Manual Download

Technical Instructions (Overall)
MINAS-BL GP 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
How to use Digital key pad (option)...........18
Test run......................................................26
Checking load and use condition .................28
Assembling of gear head...........................30
Maintenance/ inspections..........................31
page
Protective functions...................................32
Parameter..................................................38
List of parameters......................................46
Detail of parameters..................................47
Outline of PANATERM for BL....................59
Example setting of motion pattern.............60
Communication.........................................68
Conformance to EC directive and UL standard....92
Specifications............................................96
Options....................................................102
List of peripheral equipments..................108
Cautions for proper use...........................109
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
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.
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
To prevent damages or malfunctions, you must not use any other combinations than those
listed below.
Standard
Shaft
type
Voltage
Pinion shaft
Out put
Amplifier Type
Applicable Motor
Applicable Gear head
50 W
MBEG5A1BCP
MBMU5AZAB
MB8G □ BV *
Reduction ratio: 5 to 50
90 W
MBEG9A1BCP
MBMU9A1AB
130 W
MBEG1E1BCP
MBMU1E1AB
Single phase
AC100 to 120 V
Single phase/
3-phase
AC200 to 240 V
50 W
MBEG5A5BCP
MBMU5AZAB
90 W
MBEG9A5BCP
MBMU9A2AB
130 W
MBEG1E5BCP
MBMU1E2AB
MB9G □ BV *
Reduction ratio: 5 to 50
MB8G □ BV *
Reduction ratio: 5 to 50
MB9G □ BV *
Reduction ratio: 5 to 50
*A figure representing reduction ration in □
e.g.) Part number of MB8G type gear head with reduction ratio 10 is MB8G10BV.
For special-purpose motor
Voltage
Single phase
AC100 to 120 V
Single phase/
3-phase
AC200 to 240 V
Checking the model
Out put
Amplifier Type
Applicable Motor
50 W
MBEG5A1BCP
MBMU5AZ ○ *
90 W
MBEG9A1BCP
MBMU9A1 ○ *
130 W
MBEG1E1BCP
MBMU1E1 ○ *
50 W
MBEG5A5BCP
MBMU5AZ ○ *
90 W
MBEG9A5BCP
MBMU9A2 ○ *
130 W
MBEG1E5BCP
MBMU1E2 ○ *
The mark “ ○ ” following the motor model number indicates the motor shaft specification.
－6－
Nameplate
Motor type
Model No.
Rated input voltage
Rated output
Rated frequency
Rated speed
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
0.53 A
50 W
RATED OUTPUT
200 H z
RATED FREQ.
3000 r / m i n
R A T E D R E V.
130(B)–TUV
T E , 4 0 °C
CONNECTION
SER. No. 12120001N
20121201
IP65
S1: Continuous rating
Thermal class
Serial number
Production date
Protection structure
Made in China
Model designation
Type
MBMU 5A Z A B
Output
5A: 50 W
9A: 90 W
1E: 130 W
Serial number
Shaft specification
B: For gear head MB8G/MB9G
Input power supply
1: 100 V
2: 200 V
Z: 100/200 V
Function
A: Standard
Example) Ser. No.
12 1 2 0001
Year of production
(Lower 2 digits of AD year)
Consecutive number
Month of production
Production date Example) 2012 1 2 01
Year of production
(AD year)
The motor
manufactured
in Dec. 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
Serial number
Ex.: P 1 2 1 2 0 0 0 1 ＊
BRUSHLESS AMPLIFIER
Ser.No.
P12120001
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
Day of production
Month of production
Year of production (AD year)
Model designation
MBEG 5A 1 B C P
Compact geared
motor drive Output
5A: 50 W
9A: 90 W
1E: 130 W
合格
20121201
Consecutive number
Month of production
Year of production
(Lower 2 digits of AD year)
Production date
Ex.: 2 0 1 2 1 2 0 1
P: Position 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
0 ℃ to 50 ℃ (free from freezing) *1
(Option)
Ambient humidity
Storage temperature
Protection
structure
Brushless motor
Brushless amplifier
20% to 85% RH (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.
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.
• 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.106.
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.
－ 11 －
System configuration and wiring
Wiring equipment
System configuration/ general wiring diagram
• Recommended noise filter
GP 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)
GP 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.102.
Manufacturer
OKAYA ELECTRIC
IND. CO., LTD.
• Selection of Molded Case Circuit Breaker (MCCB), magnetic contactor, and electric wire
(wiring within equipment) (refer to P.91 “Conformance to EC directive and UL standard”
for compatibility with overseas standard.)
Voltage
Capacity
(W)
(option)
(refer to P.18)
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
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
Brushless
amplifier
MCCB
Grounding
10 5
Run start
6 1
Point designation
Molded Case
(Circuit
Breaker)
Terminal Terminal
number symbol
Home sensor
10
02
01
＋5V
（NC）
GND
I4
（NC） Forced trip
I3
I2
I1
1
L1
L2
L3
Connector on amplifier side: Part No. 5569-10A1-210 (Molex Inc.) or equivalent.
(mating connector: Housing 5557-10R-210, Terminal 5556PBTL)
Connector
for control
signals (I/O)
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.
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
Run start
10 5
10
02
01
＋5V
（NC）
GND
I4
（NC） Forced trip
I3
I2
I1
1
Point designation
Grounding
6 1
Connector
for control
signals (I/O)
Home sensor
Molded Case
(Circuit
Breaker)
Brushless
amplifier
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: Representative Housing PAP-10V-S,
Terminal SPHD-001T-P0.5 or SPHD-002T-P0.5
(
Terminal Terminal Terminal
number symbol
name
)
Default
1
*1
I1
Signal
input 1
Run start
2
I 2*1
Signal
input 2
3
I 3*1
Signal
input 3
4
(NC)
5
I4
6
—
Terminal explanation
In turning on signal, short between
“ I 1” and “GND”.*2
function logic
selection selection
Pr50
Pr54
Point
In turning on signal, short between
designation “ I 2” and “GND”.*2
Pr51
Pr55
Home
sensor
Pr52
Pr56
—
—
Pr53
Pr57
—
In turning on signal, short between
“ I 3” and “GND”.*2
Do not connect anything.
Signal
input 4
Forced trip
GND
Control
ground
—
Common ground terminal for control
signal.
—
—
7
(NC)
—
—
Do not connect anything.
—
—
8
+5V
Power
supply
—
Set 50 mA or below
—
—
9
01※1
Signal
Trip output
output 1
Open collector output.
Open collector Vce max: DC30 V,
Ic max: 50 mA
Pr5C
Pr5E
10
02※1
Signal
In-motion
output 2 signal
Open collector output.
Open collector Vce max; DC 30 V,
Ic max; 50 mA
Pr5d
Pr5F
*1
In turning on signal, short between
“ I 4” and “GND”.*2
*1 Function of input/output can be changed by the Digital key pad or PANATERM for BL.
*2 Maximum rated voltage: –0.5 to 5.5V.
•Connector for control signals pin number is 1, 2, ... 10 in the order from grounding terminal side.
•Permissible length for control signal cable is 5m or less.
Photo-coupler
Internal
power
supply
(+5 V)
1 kΩ
Output circuit
I1, I2, I3, I4
GND
01, 02
Vce max DC30 V
Ic max 50 mA
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.
•No.4 to 8 terminals of option cable are shielded, But the shield material is not grounded.
please do not ground the shield material in order to avoid malfunctions or damages.
Connector for communications (SER)
Modular jack: 85503-0001 (Molex Inc.) or equivalent (RJ45)
Terminal
number
1
2
3
4
5
6
7
8
－ 16 －
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
－ 17 －
•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 below
figure
8
1
How to use Digital key pad (option)
Function of Digital key pad
When
• Monitoring of rotation speed (actual speed) and load factor, etc.
and
.
• Display detail of trip, and trip history. Trip reset by pressing
• Parameter setting, initialization, and copying function.
• Teaching function (Target point (positioning point) can be set by actually starting the
motor.)
■
When using Digital key pad, the Digital key pad connection cable (DV0P383**/
option) is required.
Switch
Switch
In monitor mode
When this switch is pressed for about 4 seconds, system shifts to
teaching mode.
■In teaching
When homing is not completed, homing operation is executed by
pressing this switch for about 4 seconds in teaching mode.
In monitor mode
■
• When power is turned on, rotation speed (actual speed) r/min is displayed in monitor
mode (changeable by Pr7A).
• Displayed value is an index. Do not use the Digital key pad for a measuring instrument.
Switch
In monitor mode
Displays rotation speed (actual
speed), commanded speed, present
position, trip history, and the like.
■In parameter editing
Displays a parameter setting value.
■In teaching
Displays present position of motor.
•
is displayed for indicating
a negative value.
In monitor mode
The left value (position of 10) indicates an operation command signal status.
( : Stand still, : Commanding)
The right value (position of 1) indicates a rotation direction and operation status.
( : Operating in direction +*, : Operating in direction –*, : Stand still, : Motor
is free)
■In parameter editing
Displays the number of parameter.
■In teaching
Displays the point number of parameter.
•Rotation direction is changed by Pr23.
Direction + ( ): CCW rotation when viewed from motor output shaft (default).
and
.
In monitor mode
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 in power supply) → Load factor → Torque →
Commanded speed → Present position (lower 5 digits) →
Present position (shaft rotation number) → Rotation speed (actual
speed) → ....
■In parameter editing, and in teaching
System shifts to monitor mode. (Setting is not saved in EEPROM.)
■
Switch
■
－ 18 －
Trip reset can be executed by pressing
and
at the same
time.
■In parameter editing
This switch allows selection of parameter, and setting and changing
of details.
Parameter changes continuously while this switch is held down.
■In teaching
When homing is completed, teaching operation (motor drive) is
enabled by the switch
■
2-digit
LED
(CAU) is displayed, and the motor is stopped and tripped.
■
Using the Digital key pad
5-digit
LED
switch is pressed, the setting change warning
In monitor mode
System shifts to parameter number mode.
■In parameter editing
This switch is for changing parameter number mode and parameter
setting mode, and for saving parameter setting in EEPROM.
■In teaching
This switch is for changing point number mode and teaching mode,
and for saving setting in EEPROM (nonvolatile memory built in the
amplifier).
■
Switch
－ 19 －
How to use Digital key pad (option)
Description of various modes
Operation of the Digital key pad
Displays rotation speed (actual speed), commanded speed, internal DC
voltage, load factor, torque, and present position on 5-digit LED. This mode is
Monitor mode
Basic operations
set when power is turned on.
Power-on
Monitor mode
Control changes to this mode when
switch is pressed in parameter
number mode, parameter setting mode, point number mode, and point setting
• Changes display on 5-digit
LED with
switch.
mode.
Parameter
number mode
Displays a parameter number (
to
) in flashing.
switch is pressed in parameter
Control changes to this mode when
number mode.
and
switch.
Parameter number can be changed and selected by
Displays the detail of parameter (setting) in flashing.
Parameter
setting mode
Control changes to this mode when
Change setting by
and
switch.
When
switch is pressed in monitor mode.
switch is pressed after change of setting, it is saved in EEPROM.
Displays a parameter number (
to
) in flashing.
switch is pressed for 4 seconds in
Control shifts to this mode when
monitor mode.
Point number can be changed and selected by
and
switch.
DATA
SET
MODE
Trip
reset
Parameter number mode
Displays parameter number.
• Number is changed by
and
switch.
• Exit this mode with
switch (returns to
monitor).
Displays the present position of motor (distance from home) in flashing.
(If homing is not completed,
is displayed.
• When present position is greater than 99999,
• When present position is smaller than -99999,
is displayed.
is displayed.
Ex. 1) When present position is 123456, only lower 4 digits
displayed.
Ex. 2) When present position is -20,
Control shifts to this mode when
mode.
or
When
be operated.
is displayed.
switch is pressed in point number
switch is pressed after completion of homing, the motor can
If homing is not completed yet, homing operation is started when
is pressed for 4 seconds.
switch
When
switch is pressed, the present position is set in parameter as a
point setting, and saved in EEPROM
<Information>
Present position is the distance from the home, indicated in pulses (288 pulses/rotation).
－ 20 －
DATA
SET
DATA
SET
MODE
Trip detail display mode
DATA
SET
Parameter setting mode
Flashing
Teaching
mode
are
MODE
Displays the contents of
displayed parameter (setting).
Flashing
Point number
mode
Displays monitored details set by Pr7A
(see P.45).
When trip
occurs, trip
display mode is
set by
switch.
• Trip can be reset by pressing
and
switch at the same time.
Display shifts to monitor screen after resetting.
• Shifts to parameter number made when
switch is pressed.
• Value is changed by
and
switch.
(Such value is effective on the spot.)
• Value is written in EEPROM by
• Exit this mode with
writing in EEPROM.
－ 21 －
switch.
switch without
How to use Digital key pad (option)
Monitor mode
Teaching function
Monitor display item can be changed after power is turned on and when monitor mode
display is on. (See P.45 for setting of Pr7A.)
Lights
up.
Rotation speed
(actual speed) display
Monitor mode
MODE
MODE
Internal DC voltage display
(Voltage of smoothing
Lights
capacitor in power supply)
up.
Present position
(shaft rotation
number)
All
flashing
MODE
Present position
(Lower 5 digits)
Flashing
MODE
Torque display
Hold down for 4 seconds.
All light
up.
Flashing
Displays present position (lower 5 digits).
When homing is not completed,
is displayed.
Point number (to be set)
• Number is changed by
switch.
• Exits this mode with
(returns to monitor).
DATA
SET
Commanded speed display
MODE
MODE
All units light up.
MODE
Lights
up.
RUN
Point number mode
Flashing
MODE
Load factor
(average torque)
display
This motor allows two target position setting methods, one of which is setting by parameter value, and the other is setting target position by actually operating the motor by use of
teaching function.
In order to use teaching function, press
switch for 4 seconds or longer on the monitor
mode display screen, then control shifts to point number mode of teaching function.
and
MODE
switch
DATA
SET
Teaching mode
• When homing is not completed, is
Flashing
Display of present position
displayed.
• When present position is greater than 99999,
is displayed.
When present position is smaller than –99999,
is displayed.
Ex. 1) When present position is 123456, only lower 4 digits
Ex. 2) When present position is –20,
are displayed.
is displayed.
Left (position of 10)
Right (position of 1)
... Displays command status.
... Displays rotation direction.
: Stand still
: Running in − direction.
: In Motion (BUSY)
: Running in + direction.
: Stand still
: Motor is free.
－ 22 －
• When homing is completed, execute
teaching operation with
and
switch (motor operation).
• Set the present position on the point with
switch.
(Also writes in EEPROM.)
Display returns to monitor screen without
setting when
switch is pressed.
• When homing is not completed, homing
operation is started if
switch is held
down for about 4 seconds.
[Caution]
• In teaching mode, displayed present position is set as target position.
• Set the point coordinate setting to absolute travel. (Pr02, 0A, 12, and 1A).
When the point coordinate setting is set to relative travel, stop position is different between
teaching setting and actual operation.
• In point number mode and teaching mode, operation instruction by I/O or RS485 is not accepted.
－ 23 －
How to use Digital key pad (option)
Parameter copy function
Parameter copy function (Digital key pad ←→ Brushless amplifier) can be used by Pr77.
Data initialization
of Digital key pad
• Initializing the data of the Digital key pad
EEPROM installed onboard the Digital
All flashing
key pad is initialized (data cleared).
on display
When reading is disabled, or when data
transfer fails during copying, execute
“Data initialization of the Digital key pad”.
Normally, it is not required.
• Reading parameters
Parameter of Brushless amplifier is read and saved in EEPROM of the Digital key pad.
Read parameter is retained even when the Digital key pad is separated from the Brushless amplifier.
