No. SX-DSV03089 REFERENCE SPECIFICATIONS MODEL Product Name: AC servo driver Model Number: MINAS A6N Series Issued on 1 Feb. 2016 Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan Phone: +86-72-871-1212 Fax: +86-72-870-3151 No. SX-DSV03089 REVISIONS Date Page Rev. 1/2/2016 - 0.0 R0.0 Description Initial Release Signed - Motor Business Unit, Panasonic Corporation No. SX-DSV03089 Contents 1．Scope .....................................................................................................................................................................1 2．Model number .......................................................................................................................................................1 3．Product Line-up ....................................................................................................................................................2 4．Specifications ........................................................................................................................................................3 5．Appearance and Names .........................................................................................................................................4 6．Dimensions .........................................................................................................................................................10 7．Configuration of connectors and terminal blocks ...............................................................................................22 7-1 Power connectors 7-2 USB connector XA XB , XC , XD and terminal blocks.................................................. 22 X1....................................................................................................................................... 26 7-3 RTEX connectors 7-4 I/O connector , X2A X2B .................................................................................................................. 27 X4 ....................................................................................................................................... 28 7-5 Encoder connector X6 ................................................................................................................................. 30 7-6 Monitor connector X7 ................................................................................................................................. 30 7-7 Interface Circuit .............................................................................................................................................. 31 8．Wiring and system configuration ........................................................................................................................32 8-1 Used cables and maximum cable lengths ....................................................................................................... 32 8-2 Cable Side Connector ..................................................................................................................................... 32 8-3 Precautions for wiring..................................................................................................................................... 33 8-4 Dynamic brake ................................................................................................................................................ 52 8-5 Mounting direction and spacing ..................................................................................................................... 52 9．Compliance with global standards ......................................................................................................................53 9-1 Conforming standards ..................................................................................................................................... 53 9-2 European EC directive .................................................................................................................................... 53 9-3 Peripheral device configuration ...................................................................................................................... 54 9-4 List of peripheral devices applicable to servo driver ...................................................................................... 56 9-5 Compliance with UL standard ........................................................................................................................ 58 9-6 Radio waves act (South Korea) precautions ................................................................................................... 58 9-7 Compliance with SEMI F47 instantaneous stop standard .............................................................................. 58 10．Safety precautions .............................................................................................................................................59 11．Life and warranty ..............................................................................................................................................63 11-1 Life expectancy of the servo driver .............................................................................................................. 63 11-2 Typical life .................................................................................................................................................... 63 11-3 Warranty ....................................................................................................................................................... 63 12．Others ................................................................................................................................................................64 Appendix: Specification for each model Appendix: I/O connector (X4) default setting Appendix table: Default value of the parameters R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -1- 1．Scope The specifications are for AC servo driver MINAS-A6N Series made by Motor Business Unit, Smart Factory Solutions Business Division, Automotive & Industrial amplifier Systems Company, Panasonic Corporation. The products specified on this document can be used for industrial purposes only. Do not use in a general household. <IMPORTANT> All rights reserved. No part of this document may be reproduced or transmitted into any form without prior permission. Motor Business Unit, Smart Factory Solutions Business Division, Automotive & Industrial Systems Company, Panasonic Corporation reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice. 2．Model number The model number is structured as follows: 1 2 3 4 5 6 7 8 9 10 11 12 M A D L N 1 5 N E * * * Classification servo driver Specific Model Size A: B: C: D: E: F: Size A Size B Size C Size D Size E Size F AC Servo drive L: A6 family Functionality E: Standard Interface N: RTEX Safety function N: Without safety I/F Maximum instantaneous output current 0: 6 A 1: 8 A 2: 12 A 3: 22 A 4: 24 A 5: 40 A 8: 60 A A: 100 A B: 120 A R0.0 Power supply voltage 1: Single phase 100 V 3: 3 phase 200 V 5: Single or 3 phase 200 V Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -2- 3．Product Line-up Model No. Size MADLN01NE MADLN11NE MADLN05NE Single-phase AC100-120 V A Single/3-phase AC200-240 V MADLN15NE MBDLN21NE MBDLN25NE MCDLN31NE MCDLN35NE MDDLN45NE MDDLN55NE MEDLN83NE MFDLNA3NE MFDLNB3NE Power supply input B C Rated output of applicable motor (Note 1) Max 50 W Max 100 W Max 100 W Max 200 W Single phase AC100-120 V Max 200 W Single/3-phase AC200-240 V Max 400 W Single phase AC100-120 V Max 400 W Single/3-phase AC200-240 V Max 750 W D Single/3-phase AC200-240 V E 3-phase AC200-240 V F 3-phase AC200-240 V Max 1000 W Max 1500 W Max 2000 W Max 3000 W Max 5000 W (Note 1) Some of the combinations shown in this table cannot be used depending on motors. For the combination of a driver and a motor, refer to MINAS-A6 series catalog. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -34．Specifications Basic specifications Item Description Main circuit power Single phase 100-120 V (+10 %/-15 %) 50/60 Hz 100 V Control circuit power Input Single/3-phase 200-240 V (+10 %/-15 %) 50/60 Hz Main circuit power power supply Single phase 100-120 V (+10 %/-15 %) 50/60 Hz A-D E-F 3-phase 200-240 V (+10 %/-15 %) 50/60 Hz Control circuit A-D Single phase 200-240 V (+10 %/-15 %) 50/60 Hz power E-F 200 V Single phase 200-240 V (+10 %/-15 %) 50/60 Hz Operation temperature: 0-55 degrees C (no freezing) Storage temperature: -20-65 degrees C Temperature (Max.temperature guarantee : 80 degrees C for 72 hours without dew condensation *note) Operation conditions Humidity Operation and storage humidity: 20-85 %RH or less (no dew condensation permitted *note) Elevation 1000 m or less above sea level Vibration 5.88 m/s2 or less, 10-60 Hz Insulation voltage Resistant to 1500 V AC between primary power supply and ground for a minute (Sensed current: 20 mA) Control method IGBT PWM method, sinusoidal drive Encoder feedback 23Bit(resolution:8388608) 7cores-serial absolute encoder Input Control signal Output Analog signal Output Pulse signal Output Realtime Express Communication (RTEX) USB 8 x multi-function input ports Function of each multi-function input is assignable by parameter. 