000V
50ns
10cm
1 minute
Electro-static noise10kVA
between earth and case
Analog command
Common type
1A-101
1A-201
2A-201
2A-401
2A-801
2A-152
100
200
200
400
800
1.5k
50 60Hz single phase

Voltage specications AC100115V
Allowable voltage change
Maximum input frequency 6.25Mpps
Each type
Maximum input frequency 5Mpps
GND is common for line receiver input; thus, pay attention to noise
Servo control communication
Internal master axis command
Speed control runTorque control runDC -10V +10V

Input resolution14bit
Simple positioning/Zero point return/
Program run by internal stored data 280 points
Manual run, by internal pulse train command
Address 0255 set by control signal
Zero point return run, Manual (jog) run, Serial communication run, Self-diagnosis, Torque limit, Electronic thermal
Simple positioning
Pulse train command correction
Pulse train run, Program run (Positioning, Simple continuous positioning, External trigger positioning,
4 rules of arithmetic/Logic computing, Timer, No-conditional/conditional jump,
Sub-routine spinner control), Electric gear ratio set, Backlash compensation
Program run (Continuous control)
Program run (Free curving control)
Linear accel-decelS-letter accel-decel
Acceleration deceleration pattern
AC200230V50 60Hz 3-phase
Auto-tuning function
Parameter setting can cope with cases even in relatively big inertia ratio
AC180242V50 60Hz
Gain select function
With combination of GSEL signal, 4-type gain select is enabledPosition loop gain also corresponds to gain select
AC90121V50 60Hz
3-phase sin wave PWM
Drive method
Line driver or open collector output (option) compatible. However, line drive method is recommendable, due to noise resistance
Servo-onSON*
resetRST
mode-selectMD1MD2
Command pulse input prohibitionCIH(*)
Emergency stopEMG*
Proportion controlPC
Power capacity (at rated output)
kVA
0.3
0.6
0.6
1.1
1.8
3.0
Forward direction jogFJOG

Reverse direction jogRJOG
Zero point decelerationZLS
Speed overrideOR14
Deviation clearCLR
Continuous output current
Arms
2.0
3.4
2.0
3.4
5 (6.8) 4
10.0
Forward over travelFOT*

Reverse over travelROT*
Gain selectGSEL
Gain select 2GSEL2
Compulsory brake ONBRON
Torque limitTL
Instant output current
Arms
6.0
9.9
6.0
9.9
17.0
30.0
Control input signal
Semi closed loop with encoder (linear sensor) feedback
DriveDR
External input signal Basic 8 points
Speed/Torque selectSS1,SS2
Regenerative brake : regenerative resister external installation
Simple positioning startPST
Control method
Brake method
25
Hz
Carrier frequency
Speed control range1
Max speed frequency
Mpps
No fuse breaker
Rated current2
Mass 3
16
Zero point return(ORG)
20
Command direction select(SSD)
10
10
10
kg
1.0
1.4
1.0
1.4
2.4
4.0
Regenerative resistor (Refer to P67)

Item
Specication
Model
NCR-DAA
Output capacity
Input
power supply
2A-222
2A-402
2.2k
4.0k
2A-752
2A-113
2A-153
2A-203
7.5k
11.0k
15.0k
20.0k
Voltage specications
AC200230V50 60Hz3-phase
AC180242V50 60Hz
Drive method
kVA
Control power capacity
4.7
7.8
15 5
20 5
25 5
30 5
36
36
36
56
Arms
16.0
27.0
41.8
47.7
62.6
87.3
Arms
48.0
78.0
83.6
95.4
125.2
174.6
Control method

Hz
Carrier frequency
16
15000
Mpps
No fuse breaker
Rated current2
Mass 3
15
30
60
75
100
125
kg
4.0
6.0
7.4
7.7
10.0
18.5
Option
Command direction select(SSD)
Electronic clutchD14
Master axis selectionD18
Cycle endD21
Pattern selectionD22/D24/D28
Internal master axis speed selection (MSSP)
Rough matching
PRF
Program end
PEND
Auto run ready
PRDY
Output signalBasic 4 points
In speed run modeSMOD
In torque run modeTMOD
In manual run
MMOD
In auto run
AMOD
In zero point return run
HMOD
M strobe
MSTB
General output
OUT18
M output
M0180
In simple positioning run mode

NMOD
In pulse train run modePMOD
In pulse train run mode

PMOD
Electronic clutch stopping

FCRP
In free curving motionFC
Master axis speed zeroMSZ
Mode in servo lock(PMOD)
Encoder pulse output
90
phase dierence pulse train outputDivision output possible: maximum output frequency of A/B-phase 2-signal is 20Mpps with 4-multiplication
Operation/display function
Device front LCD module or optional SDI device can display input of each data and various statuses
Filter function
Notch lter, Torque command lter, Disturbance correction lter, Active vibration control lter
Monitor function
Control signal status is displayed on device front LCD module or on signal display block of optional SDI device
Each type operation conditions, setting status (data), error detection content history record is displayed on device
front LCD module or on data display block of optional SDI device
Analog monitor: 2 items (It can monitor 2 items that are selected with parameter in various operation status)
Various monitoring is enable with USB compatible exclusive editing software (Option)
Data sustain function
Below data is sustained in nonvolatile memory (Up to 10,000 times of rewriting is possible to nonvolatile memory)Parameter, alarm history record
History record up to last ve occasions is sustained. However, event that is identical to the latest alarm is not registered)
Protective function
IPM error, Excessive voltage, Low voltage, Excessive speed, Overloadelectronic thermal,Regenerative resistor overload, Deviation over ow,
Communication error, Data error, CPU error, Encoder error, automatic magnetic pole detection error, Absolute encoder error, etc.
20
Backlash alignment progressD11

Backlash delayD12
Speed zero
SZ
Brake release
BRK
Soft limit switch
SLSA,SLSB
Encoder maker (OCEM)
10
Auto start
PST
Address set
PS18
Hold
HLD
External trigger
TRG
M complete
MFIN
Program cancel
PCAN
Block stop
BSTP
External auto start inhibit
EPIH
Jog speed change
JOSP
Servo ready
RDY
Alarm
ALM
*
Warning
WNG
*
Position complete
PN
In torque limit
LIM
Brake method
Max speed frequency
Address set(PS1PS3)
15000
Option
VCseries
VCseries
Input
power supply
AutomaticManual
Zero point returnServo lock
Pulse train run
Major function
Specication
W
VC-D/CI type
Pulse train command
VC-C6 type
Master axis
positioning command
Internal command
Item
NCR-DAA
AutomaticManual
Zero point returnPulse train
VCseries Special specications
Output capacity
Speed controlTorque control

Pulse train commandSimple positioning
90-degree phase dierence pulseDirectional pulseDirectional signal + sending pulse
Panel installation type
Please avoid using at high temperature and high humidity conditions since the Life is heavily depended on the temperature and moisture.
Model
VC-C6NCR-CDA6
1 axis
Input frequency
Operation mode
Capacity 800W or less : Natural air cooling, Capacity 1.2kw or more : Forced air cooling
FT B2000V
Frequency 5 100kHz
Synchronous 300ms
1 minute
Noise
VC-C1NCR-CDA1
Encoder feedback
5G
resistance
VC-DNCR-DDA0
Number of control axis
85% or lower, No condensation
Installation location
Specication
Item
Operating temperature
Communication function
Serial communication (RS-422A) enable various data transceiving

By USB (1.1/2.0 standard compliance), it can communicate with data editing software
Refer to P51-52 "external connection diagram" for initial value of external input/output 8/4 point signal.
The value except initial value is used in remote control or allocated according to input/output signal allocation.
of signal sign is non logic. () sign is the signal which can change logic by parameter,
1When the load is 100%, the motor will be not stopped within the speed control range.
2Select a molded case circuit breaker which has appropriate interruption capacity for the power capacity to achieve protective coordination.
3Weight without options.
4When UL standard is not applied, the rated current is 6.8A.
47
5Power supply capacity.
48
DISCVCseries matching chart
D seriesVCseries matching chart

