operating instructions (basic) ac servo motor & driver minas a5
TRANSCRIPT
Operating Instructions (Basic)AC Servo Motor & Driver
MINAS A5-series
Make sure to forward these Operating Instructions for safety to the final user.
•ThankyouforpurchasingthisPanasonicproduct.
•Beforeoperatingthisproduct,pleasereadtheinstructionscarefully,andsavethismanualforfutureuse.
1. Introduction ................................. B2OnOpeningtheProductPackage.................. B2CheckoftheDriverModel.............................. B2CheckoftheMotorModel............................... B3
2. Installation................................... B4Driver.............................................................. B4Motor............................................................... B6
3. System Configuration and Wiring ........................................... B8
OverallWiring(Connectortype)..................... B8OverallWiring(Terminalblocktype).................B12DriverandListofApplicablePeripheralEquipments.... B14WiringoftheMainCircuit(Connectortype)......... B16WiringoftheMainCircuit(Terminalblocktype)... B18Wiringmethodtoconnector............................. B19WiringDiagram............................................. B21Wiringofconnectorformotorandbrake...... B23WiringtotheConnector,X1......................... B24WiringtotheConnector,X2......................... B24WiringtotheConnector,X3......................... B25WiringtotheConnector,X4......................... B26
WiringtotheConnector,X5......................... B29WiringtotheConnector,X6......................... B30WiringtotheConnector,X7......................... B32
4. Parameter .................................. B33Outline/Setup/Connection......................... B33CompositionofParameters.......................... B35
5. Protective Functions ................ B36ProtectiveFunction(WhatIsErrorCode?)...... B36
6. Maintenance and Inspections .... B387. Conformity to EC Directives and UL Standards ..................... B40
CompositionofPeripheralEquipments........ B428. Built-in Holding Brake .............. B489. Dynamic Brake.......................... B5010. Check of the Combination of the Driver and the Motor ............ B51
IncrementalSpecifications,20-bit............... B51AbsoluteSpecifications,17-bit................... B52
11. Specifications ......................... B53After-Sale Service (Repair) .......... B56
page page<Contents>
Ifyouarethefirstuserofthisproduct,pleasebesuretoreadthedownloadedOperatingInstructions(Overall)fromourWebSite.
[Web address of Panasonic Corporation]http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
* Thisproductimageis1.5kWtypeofA5-series.
IMD88+A
English
− B3−− B2−
English
1. IntroductionCheck of the Driver Model
Contents of Name Plate
Model Designation
Model Designation
M A D H T 1 5 0 5Special specifications(letters and numbers)
Current detector rating
Power supply
Max. current rating of power deviceFrame-size symbol
MADHMBDHMCDHMDDHMEDHMFDH
FrameSymbolA5-series, A-frameA5-series, B-frameA5-series, C-frameA5-series, D-frameA5-series, E-frameA5-series, F-frame
T1T2T3T5T7TATB
CurrentratingSymbol
Specifications10A15A30A50A70A
100A150A
Symbol13
5
Single phase, 100V3-phase, 200VSingle/3-phase, 200V
0507102030406490A2
Current ratingSymbol5A
7.5A10A20A30A40A64A90A
120A
1 to 4 75 to 6 10 to 128 to 9
Serial Numbere.g.) : 09 0 4 0001N
Lot numberMonth of production
Year of production(Lower 2 digits of AD year)
Manufacture datee.g.) : 20090401
Manufacture dateManufacture yearManufacture month
Model
Rated output
Rated inputvoltage/current
Rated frequencyRated
rotational speed
M S M E 5 A Z S 1 S1 to 4 5 to 6 11 to 127 8 9 10
Special specificationsMotor structure
Rotary encoder specifications
Voltage specifications
SpecificationsTypeSymbol
Low inertia(50W to 5.0kW)Middle inertia(1.0kW to 5.0kW)Middle inertia(1.5kW to 4.5kW)Middle inertia(0.9kW to 4.5kW)High inertia(1.0kW to 5.0kW)
GS
IncrementalAbsolute
SpecificationsSymbol Format Pulse count
OutputMotor rated output Symbol
SpecificationsSymbol
Resolution5-wire7-wire
Wire count
Motor structureMSME (50W to 750W)
*1 The product with oil seal is a special order product. *2 Key way with center tap[Products are standard stock items or manufactured by order. For details, inquire the dealer.]
ABST
Shaft Holding brake Oil sealWithout WithRound Key way Without With
Symbol
MSME (1.0kW to 5.0kW), MDME, MFME, MGME, MHME
CDGH
Shaft Holding brake Oil sealWithout WithRound Key way Without With
Symbol*1
*2*2
MSME
MDME
MFME
MGME
MHME
5A01020408091015202530404550
50W100W200W400W750W900W1.0kW1.5kW2.0kW2.5kW3.0kW4.0kW4.5kW5.0kW
12Z
100 V200 V100/200 common(50W only)
20bit17bit
1,048,576131,072
Design orderSpecificationsSymbol
1
C
StandardConnector for encoder : N/MS3102A20-29PIP65 motor(0.9 kW to 5.0 kW only selectable)
1. IntroductionOn Opening the Product Package
•Makesurethatthemodeliswhatyouhaveordered.•Checkiftheproductisdamagedornotduringtransportation.•CheckiftheOperatingInstructions(safety)areincludedornot.•Checkifthepowerconnector,motorconnectors,connectorforexternalregenerativeresistorconnection(onlyE-frame)andsafetyby-passplugareincludedornot.
(NeitherthepowerconnectornormotorconnectorareincludedtoF-frame.)
Contents of Name Plate
1. IntroductionCheck of the Motor Model
Model numberInput/output voltage
Rated output ofapplicable motor
Rated input/outputcurrent
Input/output frequency
Number of phase
Serial Numbere.g.) : P09040001N
Lot number Month of production
Year of production(Lower 2 digits of AD year)
Manufacture datee.g.) : 20090401
Manufacture dateManufacture yearManufacture month
− B5−− B4−
English
2. InstallationDriver
Install the driver properly to avoid a breakdown or an accident.Installation Place
1)Install thedriver inacontrolpanelenclosed innoncombustiblematerialandplaced indoorwheretheproductisnotsubjectedtorainordirectsunlight.Theproductsarenotwaterproof.
2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogensulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.
3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandlowhumidityanddust-freeplace. 5)Vibration-freeplace.6)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecause
theycandiscolorordamagetheexteriorcase.Environmental Conditions
Item Conditions *1Extreme tempera-turesarepermissibleonly for short periodsuchasduringtrans-portation.
*2Air containingwatervaporwil l becomesaturatedwithwatervaporasthetemper-ature falls, causingdew.
Ambienttemperature 0˚Cto55˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)
Storagetemperature*1 –20˚C to65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*2)
Storagehumidity 20%to85%RH(freefromcondensation*2)Vibration Lowerthan5.88m/s2(0.6G),10to60HzAltitude Lowerthan1000m
How to Install1)Rack-mounttype.Installinverticalposition,andreserveenoughspacearoundthe
servodriverforventilation.2)Basemount(rearmount)isstandardforA/B/C/D-framedriver.3)TochangethemountingsurfaceofA/B/C/D-framedriver,usetheoptionalmounting
fixture.Forchoosingthecorrectoptionalmountingfixture,refertotheOperatingIn-structions(Overall).
4)Forthedimensionsandmassof theproduct,whicharenecessarydesigndataofthemountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.
5) Inconsiderationofstrengthof thescrewsand thematerialof themountingbase,select appropriate fastening torque for theproductmounting screws, so that thescrewswillnotbeloosenedordamaged.
Example) Totightenasteelscrewintoasteelbase,AtoF-frame:M52.7to3.3N·m
2. InstallationDriver
Mounting Direction and Spacing•Reserveenoughsur-rounding space foreffectivecooling.
•Installfanstoprovideuniformdistributionof temperature in thecontrolpanel.
•D/E/F frame is pro-videdwith a coolingfanatthebottom.
•Observe theenviron-mental conditionsofthecontrolpaneldescribedinthepreviouspage.
Fan Fan 100mm or more
100mm or more
40mmor
more
40mmor
more
10mmor
more10mm
ormore
10mmor
more
Direction of air flowing from the internalcooling fan (D/E/F frame)
Control panel
Note Itisrecommendedtousetheconductivepaintwhenyoumakeyourownmountingfixture,orrepaintafterpeelingoffthepaintonthemachineforinstallingtheproducts,inordertomakenoisecountermeasure.
Caution on Installation•Wehavebeenmakingthebestefforttoensurethehighestquality,however,applica-tionofexceptionallylargeexternalnoisedisturbanceandstaticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction.Itishighlyrecommendedthatyoumakeafail-safedesignandsecurethesafetyintheopera-tiverange.
•Ifstrandedwiresareusedasthecable,bunchtheconductorsofthecableusingarodterminalsoraroundterminals.
If strandedwiresareusedas theyare, unexpectedaccidents suchasanelectricshockandshortcircuitorinjurymayresult.(RefertoP.B19.“Wiringmethodtocon-nector”.)
•Theremightbeachanceofsmokegenerationduetothefailureoftheseproducts.Payanextraattentionwhenyouapplytheseproductsinacleanroomenvironment.
•Be sure to install a no-fusebreaker in thepower supply. In addition, be sure togroundthegroundingterminalorgroundwireprovided.
Iftheproductisgroundedinsufficiently,notonlythedrivermaynotdeliveritsperfor-mancesufficiently,butalsosafetyhazardssuchasamalfunctionduetoaelectrifi-cationoradisturbancemaybecaused.
•Ifelectricwiresareboundandrunthroughmetalduct,theycannotcarrytheratedcurrentdue to temperature rise. If theyare forced to carry the ratedcurrent, theymayburn.Whendeterminingsizeof thewire,checkthecurrentdecreasingcoeffi-cientbyreferringtotheOperatingInstructions(Overall).
A to D-frame E, F-frameBasemount (Standard)[Rear mount]
Frontmount[Use mounting fixture]
Front or Basemount [Use mounting fixture]
Mountingfixture(Attachment)
Fastening torque of earth screws (M4) to be 0.7 to 0.8 N •m.
<E-frame>Fastening torque of earth screws (M4) to be 0.7 to 0.8 N •m.<F-frame>Fastening torque of earth screws (M5) to be 1.4 to 1.6 N •m.
Mounting fixture(optional parts)
− B7−− B6−
English
2)Verticalmounting •Usethemotorwithoilseal(make-to-order incaseofmotor750Wor less)when
mountingthemotorwithgearreducertopreventthereduceroil/greasefromenter-ingtothemotor.
3)For thedimensionsandmassof theproduct,whicharenecessarydesigndataofthemountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.
Oil/Water Protection1)Don'tsubmergethemotorcabletowateroroil.2)Installthemotorwiththecableoutletfacingdown-
ward.3)Avoidaplacewherethemotorisalwayssubject-
edtooilorwater.4)Usethemotorwithanoilsealwhenusedwiththe
gearreducer,sothattheoilmaynotentertothemotorthroughshaft.
Stress to Cables1)Avoidastressapplicationtothecableoutletandconnectingportionbybendingor
self-weight.2)Especiallyinanapplicationwherethemotoritselftravels,fixtheattachedcableand
contain theextension junctioncable into thebearerso that thestressbybendingcanbeminimized.
