tau

Creating a New Way of Driving
Direct Drive Motor
tau

High precision
Speed stability

High response

High

Hollow

eﬃciency

structure

Quietness

Maintainability
Simple structure

Evolving Smart Direct Drive

AC servo motor + Reducer

Direct drive motor

Load

Load

The direct drive motor connects directly to a load and transmits power
and motion without the intervention of any intermediate mechanism

Direct drive motor

such as a reducer or belt. Eliminating the intermediate mechanism
makes the power transmission system more rigid and backlashless,enabling fast and precise driving. This oﬀers a number of advantages,
including improved mechanical performance, space savings, reduced

1

maintenance workload, and increased environmental friendliness.

Intermediatemechanism
AC servo motor

Reducer★Eliminating the intermediatemechanism oﬀers a number ofadvantages.

C O N T E N T S
τDISC Option

τDISC lineup list
Features of τDISC

Absolute position compensation function

Customization

High accuracy Type for table surface rotation accuracy
Parallelization processing speciﬁcation

Features of servo drivers

Notes on τDISC selection and design

System support tool

τDISC required speciﬁcation sheet●τDISC ND-s Series

Servo driver VPH Series

Model description

Model description / Common speciﬁcations

Common speciﬁcations/Torque characteristics

System conﬁguration

Individual speciﬁcations

Individual speciﬁcations

Dimensions

Functional speciﬁcations●τDISC ND-s HS Series

Dimensions

Model description / Common speciﬁcations

External wiring diagram

Torque characteristics

Optional products

Individual speciﬁcations

Encoder cable / Power cable

Dimensions

I/O-related options●τDISC DD-s Series

Serial communication-related options

Model description

Noise protection

Common speciﬁcations/Torque characteristics

Dynamic brake unit

Individual speciﬁcations

Regenerative resistors

Dimensions

Compliance with overseas standards and regulations●τDISC HD-s Series
Model description / Common speciﬁcations

Lineup of other direct drive products

Torque characteristics
Individual speciﬁcations
Dimensions

ND-s Series

Standard Typesuitable for various applications

ND-s HS Series High-speed rotation Typepursuing high-speed

Features

Details

Features

Details

Features

Details

Features

Details

operation

DD-s Series

High-rigidity,
high-precision TypeHD-s Series

High-response Type operation

pursuing high rigidity andhigh precision

pursuing high-speed

2

τDISC Lineup list
Motor TypeND110-65-FS（P）
ND110-85-FS（P）

Rated
MiddleSpeciﬁc Dimensi
Outsiderotationholeationsons
diameter
speed
diameter
mm
page
page
（
）
（rps）
（mm）

5

112

19

Rated torque
（N･m）

2.5

5

7.5

10

20

30

40

50

75

P.16 P.18
4.2/10.5
7.1/17.5（3.4/8.5） （5.9/14.7）

ND140-65-FS（P）

5

145

19

P.16 P.19

ND140-70-LS（P）
ND140-95-LS（P）

5

145

19

P.16

ND180-55-FS（P）

5

180

30

P.16 P.20

ND180-70-LS（P）
ND180-95-LS（P）

5

180

35

P.17 P.21

ND250-55-FS（P）

3

254

65

P.17 P.22

ND250-70-LS（P）
ND250-95-LS（P）

3

260

65

P.17

P.19
P.20

Shown in parentheses are

9.6/22the 100 VAC speciﬁcation.

15/37

9.6/22

17/40

30/75

17/40

42/100P.22
P.23

42/10080/190

ND400-65-FS（P）

2

408

65

P.17 P.23

ND400-70-LS（P）
ND400-95-LS（P）
ND400-160-LS（P）

2

408

65

P.17

ND110-85-FS（P）-HS

15

112

19

P.26 P.27

ND140-70-LS（P）-HS
ND140-95-LS（P）-HS

11

145

19

P.26

ND180-95-LS（P）-HS

11

180

35

P.26 P.28

DD160-96-LS（P5/P3）
DD160-105-FS（P5/P3）
DD160-146-LS（P5/P3）

4

160

25
60
25

P.30

DD250-90-LS（P5/P3）
DD250-138-LS（P5/P3）
DD250-163-LS（P5/P3）

2

65

P.30

65

P.35
P.31 P.36
P.37

265

P.24
P.25

P.27
P.28

P.32
P.33

P.33
P.34

8/19.2

9.6/22

15/37

24/65

10/23

27/62.5

10/23

42/10080/190DD400-150-LS（P5/P3） 2
DD400-200-LS（P5/P3） 2 420
DD400-250-LS（P5/P3） 1/1.5/2

3

P.37
P.38

DD630-175-LS（P10/P5）
DD630-225-LS（P10/P5）

1

663 150 P.31

HD140-160-LS（P）

6

140

30

P.39 P.40

HD140-185-LS（P）

5.5

140

30

P.39 P.41

HD180-200-LS（P）

6

180

35

P.39 P.41

27/67.5

36/10068/145

100

125

150

200

250

300

Shape：Flange less TypeShape：Flange Type

Rated torque/Max torque（N･m）Rated torque/Max torque（N･m）

500

1000

1500

3000

Standard Type

150/300

150/300

260/650500/1000

HS
High-speed rotation Type

120/300

750/1650～1750

High-rigidity,
high-precision Type260/650500/1250
2000/3700
1350/2500

High-response Type

4

Standard

Rated torque：3.4～500 N･m◎Popular standard Type pursuing cost performance. Suitable forvarious applications.
◎Compact design. Higher torque density and optimized thermal
structure and magnetic circuitry have reduced the volume ratioby 25% from previous models (ND and ND-c Series).

Point!

!

Ideal for converting the AC servo motor + reducer mechanism into a direct drive system■Wafer carrier devices/ ■Food carrier devices/ ■Filling machines/ ■Capping machines/ ■Roll feeders/Application
examples■Laser beam machines/ ■Laminating machines/ ■FPD pasting machines/ ■Die cutters/■Screen printing machines/ ■Contact and non-contact inspection machines/ ■Index tables

Rotary drive：

Index drive and tightening drive：

Index machines, capping machines, etc.
Capping machine
Torque sensor

Die cutters,

Die roll

printing
machines, etc.
● Speed stability

Cap tightening【Index machines】● Simple structure● Improved● High-precision,

maintainability

ﬂexible indexing● Simple structure● Quietness● Improved maintainability【Capping machine】

Index machines● The hollow structure makes

Transport robot drive：

Wafer transport

the device simpler

robots, etc.

● Faster response● The hollow structure

Feeding and winding drive (roll-to-roll application devices)：

Laminating machines, coaters, surface inspection machines, etc.
Replacing a powder clutch or brakeFeeding machine（For pivot axis drive）

makes the device simpler.
● Quietness（For arm drive②）● Improved maintainability（For arm drive①）

Winding machine

Table drive：

Laser beam machines, various processing
machines, etc.
● Speed stability● Stable operation● Quietness● High precision● Improved maintainability● Improved maintainability● Easy adjustment

5

Rotation axis
Inclined axis

HS

Rated torque：8～24 N･m

High-speed rotation◎High-speed rotation speciﬁcation model of the ND-s Series.
◎Pursuing compactness and high-speed operation.

◎ Lineup of motors whose rated rotation speed ranges from 11 to 15 rps (660 to 900 rpm).

Point!

!

Ideal for applications that require high-speed and high-precision operation

Application examples■Die bonders● Used motor Type and speciﬁcations

High-speed positioning examples■Sorters

ND140-95-LS-HS Type36 msec
60 msec■Spin coaters

90-degree positioning time：■Spin washers

180-degree positioning time：

Accuracy at the arm tip: ±4 μm (completion range: ±10 pulses)

High-speed pick-and-place drive：

Spin drive：

Die bonders and sorters

Spin coaters, spin

Rated/maximum torque：15/37 N･m
Rated rotation speed：11 rps
Rotor moment of inertia：0.00134 kg･㎡
Detection pulse：1,600,000 ppr● Load speciﬁcations
Arm load (double edge): Weight of 0.086 kg（208 mm from center to tip）
Load inertia moment ratio: Approx. 0.5 times

washers, etc.

● Faster operation● High-precision● Speed stability

positioning● Simple structure● Simple structure● High acceleration

High-speed rotation
operationand space saving

Wafer

High-speed
180-degree
High-speed

positioning

90-degree
positioning

6

High rigidity and high precision
Rated torque：10～2000 N･m◎High-rigidity Type pursuing high rigidity and high precision.
◎Signiﬁcant improvement in moment rigidity, axial
rigidity, and rotor torsional rigidity.
◎Pursuing positioning accuracy and run out accuracy.
◎Enabling stable operation even at the inertia ratio of 2,000 times. ＊＊ They are not guaranteed values. They depend on the installation status, operation conditions, mechanical rigidity, etc.

Point!

!

Ideal for applications that require stable operation for a load with large inertia

DD-s

DD-s

▼Positioning operation waveforms when the inertia ratio is 527 times

DD-s
ND-s

ND-s

Positional deviation
pulse waveform

ND-s

times

times

Speed feedback waveform

times

Greater than ND-s Greater than ND-s Greater than ND-s
Moment rigidity

Axial rigidity

Rotor torsional rigidity

The motor inclination due to

The amount of sinking due

Improved control response

the moment load is reduced

to the vertical load isleads to a shorter settling time

to 1/5

reduced by 60%【Used motor Type and speciﬁcations】 DD160-146-LS Type

● Rated/maximum torque：27/62.5 N･mApplication examples● Rotor moment of inertia：0.0074 kg･㎡

■FPD pasting machines/ ■FPD inspection machines/ ■Screen printing machines/● Load speciﬁcations (disk) Load inertia moment：3.9 kg･㎡

■PE printing machines/ ■Precision processing and measurement machines/（527 times larger than rotor moment of inertia）■Wafer dicing machines/ ■Wafer processing machines/ ■Wafer inspection machines/● Positioning operation：90°■Scribers/ ■Die casting machines/ ■Packaging machines/ ■X-ray analyzers/● Paired servo driver：VPH-HA Type■Surface polishing machines/ ■Chamfering machines* These values may vary depending on the load setting
condition and other factors.They are not guaranteed values.

Ball screw drive：roll
Printing

High-precision roll drive：

Roll coaters, PE printing

Die casting machines,
servo presses, etc.

machines, etc.
● High-precision positioning● Speed stability● High-response operation

Ga

ntr

● The hollow structure makes the device simpler

y li

nea

r

Glass, ﬁlm, etc.

● Improvement in environmental friendlinessand safety due to not using a hydraulic system

Large inertia load turning drive：Continuous rotation drive：

FPD turning, alignment, andSurface polishinginspection machines● Stable operation for a load with large inertia● High-precision positioning● Simple structure and space saving

7

Ball
screw

machines, chamferingmachines, etc.
● High-precision positioning● Speed stability

Rated torque：27～68 N･mHigh response◎ High-response Type pursuing high-speed operation.
◎ World's top level high response performance with ahigh-torque, low-inertia structure.

Point!

!

Ideal for applications that require a small operation angle and high-speed operation▼Positioning operation waveform at 22.5° Positioning time：18.2 msec
● Used motor Type and speciﬁcations
HD140-160-LS Type
Rated/maximum torque：27/67.5 N･m
Rotor moment of inertia：0.0027 kg･㎡

Speed feedback waveform● Load speciﬁcations (disk)
Load weight：0.79 kg
Load inertia moment：0.00297 kg･㎡
（1.1 times larger than rotor moment of inertia）● Positioning operation：22.5°
Completion range：±10 pulses

Positioning completion signal（Load disk circumference conversion：±1.5 μm）

Dwell time：50 msec
● Paired servo driver：
VPH-HA Type18.2 msec* These values may vary depending on the load
setting condition and other factors. They are notguaranteed values.

Application ■Test handlers/ ■Taping machines/ ■Appearance inspection machines/
examples■Automotive parts testing machines/ ■Torque testing machines/ ■Various testing machines/ ■Vibration generators

High-speed index drive：

High-speed test handlers and taping machines
High-speed indexing
operation for 22.5 degrees

Testing machine drive：

Torque testing machines, material testing machines,
durability testing machines, etc.
● High-response operation● Space savings and improved quietness● Improvement in environmental friendliness and safety
Torque meter Test piece
Sine wave operation
at high-speed cycle● Faster operation● High-speed positioning● Simple structure and space saving

8

Customization
In addition to the standard τDISC lineup, we can oﬀer
custom-made features, such as those shown below, tomeet your needs for special speciﬁcations.

Improved speed stability
Based on the ND250-s and ND400-s
Types of the ND-s Series, speed stability

Speed variation

is improved by reducing motor torque［At speed of 2 rpm］

ripples, mounting a high-precision

Actual value obtained under our measurement conditions

encoder, etc.

Rotaryencoder

Built-in motor【Example】
We provide an air bearing orball bearing spindle with arotor and a stator built in it
or only a rotor and a stator.
Bearing

Rotor
Stator(rotating side) (ﬁxed side)

Anti-fretting
speciﬁcations

Improved
positioning
accuracy androtation accuracy

Improved
torqueaccuracy

Improved
ﬂatness andparallelism

Increasedrotation speed
and torqueAnti-dust
speciﬁcation

Material andappearancechangesWider middle holediameter andchange in themounting shape

Connector andcable changes

We can support any special shipping inspection.
By conducting a dedicated inspection not supported as standard, it is possible to check whether your required speciﬁcations are met, regarding the speciﬁcations
not provided as such.
●Positioning accuracy measurement using laser length measurement and a high-precision encoder●Load displacement amount measurement●Table rotation axis run out accuracy using a true sphere●Speed stability, output torque accuracy, etc.

* For information about the availability of customization, contact our sales staﬀ.
* Our website oﬀers“List of Practical Examples of Custom-Made Direct Drive Motors”.
9https://www.nikkidenso.co.jp/product/custom/

Features of τDISC-compatible servo drivers

VPH Series
Developed exclusively for direct drive.
Maximizes the motor performance.
Output capacity 100 W～ 15 kW

Lineup◎ VPH-HA TypeI/O speciﬁcation

Speed command operation, torque command operation, and pulse
train command operation, and built-in command operation◎ VPH-HB TypeSSCNETⅢ/H speciﬁcation

Supports SSCNETⅢ/H and SSCNETⅢ. Speed command
operation, torque command operation, and position
control operation◎ VPH-HC Type

CC-Link speciﬁcation◎ VPH-HD Type

EtherCAT speciﬁcation

Supports CC-Link (Version 1.10) communication. Speedcommand operation, torque command operation, and pulse
train command operation, and built-in command operation
Supports EtherCAT communication (CiA402 drive proﬁle).

◎ VPH-HE TypeMECHATROLINK-Ⅲ speciﬁcation

Speed command operation, torque command operation,and position control operation
Supports MECHATROLINK-Ⅲ communication.
Speed command operation, torque command operation,and position control operation

Features
Superb speed stability

Improved stability during stop

Signiﬁcant reduction in torque ripples

Filtering function during stop

Reducing torque ripples improves speed stability even more.

Improved torque accuracy during stop

(Reduced by 20% from the conventional model.)Vibration of a load with large inertia during stop is reduced.

Easy tuning even fora load with large inertia
Automatic feedback ﬁlter setting function
Since the feedback ﬁlter appropriate for the load is
automatically set during auto tuning, the speed detection

Enhanced low-speed gain switching function
Not only speed but also other items, such as deviation and thepresence or absence of a command, can be set as the conditions
for switching between normal gain and low-speed gain.

Smooth operation reduces
the positioning time.

ripples are reduced, allowing easy tuning even for a load withlarge inertia. Smooth operation can be achieved easily.

Two-stage, s-curve acceleration and deceleration control function
Making the torque waveform a quadratic curve signiﬁcantly eases
the impact at the time of acceleration and deceleration and reduces
the positioning time without causing vibration even when theacceleration and deceleration is shortened.

10For the VPH Series

System support tool
The enhanced adjustment, monitoring, operation, analysis, and editing functions
assist in mechanical system matching and enable eﬃcient start-up.

Oscilloscope screen

Analysis functions
Oscilloscope function●The servo data of up to 11 channels can be displayed in real time.
（* Data resolution: 0.4 ms or more; Only IO setting for Channel 4 and later）● The motor load ratio during repeated operations can be displayed easily.
● The normal trigger function makes it easy to identify changes before and after adjustment.

Frequency response measurement function● By measuring the frequency response of the mechanical system throughautomatic motor excitation, the mechanical resonance ﬁlter can be set easily.

Frequency spectrum measurement function● By ﬁnding the mechanical resonance point through the measurement of
the frequency spectrum during the operation, the mechanical resonanceﬁlter can be set easily.

Frequency response measurement screen
Frequency spectrum measurement screen

Status display
Status display function● Various operation information, such as the actual motor operation speed,
actual torque command, and current position, is displayed in real time.
● The alarm history, device information, and so on are displayed.

Input/output signal status display function● The input and output signals can be checked easily during the start-up operation.

Device monitoring function● The memory area inside the driver can be displayed and edited in real time.

11

Status display screenData Editing Software* Download the latest version of the VPH Series system support tool from our website.
https: //www.nikkidenso.co.jp/systemtool/Parameter editing screen

Data editing
Parameter editing function● The parameters such as gain, ﬁlter, command, andsignal are grouped to make the editing work easier.

Program editing function● Programs can be created and edited using theoperation commands in internal command mode.

Indirect data editing function● This function creates and edits the indirect data
to be used for program operation.

Remote operation
Switch box function● Remote operation can be done easily from a PC
with the master controller disconnected.

Switch box screen

Automatic servo gain adjustment function“NiEAT”

Supported OS

New functions of the system support tool (For details, refer to p.13 to p.14.)●Windows 7●Windows10●Windows 8.1

32bit/64bit
32bit/64bit
32bit/64bit●Interactive initial setup is supported for the major control method.
●Enter selection conditions to the direct drive motor selection calculation tool, and you can have the ﬁlter andgain value automatically adjusted until the selection conditions are met.
●A special motor parameter read function has been added. Special motor parameters can be created easily.

NiEAT

Supported languages●Japanese, English, and KoreanChinese (simpliﬁed/traditional)

12

New!

Automatic
servo gain
adjustment
function

NiEAT

The system support tool features a new function - the automatic servo gain adjustment function “NiEAT”!
The formerly diﬃcult task of adjusting the direct drive motor gain is now easy to do!

Comparison between automatic servo gain adjustment of NiEAT and conventional adjustment

Conventional adjustment...

Which do I need to

Setting a large

use to drive thenumber of

motor?

parameters is
cumbersome.

I’m not surewhat to set.

I don’t know
How do I know if

how to cope

I’m ﬁnished with

with mechanicaladjusting the gain

resonance.

waveform?
13“NiEAT” solves all these problems！

[ VPH system support tool screen]

To start the tool, click the NiEAT button!

Main selection screen

The wizard takes you
through the adjustment
process. All you need to do
is make settings according
to on-screen instructions!

Input and output signal setting screen

Unit setting screen

Adjustment operation setting screen

Input the adjustment conditions and click the Start button,
and automatic adjustment will start! There is no need to checkthe adjustment status by monitoring waveforms or set a ﬁlter
for the mechanical resonance point by using another function.
Adjustment result screen

The automatic adjustmentof the direct drive motor
will be complete in
５minutes or so!

Positioning adjustment screen* If NiEAT cannot automatically adjust the motor, you need tomake adjustments individually.

* The NiEAT function does not include adjustments other than

the gain adjustment, such as the height and level adjustments
for motor parallelism.

14

■τDISC ND-s Series Model and motor type description◎Motor type

ND

110 - 65 - F

S

P

②

④

⑥

③

⑫

NMR - S

◎Model①

τ

DISC ND-s Series

①
②
③

⑤

②

⑬

A

E

J

A2

A - 131

A

P

④

⑤

⑦

⑧

⑨

⑪

⑫

⑩

NMR…Direct drive motor Series
Middle productMotor type

ND…ND-s Series/ ND-s HS Seriesclassification（1） Model

S…ND-s Series/ ND-s HS Series

Middle product classification（2）

S…ND-s Series/ ND-s HS Series/ DD-s Series/ HD-s SeriesWith flange④⑬

Nominal diameter *1

Flange less

A…110
（Actual range 110 to 119 mm）

R…140（Actual range 140 to 149 mm）

C…140（Actual range 140 to 149 mm）

S…180（Actual range 180 to 189 mm）

D…180（Actual range 180 to 189 mm）

T…250（Actual range 250 to 269 mm）

E…250（Actual range 250 to 269 mm）

U…400（Actual range 400 to 409 mm）

F…400（Actual range 400 to 409 mm）
With flange⑤

Nominal height *1

Flange less

M…55
（Actual range 50 to 59 mm）

M…70（Actual range 60 to 69 mm）

E…65（Actual range 60 to 79 mm）

E…70/95（Actual range 70 to 95 mm）

U…85（Actual range 80 to 99 mm）

F…95（Actual range 96 to 119 mm）
H…160（Actual range 150 to 169 mm）⑥

Motor flange

F…With flange

L…Flange less⑦

Encoder type

J…Absolute encoder（absolute value for one revolution）

I…Incremental encoder⑧

Power supply voltage⑨

Order of design⑩

Rated output *2

⑪

Brake
（with or without）

A…Without brake⑫

Table surface rotation accuracy

Without…Standard specification⑬

Special model symbol

A2…200 VAC
A1…100 VAC（ND110-s Type only）
A→B→C…Starting from A
Example） 131 … 13

1 =13×101 =130 W
Exponential part of powers of 10
Significant figures
P…High accuracy type
（option）

Without…Standard specification-R + sequential number…Quasi standard specification-S + sequential number…Special model specification*1 The motor type is represented by a numerical value. Nominal dimensions may be different from actual dimensions. For details, refer to the dimensions.
*2 Approximate value.

* Dimensions are subject to change without prior notice to improve the product. Before designing, download the latest dimensions from our website.

■About the encoder typeThe absolute encoder is the standard type of encoder in the ND-s Series lineup. Note that, since this is a battery-less type encoder, it cannot holdmultiple turn data.
An incremental encoder type is available on request. This catalog only contains the specifications and dimensions of the absolute encoder type. The
incremental encoder type differs in the detection pulse, resolution, cable diameter, connector shape, cable outlet（for the flange less type only）, etc.
For details, visit our website.

15

■Common specifications■Torque characteristics

Ambient operating temperature

0 to 40℃

Torque[%]Ambient operating humidity

85%RH or less; no condensation（Rated torque ratio）
Maximum

Do not install in a harmful atmosphere containing corrosive

torque ratio *gas, grinding oil, metal dust, oil, etc. Install in an indoor place
not exposed to direct sunlight.

100%
70%

Horizontal with the rotor facing upward.
Installation direction

Instantaneous usage(acceleration/deceleration) area

（Rated torque）

Continuous usage area

* When the installation direction is not horizontal with the rotor

Rated rotation speed[rps]facing upward, consult with our sales staff.

* The maximum torque ratio depends on the motor type.

Cooling method

Natural air cooling

Insulation classClass F

Withstand voltage

1,500 VAC, 1 minute

If the locking operation or an equivalent operation（ultra low

Protection classIP42

speed rotation or reciprocation within a very small range ofHeight above sea level

1,000 m or lessVibration resistance

1G（3 directions, 2 hours each）

angles）is performed continuously, the electronic thermal

Shock resistance30G（3 directions, 2 times each）(Maximum torque/Rated torque)

When you plan to perform the above operation, contact oursales staff.

DISC ND-s Series

value may be reduced for motor protection.

τ

Installation location■τDISC ND-s Series Individual specifications
Motor type *1

ND110-65-FS（P）

Model *1NMR-

SAEJA1A-101A（P）

Flange type

ND110-85-FS（P）
SAEJA2A-131A（P）

SAUJA1A-181A（P）

With flange

Power supply used

ACV

Outside diametermm

SAUJA2A-221A（P）

With flange

100

200

100

112

200
112

Height *2

mm

Rated torque *3

N･m

3

66
（65.8）
3.4

4.2

5.9

7.1

Max torque *3

N･m

7.5

8.5

10.5

14.7

17.5

Rated rotation speed *3

rps

Rated output *3

W

94

106

131

185

Rated current *3

A

2

2.3

2

3.4

5

Encoder type
Detection pulse

ppr

Detection resolution5
2.5

Absolute

Absolute

2,097,152

2,097,152

0.618

0.618

N･m

6.1

6.1

kN

1.1

Allowable axial load *4

1.1

Radial run out（no load）

μm

Axial run out（no load）

μm

30（Standard）/10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *630（Standard）/10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec±20.00039kg･m 2

Rotor moment of inertia
Weightkg

Magnetic pole detection method
Paired servo driver223

arcsecAllowable moment load *4
Table surface rotation
accuracy *5

86（85.8）VPH Series

NCR-H□

Motor type *1
Model *1

NMR-

Flange type0.000612.2

3.1

Absolute position detection

Absolute position detection

1101A-A-□□□

1201A-A-□□□

2201A-A-□□□

1201A-A-□□□

2401A-A-□□□ND140-65-FS（P）

ND140-70-LS（P）

ND140-95-LS（P）

SCEJA2A-301A（P）

SREJA2A-301A（P）

SRFJA2A-471A（P）

With flange

Flange less

Flange lessPower supply used

ACV

200

200

200

Outside diameter

mm

145

145

145

Height *2mm

71（70.8）

73（72.8）

98（97.8）

Rated torque *3

N･m

9.6

9.6

15

Max torque *3

N･m

22

22

37

Rated rotation speed *3

rps

5

5

5

Rated output *3

W

301

301

471

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

3.4

4

Absolute

Absolute

2,097,152

2,097,152

2,097,152

arcsec

0.618

0.618

0.618

N･m

17.3

17.3

17.3

kN

2.4

2.4

2.4

Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *5

3.4
Absolute

Radial run out（no load）

μm

Axial run out（no load）

μm

40（Standard）/10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *640（Standard）/10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec
kg･m 2

Rotor moment of inertia
Weight0.00084

4.2

4.1

5.9

Absolute position detection

Absolute position detection

Absolute position detection

2401A-A-□□□

2401A-A-□□□

2801A-A-□□□kg

Magnetic pole detection method
Paired servo driver±10.00077

VPH Series

NCR-H□

0.00134*1 Shown in parentheses are the motor type and model of the high accuracy type
（option）.
*2 Shown in parentheses is the value of the high accuracy type
（option）.
*3 The specification values are those obtained when the τDISC is mounted on a heat sink（aluminum plate）of one of the following sizes and operated at the ambient operating
temperature.
・ ND110 Type300mm×300mm×22mm

・ ND140 Type

640mm×450mm×50mm*4 The life of the bearing and the run out accuracy differ depending on the load. For the points to note with regard to the allowable loads, refer to "About the allowable loads of
τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation accuracy" on p.43.
*6 For details, refer to "τDISC Absolute position compensation function option" on p.42.

16

■τDISC ND-s Series Individual specifications
Motor type *1
Model *1

NMR-

Flange type

ND180-55-FS（P）

ND180-70-LS（P）

ND180-95-LS（P）

SDMJA2A-531A（P）

SSMJA2A-531A（P）

SSEJA2A-941A（P）

With flange

Flange less

Flange lessPower supply used

ACV

200

200

200

Outside diameter

mm

180

180

180

Height *2mm

58（57.8）

67（66.8）

94（93.8）

Rated torque *3

N･m

17

17

30

Max torque *3

N･m

40

40

75

Rated rotation speed *3

rps

5

5

5

Rated output *3

W

534

534

942

Rated current *3

Aτ

DISC ND-s Series

Encoder type
Detection pulse

ppr

Detection resolution

5

6.5

Absolute

Absolute

2,097,152

2,097,152

2,097,152

arcsec

0.618

0.618

0.618

N･m

20.5

27.3

27.3

kN

2

2.9

2.9

Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *55Absolute

Radial run out（no load）

μm

Axial run out（no load）

μm

50（Standard）/ 10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *650（Standard）/ 10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia
Weight0.0031

5.3

5.8

8.8

Absolute position detection

Absolute position detection

Absolute position detection

2801A-A-□□□

2801A-A-□□□

2801A-A-□□□kg

Magnetic pole detection method
Paired servo driver±1
0.0027kg･m 2VPH Series

NCR-H□

Motor type *1
Model *1

NMR-

Flange type

ND250-55-FS（P）

ND250-70-LS（P）

ND250-95-LS（P）

SEMJA2A-791A（P）

STEJA2A-791A（P）

STFJA2A-152A（P）

With flange

Flange less

Flange lessPower supply used

ACV

200

200

200

Outside diameter

mm

254

260

260

Height *2mm

58（57.8）

73（72.8）

98（97.8）

Rated torque *3

N･m

42

42

80

Max torque *3

N･m

100

100

190

Rated rotation speed *3

rps

3

3

3

Rated output *3

W

791

791

1,507

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

6

10

Absolute

Absolute

6,815,744

6,815,744

6,815,744

0.191

0.191

0.191

N･m

60

244

244

kN

3.5

12.9

12.9

Allowable axial load *4
Table surface rotation
accuracy *56Absolute

arcsecAllowable moment load *4
Radial run out（no load）

μm

Axial run out（no load）

μm

50（Standard）/ 10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *650（Standard）/ 10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia
WeightPaired servo driver

VPH Series

0.022

0.023

kg

10.7

12.5

18.5

Absolute position detection

Absolute position detection

Absolute position detection

2801A-A-□□□

2801A-A-□□□

2152A-A-□□□

NCR-H□

Motor type *1
Model *1

±1

kg･m 2Magnetic pole detection method

NMR-

Flange type

0.039

ND400-65-FS（P）

ND400-70-LS（P）

ND400-95-LS（P）

ND400-160-LS（P）

SFEJA2A-182A（P）

SUEJA2A-182A（P）

SUFJA2A-322A（P）

SUHJA2A-622A（P）

With flange

Flange less

Flange less

Flange lessPower supply used

ACV

200

200

200

200

Outside diameter

mm

408

408

408

408

Height *2mm

77（76.8）

73（72.8）

98（97.8）

160（159.8）

Rated torque *3

N･m

150

150

260

500

Max torque *3

N･m

300

300

650

1,000

Rated rotation speed *3

rps

2

2

2

2

Rated output *3

W

1,884

1,884

3,267

6,283

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

15

24

36

Absolute

Absolute

Absolute

6,815,744

6,815,744

6,815,744

6,815,744

0.191

0.191

0.191

0.191

N･m

315

315

315

315

kN

14.5

14.5

14.5

14.5

Allowable axial load *4
Table surface rotation
accuracy *515Absolute

arcsecAllowable moment load *4
Radial run out（no load）

μm

Axial run out（no load）

μm

50（Standard）/ 10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *650（Standard）/ 10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia

kg･m 2

Weightkg

Magnetic pole detection method
Paired servo driver

VPH Series

NCR-H□

±1
0.142

0.142

0.224

32

32

45

75

Absolute position detection

Absolute position detection

Absolute position detection

Absolute position detection

2222A-A-□□□

2332A-A-□□□

2702A-A-□□□

2222A-A-□□□*1 Shown in parentheses are the motor type and model of the high accuracy type（option）.
*2 Shown in parentheses is the value of the high accuracy type
（option）.
*3 The specification values are those obtained when the τDISC is mounted on aheat sink (aluminum plate) of one of the following sizes and operated at theambient operating temperature.

