Motion Control Solutions
Minas A4/A4N/E Servo Drives/FP-Series PLCs
04/2008
Panasonic Motion Control Solutions
Overview
FP-SERIES PLCs
A
MINAS A4 /A4N/A4P/E
SERIES SERVO
DRIVES
B
SOFTWARE
Control Configurator PM
© 2008
2008
Panasonic
Panasonic Electric
Electric Works
Works Europe
Europe AG
AG
Made
Made in
in Germany
Germany
20
2008
08
A
B
C
C
FP-SERIES
The compact FP3(Sigma) is suitable for most applications. The FP3(Sigma) PLC itself has
powerful features for up to two axes. Add FP3(Sigma) positioning units to control up to10 independent axes. The new FP-X PLC with transistor outputs offers functionality similar to the FP3
(Sigma). The FP2/FP2SH is also suitable for complex positioning applications, while the compact FP0 and FP-e can handle simple positioning tasks. RTEX units for FP3(Sigma) and FP2
offer real-time access to multiple Minas A4N drivers.
MINAS A4/A4N/A4P/E SERIES SERVO MOTORS AND DRIVERS
Powerful servo drives with cutting edge technology, high power density and a power range of
50W to 5kW. [ Minas A4/A4N/Minas E (100 to 400W)].
Page 11
SOFTWARE
Use any of the built-in functions for FP3(Sigma) or FP-X for up to two axes or the certified
Motion Control Library for more complex tasks that require positioning units. PANATERM ® and
Configurator PM allow set-up, tuning, monitoring and analysis of the driven system.
2
Page 3
04/2008
Page 29
A FP-Series PLCs
Overview
E
PLC
FP0 / FPe
Type
Transistor
FP-X
FP2 / FP2SH
FP3 (Sigma
Relay with cassette
Transistor
Relay
Transistor
Number of axes
supported
2x5kHz (1x10kHz)
pulse train
–
4 (2x100kHz
+2x20kHz) pulse train
–
2x60kHz
(1x100kHz) pulse
train
–
Functions
Positioning
–
Linear interpolation
2x100kHz +2x20kHz
–
Linear interpolation
100kHz, circular
20kHz
–
Number of axes
supported using
expansion units
–
2x80kHz (1x100kHz)
pulse train
–
8x500kHz (2MHz line driver) pulse train,
16 x Ethernet 100MHz (RTEX)
64 (88 for FP2SH) x 500kHz
(2MHz line driver) pulse train,
112 x Ethernet 100MHz
(RTEX)
Number of axes
per expansion
unit
–
1 pulse train
–
1 or 2 pulse train, 2,4 or 8 via Ethernet
(RTEX)
1 or 2 pulse train,
2, 4 or 8 via Ethernet (RTEX)
Functions
–
Independent positioning,
linear interpolation
–
Independent positioning (pulse train), linear interpolation 2 or 3 axes,
circular 2 axes, spiral 3 axes (Ethernet/RTEX)
FP3 (SIGMA)
B
Program capacity:
32k steps
Memory capacity:
32k words
Expansion capacity:
4 modules (left side)
3 modules (right side) up to 384 I/Os
Processing speed:
0.32μs/basic instruction
Program capacity:
FPXC30, FPXC60
FPXC14
FP-X
32k steps
16k steps
Memory capacity:
32k words
Expansion capacity:
Up to 8 units + up to 2 cassettes for
FPXC14 or + up to 3 cassettes for
FPXC30/C60
Up to 300 I/Os possible
Processing speed:
0.32μs/basic instructions
Program capacity:
FP2
FP2SH
16 or 32k steps
60 or 120k steps
Memory capacity:
FP2
FP2SH
6000 words
10,240 words
Expansion capacity:
Up to 28 modules or 2048 I/Os
Processing speed:
FP2
FP2SH
FP2 / FP2SH
04/2008
0.35μs/basic instruction
0.03μs/basic instruction
3
A FP-Series PLCs
Positioning with FP¤ (Sigma)
The FP3(Sigma) positioning unit supports ultra-high speed linear servo motors.
All-purpose device capable of linear interpolation and circular interpolation.
Pulse output of up to 4Mpps and high-speed startup at 0.005ms enable linear servo motor control.
FP3 (Sigma) positioning unit
Adhesive
The linear and circular interpolation functions support a wide variety of applications.
These interpolation functions enable simultaneous two-axis control,
which can support applications that up to now have been difficult to
handle using conventional compact PLCs.
Linear interpolation
Error detection is available by using the high-speed counter in combination.
Unexpected accidents, such as errors in the driving system, can be detected by setting the counter so that it counts the feedback pulses from
the encoder during positioning.
Open-loop control
Pulser
output
Example
Motor
driver
Motor
Encoder
(for error detection)
FP3 (Sigma)
positioning unit
Pulser input
from the encoder
Counts feedback
pulses from the
encoder to detect
errors
Accelerates/decelerates in a maximum of
60 steps depending on preset parameters
Smooth acceleration/deceleration enables smooth startup.
CW/CCW is also supported.
Circular
interpolation
CW/CCW method
Pulse+Sign method
Pulse+Sign method. Cost reduction of the whole
system can be achieved by using FP3 (Sigma)
with small stepping motors or servo motors that
do not support the pulse-and-sign method.
(Sigma)
(Sigma)
The control unit on its own can provide two-axis control.
The control unit has a pulse output of 100kpps and startup speed of 0.02ms, which provide sufficient performance for normal positioning.
Convenient and easy programming and selectable home return mode.
Circular interpolation
• Uses a data table for setting parameters, such as startup speed, target speed, acceleration/deceleration time.
Positioning locus
• Comes with dedicated instructions for each mode: trapezoidal control, home return, JOG operation, free table operation, linear interpolation and circular interpolation.
• The home return method is selectable depending on the design, e.g. when only a single sensor is
being used.
• Output of the deviation counter reset signal upon completion of return to home position is also
available.
Current position S
(X 5000, Y 8660)
Center
position O
(Xo, Yo)
Passing position P
(X 9396, Y -3420)
Target position E
(X 8660, Y -5000)
A center-radius setting
method is also
available.
Unit type and product number
Type
Output type
Product number
1-axis type
Transistor output type
FPGPP11
2-axis type
Transistor output type
FPGPP21
Type
1-axis type
Line driver output type
FPGPP12
FP¤ (Sigma) CPU
Transistor output type NPN
FPG-C32T2H-A
2-axis type
Line driver output type
FPGPP22
FP¤ (Sigma) CPU
Transistor output type PNP
FPG-C28P2H-A
4
04/2008
Output type
Product number
A FP-Series PLCs
Positioning with FP-X
FP-X perfectly fits the need for low cost “multi-axis positioning control in small-scale equipment”.
sive
ion
Built-in 4-axis pulse output (transistor output type).
Item
The transistor output type C14 comes with 3-axis pulse output while
C30/40 comes with 4-axis pulse output inside the control unit. Multiaxis control, which previously required a higher-level PLC, additional
positioning unit, or two or more PLC units, can now be achieved with
only one FP-X transistor output type unit in a small space at a low
cost. In addition, as this type does not require a pulse I/O cassette as
needed for a relay output type, other function expansion cassettes
such as communication or analog input can be attached for more diversified applications.
Pulse output
Max. frequency
XY table + processing head
Specification
C14: 100kHz (CH0,1), 20kHz (CH2)
C30, C60: 100kHz (CH0,1), 20kHz (CH2,3)
Output type
Transistor output type PNP
Trapezoidal control, multi-stage operation, jog
operation, origin return, 2-axis linear interpolation
Function
The relay output type can
control two axes by using expansion cassettes.
Semiconductor wafer takeout blade
on)
100kHz
x 2 axes
20kHz
x 2 axes
First axis
80kHz
3-axis control with C14
Second
axis
80kHz
4-axis control with C30/C60
2-axis 80kHz pulse output is
possible by attaching two pulse
I/O cassettes (AFPX-PLS). This
type is also capable of performing 2-axis linear interpolation.
The pulse I/O cassette does not
work with the control unit transistor output type.
2-axis linear interpolation simultaneously in two sets (transistor output type).
2-axis linear interpolation simultaneously controls two motor shafts, allowing you, for example, to move a robot arm diagonally. It is
used for palletising, component pick and place, XY table control, contour cutting of a PC board, etc. The FP-X transistor output
type is capable of simultaneously controlling 2-axis linear interpolation, for the first time in the industry with a compact pulse-output
PLC. This unit greatly expands the range of applications as well as providing the added convenience of programming by using the
linear interpolation command F175 (SPSH).
Controls two units of 2-axis XY table
C30/C60
Simultaneous control of two mechanisms
poY-axis
(CH1)
Maximum
composite
speed
100kHz
sition S
8660)
Y-axis
(CH3)
+
Maximum
composite
speed
20kHz
X-axis (CH0)
ng position P
96, Y -3420)
osition E
Y -5000)
The relay output type is also capable of 2-axis linear interpolation.
X-axis (CH2)
By adding two pulse I/O cassette units, linear interpolation is possible at a
maximum composite speed of 80kHz. The command used for this unit is
F175 (SPSH) as for the transistor output types.
