Operating Instructions (Basic) AC Servo Motor & Driver MINAS A5-series (400V) •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 Motor Business Unit, 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 page Wiring to the Connector, X5 . ........................ B25 Wiring to the Connector, X6 . ........................ B26 Wiring to the Connector, X7 . ........................ B28 On Opening the Product Package................... B2 Check of the Driver Model............................... B2 Check of the Motor Model............................... B3 4. Parameter................................... B29 Driver............................................................... B4 Motor................................................................ B6 5. Protective Functions................. B32 2. Installation................................... B4 3.System Configuration and Wiring............................................ B8 Overall Wiring (Connector type)...................... B8 Overall Wiring (Terminal block type)..................B10 Driver and List of Applicable Peripheral Equipments..... B12 Wiring of the Main Circuit (Connector type)......... B14 Wiring of the Main Circuit (Terminal block type).... B15 Wiring method to connector.............................. B16 Wiring Diagram.............................................. B18 Wiring of connector for motor and brake....... B19 Wiring to the Connector, X1 . ........................ B20 Wiring to the Connector, X2 . ........................ B20 Wiring to the Connector, X3 . ........................ B21 Wiring to the Connector, X4 . ........................ B22 Outline / Setup / Connection.......................... B29 Composition of Parameters........................... B31 Protective Function (What Is Error Code ?)....... B32 6. Maintenance and Inspections..... B34 7. Conformity to EC Directives and UL Standards...................... B36 Composition of Peripheral Equipments......... B38 8. Built-in Holding Brake............... B42 9. Dynamic Brake.......................... B44 10. Check of the Combination of the Driver and the Motor............. B45 Incremental Specifications, 20-bit................ B45 Absolute Specifications, 17-bit.................... B46 11. Specifications.......................... B47 After-Sale Service (Repair)........... B50 IMD89+A English * This product image is 1.5kW type of A5-series. 1. Introduction Check of the Motor Model 1. Introduction Contents of Name Plate On Opening the Product Package •Make sure that the model is what you have ordered. •Check if the product is damaged or not during transportation. •Check if the Operating Instructions (safety) are included or not. •Check if the power connector, motor connectors, connector for external regenerative resistor connection (only D and E-frame) and safety by-pass plug are included or not. (Neither the power connector nor motor connector are included to F-frame.) Model AC SERVO MOTOR Model No. MSME104G1C Rated input 3.3 A INPUT 3φAC 194 V voltage/current RATED OUTPUT 1.0 kW CONT. TORQUE 3.18 N . m RATED FREQ. 250 Hz RATED REV. 3000 r/min IP67 CONNECTION S1 RATING Rated output THERMAL CLASS F SER. No. 10040001N Rated frequency 20100401 Made in China Manufacture date e.g.) : 20100401 Manufacture year Manufacture date Manufacture month Input/output voltage P10040001N Number of phase 20100401 M D D H T 2 4 0 7 Symbol Frame MDDH A5-series, D-frame MEDH A5-series, E-frame MFDH A5-series, F-frame 7 8 to 9 Type Symbol MSME MDME 10 to 12 Max. current rating of power device Symbol Current rating Power supply 15A T2 Symbol Specifications 30A T3 4 3-phase, 400V 35A T4 50A T5 100A TA − B2 − 04 06 08 09 10 15 Lot number Month of production Year of production (Lower 2 digits of AD year) Model Designation Frame-size symbol 8 9 Symbol Output Symbol Output Serial Number e.g.) : P10040001N Manufacture date e.g.) : 20100 4 0 1 Manufacture year Manufacture date Manufacture month 5 to 6 7 Motor rated output Model number 1 to 4 5 to 6 MFME Special specifications (letters and numbers) Current detector rating Symbol Current rating 7.5A 07 12A 12 20A 20 30A 30 40A 40 64A 64 MGME MHME 400W 600W 750W 0.9kW 1.0kW 1.5kW 20 25 30 40 45 50 Specifications Low inertia (750W to 5.0kW) Middle inertia (400W to 5.0kW) Middle inertia (1.5kW to 4.5kW) Middle inertia (0.9kW to 4.5kW) High inertia (1.0kW to 5.0kW) 2.0kW 2.5kW 3.0kW 4.0kW 4.5kW 5.0kW 10 11 to 12 Special specifications Design order Voltage specifications Symbol Specifications 4 400 V Motor structure Symbol Specifications 1 Standard Connector for encoder : N/MS3102A20-29P C IP65 motor 0.9 kW to 5.0 kW only selectable ( ) 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 MSME, MDME, MFME, 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 S M E 1 0 4 G 1 C Check of the Driver Model Input/output frequency Serial Number e.g.) : 100 4 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. Mounting Direction and Spacing 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. Environmental Conditions Item Storage temperature*1 Storage humidity Vibration Altitude Conditions *1 Extreme temperatures are permissible 0˚C to 55˚C (free from freezing) only for short period such as during trans20% to 85% RH (free from condensation) portation. –20˚C to 65˚C (Max.temperature guarantee: *2 Air containing water 80˚C for 72 hours free from condensation*2) vapor will become saturated with water 20% to 85% RH (free from condensation*2) vapor as the temperLower than 5.88m/s2 (0.6G), 10 to 60Hz ature falls, causing Lower than 1000m dew. How to Install 1)Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation. 2) Base mount (rear mount) is standard for D-frame driver. 3) To change the mounting surface of D-frame driver, use the optional mounting fixture. For choosing the correct optional mounting fixture, refer to the Operating Instructions (Overall). 4) 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. 