DISC servo motorD series
Type
D110
D170
D250
ModelFrange type
40
NMR-FADBA2C-061A
NMR-FPDBA2B-061A
60
NMR-FAEBA2C-121A
NMR-FPEBA2B-121A
40
NMR-FDDBA2D-201A
NMR-FSDBA2C-201A
100
40
100
40
100
NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A
NMR-FFFBA2C-252A
175
D400
ModelFlange-less
275
High rigidity
125
175
D630
225
470
NMR-FGPHA2A-133AGZ
NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A
NMR-FUFBA2C-252A
NMR-FUIBA2D-212AZ
NMR-FUIBA2D-472AZ
NMR-FUVHA2A-662A
NMR-FUVVA2A-662A
NMR-F V G A 2 C -322A
NMR-FVIBA2C-672A
NMR-FVKBA2B-872A
When combined
Input
Rated torque Peak torque Voltage
ACV
N.m
Single phase100
2
6
3 phase200
Single phase100
4
12
3 phase200
Single phase100
7.5
22.5
3 phase200
67
22.5
20.7
60
186
62
67
134
400
200
3 phase200
1000
500
NCR-DDA0A1A-101B
NCR-DDA0A2A-201B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A2A-801B
NCR-DDA0A2A-401B
NCR-DDA0A2A-152B
NCR-DDA0A2A-801B
NCR-DDA0A2A-222B
NCR-DDA0A2A-402B
NCR-DDA0A2A-752B
VC series
VC-C1
Model
NCR-CDA1A1A-101B
NCR-CDA1A2A-201B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A2A-801B
NCR-CDA1A2A-401B
NCR-CDA1A2A-152B
NCR-CDA1A2A-801B
NCR-CDA1A2A-222B
NCR-CDA1A2A-402B
NCR-CDA1A2A-752B
NCR-CDA6A1A-101B
NCR-CDA6A2A-201B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A2A-801B
NCR-CDA6A2A-401B
NCR-CDA6A2A-152B
NCR-CDA6A2A-801B
NCR-CDA6A2A-222B
NCR-CDA6A2A-402B
NCR-CDA6A2A-752B
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-402-UL
NCR-XABCA2B-113-UL
VC-D
VC-C6
Dynamic brake unit
NCR-XABCA2B-801-UL
700
1800
NCR-DDA0A2A-153B
NCR-CDA1A2A-153B
NCR-CDA6A2A-153B
500
1000
1500
3000
1000
2000
3000
5800
NCR-DDA0A2A-402B
NCR-CDA1A2A-402B
NCR-CDA6A2A-402B
NCR-XABCA2B-402-UL
NCR-DDA0A2A-113B
NCR-CDA1A2A-113B
NCR-CDA6A2A-113B
NCR-XABCA2B-113-UL
NCR-DDA0A2A-203B
NCR-CDA1A2A-203B
NCR-CDA6A2A-203B
HD seriesVCseries matching chart

DISC servo motorHD series
160
160GForced air cooling
185
225
200
D140
D170
D250
ModelFrange type
NMR-FCHBA2D-661A

NMR-FCIBA2D-751A

ModelFlange-less
NMR-FRHBA2D-661A
NMR-FRHBA2A-112AG
NMR-FRIBA2D-751A
NMR-FSNBA2B-202AZ
NMR-FTJBA2F-302AZ
VC-D
NCR-DDA0A2A-801D
NCR-DDA0A2A-152D
NCR-DDA0A2A-152D
NCR-DDA0A2A-222D
NCR-DDA0A2A-402D
VC series
VC-C1
Model
NCR-CDA1A2A-801D
NCR-CDA1A2A-152D
NCR-CDA1A2A-152D
NCR-CDA1A2A-222D
NCR-CDA1A2A-402D
VC-C6
Dynamic brake unit
NCR-CDA6A2A-801D
NCR-CDA6A2A-152D
NCR-CDA6A2A-152D
NCR-CDA6A2A-222D
NCR-CDA6A2A-402D
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-402-UL
VC-C6
Dynamic brake unit
VCseries
VCseries
Type
When combined
Input
ACV
N.m
21
58.8
27.5
63
3 phase200
24
67.2
53
154
115
345
ND-c seriesVCseries with built-in Interpolator unit encoder matching chart

DISC servo motorND-c series
Type
ND110
ND140
ND180
ND250
ND400
ModelIncremental
65-C
NMR-CAEIA2A-071A
85-C
NMR-CAUIA2A-151A
70-C
NMR-CREIA2A-151A
95-C
70-C
95-C
70-C
95-C
70-C
95-C
NMR-CRFIA2A-311A
NMR-CSMIA2A-281A
NMR-CSEIA2A-561A
NMR-CTEIA2A-501A
NMR-CTFIA2A-841A
NMR-CUEIA2A-951A
NMR-CUFIA2A-192A
ModelAbsolute
When combined
Input
ACV
N.m
Single phase100
2.4
7.2
3 phase200
Single phase100
14.4
4.8
3 phase200
Single phase100
4.8
14.4
9.6
9
18
27
45
76
152
28.8
27
54
81
112.5
190
380
3 phase200
NCR-DDA0A1A-101D
NCR-DDA0A2A-201D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A2A-801D
NCR-DDA0A2A-401D
VC series
VC-C1
Model
NCR-CDA1A1A-101D
NCR-CDA1A2A-201D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A2A-801D
NCR-CDA1A2A-401D
NCR-CDA6A1A-101D
NCR-CDA6A2A-201D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A2A-801D
NCR-CDA6A2A-401D
NCR-DDA0A2A-801D
NCR-CDA1A2A-801D
NCR-CDA6A2A-801D
NCR-DDA0A2A-222D
NCR-CDA1A2A-222D
NCR-CDA6A2A-222D
NCR-DDA0A1A-101D
NCR-DDA0A2A-201D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A1A-201D
NCR-DDA0A2A-401D
NCR-DDA0A2A-801D
NCR-DDA0A2A-401D
NCR-CDA1A1A-101D
NCR-CDA1A2A-201D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A1A-201D
NCR-CDA1A2A-401D
NCR-CDA1A2A-801D
NCR-CDA1A2A-401D
NCR-CDA6A1A-101D
NCR-CDA6A2A-201D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A1A-201D
NCR-CDA6A2A-401D
NCR-CDA6A2A-801D
NCR-CDA6A2A-401D
NCR-DDA0A2A-801D
NCR-CDA1A2A-801D
NCR-CDA6A2A-801D
NCR-DDA0A2A-222D
NCR-CDA1A2A-222D
NCR-CDA6A2A-222D
NCR-XABCA2B-222-UL
NCR-DDA0A2A-113D
NCR-CDA1A2A-113D
NCR-CDA6A2A-113D
NCR-XABCA2B-113-UL
VC-C6
Dynamic brake unit
VC-D
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
ND-c seriesVCseries with external Interpolator unit (IPU) encoder matching chart
ND110
ND140
ND180
ND250
ND400
65-C
NMR-CAEGA2A-071A
NMR-CAEHA2A-071A
2.4
7.2
85-C
NMR-CAUGA2A-151A
NMR-CAUHA2A-151A
4.8
14.4
70-C
NMR-CREGA2A-151A
NMR-CREHA2A-151A
4.8
14.4
95-C
70-C
95-C
70-C
95-C
70-C
95-C
NMR-CRFGA2A-311A
NMR-CSMGA2A-281A
NMR-CSEGA2A-561A
NMR-CTEGA2A-501A
NMR-CTFGA2A-841A
NMR-CUEGA2A-951A
NMR-CUFGA2A-192A
NMR-CRFHA2A-311A
NMR-CSMHA2A-281A
NMR-CSEHA2A-561A
NMR-CTEHA2A-501A
NMR-CTFHA2A-841A
NMR-CUEHA2A-951A
NMR-CUFHA2A-192A
NMR-CUGHA2A-152A
NMR-CUGHA2A-652A
9.6
9
18
27
43
76
152
250
250
28.8
27
54
81
108
190
380
600
570
120-C
Single phase100
3 phase200
Single phase100
3 phase200
Single phase100
3 phase200
NCR-XABCA2B-801-UL
ND seriesVCseries matching chart

