No.SX-DSV03025 REFERENCE SPECIFICATIONS MODEL Product Name: AC servo driver Part Number : MINAS-A6 series (Multifunction type) Issued on Revised on Spt. 1, 2015 Nov. 11, 2015 Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku , Daito-City, Osaka 574-0044 Japan No. SX-DSV03025 REVISIONS Date Page Rev. Spt. 1, 2015 - - Nov. 1, 2015 - 1.0 Description Signed NEWLY ISSUED - DEFAULT VALUE OF THE PARAMETERS CHANGED - Motor Business Unit, Panasonic Corporation No. SX-DSV03025 Contents 1. Scope ································································································································· 1 2. Model designation code ············································································································ 1 3. Product line-up ······················································································································ 2 4. General specifications ·············································································································· 4 4-1 General specification ········································································································· 4 4-2 Specifications by model ······································································································ 5 5. Appearance and part names ········································································································ 6 6. Configuration of connectors and terminal blocks ··············································································· 11 6-1 Power connector XA , XB , XC , XD and terminal block ························································ 11 6-2 USB connector X1 ··········································································································· 15 6-3 Serial bus connector X2 ····································································································· 15 6-4 Safety function connector X3 ······························································································ 16 6-5 Parallel I/O connector, X4 ·································································································· 17 6-6 External feedback device connector X5 ··················································································· 22 6-7 Encoder connector X6 ······································································································· 23 7. Dimensions ·························································································································· 26 8. Wiring ································································································································ 38 8-1 Used cables and maximum cable lengths ·················································································· 38 8-2 Various connectors············································································································ 38 8-3 Precautions for wiring ········································································································ 39 9. Compliance with global standards ································································································ 54 9-1 Conforming standards ········································································································ 54 9-2 European EC directive········································································································ 54 9-3 Peripheral device configuration ····························································································· 55 9-4 List of peripheral devices applicable to servo driver ····································································· 57 9-5 Compliance with UL standard ······························································································· 59 9-6 Radio waves act (South Korea) precautions ··············································································· 60 9-7 Compliance with SEMI F47 instantaneous stop standard································································ 60 10. Safety precautions ················································································································· 61 11. Life and warranty ·················································································································· 65 11-1 Life expectancy of the driver······························································································· 65 11-2 Typical life ··················································································································· 65 11-3 Warranty period·············································································································· 65 12. Others ······························································································································· 66 13. Specification for each model ····································································································· 67 The maximum value of torque limit setup Default value of the parameters Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 1 - 1. Scope These specifications relate to the servo driver for the AC servo system that is comprised of the AC servo motor manufactured and supplied by Motor Business Unit, Smart Factory Solutions Business Division, Automotive & Industrial amplifier Systems Company, Panasonic Corporation. 2. Model designation code Notation of the machine designation code is as follows: Size A B C D E F 1 2 3 4 5 6 7 8 9 10 11 12 M A D L T 1 5 S F * * * Custom specification (Alphanumeric) : : : : : : Size A Size B Size C Size D Size E Size F User Interface • Rotary type E : Basic type F : Multifunction type AC Servo Drive L : A6 series Safety function N : Without functional safety T : Safe torque off (STO) Maximum instantaneous output current 0 1 2 3 4 5 8 A B : : : : : : : : : Power supply voltage 1 : Single phase 3 : 3 phase 5 : Single or 3 phase 100 V 200 V 200 V 7.5 A 10 A 20 A 30 A 40 A 50 A 80 A 125 A 150 A Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 2 - 3. Product line-up Servo driver Motor used Model Size Power supply input Model Voltage specification Rated output Rated speed Encoder specification MADLT01SF A Single MSMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23 bits 100 V MHMF5AZL1** 100 V 50 W 3000 r/min 7 cores, 23 bits Single MSMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits 100 V MQMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits MHMF011L1** 100 V 100 W 3000 r/min 7 cores, 23 bits Single / 3 phase MSMF5AZL1** 200 V 50 W 3000 r/min 7 cores, 23 bits 200 V MHMF5AZL1** 200 V 50 W 3000 r/min 7 cores, 23 bits MSMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits MQMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits MHMF012L1** 200 V 100 W 3000 r/min 7 cores, 23 bits Single / 3 phase MSMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits 200 V MQMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits MHMF022L1** 200 V 200 W 3000 r/min 7 cores, 23 bits Single MSMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits 100 V MQMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits MHMF021L1** 100 V 200 W 3000 r/min 7 cores, 23 bits Single / 3 phase MSMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits 200 V MQMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits MHMF042L1** 200 V 400 W 3000 r/min 7 cores, 23 bits Single MSMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits 100 V MQMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits MHMF041L1** 100 V 400 W 3000 r/min 7 cores, 23 bits Single / 3 phase MSMF082L1** 200 V 750 W 3000 r/min 7 cores, 23 bits 200 V MHMF082L1** 200 V 750 W 3000 r/min 7 cores, 23 bits Single / 3 phase MGMF092L1** 200 V 850 W 1500 r/min 7 cores, 23 bits 200 V MSMF092L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits MDMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits MHMF102L1** 200 V 1.0 kW 2000 r/min 7 cores, 23 bits Single / 3 phase MHMF092L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits 200 V MSMF102L1** 200 V 1.0 kW 3000 r/min 7 cores, 23 bits MGMF132L1** 200 V 1.3 kW 1500 r/min 7 cores, 23 bits MSMF152L1** 200 V 1.5 kW 3000 r/min 7 cores, 23 bits MDMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits MHMF152L1** 200 V 1.5 kW 2000 r/min 7 cores, 23 bits MADLT11SF MADLT05SF MADLT15SF MBDLT21SF MBDLT25SF MCDLT31SF MCDLT35SF MDDLT45SF MDDLT55SF A A A B B C C D D Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 3 - Servo driver Motor used Model Size Power supply input Model Voltage specification Rated output Rated speed Encoder specification MEDLT83SF E 3 phase MGMF182L1** 200 V 1.8 kW 1500 r/min 7 cores, 23 bits 200 V MSMF202L1** 200 V 2.0 kW 3000 r/min 7 cores, 23 bits MDMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits MHMF202L1** 200 V 2.0 kW 2000 r/min 7 cores, 23 bits 3 phase MSMF302L1** 200 V 3.0 kW 3000 r/min 7 cores, 23 bits 200 V MDMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits MHMF302L1** 200 V 3.0 kW 2000 r/min 7 cores, 23 bits 3 phase MGMF292L1** 200 V 2.9 kW 1500 r/min 7 cores, 23 bits 200 V MSMF402L1** 200 V 4.0 kW 3000 r/min 7 cores, 23 bits MDMF402L1** 200 V 4.0 kW 2000 r/min 7 cores, 23 bits MHMF402L1** 200 V 4.0 kW 2000 r/min 7 cores, 23 bits MGMF442L1** 200 V 4.4 kW 1500 r/min 7 cores, 23 bits MSMF502L1** 200 V 5.0 kW 3000 r/min 7 cores, 23 bits MDMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits MHMF502L1** 200 V 5.0 kW 2000 r/min 7 cores, 23 bits MFDLTA3SF MFDLTB3SF F F Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 4 - 4. General specifications 4-1 General specification Single phase 100 - 120 V + 10% - 15% 50/60 Hz Single phase 100 - 120 V + 10 % - 15 % 50/60 Hz A-D Single/3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz E-F 3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz A-D Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz Main circuit power 100 V Control circuit power Input Main circuit power power supply 200 V Control circuit power E-F Temperature Operation temperature: 0 - 55 degrees C (no freezing) Storage temperature: -20 – 65 degrees C (Max.temperature guarantee : 80 degrees C for 72 hours no condensation*) Operation conditions Humidity Operation and storage humidity 20 - 85 %RH or less (no condensation*) Height above the sea Height above the sea level: 1000 meters or less 5.88 m/s2 or less, 10 – 60 Hz Vibration Insulation voltage Resistant to 1500 V AC between primary power supply and ground for a minute (Sensed current: 20 mA) Basic specifications Control method IGBT PWM method, sinusoidal drive Encoder feedback 23Bit(resolution:8388608) 7cores-serial absolute encoder Input Control signal Output Input Analogue signal Output Multi-function input x 10 Function of each multi-function input is assigned by the parameter. Multi-function output x 5 + dedicated output x 1 (alarm output) Function of each multi-function output is assigned by the parameter. 3 inputs (16bit A/D x 1, 12bit A/D x 2) 2 outputs for analog monitor 2 inputs Input Both open collector and line driver interface can be connected. High speed line driver interface can be connected. Pulse signal 4 outputs Output Line driver output for encoder pulses (A/B/Z signal) or external feedback pulses (EXA/EXB/EXZ signal) open collector output also available for Z or EXZ signal Communication USB USB interface to connect to computers for parameter setting or status monitoring. RS232 1:1 communication RS485 1: n communication (max 31) Safety terminal A dedicated connector is provided for Functional Safety Front panel 5 key switches, 6-digit 7-segment LED Regeneration Size A, B: External regen resistor only Size C - F: Built-in regen resistor (External regen is also available) Dynamic brake Size A - F: Built-in Selectable from the following 7 modes by parameter: Control mode [1]position control [2]velocity control [3]torque control [4]position/velocity control [5]position/torque control [6]velocity/torque control [7]full-closed control Please note that condensation tend to occur when temperature fall. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 5 Digital input Deviation counter clear, command pulse inhibition, command scaling switch, anti-vibration switch, etc. Digital output Positioning completion, etc. Max command pulse frequency Position control Command pulse input mode 500kpps (Optocoupler interface) 8Mpps (Line receiver interface) Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction) Pulse input Applicable scaling ratio: 1/1000 - 1000 Command pulse scaling Any value of 1 - 2030 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above. (Electronic gear) Analog input Smoothing Filter 1st order filter or FIR filter selectable for command input Torque limit Torque can be limited separately in positive/negative direction Torque feed forward Analog voltage can be used as torque forward input Instantaneous speed observer Available Anti-vibration control Available Two-degree-of-freedom control Digital input Digital output At speed, etc. Speed command Analog input Velocity control Available Internal command speed selections 1-3, speed-zero clamp, etc. Speed command can be given by analog voltage. The scale and the polarity can be set by parameters. Torque limit Torque can be limited separately in positive/negative direction Torque feed forward Analog voltage can be used as torque forward input. Preset velocity control Preset velocity is selectable from 8 steps by digital inputs. 0 – 10s / 1000 r/min Acceleration and deceleration can be set separately. S-curve acceleration/deceleration is also available. Soft start/slowdown function Speed zero clamp Preset velocity command can be clamped to zero by the speed zero clamp input. Instantaneous speed observer Available Speed command filter Available Available Digital input Speed-zero clamp, torque command, etc. Digital output At speed, etc. Analog input Torque command can be given by analog voltage. Torque command The scale and the polarity can be set by parameters. Speed limit Speed limit can be set by parameter Two-degree-of-freedom control Digital input Not Available Deviation counter clear, command pulse inhibition, command scaling switch, anti-vibration switch, etc. Digital output Positioning completion, etc. Max. command pulse 500kpps (Optocoupler interface) 4Mpps (Line receiver interface) frequency Command pulse input Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction) mode Pulse input Full-closed Control Applicable scaling ratio: 1/1000 - 1000 Command pulse scaling Any value of 1 – 2030 can be set for both numerator (which corresponds to encoder resolution) (Electronic gear) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above. Smoothing Filter Analog input 1st order filter or FIR filter selectable for command input Torque limit Torque can be limited separately in positive/negative direction Torque feed forward Analog voltage can be used as torque forward input. Applicable scaling ratio: 1/40 - 160 External scale scaling Any value of 1 – 2020 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to external scale resolution), but the combination has to be within the range shown above. Anti-vibration Control Available Two-degree-of-freedom control Not Available Identifies the load inertia in real-time and automatically, sets up the gain that meets the stiffness setting when the motor is operating according to the command given by the controlling device and set up support software “PANATERM”. Auto-tuning Common Function Torque Control Two-degree-of-freedom control Scaling of feedback pulse Protective function Any number of pulses can be set up. (maximum setting number is encoder resolution) Hardware error Overvoltage, undervoltage, over speed, overload, overheat, over current, encoder error, etc. Software error Following error fault, command pulse scaling error, EEPROM error, etc. Alarm data trace back Tracing back of alarm data is available 4-2 Specifications by model Refer to specification for each model. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 6 - 5. Appearance and part names 100 V,200 V size A, B Front panel Charge lamp XA: Power supply input S05B-F32SK-GGXR (JST) (or equivalent) X1:USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) XB: Motor output S06B-F32SK-GGXR (JST) (or equivalent) XA:Power supply input connection 05JFAT-SAXGGKK-A (JST) (or equivalent) X2:Serial bus connection CIF-HS08SS-072-TB (LF) (JST) (or equivalent) XB:Motor connection 06JFAT-SAXGGKK-A (JST) (or equivalent) X3:Safety function connection CIF-HS08SS-071-TB (LF) (JST) (or equivalent) X4:Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X3:Safety bypass plug CIF-PB08AK-GF1R (JST) X6:Encoder connection 3E106-223AKV(3M) (or equivalent) Earth connection screw XA:Power supply input connection XB:Motor connection X5:External scale connection MUF-RS10SK-GKX-TB(LF) (JST) (or equivalent) L1 L2 L3 L1C L2C Main power supply input P N B U V W Regenerative resistor connection Control power supply input Motor output Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 7 100 V,200 V size C, D Front panel Charge lamp XA: Power supply input S05B-F32SK-GGXR (JST) (or equivalent) X1:USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) XB: Motor output S06B-F32SK-GGXR (JST) (or equivalent) XA:Power supply input connection 05JFAT-SAXGGKK-A (JST) (or equivalent) X2:Serial bus connection CIF-HS08SS-072-TB (LF) (JST) (or equivalent) X3:Safety function connection CIF-HS08SS-071-TB (LF) (JST) (or equivalent) XB:Motor connection 06JFAT-SAXGGKK-A (JST) (or equivalent) X4:Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X3: Safety bypass plug CIF-PB08AK-GF1R (JST) Earth connection screw XA:Power supply input connection XB:Motor connection L1 L2 L3 L1C L2C Main power supply input P RB B U V W Regenerative resistor connection X6:Encoder connection 3E106-223AKV(3M) (or equivalent) X5:External scale connection MUF-RS10SK-GKX-TB(LF) (JST) (or equivalent) Control power supply input Motor output Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 8 200 V size E Front panel Charge lamp XA: Power supply input S05B-JTSLSK-GSANXR (JST) (or equivalent) X1:USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) XC: Regenerative resistor connection S04B-JTSLSS-GSANXR (JST) (or equivalent) XB: Motor output S03B-JTSLSK-GSANXR (JST) (or equivalent) X2:Serial bus connection CIF-HS08SS-072-TB (LF) (JST) (or equivalent) XA:Power supply input connection 05JFAT-SAXGSA-L (JST) (or equivalent) X3:Safety function connection CIF-HS08SS-071-TB (LF) (JST) (or equivalent) XC:Regenerative resistor connection 04JFAT-SAXGSA-L (JST) (or equivalent) XB:Motor connection 03JFAT-SAXGSA-L (JST) (or equivalent) X4:Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X3: Safety bypass plug CIF-PB08AK-GF1R (JST) X6:Encoder connection 3E106-223AKV(3M) (or equivalent) Main power supply input Control power supply input X5:External scale connection MUF-RS10SK-GKX-TB(LF) (JST) (or equivalent) L1 L2 L3 L1C L2C Regenerative resistor connection P RB B N Motor output U V W Earth connection screw XA:Power supply input connection XC:Regenerative resistor connection XB:Motor connection Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 9 200 V size F Front panel Charge lamp X1:USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) X2:Serial bus connection CIF-HS08SS-072-TB (LF) (JST) (or equivalent) X3:Safety function connection CIF-HS08SS-071-TB (LF) (JST) (or equivalent) X4:Parallel I/O connection DF02R050NA2 (JAE) (or equivalent) X3: Safety bypass plug CIF-PB08AK-GF1R (JST) X6:Encoder connection 3E106-223AKV(3M) (or equivalent) X5:External scale connection MUF-RS10SK-GKX-TB(LF) (JST) (or equivalent) Earth connection screw Main power supply input Control power supply input Regenerative resistor connection Motor output L1 L2 L3 L1C L2C P RB B N U V W Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 10 Name plate Model number Serial Number e.g.): P 1 5 0 7 0 0 0 1 N Lot number Month of production Year of production (Lower 2 digit of AD year) QR code Standard mark Input/output voltage Number of phase Rated input/output current Input/output frequency Rated output of applicable motor Country of origin Manufacture date e.g.): 2 0 1 5 0 7 0 1 Manufacture date Manufacture month Manufacture year Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 11 - 6. Configuration of connectors and terminal blocks 6-1 Power connector XA , XB , XC , XD and terminal block [1] Size A, B of 100 V and 200 V system XA XB Connector pin No. Terminal symbol 5 L1 4 L2 3 L3 2 L1C 1 L2C 6 P 5 N 4 B 3 2 1 U V W Name Description 100 V Main power supply input 200 V + 10 % 50/60 Hz input - 15 % Use L1 and L3 terminal for single phase input + 10 % Single or 3 phase 200-240 V 50/60 Hz input - 15 % Single phase 100-120 V Use L1 and L3 terminal for single phase input Control power supply input Regen resistor connection Motor connection Earth 100 V Single phase 100-120 V 200 V Single phase 200-240 V + 10 % - 15 % + 10 % 50/60 Hz input 50/60 Hz input - 15 % When a trip happens due to a regenerative load protection error, connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for the parameter Pr0.16. Do not connect N terminal. Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 12 [2] Size C, D of 100 V and 200 V system Connector pin No. XA Terminal symbol 5 L1 4 L2 Name Description 100 V Main power supply input 200 V 3 L3 2 L1C 1 L2C + 10 % 50/60 Hz input - 15 % Use L1 and L3 terminal for single phase input + 10 % Single or 3 phase 200 – 240 V 50/60 Hz input - 15 % Single phase 100-120 V Use L1 and L3 terminal for single phase input Control power supply input 100 V Single phase 100-120 V 200 V Single phase 200 – 240 V + 10 % - 15 % + 10 % - 15 % 50/60 Hz input 50/60 Hz input 4 N 3 - XC Do not connect. 2 P 1 XB 6 P 5 RB 4 B 3 2 1 U V W Regen resistor connection Motor connection Earth Normally, short out the circuit between B and RB. (Sizes C, D) When a trip happens due to a regenerative load protection error, open the circuit between B and RB and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for the parameter Pr0. 16. Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 13 [3] Size E of 200 V system 5 4 3 Terminal symbol L1 L2 L3 2 L1C 1 L2C 4 P 3 RB 2 B 1 N 3 2 1 U V W Connector pin No. XA XC XB Name Description Main power supply input 200 V 3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz input Control power supply input 200 V Single phase 200 - 240 V + 10 % - 15 % 50/60 Hz input Normally, short out the circuit between RB and B. When a trip happens due to a regenerative load protection error, open the circuit between RB and B and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for parameter Pr0. 16. Do not connect N terminal. Regen resistor connection Motor connection Earth Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth terminal for grounding * Tighten the earth screws M4 with the 0.7-0.8 Nm torque respectively. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 14 [4] Size F of 200V system Terminal block is used instead of connector. Terminal Block Terminal No. (Upper to bottom) 1 2 3 4 5 Terminal symbol L1 L2 L3 L1C L2C 6 P 7 8 RB B 9 N 10 U 11 V 12 W Name Main power supply input Control power supply input Description 3 phase Regen resistor connection Motor connection Earth + 10 % - 15 % 50/60 Hz input + 10 % 50/60 Hz input - 15 % Normally, short out the circuit between RB and B. When a trip happens due to a regenerative load protection error, open the circuit between RB and B and connect an external regenerative resistor (prepared by customer) between P and B. Then, specify the external regenerative resistor for parameter Pr0. 16. Do not connect N terminal. Single phase 200 - 240 V 200 - 240 V Connect each phase of the motor winding. U: U phase V: V phase W: W phase Earth terminal for grounding * Tighten the earth screws M5 with the 1.4 -1.6 Nm torques respectively. * Tighten the terminal block screws M5 with the 1.0-1.7 Nm torques respectively. * Tighten the fixing screw M3 for the terminal block cover with the 0.2 Nm torque. * If the maximum value of tightening torque is exceeded, the terminal block could be damaged. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 15 6-2 USB connector X1 By connecting to a computer or a controller via USB interface, the following operations are available parameter reference / change parameter save / load monitoring of status checking alarm status or alarm history Symbol Connector pin No VBUS 1 D- 2 D+ 3 For manufacturer use 4 Do not connect Signal ground GND 5 Signal ground Name USB signal Description Communicate with a computer or a controller 6-3 Serial bus connector X2 Name Symbol Connector pin No Signal ground GND 1 Signal ground NC - 2 Do not connect TXD 3 RXD 4 Serial bus transmission and reception data (RS232) RS232 signal 485 RS485 signal 485+ Frame ground FG Description (*Note 1) 5 6 7 Serial bus transmission and reception data (RS485) 8 shell Frame ground Note 1) The signal ground GND is connected with the control circuit ground connected with the connector X4 . Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 16 - 6-4 Safety function connector X3 This connection is for functional safety. Name Reserved Safety input 1 Safety input 2 EDM output Frame ground Symbol Connector pin No − 1 − 2 SF1- 3 SF1+ 4 SF2- 5 SF2+ 6 EDM- 7 EDM+ FG Description Circuit - ・ Do not connect - 2 channel inputs with independent circuit to cut off the drive signal to the power module in the servo driver. i-1 8 External Device Monitoring (EDM) output to diagnose the functional safety function in the servo driver. o-1 shell ・ Internally connected to the earth terminal. - Note 1) The signal ground GND is connected with the control circuit ground connected with the connector X3 . Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 17 6-5 Parallel I/O connector, X4 Common digital inputs Name Con Symbol -nector pin No. Description Circuit ・Connect to the + terminal of an external DC power supply (12 to 24 V) ・Use a 12 V (5 %) to 24 V (5 %) power supply Power supply input COM+ 7 Multi-function input 1 SI1 SI2 SI3 SI4 SI5 SI6 SI7 SI8 SI9 SI10 8 9 26 27 28 29 30 31 32 33 Multi-function input 2 Multi-function input 3 Multi-function input 4 Multi-function input 5 Multi-function input 6 Multi-function input 7 Multi-function input 8 Multi-function input 9 Multi-function input 10 ・Insulation is needed against the primary side power supply. Please do not connect them with the same power supply. The function changes according to the parameter settings. See below. i-1 Functions allocatable to multi-function inputs Name Servo ON Control mode switch Positive overtravel limit Negative overtravel limit Deviation counter clear Command pulse inhibition Preset velocity 1 Preset velocity 2 Preset velocity 3 Speed zero clamp Anti-vibration switch 1 Anti-vibration switch 2 Gain switch Torque limit switch Alarm clear Command scaling switch Torque command sign Command scaling switch 1 Command scaling switch 2 Forced alarm input Inertia ratio switch Symbol SRV-ON C-MODE POT NOT CL INH INTSPD1 INTSPD2 INTSPD3 Description When turned ON, the servo is turned on (power is supplied to the motor). When turned OFF, the servo is turned off and the motor power is turned off. Switches the control modes. Positive overtravel limit. Make sure to connect this so that the contact point will be opened when the movable module positively exceeded the movable range. When this input is OFF, a positive torque does not occur. Negative overtravel limit. Make sure to wire this input to be activated as the work over travels the limit in the negative direction. When this input is OFF, a negative torque does not occur. Clears the position deviation counter. Ignores the position command pulse. Preset speed. Allows you to set up to 8 internal velocities by combining INTSPDs 1 - 3. ZEROSPD Sets the speed command to zero. VS-SEL1 VS-SEL2 GAIN Switches the applied frequencies for anti-vibration control. Input to switch the gains. TL-SEL Switches the torque limits. A-CLR Digital input to clear the alarm. VC-SIGN Specifies the sign of the speed command during the speed control. TC-SIGN Specifies the sign of the torque command during the torque control. DIV1 DIV2 E-STOP J-SEL Switches the scaling numerators of the command pulse. Allows you to switch up to 4 numerators by combining DIVs 1, 2. Generates Err87. 0 "Abnormal forced alarm input." Switches the inertia ratios. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 18 Input signals (command pulse train) and their functions A suitable interface can be chosen from two kind of interface based on the specification of command pulses. A. Pulse train interface with line driver Name Symbol Con -nector pin No. PULSH1 44 PULSH2 45 SIGNH1 46 SIGNH2 47 Command pulse input 1 Command direction input 1 Description Input terminal for the position command pulse. It can be selected by setting corresponding parameters. Disabled in such control modes as the speed control or the torque control, which does not require position commands. The maximum allowable input frequency is 8 Mpps. Circuit Di-2 B. Pulse train interface with optocoupler Name Command pulse input 2 Command direction input 2 Symbol Con -nector pin No. OPC1 1 PULS1 3 PULS2 4 OPC2 2 SIGN1 5 SIGN2 6 Description Input terminal for the position command pulse. It can be selected by setting corresponding parameters. Disabled in such control modes as the speed control or the torque control, which does not require position commands. The maximum allowable input frequency is 500 kpps for line driver input, and 200 kpps for open collector input. Circuit Di-1 Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 19 Input signals (analog command) and their functions Symbol Con -nector pin No. Analog input 1 AI1 14 Analog input 2 AI2 16 Analog input 3 AI3 18 Name Description Circuit Analog input with 16 bit resolution. The function changes according to the control mode. Analog input with 12 bit resolution. The function changes according to the control mode. Ai-1 Ai-2 Analog input with 12 bit resolution. Functions allocatable to analog inputs Analog input AI1 Name Symbol Speed command SPR Torque command TRQC Speed limit SPL Positive torque limit P-ATL Torque limit input in positive direction. Torque command TRQR Torque command input in torque control in the speed/torque control mode switch. Negative torque limit N-ATL Torque limit input in negative direction. AI2 AI3 Description Speed command input in speed control mode. Torque command input in torque control mode. (without control mode AI1 switch) Speed limit input in torque control mode. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 20 Output signals (common) and their functions Name Multi-function output 1 Multi-function output 2 Multi-function output 4 Servo alarm Multi-function output 5 Multi-function output 6 Symbol SO1SO1+ SO2SO2+ SO4SO4+ ALMALM+ SO5 SO6 Con Description -nector pin No. 10 11 34 The function changes according to the parameter settings. See below. 35 38 39 36 Digital output to indicate alarm status. 37 12 The function changes according to the parameter settings. See below. 40 Circuit o-1 o-3 ・Connect to the - terminal of an external DC power supply (12 to 24 V) Power supply input COM- ・The power capacity varies depending on a composition of I/O circuit.0.5A or more is recommended. 41 ・Insulation is needed against the primary side power supply Please do not connect them with the same power supply. Functions allocatable to multi-function outputs Name Servo Alarm Servo ready Motor holding break release Zero speed Torque limited In-position Positioning completion 2 At speed V-COIN Symbol ALM S-RDY BRK-OFF ZSP TLC INP INP2 AT-SPD V-COIN Description Digital output to indicate the driver is in alarm status.. Digital output to indicate the driver is ready to be enabled. Digital output to provide the timing signal to control the motor holding brake. Warning output 1 WARN1 Warning output 2 WARN2 Position command ON/OFF Speed in –limit output Alarm attribute output Speed command ON/OFF P-CMD V-LIMIT ALM-ATB V-CMD Servo on status output SRV-ST Outputs the zero speed detection signals. Outputs the torque limit signal. Outputs the positioning completion signal. Outputs the positioning completion signal 2. Outputs the at-speed signal. Outputs the speed coincidence signal. Outputs the warning output signal configured in Pr4. 