5) 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, D to F-frame: M5 2.7 to 3.3 N·m D-frame Basemount (Standard) [Rear mount] Frontmount [Use mounting fixture] E, F-frame Front or Basemount [Use mounting fixture] <E-frame> Fastening torque of earth screws (M4) to be 0.7 to 0.8 N • m. <F-frame> Fastening torque of earth screws (M5) to be 1.4 to 1.6 N • m. Mounting fixture (optional parts) Fastening torque of earth screws (M4) to be 0.7 to 0.8 N • m. − B4 − Mounting fixture (Attachment) Note Control panel Fan 10mm or more Direction of air flowing from the internal cooling fan (D/E/F frame) 100mm or more 10mm or more 40mm or more 100mm or more It is recommended to use the conductive paint when you make your own mounting fixture, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure. Caution on Installation •We have been making the best effort to ensure the highest quality, however, application of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. •If stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or a round terminals. If stranded wires are used as they are, unexpected accidents such as an electric shock and short circuit or injury may result. (Refer to P.B16. “Wiring method to connector”.) •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 install a no-fuse breaker in the power supply. In addition, be sure to ground the grounding terminal or ground wire provided. 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 Ambient temperature Ambient humidity •Reserve enough surrounding space for Fan effective cooling. •Install fans to provide uniform distribution of temperature in the control panel. 40mm 10mm or or •D/E/F frame is promore more vided with a cooling fan at the bottom. •Observe the environmental conditions of the control panel described in the previous page. 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 Storage temperature*2 free from condensation*4) Storage humidity 20% to 85% RH (free from condensation*4) Vibration Motor only Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall Impact Motor only Lower than 98m/s2 (10G) Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin rating (Connector type) part of the motor connector and the encoder 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. How to Install You can mount the motor either horizontally or vertically as long as you observe the followings. 1)Horizontal mounting • Mount the motor with cable outlet facing downward for water/oil countermeasure. 2)Vertical mounting •Use the motor with oil seal when mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor. − B6 − 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 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. − B7 − 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 (Connector type) Connecting Example of D, E-frame, 400 V type • Apply the voltage designated on the nameplate from the power source. Mains Residual current device 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). • Wiring of Main Connector (XA) * Use a power supply with 2 A or larger capacity. 24 VDC power supply for control (to be supplied by customer) PC (to be supplied by customer) Wiring to Connector, X7 • Monitor output Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.B17 for connection.) Setup support software “PANATERM” Please download from our web site. Wiring to Connector, X1 • Connection to Control power • Connection to PC or host controller 24V 0V Wiring to Connector, X2 • Connection to RS232, RS485 or host controller Wiring to Connector, XA • Connection to input power Wiring to Connector, X3 L1 (Pin-3) L2 (Pin-2) L3 (Pin-1) 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. • Connection to Safety by-pass plug (Refer to P.B21) Short circuit wire (B2-B3) Wiring to Connector, X4 • Connection to host controller Wiring to Connector, XB Wiring to Connector, X5 • Connection to motor Wiring to Connector, XC • Connection to external components Reactor (L) Reduces harmonic current of the main power. B1 (Pin-4) B2 (Pin-2) • Wiring of Motor Connector (XC) 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. − B8 − • Connection to external scale U-phase(red) V-phase(white) W-phase(black) Wiring to Connector, X6 • Connection to encoder * These colors are used for optional cable. Ground terminal Ground (earth) Charg lamp (Red LED)*1 Junction cable for motor Connection to motor driving phase and ground Junction cable for motor DC Power supply for brake DC24V (to be supplied by customer) Junction cable for encoder 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. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. − B9 − English Noise Filter (NF) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Pin B1 (4-pin), B2 (2-pin), and B3 (3-pin) • B2 and B3 to be kept shorted for normal operation. • When you connect an external regenerative resistor, disconnect a short circuit wire between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2. Overall Wiring (Connector type) : High voltage Wiring to Connector, XD Circuit Breaker (MCCB) To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 3. System Configuration and Wiring 3. System Configuration and Wiring Overall Wiring (Terminal block type) Connecting Example of F-frame, 400 V type • 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). Mains Residual current device Overall Wiring (Terminal block type) : High voltage * Use a power supply with 2 A or larger capacity. PC (to be supplied by customer) 24 VDC power supply for control (to be supplied by customer) Wiring to Connector, X7 • Monitor output Connection with control power supply • Wiring of the Main Circuit Circuit Breaker (MCCB) To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. Wiring to Connector, X1 Wiring to Connector, X2 Connection with input power supply • Connection to RS232, RS485 or host controller L1 L2 L3 Wiring to Connector, X3 Wiring to Connector, X4 Connection to external components B1 Reactor (L) Reduces harmonic current of the main power. 