Technical Reference [PDF:1,327KB]

・This product is for industrial equipment. Don't use this product at general household.
Technical reference
AC Servo Motor & Driver
MINAS A4P-series
• Thank you very much for your
purchase of Panasonic AC Servo
Motor & Driver, MINAS A4P-series.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read when
necessary.
• Make sure to forward this technical
reference for safety to the final
user.
If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material (DV0P4490), or downloaded Instruction
Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
<Contents>
page
1. Introduction ................................... B2
On Opening the Package ............................... B2
Check of the Driver Model .............................. B2
Check of the Motor Model .............................. B3
2. Installation ..................................... B4
Driver .............................................................. B4
Motor .............................................................. B6
Console .......................................................... B8
3. System Configuration
and Wiring .................................... B10
Overall Wiring (Connecting Example of C-frame, 3-phase) ... B10
Overall Wiring (Connecting Example of E-frame) ... B12
Driver and List of Applicable Peripheral Equipments ... B14
Wiring of the Main Circuit (A to D-frame) ..... B16
Wiring of the Main Circuit (E and F-frame) ... B17
Wiring method to connector (A to D-frame) .. B18
Wiring to the Connector, CN X6 (Connection to Encoder) ... B22
Wiring for Connector CN X5 ......................... B24
List of Signal for Connector CN X5 .............. B25
Operation Timing after Power-ON ................ B29
Overview of function ..................................... B30
Setup with the Front Panel ........................... B31
4. Parameter ..................................... B33
Outline of Parameter .................................... B33
page
How to Set .................................................... B33
Outline of PANATERM® ....................................................... B33
How to Connect ............................................ B33
Setup with the Console ................................ B34
Composition of Parameters .......................... B35
List of Servo Parameters .............................. B37
List of 16-bit Positioning Parameters ........... B41
List of 32-bit Positioning Parameters ........... B42
List of Step data ........................................... B43
5. Protective Functions ................... B44
Protective Function (What Is Error Code ?) ..... B44
6. Maintenance and Inspections .... B46
7. Conformity to EC Directives
and UL Standards ........................ B48
Composition of Peripheral Equipments ........ B49
Conformity to UL Standards ......................... B52
8. Built-in Holding Brake ................ B54
9. Dynamic Brake ............................ B55
10. Check of the Combination of
the Driver and the Motor .......... B56
10. General specifications .............. B59
After-Sale Service (Repair) ............. B60
IMD14A
S1105-3066
1. Introduction
On Opening the Product Package
•
•
•
•
Check of the Motor Model
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the instruction manual is attached or not.
Check if the power connector and motor connecters (CN X1 and CN X2 connectors)
are attached or not (A to D-frame).
Contact to a dealer if you find any failures.
Contents of Name Plate
Model
Rated input voltage/current
Rated output
CONT. TORQUE 0.64 Nm
RATING
S1
INS. CLASS B (TÜV) A (UL)
IP65
CONNECTION
SER No.
05110001
AC SERVO MOTOR
MODEL No. MSMD5AZS1S
INPUT 3ØAC
92 V
1.6 A
RATED OUTPUT 0.2 kW
Hz
RATED FREQ. 200
RATED REV. 3000 r/min
Serial Number
e.g.) : 05 11 0001
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Rated rotational speed
Model Designation
M S M D 5 A Z S 1 S
Check of the Driver Model
1 to 4
Contents of Name Plate
Model number
Rated input/output current
MAMA
AC SERVO
Model No.
MADDT1205P
INPUT
Rated input/output voltage
Symbol
Voltage
Phase
F.L.C
Freq.
Power
200-240V
1ø
1.3A
50/60Hz
Serial Number
e.g.) : P0511 0001Z
Serial No.P05110001Z
OUTPUT
69V
3ø
1.2A
0~333.3Hz
100W
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Rated output of
applicable motor
MQMA
MSMD
MSMA
MDMA
MHMA
Model Designation
MFMA
MGMA
M A D D T 1 2 0 5 P
1 to 4
Frame-size symbol
Symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame
A4-series, A-frame
A4-series, B-frame
A4-series, C-frame
A4-series, D-frame
A4-series, E-frame
A4-series, F-frame
5 to 6
7
Max. current
rating of
power device
Symbol Current
rating
10A
T1
15A
T2
30A
T3
50A
T5
70A
T7
TA 100A
TB 150A
8 to 9
10
11 to 12
Special specifications
(letters and numbers)
Interfacce specification
I/O command type
Power supply
Symbol
1
2
3
5
– B2 –
Specifications
Single phase, 100V
Single phase, 200V
3-phase, 200V
Single/3-phase,
200V
Current detector rating
Symbol Current rating
05
5A
07
7.5A
10
10A
15
15A
20
20A
30
30A
40
40A
64
64A
90
90A
A2
120A
5 to 6
7
8
9
Type
Ultra low inertia
(100W to 750W)
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
Motor rated output
10
11 to 12
Special specifications
(letters and numbers)
Motor structure
Design order
1: Standard
Voltage specifications
Symbol
Specifications
1 100 V
2 200 V
100/200 common
Z (50W only)
Symbol Output Symbol Output
5A
50W
15
1.5kW
01
100W
2.0kW
20
02
200W
2.5kW
25
04
400W
3.0kW
30
05
500W
4.0kW
40
08
750W
4.5kW
45
09
900W
5.0kW
50
10
1.0kW
Rotary encoder specifications
Specifications
Symbol
Format
Pulse count Resolution Wire count
P
Incremental
10,000
5-wire
2500P/r
S Absolute/Incremental common
131,072
7-wire
17bit
Motor structure
MSMD, MQMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way Without With Without With*1
A
B
*2
S
*2
T
*1 The product with oil seal is a special order
product.
2
Key
way with center tap
*
Products are standard stock items or build to
order items. For details, inquire of the dealer.
MAMA
Symbol
Holding brake
Oil seal
Shaft
Round Key way Without With Without With
A
B
E
F
MSMA, MDMA, MFMA, MGMA, MHMA
Holding brake
Oil seal
Shaft
Symbol
Round Key way Without With Without With
C
D
G
H
– B3 –
2. Installation
Install the driver and the motor properly to avoid a breakdown or an accident.
E and F-frame
Driver
Mounting bracket
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place.
• Reserve enough surrounding space for effective cooling.
Environmental Conditions
Item
Conditions
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Lower than 1000m
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.
A to D-frame
Mounting Direction and Spacing
• Install fans to provide uniform distribution of temperature in the control
panel.
• Observe the environmental
conditions of the control
panel described in the next
page.
Fan
40mm
or
more
100mm
or more
Fan
10mm
or
more
10mm
or
more
10mm
or
more
40mm
or
more
100mm
or more
<Note>
It is recommended to use the conductive paint when you make your own mounting
bracket, or repaint after peeling off the paint on the machine for installing the products, in
order to make noise countermeasure.
e.g.) In case of C-frame
Caution on Installation
MADD
MBDD
MCDD
MDDD
Mounting bracket
(optional parts)
We have been making the best effort to ensure the highest quality, however, application
of exceptionally large external noise disturbance and static electricity, or failure in input
power, wiring and components may result in unexpected action. It is highly recommended
that you make a fail-safe design and secure the safety in the operative range.
There might be a chance of smoke generation due to the failure of these products. Pay
an extra attention when you apply these products in a clean room environment.
Fastening torque of earth screws (M4) to be 0.39 to 0.59N • m.
– B4 –
– B5 –
2. Installation
Motor
Oil/Water Protection
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which meets
the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Motor only
Impact
Motor only
Enclosure
rating
Motor only
Condition
0˚C to 40˚C (free from freezing) *1
Less than 85% RH (free from condensation)
–20˚C to 80˚C (free from freezing) *2
Less than 85% RH (free from condensation)
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
IP65 (except rotating portion of output shaft and lead wire end)
• These motors conform to the test conditions specified in EN standards
(EN60529, EN60034-5). Do not use these motors in application where
water proof performance is required such as continuous wash-down
operation.
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear
reducer to prevent the reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to the technical reference.
– B6 –
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is subjected to oil or water.
4) Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the motor through shaft.
Cable
Motor
Oil / Water
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or
self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
contain the extension junction cable into the bearer so that the stress by bending can
be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permissible value.
4) For permissible load of each model, refer to the technical reference. (DV0P4490)
Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the
bearing.)
3) If the motor shaft is not electrically grounded, it may cause
electrolytic corrosion to the bearing depending on the condi- Motor
tion of the machine and its mounting environment, and may
result in the bearing noise. Check and verification by customer
is required.
– B7 –
2. Installation
Console
How to Connect
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Connect to CN X4.
M
MOD
E
S
SET
SHIF
T
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Impact
Altitude
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044
(Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m
<Remarks>
• Connect the console connector securely to CN X4 connector of the driver.
• Never pull the cable to plug in or plug out.
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
– B8 –
– B9 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit
PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Setup support software
"PANATERM® "
DV0P4460 Console (option)
DV0P4420
• Connection to
the Connector, CN X1
(connection to input power)
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use a surge absorber together
with this.
• Never start nor stop the servo motor with this Magnetic Contactor.
Pin RB1 (6-pin), RB2 (4-pin), and
RB3 (5-pin)
RB2 and RB3 to be kept shorted for
normal operation.
When the capacity shortage of
the regenerative resister is found,
disconnect a shorting bar between RB2 and RB3, then connect
the external regenerative resister
between RB1 and RB2.
(Note that no regenerative resister
is equipped in Frame A and B type.
Install an external regenerative
resister on incombustible material, such as metal. Follow the same
wiring connection as the above.)
When you connect an external regenerative resister, set up servo
parameter No. 6C to 1 or 2.
IM
G
L2 (Pin-4)
• Wiring to Connector,
CN X4 (option)
(Connection to PC or host controller)
X3A
L1 (Pin-5)
X1
X3B
L3 (Pin-3)
L1C (Pin-2)
• For manufacturers' use only,
CN X3A and X3B
(Not for individual use)
L2C (Pin-1)
X2
• Wiring to Connector, CN X5
(Connection to host controller)
X5
Reactor (L)
Reduces harmonic current of the
main power.
For specifications, refer to the
downloaded Instruction Manual
from our Web Site.
SP
X4
Noise Filter (NF)
Prevents external noise from the power lines. And reduces an effect of the
noise generated by the servo driver.
• Connection to the Connector, CN X2
(connection to external components)
RB1 (Pin-6)
Junction cable for encoder
RB2 (Pin-4)
X6
Handle lever
Use this for connector
connection. Store this
after connection for other
occasions.
(see page for connection.)
