Inovance MS1 Series User manual

Selection Guide
MS1 Series Servo Motor
MS1 Series Servo Motor Selection Guide
Copyright Shenzhen Inovance Technology Co., Ltd.
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.
Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com
B00
Data code 19010786
User Guide
*19010786B00*
19010786B00

Preface
- 1 -
Preface
Thank you for purchasing the MS1 series servo motor.
This MS1 series servo motor selection guide provides the product information,
installation guide, wiring guide, and other necessary information. Contact our technical
personnel if you have any question about functions and performance of the motor.
Inovance commits itself to continuously improving the servo motor. Therefore, this
document is subject to change without notice.
The guide is delivered to the end user together with the servo motor.
Precautions
◆The drawings in the guide are sometimes shown without covers or protective guards to
help describe the product details clearly. Remember to install the covers or protective
guards as speci󶍾ed 󶍾rst, and then perform operations in accordance with the guide.
◆The drawings in the guide are for reference only and may differ from the actual
product.
◆The guide will be updated in time after product upgrades or speci󶍾cation changes, and
for applicability and accuracy.
◆If your guide is damaged or missing, contact our agent in your region or our Customer
Service Center for a new one.
◆In case of any question in use, contact our Customer Service Center.
Version History
Date Version Change Description
May 2018 A00 First edition
January 2019 A01 Added a note for the 󶍿exible cable
December 2019 B00
◆Added with information related to MS1H2/
MS1H3 motors.
◆Updated information related to the matching
servo drive and cable connections.
◆Added with descriptions of the oil sealing and
󶍿at key disassembly.
◆Updated outline drawings of the motor.

Preface
- 2 -
Contents
Preface ........................................................................................................................................ 1
Version History ........................................................................................................................... 1
Safety Precautions ..................................................................................................................... 4
Safety Disclaimer................................................................................................................. 4
Details of Safety Precautions.............................................................................................. 4
1 Product Information ............................................................................................................... 5
1.1 Nameplate and Model................................................................................................... 5
1.2 Component Description................................................................................................ 6
1.3 Speci󶍾cations................................................................................................................. 7
1.3.1 Mechanical Characteristics.................................................................................... 7
1.3.2 Ratings ................................................................................................................... 7
1.3.3 Overload Characteristics....................................................................................... 9
1.3.4 Radial/Axial Allowable Load ................................................................................ 10
1.3.5 Electrical Speci󶍾cations of Motor Brake ............................................................. 11
1.3.6 Torque/Speed Characteristics............................................................................. 12
1.3.7 Derating Characteristics ...................................................................................... 16
1.3.8 Temperature Curve of the Oil Sealing.................................................................. 17
1.4 Cables........................................................................................................................... 17
1.4.1 IS620/IS810........................................................................................................... 17
1.4.2 SV820N ................................................................................................................. 20
1.4.3 SV660P/N.............................................................................................................. 22
1.5 Connector Kit............................................................................................................... 24
2 Installation and Wiring.......................................................................................................... 25
2.1 Installation ................................................................................................................... 25
2.2 Wiring............................................................................................................................ 26
2.2.1 Wiring of Power Cables ........................................................................................ 26
2.2.2 Wiring of Absolute Encoder.................................................................................. 33
3 Mounting Dimension Diagrams............................................................................................ 41
3.1 Flange Frame Size: 40.................................................................................................. 41
3.2 Flange Frame Size: 60.................................................................................................. 42
3.3 Flange Frame Size: 80.................................................................................................. 44
3.4 Flange Frame Size: 100................................................................................................ 45
3.5 Flange Frame Size: 130................................................................................................ 46

Preface
- 3 -
3.6 Flange Frame Size: 180................................................................................................ 48
4 Cable Information ................................................................................................................. 50
4.1 Models with Front or Rear Cable Outlets................................................................... 50
4.2 Outline Drawing of Cables with Front Outlets........................................................... 51
4.3 Outline Drawing of Cables with Rear Outlets ............................................................ 52
4.4 Outline Drawing of Connectors .................................................................................. 53
Appendix: Disassembly of Flat Key and Oil Sealing............................................................... 54

