No. SX-DSV02201 REFERENCE SPECIFICATIONS MODEL Product Name : AC servo driver Part Number : MINAS-A5N, A5N01 Series Issued on May. 31th, 2011 Revised on Feb. 15th, 2013 Motor Business Unit, Appliances Company Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan Phone : (072) 871-1212 Fax : (072) 870-3151 No. SX-DSV02201 REVISIONS Date Page Rev. May. 31, 2011 - 1.0 NEWLY ISSUED - June 1, 2011 - 1.1 Added the model of size G, H and 400 V ac models - 2.0 Changed the company name - Mar. 6, 2012 1 Added the MINAS-A5N01 Series 4-11 Changed the outline dimensional drawing 52,58 Added the conformity standard 62 3,53 15 17,18 22 R2.1 Signed Changed the software version from Ver1.00 to Ver1.01 1,2,4-20,25,53 Feb. 15, 2013 Description Added the notes about installation 2.1 Added the conformity standard for MINAS-A5N01 Series. - Changed the connector part number. Changed the Regenerative resistor connection terminal symbol for Size F. Changed the pin No. of connector XD for Size D and E of 400 V System. Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Contents 1. Scope···························································································································· 1 2. Product number················································································································ 1 3. Product Line-up ··············································································································· 2 4. Specifications ·················································································································· 3 4-1 Basic Specifications .......................................................................................................................................3 4-2 Compatible Standard (Under Contemplation)................................................................................................3 5. Dimensions····················································································································· 4 6. Appearance and Part Names ································································································12 7. Configuration of Connectors and Terminal Blocks ······································································21 7-1 Power Connector XA , XB , XC , XD and Terminal Block .............................................................21 7-2 USB Connector X1 .....................................................................................................................................24 7-3 RTEX connectors X2A and X2B .............................................................................................................25 7-4 Safety function connector X3 (for MINAS-A5N01 Series) ......................................................................25 7-5 I/O Connector X4 .......................................................................................................................................26 7-6 External Scale Connector X5......................................................................................................................28 7-7 Encoder Connector X6 ...............................................................................................................................28 7-8 Monitor Connector X7................................................................................................................................29 8. Wiring ·························································································································31 8-1 Used Cables and Maximum Cable Lengths .................................................................................................31 8-2 Cable Side Connector..............................................................................................................................31 8-3 Precautions for Wiring .................................................................................................................................32 9. Compliance with European EC Directive/UL Standard·································································52 9-1 European EC Directive ................................................................................................................................52 9-2 Peripheral Device Configuration..................................................................................................................53 9-3 List of Peripheral Devices Applicable to Servo Driver................................................................................55 9-4 Compliance with UL Standard.....................................................................................................................57 10. Compliance with SEMI F47 Instantaneous Stop Standard ····························································58 11. Compliance with KC mark ································································································58 12. Safety Precautions ··········································································································59 13. Life and Warranty ··········································································································63 13-1 Life Expectancy of the Driver....................................................................................................................63 13-2 Typical Life................................................................................................................................................63 13-3 Warranty Period ..........................................................................................................................................63 14. Others ························································································································64 Specification for Each Model R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 1 - 1. Scope The specifications are for AC servo driver MINAS-A5N Series standard models and MINAS-A5N01 Series made by Motor Business Unit, Appliances Company, Panasonic Corporation. <Software version> This technical reference applies to the servo drivers compatible with software of the following version: Ver.1.01 or later For the software version, confirm it by the setup support software PANATERM or other function. <Related documents> SX-DSV02202: Technical document - Functional specification SX-DSV02203: Technical document - Realtime Express (RTEX) communication specification – <IMPORTANT> • All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior permission. • Motor Business Unit, Home Appliances Company, Panasonic Corp. reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice. 2. Product number The following shows how to interpret a product number. 1 2 3 4 5 6 7 8 9 10 11 12 M A D H T 1 5 0 5 N A 1 Size A: Size A B: Size B C: Size C D: Size D E: Size E F: Size F G: Size G H: Size H AC servo driver A5 series Maximum instantaneous output current T1: 10 A T2: 15 A T3: 25 A T4: 35 A T5: 50 A T7: 75 A TA: 100 A TB: 150 A TC: 300 A R2.1 Specification (Alphanumeric) A1: Standard models 01: with the safety function Interface N: RTEX Maximum continuous output current 05: 5 A 07: 7.5 A 10: 10 A 20: 20 A 30: 30 A 40: 40 A 64: 64 A 90: 90 A A2: 120 A B4: 240 A Power supply voltage 1: Single phase 100 V 3: 3 phase 200 V 4: 3 phase 400 V 5: Single or 3 phase 200 V Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 2 - 3. Product Line-up Model No. (Note 1) MINAS-A5N Series (Standard models) MINAS-A5N01 Series (With the safety function) MADHT1105NA1 MADHT1105N01 MADHT1107NA1 MADHT1107N01 MADHT1505NA1 MADHT1505N01 MADHT1507NA1 MADHT1507N01 MBDHT2110NA1 MBDHT2110N01 MBDHT2510NA1 MBDHT2510N01 MCDHT3120NA1 MCDHT3120N01 MCDHT3520NA1 MCDHT3520N01 MDDHT3530NA1 MDDHT3530N01 MDDHT5540NA1 MDDHT5540N01 MDDHT2407NA1 MDDHT2407N01 MDDHT2412NA1 MDDHT2412N01 MDDHT3420NA1 MDDHT3420N01 MEDHT7364NA1 MEDHT7364N01 MEDHT4430NA1 MEDHT4430N01 MFDHTA390NA1 MFDHTA390N01 MFDHTB3A2NA1 MFDHTB3A2N01 MFDHT5440NA1 MFDHT5440N01 MFDHTA464NA1 MFDHTA464N01 MGDHTC3B4NA1 MGDHTC3B4N01 MGDHTB4A2NA1 MGDHTB4A2N01 MHDHTC3B4NA1 MHDHTC3B4N01 MHDHTB4A2NA1 MHDHTB4A2N01 Frame mark Power supply voltage Single-phase AC100–120 V A Single/3-phase AC 200–240 V B C Rated output of applicable motor (Note 2) Max 50 W Max 100 W Max 100 W Max 200 W Single-phase AC100–120 V Max 200 W Single/3-phase AC 200–240 V Max 400 W Single-phase AC100–120 V Max 400 W Single/3-phase AC 200–240 V Max 750 W Single/3-phase AC 200–240 V Max 1,000 W Max 1,500 W Max 600 W D 3-phase AC 380–480 V Max 1,000 W Max 1,500 W E 3-phase AC 200–230 V Max 2,500 W 3-phase AC 380–480 V Max 2,500 W 3-phase AC 200–230 V F 3-phase AC 380–480 V G H Max 3,000 W Max 5,000 W Max 3,000 W Max 5,000 W 3-phase AC 200–230 V Max 7,500 W 3-phase AC 380–480 V Max 7,500 W 3-phase AC 200–230 V Max 15,000 W 3-phase AC 380–480 V Max 15,000 W (Note 1) MINAS-A5N01 Series are the models which are added the safety function to MINAS-A5N series standard models. (Note 2) Some of the combinations shown in this table cannot be used depending on motors. For the combination of an driver and a motor, refer to MINAS-A5 series catalog. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 3 - 4. Specifications 4-1 Basic Specifications Item Description Main circuit power Single phase 100–120 V ac Control circuit power Single phase 100–120 V ac Main circuit A–D Single/3 phase 200–240 V ac power E–H 3 phase 200–230 V ac power Control circuit A–D Single phase 200–240 V ac supply power E–H Single phase 200–230 V ac 100 V Input 200 V Main circuit 400 V 3 phase 380–480 V ac power 50/60 Hz 50/60 Hz 50/60 Hz 50/60 Hz 50/60 Hz 50/60 Hz + 10% - 15% 50/60 Hz D-H Control circuit 24 V dc +/- 15% power Resistant to 1,500 V AC between primary power supply and ground for a minute (Sensed current: 20 mA) Insulation voltage * Excluding control circuit power supply part (24 V dc) of 400 V models. Temperature Humidity Operation conditions + 10% - 15% + 10% - 15% + 10% - 15% + 10% - 15% + 10% - 15% + 10% - 15% Operation temperature: 0–55 degrees C Storage temperature: -20–65 degrees C Operation and storage humidity 90%RH or less (no condensation) Height above the sea Height above the sea level: 1,000 meters or less 5. 88 m/s2 or less, 10–60 Hz (Continuous operation at resonance point is not allowed) Vibration 4-2 Compatible Standard (Under Contemplation) Item EC Directive Description EMC directive EN55011 (CISPR11), EN61000-6-2, EN61800-3 Low voltage directive EN61800-5-1 Machinery Directives Functional Safety (For A5N01 Series only) EN954-1(Cat.3) ISO13849-1 (PL c,d*1)(Cat.3) EN61508(SIL 2) EN62061(SIL 2) EN61800-5-2(STO) IEC61326-3-1 UL UL508C CSA CSA22. 2 No.14 KC KN11 , KN61000-4-2,34,5,6,8,11 *1 The condition of PL d is using EDM. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 4 - 5. Dimensions MINAS-A5N and A5N01 Series Size A 100 V/200 V Mounting bracket (Option) Mounting bracket (Option) Nameplate Option Rack-mountable (front mounting) 2-M4 useful thread 4.7 (an opposite side is the same) Standard Base mounting type (rear mounting) [Front mounting bracket Optional part number] Part number For frame A DV0PM20027 R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 5 - Size B 100 V/200 V Mounting bracket (Option) Mounting bracket (Option) Nameplate Option Rack-mountable (front mounting) 2-M4 useful thread 4.7 (an opposite side is the same) Standard Base mounting type (rear mounting) [Front mounting bracket Optional part number] Part number For frame B DV0PM20028 R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 6 - Size C 100 V/200 V Mounting bracket (Option) Nameplate Mounting bracket (Option) Option Rack-mountable (front mounting) 2-M4 useful thread 5.2 (an opposite side is the same) Standard Base mounting type (rear mounting) [Front mounting bracket Optional part number] Part number For frame C DV0PM20029 R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 7 - Size D 200 V Mounting bracket (Option) Nameplate Mounting bracket (Option) Option Rack-mountable (front mounting) 2-M4 useful thread 4.65 (an opposite side is the same) Standard Base mounting type (rear mounting) Size D 400 V Mounting bracket (Option) Nameplate Mounting bracket (Option) Option Rack-mountable (front mounting) 2-M4 useful thread 4.65 (an opposite side is the same) Standard Base mounting type (rear mounting) [Front mounting bracket Optional part number] Part number For frame D DV0PM20030 R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 8 - Size E 200 V Mounting bracket (Note) Mounting bracket Nameplate Mounting bracket 4-M4 useful thread 4.65 (an opposite side is the same) Mounting bracket (Note) Standard Rack-mountable (front mounting) Replace the brackets Base-mountable (rear mounting) Size E 400 V Mounting bracket (Note) Mounting bracket Nameplate Mounting bracket 4-M4 useful thread 4.65 (an opposite side is the same) Standard Rack-mountable (front mounting) Note: Mounting bracket (Note) Replace the brackets Base-mountable (rear mounting) For base mounting type (rear mounting type), attach the mounting bracket to the rear surface. Although the above figure shows brackets attached to both the front and rear surfaces, the unit is shipped out with the bracket attached to only the front. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 9 - Size F 200 V/400 V Mounting bracket (Note) Mounting bracket Nameplate Mounting bracket Mounting bracket (Note) Standard Rack-mountable (front mounting) Note: 4-M4 useful thread 7 (an opposite side is the same) Replace the brackets Base-mountable (rear mounting) For base mounting type (rear mounting type), attach the mounting bracket to the rear surface. Although the above figure shows brackets attached to both the front and rear surfaces, the unit is shipped out with the bracket attached to only the front. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 10 - Size G 200 V/400 V Mounting bracket (Note) Mounting bracket Nameplate Mounting bracket Mounting bracket (Note) Standard Rack-mountable (front mounting) Note: 12-M4 useful thread 7.2 (an opposite side is the same) Replace the brackets Base-mountable (rear mounting) For base mounting type (rear mounting type), attach the mounting bracket to the rear surface. Although the above figure shows brackets attached to both the front and rear surfaces, the unit is shipped out with the bracket attached to only the front. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 11 - Size H 200 V/400 V Name plate Mount Base mounting type (rear mounting) Mount R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 12 - 6. Appearance and Part Names Size A, B 100 V/200 V X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X7: Monitor connector X2A: RTEX connector (RX) 530140610 (Molex) or equivalent 855055113 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent XA: Power source input connector X3: Safety function connector (Refer to the following figure.) (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent XB: Motor connector X4: I/O connector (Refer to the following figure.) 10226-52A2PE (Sumitomo 3M) or equivalent X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Cable side connectors Connectors at driver 05JFAT-SAXGF (JST) or equivalent Main power source input terminal Control power source input terminal Regenerative resistor connection terminal Motor connection terminal L1 L2 L3 L1C L2C S05B-F32SK-GGXR (JST) or equivalent Charge lamp 06JFAT-SAXGF (JST) or equivalent B1 B3 B2 U V W S06B-F32SK-GGXR (JST) or equivalent Earth terminal screw R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 13 Size C, D 100 V/200 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) 855055113 (Molex) or equivalent X7: Monitor connector 530140610 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent XA: Power source input connector X3: Safety function connector (Refer to the following figure.) (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent XB: Motor connector X4: I/O connector (Refer to the following figure.) 10226-52A2PE (3M) or equivalent X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Cable side connectors Connectors at driver 05JFAT-SAXGF (JST) or equivalent Main power source input terminal Control power source input terminal Regenerative resistor connection terminal (B2–B3: Normally short-circuited) Motor connection terminal L1 L2 L3 L1C L2C B1 B3 B2 U V W 06JFAT-SAXGF (JST) or equivalent S05B-F32SK-GGXR (JST) or equivalent Charge lamp S06B-F32SK-GGXR (JST) or equivalent Earth terminal screw R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 14 Size D 400 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) X7: Monitor connector 855055113 (Molex) or equivalent 530140610 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent XD: Control power source input connector (Refer to the following figure.) X3: Safety function connector XA: Power source input connector (for MINAS-A5N01 Series) (Refer to the following figure.) 2040537-1（Tyco） or equivalent XC: Regenerative resistor connector X4: I/O connector (Refer to the following figure.) 10226-52A2PE (3M) or equivalent XB: Motor connector (Refer to the following figure.) X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Cable side connectors Connectors at driver 02MJFAT-SAGF（JST） or equivalent Control power source input terminal Main power source input terminal Regenerative resistor connection terminal (B2–B3: Normally short-circuited) 24V 0V L1 L2 L3 B1 B3 B2 NC Motor connection terminal U V W S02B-J25SK-GGR（JST） or equivalent 03JFAT-SAYGSA-M（JST） or equivalent S03B-JTSMSS-GSANYR（JST） or equivalent 04JFAT-SAXGSA-M（JST） or equivalent S04B-JTSMSK-GSANXR（JST） or equivalent 03JFAT-SAXGSA-M（JST） or equivalent Charge lamp S03B-JTSMSK-GSANXR（JST） or equivalent Earth terminal screw R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 15 - Size E 200 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) 855055113 (Molex) or equivalent X7: Monitor connector 530140610 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent XA: Power source input connector X3: Safety function connector (Refer to the following figure.) (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent XC: Regenerative resistor connector X4: I/O connector (Refer to the following figure.) 10226-52A2PE (3M) or equivalent XB: Motor connector X5: External scale connector (Refer to the following figure.) MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Cable side connectors Connectors at driver S05B-JTSLSK-GSANXR (JST) or equivalent Control power source input terminal L1 L2 L3 L1C L2C Regenerative resistor connection terminal (B2–B3: Normally short-circuited) B1 B3 B2 NC Main power source input terminal Motor connection terminal U V W 05JFAT-SAXGSA-L (JST) or equivalent S04B-JTSLSS-GSANXR (JST) or equivalent 04JFAT-SAXGSA-L (JST) or equivalent Charge lamp S03B-JTSLSK-GSANXR (JST) or equivalent 03JFAT-SAXGSA-L (JST) or equivalent Earth terminal screw R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 16 - Size E 400 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X7: Monitor connector 530140610 (Molex) or equivalent X2A: RTEX connector (RX) 855055113 (Molex) or equivalent X2B: RTEX connector (TX) XD: Control power source input connector 855055113 (Molex) or equivalent (Refer to the following figure.) XA: Power source input connector X3: Safety function connector (Refer to the following figure.) (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent XC: Regenerative resistor connector (Refer to the following figure.) X4: I/O connector XB: Motor connector 10226-52A2PE (3M) or equivalent (Refer to the following figure.) X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Cable side connectors Connectors at driver 02MJFAT-SAGF（JST） or equivalent S02B-J25SK-GGR（JST） or equivalent Control power source input terminal Main power source input terminal Regenerative resistor connection terminal (B2–B3: Normally short-circuited) 24V 0V L1 L2 S03B-JTSLSS-GSANYR（JST） or equivalent L3 B1 B3 B2 NC U Motor connection terminal 03JFAT-SAYGSA-L（JST） or equivalent 04JFAT-SAXGSA-L（JST） or equivalent S04B-JTSLSK-GSANXR（JST） or equivalent 03JFAT-SAXGSA-L（JST） or equivalent Charge lamp V W S03B-JTSLSK-GSANXR（JST） or equivalent Earth terminal screw R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 17 - Size F 200 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) X7: Monitor connector 855055113 (Molex) or equivalent 530140610 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent X3: Safety function connector Terminal block cover (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent X4: I/O connector 10226-52A2PE (3M) or equivalent X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Terminal Block L1 Main power source input terminal L2 L3 Control power source L1C input terminal L2C Regenerative resistor B1 connection terminal B3 (B2–B3: Normally short-circuited) B2 U Motor connection terminal V W Charge lamp Earth terminal screw Note: Terminal block with the cover removed R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 18 - Size F 400 V Nameplate X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) X7: Monitor connector 855055113 (Molex) or equivalent 530140610 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent X3: Safety function connector Terminal block cover (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent X4: I/O connector 10226-52A2PE (3M) or equivalent X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Terminal Block Control power source input terminal 24V 0V Main power source input terminal L1 L2 L3 Regenerative resistor connection terminal (B2–B3: Normally short-circuited) B1 B3 B2 Motor connection terminal U V W Charge lamp Earth terminal screw Note: Terminal block with the cover removed R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 19 - Size G 200 V/400 V X7: Monitor connector X1: USB connector 530140610 (Molex) or equivalent UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) 855055113 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent Nameplate X3: Safety function connector (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent X4: I/O connector 10226-52A2PE (3M) or equivalent Terminal block cover X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Terminal Block (right side) Terminal Block (left side) Front panel 200 V ac L1C L2C 400 V ac 24V 0V L1 Main power source L2 input terminal L3 Regenerative resistor B1 connection terminal B2 Control power source input terminal Control power source input terminal DB1 External dynamic brake resistor DB2 control terminal U Motor connection V terminal W DB3–DB4: Normally short-circuited DB3 (Open: When external dynamic brake DB4 resistor is connected) Charge lamp Earth terminal screw Note: Terminal block with the cover removed R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 20 - Size H 200 V/400 V X7: Monitor connector 530140610 (Molex) or equivalent X1: USB connector UB-MSBR-DMP14-4S (JST) or equivalent X2A: RTEX connector (RX) 855055113 (Molex) or equivalent X2B: RTEX connector (TX) 855055113 (Molex) or equivalent Nameplate X3: Safety function connector (for MINAS-A5N01 Series) 2040537-1（Tyco） or equivalent X4: I/O connector 10226-52A2PE (3M) or equivalent Terminal block cover X5: External scale connector MUF-RS10DK-GKXR (JST) or equivalent X6: Encoder connector 3E106-2230KV (Sumitomo 3M) or equivalent Front panel Terminal block Control power source input terminal 200 V ac 400 V ac L1C L2C 24V 0V External dynamic brake resistor control terminal DB1 DB2 Charge lamp Terminal Block (upper side) L1 L2 L3 Terminal Block (lower side) Earth terminal screw B1 B2 Main power Regenerative UVW Motor source input resistor connection terminal connection terminal Note: Terminal block with the cover removed R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 21 - 7. Configuration of Connectors and Terminal Blocks 7-1 Power Connector XA , XB , XC , XD and Terminal Block [1] Sizes A, B, C, D of 100 V and 200 V System Name Main power supply input Connector pin no. L1 5 Description 100 V Control power supply input Regenerative resistor connection Motor connection Single phase 100–120 V + 10% - 15% 50/60 Hz input Use L1 and L3 terminal. + 10% 50/60 Hz input - 15% Use L1 and L3 terminal for single phase input L2 4 Single or 3 phase 200–240 V L3 3 L1C 2 L2C 1 B1 6 B3 5 B2 4 U V W 3 2 1 Connect each phase of the motor winding. U: U phase V: V phase W: W phase – There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. 200 V XA XB Terminal symbol Earth + 10% 50/60 Hz input - 15% + 10% 50/60 Hz input 200 V Single phase 200–240 V - 15% • Normally, open the circuit between B2 and B3. (Sizes A, B) • Normally, short out the circuit between B2 and B3. (Sizes C, D) • When a trip happens due to a regenerative load protection error, connect an external regenerative resistor (prepared by customer) between B1 and B2. 