DISC servo motorND series
Type
ND110
ND180
ND250
ND400
ModelIncremental
ModelAbsolute
50
NMR-NAMBA2A-071A
100
NMR-NPEBA2A-201A
55
NMR-NDMGA2A-201A
110
NMR-NSFGA2B-701A
55
NMR-NEMGA2B-401A
NMR-NEMHA2B-401A
110
NMR-NTFGA2B-122A
NMR-NTFHA2B-122A
55
110
NMR-NFMGA2B-801A
NMR-NUFGA2B-252A
NMR-NUIGA2A-472AZ
NMR-NUIGA2A-862AZ
NMR-NFMHA2B-801A
NMR-NUFHA2B-252A
NMR-NUIHA2A-472AZ
NMR-NUIHA2A-862AZ
175
When combined
Input
ACV
N.m
Single phase100
2.4
7.2
3 phase200
3 phase200
20.3
7
Single phase100
9
27
3 phase200
81
27
21.5
65
81
27
67
201
3 phase200
82
246
190
76
215
603
500
1000
450
900
VC-D
NCR-DDA0A1A-101B
NCR-DDA0A2A-201B
NCR-DDA0A2A-401B
NCR-DDA0A1A-201B
NCR-DDA0A2A-401B
NCR-DDA0A2A-152B
NCR-DDA0A2A-401B
NCR-DDA0A2A-801B
NCR-DDA0A2A-152B
NCR-DDA0A2A-222B
NCR-DDA0A2A801B
NCR-DDA0A2A-222B
NCR-DDA0A2A-752B
NCR-DDA0A2A-113B
VC series
VC-C1
Model
NCR-CDA1A1A-101B
NCR-CDA1A2A-201B
NCR-CDA1A2A-401B
NCR-CDA1A1A-201B
NCR-CDA1A2A-401B
NCR-CDA1A2A-152B
NCR-CDA1A2A-401B
NCR-CDA1A2A-801B
NCR-CDA1A2A-152B
NCR-CDA1A2A-222B
NCR-CDA1A2A-801B
NCR-CDA1A2A-222B
NCR-CDA1A2A-752B
NCR-CDA1A2A-113B
NCR-CDA6A1A-101B
NCR-CDA6A2A-201B
NCR-CDA6A2A-401B
NCR-CDA6A1A-201B
NCR-CDA6A2A-401B
NCR-CDA6A2A-152B
NCR-CDA6A2A-401B
NCR-CDA6A2A-801B
NCR-CDA6A2A-152B
NCR-CDA6A2A-222B
NCR-CDA6A2A-801B
NCR-CDA6A2A-222B
NCR-CDA6A2A-752B
NCR-CDA6A2A-113B
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-752-UL
NCR-XABCA2B-113-UL
Refer to P68 for dimension of dynamic brake unit.
49
50
VCseries dimensions
VCseries dimensions
AC100V
AC200V
NCR-DAA1A-201
65 1
55 1
10
77
24
36(40) 3
24
151
24
130 1
100
36(40) 3
(9.5)
151
210
(19)
(9.5)
16.5
195
118
(26)
16.5
220
225
245
255
300
290
270
190
180
160
190
180
160
15
15
15
40
10 23
24
15
5
25
25
NCR-DAA2A-752/113
NCR-DAA2A-402
NCR-DAA1A-101
5.5
5.5
89842
79742
1531532
The size is the same when the interface unit option is installed.
NCR-DAA2A-153
48.5
(26)
24
24
151
TB2
TB3
(9.5)
15
15
(9.5)
36(40) 3
250
24
151
1.5
B1
B2
L1
169
36(40) 3
15
24
48.5
230
77
25
165
16.5
118
65 1
55 1
265
195
16.5
25
NCR-DAA2A-203
9.5
NCR-DAA2A-401
20
NCR-DAA2A-201
VCseries
VCseries
AC200V
STATION No.
364
404
10
B RATE
CN2
385
J2
TB1
280
250
190
180
160
190
180
160
J1
CHARGE
270
J3
L2
TB7
T
CN1
195
L ERR/L RUN
SD / RD
TB5
DC24VCC-Link
0V-
5.5
5.5
79742
89842
NCR-DAA2A-801
40
121 1
90
10
23
(18.5)
5
10
15
95 1
79
31
10
24
36(40) 3
15
190
Factory option will be installed at our factory before the shipment. Please specify when you order.
Please note that it is unable to add factory option to VC by yourself.
I/F unit option
160
When setting up VC, it is possible to set up following network I/F unit or control input/output extension unit (unable to set up multi-units
Network I/F unit enables network connection to other maker's product which corresponded with each network.
Control input/output extension unit is the unit which adds input/output signal to connect to I/O. (For standard input 8 points, output 4 points)
(9.5)
10
VCseries factory option
NCR-DAA2A-152/222
240
230
190
180
160
210
The list of I/F unit option
2
5.5
1191142
5.5
1441412
1The unit size of VCseries.

2The size of VC series with options of CC-Link, DeviceNet, MECHATROLINK- and SSCNET interface unit.
The size of VC series with the input/output expansion unit is indicated in ( ).
For model name of each option, refer to P52VC series factory option
.
3The size of connector height of the input/output expansion unit indicated in ( ).
51
VCmodel
I/F unit
NCR-DAAA-101
NCR-DAAA-201
NCR-DAA2A-401
NCR-DAA2A-801
NCR-DAA2A-152
NCR-DAA2A-222
NCR-DAA2A-402
NCR-DAA2A-752
NCR-DAA2A-113
NCR-DAA2A-153
NCR-DAA2A-203
Network I/F unit
MECHATROLINK- I/F unit
SSCNET I/F unit
CC-Link I/F unit
Device Net I/F unit
Control input/
output extension unit
NCR-XABPD1A-201/401
NCR-XABLD1A-201/401
NCR-XAB7D1A-201/401
NCR-XAB6D1A-201/401
NCR-XAA2D1A-201/401
NCR-XABPD1A-801
NCR-XABLD1A-801
NCR-XAB7D1A-801
NCR-XAB6D1A-801
NCR-XAA2D1A-801
NCR-XABPD1A-152/222
NCR-XABLD1A-152/222
NCR-XAB7D1B-152/222
NCR-XAB6D1B-152/222
NCR-XAA2D1B-152/222
NCR-XABPD1A-402
NCR-XABLD1A-402
NCR-XAB7D1A-402
NCR-XAB6D1A-302/402
NCR-XAA2D1B-302/402
NCR-XABPD1A-153
NCR-XABLD1A-153
NCR-XAB7D1A-153
NCR-XAB6D1A-153
NCR-XAA2D1A-153
NCR-XABPD1A-203
NCR-XABLD1A-203
NCR-XAB7D1A-203
NCR-XAB6D1A-203
NCR-XAA2D1A-203
Pulse train command open collector receiving unit

For pulse train command to VC, the unit enables open collector method of photo coupler.
Model
NCR-XAD2D0A
52
Specications and the external connection diagram for
VC series with the built-in type interpolator unit encoder.
Output capacity
7.5kW or higher
Output capacity
4kW or lower
NFB
AC200/220V
50/60Hz
C -1
NFB
MC
24V
DC 24V
power supply 0V
T
AC100/110
or AC200/220V
0V
50/60Hz
E
MC
ON
MC
Grounding
Thermostat
OFF
r
s
Grounding
FG
Motor regenerative
resistor
OFF
CN2
T
AC100/110
or AC200/220V
24V
0V
MC
50/60Hz
MC
OFF
Thermostat
Motor regenerative
resistor
ON
Motor regenerative
resistor
OFF
E
MC
MC
Surge killer
3
4
Surge killer
L1
DC reactor grounding terminal

Options
L2
EPS
MC
CN2
MC
EPS
19,20
L2
3
connection terminal
Option
Pulse train command
Open collector
Line driver
CN1
FC
26
DI 2SON
FC
FC
25
RC
24
DI 4FJOG
RC
RC
23
DI 5RJOG
GND
GND
21
10
11
12
6
5
13
DI 7MD1
14
V1224V
DI 8MD2
15
18
16
COM
Control
output signal
CR
DO 2ALM
DO 3WNG
CR
CR
DO 4PN
SD
5V
SD
GND
PS
PS
PS
PS
PC
PC
PC
PC
Encoder
Option
FC
25
RC
24
DI 4FJOG
RC
RC
23
DI 5RJOG
GND
GND
21
EA
DO 1RDY
DI 6SS2
31
DI 7MD1
30
EA
DO 2ALM
DI 8MD2
29
EB
DO 3WNG
EB
EM
EM
GND
CR
DO 4PN
COM
16
CR
CR
CR
CR
DO 4PN
14
VC-D type
DI 3D14
27
GND
DI 4D18
FG
FG
11
12
35
34
DI 4CIH
33
DI 5SS1
32
EA
DI 6SS2
31
DI 7MD1
30
EA
DI 8MD2
29
EB
EB
J1
EM
EM
CN1
13
GND
17
CR
CR
16
Analog monitor
15
CR
CR
DI 7D24
DI 8D28
MON2
10
14
GND
11
MON1
27
GND
J1
Control
output signal
Analog command
CR
DO 2FC
CR
CR
DO 4
VC-C6 type
TXDA
TXDA
TQH
GND
TXDB
INH
19
TXDB
GND
20
RXDA
RXDA
RLRA
CR
FG
ConnectorFG metal
ConnectorFG metal
ConnectorFG metal
J1
RS-422A
COM
Control
output signal
330
COM
FG
FG
DI 8D28
ConnectorFG metal
ConnectorFG metal
RLTB 10
DO 1FCRP
Analog command
CR
DO 2FC
DO 3MSZ
CR
CR
DO 4
RXDB 12
VC-C6 type
RXDB 11
7
C5V
GND 14
GND
TXDA
TXDA
TQH
GND
TXDB
INH
19
TXDB
GND
20
RXDA
RXDA
RLRA
CR
FG
ConnectorFG metal
RLTB 10
RXDB 12
RXDB 11
7
C5V
GND 14
ConnectorFG metal
J2
GND
ConnectorFG metal
Servo control communication