3)Take the cable bending radiusas largeaspossible. (When youuseour optionalcable,MinimumR20mm)
Permissible Load to Output Shaft1)Designthemechanicalsystemsothattheappliedradialloadand/orthrustloadto
themotor shaft at installationandatnormaloperationcanmeet thepermissiblevaluespecifiedtoeachmodel.
2)Payanextraattentionwhenyouusea rigidcoupling. (Excessbending loadmaydamagetheshaftordeterioratethebearinglife.)
3)Useaflexiblecouplingwithhighstiffnessdesignedexclusivelyforservoapplicationinordertomakearadialthrustcausedbymicromisalignmentsmallerthanthepermissiblevalue.
Notes on Installation1)Donotapplydirect impact to theshaftbyhammer
while attaching/detachinga coupling to and fromthemotorshaft.
(Or itmaydamage theencodermountedon theothersideoftheshaft.)
2)Makea full alignment. (incompletealignmentmaycausevibrationanddamagethebearing.)
3)If themotorshaft isnotelectricallygrounded, itmaycauseelectrolyticcorrosion tothebearingdependingontheconditionofthemachineanditsmountingenvironment,andmayresultinthebearingnoise.Checkandverificationbycustomerisrequired.
2. InstallationMotor
2. InstallationMotor
Install the motor properly to avoid a breakdown or an accident.
Installation PlaceSince the conditions of location affect a lot to the motor life, select a place which meets the conditions below.1)Indoors,wheretheproductsarenotsubjectedtorainordirectsunbeam.Theprod-
uctsarenotwaterproof.2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen
sulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.
3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandhumidanddust-freeplace,farapartfromtheheatsourcesuch
asafurnace.5)Easy-to-accessplaceforinspectionandcleaning6)Vibration-freeplace.7)Avoidenclosedplace.Motormaygetshotinthoseenclosureandshortenthemotorlife.
Environmental ConditionsItem Conditions
Ambienttemperature*1 0˚Cto40˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)
Storagetemperature*2 –20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*5)
Storagehumidity 20%to85%RH(freefromcondensation*5)Vibration Motoronly Lowerthan49m/s2(5G)atrunning,24.5m/s2(2.5G)atstallImpact Motoronly Lowerthan98m/s2(10G)
Enclosurerating
Motoronly(Connectortype)
IP67(exceptrotatingportionofoutputshaftandconnectingpinpartofthemotorconnectorandtheencoderconnector)*3*4
Altitude Lowerthan1000m*1Ambienttemperaturetobemeasuredat5cmawayfromthemotor.*2Permissibletemperatureforshortdurationsuchastransportation.*3ThesemotorsconformtothetestconditionsspecifiedinENstandards(EN60529,EN60034-
5).Donotusethesemotorsinapplicationwherewaterproofperformanceisrequiredsuchascontinuouswash-downoperation.
*4Thisconditionisappliedwhentheconnectormountingscrewincaseofmotor750Worlessaretightenedtotherecommendedtighteningtorque(RefertoP.B23,30,31).Besuretousemountingscrewsuppliedwiththeconnector.
*5Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperature falls,causingdew.
How to InstallYoucanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.
Cable Motor
Oil / Water
Motor
− B9−− B8−
English
: High voltage PC (to be supplied by customer)
Setup support software “PANATERM”Please download from our web site.
L1 (Pin-5)L2 (Pin-4)L3 (Pin-3)L1C (Pin-2)L2C (Pin-1)
• Connection to input powerWiring to Connector, XA
• Monitor outputWiring to Connector, X7
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Connection to motor driving phase and ground
Wiring to Connector, XBJunction cable for motor
• Wiring of Main Connector (XA)
• Wiring of Motor Connector (XB)
Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor. Reactor (L)Reduces harmonic current of the main power.
Pin B1 (6-pin), B2 (4-pin), andB3 (5-pin)• B2 and B3 to be kept shorted for
normal operation (For C-frame and D-frame).
• When you connect an external regenerative resistor, disconnect a short circuit wire between B2 and B3 (For C-frame and D-frame), then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
Note that no regenerative resistor is equipped in Frame A and B type.
Note
Short circuit wire(B2-B3)
Ground terminal
Junction cable for brake
DC Power supply for brakeDC24V(to be supplied by customer)
U-phase(red)V-phase(white)W-phase(black)
Charg lamp(Red LED)*1
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Ground(earth)
Handle leverUse this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)
Junction cable for encoder
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
• Connection to external componentsWiring to Connector, XB
B1 (Pin-6)B2 (Pin-4)
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
Remarks
3. System Configuration and WiringOverall Wiring (Connector type)
3. System Configuration and WiringOverall Wiring (Connector type)
Connecting Example of A to D-frame
− B11−− B10−
English
3. System Configuration and WiringOverall Wiring (Connector type)
3. System Configuration and WiringOverall Wiring (Connector type)
Connecting Example of E-frame
Short circuit wire(B2-B3)
Ground terminal
Charg lamp(Red LED)*1
Ground(earth)
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Junction cable for brake
DC Power supply for brakeDC24V (to be supplied by customer)
Junction cable for encoder
: High voltage PC (to be supplied by customer)
Setup support software “PANATERM”Please download from our web site.
L1 (Pin-5)L2 (Pin-4)L3 (Pin-3)L1C (Pin-2)L2C (Pin-1)
• Connection to input powerWiring to Connector, XA
• Monitor outputWiring to Connector, X7
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Connection to motor driving phase and ground
Wiring to Connector, XBJunction cable for motor
• Wiring of Main Connector (XA)
• Wiring of Motor Connector (XC)
Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor. Reactor (L)Reduces harmonic current of the main power.
Pin B1 (4-pin), B2 (2-pin), andB3 (3-pin)• B2 and B3 to be kept shorted for
normal operation. • When you connect an external
regenerative resistor, disconnect a short circuit wire between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
U-phase(red)V-phase(white)W-phase(black)
Handle leverUse this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
• Connection to external componentsWiring to Connector, XC
B1 (Pin-6)B2 (Pin-4)
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
Remarks
− B13−− B12−
English
: High voltage
Connection with input power supply
Connection to external components
Connection to motor driving phase and ground
Regenerative resistor (optional)
• When you use an external regenerative resistor, install an external protective apparatus, such as thermal fuse without fail.
• Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.
• Mount the regenerative resistor on incombustible material such as metal.
Remarks
Pin B1, B2 and B3• B2 and B3 to be kept shorted
for normal operation. • When you connect an external
regenerative resistor, disconnect a short bar between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.
Pin NC• Do not connect anything.
Junction cable for motor
• Wiring of Main ConnectorCircuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression units together with this.• Never start nor stop the servo
motor with this Magnetic Contactor.
Reactor (L)Reduces harmonic current of the main power.
Short bar(B2-B3)
B1B2
U-phase(red)V-phase(white)W-phase(black)
L3L2L1
L2CL1C
Ground(earth)
Ground terminal
Charg lamp(Red LED)*1
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Junction cable for brake
DC Power supply for brakeDC24V (to be supplied by customer)
Junction cablefor encoder
* These colors are used for optional cable.
MainsResidual
current device
• Apply the voltage designated on the nameplate from the power source.Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
Setup support software “PANATERM”Please download from our web site.
PC (to be supplied by customer)
• Connection to PC or host controllerWiring to Connector, X1
• Connection to RS232, RS485 or host controller
Wiring to Connector, X2
• Connection to Safety by-pass plug (Refer to P.B25)
Wiring to Connector, X3
• Connection to host controllerWiring to Connector, X4
• Connection to external scaleWiring to Connector, X5
• Connection to encoderWiring to Connector, X6
• Monitor outputWiring to Connector, X7
• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply.
Remarks
Connecting Example of F-frame
3. System Configuration and WiringOverall Wiring (Terminal block type)
3. System Configuration and WiringOverall Wiring (Terminal block type)
− B15−− B14−
English
3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments
3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments
Reference page Noisefilter.......................P.B43“CompositionofPeripheralEquipments” Surgeabsorber...............P.B45“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B46“CompositionofPeripheralEquipments” Motor/brakeconnector....P.B23“Wiringofconnectorformotorandbrake”• About circuit breaker and magnetic contactor To comply to EC Directives, install a circuit breaker between the power and
the noise filter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).
Suitableforuseonacircuitcapableofdeliveringnotmorethan5,000Armssymmetri-calamperes,belowthemaximuminputvoltageoftheproduct.
Remarks Selectacircuitbreakerandnoisefilterwhichmatchtothecapacityofpow-ersupply(includingaloadcondition).
• Terminal block and ground terminals•Useacopperconductorcableswithtemperatureratingof75˚Corhigher.•UsetheattachedexclusiveconnectorforAtoE-frame,andmaintainthepeeledofflengthof8to9mm.(RefertoP.B19)
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
Driver Terminal block screw
Terminal cover fastening screw
Frame Terminal name Nominal size
Fastening torque
(N•m) (*1)Nominal
sizeFastening
torque(N•m) (*1)
F200V L1,L2,L3,L1C,L2C,B1,B2,B3,NC,U,V,W M5 1.0to1.7 M3 0.19to0.21
• Fastening torque list (Ground terminal screw/Connector to host controller (X4))
Driver frame
Terminal block screw
Connector to host controller (X4)
Nominal size
Fastening torque
(N•m) (*1)Nominal
sizeFastening
torque(N•m) (*1)
AtoE M4 0.7to0.8M2.6 0.3to0.35
F M5 1.4to1.6
(*1)•Applyingfasteningtorquelargerthanthemaximumvaluemayresult indamagetotheproduct.
•Donotturnonpowerwithouttighteningallterminalblockscrewsproperly.•Donot turnonpowerwithout tighteningall terminal block screwsproperly, otherwise,loosecontactsmaygenerateheat(smoking,firing).
•Tocheckforlooseness,conductperiodicinspectionoffasteningtorqueonceayear.CautionBesure toconductwiringproperlyandsecurely. Insecureor improperwiringmaycausethemotor runningout of control or beingdamaged fromoverheating. In addition, payattentionnot toallowconductivematerials,suchaswirechips,entering thedriverduringtheinstallationandwiring.