＋
STOP
＋
DATA SET
Hold down
(for about
1 second).
• Writing parameters
Parameter information saved in the Digital key pad is written to the Brushless amplifier.
(Saved in EEPROM of Brushless amplifier)
<Information>
• Error in copying parameters
: Data trouble was found during copying
: Copy error
switch for clearing, and then copy the parameter again. If data trouble is
→Press
still found, initialize the Digital key pad and try again.
＋
Process
completed
Parameter writing
(Digital key pad → Amplifier)
STOP
＋
DATA SET
Hold down
(for about
1 second).
All flashing
on display
All flashing
on display
Parameter reading
(Amplifier → Digital key pad)
＋
STOP
＋
DATA SET
Hold down
(for about
1 second).
All flashing
on display
For about
30 seconds
For about
30 seconds
Process
completed
For about
10 seconds
Process
completed
→This error occurs in the attempt to copy data between products with different function. switch to cancel the error.
Press
Although parameters can be copied between the same models with different output, parameters should be copied between the same outputs in principle.
<Note>
Do not turn off power or disconnect the connection cable of Digital key pad during operation such as “Initializing data of Digital key pad”, “Reading parameter into Digital key pad”,
“Writing parameter to brushless amplifier”, etc.
Normal condition
Trip reset
Press both at
the same time.
－ 24 －
－ 25 －
<Information>
Parameters that are
effective after power
resetting become
effective when power
is cut off once and
turned on again.
Test run
Inspection before Test run
Description of
operation
4.Teaching
operation
Test run
Operation panel
LED display
1.Turn on power
)
Press
Flashing
and change the teaching speed to 300.
Press
3.Return to
monitor mode.
When
is released, the motor stops.
(LED display ". . 3.5.5." indicates that
the present position is –355.)
and choose parameter 4E
Press
Press
When
is pressed after the motor has Flashing
stopped, the motor rotates in one direction.
Flashing
(teaching speed).
(Initial setting: 50)
－ 26 －
Flashing
When exiting the mode without setting
data, press
switch to return to
monitor mode.
Flashing
5.Exit
Flashing
Checkpoint in Test run
Flashing
Press
When
is released, the motor stops.
Flashing
(LED display "5000" is an example, which
shows the present position of the motor.)
All light up.
(
Setting of
teaching speed
Press
When
is pressed in this condition, the Flashing
motor rotates in + direction* and 5-digit
LED indicates position coordinates.
All light up.
2.Set the action
Pr4E
Flashing
Press
All light up.
Switch
Flashing
All light up.
Description of
operation
for 4 seconds
LED display
All light up.
Procedure for test run using the Digital key pad is as follows:
Shown here is the case of running at 300r/min in direction CW or CCW by use of teaching
function.
First execute the following work for safe operation.
[1] Ensure that the motor alone can be operated.
[2] Turn on power and follow the steps below for test run.
Press
Operation panel
All light up.
1) Make sure that all wiring is correct.
2) Make sure that input power supply conforms to rating.
Switch
[1]Check whether the motor rotates smoothly. Check for abnormal noise and vibration.
[2]Check whether the motor is accelerated and decelerated smoothly.
[3]Make sure that the direction of motor rotation is correct.
*Rotation direction + represents CCW on the motor shaft in default setting. (Can be
changed by Pr23 coordinate system setting.)
Rotation direction of gear head output shaft may sometimes be reversed due to reduction gear ratio when gear head is installed.
(See the table of permissible shaft torque on P.29. Rotation direction is described.)
－ 27 －
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.
• Motor rotation speed: 3000 r/min or less.
Standard life is 10,000 hours for the motor equipped with gear head (MB8G and MB9G).
(Standard life of sealing performance of oil seal is 5,000 hours.)
Standard life refers to design life for operation 8 hours per day (service factor: Sf = 1.0) at
a normal temperature and humidity, under uniform load (permissible shaft torque of gear
head and rated torque of motor).
* Standard life in the case of 3000 to 4000 r/min rotation speed of the motor, please
calculated by the following formula.
0.71
1.4
2.2
2.8
4.0
6.8
MBMU1E○AB ／ MB9G□BV
1.2
2.5
3.6
4.9
7.0
11.6
1.9
3.7
5.6
7.4
10.7
17.7
MBMU9A○AB ／ MB9G□BV
Standard life
Standard life (hours) = 10000 (h) × 3000 (r/min) / rotation speed (r/min)
<Information>
Repeated forward/reverse operation with motor shaft rotation angle below 45 degrees
causes fretting of bearing (partial wear due to bearing out of grease), and is not advisable.
It does not apply if operation is available to rotate the motor shaft above 45 degrees at an
appropriate interval more than once a day.)
Oscillation due to inappropriate setting of gain, also causes fretting.
Note that gear head shaft is also subject to this restriction.
Reduction
Model name
ratio
MBMU5AZAB ／ MB8G□BV
MBMU9A○AB ／ MB9G□BV
MBMU1E1AB（100 V）／ MB9G□BV
MBMU1E2AB（200 V）／ MB9G□BV
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
2.5
3.0
3.5
Permissible torque
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.
－ 28 －
10
15
20
30
5
10
50
Unit: N・m
15
20
30
50
0.53
1.1
1.7
2.1
3.0
5.1
0.90
1.9
2.7
3.7
5.3
8.7
1.1
2.1
3.3
4.3
6.2
10.3
1.4
2.8
4.2
5.6
8.0
13.3
*Direction of rotation:
represents that the direction is same as that of motor;
otherwise opposite to that of motor
• ○ in the part name of motor represents either 1 or 2 which indicates supply voltage.
• □ in the part name of gear head represents a figure which indicates reduction ratio.
Shaft permissible load
The load should not cause the limits shown in the table below to be exceeded.
Gear
head
size
□80
mm
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.
Typical load
5
• Motor rotation speed: 3000 to 4000 r/min or less.
Service factor (Sf)
Type of load
Unit: N・m
Reduction
Model name
ratio
MBMU5AZAB ／ MB8G□BV
□90
mm
Model name
MB8G5BV
MB8G10BV, MB8G15BV
MB8G20BV
MB8G30BV, MB8G50BV
MB9G5BV
MB9G10BV, MB9G15BV
MB9G20BV
MB9G30BV, MB9G50BV
Permissible Permissible
overhung load thrust load
(W)
(F)
245 N
Overhung load (W)
343 N
98 N
539 N
490 N
L
147 N
Attachment side
637 N
Reduction
ratio
MBMU5AZAB ／ MB8G□BV
MBMU9A○AB ／ MB9G□BV
MBMU1E○AB ／ MB9G□BV
Thrust load
(F)
294 N
Permissible load inertia moment
Model name
L
2
Gear head
Unit：×10−4kg・m2
5
10
15
20
30
50
3.42
13.8
30.6
55.8
127
342
16.4
67.6
142
257
589
1684
<Information>
• ○ in the part name of motor represents either 1 or 2 which indicates supply voltage.
• □ in the part name of gear head represents a figure which indicates reduction ratio.
－ 29 －
Assembling of gear head
Maintenance/ Inspections
Assembling of gear head
Maintenance/ Inspections
•Preparation for assembling
[1] Gear head applicable to the motor described in this instruction manual is MB8G □ BV
(for 50W) and MB9G □ BV (for 90 W and 130 W). Never use a combination of gear
heads other than applicable ones.　Failure to observe this instruction will result in
malfunction.
[2] Make sure that O-ring is attached to the bottom of spigot joint.
When 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, wipe off clean.
If the gear head is assembled with grease adhered, it may cause grease to exude.
•Assembling
[1] Direct the motor pinion upward, and make sure that the relation between direction of
motor lead wire and output shaft matches with the equipment.
[2] Turn the motor pinion finely clockwise and counterclockwise for assembling, ensuring
that the tip of motor pinion does not hit the tooth of gear head.
<Information>
MB type gear head is provided with temporary assembling screw (two hexagon socket head bolt). Before installing the equipment, assemble the motor and gear head
temporarily, which will ensure stable installation of the equipment. In installing to the
equipment, be sure to use four “mounting screws” attached to the gear head for secure installation.
[Recommended tightening torque for temporary assembling]
Gear head
type
Screw
size
80 mm sq.
MB8G
M2.6
0.5 N・m
90 mm sq.
MB9G
M3
0.8 N・m
Temporary
assembling
screw
12 mm
[3]When installing the motor and gear head to the mating equipment, use “mounting
screws” attached to the gear head, tighten them sufficiently to eliminate clearance
between the motor flange surface and gear head spigot joint while paying attention to
bite of O-ring.
Output shaft
Recommended tightening torque is shown below:
Size
Gear head Screw Tightening Attachment
type
size
torque
pitch
80 mm sq.
MB8G
M6
2.9 N・m
94 mm
90 mm sq.
MB9G
M8
7.8 N・m
104 mm
•Assemble with motor pinion faced up.
•Outward direction of motor leadwire can be
aligned with any one of 4 sides of gear head
with an output shaft at a different position.
－ 30 －
O-ring
Leadwires
Temporary
assembling screw
Maintenance/ Inspection item
Maintenance/ Inspection
Check item procedure
Faucet
portion
end face
Motor pinion
Faucet face
Flange face
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
Tightening Screw
torque length
Size
Routine maintenance and inspection are essential for proper and satisfactory operation of
the motor.
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.
－ 31 －
Protective function
What is protective function?
List of protective functions
•Brushless motors, brushless amplifier MINAS-BL GP series have various protective
functions. When they are activated, the motor stops under a tripping state, which turns
off (opens) trip output. (Factory default)
•Trip detail is displayed only when the Digital key pad (option) is connected.
•State of trip and corrective actions
In tripped state, display of trip details appears on the 7-segment LED of the Digital key
pad and the motor does not work.
Check the detail of trip, remove the cause, and clear the trip.
Display on Trip
the Digital number
key pad (RS485)
How to clear trip
When the motor is tripped, remove the cause, and clear by any of the setting procedures
below:
[1] Turn off power, and turn on power after 10 seconds. (Power resetting)
[2] Press both
and
switch of Digital key pad simultaneously in trip detail display
mode.
[3] Input the trip reset signal about 100ms or longer (when 10: Trip reset is set in Pr50 to
53).
[4] When Pr58 is “1”, input the operation start signal (run start signal, sequential run start
signal, jog signal, and homing start signal) about 1 second or longer.
[5] Operation of communication software “PANATERM for BL” (download from our web
site) also enables clearing of trip.
<Information>
• When protective functions marked with “ * ” operate in the list of protective functions
described on the next page and after, trip reset by the procedure [1] shown above. (Trip
cannot be cleared by the procedure‚ [2], [3], [4], and [5].)
• Setting change warning
(CAU) and Digital key pad communication error
(E_Cn) are not saved in trip history.
(E-LV) is not saved in trip history when power is turned off
• Undervoltage error
normally. It is saved only in instantaneous stop. (It is saved in trip history only when
undervoltage state is established once and then voltage is recovered to normal state.)
LED
flashes
Protective
function
Causes
Countermeasure
2
Undervoltage
error
(E-LV)
The motor trips when internal
DC voltage (voltage of
smoothing capacitor of power
supply) is below specified
value.
Product of 100 V: Approx DC100 V
Product of 200 V: Approx DC200 V
Investigate the condition of
wiring and power supply.
3
Overvoltage
error
(E-OV)
The motor 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
It is possible that deceleration
time is too short. Set longer
deceleration time.
Not compatible with continuous lowering operation.
—
Overload
warning
(Electronic
thermal)
When load factor exceeds
specified value, the electronic
thermal relay operates and
monitor display flashes. It is an
alarm fo
50 to 130 W: 100％
Reduce the load.
Check the load factor in monitor mode.
4
Overload error The motor trips when motor
(Electronic
torque is output continuously
thermal relay) above specified value.
(THr)
50 to 130 W: 115％
Investigate the cause of overload, and reduce the load,
change the operating pattern
by making acceleration and
deceleration time longer, or
apply design to increase the
capacity of motor.
5
Overspeed
error
(E-OS)
The motor trips when rotation
speed (actual speed) exceeds
specified value.
Approx 6000 r/min
Ensure that the actual speed
does not exceed rated rotation
speed, such as overshooting
by unmatching between load
and gain.
6
Position error
(E-POS)
The motor trips when position error (difference between
command position and actual
position) is greater than Pr39 ×
8 [pulses].
Check the parameter again
and adjust gain.
7
*Position
error counter
overflow
(E-PO)
The motor trips when the position error exceeds 8388607
[pulse].
Check the parameter again
and adjust gain.
When any of protective functions marked with “ * ” operates, trip reset by the procedure of [1] on P.32.
－ 32 －
－ 33 －
Protective function
Display on Trip
the Digital number
key pad (RS485)
8
*Overcurrent
error
(E-OC)
Causes
The motor trips when the
motor current exceeds
specified current.
Countermeasure
[1]Excessive acceleration/
deceleration setting is possible. Set longer acceleration/ deceleration time.
[2]Failure of internal circuit is
possible.
Display on Trip
the Digital number
key pad (RS485)
Protective
function
Causes
Countermeasure
23
Hardware limit
error (E-LT)
The motor trips after homing
is completed, if hardware limit
sensor is detected.
Check the installation of sensor, and setting of parameter.
—
Digital key pad
communication error
(E_Cn)
It occurs when the Digital key
pad and motor cannot communicate normally. (This is a
trouble on Digital key pad side.
It does not affect motor operation.)
It can be cleared by reconnecting the Digital key pad.
Make sure that Digital key
pad and motor are connected
normally.
Overheat error The motor trips when the tem(E-OH)
perature in control section rises
above specified value.
Approx 105 ℃
Check the ambient temperature and cooling condition of
motor. Check the load factor.
If the ambient temperature is
low enough, and the protection occurs soon after poweron, failure is possible.
90
Parameter data saved in
EEPROM is abnormal.
10
External
forced trip
(E-OL)
Turn off external forced trip
input, and reset tripping.
*User
parameter
error
(E-UPr)
Check all parameters again
and set them again. If this
protection works frequently,
failure is possible.
91
Internal parameter data saved
in EEPROM is abnormal.
Failure is possible.
11
Setting change It occurs when parameter
warning
copying function on Digital key
(CAU)
pad is completed normally.
Also,when STOP key on Digital
key pad is pressed, the motor
trips and stops.
It is not abnormal. Execute trip
reset.
*System
parameter
error
(E-SPr)
1
*Sensor error
(E-CS)
The motor trips when trouble of
CS sensor signal is detected.
RS485
communication error
(E-485)
The motor trips when
communication error of RS485
communication function
occurs.
Check for noise problem in
the vicinity. (See "Information
− Communication" on P.68 for
detail.)
[1]Malfunction due to external
noise is possible.
Investigate for noise
source in the vicinity and
eliminate such source.
[2]Internal circuit may be in
failure.
20
Command
execution
error
(E-rU)
The motor trips when data
is abnormal in executing an
operation instruction (setting
speed is 0, and travel distance
is 32767 rotations or more).
Check the setting of parameter.
21
Homing error
(E-HO)
The motor trips when homing
speed is 0, or when home cannot be detected although the
motor shaft rotates more than
parameter (Pr43) in homing
operation, or when setting of
sensor is abnormal
Investigate the setting of
parameter, home sensor, and
wiring of home sensor.
12
22
The motor trips when external
forced trip input turns on.
*Present
The motor trips after homing is
position
completed, if present position
overflow error exceeds ±32767 rotations.
(E-OF)
Check the setting of
parameter. (It can be made
ineffective by Pr4A.)
When any of protective functions marked with “ * ” operates, trip reset by the procedure of [1] on P.32.
－ 34 －
Other *System error
numbers (Err)
0
The motor trips when trouble
of control microcomputer is
detected.