RS-485
J2
DT 3,6
DT 3,6
DT 4,8
DT 4,8
CK 1,5
CK 1,5
CK 2,6
CK 2,6
FG
Serial communicationRS-422A
FG
FG
1The user must supply with the power supply for control input signals.
ConnectorFG metal
2COM of CN1 connector is the common of control input/output signals.
GND is the common of inner control power source (5V) in the device.
3Common wiring should not be done because COM of CN1 and GND are isolated.
4The status of switch connected to the control input signals indicates the state of OFF of each input signals
5The pin not mentioned in this diagram is NC
6Please refer to the instruction manual of "VC series options" if the user is using the control input/output expansion unit.
7GND of pulse train command should be connected in case of using the line receiver option.
8The initial value of is indicated in ( ) of control input/output signals
53
IPU
DI 6D22
DI 7D24
Cautions
J2
VC-D type
DI 5D21
DI 6D22
SD
36
DO 4PN
DI 2D12
MON1
SD
DI 3DR
DO 3WNG
11
DI 2SON
DO 2ALM
DI 1D11
GND
GND
DI 1RTS
DO 1RDY
MON2
12
GND
18
Control
output signal
Analog monitor
10
6
11
CR
VC-C1 type
15
CR
V1224V
DI 8MD2
32
EP5
DI 7MD1
DI 5SS1
DI 3D14
DO 3MSZ
FC
33
DO 3WNG
DO 1FCRP
DI 2SON
Control
output signal
17
CN1
26
DI 4CIH
CR
Line driver
FC
DI 6ZLS
CN1
512V
DI 3PST
Magnetic pole
sensor
B2
DI 1RTS
34
13
Pulse train command
Open collector
PG
35
DO 2ALM
DI 5D21
36
DO 1RDY
DI 4D18
B1
connection terminal
DI 3DR
Control
output signal
DI 2D12
DI 2SON
COM
DI 1D11
DI 1RTS
CR
VC-C1 type
330
DO 1RDY
EP5
VCseries
VCseries
512V
DI 6ZLS
B2
DI 1RTS
DI 3PST
B1
Magnetic pole
sensor
ConnectorFG metal
L1
DC reactor grounding terminal

Options
GND
FG
Surge killer
Surge killer
GND
Encoder
Grounding
Thermostat
ON
Motor
Grounding
ConnectorFG metal
Disc motor
Motor
Driver
MC
24V
DC 24V
power supply 0V
50/60Hz
Thermostat
ON
NFB
MC
AC200/220V
Motor regenerative
resistor
NFB
C -2
Output capacity
4kW or lower
Disc motor
24V
Output capacity
7.5kW or higher
Driver
MC
Specications and the external connection diagram for
VC series with the seprate type interpolator unitIPUencoder.
Cautions
Servo control communicationRS-485
FG
1The user must supply with the power supply for control input signals.
ConnectorFG metal
2COM of CN1 connector is the common of control input/output signals.
GND is the common of inner control power source (5V) in the device.
3Common wiring should not be done because COM of CN1 and GND are isolated.
4The status of switch connected to the control input signals indicates the state of OFF of each input signals
5The pin not mentioned in this diagram is NC
6Please refer to the instruction manual of "VC series options" if the user is using the control input/output expansion unit.
7GND of pulse train command should be connected in case of using the line receiver option.
8The initial value of is indicated in ( ) of control input/output signals
54
VPS Index
AC Servo driver
VPS Series
/
Motor cableP4142
CC-Link type
Interpolator
P39
Absolute position accuracy

compensation function
P43
Encoder cable
P40
I/O type
DISC
Dynamic brake unitP68
Zero phase reactorP66
I/F method selection
VPS series
CC-Link type
VPS series
I/O type
VPS Series
VPS Series
VPS series with variety of functions.

Cost eective and easy to use servo driver.
I/O type and CC-Link interface installed type are in the line-ups.
7 points positioning and zero return functions are equipped as the standard.
Feed forward control function and Resonance control lter function are also equipped.
Classication
of Product
Input power source
specications
Design order
Output
capacity
DCA0VPS series servo controller specially designed for NA80 series motors
DCC0I/O type VPS series
DCD0CC-Link type VPS series
ASynchronous AC servomotor NA80/800 seriesserial encoder

Motor
combination
encoder
A1AC100V
Equipped to output capacity
800W or higher model
Clinear motorSeparated interpolator unit specication

Dlinear motorStandard encoder
EDISC motorSeparated interpolator unit specication
FDISC motorStandard encoder
A2AC200V
ABCStarting from A
Ex.)4014 0 1 = 40 x 10 1= 400w
Special
specications
NONStandard type
SSpecial specications
Data editing software

P66
Exponent of accumulation of 10
Eective digit
Master controller
55
Serial communication cable

P65
I/O cableP65
NCRNikki AC servo controller series
CC-Link cable
A2 A - 401 F
I/O cableP64
NCR - DCC0
USB cable (Available in market)
Equipped to output capacity
800W or higher model
Model
Master controller
56
VPS series Common specications
VPS series Function specications
Item
Specication
Temperature
Ambient
Condition
Humidity
055
Storage temperature
-2060
85% or lower, No condensation
Installation location
Altitude
No harmful substance such as corrosive gas, grinding uid, metal powder, and oil are not allowed in the installation location.
Installation method
Shock resistant
Capacity 800W or less : Natural air cooling, Capacity 1.6kw or more : Forced air cooling
0.5G
1050Hz
Encoder feedback Input frequency
16Mpps
Operation mode
Speed controlPulse train command
Noise
resistance
Pulse train
command
Analog command
Internal command
5G
Line noise2000V
50ns
1s
1 minute
Linear accel-decelS-letter accel-decel

Command averaging function use
Radiation noise1000V
50ns
10cm
1 minute
Gain select function
Specication
1B-201
2B-401
2B-801
2B-162
200
400
800
1.6K
AC1001155060Hz single phase AC200230V5060Hz single phase
AC200230V
5060Hz 3-phase
AC180242V
5060Hz
AC90121V
5060Hz
AC180242V
5060Hz
0.52
0.92
1.8
3.0
Drive method

kVA
Arms
3.5
3.5
6.8
10
Arms
8.75
8.75
17
30
Brake method
Carrier frequency
No fuse breaker
Rated current2
Mass 3
Option
Alarm code output request

ALRQ
Brake release
BRK
, Marker output
OCEM
, Emergency stop onward
EMG0
, Zero point return completed
HCP

Operation/display function
90
phase dierence pulse train output
Division output
possible: maximum output frequency of A/B-phase 2-signal
is 7.99Mpps with 4-multiplication
By operating panel, it is possible to run status display, editing parameter and self-diagnosis.
Notch lter, Torque command lter
Filter function
Protective function
By data display LED (7 segment LED 4 digits), select and display Alarm, Frequency, Torque, Deviation rate, Speed command input, I/O signal and Parameter status.
Various monitoring is enable with USB compatible exclusive editing software (option).
IPM error, Excessive voltage, Low voltage, Over speed, Overload (electronic thermal), Regenerative excessive current, Deviation
over ow, RAM error, Encoder error, Magnetic pole detection error, DSP error, etc. Latest ve alarmrecords can be indicated
Serial communication (RS-422A) or CC-Link enable various data transceiving
By USB (1.1/2.0 standard compliance), it can communicate with data editing software
1In the range of -0.2V +0.2V, the accuracy in the relation between input voltage and motor speed is decreasing. The motor movement according to command
value is not guaranteed in the operation at this range.
10
12000
Mpps
Servo ready
RDY
, Alarm
ALM
, Deection range A
PNA
, Deection range B
PNB
, Speed zero
SZ
,
Communication function

Hz

Max speed frequency
Present position data output request

APRQ
Output signalBasic 4 points
Monitor function
Control method
Internal pulse startZST,Zero point makerZMK,Command direction reverseRVS,Command data reection prohibitionNRF
VPS series
VPS series
Voltage specications
Forward jogFJ,Reverse jogRJ,Zero point decelerationZLS,Forward over travelFOT,Reverse over travelROT,Gain selectGSEL,Torque limitTL,
ABS data output request