100 V Single phase 100–120 V • Refer to section 9-3 for the tightening torque of the screw. [2] Size E of 200 V System Name Main power supply input XA Control power supply input XC Regenerative resistor connection XB Motor connection Earth Terminal symbol Connector pin no. L1 5 L2 L3 4 3 L1C 2 L2C 1 B1 B3 B2 NC U V W 4 3 2 1 3 2 1 – Description + 10% 200 V 3 phase 200–230 V 200 V Single phase 200–230 V 50/60 Hz input - 15% + 10% 50/60 Hz input - 15% Normally, short out the circuit between B2 and B3. When a trip happens due to a regenerative load protection error, connect an external regenerative resistor (prepared by customer) between B1 and B2. Note: Keep NC terminal unconnected. Connect each phase of the motor winding. U: U phase V: V phase W: W phase There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. • Refer to section 9-3 for the tightening torque of the screw. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 22 - [3] Size D and E of 400 V System Name XA XD Main power supply input Control power supply input XC Regenerative resistor connection XB Motor connection Terminal symbol Connector pin no. L1 3 L2 L3 2 1 24V 1 0V 2 B1 B3 B2 NC U V W 4 3 2 1 3 2 1 Description 3 phase 380–480 V + 10% 50/60 Hz input - 15% 24 V dc +/- 15% Normally, short out the circuit between B2 and B3. When a trip happens due to a regenerative load protection error, connect an external regenerative resistor (prepared by customer) between B1 and B2. Note: Keep NC terminal unconnected. Connect each phase of the motor winding. U: U phase V: V phase W: W phase There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. – Earth • Refer to section 9-3 for the tightening torque of the screw. Terminal block [4] Size F of 200 V System Name Terminal symbol Terminal no. (upper to bottom) Main power supply input L1 L2 L3 1 2 3 L1C 4 L2C 5 B1 6 B3 7 B2 8 NC 9 U V W 10 11 12 Connect each phase of the motor winding. U: U phase V: V phase W: W phase – There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. Control power supply input Regenerative resistor connection Motor connection Earth Description 3 phase 200–230 V + 10% - 15% Single phase 200–230 V 50/60 Hz input + 10% - 15% 50/60 Hz input Normally, short out the circuit between B2 and B3. When a trip happens due to a regenerative load protection error, open the circuit between B2 and B3 and connect an external regenerative resistor (prepared by customer) between B1 and B2. Note: Keep NC terminal unconnected. • Refer to section 9-3 for the tightening torque of the screw. • Tighten the fixing screw of the terminal block cover with a torque 0.2 N•m or lower. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 23 [5] Size F of 400 V System Terminal block Name Control power supply input Terminal block Main power supply input Regenerative resistor connection Motor connection Termina l symbol Terminal no. (upper to bottom) 24V 1 0V 2 L1 L2 L3 1 2 3 B1 4 B3 5 B2 6 NC 7 U V W 8 9 10 Connect each phase of the motor winding. U: U phase V: V phase W: W phase － There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. Earth Description 24 V dc +/- 15% 3 phase 380–480 V + 10% 50/60 Hz input - 15% Normally, short out the circuit between B2 and B3. When a trip happens due to a regenerative load protection error, open the circuit between B2 and B3 and connect an external regenerative resistor (prepared by customer) between B1 and B2. Note: Keep NC terminal unconnected. • Refer to section 9-3 for the tightening torque of the screw. • Tighten the fixing screw of the terminal block cover with a torque 0.2 N•m or lower. [6] Size G of 200 V and 400 V System Terminal block (right side) Terminal block (left side) Name Main power supply input Regenerative resistor connection Motor connection Control power supply input Dynamic brake resistor control terminal Dynamic brake resistor control terminal Earth 200 V 400 V Terminal no. (upper to bottom) L1 L1 1 L2 L2 2 L3 L3 B1 Terminal symbol Description 200 V : 3 phase 200–230 V + 10% - 15% 50/60 Hz input 3 400 V : 3 phase 380–480 V + 10% - 15% 50/60 Hz input B1 4 B2 B2 5 NC NC 6 • When tripped by a regenerative load protect error, connect an external regenerative resistor (the value set by parameter Pr0.16 and prepared by the user) across B1 and B2. Note: Keep NC terminal unconnected. U V W NC U V W NC 7 8 9 1 L1C 24V 2 200 V : Single phase 200–230 V L2C NC NC 0V NC NC 3 4 5 400 V : 24 V dc +/- 15% DB1 DB1 6 DB2 NC NC DB2 NC NC 7 8 9 DB3 DB3 10 DB4 NC DB4 NC 11 12 – • Connect each phase of the motor winding. U: U phase V: V phase W: W phase • Leave this terminal unconnected. + 10% - 15% 50/60 Hz input • Leave this terminal unconnected. • Connect when it is necessary to control the MC for external dynamic brake resistor (prepared by the user). • Impress the voltage AC300V or less or DC100V or less between DB1 and DB2. • Leave this terminal unconnected. • Be short-circuited usually between DB3 and DB4. Remove the short bar when you use the external dynamic brake resistor. There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. • Refer to section 9-3 for the tightening torque of the screw. • Tighten M3 terminal block cover fixing screw with the 0.2 N•m torque. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 24 [7] Size H of 200 V and 400 V System Terminal block (lower side) Terminal block (upper side) Name Terminal symbol 200 V 400 V Terminal no. (left to right) L1C 24V 1 200 V : Single phase 200–230 V L2C 0V 2 DB1 DB1 3 DB2 DB2 4 400 V : 24 V dc +/- 15% • Connect when it is necessary to control the MC for external dynamic brake resistor (prepared by the user). • Impress the voltage AC300V or less or DC100V or less between DB1 and DB2. L1 L1 1 L2 L2 2 L3 L3 3 B1 B2 B1 B2 4 5 NC NC 6 U V W U V W 7 8 9 Connect each phase of the motor winding. U: U phase V: V phase W: W phase – There are 2 grounding terminals. Connect the one terminal to ground, and the other to the E terminal of a motor. Do not connect more than one wire to a grounding terminal. Control power supply input Dynamic brake resistor control terminal Main power supply input Regenerative resistor connection Motor connection Earth Description + 10% - 15% 50/60 Hz input 200 V : 3 phase 200–230 V + 10% - 15% 50/60 Hz input 400 V : 3 phase 380–480 V + 10% - 15% 50/60 Hz input • When tripped by a regenerative load protect error, connect an external regenerative resistor (the value set by parameter Pr0.16 and prepared by the user) across B1 and B2. Note) Do not connect any wire to the NC terminal. • Refer to section 9-3 for the tightening torque of the screw. • Tighten M5 terminal block cover fixing screw with the 0.4 N•m torque. 7-2 USB Connector X1 By connecting to the PC through USB interface, various operations such as setting/changing of parameters, monitoring of control state, referencing of error/history, and saving/loading of parameters can be performed. Symbol Connector pin no. VBUS 1 D- 2 D+ 3 For manufacturer use 4 • Do not connect Signal ground GND 5 • Signal ground Name USB signal R2.1 Description • Communicate with a computer Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 25 7-3 RTEX connectors X2A and 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. Unused - 8 Connect to pin 8 on RX connector of receiving side node. Frame ground FG Shell Connect to shield of cable. [X2B] TX connector • Be sure to use shielded twisted pair (STP) compatible with 5e of TIA/EIA-568 or higher category. 7-4 Safety function connector X3 (for MINAS-A5N01 Series) For the safety function connector. Name Reserved Safety input 1 Safety input 2 EDM output Frame ground Symbol Connector pin no. － － SF1SF1+ SF2SF2+ EDMEDM+ FG 1 2 3 4 5 6 7 8 Shell Description I/O type ―― ―― Do not connect. These are two independent circuits that turn off the operation signal to the power module to shut off the motor current. i-1 This is an output for monitoring the failure of the safety function. o-1 Connected with protective earth terminal in the servo driver. ―― Refer to the technical document SX-DSV02199 for the safety function. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 26 7-5 I/O Connector X4 Input signal Symbol Connector pin no. I-COM 6 Input 1 SI1 5 Input 2 SI2 7 For details, refer to the technical data – Basic function specification – i-1 Input 3 SI3 8 SX-DSV02202. i-1 Input 4 SI4 9 Name Control signal power source Description • Connect to positive/negative polarity of the external power supply. • Use power supply: 12 V +/-5% to 24 V +/-5% • Assign functions using parameters. • Range of available functions is limited. Input 5 SI5 10 For example, external latch input EXT1 can be allocated only to SI5, EXT2 Input 6 SI6 11 to SI6 and EXT3 to SI7. Input 7 SI7 Input 8 12 SI8 13 Symbol Connector pin no. SO1+ 1 SO1- 2 SO2+ 25 SO2- 26 SO3+ 3 SO3- 4 • For factory default function assignment, refer to appendix “Specification for Each Model”. I/O type — i-1 i-1 i-1 i-1 i-1 i-1 Output signal Name Output 1 Output 2 Output 3 Description I/O type • Assign functions using parameters. For details, refer to the technical data—Basic function specification— SX-DSV02202. o-1 • For factory default function assignment, refer to appendix “Specification for Each Model”. Encoder output signal Name Phase A output Phase B output Symbol Connector pin no. Description OA+ 17 • Differential output of divided encoder signal or external scale signal (A – B OA- 18 OB+ 20 OB- 19 - 21 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 4 Mpps (multiplied by 4). • Use a line receiver to receive the differential signals, and connect a Reserved I/O type Do-1 termination resistor (Approx. 330 ) between the input terminals of the line - 22 receiver. • Use a shielded twisted-pair cable for wiring, and connect the shield wire to the connector shell. Signal ground R2.1 GND 16 • Signal ground • Be sure to connect the ground of the line receiver to this terminal. — Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 27 - Encoder backup power input Name Symbol BTP-I Connector Description pin no. 14 I/O type • 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). Battery input to absolute encoder BTN-I 15 • 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. Other Name Symbol Reserved — Frame ground FG R2.1 Connector Description pin no. 23 24 Shell I/O type • Do not connect — • Connected to the earth terminal in the servo driver. — Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 28 - 7-6 External Scale Connector X5 Name Power supply output for external scale External scale signal input / output (serial signal) External scale signal input (A / B / Z phase signal) Frame ground Connector pin no. Description 1 EX5V (Note 2) (Note 3) 2 EX0V (Note 1) 3 EXPS 4 /EXPS 5 EXA 6 /EXA 7 EXB 8 /EXB 9 EXZ 10 /EXZ Shell FG Note 1: EX0V power supply output for external scale is connected with the signal ground of the X4 connector. Note 2: EX5V power supply output for external scale is rated at 5.2 V 5% and 300 mA at maximum. To use an external scale with a current consumption higher than that, a preparation of an external power supply is required. Some external scales may take longer time in initialization after turning on the power. Note 3: In case an external power supply is used for the external scale, make sure that the EX5V pin is open and no external power is supplied to the EX5V pin. 7-7 Encoder Connector X6 Name Encoder power supply output Absolute encoder battery backup output (Note 2) Encoder signal I/O (serial signal) Frame ground R2.1 Connector pin no. 1 2 3 4 5 6 Shell Description E5V E0V (Note 1) BTP-O BTN-O PS /PS FG Note 1: E0V power supply output for external scale is connected with the signal ground of the X4 connector. Note 2: Connected to the absolute encoder battery input terminals BTP-I and BTN-I of X4 connector in the servo driver. When connecting the battery directly to the encoder connection cable, leave these pins unconnected. Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 29 - 7-8 Monitor Connector X7 R2.1 I/O signal interface Name Symbol Connector pin no. Analog monitor output 1 AM1 1 Analog monitor output 2 AM2 2 Signal ground GND 3 • Signal ground Reserved 4 • Do not connect Reserved 5 • Do not connect Reserved 6 • Do not connect Description • Analog signal output for monitoring • Monitoring object changes according to the parameter setting. • For details, refer to the technical data—Basic function specification Ao-1 —SX-DSV02202. Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 30 I/O signal interface o-1 i-1 10Ω Ｒ VDC ＋ 50 mA or less 12-24 V 6 VDC 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 1K 12–24 V or Ao-1 VDC 12–24 V － 4.7K 1K 6 + 1K 4.7K GND 3 Output signal amplitude is 10V Do-1 Equivalent of AM26C31 ＋ － GND 16 +: Pins 17, 20, 21, -: Pins 18, 19, 22 Connect a terminating resistor (approx. 330 Ω) between the input terminals of the line receiver. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 31 - 8. Wiring 8-1 Used Cables and Maximum Cable Lengths Symbol Maximum cable length Used cable Main power supply L1, L2, L3 Refer to the associated specification available separately. Control power supply L1C, L2C HVSF 0.75 mm2 Motor connection U, V, W, 20 m Refer to the associated specification available separately. (Note 1) 1m Refer to the associated specification available separately. Name Earth cable Encoder connection X6 20 m I/O connection X4 3m X2A/X2B 100 m (Note 2) RTEX connection Overall twisted shielded pair Core wire: 0.18 mm2or larger Twisted shielded pair (STP) cable of category 5e or better Note 1: When using Tyco Electronics AMP connectors (172167-1, 172189-1) as motor junction connector, maximum applicable conductor size is 1.3 mm2. Note 2: Refer to 8.3 (5) Connection to connectors X2A and X2B. 8-2 Cable Side Connector Connector symbol Part name Part number Manufacturer X3 Connector 2013595-1 Tyco Electronics Solder plug (soldering type) 10126-3000PE Shell kit 10326-52A0-008 X5 Connector MUF-PK10K-X X6 Connector X4 Connector Sumitomo 3M 3E206-0100KV 3E306-3200-008 J. S. T. Mfg Sumitomo 3M 51004-0600 X7 Molex Connector pin 50011-8100 Use connectors listed above or equivalents. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 32 8-3 Precautions for Wiring (1) Wiring to power connector and terminal block 100/200 V Sizes A–D: Thermal protector with built-in external regenerative resistor MC Power supply (Single-phase) OFF ON MCCB Power supply (3-phase) L Noise Filter • When used in single phase power supply, make sure to connect it between terminals L1, L3. ALM XA L1 Main power supply L2 L3 MC L1C Control power supply L2C External regenerative resistor XB Short cable Detach it when using an external regenerative resistor (Sizes C,D). Red B1 B3 B2 U White Motor Connection V Black W Green X4 ALM 3 12–24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 33 - 200 V Size E Thermal protector with built-in external regenerative resistor MC OFF ON Power supply (3-phase) L Noise Filter MCCB ALM XA L1 Main power supply L2 L3 MC L1C Control power supply L2C XC External regenerative resistor B1 B3 B2 NC Short cable Detach it when using an external regenerative resistor XB Red U White Motor Connection V Black W Green X4 ALM 3 12–24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 34 - 400 V Sizes D and E Thermal protector with built-in external regenerative resistor MC ON Power supply (3-phase) L Noise Filter MCCB ALM OFF XA L1 Main power supply L2 L3 MC XD 24V dc power ＋ supply － 24V Control power supply 0V External regenerative resistor Short cable Detach it when using an external regenerative resistor XC B1 B3 B2 NC XB Red U White Motor Connection V Black W Green X4 ALM 3 ALM+ 12-24 VDC 4 ALM- R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 35 - 200 V Size F Thermal protector with built-in external regenerative resistor MC ON Power supply (3-phase) L Noise Filter MCCB ALM OFF L1 Main power supply L2 L3 MC Control power supply L1C L2C Short cable Detach it when using an external regenerative resistor B1 B3 External regenerative resistor B2 NC Red U White Motor Connection V Black W Green X4 ALM 3 12–24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 36 - 400 V Size F Thermal protector with built-in external regenerative resistor MC ON Power supply (3-phase) L Noise Filter MCCB L1 Main power supply L2 L3 MC 24V dc power ＋ supply － ALM OFF Control power supply 24V 0V Short cable Detach it when using an external regenerative resistor B1 B3 B2 External regenerative resistor NC Red U White Motor Connection V Black W Green X4 ALM 3 12–24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 37 - 200 V Size G Thermal protector with built-in external regenerative resistor ON Power supply (3-phase) ALM L Noise Filter MCCB OFF L1 Main power supply L2 L3 MC L1C Control power supply L2C B1 External regenerative resistor B2 NC DB1 Short ber Detach it when using an external regenerative resistor DB2 DB3 DB4 Red U White Motor Connection V Black W Green X4 ALM 3 ALM+ 12-24 VDC 4 ALM- R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 38 - 400 V Size G Thermal protector with built-in external regenerative resistor ON Power supply (3-phase) ALM L Noise Filter MCCB OFF L1 Main power supply L2 L3 MC 24V 24V dc power ＋ supply － Control power supply 0V B1 External regenerative resistor B2 NC DB1 Short ber Detach it when using an external regenerative resistor DB2 DB3 DB4 Red U White Motor Connection V Black W Green X4 ALM 3 ALM+ 12-24 VDC 4 ALM- R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 39 - 200 V Size H Thermal protector with built-in external regenerative resistor ON MCCB (3-phase) ALM L Noise Filter Power supply OFF L1 Main power supply L2 L3 MC L1C Control power supply L2C External regenerative resistor 24 VDC B1 B2 NC Set up an external protection of the thermal fuse etc. For the dynamic brake resistor, use 1.2Ω 400W. DB1 DB2 Red U White Motor Connection V Black W MC Green Servo may be turned on in the external sequence if the dynamic brake resistor deposits to protect the system, provide the auxiliary contact. X4 ALM 3 12-24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 40 - 400 V Size H Thermal protector with built-in external regenerative resistor ON MCCB (3-phase) L1 L3 24V 24V dc power ＋ supply － Power supply (neutral point) External regenerative resistor 24 VDC Control power supply 0V B1 B2 NC Set up an external protection of the thermal fuse etc. For the dynamic brake resistor, use 1.2Ω 400W. Main power supply L2 MC * Keep it to 300 V ac or less between DB1-DB2. ALM L Noise Filter Power supply OFF DB1 DB2 Red U White Motor Connection V Black W MC Green Servo may be turned on in the external sequence if the dynamic brake resistor deposits to protect the system, provide the auxiliary contact. X4 ALM 3 12-24 VDC R2.1 4 ALM+ ALM- Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 41 [1] When the servo driver uses single phase power supply for sizes A–D, connect the servo driver to the terminals L1, L3 of main power supply input. Do not connect anything to the terminal L2. [2] Surely insert the connector into place until it clicks. [3] Make sure to use an insulation coated crimp terminal when connecting to each terminal on the terminal block. [4] Terminal block cover is fixed with screws. When wiring to the terminal block, unscrew these screws to uncover the cover. Tighten the cover fixing screw with the torque of 0. 2 N•m 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 XA , XB , XC , XD and the terminal block, never touch them on any account. It may cause electric shock. [9] For 750 W or higher models: When the installation is protected through the circuit breaker up to 20 A capacity, the maximum power available to the circuit is 5,000 Arms at 240 V. Do not overload the system. [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. (In order to avoid the impact of electrolytic corrosion, do not immediately have any contact between aluminum and copper.) [12] Attach the surge 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. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 42 - [17] About the regenerative resistor, - The regenerative resistor is not built into A, B, G, and H frame. - The regenerative resistor is built into F frame. The regenerative resistor becomes effective when the short-circuited between the terminal B2 and B3. Use it usually under such a condition. (When shipping it, between the terminal B2 and B3 of A, B, G, and H frame is opened because the regenerative resistor is not built-in.) When a trip occurs due to the regenerative load protection error, externally install a regenerative resistor. To externally install a regenerative resistor, remove a connection cable between terminals B2 and B3 and then connect the regenerative resistor between terminals B1 and B2. 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: Size Single phase 100 V A DV0P4280 B C D DV0P4283 DV0P4282 E - F G H Input power voltage Single/3 phase 200 V DV0P4281 (100 W or less), DV0P4283 (200 W) DV0P4283 DV0P4283 DV0P4284 DV0P4284 x 2 in parallel or DV0P4285 x 1 DV0P4285 x 2 in parallel DV0P4285 x 3 in parallel DV0P4285 x 6 in parallel or DV0PM20058 3 phase 400 V - DV0PM20048 DV0PM20049 DV0PM20049 x 2 in parallel DV0PM20049 x 3 in parallel DV0PM20049 x 6 in parallel or DV0PM20059 Manufacturer by Iwaki Musen Kenkyusho Co.,Ltd. Our part number Manufacturer part number DV0P4280 DV0P4281 DV0P4282 DV0P4283 DV0P4284 DV0P4285 DV0PM20048 DV0PM20049 DV0PM20058 DV0PM20059 RF70M RF70M RF180B RF180B RF240 RH450F RF240 RH450F - Specification Rated power (for reference) * Resistance value Fan used Free air [W] [] [W] (1 m/s) 25 50 10 100 10 25 25 17 50 50 17 50 30 40 100 20 52 130 120 35 80 80 65 190 3.3 780 13.33 1140 Built-in thermal protector operational temperature 140 5 deg. Celsius Contact point B Open/close capacity (resistance load) 1A 125VAC, 6000 times 0. 5A 250VAC, 10000 times * Electric power available without running the built-in thermal protector. For safety, a temperature fuse and a thermal protector are built in. • Configure the circuit so as to turn off the power supply when the thermal protector is running. • The built-in temperature fuse can break according to the radiation condition, the used temperature range, the power supply voltage, and the load change. Install a thermal fuse so that the surface temperature of the regeneration resistor does not exceed 100C in a condition in which regeneration occurs easily (power supply voltage is high, load inertia is large, and deceleration time is short etc.) and perform an operation check. • Attach the regenerative resistor on the incombustibles such as metal. • Install the regenerative resistor so that people cannot directly touch it, such as the incombustible to cover it. • Keep the temperature of places, which people can directly touch, below 70 deg. Celsius. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 43 Method 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㎜ 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 [2] While pressing down the lever, [3] Release the lever to connect the upper slot with a finger to push down insert a wire into the insertion wire. the spring. opening (round hole) until it stops. (b) Using a screwdriver, Part 2 [1] Placing a dedicated screwdriver [2] Insert a wire, with the insulation [3] Release the screwdriver to on the upper slot, press down the stripped off correctly, into the wire connect the wire. spring. insertion opening until it stops. <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. • Be careful not to be injured when using a screwdriver. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 44 (2) Wiring to connector X4 [1] The 12–24 VDC power supply for the external control signal connected to the I-COM should be prepared by the customer. [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 I-COM 6 4.7k SI1 5 1k 4.7k SI2 7 1k 4.7k SI3 8 1k 4.7k SI4 9 1k 4.7k SI5 10 1k 4.7k SI6 11 12-24 VDC 1k 4.7k SI7 12 1k 4.7k SI8 13 1k X4 Servo driver side The functions of the pins SI1-SI8 are assigned by parameters. For factory default settings, refer to Appendix “Specification for Each Model”. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 45 Digital Output [4] Be aware of the polarity of the power supply for control signals. The polarity connection contrary to the figure shown above can damage the servo driver. [5] To directly drive the relay with each output signal, make sure to attach a diode in parallel to the relay and in the direction as shown in the figure below. The servo driver can be damaged if the diode is not attached or the diode is attached in the reverse direction. [6] When a logic circuit such as a gate receives each output signal, take care so that a noise does not impact on the circuit. [7] Apply 50 mA or less of current to each output. MAX 50mA SO1+ SO1- MAX 50mA MAX 50mA 12-24 VDC 1 SO2+ 25 SO2- 26 SO3+ SO3-- SO1 2 SO2 3 SO3 4 X4 Servo driver side The functions of the pins S01-S03 are assigned by parameters. For factory default settings, refer to Appendix “Specification for Each Model”. Feedback pulse of rotary encoder and external scale Line driver RS422 line receiver AM26C32 or equivalent OA+ OA OA- AM26C31or equivalent 17 A OB+ 20 OB OB- 19 GND B Scaling circuit 18 16 FG X4 Servo driver side Note: [1] To receive the output pulse, use RS422 line receiver (AM26C32 or equivalent), with an appropriate termination resistor (approx. 330 ) connected across its inputs. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 46 (3) Wiring to connector X6 [1] As for the encoder cable, use the batch shielded twisted wire pairs whose core is 0.18 mm2 or more. [2] The cable length should be up to 20 m. When the wiring is long, we recommend you to use the double wiring for the 5 V power supply in order to reduce the impact of voltage drop. [3] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the encoder. Make sure to connect the coat of shielded cable at the servo driver side to the shell (FG) of X6 . [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. [5] Do not connect anything to the empty pins of X6 . 5 wires incremental encoder 50W - 750W E5V E0V 6 1 3 2 X6 Regulator • MSME E5V E0V 3 4 PS PS 7 5 4 PS 6 PS 1 FG Shell（FG） Cable side connector JN6FRO7SM1 (manufactured by Japan Aviation Electronics Industry) Encoder cable Motor side 1.0 kW – 5.0 kW 1.0 kW – 5.0 kW 1.0 kW – 5.0 kW 0.9 kW – 3.0 kW E5V E0V 4 1 1 2 X6 E5V E0V 3 Regulator • MSME MDME MHME MGME Servo driver side 4 PS PS FG 3 5 PS 7 6 PS 9 Shell（FG） Cable side connector JN2DS10SL1-R (manufactured by Japan Aviation Electronics Industry) Motor side R2.1 Encoder cable Servo driver side Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 47 7 wires absolute encoder: 50W - 750W E5V E0V BAT+ BATPS PS FG 6 1 3 2 5 Battery 3 2 7 4 4 6 5 X6 Regulator • MSME E5V E0V BTP-O BTN-O X4 PS PS BTP-I 14 BTN-I 15 1 Shell（FG） Cable side connector JN6FRO7SM1 (manufactured by Japan Aviation Electronics Industry) Encoder cable Motor side 1.0 kW – 5.0 kW 1.0 kW – 5.0 kW 1.0 kW – 5.0 kW 0.9 kW – 3.0 kW E5V E0V BAT+ BATPS PS FG 4 1 1 2 Battery 6 3 5 3 4 7 6 5 X6 Regulator • MSME MDME MHME MGME Servo driver side E5V E0V BTP-O BTN-O X4 PS PS BTP-I 14 BTN-I 15 9 Shell（FG） Cable side connector JN2DS10SL1-R (manufactured by Japan Aviation Electronics Industry) Motor side Encoder cable Servo driver side 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 BTN-O X4 BTP-I 14 BTN-I 15 Battery FG Motor side Encoder cable Servo driver side 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 . R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 48 Precautions 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> We recommend that control power be turned on/off once a day. CN601 Other precautions 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. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 49 - X5 3 1 1 EX5V 2 4 EX0V 3 2 4 EXPS EXPS 11 5 13 6 Regulator (4) Wiring to connector X5 [1] As for the external scale cable, use the batch shielded twisted wire pairs whose core is 0.18 mm2 or more. [2] The cable length should be up to 20 m. When the wiring is long, we recommend you to use the double wiring for the 5 V power supply in order to reduce the impact of voltage drop. [3] Connect the coat of shielded cable at the motor side to the shield of shielded cable from the external scale. Make sure to connect the coat of shielded cable at the servo driver side to the shell (FG) of X5 . [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (L1, L2, L3, L1C, L2C, U, V, W, ). Do not put them in the same duct or bind them together. [5] Do not connect anything to the empty pins of X5 . [6] X5 is capable to supply up to 5.2 V ± 5% 300 mA power supply. When using an external scale at more consumption current than this, customer is responsible for the power supply. Some external scales may take longer time in initialization after turning on the power. Design the power supply so as to meet the running timing after power-on which is described in “Basic function specifications.” 7 8 9 10 7 8 15 Detecting head External scale unit HDAB-15P （manufactured by Hirose Electric） HDAB-15S （manufactured by Hirose Electric） Relay cable External scale side Servo driver side The figure above shows connections to ST770A/ST770AL manufactured by Mitsutoyo. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 50 (5) 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 shuld 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-*K, Category: 5e, STP Connection to X2A MAX: 100 m 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 R2.1 (When servo driver is used in the preceding circuit) TX+ TX– Shield on connector Shield on connector Servo driver Connector X2B RJ45 plug Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the preceding circuit Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 51 Wiring to connector X2B MAX 100 m Connector X2B TX+ TX– RJ45 plug 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 Shield on connector Servo driver Connector X2A (When servo driver is used in the subsequent stage) RX+ RX– Shield on connector Shielded twisted pair cable of 5e or higher category 1 Higher-level device or servo driver in the subsequent circuit 8 Pins on RJ45 plug R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 52 - 9. Compliance with European EC Directive/UL Standard 9-1 European EC Directive European EC directive is applied to all electronic products that are exported to EU, have the inherent functions, and are directly sold to the consuming public. These products are obliged to be compliant with the unified EU safety standard and paste the CE marking indicating the compliance to the products. Our products, in order to make it easy for the embedded equipment and devices to be compliant with EC directive, provide the compliance with the standards associated with low voltage directive. 9-1-1 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 servo motor and makes the model compliant with the standards associated with EMC directive. When equipment 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 equipment and devices where the servo driver and the servo motor are embedded are compliant (especially unnecessary radiation noise, noise terminal voltage) with EMC directive. 9-1-2 Conforming Standards Servo driver Motor EN55011 EMC directive EN61000-6-2 EN61800-3 Low voltage directive European EC Machinery Directives directive Functional Safety (For A5N01 Series only) IEC60034-1 EN61800-5-1 IEC60034-5 EN954-1(Cat.3) ISO13849-1 (PL c,d*1)(Cat.3) EN61508(SIL 2) EN62061(SIL 2) EN61800-5-2(STO) IEC61326-3-1 UL standard UL508C (File No. E164620) UL1004 (File No. E166557) CSA standard C22. 2 No. 14 C22. 2 No. 100 IEC EN EMC UL CSA : : : : : International Electrotechnical Commission Europaischen Norman Electromagnetic Compatibility Under writers Laboratoris Canadian Standards Association ISO : International Organization for Standardization *1 The condition of PL d is using EDM. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 53 9-2 Peripheral Device Configuration 9-2-1 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 system Control panel Noise filter for signal line Noise filter for signal line AC servo driver Power supply Residual current device Circuit breaker Ｕ Ｖ Ｗ L1 L2 L3 Noise filter Ｍ X6 X2A Noise filter for signal line AC servo motor RE L1C L2C Surge absorber A-F : non-shielded cable G,H : shield cable Noise filter for signal line X2 X3 X4 RTEX communication Insulated type I/O power supply I/O controller Safety controller Protection ground (PE) - 400 V system Control panel Noise filter for signal line Noise filter for signal line AC servo driver Power supply Residual current device Circuit breaker Surge absorber Ｕ Ｖ Ｗ L1 L2 L3 Noise filter 24 V dc power Ｍ X6 X2A Noise filter for signal line AC servo motor RE 24V 0V supply A-F : non-shielded cable G,H : shield cable Noise filter for signal line X2B X4 X3 RTEX communication Insulated type I/O power supply I/O controller Safety controller Protection ground (PE) R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 54 - 9-2-2 Power Supply 100 V system: Single phase 100 V – 120 V 10% 15% 50/60 Hz 10% 200 V system (Sizes A–D): Single/ 3 phase 200 V – 240 V 15 % 50/60 Hz 10% 200 V system (Sizes E–H): 3 phase 200 V – 230 V 15 % 50/60 Hz 10% 400 V system (Sizes D–H): 3 phase 380 V – 480 V 15 % 50/60 Hz Control power supply 24 V dc +/- 15% (1) Use it under the environment of overvoltage category II defined in IEC60664-1. (2) As for the interface power supply, use the CE marking conforming product or the 12–24 VDC power supply of insulation type compliant with EN standard (EN60950). 9-2-3 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. 9-2-4 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. 9-2-5 Surge Absorber Install the surge absorber in the primary side of the noise filter. Please! To carry out a pressure test of equipment and devices, make sure to detach the surge absorber. Otherwise, the surge absorber can be damaged. 9-2-6 Noise Filter for Signal Line Install the noise filters for signal lines in all cables (power supply, motor, encoder, and interface cables). For size D, install three noise filters in the power supply cable. 9-2-7 Grounding (1) In order to avoid an electric shock, make sure to connect a protection ground terminal ( ) of the servo driver and the protection ground (PE) of the control panel. (2) Do not tighten the connection to the ground terminal ( ) along with other parts. The servo driver has two ground terminals. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 55 9-3 List of Peripheral Devices Applicable to Servo Driver R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 56 - Select the specification common to single/3 phase 200 V according to the power supply. To become compliant with European EC directive, make sure to connect a circuit breaker compliant with IEC standard and UL certification (marked with LISTED) between the power supply and the noise filter. Please! Select a circuit breaker and a noise filter with the capacity comparable to the power capacity (by taking into account the load condition). Terminal block and earth terminal For wiring, use the copper conductor cable of the temperature rating 75 deg. Celsius or more. - Tightening torque view (Terminal block and terminal cover） Driver Terminal screw Terminal cover fixing screw Nominal Tightening torque Nominal Tightening torque (Nm) (Nm） designation designation M5 F 200 V L1,L2,L3,L1C,L2C,B1,B2,B3,NC,U,V,W 1.0-1.7 M3 24V,0V 0.4-0.6 M3 0.19-0.21 F 400 V M4 L1,L2,L3,B1,B2,B3,NC,U,V,W 0.7-1.0 M5 L1C,L2C,24V,0V,DB1,DB2,DB3,DB4,NC 1.0-1.7 G M5 L1,L2,L3,B1,B2,NC,U,V,W 2.0-2.4 M3 0.3-0.5 M4 L1C,L2C,24V,0V,DB1,DB2 0.7-1.0 H M5 2.0-2.5 M6 L1,L2,L3,B1,B2,NC,U,V,W 2.2-2.5 - Tightening torque view (Earth terminal and I/O connector X4） Driver Earth terminal I/O connector X4 Frame Terminal Symbol Nominal Tightening torque Nominal Tightening torque (Nm) (Nm) designation designation M4 A-E 0.7-0.8 M5 M2.6 0.3-0.35 F,G 1.4-1.6 M6 H 2.4-2.6 The terminal block can be damaged if the screw tightening torque exceeds the maximum value. For the earth wire dia. and dynamic brake resister wire dia., use more than the motor wire diameter. 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. Frame R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 57 - Optional Part Number Surge absorber DV0P1450 DV0P4190 DV0PM20050 Noise filter for signal line Noise filter DV0P1460 － － － DV0P4170 DV0P4180 DV0P4220 DV0P3410 DV0PM20042 DV0PM20043 － － － － － Part Number of Manufacturer RAV-781BXZ-4 RAV-781BWZ-4 RAV-801BXZ-4 ZCAT3035-1330 RJ8035 RJ8095 T400-61D SUP-EK5-ER-6 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B 3SUP-HU10-ER-6 3SUP-HU50-ER-6 FN258L-16-07(29) FN258L-30-07(33) FS5559-60-34 FS5559-80-34 FN258-42-07(33) Manufacturer Okaya Electric Industries TDK Konno Kogyousho MICROMETALS Okaya Electric Industries Schaffner 9-4 Compliance with UL Standard Certified by the UL508C (file No. E164620) standard by observing the installation conditions [1], [2] below. [1] Use the servo driver under the environment of pollution level 2 or 1 defined in IEC60664-1. (Example: Installed in the IP54 control panel.) [2] Make sure to connect a circuit breaker or fuse compliant with UL certification (marked with LISTED, UL ) between the power supply and the noise filter. For information about rated current of the circuit breaker/ fuse, refer to “9-3 List of Peripheral Devices Applicable to Servo Driver”. For wiring, use the copper conductor cable of the temperature rating 60 deg. Celsius or more. The terminal block can be damaged if the screw tightening torque exceeds the maximum value (M4: 1.2 N•m, M5: 2.0 N•m.). [3] Overload protection level 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 effective current of the servo driver does not exceed the rated current by monitoring the load factor using PANATERM or by other methods. Set up the maximum instantaneous allowable current at the Pr 0.13 (first torque limit) and Pr 5.22 (second torque limit). [4] The servo driver will comply with UL in the power supply environment of 5,000 Arms or lower. [5] Motor over-temperature protection is not provided. Motor over-load-temperature protection shall be provided at the final installation upon required by the NEC (National Electric Code). R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 58 - 10. 