Normal
condition
—
—
When any of protective functions marked with “ * ” operates, trip reset by the procedure of [1] on P.32.
Overload protection time characteristics
1000
Time (s)
9
Protective
function
100
10
100
110
120
130
Torque (%)
－ 35 －
140
150
Protective function
Troubleshooting
Phenomenon
If any trouble should be found, follow the steps below to determine the fault.
If you cannot find out the cause, we recommend that you use the Digital key pad (option)
or communication software “PANATERM for BL” (download from our web site) to check
the detail of trip. If the motor or amplifier is in failure, or any part is damaged, or in another
case of malfunction, contact the Panasonic partner where you bought the product.
Phenomenon
Motor does not
rotate
Detail of checking
Large vibration or
noise.
Apply proper wiring.
Check whether protective function is
activated.
Check for tripping with Digital key
pad.
Turn off power once, and turn on
again.
Reset tripping.
Countermeasure
Check the connection between the
output shaft of motor (gear head) and
the load.
Motor and gear head are not
assembled correctly.
Check the assembling condition
between motor and gear head, and
their combination, and assemble
them properly.
Damage to gear head or bearing.
Contact us for repair.
Gain is not adjusted properly.
Gain must be adjusted. Lower the
setting.
Motor rotates
reversely.
Check whether the setting of rotation
direction (parameter) is wrong.
Rotation direction of motor and that
of gear head output shaft are reverse
with some gear reduction ratio of
gear head.
Check the setting of parameter.
Check the gear reduction ratio. Check
the rotation direction.
See the list of permissible shaft
torque on P.29.
Check whether the load fluctuates
greatly.
Reduce the fluctuation of load.
Increase the capacity of motor.
Increase the gear reduction ratio.
Adjust the parameter of target
position of each point.
Countermeasure
Is any error in wiring.
Detail of checking
Output shaft of motor (gear head)
and shaft of load are not aligned.
Check whether power LED (green)
is lighted up.
If the LED is off when power is input
to the amplifier, failure is possible.
Contact us for repair.
Check whether the voltage of power
input line is normal.
Check the supply voltage and voltage
described on amplifier nameplate.
Check whether run start signal is
input.
Check wiring.
Rotation speed is
unstable during
operation (actual
speed).
Homing is not executed yet.
First set the parameter for homing
operation and execute homing
operation.
Positioning
accuracy is not
precise.
Check whether the setting of
parameter is wrong.
Check whether target position of
each point of parameter is set.
Set the target position.
Motor stops during
the run.
Check whether protective function is
activated.
Overload on the motor is possible.
Reduce the load, increase the
capacity of motor, or increase the
gear reduction ratio.
Home position
shifts.
Chattering of home sensor
Check wiring.
Homing speed is too fast.
Reduce the setting speed with
parameter.
Motor stops during
deceleration.
Check whether the inertia of load is
too large.
Regenerative overload error was
activated.
Make the inertia smaller.
Once turn off power and turn on
again for clearing trip.
Increase the deceleration time with
Digital key pad.
Motor is too hot.
Start and stop are repeated
frequently.
Check by display of load factor. Use
within 80% is recommended.
Parameter does not
change.
Check whether parameters are
changed which are effective after
resetting.
Turn off power once, and turn on
again for resetting.
See the list of parameters.
Rotation speed
(actual speed) and
target position are
not as expected.
Check whether the setting of
parameter is wrong.
Check the detail of parameter setting.
See the list of parameters.
Rotation of motor is
abnormal
Check the combination of motor and
amplifier.
Use the motor and amplifier with the
specified combination.
－ 36 －
Check the parameter of coordinate
setting (relative and absolute).
－ 37 －
Parameter
Overview of parameter
List of parameters
Parameter
No.
(Pr□□)
Name of parameter
Effective
after
power
resetting
Setting
range
Default
Description
The 1st target
position (Pulse)
02
The 1st
coordinate setting
03
The 1st
setting speed
0 to 4000 2000
04
The 1st
acceleration time
You can set time taken for reaching the 1st
1 to 30000 200
setting speed. Setting unit [ms]
The 1st
deceleration time
You can set time taken from the 1st setting
1 to 30000 200
speed to stop. Setting unit [ms]
The 1st block
setting
The 1st block
timer setting
07
08
0b
The 2nd target
position (Pulse)
The 2nd
coordinate setting
The 2nd
setting speed
0
Setting unit
[rotation
number]
–288 to
288
0
Setting unit
[pulse]
0,1
1
You can select positioning system to the 1st point.
0: Relative travel, 1: Absolute travel
0 to 2
0
0 to 30000
0
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
You can set the speed moving to the 1st
point. Setting unit [r/min]
0: Normal operation
1: Continuous block operation
(1st point → 2nd point )
2: Combined block operation
(1st point + 2nd point )
Enabled when you set Pr06 to “1”.
Start commanding of 2nd point after this setting time elapses and command of 1st point
is completed. Enabled in unit of 2 ms. (If you
set to 1, this is rounded down and recognized as 0.) Setting unit [ms]
1 to 30000 200
You can set time taken for reaching the 2nd
setting speed. Setting unit [ms]
1 to 30000 200
You can set time taken from the 2nd setting
speed to stop. Setting unit [ms]
0, 1
0
0: Normal operation
1: Continuous block operation
(2nd point → 3rd point )
0
10
The 3rd target
position
(rotation number)
–16384 to
16383
0
Setting unit
[rotation
number]
11
The 3rd target
position (Pulse)
–288 to
288
0
Setting unit
[pulse]
12
The 3rd
coordinate setting
0, 1
1
You can select positioning system to the 3rd point.
0: Relative travel, 1: Absolute travel
13
The 3rd
setting speed
0 to 4000 2000
You can set the speed moving to the 3rd
point. Setting unit [r/min]
14
The 3rd
acceleration time
1 to 30000 200
You can set time taken for reaching the 3rd
setting speed. Setting unit [ms]
The 3rd
deceleration time
1 to 30000 200
You can set time taken from the 3rd setting
speed to stop. Setting unit [ms]
15
16
The 3rd block
setting
17
The 3rd block
timer setting
18
The 4th target
position
(rotation number)
Setting unit
[rotation
number]
–288 to
288
0
Setting unit
[pulse]
0,1
1
You can select positioning system to the 2nd point.
0: Relative travel, 1: Absolute travel
19
You can set the speed moving to the 2nd
point. Setting unit [r/min]
1A
－ 38 －
Description
0 to 30000
0
0 to 4000 2000
The 2nd block
setting
Default
0F
–16384 to
16383
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
The 2nd
deceleration time
Setting
range
Enabled when you set Pr0E to “1”.
Start commanding of 3rd point after this setting time elapses and command of 2nd point
is completed. Enabled in unit of 2 ms.
Setting unit [ms]
The 4th point
0A
The 2nd point
09
The 2nd target
position
(rotation number)
–16384 to
16383
The 2nd
acceleration time
Effective
after
power
resetting
The 2nd block
timer setting
The 3rd point
01
The 1st point
The 1st target
position
(rotation number)
06
0d
0E
00
05
0C
Name of parameter
The 2nd point
Brushless amplifier of this series has various parameters that are used for adjusting or setting the features or functions of the motor. This section describes the purpose and function
of these parameters. Ensure a full understanding of the parameters to achieve optimum
operating performance.
Parameter
No.
(Pr□□)
The 4th target
position (Pulse)
The 4th
coordinate setting
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
0
0: Normal operation
1: Continuous block operation
(3rd point → 4th point )
2: Combined block operation
(3rd point + 4th point )
0 to 30000
0
Enabled when you set Pr16 to “1”.
Start commanding of 4th point after this setting time elapses and command of 3rd point
is completed. Enabled in unit of 2 ms.
Setting unit [ms]
–16384 to
16383
0
Setting unit
[rotation
number]
–288 to
288
0
Setting unit
[pulse]
0,1
1
You can select positioning system to the 4th point.
0: Relative travel, 1: Absolute travel
0 to 2
－ 39 －
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
Parameter
Parameter
No.
(Pr□□)
Name of parameter
The 4th
setting speed
1C
1d
1E
1F
The 4th point
1b
Effective
after
power
resetting
Setting
range
Default
Description
0 to 4000 2000
You can set the speed moving to the 4th
point. Setting unit [r/min]
The 4th
acceleration time
1 to 30000 200
You can set time taken for reaching the 4th
setting speed. Setting unit [ms]
The 4th
deceleration time
1 to 30000 200
You can set time taken from the 4th setting
speed to stop. Setting unit [ms]
The 4th block
setting
0, 1
The 4th block
timer setting
0 to 30000
Speed detection filter
(the 1st gain)
2d
Velocity feed forward
time constant
(Common to the
1st/2nd gain)
0 to 500
Output torque of motor is limited. Set it in
[%] with reference to rated torque. (Torque
50 to 150 150
value has no precision because torque is not
controlled. Use it as an index.)
5 to 20
2F
0 to 500
0
You can set the time constant of primary
delay filter of torque instruction. You need
not change it normally. You can suppress
oscillation due to insufficient rigidity of load.
Setting unit [ms]
30
The 2nd position loop
gain
(the 2nd gain)
0 to 100
5
You can determine the response of position control. (The 2nd gain: When using gain
switching, the 2nd gain is the gain in running.)
31
The 2nd velocity loop
gain
(the 2nd gain)
0 to 10000 1000
You can determine the response of velocity
loop.
32
The 2nd velocity loop
integration gain
(the 2nd gain)
0 to 10000 500
You can determine the rigidity of velocity
loop.
33
The 2nd velocity feed
forward gain
(the 2nd gain)
0 to 100
0
Set it at 0 in normal use.
Setting unit [%]
34
The 2nd speed
detection filter
(the 2nd gain)
5 to 20
13
Use the default setting normally.
You can set the time constant of low-pass
filter in speed feedback.
35
The 2nd torque limit
setting
(The 2nd gain)
36
Gain switching mode
selection
0, 1
0
You can select running pattern in deceleration.
0: Linear
1: S-Pattern (Setting common to all points)
22
Sequential run
maximum point number
1 to 4
4
You can set the maximum point number for
positioning by use of sequential run signal.
23
Coordinate system
setting
0
0: CCW rotation in + direction
1: CW rotation in + direction
5
You can determine the response of position
control. You need not change it normally.
When it is increased, the response is improved, which is likely to cause oscillation.
(The 1st gain: When gain switching is used,
the 1st gain is the gain at stop.)
29
Velocity loop gain
(the 1st gain)
You can determine the response of velocity
loop. You need not change it normally. When
0 to 10000 1000
it is increased, the response is improved,
which is likely to cause oscillation.
2A
Velocity loop
integration gain
(the 1st gain)
You can determine the rigidity of velocity
loop. You need not change it normally. When
0 to 10000 500
it is increased, the rigidity is improved, which
is likely to cause oscillation.
0 to 100
0
Set it at 0 in normal use. This is a filter in velocity feed forward section. When the setting
is made larger, the time constant is made
larger. Setting unit [ms]
2C
Torque filter time
constant
(Common to the
1st/2nd gain)
Deceleration mode
Velocity feed
forward gain
(the 1st gain)
13
Use the default setting normally.
You can set the time constant of low-pass
filter of speed feedback. When the setting is
made smaller, the gain can be made larger
and response improved, which increases
operation noise.
2E
21
2b
Description
0
0
0 to 100
Default
Torque limit setting
(the 1st gain)
0, 1
Position loop gain
(the 1st gain)
Setting
range
Enabled when you set Pr1E to “1”.
Start commanding of 1st point after this setting time elapses and command of 4th point
is completed. Enabled in unit of 2 ms.
Setting unit [ms]
Acceleration mode
28
Effective
after
power
resetting
0
20
0, 1
Name of parameter
0: Normal operation
1: Continuous block operation
(4th point → 1st point )
You can select running pattern in acceleration.
0: Linear
1: S-Pattern (Setting common to all points)
○
Parameter
No.
(Pr□□)
0
－ 40 －
Set it to 0 in normal use. This is the function
to forward (add) position command to speed
command.When the setting is increased, the
position error is decreased and response
improved, which makes overshoot large.
Setting unit [%]
50 to 150 150
0 to 2
0
－ 41 －
Output torque of the motor is limited. Set it in
[%] with reference to rated torque. (Torque
value has no precision because torque is not
controlled. Use it as an index.)
0: Fixed at the 1st gain
1: Fixed at the 2nd gain
2: Automatic switching (In running = the 2nd
gain, In standstill = the 1st gain)
Parameter
Parameter
No.
(Pr□□)
37
38
Name of parameter
Effective
after
power
resetting
Gain switching time
Setting
range
Default
0 to 10000 50
Description
When the gain switching mode is set to automatic switching, after the output of instruction, the 2nd gain (in running) changes to the
1st gain (in standstill) when time setting has
elapsed. Setting unit [ms]
In-position signal is turned on when position
error (difference between command position
and actual position) is below setting.
Setting unit [pulse]
In-position range
0 to 16383 20
39
Position error set-up
Position error occurs when the value of
position error (difference between command
0 to 16383 144 position and actual position) is larger than
this parameter × 8 as well as parameter 3A
is effective. Setting unit [pulse]
3A
Position error
invalidation
3E
40
Run-command
selection
Homing mode
41
Homing direction
42
Homing speed
0, 1
○
0, 1
0 to 5
0, 1
0
0: Effective
1: Ineffective (Motor does not trip but keeps
on operating.)
0
You can select the run-command method
with this parameter.
0: Command through I/O
1: Command through RS485 (Command
through I/O will be disabled except trip
and sensor input)
0
Select homing method.
0: Home sensor homing 1
1: Home sensor homing 2
2: Limit sensor homing
3: Bumping homing
4: Home resetting
5: Home sensor homing 3
0
You can set the detection direction of home.
0: Detecting in + direction
1: Detecting in − direction
0 to 4000 200
You can set the speed in homing action.
Setting unit [r/min]
When the home cannot be detected although
the motor travel distance has exceeded setting, homing error is found. (Ineffective at 0)
Setting unit [rotation number]
43
Homing limit
0 to 16383
0
44
Homing acceleration/
deceleration time
You can set time taken for reaching the hom1 to 30000 200
ing speed. Setting unit [ms]
45
Bumping torque
detection value
50 to 150
50
－ 42 －
Parameter
No.
(Pr□□)
46
47
48
49
Name of parameter
Effective
after
power
resetting
Bumping detection
time
Homing selection
when motor is free
○
Default
Description
You can set the detection time of bumping
0 to 15000 100 toque in returning to bumping home.
Setting unit [ms]
–16384 to
16383
Home offset
Homing function
Setting
range
0 to 2
0, 1
0
You can set the offset from home detection
position. When the home has been detected,
set a value of plus and minus opposite to the
desired travel direction as an offset. (When
you set –100, the position traveling 100 pulses in +direction on the coordinate system is
set as an home.)
Setting unit [pulse]
1
0: Required
1: Not required (Position when power is
turned on is the home.)
2: When homing is not completed yet, homing operation is executed by positioning
start signal.
0
0: When homing is unavailable after motorfree state is reset (when trip occurs, after
trip is reset), positioning operation is
enabled.
1: When motor is free (trip occurs), homing
is required again.
Note) When Pr48 is 1, setting of this parameter is ineffective.
0
You can set operation when the present
position counter of motor has overflowed
(exceeded ±32767 rotations).
0: Prohibited (motor trip)
1: Permitted (no motor trip)
Set it to 1 for operation to allow the motor to
rotate in one direction without change.
