Manual Download

Technical Instructions (Overall)
MINAS-BL GV series
• Thank you very much for your
purchase of Panasonic product.
• Please read this instruction
manual carefully for proper use.
• In particular, be sure to read
Safety precautions (P.2 to 5)
before use for safety.
• Keep this manual with care after
reading, and read as necessary.
・This product is for industrial equipment. Don't use this product at general household.
• Label of safety precaution is affixed to the product.
Be sure to give this Instruction manual to an end user.
<Contents>
page
Safety precautions.......................................2
Introduction..................................................6
Checking the model.....................................6
Name of part................................................8
Installation...................................................9
Caution...................................................... 11
System configuration and wiring...............12
Wiring........................................................14
Test run......................................................18
Checking load and use condition .................20
Assembling of gear head...........................22
Maintenance/ inspections..........................23
Protective functions...................................24
How to clear trip........................................26
Troubleshooting.........................................27
page
How to use Digital key pad (option)...........28
Operating instruction ............................30
Test run (Digital key pad).......................31
How to copy parameter.........................34
List of parameters (Default)...................37
LED display...........................................41
The function of parameters....................42
Outline of PANATERM for BL................52
Example of operation pattern....................52
Communication.........................................53
Conformance to EC directive and UL standard....80
Specifications............................................84
Options......................................................90
List of peripheral equipments....................96
Cautions for proper use.............................99
After-sale service (Repair) .......... Back cover
Safety precautions
Important
The following explanations are for things that must be observed in order to
prevent harm to people and damage to property.
•Misuses that could result in harm or damage are shown as follows,
classified according to the degree of potential harm or damage.
Danger
Indicates great possibility of death or
serious injury.
Caution
Indicates the possibility of injury or
property damage.
•The following indications show things that must be observed.
Indicates something that must not be done.
Indicates something that must be done.
DANGER
Do not touch the rotating part of
the motor while operating.
Do not touch the motor, amplifier,
and external regenerative resistor,
since they become hot.
The failure could result in injuries.
Do not expose the cables to sharp
objects, excessive pressing or
pinching forces, and heavy loads.
The failure could result in burns.
Do not subject the product to
water, corrosive or flammable
gases, and combustibles.
The failure could result in electric
shocks, damages, or malfunction.
The failure could result in fire.
－2－
Do not climb or stand on the
brushless equipment.
Do not put your hands in the
brushless amplifier.
The failure could result in electric
shocks, injuries, damages, or
malfunction.
Do not place inflammable matter
near the motor, amplifier and
external regenerative resistor.
The failure could result in burns,
or electric shocks.
Do not connect the cable (U, V and
W) of the brushless motor directly
to the commercial power source.
The failure could result
in fire, malfunction or damage.
The failure could result in fire.
Ground the earth of the brushless
motor and brushless amplifier.
The failure could result
in electric shocks.
Install an external emergency
stop device to shut down the main
power source in any emergency.
The failure could result in electric
shocks, injuries, fire, damages or
malfunction.
Make sure to secure the safety
after the earthquake.
The failure could result
in electric shocks, injuries, or fire.
An over-current protection, earth
leakage breaker, over temperature
protecter and emergency stop
device must be installed.
The failure could result
in electric shocks, injuries, or fire.
Install the product properly to
avoid personal accidents or fire in
case of an earthquake.
The failure could result
in electric shocks, injuries, or fire.
Only persons who are trained
and qualified to work with or on
electrical equipment are permitted to
operate or maintain this equipment.
The failure could result
in electric shocks.
Mount the brushless motor,
brushless amplifier and external
regenerative resistor on
incombustible material such as
metal.
The failure could result
in electric shocks, injuries, or fire.
－3－
Safety precautions
Transportation, wiring and
checking must be performed with
power source turned off and after
making sure that there is no risk of
electric shock.
Important
Arrange the phase sequense of the
motor and wiring of the CS sensor.
The failure could result in injuries,
damages, or malfunction.
The failure could result
in electric shocks or injuries.
CAUTION
Do not drive the motor from the
external power.
Do not approach to the equipment
after recovery from the power
failure because they may restart
suddenly.
The failure could result in fire.
The failure could result in injuries.
Do not hold the cables or motor
shaft when transporting the motor.
Never start and stop the motor by
magnet contactor which is provide
on the main line.
The failure could result in injuries.
Do not frequently turn on and off
the master power source.
The failure could result
in malfunction.
Do not subject the brushless
amplifier, motor or shaft to high
impact.
The failure could result in damages.
Do not place any obstacle that
blocks ventilation around the
brushless amplifier and the motor.
The failure could result
in burns or fire.
Do not block the heat dissipation
hole.
The failure could result
in malfunction.
The failure could result
in electric shocks, or fire.
－4－
Do not modify, dismantle or repair
the product.
Be sure to turn off power when not
using it for a prolonged time.
The failure could result
in electric shocks, injuries, or fire.
If trip occurs, remove the causes
of the trip and secure the safety
before restarting.
The failure could result in injuries
due to unintentional operation.
Maintenance and check must be
performed by an expert.
The failure could result
in injuries and electric shock.
The failure could result in injuries.
Execute the trial-operations
with the motor fixed and a load
unconnected.
Connect a load to the motor after
the successful trial-operations.
Conduct proper installation
according to product weight or
rated output.
Use the specified voltage on the
product.
Use the motor and amplifier with
the specified combination.
The failure could result
in injuries, or damages.
The failure could result
in injuries.
The failure could result
in electric shocks, injuries, or fire.
Install a safety device against
idling or locking of gear head, and
leakage of grease.
The failure could result in injuries,
damages, and contaminations.
The failure could result in fire.
Ambient temperature of installed
motor and amplifier should be
under permittable one.
The failure could result in damages.
This product should be treated
as an industrial waste when it is
disposed.
－5－
Introduction/ Checking the model
Checking the model
After unpacking
Checking the model of brushless motor
• Make sure that the model is what you have ordered.
• Check whether the product has been damaged or not during transportation.
Nameplate
Motor type
Model No.
Rated input voltage
Rated output
Rated frequency
Rated speed
If any deficiency should be found,
contact the dealer store where you bought this product.
Checking the model of Amplifier, Motor and Gear head
This amplifier is designed for use in combination with a motor to be specified by us.
Check a name of series, rated output, voltage specifications you wish to use
You must not use any other combinations than those listed below:
Standard
Shaft
type
Voltage
Pinion shaft
Single phase
AC100 to 120 V
Single phase/
3-phase
AC200 to 240 V
Round shaft
Single phase
AC100 to 120 V
Single phase/
3-phase
AC200 to 240 V
Single phase/
3-phase
AC200 to 240 V
T E , 4 0 °C
CONNECTION
SER. No. 12040001N
20120401
IP65
Model designation
Type
MBMU 5A Z A X
Output
5A: 50 W
9A: 90 W
1E: 130 W
Function
A: Standard
Example) Ser. No.
12 0 4 0001
Applicable Gear head
50 W
MBEG5A1BCV
MBMU5AZAX
MX8G □ B *
Reduction ratio: 3 to 180
Serial number
MX8G □ B *
Reduction ratio: 3 to 180
Production date Example) 2012 0 4 01
MBEG9A1BCV
MBMU9A1AZ
130 W
MBEG1E1BCV
MBMU1E1AZ
50 W
MBEG5A5BCV
MBMU5AZAX
90 W
MBEG9A5BCV
MBMU9A2AZ
130 W
MBEG1E5BCV
MBMU1E2AZ
50 W
90 W
130 W
50 W
90 W
130 W
MBEG5A1BCV
MBEG9A1BCV
MBEG1E1BCV
MBEG5A5BCV
MBEG9A5BCV
MBEG1E5BCV
MBMU5AZAS
MBMU9A1AS
MBMU1E1AS
MBMU5AZAS
MBMU9A2AS
MBMU1E2AS
MZ9G □ B *
MY9G □ B *
Reduction ratio: 3 to 200
MZ9G □ B *
MY9G □ B *
Reduction ratio: 3 to 200
—
Out put
50 W
90 W
130 W
50 W
90 W
130 W
Amplifier Type
MBEG5A1BCV
MBEG9A1BCV
MBEG1E1BCV
MBEG5A5BCV
MBEG9A5BCV
MBEG1E5BCV
Applicable Motor
MBMU5AZA ○ *
MBMU9A1A ○ *
MBMU1E1A ○ *
MBMU5AZA ○ *
MBMU9A2A ○ *
MBMU1E2A ○ *
The mark “ ○ ” following the motor model number indicates the motor shaft specification.
－6－
Shaft specification
X: For gear head MX8G
Z: For gear head MZ9G/MY9G
S: Round shaft
Input power supply
1: 100 V
2: 200 V
Z: 100/200 V
Applicable Motor
90 W
S1: Continuous rating
Thermal class
Serial number
Production date
Protection structure
Made in China
Amplifier Type
For special-purpose motor
Single phase
AC100 to 120 V
130(B)–TUV
Out put
*A figure representing reduction ration in □
e.g.) Part number of MX type gear head with reduction ratio 10 is MX8G10B.
Voltage
C O N T. T O R Q U E 0.16 N· m
RATING
S 1 ( C O N T. )
THERMAL 105(A)–UL
BRUSHLESS MOTOR
M o d e l N o . MBMU5AZAX
0–240 V
I N P U T 3Φ AC
0.52 A
50 W
RATED OUTPUT
200 H z
RATED FREQ.
3000 r / m i n
R A T E D R E V.
Year of production
(Lower 2 digits of AD year)
Consecutive number
Month of production
Year of production
(AD year)
The motor
manufactured
in Apr. 2012 is
given the Serial
number 0001.
Day of production
Month of production
Checking the model of brushless amplifier
Nameplate
Model No.
Input/output voltage
Input/output phase
Rated input/output current
Input/output frequency
Rated output
Ser.No.
P12040001
Model No. MBEG1E5BCV
Voltage
Phase
F.L.C
Freq.
Power
INPUT
200-240V
1ø/3ø
1.5A/0.7A
50/60Hz
OUTPUT
0-240V
3ø
0.8A
0-267Hz
130W
Made in China
MBEG 5A 1 B C V
Output
5A: 50 W
9A: 90 W
1E: 130 W
合格
20120401
Consecutive number
Month of production
Year of production
(Lower 2 digits of AD year)
Production date
Ex.: 2 0 1 2 0 4 0 1
Day of production
Month of production
Year of production (AD year)
Model designation
Type
Serial number
Ex.: P 1 2 0 4 0 0 0 1 ＊
BRUSHLESS AMPLIFIER
V: speed control
Function 2 C: RS485 communication
Function 1 B: with circuit for regenerative resistor
Input power supply 1: Single phase AC100 to 120 V
5: Single phase/3-phase AC200 to 240 V
－7－
Name of part
Installation
Name of part
Install the brushless motor and brushless amplifier properly for preventing failure
and accident.
Brushless motor
Transport
O-ring (not provided on a round shaft model)
Connector for motor cable and
CS signal cable
Frame
Bracket B
Output shaft
Ground terminal
Motor nameplate
Safety precaution label
is affixed to the product.
Oil seal
Brushless amplifier
[Front view]
Attachment hole
[Side view]
Power LED
(green: when power is ON)
Alarm LED
(red: when Trip is operation )
Connector for control signals
(I/O)
Connector for
communications
(SER)
Grounding terminal screw
－8－
Storage
•Keep the unit indoors in a clean and dry place free from vibration with little change of
temperature.
•In keeping a gear head alone, direct the output shaft down.
(Otherwise, grease leaking is possible.)
Location
•Location gives great influence upon the life of brushless motor and brushless amplifier,
therefore choose a place in conformance with the conditions below:
(1) Indoors where the motor is not subjected to rain water and direct sun beam.
(2) Do not use the motor in corrosive atmosphere such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, sulfur, gas chloride, gas sulfide, acid, alkali, and salt, in the
atmosphere of combustible gas, or in the vicinity of flammables.
(3) Place not exposed to grinding liquid, oil mist, iron powder, and cutting particle.
(4) Well-ventilated place with little moisture, oil, or inundation, and place far from heat
source such as a furnace.
(5) Place easy to check and clean
(6) Place free from vibration
(7) Do not use the unit in an enclosed environment. Enclosing may raise the temperature
of motor (amplifier), and shorten their life.
Caution in installing gear head
Connector for power input
(POWER)
Connector for
motor connection
(MOTOR)
•Use caution enough in transporting the unit to prevent injury by drop or fall, and avoid
damage to the equipment.
Safety precaution label
is affixed to the product.
Install a device that will ensure safety operation of the system even if the following
failures should occur on the life end of gear head: idling by damaged teeth, locking
by bite, grease leakage, and the like.
•As for application such as on a lifter or the like device, install a device for preventing drop
by damaged teeth.
•As for application such as opening and closing of door, install a release device against
locking by gear biting.
•As for food or textile equipment, install an oil pan for measures against grease leakage.
•Do not install an encoder, sensor, contact, etc., in the proximity of gear head. Or
otherwise, protect such devices against grease leakage.
•In order to prevent unexpected accident, be sure to perform daily check.
－9－
Installation
Installation/ Caution
Environmental condition
Installation of brushless amplifier
Item
Condition
Brushless motor
–10 ℃ to 40 ℃ (free from freezing) *1
Ambient
Brushless amplifier
temperature
Digital key pad
(Option)
Ambient humidity
Storage temperature
Protection
structure
Brushless motor
Brushless amplifier
0 ℃ to 50 ℃ (free from freezing) *1
20% to 85% RH or below (free from condensation)
At normal temperature and normal humidity *2
IP65
(Excluding shaft pass-through section and lead wire connector)
•This motor meets test requirements specified in EN
standards (EN60529 and EN60034-5). This motor
cannot be used for an application that requires long
term waterproof performance, such as the case where
the motor is always washed with water.
Vibration
Altitude
(1)When installing with screw
Determine the fastening torque of the fixing screw
based on the strength of the screw and material of
the mounting surface, to ensure secure and safe
installation.
Example) To install to steel plate with steel screw (M4):
1.35 to 1.65 N･m
Vertical
Location of
fixing screw
Not greater than 4.9 m/s (10 to 60 Hz)
2
Not greater than 1000 m
*1 Ambient temperature is measured at a distance of 5 cm from the product.
*2 Temperature which is acceptable for a short time, such as during transportation,
is –20 ℃ to 60 ℃ (free from freezing).
Installation of brushless motor
• Oil and water protection
(1)Direct down the lead of cable as far as possible.
(2)Avoid use in such an environment where the motor is always exposed to oil and water.
(3)Avoid use with cable immersed in oil or water.
• Stress to cable
(1)Make sure that stress is not applied to the lead or connection of cable due to bending
or dead weight.
(2)In installation where the motor moves, fix the cable of motor, and house the extension
cable connected to it in the cable bear to reduce stress by bending as small as
possible.
(3)Allow the bending radius of cable as large as possible.
－ 10 －
Location of
fixing screw
(2)When installing to DIN rail
The DIN rail mounting unit is available as option.
For details, refer to P.94.
Equivalent to IP20
Digital key pad
(Option)
The amplifier is a vertical placement type. Install it vertically and provide at least
10 cm space around it for ventilation.
Cautions for Proper Use
(1)Because the control circuit is sensitive to temperature and impact, read this instruction
manual carefully for proper installation.
(2)The brushless amplifier switches the power element at a high speed to control the
motor. When the motor runs, leaking current will increase, which may activate the
leakage breaker. If this is the case, use a leakage breaker provided with measure
against high frequency for inverter.
(3)In starting and stopping the motor, use the operation instruction input “ I 1” or RUN/
STOP switch on Console A or Digital key pad. If the motor is turned on/off by turning on/
off of power supply, the life of internal circuit may be shortened.
－ 11 －
System configuration and wiring
Wiring equipment
System configuration/ general wiring diagram
• Recommended noise filter
GV series
Brushless amplifier
Power supply connection
connector kit (option)
AC power supply
MCCB
Noise
filter
Magnetic
contactor
Connector
for SER.
RS485
It cannot be used
simultaneously.
Digital key pad connecting cable
(option)
Gear head
(option)
GV series
Brushless motor
Motor extension cable (option)
Select if needed (to 10 m).
Digital key pad
External
regenerative
resistor
(Option)
Personal computer
(Customer preparation)
POWER
Voltage
Optional part
number (option)
Manufacturer's
part No.
Single phase 100, 200 V
DV0P4170
SUP-EK5-ER-6
3-phase
DV0PM20042
3SUP-HU10-ER-6
Digital display console.
It enables change of
parameter.
It cannot be used
simultaneously.
PC connecting cable (option)
If your PC does not have RS232 port,
use RS232-USB converter.
• Wiring work shall be performed by qualified electric engineering technician.
• Do not turn on power before finishing wiring, to avoid risk of electric shock.
• For details of options (sold separately), see P.90.
Manufacturer
OKAYA ELECTRIC
IND. CO., LTD.
• Selection of Molded Case Circuit Breaker (MCCB), magnetic contactor, and electric wire
(wiring within equipment) (refer to P.80 “Conformance to EC directive and UL standard”
for compatibility with overseas standard.)
Voltage
Capacity
(W)
(option)
(refer to P.28)
Communication software
PANATERM for BL
Please download from our web site
Change of parameter seting
monitor of a control state
System configuration and wiring
(
MCCB
rated
current
)
Electric wire (mm2)
Magnetic
(Wiring
within equipment)
contactor rated
current
Main circuit/
(contact structure) Grounding wire Control circuit
Single phase
50 to 130
100V
5A
20 A (3P+1a)
0.5 (AWG20)
0.13 (AWG26)
Single phase
50 to 130
200V
5A
20 A (3P+1a)
0.5 (AWG20)
0.13 (AWG26)
5A
20 A (3P+1a)
0.5 (AWG20)
0.13 (AWG26)
3-phase
200V
50 to 130
■ Be sure to ground the grounding terminal.
In wiring to power supply (outside of equipment) from MCCB, use an electric wire of 1.6
mm diameter (2.0 mm2) or more both for main circuit and grounding. Apply grounding
class D (100 Ω or below) for grounding. Do not tighten the ground wires together, please
tighten them individually.
• Selection of relay
As for use for control circuit such as control input terminal, use a relay for small signal
(minimum guarantee current 1 mA or less) for preventing poor contact.
<Reference example>
Panasonic: DS type, NK type, HC type, OMRON: G2A type
• Control Circuit Switch
When using a switch instead of relay, use one for minute current in order to prevent poor
contact.
<Example>
Nihon Kaiheiki Ind.Co.,Ltd: M-2012J-G
－ 12 －
－ 13 －
Wiring
Wiring
Wiring
Function of terminal
Standard wiring diagram
Connector for power supply (POWER)
• In case of 3-Phase 200 V
Noise
filter
Power
supply
input
External
regenerative
resistor
L1
L2
L3
MCCB
Molded Case
(Circuit
Breaker)
6 1
Grounding
10 5
Brushless Connector
amplifier for control
signals (I/O)
10
02
01
＋5V
FIN
GND
I5
I4
I3
I2
I1
1
External speed setting
Variable resister 5 kΩ
B characteristic 1/4 W
Change of
direction
Run/Stop
command
Be sure to ground the grounding terminal.
In wiring to power supply (outside of equipment) from MCCB, use an electric wire of
1.6 mm diameter (2.0 mm2) or more both for main circuit and grounding.
