IS620 Series - Single Axis Servo

For general purpose applications

Pulse/analog input
Embedded motion
IS620 series servos IS620 series highlights
High-performance servo system for motion control applications The IS620 series is engineered to achieve the highest possible performance and
reliability ‒ enabling users to maximize the productivity of their automation systems

High accuracy - multi-turn absolute encoder with 23 bit resolution

Proprietary Inovance algorithm

Infrared tube
Lens Rotation slit
8,000,000 p/r
Fixed slit Photocell

800
times

10,000 p/r IS620

Previous model

The 23-bit multi-turn absolute encoder, developed by WeTon, an Inovance subsidiary, has a resolution of 8 million pulses per revolution

IS620 series servo drive - key features MS1 series servo motor - key features for extremely precise positioning applications such as industrial robots, machine tools and semiconductor manufacturing machinery.

High performance High precision

The system's battery ensures data is backed-up at servo drive power-off and calculates the mechanical absolute position after servo drive
Current loop bandwidth > 4 kHz 23-bit resolution multi-turn absolute encoder
power-on. It does not need to repeat the homing operation.
Speed loop bandwidth: 1.2 kHz Reliable operation
Wide range IP67 rating (shaft opening fulfills IP65 rating with oil seal option)
Supply voltage Low cogging torque ‒ 1% of rated torque
Single-phase 220 V Wide selection
Three-phase 220 V Motor frame ‒ 40, 60, 80, 100, 130, 180 Smaller footprint, higher performance
Three-phase 380 V Rated torques from 0.16 Nm to 48.0 Nm
0.1 kW to 7.5 kW Low and medium inertia selection The built-in encoder has been developed in-house and is designed to achieve the smallest possible footprint, so the flange is kept the
Network compatibility Rated speed 1,500 rpm or 3,000 rpm same all along the motor. The MS1H1 and MS1H4 motors are suitable for equipment requiring high torque (maximum torque of 350%).
Pulse/analog ‒ IS620P series servo Powerful performance

EtherCAT ‒ IS620N series servo Rated torque 350% (750 W or less MS1 motor)

CANopen ‒ IS620P-CO series servo

Convenient connector
Easy-to-use
Easy commissioning with keypad Compact size
Fine tuning with PC software (InoServoShop)
Smart tuning
Inertia auto-tuning (on-line/off-line)
Automatic gain tuning
Adaptive notch filter
Actual size: 77.5 mm
Automatic/manual damping filter for low MS1H1 100 W model
frequency resonance
Maximum torque
350%

02 03
IS620 series highlights IS620 servo drive technical data
Engineered for performance and reliability in a compact footprint Servo drive for position, speed, and torque control via pulse/analog, EtherCAT

Improved performance ‒ speed loop bandwidth 1.2 kHz

Speed loop bandwidth is a measure of how fast the motor can

respond. High response control based on torque feed forward
Gain (dB) IS620 P S 5R5 I - A - INT
1.2 kHz ① ② ③ ④ ⑤ ⑥ ⑦
can reduce the settling time of machines. The settling time of
-3
IS620's position control is only 5.0-6.0 ms.

-10
- Shorter settling time ① Series ④ Rated output current ⑥ Customized function
- Reduced positioning time IS620 servo drive 1R6: 1.6 A A: 16-bit analog input
IS620 … C: CANlink
- Higher throughput Previous model 021: 21 A CO: CANopen
② Product type 026: 26 A
Frequency (Hz) 500 1200 P: pulse/analog
N: EtherCAT

Smart tuning ‒ easy commissioning with new tuning function ③ Voltage class
S: 220 Vac
⑤ Installation
I: base mount
⑦ Version
INT: international
T: 400 Vac

The machine can be automatically optimized using the automatic

Servo drive specifications
Stiffness level
gain tuning function based on the stiffness level to achieve fast
response and stability. Level 31 Single-phase 220 V Three-phase 220 V
Frame size SIZE-A SIZE-A SIZE-C
~

Load inertia identification: on-line and off-line Level 1

Model no. S1R6 S2R8 S5R5 S5R5 S7R6 S012

inertia identification
Rated current (A) 1.6 2.8 5.5 5.5 7.6 11.6
Automatic gain adjustment: speed and position Self-adaptive notch filter
Maximum current (A) 5.8 10.1 16.9 16.9 17 28
loop gains can be automatically adjusted by setting the
Input voltage
SV-ON FWD REV

stiffness level Single-phase 200 to 240 Vac, Three-phase 200 to 240 Vac,
Load inertia identification
+10 to -15%, 50/60 Hz +10 to -15%, 50/60 Hz
Self-adaptive notch filter: The vibration frequency can
Internal DBR No 50Ω / 50 W 50Ω / 50 W 25Ω / 80 W
be automatically detected and the notch filter can be
automatically set Three-phase 380 V
Damping filter: suppresses vibration from 1 to 100 Hz Frame size SIZE-C SIZE-E
Model no. T3R5 T5R4 T8R4 T012 T017 T021 T026
Wide protocol ‒ pulse/analog, EtherCAT, MODBUS, CANopen Rated current (A) 3.5 5.4 8.4 11.9 16.5 20.8 25.7
Maximum current (A) 8.5 14.0 20.0 24.0 42.0 55.0 65.0
The IS620 family of servo drives support a variety of protocols Controller ■ Internal positioning Input voltage Three-phase 380 to 440 Vac, +10 to -15%, 50/60 Hz
for your system. Internal DBR 100Ω / 80 W 50Ω / 80 W 40Ω / 100 W
POWER CPU EtherCAT Pulse DO
Analog

IS620P servo drive Notes: internal DBR is built-in regenerative resistor specification

-Pulse/analog input; Models S1R6 and S2R8 are not configured with a built-in regenerative resistor. Use an external regenerative resistor if necessary

-MODBUS RTU: RS232/RS485

Servo drive dimensions
-Internal positioning: up to 16 positions can be stored Position 1
Speed 1
-Supports point-to-point positioning using a simple digital Acc/Dcc 1 L
D Screw hole
Size L H D L1 H1 D1 Screw Tightening
input from the controller ■ MODBUS RTU ■ Pulse/analog (mm) (mm) (mm) (mm) (mm) (mm) hole torque
IS620N servo drive (Nm)

-EtherCAT: complies with CiA 402 drive profile H

H1
A 50 160 173 40 150 75 2-M4 0.6 to 1.2
IS620P-CO servo drive
-CANopen: device profile specification for embedded C 90 160 184 80 150 75 4-M4 0.6 to 1.2
■ CANopen ■ EtherCAT D1
systems L1
E 100 250 230 90 240 75 4-M4 0.6 to 1.2

04 05
IS620P servo drive configuration IS620P servo drive configuration
Wiring example for single-phase 220 V system Wiring example for three-phase 220 V/380 V system

Power supply
Power supply
Single-phase
Three-phase
220 VAC AO output 220/380 VAC
CN5 -10 V~+10 V < 1 mA AO output
CN5
R5
I S 6 2 0 P-S 5

-10 V~+10 V < 1 mA

－
Circuit breaker for wiring
Circuit breaker for wiring

Noise filter Communication cable for multi-drive parallel connection Communication cable for multi-drive parallel connection
Communication Noise filter
cable for multi-drive
Communication
parallel connection
cable for multi-drive
Electromagnetic contactor: Note 2 Electromagnetic contactor: parallel connection
turns the servo drive on or off. turns the servo drive on or off.
Install a surge suppressor when CN3 Install a surge suppressor when
CN3
CHARGE

using this contactor using this contactor Servo drive to PC communication cable
CHARGE