3 x multi-function output ports Function of each multi-function output is assignable by parameter. 2 x output ports for analog monitor 2 x output ports Line driver output for encoder pulses (A/B signal) Interface for motion control. USB interface to connect to computers for parameter setting or status monitoring. Front panel ①2-digit rotary switch ②2-digit 7-segment LED, 2 x LED for status indication ③Monitor connector 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 Position control: Profile position mode (PP), cyclic position mode (CP) Control mode Velocity control: cyclic velocity mode (CV) Torque control: cyclic torque mode (CT) PP/CP/CV/CT modes are switchable each other with commands through RTEX. (*note) Please note that condensation tend to occur when temperature fall. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -45．Appearance and Names Size A, B 100 V / 200 V X7: Monitor connector Front panel 53398-8605 (Molex) (or equivalent) 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 X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) S06B-F32SK-GGXR (JST) (or equivalent) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) XA: Power supply input connection 05JFAT-SAXGGKK-A (JST) (or equivalent) XB: Motor connection 06JFAT-SAXGGKK-A (JST) (or equivalent) X4: Parallel I/O connection DF02R026NA2 (JAE) (or equivalent) X6: Encoder connection 3E106-223KAV (3M) (or equivalent) Earth connection screw XA: Power supply input connection XB: Motor connection L1 L2 L3 L1C L2C P N B U V W R0.0 Main power supply input Control power supply input Regenerative resistor connection Motor output Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -5- Size C, D 100 V / 200 V Charge lamp Front panel X7: Monitor connector 53398-8605 (Molex) (or equivalent) X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) XA: Power supply input S05B-F32SK-GGXR (JST) 相当品 X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) XB: Motor output S06B-F32SK-GGXR (JST) (or equivalent) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) XA: Power supply input connection 05JFAT-SAXGGKK-A (JST) (or equivalent) XB: Motor connection 06JFAT-SAXGGKK-A (JST) (or equivalent) X4: Parallel I/O connection DF02R026NA2 (JAE) (or equivalent) Earth connection screw X6: Encoder connection 3E106-223KAV (3M) (or equivalent) XA: Power supply input connection L1 L2 L3 L1C L2C Main power supply input Control power supply input XB: Motor connection P RB B U V W R0.0 Regenerative resistor connection Motor output Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -6- Size E 200 V X7: Monitor connector 53398-8605 (Molex) (or equivalent) Front panel X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) Charge lamp XA: Power supply input S05B-JTSLSK-GSANXR (JST) (or equivalent) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) XC: Regenerative resistor connection S04B-JTSLSS-GSANXR (JST) (or equivalent) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) XB: Motor output S03B-JTSLSK-GSANXR (JST) (or equivalent) XA: Power supply input connection 05JFAT-SAXGSA-L (JST) (or equivalent) XC: Regenerative resistor connection 04JFAT-SAXGSA-L (JST) (or equivalent) X4: Parallel I/O connection DF02R026NA2 (JAE) (or equivalent) XB: Motor connection 03JFAT-SAXGSA-L (JST) (or equivalent) X6: Encoder connection 3E106-223KAV (3M) (or equivalent) 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 Earth connection screw XA: Power supply input connection XC: Regenerative resistor connection XB: Motor output R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -7- Size F 200 V Front panel Charge lamp X1: USB connection UB-M5BR-S14-4S(LF)(SN) (JST) (or equivalent) X2A: RTEX connector (RX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) X7: Monitor connector 53398-8605 (Molex) (or equivalent) X2B: RTEX connector (TX) MOD-WRJ88LY1G-TP+ (HTK) (or equivalent) X4: Parallel I/O connection DF02R026NA2 (JAE) (or equivalent) X6: Encoder connection 3E106-223KAV (3M) (or equivalent) Earth connection screw L1 Main power supply input L2 L3 Control power supply input L1C L2C P Regenerative resistor connection RB B N U Motor output V W R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -8- Name plate Model number Serial number e.g.): P15070001N 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.): 20150701 Manufacture date Manufacture month Manufacture year R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -9- Front panel 2-digit 7-segment LED COM LED (red/green) LINK LED (green) 2-digit rotary switch for node Address setting Setting range：0 - 31 X7-1pin R0.0 Analog monitor connector(X7) Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -106．Dimensions Size A 100 V / 200 V 2-M4 Effective screw depth 7 Name plate 2-M4 Effective screw depth 7 Unit: mm * Please do not use the screw holes of no description of the size value. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -11- [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -12- Size B 100 V / 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 7 Unit: mm *Please do not use the screw holes of no description of the size value R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -13- [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -14- Size C 100 V / 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 Unit: mm *Please do not use the screw holes of no description of the size value. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -15- [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -16Size D 200 V 2-M4 Effective screw depth 6.5 Name plate 2-M4 Effective screw depth 6 Unit: mm *Please do not use the screw holes of no description of the size value. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -17- [Rack-mounting TYPE (Option: Mounted on the front)] Mounting bracket (Option) Name plate Mounting bracket (Option) Unit: mm *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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -18Size E 200 V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 6 Name plate 4-M4 Effective screw depth 6 Unit: mm R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -19- [Base-mounting TYPE (Change from standard)] Name plate Unit: mm R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -20Size F 200 V [Rack-mounting TYPE (Standard)] 4-M4 Effective screw depth 9 Name plate 4-M4 Effective screw depth 9 Unit: mm R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -21- [Base-mounting TYPE (Change from standard)] Name plate Unit: mm R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -22- 7．Configuration of connectors and terminal blocks 7-1 Power connectors XA , XB , XC , XD and terminal blocks Size A, B 100V / 200 V Connector pin No. XA XB 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 % Single phase 50/60 Hz input 100-120 V - 15 % Use L1 and L3 terminal for single phase input + 10 % Single or 3 phase 50/60 Hz input 200-240 V - 15 % Use L1 and L3 terminal for single phase input Control power supply input 100 V Single phase 100-120 V + 10 % - 15 % 50/60 Hz input 200 V Single phase 200-240 V + 10 % - 15 % 50/60 Hz input Regen resistor connection Motor connection Earth 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -23Size C, D 100 V / 200 V XA XC XB Connector pin No. Terminal symbol 5 L1 4 L2 Name Description 100 V Main power supply input 200 V 3 L3 2 L1C 1 L2C 4 3 N 2 1 P 6 P 5 RB 4 B 3 2 1 U V W + 10 % Single phase 50/60 Hz input 100-120 V - 15 % Use L1 and L3 terminal for single phase input + 10 % Single or 3 phase 50/60 Hz input 200 – 240 V - 15 % 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 + 10 % - 15 % 50/60 Hz input 200 V Single phase 200 – 240 V + 10 % - 15 % 50/60 Hz input Do not connect. 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -24Size E 200 V XA Connector pin No. Terminal symbol 5 4 L1 L2 3 L3 2 L1C 1 L2C 4 P 3 RB 2 B 1 N 3 2 1 U V W XC XB 名 称 内 Main power supply input 200 V 3 phase Control power supply input 200 V Single phase 200 - 240 V Regen resistor connection Motor connection Earth 200 - 240 V 容 + 10 % - 15 % 50/60 Hz input + 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. 