Apply grounding class D (100 Ω or below) for grounding.
Do not tighten the ground wires together, but connect them individually.
Fastening torque of earth screws to be 0.49 to 0.98 N·m.
Connector on amplifier side: Part No. 5569-10A1-210 (Molex Inc.) or equivalent.
(mating connector: Housing 5557-10R-210, Terminal 5556PBTL)
Terminal Terminal
number symbol
Terminal
name
Terminal explanation
Terminal for
external
regenerative
resistor
Please connect external regenerative resistor of an option
if needed.
External regenerative resistor name:
100 V type DV0P2890 (50 Ω)
200 V type DV0PM20068 (200 Ω)
Connect the terminal to commercial power supply
conforming to voltage specification. When you use single
phase, connect the main power between L1 and L2
terminals.
3
B
5
P
6
L3
8
L2
10
L1
Terminal for
power supply
input
1,2,4,7,9
NC
－
Do not connect anything.
• In case of single phase 100, 200 V
External
regenerative
resistor
MCCB
Noise
filter
Power
supply
input
L1
L2
Molded Case
(Circuit
Breaker)
6 1
Grounding
10 5
Brushless Connector
amplifier for control
signals (I/O)
10
02
01
＋5V
FIN
GND
I5
I4
I3
I2
I1
1
External speed setting
Variable resister 5 kΩ
B characteristic 1/4 W
Change of
direction
Run/Stop
command
Be sure to ground the grounding terminal.
In wiring to power supply (outside of equipment) from MCCB, use an electric wire of
1.6 mm diameter (2.0 mm2) or more both for main circuit and grounding.
Apply grounding class D (100 Ω or below) for grounding.
Do not tighten the ground wires together, but connect them individually.
Fastening torque of earth screws to be 0.49 to 0.98 N·m.
－ 14 －
－ 15 －
Wiring
Connector for control signals (I/O)
Input circuit
Connector on amplifier side: Parts No. S10B-PASK-2 (J.S.TMfg.,Co.,Ltd.) or equivalent.
(mating connector: Housing PAP-10V-S, Terminal SPHD-001T-P05)
Terminal Terminal
number symbol
1
I 1*1
Terminal name
Terminal explanation
Signal input 1
Operation instruction input *1
Motor runs when " I 1" and "GND" are shorted, and
stops when they are opened.
2
I 2*1
Signal input 2
Rotation changeover input
CW operation when " I 2" and "GND" are shorted, and
CCW operation when they are opened. *2
3
I 3*1
Signal input 3
Free-run stop input *1
Free-run stop when " I 3" and "GND" are shorted,
4
*1
I4
Signal input 4
Trip reset input *1
cancels a trip state when " I 4" and "GND" are
shorted,
5
I 5*1
Signal input 5
Free-run stop input *1
Free-run stop when " I 5" and "GND" are shorted,
6
GND*3
Signal ground
Common ground of analog speed input and input/
output signal *3
7
FIN
For speed
setting Input
Speed can be set by applying voltage DC0 to 5 V.
Input impedance 100 kΩ.
8
+5V
The power supply Power output dedicated when connecting an external
variable resistor (5 kΩ, B characteristics) to FIN input
for external
(cannot be used for any other purpose.)
speed setting
9
01※1
Signal output 1
Trip signal output. *1 "L" in trip (Contact ON)
Open collector Vce max: DC30 V, Ic max: 50 mA
10
02
Signal output 2
Velocity pulse output. *1 (24 pulses / 1 rotation)
Open collector Vce max; DC 30 V, Ic max; 50 mA
※1
－ 16 －
Speed instruction value
(r/min)
Internal
power
supply
(+5 V)
(Central value)
4000
1 kΩ
Output circuit
*1
*1 Function of input/output can be changed by the Digital key pad or PANATERM for BL.
Default is shown. Please refer to The function of parameters of P.42.
*2 Rotation direction is that on motor shaft. When gear head is incorporated, the rotation direction of motor and that of gear output shaft are reversed for some gear reduction ratio. Please
refer to the table of the permissible torque of P.20.
(CW: Rotation clockwise when see from the motor shaft, CCW: Rotation counterclockwise
when see from the motor shaft)
*3 When resistor and control GND are disconnected in use of external variable resistor, 5 V
is input to FIN irrespective of setting of variable resistor, and upper speed limit is directed;
therefore use caution enough for connecting GND.
•The terminal number of the connector for control signals, pin No.1 is the SER connector side.
•Connector for connection J.S.TMfg.,Co.,Ltd. Housing: PAP-10 V-S Terminal: SPHD-001 T-P05
•When a control signal line is extended, please give as below 5 m.
FIN characteristic
Photo-coupler
(Upper speed limit)
I1, I2, I3, I4, I5
GND
01, 02
0
Vce max DC30 V
Ic max 50 mA
(Lower speed limit) 0 0.5
4.5
5 (V)
FIN Input voltage
GND
Connector for motor connection (MOTOR)
Connector on amplifier side: Parts No. 5569-08A1-210 (Molex Inc.) or equivalent.
(mating connector: Housing 5557-08R-210, Terminal 5556PBTL)
Terminal
number
1
2
3
4
5
6
7
8
Terminal
symbol
U
V
W
5VS
CS1
CS2
CS3
GNDS
Terminal name
Motor U phase
Motor V phase
Motor W phase
High voltage 5 V
CS signal 1
CS signal 2
CS signal 3
High voltage GND
Terminal explanation
Connect motor wire U, V and W.
Not isolated from commercial power source.
Use care to avoid electric shock and
grounding fault.
•High voltage is applied to motor wire and CS signal line; Use caution for avoiding electric shock.
•Use a motor extension cable (option) for extending motor wire.
Connector for communications (SER)
Modular jack: 85503-0001 (Molex Inc.) or equivalent (RJ45)
Terminal
number
1
2
3
4
5
6
7
8
Terminal
symbol
—
+5V
SOT
SIN
RS485+
RS485−
GND
SCK
Terminal explanation
Do not connect anything.
DC5 V power supply for Digital key pad
Interface for Digital key pad or PANATERM for BL
For connect RS485+
For connest RS485–
Power supply GNG for Digital key pad
Interface for Digital key pad
•Connection of Digital key pad of an option is possible.
Digital key pad connecting cable of an option (DV0P383**) is required.
•The terminal number of a modular jack is the right figure
－ 17 －
8
1
Test run
Inspection prior to test run/Test run
•With Console A
Inspection prior to test run
After completion of installation and wiring, check the connections and supplies as shown
below:
(1)Make sure that all wiring is correct.
• Power input terminal: Check of connection L1, L2, L3
• Check of connection of a motor connector
(2)Make sure that input power supply conforms to rating.
Test run
•Operation with external control signal
When power is turned on, the power LED lights in green.
Upon tripping, the alarm LED lights in red.
The motor runs when the operation instruction input “ I 1” is short-circuited to “GND” and
stops when the circuit between “ I 1” and “GND” is disconnected.
Rotating direction: CW when the rotation direction changeover instruction input “ I 2” is
shorted to “GND”, and CCW when “ I 2” is disconnected from “GND”.
CW : clockwise when viewed from motor shaft　CCW: counterclockwise when viewed from motor shaft
If the rotation direction is reversed while the motor
is running, the rapid directional switching can cause
tripping due to the inertia of load.
When using a relay or switch for short-circuiting,
select a minute electric current type (minimum
guaranteed current 1 mA or below).
02
01
+5V
FIN
GND
I5
I4
I3
I2
I1
External speed setting
Variable resister 5 kΩ
10 B characteristic 1/4 W
<Connections on Consol A and I/O connector>
Change of Run/Stop
Rotating speed of default setting can be adjusted
direction
command
by using the analog speed instruction input to the
speed setting input terminal “FIN”.
1
For a prolonged shutdown, turn off power to the
motor.
•When power is turned off and on again while operation instruction “ I 1” is shortcircuited to “GND”, the motor will start again, which is dangerous. Make sure that the
circuit between “ I 1” and “GND” is open before turning on power.
•When gear head is incorporated, the rotation direction of motor and that of gear
output shaft are reversed for some gear reduction ratio. Please refer to the table of the
permissible axis torque (P.20).
－ 18 －
Speed potentiometer
To start the motor, set RUN/STOP switch to
Power LED
RUN position, and to stop the motor, set the
switch back to STOP position.
Rotating direction can be switched from the
Direction
direction selector switch on the side of Console A.
selector
If the rotation direction is reversed while the
switch
motor in the RUN mode, the rapid directional
switching can cause tripping due to the inertia
of load.
Rotation speed can be adjusted by the speed
potentiometer.
Turn off power when the motor is to be stopped
RUN/STOP switch
for a long time.
•When power is turned off with RUN/STOP switch in RUN position, and turned on
again, the motor will start again, which is dangerous. When turning on power, always
make sure that the switch is in STOP position.
•For connection to Consol A, use optional Consol A connecting cable. (option)
•The procedure descried above is for operation according to factory default. Different
procedure is required if internal parameters have been changed by using the Digital
key pad. Return the required settings (Parameters 30, 31, 33, etc.) back to the factory
default or initialize the parameters (Parameter 54).
Note that when a parameter is initialized, all other parameters are also reset to the
factory default.
I/O connector side Terminal Lead color of Console A side
Terminal No.
symbol
a cable
terminal No.
I1
1
Brown
1
I2
2
Red
2
I3
3
—
I4
4
—
I5
5
—
6
GND
Orange
3
7
FIN
Yellow
4
8
+5V
Green
5
9
01
—
10
02
—
•Test run (Digital key pad)
Please refer toTest run (Digital key pad) (P.31).
－ 19 －
Digital key pad
Checking load and use condition
Check the use condition for extended use of the product. Particular use conditions may
lead to heating or damage to the shaft. Fully check use conditions, and use the motor in a
permissible range.
Standard life
Standard life is 5,000 hours for the motor equipped with gear head. Standard life of the
motor without gear head (round shaft) is 10,000 hours (however, effective life of the oil seal
is 5,000 hours).
Standard life is the designed lifetime predicted based on assumption that it is operated
8 hours/day (service factor: Sf = 1.0) under uniform loading (gear head allowable shaft
torque, motor rated torque) at normal temperature and humidity.
Typical motor life can be determined as follows:
Example: Motor speed 3000 to 4000 r/min
Standard life (hours) = 5000 (hours) × 3000 (r/min) / operating speed (r/min)
Service factor (Sf)
Standard life
Life expectancy =
Service
factor (Sf)
Service factor (Sf) varies with impact of load and operation time. The table below shows
how the service factor value depends on load condition.
Type of load
Typical load
Constant
Light-impact
Medium-impact
Heavy-impact
Belt conveyor, One-directional rotation
Start/Stop, Cam-drive
Instant FWD/REV, Instant stop
Frequent medium-impact
Service factor
5 hours/day 8hours/day 24hours/day
1.0
1.0
1.5
1.2
1.5
2.0
1.5
2.0
2.5
2.0 to 2.5 2.5 to 3.0 3.0 to 3.5
• Motor rotation speed: 3000 to 4000 r/min or less.
Model Reduction 3
name
ratio
MBMU5AZAX
MX8G□B
MBMU9A□AZ
MZ9G□B
MY9G□B
MBMU1E1AZ
（100 V）
MZ9G□B
MY9G□B
MBMU1E2AZ
（200 V）
MZ9G□B
MY9G□B
3.6
5
6
7.5
9
Unit: N・m
10 12.5 15 18 20 25 30 36 50 60 75 90 100 120 150 180 200
0.29 0.35 0.48 0.58 0.72 0.87 0.97 1.21 1.44 1.75 1.94 2.42 2.71 3.25 4.45 5.47 6.84
7.48
0.50 0.61 0.84 1.01 1.27 1.52 1.71 1.91 2.30 2.79 3.08 3.95 4.67 5.22 7.36 8.78 11.0 13.0 14.3 17.0
0.59 0.71 0.99 1.18 1.49 1.78 2.00 2.24 2.69 3.27 3.61 4.63 5.47 6.15 8.60 10.2 12.9 15.4 17.2
19.6
*Direction of rotation:
represents that the direction is same as that of motor;
otherwise opposite to that of motor
Shaft permissible load
The load should not cause the limits shown in the table below to be exceeded.
Model name
Motor
shaft
Gear
shaft
MBMU5AZAS
MBMU9A □ AS
MBMU1E □ AS
MX8G type
MZ9G type
MY9G type
Permissible
overhung load
(W)
Permissible
thrust load
(F)
120 N
20 N
294 N
49 N
588 N
147 N
100 N
150 N
10 N
Overhung load
(W)
Motor
and
Gear head
• Motor rotation speed: 3000 r/min or less.
5
L
2
20 N
L
Thrust load
(F)
Attachment side
The required gear head allowable shaft torque TA can be determined based on the service
factor and actual load torque T1.
TA = T1 × Sf
Select a gear head/motor so that the required torque (continuous value) is equal to or lower
than the allowable shaft torque shown in the table below. In any condition, torque T1 is not
allowed to exceed the allowable shaft torque TA regardless of Sf.
3.6
19.6
19.6
0.76 0.91 1.27 1.52 1.91 2.28 2.57 2.87 3.44 4.19 4.63 5.93 7.01 7.88 11.0 13.1 16.5
Permissible torque
Model Reduction 3
name
ratio
—
6
7.5
9
Unit: N・m
10 12.5 15 18 20 25 30 36 50 60 75 90 100 120 150 180 200
MBMU5AZAX
0.39 0.46 0.64 0.77 0.96 1.16 1.29 1.61 1.92 2.33 2.59 3.23 3.61 4.33 5.93 7.29
7.84
MX8G□B
MBMU9A□AZ
0.67 0.81 1.12 1.34 1.69 2.02 2.28 2.54 3.06 3.72 4.11 5.27 6.22 6.96 9.81 11.7 14.7 17.3 19.0
MZ9G□B
MY9G□B
MBMU1E□AZ
1.01 1.21 1.69 2.02 2.54 3.04 3.42 3.82 4.59 5.58 6.17 7.91 9.34 10.5 14.7 17.5
19.6
MZ9G□B
MY9G□B
－ 20 －
—
19.6
Permissible load inertia moment
When acceleration/deceleration time is set to 0.3 sec (initial setting),
The allowable load inertia moment should be kept within the value shown in the table below.
(Allowable value for round shaft is applicable when free-run stop is activated. In the
deceleration-to-stop mode, 1/4 of value shown in the table is applicable only to round shaft
because of regeneration. If it is impossible to reduce inertial, extend the deceleration time
or use optional external regenerative resistor.)
Unit: ×10−4kg・m2
Model Reduction 3 3.6 5
name
ratio
6 7.5 9
10 12.5 15 18 20 25 30 36 50 60 75 90 100 120 150 180 200
MBMU5AZAX
1.25 1.79 3.42 4.90 7.72 11.2 13.8 21.6 30.6 45.2 55.8 86.9 127 183
MX8G□B
MBMU9A□AZ
MBMU1E□AZ
5.93 8.47 16.4 23.6 37.3 53.4 67.6 98.3 142 211 257 423 589 847
MZ9G□B
MY9G□B
－ 21 －
342
1684
—
round
shaft
2.5
5.6
Assembling of gear head
Maintenance/ Inspections
Assembling of gear head
Maintenance/ Inspections
•Preparation for assembling
(1)Use the product in combination with only the compatible gear head. Failure to
observe this instruction will result in malfunction.
(2)Make sure that the O-ring is attached to the bottom of motor flange.
If the gear head is assembled with O-ring floating, it may result in grease leakage.
(3)When grease adheres to the end surface of gear head, thoroughly wipe it off.
If the gear head is assembled with grease adhered, it may exude.
•Assembling
(1)Direct the motor pinion upward, and make sure that the relation between direction of
motor lead wire and output shaft of gear head matches with the equipment.
(2)Do not contact a tooth tip of pinion shaft to a tooth tip of gear head.
Set each toothes of motor and gear head correctly and gently press and turn the gear
head in counter and counter-clockwise.
(3)To attach the gear head to an application, use the "attaching screws" supplied with
the gear head and tighten the screws with appropriate torque and with care not to
pinch the O-ring, so that the there is no gap between motor flange and gear flange.
The recommended torque is shown below.
Size
Gear head type
Screw size
Tightening
torque
80 mm sq.
MX8G
M5
2.45 N・m
94 mm
MZ9G
M6
2.94 N・m
104 mm
MY9G
M6
2.94 N・m
—
90 mm sq.
Attachment
pitch
<Note>
Do not forcedly assemble the motor and gear head. Do not damage the tooth of
the motor pinion and gear head. Incorrect assembly results in abnormal noise
generation or shortened unit life.
Output shaft
Faucet portion
end face
Motor pinion
O-ring
Faucet face
Flange face
Leadwires
－ 22 －
Routine maintenance and inspection are essential for proper and satisfactory operation of
the motor.
Maintenance/ Inspection item
Maintenance/ Inspection
Check item procedure
Condition
Input voltage
Voltmeter
Must be within ±10% of rating.
Input current
Ammeter
Must be within rated input current described on nameplate.
Insulation
resistance
Insulation
resistance
tester
The resistance of motor should be 1 MΩ or higher when tested
with a 500 V megger.
Measuring position:
Between power input line (L1, L2,L3) and grounding wire
Brushless motor:
Across phase (U, V, W) and ground terminals
Noise
Hearing
Noise level must not be different from the usual level. In addition,
abnormal noise such as rumbling noise must not be heard.
Vibration
By hand
Free from abnormal vibration.
Grease
leakage
Installation
bolt
Use
environment
Check that circumference of the motor and gear head are free
Visual check from oil and grease.
If grease leakage will cause problem, use grease sealing cover.
Torque
wrench
Check for loosening of bolt, and tighten additionally as
necessary.
By sight
Check the ambient temperature and humidity, and make sure
that dirt, dust, or foreign substance is not found.
Check the waste thread etc don’t attached to the windhole of
brushless amplifier.
Caution
• Power-on/off operations should be done by the operators themselves for ensuring safety
in checking.
• Do not touch the motor while it is running or immediately after it stops because it gets hot
and stays hot for a while after power has been turned off.
• When testing the insulation resistance of the brushless amplifier with the megger, disconnect the amplifier from all associated devices. Performing megger testing without first
disconnecting these devices will cause failure.
When disassembly, troubleshooting, etc., is needed,
be sure to contact our service department or the sales agent of purchase.
－ 23 －
Protective functions
Protective functions
Description of trip can be displayed only when the Digital key pad (option) or PC is connected. Protection function works even when the Digital key pad or PC is not connected,
but it is not displayed.
1
—
2
3
Protective
item
Description
Sensor error
The brushless amplifier trips
when trouble of CS sensor
signal is detected.
Under voltage
warning
(default)
When the internal DC voltage is
below specified value, operation
is stopped; when voltage is
recovered, operation is started
again. (This is not trip, and no
trip output is made.)
•Trip can be set by parameter
50.
Product of 100 V: Approx DC100 V,
Product of 200 V: Approx DC200 V
Undervoltage
error
•The brushless amplifier trips
when internal DC voltage is
below specified value only if
trip is set by parameter 50
100 V product: Approx DC100 V,
200 V product: Approx DC200 V
Overvoltage
error
The brushless amplifier trips
when internal DC voltage
(voltage of smoothing function of
power supply) rises and exceeds
specified value.