4A
Present position
overflow permission
4b
Jog speed
0 to 4000 100
You can set the operation speed in jog operation. Setting unit [r/min]
4C
Jog acceleration time
1 to 30000 200
You can set time taken for reaching jog
speed. Setting unit [ms]
4d
Jog deceleration time
1 to 30000 200
You can set time taken from jog speed until
stopping. Setting unit [ms]
0 to 4000
You can set speed used in applying teaching
function of Digital key pad. Acceleration and
deceleration time is the same as jog operation. Setting unit [r/min]
4E
Teaching speed
0, 1
50
You can limit the output torque of motor when
returning to bumping home. You can set it in
[%] with reference to the rated torque.
－ 43 －
Parameter
Parameter
No.
(Pr□□)
50
51
Name of parameter
I1 function selection
I2 function selection
Effective
after
power
resetting
Setting
range
Default
○
0 to 15
8
○
0 to 15
6
52
I3 function selection
○
0 to 15
11
53
I4 function selection
○
0 to 15
0
Description
You can assign functions to I1 through I4.
0: Forced trip
1: Instantaneous stop, 2: Deceleration stop
3: Homing start*,
4: Forward jog*
5: Reverse jog*,
6: Point designation 1*
7: Point designation 2*, 8: Run start*
9: Sequential run start*,10: Trip reset
11: Home sensor,
12: Limit in + direction
13: Limit in − direction
14: Direction switching*
15: Motor-free
*) When Pr3E is 1, this function is effective
for I/O input for giving priority to RS485.
0: Normal logic (Input is effective (ON) when
connected to GND.)
1: Reverse rotation logic (Input is effective
(ON) when OPEN (open))
Set the reverse rotation logic to the input
desired to be operated on wiring break side
such as forced trip (emergency stop input).
54
I1 Input logic selection
○
0, 1
0
55
I2 Input logic selection
○
0, 1
0
56
I3 Input logic selection
○
0, 1
0
57
I4 Input logic selection
○
0, 1
0
58
Trip reset function
enable
0, 1
1
0: Disable
1: Enable (Operation start signal longer than
1 second enables execution of trip reset.)
59
Deceleration time in
instantaneous stop
0 to 30000
0
Set the deceleration time in executing instantaneous stop. Setting unit [ms]
5C
01 function selection
0 to 5
0
5d
02 function selection
0 to 5
2
5E
01 output polarity
selection
0, 1
0
5F
02 output polarity
selection
0, 1
0
60
RS485 device
number
○
61
RS485 communication
speed
○
0 to 2
2
62
RS485 communication
standard
○
0 to 11
4
You can assign functions to 01 and 02.
0: Trip output, 1: In-position,
2: In-motion signal (BUSY)
3: Homing completion,
4: Overload detection
5: Torque under restriction
0: Normal logic (Output transistor ON at
enabled, OFF at disabled)
1: Reversed logic (Output transistor OFF at
enabled, ON at disabled)
When only trip output is normal logic, output
transistor is off in tripping, and output transistor is on in no tripping.
128 to 159 129
－ 44 －
See P.70.
Effective
after
power
resetting
Parameter
No.
(Pr□□)
Name of parameter
63
RS485 communication
response time
64
RS485 retry times of
communication
○
0 to 9
9
65
RS485 protocol
Timeout
○
1 to 255
2
6A
Trip history clear
6b
Trip history 1
6C
6d
○
Setting
range
Default
Description
10 to 1000 10
See P.70.
nO
(0)
When “
(1)” is set, trip history (Pr6b to
6F) is cleared. Trip history is also cleared
when 1 is set on “PANATERM for BL” (download from our web site).
−
−
Display the latest trip.
Trip history 2
−
−
Display the 2nd latest trip.
Trip history 3
−
−
Display the 3rd latest trip.
6E
Trip history 4
−
−
Display the 4th latest trip.
6F
Trip history 5
−
−
Display the 5th latest trip.
77
Parameter copy
function
nO
This function is only available with use of the
Digital key pad. See P.24.
7A
Monitor mode
switching
7b
Numerator of
command pulse ratio
7C
Denominator of
command pulse ratio
7F
For manufacturer use
(0)
(1)
0 to 6
0
○
1 to 20000
1
○
1 to 20000
1
−
−
You can choose monitor screen to be
displayed first when the Digital key pad is
connected.
0: Rotation speed (actual speed),
1: Torque
2: Load factor
3: Command speed
4: Internal DC voltage
5: Present position (lower 5 digits)
6: Present position (rotation number)
You can set the division multiplier ratio of
travel distance. Change of this parameter
does not affect operation speed of motor.
You can set numerator :
denominator = 100:1 to 1:100.
It cannot be changed.
<Information>
•Pr6b, 6C, 6d, 6E, 6F, and 7F are read-only parameters. They cannot be changed.
•Parameters marked with ○ in the column of “effective after power resetting” become effective when power is turned off once and turned on again after about 10 seconds. They
are not made effective just by changing.
－ 45 －
List of parameters
Detail of parameters
List of parameters
Detail of parameters
Figures displayed on the 7 segment display of the Digital key pad are shown below.
Operation setting
• Positioning operation
Alphanumeric
LED display
Alphanumeric
A
S
B
T
C
U
D
V
E
Y
F
0
G
1
H
2
I
3
K
4
L
5
N
6
O
7
P
8
Q
9
R
• Example of LED display
nO
LED display
This Brushless amplifier can save positioning information for a maximum of 4 points (the
1st to the 4th point), and allows operation by use of I/O interface. Travel distance, speed
setting, acceleration time, deceleration time, and coordinate (relative travel/absolute travel)
can be set for each point. Further, setting block operations allows operation to change
speed setting and position allowing continuous movements of position to position with a
single operation
command.
Homing must be completed for executing positioning operation. (It is possible to make
homing unnecessary by Pr48.) If operation command run such as operation start is input
without homing completed, the run command is ignored. If limit sensor is detected after
(E-LT) is found. Travel distance is the adcompletion of homing, hardware limit error
dition of rotation number and pulse of motor shaft. One rotation of motor shaft corresponds
to 288 [pulses], therefore the travel distance is the rotation number x 288 + pulse [pulses].
e.g.) When 1 [rotations] and 144 [pulses] are set at the target position, the travel distance
is 432 pulses, this represents a travel distance of 1.5 rotations. Negative values can
also be set on the pulse/value. When 2 [rotations] – 144 [pulses] is set, it also represents the same travel distance of 1.5 rotations.
Single positioning command allows up to 32767 rotations at the maximum on the motor
shaft. When operation command is above 32767 rotations + 1 pulse, command execution
(E-rU) is found.
error
This Brushless amplifier is provided with two types of positioning instruction function, i.e.
point designation run and sequential run. Operation to a designated point is executed by
point designation run. In sequential run, point number is automatically updated (such as 1
→ 2 → 3 → 1 ...) whenever an run signal is input.
[1] Point designation run (using run start signal and point designation signal)
Set Pr50 to 53 as follows and assign the function of signal input. Of signal inputs 1 to 4 (I1
to I4), set the parameter used for run start at “8”, the input used for point designation 1 at “6”,
and the input parameter used for point designation 2 at “7”. When point designation is not
assigned to signal input, such signal is always considered to be off. (For example, when
the 3rd and 4th point are not designated, it is not required to assign point designation 2.)
When run start is input after designation of point, the motor moves to any desired point.
P.PrOG
Point designation 1
OFF
ON
OFF
Runs to the 1st point.
Runs to the 2nd point.
ON
Runs to the 3rd point.
Runs to the 4th point.
Point designation 2
－ 46 －
－ 47 －
Detail of parameters
[2] Sequential run (using sequential run start signal)
Set Pr50 to 53 as follows, and assign the function of signal input.
Of signal inputs 1 to 4 (I1 to I4), set the input parameter used for run start at “9” (sequential
run start).
Positioning point number is incremented by one whenever the sequential run start signal
is turned on. (When homing is completed, the initial run start point is always the 1st
point.)
The maximum of run point can be set by Pr22.
e.g.) When Pr22 is 3, the motor runs in the order: the 1st point → the 2nd point
→ the 3rd point → the 1st point → ... whenever run command is input.
Commanded
Run start signal
(input)
Point selection (input)
In-motion signal (output)
ON
OFF
In-motion signal
(output)
In-position signal
(output)
OFF
ON
OFF
MAX 10 ms
In-position signal (output)
[1] Continuous block operation
Continuous block run is executed by setting the block setting parameter (Pr06, 0E, 16,
and 1E) at “1”, and giving run start command by any procedure.
When command output of point is completed, command output of the following points is
started when set waiting time (Pr07, 0F, 17, and 1F) has elapsed.
Commanded speed
Actual speed
MIN 10 ms
Run start signal (input)
OFF
or sequential run
start signal (input)
This motor allows continuous positioning to more than one point by single operation instruction (continuous block operation) or changing the speed setting on the way of operation (combined block operation) when block operation is set.
e.g.) When run command is given to the 1st point by setting Pr06 = 1, Pr0E = 1,
and Pr16 = 0
[Command timing chart]
Speed
• Block operation
OFF
ON
ON
(1)Choose a point number for point designation run. Point designation is not required
(made ineffective) in sequential operation.
(2)Set the run start signal at (ON (Default setting: ON when shorted to GND)). It activates operation.
(3)Make sure that in-motion signal (BUSY) is on, and then return the run start signal to
off. (Assign the function of in-motion signal to signal output 01 or 02 by Pr5E and 5F.)
Alternatively, turn on the run start signal, and turn it off in 20msec. Changing the next
point designation number for positioning operation at this point causes no problem.
(4)When positioning operation is completed, in-motion signal (BUSY) returns to off. (If
the run start signal is not off, positioning when operation is completed, in-motion signal still remains on.) In-position signal, after completion of command output, turns on
when position error (difference between command position and actually reached position) is below setting of Pr38.
• Operation instruction can be given to the motor only when in-motion signal is off.
－ 48 －
The 2nd point
The 1st
point
OFF
Pr07
Waiting time
ON OFF
OFF
ON
The 3rd point
Pr0F
Waiting time
OFF
ON
OFF
ON
OFF
ON
OFF
ON
• When block setting parameters (Pr06, 0E, 16, and 1E) are all set to “1”, single run
start command allows the motor to keep moving in the order: the 1st point → the 2nd
point → the 3rd point → the 4th point → the 1st point → ... until stop signal is input.
• Changing the value of Pr22 “Sequential run maximum point number” allows the motor
to keep moving in the order: the 1st point → the 2nd point → the 3rd point → the 1st
point → ... even when block setting parameters are all “1” (when Pr22 = 3).
[2] Combined block operation
When block setting parameter (Pr06 and 16) is set to “2”, and run start command is given
to the 1st or 3rd point in any procedure, combined block operation of the 1st point + 2nd
point (or the 3rd point + the 4th point) is executed.
Positioning operation completion position in combined block operation is determined by
the 2nd point (or the 4th point). Position for changing speed setting is determined by the
1st point (or the 3rd point).
Coordinate setting of each point can be either by relative travel or absolute travel.
When the 2nd point (or the 4th point) which is the positioning operation completion
position is set by relative travel, coordinate is calculated by target position of the 1st point
(or the 3rd point), and by run start position in the case of absolute travel.
－ 49 －
Detail of parameters
When the 1st point (or the 3rd point) is set by absolute travel, if the motor passes the
position designated by parameter, the motor speed changes to the speed set by the 2nd
point (or the 4th point), and the motor runs to the target position. In relative travel, the
motor runs by the speed designated at the 1st point (or the 3rd point) for the distance set
by the 1st point (or the 3rd point) from run start, and then the motor speed changes to
the speed designated at the 2nd point (or the 4th point) and the motor runs to the target
position.
e.g.) When the 1st point and the 2nd point are set to combined block operation (Pr06 = 2)
[1] When the 1st
speed setting
the 2nd speed
＜ setting
S2
＞
the 2nd speed
setting
P2
P1
OFF ON
OFF
OFF
P1
OFF ON
OFF OFF
ON
S1: The 1st speed setting set by the 1st point
P1: The 1st position
P2
OFF
ON
The motor runs in one direction at a specified speed as long as the signal is on.
Jog operation is allowed even when homing is not completed.
Set Pr50 to 53 as follows, and assign the function of signal input.
Of signal inputs 1 to 4 (I1 to I4), set the input used for forward jog operation instruction at “4”,
and the input used for reverse jog operation instruction at “5”.
The motor runs in specified direction as long as specified input signal is on.
When the input signal is turned off, the motor reduces its speed and stops.
See Pr4b to 4d for parameters relating to jog operation.
[Timing chart of jog operation]
Commanded speed
S2
S1
Commanded speed
Run start signal
(input)
In-motion signal
(output)
[2] When the 1st
speed setting
S1
• Jog operation
OFF
S2: The 2nd speed setting set by the 2nd point
P2: The 2nd position
• When the 1st point position > the 2nd point position (when the target position is closer
than the position to change speed setting (P1)), the motor runs to the 2nd point position at the 1st speed setting and positioning operation is completed.
• When the motor run start position has already passed the position of the 1st point
such as when the motor is stopped halfway (or when the operation direction to the 1st
point is different from that to the 2nd point), the motor runs to the position of the 2nd
point at the 2nd speed setting, and positioning operation is completed.
• During combined block operation, data of the 1st point is applied to the setting of acceleration and deceleration time. Setting at the 2nd point is made ineffective, and the
motor operates with acceleration and deceleration time set at the 1st point.
• In combined block operation, acceleration and deceleration pattern is fixed to linearity.
(It is the same when the motor runs to the target position at a constant speed.)
• In combined block operation (status where the 1st block setting is “2”), when the 2nd
Jog signal (input)
OFF
In-motion signal
(output)
OFF
ON
ON
OFF
MAX 10 ms
(1)Change the jog start signal from contact-off to the status of connection to GND (on).
It activates operation.
(2)When the jog start signal is returned to off, the motor starts speed reduction.
(3)When operation is completed, the transistor of in-motion signal (BUSY) returns to off.
• Operation instruction can be given to the motor only when in-motion signal is off.
• In jog operation, setting of Pr20 is applied to acceleration and deceleration pattern
(linear and S-letter) as for acceleration. In deceleration, the pattern is linear irrespective of setting of Pr21.
point positioning command is executed, command execution error
(E-rU) is
found.
• When using block setting “2” and “1” together, it is enabled by setting the block setting
parameter at “1” and setting the block timer at the 2nd point. (Operation at the 3rd point
is started after completion of combined block operation at the 1st point + the 2nd point.)
－ 50 －
OFF
－ 51 －
Detail of parameters
• Homing operation
In order to establish the reference position of motor, homing operation is always required
for positioning operation.
In applications where homing operation is not required, set Pr48 at “1”, then the position
where power is turned on is assumed to be the home (0), by which positioning operation is
enabled. After completion of homing, when the limit sensor in motor operation direction is
detected, hardware limit error
(E-LT) is found.
When you use the relative travel command in positioning, positioning might shift after the
motor trip reset, or at positioning after turning the motor-free signal from OFF to ON. If you
find any problem in such a use, set Pr49 at “1” to apply “homing operation required again
when motor is free”.
This motor support the following homing operation.
Parameter
Homing name
Description
40
0
Home sensor homing 1 Edge of home sensor is detected to be set to the home.
When the home sensor is on at the homing command, corresponding position is set to the home.
1
Home sensor homing 2
In any other case, operation the same as home sensor
homing 1 is executed.
5
Home sensor homing 3 When reversing is not desired in homing (only for rotation system)
2
Limit sensor homing
Edge of limit sensor is detected and set to the home.
3
Bumping homing
Mechanical end is detected and set to the home.
4
Home resetting
Present position is reset to be the home.
In order to execute homing operation, set Pr50 to 53 as follows to assign the function of
signal input.