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -25Size F 200 V Terminal block is used instead of connector 端 子 台 Terminal No. (Upper to bottom) Terminal symbol 1 2 3 4 5 L1 L2 L3 L1C L2C 6 P 7 RB 8 B 9 N 10 U 11 V 12 W Name Main power supply input Control power supply input Regen resistor connection Motor connection Earth * * * * R0.0 Description 3 phase 200 - 240 V + 10 % - 15 % 50/60 Hz input Single phase + 10 % 50/60 Hz input 200 - 240 V - 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. 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-DSV03089 -267-2 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 Name Symbol Pin No VBUS 1 D- 2 D+ 3 For manufacturer use − 4 Do not connect Signal ground GND 5 Signal ground USB signal R0.0 Description Communicate with a computer or a controller Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -277-3 RTEX connectors X2A X2B For connection, use RJ45 connector [X2A] RX connector Name Symbol Connector pin no. Description Unused - 1 Connect to pin 1 on TX connector of sending side node. Unused - 2 Connect to pin 2 on TX connector of sending side node. Network input + RX+ 3 Connect to pin 3 on TX connector of sending side node. Unused - 4 Connect to pin 4 on TX connector of sending side node. Unused - 5 Connect to pin 5 on TX connector of sending side node. Network input - RX- 6 Connect to pin 6 on TX connector of sending side node. Unused - 7 Connect to pin 7 on TX connector of sending side node. Unused - 8 Connect to pin 8 on TX connector of sending side node. Frame ground FG Shell Connect to shield of cable. Name Symbol Connector pin no. Description Unused - 1 Connect to pin 1 on RX connector of receiving side node. Unused - 2 Connect to pin 2 on RX connector of receiving side node. Network output + TX+ 3 Connect to pin 3 on RX connector of receiving side node. Unused - 4 Connect to pin 4 on RX connector of receiving side node. Unused - 5 Connect to pin 5 on RX connector of receiving side node. Network output - TX- 6 Connect to pin 6 on RX connector of receiving side node. Unused - 7 Connect to pin 7 on RX connector of receiving side node. [X2B] TX connector Unused - 8 Connect to pin 8 on RX connector of receiving side node. Frame ground FG Shell Connect to shield of cable. * Be sure to use shielded twisted pair (STP) compatible with 5e of TIA/EIA-568 or higher category R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -287-4 I/O connector X4 Input signals Name Symbol Pin No. Description Circuit ・Connect to positive/negative polarity of the external power supply ・Use a 12 V (±5 %) to 24 V (±5 %) power supply ― Power supply input I-COM 6 Multi-function input 1 Multi-function input 2 Multi-function input 3 SI1 SI2 SI3 SI4 SI5 SI6 SI7 SI8 5 7 8 9 10 11 12 13 • Assign functions using parameters. For details, refer to the technical data – Basic function specification – SX-DSV03089. • Range of available functions is limited. For example, external latch input EXT1 can be allocated only to SI5, EXT2 to SI6 and EXT3 to SI7. • For the factory default setting, refer to appendix “Specification for Each Model”. i-1 Name Symbol Pin No. Description Circuit Multi-function output 1 SO1SO1+ SO2SO2+ SO3SO3+ 1 2 25 26 3 4 • Assign functions using parameters. For details, refer to the technical data—Basic function Specification—SX-DSV03089. • For the factory default setting, refer to appendix “Specification for Each Model”. o-1 Symbol Pin No. Description Circuit OA+ 17 • Differential output of divided encoder signal or external scale signal (A – B phase). (RS422 compatible) • The ground of line driver of output circuit is connected to the signal ground (GND) and kept non-insulated. • Maximum output frequency is 8 Mpulse/s (after multiplied by 4). • Use a line receiver to receive the differential signals, and connect a termination resistor (Approx. 330 Ω) between the input terminals of the line receiver ・output of Z-phase signal is Position compare ・Z-phase signal is the position compare output only. Do-1 Multi-function input 4 Multi-function input 5 Multi-function input 6 Multi-function input 7 Multi-function input 8 ・Insulation is needed against the primary side power supply. Please do not connect them with the same power supply. Output signals Multi-function output 2 Multi-function output 3 Encoder output signal Name Phase A output OA- 18 OB+ 20 Phase B output OB- 19 OZ+ 21 OZ- 22 GND 16 Z-phase signal Signal ground R0.0 • Signal ground • Be sure to connect the ground of the line receiver to this terminal. ― Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -29Encoder backup power input Name Symbol Pin No. BTP-I 14 BTN-I 15 Symbol Pin No. - 23,24 • Do not connect ― FG Shell • Connected to the earth terminal in the servo driver. ― Battery input to absolute encoder Description Circuit • Connect to the absolute encoder backup battery (recommended battery: Toshiba ER6V 3.6 V) BTP-I: positive, BTN-I: negative • The power necessary to store multi-turn data is supplied to the absolute encoder via BTP-0 (pin 3) and BTN-0 (pin 4) of encoder connector (CN2). • Use any of the following methods to connect the battery for absolute encoder. (1) Directly connected to the motor. (2) Connected to the encoder cable. (3) Connected to this connector. ― Description Circuit ― Other Name Reserved Frame ground R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -307-5 Encoder connector Name X6 Symbol Pin No. E5V 1 ・Encoder power supply E0V 2 ・Ground of encoder power supply (Note 1) BTP-O 3 ・Battery output (＋) BTN-O 4 ・Battery output (－) Encoder power supply output Absolute encoder battery backup output (Note 2) Description Encoder signal I/O (differential serial signal) PS 5 ・Encoder signal No-inverting input and output /PS 6 ・Encoder signal Inverting input and output Frame ground FG shell ・Internally connected to the earth terminal. *Note 1) The E0V of the encoder power supply output is connected with the control circuit ground of the connector *Note 2) Connected to the absolute encoder battery input terminals BTP-I and BTN-I of connector X4 . X4 in the servo driver. When connecting the battery directly to the encoder connection cable, leave these pins unconnected. 7-6 Monitor connector R0.0 X7 Name Symbol Pin No. Description Analog monitor output 1 AM1 1 Analog monitor output 2 AM2 2 Signal ground GND 3 ・Signal ground ― Reserved - 4,5 ・Do not connect ― ・Analog signal output for monitoring ・Monitoring object changes according to the parameter setting. Circuit Ao-1 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -31- 7-7 Interface Circuit o-1 VDC 12-24 V 4.7k 1000p P + 1k i-1 S VDC 12-24 V - or P 1k 1000p S VDC 12-24 V 10 50 mA or less 4.7k Pins; S: (X4) 5,7,8,9,10,11,12,13 P: (X4) 6 Ao-1 Pins; ＋: (X4) 1,3,25 －: (X4) 2,4,26 *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 Do-1 Twisted Pair + 1k + Equivalent of AM26C31 - GND - Pins; ＋: (X7) 1,2 －: (X7) 3 Signal amplitude is ±10 V R0.0 GND 16 Pins; ＋: (X4) 17,20 －: (X4) 18,19 Connect a terminating resistor (approx. 330 Ω) between the input terminals of the line receiver. Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -328．Wiring and system configuration 8-1 Used cables and maximum cable lengths Name Symbol Maximum cable length Used cable Main power supply L1，L2，L3 - Refer to specification Control power supply L1C，L2C - Refer to specification 20 m Refer to specification - Refer to specification Batch twisted shielded pair Core cable: 0.18mm2 or more Motor connection U，V，W， Earth cable Encoder connection X6 20 m I/O connection X4 3m RTEX connection X2A, X2B Note 1: Refer to 8-3-4 Connection to connectors 100 m TIA/EIA-568 CAT5e STP (Note 1) X2A X2B. 8-2 Cable Side Connector Connector symbol Part name Part number Solder plug (soldering type) DF02P026F22A1 Shell kit DF02D026B22A Receptacle 3E206-0100 KV Shell kit 3E306-3200-008 Connector 51021-0500 Terminal 50058-8500 Manufacturer JAE X4 X6 Sumitomo 3M X7 Molex Use connectors listed above or equivalents. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -33- 8-3 Precautions for wiring 8-3-1 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 Power supply (3-phase) ALM Coli surge suppression units L Noise filter MCCB OFF L1 L2 L3 L1C L2C *When you use single phase, connect the main power between L1 and L3 terminals. XA Main power supply Control power supply MC External regenerative resistor 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -34100/ 200 V sizes C - D 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 *When you use single phase, connect the main power between L1 and L3 terminals. XA Main power supply Control power supply MC Short cable P N External regenerative resistor P RB B U V W Red White Black XC XB Motor connection Green or Green/Yellow motor ALM X4 Insulated DC12 to 24 V (±5 %) + - 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -35200 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 XA Main power supply Control power supply MC Short cable P RB B N External regenerative resistor XC XB Red White Black U V W Motor connection Green or Green/Yellow motor ALM X4 Insulated DC12 to 24 V (±5 %) + - 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -36200 V size F Built-in thermostat of an external regenerative resistor (light yellow) MC1 ON Power supply (3-phase) ALM Coli surge suppression units L Noise filter MCCB 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 X4 Insulated DC12 to 24 V (±5 %) 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -37- [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. uncover the cover. When wiring to the terminal block, unscrew these screws to Tighten the cover fixing screw with the torque of 0.2 Nm or less. [5] Apply the power supply of the voltage indicated on the nameplate. [6] Do not reverse-connect the power input terminals (L1, L2, and L3) and the motor output terminals (U, V, and W). [7] Do not connect the motor output terminals (U, V, and W) to ground or short out them. [8] Because high voltage is applied to the power connectors block, never touch them on any account. XA , XB , XC , and XD , and the terminal It may cause electric shock. [9] Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, below the maximum input voltage of the product. [10] 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. [11] 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, use the earth type D (ground resistance: 100 ohm or less) for grounding. 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. [12] 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. [13] 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. [14] In order to reduce the terminal noise voltage, install a noise filter. [15] Customer is responsible for the power supply of the brake attached to a motor. [16] Turn ON the power after the wiring was finished. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -38[17] About the regenerative resistor, - The regenerative resistor is not built into A, B. - The regenerative resistor is built into F frame. The regenerative resistor becomes effective when the short-circuited between the terminal RB and B. - When a trip occurs due to the regenerative load protection error (error No.18.0), externally install a regenerative resistor. To externally install a regenerative resistor, remove a connection cable or connection bar between terminals RB and B and then connect the regenerative resistor between terminals P and B. To use an external regenerative resistor, set Pr0.16 (external regenerative resistor selection) to 1 or 2. * As for external regenerative resistor, we recommend the resistors below: Input power voltage Size Single phase 100 V Single phase 100 V A DV0P4280 DV0P4281(100 W or less) DV0P4283(200 W) B DV0P4283 DV0P4283 C DV0P4282 DV0P4283 D E DV0P4284 DV0P4284 x 2 in parallel or DV0P4285 x 1 - F DV0P4285 x 2 in parallel Manufacturer by Iwaki Musen Kenkyusho Specification Rated power (for reference) (Note 1) Free air Fan used (1 m/s) Manu -facturer's model Resis -tance value DV0P4280 DV0P4281 RF70M RF70M [Ω] 50 100 [W] 10 10 DV0P4282 RF180B 25 17 Part number [W] 25 25 50 Built-in thermal protector operat ional temperature 140 ± 5 deg. Celsius Contact point B Open/close capacity (resistance load) 1A 125 VAC, 6000 times 0. 5 A 250 VAC, 10000 times DV0P4283 RF180B 50 17 50 DV0P4284 RF240 30 40 100 DV0P4285 RH450F 20 52 130 *Note 1) Electric power available without running the built-in thermal protector. *Note 2) For safety, each regenerative resistor has a built in temperature fuse and a thermal protector. ・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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -39Method for connection to power connector Use the following procedure for connection to connectors XA , XB , XC and XD . <Method for connection> 1．Strip off the insulation of the wire. 8～9 mm 2．Insert a wire into the connector. The following 2 methods can be used to insert the wire. (a) Insert a wire using the lever attached. (b) Use a flat-head (-) screwdriver (with a tip width 3.0–3.5 mm). (a) Using the lever [1] Press the lever attached above the upper slot with a finger to push down the spring. [2] While pressing down the lever, insert a wire into the insertion opening (round hole) until it stops. [3] Release the lever to connect the wire. [2] Insert a wire, with the insulation stripped off correctly, into the wire insertion opening until it stops. [3] Release the screwdriver to connect the wire. (b) Using a screwdriver [1] Placing a dedicated screwdriver on the upper slot, press down the spring. <Precautions> • Strip off correct length of insulation of a wire. • When connecting a wire to the connector, be sure to disconnect the connector from the servo driver in advance. • Insert only 1 wire into a wire insertion opening. • Connected wire can be removed in the same way as it is inserted. • R0.0 Be careful not to be injured when using a screwdriver. Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -408-3-2 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 X4 I-COM 6 4.7k SI1 5 1k 4.7k SI2 1k 7 4.7k SI3 1k 8 4.7k SI4 1k 9 4.7k SI5 10 1k 4.7k SI6 1k 11 DC 12～24 V 4.7k SI7 1k 12 4.7k SI8 1k 13 Servo driver The functions of the pins SI1-SI8 are assigned by parameters. For the factory default setting, refer to Appendix “I/O connector (X4) factory default setting”. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -41Digital Output [1] 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. [2] 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 reverse direction. [3] When a logic circuit such as a gate receives each output signal, take care so that a noise does not impact on the circuit. [4] Apply 50 mA or less of current to each output. X4 MAX 50mA SO1+ SO1- MAX 50mA MAX 50mA DC 12～24 V 1 SO1 2 SO2+ 25 SO2- 26 SO3+ 3 SO3- 4 SO2 SO3 Servo driver The functions of the pins S01-S03 are assigned by parameters. For factory default settings, refer to Appendix “I/O connector (X4) factory default setting”. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -42- Feedback pulse of rotary encoder X4 RS422 line receiver AM26C32 or equivalent Line driver AM26C31or equivalent OA+ 17 OA OA- A OB+ 20 OB OB- 19 GND B Scaling circuit 18 16 FG Servo driver side [1] To receive the output pulse, use RS422 line receiver (AM26C32 or equivalent), with an appropriate termination resistor (approx. 330 Ω) connected across its inputs. [2] Use the pulses at less than or equal to the maximum output frequency 8 Mpps (after quad edge valuation). R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -438-3-3 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] Shielded cable of the encoder cable is connected to the FG terminal at the motor end, be sure to connect to the shell (FG) of X6 in the servo driver side. [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. Not using the multi-turn data *Used as an incremental encoder *Used as one revolution absolute encoder ■Lead wire type MSMF 50 W - 1000 W MHMF 50 W - 1000 W MQMF 100 W - 400 W Twisted pair E5V Black E0V Red BAT+ Pink BAT- Cyan 7 1 8 2 1 3 2 4 4 5 5 6 PS Yellow/Green BTP-O BTN-O PS PS 3 FG 172169-1 Tyco Electronics (or equivalent) 0V E0V PS Purple +5 V E5V Regulator X6 White Shell（FG） 172161-1 Tyco Electronics (or equivalent) Motor Motor R0.0 Encoder cable Servo driver Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -44■Connector Type MSMF 50 W - 1000 W MHMF 50 W - 1000 W MQMF 100 W - 400 W Twisted pair E5V E0V BAT+ BAT- 1 3 2 +5 V E5V 0V E0V 5 3 2 4 7 5 4 6 PS PS Regulator X6 6 BTP-O BTN-O PS PS 1 FG Shell（FG） JN6FR07SM1 JAE (or equivalent) JN6CR07PM2 JAE (or equivalent) Motor Encoder cable Servo driver MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.4 kW Twisted pair E5V E0V BAT+ BAT- 1 1 2 +5 V E5V 0V E0V 6 3 5 4 3 5 7 6 PS PS Regulator X6 4 BTP-O BTN-O PS PS 9 FG JN2AS10ML3-R JAE (or equivalent) Motor R0.0 Shell（FG） JN2DS10SL1-R JAE (or equivalent) Encoder cable Servo driver Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -45■Cannon plug type MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.4 kW Twisted pair E5V E0V BAT+ BAT- 1 G 2 +5 V E5V 0V E0V T 3 S 4 K 5 L 6 PS PS Regulator X6 H BTP-O BTN-O PS PS J FG JL10-2E20-29P JAE (or equivalent) Motor R0.0 Shell（FG） JL10-6A20-29S JAE (or equivalent) Encoder cable Servo driver Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -46- Using the multi-turn data *Case of build absolute system ■Lead wire type MSMF 50 W - 1000 W MHMF 50 W - 1000 W MQMF 100 W - 400 W Twisted pair E5V Black E0V Red BAT+ Pink BAT- Cyan 7 1 8 2 0V E0V 1 3 Battery 2 4 4 5 5 6 PS Purple BTP-O BTN-O PS PS Yellow/Green +5 V E5V Regulator X6 White PS 3 FG 172169-1 Tyco Electronics (or equivalent) Shell（FG） 