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. − B10 − • Connection to host controller U-phase (red) V-phase (white) W-phase (black) Wiring to Connector, X5 • Connection to external scale Wiring to Connector, X6 • Connection to encoder * These colors are used for optional cable. Junction cable for encoder Ground terminal Ground (earth) Charg lamp (Red LED)*1 Junction cable for motor Connection to motor driving phase and ground Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) 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. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. − B11 − English • Connection to Safety by-pass plug (Refer to P.B21) Short bar (B2-B3) 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. Setup support software “PANATERM” Please download from our web site. • Connection to PC or host controller 24V 0V Noise Filter (NF) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Pin B1, B2 and B3 • B1 and B2 to be kept shorted for normal operation. • When you connect an external regenerative resistor, disconnect a short bar between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2. Pin NC • Do not connect anything. 3. System Configuration and Wiring 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 Applicable motor Voltage Rated output Required Circuit Power breaker at the rated (rated load) (current) MDME 600W approx. 1.2kVA MSME 750W approx. 1.6kVA 3-phase, 1.0kW MDDH MDME 400V MHME approx. 1.8kVA MSME 10A ／ 3-phase )( FN258L16-07 Recommended ( component ) Single phase ／ 3-phase DV0PM 20050 ) Noise filter for signal DV0P1460 ( Rated operating current of magnetic contactor Contact configuration 20A (3P+1a) 2.0mm2/ AWG14 600VAC or more 0.9kW MGME MSME MDME MFME approx. 2.3kVA 2.0kW approx. 3.3kVA MHME MSME MDME MEDH MHME 3-phase, 400V MFME 2.5kW approx. 3.8kVA MGME 2.0kW approx. 3.8kVA 3.0kW approx. 4.5kVA 15A FN258L16-07 Recommended ( component ) DV0PM 20050 DV0P1460 Crimp terminal for main circuit terminal block Diameter and withstand voltage of control power supply cable 0.52mm2/ AWG20 100VAC or more Crimp Diameter terminal and for control withstand power voltage supply of motor terminal cable block *1 Diameter and withstand voltage of brake cable MDME MSME MHME MFME approx. 6.0kVA 4.5kＷ approx. 6.8kVA 5.0kW approx. 7.5kVA MSME Motor/brake connector.....P.B19 “Wiring of connector for motor and brake” Frame Terminal name 24V、0V L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W Terminal block Terminal cover screw fastening screw Fastening Fastening Nominal Nominal torque torque size size (*1) (N•m) (N•m) (*1) M3 0.4 to 0.6 M3 0.19 to 0.21 M4 0.7 to 1.0 • Fastening torque list (Ground terminal screw/Connector to host controller (X4)) 30A FN258L30-07 Recommended ( component ) DV0PM 20050 DV0P1460 60A (3P+1a) 3.5mm2/ AWG12 600VAC or more 7mm or smaller 0.75mm2/ AWG18 ø3.2 100VAC Terminal Terminal or more block block M4 M3 ø4.3 Terminal block Connector to host screw controller (X4) Fastening Fastening Nominal Nominal torque torque size size (N•m) (*1) (N•m) (*1) Driver frame 3.5mm2/ AWG12 600VAC or more D, F F MGME MDME Noise filter for signal........P.B40 “Composition of Peripheral Equipments” Driver F400V 10mm or smaller 3-phase, 4.0kW 400V Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition). •Terminal block and 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) 0.75mm2/ AWG18 100VAC or more MHME MFDH MDME Noise filter........................P.B39 “Composition of Peripheral Equipments” Surge absorber................P.B39 “Composition of Peripheral Equipments” Remarks MSME MGME • 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 marked). Standards and UL recognized (Listed and Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product. 2.0mm2/ AWG14 600VAC or more 30A (3P+1a) Reference page M4 0.7 to 0.8 M5 1.4 to 1.6 M2.6 0.3 to 0.35 (*1) MHME *1 The diameter of the ground cable must be equal to, or larger than that of the motor cable. •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. Caution 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. − B12 − − B13 − English 1.5kW ) Diameter and withstand voltage of main circuit cable Connection to exclusive connector 400W Single phase Surge absorber Connection to exclusive connector MDME approx. 0.9kVA ( Noise filter 3. System Configuration and Wiring 3. System Configuration and Wiring Wiring of the Main Circuit (Connector type) Wiring of the Main Circuit (Connector type) D, E-frame F-frame •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 power connector (XA, XB, XC and XD) to which high voltage is applied. There is a risk of electric shock. • Tips on Wiring 1)Wire connector (XA, XB, XC and XD). 2)Connect the wired connector to the driver. Fully insert the connector to the bottom until it clicks. 2 1 DC 24V NF MC L 3 2 1 4 3 2 1 0V XD L1 L2 L3 XA B1 B3 • Direct power supply for control circuit. • 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. • AC 3-phase power supply 400V for main circuit. • Don't disconnect the shorting cable between B2 and B3. Disconnect this only when the external N regenerative register is used. XC • Do not connect anything to N. • Match the colors of the motor lead wires to those of U Red 3 U the corresponding motor output terminals (U,V,W). • Avoid shorting and grounding. Don't connect V 2 V White the main power. 1 W • Earth-ground this. W Black XB • To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground Green or E Green/yellow terminal (ground plate) of the control panel. • The ground terminal ( ) must not be shared with * These colors are used for other equipment. optional cable. Two ground terminals are provided. Motor • Don't connect the earth cable to other inserting Ground resistance: 100 Ω max. For applicable wire, refer to P.B12. slot, nor make them touch. • Compose a duplex Brake Control Circuit so that the brake can also be activated by an external DC power supply immediate stop signal. DC • The holding brake has no polarities. 24V for brake • For the holding brake power supply capacity and how to use the brake, refer to “Specifications of Varistor Built-in Holding Brake” on P.B43. • Provide a varistor. Fuse (125V 10A) Connect a 10A fuse in series with the varistor. B2 − B14 − • Tips on Wiring 1)Take off the cover fixing screws, and detach the terminal cover. 