170.0053

・ ND180 Type

640 mm×450 mm×50 mm

・ ND250 Type

640 mm×450 mm×50 mm

・ ND400 Type1140 mm×700 mm×80 mm

		+490 mm×490 mm×40 mm（Two plates stacked）

0.393*4 The life of the bearing and the run out accuracy differ depending on the load.
For the points to note with regard to the allowable loads, refer to "About the allowableloads of τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation
accuracy" on p.43.
*6 For details, refer to "τDISC Absolute position compensation function option" on p.42.

■τDISC ND-s Series Dimensions◎ND110-65-FS（P）
NMR-SAEJA1A-101A（P）
NMR-SAEJA2A-131A（P）*1

62.5±1*1（15）（23.7）□112±1.5

12
5

SN-16140
MADE IN JAPAN55°

ENCODER******PPR

NIKKI
DENSO

SN-16140
MADE IN JAPAN（Stator）

NIKKI
DENSO

MODEL:

5
r）
11
oto
φ
（R
1.6
φ2
0.03
125±
P.C.D

4）
（

NIKKI
DENSO

0

1.6

3-32

"Y"
D

*1

（Spigot joint）C

20±1

depth 8
φ4H7 +0.012
0（Stator）（64.5）

0.05 X

B±2

D（Stator）

3.2

P.
C.
D

Certificate SER No.******

φ
145
±2
.5

(Stator)

1.6

X（Rotor）

φA h7 -0.025（Spigot joint）
φ19+0.20（Middle holediameter）

55±2

30°

depth 6
∅4H7+0.012
0
0.05

.35
P.C.D

R62
.5

*1

X

Shaded area showing
the contacting areafor installation

DISC ND-s Series

φ112±1.5（Outside diameter）
φ58.3（Outside diameter of rotor）

Homing mark（Stator）

*1

*1

6）
（

45°

4-φ7 hole（Even distribution）

φ4 +0.03
×60slotted hole depth 8
E（Middle hole of rotor） （1.3）

6-M5 depth 7.5（Even distribution）

τ

Encodercounting direction
Forward
ReversePower connector（Width：10mm）

650+100
0

（ R3
mi 5
n
R）

(φ6.5)

4
R0.

37

C0
.5

Power cable

（φ18）

12

Encoder cable(φ6.6)

8
R2 n R）
mi（

22

Fixing screw
for the covers

650+100
0（Spigot joint）C

（23.2）

Encoder connector（Width：16.9mm）

0.7（Gap）*1 The outer circumference is a casting surface（inclined）.

Detail "Y"（30.1）

Motor type

A

B

C

D

E

ND110-65-FS

50

66

1.5

0.03

64.7

ND110-65-FSP

49.8

65.8

1.3

0.01

64.5

◎ND110-85-FS（P）

Reverse（23.7）

62.5±1□112±2.5

12
5

NIKKI
DENSO

SN-16140
MADE IN JAPAN55°（Stator）

NIKKI
DENSO

ENCODER

4）
（

NIKKI
DENSO

MODEL:*1（84.5）

D

20±1

φ4H7 +0.012
depth 80（Stator）

0.05 X

B±0.2

D（Stator）

5
11
r）
φ
oto
（R
1.6
03
φ2
25±0.
1
P.C.D

"Y"

（Spigot joint）C*1******PPR

SN-16140
MADE IN JAPAN（Stator）

1.6

3-32

650+100
0

4
R0.

C0
.5

（ R3
mi 5
n
R）

Power connector（Width：10mm）(φ6.5)

φ
145
±2
.5

P.
C.
D

X

Shaded area showing
the contacting areafor installation

3.2(Stator)E（Middle hole of rotor） （1.3）

Certificate SER No.******（Rotor）

X

*1

.35

φ112±1.5（Outside diameter）

55±2

30°

（15）

P.C.D

R62
.5

∅4H7+0.012
depth 6
0
0.05

*1

*1

1.6

45°

Homing mark*1×6
φ4 +0.03
0slotted hole depth 86-M5 depth 7.5（Even distribution）

6）（

4-φ7 hole φ12counter boring depth 2（Even distribution）

Encodercounting direction
ForwardφA h7（Spigot joint）
φ19+0.20（Middle holediameter）

NMR-SAUJA2A-221A（P）∅58.3（Outside diameter of rotor）

NMR-SAUJA1A-181A（P）

57

Power cable8
R2 n R）
mi
（

12

（φ18）

Encoder cable(φ6.6)

22

650+100
0（23.2）

Encoder connector（Width：16.9mm）

Fixing screw
for the covers（Spigot joint）C0.7（Gap）

Detail "Y"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

ND110-85-FS

50

86

1.5

0.03

84.7

ND110-85-FSP

49.8

85.8

1.3

0.01

84.5

（30.1）

18

■τDISC ND-s Series Dimensions◎ND140-65-FS（P）
NMR-SCEJA2A-301A（P）∅6H7+0.012
depth 90（Stator）*1

SN-16140
MADE IN JAPAN
NIKKI
DENSO

SN-16140
MADE IN JAPAN55°（Stator）

NIKKI
DENSO

******PPR

P.C
.D.
140

（Stator）

SER No.******

0D□145±1.5*1（Spigot joint）C(φ6.5)

20±1

φ6H7 +0.012
depth 80（Stator）

0.05 X

（68）
B±0.2

D

（ R3
mi 5
n
R）

r）
（Roto
φ21.6

"Y"

80±1
Power connector（Width：10mm）

6）
（

1

1.6

（23.7）

1.6

X

*1

5
11
φ

（Middle holeof rotor）
E

1.6

0.05

（15）

X
φA h7 -0.03（Spigot joint）
φ40

φ145±1.5（Outside diameter）

P.
C.
D.
50
φ1
85±
2

F
（φ40 depth）

φ70（Outside diameter of rotor）

60±1

τ

30°

DISC ND-s Series

R80

4-65

8）
（

5
16
D.
C.
P.

*1

（Rotor）

ENCODER*1

Homing markφ6 +0.03×80Slotted hole depth 8

*1

NIKKI
DENSO

（Stator）

ReverseMODEL:
Certificate

Forward

φ19+0.2
04-φ7 hole φ12Counter boring depth 2（Even distribution）

Shaded area showing
the contacting areafor installation

6-M5 depth 10（Even distribution）（Middle holediameter）

Encodercounting direction

600+100
0

.4
R0

40

C0
.5

Power cable(φ6.6)
8 R）
R2 in
m
（

13

（φ18）

Encoder cable

22
Fixing screw
for the covers

600+100
0（23.2）

Encoder connector（Width：16.9mm）（Spigot joint）C0.5（Gap）*1 The outer circumference is a casting surface（inclined）.

Detail "Y"（30.1）

Motor type

A

B

C

D

E

F

ND140-65-FS

60

71

3

0.04

70

8.5

ND140-65-FSP

59.8

70.8

2.8

0.01

69.8

8.3

◎ND140-70-LS（P）
NMR-SREJA2A-301A（P）（Stator）

3.2

3.2

"Y"

NIKKI
DENSO

SN-16140
MADE IN JAPAN∅6H7+0.012
depth 9
0
0.05

r）
oto
1(R
φ2
D 90
P.C.

0
∅118 h7-0.035（Spigot joint）

SN-16140
MADE IN JAPANMODEL:

NIKKI
DENSO
NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

ENCODER

MODEL:

6-M5 depth 10（Even distribution）******PPR（Middle holeof rotor）
E

SER No.******

3.2

Certificate SER No.******（Rotor）

F（φ36 depth）（Stator）

30°

20°

6-M5 depth 10（Even distribution）

3.2

φ19+0.20（Middle holediameter）

X

*1

45°

30°

4.3（Spigot joint）

（70）

50

φ145±1.5（Outside diameter）

0.05

D
C.
P.

0
φA h7-0.03（Spigot joint）
φ36∅6H7+0.012
depth 90φ70（Outside diameter of rotor）

ReverseForward（Spigot joint）C

Homing markEncoder cable
Power cable

B±0.2

D

Encodercounting direction

0
P.C.D 13

（Stator）"Z"（Stator）
Follow the bottom view for the cable layout

D

Fixing screw
for the covers

.4
R0

.5
C0

C0
.5

.4
R0

（15.6）

Fixing screw
for the covers（Spigot joint）C3（h7 tolerance）
0.5（Gap）

Detail "Y"

（φ12）

19

Encoder cable
Encoder connector（Width：16.9mm）

R）
5
R3 in
m
（

500+100
0（23.7）

Power cable
Power connector（Width：10mm）

（15）

（ R2
mi 8
n
R）

(φ6.5)（30.1）（23.2）(φ6.6)

500+100
0（4.3）

Detail "Z"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

ND140-70-LS

60

73

3

0.04

76.5

8

ND140-70-LSP

59.8

72.8

2.8

0.01

76.3

7.8

X

■τDISC ND-s Series Dimensions◎ND140-95-LS（P）
NMR-SRFJA2A-471A
（P）

3.2

"Y"

0
P.C.D 13

（Stator）"Z"（Stator）
Follow the bottom view for the cable layout

D
Fixing screw
for the covers

.4
R0

X

r）
oto
1(R
φ2
D 90
P.C.

0
φ118 h7-0.035（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

ENCODER∅6H7+0.012
depth 9
0
0.05

NIKKI
DENSO

MODEL:******PPRSER No.******

MODEL:

Certificate SER No.******

φ19+0.20（Middle holediameter）（Stator）（Stator）（Middle holeof rotor）
E

30°
20°

DISC ND-s Series（Rotor）

3.2
0
φA h7-0.03（Spigot joint）
φ36

50
P.C.D.

F（φ36 depth）

45°

Power cable

6-M5 depth10（Even distribution）

3.2

φ145±2.5（Outside diameter）

30°

4.3（Spigot joint）

3.2

6-M5 depth10（Even distribution）

X

φ70（Outside diameter of rotor）

0.05

*1

Encoder cable（95）（Spigot joint）C

Homing mark

Reverseτ∅6H7+0.012
depth 9
0

B±0.2

D

Encodercounting direction
Forward（15.6）（23.7）（15）

Encoder cable
Encoder connector（Width：16.9mm）（4.3）

Detail "Z"

500+100
0

R）
5
R3 in
m
（

(φ6.5)(φ6.6)（23.2）（30.1）

（ R2
mi 8
n
R）

3（h7 tolerance）
0.5（Gap）

Detail "Y"（φ12）

500+100
0

.5
C0

C0
.5

.4
R0

Fixing screw
for the covers（Spigot joint）CPower cable
Power connector（Width：10mm）*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

ND140-95-LS

60

98

3

0.04

101.5

F
8

ND140-95-LSP

59.8

97.8

2.8

0.01

101.3

7.8

◎ND180-55-FS（P）
NMR-SDMJA2A-531A（P）□180±2SN-16140
MADE IN JAPAN

170
P.C
.D.

NIKKI
DENSO

SER No.************PPR

NIKKI
DENSO

SN-16140
MADE IN JAPAND(φ6.5)

55°

SN-16140
MADE IN JAPAN
NIKKI
DENSO

φ6H7+0.012
depth 8
0

1.6

1.6

（Spigot joint）CPower connector（Width：10mm）

（ R3
mi 5
n
R）

（Stator）

"Y"

*1
D

*1

3）
0.
h
pt
De
0（
15
r）
φ
（Roto
φ32.6

NIKKI
DENSO

MODEL:

1.6（Stator）

96.5±1

MODEL:（Stator）

X

6-M5 depth 7.5（Even distribution）
（15）

X

6）
（
1

E
（Middle holeof rotor）

Certificate SER No.******

depth 9
∅6H7+0.012
0

φ30+0.20（Middle hole diameter）

φ180±2（Outside diameter）

∅23
7±
2

φ100（Outside diameter of rotor）

15°

70±1

（Rotor）

86
.D.
P.C

Shaded area showing
the contacting areafor installation

4-80（Depth 0.3）

8）
（

5
20
D.
C.
P.
R96.
5

*1

（23.7）*1*1

φ76（F）

Reverse（Stator）

0
φA h7-0.035（Spigot joint）

Forward

Homing mark0.05

φ6+0.03
0 ×8
slotted hole depth 8

Encoder counting direction

ENCODER

4-φ11 hole
φ22 counter boring depth 2（Even distribution）

*1

20±1

（Stator）

0.05 X（55）
B±0.2

600+100
0.4
R0(φ6.6)
8
R2 R）
n
mi
（

11

（φ18）

Encoder cable

22

600+100
0
Encoder connector（Width：16.9mm）（23.2）

C0.529

Power cable

Fixing screw
for the covers（Spigot joint）C（30.1）*1 The outer circumference is a casting surface（inclined）.
0.5（Gap）

Detail "Y"

Motor type

A

B

C

D

E

ND180-55-FS

96

58

3

0.05

57

F
1

ND180-55-FSP

95.8

57.8

2.8

0.01

56.8

0.8

20

■τDISC ND-s Series Dimensions◎ND180-70-LS（P）
NMR-SSMJA2A-531A（P）
Encodercounting direction（Middle holeof rotor）
E

45°∅6H7+0.012
depth 90

Encoder cable

0.05

"Y"

X

60
.R.
P.C
.5
R.48
P.C.

0
φ140 h7-0.040（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

SN-16140
MADE IN JAPAN

NIKKI
DENSO

ENCODER

NIKKI
DENSO
NIKKI
DENSO

MODEL:******PPRSER No.******

3.2

MODEL:（Rotor）

Power cable

30°

3.2

SER No.******τ

DISC ND-s Series

15°（Stator）

45°

6-M6 depth 12（Even distribution）

3.2

3.2

86

Certificate

D
C.
P.

4.3（Spigot joint）（Stator）

X

φ180±2.5（Outside diameter）

0.05

*1

D

（64）

φ35+0.20（Middle hole diameter）∅6H7+0.012
depth 90

6-M5 depth 7.5（Even distribution）

φ76（F）

Reverse0
φA h7-0.035（Spigot joint）

Forwardφ100（Outside diameter of rotor）

Homing mark

B±0.2

D
（Spigot joint）C

∅37.
8（R
otor
）

（Stator）

P.C
.D.
156

"Z"
（Stator）
Follow the bottom view for the cable layout
Fixing screw
for the covers

.4
R0

C0
.5

（15.6）3（h7 tolerance）（4.3）

Detail "Y"（23.2）

Detail "Z"（30.1）

Encoder cable
Encoder connector（Width：16.9mm）

Power cable
Power connector（Width：10mm）

0.5（Gap）

500+100
0

8
R2 R）
n
mi
（

(φ6.6)(φ6.5)（23.7）
（15）

（ R35
mi
n
R）

.5
C0

（Spigot joint）C（φ12）

500+100
0

R0.4

Fixing screw
for the covers*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

ND180-70-LS

96

67

3

0.05

70.5

2

ND180-70-LSP

95.8

66.8

2.8

0.01

70.3

1.8

◎ND180-95-LS（P）
NMR-SSEJA2A-941A（P）
Encodercounting direction

3.2

3.2

86

（Middle hole of rotor）
E"Y"

Power cable

30°

45°

+0.012∅6H7 0

3.2

Encoder cable

60
.R.
P.C

0
φ140 h7-0.040（Spigot joint）

SN-16140
MADE IN JAPAN

.5
R.48
P.C.

∅37.
8（R
otor
）

（Stator）

P.C
.D.
156

SN-16140
MADE IN JAPAN"Z"（Stator）
Follow the bottom view for the cable layout
Fixing screw
for the covers

.4
R0

C0
.5

R0
.4

（15.6）（Spigot joint）C
（φ12）

21

8
R 2 R）nmi（

2Power cable
Power connector（Width：27mm）

Encoder cable
Encoder connector（Width：16.9mm）

3（h7 tolerance）（4.3）

Detail "Z"（23.2）（30.1）

（ R35
mi
n
R）

1

ＡＭＰ

D-5200（34）（47）

0.5（Gap）

Detail "Y"

500+100
0(φ6.6)(φ6.5)

500+100
0.5
C0

Fixing screw
for the covers

depth 9

0.05

NIKKI
DENSO
NIKKI
DENSO
NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

ENCODER******PPRSER No.******SER No.******

MODEL:（Rotor）

Certificate

15°（Stator）

45°

6-M6 depth 12（Even distribution）

3.2

MODEL:DC.
P.

4.3（Spigot joint）（Stator）

X*1

D

φ180±2.5（Outside diameter）

0.05

（91）

φ35+0.20（Middle hole diameter）∅6H7+0.012
depth 90

6-M6 depth 9（Even distribution）

φ72（F）

Reverse0
φA h7-0.035（Spigot joint）

Forwardφ100（Outside diameter of rotor）

Homing mark

B±0.2

D
（Spigot joint）C*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

ND180-95-LS

96

94

3

0.05

97.5

F
2

ND180-95-LSP

95.8

93.8

2.8

0.01

97.3

1.8

X

■τDISC ND-s Series Dimensions◎ND250-55-FS（P）
NMR-SEMJA2A-791A（P）
Encoder counting direction

φ6 0 ×8
slotted hole depth 8（Stator）（23.7）

P.C
.D.
246

55°

NIKKI
DENSO

SN-16140
MADE IN JAPAN（Stator）

D*1+0.01220±1（Stator）（55）（Spigot joint）C

B±0.2

D

R0
.4

Power connector（Width：10mm）

depth 80.05 X
1.6

2-Plate for lifting
140±1□250±2

C0
.5

（ R3
mi 5
n
R）

500+100
029

Power cable

8 R）
R2 in
m
（

11

（φ18）

Encoder cable（22）

500+100
0(φ6.6)*1 The outer circumference is a casting surface（inclined）.

Fixing screw
for the covers（23.2）

Rotor）
φ68（

φ6H7 0

*1

1.6

*1
（15）

Encoder connector（Width：16.9mm）（30.1）

022
φ

3-R127"Y"

0.05 X

(φ6.5)******PPRENCODER

1.6

depth 91

SN-16140
MADE IN JAPANE（Middle holeof rotor）

MODEL:+0.012∅6H7 0SN-16140
MADE IN JAPAN（Stator）

SER No.******

X

Certificate SER No.******

φ65

φ136（F）（Middle hole diameter）

φ3
20±
2

0
φA h7-0.040（Spigot joint）∅254±2（Outside diameter）

φ170（Outside diameter of rotor）

0
15
D.
C.
P.

15°

126±1

（Rotor）

DISC ND-s Series

R140

8）
（

4
28
D.
C.
P.

*1

6）
（

NIKKI
DENSO

*1

*1

4-120

NIKKI
DENSO

6-M6 depth 9（Even distribution）（Stator）

Homing markShaded area showing
the contacting areafor installation+0.03

Reverse

NIKKI
DENSO

Forwardτ

4-φ13 hole
φ25 counter boring depth 2（Even distribution）

0.5（Gap）（Spigot joint）C

Motor type

A

B

C

D

E

F

ND250-55-FS

162

58

3

0.05

57

1

ND250-55-FSP

161.8

57.8

2.8

0.01

56.8

0.8

Detail "Y"◎ND250-70-LS（P）
NMR-STEJA2A-791A
（P）
B±0.2

D
D

*1

（70）

30°

6-M8 depth 12（Even distribution）（Stator）
3.2

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

******PPR

SN-16140
MADE IN JAPAN

NIKKI
DENSO

ENCODER

NIKKI
DENSO
NIKKI
DENSO

SER No.******

MODEL:SER No.******

Certificate

MODEL:"Y"

depth 90.05

X

Encoder cable（Stator）（Stator）+0.012∅6H7 0（Middle holeof rotor）
E（Middle hole diameter）

φ65+0.2
0（Rotor）

φ136（F）

15°

0
φA h7-0.040（Spigot joint）

3.2

3.2

φ
68
（
Ro
to
r）

0
φ186 h7-0.046（Spigot joint）

015

φ260±2.5（Outside diameter）

D
C.
P.

2-Platefor lifting

45°

Power cable

3.8（Spigot joint）

X

φ170（Outside diameter of rotor）

0.05（Spigot joint）C

3.2

Homing mark Encoder counting direction
6-M6 depth 9
Forward
Reverse+0.012（Even distribution）∅6H7 0 depth 9

236
P.C.D

P.C.
D.13
8

"Z"

R0
.4

Follow the bottom view for the cable layout

C0
.5

.4
R0

.5
C0

Fixing screw
for the covers（15.6）（Spigot joint）C

Detail "Y"（φ12）

Encoder cable
Encoder connector（Width：16.9mm）

3（h7 tolerance）

5
R3 R）
n
mi
（

Detail "Z"

500+100
0

Power cable
Power connector（Width：10mm）（23.7）

（15）

（ R28
mi
n
R）

0.7（Gap）（3.8）(φ6.5)（30.1）（23.2）(φ6.6)

500+100
0

Fixing screw
for the covers*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

ND250-70-LS

162

73

3

0.05

76

1

ND250-70-LSP

161.8

72.8

2.8

0.01

75.8

0.8

22

■τDISC ND-s Series Dimensions◎ND250-95-LS（P）
NMR-STFJA2A-152A
（P）
B±0.2

D

Homing markForward

Reverse

6-M8 depth 12（Even distribution）（Spigot joint）C

D

45°

*1

Power cable∅6H7+0.012
depth 90（Stator）

"Y"

138
.D
P.C
236
D
P.C.

φ
68
（
Ro
to
r）

0
φ186 h7-0.046（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

ENCODERSER No.************PPR

SN-16140
MADE IN JAPAN
NIKKI
DENSO

MODEL:SER No.******

MODEL:（Stator）

6-M8 depth 12（Even distribution）

"Z"

R0
.4

Follow the bottom view for the cable layout

C0
.5

.4
R0

0.7（Gap）（15.6）（Spigot joint）C

Detail "Y"（φ12）(φ6.6)

(φ8）

5
R3 R）
n
mi
（

（ R28
mi
n
R）

（47）

1

Power cable
Power connector（Width：27mm）

ＡＭＰ

2

Encoder cable
Encoder connector（Width：16.9mm）

Detail "Z"

500+100
0D-5200（30.1）（23.2）3（h7 tolerance）（3.8）*1 The outer circumference is a casting surface（inclined）.

（34）

500+100
0

Fixing screw
for the covers.5
C0

Fixing screw
for the covers

Motor type

A

B

C

D

E

F

ND250-95-LS

162

98

3

0.05

101

2

ND250-95-LSP

161.8

97.8

2.8

0.01

100.8

1.8

◎ND400-65-FS（P）
NMR-SFEJA2A-182A（P）

φ8+0.03
0 ×10

*1

）

SN-16140
MADE IN JAPANφ35
0

SER No.******

NIKKI
DENSO

or）
Rot
8（
φ6

1

60°

NIKKI
DENSO

ENCODER
MODEL:

SN-16140
MADE IN JAPAN******PPR

SN-16140
MADE IN JAPAN（Stator）

NIKKI
DENSO

φ65+0.20（Middle hole diameter）

F

E（Middle holeof rotor）

NIKKI
DENSO

（Rotor）

X

1
D.39
P.C.

16
R2

X

2
2±
49
φ

0.05

）
（8

Certificate SER No.******∅8H7+0.015
depth 120φ180（F）

P.C.D.
220

15°

100±2

*1

0
φA h7-0.052（Spigot joint）

Homing mark∅408±2.5（Outside diameter）

P.
C.
D.
45
0

φ285（Outside diameter of rotor）

6-M8 depth 12（Even
distribution）

Reverse0）（1*1
Encoder counting direction
Forward

1.6（Stator）（Stator）

Shaded area showing
the contacting areafor installation

4-160

Slotted hole depth 10（Stator）

4-φ17 hole
φ32 counter boring depth 2（Even distribution）

φ8H7+0.015
depth 10
0

"Y"

（47）

*1

*1

D

□408±2.5（Spigot joint）CPower connector（Width：27mm）

D-5200ＡＭＰ
2Plate for lifting

1.6

216±1

1

D

20±1

（Stator）

（74）

R0
.4

B±0.2

（22）

C0
.5

（
mi
n

R）

5
R3

（φ18）

500+100
0

(φ8)

*1

1.6

0.05 X（34）

40

Power cable

8
R2

（
mi
n

16

Encoder cable（23.2）(φ6.6)

23

R）

500+100
0*1 The outer circumference is a casting surface（inclined）.

Encoder connector（Width：16.9mm）（30.1）

Fixing screw
for the covers（Spigot joint）C0.6（Gap）

Detail "Y"X

Encoder cable

NIKKI
DENSO

Certificate（Stator）

φ65+0.2
0

0.05（Middle hole of rotor）
E（Middle hole diameter）

τ

DISC ND-s Series（Rotor）

φ136（F）

15°∅6H7+0.012
depth 9
0

3.2

3.2

φ260±2.5（Outside diameter）

2-Platefor lifting

3.2

0
15

D
C.
P.

0
φA h7-0.040（Spigot joint）

X

φ170（Outside diameter of rotor）

0.05

30°

3.8（Spigot joint）

（95）

3.2

Encoder counting direction

Motor type

A

B

C

D

E

F

ND400-65-FS

260

77

3

0.05

76

1

ND400-65-FSP

259.8

76.8

2.8

0.01

75.8

0.8

■τDISC ND-s Series Dimensions◎ND400-70-LS（P）
NMR-SUEJA2A-182A
（P）
B±0.2

D
∅8H7+0.015
depth 120

Reverse3.8（Spigot joint）

30°

Power cable

45°

22
0

X

（70）

*1

D

0
φ270 h7-0.052（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

ENCODER

SN-16140
MADE IN JAPANMODEL:******PPR

NIKKI
DENSO
NIKKI
DENSO

SER No.******

MODEL:SER No.******

Certificate

φ65+0.20φ180（F）（Middle hole diameter）

0
φA h7-0.052（Spigot joint）

φ408±2.5（Outside diameter）

φ285（Outside diameter of rotor）（Stator）

Xτ（Rotor）

0.05

Encoder cable（Stator）（Middle holeof rotor）
E

6-M8 depth 12（Even distribution）

69
P.C.R

φ68
（Ro
tor）

（Stator）

P.C
.D.
376

DISC ND-s Series

15°

P.C
.R
1

3.2

3.2

3.2

2-Platefor lifting∅8H7+0.015
depth 12
0

15

P.
C.
D

0.05

Forward（Spigot joint）C

6-M8 depth 12（Even distribution）

3.2

Homing mark Encoder counting direction

"Z"

"Y"

Follow the bottom view for the cable layout
.4
R0
C0
.5

.4
R0

Fixing screw
for the covers（Spigot joint）C（22）

500+100
0

（φ18）

5
R3 R）
n
mi
（

（47）

Encoder connector（Width：16.9mm）

1Power cable

ＡＭＰ

2

Encoder cable

D-5200（30.1）（3.8）

Detail "Z"*1 The outer circumference is a casting surface（inclined）.
（34）

（ R28
mi
n
R）

3（h7 tolerance）

0.6（Gap）

Detail "Y"

(φ8)

（φ12）

(φ6.6)（15.6）
500+100
0（23.2）.5
C0

Fixing screw
for the covers

Power connector（Width：27mm）

Motor type

A

B

C

D

E

F

ND400-70-LS

260

73

3

0.05

76

1

ND400-70-LSP

259.8

72.8

2.8

0.01

75.8

0.8

◎ND400-95-LS（P）
NMR-SUFJA2A-322A
（P）
B±0.2

D
Encoder counting direction∅8H7+0.015
depth 120

Reverse3.8（Spigot joint）

（95）

*1

D

22.5°

Power cable

45°

3.2

0
22

0.05

SN-16140
MADE IN JAPANX

Encoder cable0
φ270 h7-0.052（Spigot joint）

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

******PPRSER No.******

NIKKI
DENSO

SN-16140
MADE IN JAPANENCODER
MODEL:

NIKKI
DENSO

∅8H7+0.015
depth 120（Stator）

Certificate

MODEL:SER No.******（Middle hole diameter）

φ65+0.2
0（Stator）

φ180（F）（Rotor）（Middle holeof rotor）
E
0
φA h7-0.052（Spigot joint）

15°

2-Platefor lifting

3.2

3.2

φ285（Outside diameter of rotor）

D
C.
P.