FP-X type overview
FP-X type overview
AFPXC14TD
24VDC
OutInputs puts
Transistor NPN 8
6
AFPXC60TD
24VDC
AFPXC14T
100 to 240VAC
Transistor NPN 8
6
AFPXC60T
100 to 240VAC
Transistor NPN 32
28
AFPXC14PD
24VDC
Transistor PNP 8
6
AFPXC60PD
24VDC
Transistor PNP 32
28
AFPXC14P
100 to 240VAC
Transistor PNP 8
6
AFPXC60P
100 to 240VAC
Transistor PNP 32
28
AFPXC30TD
24VDC
Transistor NPN 16
14
Power supply
Output type
ber
AFPXC30T
100 to 240VAC
Transistor NPN 16
14
-A
AFPXC30PD
24VDC
Transistor PNP 16
14
-A
AFPXC30P
100 to 240VAC
Transistor PNP 16
14
04/2008
Power supply
OutInputs puts
Transistor NPN 32
28
Output type
5
A FP-Series PLCs
FP2 and FP2SH positioning units
FEATURES
• Maximum 4Mpps command gives high-speed, high-precision positioning.
• 0.005ms high-speed drive reduces tact-time (start-up time is the time from reception of the CPU unit start-up command
to release of the pulse output by the positioning unit).
• 4 axes per unit means versatility and saves space.
• S (sight-shaped) acceleration/deceleration function provides smooth starting and stopping.
• Feedback pulse count function makes output pulse counting possible for encoders, etc.
• The pulse input function allows users to generate pulses manually to adjust machines, for example.
Operation modes:
• E-point control
• P-point control
• Homing function
• Jog operation function
• Pulser input function
• Interpolation
• Single speed acceleration/deceleration
• Multistage acceleration/deceleration
• Fast startup of 0.02 or 0.005ms makes cycle time reduction possible
• Acceleration / deceleration control: Linear or 4 types of
S-curve: Sine, quadratic, cycloid and cubic curves (for
smooth startup and stopping)
FP2 CPU types
Type
UP TO 4 AXES
PER POSITIONING MODULE:
Program capacity
Product number
FP2 Standard CPU
16k steps
FP2C1
FP2SH CPU
60k steps
FP2C2
FP2SH CPU
120k steps
FP2C3
Output type
Product number
FP2 positioning units
Number of axes
Motor
Motor
Driver
Driver
2
Transistor
FP2PP21
2
Line driver
FP2PP22
4
Transistor
FP2PP41
4
Line driver
FP2PP42
Power
Product number
FP2 power supplies
Motor
Driver
4-axis type
FP2PP42
Motor
Driver
Supply voltage
200–240VAC
2.5A
FP2PSA2
100–240VAC
5A
FP2PSA3
FP2 backplanes
Description
6
Product number
FP2 backplane 5 modules
FP2BP05
FP2 backplane 7 modules
FP2BP07
FP2 backplane 9 modules
FP2BP09
FP2 backplane 12 modules
FP2BP12
FP2 backplane 14 modules
FP2BP14
04/2008
A FP-Series PLCs
RTEX positioning units for FP¤ (Sigma) and FP2/FP2SH
REAL-TIME ETHERNET SERVO SYSTEM
FOR MINAS A4N SERVO DRIVES
Positioning units for FP3(Sigma) and FP2 PLCs
support Minas A4N network servo drives. A mutually
optimised system consisting of PLC and servo drive
greatly simplifies installation.
ADVANTAGES:
• Easy control of network servos with an ultracompact PLC.
• Allows highly accurate control of multi-axis positioning using high-speed 100Mbps communication.
• Commercial LAN cables greatly reduce wiring costs.
• New product lineup includes a new 2-axis unit in addition to the 4-axis and 8-axis units.
• Dedicated software tool ConfiguratorPM provides total support, from configuration and startup to monitoring.
• Includes manual pulser input allowing support for precision teaching.
SYSTEM CONFIGURATION
No. of positioning units per RTEX unit
Control of 2 to 8 axes in one positioning unit
FP3 (Sigma): 2 units
FP2: 14 units (limited by consumption current)
er
er
er
CPU unit
Tool port
Commercially available
LAN cable
(Ethernet category
5 shielded type)
I/O signals, such as
origin proximity, limit,
etc., sent to A4N.
Positioning unit RTEX
dedicated software tool
Configurator PM
PANATERM Vers. 3.70.1 and higher
Programming tool
Control FPWIN Pro
Software tool for Minas A4/AN servo drives
04/2008
7
A FP-Series PLCs
RTEX multi-axis network servo system
FP¤ (SIGMA) POSITIONING UNIT RTEX – THE WORLD’S FIRST SERVO SYSTEM
WITH ULTRACOMPACT PLC!
• Maximum number of control axes: 16 axes. Realisation of highly accurate 2-axis circular interpolation, 3-axis linear interpolation
and 3-axis spiral interpolation with high-speed 100Mbps communication.
• With 3 types in the product range, for 2 axes, 4 axes and 8 axes, provides flexible support even for control of small numbers of
axes.
• Provides a rich environment for total control of equipment including I/O control, with a powerful control unit with 32k step
program capacity/max. 320 I/O points/serial communication on 3 ports.
Configuration example: 16 axes + I/O (256)
FP3 Positioning unit RTEX
Pulser Input
Terminal
Monitor LEDs
Status Display
Link Status
Error Display
Pulser Input Status
Network Port
(Transmit)
Network Port
(Receive)
FP Dedicated Expansion Unit
(Max. of 4 units in combination
with Positioning Unit)
Positioning Unit
RTEX
Control Unit
(Max. 2 units)
FP /FP0 Common
Expansion Unit
(Max. 3 units)
ULTRA-HIGHSPEED PROCESSING WITH FP2/FP2SH
• Installation of up to 14 units with 8 axes is possible bringing the number of control axes up to 112.
• With the addition of 2 axis, 4 axis and 8 axis units to the product lineup, flexible system configurations from small to large
numbers of axes are possible.
• RTEX in combination with the ultra-high-speed and large capacity FP2SH CPU unit [20k steps/1ms (as measured in in-house
experiments) and 120k step program capacity] provides sufficient support also for large-scale equipment.
FP2/FP2SH Positioning Unit RTEX
Configuration example: 8 axes x 14 modules = 112 axes
Master backplane
Monitor LEDs
Status Display
Link Status
Error Display
Pulser Input Status
Pulser Input
Terminal
Expansion backplane
Network Port
(Transmit)
Network Port
(Receive)
8
04/2008
A FP-Series PLCs
RTEX multi-axis network servo system
BROAD REDUCTION IN WIRING COSTS
tion
Realtime Express* uses commercially available LAN cables as wiring for its network. In terms of cost efficiency, availability and
workability, this is a great benefit.
* Matsushita Electric Industrial network servo systems
of
Servo Amp
MINAS A4N
Commercially available LAN cable
(Ethernet category 5e shielded type)
HIGH RELIABILITY WITH LOOP WIRING
Transmitted and received data in serial communication is normally sent and received at frequent intervals in the same cable making
the communication state extremely sensitive to environmental conditions such as noise. However, by using loop wiring as shown
in the figure below, Realtime Express provides high reliability by creating smooth communication conditions with the data flow always in the same direction. In addition, by utilising the 100Mbps high communication speed, Realtime Express reads the data
transmissions which occur every 0.5ms twice and carries out data transfer in the extremely short period of 1ms, further improving
reliability.
Servo Amp
MINAS A4N
Data communication flow
e
ADVANCED WIRING METHOD
Sensor input (origin proximity, limit) is wired directly to the servo amp of each axis and the signal is transferred through the network
to the positioning unit. This enables you to check at a glance which sensor input is connected to which axis. Wiring errors are reduced and the time required for debugging shortened, especially when the system deals with large numbers of axes. In addition,
even if the positioning unit and servo amp are far apart, it is not necessary to wire the signal from a sensor which is close to the
servo amp to the distant positioning unit, further reducing the amount of wiring.
Servo Amp
MINAS A4N
KeineNoVerdrahtung
wiring
erforderlich
required
Save wiring
Sensor signal
Sensor signal
Sensor signal
Sensor signal
Reduction in wiring errors and debug time
04/2008
9
A FP-Series PLCs
RTEX multi-axis network servo system
FUNCTIONS
Operating patterns
Low speed test operation mode (speed setting)
• E-point trapezoidal control (PTP control)
• The acceleration/deceleration time and target speed for
each point indicated in the data table can be set to a low
speed in the range of 1 to 100% without actually changing
the data itself. Test operations can be carried out safely by
checking the operation of the device at low speed.
• P-point change speed control (CP control)
• C-point repeated trapezoidal control (PTP control)
Control methods
Interpolation operation modes
• Absolute method, increment method
• 2-axis circular, 2-axis linear
Movement unit settings
Auxiliary output
• Pulse (pulse), scale (μm, inch), angle (degree)
• Codes can be output during operation according to the
data table number.
Acceleration/deceleration method
JOG operation
• Linear, S-curve
• Speed and acceleration/deceleration time can be changed
during operation.
• 3-axis spiral, 3-axis linear
Origin return
Pulser input
• Origin proximity (DOG) search method
• 2-phase quad edge – max. 1Mpps
• Division ratio setting possible by specification of numerator/denominator.
