MOTOR - Myostat

MOTOR REVOLUTION

Stunning Power DensityIoT Function Implemented

MotorStepper Motor

I/O interface6 Inputs / 4 Outputs*

Communication interfaceRS232C / RS485*

Status LEDStatus display with blinking patterns

ControllerBuilt-in CPU

PLC Function*Arithmetic / Logical operation

DriverMUSCLE’s own precise drive technology /Tuningless

High-precision absolute*Multi-rotation location retention

* CM3+ only

Motor performance drives you to a new dimensionThe basic performance of the torque/speed and positioning accuracy of the stepper motor has been improved, making it easier to obtain the performance equivalent to servo motors.

New Generation

3

Perform Like a Servo, Simple Like a Stepper M

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×

×

×

×

×

×

×

×

×

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PriceTorque (low speed range)Torque (high speed range)

High Speed

Positioning Accuracy

Responsiveness

No step-out

Smoothness

Vibration/QuietnessTemperature/Energy SavingMonitoring/Maintenance

TuninglessWire-saving/Space-saving

Performance Comparison of COOL MUSCLE 3 with Existing Motors

Stepping motor(Semi closed-loop control)

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×

×

×

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×

AC servo motor (Closed-loop control)

×

×

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×

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(Closed-loop control)Stepping motor(Open-loop control)

Open-loop control : Without encoder, no position feedbackSemi closed-loop control : Equipped with encoder, there is position feedback, and position correction is performed only when de-tone.Closed-loop control : Equipped with encoder, there is position feedback, always performs position correction and no step out .

solves problems such as

To Increase production

Faster / Stronger

Power up in the same size

Torque

Error

4

otor.

Improve positioning accuracy

Precisely / Smoothly

Smoother motion Simple mechanical configuration

Simple / Safe

IoT function implemented

Torque

ErrorDriver Motor

COOL MUSCLE

Torque［N・m］

Rotation speed [min-1]30000 5000

Stepping motor(Open-loop control)

Stepping motor (Semi closed-loop control)

AC servo motor (Closed-loop control)：Rated torque

Remarkable Torque

(Closed-loop control)

* According to our research (Comparison with motors of the same class)

For Servo Motor UsersGet servo motor performance at a more economical price

PriceRealize AC servo motor performance at lower price

Minimized total cost by using affordable stepper motor and integrating control devices.Equivalent performance as AC servo motor is realized by improving torque at high speed range that was a weakness of stepper motor and realizing Max. 5,000rpm high speed control without step-out.

Size Space saving / Wiring saving

An encoder, driver, and controller are integrated in a motor. The total volume can be significantly reduced by wiring saving. Ideal for desktop type devices, mobile devices, and small products where a controller board cannot be installed.

■Size Comparison

■Price comparison by motor type*According to our research

Cost

Performance





*According to our researchComparison by equivalent torque, driver + total size of motor

5


15

Cubic Sizedownsize Max.


Adjustment No need to adjust servo parameters.(Tuningless)

Torque Higher rated torque (mid to low speed range)

Pursuing the output efficiency of stepper motor, COOL MUSCLE 3 maintains higher output at high speed range and produces equivalent torque as 100W AC servo motor.AC servo motor is used with gearbox in applications that require high torque at low speed range. For COOL MUSCLE 3, the gearbox can be omitted.

Max. Speed 5,000rpm. COOL MUSCLE 3 can used in an application that requires high speed control.

■Torque comparison with AC servo motor (100W)*According to our research

Speed Max. Speed 5,000rpm

When the motor accelerates and decelerates from the stop state, the torque of the low speed range is used.COOL MUSCLE 3 provides high torque output at low speeds, enabling high responsiveness.

Modern control theory, the H∞ lets you use COOL MUSCLE 3 without gain adjustment in specific load condition.

Normal servo control

Vibration is high and operation is not stable Stable operation without vibration

COOL MUSCLE 3 control (tuningless)

Responsiveness Responsiveness just as servo motor.

