・This product is for industrial
equipment. Don't use this
product at general household.
Technical reference
AC Servo Motor & Driver
MINAS A4-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read
when necessary.
• Make sure to forward this technical
reference for safety to the final
user.
If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4210), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
page
page
1. Introduction ................................. B2
4. Parameter .................................. B27
On Opening the Package ............................... B2
Check of the Driver Model .............................. B2
Check of the Motor Model .............................. B3
Outline of Parameter .................................... B27
How to Set .................................................... B27
Setup with the Front Panel ........................... B27
Outline of PANATERM® ....................................................... B28
Setup with the Console ................................ B28
How to Connect ............................................ B29
Composition and List of Parameters ............ B30
2. Installation .................................. B4
Driver .............................................................. B4
Motor .............................................................. B6
Console .......................................................... B8
3. System Configuration and
Wiring ........................................ B10
Overall Wiring (Connecting Example of C-frame, 3phase) .............................................................. B10
Overall Wiring (Connecting Example of E-frame) .... B12
Driver and List of Applicable Peripheral
Equipments .................................................. B14
Wiring of the Main Circuit (A to D-frame) ..... B16
Wiring of the Main Circuit (E and F-frame) ... B17
Wiring method to connector (A to D-frame) .. B18
Wiring to the Connector, CN X6
(Connection to Encoder) .............................. B22
Wiring for Typical Control Modes
to the Connector CN X5 ............................... B24
5. Protective Functions ................ B36
Protective Function (What Is Error Code ?) ..... B36
6. Maintenance and Inspections . B38
7. Conformity to EC Directives
and UL Standards ..................... B40
Composition of Peripheral Equipments ........ B41
Conformity to UL Standards ......................... B44
8. Built-in Holding Brake ............. B45
9. Dynamic Brake ......................... B47
10. Check of the Combination of
the Driver and the Motor ............ B48
After-Sale Service (Repair) .......... B51
IMC54D
Z0404-6066
1. Introduction
On Opening the Product Package
•
•
•
•
Check of the Motor Model
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the instruction manual is attached or not.
Check if the power connector and motor connecters (CN X1 and CN X2 connectors)
are attached or not (A to D-frame).
Contents of Name Plate
Model
Rated input voltage/current
Rated output
Rated rotational speed
CONT. TORQUE 0.64 Nm
RATING
S1
INS. CLASS B (TÜV) A (UL)
IP65
CONNECTION
SER No.
04110001
AC SERVO MOTOR
MODEL No. MSMD5AZS1S
INPUT 3ØAC
92 V
1.6 A
RATED OUTPUT 0.2 kW
Hz
RATED FREQ. 200
RATED REV. 3000 r/min
Serial Number
e.g.) : 04 11 0001
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Contact to a dealer if you find any failures.
Model Designation
M S M D 5 A Z S 1 S
Check of the Driver Model
1 to 4
Contents of Name Plate
Model number
Rated input/output current
MAMA
AC SERVO
Model No.
MADDT1205
INPUT
Rated input/output voltage
Symbol
Voltage
Phase
F.L.C
Freq.
Power
200-240V
1ø
1.3A
50/60Hz
Serial No.P04110001Z
OUTPUT
69V
3ø
1.2A
0~333.3Hz
100W
Serial Number
e.g.) : P0411 0001Z
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Rated output of
applicable motor
MQMA
MSMD
MSMA
MDMA
MHMA
MFMA
MGMA
Model Designation
M A D D T 1 2 0 5
1 to 4
Frame-size symbol
Symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame
A4-series, A-frame
A4-series, B-frame
A4-series, C-frame
A4-series, D-frame
A4-series, E-frame
A4-series, F-frame
5 to 6
7
Max. current
rating of
power device
Symbol Current
rating
10A
T1
15A
T2
30A
T3
50A
T5
70A
T7
TA 100A
TB 150A
8 to 9
10 to 12
Power supply
Symbol
1
2
3
5
– B2 –
Specifications
Single phase, 100V
Single phase, 200V
3-phase, 200V
Single/3-phase,
200V
Special specifications
(letters and numbers)
Current detector rating
Symbol Current rating
05
5A
07
7.5A
10
10A
15
15A
20
20A
30
30A
40
40A
64
64A
90
90A
A2
120A
5 to 6
7
8
9
Type
Ultra low inertia
(100W to 750W)
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
Motor rated output
10
11 to 12
Special specifications
(letters and numbers)
Motor structure
Design order
1: Standard
Voltage specifications
Symbol
Specifications
1 100 V
2 200 V
100/200 common
Z (50W only)
Symbol Output Symbol Output
5A
50W
15
1.5kW
01
100W
20
2.0kW
02
200W
25
2.5kW
04
400W
30
3.0kW
05
500W
40
4.0kW
08
750W
45
4.5kW
09
900W
50
5.0kW
10
1.0kW
Rotary encoder specifications
Specifications
Symbol
Format
Pulse count Resolution Wire count
2500P/r
P
Incremental
10,000
5-wire
17bit
S Absolute/Incremental common
131,072
7-wire
Motor structure
MSMD, MQMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way Without With Without With*1
A
B
*2
S
*2
T
1
The
product
with
oil seal is a special order
*
product.
*2 Key way with center tap
Products are standard stock items or build to
order items. For details, inquire of the dealer.
MAMA
Symbol
Holding brake
Oil seal
Shaft
Round Key way Without With Without With
A
B
E
F
MSMA, MDMA, MFMA, MGMA, MHMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way Without With Without With
C
D
G
H
– B3 –
2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident.
E and F-frame
Driver
Mounting bracket
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place.
Environmental Conditions
Item
Conditions
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Lower than 1000m
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.
A to D-frame
Mounting Direction and Spacing
• Reserve enough surrounding space for effective cooling.
• Install fans to provide uniform distribution of temperature in the control
panel.
• Observe the environmental
conditions of the control
panel described in the next
page.
Fan
40mm
or
more
100mm
or more
Fan
10mm
or
more
10mm
or
more
10mm
or
more
40mm
or
more
100mm
or more
It is recommended to use the conductive paint when you make your own mounting
bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.
e.g.) In case of C-frame
Caution on Installation
MADD
MBDD
MCDD
MDDD
Mounting bracket
(optional parts)
We have been making the best effort to ensure the highest quality, however, application
of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommended
that you make a fail-safe design and secure the safety in the operative range.
There might be a chance of smoke generation due to the failure of these products. Pay
an extra attention when you apply these products in a clean room environment.
Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.
– B4 –
– B5 –
2. Installation
Motor
Oil/Water Protection
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which meets
the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Motor only
Impact
Motor only
Enclosure
rating
Motor only
Condition
0˚C to 40˚C (free from freezing) *1
Less than 85% RH (free from condensation)
–20˚C to 80˚C (free from freezing) *2
Less than 85% RH (free from condensation)
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
IP65 (except rotating portion of output shaft and lead wire end)
• These motors conform to the test conditions specified in EN standards
(EN60529, EN60034-5). Do not use these motors in application where
water proof performance is required such as continuous wash-down
operation.
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear
reducer to prevent the reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to the technical reference. (DV0P4210)
– B6 –
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is subjected to oil or water.
4) Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the motor through shaft.
Cable
Motor
Oil / Water
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
contain the extension junction cable into the bearer so that the stress by bending can
be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permissible value.
4) For permissible load of each model, refer to the technical reference. (DV0P4210)
Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
3) If the motor shaft is not electrically grounded, it may cause
electrolytic corrosion to the bearing depending on the condi- Motor
tion of the machine and its mounting environment, and may
result in the bearing noise. Check and verification by customer
is required.
– B7 –
2. Installation
Console
How to Connect
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Connect to CN X4.
M
MOD
E
S
SET
SHIF
T
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Impact
Altitude
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044
(Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m
• Connect the console connector securely to CN X4 connector of the driver.
• Never pull the cable to plug in or plug out.
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
– B8 –
– B9 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit
PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Setup support software
"PANATERM® "
DV0P4460
Noise Filter (NF)
Prevents external noise from the power lines. And reduces an effect of the
noise generated by the servo driver.
