MSMD041P1S - PANASONIC - Datasheet.Directory

Technical referenc

AC Servo Motor & Drive

MINAS A4-ser ies

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

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.

•

IMC54D

Z0404-6066

1.Introduction.................................B2

On Opening the Package..... .................... ...... B2

Check of the Driver Model.............................. B2

Check of the Motor Model ............... ............... B3

2. Installation ..................................B4

Driver.............................................................. B4

Motor .............................................................. B6

Console .......................................................... B8

3.System Configur ation and

Wiring ........................................B10

Overall Wiring

(Connect ing Example of C-frame, 3-

phase) ..............................................................

B10

Overall Wirin g

(Connecting Example of E-frame)....

B12

Driver and List of Applicable Peripheral

Equipments .................................................. B14

Wiring of t he Main Circuit (A to D-frame) ..... B16

Wiring of the Main Circuit (E and F-frame)... B17

Wiring method to connec to r (A to D-frame).. B18

Wiring to the Connec t or, CN X6

(Connect i on to Enc oder) .............................. B22

Wiring for Typical Control Modes

to the Conne cto r CN X5 .......................... ... .. B24

4. Parameter..................................B27

Outline of P a r a m eter .................................... B27

How to Set.................................................... B27

Setup with the Front Panel........................... B27

Outline of PANATERM®....................................................... B28

Setup with t he C onsole ................................ B28

How to Connect............................................ B29

Composi tion a nd List o f Para meters ....... ..... B30

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 Pe ripheral 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 Servic e (Repair).......... B5 1

page page

・This product is for industrial

equipment. Don't use this

product at general household.

– B3 –– B2 –

AC SERVO MOTOR

RATING S1

MODEL No.

MSMD5AZS1S

INS. CLASS B (TÜV) A (UL)

CONT. TORQUE

0.64

A1.6

CONNECTION

RATED OUTPUT

RATED FREQ. kW

0.2

SER No.

04110001

200

RATED REV.

r/min

3000

INPUT 3ØAC

IP65

Model

Rated output

ated input voltage/current

Rated rotational speed

Serial Number

e.g.) :

04110001

Lot number

Month of production

Year of production

(Lower 2 digits of AD yea

Check of the Motor Model

Contents of Name Plate

Model Designation

MSMD5AZS1S

1 to 4 5 to 6 11 to 12

78 9 10

Special specification

(letters and number

Motor structure

Design order

1: Standard

Rotary encoder specifications

Voltage specifications

MAMA

MQMA

MSMD

MSMA

MDMA

MHMA

MFMA

MGMA

Type

Symbol

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)

SIncremental

Absolute/Incremental common

Specifications

Symbol

Format 2500P/r

17bit

Pulse count

Output

Motor rated output

Symbol

50W

100W

200W

400W

500W

750W

900W

1.0kW

Output

Symbol

1.5kW

2.0kW

2.5kW

3.0kW

4.0kW

4.5kW

5.0kW

Specifications

Symbol

100 V

200 V

100/200 common

(50W only)

10,000

131,072

Resolution

5-wire

7-wire

Wire count

Motor structure

MSMD, MQMA MAMA

1 The product with oil seal is a special order

product.

2 Key way with center tap

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

MSMA, MDMA, MFMA, MGMA, MHMA

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

Products are standard stock items or build to

order items. For details, inquire of the dealer.

1. Introduction

On Opening the Product Package

• 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).

Contact to a dealer if you find any failures.

Check of the Driver Model

Contents of Name Plate

Model Designation

MADDT1205

Special specification

(letters and numbers

)

Current detector ratin

Power supply

Max. current

rating of

power device

rame-size symbol

MADD

MBDD

MCDD

MDDD

MEDD

MFDD

Frame

Symbol

A4-series, A-frame

A4-series, B-frame

A4-series, C-frame

A4-series, D-frame

A4-series, E-frame

A4-series, F-frame

Current

rating

Symbol

Specifications

10A

15A

30A

50A

70A

100A

150A

Symbol

Single phase, 100V

Single phase, 200V

3-phase, 200V

Single/3-phase,

200V

Current rating

Symbol

7.5A

10A

15A

20A

30A

40A

64A

90A

120A

1 to 4 75 to 6 10 to 128 to 9

Model number

ated input/output voltage

Rated output of

applicable motor

Rated input/output current

Serial Number

MADDT1205

e.g.) :

P04110001Z

Lot number

Month of productio

Year of production

(Lower 2 digits of AD yea

50/60Hz 100W

1.3A

1ø

200-240V

Freq.

Model No.

AC SERVO

Serial No.P04110001Z

INPUT

Voltage

Phase

F.L.C

Power

OUTPUT

69V

3ø

1.2A

0~333.3Hz

– B5 –– B4 –

Install the driver and the motor properly to avoid a breakdown or an accident.

Driver

Installation Place

1)Indoors, where the products are not subjected to rain or direct sun beams. The prod-

ucts are not waterproof.

2)Whe re t he products are not subjected to corrosive atmospheres such as hydrogen

sulfide, sulfurous acid, chlori ne, amm oni a, ch loric gas, s ul furic gas, acid, al kaline and

salt and so on, and are free from s plas h of infl am mable g as, grindi ng oil , oil m ist, ir on

powder or chips and etc.

3)Well-ventilated and low humidity and dust-free place.

4)Vibration-free place.

Environmental Conditio ns

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Altitude

ConditionsItem 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/s

(0.6G), 10 to 60Hz

Lower than 1000m

Fan Fan

100mm

or more

100mm

or more

40mm

10mm

to D-frame e.g.) In case of C-frame

Fastening torque of earth screws (M4) to be 0.39 to 0.59N

•

Mounting brack

(optional parts)

MADD

MBDD

MCDD

MDDD

and F-frame

Mounting brack

2. Installation

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.

Mounting Direction and Spacing

•Reserve enough surround-

ing space f or effective cool-

ing.

•Install fans to provide uni-

form distribution of tem-

perature in the control

panel.

•Observe the environmental

conditions of the control

panel des cribed in th e next

page.

<Note>

It is r ecommended to use the conductiv e paint when you make you r own moun ting

bracket, or repaint after peeling off the paint on the machine for installing the products , in

order to make noise countermeasure.

Caution on Installation

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.

– B7 –– B6 –

Motor

Oil/ Water

Cable Motor

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Impact

Enclosure

rating

ConditionItem 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/s

(5G) at running, 24.5m/s

(2.5G) at stall

Lower than 98m/s

(10G)

IP65 (except rotating portion of output shaft and lead wire end)

These motors conform to the test conditions specified in EN standard

(EN60529, EN60034-5). Do not use these motors in application wher

water proof performance is required such as continuous wash-dow

operation.

Motor only

•

2. Installation

Motor

Installation Place

Since the conditions of location affect a lot to the motor life, select a place which meets

the conditions below.

1)Indoo rs, w here th e p ro duc ts ar e not su bj ect ed to rain or d ire c t sun be am. The p rod-

ucts are not waterproof.

2)Whe re t he products are not subjected to corrosive atmospheres such as hydrogen

sulfide, sulfurous acid, chlori ne, amm oni a, ch loric gas, s ul furic gas, acid, al kaline and

salt and so on, and are free from s plas h of infl am mable g as, grindi ng oil , oil m ist, ir on

powder or chips and etc.

3)Where the motor is free from grinding oil, oil mist, iron powder or chips.

4)Wel l- ventilated and hu mi d an d dust-free pla ce, far apart from t he h eat s ou rce s uch a s

a furnace.