Ground
(earth)
Short bar
Regenerative resistor
(optional)
<Remarks>
When you use an external
regenerative resister, install
an external protective apparatus, such as
thermal fuse without fail.
For resistor value and capacity, refer to the
downloaded Instruction Manual from our Web Site.
Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
– B10 –
• Wiring to Connector, CN X6
(Connection to encoder)
X7
U-phase (red)
V-phase (white)
W-phase (black)
• Wiring to
Connector, CN X7
(Connection to
external scale)
Junction cable for motor
• Wiring to Connector,
CN X2
(Connection to
motor driving
DC Power supply for brake
phase and
DC24V
ground)
(to be supplied by customer)
Junction cable
for brake
: High voltage
– B11 –
3. System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit
PC (to be supplied by customer)
Circuit Breaker (NFB)
Use the circuit breaker matching
capacity of the power source to
protect the power lines.
Setup support software
"PANATERM® "
DV0P4460
Noise Filter (NF)
Prevents external noise from the power lines. And reduces an effect of the
noise generated by the servo driver.
SP
X3A
G
X1
• Connection
with input
power supply
X3B
Magnetic Contactor (MC)
Turns on/off the main power of the
servo driver.
Use a surge absorber together
with this.
• Never start nor stop the servo motor with this Magnetic Contactor.
X5
L2
When you connect an external
regenerative resister, set up servo
parameter No. 6C to 1 or 2.
• Wiring to Connector, CN X5
(Connection to host controller)
L3
r
t
X6
For specifications, refer to the
downloaded Instruction Manual
from our Web Site.
When the capacity shortage of
the regenerative resister is
found, disconnect a short bar
between B1 and B2, then connect the external regenerative
resister between P and B2.
Install an external regenerative resister on incombustible
material, such as metal. Follow
the same wiring connection as
the above.
Console (option)
DV0P4420
• Wiring to Connector, CN X4 (option)
(Connection to PC or host
controller)
• For manufacturers' use
only, CN X3A and X3B
(Not for individual use)
L1
Reactor (L)
Reduces harmonic current of the
main power.
Pin P, B1 and B2...
B1 and B2 to be kept shorted for
normal operation.
X4
IM
X7
• Connection to external
components
P
B2
Ground
(earth)
Short bar
Regenerative resistor
(optional)
<Remarks>
When you use an external
regenerative resister, install
an external protective apparatus, such as thermal
fuse without fail.
For resistor value and capacity, refer to the
downloaded Instruction Manual from our Web Site.
Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal fuse
is activated, it will not resume.
– B12 –
From a top
• Wiring to Connector, CN X6
(Connection to encoder)
Junction cable
for encoder
• Wiring to Connector, CN X7
(Connection to external scale)
• Connection to motor driving
phase and ground
Junction cable
for motor
U-phase
V-phase
W-phase
Junction cable for brake
DC Power supply for brake
DC24V
(to be supplied by customer)
: High voltage
– B13 –
3. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Circuit
Noise
Applicable
Rated Required
Noise
Surge
Power breaker
filter for
Voltage
(rated
motor
output (at the rated
filter absorber signal
load) current)
approx.
MSMD Single to50W
100W 0.4kVA
phase,
approx.
MQMA 100V 100W 0.4kVA
50W approx.
MSMD
to 200W 0.5kVA
MADD
approx.
Single 100W 0.3kVA
MQMA phase,
approx.
200V 200W 0.5kVA
DV0P4170 DV0P4190
approx.
100W 0.3kVA
MAMA
10A
MSMD Single
approx.
phase, 200W 0.5kVA
MQMA 100V
Driver
MBDD MSMD
MCDD
MQMA Single
approx.
phase, 400W 0.9kVA
100V
MSMD
approx.
750W 1.3kVA
MAMA Single/
approx.
3- phase, 400W 0.9kVA
MFMA 200V
approx.
MHMA
500W 1.1kVA
approx.
MAMA
750W 1.6kVA
MDMA
MHMA
MHMA
BMFT61542N
(3P+1a)
approx.
1.5kW 2.3kVA
MSMA
3- phase,
MHMA 200V
MFMA
MGMA
0.75mm2
AWG18
MFMA
BMFT61842N 2.0mm2
(3P+1a) AWG14
2.0mm2
BMF6352N AWG14
(3P+2a2b)
approx.
2.5kW 3.8kVA
3.5mm2
AWG12
Terminal
block
M5
50A
0.75mm2
AWG18
DV0P3410 DV0P1450 DV0P1460
11.0 or
smaller
3.5mm2
AWG12
approx.
6.8kVA
4.5kW approx.
7.5kVA
ø5.3
BMF6652N
(3P+2a2b)
5.3mm2
AWG10
MDMA
MHMA
approx.
5.0kW 7.5kVA
MSMA
• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
To comply to EC Directives, install a circuit breaker between the power and the noise
filter without fail, and the circuit breaker should conform to IEC Standards and UL
recognized (Listed and
marked).
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or
larger model when the maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P.B48, "Noise Filter".
<Remarks>
• Select and use the circuit breaker and noise filter with matching capacity to those of
the power source, considering the load conditions as well.
DV0P4220
30A
BMF6352N
(3P+2a2b)
approx.
3.0kW 4.5kVA
MSMA
BMFT61041N
(3P+1a) 0.75 to
2.0mm2
AWG
14 to 18
BMFT61542N
(3P+1a)
MDMA
MEDD
approx.
2.0kW 3.8kVA
3- phase,
approx.
MFDD MHMA 200V 4.0kW 6kVA
MFMA
approx.
2.0kW 3.3kVA
Cable
Cable
Noise
Magnetic diameter
Surge
diameter Connection
filter for
absorber signal contactor (main circuit) (control circuit)
MDMA
approx.
1.0kW 1.8kVA
20A
Noise
filter
MGMA
DV0P1460
DV0P1450
Required Circuit
Power breaker
(at the rated (rated
load) current)
MDMA
MSMA
15A
approx.
900W 1.8kVA
Single/
approx.
MDDD MSMA 3- phase, 1.0kW 1.8kVA
200V
MHMA
MSMA
BMFT61041N
(3P+1a)
BMFT61542N
(3P+1a)
MGMA
MDMA
MGMA
BMFT61541N
(3P+1a)
DV0P4180
Applicable
Rated
Voltage
motor
output
Cable
Cable
Magnetic diameter
diameter Connection
contactor (main circuit) (control circuit)
Connection to exclusive connector
approx.
Single 400W 0.9kVA
MQMA phase,
200V
approx.
200W 0.5kVA
MAMA
Driver
Terminal
block
M5
11.0 or
smaller
ø5.3
• Terminal block and protective earth terminal
Use a copper conductor cable with temperature rating of 60˚C or higher.
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
Larger tightening torque of the screw than the max. value (M4 : 1.2 N • m, M5 : 2.0 N • m)
may damage the terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model,
and 3.5mm2 (AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger
for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off
length of 8 to 9mm.
• Tightening torque of the screws for connector (CN X5) for the connection to the host
to be 0.3 to 0.35 N • m. Larger tightening torque than these may damage the connector
at the driver side.
– B14 –
– B15 –
3. System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame)
Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
Tips on Wiring
8~9mm
1) Peel off the insulation cover of the cable.
(Observe the dimension as the right fig. shows.)
2) Insert the cable to the connector detached
from the driver.(See P.B18 for details.)
3) Connect the wired connector to the driver.
Power
supply
NFB
NF
MC
L
5
4
3
2
1
L1
L2
L3
L1C
L2C
CN X1
Yellow
(X2)
U
1
V
White
2
W
Black
3
Green E
yellow
4
Red
6
5
4
3
2
1
RB1
RB3
RB2
U
V
W
CN X2
Ground resistance : 100Ω max.
For applicable wire,
refer to P.B14 and B15.
DC
DC power supply
24V for brake
Surge absorber
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the Magnetic
Contactor. Never start/stop the motor with this
Magnetic Contactor.
Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
for the fuse rating.
• Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
• Match the colors of the motor lead wires to those of
the corresponding motor output terminals (U,V,W).
• Don't disconnect the shorting cable between RB2
and RB3 (C and D frame type). Disconnect this only
when the external regenerative register is used.
• Avoid shorting and ground fault. Don't
connect the main power.
* Connect pin 3 of the connector on the amplifier
side with pin 1 of the connector on the motor side.
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, rater to "Driver and List of Applicable Peripheral Equipments" (P.B14 and B15).
3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N • m.
• Earth-ground this.
• Connect the protective earth terminal ( ) of the
driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external
emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake and
how to use it, refer to P.B51, "Specifications of
Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber.
NFB
NF
MC
L
L2
L3
r
t
• Don't disconnect the short bar between B1 and
B2. Disconnect this only when an external
regenerative register is used.
• Match the colors of the motor lead wires to those
of the corresponding motor output terminals
(U,V,W).
• Avoid shorting and ground fault.
Don't connect the main power.
P
B1
B2
Yellow
(X2)
U
U
V
V
W
W
Red
Black
Green
yellow
• Earth-ground this.
• Connect the protective earth terminal ( ) of the
driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical
shock.
• Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
• Don't connect the earth cable to other
inserting slot, nor make them touch.
E
Motor
Ground resistance : 100Ω max.
• Compose a duplex Brake Control Circuit so that
For applicable wire,
the brake can also be activated by an external
refer to P.B14 and B15.
emergency stop signal.
• The Electromagnetic Brake has no polarity.
• For the capacity of the electromagnetic brake and
how to use it, refer to P.B51, "Specifications of
Built-in Holding Brake".
• Provide a surge absorber.
• Connect a 5A fuse in series with the surge absorber.
– B17 –
DC
24V DC power supply
for brake
Surge absorber
Fuse (5A)
– B16 –
• Check the name plate of the driver for power
specifications.
• Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures
for harmonics.
• Provide a noise filter without fail.
• Provide a surge absorber to a coil of the
Magnetic Contactor. Never start/stop the motor
with this Magnetic Contactor.
Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor
for the fuse rating.
• Provide an AC Reactor.
L1
Power
supply
White
Motor
Fuse (5A)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
3. System Configuration and Wiring
Wiring method to connector (A to D-frame)
Wiring Diagram
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .
How to connect
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
8 to 9mm
+10%
ON OFF ALM
MC
Surge absorber
NFB
(a) Using handle lever
2
3
MC L
Noise
filter
2. Insert the cable to the connecter in the following 2 methods.
(a) Using the attached Handle Lever
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)
1
+10%
Power supply Single phase, 100V –15% to 115V –15%
1. Peel off the insulation cover of the cable.
(see the right fig for exact length for peeling.)