ABRQ
Item
Input
power supply
Speed gain change 3 points

Normal, Slow-speed, GSEL-change
StartDR,Servo ON(SON), ResetRST,Mode-selectMD,Command pulse input prohibitionCIH,Emergency stopEMG,Command selectSS13,
VPS series Special specications
Positioning (7points), Zero point return, Manual run, by internal pulse train command
Speed control run, Pulse train run, Zero point return run, Manual (Jog) run, torque limit, Self-diagnosis, Electronic thermal, Auto tuning function
External input signal Basic 8 points
Output capacity
Capable to meet Line driver output. Max. input is 4Mpps

Speed control runDC -10V +10V1
Major function
Electro-static noise10kVA
between earth and case
NCR-DAA
90-degree phase dierence pulseDirectional pulseDirectional signal + sending pulse
Acceleration deceleration pattern
Please avoid using at high temperature and high humidity conditions since the Life is heavily depended on the temperature and moisture.
Model
CC-Link TypeNCR-DCD0
1 axis
Command
input style
Panel installation type
I/O TypeNCR-DCC0
Number of control axis
1000m or lower
Cooling method
Specication
Item
Type
Operating temperature
2Refer to P61-62 "external connection diagram" for initial value of external input/output 8/4 point signal.
16
It enables allocated input/output signal allocation or communication and CC-Link except initial value. For CC-Link, OCEM can do the external output only.
10
15
kg
1.0
1.5
2.0
The control input signal enables immobilization of the signal status.

When being assigned to the external output signal, signal logic change is possible (OCEM is excluded).
1When the load is 100%, the motor will be not stopped within the speed control range.
2Select a molded case circuit breaker which has appropriate interruption capacity for the power capacity to achieve protective coordination.
57
58
DISCVPS series matching chart
VPS series Dimensions
D series VPS series with built-in Interpolator unit encoder matching chart
60
NMR-FAEBA2C-121A
NMR-FPEBA2B-121A
4 / 12
D170
40
NMR-FDDBA2D-201A
NMR-FSDBA2C-201A
7.5 / 22.5
D250
100
40
100
40
NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A
NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A
22.5 / 67
20.7 / 51.75
62 / 186
67 / 134
D400
3 phase200
9.5
50
37
132
37
132
37
132
12.7
2/6
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
5.5
124.6
NMR-FPDBA2B-061A
NCR-DC0A1-201/A2-401
150
NMR-FADBA2C-061A
Dynamic brake unit
155
40
D110
VPS series
I/O Type
CC-Link Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-162F
NCR-DCD0A2B-162F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
Flange-less
Type
Input
Voltage
ACV
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200
145
Frange type
Rated /Max torque

when combined with
servo driverNm
DISC servo motorD series
D series VPS series with external Interpolator unit (IPU) encoder matching chart
NMR-FPDBA2B-061A
2/6
60
NMR-FAEBA2C-121A
NMR-FPEBA2B-121A
4 / 12
D170
40
NMR-FDDBA2D-201A
NMR-FSDBA2C-201A
7.5 / 22.5
100
40
100
40
NMR-FDFBA2C-701A
NMR-FEDBA2C-401A
NMR-FEFBA2C-122A
NMR-FFDBA2C-801A
NMR-FSFBA2C-701A
NMR-FTDBA2C-401A
NMR-FTFBA2C-122A
NMR-FUDBA2C-801A
22.5 / 67
20.7 / 51.75
62 / 186
67 / 134
D250
D400
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200
3 phase200
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A2B-801E
NCR-DCC0A2B-401E
NCR-DCC0A2B-162E
NCR-DCC0A2B-801E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A2B-801E
NCR-DCD0A2B-401E
NCR-DCD0A2B-162E
NCR-DCD0A2B-801E
5.5
NCR-XABCA2B-801-UL
12.7
NMR-FADBA2C-061A
40
D110
35
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-DC0A2-801
9.5
DISC servo motorHD series

Frange type
NMR-FCHBA2D-661A
NMR-FCIBA2D-751A
Flange-less
NMR-FRHBA2D-661A
NMR-FRIBA2D-751A
Rated /Max torque

when combined with
servo driverNm
Input
Voltage
ACV
21 / 58.8
24 / 67.2
3 phase200
I/O Type
Model
NCR-DCC0A2B-801F
NCR-DCC0A2B-162F
CC-Link Type
Model
NCR-DCD0A2B-801F
NCR-DCD0A2B-162F
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-DCC0A2B-801E
NCR-DCC0A2B-162E
NCR-DCD0A2B-801E
NCR-DCD0A2B-162E
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
88
Dynamic brake unit

5.5
VPS Series
160
185
NMR-FCHBA2D-661A
NMR-FCIBA2D-751A
NMR-FRHBA2D-661A
NMR-FRIBA2D-751A
21 / 58.8
24 / 67.2
3 phase200
150
D140
150
HD series VPS series with external Interpolator unit (IPU) encoder matching chart
145
VPS Series
Type
160
D140
185
VPS series
HD series VPS series with built-in Interpolator unit encoder matching chart
ND-c series VPS series with built-in Interpolator unit encoder matching chart
NMR-CAEIA2A-071A
2.4 / 7.2
85-C
NMR-CAUIA2A-151A
4.8 / 12
70-C
NMR-CREIA2A-151A
95-C
70-C
ND180
95-C
70-C
ND250
95-C
ND400 70-C
NMR-CRFIA2A-311A
NMR-CSMIA2A-281A
NMR-CSEIA2A-561A
NMR-CTEIA2A-501A
NMR-CTFIA2A-841A
NMR-CUEIA2A-951A
ND140
4.8 / 14.4
9.6 / 28.8
9 / 27
18 / 54
27 / 81
45/ 112.5
76 / 190
3 phase200
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A1B-201E
NCR-DCC0A2B-401E
NCR-DCC0A2B-801E
NCR-DCC0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A1B-201E
NCR-DCD0A2B-401E
NCR-DCD0A2B-801E
NCR-DCD0A2B-401E
NCR-DCC0A2B-801E
NCR-DCD0A2B-801E
5.5
NCR-DC0A2-162
9.5
NMR-CAEHA2A-071A
2.4 / 7.2
85-C
NMR-CAUGA2A-151A
NMR-CAUHA2A-151A
4.8 / 12
70-C
NMR-CREGA2A-151A
NMR-CREHA2A-151A
4.8 / 14.4
95-C
70-C
ND180
95-C
70-C
ND250
95-C
ND400 70-C
NMR-CRFGA2A-311A
NMR-CSMGA2A-281A
NMR-CSEGA2A-561A
NMR-CTEGA2A-501A
NMR-CTFGA2A-841A
NMR-CUEGA2A-951A
NMR-CRFHA2A-311A
NMR-CSMHA2A-281A
NMR-CSEHA2A-561A
NMR-CTEHA2A-501A
NMR-CTFHA2A-841A
NMR-CUEHA2A-951A
9.6 / 28.8
9 / 27
18 / 54
27 / 81
45/ 112.5
76 / 190
ND140
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
3 phase200
5.5
NCR-XABCA2B-801-UL
5.5
DISC servo motorND series
ND110
ND180
ND250
Model (Incremental)
59
Model (Absolute)
Rated /Max torque

when combined with
servo driverNm
50
NMR-NAMBA2A-071A
2.4 / 7.2
100
NMR-NPEBA2A-201A
7 / 17.5
55
NMR-NAMGA2A-201A
9 / 27
110
NMR-NSFGA2B-701A
55
NMR-NEMGA2B-401A
NMR-NEMHA2B-401A
NMR-NTFGA2B-122A
NMR-NFMGA2B-801A
NMR-NTFHA2B-122A
NMR-NFMHA2B-801A
27 / 81
21.5 / 53.75
27 / 81
67 / 187.6
76 / 190
110
ND400 55
35
51.5
ND series VPS series matching chart
Type
101.3
145
NMR-CAEGA2A-071A
50
65-C
38
NCR-XABCA2B-801-UL
ND-c series VPS series with external Interpolator unit (IPU) encoder matching chart
ND110
35
155
65-C
ND110
Dynamic brake unit
152
Model (Absolute)
VPS series
CC-Link Type
I/O Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-801F
NCR-DCD0A2B-801F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
157.1
Model (Incremental)
Input
Voltage
ACV
Single phase100
Single phase200
Single phase100
Single phase200
Single phase100
Single phase200
Type
Rated /Max torque

when combined with
servo driverNm
DISC servo motorND-c series
Input
Voltage
ACV
Single phase100
Single phase200
Single phase200
Single phase100
Single phase200
3 phase200
Single phase200
3 phase200
VPS series
CC-Link Type
I/O Type
Model
Model
NCR-DCC0A1B-201F
NCR-DCD0A1B-201F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A2B-401F
NCR-DCD0A2B-401F
NCR-DCC0A1B-201E
NCR-DCD0A1B-201E
NCR-DCC0A2B-401E
NCR-DCD0A2B-401E
NCR-DCC0A2B-162E
NCR-DCD0A2B-162E
NCR-DCC0A2B-401E
NCR-DCD0A2B-401E
NCR-DCC0A2B-801E
NCR-DCD0A2B-801E
NCR-DCC0A2B-162E
NCR-DCD0A2B-162E
NCR-DCC0A2B-801E
NCR-DCD0A2B-801E
50
Dynamic brake unit
NCR-XABCA2B-801-UL
Indicated dimensions are I/O type (same size as CC-Link type)
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
NCR-XABCA2B-222-UL
NCR-XABCA2B-801-UL
60
for VPS series with the built-in interpolator encoder
P -1
Driver
NFB
MC
R
S
50/60Hz
MC
S phase is not
connected when
it is using single phase
OFF
FG
Analog speed command