Driver Applicablemotor Voltage
*1
Ratedoutput
RequiredPowerat the(rated load)
Circuitbreaker
rated (current)
Noisefilter
(Singlephase/3-phase )Surge
absorber
(Singlephase/3-phase )Noise
filter forsignal
Rated operating current of magnetic
contactor Contact ( configuration )
Diameter and
withstand voltage of
main circuit cable
Crimp terminal for main circuit
terminal block
Diameter and withstand
voltage of control
power supply cable
Crimp terminal
for control power supply
terminal block
Diameter and
withstand voltage of motor
cable*2
Diameter and
withstand voltage of brake
cable
MADH MSME
Singlephase,100V
50Wto100W
approx.0.4kVA
10A
DV0P4170 DV0P4190
DV0P1460
20A(3P+1a)
0.75mm2/AWG18600VACormore
Connectiontoexclusiveconnector
0.75mm2/AWG18600VACormore
Connectiontoexclusiveconnector
2.0mm2/AWG14600VACormore
0.28mm2/AWG22
to0.75mm2/AWG18100VACormore
Single/3-phase,200V
50Wto200W
approx.0.5kVA
DV0P4170/
DV0PM20042
DV0P4190/
DV0P1450
MBDH MSME
Singlephase,100V
200W approx.0.5kVA DV0P4170 DV0P4190
Single/3-phase,200V
400W approx.0.9kVA
DV0P4170/
DV0PM20042
DV0P4190/
DV0P1450
MCDH MSME
Singlephase,100V
400W approx.0.9kVA DV0PM
20042
DV0P4190
Single/3-phase,200V
750W approx.1.3kVA
15A
DV0P4190/
DV0P1450MDDH
MDME
Single/3-phase,200V
1.0kW approx.1.8kVA
DV0P4220 30A(3P+1a)
2.0mm2/AWG14600VACormore
0.75mm2/AWG18100VACormore
MHME
MGME 0.9kW approx.1.8kVA
20AMSME 1.0kW approx.
1.8kVAMHME
1.5kW approx.2.3kVA
MDMEMFMEMSME
MEDH
MDME
3-phase,200V
2.0kW approx.3.3kVA
30A DV0PM20043 DV0P1450
DV0P1460RJ8035
Recommended(component)*3
60A(3P+1a)
0.75mm2/AWG18600VACormore
MSMEMHME
MFME 2.5kW approx.3.8kVA
MFDH
MGME
3-phase,200V
2.0kW approx.3.8kVA
50A DV0P3410 DV0P1450
DV0P1460RJ8035
Recommended(component)*3
60A(3P+1a)
3.5mm2/AWG12600VACormore
11mm orsmaller
ø5.3TerminalblockM5
0.75mm2/AWG18600VACormore
11mm orsmaller
ø5.3TerminalblockM5
3.5mm2/AWG12600VACormore
MDME
3.0kW approx.4.5kVA
MHMEMSMEMGMEMDME
4.0kW approx.6.0kVA
100A(3P+1a)
MHMEMSME
MFME4.5kW
approx.6.8kVA
MGMEapprox.7.5kVA
MDME5.0kWMHME
MSME
*1Selectperipheralequipmentsforsingle/3phasecommonspecificationaccordingtothepowersource.
*2Thediameterofthegroundcablemustbeequalto,orlargerthanthatofthemotorcable.*3Usetheseproductstosuitaninternationalstandard.
− B17−− B16−
English3. System Configuration and WiringWiring of the Main Circuit (Connector type)3. System Configuration and Wiring
Wiring of the Main Circuit (Connector type)
A to D-frame, 100 V / 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XAandXB)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XAandXB).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.
Motor
Varistor
DC 24V
MCCBPowersupply NF MC
U
V
W
E
L
Fuse (125 V 10 A)
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.
Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.
• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Don't disconnect the shorting cable between B2 and B3 (C and D frame type). Shorting cable is not required for A and B frame. Disconnect this only when the external regenerative register is used.
• Avoid shorting and grounding. Don't connect the main power.
• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment.
Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
L1CL3L2L1
L2C
B1B3B2UVW
XA
XB
2345
1
23456
1
DC power supply for brake
External regenerative resistor
* These colors are used for optional cable.
Red
Black
Green orGreen/yellow
White
RCD
Motor
Varistor
DC 24V
U
V
W
E
Fuse (125 V 10 A)
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.
Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.
• Don't disconnect the shorting cable between B2 and B3. Disconnect this only when the external regenerative register is used.
• Do not connect anything to NC.• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Avoid shorting and grounding. Don't connect the main power.
• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment. Two ground terminals are provided.
• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
L1CL3L2L1
L2C
B1B3
NC
UVW
XA
XC
XB
2345
1
23
1
3B22
4
1
DC power supply for brake
Red
Black
Green
White
MCCBPowersupply NF MC LRCD
External regenerative resistor
* These colors are used for optional cable.
E-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XA,XBandXC)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XA,XBandXC).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.
− B19−− B18−
English
3. System Configuration and WiringWiring of the Main Circuit (Terminal block type)
F-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.
• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtotheter-
minalblock.Forcablediameterandsize,referto“DriverandListofApplicablePe-ripheralEquipments”(P.B14).
Tightentheterminalblockscrewwithatorquebetween1.0and1.7N•m.3)Attachtheterminalcover,andfixwithscrews. TightenthescrewsecuringthecoverwithatorquewrittenonP.B15.
Motor
Varistor
DC 24V
L1
UV
W
E
L2L3
L1CL2CB1B3B2NCUVW
• Check the name plate of the driver for power specifications.
• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.
• Provide a circuit breaker.• Make sure to provide a noise filter.• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer. Never start/stop the motor with this Magnetic Contactor.
• Provide an AC Reactor.• Don't disconnect the short bar between B1 and B2. Disconnect this only when an external regenerative register is used.
• Do not connect anything to NC.• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).
• Avoid shorting and grounding. Don't connect the main power.• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.
• The ground terminal ( ) must not be shared with other equipment.
Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.
• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.
• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor.• Connect a 10A fuse in series with the varistor.
Ground resistance: 100 Ω max.For applicable wire, refer to P.B14.
DC powersupply for brake
Fuse (125 V 10 A)
Red
Black
Green
White
MCCBPowersupply NF MC LRCD
External regenerative resistor
* These colors are used for optional cable.
3. System Configuration and WiringWiring method to connector
•FollowtheproceduresbelowforthewiringconnectiontotheConnector XA , XB and XC .
How to connect1.Peelofftheinsulationcoverofthecable.•Forsinglewire(Pleaseobeythelengthinfigure.)
•Forstrandedwires(ferrulesmustbeusedasillustratedbelow). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)1)Peel off the sheath so that the conduc-
torportionofthecablewillprotrudefromthetipoftheferrule.(Itshouldprotrude1mmormorefromtheferrule.)
2)Insertthecableintotheferruleandcrimpitwithanappropriatecrimpingtool.
3)Aftercrimping,cutoff thecableconduc-tor portionprotruding from the ferrule.(Theallowableprotruding lengthaftercuttingshouldbe0to0.5mm.)•PartNo.ofthecrimpingtool:CRIMPFOXU-D66(1204436)AvailablefromPhoenixContact,Ltd.
Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.)Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.)1)Peeloff thesheathof thecableconduc-
tor portion to the lengthequal to that ofsheathontheferrule.
2)Insertthecableintotheferruleandcrimpitwithanappropriatecrimpingtool.
•PartNo.ofthecrimpingtool:YNT-1614AvailablefromJ.S.T.Mfg.Co.,Ltd<Cables Compatible with Connector>ConductorSize AWG18to12SheathOutline φ2.1toφ4.2mm<Recommended Connector Bar Terminal>ConductorSize AWG18TerminalModelNumber AI0.75-8GY(PhoenixContact,Ltd.)ConductorSize AWG16to14TerminalModelNumber VTUB-2orNTUB-2(J.S.T.Mfg.Co.,Ltd)
Caution •Whenpeelingoff the sheathof the cable, take carenot to damageotherportions.
•Whencrimping the ferrule, sufficientlycheck thestatusof the ferruleandcable. If theconductorsof thecablestickout fromthe insulationcoverorprotrudeexcessivelyfromthetipoftheferrule,accidentssuchasanelectricshockandfirefromashortcircuitmayresult.
8 to 9 mm
①
②
③
AA>B
1mm or more
B
①
②
AA≧B A≦B+C
B C
− B21−− B20−
English
2.Insertthecabletotheconnectorinthefollowing2methods. (a)Insertthecableusingthesuppliedhandlelever. (b)Insertthecableusingaflat-bladescrewdriver(Edgewidth:3.0to3.5mm).
3. System Configuration and WiringWiring method to connector
(a) Using handle lever
* You can pull out the cable by pushing down the spring as the above.
Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring.
Insert the peeled cable while pressing down the lever, until it hits the insertion slot (round hole).
Release the lever.
(b) Using screw driver
Press the screw driver to the handling slot on the upper portion to push down the spring.
Insert the peeled cable while pressing down the screw driver, until it hits the insertion slot (round hole).
Release the screw driver.
1 2
1 2 3
3
Caution •Takeoff theconnector from theServoDriverbeforemakingconnec-tion.
•Insertonlyonecableintoeachoneofcableinsertionslot.•Payattentiontoinjurybyscrewdriver.
3. System Configuration and WiringWiring Diagram
Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.
Noi
se fi
lter
Noi
se fi
lter
Motor
ALM+
L2L3
L1CL2C
B1
MC
MCCB
B3B2UVW
L1
ALM−
External regenerative resistor
Remove the short wire when you connectthe external regenerative resistor.(C, D-Frame)
Remove the short wire when you connectthe external regenerative resistor.(C, D-Frame)
External regenerative resistor
L
ON
In Case of Single Phase, A to D-frame, 100 V / 200 V type
In Case of 3-Phase, A to D-frame, 200 V type
Motor
ALM+
L2L3
L1CL2C
B1
MC
MCCB
ALMOFF
B3B2UVW
L1
Coil surge suppression units
Built-in thermostat of an externalregenerative resistor (light yellow)
ALM−
RedWhite
BlackGreen or Green/Yellow
RedWhite
BlackGreen or Green/Yellow
XA
XB
X4
L
ON MC
ALMOFF
Built-in thermostat of an externalregenerative resistor (light yellow)
MC
Main powersupply
Control powersupply
Motorconnection
Main powersupply
Control powersupply
Motorconnection
Power supply Single phase, 100V to 120V–15% +10% Single phase, 200V to 240V–15% +10%
Power supply 3-phase, 200V to 240V–15% +10%
XA
XB
X4
When you use single phase, connect the main power between L1 and L3 terminals.
RemarksCoil surge suppression units
* These colors are used for optional cable.
* These colors are used for optional cable.
37
36
ALM
Insulated DC12 to 24V
(±5%)+−
37
36
ALM
Insulated DC12 to 24V
(±5%)+−
Note Forwiringthemotorconnector,refertoP.B23.
− B23−− B22−
English
•When themotorsof<MSME (50 W to 750 W)> areused, theyareconnectedasshownbelow.
Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)
•Whenthemotorsof<MSME (1.0 kW to 5.0 kW), MDME, MFME, MGME, MHME>areused,theyareconnectedasshownbelow.
Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)
3. System Configuration and WiringWiring Diagram
In Case of 3-Phase, E-frame, 200 V type
In Case of 3-Phase, F-frame, 200 V type
XC
XB
Motor
ALM+
L2L3
L1CL2C
MC
MCCBL1
ALM−
XA
X4
L
ON
B1B3B2NC
UVW
Motor
ALM+
L2L3
L1CL2C
MC
MCCBL1
ALM−
X4
L
ON
B1B3B2NCUVW
ALMOFF
Built-in thermostat of an externalregenerative resistor (light yellow)
MC
ALMOFF
Built-in thermostat of an externalregenerative resistor (light yellow)
MC
Noi
se fi
lter
External regenerative resistor
Remove the short wire when you connect the external regenerative resistor.
External regenerative resistor
Remove the short wire when you connect the external regenerative resistor.