P.C.
R 11
5

X

φ408±2.5（Outside diameter）

0.05

Forward（Spigot joint）C

8-M10 depth 13（Even distribution）

3.2

Homing mark

69
P.C.R

φ68
（Ro
tor）

8-M10 depth 15（Even distribution）（Stator）

P.C
.D.
376

"Z"

"Y"

Follow the bottom view for the cable layout
.4
R0
C0
.5

.4
R0

3（h7 tolerance）（3.8）

Detail "Z"

500+100
0

1

Power connector（Width：27mm）

ＡＭＰ

2Power cable*1 The outer circumference is a casting surface（inclined）.

（47）
（34）

5
R3 R）
n
mi
（

(φ8)

(φ6.6)（φ22）

Encoder cable
Encoder connector（Width：16.9mm）

0.6（Gap）

Detail "Y"D-5200（30.1）

（φ12）
（ R28
mi
n
R）

（26）

（15.6）
500+100
0（23.2）（Spigot joint）C

Fixing screw
for the covers.5
C0

Fixing screw
for the covers

Motor type

A

B

C

D

E

F

ND400-95-LS

260

98

3

0.05

101

2

ND400-95-LSP

259.8

97.8

2.8

0.01

100.8

1.8

24

■τDISC ND-s Series Dimensions◎ND400-160-LS（P）
NMR-SUHJA2A-622A
（P）
B±0.2

D
Encoder counting direction∅8H7+0.015
depth 120

Reverse

（156）

*1

D

4.8（Spigot joint）

115
P.C.
R
0
φ270 h7-0.052（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

ENCODER

MODEL:SER No.************PPR

SN-16140
MADE IN JAPANSER No.******

NIKKI
DENSO

MODEL:

NIKKI
DENSO

Certificate

69
P.C.R

P.C.
D 37
6

"Z"

"Y"

Follow the bottom view for the cable layout

C0
.5

.4
R0

.4
R0

0.05

.5
C0

Fixing screw
for the covers

4（h7 tolerance）

25

Encoder cable
Encoder connector（Width：16.9mm）（28）500+100
0

Power cable

Power connector（70.2）
（φ46）

（ R28
mi
n
R）

(φ6.6)（30.1）（23.2）（4.8）

Detail "Z"

（φ28）

(φ11)

（φ12）
500+100
00.6（Gap）

Detail "Y"

（ R5
mi 5
n
R）

（15.6）（Spigot joint）CX

Encoder cable（Stator）

τ（Stator）

φ65+0.20φ180（F）∅8H7+0.015
depth 120（Stator）（Middle hole of rotor）
E（Middle hole diameter）

0
φA h7-0.052（Spigot joint）（Stator）

45°

r）
to
Ro
8（
∅6

DISC ND-s Series（Rotor）

3.2

3.2

15°

2-Platefor lifting

22.5°

3.2

0
22

φ408±2.5（Outside diameter）

D
C.
P.

Power cable8-M12 depth 18（Even distribution）

X

φ285（Outside diameter of rotor）

0.05

Forward（Spigot joint）C

8-M12 depth 18（Even distribution）

3.2

Homing mark*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

ND400-160-LS

260

160

4

0.05

164

2

ND400-160-LSP

259.8

159.8

3.8

0.01

163.8

1.8

■τDISC ND-s HS Series Model and motor type description◎ Motor type

ND

110 - 85 - F

S

P - HS

②

⑤

⑦

③

⑬

⑥

NMR - S◎ Model

①

②

⑭

A

U

I

A2

A - 551

A

P

⑤

⑥

⑧

⑨

⑩

⑫

⑬

⑪

⑭

NMR…Direct drive motor Series
Motor type

ND…ND-s Series/ ND-s HS Series

Model

S…ND-s Series/ ND-s HS Series

Middle productclassification（1）③

Middle product classification（2）

S…ND-s Series/ ND-s HS Series/ DD-s Series/ HD-s Series④

Middle product classification（3）

HS…ND-s HS Series⑤

Nominal diameter *1

With flange

Flange less

A…110（Actual range 110 to 119 mm）

R…140（Actual range 140 to 149 mm）

With flange

S…180（Actual range 180 to 189 mm）

Flange less⑥

Nominal height *1⑦

Motor flange

F…With flange⑧

Encoder type

I…Incremental encoder⑨

Power supply voltage

A2…200 VAC⑩

Order of design

A→B→C…Starting from A
Example） 551 … 55 1 =55×101 =550W⑪

Rated output *2

⑫

Brake
（with or without）

A…Without brake⑬

Table surface rotation accuracy

Without…Standard specification⑭

Special model symbol

Without…Standard specification

U…85（Actual range 80 to 99 mm）

E…70/95（Actual range 70 to 95 mm）

F…95（Actual range 96 to 119 mm）

L…Flange lessExponential part of powers of 10
Significant figures

DISC ND-s HS Series

②

τ

①

④

P…High accuracy type
（option）-R + sequential number…Quasi standard spec

-S + sequential number…Special model spec

*1 The motor type is represented by a numerical value. Nominal dimensions may be different from actual dimensions. For details, refer to the dimensions.
*2 Approximate value.
* Dimensions are subject to change without prior notice to improve the product. Before designing, download the latest dimensions from our website.

■ About the encoder typeThe encoder type of the ND-s HS Series is the incremental encoder only.

■Torque characteristics■ Common specifications

Torque[%]Ambient operating temperature

0 to 40℃

Ambient operating humidity

85%RH or less; no condensation

Installation location

Do not install in a harmful atmosphere containing corrosive gas, grinding oil,metal dust, oil, etc. Install in an indoor place not exposed to direct sunlight.

Installation direction

Horizontal with the rotor facing upward. *When the installation direction is nothorizontal with the rotor facing upward, consult with our sales staff.

Cooling method

Natural air cooling

Insulation classClass F

Withstand voltage

1,500 VAC, 1 minuteProtection class

IP42

Height above sea level

1,000 m or lessVibration resistance

1G（3 directions, 2 hours each）

Shock resistance30G（3 directions, 2 times each）（Rated torque ratio）
Maximum
torque ratio *（Rated torque）
100%
70%

Continuous usage area
Rated rotation speed[rps]* The maximum torque ratio depends on the motor type.
(Maximum torque/Rated torque)If the locking operation or an equivalent operation (ultra low speed rotation orreciprocation within a very small range of angles) is performed continuously,
the electronic thermal value may be reduced for motor protection.
When you plan to perform the above operation, contact our sales staff.

■Individual specifications
Motor type *1
Model *1

Instantaneous usage(acceleration/deceleration) area

NMR-

ND110-85-FS（P）-HS

ND140-70-LS（P）-HS

ND140-95-LS（P）-HS

ND180-95-LS（P）-HSSAUIA2A-551A（P）

SREIA2A-661A（P）

SRFIA2A-102A（P）

SSEIA2A-162A（P）

With flange

Flange less

Flange less

Flange less
200

Flange type
Power supply used

ACV

200

200

200

Outside diameter

mm

112

145

145

180

Height *2mm

86（85.8）

73（72.8）

98（97.8）

94（93.8）

Rated torque *3

N･m

5.9

8

9.6

15

24

Max torque *3

N･m

14.1

19.2

22

37

65

Rated rotation speed *3

rps

11

11

11

Rated output *3

W

556

753

663

1,036

1,658

Rated current *3

A

3.4

5

15

Encoder type
Detection pulse

ppr

8.1

8.4

Incremental

Incremental

Incremental

1,280,000

1,600,000

1,600,000

1,680,000

arcsec

1.02

0.810

0.810

0.772

N･m

6.1

17.3

17.3

27.3

kN

1.1

2.4

2.4

Radial run out（no load）

μm

30（Standard）/10（High accuracy type）

40（Standard）/10（High accuracy type）

50（Standard）/10（High accuracy type）

Axial run out（no load）

μm

30（Standard）/10（High accuracy type）

40（Standard）/10（High accuracy type）

50（Standard）/10（High accuracy type）

Detection resolution
Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *5

5.6

Incremental

Absolute Positioning accuracy *6

arcsec±15（When the absolute position compensation function option is used）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia±2kg･m 2

Weight±10.000610.000840.00134

0.0053

3.1

4.1

5.9

8.8

kg

Magnetic pole detection method
Paired servo driver

VPH Series

Selection of magnetic pole sensor detection or automatic magnetic pole detection
NCR-H□

2401A-A-□□□

2801A-A-□□□*1 Shown in parentheses are the motor type and model of the high accuracy type
（option）.
*2 Shown in parentheses is the value of the high accuracy type
（option）.
*3 The specification values are those obtained when the τDISC is mounted on a heat sink（aluminum
plate）of one of the following sizes and operated at the ambient operating temperature.
・ ND110-HS type 300 mm×300 mm×22 mm／ ・ ND140-HS type 640 mm×450 mm×50 mm
・ ND180-HS type 640 mm×450 mm×50 mm

2.9

2801A-A-□□□

2152A-A-□□□

2152A-A-□□□*4 The life of the bearing and the run out accuracy differ depending on the load. For the points to notewith regard to the allowable loads, refer to "About the allowable loads of τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation accuracy" on p.43.
*6 For details, refer to "τDISC Absolute position compensation function option" on p.42.

26

■τDISC ND-s HS Series Dimensions◎ND110-85-FS（P）-HS
NMR-SAUIA2A-551A
（P）

*1

P.
C.
D

（23.7）

62.5±1

*1

NIKKI
DENSO

（Stator）

55°

SN-16140
MADE IN JAPANENCODER
MODEL:

r）
oto
（R
1.6
03
φ2
125±0.
D
.
P.C

NIKKI
DENSO

（Middle holediameter）******PPR

SN-16140
MADE IN JAPAN（Stator）

6
10
φ
4）
（

"Y"

*1

（Spigot joint）C（84.5）

D20±1

φ4H7+0.012
depth 80（Stator）

0.05 X

B±0.2

D（Stator）
2
R0.

500+100
0

C0
.5

（ R3
mi 5
n
R）

1.6

12
5

*1

□112±2.5

Power connector（Width：10mm）(φ6.5)

±2
.5

3-32

3.2

φ1
45

（Stator）

Certificate SER No.******

6

X

1.6

τ
0.05

（Rotor）

X
0
φA h7-0.03（Spigot joint）
φ19+0.20φ112±1.5（Outside diameter）

55±2

30°

DISC ND-s HS Series

φ4H7 +0.012
depth
0
（15）

35
P.C.D.

R62.5

φ58.3（Outside diameter of rotor）

Homing markE（Middle hole of rotor） （1.3）

NIKKI
DENSO

6-M5 depth 7.5（Even distribution）*1*1

Shaded area showing
the contacting areafor installation

φ4+0.03
0 ×6
slotted hole depth 86）（

Encodercounting direction
Forward
Reverse45°

4-φ7 hole
φ12 counter boring depth 2（Even distribution）

57

Power cable

Fixing screw
for the covers

5 R）
R3 in
m
（
(φ5.5)

12（φ18）

Encoder cable（Spigot joint）C

22

0.7（Gap）

Detail "Y"

500+100
0（23.7）

Encoder connector（Width：23mm）*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

ND110-85-FS-HS

50

86

1.5

0.03

84.7

ND110-85-FSP-HS

49.8

85.8

1.3

0.01

84.5

（19）

◎ND140-70-LS（P）-HS
NMR-SREIA2A-661A（P）

Forward

6-M5 depth 10（Even distribution）*1

Power cable

4.3（Spigot joint）（70）

6-M5 depth 10（Even distribution）

3.2

Reverse（Spigot joint）C

X

30°

45°
∅6H7+0.012
depth 90（Stator）

"Y"

X

r）
oto
1(R
φ2
9
D 0
P.C.

0
∅118 h7-0.035（Spigot joint）

SN-16140
MADE IN JAPAN******PPR

NIKKI
DENSO

SN-16140
MADE IN JAPANENCODER
MODEL:

Certificate SER No.******

NIKKI
DENSO

（Middle holeof rotor）
E

0.05

NIKKI
DENSO

3.2

（Stator）

50
P.C.D.

φ19+0.20（Middle holediameter）

30°

F（φ36 depth）

0
φA h7-0.03（Spigot joint）
φ36（Rotor）

φ145±1.5（Outside diameter）

3.2

φ70（Outside diameter of rotor）

0.05

Homing mark3.2

∅6H7+0.012
depth 9
0

B±0.2

D

Encodercounting direction

130
P.C.D

Encoder cable（Stator）"Z"（Stator）
Follow the bottom view for the cable layout

D
Fixing screw
for the covers

.4
R0

.5
C0

C0
.5

.4
R0

Fixing screw
for the covers(15.6)（Spigot joint）C3（h7 tolerance）
0.5（Gap）

Detail "Y"（4.3）

Detail "Z"(φ12)

Encoder cable
Encoder connector（Width：23mm）

27500+100
0

5
R3 R）
n
mi
（

(23.7)*1 The outer circumference is a casting surface（inclined）.

Power cable
Power connector（Width：10mm）

(15)

（ R35
mi
n
R）

(φ6.5)(19)(23.7)(φ5.5)

500+100
0Motor type

A

B

C

D

E

F

ND140-70-LS-HS

60

73

3

0.04

76.5

8

ND140-70-LSP-HS

59.8

72.8

2.8

0.01

76.3

7.8

■τDISC ND-s HS Series Dimensions◎ND140-95-LS（P）-HS
NMR-SRFIA2A-102A（P）

6-M5 depth 10（Even distribution）

3.2

X

or）
Rot
1（
φ2
D 90
P.C.

0
φ118 h7-0.035（Spigot joint）

SN-16140
MADE IN JAPANENCODER******PPR

NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

MODEL:

Certificate SER No.******

φ19+0.2
0"Y"∅6H7+0.012
depth 9
0
0.05

NIKKI
DENSO

（Middle hole of rotor）
E（Stator）（Stator）

3.2
0
φA h7-0.03（Spigot joint）
φ36

50
P.C.D.

45°

130
P.C.D

Encoder cable（Stator）"Z"

DISC ND-s HS Series

φ145±2.5（Outside diameter）（Rotor）

F（φ36 depth）

φ70（Outside diameter of rotor）

30°

30°

6-M5 depth 10（Even distribution）

3.2

3.2

ReverseX

4.3（Spigot joint）（Middle holediameter）

Forward*1

Power cable（95）（Spigot joint）C

Homing mark

τ

0.05

9

B±0.2

D

Encodercounting direction∅6H7+0.012
depth
0（Stator）
Follow the bottom view for the cable layout

D
Fixing screw
for the covers

.4
R0

.5
C0

C0
.5

.4
R0

（15.6）

Fixing screw
for the covers

3（h7 tolerance）（Spigot joint）C0.5（Gap）

Detail "Y"（4.3）

Detail "Z"

（φ12）

（47）

Encoder connector（Width：23mm）（34）

Power cable2

Encoder cable

D-5200

1

5
R3 R）
n
mi
（

ＡＭＰ

(φ5.5)(19)(23.7)

500+100
0

（ R35
mi
n
R）

(φ6.5)

500+100
0*1 The outer circumference is a casting surface（inclined）.

Power connector（Width：27mm）

Motor type

A

B

C

D

E

ND140-95-LS-HS

60

98

3

0.04

101.5

F
8

ND140-95-LSP-HS

59.8

97.8

2.8

0.01

101.3

7.8

◎ND180-95-LS（P）-HS
NMR-SSEIA2A-162A
（P）

3.2

∅6H7+0.012
depth 900.05 X
Encoder cable

NIKKI
DENSO
NIKKI
DENSO

（Spigot joint）******PPRSER No.******

Certificate.R
P.C

SN-16140
MADE IN JAPAN

60

.5
R 48
P.C.

φ37
.8(R
otor
）

φ140 h7（Stator）

P.C
.D.
156

"Z"
（Stator）
Follow the bottom view for the cable layout

Fixing screw
for the covers

.4
R0

C0
.5

R0
.4

.5
C0

Fixing screw
for the covers（Spigot joint）C

NIKKI
DENSO

ENCODER
MODEL:

SN-16140
MADE IN JAPAN"Y"（15.6）

45°

6-M6 depth 12（Even distribution）

3.2（Stator）

+0.2

15
°

（Stator）

30°

3.2

φ35 0
（Middle hole diameter）

φ180±2.5（Outside diameter）（Rotor）

Power cable

4.3（Spigot joint）（Middle hole of rotor）
E

joint）

D
C.
P.

86

φ72（F）

X

*1

D

φA

depth 9

0.05

（91）
3.2

6-M6 depth 9（Even distribution）

Reverse0h7-0.035（Spigot∅6H7

Forwardφ100（Outside diameter of rotor）

Homing mark+0.0120

B±0.2

D（Spigot joint）C0-0.040

Encodercounting direction

0.5（Gap）

Detail "Y"3（h7 tolerance）（4.3）

Detail "Z"
500+100
0

Encoder connector（Width：23mm）

Power connector（Width：27mm）（34）

D-5200Power cable2

Encoder cable

ＡＭＰ

（47）

1

(φ5.5)（19）5
R 3 R）
nmi（（23.7）

5
R3 R）
n
mi
（

(φ6.5)

550+100
0*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

ND180-95-LS-HS

96

94

3

0.05

97.5

F
2

ND180-95-LSP-HS

95.8

93.8

2.8

0.01

97.3

1.8

28

■τDISC DD-s Series Model and motor type description◎ Motor typeDD①

◎ Model

160 - 96 - L
③

④

⑥

S

P5

②

⑫

⑬

⑪

DD 16 - 251

L

04

C N N

①

⑥

⑦

⑧

③

⑤

⑨

⑩

-P
⑪

-1

⑫

τ

DISC DD-s Series①

Product classification（1）DD…τDISC DD-s Series②

Product classification（2） Motor type

S…ND-s Series/ ND-s HS Series/ DD-s Series/ HD-s Series③

Outside diameter④

HeightExample） 96 …96 mm⑤

Rated output *1

Example） 251 … 25 1 =25×101 =250 W
Exponential part of powers of 10
Significant figures⑥

Motor flange

F…With flange⑦

Rated rotation speed

Rated rotation speed（unit: rps; to be rounded down to the whole number）

Motor type

160…160 mm

250…265 mm

400…420 mm

630…663 mm

Model

16…160 mm

25…265 mm

40…420 mm

63…663 mm⑬⑭

L…Flange lessExample） 04…4 rps

C…Absolute encoder（absolute value for one revolution） A…Incremental encoder⑧

Encoder type⑨

Cooling method

N…Natural air cooling⑩

Overseas standards

N…None⑪

Special model symbol

H…DD630 system absolute encoder IPU built-in type absolute encoder（absolute value for one revolution）

Without…Standard specification
R + sequential number…Quasi standard spec

S + sequential number…Special model spec

None …Standard specification
Motor type⑫

P10・…High accuracy 10 μm type
（option）
P5・ …High accuracy 5 μm type
（option）
P3・ …High accuracy 3 μm type
（option）

Table surface rotation

None …Standard specification

accuracy *2-P・ …DD160/250/400 Type: High accuracy 5 μm type
（option）
Model

DD630 Type: High accuracy 10 μm type
（option）-P5・…DD630 Type: High accuracy 5 μm type
（option）-P3・…DD160/250/400 Type: High accuracy 3 μm type
（option）⑬⑭

Parallelism

Without…Standard specification
H…Parallelization processing specification（option） *Not supported for the DD630 Type.

Absolute position compensation

Without…Without the Absolute position compensation option

option *3-0…Compensation data to be transfered to the VPH servo driver by the user.

*1 Approximate value.
*2 The high accuracy type of the DD160/250/400 Type supports 5 μm and 3 μm. The high accuracy type of the DD630 Type supports 10 μm and 5 μm.
*3 For details, refer to "Absolute position compensation function option system table" on p.42.

* Dimensions are subject to change without prior notice to improve the product. Before designing, download the latest dimensions from our website.

■About the encoder typeThe absolute encoder is the standard type of encoder in the DD-s Series lineup. Note that, since this is a battery-less type encoder, it cannot holdmultiple turn data.
An incremental encoder type is also available on request for the following motor types.
・DD160-96/146-LS（P5/P3） ・DD250-90/138/163-LS（P5/P3）This catalog only contains the specifications and dimensions of the absolute encoder type. The incremental encoder type differs in the detection
pulse, resolution, cable diameter, connector shape, cable outlet, etc. For details, visit our website.

29

■Common specifications■Torque characteristics
Torque[%]Ambient operating temperature

0 to 40℃

Ambient operating humidity

85%RH or less; no condensation（Rated torque ratio）
Maximum
torque ratio *Do not install in a harmful atmosphere containing corrosive gas, grinding oil,

Installation location

metal dust, oil, etc. Install in an indoor place not exposed to direct sunlight.

（Rated torque）
100%
70%

Horizontal with the rotor facing upward or downward.

Installation direction*When the installation direction is not horizontal, consult with our sales staff.

Instantaneous usage(acceleration/deceleration) area

Continuous usage area
Rated rotation speed[rps]Cooling method

Natural air cooling

Insulation classClass F

Withstand voltage

1,500 VAC, 1 minute

If the locking operation or an equivalent operation（ultra low speed

Protection classIP44

rotation or reciprocation within a very small range of angles）is

Height above sea level

1,000 m or lessperformed continuously, the electronic thermal value may be reduced

Vibration resistance

1G（3 directions, 2 hours each）

Shock resistance30G（3 directions, 2 times each）* The maximum torque ratio depends on the motor type.
(Maximum torque/Rated torque)for motor protection.

τ■τDISC DD-s Series Individual specifications
Motor type *1
Model *1

DD16-

DD160-96-LS（P5/P3）

DD160-105-FS（P5/P3）

DD160-146-LS（P5/P3）

251L04CNN（-P/-P3）

251F04CNN（-P/-P3）

681L04CNN（-P/-P3）

Flange lessWith flange

Flange less
200

Flange type
Power supply used

ACV

200

200

Outside diameter

mm

160

160

160

Height *2mm

96（95.8）

105（104.8）146（145.8）Rated torque *3

N･m

10

10

27

Max torque *3

N･m

23

23

62.5

Rated rotation speed *3

rps

4

4

4

Rated output *3

W

251

251

678

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

3.1

5

Absolute

Absolute

2,097,152

6,815,744

2,097,152

arcsec

0.618

0.191

0.618

N･m

280

280

280

kN

22.5

22.5

22.5

Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *5

3.1
Absolute

Radial run out（no load）

μm

Axial run out（no load）

μm

30（Standard）/5（High accuracy type）/3（High accuracy type）

μm

40（Standard）/20（Parallelization processing spec） 50（Standard）/20（Parallelization processing spec） 40（Standard）/20（Parallelization processing spec）

arcsec±50（Standard）/±10（When the absolute position compensation function option is used）

Parallelism *6
Absolute Positioning accuracy *730（Standard）/5（High accuracy type）/3（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec±1
0.00580.0058

8.2

7.3

13.5

Absolute position detection

Absolute position detection

Absolute position detection

2401A-A-□□□

2401A-A-□□□

2801A-A-□□□

DD250-90-LS（P5/P3）

DD250-138-LS（P5/P3）

DD250-163-LS（P5/P3）521L02CNN（-P/-P3）

102L02CNN（-P/-P3）

152L02CNN（-P/-P3）

Flange less

Flange less

Flange less
200

kg･m 2

Rotor moment of inertia
Weightkg

Magnetic pole detection method
Paired servo driver

VPH Series

NCR-H□

Motor type *1
Model *1

DD25-

Flange type0.0074

Power supply used

ACV

200

200

Outside diameter

mm

265

265

265

Height *2

mm

90（89.8）

138（137.8）163（162.8）Rated torque *3

N･m

42

80

120

Max torque *3

N･m

100

190

300

Rated rotation speed *3

rps

2

2

2

Rated output *3

W

528

1,005

1,507

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

10

10

Absolute

Absolute

6,815,744

6,815,744

6,815,744

0.191

0.191

0.191

N･m

315

450

450

kN

22.5

30

30

Allowable axial load *4
Table surface rotation
accuracy *5

6.3
Absolute

arcsecAllowable moment load *4
Radial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Axial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Parallelism *6
Absolute Positioning accuracy *7μm

60（Standard）/20（Parallelization processing specification）

arcsec±50（Standard）/±10（When the absolute position compensation function option is used）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia
WeightVPH Series±1kg･m 2

0.04

0.08

kg

20

34

42

Absolute position detection

Absolute position detection

Absolute position detection

2801A-A-□□□

2152A-A-□□□

2152A-A-□□□

Magnetic pole detection method
Paired servo driver

DISC DD-s Series

When you plan to perform the above operation, contact our sales staff.

NCR-H□

0.105*1 Shown in parentheses are the motor type and model of the high accuracy type
（option）.
*2 Shown in parentheses is the value of the high accuracy type
（option）.
*3 The specification values are those obtained when the τDISC is mounted on a heat sink（aluminum plate）of one of the following sizes and operated at the ambient operating temperature.
・ DD160 Type

640 mm×450 mm×50 mm／ ・ DD250 Type

640 mm×450 mm×50 mm*4 The life of the bearing and the run out accuracy differ depending on the load. For the points to note with regard to the allowable loads, refer to "About the allowable loads of τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation accuracy" on p.43. If you need radial or axial run out accuracy of more than 3 μm, contact
our sales staff.
*6 The parallelization processing specification is an option that is added to the high accuracy type for table surface rotation accuracy. For details, refer to "τDISC
parallelization processing specification option" on p.43.
*7 For details, refer to "τDISC Absolute position compensation function option" on p.42.