Servo drive to PC communication cable

L1C CN4 L1C CN4
L2C L2C
L1 R
L2 S
T
Note 1 - CN1
Servo drive to PLC communication cable
Note 1 -
P CN1 Servo drive to PLC communication cable
P
Regenerative resistor D D
C Servo drive I/O cable Regenerative resistor C Servo drive I/O cable
U (prepared by user ) (prepared by user)
U
V V
W CN2 W CN2
PE PE
Servo motor Servo motor
encoder cable encoder cable

System System
ground Battery box Battery box
ground

Servo motor main circuit cable Servo motor main circuit cable

Brake power supply: Brake power supply:

24 VDC power supply , used 24 VDC power supply, used
when the servo motor is when the servo motor is
configured with brake 24 VDC configured with brake 24 VDC

Electromagnetic relay: Electromagnetic relay:

Turns the brake power supply turns the brake power supply
on or off. Install a surge suppressor on or off. Install a surge suppressor
when using this contactor when using this contactor

Note 1: remove the jumper link between Note 1: remove the jumper link between
terminals and D of the servo drive when terminals and D of the servo drive when
connecting a regenerative resistor connecting a regenerative resistor
MS1 motor MS1 motor

Pulse/analog Pulse/analog

06 07
IS620P servo drive connection diagram IS620N servo drive configuration
Standard wiring for pulse train input, analog input Wiring example for single-phase 220 V system with EtherCAT network
Standard wiring for
speed control mode

Analog AI1 20 Low-pass

speed filter
A/D Power supply
converter
Positive Single-phase
AI2 18 Low-pass
analog 220 VAC
torque limit GND 19 filter Servo drive
CN5 Servo drive RS232
communication cable
Circuit breaker for wiring

AO1
Standard wiring for
GND A
position control mode 2.4kΩ
Internal 24 V power supply PULLHI 35 2.4kΩ Noise filter EtherCAT
for open-collector output AO2 Communication
240Ω
PULS
PULSE+ 41
GND A cable for multi-drive
[CW phase A] PULSE- 43 parallel connection
Low-speed 2.4kΩ Electromagnetic contactor: Communication cable for
turns the servo drive on or off. Note 2
pulse position multi-drive parallel connection
reference 2.4kΩ Install a surge suppressor when
SIGN+ 37 240Ω using this contactor CHARGE
CN3
SIGN
RU N BF 0 1 2 3 4 5 6 7 I
ER R CA NRU N 0 1 2 3 4 5 6 7 II

L1C CN4
SF CA NERR 0 1 2 3 4 5 6 7

[CCW phase B ] SIGN- 39

40 39

7 DO1+ L2C EtherCAT

C N1 R S 4 85
L1
RUN / STOP
MF K

6 DO1-

C N 3 E the r NE T C N 4 E ther C AT
HPULSE HPULSE+ 38 L2

C N5
High-speed [CW phase A ] HPULSE- 36

C N2 C A N
pulse position 5 DO2+
reference Note 1 - CN1
2 1

4 4 DO2-
Max . 4 MHz HSIGN HSIGN +
2 P Servo drive to PLC communication cable
[CCW phase B ] HSIGN - 40 Regenerative resistor D
3 DO3+ C Servo drive I/O cable
GND 29 2 DO3- U (prepared by user)
GND V
注2 W
1 DO4+ CN2
26 DO4- PE
Servo motor
Standard wiring for 28 DO5+ encoder cable
torque control mode
27 DO5-
AI1 20 Low-pass System
Analog torque filter
ground Battery box
A /D Encoder frequency-
converter division pulse
Positive analog AI2 18 Low-pass differential output
speed limit filter Servo motor main circuit cable
GND 19 21 PAO+
Phase A
+24 V power 24 V 22 PAO- output Brake power supply:
supply 17 24 VDC power supply, used
COM+ 11 when the servo motor is
25 PBO+
Phase B configured with brake 24 VDC
Positive limit switch P-OT 4.7kΩ
DI1 9 23 PBO - output

Negative limit switch N-OT 4.7kΩ

DI2 10 13 PZO+ Electromagnetic relay:
Phase Z
24 PZO - turns ON/OFF the
Pulse input inhibited INHIBIT 3 output
DI3 4.7kΩ brake power supply. Install a surge
4 suppressor when using this contactor
29 GND
Alarm reset ALM-RS GND
DI4 8 4.7kΩ

Servo enable S-ON

DI5 33 4.7kΩ
Note 1: Remove the jumper between
Zero speed clamp enable ZCLAMP terminals and D of the servo drive when
DI6 32 4.7kΩ 44 PZ-OUT Encoder phase Z
connecting a regenerative resistor
29 GND open-collector
Gain switchover GAIN-SEL output MS1 motor
DI7 31 4.7kΩ GND

Home switch HomeSwitch

DI8 30 4.7kΩ 5V

Pulse/Direction
15
+5V

Pulse/analog
4.7kΩ 29
DI9 12 GND

and Analog COM- 14 GND

PE shield connected
to connector housing
08 09
IS620N servo drive configuration IS620N servo drive connection diagram
Wiring example for three-phase 220 V/380 V system with EtherCAT network Standard wiring for EtherCAT communication
Servo drive

Host controller
TX+ 1 TX+ 1
Power supply TX- 2 TX- 2
Three-phase RX+ 3 RX+ 3 AO1
220/380 VAC Servo drive RS 232 Bi-dir ectional
CN5 GND Analog output:-10 to 10 V
communication cable
A
RX- 6 RX- 6
1 mA meter Maximum output: < 1 mA
Next slave
Circuit breaker for wiring
TX+ 1 TX+ 1 AO2
Bi-directional Analog output: -10 to 10 V
TX- 2 TX- 2 GND A
1 mA meter Maximum output: < 1 mA
EtherCAT RX+ 3 RX+ 3
注5
RX- 6 RX- 6
Noise filter
Note 1
Communication
Communication cable for 24V
cable for multi- drive
Electromagnetic contactor: multi-drive parallel connection +24 V power 17 7 S-RDY+(DO1+)
parallel connection
turns the servo drive on or off. Note 2 COM+ 11 6 S-RDY-(DO1-)
Install a surge suppressor when
CN3
RU N BF 0 1 2 3 4 5 6 7 I
ER R CA NRU N 0 1 2 3 4 5 6 7 II

using this contactor 4.7kΩ

SF CA NERR 0 1 2 3 4 5 6 7

Positive limit P-OT(DI1) 9

40 39

EtherCAT
CHARGE

5 COIN+(DO2+)
switch

C N1 R S 4 85
L1C CN4
RUN / STOP

State output
MF K

4 COIN-(DO2-)
L2C 4.7kΩ

C N 3 E the r NE T C N 4 E ther C AT
Negative limit N-OT(DI2) 10

C N5
Note 6
R switch
S

C N2 C A N
3 ALM+(DO3+)
T INHIBIT(DI3) 34 4.7kΩ
2 1

Pulse input 2 ALM-(DO3-)

Servo drive to PLC communication cable inhibited
Note 1 - CN1
P Fault/warning ALM-RST(DI4) 8 4.7kΩ
D reset
Regenerative resistor C Servo drive I/O cable
U (prepared by user) ZCLAMP(DI5) 33 4.7kΩ
Zero speed
V clamp enabled 21 PAO +
W Phase A
CN2 4.7kΩ 22 PAO - output
GAIN-SEL(DI6) 32
Gain switchover
PE
Servo motor TouchProbe (DI8)
31 4.7kΩ 25 PBO +
encoder cable Touch probe Phase B Encoder frequency-division
23 PBO - output pulse differential output
HomeSwitch (DI9)
System Home 30 4.7kΩ
Battery box switch Note 7
ground 13 PZO +
COM- 14 Note 3 Phase Z
24 PZO - output
Servo motor main circuit cable
Second encoder 29 GND
GND
Brake power supply:
24 VDC power supply, used A+ 43
when the servo motor is
configured with brake
24 VDC A- 42

B+ 38 44 PZ-OUT
Encoder phase Z
Electromagnetic relay: B- 36
29 GND open-collector output
turns the brake power supply
on or off. Install a surge suppressor GND
Z+ 41
when using this contactor
Z- 40
5V
15 +5V
GND 29 Note 8
GND 29 GND
Note 1: remove the jumper between
terminals and D of the servo drive when GND
Note 4 GND
connecting a regenerative resistor
MS1 motor

The PE shield is connected to

the connector housing.