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 servo driver which has a single phase 100 V 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. 11. Compliance with KC mark Conformity of Korea Certification mark is registered by suiting EMC directive. Registration No．KCC-REM-FAN-M-D R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 59 - SAFETY PRECAUTIONS 12. Safety Precautions ■ Danger and damage caused when the safety precautions are ignored are described in the following categories and signs: DANGER Description of this sign indicates “urgent danger that may cause death or serious injury.” CAUTION 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 servo driver, or a regenerative resistor. (3) Do not drive the motor with an external force. (4) Do not damage or strain the cable, or do not apply excessive stress. Do not place a heavy item on the cable or do not pinch the cable. (5) Do not use the equipment with the cable soaked in oil or water. (6) Do not install the equipment near a heating object such as a heater or a large wire-wound resistor. (Install a thermal shield, etc. to avoid the influences of heating object.) (7) Do not connect the motor directly with a commercial power. (8) Do not use the equipment under conditions subject to strong vibrations or an impact shock. (9) Be sure not to touch a rotating part of a motor during operation. (10) Do not touch the key flutes of motor output shaft with bare hands. (11) Be sure not to touch inside a servo driver. (12) Motor servo driver 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. (14) Wiring work is strictly allowed only for an engineer specializing electrical work. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 60 - SAFETY PRECAUTIONS (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 servo driver after an earthquake, inspect installation conditions of the servo 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 servo 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 servo 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 servo driver may occur and it may emit smoke and dust. If a regenerative resistor is connected outside a servo 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 servo 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 servo driver. (22) Connect cables securely and provide secure insulation on current-carrying parts using insulation material. (23) Be sure to install a fuseless breaker in a power supply. Be sure to connect grounding terminals and grounding wires. To prevent an electric shock and malfunction, Class D grounding (grounding resistance at 100Ω or lower) or higher grade is recommended. CAUTION (24) Do not hold cables or motor shaft when carrying the equipment. (25) Do not adjust or change servo driver gains extremely, and do not make operations of the machine instable. (26) 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. (27) When the equipment is energized, keep away from the motor and mechanism driven by the motor in case of malfunction. (28) Avoid a strong shock to the motor shaft. (29) Avoid a strong shock to the product. (30) Be sure not to use the electromagnetic contactor installed on the main power supply to start or stop the motor. (31) Avoid frequent switching on and off the main power supply of the servo driver. (32) 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. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 61 - SAFETY PRECAUTIONS CAUTION (33) Do not fall or topple over the equipment when carrying or installing. (34) Do not climb the motor or do not place a heavy item on the motor. (35) Do not block radiation slits of the servo driver and do not put a foreign matter into the servo driver. (36) Do not use the equipment under direct sunlight. When storing the equipment, avoid direct sunlight and store under conditions of operating temperatures and humidity. (37) 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. (38) Use a motor and a servo driver in combination specified by the manufacturer. A customer shall be responsible for verifying performances and safety of combination with other servo driver. (39) A failure of a motor or a combined servo 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. (40) Install the equipment adequately in consideration of output and main unit weight. (41) Keep the ambient conditions of an installed motor within a range of allowable ambient temperatures and of allowable humidity. (42) Install the equipment by specified procedures and in specified orientation. (43) Install the devices by keeping specified distances between a servo driver and inside control panel or other devices. (44) If a motor has an eyebolt, use the eyebolt to carry the motor only. Do not use the eyebolt to carry equipment. (45) Connect a relay breaking upon emergency stop in series with a brake control relay. (46) 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 servo driver.) (47) Verify that an input power supply voltage satisfies the servo driver specifications before turning on the power and start operation. An input voltage higher than rated may cause ignition and smoking in the servo driver, which may cause runaway or burning of a motor in some cases. (48) 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. (49) 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. (50) Pay attention to heat radiation. The servo driver generates heat by operating a motor. A servo driver used in a sealed control box may cause an extreme rise of temperature. Consider cooling so that an ambient temperature around the servo driver satisfies an operating range. (51) Maintenance and inspection is allowed only for a specializing person. (52) Turn off the power when the equipment is not used for a long term. R2.1 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 approximately 5 years. Commission the manufacturer or sales agency authorized by the manufacturer to replace the parts. Be sure to read the operating manual (safety book) before use. Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 62 - SAFETY PRECAUTIONS The driver’s service life significantly depends on the ambient temperature. Make sure that the servo driver’s ambient temperature (at 5 cm distant from the servo driver) does not exceed the operating temperature range. 5 cm Servo driver Servo driver’s ambient temperature 5 cm 5 cm Operating temperature range: 0 to 55C 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. The direction of the installation and the interval. - Reserve enough surrounding space for effective cooling. - Install fans to provide uniform distribution of temperature in the control panel. - D - H frame is provided with a cooling fan at the bottom. (On the H-frame, the cooling fan is also installed on the upper side.) - Observe the environmental conditions of the control panel described in the previous page. - It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 63 - 13. Life and Warranty 13-1 Life Expectancy of the Driver The Servo driver has 28,000 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 source: 100 VAC, single phase, 50/60 Hz 200 VAC single/three phase, 50/60 Hz, 400 VAC single/three phase, 50/60 Hz Ambient temperature: 55C Output torque: Rated constant value No. of revolutions: Rated constant No. of revolutions Note that the life varies due to the working conditions. 13-2 Typical Life [1] In-rush current prevention relay Replace the in-rush current prevention relay when it is activated typically 20,000 times. Note that the criteria may vary depending on the environmental and working condition. [2] Cooling fan Replace the cooling fan in 10,000 to 30,000 hours. Note that the criteria may vary depending on the environmental and working condition. 13-3 Warranty Period (1) Warranty period For a period of 12 months from the date of delivery or 18 months from the manufacturing month. whichever is shorter. 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, lightning, 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 component exceeds its rated standard life. (2) Warranty scope Panasonic warrants the replacement of the defected parts of the product or repair of them when the defects of the product occur during the warranty period, and when the defects are under Panasonic responsibility. This warranty only covers the product itself and does not cover any damage incurred by such defects. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 - 64 - 14. 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 servo motor 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. 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. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-1 - Specification for Each Model MINAS-A5N Series standard models • Size A 100 V and 200 V Model Power supply input MADHT1105NA1 MADHT1107NA1 MADHT1505NA1 MADHT1507NA1 Single phase Single phase Single phase/ Single phase/ 100 V 100 V 3 phase 200 V 3 phase 200 V Maximum instantaneous output 10 A current Maximum continuous output current 5 A 10 A 10 A 10 A 7. 5 A 5A 7. 5 A Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Auto gain tuning function Externally connected Provided Externally connected Provided Externally connected Provided Externally connected Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Unprovided Unprovided Unprovided Unprovided Ambient temperature 0–55C 0–55C 0–55C 0–55C Rotary encoder feedback signal Regenerative discharge resistor HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 AWG18 AWG18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 Ground cable HVSF 2. 0 mm2 HVSF 2. 0 mm2 HVSF 2. 0 mm2 HVSF 2. 0 mm2 Motor cable AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 Control power supply cable Main power supply cable Inrush Current (Main Power Supply) *2 Inrush Current (Control Power Supply) *2 Max. 7 A Max. 7 A Max. 14 A Max. 14 A Max. 14 A Max. 14 A Max. 28 A Max. 28 A Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Dimensions Size A Size A Size A Size A *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-2 MINAS-A5N Series standard models • Size B 100 V and 200 V Model Power supply input MBDHT2110NA1 MBDHT2510NA1 Single phase Single phase/ 100 V 3 phase 200 V Maximum instantaneous output current 15 A 15 A Maximum continuous output current 10 A 10 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Externally connected Externally connected Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Unprovided Unprovided Ambient temperature 0–55C 0–55C HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 Main power supply cable HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Control power supply cable Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 Max. 7 A Max. 14 A Max. 14 A Max. 28 A Weight Approx. 1.0 kg Approx. 1.0 kg Dimensions Size B Size B *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-3 MINAS-A5N Series standard models • Size C 100 V and 200 V Model Power supply input MCDHT3120NA1 MCDHT3520NA1 Single phase Single phase/ 100 V 3 phase 200 V Maximum instantaneous output current 30 A 30 A Maximum continuous output current 20 A 20 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Built-in Built-in Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Unprovided Unprovided Ambient temperature 0–55C 0–55C HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 Main power supply cable HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Control power supply cable Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 Max. 15 A Max. 29 A Max. 14 A Max. 28 A Weight Approx.1.6 kg Approx.1.6 kg Dimensions Size C Size C *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-4 MINAS-A5N Series standard models • Size D 200 V and 400 V Model MDDHT3530NA1 MDDHT5540NA1 MDDHT2407NA1 MDDHT2412NA1 MDDHT3420NA1 Single phase/ Single phase/ 3 phase 200 V 3 phase 200 V 3 phase 400 V 3 phase 400 V 3 phase 400 V Max. instantaneous output current 50 A 50 A 15 A 15 A 30 A Max. continuous output current 30 A 40 A 7.5 A 12 A 20 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Built-in Built-in Built-in Built-in Built-in Auto gain tuning function Provided Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Available NOTE Safety function Unprovided Unprovided Unprovided Unprovided Unprovided Ambient temperature 0–55C 0–55C 0–55C 0–55C 0–55C Power supply input Control power supply cable HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.5mm2 HVSF 0.5mm2 HVSF 0.5mm2 AWG18 AWG18 AWG20 AWG20 AWG20 2 2 2 2 HVSF 2.0 mm2 Main power supply cable HVSF 2.0 mm AWG14 AWG14 AWG14 AWG14 AWG14 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 AWG14 Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 2 HVSF 2.0 mm 2 HVSF 2.0 mm 2 HVSF 2.0 mm 2 HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 AWG14 Max. 29 A Max. 29 A Max. 28 A Max. 28 A Max. 28 A Max. 28 A Max. 28 A Max. 48 A Max. 48 A Max. 48 A Weight Approx. 