Rockwell Automation MPM-Bxxx User Manual

Installation Instructions

MP-Series Medium-inertia Servo Motor
with 115 mm to 215 mm Frame Size

Catalog Numbers MPM-A1151, MPM-A1152, MPM-A1153, MPM-A1302, MPM-A1304,
MPM-A1651, MPM-A1652, MPM-A1653, MPM-A2152, MPM-A2153, MPM-A2154,
MPM-B1151, MPM-B1152, MPM-B1153, MPM-B1302, MPM-B1304, MPM-B1651,
MPM-B1652, MPM-B1653, MPM-B2152, MPM-B2153, MPM-B2154

Topi c Page

Important User Information 2

Catalog Number Explanation 3

About the MP-Series Medium Inertia Motors 4

Before You Begin 4

Install the Motor 8

Product Dimensions 13

Motor Load Force Ratings 15

Connector Data 17

Remove and Install a Shaft Key 19

Motor Cables and Accessory Kits 20

Specifications 22

Additional Resources 23

2 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

IMPORTANT

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of
this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with
installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be
carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or
application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requi rements associ ated wit h any pa rticu lar ins tallat ion, Roc kwell Au tomati on, Inc. cannot assume respon sibili ty or li abilit y for actual
use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNIN G: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injur y or death,
property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the
consequence.

Identifies information that is critical for successful application and understanding of the produc t.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
surfaces may reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for exampl e, a motor control center, to alert
people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective
Equipment (PPE). Follow ALL Regulatory requirements for safe work practi ces and for Personal Protective
Equipment (PPE).

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 3

Catalog Number Explanation

MP

M -

x xxx x x-x

J 7xA A

Factory Designated Options

A = Standard factory configuration

Mounting Flange

A = IEC metric

Brake

2=No brake

4=24V DC brake

Connectors

7 = Circular, right angle, 180° rotatable

Enclosure/Shaft Key/Shaft Seal

J = IP65/IP67 housing/shaft key/no shaft seal

Feedback

2=Resolver

M = Multi-turn high-resolution encoder

S = Single -turn high-resolution encoder

Base Speed

B = 1300 rpm

C = 1500 rp m

E = 22 50 rpm

F = 3000 rpm

M = 4500 rpm

T = 6000 rpm

Magnet Stacks

1=1 stack

2=2 stacks

3=3 stacks

4=4 stacks

Frame Size- Bolt Circle Diameter

115 = 115 mm

130 = 130 mm

165 = 165 mm

215 = 215 mm

Volt age Cla ss

A = 200V

B = 400V

Series Type

M=Medium inertia

Series

Premium permanent magnet

MP =

rotar y servo moto r

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

4 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

The cable enters beneath the
motor and forms a drip loop.

The cable enters above the
motor and does not form a
drip loop.

About the MP-Series Medium Inertia Motors

MP-Series™ medium-inertia (Bulletin MPM) motors feature resolvers and single-turn or
multi-turn high resolution encoders. They are also available with 24V DC holding brakes. These
compact brushless servo motors combine the features of the MP-Series low-inertia motors with a
rotor that is better suited for high-inertia loads.

Before You Begin

Remove all packing material from within and around the item. After unpacking, verify the
nameplate catalog number against the purchase order.

1. Remove the motor carefully from its shipping container.

2. Visually inspect the motor for any damage.

3. Examine the motor frame, front output shaft, and mounting pilot for any defects.

4. Notify the carrier of any shipping damage immediately.

Keep the original packing material in case you need to return the product for repair or transport
it to another location. Use both the inner and outer packing cartons to provide adequate
protection for a unit returned for service.

ATT EN TI ON : Do not attempt to open or modify this motor beyond changing the connector orientation as
described in Change Connector Orientation on page 9.

Only an authorized Allen-Bradley repair center can service this item. Refer to Rockwell Automation Support for
assistance to locate the nearest repair center.

Store or operate your motor in a clean and dry location within the environmental conditions
listed in Specifications

on page 22.

To Prolong Motor Life

Proper design and maintenance can increase the life of a servo motor. Follow these guidelines to
maximize the life of a servo motor within your environment:

• Always provide a drip loop in each cable to carry liquids away from the connection to the

motor.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 5

IMPORTANT

• If possible, provide shields that protect the motor housing, shaft seals, and their

junctions from contamination by foreign matter or fluids.

• Shaft seals are subject to wear and require periodic inspection and replacement.

Replacement is recommended every 3 months, not to exceed 12 months, depending on
use. Refer to Shaft Seal Kits on page 20 for more information.

• Inspect the motor and seals for damage or wear on a regular basis. If damage or excessive

wear is observed, replace the item.