172161-1 Tyco Electronics (or equivalent) Motor Motor Encoder cable Servo driver ■Connector Type MSMF 50 W - 1000 W MHMF 50 W - 1000 W MQMF 100 W - 400 W Twisted pair E5V E0V BAT+ BAT- 1 3 2 +5 V E5V 0V E0V 5 Battery 3 2 4 7 5 4 6 PS PS Regulator X6 6 BTP-O BTN-O PS PS 1 FG JN6CR07PM2 JAE (or equivalent) Motor R0.0 Shell（FG） JN6FR07SM1 JAE (or equivalent) Encoder cable Servo driver Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -47MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.4 kW Twisted pair E5V E0V BAT+ BAT- 1 1 2 +5 V E5V 0V E0V 6 3 Battery 5 4 3 5 7 6 PS Regulator X6 4 BTP-O BTN-O PS PS PS 9 FG Shell（FG） JN2DS10SL1-R JAE (or equivalent) JN2AS10ML3-R JAE (or equivalent) Motor Encoder cable Servo driver ■Cannon plug type MSMF 1.0 kW - 5.0 kW MHMF 1.0 kW - 5.0 kW MDMF 1.0 kW - 5.0 kW MGMF 0.85 kW - 4.4 kW Twisted pair E5V E0V BAT+ BAT- 1 G 2 +5 V E5V 0V E0V T Battery 3 S 4 K 5 L 6 PS PS Regulator X6 H BTP-O BTN-O PS PS J FG JL10-2E20-29P JAE (or equivalent) Motor R0.0 Shell（FG） JL10-6A20-29S N/M3057-12A JAE (or equivalent) Encoder cable Servo driver Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -48Absolute encoder battery connection Connect the absolute encoder battery directly to the BAT+ and BAT- connectors of the encoder at the motor. Or, it is also possible to connect the battery to the 14 and 15 pins of the X4 , and then connect through the pins 3 and 4 of the X6 . X6 3 BAT+ 4 BAT- BTP-O X4 BTN-O BTP-I 14 Battery 15 BTN-I FG Motor Shell（FG） Encoder cable Servo driver Note: If the battery is directly connected to the encoder connectors at the motor, do not connect any wire to the pins 3 and 4 of the X6 . R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -49Precautions in using a battery for absolute encoder An error arises from the absolute encoder when a battery voltage drop occurs. The voltage drop occurs due to the life span of a battery or voltage delay. (1) The life span of a battery may become short depending on ambient environment. (2) Lithium batteries have a transient minimum voltage effect (voltage delay phenomenon), in which a voltage drop may occur temporarily when discharge starts. For this reason, the batteries should be refreshed when used. <When a battery is used for the first time> Before using our optional battery unit DV0P2990, connect the connector with lead wires to the battery as shown in the right figure and leave it for about 5 minutes. And then disconnect the connector from the CN601, and install it to the servo driver. If using another battery, we recommend that you also refresh the battery. For refreshing a battery, consult with the manufacturer of the battery. <After installing battery> CN601 We recommend that control power be turned on/off once a day. If used incorrectly, batteries may cause troubles such as corrosion due to leakage and hazards such as explosion. So, observe the following rules: [1] Insert a battery correctly without confusing + and - terminals. [2] If a battery used for a long time or no longer used is left inside equipment, a trouble such as leakage may occur. Replace such a battery as soon as possible. (As a standard, we recommend replacing batteries every 2 years.) • The battery electrolyte is highly corrosive. It not only corrodes surrounding parts, but it also causes hazards such as a short-circuit due to its conductivity. Replace batteries periodically. [3] Do not disassemble batteries or throw them into fire. • Do not disassemble the battery because it is very dangerous if a splash of the contents comes into an eye. Also, do not throw the battery into fire or heat it because it may burst, causing hazards. [4] Do not short-circuit the battery or remove its tube. • If the battery + and - terminals are connected together with a conductive material such as a metal, a large current flows, not only weakening the battery, but also generating excessive heat, resulting in a burst to cause hazards. [5] Never attempt to charge the battery because it is not rechargeable. Disposal of old batteries after replacement may be restricted by local governments. Dispose of batteries following such a restriction. Air transportation Application for approval of hazardous material air transportation is required (for both passenger and cargo airplanes). (UN packing is required.) When you ask for air transportation, you are requested to submit necessary documents (parameter sheets and MSDS etc.). In this case, make a request to us through a dealer you purchased from. UN packing Consult with your transport company. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -508-3-4 Wiring to connector X2A , X2B [1] Use shielded twisted pair (STP) compatible with category 5e of SIA/EIA-568 or higher specifications. If both ends of the shield are not grounded, EMC performance will degrade. When installing connector plug on both ends of shielded cable, positively connect the shield to the metallic plug shell. For colors of wire and matching connector pins, refer to TIA/E1A568B (see figure below). Pins 3 and 6 are for signal wire. Connect wire to 3 pin pairs on the connector: 1–2, 4–5 and 7–8. When using 2-pair wire in place of 4-pair wire, use pins 1–2 and 3–6 and leave pins 4–5 and 7–8 on connector unconnected. [2] Length of communication cable a. Between 2 nodes: max. 100 m b. Total length of cables between all nodes in the communication loop: max. 200 m Both requirements should be met. If the requirement b above cannot be met, consult with us. Because specifications such as flexural characteristic, temperature range and insulation material differ from manufacturer to manufacturer, select the cable best suitable for your application. Select the cable for movable application according to your operating condition. <Communication cable used in our evaluation> Manufacturer: Sanwa Supply Inc. Part No. : KB-STP-**LBN Specification ：Category 5e、STP Connection to X2A MAX: 100 m Connector X2B RJ45 plug Connector X2A RX+ RX– – – – – – – RJ45 plug 3 White/Green 3 6 Green 6 1 White/Orange 1 2 Orange 2 5 White/Blue 5 4 Blue 4 7 White/Brown 7 8 Brown 8 (When servo driver is used in the preceding circuit) TX+ TX– – – – – – – Shield on connector Shield on connector Servo driver R0.0 Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the preceding circuit Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -51Connection to X2B MAX 100 m Connector X2A RJ45 plug Connector X2B TX+ TX– – – – – – – RJ45 plug 3 White/Green 3 6 Green 6 1 White/Orange 1 2 Orange 2 5 White/Blue 5 4 Blue 4 7 White/Brown 7 8 Brown 8 RX+ RX– – – – – – – Shield on connector Shield on connector Servo driver (When servo driver is used in the subsequent stage) Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the subsequent circuit Pin placement of the Rj45 plug 1 R0.0 8 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -528-4 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 is what is intended for use in a short time as only emergency 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. 8-5 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. -Servo driver is fixed to the grounded conductive frame -In case the portion to receive servo driver coated, peeling off the coating before installing servo driver homebuilt brackets with conductive plating provides effective anti-noise measures. -Case of make mounting bracket, please conductive plating process the surface of the bracket. Control panel Fan Fan 100mm or more Sizes A-F 40mm or more d d Direction of air flowing from the internal cooling fan (Sizes D – F) R0.0 d d 10 mm or more 40mm or more 100mm or more Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -539．Compliance with global standards 9-1 Conforming standards European EC directive EMC directive Low voltage directive UL standard CSA standard KC IEC EN EMC UL CSA KC : : : : : : Standard number EN55011 EN61000-6-2 EN61000-6-4 EN61800-3 EN61800-5-1 EN50178 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -549-3 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 Ferrite core <Dedicated to power supply cable> Ferrite core <Dedicated to power supply cable> Power supply 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) R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -559-3-2 Power supply 100 V system: Single phase 100 V - 120 V +10 % -15% 50/60 Hz 200 V system (Sizes A-D): Single / 3 phase 200 V - 240 V +10 % -15% 50/60 Hz 200 V system (Sizes E-F): 3 phase 200 V - 240 V +10 % -15% 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 Circuit breaker 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. R0.0 ) of the servo ) along with other parts. The servo Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -56- 9-4 List of peripheral devices applicable to servo driver Voltage Servo driver 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 MADL□01□□ MADL□11□□ MADL□05□□ MADL□15□□ 10 A 15 A Single/ 3phase 200V MEDL□83□□ MFDL□A3□□ MFDL□B3□□ Noise filter for signals Surge absorber Power cable Motor cable DV0P4170 (for single phase) / DV0PM20042 / RTHN-5010 20 A MDDL□45□□ MDDL□55□□ Electromagneti Circuit c contactor breaker (Rated current/ Noise filter (Rated curr Released heat ent) current) 3phase 200 V 30 A 20 A DV0P4220 / RTHN-5030 60 A 30 A DV0PM20043 / RTHN-5050 50 A DV0P3410 / RTHN-5050 Approx. 