RedWhite
BlackGreen
Main powersupply
Control powersupply
Motorconnection
Main powersupply
Control powersupply
Motorconnection
Power supply 3-phase, 200V to 230V–15% +10%
Power supply 3-phase, 200V to 230V–15% +10%
Noi
se fi
lter
RedWhite
BlackGreen
Coil surge suppression units
Coil surge suppression units
37
36
ALM
Insulated DC12 to 24V
(±5%)+−
37
36
ALM
Insulated DC12 to 24V
(±5%)+−
* These colors are used for optional cable.
* These colors are used for optional cable.
Note Forwiringthemotorconnector,refertoP.B23.
3. System Configuration and WiringWiring of connector for motor and brake
Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.
JN8AT04NJ1
1 U-phaseV-phaseW-phaseGround
PIN No.
23
PE
ApplicationPE321
1
2<Motor> <Brake>
JN4AT02PJ1-RTightening torque of the screw (M2) 0.085 to 0.095 N·m (screwed to plastic)
Tightening torque of the screw (M2) 0.19 to 0.21 N·m
12
BrakeBrake
PIN No. Application
* Be sure to use only the screw supplied with the connector, to avoid damage.
Do not connect anything to NC.Remarks
A
B
D
C
AHG
CDE
BIF
CBA
IHG
FED
A
JL04V-2E20-4PE-B-RJL04HV-2E22-22PE-B-R
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
U-phaseV-phaseW-phaseGround
PIN No.
BCD
Application
GHAFIBEDC
BrakeBrake
NCU-phaseV-phaseW-phaseGroundGround
NC
PIN No. ApplicationA Brake
BrakeNC
U-phaseV-phaseW-phaseGroundGround
NC
PIN No.
BCDEFGHI
Application
AHG
CDE
BIF
CBA
IHG
FED
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
GHAFIBEDC
NCNCNC
U-phaseV-phaseW-phaseGroundGround
NC
PIN No. ApplicationA NC
NCNC
U-phaseV-phaseW-phaseGroundGround
NC
PIN No.
BCDEFGHI
Application
<without Brake> <with Brake>
− B25−− B24−
English
3. System Configuration and WiringWiring to the connector, X1
ThisisusedforUSBconnectiontoapersonalcomputer.Itispossibletochangetheparametersettingandperformmonitoring.
Application Symbol ConnectorPin No. Contents
USBsignalterminal
VBUS 1Useforcommunicationwithpersonalcomputer.D− 2
D+ 3— 4 Donotconnect.
GND 5 Connectedtogroundofcontrolcircuit.
Caution UsecommerciallyavailableUSBmini-Bconnectorforthedriver.
3. System Configuration and WiringWiring to the connector, X2
This isused for connection to thehost controllerwhen twoormoreunitsareused.RS232andRS485interfacesaresupplied.
Application Symbol ConnectorPin No. Contents
Signalground GND 1 Connectedtogroundofcontrolcircuit.NC – 2 Donotconnect.
RS232signalTXD 3 RS232
Thetransmission/receptionmethod.RXD 4
RS485signal
485− 5RS485Thetransmission/receptionmethod.
485+ 6485− 7485+ 8
Frameground FG Shell Connectedwithprotectiveearthterminalintheservodriver.
Connector(plug):2040008-1(optional,availablefromTycoElectronicsAMP)[Connector pin assignment]
(Viewed from cable)8 6 4 27 5 3 1
3. System Configuration and WiringWiring to the connector, X3
Asafetyby-passplugissuppliedasstandardequipment.Donotdisconnectitinnor-maltimes.When controlling the safety function from the connectedhost controller, accessoryconnectorcannotbeused.Prepareandwire theconnector (option)asspecifiedbe-low.Sincethestandardconnectorcannotbeusedwhencontrollingthesafetyfunctionfrom thehost controller, purchase theoptional connector andmake connectionasshownbelow.
Application Symbol ConnectorPin No. Contents
NC– 1
Donotconnect.– 2
Safetyinput1SF1− 3
Thesearetwoindependentcircuitsthatturnofftheoperationsignaltothepowermoduletoshutoffthemotorcurrent.
SF1+ 4
Safetyinput2SF2− 5SF2+ 6
EDMoutputEDM− 7 Thisisanoutputformonitoringthefailure
ofthesafetyfunction.EDM+ 8
Frameground FG Shell Connectedwithprotectiveearthterminalintheservodriver.
Connector(plug):2013595-1(optional,availablefromTycoElectronicsAMP)
8 6 4 27 5 3 1
[Connector pin assignment]
(Viewed from cable)
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Caution Disconnectingthisconnectorduringoperationresultsinimmediatestop.
− B27−− B26−
English
3. System Configuration and WiringWiring to the connector, X4
Wiring Example of Position Control Mode
The
func
tions
of t
he fo
llow
ing
pin
can
be c
hang
ed u
sing
par
amet
ers.
In
put:
8, 9
, 26,
27,
28,
29,
30,
31,
32,
33
O
utpu
t: 10
-11,
12,
34-
35, 3
6-37
, 38-
39, 4
0
2.2kΩ
2.2kΩ
2.2kΩ
2.2kΩ
14 15 16 17 4318 42
In c
ase
of o
pen
colle
ctor
I/F
7C
OM
+
PULS
2
SIG
N1
SIG
N2
GN
D
OA+
OA-
OB+
OB-
OZ+
OZ-
GN
D
CZ
SPR/TR
QR/SP
LG
ND
P-ATL
/TRQR
GN
DN
-ATL
SP IM
431 2 5 6 13 21 22 48 24 25 1949 23
1kΩ
1kΩ
PULS
1
OPC
2
OPC
1IN
HC
LSR
V-O
NG
AIN
DIV
1VS
-SEL
1C-
MOD
EA-
CLR
POT
NO
T
S-RD
Y+S-
RDY-
ALM
+
INP+
BRKO
FF+
BRKO
FF-
TLC
VDC
12 to
24V
ZSP
CO
M-
SIG
NH
1SI
GN
H2
PULS
H1PU
LSH2
GN
DFGIN
P-
ALM-
33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 5026
Z-ph
ase
outp
ut(o
pen
colle
ctor
)
3PU
LS1
4PU
LS2
X4
46 47
14kΩ 10kΩ
20kΩ
20kΩ
14kΩ 10kΩ
20kΩ
20kΩ
47kΩ
47kΩ
47kΩ 47
kΩ
20kΩ
20kΩ
+– +– –
20kΩ
2kΩ 2kΩ20k
Ω120
Ω 20kΩ
2kΩ 2kΩ20k
Ω120
Ω
220Ω
VDC
R
5SI
GN
1
6SI
GN
222
0ΩR
1O
PC1
4PU
LS2
220Ω
24VD
C
2O
PC1
6SI
GN
222
0Ω
2.2kΩ
2.2kΩ
(1) W
hen
you
use
the
exte
rnal
res
isto
r with
12V
and
24V
pow
er s
uppl
y
(2) W
hen
you
do n
ot u
se th
e
ext
erna
l res
isto
r with
24V
pow
er s
uppl
y
Posit
ive d
irect
ion
torq
ue lim
it in
put
(0
to +
10V)
Nega
tive
dire
ctio
n to
rque
lim
it in
put
(-1
0 to
+10
V)Ve
locit
y m
onito
r out
put
Torq
ue m
onito
r out
put
Com
man
d pu
lse
inpu
t A(U
se w
ith50
0 kpp
s or le
ss.)
Divider
A-ph
ase
outp
ut
B-ph
ase
outp
ut
Z-ph
ase
outp
ut
Com
man
d pu
lse
inpu
t B(U
se w
ith 4
Mpp
s or
less
.)
Be s
ure
to c
onne
ct.
VDC
12V
24V
Spec
ificati
ons
of R
1kΩ
1/2W
2kΩ
1/2W
VDC-1
.5R
+220
=10m
A..
Serv
o-O
N in
put
Gain
switc
hing i
nput
Elec
troni
c ge
ar
switc
hing
inpu
t 1
Con
trol m
ode
switc
hing
inpu
t
Dam
ping
con
trol
switc
hing
inpu
t 1
Alar
m cl
ear i
nput
Posi
tive
dire
ctio
nov
er-tr
avel
inhi
bitio
n in
put
Neg
ativ
e di
rect
ion
over
-trav
el in
hibi
tion
inpu
t
Serv
o-R
eady
out
put
Serv
o-Al
arm
out
put
Posit
ioning
comp
lete o
utput
Exter
nal b
rake
relea
se ou
tput
Torq
ue in
-lim
it ou
tput
Zero
spee
d dete
ction
outpu
t
Dev
iatio
n co
unte
r cl
ear i
nput
Com
man
d pu
lse
inhi
bitio
n in
put
(
:
Tw
iste
d pa
ir)
4.7kΩ
220Ω
2.2kΩ
2.2kΩ
220Ω
2.2kΩ
2.2kΩ
Wiring Example of Velocity Control Mode
3. System Configuration and WiringWiring to the connector, X4
The
func
tions
of t
he fo
llow
ing
pin
can
be c
hang
ed u
sing
par
amet
ers.
In
put:
8, 9
, 26,
27,
28,
29,
30,
31,
32,
33
O
utpu
t: 10
-11,
12,
34-
35, 3
6-37
, 38-
39, 4
0
7C
OM
+
OA+
OA -
OB+
OB-
OZ+
OZ-
GN
D
CZ
SPR/TR
QR/SP
LG
ND
P-ATL
/TRQR
GN
DN
-ATL
SP IM
21 22 48 24 25 1949 23
1kΩ
1kΩ
INTS
PD1
INTS
PD2
SRV-
ON
GAI
NIN
TSPD
3ZE
ROSP
DC-
MODE
A-C
LRPO
TN
OT
S-R
DY+
S-R
DY-
ALM
+
BRKO
FF+
BRKO
FF-
TLC
VDC
12 to
24V
ZSP
CO
M-
FGALM-
33 30 29 27 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 5028
14 15 16 17 18 43 42
26
14kΩ 10kΩ
20kΩ
20kΩ
14kΩ 10kΩ
20kΩ
20kΩ
47kΩ
47kΩ
47kΩ 47
kΩ
20kΩ
20kΩ
X4
A-ph
ase
outp
ut
B-ph
ase
outp
ut
Z-ph
ase
outp
ut
Z-ph
ase o
utput
(open
colle
ctor)
Velo
city
com
man
d in
put (
0 to
± 1
0V)
Posi
tive
dire
ctio
n to
rque
lim
it in
put (
0 to
± 1
0V)
Neg
ativ
e di
rect
ion
torq
ue
limit
inpu
t (-1
0 to
0V)
Velo
city
mon
itor o
utpu
tTo
rque
mon
itor o
utpu
t
Serv
o-O
N in
put
Gain
switc
hing i
nput
Alar
m c
lear
inpu
t
Spee
d zero
clam
p inp
ut
Sele
ctio
n 1
inpu
t of
inte
rnal
com
man
d sp
eed
Sele
ctio
n 2
inpu
t of
inte
rnal
com
man
d sp
eed
Sele
ctio
n 3
inpu
t of
inte
rnal
com
man
d sp
eed
Con
trol m
ode
switc
hing
in
put
Posi
tive
dire
ctio
nov
er-tr
avel
inhi
bitio
n in
put
Neg
ativ
e di
rect
ion
over
-trav
el in
hibi
tion
inpu
t
Serv
o-R
eady
out
put
Serv
o ala
rm o
utpu
t
At-s
peed
out
put
Torq
ue in
-limit o
utpu
t
Zero
spee
d de
tecti
on o
utpu
t
Divider
+– +–+–
AT-SP
EED+
AT-SP
EED-
(
:
Tw
iste
d pa
ir)
4.7kΩ
Exter
nal b
rake
relea
se ou
tput
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
− B29−− B28−
English
Wiring Example of Torque Control Mode
3. System Configuration and WiringWiring to the connector, X4
The
func
tions
of t
he fo
llow
ing
pin
can
be c
hang
ed u
sing
par
amet
ers.