• Connection to
the Connector, CN X1
(connection to input power)
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use a surge absorber together
with this.
• Never start nor stop the servo motor with this Magnetic Contactor.
Pin RB1 (6-pin), RB2 (4-pin), and
RB3 (5-pin)
RB2 and RB3 to be kept shorted for
normal operation.
When the capacity shortage of
the regenerative resister is found,
disconnect a shorting bar between RB2 and RB3, then connect
the external regenerative resister
between RB1 and RB2.
(Note that no regenerative resister
is equipped in Frame A and B type.
Install an external regenerative
resister on incombustible material, such as metal. Follow the same
wiring connection as the above.)
When you connect an external regenerative resister, set up Parameter No. 6C to 1 or 2.
X1
X4
L3 (Pin-3)
• Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)
L1C (Pin-2)
L2C (Pin-1)
Reactor (L)
Reduces harmonic current of the
main power.
For specifications, refer to the
downloaded Instruction Manual
from our Web Site.
X3
L1 (Pin-5)
L2 (Pin-4)
Console (option)
DV0P4420
• Wiring to Connector, CN X5
(Connection to host controller)
X5
X2
• Connection to the Connector, CN X2
(connection to external components)
RB1 (Pin-6)
Junction cable for encoder
RB2 (Pin-4)
X6
Handle lever
Use this for connector
connection. Store this
after connection for other
occasions.
(see page for connection.)
Ground
(earth)
Short bar
Regenerative resistor
(optional)
When you use an external
regenerative resister, install
an external protective apparatus, such as
thermal fuse without fail.
For resistor value and capacity, refer to the
downloaded Instruction Manual from our Web Site.
Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
– B10 –
• Wiring to Connector, CN X6
(Connection to encoder)
X7
U-phase (red)
V-phase (white)
W-phase (black)
• Wiring to
Connector, CN X7
(Connection to
external scale)
Junction cable for motor
• Wiring to Connector,
CN X2
(Connection to
motor driving
DC Power supply for brake
phase and
DC24V
ground)
(to be supplied by customer)
Junction cable
for brake
: High voltage
– B11 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit
PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Setup support software
"PANATERM® "
DV0P4460
Noise Filter (NF)
Prevents external noise from the power lines. And reduces an effect of the
noise generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use a surge absorber together
with this.
• Never start nor stop the servo motor with this Magnetic Contactor.
X4
X1
• Connection
with input
power supply
• Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)
L1
L2
X5
• Wiring to Connector, CN X5
(Connection to host controller)
L3
Reactor (L)
Reduces harmonic current of the
main power.
r
t
X6
For specifications, refer to the
downloaded Instruction Manual
from our Web Site.
Pin P, B1 and B2...
B1 and B2 to be kept shorted for
normal operation.
When the capacity shortage of
the regenerative resister is
found, disconnect a short bar
between B1 and B2, then connect the external regenerative
resister between P and B2.
Install an external regenerative resister on incombustible
material, such as metal. Follow
the same wiring connection as
the above.
When you connect an external
regenerative resister, set up
Parameter No. 6C to 1 or 2.
Console (option)
DV0P4420
X3
X7
• Connection to external
components
P
B2
Ground
(earth)
Short bar
Regenerative resistor
(optional)
When you use an external
regenerative resister, install
an external protective apparatus, such as thermal
fuse without fail.
For resistor value and capacity, refer to the
downloaded Instruction Manual from our Web Site.
Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal fuse
is activated, it will not resume.
– B12 –
From a top
• Wiring to Connector, CN X6
(Connection to encoder)
Junction cable
for encoder
• Wiring to Connector, CN X7
(Connection to external scale)
• Connection to motor driving
phase and ground
Junction cable
for motor
U-phase
V-phase
W-phase
Junction cable for brake
DC Power supply for brake
DC24V
(to be supplied by customer)
: High voltage
– B13 –
3. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Circuit
Noise
Applicable
Rated Required
Noise
Surge
Power breaker
filter for
Voltage
(rated
motor
output (at the rated
filter absorber signal
load) current)
approx.
MSMD Single to50W
100W 0.4kVA
phase,
approx.
MQMA 100V 100W 0.4kVA
50W approx.
MSMD
to 200W 0.5kVA
MADD
approx.
Single 100W 0.3kVA
MQMA phase,
approx.
200V 200W 0.5kVA
DV0P4170 DV0P4190
approx.
100W 0.3kVA
MAMA
10A
MSMD Single
approx.
phase, 200W 0.5kVA
MQMA 100V
Driver
MBDD MSMD
MCDD
MQMA Single
approx.
phase, 400W 0.9kVA
100V
MSMD
approx.
750W 1.3kVA
MAMA Single/
approx.
3- phase, 400W 0.9kVA
MFMA 200V
approx.
MHMA
500W 1.1kVA
approx.
MAMA
750W 1.6kVA
MDMA
MHMA
MHMA
BMFT61542N
(3P+1a)
20A
MSMA
3- phase,
MHMA 200V
MFMA
MGMA
0.75mm2
AWG18
BMFT61842N 2.0mm2
(3P+1a) AWG14
DV0P4220
MFMA
2.0mm2
BMF6352N AWG14
(3P+2a2b)
30A
approx.
2.5kW 3.8kVA
3.5mm2
AWG12
– B14 –
BMF6352N
(3P+2a2b)
approx.
3.0kW 4.5kVA
3.5mm2
AWG12
Terminal
block
M5
50A
0.75mm2
AWG18
DV0P3410 DV0P1450 DV0P1460
11.0 or
smaller
MSMA
BMFT61041N
(3P+1a) 0.75 to
2.0mm2
AWG
14 to 18
BMFT61542N
(3P+1a)
MDMA
MEDD
approx.
2.0kW 3.8kVA
3- phase,
approx.
MFDD MHMA 200V 4.0kW 6kVA
MFMA
approx.
2.0kW 3.3kVA
Cable
Cable
Noise
Magnetic diameter
Surge
diameter Connection
filter for
absorber signal contactor (main circuit) (control circuit)
MDMA
approx.
1.0kW 1.8kVA
approx.
1.5kW 2.3kVA
Noise
filter
MGMA
DV0P1460
DV0P1450
Required Circuit
Power breaker
(at the rated (rated
load) current)
MDMA
MSMA
15A
approx.
900W 1.8kVA
Single/
approx.
MDDD MSMA 3- phase, 1.0kW 1.8kVA
200V
MHMA
MSMA
BMFT61041N
(3P+1a)
BMFT61542N
(3P+1a)
MGMA
MDMA
MGMA
BMFT61541N
(3P+1a)
DV0P4180
Applicable
Rated
Voltage
motor
output
Cable
Cable
Magnetic diameter
diameter Connection
contactor (main circuit) (control circuit)
Connection to exclusive connector
approx.
Single 400W 0.9kVA
MQMA phase,
200V
approx.
200W 0.5kVA
MAMA
Driver
Terminal
block
M5
11.0 or
smaller
ø5.3
approx.
6.8kVA
4.5kW approx.
7.5kVA
ø5.3
BMF6652N
(3P+2a2b)
5.3mm2
AWG10
MDMA
MHMA
approx.
5.0kW 7.5kVA
MSMA
• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
To comply to EC Directives, install a circuit breaker between the power and the noise
filter without fail, and the circuit breaker should conform to IEC Standards and UL
recognized (Listed and
marked).
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or
larger model when the maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P.B42, "Noise Filter".
• Select and use the circuit breaker and noise filter with matching capacity to those of
the power source, considering the load conditions as well.
• Terminal block and protective earth terminal
Use a copper conductor cable with temperature rating of 60˚C or higher.
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
Larger tightening torque of the screw than the max. value (M4 : 1.2 N • m, M5 : 2.0 N • m)
may damage the terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model,
and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger
for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off
length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host
to be 0.3 to 0.35 N • m. Larger tightening torque than these may damage the connector
at the driver side.
– B15 –
3. System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame)
Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
Tips on Wiring
8~9mm
1) Peel off the insulation cover of the cable.