30

■τDISC DD-s Series Individual specifications
Motor type *1
Model *1

DD40-

DD400-150-LS（P5/P3）

DD400-200-LS（P5/P3）

322L02CNN（-P/-P3）

622L02CNN（-P/-P3）

Flange less

Flange less
200

Flange type
Power supply used

ACV

200

Outside diameter

mm

420

420

Height *2

mm150（149.8）200（199.8）

Rated torque *3

N･m

260

500

Max torque *3

N･m

650

1,250

Rated rotation speed *3

rps

2

2

Rated output *3

W

3,267

6,283

Rated current *3

A

24

34

Absolute

Absolute

6,815,744

6,815,744

Encoder type
Detection pulse

ppr

Detection resolution

arcsec

0.191

0.191

N･m

2,000

2,000
44

Allowable moment load *4

τ

DISC DD-s Series

Allowable axial load *4
Table surface rotation
accuracy *5kN

44Radial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Axial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Parallelism *6
Absolute Positioning accuracy *7

μm

100（Standard）/20（Parallelization processing specification）

arcsec±50（Standard）/±10（When the absolute position compensation function option is used）

Repeated Positioning accuracy（when reciprocating） arcsec

±1
0.402

kg･m 2

Rotor moment of inertia
Weightkg

Magnetic pole detection method
Paired servo driver

VPH Series

109

Absolute position detection

Absolute position detection

2332A-A-□□□

2702A-A-□□□

NCR-H□

Motor type *1
Model *1

0.648

76

DD400-250-LS（P5/P3）（1.5rps spec）

DD400-250-LS（P5/P3）（1rps spec）

DD400-250-LS（P5/P3）（2rps spe）

702L01CNN（-P/-P3）

472L01CNN（-P/-P3）

942L02CNN（-P/-P3）

Flange less

Flange less

Flange less
200

DD40-

Flange type
Power supply used

ACV

200

200

Outside diameter

mm

420

420

420

Height *2

mm

250（249.8）

250（249.8）

250（249.8）

Rated torque *3

N･m

750

750

750

Max torque *3

N･m

1,750（1,390 *7）

1,700

1650

Rated rotation speed *3

rps

1.5

1

2

Rated output *3

W

7,068

4,712

9,400

Rated current *3

A

Encoder type
Detection pulse

ppr

Detection resolution

33

51

Absolute

Absolute
6,815,744

6,815,744

6,815,744

arcsec

0.191

0.191

0.191

N･m

3,000

3,000

3,000

kN

55

55

55

Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *547Absolute

Radial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Axial run out（no load）

μm

40（Standard）/5（High accuracy type）/3（High accuracy type）

Parallelism *6
Absolute Positioning accuracy *7

μm

100（Standard）/20（Parallelization processing specification）

arcsec±50（Standard）/±10（When the absolute position compensation function option is used）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia
Weight±1

kg･m 2

0.915

0.915

kg

140

140

140

Absolute position detection

Absolute position detection

Absolute position detection

2153A-A-□□□（2702A-A-□□□ *7）

2702A-A-□□□

2153A-A-□□□

Magnetic pole detection method
Paired servo driver

VPH Series

NCR-H□

Motor type *1
Model *1

DD630-175-LS（P10/P5）

DD630-225-LS（P10/P5）

842L01HNN（-P/-P5）

123L01HNN（-P/-P5）

Flange less

Flange less

DD63-

Flange type
Power supply used

ACV

200

200

Outside diameter

mm

663

663

Height *2mm

175（174.8）225（224.8）Rated torque *3

N･m

1,350

2,000

Max torque *3

N･m

2,500

3,700

Rated rotation speed *3

rps

1

1

Rated output *3

W

8,400

12,600

Rated current *3

A

46

62

Absolute

Absolute

12,582,912

12,582,912

Encoder type
Detection pulse

ppr

Detection resolution

arcsec

0.103

0.103

N･m

7,000

7,000
100

Allowable moment load *4
Allowable axial load *4
Table surface rotation
accuracy *5

Radial run out（no load）
Axial run out（no load）

Parallelism *6
Absolute Positioning accuracy *7

kN

100

μm

100（Standard）/10（High accuracy type）/5（High accuracy type）

μm

100（Standard）/10（High accuracy type）/5（High accuracy type）

μm

200（Standard）

arcsec±50（Standard）/±10（When the absolute position compensation function option is used）

Repeated Positioning accuracy（when reciprocating） arcsec
Rotor moment of inertia
WeightPaired servo driver

VPH Series±1kg･m 2

4.3

5.2

kg

231

290

Absolute position detection

Absolute position detection

2702A-A-□□□

2153A-A-□□□

Magnetic pole detection method
NCR-H□*1 Shown in parentheses are the motor type and model of the high accuracy type（option）.
*2 Shown in parentheses is the value of the high accuracy type（option）.
*3 The specification values are those obtained when the τDISC is mounted on a heat sink（aluminum plate）of one of the following sizes and operated at the ambient operating temperature.
・ DD400 Type 1140 mm×700 mm×80 mm+490 mm×490 mm×40 mm（Two plates stacked）

31

0.915

・ DD630 Type 1140 mm×700 mm×80 mm+700 mm×700 mm×80 mm（Two plates stacked）*4 The life of the bearing and the run out accuracy differ depending on the load. For the points to note with regard
to the allowable loads, refer to "About the allowable loads of τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation accuracy" on p.43. If you needradial or axial run out accuracy of more than 3 μm, contact our sales staff.
*6 The parallelization processing specification is an option that is added to the high accuracy type for table surface
rotation accuracy. For details, refer to "τDISC parallelization processing specification option" on p.43.
*7 For details, refer to "τDISC Absolute position compensation function option" on p.42.
*8 Shown in parentheses is the maximum torque of the Paired servo driver.

■τDISC DD-s Series Dimensions◎DD160-96-LS（P5/P3）
DD16-251L04CNN（-P/-P3）
（15）

+100

Power cable
0

r）
Roto
.6（
φ27

（Stator）

Encoder cable

（φ12）

"Z"

（Stator）

Follow the bottom view for the cable layout（φ6.6）

+100

500 0

（6）
（Spigot joint）（23.2）

Screw
head

2.5

C0
.5

0.3

Detail "Y"

20°
P.C.
D.13
0

0.5

0.7
（Gap）

Encoder cable

（ R28
mi
n
R）

NIKKI
DENSO

（15.6）

Power cable"W"

6-M6 depth 12（Even distribution）

φ116h7-0.035（Spigot joint）

SN-16140
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R0
.4

500 0

（φ12）

1.6

1.6

Certificate

φ25+0.20（Middle hole diameter）

φ76（G）

0φA h7-0.035（Spigot joint）（15.6）F（Middle holeof rotor）

30°

DISC DD-s Series

φ160±2.5（Outside diameter）

1.6

1.6

"Y"

Bolt head（D）（Spigot joint）

Detail "W"（φ6.5）

X（67.5）

*1

45
R.
C.
P.

（Rotor）

（4.3）

5 R）
R3 in
m
（

92
.D.
P.C

φ127.6（Outside diameter of rotor）

E

6（h7 tolerance ）τD（Spigot joint）

Encoder counting direction
ReverseForward6-M6 depth 9
Homing mark（Even distribution）（Stator）（10.3）

C±0.2
（93）

E

Power connector（Width：10mm）（23.7）（B）

0.04 X

Encoder connector（30.1） （Width：16.9mm）

（4.3）
（Gap）

Detail "Z"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

G

DD160-96-LS

108

106.3

96

3

0.03

105.3

0.7

DD160-96-LSP5

107.8

106.1

95.8

2.8

0.005

105.1

0.5

DD160-96-LSP3

107.8

106.1

95.8

2.8

0.003

105.1

0.5

◎DD160-105-FS（P5/P3）
DD16-251F04CNN（-P/-P3）
D

1.6

φ76（F）（Stator）
Shaded area showing
the contacting areafor installation

4-40（Stator）

6）
（

or）
Rot
4（
φ6

（Stator）

Y

55°

Homing mark
（±2°）

1.6

φ60 +0.2+0.1（Middle hole diameter）

φ160±2（Outside diameter）

6-M6 depth 9（Even distribution）

*1

8）
（

P.
C.
D
92
P.C
.D
180

φ6+0.03
0 ×8
slotted hole depth 8

22

*1

D

5
*1
2.
0±
20
φ

X

（102）

（Spigot joint）C45°（Stator）

B±0.2

0.05 X（Rotor）

0
φA h7-0.035（Spigot joint）

Reverseφ127.6（Outside diameter of rotor）

Forward

1.6

Encoder counting direction
4-φ9 hole
φ16.5 counter boring
depth 2
（Even distribution）

（1.5）

E
（Middle hole of rotor）

P.C.
D 1
80 ±
0.03
φ6H7+0.012
depth 80（Stator）

0.05 Y*1*1（23.7）□165±2.5C0.5Power connector（Width：10mm）

0.3

（ R35
mi
n
R）
φ12

450+100
0(φ6.5)

"Y"

R0
.4

（15）

Fixing screw（Spigot joint）（C）（15.6）

0.7（Gap）

Detail "Y"

52

Power cable

12

Encoder cable(φ6.6)（23.2）

8
R2 n Rmi（

450+100
0（30.1）

Encoder connector（Width：16.9mm）*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

DD160-105-FS

108

105

3

0.03

103.5

0.7

DD160-105-FSP5

107.8

104.8

2.8

0.005

103.3

0.5

DD160-105-FSP3

107.8

104.8

2.8

0.003

103.3

0.5

32

■τDISC DD-s Series Dimensions◎DD160-146-LS（P5/P3）
DD16-681L04CNN（-P/-P3）（15）（15.6）（6）（Spigot joint）

0.7
（Gap）

Power cable
Encoder cable

20°
P.C.
D.13
0
r）
Roto
.6（
φ27

+100

500 0

Encoder cable

（ R28
mi
n
R）

（Stator）（Stator）

Follow the bottom view for the cable layout+100（φ6.6）

2.5

500 0

C0
.5

Bolt head（D）（Spigot joint）（φ116h7）（φ115）

R0
.4

"Z"

Screw
head

"W"

6-M6 depth 12（Even distribution）

（φ12）

τ

（Stator）
"Y"

0.3

30°

Power cable

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2-Plate for lifting（15.6）

NIKKI
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Certificate

φ76（G）

φ25+0.20 （Middle hole diameter）

F（Middle hole of rotor）

0.5

Detail "W"（φ6.5）

（φ12）

1.6

1.6

1.6

1.6

0
φA h7-0.035（Spigot joint）

φ160±2.5（Outside diameter）

φ127.6（Outside diameter of rotor）

（4.3）
X

（117.5）

45
R.
C.
P.

（Rotor）

Power connector（Width：10mm）

5 R）
R3 in
m
（

DISC DD-s Series

92
.D.
P.C

*1

（23.2）D（Spigot joint）

Encoder counting direction
ReverseForwardE
6-M6 depth 9
Homing mark（Even distribution）（Stator）（10.3）

C±0.2（143）6（h7 tolerance ）0
φ116 h7-0.035（Spigot joint）

0.04 X
E（23.7）（B）

Encoder connector（30.1） （Width：16.9mm）

（4.3）
（Gap）

Detail "Z"

Detail "Y"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

G

DD160-146-LS

108

156.3

146

3

0.03

155.3

0.7

DD160-146-LSP5

107.8

156.1

145.8

2.8

0.005

155.1

0.5

DD160-146-LSP3

107.8

156.1

145.8

2.8

0.003

155.1

0.5

◎DD250-90-LS（P5/P3）
DD25-521L02CNN（-P/-P3）（34）

5（h7 area）*1

E

Reverse 6-M8 depth 16（Even distribution）

ＡＭＰ

0-520013（Spigot joint）（Depth 8）

B2

"W"
1.6

0
φ200 h7-0.046（Spigot joint）

45°

（ R2
mi 8
n
R）

φ199（8）6
23

Follow the bottom view for the cable layout（23.2）

500+100
0（φ200 h7）

（Stator）（φ6.6）

Encoder connector（30.1） （Width：16.9mm）

1.2

Fixing screw
for the covers

Ø6
8（
Ro
to
r）

Encoder cable（Stator）

C0
.5

0.5

（φ26）

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（16.5）DC.
P.

P.C.R 69

"Z"

（φ199）R0.4"Y"（Spigot joint）（D）

Certificate（Middle hole diameter）

φ65+0.20φ136（G）

0
φA h7-0.040（Spigot joint）

φ265±2.5（Outside diameter）

15
0
P.
C.
D

φ165（Outside diameter of rotor）

2-Platefor lifting（Stator）

1.3

6-M8 depth 16（Even distribution）
Encoder cable

Power cableR）
5
R3 min（（Rotor）（25）

F（Middle holeof rotor）

30°

（φ8）

1.6
1.6

Power connector（Width：27mm）

B1

Power cable

Detail "W"

X

（87）

（φ12）

Forward（Spigot joint）
D

1.6

Homing mark0.06 X

（47）

C±0.2

E
Encodercounting direction

500+100
0（B）

0.5（Gap）

Detail "Y"（Spigot joint）（5）（8）

Detail "Z"*1 The outer circumference is a casting surface（inclined）.

33

Motor type

A

B

C

D

E

F

G

DD250-90-LS

162

103

90

3

0.04

101.7

0.7

DD250-90-LSP5

161.8

102.8

89.8

2.8

0.005

101.5

0.5

DD250-90-LSP3

161.8

102.8

89.8

2.8

0.003

101.5

0.5

■τDISC DD-s Series Dimensions◎DD250-138-LS（P5/P3）
DD25-102L02CNN（-P/-P3）
（34）

（47）

ＡＭＰ

0-520013（Spigot joint）（Depth 8）5（h7 area）

B2

Power connector（Width：27mm）

B1

（φ8）

1.6

1.6

（25）

（φ12）

（ R2
mi 8
n
Encoder cableR）（23.2）

500+100
0

Follow the bottom view for the cable layout

Encoder connector（30.1） （Width：16.9mm）

1.2

Fixing screw
for the covers（Stator）（φ6.6）（φ200 h7）

C0
.5

0.5

45°

P.C.R 69

"Z"

（φ199）"Y"φ199（8）SN-16140
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MODEL:

Certificate（Stator）

φ136（G）

φ65+0.20（Middle hole diameter）

0
φA h7-0.040（Spigot joint）

φ165（Outside diameter of rotor）

15
0
P.
C.
D

（Stator）

R0.4（16.5）

6
23

DISC DD-s Series

2-Platefor lifting

φ
68
（
Ro
to
r）

R）

（Rotor）

F（Middle hole of rotor）
1.3

6-M8 depth 16（Even distribution）
Encoder cable
D
C.
P.

5
R3 min（φ265±2.5（Outside diameter）

1.6

30°

Power cable

Power cable"W"0Ø200 h7-0.046（Spigot joint）

Homing mark*1

E

6-M8 depth 16（Even distribution）

X

（135）

1.6

Reverse（Spigot joint）
D

（φ26）

Forward0.06 X

Detail "W"

τ

C±0.2

E
Encodercounting direction

500+100
0（B）（Spigot joint）（D）

0.5（Gap）（8）（Spigot joint）（5）Detail "Y"

Detail "Z"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

G

DD250-138-LS

162

151

138

3

0.04

149.7

0.7

DD250-138-LSP5

161.8

150.8

137.8

2.8

0.005

149.5

0.5

DD250-138-LSP3

161.8

150.8

137.8

2.8

0.003

149.5

0.5

30°

6-M8 depth 16（Even distribution）
Encoder cable◎DD250-163-LS（P5/P3）
DD25-152L02CNN（-P/-P3）
（34）

*1

E

13
（Spigot joint）（Depth 8）5（h7 area）

1.6（Spigot joint）

φ
68
（
Ro
to
r）

P.C.R 69

（ R2
mi 8
n
R）
"Z"

（Stator）

C0
.5

0.5

Encoder connector（30.1） （Width：16.9mm）

1.2

Fixing screw
for the covers

Follow the bottom view for the cable layout（23.2）

500+100
0R0.4（φ6.6）（Spigot joint）（D）

6
23

45°

Encoder cable

"Y"

D
C.
P.

φ200 h7（φ12）（16.5）（Stator）（Stator）（φ26）

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MODEL:ENCODER

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φ65+0.20（Middle hole diameter）

φ136（G）

0
φA h7-0.040（Spigot joint）

φ165（Outside diameter of rotor）

φ265±2.5（Outside diameter）

F（Middle hole of rotor）
1.3

Power cableR）
5
R3 min
（

15
0

（φ8）

1.6

2-Plate for lifting

Power connector（Width：27mm）

B1

（25）

1.6

P.
C.
D

B2

Power cable"W"（Rotor）

ＡＭＰ

0-52000-0.046

Homing mark6-M8 depth 16（Even distribution）

X

（160）

φ199（8）

Reverse（Spigot joint）
D

1.6

Forward0.06 X

Detail "W"

（47）

C±0.2

E
Encodercounting direction

500+100
0（B）

0.5（Gap）

Detail "Y"（Spigot joint）（5）（8）

Detail "Z"*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

G

DD250-163-LS

162

176

163

3

0.04

174.7

0.7

DD250-163-LSP5

161.8

175.8

162.8

2.8

0.005

174.5

0.5

DD250-163-LSP3

161.8

175.8

162.8

2.8

0.003

174.5

0.5

34

■τDISC DD-s Series Dimensions◎DD400-150-LS（P5/P3）(B)

E

Reverse

0.1 X

*2

X

Power cable8-M12 depth 24（Even distribution）

22.5°

Power cable

1.6

E

*1
Power connector

（70）

(146)

D
（Spigot joint）

Encoder counting direction

8-M12 depth 24（Even distribution）

Encoder cable
1.6

"W"

69
P.C.R.

φ68（
Rotor）（m R28
in.
R）

（φ8）

9
11
R.
C.
P.

0

（φ28）
（φ12）

（φ6.6）

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Certificate

P.
C.
D.
37
6

（Stator）（15）（Stator）"Y"（Stator）

"Z"

2.4

R0
.4

（Stator）

Follow the bottom view for the cable layout

C0
.5

0.5

Encoder cable（23.2）

φ220（G）

φ65+0.20 （Middle hole diameter）

0

φA h7-0.052（Spigot joint）

φ420±3（Outside diameter）

φ265（Outside diameter of rotor）

τ

DISC DD-s Series（Rotor）（1.1）

5
R3 .R）
in
（m

240
.D.
P.C

F
（Middle hole of rotor）
2-Platefor lifting

1.6

φ270h7-0.052（Spigot joint）

（28）

1.6

500+100
0

Forward

4（Spigot
joint）
500+100
0

DD40-322L02CNN（-P/-P3）

Homing mark（φ0.5）

C±0.2

.5
C0

Encoder connector（Width：16.9）（30.1）

Fixing screw for the covers

(D)
（4）
0.6
（Gap）（Spigot joint）（Spigot joint）
Detail "Y"
Detail "Z"

Detail "W"*1 The diameter of the panel guide insertion and removal hole for the power
connector should be φ50 as the standard.

Motor type

A

B

C

D

E

F

G

DD400-150-LS

260

154

150

4

0.04

152.9

0.7

DD400-150-LSP5

259.8

153.8

149.8

3.8

0.005

152.7

0.5

DD400-150-LSP3

259.8

153.8

149.8

3.8

0.003

152.7

0.5

*2 The outer circumference is a casting surface（inclined）.

◎DD400-200-LS（P5/P3）
DD40-622L02CNN（-P/-P3）(B)（φ40.5）
4（Spigot
joint）

Encoder counting direction
E

Reverse

0.1 X

*2

X

E

Power cable

1.6

8-M12 depth 24（Even distribution）

22.5°

Power cable

Encoder cable8-M12 depth 24（Even distribution）

1.6

"W"

φ68（
Rotor）（m R28
in.
R）

（φ11）

0

（φ28）
（φ12）

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ENCODER

NIKKI
DENSO

SER No.******SER No.******

MODEL:

MODEL:

NIKKI
DENSO

9
11
R.
C.
P.
69
P.C.R.

P.
C.
D.
37
6

（Stator）

（15）

"Y"

（Stator）"Z"

Follow the bottom view for the cable layout

C0
.5

0.5

Encoder cable

2.4

R0
.4

500+100
0（Stator）（23.2）（Stator）

Certificate

φ220（G）

φ65+0.20 （Middle hole diameter）

0

φA h7-0.052（Spigot joint）

φ420±3（Outside diameter）

φ265（Outside diameter of rotor）（Rotor）（1.1）

F（Middle hole of rotor）

5
R5 n.R）
i
（m

240
.D.
P.C

2-Platefor lifting

1.6

φ270h7-0.052（Spigot joint）

（28）

1.6

（φ6.6）

Forward
Homing mark*1

Power connector
（70）

(196)

D
（Spigot joint）

500+1000C±0.2

Encoder connector（Width：16.9）.5C0（30.1）

Fixing screw for the covers

Detail "W"

(D)
（4）
0.6
（Gap） （Spigot joint）（Spigot joint）
Detail "Y"
Detail "Z"*1 The diameter of the panel guide insertion and removal hole for the power
connector should be φ50 as the standard.

35*2 The outer circumference is a casting surface（inclined）.

Motor type

A

B

C

D

E

F

G

DD400-200-LS

260

204

200

4

0.04

202.9

0.7

DD400-200-LSP5

259.8

203.8

199.8

3.8

0.005

202.7

0.5

DD400-200-LSP3

259.8

203.8

199.8

3.8

0.003

202.7

0.5

■τDISC DD-s Series Dimensions◎DD400-250-LS（P5/P3）（1.5rps spec）

(B)

（φ52）

(246)

D
（Spigot joint）

Encoder counting direction
E

Reverse8-M12 depth 24（Even distribution）

0.1 X

*2

X

E

Power cable

22.5°

Power cable

1.6

8-M12 depth 24（Even distribution）

Encoder cable
1.6

"W"

（28）

R.69

P.C.

（m R28
in.
R）

0

（φ11）

φ270h7-0.052（Spigot joint）

（φ28）
（φ12）

（φ6.6）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

ENCODER

SN-16140
MADE IN JAPANMODEL:******PPR

NIKKI
DENSO
NIKKI
DENSO

SER No.******

MODEL:SER No.******

Certificate

φ6
8（
Rot
or）

（Stator）

P.
C.
D.
37
6

（15）

（Stator）"Y""Z"（Stator）
Encoder cable
Follow the bottom view for the cable layout

2.4

R0
.4

500+100
0（Stator）（23.2）

φ220（G）

φ65 +0.2
0 （Middle hole diameter）

0

φA h7-0.052（Spigot joint）

φ420±3（Outside diameter）（1.1）

F（Middle hole of rotor）

9
11
R.
C.
P.

DISC DD-s Series（Rotor）

2-Platefor lifting

1.6

5
R5 n.R）
i
（m

240
.D.
P.C

φ265（Outside diameter of rotor）

1.6

τ

Forward
Homing mark*1

Power connector（80）

DD40-702L01CNN（-P/-P3）

4（Spigot
joint）
500+100
0

C±0.2

C0
.5

0.5

Encoder connector（Width：16.9）.5C0（30.1）

Fixing screw for the covers

(D)
0.6
（Gap）
（Spigot joint）
Detail "Y"*1 The diameter of the panel guide insertion and removal holefor the power connector should be φ75 as the standard.
*2 The outer circumference is a casting surface（inclined）.

（4）（Spigot joint）
Detail "Z"

Motor type

A

B

C

D

E

F

G

DD400-250-LS（1.5rps spec）

260

254

250

4

0.04

252.9

0.7

DD400-250-LSP5（1.5rps spec） 259.8

253.8

249.8

3.8

0.005

252.7

0.5

DD400-250-LSP3（1.5rps spec） 259.8

253.8

249.8

3.8

0.003

252.7

0.5

◎DD400-250-LS（P5/P3）（1rps spec）(B)（φ40.5）
4（Spigot
joint）

C±0.2
(246)

D
（Spigot joint）
Encoder counting direction
Reverse8-M12 depth 24（Even distribution）

E

0.1 X

*2

X

E

22.5°

Power cable
Encoder cable8-M12 depth 24（Even distribution）

1.6

"W"

（φ11）
（φ6.6）R.69
P.C.

（m R28
in.
R）

（φ28）

SN-16140
MADE IN JAPAN（φ12）

SN-16140
MADE IN JAPAN******PPR

NIKKI
DENSO
NIKKI
DENSO

NIKKI
DENSO

ENCODER
MODEL:SER No.******

Certificate

SN-16140
MADE IN JAPAN
NIKKI
DENSO

SER No.******

MODEL:

φ6
8（
Rot
or）

（Stator）

P.
C.
D.
37
6

（15）

"Z"

（Stator）（Stator）

2.4

R0
.4

Follow the bottom view for the cable layout

C0
.5

0.5

Encoder cable（23.2）"Y"

500+1000φ220（G）

φ65+0.20 （Middle hole diameter）

0

φA h7-0.052（Spigot joint）

φ265（Outside diameter of rotor）

φ420±3（Outside diameter）（Stator）（1.1）

F（Middle hole of rotor）

9
11
R.
C.
P.

5
R5 n.R）
i
（m

240
.D.
P.C

2-Platefor lifting

1.6

0
φ270h7-0.052（Spigot joint）

（28）

1.6

（Rotor）

Power cable

1.6

Forward
Homing mark*1

Power connector（70）

DD40-472L01CNN（-P/-P3）

500+100
0

Detail "W"

Encoder connector（Width：16.9）.5C0（30.1）

Fixing screw for the covers

Detail "W"

(D)
0.6
（Gap）
（Spigot joint）
Detail "Y"（4）（Spigot joint）
Detail "Z"

A

B

C

D

E

F

G

*1 The diameter of the panel guide insertion and removal hole

DD400-250-LS（1rps spec）

Motor type

260

254

250

4

0.04

252.9

0.7

for the power connector should be φ50 as the standard.

DD400-250-LSP5（1rps spec）

259.8

253.8

249.8

3.8

0.005

252.7

0.5

DD400-250-LSP3（1rps spec）

259.8

253.8

249.8

3.8

0.003

252.7

0.5

*2 The outer circumference is a casting surface（inclined）.

36

■τDISC DD-s Series Dimensions◎DD400-250-LS（P5/P3）（2rps spec）
DD40-942L02CNN（-P/-P3）
Encoder counting direction
ForwardH

Reverse

60

141

（2）

32

（13.8）（218.8）（205）

8-M12 depth 24（Even distribution）

or）
Rot
8（
φ6

0

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

SN-16140
MADE IN JAPAN

NIKKI
DENSO

ENCODER

NIKKI
DENSO

MODEL:******PPRSER No.******SER No.******

MODEL:

NIKKI
DENSO

22.5°

P.C
.D.
376

（Stator）

1.6

1.6

"Y"

（Stator）

1.6

1.6

*1

"Z"

（Stator）（Spigot joint）D
0.1

X

（246）

X

C±0.2

4（Spigot joint）

2.4

E（Stator）（1.1）

F（Middle hole of rotor）

Certificate

φ220（G）

2-Platefor lifting

32

R0
.4

iam
ete
r）

Encoder connector

0.5
C0
.5

（Rotor）

uts
ided

φ65+0.20 （Middle hole diameter）

τ

DISC DD-s Series

φ4
20±
3（
O

0

240
.D.
P.C

φA h7-0.052（Spigot joint）

φ265（Outside diameter of rotor）

205

Power connector（278.5）

8-M12 depth 24（Even distribution）

Homing markφ270h7 -0.052（Spigot joint）（73.5）

80

（B）

E

.5
C0

Fixing screw for the covers

（D）
0.6
（Gap）
（Spigot joint）
Detail "Y"*1 The outer circumference is a casting surface（inclined）.
Motor type（4）
（Spigot joint）
Detail "Z"

A

B

C

D

E

F

G

H

DD400-250-LS（2rps spec）

260

254

250

4

0.04

252.9

0.7

15

DD400-250-LSP5（2rps spec）

259.8

253.8

249.8

3.8

0.005

252.7

0.5

14.8

DD400-250-LSP3（2rps spec）

259.8

253.8

249.8

3.8

0.003

252.7

0.5

14.8

◎DD630-175-LS（P10/P5）
DD63-842L01HNN（-P/-P5）
Power connector
（H）

240±4
180

Encoder connector

15.4
32 44

57.2

（120）

22.5°

*1

*1

（I）

60

60

8-M16 depth 32（Even distribution）
6-Dust proof resin plug

P.
C.
D.
40
0

（Rotor）（Spigot joint）

SN-16140
MADE IN JAPAN

SN-16140
MADE IN JAPAN
NIKKI
DENSO

NIKKI
DENSO

SER No.******

MODEL:SER No.******

NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

r）
to
Ro
4（
16
φ

φ370

0
-0.1

0

Certificate+0.2

φ454（Outside diameter of rotor）

2-Platefor lifting

φA-0.1（Spigot joint）
φ350（G）

F（Middle hole of rotor）

6
63±
φ6

φ150 0 （Middle hole diameter）

330

P.
C.
D.
58
0

Encoder counting direction
Forward
Reverse（450）

Homing mark8-M16 depth 24（Even distribution）"Z"（Stator）

1.6
1.6

E

（Stator）（Stator）"Y"（Stator）

2
1.6

*1

D（Spigot joint）
0.2
E

C0
.5

1.6

.4
R0

A

A
4（Spigot joint）

171
C±0.2
（B）

Fixing screw for the covers（1）

D（Spigot joint）

37

0.6（Gap）

Detail "Y"

Detail "Z"

Motor type

A

B

C

D

E

F

G

H

I

5

*1 The outer circumference is a casting surface（inclined）.
.5
C0

DD630-175-LS

450

179

175

4

0.1

177.5

1

26.4

55

DD630-175-LSP10

449.8

178.8

174.8

3.8

0.01

177.3

0.8

26.2

54.8

DD630-175-LSP5

449.8

178.8

174.8

3.8

0.005

177.3

0.8

26.2

54.8

■τDISC DD-s Series Dimensions◎DD630-225-LS（P10/P5）
DD63-123L01HNN（-P/-P5）
Power connector
（H）

240±4
180

Encoder connector
57.2

65.4

32

44
22.5°

*1

（120）

*1

（I）

110

60

8-M16 depth 32（Even distribution）
6-Dust proof resin plug
Encoder counting direction
Forward Reverse

6
63±
φ6

（Rotor）

φ370-0.1（Spigot joint）

φA-0.1（Spigot joint）
φ350（G）+0.2
φ150 0 （Middle hole diameter）

002-Platefor lifting

r）
to
Ro
4（
16
φ

DISC DD-s Seriesφ454（Outside diameter of rotor）

F（Middle hole of rotor）

τ

330

P.
C.
D.
4

P.
C.
D.
58
0

0

（450）

Homing mark8-M16 depth 24（Even distribution）（Stator）

1.6

E（Stator）

1.6（Stator）"Y"（Stator）

0.2
E

A

C0
.5

D（Spigot joint）

.5
C0

5

Fixing screw for the covers（1）

D（Spigot joint）

0.6（Gap）

Detail "Y"

1.6

*1

1.6

2
.4
R0

A
4（Spigot joint）

221
C±0.2
（B）

*1 The outer circumference is a casting surface（inclined）.
Motor type

A

B

C

D

E

F

G

H

I

DD630-225-LS

450

229

225

4

0.1

227.5

1

26.4

55

DD630-225-LSP10

449.8

228.8

224.8

3.8

0.01

227.3

0.8

26.2

54.8

DD630-225-LSP5

449.8

228.8

224.8

3.8

0.005

227.3

0.8

26.2

54.8

Detail "Z"

38

■τDISC HD-s Series Model and motor type description◎ Motor typeHD 140 - 160 - L

S P

②

③

④

⑤

NMR - F

◎ Model

①

②

⑥

⑫

⑭

R H

I

A2 A - 102

A

P

④

⑦

⑧

⑪

⑫

⑤

⑨

⑩

⑬

⑭

NMR…Direct drive motor Series①

Motor typeτ

DISC HD-s Series②

Middle productclassification（1） Model

HD…HD-s Series③

Middle product classification（2）

S…ND-s Series/ ND-s HS Series/ DD-s Series/ HD-s Series④

Nominal diameter *1

R…140（Actual range 140 to 149 mm）

F…HD-s Series
Flange less
S…180
（Actual range 180 to 189 mm）
Flange less

⑤

H…160
（Actual range 150 to 169 mm）

Nominal height *1

I…185（Actual range 170 to 199 mm）
J…200（Actual range 200 to 219 mm）⑥

Motor flange

L…Flange less⑦

Encoder type

I…Incremental encoder⑧

Power supply voltage

A2…200 VAC⑨

Order of design

A→B→C…Starting from A⑩

Rated output *2

⑪

Brake
（with or without）

A…Without brake⑫

Table surface rotation accuracy

Without…Standard specification⑬

Motor structure

Without…Standard specification⑭

Special model symbol

Example） 102 … 10

2 =10×10 2 =1000W
Exponential part of powers of 10
Significant figures
P…High accuracy type
（option）

Without…Standard specification-R + sequential number…Quasi standard specification-S + sequential number…Special model specification*1 The motor type is represented by a numerical value. Nominal dimensions may be different from actual dimensions. For details, refer to the dimensions.
*2 Approximate value.