Product of 100 V: Approx DC200 V,
Product of 200 V: Approx DC400 V
—
Overload
warning
(Electronic
thermal)
When the load factor reaches
100% overload warning level,
the monitor display flashes.
4
Overload error
(Electronic
thermal relay)
The brushless amplifier trips
when motor torque is output
continuously above 115%.
5
Overspeed
error
The brushless amplifier trips
when rotation speed (actual
speed) exceeds specified value.
Approx 6000 r/min
Measure
Display on
Digital key pad
Malfunction due to external
noise is possible.
E-CS
L
Investigate the condition of
wiring and circumstances
of power supply.
E-LV
If the motor should trip in
running, too short deceleration time is one of the
causes. Adjust deceleration
time.
It is improvable if external
regenerative resister is
connected.
Lower the load factor
below 100% by reducing
load, changing operation
pattern or increasing motor
capacity.
Check for overshooting due
to too short acceleration
time.
Protective
item
Description
Measure
Display on
Digital key pad
8
Overcurrent
error
The brushless amplifier trips
when the motor current exceeds
specified
current.
E-OC
9
Overheat
error
The brushless amplifier trips
when the temperature in control
section rises above specified
value.
Approx. 105 °C
Excessive acceleration/
deceleration setting or gain
setting is possible.
Set the longer acceleration/
deceleration time and the
smaller gain.
If this trip should occur as
soon as the unit is started,
failure is possible.
10
External
forced trip
11
The brushless amplifier trips
Setting change when any important parameter
such as “ 30 Run command
warning
selection” is changed.
12
RS485
communication
error
The brushless amplifier trips
when communication error of
RS485 communication function
occurs.
30
Parameter
initialization
display
Select
in “ 54 Parameter
initializing”. Turn off power and
then on to trip.
The brushless amplifier trips
when external forced trip input
turns on.
E-OV
90
91
5-digit
LED
flashes.
THr
E-OS
Parameter
error
Other
CPU error
number
Parameter data saved in
EEPROM is abnormal.
The brushless amplifier
trips when trouble of control
microcomputer is detected.
Overload protection
time characteristics
110
－ 25 －
E-OH
If an external thermal
element is used, check the
cause of temperature rise.
E-OL
This is not abnormal.
Reset trip in order to make
change effective.
CAU
Check for noise problem in
the vicinity.
E-485
This is not abnormal.
The parameter was
initialized.
It is clearable only by
power supply re-injection.
----
E-UPr: recheck and reset
all parameters.
E-SPr: internal parameter
error.
Possible failure
Malfunction due to external
noise is possible.
Investigate for noise source.
100
10
100
－ 24 －
Check the ambient temperature and cooling condition of brushless amplifier.
Check the load factor and
operation pattern.
1000
Time (s)
Trip
number
Trip
number
120
130
Torque (%)
140
150
E-UPr
E-SPr
Err
How to clear trip
Troubleshooting
How to clear trip
If the brushless amplifier should trip, eliminate the cause and use any of the procedures (1)
to (3) below for reset.
(1)Turn off power, and when power LED has gone out, turn on power again.
(2)Press the switch
and present trip state displayed.
(3)Input the trip reset signal.
(When
or
is chosen in “ 33 I 1/ I 2 function selection”, enter “ I 1” and “ I 2”
at the same time; when
is chosen, enter “ I 2” for trip reset.
or
Trip reset signal, when continued to be input, is designed to become ineffective in
order to prevent inadvertent restarting. Enter trip reset signal only when necessary.)
(4) Resetting trip with PANATERM for BL
Trip can be reset from the PC by using optional PC connection cable *1 (option) and
communication software (PANATERM for BL: can be downloaded from our web site
free of charge).
For details, refer to PANATERM for BL instruction manual.
(5) Resetting trip via RS485 communication
Refer to section “Communication” starting with P.53.
Note: When the cause is Overcurrent error
or User parameter error
Otherwise, the trip cannot be reset.
, Sensor error
, CPU error
, turn off power as described (1) above.
<Caution>
In clear trip, be sure to find and remove the trip factor before clear.
*1To use the optional PC connection cable (sold separately), RS232 port is required.
When the PC has no RS232 port, use RS232-USB converter.
If any trouble should be found, follow the steps below for check and countermeasure.
•If the cause cannot be found, it is recommended to use the Digital key pad, PANATERM
for BL, RS232 communication, and check the detail of trip. If failure is likely, or when
any part is damaged, or when you are in any other trouble, contact the sales agent of
purchase or our company.
Phenomenon
Detail of checking
Measure, etc
Check for abnormality of wiring.
Apply proper wiring.
Check whether protective function
Check the detail of trip .
is activated. Check whether alarm
Turn off power once, and turn on again.
LED (red) is on.
Motor does not
rotate.
Check whether power LED (green)
Turn on power.
is lighted up.
Check whether voltage on input
power is normal.
Check whether operation start
signal is input.
Motor does not
rotate or stops
during operation.
Motor stops
during
deceleration.
Check whether analogue speed
instruction is set at 0 V.
Check the condition of operation instruction.
Raise the analogue speed instruction little by
little.
Check whether protective function Overload is possible. Reduce the load or
is activated.
increase the output capacity.
Check whether the inertia of load
is too large.
Output shaft of motor (gear head)
and shaft of load are not aligned.
Large vibration or
Motor and gear head are not
noise.
assembled correctly.
Damage to gear head or bearing.
Motor rotates
reversely.
Check the supply voltage.
Check whether setting of rotation
direction changeover input is
wrong.
Regenerative voltage protection may have
worked. Decrease the inertia.
Turn off power once, and turn on again, and
reset the trip state.
Make deceleration time longer.
Alternatively, apply free-run stop.
Check the joint between the output shaft and
load shaft of the motor (gear head).
Check the assembling condition between
motor and gear head, and their combination,
and assemble them properly.
Contact us for repair.
Check the position of rotation direction
choosing switch for the Console A.
As for others, check the status of “ I 2”.
Rotation direction of the motor and
Check the gear ratio and rotation direction.
gear output shaft may be reversed
Please refer to the table of the permissible
for some gear reduction ratio of
axis torque (P.20).
gear head.
Rotation speed
is unstable during Check whether the load fluctuates Reduce the fluctuation of load. Increase the
output capacity.
operation (actual greatly.
speed).
Parameter dose
not change.
－ 26 －
Check whether operation start
signal is input.
－ 27 －
Some parameters cannot be changed when
operation instruction is on. (See the check
column of parameter list on P.37.)
Turn off operation instruction before changing.
How to use Digital key pad (option)
Name of each part and how to setup
• Description
• What can be done by Digital key pad
•Monitoring of rotation speed (actual speed) and load
factor, etc. (Rotation speed can be displayed being
multiplied by the factor set by parameter 47 and 48.)
•Display detail of trip, and trip history. Trip reset by
pressing
and
.
•Parameter setting, initialization, and copying function.
,
switch (Set•Start and stop of motor by
ting of parameter “ 30 Run command selection” is
required.)
switch
2-digit LED
• Name of each part
RUN switch
MODE switch
STOP switch
DATA SET switch
5-digit LED
Displays rotation speed (actual speed), commanded speed, trip history,
setting of parameter, and the like.
2-digit LED
Displays the number of parameter (in editing parameter).
when the motor is
Displays the rotation direction in operation. Displays
stopped.
and CW...
)
(CCW as viewed from the output shaft of motor ...
Rotation direction of gear head output shaft may be reversed for some
gear reduction ratio when gear head is incorporated. Please refer to the
table of the permissible axis torque (P.20).
switch
Switch for changing monitor mode.
Whenever this switch is pressed, the mode changes in this sequence:
Rotation speed (actual speed) → Internal DC voltage (voltage of smoothing
capacitor of power supply) → Load factor → Torque → Commanded speed →
Rotation speed (actual speed) → ...*
* When you press this switch in the parameter setting mode, setting is stored.
switch
This switch is for changing parameter number mode and parameter setting
mode, and for saved parameter setting.
switch
switch
Monitor mode
Displays rotation speed (actual speed), setting speed, internal DC voltage,
load factor, and torque on 5-digit LED. This mode is set when power is
turned on.
switch is pressed in parameter
Control changes to this mode when
number mode, parameter setting mode.
Parameter
number mode
Displays a parameter number (00 to F0) in blinking.
switch is pressed in monitor mode.
Control changes to this mode when
and
switch.
Parameter number can be changed and selected by
Parameter
setting mode
Displays the detail of parameter (setting) in blinking.
Change setting by
and
switch.
switch or
switch is pressed after change of setting, it is
When
saved in EEPROM.
5-digit LED
*Displays rotation speed r/min in normal monitor mode. Displays torque and load factor
assuming the rated motor torque at 100%.
*Display is just a guide. Do not use the Digital key pad for a measuring instrument.
This switch enables selection of parameter, and setting and changing of contents.
When the motor is tripped, pressing
reset of trip.
and
at the same time enables
This switch is for instruction of operation. (Only when “ 30 Run command
)
selection” is
• See “ 33 I 1/ I 2 function selection” (2) on P.38 for rotation direction.
switch will stop the
• Disconnecting the Digital key pad while operating with
operation.
switch
This switch is for instruction of stopping. (Only when “ 30 Run command
)
selection” is
－ 28 －
－ 29 －
Operating Instruction
Turn on
power.
Monitor mode
Test run (Digital key pad)
DATA
SET
MODE
Press
MODE
Load factor
Test run
Flashing
MODE
Test run procedure by the Digital key pad is as follows:
An example is introduced here where the motor runs CW at 1800 r/min with the Digital key
pad.
(1)Be sure to first perform the work below for safety.
Separate the motor from machine or equipment, and make sure that the motor alone
can be operated.
(2)Then turn on power and follow the step below for test run.
点滅
全点灯
MODE
Flashing
(1) Make sure that all wiring is correct.
(2) Make sure that input power supply conforms to rating.
全点灯
Internal DC voltage
Press
Inspection prior to test run
Internal speed (0-th 点滅
speed) can be directly
set by
and
in monitor mode.
点滅
MODE
Torque
Flashing
点滅
Speed setting
Parameter
number
mode
• 2-digil LED blinks and allows selection of parameter number.点滅
点滅
Flashing
Flashing
点滅
点滅
DATA
SET
Press
点滅
Storage
or
. 点滅
• 5-digit LED blinks and allows change of parameter value.
Flashing
Flashing
点滅
DATA
SET
LED表示
点滅
Change (select) a parameter value by
or
.
－ 30 －
点滅
[3]Trip reset
Press
time.
and
at the same
全点灯
Data is stored only when DATA
SET switch is pressed. If the power is turned off with- 点滅
点滅
out storage, setting data will return.
Press
several times to
choose parameter 30.
Press
(Change the
choice of operation Press
to change parameter
instruction from
value.
I 1/ I 2
to the
Store by
Digital key pad
.
.)
Setting change warning is
issued because setting of
operation instruction has been
changed.
全点
点灯
灯
全
•When
or
is pressed in monitor mode, detail of “ 00 Internal speed (0-th speed)” is
点滅
displayed in blinking, and speed setting can be changed by
and
.
, the motor speed also changes 点滅
When “ 31 Speed command selection” is
following the speed setting if the motor is running.
[2]Change of
initial setting
Press
全点
点灯
灯
全
When
switch or MODE switch
is pressed in parameter setting mode,
data is stored.
[1]Turn on power
全点
点灯
灯
全
Parameter
setting
mode
Change (select) a parameter number by
LED display
Flashing
Flashing
全点
点灯
灯
全
Storage
DATA
SET
Switch
LED表示
全
点
灯
全
全点
点灯
灯
Press
Digital key pad
Description of
operation
全
全点
点灯
灯
Only
“00”
LED表示
全点灯
MODE
prior to test run/ Test run
全点灯
Rotation speed
Press
MODE
LED表示Inspection
• Press MODE switch for changing display.
－ 31 －
Flashing
Flashing
operation
全全
点点
灯灯
全全
点点
灯灯
全全
点全
灯点
点
灯灯
LED表示[5]Trip reset
Flashing
点滅
Press
Press
value.
点滅
to change parameter
Flashing
Store by
.
点滅
Setting change warning is
issued because setting of
operation instruction has been
changed.
Press
time.
and
点滅
点滅
点滅
点滅
at the same
点滅
Press
点滅
Press
choose several times
to parameter 33.
Flashing
Flashing
Press
value.
to change parameter
Flashing
Store by
.
Setting change warning is
issued because setting of
operation instruction has been
changed.
全全
点点
灯灯
Press
time.
and
at the same
Flashing
[10]Operation
instruction
[11]Stop
instruction
点滅
[12]Power OFF
LED表示
点滅
点滅
LED表示
点滅
全点灯
点滅
－ 32 －
[9]Reset to
monitor mode.
点滅
LED表示
Press
Press
Flashing
[8]Speed setting
LED表示
点滅
Flashing 点滅
点滅
LED display
Press
to set a speed.
Flashing
•Internal speed
(0-th speed) is
displayed (setting
at 0 r/min).
•Set the Internal
speed setting
(0-th speed) at
1800 r/min.
Press
•Data is still stored
if power is cut off
here.
Press
・Display of rotation
speed changes
little by little
toward 1800 r/min
•Display of rotation
direction*
(“r” indicates
that the motor is
rotating CW.)
Press
•Display of rotation
speed changes
little by little
toward 0 r/min.
全点灯
全全
点点
灯灯
[7]Trip reset
Flashing
全点灯
全全
点点
灯灯
(This operation is
not required for
rotation forward
[CCW].)
点滅
Switch
全点灯
全点灯
全全
点点
灯灯
示
全全
点全
点
灯点
灯灯
示
[6]Choosing
rotation
direction*
Press
Press
several times to
choose parameter 31.
Digital key pad
LED表示 Description of
operation
LED display
全点灯
全点灯
全点灯
全点灯
全点灯全点灯
全点灯全点灯
全点灯全点灯
全全
点点
灯灯
LED表示
Switch
全点灯
全点灯
全全
点点
灯灯
(Change the
choice of speed
instruction from
analogue speed
instruction input to
“ 00 Internal speed
(0-th speed)” to
enable use of
Digital key pad.)
点滅
Digital key pad
LED表示 Description of
[4]Change of
initial setting 2
点滅
全点灯
全点灯
Test run (Digital key pad)
全点灯
LED表示
<Checkpoint in Test run>
(1)Check whether the motor rotates smoothly. Check for abnormal noise and vibration.
(2)Check whether the motor is accelerated and decelerated smoothly.
(3)Rotation direction and rotation speed of the motor are matched?
*Rotation direction of gear head output shaft may sometimes be reversed due to
reduction gear ratio when gear head is installed.
*Rotation direction can also be changed by use of “ I 2”. See “ 33 I 1/ I 2 function
selection” (2) on P.45.
■Setting is still stored when power is turned off. When operating the motor with Digital
key pad only in trial run, either reset the setting or initialize parameters after completion
of trial run. (Parameter 54)
Here, note that all parameters return to default when parameters are initialized.
－ 33 －
灯
LED表示
1. Reading a parameter value from brushless amplifier to the Digital key pad.
点滅
LED表示
Digital key pad
Description of
operation
Switch
LED display
[2]Call “ 57 parameter
copy”
Hold down
to choose
parameter 57.
Press
Press
twice to choose
.
Press DATA
for 1
second while holding
.
down
Flashing
Flashing
点滅
点滅
点滅
点滅
点滅
点滅
点滅
点滅
Flashing→Slow flashing 点滅
(once per second)
点滅
点滅
LED表示
全点灯
LED表示
点滅
示
LED表示
three times to
.
Press
for 1 second
while holding down
.
点滅
Flashing→Slow flashing
(once per second)
[4] Completion of
writing a parameter
from the Digital
key pad to the
brushless amplifier.
[5] Reset to monitor
mode.
and
at the
Press
same time for clear trip.
Error while copying a parameter
: Data is abnormal while copying.
switch for clearing, and then copy data again. If data is still abnormal,
→ Press
initialize the Digital key pad and retry.
: Copy error
→ This error occurs in an attempt to copy data between products of different function. Press
switch for clear.
Parameters can be copied between the same models, but parameters should be copied
between the same output in principle because gain setting is different.
点滅
点滅
－ 34 －
Flashing
[3] Wait about 10
seconds.
点滅
点滅
表示
Flashing
全点灯
全点
全灯
点灯
Press
[2] Write a parameter
to the brushless
amplifier.
全点灯
全点灯
全点
全灯
点灯
点滅
[5]Wait about 30
seconds.
[6]Reading of
parameter into the
Digital key pad
completed
Flashing
Press
Choose
writing a parameter
Press
to the brushless
amplifier.
choose
全全
点点
灯
全灯
点灯
全点
全灯
点灯
[4]Read a parameter
into the Digital key
pad.
Flashing
[1]
全全
点点
灯
全灯
点灯
Choose
reading a parameter into the Digital
key pad.
全点
全灯
点灯
[3]
LED表示
点滅
Parameter
value
LED display
Turn on power. Call “ 57 parameter copy”. (Same operation as 1. [1] and [2])
全全
点点
灯
全灯
点灯
全点
全灯
点
全灯
点灯
表示
Press
Switch
全全
点点
灯
全灯
点灯
全点灯
全点灯
点滅
点滅
Digital key pad
Description of
operation
点滅
点滅
[1]Turn on power
LED表示
2. Copy a parameter value saved in the Digital key pad onto the brushless amplifier.
LED表示
全全
点点
灯灯
全点灯
• Once parameters are read into the console, their details are stored in the Digital key pad.
全点灯
全点灯
How to copy parameter
－ 35 －
How to copy parameter
List of parameters (Default)
Outline of parameters
3. Initializing of data of Digital key pad.
LED表示
LED表示
全点灯
•When any trouble occurs during copying, it can be often solved by initializing the Digital
key pad. (Stored data is cleared by initializing.)
Digital key pad
全点灯
全点灯
Description of
operation
Switch
LED display
Composition of parameters and list of default
Turn on power and call “ 57 parameter copy”. (Same operation as 1. [1] and [2])
全点灯
全点灯
全点灯
全点灯
[2] Initialization of
Digital key pad.
Parameter
No.
Press
[1]
Choose
initialization of data
Press
of Digital key pad.
Press
once and choose
.
Flashing
Continuous
Flashing→ lighting
for 1 second
while holding down
Flashing
.
LED display changes from
flashing to continuous lighting
during initializing operation.
全点灯
全点灯
[3] Wait about 30
seconds.
全点灯
全点灯
[4] Initializing of data
of Digital key pad
completed
Brushless amplifier of this series is equipped with various parameters for adjustment and
setup to characteristics and functions. Amplifier in optimum condition for your running
requirements.
Press
全点灯
•Do not turn off power or disconnect the cable of Digital key pad during operation such
as "Reading a parameter from the brushless amplifier to the Digital key pad", "Copying a
parameter value stored in the Digital key pad to the brushless amplifier", and "Initializing
the data of Digital key pad".