2)Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, refer to “Driver and List of Applicable Peripheral Equipments” (P.B12). Tighten the terminal block screw with a torque written on P.B13. 3)Attach the terminal cover, and fix with screws. Tighten the screw securing the cover with a torque written on P.B13. • Direct power supply for control circuit. • Check the name plate of the driver for power specifications. 0V • 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 L1 Magnetic Contactor recommended by manufacturer. Never Power RCD MCCB NF MC L L2 supply start/stop the motor with this Magnetic Contactor. • Provide an AC Reactor. L3 • AC 3-phase power supply 400V for main circuit. B1 • Don't disconnect the short bar between B2 and B3. Disconnect this only when an external regenerative B3 register is used. • Do not connect anything to NC. B2 • Match the colors of the motor lead wires to those of the NC corresponding motor output terminals (U,V,W). U • Avoid shorting and grounding. Red U Don't connect the main power. V White V • Earth-ground this. W • To prevent electric shock, be sure to connect the ground Black W terminal ( ) of the driver, and the ground terminal (ground Green or E plate) of the control panel. Green/yellow • The ground terminal ( ) must not be shared with other * These colors equipment. are used for Two ground terminals are provided. optional cable. Motor • Don't connect the earth cable to other inserting slot, nor make them touch. Ground resistance: 100 Ω max. For applicable wire, refer to P.B12. • Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal. DC power • The holding brake has no polarities. DC supply • For the holding brake power supply capacity and how to 24V use the brake, refer to “Specifications of Built-in Holding for brake Brake” on P.B43. Varistor • Provide a varistor. Connect a 10A fuse in series with the varistor. Fuse (125V 10A) DC 24V 24V − B15 − English Power RCD MCCB supply 24V •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. 3. System Configuration and Wiring Wiring method to connector •Follow the procedures below for the wiring connection to the Connector XA , XB , XC and XD . How to connect 1. Peel off the insulation cover of the cable. •For single wire (Please obey the length in figure.) 8 to 9 mm Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.) Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.) 1) Peel off the sheath of the cable conduc- ① A≧B A≦B＋C A B tor portion to the length equal to that of sheath on the ferrule. 2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool. ② • Part No. of the crimping tool: YNT-1614 (for VTUB-2, NTUB-2) YNT-2622 (for VTUB-0.5) Available from J.S.T. Mfg. Co., Ltd Wiring method to connector XD • Cables Compatible with Connector Conductor Size AWG24 to 20 Sheath Outline φ1.2 to φ2.6 mm • Recommended Connector Bar Terminal Conductor Size AWG24 to 22 Terminal Model Number VTUB-0.5 (J.S.T. Mfg. Co., Ltd) XA, XB, XC • Cables Compatible with Connector Conductor Size AWG18 to 12 Sheath Outline φ2.1 to φ4.2 mm • Recommended Connector Bar Terminal Conductor Size AWG16 to 14 Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd) Caution •When peeling off the sheath of the cable, take care not to damage other portions. •When crimping the ferrule, sufficiently check the status of the ferrule and cable. If the conductors of the cable stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents such as an electric shock and fire from a short circuit may result. 2.Insert the cable (the ferrule) to the connector in the following 2 methods. (a) Insert the cable using the supplied handle lever. (b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm). C Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring. Insert the peeled cable (the ferrule) while pressing down the lever, until it hits the insertion slot (round hole). Release the lever. * You can pull out the cable by pushing down the spring as the above. Caution − B16 − •Take off the connector from the Servo Driver before making connection. •Insert only one cable into each one of cable insertion slot. •Pay attention to injury by screw driver. − B17 − English •For stranded wires (ferrules must be used as illustrated below). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.) 1) Peel off the sheath so that the conductor ① A B A＞B portion of the cable will protrude from the tip of the ferrule. (It should protrude 1 mm or more from the ferrule.) 1mm or more ② 2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool. 3) After crimping, cut off the cable conductor ③ portion protruding from the ferrule. (The allowable protruding length after cutting should be 0 to 0.5 mm.) •Part No. of the crimping tool: CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd. 3. System Configuration and Wiring 3. System Configuration and Wiring 3. System Configuration and Wiring Compose the circuit so that the main circuit power will be shut off when an error occurs. •When the motors of <MSME, MDME, MFME, MGME, MHME> are used, they are connected as shown below. Wiring Diagram In Case of 3-Phase, D, E-frame, 400 V type Power supply 3-phase, 380V –15% to 480V +10% ON ALM OFF MC Built-in thermostat of an external regenerative resistor (light yellow) Wiring of connector for motor and brake Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the motor.) <without Brake> Coil surge suppression units Insulated + Note 1) 24V 0V − MCCB Noise filter DC24V L L1 L2 L3 MC B1 B3 B2 N External regenerative resistor (Remove the short wire when you connect the external regenerative resistor.) Motor 37 Insulated + DC12 to 24V − (±5%) 36 Motor connection X4 Note 1) Shielding the circuit is recommended for the purpose of noise reduction. ALM− Remarks Power supply 3-phase, 380V –15% to 480V +10% ALM OFF B PIN No. Application A U-phase V-phase B W-phase C Ground D XB In Case of 3-Phase, F-frame, 400 V type ON C A B C E G H A B C F I JL04V-2E24-11PE-B-R JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R