SPECIFICATIONS OF RTEX POSITIONING UNITS
2-axis type
Product number FP3 (Sigma)/FP2
Unit specifications
Positioning control
functions
FPGPN2AN
Control method
Interpolation control
FPGPN4AN
FP2PN4AN
Pulse/μm/inch/degree
Position data
600 points for each axis
Parameters and data file can be saved to FROM
Acceleration/deceleration method
Acceleration/deceleration time
FP2PN8AN
2-axis/3-axis linear interpolation • 2-axis circular interpolation • 3-axis spiral interpolation
Control units
Positioning area
8-axis type
FPGPN8AN
PTP Control, Cursor Path (CP) Control
Backup
Linear acceleration/deceleration/S-curve acceleration/deceleration
0 to 10,000ms (1ms units) different settings for acceleration and deceleration are possible
(-1,073,741,823 to 1,073,741,823 pulse) increment and absolute specification
Speed control functions
Origin functions
4-axis type
FP2PN2AN
Supported with JOG operation (free rund operation)
Search method
Origin proximity (DOG) search
Creep speed
Free settings possible
Other functions
Pulser input operation support
Auxiliary output code, auxiliary output contact support
Communication
specifications
Dwell time support
10
Communication speed
100Mbps
Cable
Commercially available LAN straight cable (shielded category 5e)
Connection method
Ring method
Communication cycle/no. of terminals
0.5ms: Max. 8 axes/system (command cycle: 1ms)
Transmission distance
Between terminals: 60m; total length: 200m
04/2008
B Minas A4/A4P/A4N/E Series Servo Drives
Main features – increased performance and accuracy
g
by
r
• Fast response frequency: 1000Hz (Minas E 400Hz)
• Completely adjustment-free, real-time auto-gain tuning
• High performance vibration control
ed
• Command input up to 2Mpps
• Smaller motors and drivers versus the former series
• Position, velocity and torque control support – a wide range of applications in one driver
-
• Many more additional functions (Minas A4/A4N/A4P):
- Hit & Stop homing, i.e. homing without a switch
- Press/Tension control
- 8 internal JOG speeds
- Others
• Minas A4P Drivers
- For simple positioning control. No positioning unit or pulse control necessary
- Preset up to 60 position points with Software Tool PANATERM
- Postioning with digital I/O
AN
ation
Minas series
A4
Rated power
AN
A4P
A4
50W to 5kW
Velocity response frequency
A4P
Minas E
50W to 400W
1000Hz
Rated/max. rotational speed
sible
AN
400W to 7.5kW
400Hz
3000/5000 rpm
Rated torque
0.16 to 15.8Nm
–
1.9 to 57.2Nm
–
0.16 to 1.3Nm
Peak torque
0.48 to 47.6Nm
–
5.3 to 137Nm
–
0.48 to 3.8Nm
–
0.021 to 0.2 x
10-4kg m²
Digital input
Pulse train
-4kg
Moment of inertia
0.025 to 19.7 x 10
m²
–
Pulses
2.45 to 288 x
10-4kg
m²
2500 pulses/rev.
Incremental
Resolution
10,000
Encoder
Pulses
17-bit resolution
Absolute
Resolution
Control method
Control modes
131,072
Pulse train
Ethernet
Digital input
Pulse train
Position, velocity, torque, full-closed
04/2008
Ethernet
Position,
internal speed
11
B Minas A4/A4N/A4P/E Series Servo Drives
Details of features
ADJUSTMENT-FREE OPERATION
E
A4
A4N
A4P
High-functionality real-time auto-gain tuning
• Automatically tunes in real-time to variations in load inertia. Real-time auto-gain tuning for machines with low or high stiffness.
• Supports vertical axis applications where the load torque varies depending on rotational direction.
• An over-travel detection function prevents the machine from over-travelling during real-time auto-gain tuning.
• Enables you to set and check while monitoring real-time automatic gain tuning conditions on the front panel.
Actual speed (r/min)
4000
180
3200
160
2400
140
1600
120
800
100
0
80
-800
60
-1600
40
-2400
20
-3200
0
-4000
-20
Corresponds to wide frequency range (-1500Hz)
Suppresses vibration quickly
HIGH-SPEED AND FAST RESPONSE
E
A4
A4N
A4P
Velocity response (bandwidth) of 1kHz
• The instantaneous Velocity Observer detects the motor speed more quickly and with a higher resolution than the previous
models.
W
W
High-functionality real-time auto-gain tuning
• Enables low stiffness machines (e.g. belt-driven machines) and high stiffness machines (e.g. short stroke ball-screw driven
machines) to be used in high-speed positioning applications.
Legend:
not possible
possible
12
04/2008
es
B Minas A4/A4N/A4P/E Series Servo Drives
Details of features
4P
ss.
REDUCTION VIBRATION
E
A4
A4N
2-CHANNEL NOTCH FILTERS
A4P
E
A4
Adaptive Filter
Adaptive Filter
• Enables the notch filter frequency to automatically follow the
machine resonance frequency.
• The driver is equipped with 2-channel notch filters which
operate independently from the adaptive filter.
• Suppresses judder noise of the machine caused by a change in the resonance frequency (e.g. resutling from aging effects or changeovers).
• Both frequency and width for each of the 2 filters can be set.
Frequency can be defined in units of 1Hz.
A4N
A4P
• Suppress judder noise of machines with multiple resonance
points.
Effect of notch filter
Without notch filter
With notch filter
50ms/div
50ms/div
DAMPING CONTROL
E
A4
A4N
A4P
• The driver is equipped with a 2-channel damping filter. You can suppress vibration occurring at both starting and stopping in
low stiffness machines by manually setting up vibration frequencies in 0.1Hz units.
• You can switch between the channels with the direction command or with an external input.
• Easy setup with input of only frequency and filter values. Incorrect setup values do not result in unstable operation.
4P
Motor movement
Machine movement
Without damping control
With damping control
* On demand only
04/2008
13
B Minas A4/A4N/A4P/E Series Servo Drives
Additional features
E A4 A4N
SETUP SUPPORT WITH
HELPFUL MONITORING FUNCTIONS
E
INRUSH CURRENT
SUPPRESSING FUNCTION
A4P
A4
A4N
A4P
• Faster communication speed of RS232C/RS485 (max.
57,600bps) establishes easy and comfortable operating conditions for setup support software PANATERM ®.
• The driver is equipped with an inrush suppressing resistor
which prevents circuit breaker shutdown of the power supply
caused by inrush current at power-on.
• PANATERM ® displays useful status information, e.g. to help
you analyse motor problems.
• Prevents unintentional shutdown of the power supply circuit
breaker in multi-axis applications and does not add load to
the power line.
• You can enable the panel operation lock via the front panel
to inhibit operation, e.g. to prevent parameters from being
changed unintentionally.
E
COMMAND CONTROL MODES
A4
REGENERATION
DISCHARGING FUNCTION
E
A4
A4N
A4P
A4N A4P
• Offers you “Position”, “Velocity (including
internal 8-speed)” and “Torque” command control modes.
• Discharges regenerative energy, which is returned from the
motor to the driver with a resistor, e.g. stopping a load with a
large moment of inertia or with the up-down operation.
• You can select any one of the above command control
modes, or select two command control modes by defining
the parameters.
• Frame A and Frame B drivers do not have a built-in regeneration discharge resistor. We recommend connecting an optional regenerative resistor.
• You can combine command control modes in a hybrid mode
and switch between them.
• Frame C – Frame F drivers have a built-in regeneration
discharge resistor. However, connecting an optional regenerative resistor will add even more regenerative capability.
MONITORING FUNCTION
WITH FRONT PANEL
E
A4
A4N
A4P
• LED display and analog monitor terminals are installed in the
front panel.
• Displays “Motor speed”, “Motor torque”, “Position deviation”,
“Motor load factor” and “Regeneration load factor”.
• You can monitor “Motor speed”, “Motor torque” and “Position
deviation" with analog monitor terminals.
TRIAL RUN (JOG)
E
A4
A4N
BUILT-IN DYNAMIC
BRAKE
E
A4
A4N
A4P
• The driver is equipped with a dynamic brake for emergency
stop.
• The dynamic brake can be used in the following instances:
- Main power OFF
- Servo OFF
- A protective function
- Over-travel inhibit is activated
A4P
• Features the function for trial run (JOG) through the front
panel or console (option) without connecting to a host
controller.
POSITIONING PULSE
E
A4
A4N
A4P
• Up to 2Mpps of pulse input at positioning control possible.
• Shortens machine setup time.
FULL-CLOSED CONTROL E A4 A4N
(HIGH PRECISION POSITIONING)
TORQUE LIMIT
VALUE SWITCHING
A4P
• Features the full-closed control of position and velocity,
using the signals from the linear scale installed on the load
side and the high resolution encoder.
APPROVALS
not possible
possible
14
A4
A4N
A4P
• You can set up 2 torque limits and use them for tension
control or press & hold control.
• Best suited for high precision machines.
Legend:
E
04/2008
E
A4
A4N
A4P
es
B Minas A4/A4N/A4P/E Series Servo Drives
Overview drivers
r
ply
Rated
power
50W
100W
200W
uit
o
Minas A4N
Drivers
Minas A4P
Drivers
MADDT1205
MADDT1205N
MADDT1205P
MADDT1207
MADDT1207N
MADDT1207P
Frame
Minas A4,
A4N, A4P
A
Minas E
Drivers
Frame
Minas E
MKDET1505P
K
MLDET2210P
L
400W
MBDDT2210
MBDDT2210N
MBDDT2210P
B
MLDET2510P
750W
MCDDT3520
MCDDT3520N
MCDDT3520P
C
–
–
MDDDT5540
MDDDT5540N
MDDDT5540P
D
–
–
MEDDT7364
MEDDT7364N
MEDDT7364P
E
1kW
1.5kW
2kW
3kW
4P
Minas A4
Drivers
4kW
5kW
he
ha
MFDDTA390
MFDDTA390N
MFDDTA390P
MFDDTB3A2
MFDDTB3A2N
MFDDTB3A2P
F
–
–
–
–
–
–
–
–
–
–
Minas A4/A4N/A4P
Main circuit
4P
eoptiInput power
Control
circuit
ne-
4P
+10%
-15% 50/60Hz
Frame A, B
Single phase, 200–240V
Frame C, D
+10%
Single/3-phase, 200–240V -15% 50/60Hz
Frame E, F
+10%
Single/3-phase, 200–240V -15% 50/60Hz
Frame
A to D
Single phase, 200–240V
+10%
-15% 50/60Hz
Frame E, F
Single phase, 200–230V
+10%
-15% 50/60Hz
Temperature
Operating: 0 to 55°C , Storage: -20 to +80°C
Humidity
Both operating and storage : 90%RH or less (free from condensation)
Altitude
1000m or lower
Environment
cy
Vibration
4P
.