示
示
Parameter setting
Name of parameter
Setting range
Minimum
unit
Default
00
Internal speed
(0-th speed)
01
1st speed
3000
02
2nd speed
1200
03
3rd speed
04
4th speed
05
5th speed
0
06
6th speed
0
07
7th speed
0
10
1st acceleration time
11
2nd acceleration time
12
1st deceleration time
13
2nd deceleration time
14
Acceleration mode
selection
Linear
15
Deceleration mode
selection
S shape-2
16
Stop mode selection
17
Free-run waiting time
0.0 to 10.0 sec
1A
Velocity loop
proportional gain
1b
Check*1
0
0 to “ 3b Upper speed limit”
0.01 to
300 sec
1 r/min
Incremented by
to 3 sec
: 0.01 second
by
3 sec to 30 sec : Incremented
0.1 second
30 sec to 300 sec : Incremented by
1 second
600
0
0.30
0.30
0.30
0.30
S shape-1
Free-run stop
Speed reduction stop
0.1 sec
1.0
0 to 10000
1
400
Velocity loop integration
0 to 10000
gain
1
500
*1When parameter marked with “C” in the check column is changed and stored, the unit is
tripped for safety. It is not allowed to change them while the motor is running.
－ 36 －
－ 37 －
List of parameters (Default)
Parameter
No.
30
31
Parameter setting
Name of parameter
Minimum
unit
Setting range
and
Run command
selection
Default
Check*1
C
RS485 communication
“ 00 Internal speed (0-th speed)”
33
34
2nd speed operation mode
Minimum
unit
Default
1 r/min
50
Check*1
Arriving
O1 function selection
Running
Free-run
CCW run
CW run
O2 function selection
Overload detection
Speed pulse signal
C
4th speed operation mode
I 1: CCW run/stop
I 2: CW run/stop
I 1: CW run/stop
I 2: CCW run/stop
I 1: run/stop
I 2: CW run/ CCW run
I 1: CCW run/stop
I 2: Trip reset
I 1: CW run/stop
I 2: Trip reset
I 3 function selection
40
41
8th speed operation mode
I1/ I 2 function
selection
Setting range
C
FIN*3
Operation mode
selection
Parameter setting
Trip
1st speed operation mode
32
Name of parameter
of Digital key pad
I 1/ I 2*2
Speed command
selection
Parameter
No.
C
42
O1 output polarity
selection
43
O2 output polarity
selection
44
Speed matching
range
20 to “ 3b Upper speed limit”
45
Output pulse count
selection
1, 2, 3, 4, 6, 8, 12, 24
Normal polarity
Reverse polarity
24
Rotation speed (Actual speed)
Free run
C
External forced trip
35
I 4 function selection
36
I 5 function selection
3A
Lower speed limit
0 to “ 3b Upper speed limit”
1 r/min
0
C
3b
Upper speed limit
0 to 4000 r/min
1 r/min
4000
C
3C
Torque limit
0 to 150
1%
150
46
C
2nd acceleration / deceleration
C
Trip reset
Torque
Monitormode
selection
Load factor
Command speed
Internal DC voltage
47
Numerator of display
magnification factor
1 to “ 48 Denominator of display
magnification factor” × 10
1 time
1
48
Denominator of
display magnification
factor
1 to 1000
1 time
1
4A
Trip history clear
4b
Trip history 1
−
4C
Trip history 2
−
4d
Trip history 3
4E
Trip history 4
−
4F
Trip history 5
−
No operation
Clear trip history
−
−
*1When parameter marked with “C” in the check column is changed and stored, the unit is
tripped for safety. It is not allowed to change them while the motor is running.
*2Corresponds to RUN/STOP switch of the Console A or signal input.
*3Corresponds to the speed potentiometer or analogue speed instruction of the Console A.
*1When parameter marked with “C” in the check column is changed and stored, the unit is
tripped for safety. It is not allowed to change them while the motor is running.
－ 38 －
－ 39 －
List of parameters (Default)
Parameter
No.
LED display
Parameter setting
Name of parameter
Setting range
50
Undervoltage trip
selection
No trip
51
Retrial selection
,1 to 4
52
Retrial start time
54
LED display
Minimum
unit
Default
Check*1
C
Trip
C
1 to 120 sec
1 sec
5
No operation
Parameter initializing
Initialize to default
No copying of parameter
57
Parametercopy
function
Initializing the data of
Digital key pad
Reading a parameter to
the Digital key pad
Writing a parameter to
brushless amplifier
5A
RS485 device
number*4
128 to 159
5b
RS485
communication
speed*4
0: 2400 bps
1: 4800 bps
2: 9600 bps
5C
RS485
communication
standard*4
0 to 11
5d
RS485
communication
response time*4
10 to 1000
5E
RS485 retry times of
communication*4
0 to 8: Retry count, 9: No retry
5F
RS485 protocol
timeout*4
1 to 255
F0
For manufacturer use
129
Figures displayed on the 7 segment display of the Daigital key pad are shown below:
Alphanumeric LED display
A
S
B
T
C
U
D
V
E
Y
F
0
G
1
H
2
I
3
K
4
L
5
N
C
O
2
C
Q
4
C
10
C
9
C
2
C
6
,
P
1 ms
1s
−
−
Alphanumeric LED display
※
7
8
9
R
Example of LED display
Example
Description in the text Display on Diqtal key pad
PnL
TEr
F r EE
r ST
* LED display of "O" is available in two types.
Example
Description in the text Display on Diqtal key pad
Vo L - A
nO
*1When parameter marked with “C” in the check column is changed and stored, the unit is
tripped for safety. It is not allowed to change them while the motor is running.
*4Changes become effective by turning on a power supply again 10 seconds after power
supply OFF.
－ 40 －
－ 41 －
The function of parameters
Parameter
No.
Name of parameter
Parameter
No.
Description
00
Internal speed
(0-th speed)
Desired running speed can be set. This is effective when
(PANEL).
“ 31 Speed command selection” is
Upper limit is limited by “ 3b Upper speed limit”.
01
to
07
1st speed
to
7th speed
Speed in multi-speed running can be set. It is effective when
“ 32 Operation mode selection” is set to 2-speed operation mode.
10
1st acceleration time
11
2nd acceleration time
12
1st deceleration time
13
2nd deceleration time
Name of parameter
You can select how to stop the motor.
The change factor of output speed in acceleration can be
determined.
•Set by time for changing 1000 r/min. When it is 0.3 sec (default),
time taken for accelerating from 0 to 3000 r/min is 0.9 sec.
•Time can be incremented by 0.01 sec for below 3 sec, by 0.1
sec from 3 sec up to 30 sec exclusive, and by 1 sec from 30 sec
upward.
(FREE)
Power supply to the motor is cut off and the motor is stopped
naturally when stop command is input (free-run stop). It takes
longer for the motor to completely stop when load inertia is big.
16
(DECEL)
When stop command is input, the motor reduces its speed
according to preset deceleration time, Electric-brake is performed
by Zero-speed control, and then power is cut off to the motor after
elapse of time set by “ 17 Free-run waiting time”, and the motor is
set in free-run state.
Stop mode selection <Example or running pattern in deceleration stop>
•The motor is servo-rocked in Zero-speed control.
(Electrically controlled so that motor speed is Zero)
The change factor of output speed in deceleration can be
determined.
•Set by time for changing 1000 r/min. When it is 0.3 sec (default),
time taken for decelerating from 0 to 3000 r/min is 0.9 sec.
•Time can be incremented by 0.01 sec for below 3 sec, by 0.1
sec from 3 sec up to 30 sec exclusive, and by 1 sec from 30 sec
upward.
Run command
0
0
0
Time
Straight line up to
speed setting.
Standard mode for
accelerating and
decelerating.
Time
Straight line up to
speed setting.
Standard mode for
accelerating and
decelerating.
Time
Relaxes the speed
change in start and
end of acceleration
and deceleration.
17
1A
1b
－ 42 －
Deceleration by preset change
factor of deceleration time
Time set by “ 17 Free-run waiting time”
Free-run
Deceleration running
“S” SHAPE-2
Rotation speed
Deceleration mode
selection
“S” SHAPE-1
Rotation speed
15
LINEAR
Rotation speed
Acceleration mode
selection
Speed setting
Motor speed
Straight line acceleration/deceleration and curve (S-shape)
acceleration and deceleration can be chosen individually for
acceleration and deceleration.
14
Description
Zero-speed
control
Free-run waiting
time
(DECEL)
When “ 16 Stop mode selection” is set to
deceleration stop, servo lock time (Zero-speed control) after
deceleration can be adjusted.
(Free-run state is set after that.)
Velocity loop
proportional gain
Enables setting of proportional gain of velocity amplifier. It need
not be changed normally. When this value is made greater, gain
is increased, which improves responsiveness of the motor. When
this value is made too large, operation is vibratory.
Setting range: 0 to 10000, Setting resolution: 1
Velocity loop
integration gain
Enables setting of integration gain of velocity amplifier. It need not
be changed normally. When this value is made greater, gain is
increased, which improves rigidity of the motor (strength of servo
lock). When this value is made too large, overshooting becomes
greater, and the motor is vibratory.
Setting range: 0 to 10000, Setting resolution: 1
－ 43 －
The function of parameters
Parameter
No.
30
31
Name of parameter
Run command
selection
Speed command
selection
Description
Run command can be chosen from the following:
(PANEL):
Command the motor to stop with switch of Digital key pad. The
motor cannot be operated by signal input “ I 1” and “ I 2”. Signal
input is effective only in setting rotation direction, etc.
See “ 33 I 1/ I 2 function selection”.
(TERMINAL):
Only the input terminal “ I 1” and “ I 2” are effective.
(Corresponds to RUN/STOP, rotation direction selection switch
of Console A.)
(SIGNAL):
Command by RS485 (Operation command by I/O is invalid, but
trip or sensor input is excluded.)
Parameter
No.
Name of parameter
(3) 8th speed operation mode
32
Operation mode
selection
State of I 1
and I 2
I1
I2
Parameter for choosing operation mode
Function of signal input
I3
I4
I5
Free-run stop
External forced trip
2nd acceleration/deceleration time
2nd speed
Speed setting Trip reset
operation mode
4th speed
Speed setting Speed setting
operation mode
32
Operation mode
selection
8th speed
Speed setting Speed setting Speed setting
operation mode
33
I 1/ I 2 function
selection
Setting to be chosen
Internal speed (0-th speed) or FIN
1st speed
I4
OFF
OFF
ON
ON
Setting to be chosen
Internal speed (0-th speed) or FIN
1st speed
2nd speed
3rd speed
4th speed
5th speed
6th speed
7th speed
OFF
ON
OFF
OFF
ON
ON
ON
Action
Stop
Deceleration stop when “16 Stop mode selection” is
CCW run
CW run
Free-run stop
Trip reset (which must be retained 0.2 sec or longer) *
State of I 1
and I 2
I1
I2
OFF
OFF
ON
OFF
OFF
ON
ON
ON
Action
Stop
Deceleration stop when “16 Stop mode selection” is
CW run
CCW run
Free-run stop
Trip reset (which must be retained 0.2 sec or longer) *
(RUNSTOP. FORWARD-REVERSE)
Setting to be chosen
Internal speed (0-th speed) or FIN
1st speed
2nd speed
3rd speed
“ 32 Operation mode selection” Continued to the next page.
－ 44 －
OFF
State of I 1
and I 2
I1
I2
(2) 4th speed operation mode
I3
OFF
ON
OFF
ON
I5
OFF
OFF
OFF
OFF
ON
ON
ON
ON
(REVERSE - FORWARD)
(1) 2nd speed operation mode
I3
OFF
ON
I4
OFF
OFF
ON
ON
OFF
OFF
ON
ON
(FORWARD-REVERSE)
(VOL-A):
Analog input terminal “FIN” (voltage instruction DC 0 to 5V)
(Corresponds to speed potentiometer of Console A.)
Operation
made
1st speed
operation mode
I3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
(1) For setting “ I 1” or “ I 2” function
You can choose whether to use “ 00 Internal speed (0-th speed)”
or analog input terminal “FIN” for speed command.
(PANEL): “ 00 Internal speed ( 0-th speed)”
Setting
Description
* Effective only when trip occurs
OFF
OFF
ON
OFF
OFF
ON
ON
ON
Action
Stop
Deceleration stop when “16 Stop mode selection” is
CCW run
Stop
Deceleration stop when “16 Stop mode selection” is
CW run
“ 33 I 1/ I 2 function selection” Continued to the next page.
－ 45 －
The function of parameters
Parameter
No.
Name of parameter
Parameter
No.
Description
Name of parameter
(FORWARD-TRIP RESET)
State of I 1
and I 2
I1
I2
OFF
—
ON
—
—
ON
(RUNSTOP. FORWARD-REVERSE)
OFF
—
ON
—
—
ON
Stop
Deceleration stop when “16 Stop mode selection” is
CCW run
Trip reset (which must be retained 0.2 sec or longer) *
I 1/ I 2 function
selection
ON
ON
35
36
(FREE)
: ON (shorted between signal I 3 and “GND”)
→ Free-run stop instruction
(THERMAL): OFF (open between signal I 3 and “GND”)
I 3 function selection
→ External forced trip instruction
I 4 function selection •Before setting, short-circuit I 3 to G.
I 5 function selection
CW rotation selection
Free-run stop irrespective of
switch
Trip reset (which must be retained 0.2 sec or longer)*
ON
* Effective only when trip occurs
ON
Action
3A
Lower speed limit
CW rotation selection
CCW rotation selection
Free-run stop irrespective of
switch
Trip reset (which must be retained 0.2 sec or longer)*
“ 33 I 1/ I 2 function selection” Continued to the next page.
－ 46 －
switch
The function of signal input I 3 can be individually selected as follows:
(REVERSE-FORWARD)
State of I 1
and I 2
I1
I2
OFF OFF
ON OFF
OFF ON
switch
State of I 1
and I 2
Action
I1
I2
—
ON Trip reset (which must be retained 0.2 sec or longer) *
State of I 1
and I 2
Action
I1
I2
—
ON Trip reset (which must be retained 0.2 sec or longer) *
34
CCW rotation selection
CCW run with
CW run with
(PANEL), the
Action
CCW rotation selection
CW rotation selection
(REVERSE-TRIP RESET)
CW run
Trip reset (which must be retained 0.2 sec or longer) *
switch of Digital key
motor can be commanded with
pad.
Rotation direction in this case can be set by parameter and
“ I 1” “ I 2” state. “ I 1” “ I 2” are off when only Digital key pad is
connected.
State of I 1
and I 2
I1
I2
OFF OFF
ON OFF
OFF ON
I 1/ I 2 function
selection
Stop
Deceleration stop when “16 Stop mode selection” is
(FORWARD-REVERSE)
Action
(FORWARD-TRIP RESET)
33
Action
(2)When “ 30 Run command selection” is
33
State of I 1
and I 2
I1
I2
—
OFF
—
ON
Action
(REVERSE-TRIP RESET)
State of I 1
and I 2
I1
I2
Description
3b
Upper speed limit
Open circuit will cause tripping.
(UP-DOWN): ON (shorted between signal I 3 and “GND”)
→ 2nd acceleration/deceleration time
(RESET) : ON (open between signal I 3 and “GND”)
→ Trip reset instruction
When “ 31 Speed command
selection” is analogue speed
(VOL-A),
instruction
motor setting speed at 0 V
input is set.
Speed instruction value
Upper speed
limit
Lower speed
limit
0 0.5
4.5 5 V
Input
voltage
Upper limit of motor command speed.
When “ 31 Speed command selection” is analogue speed command
(VOL-A), motor setting speed at 5 V input is set. Further,
upper limit of “ 00 Internal speed (0-th speed)” and “ 01 1st speed”
and “ 44 Speed matching range” is limited by this parameter.
－ 47 －
The function of parameters
Parameter
No.
3C
Name of parameter
Torque limit
40
O1 function
selection
41
O2 function
selection
42
43
44
O1 output polarity
selection
O2 output polarity
selection
Speed matching
range
Description
Parameter
No.
Name of parameter
Upper limit of motor output torque is set. (No precision is provided
because torque is not controlled. Use as a guide.) 100% indicates
the rated torque.
Output terminal “O1” and “O2” can also be selected as follows.
Polarity of “ 40 O1 function selection” and “ 41 O2 function
selection” can be inverted by “ 42 O1 output polarity selection”
and “ 43 O2 output polarity selection”
(TRIP)
: Trip signal (Trip: ON)
(STABLE) : Arriving signal
(Speed is reached to a command value ON)
→ See “ 44 Speed matching range”.
(RUN)
: Run/Stop signal (When running: ON)
(FREE)
: Free-run signal (During free run: ON)
(FORWARD): CCW run signal (During CCW run: ON)
(REVERSE) : CW run signal (During CW run: ON)
(CHECK-L) : Overload detection
Output when load exceeds 100%
(Load exceeds 100%:ON)
(PULSE-OUT): Speed pulse signal
→ See “ 45 Output pulse count selection”.
This is a function for inverting the polarity of signal output
between output terminal “O1” “O2” and “GND”.
(NORMAL) : Transistor “ON” when activated
(REVERSE) : Transistor “OFF” when activated
When “ 40 O1 function selection” and “ 41 O2 function selection”
are chosen to
(STABLE) Arriving signal, “Speed
matching range" for output arriving signal can be adjusted.
•When difference between actual rotation speed and speed
setting is smaller than "Speed matching range”, arriving signal
is output.
•Even if the speed is reached, when speed matching range is
set too small, arriving signal may turn on and off due to speed
fluctuation.
•Arriving signal is not output when CCW/CW changes.
－ 48 －
45
Output pulse count
selection
Description
When “ 40 O1 function selection” and “ 41 O2 function selection”
(PULSE-OUT), pulse count is set to be output
are set to
to “O1” “O2” while the motor makes one turn.
(To be selected from 1, 2, 3, 4, 6, 8, 12, and 24)
(Ex) When rotation number is 3000 r/min,
in the case where “ 45 Output pulse
selection” is 24,
60
T=
= 0.83 ms
3000×24
Frequency f = 1/T = 1.2 kHz
T
500±100 μs
You can choose description to be displayed on 5-digit LED when
turning on power.
(OUTPUT-REVOLUTION): Rotation speed
(OUTPUT-LOAD) 46
47
48
Monitor mode
selection
: Torque
(AVERAGE-LOAD) : Load factor (average torque)
(SETTING-REVOLUTION): Speed command
(DC-VOLTAGE) : Internal DC voltage
(Voltage of smoothing capacitor
of power supply)
In speed display mode, the value multiplied by “ 47 Numerator
of display magnification factor” / “ 48 Denominator of display
magnification factor” is displayed.
You can set the multiplying factor of a value displayed on 5-digit
Numerator of display LED. Value of 47 ÷ 48 is a display multiplying factor. Set a value
magnification factor in the range where calculated display magnifying factor is 10
to 1/1000. Rotation number of gear output shaft and the speed
of line can be displayed. When the display magnifying factor is
changed, the parameter relating to speed (below) is displayed by
Denominator of
display magnification a value multiplied by display multiplying factor. “ 00 Internal speed
(0-th speed)” “ 01 1st speed” “ 3A Lower speed limit” “ 3b Upper
factor
speed limit” “ 44 Speed matching range”
4A
Trip history clear
Trip history 1 to 5 can be cleared.
<Clear procedure>
Cut off power with
(YES) selection, and turn on power
again after display has disappeared, then
is displayed,
and trip history is cleared. When power is turned on again, normal
operation is started.