40 "Warning output selection 1". Outputs the warning output signal configured in Pr4. 41 "Warning output selection 2". Outputs meaning positional command applied. Outputs meaning the speed is limited at torque control mode. Outputs meaning occur an alarm that can be cleared. Turns on output transistor when the speed command is applied while the speed is controlled. Turn on output transistor when servo is on. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 21 Output signals (pulse output) and its function Name Symbol Connector pin No. OA+ 21 OA- 22 OB+ 48 Description Circuit A phase output B phase output OB- 49 OZ+ 23 OZ- 24 CZ 19 Scaling processed encoder signal or external scale signal (A/B/Z-phase) is output in differential mode. (RS422 equivalent) Scaling ratio can be set by parameters. The ground pin of the line driver on the output circuit is not insulated and is connected to signal ground (GND). The maximum output frequency is 8 Mpps (after quadrature). Do-1 Open collector output of Z-phase signal. Ground of line driver of the output circuit is connected to signal ground (GND); not insulated. Do-2 Z phase output Z phase output Analog monitor signals and their functions Name Symbol Connector pin No. IM 42 Description Analog signal output for monitoring Monitoring object changes according to the parameter setting. Analog monitor output SP Circuit Ao-1 43 Others Name Symbol Connector pin No. 50, shell Frame ground FG Signal ground GND 13,15, 17,25 20 Description Circuit Internally connected to the earth terminal. Signal ground Internally insulated from the control signal power supply (COM-). Do not connect Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 22 - 6-6 External feedback device connector X5 Name Power supply output for external scale External scale signal input / output (serial signal) External scale signal input (A / B / Z phase signal) Frame ground Connector pin No Description 1 EX5V (*Note 2) (*Note 3) 2 EX0V (*Note 1) 3 EXPS 4 /EXPS 5 EXA 6 /EXA 7 EXB 8 /EXB 9 EXZ 10 /EXZ shell FG Note 1) The E0V of the external scale power output is connected with the control circuit ground linked to the connector X4 . Note 2) EX5V power supply output for external scale is rated at 5.2 V 5% and 250 mA at maximum. To use an external scale with a current consumption higher than that, a preparation of an external power supply is required. Some external scales may take longer time in initialization after turning on the power. Note 3) In case an external power supply is used for the external scale, make sure that the EX5V pin is open and no external power is supplied to the EX5V pin. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 23 - 6-7 Encoder connector X6 Name Encoder power supply output - Encoder signal I/O (serial signal) Frame ground Connector pin No. 1 2 3 4 5 6 shell Description E5V E0V (*Note 1) Do not connect. Do not connect. PS /PS FG *Note 1) The E0V of the encoder power supply output is connected with the control circuit ground of the connector X4 . Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 24 Input and output interface i-1 o-1 4.7 k VDC 50 mA or less VDC 1k 1000 p 12 to 24 V 12 to 24 V - S or Pins; +:(X3)8 (X4)11,35,37,39 S VDC 1000 p -:(X3)7 (X4)10,34,36,38 1k 12 to 24 V Note) To directly run the relay, attach a diode in Parallel with the relay and in the direction shown in the figure above. VCE sat = 1.2 V P 4.7 k Pins; S:(X3) (X4) P:(X3) (X4) 10 + R P 3,5 8,9,26,27,28,29,30,31,32,33 4,6 7 Ai - 1 Ai - 2 470 P 33 K 33.2 K 18.7 K ±10 V MAX ±10 V MAX 39 K 39 K 14 + 1000 P 20 K 20 K 16 18 20 K + 1000 P GND 17 GND 15 470 P 470 P Ao - 1 Di - 1 <Line Driver> Twisted pair Twisted pair 2.2 k H/L 1000 p 4,6 13 Vp-1.5 R+220 GND Do - 1 1,2 R Equivalent of AM26C31 Twisted pair 2.2 k 3,5 ON/OFF - Pins; +: (X4) 42,43 -: (X4) 13,17,25 Note)Outputting signal amplitude is ±10 V 2.2 k ≒10 mA GND PULS SIGN 220 <Open Collector> ①12-24 V Powersupply with external resistor Vp 1 k + H/L 3,5 L/H + 1000 p 4,6 220 12 to 24 V 13 10 mA - PULS SIGN GND 13 GND Pins; +:21,23,48 -:22,24,49 ②24 V Power supply without external resistor 2.2 k 1,2 2.2 k 3,5 L/H 1000 p 24 V ON/OFF 13 GND VDD 30 V MAX 4,6 220 Do - 2 PULS SIGN CZ 19 50 mA MAX GND 10 17 Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 25 - Di - 2 Equivalent of AM26C32 20 k H/L 2k 44 46 H/L 120 Twisted pair 2k 47 45 PULS 20 k 13 SIGN GND o-2 10 R VDC 12 to 24 V + 50 mA or less 41 Pins; +:40,12 Note) To directly run the relay, attach a diode in Parallel with the relay and in the direction shown in the figure above. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 26 - 7. Dimensions External dimension size A [Base-mounting TYPE (Standard: Mounting on the back)] 2‐M4 Effective screw depth 7 Name plate 2‐M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 27 - [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 28 - External dimension size B [Base-mounting TYPE (Standard: Mounting on the back)] 2‐M4 Effective screw depth 6.5 Name plate 2‐M4 Effective screw depth 7 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 29 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 30 - External dimension size C [Base-mounting TYPE (Standard: Mounting on the back)] 2‐M4 Effective screw depth 6.5 Name plate 2‐M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 31 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 32 - External dimension size D 200V [Base-mounting TYPE (Standard: Mounting on the back)] 2‐M4 Effective screw depth 6.5 Name plate 2‐M4 Effective screw depth 6 *Please do not use the screw holes of no description of the size value. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 33 [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) *Please do not use the screw holes of no description of the size value. *Mounting bracket is optional parts. Mounting bracket does not shipped with the product. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 34 - External dimension size E 200V [Rack-mounting TYPE (Standard)] 4‐M4 Effective screw depth 6 Name plate 4‐M4 Effective screw depth 6 Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 35 [Base-mounting TYPE (Change from standard)] Name plate Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 36 - External dimension size F 200V [Rack-mounting TYPE (Standard)] 4‐M4 Effective screw depth 9 Name plate 4‐M4 Effective screw depth 9 Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 37 [Base-mounting TYPE (Change from standard)] Name plate Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 38 - 8. Wiring 8-1 Used cables and maximum cable lengths Name Symbol Maximum cable length Used cable Main power supply Control power supply Motor connection L1, L2, L3 L1C, L2C U, V, W, 20m Refer to specification Refer to specification Refer to specification Refer to specification X6 20m X5 20m X4 3m X3 3m Earth cable Encoder connection External feedback scale connection I/O connection Functional safety connection Batch twisted shielded pair Core cable: 0. 18mm2 or more Core cable: 0. 18mm2 or more 8-2 Various connectors Connector symbol Part name Part number Manufacturer X2 Connector 2040008-1 X3 Connector 2013595-1 Solder plug (soldering type) DF02P050F22A1 Shell kit DF02D050B22A X5 Connector MUF-PK10K-X J.S.T. Mfg. X6 Connector 3E306-3200-008 3M Company Tyco electronics X4 JAE Please use the above part number connector, or equivalent connector. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 39 - 8-3 Precautions for wiring (1) Wiring to power connector and terminal block 100/ 200 V sizes A - B Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) OFF *When you use single phase, connect the main power between L1 and L3 terminals. L1 L2 L3 L1C L2C MC External regenerative resistor XA Main power supply Control power supply XB P N B U V W Red White Black Motor connection Green or Green/Yellow motor ALM Insulated + DC12 to 24 V (±5 %) X4 37 ALM+ 36 ALM- ■Connection of regenerative resistor Size Shorting cable (Accessories) Internal regenerative resistor A B Not attached Not installed Connection of the connector XB In case of using the external regenerative resistor Between P and B: Connect the external regenerative resistor. In case of not using the external regenerative resistor Between P and B: Keep open - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 40 100/ 200 V sizes C - D Built-in thermostat of an external regenerative resistor (light yellow) ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) MC1 OFF *When you use single phase, connect the main power between L1 and L3 terminals. L1 L2 L3 L1C L2C MC Short cable XA Main power supply Control power supply XC P N External regenerative resistor P RB B U V W Red White Black XB Motor connection Green or Green/Yellow motor ALM Insulated DC12 to 24 V (±5 %) + - X4 37 ALM+ 36 ALM- ■Connection of regenerative resistor Size Shorting cable (Accessories) Internal regenerative resistor C D Supplied Installed Connection of the connector XB In case of using the external regenerative resistor Between RB and B: Disconnect the short cable Between P and B: Connect the external regenerative resistor In case of not using the external regenerative resistor Between RB and B: Connect the shorting cable - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 41 200 V size E Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) OFF L1 L2 L3 L1C L2C MC Short cable XA Main power supply Control power supply P RB B N External regenerative resistor XC XB Red White Black U V W Motor connection Green or Green/Yellow motor ALM Insulated DC12 to 24 V (±5 %) + - X4 37 ALM+ 36 ALM- ■Connection of regenerative resistor Size Shorting cable (Accessories) Internal regenerative resistor E Supplied Installed Connection of the connector XC In case of using the external regenerative resistor Between RB and B: Disconnect the short cable Between P and B: Connect the external regenerative resistor In case of not using the external regenerative resistor Between RB and B: Connect the shorting cable - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply ( power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 42 200 V size F Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON ALM Coli surge suppression units L Noise filter MCCB Power supply (3-phase) OFF L1 L2 L3 L1C L2C P RB B N U V W MC Short bar External regenerative resistor Main power supply Control power supply Motor connection Red White Black Green or Green/Yellow Motor ALM Insulated DC12 to 24 V (±5 %) + - X4 37 ALM+ 36 ALM- ■Connection of regenerative resistor Size Short bar (Accessories) Internal regenerative resistor F Supplied Installed Connection of the connector XC In case of using the external regenerative resistor Between RB and B: Disconnect the short bar Between P and B: Connect the external regenerative resistor In case of not using the external regenerative resistor Between RB and B: Connect the short bar -The standard of the ability of the built-in dynamic brake resistor is up to continuousness three times in the stop from the allowance and maximum inertia and the rated speed. Resistor is damaged and the dynamic brake might not work when using it under more critical operating condition. - The circuit connected to terminal X1 – X6 are secondary circuits. Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 43 - [1] When the servo driver uses single phase power supply for sizes A - D, connect the servo driver to the terminals L1, L3 of main power supply input. Do not connect anything to the terminal L2. [2] Surely insert the connector into place until it clicks. [3] Make sure to use an insulation coated crimp terminal when connecting to each terminal on the terminal block. [4] Terminal block cover is fixed with screws. When wiring to the terminal block, unscrew these screws to uncover the cover. Tighten the cover fixing screw with the torque of 0.2 Nm or less. [5] To not use an external regenerative resistor, short out the circuit between terminals RB and B. (For sizes C, D, E, F)When a trip occurs due to the regenerative load protection error No.18.0, externally install a regenerative resistor. To externally install a regenerative resistor, remove a connection cable between terminals RB, B and then connect the regenerative resistor between terminals P, B. The products (Sizes A, B) supporting only the external regenerative resistor, connect an external regenerative resistor if necessary. To use an external regenerative resistor, set Pr.0.16 (external regenerative resistor selection) to 1 or 2. [6] Apply the power supply of the voltage indicated on the nameplate. [7] Do not reverse-connect the power input terminals (L1, L2, and L3) and the motor output terminals (U, V, and W). [8] Do not connect the motor output terminals (U, V, and W) to ground or short out them. [9] Because high voltage is applied to the power connectors XA , XB , XC , and XD , and the terminal block, never touch them on any account. It may cause electric shock. [10] Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, below the maximum input voltage of the product. [11] An AC servomotor, unlike an induction motor, cannot change the rotation direction by exchanging three phases. Make sure to coincide the motor output terminals (U, V, and W) of the servo driver with the colors (pin number for cannon plugs) of the motor output cables. [12] Surely connect the ground terminals of the motor and the servo driver and earth the ground terminal as well as that of the noise filter. In addition, earth the equipment unit. To earth them, ground resistance should be 100 ohm or less for grounding. When the power supply voltage is over 300 V ground resistance should be 10ohm or less. Please tight the earth screws by appropriate torque and use correct size earth cable decided in the specifications. In order to avoid the impact of electrolytic corrosion, do not immediately have any contact between aluminum and copper. [13] Attach the serge absorbing circuits for preventing noises to an electromagnetic contactor placed around the servo driver, a coil between relay contact points, and a brake winding of motor with a brake. [14] Attach the no fuse breaker. In case of emergency, make sure to power off outside the servo driver. To use an earth leakage circuit breaker, use that in which a high frequency wave countermeasure is taken. [15] In order to reduce the terminal noise voltage, install a noise filter. [16] Customer is responsible for the power supply of the brake attached to a motor. [17] Turn ON the power after the wiring was finished. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 44 * As for external regenerative resistor, we recommend the resistors below: Input Power Voltage Single phase 100 V DV0P4280 DV0P4283 DV0P4282 Size A B C D Single/3 phase 200 V DV0P4281 (100 W or less), DV0P4283 (200 W) DV0P4283 DV0P4283 DV0P4284 DV0P4284 x 2 in parallel or DV0P4285 x 1 - E F DV0P4285 x 2 in parallel Manufacturer by Iwaki Musen Kenkyusho Built-in thermal protector operational temperature Specification Part number Manu -facturer's model Rated power (for reference) * Resis -tance value Free air DV0P4280 DV0P4281 RF70M RF70M 50 100 [W] 10 10 Fan used (1 m/s) [W] 25 25 DV0P4282 RF180B 25 17 50 DV0P4283 DV0P4284 DV0P4285 RF180B RF240 RH450F 50 30 20 17 40 52 50 100 130 140 5 deg. Celsius Contact point B Open/close capacity (resistance load) 1A 125 VAC, 6000 times 0. 5 A 250 VAC, 10000 times * Electric power available without running the built-in thermal protector. For safety, a temperature fuse and a thermal protector are built in. Configure the circuit so as to turn off the power supply when the thermal protector is running. The built-in temperature fuse can break according to the radiation condition, the used temperature range, the power supply voltage, and the load change. Make sure that the surface temperature of regenerative resistor is being kept 100 deg. Celsius or less under bad conditions (high power supply voltage, large load inertia, short deceleration time, etc.) subject to regeneration by embedding the regenerative resistor in equipments and running the equipments. Attach the regenerative resistor on the incombustibles such as metal. Install the regenerative resistor so that people can not directly touch it, such as the incombustible to cover it. Keep the temperature of places, which people can directly touch, below 70 deg. Celsius. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 45 - *) Dynamic brake Servo driver(size A-F) has built-in dynamic brake function to stop motor in an emergency. Dynamic brake can be operated in the following cases 1. The main power off 2. The servo off 3. Protection action 4. Connector X4 driving ban importation (POT, NOT) action On the above 1~4 cases, valid or invalid of dynamic brake can be determined by the parameters. However, when the control power off, dynamic brake of size A-F keep valid condition. Dynamic brake shall be using in rated short time for emergency stop using. Please note the following points. 1. Do not start / stop the motor by the servo signal (SRV-ON) . Built-in dynamic brake circuit may be damaged. 2. Do not drive the motor with external torque. Motor generates electricity by external torque. Dynamic brake circuit will be damaged and it is possible that short-circuit current cause smoke or combustion. 3. Allow approx. 10 minutes pause when the dynamic brake is activated during high-speed running. Resistor is damaged and the dynamic brake might not work when using it under more critical operating condition. *) Mounting direction and spacing -To perform effective cooling, allow sufficient ambient space. -Provide a fan so as to make uniform the temperature in the control panel. -Each of Sizes D to F is equipped with a cooling fan on the bottom. -Adhere to environmental conditions for the environment in the control panel. Control panel Fan 40mm or more d d Direction of air flowing from the internal cooling fan (Sizes D – F) Fan d 100mm or more 40mm or more Sizes A-F d 10 mm or more 100mm or more In case the portion to receive a fan is coated, peeling off the coating before installing a fan or using homebuilt bracket s with conductive plating provides effective anti-noise measures. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 46 (2) Wiring to connector X4 [1] Customer is responsible for the control signal power supply at 12-24 VDC for external control connected between COM+ and COM-.Insulation is needed against the primary side power supply (power supply of the motor brake). Please do not connect them with the same power supply. [2] Place the servo driver and its peripheral device as nearly as possible (up to 3 m) so as to shorten the wiring. [3] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. Digital input 7 Command pulse Inhibition input Deviation counter clear input VDC 12 to 24 V 33 30 Servo-ON input 29 Gain switching input Electronic gear switching input 1 Damping control switching input 1 27 28 26 Control mode switching input 32 Alarm clear input 31 Positive direction over-travel inhibition input Negative direction over-travel inhibition input 9 8 COM+ 4.7 kΩ INH CL SRV-ON GAIN DIV1 VS-SEL1 C-MODE A-CLR POT NOT The functions of pins 8, 9, 26-33 are allocatable with parameters. The figure above shows the default setting. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 47 [4] Be aware of the polarity of the power supply for control signals. The polarity connection contrary to the figure shown above can damage the servo driver. [5] To directly drive the relay with each output signal, make sure to attach a diode in parallel to the relay and in the direction as shown in the figure below. The servo driver can be damaged if the diode is not attached or the diode is attached in the opposite direction. [6] When a logic circuit such as a gate receives each output signal, take care so that a noise does not impact on the circuit. [7] Apply 50 mA or less of current to each output. Digital output 35 Servo-ready output 34 37 Servo-alarm output 36 39 At-speed output VDC 12 to 24 V 38 External brake release output 11 10 Torque in-limit output 40 Zero speed detection output 12 41 S-RDY+ S-RDYALM+ ALMATSPEED+ ATSPEEDBRKOFF+ BRKOFFTLC ZSP COM- The functions of pins 10, 11, 34, 35, 38, 39 are allocatable with parameters. The figure above shows the default setting. Analog signal input 33 kΩ R +12 V VR SPR 14 39 kΩ 39 kΩ 15 P-ATL 16 33.2 kΩ 18.7 kΩ 20 kΩ 17 10 kΩ 18 33.2 kΩ 18.7 kΩ 20 kΩ 20 kΩ -12 V R N-ATL 20 kΩ represents twisted pair 10 kΩ Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 48 Pulse train command A. Pulse train interface exclusively for line driver 2 kΩ 44 45 PULS 120 Ω 46 47 20 kΩ 2 kΩ 20 kΩ 2 kΩ 20 kΩ SIGN 120 Ω 2 kΩ 20 kΩ 13 represents twisted pair B. Pulse train interface The pulse train command input can support both line driver and open collector interfaces, but in order to increase the certainty of signal transmissions, we recommend you to use the pulse train command input as an line driver interface as shown in the figure below. Be aware that the line driver and open collector interfaces differ from each other in the connection to the servo driver. Line driver interface 3 PULS1 4 PULS2 2.2 kΩ 220 Ω 5 SIGN1 6 SIGN2 2.2 kΩ 220 Ω 13 represents twisted pair Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 49 Open collector interface VDC - 1.5 R + 220 ≒ 10 mA R 3 PULS1 4 PULS2 2.2 kΩ 220 Ω VDC R 5 SIGN1 6 SIGN2 2.2 kΩ 220 Ω 13 represents twisted pair 1 OPC1 4 PULS2 2.2 kΩ 2.2 kΩ 220 Ω 24 VDC 2 OPC2 6 SIGN2 2.2 kΩ 2.2 kΩ 220 Ω 13 represents twisted pair Note: Precautions for using the command pulse input as an open collector interface Shorten the wire length (up to 1 m). Be aware that the maximum pulse frequency of the open collector interface is small (200 kpps) compared with that (500 kpps) of the line driver interface. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 50 Feedback pulse of rotary encoder AM26LS32 (or equivalent) AM26LS31 (or equivalent) OA+ 21 OA- 22 OB+ 48 OB- 49 OZ+ 23 OZ- 24 GND 25 A B Z Max. rating 30 V, 50 mA 19 CZ 25 GND High speed photo-coupler TLP554 (or equivalent) Connect signal ground of the host and the driver without fail. represents twisted pair Note: [1] As well as being output in the line driver, only the Z-phase signals are output to the pin 19 (CZ) in the open collector. When using this CZ signal, be careful not to be subject to the noise impact. [2] Use a line receiver (AM26C32 or equivalent) for receiving the output pulses. Then, attach appropriate terminating resistor between inputs of the line receiver. [3] In the Z-phase signal output, be aware that the logic of line driver output (OZ) is the reverse of that of the open collector output (CZ). [4] Use the pulses at less than or equal to the maximum output frequency 4 Mpps (after quad edge valuation). Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 51 (3) Wiring to connector X6 [1] As for the encoder cable, use the batch shielded twisted wire pairs whose core is 0.18 mm2 or more. [2] The cable length should be up to 20 m. When the wiring is long, we recommend you to use the double wiring for the 5 V power supply in order to reduce the impact of voltage drop. [3] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the encoder. Make sure to connect the coat of shielded cable at the servo driver side to the shell (FG) of X6 . [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. [5] Do not connect anything to the empty pins of X6 . In case of using as singleturn encoder In case of lead wire type: White E5V Black E0V Red BAT+ Pink BAT- Cyan PS Purple PS Yellow/Green FG 172169-1 Tyco Electronics (or equivalent) 7 1 8 2 1 3 2 4 4 5 5 6 3 +5 V E5V 0V E0V Regulator Twisted pair PS PS Shell (FG) 172161-1 Tyco Electronics (or equivalent) Motor Motor side Encoder cable Driver side In case of canon plug type: E5V E0V BAT+ BATPS PS FG JL10-2A20-29P JAE (or equivalent) Motor H 1 G 2 T 3 S 4 K 5 L 6 J E5V E0V +5 V 0V Regulator Twisted pair PS PS Shell (FG) JL10-6A20-29S-EB N/M3057-12A JAE (or equivalent) Encoder cable Driver side Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 52 In case of using as multiturn encoder In case of lead wire type: White E5V Black E0V Red BAT+ Pink BAT- Cyan PS Purple PS Yellow/Green FG 172169-1 Tyco Electronics (or equivalent) 7 1 8 2 1 +5 V E5V 0V E0V 3 Battery 2 4 4 5 5 6 3 Regulator Twisted pair PS PS Shell (FG) 172161-1 Tyco Electronics (or equivalent) Motor Motor side Encoder cable Driver side Connect the battery for absolute encoder to the relay connector between 1P and 2P (above figure). As for the battery holder and the battery connection cable, customer can use the optional cable or prepare them. In case of canon plug type: E5V E0V BAT+ BATPS PS FG JL10-2A20-29P JAE (or equivalent) Motor H 1 G 2 T Battery E0V +5 V 0V 3 S 4 K 5 L 6 J E5V Regulator Twisted pair PS PS Shell (FG) JL10-6A20-29S-EB N/M3057-12A JAE (or equivalent) Encoder cable Driver side Connect the battery for absolute encoder to the relay connector between T-pin and S-pin (above figure). As for the battery holder and the battery connection cable, customer can use the optional cable or prepare them. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 53 (4) Wiring to connector X5 [1] As for the external scale cable, use the batch shielded twisted wire pairs whose core is 0.18mm2 or more. [2] The cable length should be up to 20 m. When the wiring is long, we recommend you to use the double wiring for the 5 V power supply in order to reduce the impact of voltage drop. [3] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the encoder. Make sure to connect the coat of shielded cable at the servo driver side to the shell (FG) of X5 . [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ).Do not put them in the same duct or bind them together. [5] Do not connect anything to the empty pins of X5 . [6] X5 is capable to supply up to 5V ± 5% 250mA power supply. When using an external scale at more consumption current than this, customer is responsible for the power supply. Some external scales may take longer time in initialization after turning on the power. Design the power supply so as to meet the running timing after power-on. 1 EX5V EX0V EXPS EXPS EXA EXA EXB EXB EXZ EXZ 2 3 4 5 6 7 8 9 10 EX5V EX0V EXPS EXPS EXA EXA EXB EXB EXZ EXZ +5 V 0V Regulator Connector X5 Twisted pair MUF-PK10K-X (or equivalent) FG Shell(FG) Detecting head External scale unit External scale side Relay cable Driver side Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 54 - 9. Compliance with global standards 9-1 Conforming standards European EC directive EMC directive EN55011 EN61000-6-2 EN61000-6-4 EN61800-3 Low voltage directive EN61800-5-1 EN50178 Machinery directive Functional Safety UL standard CSA standard KC IEC EN EMC UL CSA KC : : : : : : ISO13849-1 (PL e, Cat.3) EN61508 (SIL 3) EN62061 (SILCL 3) EN61800-5-2 (SIL 3, STO) IEC61326-3-1 IEC60204-1 UL508C (File No. E164620) C22. 2 No. 14 KN11 KN61000-4-2,3,4,5,6,8,11 International Electrotechnical Commission Europaischen Norman Electromagnetic Compatibility Under writers Laboratoris Canadian Standards Association Radio Waves Act(South Korea) 9-2 European EC directive Our products, in order to make it easy for the embedded equipments and devices to be compliant with EC directive, provide the compliance with the standards associated with low voltage directive. 9-2-1 Compliance with EMC directive Our servo system determines the model (conditions) such as the installed distance and the wiring of the servo driver and the servomotor and makes the model compliant with the standards associated with EMC directive. When equipments and devices are embedded in practice, wiring and grounding conditions, etc. may be not the same as the model. Thus, it is necessary to measure how the final equipments and devices where the servo driver and the servo motor are embedded are compliant (especially unnecessary radiation noise, noise terminal voltage) with EMC directive. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 55 9-3 Peripheral device configuration 9-3-1 Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. (Example: Installed in the IP54 control panel.) 100 V/200 V type Metallic control box Power supply Ferrite core <Dedicated to power supply cable> Ferrite core <Dedicated to power supply cable> Residual current device (RCD) Driver Circuit breaker Noise filter XA L1 L2 L3 Motor U V W L1C L2C Surge absorber XB M RE X6 Ferrite core X3 Ferrite core Ferrite core X4 Insulated power supply for interface Controller Safety controller Ground (PE) Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 56 9-3-2 Power supply +10 % -15% 100 V system: Single phase 100 V - 120 V 200 V system (Sizes A-D): Single / 3 phase 200 V - 240 V 200 V system (Sizes E-F): 3 phase 200 V - 240 V 50/60 Hz +10 % -15% +10 % -15% 50/60 Hz 50/60 Hz (1) Use it under the environment of overvoltage category III defined in IEC60664-1. (2) As for the parallel I/O power supply, use the CE marking conforming product or the 12-24 VDC power supply of insulation type compliant with EN standard (EN60950). 9-3-3 Power supply Make sure to connect a circuit breaker compliant with IEC standard and UL certification (marked with LISTED, UL ) between the power supply and the noise filter. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. 9-3-4 Noise filter To install one noise filter as a whole in the power unit when multiple servo drivers are used, consult the noise filter manufacturer. 9-3-5 Surge absorber Install the surge absorber in the primary side of the noise filter. - Please! To carry out a pressure test of equipments and devices, make sure to detach the surge absorber. Otherwise, the surge absorber can be damaged. 9-3-6 Ferrite core Install the noise filters for signal lines in all cables (power supply, motor, encoder, and interface cables). 9-3-7 Grounding (1) In order to avoid an electric shock, make sure to connect a protection ground terminal ( driver and the protection ground (PE) of the control panel. (2) Do not tighten the connection to the protection ground terminal ( driver has two protection ground terminals. ) of the servo ) along with other parts. The servo Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 57 9-4 List of peripheral devices applicable to servo driver Voltage spec Power capacity (Rated current) Single phase 100V Approx. 0.4 kVA Single/ 3phase 200V Approx. 0.5 kVA MBDL*21** Single phase 100V Approx. 0.5 kVA MBDL*25** Single/ 3phase 200V Approx. 0.9 kVA MCDL*31** Single phase 100V Approx. 0.9 kVA MCDL*35** Single/ 3phase 200V Approx. 1.3 kVA Servo driver MADL*01** MADL*11** MADL*05** MADL*15** MDDL*45** MDDL*55** Single/ 3phase 200V MEDL*83** MFDL*A3** MFDL*B3** Noise filter 10 A DV0P4170 (for single phase) / DV0PM20042 / RTHN-5010 15 A Approx. 1.8 kVA 20 A DV0P4220 / RTHN-5030 60 A 30 A DV0PM20043 / RTHN-5050 50 A DV0P3410 / RTHN-5050 Approx. 4.5 kVA 100 A Surgeabsorber DV0P4190 (for single phase) / DV0P1450 DV0PM20042 (for3 phase) / RTHN-5010 DV0P 1460 30 A Approx. 2.3 kVA Approx. 7.5 kVA Noise filter for signals Circuit breaker (Rated current) 20 A Approx. 3.8 kVA 3phase 200V Electromagnetic contactor (Rated current/ Released heat current) DV0P1450 Power cable Motor cable DV0P 1460 DV0P 1460 RJ8035 Select the specification common to single/ 3 phase 200 V according to the power supply. To become compliant with European EC directive, make sure to connect a circuit breaker compliant with IEC standard and UL certification (marked with LISTED) between the power supply and the noise filter. - Please! Select a circuit breaker and a noise filter with the capacity comparable to the power capacity (by taking into account the load condition). Terminal block and earth terminal For wiring, use the copper conductor cable of the temperature rating 75deg. Celsius or more. For the protection earth terminal, use M4 for Sizes A-E, M5 for Sizes F. The terminal block can be damaged if the screw tightening torque exceeds the maximum value. (see the page for explanation of terminal blocks.) Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 58 Use earth cable having a cross section area of 2.0 mm2 (AWG 14) or more for an output of 50 W to 2.5 kW, 3.5 mm2 (AWG 12) or more for an output of 3.0 kW to 5.0 kW, 13.3 mm2 (AWG 6) or more for an output of 6.0 kW to 11.0 kW, or 21.1 mm2 (AWG 4) or more for an output of 15 kW. For Sizes A - E, use the dedicated connector which came with the product. In this case, the stripped cable length should be 8-9 mm. The tightening torque of connector (X4) with the upper controller should be 0.3 - 0.35 Nm. The torque which exceeds 0.35 Nm can damage the driver's connector. Absorber Ferrite core Noise filter Optional part number Part number of manufacturer DV0P1450 RAV-781BXZ-4 DV0P4190 RAV-781BWZ-4 DV0PM20050 RAV-801BXZ-4 DV0P1460 ZCAT3035-1330 TDK - RJ8035 Konno Kogyousho DV0P4170 SUP-EK5-ER-6 DV0P4220 3SUP-HU30-ER-6 DV0P3410 3SUP-HL50-ER-6B DV0PM20042 3SUP-HU10-ER-6 DV0PM20043 3SUP-HU50-ER-6 - FN258L-16-07(29) - FN258L-30-07(33) - FS5559-60-34 - FS5559-80-34 - FN258-42-07(33) - RTHN-5010 Manufacturer Okaya Electric Industries Okaya Electric Industries Schaffner TDK Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 59 9-5 Compliance with UL standard Certified by the UL508C (file No. E164620) standard by observing the installation conditions 1, 2 below. [1] Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. (Example: Installed in the IP54 control panel.) Make sure to connect a circuit breaker or fuse compliant with UL certification (marked with LISTED, UL ) between the power supply and the noise filter. For information about rated current of the circuit breaker/ fuse, refer to "9-4 List of peripheral devices applicable to servo driver". For wiring, use the copper conductor cable of the temperature rating 75deg.Celsius or more. The terminal block can be damaged if the screw tightening torque exceeds the maximum value. (see the page for explanation of terminal blocks.) [2] Short Circuit Current Ratings (SCCR) This servo driver compiles with the power of the following conditions. - The power supply voltage is less than the maximum input voltage of the product. - Symmetrical short current of the power supply is less than 5000A. [3] Protection of branch circuit Protection of branch circuit, please follow the NEC(National Electrical Code) and standard regional. [4] Overload protection, overheat protection The overload protection function of the servo driver works when the effective current will be 115 % or more of the rated current based on the time property. Check that the effective current of the servo driver does not exceed the rated current. Set up the maximum instantaneous allowable current at the Pr0. 13 (first torque limit) and Pr5.22 (second torque limit). There is no overheat protection in the servo motor. If you need to conform to the NEC, please implement the overheating protection measures. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 60 - 9-6 Radio waves act (South Korea) precautions This servo driver is a Class A commercial electromagnetic radio wave generator not designed for home use. The user and distributor should be aware of this fact. 9-7 Compliance with SEMI F47 instantaneous stop standard This function corresponds to the F47 power supply instantaneous stop standard in the SEMI standard during no/ light load condition. Useful when used in the semiconductor manufacturing equipment. -Warning: [1] Not applicable to the driver which has a single phase 100V specification and a 24 VDC specification for control power input. [2] Make sure to evaluate and confirm the compliance with F47 power supply instantaneous stop standard with an actual device. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 61 - SAFETY PRECAUTIONS 10. Safety precautions ■ Danger and damage caused when the safety precautions are ignored are described in the following categories and signs: DANGER ATTENTION Description of this sign indicates “urgent danger that may cause death or serious injury. ” Description of this sign indicates “danger that may cause injury or property damage. ” ■ Rules to keep are categorized and described with the following graphics. This graphic indicates “Prohibited” acts that are not permitted. This graphic indicates “Mandatory” acts that must be performed forcibly. DANGER (1) Be sure not to store or use the equipment under conditions subjected to vibrations (5. 88 m/s2 or heavier) or an impact shock, foreign matters such as dust, metal particles oil mist, liquids such as water, oil and polishing liquid, near flammable objects, in an atmosphere of corrosive gas (such as H2S, SO2, NO2, Cl2) or in an atmosphere of flammable gas. (2) Do not place any flammable objects near a motor, a driver, or a regenerative resistor. (3) Do not driver the motor with external torque. Motor generates electricity by external torque. Dynamic brake circuit will be damaged and it is possible that short-circuit current cause smoke or combustion. (4) Do not damage or strain the cable, or do not apply excessive stress. Do not place a heavy item on the cable or do not pinch the cable. (5) Do not use the equipment with the cable soaked in oil or water. (6) Do not install the equipment near a heating object such as a heater or a large wire-wound resistor. (Install a thermal shield, etc. to avoid the influences of heating object.) (7) Do not connect the motor directly with a commercial power. (8) Do not use the equipment under conditions subject to strong vibrations or an impact shock.Please attach the anti-vibration equipment to servo driver mounting surface If you install the servo driver in the vicinity of the vibration source. (9) Be sure not to touch a rotating part of a motor during operation. (10) Do not touch the key flutes of motor output shaft with bare hands. (11) Be sure not to touch inside a servo driver. (12) Motor drive heat sink and peripheral device become very hot. Do not touch them. (13) Do not carry out wiring or do not operate the equipment with wet hands. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 62 - SAFETY PRECAUTIONS (14) Wiringwork is strictly allowed only for an engineer specializing electrical work. (15) A motor other than specified is not provided with a protection device. Protect a motor with an overcurrent protection device, a ground-fault interrupter, overheating protection device, and emergency stop device,etc. (16) When operating the driver after an earthquake, inspect installation conditions of the driver and the motor and safety of the equipment to make sure that no fault exists. (17) After turning off the power, the inside circuit remains charged at a high voltage for a while. When moving, wiring or inspection the equipment, completely shut off the power supply input outside the driver and leave for 15 minutes or longer before working. (18) Install and mount the equipment securely to prevent personal injury caused by poor installation or mounting on an earthquake. (19) Install an external emergency shutoff circuit to stop operation and interrupt power immediately upon emergency. Emission of smoke or dust may occur due to a fault of a motor or a driver used in combination.For example, if the system is energized with the regenerative control power transistor shorted by failure,overheating of a regenerative resistor installed outside the driver may occur and it may emit smoke and dust. If a regenerative resistor is connected outside a driver, provide a means of detecting overheating such as a thermal protector to shut off power upon detecting abnormal heating. (20) Mount the motor, the driver and the peripheral devices on a noncombustible material such as metal. (21) Provide correct and secure wiring. Insecure wiring or incorrect wiring may cause runaway or burning of a motor. During wiring work, avoid entry of conductive dust such as wire chippings in an driver. (22) Connect cables securely and provide secure insulation on current-carrying parts using insulation aterial. (23) Be sure to install a fuseless breaker in a power supply. Be sure to connect grounding terminals and grounding wires. To prevent an electric shock and malfunction, type D grounding (grounding resistance at 100 Ω or lower) or higher grade is recommended. (24) Tighten the screws on the terminal block and earth terminal securely at appropriate torque shown in the specifications. (25) When building a system by using the safety feature, design it by fully understanding and being compliant with the related safety standards and items described in our operation manual or technical reference. ATTENTION (26) Do not hold cables or motor shaft when carrying the equipment. (27) Do not adjust or change drive gains extremely, and do not make operations of the machine instable. (28) The equipment may suddenly restart after recovery from shutdown upon a power failure. Keep away from the equipment. Specify settings of the equipment to secure safety for human against such restart operations. (29) When the equipment is energized, keep away from the motor and mechanism driven by the motor in case of malfunction. (30) Avoid a strong shock to the motor shaft. (31) Avoid a strong shock to the product. (32) Be sure not to use the electromagnetic contactor installed on the main power supply to start or stop the motor. (33) Avoid frequent switching on and off the main power supply of the driver. (34) The built-in brake of the motor is used for holding only. Do not use the brake to stop (braking) for securing safety of the equipment. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 63 - SAFETY PRECAUTIONS (35) (36) (37) (38) Do not fall or topple over the equipment when carrying or installing. Do not climb the motor or do not place a heavy item on the motor. Do not block radiation slits of the driver and do not put a foreign matter into the driver. Do not use the equipment under direct sunlight. When storing the equipment, avoid direct sunlight and store under conditions of operating temperatures and humidity. (39) Be sure not to disassemble or modify the equipment. Disassembling and repair is allowed only for the manufacturer or sales agency authorized by the manufacturer. (40) Do not start / stop the motor by the servo signal (SRV-ON). Built-in dynamic brake circuit may be damaged. (41) Use a motor and a driver in combination specified by the manufacturer. A customer shall be responsible for verifying performances and safety of combination with other driver. (42) A failure of a motor or a combined driver may cause burning of motor, or emission of smoke and dust. Take this into consideration when the application of the machine is clean room related. (43) Install the equipment adequately in consideration of output and main unit weight. (44) Keep the ambient conditions of an installed motor within a range of allowable ambient temperatures and of allowable humidity. (45) Install the equipment by specified procedures and in specified orientation. (46) Install the devices by keeping specified distances between a driver and inside control panel or other devices. (47) If a motor has an eyebolt, use the eyebolt to carry the motor only. Do not use the eyebolt to carry equipment. (48) Connect a relay breaking upon emergency stop in series with a brake control relay. (49) For a test run, hold down a motor and disconnect from a mechanical system to verify operations before installing on the equipment. (A motor must run smoothly at 30 r/min driven with an driver. ) (50) Verify that an input power supply voltage satisfies the driver specifications before turning on the power and start operation. An input voltage higher than rated may cause ignition and smoking in the driver, which may cause runaway or burning of a motor in some cases. (51) When an alarm status occurs, remove a cause of the problem before restarting. Careless restarting without removing a cause of problem may cause malfunction or burning of a motor. (52) The built-in brake of the motor may not be able to hold due to expiring useful life or a mechanical structure.Install a braking device on the equipment to secure safety. (53) Pay attention to heat radiation. The driver generates heat by operating a motor. A driver used in a sealed control box may cause an extreme rise of temperature. Consider cooling so that an ambient temperature around the driver satisfies an operating range. (54) Maintenance and inspection is allowed only for a specializing person. (55) Turn off the power when the equipment is not used for a long term. (56) The cooling fan in the top side of size H stops for energy saving when driver is servo off. It is not abnormal. (57) Allow approx. 10 minutes pause when the dynamic brake is activated during high-speed running. (58) Resistor is damaged and the dynamic brake might not work when using it under more critical operating condition. Capacitance of the capacitors of power supply rectifier circuit drops over time. To avoid a secondary problem due to a failure, replacement of capacitors is recommended at an interval of Abt imately 5 years. Commission the manufacturer or sales agency authorized by the manufacturer to replace the parts. Be sure to read operating manual (safety guide) that shipped with product before use. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 64 - SAFETY PRECAUTIONS The driver's service life significantly depends on the ambient temperature. Make sure that the driver's ambient temperature (at 5 cm distant from the driver) does not exceed the operating temperature range. 5 cm Servo driver Servo driver's ambient temperature 5 cm 5 cm Operating temperature range: 0 to 55 C We have made the best efforts to ensure quality of this product. However, application of external noise( include radiation) or static electricity, or a defect of the input power supply, wiring or components may cause the servo driver to operate beyond the preset conditions. Therefore, you should exercise thorough caution to ensure safety against an unexpected operation. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 65 - 11. Life and warranty 11-1 Life expectancy of the driver The driver has 28000 hours of life expectancy when used continuously under the following conditions, Definition of the life: Life end shall be defined as the capacitance of the electrolytic capacitor is reduced by 20 % from the ex-factory status. Condition Input power : Single phase 100 VAC 50/60 Hz 3 phase 200 VAC 50/60 Hz Working temperature. : 55 degrees C Output thrust : Constant thrust at rating Speed : Constant speed at rating Note that the life varies due to the working conditions. 11-2 Typical life [1] In-rush current prevention relay Replace the in-rush current prevention relay when it is activated typically 20000 times. Note that the criteria may vary depending on the environmental and working condition. [2] Cooling fan Replace the cooling fan in 10000 to 30000 hours. Note that the criteria may vary depending on the environmental and working condition. 11-3 Warranty period (1) Warranty period shall be 12 months from the ex-factory date or 18 months from the date of manufacturing. This Warranty shall be exempted in the following cases, [1] defects resulting from misuse and/or repair or modification by the customer [2] defects resulting from drop of the Product or damage during transportation [3] defects resulting from improper usage of the Product beyond the Specifications [4] defects resulting from fire, earthquake, lightening, flood, damage from salt, abnormal voltage or other Act of God, or other disaster. [5] defects resulting from the intrusion of foreign material to the Product, such as water, oil or metallic particles. This Warranty shall be exempted when the life of the components described in 7-2 exceeds its typical life. (2) Warranty scope Panasonic warrants the replacement of the defected parts of the Product or repair of them when the defects of the Product occur during the Warranty Period, and when the defects are under Panasonic responsibility.This Warranty only covers the Product itself and does not cover any damage incurred by such defects. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 66 - 12. Others Precautions for export of this product and the equipment incorporating this product If the end user or end purpose of this product relates to military affairs, armament and so on, this product may be subject to the export regulations prescribed in "Foreign Exchange and Foreign Trade Control Law".To export this product, take thorough examination, and follow the required export procedure. We cannot warrant this product, if it is used beyond the specified operating conditions. Compliance with the relevant standards should be considered by the user. The final decision on the compatibility with the installations and components at the user's site, in terms of structure, dimensions, characteristics and other conditions, should be made by the user. When using this product in your equipment, be careful about the compatibility with the servomotor and the servo driver to be used together. For performance improvement or other reasons, some components of this product may be modified in a range that satisfies the specifications given in this document. Any specification change shall be based on our authorized specifications or the documents presented by the user. If a specification change may affect the functions and characteristics of this product, we will produce a trial product, and conduct examination in advance.Note that the produce price may be changed with a change in its specifications. We have made the best efforts to ensure the product quality. However, complete equipment at customer’s site may malfunction due to a failure of this product. Therefore, take precautions by providing fail-safe design at customer’s site, and ensure safety within the operating range of the work place. 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. When the equipment runs without connecting the servomotor's shaft electrically to ground, electrolytic corrosion may occur on the motor bearing and the bearing noise may get louder depending on the equipment and installing environment. So, customer is responsible to check and verify it. A customer must verify and inspect the equipment. Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulpharation can lead to disconnection from the chip resistor or a poor contact connection. Do not use benzene, thinner, alcohol, and acid or alkaline detergent, because they can discolor and damage the packaging chassis. Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed. Over-tightening can damage the screw and/or material; under-tightening can result in loosening.Example) Steel screw(M5) into steel section:2.7-3.3Nm. 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. When discard batteries, provide insulation using a tape, etc. and discard the batteries abiding by a municipal law. When discarding the equipment, process the item as an industrial waste. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 67 - 13. Specification for each model Model MADLT01SF MADLT11SF MADLT05SF MADLT15SF Power supply input Single phase 100 V Single phase 100 V Single phase/ 3 phase 200 V Single phase/ 3 phase 200 V Maximum instantaneous output current 10 A 10 A 10 A 10 A Maximum continuous output current 5 A 7.5 A 5A 7.5 A Rotary encoder feedback signal Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Regenerative discharge resistor Externally connected Externally connected Externally connected Externally connected Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system Available NOTE) Available NOTE) Available NOTE) Available NOTE) Ambient temperature main power supply cable 0 – 55 C 0 – 55 C 0 – 55 C 0 – 55 C Control power cable Main power supply cable Ground cable Motor cable Inrush current (Main power supply) (*1) Inrush current (Control power supply) (*1) HVSF 0.75 mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 AWG18 AWG18 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 2 2 2 HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 Max. 7 A Max. 7 A Max. 14 A Max. 14 A Max. 14 A Max. 14 A Max. 28 A Max. 28 A Weight Approx 0.8 kg Approx 0.8 kg Approx 0.8 kg Approx 0.8 kg Dimensions Size A Size A Size A Size A (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. (Note) The absolute encoder backup battery is externally connected. <Caution> The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 68 Model MBDLT21SF MBDLT25SF MCDLT31SF MCDLT35SF Power supply input Single phase 100 V Single phase/ 3 phase 200 V Single phase 100 V Single phase/ 3 phase 200 V Maximum instantaneous output current 15 A 15 A 30 A 30 A Maximum continuous output current 10 A 10 A 20 A 20 A Rotary encoder feedback signal Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Regenerative discharge resistor Externally connected Externally connected Built-in Built-in Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system Available NOTE) Available NOTE) Available NOTE) Available NOTE) Ambient temperature main power supply cable 0 – 55 C 0 – 55 C 0 – 55 C 0 – 55 C Control power cable HVSF 0.75 mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 AWG18 AWG18 Main power supply cable HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 HVSF 0.75 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 HVSF 0. 5 - 2.0 mm2 HVSF 0.75 - 2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 Motor cable Inrush current (Main power supply) (*1) Inrush current (Control power supply) (*1) Max. 7 A Max. 14 A Max. 15 A Max. 29 A Max. 14 A Max. 28 A Max. 14 A Max. 28 A Weight Approx 1.0 kg Approx 1.0 kg Approx 1.6 kg Approx 1.6 kg Dimensions Size B Size B Size C Size C (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. (Note) The absolute encoder backup battery is externally connected. <Caution> The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 69 Model MDDLT45SF MDDLT55SF MEDLT83SF Power supply input Single phase/ 3 phase 200 V Single phase/ 3 phase 200 V 3 phase 200V Maximum instantaneous output current 30 A 50 A 75 A Maximum continuous output current 30 A 40 A 64 A Rotary encoder feedback signal Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Regenerative discharge resistor Built-in Built-in Built-in Auto gain tuning function Provided Provided Provided Dynamic brake function Provided Provided Provided Absolute system Available NOTE) Available NOTE) Available NOTE) Ambient temperature main power supply cable 0 – 55 C 0 – 55 C 0 – 55 C Control power cable HVSF 0.75 mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 AWG18 2 2 HVSF 2.0 mm2 Main power supply cable HVSF 2.0 mm AWG14 AWG14 AWG14 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 Motor cable 2 HVSF 2.0 mm 2 HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 AWG14 Inrush current (Main power supply) (*1) Max. 29 A Max. 29 A Max. 29 A Inrush current (Control power supply) (*1) Max. 28 A Max. 28 A Max. 14 A Weight Approx 1.8 kg Approx 1.8 kg Approx 2.7 kg Dimensions Size D Size D Size E (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V. (Note) The absolute encoder backup battery is externally connected. <Caution> The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation No. SX-DSV03025 - 70 Model MFDLTSF MFDLTSF Power supply input 3 phase 200 V 3 phase 200 V Maximum instantaneous output current 100 A 150 A Maximum continuous output current 90 A 120 A Rotary encoder feedback signal Resolution: 8388608 P/r Resolution: 8388608 P/r Regenerative discharge resistor Built-in Built-in Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system Available NOTE) Available NOTE) Ambient temperature main power supply cable 0 – 55 C 0 – 55 C Control power cable Main power supply cable Ground cable Motor cable HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 HVSF 3.5 mm2 HVSF 3.5 mm2 AWG12 AWG12 HVSF 3.5 mm2 HVSF 3.5 mm2 AWG12 AWG12 2 Inrush current (Main power supply) (*1) Max. 22 A Max. 22 A Inrush current (Control power supply) (*1) Max. 14 A Max. 14 A Weight Approx 4.8 kg Approx 4.8 kg Dimensions Size F Size F (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V. (Note) The absolute encoder backup battery is externally connected. <Caution> The lithium-metal battery is used as a backup battery. There are restrictions for transportation of the lithium-metal batteries by an international transport rule of dangerous goods etc. Please inquire in detail through the purchase shop. Motor Business Unit, Panasonic Corporation ■The maximum value of torque limit setup Size Model A MADLT01SF MADLT11SF MADLT05SF MADLT15SF B MBDLT21SF MBDLT25SF C MCDLT31SF Applicable motor MSMF5AZL1** No.SX-DSV03025 The maximum value of torque limit setup Size 300 Model D MDDLT55SF Applicable motor The maximum value of torque limit setup MHMF092L1** 350 MHMF5AZL1** 350 MSMF102L1** 300 MSMF011L1** 300 MGMF132L1** 281 MQMF011L1** 350 MSMF152L1** 300 MHMF011L1** 350 MDMF152L1** 300 MHMF152L1** 300 MGMF182L1** 251 MSMF5AZL1** 300 MHMF5AZL1** 350 MSMF012L1** 300 MSMF202L1** 300 MQMF012L1** 350 MDMF202L1** 300 MHMF012L1** 350 MHMF202L1** 300 MSMF022L1** 300 MQMF022L1** 350 E MEDLT83SF F MFDLTA3SF MSMF302L1** 300 MDMF302L1** 300 MHMF302L1** 300 MGMF292L1** 245 MHMF022L1** 350 MSMF021L1** 300 MQMF021L1** 350 MSMF402L1** 300 MHMF021L1** 350 MDMF402L1** 300 MFDLTB3SF MSMF042L1** 300 MHMF402L1** 300 MQMF042L1** 350 MGMF442L1** 250 MHMF042L1** 350 MSMF502L1** 300 MSMF041L1** 300 MDMF502L1** 300 MQMF041L1** 350 MHMF502L1** 300 MHMF041L1** 350 MCDLT35SF MSMF082L1** 300 MHMF082L1** 350 D MDDLT45SF MGMF092L1** 264 MSMF092L1** 300 MDMF102L1** 300 MHMF102L1** 300 ■Default value of the parameters(1/9) No.SX-DSV03025 PARAMETER Cate Pr. 0 Parameter Default value 0 Reference direction 1 1 Control mode 0 2 RTAT mode 3 Mechanical stiffness for RTAT 4 Inertia ratio 5 Command pulse mode Command pulse counting 6 direction Command pulse input mode 7 setting 1 Size A-C 13 Size D-F 11 250 0 1 15 16 *1 17 0 10 Command scaling denominator 10000 2500 23 Number of output pulses per motor revolution Output pulse logic / 12 select output source 11 13 Torque limit 1 *2 14 Max position deviation 15 Absolute encoder setting 16 Regen resistor configuration 17 External regenerative resistor selection 1 10000 0 500 100000 1 3 Size C-F 0 Size A,B 0 Parameter 12 Torque feed forward gain *1 13 Torque feed forward filter *1 14 Second gain enable First command division/ multiplication numerator 9 0 Cate Pr. 18 19 *1 20 21 *1 22 8 Command pulse resolution 1 MODEL Gain switching mode for position Gain switching delay for position Gain switching level for position Gain switching hysteresis for position Position loop gain switching time Gain switching mode for velocity Gain switching delay for velocity Gain switching level for velocity Gain switching hysteresis for velocity Gain switching mode for torque Gain switching delay for torque 24 25 *1 26 Gain switching level for torque 27 28 *1 29 *1 30 *1 31 *1 32 *1 33 *1 34 *1 35 36 *1 37 *1 38 *1 39 *1 40 *1 41 *1 42 *1 Gain switching hysteresis for torque MINAS-A6 (SF) series common Default value 100.0 0.00 1 0 1.0 0 0 1.0 0 0.0 0 0 0 0.0 0 0 For manufacturer use 100.0 For manufacturer use 100.0 0.0 Cate Pr. 1 43 44 *1 45 *1 46 *1 47 *1 48 *1 49 *1 50 *1 51 52 *1 53 *1 54 *1 55 *1 56 *1 57 *1 58 *1 59 60 *1 61 *1 62 *1 63 *1 64 *1 65 *1 66 *1 67 68 *1 69 *1 70 *1 71 *1 72 *1 73 *1 Parameter Default value For manufacturer use 250 For manufacturer use 100.0 For manufacturer use 100.0 For manufacturer use 0.0 For manufacturer use For manufacturer use For manufacturer use For manufacturer use Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 Size A-C 0.84 Size D-F 1.26 *2 Velocity detection filter 1 Torque filter 1 Position loop gain 2 Velocity loop proportional gain 2 Velocity loop integral time constant 2 Velocity detection filter 2 Torque filter 2 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 0 Size A-C 0.84 Size D-F 1.26 Size A-C 48.0 Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 0 Size A-C 0.84 Size D-F 1.26 Velocity feed forward gain 100.0 Velocity feed forward filter 0.00 For manufacturer use For manufacturer use For manufacturer use For manufacturer use Size A-C 48.0 Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 Size A-C 0.84 Size D-F 1.26 For manufacturer use 250 For manufacturer use 100.0 For manufacturer use 100.0 For manufacturer use 0.0 For manufacturer use For manufacturer use For manufacturer use For manufacturer use Size A-C 48.0 Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 Size A-C 0.84 Size D-F 1.26 100.0 For manufacturer use 100.0 For manufacturer use 0.0 Adaptive filter mode 0 1 1st notch frequency 2 Notch width 1 For manufacturer use 100.0 For manufacturer use 0.0 For manufacturer use For manufacturer use For manufacturer use Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 Size A-C 0.84 Size D-F 1.26 Size D-F 1.26 For manufacturer use 4 2nd notch frequency For manufacturer use Size A-C 0.84 250 250 Size A-C 48.0 Default value For manufacturer use 100.0 3 Notch depth 1 Cate Pr. 2 26 27 *1 28 *1 29 *1 30 *1 31 Parameter Notch depth 5 Anti-vibration width configuration 1 Anti-vibration width configuration 2 Anti-vibration width configuration 3 Anti-vibration width configuration 4 Default value 0 0.00 0.00 0.00 0.00 For manufacturer use 0 5000 32 For manufacturer use 0 2 33 For manufacturer use 0 0 34 For manufacturer use 0 5000 35 For manufacturer use 0 5 Notch width 2 2 36 For manufacturer use 0 6 Notch depth 2 0 37 For manufacturer use 0 0 Velocity command type 0 7 Third notch frequency 8 Notch width 3 9 Notch depth 3 10 Notch frequency 4 5000 3 Velocity command direction source 2 1 0 2 Input gain of speed command 5000 3 Reversal of speed command input 0 500 1 For manufacturer use 250 11 Notch width 4 2 4 1st speed 0 For manufacturer use 100.0 12 Notch depth 4 0 5 2nd speed 0 For manufacturer use 100.0 Anti-vibration filter switching 13 mode 0 6 3rd speed 0 For manufacturer use 0.0 Anti-vibration frequency 1 0.0 7 4th speed 0 Anti-vibration filter configuration 1 0.0 8 5th speed 0 Anti-vibration frequency 2 0.0 9 6th speed 0 Anti-vibration filter configuration 2 0.0 10 7th speed 0 Anti-vibration frequency 3 0.0 11 8th speed 0 Anti-vibration filter configuration 3 0.0 12 Acceleration time 0 Anti-vibration frequency 4 0.0 13 Deceleration time 0 0.0 14 S-curve accel/decel time 0 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" Velocity loop integral time constant 1 Size D-F 32.0 Size A-C 27.0 For manufacturer use For manufacturer use For manufacturer use *1 Velocity loop proportional gain 1 0 2 74 *1 75 76 *1 77 *1 78 *1 0 Parameter For manufacturer use For manufacturer use Size A-C 48.0 1 Size A-C 48.0 18 0 *1 1 *1 2 *1 3 4 *1 5 *1 6 *1 7 *1 8 9 *1 10 *1 11 *1 Position loop gain 1 Cate Pr. For manufacturer use For manufacturer use For manufacturer use For manufacturer use Size A-C 48.0 Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 Size A-C 0.84 Size D-F 1.26 For manufacturer use 250 For manufacturer use 100.0 For manufacturer use 100.0 For manufacturer use For manufacturer use For manufacturer use For manufacturer use 0.0 Size A-C 48.0 Size D-F 32.0 Size A-C 27.0 Size D-F 18.0 Size A-C 21.0 Size D-F 31.0 14 *1 15 *1 16 *1 17 *1 18 *1 19 *1 20 *1 21 *1 22 *1 23 *1 24 Anti-vibration filter configuration 4 First order filter time constant for position command FIR filter time constant for position command 5th notch frequency 25 Notch width 5 Size A-C 9.2 Size D-F 13.9 1.0 5000 2 15 Speed zero clamp select 0 16 Speed zero clamp level 30 17 Selection of torque command 0 18 Torque command direction selection 0 ■Default value of the parameters(2/9) No.SX-DSV03025 PARAMETER Cate Pr. 3 Parameter 19 Input gain of torque command *1 Input reversal of torque 20 Default value Default value 0 21 Analog monitor output type 0 21 Speed limit value 1 0 Analog input 1 (AI1) offset 22 setup 22 Speed limit value 2 0 Numerator of external scale division Denominator of external scale 25 division Reversal of external scale 26 direction External scale Z-phase 27 disconnection detection 24 28 Hybrid deviation excess setup 29 Hybrid deviation clear setup 0 SI1 input assignment 4 Parameter 0 23 External scale selection 3.0 Cate Pr. MINAS-A6 (SF) series common 20 For manufacturer use command 4 MODEL 8553090 23 *1 24 *1 25 26 *1 27 *1 28 29 *1 30 *1 31 0 0 10000 0 0 16000 0 Analog input 1 (AI1) filter Analog input 1 (AI1) overvoltage setup Analog input 2 (AI2) offset setup Analog input 2 (AI2) filter Analog input 2 (AI2) overvoltage setup Analog input 3 (AI3) offset setup Analog input 3 (AI3) filter 0 Cate Pr. 5 Parameter LV trip selection at main power AC off Main power