5) Easy-to-access place for inspection and cleaning

6)Vibration-free place.

7)Avoid en close d place . Motor ma y gets hot in tho se encl osure and s horten the motor life.

Environmental Conditio ns

*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 obse rve the f ollowings .

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)

Oil/Water Protection

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 re-

ducer , so that the oil ma y not enter to the motor through shaft.

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 t he exten sion j uncti on cabl e into th e beare r so th at th e stress by bend ing can

be minimized.

3)Take the cable bending radius as large as possible. (Minimum R20mm)

Permissible Load to Output Shaft

1)Design t he mec hani cal system so t hat th e a ppl ie d radi al lo ad and /or th rus t load to th e

motor shaft at installation and at normal operation can meet the permissible value

specified to each model.

2)Pay a n extr a attention whe n you us e a rigid coupli ng. (Excess bending load ma y

damage the shaft or deteriorate the bearing life.

3)Use a fle xi bl e coupl ing with high stiff ness des igned e x clusi v ely f or s ervo appl icati on in

order to make a radial thrust caused by micro misalignment smaller than the permis-

sible value.

4)For permissible load of each model, refer to the technical reference. (DV0P4210)

Notes on Installation

1)Do n ot apply direc t impact to t he s ha ft by h amm er wh il e a tta chi n g/ det ach i ng a cou -

pling to and from the motor shaft.

(Or it may damage the encoder mounted on the other side of the shaft.)

2)Mak e a fu ll alig nm ent . (inc ompl et e align ment may caus e vib rati on a nd dam age the

bearing.)

3)If the motor shaft is not electrically grounded, it may cause

electro lyt ic cor ros ion to th e bea r ing de pend i ng on the con di -

tion of th e mach in e and its mounting environment, and may

result i n the bearing noise. Check and verification by customer

is required.

– B9 –– B8 –

How to Connect

• Connect the console connector securely to CN X4 connector of the driver.

• Never pull the cable to plug in or plug out.

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Impact

Altitude

ConditionItem

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/s

(0.6G), 10 to 60Hz

Conform to JISC0044

(Free fall test, 1m for 2 directions, 2 cycles)

Lower than 1000m

MODE

SHIFT

SET

Connect to CN X4.

2. Installation

Console

Installation Place

1)Indoo rs, w here th e p ro duc ts ar e not su bj ect ed to rain or d ire c t sun be am. The p rod-

ucts are not waterproof.

2)Whe re t he products are not subjected to corrosive atmospheres such as hydrogen

sulfide, sulfurous acid, chlori ne, amm oni a, ch loric gas, s ul furic gas, acid, al kaline and

salt and so on, and are free from s plas h of infl am mable g as, grindi ng oil , oil m ist, ir on

powder or chips and etc.

3)Well-ventilated and low humidity and dust-free place.

4) Easy-to-access place for inspection and cleaning

Environmental Conditio ns

• 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.

– B11 –– B10 –

ircuit Breaker (NFB)

se the circuit breaker matching

apacity of the power source to

rotect the power lines.

oise Filter (NF)

revents external noise from the pow-

r lines. And reduces an effect of the

oise generated by the servo driver.

agnetic Contactor (MC)

urns on/off the main power of the

ervo driver.

se a surge absorber together

ith this.

•

Never start nor stop the servo mo-

tor with this Magnetic Contactor.

eactor (L)

educes harmonic current of the

ain power.

or specifications, refer to the

ownloaded Instruction Manual

rom our Web Site.

•

Wiring of the Main Circuit

Ground

(earth)

• Wiring to Connector, CN X3/X4 (option)

(Connection to PC or host controller)

• Wiring to Connector, CN X5

(Connection to host controller)

• Wiring to Connector, CN X6

(Connection to encoder)

• Wiring to

Connector, CN X7

(Connection to

external scale)

• Connection to

the Connector, CN X1

(connection to input power)

• Connection to the Connector, CN X2

(connection to external components)

Junction cable for encoder

Short bar Junction cable for motor

Junction cable

for brake

DC Power supply for brake

DC24V

(to be supplied by customer)

RB1 (Pin-6)

RB2 (Pin-4)

• Wiring to Connector,

CN X2

(Connection to

motor driving

phase and

ground)

: High voltage

L1 (Pin-5)

L2 (Pin-4)

L3 (Pin-3)

L1C (Pin-2)

L2C (Pin-1)

in RB1 (6-pin), RB2 (4-pin), and

B3 (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 be-

tween 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 materi-

al, such as metal. Follow the same

wiring connection as the above.)

When you connect an external re-

generative resister, set up Parame-

ter No. 6C to 1 or 2.

Handle lever

Use this for connector

connection. Store this

after connection for other

occasions.

(see page for connection.)

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.

U-phase (red)

V-phase (white)

W-phase (black)

PC (to be supplied by customer)

Setup support software

"PANATERM® "

DV0P4460

Console (option)

DV0P4420

3. System Configura tio n and Wiring

Overall Wiring (Connecting Example of C-frame, 3-phase)

– B13 –– B12 –

3. System Configura tio n and Wiring

Overall Wiring (Connecting Example of E-frame)

: High voltage

Ground

(earth)

• Wiring to Connector, CN X3/X4 (option)

(Connection to PC or host controller)

• Wiring to Connector, CN X5

(Connection to host controller)

• Connection

with input

power supply

• Connection to external

components

Junction cable

for motor

Junction cable for brake

Short bar

DC Power supply for brake

DC24V

(to be supplied by customer)

U-phase

V-phase

W-phase

in 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 con-

nect the external regenerative

resister between P and B2.

Install an external regenera-

tive 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.

• Wiring to Connector, CN X6

(Connection to encoder)

Junction cable

for encoder

From a top

• Wiring to Connector, CN X7

(Connection to external scale)

• Connection to motor driving

phase and ground

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.

ircuit Breaker (NFB)

se the circuit breaker matching

apacity of the power source to

rotect the power lines.

oise Filter (NF)

revents external noise from the pow-

r lines. And reduces an effect of the

oise generated by the servo driver.

agnetic Contactor (MC)

urns on/off the main power of the

ervo driver.

se a surge absorber together

ith this.

•

Never start nor stop the servo mo-

tor with this Magnetic Contactor.

eactor (L)

educes harmonic current of the

ain power.

or specifications, refer to the

ownloaded Instruction Manual

rom our Web Site.

•

Wiring of the Main Circuit

PC (to be supplied by customer)

Setup support software

"PANATERM

DV0P4460

Console (option)

DV0P4420

– B15 –– B14 –

3. System Configuration and Wiring

Connection

Driver

Applicable

motor

Voltage

Rated

output

Required

Power

(at the rated

load)

Noise

filter for

signal

Noise

filter Surge

absorber

Magnetic

contactor

Cable

diameter

(main circuit)

Cable

diameter

(control circuit)

MADD

MBDD

MCDD

MDDD

MEDD

MSMD

MQMA

MSMD

MQMA

MAMA

MSMD

MQMA

MSMD

MQMA

MAMA

MQMA

MSMD

MAMA

MFMA

MHMA

MAMA

MDMA

MHMA

MGMA

MSMA

MHMA

MDMA

MSMA

MFMA

MDMA

MSMA

MHMA

MFMA

Single

phase,

100V

Single

phase,

200V

Single

phase,

100V

Single

phase,

200V

Single

phase,

100V

Single/

3- phase,

200V

Single/

3- phase,

200V

3- phase,

200V

50W

to 100W

100W

50W

to 200W

100W

200W

100W

200W

400W

200W

400W

750W

400W

500W

750W

1.0kW

900W

1.0kW

1.5kW

2.0kW

2.5kW

approx.