* Dimensions are subject to change without prior notice to improve the product. Before designing, download the latest dimensions from our website.

■ About the encoder typeThe encoder type of the HD-s Series is the incremental encoder only.

■Common specifications
Ambient operating temperature

0 to 40℃

Ambient operating humidity

85%RH or less; no condensation
Do not install in a harmful atmosphere containing

Installation location

corrosive gas, grinding oil, metal dust, oil, etc.Install■Torque characteristics
Torque[%]（Rated torque ratio）
Maximum
torque ratio *（Rated torque）
100%
70%

in an indoor place not exposed to direct sunlight.

Instantaneous usage(acceleration/deceleration) area

Continuous usage area

Horizontal with the rotor facing upward.
Installation direction* When the installation direction is not horizontal withthe rotor facing upward, consult with our sales staff.

39

Rated rotation speed[rps]* The maximum torque ratio depends on the motor type.
(Maximum torque/Rated torque)

Cooling method

Natural air cooling

If the locking operation or an equivalent operation（ultra low

Insulation classClass F

speed rotation or reciprocation within a very small range ofWithstand voltage

1,500 VAC, 1 minute

angles）is performed continuously, the electronic thermal

Protection class

IP42

Height above sea level

1,000 m or lessVibration resistance

1G（3 directions, 2 hours each）

Shock resistance30G（3 directions, 2 times each）

value may be reduced for motor protection.
When you plan to perform the above operation, contact oursales staff.

■Individual specifications
Motor type *1
Model *1

NMR-

HD140-160-LS（P）

HD140-185-LS（P）

HD180-200-LS（P）

FRHIA2A-102A（P）

FRIIA2A-122A（P）

FSJIA2A-252A（P）

Flange less

Flange less

Flange less
200

Flange type
Power supply used

ACV

200

200

Outside diameter

mm

140

140

180

Height *2

mm160（159.8）

185（184.8）200（199.8）

Rated torque *3

N･m

27

36

68

Max torque *3

N･m

67.5

100

145

Rated rotation speed *3

rps

6

5.5

6

Rated output *3

W

1,017

1,244

2,563

Rated current *3

A

Encoder typeppr

Detection resolution

15.7
Incremental

3,360,000

3,360,000

3,360,000

arcsec

0.386

0.386

0.386

N･m

31.9

31.9

31.9

kN

3.2

3.2

3.2

Allowable moment load *4
Allowable axial load *4
Radial run out（no load）

μm

Axial run out（no load）

μm

50（Standard）/ 10（High accuracy type）

arcsec±15（When the absolute position compensation function option is used）

Absolute Positioning accuracy *650（Standard）/ 10（High accuracy type）

Repeated Positioning accuracy（when reciprocating） arcsec±1
0.00270.003310

12

19

Automatic magnetic pole sensing

Automatic magnetic pole sensing

Selection of magnetic pole sensor detection
or automatic magnetic pole detection

2801A-A-□□□

2152A-A-□□□

2222A-A-□□□kg･m 2

Rotor moment of inertia
Weightkg

Magnetic pole detection method
Paired servo driver

VPH Series

NCR-H□

0.012*1 Shown in parentheses are the motor type and model of the high accuracy type
（option）.

DISC HD-s Series

Table surface rotation
accuracy *5

9.6
Incrementalτ

Detection pulse

6.8
Incremental*2 Shown in parentheses is the value of the high accuracy type
（option）.
*3 The specification values are those obtained when the τDISC is mounted on a heat sink（aluminum plate）of one of the following sizes and operated at the ambient operating
temperature.
・ HD140 Type

640 mm×450 mm×50 mm

・ HD180 Type

640 mm×450 mm×50 mm*4 The life of the bearing and the run out accuracy differ depending on the load. For the points to note with regard to the allowable loads, refer to "About the allowable loads of
τDISC" on p.44.
*5 For details, refer to "High accuracy type option for τDISC table surface rotation accuracy" on p.43.
*6 For details, refer to "τDISC Absolute position compensation function option" on p.42.

■τDISC HD-s Series Dimensions◎HD140-160-LS（P）Power connector（Width：10mm）

NMR-FRHIA2A-102A（P）

500 +100
0（23.7）(φ6.5)Power
cable
MADE IN JAPAN

（φ12）

"Y"

"Z"

P.
C.
R

（ R
mi 35
n
R）

0
φ115 h7-0.035（Spigot joint）

MODEL:SER No.******

NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

MODEL:

Certificate SER No.******（15.6）

NIKKI
DENSO

（Stator）
φ30+0.2
0

1.6（Middle holediameter）

φ48（Depth 103）0
φA h7-0.030（Spigot joint）

45°
30°

6-M6 depth 12（Even distribution）（P.C.D 128）42

Encoder cable

5
R3 R）
n
mi
（

or）
Rot
2（
φ3

(φ5.5)（Stator）

1.6

1.6

Encoder cable

1.6

D（Spigot joint）C

（157）

4.3
（Spigot
joint）

B±0.2

D

Follow the bottom view for the cable layout（23.7）

R0.4

500 +1000E（Middle hole of rotor）

C0
.5

0
φ140-0.5（Outside diameter）（Stator）

Power cableM3

φ70（Outside diameter of rotor）（Rotor）

22.5°

Homing mark

Reverse8
12

2-M6 depth 9（Even distribution）（P.C.D 110）
For lifting

Forward

（15）

D
C.
P.

8-M6 depth 12（Even distribution）（P.C.D 58）

P.C
.D
P.
58
C.
D
11
0

2-φ6H7+0.012
depth 120
（Even distribution）（P.C.D 58）

Encodercounting direction.4
R0

Encoder connector（Width：23mm）

（19）

.5
C0

（Spigot joint）C0.7（Gap）

Detail "Y"3（Spigot joint）

1.3（Back cover）（4.3）

Detail "Z"

Motor type

A

B

C

D

E

F

HD140-160-LS

68

160

3

0.05

164.3

103

HD140-160-LSP

67.8

159.8

2.8

0.01

164.1

102.8

40

■τDISC HD-s Series Dimensions◎HD140-185-LS
（P）

（34）

500 +1000

Encodercounting direction

Power cable

Power
cable
（φ12）

"Z"

（182）

Follow the bottom view for the cable layout

4.3（Spigot
joint）

B±0.2

D

or）
Rot
2（
φ3

（Stator）

1.6

1.6

R0
.4
C0
.5

（23.7）

E（Middle hole of rotor）
500 +100
0τ

DISC HD-s Series（Spigot joint）C

Encoder cable(φ5.5)

1.6

D

6-M6 depth 12（Even distribution）（P.C.D 128）

42

5
R3 R）
n
mi
（

Encoder cable

MADE IN JAPAN
NIKKI
DENSO

SER No.******"Y"

0
φ115 h7-0.035（Spigot joint）

MODEL:

Certificate SER No.******

SN-16140
MADE IN JAPANMODEL:

1.6

NIKKI
DENSO

（Stator）
φ30+0.20（Middle holediameter）

φ48（Depth F）

0
φA h7-0.030（Spigot joint）

0
φ140-0.5（Outside diameter）（Stator）（Rotor）（15.6）

P.
C.
R

（ R
mi 35
n
R）

45°
30°

8
12

2-M6 depth 9（Even distribution）（P.C.D 110）
For lifting1(φ6.5)

NIKKI
DENSO

22.5°

ＡＭＰ

2

D
C.
P.

8-M6 depth 12（Even distribution）（P.C.D 58）

Reverseφ70（Outside diameter of rotor）

ForwardD-5200Power connector（Width：27mm）

Homing mark

P.C
.D
P.
58
C.
D
11
0

2-φ6H7+0.012
depth 120
（Even distribution）（P.C.D 58）（47）

NMR-FRIIA2A-122A
（P）

（19）

.4
R0

Encoder connector（Width：23mm）.5C0（Spigot joint）C0.7（Gap）

3（Spigot joint）

1.3（Back cover）（4.3）

Detail "Y"

Detail "Z"

Motor type

A

B

C

D

E

F

HD140-185-LS

68

185

3

0.05

189.3

128

HD140-185-LSP

67.8

184.8

2.8

0.01

189.1

127.8

◎HD180-200-LS（P）

Forward

Homing mark

（34）

ＡＭＰ

0-5200
B2

B1

ReversePower cable
(φ8)

30°

（Stator）（Rotor）（197）

4.3（Spigot
joint）

B±0.2

D

Encoder cable
.5
R 48
P.C.

φ37.8（Rotor）（Stator）

1.6

1.6（Spigot joint）C

53(φ5.5)

1.6

D

P.
C.
R

6-M8 depth 12（Even distribution）（P.C.D 156）

R）
R35 n R）
im（

Encoder cable

"Z"

"Y"

R
（m 35
in

0
Ø140 h7-0.040（Spigot joint）

MADE IN JAPAN（φ12）

MODEL:

NIKKI
DENSO

SN-16140
MADE IN JAPAN
NIKKI
DENSO

MODEL:（15.6）

NIKKI
DENSO

φ35

SER No.******（20.1）

Certificate SER No.******（Middle holediameter）+0.2
0

φ78（Depth 140.5）

0
φA h7-0.035（Spigot joint）

φ180±0.5（Outside diameter）

φ100（Outside diameter of rotor）

1.6

Power
cable

88
P.
C.
D
（Stator）

5
14

45°

6
15

D
C.
P.

2-M8 depth 12（Even distribution）（P.C.D 145）
For lifting

30°

D
C.
P.

12-M6 depth 12（Even distribution）（P.C.D 88）

550 +1000

Encodercounting direction（47）

Power connector（Width：27mm）

NMR-FSJIA2A-252A（P）

Follow the bottom view for the cable layout

550 +1000R0.4（23.7）

E（Middle hole of rotor）

C0
.5

（19）
.4
R0

Encoder connector（Width：23mm）.5C0（Spigot joint）C0.5（Gap）

Detail "Y"3（Spigot joint）

1.3（Back cover）（4.3）

Detail "Z"

41

Motor type

A

B

C

D

E

HD180-200-LS

98

200

3

0.05

204.3

HD180-200-LSP

97.8

199.8

2.8

0.01

204.1

■τDISC Absolute position compensation function option
This is an option that guarantees the absolute Positioning accuracy of τDISC.

◎Accuracy guaranteed by the Absolute position compensation function option（no load）
τDISC Series

Guaranteed absolute Positioning accuracy

ND-s/ND-s HS/HD-s±15 arcsec

DD-s±10 arcsec◎Examples of Positioning accuracy measurements before and after compensation
Measured data of absolute positioning accuracy
Measured data of absolute positioning accuracy

60

after compensation (no load)←Absolute angle error（arc sec）→

20
0
-20
-40
-60

0

60

120
180
240
←Absolute angle
（deg）
→

300

360

60
40
20

τ

40

0
-20
-40
-60

0

60

120
180
240
←Absolute angle（deg）→Compensation data
←Absolute angle error（arc sec）→

DISC Option←Absolute angle error（arc sec）→

before compensation (no load)

60

300

360

Positioning accuracy：±3.9 arcsec（Measured value）

40

8

20

4

0

±3.9 arcsec

-20

0

-40
-60

0

60

120
180
240
←Absolute angle
（deg）
→

300

360

-4

Enlarged view
-8

100

160

220

280

340

◎Absolute position compensation function option system table
τDISC
Motor type

Encoder type

Ordered product model
Compensation data to be measured by us and to be transferred by the user *2 *3
τDISC

Servo driver（VPH Series *4）

ND-sAbsolute/
Incremental *1

ND-s SeriesModel+ NMR-X00（Option）

NCR-H□□□□□A-A-□0□

ND-s HSHD-s

Incremental

ND-s HS/HD-s SeriesModel+ NMR-X00（Option）

NCR-H□□□□□A-A-□0□

DD-sAbsolute/
Incremental *1

DD□□-□□□□□□□□□-0

NCR-H□□□□□A-A-□0□*1 The incremental encoder type of the ND-s and DD-s Series is available on request.
*2 When the encoder type is absolute, it is not necessary to transfer the compensation data to the servo driver（the same also applies when the servo driver is replaced）.
*3 We can ship the VPH Series with compensation data built in it. In that case, the ordered product model shown in red in the system table is different. Contact our sales staff.
*4 To enable the absolute position compensation function, you need to change the setting described on p.104 of the VPH series to "Correction effective" （which is set to"Ineffective" by default）.

42

■τDISC High accuracy type option for table surface rotation accuracy
This is an option that guarantees the rotation accuracy（radial run out and axial run out）of the τDISC table surface as shown below.

◎Radial run out and axial run out accuracy guaranteed by the high accuracy type option
The accuracy guaranteed for the standard specification differs depending on the motor type. For details, refer to the individual
specifications of the relevant Series.

τDISC Series
ND-s

10 μm

ND-s HS
DD-s

Guar a nteed radial run out
and axial run out accuracy
10 μm

DD160 / 250 /400 Type

5 μm / 3 μm

DD630 Type

10 μm / 5 μm

HD-s

10 μm

* Note that the spigot joint of the table surface is shorter than the that of the standard specification.

τ

DISC Option◎Table surface rotation accuracy measurement method
Axial run out
Radial run out

τDISC■τDISC Parallelization processing specification option
This is an option that guarantees that the parallelism accuracy of the τDISC DD-s Series （excluding the DD630 Type）is
20 μm. The option is added to the high accuracy type option for table surface rotation accuracy.

◎Parallelism measurement method
For the standard specification, measure the height from the motor base or surface plate to the rotary table at 4 points（0, 90, 180, and 270
degrees）by using a height gauge, with the output axis rotary table stopped at the origin position. The parallelism is the difference between
the maximum and minimum values.
For the parallelization processing specification, use a 3D measuring instrument for measurement.
Height gauge

τDISC
Motor base or surface plate43

■τDISC Notes on selection and design◎About installation of τDISC
When installing the τDISC, follow the instructions below to maximize its performance.
・To ensure motor accuracy and heat radiation, install the motor on a highly rigid surface having a sufficiently large radiation area. Make sure that the entire base of the
motor firmly adheres to the installation surface with no space between the base and the surface.
・If the motor is to be installed in a small installation surface with poor radiation performance, consult with our sales staff. Especially, in cases where a sufficiently large
installation surface cannot be secured, such as when the motor is hung from the ceiling or supported by column bases,heat radiation conditions are poor, potentiallypreventing the motor from fulfilling its performance.
・Make sure that the entire load table firmly adheres to the rotating surface of the motor with no space between the table and the surface. Low rigidity prevents the motor
from fulfilling its performance. Be sure to have as much rigidity as possible when installing the motor.

《Recommended installation example》
Load ﬁxing bolt
Load
τDISC

Motor ﬁxing bolt
τDISC

Installationarea

τFlange less Type

《Low-rigidity installation example》
τDISC

Extended by shaft

Supported bycolumn base

τDISC

◎About the allowable loads of τDISC
・The allowable axial load and allowable moment load shown in the individual specifications of the τDISC are the maximum loads that are allowed when they are applied

DISC Notes on selection and design

Flange Typeindependently. If the combined load of an axial load, radial load, and moment load is applied, contact our sales staff.
・An excessive load or unbalanced load may cause rotor deformation or bearing abnormality. When selecting the motor, ensure that there is enough allowance in theallowable axial load and allowable moment load.
・Use the following allowable values as a guide. If these allowable values are exceeded, consult with our sales staff.
Installation direction
When using the motor with the rotor facing upward or sideways
When using the motor with the rotor facing downward

SeriesAllowance value guideAll τDISC Series

70% or less of each allowable value

DD-s Series

30% or less of allowable axial load, 70% or less of allowable moment load*

Other than the DD-s Series

Consult with our sales staff.

* If you have the motor keep rotating with a load applied, make sure that each load is within 30% of the relevant allowable value.

◎About magnetic pole detection of τDISC
・The τDISC is a synchronous AC servo motor. Exercise due care because the output toque may fall below the specification value if magnetic pole detection is not
ompleted normally.
・For a motor equipped with an incremental encoder, magnetic pole detection can be done in two ways. One is to use the magnetic pole sensor built in the motor, and theother is to use the automatic magnetic pole detection function of the servo driver. When the magnetic pole is detected using the magnetic pole sensor, magnetic pole
detection may fail to be completed normally unless the rotor of the motor is moved several degrees from the power-on position. In the case of automatic magnetic pole
detection, the magnetic pole is automatically detected as the rotor makes an oscillatory movement at the first servo-on after the power is turned on. The oscillation angle
in each of these cases differs depending on the motor type. For details, refer to "Notes on magnetic pole detection" of the instruction manual of the τDISC servo motor.

◎About the small angle operation of τDISC
・For a machine that is operated in a small range of angles, turn the rotary table of the motor by 90°or more on a regular basis to prevent uneven wear due to lack ofgrease in the bearing as well as to maintain accuracy.
・When the motor is reciprocated continuously within a small range of angles or torque is output without rotating the motor, make sure that the effective torque is 70% orless of the rated torque of the motor. We can also meet the anti-fretting specifications intended to extend the life of the bearing when the rolling elements reciprocate
repeatedly within a very small range of angles and cannot turn periodically.

◎About the selection calculation of τDISC
・The selection calculation sheet for rotor index positioning can be downloaded from our website.
* For information about the selection of the HD-s Series, contact our sales staff.

Details about τDISC mounting, installation, usage instructions, etc. are given in the instruction manual of the
τDISC servo motor. Read the manually carefully before use.

44

■τDISC Required specification sheet
Fill out the sheet according to your required specifications. Check the box corresponding to your requirement, or put necessary information in parentheses.
If you are not sure or have no specific requirement about an item, you may skip it. After completing this sheet, fax it to your local distributor or contact our sales staff.

Entry date:Purpose and device name□Rotor facing upward□Rotor facing sideways

Whether the motor can be moved □ No

Motor installation and□Rotor facing downward□ Yes（when the motor is mounted on an XY stage, vertically moving mechanism, etc.）

Fixing conditions: Put the shape, material, thickness, etc. of the stator of the motor.

fixing conditions

Separate document（s）□ Not attached□ Attachedτthat constitute the load on the motor, as well as the load mounting condition（even load or unbalanced load）.
Separate document（s）□ Not attached

Load specifications andmounting condition□None
External force□ Attached

Outline, numerical values, etc.

DISC Required specification sheet

Load inertia moment on the motor （）kg･㎡
Load weight （）kg
Also, describe the shapes, weights, materials, and quantities of the tables, workpieces, tools, etc.

□With （）
N

Direction and position of the External force （□ At all times）□ When stopped□ When rotating

Positioning angle A （）°

Positioning angle B （）°

Positioning time A （）
sec

Positioning time B （）
secCycle time A （Cycle time B （

）
sec

）
sec

Speed

Operation specifications

Positioning
angle A

Positioning
angle B

Positioning time A

Positioning time B

Cycle time A

Positioning accuracy

Required accuracy

Outline requirements

Time

Cycle time B

Repeated Positioning accuracy±（）
arcsecAbsolute Positioning accuracy±（）
arcsecOr distance from the rotation center

Accuracy at the radius of（

Repeated Positioning accuracy

±
（

）
μm

Absolute Positioning accuracy

±
（

）
μm

Table surface rotation accuracy

Axial run out

（

）
μm

Radial run out

（

）
μm

Size limitations

Height（）
mm or less（）
mm or lessOutside diameter
Use of middle hole diameter □None□With （）
mm or more

Other requirements■ Your company name45

Positioning
angle A

■ Your department name■ Your name■ E-mail

■ Tel

）mm

■Servo driver VPH Series Model/Driver type description◎Driver type

VPH - H A②

◎Driver model③

NCR - H A
①

②

③

①
②

1

201

④

⑤

A - A - 0

0

0

⑥

⑨

⑩

⑦

⑧

⑪

NCR･･･Servo driver Series
Series name

H…VPH Series
A…I/O specification
B…SSCNETⅢ/H specification③

C…CC-Link specification

Machine model type

D…EtherCAT specification
E…MECHATROLINK-Ⅲ specification
Input power supply specification⑤

Output capacity⑥

Hardware specification

A…Standard specification⑦

Paired motor

A…τDISC⑧

Analog option *1⑨

Absolute position compensation data incorporation⑩

STO option *2⑪

Special model symbol

2…200 VAC system
Example） 201 … 20 1 =20×101 =200 W
Exponential part of powers of 10
Significant figures

0…None
1…WithServo driver VPH Series

1…100 VAC system④

0…None0…None
1…WithWithout…Standard specification-S + sequential number…Special model specification*1 Only the VPH-HA Type
（I/O type）is supported.
*2 This option provides a safety function（Safe Torque Off: STO）to shut down the power supply to the τDISC connected to the VPH Series. It is
intended for use to prevent an accident from occurring when the motor is powered on unexpectedly. For information about the safety functions andsafety performance of this option, refer to "Servo driver VPH Series function specifications" on pp. 50 - 53. For details, refer to the "VPH Series STO
Option Manual".

■Common specifications
During operation: 0 to 55℃

Temperature
Ambient
condition

During storage: -20 to 65℃

Humidity

During operation and storage: 90%RH or less; no condensation
Do not install in a harmful atmosphere containing corrosive gas, grinding oil,

Installation location

metal dust, oil, etc. Install in an indoor place not exposed to direct sunlight.

Height above sea level

1,000 m or lessVibration resistance2
to 55Hz）No resonance is allowed.
5.9 m/s（10Drive method

3-phase sine wave PWM

Brake method

Regenerative brake: External regenerative resistor *1

Mounting type

Panel mounting
Speed control range *3
Speed

Performance

control*2

1：5000For the analog speed command 1：2000 *4

Load characteristics

0 to 100% load: ±0.01% or less（at the rated speed）

Speed

Voltage characteristics

Rated voltage ±10%: 0%（at the rated speed）

variation

Temperature

0 to 40℃: ±0.1% or less（at the rated speed）

characteristics

For the analog speed command ±0.2% or less *4

TorqueResolution

1：1000（Up to the rated torque）

control

Reproducibility±1%（Up to the rated torque）*1 The regenerative resistor is optional.
*2 The performance values are those of the servo driver itself. Depending on the combination with a motor, the performance values may not be met.
*3 It is assumed that the motor does not stop when the load is 100%.
*4 Applicable only to the VPH-HA Type
（I/O specification）.

46

■Servo driver VPH Series System configuration

Circuit breaker for wiring *1⑬ DC reactor（Option for VPH 1.5 kW or more）（Connect to L1 and L2）

Noise ﬁlter

VPH-HA Type
（I/O speciﬁcation）⑦ Ferrite core
（Option） USB cable for VPH data editing software

Electromagnetic⑫ AC reactor
contactor（Option for VPH 800 W or less）(mini B plug on the VPH side)

CN3* Not connected to T phasein case of single phase power
R S T *2

Servo driver VPH Series

Main power supply

System support tool：
VPH Data Editing Software* Download it from our website.

CN5⑪ STO cable (when the STO option is used)

Personal computer

B1 B2
CN2

① Regenerative resistors（Option）⑤ Encoder cable（Option）

Control power supply

r s *2DBK DBC⑧ I/O cable（Option）

CN1

CN4

⑦

External device,controller, etc.

⑥ Communication cable（Option） Master

controller, etc.

UVW

③ Zero phase reactor（Option）② Dynamic brake unit

τDISC

④ Power cable（Option）（Option）

VPH-HB TypeVPH-HC Type（SSCNETⅢ/H speciﬁcation）（CC-Link speciﬁcation）
System support tool：
VPH Data Editing Software* Download it from our website.

⑦ Ferrite core

（Option） USB cable for VPH data editing software

CN3(mini B plug on the VPH side)CN5⑪ STO cable (when the STO option is used)

CN2⑤ Encoder cable（Option）

CNSA

SSCNETⅢ（/H）

CNSB

SSCNETⅢ（/H）

CN1⑨ I/O cable（Option）

System support tool：
VPH Data Editing Software* Download it from our website.

⑦ Ferrite core
（Option） USB cable for VPH data editing software
CN3(mini B plug on the VPH side)CN5⑪ STO cable (when the STO option is used)

CN2⑤ Encoder cable（Option）

Master controller orfront axle device

CN1⑩ I/O cable（Option）

Rear axle device

TB4

CC-Link

TB4

CC-Link

Personal computer

To τDISC encoder
connector

External device,controller, etc.

Personal computer

To τDISC encoder
connector
External device,controller, etc.

Master or slave oﬃce

Master or slave oﬃce

*1 When selecting the circuit breaker for wiring, refer to the values of the rated capacity in“Individual specifications for the VPH Series”on p.49.
*2 For details of the electric wire, refer to the section of the instruction manual of the relevant type of the VPH Series describing the application electric wire.

47

■Servo driver VPH Series System configuration

VPH-HD TypeVPH-HE Type

（EtherCAT speciﬁcation）（MECHATROLINK-Ⅲ speciﬁcation）
System support tool：
VPH Data Editing Software* Download it from our website.

⑦ Ferrite core

⑦ Ferrite core

（Option） USB cable for VPH data editing software(mini B plug on the VPH side)

CN3
CN5

⑪ STO cable (when the STO option is used)

CN2⑤ Encoder cable（Option）

CN4
（IN）

To τDISC encoder
connector

Rear axle device⑨ I/O cable（Option）（Option）

USB cable for VPH data editing software

CN3(mini B plug on the VPH side)CN5⑪ STO cable (when the STO option is used)

CN2⑤ Encoder cable（Option）

CN4A

MECHATROLINK-Ⅲ *1

CN4B

MECHATROLINK-Ⅲ *1

CN1⑨ I/O cable（Option）

External device,controller, etc.

Personal computer

To τDISC encoder
connector

Master controller or front
and rear axle devices
Master controller or front
and rear axle devices
External device,controller, etc.

*1 When connected to the KV-X controller manufactured by KEYENCE Corp., the connector on the KV-X side is an RJ-45 connector.
Use the MECHATROLINK-Ⅲ conversion cable（RJ-45/IMI conversion）SV2-L□A type manufactured by KEYENCE Corp.

Servo driver VPH Series

CN4（OUT） EtherCAT
CN1

Personal computer

Master controller orfront axle device

EtherCAT

System support tool：
VPH Data Editing Software* Download it from our website.

◎Optional product description
No.

Product name/specifications

Description

Page

Required when the smoothing capacitor of the VPH Series servo driver cannot consume all regenerative power.
①

Regenerative resistors

To determine whether this resistor is required, download the motor selection calculation tool（*1）from our website

P.73

and make a check.
An auxiliary brake unit that prevents the connected motor from free-running due to an error in the VPH Series,②

Dynamic brake unit③

Zero phase reactor④

Power cable⑤

Encoder cable⑥

Communication cable（For VPH-HA） input and output data between the higher-level PLC computer link module or personal computer and the VPH

power failure, etc.
This reactor absorbs the noise generated by the VPH Series servo driver to reduce the effect of noise on thedriver main unit and peripheral equipment.
This cable is used to connect the motor power connector or terminal of the VPH Series servo driver with thepower cable of the motor.
This cable is used to connect the encoder feedback pulse input connector（CN2）of the VPH Series servo driverwith the encoder and magnetic pole sensor.

P.72
P.69
P.61,63-65
P.61-62

This cable is connected with the serial communication connector（CN4）of the VPH-HA Type servo driver to
P.68

Series.
⑦

Ferrite core⑧

I/O cable（For VPH-HA）⑨

I/O cable（For VPH-HB/HD/HE）⑩

I/O cable（For VPH-HC）⑪

STO cable⑫

AC reactor⑬

DC reactor

This option prevents malfunctions due to noise, such as monitor display interruption and the forced shutdown of
the editing software.
This cable is connected with the control input/output connector（CN1）of the VPH-HA Type servo driver to input
and output signals.
This cable is connected with the control input/output connector（CN1）of the VPH-HB/HD/HE Type servo driverto input and output signals.
This cable is connected with the control input/output connector（CN1）of the VPH-HC Type servo driver to input
and output signals.
This cable is connected with the control input/output connector（CN5）of the VPH Series servo driver to input
and output signals when the STO option is selected.
This reactor makes the waveform of the input current approximate to that of a sine wave to suppress harmonics.
Option for the VPH Series products with an output capacity of 800 W or less.
This reactor makes the waveform of the input current approximate to that of a sine wave to suppress harmonics.
Option for the VPH Series products with an output capacity of 1.5 kW or more.