10 11
IS620N EtherCAT overview IS620N EtherCAT overview
EtherCAT is a high performance, flexible, cost-effective technology

Open technology Network configuration using TwinCAT platform with IS620N

EtherCAT is a high-performance, easy-to-use industrial Ethernet CiA 402 profile type (CoE)
technology with a flexible topology. CoE (CAN application Profile position mode (PP)
protocol over EtherCAT) is the most commonly used EtherCAT Profile velocity mode (PV)
communication protocol for acyclic data access. CoE also Profile torque mode (PT)
provides a mechanism to configure PDOs for cyclic data Homing mode (HM)
exchange. Cyclic synchronous position mode (CSP)
Cyclic synchronous velocity mode (CSV)
The drive profile CiA402 (IEC61800-7-201) is mapped to EtherCAT. Cyclic synchronous torque mode (CST)
Our IS620N servo drive complies with the CiA 402 profile.

Example of EtherCAT network system with IS620N servo drive

RTU

PLC (AM600) MAX RTU 5 Configuration of the IS620N drive is automatically recognized by the controller using the XML library related to the drives.

Hybrid in one RTU1 analog = 4 digital

RUN BF
Network configuration using third party controller platform with IS620N
0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II
ERR CANRUN
SF CANERR
RTU
0 1 2 3 4 5 6 7

40 39
CN1 R S 485

RUN /STOP
MFK
CN3 Ether NET CN4 E therCAT

MAX analog modules in one RTU 4

C N5

RTU
C N2 C AN

2 1

MAX digital modules in one RTU 16

IS620N IS620N IS620N IS620N

A maximum of 64 slaves
CHAR CHAR CHAR CHAR
GE GE GE GE

Configuration of the IS620N drive is automatically recognized by the controller using the XML library related to the drives.

12 13
IS620N EtherCAT overview PC software: InoServoShop
EtherCAT is a high performance, flexible, cost-effective technology Easy to use engineering tool for commissioning and diagnostics

Network configuration using AM600 platform with IS620N

Easy auto-tuning using position JOG and self-adjustment Inertia auto-tuning calculates estimated inertia of load

AM600 platform example of EtherCAT configuration + CANopen module + Modbus TCP/IP for service and commissioning.

IS620P-CO CANopen overview

CANopen networks are used in many embedded machine control systems
The internationally standardized CiA 402 device profile for CiA 402
drives and motion controllers (IEC 61800-7-201/301) is the 0-Speed mode
most widely implemented solution. 1-Position mode
Oscilloscope function to monitor servo motor performance Mechanical analysis to diagnose natural frequency of system
2-Torque mode
The CiA 402 profile specifies several operation modes in detail. 3-Speed mode<->Torque mode
They are selectable by means of a command, and confirmed 4-Position mode<->Speed mode
at the application level. 5-Position mode<->Torque mode Function ‒ setting, monitoring Function ‒ adjustment
6-Position<->speed<->Torque mode Read/write parameters Automatic gain tuning
CANopen supports master/slave mode, the IS620P only Real-time monitoring parameters Inertia auto-tuning
supports slave mode. It supports only one master node in the DI/DO graphic configuration Mechanical analysis
Modes 3-6 can be changed on the fly
network, the address of master/slave nodes is between 1 and Oscilloscope (trace) Advanced function
63, different for each node. Software reset Electronic CAM
JOG run
Automatic U-V current phase calibration

14 15
MS1 servo motor technical data Servo motor and servo drive combination
Reliable operation, wide selection
Model designation
1-phase 220 V 1/3-phase 220 V 3-phase 220 V

MS1 H1 - 75B 30C B - A3 3 1 Z - INT

Servo drive
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩

① Series: MS1 series servo motor ④ Rated speed ⑦ Motor shaft

A: x 1 1: plain
② Inertia B: x 10 2: keyed
H1: low inertia, 40/60/80 mm flange C: x 100 3: keyed + tapped hole
H2: low inertia, 100/130 mm flange D: x 1,000 5: tapped hole
SIZE A SIZE A SIZE C
H3: medium inertia 130/180 mm flange E: x 10,000 ⑧ Brake, oil sealing
H4: medium inertia 60/80 mm flange E.g. 30C : 3,000 RPM 0: none
1: oil sealing IS620-S1R6I IS620-S2R8I IS620-S5R5I IS620-S7R6I IS620-S012I
③ Rated power ⑤ Voltage class 2: brake
A: x 1 B: 220 V 4: brake + oil sealing
B: x 10 D: 380 V
C: x 100 ⑨ Motor configuration
D: x 1,000 ⑥ Encoder type Y: 8 pole
E: x 10,000 A3: 23-bit multi-turn absolute Z: 10 pole
E.g. 75B: 750 W: 15C: 1,500 W

Servo motor
⑩ INT: international version

50 W,
400 W 550 W, 750 W 850 W, 1.0 kW 1.3 kW, 1.5 kW
100 W, 200 W
Rated Rated Peak Rated Peak Rated Peak Torque Rotor Voltage
Servo motor model output torque torque current current speed speed constant inertia MS1H1-05B30CB MS1H1-40B30CB MS1H1-55B30CB MS1H1-10C30CB MS1H3-13C15CB
[kW] [Nm] [Nm] [Arms] [Arms] [RPM] [RPM] [Nm/Arms] [10 x kgm] [V] MS1H1-10B30CB MS1H4-40B30CB (no brake) (no brake) MS1H2-15C30CB
-4 2

MS1H1 (N rated = 3,000 RPM, Nmax = 6,000 RPM) MS1H1-20B30CB MS1H1-75B30CB MS1H2-10C30CB
MS1H1-05B30CB-XXXXZ-INT 0.05 0.16 0.56 1.3 4.7 0.15 0.026 (0.028) MS1H4-75B30CB MS1H3-85B15CB
MS1H1-10B30CB-XXXXZ-INT 0.1 0.32 1.12 1.3 4.7 0.26 0.041 (0.043)
3-phase 380 V
MS1H1-20B30CB-XXXXZ-INT 0.2 0.64 2.24 1.5 5.8 0.46 0.207 (0.220)
MS1H1-40B30CB-XXXXZ-INT 0.4 1.27 4.46 2.8 10.1 3,000 6,000 0.53 0.376 (0.390) 220
MS1H1-55B30CB-XXXXZ-INT 0.55 1.75 6.13 3.8 15.0 0.49 1.06
MS1H1-75B30CB-XXXXZ-INT 0.75 2.39 8.36 4.8 16.9 0.58 1.38 (1.43)
MS1H1-10C30CB-XXXXZ-INT 1.0 3.18 11.1 7.6 28 0.46 1.75