XC ALM+ A D XA Main power supply ALM D MC PIN No. Application A NC NC B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I Do not connect anything to NC. Built-in thermostat of an external regenerative resistor (light yellow) Coil surge suppression units Insulated + Note 1) − MCCB Noise filter DC24V L MC External regenerative resistor (Remove the short wire when you connect the external regenerative resistor.) Motor Insulated + DC12 to 24V − (±5%) Note 24V 0V L1 L2 L3 B1 B3 B2 NC U V W Control power supply Main power supply Motor connection ALM 37 36 ALM+ ALM− X4 Note 1) Shielding the circuit is recommended for the purpose of noise reduction. For wiring the motor connector, refer to next page. − B18 − − B19 − D E G H F I JL04V-2E24-11PE-B-R PIN No. Application A Brake Brake B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I English U V W XD Control power supply <with Brake> 3. System Configuration and Wiring 3. System Configuration and Wiring This is used for USB connection to a personal computer. It is possible to change the parameter setting and perform monitoring. A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal times. When controlling the safety function from the connected host controller, accessory connector cannot be used. Prepare and wire the connector (option) as specified below. 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, X1 Application USB signal terminal Caution Symbol Connector Pin No. Contents VBUS 1 D− 2 D＋ 3 — 4 Do not connect. GND 5 Connected to ground of control circuit. Use for communication with personal computer. Application Use commercially available USB mini-B connector for the driver. 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. Symbol Connector Pin No. Contents Signal ground GND 1 Connected to ground of control circuit. NC – 2 Do not connect. TXD 3 RXD 4 RS232 The transmission / reception method. 485− 5 485+ 6 485− 7 485+ 8 FG Shell RS232 signal RS485 signal Frame ground NC Safety input 1 Safety input 2 EDM output Frame ground – 1 – 2 SF1− 3 SF1+ 4 SF2− 5 SF2+ 6 EDM− 7 EDM+ 8 FG Shell Contents Do not connect. These are two independent circuits that turn off the operation signal to the power module to shut off the motor current. This is an output for monitoring the failure of the safety function. Connected with protective earth terminal in the servo driver. Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP) [Connector pin assignment] 8 6 4 2 7 5 3 1 (Viewed from cable) RS485 The transmission / reception method. Connected with protective earth terminal in the servo driver. Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP) Remarks [Connector pin assignment] 8 6 4 2 7 5 3 1 Symbol Connector Pin No. Caution (Viewed from cable) − B20 − 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. Disconnecting this connector during operation results in immediate stop. − B21 − English 3. System Configuration and Wiring Application Wiring to the connector, X3 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. − B22 − Zero speed detection output ZSP PULSH2 PULSH1 Remarks NOT ALM+ ALM39 AT-SPEED+ 38 AT-SPEED- 36 35 S-RDY+ 34 S-RDY37 8 32 C-MODE 31 A-CLR 9 POT − B23 − 40 TLC FG 47kΩ 47kΩ X4 1kΩ 1kΩ 10kΩ 20kΩ 20kΩ 14kΩ 10kΩ 20kΩ 20kΩ 14kΩ 20kΩ 47kΩ 47kΩ 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 50 ZSP 41 COM- Zero speed detection output 12 Torque in-limit output 4.7kΩ X4 – – + + – 220Ω 2.2kΩ 220Ω PULS1 5 2 4 3 1 GND IM SP N-ATL GND P-ATL/TRQR SPR/TRQR/SPL CZ GND OZ- OZ+ OB- OB+ OA- OA+ + – + – + – 47kΩ 47kΩ 47kΩ 42 43 18 17 16 15 14 1kΩ 1kΩ 10kΩ 20kΩ 20kΩ 14kΩ 10kΩ 20kΩ 20kΩ 14kΩ 20kΩ 47kΩ 20kΩ Z-phase output R R OPC1 1 220Ω SIGN2 6 2.2kΩ OPC1 2 220Ω PULS2 4 2.2kΩ : Twisted pair) 2.2kΩ 2.2kΩ power supply 24VDC 14 IM SP 42 43 ( Torque monitor output Velocity monitor output 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 : Twisted pair) 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 CZ GND OZ- OZ+ OB- OB+ OA- OA+ 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 Negative direction torque limit input (-10 to +10V) Positive direction torque limit input (0 to +10V) ( VDC Specifications VDC -1.5 . =10mA R+220 . of R 12V 1kΩ1/2W 24V 2kΩ1/2W VDC 220Ω SIGN2 6 220Ω 2.2kΩ SIGN1 5 PULS2 4 2.2kΩ PULS1 3 Z-phase (2) When you do not use the output external resistor with 24V B-phase output A-phase output (Use with 500 kpps or less.) Command pulse input A In case of open collector I/F (1) When you use the external resistor with 12V and 24V power supply 19 (open collector) 25 24 23 49 48 22 21 6 SIGN2 13 GND SIGN1 OPC2 PULS2 OPC1 Divider 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 ZEROSPD 28 INTSPD3 29 SRV-ON 27 GAIN 2kΩ 20kΩ 120Ω 2kΩ 20kΩ 2kΩ 20kΩ 120Ω 2kΩ 20kΩ 7 COM+ 33 INTSPD1 30 INTSPD2 FG Speed zero clamp input 26 Selection 3 input of internal command speed Gain switching input Servo-ON input Selection 1 input of internal command speed Selection 2 input of internal command speed Be sure to connect. 50 SIGNH1 47 SIGNH2 13 GND 46 45 44 41 COM- 12 INP+ 38 INPExternal brake release output 11 BRKOFF+ 10 BRKOFFTorque in-limit output 40 TLC ALM- ALM+ 2.2kΩ 2.2kΩ 2.2kΩ Wiring Example of Position Control Mode VDC 12 to 24V NOT POT 35 S-RDY+ 34 S-RDY37 8 9 DIV1 26 VS-SEL1 32 C-MODE 31 A-CLR 28 36 Positioning complete output 39 Servo-Alarm output Servo-Ready output Positive direction over-travel inhibition input Negative direction over-travel inhibition input Alarm clear input Electronic gear switching input 1 Damping control switching input 1 Control mode switching input 4.7kΩ Divider Command pulse input B (Use with 4Mpps or less.) VDC 12 to 24V CL 29 SRV-ON Gain switching input 27 GAIN Servo-ON input 30 7 COM+ 33 INH Wiring to the connector, X4 English Command pulse inhibition input Deviation counter clear input 3. System Configuration and Wiring 3. System Configuration and Wiring Wiring to the connector, X4 Wiring Example of Velocity 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, and the 24 VDC power supply for brake), insulation is required. Do not connect these terminals to the same power supply. 