4b
4C
4d
4E
4F
Trip history 1
Trip history 2
Trip history 3
Trip history 4
Trip history 5
Trip history for 5 times in the past is stored. Trip history 1 is the
latest history. See “Protective function” for displayed description.
When no history is available,
is displayed.
－ 49 －
The function of parameters
Parameter
No.
50
51
52
54
Name of parameter
Undervoltage trip
selection
Description
When
(NO) is selection, the motor is not tripped at
insufficient voltage. If voltage should fall and undervoltage status
is found while the motor is running, the motor stops after running
free, while if operation instruction is input after recovery of power,
the motor is restarted automatically. (• Be cautious.)
When
(YES) is selection, the motor is tripped at
undervoltage, and alarm LED blinks. When normal power is off,
trip is not stored in trip history. Trip is stored only when power has
stopped instantaneously (Trip is stored in trip history only when
undervoltage once becomes short and then is recovered normal)
Retrial selection
Automatic reset in trip (trip retrial) can be set here. Trip can be is
automatically reset to allow operation to continue. Use this function only on such equipment that has no problem of safety even if
the motor is automatically restarted.
,
•Retrial is impossible if trip is by Overcurrent error
, System error
, User paramSensor error
, or System parameter error
.
eter error
When
(NO) is selection, retrial is not effective.
to
is selection, retrial is made for the
When
set number of times. When 2 hours has elapsed with no trip, the
number of retrying times is initialized to 0.
Set the interval between retrials by “52 Retrial start time”. When
trip occurs in excess of preset number of trials, the brushless
amplifier outputs trip signal and stops.
•During retrial, trip signal is not output (It is stored in trip history)
Retrial start time
You can set waiting time until retrial operation is performed after
tripping is found. You can set 1 to 120 seconds.
Parameter
initializing
Parameters can be initialized to the factory default.
<Initializing procedure>
Cut off power with
(YES) selection, and turn on power
again after display has disappeared, then
is displayed,
and parameters are initialized to the factory default.
Parameter
No.
Name of parameter
5A
RS485 device
number
Set the device number of motor in communication (Motor ID).
This value is the shaft number in communication. 80h (128) is the
device number for setting control data (such as control start) by
one operation to all connected motors. (No response is made by
motors.) When the device number is set to 80h (128), change of
parameter and request for status are ignored, therefore set to 81h
(129) to 9Fh (159) normally.
5b
RS485
communication
speed
Set the communication speed of RS485 communication.
0: 2400bps
1: 4800bps
2: 9600bps
5C
RS485
communication
standard
Set the communication standard of RS485 communication.
0: 8 bits, no parity,
stop bit 1
1: 8 bits, no parity,
stop bit 2
2: 8 bits, odd number parity, stop bit 1
3: 8 bits, odd number parity, stop bit 2
4: 8 bits, even number parity,stop bit 1
5: 8 bits, even number parity,stop bit 2
6: 7 bits, no parity,
stop bit 1
7: 7 bits, no parity,
stop bit 2
8: 7 bits, odd number parity, stop bit 1
9: 7 bits, odd number parity, stop bit 2
10: 7 bits, even number parity, stop bit 1
11: 7 bits, even number parity, stop bit 2
5d
RS485
communication
response time
Communication response time is the shortest time for setting
transmission mode in RS485 bus for response after the motor
has received communication data. Actual data response time
depends on the type and data of order.
Unit [ms]
5E
Set the retry times of RS485 communication.
RS485 retry times of
0 to 8: Number of retrials
communication
9: No retrial
(PARAMETER-INITIALIZE):
Initialization of Digital key pad data
5F
RS485 protocol
timeout
(PARAMETER-PROGRAM):
Writing parameters to the brushless amplifier
See the copying method of parameters on P.35 for detail
Protocol timeout is the time allowed from reception of a character
code to reception of the next one in communication. If normal
character code is not received within this time, communication is
timed out, and received data is discarded.
If timeout should continue to occur, and the number of
detections exceed the retry times, the motor trips due to RS485
communication error.
Unit [seconds]
F0
For manufacturer use
It cannot be changed.
Parameters can be copied.
(NO) Parameters are not copied
57
Parameter copy
Description
(PARAMETER-LOAD):
Reading parameters into Digital key pad data
－ 50 －
－ 51 －
Outline of PANATERM for BL/ Example of an operation pattern
Outline of PANATERM for BL
Communication
Communicating software “PANATERM for BL” can do the following thing.
(1)Setting and saving of parameters of brushless amplifier and writing setting to memory
EEPROM.
(2)Monitor of input/output signals, monitor of a load factor.
(3)The present trip display and reference of a trip history.
(4)Data measurement of waveform graphics, and the call of preservation data.
Example of an operation pattern
•Example of running pattern by use of 2nd acceleration / deceleration time.
When you choose “ 32 Operation mode selection” at
mode, choose “ 33 I 1/ I 2 function selection” at
REVERSE), and choose “ 34 I 3 function selection” at
deceleration time.
1st acceleration time
Internal speed
(0-th speed) 1st deceleration time
CCW
CW
Zero-speed
control
Run/Stop switch (I1)
: 1st speed operation
: (RUNSTOP, FORWARD: 2nd acceleration and
2nd acceleration time
2nd deceleration time
Zero-speed
control
Internal speed
(0-th speed)
CCW/CW switch (I2)
2nd acceleration/
deceleration time (I3)
•Example of operation pattern in 2nd speed operation mode
When you choose “ 32 Operation mode selection” at
mode, “ I 3” is choosing of speed setting, and works as follows:
I3
OFF
ON
: 2nd speed operation
Speed setup
Internal speed (0-th speed ) or FIN
1st speed
1st acceleration time
Communication
Overview of communication
With the upper host controller, which can be connected with 31 brushless amplifiers at
the maximum via serial communication conforming to RS485, enables the following:
1. Rewriting parameters
2. Browsing and clearing status and history of trip condition
3. Monitoring control status including present position, status, I/O, etc.
4. Start and stop of motor
[Advantage]
•It is allowed to write parameters by one operation from host controller in startup of the
machine.
•Operating condition of the machine can be displayed, which improves serviceability.
Connection of communications line
Connect one host controller with more than one brushless amplifier via RS485 communication, and set the device number of each brushless amplifier (Pr5A) at 81h (129) to 9Fh
(159). Set the device number for the host as 01h (1) to 1Fh (31).
<Note>
Device number is set at 81h (129) in default setting. When connecting more than one
brushless amplifier via RS485, be sure to change the device number beforehand with
the Digital key pad or communication software “PANATERM for BL” (Can be downloaded from our web site).
[Example of connection]
RS485
1st speed
1st deceleration time
Internal speed
(0-th speed)
CCW
CW
Zero-speed control
... Max 31 units
Host controller
Device number
= 01h(1)
Run/Stop switch (I1)
CCW/CW switch (I2)
Device number
= 81h(129)
1st speed (I3)
－ 52 －
Brushless amplifier
Device number
= 82h(130)
－ 53 －
Device number
= 83h(131)
Device number
= 84h(132)
Communication
List of data number related to communications
Interface of connector for communications unit
Host (01h)
RS485＋
RS485−
GND
Brushless amplifier 1
(81h)
Connector (SER)
5
RS485＋
6
RS485−
7
GND
Equivalent to SN75176
FG
Twisted pair wire
Brushless amplifier 2
(82h)
Connector (SER)
5
RS485＋
6
RS485−
7
GND
Equivalent to SN75176
Parameter: 8000h to 805Fh
Lower 2 figures show parameter number. (e.g.: parameter Pr.10 = database 8010h)
*NAK is answered while the amplifier detects undervoltage error, and change of a parameter and preservation to EEPROM are not performed.
*Please refer to P.42 “The function of parameters” about the contents and the detail function of a parameter.
*Please do not perform data communications to any addresses (parameter) other than
the address mentioned in this specifications.
•Time required for data transmission per byte is calculated by the following formula for
example in the case of 9600 [bps], 8 bits, parity present (even number or odd number),
and stop bit 1:
(1000 / 9600) × (1 + 8 + 1 + 1) = 1.14 [ms/byte]
Time is 4.58 [ms/byte] for 2400 [bps], and 2.29 [ms/byte] for 4800 [bps].
Note, however, actual communication time will be added time necessary for processing
received command, and switching between a line and transmission/reception control.
Address Pr No. Parameter name
*1
Shielded wire
• Use the shield of shielded wire for GND.
• Set the maximum total extension of cable within 10 m in use.
• Terminal resistor is not required.
Communication system
RS485
Half duplex, asynchronous communication method
Data
7 bits, 8 bits
Communication baud rate
Parity
Start bit
Stop bit
Host address
Amplifier address
2400, 4800, 9600 bps
Set by Pr5b
None, even number, or odd number
Set by Pr5C
1 bit
Set by Pr5C
1 bit, 2 bits
Set by Pr5C
80h to 9Fh (80h for simultaneous transmission.)
Set by Pr5A
01h to 1Fh
Data value
8000h
0
Internal speed
(0th speed)
0000h
(0)
8001h
1
1st speed
8002h
2
2nd speed
8003h
3
8004h
to
8007h
4
to
7
Upper Lower
Note
limit limit
*2
0000h
(0)
0BB8h
(3000)
*2
0000h
(0)
04B0h
(1200)
*2
0000h
(0)
3rd speed
0258h
(600)
*2
0000h
(0)
4th speed
to
7th speed
0000h
(0)
*2
0000h
(0)
0 to “803Bh: Upper speed limit”
*1)Pr No. shows the parameter number in Digital key pad.
*2)Upper limit is dependent on “803Bh: Upper speed limit”. It is restricted by the value of
“803Bh: Upper speed limit” when the value exceeding “803Bh: Upper speed limit” is set.
•Modification of transmission parameters (Pr5A to 5F) becomes effective when resetting
the power supply of the motor.
•The transmission parameters can be changed by the Digital key pad (sold separately) or
RS485 communication.
－ 54 －
Default
－ 55 －
Communication
Address Pr No. Parameter name
Data value
*1
8010h
10
1st acceleration
time
8011h
11
2nd acceleration
time
1 to 30000 (0.01 s)
1 to 299:
input value: it remains as it is
(0.01 s above - less than 3 s)
300 to 2999:
Lower 1-figure omission
(3 s above - less than 30 s)
3000 to 30000:
Lower 2-figure omission
(30 s above - 300 s or less)
e.g.) input value:
100 (1.00 s) → 100 (1.00 s)
555 (5.55 s) → 550 (5.50 s)
3678 (36.78 s) → 3600 (36.00 s)
Default
Upper Lower
Note
limit limit
001Eh 7530h 0001h
*3
(0.3 s) (300 s) (0.01 s)
001Eh 7530h 0001h
*3
(0.3 s) (300 s) (0.01 s)
12
1st deceleration
time
8013h
13
2nd deceleration
time
8014h
14
Acceleration
mode selection
8015h
15
Deceleration
mode selection
8016h
16
Stop mode
selection
0: Free-run stop
1: Speed reduction stop
0001h 0001h 0000h
8017h
17
Free-run waiting
time
0 to 100 (0.1 s)
000Ah 0064h 0000h
801Ah 1A
Velocity loop
proportional gain
0 to 10000
0190h 2710h 0000h
801Bh
1b
Velocity loop
integration gain
0 to 10000
01F4h 2710h 0000h
8030h
30
Run command
selection
0: Digital key pad
1: Terminal
2: RS485 communication
0001h 0002h 0000h
Speed command
selection
0: Digital key pad
1: Vol-A
0001h 0001h 0000h
*4
Operation mode
selection
1: 1 speed mode
2: 2 speed mode
3: 4 speed mode
4: 8 speed mode
0001h 0004h 0001h
*4
8012h
8031h
8032h
31
32
0: Linear
1: S shape-1
2: S shape-2
001Eh 7530h 0001h
*3
(0.3 s) (300 s) (0.01 s)
*1
8033h
33
I 1/ I 2 function
selection
8034h
34
I 3 function
selection
8035h
35
8036h
36
I 4 function
selection
I 5 function
selection
Data value
Default
Upper Lower
Note
limit limit
0: I 1-CCW run/stop, I 2-CW run/stop
1: I 1-CW run/stop, I 2-CCW run/stop
2: I 1-run/stop, I 2-CW /CCW direction 0002h 0004h 0000h
3: I 1-CCW run/stop, I 2-Trip reset
4: I 1-CW run/stop, I 2-Trip reset
*4
0: Free run
1: External forced trip
2: 2nd acceleration / deceleration
3: Trip reset
0000h 0003h 0000h
*4
0003h 0003h 0000h
*4
0000h 0003h 0000h
*4
001Eh 7530h 0001h
*3
(0.3 s) (300 s) (0.01 s)
803Ah 3A
Lower speed limit
0 to “803Bh: Upper speed limit”
0000h
0000h
*4
0000h
803Bh
Upper speed limit
0 to 3000 (r/min)
0BB8h 0BB8h 0000h
*4
803Ch 3C
Torque limit
50 to 150 (%)
0096h 0096h 0000h
8040h
40
O1 function
selection
8041h
41
O2 function
selection
0: Trip
1: Arriving
2: Running
3: Free-run
4: CCW run
5: CW run
6: Overload detection
7: Speed pulse signal
8042h
42
8043h
43
8044h
44
Speed matching
range
20 to “803Bh: Upper speed limit”
0032h
8045h
45
Output pulse
count selection
0: 1, 1: 2, 2: 3, 3: 4,
4: 6, 5: 8, 6: 12, 7: 24
0007h 0007h 0000h
Monitor mode
switching
0: Rotation speed (Actual speed),
1: Torque
2: Load factor
3: Command speed
4: Internal DC voltage
0000h 0004h 0000h
0000h
0002h 0000h
*4
*1)Pr No. shows the parameter number in Digital key pad.
*3)As for the input value more than 3 second (300), lower 1 figure is omitted. In more than
30 second (3000), lower 2 figures are omitted.
*4)It can change when motor stop. NAK will be returned if it rewrites when motor running.
Moreover, since the amplifier is tripped for safety after parameter is changed, when you
operate continuously, please transmits the trip reset instructions mentioned later.
－ 56 －
Address Pr No. Parameter name
8046h
3b
46
O1 output polarity
selection
0: Normal
O2 output polarity 1: Reverse
selection
*2
0000h 0007h 0000h
0007h 0007h 0000h
0000h 0001h 0000h
0000h 0001h 0000h
*2
0000h
*1)Pr No. shows the parameter number in Digital key pad.
*2)Upper limit is dependent on “803Bh: Upper speed limit”. It is restricted by the value of
“803Bh: Upper speed limit” when the value exceeding “803Bh: Upper speed limit” is set.
*4)It can change when motor stop. NAK will be returned if it rewrites when motor running.
Moreover, since the amplifier is tripped for safety after parameter is changed, when you
operate continuously, please transmits the trip reset instructions mentioned later.
－ 57 －
Communication
Address Pr No. Parameter name
Data value
*1
8047h
47
Numerator of
display
magnification
factor
0 to “8048h: Denominator of display
magnification factor” × 10
0 to 1000
8048h
48
Denominator
of display
magnification
factor
804Bh
4b
Trip history 1
804Ch 4C
Trip history 2
804Dh 4d
Trip history 3
804Eh 4E
Trip history 4
804Fh
4F
Trip history 5
50
Undervoltage trip
selection
8050h
Default
0001h
Upper Lower
Note
limit limit
*5
0000h
Address Pr No. Parameter name
0000h 005Eh 0000h
*6
0000h 005Eh 0000h
*6
0000h 005Eh 0000h
*6
0000h 005Eh 0000h
*6
0000h 005Eh 0000h
*6
0: No trip
1: Trip
0000h 0001h 0000h
*4
0000h 0004h 0000h
*4
8051h
51
Retrial selection
0: No retry
1 to 4: Retry count
8052h
52
Retrial start time
1 to 120 (s)
0005h 0078h 0001h
8054h
54
Parameter
initializing
0: No operation
1: Initialize to default
0000h 0001h 0000h
*7
*1)Pr No. shows the parameter number in Digital key pad.
*4) It can change when motor stop. NAK will be returned if it rewrites when motor running.
Moreover, since the amplifier is tripped for safety after parameter is changed, when you
operate continuously, please transmits the trip reset instructions mentioned later.
*5) Maximum value is dependent on “8048h: Denominator of display magnification factor”.
It is restricted by the value of “8048h: Denominator of display magnification factor” × 10
when the value more than “8048h: Denominator of display magnification factor” × 10 is
set up.
*6) It can’t be changed, when rewriting is done, NAK is answered. Rewriting returns NAK.
*7) Change this parameter to “1: Initialize to default” and write to EEPROM by $S command.
After writing to EEPROM, parameter is initialized when power is turned off once and
turned on again after 10 seconds. When writing to EEPROM is not done, parameter is
not initialized after power is supplied.
－ 58 －
Default
Upper Lower
Note
limit limit
805Ah 5A
RS485 device
number
80h to 9Fh
0081h 009Fh 0080h *8*9
805Bh
RS485
communication
speed
0: 2400 bps
1: 4800 bps
2: 9600 bps
0002h 0002h 0000h
*8
805Ch 5C
RS485
communication
standard
Set the communication standard of
RS485 communication.
0: 8 bits, no parity,
stop bit 1
1: 8 bits, no parity,
stop bit 2
2: 8 bits, odd number parity, stop bit 1
3: 8 bits, odd number parity, stop bit 2
4: 8 bits, even number parity,stop bit 1
0004h 000Bh 0000h
5: 8 bits, even number parity, stop bit 2
6: 7 bits, no parity,
stop bit 1
7: 7 bits, no parity,
stop bit 2
8: 7 bits, odd number parity, stop bit 1
9: 7 bits, odd number parity, stop bit 2
10: 7 bits, even number parity,stop bit 1
11: 7 bits, even number parity,stop bit 2
*8
805Dh 5d
RS485
communication
response time
10 (ms) to 1000 (1 s)
000Ah 03E8h 000Ah
*8
805Eh 5E
RS485 retry times 0 to 8: Retry count
of communication 9: No retry
0009h 0009h 0000h
*8
805Fh
RS485 protocol
timeout
0002h 00FFh 0001h
*8
5b
0001h 03E8h 0000h
0: No history
1: Sensor error
2: Undervoltage
3: Undervoltage
4: Overload
5: Overspeed
8: Overcurrent
9: Overheat
10: External forced trip
12: RS485 communication error
90: User parameter error
91: System parameter error
Other numbers: System error
Data value
*1
5F
1 to 255 (s)
*1)Pr No. shows the parameter number in Digital key pad.
*8)Change becomes effective, when power is turned off once and turned on again after 10
seconds.
*9) When the device number is set to 80h (128), change of parameter and request for
status are ignored, therefore set to 81h (129) to 9Fh (159) normally.
－ 59 －
Communication
Transmission sequence
• Handshake code
For line control, following codes are used:
Name
SOH
STX
ETX
EOT
Code
01h
02h
03h
04h
Functions
Heading start
Text start
Text end
Transmission end
ENQ
05h
Request for
sending
ACK
NAK
06h
15h
Positive response
Negative response
Description
Start code of communication data, which is followed by address.
Start code for sending command data.
Termination code for command data.
Sent from the amplifier when transmission message is finished.
Inquiry code from host controller to amplifier. The amplifier sends
data transmission command when sending data is available, and
transmission end command when sending data is not available.