Servo drive
MS1H2 (N rated = 3,000 RPM, Nmax = 5,000/6,000 RPM)
MS1H2-10C30CB-XXXXZ-INT 1.0 3.18 9.54 7.5 23 6,000 0.43 1.87 (3.12)
220
MS1H2-15C30CB-XXXXZ-INT 1.5 4.9 14.7 10.8 32 5,000 0.45 2.46 (3.71)
MS1H2-10C30CD-XXXXZ-INT 1.0 3.18 9.54 3.65 11 6,000 0.87 1.87 (3.12)
MS1H2-15C30CD-XXXXZ-INT 1.5 4.9 14.7 4.5 14 1.09 2.46 (3.71)
MS1H2-20C30CD-XXXXZ(-S4)-INT 2.0 6.36 19.1 5.89 20 3,000 1.08 3.06 (4.31)
MS1H2-25C30CD-XXXXZ(-S4)-INT 2.5 7.96 23.9 7.56 25 1.05 3.65 (4.9) 380
5,000 SIZE C SIZE E
MS1H2-30C30CD-XXXXZ(-S4)-INT 3.0 9.8 29.4 10 30 0.98 7.72 (7.72)
MS1H2-40C30CD-XXXXZ(-S4)-INT 4.0 12.6 37.8 13.6 40.8 0.93 12.1 (14.6) IS620-T3R5I IS620-T5R4I IS620-T8R4I IS620-T012I IS620-T017I IS620-T021I IS620-T026I
MS1H2-50C30CD-XXXXZ(-S4)-INT 5.0 15.8 47.6 16 48 1.07 15.4 (17.9)
MS1H3 (Nrated = 1,500 RPM, Nmax = 3,000 RPM)
MS1H3-85B15CB-XXXXZ-INT 0.85 5.39 13.5 6.6 16.5 0.9 13.3 (14)
220
MS1H3-13C15CB-XXXXZ-INT 1.3 8.34 20.85 10 25 0.9 17.8 (18.5)
0.85 5.39 13.5 3.3 8.25 1.75 13.3 (14)
Servo motor
MS1H3-85B15CD-XXXXZ-INT
MS1H3-13C15CD-XXXXZ-INT 1.3 8.34 20.85 5 12.5 1.78 17.8 (18.5)
MS1H3-18C15CD-XXXXZ-INT 1.8 11.5 28.75 6.6 16.5 1,500 3,000 1.8 25 (25.7) 1.0 kW, 1.8 kW, 4.0 kW,
28 1.7 55 (57.2) 380 850 W 1.3 kW, 1.5 kW 2.0 kW, 2.5 kW 2.9 kW, 3.0 kW 4.4 kW, 5.0 kW 5.5 kW 7.5 kW
MS1H3-29C15CD-XXXXZ-INT 2.9 18.6 37.2 11.9
MS1H3-44C15CD-XXXXZ-INT 4.4 28.4 71.1 16.5 40.5 1.93 88.9 (90.8)
MS1H3-55C15CD-XXXXZ-INT 5.5 35 87.6 20.85 52 1.8 107 (109.5) MS1H3-85B15CD MS1H3-13C15CD MS1H3-18C15CD MS1H3-29C15CD MS1H3-44C15CD MS1H3-55C15CD MS1H3-75C15CD
MS1H3-75C15CD-XXXXZ-INT 7.5 48 119 25.7 65 1.92 141 (143.1) MS1H2-10C30CD MS1H2-20C30CD MS1H2-30C30CD MS1H2-40C30CD
MS1H2-15C30CD MS1H2-25C30CD MS1H2-50C30CD
MS1H4 (Nrated = 3,000 RPM, Nmax = 6,000 RPM)
MS1H4-40B30CB-XXXXZ-INT 0.4 1.27 4.46 2.8 10.1 0.53 0.657 (0.667)
3,000 6,000 220
MS1H4-75B30CB-XXXXZ-INT 0.75 2.39 8.36 4.8 16.9 0.58 2 (2.012)
Notes: the brake version can only work in S4 duty, for example ISMH2-20C30CD-A334Z-S4-INT.

16 17
Application examples Servo motor dimensions and drawings
Double position loop control MS1H1/MS1H4 mounting dimensions (Nrated = 3,000 RPM, Nmax = 6,000 RPM)
The encoder on the velocity measurement roller reports material
speed and position. The servo drive uses closed-loop position control
to deliver materials smoothly to pre-set positions, compensating for
material slippage and adjusting conveyor gaps. Algorithms in the drive
offer dual-PG full closed-loop control; while the drive’s filter allows
adjustment of speed and position control. To ensure reliable material
conveying, runaway protection kicks in when there is a large difference
between internal and external loop positions.
Example applications: steel plate cutting, pipe bending, wire stripping

Changing position control on-the-fly

After an external DI interruption, the motor runs to a pre-set length at
the existing speed. This function is given highest priority and, when it
is triggered, the servo motor ignores all other position commands. Shaft sketch Flat key sketch
Example applications: material laying, bearing tube cutting
LC LL LR LA LZ LH LG LE LJ
Model
（mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm）
MS1H1-05B30CB 40 65 25±0.5 46 2-Φ4.5 34 5 2.5±0.5 0.5±0.35
-XXXXZ-INT （96)*
MS1H1-10B30CB 40 77.5 25±0.5 46 2-Φ4.5 34 5 2.5±0.5 0.5±0.35
-XXXXZ-INT （109)*
MS1H1-20B30CB 60 72.5 70 4-Φ5.5 44 7.5 3±0.5 0.5±0.35
-XXXXZ-INT 30±0.5
CANlink communication (optional)
（100)*
MS1H1-40B30CB 91
60 30±0.5 70 4-Φ5.5 44 7.5 3±0.5 0.5±0.35
-XXXXZ-INT (119)*
CANlink is an open Inovance protocol, based on CAN bus that can be MS1H1-55B30CB 80 96.2 35±0.5 90 4-Φ7 54 7.7 3±0.5 0.5±0.35
-XX31Z-INT
used to network Inovance HMIs, PLCs and servo and AC drives. It offers
MS1H1-75B30CB 80 107 90 4-Φ7 54 7.7 3±0.5 0.5±0.35
simple networking and improved reliability and security, and is suitable -XXXXZ-INT (140)* 35±0.5
for applications with large numbers of DIs and DOs. CANlink 3.0 uses a MS1H1-10C30CB 80 118.2 90 4-Φ7 54 7.7 3±0.5 0.5±0.35
-XX31Z-INT 35±0.5
master/slave model with a maximum of 62 slaves and a highest
MS1H4-40B30CB 105
communication rate of 1M. Standard CANopen is also supported. -XXXXZ-INT
60 （128)*
30±0.5 70 4-Φ5.5 44 7.5 3±0.3 0.5±0.35
Example applications: hoop bending, film cutting, automatic screwing, MS1H4-75B30CB 117.5
-XXXXZ-INT
80 35±0.5 90 4-Φ7 54 7.7 3±0.3 0.5±0.35
stacking, plastic injection molding （147.5)*

LB S TP LK KH KW W T Weight
Model
（mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （kg）
MS1H1-05B30CB 30 8 M3×6 15.5 6.2 3 3 3 0.39
-XXXXZ-INT （0.50)*
MS1H1-10B30CB 30 8 M3×6 15.5 6.2 3 3 3 0.45
-XXXXZ-INT （0.64)*
MS1H1-20B30CB 0.78
Multi-position control -XXXXZ-INT 50 14 M5×8 16.5 11 5 5 5
（1.16)*
MS1H1-40B30CB 50 14 M5×8 16.5 5 5 5 1.11
-XXXXZ-INT 11
Up to 16 relative or absolute positions can be controlled via PLC or （1.48)*
manually. This function requires a servo motor with multi-turn MS1H1-55B30CB 70 19 M6×20 25 6 6 6 1.85
-XX31Z-INT 15.5
absolute encoder to perform the home seek operation. Position-reach
MS1H1-75B30CB 70 19 M6×20 25 15.5 6 6 6 2.18
signals indicate completion of each phase. -XXXXZ-INT （2.82)*
Example applications: longitudinal line cutting, multi-station MS1H1-10C30CB 70 19 M6×20 25 15.5 6 6 6 2.55
-XX31Z-INT
switching, servo tool holder 1.27
MS1H4-40B30CB 50 14 M5×8 16.5 5 5 5
-XXXXZ-INT 11.0 （1.62)*
MS1H4-75B30CB 2.40
-XXXXZ-INT
70 19 M6×20 25 15.5 6 6 6
......
（3.04)*
Reference 1 2 3 4 5 6 n

18 19
Home
Position ......
*Refers to braked version of the motor
1 2 3 4 5 6 n
Servo motor dimensions and drawings Servo motor dimensions and drawings
MS1H2 mounting dimensions (Nrated = 3,000 RPM, Nmax = 5,000/6,000 RPM) MS1H3 mounting dimensions (Nrated = 1,500 RPM, Nmax = 3,000 RPM)

KB2 KB2
KB1 KB1

80

80
LZ LZ 0.10A
0.10A Φ 0.06 A Φ 0.06 A

KA1
LA
LA
KA1

LJ 110 18.5 LJ 110 18.5

KA2
KA2

S h6 (Military spec.)
（航插接头） S h6 (Military
（航插接头） spec.)