3. System Configuration and Wiring 3. System Configuration and Wiring Wiring to the connector, X4 Wiring to the connector, X5 : Twisted pair) Negative direction torque limit input (0 to ±10V) Select with Pr3.17. Provide a power supply for the external scale on your part or use the following power output (250mA or less). Application Torque monitor output Velocity monitor output 42 A, B, Z phase Endoder signal input IM SP 43 I/F of external scale signals 1kΩ 20kΩ 20kΩ 14kΩ 1kΩ GND 17 ( Power supply output Remarks FG 50 41 COM- ZSP 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 Torque in-limit output Zero speed detection output 12 11 BRKOFF+ 10 BRKOFF40 TLC At-speed output VDC 12 to 24V External brake release output 39 AT-SPEED+ 38 AT-SPEED- ALM- 36 ALM+ Servo-Alarm output 37 35 S-RDY+ 34 S-RDY- NOT 8 31 A-CLR 9 POT Alarm clear input Positive direction over-travel inhibition input Negative direction over-travel inhibition input Control mode switching input Speed zero clamp input Gain switching input Servo-ON input Servo-Ready output 28 DIV1 26 ZEROSPD 32 C-MODE CL 29 SRV-ON 27 GAIN INH 30 33 7 COM+ 4.7kΩ X4 – – + 10kΩ 16 CCWTL/TRQR P-ATL/TRQR 16 17 GND 10kΩ + 20kΩ 20kΩ 14kΩ GND N-ATL 18 Wiring example when control mode Pr0.01=5 or Pr3.17=1 Torque command input or velocity limit input (0 to ±10V) 15 14 SPR/TRQR/SPL 47kΩ – + 20kΩ Divider 20kΩ 47kΩ 47kΩ 47kΩ CZ GND 25 19 Z-phase output (open collector) Z-phase output OZ- OZ+ 24 B-phase output 23 49 OB+ OB- 48 22 OA- OA+ Connect on to External Scale 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. − B24 − Frame ground Symbol Connector Pin No. Contents EX5V 1 Supply the power of external scale or A, B, Z phase encoder. EX0V 2 Connected to ground of control circuit. EXPS 3 /EXPS 4 EXA 5 /EXA 6 EXB 7 /EXB 8 EXZ 9 /EXZ 10 FG Shell Serial signal The transmission / reception method. Parallel signal reception Correspondence speed : 4Mpps (after quadruple) Connected with ground terminal in the servo driver. Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.) • Caution 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 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. 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. − B25 − English 21 A-phase output Wiring Example of Torque Control Mode 3. System Configuration and Wiring Wiring to the connector, X6 Connection to Encoder Wiring to the connector, X6 • In case of 17-bit absolute encoder MSME MDME MFME MGME MHME 1 E5V 4 E0V 1 +5V 0V 4 5 3 7 9 6 Twisted pair 750W to 5.0kW 400W to 5.0kW 1.5kW to 4.5kW 0.9kW to 4.5kW 1.0kW to 5.0kW E5V 4 E0V 1 6 BAT+ 5 BAT− 3 PS 7 PS 9 FG PS PS Shell (FG) Connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.) Motor Remarks Encoder cable battery X6 E5V 2 E0V 3 +5V 0V 4 5 6 Twisted pair PS PS Shell (FG) Connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.) Driver 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. − B26 − 1 Motor Remarks Encoder cable Driver 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. − B27 − English PS PS FG X6 E5V 2 E0V 3 Regulator 750W to 5.0kW 400W to 5.0kW 1.5kW to 4.5kW 0.9kW to 4.5kW 1.0kW to 5.0kW Regulator • In case of 20-bit incremental encoder MSME MDME MFME MGME MHME 3. System Configuration and Wiring 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 Outline / Setup / Connection Outline of Parameter 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. Setup with the Front Panel Contents AM1 1 Analogue monitor output 2 AM2 2 Signal ground GND 3 Connected to ground of control circuit. DM 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. 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. 6 1 X7 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 Remarks 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 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, and the 24 VDC power supply for brake), insulation is required. Do not connect these terminals to the same power supply. − B28 − − B29 − 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. 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. − B30 − − B31 − 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 ?) <List of error code No.> 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 − B32 − 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.) − B33 − 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.B36, 37) by turning off the control power supply between 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). 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 1)Turn on and turn off should be done by operators or inspectors themselves. 2)Internal circuit of the driver is kept charged with high voltage for a while even after power-off. Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing maintenance and inspection. 3)Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver. 4)Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case. 6. Maintenance and Inspections 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 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. Driver 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 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 Inspection cycle may change when the running conditions of the above change. − B34 − − B35 − Note English Inspection Items and Cycles Disassembling for inspection and repair should be carried out only by authorized dealers or service company. 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. 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. Overload protection time characteristics MSME MDME MFME MGME MHME 750W to 5.0kW 400W to 5.0kW 1.5kW to 4.5kW 0.9kW to 4.5kW 1.0kW to 5.0kW Time [s] 100 10 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.B12, "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). 