Basic (A5 Series) G-frame and H-frame (200 V) [PDF:3,826KB]

Operating Instructions (Basic)
AC Servo Motor & Driver
MINAS A5-series (G, H-frame)
•Thank you for purchasing this
Panasonic product.
•Before operating this product,
please read the instructions
carefully, and save this manual for
future use.
・This product is for industrial equipment. Don't use this product at general household.
If you are the first user of this product, please be sure to read the downloaded Operating Instructions (Overall) from our Web Site.
[Web address of Panasonic Corporation]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
Make sure to forward these Operating Instructions for safety to the final user.
<Contents>
page
1.Introduction.................................. B2
On Opening the Product Package................... B2
Check of the Driver Model............................... B2
Check of the Motor Model............................... B3
2. Installation................................... B4
page
4. Parameter................................... B33
Outline / Setup / Connection.......................... B33
Composition of Parameters........................... B35
5. Protective Functions................. B36
Protective Function (What Is Error Code ?)....... B36
Driver............................................................... B4
Motor................................................................ B6
6. Maintenance and Inspections..... B38
7. Conformity to EC Directives
and UL Standards...................... B40
Overall Wiring (Terminal block type).................... B8
Driver and List of Applicable Peripheral Equipments..... B16
Wiring of the Main Circuit (Terminal block type).... B18
Wiring Diagram.............................................. B22
Wiring of connector for motor and brake....... B24
Wiring to the Connector, X1 . ........................ B25
Wiring to the Connector, X2 . ........................ B25
Wiring to the Connector, X3 . ........................ B26
Wiring to the Connector, X4 . ........................ B27
Wiring to the Connector, X5 . ........................ B30
Wiring to the Connector, X6 . ........................ B31
Wiring to the Connector, X7 . ........................ B32
8. Built-in Holding Brake............... B47
9. Dynamic Brake.......................... B48
10. Check of the Combination of
the Driver and the Motor............. B51
3.System Configuration and
Wiring............................................ B8
Composition of Peripheral Equipments......... B42
Incremental Specifications, 20-bit................ B51
Absolute Specifications, 17-bit.................... B52
11. Specifications.......................... B53
After-Sale Service (Repair)........... B56
IME15+A
English
* This product image is 7.5kW type of A5-series.
1. Introduction
Check of the Motor Model
1. Introduction
Contents of Name Plate
On Opening the Product Package
Model
AC SERVO MOTOR
Model No. MDME752S1G
Rated input
44.0 A
INPUT 3φAC 107 V
voltage/current
RATED OUTPUT 7.5 kW CONT. TORQUE 47.8 N . m
RATED FREQ. 125 Hz RATED REV. 1500 r/min
IP67
CONNECTION
S1
RATING
Rated output
THERMAL CLASS 155(F)
SER. No. 10110001N
Rated frequency
20101101
Made in China
Manufacture date
e.g.) : 20101101
Manufacture year
Manufacture date
Manufacture month
•Make sure that the model is what you have ordered.
•Check if the product is damaged or not during transportation.
•Check if the Operating Instructions (safety) are included or not.
•Check if the safety by-pass plug are included or not. Input/output voltage
P10110001N
Number of phase
20101101
Serial Number
e.g.) : P10110001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 201011 0 1
Manufacture year
Manufacture date
Manufacture month
Model Designation
M G D H T C 3 B 4
Frame-size symbol
Symbol
Frame
MGDH A5-series, G-frame
MHDH A5-series, H-frame
5 to 6
7
8
9
10
7
8 to 9
10 to 12
Max. current rating
of power device
Symbol Current
rating
Power supply
TB
150A
Symbol Specifications
TC
300A
3 3-phase, 200V
4 3-phase, 400V
− B2 −
Special specifications
(letters and numbers)
Current detector rating
Symbol Current rating
A2
120A
B4
240A
Type
Symbol
MDME
(1500r/min)
MGME
(1000r/min)
MHME
(1500r/min)
Symbol Output
60
6.0kW
75
7.5kW
C1
11kW
C5
15kW
Specifications
Middle inertia
(7.5kW to 15kW)
Middle inertia
(6.0kW)
High inertia
(7.5kW)
11 to 12
Special specifications
Motor rated output
Model number
1 to 4
5 to 6
Motor structure
Design order 1: Standard
Voltage specifications
Symbol Specifications
2
200 V
4
400 V
Rotary encoder specifications
Specifications
Symbol
Format
Pulse count Resolution Wire count
G
Incremental
5-wire
20bit
1,048,576
S
Absolute
7-wire
17bit
131,072
Motor structure
MDME, MGME, MHME
Shaft
Holding brake
Oil seal
Symbol
Round Key way Without With Without With
C
D
G
H
[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
− B3 −
English
1 to 4
Contents of Name Plate
Rated output of
applicable motor
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
M D M E 7 5 2 S 1 G
Check of the Driver Model
Input/output frequency
Serial Number
e.g.) : 1011 0001N
Model Designation
1. Introduction
Rated input/output
current
Rated rotational speed
2. Installation
2. Installation
Driver
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1)Install the driver in a control panel enclosed in noncombustible material and placed indoor
where the product is not subjected to rain or direct sunlight. The products are not waterproof.
2)Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas.
3)Where the motor is free from grinding oil, oil mist, iron powder or chips.
4)Well-ventilated and low humidity and dust-free place.
5)Vibration-free place.
6)Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because
they can discolor or damage the exterior case.
Mounting Direction and Spacing
•Reserve enough surrounding space for effective cooling.
•Install fans to provide uniform distribution of temperature in the control panel.
•G and H frame is provided with a cooling fan at the bottom. (On the H-frame, the
cooling fan is also installed on the upper side.)
•Observe the environmental conditions of the control panel described in the previous page.
Fan
Control panel
Fan
100mm
or more
Environmental Conditions
Storage temperature*1
Storage humidity
Vibration
Altitude
Conditions
0˚C to 55˚C (free from freezing)
20% to 85% RH (free from condensation)
–20˚C to 65˚C (Max. temperature guarantee: 80˚C for 72 hours free from condensation*2)
20% to 85% RH (free from condensation*2)
Lower than 5.88m/s2 (0.6G), 10 to 60Hz
Lower than 1000m
*1 Extreme temperatures are permissible only for short period such as during transportation.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
How to Install
1)Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2)For the dimensions and mass of the product, which are necessary design data of
the mounting section, refer to the dimensional outline drawing on the Operating Instructions (Overall) or the Delivery Specification.
3)In consideration of strength of the screws and the material of the mounting base,
select appropriate fastening torque for the product mounting screws, so that the
screws will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
G-frame: M5 2.7 to 3.3 N·m H-frame: M6 4.68 to 5.72 N·m
G-frame
H-frame
Front or rearmount [Use mounting bracket]
Rearmount [Basemount]
Fastening torque of
ground terminal (M5)
to be 1.4 to 1.6 N • m.
Fastening torque of
ground terminal (M6)
to be 2.4 to 2.6 N • m.
Mounting bracket (Attachment)
− B4 −
40mm
or
more
50mm
or
more
50mm
or
more
Direction of air flowing from
the internal cooling fan
Note
50mm
or
more
40mm
or
more
100mm
or more
It is recommended to use the conductive paint when you make your own
mounting bracket, or repaint after peeling off the paint on the machine for
installing the products, in order to make noise countermeasure.
Caution on Installation
•Whenever lifting the product (during transportation/installation of H frame servo driver), two or more persons should hold it by metallic member, not by plastic member.
•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.
•To connect a stranded wire cable, use round terminals with insulation sheath. If
stranded wires are used as they are, unexpected accidents such as an electric
shock and short circuit or injury may result.
•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.
•Be sure to ground the driver via the ground terminal.
If the product is grounded insufficiently, not only the driver may not deliver its performance sufficiently, but also safety hazards such as a malfunction due to a electrification or a disturbance may be caused.
•If electric wires are bound and run through metal duct, they cannot carry the rated
current due to temperature rise. If they are forced to carry the rated current, they may
burn. When determining size of the wire, check the current decreasing coefficient by
referring to the Operating Instructions (Overall).
− B5 −
English
Item
Ambient temperature
Ambient humidity
2. Installation
2. Installation
Motor
Motor
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Environmental Conditions
Item
Conditions
Ambient temperature*1 0˚C to 40˚C (free from freezing)
Ambient humidity
20% to 85% RH (free from condensation)
–20˚C to 65˚C (Max. temperature guarantee: 80˚C for 72 hours *2
Storage temperature
free from condensation*4)
Storage humidity
20% to 85% RH (free from condensation*4)
Vibration Motor only Lower than 24.5m/s2 (2.5G) at running, 24.5m/s2 (2.5G) at stall
Impact
Motor only Lower than 98m/s2 (10G)
Enclosure
IP67 (except rotating portion of output shaft and connecting pin
Motor only
rating
part of connector)*3
Altitude
Lower than 1000m
*1Ambient temperature to be measured at 5cm away from the motor.
*2Permissible temperature for short duration such as transportation.
*3These 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.
*4Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
Oil/Water Protection
1)Don't submerge the motor cable to water or oil.
Motor
Cable
2)Install the motor with the cable outlet facing
downward.
3)Avoid a place where the motor is always subjected to oil or water.
Oil / 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.
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. (When you use our optional
cable, 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.
Notes on Installation
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 when mounting the motor with gear reducer to prevent
the reducer oil/grease from entering to the motor.
1)Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
Motor
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 condition of the machine and its mounting environment,
and may result in the bearing noise. Check and verification by customer is required.
− B6 −
− B7 −
How to Install
English
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, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas.
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.
3)For the dimensions and mass of the product, which are necessary design data of
the mounting section, refer to the dimensional outline drawing on the Operating Instructions (Overall) or the Delivery Specification.
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
Connecting Example of G-frame, 200 V type
• Wiring of Main Connector
Mains
Residual
current device
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit
breaker rated to the capacity of the
power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
: High voltage
• Apply the voltage designated on the nameplate from
the power source.