P.68
P.66
P.67
P.67
P.67
P.70
P.71

*1 For information about the motor selection calculation tool of the τDISC HD-s Series, contact our sales staff.

48

■Servo driver VPH Series Individual specifications
Model

NCR-H□

Output capacity

Main circuit
input power
supply1101A-A-□□□

1201A-A-□□□

2101A-A-□□□

2201A-A-□□□

2401A-A-□□□

100

200

100

200

400

W

AC100 to 120 1φ

AC200 to 240 1φ or 3φ

Rated voltage

V

Frequency

Hz

50/60

50/60

Permissible voltage fluctuation

V

AC85 to 132

AC170 to 264

3.0

6.0

1.5
（1φ）

3.0
（1φ）

5.5
（1φ）

0.9
（3φ）

1.7
（3φ）

3.2
（3φ）

Input rated current

Arms

Rated capacity

kVA

0.3

0.6

0.3

0.6

1.1

Inrush currentA

23【12ms】*1

23【12ms】*1

45【5ms】*2

45【5ms】*2

45【5ms】*2

Rated voltage

V

AC100 to 120 1φControlFrequency

Hz

50/60

AC200 to 240 1φ
50/60

circuit

Permissible voltage fluctuation

V

AC85 to 132

AC170 to 264

input power

Input rated current

Arms

0.24

0.24

0.12

0.12

supplyPower consumption

W

15

15

15

15

15

Inrush current

A

17【5ms】*1

17【5ms】*1

17【3ms】*2

17【3ms】*2

17【3ms】*20.12

Servo driver VPH SeriesContinuous output current

Arms

2.0

3.5

1.1

2.0

3.5

Instant output current

Arms

6.0

9.9

3.3

6.0

9.9

Approx.1.0

Approx.1.0

Structure（IP code）

Natural cooling（IP20）

Weightkg

Model

NCR-H□

input power
supplyApprox.1.0

Approx.1.0

2801A-A-□□□

2152A-A-□□□

W

800

1.5k

Rated voltage

V

AC200 to 240 1φ or 3φ

Frequency

Hz

50/60

Permissible voltage fluctuation

V

Output capacity

Main circuit

Approx.1.0

2222A-A-□□□ 2332A-A-□□□
2.2k

3.3k

AC200 to 240 3φ
50/60
AC170 to 264

9.0
（1φ）

Input rated current

Arms

9.6

Rated capacity

kVA

1.8

3.0

4.2

5.9

Inrush current

A45【9ms】*2

33【18ms】*2

33【18ms】*2

85【10ms】*2

0.18

5.2
（3φ）

13.5

17.0

AC200 to 240 1φ

Rated voltage

V

ControlFrequency

Hz

50/60

circuit

Permissible voltage fluctuation

V

AC170 to 264

input power

Input rated current

Arms

0.12

0.15

0.15

supplyPower consumption

W

15

18

18

20

Inrush current

A

17【3ms】*2

17【3ms】*2

17【3ms】*234【2ms】*2

Continuous output current

Arms

6.8

10.0

16.0

24.0
（25.0）*3

Instant output current

Arms

17.0

30.0

35.0

63.0

Approx.2.3

Approx.3.7

Structure（IP code）

Forced cooling（IP20）

Weightkg

Model

NCR-H□

input power
supplyApprox.2.3

2702A-A-□□□

2153A-A-□□□

W

7k

15k

Rated voltage

V

AC200 to 240 3φ

Frequency

Hz

50/60

Permissible voltage fluctuation

V

AC170 to 264

Output capacity

Main circuit

Approx.1.5

Input rated current

Arms

44.0

Rated capacity

kVA

16.0

68.0
23.5

Inrush currentA73【30ms】*2

73【38ms】*2

AC200 to 240 1φ

Rated voltage

V

ControlFrequency

Hz

50/60

circuit

Permissible voltage fluctuation

V

AC170 to 264

input power

Input rated current

Arms

0.4

supplyPower consumption

W

45

45

Inrush currentA

26【3ms】*2

26【3ms】*2

0.4

Continuous output current

Arms

48.0

62.6

Instant output current

Arms

96.0

125.2

kg

Approx.7.5

Structure（IP code）
WeightForced cooling（IP00）
Approx.9.5*1 Value applicable when the rated voltage is 120 VAC. The value shown in brackets is the time constant of the inrush current. Roughly three times the value in brackets is
equivalent to the time it takes before the inrush current dies down.
*2 Value applicable when the rated voltage is 240 VAC. The value shown in brackets is the time constant of the inrush current. Roughly three times the value in brackets is
equivalent to the time it takes before the inrush current dies down.
*3 Shown in parentheses is the value applicable when UL standard compliance is not required.

49

■Servo driver VPH Series Functional specifications◎VPH-HA Type
（I/O specification）
Type（Model）

VPH-HA Type
（NCR-HA□□□□A-A-□□□）

Item
Operation mode
Internal speed command
SpeedcommandTorquecommand

Analog command（Option）

Speed command operation, torque command operation, and pulse train command operation, and built-in command operation
7 points; Selected by the control signal（setting unit: speed specification）
1 point; Input voltage range: -12 to +12 V（resolution: 14 bits）
Any voltage can be set for the maximum speed.

Acceleration/deceleration

Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.

Internal torque command

7 points; Selected by the control signal（setting unit: 0.1%）

Analog command（Option）
Torque increase/decrease time

1 point; Input voltage range: -12 to +12 V（resolution: 14 bits）
Any voltage can be set for the rated torque.
0 to 9.999 sec
Line driver method: Up to 6.25 Mpps
（1-time multiplication）

Pulse
commandCommand style

90°phase difference pulse（1-, 2-, and 4-time multiplication）, directional pulse（1- and 2-time multiplication）, or directional signal +feed pulse（1- and 2-time multiplication）can be selected.

Pulse command compensation

8 points A/B（A, B ： 1 to 99999999）

S-curve Acceleration/deceleration

8 points（0 to 1.000 sec）

Setting unit

deg、mm、inch、μm、pulse、kpulseJog

8 speeds

Command
Built-incommand

POS（positioning）： ABS/INC

INDX（index positioning）： Shortcut/unidirectional
HOME（zero return）： STD, LS LESS, OT HOME, CURRENT POSITION, OT HOME LS LESS, SET ABS, OUT POS

Acceleration/deceleration

8 points（Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.）

S-curve Acceleration/deceleration

8 points（0 to 1.000 sec）
Infinite feed

Coordinate management

Absolute position management -2147483648 to +2147483647

Gain change

4 points（changed according to the GSL1 and GSEL2 signals and operation conditions）

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

FilterFeedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter

Auto-tuning

Position gain, speed loop gain/integral time constant setting

Load axis one rotation position management（e.g., 0 to 359 degrees or -179 to +180 degrees）
Servo
adjustment
item

Servo driver VPH Series

256 points; 3 types

8 external input signals. The following signals can be assigned to these signals. *1

Control input signal

RST（reset）

ARST（alarm reset）

EMG（emergency stop）

SON（servo on）

DR（drive）

CLR（deviation clear）

CIH（pulse train command prohibition）

TL（torque limit）

FOT（forward direction over travel）

ROT（reverse direction over travel）

MD1 to MD2（mode selection 1 to 2）

GSL1 to GSL2
（gain selection 1 to 2）

RVS（command direction reversal）

SS1 to SS8（command selection 1 to 8）

ZST（positioning start）

ZLS（zero point deceleration）

ZMK（external marker）

TRG（external trigger）

CMDZ（command zero）

ZCAN（positioning cancellation）

FJOG（forward direction jog）

RJOG
（reverse direction jog）

MTOH
（motor overheat）

The status of the control input signal can be fixed to ON or OFF.
When assigned to an external input signal, the signal logic can be changed.
4 external output signals. The following signals can be assigned to these signals. *1

Control output signal

ALM（alarm）

WNG（warning）

RDY（servo ready）

SZ（speed zero）

PE1 to PE2（position deviation range 1 to 2）

PN1 to PN2（positioning complete 1 to 2）

PZ1 to PZ2（positioning complete response 1 to 2）

ZN（command complete）

ZZ（command complete response）

ZRDY（command start ready）

PRF（rough match）

VCP（speed reached）

BRK（break release）

LIM（limited）

EMGO（emergency stop in process）

HCP（zero return complete）

HLDZ（command zero in process）

OTO（over travel in process）

MTON（motor on）

OUT1 to OUT8（common output）

SMOD（speed command mode in process）

TMOD（torque command mode in process）

NMOD（Built-in command mode in process）

OCEM（Marker output in process）

PMOD（Pulse train command mode in process）

When assigned to an external output signal, the signal logic can be changed（except OCEM）.
Encoder error, over speed error, motor overload error, device overload error, under voltage error, over voltage error, over current error,
Error detection

servo control error, cable disconnection error, magnetic pole error, deviation error, backup data error, CPU error, etc.
5 alarms stored in the history

Holding break（BRK signal）
Dynamic brake

BRK（break release）signal set to OFF in the motor power off status
With control for vertical axis drop prevention（drop prevention control disabled in case of a power error）
External dynamic brake unit
（option）
Activated in the motor power off status
Line driver method: 90°phase difference pulse + marker
The marker output signal can also be output as the control output signal. The maximum width that can be set is 2 ms.

Encoder pulse output

Dividing frequency output by hardware: Maximum output frequency of 25 Mpps
（4-time multiplication）
Control output by software: Maximum output frequency of 20.46 Mpps
（4-time multiplication）
Pulse output division ： A/B（A, B ： 1 to 99999999）
Current position data pulse output function（outputs as many pulses as the value of the current position.）

Torque limit command

Set in units of 0.1% by the relevant parameter.

Compensation function

Absolute position compensation（option; refer to p.42）, torque compensation

Display function
Communication function

CHARGE, power LED, front data display 5-digit LED panel
USB 2.0（full speed）standard compliance: 1 channel for connection between personal computer（VPH data editing software）and device
RS-422 ： 1ch

SEMI F47 compatible function

Torque limit function when the main circuit voltage drops（The control power must be supplied from a UPS.）

Safety function（Option）

STO（IEC/EN61800-5-2）

Safety performance（Option）

EN ISO13849-1 Cat3 PL e EN61508 SIL3

*1 For the initial assignment of the 8 external input signals and 4 external output signals, refer to "Servo driver VPH Series external connection diagram VPH-HA Type" on P.56.

50

■Servo driver VPH Series Functional specifications◎VPH-HB Type（SSCNETⅢ/H specification）/◎VPH-HD Type
（EtherCAT specification）
Type（Model）

VPH-HB Type
（NCR-HB□□□□A-A-□□□）

Item
Operation mode
SpeedcommandCommunication mode

Torquecommand
PositioncontrolServoadjustment
item

VPH-HD Type
（NCR-HD□□□□A-A-□□□）

Speed command operation, torque command operation, and position control operation
Issued from the CoE object dictionary

Command input

Command by SSCNETⅢ（/H）

Acceleration/deceleration

Values between 0 and 99.999 sec can be set for accelerationand deceleration, respectively.

Command input

Command by SSCNETⅢ（/H）

Torque increase/decrease time

0 to 9.999 sec

Command input

Command by SSCNETⅢ（/H）

S-curve Acceleration/deceleration

2 points（0 to 1.000 sec）

Gain change

2 points（changed according to the gain change command from
SSCNETⅢ（/H）and operating conditions）

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

FilterOperation mode

（Cyclic synchronous speed mode）－
Issued from the CoE object dictionary（Cyclic synchronous torque mode）－
Issued from the CoE object dictionary（Cyclic synchronous position mode, profile position mode, zero return mode）
8 points（0 to 1.000 sec）
（changed by the CoE object dictionary）
4 points（changed by the CoE object dictionary）

Feedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter
Speed command, torque command, and built-in command operation modes

Maintenance mode

Servo driver VPH Series

Speed

Internal speed command

7 points; Selected by the control signal（setting unit: speed specification）

commandAcceleration/deceleration

Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.

TorqueInternal torque command

7 points; Selected by the control signal（setting unit: 0.1%）

commandTorque increase/decrease time

0 to 9.999 sec

Setting unit

pulse

Jog

8 speeds
256 points; 3 types

Command
Built-incommand*1

POS（positioning）： ABS/INC

INDX（index positioning）： Shortcut/unidirectional
HOME（zero return）： STD, LS LESS, OT HOME, CURRENT POSITION, OT HOME LS LESS, SET ABS

Acceleration/deceleration

8 points（Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.）

S-curve Acceleration/deceleration

8 points（0 to 1.000 sec）
Infinite feed

Coordinate management

Absolute position management -2147483648 to +2147483647
Load axis one rotation position management（e.g., 0 to 359 degrees or -179 to +180 degrees）

Servo
adjustment
item

Gain change

4 points（changed according to the GSL1 and GSEL2 signals and operation conditions）

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

FilterFeedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter

Auto-tuning

Position gain, speed loop gain/integral time constant setting

Control input signal

4 external input signals

5 external input signals

In communication mode, the following signals can be assigned. *2

In communication mode, the following signals can be assigned. *2

ARST（alarm reset）

EMG（emergency stop）

EMG（emergency stop）

FOT（forward direction over travel）

TL（torque limit）

FOT（forward direction over travel）

ROT（reverse direction over travel）

GSL1 to GSL2（gain selection 1 to 2）

ROT（reverse direction over travel） ZLS（zero point deceleration）

ZLS（zero point deceleration）

ZMK（external zero point marker）

MTOH（motor overheat）

IN1 to IN2（common input 1 to 2）

MTOH（motor overheat）

When assigned to an external input signal, the signal logic can be changed. The status of the control input signal can be fixed to ON or OFF.

Control output signal

2 external output signals

3 external output signals

In communication mode, the following signals can be assigned. *2

In communication mode, the following signals can be assigned. *2

ALM（alarm）

WNG（warning）

ALM（alarm）

WNG（warning）

RDY（servo ready）

SZ（speed zero）

RDY（servo ready）

SZ（speed zero）

PE1 to PE2（position deviation range 1 to 2）

PN1 to PN2（positioning complete 1 to 2）

PE1 to PE2（position deviation range 1 to 2） PN1 to PN2（positioning complete 1 to 2）

ZZ（command complete response）

ZRDY（command start ready）

ZZ（command complete response）

ZRDY（command start ready）

PRF（rough match）

VCP（speed reached）

PRF（rough match）

VCP（speed reached）

BRK（break release）

LIM（limited）

BRK（break release）

LIM（limited）

EMGO（emergency stop in process）

HCP（zero return complete）

EMGO（emergency stop in process） HCP（zero return complete）

OTO（over travel in process）

MTON（motor on）

OTO（over travel in process）

SMOD（speed command mode in process）

TMOD（torque command mode in process）

SMOD（speed command mode in process） TMOD（torque command mode in process）

PMOD（position control mode in process）

NMOD（Built-in command mode in process）

PMOD（position control mode in process） NMOD（Built-in command mode in process）

OCEM（marker output）

MTON（motor on）

OCEM（marker output）

When assigned to an external output signal, the signal logic can be changed（except OCEM）.
Encoder error, over speed error, motor overload error, device overload error, under voltage error, over voltage error, over current error,
servo control error, phase error, magnetic pole error, deviation error, backup data error, CPU error, etc.

Error detection

5 alarms stored in the history
Holding break（BRK signal）

BRK（break release）signal set to OFF in the motor power off status
With control for vertical axis drop prevention（drop prevention control disabled in case of a power error）

Dynamic brake

External dynamic brake unit
（option）. Activated in the motor power off status

Torque limit command

Set in units of 0.1% by the relevant parameter.

Compensation function

Absolute position compensation（option; refer to p.42）, torque compensation

Issued from the CoE object dictionary（set in units of 0.1%）

Display function

CHARGE, 3-digit LED data display in the front

Communication function

USB 2.0（full speed）standard compliance: 1 channel for connection between personal computer（VPH data editing software）and device

SEMI F47 compatible function

Torque limit function when the main circuit voltage drops（The control power must be supplied from a UPS.）

Safety function（Option）

STO（IEC/EN61800-5-2）

Safety performance（Option）

EN ISO13849-1 Cat3 PL e EN61508 SIL3

CHARGE, power LED, front data display 5-digit LED panel*1 In maintenance mode, the VPH servo driver operates independently.
*2 The signals that can be assigned in maintenance mode are different. For details, refer to the section of the instruction manual of the relevant type of the VPH Series describing the control input and output signals.
For the initial assignment of the external input and output signals, refer to "Servo driver VPH Series external connection diagram VPH-HB Type" on P.57 and "Servo driver VPH Series external connection diagram VPH-HD Type" on P.59.

◎Mitsubishi Electric controllers that can be connected to SSCNETⅢ（/H）●Motion controller		
iQ-R Series

・R32MTCPU、R16MTCPU		Q Series

51

Supported OS version: 07 or later

・Q173DSCPU、Q172DSCPU、Q170MSCPU（Stand-alone type）

		Supported OS: Transport and assembly（SV13）

		and automatic equipment（SV22）

		Supported OS version: 00J or later●Simple motion unit			
iQ-R Series

・RD77MS□

Supported serial number: First 2 digits 07 or later

Q Series

・QD77MS□

Supported serial number: First 5 digits 17102 or later

L Series

・LD77MS□

Supported serial number: First 5 digits 17102 or lateriQ-F Series

・FX5-□□SSC-S

Supported version: 1.004 or later●Position board

MR-MC1□□、MR-MC2□□

■Servo driver VPH Series Functional specifications◎VPH-HC Type
（CC-Link specification）
Type（Model）

VPH-HC Type
（NCR-HC□□□□A-A-□□□）

Item
Operation mode

Speed command operation, torque command operation, and pulse train command operation, and built-in command operation

Speed

Internal speed command

7 points; Selected by the control signal（setting unit: speed specification）

commandAcceleration/deceleration

Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.

TorqueInternal torque command

7 points; Selected by the control signal（setting unit: 0.1%）

commandTorque increase/decrease time

0 to 9.999 sec
Line driver method: Up to 6.25 Mpps
（1-time multiplication）

Command stylePulse
command90°phase difference pulse（1-, 2-, and 4-time multiplication）, directional pulse（1- and 2-time multiplication）,
or directional signal + feed pulse（1- and 2-time multiplication）can be selected.

Pulse commandcompensation
S-curve Acceleration/
deceleration

8 points A/B（A, B ： 1 to 99999999）
8 points（0 to 1.000 sec）

Setting unit

deg、mm、inch、μm、pulse、kpulseJog

8 speeds
256 points; 3 types

Commandcommand： ABS/INC

HOME（zero return）
Acceleration/deceleration
S-curve Acceleration/
deceleration: STD, LS LESS, OT HOME, CURRENT POSITION, OT HOME LS LESS, SET ABS

8 points（Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.）
8 points（0 to 1.000 sec）
Infinite feed

Coordinate management

Absolute position management -2147483648 to +2147483647

Gain change

4 points（changed according to the GSL1 and GSEL2 signals and operation conditions）

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

FilterFeedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter

Auto-tuning

Position gain, speed loop gain/integral time constant setting

Load axis one rotation position management（e.g., 0 to 359 degrees or -179 to +180 degrees）
Servo
adjustment
item

Servo driver VPH Series

Built-inPOS（positioning）

INDEX（index positioning） : Shortcut/unidirectional

4 external input signals. The following signals can be assigned to these signals. *1

Control input signal

RST（reset）

ARST（alarm reset）

EMG（emergency stop）

SON（servo on）

DR（drive）

CLR（deviation clear）

CIH（pulse train command prohibition）

TL（torque limit）

FOT（forward direction over travel）

ROT（reverse direction over travel）

MD1 to MD2（mode selection 1 to 2）

GSL1 to GSL2
（gain selection 1 to 2）

RVS（command direction reversal）

SS1 to SS8（command selection 1 to 8）

ZST（positioning start）

ZLS（zero point deceleration）

ZMK（external marker）

TRG（external trigger）

CMDZ（command zero）

ZCAN（positioning cancellation）

FJOG（forward direction jog）

RJOG
（reverse direction jog）

MTOH
（motor overheat）

The status of the control input signal can be fixed to ON or OFF.
When assigned to an external input signal, the signal logic can be changed.
2 external output signals. The following signals can be assigned to these signals. *1

Control output signal

ALM（alarm）

WNG（warning）

RDY（servo ready）

SZ（speed zero）

PE1 to PE2（position deviation range 1 to 2）

PN1 to PN2（positioning complete 1 to 2）

PZ1 to PZ2（positioning complete response 1 to 2）

ZN（command complete）

ZZ（command complete response）

ZRDY（command start ready）

PRF（rough match）

VCP（speed reached）

BRK（break release）

LIM（limited）

EMGO（emergency stop in process）

HCP（zero return complete）

HLDZ（command zero in process）

OTO（over travel in process）

MTON（motor on）

OUT1 to OUT8（common output）

SMOD（speed command mode in process）

TMOD（torque command mode in process）

NMOD（Built-in command mode in process）

OCEM（marker output）

PMOD（Pulse train command mode in process）

When assigned to an external output signal, the signal logic can be changed（except OCEM）.
Encoder error, over speed error, motor overload error, device overload error, under voltage error, over voltage error, over current error,
Error detection

servo control error, cable disconnection error, magnetic pole error, deviation error, backup data error, CPU error, etc.
5 alarms stored in the history

Holdin g brea （k BRK signal）
Dynamic brake

BRK（break release）signal set to OFF in the motor power off status
With control for vertical axis drop prevention（drop prevention control disabled in case of a power error）
External dynamic brake unit
（option）
Activated in the motor power off status

Torque limit command

Set in units of 0.1% by the relevant parameter.

Compensation function

Absolu t e position c ompensation（option; refer to p.42）, torque compensation

Display function

CHARGE, power LED, front data display 5-digit LED panel
・USB 2.0（f u ll speed）st a ndard comp l iance: 1 channel for conn ection between personal computer（VPH data editing software）

Communication function

and device
・CC-Link（Ver.1.10）：1ch

SEMI F47 compatible function

Torque limit function when the main circuit voltage drops（The control power must be supplied from a UPS.）

Safety function（Option）

STO（IEC / EN61800-5-2）

Safety performance（Option）

EN ISO13849-1 Cat3 PL e EN61508 SIL3

*1 For the initial assignment of the 8 external input signals and 4 external output signals, refer to "Servo driver VPH Series external connection diagram VPH-HC Type" on P.58.

52

■Servo driver VPH Series Functional specifications◎VPH-HE Type
（MECHATROLINK-Ⅲ specification）
VPH-HE TypeType
（Model）
Item（NCR-HE□□□□A-A-□□□）

Operation mode

Speed command operation, torque command operation, and position control operation

Communication mode

Speed command

Command input

Torque command

Command input

Issued from MECHATROLINK-Ⅲ

Command input

Issued from MECHATROLINK-Ⅲ

PositioncontrolS-curve Acceleration/
deceleration

Issued from MECHATROLINK-Ⅲ

8 points（0 to 1.000 sec）

Servo

Gain change

4 points（changed to the gain number specified in network selection and changed according to operation conditions）

adjustment

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

item

FilterOperation mode
SpeedcommandTorquecommandFeedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter
Speed command, torque command, and built-in command operation modes

Internal speed command
Acceleration/
deceleration
Internal torque command
Torque increase/decrease time

8 points; Selected by the control signal（setting unit: speed specification）
Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.
8 points; Selected by the control signal（setting unit: 0.1%）
0 to 9.999 sec

Maintenance mode

Servo driver VPH Series

Setting unit

pulse

Jog

8 speeds
256 points; 3 types

Command
Built-incommand*1

deceleration
deceleration
Coordinate
management

adjustment
item： ABS/INC

INDEX（index positioning） : Shortcut/unidirectional
HOME（zero point return） : STD HOME, LS LESS, OT HOME, STOP HOME, OT LSLESS, SET ABS, OUT POS

Acceleration/
S-curve Acceleration/

Servo

POS
（positioning）

8 points（Values between 0 and 99.999 sec can be set for acceleration and deceleration, respectively.）
8 points（0 to 1.000 sec）
Infinite feed
Absolute position management -2147483648 to +2147483647
Load axis one rotation position management（e.g., 0 to 359 degrees or -179 to +180 degrees）

Gain change

4 points（changed according to the GSL1 and GSEL2 signals and operation conditions）

Feed forward

Speed feed forward ratio, speed feed forward shift ratio, inertia torque feed forward ratio, viscous friction torque feed forward ratio

FilterFeedback filter, torque command filter, 5 torque command notch filters, speed feed forward filter, torque feed forward filter

Auto-tuning

Position gain, speed loop gain/integral time constant setting
5 external input signals. In communication mode, the following signals can be assigned. *2

Control input signal

ARST（alarm reset）

EMG（emergency stop）

TL（torque limit）

FOT（forward direction over travel）

ROT（reverse direction over travel）

GSL1 to GSL2
（gain selection 1 to 2）

ZLS（zero point deceleration）

ZMK（external zero point marker）

MTOH（motor overheat）

EXT1 to EXT3（1st to 3rd external latch inputs）
When assigned to an external input signal, the signal logic can be changed.
The status of the control input signal can be fixed to ON or OFF.
3 external output signals. In communication mode, the following signals can be assigned. *2

Control output signal

ALM（alarm）

WNG（warning）

RDY（servo ready）

SZ（speed zero）

PE1 to PE2（position deviation range 1 to 2）

PN1 to PN2（positioning complete 1 to 2）

ZZ（command complete response）

ZRDY（command start ready）

PRF（rough match）

VCP（speed reached）

BRK（break release）

LIM（limited）

EMGO（emergency stop in process）

HCP（zero return complete）

OTO（over travel in process）

MTON（motor on）

PMOD（position control mode in process）

NMOD（Built-in command mode in process）

OCEM（marker output）
When assigned to an external output signal, the signal logic can be changed（except OCEM）.
Encoder error, over speed error, motor overload error, device overload error, under voltage error, over voltage error,
Error detection

over current error, servo control error, phase error, magnetic pole error, deviation error, backup data error, CPU error, etc.
5 alarms stored in the history

Holding break（BRK signal）
Dynamic brake

BRK（break release）signal set to OFF in the motor power off status
With control for vertical axis drop prevention（drop prevention control disabled in case of a power error）
External dynamic brake unit
（option）
Activated in the motor power off status

Torque limit command

Set in units of 0.1% by the relevant parameter.

Compensation function

Absolute position compensation（option; refer to p.42）, torque compensation

Display function

CHARGE, power LED, front data display 5-digit LED panel
・MECHATROLINK-Ⅲ：2ch

Communication function

・USB 2.0（full speed）standard compliance: 1 channel for connection between personal computer（VPH data editing software）

SEMI F47 compatible function

Torque limit function when the main circuit voltage drops（The control power must be supplied from a UPS.）

and device
Safety function（Option）

STO（IEC/EN61800-5-2）

Safety performance（Option）

EN ISO13849-1 Cat3 PL e EN61508 SIL3

*1 In maintenance mode, the VPH servo driver operates independently.
*2 The signals that can be assigned in maintenance mode are different. For details, refer to the section of the instruction manual of the relevant VPH type describing thecontrol input and output signals. For the initial assignment of the external input and output signals, refer to "Servo driver VPH Series external connection diagram VPH-HE
Type" on P.60.

53

■Servo driver VPH Series Dimensions
NCR-H□1101A/1201A-A-□□□
NCR-H□2101A/2201A/2401A-A-□□□

160

50
30

4

（38）

VPH

NIKKI
DENSO

MD/ ENT
TB1

C
N
3
C
N
5

C
N
2

CHARGE

152

160

R
S
T
B1/P
B2
DN

TB2

r
s
DBK
DBC

C
N
1
TB3

U
V
W

C
N
4

6

Servo driver VPH Series

NCR-H□2801A-A-□□□

160

70
50

4

（38）

VPH

NIKKI
DENSO

MD/ ENT
TB1

C
N
3
C
N
5

C
N
2

CHARGE

152

160

R
S
T
B1/P
B2
DN

TB2

r
s
DBK
DBC

C
N
1
TB3

U
V
W

C
N
4

6
7

NCR-H□2152A/2222A-A-□□□

95

185
50

TB1

37

5

(38)

VPH

NIKKI
DENSO

R
S

MD/ ENT

T
L1

CHARGE

C
N
3
C
N
5

L2/P
B1

C
N
2

DN
r

190

200

B2

C
N
1

s
DBK
DBC
U

C
N
4

V
W

5.5

* The above dimensions are those of the VPH-HA Type. The dimensions of the VPH-HB/HC/HD/HE Type are the same.