4P
Basic specifications
s:
5.88m/s2 or less, 10 to 60Hz (no continuous use at resonance frequency)
Control method
IGBT PWM sinusoidal wave drive
Encoder feedback
17-bit (131,072 resolution) absolute/incremental encoder (on demand only)
2500P/r (10,000 resolution) incremental encoder (standard)
External scale feedback
Compatible with AT500 series, ST771 by Mitsutoyo
Input
10 inputs
(1) Servo-ON, (2) Control mode switching, (3) Gain switching/torque limit switching, (4) Alarm clear
other inputs vary depending on the control mode, (5) CW drive prohibition, (6) CCW driver prohibition
Output
6 outputs
(1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection,
(5) Torque in-limit. Other outputs vary depending on the control mode
Input
3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)
Output
2 outputs (for monitoring)
(1) Speed monitor (actual motor speed or command speed). Select the content and scale with
parameter. (2) Torque monitor [torque command (approx. 3V/rated torque)], deviation counter or fullclosed deviation is enabled. Select the content or scale with parameter
Input
2 inputs. Select the exclusive input for line driver or photo-coupler input with parameter
Output
4 outputs. Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and
EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector
RS232C
1:1 communication to a host with RS23C interface is enabled
RS485
1:n communication up to 15 axes to a host with RS485 interface is enabled
Control signal
Analog signal
Pulse signal
Communication
function
Front panel
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit)
Regeneration
Frame A, B: no built-in regenerative resistor (external resistor only), Frame C to F: built-in regenerative resistor (external resistor is also enabled)
Dynamic brake
Setup of action sequence at power-OFF, servo-OFF, at protective function activation and over-travel
inhibit input is enabled
Control mode
Switching among the following 7 modes is enabled, (1) Position control, (2) Velocity control, (3) Torque control, (4) Position/Velocity control, (5) Position/Torque control, (6) Velocity/Torque control and
(7) Full-closed control
4P
04/2008
15
B Minas A4/A4N/A4P Series Servo Drives
Common driver specifications
Control input
Pulse input
Analoginput
Position control
Control output
Exclusive interface for line driver: 2Mpps, Line driver: 500kpps, Open collector: 200kpps
Input pulse signal format
Support (1) RS422 line drive signal and (2) Open collector signal from controller
Type of input pulse
Differential input. Selectable with parameter, [(1) CW/CCW, (2) A and B-phase, (3) Command and Direction]
Electronic gear (division/multiplication of command pulse)
Process the command pulse frequency x
Smoothing filter
Primary delay filter or FIR type filter is selectable to the command input
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)
Usable
Usable
Control input
(1) Zero speed clamp, (2) Selection of internal speed setup, (3) Gain switching or torque limit switching input
Analog
input
Velocity control
Speed arrival (at-speed)
Velocity command input
Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter, with the permissible max.
voltage input = 10V and 6V/rated speed (default setup)
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)
Speed control range
1 : 5000
Internal speed command
8-speed with parameter setup
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sinusoidal acceleration/deceleration is also enabled
Zero speed clamp
Zero speed clamp for internal speed command
Instantaneous speed observer
Usable
Speed command filter
Usable
Control input
(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Zero speed clamp
Control output
Speed arrival (at-speed)
Speed command input
Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is enabled with parameter, with the
permissible max. voltage input = 10V and 3V/rated speed (default setup)
Speed limit input
Speed limit input by analog voltage is enabled. Scale setup with parameter
Speed limit function
Speed limit value with parameter or analog input is enabled
Control input
(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Deviation counter clear, (4) Command pulse input inhibition,
(5) Electronic gear switching, (6) Damping control switching
Analog
Pulse input
input
Full-closed control
as a position command input
Damping control
Control output
Exclusive interface for line driver: 2Mpps, Line driver: 500kpps, Open collector : 200kpps
Input pulse signal format
Differential input. Selectable with parameter (1) CCW/CW, (2) A and B-phase, (3) Command and direction
Electronic gear division/multiplication of command pulse
Process the command pulse frequency x
Smoothing filter
Primary delay filter is adaptable to the command input
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled (3V/rated torque)
(1 to 10,000) x 2(0-17)
1 to 10,000
as a position command input
Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is
enabled within a range of (1 to 10,000) x 2(0-17) / (1 to 10,000)
Real-time
Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter
Normal mode
Estimates load inertia and sets up an appropriate servo gain
Fit-gain function
Automatically searches and sets up the value which makes the fastest settling time with external command input
Masking of unnecessary input
Masking of the following input signal is enabled
(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp
Division of encoder feedback pulse
Set up of any value is enabled (encoder pulses count is the max.)
Protective
function
Auto-gain
tuning
Full-closed positioning complete (in-position)
Max. command pulse frequency
Setup range of division/
multiplication of external scale
Soft error
Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
Hard error
Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data
Traceable up to past 14 alarms including the present one
Damping control function
Manual setup with parameter
Setup
Common
(1 to 10,000) x 2(0-17)
1 to 10,000
Instantaneous speed observer
Analog
input
Torque control
Analog functions
Positioning complete (In-position)
Max. command pulse frequency
Control output
16
(1) Deviation counter clear, (2) Command pulse inhibition, (3) Electronic gear switching, (4) Damping control switching
Manual
5-push switches on front panel
Setup support software
PANATERM® (Supporting OS: Windows95, Windows98, Windows ME, Windows2000, Windows.NET and Windows XP)
MODE
04/2008
SET
s
B Minas E Series Servo Drives
Driver dimensions
FRAME K
MKDET1505P
Air current
(from bottom to top)
Connector for
communication
Name plate
Connector for control
signal connection
Connector for encoder
connection, CNX4
x.
Connector for motor
connection, CNX3
Earth terminal
screws
Connector for main
circuit connection,
CNX1
ed
he
FRAME L
MLDET2210P, MLDET2510P
Air current
(from bottom to top)
Connector for
communication
Name plate
Connector for control
signal connection
Connector for encoder
connection, CNX4
Connector for motor
connection, CNX3
Earth terminal
screws
Connector for main
circuit connection,
CNX1
All measurements in mm
04/2008
17
B Minas A4/A4N/A4P Series Servo Drives
Driver dimensions
FRAME A
Minas A4
Minas A4N
— Rotary switch for node address
— Network link LEDs
— RX Ethernet connection
— TX Ethernet connection
— Parallel I/O connection
Rack mount type
Base mount type
(Standard: Back-end mounting)
FRAME B
Minas A4N
Minas A4
— Rotary switch for node address
— Network link LEDs
— RX Ethernet connection
— TX Ethernet connection
— Parallel I/O connection
Rack mount type
(Option: Front-end mounting)
Base mount type
(Standard: Back-end mounting)
FRAME C
Minas A4
Minas A4N
— Rotary switch for node address
— Network link LEDs
— RX Ethernet connection
— TX Ethernet connection
— Parallel I/O connection
RB3
RB2
Rack
mount type
Rack mount type
(Option:
mounting)
(Option: Front-end
Front-end mounting)
Base mount type
(Standard: Back-end mounting)
All measurements in mm
Same dimensions for Minas A4P drivers
18
04/2008
s
B Minas A4/A4N/A4P Series Servo Drives
Driver dimensions
FRAME D
Minas A4N
Minas A4
Rotary switch for
node address
— Network link LEDs
— RX Ethernet
connection
— TX Ethernet
connection
— Parallel I/O
connection
RB3
Mounting bracket
(install the standard to back end)
RB2
Rack mount type
(Option: Front-end mounting)
Base mount type
(Standard: Back-end mounting)
t type
nd mounting)
FRAME E
Minas A4N
85
50
Minas A4
3.5
200
17.5
32
5.2
5.2
2.6
2
5.