0.4kVA

approx.

0.4kVA

approx.

0.5kVA

approx.

0.3kVA

approx.

0.5kVA

approx.

0.3kVA

approx.

0.5kVA

approx.

0.9kVA

approx.

0.5kVA

approx.

0.9kVA

approx.

1.3kVA

approx.

0.9kVA

approx.

1.1kVA

approx.

1.6kVA

approx.

1.8kVA

approx.

1.8kVA

approx.

1.8kVA

approx.

2.3kVA

approx.

3.3kVA

approx.

3.8kVA

Circuit

breaker

(rated

current)

10A

15A

20A

30A

DV0P4170

DV0P4180

DV0P4220

Connection to exclusive connector

DV0P4190

DV0P1450

DV0P1460

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61541N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61842N

(3P+1a)

BMF6352N

(3P+2a2b)

0.75 to

2.0mm2

AWG

14 to 18

2.0mm2

AWG14

2.0mm2

AWG14

3.5mm2

AWG12

0.75mm

AWG18

Termina

block

11.0 or

smaller

ø5.3

Connection

Driver

Applicable

motor

Voltage

Rated

output

Required

Power

(at the rated

load)

Noise

filter for

signal

Noise

filter Surge

absorber

Magnetic

contactor

Cable

diameter

(main circuit)

Cable

diameter

(control circuit)

Circuit

breaker

(rated

current)

MFDD

MGMA

MDMA

MHMA

MSMA

MGMA

MDMA

MHMA

MSMA

MFMA

MGMA

MDMA

MHMA

MSMA

3- phase,

200V

2.0kW

3.0kW

4.0kW

4.5kW

5.0kW

approx.

3.8kVA

approx.

4.5kVA

approx.

6kVA

approx.

6.8kVA

approx.

7.5kVA

approx.

7.5kVA

50A

DV0P3410 DV0P1450 DV0P1460

BMF6352N

(3P+2a2b)

BMF6652N

(3P+2a2b)

3.5mm

AWG12

5.3mm

AWG10

0.75mm2

AWG18

Termina

block

11.0 or

smaller

ø5.3

Driver and List of Applicable Peripheral Equipments

• 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 break er 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.

– B17 –– B16 –

Red

Black

Green

yellow

Motor

Surge absorber

24V

White

NFB

Power

supply

DC power supply

for brake

NF MC

L1C

L2C

RB1

RB3

RB2

CN X1

CN X2

Yellow

(X2)

Fuse (5A)

Ground resistance : 100Ω max.

For applicable wire,

refer to P.B14 and B15.

•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 Magneti

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 singl

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.

•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

3. System Configura tio n and Wiring

Wir ing of the Main Circuit (A to D-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

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.

8~9mm

Surge absorber

Motor

24V

Power

supply

DC power supply

for brake

NFB

NF MC

Ground resistance : 100Ω max.

For applicable wire,

refer to P.B14 and B15.

Red

Black

Green

yellow

Yellow

(X2)

•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 moto

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.

•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.

•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 an

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

White

Fuse (5A)

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

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 termi-

nal block. For cable diameter and size, rater to "Driver and List of Applicable Peri ph-

eral 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.

– B19 –– B18 –

3. System Configura tio n and Wiring

•

Follow the procedures below for the wiring connection to the Connector CN X1 and X2

How to connect

. Peel off the insulation cover of the cable.

(see the right fig for exact length for peeling.)

. 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)

(a) Using handle lever

* You can pull out the cable by pushing down the spring as the above.

8 to 9mm

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.

(b) Using screw driver

•

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.

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.

Wiring method to connector (A to D-frame) Wiring Diagram

Compose th e circui t so th at th e mai n ci rcuit po w er wil l be s hut o ff wh en an e rror occu rs .

Noise

filter

Main power

supply

Control power

supply

Motor

ALM

ALM+

L1C

L2C

RB1

NFB

RB3

RB2

CN X2

Surge absorber

External regenerative resistor

ALM–

DC12 to 24V

(±5%)

Red

White

Black

Green

Motor

connection

CN X5

CN X1

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

MC ALMON OFF

Noise

filter

Main power

supply

Control power

supply

Motor

ALM

ALM+

L1C

L2C

RB1

NFB

RB3

RB2

CN X2

External regenerative resistor

ALM–

DC12 to 24V

(±5%)

Red

White

Black

Green

Motor

connection

CN X5

CN X1

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

MC ALMON OFF

In Case of Single Phase, 100V (A and B-frame)

In Case of Single Phase, 200V (A and B-frame)

Power supply Single phase, 100V to 115V

+10%

–15% +10%

–15%

Power supply Single phase, 200V to 240V

+10%

–15% +10%

–15%

Use a reactor for

3-phase

Built-in thermostat of an external

regenerative resistor (light yellow)

Surge absorber

Built-in thermostat of an external

regenerative resistor (light yellow)

123

12 3

– B21 –– B20 –

3. System Configura tio n and Wiring

PIN No. Application

External regenerative resistor

Remarks>

hen you use single

hase, connect the main

ower between L1 and

3 terminals.

Motor

L1C

L2C

RB1

NFB

RB3

RB2

(Remove the short wire when you connect

the external regenerative resistor.)

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

Remarks>

hen you use single

hase, connect the main

ower between L1 and L3

erminals.

Motor

L1C

L2C

RB1

NFB

RB3

RB2

(Remove the short wire when you connect

the external regenerative resistor.)

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

AHG

CDE

BIF

CBA

IHG

FED

JL04V-2E20-4PE-B-R

JL04HV-2E22-22PE-B-R

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

U-phase

V-phase

W-phase

Ground

PIN No.

Application

Brake

U-phase

V-phase

W-phase

Ground

A Brake

Brake

U-phase

V-phase

W-phase

Ground

Do not connect anything to NC.

* When you use motor model of

MSMA, MDMA, MFMA, MHMA

and MGMA, use the connections

as the below table shows.

[Motor portion]

Connector : by Japan Aviation Electronics In

In Case of Single Phase, 200V (C and D-frame)

In Case of 3-Phase, 200V (C and D-frame)

CN X2

CN X1

ALM

ALM+

ALM–

DC12 to 24V

(±5%)

CN X5

CN X2

CN X1

CN X5

ALM

ALM+

ALM–

DC12 to 24V

(±5%)

MC ALMON OFF

Use a reactor for

3-phase

Noise

filter

Noise

filter

Main power

supply

Control power

supply

Motor

connection

Main power

supply

Control power

supply

Motor

connection

Power supply Single phase, 200V to 240V

+10%

–15% +10%

–15%

Power supply 3-phase, 200V to 240V

+10%

–15% +10%

–15%

Red

White

Black

Green

External regenerative resistor

Red

White

Black

Green

Surge absorber

Built-in thermostat of an external

regenerative resistor (light yellow)

Surge absorber

Built-in thermostat of an external

regenerative resistor (light yellow)

Red

White

Black

Green

PIN No. Application

[Motor portion]

Connector : by Japan Aviation Electronics Ind

In Case of 3-Phase, 200V (E and F-frame)

AHG

CDE

BIF

CBA

IHG

FED

JL04V-2E20-4PE-B-R

JL04HV-2E22-22PE-B-R

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

U-phase

V-phase

W-phase

Ground

PIN No.