L1
L3
L1C
L2C
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
U
V
W
1
2
3
4
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
CN X1
Main power
supply
Control power
supply
CN X2
Motor
connection
Motor
Attach the handle lever
to the handling slot on
the upper portion. Press
down the lever to push
down the spring.
Insert the peeled cable
while pressing down the
lever, until it hits the
insertion slot (round
hole).
Release the lever.
ALM
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
* You can pull out the cable by pushing down the spring as the above.
15
17
CN X5
ALM
COM–
In Case of Single Phase, 200V (A and B-frame)
+10%
+10%
Power supply Single phase, 200V –15% to 240V –15%
(b) Using screw driver
2
3
NFB
MC L
Noise
filter
1
ON OFF ALM
MC
Surge absorber
L1
L3
L1C
L2C
Use a reactor for
3-phase
Press the screw driver
to the handling slot on
the upper portion to
push down the spring.
Insert the peeled cable
while pressing down the
screw driver, until it hits the
insertion slot (round hole).
Release the screw
driver.
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
U
V
W
1
2
3
4
CN X1
Main power
supply
Control power
supply
CN X2
Motor
connection
* You can pull out the cable by pushing down the spring as the above.
<CAUTION>
• Peel off the cable with exact length (8 to 9 mm).
• Take off the connector from the Servo Driver before making connection.
• Insert one cable into each one of cable insertion slot.
• Pay attention to injury by screw driver.
– B18 –
Motor
172159-1
Tyco Electronics AMP
DC12 to 24V
(±5%)
ALM
– B19 –
15
17
CN X5
ALM
COM–
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
3. System Configuration and Wiring
In Case of Single Phase, 200V (C and D-frame)
+10%
+10%
Power supply Single phase, 200V –15% to 240V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
CN X1
MC L
NFB
Noise
filter
L1
L2
L3
Use a reactor for
3-phase
L1C
L2C
(Remove the short wire when you connect
the external regenerative resistor.)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1 1
White
2 2
Black
3 3
Green
4 4
RB1
RB3
RB2
U
V
W
*
CN X2
Motor
connection
+10%
+10%
Power supply 3-phase, 200V –15% to 230V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
D
A
C
B
MC L
NFB
Main power
supply
Control power
supply
In Case of 3-Phase, 200V (E and F-frame)
L1
Noise
filter
<Remarks>
When you use single
phase, connect the main
power between L1 and
L3 terminals.
* When you use motor model of
MSMA, MDMA, MFMA, MHMA
and MGMA, use the connections
as the below table shows.
L2
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
V-phase
B
W-phase
C
Ground
D
r
H
Control power
supply
t
A
C
B
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
PIN No. Application
A
U-phase
V-phase
B
W-phase
C
Ground
D
B1
G
B2
Red
U
White
V
Motor
connection
H
F
A
I
E
W
Green
A
D
P
External regenerative resistor
(Remove the short bar when you connect
the external regenerative resistor.)
Black
G
Main power
supply
L3
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
D
B
C
JL04V-2E20-18PE-B-R
F
Motor
172159-1
Tyco Electronics AMP
ALM
DC12 to 24V
(±5%)
15
17
E
CN X5
+10%
+10%
Power supply 3-phase, 200V –15% to 240V –15%
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
MC
Surge absorber
NFB
CN X1
Noise
filter
L1
L2
L3
L1C
L2C
(Remove the short wire when you connect
the external regenerative resistor.)
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
1
White
2
Black
3
Green
4
RB1
RB3
RB2
*1
V
W
Control power
supply
Motor
connection
DC12 to 24V
(±5%)
ALM
15
17
CN X5
ALM
ALM
DC12 to 24V
(±5%)
15
17
ALM
COM–
A
B
D
C
E
H
– B20 –
C
E
G
F
H
F
I
JL04V-2E24-11PE-B-R
PIN No. Application
A
Brake
Brake
B
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
I
JL04V-2E24-11PE-B-R
PIN No. Application
A
Brake
Brake
B
NC
C
U-phase
D
V-phase
E
W-phase
F
Ground
G
Ground
H
NC
I
<Remark>
Do not connect anything to NC.
<Remark>
Do not connect anything to NC.
COM–
B
D
A
G
CN X2
Motor
172159-1
Tyco Electronics AMP
PIN No. Application
G
Brake
Brake
H
NC
A
U-phase
F
V-phase
I
W-phase
B
Ground
E
Ground
D
NC
C
Main power
supply
U
2
3
4
PIN No. Application
G
Brake
H
Brake
A
NC
F
U-phase
I
V-phase
W-phase
B
Ground
E
D
Ground
C
NC
C
JL04V-2E20-18PE-B-R
COM–
MC L
D
B
Motor
ALM
In Case of 3-Phase, 200V (C and D-frame)
<Remarks>
When you use single
phase, connect the main
power between L1 and L3
terminals.
I
– B21 –
3. System Configuration and Wiring
Wiring to the Connector, CN X6 (Connection to Encoder)
Wiring Diagram
Wiring Diagram
MSMD 50W to 750W
MAMA 100W to 750W
MQMA 100W to 400W
In case of 2500P/r incremental encoder
MSMD 50W to 750W
MAMA 100W to 750W
MQMA 100W to 400W
White
Black
E5V
E0V
White
Black
CN X6
1 E5V
+5V
0V
2
E0V
3
4
5
Purple
PS
PS
FG
2
3
Red
Pink
Yellow/Green
PS
BAT+
BAT–
PS
PS
FG
Motor side
motor
E5V H
E0V G
5
PS
6
PS
4
5
3
Pin No. of connector
CN X6
1 E5V +5V
0V
2 E0V
K
5
L
PS
J
FG
6
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
Twisted pair
(by Japan Aviation Electronics Ind.)
Junction cable
E5V
E0V
– B22 –
H
G
Driver side
Pin No. of connector
CN X6
+5V
1 E5V
0V
2
E0V
3
Regulator
Regulator
4
BAT+
BAT–
PS
PS
T
battery
5
6
S
K
L
PS
J
FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
Twisted pair
(Japan Aviation Electronics Industry, Ltd.)
PS
PS
PS
Case
Case
motor
Motor side
Junction cable
Case
MSMA 1kW to 5kW MFMA 400W to 4.5kW
MDMA 1kW to 5kW MGMA 900W to 4.5kW
MHMA 500W to 5kW
4
Motor side
battery
2
Motor side
3
motor
Regulator
Driver side
MFMA 400W to 4.5kW
MGMA 900W to 4.5kW
PS
1
Twisted pair
172169-1
172161-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
Case
Junction cable
MSMA 1kW to 5kW
MDMA 1kW to 5kW
MHMA 500W to 5kW
8
6
Twisted pair
172168-1
172160-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
motor
Purple
PS
6
E0V
CN X6
1 E5V
+5V
0V
2 E0V
7
4
Regulator
Light Blue
5
E5V
3
4
Light Blue
In case of 17-bit absolute/incremental encoder
Junction cable
Driver side
– B23 –
Driver side
3. System Configuration and Wiring
Wiring for Connector CN X5
Control signal power supply 1
List of Signal for Connector CN X5
Common input signals
Driver side
COM+
4.7kΩ
Emergency stop input 2
EMG-STP 4.7kΩ
CCW over-travel inhibit input 19
CCWL
CW over-travel inhibit input 20
Application
CWL
4.7kΩ
P2IN
Point specifying input 5
4.7kΩ
P4IN
Point specifying input 6
4.7kΩ
P8IN
4.7kΩ
Multi-function input 1 22
EX-IN1
Multi-function input 2 25
EX-IN2
Present position
MAX 50mA 31
output
Present position
MAX 50mA 32
output
Present position
MAX 50mA 33
output
Present position
MAX 50mA 34
output
Motor operation
condition output MAX 50mA 28
Positioning completion
output / Output during
MAX 50mA 27
deceleration
Servo alarm output MAX 50mA 15
Brake release
signal
MAX 50mA 36
Control signal power supply
17
18
4.7kΩ
COM–
17
Emergency stop EMGinput
STP
2
4.7kΩ
4.7kΩ
OA+
OA-
Divider
P1OUT
P2OUT
OB+
OBOZ+
OZ-
P4OUT
P8OUT
GND
CZ
P16OUT
P32OUT
BUSY
11
12
330Ω
A-phase
output
330Ω
B-phase
output
330Ω
Z-phase
output
13
14
9
10
P1IN
3
P2IN
4
P4IN
5
P8IN
6
P16IN
7
P32IN
8
CCW over-travel
CCWL
inhibit input
19
26
16 Z-phase output (open collector)
Point specifying
input
COIN/
DCLON
ALM
BRK-OFF
COM–
FG
CN X5
(
1
4.7kΩ
Point specifying input 4
Point specifying input 7
P16IN
Point specifying input 8
P32IN
VDC
12 to
24V
COM+
Control signal
power supply
21 Z-LS
4.7kΩ
Servo-ON signal input 23
SRV-ON 4.7kΩ
Strobe signal input 24
STB
4.7kΩ
Point specifying input 3
P1IN
Present position
MAX 50mA 30
output
Connector
pin No.
4.7kΩ
Home sensor input
Present position
MAX 50mA 29
output
Code
represents twisted pair.)
– B24 –
Function
• Connected to the + terminal of an external DC
power supply (12 to 24 V)
• Use a 12 V (±5%) to 24 V (±5%) power supply.
• Connected to the – terminal of an external DC
power supply (12 to 24 V).
• The power supply capacity differs depending on
the configuration of the input/output circuits used.
A capacity of more than 0.5A is recommended.
• When connection with COM– is opened, emergency stop input error (error code No.39) occurs, and
the circuit trips.
• Tripping can be reset using an alarm clear input
initiated by specifying point 0 or assigning the multi-function inputs (EX-IN1, EX-IN2).
• Specify an operation point number when operation
command is input.
The number at which operation point can be
specified depends on the number of points set by
servo parameter No.57.
Servo parameter No.58 can be used for setting
input logic.
When the point described below is specified,
special operation is performed.
• Specify point 0, and input a strobe signal, then
alarm is cleared.
• Specify the maximum point number specified in
servo parameter No. 57, and input a strobe signal,
then system returns to the home position.
• Specify the maximum point number specified in
servo parameter No. 57 –1 and input a strobe signal,
then high-speed normal rotation jog is performed.
• Specify the maximum point number specified in
servo parameter No. 57 –2 and input a strobe signal,
then high-speed reverse rotation jog is performed.
• CCW drive prohibition input (CCWL).
• Connect so as to open COM– connection when
movable part of the equipment exceeds the
movable range in CCW direction.