1000 2000 3000 4000 5000

Torque [N・m]

0

0.400

0.800

1.400

1.600

0

AC servo motorRated torque

Rotation speed [min-1]

Remarkable Torque

6

For Stepper Motor UsersTo improve the functional value of your product

Basicperformance Improves all major performance

Performance comparison of stepper motor (open-loop control/semi closed-loop control) and COOL MUSCLE 3.*According to our research

Temperature Low heat generation allows long-term continuous use

Responsiveness High acceleration and deceleration control reduces repetitive operation time greatly

Low Speed Torque High torque output is possible even at low speeds without risk of step-out

Reduced motor sizeSuitable for products that require precise motion in limited space.

■Application Example

Torque [N・m]

Rotation speed [min-1] 5000

0.600

0

*Motor temperature at continuous speed (500rpm) without load

Continuous operationSuitable for products with high speed continuous operation with a duty ratio of over 50%.


Temperature [℃]

Time [min]

*Repetitive operation time (1 cycle)

Improvement of throughputSuitable for products that require higher throughput by where short time & short distance positioning are necessary.


Time

Desktop type analyzerDesktop type analyzer

IC handlingIC handling

Semiconductor equipmentSemiconductor equipment

7


Stepping motor(Open-loop control) (Closed-loop control)

*Each comparison item varies depending on the operating conditions and load situation.　The motor to be compared depends on our research. The results on this page may not apply to all motors.*All photos are sample images.

*Speed stability at continuous speed (500rpm) without load

Maximum Speed High speed control equivalent to servo motor

Improved high-speed controllabilityIdeal for products that require quick and accurate positioning.



0

5000

Speed Stability Speed ripple is small at continuous speed.

Improvement of measurement accuracySuitable for equipment that require to rotate precisely at a constant speed against command speed.


Speed

Time

Current Level The current is controlled according to the load situation. It keeps current consumption at minimum level.

Energy SavingSuitable for AGVs, which are battery-powered and require energy savings.


Current Level [A]

*Current value at continuous speed (500rpm) without load

Loudness Smooth motion by vector control makes it quieter

Quiet operationSuitable for equipment used in environments where quiet operation is required.


Loudness [dB]

* Motor operating sound at continuous speed (100rpm) without load

FAFA

Medical devicesMedical devices

Inspection deviceInspection device

Appearance inspection deviceAppearance inspection device

8

Motion Control Technology

Collaboration of Three Control Technologies

Closed-loop Control

High positioning accuracy and no step-outThe closed-loop control maintains the deviation between the encoder feedback and commanded position within the specific range. Position, speed and torque are always controlled not to go out of the range by accelerating when deviation becomes bigger and decelerating when it becomes smaller.

■Control under external load

Features of Closed-loop control

1. Improved positioning reliability2. No step-out occurs unlike the stepper motor with open loop control.3. Overload alarm can be output by detecting deviation from feedback information.

Vector Control

Smooth・QuietDue to the structure of the stepping motor, torque pulsation occurs at each step angle. On the other hand, the CM3 adopts vector control which allows smooth motion without stopping between angular steps, so vibration and noise can be reduced.

■ Driving principle

Features of vector control

1. Energy saving and precise torque control2. Efficiently controls motor from low speed to high speed3. Improved stability of speed

Stepping motor COOL MUSCLE 3

COOL MUSCLE 3COOL MUSCLE 3+

: Max. resolution 12,000 ppr : Max. resolution 12,000 ppr

COOL MUSCLE 3 The deviation becomes bigger when goes over allowable torque and it stabilizes the speed when the deviation is small .

1000 pulse

Speed

Time

Immediately correct the deviationAccelerate to recover the delay

9

COOL DRIVE Control

Power up・High responsivenessDrastic torque up is achieved by reviewing the motor structure and optimizing the control while maintaining the existing product size.

■Comparison of torque with existing product line up

[Instantaneous acceleration / deceleration control]

Stepper motor must be controlled with appx. 50% safety margin against its torque curve due to the risk of step-out. COOL MUSCLE 3 produces high torque at low speed range without step-out. It realizes quick acceleration and deceleration control.