Application

Brake

U-phase

V-phase

W-phase

Ground

A Brake

Brake

U-phase

V-phase

W-phase

Ground

Motor

ALM

ALM+

NFB

ALM

ON OFF

ALM–

DC12 to 24V

(±5%)

(Remove the short bar when you connect

the external regenerative resistor.)

Do not connect anything to NC.

Power supply 3-phase, 200V to 230V

+10%

–15% +10%

–15%

Noise

filter

Main power

supply

Control power

supply

Motor

connection

External regenerative resistor

Surge absorber

Built-in thermostat of an external

regenerative resistor (light yellow)

– B23 –– B22 –

Wiring Diagram In case of 17 -b it absolute /i n cr em ent al en c o der

Regulator

MSMD 50W to 750W

MAMA 100W to 750W

MQMA 100W to 400W

motor

1+5V

Twisted pair

Junction cable

(by Tyco Electronics, AMP)

172160-1172168-1

(by Tyco Electronics, AMP)

Motor side Driver side

Case

CN X6

Black

Purple

White

Light Blue

Regulator

E5V

E0V

E5V

E0V

+5V

motor

(by Japan Aviation Electronics Ind.)

Twisted pair

Pin No. of connector

Junction cable

Straight plug

Cable clamp

N/MS3106B20-29S

N/MS3057-12A

Motor side Driver side

E5V

E0V

E5V

E0V

MSMA 1kW to 5kW

MDMA 1kW to 5kW

MHMA 500W to 5kW

MFMA 400W to 4.5kW

MGMA 900W to 4.5kW

3. System Configura tio n and Wiring

MSMD 50W to 750W

MAMA 100W to 750W

MQMA 100W to 400W

motor

1+5V

+5V

battery

Twisted pair

Junction cable

(by Tyco Electronics, AMP)

172161-1172169-1

(by Tyco Electronics, AMP)

Motor side Driver side

Black

Purple

Yellow/Green

White

Light Blue

Pink

Red

E5V

E0V

E5V

E0V

BAT+

BAT–PS

motor

(Japan Aviation Electronics Industry, Ltd.)

Twisted pair

Pin No. of connector

Junction cable

Straight plug

Cable clamp

N/MS3106B20-29S

N/MS3057-12A

Motor side Driver side

E5V

E0V

E5V

E0V

Case

BAT+

BAT–

Regulator

CN X6

MSMA 1kW to 5kW

MDMA 1kW to 5kW

MHMA 500W to 5kW

MFMA 400W to 4.5kW

MGMA 900W to 4.5kW

Wiri ng to the Con nector, CN X6 (Connection to Encoder)

Wiring Diagram In case of 250 0P /r inc r em ent a l enc o der

– B25 –– B24 –

Wiring Example of Velocity Control Mode

4.7k

Ω

COM+

OA+

OB+

OZ+

GND

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

3.83k

Ω

3.83k

Ω

20k

Ω

10k

Ω

10k

Ω

INTSPD1

INTSPD2

SRV-ON

GAIN

INTSPD3

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

ALM+

AT-SPEED

BRKOFF

TLC

12 to 24V

ZSP

COM

AT-SPEED

ALM

Servo-ON input

Gain switching input

Divider

Alarm clear input A-phase output

B-phase output

Z-phase output

Z-phase output (open collector)

Servo-Ready output

Servo alarm output

Positioning complete

output

Brake release output

Torque in-limit output

(Select with Pr09)

(Select with Pr0A)

Speed zero clamp input

Velocity command

input (0 to ± 10V)

CCW torque limit

input(0 to ± 10V)

CW torque limit

input(-10 to 0V)

Velocity monitor output

Torque monitor output

330

Ω

330

Ω

330

Ω

CN X5

Selection 1 input of

internal command speed

Selection 2 input of

internal command speed

Slection 3 input of

internal command speed

Control mode switching

input

CCW over-travel inhibition

input

CW over-travel inhibition

input

Zero speed detection output

( represents twisted pair.)

Wiring for Typical Control Modes to the Connector CN X5

Wiring Example of Position Cont rol Mode

3. System Configura tio n and Wiring

In case of open collector I/F (1) When you use the external

resistor with 12V and 24V

power supply

(2) When you do not use the

external resistor with 24V

power supply

CCW torque limit input

(0 to +10V)

CW torque limit input

(

10 to +10V)

Velocity monitor output

Torque monitor output

( represents twisted pair.)

Command

pulse

input A

(Use with 500kpps

or less.)

4.7kΩ

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OB+

OZ+

GND

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

3.83kΩ

43kΩ

2kΩ

2kΩ43kΩ

220Ω

20kΩ

220Ω

330Ω

220Ω

2.2kΩ

10kΩ

1kΩ

PULS1

OPC2

OPC1

INH

SRV-ON

GAIN

DIV

VS-SEL

C-MODE

A-CLR

CCWL

CWL

S-RD Y

S-RDY

ALM+

COIN+

BRKOFF

TLC

12 to 24V

ZSP

COM

SIGNH1

SIGNH2

GND

PULSH1

PULS

PULSH2

COIN

ALM

Servo-ON input

Gain switching input

Electronic gear

switching input

Control mode

switching input

Damping control

switching input

Divider

Alarm clear input

CCW over-travel

inhibition input

A-phase

output

B-phase

output

Z-phase

output

Z-phase output (open collector)

CW over-travel

inhibition input

Servo-Ready output

Servo-Alarm output

Positioning complete output

Brake release output

Torque in-limit output

(Select with Pr09)

Zero speed detection output

(Select with Pr0A)

Deviation counter

clear input

Command pulse

inhibition input

Command pulse input B

(Use with 2Mpps or less.)

PULS1

PULS2

SIGN1

GND

12V

24V

pecifications

of R

1kΩ1/2W

2kΩ1/2W

SIGN2

220Ω

PULS2

GND

SIGN2

OPC1

OPC2

220Ω

24V

2.2kΩ

1.5

220 =10mA

CN X5

SIGN

43kΩ

2kΩ

2kΩ43kΩ

220Ω

– B27 –– B26 –

3. System Configura tio n and Wiring

4.7kΩ

COM+

OA+

OB+

OZ+

GND

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

3.83kΩ

20kΩ

10kΩ

1kΩ

INH

SRV-ON

GAIN

DIV

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

ALM+

AT-SPEED

BRKOFF

TLC

ZSP

COM

AT-SPEED

ALM

Servo-ON input

Gain switching input

Divider

Alarm clear input

Torque command input or

velocity limit input (0 to ±10V)

Velocity monitor output

Torque monitor output

Z-phase output (open collector)

Servo-Ready output

Servo-Alarm output

At-speed signal output

Brake release output

Torque in-limit output

(Select with Pr09)

Zero speed detection output

(Select with Pr0A)

Wiring example when control mode Pr02=0 or Pr5B=1,

CCWTL/TRQR

GND

CW torque limit input

(0 to ±10V)

330Ω

Speed zero clamp

input

CN X5

In case Pr5B=0,

enter a speed limit value to

4th speed of speed setup (Pr56).

Control mode

switching input

CCW over-travel

inhibition input

CW over-travel

inhibition input

24V

A-phase

output

B-phase

output

Z-phase

output

( represents twisted pair.)

Select with Pr5B.

Wiring Example of Torque Control Mode

4. Parameter

Outline of Para m et er

This driver is equipped with various parameters to set up its characteristics and func-

tions. This section descr ibes 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.