PC (to be supplied
by customer)
Wiring to Connector, X7
Symmetric current should be 5000
Arms or below.
If the short-circuit current on the
power source exceeds this value,
use a current-limiting device (e.g.
current-limiting fuse, currentlimiting circuit breaker or
transformer).
• Monitor output
Setup support software “PANATERM”
Please download from our web site.
Wiring to Connector, X1
• Connection to PC or host controller
Wiring to Connector, X2
NC
L1
L1C
X2
L2
L 2C
L2C
Connection
with input
power supply
Reactor (L)
Reduces harmonic current of the main
power.
Connection to external components
L1
L2
L3
X3
L3
NC
NC
B1
• Connection to host controller
DB2
NC
Wiring to Connector, X5
NC
X5
U
NC
V-phase
• Connection to feedback scale
X6
V
W-phase
DB3
Wiring to Connector, X6
DB4
W
• Connection to encoder
NC
CHARGE
Junction cable for encoder
B1
Short bar (DB3-DB4)
B2
Regenerative resistor (optional)
Remarks
• When you use an external regenerative
resistor, install an external protective
apparatus, such as thermal fuse without
fail.
• Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
• Mount the regenerative resistor on
incombustible material such as metal.
Note
The wiring indicated with the broken line shall be
provided only when required.
− B8 −
• Connection to Safety by-pass plug
(Refer to P.B26)
Wiring to Connector, X4
X4
DB1
B2
U-phase
Wiring to Connector, X3
Pin B1 and B2
• When you connect an external regenerative resistor, connect the external regenerative resistor between B1 and B2, set up
Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
・ Normally, leave DB3 and DB4 shortcircuited.
・ To connect the external dynamic brake
resistor, refer to “Dynamic Brake” on
P.B48. Do not use the external dynamic
brake resistor together with the built-in
resistor.
Pin NC
• Do not connect anything.
Ground
terminal
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause of
electric shock.
Ground
(earth)
Motor cable (Shield wire)
Connection to motor
driving phase and ground
Remarks
• X1 to X7 are used for the
secondary circuit. To connect
these terminals to the primary
power supply (particularly, 24 VDC
power supply for brake), insulation
is required.
Do not connect these terminals to
the same power supply.
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
− B9 −
English
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use coil surge suppression units
together with this.
• Never start nor stop the servo
motor with this Magnetic Contactor.
X1
L1C
• Connection to RS232, RS485
or host controller
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
Connecting Example of H-frame, 200 V type
• Wiring of Main Connector
Mains
24 VDC power supply for
regenerative resistor
(to be supplied by customer)
Connection to
external components
* Use a power
supply with
5 A or larger
capacity.
Remarks
Regenerative
resistor (optional)
B1
Note
The wiring indicated with the broken
line shall be provided only when
required.
: High voltage
Wiring to Connector, X7
L1 L2 L3
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
(
to be supplied by
customer
Remarks
)
Wiring to Connector, X1
• Connection to PC or host controller
Wiring to Connector, X2
X2
X3
• Connection to RS232, RS485
or host controller
X4
Charge lamp (LED)
Do not make displacement,
wiring or inspection while
the LED is lit - cause of
electric shock.
Wiring to Connector, X3
X5
• Connection to Safety by-pass plug
(Refer to P.B26)
X6
CHARGE
Wiring to Connector, X4
• Connection to host controller
Wiring to Connector, X5
• Connection to feedback scale
L1C
L2C
Connection with input
power supply
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units
together with this.
• When you use an external dynamic brake resistor, install an
external protective apparatus, such as thermal fuse
without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• For wiring of the circuit, refer to “Wiring Diagram” on P.B22.
• For an example of the recommended protective circuit, refer
to “Dynamic Brake” on P.B48.
− B10 −
Setup support software
“PANATERM”
Please download
from our web site.
X1
L2C
DB1
Ground
terminal
DB2
Wiring to Connector, X6
• Connection to encoder
Junction cable for encoder
L1
L2
L3
B1
B2
NC
U
Ground
(earth)
Dynamic Brake
resistor
PC (to be supplied by customer)
• Monitor output
L1C
B2
• When you use an external
regenerative resistor, install an
external protective apparatus, such
as thermal fuse without fail.
• The regenerative resistor (optional)
incorporates a fan, thermal fuse, and
thermostat. Once the thermal fuse
blows out, it will not be restored.
• Mount the regenerative resistor on
incombustible material such as
metal.
• For wiring of the circuit, refer to
“Wiring Diagram” on P.B22.
• Apply the voltage designated on the nameplate
from the power source.
Overall Wiring (Terminal block type)
Motor cable (Shield wire)
Connection to motor
driving phase and
ground
V
Remarks
W
U-phase
V-phase
W-phase
• X1 to X7 are used for the secondary circuit.
To connect these terminals to the primary
power supply (particularly, the 24 VDC
power supply for brake and the 24 VDC
power supply for regenerative resistor),
insulation is required.
Do not connect these terminals to the
same power supply.
Pin B1and B2
• When you connect an external regenerative resistor, connect the external
regenerative resistor between B1 and B2,
set up Pr0.16 to 1 or 2.
Brake cable
Pin DB1 and DB2
• When installing an external dynamic brake
resistor, connect the magnetic contactor
(for controlling) for external dynamic brake
to between LIC and DB1.
Remarks
• The voltage applied across DB1 and
DB2 must be 300 VAC or below or 100
VDC or below.
DC Power supply
for brake DC24V
(to be supplied
by customer)
Pin NC
• Do not connect anything.
− B11 −
English
Circuit Breaker (MCCB)
Residual
current device
To protect power supply line from
overloading, install a wiring circuit breaker
rated to the capacity of the power supply.
Noise Filter (NF)
Removes 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 coil surge suppression units together
with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
3. System Configuration and Wiring
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
Connecting Example of G-frame, 400 V type
• Wiring of Main Connector
Mains
Residual
current device
Circuit Breaker (MCCB)
To protect power supply line from
overloading, install a wiring circuit
breaker rated to the capacity of the
power supply.
Noise Filter (NF)
Removes external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
• Apply the voltage designated on the nameplate
from the power source.
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
: High voltage
Connection with
control power supply
* Use a power
supply with
5 A or larger
capacity.
24 VDC power supply
for control
(to be supplied by customer)
24V
0V
Wiring to Connector, X7
• Monitor output
Setup support software “PANATERM”
Please download from our web site.
Wiring to Connector, X1
• Connection to PC or host controller
Wiring to Connector, X2
NC
L1
X1
24V
X2
L2
0V
X3
L3
NC
NC
B1
U-phase
L1
V-phase
Reactor (L)
L2
Reduces harmonic current of the main
L3
power.
Connection to external components
DB1
B2
NC
Wiring to Connector, X5
NC
X5
U
NC
• Connection to feedback scale
X6
V
DB3
Wiring to Connector, X6
DB4
W
• Connection to encoder
NC
CHARGE
Junction cable for encoder
400V
B1
Short bar (DB3-DB4)
B2
Regenerative resistor (optional)
Remarks
• When you use an external regenerative
resistor, install an external protective
apparatus, such as thermal fuse without
fail.
• Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
• Mount the regenerative resistor on
incombustible material such as metal.
Note
The wiring indicated with the broken line shall be
provided only when required.
• Connection to Safety by-pass plug
(Refer to P.B26)
• Connection to host controller
DB2
W-phase
Wiring to Connector, X3
Wiring to Connector, X4
X4
Connection
with input
power supply
• Connection to RS232, RS485
or host controller
Pin B1 and B2
• When you connect an external regenerative resistor, connect the external regenerative resistor between B1 and B2, set up
Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
・ Normally, leave DB3 and DB4 shortcircuited.
・ To connect the external dynamic brake
resistor, refer to “Dynamic Brake” on
P.B48. Do not use the external dynamic
brake resistor together with the built-in
resistor.
Pin NC
• Do not connect anything.
− B12 −
Ground
terminal
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause of
electric shock.
Ground
(earth)
Motor cable (Shield wire)
Connection to motor
driving phase and ground
Remarks
• X1 to X7 are used for the
secondary circuit. To connect
these terminals to the primary
power supply (particularly, the 24
VDC power supply for control and
the 24 VDC power supply for
brake), insulation is required.
Do not connect these terminals to
the same power supply.
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
− B13 −
English
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use coil surge suppression units
together with this.
• Never start nor stop the servo
motor with this Magnetic Contactor.
PC (to be supplied
by customer)
3. System Configuration and Wiring
3. System Configuration and Wiring
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)
Connecting Example of H-frame, 400 V type
• Wiring of Main Connector
Mains
Connection to
external components
* Use a power
supply with
5 A or larger
capacity.
Remarks
Regenerative
resistor (optional)
B1
Note
The wiring indicated with the broken
line shall be provided only when
required.
X3
0V
(
Connection
with control
power supply
• Connection to RS232, RS485
or host controller
X4
Do not make displacement, wiring
or inspection while the LED is lit cause of electric shock.
to be supplied by
24V customer
Wiring to Connector, X2
X2
Wiring to Connector, X3
X5
• Connection to Safety by-pass plug
(Refer to P.B26)
X6
CHARGE
Wiring to Connector, X4
• Connection to host controller
Wiring to Connector, X5
)
24V
0V
DB1
Ground
terminal
DB2
• Connection to feedback scale
Wiring to Connector, X6
• Connection to encoder
Junction cable for encoder
Remarks
L1 L2 L3
B2
• When you use an external
regenerative resistor, install an
external protective apparatus, such
as thermal fuse without fail.
• The regenerative resistor (optional)
incorporates a fan, thermal fuse, and
thermostat. Once the thermal fuse
blows out, it will not be restored.
• Mount the regenerative resistor on
incombustible material such as
metal.
• For wiring of the circuit, refer to
“Wiring Diagram” on P.B23.
Wiring to Connector, X1
• Connection to PC or host controller
X1
Charge lamp (LED)
24 VDC
power supply
for control
Setup support software
“PANATERM”
Please download
from our web site.