(Observe the dimension as the right fig. shows.)
2) Insert the cable to the connector detached
from the driver.(See P.B18 for details.)
3) Connect the wired connector to the driver.
Power
supply
NFB
NF
MC
L
5
4
3
2
1
L1
L2
L3
L1C
L2C
CN X1
Yellow
(X2)
U
1
V
White
2
W
Black
3
Green E
yellow
4
Red
6
5
4
3
2
1
RB1
RB3
RB2
U
V
W
CN X2
Ground resistance : 100Ω max.
For applicable wire,
refer to P.B14 and B15.
DC
DC power supply
24V for brake
Surge absorber
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the Magnetic
Contactor. Never start/stop the motor with this
Magnetic Contactor.
Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
for the fuse rating.
• Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
• Match the colors of the motor lead wires to those of
the corresponding motor output terminals (U,V,W).
• Don't disconnect the shorting cable between RB2
and RB3 (C and D frame type). Disconnect this only
when the external regenerative register is used.
• Avoid shorting and ground fault. Don't
connect the main power.
* Connect pin 3 of the connector on the amplifier
side with pin 1 of the connector on the motor side.
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, rater to "Driver and List of Applicable Peripheral Equipments" (P.B14 and B15).
3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N • m.
• Earth-ground this.
• Connect the protective earth terminal ( ) of the
driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external
emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake and
how to use it, refer to P.B45, "Specifications of
Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber.
– B16 –
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the
Magnetic Contactor. Never start/stop the motor
with this Magnetic Contactor.
Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
for the fuse rating.
• Provide an AC Reactor.
L1
Power
supply
NFB
NF
MC
L
L2
L3
r
t
• Don't disconnect the short bar between B1 and
B2. Disconnect this only when an external
regenerative register is used.
• Match the colors of the motor lead wires to those
of the corresponding motor output terminals
(U,V,W).
• Avoid shorting and ground fault.
Don't connect the main power.
P
B1
B2
Yellow
(X2)
U
U
V
V
W
W
Red
White
Motor
Fuse (5A)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Black
Green
yellow
• Earth-ground this.
• Connect the protective earth terminal ( ) of the
driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical
shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
E
Motor
Ground resistance : 100Ω max.
• Compose a duplex Brake Control Circuit so that
For applicable wire,
the brake can also be activated by an external
refer to P.B14 and B15.
DC
24V DC power supply
for brake
Surge absorber
Fuse (5A)
emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake and
how to use it, refer to P.B47, "Specifications of
Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber.
– B17 –
3. System Configuration and Wiring
Wiring method to connector (A to D-frame)
Wiring Diagram
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .
How to connect
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
8 to 9mm
+10%
ON OFF ALM
MC
Surge absorber
NFB
(a) Using handle lever
2
3
MC L
Noise
filter
2. Insert the cable to the connecter in the following 2 methods.
(a) Using the attached Handle Lever
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)
1
+10%
Power supply Single phase, 100V –15% to 115V –15%
1. Peel off the insulation cover of the cable.
(see the right fig for exact length for peeling.)
L1
L3
L1C
L2C
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
U
V
W
1
2
3
4
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
CN X1
Main power
supply
Control power
supply
CN X2
Motor
connection
Motor
Attach the handle lever
to the handling slot on
the upper portion. Press
down the lever to push
down the spring.
Insert the peeled cable
while pressing down the
lever, until it hits the
insertion slot (round
hole).
Release the lever.
ALM
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
* You can pull out the cable by pushing down the spring as the above.
37
CN X5
ALM+
36 ALM–
In Case of Single Phase, 200V (A and B-frame)
+10%
+10%
Power supply Single phase, 200V –15% to 240V –15%
(b) Using screw driver
2
3
NFB
MC L
Noise
filter
1
ON OFF ALM
MC
Surge absorber
L1
L3
L1C
L2C
Use a reactor for
3-phase
Press the screw driver
to the handling slot on
the upper portion to
push down the spring.
Insert the peeled cable
while pressing down the
screw driver, until it hits the
insertion slot (round hole).
Release the screw
driver.
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
U
V
W
1
2
3
4
CN X1
Main power
supply
Control power
supply
CN X2
Motor
connection
* You can pull out the cable by pushing down the spring as the above.
• Peel off the cable with exact length (8 to 9 mm).
• Take off the connector from the Servo Driver before making connection.
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
– B18 –
Motor
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
ALM
– B19 –
37
CN X5
ALM+
36 ALM–
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
3. System Configuration and Wiring
In Case of Single Phase, 200V (C and D-frame)
+10%
+10%
Power supply Single phase, 200V –15% to 240V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
CN X1
MC L
NFB
Noise
filter
L1
L2
L3
Use a reactor for
3-phase
L1C
L2C
(Remove the short wire when you connect
the external regenerative resistor.)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1 1
White
2 2
Black
3 3
Green
4 4
RB1
RB3
RB2
U
V
W
*
CN X2
Motor
connection
+10%
+10%
Power supply 3-phase, 200V –15% to 230V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
D
A
C
B
MC L
NFB
Main power
supply
Control power
supply
In Case of 3-Phase, 200V (E and F-frame)
L1
Noise
filter
When you use single
phase, connect the main
power between L1 and
L3 terminals.
* When you use motor model of
MSMA, MDMA, MFMA, MHMA
and MGMA, use the connections
as the below table shows.
L2
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
V-phase
B
W-phase
C
Ground
D
r
H
Control power
supply
t
A
C
B
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
V-phase
B
W-phase
C
Ground
D
B1
G
B2
Red
U
White
V
Motor
connection
H
F
A
I
E
W
Green
A
D
P
External regenerative resistor
(Remove the short bar when you connect
the external regenerative resistor.)
Black
G
Main power
supply
L3
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
D
B
C
JL04V-2E20-18PE-B-R
F
Motor
172159-1
Tyco Electronics AMP
ALM
DC12 to 24V
(±5%)
37
E
CN X5
+10%
+10%
Power supply 3-phase, 200V –15% to 240V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
NFB
CN X1
Noise
filter
L1
L2
L3
L1C
L2C
(Remove the short wire when you connect
the external regenerative resistor.)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
*1
V
W
Control power
supply
Motor
connection
DC12 to 24V
(±5%)
ALM
37
CN X5
ALM+
36 ALM–
ALM
DC12 to 24V
(±5%)
37
ALM+
36 ALM–
A
B
D
C
E
H
C
E
G
F
H
F
I
JL04V-2E24-11PE-B-R
PIN No. Application
A
Brake
Brake
B
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
I
JL04V-2E24-11PE-B-R
PIN No. Application
A
Brake
Brake
B
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
Do not connect anything to NC.
Do not connect anything to NC.
– B20 –
B
D
A
G
CN X2
Motor
172159-1
Tyco Electronics AMP
PIN No. Application
G
Brake
Brake
H
NC
A
U-phase
F
V-phase
I
W-phase
B
Ground
E
Ground
D
NC
C
Main power
supply
U
2
3
4
PIN No. Application
G
Brake
H
Brake
A
NC
F
U-phase
I
V-phase
W-phase
B
Ground
E
D
Ground
C
NC
C
JL04V-2E20-18PE-B-R
36 ALM–
MC L
D
B
Motor
ALM+
In Case of 3-Phase, 200V (C and D-frame)
When you use single
phase, connect the main
power between L1 and L3
terminals.
I
– B21 –
3. System Configuration and Wiring
Wiring to the Connector, CN X6 (Connection to Encoder)
Wiring Diagram
Wiring Diagram
MSMD 50W to 750W
MAMA 100W to 750W
MQMA 100W to 400W
In case of 2500P/r incremental encoder
MSMD 50W to 750W
MAMA 100W to 750W
MQMA 100W to 400W
White
Black
E5V
E0V
White
Black
CN X6
1 E5V
+5V
0V
2
E0V
3
4
5
Purple
PS
PS
FG
2
3
Red
Pink
Yellow/Green
PS
BAT+
BAT–
PS
PS
FG
Motor side
motor
E5V H
E0V G
5
PS
6
PS
4
5
3
Pin No. of connector
CN X6
1 E5V +5V
0V
2 E0V
K
5
L
PS
J
FG
6
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
Twisted pair
(by Japan Aviation Electronics Ind.)