LBh7
LBh7
TP φ115 TP φ115
LK LK
A A
KW N9 W h8 KW N9 W h8
0.03 0.03

100
LE

100
KH T h11 LE
LC LG LC LG KH T h11
LL LR LL LR

45 °
45 °
Shaft sketch Flat key sketch Shaft sketch Flat key sketch
4×R 10 TP 4×R 10
TP
4× φ7 EQS
4× φ7 EQS
EQS
EQS

Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG LE LJ LB

Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG LE LJ LB
（mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm）
（mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm） （mm）
MS1H2-10C30CB(D) 164 94.5 143.5
100 45±1 115 4-Φ7 88 74 10 5±0.3 2.5±0.75 95 MS1H3-85B15CB(D) 146 125
-XXXXZ-INT (213.5)* (101)* (192.5)* 130 55±1 145 4-Φ9 103 72.5 74 14 4 0.5±0.75 110
-XXXXZ-INT (182)* (161)*
MS1H2-15C30CB(D) 100 189 45±1 115 4-Φ7 88 119.5 74 168.5 10 5±0.3 2.5±0.75 95
-XXXXZ-INT MS1H3-13C15CB(D) 130 163 55±1 145 4-Φ9 103 89.5 74 142 14 4 110
(239)* (128)* (219.5)* -XXXXZ-INT
0.5±0.75
144.5 193.5 (199)* (178)*
MS1H2-20C30CD 100 214 45±1 115 4-Φ7 88 74 10 5±0.3 2.5±0.75 95
-XXXXZ(-S4)-INT MS1H3-18C15CD 130 181 55±1 145 4-Φ9 103 107.5 74 160 14 4 110
(265)* (153)* (244)* -XXXXZ-INT
0.5±0.75
169.5 218.5 (217)* (196)*
MS1H2-25C30CD 100 240.5 45±1 115 4-Φ7 88 74 10 5±0.3 2.5±0.75 95
-XXXXZ(-S4)-INT MS1H3-29C15CD 180 197 79±1 200 4-Φ13.5 138 136 74 177 18 3.2±0.3 0.3±0.75 114.3
(290)* (178)* (269)* -XXXXZ-INT
136 188.5 (273)* (134)* (253)*
MS1H2-30C30CD 130 209.5 63±1 145 4-Φ9 103 74 14 6±0.3 0.5±0.75 110
-XXXXZ(-S4)-INT MS1H3-44C15CD 180 230 79±1 200 4-Φ13.5 138 169 74 210 18 3.2±0.3 0.3±0.75 114.3
(265.5)* (139)* (244.5)* -XXXXZ-INT
178.5 231 (307)* (167)* (286)*
MS1H2-40C30CD 130 252 63±1 145 4-Φ9 103 74 14 6±0.3 0.5±0.75 110
-XXXXZ(-S4)-INT MS1H3-55C15CD 180 274 113±1 200 4-Φ13.5 138 213 74 254 18 3.2±0.3 0.3±0.75 114.3
(308)* (181.5)* (287)* -XXXXZ-INT
221 273.5 (350)* (211)* (330)*
MS1H2-50C30CD 130 294.5 63±1 145 4-Φ9 103 74 14 6±0.3 0.5±0.75 110
-XXXXZ(-S4)-INT MS1H3-75C15CD 180 330 113±1 200 4-Φ13.5 138 269 74 310 18 3.2±0.3 0.3±0.75 114.3
(350.5)* (224)* (329.5)* -XXXXZ-INT (407)* (267)* (386)*

S TP LK KH KW W T Weight Power side Encoder side S TP LK KH KW W T Weight Power side

Model Connector (incl. power Model Connector (incl. power Encoder side
（mm） （mm） （mm） （mm） （mm） （mm） （mm） （kg） brake side) （mm） （mm） （mm） （mm） （mm） （mm） （mm） （kg） brake side)
MS1H2-10C30CB(D) 24 M8×16 36 0 8 8 7 5.11 MS1H3-85B15CB(D) 22 M6×20 36 0 8 8 7 7
-XXXXZ-INT 20 -0.2 (6.41)* -XXXXZ-INT 18 -0.2 (8)*
MS1H2-15C30CB(D) 24 M8×16 36 0
8 8 7 6.22 Aviation MI-DTL-5015 MI-DTL-5015 MS1H3-13C15CB(D) 22 M6×20 36 0
8 8 7 8 Aviation MI-DTL-5015 MI-DTL-5015
-XXXXZ-INT 20 -0.2 (7.52)* -XXXXZ-INT 18 -0.2 (9.5)*
plug 3102E20-18P 3102E20-29P plug 3102E20-18P 3102E20-29P
MS1H2-20C30CD 7.39 MS1H3-18C15CD 9.5
24 M8×16 36 0
20 -0.2 8 8 7 22 M6×20 36 0
18 -0.2 8 8 7
-XXXXZ(-S4)-INT (8.7)* -XXXXZ-INT (11)*
MS1H2-25C30CD 8.55 MS1H3-29C15CD 15
24 M8×16 36 0
20 -0.2 8 8 7 35 M12×25 65 0
30 -0.2 10 10 8
-XXXXZ(-S4)-INT (9.8)* -XXXXZ-INT (25)*
MS1H2-30C30CD 10.73 MS1H3-44C15CD 19.5
28 M8×20 54 0
24 -0.2 8 8 7 35 M12×25 65 0
30 -0.2 10 10 8
-XXXXZ(-S4)-INT (13.2)* -XXXXZ-INT (30)* Aviation MI-DTL-5015 MI-DTL-5015
Aviation MI-DTL-5015 MI-DTL-5015
MS1H2-40C30CD 15.43 MS1H3-55C15CD 28 plug 3102E20-22P 3102E20-29P
28 M8×20 54 0
24 -0.2 8 8 7 plug 3102E20-18P 3102E20-29P 42 M16×32 96 0
37 -0.2 12 12 8
-XXXXZ(-S4)-INT (17.9)* -XXXXZ-INT (38)*
MS1H2-50C30CD 16.2 MS1H3-75C15CD 32
28 M8×20 54 0
24 -0.2 8 8 7 42 M16×32 96 0
37 -0.2 12 12 8
-XXXXZ(-S4)-INT (18.7)* -XXXXZ-INT (42)*

*Refers to braked version of the motor *Refers to braked version of the motor

20 21
Servo motor torque VS speed graph Servo motor overload characteristics graph
A (continuous operation area) & B (short term operation area)
MS1H1-05B30CB MS1H1-10B30CB MS1H1-20B30CB
MS1H1-40B30CB
MS1H4-40B30CB
MS1H1/MS1H2/MS1H3/MS1H4 Operation time(s)
6,000 6,000 6,000 6,000
Load in % Deceleration time(s). 1000
Speed (rpm)

Speed (rpm)

Speed (rpm)