Safety Precautions
- 4 -
Safety Precautions
Safety Disclaimer
1) Read and follow the safety precautions when installing, operating, and maintaining
the product.
2) To ensure your safety and prevent damage to the device, follow the marks on
the product and safety precautions in this guide when installing, operating, and
maintaining the product.
3) The "CAUTION", "WARNING", and "DANGER" items in the guide do not include all
safety precautions that need to be followed; instead, they just supplement the
safety precautions.
4) Use this product in environments that meet the design and speci󶍾cation
requirements; otherwise, a fault may occur. Faults and component damages
caused by noncompliance are not covered by the product quality warranty.
5) Inovance assumes no legal responsibility for any personal safety accidents or
property losses caused by improper operations of this product.
Details of Safety Precautions
To use the product properly, read the Safety Precautions of High-Response Servo Motor
(data code: 19010073) carefully.
You can visit www.inovance.com and choose Support > Download > Keywords
"High- Response Servo Motor" to download the manual 19010073.

1 Product Information
- 5 -
1 Product Information
1.1 Nameplate and Model
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Figure 1-1 Model and nameplate

1 Product Information
- 6 -
1.2 Component Description
■See Figure 1-2 and Figure 1-3 for details on frame sizes 40, 60, and 80.
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1 Product Information
- 7 -
1.3 Speci󶍾cations
1.3.1 Mechanical Characteristics
Item Description
Running mode Continuous
Vibration level V15
Insulation resistance 500 VDC, above 10 MΩ
Ambient temperature 0ºC to 40ºC
Excitation mode Permanent magnetic
Installation method Flanged
Heat-resistance level Level H
Insulation voltage 1500 VAC 1 min (200 V)
1800 VAC 1 min (400 V)
Enclosure IP rating IP67 (excluding shaft opening
Ambient humidity 20% to 80% (no condensing)
Rotating direction In forward RUN mode, the motor runs counterclockWise (CCW)
when viewed from the load side.
1.3.2 Ratings
Model Frame Size
(mm)
Rated
Output
(kW)[1]
Rated
Torque
(N·m)
Maximum
Torque
(N·m)
Rated
Current
(Arms)
Maximum
Current
(Arms)
MS1H1-05B30CB 40 0.05 0.16 0.56 1.3 4.70
MS1H1-10B30CB 40 0.1 0.32 1.12 1.3 4.70
MS1H1-20B30CB 60 0.2 0.64 2.24 1.5 5.80
MS1H1-40B30CB 60 0.4 1.27 4.46 2.8 10.10
MS1H1-55B30CB 80 0.55 1.75 6.13 3.8 15.00
MS1H1-75B30CB 80 0.75 2.39 8.36 4.8 16.90
MS1H1-10C30CB 80 1.0 3.18 11.1 7.6 28.00
MS1H2-10C30CB 100 1.0 3.18 9.54 7.50 23.00
MS1H2-10C30CD 100 1.0 3.18 9.54 3.65 11.00
MS1H2-15C30CB 100 1.5 4.90 14.7 10.8 32.00
MS1H2-15C30CD 100 1.5 4.90 14.7 4.50 14.00
MS1H2-20C30CD 100 2.0 6.36 19.1 5.89 20.00
MS1H2-25C30CD 100 2.5 7.96 23.9 7.56 25.00
MS1H2-30C30CD 130 3.0 9.8 29.4 10.00 30.00
MS1H2-40C30CD 130 4.0 12.6 37.8 13.60 40.80
MS1H2-50C30CD 130 5.0 15.8 47.6 16.00 48.00
MS1H3-85B15CB 130 0.85 5.39 13.5 6.60 16.50
MS1H3-13C15CB 130 1.3 8.34 20.85 10.00 25.00
MS1H3-85B15CD 130 0.85 5.39 13.5 3.30 8.25
MS1H3-13C15CD 130 1.3 8.34 20.85 5.00 12.50
MS1H3-18C15CD 130 1.8 11.5 28.75 6.60 16.50
MS1H3-29C15CD 180 2.9 18.6 37.2 11.90 23.80