Connection with input
power supply
L1
L2
L3
B1
B2
NC
U
Ground
(earth)
Dynamic Brake
resistor
(
to be supplied by
customer
Remarks
)
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units
together with this.
• When you use an external dynamic brake resistor, install an
external protective apparatus, such as thermal fuse
without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• For wiring of the circuit, refer to “Wiring Diagram” on P.B23.
• For an example of the recommended protective circuit, refer
to “Dynamic Brake” on P.B48.
− B14 −
Motor cable (Shield wire)
Connection to motor
driving phase and
ground
V
W
U-phase
V-phase
W-phase
Brake cable
DC Power supply
for brake DC24V
(to be supplied
by customer)
− B15 −
• X1 to X7 are used for the secondary circuit. To
connect these terminals to the primary power
supply (particularly, the 24 VDC power supply
for control, the 24 VDC power supply for
brake, and the 24 VDC power supply for
regenerative resistor), insulation is required.
Do not connect these terminals to the same
power supply.
Pin B1and B2
• When you connect an external regenerative
resistor, connect the external regenerative
resistor between B1 and B2, set up Pr0.16 to
1 or 2.
Pin DB1 and DB2
• When installing an external dynamic brake
resistor, connect the magnetic contactor (for
controlling) for external dynamic brake to
between LIC and DB1.
Remarks
• The voltage applied across DB1 and DB2
must be 300 VAC or below or 100 VDC or
below.
Note
• L1C is connected after the R-phase of the
noise filter.
• L1C is not indicated on the driver body.
Pin NC
• Do not connect anything.
English
24 VDC power supply for
regenerative resistor
(to be supplied by customer)
Symmetric current should be
5000 Arms or below.
If the short-circuit current on the
power source exceeds this
value, use a current-limiting
device (e.g. current-limiting fuse,
current-limiting circuit breaker or
transformer).
* Use a power
supply with
5 A or larger
capacity.
PC (to be supplied by customer)
• Monitor output
• Apply the voltage designated on the nameplate
from the power source.
Neutral point
Circuit Breaker (MCCB)
Residual
current device
To protect power supply line from
overloading, install a wiring circuit breaker
rated to the capacity of the power supply.
Noise Filter (NF)
Removes 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
L1C
driver.
Use coil surge suppression units together
with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
: High voltage
Wiring to Connector, X7
3. System Configuration and Wiring
3. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments
Driver
Required
Applicable
Rated
Power
Voltage
motor
output (at the rated
load)
MGDH
MDME
MGME
MHME
MDME
MGME
MHME
3-phase,
200V
3-phase,
400V
3-phase,
200V
MHDH
MDME
3-phase,
approx.11kVA
approx.9.0kVA
approx.11kVA
approx.11kVA
approx.9.0kVA
approx.11kVA
approx.17kVA
Noise
filter
Noise
filter for
signal
Surge
absorber
*1
60A
FS5559-60-34
Recommended
( component )
100A
(3P+1a)
DV0P1450
FN258-42-07
30A
100A
15kW
approx.22kVA
125A
11kW
approx.17kVA
50A
15kW
approx.22kVA
60A
or
DV0P1460
FN258-42-33 DV0PM20050
RJ8095
Recommended
60A
(3P+1a)
FS5559-80-34
150A
(3P+1a)
( component )
(
)
Recommended
component (
DV0P1450
FN258-42-07
Caution
T400-61D
Recommended
( component )
or
FN258-42-33 DV0PM20050
Recommended
( component )
Noise filter........................P.B44 “Composition of Peripheral Equipments”
Surge absorber................P.B45 “Composition of Peripheral Equipments”
Noise filter for signal........P.B45 “Composition of Peripheral Equipments”
Motor/brake connector.....P.B24 “Wiring of connector for motor and brake”
Be sure to conduct wiring properly and securely. Insecure or improper wiring may
cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering
the driver during the installation and wiring.
• About circuit breaker and magnetic contactor
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).
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product.
Remarks
Select a circuit breaker and noise filter which match to the capacity of
power supply (including a load condition).
− B16 −
)
Recommended
component *1 For the external dynamic brake resistor, use the magnetic contactor with the same rating as
that for the main circuit.
*2 When use the regenerative resister of option(DV0PM20058, 20059), use the cable with the
same diameter as the main circuit cable.
*3The diameter of the ground cable and the external dynamic brake resistor cable must be
equal to, or larger than that of the motor cable.
The motor cable is a shield cable, which conforms to the EC Directives and UL Standards.
Reference page
Contact
(configuration
)
Diameter and
withstand
voltage of main
circuit cable
100A
(3P+1a)
Crimp
Crimp
terminal
Diameter and Diameter and
Diameter and
terminal
for control
withstand voltage withstand
for main withstand voltage
power
voltage of
of motor cable
of control power
circuit
supply
*3
brake cable
supply cable
terminal
terminal
block
block
11mm or
smaller
5.3mm2/AWG10
600 VAC or more
13.3mm2/AWG6
600 VAC or more
*2
ø5.3
0.75mm2/AWG18
600 VAC or more
10mm or
smaller
ø5.3
Terminal
block
M5
0.75mm2/AWG18
100 VAC or more
Terminal
block
M5
16mm or
smaller
0.75mm2/AWG18
600 VAC or more
10mm or
smaller
0.75mm2/AWG18
100 VAC or more
Terminal
block
M4
ø6.4
Terminal
block
M6
ø4.3
13.3 mm2/AWG6
600 VAC or more
21.1 mm2/AWG4
600 VAC or more
13.3 mm2/AWG6
600 VAC or more
21.1 mm2/AWG4
600 VAC or more
0.75mm2/
AWG18
100 VAC or
more
•Terminal block and protective ground terminals
Use a copper conductor cables with temperature rating of 75˚C or higher.
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
Driver
Frame
G
H
Terminal name
L1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC
L1, L2, L3, B1, B2, NC, U, V, W
L1C, L2C, 24V, 0V, DB1, DB2
L1, L2, L3, B1, B2, NC, U, V, W
Terminal block
Terminal cover
screw
fastening screw
Fastening
Fastening
Nominal
Nominal
torque
torque
size
size
(N•m) (*1)
(N•m) (*1)
M5
1.0 to 1.7
M3 0.19 to 0.21
M5
2.0 to 2.4
M3
0.3 to 0.5
M4
0.7 to 1.0
M5
2.0 to 2.5
M6
2.2 to 2.5
• Fastening torque list (Ground terminal screw/Connector to host controller (X4))
Terminal block
Connector to host
screw
controller (X4)
Fastening
Fastening
Nominal
Nominal
torque
torque
size
size
(N•m) (*1)
(N•m) (*1)
M5
1.4 to 1.6
M2.6 0.3 to 0.35
M6
2.4 to 2.6
Driver frame
(*1)
G
H
•Applying fastening torque larger than the maximum value may result in damage to the product.
•Do not turn on power without tightening all terminal block screws properly.
•Do not turn on power without tightening all terminal block screws properly, otherwise, loose
contacts may generate heat (smoking, firing).
•To check for looseness, conduct periodic inspection of fastening torque once a year.
− B17 −
English
400V
7.5kW
6.0kW
7.5kW
7.5kW
6.0kW
7.5kW
11kW
Circuit
breaker
(rated
current)
Rated
operating
current of
magnetic
contactor
3. System Configuration and Wiring
Wiring of the Main Circuit (Terminal block type)
G-frame, 200 V type
3. System Configuration and Wiring
Wiring of the Main Circuit (Terminal block type)
H-frame, 200 V type
•Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
• Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
•Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
• Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B16). Tighten the terminal block screw with a torque
between 2.0 and 2.4 N • m (left side) and 1.0 and 1.7 N • m (right side).
3)Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with the torque written on P.B17.
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, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B16). Tighten the terminal block screw with a torque
between 0.7 and 1.0 N • m (upper side) and 2.2 and 2.5 N • m (lower side).
3)Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with the torque written on P.B17.
NC
Upper
side
• Tips on Wiring
L2C
Power RCD MCCB
supply
NF
MC
U
V
W
E
Motor
L
L1
NC
L2
NC
L3
DB1
B1
DB2
B2
NC
NC
NC
U
DB3
V
DB4
W
Left
side
NC
Right
side
Ground resistance: 100 Ω max.
For applicable wire, refer to P.B16.
DC
24V
DC power
supply
for brake
Varistor
Fuse (125 V 10 A)
− B18 −
L1C
L2C
Power RCD MCCB
supply
NF
MC
U
V
W
E
Motor
L1
DB1
L2
DB2
L3
DC
24V
Power supply for
regenerative resistor
L
B1
• Do not connect anything to NC.
• Match the connector of the motor and driver
“U, V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
B2
NC
U
V
W
Lower
side
Ground resistance: 100 Ω max.
For applicable wire, refer to P.B16.
DC
24V
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The
residual current device to be the one
designed for "Inverter" and is equipped with
countermeasures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil
of the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor
with this Magnetic Contactor.
• The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Provide an AC Reactor (to be supplied by customer).
DC power
supply
for brake
Varistor
Fuse (125 V 10 A)
− B19 −
• Earth-ground this.
• To prevent electric shock, be sure to connect
the ground terminal ( ) of the driver, and the
ground terminal (ground plate) of the control
panel.
• The ground terminal ( ) must not be shared
with other equipment.
Two ground 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 immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
English
L1C
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The
residual current device to be the one designed
for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil
of the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor with
this Magnetic Contactor.
• Provide an AC Reactor (to be supplied by customer).
• The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Match the connector of the motor and driver “U,
V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
• For normal operation, do not disconnect the
shorting bar from DB3 and DB4: remove the bar
only when the external dynamic brake resistor
is used.
• Earth-ground this.
• To prevent electric shock, be sure to connect the
ground terminal ( ) of the driver, and the ground
terminal (ground plate) of the control panel.
The ground terminal ( ) must not be shared
with other equipment.