Speed (rpm)
MS1H1:
5,000 5,000 5,000 5,000
120 230
low
4,000 4,000 4,000 4,000
B B 130 80
A A A B A B
3,000 3,000 3,000 3,000
inertia 2,000 2,000 2,000 2,000 140 40
100
small 1,000 1,000 1,000 1,000 150 30

capacity 0 0.15 0.3 0.45 0.6

Torque (N·m)
0 0.3 0.6 0.9 1.2
Torque (N·m)
0 0.6 1.2 1.8
Torque (N·m)
2.4 0 1.2 2.4 3.6
Torque (N·m)
4.8 160 20
170 17
MS1H1-75B30CB 180 15 10
MS1H1-55B30CB MS1H4-75B30CB MS1H1-10C30CB
190 12
MS1H4:
6,000 6,000 6,000
Speed (rpm)

Speed (rpm)

Speed (rpm)
5,000 5,000 5,000
200 10
high 4,000 4,000 4,000
B 210 8.5
inertia
1
A B A B A
3,000 3,000 3,000
220 7 100 150 200 250 300 350
small
2,000 2,000 2,000
Load factor (%)
230 6
capacity
1,000 1,000 1,000
240 5.5
0 1.6 3.2 4.8 6.4 0 2.5 5 7.5 10 0 3 6 9 12 Note: MS1H1 / MS1H4 motor = 3.5 x rated torque
Torque (N·m) Torque (N·m) Torque (N·m) 250 5 MS1H2 motor = 3 x rated torque
300 3 MS1H3 (excluding 2.9 kW) = 2.5 x rated torque
MS1H3 (2.9 kW) = Max. 2 x rated torque
350 2

MS1H2-10C30C □ MS1H2-15C30C □ MS1H2-20C30CD MS1H2-25C30CD

Allowable radial load, axial load

6,000 6,000 6,000 6,000
Speed (rpm)

Speed (rpm)

Speed (rpm)

Speed (rpm)
5,000 5,000 5,000 5,000
4,000 4,000 4,000 4,000
B B B B Servo motor model Allowable radial load (N) Allowable axial load (N)
A A A A
3,000 3,000 3,000 3,000

MS1H2: 2,000 2,000 2,000 2,000 MS1H1 －05B30CB－A3XXZ-INT

MS1H1 －10B30CB－A3XXZ-INT
78
78
54
54
low
1,000 1,000 1,000 1,000
MS1H1 －20B30CB－A3XXZ-INT 245 74

inertia
0 2 4 6 8 10 0 3 6 9 12 15 0 4 8 12 16 20 0 5 10 15 20 25 MS1H1 －40B30CB－A3XXZ-INT 245 74
Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)

medium
MS1H1 －55B30CB－A3X1Z-INT 392 147
MS1H2-30C30CD MS1H2-40C30CD MS1H2-50C30CD
MS1H1 －75B30CB－A3XXZ-INT 392 147
capacity
6,000 6,000 6,000
Speed (rpm)

Speed (rpm)

Speed (rpm)

5,000 5,000 5,000 MS1H1 －10C30CB－A3X1Z-INT 392 147

4,000 4,000 4,000 MS1H2－10C30CX－A3X1Z-INT 686 196
B B B MS1H2－15C30CX－A3X1Z-INT 686 196
A A A
3,000 3,000 3,000
MS1H2－20C30CD －A3XXZ(－S4)-INT 686 196
2,000 2,000 2,000
MS1H2－25C30CD －A3XXZ(－S4)-INT 686 196
1,000 1,000 1,000
MS1H2－30C30CD －A3XXZ(－S4)-INT 980 392
0 6 12 18 24 30 0 8 16 24 32 40 0 10 20 30 40 50 MS1H2－40C30CD －A3XXZ(－S4)-INT 1,176 392
Torque (N·m) Torque (N·m) Torque (N·m) MS1H2－50C30CD －A3XXZ(－S4)-INT 1,176 392
MS1H3 －85B15CX－A3XXZ-INT 686 196
MS1H3 －13C15CX－A3XXZ-INT 686 196
MS1H3 －18C15CD －A3XXZ-INT 686 196
MS1H3－29C15CD －A3XXZ-INT 1,470 490
MS1H3-85B15C□ MS1H3-13C15C □ MS1H3-18C15CD MS1H3-29C15CD
MS1H3－44C15CD －A3XXZ-INT 1,470 490
3,500 3,500 3,500 3,500 MS1H3－55C15CD －A3XXZ-INT 1,764 588
Speed (rpm)

Speed (rpm)

Speed (rpm)

Speed (rpm)

3,000 3,000 3,000 3,000 MS1H3－75C15CD －A3XXZ-INT 1,764 588

2,500 2,500 2,500 2,500 MS1H4 －40B30CB－A3XXZ-INT 245 74
MS1H4 －75B30CB－A3XXZ-INT 392 147
B B B B
2,000 2,000 2,000 2,000

MS1H3: Brake specifications

1,500 1,500 1,500 1,500
A A A A
1,000 1,000 1,000 1,000

high 500 500 500 500

inertia 0 3 6 9
Torque (N·m)
12 15 0 5 10 15 20 25 0 6 12 18
Torque (N·m)
24 30 0 8 16 24
Torque (N·m)
32 40 Model Holding torque Input voltage
(Nm) (V) (±10%）
Resistance
(Ω)
Input current Opening
(A )(±7%）
Closing Power
(W)
Torque (N·m) time (ms) time (ms)
medium
MS1H3-44C15CD MS1H3-55C15CD MS1H3-75C15CD
capacity
MS1H1 －05/10B 0.3 96 0.23～0.27 10 30 6.1
3,500 3,500 3,500 MS1H1 －20B/40B 1.5 82.3 0.25～0.34 20 50 7.6
Speed (rpm)

Speed (rpm)

Speed (rpm)

3,000 3,000 3,000 MS1H1 －75B 2.5 50.1 0.40～0.57 25 60 8

2,500 2,500 2,500 MS1H2 －10C/15C/20C/25C 8 25 0.81～1.14 30 90 20
B B B 24
2,000 2,000 2,000 MS1H2 －30C/40C/50C 16 21.3 0. 95 ～1.33 60 120 19.4
A A A
1,500 1,500 1,500 MS1H3 －85B/13C/18C 12 21.3 0. 95 ～1.33 60 120 19.4
1,000 1,000 1,000 MS1H3 －29C/44C/55C/75C 48 13.7 1. 47 ～2.07 100 230 40
500 500 500 MS1H4 －40B 1.5 82.3 0. 25 ～0.34 20 50 7.6

MS1H4 －75B 2.5 50.1 0.40～0.57 25 60 8

0 15 30 45 60 75 0 20 40 60 80 100 0 25 50 75 100 125
Torque (N·m) Torque (N·m) Torque (N·m)

22 23
Servo motor encoder and power wiring details Motor power cable item codes
Motor connection descriptions
Servo motor power cable (front outlet)
Motor end power Motor end encoder
-40, -60, -80 frame size 6-pin connector 7-pin connector Without brake With brake
Model
motor end connector
5 6
4 L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m
3
2
1
MS1H1 S6-L-M007-3.0 S6-L-M007-5.0 S6-L-M007-10.0 S6-L-B007-3.0 S6-L-B007-5.0 S6-L-B007-10.0
Pin No. Signal Pin No. Signal
1 PE 1 PS+
2 W 2 PS- MS1H4 S6-L-M007-3.0 S6-L-M007-5.0 S6-L-M007-10.0 S6-L-B007-3.0 S6-L-B007-5.0 S6-L-B007-10.0
3 V 3 DC+
4 U 4 DC-
5 Brake 5 +5V Servo motor power cable (back outlet)
6 (no polarity) 6 0V
7 PE Model Without brake With brake