1 Product Information
- 8 -
MS1H3-44C15CD 180 4.4 28.4 71.1 16.50 40.50
MS1H3-55C15CD 180 5.5 35.0 87.6 20.85 52.00
MS1H3-75C15CD 180 7.5 48.0 119 25.70 65.00
MS1H4-40B30CB 60 0.4 1.27 4.46 2.8 10.1
MS1H4-75B30CB 80 0.75 2.39 8.36 4.8 16.9
Model Frame Size
(mm)
Rated
Speed
(rpm)
Maximum
Speed
(rpm)
Torque
Coe󶎀cient
(N·m/Arms)
Rotor
Inertia
(kg·cm2)
Voltage
(Vdc)
MS1H1-05B30CB 40
3000 6000
0.15 0.026
(0.028)[4]
220
MS1H1-10B30CB 40 0.26 0.041
(0.043)[4]
MS1H1-20B30CB 60 0.46 0.207
(0.220)[4]
MS1H1-40B30CB 60 0.53 0.376
(0.390)[4]
MS1H1-55B30CB 80 0.49 1.06
MS1H1-75B30CB 80 0.58 1.38
(1.43)[4]
MS1H1-10C30CB 80 0.46 1.75
MS1H2-10C30CB 100
3000
6000 0.47 1.87
(3.12)[4]
220
MS1H2-15C30CB 100 5000 0.54 2.46
(3.71)[4]
MS1H2-10C30CD 100 6000 0.89 1.87
(3.12)[4]
380
MS1H2-15C30CD 100
5000
1.07 2.46
(3.71)[4]
MS1H2-20C30CD 100 1.14 3.06
(4.31)[4]
MS1H2-25C30CD 100 1.11 3.65
(4.90)[4]
MS1H2-30C30CD 130 1.16 7.72
(10.22)[4]
MS1H2-40C30CD 130
3000 5000
1.16 12.1
(14.6)[4]
380
MS1H2-50C30CD 130 1.16 15.4
(17.9)[4]
MS1H3-85B15CB 130
1500 3000
0.95 13.3
(14)[4]
220
MS1H3-13C15CB 130 0.95 17.8
(18.5)[4]
MS1H3-85B15CD 130 1.87 13.3
(14)[4]
380
MS1H3-13C15CD 130 1.87 17.8
(18.5)[4]
MS1H3-18C15CD 130 1.87 25
(25.7)[4]
MS1H3-29C15CD 180 1.82 55
(57.2)[4]

1 Product Information
- 9 -
MS1H3-44C15CD 180
1500 3000
1.90 88.9
(90.8)[4]
380MS1H3-55C15CD 180 1.74 107
(109.5)[4]
MS1H3-75C15CD 180 1.99 141
(143.1)[4]
MS1H4-40B30CB 60
3000 6000
0.53 0.657
(0.667)[4]
220
MS1H4-75B30CB 80 0.58 2
(2.012)[4]
NOTE
◆[1] The motor with oil sealing must be derated by 10% during use.
◆[2]Values in () represent the maxiumum torque of the motor at a speed of 2000
rpm.
◆[3]Values in () represent the maxiumum torque of the motor at a speed of 2000
rpm.
◆[4] Parameters in () are for the motor with brake.
The parameters in the preceding table are the values when the motor works together
with Inovance servo drive and the armature coil temperature is 20ºC.
The preceding features are based on the cooling conditions when the following
heatsinks are installed.
MS1H1/MS1H4: 250 x 250 x 6 mm (aluminum)
MS1H2-10C to 25C：300 x 300 x 12mm（aluminum）
MS1H2-30C to 50C：400 x 400 x 20mm（aluminum）
MS1H3-85B to 18C：400 x 400 x 20mm（iron）
MS1H3-29C to 75C：360 x 360 x 5mm（dual-layer aluminum plate）
1.3.3 Overload Characteristics
Load Ratio (%) Running Time (s)
120 230
130 80
140 40
150 30
160 20
170 17
180 15
190 12
200 10
210 8.5
220 7
230 6
240 5.5
250 5
300 3
350 2