Two ground 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
immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
* Do not connect anything to NC.
• Tips on Wiring
3. System Configuration and Wiring
Wiring of the Main Circuit (Terminal block type)
G-frame, 400 V type
3. System Configuration and Wiring
Wiring of the Main Circuit (Terminal block type)
H-frame, 400 V type
•Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
• Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
•Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
• Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
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, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B16). Tighten the terminal block screw with a torque
between 2.0 and 2.4 N • m (left side) and 1.0 and 1.7 N • m (right side).
3)Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with the torque written on P.B17.
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, reter to "Driver and List of Applicable
Peripheral Equipments" (P.B16). Tighten the terminal block screw with a torque
between 0.7 and 1.0 N • m (upper side) and 2.2 and 2.5 N • m (lower side).
3)Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with the torque written on P.B17.
• Tips on Wiring
24V
0V
Power RCD MCCB
supply
NF
MC
U
V
W
E
Motor
L
L1
NC
L2
NC
L3
DB1
B1
DB2
B2
NC
NC
NC
U
DB3
V
DB4
W
NC
Left
side
Right
side
Ground resistance: 10 Ω max.
For applicable wire, refer to P.B16.
DC
24V
DC power
supply
for brake
Varistor
Fuse (125 V 10 A)
− B20 −
• AC 3-phase power supply 400V for main circuit.
• The voltage applied across DB1 and DB2 must be
300 VAC or below or 100 VDC or below.
• Match the connector of the motor and driver “U, V,
W”.
• Avoid shorting and grounding.
Don't connect the main power.
• For normal operation, do not disconnect the shorting
bar from DB3 and DB4: remove the bar only when
the external dynamic brake resistor is used.
• Earth-ground this.
• To prevent electric shock, be sure to connect the
ground terminal ( ) of the driver, and the ground
terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with
other equipment.
Two ground 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
immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity and
how to use the brake, refer to “Specifications of
Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the varistor.
* Do not connect anything to NC.
Upper
side
DC
24V
24V
0V
Power RCD MCCB
supply
NF
MC
DB1
L2
DB2
B1
B2
U
V
W
E
Motor
L1
L3
DC
24V
Power supply for
regenerative resistor
L
NC
U
V
W
Lower
side
Ground resistance: 10 Ω max.
For applicable wire, refer to P.B16.
DC
24V
DC power
supply
for brake
Varistor
Fuse (125 V 10 A)
− B21 −
• Check the name plate of the driver for
power specifications.
• Provide a residual current device. The
residual current device to be the one
designed for "Inverter" and is equipped
with countermeasures for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the
coil of the Magnetic Contactor recommended by manufacturer. Never start/stop
the motor with this Magnetic Contactor.
• Direct power supply for control circuit.
• The voltage applied across DB1 and DB2 must
be 300 VAC or below or 100 VDC or below.
• Provide an AC Reactor (to be supplied by customer).
• AC 3-phase power supply 400V for main circuit.
• Do not connect anything to NC.
• Match the connector of the motor and driver
“U, V, W”.
• Avoid shorting and grounding.
Don't connect the main power.
• Earth-ground this.
• To prevent electric shock, be sure to connect
the ground terminal ( ) of the driver, and
the ground terminal (ground plate) of the
control panel.
• The ground terminal ( ) must not be shared
with other equipment.
Two ground 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 immediate stop signal.
• The holding brake has no polarities.
• For the holding brake power supply capacity
and how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B47.
• Provide a varistor.
• Connect a 10A fuse in series with the
varistor.
English
NC
DC
24V
• Check the name plate of the driver for power
specifications.
• Provide a residual current device. The residual
current device to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a circuit breaker.
• Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil of
the Magnetic Contactor recommended by
manufacturer. Never start/stop the motor with
this Magnetic Contactor.
• Direct power supply for control circuit.
• Provide an AC Reactor (to be supplied by customer).
• Tips on Wiring
3. System Configuration and Wiring
Wiring Diagram
3. System Configuration and Wiring
Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
Compose the circuit so that the main circuit power will be shut off when an error occurs.
Power supply 3-phase, 200V –15% to 230V +10%
Power supply 3-phase, 380V –15% to 480V +10%
In Case of 3-Phase, G-frame, 200 V type
ON
ALM
OFF
MC1
Built-in thermostat of an external
regenerative resistor (light yellow)
In Case of 3-Phase, G-frame, 400 V type
ON
OFF
MCCB
L
Noise filter
Power supply
(3-phase)
MC1
External
regenerative resistor
Note 1)
Power supply
(3-phase)
Main power
supply
MCCB
Control power
supply
L
Insulated +
DC24V −
Insulated +
DC12 to 24V
−
(±5%)
Motor
connection
ALM+
ALM−
ALM
MC1
Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)
MC2
Motor
Note 5)
Provide an external protective device (e.g. thermal
fuse) to monitor the temperature of the external
dynamic brake resistor.
Note
Main power
supply
Control power
supply
Motor
connection
ALM
Insulated +
DC12 to 24V
−
(±5%)
37
36
ALM+
ALM−
For wiring the motor connector, refer to P.B24.
− B22 −
37
36
ON
ALM+
Note 1)
Normally, do not disconnect the shorting
bar.
ALM−
OFF
ALM
MC1
Built-in thermostat of
an external regenerative resistor
(T1 and T2 terminals)
Coil surge suppression units
Note 1)
Magnetic contactor MC2 must be the
same as the contactor MC1 in the main
circuit.
Note 2)
Servo may be turned on in the external
sequence if the dynamic brake resistor
deposits: to protect the system, provide
the auxiliary contact.
Note 3)
Use 1.2 Ω, 400 W resistor (to be supplied
by customer).
Note 4)
To use the external dynamic brake
resistor:
Connect the R1 and R2 terminals to B1
and B2.
Connect the T1 and T2 terminals as
shown in the left diagram.
Connect the 24 V and 0 V terminals to a
24 VDC power supply.
Connect the E terminal to the ground.
Power supply
(3-phase)
Power supply
(Neutral point)
The AC voltage
across DB1 and
DB2 must be
300 V or below.
MCCB
L
Noise filter
Noise filter
L
L1
L2
L3
MC1
L1C
L2C
Insulated +
External
B1
regenerative resistor
DC24V −
Note 1)
B2
Note 4)
NC
MC2
DB1
Coil surge suppression units
DB2
Note 2) Note 5) Note 5) Note 5)
U
Dynamic Brake resistor
V
Note 3)
W
Motor
connection
Power supply 3-phase, 380V –15% to 480V +10%
Coil surge suppression units
MCCB
Control power
supply
In Case of 3-Phase, H-frame, 400 V type
Power supply 3-phase, 200V –15% to 230V +10%
OFF
Main power
supply
ALM
Insulated +
DC12 to 24V
−
(±5%)
Note 1)
Normally, do not disconnect the shorting
bar.
In Case of 3-Phase, H-frame, 200 V type
Power supply
(3-phase)
External
regenerative resistor
Motor
36
ON
MC1
Note 1)
ALM
37
L1
L2
L3
24V
0V
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
English
Motor
L1
L2
L3
L1C
L2C
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
Built-in thermostat of
an external regenerative
resistor (light yellow)
Coil surge suppression units
Noise filter
Coil surge suppression units
MC1
Insulated +
DC24V −
Dynamic Brake resistor
Insulated +
DC24V −
Note 1)
MC2
MC1
External
regenerative resistor
Note 4)
Coil surge suppression units
Note 2) Note 5) Note 5) Note 5)
Note 3)
MC2
Motor
Note 5)
Provide an external protective device (e.g. thermal
fuse) to monitor the temperature of the external
dynamic brake resistor.
Note
L1
L2
L3
24V
0V
B1
B2
NC
DB1
DB2
U
V
W
Main power
supply
Control power
supply
Motor
connection
ALM
Insulated +
DC12 to 24V
−
(±5%)
37
36
ALM+
ALM−
For wiring the motor connector, refer to P.B24.
− B23 −
Note 1)
Magnetic contactor MC2 must be the
same as the contactor MC1 in the main
circuit.
Note 2)
Servo may be turned on in the external
sequence if the dynamic brake resistor
deposits: to protect the system, provide
the auxiliary contact.
Note 3)
Use 4.8 Ω, 400 W resistor (to be supplied
by customer).
Note 4)
To u s e t h e e x t e r n a l d y n a m i c b r a k e
resistor:
Connect the R1 and R2 terminals to B1
and B2.
Connect the T1 and T2 terminals as
shown in the left diagram.
Connect the 24 V and 0 V terminals to a
24 VDC power supply.
Connect the E terminal to the ground.
3. System Configuration and Wiring
3. System Configuration and Wiring
•When the motors of <MDME, MGME, MHME> are used, they are connected as
shown below.
This is used for USB connection to a personal computer. It is possible to change the
parameter setting and perform monitoring.
Wiring of connector for motor and brake
Connector: Made by Japan Aviation Electronics Industry, Ltd.
(The figures below show connectors for the motor.)
<Motor>
<Brake>
D
A
D
A
C
B
C
B
JL04V-2E32-17PE-B-R
PIN No.
Remarks
U-phase
V-phase
W-phase
Ground
PIN No.
A
B
C
D
Application
Do not connect anything to NC.
Brake
Brake
NC
NC
Application
USB signal terminal
Caution
Symbol Connector
Pin No.
VBUS
1
Contents
Use for communication with personal
computer.
D−
2
D+
3
—
4
Do not connect.
GND
5
Connected to ground of control circuit.
Use commercially available USB mini-B connector for the driver.
3. System Configuration and Wiring
Wiring to the connector, X2
This is used for connection to the host controller when two or more units are used.
RS232 and RS485 interfaces are supplied.
Application
Signal ground
NC
RS232 signal
RS485 signal
Frame ground
Symbol Connector
Contents
Pin No.
GND
1
Connected to ground of control circuit.
–
2
Do not connect.
TXD
3
RXD
4
RS232
The transmission / reception method.