COOL MUSCLE 3

Torque [N・m]


Torque [N・m]


Safety margin 50%torque curve

COOL MUSCLE3 Torque Curve

Torque Curve

Closed-loop ControlPosition correction and No step-out by constant position monitoring

Vector ControlNo stop at each step.Smooth and quiet

COOL DRIVE ControlNew drive system to produce power while reducing heat generation

CM1-17L30 CM3-17L50A 1000 2000 3000 4000 5000

Torque [N・m]

0

0.100

0.200

0.300

0

Rotation speed [min -1]

CM1-17L

CM3-17L

10

Wiring Configuration

Less wirings in a control panel by direct connection to PLC・PC・I/O

The concept is “EASY"COOL MUSCLE 3 can be controlled directly from PLC. Space can be saved by eliminating external driver.

PLCController

To power supply

COOL MUSCLE 3

To power supply

To power supply

Servo motor

To power supply

Servo driver

PLCController

I/O

PC

COOL MUSCLE 3

COOL MUSCLE 3

Easier system construction

For All Customers

11

From wiring the motor and starting the software, the motor can be operated in 3 minutes.

View "Easy Setup"

DedicatedPC software

ProgramLanguage

COOL MUSCLE Language（CML)

Easy parameter settingParameters can be set just by following the display.

Positioning data settingPoint data can be set by simply entering a value in the blank.

Graph windowThe position and speed of the motor can be monitored in a graph in real time.

You can create a variety of programs using predefined data commands. (Programing is available only on CM3+)

1. Data command P1 .1=3000

P2 .1=5000

S 1 .1= 100

S 2 .1＝ 200

A1 .1＝ 200

T1 .1= 100

2. Program command B1.1

S1.1 , A1.1 , P 1 .1

S2 .1 , A1.1 , P2 .1

END

COOL WORKS QUICK

Programless operability is realized by using an easy human interface. It helps you to change the settings from machine development stage to change in operation field.

12

https://musclecorp.com/motion-en/

Control method

Introduction of functions

Number of pointsControl method RS232 communication(settings and monitoring)

RS232 Communication control I/O control

Direct 32

8

0Pulse

I/O

250

There are 3 types of direct control, I/O control, and pulse control, which can be directly connected from PLC or PC. AC servo motor control can be realized at low cost by simple function settings.

Simpler

RS232 Communication control

RS232 Communication control I/O control

From PC or HMIWhen controlling by serial communication

When controlling from a PLC

PC

HMI PLC

Direct control I/O control

13

Pulse control Program control Daisy chain Cyclic Logic Operation

OptionABS

Option RS485

Higher functionality

The built-in high-performance controller allows programming and system construction. Simultaneous control of multiple axes and Cyclic Logic Operation Program can be used to maximize the performance of COOL MUSCLE.

RS232 Communication control

RS485 Communication controlPulse control

C When controlling by RS485 communication

When controlling a daisy chain

PC

PLC

HMI

PC

PLC

HMI

Pulse control

14

Control method selection

Direct control, I/O control, pulse control can be selected and changed from the dedicated software.

Supports various operations

The operation pattern can be selected from PTP operation, incremental operation, and pressing operation.

1-turn absolute (soft)

It is possible to retain the position information within one rotation.For applications such as cam mechanics and turntables, the origin sensor and machine origin are not required, contributing to wiring savings.

[Type of control]

Recommended for replacing the air cylinder For press fitting, hand, tightening, etc.

① To the pressing position at high speed

② Push control ③ High speed to the initial position

1. Positioning control . . . Target position, speed, acceleration, deceleration, incremental operation, continuous operation, etc.2. Speed control · · · · · · · · · · · Speed and acceleration can be changed during operation3. Torque control · · · · · · · · · · Torque control and torque limit are possible

Point Data number Operation type Position Speed Acceleration Deceleration Torque limit Push zone+ zone-

0

1

31

PTP

PTP Push

PTP

1000

3000

2000

100

100

300

100

100

200

100

50

200

100

100

30

30 2000

… … … … … … … … … …

3000

PositionPush

15

1-turn absolute (standard) + multi-turn absolute (option)

COOL MUSCLE 3+ Option

It is possible to retain multi-rotation position information. Since it has a built-in battery type absolute encoder, It is not necessary and contributes to shortening the equipment startup time. It can be used for single-axis actuators and robot arms.

Modbus RS485

A network that implements Modbus Protocol as a communication protocol, RS485 is used.

Program control

Acceleration/deceleration can be set freely. Speed and acceleration without pausing at the passing point. Various PTP operations such as changing (merge operation) is possible.