How to Set

• 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 soft ware, "PAN ATERM®" (Option, DV0P4460: En-

glish/Japanese version) and PC.

3)console (DV0P4420, option)

<Note>

For setup of the parameters on PC screen, refer to the instruction manual of the

"PANATERM®".

Setup with the Front Panel

Mode switching button (valid at SELECTION display)

Press this to switch 5 kinds of mode.

1) Monitor Mode

2) Parameter Set up Mode

3) EEPROM Write Mode

4) Auto-Gain Tuning Mode

5) Auxiliary Function Mode

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.)

Press these to change display and data, selec

parameters and execute actions.

(Change/Selection/Execution is valid to the dig

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.

– B29 –– B28 –

4. Parameter

Display LED (6-digit)

All of LED will flash when error occurs, and switch t

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.

Press this to shift the digit for data change.

Press these to change data or execute selected actio

of parameter.

Numerical value increases by pressing , ,

decreases by pressing .

SET Button

Press this to shift each mode which is selected b

mode switching button to EXECUTION display.

ode 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

Outline of PANATERM®

With the PANATERM®, you can execute the followin gs.

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.

Setup with the Console

How to Co nnect

Connect to CN X4

RS232 connection cable (option)

DV0P1960 (for DOS/V machines)

Console

DV0P4420 (option)

Setup disc of setup support softwar

PANATERM

• DV0P4460 :

English/Japanese version (option)

• Connect the console connector to the connector, CN X4 of the driver securely.

• Do not pull the cable to insert/unplug.

– B31 –– B30 –

4. Parameter

Parameters for Functional Selection

<Notes>

•

For parameters with suffix of "*1", change will be validated after the reset of the control power.

• For parameters wh ich def ault v alue s are parenthesized by "< >", d efaul t val ue vari es

automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-

time 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 (2 nd) contr ol .

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

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 2

0 to 5

0 to 1

–

all

P, S, F

all

S, T

all

–

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)

Parameters for Adjustment of Time Con st ant for Gains and Fil te rs

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

0 to 3000

1 to 3500

1 to 1000

0 to 5

0 to 2500

–2000 to 2000

0 to 6400

–

<63> <32>

<35> <18>

<16> <31>

<0>

<65>

<126>

<300>

<50>

–

1/s

–

0.01ms

0.1%

0.01ms

–

P, F

all

P, F

–

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)

A to

C-frame D to

F-frame

Composition and List of P arameters

Group Outline

Parameter No.

(Pr )

Functional selection

Adjustment

Position (Step)

Control

Velocity Control,

Torque Control

Sequence

Full-Closed Control

00 to 0F

10 to 1F,

27 to 2E

20 to 26, 2F

30 to 3F

40 to 4F

50 to 5A,

74 to 77

5B to 5F

60 to 6F

70 to 73

78 to 7F

You can select a control mode, designate I/O

signals and set up a baud rate.

You can set up servo gains (1st and 2nd) o

position, velocity, integration, etc, and time

constants of various filters.

Parameters related to Real Time Auto-Gain Tuning. You

can set up a mode and select a mechanical stiffness.

You can set up parameters related to gain

switching(1st 2nd)

You can set up an input form, directional selection

of command pulses, dividing of encoder outpu

pulse and set up a division multiplier ratio o

command pulse.

You can set up an input gain of command pulse

reverse polarity and adjust offset. You can also se

up internal speeds (1 to 8th speed), acceleration

deceleration time.

You can set an input gain, reverse polarity and se

up a torque limit of torque command.

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 a

main power-off, at alarm output and at servo-off

and clear condition of the deviation counter.

You can set up actions of protective functions.

You can set up dividing of external scale.

• In this document, following symbols represent each mode.

* 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.

Symbol

Position control

Velocity control

Torque control

Full-Closed control

Control mode

P/S

P/T

S/T

Symbol

Setup valu

Pr02

Position (1st)/Velocity (2nd) control

Position (1st)/Torque (2nd) control

Velocity (1st)/Torque (2nd) control

Control mode

Setup value

Pr02

– B33 –– B32 –

Parameters for Adjustment (2nd Gain Switching Function)

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con-

trol power.

• For parameters wh ich def ault v alue s are parenthesized by "< >", d efaul t val ue vari es

automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-

time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

4. Parameter

Parameters for Adjustment of Time Con st ant for Gains and Fil te rs

Paramete rs for Auto -Gain Tuning

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

0 to 3000

1 to 3500

1 to 1000

0 to 5

0 to 2500

100 to 1500

0 to 4

–

0 to 1

100 to 1500

0 to 4

0 to 99

0 to 2000

–200 to 2000

0 to 2000

–200 to 2000

<73> <38>

<35> <18>

<1000>

<0>

<65>

<126>

1500

–

<0>

1500

1/s

–

0.01ms

–

0.1Hz

–

0.1Hz

–

P, F

all

–

P, S

all

P, F

2nd gain of position loop

2nd gain of velocity loop

2nd Time constant of velocity loop integration

2nd filter of velocity detection

2nd torque filter time constant

1st notch frequency

Selection of 1st notch width

(For manufacturer's use)

Setup of instantaneous velocity observer

2nd notch frequency

Selection of 2nd notch width

Selection of 2nd notch depth

1st damping frequency

Setup of 1st damping filter

2nd damping frequency

Setup of 2nd damping filter

A to

C-frame D to

F-frame

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

2F*2

0 to 10000

0 to 7

0 to 15

0 to 2

0 to 7

0 to 1000

0 to 64

<250>

4 1

–

0.1rev

–

all

P, S, F

P, F

all

P, F

P, S, F

Inertia ratio

Setup of real-time auto-gain tuning mode

Mechanical stiffness at real-time auto-gain tuning

Setup of adaptive filter mode

Selection of damping filter switching

Setup of action at normal mode auto-gain tuning

Setup of software limit

Adaptive filter frequency

Default

A to

C-frame D to

F-frame

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr ) Default

0 to 1

0 to 10

0 to 10000

0 to 20000

0 to 10000

0 to 5

0 to 10000

0 to 20000

–

0 to 500

–

<1>

<0>

<30>

<50>

<33>

<20>

<0>

–

300

–

166µs

–

166µs

–

r/min

–

all

P, F

S, T

–

all

–

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)

Setup of JOG speed

(For manufacturer's use)

(1+Setup value)

x 166µs

Parameters for Position Control

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

0 to 1

0 to 3

0 to 1

1 to 32767

0 to 32767

0 to 3

0 to 32767

2500

–

P, F

all

Selection of command pulse input

setup of rotational direction of command pulse

setup of command pulse input mode

Canceling of command pulse prohibition input

Numerator of pulse output division

Denominator of pulse output division

Logic reversal of pulse output

Setup of Z-phase of external scale

*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 (2 nd) contr ol .

– B35 –– B34 –

Parameters for Sequenc e

4. Parameter

Parameters for Velocity/Torque contro l

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

10 to 2000

0 to 1

–2047 to 2047

–20000 to 20000

0 to 6400

0 to 5000

0 to 500

0 to 1

10 to 100

0 to 1

0 to 500

500

<500>*3

(r/min)/V

–

0.3mV

r/min

0.01ms

2ms

–

S, T

all

P, S, F

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

Setup of sigmoid acceleration/deceleration time

Selection of torque command

Input gain of torque command

Input reversal of torque command

Setup of 1st torque limit

Setup of 2nd torque limit

2ms/

(1000r/min)

2ms/

(1000r/min)

0.1V /

rated torque

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr ) Default

66*1

6C*1

6D*1

0 to 32767

10 to 20000

0 to 3

–

0 to 1

0 to 2

0 to 9

0 to 3

0 to 9

0 to 100

0 to 3

35 to 1000

0 to 500

–

0 to 32767

0 to 100

0 to 500

0 to 20000

131

1000

–

25000

Pulse

r/min

–

2ms

–

2ms

–

256Pulse

0.1V

r/min

P, F

all

S, T

P, F

–

all

–

P, F

S, T

all

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

A, B-frame : 3,

C,D,E-frame : 0

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con-

trol power.