485−
5
485+
6
485−
7
485+
8
FG
Shell
RS485
The transmission / reception method.
Connected with ground terminal in the
servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics)
[Connector pin assignment]
8 6 4 2
7 5 3 1
Remarks
− B24 −
(Viewed from cable)
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
− B25 −
English
A
B
C
D
Application
N/MS3102A 14S-2P
Wiring to the connector, X1
Remarks
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
− B26 −
42
IM
43
SP
1kΩ
X4
–
1kΩ
18
N-ATL
20kΩ 20kΩ 14kΩ
10kΩ
17
16
GND
10kΩ
15
GND
P-ATL/TRQR
–
+
20kΩ 20kΩ 14kΩ
20kΩ
20kΩ
–
+
The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
Velocity monitor output
Torque monitor output
(
14
SPR/TRQR/SPL
47kΩ
47kΩ
47kΩ
47kΩ
CZ
25
GND
23
24
OZ-
OZ+
49
OB-
48
OB+
22
OA-
21
OA+
SIGN1
6
SIGN2
13
GND
Z-phase output
19 (open collector)
Negative direction torque limit input
(-10 to +10V)
: Twisted pair)
Positive direction torque limit input
(0 to +10V)
24VDC
220Ω
OPC1 2
SIGN2 6
2.2kΩ
2.2kΩ
220Ω
2.2kΩ
OPC1 1
PULS2 4
2.2kΩ
power supply
VDC
B-phase
output
A-phase
output
(Use with
500 kpps or less.)
Z-phase (2) When you do not use the
output
external resistor with 24V
Specifications VDC -1.5 .
=10mA
R+220 .
of R
12V 1kΩ1/2W
24V 2kΩ1/2W
R
220Ω
SIGN2 6
PULS2 4
220Ω
2.2kΩ SIGN1 5
2.2kΩ PULS1 3
Command
pulse
input A
2kΩ 20kΩ
Be sure to connect.
FG
50
46
SIGNH1
47 SIGNH2
13 GND
120Ω
2kΩ 20kΩ
2kΩ 20kΩ
PULSH2
PULSH1
45
44
41 COM-
ZSP
12
Zero speed detection output
38 INPExternal brake release output 11
BRKOFF+
10 BRKOFFTorque in-limit output
40 TLC
INP+
ALM-
36
Positioning complete output 39
ALM+
Servo-Alarm output
37
NOT
8
35 S-RDY+
34 S-RDY-
POT
9
DIV1
26 VS-SEL1
32 C-MODE
31 A-CLR
120Ω
2kΩ 20kΩ
Remarks
Command pulse input B
(Use with 4Mpps or less.)
When establishing a system using safety functions, completely understand the applicable safety standards and the operating instruction manual or technical documents for the product.
VDC
12 to 24V
Caution
R
VDC
(Viewed from cable)
Servo-Ready output
8 6 4 2
7 5 3 1
Alarm clear input
[Connector pin assignment]
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Connector (plug): 2013595-1 (optional, available from Tyco Electronics) 28
Connected with ground terminal in the
servo driver.
220Ω
Shell
Divider
Electronic gear
switching input 1
Damping control
switching input 1
Control mode
switching input
FG
5
8
2
EDM+
This is an output for monitoring the failure
of the safety function.
OPC2
7
2.2kΩ
EDM−
4
6
2.2kΩ
SF2+
3
5
PULS1
SF2−
These are two independent circuits that
turn off the operation signal to the power
module to shut off the motor current.
2.2kΩ
4
4.7kΩ
SF1+
1
3
OPC1
SF1−
Do not connect.
29 SRV-ON
Gain switching input 27
GAIN
Frame ground
2
Servo-ON input
EDM output
–
30
Safety input 2
1
2.2kΩ
Safety input 1
–
Contents
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
− B27 −
English
NC
Symbol Connector
Pin No.
7 COM+
33
INH
Application
PULS2
If the connector is disconnected during operation, an immediate stop will
be caused.
Command pulse
inhibition input
Deviation counter
clear input
Caution
Wiring Example of Position Control Mode
220Ω
A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal times.
Since the standard connector cannot be used when controlling the safety function from
the host controller, purchase the optional connector and make connection as shown
below.
Wiring to the connector, X4
CL
Wiring to the connector, X3
3. System Configuration and Wiring
In case of open collector I/F (1) When you use the external
resistor with 12V and 24V
power supply
3. System Configuration and Wiring
Remarks
ALM+
ALM39 AT-SPEED+
38 AT-SPEED-
36
− B28 −
40
TLC
50
FG
ZSP
41 COM-
Zero speed detection output 12
Torque in-limit output
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
Remarks
− B29 −
40
FG
4.7kΩ
The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
50
41 COM-
ZSP
TLC
11 BRKOFF+
10 BRKOFF-
Zero speed detection output 12
Torque in-limit output
ALM-
ALM+
39 AT-SPEED+
38 AT-SPEED-
36
37
NOT
35 S-RDY+
34 S-RDY-
8
31 A-CLR
9 POT
28 DIV1
26 ZEROSPD
32 C-MODE
CL
29 SRV-ON
27 GAIN
INH
X4
+
–
+
–
–
+
47kΩ
10kΩ
47kΩ
47kΩ
47kΩ
1kΩ
1kΩ
10kΩ
20kΩ 20kΩ 14kΩ
10kΩ
14
15
14
IM
42
43
N-ATL 18
SP
42
43
(
Torque command input or
velocity limit input (0 to ±10V)
Z-phase
output
B-phase
output
: Twisted pair)
Torque monitor output
Velocity monitor output
Torque monitor output
17
Velocity monitor output
GND
CCWTL/TRQR
(
: Twisted pair)
Negative direction torque
limit input (0 to ±10V)
Select with Pr3.17.
Wiring example when control mode Pr0.01=5 or Pr3.17=1
16
19 Z-phase output (open collector)
25
24
23
49
48
22
P-ATL/TRQR 16
17
GND
GND
SPR/TRQR/SPL
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
21
IM
SP
Negative direction torque
limit input (-10 to 0V)
Positive direction torque
limit input (0 to ± 10V)
Velocity command
input (0 to ± 10V)
Z-phase output
B-phase output
A-phase output
A-phase
output
19 Z-phase output (open collector)
25
24
23
49
48
22
21
GND 15
16
P-ATL/TRQR
17
GND
N-ATL 18
SPR/TRQR/SPL
OA+
1kΩ
1kΩ
10kΩ
20kΩ 20kΩ 14kΩ
20kΩ 20kΩ 14kΩ
20kΩ
47kΩ
47kΩ
20kΩ 20kΩ 14kΩ
20kΩ
47kΩ
20kΩ
47kΩ
20kΩ
Divider
External brake release output
At-speed output
Servo-Alarm output
Servo-Ready output
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Alarm clear input
Control mode
switching input
Speed zero clamp
input
Gain switching input
Servo-ON input
30
7 COM+
33
X4
+
–
+
–
+
–
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
Wiring Example of Velocity Control Mode
VDC
12 to 24V
NOT
35 S-RDY+
34 S-RDY37
8
32 C-MODE
31 A-CLR
9 POT
ZEROSPD
28 INTSPD3
External brake release output 11
BRKOFF+
10 BRKOFF-
At-speed output
Servo alarm output
Servo-Ready output
Positive direction
over-travel inhibition input
Negative direction
over-travel inhibition input
Alarm clear input
Control mode switching
input
Speed zero clamp input 26
Selection 3 input of
internal command speed
29 SRV-ON
27 GAIN
4.7kΩ
Divider
The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
VDC
12 to 24V
Servo-ON input
Gain switching input
7 COM+
33 INTSPD1
30 INTSPD2
Wiring to the connector, X4
English
Selection 1 input of
internal command speed
Selection 2 input of
internal command speed
3. System Configuration and Wiring
3. System Configuration and Wiring
Wiring to the connector, X4
Wiring Example of Torque Control Mode
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
3. System Configuration and Wiring
Wiring to the connector, X5
Connection to Encoder
Symbol Connector
Pin No.
EX5V
1
Supply the power of external
scale or A, B, Z phase encoder.
EX0V
2
Connected to ground of control
circuit.
Power supply output
I/F of external scale
signals
Frame ground
EXPS
3
/EXPS
4
EXA
5
/EXA
6
EXB
7
/EXB
8
EXZ
9
/EXZ
10
FG
Shell
MDME 7.5kW to 15kW
MHME 7.5kW
MGME 6.0kW
Serial signal
The transmission / reception
method.
Connected with ground terminal
in the servo driver.
− B30 −
4
5
6
PS
PS
Shell (FG)
Encoder cable
Driver
• In case of 17-bit absolute encoder
MDME 7.5kW to 15kW
MHME 7.5kW
MGME 6.0kW
1) The manufacturers applicable external scales for this product are as follows.
• Mitutoyo Corp.
• Magnescale Co., Ltd.
For the details of the external scale product, contact each company.
2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
+5V
0V
Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
• Caution
If you set up the external scale ratio to smaller value than 50/position loop gain
(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larger scale ratio may result in larger noise.
X6
E5V
2
E0V
3
3
7
9
Motor
Parallel signal
reception
Correspondence speed :
4Mpps (after quadruple)
1
E5V 4
E0V 1
PS
PS
FG
Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)
Remarks
Twisted pair
English
A, B, Z phase Endoder
signal input
Contents
• In case of 20-bit incremental encoder
Regulator
Provide a power supply for the external scale on your part or use the following power
output (250mA or less).
Application
Wiring to the connector, X6
Twisted pair
E5V 4
E0V 1
6
BAT+
5
BAT−
3
PS
7
PS
9
FG
1
battery
X6
E5V
2
E0V
3
+5V
0V
4
5
6
Regulator
Connect on to External Scale
3. System Configuration and Wiring
PS
PS
Shell (FG)
Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.)
Motor
Encoder cable
Driver
Caution
The voltage of input power to encoder side connector should be in the
range 4.90 to 5.25 VDC.