In
put:
8, 9
, 26,
27,
28,
29,
30,
31,
32,
33
O
utpu
t: 10
-11,
12,
34-
35, 3
6-37
, 38-
39, 4
07C
OM
+
OA+
OA -
OB+
OB - OZ+
OZ -
GN
D
CZ
SPR/TR
QR/SP
LG
ND
P-ATL
/TRQR
GN
DN
-ATL
SP IM
21 22 48 24 25 19 14 15 16 17 4318 4249 23
14kΩ 10kΩ
20kΩ
20kΩ
14kΩ 10kΩ
20kΩ
20kΩ
47kΩ
47kΩ
47kΩ 47
kΩ
20kΩ
20kΩ
1kΩ
1kΩ
INH
CL
SRV-
ON
GAI
ND
IV1
ZERO
SPD
C-M
ODE
A-C
LRPO
TN
OT
S-R
DY+
S-R
DY -
ALM
+
AT-SP
EED+
BRKO
FF+
BRKO
FF-
TLC
VDC
12 to
24V
ZSP
CO
M-
FG
AT-SP
EED-
ALM-
33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 50
Z-pha
se ou
tput (o
pen c
ollec
tor)
X4
Divider
A-ph
ase
outp
ut
B-ph
ase
outp
ut
Z-ph
ase
outp
ut
Torq
ue c
omm
and
inpu
t or
vel
ocity
lim
it in
put (
0 to
±10
V)
Velo
city
mon
itor o
utpu
tTo
rque
mon
itor o
utpu
t
Wirin
g ex
ample
whe
n co
ntro
l mod
e Pr
0.01
=5 o
r Pr3
.17=
1
CCWT
L/TRQ
RG
ND
16 17N
egat
ive
dire
ctio
n to
rque
lim
it in
put (
0 to
±10
V)Se
lect
with
Pr3
.17.
+– +– +–
Serv
o-ON
inpu
tGa
in sw
itchin
g inp
ut
Alar
m cl
ear i
nput
Serv
o-Re
ady o
utpu
t
Serv
o-Al
arm
out
put
At-s
peed
out
put
Exter
nal b
rake
relea
se ou
tput
Torq
ue in
-limit o
utpu
t
Zero
spee
d de
tecti
on o
utpu
t
Spee
d ze
ro cl
amp
input
Con
trol m
ode
switc
hing
inpu
t
Posi
tive
dire
ctio
nov
er-tr
avel
inhi
bitio
n in
put
Neg
ativ
e di
rect
ion
over
-trav
el in
hibi
tion
inpu
t
(
:
Tw
iste
d pa
ir)
4.7kΩ
3. System Configuration and WiringWiring to the connector, X5
Connect on to External ScaleProvideapowersupplyfortheexternalscaleonyourpartorusethefollowingpoweroutput(250mAorless).
Application Symbol ConnectorPin No. Contents
PowersupplyoutputEX5V 1 Supplythepowerofexternal
scaleorA,B,Zphaseencoder.
EX0V 2 Connectedtogroundofcontrolcircuit.
I/FofexternalscalesignalsEXPS 3 Serialsignal
Thetransmission/receptionmethod./EXPS 4
A,B,ZphaseEndodersignalinput
EXA 5
ParallelsignalreceptionCorrespondencespeed:4Mpps(afterquadruple)
/EXA 6EXB 7/EXB 8EXZ 9/EXZ 10
Frameground FG Shell Connectedwithgroundterminalintheservodriver.
Connector(plug):MUF-PK10K-X(byJ.S.T.Mfg.Co.,Ltd.)• Caution1)Themanufacturersapplicableexternalscalesforthisproductareasfollows.
•MitutoyoCorp.•MagnescaleCo.,Ltd.
Forthedetailsoftheexternalscaleproduct,contacteachcompany.2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160 If you set up theexternal scale ratio to smaller value than50/position loopgain
(Pr1.00andPr.1.05),youmaynotbeabletocontrolper1pulseunit.Setupoflarg-erscaleratiomayresultinlargernoise.
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
− B31−− B30−
English
3. System Configuration and WiringWiring to the connector, X6
Connection to Encoder•Incaseof20-bitincrementalencoder
MSME 50W to 750W
MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMFME 1.5kW to 4.5kWMGME 0.9kW to 4.5kWMHME 1.0kW to 5.0kW
Shell (FG)
+5V0V
123456
41
37
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
9
PSPSFG
E5VE0V
X6
Reg
ulat
orR
egul
ator
Shell (FG)
+5V0V
123456
63
74
Twisted pair
Encoder cable
Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
1
PSPSFG
E5VE0V
X6
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.
To avoid damage, be sure to use only the screw supplied with the connector.
• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.
[Connector pin assignment]
(Viewed from cable)
2 51
3 6
4 7
Caution
Shell (FG)
+5V0V
123456
41
37
Twisted pair
Encoder cable
Connector: JN2DS10SL1-R(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
9
PS
5BAT−
6BAT+
PSFG
E5VE0V
X6
Shell (FG)
+5V0V
123456
63
725
4
Twisted pair
Encoder cable
Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)
Motor Driver
E5VE0V
PSPS
1
PSBAT−BAT+
PSFG
E5VE0V
X6
battery
battery Reg
ulat
orR
egul
ator
MSME 50W to 750W
MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMFME 1.5kW to 4.5kWMGME 0.9kW to 4.5kWMHME 1.0kW to 5.0kW
• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.
To avoid damage, be sure to use only the screw supplied with the connector.
• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.
[Connector pin assignment]
(Viewed from cable)
2 51
3 6
4 7
Caution
•Incaseof17-bitabsoluteencoder
3. System Configuration and WiringWiring to the connector, X6
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
− B33−− B32−
English
3. System Configuration and WiringWiring to the connector, X7
TheconnectorX7ofthefrontpanelisformonitoroutput. Analogueoutput:2systems Digitaloutput :1systemsInbothcases,itispossibletoswitchtheoutputsignalbysettingparameters.
Application Symbol ConnectorPin No. Contents
Analoguemonitoroutput1 AM1 1
•Outputtheanaloguesignalformonitor.
• Theamplitudeoftheoutputsignalis±10V.
•Outputimpedanceis1kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.
Analoguemonitoroutput2 AM2 2
Signalground GND 3 Connectedtogroundofcontrolcircuit.
Digitalmonitoroutput DM 4
•Outputthedigitalsignalformonitor.•OutputvoltageisCMOSlevelcompatible.
•Outputimpedanceis2.2kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.
NC – 5 Donotconnect.
NC – 6 Donotconnect.
Connector X7Manufacturer’s part No.: 530140610Manufacturer: Japan Molex Inc.
6 1
X7
Measuringinstrument
Output circuit11kΩ
2.2kΩ
AM1
DM 4
GND 3
1kΩ AM2 2
4. ParameterOutline / Setup / Connection
Outline of ParameterThisdriverisequippedwithvariousparameterstosetupitscharacteristicsandfunc-tions.Thissectiondescribesthefunctionandpurposeofeachparameter.Readandcomprehendverywellsothatyoucanadjustthisdriverinoptimumconditionforyourrunningrequirements.• You can refer and set up the parameter with either one of the following.1)frontpanelofthedriver2)combinationofthesetupsupportsoftware,"PANATERM"andPC.
Setup with the Front Panel
Press these to change display and data, select parameters and execute actions.(Change/Selection/Execution is valid to the digit which decimal point flashes.)Numerical value increases by pressing, ,decreases by pressing .
Shifting of the digit for datachanging to higher digit.
X7Output connector for monitor
Display LED (6-digit)Switch to error display screen when error occurs, and LED will flash (about 2Hz).LED will flash slowly (about 1Hz) when warning occurs.
Mode switching button (valid at SELECTION display) Press this to switch 4 kinds of mode. 1) Monitor Mode 2) Parameter Set up Mode 3) EEPROM Write Mode 4) Auxiliary Function Mode
SET Button (valid at any time)Press this to switch SELECTION and EXECUTION display.
6 1
X7
Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.
− B35−− B34−
English
Setup with the PCItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5usingaUSBcableforpersonalcomputerconnection.Downloadingthesetupsupportsoftware“PANATERM”fromourwebsiteandinstallingitonyourpersonalcomputerwillallowyoutoperformthefollowingeasily.• With the PANATERM, you can execute the followings.1)Setupandstorageofparameters,andwritingtothememory(EEPROM).2)MonitoringofI/O,pulseinputandloadfactor.3)Displayofthepresentalarmandreferenceoftheerrorhistory.4)Datameasurementofthewave-formgraphicandbringingofthestoreddata.5)Normalauto-gaintuning6)Frequencycharacteristicmeasurementofthemachinesystem.
Note Becausenoproduction software suchasCD-ROM is available, down-loadthesetupsupportsoftwarefromourwebsiteandinstall itonyourpersonalcomputer.
• How to Connect
• USB cableOnthedriver,usecommerciallyavailableUSBmini-Bconnector.The connector on thepersonal computer side shouldbe in accordancewith thespecificationsofthePC.Whenthecabledoesnothavenoisefilter,attachasignallinenoisefilter(DV0P1460)tobothendsofthecable.
4. ParameterOutline / Setup / Connection
Connect to X1(USB mini-B)
Setup support software “PANATERM”Please download from our web site anduse after install to the PC.
4. ParameterComposition of Parameters
• The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.).• For the details on the parameters, refer to the Operating Instructions (Overall).
Parametr No.Class name Group
Class No.*
0 00to Basicsetting ParameterforBasicsetting
1 00to Gainadjustment ParameterforGainadjustment
2 00to Dampingcontrol ParameterforDampingcontrol
3 00to Verocity/Torque/Full-closedcontrol ParameterforVerocity/Torque/Full-closedcontrol
4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting
5 00to Enhancingsetting ParameterforEnhancingsetting
6 00to Specialsetting ParameterforSpecialsetting
*TheParameterNo.consistsof2digits.
− B37−− B36−
English
5. Protective FunctionsProtective Function (What Is Error Code ?)
•Variousprotective functionsareequipped in thedriver.When theseare triggered, themotorwillstallduetoerror,thedriverwillturntheServo-Alarmoutput(ALM)tooff(open).