INH
B2
3
4
1
CN1
36
9
10
Line driver
FC
11
11
FC
29
12
RC
12
RC
30
GND
31
Analog speed command
GND
19
16
SD
+5V
SD
GND
PS
PS
PS
PS
PC
PC
PC
PC
Pulse train command
Encoder
FC
11
FC
29
RC
12
RC
30
GND
31
+V+1224V
Pulse train command
CN1
19
20
FC
DI 2SON
20
21
FC
DI 3TL
21
RC
22
DI 4RST
RC
RC
22
GND
10
23
DI 4RST
DI 5GSEL
RC
23
24
10
DI 5GSEL
DI 6MD
GND
DI 6MD
24
DI 7CIH
25
DI 7CIH
25
DI 8RVS
26
DI 8RVS
26
DI 2SON
COM
13
USB
D
+D
GND
GND
COM
11
12
CR
DO 1RDY
CR
DI 1DR
DI 2SON
J1A
CR
DO 4PNB
DO 1RDY
3
CR
FG
Connector metal
13
CR

EA
14
EA
32
EB
15
EB
33
EM
16
EM
34
GND
35
General purpose signal
RXDA
RXDB
TXDA
TXDB
GND
DO 2ALM
COM
11
CR
12
CR
DO 1RDY
SD
SD
11
12
IPU
11
12
J1
J2
J2
USB
+D
GND
Connector metal
5,6
CR
DO 3PNA
3
CR
DO 2ALM
DO 4PNB
7
8
CR
GND
Connector metal
For I/O type only
J1A
CR
FG
Connector metal
EA
14
EA
32
EB
15
EB
33
EM
16
EM
34
GND
35
General purpose signal
RXDA
RXDB
TXDA
TXDB
GND
+5V
GND
Connector metal
For I/O type only
FG
FG
Connector metal
Connector metal
VPS-I/O type
VPS-I/O type
TB3
TB3
DA
DA
DB
DB
DG
DG
4SLD
5SLD
GND
GND
+5V
GND
Control output signal
DO 2ALM
DO 3PNA
+V+1224V
COM

CR
Connector metal
5,6
EP5
1,2
DI 1DR
DI 3TL
EP5

Magnetic pole
sensor
DI 2SON
Line driver
Line driver
J2
61
DI 1DR
CC-Link type
CN1
36
19,20
18
GND
ConnectorFG metal
VPS Series
VPS Series
DI 1DR
15
FG
B2
FC
+V+1224V
DO 2ALM
1,2
CN2
GND
Encoder
Magnetic pole
sensor
B1
R
Ground terminal
MC
Surge killer
EP5
Motor Regenerative resistor
FC
DO 1RDY
14
+V+1224V
CN1
13
OFF
Thermostat
ON
Motor
Grounding
INH
Pulse train command
MC
EP5
18
GND
Line driver
50/60Hz
S phase is not
connected when
it is using single phase
B1
R
Ground terminal
ConnectorFG metal
MC
Surge killer
Ground terminal
CN2
Motor Regenerative resistor
Output signal for dynamic brake
DBC
AC100/110
or AC200/220V
Thermostat
ON
DBK
Motor
Grounding
R
S
U
Ground terminal
MC
Output signal for dynamic brake
DBC
P -2
Driver
NFB
DBK
T
AC100/110
or AC200/220V
Pulse train command
for VPS series with the separated interpolatorIPUencoder
4SLD
5SLD
Caution 1
The customer to provide with the power supply for the control input/output signal
Caution 1
The customer to provide with the power supply for the control input/output signal
Caution 2
The signals are allocated by the default value of parameters in the ( ) for the names of control input/output signals.
Caution 2
The signals are allocated by the default value of parameters in the ( ) for the names of control input/output signals.
Caution 3
COM is the common of the control input/output signals. GND is the common of internal power sauce of unit.
Caution 3
COM is the common of the control input/output signals. GND is the common of internal power sauce of unit.
Caution 4
Please do not combine the common wires since CN1's COM and GND is isolated.
Caution 4
Please do not combine the common wires since CN1's COM and GND is isolated.
CC-Link type
62
I/O connection
VC series
I/O connection
VCseries
Input/output cable for the control input/output expansion unit VCFIC series
VC unit I/O cable VCIC series
Model
Cable lengthmm
--010
100030
--020
200030
--030
300030
18P Twist pair shield cable
VCIC series is the I/O cable to connect to the control input/output

connector (CN-1) of and to input/output each signals.
405
CN1 of VC unit
405
10010
J1
Drain wires
The cables to connect VCseries servo driver options and

connect to the control output/input expansion board
connector (CN3) to input and output each signals.
10010
VC unit I/O terminal cable VCTC series

Installation unit CN3
J2
I/O terminal cable for the control input/output expansion unit FTTC series
L
Model
Cable lengthmm
-2-010
100030
-2-020
200030
-2-030
300030
4010
Crimp contact
1.25-R4
25*- ** **
VCTC series is the I/O terminal cable to connect to the control

input/output connector (CN-1) of unit to I/O terminal
unit(40 poles)
Model
Cable lengthmm
NCR-XBA3A-010
100030
NCR-XBA3A-020
200030
NCR-XBA3A-030
300030
Drain wires
CN1 of VC unit
Terminal unit side
Model
FTTC-010
FTTC-020
FTTC-030
Installation unit CN3
Cable lengthmm
1000
2000
3000
L
Heat shrinkable tube
The connection cable for CN3 connector of control

input/output expansion unit and I/O terminal unit (50 poles,
20 poles)
25P shield cable
25P shield cable
Terminal unit
5515mm
Terminal unit
I/O connection
VPS series
I/O terminal unitscrew type
Terminal block
Connector
2
1
50
49
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
L2
L1
Insert hole for electric wire
The unit is the terminal unit to exchange input connector.

The connection type is cage clamp type. For connecting to
VC, it needs special I/O terminal unit cableVCTC series.
CN1 of VPS unit
Shield drain cable0.3SQgreen
1.25SQgreenDrain wires
CN1 of VPS unit
Cable lengthmm
100030
300050
100
20015
Crimp contact
1.25-R4
ZTTC series is the connection cable for I/O signal (CN1) of

VPS series servo driver I/O type to connect with the terminal
unit (40 poles)
Terminal unit side
5515
L
Operating lever
Driver slot
I/O terminal unitscrew type

Model
No. of terminal
ZTB-400
40 poles
Please use it when it is necessary to connect 2 or more cables to a terminal.

28.9
33.4
Model
NCR-XABRD0A
L2mm
193
26.6
Driver for operation
L1mm
203
The size when DIN35mm rail is installed.