S1

S3

Time

Speed

P1P2

P3

A1

A1

A2A2S2

A1

T1 Time

Speed

P1 P2P3A1 A1 A1

A1 A1

T1

S1

S2

PTP with different acceleration and deceleration

P1 P2

Time

Speed

A1 A2S1

Merge Motion

Standard PTP

Cyclic Logic Operation Program

Motor drive control, I/O control, periodic logic operation, etc. Since it is possible to process various tasks in parallel, COOL MUSCLE 3+ mastered system you can build it.

Variable

Mathematicaloperation

Logicaloperation

Comparisonoperation

Input branch

Current position, current speed, current torque, current status, Position deviation, target position, target speed

Addition, subtraction, multiplier, divisor, Sin, Cos, square root

AND, OR, NOT

=, Not=, >, <, ≧, ≦

Conditional branch depending on the state of the input signal

Daisy chain

Each can execute the program independently, Linked with the operating status and I/O status of other CM3+ It is possible to operate.

16

・Function for

Since the motor can control the output torque, it can be used in various applications such as gripping, pressing objects, and limiting force.Push motion: Motor can limit the torque with the specified push force.Torque limiting motion: The maximum torque during positioning operation can be limited.

Motion

Torque Limit01

Since the movable range can be set to the motor, the limit sensor can be omitted.

Soft Limit02

Closed-loop control if there is no operation command for a certain period after positioning is completed. From this, it is a function that automatically switches to open-loop control. Hunting unique to the AC servo motor during open holding. It is possible to suppress minute vibrations due to this. The difference between the current position and the target position due to external force is less than the set value (0.1 to 3.6 degrees) When it gets bigger, it returns to the closed-loop again and returns to the previous position.

Open holding function03

The resolution can be set freely by parameters.The default setting is 1,000, and one rotation is divided into 1,000 (0.36°).

Resolution setting04

Origin Search05

[Parameters]

[Parameter set tings]

Open loop control range

Motor shaft

0123456789

Stopper DetectionStopper Detection (Auto)Origin SensorOrigin Sensor (Auto)Stopper Detection & Z PhaseStopper Detection & Z Phase (Auto) Origin Sensor & Z PhaseOrigin Sensor & Z Phase (Auto)Z Phase SignalZ Phase Signal (Auto)

Settings Contents

As an origin search method, a combination of pressing, origin sensor, and Z-phase is available.

0 ： 300

1 ： 600

2 ： 1000

3 ： 1200

4 ： 2000

5 ： 3000

6 ： 5000

7 ： 6000

8 ： 10000

9 ： 12000

17

The signal can be output within the specified range.

Individual ZONE output：

The signal is output only within the range set by each point data.

ZONE output：

The signal is always output within the range set by the parameter regardless of the point data.

ZONE output function07

Point 0 Zone settings

Speed

Position

Point 1 Zone settings

Zone setting range

[ZONE output range]

The size of the main body is kept compact and I/O port is equipped as standard.COOL MUSCLE 3 : Input 6 ports, Output 4 portsCOOL MUSCLE 3+ : Input 4 ports, Output 4 ports

【Functions by type】COOL MUSCLE 3

COOL MUSCLE 3+

: General, in-position, warning, individual zone, zone, move, busy, end, servo on/off, torque limit, origin search completed

COOL MUSCLE 3+

・ Common to each type ・・・ Limit sensor, Hardware limit・ Direct type ・・・・・・・・・・・・・ Origin sensor, Manual mode, Inching, Jog, Servo on/off, Stop・ I/O type ・・・・・・・・・・・・・・・・ Origin sensor, Point data specification, Point data excution/stop・ Pulse type ・・・・・・・・・・・・・・ Torque limit on/off, Position reset

・・・・・・・・・・・・ Origin sensor, Limit sensor, Hardware limit, Manual mode, Inching, Jog, Servo on/off, Origin sensor, Stop

■Input Function Example

: General, in-position, warning, individual zone, zone, move, busy, end, servo on/off, torque limit, origin search completed, ABZ encoder

COOL MUSCLE 3

■Output Function Example

I/O function

Digital I/O06

18

19

Motor status, such as position, speed, torque, alarm, and temperature, can be acquired.