Mounting bracket
(install the standard to back end)
Rotary switch for
node address
— Network link LEDs
168
188
8
— RX Ethernet
connection
— TX Ethernet
connection
5.2
5.2
— Parallel I/O
connection
5.2
t type
nd mounting)
FRAME F
Minas A4N
Minas A4
Mounting bracket
(install the standard to back end)
Rotary switch for
node address
— Network link LEDs
RX Ethernet
connection
TX Ethernet
connection
— Parallel I/O
connection
19
nt type
nd mounting)
All measurements in mm
04/2008
19
B Minas A4/A4N/A4P/E Series Servo Drives
Motor types
Torque
Moment of
inertia
*10-4kgm²
Shaft
0.025
Round
0.025
Round
x
0.027
Round
x
0.025
Keyway
MSMD5AZP1T
0.027
Keyway
MSMD5AZS1S
0.025
Keyway
0.051
Round
0.051
Round
x
0.054
Round
x
0.051
Keyway
MSMD012P1T
0.054
Keyway
MSMD012S1S
0.051
Keyway
MSMD022P1A
0.14
Round
MSMD022P1C
0.14
Round
x
0.16
Round
x
0.14
Keyway
0.16
Keyway
Motor
product number
Rated
power
Driver
product
number
50W
MADDT1205 or
MADDT1205N or
MADDT1205P
Rated
Momentary
max. peak
MSMD5AZP1A
MSMD5AZP1C
MSMD5AZP1D
MSMD5AZP1S
0.16Nm
0.48Nm
MSMD012P1A
MSMD012P1C
MSMD012P1D
MSMD012P1S
100W
MADDT1205 or
MADDT1205N or
MADDT1205P
0.32Nm
0.95Nm
MSMD022P1D
MSMD022P1S
MSMD022P1T
200W
MADDT1207 or
MADDT1207N or
MADDT1207P
0.64Nm
1.91Nm
MSMD022S1C
0.14
MSMD022S1S
Round
Oil
seal
x
Keyway
MSMD042P1A
0.26
Round
MSMD042P1C
0.26
Round
x
0.28
Round
x
0.26
Keyway
0.28
Keyway
0.26
Round
MSMD042S1S
0.26
MSMD082P1A
0.87
MSMD082P1C
0.87
Round
x
0.97
Round
x
0.87
Keyway
MSMD082P1T
0.97
Keyway
MSMD082S1S
0.87
Keyway
1.69
Keyway
x
1.88
Keyway
x
2.59
Keyway
x
400W
MSMD042P1T
1.3Nm
3.8Nm
MSMD042S1C
MSMD082P1D
MSMD082P1S
MSMA102P1G
MSMA102P1H
MSMA152P1G
MSMA152P1H
750W
1kW
1.5kW
MSMA202P1G
MSMA202P1H
MSMA402P1G
MSMA402P1H
MSMA502P1G
MSMA502P1H
MDDDT5540,
MDDDT5540N
or MDDDT5540P
2kW
MEDDT7364,
MEDDT7364N,
MEDDT7364P
3kW
MFDDTA390,
MFDDTA390N,
MFDDTA390P
MSMA302P1G
MSMA302P1H
MCDDT3520 or
MCDDT3520N
or MCDDT3520P
2.4Nm
7.1Nm
3.18Nm
9.5Nm
4.77Nm
14.3Nm
6.36Nm
19.1Nm
9.54Nm
28.6Nm
12.6Nm
37.9Nm
5kW
MFDDTB3A2 or
MFDDTB3A2N
or MFDDTB3A2P
15.8Nm
47.6Nm
100W
MKDET1505P
0.32Nm
0.95Nm
200W
MLDET2210P
0.64Nm
1.91Nm
400W
MLDET2510P
1.3Nm
3.8Nm
4kW
x
x
Keyway
MSMD042P1S
x
x
0.16
MBDDT2210 or
MBDDT2210N or
MBDDT2210P
x
x
MSMD022S1T
MSMD042P1D
Holding
brake
x
x
x
Encoder
With IP67
connectors
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Absolute
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Absolute
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Absolute
Option available*
Absolute
Option available*
Absolute
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Absolute
Option available*
Keyway
Absolute
Option available*
Round
Incremental
Option available*
Incremental
Option available*
x
x
x
2.84
Keyway
x
3.46
Keyway
x
3.81
Keyway
x
6.77
Keyway
x
7.45
Keyway
x
12.7
Keyway
x
14.1
Keyway
x
17.8
Keyway
x
19.7
Keyway
x
x
x
x
x
x
Incremental
Option available*
Incremental
Option available*
Incremental
Option available*
Absolute
Option available*
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
Incremental
x
x
Incremental
x
x
Incremental
Minas E
MUMA012P1S
MUMA012P1T
MUMA022P1S
MUMA022P1T
MUMA042P1S
MUMA042P1T
0.032
Keyway
0.036
Keyway
0.10
Keyway
0.13
Keyway
0.17
Keyway
0.20
Keyway
Incremental
Incremental
x
Incremental
x
Incremental
Incremental
* To order a motor with IP67 connectors, simply add an X to the PN, e.g. MSMD042P1SX, or MSMD042P1TX (brake motor).
20
04/2008
es
B Minas E Series Servo Drives
Motor specifications
50W–400W
s
le*
le*
le*
AC200V
Motor model
MUMA
5AZP1;
Model no.
Applicable driver
012P1;
MKDET1505P
Frame symbol
le*
Power supply capacity (kVA)
le*
Rated output (W)
022P1;
042P1;
MKDET1310P
MLDET2310P
Frame K
Frame L
0.3
0.5
0.9
50
100
200
400
1.3
le*
Rated torque (N • m)
0.16
0.32
0.64
le*
Momentary max. peak torque (N • m)
0.48
0.95
1.91
3.8
le*
Rated current (Arms*)
1.6
2.5
7.5
11.7
le*
le*
1.0
Max. current (Ao-p)
4.3
Without option
No limit
2
DV0P2891s1
No limit
2
le*
Regenerative brake
frequency
(times/min)1
le*
Rated rotational speed (r/min)
le*
Max. rotational speed (r/min)
le*
Moment of inertia
of rotor
(x10-4 kg • m2)
le*
le*
le*
le*
le*
le*
le*
le*
3000
5000
Without brake
0.021
0.032
0.10
0.17
With brake
0.026
0.036
0.13
0.20
Recommended moment of inertia ratio
of the load and the rotor 3
Smaller than 30 times
2500P/r
Incremental
Rotary encoder specifications
Resolution per single turn
10,000
Protective enclosure rating
le*
IP65 (except shaft through hole and cable end connector)
le*
Ambient
temperature
0°C to 40°C, storage: -20°C to + 80°C
le*
Ambient humidity
85%RH or lower (free of condensation)
le*
Environment
Installation location
le*
le*
le*
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
le*
Mass (kg), ( ) represents
holding brake type
le*
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor while it is running.)
le*
Static friction torque (N • m)
le*
Engaging time (ms)
Releasing time (ms)
4
Operating current (DC) (A)
0.4 (0.6)
0.5 (0.7)
0.96 (1.36)
0.29
1.5 (1.9)
1.27
25
50
20 (30)
15 (100)
0.26
0.36
Releasing voltage
DC 1V or more
Operating voltage
DC 24V ±10%
Permissible load
During assembly
During operation
Radial load
P-direction (N)
147
392
Thrust load
A-direction (N)
88
147
Thrust load
B-direction (N)
117
196
Radial load
P-direction (N)
68
245
Thrust load
A-direction (N)
58
98
Thrust load
B-direction (N)
58
98
For notes 1–4, see page 26
*rms = root mean square
Note: Driver for 50W and 100W has a comon power supply of single phase and 3-phase, 200V
04/2008
21
B Minas A4/A4N/A4P Series Servo Drives
Motor specifications
50W–750W
AC200V
Motor model
MSMD5AZP1;
Model no.
Applicable driver
MSMD012P1;
MADDT1205 / MADDT1205N
Frame symbol
MSMD042P1;
MADDT1207 (N)
0.3
MSMD082P1;
MBDDT2210 (N)
MCDDT3520 (N)
Frame B
Frame C
Frame A
Power supply capacity (kVA)
Rated output (W)
MSMD022P1;
0.5
0.9
1.3
50
100
200
400
750
Rated torque (N • m)
0.16
0.32
0.64
1.3
2.4
Momentary max. peak torque (N • m)
0.48
0.95
1.91
3.8
7.1
Rated current (Arms*)
1.1
1.6
2.6
4
Max. current (Ao-p)
4.7
6.9
11.0
17.0
Regenerative brake
frequency
(times/min)1
Without option
No limit
2
With external brake
resistor
No limit
2
Rated rotational speed (r/min)
3000
Max. rotational speed (r/min)
Moment of inertia
of rotor
(x10-4 kg • m2)
5000
0.025
0.051
0.14
0.26
0.87
With brake
0.027
0.054
0.16
0.28
0.97
Recommended moment of inertia ratio
of the load and the rotor 3
Smaller than 30 times
Smaller than 20 times
2500P/r
Incremental
Rotary encoder specifications
Resolution per single turn
10,000
Protective enclosure rating
Environment
4500
Without brake
IP65 (except shaft through hole and cable end connector)
Ambient
temperature
0°C to 40°C, storage : -20°C to + 80°C
Ambient humidity
85%RH or lower (free of condensation)
Installation location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration resistance
49m/s2 or less
Mass (kg), ( ) represents
holding brake type
0.32 (0.53)
0.47 (0.68)
0.82 (1.3)
1.2 (1.7)
2.3 (3.1)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor while it is running.)