0.1 115 100 200 400 500 Torque [%] Conformed Standards EMC Directives EC Directives Low-Voltage Directives Functional safety UL Standards CSA Standards IEC EN EMC UL CSA : : : : : Driver EN55011 EN61000-6-2 EN61800-3 EN61800-5-1 Motor – IEC60034-1 IEC60034-5 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 (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. − B36 − 300 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. − B37 − 7. Conformity to EC Directives and UL Standards Composition of Peripheral Equipments Installation Environment Metallic control box Noise filter for signal lines Insulated power supply for interface M Noise filter for signal lines 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. Power Supply • Main power supply +10% +10% 400V type : 3-phase, 380V to 480V 50/60Hz –15% –15% • Control power supply DC 24V ±15% (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. Model No. FN258L-16-07 Voltage specifications Current rating Applicable for driver (A) driver (frame) 3-phase 400V FN258L-30-07 D, E-frame 30 F-frame SCHAFFNER •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. Remarks Surge Absorber Provide a surge absorber for the primary side of noise filter. Option part No. DV0PM20050 Voltage specifications for driver Manufacturer’s part No. ø4.2±0.2 1 2 3 Manufacturer R・A・V-801BXZ-4 3-phase 400V Okaya Electric Ind. Circuit diagram 1 UL-1015 AWG16 41±1 Circuit Breaker Install a circuit breaker which complies with IEC Standards and UL recognized (Listed marked) between power supply and noise filter. and 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. − B38 − 16 Manufacturer English Controller RE X6 X3 X4 Motor 4.5±0.5 Surge absorber 24V 0V • Recommended components 5.5±1 11±1 Insulated DC24V XB U V W Noise filter for signal lines 28.5±1 Noise filter Driver +30 200 -0 Circuit breaker XA L1 L2 L3 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. 28±1 Noise filter for signal lines Residual current device (RCD) Composition of Peripheral Equipments Noise Filter Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) Power supply 7. Conformity to EC Directives and UL Standards − B39 − 2 3 7. Conformity to EC Directives and UL Standards Composition of Peripheral Equipments MEMO Noise Filter for Signal Lines Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable) Option part No. DV0P1460 39±1 34±1 Manufacturer’s part No. Manufacturer ZCAT3035-1330 TDK Corp. 30±1 13±1 Mass: 62.8g Caution Fix the signal line noise filter in order to prevent excessive stress to the cables. 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 For driver and applicable peripheral equipments, refer to P.B12 "Driver and List of Applicable Peripheral Equipments" . − B40 − English Residual current device 8. Built-in Holding Brake Outline / Specifications In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion. Output Timing of BRK-OFF Signal Note 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. Outline / Specifications Specifications of Built-in Holding Brake Motor series Motor output 750W 1.0kW, 1.5kW, 2.0kW MSME 3.0kW 4.0kW, 5.0kW 400W, 600W 1.0kW MDME 1.5kW, 2.0kW 3.0kW 4.0kW, 5.0kW MFME 1.5kW 2.5kW 4.5kW 0.9kW MGME 2.0kW 3.0kW 4.5kW 1.0kW MHME 1.5kW 2.0kW to 5.0kW Static Exciting Rotor Engaging Releasing Permissible Permissible Permissible friction current Releasing inertia work (J) per total work angular time time acceleration torque DC A voltage one braking x 103J rad/s2 ms x 10–4 kg·m2 ms N·m (at cool-off) 2.5 or more 15 or less 0.70 50 or less 7.8 or more 0.33 392 490 15 or less DC2V 0.81 10000 (100) or more 11.8 or more 80 or less 110 or 50 or less 16.2 or more 1.35 0.9 1470 2200 less (130) 2.5 or more 50 or less 15 or less 0.70 392 490 70 or less 4.9 or more 80 or less 0.59 588 780 (200) 1.35 10000 100 or DC2V 1176 13.7 or more 0.79 1500 less 50 or less or more (130) 110 or 16.2 or more 0.9 1470 2200 less 25 or less 24.5 or more 4.7 80 or less 1.3 1372 2900 5440 (200) 7.8 or more 4.7 80 or less 35 or less 0.83 1372 2900 DC2V 1500 10000 21.6 or more 150 or 100 or 8.75 0.75 or more 1470 less less 31.4 or more 2200 100 or 50 or less 13.7 or more 1.35 0.79 1176 1500 10000 less (130) 25 or less 24.5 or more 80 or less 1.3 DC2V (200) 5440 or more 50 or less 4.7 1372 2900 150 or (130) 58.8 or more 1.4 less 50 or less 5000 70 or less 4.9 or more 80 or less 0.59 588 780 (200) 10000 1.35 DC2V 100 or 50 or less 13.7 or more 0.79 1176 1500 or more less (130) 25 or less 24.5 or more 4.7 80 or less 1.3 1372 2900 5440 (200) •Excitation voltage is DC24V±10%. •Releasing time values represent the ones with DC-cutoff using a varistor. Values in ( ) represent those measured by using a diode (V03C by Hitachi, Ltd.) •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.) − B42 − − B43 − English •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. 8. Built-in Holding Brake 9. Dynamic Brake Outline This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. Caution 1.Dynamic brake is only for emergency stop. Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON). Otherwise it may damage the dynamic brake circuit of the driver. The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activated may cause smoking or fire. 10. Check of the Combination of the Driver and the Motor 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. Caution Power supply 3-phase, 400V Do not use in other combinations than those listed below. Type MSME Low inertia Motor Rated rotational speed 3000r/min • 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. 3-phase, 400V 2000r/min 3-phase, 400V MFME Middle inertia 2000r/min 3-phase, 400V MGME Middle inertia 1000r/min 3-phase, 400V Note − B44 − MDME Middle inertia MHME High inertia 2000r/min Model Rated output MSME084G1* MSME104G□* MSME154G□* MSME204G□* MSME304G□* MSME404G□* MSME504G□* MDME044G1* MDME064G1* MDME104G□* MDME154G□* MDME204G□* MDME304G□* MDME404G□* MDME504G□* MFME154G1* MFME254G1* MFME454G1* MGME094G□* MGME204G□* MGME304G□* MGME454G1* MHME104G□* MHME154G□* MHME204G□* MHME304G□* MHME404G□* MHME504G□* 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.5kW 2.5kW 4.5kW 0.9kW 2.0kW 3.0kW 4.