Sent when received message is judged to be normal.
Sent when received message is judged to be abnormal.
• The protocol is compatible with the basic mode data transmission control procedure JISX5002.
• Composition of sent and received data
Shows composition of data transferred on physical phase. There are two transmission
patterns available depending on the contents of command.
Request for sending/ Positive response/
Negative response/ Transmission end command
(Host→Amplifier, Amplifier→Host)
SOH
Sending address 1
Sending address 2
Senders address 1
Senders address 2
ENQ/ACK/NAK/EOT
<NOTE>
One block in the table represents
1 byte (character).
Data transmission command
(Host→Amplifier, Amplifier→Host)
SOH
Sending address 1
Sending address 2
Senders address 1
Senders address 2
STX
Command 1
Command 2
Data number 1
Data number 2
Data number 3
Data number 4
Data 1
Data 2
Data 3
Data 4
ETX
BCC
Senders address:Set the address of communication sending source (self) in ASCII 2
bytes.
Host ID 01h (01) to 1Fh (31)
Amplifier ID 81h (129) to 9Fh (159)
Command: Control command (2 bytes)
Data number: Set the data number to be controlled in ASCII 4 bytes.
Data: Set the writing data in ASCII 4 bytes.
When data is minus, it is converted by signed 16 bits.
(e.g. In the case of -10, data is ASCII code of hexadecimal FFF6.)
BCC:
:n the case of data transmission command, set XOR (logically inverted) value of each byte from STX to ETX.
• List of commands
Command
Code
Transmission
direction
Description
$P
24h 50h
Host →
Amplifier
Data writing command. Change of parameter and motor
control data. (In changing parameter, parameter is not
written to EEPROM.)
$S
24h 53h
Host →
Amplifier
Data writing command. Change of parameter and motor
control data. (In changing parameter, parameter is
written to EEPROM.)
* Writing to EEPROM should be requisite minimum.
(EEPROM endurance: approx. 100,000 write cycle.)
$R
24h 52h
Amplifier →
Host
Data reading request command. Command which
requests the parameter, status, and control detail of
motor.
#R
23h 52h
Amplifier →
Host
Response to data reading request. Returns the
parameter, status, and control detail of motor to $R.
#C
23h 43h
Amplifier →
Host
Data update request response. Returns the status of
amplifier (8103h) to host in response to request for
sending command when data of amplifier status (8103h)
has changed from previous request for sending.
#I
23h 49h
Amplifier →
Host
Initial request response. When the amplifier is powered
on, 9999 is sent following # I in response to initial inquiry
from host controller (Request for sending).
Sending address: Set the mating device number for sending data in ASCII2 byte.
Host ID 01h (01) to 1Fh (31)
Amplifier ID 80h (128) to 9Fh (159)
When the sending address is set to 80h (128), all connected amplifiers executes the command (only for some commands). However,
response is not made from the amplifier
－ 60 －
－ 61 －
Communication
• Transmission procedure
ENQ: Request for sending
$P/$S: Data writing/Parameter writing command
(1) Host → Amplifier (Data writing)
SOH
STX
Amplifier ID
Host ID
$
*
P
SOH
Host ID
*
*
Data number
(parameter address)
Command
(2) Amplifier → Host (result response)
*
When request for sending is sent to the amplifier, response data changes depending on
the status of amplifier. Response data is returned in the priority order below:
*
*
*
*
Data
(parameter value)
ETX BCC
ACK
Amplifier ID
•Answers NAK when requested data number (parameter address) or data value
(parameter value) is abnormal. Shows that parameter was properly set only when
ACK is answered from the amplifier.
•No result is answered from the amplifier when amplifier ID is 80h (128).
SOH
STX
Amplifier ID
Host ID
$
*
R
*
*
*
0
0
0
0
Host ID
Data
(parameter value)
Host ID
Amplifier ID
Other cases than the above
Communication completion response is answered.
ENQ
Amplifier ID
Host ID
SOH
Host ID
STX
Amplifier ID
#
R
Command
#
I
9
Command
9
*
*
*
*
Data number
(parameter address)
*
*
*
*
Reading data
(parameter value)
ETX BCC
•Response data when amplifier is powered on is initial request response.
•When requested data number (parameter address) is abnormal, ‘0000’ as reading data
•Please use reading data after checking a data number (parameter number)
SOH
SOH
Host ID
SOH
Host ID
EOT
•When initial response is confirmed, write parameters as necessary.
2. When receiving data reading / parameter reading
See “$R: Data reading/Parameter reading command” on P.62.
Host ID
EOT
Amplifier ID
0
－ 62 －
－ 63 －
0
Reading data
Amplifier ID
(6) Amplifier → Host (Communication completion response)
0
Host ID
ACK
Amplifier ID
9
ACK
Amplifier ID
(5) Host → Amplifier (Result response)
9
Data number
(4) Amplifier → Host (Communication completion response)
(4) Amplifier → Host (Response of data)
4
Host ID
STX
Data update request is answered.
SOH
Amplifier ID
SOH
When the status of amplifier changes
(3) Host → Amplifier (Response of result)
ENQ
Amplifier ID
3
(2) Amplifier → Host (Request of data)
(3) Host → Amplifier (Request for sending)
Refer to data reading command processing.
ACK
SOH
When receiving data reading /
parameter reading
SOH
ETX BCC
(2) Amplifier → Host (Result response)
2
(1) Host → Amplifier (Request for sending)
•Set data ‘0000’ when executing data reading command.
•When amplifier ID is 80h (128), data reading/parameter reading command is ignored.
SOH
Initial request response is answered.
1. When the amplifier is powered on
Data number
(parameter address)
Command
When amplifier is powered on
•Initial request response is answered to the initial data request for sending after the amplifier is powered on.
•When the amplifier ID is 80h (128), request for sending to the amplifier is ignored.
$R: Data reading/Parameter reading command
(1) Host → Amplifier (Data reading request)
1
0
ETX BCC
Communication
3. When the status of amplifier changes
Example of data communication
(1) Host → Amplifier (Request for sending)
SOH
• When power is turned on
ENQ
Amplifier ID
Host ID
(2) Amplifier → Host (Request of data)
SOH
Host ID
Amplifier ID
STX
#
C
8
Command
1
0
3
Data number
*
*
*
Reading data
*
ETX BCC
(3) Host → Amplifier (Response of result)
SOH
ACK
Amplifier ID
Host
Host ID
(4) Amplifier → Host (Communication completion response)
SOH
Host ID
EOT
4. Cases other than the above
(1) Host → Amplifier (Request for sending)
SOH
ENQ
Amplifier ID
Host ID
(1) Request for sending
SOH
8
1
0
1
ENQ
(01h) (38h) (31h) (30h) (31h) (05h)
Amplifier ←
(2) Initial request response
SOH
0
1
8
1
STX
#
(01h) (30h) (31h) (38h) (31h) (02h) (23h)
→
SOH
8
(01) (38)
Host
Amplifier ←
Host
Host ID
EOT
Amplifier ID
•The amplifier makes communication completion response because data is not
requested from the host, and the status of amplifier has not changed.
→
1
0
1
ACK
(31h) (30h) (31h) (06h)
SOH
0
1
8
1
EOT
(01h) (30h) (31h) (38h) (31h) (04h)
(3) Request for sending
8
1
0
1
ENQ
→ SOH
(01h) (38h) (31h) (30h) (31h) (05h)
Amplifier ←
(4) Data update request response
SOH
0
1
8
1
STX
#
(01h) (30h) (31h) (38h) (31h) (02h) (23h)
→
SOH
8
(01) (38)
Host
Amplifier ←
Host
→
Amplifier ←
Host
C
8
1
0
3
0
0
0
2
ETX BCC
(43h) (38h) (31h) (30h) (33h) (30h) (30h) (30h) (32h) (03h) (69h)
1
0
1
ACK
(31h) (30h) (31h) (06h)
SOH
0
1
8
1
EOT
(01h) (30h) (31h) (38h) (31h) (04h)
(5) Request for sending
8
1
0
1
ENQ
→ SOH
(01h) (38h) (31h) (30h) (31h) (05h)
Amplifier ←
－ 64 －
I
9
9
9
9
0
0
0
0
ETX BCC
(49h) (39h) (39h) (39h) (39h) (30h) (30h) (30h) (30h) (03h) (6Bh)
Amplifier ←
Host
(2) Amplifier → Host (Communication completion response)
SOH
→
Amplifier ID
•The amplifier saves the status when executing request for sending, and emits the
above response when the status in receiving the next request for sending has
changed. Read data is the same as in reading data number 8103h.
•When the amplifier is powered on, in the case where request for sending is sent
continuously, data update request response is answered after initial request response
is made.
Communication data is shown below in chronological order when request for sending is
executed in power-on for the amplifier. Initial request response at the first, and then data
update request response is answered from the amplifier. Then, if the status of amplifier
has not changed, only transmission completion response is answered. Shown below is the
status where the amplifier is connected with host ID = 01h (1), amplifier ID = 81h (129). It
is represented by ASCII characters. (Data in the parenthesis is hexadecimal ASCII code.)
(6) Transmission completion response
SOH
0
1
8
1
EOT
(01h) (30h) (31h) (38h) (31h) (04h)
－ 65 －
Communication
• Example of trip reset
Shown below is communication data in chronological order when executing trip reset.
This is an example where trip reset of all amplifiers connected by host ID = 01h (1).
Data is represented by ASCII character. (Data in parenthesis is hexadecimal ASCII code.)
Host
8
0
0
1
STX
$
P
8
1
9
0
0
→ SOH
(01h) (38h) (30h) (30h) (31h) (02h) (24h) (50h) (38h) (31h) (39h) (30h) (30h)
Amplifier ←
Host
→
0
0
1
ETX BCC
(30h) (30h) (31h) (03h) (74h)
Host
• Example of changing parameter (writing data)
Shown below is communication data in chronological order when changing parameter (not
written to EEPROM).
This is an example of changing Pr00 (8000h) “The 1st target position (rotation number)”
to 10 (0000Ah) with amplifier connected by host ID = 01h (1) and amplifier ID = 81h (129).
Data is represented by ASCII character. (Data in parenthesis is hexadecimal ASCII code.)
8
1
0
1
STX
$
P
8
0
0
0
0
→ SOH
(01h) (38h) (31h) (30h) (31h) (02h) (24h) (50h) (38h) (30h) (30h) (30h) (30h)
Amplifier ←
→
Amplifier ←
(1) Parameter reading request
$
R
8
0
4
0
0
8
1
0
1
STX
→ SOH
(01h) (38h) (31h) (30h) (31h) (02h) (24h) (52h) (38h) (30h) (34h) (30h) (30h)
Amplifier ←
•There is no response from the amplifier because amplifier ID is set at 80h (128).
Host
In reading data, reading request is emitted to the amplifier, and then request for sending
command is issued.
This is an example of reading Pr40 (8040h) “Output signal 1 selection” with the amplifier
connected by host ID = 01h (1) and amplifier ID = 81h (129).Data is represented by ASCII
character. (Data in parenthesis is hexadecimal ASCII code.)
Host
Amplifier ←
Host
• Example of reading parameter (reading data)
0
0
0
ETX BCC
(30h) (30h) (30h) (03h) (7Bh)
SOH
0
1
8
1
ACK
(01h) (30h) (31h) (38h) (31h) (06h)
Amplifier ←
Host
(2) Request for sending
8
1
0
1
ENQ
→ SOH
(01h) (38h) (31h) (30h) (31h) (05h)
Amplifier ←
SOH
0
1
8
1
STX
#
(01h) (30h) (31h) (38h) (31h) (02h) (23h)
→
SOH
8
(01) (38)
Host
Amplifier ←
Host
0
0
A
ETX BCC
(30h) (30h) (41h) (03h) (0Ch)
→
→
Amplifier ←
0
ETX BCC
R
8
0
4
0
0
0
1
(52h) (38h) (30h) (34h) (30h) (30h) (30h) (30h) (31h) (03h) (7Dh)
1
0
1
ACK
(31h) (30h) (31h) (06h)
SOH
0
1
8
1
EOT
(01h) (30h) (31h) (38h) (31h) (04h)
SOH
0
1
8
1
ACK
(01h) (30h) (31h) (38h) (31h) (06h)
－ 66 －
－ 67 －
Communication
Communication command
Communication timing
T1 or above
T2
Data number
T1 or above
8000h to 805Fh
8103h
8104h
8105h
8110h
8111h
8112h
8113h
8114h
8120h
8130h
8131h
8180h
8181h
8190h
8191h
8192h
81B0h
Host → Amplifier
Amplifier → Host
Request
for sending
Amplifier
bus occupied
Symbol
ACK/NAK
T3
0 to 2 ms
Data transfer
T3
T3
0 to 2 ms 0 to 2 ms
Name
EOT
T3
0 to 2 ms
Value
Communication response time (Amplifier)
Set by Pr5d.
T2
Communication response time (Host)
Take interval 10 ms or longer.
T3
Data emitting time from amplifier to host after bus is
0 to 2 ms
T1
<Information>
(1)Time is counted from the rising edge of stop bit.
(2)Time allowed from receiving one character code until receiving the next character
code can be set by Pr5F “Protocol timeout”. If the next normal character code
cannot be received within the time set by this parameter, the amplifier detects
communication timeout and received data is canceled. If communication timeout is
detected continuously, and the number of detections exceeds the number of retrials
(Pr5E), the amplifier trips because of RS485 communication error.
(3)When the host sends data and still does not receive any response from the
amplifier, communication error may be present through effect of noise, etc. In this
case, the host should send data again after time set by Pr5F “Protocol timeout”.
<Communication establishing time when power is turned on>
Establishment communication takes about 800 ms when the amplifier is powered on. The
amplifier does not make response in the meantime, therefore allow waiting time longer than
a second.
[Timing in power-on]
Amplifier power supply
Host → Amplifier
Amplifier → Host
Power ON
Waiting time
longer than 1 second
Request for sending
Communication
established 800 ms
－ 68 －
Response
Applicable command
on host side
$P/$S/$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$P/$S
$P/$S
$P/$S
$P/$S
$P/$S
$P/$S
Description
Parameter
Amplifier status
Model code 1
Model code 2
Rotation speed (actual speed)
Commanded speed
Internal DC voltage
Torque
Load factor
Detail of trip
Input terminal status
Output terminal status
Run command
Free-run stop command
Trip reset
Forced trip
Trip history clear
Parameter EEPROM writing
Communication command in detail
8000h to 805Fh: Parameter
• $P: Parameter writing command (Without EEPROM writing function)
Host → Amplifier (Data writing)
SOH
Amplifier ID
Host ID
STX
$
P
Command
8
0
Parameter address
P1
P2
P3
P4 ETX BCC
Parameter value
•When the device number set on the amplifier (value of Pr5A) matches with the
amplifier ID of received data, parameter change is executed.
•When parameter address and parameter value are abnormal, NAK is answered.
•Set the parameter address at ‘80 □□ ’. (‘805C’ for Pr5C)
•Set the parameter value in 4 digits of ASCII code (P1, P2, P3, and P4) which is
obtained by conversion from the data to hexadecimal.
(e.g. 100 = ‘0064’, –100 = ‘FF9C’)
•NAK is answered while the amplifier detects undervoltage error, and the parameter is
not changed.
•Changed parameter is not written to EEPROM by this command. In order to make
changed parameter still effective after power resetting, execute EEPROM writing
command by data number 81B0h.
•When run command is executed by I/O while parameter is being written by
communication at the same time, enter the run command after receiving ACK
response from the amplifier. The amplifier runs per the written parameter.
－ 69 －
Communication
• $S: Parameter writing command (with EEPROM writing function)
8103h: Amplifier status
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
S
Command
8
0
Parameter address
P1
P2
P3
P4 ETX BCC
Parameter value
•When the device number set on the amplifier (value of Pr5A) matches with the
amplifier ID of received data, parameter change is executed.
•When parameter address and parameter value are abnormal, NAK is answered.
•Set the parameter address at ‘80 □□ ’. (‘805C’ for Pr5C)
•Set the parameter value in 4 digits of ASCII code (P1, P2, P3, and P4) which is
obtained by conversion from the data to hexadecimal.
(e.g. 100 = ‘0064’, –100 = ‘FF9C’)
•NAK is answered while the amplifier detects undervoltage error, and the parameter is
not changed.
•Changed parameter is written to EEPROM by this command. Response may take
some time since EEPROM writing process is required.
•When run command is executed by I/O while parameter is being written by
communication at the same time, enter the run command after receiving ACK
response from the amplifier. The motor runs per the written parameter.
•Writing to EEPROM should be requisite minimum.
(EEPROM endurance: approx. 100,000 write cycle.)
• $R: Parameter reading request command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
0
Parameter address
0
0
0
Parameter value
0
ETX BCC
•Set the parameter address at ‘80 □□ ’. (‘805C’ for Pr5C). Set the parameter value at
‘0000’.
•Enter request for sending after execution of this command, parameter value is responded.
• #R: Parameter response command
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
Received data (Host → Amplifier)
SOH
Amplifier ID
0
Parameter address
P1
P2
P3
P4 ETX BCC
Parameter value
Host ID
STX
$
R
8
Command
1
3
0
0
0
0
Data value
ETX BCC
• #R: Status response command
Transmission data (Amplifier → Host)
SOH
Host ID
Amplifier ID
STX
#
R
8
Command
1
0
Data number
3
D1
D2
D3
D4 ETX BCC
Data value
•When the amplifier receives request for sending after normal completion of status
reading request command, the amplifier answers status value.
• #C: Data updating request command
Transmission data (Amplifier → Host)
SOH
Host ID
Amplifier ID
STX
#
C
8
Command
1
0
Data number
3
D1
D2
D3
D4 ETX BCC
Data value
•The amplifier saves the status in executing request for sending, and makes the
response above when the status in receiving the next request for sending has
changed. Read data is the same as in execution of data number 8103.
[Detail of status]
D1
Bit 3
0
Bit 2
0
Bit 1
0
D3
0
0
0
D2
0
0
0
Running
Bit 0
0
0
Speed attainment
0
－ 71 －
0
Trip state
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 34h = ‘0004’ = It is shown that it is running.
•When requested parameter address is abnormal, ‘0000’ as parameter value is
answered. You should check parameter address as you requested.
•When the parameter reading request command is normally completed, the amplifier
answers a parameter value when it receives request for sending.
•Parameter address which is read out is sent by ‘80 □□ ’.
•Parameter value is sent in 4 digits of ASCII code (P1, P2, P3, and P4) which is
obtained by conversion from the data to hexadecimal.
(e.g. 100 = ‘0064’, –100 = ‘FF9C’)
－ 70 －
0
Data number
•Enter request for sending after execution of this command, the amplifier status is
answered.
•Set ‘0000’ in data value.
D4
Transmission data (Amplifier → Host)
• $R: Status reading request command
Communication
8104h: Model code 1, 8105h: Model code 2
8112h: Internal DC voltage
• $R: Model code reading request command
• $R: Internal DC voltage reading request command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
1
0
Data number
Received data (Host → Amplifier)
0
0
0
Data value
0
ETX BCC
•Enter request for sending after execution of this command, model code of amplifier is
answered.
•Set ‘0000’ in data value.