• When this input is open, operation command in
CCW direction is not issued. (Torque is generated)
• Servo parameter No. 53, 54, and 55 enable for
setting of valid/invalid, input logic, and operation.
– B25 –
3. System Configuration and Wiring
Application
Code
Connector
pin No.
CW over-travel
inhibit input
CWL
20
Home sensor
input
Z-LS
21
Servo-ON signal
SRV-ON
input
Strobe signal
input
STB
23
24
Multi-function
input 1
EX-IN1
22
Multi-function
input 2
EX-IN2
25
Function
• CW drive prohibition input (CWL).
• Connect so as to open COM– connection when
movable part of the equipment exceeds the
movable range in CW direction.
• When this input is open, operation command in
CW direction is not issued. (Torque is generated)
• Servo parameter No.53, 54, and 55 enable setting
of valid/invalid, input logic, and operation.
• Connect so as to close the home sensor input when
system is in the vicinity of home position (default).
Servo parameter No.56 can be used for setting input logic.
• Connected to the home sensor signal.
• Connect so as to close the home sensor input
when system is in the vicinity of home position.
Pr56 can be used for setting input logic.
• When servo amplifier is connected to COM– of control
signal power supply, it is set in servo-ON condition.
• When connection to COM– is opened, servo-OFF
condition is set, and energization of motor is cut off.
• Dynamic brake operation and deviation counter clearing
operation in servo-OFF condition can be chosen by
servo parameter No.69 (sequence at servo-off).
• Servo parameter No.5D enable setting of valid/invalid.
Note. 1 When shifting from servo-OFF to servo-ON,
make sure that the motor is stopped.
Note 2 After shifting to servo-ON, allow 100ms or
more before giving an instruction.
Note 3 Frequent repeating of servo-ON/OFF may
damage the dynamic brake circuit contained in
servo amplifier. Avoid such a use.
• When this is connected to COM– of the control
signal power supply, the servo amplifier starts the
movement to the specified point.
• When 10ms or more has passed after setting specified point input, connect the strobe signal input (STB)
to COM–. It is possible that the servo amplifier is unable to read specified point input properly.
• Input STB signal 10ms or longer. Also, reset STB
signal to opened condition after receiving BUSY
signal from the servo amplifier in order to ensure
that STB signal is received reliably.
Function can be selected and set by Pr5A and 5C
out of the options below.
Instantaneous stop, temporary stop, deceleration
stop, high-speed normal rotation jog, high-speed
reverse rotation jog, and alarm clearing
Input logic can be set by servo parameter No.59 and 5B.
– B26 –
Common output signals and their functions
Application
Code
Connector
pin No.
Servo alarm
output
ALM
15
Positioning
completion
output/
Output during
deceleration
COIN/
DCLON
27
Motor operation
condition output
BUSY
28
P1OUT
29
P2OUT
30
P4OUT
31
P8OUT
32
P16OUT
33
P32OUT
34
Present position
output
Function
Output signal indicating that the alarm is on.
Output transistor turns on in normal condition, and
output transistor turns off when alarm is on.
• This output signal can be used by choosing
positioning completion output (COIN) or output during
deceleration (DCLON) by servo parameter No.64.
COIN: When the amount of position deviation pulse
is within the range set by servo parameter No.60
(in-position range), the transistor turns on.
However, while the operation command is being
processed, it will not turn ON even inside the
positioning completion range.
DCLON: Transistor turns ON while the motor is
decelerating. However, the signal is not output when the
motor has stopped because the deceleration time is zero.
• Transistor turns OFF while the servo amplifier is
processing operation command.
<Notes>
When an operation command has been started by
the strobe signal input (STB), the motor operation
status output remains OFF until the strobe signal
input is set to the opened condition.
• Outputs the present motor position (point number)
when the step operation is completed.
• All the transistors are OFF (point 0) when the power is turned
on. However, when the absolute mode is established or when
the 16 bit positioning parameter No.38 is set to 1 (homing is
invalid), the maximum point number set in the servo
parameter No.57 (input point number selection) is output.
• Upon completion of homing, the maximum point
number set in the servo parameter No.57 (input
point number selection) is output.
• During high-speed normal rotation jog operations,
the maximum point number set in the servo
parameter No.57 (input point number selection)
minus 1 is output after the motor has stopped.
• During high-speed reverse rotation jog operations,
the maximum point number set in the servo
parameter No.57 (input point number selection)
minus 2 is output after the motor has stopped.
When an alarm has occurred, all the transistors are set OFF.
<Note>
When an operation has been aborted because of servo
OFF, instantaneous stop or deceleration stop, the last
status is held as the current position output. To obtain
the correct output, move to the reference position
(home point, absolute position command point).
– B27 –
3. System Configuration and Wiring
Application
Brake release
output
Code
BRK-OFF
Connector
pin No.
Function
36
• Defines the timing signal to activate the
electromagnetic brake for the motor.
When the electromagnetic brake is released, the
output transistor turns ON.
• Output timing of this signal can be set by servo
parameter No.6A (mechanical brake delay at motor
standstill) and servo parameter No.6B (Mechanical
brake delay at motor in motion).
Code
Connector
pin No.
OA+
11
OA–
12
A-phase output
OB+
13
OB–
14
B-phase output
OZ+
9
OZ–
10
CZ
16
Z-phase output
Z-phase output
OFF
Internal control
power supply
OFF
ON
Approx. 100 to 300ms
Activated
Approx. 2s
Approx. 1.5s
*3
Microcomputer
Reset
Initialize
Main power supply
(L1, L2, L3)
ON
OFF
*2
Approx. 10ms
or more
Function
• Division-processed encoder signal or external
scale signal (A/B-phase) is output in differential
mode. (RS422)
• Servo parameter No.44 (numerator of output pulse
ratio) and servo parameter No.45 (denominator of
output pulse ratio) can be used to set the division
ratio.
• Servo parameter No.46 (pulse output logic
inversion) can be used to select the logic relation
of phase B with regard to the pulse of phase A,
and its output source.
• Ground of line driver of the output circuit is
connected to signal ground (GND); not insulated.
• The maximum output frequency is 4 Mpps (after
being multiplied by 4).
• Open collector output of Z-phase signal.
• Emitter side of the transistor of the output circuit is
connected to signal ground (GND); not insulated.
Servo alarm output
(X5 Pin 15)
Servo-ON input
(X5 Pin 23)
OFF
Approx. 10ms
or more
*2
OFF
Code
Connector
pin No.
Frame ground
FG
18
Signal ground
GND
26
Function
• Internally connected to the ground terminal inside
the servo amplifier.
• Signal ground
• Internally insulated from the control signal power
supply (COM–) inside the servo amplifier.
– B28 –
ON
ON
0ms or more
ON
Approx. 2ms
Dynamic brake
ON
OFF
Approx.
40ms
Motor energized
Not energized
BRK-OFF output
(X5 Pin 36)
OFF (Brake engaged)
Energized
Approx. 2ms
Point specifying input
(P1IN - P32IN)
ON
(Brake released)
Point setting
MIN 10ms
Strobe signal
(STB)
Others
Application
Control
power supply
(L1C,L2C)
0s or more
Output signal (pulse train) and function
Application
Operation Timing after Power-ON
OFF
Approx. 100ms or more *1
ON
<Notes>
• The above chart shows the timing from AC power-ON to command input.
• Activate the external command input according to the above timing chart.
*1. In this term Servo-ON input (CN X5 SRV-ON:pin23) turns ON as a hard ware, but operation
command can not be received.
*2. Servo alarm output (CN X5 ALM:pin15) turns ON when the microcomputer's initialization is
completed, and the condition of no error is occurring. Servo-ON input turns ON after Servo
alarm turns ON and the main power supply is activated sufficiently.
*3. After Internal control power supply , protective functions are active from approx. 1.5 sec after
the start of initializing microcomputer. Please set the signals, especially for protective function,
for example over-travel inhibit input (CWL,CCWL) or emergency stop input (EMG-STP), so as
to decide their logic until this term.
– B29 –
3. System Configuration and Wiring
Overview of function
Setup with the Front Panel
Operation instruction is specified by use of signal for point specifying input (P1IN to P32IN).
See the table below for the relation between point specifying input and operation instruction.
In order to execute an instruction, determine the kind of instruction by P1IN to P32IN,
and then input a strobe signal.
Composition of Touch Panel and Display
Display LED (2 digits)
In the case of an error, the alarm code will flash.
In the case of a warning, the warning code (about 2
seconds) will alternate at about 4 seconds intervals
with
.
<Remarks>
Because down of the signal wires during moving operation or exceptionally larger external noise disturbance may result in unexpected action, the protective equipments like
limit sensors or emergency stop input must be installed before using.
ID address setup rotary switch
LSD : Lower-shifting (Default : 0)
MSD : Upper-shifting (Default : 0)
For manufacturers' use only.
(Not for individual use)
Ex) When servo parameter No.57 = 3 (6 bits) is set
Point No. P32IN P16IN P8IN
H
0 (00H)
H
H
H
1 (01H)
H
H
H
2 (02H)
H
H
H
3 (03H)
H
H
H
4 (04H)
H
H
H
5 (05H)
H
H
H
6 (06H)
H
H
H
7 (07H)
H
H
H
8 (08H)
H
L
H
9 (09H)
H
L
H
10 (0AH)
H
L
P4IN
H
H
H
H
L
L
L
L
H
H
H
P2IN
H
H
L
L
H
H
L
L
H
H
L
P1IN
H
L
H
L
H
L
H
L
H
L
H
Description
Alarm clearing instruction
Moves to step parameter 1.
Moves to step parameter 2.
Moves to step parameter 3.
Moves to step parameter 4.
Moves to step parameter 5.
Moves to step parameter 6.
Moves to step parameter 7.
Moves to step parameter 8.
Moves to step parameter 9.
Moves to step parameter 10.
•
•
•
59 (3BH)
60 (3CH)
61 (3DH)
62 (3EH)
63 (3FH)
•
•
•
L
L
L
L
L
L
L
L
L
L
L
L
L
L
L
H
L
L
L
L
L
H
H
L
L
L
H
L
H
L
Moves to step parameter 59.
Moves to step parameter 60.
High-speed jog operation (negative)
High-speed jog operation (positive)
Homing instruction
Output signal (Analog signal)
Speed monitor output
Torque monitor output
Signal ground
Output Signals (Analog) and Their Functions
Application
Speed monitor
signal output
• The number of point inputs can be set by servo parameter No.57.
• The logic of point input can be changed by servo parameter No.58.
The table above describes the case where servo parameter No.58 is "1: Point input
valid by closed connection with COM–".
In the case of "0: Point input valid by opened connection with COM–", "H" and "L" are
reversed.