L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m

MS1H1 S6-L-M008-3.0 S6-L-M008-5.0 S6-L-M008-10.0 S6-L-B008-3.0 S6-L-B008-5.0 S6-L-B008-10.0

-100, -130 frame size Motor end power 20-18
motor end connector military connector
MS1H4 S6-L-M008-3.0 S6-L-M008-5.0 S6-L-M008-10.0 S6-L-B008-3.0 S6-L-B008-5.0 S6-L-B008-10.0
A H G

B I F

C D E

Servo motor power cable

MIL-DTL-5015 series 3108E20-18S
Model Without brake With brake
Y-series terminal Z-series terminal
Pin No. Signal Pin No. Signal L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m
B U B U
I V I V
MS1H2 S6-L-M011-3.0 S6-L-M011-5.0 S6-L-M011-10.0 S6-L-B011-3.0 S6-L-B011-5.0 S6-L-B011-10.0
F W F W
G PE G PE
C Brake
(no polarity) MS1H3
E
(1.8 kW S6-L-M011-3.0 S6-L-M011-5.0 S6-L-M011-10.0 S6-L-B011-3.0 S6-L-B011-5.0 S6-L-B011-10.0
& below)

MS1H3
S6-L-M012-3.0 S6-L-M012-5.0 S6-L-M012-10.0 S6-L-B012-3.0 S6-L-B012-5.0 S6-L-B012-10.0
(2.9 kW)

MS1H3
Motor end power 20-22 (above S6-L-M022-3.0 S6-L-M022-5.0 S6-L-M022-10.0 S6-L-B022-3.0 S6-L-B022-5.0 S6-L-B022-10.0
-180 frame size 2.9 kW)
motor end connector military connector

F
A E
D B
C

MIL-DTL-5015 series 3108E20-22S

Y-series terminal Z-series terminal

Pin No. Signal Pin No. Signal
A U A U
C V C V
E W E W
F PE F PE
B Brake
(no polarity)
D

24 25
Motor encoder cable item codes Appearance of cables
Servo motor encoder cable (front outlet) Cable type Item code L (mm) Appearance

Model 23-bit encoder (single turn) 23-bit encoder (multi-turn)

S6-L-M007-3.0 3,000
L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m MS1H1/H4 motor
Φ8.0*30mm
55±5mm

power cable without S6-L-M007-5.0 5,000

U

brake (front outlet)

PE

MS1H1 S6-L-P014-3.0 S6-L-P014-5.0 S6-L-P014-10.0 S6-L-P024-3.0 S6-L-P024-5.0 S6-L-P024-10.0 S6-L-M007-10.0 10,000

100±10mm
L±30mm

S6-L-M008-3.0 3,000
MS1H4 S6-L-P014-3.0 S6-L-P014-5.0 S6-L-P014-10.0 S6-L-P024-3.0 S6-L-P024-5.0 S6-L-P024-10.0 MS1H1/H4 motor 55±5mm
power cable without S6-L-M008-5.0 5,000
U

brake (back outlet)

100±10 mm
Servo motor encoder cable (back outlet) S6-L-M008-10.0 10,000 L±30 mm

Model 23-bit encoder (single turn) 23-bit encoder (multi-turn)

S6-L-M011-3.0 3,000
MS1H2/H3 motor
L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m
power cable S6-L-M011-5.0 5,000 130 mm
without brake 200 mm
L±30 mm
MS1H1 S6-L-P015-3.0 S6-L-P015-5.0 S6-L-P015-10.0 S6-L-P025-3.0 S6-L-P025-5.0 S6-L-P025-10.0 S6-L-M011-10.0 10,000

S6-L-M012-3.0 3,000
MS1H4 S6-L-P015-3.0 S6-L-P015-5.0 S6-L-P015-10.0 S6-L-P025-3.0 S6-L-P025-5.0 S6-L-P025-10.0
MS1H3 motor power 130 mm
cable without brake S6-L-M012-5.0 5,000
200 mm
L±30 mm
S6-L-M012-10.0 10,000

Servo motor encoder cable S6-L-M022-3.0 3,000

Model 23-bit encoder (single turn) 23-bit encoder (multi-turn) MS1H3 motor power
cable without brake S6-L-M022-5.0 5,000 130 mm
200 mm
L = 3.0 m L = 5.0 m L = 10.0 m L = 3.0 m L = 5.0 m L = 10.0 m L±30 mm
S6-L-M022-10.0 10,000

MS1H2 S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0 S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0

MS1H3
(1.8 kW S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0 S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0
& below)

MS1H3
(2.9 kW) S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0 S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0

MS1H3
(above S6-L-P011-3.0 S6-L-P011-5.0 S6-L-P011-10.0 S6-L-P021-3.0 S6-L-P021-5.0 S6-L-P021-10.0
2.9 kW)

Model Connector kit Battery set for absolute encoder back-up

S6-C2
MS1H2 (CN1 & CN2 terminal, 20-18 pin & 20-29 pin connector)
MS1H3
(1.8 kW S6-C2
& below) (CN1 & CN2 terminal, 20-18 pin & 20-29 pin connector) S6-C4 (battery & battery case)
MS1H3
(2.9 kW) S6-C3
(CN1 & CN2 terminal, 20-22 pin & 20-29 pin connector)
MS1H3
(above
2.9 kW)

26 27
Appearance of cables
Cable type Item code L (mm) Appearance Cable type Item code L (mm) Appearance

S6-L-B007-3.0 3,000
S6-L-P021-3.0 3,000
Φ 8.0*30 mm
55±5 mm
MS1H1/H4 motor
MS1H2/H3 motor
BK +

power cable with S6-L-B007-5.0 5,000

BK -

encoder cable for

U

brake (front outlet) S6-L-P021-5.0 5,000

V
W

23 bit encoder
PE

200±10 mm 250±10 mm
S6-L-B007-10.0 10,000 L±30 mm
(multi-turn) S6-L-P021-10.0 1,0000 L±20 mm

S6-L-B008-3.0 3,000
55±5 mm
MS1H1/H4 motor IS620P servo drive
power cable with S6-L-B008-5.0 5,000
to PC communication S6-L-T00-3.0 3,000
brake (back outlet) 200±10 mm cable
S6-L-B008-10.0 10,000 L±30 mm
50±5 mm
L±20 mm

S6-L-B011-3.0 3,000
IS620P servo drive CAN
MS1H2/H3 motor and RS485 multi-axis S6-L-T01-0.3 300
power cable with S6-L-B011-5.0 5,000 130 mm
communication cable L±10 mm
brake 200mm
L±30 mm
S6-L-B011-10.0 10,000 5 mm
PLC ↔ IS620P servo
drive CAN & RS485 S6-L-T02-2.0 2,000
S6-L-B012-3.0 3,000 30 mm
communication cable L±20 mm
MS1H3 motor
power cable with S6-L-B012-5.0 5,000 130 mm IS620P servo drive CAN
brake 200mm
& RS485 termination S6-L-T03-0.0
L±30 mm
S6-L-B012-10.0 10,000 resistor

S6-L-B022-3.0 3,000 10 mm
IS620P servo drive
MS1H3 motor analog output S5-L-A01-1.0 1,000
power cable with S6-L-B022-5.0 5,000 130 mm
(CN5) cable 20 mm
brake 200mm
L±30 mm
L±30 mm
S6-L-B022-10.0 10,000
IS620N servo drive S6-L-T04-0.3 300
55±5 mm
MS1H1/H4 motor S6-L-P014-3.0 3,000 EtherCAT
encoder cable communication cable S6-L-T04-3.0 3,000 L± 10mm
(front outlet) S6-L-P014-5.0 5,000
for 23 bit encoder
(single turn) S6-L-P014-10.0 10,000
End A
L±30 mm
End B