•Errorstatusandtheirmeasures•During theerror status, theerror codeNo.will bedisplayedon the front panel
LED,andyoucannotturnServo-ON.•YoucancleartheerrorstatusbyAlarmclearinput(A-CLR)in120msorlonger.•Whenoverloadprotection is triggered, you can clear it byAlarmclear input(A-
CLR)in10secorlongeraftertheerroroccurs.YoucancleartheOverloadprotec-tiontimecharacteristics(refertoP.B40,41)byturningoffthecontrolpowersupplybetweenL1CandL2C(100V,200V)ofthedriver.*1
•Youcancleartheaboveerrorbyoperatingthefrontpanelkeysandsetupsupportsoftwear"PANATERM".
•Besuretoclearthealarmduringstopafterremovingthecauseoftheerrorandsecuringsafety.
• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).<List of error code No.>Error code Protective function AttributeMain Sub History Can be cleared Immediate stop11 0 Controlpowersupplyunder-voltageprotection ○12 0 Over-voltageprotection ○ ○
13 0 Mainpowersupplyunder-voltageprotection(betweenPtoN) ○1 Mainpowersupplyunder-voltageprotection(ACinterceptiondetection) ○
14 0 Over-currentprotection ○1 IPMerrorprotection ○
15 0 Over-heatprotection ○ ○16 0 Over-loadprotection ○ ○*1
18 0 Over-regenerationloadprotection ○ ○1 Over-regenerationTrerrorprotection ○
21 0 Encodercommunicationdisconnecterrorprotection ○1 Encodercommunicationerrorprotection ○
23 0 Encodercommunicationdataerrorprotection ○24 0 Positiondeviationexcessprotection ○ ○ ○25 0 Hybriddeviationexcesserrorprotection ○ ○
26 0 Over-speedprotection ○ ○ ○1 2ndover-speedprotection ○ ○
27 0 Commandpulseinputfrequencyerrorprotection ○ ○ ○2 Commandpulsemultipliererrorprotection ○ ○ ○
28 0 Limitofpulsereplayerrorprotection ○ ○ ○29 0 Deviationcounteroverflowprotection ○ ○30 0 Safetydetection ○
330 IFoverlapsallocationerror1protection ○1 IFoverlapsallocationerror2protection ○2 IFinputfunctionnumbererror1protection ○
Error code Protective function AttributeMain Sub History Can be cleared Immediate stop
33
3 IFinputfunctionnumbererror2protection ○4 IFoutputfunctionnumbererror1protection ○5 IFoutputfunctionnumbererror2protection ○6 CLfittingerrorprotection ○7 INHfittingerrorprotection ○
34 0 Softwarelimitprotection ○ ○36 0to2 EEPROMparametererrorprotection37 0to2 EEPROMcheckcodeerrorprotection38 0 Over-travelinhibitinputprotection ○
390 Analoginput1excessprotection ○ ○ ○1 Analoginput2excessprotection ○ ○ ○2 Analoginput3excessprotection ○ ○ ○
40 0 Absolutesystemdownerrorprotection ○ ○41 0 Absolutecounterovererrorprotection ○42 0 Absoluteover-speederrorprotection ○ ○43 0 Initializationfailure ○44 0 Absolutesingleturncountererrorprotection ○45 0 Absolutemulti-turncountererrorprotection ○47 0 Absolutestatuserrorprotection ○48 0 EncoderZ-phaseerrorprotection ○49 0 EncoderCSsignalerrorprotection ○
50 0 Feedbackscaleconnectionerrorprotection ○1 Feedbackscalecommunicationerrorprotection ○
51
0 Feedbackscalestatus0errorprotection ○1 Feedbackscalestatus1errorprotection ○2 Feedbackscalestatus2errorprotection ○3 Feedbackscalestatus3errorprotection ○4 Feedbackscalestatus4errorprotection ○5 Feedbackscalestatus5errorprotection ○
550 A-phaseconnectionerrorprotection ○1 B-phaseconnectionerrorprotection ○2 Z-phaseconnectionerrorprotection ○
87 0 Compulsoryalarminputprotection ○95 0 Motorautomaticrecognitionerrorprotection
Othernumber Othererror ○
Note History...Theerrorwillbestoredintheerrorhistory.Can be cleared...Tocanceltheerror,usethealarmclearinput(A-CLR). Ifthealarmclearinputisnoteffective,turnoffpower,removethecauseofthe
errorandthenturnonpoweragain.Immediate stop...Instantaneouscontrolledstopuponoccurrenceofanerror. (Settingof“Pr.5.10Sequenceatalarm”isalsorequired.)
5. Protective FunctionsProtective Function (What Is Error Code ?)
− B39−− B38−
English
6. Maintenance and InspectionsMaintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
Notes on Maintenance and Inspection1)Turnonandturnoffshouldbedonebyoperatorsorinspectorsthemselves.2)Internalcircuitofthedriveriskeptchargedwithhighvoltageforawhileevenafter
power-off.Turnoff thepowerandallow15minutesor longerafterLEDdisplayofthefrontpanelhasgoneoff,beforeperformingmaintenanceandinspection.
3)Disconnectalloftheconnectiontothedriverwhenperformingmeggertest(Insulationresistancemeasurement)tothedriver,otherwiseitcouldresultinbreakdownofthedriver.
4)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecausetheycandiscolorordamagetheexteriorcase.
Inspection Items and CyclesGeneralandnormalrunningcondition
Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating hours of 20 hours or less per day.
Performthedailyandperiodicalinspectionaspertheitemsbelow.
Type Cycles Items to be inspected
Dailyinspection Daily
•Ambienttemperature,humidity,speck,dustorforeignobject•Abnormalvibrationandnoise•Maincircuitvoltage•Odor•Lintorotherparticlesatairholes•Cleannessatfrontportionofthedriverandconnector•Damageofthecables•Looseconnectionormisalignmentbetweenthemotorandmachineorequipment•Pinchingofforeignobjectattheload
Periodicalinspection Annual
•Loosetightening•Traceofoverheat•Damagetotheterminalblock•Loosefastenersonterminalblock
Note Inspection cycle may change when the running conditions of the above change.
Guideline for Parts ReplacementUsethetablebelowforareference.Partsreplacementcyclevariesdependingontheactualoperatingconditions.Defectivepartsshouldbereplacedorrepairedwhenanyerrorhaveoccurred.
Prohibited
Disassembling for inspection and repair should be carried out only by authorized dealers or service company.
Product Component Standard replacement cycles (hour) Note
Driver
Smoothingcondenser Approx.5years
Thesehoursorcyclesarereference.Whenyouexperienceanyerror,replacementisrequiredevenbeforethisstandardreplace-mentcycle.
Coolingfan 2to3years(10,000to30,000hours)
Aluminumelectrolyticcapacitor(onPCB) Approx.5years
Rushcurrentpreventiverelay
Approx.100,000times(dependingonworking
condition)
Rushcurrentpreventiveresistor
Approx.20,000times(dependingonworking
condition)
Motor
Bearing 3to5years(20,000to30,000hours)
Oilseal 5000hours
Encoder 3to5years(20,000to30,000hours)
Batteryforabsoluteencoder
Lifetimevariesdependingonworkingconditions.RefertotheOperatingInstructionsattachedtothebatteryforabsoluteencoder.
6. Maintenance and InspectionsMaintenance and Inspections
− B41−− B40−
English
7. Conformity to EC Directives and UL StandardsEC Directives / Conformity to UL Standards
EC DirectivesTheECDirectivesapplytoallsuchelectronicproductsasthosehavingspecificfunc-tionsandhavebeenexported toEUanddirectlysold togeneralconsumers.Thoseproductsare required toconform to theEUunifiedstandardsand to furnish theCEmarkingontheproducts.
However,ourACservosmeettherelevantECDirectivesforLowVoltageEquipmentsothatthemachineorequipmentcomprisingourACservoscanmeetECDirectives.
EMC DirectivesMINASServoSystemconformstorelevantstandardunderEMCDirectivessettingupcertainmodel(condition)withcertainlocatingdistanceandwiringoftheservomotorandthedriver.Andactualworkingconditionoftendiffersfromthismodelconditiones-peciallyinwiringandgrounding.Therefore,inorderforthemachinetoconformtotheEMCDirectives,especiallyfornoiseemissionandnoiseterminalvoltage,itisneces-sarytoexaminethemachineincorporatingourservos.
Conformity to UL StandardsObservethefollowingconditionsof(1)and(2)tomakethesystemconformtoUL508C(FileNo.E164620).(1)Use thedriver in anenvironment ofPollutionDegree2or 1 prescribed in
IEC60664-1.(e.g.InstallinthecontrolboxwithIP54enclosure.)(2)Makesure to installacircuitbreakeror fusewhichareULrecognized(Listed
marked)betweenthepowersupplyandthenoisefilter. Fortheratedcurrentofthecircuitbreakerorfuse,refertoP.B14,"DriverandList
ofApplicablePeripheralEquipments"ofPreparation. Useacoppercablewithtemperatureratingof75˚Corhigher.(3)Over-loadprotectionlevel Over-loadprotectivefunctionwillbeactivatedwhentheeffectivecurrentexceeds
115%ormore than the rated current basedon the time characteristics (see thenext page).Confirm that theeffective current of thedriver doesnot exceed theratedcurrent.SetupthepeakpermissiblecurrentwithPr0.13(Setupof1sttorquelimit)andPr5.22(Setup2ndtorquelimit).
(4)Motorover-temperatureprotectionisnotprovided. Motor over-load-temperatureprotection shall beprovidedat the final installation
uponrequiredbytheNEC(NationalElectricCode).
7. Conformity to EC Directives and UL StandardsEC Directives / Conformity to UL Standards
Time [s]
Overload protection time characteristicsMSME 50WMSME 100W(100V)
MSME 100W(200V)
MSME 200WMSME 400W
MSME 750W
MSME 1.0kW~5.0kWMDME 1.0kW~5.0kWMFME 1.5kW~4.5kWMGME 0.9kW~4.5kWMHME 1.0kW~5.0kW
100115
0.1
1
10
100
200 300 400 500Torque [%]
Conformed StandardsDriver Motor
ECDirectives
EMCDirectives
EN55011EN61000-6-2EN61800-3
–
Low-VoltageDirectives EN61800-5-1 IEC60034-1
IEC60034-5
Functionalsafety
EN954-1(Cat.3)ISO13849-1(PLc,d*)(Cat.3)EN61508(SIL2)EN62061(SIL2)EN61800-5-2(STO)IEC61326-3-1
–
ULStandards UL508C(FileNo.E164620)
UL1004-1(E327868:50Wto750W)UL1004(E327868:0.9kWto5.0kW)
CSAStandards C22.2No.14 C22.2No.100IEC :InternationalElectrotechnicalCommissionEN :EuropaischenNormenEMC :ElectromagneticCompatibilityUL :UnderwritersLaboratoriesCSA :CanadianStandardsAssociationPursuanttothedirective2004/108/EC,article9(2)PanasonicTestingCentrePanasonicServiceEurope,adivisionofPanasonicMarketingEuropeGmbH
Winsbergring15,22525Hamburg,F.R.Germany*PLd:ProvidedthatEDMisused.