Static friction torque (N • m)
Engaging time (ms)
Releasing time (ms)
4
Operating current (DC) (A)
0.29
1.27
35
50
70
20 (–)
15 (–)
20 (–)
0.36
0.42
0.30
Releasing voltage
DC 1V or more
Operating voltage
DC 24V ±5%
2.45
Permissible load
During assembly
During operation
Radial load
P-direction (N)
147
392
686
Thrust load
A-direction (N)
88
147
294
Thrust load
B-direction (N)
117
196
392
Radial load
P-direction (N)
68
245
392
Thrust load
A-direction (N)
58
98
147
Thrust load
B-direction (N)
58
98
147
For notes 1–4, see page 26
*rms = root mean square
22
04/2008
B Minas A4/A4N/A4P Series Servo Drives
Torque characteristics
0.25
0.16
0
1000 2000 3000 4000 5000
Rotational speed [r/min]
100
5
50
0
10
20
30
40
Ambient temperature [°C]
0.5
0.48
0.25
0.16
1000 2000 3000 4000 5000
Rotational speed [r/min]
70
60
50
0
10
20
30
40
1000 2000 3000 4000 5000
Rotational speed [r/min]
100
50
0
10
20
30
Ambient temperature [°C]
40
℃
Without oil seal
0
10
20
30
40
℃
0. 5
0.5
0.32
0
1000 2000 3000 4000 5000
without brake
with brake
100
75
70
50
0
10
20
30
40
Ambient temperature [°C] ℃
Torque
4.0
3.8
2.0
1.3
0
1000 2000 3000 4000 5000
Rotational speed [r/min]
100
0
50
0
10
20
30
40
Ambient temperature [°C] ℃
2.0
1.91
1. 1
1.0
0.64
1000 2000 3000 4000 5000
Rotational speed [r/min]
without brake
100
80
70
with brake
0
10
20
30
40
With oil seal
Torque
Versus rated torque (%)
With oil seal
Torque
0
0
Ambient temperature [°C]
MSMD042 1
Versus rated torque (%)
Without oil seal
1.0
0.64
1.0
Rotational speed [r/min]
Torque
2.0
1.91
1. 1
1000 2000 3000 4000 5000
Rotational speed [r/min]
Ambient temperature [°C] ℃
MSMD022 1
mes
0
50
℃
Ambient temperature [°C]
4.0
3.8
2.0
1.3
0
1000 2000 3000 4000 5000
Rotational speed [r/min]
Versus rated torque (%)
0
with brake
100
0.5
0.32
with brake
100
5
Torque
With oil seal
without brake
Versus rated torque (%)
With oil seal
Torque
1.0
0. 5
Versus rated torque (%)
0.48
Torque
Versus rated torque (%)
0.5
with brake
Versus rated torque (%)
Torque
Without oil seal
MSMD012 1
Versus rated torque (%)
)
Without oil seal
MSMD5AZ 1
100
75
50
0
10
20
30
40
Ambient temperature [°C] ℃
Torque
8.0
7.1
4.0
2.4
0
1000 2000 3000 4000 5000
Rotational speed [r/min]
Versus rated torque (%)
Without oil seal
MSMD082 1
100
50
0
10
20
30
40
Ambient temperature [°C] ℃
8.0
7.1
4.0
2.4
0
1000 2000 3000 4000 5000
Rotational speed [r/min]
Versus rated torque (%)
With oil seal
Torque
100
50
0
10
20
30
40
Rotational speed [r/min]
Ambient temperature [°C] ℃
04/2008
23
B Minas A4/A4N/A4P Series Servo Drives
Motor dimensions
MSMD 50W–750W (LOW INERTIA)
HIGH QUALITY CONNECTORS
190 ± 50
Encoder
Motor
7
7
□
160 ± 50
Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Minas A4 series (low inertia)
Motor output
50W
100W
200W
400W
750W
Motor model
MSMD5AZP1;
MSMD012P1;
MSMD022P1;
MSMD042P1;
MSMD082P1;
Without brake
72
92
79
98.5
112
With brake
102
122
115.5
135
149
14
19
Rotary encoder specifications
LL
2500P/r incremental
LR
25
S
8
LA
45
70
90
LB
30
50
70
LC
38
60
80
6.5
8
30
11
LD
—
LE
3
LF
6
LG
—
LH
53
—
3.4
4.5
6
LW
14
LK
12.5
18
22.5
22
KW
3h9
4h9
5h9
6h9
20
25
KH
3
4
5
6
RH
6.2
8.5
11
15.5
TP
24
46.5
26.5
LZ
Mass (kg)
43
32
LN
Keyway
35
M3 x 6 (depth)
M4 x 8 (depth)
M5 x 10 (depth)
Without brake
0.32
0.47
0.82
1.2
2.3
With brake
0.53
0.68
1.3
1.7
3.1
04/2008
s
B Minas A4/A4N/A4P Series Servo Drives
Motor specifications
ORS
1kW–5kW
AC200V
Motor model
MSMA102P1:
Model no.
oder
Applicable driver
or
Power supply capacity (kVA)
MSMA152P1:
MDDDT5540/N
Frame symbol
MSMA202P1:
MSMA302P1:
MEDDT7364/N
MFDDTA390/N
Frame D
MSMA402P1:
MSMA502P1:
MFDDTB3A2/N
Frame E
Frame F
1.8
2.3
3.3
4.5
6.0
7.5
Rated output (W)
1000
1500
2000
3000
4000
5000
Rated torque (N • m)
3.18
4.77
6.36
9.54
12.6
15.8
Momentary max. peak torque (N • m)
9.5
14.3
19.1
28.6
37.9
47.6
Rated current (Arms*)
7.2
9.4
13.0
18.6
24.7
28.5
Max. current (Ao-p)
30
40
56
80
105
Regenerative
brake frequency
(times/min) 1
Without option
No limit
No limit
5000
4500
1.69
2.59
3.46
6.77
12.7
17.8
1.88
2.84
3.81
7.45
14.1
19.7
Recommended moment of inertia
ratio of the load and the rotor 3
Smaller then 15 times
2500P/r
Incremental
Rotary encoder specifications
Resolution per single turn
10,000
Protective enclosure rating
IP65 (except shaft through hole and cable end connector)
Ambient
temperature
0°C to 40°C (free from freezing), Storage : -20°C to + 80°C
Ambient humidity
85%RH or lower (free from condensing)
Installation
location
Indoors (no direct sunlight), free from corrosive gas, inflammable gas, oil mist and dust
Altitude
1000m or lower
Vibration
resistance
49m/s2 or less
Mass (kg), ( ) represents
holding brake type
2
3000
Max. rotational speed (r/min)
Environment
2
––
Rated rotational speed (r/min)
Moment of inertia Without brake
of rotor
With brake
(x10-4 kg • m2)
326
No limit
With external
brake resistor
120
2
4.5 (5.1)
5.1 (6.5)
6.5 (7.9)
9.3 (11.0)
12.9 (14.8)
17.3 (19.2)
Brake specifications (This brake will be released when it is energized. Do not use this for braking the motor in motion.)
Static friction torque (N • m)
4.9
Engaging time (ms)
7.8
11.8
50
Releasing time (ms)
4
Operating current (DC) (A)
80
15 (100)
0.74
16.1
110
50 (130)
0.81
0.81
Releasing voltage
DC 2V or more
Operating voltage
DC 24V ±10%
0.90
Permissible load
During assembly
During operation
Radial load
P-direction (N)
686
980
Thrust load
A-direction (N)
392
588
Thrust load
B-direction (N)
490
686
Radial load
P-direction (N)
392
490
784
Thrust load
A-direction (N)
147
196
343
Thrust load
B-direction (N)
147
196
343
For notes 1–4 see Page 26
*rms= root mean square
04/2008
25
B Minas A4/A4N/A4P Series Servo Drives
Motor characteristics 1kW to 5kW
MSMA152 1
MSMA102 1
*Continuous torque,
ambient temperature
10
19.1
.5
5
3.18
1000 2000 3000 4000 5000
Rotational speed [r/min]
100
15
14.3
50
7.5
4.77
0
10
20
30
40
Rotational speed [r/min]
50
0
10
20
30
40
Ambient temperature [°C]℃
*Continuous torque,
ambient temperature
1000 2000 3000 4000 5000
Rotational speed [r/min]
without brake
with brake
100
85
70
50
without brake
Torque
30
28.6
15
9.54
.54
0
10
20
30
0
40
Ambient temperature [°C]
℃
1000 2000 3000 4000 5000
Rotational speed [r/min]
MSMA402 1
Versus rated torque (%)
10
6.36
Versus rated torque (%)
20
19.1
1 .1
with brake
100
0
85
50
0
10
20
30
40
Ambient temperature [°C]
℃
MSMA502 1 I
*Continuous torque,
ambient temperature
40
37.9
37.
20
12.6
1000 2000 3000 4000 5000
Versus rated torque (%)
Torque
Rotational speed [r/min]
with brake
100
85
MSMA302 1
*Continuous torque,
ambient temperature
Torque
0
3500
1000 2000 3000 4000 5000
0
Ambient temperature [°C]℃
MSMA202 1
0
without brake
with brake
100
0
85
50
*Continuous torque,
ambient temperature
Torque
without brake
50
47.6
25
15.8
0
10
20
30
40
0
Ambient temperature ℃
[°C]
1000 2000 3000 4000 5000
Rotational speed [r/min]
Radial load (P) direction
Versus rated torque (%)
0
*Continuous torque,
ambient temperature
Torque
Versus rated torque (%)
Versus rated torque (%)
Torque
100
70
50
0
10
20
30
Thrust load (A, B) direction
Running range (Torque limit setup: 300%)
Running range (Torque limit setup: 200%)
Running range (Torque limit setup: 200%)
Rotational speed
Notes:
1. Regenerative brake frequency represents the frequency of the motor’s stops from the rated speed
with deceleration without load.
• If the load is connected, frequency will be defined as 1/(m+1), where m=load moment of inertia/rotor
moment of inertia.
• When the motor speed exceeds the rated speed, regenerative brake frequency is in inverse
proportion to the square of (running speed/rated speed).
2. If the effective torque is within the rated torque, there is no limit in generative brake.
3. Consult us or a dealer if the load moment of inertia exceeds the specified value.
4. Specified releasing time is obtained with the use of surge absorber for brake
(Z15D151 by Ishizuka Electronic or equivalent).
( ) Represents the actually measured value using a diode (200V, 1A or equivalent).
• Power supply voltage is AC230V (at 200V of the main voltage). If the supply voltage fluctuates,
frequency is in inverse proportion to the square of (running supply voltage/230) relative to the value
in the table.