• The brake option on this servo motor is a spring-set holding brake that releases when

voltage is applied to the brake coil. A separate power source is required to disengage the
brake. This power source can be applied by a servo motor controller or manual operator
control.

If system main power fails, holding brakes can withstand occasional use as stopping
brakes. However, this creates rotational mechanical backlash that can cause damage to
the system, increase brake wear, and reduce brake life.

Holding brakes are not designed to stop rotation of the motor shaft, and they are not intended to be used as a
safety device. They are designed to hold a motor shaft at 0 rpm for up to the rated brake holding torque.

Follow these steps to prevent motor shaft rotation.

1. Command the servo drive to 0 rpm.

2. Verify the motor is at 0 rpm.

3. Engage the brake.

4. Disable the drive.
Disabling the drive removes the potential for brake wear caused by a badly-tuned ser vo system oscillating

the shaft.

Using Shaft Seals

An additional seal is required on the motor shaft near the motor front bearing, if the shaft is
exposed to fluids or significant amounts of fine dust. This includes lubricating oil from a
gearbox. An IP65 or IP67 rating for the motor requires the use of a shaft seal and
environmentally sealed connectors/cables. The additional seal is not recommended in
applications where the motor shaft area is free of liquids or fine dust, and a lower rating is
sufficient:

• Refer to Specifications on page 22 for a brief description of the IP rating for these

MP-Series motors.

• Refer to Shaft Seal Kits on page 20 to find the catalog numbers of seal kits available for

your motor.

• Refer to Kinetix® Motion Accessories Specifications, publication GMC-TD004, to find

environmentally sealed connectors and cables compatible with the MP-Series motors.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

6 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

Using Couplings and Pulleys

Mechanical connections to the motor shaft, such as couplings and pulleys, require a torsionally
rigid coupling or a reinforced timing belt. The high dynamic performance of servo motors can
cause couplings, pulleys, or belts to loosen or slip over time. A loose or slipping connection can
cause system instability and damage the motor shaft. All connections between the system and the
servo motor shaft must be rigid to achieve acceptable response from the system. Periodically
inspect connections to verify their rigidity.

When mounting couplings or pulleys to the motor shaft, be sure that the connections are
properly aligned and that axial and radial loads are within the specifications of the motor. Refer
to Shaft Seal Kits

on page 20 for guidelines to achieve 20,000 hours of motor bearing life.

ATT EN TI ON : Damage can occur to the motor bearings and the feedback device if sharp impact to the shaft is
applied during installation of couplings and pulleys. Damage to the feedback device can result by applying
leverage from the motor mounting face to remove devices mounted on the motor shaft.

Do not strike the shaft, couplings, or pulleys with tools during installation or removal. Use a whee l puller
applying pressure from the user end of the shaft to remove any friction-fit or stuck device from the motor shaft.

Preventing Electrical Noise

Electromagnetic interference (EMI), commonly called noise, can adversely impact motor
performance by inducing stray signals.

Follow these guidelines to prevent the effects of EMI:

• Isolate the power transformers, or install line filters on all AC input power lines.

• Separate signal cables from motor cabling and power wiring. Do not route signal cables

with motor and power wires, or over the vent openings of servo drives.

• Ground all equipment by using a single-point parallel ground system that employs

ground bus bars or large straps. If necessary, use additional electrical noise reduction
techniques to reduce EMI in noisy environments.

Refer to System Design for Control of Electrical Noise Reference Manual, publication

GMC-RM001

system level electromagnetic compatibility (EMC).

, for additional information on reducing the effects of EMI by improving the

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 7

Build and Install the Cables

Correct cable routing and careful cable construction improves system electromagnetic
compatibility (EMC).

Follow these guidelines to build and install the cables:

• Keep the wire lengths as short as possible.

• Route noise sensitive wiring (encoder, serial, and I/O) away from input power and motor

power wiring.

• Separate cables by 0.3 m (1 ft) minimum for every 9 m (30 ft) of parallel run.

• Ground both ends of the encoder cable shield and twist the signal wire pairs to prevent

EMI from other equipment.

ATT ENT IO N: High voltage can be present on the shield of a power cable, if the shield is not grounded.

Verify that there is a connection to ground for any power cable shield.

ATTENTION: MP-Series motors produce leakage current in the protective earthing conductor that exceeds

3.5 mA AC and/or 10 mA DC.

Be sure to properly ground the motor cables per the drive installation instructions.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

8 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

Shielded Signal Wires (one pair shown) within Power Cable

Overall Power Cable Shield

Sign al Wire Sh ield Cont acts O verall Po wer Cable Shield

Factory Supplied

Field Modified

Connect all signal wire shields and the overall power-cable shield to machine ground:

• The 2090-CPBM7DF-xxAFxx cable (shown) contains one signal wire pair.

• The 2090-XXNPMF-xxSxx cable contains two signal wire pairs.