Junction cable
E5V
E0V
– B22 –
H
G
Driver side
Pin No. of connector
CN X6
+5V
1 E5V
0V
2
E0V
3
Regulator
Regulator
4
BAT+
BAT–
PS
PS
T
battery
5
6
S
K
L
PS
J
FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
Twisted pair
(Japan Aviation Electronics Industry, Ltd.)
PS
PS
PS
Case
Case
motor
Motor side
Junction cable
Case
MSMA 1kW to 5kW MFMA 400W to 4.5kW
MDMA 1kW to 5kW MGMA 900W to 4.5kW
MHMA 500W to 5kW
4
Motor side
battery
2
Motor side
3
motor
Regulator
Driver side
MFMA 400W to 4.5kW
MGMA 900W to 4.5kW
PS
1
Twisted pair
172169-1
172161-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
Case
Junction cable
MSMA 1kW to 5kW
MDMA 1kW to 5kW
MHMA 500W to 5kW
8
6
Twisted pair
172168-1
172160-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
motor
Purple
PS
6
E0V
CN X6
1 E5V
+5V
0V
2 E0V
7
4
Regulator
Light Blue
5
E5V
3
4
Light Blue
In case of 17-bit absolute/incremental encoder
Junction cable
Driver side
– B23 –
Driver side
36
37
ALM-
ALM+
35 S-RD Y+
34 S-RDY-
CWL
9 CCWL
8
– B24 –
FG
7 COM+
33 INTSPD1
30 INTSPD2
– B25 –
ALM+
50
FG
COM-
IM
SP
330Ω
330Ω
330Ω
14
42
43
18
16
15
3.83kΩ
SPR/TRQR
21
1kΩ
1kΩ
IM
SP
220Ω
14
43
42
GND
330Ω
330Ω
330Ω
(
24VDC
represents twisted pair.)
Torque monitor output
Velocity monitor output
CW torque limit
input(-10 to 0V)
CCW torque limit
input(0 to ± 10V)
Velocity command
input (0 to ± 10V)
Z-phase output
B-phase output
A-phase output
represents twisted pair.)
Velocity monitor output
Torque monitor output
13
SIGN2 6
220Ω
2.2kΩ OPC2 2
PULS2 4
2.2kΩ OPC1 1
19 Z-phase output (open collector)
25
24
23
49
48
22
GND 15
10kΩ
16
CCWTL/TRQR
3.83kΩ
17
GND
10kΩ
CWTL 18
20kΩ
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
R
(2) When you do not use the
external resistor with 24V
power supply
CW torque limit input
(-10 to +10V)
(
VDC
R
pecifications VDC -1.5 .
=10mA
R+220 .
of R
12V 1kΩ1/2W
24V 2kΩ1/2W
VDC
220Ω
13
GND
SIGN2 6
220Ω
SIGN1 5
PULS2 4
PULS1 3
(1) When you use the external
resistor with 12V and 24V
power supply
CCW torque limit input
(0 to +10V)
Z-phase
output
B-phase
output
A-phase
output
(Use with 500kpps
or less.)
Command
pulse
input A
In case of open collector I/F
19 Z-phase output (open collector)
25
24
23
49
48
22
21
6
13
5
4
3
2
1
CN X5
CWTL
GND
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
PULS1
OPC2
OPC1
Divider
ZSP
11 BRKOFF+
10 BRKOFF40 TLC
ALM39 AT-SPEED+
38 AT-SPEED-
36
37
35 S-RDY+
34 S-RDY-
CWL
9 CCWL
8
Torque in-limit output
(Select with Pr09)
Zero speed detection output
12
(Select with Pr0A)
41
Brake release output
Positioning complete
output
Servo alarm output
Servo-Ready output
CCW over-travel inhibition
input
CW over-travel inhibition
input
Alarm clear input 31 A-CLR
Slection 3 input of
internal command speed
GAIN
28 INTSPD3
Speed zero clamp input 26
ZEROSPD
Control mode switching
input
32 C-MODE
Gain switching input 27
1kΩ
1kΩ
10kΩ
10kΩ
4.7kΩ
3.83kΩ
CN X5
SIGN
3.83kΩ
PULS
Servo-ON input 29 SRV-ON
Selection 1 input of
internal command speed
Selection 2 input of
internal command speed
50
2kΩ 43kΩ
220Ω
2kΩ 43kΩ
2kΩ 43kΩ
220Ω
2kΩ 43kΩ
20kΩ
220Ω
220Ω
2.2kΩ
2.2kΩ
Wiring for Typical Control Modes to the Connector CN X5
VDC
12 to 24V
PULSH2
PULSH1
46
SIGNH1
47 SIGNH2
13 GND
45
44
Positioning complete output 39
COIN+
38 COINBrake release output
11 BRKOFF+
10 BRKOFFTorque in-limit output
40 TLC
(Select with Pr09)
Zero speed detection output 12
ZSP
(Select with Pr0A)
41 COM-
Servo-Alarm output
Servo-Ready output
CCW over-travel
inhibition input
CW over-travel
inhibition input
28
DIV
26 VS-SEL
32 C-MODE
Alarm clear input 31 A-CLR
Electronic gear
switching input
Damping control
switching input
Control mode
switching input
Servo-ON input
4.7kΩ
Divider
Command pulse input B
(Use with 2Mpps or less.)
VDC
12 to 24V
30
7 COM+
33
INH
CL
29 SRV-ON
Gain switching input 27
GAIN
Command pulse
inhibition input
Deviation counter
clear input
3. System Configuration and Wiring
Wiring Example of Velocity Control Mode
Wiring Example of Position Control Mode
3. System Configuration and Wiring
4. Parameter
Outline of Parameter
– B26 –
(
Velocity monitor output
• You can refer and set up the parameter with either one of the following.
1) front panel of the driver
2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: English/Japanese version) and PC.
3) console (DV0P4420, option)
For setup of the parameters on PC screen, refer to the instruction manual of the
"PANATERM®".
IM
43
SP
42
1kΩ
CN X5
FG
50
In case Pr5B=0,
enter a speed limit value to
4th speed of speed setup (Pr56).
ZSP
COM-
TLC
40
(Select with Pr09)
Zero speed detection output 12
(Select with Pr0A)
41
Torque in-limit output
Brake release output
11 BRKOFF+
10 BRKOFF-
ALM39 AT-SPEED+
38 AT-SPEED-
At-speed signal output
VDC
12 to 24V
ALM+
37
Servo-Alarm output
36
35 S-RDY+
34 S-RDY-
Servo-Ready output
CWL
9 CCWL
8
inhibition input
CW over-travel
inhibition input
32 C-MODE
28
Alarm clear input 31 A-CLR
CCW over-travel
Control mode
switching input
Servo-ON input
DIV
Speed zero clamp
input
26 ZEROSPD
CL
29 SRV-ON
Gain switching input 27 GAIN
4.7kΩ
INH
How to Set
Display LED (6-digit)
All of LED will flash when error occurs,
and switch to error display screen.
All of LED will flash slowly when warning occurs.
Shifting of the digit for data changing to higher digit.
(Valid to the digit whose decimal point flashes.)
30
7 COM+
33
This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and
comprehend very well so that you can adjust this diver in optimum condition for your
running requirements.
Setup with the Front Panel
3.83kΩ
1kΩ
Torque monitor output
represents twisted pair.)
CW torque limit input
(0 to ±10V)
Select with Pr5B.
16
17
GND
CCWTL/TRQR
10kΩ
3.83kΩ
Divider
CWTL 18
Wiring example when control mode Pr02=0 or Pr5B=1,
CCWTL/TRQR 16
17
GND
10kΩ
Torque command input or
velocity limit input (0 to ±10V)
GND
14
20kΩ
CZ
SPR/TRQR
25
GND
15
19 Z-phase output (open collector)
Z-phase
output
OZ-
OZ+
24
23
330Ω
330Ω
OB-
48
21
49
OB+
OA-
OA+
22
330Ω
B-phase
output
A-phase
output
Wiring Example of Torque Control Mode
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing ,
,
decreases by pressing
.