*3 Defaul ts of Pr5E and Pr5F v ary depending on the combination of the driv er and the motor .

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr )

Default

0 to 10000

0 to 17

1 to 10000

0 to 7

0 to 31

0 to 2

–

10000

–

P, F

–

1st numerator of electronic gear

2nd numerator of electronic gear

Multiplier for numerator of electronic gear

Denominator of electronic gear

Setup of smoothing filter for primary delay

Setup of FIR smoothing

Counter clear input mode

(For manufacturer's use)

* 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 (2 nd) contr ol .

Parameters for Full-Closed Control

Set up of parameter Range Unit

Related contro

mode

Parameter

No.

(Pr ) Default

78*1

79*1

7A*1

7B*1

7C*1

0 to 32767

0 to 17

1 to 32767

1 to 10000

0 to 1

–

10000

100

–

Numerator of external scale division

Numerator multiplier of external scale division

Denominator of external scale division

Excess setup of hybrid deviation

Reversal of direction of external scale

(For manufacturer's use)

16 X external

scale pulses

– B37 –– B36 –

5. Protective Functions

Protective Function (What Is Error Code ?)

• Various protectiv e functi ons are equipp ed in the driv er. Wh en these are triggered , the

motor will stall due to error, the driver will turn the Servo-Alar m 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 lo nger aft er the error occu rs. You can clear the ti me charac -

teristics 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®".

•When the protective func tion with a prefix of " *" in t he protective functi on 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

Error

code

No.

Other

No.

Protective function

Error

code

No.

Control power supply under- voltage

protection Analog input excess protection

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

Absolute status error protection

Encoder Z-phase error protection

Encoder CS signal error protection

External scale status 0 error

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

CCWTL input excess protection

CWTL input excess protection

Motor automatic recognition error

protection

Other error

Over-voltage protection

Main power supply under-voltage

protection

Over-current protection

Over-heat protection

Over-load protection

Over-regeneration load protection

Encoder communication error

protection

Encoder communication data error

protection

Position deviation excess protection

Hybrid deviation excess error

protection

Over-speed protection

Electronic gear error protection

External scale communication data

error protection

Deviation counter overflow protection

Software limit protection

External scale communication error

protection

EEPROM parameter error protection

EEPROM check code error

protection

Over-travel inhibit input protection

– B39 –– B38 –

Prohibited

Disasse mbling fo r inspec tion and re pair should

be carried out only by authorized dealers or ser-

vice company.

Daily

Annual

• 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

Type Cycles Items to be inspected

Daily

inspection

Periodical

inspection

Driver

Motor

Motor with

gear reducer

Smoothing condenser

Cooling fan

Aluminum electrolytic

capacitor (on PCB)

Rush current

preventive relay

Rush current

preventive resistor

Bearing

Oil seal

Encoder

Battery

for absolute encoder

Gear reducer

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

Product Component Standard replacement

cycles (hour) Note

These hours or cycles are

reference.

When you experience any

error, replacement is re-

quired even before this

standard replacement cy-

cle.

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)Disconne ct all of th e connec tion to the d river wh en perfo rmin g meg ger test (Insu latio n

resistance measur eme nt) to the driver, otherwise i t coul d resu lt i n break down of the

driver.

Inspection Items and Cycles

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.

<Notes>

Inspection cycle may change when the running conditions of the above change.

Guideline for Parts Replacement

Use the tab le b el ow f or a refe r enc e. Part s r epla cement cycl e vari e s dep end i ng o n th e

actual oper atin g co nditi ons. Defe cti ve pa rts sho ul d be repl ace d or re pair ed whe n any

error have occurred.

– B41 –– B40 –

Composition of Peripheral Equipments

Installation Environment

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-

60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)

Control box

Controller

Insulated

power supply

for interface

ower

supply Circuit

breaker Ground-fault

breaker

(RCD)

Surge

absorber

Noise filter

Noise filter for

signal lines

Protective earth (PE)

CN X5

CN X1

CN X2

CN X6

L1C

L2C

Noise filter

for signal

lines

Driver

Mot

Power Supply

100V type : Single phase, 100V +10% to 115V +10% 50/60Hz

(A, B and C-fram e ) –15% –15%

200V type : Single phase, 200V +10% to 240V +10% 50/60Hz

(B, C-frame) –15% –15%

200V type : Single/3-phase, 200V +10% to 240V +10% 50/60Hz

(C, D-frame) –15% –15%

200V type : 3-phase, 200V +10% to 230V +10% 50/60Hz

(E, F-frame) –15% –15%

(1) This product is designed to be used at over-voltage category (Installation category) II

of EN 50 178: 19 97. I f yo u want t o u s e this p rod uct un ov er-vol t ag e ca teg ory (Ins ta lla-

tion category) III, install a surge absorber which complies with EN61634-11:2002 or

other relevant standards at the power input portion.

(2) Use an insul at ed po wer suppl y of D C1 2 to 24 V whic h has C E mar kin g or compli es

with EN60950

Circuit Breaker

Install a ci rcui t br eake r wh i ch co mpli es w i th IEC Standards a nd UL re c ogn ize s (Li ste d

and marked) between power supply and noise filter.

Conformity to EC Directives and UL Standards

EC Directives

The EC Directives apply to all such electronic products as those ha ving specif ic func -

tions and have been expor ted to EU and direc tly sold to general cons umers. Thos e

produc ts are re quired to c onform to the EU u nified stand ards an d to furn ish 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.

EMC Directives

MINAS Ser vo System c o nfo rm s to re lev an t sta ndar d und er EMC D ire cti ves set ti ng u p

certain model (condition) with certain locating distance and wiring of the servo motor

and the d riv er. And actu al working cond ition often di ff ers from this m odel co nditi on espe -

cially in wiring and grounding. The ref ore , in order f or t he mach ine to conform to the E MC

Dire ctiv e s, e s peci a ll y f or no is e e mis si o n a nd nois e te rmi na l v ol tag e, i t is nece s sar y t o

examine the machine incorporating our servos.

Conformed Standards

IEC : International Electrotechnical commission

E N : Europaischen Normen

EMC : Electromagnetic Compatibility

UL : Underwriters Laboratories

CSA : Canadian Standards Association

Use options correc tly afte r read ing op erati on manu als o f t he op ti ons to bett er un der-

stand t he precautions.

Take care not to apply excessive stress to each optional part.

Conforms to

Low-Voltage

Directives

Standards

referenced by

EMC Directive

Subject

Motor

Motor/

Motor

and

driver

Conformed Standard

IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100

EN50178 UL508C

EN55011

EN61000-6-2

IEC61000-4-2

IEC61000-4-3

IEC61000-4-4

IEC61000-4-5

IEC61000-4-6

IEC61000-4-11

Radio Disturbance Characteristics of Industrial, Scien-

tific and Medical (ISM) Radio-Frequency Equipment

Immunity for Industrial Environments

Electrostatic Discharge Immunity Test

Radio Frequency Electromagnetic Field Immunity Test

Electric High-Speed Transition Phenomenon/Burst Immunity Test

Lightening Surge Immunity Test

High Frequency Conduction Immunity Test

Instantaneous Outage Immunity Test

– B43 –– B42 –

Sur ge Absorber

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 equip-

ment, or it may damage the surge absorber.