Remarks
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
− B31 −
3. System Configuration and Wiring
Wiring to the connector, X7
The connector X7 of the front panel is for monitor output.
Analogue output: 2 systems
: 1 systems
Digital output
In both cases, it is possible to switch the output signal by setting parameters.
Output circuit
6
Connector X7
Manufacturer’s part No.:
530140610
Manufacturer:
Japan Molex Inc.
1
X7
Application
Symbol Connector
Pin No.
1kΩ
AM1 1
1kΩ
AM2 2
2.2kΩ
DM 4
Measuring
instrument
GND 3
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 driver in optimum condition for your
running requirements.
• 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" and PC.
Display LED (6-digit)
Switch to error display screen when error
occurs, and LED will flash (about 2Hz).
LED will flash slowly (about 1Hz) when
warning occurs.
Analogue monitor
output 2
AM2
2
Signal ground
GND
3
Connected to ground of control circuit.
4
• Output the digital signal for monitor.
• Output voltage is CMOS level
compatible.
• Output impedance is 2.2 kΩ. When
connecting a measuring instrument,
check its input circuit for impedance
matching.
NC
–
5
Do not connect.
NC
–
6
Do not connect.
6
1
X7
Mode switching button
(valid at SELECTION display)
Press this to switch 4 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Write Mode
4) Auxiliary Function Mode
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTION display.
Shifting of the digit for data
changing to higher digit.
X7
Output connector for monitor
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
.
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
power supply (particularly, the 24 VDC power supply for control, the 24 VDC power
supply for brake, and the 24 VDC power supply for regenerative resistor [for H-frame
only]), insulation is required. Do not connect these terminals to the same power supply.
− B32 −
− B33 −
English
• Output the analogue signal for
monitor.
• The amplitude of the output signal is
±10 V.
• Output impedance is 1 kΩ. When
connecting a measuring instrument,
check its input circuit for impedance
matching.
1
Remarks
Outline of Parameter
Contents
AM1
DM
Outline / Setup / Connection
Setup with the Front Panel
Analogue monitor
output 1
Digital monitor output
4. Parameter
4. Parameter
4. Parameter
Outline / Setup / Connection
Composition of Parameters
Setup with the PC
It is possible to connect your personal computer to connector X1 of MINAS A5 using a
USB cable for personal computer connection. Downloading the setup support software
“PANATERM” from our web site and installing it on your personal computer will allow
you to perform the following easily.
• With the PANATERM, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, 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.
Because no production software such as CD-ROM is available, download the setup support software from our web site and install it on your
personal computer.
Parametr No.
Class name
Group
Class
No.*
0
00 to
Basic setting
Parameter for Basic setting
1
00 to
Gain adjustment
Parameter for Gain adjustment
2
00 to
Damping control
Parameter for Damping control
3
00 to
Verocity/ Torque/
Full-closed control
Parameter for Verocity/ Torque/ Full-closed control
4
00 to
I/F monitor setting
Parameter for I/F monitor setting
5
00 to
Enhancing setting
Parameter for Enhancing setting
6
00 to
Special setting
Parameter for Special setting
* The Parameter No. consists of 2 digits.
• How to Connect
Connect to X1
(USB mini-B)
Setup support software “PANATERM”
Please download from our web site and
use after install to the PC.
• USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the
specifications of the PC.
When the cable does not have noise filter, attach a signal line noise filter (DV0P1460)
to both ends of the cable.
− B34 −
− B35 −
English
Note
• The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).
•For the details on the parameters, refer to the Operating Instructions (Overall).
5. Protective Functions
5. Protective Functions
Protective Function (What Is Error Code ?)
Protective Function (What Is Error Code ?)
Error code
Main Sub
11
12
13
14
15
16
18
21
23
24
25
26
27
28
29
30
33
0
0
0
1
0
1
0
0
0
1
0
1
0
0
0
0
1
0
2
0
0
0
0
1
2
Protective function
Control power supply under- voltage protection
Over-voltage protection
Main power supply under-voltage protection (between P to N)
Main power supply under-voltage protection (AC interception detection)
Over-current protection
IPM error protection
Over-heat protection
Over-load protection
Over-regeneration load protection
Over-regeneration Tr error protection
Encoder communication disconnect error protection
Encoder communication error protection
Encoder communication data error protection
Position deviation excess protection
Hybrid deviation excess error protection
Over-speed protection
2nd over-speed protection
Command pulse input frequency error protection
Command pulse multiplier error protection
Limit of pulse replay error protection
Deviation counter overflow protection
Safety detection
IF overlaps allocation error 1 protection
IF overlaps allocation error 2 protection
IF input function number error 1 protection
− B36 −
History
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Attribute
Can be cleared Immediate stop
○
○
○
○
○*1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Error code
Main Sub
3
4
5
33
6
7
34
0
36 0 to 2
37 0 to 2
38
0
0
1
39
2
40
0
41
0
42
0
43
0
44
0
45
0
47
0
48
0
49
0
0
50
1
0
1
2
51
3
4
5
0
1
55
2
87
0
95
0
Other number
Note
Protective function
IF input function number error 2 protection
IF output function number error 1 protection
IF output function number error 2 protection
CL fitting error protection
INH fitting error protection
Software limit protection
EEPROM parameter error protection
EEPROM check code error protection
Over-travel inhibit input protection
Analog input1 excess protection
Analog input2 excess protection
Analog input3 excess protection
Absolute system down error protection
Absolute counter over error protection
Absolute over-speed error protection
Initialization failure
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
Feedback scale connection error protection
Feedback scale communication error protection
Feedback scale status 0 error protection
Feedback scale status 1 error protection
Feedback scale status 2 error protection
Feedback scale status 3 error protection
Feedback scale status 4 error protection
Feedback scale status 5 error protection
A-phase connection error protection
B-phase connection error protection
Z-phase connection error protection
Compulsory alarm input protection
Motor automatic recognition error protection
Other error
History
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Attribute
Can be cleared Immediate stop
○
○
○
○
○
○
○
○
○
○
○
○
History...The error will be stored in the error history.
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
If the alarm clear input is not effective, turn off power, remove the cause of the
error and then turn on power again.
Immediate stop...Instantaneous controlled stop upon occurrence of an error.
(Setting of “Pr.5.10 Sequence at alarm” is also required.)
− B37 −
English
• 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 and 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 Alarm clear input(A-CLR) in 120ms or longer.
•When overload protection is triggered, you can clear it by Alarm clear input(ACLR) in 10sec or longer after the error occurs. You can clear the Overload protection time characteristics (refer to P.B40, 41) by turning off the control power supply
between L1C and L2C (200V), 24V and 0V (400V) of the driver.*1
•You can clear the above error by operating the front panel keys and setup support
softwear "PANATERM".
•Be sure to clear the alarm during stop after removing the cause of the error and
securing safety.
•The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).
<List of error code No.>
6. Maintenance and Inspections
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
Inspection Items and Cycles
Maintenance and Inspections
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
Driver
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.
Type
Daily
inspection
Periodical
inspection
Note
Cycles
Daily
Annual
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 connector
• 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 to the terminal block
• Loose fasteners on terminal block
Inspection cycle may change when the running conditions of the
above change.
− B38 −
Disassembling for inspection and repair should be
carried out only by authorized dealers or service
company.
Component
Standard replacement
cycles (hour)
Smoothing condenser
Approx. 5 years
Cooling fan
2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB)
Approx. 5 years
Rush current
preventive relay
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20,000 times
(depending on working
condition)
Bearing
3 to 5 years
(20,000 to 30,000 hours)
Oil seal
5000 hours
Encoder
3 to 5 years
(20,000 to 30,000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to
the battery for absolute
encoder.
Motor
− B39 −
Note
English
1)Turn on and turn off should be done by operators or inspectors themselves. Never
make an approach to the motor and the machine(s) driven by the motor while power is applied because they may become failure or malfunction.
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.
4)Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because
they can discolor or damage the exterior case.
5)For energy-saving purpose, the upper fan of the H-frame driver is stopped while the
servo is OFF. This is not a fault.
6. Maintenance and Inspections
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
EC Directives / Conformity to UL Standards
7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to UL Standards
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.
Overload protection time characteristics
MDME 7.5kW∼15kW
MHME 7.5kW
MGME 6.0kW
Time [s]
100
10
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.
1
EMC Directives
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
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.)
(2)Make sure to install a circuit breaker or fuse which are UL recognized (Listed
marked) between the power supply and the noise filter.
For the rated current of the circuit breaker or fuse, refer to P.B16 "Driver and List of
Applicable Peripheral Equipments" of Preparation.
Use a copper cable with temperature rating of 75˚C or higher.
(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 (see the
next page). Confirm that the effective current of the driver does not exceed the
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque
limit) and Pr5.22 (Setup 2nd torque limit).
(4)Motor over-temperature protection is not provided.
Motor over-load-temperature protection shall be provided at the final installation
upon required by the NEC (National Electric Code).
0.1
100
115
300
Torque [%]
Conformed Standards
EMC
Directives
EC Directives
Low-Voltage
Directives
Machinery
Directives
Functional
safety
UL Standards
CSA Standards
IEC
EN
EMC
UL
CSA
:
:
:
:
:
Driver
EN55011
EN61000-6-2
EN61800-3
EN61800-5-1
Motor
–
EN60034-1
EN60034-5
EN954-1 (Cat. 3)
ISO13849-1 (PL c, d*) (Cat. 3)
EN61508 (SIL 2)
–
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
UL508C
UL1004-1
(File No.E164620)
(File No.E327868)
C22.2 No.14
C22.2 No.100
International Electrotechnical Commission
Europaischen Normen
Electromagnetic Compatibility
Underwriters Laboratories
Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
* PL d: Provided that EDM is used.
− B40 −
200
English
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.