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTTION display.
Mode switching button (valid at SELECTION display)
Press this to switch 5 kinds of mode.
4) Auto-Gain Tuning Mode
1) Monitor Mode
5) Auxiliary Function Mode
2) Parameter Set up Mode
3) EEPROM Write Mode
– B27 –
4. Parameter
Outline of PANATERM®
How to Connect
With the PANATERM®, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O and pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
RS232 connection cable (option)
DV0P1960 (for DOS/V machines)
Connect to CN X4
Setup with the Console
Setup disc of setup support software,
PANATERM®
• DV0P4460 :
English/Japanese version (option)
Display LED (6-digit)
All of LED will flash when error occurs, and switch to
error display screen.
Displays ID No. (address) of selected driver (in 2 digits).
The value set in Pr00(address) is ID No. Parameter No.
is displayed (2 digits) at parameter setup mode.
Connect to CN X4
Press this to shift the digit for data change.
Press these to change data or execute selected action
of parameter.
Numerical value increases by pressing ,
,
decreases by pressing
.
SET Button
Press this to shift each mode which is selected by
mode switching button to EXECUTION display.
Mode Switching Button Press this to switch 6 kinds of mode.
1) Monitor mode
4) Normal auto-gain tuning mode
2) Parameter setup mode
5) Auxiliary function mode
3) EEPROM write mode
6) Copy mode
– B28 –
Console
DV0P4420 (option)
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.
– B29 –
4. Parameter
Composition and List of Parameters
Parameters for Functional Selection
Parameter No.
Outline
(Pr
)
You can select a control mode, designate I/O
00 to 0F
Functional selection
signals and set up a baud rate.
10 to 1F,
Adjustment
You can set up servo gains (1st and 2nd) of
27 to 2E
position, velocity, integration, etc, and time
constants of various filters.
20 to 26, 2F Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness.
30 to 3F
You can set up parameters related to gain
switching(1st
2nd)
40 to 4F
Position (Step)
You can set up an input form, directional selection
Control
of command pulses, dividing of encoder output
pulse and set up a division multiplier ratio of
command pulse.
50 to 5A,
Velocity Control,
You can set up an input gain of command pulse,
74 to 77
Torque Control
reverse polarity and adjust offset. You can also set
up internal speeds (1 to 8th speed), acceleration/
deceleration time.
5B to 5F
You can set an input gain, reverse polarity and set
up a torque limit of torque command.
60 to 6F
Sequence
You can set up detecting conditions of output signals,
such as positioning-complete and zero-speed.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
70 to 73
You can set up actions of protective functions.
78 to 7F
Full-Closed Control
You can set up dividing of external scale.
Group
• In this document, following symbols represent each mode.
Symbol
Control mode
Setup value
Symbol
of Pr02
Control mode
Setup value
of Pr02
P
Position control
0
P/S
Position (1st)/Velocity (2nd) control
3*
S
Velocity control
1
P/T
Position (1st)/Torque (2nd) control
4*
T
Torque control
2
S/T
Velocity (1st)/Torque (2nd) control
5*
F
Full-Closed control
6
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
when C-MODE is open : 1st mode selection
when C-Mode is closed: 2nd mode selection
Do not enter the command 10ms before/after the switching.
– B30 –
Parameter
No.
(Pr
)
Set up of parameter
Range
Default
Unit
00*1
01*1
02*1
03
04*1
05
06
07
08
09
0A
0B*1
0C*1
0D*1
0E*1
0F
Address of axis
Initial display of LED
Setup of control mode
Selection of torque limit
Setup of over-travel inhibit input
Switching of Internal/External speed setup
Selection of ZEROSPD input
Selection of speed monitor (SP)
Selection of torque monitor (IM)
Selection of TLO output
Selection of ZSP output
Setup of absolute encoder
Baud rate setup of RS232
Baud rate setup of RS485
Setup of front panel lock
(For manufacturer's use)
0 to 15
0 to 17
0 to 6
0 to 3
0 to 2
0 to 3
0 to 2
0 to 9
0 to 12
0 to 8
0 to 8
0 to 2
0 to 5
0 to 5
0 to 1
–
1
1
1
1
1
0
0
3
0
0
1
1
2
2
0
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
Related control
mode
all
all
all
P, S, F
all
S
S, T
all
all
all
all
all
all
all
all
–
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter
No.
(Pr
)
10
11
12
13
14
15
16
17
Set up of parameter
Range
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Time constant of feed forward filter
(For manufacturer's use)
Default
A to
D to
C-frame F-frame
0 to 3000
1 to 3500
1 to 1000
0 to 5
0 to 2500
–2000 to 2000
0 to 6400
–
–
Related control
mode
P, F
1/s
all
Hz
all
ms
all
–
all
0.01ms
P, F
0.1%
P, F
0.01ms
–
–
Unit
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Realtime auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B31 –
4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter
No.
(Pr
)
18
19
1A
1B
1C
1D
1E
1F
27
28
29
2A
2B
2C
2D
2E
Default
Related control
mode
2nd gain of position loop
1/s
P, F
0 to 3000
2nd gain of velocity loop
Hz
all
1 to 3500
ms
all
2nd Time constant of velocity loop integration 1 to 1000
–
all
2nd filter of velocity detection
0 to 5
all
2nd torque filter time constant
0 to 2500 0.01ms
100 to 1500 1500
Hz
all
1st notch frequency
0 to 4
2
–
all
Selection of 1st notch width
–
–
–
–
(For manufacturer's use)
Setup of instantaneous velocity observer
0 to 1
–
P, S
2nd notch frequency
100 to 1500 1500
Hz
all
0 to 4
Selection of 2nd notch width
2
–
all
0 to 99
Selection of 2nd notch depth
0
–
all
0 to 2000
1st damping frequency
0
0.1Hz
P, F
–200 to 2000
Setup of 1st damping filter
0
–
P, F
0 to 2000
2nd damping frequency
0
0.1Hz
P, F
–200 to 2000
Setup of 2nd damping filter
0
–
P, F
Set up of parameter
Range
A to
D to
C-frame F-frame
Unit
Parameters for Auto-Gain Tuning
Parameter
No.
(Pr
)
20
21
22
23
24
25
26
2F*2
Set up of parameter
Range
Inertia ratio
0 to 10000
Setup of real-time auto-gain tuning mode
0 to 7
Mechanical stiffness at real-time auto-gain tuning 0 to 15
Setup of adaptive filter mode
0 to 2
Selection of damping filter switching
0 to 2
Setup of action at normal mode auto-gain tuning
0 to 7
Setup of software limit
0 to 1000
Adaptive filter frequency
0 to 64
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
Set up of parameter
Range
Default
Unit
Setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Time for position gain switching
2nd mode of control switching
2nd delay time of control switching
2nd level of control switching
2nd hysteresis 0f control switching
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Setup of JOG speed
(For manufacturer's use)
(For manufacturer's use)
0 to 1
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 5
0 to 10000
0 to 20000
0 to 20000
–
–
–
0 to 500
–
–
0
0
0
–
–
–
300
–
–
–
–
166µs
–
–
(1+Setup value)
x 166µs
–
166µs
–
–
–
–
–
r/min
–
–
Related control
mode
all
all
all
all
all
P, F
S, T
S, T
S, T
S, T
–
–
–
all
–
–
Parameters for Position Control
Default
A to
D to
C-frame F-frame
1
4
1
1
0
0
10
0
Related control
mode
%
all
–
all
–
all
–
P, S, F
–
P, F
–
all
0.1rev
P, F
–
P, S, F
Unit
*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23,
“Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion.
Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
– B32 –
Parameters for Adjustment (2nd Gain Switching Function)
Parameter
No.
(Pr
)
Parameter
No.