• #R: Model code response command
Host ID
Amplifier ID
STX
#
R
Command
8
1
0
Data number
D1
D2
D3
Data value
D4 ETX BCC
Amplifier ID
Host ID
Command
8
1
1
Data number
0
0
0
Data value
0
ETX BCC
• #R: Speed response command
Host ID
Amplifier ID
#
R
Command
1
1
Data number
2
0
0
0
Data value
0
ETX BCC
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
1
1
Data number
2
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of internal
DC voltage reading command, internal DC voltage (voltage in smoothing capacitor of
power supply) is answered.
•Voltage of amplifier is answered in [V] for data value.
e.g.)Data value = 30h 31h 31h 38h = ‘0118’ = 280 [V]
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
1
1
Data number
0
0
0
Data value
0
ETX BCC
•Enter request for sending after execution of this command, torque of amplifier (‘8113’)
and load factor (‘8114’) are answered.
•Set ‘0000’ in data value.
• #R: Torque response command
Transmission data (Amplifier → Host)
Transmission data (Amplifier → Host)
STX
8
Received data (Host → Amplifier)
•Rotation speed of amplifier (actual speed) (‘8110’) and commanded speed (‘8111’)
are answered by request for sending after execution of this command.
•Set ‘0000’ in data value.
SOH
R
• $R: Torque reading request command
Received data (Host → Amplifier)
R
$
Command
8113h: Torque 8114h: Load factor
• $R: Speed reading request command
$
STX
Transmission data (Amplifier → Host)
8110h: Rotation speed (actual speed), 8111h: Commanded speed
STX
Host ID
•Enter request for sending after execution of this command, the internal DC voltage
(voltage in smoothing capacitor of power supply) of the amplifier is answered.
•Set ‘0000’ in data value.
•When the amplifier receives request for sending after completion of model code
reading request command, the model code value is answered.
•Model name of the amplifier is sent in ASCII code of total 8 characters, consisting of
4 characters respectively.
e.g.)Model code 1 (‘8104’) = 4Dh42h4Dh43h = ‘MBMC’
Model code 2 (‘8105’) = 33h41h31h45h = ‘3A1E’
SOH
Amplifier ID
• #R: Internal DC voltage response command
Transmission data (Amplifier → Host)
SOH
SOH
8
1
1
Data number
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of speed
reading request command, rotation speed value (actual speed value) (‘8110’) and
commanded speed value (‘8111’) are answered.
•Data value is answered in rotation speed (actual speed) and commanded speed in [r/min].
e.g.)Data value = 30h 42h 42h 38h = ‘0BBB’ = 3000 [r/min]
Data value = 30h 35h 44h 43h = ‘05DC’ = 1500 [r/min]
The value shall be positive at CCW rotation and negative at CW rotation.
－ 72 －
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
1
1
Data number
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of torque
reading request command, torque (‘8113’) and load factor (‘8114’) are answered.
•Torque of amplifier/Load factor multiplied by 10 is answered in [%] for data value.
e.g.)Data value = 30h 31h 32h 43h = ‘012C’ = 30.0 [%]
－ 73 －
Communication
8120h: Detail of trip
8130h: Input terminal status
• $R: Trip detail reading request command
• $R: Input terminal status reading request command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
1
Received data (Host → Amplifier)
2
Data number
0
0
0
0
Data value
0
ETX BCC
•Enter request for sending after execution of this command, the detail of trip is
answered.
•Set ‘0000’ in data value.
• #R: Trip detail response command
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
Amplifier ID
Host ID
STX
$
R
8
Command
1
3
Data number
0
0
0
0
Data value
0
ETX BCC
•Enter request for sending after execution of this command, the status of amplifier
input terminal is answered.
•Set ‘0000’ in data value.
• #R: Input terminal status response command
Transmission data (Amplifier → Host)
SOH
Transmission data (Amplifier → Host)
1
2
Data number
0
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of trip detail
reading request command, detail of amplifier trip is answered.
•Detail of trip is answered by trip number. (See the list of protective functions on P.24.)
When the trip number is 0, it indicates that no tripping has occurred.
e.g.)Data value = 30h 30h 30h 41h = ‘000A’ = 10 = External forced trip
•Trip history can be read out with parameter (Pr4b to 4F).
SOH
Host ID
Amplifier ID
STX
#
R
8
Command
1
3
Data number
0
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of input
terminal status reading request command, the input terminal status of the amplifier is
answered.
[Status of input terminal]
D1
D2
D3
D4
Bit 3
0
Bit 2
0
Bit 1
0
0
I4
0
I3
0
I2
0
0
0
Bit 0
0
0
I5
I1
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 35h = ‘0005’ = Indicates that I 1 and I 3 are on.
－ 74 －
－ 75 －
Communication
8131h: Output terminal status
8180h: Run command
• $R: Output terminal status reading request command
• $P/$S: Run command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
8
Command
1
3
Data number
1
0
Received data (Host → Amplifier)
0
0
Data value
0
ETX BCC
•Enter request for sending after execution of this command, the status of amplifier
output terminal is answered.
•Set ‘0000’ in data value.
• #R: Output terminal status response command
Transmission data (Amplifier → Host)
SOH
Host ID
Amplifier ID
STX
#
R
8
Command
1
3
Data number
1
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier receives request for sending after normal completion of output
terminal status reading request command, the output terminal status of the amplifier
is answered.
[Status of output terminal]
D1
D2
D3
D4
Bit 3
0
0
0
0
Bit 2
0
0
0
Bit 1
0
0
0
0
O2
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 31h = ‘0001’ = Indicates that O1 is on.
－ 76 －
SOH
Amplifier ID
Host ID
STX
$
P
8
Command
1
8
Data number
0
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier is powered on with Pr30 set at “2” (Command through RS485),
this command enables sending run command to the amplifier. At this time, point
selection or run command cannot be given through I/O. (See I 1/ I 2 function selection
on P.57.) When Pr30 is “1” (command through I/O) and “0” (Digital key pad), run
command by this command is ignored.
•When run command is given to the amplifier with this command, first send ‘0000’ as a
data value.
•Operation is the same both for $P command and $S command.
•When the amplifier ID is 80h (128), all connected amplifiers execute the command.
However, no response is emitted from the amplifier.
[Run command]
Bit 0
0
D1
Bit 3
0
Bit 2
0
Bit 1
0
Bit 0
0
D3
0
0
D4
0
0
I2
0
I1
0
O1
D2
0
0
0
0
0
0
*When the same signal function is assigned to the signal input I 1 and I 2, the function is activated
as one of the signals is turned ON.
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 31h = ‘0001’ = Input signal I 1 is on.
－ 77 －
Communication
8181h: Free-run stop command
8191h: Forced trip
• $P/$S: Free-run stop command
• $P/$S: Forced trip command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
P
Command
Received data (Host → Amplifier)
8
1
8
Data number
1
D1
D2
D3
Data value
D4 ETX BCC
•When the amplifier is powered on with Pr30 set at “2” (Command through RS485),
this command enables sending free-run stop command to the amplifier.
When Pr30 is “1” (command through I/O) and “0” (Digital key pad), free-run stop
command by this command is ignored.
•Operation is the same both for $P command and $S command.
•When the amplifier ID is 80h (128), all connected amplifiers execute the command.
However, no response is emitted from the amplifier.
•When data value is other than ‘0000’ and ‘0001’, NAK is answered.
•A motor cannot be driven after free run stop instructions until it transmits operation is
possible (free run release).
e.g.)Data value = 30h 30h 30h 31h = ‘0001’ = Free-run stop command is on.
Host ID
STX
$
P
Command
8
1
9
Data number
0
0
0
0
Data value
1
－ 78 －
$
P
Command
8
1
9
Data number
1
0
0
0
Data value
1
ETX BCC
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
P
Command
8
1
9
Data number
2
0
0
0
Data value
1
ETX BCC
•When data value is set to ‘0001’ and this command executed, trip history is cleared.
•When data value is other than ‘0000’ and ‘0001’, NAK is answered.
•Operation is the same for both $P command and $S command.
•When amplifier ID is set to 80h (128), all connected amplifiers execute the command.
However, no response is answered from the amplifier.
ETX BCC
•When data value is set at ‘0001’ and this command is executed during trip, trip reset
is executed.
•When data value is other than ‘0000’ and ‘0001’, NAK is answered.
•Operation is the same for both $P command and $S command.
•This command is incapable of resetting some trips depending on their factor.
As for tripped condition after executing trip reset command, check it by status reading
or trip detail reading command.
•When amplifier ID is set to 80h (128), all connected amplifiers execute the command.
However, no response is answered from the amplifier.
STX
• $P/$S: clear trip history
Received data (Host → Amplifier)
Amplifier ID
Host ID
8192h: Clear trip history
• $P/$S: Trip reset command
SOH
Amplifier ID
•When data value is set to ‘0001’ and this command executed, the amplifier trips (forced trip).
•When data value is other than ‘0000’ and ‘0001’, NAK is answered.
•Operation is the same for both $P command and $S command.
•When amplifier ID is set to 80h (128), all connected amplifiers execute the command.
However, no response is answered from the amplifier.
8190h: Trip reset
SOH
81B0h: Parameter EEPROM writing
• $P/$S: Parameter EEPROM writing command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
P
Command
8
1
B
Data number
0
0
0
0
Data value
1
ETX BCC
•When data value is set to ‘0001’ and this command executed, parameter is written
to EEPROM contained in the amplifier. Response may take some time because
EEPROM writing process is executed. Use this command when you want to change
the parameter by $P command and make change still effective after power resetting.
•NAK is answered and EEPROM writing process is not executed as long as the
amplifier detects undervoltage error.
•When data value is other than ‘0000’ and ‘0001’, NAK is answered.
•Operation is the same for both $P command and $S command.
•When amplifier ID is set to 80h (128), all connected amplifiers execute the command.
However, no response is answered from the amplifier.
•Writing to EEPROM should be requisite minimum.
(EEPROM endurance: approx. 100,000 write cycle.)
－ 79 －
Conformance to EC directive and UL standard
EC Directives
The EC directives apply to all such electronic products as those having specific functions
and directly sold to general consumers in EU countries. These products are required to
meet the EU unified standards and to be furnished with CE marking.
Our brushless motor meet the EC Directives for Low Voltage Equipment so that the
machine or equipment comprising our AC servo can meet relevant EC Directives.
EMC Directives
Our brushless motor can meet EMC Directives and related standards. However, to meet
these requirements, the systems must be limited with respect to configuration and other
aspects, e.g. the installation and some special wiring conditions must be met. This means
that in some cases machines and equipment comprising our servo systems may not satisfy
the requirements for wiring and grounding conditions specified by the EMC Directives.
Therefore, conformance to the EMC Directives (especially the requirements for emission
noise and noise terminal voltage) should be examined based on the final products that
include our system.
Applicable standard
Installation
condition
Applicable standard
UL
UL1004
UL508C
Standard for electric motor
Standard for electric converter equipment
CSA C22.2 No.14
（c-UL） C22.2 No.100
CE
CCC
KC
Class I equipment
Pollution degree 2
SCCR *1
Industrial control equipment.
Standard for electric motor
EN61800-5-1
EN60034-1
EN60034-5
EN61800-3
EN55011
EN61000-6-2
Adjustable speed electrical power drive systems
– Safety requirements. Electrical, thermal and energy
Standard for rotary electric machine (low voltage directive)
Standard for rotary electric machine (low voltage directive)
Adjustable speed electrical power drive systems
– EMC requirements and specific test methods
Radio interference wave characteristics of industrial,
scientific, and medical high-frequency equipment
Standards for immunity in industrial environment
(EMC directive)
GB12350
Safety standard for low-power electric motor
Overvoltage
category II
Class I equipment
Pollution degree 2
Korea Radio Law Class A Instrument
(commercial broadcast communications equipment)
*2
—
*1 SCCR: Symmetrical current 5,000 Arms, Max. 240 V
Motor over-temperature protection is not provided.
Motor over-load-temperature protection shall be provided at the final installation upon
required by the NEC (National Electric Code).
*2 Information related to the Korea Radio Law
This brushless amplifier is a Class A
commercial broadcasting radio wave
generator not designed for home use. The
user and dealer should be aware of this fact.
－ 80 －
Brushless Amplifier
Configuration of peripheral equipment
Power
supply
・100 V system: Single phase 100 V to 120 V ± 10%, 50/60 Hz
200 V system: Single phase 200 V to 240 V ± 10%, 50/60 Hz
・Use the equipment under the environment of overvoltage category II specified
by IEC60664-1.
・In order to obtain overvoltage category III, insert a transformer conforming to
EN standard or IEC standard to the input of brushless motor.
・Use an electric wire size suitable to EN60204-1.
MCCB
(breaker)
Fuse
Be sure to connect the specified Molded Case Circuit Breaker (MCCB) certified
by IEC and UL, or fuse certified by UL, between power supply and noise filter
so that symmetrical current upon short-circuiting of power source will not
exceed 5000 Arms. Meeting this condition allows conformance with UL508C (file
No. E164620) and UL1004 (file No. E166557).
Noise
filter
Surge
absorber
Grounding
When installing one noise filter at the power supply for more than one
brushless motor used, contact the manufacturer of noise filter.
Install a surge absorber on the primary side of noise filter. However, in
performing the voltage resistance test of machine and equipment, be sure to
remove the surge absorber; otherwise, the surge absorber may be ruptured.
Be sure to connect the grounding Terminal of brushless amplifier and protective
grounding wire (PE) of system for preventing electric shock. Do not tighten the
grounding wires together but connect them individually.
Wiring of peripheral equipment
Ferrite core (Noise filter for signal line)
option DV0P1460 (*Qty.：4 ) (part No.: ZCAT3035-1330/TDK Corp.)
Power
supply
Molded Case
Circuit Breaker
(MCCB)
or Fuse
Surge
absorber
Noise filter
Brushless
amplifier
Brushless
motor
ground
Protection ground
(PE)
－ 81 －
* The ferrite core should insert one
or more pieces in an electric wire,
respectively.
Conformance to EC directive and UL standard
List of compatible peripheral equipment
Surge absorber
Noise filter
(3-phase)
DV0PM20042 3SUP-HU10-ER-6
1
Surge absorber
(single phase 100, 200 V)
DV0P4190
R・A・V-781BWZ-4
1
Surge absorber
(3-phase)
DV0P1450
R・A・V-781BXZ-4
1
Noise filter for control signals
DV0P1460
ZCAT3035-1330
4
Okaya Electric
Industries Co. Ltd.
1
TDK Corporation
Terminal cover
(transparent)
53.1±1.0
115
105
95
70
43
12.0
50.0
60.0
10.0
Label
6-M4
Circuit diagram
Body
②
③
2
3
UL-1015 AWG16
41±1
Cover
[Unit: mm]
5.5±1
11±1
1
M4
（11.6）
（13.0）
[Unit: mm]
Noise filter for control signals
• DV0P1460
39±1
34±1
mass: 62.8g
13±1
2−ø4.5
Screw
for cover
M3
52
2−ø4.5×6.75
5.5
Earth terminal
M4
Label
UL-1015 AWG16
①
+30
200 −0
5.0
10
100.0±2.0
88.0
75.0
②
28.5±1
• DV0PM20042
①
41±1
ø4.2±0.2
2.0
7.0
2
• DV0P1450
Noise filter
• DV0P4170
Circuit diagram
30±1
1
[Unit: mm]
4.5±0.5
SUP-EK5-ER-6
ø4.2±0.2
4.5±0.5
DV0P4170
• DV0P4190
5.5±1
11±1
Noise filter
(single phase 100, 200 V)
Manufacturer
28.5±1
Qty.
+30
200 −0
Manufacturer's
parts number
28±1
Optional parts
number (option)
28±1
Part name
[Unit: mm]
Recommended circuit breaker (MCCB)
Made by Sensata Technologies Japan Limited:
Type IELH-1-11-63-5A-M (single phase)
Type IELH-1-111-63-5A-M (3-phase)
(Rated current 5A, cutoff characteristics DELAY63)
• Recommended cutoff characteristics: DELAY61-63
－ 82 －
－ 83 －
Specifications
• Brushless motor specifications
• Brushless amplifier GV series specifications
Item
Flange size
Motor model No.
Motor rated output (W)
Voltage
Rated torque (N･m)
Specifications
80 mm sq.
MBMU5AZA○
Rated input current
(A(rms))
for 100 V/200 V
for 100 V
for 200 V
0.41
0.24
0.43
0.62
0.53
0.53
1.00
0.50
0.12
4000
Ambient humidity
0.05 mm or less at the position of 3 mm from the shaft end
Ball bearing
Measure the insulation resistance with 500 V Megger. It must be above 20 MΩ
Measuring position: Between power input line (L1, L2,L3) and grounding wire
1500 VAC, 1 minute, 10 mA or less (between power and grounding wire)
−10 ℃ to +40 ℃ (free from freezing)
* Ambient temperature is measured at a distance of 5 cm from the motor.
85% RH or below (free from condensation)
Altitude
Lower than 1000m
Vibration
4.9 m/s2 or less (10 to 60 Hz) X, Y, Z
Impact
130(B) (UL certified 105 (A))
Storage humidity
85%RH or below (free from condensation)
50
Single phase
100 to 120
MBMU9A1A〇 MBMU9A2A〇 MBMU1E1A〇 MBMU1E2A〇
90
Single 3-phase
phase
Single phase
200 to 240
100 to 120
Frequency (Hz)
Rated input
current (A)
Rated output
current (A)
1.5
0.7
0.6
0.35
2.2
Motor mass (kg)
1.0
1.1
0.5
0.6
2.8
1.7
±10％
Control method
Speed control by CS signal Driving system by PWM sine wave
Single 3-phase
phase
200 to 240
1.5
0.7
0.8
Ambient
temperature
0 ℃ to +50 ℃ (free from freezing)
* Ambient temperature is measured at a distance of 5 cm from the amplifier.
Ambient
humidity
20% to 85% RH or below (free from condensation)
Atmosphere
Indoor (without corrosive gas, dirt, dust, etc.)
Altitude
Lower than 1000m
Vibration
5.9 m/s2 or less (10 to 60 Hz)
Storage
temperature
–20 ˚C to 60 ˚C ( free from condensation)
Extreme temperatures are permissible only for short period such as during transportation.
Storage
humidity
20 to 85%RH or below (free from condensation)
1.2
*1 Representative value
*2 Motor shaft speed: to be multiplied by the reduction ratio when the gear head is used.
*3 Excluding the shaft pass-through section and cable end connector.
*Should conform to the test conditions specified in EN standard (EN60529 and EN60034-5).
Not suitable for application where watertightness is required over a prolonged period, even if
frequently washed.
• Standard characteristics measurement conditions are temperature of 25 °C and relative humidity of
65%, and may be extended to 5 to 35 °C and 45 to 85% RH.
－ 84 －
100 to 120
Voltage tolerance
8
0.7
200 to 240
1.1
IP65*3
Number of poles
Single 3-phase
phase
Single phase
50/60
–20˚C to 60˚C ( free from condensation)
Storage temperature
*Extreme temperatures are permissible only for short period such as during transportation.
Protection structure
130
<Note>
To start/stop the motor, use signal inputs (I 1, I 2, etc.).
If power is turned on/off to start/stop the motor, the life of the internal circuitry will be shortened.