− B41 −
7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Installation Environment
Power
supply
Metallic control box
Noise filter for signal lines
Residual
current
device
(RCD)
<Dedicated to power supply cable>
Circuit
breaker
cable
Noise filter for Motor
with shield
signal lines
cable
Driver
XA L1
L2
L3
Noise filter
Surge
absorber
U XB
V
W
L1C
L2C
Noise filter for signal lines
Noise filter for signal lines
Insulated power supply
for interface
X6
X3
X4
<Dedicated to
motor cable>
Motor
M
RE
Noise filter for
signal lines
Noise filter for signal lines
Residual
current
device
(RCD)
<Dedicated to power supply cable>
Circuit
breaker
Surge
absorber
Noise filter
Insulated
DC24V
Driver
XA L1
L2
L3
Noise filter for signal lines
cable
Noise filter for Motor
with shield
signal lines
cable
24V
0V
Noise filter for signal lines
Insulated power supply
for interface
U XB
V
W
X6
X3
X4
Controller
<Dedicated to
motor cable>
Motor
M
RE
Noise filter for
signal lines
Safety
controller
Ground (PE)
Caution
Use options correctly after reading Operating Instructions of the options
to better understand the precautions.
Take care not to apply excessive stress to each optional part.
− B42 −
− B43 −
English
Power
supply
(1)This product is designed to be used in over-voltage category (installation category)
III of EN 61800-5-1:2007.
(2)Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950.
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and
marked) between power supply and noise filter.
Integral solid state short circuit protection does not provide branch circuit protection.
Branch circuit protection must be provided in accordance with the National Electrical
Code and any additional local codes.
Ground (PE)
Metallic control box
+10%
3-phase, 200V to 230V
50/60Hz
–15%
+10%
400V type : Main power supply
3-phase, 380V to 480V
50/60Hz
–15%
Control power supply DC 24V ± 15%
200V type :
Circuit Breaker
Safety
controller
Controller
400V
Composition of Peripheral Equipments
Power Supply
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in
IEC-60664-1 (e.g. Install the driver in Metaric control box with IP54 protection structure.)
200V
7. Conformity to EC Directives and UL Standards
7. Conformity to EC Directives and UL Standards
7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Composition of Peripheral Equipments
Surge Absorber
C
G-frame
H-frame
A
L1'
L2
L2'
L3
L3'
LINE
D
6.5
1
B
50
50
FS5559-60-34
FS5559-80-34
A
410
460
B
170
180
C
370
420
D
388
438
Option part No.
1.5
45
Remarks
39±1
34±1
70
314
329
6.5
329
DV0P1460
45
6.5
70
•Select a noise filter whose
capacity is commensurate
with the power source capacity (in consideration of
the load condition).
•For the detailed specifications
of each noise filter, contact the
manufacturer.
− B44 −
350
Circuit diagram
[Unit: mm]
L1
L1'
L2
L2'
L3
L3'
E
UL-1015 AWG16
<24V Power cable, Encoder cable, Interface cable and USB cable>
300
1.5
314
Manufacturer’s
part No.
Caution
Manufacturer
ZCAT3035-1330
TDK Corp.
[Unit: mm]
Mass: 62.8g
Remarks
To connect the noise filter to
the connector XB
connection cable, adjust the
sheath length at the tip of
the cable, as required.
Fix the signal line noise filter in order to prevent excessive stress to the
cables.
E
LINE
3
Install noise filters for signal lines to all cables (power cable, motor cable, encoder
cable, interface cable and USB cable)
Schaffner
<FN258-42-33>
500±10
12
3
2
1
Noise Filter for Signal Lines
Manufacturer
185
300
G, H-frame
G, H-frame
2
Okaya Electric Ind.
Circuit diagram
[Unit: mm]
13±1
<FN258-42-07>
FN258-42-07
FN258-42-33
Applicable driver
(frame)
185
3-phase 400V
3-phase 400V
Manufacturer’s
part No.
R・A・V-781BXZ-4
R・A・V-801BXZ-4
41±1
[Unit: mm]
Voltage specifications
for driver
ø4.2±0.2
LOAD
[Size]
25
140
L1
3-phase 200V
3-phase 400V
Manufacturer
English
M8
Schaffner
PE
1.5
25
95
Circuit
diagram
DV0P1450
DV0PM20050
Manufacturer
Manufacturer’s
part No.
30±1
FS5559-60-34
FS5559-80-34
Applicable driver
(frame)
5.5±1
11±1
3-phase 200V
3-phase 200V
Manufacturer’s
part No.
Voltage specifications
for driver
+30
200 -0
Voltage specifications
for driver
Option part No.
28.5±1
• Recommended components
Provide a surge absorber for the primary side of noise filter.
4.5±0.5
When you install one noise filter at the power supply for multi-axes application, consult with
manufacturer of the noise filter. If sufficient noise margin is required, connect 2 filters in series.
281
Noise Filter
LOAD
− B45 −
7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
Outline / Specifications
<Power cable>
Manufacturer’s
part No.
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.
Manufacturer
RJ8095
KK-CORP.CO.JP
130
107
[Unit: mm]
34
180
33
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
[Unit: mm]
Static
Exciting
Rotor Engaging Releasing
Permissible Permissible Permissible
current Releasing
Motor Motor friction
inertia
work (J) per total work angular
time
time
acceleration
DC A
series output torque
voltage
one braking x 103J
ms
ms
x 10–4 kg·m2
rad/s2
N·m
(at cool-off)
MGME 6.0kW
Residual current device
Install a type B Residual current device (RCD) at primary side of the power supply.
Grounding
(1)To prevent electric shock, be sure to connect the ground terminal (
) of the driver, and the ground terminal (PE) of the control panel.
(2)The ground terminal (
) must not be shared with other equipment. Two ground
terminals are provided.
Note
Note
MICROMETALS
57.2
102
T400-61D
Manufacturer
•For the brake release timing at power-on, or braking timing at Servo-OFF/ServoAlarm while the motor is in motion, refer to the Operating Instructions (Overall).
•With the parameter, Pr4.38 (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. Refer to the Operating
Instructions (Overall) for the details.
For driver and applicable peripheral equipments, refer to P.B16 "Driver
and List of Applicable Peripheral Equipments" .
− B46 −
58.8
or more
4.7
150
or less
50
or less
1.4
11kW
100
15kW or more
7.1
300
or less
140
or less
1.08
MHME 7.5kW
MDME
7.5kW
DC2V
or
more
1372
2900
5000
2000
4000
3000
•Excitation voltage is DC24V±10%.
•Releasing time values represent the ones with DC-cutoff using a varistor.
•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.
•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.)
− B47 −
English
R3.5
<Motor cable>
Manufacturer’s
part No.
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
200
7
8. Built-in Holding Brake
9. Dynamic Brake
Outline
The G-frame driver incorporates a dynamic brake to stop the motor immediately.
To use the dynamic brake, use caution about the following points.
(The H-frame driver does not incorporate the dynamic brake.)
Caution
9. Dynamic Brake
Connections of external dynamic brake resistor (Example)
G-frame, 200 V
Mains
Residual
current device
1.Dynamic brake is only for emergency stop.
L1C
L2C
L1
Do not start/stop the motor by turning on/off the Servo-ON
signal (SRV-ON). Otherwise it may damage the dynamic brake
circuit of the driver.
L2
L3
L3
Resistance specifications per piece Quantity of
use
Resistance
Electric power
1.2Ω
400W
3 pcs.
4.8Ω
400W
3 pcs.
For example of characteristic of the dynamic brake, refer to operating Instructions (Overall).
− B48 −
X2
L 2C
X3
NC
NC
X4
DB1
B2
DB2
NC
U-phase
V-phase
W-phase
NC
X5
U
NC
X6
V
W
DB3
DB4
NC
CHARGE
(Auxiliary contact (*1))
Thermal fuse
(one fuse for each resistor)
(to be supplied by customer)
English
Driver
Frame
Voltage
G, H
200V
G, H
400V
X1
L1C
B1
The Motor becomes a dynamo when driven externally and
short circuit current occurred while dynamic brake is activated
may cause smoking or fire.
2.Dynamic brake is a short-duration rating, and designed for only
emergency stop. Allow approx. 10 minutes pause when the dynamic
brake is activated during high-speed running.
(The G-frame built-in dynamic brake resistor is capable of handling up
to 3 continuous halts at the rated speed with max. permissible inertia.
When overheated under more critical operating conditions, the brake
will blow out and should be replaced with a new one.)
•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 (NOT, POT) of connector X4 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 released.
•If the built-in dynamic brake resistor of the G-frame driver is insufficient, external dynamic brake resistors can be connected.
•For the H-frame driver, external dynamic brake resistors can be
connected.
Connections of the external dynamic brake resistors are the
same as those of the G-frame driver. (The DB3 and DB4 terminals are not provided.)
•Use the following resistors as the external dynamic brake resistors. (To be prepared by user)
NC
L1
L2
Before shipping,
a shorting bar is
connected across
DB3 and DB4. 24 VDC power supply
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units together with this.
Remarks
• Use the same magnetic contactor as that of
the main circuit.
• Provide an auxiliary contact (*1) for protection,
so that the servo does not turn on with an
external sequence when the dynamic brake
resistor is fused.
Dynamic Brake Resistor (to be supplied by customer)
Remarks
• When you use an external dynamic brake resistor,
install an external protective apparatus, such as
thermal fuse without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• Do not use an external dynamic brake resistor
together with the built-in resistor.
• Provide one dynamic brake resistor for each phase.
• When using an external dynamic brake, be sure to
use the resistor. Do not make short circuit.
− B49 −
for brake
(to be supplied by
customer)
Terminals DB1, DB2, DB3 and DB4
• To connect an external dynamic
brake resistor, disconnect the
shorting bar between DB3 and DB4.
• Connect a magnetic contactor (for
control) for the external dynamic
brake between L1C and DB1.
• Provide an external protective device
(e.g. thermal fuse) between DB2 and
LC2.
Remarks
• The voltage applied across DB1
and DB2 must be 300 VAC or
below or 100 VDC or below.
Pin NC
• Do not connect anything.