All power and signal wire shields must connect to machine
ground.

Ground Shielded Signal Wires within a Power Cable

Always connect the shield on any signal wire pair routed inside a power cable to the overall
machine ground. If you are installing a 2090-CPBM7DF-xxAAxx or 2090-XXNPMF-xxSxx
power cable, loop the signal wire pair to the overall cable shield as shown in Grounding of Signal

Wire Shields in a Power Cable on page 8. Then clamp all of the shields together in the

power-cable (chassis) ground connection on the drive.

Grounding of Signal Wire Shields in a Power Cable

The signal wire pairs within a power cable often carry a 24V DC brake signal, but can also carry
logic signals. Grounding the shield that surrounds the signal wires dissipates an induced voltage
and reduces the effects of EMI.

Install the Motor

MP-Series motors include a mounting pilot for aligning the motor on the machine. Preferred
fasteners are hardened steel. The installation must comply with all local regulations and use
equipment and installation practices that promote safety and electromagnetic compatibility.

ATTENTION: Unmounted motors, disconnected mechanical couplings, loose shaft keys, and disconnected
cables are dangerous if power is applied.

Lock-out and tag-out disassembled equipment (restrict electrical power).

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

Before applying power to the motor, remove the shaft key and other mechanical couplings that can be thrown
from the shaft.

ATTENTION: Make sure that cables are installed and restrained to prevent uneven tension or flexing at the
cable connections.

Excessive and uneven lateral force on the cable can inhibit environmental sealing as the cable flexes.

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 9

Change Connector Orientation

You can rotate the connector housing up to 180°. This lets you adjust the connector to a position
that best protects the connection from possible environmental contaminates while providing
cable access.

ATTENTION: Connectors are designed to be rotated into a fixed position during motor installation, and remain
in that position without further adjustment. Do not rotate the connector multiple times, and do not use tools or
excessive force to rotate the connector. Excessive rotation or force can damage the connector seal and reduce
the international protection (IP) rating of the motor as outlined in Specifications

on page 22.

The circular DIN connector housing can be rotated up to 180° in either direction.

Follow these steps to rotate a DIN connector.

1. Mount and fully seat a mating cable on either the feedback or power/brake connector.

2. Grasp the mated connector and cable plug with your hands and slowly rotate them to the

outside of the motor.

ATT EN TI ON : Apply force to only the motor connector and cable plug. Do not apply force to the
cable extending from the cable plug. Do not use tools (for example, pliers and vise-grips) to rotate
the connector.

3. Repeat these steps for the other connector.

Mount the Motor

Follow these steps to mount the motor.

ATT EN TI ON : Damage can occur to the motor bearings and the feedback device if sharp impact to the shaft is
applied during installation of couplings and pulleys.

Do not strike the shaft, couplings, or pulleys with tools during installation or removal.

1. Provide sufficient clearance, heatsink mass, and cooling air so the motor stays within the
operating temperature range of 0…40 °C (32…104 °F).

Do not enclose the motor unless cooling air is forced across the motor, and keep other
heat producing devices away from the motor. Heatsink requirements are listed in a
footnote to the Specifications

ATT EN TI ON : Outer surfaces of the motor can reach high temperatures of 125 °C (275 °F) during
operation.

Take precautions to prevent accidental contact with hot surfaces. Consider motor surface temperature
when selecting connections and cables to install on a motor.

on page 22 table.

2. Verify the axial and radial shaft loads of your application do not exceed those listed in the

Motor Load Force Ratings on page 15.

3. Position the motor on the machine with its connectors pointing downward.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

10 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

4. Insert and hand-tighten the fasteners in each of the four mounting holes in the motor
faceplate.

The mounting hole diameter is specified in the Product Dimensions

on page 13 table.

5. Align the motor on the machine by using the mounting pilot hole to verify the correct
alignment.

6. Tighten the fasteners within the recommended torque range.

Cat. No. Torque Range

MPM-x115x

MPM-x130x

MPM-x165x 4…10 N•m (35…90 lb•in)

MPM-x215x 8…20 N•m (70…180 lb•in)

0.8…1.0 N•m (7…9 lb•in)

7. Rotate the shaft to verify for electrical phasing and encoder alignment.

The index pulse occurs on a single-turn encoder when the shaft key is aligned with the
connectors. Refer to Product Dimensions

on page 13 for a visual reference of this

alignment.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 11

SpeedTec-ready DIN
Motor Connector

Do not install the O-ring on the SpeedTec-ready DIN motor connector
when you are using the SpeedTec DIN (M7) cable plugs.

SpeedTec DIN (M7) Cable Plug

Threaded DIN (M4) Cable Plug

• 2090-CFBM7Dx-xxAxxx standard and
continuous-flex feedback cables.