1.8 kg Approx. 1.8 kg Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Dimensions Size D Size D Size D Size D Size D *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-5 MINAS-A5N Series standard models • Size E 200 V and 400 V Model MEDHT7364NA1 MEDHT4430NA1 Power supply input 3 phase 200 V 3 phase 400 V Maximum instantaneous output current 75 A 35 A Maximum continuous output current 64 A 30 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Built-in Built-in Regenerative discharge resistor Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Unprovided Unprovided Ambient temperature 0–55C 0–55C Control power supply cable HVSF 0.75mm2 HVSF 0.5mm2 AWG18 AWG20 2 Main power supply cable HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 Ground cable 2 HVSF 3.5 mm HVSF 2.0 mm2 AWG12 AWG14 Motor cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 Inrush current Max. 29 A Max. 32 A Max. 14 A Max. 48 A Weight Approx. 2.7 kg Approx. 2.7 kg Dimensions Size E Size E (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-6 MINAS-A5N Series standard models • Size F 200 V and 400 V Model MFDHTA390NA1 MFDHTB3A2NA1 MFDHT5440NA1 MFDHTA464NA1 Power supply input 3 phase 200 V 3 phase 200 V 3 phase 400 V 3 phase 400 V Maximum instantaneous output current 100 A 150 A 50 A 100 A Maximum continuous output current 90 A 120 A 40 A 64 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Regenerative discharge resistor Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Built-in Built-in Built-in Built-in Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Unprovided Unprovided Unprovided Unprovided Ambient temperature 0–55C 0–55C 0–55C 0–55C Control power supply cable Main power supply cable Ground cable Motor cable Inrush current HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 AWG18 AWG18 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 Max. 22 A Max. 22 A Max. 32 A Max. 32 A Max. 14 A Max. 14 A Max. 48 A Max. 48 A Weight Approx. 4.8 kg Approx. 4.8 kg Approx. 4.7 kg Approx. 4.7 kg Dimensions Size F Size F Size F Size F (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-7 MINAS-A5N Series standard models • Sizes G/H 200 V and 400 V Model MGDHTC3B4NA1 MGDHTB4A2NA1 MHDHTC3B4NA1 MHDHTB4A2NA1 Power supply input 3 phase 200 V 3 phase 400 V 3 phase 200 V 3 phase 400 V Maximum instantaneous output current 300 A 150 A 300 A 150 A Maximum continuous output current 240 A 120 A 240 A 120 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Regenerative discharge resistor Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Externally connected Externally connected Externally connected Externally connected Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Unprovided Unprovided Unprovided Unprovided Ambient temperature 0–55C 0–55C 0–55C 0–55C Control power cable HVSF 0.75 mm2 HVSF 0.75mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 AWG18 AWG18 Main power supply cable HVSF 5.3mm 2 2 HVSF 5.3 mm HVSF 13.3 mm2 HVSF 13.3 mm AWG6 HVSF 21.1 mm2 2 AWG6 AWG4 AWG4 HVSF 13.3 mm2 HVSF 21.1 mm2 HVSF 21.1 mm2 HVSF 13.3 mm AWG6 AWG4 AWG4 AWG6 Inrush current AWG6 2 2 AWG6 Motor cable HVSF 13.3 mm2 AWG10 AWG10 Ground cable HVSF 13.3 mm 2 HVSF 21.1 mm Max. 66 A Max. 32 A Max. 66 A Max. 32 A Max. 15 A Max. 48 A Max. 15 A Max. 48 A Weight Approx. 13.5 kg Approx. 13.5 kg Approx. 21 kg Approx. 21 kg Dimensions Size G Size G Size H Size H (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400V and 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-8 MINAS-A5N01 Series • Size A 100 V and 200 V Model Power supply input MADHT1105N01 MADHT1107N01 MADHT1505N01 MADHT1507N01 Single phase Single phase Single phase/ Single phase/ 100 V 100 V 3 phase 200 V 3 phase 200 V Maximum instantaneous output 10 A current Maximum continuous output current 5 A 10 A 10 A 10 A 7. 5 A 5A 7. 5 A Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Auto gain tuning function Externally connected Provided Externally connected Provided Externally connected Provided Externally connected Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Provided Provided Provided Provided Ambient temperature 0–55C 0–55C 0–55C 0–55C Rotary encoder feedback signal Regenerative discharge resistor HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 AWG18 AWG18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 HVSF 0. 75–2. 0 mm2 AWG14–18 Ground cable HVSF 2. 0 mm2 HVSF 2. 0 mm2 HVSF 2. 0 mm2 HVSF 2. 0 mm2 Motor cable AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 AWG14 HVSF 0. 75–2. 0 mm2 AWG14–18 Control power supply cable Main power supply cable Inrush Current (Main Power Supply) *2 Inrush Current (Control Power Supply) *2 Max. 7 A Max. 7 A Max. 14 A Max. 14 A Max. 14 A Max. 14 A Max. 28 A Max. 28 A Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Dimensions Size A Size A Size A Size A *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-9 MINAS-A5N01 Series • Size B 100 V and 200 V Model Power supply input MBDHT2110N01 MBDHT2510N01 Single phase Single phase/ 100 V 3 phase 200 V Maximum instantaneous output current 15 A 15 A Maximum continuous output current 10 A 10 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Externally connected Externally connected Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Provided Provided Ambient temperature 0–55C 0–55C HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 Main power supply cable HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Control power supply cable Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 Max. 7 A Max. 14 A Max. 14 A Max. 28 A Weight Approx. 1.0 kg Approx. 1.0 kg Dimensions Size B Size B *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-10 MINAS-A5N01 Series • Size C 100 V and 200 V Model Power supply input MCDHT3120N01 MCDHT3520N01 Single phase Single phase/ 100 V 3 phase 200 V Maximum instantaneous output current 30 A 30 A Maximum continuous output current 20 A 20 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Built-in Built-in Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Provided Provided Ambient temperature 0–55C 0–55C HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 Main power supply cable HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 HVSF 0.75–2.0 mm2 HVSF 0.75–2.0 mm2 AWG14–18 AWG14–18 Control power supply cable Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 Max. 15 A Max. 29 A Max. 14 A Max. 28 A Weight Approx.1.6 kg Approx.1.6 kg Dimensions Size C Size C *1 When using an encoder with the specification of 17-bit incremental/absolute. *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 100 V or 200 V. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-11 MINAS-A5N01 Series • Size D 200 V and 400 V Model MDDHT3530N01 MDDHT5540N01 MDDHT2407N01 MDDHT2412N01 MDDHT3420N01 Single phase/ Single phase/ 3 phase 200 V 3 phase 200 V 3 phase 400 V 3 phase 400 V 3 phase 400 V Max. instantaneous output current 50 A 50 A 15 A 15 A 30 A Max. continuous output current 30 A 40 A 7.5 A 12 A 20 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Regenerative discharge resistor Built-in Built-in Built-in Built-in Built-in Auto gain tuning function Provided Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Available NOTE Safety function Provided Provided Provided Provided Provided Ambient temperature 0–55C 0–55C 0–55C 0–55C 0–55C Power supply input Control power supply cable HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.5mm2 HVSF 0.5mm2 HVSF 0.5mm2 AWG18 AWG18 AWG20 AWG20 AWG20 2 2 2 2 HVSF 2.0 mm2 Main power supply cable HVSF 2.0 mm AWG14 AWG14 AWG14 AWG14 AWG14 Ground cable HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 AWG14 Motor cable Inrush current (Main power supply) *2 Inrush current (Control power supply) *2 2 HVSF 2.0 mm 2 HVSF 2.0 mm 2 HVSF 2.0 mm 2 HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 AWG14 AWG14 AWG14 Max. 29 A Max. 29 A Max. 28 A Max. 28 A Max. 28 A Max. 28 A Max. 28 A Max. 48 A Max. 48 A Max. 48 A Weight Approx. 1.8 kg Approx. 1.8 kg Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Dimensions Size D Size D Size D Size D Size D *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-12 MINAS-A5N01 Series • Size E 200 V and 400 V Model MEDHT7364N01 MEDHT4430N01 Power supply input 3 phase 200 V 3 phase 400 V Maximum instantaneous output current 75 A 35 A Maximum continuous output current 64 A 30 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 131072 P/r Resolution: 131072 P/r Built-in Built-in Regenerative discharge resistor Auto gain tuning function Provided Provided Dynamic brake function Provided Provided Absolute system *1 Available NOTE Available NOTE Safety function Provided Provided Ambient temperature 0–55C 0–55C Control power supply cable HVSF 0.75mm2 HVSF 0.5mm2 AWG18 AWG20 2 Main power supply cable HVSF 2.0 mm HVSF 2.0 mm2 AWG14 AWG14 Ground cable 2 HVSF 3.5 mm HVSF 2.0 mm2 AWG12 AWG14 Motor cable HVSF 2.0 mm2 HVSF 2.0 mm2 AWG14 AWG14 Inrush current Max. 29 A Max. 32 A Max. 14 A Max. 48 A Weight Approx. 2.7 kg Approx. 2.7 kg Dimensions Size E Size E (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-13 MINAS-A5N01 Series • Size F 200 V and 400 V Model MFDHTA390N01 MFDHTB3A2N01 MFDHT5440N01 MFDHTA464N01 Power supply input 3 phase 200 V 3 phase 200 V 3 phase 400 V 3 phase 400 V Maximum instantaneous output current 100 A 150 A 50 A 100 A Maximum continuous output current 90 A 120 A 40 A 64 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Regenerative discharge resistor Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Built-in Built-in Built-in Built-in Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Provided Provided Provided Provided Ambient temperature 0–55C 0–55C 0–55C 0–55C Control power supply cable Main power supply cable Ground cable Motor cable Inrush current HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 HVSF 0.75mm2 AWG18 AWG18 AWG18 AWG18 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm HVSF 3.5 mm2 AWG12 AWG12 AWG12 AWG12 2 2 2 Max. 22 A Max. 22 A Max. 32 A Max. 32 A Max. 14 A Max. 14 A Max. 48 A Max. 48 A Weight Approx. 4.8 kg Approx. 4.8 kg Approx. 4.7 kg Approx. 4.7 kg Dimensions Size F Size F Size F Size F (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400 V or 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-14 MINAS-A5N01 Series • Sizes G/H 200 V and 400 V Model MGDHTC3B4N01 MGDHTB4A2N01 MHDHTC3B4N01 MHDHTB4A2N01 Power supply input 3 phase 200 V 3 phase 400 V 3 phase 200 V 3 phase 400 V Maximum instantaneous output current 300 A 150 A 300 A 150 A Maximum continuous output current 240 A 120 A 240 A 120 A Rotary encoder feedback signal Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Resolution: 1048576 P/r Regenerative discharge resistor Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Resolution: 131072 P/r Externally connected Externally connected Externally connected Externally connected Auto gain tuning function Provided Provided Provided Provided Dynamic brake function Provided Provided Provided Provided Absolute system *1 Available NOTE Available NOTE Available NOTE Available NOTE Safety function Provided Provided Provided Provided Ambient temperature 0–55C 0–55C 0–55C 0–55C Control power cable HVSF 0.75 mm2 HVSF 0.75mm2 HVSF 0.75 mm2 HVSF 0.75 mm2 AWG18 AWG18 AWG18 AWG18 Main power supply cable HVSF 5.3mm 2 2 HVSF 5.3 mm HVSF 13.3 mm2 HVSF 13.3 mm AWG6 HVSF 21.1 mm2 2 AWG6 AWG4 AWG4 HVSF 13.3 mm2 HVSF 21.1 mm2 HVSF 21.1 mm2 HVSF 13.3 mm AWG6 AWG4 AWG4 AWG6 Inrush current AWG6 2 2 AWG6 Motor cable HVSF 13.3 mm2 AWG10 AWG10 Ground cable HVSF 13.3 mm 2 HVSF 21.1 mm Max. 66 A Max. 32 A Max. 66 A Max. 32 A Max. 15 A Max. 48 A Max. 15 A Max. 48 A Weight Approx. 13.5 kg Approx. 13.5 kg Approx. 21 kg Approx. 