The connection type is screw type. For connecting to VPS,
it needs special I/O terminal unit cableZTTC series.
Connector
CN
2f 4.5
Terminal block
TE
8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40
9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
L21.0
I/O signal connector kit CSZ-INF
L11.0
1
Model
CSZ-INF
Model
NCR-XABND3A
No. of terminal
40 poles
Lmm
77
Connector
CN
Terminal block
TB
Driver slot
55
CSZ-INF is the connector kit for control input/output

connector (CN1) of VC series
Cover
Connector
45.11.0
19
I/O terminal unitcage clamp type
18
50.00.5
Lmm
38
36

The connection type is cage clamp type. For connecting to
VPS, it needs special I/O terminal unit cableZTTC series.
Cage clamp type common terminal
Model
NCR-XABQD3A
No. of terminal
82
Lmm
38
41.6
46.1
Operating lever
Driver slot
55
No. of terminal
82
41.6
46.1
Cage clamp type common terminal

Model
NCR-XABQD3A
ZIC series is the connection cable for I/O signal (CN-1) of

VPS series servo driver I/O type
Model
ZTTC-010
ZTTC-030
Driver slot
55
connection
VCunit
control input/
output expansion unit
40
I/O terminal cable ZTTC series
55
Lmm
77
52
95
Cable lengthmm
200050
300030
Driver option
Driver option
No. of terminal
40 poles
20 poles
50 poles
45.1
Connector
I/O terminal unitcage clamp type

Model
NCR-XABND3A
NCR-XABMD3A
NCR-XABSD3A
Model
ZIC-020
ZIC-030
50

The connection type is screw type. For connecting to VC,
it needs special I/O terminal unit cableVCTC series.
I/O type I/O cable ZIC series

2-4.5
2.5
Model
No. of terminal L1mm L2mm
connection
VCunit
ZTB-400
40 poles
203
193
ZTB-200
20 poles
118
108
control input/
output expansion unit
ZTB-500
50 poles
245
235
Please use it when it is necessary to connect 2 or more cables to a terminal.
Driver for operation

Model
NCR-XABRD0A
63
26.6
28.9
33.4
The size when DIN35mm rail is installed.
64
I/O connection
VPS series
Other option
VC series
I/O type I/O signal connector kit CSZ-INF
SDI device
19
CSZ-INF is the connector kit to connect I/O signal (CN-1) of

VPS series servo driver I/O type.
Data input unit of servo controller 800W or lower for inputting

parameters and data.Also, it works ad data display unit to show
the status of controller.
The built-in device is installed for VC series 1.5kW or higher.
36
Connector
Synchronous communication cable SHCC series
CC-Link type I/O cable VPIC series

Model
Cable lengthmm
NCR-XBA5A-010
100030
NCR-XBA5A-020
200030
NCR-XBA5A-030
300030
Model
SHCC-005
SHCC-010
SHCC-030
L
40
100
12
AWG28 2:4 core shield cable
Cable length
mm
500
1000
3000
31
Enlarged view
The cable for synchronous operation of VC series.

The synchronous communication terminal resistance SHCC-R
to be connected to the each cable ends.
Cable7/0. 127PVX10-SV
VPIC series is the connection cable for I/O signal (CN-1) of

VPS series servo driver with CC-Link unit.
L
8
16
18
Cover
190
Model
NCR-XAA1D1B
12
18.5
65
Model
CSZ-INF
42
53
B side connector
Same as A side
The synchronous communication terminal resistance
No.4
51
No.3
No.2
No.1
50
12
CN1 of VPS unit
A side connector
Shrinkable tube
Model
SHCC-R
ZCK-COM : CC-Link type I/O signal connector kit

Model
ZCK-COM
Noise prevention options
VC/VPS series
Communication cable for RS-232C
131MAX
78MAX
Caution : Please consider the wiring and grounding method since it may aect the performance.
80
26MAX
VC/VPSseries
95MAX
2-5.5
26MAX
Reduce the noise generated by servo driver and lower the noise inuence to
the peripheral devices.
Driver option
Driver option
Model
NCR-XAB4A
NCR-XAB5A
NCR-XAB5A
74MIN
NCR-XAB4A
Zero phase reactorFor common mode
181MAX
13 0.3
14
39.5MIN
13 0.3
ZCK-COM is the connector kit for connecting I/O signal

(CN1) of VPS seriesCC-Link.
146
4-R4
In regard of the number of zero phase reactor

L
Cable length
mm
100030
300050
5000100
10000100
The relation between power size AWG (mm2) and Zero phase reactor
Zero phase
reactor
NCR-XAB4A
NCR-XAB5A

DDK
17J-25
25*-****
Model
NCR-XBF1A-010
NCR-XBF1A-030
NCR-XBF1A-050
NCR-XBF1A-100
References
2 pcs/set
inner
diameter
39.5mm
74.0mm
Power size AWGmm2

18100.755.5
868.014.0
35 turn 1unit
35 turn 1unit
This diagram is calculated based on the size of AWG (mm2) of MLFC cable (600V, 110) and the zero phase reactor. This diagram may be used as
the guide line since the diameter and stiness of wires to be used are all dierent. Recommended wrapping method: Wrap at least 3 to 5 times.
The communication cable is for inputting and outputting

each data from RS232 to VCseries servo driver.
Installation sample
Caution
wire wrapping method
When connecting to PC, please supply DOS/V PC D-sub 25 pin (Female) <=>9 pin
(Female) straight type exchange adapter. In case of using USB, please supply
USB-Serial exchange cable.
wire glands method
Zero phase reactor for 3 cps / cable to be transxed
Zero phase reactor 1 unit/electric wire 3-5 turn
U
Machine
VCseries
AC servo motor
AC servo motor
U
Machine
VCseries
V
W
V
W
Communication cable for RS-422C

Model
NCR-XBF5A-010
NCR-XBF5A-030
NCR-XBF5A-050
NCR-XBF5A-100
Cable lengthmm
100030
300050
5000100
10000100
Drain wires
10010
Ferrite core NCR-XAA9A for noise prevention
For the prevention of malfunctioninterruption of monitor display,

shut down of data editing software, etc
.
Serial communication connector kit
65
14.8
NCR-XBDPA is the connector kit to RS-422 serial

communication (J1) of VCseries.
View A
39
30
34
13
Model
NCR-XAA9A
405
The communication cable is for inputting and outputting

each data from RS422 to VC series servo driver.
Model
NCR-XBDPA
50.5
TDK
Data editing softVC/ VPSseries

Corresponding driver
VCseries
VPS series
Model
Japanese
English
NCR-XCM000
NCR-XCN000
NCR-XCB000
NCR-XCE000
Data editing software has the functions which are to edit VC/VPS series servo driver
from PC. Editing parameter, program, editing indirect data (only VC-C1,C6 type),
measuring and display of oscilloscope data, Remote run, self-diagnosis and so on.
66
Dynamic brake unitOption
Attachment
Dynamic brake unit is the supplement unit of servo driver to slow down the motor.
It prevents the connected motor to fail in the "free-run"situation when error or electric power failure is occurrend.
Optional regenerative resistor type

Specication/Figure
None
NCR-DAA2A-401
CAN60UT 82 ohm J
60W 821
cement resistor Dimension

A -1
NCR-DAA2A-152/222
CAN200UT 24 ohm J
200W241

A -2
NCR-DAA2A-402
CAN400UR 20 ohm J
400W201

A -3
NCR-DAA2A-752
RGH-300-OS30J
300W303Parallel connectionTotal900W10.0 Enamel resistor Dimension

B -1
NCR-DAA2A-113
RGH-500-OS22J
500W223Parallel connectionTotal 1.5kW7.3 Enamel resistor Dimension

B -2
NCR-DAA2A-153
RGH-500-OS22J

B -2
NCR-DAA2A-203
RGH-500-OS22J

B -2
NCR-DAA2A-801
NCR-DC0A1B-201
NCR-XABCA2B-222-UL Model
(5)
(17)
60
30
(11)
35
74
30
15
CAN60UT 82 ohm J
60W 821

A -1
NCR-DC0A2B-162
CAN200UT 39 ohm J
200W 391

C
120
120
112
None
NCR-DC0A2B-801
135
50
None
NCR-DC0A2B-401
VPS series
100
VC series
Dynamic brake unit dimensions
None
146
None
NCR-DAA2A-201
13
NCR-DAA1A-201
Dimension
136
None
Model
NCR-DAA1A-101
10
Servo driver/controller model
When regenerative resistor is needed, we can supply CAN60UT82OhmJ(60W/820/1unit) as an option.