(Pr
)
Set up of parameter
Range
Default
Unit
40*1
41*1
Selection of command pulse input
setup of rotational direction of command pulse
42*1
setup of command pulse input mode
43
44*1
Canceling of command pulse prohibition input
45*1
Denominator of pulse output division
46*1
Logic reversal of pulse output
Setup of Z-phase of external scale
0 to 1
0 to 1
0 to 3
0 to 1
1 to 32767
0 to 32767
0 to 3
0 to 32767
0
0
1
1
2500
0
0
0
–
–
–
–
–
–
–
–
47*1
Numerator of pulse output division
Related control
mode
P, F
P, F
P, F
P, F
all
all
all
F
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Realtime auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
– B33 –
4. Parameter
Parameter
No.
(Pr
)
48
49
4A
4B
4C
4D*1
4E
4F
Set up of parameter
Range
1st numerator of electronic gear
0 to 10000
2nd numerator of electronic gear 0 to 10000
Multiplier for numerator of electronic gear 0 to 17
Denominator of electronic gear
1 to 10000
Setup of smoothing filter for primary delay
0 to 7
Default
Unit
0
0
–
–
Related control
mode
P, F
P, F
0
10000
–
–
P, F
P, F
Setup of FIR smoothing
Counter clear input mode
0 to 31
0 to 2
1
0
1
–
–
–
P, F
P, F
P, F
(For manufacturer's use)
–
–
–
–
Parameters for Velocity/Torque control
Parameter
No.
(Pr
)
50
51
52
53
54
55
56
74
75
76
77
57
58
59
5A
5B
5C
5D
5E
5F
Set up of parameter
Range
Input gain of speed command
Input reversal of speed command
Offset of speed command
1st speed of speed setup
2nd speed of speed setup
3rd speed of speed setup
4th speed of speed setup
5th speed of speed setup
6th speed of speed setup
7th speed of speed setup
8th speed of speed setup
Setup of speed command filter
Setup of acceleration time
Setup of deceleration time
Default
500
10 to 2000
1
0 to 1
0
–2047 to 2047
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0
–20000 to 20000
0 to 6400
0
0 to 5000
0
0 to 5000
0
Setup of sigmoid acceleration/deceleration time 0 to 500
0
Selection of torque command
0 to 1
0
Input gain of torque command
10 to 100
30
Input reversal of torque command
0 to 1
0
Setup of 1st torque limit
0 to 500 *3
Setup of 2nd torque limit
0 to 500 *3
Related control
mode
(r/min)/V
S, T
–
S
0.3mV
S, T
r/min
S
r/min
S
r/min
S
r/min
S, T
r/min
S
r/min
S
r/min
S
r/min
S
0.01ms
S, T
2ms/
S
(1000r/min)
2ms/
S
(1000r/min)
2ms
S
–
T
0.1V /
T
rated torque
Unit
–
%
%
T
all
P, S, F
Parameters for Sequence
Parameter
No.
(Pr
)
60
61
62
63
64
65
66*1
67
68
69
6A
6B
6C*1
6D*1
6E
6F
70
71
72
73
Set up of parameter
Related control
mode
P, F
Pulse
131
0 to 32767
all
r/min
50
10 to 20000
S, T
r/min
10 to 20000 1000
P, F
–
0
0 to 3
–
–
–
–
all
–
1
0 to 1
all
–
0
0 to 2
all
–
0
0 to 9
all
–
0
0 to 3
all
–
0
0 to 9
all
2ms
0
0 to 100
all
2ms
0
0 to 100
A, B-frame : 3,
all
–
0 to 3
C,D,E-frame : 0
all
2ms
35
35 to 1000
all
–
0
0 to 500
–
–
–
–
P, F
0 to 32767 25000 256Pulse
S, T
0.1V
0
0 to 100
all
%
0
0 to 500
all
r/min
0
0 to 20000
Range
In-position (positioning complete) range
Zero speed
At-speed (arrived speed)
Setup of in-position output
(For manufacturer's use)
Selection of LV-trip at main power off
Sequence at run-prohibition
Sequence at main power off
Sequence at alarm
Sequence at servo-off
Setup of mechanical brake action at stall
Setup of mechanical brake action in motion
Selection of external regenerative resister
Detection time of main power shut-off
Setup to torque at emergency stop
(For manufacturer's use)
Excess setup of positional deviation
Excess setup of analog input
Setup of over-load level
Setup of over-speed level
Default
Unit
Default
Unit
0
0
10000
100
0
–
–
–
–
–
–
Parameters for Full-Closed Control
Parameter
No.
(Pr
)
78*1
79*1
7A*1
7B*1
7C*1
7D
7E
7F
Set up of parameter
Range
Numerator of external scale division 0 to 32767
Numerator multiplier of external scale division 0 to 17
Denominator of external scale division 1 to 32767
Excess setup of hybrid deviation
1 to 10000
Reversal of direction of external scale
0 to 1
(For manufacturer's use)
–
(For manufacturer's use)
–
(For manufacturer's use)
–
16 X external
scale pulses
–
–
–
–
Related control
mode
F
F
F
F
F
–
–
–
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
*3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
– B34 –
– B35 –
5. Protective Functions
Protective Function (What Is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off
(open).
• Error status ands their measures
• During the error status, the error code No. will be displayed on the front panel LED,
and you cannot turn Servo-ON.
• You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms
or longer.
• When overload protection is triggered, you can clear it by turning on the alarm clear
signal (A-CLR) 10 sec or longer after the error occurs. You can clear the time characteristics by turning off the connection between L1C and L2C or r and t of the control
power supply of the driver.
• You can clear the above error by operating the front panel keys.
• You can also clear the above error by operating the "PANATERM®".
Error
code
No.
Protective function
Error
code
No.
11
Control power supply under- voltage
protection
39
12
Over-voltage protection
40
13
Main power supply under-voltage
protection
41
14
* Over-current protection
42
15
* Over-heat protection
44
16
Over-load protection
45
Absolute system down error
protection
* Absolute counter over error
protection
Absolute over-speed error protection
* Absolute single turn counter error
protection
Absolute
multi-turn counter error
*
protection
* Over-regeneration load protection
47
Absolute status error protection
21
* Encoder communication error
48
* Encoder Z-phase error protection
49
* Encoder CS signal error protection
50
* External scale status 0 error
24
25
26
27
28
protection
Encoder
communication data error
*
protection
Position deviation excess protection
* Hybrid deviation excess error
protection
51
52
Over-speed protection
Electronic gear error protection
53
* External scale communication data
error protection
54
29
Deviation counter overflow protection 55
34
Software limit protection
CCWTL input excess protection
CWTL input excess protection
* External scale communication error
66
36
* EEPROM parameter error protection
95
37
* EEPROM check code error
protection
protection
protection
External
scale status 1 error
*
protection
* External scale status 2 error
protection
External
scale status 3 error
*
protection
* External scale status 4 error
protection
External
scale status 5 error
*
protection
65
35
38
– B36 –
Analog input excess protection
18
23
• When the protective function with a prefix of "*" in the protective function table is
triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off
the power to remove the cause of the error and re-enter the power.
• Following errors will not be stored in the error history.
Control power supply under-voltage protection (Error code No. 11)
Main power supply under-voltage protection
(Error code No. 13)
EEPROM parameter error protection
(Error code No. 36)
EEPROM check code error protection
(Error code No. 37)
Over-travel prohibition input protection
(Error code No. 38)
Motor self-recognition error protection
(Error code No. 95)
Protective function
Other
No.
Over-travel inhibit input protection
– B37 –
* Motor automatic recognition error
protection
* Other error
6. Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
error have occurred.
Prohibited
Product
Cooling fan
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80%
or lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Daily
inspection
Periodical
inspection
Cycles
Daily
Annual
Component
Smoothing condenser
Inspection Items and Cycles
Type
Disassembling for inspection and repair should
be carried out only by authorized dealers or service company.
Aluminum electrolytic
capacitor (on PCB)
Driver
Rush current
preventive relay
Items to be inspected
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connecter
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
• Loose tightening
• Trace of overheat
• Damage of the terminals
Rush current
preventive resistor
Bearing
Oil seal
Encoder
Motor
Battery
for absolute encoder
Inspection cycle may change when the running conditions of the above change.