• 2090-CPxM7DF-xxAxxx standard and
continuous-flex power/brake cables.

• 2090-XXNxMF-Sxx standard feedback
and power cables.

• 2090-CxxM4DF-xxAFxx continuous-flex
feedback, power, and power/brake cables.

Install the O-ring on the SpeedTec-ready DIN motor connector when
you are using the threaded DIN (M4) cable plugs.
Verify that the O-ring is not damaged, not twisted, and rests in the
groove near the rear of the connector.

SpeedTec-ready DIN
Motor Connectors

Groove Reserved

for Cable Plug

Backshell Seal Inside
Feedback and
Power/Brake Connector
Housing

Attach the Motor Cables

Follow these steps to attach the feedback and power/brake cables after the motor is mounted.

ATTENTION: Servo drive power must be turned off before connecting or disconnecting the cables to the motor, and
if a cable is left disconnected at the motor end.

Arcing or unexpected motion can occur if the feedback, power, or brake cables are connected or disconnected while
power is applied to the servo drive.

ATTENTION: Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable
connectors. Provide support at 3 m (10 ft) intervals throughout the cable run.

Excessive and uneven lateral force at the cable connectors can result in the connector’s environmental sea l opening
and closing as the cable flexes, or wires separating at the cable gland.

1. Verify the seal and O-rings are installed as shown in the diagram.

An O-ring on the feedback connector, and a backshell seal on the feedback and
power/brake connector, is necessary to achieve the maximum environmental rating.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

• A backshell seal covers the joint inside the feedback and
power/brake housings. It seals the joint between the
backshell and the housing of the connector.

• Verify that the backshell seal is not damaged, and it is
fully seated against the face of the backshell.

12 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

IMPORTANT

TIP

Flat Surface with
Logo on Top

Feedback Plug Options

Tab on
Side

Power Plug Options

Top of connector is
relative to motor
orientation.

Flat Surface with
Logo o n Top

Tab on
Top

Connector plugs have either a tab or a flat surface with a logo to indicate the alignment point.

2. Form a drip loop in the cable (see page 4

).

3. Carefully align the flat surface on the feedback or the power/brake cable plug (shown in
the diagram) with the flat surface on the motor connector.

The motor orientation shown is used to clearly show the alignment marker on each cable socket.

The recommended motor orientation when installed positions the connectors at the bottom of the motor.

4. Hand tighten the collar on the plug to fully seat it on the connector:

• Threaded DIN (M4) cable plugs require five to six revolutions.

• SpeedTec DIN (M7) cable plugs require approximately one-quarter of a revolution.

A fully-seated threaded plug leaves a small opening, approximately 1…4 mm (0.04…0.16 in.),
between the connector and the plug.

Do not apply excessive force when mating the cable plug with the motor connector. If the plug
and connector do not go together with light hand force, realign the flat surfaces and try again.

ATT EN TI ON : Align the keyed connectors and hand-tighten the recommended number of turns.

If you cannot tighten the connectors by hand, verify that the keyed connectors are properly aligned. Do not use
tools (for example, pliers and vise-grips) to tighten the connectors.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 13

S

M

AD

HD

L

P

LA

LB

T1

L-LB

D

LE

LD

MPM-x115 = 67.7 mm (2.66 in.)

MPM-x130 = 67.7 mm (2.66 in.)

MPM-B165xC and MPM-B1651F = 68.2 mm (2.68 in.)

MPM-x215 = 93.9 mm (3.69 in.)

MPM-x165x not listed above = 71.2 mm (2.80 in.)

GE

F

N1

MPM-x115 = 6 x 6 x 25 MPM-x165 = 8 x 7 x 40

MPM-x130 = 8 x 7 x 32 MPM-x215 = 10 x 9 x 59

N2

T2

LE

LD

ADHD

N2

Shaft End Hole

Thread and Depth

(hole diameter)

M23 Power/Brake Connector

(1)

is standard on these motors.

M40 Power/Brake Connector

(1)

is standard on these motors.

Shaft Key Dimensions

(1) Electronic zero (index pulse or Stegmann ABS = 0) occurs when the shaft key or dimple (not shown) is aligned with the connectors (as shown).

Flush to

Pilot

Recessed

End Cap on

MPM-x165

and MPM-x215

(bolt circle diameter)

Pilot Diameters

Changes to the dimensions for MPM-x165 motors with a M40

Power/Brake Connector are:

- Add 23.0 mm (0.91 in.) to AD

- Add 22.9 mm (0.90 in.) to HD

- Add 1.7 mm (0.07 in.) to LD

- Subtract 29.2 mm (1.15 in.) from LE

M40 Feedback Connector shown for comparison.

Product Dimensions

This section provides dimensions for the motors.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

14 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

End of Shaft

Thread and

Depth of Hole

(6)

mm

(in.)

