No. SX-DSV02846 REFERENCE SPECIFICATIONS Product Name : AC servo driver Model Number: MINAS-A5N Series M Size Issued on April 17th, 2014 Revised on April 30th, 2015 Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan Phone : +81-72-871-1212 Fax : +81-72-870-3151 R1.2 No. SX-DSV02846 REVISIONS Date Page Rev. April 17, 2014 - 1.0 NEWLY ISSUED - June 2, 2014 2 1.1 Added the applicable motors. - 17 April 30, 2015 6,9 2,Appendix-3 R1.2 Description Signed Added the note for plugs. 1.2 Changed the company name. - Added the connector layout. Added the 20 bits absolute encoder to the applicable motor and encoder. Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Contents 1. Scope···························································································································· 1 2. Model Number ················································································································· 2 3. Applicable Motor·············································································································· 2 4. Basic Specifications ··········································································································· 3 5. Dimensions ····················································································································· 4 6. Appearance and Part Names ································································································· 5 7. Connectors ····················································································································· 6 7-1 Power Supply Connectors CN102 , CN103 ..............................................................................................6 7-2 Moter Connector CN101 .............................................................................................................................6 7-3 Encoder Connector CN104 ..........................................................................................................................6 7-4 USB Connector CN7 ...................................................................................................................................7 7-5 RTEX Connectors CN10 , CN11 ...............................................................................................................8 7-6 I/O Connector CN1 .......................................................................................................................................9 8. Wiring ························································································································· 10 8-1 Cables and Maximum Lengths ....................................................................................................................10 8-2 Cable Side Connectors .................................................................................................................................10 8-3 Precautions for Wiring .................................................................................................................................11 9. Safety Precautions ············································································································ 19 10. Life and Warranty ·········································································································· 23 10-1 Life Expectancy of the Driver ....................................................................................................................23 10-2 Warranty Period .........................................................................................................................................23 11. Others ························································································································ 24 Specification for Each Model R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 1 - 1. Scope This document is the specification for M size model of servo driver MINAS-A5N series. This product is for industrial equipment. Don't use this product at general household. <Software version> This document applies to the servo drivers of the following software version: Ver.3.06 For the software version, confirm it by the setup support software PANATERM or other function. <Related documents> SX-DSV02843: Technical Reference - Functional specification SX-DSV02844: Technical Reference - Realtime Express (RTEX) communication specification – *This servo driver includes different specifications in part from technical reference - Functional specification -. For details, refer to the page 3 or later of appendix. *If the description of related documents is different from this document, make this document a priority. <IMPORTANT> • All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior permission. • Motor Business Unit, Panasonic Corp. reserves the right to make modifications and improvements to its products and/or documentation, including specifications and software, without prior notice. Operating Precautions Pay a special attention to following items in order to prevent failure and degradation of the product. - Implement the measure against static electricity and handle it with great caution. - Do not touch a electronic components except the heat sink of the product when installing and carrying it. - Install in a metal control box in order to prevent malfunction by noises, such as an electromagnetic interference (EMI). - Prevent foreign matter from getting into the product. - Do not give an impact shock to the product. - Do not add stress, such as a twist and bending, to the printed-circuit board of the product. Fix the cable so that stress is not added to the printed-circuit board and the connector of the product. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 2 - 2. Model Number The following shows how to interpret a Model number. 1 2 3 4 5 6 7 8 9 10 11 12 M M D H T 2 C 0 9 N D 1 Size M: Size M Specification D1: Standard Interface N: RTEX AC servo driver A5 family Rated current of current sensor 09: 9 A Power supply voltage Maximum current of power device T2 : 15 A C: DC24 V 3. Applicable Motor Driver Model No. MMDHT2C09ND1 R1.2 Size M Applicable motor Power Supply DC24V Model No. Rated output Rated speed Encoder type MMMA1ACN** 10 W 3000 r/min Incremental 2048P/r MMMA1ACS** 10 W 3000 r/min Absolute 17 bit resolution MMMA1ACF** 10 W 3000 r/min Absolute 20 bit resolution MMMA2ACN** 20 W 3000 r/min Incremental 2048P/r MMMA2ACS** 20 W 3000 r/min Absolute 17 bit resolution MMMA2ACF** 20 W 3000 r/min Absolute 20 bit resolution MMMA3ACN** 30 W 3000 r/min Incremental 2048P/r MMMA3ACS** 30 W 3000 r/min Absolute 17 bit resolution MMMA3ACF** 30 W 3000 r/min Absolute 20 bit resolution MNMA2ACS** 20 W 3000 r/min Absolute 17 bit resolution MNMA2ACF** 20 W 3000 r/min Absolute 20 bit resolution Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 3 - 4. Basic Specifications Item Input power supply (Note 1) Description Voltage DC24 V +/- 10 % Voltage permission ripple Rated output voltage +/- 5 % of DC power supply (Note 2) Temperature Operation temperature: 0-55 degrees C Storage temperature: -20-65 degrees C Guarantee the maximum temperature: 80 degrees C 72 hours Humidity Operation and storage humidity 20-85 %RH or less (no condensation) Conditions Height above the sea Vibration Protection rating 1,000 meters or less 5. 88 m/s2 or less, 10-60 Hz Continuous operation at resonance point is not allowed (Note 3) IP00 (Note 4) * Easier condensation occurs when the temperature is reduced. (Note 1) DC power using stabilized power supply (SELV) are provided with reinforced insulation. (Note 2) Do not exceed the voltage including rippl of DC power is supply voltage range of the servo driver. (Note 3) Do not install in a flexible region. (Note 4) Protection rating of this servo driver is IP00 (No protection). Make sure not to put the electric static discharge or the foreign matters such as dust when installing or handling the driver R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 4 - 5. Dimensions Size M Unit : mm R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 5 - 6. Appearance and Part Names Node address rotary switch (Range : 0 to 31) RSW1 : LSD (Least Significant Digit) RSW2 : MSD (Most Significant Digit) CN11 : RTEX connector (TX) 85505-5113 (Molex) or equivalent CN10 : RTEX connector (RX) 85505-5113 (Molex) or equivalent CN7 : USB connecter UB-M5BR-DMP14-4S (JST）or 2 pin (N/－) 1 pin (P/＋) equivalent LED4 : Charge lamp CN102 : Power supply connector 556902-A2210 (Molex) or equivalent Earth terminal (M4) CN103 : Power supply connector 556902-A2210 (Molex) or equivalent Name plate LED5 : SON LED LED7 : ALM LED Network status LED LED2, LED3 : COM LED LED1 : LINK LED CN1 : I/O connector MUF-RS6DS-GKYR (JST) or equivalent CN101 : Motor connector 2-1445054-4 (Tyco) or equivalent CN104 : Encoder connector 3-794678-6 (Tyco) or equivalent R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 6 - 7. Connectors 7-1 Power Supply Connectors CN102 , CN103 Servo driver side : Molex 556902-A2210 equivalent, Plating : TIN Layout Pin no. Symbol Description 1 P (+ Line) 2 N (- Line) • Input DC24 V. • DC power source using a stabilized power supply are provid ed with reinforced insulation. N P N P * This servo driver has two power connectors, in order to install two or more daisy chain connection. In that case, be sure not to exceed the maximum current (9 A) of these connectors. 7-2 Moter Connector CN101 Servo driver side : Tyco Electronics 2-1445054-4 equivalent, Plating : TIN Pin no. Symbol Description 1 U Connect U phase of the motor winding 2 V Connect V phase of the motor winding 3 W Connect W phase of the motor winding 4 FG Connect ground wire of the motor Layout 4 1 7-3 Encoder Connector CN104 Servo driver side : Tyco Electronics 3-794678-6 equivalent, Plating : GOLD Pin no. Symbol Description 1 NC NC (No connection) 2 PS 3 PS Encoder signal I/O (serial signal) 4 E5V 5 E0V 6 FG Power supply output for encoder R1.2 Layout 6 4 3 1 Frame ground Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 7 - 7-4 USB Connector CN7 Servo driver side : J. S. T. Mfg UB-M5BR-DMP14-4S equivalent, Plating : GOLD 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. Pin no. Symbol Description 1 VBUS 2 D- 3 D+ 4 - NC (No connection) 5 GND Signal ground USB communication signal <About the USB cable> Use a commercial-release USB cable with a ferrite core. Connector of the servo driver side is a mini-B. For the connector of a computer side, use it united with the specification of the computer to be used. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 8 - 7-5 RTEX Connectors CN10 , CN11 Servo driver side : Molex 85505-5113 equivalent, Plating : GOLD [CN10] RX connector Pin no. Symbol Description 1 - Connect to pin 1 on TX connector of sending side node. 2 - Connect to pin 2 on TX connector of sending side node. 3 RX+ Connect to pin 3 on TX connector of sending side node. 4 - Connect to pin 4 on TX connector of sending side node. 5 - Connect to pin 5 on TX connector of sending side node. 6 RX- Connect to pin 6 on TX connector of sending side node. 7 - Connect to pin 7 on TX connector of sending side node. 8 - Connect to pin 8 on TX connector of sending side node. Shell FG Connect to shield of cable [CN11] TX connector Pin no. Symbol Description 1 - Connect to pin 1 on RX connector of receiving side node. 2 - Connect to pin 2 on RX connector of receiving side node. 3 TX+ Connect to pin 3 on RX connector of receiving side node. 4 - Connect to pin 4 on RX connector of receiving side node. 5 - Connect to pin 5 on RX connector of receiving side node. 6 TX- Connect to pin 6 on RX connector of receiving side node. 7 - Connect to pin 7 on RX connector of receiving side node. 8 - Connect to pin 8 on RX connector of receiving side node. Shell FG Connect to shield of cable. Be sure to use shielded twisted pair (STP) in compliance with CAT 5e or higher of TIA/EIA-568B. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 9 - 7-6 I/O Connector CN1 Servo driver side : J. S. T. Mfg MUF-RS6DS-GKYR equivalent, Plating : GOLD Input Pin no. Symbol 3 I-COM 4 SI5 Description I/O type • Connect to positive/negative polarity of the external power supply. Layout - • Use power supply: 12 V +/-5 % to 24 V +/-5 % • Assign functions using parameters. i-1 For details, refer to the technical data - Basic function specification 5 SI6 6 SI7 i-1 SX-DSV02202. • For factory default function assignment, refer to appendix “Specification for Each Model”. i-1 (Note) SI1-SI4 and SI8 cannot be used with this servo driver. Output Pin no. Symbol Description I/O type Layout o-1 See above • Assign functions using parameters. 1 2 SO1+ SO1- For details, refer to the technical data—Basic function specification — SX-DSV02202. • For factory default function assignment, refer to appendix “Specification for Each Model”. (Note) SI1-SI4 and SI8 cannot be used with this servo driver. Other Pin no. Symbol Shell FG Description I/O type • Connected to the Frame ground inside the servo driver. - I/O interface type i-1 o-1 4.7K 10 Ω 3 R VDC 1K VDC + 50 mA or less 12-24 V 12-24 V - or VDC 12-24 V 1K 3 4.7K R1.2 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 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 10 - 8. Wiring 8-1 Cables and Maximum Lengths Name Symbol Maximum cable length Cable Power connection CN102 CN103 - AWG 18 Motor connection CN101 3m AWG 20 Encoder connection CN104 3m I/O connection CN1 1m Overall twisted shielded pair Core wire: 0.18 mm2or larger RTEX connection CN10 CN11 100 m (Note 1) Shielded twisted pair (STP) cable of category 5e or better (Note 1) Refer to 8-3 (7) Connection to connectors CN10 , CN11 . 8-2 Cable Side Connectors Symbol CN102 CN103 Part name Part number Connector 5557-02R Pin 5556TL Connector 1445022-4 Pin 794610-1 Connector 43645-0400 Pin 43030-0001 Connector 794617-6 Pin 794611-3 Connector 43025-0600 Pin 43030-0002 Connector MUF-PK6W-Y Manufacturer Molex Tyco Electronics CN101 Molex Tyco Electronics CN104 Molex CN1 J. S. T. Mfg Use connectors listed above or equivalents. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 11 - 8-3 Precautions for Wiring (1) Wiring to power connector [1] Power connector of the servo driver is tin plated. In order to avoid a bad contact caused by dissimilar metals, connector pins for the connection, please use the tin plating. [2] The DC power supply might have a trip to protect its components from over-voltage that is caused by the regenerated energy from motor. In that case, it is necessary to install the diode for protecting from the feedback current and also to install the DC bus capacitor for storing the regenerated energy between the DC power supply and drivers. [3] So that the specified voltage at the input servo driver, consider the transient voltage drop due to the impedance wiring, select both the diameter of the power line and the length. [4] This servo driver does not mount the inrush current limit circuit. Inrush current is dependent on the