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Model MDDHT2412 MDDHT3420 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MDDHT2407 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MDDHT3420 MEDHT4430 MFDHTA464 MDDHT3420 MFDHT5440 MFDHTA464 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 Frame D-frame E-frame F-frame D-frame E-frame F-frame D-frame E-frame F-frame D-frame F-frame D-frame E-frame F-frame • Suffix of “ □ ” in the applicable motor model represents design order. • Suffix of “ * ” in the applicable motor model represents the motor structure. − B45 − English 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. Driver 10. Check of the Combination of the Driver and the Motor 11. Specifications Absolute Specifications, 17-bit Caution Power supply 3-phase, 400V Type MSME Low inertia 3-phase, 400V MFME Middle inertia 3-phase, 400V MGME Middle inertia 3-phase, 400V Note MHME High inertia 3000r/min 2000r/min 2000r/min 1000r/min 2000r/min Driver Model Rated output MSME084S1* MSME104S□* MSME154S□* MSME204S□* MSME304S□* MSME404S□* MSME504S□* MDME044S1* MDME064S1* MDME104S□* MDME154S□* MDME204S□* MDME304S□* MDME404S□* MDME504S□* MFME154S1* MFME254S1* MFME454S1* MGME094S□* MGME204S□* MGME304S□* MGME454S1* MHME104S□* MHME154S□* MHME204S□* MHME304S□* MHME404S□* MHME504S□* 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.5kW 2.5kW 4.5kW 0.9kW 2.0kW 3.0kW 4.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Model MDDHT2412 MDDHT3420 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MDDHT2407 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MDDHT3420 MEDHT4430 MFDHTA464 MDDHT3420 MFDHT5440 MFDHTA464 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 Frame D-frame *1 Control D to DC 24V ±15% circuit F-frame Control method IGBT PWM Sinusoidal wave drive Encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial 20-bit (1048576 resolution) incremental encoder, 5-wire serial External scale feedback A/B phase, initialization signal defferential input. Manufacturers that support serial communication scale: Mitsutoyo Corp. Magnescale Co., Ltd. E-frame F-frame D-frame E-frame F-frame D-frame E-frame F-frame D-frame F-frame D-frame E-frame F-frame 1)• Suffix of “ □ ” in the applicable motor model represents design order. • 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". − B46 − 400V ＋ 10％ ＋ 10％ Main D to 3-phase, 380 to 480V 50/60Hz circuit F-frame － 15％ － 15％ Control signal Analog signal Pulse signal Communication function Input General purpose 10 inputs The function of general-purpose input is selected by parameters. Output General purpose 6 outputs The function of general-purpose input is selected by parameters. Input Output Input Output USB 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. RS232 1 : 1 communication RS485 1 : n communication up to 31 axes to a host. Safety function Used for IEC61800-5-2: STO. Front panel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit) (3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch)) Regeneration D to F-frame: Built-in regenerative resistor (external resistor is also enabled.) Dynamic brake Built-in Control mode 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. − B47 − English MDME Middle inertia Motor Rated rotational speed Parallel I/O connector 3-phase, 400V 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 Control output Max. command pulse frequency Position control Pulse input Input pulse signal format Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps Differential input 1/1000 to 1000 times Individual torque limit for both positive and negative direction is enabled. Analog voltage can be used as torque feed forward input. Available Damping Control Available Control output Torque limit command input Torque feed forward input Internal velocity command Soft-start/down function Zero-speed clamp Instantaneous Speed Observer Velocity Control filter 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. Speed command input can be provided by means of analog voltage. Parameters are used for scale setting and command polarity. Individual torque limit for both positive and negative direction is enabled. Analog voltage can be used as torque feed forward input. Switching the internal 8speed is enabled by command input. Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration is also enabled. Speed zero clamp input is enabled. Available Pulse input Input pulse signal format Electronic gear (Division/ Multiplication of command pulse) Smoothing filter Analog input Speed arrival etc. Speed arrival etc. Speed limit function Max. command pulse frequency (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. Speed zero clamp, Torque command sign input etc. Speed command input can be provided by means of analog Torque command voltage. Parameters are used for scale setting and command input polarity. Control output Common Velocity control Analog input Velocity command input Analog input Primary delay filter or FIR type filter is adaptable to the command input Instantaneous Speed Observer Control input Control output Torque limit command input Torque feed forward input Full-closed positioning complete etc. Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps Differential input 1/1000 to 1000 times Primary delay filter or FIR type filter is adaptable to the command input Individual torque limit for both positive and negative direction is enabled. 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 Protective function Hard error Soft error Traceability of alarm data Set up of any value is enabled (encoder pulses count is the max.). Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. Excess position deviation, command pulse division error, EEPROM error etc. The alarm data history can be referred to. Available − B48 − − B49 − English Torque feed forward input Positioning complete (In-position) etc. Control input Full-closed control Analog input Torque limit command input (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc. 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 − B50 − 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 □ME M 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 2009 − B51 − 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 2009 Printed in China IMD89+A Z0409-1111