1 Product Information
- 10 -
100 150 200 250
1000
Load ratio
(%)
Running time (s)
300
1
10
100
350
Figure 1-5 Overload curve
NOTE
◆ The maximum torque of an H1 or H4 motor is 3.5 times of the rated torque.
◆ The maximum torque of H2 models is three times the rated torque.
◆The maximum torque of H3 models, except for those in 2.9 kW, is 2.5 times
the rated torque.
◆ For the models in 2.9 kW, the maximum torque is two times the rated torque.
1.3.4 Radial/Axial Allowable Load
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Figure 1-6 Diagram of radial and axial loads
Motor Model Frame Size (mm) Radial Allowable Load (N) Axial Allowable Load (N)
MS1H1-05B30CB 40 78 54
MS1H1-10B30CB 40 78 54
MS1H1-20B30CB 60 245 74
MS1H1-40B30CB 60 245 74
MS1H1-55B30CB 80 392 147
MS1H1-75B30CB 80 392 147
MS1H1-10C30CB 80 392 147
MS1H2-10C30CB 100 686 196
MS1H2-10C30CD 100 686 196
MS1H2-15C30CB 100 686 196

1 Product Information
- 11 -
Motor Model Frame Size (mm) Radial Allowable Load (N) Axial Allowable Load (N)
MS1H2-15C30CD 100 686 196
MS1H2-20C30CD 100 686 196
MS1H2-25C30CD 100 686 196
MS1H2-30C30CD 130 980 392
MS1H2-40C30CD 130 1176 392
MS1H2-50C30CD 130 1176 392
MS1H3-85B15CB 130 686 196
MS1H3-13C15CB 130 686 196
MS1H3-85B15CD 130 686 196
MS1H3-13C15CD 130 686 196
MS1H3-18C15CD 130 686 196
MS1H3-29C15CD 180 1470 490
MS1H3-44C15CD 180 1470 490
MS1H3-55C15CD 180 1764 588
MS1H3-75C15CD 180 1764 588
MS1H4-40B30CB 60 245 74
MS1H4-75B30CB 80 392 147
1.3.5 Electrical Speci󶍾cations of Motor Brake
Motor Model Frame Size
(mm)
Holding
Torque
(Nm)
Supply
Voltage
(Vdc) ± 10%
Brake
Release Time
(ms)
Brake
Apply Time
(ms)
Rotary
Clearance
(° )
MS1H1-05B/10B 40 0.3
24
20 35 <1.7
MS1H1-20B/40B 60 1.5 20 60 <1.5
MS1H1-75B 80 2.5 40 60 <1.7
MS1H2-
10C/15C/20C/25C 100 8 30 90 <0.5
MS1H2-
30C/40C/50C 130 16 60 120 <0.5
MS1H3-
85B/13C/18C 130 12 60 120 <0.5
MS1H3-
29C/44C/55C/75C 180 48 100 230 <0.5
MS1H4-40B 60 1.5 20 60 <1.5
MS1H4-75B 80 2.5 40 60 <1.7
NOTE
◆The brake must not share power supply with other electrical devices. This is to
prevent malfunction of the brake due to voltage or current drop when other
electrical devices work.
◆Cables thicker than 0.5 mm2 are recommended.