Assign one of signal inputs 1 to 4 (I1 to I4) to the input used for homing start signal. (Set
Pr52 at “3” for I3.) Be sure to assign the function required for respective homing to the signal input. Unnecessary sensors (functions) need not be assigned if not required.
When Pr48 is set to “2”, it is enabled to execute homing operation with run start signal (run
start and sequential run start) when homing is not completed.
See Pr 40 to 49 for parameters relating to homing operation. Set the homing speed as low
as possible in order to improve accuracy in homing.
Home detection
[Timing chart of homing operation]
Speed
OFF
In-motion signal
(output)
OFF
Homing completion
signal (output)
ON
MAX 10 ms
Undefined
－ 52 －
Home sensor homing 1 (Pr40 = 0), Home sensor homing 2 (Pr40 = 1)
e.g. 1: When “Pr41 Detects the homing direction in − direction” is set.
Homing direction(−)
Coordinate system(+)
− direction
limit sensor
OFF
ON
OFF
OFF
ON
+ direction
limit sensor
Home sensor
(1) When the starting point is between
the home sensor and limit sensor
in + direction
(Including when starting point is
upon the limit sensor in + direction)
Home
(2) When the starting point is
upon the home sensor*.
Starting
point
Home
Starting
point
(3) When the starting point is
between the limit sensor in
− direction and home sensor.
(4) When the starting point is
upon the limit sensor in
− direction.
(20 ms or longer)
Homing start signal
(input)
(1)Change the homing start signal (or run start signal (when Pr48 is 2)) from contactoff
to the status of connection to GND (on). It activates operation. Even when homing
has been completed, if homing is started, the homing completion signal turns off.
(2)Make sure that in-motion signal (BUSY) is on and return the homing start signal to
open status. Alternatively, enable the homing operation return start signal for a minimum of 20msec.
(3)When operation is completed, in-motion signal (BUSY) returns to off. (If the homing
start signal is not off, even when operation is completed, the in-motion signal is still
on.) Also, when homing is completed normally, the homing completion signal turns on.
• Run signal can be given to the motor only when in-motion signal is off.
• In homing operation, setting of Pr20 is applied to acceleration and deceleration pattern (linear and S-shape) as for acceleration. In deceleration, the pattern is linear irrespective of setting of Pr21.
Starting point
Starting
point
Home
Home
*In the case of home sensor homing 2, when homing operation is executed upon the
home sensor of 2, the motor is not activated but the position is set to the home, and
homing operation is completed.
－ 53 －
Detail of parameters
e.g. 2: When homing consists of home sensor only.
Mechanical end
Limit sensor homing (Pr40 = 2)
Homing direction(−)
Coordinate system(+)
e.g. : When “Pr41 Detects the homing direction in − direction” is set.
Home sensor
(1) When the starting point is
other than home sensor.
Home
(2) When the starting point is
upon the home sensor.
Homing direction(−)
Coordinate system(+)
− direction
limit sensor
+ direction
limit sensor
(1) When the starting
point is not upon the
limit sensor in − direction.
Starting
point
(2) When the starting
point is upon the limit
sensor in − direction.
Home
Starting
point
Offset
Starting
point
Home
Offset
Starting
point
Home
Be sure to set the homing direction so that homing operation is executed in the
direction where home sensor is located. In this example, set “Pr41 Detects the homing
direction in – direction”.
In using this mode, the motor at the home position is within the limit sensor, therefore
be sure to set the home offset (Pr47). When the offset is set to –100, the point which is
moved 100 pulses in + direction as viewed from the edge of limit sensor in - direction is
set to the home. (Set a value of plus and minus opposite to the desired travel direction as
an offset.)
Home sensor homing 3 (Pr40 = 5) (Only for rotation system)
Bumping homing (Pr40 = 3)
e.g. : When “Pr41 Detects the homing direction in + direction” is set
e.g. : When “Pr41 Detects the homing direction in − direction” is set.
Homing direction(+)
Coordinate system(+)
Home sensor
(1) When the starting
point is out of the
home sensor.
Homing direction(−)
Coordinate system(+)
Mechanical end
Home sensor
Offset
Home
Starting point
When the torque value has exceeded the setting (Pr45) for preset time (Pr46), homing is completed.
Starting
point
(2) When the starting point
is upon the home sensor.
Home
Starting point
Home
Machine 1 rotation
Set this option when the machine belongs to rotational system and reversing is not
desired.
In this mode, the motor always runs in the set homing direction, and the edge of home
sensor is detected and set to the home. (In this case, runs in + direction only with no
reversing.)
If a limit sensor in running direction is detected during homing, homing error
HO) is found.
－ 54 －
(E-
During operation of this mode, the value of torque limit is restricted by bumping torque
detection value (Pr45).
In bumping homing operation, when limit sensor in operation direction is detected,
(E-H0) is found.
homing error
In using this mode, the motor at the home position is in contact with the mechanical end,
therefore be sure to set the home offset (Pr47). (Set a value of plus and minus opposite
to the desired travel direction as an offset.)
<Caution>
In setting the bumping homing, too high homing speed or too large torque limit causes
excessive shock, which may give damage to the machine or motor. Restrict the homing speed
to approx 100 r/min on motor shaft, and bumping torque limit below rated motor torque.
Home resetting (Pr40 = 4)
In this mode, the position where homing start signal is input is set to the home (0 position), and the motor does not run but homing operation is completed.
－ 55 －
Detail of parameters
Signal Input and Signal Output Choosing Function
• Signal input choosing function
Function
number
Assignment
function
Function can be assigned to signal input I1 to I4 by Pr50 to 53.
13
Limit in – direction
Function
number
14
Direction switching
0
1
2
3
Assignment
function
Forced trip
Instantaneous
stop
Deceleration
stop
Homing start
4
Forward jog
6
Point designation 1
5
7
8
9
10
Reverse jog
Description of function
When preset signal input is turned on, the Brushless amplifier
executes external forced trip
(E-0L).
When external forced trip is executed, in order to activate the Brushless amplifier again, reset trip and then input the run command.
When preset signal input is turned on, the Brushless amplifier reduces speed and stops in deceleration time set by Pr59
“Deceleration time in instantaneous stop”. (Linear deceleration)
When the setting is “0”, the command is an instantaneous stop.
(However, the Brushless amplifier may operate for accumulated
pulses of command.)
Run command cannot be given to the Brushless amplifier with
stop signal turned on. Be sure to turn off stop signal in operation.
When preset signal input is turned on, the Brushless amplifier
reduces speed and stops in deceleration time set at the start
of Brushless amplifier operation (deceleration time set on each
point in positioning operation, jog deceleration time in jog operation, and homing acceleration and deceleration time in homing).
(Linear deceleration)
Run command cannot be given to the Brushless amplifier with
deceleration stop signal turned on. Be sure to turn off deceleration stop signal in operation.
When this signal is turned on, homing operation is started.
The motor runs at jog speed in + direction as long as this signal is on.
The motor runs at jog speed in – direction as long as this signal is on.
Point designation 1
Point designation 2
Point designation 2
Sequential run start
Motor is positioned at the following point every time the signal is input.
Run start
Trip reset
11
Home sensor
12
Limit in + direction
Motor is positioned at any point designated by point designation 1 and 2.
The trip is reset (trip cleared) when set signal input is turned on
approx 100 ms or longer.
When Pr58 is set at "1", trip can be reset by turning on operation start signal (run start, sequential run start, forward jog,
reverse jog, and homing start) for approx 1 second or longer. Be
sure to remove the cause before trip reset.
Make wiring so that the signal is turned on when home sensor
is detected.
Make wiring so that the signal turn on any time. If the input is
turned off, the motor does not run in + direction.
Limit function is disabled when this signal is not used.
－ 56 －
15
Motor-free
Description of function
Make wiring so that the signal turn on any time. If the input is　turned off, the motor does not run in - direction.
Limit function is disabled when this signal is not used.
Direction of homing, jog, and positioning command is all　reversed while this signal is turned on.
When preset signal is turned on, the motor is free to rotate. If
the motor-free signal is turned on during motor operation, the
load may keep moving through inertia and hit mechanical stops.
In addition, it is impossible to give run command to the motor
with motor-free signal turned on. Be sure to turn off the signal in
running. In switching the motor-free signal from on to off, input
the run start signal after 100ms or longer the motor-free signal
is turned off.
In the case where relative travel command is used for positioning operation, if positioning operation is executed after turning
on and then off the motor-free signal, positioning might shift. If
this is inconvenient to your application, set Pr49 to "1. homing
operation is required again when motor is free". Then, homing
operation is required again for executing positioning operation
when motor-free condition (or trip) is cleared.
•When more than one signal input is assigned to the same function, the signal is made
effective when any one signal is input.
•Logic of signal input can be changed by setting the polarity change parameter (Pr54
to Pr57) (Set an input desired to be operated on disconnected side of wiring such as
0: Normal logic (Input is effective in connecting with GND), 1: Inverted logic (Input is
effective by OPEN), Inverted logic is forced trip (emergency stop input ).
•Parameters above (Pr50 to 57) are made effective after power is turned on again.
• Signal output selection function
Function can be assigned to signal output 01 and 02 by Pr5C and 5d.
Function
Assignment
function
number
0
Trip output
Description of function (standard logic)
This signal is normally on, and turns off when tripping occurs.
1
In-position
This signal turns on when motion command is completed as
well as position error is within Pr38.
2
In-motion (BUSY)
This signal turns on during run command.
(Run start signal is not accepted as long as this signal is on.)
3
Homing completion
This signal turns on when homing operation is completed.
4
Overload detection
This signal turns on when torque above 100% is output.
5
Torque under restriction
This signal turns on as long as torque is restricted.
•Logic of signal output can be inverted by polarity choosing parameter (Pr5E and 5F).
－ 57 －
Detail of parameters
Outline of PANATERM for BL
Outline of PANATERM for BL
Gain switching function
You can switch the gain parameter automatically while the motor is in run-command and is
at standstill.
During the automatic gain switching (Pr36 = 2), the 2nd gain is applied while the motor is in
runcommand, and the 1st gain is applied while the motor is at standstill.
With this gain switching function, you can change the holding torque at the motor standstill
by setting different values of torque limit between 1st and 2nd gain.
Parameter name
Position loop gain
Parameter number
The 1st gain The 2nd gain
when
during
stopped
instruction
(
Velocity loop gain
28
) (
30
)
Supplement
Determines the response of position control.
Velocity loop integration
gain
29
31
Determines the response of velocity loop.
2A
32
Determines the rigidity of velocity loop.
Velocity feed forward
2b
33
Function to forward (add) position instruction
to commanded speed
Speed detection filter
2C
34
Velocity feed forward
time constant
Torque limit
2d
2E
36
Gain switching time
37
Sets the time constant of low-pass filter of
speed feedback.
Filter in velocity feed forward
35
Gain switching mode
selection
Communicating software “PANATERM for BL” (download from our web site) 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.
Limits the output torque of motor.
0: The 1st gain fixed
1: The 2nd gain fixed
2: Automatic switching
Changes to the 1st gain in the time set
by parameter after command output is
completed. Unit [ms].
Operation is as follows when Pr36 is “2”.
Speed
Commanded
Actual speed
Gain
The 1st gain
The 2nd gain
The 1st gain
Pr37
Note)
It is not allowed to set switching time in changing from the 1st gain to the 2nd gain in the
start of operation.
－ 58 －
－ 59 －
Example setting of motion pattern
[Parameter setting] Indicates only the point changed from default setting.
Indexing (feeding by fixed length)
(Parameter marked with * is effective after power resetting.)
Parameter
Function
No.
(Pr□□)
• When feeding by fixed length of travel
Indexing
Conveyor
Selection of signal
function
[Signal function setting]
Terminal Terminal
symbol number
1
I2
2
I3
I4
11
4
6
12
O1
O2
Description of function
Operates when "I1" and "GND" are shorted (Homing operation for
Signal input 1
the first time after power-on)
CW operation when "I2" and "GND" are shorted, CCW operation
Signal input 2
when they are opened (including homing operation mode)
Signal input 3 Motor trips when "I3" and "GND" are open.
Signal input 4 Home detected when "I4" and "GND" are shorted.
Signal output 1 Trip output (Normally on, and off in tripping)
Signal output 2 In motion signal (including homing operation)
[Operation timing chart]
Run start
Run start
I1 (Run start)
I2 (Direction switching)
20ms or longer
Turns off normally in short-circuiting
(forced trip in opening).
I3 (Forced trip)
Run start
20 ms or
longer
In changing direction, first
change I2, and then turn on
I1 after 20 ms or longer
have passed.
Home detected
I4 (Home sensor)
O1 (Trip output)
O2 (In motion)
Run start
Normally ON.
Power-ON
Turn on power, and then turn on
I1 after one second or longer
have passed.
Motor commanded
speed
Execute
homing
Execute
indexing
Execute
indexing
50*
51*
52*
53*
I1 function selection
I2 function selection
I3 function selection
I4 function selection
56*
I3 input logic selection
5C
5d
40
41
42
01 function selection
02 function selection
Homing mode
Homing direction
Homing speed
Homing acceleration/
deceleration time
44
48*
49
4A
The 1st point
(indexing length)
I1
Terminal
name
Homing function
<Example of setting>
•Every time I1 is turned on, the motor runs for fixed travel distance.
•Homing operation is executed and the home is set when I1 is turned on just once after
power-on. (It is also possible to set power-on position to the home.)
Name of parameter
Homing function
Selecting homing when
motor is free
Present position overflow
permission
Setting
8
14
0
11
Run start (used only for the 1st point)
Direction switching input
Forced trip input
Home sensor input
Changes the polarity of 3 to effective when
1
open (forced trip in this case).
0
Trip output
2
In-motion signal
0, 1, 5 Set homing in which to use home sensor.
0, 1 Set any desired homing direction.
200 Set any desired operation speed.
Set any desired acceleration/deceleration
200
time.
Set to 1 when setting power-on position to
2
the home.
Set to 1 (homing is required again when
1
tripping occurs.)
1
00
The 1st target position
(rotation number)
10
01
The 1st target position
(pulse)
0
02
03
04, 05
06
The 1st coordinate setting
The 1st setting speed
The 1st acceleration time/
The 1st deceleration time
The 1st block setting
0
2000
200
0
Set to 1 (permits overflow).
Set the travel distance by rotation number
and pulse (one rotation per 288 pulses).
When the setting does not represent
proper mechanical reduction gear ratio,
accumulated error occurs, which results in
dislocation.
Set relative travel.
Set any desired operation speed.
Set any desired acceleration time and
deceleration time.
Set normal operation.
<Information>
In this setting, I3 is set to forced trip when open. Connect an emergency stop switch or the
like which is shorted but open at error to I3 terminal.
Please note that the motor will not run due to forced trip without such connection.
Execute indexing
(Reverse direction)
When homing is set to unnecessary,
homing operation is not executed but
indexing operation is started.
－ 60 －
Remarks
－ 61 －
Example setting of motion pattern
[Parameter setting] Indicates only the point changed from default setting.
Reciprocating
(Parameter marked with * is effective after power resetting.)
• When executing reciprocating run between fixed positions
Slider
Coordinate system + direction
depends on configuration of
gear head and machine. When
Coordinate
system (+) setting the rotation direction
CCW of motor shaft to +, set
Pr23 at "0", and when setting
Home 0 The 2nd point The 1st point
(return)
(feed)
CW to +, set Pr23 at "1".
Homing direction (–)
Pull and push
[Signal function setting]
I1
1
I2
I3
I4
2
11
4
6
12
O1
O2
Terminal
name
Description of function
Operates when "I1" and "GND" are shorted (Homing operation for
the first time after power-on)
Signal input 2 Home detected when "I2" and "GND" are shorted.
Signal input 3 Operation stops when "I3" and "GND" are shorted.