− B43−− B42−
English
LABEL
Terminal cover (transparent)
2–ø4.5
R Cx CxCy
L L
Cy
2–ø4.5 x 6.75
53.1±1.0
100.0±2.088.075.0 5.0
12.0
10.0
50.0
60.0
7.0
2.0
(11.6)(13.0)6-M4
2
1 3
4
Circuit diagramIN OUT
LABEL
ABC
H
10 FEDG
M4
Cover
Body
4
5
1
2
63
L1
Cx1
IN OUT
R Cx1
Cy1
Earth terminalM4
Screw for coverM3
A B C D E F G H115DV0PM20042
<DV0PM20042, DV0P4220> <DV0PM20043>
105 95 70 43 10 52 5.5145DV0P4220 135 125 70 50 10 52 5.5165DV0PM20043 136 165 90 80 40 54 5.5
Circuit diagram
[Size]
[Unit: mm]
[Unit: mm]
LABEL
A
CB
H
M5
E
F
D
Earthterminal
M4
Screw forcoverM3
G
Cover
Body
For single phase application, use 2 terminals among 3 terminals, leaving the remaining terminal unconnected.
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
Installation EnvironmentUsetheservodriverintheenvironmentofPollutionDegree1or2prescribedinIEC-60664-1(e.g.InstallthedriverincontrolpanelwithIP54protectionstructure.)
Caution UseoptionscorrectlyafterreadingOperatingInstructionsoftheoptionstobetterunderstandtheprecautions.Takecarenottoapplyexcessivestresstoeachoptionalpart.
Power Supply100Vtype:Singlephase, 100V+10%to 120V +10%50/60Hz(AtoC-frame)
–15%
–15%
200Vtype:Single/3-phase, 200V +10%to 240V +10%50/60Hz(AtoD-frame)
–15%
–15%
200Vtype:3-phase, 200V +10%to 230V +10%50/60Hz(E,F-frame)
–15%
–15%
(1)Thisproductisdesignedtobeusedinover-voltagecategory(installationcategory)IIIofEN61800-5-1:2007.
(2)UseaninsulatedpowersupplyofDC12to24VwhichhasCEmarkingorcomplieswithEN60950.
Circuit BreakerInstallacircuitbreakerwhichcomplieswithIECStandardsandULrecognized(Listedand marked)betweenpowersupplyandnoisefilter.Integralsolidstateshortcircuitprotectiondoesnotprovidebranchcircuitprotection.BranchcircuitprotectionmustbeprovidedinaccordancewiththeNationalElectricalCodeandanyadditionallocalcodes.
Noise FilterWhenyouinstallonenoisefilterat thepowersupplyformulti-axesapplication,consultwithmanufacturerofthenoisefilter.Ifsufficientnoisemarginisrequired,connect2filtersinseries.• Optional parts
Option part No. Voltage specifications for driver
Manufacturer’spart No.
Applicable driver (frame) Manufacturer
DV0P4170 Singlephase100V/200V SUP-EK5-ER-6 AandB-frame OkayaElectricInd.
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
Metallic control box
Controller
Insulated power supply for interface
Safetycontroller
Power supply
Surge absorber
Noise filter
Noise filter for signal lines *1
Ground (PE)
L1U
X4
XAXB
X3X6
M
RE
VW
L2L3L1CL2C
Noise filter for signal lines
Noise filter for signal lines
Noise filter for signal lines
Noise filter for signal lines
Driver
MotorResidualcurrentdevice(RCD)
Circuit breaker
*1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines <Power supply cable> Option part No. Voltage specifications for driver
Manufacturer’spart No.
Applicable driver (frame) Manufacturer
DV0PM200423-phase200V
3SUP-HU10-ER-6A,B-frame
OkayaElectricInd.Singlephase100V/200V
3-phase200V C-frame
DV0P4220 Single/3-phase200V 3SUP-HU30-ER-6 D-frameDV0PM20043 3-phase200V 3SUP-HU50-ER-6 E-frame
− B45−− B44−
EnglishEnglish
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
• Recommended components
Model No. Voltage specifications for driver
Current rating (A)
Applicable driver (frame) Manufacturer
RTHN-5010 Singlephase100V/200V3-phase200V
10 A,B,C-frameTDK-LambdaCorp.RTHN-5030 30 D-frame
RTHN-5050 50 E,F-frame
<RTHN-5010>195±1210±2
50±2
6-M4M44.5
10±1
18.5
±178±1
4.5±
195±2 18
.5±1
<RTHN-5030>225±1240±2
55±2
6-M4M44.5
10±1
18.5
±185±1
4.5±
1105±
2 18.5
±1
<RTHN-5050>280±1300±2
68±2
6-M5M45.5
12.5
±1
21±1102±
15.
5±112
8±2 21
±1
Remarks •Selectanoisefilterwhosecapacity iscommensuratewith thepowersourcecapacity(inconsiderationoftheloadcondition).
•Forthedetailedspecificationsofeachnoisefilter,contactthemanufacturer.
Option part No. Voltage specifications for driver
Manufacturer’spart No.
Applicable driver (frame) Manufacturer
DV0P3410 3-phase200V 3SUP-HL50-ER-6B F-frame OkayaElectricInd.
Surge AbsorberProvideasurgeabsorberfortheprimarysideofnoisefilter.
Option part No. Voltage specifications for driver
Manufacturer’spart No. Manufacturer
DV0P1450 3-phase200V R・A・V-781BXZ-4 OkayaElectricInd.
Circuit diagram
1
ø4.2±0.2
41±1
UL-1015 AWG16
28±1
5.5±
111
±128
.5±1
4.5±
0.520
0+30
-0
2 3
21 3
[Unit: mm]
Option part No. Voltage specifications for driver
Manufacturer’spart No. Manufacturer
DV0P4190 Singlephase100V/200V R・A・V-781BWZ-4 OkayaElectricInd.
Circuit diagramø4.2±0.2
41±1
UL-1015 AWG16
28±1
5.5±
111
±128
.5±1
4.5±
0.520
0+30
-0
1 2
21
[Unit: mm]
Circuit diagramIN OUT286±3.0
1502-ø5.5 x 7 2-ø5.5
6-6M
270255±1.0
240
120
90±1
.0(18)
(13)
L A B E L
1
2
3
4
5
6
[Unit: mm]
− B47−− B46−
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Noise Filter for Signal LinesInstall noise filters for signal lines to all cables (power cable,motor cable, encodercableandinterfacecable)
• Optional parts<24VPowercable,Encodercable,InterfacecableandUSBcable>
Option part No. Manufacturer’spart No. Manufacturer
DV0P1460 ZCAT3035-1330 TDKCorp.
39±134±1
30±113±1
Mass: 62.8g
[Unit: mm]
Remarks To connect the noise filter to the connector XB connection cable, adjust the sheath length at the tip of the cable, as required.
Caution Fixthesignallinenoisefilterinordertopreventexcessivestresstothecables.
• Recommended components<Powercable>
Manufacturer’spart No. Manufacturer
RJ8035 KK-CORP.CO.JP
[Unit: mm]
180200
3413
0
7 R3.5
107
Residual current deviceInstallatypeBResidualcurrentdevice(RCD)atprimarysideofthepowersupply.
Grounding(1)Topreventelectricshock,besuretoconnectthegroundterminal( )ofthedriv-
er,andthegroundterminal(PE)ofthecontrolpanel.(2)Thegroundterminal( )mustnotbesharedwithotherequipment.Twoground
terminalsareprovided.
Note Fordriverandapplicableperipheralequipments, refer toP.B12 "DriverandListofApplicablePeripheralEquipments".
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments
− B49−− B48−
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8. Built-in Holding BrakeOutline / Specifications
Intheapplicationswherethemotordrivestheverticalaxis,thisbrakewouldbeusedtoholdandpreventthework(movingload)fromfallingbygravitywhilethepowertotheservoisshutoff.
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion.
Output Timing of BRK-OFF Signal•For thebrake release timingat power-on, or braking timingatServo-OFF/Servo-Alarmwhilethemotorisinmotion,refertotheOperatingInstructions(Overall).
•Withtheparameter,Pr4.38(Setupofmechanicalbrakeactionwhilethemotorisinmotion),youcansetupatimebetweenwhenthemotorenterstoafree-runfromenergizedstatusandwhenBRK-OFFsignalturnsoff(brakewillbeengaged),whentheServo-OFForalarmoccurswhilethemotorisinmotion.RefertotheOperatingInstructions(Overall)forthedetails.
Note 1.Theliningsoundofthebrake(chatteringandetc.)mightbegeneratedwhilerunningthemotorwithbuilt-inbrake,howeverthisdoesnotaf-fectanyfunctionality.
2.Magnetic fluxmight begenerated through themotor shaftwhile thebrakecoil isenergized (brake isopen).Payanextraattentionwhenmagneticsensorsareusednearbythemotor.
Specifications of Built-in Holding Brake
Motorseries
Motoroutput
Staticfrictiontorque
N·m
Rotorinertia
x 10–4 kg·m2
Engagingtimems
Releasingtimems
ExcitingcurrentDC A
(at cool-off)
Releasingvoltage
Permissiblework (J) perone braking
Permissibletotal work
x 103J
Permissibleangular
accelerationrad/s2
MSME
50W,100W 0.29ormore 0.002 35orless 20orless 0.3DC1Vormore
39.2 4.930000200W,400W 1.27ormore 0.018 50orless 15orless 0.36 137 44.1
750W 2.45ormore 0.075 70orless 20orless 0.42 196 1471.0kW,1.5kW,
2.0kW 7.8ormore 0.33 50orless 15orless(100) 0.81 DC2V
ormore
392 490100003.0kW 11.8ormore 80orless
4.0kW,5.0kW 16.2ormore 1.35 110orless
50orless(130) 0.9 1470 2200
MDME
1.0kW 4.9ormore
1.35
80orless 70orless(200) 0.59
DC2Vormore
588 780
100001.5kW,2.0kW 13.7ormore 100orless 50orless
(130)
0.79 1176 1500
3.0kW 16.2ormore 110orless 0.9 1470 2200
4.0kW,5.0kW 24.5ormore 4.7 80orless 25orless(200) 1.3 1372 2900 5440
MFME1.5kW 7.8ormore 4.7 80orless 35orless 0.83
DC2Vormore
1372 2900100002.5kW 21.6ormore 8.75 150or
less100orless 0.75 1470 1500
4.5kW 31.4ormore 2200
MGME
900W 13.7ormore 1.35 100orless
50orless(130) 0.79
DC2Vormore
1176 1500 10000
2.0kW 24.5ormore
4.7
80orless 25orless(200) 1.3
1372 2900 54403.0kW 58.8ormore 150or
less
50orless(130) 1.4
4.5kW 50orless 5000
MHME
1.0kW 4.9ormore1.35
80orless 70orless(200) 0.59
DC2Vormore
588 78010000
1.5kW 13.7ormore 100orless
50orless(130) 0.79 1176 1500
2.0kWto5.0kW 24.5ormore 4.7 80orless 25orless
(200) 1.3 1372 2900 5440
•ExcitationvoltageisDC24V±10%.•ReleasingtimevaluesrepresenttheoneswithDC-cutoffusingavaristor. Valuesin()representthosemeasuredbyusingadiode(V03CbyHitachi,Ltd.)•Abovevalues(exceptstaticfrictiontorque,releasingvoltageandexcitationcurrent)rep-resenttypicalvalues.