GE

(5)

mm

(in.)

F

T2

mm

(in.)

T1

mm

(in.)

(4)

mm

(in.)

S

P

mm

(in.)

N2

mm

(in.)

N1

mm

(in.)

M

mm

(in.)

M6 x 1.0 - 6H

3.5

6.0

2.87

2.74

10.0

98.3

59.0

95.0

115.0

x16(0.63)

(0.138)

(0.236)

(0.113)

(0.108)

(0.401)

(3.87)

(2.32)

(3.74)

(4.528)

M8 x 1.25 - 6H

4.0

8.0

3.38

2.74

10.0

113.7

70.3

110.0

130.0

x19(0.75)

(0.158)

(0.315)

(0.133)

(0.108)

(0.401)

(4.48)

(2.77)

(4.33)

(5.118)

M10x1.5-6H

4.0

8.0

3.38

3.12

12.0

143.5

81.0

130.0

165.0

x22(0.87)

(0.158)

(0.315)

(0.133)

(0.123)

(0.481)

(5.65)

(3.19)

(5.12)

(6.496)

M12 x 1.75 - 6

H x 28 (1.10)

5.0

(0.197)

0.394)

10.0

(

3.86

(0.152)

3.73

(0.147)

14.50

(0.571)

184.9

(7.28)

108.0

(4.25)

180.0

(7.09)

215.0

(8.465)

(1), (2)

mm

(in.)

LE

(1), (2)

LD

(2)

LB

LA

(3)

L-LB

(2)

L

(1)

HD

D mm(in.)

(1)

mm

mm

mm

mm

mm

mm

mm

84.1

(3.31)

109.5

(4.31)

134.9

(5.31)

(in.)

124.2

(4.89)

149.6

(5.89)

175.0

(6.89)

(in.)

149.9

(5.90)

175.3

(6.90)

200.7

(7.90)

(in.)

(in.)

(in.)

(in.)

(in.)

10.16

(0.40)

40.0

(1.575)

189.9

(7.48)

215.3

(8.48)

240.7

(9.48)

140.1

(5.52)

19.0

(0.748)

90.9

(3.58)

163.6

(6.44)

160.0

(6.30)

210.8

112.8

(4.44)

203.7

(8.02)

152.9

(6.02)

229.4

(9.03)

178.6

(7.03)

12.19

(0.48)

50.0

(1.969)

279.4

(11.0)

228.6

(9.0)

155.4

(6.12)

24.0

(0.945)

98.6

(3.88)

(8.30)

200.2

(7.88)

251.0

(9.88)

226.6

(8.92)

277.4

(10.92)

14.0

(0.55)

60.0

(2.362)

286.6

(11.28)

337.4

(13.28)

185.2

(7.29)

28.0

(1.102)

113.4

(4.47)

-A/B1304

Motor Cat. No. AD

Dimensions

MPM-A/B1151

MPM-A/B1152

MPM-A/B1153

MPM-A/B1302

MPM

MPM-A/B1651

MPM-A/B1652

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

214.1

(8.43)

264.9

(10.43)

(3) Tolerance is ±0.7 (±0.028).

(4) Tolerance is +0.36 (±0.007) for MPM-x115 and MPM-x130 motors, and +0.43 (±0.008) for MPM-x165 and MPM-x215.

(5) Tolerance is -0.03 (-0.001).

261.6

(10.30)

163.3

(6.43)

285.2

(11.23)

336.0

301.8

(11.88)

234.4

(9.23)

328.2

(12.92)

274.6

(10.81)

388.2

(15.28)

354.6

(13.96)

(13.23)

325.4

(12.81)

376.2

(14.81)

17.8

(0.70)

80.0

(3.149)

405.4

(15.96)

456.2

(17.96)

246.5

(9.70)

38.0

(1.496)

(6) Tolerance is -0.1 (-0.004) for MPM-x115x, -0.2 (-0.007) for MPM-x130x and MPM-x165x, and -0.2 (-0.008) for MPM-x215x.

, for pilot and shaft tolerances.

MPM-x115 motors add 48.5 mm (1.91 in.) to L, LB, LD, and LE.

154.0

(6.06)

MPM-x130 motors add 48.5 mm (1.91 in.) to L, LB, LD, and LE.

MPM-x165 motors add 51.5 mm (2.03 in.) to L, LB, LD, and LE.

MPM-x215 motors add 88.9 mm (3.50 in.) to L, LB, LD. and LE.

MPM-A/B2153

MPM-A/B2154

(1) S ee the diagram for dimension changes to MPM-x165x motors with an M40 power connector.

MPM-A/B1653

MPM-A/B2152

(2) For motors with a brake (MPM-xxxxxx-xxx4xx), adjust dimensions with these values:

Refer to Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 15

Axial Load Force

Radial load force applied at center of shaft extension.