• When regeneration occurs continuously, e.g. frequent changes in running speed or vertical feeding,
consult either us or a dealer.
26
04/2008
40
Ambient temperature [°C] ℃
s
B Minas A4/A4N/A4P Series Servo Drives
Motor dimensions
MSMA 1kW–5kW (LOW INERTIA)
LL
ke
LR
LE
4- ø LZ
S 6
LF
Sh6
LW
W
LH
LK
KW
W
ø LB h7
7
LG
ø
RH
ke
Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Minas A4 series (low inertia)
Motor output
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
Motor model
MSMA102P1;
MSMA152P1;
MSMA202P1;
MSMA302P1;
MSMA402P1;
MSMA502P1;
Without brake
175
180
205
217
240
280
With brake
200
205
230
242
265
305
Rotary encoder specifications
LL
2500P/r incremental
LR
55
55
S
19
22
24
130/145 (slot)
145
65
LA
100
LB
80
95
LC
90
100
120
130
LD
120
135
162
165
115
LE
110
3
LF
7
10
LH
98
103
LZ
6.6
6
12
LG
84
Mass (kg)
118
9
LW
Keyway
111
45
LK
42
KW
6h9
KH
6
RH
15.5
55
41
51
8h9
7
18
20
Without brake
4.5
5.1
6.5
9.3
12.9
17.3
With brake
5.1
6.5
7.9
11.0
14.8
19.2
Connector/Plug specifications
Refer to Minas A4 Manual
04/2008
27
B Minas E Series Servo Drives
Motor dimensions Minas E 100W–400W
MUMA (LOW INERTIA)
Encoder
connector
Motor connector
Brake connector
Keyway dimensions
Dimensions are subject to change without notice;
please contact us or a dealer for current information.
MUTMA series (ultra low inertia)
Motor output
Motor model
50W
100W
200W
400W
5A;P1;
01;P1;
02;P1;
04;P1;
Without brake
75,5
92,5
96
With brake
107
124
129
MUMA
Rotary encoder specifications
LL
2500P/r incremental
LR
24
123.5
156.5
30
S
8
LA
48
70
LB
22
50
LC
42
60
LE
2
11
14
3
LF
7
LH
34
43
LZ
3.4
4.5
Keyway
LW
14
20
25
LK
12,5
18
22.5
KW
3h9
4h9
5h9
KH
3
4
5
RH
6.2
8.5
11
M4 X 8 (depth)
M5 X 10 (depth)
TP
Mass (kg)
M3 X 6 (depth)
Without brake
0.40
0.50
0.96
1.5
With brake
0.60
0.70
1.36
1.90
Connector/Plug specifications
Refer to options, page 35
* Cautions: Reduce the moment of inertia if high speed response operation is required.
Read the Instruction Manual carefully and understand all precautions and remarks before using the products.
28
04/2008
C Software
Setup support software
SETUP SUPPORT SOFTWARE PANATERM® FOR MINAS SERIES AC SERVO MOTOR &
DRIVER
PANATERM ® assists users in setting parameters, monitoring
control conditions, setup support and analysing mechanical
operation data on the PC screen when installed in a commercially available personal computer and connected to the Minas
series through the RS232C serial interface.
BASIC FUNCTION
Parameter setup
• After a parameter has been defined on the screen, it will immediately be sent to
the driver.
• Once you register the parameters you frequently use, they can easily be set up
on the screen.
• Enter position data for Minas ACP drivers.
MONITORING CONTROL CONDITIONS
Monitor
• Control conditions: control mode, velocity, torque, error and warning.
Parameter
• Driver input signal.
• Load conditions: total count of command/feedback pulses, load ratio, regenerative resistor load ratio.
Alarm
• Displays the numbers and contents of the current alarm and a history of the last
14 error events.
• Clears the numbers and contents of the current alarm and a history of the last
14 error events.
SETUP
Auto tuning
• Gain adjustment and inertia ratio measurement.
Monitor
Graphic waveform display
• The graphic display shows command velocity, actual velocity, torque, and error
waveforms.
Absolute encoder setup
• Clears absolute encoder at the origin.
• Displays single revolution/multirevolution data.
• Displays absolute encoder status.
ANALYSIS OF MECHANICAL OPERATION DATA
Frequency analysis
• Measures frequency characteristics of the machine; displays Bode diagram.
Graphic waveform display
Product number: DVOP4460
04/2008
29
C Software
Motion Control Library for FPWIN Pro
Panasonic’s Motion Control Library is designed to save programming time with a sophisticated yet userfriendly software solution. Our library includes function blocks programed according to PLCopen’s specifications. Developed to simplify programming of FP2 and FP3 (Sigma) positioning units.
PLCopen, an independent international organization, aims to harmonize access across platforms during
development, installation and maintenance based on the IEC61131-3 environment.
See also: www.plcopen.org/MC_Certification/Panasonic/shortform_statement_Panasonic.htm
Administrative
Single Axis
MC_Power
MC_ReadStatus
MC_ReadAxisError
MC_ReadParameter
MC_ReadBoolParameter
MC_WriteParameter
MC_WriteBoolParameter
MC_ReadActualPosition
MC_Reset
Motion
Multiple Axis
MC_CamTableSelect
Single Axis
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive *
MC_MoveSuperimposed
MC_MoveVelocity
MC_Home
MC_Stop
MC_PositionProfile
MC_VelocityProfile
MC_AccelerationProfile
Multiple Axis
MC_CamIn
MC_CamOut
MC_GearIn
MC_GearOut
* If executed, the current motion is briefly interrupted due to hardware reasons.
PROGRAM, LADDER DIAGRAM BODY
EXAMPLE FOR CONSECUTIVE MOVEMENT IN A DRILLING APPLICATION
v
FWD
FFWD
DWELL
REV
t
FF
s
F
REV
t
Timing diagram
Drilling setup
ADVANTAGES OF PLC PROGRAMS USING THE MOTION CONTROL LIBRARY
COMPLIANT WITH THE PLCOPEN STANDARD:
• Simple –
Easy programming and installation, even for complex applications
• Efficient –
In the number of function blocks and in design and understanding
• Consistent – Compliant with the IEC 61131-3 PLC programming standard
• Universal –
Hardware-independent
• Flexible –
Add hardware or expand range of applications at any time
• Complete –
Comprehensive product line solves typical positioning applications easily
22000
088
Motion Control Library
Product number NCL-MC-LIB D
Note: FP2 positioning unit multifunction type version 5.4 or newer usable with FP3 (Sigma) positioning unit
30
04/2008
C Software
Configurator PM software tool for RTEX
The Configurator PM provides powerful yet simple full support ranging from configuration settings and startup to operation monitoring. This reduces the time and man hours required for system setup.
Axis settings
Parameter settings
Check the axis to be used. Select axis no. used.
The details of the settings can be displayed in a table. Details
on how to create settings for each category are explained in
the box below.
Grouping of axes for interpolation operations
is carried out simply by
dragging and dropping
the relevant axes.
Parameters can be copied between axes. In instances where
many settings are shared among the axes, this can reduce the
number of repeat inputs.
Data table creation
Simple input as in Excel.
Data tables can be exported as text
files in CSV format.
This is effective when making printouts
for document management.
Each axis (or each interpolation axis
group) has a separate sheet, and data
tables for each axis are displayed in an
easy-to-understand manner.
You can copy parts of a CSV file to a
data table using Cut & Paste.
TOOL OPERATIONS
• Each axis can be operated by tool operation independently from the operation
modes (PROG and RUN) of the FP control unit (or the FP2CPU unit).
• JOG operation and teaching can be carried out easily to index positioning points.
Test operation is possible without having to create a rudder program.