1 Product Information
- 12 -
1.3.6 Torque/Speed Characteristics
1 MS1H1 (low inertia and small capacity)
A Continuous operating area
B Short time area
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1 Product Information
- 13 -
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2 MS1H2 (low inertia and medium capacity）
A Continuous operating area
B Short time area
2000
3000
4000
5000
6000
1000
0 2 4 6 8 10
A B
0
MS1H2-10C30CB/MS1H2-10C30CD
Speed(rpm)
Torque(N·m)
2000
3000
4000
5000
6000
1000
0 3 6 9 12 15
A B
0
MS1H2-15C30CB/MS1H2-15C30CD
Speed(rpm)
Torque(N·m)
2000
3000
4000
5000
6000
1000
0 4 8 12 16 20
A B
0
MS1H2-20C30CD
Speed(rpm)
Torque(N·m)
2000
3000
4000
5000
6000
1000
0 5 10 15 20
25
A B
0
MS1H2-25C30CD
Speed(rpm)
Torque(N·m)

1 Product Information
- 14 -
2000
3000
4000
5000
6000
1000
0 6 12 18 24
30
A B
0
MS1H2-30C30CD
Speed(rpm)
Torque(N·m)
2000
3000
4000
5000
6000
1000
0 8 16 24 32
40
A B
0
MS1H2-40C30CD
Speed(rpm)
Torque(N·m)
2000
3000
4000
5000
6000
1000
0 10 20 30 40
50
A B
0
MS1H2-50C30CD
Speed(rpm)
Torque(N·m)
3 MS1H3 (medium inertia and medium capacity）
A Continuous operating area
B Short time area
1000
1500
2000
2500
3000
500
0 3 6 9 12
15
A B
0
MS1H3-85B15CB/MS1H3-85B15CD
Speed(rpm)
Torque
(N·m)
1000
1500
2000
2500
3000
500
0 5 10 15 20
25
A B
0
MS1H3-13C15CB/MS1H3-13C15CD
Speed(rpm)
Torque
(N·m)

1 Product Information
- 15 -
1000
1500
2000
2500
3000
500
0 6 12 18 24
30
A B
0
MS1H3-18C15CD
Speed(rpm)
Torque
(N·m)
1000
1500
2000
2500
3000
500
0 8 16 24 32
40
A B
0
MS1H3-29C15CD
Speed(rpm)
Torque
(N·m)
1000
1500
2000
2500
3000
500
0 15 30 45 60
75
A B
0
MS1H3-44C15CD
Speed(rpm)
Torque
(N·m)
1000
1500
2000
2500
3000
500
0 20 40 60 80
100
AB
0
MS1H3-55C15CD
Speed(rpm)
Torque
(N·m)
1000
1500
2000
2500
3000
500
0 25 50 75 100
125
A B
0
MS1H3-75C15CD
Speed(rpm)
Torque
(N·m)
4 MS1H4 (medium inertia and small capacity)
A Continuous operating area
B Short time area

1 Product Information
- 16 -
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1.3.7 Derating Characteristics
■Derating curve (altitude)
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1 Product Information
- 17 -
1.3.8 Temperature Curve of the Oil Sealing
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1.4 Cables
1.4.1 IS620/IS810
■Frame size 40/60/80（50W-1kW）
Table 1-1 Cables for terminal-type (Z series) motors with front cable outlets
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M007-3.0 S6-L-M007-5.0 S6-L-M007-10.0
Power cable (with brake) S6-L-B007-3.0 S6-L-B007-5.0 S6-L-B007-10.0
Absolute encoder cable S6-L-P024-3.0 S6-L-P024-5.0 S6-L-P024-10.0
Incremental encoder cable S6-L-P014-3.0 S6-L-P014-5.0 S6-L-P014-10.0
Table 1-2 Cables for terminal-type (Z series) motors with rear cable outlets
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M008-3.0 S6-L-M008-5.0 S6-L-M008-10.0
Power cable (with brake) S6-L-B008-3.0 S6-L-B008-5.0 S6-L-B008-10.0
Absolute encoder cable S6-L-P025-3.0 S6-L-P025-5.0 S6-L-P025-10.0
Incremental encoder cable S6-L-P015-3.0 S6-L-P015-5.0 S6-L-P015-10.0