[Status Check by Communication]For example, if you want to check the motor status when the motor stops in an alarm, you can send a command to the motor to check the motor status.

[Status LED]The 7-color LED displays the motor status such as power ON/OFF and alarm contents.

Preventive maintenance / safety measures

Motor Status08

If the motor temperature or load factor exceeds a set value, a warning can be output before the motor stops in the alarm. Detecting device malfunctions in advance helps reduce downtime.

Warning function09

Safe Torque Off (STO) built into CM3 is defined in IEC61800-5-2 and is a safety function to shut off the motor drive power and stop the motor by the input signal from the safety controller.

STO function10

Position deviation overflow alarmOvervoltage alarm

Overload alarm

In-position

Servo-offPush motionOvercurrent alarmAbnormal temperature alarmMotion warningLow voltage alarm

STOStatus warning

Position deviation exceeds the set valueMain power supply exceeded the set valueLoad factor 100% exceeded the set time of overload detection timeIn the in-position range while the motion is stoppedServo off by command/input signalPush motion (torque limit)Excessive current flowedThe internal temperature has exceeded the specified valueOperation warning occurredThe power supply voltage has dropped below the specified valueSTO function is enabledStatus warning occurre

Name Description

20

Up to four sorts of motor data can be cyclically streamed at once. By comparing the target and current, setup time can be reduced.

[Streaming data]0: Disable1: Target Position2: Current Position3: Target speed4: Current speed

5: Target current Level6: Current current Level7: Load factor8: Voltage9: Temperature

10: Input status11: Output status

Streaming Data Output function12

COOL WORKS QUICK is a support software exclusively for COOL MUSCLE 3 / 3+. Easy parameter set ting and positioning data setting is available.

COOL WORKS QUICK13

Muscle's original tuning-less function enables large inertia drive and belt mechanism drive without gain adjustment. You can stabilize. In addition, if you select PPI control that can be set in detail , you can operate under more severe load conditions.

Setup Time Reduction

Tuning-less function11

By using the graph window, you can check the motor position, speed, and torque data with the command value and the waveform of the actual operation, which can greatly reduce the adjustment time.

21

Specifications

0.00

0.05

0.10

0.15

0.20

0.25

0.30

0.35

0 1000 2000 3000 4000 5000

Speed ［min-1］

Torque ［N・m］

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0 1000 2000 3000 4000 5000

Torque ［N・m］

Speed ［min-1］

Input supply Voltage

Rated Current / Peak Current

Motor Output

Max. Speed

Rated Torque

Max. Torque

Rotor Inertia Moment

Allowable Inertia Moment of Load

Allowable Radial Load

Allowable Thrust Load

Encoder

Resolution

Control Method

I/O

Communication Port

Mass

Operating/Storage Temperature

Operating/Storage Humidity

+24V dc

5000 [min-1]

Less than 10 times of Rotor Inertia

High-precision incremental magnetic rotation angle sensor

From 300~12,000 [ppr] set by parameter

Closed Loop Vector Control

Digital Output:4 (Includes 1 error output)

１

-10℃～50℃ (non-freezing)／-20℃～65℃ (non-freezing)

5～95%RH／20～90%RH

3.5 [A] / 4.8 [A]

60 [W]

0.25 [N・m]

0.32 [N・m]

0.036 × 10-4 [kg・m2]

37 [N]

10 [N]

295 [g]

4 [A] / 5 [A]

60 [W]

0.42 [N・m]

0.65 [N・m]

0.074 × 10-4 [kg・m2]

32 [N]

10 [N]

435 [g]

Control Input

Control Output

STO Input

CM3-17S50A

RS-232C

CM3+-17S50A

RS-232C 2port

CM3-17L50A

RS-232C

CM3+-17L50A

RS-232C 2port

Digital Input:6(Includes 2 pulse inputs ) Digital Input:4 Digital Input:6

(Includes 2 pulse inputs ) Digital Input:4

CM3CM3+

CM3CM3+

22

Speed ［min-1］

0.00

0.10

0.20

0.30

0.40

0.50

0 1000 2000 3000 4000 5000

Torque ［N・m］

Speed ［min-1］

0.0

0.2

0.4

0.6

0.8

1.0

1.2

1.4

1.6

0 1000 2000 3000 4000 5000

Torque ［N・m］

Model Name

Motor Size17…42□23…56□

ModelCM3CM3+

Motor LengthS…ShortL…Long

Max. Speed50…5000rpm

Hardware RevisionA

OptionA…Absolute encoderM…RS485

CM3+ - 17L50A(-A)