Motor Load Force Ratings

Motors are capable of operating with a sustained shaft load. The load force locations are shown
in the figure and maximum values are in the tables.

Loads are measured in kilograms; pounds are mathematical conversions.

Load Forces on Shaft

The tables represent 20,000 hour L10 bearing fatigue life at various loads and speeds. This 20,000
hour life does not account for possible application-specific life reduction that can occur due to

bearing grease contamination from external sources.

Radial Load Force Ratings

Motor Cat. No. 1000 rpm

kg (lb)

MPM-A/B1151 77 (170) 61 (134) 54 (119) 45 (99) 40 (88)

MPM-A/B1152 84 (185) 66 (145) 58 (128) 49 (108) 43 (95)

MPM-A/B1153 88 (194) 70 (154) 61 (134) 51 (112) 46 (101)

MPM-A/B1302 105 (231) 83 (183) 72 (159) 61 (134) 54 (119)

MPM-A/B1304 115 (253) 91 (200) 80 (176) 67 (148) —

MPM-A/B1651 141 (311) 112 (247) 97 (214) 82 (181) —

MPM-A/B1652 151 (333) 119 (262) 104 (229) — —

MPM-A/B1653 156 (344) 123 (271) 107 (236) — —

MPM-A/B2152 216 (476) 171 (377) 149 (328) — —

MPM-A/B2153 228 (502) 180 (396) 156 (344) — —

MPM-A/B2154 235 (518) 185 (407) 161 (355) — —

2000 rpm

kg (lb)

3000 rpm

kg (lb)

5000 rpm

kg (lb)

7000 rpm

kg (lb)

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

16 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

Axial Load Force Ratings (maximum radial load)

Motor Cat. No.

MPM-A/B

MPM-A/B1151 29 (64) 22 (48) 18 (40) 14 (31) 12 (26)

MPM-A/B1152 31 (68) 23 (51) 19 (42) 15 (33) 13 (29)

MPM-A/B1153 33 (73) 24 (53) 20 (44) 16 (35) 14 (31)

MPM-A/B1302 26 (57) 19 (42) 16 (35) 13 (29) 11 (24)

MPM-A/B1304 30 (66) 22 (48) 18 (40) 15 (33) —

MPM-A/B1651 37 (81) 28 (62) 23 (51) 18 (40) —

MPM-A/B1652 41 (90) 30 (66) 25 (55) — —

MPM-A/B1653 43 (95) 32 (70) 27 (59) — —

MPM-A/B2152 55 (121) 40 (88) 34 (75) — —

MPM-A/B2153 60 (132) 44 (97) 36 (79) — —

MPM-A/B2154 63 (139) 46 (101) 38 (84) — —

1000 rpm

kg (lb)

2000 rpm

kg (lb)

3000 rpm

kg (lb)

5000 rpm

kg (lb)

7000 rpm

kg (lb)

Axial Load Force Ratings (zero radial load)

Motor Cat. No.

MPM-A/B

MPM-A/B1151 46 (101) 34 (75) 28 (62) 23 (51) 19 (42)

MPM-A/B1152 46 (101) 34 (75) 28 (62) 23 (51) 19 (42)

MPM-A/B1153 46 (101) 34 (75) 28 (62) 23 (51) 19 (42)

MPM-A/B1302 46 (101) 34 (75) 28 (62) 23 (51) 19 (42)

MPM-A/B1304 46 (101) 34 (75) 28 (62) 23 (51) —

MPM-A/B1651 61 (134) 44 (97) 38 (84) 30 (66) —

MPM-A/B1652 61 (134) 44 (97) 38 (84) — —

MPM-A/B1653 61 (134) 44 (97) 38 (84) — —

MPM-A/B2152 90 (198) 65 (143) 54 (119) — —

MPM-A/B2153 90 (198) 65 (143) 54 (119) — —

MPM-A/B2154 90 (198) 65 (143) 54 (119) — —

1000 rpm

kg (lb)

2000 rpm

kg (lb)

3000 rpm

kg (lb)

5000 rpm

kg (lb)

7000 rpm

kg (lb)

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 17

12

3

6

15

1

2

4

5

7

8

9

10

11

13

14

17

16

Connector Data

These tables provide the signal descriptions for the feedback, power, and brake pinouts on the
connectors.