AC off detecting 9 time 8 Default value 1 Cate Pr. 5 Parameter 39 Modbus response waiting time 70 40 Modbus communication timeout time Default value 0 Cate Pr. 6 Parameter 14 Immediate stop time for alarm 15 2nd overspeed level 0 0 10 Alarm action 0 41 For manufacturer use 0 16 For manufacturer use 11 Immediate stop torque limit 0 42 Modbus broadcast setting 0 0.0 12 Overload level 0 43 No use - 13 Overspeed level 14 Motor movable range *1 Control input signal read 15 0 - 0 44 45 *1 46 *1 47 48 *1 49 *1 50 17 selection 18 Start-up wait *1 19 Encoder Z-phase setting For manufacturer use 0 24 Disturbance observer filter *1 25 No use 0.00 0.0 0 16 0.00 17 Analog input 3 (AI3) overvoltage setup 0.0 18 In-position range 10 19 setting Alarm clear input (A-CLR) setting Counter clear input (CL) setting Command pulse prohibition input (INH) disable setting Command pulse prohibition input (INH) read setting 1.0 0 0 3 1 No use Quadrant projection positive direction compensation value Quadrant projection negative direction compensation value Quadrant projection compensation delay time Quadrant projection compensation filter setting L Quadrant projection compensation filter setting H 200 0 0.00 0 Default value 0.0 0.0 0 0.00 0.00 Front panel parameter write 20 Z-phase setup of external scale Serial absolute external scale Z phase setup A/B-phase external scale pulse 22 output selection Disturbance torque 23 compensation gain 21 0 0.0 0 0 0 0 0 0.53 - 8487297 In-position output 32 configuration 0 20 Position units 0 51 For manufacturer use 0 26 No use - 2 SI3 input assignment 9539850 33 INP hold time 0 1 52 For manufacturer use 0 27 Warning latch time 5 3 SI4 input assignment 394758 34 Zero speed 50 500 53 For manufacturer use 0 28 Special function selection 0 35 Speed coincidence range 50 21 Torque limit selection 22 Torque limit 2 *2 23 Torque limit switch setup 1 0 54 For manufacturer use 0 29 No use - 0 30 For manufacturer use 0 1 SI2 input assignment 4 SI5 input assignment 4108 5 SI6 input assignment 197379 263172 Stop time mechanical brake operation setting Run time mechanical brake 38 operation setting 8 SI9 input assignment 328965 39 Brake clear speed setting 30 9 SI10 input assignment 3720 40 Warning output selection 1 0 24 25 *2 26 *2 27 *1 28 LED Initial display 10 SO1 output assignment 197379 41 Warning output selection 2 0 11 SO2 output assignment 131586 42 6 SI7 input assignment 3847 7 SI8 input assignment 36 At-speed 12 SO3 output assignment 65793 13 SO4 output assignment 328964 14 SO5 output assignment 460551 2 Command scaling numerator 4 15 SO6 output assignment 394758 3 16 Analog monitor 1 type 0 17 Analog monitor 1 output gain 0 18 Analog monitor 2 types 4 *2 3.0 2 Excessive speed deviation 0 1 3 No use - 29 Baud rate of RS232 2 4 JOG speed 10 30 Baud rate of RS485 2 5 Position gain 3 valid time 0.0 33 34 *1 35 *1 36 0 31 Axis number 1 6 Position gain 3 scaling factor 100 37 Oscillation detection threshold 0 32 Output pulse scaling denominator 0 0 Torque limit switch setup 2 Positive torque limit for external input Negative torque limit for external input Input gain of analog torque limit Maximum command pulse input setting Enable pulse regeneration 33 output limit 0 500 4000 0 6 For manufacturer use Analog torque feed forward conversion gain No use 0.0 - 300 1 1000 For manufacturer use Hybrid vibration suppressor gain Hybrid vibration suppressor filter Dynamic brake operation input 0 0.0 0.10 0 0.0 0 38 Warning mask setting 4 0 8 Positive torque compensation 0 39 For manufacturer use 0 0 40 No use - 41 42 *1 43 0 34 For manufacturer use 4 9 Negative torque compensation 4 Overtravel input configuration 1 35 Front panel lock 0 10 Function expansion settings 1 16 5 Overtravel action 0 36 For manufacturer use 0 11 Current response setup 100 6 Servo off action 0 37 Modbus connection setting 0 12 No use 7 Real time auto-gain tuning estimated speed Real time auto-gain tuning 32 customize 31 7 Torque command addition Sequence at main power AC Modbus communication 0 38 0 off setting When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" 19 Analog monitor 2 output gain *1 500 55 0 *1 1 0 Positioning completion range 2 2nd command frequency 0 division multiplication 3rd command frequency 1 division multiplication 5 1000 37 13 2nd inertia ratio 250 Anti-vibration depth 1 Two-stage torque filter time constant Two-stage torque filter Attenuation term 44 No use 0 0.00 0 - ■Default value of the parameters(3/9) No.SX-DSV03025 PARAMETER Cate Pr. 6 Parameter MODEL Default value Cate Pr. Parameter MINAS-A6 (SF) series common Default value 45 No use - 6 76 Number of load estimation 0 46 No use - 7 0 For manufacturer use 0 1 For manufacturer use 2 No use 47 48 *1 49 50 *1 51 Function expansion settings 2 Adjust filter Command response / tuning filter damping Viscous friction compensation gain Immediate cessation completion wait time 1 Size A 1.1 / B-C 1.2 / D-F 1.7 Cate Pr. 7 Parameter Default value Cate Pr. 7 Parameter Default value Cate Pr. 7 Parameter Default value 30 For manufacturer use 0 61 No use - 31 For manufacturer use 0 62 No use - 0 32 For manufacturer use 0 63 No use - 0 For manufacturer use 0 - 33 For manufacturer use 0 64 No use - 1 For manufacturer use 100 8 92 For manufacturer use 0 93 For manufacturer use 0 15 3 For manufacturer use 0 34 For manufacturer use 0 65 No use - 2 For manufacturer use 0 0.0 4 For manufacturer use 0 35 For manufacturer use 0 66 No use - 3 For manufacturer use 0 0 5 For manufacturer use 0 36 For manufacturer use 0 67 No use - 4 For manufacturer use 100 52 For manufacturer use 0 6 For manufacturer use 0 37 For manufacturer use 0 68 No use - 5 For manufacturer use 0 53 For manufacturer use 0 7 For manufacturer use 0 38 For manufacturer use 0 69 No use - 6 No use - 54 For manufacturer use 0 8 For manufacturer use 0 39 For manufacturer use 0 70 No use - 7 No use - 55 No use - 9 For manufacturer use 0 40 No use - 71 No use - 8 No use - 56 No use - 10 For manufacturer use 0 41 For manufacturer use 0 72 No use - 9 No use - Torque saturation 57 anomaly detection time 0 11 For manufacturer use 0 42 No use - 73 No use - 10 For manufacturer use 0 58 No use - 12 For manufacturer use 0 43 No use - 74 No use - 11 No use - 59 No use - 13 For manufacturer use 0 44 No use - 75 No use - 12 For manufacturer use 0 60 61 *1 62 63 *1 64 65 *1 66 *1 67 68 *1 69 70 *1 71 Anti-vibration depth 2 0 14 0 45 No use - 76 No use - 13 For manufacturer use 0 Resonance frequency 1 0.0 15 For manufacturer use 0 46 No use - 77 No use - 14 For manufacturer use 0 0 16 For manufacturer use 0 47 No use - 78 No use - 15 For manufacturer use 0 0.0 17 No use - 48 No use - 79 No use - 16 No use - 0 18 No use - 49 No use - 80 No use - 17 No use - Response frequency 1 0.0 19 No use - 50 No use - 81 No use - 18 No use - Resonance frequency 2 0.0 20 For manufacturer use 0 51 No use - 82 No use - 19 For manufacturer use 0 72 73 *1 74 *1 75 *1 Anti-vibration depth 4 Load estimation filter *1 *2 Resonance damping ratio 1 Antiresonant frequency 1 Anti resonance damping ratio 1 Resonance damping ratio 2 Antiresonant frequency 2 Main power turn-off warning detection time 0 21 For manufacturer use 1 52 No use - 83 No use - 0 For manufacturer use 0 0.0 22 For manufacturer use 0 53 No use - 84 No use - 14 1 For manufacturer use 0 0 0 23 For manufacturer use 0 54 No use - 85 No use - 2 For manufacturer use Response frequency 2 0.0 24 For manufacturer use 0 55 No use - 86 No use - 3 For manufacturer use 0 Anti-vibration depth 3 0 25 For manufacturer use 0 56 No use - 87 For manufacturer use 0 4 For manufacturer use 0 0 26 For manufacturer use 0 57 No use - 88 No use - 5 For manufacturer use 0 0.00 27 For manufacturer use 0 58 No use - 89 No use - 6 For manufacturer use 0 90 No use - 7 For manufacturer use 0 91 For manufacturer use 0 8 For manufacturer use 0 Anti resonance damping ratio 2 Torque compensating 0.0 28 For manufacturer use 0 59 No use frequency 1 Torque compensating 0.0 29 For manufacturer use 0 60 No use frequency 2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" ■Default value of the parameters(4/9) No.SX-DSV03025 PARAMETER Cate Pr. 14 15 Parameter MODEL Default value Cate Pr. Parameter MINAS-A6 (SF) series common Default value Cate Pr. Default value Cate Pr. Parameter Default value Cate Pr. Parameter 9 For manufacturer use 0 15 10 No use - 5 Block action data 002 0 56 36 Block action command 018 0 0 11 No use - 6 Block action command 003 0 37 Block action data 018 0 68 Block action command 034 0 11 For manufacturer use 0 12 No use - 7 Block action data 003 0 38 Block action command 019 0 69 Block action data 034 0 12 For manufacturer use 0 13 No use - 8 Block action command 004 0 39 Block action data 019 0 70 Block action command 035 0 13 For manufacturer use 0 14 No use - 9 Block action data 004 0 40 Block action command 020 0 71 Block action data 035 0 14 For manufacturer use 0 15 No use - 10 Block action command 005 0 41 Block action data 020 0 72 Block action command 036 0 15 For manufacturer use 0 16 For manufacturer use 2 11 Block action data 005 0 42 Block action command 021 0 73 Block action data 036 0 16 For manufacturer use 0 17 For manufacturer use 4 12 Block action command 006 0 43 Block action data 021 0 74 Block action command 037 0 17 For manufacturer use 0 18 No use - 13 Block action data 006 0 44 Block action command 022 0 75 Block action data 037 0 18 For manufacturer use 0 19 No use - 14 Block action command 007 0 45 Block action data 022 0 76 Block action command 038 0 19 For manufacturer use 0 20 No use - 15 Block action data 007 0 46 Block action command 023 0 77 Block action data 038 0 20 For manufacturer use 0 21 No use - 16 Block action command 008 0 47 Block action data 023 0 78 Block action command 039 0 21 For manufacturer use 0 22 No use - 17 Block action data 008 0 48 Block action command 024 0 79 Block action data 039 0 22 For manufacturer use 0 23 No use - 18 Block action command 009 0 49 Block action data 024 0 80 Block action command 040 0 23 For manufacturer use 0 24 No use - 19 Block action data 009 0 50 Block action command 025 0 81 Block action data 040 0 24 For manufacturer use 0 25 No use - 20 Block action command 010 0 51 Block action data 025 0 82 Block action command 041 0 25 For manufacturer use 0 26 No use - 21 Block action data 010 0 52 Block action command 026 0 83 Block action data 041 0 26 For manufacturer use 0 27 No use - 22 Block action command 011 0 53 Block action data 026 0 84 Block action command 042 0 27 For manufacturer use 0 28 No use - 23 Block action data 011 0 54 Block action command 027 0 85 Block action data 042 0 28 For manufacturer use 0 29 No use - 24 Block action command 012 0 55 Block action data 027 0 86 Block action command 043 0 29 For manufacturer use 0 30 For manufacturer use 6 25 Block action data 012 0 56 Block action command 028 0 87 Block action data 043 0 0 For manufacturer use 0 31 For manufacturer use 5 26 Block action command 013 0 57 Block action data 028 0 88 Block action command 044 0 1 No use - 32 No use - 27 Block action data 013 0 58 Block action command 029 0 89 Block action data 044 0 2 No use - 33 For manufacturer use 0 28 Block action command 014 0 59 Block action data 029 0 90 Block action command 045 0 3 No use - 34 For manufacturer use 0 29 Block action data 014 0 60 Block action command 030 0 91 Block action data 045 0 4 No use - 35 For manufacturer use 0 30 Block action command 015 0 61 Block action data 030 0 92 Block action command 046 0 5 No use - 0 Block action command 000 0 31 Block action data 015 0 62 Block action command 031 0 93 Block action data 046 0 6 No use - 1 Block action data 000 0 32 Block action command 16 0 63 Block action data 031 0 94 Block action command 47 0 7 No use - 2 Block action command 001 0 33 Block action data 016 0 64 Block action command 032 0 95 Block action data 047 0 8 No use - 3 Block action data 001 0 34 Block action command 017 0 65 Block action data 032 0 96 Block action command 048 0 9 No use - 4 Block action command 002 0 35 Block action data 017 0 66 Block action command 033 0 97 Block action data 048 0 *1 *2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" 56 67 Block action data 033 Default value 10 For manufacturer use 56 56 Parameter 0 ■Default value of the parameters(5/9) No.SX-DSV03025 PARAMETER Cate Pr. Parameter MODEL Default value Cate Pr. Default value Cate Pr. Parameter Default value Cate Pr. Parameter Cate Pr. Parameter Default value 0 1 Block action data 064 0 57 32 Block action command 080 0 0 57 94 Block action command 111 0 99 Block action data 049 0 2 Block action command 065 0 33 Block action data 080 0 64 Block action command 096 0 95 Block action data 111 0 100 Block action command 050 0 3 Block action data 065 0 34 Block action command 081 0 65 Block action data 096 0 96 Block action command 112 0 101 Block action data 050 0 4 Block action command 066 0 35 Block action data 081 0 66 Block action command 097 0 97 Block action data 112 0 102 Block action command 051 0 5 Block action data 066 0 36 Block action command 082 0 67 Block action data 097 0 98 Block action command 113 0 103 Block action data 051 0 6 Block action command 067 0 37 Block action data 082 0 68 Block action command 098 0 99 Block action data 113 0 104 Block action command 052 0 7 Block action data 067 0 38 Block action command 083 0 69 Block action data 098 0 100 Block action command 114 0 105 Block action data 052 0 8 Block action command 068 0 39 Block action data 083 0 70 Block action command 099 0 101 Block action data 114 0 106 Block action command 053 0 9 Block action data 068 0 40 Block action command 084 0 71 Block action data 099 0 102 Block action command 115 0 107 Block action data 053 0 10 Block action command 069 0 41 Block action data 084 0 72 Block action command 100 0 103 Block action data 115 0 108 Block action command 054 0 11 Block action data 069 0 42 Block action command 085 0 73 Block action data 100 0 104 Block action command 116 0 109 Block action data 054 0 12 Block action command 070 0 43 Block action data 085 0 74 Block action command 101 0 105 Block action data 116 0 110 Block action command 055 0 13 Block action data 070 0 44 Block action command 086 0 75 Block action data 101 0 106 Block action command 117 0 111 Block action data 055 0 14 Block action command 071 0 45 Block action data 086 0 76 Block action command 102 0 107 Block action data 117 0 112 Block action command 056 0 15 Block action data 071 0 46 Block action command 087 0 77 Block action data 102 0 108 Block action command 118 0 113 Block action data 056 0 16 Block action command 072 0 47 Block action data 087 0 78 Block action command 103 0 109 Block action data 118 0 114 Block action command 057 0 17 Block action data 072 0 48 Block action command 088 0 79 Block action data 103 0 110 Block action command 119 0 115 Block action data 057 0 18 Block action command 073 0 49 Block action data 088 0 80 Block action command 104 0 111 Block action data 119 0 116 Block action command 058 0 19 Block action data 073 0 50 Block action command 089 0 81 Block action data 104 0 112 Block action command 120 0 117 Block action data 058 0 20 Block action command 074 0 51 Block action data 089 0 82 Block action command 105 0 113 Block action data 120 0 118 Block action command 059 0 21 Block action data 074 0 52 Block action command 090 0 83 Block action data 105 0 114 Block action command 121 0 119 Block action data 059 0 22 Block action command 075 0 53 Block action data 090 0 84 Block action command 106 0 115 Block action data 121 0 120 Block action command 060 0 23 Block action data 075 0 54 Block action command 091 0 85 Block action data 106 0 116 Block action command 122 0 121 Block action data 060 0 24 Block action command 076 0 55 Block action data 091 0 86 Block action command 107 0 117 Block action data 122 0 122 Block action command 061 0 25 Block action data 076 0 56 Block action command 092 0 87 Block action data 107 0 118 Block action command 123 0 123 Block action data 061 0 26 Block action command 077 0 57 Block action data 092 0 88 Block action command 108 0 119 Block action data 123 0 124 Block action command 062 0 27 Block action data 077 0 58 