SP
SV.Pr07 Control mode
0 to 4
Motor
speed
5 to 9
Command
speed
<Notes>
• H indicates the opened contact condition and L the closed contact condition.
Function
Code
• The content of the output signal varies depending on Pr07
(Speed monitor (IM) selection).
• You can set up the scaling with Pr07 value.
Function
• Feeds out the voltage in proportion to the motor speed with
polarity.
+ : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command speed
with polarity.
+ : rotates to CCW
– : rotates to CW
• Point number of "High-speed jog operation (negative)", "High-speed jog operation
(positive)", and "Homing instruction" depends on the setting of servo parameter No.57.
– B30 –
– B31 –
3. System Configuration and Wiring
Application
Torque monitor
Function
Code
IM
signal output
SV.Pr08 Control mode
0,
11,12
Torque
command
1–5
Positional
deviation
• The content of output signal varies depending on Pr08
(Torque monitor (IM) selection).
• You can set up the scaling with Pr08 value.
Function
• Feeds out the voltage in proportion to the motor torque
command with polarity.
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
4. Parameter
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and functions. This section describes the outline of each parameter. Read and comprehend very
well so that you can adjust this diver in optimum condition for your running requirements.
<Remarks>
The parameter numbers not be mentioned in this section are not for individual use but
for manufacturers' use .Do not change these parameters from the default setting.
How to Set
• You can refer and set up the parameter with either one of the following.
1) console (DV0P4420, option)
2) combination of the setup support software, "PANATERM®" (Option, DV0P4460: Japanese / English version) and PC.
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the
"PANATERM®".
Outline of PANATERM®
With the PANATERM®, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O and pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
How to Connect
RS232 connection cable (option)
DV0P1960 (for DOS/V machines)
Connect to CN X4
Connect to CN X4
Setup disc of setup support software,
PANATERM®
• DV0P4460 : Japanese / English version (option)
Console : DV0P4420 (option)
<Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.
– B32 –
– B33 –
4. Parameter
Setup with the Console
Composition of Parameters
Display LED (6-digit)
All of LED will flash when error occurs, and switch to
error display screen.
Display LED (in 2 digits)
Parameter No. is displayed at parameter setup mode.
Point No. is displayed at teaching mode.
• Servo parameter
Group
Servo
parameter
Function selection
Adjustment
Press this to shift the digit for data change.
Press these to change data or execute selected action
of parameter.
Numerical value increases by pressing ,
,
decreases by pressing
.
SET Button
Press this to shift each mode which is selected by
mode switching button to EXECUTION display.
Mode Switching Button Press this to switch 7 kinds of mode.
6) Auxiliary function mode
1) Monitor mode
• Alarm clear
2) Teaching mode
• Absolute encoder clear
• Target position settings established
7) Copy mode
by teaching
• Copying of parameters from
• Test operation
the driver to the console.
3) Parameter setup mode
• Copying of parameters from
4) EEPROM write mode
the console to the driver.
5) Normal auto-gain tuning mode
Position Control
Input signals
Sequence
The data for the parameters is set after the mode has been switched to the parameter
setup mode. For details on operation, refer to the instruction manual provided with the
console.
Full-Closed Control
– B34 –
Servo
parameter No.
01 to 03,
07,08,0B,
0C,0F
10 to 1E,
27 to 2E
Outline
You can select a control mode,
and set up a baud rate.
You can set up servo gains (1st
and 2nd) of position, velocity,
integration, etc, and time constants
of various filters.
20 to 26, Parameters related to Real Time
2F
Auto-Gain Tuning. You
can set up a mode and select a
mechanical stiffness.
30 to 35 You can set up parameters related
to gain
switching(1st
2nd)
44 to 46, You can set up dividing of encoder
4C, 4D
output pulse.
53 to 5D You can set up the logic of input
signals and the number of point
input.
5E to 5F You can set up a torque limit of
torque command.
60, 64, 65, You can set up detecting
67 to 6E
conditions of output signals,
such as positioning-completion.
You can also set up a
deceleration/stop action at
main power-off, at alarm output
and at servo-off,
and clear condition of the deviation
counter.
70, 72, 73 You can set up actions of
protective functions.
78 to 7C You can set up dividing of external
scale.
– B35 –
4. Parameter
• 16-bit positioning parameter
Group
16-bit
positioning
parameter
Motor speed
Acceleration and
Deceleration
Homing
Jog operation
Others
List of Servo Parameters
16-bit positioning
Outline
parameter No.
00 to 0F You can set speed data of step
operation.
10 to 1F You can set acceleration and
deceleration data of step operation.
30 to 3B You can set data for homing.
40 to 45 You can set data for jog operation.
48 to 54 You can set data for teaching or
operation direction and so on.
• 32-bit positioning parameter
32-bit positioning
Outline
parameter No.
00 to 03 You can set data for offset or
maximum movement.
Group
32-bit positioning parameter
• Step parameter
Outline
Operation mode
Position/waiting time
Speed
Acceleration
Deceleration
Block
Servo
parameter
No.
Set up of parameter
Range
Default
Unit
01
02*1
03
07
08
0B*1
0C*1
0F
7-segment LED status for console, initial condition display
Control mode
Torque limit selection
Speed monitor (SP) selection
Torque monitor (IM) selection
Absolute encoder set up
Baud rate of RS232
Node address
0 to 15
0, 6
0 to 3
0 to 9
0 to 12
0 to 2
0 to 5
1
0
1
3
0
1
2
–
–
–
–
–
–
–
–
–
(Read Only) *2
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
*2 Depend on Rotary switch of the front panel.
Parameters for Adjustment of Time Constant for Gains and Filters
Group
Step
parameter
Parameters for Functional Selection
Specifying the positioning procedure.
ABS (absolute position), INC (relative position),
Rotary (rotation coordinates), and Dwell time
(standby time)
Inputting the coordinate data for positioning.
When dwell time is selected in operation mode,
set the standby time.
Selecting a speed selection number in
positioning.
Setting the speed by 16-bit positioning parameter.
Selecting an acceleration speed selecting
number in positioning.
Setting the speed by 16-bit positioning parameter.
Selecting a deceleration speed selecting
number in positioning.
Setting the speed by 16-bit positioning parameter.
Choosing either single operation or block
operation.
Servo
parameter
No.
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
Default
Related control
mode
1st position loop gain
P, F
0 to 3000 <63> <32>
1/s
1st velocity loop gain
P, F
1 to 3500 <35> <18>
Hz
P, F
ms
1st velocity loop integration time constant 1 to 1000 <16> <31>
P, F
0 to 5
–
1st speed detection filter
<0>
P, F
0 to 2500 <65> <126> 0.01ms
1st torque filter time constant
P, F
0.1%
Velocity feed forward
–2000 to 2000 <300>
P, F
0.01ms
Feed forward filter time constant
<50>
0 to 6400
P, F
1/s
2nd position loop gain
0 to 3000 <73> <38>
P, F
Hz
2nd velocity loop gain
1 to 3500 <35> <18>
P, F
ms
2nd velocity loop integration time constant 1 to 1000 <1000>
P, F
–
0 to 5
<0>
2nd speed detection filter
P, F
0 to 2500 <65> <126> 0.01ms
2nd torque filter time constant
P, F
Hz
1st notch frequency
100 to 1500
1500
P, F
–
1st notch width selection
2
0 to 4
Set up of parameter
Range
A to
D to
C-frame F-frame
Unit
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• In this document, following symbols represent each mode.
Symbol
Control mode
Setup value of
servo parameter No.02
P
Position control
0
F
Full-Closed control
6
– B36 –
• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up servo parameter No.21 (Setup of
Real-time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
* In this documentation, each mode is represented by the following symbols
P : Position control, F : Full-closed control.
– B37 –
4. Parameter
Servo
parameter
No.
Set up of parameter
Default
Unit
0 to 1
100 to 1500
<0>
1500
–
Hz
Related control
mode
P
P, F
0 to 4
0 to 99
2
0
–
–
P, F
P, F
44*1
45*1
0.1Hz
–
0.1Hz
P, F
P, F
P, F
4C
4D*1
–
P, F
27
28
Velocity observer
2nd notch frequency
29
2A
2nd notch width selection
2nd notch depth selection
2B
2C
2D
1st vibration suppression frequency 0 to 2000
2nd vibration suppression frequency 0 to 2000
0
0
0
2E
2nd vibration suppression filter
0
1st vibration suppression filter
–200 to 2000
–200 to 2000
20
21
22
23
24
25
26
2F*3
Set up of parameter
Range
Inertia ratio
0 to 10000
Real time auto tuning set up
0 to 7
Machine stiffness at auto tuning
0 to 15
Adaptive filter mode
0 to 2
Vibration suppression filter switching selection
0 to 2
Normal auto tuning motion setup
0 to 7
Software limit set up
0 to 1000
Adaptive filter frequency
0 to 64
Default
A to
D to
C-frame F-frame
<250>
1
4
1
1
0
0
10
0
Related control
mode
%
P, F
–
P, F
–
P, F
–
P, F
–
P, F
–
P, F
0.1rev
P, F
–
P, F
Unit
*3 this parameter will be automatically set up when the adaptive filter is validated (servo
parameter No.23, “Setup of adaptive filter mode” is “1”, and you cannot set this up at
your discretion. Set up servo parameter No.23, “Setup of adaptive filter mode” to “0”
(invalid) to clear this parameter.
Parameters for Adjustment (2nd Gain Switching Function)
Servo
parameter
No.
30
31
32
33
34
35
Set up of parameter
Range
Default
Unit
2nd gain action set up
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
0 to 1
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
<1>
<10>
<30>
<50>
<33>
<20>
–
–
166µs
–
–
(1+Setup value)
x 166µs
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
* In this documentation, each mode is represented by the following symbols
P : Position control, F : Full-closed control.
– B38 –
Servo
parameter
No.
46*1
Range
Default
Unit
Numerator of output pulse ratio
1 to 32767
10000
–
Related control
mode
P, F
Denominator of output pulse ratio
Pulse output logic inversion
Smoothing filter
0 to 32767
0 to 3
0 to 7
10000
0
1
–
–
–
P, F
P, F
P, F
0 to 31
0
–
P, F
Range
Default
Unit
Set up of parameter
FIR filter set up
Parameters for Input signals
Servo
parameter
No.
Parameters for Auto-Gain Tuning
Servo
parameter
No.