characteristics and wiring impedance of the connection power, please check the actual machine. [5] Because this servo driver to assume a connection with a stabilized power supply is provided with reinforced insulation, protective ground terminal is not available. M4 screw on the heat-sink is functional earth (FG). Considerations of noise resistance, static electricity, noise radiation, please give a connection on the FG of equipment side as necessary. (2) Wiring to motor connector [1] Motor connector of the servo driver is tin plated. In order to avoid a bad contact caused by dissimilar metals, connector pins for the connection, please use the tin plating. [2] For a noise countermeasure, attach the ferrite core U, V, W as necessary. (3) Wiring to encoder connector [1] Encoder connector of the servo driver is gold plated. In order to avoid a bad contact caused by dissimilar metals, connector pins for the connection, please use the gold plating. [2] For the encoder cable is a stranded wire of core wire, please use Collective shield twisted pair cable. [3] Maximum cable length is within 3 m. In order to meet the mitigation of the voltage drop of 5 V power supply to the encoder to long wiring, select the appropriate wire diameter. [4] Encoder cable should be located well away from power cable and motor cable with large current. (4) Wiring to I/O connector [1] I/O connector of the servo driver is gold plated. In order to avoid a bad contact caused by dissimilar metals, connector pins for the connection, please use the gold plating. [2] Do not exceed the maximum voltage and current specification of the input and output. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 12 (5) Wiring to connector CN1 [1] The DC12–24 V 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 (P, N, U, V, W). Do not put them in the same duct or bind them together. Input I-COM 3 4.7k SI5 1k 4 4.7k DC12-24 V SI6 1k 5 4.7k SI7 6 1k CN1 Servo driver side The functions of the pins SI5-SI7 are assigned by parameters. For factory default settings, refer to Appendix “Specification for Each Model”. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 13 Output [4] Be aware of the polarity of the power supply for control signals. The servo driver is damaged by reverse connection of the polarity shown in the following figure. [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] Apply 50 mA or less of current to output. MAX 50 mA SO1+ SO1- 1 SO1 2 MAX : 30V, 50 mA DC12-24 V VCE (SAT) : Approx. 1.2 V CN1 Servo driver side The functions of the pins SO1 are assigned by parameters. For factory default settings, refer to Appendix “Specification for Each Model”. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 14 (6) Wiring to connector CN104 [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 3 m. When the wiring is long, use the double wiring for the 5 V power supply in order to reduce the effects of voltage drop. [3] Make sure to connect the coat of shielded cable at the servo driver side to the FG (6-pin) of CN104 . [4] Wire the wiring as far away as possible (30 cm or more) from the power lines (P, N, 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 CN104 . Incremental 2048 P/r encoder 3 PS 4 E5V 5 6 5 6 E0V Purple Black Yellow/Green 172168-1 (manufactured by Tyco electronics AMP) Motor side R1.2 PS 3 4 2 White Servo motor 1 2 Light blue FG Regulator CN104 172160-1 (manufactured by Tyco electronics AMP) Encoder cable Servo driver side Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 15 - Incremental / Absolute 17 bit encoder Servo motor 1 2 PS 3 PS White 5 7 4 E5V Black 8 5 6 E0V Red 1(BAT+) Pink 2(BAT-) Yellow/Green 3 Light blue 4 Purple 172169-1 (manufactured by Tyco electronics AMP) Motor side Battery FG Regulator CN104 172161-1 (manufactured by Tyco electronics AMP) Encoder cable Servo driver side Connect the absolute encoder battery directly to the BAT+ and BAT- connectors of the encoder at the motor for the absolute system. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 16 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. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 17 (7) Wiring to connector CN10 , CN11 [1] Use shielded twisted pair (STP) in compliance with category 5e or higher of TIA/E1A-568B. 