Motor with
gear reducer Gear reducer
– B38 –
Standard replacement
cycles (hour)
Note
Approx. 5 years
2 to 3 years
(10,000 to 30,000 hours)
Approx. 5 years
Approx. 100,000 times
(depending on working
condition)
Approx. 20,000 times
(depending on working
condition)
3 to 5 years
(20,000 to 30,000 hours)
5000 hours
3 to 5 years
(20,000 to 30,000 hours)
Life time varies depending
on working conditions.
Refer to the instruction
manual attached to the
battery for absolute
encoder.
10,000 hours
– B39 –
These hours or cycles are
reference.
When you experience any
error, replacement is required even before this
standard replacement cycle.
7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those
products are required to conform to the EU unified standards and to furnish the CE
marking on the products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.
Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
Control box
Controller
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor
and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the EMC
Directives, especially for noise emission and noise terminal voltage, it is necessary to
examine the machine incorporating our servos.
Insulated
power supply
for interface
Noise filter for
signal lines
Power
supply
Circuit
breaker
Ground-fault
breaker
(RCD)
Noise filter
Conformed Standards
Subject
Motor
Surge
absorber
Conformed Standard
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100
EN50178
UL508C
EN55011
Conforms to
Low-Voltage
Directives
Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment
Motor/
EN61000-6-2
Immunity for Industrial Environments
Motor
IEC61000-4-2
Electrostatic Discharge Immunity Test
and
IEC61000-4-3
Radio Frequency Electromagnetic Field Immunity Test
driver
IEC61000-4-4
Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5
Lightening Surge Immunity Test
IEC61000-4-6
High Frequency Conduction Immunity Test
Standards
referenced by
EMC Directives
IEC61000-4-11 Instantaneous Outage Immunity Test
IEC : International Electrotechnical commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
– B40 –
CN X5
Driver
Noise filter
for signal
CN X1
lines
L1
L2 CN X2
L3
U
V
W
L1C
L2C
Motor
M
RE
CN X6
Protective earth (PE)
Power Supply
+10%
+10%
100V type : Single phase,
100V
to 115V
50/60Hz
–15%
–15%
(A, B and C-frame)
+10%
+10%
200V type : Single phase,
200V
to 240V
50/60Hz
–15%
–15%
(B, C-frame)
+10%
+10%
200V type : Single/3-phase, 200V
to 240V
50/60Hz
–15%
–15%
(C, D-frame)
+10%
+10%
200V type : 3-phase,
200V
to 230V
50/60Hz
–15%
–15%
(E, F-frame)
(1) This product is designed to be used at over-voltage category (Installation category) II
of EN 50178:1997. If you want to use this product un over-voltage category (Installation category) III, install a surge absorber which complies with EN61634-11:2002 or
other relevant standards at the power input portion.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed
and
marked) between power supply and noise filter.
– B41 –
7. Conformity to EC Directives and UL Standards
Noise Filter
Surge Absorber
When you install one noise filter at the power supply for multi-axes application, contact
to a manufacture of the noise filter.
Voltage specifications
Option part No.
Manufacturer’s part No. Applicable driver (frame) Manufacturer
for driver
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6
A and B-frame
Okaya Electric Ind.
100.0±2.0
88.0
75.0
7.0
Option part No.
DV0P1450
Terminal cover
(transparent)
5.0
Provide a surge absorber for the primary side of noise filter.
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber.
53.1±1.0
Voltage specifications
for driver
3-phase 200V
Manufacturer's part No.
R . A .V-781BXZ-4
Manufacturer
Okaya Electric Ind.
1
1
2
2
IN
UL-1015 AWG16
3
4
2
F
41±1
OUT
L1
1
5
3
Screw for cover
M3
6
R
Cx1
Option part No.
DV0P4190
Cx1
Voltage specifications
for driver
Single phase 100/200V
Manufacturer's part No.
R . A .V-781BWZ-4
Manufacturer
Okaya Electric Ind.
Body
Voltage specifications
6-6M
L A B E L
IN
OUT
2-ø5.5
(13) (18)
90±1.0
120
– B42 –
1
4
2
5
3
6
1
2
281
2-ø5.5 x 7
150
+30
200 -0
Option part No.
Manufacturer’s part No. Applicable driver (frame) Manufacturer
for driver
DV0P3410 Three-phase 200V 3SUP-HL50-ER-6B
F-frame
Okaya Electric Ind.
Circuit diagram
11±1
ø4.2±0.2
Circuit diagram
1
UL-1015 AWG16
4.5±0.5
G
A B C D E F G H K L
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4
DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4
28.5±1
Cover
5.5±1
Cy1
M4
286±3.0
270
255±1.0
240
3
Circuit diagram
H
10
5.5±1
(11.6)
(13.0)
6-M4
Earth terminal
M4
E
4
Manufacturer’s part No. Applicable driver (frame) Manufacturer
3SUP-HQ10-ER-6
C-frame
Okaya Electric Ind.
3SUP-HU30-ER-6
D and E-frame
LABEL
Circuit diagram
28.5±1
2
A
B
C
D
ø4.2±0.2
4.5±0.5
3-phase 200V
3
Cx
+30
200 -0
12.0
Voltage specifications
for driver
Cx
281
Option part No.
DV0P4180
DV0P4220
L
Cy
Cy
2–ø4.5
2–ø4.5 x 6.75
L
R
10.0
LABEL
50.0
60.0
2.0
OUT
1
11±1
Circuit diagram
IN
41±1
– B43 –
2
7. Conformity to EC Directives and UL Standards
Noise Filter for Signal Lines *
13±1
DV0P1460
Option part No.
Manufacturer's part No. ZCAT3035-1330
Manufacturer
TDK Corp.
30±1
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
and interface cable)
39±1
* In case of D-frame, install 3 noise
34±1
Mass: 62.8g
filters at power line.
Fix the signal line noise filter in place to eliminate excessive stress to the cables.
Ground-Fault Breaker
Install a type B ground fault breaker (RCD) at primary side of the power supply.
Grounding
(1) Connect the protective earth terminal (
) of the driver and the protective earth
terminal (PE) of the control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are
provided for protective earth.
For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Applicable Peripheral Equipments" .
8. Built-in Holding Brake
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.
Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm
while the motor is in motion, refer to the technical reference. (DV0P4210)
• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in
motion), you can set up a time between when the motor enters to a free-run from
energized status and when BRK-OFF signal turns off (brake will be engaged), when
the Servo-OFF or alarm occurs while the motor is in motion.
1. The lining sound of the brake (chattering and etc.) might be generated while running
the motor with built-in brake, however this does not affect any functionality.
2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.
Specifications of Built-in Holding Brake
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC606641. (e.g. Install in the control box with IP54 enclosure.)
(2) Install a circuit breaker or fuse which are UL recognized (Listed
marked) between
the power supply and the noise filter without fail.
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of
Applicable Peripheral Equipments" of Preparation.
Use a copper cable with temperature rating of 60˚C or higher.
Tightening torque of more than the max. values (M4:1.2N • m, M5: 2.0N • m) may break
the terminal block.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds 115%
or more than the rated current based on the time characteristics. Confirm that the effective current of the driver does not exceed the rated current. Set up the peak permissible
current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit).