Parameters for Position Control
Range
53
54
55
56
57*1
58
59
5A*1
Over-travel inhibit input valid
0 to 1
1
–
Related control
mode
P, F
Over-travel inhibit input logic
Over-travel inhibit input operation setting
Home sensor input logic
5B
5C*1
5D*1
Multi-function input 2 Signal logic
Multi-function input 2 Selection logic
Servo-ON input valid
0 to 1
0 to 3
0 to 1
0 to 3
0 to 1
0 to 1
0 to 6
0 to 1
0
1
1
2
1
1
0
1
–
–
–
–
–
–
–
–
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
0 to 6
0 to 1
0
1
–
–
P, F
P, F
Range
Default
Unit
0 to 500
0 to 500
<500>*4
<500>*4
%
%
Related control
mode
P, F
P, F
Set up of parameter
Selecting the number of input points
Point specifying input logic setting
Multi-function input 1 Signal logic
Multi-function input 1 Signal selection
Parameters for Torque limit
Servo
parameter
No.
5E
5F
Set up of parameter
1st torque limit
2nd torque limit
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
*4 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Realtime auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
– B39 –
4. Parameter
List of 16-bit Positioning Parameters
Parameters for Sequence
Servo
parameter
No.
60
64
65
67
68
69
6A
6B
6C*1
6D*1
6E
Set up of parameter
Range
In-position range
0 to 32767
Output signal selection
0 to 1
Undervoltage error response at main power-off
0 to 1
Error response at main power-off
0 to 9
Error response action
0 to 3
Sequence at Servo-OFF
0 to 9
Mechanical brake delay at motor standstill 0 to 100
Mechanical brake delay at motor in motion 0 to 100
External regenerative resistor set up
0 to 3
Main power-off detection time
35 to 1000
Emergency stop torque set up
0 to 500
Default
A,
C to
B-frame F-frame
131
0
1
0
0
0
0
0
3
0
35
0
Related control
mode
Pulse
P, F
–
P, F
–
P, F
–
P, F
–
P, F
–
P, F
2ms
P, F
2ms
P, F
–
P, F
2ms
P, F
–
P, F
Unit
Parameters for Protective function
Servo
parameter
No.
70
72
73
Set up of parameter
Position deviation error level
Overload level
Overspeed level
Range
Default
0 to 32767
0 to 500
0 to 20000
25000
0
0
Related control
mode
256Pulse
P, F
%
P, F
r/min
P, F
Unit
Set up of parameter
Range
78*1
79*1
Numerator of external scale ratio 0 to 32767
Multiplier of numerator of external scale ratio 0 to 17
7A*1 Denominator of external scale ratio 1 to 32767
7B*1 Setup of hybrid deviation excess
1 to 10000
7C*1 External scale direction
0 to 1
Default
Unit
10000
0
10000
100
0
–
–
–
16 X external
scale pulses
–
Related control
mode
F
F
F
F
F
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
– B40 –
16-bit
positioning
parameter No.
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
Set up of parameter
1st speed
2nd speed
3rd speed
4th speed
5th speed
6th speed
7th speed
8th speed
9th speed
10th speed
11th speed
12th speed
13th speed
14th speed
15th speed
16th speed
Range
Default
Unit
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0 to 6000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
Parameters for Acceleration and Deceleration
Parameters for Full-Closed Control
Servo
parameter
No.
Parameters for Motor speed
16-bit
positioning
parameter No.
10
11
12
13
14
15
16
17
Set up of parameter
1st acceleration
1st S-shaped acceleration
1st deceleration
1st S-shaped deceleration
2 nd acceleration
2 nd S-shaped acceleration
2 nd deceleration
2 nd S-shaped deceleration
Range
Default
Unit
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0
0
0
0
0
0
0
0
ms
ms
ms
ms
ms
ms
ms
ms
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
* In this documentation, each mode is represented by the following symbols
P : Position control, F : Full-closed control.
– B41 –
16-bit
positioning
parameter No.
18
19
1A
1B
1C
1D
1E
1F
Set up of parameter
3rd acceleration
3rd S-shaped acceleration
3rd deceleration
3rd S-shaped deceleration
4 th acceleration
4 th S-shaped acceleration
4 th deceleration
4 th S-shaped deceleration
Range
Default
Unit
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0
0
0
0
0
0
0
0
ms
ms
ms
ms
ms
ms
ms
ms
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
Other Parameters
16-bit
positioning
parameter No.
48
49
Set up of parameter
Range
Default
Unit
0
Pulse
Related control
mode
P, F
0
1
ms
–
P, F
P, F
50*1
51*1
Teaching movement amount setting 0 to 32767
Instantaneous stop deceleration time 0 to 10000
Operation direction setting
0 to 1
Wrap around permission
0 to 1
52*1
Sequential operation setting
0 to 1
0
0
–
–
P, F
P, F
53
Sequential operation maximum point number
54*1
Block operation type
0 to 60
0 to 1
0
0
–
–
P, F
P, F
Range
Default
Unit
Related control
mode
Parameters for Homing
16-bit
positioning
parameter No.
30
31
32
33
34
35
36
37
38*1
39
3A
3B
Set up of parameter
Homing speed (fast)
Homing speed (slow)
Homing offset speed
Homing acceleration
Homing deceleration
Homing direction
Homing type
Home complete type
Homing skip
Bumping detection time
Torque limit for bumping homing
Homing Z-phase count setting
Range
Default
Unit
0 to 6000
0 to 6000
0 to 6000
0 to 10000
0 to 10000
0 to 1
0 to 7
0 to 1
0 to 1
0 to 10000
0 to 100
0 to 100
0
0
0
0
0
0
0
0
0
0
0
0
r/min
r/min
r/min
ms
ms
–
–
–
–
ms
%
–
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
Parameters for Jog operation
16-bit
positioning
parameter No.
40
41
42
43
44
45
Set up of parameter
Range
Default
Unit
Jog speed (low)
Jog speed (high)
Acceleration setting in jog operation
Setting of S-shaped acceleration in jog operation
Setting of deceleration in jog operation
Setting of S-shaped deceleration in jog operation
0 to 6000
0 to 6000
0 to 10000
0 to 1000
0 to 10000
0 to 1000
0
0
0
0
0
0
r/min
r/min
ms
ms
ms
ms
– B42 –
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
List of 32-bit Positioning Parameters
32-bit
positioning
parameter No.
Set up of parameter
00*1
Home offset
–2147483647
to 2147483647
0
Pulse
P, F
01*1
Setting of maximum movement in plus direction 0 to 2147483647
0
Pulse
P, F
02*1
Setting of maximum movement in minus direction –2147483648 to 0
Movement per rotation in rotation coordinates 0 to 2147483647
0
0
Pulse
Pulse
P, F
P, F
03*1
List of Step Parameters
Step
parameter No.
Set up of parameter
Operation mode
01H
to
3CH
Position/waiting time
Speed
Acceleration
Deceleration
Block
Range
Default
Unit
ABS/INC/Rotary/Dwelltime Incremental
–
–2147483648
0
Pulse/10ms
to 2147483647
V1 to V16
V1
–
A1 to A4
A1
–
D1 to D4
D1
–
Single/Block
Single
–
Related control
mode
P, F
P, F
P, F
P, F
P, F
P, F
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
* In this documentation, each mode is represented by the following symbols
P : Position control, F : Full-closed control.
– B43 –
5. Protective Functions
Protective Function (What Is Error Code ?)
<Protective function table>
• 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
code
No.
11
Error
code
No.
Control power supply under- voltage protection 44
Protective function
• Error status ands their measures
• During the error status, the error code No. will be displayed on the front panel LED,
and you cannot turn Servo-ON.
12
Over-voltage protection
13
Main power supply under-voltage protection 47
14
* Over-current protection
48
• You can clear the error status by turning on the alarm clear input for 120ms or longer.
15
* Over-heat protection
49
16
Over-load protection
50
• When overload protection is triggered, you can clear it by turning on the alarm clear
signal 10 sec or longer after the error occurs. You can clear the time characteristics
by turning off the connection between L1C and L2C or r and t of the control power
supply of the driver.
• You can also clear the above error by operating the "PANATERM®".
<Remarks>
• When the protective function with a prefix of "*" in the protective function table is
triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off
the power to remove the cause of the error and re-enter the power.
• Following errors will not be stored in the error history.
Control power supply under-voltage protection (Error code No. 11)
Main power supply under-voltage protection
(Error code No. 13)
EEPROM parameter error protection
(Error code No. 36)
EEPROM check code error protection
(Error code No. 37)
Emergency stop input error protection
(Error code No. 39)
External scale auto recognition error protection (Error code No. 93)
Motor auto recognition error protection
(Error code No. 95)
45
51
23
* Over-regeneration load protection
* Encoder communication error protection
* Encoder communication data error protection
24
Position deviation excess protection
54
25
* Hybrid deviation excess error protection
55
18
21
26
Over-speed protection
52
53
– B44 –
Warning
code No.
Over-load warning
18
Over-regeneration warning
40
Battery warning
88
Fan-lock warning
89
External scale warning
Absolute status error protection
* Encoder Z-phase error protection
* Encoder CS signal error protection
* External scale status 0 error protection
* External scale status 1 error protection
* External scale status 2 error protection
* External scale status 3 error protection
* External scale status 4 error protection
* External scale status 5 error protection
Homing error protection
Undefined data error protection
28
* External scale communication data error
69
29
Deviation counter overflow protection
70
* Present position overflow error protection
34
Software limit protection
71
Drive prohibition detection error protection
35
* External scale communication error protection
72
36
* EEPROM parameter error protection
* EEPROM check code error protection
82
37
39
Emergency stop input error protection
95
* Maximum movement limit error protection
* ID setting error protection
* External scale auto recognition error protection
* Motor auto recognition error protection
93
Absolute system down error protection Other
41 * Absolute counter over error protection No.
40
42
Absolute over-speed error protection
Warning function
16
* Absolute single turn counter error protection
* Absolute multi-turn counter error protection
68
Warning Function
• The MINAS-A4P Series outputs a warning signal before its protective function is activated,
enabling you to check the overload and other
error conditions in advance.
The warning code (about 2 seconds) will alternate at about 4 seconds intervals with
on 7-segment LED of front panel when the
warning is on.
Protective function
– B45 –
* Other error
6. Maintenance and Inspections
Routine maintenance and inspection of the driver and motor are essential for the proper
and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the
actual operating conditions. Defective parts should be replaced or repaired when any
error have occurred.
Prohibited
Product
Cooling fan
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80%
or lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Daily
inspection
Periodical
inspection
Cycles
Daily
Annual
Component
Smoothing condenser
Inspection Items and Cycles
Type
Disassembling for inspection and repair should
be carried out only by authorized dealers or service company.