DATA MONITOR
STATUS MONITOR
• Data table no. during operation
• Connection status of each axis
• Auxiliary output
• Model code of each motor amp and motor
connected
• Current position, speed and vector
• Error code, warning code (Errors and warnings
can also be cleared)
• Servo lock status
• Origin proximity input, limit input
04/2008
31
C Software
XXXXXXXX
Encoder cables
Encoder cables for Minas A4 and E servo drives, standard connectors, usable for drag chain
Product number
Power range Minas A4
Power range Minas E
Length L
MFECA0010EAM
50–750W
50–400W
1m
MFECA0020EAM
50–750W
50–400W
2m
MFECA0030EAM
50–750W
50–400W
3m
MFECA0050EAM
50–750W
50–400W
5m
MFECA0100EAM
50–750W
50–400W
10m
MFECA0;;0EAM
Encoder cable for Minas A4 servo drives, high quality connectors, IP67,
usable for drag chain
Product number
Power range Minas A4
Length L
MFECA0020EAB
50–750W
2m
MFECA0030EAB
50–750W
3m
MFECA0040EAB
50–750W
4m
MFECA0050EAB
50–750W
5m
MFECA0070EAB
50–750W
7m
MFECA0100EAB
50–750W
10m
MFECA0150EAB
50–750W
15m
MFECA0200EAB
50–750W
20m
L
MFECA0;;0EAB
Encoder cable for Minas A4 with 17-bit absolute encoder, standard connectors,
without battery holder
Product number
Power range Minas A4
Length L
MFECA0030EAD
50–750W
3m
MFECA0050EAD
50–750W
5m
MFECA0100EAD
50–750W
10m
MFECA0;;0EAD
Encoder cable for Minas A4 with 17-bit absolute encoder, standard connectors,
with battery holder
Product number
Power range Minas A4
Length L
MFECA0030EAE
50–750W
3m
MFECA0050EAE
50–750W
5m
MFECA0100EAE
50–750W
10m
MFECA0;;0EAE
37.3
Encoder cable for Minas A4 with incremental encoder, IP67 metal connectors,
usable for drag chain
Product number
Power range Minas A4
Length L
MFECA0030ESD
1–5kW
3m
MFECA0050ESD
1–5kW
5m
MFECA0100ESD
1–5kW
10m
MFECA0;;0ESD
32
04/2008
XXXXXXXX
Accessories
Motor and brake cables
Motor cable for Minas E servo drives, usable for drag chain
Product number
Power range
MFMCA0050AEB
MFMCA0100AEB
MFMCA0200AEB
50 – 400W
50 – 400W
50 – 400W
Length L
(50)
1m
2m
3m
5m
10m
(4)
(10.0)
50 – 750W
50 – 750W
50 – 750W
50 - 750W
50 – 750W
50 – 750W
50 – 750W
MFMCA0;;0EED
5m
10m
20m
MFMCA0;;0AEB
2m
3m
4m
5m
10m
15m
20m
Motor cable for Minas A4 motors with brake, high quality connectors, IP67,
usable for drag chain
Product number
Power range
Length L
2kW
2kW
2kW
2kW
Motor cable for Minas A4, without brake, usable for drag chain
Product number
Power range
MFMCA0033ECT
MFMCA0053ECT
MFMCA0103ECT
3–5kW
3–5kW
3–5kW
Motor cable for Minas A4, with brake, usable for drag chain
Product number
Power range
MFMCA0032FCD
MFMCA0052FCD
MFMCA0102FCD
1–1.5kW
1–1.5kW
1–1.5kW
Motor cable for Minas A4, with brake, usable for drag chain
Product number
Power range
MFMCA0032FCT
MFMCA0052FCT
MFMCA0102FCT
2kW
2kW
2kW
Motor cable for Minas A4, with brake, usable for drag chain
Product number
Power range
MFMCA0033FCT
MFMCA0053FCT
MFMCA0103FCT
3–5kW
3–5kW
3–5kW
12.5)
(50)
Length L
3m
5m
10m
15m
(
MFMCD0032ECT
MFMCD0052ECT
MFMCD0102ECT
MFMCD0152ECT
3m
5m
10m
MFMCD0;;2ECD
3m
5m
10m
Length L
3m
5m
10m
(50)
Length L
3m
5m
10m
MFMCA0;;2FCD
50 – 750W
50 – 750W
50 – 750W
(50
)
MFMCA0;;2FCT
Length L
3m
5m
10m
(40)
Brake junction cable for Minas A 4 and E motors with brake, usable for drag chain
Product number
Power range Minas A
Power range Minas E
MFMCB0030GET
MFMCB0050GET
MFMCB0100GET
MFMCD0;;2ECT
Length L
12.5)
Motor cable for Minas A4, without brake, usable for drag chain
Product number
Power range
Length L
.8)
1 – 1.5kW
1 – 1.5kW
1 – 1.5kW
(
MFMCD0032ECD
MFMCD0052ECD
MFMCD0102ECD
MFMCA0;;0EBDB
50 – 400W
50 – 400W
50 – 400W
Length L
3m
5m
10m
04/2008
(50)
.8)
Motor cable for Minas A4, without brake, usable for drag chain
Product number
Power range
2m
3m
5m
7m
10m
37.3
750W
750W
750W
750W
750W
37.3
–
–
–
–
–
(12.0)
50
50
50
50
50
MFMCA0;;0EBD
(10.0)
MFMCA0020EBDB
MFMCA0030EBDB
MFMCA0050EBDB
MFMCA0070EBDB
MFMCA0100EBDB
(4)
Length L
Motor cable for Minas A4, high quality connectors, IP67, usable for drag chain
Product number
Power range
Length L
MFMCA0020EBD
MFMCA0030EBD
MFMCA0040EBD
MFMCA0050EBD
MFMCA0100EBD
MFMCA0150EBD
MFMCA0200EBD
(50)
11)
750W
750W
750W
750W
750W
(
–
–
–
–
–
(
50
50
50
50
50
(5.6)
(
MFMCA0010EED
MFMCA0020EED
MFMCA0030EED
MFMCA0050EED
MFMCA0100EED
(12.0)
Motor cable for Minas A4 servo drives, usable for drag chain
Product number
Power range
V
MFMCB0;;0GET
33
Accessories
XXXXXXXX
Direct connection cables to FP3 (Sigma) and FP2
For pulse control, not for Minas A4N / RTEX
Description
Number of
axes
Power range
Length
Connectors
DVOP0980W-1
FP3 (Sigma) NPN to CN I/F
1
0.05–5kW
1m
50 pin Molex to 2x10 pin MIL
2x50 pin Molex to 3x10 pin MIL
Product number
DVOP0981W-1
FP3 (Sigma) NPN to CN I/F
2
0.05–5kW
1m
DVOP0982W-1
FP3 (Sigma) PNP to CN I/F
1
0.05–5kW
1m
50 pin Molex to 2x10 pin MIL
DVOP0983W-1
FP3 (Sigma) PNP to CN I/F
2
0.05–5kW
1m
2x50 pin Molex to 3x10 pin MIL
DVOP0984W-1
FP3 (Sigma) NPN to CN I/F, with TLC-signal
2
0.05–5kW
1m
50 pin Molex to 2x10 pin MIL, with TLC-signal
DVOP0985W-1
FP3 (Sigma) / FP2 Positioning units transistor type
2
0.05–5kW
1m
50 pin Molex to 1x40 pin MIL
DVOP0986W-1
FP3 (Sigma) / FP2 Positioning units line driver type
2
0.05–5kW
1m
50 pin Molex to 1x40 pin MIL
For FP3 (Sigma) CPU PNP or NPN
One axis
DVOP0980W-1
DVOP0982W-1
In/out connectors for the PLC FP3 (Sigma).
Unused inputs/outputs can be used for other
purposes.
Two axes
DVOP0981W-1
DVOP0983W-1
DVOP0984W-1
DIRECT CONNECTION TO FP3 (SIGMA) AND FP2 POSITIONING UNITS
(Not for Minas A4N / RTEX transistor or line driver types)
Two axes
DVOP0985W-1
DVOP0986W-1
34
04/2008
XXXXXXXX
Accessories
Other cables, connectors, brake resistors, filters
COMMUNICATION CABLES
Product number
Description
DVOP1960
RS232C communication cable to PC9 pin Sub-D
DVOP1972
RS485 communication cable Mini-DIN 8Pin-MD connector, 1m
CONNECTOR UNITS
gnal
Product number
Description
DVOP3670
Connector kit for motor and encoder
DVOP4310
Connector kit for Minas A4 servo drives 1 to 2kW, without brake
DVOP4320
Connector kit for Minas A4 servo drives 3 to 5kW, without brake
DVOP4330
Connector kit for Minas A4 servo drives 1 to 2kW, with brake
DVOP4340
Connector kit for Minas A4 servo drives 3 to 5kW, with brake
DVOP4350
Connector for Minas A4 drivers for external equipment
DVOP4380
Connector kit for Minas A4 servo for encoder- and motor connection
FILTERS
Product number
a).
ther
Description
FN2060-6-06
EMC filter for control circle, Minas A4 servo drives 1 to 2kW
FN2090-10-06
Multi-stage EMI filter, 1-phase, for Minas A4/N servo driver MDDT5540, 1 to 1.5kW
FN2410-32-33
Multi-stage EMI filter, 1-phase, for Minas A4/N servo driver 2 to 5kW
FS21238-6-07
FS21238-6-07 EMC filter for Minas A4 servo drives 50 to 750W
DVOP4160
EMC filter for Minas E
INTERFACE CABLES
Product number
DVOP0800
DVOP4360
DVOP4510
BRAKE RESISTORS
Power range
Additional
information / description
BWD250100
30–750W
100 Ohm/100W
BWD600027
1–5kW
27 Ohm/240W
Description
Product number
Interface cable for Minas E driver 26 pins
Interface Connector cable for Minas A4 drivers,
length 2m
I/O Interface cable for Minas A4N and A4P servo
drivers, length 2m
OTHER ACCESSORIES
Product number
Description
DVOP2990
Lithium battery for absolute encoder, Minas A4, 3.6V 2000mAh
DVOP37300
Cable set (3m) interface, encoder and motor cable and connector kit of drive power
DVOP3811
DIN rail mounting kit for Minas E drivers
DVOP39200
Cable set (5m) interface, encoder and motor cable and connector kit of drive power
DVOP4420
Operating Console for Minas A4 and E servo drivers
DVOP4460
PANATERM Software for Minas servo drives, CD-ROM
MANUALS
Product number
Additional information / description
DVOP4210
Minas A4-series manual
DVOP4490
Minas A4P-series manual
DVOP3700
Minas E-series manual
Minas A4N manual is only available as PDF file from panasonic-electric-works.com
04/2008
35
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Asia Pacific / China / Japan
China
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Hong Kong
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(Hong Kong) Co., Ltd.
1048 Kadoma, Kadoma-shi, Osaka 571-8686, Japan, Tel. (06) 6908-1050, Fax (06) 6908-5781, www.mew.co.jp/e-acg/
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Japan
Singapore
Level 2, Tower W3, The Towers Oriental Plaza, No. 2, East Chang An Ave., Dong Cheng District, Beijing 100738, Tel. (010) 8518-5988,
Fax (010) 8518-1297
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04/2008
Copyright © 2008 • Printed in Germany
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