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. Use plugs compliant with IEC 60603-7 standard. [2] Length of communication cable a. Inter nodes: max. 100 m b. Total length of cables between all nodes in the communication loop: max. 200 m Both requirements should be met. If the requirement b above cannot be met, consult with us. Because specifications such as flexural characteristic, temperature range and insulation material differ from manufacturer to manufacturer, select the cable best suitable for your application. Select the cable for movable application according to your operating condition. <Communication cable used in our evaluation> Manufacturer: Sanwa Supply Inc. Part No.: KB-STP-*K, Category: 5e, STP Connection to CN10 MAX: 100 m Connector CN11 RJ45 plug Connector CN10 RX+ RX– 3 White/Green 6 Green 3 6 (When servo driver is used in the preceding circuit) TX+ TX– 1 White/Orange 1 2 Orange 2 5 White/Blue 5 4 Blue 4 – 7 White/Brown 7 – – 8 Brown 8 – – z RJ45 plug – – – – – – – Shield on connector Shield on connector Servo driver R1.2 Shielded twisted pair cable of 5e or higher category Higher-level device or servo driver in the preceding circuit Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 18 Wiring to connector CN11 MAX 100 m Connector CN10 RJ45 plug Connector CN11 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 – TX+ TX– – – – – RX+ RX– – – – – Shield on connector Shield on connector Servo driver (When servo driver is used in the subsequent stage) Shielded twisted pair cable of 5e or higher category 1 Higher-level device or servo driver in the subsequent circuit 8 Pins on RJ45 plug R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 19 - SAFETY PRECAUTIONS 9. Safety Precautions ■ Danger and damage caused when the safety precautions are ignored are described in the following categories and signs: DANGER CAUTION Description of this sign indicates “urgent danger that may cause death or serious injury.” Description of this sign indicates “danger that may cause injury or property damage.” ■ Rules to keep are categorized and described with the following graphics. This graphic indicates “Prohibited” acts that are not permitted. This graphic indicates “Mandatory” acts that must be performed forcibly. DANGER (1) Be sure not to store or use the equipment under conditions subjected to vibrations (5.88 m/s2 or heavier) or an impact shock, foreign matters such as dust, metal particles oil mist, liquids such as water, oil and polishing liquid, near flammable objects, in an atmosphere of corrosive gas (such as H2S, SO2, NO2, Cl2), or in an atmosphere of flammable gas. (2) Do not place any flammable objects near a motor, a servo driver. (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. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 20 - 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. (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) FG screw (M4) should be tighten to a torque of 1.0 ~ 1.2 N • m. 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 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. (33) Do not fall or topple over the equipment when carrying or installing. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 21 - SAFETY PRECAUTIONS CAUTION (34) Do not climb the motor or do not place a heavy item on the motor. (35) 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) Please use power are provided with reinforced insulation the stabilized power supply (SELV). Do not connect the positive side and the negative side and ground (FG) of the input power of servo driver. (39) This servo driver is Built-in type (degree of protection IP00). Please note that during the installation so without applying static electricity. Static electricity is applied to runaway or burning, destruction, and cause of failure. (40) This servo driver does not have a built-in fuse. Please set up the disconnect device in the connection side. (41) 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. (42) 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. (43) Install the equipment adequately in consideration of output and main unit weight. (44) Keep the ambient conditions of an installed motor within a range of allowable ambient temperatures and of allowable humidity. (45) Install the equipment by specified procedures and in specified orientation. (46) Install the devices by keeping specified distances between a servo driver and inside control panel or other devices. (47) If a motor has an eyebolt, use the eyebolt to carry the motor only. Do not use the eyebolt to carry equipment. (48) Connect a relay breaking upon emergency stop in series with a brake control relay. (49) For a test run, hold down a motor and disconnect from a mechanical system to verify operations before installing on the equipment. (A motor must run smoothly at 30 r/min driven with a servo driver.) (50) 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. (51) When an alarm status occurs, remove a cause of the problem before restarting. Careless restarting without removing a cause of problem may cause malfunction or burning of a motor. (52) The built-in brake of the motor may not be able to hold due to expiring useful life or a mechanical structure. Install a braking device on the equipment to secure safety. (53) Pay attention to heat radiation. The 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. (54) Maintenance and inspection is allowed only for a specializing person. (55) Turn off the power when the equipment is not used for a long term. R1.2 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, Panasonic Corporation No. SX-DSV02846 - 22 - SAFETY PRECAUTIONS Servo driver’s ambient temperature The driver’s service life significantly depends on the ambient temperature. Do measures cooling such as fan installation. Operating temperature range: 0 to 55 degrees C We have made the best efforts to ensure quality of this product. However, application of external noise (include radiation) or static electricity, or a defect of the input power supply, wiring or components may cause the servo driver to operate beyond the preset conditions. Therefore, you should exercise thorough caution to ensure safety against an unexpected operation. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 23 - 10. Life and Warranty 10-1 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: DC 24 V Ambient temperature: 55 degree C Output torque: Rated constant value No. of revolutions: Rated constant No. of revolutions Note that the life varies due to the working conditions. 10-2 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. R1.2 Motor Business Unit, Panasonic Corporation No. SX-DSV02846 - 24 - 11. Others R1.2 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. This production is designed for general industry applications, and is not designed for applications of nuclear plant, aerospace, transportation, medical, various safety equipments, highly clean equipments that involve human lives, or for usage under special environment. When discarding the equipment, process the item as an industrial waste. Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Specification for Each Model - Appendix-1 Specification for Each Model MINAS-A5N Series Size M Model MMDHT2C09ND1 Power supply input DC24 V Maximum instantaneous output current 15 A Maximum continuous output current 9A Regenerative processing function Unprovided Auto gain tuning function Provided Dynamic brake function Provided Ambient temperature 0–55 degrees C Main power supply cable HVSF 0. 75–2. 0 mm2 AWG 14–18 Ground cable HVSF 2. 0 mm2 AWG 14 Motor cable HVSF 0.50 mm2 AWG 20 (5 A rated) R1.2 Inrush Current No limit by driver Weight Approx. 0.2 kg Dimensions Size M Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Specification for Each Model - Appendix-2 - I/O connector (CN1) default function allocation CN1 connector Default function Parameter setting R1.2 Name Pin number Signal name SI5 4 Home SI6 5 SI7 SO1 ( ): decimal notation Symbol Logic 00222222h (2236962) HOME Normally open Positive overtravel 00010101h (65793) POT Normally open 6 Negative overtravel 00020202h (131586) NOT Normally open 1,2 Motor brake release 00030303h (197379) BRK-OFF Normally open Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Specification for Each Model - Appendix-3 Differences of Specification This servo driver differs in the following specification to technical documents (- Functional specification -). ■ Basic Specification Item Description Control mode Full-closed control is not supported. Encoder feedback External scale feedback Control signal Pulse signal 2048p/r (resolution: 8192p/r) 5-wire incremental encoder 17 bit resolution 7-wire incremental / absolute encoder 20 bit resolution 7-wire incremental / absolute encoder Not supported. Input 3-input can be assigned any function with the parameter. Output 1-output can be assigned any function with the parameter. Output Not supported. Safety terminal Front panel Regeneration Dynamic brake Not supported. Equipped with the followings on the PCB instead of the front panel. 1. Network status LED (See the below). 2. SON LED (See the below). 3. ALM LED (See the below). 4. Rotary switches for node address setting. Not supported. Built-in ■LED Display This servo driver does not have 7 segment LED and it has LED shown below as an alternative to this. Network status LED (LINK, COM) LINK LED Display status Not lit LED1 Lit green Description Not connected (Transmission node is not powered on, or cable is broken etc.) Connected normally (TX of transmission node and RX of local node are correctly connected electrically.) COM LED Display status LED2 LED3 LED3 LED2 RTEX communication status Description Pr7.23 bit4 = 0 State of synchronization MNM1221 status between *1) communication and servo ・INITIAL Not lit Not established Blinking green Established In process ・RING_CONFIG ・READY Lit green Established ・RUNNING Blinking red Lit red Independent Pr7.23 bit4 = 1 MNM1221 status *1) State of synchronization between communication and servo ・INITIAL Not established ・RING_CONFIG ・READY ・RUNNING Not established ・RUNNING Established RTEX communication-related clearable alarm occurs. RTEX communication-related unclearable alarm occurs. *1) MNM1221 is an ASIC for RTEX communication control. SON LED Display status Lit green LED5 Not lit Description Servo ON Servo OFF ALM LED Display status LED7 R1.2 Not lit Lit red Description Normally Alarm occurs Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Specification for Each Model - Appendix-4 - This servo driver does not support the following protective and warning functions. ■ Protective functions Error No. Main Sub 13 1 14 1 18 0 1 25 0 28 0 29 1 30 0 33 0 2 4 50 0 1 51 0 55 92 93 Description