Circuit diagram

ø4.2±0.2

41±1

UL-1015 AWG16

281 5.5±1

11±128.5±1

4.5±0.5

200+30

2 3

ø4.2±0.2

41±1

UL-1015 AWG16

281 5.5±1

11±128.5±1

4.5±0.5

200 +30

1 2

Option part No.

DV0P1450 3-phase 200V

Manufacturer's part No.

R . A .V-781BXZ-4 Manufacturer

Okaya Electric Ind.

Option part No.

DV0P4190

Single phase 100/200V

Manufacturer's part No.

R . A .V-781BWZ-4 Manufacturer

Okaya Electric Ind.

Voltage specifications

for driver

Voltage specifications

for driver

Conformity to EC Directives and UL Standards

Noise Filter

When you install one noise filter at the power supply for multi-axes application, contact

to a manufacture of the noise filter.

Option part No.

DV0P4170

Single phase 100V/200V

Applicable driver (frame)

A and B-frame

Manufacturer’s part No.

SUP-EK5-ER-6 Manufacturer

Okaya Electric Ind

Option part No.

DV0P3410 Three-phase 200V

Applicable driver (frame)

F-frame

Manufacturer’s part No.

3SUP-HL50-ER-6B

Manufacturer

Okaya Electric Ind

LABEL

Earth terminal

Screw for cover

Cover

Body

Terminal cover

(transparent)

2–ø4.5

RCx Cx

2–ø4.5 x 6.75

53.1±1.0

100.0±2.0

88.0

75.0 5.0

12.0

10.0

50.0

60.0

7.0

2.0

(11.6)

(13.0)

6-M4

Circuit diagram

Cx1

OUT

IN OU

R Cx1

Cy1

Option part No.

DV0P4180

DV0P4220 3-phase 200V

Applicable driver (frame)

C-frame

D and E-frame

Manufacturer’s part No.

3SUP-HQ10-ER-6

3SUP-HU30-ER-6

Manufacturer

Okaya Electric Ind

ABCDEFGH

115

DV0P4180

105 95 70 43 10 52 5.5

145

DV0P4220

135 125 70 50 10 52 5.5

286±3.0

150

2-ø5.5 x 7 2-ø5.5

6-6M

270

255±1.0

240

120

90±1.0

(18)(13)

L A B E L

Voltage specifications

for driver

Voltage specifications

for driver

Voltage specifications

for driver

– B45 –– B44 –

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.

<Note>

Fo r d rive r an d a pp l ic able peripheral equipments, refer to P.B14 "Driver and List of Ap-

plicable Peripheral Equip ments" .

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 e nv ironment of P ollu tion D egree 2 or 1 pre scri bed in IEC60 664-

1. (e.g. Install in the control box with IP54 enclosure.)

(2) Install a c ircuit breake r or fuse which are UL reco gnize d (Lis ted marke d) betwe en

the power supply and the noise filter without fail.

Fo r t h e rated c u r rent of t h e c ir c u it b r ea ker or f us e, re fer to P.32, " Driver and L is t of

Applicable Peripheral Equipments" of Preparation.

Use a copper cable with temperature rating of 60˚C or higher.

Tighte ning to rque of more t han the max. values (M 4:1.2 N•m, M5: 2.0N•m) may break

the terminal block.

(3) Over-load protection level

Ove r-load protective function will be activated when the eff ective current e xceeds 115%

or more than the rated current based on the time char act eristic s. Confirm th at t he e ff e c-

tive current of the driver does not exce ed the ra ted curr ent. Se t up the p eak permi ssible

current with Pr 5E (Setu p of 1st torque l imit) and Pr 5F (Setup 2nd to rque limit ).

Conformity to EC Directives and UL Standards

Noise Fi lter for Signal Li nes *

Install no ise fil te rs for sig nal lin es t o a ll cab les (p ower cabl e, mo to r c able, e ncode r c ab le

and interface cable)

* In case of D-frame, install 3 noise

filters at power line.

39±1

34±1

30±1

Mass: 62.8g

Option part No.

Manufacturer's part No.

Manufacturer

DV0P1460

ZCAT3035-1330

TDK Corp.

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 o f B RK-OFF Signal

• For the brake release timing at po wer-o n, or braki ng tim ing at Servo -OFF /Servo -Alarm

while the motor is in motion, refer to the technical reference. (DV0P4210)

• With the paramet er, Pr6B (Setup of mechanical b rake 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.

<Notes>

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 migh t be gener ated th roug h the motor s haft whil e the bra ke coil i s ener-

gized (brake i s op en ). Pay a n extra attention when magnetic sensors are used nearby

the motor.

Specifications of Built-in Holding Brake

4.9

44.1

147

44.1

147

196

490

2156

39.2

137

196

137

196

392

1470

DC2V

or more

DC1V

or more

DC2V

or more

0.25

0.30

0.35

0.29

0.41

0.74

0.81

0.90

10 or less

20 or less

15 or less

15 (100)

or less

50 (130)

or less

MSMD

MAMA

MQMA

MSMA

50W, 100W

200W, 400W

750W

100W

200W, 400W

1.0kW

1.5kW, 2.0kW

3.0kW

4.0kW, 5.0kW

0.29 or more

1.27 or more

2.45 or more

0.29 or more

1.27 or more

4.9 or more

7.8 or more

11.8 or more

16.1 or more

0.002

0.018

0.075

0.03

0.09

0.25

0.33

1.35

35 or less

50 or less

70 or less

50 or less

60 or less

50 or less

80 or less

110 or less

Permissibl

total work

x 10

Permissible

work (J) per

one braking

Releasing

voltage

Exciting

current

DC A

(at cool-off)

Releasing

time

ms*

Engaging

time

Rotor

inertia

x 10

–4

•

Static

friction

torque

•

Motor

output

Motor

series

(Continues to next page)

– B47 –– B46 –

8. Built-in Holding Brake 9. Dynamic Brake

Permissibl

total work

x 10

Permissible

work (J) per

one braking

Releasing

voltage

Exciting

current

DC A

(at cool-off)

Releasing

time

ms*

Engaging

time

Rotor

inertia

x 10

–4

kg•m

Static

friction

torque

N•m

Motor

output

Motor

series

780

1470

2156

2450

2940

784

1470

2940

784

2940

1470

2156

1470

2940

588

1176

1470

1078

1372

588

1176

1372

588

1372

1470

1176

1372

DC2V

or more

0.59

0.79

0.90

1.10

1.30

0.59

0.79

1.30

0.59

0.83

0.75

0.79

1.3

1.4

70 (200)

or less

50 (130)

or less

35 (150)

or less

25 (200)

or less

70 (200)

or less

50 (130)

or less

25 (200)

or less

70 (200)

or less

35 (150)

or less

100 (450)

or less

50 (130)

or less

25 (200)

or less

50 (130)

or less

MDMA

MHMA

MFMA

MGMA

1.0kW

1.5kW, 2.0kW

3.0kW

4.0kW

5.0kW

500W, 1.0kW

1.5kW

2.0kW to 5.0kW

400W

1.5kW

2.5kW

4.5kW

900W

2.0kW

3.0kW, 4.5kW

4.9 or more

13.7 or more

16.1 or more

21.5 or more

24.5 or more

4.9 or more

13.7 or more

24.5 or more

4.9 or more

7.8 or more

21.6 or more

31.4 or more

13.7 or more

24.5 or more

58.8 or more

1.35

4.25

4.7

1.35

4.7

1.35

4.7

8.75

1.35

4.7

80 or less

100 or less

110 or less

90 or less

80 or less

100 or less

80 or less

150 or less

100 or less

80 or less

150 or less

• 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 Technol-

ogy 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˚or 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.)