2.3 kVA Approx. 4.5 kVA DV0P1450 100 A Approx. 7.5 kVA DV0P1460 DV0P1460 Approx. 1.8 kVA Approx. 3.8 kVA DV0P4190 (for single phase) / DV0P1450 DV0PM20042 （for 3 phase） / RTHN-5010 DV0P1460 RJ8035 *Select the specification common to single/ 3 phase 200 V according to the power supply. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -57- 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.) 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. Optional part number Part number of manufacturer Manufacturer DV0P1450 R･A･V-781BXZ-4 DV0P4190 R･A･V-781BWZ-4 Okaya Electric Industries 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 - RTHN-5010 - RTHN-5010 - RTHN-5010 Absorber Ferrite core Okaya Electric Industries Noise filter R0.0 TDK Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -589-5 Compliance with UL standard [1] Installation environment Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. On the power supply ,Make sure to connect a circuit breaker(MCCB) or fuse compliant with UL certification For wiring, use the copper conductor cable of the temperature rating 75deg.Celsius or more. [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 over-heat protection in the servo motor. If you need to conform to the NEC, please implement the over-heating protection measures. 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -59- 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. 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. Do not place a heavy item on the (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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -60- 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 a driver. (22) Connect cables securely and provide secure insulation on current-carrying parts using insulation aterial. (23) When using a bundling wire is inserted into the metal ducts ,cause burning for wire allowable current is decreased by the temperature rise (24) 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. (25) Tighten the screws on the terminal block and earth terminal securely at appropriate torque shown in the specifications. (26) 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 (27) Do not hold cables or motor shaft when carrying the equipment. (28) Do not adjust or change drive gains extremely, and do not make operations of the machine instable. (29) 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. (30) When the equipment is energized, keep away from the motor and mechanism driven by the motor in case of malfunction. (31) Avoid a strong shock to the motor shaft. (32) Avoid a strong shock to the product. (33) Be sure not to use the electromagnetic contactor installed on the main power supply to start or stop the motor. (34) Avoid frequent switching on and off the main power supply of the driver. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -61- SAFETY PRECAUTIONS (35) 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. (36) Do not fall or topple over the equipment when carrying or installing. (37) Do not climb the motor or do not place a heavy item on the motor. (38) Do not block radiation slits of the driver and do not put a foreign matter into the driver. (39) Do not use the equipment under direct sunlight. When storing the equipment, avoid direct sunlight and store under conditions of operating temperatures and humidity. (40) 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. (41) Do not start / stop the motor by the servo signal (SRV-ON). Built-in dynamic brake circuit may be damaged. (42) 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. (43) 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. (44) Install the equipment adequately in consideration of output and main unit weight. (45) Keep the ambient conditions of an installed motor within a range of allowable ambient temperatures and of allowable humidity. (46) Install the equipment by specified procedures and in specified orientation. (47) Install the devices by keeping specified distances between a driver and inside control panel or other devices. (48) If a motor has an eyebolt, use the eyebolt to carry the motor only. Do not use the eyebolt to carry equipment. (49) Connect a relay breaking upon emergency stop in series with a brake control relay. (50) 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 a driver. ) (51) 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. (52) 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. (53) 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. (54) 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. (55) Maintenance and inspection is allowed only for a specializing person. (56) Turn off the power when the equipment is not used for a long term. (57) 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. R0.0 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-DSV03089 -62- Servo driver's ambient temperature 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 drive SAFETY PRECAUTIONS 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 R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -63- 11．Life and warranty 11-1 Life expectancy of the servo 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 11-2-1 In-rush current prevention relay Replace the in-rush current prevention relay when it is activated typically 20000 times. may vary depending on the environmental and working condition. Note that the criteria 11-2-2 Cooling fan Replace the cooling fan in 10000 to 30000 hours. environmental and working condition. Note that the criteria may vary depending on the 11-3 Warranty 11-3-1 Warranty period 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. 11-3-2 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -64- 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. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -Appendix 1Specification for each model Part number MADLN01NE MADLN11NE MADLN05NE MADLN15NE 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 6A 8A 6A 8A Rotary encoder Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Resolution: 8388608 P/r Regenerative discharge resistor Auto gain tuning function Externally connected Externally connected Externally connected Externally connected Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system Available Available Available Available Ambient temperature main power supply cable 0 - 55 ℃ 0 - 55 ℃ 0 - 55 ℃ 0 - 55 ℃ Control power cable Main power supply cable 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 mm2 Ground cable HVSF 2.0 mm AWG14 AWG14 AWG14 AWG14 Motor 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 HVSF 2.0 mm HVSF 2.0 mm Inrush current (Main power supply) (*1) Max．7 A Max．7 A Max．14 A Max．14 A Inrush current (Control power supply) (*1) 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 Size A Size A Size A Size A Dimensions (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -Appendix 2- Part number MBDLN21NE MBDLN25NE MCDLN31NE MCDLN35NE 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 12 A 12 A 22 A 22 A Rotary encoder 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 Available Available Available Ambient temperature main power supply cable 0 - 55 ℃ 0 - 55 ℃ 0 - 55 ℃ 0 - 55 ℃ Control power cable HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 Main power supply cable Ground cable AWG18 2 HVSF 0.75 mm2 AWG18 HVSF 0.75 - 2.0 mm HVSF 0.75 - 2.0 mm HVSF 0.75 -2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 2 2 AWG18 HVSF 0.75 - 2.0 mm 2 HVSF 2.0 mm HVSF 2.0 mm2 HVSF 2.0 mm AWG14 2 2 2 HVSF 2.0 mm AWG14 Motor cable HVSF 0.75 mm2 AWG14 2 AWG14 2 HVSF 0.75 -2.0 mm HVSF 0.75 -2.0 mm HVSF 0.75 -2.0 mm HVSF 0.75 -2.0 mm2 AWG14 - 18 AWG14 - 18 AWG14 - 18 AWG14 - 18 Inrush current (Main power supply) (*1) Max．7 A Max．14 A Max．15 A Max．