Signal input 4 Motor trips when "I4" and "GND" are open.
Signal output 1 Trip output (Normally on, and off in tripping)
Signal output 2 In motion signal (including homing operation)
Signal input 1
[Operation timing chart]
I1 (Sequential run
start)
I4 (Forced trip)
Run start
Run start
Run
start
Normally OFF.
Turns off normally in short-circuiting
(forced trip in opening).
Power-ON
Turn on power, and then turn on
I1 after one second or longer
have passed.
Execute
homing
Execute
feeding
Execute
returning
Execute Execute Execute
feeding returning feeding
9
11
1
0
57*
I4 input logic selection
1
5C
5d
40
01 function selection
02 function selection
Homing mode
0
2
0
41
Homing direction
1
42
Homing speed
Homing acceleration/
deceleration time
44
48*
49
00
01
02
03
04, 05
06
08
The 2nd point
(return position)
Normally
ON.
Motor commanded
speed
09
0A
0b
0C, 0d
0E
Runs to
the 1st
point.
After the motor has stopped instantaneously during return operation, when I1 is turned on again, feed operation is executed from stop position.
Similarly, after the motor has stopped instantaneously during feed operation, when I1 is turned on again, return operation is executed.
－ 62 －
Others
Runs to the Runs to the Runs to the Runs to
1st point.
2nd point. 1st point.
the 2nd
point.
Setting
I1 function selection
I2 function selection
I3 function selection
I4 function selection
23*
20 ms orlonger
01 (Trip output)
02 (In motion)
Run start
Home detection
20 ms or longer
I2 (Home sensor)
I3 (Instantaneous
stop)
Run start
Name of parameter
50*
51*
52*
53*
4A
The 1st point
(feed position)
Run start
Homing function
Terminal Terminal
symbol number
Selection of signal
function
Workpiece
<Example of setting>
• Every time I1 is turned on, feed action → return action →
feed action is repeated in turn.
• When power is on, homing operation is executed and
home is set by I1.
Parameter
Function
No.
(Pr□□)
22
Homing function
Selecting homing when
motor is free
Present position overflow
permission
Coordinate system setting
The 1st target position
(rotation number)
The 1st target position
(pulse)
The 1st coordinate setting
The 1st setting speed
The 1st acceleration time/
The 1st deceleration time
The 1st block setting
The 2nd target position
(rotation number)
The 2nd target position
(pulse)
The 2nd coordinate setting
The 2nd setting speed
The 2nd acceleration time/
The 2nd deceleration time
The 2nd block setting
Sequential run
Maximum point number
200
200
2
0
0
0, 1
10
0
1
2000
200
0
2
0
1
2000
200
0
2
－ 63 －
Remarks
Sequential run start
Home sensor input
Instantaneous stop input
Forced trip input
Changes the polarity of I4 to effective when
open (forced trip in this case).
Trip output
In-motion signal
Set homing in which to use home sensor.
Set the homing direction normally to minus
direction (return direction).
Set any desired operation speed.
Set any desired acceleration/deceleration
time.
Homing operation by initial I1 input when
power is turned on.
Homing is not required when tripping occurs.
Overflow is not permitted because absolute
travel is set.
Set so that homing is in minus direction.
Set the feed position coordinates.
Set absolute travel.
Set any desired travel.
Set any desired acceleration time and
deceleration time.
Set normal operation.
Set the return position coordinate.
(Set 0 when the position is the same as
home.)
Set absolute travel.
Set any desired travel.
Set any desired acceleration time and
deceleration time.
Set normal operation.
Restricts the maximum point number in
sequential operation.
When this parameter is set to 2, whenever
I1 is turned on, system operates in turn from
the 1st point → the 2nd point → the 1st point
....
Example setting of motion pattern
[Parameter setting] Indicates only the point changed from default setting.
Automatic reciprocating
(Parameter marked with * is effective after power resetting.)
• When executing fixed reciprocating sequence operation with single run start signal
Stroke
Workpiece
[Signal function setting]
Terminal Terminal
symbol number
1
I2
2
I3
11
I4
O1
O2
4
6
12
The 2nd
point
(return)
The 1st
point
(feed)
depends on
configuration of
gear head and
machine. When
setting the rotation
direction CCW of
motor shaft to +,
set Pr23 at "0",
and when setting
Coordinate CW to +, set Pr23
system (+) at "1".
Description of function
Operates when "I1" and "GND" are shorted (Homing operation for
the first time after power-on)
Signal input 2 Home detected when "I2" and "GND" are shorted.
Operation stops when "I3" and "GND" are shorted. (Motor does
Signal input 3
not operate during short-circuit.)
Signal input 4 Motor trips when "I4" and "GND" are open.
Signal output 1 Trip output (Normally on, and off in tripping)
Signal output 2 In motion signal (including homing operation)
Signal input 1
Homing function
I1
Terminal
name
Home 0
Homing Coordinate system
direction + direction
(–)
Selection of signal
function
<Example of setting>
• When I1 is turned on,
the unit moves to target
position (feed position),
waits for a specified
time, and returns to
original position (return
position).
• When power is on,
homing operation is
executed and home is
set by I1.
Lifter
Parameter
Function
No.
(Pr□□)
Run start
Run start
The 1st point
(feed position)
I3 (Instantaneous stop) Normally OFF.
I4 (Forced trip)
Turns off normally in short-circuiting (forced trip in opening).
01 (Trip output)
02 (In motion)
Normally ON.
Power-ON
Motor commanded
speed
Execute
homing
Execute
Execute
feeding
returning
Waiting
time
Pr07
Execute
feeding
Execute
returning
Waiting
time
Pr07
57*
I4 input logic selection
1
5C
5d
40
01 function selection
02 function selection
Homing mode
0
2
0
41
Homing direction
1
42
Homing speed
Homing acceleration/
deceleration time
44
48*
49
Runs to the 1st point, Runs to the 1st point,
and then runs to the
and then runs to the
2nd point.
2nd point.
After the motor has stopped instantaneously during operation, when I1 is turned
on again, feed operation is always executed in the first (running to the 1st point).
－ 64 －
01
02
03
04, 05
Homing function
Selecting homing when
motor is free
Present position overflow
permission
Coordinate system setting
The 1st target position
(rotation number)
The 1st target position
(pulse)
The 1st coordinate setting
The 1st setting speed
The 1st acceleration time/
The 1st deceleration time
06
The 1st block setting
07
The 1st block timer setting
The 2nd target position
(rotation number)
The 2nd target position
(pulse)
The 2nd coordinate setting
The 2nd setting speed
The 2nd acceleration time/
The 2nd deceleration time
The 2nd block setting
The 2nd block timer setting
08
The 2nd point
(return position)
Turn on power, and then turn on
I1 after one second or longer
have passed.
8
11
1
0
00
Home detected
20 ms or longer
I2 (Home sensor)
I1 function selection
I2 function selection
I3 function selection
I4 function selection
23*
Run start
I1 (Run start)
Setting
50*
51*
52*
53*
4A
[Operation timing chart]
Name of parameter
09
0A
0b
0C, 0d
0E
0F
200
200
2
0
0
0, 1
10
0
1
2000
200
1
500
2
0
1
2000
200
0
0
－ 65 －
Remarks
Run start
Home sensor input
Instantaneous stop input
Forced trip input
Changes the polarity of I4 to effective when
open (forced trip in this case).
Trip output
In-motion signal
Set homing in which to use home sensor.
Set the homing direction normally to minus
direction (return direction).
Set any desired operation speed.
Set any desired acceleration/deceleration
time.
Homing operation by initial I1 input when
power is turned on.
Homing is not required when tripping occurs.
Overflow is not permitted because absolute
travel is set.
Set so that homing is in minus direction.
Set the feed position coordinates.
Set absolute travel.
Set any desired operation speed.
Set any desired acceleration/deceleration
time.
Execute running to the 2nd point, after
executing running to the 1st point.
The 2nd point operation is started in 500 ms.
Set the return position coordinate.
(Set 0 when the position is the same as
home.)
Set absolute travel.
Set any desired operation speed.
Set any desired acceleration/deceleration
time.
Set normal operation.
Ineffective because 0E is 0.
Example setting of motion pattern
[Parameter setting] Indicates only the point changed from default setting.
Door opening/closing
• When executing reciprocating
operation between 2 points
Automatic door
(Parameter marked with * is effective after power resetting.)
The 1st point
144 (closed)
The 2nd point Coordinate
(opened)
system (+)
Terminal
name
Terminal Terminal
symbol number
1
Signal input 1
I2
2
Signal input 2
I3
11
Signal input 3
I4
4
Signal input 4
O1
O2
6
12
Signal output 1
Signal output 2
Operates when "I1" and "GND" are shorted (Homing operation for the
first time after power-on)
Opening (point 2) operation when "I2" and "GND" are shorted, and
closing (point 1) operation when they are open.
Motor is free when "I3" and "GND" are open. (Servo lock released)
Operation is stopped when "I4" and "GND" are open. (Motor is not
activated while they are open.)
Trip output (Normally on, and off in tripping)
In motion signal (including homing operation)
[Operation timing chart]
Run start
I1 (Run start)
Run start
Run start
Run start Run start
Switch between open and
close, and then turn on I1 in
20 ms or longer.
I2 (Choose open/close.)
20 ms or longer
(Choose point.)
Turns off normally in short-circuiting
I3 (Motor free)
(Motor is free when circuit is opened.)
Turns off normally in short-circuiting
I4 (Instantaneous stop) (Motor stops instantaneously when circuit is opened.)
01 (Trip output)
02 (In motion)
Normally ON.
Power-ON
Turn on power, and then turn on
I1 after one second or longer
have passed.
Execute
homing
Execute
opening
Execute
closing
Execute
opening
Execute
closing
Pr45
Pr2E Pr35 Pr2E Pr35 Pr2E Pr35 Pr2E Pr35
Home is detected when workpiece
bumps to the mechanical end.
－ 66 －
8
6
15
1
Run start
Point designation 1 input (choosing the 1st/2nd point)
Motor-free input
Instantaneous stop input
Changes the polarity of I3 to effective when
open (motor-free in this case).
Changes the polarity of I4 to effective when
open (instantaneous stop in this case).
Trip output
In-motion signal
Bumping homing
Set the homing direction normally to minus
direction (closing direction).
Set any desired operation speed.
57*
I4 input logic selection
1
5C
5d
40
01 function selection
02 function selection
Homing mode
0
2
3
41
Homing direction
1
42
200
45
Homing speed
Homing acceleration/
deceleration time
Bumping torque detection value
46
Bumping torque detection time
100
47
Home offset
–144
48*
Homing function
4A
23*
Pr2E
When the motor is stopped by stop signal on
the way of operation, positioning is allowed
at any desired position (open or close).
Gain switching
function
Pr2E
Remarks
00
01
02
03
04, 05
06
08
09
0A
0b
0C, 0d
0E
Homing selection when
motor is free
Present position overflow
permission
Coordinate system setting
The 1st target position
(rotation number)
The 1st target position (pulse)
The 1st coordinate setting
The 1st setting speed
The 1st acceleration time/
The 1st deceleration time
The 1st block setting
The 2nd target position
(rotation number)
The 2nd target position (pulse)
The 2nd coordinate setting
The 2nd setting speed
The 2nd acceleration time/
The 2nd deceleration time
The 2nd block setting
1
200
Set any desired acceleration/deceleration time.
50
Torque limit during bumping homing
Home is detected when torque restriction
continues for one second.
Set the distance from the home desired to
be set to the mechanical end.
When power is turned on, homing operation is
executed by initial I1 input.
2
0
0
0, 1
0
0
1
2000
200
0
40
0
1
2000
200
0
Homing is not required when tripping occurs.
Overflow is not permitted because absolute
travel is set.
Set so that homing is in minus direction.
Set the door closing position coordinate.
(Coordinate is 0 when closing position is the
same as home position.)
Set absolute travel.
Set any desired operation speed.
Set any desired acceleration time and
deceleration time.
Set normal operation.
Set the door opening position coordinate.
Set absolute travel.
Set any desired operation speed.
Set any desired acceleration time and
deceleration time.
Set normal operation.
For automatically changing the retention torque (retention force) when door is stopped
Motor commanded
speed
Output torque
I1 function selection
I2 function selection
I3 function selection
I4 function selection
Setting
I3 input logic selection
49
The 2nd point
The 1st point
(door closing position) (door opening position)
I1
Description of function
Name of parameter
56*
44
Homing function
(–144)
Home 0
<Example of setting>
•When open/close is chosen and I1 is input, open/close operation is executed.
•When the door is stopped in any position on the way of action, opening or closing operation
is enabled from such position. (It is the same when the door is moved by hand with motor disabled.)
•Use of bumping homing enables elimination of home sensor.
•Holding torque when motor is stopped can be changed.
[Signal function setting]
Selection of signal
function
• Coordinate system + direction depends on configuration of gear
head and machine. When setting the rotation direction CCW of
motor shaft to +, set Pr23 at "0", and when setting CW to +, set
Pr23 at "1".
• When setting the Mechanical end offset value to –144, the Home
is the point which has moved 144 pulses to the + direction seen
from the Mechanical end.
Mechanical end Homing direction (–)
Parameter
Function
No.
(Pr□□)
50*
51*
52*
53*
2E
Torque limit setting
100
35
36
The 2nd torque limit setting
Gain switching mode selection
150
2
37
Gain switching time
100
－ 67 －
Sets the retention torque when door is stopped.
The smaller the value is, the weaker the
retention force becomes.
Maximum output torque when door is operating.
Set to 0 when executing no switching.
Torque is changed in 100 ms after completion
of operation instruction.
Communication
Communication
Interface of connector for communications unit
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
Host (01h)
RS485＋
RS485−
GND
Equivalent to SN75176
FG
Twisted pair wire
[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.
Brushless amplifier 2
(82h)
Connector (SER)
14
RS485＋
13
RS485−
3
GND
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 (Pr60) 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]
Equivalent to SN75176
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
RS485
Parity
... Max 31 units
Host controller
Device number
= 01h(1)
Start bit
Stop bit
Host address
Amplifier address
Device number
= 81h(129)
Brushless amplifier 1
(81h)
Connector (SER)
14
RS485＋
13
RS485−
3
GND
Brushless amplifier
Device number
= 82h(130)
－ 68 －
Device number
= 83h(131)
Device number
= 84h(132)
2400, 4800, 9600 bps
Set by Pr61
None, even number, or odd number
Set by Pr62
1 bit
Set by Pr62
1 bit, 2 bits
Set by Pr62
80h to 9Fh (80h for simultaneous transmission.)
Set by Pr60
01h to 1Fh
•Modification of transmission parameters (Pr60 to 65) 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.
－ 69 －
Communication
List of data number related to communications
Address Pr No. Parameter name
1) Communication parameter
Range of
Address Pr No. Parameter name
Default
setting
8060h
8061h
8062h
8063h
8064h
60
61
62
Device number
Communication
speed
Communication
standard
Function/Description
Set the device number of amplifier in communication (Amplifier ID).
This value is the axis number in communication.
80h (128) is the device number for setting
80h(128)
control data (such as control start) by one
to
81h(129)
operation to all connected amplifiers. (No
9Fh(159)
response is made by amplifier.)
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.
0 to 2
0 to 11
63
Communication
10 to 1000
response time
64
Retry times of
communication
0 to 9
2
Set the communication speed of RS485
communication.
0: 2400 bps
1: 4800 bps
2: 9600 bps
4
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
10
Communication response time is the shortest time for setting transmission mode in
RS485 bus for response after the amplifier
has received communication data. Actual
data response time depends on the type
and data of order.
Unit [ms]
9
Set the retry times of RS485 communication.