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 Ser v o-ON signa l (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 a ctivated and mi ght cause smoki ng or fir e.

2. Dynam ic brake is a short-duration rati ng, and desi gned for only emergency stop. Al-

low approx. 3 minutes pause when the dynamic brake is activate d 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-ru n duri ng de cele rat ion or after the st op, wi th pa-

rameter.

Note that when the control power is off, the dynamic brake will be kept activated.

– B49 –– B48 –

10.

Che ck of the C o mb in ation of the Driver and the Motor

Single phase,

200V

3-phase,

200V

Single phase,

100V

Single phase,

200V

Single phase,

100V

Single phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

MAMA

Ultra low

inertia

MQMA

Low

inertia

MSMD

Low

inertia

MSMA

Low

inertia

MDMA

Middle

inertia

MHMA

High

inertia

Power

supply Motor

series

Applicable motor Applicable driver

5000r/min

3000r/min

2000r/min

Rated

rotational speed

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

Rated

output

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*

Model

A-frame

B-frame

C-frame

D-frame

A-frame

B-frame

C-frame

A-frame

B-frame

A-frame

B-frame

C-frame

A-frame

B-frame

C-frame

D-frame

E-frame

F-frame

D-frame

E-frame

F-frame

C-frame

D-frame

E-frame

F-frame

Frame

MADDT1207

MBDDT2210

MCDDT3520

MDDDT5540

MADDT1107

MBDDT2110

MCDDT3120

MADDT1205

MADDT1207

MBDDT2210

MADDT1105

MADDT1107

MBDDT2110

MCDDT3120

MADDT1205

MADDT1207

MBDDT2210

MCDDT3520

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

MDDDT3530

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

MCDDT3520

MDDDT3530

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

Model

Single/3-phase,

200V

3-phase,

200V

Single/3-phase, 200V

3-phase, 200V

MFMA

Middle

inertia

MGMA

Middle

inertia

Power

supply Motor

series

Applicable motor Applicable driver

2000r/min

1000r/min

Rated

rotational speed

400W

1.5kW

2.5kW

4.5kW

900W

2.0kW

3.0kW

4.5kW

Rated

output

MFMA042P1*

MFMA152P1*

MFMA252P1*

MFMA452P1*

MGMA092P1*

MGMA202P1*

MGMA302P1*

MGMA452P1*

Model

C-frame

D-frame

E-frame

F-frame

D-frame

F-frame

Frame

MCDDT3520

MDDDT5540

MEDDT7364

MFDDTB3A2

MDDDT5540

MFDDTA390

MFDDTB3A2

Model

Single phase,

200V

3-phase,

200V

Single phase,

100V

Single phase,

200V

Single phase,

100V

Single phase,

200V

Single/3-phase,

200V

3-phase,

200V

MAMA

Ultra low

inertia

MQMA

Low

inertia

MSMD

Low

inertia

MSMA

Low

inertia

Power

supply Motor

series

Applicable motor Applicable driver

5000r/min

3000r/min

Rated

rotational speed

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

Rated

output

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*

Model

A-frame

B-frame

C-frame

D-frame

A-frame

B-frame

C-frame

A-frame

B-frame

A-frame

B-frame

C-frame

A-frame

B-frame

C-frame

D-frame

E-frame

F-frame

Frame

MADDT1207

MBDDT2210

MCDDT3520

MDDDT5540

MADDT1107

MBDDT2110

MCDDT3120

MADDT1205

MADDT1207

MBDDT2210

MADDT1105

MADDT1107

MBDDT2110

MCDDT3120

MADDT1205

MADDT1207

MBDDT2210

MCDDT3520

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

Model

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

<Remarks> Do not use in other combinations than those listed below.

<Note>

Suffix of " * " in the appli cable motor m odel represents the motor structure.

Absolute/Incremental Specifications, 17-bit

<Remarks> Do not use in other combinations than those listed below.

(continues to next page)

– B50 –

10.

Che ck of the C o mb in ation of the Driver and the Motor

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

MDMA

Middle

inertia

MHMA

High

inertia

MFMA

Middle

inertia

MGMA

Middle

inertia

Power

supply Motor

series

Applicable motor Applicable driver

2000r/min

1000r/min

Rated

rotational speed

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

Rated

output

MDMA102S1*

MDMA152S1*

MDMA202S1*

MDMA302S1*

MDMA402S1*

MDMA502S1*

MHMA052S1*

MHMA102S1*

MHMA152S1*

MHMA202S1*

MHMA302S1*

MHMA402S1*

MHMA502S1*

MFMA042S1*

MFMA152S1*

MFMA252S1*

MFMA452S1*

MGMA092S1*

MGMA202S1*

MGMA302S1*

MGMA452S1*

Model

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

Frame

MDDDT3530

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

MCDDT3520

MDDDT3530

MDDDT5540

MEDDT7364

MFDDTA390

MFDDTB3A2

MCDDT3520

MDDDT5540

MEDDT7364

MFDDTB3A2

MDDDT5540

MFDDTA390

MFDDTB3A2

Model

<Notes>

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 wiri ng fo r back up battery is required when you use the absolute 17-bit encoder in

incremental.

After-Sale Service (R epair)

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 produc t i s i nt end ed to b e use d wi th a general i n dustrial p ro duct, but not desig ned

or ma nufactured to be used in a machine or system that may cause personal death

when it is failed.

• Insta ll a safety equip ments or appa ratus in your applic ation, 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 speci al conditi ons and envi-

ronments a s n ucl ear ene rg y con tr ol , ae ro spac e, tr anspo rt ati o n, me dic al equ ip men t,

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,

howev er , application of e xceptionally larger external noise dis turba nce and s tati c ele c-

tricity, or failure in input power, wiring and components may result in unexpected ac-

tion. It is hi ghly rec ommen ded th at you ma ke a fail-safe de sign an d s ecur e the safet y

in the operative range.

• If the motor shaft is not electrically grou nded, it ma y c ause an el ectrol ytic c orro sion to

the bearing, depending on the condition of the machine and its mounting environ-

ment, and m ay re s ult i n the beari ng nois e. Check ing an d v erifi ca ti on by c usto mer is

required.

• Failure of this product depending on its content, may generate smoke of about one

cigarette. Ta ke thi s in to consideration when the application of the machine is clean

room related.

• Please be careful when usin g in a n enviro nmen t wi th high co ncentra tions of su lphu r or

sul ph ur i c ga s es, as sulphurat ion can le ad to disconn ect ion fro m the chip resis tor 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 inf ormation o f this p roduc t (Inst ructi on Man ual , CAD d ata) can be do wnload ed

from the following web site.

http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Model No. M DD

M MD

Date of

purchase

Dealer

Tel : ( ) -

M MA

MEMO (Fill in the blanks for reference in case of inquiry or repair.)

Motor Company

Matsushita Electric Industrial Co., Ltd.

7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212