Lower than 98m/s2
Motor insulation class
Motor rated
output (W)
Ambient conditions
30 to 4000
Axial runout
Ambient temperature
0.36
3000
Speed control range
(r/min)
MBMU5AZA〇
Input power
supply voltage
(V)
0.72
Continuous
maximum rotation
speed（r/min）
Isolation voltage
1.30
0.27
Applicable motor
model No.
for 200 V
0.29
Rating
Insulation resistance
for 100 V
0.16
Rated rotation speed *2
（r/min）
Bearing
130
Basic Specifications
Moment of inertia of
rotor（×10−4kg･m2）
90
Specifications
Amplifier model No. MBEG5A1BCV MBEG5A5BCV MBEG9A1BCV MBEG9A5BCV MBEG1E1BCV MBEG1E5BCV
MBMU9A1A○ MBMU9A2A○ MBMU1E1A○ MBMU1E2A○
50
Starting torque *1
(N･m)
Item
90 mm sq.
－ 85 －
Specifications
• Brushless Amplifier GV series specifications (continued)
Item
• Speed-torque characteristic (Torque in short-time run area is a typical value.)
Specifications
Speed setting
Speed setting Resolution
Function
Analogue: DC 0 to 5 V, Digital *1
Analogue: About 1/ 200 of Upper speed limit
Digital: 1 r/min *1
Analogue: ±3% or below of upper limit speed
Speed setting precision
(±90r/min or below at upper limit speed 3000 r/min)
(at 20°C)
[Digital: 1% or below of upper limit speed] *1
0.01 to 300 sec (Time for changing from 0 to 1000 r/min) *1
Acceleration/ Deceleration time
Speed reduction stop / Free-run stop *1
Stopping procedure
8 speed
Operation mode
5 inputs *2 (run/ stop, CW run/ CCW run, multi function 3 bit)
Signal input
2 outputs (Open collector) *2 (Trip output etc)
Signal output
Setting of parameter, monitoring of control condition and the like
Communication function
are enabled with RS485 interface. Max 31 units.
via RS485
Parameter change, status monitor, etc., can be executed through a store-bought PC:
Communication software “PANATERM for BL”, Digital key pad connection cable
(DV0P383**) and PC connection cable (DV0P4140) are required. The PC should
Change parameter/
be provided with RS232 port or RS232-USB convertor.
Monitor of condition
Parameter change, status monitor, etc., can be executed through the optional Digital
key pad DV0P3510 (sold separately).
(Digital key pad connection cable (DV0P383**) (option, sold separately) is required.)
±1% or below (at 0 to Rated torque, Rated rotation speed)
With load
Speed
±1 % or below (at supply voltage ±10%, rated rotation speed)
fluctuation With voltage
factor
±1% or below (at 0 to 50 °C, rated rotation speed)
With temperature
Warning:Undervoltage *3 , Overload, setting change.
Protect :Undervoltage *3 , Overload, Overcrrent, Overvoltage, Overheat,
Protective function
Overspeed, Sensor error, RS485 error, External forced trip ,
User parameter error, System parameter error, System error.
Regenerative braking resistor can be externally connected. *4
Instantaneous braking torque 150%, Continuous regenerative ratio 10%
Regenerating brake
Regenerative operation with which motor shaft is rotated by load,
e.g. load lowering operation, should not be continued.
3000 r/min
Rated rotation speed
30 to 4000 r/min (Speed ratio 1:133)
Speed control range
Allowable motor cable
Up to 10 m (Panasonic option cable)
extension length
115%/ Overload protection time characteristics 150% 60 sec
Protection level
Measure the insulation resistance with 500 V Megger. It must be above 20 MΩ.
Insulation resistance
Measuring position: Between power input line (L1, L2, L3) and grounding wire.
1500 VAC, 1 minute, 10 mA or less (between power and grounding wire)
Isolation voltage
Equivalent to IP20
Protection structure/
/Self cooling
Cooling system
0.37
Amplifier mass (kg)
(
)
(
)
Performance
*1 Can be set by using the optional Digital key pad DV0P3510 (sold separately) or PANATERM for BL
or through communication over RS485.
*2 Function of signal input and signal output can be changed by using the optional Digital key pad (sold
separately) or PANATERM for BL or through communication over RS485.
*3 By using the optional Digital key pad DV0P3510 (sold separately) or PANATERM for BL or through
communication over RS485, Undervoltage warning (operation is stopped without trip, and started again
as the voltage is recovered) can be changed to Undervoltage error (operation is maintained with trip).
*4 Use the optional external regenerative resistor DV0P2890/DV0PM20068 (100 V/200 V) (sold
separately).
－ 86 －
MBEG5A1BCV／MBMU5AZA〇
MBEG5A5BCV／MBMU5AZA〇
MBEG9A1BCV／MBMU9A1A〇
MBEG9A5BCV／MBMU9A2A〇
50 W 100V
Torque 0.3
[N·m]
0.24
0.2 Instantaneous operation region
0.16
(0.12)
0.1
Torque
[N·m] 0.5
0.43
(0.35)
0.29
0.25
(0.22)
Continuous operation region
0
1000
2000
3000
4000
50 W 200V
0
Rotation
speed
[r/min]
Torque 0.3
[N·m]
0.24
0.2 Instantaneous operation region
0.16
(0.12)
0.1
Torque
[N·m] 0.5
0.43
(0.35)
0.29
0.25
(0.22)
Continuous operation region
0
1000
2000
3000
4000
Rotation
speed
[r/min]
MBEG1E1BCV／MBMU1E1A〇
MBEG1E5BCV／MBMU1E2A〇
Torque 0.8
[N·m]
0.62
130 W 100V
0.41 Instantaneous operation region
0.4
(0.31)
(0.24)
Continuous operation region
0
1000
2000
3000
(2500)
4000
Rotation
speed
[r/min]
4000
Rotation
speed
[r/min]
130 W 200V
Torque 0.8
[N·m]
0.62
(0.45) Instantaneous operation region
0.41
0.4
(0.31)
Continuous operation region
0
1000
2000
3000
－ 87 －
0
90 W 100V
Instantaneous operation region
Continuous operation region
1000
2000
3000
4000
Rotation
speed
[r/min]
4000
Rotation
speed
[r/min]
90 W 200V
Instantaneous operation region
Continuous operation region
1000
2000
3000
Specifications
• Gear head
7 2
04
Φ1
0
4 −0.030
12
Key and keyway
[attachment]
25
4ーø7
8
60
12 7
38
29
60
36
4ーø8.5
18
04
ø1
• Brushless Amplifier
7 2
30
n5
.2
35
21
75
10
105
120
φ85
4-φ6.5
(5.2)
5.2
10
21
－ 88 －
0
5 −0.030
－ 89 －
4.3
0.050
5＋
0
0
12 −0.15
04
ø1
12
37
0
7.5 −
0.15
7.5
15
5
25
25
140
O-ring
102
65
(28)
□90
38
29
0
11−0.015
CW
φ10h7
φ30
7
0
5 −0.030
φ75
60
4ーø6.5
0
φ12h7 −0.018
□90
CCW
0.060
4＋
＋0.010
4-φ5.5
200±20
500±50
20.5
0
φ85 −0.040
85.5
65
(28)
94
φ
Grounding terminal.
(M4 ring terminal)
Connector
cover
200±20
500±50
Connector
cover
Round shaft type
Grounding terminal.
(M4 ring terminal)
0
−0.040
90 W/130 W
4-φ5.5
0
4 −0.030
25
60
□90
110
130
O-ring
4
18
25
MZ9G□B/MY9G□B
(for 90W,130W motors, option)
• A figure representing
reduction ration in □ .
• Reduction ratio
3，3.6，5，6，7.5，9，10
12.5, 15，18，20，25
30，36，50, 60，75，90
100，120，150, 180, 200 23 types
25
5
4
Φ9
7 2
0
7 −0.015
7 2
32
0
φ8h7 −0.015
CW
CCW
200±20
500±50
89.5
57.5
(20.5)
□80
11.3
0
φ75 −0.040
68.8
57.5
(20.5)
Connector
cover
200±20
500±50
Connector
cover
Grounding terminal.
(M4 ring terminal)
0
−0.040
Grounding terminal.
(M4 ring terminal)
Key and keyway
[attachment]
□80
32
ø15h7
Round shaft type
30
6
ø34
50 W
MX8G□B
(for 50W motor, option)
• A figure representing
reduction ration in □ .
• Reduction ratio
3, 3.6, 5, 6, 7.5, 9, 10
12.5, 15，18，20，25
30，36，50, 60，75，90
100，120，150, 180
22 types
ø34
• Motor
ø15h7
[Unit: mm]
130
Dimensions
Options
20
65
55
8
65
55
20
14
ø30 hole
CW
1m
3m
5m
10 m
Console A connector terminal symbol
Terminal No.
Terminal name
1
I1
2
I2
3
4
5
GND FIN +5V
6
—
Terminal No.
Terminal name
1
—
2
—
3
GND
4
—
8
—
9
—
Console A, Digital key pad
connector pin No.
10
—
6
1
10
5
5
+5V
6
—
7
8
9
SCK SIN SOT
10
—
Optional parts number Length (L)
Connect to control signal connector (I/O)
1m
3m
5m
L
3
4
5
—
—
—
• Digital key pad connection cable
Optional parts number Length (L)
DV0P38310
DV0P38330
DV0P38350
1m
3m
5m
Insulating cap
(for grounding wire insulation)
<Console A side connector> (MoleX.)
Housing : 39-01-2105(5557-10R-210)
Terminal : 39-00-0046(5556T2)
or
39-00-0047(5556T2L)
6
7
8
Orange Yellow Green
3
4
5
30
M4 round terminal
①Brushless amplifier side connector (MoleX.)
Connector
: 39-01-2085
Connector pin : 39-00-0038 or 39-00-0039(for AWG 20)
39-00-0046 or 39-00-0047(for AWG 26)
②Motor side connector (MoleX.)
Connector
: 39-01-2086
Connector pin : 39-00-0040 or 39-00-0041(for AWG 20)
39-00-0048 or 39-00-0049(for AWG 26)
• Insulating cap (for grounding wire insulation) 1
• M4 × 6 pan head screw with spring washer 1
• M4 hex. nut
1
[Unit: mm]
9
10
—
—
• PC connection cable (10-pin D-sub connector pin 1.5 m)
Optional parts number Length (L)
DV0P4140
L＝1.5±0.1m
1.5 m
CONNECTOR: DB-9SS
( D-sub connector )
Connect it to RS232
port on the PC.
When using USB,
prepare RS232-USB
converter.
POWER
(75.5)
2
Red
2
200
Grounding wire
AWG20 Green/Yellow
CN3
JST
<Control signal connector I/O side> (J.S.T Mfg.Co.,Ltd.)
Housing : PAP-10V-S：PAP-10V-S
Terminal : SPHD-001T-P05
1
Terminal No. of I/o terminal
Brown
Lead color of a cable
Console A side connector pin No.
1
200
• When using motor extension cable, be sure to connect its grounding wire to the grounding wire of
the motor, and connect the other end of grounding wire of the extension cable to the earth terminal
of the brushless amplifier.
For connecting grounding wire of motor and motor extension cable, use M4 screw and insulating
cap supplied as accessories.
• Console A connection cable
DV0PM2006910
DV0PM2006930
DV0PM2006950
②
①
6
Digital key pad connector terminal symbol
7
—
• Accessories
2-M3 or
ø3.7 hole
2-ø3.5
[Unit: mm]
(45)
Protection cap
CN2
2-ø3.5
(45)
Grounding wire
AWG20 Green/Yellow
RUN
[Unit: mm]
L
M4 round terminal
ø13.5
STOP
HIGH
DV0PQ1000110
DV0PQ1000130
DV0PQ1000150
DV0PQ10001A1
28
LOW
60
70
70
60
70
60
CCW
Optional parts number Length (L)
6
65
55
(Console A, Digital key pad)
DV0P3510
28
• Motor extension cable
9
DV0P3500
Mounting hole side
1
• Digital key pad
5
• Console A
L
10-pin connector
(used for GV series)
1
8
Brushless amplifier side connector (modular plug RJ45)
Connected to (SER)
<Digital key pad side connector>
Terminal No. of SER connector 1
4
8
2
5
3
6
7
(MoleX.)
— +5V SOT SIN — — GND SCK
Terminal name
Housing : 39-01-2105(5557-10R-210)
9
7
Digital key pad side connector pin No. — 5
8 — — 3
Terminal : 39-00-0046(5556T2)
or
39-00-0047(5556T2L)
－ 90 －
(3)
(25)
This 14-pin connector is
used for different series.
(54)
CN1
• Communication software PANATERM for BL
Can be downloaded from our web site, free of charge.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
－ 91 －
[Unit: mm]
Options
• Power supply connector kit
DV0P2870
Name
Manufacturer’s parts No. Qty. Manufacturer
Connector 39-01-2105(5557-10R-210)
Connector pin 39-00-0060(5556PBTL)
1
6
Molex Inc
Optional parts number
Note
Fits to power supply
connector (POWER)
• 39-01-2105（5557-10R-210）
Name
DV0P3610
7
8
9 10
6
7
8
9 10
1
2
3
4
1
2
3
4
5
5
• External regenerative resistor
• Control signal cable (Cable with an I/O connector)
Optional parts number
Optional parts number Length (L)
2m
30±10
(5)
DV0P2890
DV0PM20068
[Unit: mm]
2000±200
20±5
Heat shrinkable tube
20±5
20±5
9
8
7
6
φ4.3
Connector
Connector pin
Manufacturer’s parts No. Qty.
PAP-10V-S
SPHD-002T-P0.5
Manufacturer
1
Fits to
J.S.T Mfg.Co.,Ltd. I/O connector
10
4
3
2
Terminal
5556PBTL (or 5556PBT)
65
Note
10
Name
5
* Connect terminals to pins No.3 and
No.5 of the power supply connector,
respectively.
300
60
52
Connector (J.S.T Mfg. Co., Ltd.)
Connector : PAP-10V-S
Terminal : SPHD-001T-P05
• PAP-10V-S
10
100 V, 50 Ω
200 V, 200 Ω
57
• I/O connector kit
DV0PM20070
Specifications
• DV0P4190, DV0PM20068
φ4.3
Cable AWG26 10-wire type
BANDO DENSEN Co., ltd UL2517
Optional parts number
[Unit: mm]
1
• External speed setter
Optional parts number
5 kΩ B characteristic 1/4 W
M9±0.75
ø6
2.5±1
ø24±1.5
10±1
15 or less
[Unit: mm]
10±0.4
Nameplate thickness 0.5 mm
ø10 hole
ø15.5
ø2.8±0.2
Example
50
R22 or less
20±1
VR terminal No.1
24 or less
2
3
* Insulation
paper
9.3
DV0PM20078
Molex Inc
Note
Fits to
Console A
• 39-01-2105（5557-10R-210）
6
DV0PM20076
Manufacturer’s parts No. Qty. Manufacturer
Connector 39-01-2105(5557-10R-210) 1
10
Connector pin 39-00-0047(5556T2L)
t0.6
Optional parts number
• Panel connector kit (Fits to Console A)
M3.5
38
Knob
Name plate
Panel
* Insert the insulation paper to positively isolate the terminals and chassis.
－ 92 －
－ 93 －
Options
• Reactor
• DIN rail attachment unit
Fig.1( for 3-phase power supply)
Optional parts number
DV0P3811
5
E
X Y Z
(6)
D
2-M4, bar ring
(for mounting)
2-I
NP
C
35
20
Fig.2 (for single phase power supply)
R S T
A
6-I
B
H
H
D
F
(7)
Rail stopper
(6)
[Unit: mm]
B
Amplifier mounted to DIN rail
• How to Install
Fig.2
With rail stop
pushed in
Hook the upper side of DIN rail
mounting part on the DIN rail.
A
F
G
B
C
(93)
D
E (Max)
H
I
Rated
Inductance
current
(mH)
(A)
6.81
3
41±2
55±2 4-5φ×10 M4
4.02
5
DV0P228 55±0.7 80±1 66.5±1 110Max 95
46±2
60±2 4-5φ×10 M4
2
8
By lifting
the amplifier,
you can remove it
from the DIN rail.
With the rail stop released, pull out
the lower part of the amplifier to
the near side.
－ 94 －
G
136Max 155 70+3/−0 85±2 4-7φ×12 M4
Press lightly the lower part of
the main body of amplifier.
Pull out the lower part
of the amplifier to the
near side.
F
DV0P227 55±0.7 80±1 66.5±1 110Max 90
Ensure that the rail stop
has been pushed in.
• Removing from DIN Rail
F: Center-to-center
distance on
slotted hole
<Remarks>
When using a reactor, be sure to install one reactor to one brushless amplifier.
Press
lightly.
G
A
F: Center-to-center distance
on outer circular arc
(Mounting pitch)
Fig.1 DV0P220 65±1 125±1
Part where DIN
rail is mounted
DIN rail
Optional
parts
number
4-H
F
(Mounting pitch)
F
A
C
A
(Mounting pitch)
4-H
(Mounting pitch)
E
130.5
140
Mounting plate
－ 95 －
Options
Cautions for Proper Use
Cautions for Proper Use
List of Peripheral Equipments
Manufacturer
Tel No. / Home Page
Peripheral
components
TDK Corporation
+81-3-5201-7229
http://www.tdk.co.jp/
Noise filter for
signal lines
Okaya Electric Industries Co. Ltd.
+81-3-4544-7040
http://www.okayatec.co.jp/
Surge absorber
Noise filter
Sensata Technologies Japan Limited
+81-49-283-7575
www.sensata.com/japan
Circuit breaker
(MCCB)
Japan Molex Inc.
+81-462-65-2313
http://www.molex.co.jp
J.S.T. Mfg. Co., Ltd.
+81-45-543-1271
http://www.jst-mfg.com/index_i.html
Iwaki Musen Kenkyusho Co., Ltd.
+81-44-833-4311
http://www.iwakimusen.co.jp/
Connector
Regenerative
resistor
* This list is for reference only and subject to change without notice.
－ 96 －
•Practical considerations for exporting the product or assembly containing the product
When the end user of the product or end use of the product is associated with military
affair or weapon, its export may be controlled by the Foreign Exchange and Foreign Trade
Control Law. Complete review of the product to be exported and export formalities should
be practiced.
• Parts are subject to minor change to improve performance.
• 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.
•If you are planning to use this product under special environment, such as atomic power
control, aerospace equipment, traffic organization, medical equipment, various safety
systems, and equipment which requires cleanliness, please contact us.
• 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.
•When this product is operated without the shaft electrically grounded, such as in driving
the fan, bearing noise may become higher due to the occurence of electrocorrosion
depending on the motor used or setting emvironment, so confirm and verify the condition
on the customer side in such a case.
• 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.
－ 97 －
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 manufacuter or the dealer of the machine or equipment.
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
Pursuant to at the directive 2004/108/EC,article 9(2)
Panasonic Testing Centre
Panasonic Marketing Europe GmbH
Winsbergring 15,22525 Hamburg,F.R.Germany
For your records:
The model number and serial number of this product can be found on either the back or the
bottom of the unit. Please note them in the space provided and keep for future reference.
Model No.
□□□ BCV
MBMU□□□ A □
MBEG
Serial No.
Date of
purchase
Name
Dealer
Address
Phone
(
)
-
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
「© Panasonic Corporation 2012」
IME40
P0812-0