0 to 8: Number of retrials
9: No retrial
－ 70 －
Range of
Default
setting
8065h
65
Protocol timeout 1 to 255
2
Function/Description
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 amplifier
trips due to RS485 communication error.
Unit [seconds]
Change of parameters above is made effective when power is turned on.
•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 necessary for switching between a line and transmission/
reception control.
2) Extension parameter (special command): 8103h to 81B0h
These are parameters to get motor status or to give commands to the amplifier.
Refer to P.81 “Communication command” for detail.
－ 71 －
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:
In 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
Host →
Amplifier
Data reading request command. Command which
requests the parameter, status, and control detail of
amplifier.
#R
23h 52h
Amplifier →
Host
Response to data reading request. Returns the
parameter, status, and control detail of amplifier 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
－ 72 －
－ 73 －
Communication
• Transmission procedure
$P/$S: Data writing/Parameter writing command
(1) Host → Amplifier (Data writing)
SOH
STX
Amplifier ID
Host ID
$
*
P
SOH
Host ID
*
*
*
*
*
*
Data
(parameter value)
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:
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
*
*
*
Data number
(parameter address)
Command
0
0
0
0
Data
(parameter value)
Host ID
ACK
SOH
STX
Host ID
Amplifier ID
#
R
Command
When the status of amplifier changes
Data update request is answered.
4
Other cases than the above
Communication completion response is answered.
ENQ
Amplifier ID
Host ID
SOH
Host ID
STX
Amplifier ID
#
I
9
Command
9
SOH
*
*
*
*
Data number
(parameter address)
*
*
*
*
Reading data
(parameter value)
ETX BCC
SOH
Host ID
EOT
Amplifier ID
•When initial response is confirmed, write parameters as necessary.
2. When receiving data reading / parameter reading
Host ID
(6) Amplifier → Host (Communication completion response)
SOH
0
EOT
－ 74 －
－ 75 －
0
Reading data
Host ID
ACK
Amplifier ID
0
ACK
Amplifier ID
(5) Host → Amplifier (Result response)
SOH
9
(4) Amplifier → Host (Communication completion response)
•Response data when amplifier is powered on is initial request response.
•When requested data number (parameter address) is abnormal, ‘0000’ as reading
data (parameter address) is answered.
•Check whether the data No. (parameter address) is correct, then use the reading data.
9
Data number
(3) Host → Amplifier (Response of result)
Host ID
(4) Amplifier → Host (Response of data)
3
(2) Amplifier → Host (Request of data)
ENQ
Amplifier ID
Refer to data reading command processing.
SOH
(3) Host → Amplifier (Request for sending)
2
Amplifier ID
SOH
Initial request response is answered.
When receiving data reading /
parameter reading
(1) Host → Amplifier (Request for sending)
(2) Amplifier → Host (Result response)
SOH
When amplifier is powered on
1. When the amplifier is powered on
ETX BCC
•Set data ‘0000’ when executing data reading command.
•When amplifier ID is 80h (128), data reading/parameter reading command is ignored.
1
•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.
$R: Data reading/Parameter reading command
(1) Host → Amplifier (Data reading request)
Amplifier ID
ENQ: Request for sending
Data number
(parameter address)
Command
(2) Amplifier → Host (result response)
*
Host ID
0
ETX BCC
Communication
See “$R: Data reading/Parameter reading command” on P.74.
Example of data communication
• When power is turned on
3. When the status of amplifier changes
(1) Host → Amplifier (Request for sending)
SOH
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 ID
(4) Amplifier → Host (Communication completion response)
SOH
Host ID
EOT
Host
→
Amplifier ←
→
SOH
8
(01) (38)
Amplifier ←
Host
→
4. Cases other than the above
Amplifier ←
SOH
Host
(1) Host → Amplifier (Request for sending)
ENQ
Amplifier ID
SOH
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 ←
→
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 ←
－ 76 －
I
9
9
9
9
0
0
0
0
ETX BCC
(49h) (39h) (39h) (39h) (39h) (30h) (30h) (30h) (30h) (03h) (6Bh)
(4) Data update request response
SOH
0
1
8
1
STX
#
(01h) (30h) (31h) (38h) (31h) (02h) (23h)
Host ID
(2) Amplifier → Host (Communication completion response)
(1) Request for sending
SOH
8
1
0
1
ENQ
(01h) (38h) (31h) (30h) (31h) (05h)
(2) Initial request response
SOH
0
1
8
1
STX
#
(01h) (30h) (31h) (38h) (31h) (02h) (23h)
Host
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)
－ 77 －
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) “Homing mode” 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)
－ 78 －
－ 79 －
Communication
Communication command
Communication timing
T1 or above
T2
T1 or above
Host → Amplifier
Amplifier → Host
Request
for sending
Amplifier
bus occupied
Symbol
ACK/NAK
T3
0 to 2 ms
Data transfer
Name
T3
T3
0 to 2 ms 0 to 2 ms
EOT
T3
0 to 2 ms
Value
T1
Communication response time (Amplifier)
Set by Pr63.
T2
Communication response time (Host)
Take interval 10 ms or longer.
T3
Data emitting time from amplifier to host after bus is occupied 0 to 2 ms
<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 Pr65 “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
(Pr64), 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 Pr65 “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
－ 80 －
Response
Data number
8000h to 807Fh
8103h
8104h
8105h
8110h
8111h
8112h
8113h
8114h
8115h
8116h
8117h
8118h
8120h
8130h
8131h
8180h
8190h
8191h
81B0h
Applicable command on host side
$P/$S/$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$P/$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
Present position (rotation number)
Present position (pulse)
Target position (rotation number)
Target position (pulse)
Detail of trip
Input terminal status
Output terminal status
Run command
Trip reset
Forced trip
Parameter EEPROM writing
Communication command in detail
8000h to 807Fh: Parameter
• $P: Parameter writing command (Without EEPROM writing function)
Received data (Host → Motor)
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 Pr60) 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 □□ ’. (‘8062’ for Pr62)
•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.
－ 81 －
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 Pr60) 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 □□ ’. (‘8062’ for Pr62)
•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.
• $R: Parameter reading request command
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 □□ ’. (‘8062’ for Pr62). 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
SOH
Amplifier ID
0
P1
P2
P3
P4 ETX BCC
Parameter value
•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’)
－ 82 －
STX
$
R
8
Command
1
0
Data number
3
0
0
0
Data value
0
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
Data value
D4 ETX BCC
•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
Data value
D4 ETX BCC
•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
D2
D4
Parameter address
Host ID
•Enter request for sending after execution of this command, the amplifier status is
answered.
•Set ‘0000’ in data value.
D3
Transmission data (Amplifier → Host)
Received data (Host → Amplifier)
Received data (Host → Amplifier)
SOH
• $R: Status reading request command
Bit 3
0
0
Bit 2
0
0
Torque under restriction Overload detection
Homing completion
In-motion
Bit 1
0
Bit 0
0
0
0
0
In-position
0
Trip output
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.)Data value = 30h 30h 30h 41h = ‘000A’ = indicates in-position status with homing
completed.
－ 83 －
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’) = 4Dh 42h 4Dh 50h = ‘MBMP’
Model code 2 (‘8105’) = 33h 41h 31h 45h = ‘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.
－ 84 －
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 [%]
－ 85 －
Communication
8115h: Present position (rotation number), 8116h: Present position (pulse)
• $R: Present position reading request command
Received data (Host → Amplifier)
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, present position (rotation
number) (‘8115’) and present position (pulse) (‘8116’) of the motor are answered.
•Set ‘0000’ in data value.
•This command updates the data of 8116h (pulse) when the present position
information 8115h (rotation number) reading command is received.
Therefore, if data of 8116h (pulse) should be read first, it is possible that wrong
present position information before updating may be read out; so be sure to
follow the reading order: 8115h (rotation number) → 8116h (pulse). Use for only
monitoring function.
Transmission data (Amplifier → Host)
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
1
Transmission data (Amplifier → Host)
1
Data number
D1
D2
D3
Data value
D4 ETX BCC
•When the motor receives request for sending after normal completion of present
position reading request command, present position (rotation number) (‘8115’) and
present position (pulse) (‘8116’) of the motor are answered.
•Present position of the motor in command pulse unit (288 pulses per rotation) is
described by rotation number × 288 + pulse.
8117h: Target position (rotation number), 8118h: Target position (pulse)
Amplifier ID
Host ID
STX
$
R
Command
8
1
1
Data number
0
0
0
Data value
0
STX
#
R
Command
8
1
1
D1
Data number
D2
D3
Data value
D4 ETX BCC
• $R: Trip detail reading request command
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
1
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
Transmission data (Amplifier → Host)
SOH
Host ID
Amplifier ID
STX
#
R
Command
8
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.33.)
When the trip number is 0, it indicates that no tripping has occurred.
e.g.)Data value = 30h 30h 31h 35h = ‘0015’ = 21 = Homing error
•Trip history can be read out with parameter (Pr6b to 6F).
ETX BCC
•Enter request for sending after execution of this command, travel target position
(rotation number) (‘8117’) and target position (pulse) (‘8118’) in the absolute
coordinates of motor in positioning operation are answered.
•Set ‘0000’ in data value.
•This command updates data of 8118h (pulse) when reading 8117h (rotation
number) of target position information.
Therefore, if data of 8118h (pulse) should be read first, it is possible that wrong
target position information before updating may be read out; so be sure to
follow the reading order: 8117h (rotation number) → 8118h (pulse). Use for only
monitoring function.
－ 86 －
Amplifier ID
8120h: Detail of trip
Received data (Host → Amplifier)
SOH
Host ID
•When the motor receives request for sending after normal completion of target
position reading request command, travel target position (rotation number) (‘8117’)
and target position (pulse) (‘8118’) of the motor are answered.
•Target position of the motor in command pulse unit (288 pulses per rotation) is
described by rotation number × 288 + pulse.
•Target position in power-on is ‘0’. Target position when the motor trips is updated to
the present position. When the motor is stopped halfway by stop command, the target
position is updated to the stop position.
• $R: Target position reading request command
SOH
Received data (Host → Amplifier)
• #R: Present position response command
• #R: Target position response command
8130h: Input terminal status
• $R: Input terminal status reading request command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
Command
8
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.
－ 87 －
Communication
• #R: Input terminal status response command
8180h: Run command
Transmission data (Amplifier → Host)
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]
Bit 3
0
0
0
I4
D1
D2
D3
D4
Bit 2
0
0
0
I3
Bit 1
0
0
0
I2
Bit 0
0
0
0
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.
• $R: Output terminal status reading request command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
R
8
Command
1
3
Data number
1
0
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
0
Bit 1
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.
－ 88 －
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
Bit 0
0
0
0
O1
$
P
8
Command
1
8
Data number
0
D1
D2
D3
D4 ETX BCC
Data value
•When the amplifier is powered on with Pr3E set at “1” (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.44.) When Pr3E is “0” (command through I/O), 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]
8131h: Output terminal status
• $P/$S: Run command
D1
D2
D3
D4
Name
Bit 3
REV
0
POINT2
JOG_REV
Function
H_STOP*
Instantaneous
stop
S_STOP*
Deceleration stop
M_FREE* Motor-free
STEP
POINT
JOG_FWD
JOG_REV
HOMING
POINT1
POINT2
REV
Sequential
run start
Run start
Forward jog start
Reverse jog start
Homing start
Point designation 1
Point designation 2
Direction switching
Bit 2
0
M_FREE
POINT1
JOG_FWD
Bit 1
0
S_STOP
0
POINT
Bit 0
0
H_STOP
HOMING
STEP
Detail
When the motor is in motion, stop the motor based on setting of
Pr59 "Deceleration time in instantaneous stop".
Operation directive is not accepted as long as this signal is on.
The motor reduces speed and stops when it is in motion.
Operation directive is not accepted when the motor is stopped or
when this signal is on.
Sets the motor free.
Operation directive is not accepted as long as this signal is on.
Whenever this signal is turned on, positioning point number is
automatically incremented by 1 to executed positioning.
Maximum point number of positioning is determined by Pr0E.
Executes positioning operation to the point chosen by POINT 1 and 2.
The motor operates in + direction as long as this signal is on.
The motor operates in − direction as long as this signal is on.
Homing operation is started when this signal is turned on.
Choose a point number.
Choose a point number.
Motor operation signal is inverted when this signal is on.
*When a signal of the same function is assigned to the input signal ( Ι 1 to Ι 4), function is made effective by activation of any signal.
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 31h 30h = ‘0010’ = Indicates homing start.
－ 89 －
Communication
Conformance to EC directive and UL standard
EC Directives
8190h: Trip reset
• $P/$S: Trip reset command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
P
Command
8
1
9
Data number
0
0
0
0
Data value
1
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.
8191h: Forced trip
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
• $P/$S: Forced trip command
Received data (Host → Amplifier)
SOH
Amplifier ID
Host ID
STX
$
P
Command
8
1
9
Data number
1
0
0
0
Data value
1
ETX BCC
•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.
UL
CE
• $P/$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.
－ 90 －
UL1004
UL508C
CSA C22.2 No.14
（c-UL） C22.2 No.100
81B0h: Parameter EEPROM writing
Installation
condition
Applicable standard
CCC
KC
Standard for electric motor
Standard for electric converter equipment
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 *2 Class A Instrument
(commercial broadcast communications equipment)
—
*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.
－ 91 －
Brushless Amplifier
Conformance to EC directive and UL standard
Grounding
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.
Qty.
Noise filter
(single phase 100, 200 V)
DV0P4170
SUP-EK5-ER-6
1
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
Manufacturer
Okaya Electric
Industries Co. Ltd.
TDK Corporation
Noise filter
• DV0P4170
7.0
• DV0PM20042
100.0±2.0
88.0
75.0
Terminal cover
(transparent)
53.1±1.0
5.0
115
105
95
Label
2−ø4.5×6.75
2−ø4.5
6-M4
5.5
Earth terminal
M4
Label
10
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.
Manufacturer's
parts number
70
43
Surge
absorber
When installing one noise filter at the power supply for more than one
brushless motor used, contact the manufacturer of noise filter.
Optional parts
number (option)
12.0
Noise
filter
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).
Part name
50.0
60.0
MCCB
(breaker)
Fuse
・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.
10.0
Power
supply
List of compatible peripheral equipment
2.0
Configuration of peripheral equipment
Screw
for cover
M3
M4
（11.6）
（13.0）
Cover
52
Wiring of peripheral equipment
[Unit: mm]
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)
－ 92 －
* The ferrite core should insert one
or more pieces in an electric wire,
respectively.
－ 93 －
Body
Conformance to EC directive and UL standard
• Brushless motor specifications
Surge absorber
Item
Circuit diagram
①
2
Voltage
for 100 V/200 V
Rated input current
(A(rms))
Moment of inertia of
rotor（×10−4kg･m2）
90 mm sq.
MBMU9A1AB MBMU9A2AB MBMU1E1AB MBMU1E2AB
50
Starting torque *1
(N･m)
UL-1015 AWG16
41±1
90
for 100 V
[Unit: mm]
Circuit diagram
②
③
2
3
4.5±0.5
1
0.24
0.43
0.62
0.53
0.53
1.00
0.50
0.12
0.27
34±1
3000
4000
30 to 4000
Insulation resistance
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
Ball bearing
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.
20 to 85% RH (free from condensation)
Altitude
Lower than 1000m
Vibration
4.9 m/s2 or less (10 to 60 Hz) X, Y, Z
Motor insulation class
130(B) (UL certified 105 (A))
Impact
Storage temperature
mass: 62.8g
Storage humidity
Lower than 98m/s2
–20˚C to 60˚C ( free from condensation)
*Extreme temperatures are permissible only for short period such as during transportation.