M23 Feedback Pin Descriptions

Pin MPM-A115x and MPM-A130x,

(230V) Motors with
5V High-resolution Encoder

MPM-A165x or MPM-A215x
(230V), and MPM-Bxxxx (460V)
Motors with

MPM-Axxxx (230V) or
MPM-Bxxxx (460V) Motors with
4-pole Resolver

9V High-resolution Encoder

1 SIN+ SIN+ S2

2 SIN- SIN- S4

3Cos+ COS+ S1

4Cos- Cos- S3

5DATA+ DATA+ R1

6DATA- DATA- R2

7

Reserved

8

9EPWR_5V

10 ECOM

11

Reserved

12 ECOM

Reserved

Reserved

EPWR_9V

13 TS+ TS+ TS+

14 TS- TS- TS-

15

Reserved Reserved Reserved 16

17

M23 Feedback Connector

11

12

10

13

16

17

14

15

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

18 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

V

UW

12

+

-

M23 and M40 Power/Brake Pin Descriptions

Pin MPM-x115x, MPM-x130x, MPM-x165x,

MPM-x215x

A Phase U U Phase U

B Phase V V Phase V

C Phase W W Phase W

Ground Ground

E Reserved + BR+

FBR+ -BR-

GBR- 1

H

Reserved

L M40 Power/Brake Connec tor

M23 Power/Brake Connector

Pin MPM-x165x, MPM-x215x

Reserved

2

BC

G

A

F

EL

H

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 19

Radius Cut at
the End of the
Keyway

Key Aligns at
End of Shaft

Support Fixture

for Shaft

Apply a constant force

evenly across the top of the key.

Remove and Install a Shaft Key

Shaft keys are constructed of steel. The specified tolerance provides an interference fit (slightly
larger than the opening) for a secure and rigid connection.

ATTENTION: Do not strike the motor’s shaft, couplings, or pulleys with tools during installation or removal of the
shaft key.

Damage can occur to the motor bearings and the feedback device if a sharp impact is applied to the shaft during
installation of couplings and pulleys, or to remove the shaft key, or if leverage is applied from the motor mounting
face to remove devices mounted on t he motor shaft.

Apply a constant pressure, with a wheel puller, to the user end of the shaft to remove a friction fit or stuck device.

To remove a shaft key, perform one of these actions:

• Lift the key by grasping it with a pliers or similar tool.

• Lever the key with a screwdriver inserted between the key and the slot.

To install a shaft key, follow these steps.

1. Verify the replacement key matches the keyway in the shaft and the mating mechanical
connection (for example, a coupling or pulley) before proceeding.

2. Align the front of the key with the front of the motor shaft.

This prevents the radiused end-of-cut at the motor end of the keyway from interfering
with correct seating of the key.

Support the underside of the shaft diameter with a fixture, and use a controlled press device to
apply a constant force across the top surface to press the key into the shaft.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

20 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

IMPORTANT

Motor Cables and Accessory Kits

This section describes accessories that are available for MP-Series medium-inertia motors.

Motor Cables

Factory manufactured feedback and power cables are available in standard cable lengths. They
provide the sealing needed to achieve environmental ratings and shield termination.

For a complete listing of available cables, contact your nearest Rockwell Automation sales office
or refer to the Kinetix Motion Accessories Specifications Technical Data, publication

GMC-TD004

Shaft Seal Kits

A shaft seal is a barrier that can prevent moisture and particles from entering the motor bearings.

Shaft seals are subject to wear and require periodic inspection and replacement. Replacement is
recommended every 3 months, not to exceed 12 months, depending on use.

Catalog numbers for the motors and corresponding replacement Nitrile shaft seal kits are listed
in this table.

.

Shaft seals must be lubricated. Lubricant is supplied with the shaft seal kits.

Third-party shaft seals are not approved for use with these motors. The use of third-party shaft seals voids any
implied or expressed warranties.

Motor Cat. No. Shaft Seal Kit Cat. No.

MPM-x115x MPL-SSN-A4B4

MPM-x130x MPL-SSN-A5B5

MPM-x165x MPL-SSN-F1655

MPM-x215x MPL-SST-A6B6

For instructions on how to install a shaft seal, refer to the Shaft Seal Kit Installation Instructions,
publication 2090-IN012

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

.

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 21

O-ring

Air Fitting

Tor x S cre w

M3 x 10 mm

Flat Head

Sealing Air Pressure Kit

A sealing air pressure kit (catalog number MPF-7-AIR-PURGE) is available for field installation
on an M23 feedback connector. Positive air pressure supplied through this kit provides an
additional level of protection for the motor against the ingress of foreign substances and
moisture.

The kit replaces the M23 feedback connector cap, provides a replacement O-ring, and includes
installation instructions.

When designing a motion system, consider these installation guidelines when installing a sealing
air pressure kit:

• Use plastic air tubing that is 4 mm (5/32 in.) OD Teflon FEP.

• Do not exceed 0.1 bar (1.45 psi) air pressure.

• The air fitting extends 26 mm (1.0 in.) from the M23 connector when installed.

ATT EN TI ON : Excessive air pressure and improper filtering of air can result in damage to the motor.