1 Product Information
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Table 1-3 Cables for lead wire-type (Z-S series) motors
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M00-3.0 S6-L-M000-5.0 S6-L-M000-10.0
Power cable (with brake) S6-L-B00-3.0 S6-L-B000-5.0 S6-L-B000-10.0
Absolute encoder cable S6-L-P020-3.0 S6-L-P020-5.0 S6-L-P020-10.0
Incremental encoder cable S6-L-P010-3.0 S6-L-P010-5.0 S6-L-P010-10.0
Table 1-4 Cables for terminal-type (Z series) motors with front cable outlets (drag chain)
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M007-3.0-T S6-L-M007-5.0-T S6-L-M007-10.0-T
Power cable (with brake) S6-L-B007-3.0-T S6-L-B007-5.0-T S6-L-B007-10.0-T
Absolute encoder cable S6-L-P024-3.0-T S6-L-P024-5.0-T S6-L-P024-10.0-T
Incremental encoder cable S6-L-P014-3.0-T S6-L-P014-5.0-T S6-L-P014-10.0-T
Table 1-5 Cables for terminal-type (Z series) motors with rear cable outlets (drag chain)
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M008-3.0-T S6-L-M008-5.0-T S6-L-M008-10.0-T
Power cable (with brake) S6-L-B008-3.0-T S6-L-B008-5.0-T S6-L-B008-10.0-T
Absolute encoder cable S6-L-P025-3.0-T S6-L-P025-5.0-T S6-L-P025-10.0-T
Incremental encoder cable S6-L-P015-3.0-T S6-L-P015-5.0-T S6-L-P015-10.0-T
Table 1-6 Cables for lead wire-type (Z-S series) motors (drag chain)
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M00-3.0-T S6-L-M000-5.0-T S6-L-M000-10.0-T
Power cable (with brake) S6-L-B00-3.0-T S6-L-B000-5.0-T S6-L-B000-10.0-T
Absolute encoder cable S6-L-P020-3.0-T S6-L-P020-5.0-T S6-L-P020-10.0-T
Incremental encoder cable S6-L-P010-3.0-T S6-L-P010-5.0-T S6-L-P010-10.0-T

1 Product Information
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NOTE
◆The term "drag chain" in the table title means the cables used in the moving
parts such as manipulators must be 󶍿exible cables applicable to drag chains.
◆Terminal-type motor encoder cables shorter than 25 m require no adapter
cables.
Speci󶍾cation for cables between 10 m to 25 m: 1Px22AWG+2Px26AWG
Speci󶍾cation for cables shorter than 10 m: 3Px26AWG
◆The S6-C24 cable kit is required for terminal-type motor encoder cables longer
than 25 m. Contact Inovance sales sta󶍽 for details on the cable length.
◆Speci󶍾cations of swinging-type motor encoder cables:
10 m to 25 m: 1Px22AWG+2Px26AWG
below 10 m: 3Px26AWG
◆Contact our sales staff for purchasing swinging-type motor encoder cables
longer than 25 m.
■Frame size100/130（1.8KW and below）
Table 1-7 Cables for MS1H2/MS1H3 series motors
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M011-3.0 S6-L-M011-5.0 S6-L-M011-10.0
Power cable (with brake) S6-L-B011-3.0 S6-L-B011-5.0 S6-L-B011-10.0
Absolute encoder cable S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0
Incremental encoder cable S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0
■Frame size180（2.9kW）
Table 1-8 Cables for MS1H3 series motors
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M012-3.0 S6-L-M012-5.0 S6-L-M012-10.0
Power cable (with brake) S6-L-B012-3.0 S6-L-B012-5.0 S6-L-B012-10.0
Absolute encoder cable S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0
Incremental encoder cable S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0
■Frame size180（2.9kW above）
Table 1-9 Cables for MS1H3 series motors
Cable Type Cable Length (m)
3.0 5.0 10.0
Power cable (without brake) S6-L-M022-3.0 S6-L-M022-5.0 S6-L-M022-10.0
Power cable (with brake) S6-L-B022-3.0 S6-L-B022-5.0 S6-L-B022-10.0
Absolute encoder cable S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0
Incremental encoder cable S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0