85%RH or below (free from condensation)
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
－ 94 －
IP65*3
Number of poles
30±1
13±1
Protection structure
[Unit: mm]
0.36
0.05 mm or less at the position of 3 mm from the shaft end
Ambient humidity
39±1
0.72
Axial runout
Ambient temperature
Noise filter for control signals
1.30
Continuous
Speed control range
(r/min)
Isolation voltage
41±1
for 200 V
0.41
maximum rotation
speed（r/min）
Bearing
UL-1015 AWG16
28±1
+30
200 −0
28.5±1
①
for 100 V
0.29
Rating
5.5±1
11±1
ø4.2±0.2
130
for 200 V
0.16
Rated rotation speed *2
（r/min）
• DV0P1450
• DV0P1460
MBMU5AZAB
Motor rated output (W)
4.5±0.5
1
②
Specifications
80 mm sq.
Motor model No.
Rated torque (N･m)
28±1
+30
200 −0
28.5±1
ø4.2±0.2
Flange size
[Unit: mm]
5.5±1
11±1
• DV0P4190
Specifications
Motor mass (kg)
8
0.7
1.0
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.
－ 95 －
Specifications
• Brushless amplifier GP series specifications
Item
Item
Specifications
Amplifier model No. MBEG5A1BCP MBEG5A5BCP MBEG9A1BCP MBEG9A5BCP MBEG1E1BCP MBEG1E5BCP
Applicable motor
model No.
MBMU5AZAB
Motor rated
output (W)
50
Input power
supply voltage
(V)
Single phase
100 to 120
MBMU9A1AB MBMU9A2AB MBMU1E1AB MBMU1E2AB
90
Single 3-phase
phase
Single phase
200 to 240
100 to 120
Frequency (Hz)
Single 3-phase
phase
Single phase
200 to 240
100 to 120
Single 3-phase
phase
200 to 240
4 points (Travel distance, speed, acceleration time, deceleration time,
and relative/absolute can be set per point)
Positioning resolution
288 pulse/rotation (Accuracy: Within ±5° degrees at 20 ℃ at no load)
Signal input
4 inputs *1
Signal output
2 outputs (Open collector) *1
Communication function
via RS485
Setting of parameter, monitoring of control condition and the like
are enabled with RS485 interface. Max 31 units.
50/60
1.5
0.7
0.6
0.35
2.2
1.1
1.1
0.5
0.6
2.8
1.7
Voltage tolerance
±10％
Control method
Speed control by CS signal Driving system by PWM sine wave
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 (free from condensation)
Atmosphere
Indoor (without corrosive gas, dirt, dust, etc.)
Altitude
Lower than 1000 m
Vibration
5.9 m/s2 or less (10 to 60 Hz)
–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 (free from condensation)
<Note>
To start/stop the motor, use signal inputs (I 1, I 2, I 3, I 4, etc.).
If power is turned on/off to start/stop the motor, the life of the internal circuitry will be shortened.
Performance
Storage
temperature
Function
Rated output
current (A)
Ambient conditions
Basic Specifications
Rated input
current (A)
130
Specifications
Number of
positioning points
Change parameter/
Monitor of condition
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
be provided with RS232 port or RS232-USB convertor.
(
)
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.)
Protective function
Overload, Overcurrent, Overvoltage, Undervoltage, System error,
Setting change warning, Over-speed, Sensor error, Overheat, Position error,
External forced trip, Position error counter overflow, RS485 communication error,
Operation execution error, Homing error, present position overflow,
Hardware limit error, Digital key pad communication trouble, user parameter error,
and system parameter error
Regenerating brake
Regenerative braking resistor can be externally connected. *2
Instantaneous braking torque 150%, Continuous regenerative power 10 W
Regenerative operation with which motor shaft is rotated by load,
e.g. load lowering operation, should not be continued.
Rated rotation speed
(
3000 r/min
Speed control range
30 to 4000 r/min (Speed ratio 1:133)
Allowable motor cable
extension length
Up to 10 m (Panasonic option cable)
Protection level
)
115%/ Overload protection time characteristics 150% 60 sec
Insulation resistance
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.
Isolation voltage
1500 VAC, 1 minute, 10 mA or less (between power and grounding wire)
Protection structure/
Cooling system
Equivalent to IP20
/Self cooling
Amplifier mass (kg)
0.37
*1 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.
*2 Use the optional external regenerative resistor (For 100 V: DV0P2890, For 200 V: DV0PM20068)
(sold separately).
－ 96 －
－ 97 －
Specifications
• Speed-torque characteristic
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
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]
0
• Motor
50 W
90 W 100V
Grounding terminal.
(M4 ring terminal)
Connector
cover
Instantaneous operation region
Continuous operation region
1000
2000
3000
4000
90 W 200V
Rotation
speed
[r/min]
73.5
57.5
(20.5)
Continuous operation region
1000
2000
3000
4000
90 W/130 W
200±20
500±50
4000
Rotation
speed
[r/min]
Torque 0.8
[N·m]
0.62
(0.45) Instantaneous operation region
0.41
0.4
(0.31)
Continuous operation region
1000
2000
3000
4-ø6.5
Grounding terminal.
(M4 ring terminal)
Connector
cover
130 W 200V
0
temporary
(for
assembling screw)
O-ring
Continuous operation region
2000
3000
(2500)
2-ø3.1
Rotation
speed
[r/min]
130 W 100V
1000
4
ø9
Instantaneous operation region
0.41 Instantaneous operation region
0.4
(0.31)
(0.24)
0
CW
CCW
7 2
MBEG1E1BCP／MBMU1E1 * *
MBEG1E5BCP／MBMU1E2 * *
Torque 0.8
[N·m]
0.62
□80
16
4000
Rotation
speed
[r/min]
83.5
65
(28)
<Note>
1. Instantaneous operation region is a
typical value.
2. Dashed line represents the torque
when power supply voltage falls 10%.
□90
18.5
CCW
04
ø1
2-ø3.5
temporary
(for
assembling screw)
O-ring
－ 98 －
CW
7 2
0
ø85 −0.040
1000
[Unit: mm]
200±20
500±50
50 W 100V
0
Dimensions
MBEG9A1BCP／MBMU9A1 * *
MBEG9A5BCP／MBMU9A2 * *
0
ø75 −0.040
MBEG5A1BCP／MBMU5AZ * *
MBEG5A5BCP／MBMU5AZ * *
4-ø8.5
－ 99 －
Specifications
Dimensions
• Gear head
[Unit: mm]
• Brushless amplifier
(For 50W motor, sold separately)
0
ø15h7 -0.018
ø5
.2
0
5 -0.030
10
75
105
13
□80
21
Parts name
Gear head
mounting screw
Nut
Flat washer
Temporary assembling screw
Key
Dimension
Application
Quantity
Remarks
M6 × length 65 MB8G5BV to MB8G20BV
4
Hexagon socket head bolt
M6 × length 70 MB8G30BV, MB8G50BV
4
Hexagon socket head bolt
M6
4
For M6
4
M2.6 × length 12
2
Hexagon socket head bolt
(See key dimension.)
1
[Attachments of MB9G]
□90
120
0
6 -0.030
0
14.5 -0.15
18
ø40
0
6 -0.030
0
5
25
0.
35
±
5
42
6 -0.030
• Backlash
Less than 2 ° (design value)
Parts name
Gear head
mounting screw
Nut
Flat washer
Temporary assembling screw
Key
*45(58)
04
Key dimension
10
ø1
Nameplate
(5.2)
5.2
21
(For 90W/130W motor, sold separately)
• Reduction gear ratio in □
• Reduction gear ratio is available in
6 types: 5, 10, 15, 20, 30, and 50.
130
4-ø6.5
<Information>
Dimension in ( ) marked with * indicates dimension
with reduction gear ratio 30 or above.
140
0
12 -0.15
ø34
0
5 -0.030
5
[Attachments of MB8G]
25
25
0.
0
26.5
5 -0.030
• Backlash
Less than 2 ° (design value)
MB9G□BV
7
35
±
25
*41(46)
4
Nameplate
Key dimension
35
ø9
• Reduction gear ratio in □
• Reduction gear ratio is available in
6 types: 5, 10, 15, 20, 30, and 50.
0
ø18h7 -0.018
MB8G□BV
4-ø8.5
<Information>
Dimension in ( ) marked with * indicates dimension
with reduction gear ratio 30 or above.
Dimension
Application
Quantity
Remarks
M8 × length 75 MB9G5BV to MB9G20BV
4
Hexagon socket head bolt
M8 × length 90 MB9G30BV, MB9G50BV
4
Hexagon socket head bolt
M8
4
For M8
4
M3 × length 12
2
Hexagon socket head bolt
(See key dimension.)
1
－ 100 －
－ 101 －
4.3
Options
• Digital key pad
• Motor extension cable
Optional parts number Length (L)
Mounting hole side
14
ø30 hole
②
①
5
+5V
6
—
7
8
9
SCK SIN SOT
Digital key pad
connector pin No.
10
—
6
1
10
5
• Digital key pad connection cable
Optional parts number Length (L)
1m
3m
5m
L
1
30
[Unit: mm]
• 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.
• PC connection cable (10-pin D-sub connector pin 1.5 m)
8
8
6
7
— GND SCK
7
— 3
Optional parts number Length (L)
DV0P4140
L＝1.5±0.1m
1.5 m
CN3
JST
Brushless amplifier side connector (modular plug RJ45)
Connected to (SER)
<Digital key pad side connector>
(MoleX.)
Housing : 39-01-2105(5557-10R-210)
Terminal : 39-00-0046(5556T2)
or
39-00-0047(5556T2L)
Terminal No. of SER connector 1
4
2
5
3
— +5V SOT SIN —
Terminal name
9
Digital key pad side connector pin No. — 5
8 —
Insulating cap
(for grounding wire insulation)
CONNECTOR: DB-9SS
( D-sub connector )
Connect it to RS232
port on the PC.
When using USB,
prepare RS232-USB
converter.
POWER
(3)
CN2
4
—
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)
6
3
GND
200
Grounding wire
AWG20 Green/Yellow
(75.5)
2
—
200
• Insulating cap (for grounding wire insulation) 1
• M4 × 6 pan head screw with spring washer 1
• M4 hex. nut
1
ø13.5
28
60
70
70
60
1
—
(45)
Protection cap
Grounding wire
AWG20 Green/Yellow
• Accessories
[Unit: mm]
2-M3 or
ø3.7 hole
Digital key pad connector terminal symbol
DV0P38310
DV0P38330
DV0P38350
(45)
M4 round terminal
2-ø3.5
Terminal No.
Terminal name
1m
3m
5m
10 m
6
20
DV0PQ1000110
DV0PQ1000130
DV0PQ1000150
DV0PQ10001A1
9
65
55
1
65
55
[Unit: mm]
L
5
DV0P3500
(25)
This 14-pin connector is
used for different series.
(54)
10-pin connector
Connect the digital
key pad connection
cable
(
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
－ 102 －
－ 103 －
)
[Unit: mm]
Options
• Power cable (single phase 100 V, 200 V) with connector
• I/O connector kit
Optional parts number Length (L)
Optional parts number
DV0PM20077
2m
Name
Manufacturer’s parts No. Qty.
Connector
DV0PM20070
Connector pin
2000±200
PAP-10V-S
SPHD-002T-P0.5
Manufacturer
Note
1
Fits to
J.S.T Mfg.Co.,Ltd.
I/O connector
10
• PAP-10V-S
UL3266 AWG20×2
J.S.T Mfg.Co.,Ltd. FN1.25-4 or equivalent ×2
10
Connector for power supply connection (Molex.)
Housing : 39-01-2105(5557-10R-210)
Terminal : 39-00-0038(5556T) or 39-00-0039(5556T2)
• Grounding wire
[Unit: mm]
Manufacturer’s parts No. Qty. Manufacturer
Connector 39-01-2105(5557-10R-210)
Connector pin 39-00-0060(5556PBTL)
1
6
Molex Inc
Note
Fits to power supply
connector (POWER)
8
9 10
2
3
4
2
1
Name
Manufacturer’s parts No. Qty. Manufacturer
Connector 39-01-2105(5557-10R-210) 1
10
Connector pin 39-00-0047(5556T2L)
6
7
8
9 10
1
2
3
4
5
Optional parts number
DV0P2890
DV0PM20068
φ4.3
Specifications
100 V, 50 Ω
200 V, 200 Ω
57
φ4.3
2000±200
Heat shrinkable tube
[Unit: mm]
20±5
20±5
10
2m
Cable AWG26 10-wire type
BANDO DENSEN Co., ltd UL2517
Terminal
5556PBTL (or 5556PBT)
65
Optional parts number Length (L)
20±5
* Connect terminals to pins No.3 and
No.5 of the power supply connector,
respectively.
300
60
52
5
30±10
(5)
Molex Inc
Note
Fits to
Console A
• 39-01-2105（5557-10R-210）
• Control signal cable (Cable with an I/O connector)
DV0PM20076
3
t0.6
7
4
• DV0P4190, DV0PM20068
• 39-01-2105（5557-10R-210）
1
5
• External regenerative resistor
• Power supply connector kit
6
6
DV0P3610
• When supplying 3-phase power source to a 200 V brushless amplifier, use the supplied
power cable and connect 2 conductors to L1 and L2.
• When supplying 3-phase power, use a power connection kit and connect three conductors to
L1, L2 and L3.
DV0P2870
7
Optional parts number
500±50
J.S.T Mfg.Co.,Ltd. FN1.25-4 or equivalent
Name
8
• Panel connector kit (Fits to Console B)
UL3266 AWG16 (Green/Yellow)
Optional parts number
9
[Unit: mm]
Connector (J.S.T Mfg. Co., Ltd.)
Connector : PAP-10V-S
Terminal : SPHD-001T-P0.5
－ 104 －
－ 105 －
Options
• Reactor
• DIN rail attachment unit
Fig.1( for 3-phase power supply)
Optional parts number
DV0P3811
35
2-M4, bar ring
(for mounting)
5
20
Fig.2 (for single phase power supply)
(6)
E
130.5
Mounting plate
140
E
6-I
C D
A
4-H
(Mounting pitch)
(7)
Rail stopper
(6)
[Unit: mm]
C D
H
F
A
Part where DIN
rail is mounted
Hook the upper side of DIN rail
mounting part on the DIN rail.
Press
lightly.
Optional
parts
number
A
B
Fig.1 DV0P220 65±1 125±1
C
(93)
D
F: Center-to-center distance
on slotted hole
E (Max)
F
G
H
I
136Max 155 70+3/−0 85±2 4-7φ×12 M4
Rated
Inductance
current
(mH)
(A)
6.81
3
4.02
5
Ensure that the rail stop
has been pushed in.
Fig.2 DV0P227 55±0.7 80±1 66.5±1 110Max 90
Press lightly the lower part of
the main body of amplifier.
<Remarks>
When using a reactor, be sure to install one reactor to one brushless amplifier.
• Removing from DIN Rail
Pull out the lower part
of the amplifier to the
near side.
By lifting
the amplifier,
you can remove it
from the DIN rail.
• Wiring of the reactor
<3-Phase 200 V>
Power
supply
side
41±2
55±2 4-5φ×10 M4
<Single phase 100, 200 V>
Amplifier
side
With the rail stop released, pull out
the lower part of the amplifier to
the near side.
－ 106 －
4-H
A
F: Center-to-center distance
on outer circular arc
With rail stop
pushed in
F
G
F
• How to Install
DIN rail
4-H
A
B
G
B
Amplifier mounted to DIN rail
F
(Mounting pitch)
－ 107 －
Power
supply
side
Amplifier
side
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.
－ 108 －
•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.
－ 109 －
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.
□□□ BCP
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」
IME49
P1212-0