IS620N servo drive to

S6N-L-T00-3.0 3,000
MS1H1/H4 motor S6-L-P015-3.0 3,000 55±5 mm PC communication
encoder cable cable 50±5 mm
L±20mm
(back outlet) S6-L-P015-5.0 5,000
for 23 bit encoder
(single turn) Absolute encoder S6-C4
S6-L-P015-10.0 10,000 L±30 mm
battery
S6-L-P011-3.0 3,000
MS1H2/H3 motor
encoder cable for
S6-L-P011-5.0 5,000
23 bit encoder L±15 mm
Switch cable
(single turn)
S6-L-P011-10.0 10,000 when replacing old L±20 mm
ISMH1/ISMH4 motors S6-C23 500
MS1H1/H4 motor S6-L-P024-3.0 3,000 with new
MS1H1/MS1H4 motors
55±5 mm
encoder cable
(front outlet) S6-L-P024-5.0 5,000 L±20 mm
for 23 bit encoder End C

(multi-turn)
2-Black

S6-L-P024-10.0 10,000
1-Brown

End A 90±5 mm End B

IS620 servo drive
L±30 mm

CN1 connector S6-C8 (DB44)

Note: DB44 connector
MS1H1/H4 motor S6-L-P025-3.0 3,000 55±5 mm
encoder cable
(back outlet)
S6-L-P025-5.0 5,000
for 23 bit encoder
(multi-turn)
2-黑色

90±5 mm
1-棕色

S6-L-P025-10.0 10,000 L±30 mm

28 29
IS620 servo drive and motor selection table
Power Motor Motor Motor Motor Motor Motor IS620 drive IS620P IS620N Power Motor Motor Motor Motor Motor Motor IS620 drive Motor IS620P IS620N
supply frame power rated rated peak brake HxWxD pulse/analog EtherCAT supply frame power rated rated peak brake HxWxD model pulse/analog EtherCAT
voltage size speed torque torque Motor model drive drive voltage size speed torque torque drive drive
(mm) (W) (RPM) (Nm) (Nm) (mm) (mm) (W) (RPM) (Nm) (Nm) (mm)

50 0.16 0.56 MS1H1-05B30CB-A330Z-INT 850 5.39 13.5 MS1H3-85B15CD-A331Z-INT

IS620PT3R5I-INT IS620NT3R5I-INT
50 0.16 0.56 Brake MS1H1-05B30CB-A332Z-INT 850 5.39 13.5 Brake MS1H3-85B15CD-A334Z-INT
40 130
100 0.32 1.12 MS1H1-10B30CB-A330Z-INT 1,300 8.34 20.85 MS1H3-13C15CD-A331Z-INT
IS620PT5R4I-INT IS620NT5R4I-INT
IS620PS1R6I-INT IS620NS1R6I-INT
Brake 1,300 8.34 20.85 Brake MS1H3-13C15CD-A334Z-INT
100 0.32 1.12 MS1H1-10B30CB-A332Z-INT
Three-phase 1,500 160 x 90 x 183
1,800 11.5 28.75 MS1H3-18C15CD-A331Z-INT
200 0.64 2.24 MS1H1-20B30CB-A331Z-INT 400 V
Single-phase IS620PT8R4I-INT IS620NT8R4I-INT
3,000 160 x 50 x 173
220 V 1,800 11.5 28.75 Brake MS1H3-18C15CD-A334Z-INT
200 0.64 2.24 Brake MS1H1-20B30CB-A334Z-INT
2,900 18.6 37.2 MS1H3-29C15CD-A331Z-INT
400 1.27 4.46 MS1H1-40B30CB-A331Z-INT IS620PT012I-INT IS620NT012I-INT
60 2,900 18.6 37.2 Brake MS1H3-29C15CD-A334Z-INT
400 1.27 4.46 Brake MS1H1-40B30CB-A334Z-INT
IS620PS2R8I-INT IS620NS2R8I-INT 4,400 28.4 71.1 MS1H3-44C15CD-A331Z-INT
400 1.27 4.46 MS1H4-40B30CB-A331Z-INT IS620PT017I-INT IS620NT017I-INT
4,400 28.4 71.1 Brake MS1H3-44C15CD-A334Z-INT
400 1.27 Brake 180
4.46 MS1H4-40B30CB-A334Z-INT
5,500 35 87.6 MS1H3-55C15CD-A331Z-INT
250 x 100 x 230 IS620PT021I-INT IS620NT021I-INT
550 1.75 6.13 MS1H1-55B30CB-A331Z-INT
5,500 35 87.6 Brake MS1H3-55C15CD-A334Z-INT

750 2.39 8.36 MS1H1-75B30CB-A331Z-INT 7,500 48 119 MS1H3-75C15CD-A331Z-INT

Single-phase
IS620PT026I-INT IS620NT026I-INT
& 750 2.39 8.36 Brake MS1H1-75B30CB-A334Z-INT 7,500 48 119 Brake
80 3,000 160 x 50 x 173 IS620PS5R5I-INT IS620NS5R5I-INT MS1H3-75C15CD-A334Z-INT
Three-phase
220 V 750 2.39 8.36 MS1H4-75B30CB-A331Z-INT 1,000 3.18 9.54 MS1H2-10C30CD-A331Z-INT

Brake 1,000 3.18 9.54 Brake MS1H2-10C30CD-A334Z-INT

750 2.39 8.36 MS1H4-75B30CB-A334Z-INT
IS620PT5R4I-INT IS620NT5R4I-INT
1,500 4.9 14.7 MS1H2-15C30CD-A331Z-INT
850 5.39 13.5 MS1H3-85B15CB-A331Z-INT
IS620PS7R6I-INT IS620NS7R6I-INT
1,500 4.9 14.7 Brake MS1H2-15C30CD-A334Z-INT
850 5.39 13.5 Brake MS1H3-85B15CB-A334Z-INT
Three-phase
130 1,500 160 x 90 x 183 2,000 6.36 19.1 MS1H2-20C30CD-A331Z-INT
220 V
1,300 8.34 20.85 MS1H3-13B15CB-A331Z-INT 160 x 90 x 183
Three-phase 100 3,000
IS620PS012I-INT IS620NS012I-INT 2,000 6.36 19.1 Brake MS1H2-20C30CD-A334Z-S4-INT
400 V
1,300 8.34 20.85 Brake MS1H3-13B15CB-A334Z-INT IS620PT8R4I-INT IS620NT8R4I-INT
2,500 7.96 23.90 MS1H2-25C30CD-A331Z-INT
80 1,000 3.18 11.1 MS1H1-10C30CB-A331Z-INT
2,500 7.96 23.90 Brake MS1H2-25C30CD-A334Z-S4-INT
1,000 3.18 7.21 MS1H2-10C30CB-A331Z-INT IS620PS7R6I-INT IS620NS7R6I-INT
3,000 9.8 29.4 MS1H2-30C30CD-A331Z-INT
IS620PT012I-INT IS620NT012I-INT
1,000 3.18 7.21 Brake MS1H2-10C30CB-A334Z-INT
3,000 9.8 29.4 Brake MS1H2-30C30CD-A334Z-S4-INT

Three-phase 1,000 3.18 9.54 MS1H2-10C30CB-A331Z-INT

100 3,000 160 x 90 x 183 4,000 12.6 37.8 MS1H2-40C30CD-A331Z-INT
220 V
130
1,000 3.18 9.54 Brake MS1H2-10C30CB-A334Z-INT 4,000 12.6 37.8 Brake MS1H2-40C30CD-A334Z-S4-INT
IS620PS012I-INT IS620NS012I-INT 250 x 100 x 230 IS620PT017I-INT IS620NT017I-INT
1,500 4.9 12.70 MS1H2-15C30CB-A331Z-INT 5,000 15.8 47.6 MS1H2-50C30CD-A331Z-INT

Brake 5,000 15.8 47.6 Brake MS1H2-50C30CD-A334Z-S4-INT

1,500 4.9 12.70 MS1H2-15C30CB-A334Z-INT

30 31
Driven by Technology
  

      

  
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