Aluminum electrolytic
capacitor (on PCB)
Driver
Rush current
preventive relay
Items to be inspected
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connecter
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
• Loose tightening
• Trace of overheat
• Damage of the terminals
Rush current
preventive resistor
Bearing
Oil seal
Encoder
Motor
Battery
for absolute encoder
<Notes>
Inspection cycle may change when the running conditions of the above change.
Motor with
gear reducer Gear reducer
– B46 –
Standard replacement
cycles (hour)
Note
Approx. 5 years
2 to 3 years
(10,000 to 30,000 hours)
Approx. 5 years
Approx. 100,000 times
(depending on working
condition)
Approx. 20,000 times
(depending on working
condition)
3 to 5 years
(20,000 to 30,000 hours)
5000 hours
3 to 5 years
(20,000 to 30,000 hours)
Life time varies depending
on working conditions.
Refer to the instruction
manual attached to the
battery for absolute
encoder.
10,000 hours
– B47 –
These hours or cycles are
reference.
When you experience any
error, replacement is required even before this
standard replacement cycle.
7. Conformity to EC Directives and UL Standards
Composition of Peripheral Equipments
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those
products are required to conform to the EU unified standards and to furnish the CE
marking on the products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.
Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
Control box
Controller
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor
and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the EMC
Directives, especially for noise emission and noise terminal voltage, it is necessary to
examine the machine incorporating our servos.
Insulated
power supply
for interface
Noise filter for
signal lines
Power
supply
Circuit
breaker
Ground-fault
breaker
(RCD)
Noise filter
Conformed Standards
Subject
Motor
Surge
absorber
Conformed Standard
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100
EN50178
UL508C
EN55011
Conforms to
Low-Voltage
Directives
Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment
Motor/
EN61000-6-2
Immunity for Industrial Environments
Motor
IEC61000-4-2
Electrostatic Discharge Immunity Test
and
IEC61000-4-3
Radio Frequency Electromagnetic Field Immunity Test
driver
IEC61000-4-4
Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5
Lightening Surge Immunity Test
IEC61000-4-6
High Frequency Conduction Immunity Test
Standards
referenced by
EMC Directives
IEC61000-4-11 Instantaneous Outage Immunity Test
IEC : International Electrotechnical commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
CN X5
Driver
Noise filter
for signal
CN X1
lines
L1
L2 CN X2
L3
U
V
W
L1C
L2C
Motor
M
RE
CN X6
Protective earth (PE)
Power Supply
+10%
+10%
100V type : Single phase,
100V
to 115V
50/60Hz
–15%
–15%
(A, B and C-frame)
+10%
+10%
200V type : Single phase,
200V
to 240V
50/60Hz
–15%
–15%
(B, C-frame)
+10%
+10%
200V type : Single/3-phase, 200V
to 240V
50/60Hz
–15%
–15%
(C, D-frame)
+10%
+10%
200V type : 3-phase,
200V
to 230V
50/60Hz
–15%
–15%
(E, F-frame)
(1) This product is designed to be used at over-voltage category (Installation category) II
of EN 50178:1997. If you want to use this product un over-voltage category (Installation category) III, install a surge absorber which complies with EN61634-11:2002 or
other relevant standards at the power input portion.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
with EN60950
<Precautions in using options>
Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed
and
marked) between power supply and noise filter.
– B48 –
– B49 –
Circuit Breaker
7. Conformity to EC Directives and UL Standards
Noise Filter
Surge Absorber
When you install one noise filter at the power supply for multi-axes application, contact
to a manufacture of the noise filter.
Voltage specifications
Option part No.
Manufacturer’s part No. Applicable driver (frame) Manufacturer
for driver
DV0P4170 Single phase 100V/200V SUP-EK5-ER-6
A and B-frame
Okaya Electric Ind.
100.0±2.0
88.0
75.0
7.0
Option part No.
DV0P1450
Terminal cover
(transparent)
5.0
Provide a surge absorber for the primary side of noise filter.
<Remarks>
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber.
53.1±1.0
Voltage specifications
for driver
3-phase 200V
Manufacturer's part No.
R . A .V-781BXZ-4
Manufacturer
Okaya Electric Ind.
1
1
2
2
IN
UL-1015 AWG16
3
4
2
F
41±1
OUT
L1
1
5
3
Screw for cover
M3
6
R
Cx1
Option part No.
DV0P4190
Cx1
Voltage specifications
for driver
Single phase 100/200V
Manufacturer's part No.
R . A .V-781BWZ-4
Manufacturer
Okaya Electric Ind.
Body
Voltage specifications
6-6M
L A B E L
IN
OUT
2-ø5.5
(13) (18)
90±1.0
120
– B50 –
1
4
2
5
3
6
1
2
281
2-ø5.5 x 7
150
+30
200 -0
Option part No.
Manufacturer’s part No. Applicable driver (frame) Manufacturer
for driver
DV0P3410 Three-phase 200V 3SUP-HL50-ER-6B
F-frame
Okaya Electric Ind.
Circuit diagram
11±1
ø4.2±0.2
Circuit diagram
1
UL-1015 AWG16
4.5±0.5
G
A B C D E F G H K L
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4
DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4
28.5±1
Cover
5.5±1
Cy1
M4
286±3.0
270
255±1.0
240
3
Circuit diagram
H
10
5.5±1
(11.6)
(13.0)
6-M4
Earth terminal
M4
E
4
Manufacturer’s part No. Applicable driver (frame) Manufacturer
3SUP-HQ10-ER-6
C-frame
Okaya Electric Ind.
3SUP-HU30-ER-6
D and E-frame
LABEL
Circuit diagram
28.5±1
2
A
B
C
D
ø4.2±0.2
4.5±0.5
3-phase 200V
3
Cx
+30
200 -0
12.0
Voltage specifications
for driver
Cx
281
Option part No.
DV0P4180
DV0P4220
L
Cy
Cy
2–ø4.5
2–ø4.5 x 6.75
L
R
10.0
LABEL
50.0
60.0
2.0
OUT
1
11±1
Circuit diagram
IN
41±1
– B51 –
2
7. Conformity to EC Directives and UL Standards
Noise Filter for Signal Lines *
13±1
DV0P1460
Option part No.
Manufacturer's part No. ZCAT3035-1330
Manufacturer
TDK Corp.
30±1
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
and interface cable)
39±1
* In case of D-frame, install 3 noise
34±1
Mass: 62.8g
filters at power line.
<Caution> Fix the signal line noise filter in place to eliminate excessive stress to the cables.
Ground-Fault Breaker
Install a type B ground fault breaker (RCD) at primary side of the power supply.
Grounding
(1) Connect the protective earth terminal (
) of the driver and the protective earth
terminal (PE) of the control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are
provided for protective earth.
<Note>
For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Applicable Peripheral Equipments" .
8. Built-in Holding Brake
In the applications where the motor drives the vertical axis, this brake would be used to
hold and prevent the work (moving load) from falling by gravity while the power to the
servo is shut off.
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.
Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm
while the motor is in motion, refer to the technical reference. (DV0P4490)
• With the parameter, servo parameter No.6B (Setup of mechanical brake action while
the motor is in motion), you can set up a time between when the motor enters to a
free-run from energized status and when BRK-OFF signal turns off (brake will be
engaged), when the Servo-OFF or alarm occurs while the motor is in motion.
<Notes>
1. The lining sound of the brake (chattering and etc.) might be generated while running
the motor with built-in brake, however this does not affect any functionality.
2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is open). Pay an extra attention when magnetic sensors are used nearby
the motor.
Specifications of Built-in Holding Brake
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC606641. (e.g. Install in the control box with IP54 enclosure.)
(2) Install a circuit breaker or fuse which are UL recognized (Listed
marked) between
the power supply and the noise filter without fail.
For the rated current of the circuit breaker or fuse, refer to P.14, "Driver and List of
Applicable Peripheral Equipments".
Use a copper cable with temperature rating of 60˚C or higher.
Tightening torque of more than the max. values (M4:1.2N • m, M5: 2.0N • m) may break
the terminal block.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds 115%
or more than the rated current based on the time characteristics. Confirm that the effective current of the driver does not exceed the rated current. Set up the peak permissible
current with servo parameter No.5E (Setup of 1st torque limit) and servo parameter
No.5F (Setup 2nd torque limit).
– B52 –
Motor
series
MSMD
MAMA
MQMA
MSMA
750W
Rotor Engaging Releasing Exciting
Permissible Permissible
Releasing
inertia
time
time current
DC A voltage work (J) per total work
x 10 –4
one braking x 103J
ms
ms* (at cool-off)
kg • m2
0.002 35 or less
0.25
39.2
4.9
DC2V
10 or less
1.27 or more 0.018 50 or less
0.30
137
44.1
or more
2.45 or more 0.075 70 or less 20 or less 0.35
196
147
Motor
output
50W, 100W
200W, 400W
Static
friction
torque
N •m
0.29 or more
100W
0.29 or more
0.03
50 or less
200W, 400W
1.27 or more
0.09
60 or less
1.0kW
4.9 or more
0.25
1.5kW, 2.0kW
7.8 or more
3.0kW
11.8 or more
4.0kW, 5.0kW 16.1 or more
0.33
1.35
15 or less
50 or less 15 (100)
80 or less
110 or less
(Continues to next page)
– B53 –
or less
50 (130)
or less
0.29
DC1V
137
44.1
0.41
or more
196
147
0.74
0.81
196
DC2V
392
490
or more
0.90
1470
2156
8. Built-in Holding Brake
Motor
series
MDMA
Rotor Engaging Releasing Exciting
Permissible Permissible
Releasing
inertia
time
time current
DC A voltage work (J) per total work
x 10 –4
ms
ms* (at cool-off)
one braking x 103J
kg • m2
70 (200)
80 or less
4.9 or more
0.59
588
1.0kW
780
or less
1.35
100 or less 50 (130) 0.79
1176
1.5kW, 2.0kW 13.7 or more
1470
Motor
output
3.0kW
Static
friction
torque
N •m
110 or less or less
16.1 or more
4.0kW
21.5 or more
4.25
5.0kW
24.5 or more
4.7
90 or less
500W, 1.0kW
4.9 or more
1.5kW
13.7 or more
MFMA
MGMA
100 or less
4.9 or more
1.35
1.5kW
7.8 or more
4.7
2.5kW
21.6 or more
4.5kW
31.4 or more
900W
13.7 or more
2.0kW
24.5 or more
3.0kW, 4.5kW 58.8 or more
8.75
1.35
50 (130)
or less
or less
80 or less
70 (200)
or less
35 (150)
or less
150 or less
100 or less
80 or less
4.7
or less
70 (200)
25 (200)
4.7
400W
or less
or less
1.35
2.0kW to 5.0kW 24.5 or more
35 (150)
25 (200)
80 or less
MHMA
9. Dynamic Brake
150 or less
100 (450)
or less
50 (130)
or less
25 (200)
or less
50 (130)
or less
0.90
1470
2156
1.10
1078
2450
1.30
1372
2940
0.59
588
784
0.79
1176
1470
1372
2940
0.59
588
784
0.83
1372
2940
0.75
1470
0.79
1176
1470
1372
2940
1.30
DC2V
or more
1470
2156
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
<Caution>
1.Dynamic brake is only for emergency stop.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Or it may damage the dynamic brake circuit of the driver.