Block action command 093 0 89 Block action data 108 0 120 Block action command 124 0 125 Block action data 062 0 28 Block action command 078 0 59 Block action data 093 0 90 Block action command 109 0 121 Block action data 124 0 126 Block action command 063 0 29 Block action data 078 0 60 Block action command 094 0 91 Block action data 109 0 122 Block action command 125 0 127 Block action data 063 0 30 Block action command 079 0 61 Block action data 094 0 92 Block action command 110 0 123 Block action data 125 0 0 31 Block action data 079 0 62 Block action command 095 0 93 Block action data 110 0 124 Block action command 126 0 0 Block action command 064 *1 *2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" 57 63 Block action data 095 Default value 56 98 Block action command 049 57 57 Parameter MINAS-A6 (SF) series common ■Default value of the parameters(6/9) No.SX-DSV03025 PARAMETER Cate Pr. Parameter 57 125 Block action data 126 58 MODEL Default value Cate Pr. Parameter MINAS-A6 (SF) series common Default value 0 58 28 Block action command 142 0 126 Block action command 127 0 29 Block action data 142 0 127 Block action data 127 0 30 Block action command 143 0 Cate Pr. Parameter 58 59 Block action data 157 Default value Cate Pr. Parameter Default value Cate Pr. Parameter 58 121 Block action data 188 Default value 0 58 90 Block action command 173 0 0 60 Block action command 158 0 91 Block action data 173 0 122 Block action command 189 0 61 Block action data 158 0 92 Block action data 174 0 123 Block action data 189 0 0 Block action command 128 0 31 Block action data 143 0 62 Block action command 159 0 93 Block action command 174 0 124 Block action command 190 0 1 Block action data 128 0 32 Block action command 144 0 63 Block action data 159 0 94 Block action data 175 0 125 Block action data 190 0 2 Block action command 129 0 33 Block action data 144 0 64 Block action command 160 0 95 Block action data 175 0 126 Block action command 191 0 3 Block action data 129 0 34 Block action command 145 0 65 Block action data 160 0 96 Block action command 176 0 127 Block action data 191 0 4 Block action command 130 0 35 Block action data 145 0 66 Block action command 161 0 97 Block action data 176 0 5 Block action data 130 0 36 Block action command 146 0 67 Block action data 161 0 98 Block action command 177 6 Block action command 131 0 37 Block action data 146 0 68 Block action command 162 0 7 Block action data 131 0 38 Block action command 147 0 69 Block action data 162 8 Block action command 132 0 39 Block action data 147 0 70 Block action command 163 0 Block action command 192 0 0 59 1 Block action data 192 0 99 Block action data 177 0 2 Block action command 193 0 0 100 Block action command 178 0 3 Block action data 193 0 0 101 Block action data 178 0 4 Block action command 194 0 9 Block action data 132 0 40 Block action command 148 0 71 Block action data 163 0 102 Block action command 179 0 5 Block action data 194 0 10 Block action command 133 0 41 Block action data 148 0 72 Block action command 164 0 103 Block action data 179 0 6 Block action command 195 0 11 Block action data 133 0 42 Block action command 149 0 73 Block action data 164 0 104 Block action command 180 0 7 Block action data 195 0 12 Block action command 134 0 43 Block action data 149 0 74 Block action command 165 0 105 Block action data 180 0 8 Block action command 196 0 13 Block action data 134 0 44 Block action command 150 0 75 Block action data 165 0 106 Block action command 181 0 9 Block action data 196 0 14 Block action command 135 0 45 Block action data 150 0 76 Block action command 166 0 107 Block action data 181 0 10 Block action command 197 0 15 Block action data 135 0 46 Block action command 151 0 77 Block action data 166 0 108 Block action command 182 0 11 Block action data 197 0 16 Block action command 136 0 47 Block action data 151 0 78 Block action command 167 0 109 Block action data 182 0 12 Block action command 198 0 17 Block action data 136 0 48 Block action command 152 0 79 Block action data 167 0 110 Block action command 183 0 13 Block action data 198 0 18 Block action command 137 0 49 Block action data 152 0 80 Block action command 168 0 111 Block action data 183 0 14 Block action command 199 0 19 Block action data 137 0 50 Block action command 153 0 81 Block action data 168 0 112 Block action command 184 0 15 Block action data 199 0 20 Block action command 138 0 51 Block action data 153 0 82 Block action command 169 0 113 Block action data 184 0 16 Block action command 200 0 21 Block action data 138 0 52 Block action command 154 0 83 Block action data 169 0 114 Block action command 185 0 17 Block action data 200 0 22 Block action command 139 0 53 Block action data 154 0 84 Block action command 170 0 115 Block action data 185 0 18 Block action command 201 0 23 Block action data 139 0 54 Block action command 155 0 85 Block action data 170 0 116 Block action command 186 0 19 Block action data 201 0 24 Block action command 140 0 55 Block action data 155 0 86 Block action command 171 0 117 Block action data 186 0 20 Block action command 202 0 25 Block action data 140 0 56 Block action command 156 0 87 Block action data 171 0 118 Block action command 187 0 21 Block action data 202 0 26 Block action command 141 0 57 Block action data 156 0 88 Block action command 172 0 119 Block action data 187 0 22 Block action command 203 0 27 Block action data 141 0 58 Block action command 157 0 89 Block action data 172 0 120 Block action command 188 0 23 Block action data 203 0 *1 *2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" ■Default value of the parameters(7/9) No.SX-DSV03025 PARAMETER Cate Pr. Parameter MODEL Default value Cate Pr. Parameter 59 55 Block action data 219 MINAS-A6 (SF) series common Default value Cate Pr. Parameter Default value Cate Pr. Parameter 59 117 Block action data 250 Default value Cate Pr. Parameter Default value 59 24 Block action command 204 0 0 59 86 Block action command 235 0 0 60 20 Block action acceleration 04 0 25 Block action data 204 0 56 Block action command 220 0 87 Block action data 235 0 118 Block action command 251 0 21 Block action acceleration 05 0 26 Block action command 205 0 57 Block action data 220 0 88 Block action command 236 0 119 Block action data 251 0 22 Block action acceleration 06 0 27 Block action data 205 0 58 Block action command 221 0 89 Block action data 236 0 120 Block action command 252 0 23 Block action acceleration 07 0 28 Block action command 206 0 59 Block action data 221 0 90 Block action command 237 0 121 Block action data 252 0 24 Block action acceleration 08 0 29 Block action data 206 0 60 Block action command 222 0 91 Block action data 237 0 122 Block action command 253 0 25 Block action acceleration 09 0 30 Block action command 207 0 61 Block action data 222 0 92 Block action command 238 0 123 Block action data 253 0 26 Block action acceleration 10 0 31 Block action data 207 0 62 Block action command 223 0 93 Block action data 238 0 124 Block action command 254 0 27 Block action acceleration 11 0 32 Block action command 208 0 63 Block action data 223 0 94 Block action command 239 0 125 Block action data 254 0 28 Block action acceleration 12 0 33 Block action data 208 0 64 Block action command 224 0 95 Block action data 239 0 126 Block action command 255 0 29 Block action acceleration 13 0 34 Block action command 209 0 65 Block action data 224 0 96 Block action command 240 0 127 Block action data 255 35 Block action data 209 0 66 Block action command 225 0 97 Block action data 240 0 36 Block action command 210 0 67 Block action data 225 0 98 Block action command 241 37 Block action data 210 0 68 Block action command 226 0 99 Block action data 241 38 Block action command 211 0 69 Block action data 226 0 39 Block action data 211 0 70 Block action command 227 0 40 Block action command 212 0 71 Block action data 227 41 Block action data 212 0 72 Block action command 228 42 Block action command 213 0 43 Block action data 213 0 44 Block action command 214 45 Block action data 214 0 30 Block action acceleration 14 0 0 Block action velocity 00 0 31 Block action acceleration 15 0 0 1 Block action velocity 01 0 32 Block action deceleration 00 0 0 2 Block action velocity 02 0 33 Block action deceleration 01 0 100 Block action command 242 0 3 Block action velocity 03 0 34 Block action deceleration 02 0 101 Block action data 242 0 4 Block action velocity 04 0 35 Block action deceleration 03 0 0 102 Block action command 243 0 5 Block action velocity 05 0 36 Block action deceleration 04 0 0 103 Block action data 243 0 6 Block action velocity 06 0 37 Block action deceleration 05 0 73 Block action data 228 0 104 Block action command 244 0 7 Block action velocity 07 0 38 Block action deceleration 06 0 74 Block action command 229 0 105 Block action data 244 0 8 Block action velocity 08 0 39 Block action deceleration 07 0 0 75 Block action data 229 0 106 Block action command 245 0 9 Block action velocity 09 0 40 Block action deceleration 08 0 0 76 Block action command 230 0 107 Block action data 245 0 10 Block action velocity 10 0 41 Block action deceleration 09 0 46 Block action command 215 0 77 Block action data 230 0 108 Block action command 246 0 11 Block action velocity 11 0 42 Block action deceleration 10 0 47 Block action data 215 0 78 Block action command 231 0 109 Block action data 246 0 12 Block action velocity 12 0 43 Block action deceleration 11 0 48 Block action command 216 0 79 Block action data 231 0 110 Block action command 247 0 13 Block action velocity 13 0 44 Block action deceleration 12 0 49 Block action data 216 0 80 Block action command 232 0 111 Block action data 247 0 14 Block action velocity 14 0 45 Block action deceleration 13 0 50 Block action command 217 0 81 Block action data 232 0 112 Block action command 248 0 15 Block action velocity 15 0 46 Block action deceleration 14 0 51 Block action data 217 0 82 Block action command 233 0 113 Block action data 248 0 16 Block action acceleration 00 0 47 Block action deceleration 15 0 52 Block action command 218 0 83 Block action data 233 0 114 Block action command 249 0 17 Block action acceleration 01 0 48 For manufacturer use 0 53 Block action data 218 0 84 Block action command 234 0 115 Block action data 249 0 18 Block action acceleration 02 0 49 Block action origin offset 0 54 Block action command 219 0 85 Block action data 234 0 116 Block action command 250 0 19 Block action acceleration 03 0 50 *1 *2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" 60 Block action positive direction software limit 0 ■Default value of the parameters(8/9) No.SX-DSV03025 PARAMETER Cate Pr. 60 51 52 53 54 Block action negative direction software limit Block action origin return velocity (high speed) Block action origin return velocity (low speed) Block action origin return acceleration and deceleration Set invalidate block action origin return Default value Cate Pr. Parameter MINAS-A6 (SF) series common Default value Cate Pr. Parameter Default value Cate Pr. Parameter Default value Cate Pr. Parameter Default value 0 61 13 For manufacturer use 0 62 12 For manufacturer use 0 62 43 For manufacturer use 0 62 74 For manufacturer use 0 0 14 For manufacturer use 0 13 For manufacturer use 0 44 For manufacturer use 0 75 For manufacturer use 0 0 15 For manufacturer use 0 14 For manufacturer use 0 45 For manufacturer use 0 76 For manufacturer use 0 0 16 For manufacturer use 0 15 For manufacturer use 0 46 For manufacturer use 0 77 For manufacturer use 0 0 17 For manufacturer use 0 16 For manufacturer use 0 47 For manufacturer use 0 78 For manufacturer use 0 56 For manufacturer use 0 18 For manufacturer use 0 17 For manufacturer use 0 48 For manufacturer use 0 79 For manufacturer use 0 57 For manufacturer use 0 19 For manufacturer use 0 18 For manufacturer use 0 49 For manufacturer use 0 80 For manufacturer use 0 58 For manufacturer use 0 20 For manufacturer use 0 19 For manufacturer use 0 50 For manufacturer use 0 81 For manufacturer use 0 59 For manufacturer use 0 21 For manufacturer use 0 20 For manufacturer use 0 51 For manufacturer use 0 82 For manufacturer use 0 60 For manufacturer use 0 22 For manufacturer use 0 21 For manufacturer use 0 52 For manufacturer use 0 83 For manufacturer use 0 61 For manufacturer use 0 23 For manufacturer use 0 22 For manufacturer use 0 53 For manufacturer use 0 84 For manufacturer use 0 62 For manufacturer use 0 24 For manufacturer use 0 23 For manufacturer use 0 54 For manufacturer use 0 85 For manufacturer use 0 63 For manufacturer use 0 25 For manufacturer use 0 24 For manufacturer use 0 55 For manufacturer use 0 86 For manufacturer use 0 64 For manufacturer use 0 26 For manufacturer use 0 25 For manufacturer use 0 56 For manufacturer use 0 87 For manufacturer use 0 65 For manufacturer use 0 27 For manufacturer use 0 26 For manufacturer use 0 57 For manufacturer use 0 88 For manufacturer use 0 66 For manufacturer use 0 28 For manufacturer use 0 27 For manufacturer use 0 58 For manufacturer use 0 89 For manufacturer use 0 67 For manufacturer use 0 29 For manufacturer use 0 28 For manufacturer use 0 59 For manufacturer use 0 90 For manufacturer use 0 68 For manufacturer use 0 30 For manufacturer use 0 29 For manufacturer use 0 60 For manufacturer use 0 91 For manufacturer use 0 31 For manufacturer use 0 30 For manufacturer use 0 61 For manufacturer use 0 92 For manufacturer use 0 0 For manufacturer use 0 31 For manufacturer use 0 62 For manufacturer use 0 93 For manufacturer use 0 55 61 Parameter MODEL 0 For manufacturer use 0 1 For manufacturer use 0 2 For manufacturer use 0 1 For manufacturer use 0 32 For manufacturer use 0 63 For manufacturer use 0 94 For manufacturer use 0 3 For manufacturer use 0 2 For manufacturer use 0 33 For manufacturer use 0 64 For manufacturer use 0 95 For manufacturer use 0 4 For manufacturer use 0 3 For manufacturer use 0 34 For manufacturer use 0 65 For manufacturer use 0 96 For manufacturer use 0 5 For manufacturer use 0 4 For manufacturer use 0 35 For manufacturer use 0 66 For manufacturer use 0 97 For manufacturer use 0 6 For manufacturer use 0 5 For manufacturer use 0 36 For manufacturer use 0 67 For manufacturer use 0 98 For manufacturer use 0 7 For manufacturer use 0 6 For manufacturer use 0 37 For manufacturer use 0 68 For manufacturer use 0 99 For manufacturer use 0 8 For manufacturer use 0 7 For manufacturer use 0 38 For manufacturer use 0 69 For manufacturer use 0 100 For manufacturer use 0 62 9 For manufacturer use 0 8 For manufacturer use 0 39 For manufacturer use 0 70 For manufacturer use 0 101 For manufacturer use 0 10 For manufacturer use 0 9 For manufacturer use 0 40 For manufacturer use 0 71 For manufacturer use 0 102 For manufacturer use 0 11 For manufacturer use 0 10 For manufacturer use 0 41 For manufacturer use 0 72 For manufacturer use 0 103 For manufacturer use 0 12 For manufacturer use 0 11 For manufacturer use 0 42 For manufacturer use 0 73 For manufacturer use 0 104 For manufacturer use 0 *1 *2 When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" ■Default value of the parameters(9/9) No.SX-DSV03025 PARAMETER Cate Pr. Parameter MODEL Default value 62 105 For manufacturer use 0 106 For manufacturer use 0 107 For manufacturer use 0 108 For manufacturer use 0 109 For manufacturer use 0 110 For manufacturer use 0 111 For manufacturer use 0 112 For manufacturer use 0 113 For manufacturer use 0 114 For manufacturer use 0 115 For manufacturer use 0 116 For manufacturer use 0 117 For manufacturer use 0 118 For manufacturer use 0 119 For manufacturer use 0 120 For manufacturer use 0 121 For manufacturer use 0 122 For manufacturer use 0 123 For manufacturer use 0 124 For manufacturer use 0 125 For manufacturer use 0 126 For manufacturer use 0 127 For manufacturer use 0 *1 *2 Cate Pr. Parameter MINAS-A6 (SF) series common Default value Cate Pr. Parameter Default value When checking directly value of parameter-file with a text data etc., it does not show the decimal point. Ex) Pr6.24 Disturbance observer filter ・・・ Value of Panaterm : 0.53 / Value of parameter-file : 53 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of torque limit setup" Cate Pr. Parameter Default value Cate Pr. Parameter Default value