54

■Servo driver VPH Series Dimensions
NCR-H□2332A-A-□□□
5

12

130
10

(38)

100

190.5

10

NIKKI
DENSO

TB1
R

VPH

MD/ ENT

C
N
3
C
N
5

S
T
L1

C
N
2

L2/P
B1

260

270

246.5

B2
DN

C
N
1

TB2
r
s
DBK

C
N
4

DBC

CHARGE

TB3
U
V
W

Servo driver VPH Series

6

NCR-H□2702A-A-□□□

200
176
118

16.5

6

（26）

225

6

TB1

L1

MD

ENT

L2/P
R

C
N
3
C
N
5

S

225

255

245

T
C
N
2

B1
B2
CHARGE

DN
TB2

U
V
W

C
N
1

r
s
DBK
DBC
C
N
4

NCR-H□2153A-A-□□□

200
176
16.5

118

（35）

230

6

250

270

280

6

* The above dimensions are those of the VPH-HA Type. The dimensions of the VPH-HB/HC/HD/HE Type are the same.

55

■Servo driver VPH Series External wiring diagram◎VPH-HA Type
（I/O specification）

VPH-HA
Power supply
R
AC100～120V or
AC200～240V
S
50/60Hz（Not connected to T inTcase of single phase power）

Dynamic brake unit
（Option）

MC

NFB

R

DBK

S

DBC

T

U

r

V

s

W

τDISC
U

M

V
W

Class D grounding
MC

Thermostat *1
OFF Motor

ON

CN2

Regenerative resistor

E
MC

3
4
1
2
5
6

Surge killer

Regenerative resistor（Option）

B1
B2
DC reactor（Option）

FG

DN
L1

DC reactor connection terminal（Output capacity of 1.5 kW or more only）

CN4

CN1

TQH
GND
INH
GND

1
2
19
20

Pulse train command

23

+V

21

CN3

18

1
2
3
5

36
35
34
33
32
31
30
29

DO3(WNG)
DO4(PN1)+12～24V

16

CR2

VBUS
DM
DP
GND

Connector metal ﬁtting

Safety input（When the STO option is used *2）
SF1*
SF1*_RET+12～24V
SF2*
SF2*_RET

4
3
6
5

15

CR3

14

CR4

USB communication

CN5

17

CR1

DO1(RDY)
DO2(ALM*)

GND(Option)Control output signal

TXD(A)TXD(B)RXD(A)RXD(B)
GND

FG

25
24

Control input signal+12～24V
DI1(RST)
DI2(SON)
DI3(DR)
DI4(CIH)
DI5(SS1)
DI6(SS2)
DI7(MD1)
DI8(MD2)

Serial communication（RS-422）

7
8
1
2
3

26

FC
FC＊
RC
RC＊
GND

Absolute
encoderConnector metal ﬁtting◎When an absolute
encoder is used

L2

Analog command（Option）

EP5
EP5
GND
GND
SD
SD＊

8

COM

13

Encoder pulse output
EA
EA＊
EB
EB＊
EM
EM＊
GND

8
7
6
5
4
3
9, 27, 28

Connector metal ﬁtting

Servo driver VPH Series

Regenerative resistor
connection terminal

EP5
EP5
GND
GND
SD
SD＊

7

Load

FG

FG

Monitor output（When the STO option is used *2）◎When an incremental encoder is used
CN2
E
3
4
1
2

* COM of the CN1 connector is common to the control input and output signals.
GND is common to the internal control power supply（+5V）in the servo driver.
* Since COM of CN1 and GND are isolated, do not use common wiring or bundle
them together.
* The status of the switch connected to a control input signal indicates the OFF statusof the input signal.
* A control input or output signal whose name is shown in parentheses is used as theinitial value of the relevant parameter.
* A control input or output signal marked with a * mark uses negative logic as the initialvalue.
* A control input signal power supply（+12 V, 2.5 mA to +24 V, 5 mA）must be
prepared by the user.

EDM++12～24V
EDM-

7
8
9
10
11
12

EP5
EP5

EP5

GND
GND
A

GND
A

A＊

A＊

B
B＊
Z

B
B＊
Z

Z＊

Z＊
EP5

5

SD

6

SD＊
HA

GND

HA＊
HB
HB＊

PS＊
PC
PC＊

HC

(HC)

HC＊

(HC＊)

13
14
15
16
17
18
FG

Incremental
encoderPS

Magneticpole
sensorConnector metal ﬁtting*1 The motor is not equipped with a thermostat.
*2 When the STO option is used, the servo driver is shipped with the STO short-circuit
plug（for details, refer to P.67）connected to CN5 as an accessory.

56

■Servo driver VPH Series External wiring diagram◎VPH-HB Type（SSCNETⅢ/H specification）

VPH-HB
Power supply
R
AC100～120V or
AC200～240V
S
50/60Hz（Not connected to T inTcase of single phase power）

MC

NFB

Dynamic brake unit
（Option）

R

DBK

S

DBC

T

U

r

V

s

τDISC
U
V

M

W

W

Class D grounding
MC

Thermostat *1

CN2

OFF Motor Regenerative resistor

ON

E
MC

3
4
1
2
5
6

Surge killer

Regenerative resistor（Option）

B1

Servo driver VPH Series

Regenerative resistor
connection terminal

B2
DC reactor（Option）

FG

DN
L1

DC reactor connection terminal（Output capacity of 1.5 kW or more only）

EP5
EP5
GND
GND
SD
SD＊

EP5
EP5
GND
GND
SD
SD＊

◎When an absolute
encoder is used

L2

CN3
CNSA

SSCNETⅢ(/H) communication

TX

GND

CNSB

SSCNETⅢ(/H) communicationRX
To rear axle driver

VBUS
DM
DP
GND
Connector metal ﬁtting

CN5(Option)TX

USB communication

1
2
3
5

RX
To controller/front axle driver

Absolute
encoderConnector metal ﬁtting

Safety input（When the STO option is used *2）
SF1*
SF1*_RET+12～24V
SF2*
SF2*_RET

4
3
6
5
8

CN1
Control input signal+12～24V
DI1(EMG*)DI2(FOT*)
DI3(ROT*)
DI4(ZLS)

6

+V

Load

FG

1
2
3
4

Control output signal
CR1

Monitor output（When the STO option is used *2）◎When an incremental encoder is used
CN2

DO2(ALM*)

CR2

9
3
8

4
1
2

COM

10

Connector metal ﬁtting

FG

7
8
9
10
11
12

* COM of the CN1 connector is common to the control input and output signals.
GND is common to the internal control power supply（+5V）in the servo driver.
* Since COM of CN1 and GND are isolated, do not use common wiring or bundle
them together.
* The status of the switch connected to a control input signal indicates the OFF statusof the input signal.
* A control input or output signal whose name is shown in parentheses is used as theinitial value of the relevant parameter.
* A control input or output signal marked with a * mark uses negative logic as the initialvalue.
* A control input signal power supply（+12 V, 2.5 mA to +24 V, 5 mA）must be
prepared by the user.
*1 The motor is not equipped with a thermostat.
*2 When the STO option is used, the servo driver is shipped with the STO short-circuit
plug（for details, refer to P.67）connected to CN5 as an accessory.

EP5
EP5

EP5

GND
GND

GND

A
A＊

A
A＊

B

B

B＊

B＊

Z

Z

Z＊

Z＊

5

SD

6

SD＊
HA

13

57

EDM+
+12～24V
EDM-

E

DO1(BRK)+12～24V

7

14
15
16
17
18
FG

EP5
GND
PS

HA＊
HB

PS＊
PC

HB＊
HC

PC＊
(HC)

HC＊

(HC＊)

Connector metal ﬁtting

Incremental
encoderMagneticpole
sensor

■Servo driver VPH Series External wiring diagram◎VPH-HC Type
（CC-Link specification）

VPH-HCPower supply
R
AC100～120V or
AC200～240V
S
50/60Hz（Not connected to T inTcase of single phase power）

Dynamic brake unit
（Option）

MC

NFB

R

DBK

S

DBC

T

U

r

V

s

W

τDISC
U

M

V
W

Class D grounding
MC

Thermostat *1

CN2

OFF Motor Regenerative resistor

ON

E
MC

3
4
1
2
5
6

Surge killer

Regenerative resistor（Option）

B1
B2
DC reactor（Option）

FG

DN
L1

DC reactor connection terminal（Output capacity of 1.5 kW or more only）

EP5
EP5
GND
GND
SD
SD＊

◎When an absolute
encoder is used

L2

TB4

CC-Link
DA

1

DB

2

DG

3

SLD

4

SLD

5

CN3

USB communication
VBUS

1
2
3
5
GND

DM
DP
GND
Connector metal ﬁtting

CN5(Option)

CN1

Pulse train command
FC
FC＊
RC
RC＊
GND

10

SF1*
SF1*_RET+12～24V
SF2*
SF2*_RET

4
3

8
7

Load

FG

EDM+
+12～24V
EDM-

Monitor output（When the STO option is used *2）

6

+V

4

DI2(FOT*)5

DI3(ROT*)

7

DI4(ZLS)

14

Control output signal◎When an incremental encoder is used
CN2
E
3

DO1(BRK)

CR1

11

DO2(ALM*)CR2

12+12～24V

Safety input（When the STO option is used *2）

6
5

1
8
2
9

Control input signal+12～24V
DI1(EMG*)

Absolute
encoderConnector metal ﬁtting

Servo driver VPH Series

Regenerative resistor
connection terminal

EP5
EP5
GND
GND
SD
SD＊

COM

13

Connector metal ﬁtting

FG

4
1
2
7
8
9
10
11
12

GND is common to the internal control power supply（+5V）in the servo driver.
them together.
* The status of the switch connected to a control input signal indicates the OFF status

EP5

GND
GND
A

GND
A

A＊

A＊

B
B＊
Z

B
B＊
Z

Z＊

Z＊

SD＊
HA

GND

HA＊
HB
HB＊

PS＊
PC
PC＊

HC

(HC)

HC＊

(HC＊)

15
16
17
18
FG

Incremental
encoder

EP5

SD

6
14

* Since COM of CN1 and GND are isolated, do not use common wiring or bundle

EP5

5
13

* COM of the CN1 connector is common to the control input and output signals.

EP5

PS

Magneticpole
sensorConnector metal ﬁttingof the input signal.
* A control input or output signal whose name is shown in parentheses is used as theinitial value of the relevant parameter.
* A control input or output signal marked with a * mark uses negative logic as the initialvalue.
* A control input signal power supply（+12 V, 2.5 mA to +24 V, 5 mA）must be
prepared by the user.
*1 The motor is not equipped with a thermostat.
*2 When the STO option is used, the servo driver is shipped with the STO short-circuit
plug（for details, refer to P.67）connected to CN5 as an accessory.

58

■Servo driver VPH Series External wiring diagram◎VPH-HD Type
（EtherCAT specification）

VPH-HDPower supply
AC100～120V or
R
AC200～240V
S
50/60Hz（Not connected to T inTcase of single phase power）

MC

NFB

Dynamic brake unit
（Option）

R

DBK

S

DBC

T

U

r

V

s

W

τDISC
U

M

V
W

Class D grounding
Thermostat *1

MC

OFF Motor

ON

CN2

Regenerative resistor

E
MC

3
4
1
2
5
6

Surge killer

Regenerative resistor（Option）

B1

Servo driver VPH Series

Regenerative resistor
connection terminal

B2
DC reactor（Option）

FG

DN
L1

DC reactor connection terminal（Output capacity of 1.5 kW or more only）

CN4(IN)
EtherCAT communication
To controller/front axle driver

EP5
EP5
GND
GND
SD
SD＊

Absolute
encoderConnector metal ﬁtting◎When an absolute
encoder is used

L2

CN3

1
2
3
6

TX+
TX RX+
RX -

EP5
EP5
GND
GND
SD
SD＊

USB communication

1
2
3
5

FG

GND

VBUS
DM
DP
GND
Connector metal ﬁtting

CN4(OUT)
EtherCAT communication
TX+
TX To rear axle driver
RX+
RX -

1
2
3
6

CN5
(Option)FG

Safety input（When the STO option is used *2）
SF1*
SF1*_RET+12～24V
SF2*
SF2*_RET

4
3
6
5
8

CN1
Control input signal+12～24V

7

Load

FG

Monitor output（When the STO option is used *2）

6

+V

1
2
3
4
5

DI1(EMG*)DI2(FOT*)
DI3(ROT*)
DI4(ZLS)
DI5(IN1)

Control output signal◎When an incremental encoder is used
CN2
E
3

9

DO1(BRK)

CR1

DO2(ALM*)

CR2

8

DO3(PN1)

CR3

7

7
8

10

9
10

+12～24VCOM

Connector metal ﬁtting

FG

4
1
2

11
12

initial value of the relevant parameter.
value.
* A control input signal power supply（+12 V, 2.5 mA to +24 V, 5 mA）must be
prepared by the user.
*1 The motor is not equipped with a thermostat.

59*2 When the STO option is used, the servo driver is shipped with the STO short-circuit
plug（for details, refer to P.67）connected to CN5 as an accessory.

A＊

B

B

B＊

B＊

Z

Z

Z＊

Z＊

PS＊

HB

PC

HB＊

PC＊

HC

(HC)

HC＊

(HC＊)

18
FG

Connector metal ﬁtting

Incremental
encoder

EP5

HA＊

16
17

* A control input or output signal marked with a * mark uses negative logic as the initial

A

A＊

GND

GND is common to the internal control power supply（+5V）in the servo driver.

* A control input or output signal whose name is shown in parentheses is used as the

GND

A

SD＊
HA

15

of the input signal.

EP5

GND
GND

SD

* COM of the CN1 connector is common to the control input and output signals.

* The status of the switch connected to a control input signal indicates the OFF status

EP5

6
14

them together.

EP5

5
13

* Since COM of CN1 and GND are isolated, do not use common wiring or bundle

EDM++12～24V
EDM-

PS

Magneticpole
sensor

■Servo driver VPH Series External wiring diagram◎VPH-HE Type
（MECHATROLINK-Ⅲ specification）

VPH-HEPower supply
AC100～120V or
R
AC200～240V
S
50/60Hz（Not connected to T inTcase of single phase power）

MC

NFB

Dynamic brake unit
（Option）

R

DBK

S

DBC

τDISC
U

U

T
r

V

s

W

M

V
W

Class D grounding
Thermostat *1

MC

OFF Motor

ON

CN2

Regenerative resistor

E
MC
Surge killer

Regenerative resistor（Option）

B1

Regenerative resistor
connection terminal

B2
DC reactor（Option）

DC reactor connection terminal（Output capacity of 1.5 kW or more only）

FG

DN
L1

Absolute
encoderConnector metal ﬁtting◎When an absolute
encoder is used

L2

CN4A

CN3

MECHATROLINK-Ⅲ communication
1
2
3
6

TX+
TX To master controller/
front and rear axle drivers RX+
RX -

EP5
EP5
GND
GND
SD
SD＊

Servo driver VPH Series

3
4
1
2
5
6

EP5
EP5
GND
GND
SD
SD＊

FG

USB communication

1

VBUS

2
3
5

DM
DP
GND

GND

Connector metal ﬁtting

CN4B
MECHATROLINK-Ⅲ communication
TX+
TX -

1
2
3
6

To master controller/
front and rear axle drivers RX+
RX -

CN5
(Option)

Safety input（When the STO option is used *2）
SF1*
SF1*_RET+12～24V
SF2*
SF2*_RET

4
3
6
5

FG

8

CN1
Control input signal+12～24V

7
FG

1
2
3
4
5

Control output signal

Monitor output（When the STO option is used *2）◎When an incremental encoder is used
CN2
E
3

DO1(BRK)

CR1

9DO2(ALM*)

CR2

8

DO3(PN1)

EDM++12～24V
EDM-

6

+V

DI1(EMG*)DI2(FOT*)
DI3(ROT*)
DI4(ZLS)
DI5(IN1)+12～24V

Load

CR3

COM

Connector metal ﬁtting

4
1
2

7

7
8

10

9
10

FG

11
12

GND is common to the internal control power supply（+5V）in the servo driver.
* Since COM of CN1 and GND are isolated, do not use common wiring or bundle
them together.
* The status of the switch connected to a control input signal indicates the OFF status

EP5

EP5

GND
GND

GND

A

A

A＊

A＊

B

B

B＊

B＊

Z

Z

Z＊

Z＊

SD

6

SD＊
HA

GND

HA＊

PS＊

HB

PC

HB＊

PC＊

HC

(HC)

HC＊

(HC＊)

14
15
16
17
18
FG

Incremental
encoderEP5

513* COM of the CN1 connector is common to the control input and output signals.

EP5

PS

Magneticpole
sensorConnector metal ﬁttingof the input signal.
* A control input or output signal whose name is shown in parentheses is used as theinitial value of the relevant parameter.
* A control input or output signal marked with a * mark uses negative logic as the initialvalue.
* A control input signal power supply（+12 V, 2.5 mA to +24 V, 5 mA）must be
prepared by the user.
*1 The motor is not equipped with a thermostat.
*2 When the STO option is used, the servo driver is shipped with the STO short-circuit
plug（for details, refer to P.67）connected to CN5 as an accessory.

60

■Encoder cable and power cable combination list
Encoder cableτDISC

Absolute

Power cable

Incremental

Not shielded

Shielded（For movable motor） （For movable motor） （For movable motor） （For movable motor）
SeriesMotor type
65-FS
（P）
ND11085-FS（P）

ND140-

ND180-

ND-s*1

ND250-

Optional products

ND400-

ND110ND-s HS

ND140ND180-

DD160-

DD250-

Motor model *2

Description No.

Description No.

Description No.

Description No.

Model

Model

Model

Model

NMR-SAE□A1A-101A（P）
NMR-SAE□A2A-131A（P）
NMR-SAU□A1A-181A（P）
NMR-SAU□A2A-221A
（P）

70-LS
（P）

NMR-SRE□A2A-301A
（P）

95-LS
（P）

NMR-SRF□A2A-471A
（P）

55-FS
（P）

NMR-SDM□A2A-531A
（P）

70-LS
（P）

NMR-SSM□A2A-531A
（P）

95-LS
（P）

NMR-SSE□A2A-941A
（P）

55-FS
（P）

NMR-SEM□A2A-791A（P）

P-1 *3P-7 *370-LS（P）

NMR-STE□A2A-791A（P）

NCR-XBBBA-

NCR-XBBCA-

95-LS
（P）

NMR-STF□A2A-152A
（P）

65-FS
（P）

NMR-SFE□A2A-182A
（P）

70-LS
（P）

NMR-SUE□A2A-182A
（P）

95-LS
（P）

NMR-SUF□A2A-322A（P）

160-LS（P）

NMR-SUH□A2A-622A
（P）

85-FS
（P）-HS

NMR-SAUIA2A-551A
（P）

70-LS
（P）-HS

NMR-SREIA2A-661A
（P）

95-LS
（P）-HS

NMR-SRFIA2A-102A
（P）

95-LS
（P）-HS

NMR-SSEIA2A-162A
（P）

96-LS
（P5/P3）

DD16-251L04□NN（-P/-P3）

105-FS（P5/P3）

DD16-251F04CNN（-P/-P3）

E-1

E-3

P-2 *3

P-8 *3

NCR-XBGGA-

NCR-XBCNA-

NCR-XBBEA-

NCR-XBBFA-ーE-3
NCR-XBCNA-

E-3
NCR-XBCNA-

163-LS（P5/P3）

DD25-152L02□NN（-P/-P3）

150-LS（P5/P3）

DD40-322L02CNN（-P/-P3）

200-LS（P5/P3）

DD40-622L02CNN（-P/-P3）

E-1
NCR-XBGGA-（2rps spec）

P-2 *3

P-8 *3

NCR-XBBEA-

NCR-XBBFA-

P-2 *3

P-8 *3

NCR-XBBEA-

NCR-XBBFA-

P-4

P-10 *3

NCR-XBEMA-

NCR-XBENA-

NCR-XBBTAP-6
NCR-XBEZA-

NCR-H□2153□-A-□□□

250-LS（P5/P3）P-7 *3
NCR-XBBCA-

P-5* Paired servo driver model：（1rps spec）

P-1 *3
NCR-XBBBA-

P-7 *3

DD25-102L02□NN（-P/-P3）

250-LS（P5/P3）

P-10 *3
NCR-XBENA-

NCR-XBBCA-

DD25-521L02□NN（-P/-P3）

DD40-702L01CNN（-P/-P3）

P-4
NCR-XBEMA-

P-1 *3138-LS（P5/P3）（1.5rps spec）

P-9 *3
NCR-XBBIA-

NCR-XBBBA-

DD16-681L04□NN（-P/-P3）

DD400-

P-3 *3
NCR-XBBHA-ー

146-LS（P5/P3）

NCR-H□2702□-A-□□□

P-8 *3
NCR-XBBFA-

E-3

90-LS
（P5/P3）250-LS（P5/P3）P-2 *3
NCR-XBBEA-

NCR-XBCNA-* Paired servo driver model：*1

P-7 *3
NCR-XBBCA-NMR-SCE□A2A-301A（P）

DD40-702L01CNN（-P/-P3）DD-s

P-1 *3
NCR-XBBBA-

65-FS
（P）

DD40-472L01CNN（-P/-P3）

ー

HD-s

HD180-

P-4

P-10 *3
NCR-XBENA-

ー

NCR-XBL1A（for fixed motor）

P-13
DD40-942L02CNN（-P/-P3）

175-LS（P10/P5）

DD63-842L01HNN（-P/-P5）

225-LS（P10/P5）

DD63-123L01HNN（-P/-P5）

160-LS（P）

NMR-FRHIA2A-102A（P）

185-LS（P）

NMR-FRIIA2A-122A（P）

200-LS（P）

NMR-FSJIA2A-252A
（P）

E-2

P-5

P-11 *3

NCR-XBGFB-

NCR-XBBTA-

NCR-XBETA-ー

NCR-XBL1A（for fixed motor）

P-13*1 The incremental encoder type of the ND-s Series and DD-s Series is available on request.
*2 One of the following letters appears in □ of the model name.
ND-s Series: J for the absolute encoder or I for the incremental encoder
DD-s Series: C for the absolute encoder or A for the incremental encoder*3 The motor movement speeds of 0.5 m/s and higher are supported.

61

P-13
NCR-XBL1A（for fixed motor）

NCR-XBEMA-

DD630-

HD140-P-12
NCR-XBBVA（for fixed motor）

ー

E-3
NCR-XBCNA-

P-1 *3P-7 *3

NCR-XBBBA-

NCR-XBBCA-

P-2 *3

P-8 *3

NCR-XBBEA-

NCR-XBBFA-■Encoder cable list
Length（L）

NCR-XBGGA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

Encoder connector kit *1
P1 driver-side connector J1 motor-side connector

Encoder cable dimensions◎NCR-XBDVATwisted pair shield cable 0.5SQ×1P+0.2SQ×4P
J1

P1

L

16

Model

33.3

Description
No.

E-1

NCR-XBGGA -250-Z

12.7

25m

-300-Z 30m

21.4

39

①

⑪

⑩

⑳

J1
Mark tube

15.45

P2
1000±30

L* If the cable is longer than 25 m, an external 5 VDC power
supply is required separately. The external power supply unit
NCR-XAD1A is available as an option.

P2 signal chart
Signal name Cable color
+5V
Red
GND
Black

NCR-XBGFB -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

P1
（Driver side） J1（Encoder side）
Signal name Pin name Signal name Pin name
GND
1
+5V
1
GND
2
GND
2
+5V
3
+5V
3
+5V
4
GND
4
FG（Ground） 5
SD
5
SD*
6
SD
6
7
SD*
7
8
8
9
9
10
10
11
11
12 FG（Ground） 12
13
13
14
14
15
15
16
17
18
19
20
FG（Ground） Metal◎NCR-XBDWA

Twisted pair shield cable 0.5SQ×1P+0.2SQ×4P

P1

J1

φ30

33.3

L

12.7

E-2

NCR-XBGFB -250-Z

39

①

25m

-300-Z 30m⑪

P1（Driver side） J1（Encoder side）
Signal name Pin name Signal name Pin name
1
+5V
1
2
GND
2
3
+5V
3
4
GND
4
FG（Ground） 5
SD
5
SD*
6
SD
6
7
SD*
7
8
8
9
9
10
10
11
11
12 FG（Ground） 12
13
13
14
14
15
15
16
17
18
19
20
FG（Ground） Metal
GND

Twisted pair shield cable 0.5SQ×1P+0.2SQ×4P

P1

⑩

J1

67

⑳

Mark tube
P2
1000±30

L* If the cable is longer than 25 m, an external 5 VDC power
supply is required separately. The external power supply unit
NCR-XAD1A is available as an option.

5m

E-3

-070

7m

-100

10m

-150

15m

-200

20m

◎ NCR-XBC8A

L=15 m or less→ Twisted pair shield cable 0.5SQ×1P+0.2SQ×6P
L=16 m or more→ Twisted pair shield cable 1.25SQ×1P+0.2SQ×5P
P1

16.5

3m

-050

33.3

NCR-XBCNA -030

J1

12.7

L

5 4

3

2

1

10 9

8

7

6

15 14 13 12 11

30.4

39

①

⑪

⑩

⑳

23.7

*

Optional products

P1（Driver side） J1（Encoder side）
Signal name Pin name Signal name Pin name
GND
1
+5V
A1
GND
2
+5V
A2
3
SD
A3
4
A4
SD
5
A5
SD*
6
A6
7
A7
FG（Ground） A8
8
9
GND
B1
10 GND
B2
11 SD*
B3
12
B4
13
B5
14
B6
15
B7
16 FG（Ground） B8
17
18
19
20
FG（Ground） Metal

Twisted pair shield cable 0.5SQ×1P+0.2SQ×4P
P1

Signal chart
P1（Driver side） J1（Encoder side）
Signal name Pin name Signal name Pin name
GND
1
+5V
A1
GND
2
+5V
A2
+5V
3
SD
A3
+5V
4
A4
SD
5
A5
SD*
6
A6
7
A7
FG（Ground） A8
8
9
GND
B1
10 GND
B2
11 SD*
B3
12
B4
13
B5
14
B6
15
B7
16 FG（Ground） B8
17
18
19
20
FG（Ground） Metal

P2 signal chart
Signal name Cable color
+5V
Red
GND
Black
P1
（Driver side） J1（Encoder side）
Signal name Pin name Signal name Pin name
GND
1
A
1
GND
2*
A*
2
+5V
3
B
3
+5V
4*
B*
4
5
Z
5
6
Z*
6
A
7
PS
7
A*
8
PS*
8
B
9
PC
9
B*
10 PC*
10Z
11 +5V
11Z*
12 GND
12PS
13 +5V
13PS*
14 GND
14PC
15 FG（Ground） 15
PC*
16
17
18
19
20
FG（Ground） Metal* NCR-XBCNA-160 to NCRXBCNA-200 are not connected.

Optionally, the encoder cable can also be purchased in units of 1 meter.

*1 When you create a cable using the connector kit, you need to take into account voltage drops due to the cable length during cabling. Contact our sales staff.

■External power supply unit
4.8
（10MAX）

PE (protective earth) terminal（

85

Product model
NCR-XAD1A

AC input terminal
（Ｌ）
（N）
、
4

35.2

E-2 NCR-XBGFB-250/300-Z.

22.5

4.8
（10MAX）

This unit is used for E-1 NCR-XBGGA-250/300-Z and

96.4

）

Output indication light（DC ON：Green）
Under voltage indication light（DC LOW：Red）
Output voltage adjustment trimmer（V.ADJ）

DC output terminal
（－V）
（＋V）
、

62

■Unshielded power cable list

P-2

Power cable dimensions

Signal chart

Optional products

NCR-XBBBA -030

3m

-050

5m

Signal name J1 pin name
U

1

Red

-070

7m

V

2

White

-100

10m

W

3

Black

-150

15m

E

4

Green

-200

20m

Power cable connector kit

-250

25m

CSZ-MOT-30030m

NCR-XBBEA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

L
50

50

Cab-tire cable 0.75SQ 4 cores

J1

12.3

P-1

Length
（L）

Model

23.7

Signal name J1 pin nameL
70

70
Cab-tire cable 1.25SQ 4 cores
J1

B1

Red

V

B2

White

W

A1

Black

E

A2

Green

Power cable connector kit
Crimp terminal R1.25-4

NCR-XBB4A

5m

A2 B2
A1 B1

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

29

Signal name J1 pin nameL
70

70
Cab-tire cable 2SQ 4 cores
J1

B1

Red

V

B2

White

W

A1

Black

E

A2

Green

Power cable connector kit
Crimp terminal R2-4

NCR-XBB4A
A2 B2
A1 B1

20

P-5

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

NCR-XBBTA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

NCR-XBEZA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

29

Signal name J1 pin name
A

Red

V

B

White

70

W

C

Black

Ｕ

E

D

Green

L

Approx.70.2

Cab-tire cable 5.5SQ 4 cores

Ｖ

J1

Ｗ
Ｅ

Power cable connector kit
CSZ5-MOT-B

Crimp terminal R5.5-5

φ40.5

A

D

B

C

Signal name J1 pin name
L
70

U
V

J1

W
Cab-tire cable 8SQ 4 cores

Cable color

U

E

約70.2

Cable color

U

A

Red

V

B

White

W

C

Black

E

D

Green

Power cable connector kit
NCR-XBD9A
φ56.33

P-4

NCR-XBEMA -030

Cable color

U

33.4

P-3

3m

-050

Cable colorU

20

NCR-XBBHA -030

Cable color

2 1
4 3

16.7

33.4

Description
No.