21 kg Dimensions Size G Size G Size H Size H (Main power supply) *2 Inrush current (Control power supply) *2 *1 When using Encoder Specifications: 17 bit incremental/absolute *2 Current values were calculated on the basis of the power supply input described above, assuming a voltage of 200 V, 400V and 24 V dc. Note: The absolute encoder backup battery is externally connected. R2.1 Motor Business Unit, Appliances Company, Panasonic Corporation No. SX-DSV02201 Specification for Each Model - Appendix-15 - I/O connector (X4) default function allocation X4 connector R2.1 Default function Name Pin number SI1 5 SI2 Signal name Symbol Logic General monitor input 5 SI-MON5 NO contact 7 CW drive inhibit input POT NC contact SI3 8 CCW drive inhibit input NOT NC contact SI4 9 General monitor input 1 SI-MON1 NO contact SI5 10 Near origin input HOME NO contact SI6 11 External latch input 2 EXT2 NO contact SI7 12 External latch input 3 EXT3 NO contact SI8 13 General monitor input 4 SI-MON4 NO contact SO1 1,2 External brake release signal BRK-OFF NO contact SO2 25,26 RTEX operation output 1 EX-OUT1 NO contact SO3 3,4 ALM NC contact Alarm output Motor Business Unit, Appliances Company, Panasonic Corporation [Default value of the parameters(1/2)] PARAMETER Cate gory 0 No. SX-DSV02201 MODEL Default value Cate gory 0 Rotational direction setup 1 1 1 Control mode setup 0 14 2nd gain setup 1 Size A-C: 13 Size D-H: 11 Pr. Parameter 2 Real-time auto tuning setup Machine stiffness 3 at real-time auto tuning 4 Inertia ratio 5 Not used Pr. Parameter MINAS-A5N and A5N01 series all common Default value Cate gory 0.00 2 Pr. Parameter Default value Cate gory 3 Default value Cate gory 4 Pr. Parameter Default value 16 2nd damping frequency 0.0 23 External scale selection 0 24 For manufacturer's use 0 1 17 2nd damping filter setup 0.0 24 Numerator of external scale division 0 25 Not used - 15 Mode of position control switching 0 18 3rd damping frequency 0.0 25 Denominator of external scale division 10000 26 Not used - 16 Delay time of position control switching 5.0 19 3rd damping filter setup 0.0 26 Reversal of external scale direction 0 27 Not used - External scale Z-phase disconnection detection disable 13 Torque feed forward filter 250 17 Level of position control switching 50 20 4th damping frequency 0.0 27 - 18 Hysteresis at position control switching 33 21 4th damping filter setup 0.0 28 Hybrid deviation excess setup 22 Position command smoothing filter 0.0 29 Hybrid deviation clear setup 23 Position command FIR filter 0.0 6 Not used - 19 Position gain switching time 7 Not used - 20 Mode of velocity control switching 0 8 per motor revolution 0 21 Delay time of velocity control switching 0.0 9 Numerator of electronic gear 1 22 Level of velocity control switching 10 Denominator of electronic gear 1 23 Hysteresis at velocity control switching 3.3 Command pulse counts 4 0 28 Not used - 16000 29 Not used - 0 30 Not used - 0 SI1 input selection 3289650 31 In-position range 10 0 0 Not used - 1 SI2 input selection 8487297 32 In-position output setup 0 1 Not used - 2 SI3 input selection 8553090 33 INP hold time 0 0 2 Not used - 3 SI4 input selection 3026478 34 Zero-speed 50 3 Output pulse counts 2500 24 Mode of torque control switching 0 3 Not used - 4 SI5 input selection 2236962 35 Speed coincidence range 0 25 Delay time of torque control switching 0.0 4 For manufacturer's use 0 5 SI6 input selection 2171169 36 At-speed 13 1st Torque limit 500 *1 26 Level of torque control switching 0 5 For manufacturer's use 0 6 SI7 input selection 2829099 37 Mechanical brake action in stop 0 14 Position deviation excess setup 100000 27 Hysteresis at torque control switching 0 6 Not used - 7 SI8 input selection 3223857 38 Mechanical brake action in motion 0 0 Adaptive filter mode setup 0 7 Not used - 8 Not used - 39 Brake release speed setup 30 5000 8 Not used - 9 Not used - 40 Warning output 1 selection 0 2 9 Not used - 10 SO1 output selection 197379 41 Warning output 2 selection 0 0 10 Not used - 11 SO2 output selection 1052688 42 2nd in-position range 10 5000 11 Not used - 12 SO3 output selection 65793 11 per motor revolution 12 Reversal of pulse output logic 15 Absolute encoder setup 16 17 1 Parameter Pr. 0 1st gain of position loop 1 1st gain of velocity loop 2 1 Size A,B,G,H: 3 External regenerative resistor setup Size C-F: 0 Load factor 0 of external regenerative resistor 1st time constant of velocity loop integration 3 1st filter of speed detection Size A-C: 48.0 Size D-H: 32.0 Size A-C: 27.0 Size D-H: 18.0 Size A-C: 21.0 Size D-H: 31.0 0 Size A-C: 0.84 4 1st time constant of torque filter Size D-H: 1.26 5 2nd gain of position loop 6 2nd gain of velocity loop 2nd time constant of velocity loop integration Size A-C: 57.0 Size D-H: 38.0 Size A-C: 27.0 Size D-H: 18.0 2 1 1st notch frequency 2 1st notch width selection 3 1st notch depth selection 4 2nd notch frequency 5 50 1000 0 Not used - 5 2nd notch width selection 2 12 Acceleration time setup 0 13 Not used - 1 Not used - 6 2nd notch depth selection 0 13 Deceleration time setup 0 14 Not used - 2 Not used 0 S-curve acceleration/deceleration time setup 0 15 Not used - 3 Denominator of pulse output division 8 3rd notch width selection 2 15 Not used - 16 Analog monitor 1 type 0 4 Over-travel inhibit input setup 1 9 3rd notch depth selection 0 16 Not used - 17 Analog monitor 1 output gain 0 5 Sequence at over-travel inhibit 0 7 3rd notch frequency 5000 14 17 Speed limit selection 0 18 Analog monitor 2 type 4 6 Sequence at servo-off 0 11 4th notch width selection 2 18 Not used - 19 Analog monitor 2 output gain 0 7 Sequence at main power off 0 9 2nd time constant of torque filter Size D-H: 1.26 12 4th notch depth selection 0 19 Not used - 20 Not used - 8 LV trip selection at main power off 1 10 Velocity feed forward gain 30.0 13 Selection of damping filter switching 0 20 Not used - 21 Analog monitor output setup 0 9 Detection time of main power off 70 11 Velocity feed forward filter 0.50 14 1st damping frequency 0.0 21 Speed limit value 1 0 22 For manufacturer's use 0 10 Sequence at alarm 0 12 Torque feed forward gain 0.0 15 1st damping filter setup 0.0 22 Speed limit value 2 0 23 For manufacturer's use 0.00 11 Torque setup for quick stop 0 7 8 2nd filter of speed detection 1000.0 0 Size A-C: 0.84 10 4th notch frequency 5000 *1 The maximum Torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of Torque limit setup" [Default value of the parameters(2/2)] PARAMETER Cate gory 5 Pr. Parameter No. SX-DSV02201 MODEL Default value 12 Over-load level setup 0 13 Over-speed level setup 0 Cate gory 6 Pr. 8 9 Parameter Positive direction torque compensation Negative direction torque compensation MINAS-A5N and A5N01 series all common Default value 0 - 13 Not used - 18 Not used - 14 Quick stop time at alarm 19 Not used - 15 2nd over-speed level setup 20 Position unit selection 0 16 Not used 1 28 RTEX update counter warning setup 0 19 For manufacturer's use 0 29 RTEX monitor selection 1 0 0 12 Not used 26 1000 30 RTEX monitor selection 2 0 0 LED display 0 31 RTEX monitor selection 3 0 1 Address indicated time at power-up 0 32 RTEX monitor selection 4 0 0 2 Not used - 33 RTEX monitor selection 5 0 - 3 Torque limited output setup 0 34 RTEX monitor selection 6 0 200 43 2 stage torque filter damping 7 17 Not used - 4 For manufacturer's use 0 35 RTEX command setup 1 0 18 Power-up wait time 0 5 For manufacturer's use 0 36 RTEX command setup 2 0 0 23 Not used - 19 For manufacturer's use 0 6 For manufacturer's use 0 37 RTEX command setup 3 24 Not used - 20 For manufacturer's use 0 7 For manufacturer's use 0 38 protection setup 0 25 Positive direction torque limit 500 *1 21 For manufacturer's use 0 8 For manufacturer's use 0 39 For manufacturer's use 0 26 Negative direction torque limit 500 *1 22 output selection 0 9 For manufacturer's use 360 0 10 Software-limit function 0 RTEX update counter warning A/B-phase external scale pulse Disturbance torque 27 Not used - 23 compensating gain 28 Not used - 24 Disturbance observer filter 29 For manufacturer's use 2 25 Not used 8 0 For manufacturer's use 1 Profile linear acceleration 0 100 0.53 11 Positive software-limit value 500000 2 For manufacturer's use 0 - 12 Negative software-limit value -500000 3 For manufacturer's use 0 30 Not used - 26 Not used - 13 home offset for absolute encoder 0 4 Profile linear deceleration 31 USB axis address 1 27 Warning latch setup 0 14 of main power off warning 0 5 For manufacturer's use 0 10 6 Not used - 0 7 Not used - 100 Detection time 32 Not used - 28 Not used - 15 NEAR range 33 Pulse regenerative output limit setup 0 29 Not used - 16 saturation warning protection Number of times of torque 6 34 For manufacturer's use 4 30 Not used - 17 Not used - 8 Not used 0 Not used - 31 Real-time auto tuning estimation speed 1 18 Not used - 9 Not used - 1 Not used - 32 Real-time auto tuning custom setup 0 19 Not used - 10 Profile distance after position latched 0 2 Velocity deviation excess setup 0 33 Not used - 20 RTEX communication period 3 11 Not used - 3 Not used - 34 Hybrid vibration suppression gain 0.0 21 RTEX command update period 2 12 Profile homing mode 0 - 35 Hybrid vibration suppression filter 0.10 22 RTEX function expansion 1 0 13 Profile homing speed 1 50 - 23 RTEX function expansion 2 18 14 Profile homing speed 2 5 24 RTEX function expansion 3 0 15 For manufacturer's use 0 25 RTEX velocity unit 0 16 Not used - 4 Not used 5 Position 3rd gain valid time 0.0 6 Position 3rd gain scaling factor 100 7 Torque command additional value 0 36 Not used 37 Oscillation detecting level 38 Warning mask setup 0.0 4 *1 The maximum Torque limit value (Pr.0.13,Pr.5.22,Pr.5.25,Pr.5.26) varies by the applicable motor.Refer to "The maximum value of Torque limit setup" Default value - 0 - 8 Parameter - 42 2 stage torque filter - 0 Pr. 17 Not used 41 1st damping filter depth 17 Not used Cate gory 18 Not used 0 16 Not used RTEX warning setup of continuous com. error RTEX warning setup of cumulative com. error Default value 0 27 100 7 Parameter Pr. 0 11 Current response setup 500 *1 Cate gory 0 0 22 2nd torque limit Default value 39 For manufacturer's use 1.0 21 Torque limit selection Parameter 40 For manufacturer's use 15 Control input reading setup 6 Pr. 0 14 Motor working range setup 10 Function expansion setup Cate gory [The maximum value of Torque limit setup] Size A Mode MADHT1105NA1 MSME5AZG** MADHT1107NA1 D D Mode Applicable motor MDDHT5540NA1 MHME152G** The maximum value of Torque Size limit setup 300 E Mode Applicable motor MEDHT7364NA1 MDME202G** The maximum value of Torque Size limit setup 300 F Mode Applicable motor MFDHTB3A2NA1 MHME402G** The maximum value of Torque Size limit setup 300 F The maximum Mode Applicable motor value of Torque limit setup MFDHTA464NA1 MHME404G** 300 MSME5AZS** 300 MHME152S** 300 MDME202S** 300 MHME402S** 300 MHME404S** 300 MSME011G** 300 MFME152G** 300 MSME202G** 300 MSME402G** 300 MGME454G** 263 MSME011S** 300 300 MSME5AZS** MSME012G** MSME012S** MFME152S** 300 MSME202S** 300 MSME402S** 300 MGME454S** 263 MDME044G** 300 MHME202G** 300 MGME452G** 262 MFME454G** 300 300 MDME044S** 300 MHME202S** 300 MGME452S** 262 MFME454S** 300 300 MDME064G** 300 MFME252G** 300 MFME452G** 300 MSME504G** 300 300 MDME064S** 300 MFME252S** 300 MFME452S** 300 MSME504S** 300 MDDHT2407NA1 MSME022G** 300 MSME084G** 300 MDME204G** 300 MDME502G** 300 MDME504G** 300 MSME022S** 300 MSME084S** 300 MDME204S** 300 MDME502S** 300 MDME504S** 300 MSME021G** 300 MDME104G** 300 MSME204G** 300 MHME502G** 300 MHME504G** 300 MSME021S** 300 MDME104S** 300 MSME204S** 300 MHME502S** 300 MHME504S** 300 MSME042G** 300 MHME104G** 300 MHME204G** 300 MSME502G** 300 MGME602G** 272 MSME042S** 300 MHME104S** 300 MHME204S** 300 MSME502S** 300 MGME602S** 272 MSME041G** 300 MGME094G** 225 MFME254G** 300 MGME204G** 250 MDME752G** 265 MSME041S** 300 MGME094S** 225 MFME254S** 300 MGME204S** 250 MDME752S** 265 MCDHT3520NA1 MSME082G** 300 MSME104G** 300 MGME202G** 250 MDME304G** 300 MHME752G** 265 MSME082S** 300 MSME104S** 300 MGME202S** 250 MDME304S** 300 MDDHT3530NA1 MDME102G** 300 MDME154G** 300 MDME302G** 300 MHME304G** 300 MDME102S** 300 MDME154S** 300 MDME302S** 300 MHME304S** MHME102G** 300 MHME154G** 300 MHME302G** 300 MSME304G** MBDHT2110NA1 MBDHT2510NA1 C 300 MADHT1505NA1 MSME5AZG** MADHT1507NA1 B Applicable motor No. SX-DSV02201 The maximum value of Torque Size limit setup MCDHT3120NA1 MDDHT5540NA1 MDDHT2412NA1 MDDHT3420NA1 MEDHT4430NA1 F MFDHTA390NA1 MHME102S** 300 MHME154S** 300 MHME302S** 300 MGME092G** 225 MSME154G** 300 MSME302G** 300 MGME092S** 225 MSME154S** 300 MSME102G** 300 MFME154G** 300 MFME154S** 300 F MFDHTB3A2NA1 MFDHT5440NA1 MFDHTA464NA1 G MGDHTC3B4NA1 MHME752S** 265 MGME604G** 272 300 MGME604S** 272 300 MDME754G** 267 MGDHTB4A2NA1 MSME304S** 300 MDME754S** 267 MGME304G** 250 MHME754G** 267 MSME302S** 300 MGME304S** 250 MGME302G** 250 MDME404G** 300 H MHME754S** 267 MHDHTC3B4NA1 MDMEC12G** 265 265 MSME102S** 300 MGME302S** 250 MDME404S** 300 MDMEC12S** MDME152G** 300 MDME402G** 300 MSME404G** 300 MDMEC52G** 253 MDME152S** 300 MDME402S** 300 MSME404S** 300 MDMEC52S** 253 MSME152G** 300 MHDHTB4A2NA1 MDMEC14G** 265 MSME152S** 300 MDMEC14S** 265 MDMEC54G** 253 MDMEC54S** 253