– B44 –
Motor
series
MSMD
MAMA
MQMA
MSMA
750W
Rotor Engaging Releasing Exciting
Permissible Permissible
Releasing
inertia
time
time current
DC A voltage work (J) per total work
x 10 –4
one braking x 103J
ms
ms* (at cool-off)
kg • m2
0.002 35 or less
0.25
39.2
4.9
DC2V
10 or less
1.27 or more 0.018 50 or less
0.30
137
44.1
or more
2.45 or more 0.075 70 or less 20 or less 0.35
196
147
Motor
output
50W, 100W
200W, 400W
Static
friction
torque
N •m
0.29 or more
100W
0.29 or more
0.03
50 or less
200W, 400W
1.27 or more
0.09
60 or less
1.0kW
4.9 or more
0.25
1.5kW, 2.0kW
7.8 or more
3.0kW
11.8 or more
4.0kW, 5.0kW 16.1 or more
0.33
1.35
15 or less
50 or less 15 (100)
80 or less
110 or less
(Continues to next page)
– B45 –
or less
50 (130)
or less
0.29
DC1V
137
44.1
0.41
or more
196
147
0.74
0.81
196
DC2V
392
490
or more
0.90
1470
2156
8. Built-in Holding Brake
Motor
series
MDMA
Rotor Engaging Releasing Exciting
Permissible Permissible
Releasing
inertia
time
time current
DC A voltage work (J) per total work
x 10 –4
ms
ms* (at cool-off)
one braking x 103J
kg • m2
70 (200)
80 or less
4.9 or more
0.59
588
1.0kW
780
or less
1.35
100 or less 50 (130) 0.79
1176
1.5kW, 2.0kW 13.7 or more
1470
Motor
output
3.0kW
Static
friction
torque
N •m
110 or less or less
16.1 or more
4.0kW
21.5 or more
4.25
5.0kW
24.5 or more
4.7
90 or less
500W, 1.0kW
4.9 or more
1.5kW
13.7 or more
MFMA
MGMA
100 or less
4.9 or more
1.35
1.5kW
7.8 or more
4.7
2.5kW
21.6 or more
4.5kW
31.4 or more
900W
13.7 or more
2.0kW
24.5 or more
3.0kW, 4.5kW 58.8 or more
8.75
1.35
50 (130)
or less
or less
80 or less
70 (200)
or less
35 (150)
or less
150 or less
100 or less
80 or less
4.7
or less
70 (200)
25 (200)
4.7
400W
or less
or less
1.35
2.0kW to 5.0kW 24.5 or more
35 (150)
25 (200)
80 or less
MHMA
9. Dynamic Brake
150 or less
100 (450)
or less
50 (130)
or less
25 (200)
or less
50 (130)
or less
0.90
1470
2156
1.10
1078
2450
1.30
1372
2940
0.59
588
784
0.79
1176
1470
1372
2940
0.59
588
784
0.83
1372
2940
0.75
1470
0.79
1176
1470
1372
2940
1.30
DC2V
or more
1470
2156
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
1.Dynamic brake is only for emergency stop.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Or it may damage the dynamic brake circuit of the driver.
The motor becomes a dynamo when driven externally, and shorting current
runs while this dynamic brake is activated and might cause smoking or fire.
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 3 minutes pause when the dynamic brake is activated during high-speed
running.
• You can activate the dynamic brake in the following cases.
1) when the main power is turned off
2) at Servo-OFF
3) when one of the protective function is activated.
4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic
brake or making the motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, the dynamic brake will be kept activated.
1.3
1.4
• Excitation voltage is DC24V±10%.
• Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.).
• Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
• Backlash of the built-in holding brake is kept ±1˚o r smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• Service life of the number of acceleration/deceleration with the above permissible
angular acceleration is more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
– B46 –
– B47 –
10. Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Check the series name of the motor, rated output torque, voltage specifications and
encoder specifications.
Incremental Specifications, 2500P/r
Do not use in other combinations than those listed below.
Power
supply
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
Motor
series
MAMA
Ultra low
inertia
MQMA
Low
inertia
Applicable motor
Rated
Model
rotational speed
5000r/min
3000r/min
Single phase,
100V
Single phase,
200V
MSMD
Low
inertia
3000r/min
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
MSMA
Low
inertia
MDMA
Middle
inertia
MHMA
High
inertia
3000r/min
2000r/min
2000r/min
MAMA012P1*
MAMA022P1*
MAMA042P1*
MAMA082P1*
MQMA011P1*
MQMA021P1*
MQMA041P1*
MQMA012P1*
MQMA022P1*
MQMA042P1*
MSMD5AZP1*
MSMD011P1*
MSMD021P1*
MSMD041P1*
MSMD5AZP1*
MSMD012P1*
MSMD022P1*
MSMD042P1*
MSMD082P1*
MSMA102P1*
MSMA152P1*
MSMA202P1*
MSMA302P1*
MSMA402P1*
MSMA502P1*
MDMA102P1*
MDMA152P1*
MDMA202P1*
MDMA302P1*
MDMA402P1*
MDMA502P1*
MHMA052P1*
MHMA102P1*
MHMA152P1*
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
– B48 –
Applicable driver
Rated
output
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
Model
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
MADDT1205
A-frame
B-frame
C-frame
A-frame
MADDT1207
MBDDT2210
MCDDT3520
B-frame
C-frame
MDDDT5540
D-frame
MEDDT7364
MFDDTA390
E-frame
MFDDTB3A2
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
F-frame
D-frame
E-frame
F-frame
Power
supply
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
E-frame
F-frame
Applicable motor
Rated
Model
rotational speed
MFMA
Middle
inertia
2000r/min
MGMA
Middle
inertia
1000r/min
MFMA042P1*
MFMA152P1*
MFMA252P1*
MFMA452P1*
MGMA092P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
Applicable driver
Rated
output
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Model
Frame
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
C-frame
D-frame
E-frame
F-frame
D-frame
MFDDTB3A2
F-frame
Suffix of " * " in the applicable motor model represents the motor structure.
Absolute/Incremental Specifications, 17-bit
Do not use in other combinations than those listed below.
Power
supply
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
Motor
series
Applicable motor
Rated
Model
rotational speed
MAMA
Ultra low
inertia
5000r/min
MQMA
Low
inertia
3000r/min
Single phase,
100V
Single phase,
200V
MSMD
Low
inertia
3000r/min
Single/3-phase,
200V
C-frame
D-frame
Motor
series
3-phase,
200V
MSMA
Low
inertia
3000r/min
MAMA012S1*
MAMA022S1*
MAMA042S1*
MAMA082S1*
MQMA011S1*
MQMA021S1*
MQMA041S1*
MQMA012S1*
MQMA022S1*
MQMA042S1*
MSMD5AZS1*
MSMD011S1*
MSMD021S1*
MSMD041S1*
MSMD5AZS1*
MSMD012S1*
MSMD022S1*
MSMD042S1*
MSMD082S1*
MSMA102S1*
MSMA152S1*
MSMA202S1*
MSMA302S1*
MSMA402S1*
MSMA502S1*
(continues to next page)
– B49 –
Applicable driver
Rated
output
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
Model
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
MADDT1205
A-frame
B-frame
C-frame
A-frame
MADDT1207
MBDDT2210
MCDDT3520
B-frame
C-frame
MDDDT5540
D-frame
MEDDT7364
MFDDTA390
E-frame
MFDDTB3A2
F-frame
10. Check of the Combination of the Driver and the Motor
Power
supply
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
Motor
series
MDMA
Middle
inertia
MHMA
High
inertia
Applicable motor
Rated
Model
rotational speed
2000r/min
2000r/min
MFMA
Middle
inertia
2000r/min
MGMA
Middle
inertia
1000r/min
MDMA102S1*
MDMA152S1*
MDMA202S1*
MDMA302S1*
MDMA402S1*
MDMA502S1*
MHMA052S1*
MHMA102S1*
MHMA152S1*
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA152S1*
MFMA252S1*
MFMA452S1*
MGMA092S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
Applicable driver
Rated
output
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Model
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
MFDDTB3A2
Frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
D-frame
F-frame
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in
incremental.
– B50 –
After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacture or the dealer of the machine or equipment.
Cautions for Proper Use
• This product is intended to be used with a general industrial product, but not designed
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident
or loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment,
various safety equipments or equipments which require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety
in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to
the bearing, depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is
required.
• Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean
room related.
• Please be careful when using in an environment with high concentrations of sulphur or
sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a
poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated
range to the power supply of this product. Failure to heed this caution may result in
damage to the internal parts, causing smoking and/or a fire and other trouble.
Technical information
Technical information of this product (Instruction Manual, CAD data) can be downloaded
from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
MEMO (Fill in the blanks for reference in case of inquiry or repair.)
Date of
purchase
Model No.
M
DD
M
MD
M
MA
Dealer
Tel : (
)
-
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212
工商网监
湘ICP备2023018690号