Air supplied to the motor must be clean, dry, and of instrument quality. Maximum air pressure is 0.1 bar (1.45 psi).

Air Kit Installation on the M23 Feedback Connector

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

22 MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size

Specifications

Attribute Value

(3)

Temperature, operating 0…40 °C (32…104 °F)

Temperature, storage -30…70 °C (-22 …158 °F)

Relative humidity, storage 5…95% noncondensing

Atmosphere, storage Noncorrosive

(1)

International protection (IP) rating
Motor with optional shaft seal

(2)

installed

IP67 - dust tight, one meter immersion
IP65 - dust tight, water jets

Motor without a shaft seal mounted in this direction:

Shaft down
Shaft horizontal
Shaft up

(1) The motors are dual rated with International protection code s (IP ratings) for environmental protection.

The motor rating excludes any reduction in the rating resulti ng from cables or their plugs w ith a lower rating.

(2) An op tional shaft seal kit is required to achieve the IP67 rating for the motor enclosure. Refer to Addit ional Resourc es

installation instructions.

(3) To obtain this thermal rating, mount the motor on a surface with heat dissipation equivalent to a 304.8 x 304.8 x 12.7 mm (12 x 12 x 0.5 in.)

aluminum heatsink.

(4) International protection code (IP67) is roughly equivalent to a NEMA4 (dust tight, water tight).

IP53 - dust protected, spraying water
IP51 - dust protected, vertically falling water drops
IP50 - dust protected, not protected from water

(4)

on page 23 for shaft seal

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

MP-Series Medium-inertia Servo Motor with 115 mm to 215 mm Frame Size 23

Additional Resources

These documents contain additional information concerning related products from Rockwell
Automation.

Resource Description

Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

Kinetix 6200 and Kinetix 6500 Modular Servo Drives User Manual,
publication 2094-UM002

Kinetix 6000 Multi-axis Servo Drive User Manual, publication

2094-UM001

Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication

2097-UM001

Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual,
publication 2097-UM002

Kinetix Motion Control Selection Guide, publication GMC-SG001

Kinetix Rotary Motion Specifications Technical Data, publication

GMC-TD001

Kinetix Motion Accessories Specifications, publication GMC-TD004

Shaft-seal Kit Installation Instructions, publication 2090-IN01 2

Allen-Bradley Industrial Automation Glossary, publication AG-7. 1

System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001

Rockwell Automation Product Certification website

http://www.rockwellautomation.com/products/certification/

Provides information on installing, configuring,
startup, troubleshooting, and applications for your
Kinetix servo drive system.

Specifications, motor/servo-drive system

combinations, and accessories for Kinetix motion
control products.

Provides product specifications for MP-Series (Bulletin
MPL, MPM, MPF, MPS) rotary motors.

Provides product specifications for Bulletin 2090
motor and inter face cables, low-profile connector kits,
drive power components, and other servo drive
accessory items.

Information on the installation of a shaft seal on this
and other servo motors.

A glossary of industrial automation terms and
abbreviations.

How to minimize and control system-level noise.

Declarations of Conformity (DOC) for Rockwell
Automation products.

You can view or download publications at http://www.rockwellautomation.com/literature/

. To
order paper copies of technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.

Rockwell Automation Publication MPM-IN001D-EN-P - January 2014

Rockwell Automation Support

Rockwell Automation provides tec hnical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support
service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/
and forums, technical information, FAQs, and to sign up for product notification updates.

In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more information, contact
your local distributor or Rockwell Automation representative, or visit http://w ww.rockwellautomation.com/services/online-phone

Installation Assistance

If you experience a problem within the first 24 hours of installation, please review the information that's contained in this manual.
You can also contact a special Customer Support number for initial help in getting your product up and running.

United States or Canada 1.440.646.3434

Outside United States or
Canada

Use the Wor ldwi de Loc ator

http://www.rockwellautomation.com/rockwellautomation/support/overview.page

local Rockwell Automation representative.

New Product Satisfaction Return

Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing
facility. However, if your product is not functi oning and needs to be returned, follow these procedures.

you can find technical and application notes, sample code, and links to software

for software updates, support chats

at

, or contact your

.

United States

Outside United States Please contact your local Rockwell Automation representative for the return procedure.

Contact your distributor. You must provide a Customer Support case number (call the phone number
above to obtain one) to your distributor to complete the return process.

Documentation Feedback

Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document,
complete this form, publication RA-DU002

Allen-Bradley, Rockwe ll Software, MP-Seri es, Kinetix, and Rockwell Automation are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

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Publication MPM-IN001D-EN-P - January 2014

Supersedes Publication MPM-IN001C-EN-P - February 2011 Copyright © 2014 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

, available at http://www.rockwellautomation.com/literature/.