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 <Contents> 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(R) ....................................................... 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 (TUV) A (UL) IP65 CONNECTION SER No. 04110001 AC SERVO MOTOR MODEL No. MSMD5AZS1S INPUT 3OAC 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 1o 1.3A 50/60Hz Serial No.P04110001Z OUTPUT 69V 3o 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 0C to 55C (free from freezing) Less than 90% RH (free from condensation) -20C to 80C (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 <Note> 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 0C to 40C (free from freezing) *1 Less than 85% RH (free from condensation) -20C to 80C (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 0C to 55C (free from freezing) Less than 90% RH (free from condensation) -20C to 80C (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 <Remarks> * Connect the console connector securely to CN X4 connector of the driver. * Never pull the cable to plug in or plug out. <Cautions> * 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(R) " 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) <Remarks> 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(R) " 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) <Remarks> 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 o5.3 approx. 6.8kVA 4.5kW approx. 7.5kVA o5.3 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". <Remarks> * 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 60C 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 : 100 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 : 100 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. <CAUTION> * 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 <Remarks> 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 <Remark> Do not connect anything to NC. <Remark> 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) <Remarks> 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 330 330 330 14 42 43 18 16 15 3.83k SPR/TRQR 21 1k 1k IM SP 220 14 43 42 GND 330 330 330 ( 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 6 220 2.2k OPC2 2 PULS2 4 2.2k OPC1 1 19 Z-phase output (open collector) 25 24 23 49 48 22 GND 15 10k 16 CCWTL/TRQR 3.83k 17 GND 10k CWTL 18 20k 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 1k1/2W 24V 2k1/2W VDC 220 13 GND SIGN2 6 220 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 1k 1k 10k 10k 4.7k 3.83k CN X5 SIGN 3.83k PULS Servo-ON input 29 SRV-ON Selection 1 input of internal command speed Selection 2 input of internal command speed 50 2k 43k 220 2k 43k 2k 43k 220 2k 43k 20k 220 220 2.2k 2.2k 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 4.7k 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(R)" (Option, DV0P4460: English/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(R)". IM 43 SP 42 1k CN X5 FG 50 <Remarks> 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 4.7k 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 3.83k 1k Torque monitor output represents twisted pair.) CW torque limit input (0 to 10V) Select with Pr5B. 16 17 GND CCWTL/TRQR 10k 3.83k Divider CWTL 18 Wiring example when control mode Pr02=0 or Pr5B=1, CCWTL/TRQR 16 17 GND 10k Torque command input or velocity limit input (0 to 10V) GND 14 20k CZ SPR/TRQR 25 GND 15 19 Z-phase output (open collector) Z-phase output OZ- OZ+ 24 23 330 330 OB- 48 21 49 OB+ OA- OA+ 22 330 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(R) How to Connect With the PANATERM(R), 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(R) * 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) <Remarks> * 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 <63> <32> 1 to 3500 <35> <18> 1 to 1000 <16> <31> 0 to 5 <0> 0 to 2500 <65> <126> -2000 to 2000 <300> <50> 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 <Notes> * 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 <73> <38> 2nd gain of velocity loop Hz all 1 to 3500 <35> <18> ms all 2nd Time constant of velocity loop integration 1 to 1000 <1000> - all <0> 2nd filter of velocity detection 0 to 5 all 2nd torque filter time constant 0 to 2500 <65> <126> 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 <0> - 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 - - <1> <0> <30> <50> <33> <20> <0> 0 0 0 - - - 300 - - - - 166s - - (1+Setup value) x 166s - 166s - - - - - 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 <250> 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 <Notes> * 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 <500>*3 Setup of 2nd torque limit 0 to 500 <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. <Notes> * 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(R)". <Remarks> 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 : 30C (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 <Notes> 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 <Precautions in using options> 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. 100.02.0 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. <Remarks> Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber. 53.11.0 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 411 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-o5.5 (13) (18) 901.0 120 - B42 - 1 4 2 5 3 6 1 2 281 2-o5.5 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 111 o4.20.2 Circuit diagram 1 UL-1015 AWG16 4.50.5 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 28.51 Cover 5.51 Cy1 M4 2863.0 270 2551.0 240 3 Circuit diagram H 10 5.51 (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 28.51 2 A B C D o4.20.2 4.50.5 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-o4.5 2-o4.5 x 6.75 L R 10.0 LABEL 50.0 60.0 2.0 OUT 1 111 Circuit diagram IN 411 - B43 - 2 7. Conformity to EC Directives and UL Standards Noise Filter for Signal Lines * 131 DV0P1460 Option part No. Manufacturer's part No. ZCAT3035-1330 Manufacturer TDK Corp. 301 Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable) 391 * In case of D-frame, install 3 noise 341 Mass: 62.8g filters at power line. <Caution> 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> 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. <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 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 60C 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. <Caution> 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 DC24V10%. * 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 1o 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 <Remarks> 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 <Note> Suffix of " * " in the applicable motor model represents the motor structure. Absolute/Incremental Specifications, 17-bit <Remarks> 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 <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 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