Input supply Voltage

Rated Current / Peak Current

Motor Output

Max. Speed

Rated Torque

Max. Torque

Rotor Inertia Moment

Allowable Inertia Moment of Load

Allowable Radial Load

Allowable Thrust Load

Encoder

Resolution

Control Method

I/O

Communication Port

Mass

Operating/Storage Temperature

Operating/Storage Humidity

+24V dc

5000 [min-1]

Less than 10 times of Rotor Inertia

High-precision incremental magnetic rotation angle sensor

From 300~12,000 [ppr] set by parameter

Closed Loop Vector Control

Digital Output:4 (Includes 1 error output)

１

-10℃～50℃(non-freezing) / -20℃～65℃ (non-freezing)

5～95%RH / 20～90%RH

4[A] / 5[A]

80 [W]

0.36 [N・m]

0.45 [N・m]

0.1×10-4 [kg・m2]

77[N]

15[N]

525 [g]

5[A] / 6[A]

100 [W]

1.20 [N・m]

1.50 [N・m]

0.36×10-4 [kg・m2]

70[N]

15[N]

1050 [g]

Control Input

Control Output

STO Input

Digital Input:6(Includes 2 pulse inputs ) Digital Input:4 Digital Input:6

(Includes 2 pulse inputs ) Digital Input:4

CM3-23S50A

RS-232C

CM3+-23S50A

RS-232C 2port

CM3-23L50A

RS-232C

CM3+-23L50A

RS-232C 2port

CM3CM3+

CM3CM3+

23

Dimension

27.4 (33.52)

(63.75)

15±0.24-M3×0.5

31±0.25

42±0.251.5

1±0.3

42±0.25

4.5±0.1

1±0.3

31±0.25

18±0.5

36.4±0.5 20.5

(56.9)

φ5±

0.013

0

22±0.050

27.4 (33.52)

(63.75)

15±0.24-M3×0.5

31±0.25

42±0.251.5

1±0.3

42±0.25

4.5±0.1

1±0.3

31±0.25

18±0.5

51.3±0.5 20.5

(71.8)φ5±

0.013

0

22±0.050

(34.2)14.4

4-φ4.5± 00.5

27.4

(41.7)

47.14±0.13

56±0.5

5±0.25

47.14±0.13

56±0.5

(70.75)

38.1±0.025

5.8±0.2 13.5

40.1

42.75

28

20.6±0.5 (62.3)

1.5±0.25 41.8±0.8 20.5

6.35±0.013

0

15± 01

4-φ4.5±

00.527.4

(41.7)

47.14±0.13

56±0.5

47.14±0.13

56±0.5

(70.75)

38.1±0.025

5.8±0.2

20.6±0.5

1.5

6.35±0.013

0

15± 01

40.1

42.75

28

(34.2)14.4

5±0.25

13.5

(96.3)

75.8±0.8 20.5

CM3-23LCM3+-23L

CM3-23SCM3+-23S

CM3-17LCM3+-17L

CM3-17SCM3+-17S

24

ConnectionThe wiring of COOL MUSCLE 3 is as follows.

Main ConnectorFeatures a 24-pin connector at the top of the COOL MUSCLE 3.The pins are arranged and named as follows:

*The cables and pinouts used depend on the series. For more information, please refer to the user's guide.