10. Check of the Combination of the Driver and the Motor
9. Dynamic Brake
Connections of external dynamic brake resistor (Example)
Incremental Specifications, 20-bit
This driver 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.
G-frame, 400 V
Neutral point
Mains
Residual
current device
* Use a power
supply with
5 A or larger
capacity.
24 VDC power supply
for control
(to be supplied by customer)
24V
0V
L1
L1
L2
L2
Caution
X1
24V
X2
L3
0V
X3
L3
B1
NC
X4
DB1
DB2
NC
U-phase
V-phase
W-phase
Power
supply
NC
3-phase,
200V
X5
U
NC
X6
V
Type
Motor
Rated rotational
speed
DB3
DB4
W
NC
CHARGE
3-phase,
400V
MDMEC12G1*
MDME
Middle inertia
1500r/min
Before shipping,
a shorting bar is
connected across
DB3 and DB4. 24 VDC power supply
Magnetic Contactor (MC)
Turns on/off the dynamic brake resistor.
Use coil surge suppression units together with this.
Remarks
• Use the same magnetic contactor as that of
the main circuit.
• Provide an auxiliary contact (*1) for protection,
so that the servo does not turn on with an
external sequence when the dynamic brake
resistor is fused.
Dynamic Brake Resistor (to be supplied by customer)
Remarks
• When you use an external dynamic brake resistor,
install an external protective apparatus, such as
thermal fuse without fail.
• Mount the dynamic brake resistor on incombustible
material such as metal.
• Do not use an external dynamic brake resistor
together with the built-in resistor.
• Provide one dynamic brake resistor for each phase.
• When using an external dynamic brake, be sure to
use the resistor. Do not make short circuit.
− B50 −
for brake
(to be supplied by
customer)
3-phase,
400V
3-phase,
200V
3-phase,
400V
Note
7.5kW
11.0kW
MDMEC52G1* 15.0kW
MDME754G1*
7.5kW
MDMEC14G1*
11.0kW
MGME
Middle inertia
MHME
High inertia
1000r/min
1500r/min
MGME602G1*
MGME604G1*
MHME752G1*
MHME754G1*
6.0kW
7.5kW
Driver
Model
Frame
MGDHTC3B4 G-frame
MHDHTC3B4
H-frame
MGDHTB4A2 G-frame
MHDHTB4A2
H-frame
English
Thermal fuse
(one fuse for each resistor)
(to be supplied by customer)
3-phase,
200V
Rated
output
MDMEC54G1* 15.0kW
400V
(Auxiliary contact (*1))
Model
MDME752G1*
NC
B2
L1C
Do not use in other combinations than those listed below.
NC
MGDHTC3B4
MGDHTB4A2
MGDHTC3B4
G-frame
MGDHTB4A2
Suffix of " * " in the applicable motor model represents the motor structure.
Terminals DB1, DB2, DB3 and DB4
• To connect an external dynamic
brake resistor, disconnect the
shorting bar between DB3 and DB4.
• Connect a magnetic contactor (for
control) for the external dynamic
brake between L1C and DB1.
• Provide an external protective device
(e.g. thermal fuse) between DB2 and
the neutral point.
Remarks
• The voltage applied across DB1
and DB2 must be 300 VAC or
below or 100 VDC or below.
Note
• L1C is connected after the R-phase
of the noise filter.
• L1C is not indicated on the driver body.
Pin NC
• Do not connect anything.
− B51 −
10. Check of the Combination of the Driver and the Motor
11. Specifications
Absolute Specifications, 17-bit
Caution
Power
supply
3-phase,
200V
3-phase,
400V
3-phase,
200V
3-phase,
400V
Note
Model
MDME752S1*
MDME
Middle inertia
MGME
Middle inertia
MHME
High inertia
1500r/min
1000r/min
1500r/min
Rated
output
7.5kW
MDMEC12S1*
11.0kW
MDMEC52S1*
15.0kW
MDME754S1*
7.5kW
MDMEC14S1*
11.0kW
MDMEC54S1*
15.0kW
MGME602S1*
MGME604S1*
MHME752S1*
MHME754S1*
6.0kW
7.5kW
Driver
Model
Frame
MGDHTC3B4 G-frame
MHDHTC3B4
MGDHTC3B4
400V
Control circuit Main circuit *1 Control circuit
Control method
Encoder feedback
Feedback scale feedback
H-frame
MGDHTC3B4
MGDHTB4A2
200V
H-frame
MGDHTB4A2 G-frame
MHDHTB4A2
Main circuit G-frame
MGDHTB4A2
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 Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
Control
signal
Analog
signal
Pulse
signal
Communication
function
Safety function
Input
Output
Input
Output
Input
Output
USB
RS232
RS485
Front panel
Regeneration resistor
Dynamic brake resistor
Control mode
Single phase, 200 to 230V
Single phase, 380 to 480V
3-phase, 200 to 230V
DC24V±15%
IGBT PWM Sinusoidal wave drive
17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd.
General purpose 10 inputs
The function of general-purpose input is selected by
parameters.
General purpose 6 outputs
The function of general-purpose input is selected by parameters.
3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
2 outputs (Analog monitor: 2 output)
2 inputs (Photo-coupler input, Line receiver input)
4 outputs ( Line driver: 3 output、open collector: 1 output)
Connection with PC etc.
1 : 1 communication
1 : n communication up to 31 axes to a host.
Used for IEC61800-5-2: STO.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2ch), Digital
monitor output (1ch))
no built-in regenerative resistor (external resistor only)
G-frame: Built-in (external resistor is also available) H-frame: External only
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control
(4) Position/Velocity control (5) Position/Torque control
(6) Velocity/Torque control (7) Full-closed control
*1 The specification out of Japan.
− B52 −
+ 10%
50/60Hz
- 15%
+ 10%
50/60Hz
- 15%
+ 10%
50/60Hz
- 15%
− B53 −
English
3-phase,
400V
Type
Motor
Rated rotational
speed
Parallel I/O connector
3-phase,
200V
Do not use in other combinations than those listed below.
Input power
This driver 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.
Basic Specifications
11. Specifications
11. Specifications
Functions
Functions
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output
Positioning complete (In-position) etc.
Position control
Pulse
input
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input
1/1000 to 1000 times
Smoothing filter
Primary delay filter or FIR type filter is adaptable to the
command input
Torque limit
command input
Individual torque limit for both positive and negative direction
is enabled.
Torque feed
forward input
Analog voltage can be used as torque feed forward input.
Instantaneous Speed
Observer
Available
Damping Control
Available
Control input
(1) Selection of internal velocity setup 1
(2) Selection of internal velocity setup 2
(3) Selection of internal velocity setup 3
(4) Speed zero clamp etc.
Control output
Speed arrival etc.
Torque limit
command input
Individual torque limit for both positive and negative direction
is enabled.
Torque feed
forward input
Analog voltage can be used as torque feed forward input.
Internal velocity command
Switching the internal 8speed is enabled by command input.
Soft-start/down function
Individual setup of acceleration and deceleration is enabled,
with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration
is also enabled.
Zero-speed clamp
Speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
Velocity Control filter
Available
− B54 −
Speed zero clamp, Torque command sign input etc.
Control output
Speed arrival etc.
Analog
input
Speed command input can be provided by means of analog
Torque command voltage.
Parameters are used for scale setting and command
input
polarity.
Speed limit function
Speed limit value with parameter t is enabled.
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output
Full-closed positioning complete etc.
Pulse
input
Analog
input
Common
Velocity control
Analog
input
Velocity
command input
Speed command input can be provided by means of analog
voltage.
Parameters are used for scale setting and command
polarity.
Control input
Max. command
pulse frequency
Exclusive interface for Photo-coupler: 500kpps
Exclusive interface for line driver : 4Mpps
Input pulse
signal format
Differential input
Electronic gear
(Division/
Multiplication of
command pulse)
1/1000 to 1000 times
Smoothing filter
Primary delay filter or FIR type filter is adaptable to the
command input
Torque limit
command input
Individual torque limit for both positive and negative direction
is enabled.
Torque feed
forward input
Analog voltage can be used as torque feed forward input.
Setup range of division/
multiplication of
feedback scale
1/40 to 160 times
Auto tuning
The load inertia is identified in real time by the driving
state of the motor operating according to the command
given by the controlling device and set up support software
“PANATERM”. The gain is set automatically in accordance
with the rigidity setting.
Division of encoder
feedback pulse
Set up of any value is enabled (encoder pulses count is the
max.).
Protective
function
Hard error
Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error
Excess position deviation, command pulse division error,
EEPROM error etc.
Traceability of alarm data
The alarm data history can be referred to.
− B55 −
English
Electronic gear
(Division/
Multiplication of
command pulse)
Full-closed control
Analog
input
Max. command
pulse frequency
Torque control
Control input
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 manufacturer or the dealer of the machine or equipment.
Cautions for Proper Use
− B56 −
Technical information
Technical information of this product (Operating Instructions, 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
For your records:
The model number and serial number of this product can be found on either the back or the
bottom of the unit. Please note them in the space provided and keep for future reference.
Model No.
□DH M□ME M
Serial No.
Date of
purchase
Name
Dealer
Address
Phone
( ) -
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2010
− B57 −
English
• Practical considerations for exporting the product or assembly containing the product
When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and
Foreign Trade Control Law. Complete review of the product to be exported and export formalities should be practiced.
• 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.
• Installation, wiring, operation, maintenance, etc., of the equipment should be done
by qualified and experienced personnel.
• Apply adequate tightening torque to the product mounting screw by taking into
consideration strength of the screw and the characteristics of material to which the
product is installed. Overtightening can damage the screw and/or material; undertightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7-3.3 N·m.
• 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 sulfur
or sulfric gases, as sulfuration 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.
• The user is responsible for matching between machine and components in terms
of configuration, dimensions, life expectancy, characteristics, when installing the
machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• The product will not be guaranteed when it is used outside its specification limits.
• Parts are subject to minor change to improve performance.
MEMO
MEMO
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2010
Printed in China
IME15+A
A1010-1111
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