29 A Inrush current (Control power supply) (*1) 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 Size B Size B Size C Size C Dimensions (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -Appendix 3- Part number MDDLN45NE MDDLN55NE MEDLN83NE Power supply input Single phase/ 3 phase 200 V Single phase/ 3 phase 200 V 3 phase 200V Maximum instantaneous output current 24 A 40 A 60 A Rotary encoder 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 Available Available Ambient temperature i l bl 0 - 55 ℃ 0 - 55 ℃ 0 - 55 ℃ Control power cable HVSF 0.75 mm2 AWG18 AWG18 AWG18 Main power supply cable HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 2 HVSF 0.75 mm2 2 HVSF 0.75 mm2 HVSF 2.0 mm2 Ground cable HVSF 2.0 mm AWG14 AWG14 AWG14 Motor cable HVSF 2.0mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 HVSF 2.0 mm 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 2.1 kg Approx 2.1 kg Approx 2.5 kg Size D Size D Size E Dimensions (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -Appendix 4- Part number MFDLNA3NE MFDLNB3NE Power supply input Maximum i 3 phase 200 V 3 phase 200 V 100 A 120 A Rotary encoder 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 Available Ambient temperature main power supply cable 0 - 55 ℃ 0 - 55 ℃ Control power cable HVSF 0.75 mm2 AWG18 AWG18 Main power supply cable HVSF 3.5 mm2 HVSF 3.5 mm2 AWG12 AWG12 Ground cable Motor cable 2 HVSF 0.75 mm2 HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 2 HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 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 Size F Size F Dimensions (*1) Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V. R0.0 Motor Business Unit, Panasonic Corporation No. SX-DSV03089 -Appendix 5I/O connector (X4) default setting Ｘ4connector R0.0 Default function Name Pin No. Signal name Symbol Logic SI1 5 Multi-function input 5 SI-MON5 Normally-Open SI2 7 Positive overtravel POT Normally-Closed SI3 8 Negative overtravel NOT Normally-Closed SI4 9 Multi-function monitor input 1 SI-MON1 Normally-Open SI5 10 Home position HOME Normally-Open SI6 11 external latch input 2 EXT2 Normally-Open SI7 12 external latch input 3 EXT3 Normally-Open SI8 13 Multi-function monitor input 4 SI-MON4 Normally-Open SO1 1,2 External brake release BRK-OFF Normally-Open SO2 25,26 External output 1 EX-OUT1 Normally-Open SO3 3,4 ALM Normally-Closed Alarm output Motor Business Unit, Panasonic Corporation ■Default value of the parameters（１／４） PARAMETER Cat Pr. e 0 Parameter Default value Rotational direction setup 1 1 Control mode setup 0 2 Real-time auto-gain tuning setup 1 0 3 Selection of machine stiffness at real- Size A-C 13 time auto-gain tuning Size D-F 11 4 Inertia ratio 250 5 No use - 6 No use - 7 No use - 8 Command pulse counts per one motor revolution 0 9 Numerator of electronic gear 12 13 *2 14 15 16 17 1 15 16 *1 17 MODEL Parameter Default value Torque feed forward gain 100.0 Torque feed forward filter 2nd gain setup Mode of position control switching Delay time of position control switching Level of position control switching Hysteresis at position control switching Cat Pr. e Parameter Default value Parameter Default value 43 For manufacturer's use 0 74 For manufacturer's use 0 0.00 44 For manufacturer's use 0 75 For manufacturer's use 1 45 For manufacturer's use 0 76 0 46 For manufacturer's use 0 1.0 47 For manufacturer's use 0 0 48 For manufacturer's use 0 1 Cat Pr. e 1 2 Cat Pr. e Parameter Default value 26 5th notch depth selection 0 0 27 1st damping width setting 0 For manufacturer's use 0 28 2nd damping width setting 0 77 For manufacturer's use 0 29 3rd damping width setting 0 78 For manufacturer's use 0 30 4th damping width setting 0 0 Adaptive filter mode setup 0 31 For manufacturer's use 0 2 18 19 Position gain switching time *1 Mode of velocity control 20 0 49 For manufacturer's use 0 1 1st notch frequency 5000 32 For manufacturer's use 0 1.0 50 For manufacturer's use 0 2 1st notch width selection 2 33 For manufacturer's use 0 0 51 For manufacturer's use 0 3 1st notch depth selection 0 34 For manufacturer's use 0 1 21 *1 0.0 52 For manufacturer's use 0 4 2nd notch frequency 5000 35 For manufacturer's use 0 1 22 0 53 For manufacturer's use 0 5 2nd notch width selection 2 36 For manufacturer's use 0 2500 23 0 54 For manufacturer's use 0 6 2nd notch depth selection 0 37 For manufacturer's use 0 0 0 55 For manufacturer's use 0 7 3rd notch frequency 5000 0 No use - 0.0 56 For manufacturer's use 0 8 3rd notch width selection 2 1 No use - 83886080 24 25 *1 26 0 57 For manufacturer's use 0 9 3rd notch depth selection 0 2 No use - Absolute encoder setup 1 27 0 58 For manufacturer's use 0 10 4th notch frequency 5000 3 No use - External regenerative resistor setup Load factor of external regenerative resistor selection Size A,B 3 Size C-F 0 28 For manufacturer's use 0 59 For manufacturer's use 0 11 4th notch width selection 2 4 For manufacturer's use 0 0 29 For manufacturer's use 0 60 For manufacturer's use 0 12 4th notch depth selection 0 5 For manufacturer's use 0 Selection of damping filter switching 0 6 No use - 0.0 7 No use - 0.0 8 No use - 0.0 9 No use - 0.0 10 No use - 0.0 11 No use - 0.0 12 Acceleration time setup 0 0.0 13 Deceleration time setup 0 0 10 Denominator of electronic gear 11 Cat Pr. e 12 1 *1 13 *1 14 No.SX-DSV03089 A6NE series Output pulse counts per one motor revolution Reversal of pulse output logic 1st torque limit Position deviation excess setup 18 For manufacturer's use 0 1st gain of position loop *1 1 1st gain of velocity loop *1 2 1st time constant of velocity loop integration *1 1st filter of velocity 3 detection 4 1st time constant of torque filter *1 5 2nd gain of position loop *1 6 2nd gain of velocity loop *1 7 2nd time constant of velocity loop integration *1 2nd filter of velocity 8 detection 9 2nd time constant of torque filter *1 10 Velocity feed forward gain *1 11 Velocity feed forward filter *1 500 0 switching Delay time of velocity control switching Level of velocity control switching Hysteresis at velocity control switching Mode of torque control switching Delay time of torque control switching Level of torque control switching Hysteresis at torque control switching 0 39 For manufacturer's use 0 70 For manufacturer's use 0 Size A-C 0.84 40 For manufacturer's use 0 71 For manufacturer's use 0 100.0 41 For manufacturer's use 0 72 For manufacturer's use 0 13 14 1st damping frequency *1 15 1st damping filter setup *1 16 2nd damping frequency *1 17 2nd damping filter setup *1 18 3rd damping frequency *1 19 3rd damping filter setup *1 20 4th damping frequency *1 21 4th damping filter setup *1 22 Command smoothing filter *1 23 Command FIR filter *1 24 5th notch frequency 0.00 42 For manufacturer's use 0 73 For manufacturer's use 0 25 Size A-C 48.0 Size A-C 27.0 Size A-C 21.0 0 Size A-C 0.84 Size A-C 48.0 Size A-C 27.0 Size A-C 21.0 30 For manufacturer's use 0 61 For manufacturer's use 0 31 For manufacturer's use 0 62 For manufacturer's use 0 32 For manufacturer's use 0 63 For manufacturer's use 0 33 For manufacturer's use 0 64 For manufacturer's use 0 34 For manufacturer's use 0 65 For manufacturer's use 0 35 For manufacturer's use 0 66 For manufacturer's use 0 36 For manufacturer's use 0 67 For manufacturer's use 0 37 For manufacturer's use 0 68 For manufacturer's use 0 38 For manufacturer's use 0 *1 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 *2 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor. 69 For manufacturer's use 0 5th notch width selection 3 0.0 14 Sigmoid acceleration/ deceleration time setup Size A-C 9.2 Size D-F 15 No use - 1.0 16 No use - 5000 17 Selection of speed limit 0 2 18 No use - ■Default value of the parameters（２／４） PARAMETER Cat Pr. e 3 Parameter Default value 19 No use - 20 No use - 21 21 Speed limit value 1 0 22 Speed limit value 2 23 For manufacturer's use 24 20 Parameter 22 No use Analog monitor output setup For manufacturer's use 0 23 0 24 0 4 MODEL 25 Default value 0 53 Position comparison value 6 0 For manufacturer's use 0 54 Position comparison value 7 For manufacturer's use 0 55 Position comparison value 8 No use - 26 For manufacturer's use 0 27 No use - 27 For manufacturer's use 0 28 No use - 29 For manufacturer's use 0 29 30 0 SI1 input selection 3289650 31 1 SI2 input selection 8487297 32 2 SI3 input selection 8553090 33 3 SI4 input selection 3026478 34 0 0 26 No use No use Positioning complete (Inposition) range Positioning complete (Inposition) output setup - 5 Parameter Torque limit switching setup 2 Positive direction torque limit Negative direction torque limit No use 52 Position comparison value 5 - Cat Pr. e 24 25 *2 26 *2 27 0 1 1 Default value 0 No use 4 Parameter 51 Position comparison value 4 For manufacturer's use For manufacturer's use Cat Pr. e - 25 28 4 For manufacturer's use Cat Pr. e No.SX-DSV03089 A6NE series 5 Default value Cat Pr. e Parameter Default value 0 5 55 For manufacturer's use 0 500 6 0 No use - 500 1 No use - - 2 Velocity deviation excess setup 0 No use - 0 28 No use - 3 56 Position comparison output delay compensation amount 0 29 For manufacturer's use 2 57 Position comparison output assignment setting 0 30 No use - 0 No use - 31 USB axis address 1 1 No use - 32 No use - 4 No use 5 Position 3rd gain valid time *1 Position 3rd