COOL MUSCLE 3・3+Interface Cable

COOL MUSCLE 3+ Daisy Chain Cable

COOL MUSCLE 3 Power Supply Cable

COOL MUSCLE 3 Communication Cable

COOL MUSCLE 3・3+　I/O Cable

COOL MUSCLE 3+

I/O Module

Control equipment

+24Vdc Power Supply

Pin NoNAME

2

4

6

8

10

12

14

16

18

20

22

24

GND

ERROR

OUT3 / Z Phase

OUT2 / B Phase

OUT1 / A Phase

STO_IN+

INPUT4

INPUT2

P-GND

POWER

Pin No NAME

1

3

5

7

9

11

13

15

17

19

21

23

FG

GND

RXD0

TXD0

STO_IN-

IN_COM

INPUT3

INPUT1

P-GND

POWER

Pin NoNAME

2

4

6

8

10

12

14

16

18

20

22

24

＋5Vdc

D_GND

RXD1

TXD1

OUT3

OUT1

D_GND

STO_IN+

INPUT3

INPUT1

P-GND

POWER

Pin No NAME

1

3

5

7

9

11

13

15

17

19

21

23

FG

D_GND

RXD0

TXD0

ERROR

OUT2

STO_IN-

INPUT4

INPUT2

IN_COM

P-GND

POWER

INPUT6- / PULSE B-INPUT5- / PULSE A-

INPUT6+ / PULSE B+INPUT5+ / PULSE A+

■CM3 Main Connector ■CM3+ Main Connector

Molex 55959-2430 Molex 55959-2430

PC

PLC

HMI

25

Accessories

For

For

・ Common

Interface Cable ACMIFA1-0400WRCMIFA1-1000WRCMIFA1-2000WR

I/O Cable ACMIOA1-1000SCMIOA1-3000S

Interface Cable BCMIFB1-0400WRCMIFB1-1000WRCMIFB1-2000WR

Daisy Chain Cable ACMDCA1-0500WCMDCA1-1000W

I/O Cable BCMIOB1-1000SCMIOB1-3000S

Communication Cable ACMRSA1-1000WCMRSA1-3000W

Power Supply Cable ACMPWA1-1000SCMPWA1-3000S

26

Other Series

Driver, Controller, Encoder Integrated Servo System

COOL MUSCLE Gear Series

28□ Series

Output：9WMax. Speed：3000rpmRated Continuous Torque：0.027［N・m］


CM1-□-11S30 CM1-□-11L30

GearboxA wide range of high quality gearboxes are available to suit your application needsLow backlash, zero maintenance, durable gearbox with a COOL MUSCLE to maximize performance.

More detail

2 Driver, Controller, Encoder, Power Supply, PLC function Integrated Servo System

0.2

0.4

0.6

0.8

Torque［N・m］

00 3000rpm20001000

6.00

4.00

2.00

Torque［N・m］

00 3000rpm20001000

14.0

10.0

6.0

2.0

Torque［N・m］

00 3000rpm20001000

42□ Series



CM1-□-17S30 CM1-□-17L30

56□ Series



CM2-□-56B10 CM2-□-56B20

60□ Series




※Input Voltage is AC200-240V

CM2-□-60A10 CM2-□-60A20 CM2-□-60A40

56□ Series



CM1-□-23S30 CM1-□-23L20

AC200V

Rated

2.0

1.6

1.2

0.8

0.4

00 10000800060004000

Speed (min-1)2000

Torque［N・m］

AC200V

AC100V

Rated

0 600050004000300020001000Speed (min-1)

1.0

0.8

0.6

0.4

0.2

0

Torque［N・m］

AC200V

Rated

0 600050004000300020001000Speed (min-1)

5.0

4.0

3.0

2.0

1.0

0

Torque［N・m］

COOL MUSCLE Actuator SeriesServo ActuatorIntegrated actuator with COOL MUSCLE.It allows you to build a low cost and very precise network system with Max.15-axis over daisy chain.

EtherCAT COOL MUSCLE Bridge that adapts / connects COOL MUSCLE to EtherCAT network. * Separately CM* communication cable, power cable and LAN cable required.

EtherCAT COOL MUSCLE BridgeEB01（CM1）/EB02（CM2）/EB12（CM1-2）

CM1-□-11S30CM1-□-11L30 CM1-□-17S30

CM1-□-17L30CM1-□-23S30CM1-□-23L20

CM2-□-56B10CCM2-□-56B20C

100W（200W）

CM2-□-60A10C（100W）

CM2-□-60A20CCM2-□-60A40C

（200W）※

（400W）※

1

ble

6F TRADEPIA YODOYABASHI, 2-5-8 IMABASHI, CHUO-KU, OSAKA, 541-0042, JAPANTel.06-6229-9550 [email protected]

*Specifications subject to change without notice.

MOTOR - Myostat

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