4.5
5.5
Regenerative resistor dimension

It indicates the dimension of regenerative resistor and mounting position of thermostat.
12
(29)
135
135
56
28
13
5
28
E
22
D
30
79
56
79
Driver option
4
AMP187 equal
2
1
10.5
193
C
32
183
167
167
18
H
193
G
6.5
Temperature sensor
Thermostat
screw type
183
Driver option
30
Dimension
B -12
13
Dimension
A -123
10
A 2
Thermostat table for regenerative resistor
11
B6
Thermostat is installed and fasten with the screw of regenerative resistor
5.5
Dimension
A -1
Dimension
Model
Rated
L1
L2
L3
CAN60
60W
Dimension
Model
Rated
115
100
20
40
4.3
B -1
Dimension
RGH300
300W 304 334 84 10 46 13 6.0 44
A -2
Dimension
CAN200 200W 215
200
26
50
5.3
B -2
Dimension
RGH500
500W 350 380 99 10 57 13 6.0 49
A -3
Dimension
CAN400 400W 265
250
33
61
13
5.3
5.5
Please refer to P.4950 (VC driver), P5960 (VPS driver) for the combination of DISC motor and servo driver.
Dimension
C
26
5.3
12
27
200
215
AMP 250 equal
50
AMP187 equal
Temperature sensor
Thermostat
screw type
Thermostat table for regenerative resistor
Thermostat is installed and fasten with the screw of regenerative resistor
67
68
From last page

DISC servomotor selection by index positioning of rotating object
This calculation formula is based on theoretical formula for your references only and it does not guarantee the result of selected value.
Please review and understand that this calculation formula would be suitable before use it.
Calculation of positioning speed
Figure out the positioning speed by using the formula in the below.
How to select
You may select the DISC servomotor by follow the instructions in the below :
In case of t2N360s
CautionThe calculated value is for references only.

The value mentioned in the below is for general, and it is not absolute value.
Positioning speed
t3
In case of t2N360s
s
t2 t4 t5sec
360N
st2
ksec
360N
t2a
t4Processing time at start
Positioning speed
Usually 0.005 sec.

For high shot requirement, please consider
Acceleration time
Motion specications, Movement pattern, the conrmation of load specications
t5Settle time
t5aSettle time
The target should be around the acceleration time
2a
.
It may dier depend on the required positioning accuracy.
Also, it may be aected by the mechanical rigidity, and the value
is not absolute
The target should be around the acceleration time

2
.
It may dier depend on the required positioning accuracy.
Also, it may be aected by the mechanical rigidity, and the value
is not absolute
Following items must be claried.
Rotating speed
Traveling angle
s
Positioning speed
t0sec
Cycle time
t1sec
Load inertia moment
JLkgm2
t3 t2a 2 t4 t5asec
Rotating speed
Time
Time
t4
t2
t5
t4
t2a
t2a
t3
t3
Motor selection
The multiplying factor may be dierent depend on the movement specications.

For the high speed positioning, it should be less than 3 times.
Due to the movement or specications of machine, it often has to correspond for 300 times.
Please consult with our Sales Dept. for details.
Trial selection of DISC servomotor specications
Calculating the eective torque
Figure out the eective torque by using the formula in the below.
Acceleration torque
tp
2NJmJL
TLNm
t2
In case of t2N360s
Rated speed
Nrps
Rated torque
TmNm
Peak torque
TpmNm
Rotor inertia
Jmkgm2
Constant speed
Eective torque
trms
Eective torque
t2 2sec
tp 2t2tL 2t6tb 2t2

t1
trms
t p 2t 2at b 2t 2a
t1
Nm
Nm
t2
t6
t2
t5
Time
t4
t3
Figure out the acceleration /deceleration time by using the formula in the below.
JmJL
2N
TpmTL
2NJmJL
TLNm
t2
Time
t4
t2
tb
Rotating speed
the acceleration and deceleration time
Acceleration time reaching to the rated speed
Deceleration torque
In case of t2N360s
s
t6
3 6 0N
Rotating speed
Calculating
Motor selection
Motor selection
For DISC servomotor, the target load inertia moment should beJm
30
Load inertia moment.
t5a
t2a
t2a
t5a
t3
t1
t1
ksec
Safe margin1.5 for common

TL
Total of Load torque by external force and torque lossLoss from pressurizing the motor bearing, etc.
Usual torque loss should be considered as 10% of the rated torque
Conclusion
The motor selected at trial selection must meet with following 2 conditions :
If it does not meet these conditions, please re-select the suitable motor or reconsider the required specications.
Positioning condition t3t0
Heat condition
eective rate
t rm s
70
Depend on the heat radiation condition, it is possible to use depend even if the it exceeds 70%
Tm
CautionDue to the rate between the load inertia moment and the rotor inertia of the selected motor and the acceleration and deceleration time,
N E X T
69
larger regenerative resistor or additional regenerative resistors may be required.
70
DISC servo motor series torque reference chart
D110-60
4Nm
D110
Thin
High performance
type
D400-275
700Nm
D110-40
2Nm
D170-110
22.5Nm
D170
D250-110
62Nm
D170-40
7.5Nm
D250
D630-470
3000Nm
D250-40
20.7Nm
D400
D400-110
200Nm
D400-40
67Nm
D630
2.5
10
20
30
40
50
75
100
125
150
D630-225
1500Nm
D630-175
1000Nm
D630-125
500Nm
Rated torqueNm
200
500
1500
3000
200
500
1500
3000
D140-185
24Nm
D140
D140-160G
27.5Nm
D170
High response type
D400-175
500Nm
D140-160
21Nm
D250
Rated torqueNm
2.5
10
20
D170-225
53Nm
30
40
50
D250-200
115Nm
75
100
125
150
ND110-100
7Nm
ND/ND-c
110
ND110-85
4.8Nm
ND110-50/65
2.4Nm
ND/ND-c
140
ND140-70
4.8Nm
ND140-95
9.6Nm
ND400-120
250Nm
Standard type
ND/ND-c
ND180-55/70
9Nm
180
ND180-110
27Nm
ND180-95
18Nm
ND/ND-c
ND250-110
82Nm
250
ND250-55/70
27Nm
ND/ND-c
ND250-95
43N
45Nm
iD roll
ND400-110
215Nm
ND400-175
500Nm
450/500N
m
ND400-55/70
76Nm
400
The other product line-ups

Nikki Denso recommends
ND400-95
152Nm
Linear servo motor
Servo compass
AC servo motor
Linear stage
With Nano level High precision control technology

and eective production system,
Nikki Denso can provide with a solution for the
high accuracy ne processing requirements.
Hollow type 5502550Nm

Shaft type 5503000Nm
71
Core-less type 71000N

Core type 2501500N
Moving radius 178mm1525mm

Arc motion type
Synchronous type50W 29W / 2000rpm3000rpm

Induction type1.2kW55W / 1000rpm4000rpm
X/XY/X/XY stage
Corresponding custom-made
72

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The Next Servo Power

The Next Servo Power

Nikki Denso Co., Ltd.

Overseas Sales Dept.

TEL : +81-43-498-2315/ FAX : +81-43-498-4654

E-Mail : overseas@nikkidenso.co.jpWebsite : http://www.nikkidenso.co.jp

TEL : +81-44-855-4311/ FAX : +81-44-854-7746

Reprint without permission is forbidden.

Motor torque characters P5

Motor torque characters P19

DISC ND-cND series

Motor torque characters P25

AC Servo driver/controller VC series

DISCVC series matching chart P49P50

AC Servo driver VPS series

DISCVPS series matching chart P59P60

DISC servo motor

Torque reference chart

DISC servo motor series torque reference chart P71P72

DISC ND-cND series

D Series/HD Series/ND-cND Series

General motor specication

Operating ambient temperature

directions for each

directions for each

Positive rotation is considered as the counter

Model FD series/HD seriesCND-c seriesNND series

A110Full scale range 110 to 119mm

P110Full scale range 110 to 119mm

C140Full scale range 140 to 149mm

R140Full scale range 140 to 149mm

D170/180Full scale range 170 to 189mm

S170/180Full scale range 170 to 189mm

E250Full scale range 250 to 269mm

T250Full scale range 250 to 269mm

F400Full scale range 400 to 409mm

U400Full scale range 400 to 409mm

G630Full scale range 630 to 639mm

V630Full scale range 630 to 639mm

2 is a protection level of ND-c series ND250/400 motor type.

NMRDISC motor series

gas, grinding uid, metal powder, and oil

D40Full scale range 40 to 49mm

D40Full scale range 40 to 59mm

M50/55Full scale range 50 to 59mm

M65/70Full scale range 60 to 69mm

E60/65Full scale range 60 to 79mm

E60/70/95/100Full scale range 70 to 95mm

U85Full scale range 80 to 99mm

F95/100/110Full scale range 96 to 119mm

F100Full scale range 100 to 119mm

G120/125Full scale range 120 to 149mm

H160Full scale range 150 to 169mm

H160Full scale range 150 to 169mm

I185Full scale range 170 to 199mm

I175/185Full scale range 170 to 199mm

P470Full scale range 400 to 499mm

J200Full scale range 200 to 219mm

V275Full scale range 250 to 299mm

B/G/IIncremental encoderHAbsolute encoderone revolution absolute value

Brake (With or without)

Accuracy of rotating table

WithoutStandard specPHigh precision spec