gain scale 6 factor Torque command additional 7 0 8 value Positive direction torque compensation value Negative direction torque compensation value 0.0 100 0 2 No use - 33 Pulse regenerative output limit setup 3 Denominator of pulse output division 0 34 For manufacturer's use 4 9 1 35 No use - 10 Function expansion setup 16 0 36 For manufacturer's use 0 11 Current response setup 100 0 37 No use - 12 No use - 0 38 No use - 13 - 1 39 No use - 14 200 70 40 No use - 15 No use Emergency stop time at alarm 2nd over-speed level setup Over-travel inhibit input setup Sequence at over-travel inhibit Sequence at Servo-off 8400 4 0 5 INP hold time 0 6 Zero-speed 50 7 Sequence at main power off LV trip selection at main power off Detection time of main power off 0 0 4 SI5 input selection 2236962 35 Speed coincidence range 50 8 5 SI6 input selection 2171169 36 At-speed (Speed arrival) 1000 9 0 10 Sequence at alarm 0 41 No use - 16 No use - 0 11 Torque setup for emergency stop 0 42 No use - No use - 30 12 Over-load level setup 0 43 No use - Power-up wait time 0.0 0 13 Over-speed level setup 14 Motor working range setup *1 Control input signal reading 15 0 44 No use - 17 18 *1 19 For manufacturer's use 0 0 20 For manufacturer's use 0 0 21 For manufacturer's use 0 0 22 For manufacturer's use 0 6 SI7 input selection 2829099 37 Mechanical brake action at stalling setup Mechanical brake action at running setup 7 SI8 input selection 3223857 38 8 No use - 39 9 No use - 40 Selection of alarm output 1 10 SO1 output selection 197379 41 Selection of alarm output 2 2nd Positioning complete (Inposition) range 8400 No use - 11 SO2 output selection 1052688 42 12 SO3 output selection 65793 43 13 No use - 44 14 No use - 45 15 No use - 46 16 Type of analog monitor 1 Analog monitor 1 output gain Type of analog monitor 2 Analog monitor 2 output gain 0 47 0 17 18 19 Brake release speed setup Position comparison output pulse width setting Position comparison output polarity selection 0 setup 16 No use 1.0 45 0 46 - 47 Quadrant glitch positivedirection compensation value Quadrant glitch negativedirection compensation value Quadrant glitch compensation delay time Quadrant glitch compensation filter setting L Quadrant glitch compensation filter setting H 0 17 No use - 48 0 18 No use - 49 No use - 19 No use - 50 For manufacturer's use 0 23 24 *1 25 Pulse output selection 0 20 Position setup unit select 0 51 For manufacturer's use 0 48 Position comparison value 1 0 Selection of torque limit 1 52 For manufacturer's use 4 49 Position comparison value 2 0 53 50 Position comparison value 3 0 2nd torque limit Torque limit switching setup 1 500 0 21 22 *2 23 0 54 *1 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 *2 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor. 0 0 Load change compensation gain Load change compensation filter 0 0 0.53 No use - 26 No use - 0 27 Warning latch state setup 0 For manufacturer's use 0 28 No use - For manufacturer's use 0 29 No use - ■Default value of the parameters（３／４） PARAMETER Cat Pr. e 6 30 31 32 33 34 *1 35 *1 36 37 *1 38 39 40 41 42 *1 43 Parameter Default value For manufacturer's use 0 Real time auto tuning estimation speed Real time auto tuning custom setup No use 1 0 - For manufacturer's use 0.0 For manufacturer's use 0.10 For manufacturer's use 0 Oscillation detecting level 0.0 Warning mask setup 4 For manufacturer's use 0 No use Anti-vibration depth 1 - 44 No use - 45 No use - 77 46 No use Function expansion settings 47 2 48 Adjust filter *1 Adjust/Torque command 49 attenuation term 50 Viscous friction compensation gain *1 Immediate cessation 51 completion wait time MODEL Cat Pr. Parameter e 61 6 1st resonance frequency *1 1st resonance attenuation 62 ratio 63 1st anti-resonance *1 frequency 1st anti-resonance attenuation 64 ratio 65 1st response frequency *1 66 2nd resonance frequency *1 2nd resonance attenuation 67 ratio 68 2nd anti-resonance *1 frequency 2nd anti-resonance attenuation 69 ratio 70 2nd response frequency *1 71 3rd damping depth 72 73 *1 74 *1 75 *1 76 Two-stage torque filter time constant Two-stage torque filter attenuation term No.SX-DSV03089 0 0.00 0 A6NE series Default value Cat Pr. e Parameter Default value 3 Output setup during torque limit 0 0 4 For manufacturer's use 0.0 5 0 6 0.0 7 Cat Pr. e Parameter Default value 34 RTEX monitor select 6 0 0 35 RTEX command setting 1 For manufacturer's use 0 36 For manufacturer's use 0 7 Cat Pr. e Parameter Default value 65 No use - 0 66 No use - RTEX command setting 2 0 67 No use - 37 RTEX command setting 3 0 68 No use - 0 69 No use - 7 0.0 7 For manufacturer's use 0 38 RTEX_Update_Counter error protection setup 0.0 8 For manufacturer's use 0 39 For manufacturer's use 0 70 No use - 0 9 For manufacturer's use 360 40 No use 0.0 10 0 11 0.0 12 0 13 Software limit function Positive side software limit value Negative side software limit value Absolute home position offset - 71 No use - RTEX function extended setup 41 5 0 72 No use - 500000 42 No use - 73 No use - -500000 43 No use - 74 No use - 0 0 44 No use - 75 No use - 0 45 No use - 76 No use - 4th damping depth 0 14 Main power off warning detection time Load estimation filter 0.00 15 Positioning adjacent range 10 46 No use - 77 No use - 0.0 16 Torque saturation error protection frequency 0 47 No use - 78 No use - 0.0 17 No use - 48 No use - 79 No use - Load estimation count 0 18 No use - 49 No use - 80 No use - No use - 19 No use - 50 No use - 81 No use - 3 51 No use - 82 No use - 2 52 No use - 83 No use - 0 53 No use - 84 No use - 18 54 No use - 85 No use - 0 55 No use - 86 No use 0 Torque compensation frequency 1 Torque compensation frequency 2 1 78 No use - 20 1.1 79 No use - 21 15 80 No use - 22 0.0 81 No use - 23 0 82 No use - 24 RTEX communication cycle setup RTEX command updating cycle setup RTEX function extended setup 1 RTEX function extended setup 2 RTEX function extended setup 3 52 For manufacturer's use 0 83 No use - 25 RTEX speed unit setup 0 56 No use - RTEX communication function 87 expansion 5 53 For manufacturer's use 0 84 No use - 26 RTEX continuous error warning setup 0 57 No use - 88 No use - 27 RTEX accumulated error warning setup 0 58 No use - 89 No use - 28 RTEX_Update_Counter error warning setup 0 59 No use - 90 No use - RTEX communication cycle expansion setting 500000 54 55 For manufacturer's use No use 56 No use 57 Torque saturation anomaly detection time 58 59 60 No use No use 2nd damping depth 0 85 - 86 0 0 7 No use No use - 87 For manufacturer's use 0 29 RTEX monitor select 1 0 60 No use - 91 88 Absolute encoder multi-turn data upper-limit value 0 30 RTEX monitor select 2 0 61 No use - 92 For manufacturer's use 0 Home position return limit speed 0 0 Display on LED 0 31 RTEX monitor select 3 0 62 No use - 93 1 Display time setup upon powerup 0 32 RTEX monitor select 4 0 63 No use - 94 No use - 95 Number of RTEX continuous communication error protection 1 detections 4 2 No use - *1 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 **2 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor. 33 RTEX monitor select 5 0 64 No use - ■Default value of the parameters（４／４） PARAMETER Cat Pr. e 7 96 97 98 8 15 Parameter Default value Number of RTEX continuous communication error protection 2 detections 12 Number of RTEX communication timeout error protection detections Number of RTEX cyclic data error protection 1/2 detections Cat Pr. e No.SX-DSV03089 A6NE series MODEL Parameter Default value 8 No use - 4 9 No use - 4 10 No use - 15 0 For manufacturer's use 0 11 No use - 1 Profile linear acceleration constant 100 12 No use - 2 For manufacturer's use 0 13 No use - 3 For manufacturer's use 0 14 No use - 4 Profile linear deceleration constant 100 15 No use - 5 For manufacturer's use 0 16 For manufacturer's use 2 6 No use - 17 For manufacturer's use 4 7 No use - 18 No use - 8 No use - 19 No use - 9 No use - 20 No use - 10 Amount of travel after profile position latch detection 0 21 No use - 11 No use - 22 No use - Profile return to home position 12 mode setup Profile home position return 13 velocity 1 Profile home position return 14 velocity 2 0 23 No use - 50 24 No use - 5 25 No use - 15 For manufacturer's use 0 26 No use - 16 No use - 27 No use - 17 No use - 28 No use - 18 No use - 29 No use - 19 For manufacturer's use 0 30 For manufacturer's use 0 0 For manufacturer's use 0 31 For manufacturer's use 5 1 No use - 32 No use - 2 No use - 33 For manufacturer's use 0 3 No use - 34 For manufacturer's use 0 4 No use - 35 For manufacturer's use 1 5 No use - 6 No use - 7 No use - Cat Pr. e *1 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 *2 The maximum torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor. Parameter Default value Cat Pr. e Parameter Default value Cat Pr. e Parameter Default value