Crimp terminal R8-5

約75

U

L
70±5

Approx.75

J1

Cable color

A

Red
White

V

B

W

C

Black

E

D

Green

Power cable connector kit

Cab-tire cable 8SQ 4 cores

NCR-XBD9A
Crimp terminal R8-6

φ56.33P-6Signal name J1 pin name約75

* Optionally, the power cable can also be purchased in units of 1 meter.

63

■Shielded power cable list
（for movable motor）

P-8

Length（L）

NCR-XBBCA -030

3m

-050

5m

U

1

Red

-070

7m

V

2

White

-100

10m

W

3

Black

E

4

Green/Yellow

15m

-200

20m

-250

25m

-300

30m

NCR-XBBFA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

Signal chart
Signal name J1 pin name

L
50

50

J1

Power cable connector kit
CSZ-MOT

Cab-tire cable 0.75SQ 4 cores

2 1
4 3

16.7

Signal name J1 pin name
L
70

70

J1

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

NCR-XBENA -030

3m

-050

5m

-070

7m

-100

10m

Red

V

B2

White

W

A1

Black

E

A2

Green/Yellow

Power cable connector kit

Cab-tire cable 1.25SQ 4 cores
Crimp terminal R1.25-4

NCR-XBB4A

A2 B2
A1 B1

-150

15m

-200

20m

-250

25m

-300

30m

NCR-XBETA -030

3m

-050

5m

Signal name J1 pin name
L
70

70

J1

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

Cable color

B1

Red

V

B2

White

W

A1

Black

E

A2

Green/Yellow

Power cable connector kit

Cab-tire cable 2SQ 4 cores
Crimp terminal R2-4

NCR-XBB4A
A2 B2
A1 B1

Signal name J1 pin nameL70

Approx.70.2

Ｕ
Ｖ

J1

29

Cable color

U

A

Red

V

B

White

W

C

Black

E

D

Green/Yellow

Ｗ

Power cable connector kit

Ｅ

Cab-tire cable 5.5SQ 4 cores

CSZ5-MOT-B

Crimp terminal R5.5-5

φ40.5

A

D

B

C

Signal name J1 pin name
U
L
70

Ｕ
V

J1

約70.2

Cable color

A

Red
White

V

B

W

C

Black

E

D

Green/Yellow

W

Cab-tire cable 5.5SQ 4 cores

E

Crimp terminal R5.5-5Power cable connector kit
NCR-XBD9A

φ56.33

P-11

-070

29

U

20

P-10

Cable color

B1

33.4

P-9

3m

-050

23.7

U

20

NCR-XBBIA -030

Cable color

Optional products-150Power cable dimensions

12.3

P-7

Model

33.4

Description
No.

約75

* Optionally, the power cable can also be purchased in units of 1 meter.

64

■Shielded power cable list
（for fixed motor）

P-12

Model

Length（L）

NCR-XBBVA -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

NCR-XBL1A -030

3m

-050

5m

-070

7m

-100

10m

-150

15m

-200

20m

-250

25m

-300

30m

Power cable dimensions

Signal chart
Signal name J1 pin name
U

A

Black
（1）

V

B

Black
（2）

Ｕ

W

C

Black
（3）

V

E

D

Green/Yellow

L
70

J1

W
Cab-tire cable 8SQ 4 cores

Cable color

Power cable connector kit

ECrimp terminal R8-5

NCR-XBD9A

φ56.33

Description
No.

約75

Optional products
65

L
70±5

Approx.75

J1

Cable color

U

A

Black
（1）

V

B

Black
（2）

W

C

Black
（3）

E

D

Green/Yellow

Power cable connector kit

Shield cable 8SQ 4 cores

NCR-XBD9A
Crimp terminal R8-6

φ56.33P-13Signal name J1 pin name約75

* Optionally, the power cable can also be purchased in units of 1 meter.

■I/O-related options
Applicable
servo

VPH Series: VPH-HA Type（I/O specification）

drivers◎I/O cable VCIC SeriesThis cable is connected with the control input/output connector

Ｌ（CN1）of the VPH-HA Type to input and output signals.
Product model

Cable length L（mm）

NCR-XBA1A-010

1000±30

NCR-XBA1A-020

2000±30

NCR-XBA1A-030

3000±30

Drain wire
18P Twisted pair shield cable

40±5

CN1

100±10◎I/O terminal block cable VCTC SeriesThis cable is used to connect the control input/output connector

L（CN1）of the VPH-HA Type and the I/O terminal block unit
（40

Ｅ

Cable length L（mm）
1000±30

NCR-XBA2A-020

2000±30

NCR-XBA2A-030

3000±30

18P Twisted pair shield cable
25*- ** **Product model
NCR-XBA2A-010

Terminal block unit side

CN1

Optional products

Drain wire Length 200±20mmpins）.

Crimp terminal
1.25-R4

40±10◎I/O terminal block unit
（screw type）
This unit is used to convert an input connector into a terminal block. Screws

145

Number of pins

ZTB-401

40 pins

4.4

Product model

34.1

block cable（VCTC Series）.

43.9

138

are used for connection. To connect the servo driver requires the I/O terminal

5.9

55.5

7

◎I/O terminal block unit
（cage clamp type）
This unit is used to convert an input connector into a terminal block. Cageterminal block cable（VCTC Series）.
Product model

Number of pins

NCR-XABND3A

40 pins

Driver slot
Wire insertion hole55

clamps are used for connection. To connect the servo driver requires the I/O

Connector

77

41.6※（46.1）

Open tool
Wire insertion hole■Cage clamp type common terminal block

Product model

Number of pins

NCR-XABQD3A

8×2

55

Driver slot

Use this block to connect two or more cables to a terminal.

Wire insertion hole

26.6

38

28.9

■Tool to use Connector key
Product model※（33.4）* The dimensions are those applicable when a 35 mm
DIN rail is mounted.

NCR-XABRD0A◎I/O signal connector kit
This is a connector kit used to connect the control input/output connector

1

19

18

36

（CN1）of the VPH-HA Type.
Product model
CSZ-INF

Cover

Connector

66

■I/O-related options
Applicable
servo

VPH Series: VPH-HB/HD/HE Type（SSCNETⅢ/H, EtherCAT, and MECHATROLINK-Ⅲ specifications）

drivers◎I/O cableThis cable is connected with the control input/output connector

Ｌ（CN1）of the VPH-HB/HD/HE Type to input and output signals.
Product model
NCR-XBANA-010

1000±30

NCR-XBANA-020

2000±30

NCR-XBANA-030

3000±30100±1040±55Ｐ Twisted pair shield cable

Cable length L
（mm）
CN1

◎I/O connector kit
This is an I/O cable connector kit used to connect the control input/

42.5

13.6
10

1

output connector（CN1）of the VPH-HB/HD/HE Type.

18.5

Product model
NCR-XBDYA

Optional products

Applicable
servo

VPH Series: VPH-HC Type（CC-Link specification）

drivers◎I/O cableThis cable is connected with the control input/output connector（CN1）ofＬ
39

the VPH-HC Type to input and output signals.

NCR-XBARA-020

2000±30

NCR-XBARA-030

3000±30

VPH

1000±30

100

3M
10314

Cable length L（mm）

25*-****

Product model
NCR-XBARA-010

40

7Ｐ Twisted pair shield cable

CN1◎I/O connector kit
This is a cable connector kit that is connected with the control input/
output connector（CN1）of the VPH-HC Type to input and output signals.

1

8

7

14

Product model
ZCK-COM

Applicable
servo

VPH Series: All types

drivers◎STO cableThis cable is connected with the VPH Series servo driver to input and output STO signals.
Product model

Cable length L（mm）

NCR-XBASA-010

1000±30

NCR-XBASA-020

2000±30

NCR-XBASA-030

3000±30

Ｌ33

4P Twisted pair shield cable

40±5◎STO connector kit
10This is an STO cable connector kit used to connect the VPH Series servo driver.

8

11

2

7

NCR-XBJ5A

1

Product model

33◎STO short-circuit plug
This plug is used to release the blocked power supply to the motor connected to the VPH

8

21.2

Series. It is an accessory provided when the STO option is used.（The VPH Series servo
11

8

67

2

NCR-XBJ6A

7

Product model1

driver is shipped with this plug connected to its safety input connector（CN5）.）100±10■Serial communication-related options
Applicable
servo

VPH Series: VPH-HA Type（I/O specification）

drivers◎RS-422 communication cableThis cable is used to input and output servo driver data using a PLC
computer link module（RS-422 I/F）, etc.
* A communication cable is also available that allows two to four servo
drivers to be connected to a single personal computer.
Product model

Cable length L（mm）

NCR-XBFJA-010

1000±30

NCR-XBFJA-030

3000±50

NCR-XBFJA-050

5000±100

NCR-XBFJA-100

10000±100

L

Drain wire

100±10

4P Twisted pair shield cable

40±5◎Serial communication connector kit
This connector kit is used to connect the RS-422 serial communication

φ13.5

51

Optional products

connector of the servo driver.

φ5

Product model
NCR-XBDPA
Pin arrangement

Applicable
servo

VPH Series: All types

drivers◎Noise protection ferrite coreThis option is used to prevent malfunctions due to noise（monitor display

39

φ30

interruption, forced shutdown of the editing software, etc.）.

34

φ13

Product model
NCR-XAA9A

TDK68

■Noise protection
Applicable
servo

VPH Series: All types

drivers◎Zero phase reactor（for common mode）
This reactor absorbs the noise generated by the servo driver to reduce the effect of noise on the driver main unit and the peripheral equipment.
* The effectiveness of this option greatly depends on how the cables are routed and how the device is connected to ground.
■NCR-XAB4A

Product model■NCR-XAB5A

131MAX

φ74MIN78MAX

NCR-XAB5A

φ39.5MIN

NCR-XAB4A

95MAX
2-φ5.5181MAX
8

13

26MAX

13

26MAX

80

12

150

■Installation examples●Winding

Optional products

Servo driver

Zero phase reactor※1 Terminal block

Zero phasereactor

Servo driverτDISC※1 Terminal block※1 Terminal blockτDISC※2 Dynamic brake unit
（Option）●Penetration（If it is not possible to wind the electric wire）

Zero phase reactor
3 to 5Servo driver※1 Terminal block

τDISC※1 Terminal block*1 The customer is requested to supply the terminal block. Supply the terminal block between servo driver and zero-phase reactor, if necessary.
*2 If a dynamic brake unit is present, install the zero-phase reactor between servo driver and dynamic brake unit so that it is as close to the servo driver as possible.

■Zero phase reactor to use and the number of reactors●Relationship between AWG cable size（mm 2）and zero phase reactor
Zero phase reactor

Inner diameter

NCR-XAB4A

39.5mmNCR-XAB5A

74.0mmAWG cable size（mm 2）
18 to 10（0.75 to 5.5）

8 to 6（8 to 14）

1 reactor; winding three to

4 to 2（22 to 30）

1/0 to （50 to ）3 to 5 reactors penetrated

five times
1 reactor; winding three tofive times

3 to 5 reactors penetrated（600 V, 110°C）and the inner diameter of the zero phase reactor.
The values in this table are calculated from the AWG size（mm 2）of the MLFC cableThis table is for reference purposes because the diameter and stiffness vary depending on the cable used. It is assumed that the cable is wound 3 to 5 times.
* During operation, the zero-phase reactor generates heat. The electric wire to wind around the zero-phase reactor must have a service temperature of 110°C or more.
* If the noise suppression effect cannot be obtained or the heat generated from the zero-phase reactor is high, increase the number of reactors used.
* For details about usage, refer to the VPH Option Instruction Manual.

69

■Noise protection
Applicable

VPH Series: All types with an output capacity of 800 W or lessservo
drivers◎AC reactor
This reactor makes the waveform of the input current approximate to that of a sine wave to suppress harmonics.Even when the power
supply capacity is 500 KVA, install the reactor to protect the main circuit.
Servo driver

Paired AC reactor

Model

Model

NCR-H□1101A-A-□□□

NCR-XABT2A-801

NCR-H□2101A/2201A/2401A/2801A-A-□□□
NCR-H□2801A-A-□□□

NCR-XABT2A-152 *1*1 AC Reactor to use with a single-phase AC power supply if the load capacity of the applicable motor exceeds 500 W.
NCR-XABT2A-801/152

D

E

Optional products

W

H

φ

A

B

（Unit：mm）
Product model

W

D

H

A

B

E
（Applicable screw）

φ

NCR-XABT2A-801

（85）

60

（75）

70

49

4.5
（M4）

M4 tap

NCR-XABT2A-152

（95）

70

（95）

75

60

4.5
（M4）

M4 tap■AC reactor installation and specification
For details about AC reactor installation, wiring, and specification, refer to the VPH Option Instruction Manual.
●AC reactor wiring diagram
・For a single-phase AC power supply

AC reactor

Servo driver
R

R2

R1

S

S2

S1

T

T2

T1

Single-phase
AC power supply

・For a three-phase AC power supply

AC reactor

Servo driver
R

R2

R1

S

S2

S1

T

T2

T1

Three-phase
AC power supply

70

■Noise protection
Applicable

VPH Series: All types with an output capacity of 1.5 kW or more

servo
drivers◎DC reactor
This reactor makes the waveform of the input current approximate to that of a sine wave to suppress harmonics.
Even when the power supply capacity is 500 KVA, install the reactor to protect the main circuit.
サーボドライバ

Paired DC reactor

Model

Model

AWG diameter of the cable used（SQ）

NCR-H□2152A/2222A-A-□□□

NCR-XABU2A-222

14（2）

NCR-H□2332A-A-□□□

NCR-XABU2A-332

12
（3.5）

NCR-H□2702A-A-□□□

NCR-XABU2A-752

8（8）

NCR-H□2153A-A-□□□

NCR-XABU2A-153

4（22）

NCR-XABU2A-222

NCR-XABU2A-332
９５±1
80±0.585±1

70±1

54±0.5（5）（Recommended
installation：55）

60±1（Recommended
installation：50）

（5）

4.5

4.5

M5 tap terminal（113）

M4 tap terminal（95）

NCR-XABU2A-752

NCR-XABU2A-113
125±1

5.5

105±1

（110）
5.5

5.5

（170）

（170）

（145）

（140）

■DC reactor installation, wiring, and specification
The wiring of the DC reactor is as shown below. Remove the short bar that short-circuits L1 and L2/P, and connect the DC
reactor. For details about DC reactor installation, wiring, and specification, refer to the VPH Option Instruction Manual. The DC
reactor does not have polarity.
●DC reactor wiring diagram
Short barServo driver

Servo driver
DC reactor

71

L1

L1

L2/P

L2/P

5.5
M6 crimping terminal

M6 crimping terminal

M5 crimping terminal

2×φ5.5

（21）

105±1
（8）

5.5

105±0.3

2×φ5.5８０±0.595±1

８０±0.5

（10）

5.5

125±1

105±0.52×φ5.5８０±0.595±1
８０±0.5（160）

NCR-XABU2A-153（150）

Optional products

49±0.570±0.5

■Dynamic brake unit
Applicable

VPH Series: All types

servo
drivers

This is an auxiliary brake unit that helps decelerate the motor. It prevents the connected motor from free-running due to an error in the servo driver,power failure, etc.
Servo driver

Paired dynamic brake unit

Model

Model

NCR-H□1101A/1201A-A-□□□
NCR-H□2101A/2201A/2401A/2801A-A-□□□

NCR-XABCA2B-801-UL

NCR-H□2152A/2222A-A-□□□

NCR-XABCA2B-222-UL

NCR-H□2332A-A-□□□

NCR-XABCA2B-402-UL

NCR-H□2702A-A-□□□

NCR-XABCA2B-752-UL

NCR-H□2153A-A-□□□

NCR-XABCA2C-153

NCR-XABCA2B-801-UL

NCR-XABCA2B-222-UL
(11)

35

74

(5)

(17)

60

135

50

30

5
146

13
120

136

4
112

120

10
100
4.5

Optional products

30

15

5.5

NCR-XABCA2B-402-UL

NCR-XABCA2B-752-UL
NCR-XABCA2B-113-UL

79

(29)

（30）

79
13

5
183

5.5

193

193

183

28

167

135

56

167

28

13
5

56

135

5.5

NCR-XABCA2C-153
160

216

206

13
5

（30）
40

190

80
70

5.5

72

■Regenerative resistors
Applicable

VPH Series: All types

servo
drivers

Two series of the regenerative resistors（NCR-XAE Series and NCR-XAF Series）are offered. The specifications of the supplied thermostat differ
between these series. For details, see below and refer to the VPH Option Instruction Manual.
Servo driver

Paired regenerative resistors
NCR-XAE Series model

NCR-XAF Series model

A-①

NCR-XAE1A2A

NCR-XAF1A2A

Cement resistor CAN200UT 24 Ω J
200 W 24 Ω × 1, set of thermostats *1

A-①

NCR-XAE2A2A

NCR-H□2332A-A-□□□

Cement resistor CAN400UR 20 Ω J
400 W 20 Ω × 1, set of thermostats *1

A-②

NCR-XAE3A2A

NCR-H□2702A-A-□□□

Vitreous enamel resistor RGH300G（0S）30 ΩJ
300 W 30 Ω × 3（connected in parallel with a total of 900 W and 10 Ω）
Set of thermostats *2

B-①

NCR-XAE4A2A

Vitreous enamel resistor RGH500G（0S）22 ΩJ
500 W 22 Ω × 4（connected in parallel with a total of 2 kW and 5.5 Ω）
Set of thermostats *2

B-①

Model

Dimensions

Regenerative resistor description

NCR-H□1101A/1201A-A-□□□

Cement resistor CAN60UT 82 Ω J
60 W 82 Ω × 1, set of thermostats *1

NCR-H□2152A/2222A-A-□□□

NCR-H□2101A/2201A-A-□□□
NCR-H□2401A/2801A-A-□□□

NCR-H□2153A-A-□□□*３

NCR-XAF2A2A
NCR-XAF3A2A
NCR-XAF4A2A*4
NCR-XAE9A2A

NCR-XAF9A2A（If you have selected the HD-s Series, contact our sales staff.）*1 A set of thermostats for the cement resistor consists of 1 thermostat and 1 thermostat mounting plate.
*2 A set of thermostats for the vitreous enamel resistor consists of 1 thermostat, 1 thermostat mounting band, 2 M4 nuts, and 1 M4 screw.
*3 Contact rating of the supplied thermostat

120 VAC：0.1 to 17A、240 VAC：0.1 to 17A*4 Contact rating of the supplied thermostat

120 VAC：0.1 to 15A、240 VAC：0.1 to 10A*5 Contact rating of the supplied thermostat

6 to 42 VDC：1 to 200mA、6 to 250 VAC：1 to 200mA

A-①： Cement resistor

A-②： Cement resistor

CAN60UT 82Ω J/CAN200UT 24Ω J

CAN400UR 20Ω J

E

5.3

16.1

D

16.1

F

250

A
（Equivalent to #250, t = 0.8,
tab terminal）

265
φ6.2 lug terminal
Temperature detector
Thermostat

C

Temperature detector
Thermostat

61

B

Thermostat table for regenerative resistor

Thermostat table for regenerative resistor（After installing the thermostat, fasten the table with the regenerative resistor mounting screw.）

Model

33

31

13

Optional products* To determine whether the optional regenerative resistor is required, download the motor selection tool from our website and make a check.

31（After installing the thermostat, fasten the table with the regenerative resistor mounting screw.）

A

B

C

D

E

CAN60UT 82Ω J

100

115

40

4.3

21

F
5

CAN200UT 24Ω J

200

215

50

5.3

26

8

B-①： Vitreous enamel resistor

E

10

RGH300G（0S）30ΩJ/RGH500G（0S）22ΩJ

Temperature detector
Thermostat

φ6

C

D

13

A
B

73

*5

Model

A

B

C

D

E

RGH300G（0S）30ΩJ

304

334

84

44

40

RGH500G（0S）22ΩJ

350

380

99

49

58

■Compliance with overseas standards
τDISC

ND-s

ND-s HS/DD-s/HD-s

Names of the motor types compliant
with overseas standards

Compliance with overseas standards
UL/cUL standard（File No：E254021）

Names of the standard specification motor
types mentioned in this catalog

CE marking（Not compliant with overseas standards）

ND110-65/85-FS（P）B-UC（100V）○○

ND110-65/85-FS（P）（100V）

ND110-65/85-FS（P）B-UC（200V）○○

ND110-65/85-FS（P）（200V）ND140-65-FS（P）-UC○○ND140-65-FS（P）

ND140-70/95-LS（P）-UC○○ND140-70/95-LS（P）

ND180-55-FS（P）B-UC○○

ND180-55-FS（P）

ND180-70/95-LS（P）B-UC○○

ND180-70/95-LS（P）

ND250-55-FS（P）B-UC○○

ND250-55-FS（P）

ND250-70/95-LS（P）B-UC○○

ND250-70/95-LS（P）

ND400-65-FS（P）B-UC○○

ND400-65-FS（P）

ND400-70/95/160-LS（P）B-UC○○

ND400-70/95/160-LS
（P）

－

－

All types－* The motor types listed above that are compliant with overseas standards are different from the standard specification motor types mentioned in this catalog. For details of the
motor types compliant with overseas standards, refer to the "τDISC ND-s Series UL/CE specification" catalog.
* The dimensions and shapes of the motor main units are the same as the standard specification. All encoders are the absolute encoder type.
* The rated torque and maximum torque of some motor types may differ from the standard specification.
* The positions and shapes of the power cable and cable gland of some motor types may differ from the standard specification. For details, contact our sales staff.

Input power

driversupplyCompliance with overseas standards
Servo driver model（output capacity）

Servo driver type（specification）

UL/cUL standard（File No：E251116）

CE marking

KC mark－－

VPH-HA（I/O）
100 VAC

NCR-H□1101A-A-□□□（100W）

system

NCR-H□1201A-A-□□□（200W）

VPH-HB（SSCNETⅢ/H）
VPH-HC（CC-Link）○

VPH-HD（EtherCAT）
VPH-HE（MECHATROLINK-Ⅲ）

NCR-H□2101A-A-□□□（100W）
NCR-H□2201A-A-□□□（200W）
NCR-H□2401A-A-□□□（400W）
NCR-H□2152A-A-□□□（1.5kW）

VPH-HA（I/O）○ *1

VPH-HB（SSCNETⅢ/H）
VPH-HC（CC-Link）

○

○

○ *1

VPH-HE（MECHATROLINK-Ⅲ）－

VPH-HA（I/O）○ *1

VPH-HB（SSCNETⅢ/H）
NCR-H□2801A-A-□□□（800W）

VPH-HC（CC-Link）○○

VPH-HD（EtherCAT）－○ *1

VPH-HE（MECHATROLINK-Ⅲ）

VPH－

VPH-HD（EtherCAT）

VPH-HA（I/O）
200 VAC

NCR-H□2222A-A-□□□（2.2kW）

system

NCR-H□2332A-A-□□□（3.3kW）

VPH-HB（SSCNETⅢ/H）
VPH-HC（CC-Link）

○

○

○

○

○ *1

VPH-HD（EtherCAT）

Overseas standards /Compliance with regulations

Servo

VPH-HE（MECHATROLINK-Ⅲ）
VPH-HA（I/O）
VPH-HB（SSCNETⅢ/H）
NCR-H□2702A-A-□□□（7kW）

VPH-HC（CC-Link）○ *1

VPH-HD（EtherCAT）
VPH-HE（MECHATROLINK-Ⅲ）－

VPH-HA（I/O）
VPH-HB（SSCNETⅢ/H）
NCR-H□2153A-A-□□□（15kW）

VPH-HC（CC-Link）－－－

VPH-HD（EtherCAT）
VPH-HE（MECHATROLINK-Ⅲ）*1 KC marking of VPH-HB, HC, HD, and HE Type with STO option is not supported.

■Compliance with regulations
・Compliance with EU RoHS Directive and Chinese RoHS Directive

74

MEMO

75

Lineup of other direct drive products【τiD roll】

Large torque, high-precision cylinder Type
Direct drive motor
Gear-less, non-hydraulic direct drive makes industrial machines
more precise and more eﬃcient and provides greater space savings
and improvements in environmental friendliness and safety.

◎Water cooling Type iD Series
Rated torque：550～7500 N･m
Max torque：1100～12000 N･m◎Fan cooling Type iD Series
Rated torque：150～2800 N･m
Max torque：450～7000 N･m【τlinear】

Linear servo motor that achieves high quality and high performance for machines
A diverse lineup of coreless type and core type models is provided from which to select a desired
one from diﬀerent perspectives such as operation speciﬁcations, thrust, and stroke.

◎NVA Series（Coreless/High-performance type） Rated thrust：23～900 N◎NLD Series（Coreless/Standard type） Rated thrust：50～1000 N◎NLA-S Type（Coreless/Small-thrust type） Rated thrust：7～13 N◎NLA-MA/NA Type（Core type）

Rated thrust：250～1500 N【τLinear Stage】

High-performance control stage
combined with servo control technology
This product meets various needs for positioning accuracy,
speed stability, long stroke, customization, etc.
The X, XY, Xθ, and XYθ axis stages can be built as well.

◎τLinear Stage（High precision Type）
Positioning accuracy and speed stability are guaranteed.

◎Stage Block（Low cost/for transportation）
Stroke：100～21300 mm【τServo Compass】

Innovative arc-shaped linear servo motor
Supporting various operation◎R850/R1550 Type（Operation angle-limited type）
Power radius：825 mm/1525 mm◎R200/R360/R500 Type（Multiple turn type）
Power radius：178 mm/335 mm/475 mm

angles from small angles tomultiple turn operations, thisproduct provides a space-saving,cost eﬀective alignment stage.

76

SAFE

Warranty

The warranty period of our products is one year after shipment from our factory. Please note that any failure or abnormality
resulting from the following causes is not covered by the warranty.
◎ Modiﬁcation by parties other than us.
◎ Uses other than those speciﬁed in this catalog and the relevant instruction manual.
◎ Natural disasters.
◎ Connection with another maker's product not approved by us.
The scope of the warranty is limited to repairs of the main unit of the product. The warranty does not cover damage caused by
failure of the delivered product and does not compensate for your opportunity loss, proﬁt loss, secondary damage, or accident.

！ Notes on use◎Handle this product with due care. Dropping or hitting the product may damage it.
◎When this product is to be used in equipment in which a failure of the product is likely to cause a serious accident or loss,
install a safety device.
◎While we have made the utmost eﬀort to ensure the quality of this product, it may behave in an unintended way due to an
unexpected external noise or static electricity or an unexpected failure of the input power, wiring, parts, etc. We therefore ask
you to give consideration to a fail-safe design and secure safety within the operation area.
◎To ensure proper use, carefully read the instruction manual and fully understand its contents. Observe the instructions on
the handling of the product.
◎The motor of this product uses strong magnets. Thorough care should be exercised because a person with a cardiac
pacemaker or other electronic device may experience a serious accident if he or she comes in the vicinity of the product.
◎Before installing, adjusting, inspecting, or maintaining the servo motor, the driver, and the related devices connected to thecontroller, unplug the power supply cables of all these devices and take a measure, such as locking them or using safety
plugs, to prevent a person other than the operator from turning the power back ON.

WebsiteReprint without permission is forbidden

Overseas sales dept.
1-4-2, Osaku, Sakura- City, Chiba, 285-0802, Japan

TEL：+81-43-498-2315

FAX：+81-43-498-4654

TEL：+81-4４-８５５-４３１１

FAX：+81-4４-８５6-4831

E-mail：overseas@nikkidenso.co.jp
Head oﬃce
2-8-24, Arima, Miyamae-ku, Kawasaki- City, Kanagawa, 216-0003, Japan

Korean Exclusive Distributor
D311, Centroad, 323 Incheon Tower-Daero, Yeonsu-Gu, Incheon, 22007, Korea TEL：+82-32-831-2133,2155 FAX：+82-32- 831-2166●τDISC, τLinear, Servo Compass, and τENGINE are registered trademarks of CKD Nikki Denso Co., Ltd.●SSCNETⅢ/H,
SSCNETⅢ, and CC-Link are registered trademarks of Mitsubishi Electric Corporation.●EtherCAT® is a registeredtrademark of Beckhoﬀ Automation GmbH of Germany and a patented technology licensed by it.●MECHATROLINK is a
registered trademark of the MECHATROLINK Association.●If the end user of this product is considered to be concernedwith military aﬀairs or the product is likely to be used for the purpose of manufacturing weaponry, its export may be
restricted by the Foreign Exchange and Foreign Trade Act. When exporting the product, conduct thorough examinations
and go through necessary export procedures.●The information contained herein is valid as of October 2022.●Part of theratings, speciﬁcations, dimensions, and other information are subject to change without prior notice to improve theproduct.●While we have made our best eﬀort and exercised extreme care in creating this catalog, we assume no
responsibility for damage resulting from errors, omissions, and other mistakes that may be found herein.

Catalog No.

N019F202210