Main power supply undervoltage protection IPM error protection Over-regeneration load protection Over-regeneration Tr error protection Hybrid deviation excess error protection Limit of pulse replay error protection Deviation counter overflow protection 1 Safety detection Overlaps allocation error 1 protection Input function number error 1 protection Output function number error 1 protection External scale connection error protection External scale communication error protection External scale status 0 error protection 1 External scale status 1 error protection 2 External scale status 2 error protection 3 External scale status 3 error protection 4 External scale status 4 error protection 5 External scale status 5 error protection 0 1 2 1 2 3 A-phase connection error protection B-phase connection error protection Z-phase connection error protection External scale data recovery error protection Parameter setting error protection 2 External scale connection error protection ■ Warning functions Warning No. (Hex.) General warning Extended warning R1.2 Description A1 Over-regeneration warning A3 A8 A9 Fan warning External scale error warning External scale communication warning C3 Main power off warning Motor Business Unit, Panasonic Corporation No. SX-DSV02846 Specification for Each Model - Appendix-5 - ■ Time characteristics of overload protection Time Characteristics of overload protection Time(sec) 100 MMMA 10,20,30 W MNMA 20 W 10 1 0.1 115% 100 150 200 250 300 350 400 450 500 Torque(%) The above figure is the time characteristics of overload protection of the amplifier using the MMMA 10, 20, 30 W, and MNMA 20W motor. Notes: R1.2 Use the motor so that actual torque stays in the continuous running range shown in “S-T characteristic” of the motor. For the S-T characteristics, see [SPECIFICATIONS] motor characteristics (S-T characteristics). Motor Business Unit, Panasonic Corporation [Default value of the parameters(1/2)] PARAMETER Cate Pr. gory 0 Parameter Default value Cate Pr. gory Parameter Default value Cate Pr. gory Parameter Default value Cate Pr. gory Parameter Default value 23 For manufacturer's use 0 0.0 24 For manufacturer's use 18 3rd damping frequency 0.0 5.0 19 3rd damping filter setup 17 Level of position control switching 50 - 18 Hysteresis at position control switching 6 Not used - 19 Position gain switching time 7 Not used - 20 Mode of velocity control switching 0 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 2500 0 Rotational direction setup 1 1 Control mode setup 0 14 2nd gain setup 2 Real-time auto tuning setup 1 1 13 Torque feed forward filter 16 2nd damping frequency 0.0 1 17 2nd damping filter setup 15 Mode of position control switching 0 13 16 Delay time of position control switching 250 5 Not used 3 Machine stiffness at real-time auto tuning 4 Inertia ratio 8 Command pulse counts per motor revolution 11 For manufacturer's use 0.00 2 3 Cate Pr. gory Default value 24 For manufacturer's use 0 0 25 Not used - 25 For manufacturer's use 10000 26 Not used - 0.0 26 For manufacturer's use 0 27 Not used - 20 4th damping frequency 0.0 27 For manufacturer's use 0 28 Not used - 33 21 4th damping filter setup 0.0 28 For manufacturer's use 16000 29 Not used - 3.3 22 Position command smoothing filter 0.0 29 For manufacturer's use 0 30 Not used - 23 Position command FIR filter 0.0 0 For manufacturer's use 0 31 In-position range 10 4 4 Parameter 0 Not used - 1 For manufacturer's use 0 32 In-position output setup 0 0 1 Not used - 2 For manufacturer's use 0 33 INP hold time 0 23 Hysteresis at velocity control switching 0 2 Not used - 3 For manufacturer's use 0 34 Zero-speed 50 24 Mode of torque control switching 0 3 Not used - 4 SI5 input selection 35 Speed coincidence range 50 65793 36 At-speed 131586 37 Mechanical brake action in stop 0 3 2236962 0 25 Delay time of torque control switching 0.0 4 For manufacturer's use 0 5 SI6 input selection 13 1st Torque limit 500 *1 26 Level of torque control switching 0 5 For manufacturer's use 0 6 SI7 input selection 14 Position deviation excess setup 100000 27 Hysteresis at torque control switching 0 6 Not used - 7 For manufacturer's use 0 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 12 For manufacturer's use 1 No. SX-DSV02846 MMDHT2C09ND1 MODEL 15 Absolute encoder setup 1 16 For manufacturer's use 3 1 1st notch frequency 17 For manufacturer's use 0 2 1st notch width selection 2 9 Not used - 10 SO1 output selection 197379 41 Warning output 2 selection 0 0 1st gain of position loop 48.0 3 1st notch depth selection 0 10 Not used - 11 For manufacturer's use 592137 42 2nd in-position range 10 1 1st gain of velocity loop 27.0 4 2nd notch frequency 5000 11 Not used - 12 For manufacturer's use 65793 1st time constant of velocity loop integration 21.0 5 2nd notch width selection 2 12 Acceleration time setup 0 13 Not used 0 6 2nd notch depth selection 0 13 Deceleration time setup 0 2 3 1st filter of speed detection 2 1000 S-curve acceleration/deceleration time setup 5 0 Not used - - 1 