The motor becomes a dynamo when driven externally, and shorting current
runs while this dynamic brake is activated and might cause smoking or fire.
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 3 minutes pause when the dynamic brake is activated during high-speed
running.
• You can activate the dynamic brake in the following cases.
1) when the main power is turned off
2) at Servo-OFF
3) when one of the protective function is activated.
In the above cases from 1) to 3), you can select either activation of the dynamic
brake or making the motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, the dynamic brake will be kept activated.
1.3
1.4
• Excitation voltage is DC24V±10%.
• Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.).
• Above values (except static friction torque, releasing voltage and excitation current)
represent typical values.
• Backlash of the built-in holding brake is kept ±1˚or smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series
• Service life of the number of acceleration/deceleration with the above permissible
angular acceleration is more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
– B54 –
– B55 –
10. Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Check the series name of the motor, rated output torque, voltage specifications and
encoder specifications.
Incremental Specifications, 2500P/r
<Remarks> Do not use in other combinations than those listed below.
Power
supply
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
Motor
series
MAMA
Ultra low
inertia
MQMA
Low
inertia
Applicable motor
Rated
Model
rotational speed
5000r/min
3000r/min
Single phase,
100V
Single phase,
200V
MSMD
Low
inertia
3000r/min
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
MSMA
Low
inertia
MDMA
Middle
inertia
MHMA
High
inertia
3000r/min
2000r/min
2000r/min
MAMA012P1*
MAMA022P1*
MAMA042P1*
MAMA082P1*
MQMA011P1*
MQMA021P1*
MQMA041P1*
MQMA012P1*
MQMA022P1*
MQMA042P1*
MSMD5AZP1*
MSMD011P1*
MSMD021P1*
MSMD041P1*
MSMD5AZP1*
MSMD012P1*
MSMD022P1*
MSMD042P1*
MSMD082P1*
MSMA102P1*
MSMA152P1*
MSMA202P1*
MSMA302P1*
MSMA402P1*
MSMA502P1*
MDMA102P1*
MDMA152P1*
MDMA202P1*
MDMA302P1*
MDMA402P1*
MDMA502P1*
MHMA052P1*
MHMA102P1*
MHMA152P1*
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
– B56 –
Applicable driver
Rated
output
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
Model
Frame
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
MADDT1107P
MBDDT2110P
MCDDT3120P
MADDT1205P
MADDT1207P
MBDDT2210P
MADDT1105P
MADDT1107P
MBDDT2110P
MCDDT3120P
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame
B-frame
C-frame
MADDT1205P
A-frame
MADDT1207P
MBDDT2210P B-frame
MCDDT3520P C-frame
MDDDT5540P D-frame
Power
supply
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
Applicable motor
Rated
Model
rotational speed
MFMA
Middle
inertia
2000r/min
MGMA
Middle
inertia
1000r/min
MFMA042P1*
MFMA152P1*
MFMA252P1*
MFMA452P1*
MGMA092P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
Applicable driver
Rated
output
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Model
Frame
MCDDT3520P
MDDDT5540P
MEDDT7364P
MFDDTB3A2P
MDDDT5540P
MFDDTA390P
C-frame
D-frame
E-frame
F-frame
D-frame
MFDDTB3A2P
F-frame
<Note>
Suffix of " * " in the applicable motor model represents the motor structure.
Absolute/Incremental Specifications, 17-bit
<Remarks> Do not use in other combinations than those listed below.
Power
supply
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
Single phase,
100V
MDDDT3530P
D-frame
MDDDT5540P
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
Single phase,
200V
MCDDT3520P C-frame
MDDDT3530P
D-frame
MDDDT5540P
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
Motor
series
Motor
series
Applicable motor
Rated
Model
rotational speed
MAMA
Ultra low
inertia
5000r/min
MQMA
Low
inertia
3000r/min
MSMD
Low
inertia
3000r/min
Single/3-phase,
200V
3-phase,
200V
MSMA
Low
inertia
3000r/min
MAMA012S1*
MAMA022S1*
MAMA042S1*
MAMA082S1*
MQMA011S1*
MQMA021S1*
MQMA041S1*
MQMA012S1*
MQMA022S1*
MQMA042S1*
MSMD5AZS1*
MSMD011S1*
MSMD021S1*
MSMD041S1*
MSMD5AZS1*
MSMD012S1*
MSMD022S1*
MSMD042S1*
MSMD082S1*
MSMA102S1*
MSMA152S1*
MSMA202S1*
MSMA302S1*
MSMA402S1*
MSMA502S1*
(continues to next page)
– B57 –
Applicable driver
Rated
output
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
Model
Frame
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
MADDT1107P
MBDDT2110P
MCDDT3120P
MADDT1205P
MADDT1207P
MBDDT2210P
MADDT1105P
MADDT1107P
MBDDT2110P
MCDDT3120P
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame
B-frame
C-frame
MADDT1205P
A-frame
MADDT1207P
MBDDT2210P B-frame
MCDDT3520P C-frame
MDDDT5540P D-frame
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
10. Check of the Combination of the Driver and the Motor
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
MDMA
Middle
inertia
2000r/min
MHMA
High
inertia
2000r/min
MFMA
Middle
inertia
2000r/min
MGMA
Middle
inertia
1000r/min
MDMA102S1*
MDMA152S1*
MDMA202S1*
MDMA302S1*
MDMA402S1*
MDMA502S1*
MHMA052S1*
MHMA102S1*
MHMA152S1*
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA152S1*
MFMA252S1*
MFMA452S1*
MGMA092S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
Applicable driver
Rated
output
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Model
Frame
For detail specifications, refer to engineering material or downloaded Instruction
Manual from our Web Site.
MDDDT3530P
D-frame
MDDDT5540P
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
Input power supply
3-phase,
200V
Applicable motor
Rated
Model
rotational speed
MCDDT3520P C-frame
MDDDT3530P
D-frame
MDDDT5540P
MEDDT7364P E-frame
MFDDTA390P
F-frame
MFDDTB3A2P
MCDDT3520P
MDDDT5540P
MEDDT7364P
MFDDTB3A2P
MDDDT5540P
MFDDTA390P
MFDDTB3A2P
C-frame
D-frame
E-frame
F-frame
D-frame
F-frame
Basic specifications
Single/3-phase,
200V
Motor
series
Main circuit power
100Vline Control circuit power
Type
A, B
Type
C, D
200VType
E, F
line
Type
Control
A to D
circuit
Type
power
E, F
Temperature
Operation Humidity
conditions Height above the sea
Vibration
Control method
Control mode
Main
circuit
power
Encoder feedback
External scale feedback
Control
signal
<Notes>
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b) Switch the parameter servo parameter No.0B (Absolute encoder setup) from "1
(default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in
incremental.
Input
Output
Pulse signal Output
Setup
Front panel
Regeneration
Dynamic brake
Position Instantaneous speed observer
control Vibration reducing control
Full- External scale division gradual
closed
related increase setting range
The number of points
Function
Operation mode
Common
Power
supply
10. General specifications
Auto
tuning
Real time
Normal mode
Unnecessary wiring
mask function
Division function of encoder feedback pulse
Protection Hardware error
function Software error
Alarm data trace back function
– B58 –
+10%
Single-phase 100 to 115V –15% 50/60Hz
+10%
Single-phase 100 to 115V –15% 50/60Hz
+10%
Single-phase 200 to 240V –15% 50/60Hz
+10%
Single/three-phase 200 to 240V –15% 50/60Hz
+10%
Three-phase 200 to 230V –15% 50/60Hz
+10%
Single-phase 200 to 240V –15% 50/60Hz
+10%
Single-phase 200 to 230V –15% 50/60Hz
Operation temperature: 0 to 55 degrees Storage temperature: –20 to 80 degrees
Operation/storage humidity 90%RH or less (no condensation)
Height above the sea level: 1000 m or less
2
5.88 m/s or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)
IGBT PWM method, sinusoidal drive
Select Position control or Full-closed control by parameter.
17 Bit (resolution: 131072) 7-serial absolute encoder
2500 p/r (resolution: 10000) 5-serial incremental encoder
Compatible with ST771 and AT500 made by Mitutoyo Corporation
CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6
Servo-ON, Strobe, Multi- function input x2
Servo alarm, Brake release signal, Present position output x6,
Positioning completion / Output during deceleration, Motor operation condition,
Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output
by the line driver.
For encoder Z-phase pulse, an open collector output is also available.
Setup with Panaterm® or a console is available.
(Panaterm® and a console are sold separately)
[1] 7-segment LED 2-digit
[2] Analogue monitor pin (velocity monitor and torque monitor)
Type A-B : No internal regenerative resist (external only)
Type C-F : internal regenerative resist (external is also available)
Built in
Usable
Usable
Ratio between the encoder pulse (numerator) and the external scale pulse
(denominator) can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
maximum 60 points
Homing operation, Jog operation, Step operation, Continuous block operation, Combined
block operation, Sequential operation, Teaching (need a console sold separately)
Load inertia is determined at real time in the state of actual operation and gain
corresponding to the rigidity is set automatically.
Load inertia is determined by driving the equipment with operation command
within the amplifier and gain corresponding to the rigidity is set automatically.
The following control input signal can be masked:
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON
The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
Large positional deviation, Undefined data error , EEPROM error, etc.
Traceable up to 14 alarm data including present alarm data.
– B59 –
After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacture or the dealer of the machine or equipment.
Cautions for Proper Use
• This product is intended to be used with a general industrial product, but not designed
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident
or loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment,
various safety equipments or equipments which require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety
in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to
the bearing, depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is
required.
• Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean
room related.
• Please be careful when using in an environment with high concentrations of sulphur or
sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a
poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated
range to the power supply of this product. Failure to heed this caution may result in
damage to the internal parts, causing smoking and/or a fire and other trouble.
Technical information
Technical information of this product (Instruction Manual, CAD data) can be downloaded
from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
MEMO (Fill in the blanks for reference in case of inquiry or repair.)
Date of
purchase
Model No.
M
DD
M
MD
M
MA
Dealer
Tel : (
)
-
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212
– B60 –
MEMO