Not used - 14 Not used - 2 Not used - 0 15 Not used - 3 For manufacturer's use 0 4 1st time constant of torque filter 0.84 7 3rd notch frequency 5 2nd gain of position loop 57.0 8 3rd notch width selection 2 15 Not used - 16 For manufacturer's use 0 4 Over-travel inhibit input setup 1 6 2nd gain of velocity loop 27.0 9 3rd notch depth selection 0 16 Not used - 17 For manufacturer's use 0 5 Sequence at over-travel inhibit 0 17 Speed limit selection 0 18 For manufacturer's use 4 6 Sequence at servo-off 0 7 2nd time constant of velocity loop integration 1000.0 10 4th notch frequency 5000 5000 14 0 11 4th notch width selection 2 18 Not used - 19 For manufacturer's use 0 7 For manufacturer's use 0 9 2nd time constant of torque filter 0.84 12 4th notch depth selection 0 19 Not used - 20 Not used - 8 For manufacturer's use 1 10 Velocity feed forward gain 30.0 13 Selection of damping filter switching 0 20 Not used - 21 For manufacturer's use 0 9 For manufacturer's use 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 8 2nd filter of speed detection *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 Pr. gory 5 Parameter Default value 12 Over-load level setup 0 13 Over-speed level setup 0 Cate Pr. gory 6 8 9 Parameter Positive direction torque compensation Negative direction torque compensation 10 Function expansion setup Default value 0 Cate Pr. gory 6 Parameter Default value Cate Pr. gory Parameter Default value 18 Not used - Not used Cate Pr. gory Parameter Default value 9 Not used - - 10 Profile distance after position latched 0 20 RTEX communication period 3 11 Not used - 21 RTEX command update period 2 12 Profile homing mode 0 1000 22 RTEX function expansion 1 0 13 Profile homing speed 1 50 39 For manufacturer's use 0 7 0 40 For manufacturer's use 0 19 0 41 1st damping filter depth 0 42 2 stage torque filter 0 8 14 Motor working range setup 1.0 15 Control input reading setup 0 11 Current response setup 16 Not used - 12 Not used - 43 2 stage torque filter damping 17 Not used - 13 Not used - 44 Not used - 23 RTEX function expansion 2 18 14 Profile homing speed 2 5 18 Not used - 14 Quick stop time at alarm 200 45 Not used - 24 RTEX function expansion 3 0 15 For manufacturer's use 0 19 Not used - 15 2nd over-speed level setup 0 46 Not used - 25 RTEX velocity unit 0 16 Not used - 0 17 Not used - 0 18 Not used - 0 19 For manufacturer's use 0 100 20 Position unit selection 0 16 Not used - 47 Function expansion setup 2 0 26 21 Torque limit selection 1 17 Not used - 48 Compensation filter 22 2nd torque limit 23 Not used 24 Not used 6 No. SX-DSV02846 MMDHT2C09ND1 MODEL 500 *1 - RTEX warning setup of continuous com. Error RTEX warning setup of cumulative com. Error RTEX update counter warning setup of error 0 27 Instruction and Compensation filter Attenuation clause setup 0 28 0 29 RTEX monitor selection 1 0 0 30 RTEX monitor selection 2 0 0 For manufacturer's use 0 31 RTEX monitor selection 3 0 18 Power-up wait time 0 49 19 For manufacturer's use 0 50 Viscous friction compensation gain - 20 For manufacturer's use 0 25 Positive direction torque limit 500 *1 21 For manufacturer's use 0 26 Negative direction torque limit 500 *1 22 For manufacturer's use 0 1 For manufacturer's use 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 Disturbance torque compensating gain 51 Immediate cessation completion waiting time 7 27 Not used - 23 28 Not used - 24 Disturbance observer filter 29 For manufacturer's use 2 25 Not used - 4 For manufacturer's use 0 35 RTEX command setup 1 0 30 Not used - 26 Not used - 5 For manufacturer's use 0 36 RTEX command setup 2 0 31 USB axis address 1 27 Warning latch setup 0 6 For manufacturer's use 0 37 RTEX command setup 3 0 0.53 RTEX update counter protection setup of error 32 Not used - 28 Not used - 7 For manufacturer's use 0 38 33 For manufacturer's use 0 29 Not used - 8 For manufacturer's use 0 39 For manufacturer's use 0 34 For manufacturer's use 4 30 Not used - 9 For manufacturer's use 360 0 For manufacturer's use 0 0 Not used - 31 Real-time auto tuning estimation speed 1 10 Profile software-limit function 0 1 Not used - 32 Real-time auto tuning custom setup 0 11 Profile positive software-limit value 500000 2 For manufacturer's use 0 2 Velocity deviation excess setup 0 33 Not used - 12 Profile negative software-limit value -500000 3 For manufacturer's use 0 3 Not used - 34 For manufacturer's use 0.0 13 Home offset for absolute encoder 0 4 Profile linear deceleration 4 Not used - 35 For manufacturer's use 0.10 14 For manufacturer's use 0 5 For manufacturer's use 0 15 NEAR range 10 6 Not used - - 7 Not used - - 8 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 16 Torque number of protection Saturation error 17 Not used *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" 8 1 Profile linear acceleration 0 100 100 [The maximum value of Torque limit setup] Size M Mode MMDHT2C09ND1 Applicable motor The maximum value of Torque limit setup MMMA1AC*** 330 MMMA2AC*** 250 MMMA3AC*** 250 MNMA2AC*** 285 No. SX-DSV02846