•Backlashofthebuilt-inholdingbrakeiskept±1˚orsmalleratex-factorypoint.•Service life of thenumber of acceleration/decelerationwith theabovepermissible an-gularaccelerationismorethan10milliontimes.(Lifeendisdefinedaswhenthebrakebacklashdrasticallychanges.)
8. Built-in Holding BrakeOutline / Specifications
− B51−− B50−
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Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.
Motor DriverPowersupply Type Rated rotational
speed Model Ratedoutput Model Frame
Singlephase,100V
MSMELowinertia 3000r/min
MSME5AZG1* 50W MADHT1105 A-frameMSME011G1* 100W MADHT1107MSME021G1* 200W MBDHT2110 B-frameMSME041G1* 400W MCDHT3120 C-frame
Single/3-phase,200V
MSME5AZG1* 50W MADHT1505 A-frameMSME012G1* 100WMSME022G1* 200W MADHT1507MSME042G1* 400W MBDHT2510 B-frameMSME082G1* 750W MCDHT3520 C-frameMSME102G□* 1.0kW MDDHT5540 D-frameMSME152G□* 1.5kW
3-phase,200V
MSME202G□* 2.0kW MEDHT7364 E-frameMSME302G□* 3.0kW MFDHTA390
F-frameMSME402G□* 4.0kW MFDHTB3A2MSME502G□* 5.0kWSingle/3-phase,
200VMDME
Middleinertia 2000r/min
MDME102G□* 1.0kW MDDHT3530 D-frameMDME152G□* 1.5kW MDDHT5540
3-phase,200V
MDME202G□* 2.0kW MEDHT7364 E-frameMDME302G□* 3.0kW MFDHTA390
F-frameMDME402G□* 4.0kW MFDHTB3A2MDME502G□* 5.0kWSingle/3-phase,
200V MFMEMiddleinertia 2000r/min
MFME152G1* 1.5kW MDDHT5540 D-frame
3-phase,200V
MFME252G1* 2.5kW MEDHT7364 E-frameMFME452G1* 4.5kW MFDHTB3A2 F-frame
Single/3-phase,200V
MGMEMiddleinertia 1000r/min
MGME092G□* 900W MDDHT5540 D-frame
3-phase,200V
MGME202G□* 2.0kW MFDHTA390F-frameMGME302G□* 3.0kW MFDHTB3A2MGME452G1* 4.5kW
Single/3-phase,200V
MHMEHighinertia 2000r/min
MHME102G□* 1.0kW MDDHT3530 D-frameMHME152G□* 1.5kW MDDHT5540
3-phase,200V
MHME202G□* 2.0kW MEDHT7364 E-frameMHME302G□* 3.0kW MFDHTA390
F-frameMHME402G□* 4.0kW MFDHTB3A2MHME502G□* 5.0kW
Note •Suffixof“□ ”intheapplicablemotormodelrepresentsdesignorder.•Suffixof“* ”intheapplicablemotormodelrepresentsthemotorstructure.
This driver is equipped with a dynamic brake for emergency stop.Pay a special attention to the followings.
Caution 1.Dynamicbrakeisonlyforemergencystop.Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).Otherwise it may damage the dynamic brake circuit of the driver.
The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activat-ed may cause smoking or fire.
2.Dynamicbrake is a short-duration rating, anddesigned for onlyemergencystop.Allowapprox.10minutespausewhenthedynamicbrakeisactivatedduringhigh-speedrunning.
(F-frame(200V)built-indynamicbrakeresistoriscapableofhandlingupto3continuoushaltsat theratedrevolutionswithmax.permis-sibleinertia.Whenoverheatedundermorecriticaloperatingcondi-tions, thebrakewill blowout and shouldbe replacedwith a newone.)
• You can activate the dynamic brake in the following cases. 1) whenthemainpoweristurnedoff2) atServo-OFF3) whenoneoftheprotectivefunctionisactivated.4) whenover-travelinhibitinput(NOT,POT)ofconnectorX4isacti-
vated Intheabovecasesfrom1)to4),youcanselecteitheractivation
ofthedynamicbrakeormakingthemotorfree-runduringdecel-erationorafterthestop,withparameter.
9. Dynamic BrakeOutline
10. Check of the Combination of the Driver and the MotorIncremental Specifications, 20-bit
− B53−− B52−
English
Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.
Motor DriverPowersupply Type Rated rotational
speed Model Ratedoutput Model Frame
Singlephase,100V
MSMELowinertia 3000r/min
MSME5AZS1* 50W MADHT1105 A-frameMSME011S1* 100W MADHT1107MSME021S1* 200W MBDHT2110 B-frameMSME041S1* 400W MCDHT3120 C-frame
Single/3-phase,200V
MSME5AZS1* 50W MADHT1505 A-frameMSME012S1* 100WMSME022S1* 200W MADHT1507MSME042S1* 400W MBDHT2510 B-frameMSME082S1* 750W MCDHT3520 C-frameMSME102S□* 1.0kW MDDHT5540 D-frameMSME152S□* 1.5kW
3-phase,200V
MSME202S□* 2.0kW MEDHT7364 E-frameMSME302S□* 3.0kW MFDHTA390
F-frameMSME402S□* 4.0kW MFDHTB3A2MSME502S□* 5.0kWSingle/3-phase,
200VMDME
Middleinertia 2000r/min
MDME102S□* 1.0kW MDDHT3530 D-frameMDME152S□* 1.5kW MDDHT5540
3-phase,200V
MDME202S□* 2.0kW MEDHT7364 E-frameMDME302S□* 3.0kW MFDHTA390
F-frameMDME402S□* 4.0kW MFDHTB3A2MDME502S□* 5.0kWSingle/3-phase,
200V MFMEMiddleinertia 2000r/min
MFME152S1* 1.5kW MDDHT5540 D-frame
3-phase,200V
MFME252S1* 2.5kW MEDHT7364 E-frameMFME452S1* 4.5kW MFDHTB3A2 F-frame
Single/3-phase,200V
MGMEMiddleinertia 1000r/min
MGME092S□* 900W MDDHT5540 D-frame
3-phase,200V
MGME202S□* 2.0kW MFDHTA390F-frameMGME302S□* 3.0kW MFDHTB3A2MGME452S1* 4.5kW
Single/3-phase,200V
MHMEHighinertia 2000r/min
MHME102S□* 1.0kW MDDHT3530 D-frameMHME152S□* 1.5kW MDDHT5540
3-phase,200V
MHME202S□* 2.0kW MEDHT7364 E-frameMHME302S□* 3.0kW MFDHTA390
F-frameMHME402S□* 4.0kW MFDHTB3A2MHME502S□* 5.0kW
Note 1)•Suffixof“□ ”intheapplicablemotormodelrepresentsdesignorder. •Suffixof“*“intheapplicablemotormodelrepresentsthemotorstructure.2)Defaultofthedriverissetfortheincrementalencoderspecifications. Whenyouuseinabsolute,makethefollowingoperations.a)Installabatteryforabsoluteencoder.b)SwitchtheparameterPr0.15(Absoluteencodersetup)from"1(default)"to"0".
10. Check of the Combination of the Driver and the MotorAbsolute Specifications, 17-bit
11. SpecificationsBasic Specifications
Inputpower
100VMaincircuit Singlephase,100to120V + 10%50/60Hz − 15%
Controlcircuit Singlephase,100to120V + 10%50/60Hz − 15%
200V
Maincircuit
AtoD-frame Single/3-phase,200to240V + 10%50/60Hz − 15%Eto
F-frame 3-phase,200to230V + 10%50/60Hz − 15%
Controlcircuit
AtoD-frame Singlephase,200to240V + 10%50/60Hz − 15%Eto
F-frame Singlephase,200to230V + 10%50/60Hz − 15%Controlmethod IGBTPWMSinusoidalwavedrive
Encoderfeedback 17-bit(131072resolution)absoluteencoder,7-wireserial20-bit(1048576resolution)incrementalencoder,5-wireserial
ExternalscalefeedbackA/Bphase,initializationsignaldefferentialinput.Manufacturersthatsupportserialcommunicationscale:MitsutoyoCorp.MagnescaleCo.,Ltd.
ParallelI/Oconnector
Controlsignal
Input Generalpurpose10inputsThefunctionofgeneral-purposeinputisselectedbyparameters.
Output Generalpurpose6outputsThefunctionofgeneral-purposeinputisselectedbyparameters.
Analogsignal
Input 3inputs(16BitA/D:1input,12BitA/D:2inputs)Output 2outputs(Analogmonitor:2output)
Pulsesignal
Input 2inputs(Photo-couplerinput,Linereceiverinput)Output 4outputs(Linedriver:3output、opencollector:1output)
Communicationfunction
USB ConnectionwithPCetc.RS232 1:1communicationRS485 1:ncommunicationupto31axestoahost.
Safetyfunction UsedforIEC61800-5-2:STO.
Frontpanel(1)5keys(MODE,SET,UP,DOWN,SHIFT)(2)LED(6-digit)(3)Monitorconnector (Analogmonitoroutput (2ch),Digitalmonitoroutput(1ch))
RegenerationA,B-frame:nobuilt-inregenerativeresistor(externalresistoronly)CtoF-frame:Built-inregenerativeresistor(externalresistorisalsoenabled.)
Dynamicbrake Built-in
ControlmodeSwitchingamongthefollowing7modeisenabled,(1)Positioncontrol(2)Velocitycontrol(3)Toquecontrol(4)Position/Velocitycontrol(5)Position/Torquecontrol(6)Velocity/Torquecontrol(7)Full-closedcontrol
− B55−− B54−
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11. SpecificationsFunctions
11. SpecificationsFunctions
Positioncontrol
Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.
Controloutput Positioningcomplete(In-position)etc.
Pulseinput
Max.commandpulsefrequency
ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps
Inputpulsesignalformat Differentialinput
Electronicgear(Division/Multiplicationofcommandpulse)
1/1000to1000times
Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput
Analoginput
Torquelimitcommandinput
Individualtorquelimitforbothpositiveandnegativedirectionisenabled.
Torquefeedforwardinput Analogvoltagecanbeusedastorquefeedforwardinput.
InstantaneousSpeedObserver Available
DampingControl Available
Velocitycontrol
Controlinput(1)Selectionofinternalvelocitysetup1(2)Selectionofinternalvelocitysetup2(3)Selectionofinternalvelocitysetup3(4)Speedzeroclampetc.
Controloutput Speedarrivaletc.
Analoginput
Velocitycommandinput
Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.
Torquelimitcommandinput
Individualtorquelimitforbothpositiveandnegativedirectionisenabled.
Torquefeedforwardinput Analogvoltagecanbeusedastorquefeedforwardinput.
Internalvelocitycommand Switchingtheinternal8speedisenabledbycommandinput.
Soft-start/downfunctionIndividualsetupofaccelerationanddecelerationisenabled,with0 to10s/1000r/min.Sigmoidacceleration/decelerationisalsoenabled.
Zero-speedclamp Speedzeroclampinputisenabled.InstantaneousSpeedObserver Available
VelocityControlfilter Available
Torquecontrol
Controlinput Speedzeroclamp,Torquecommandsigninputetc.Controloutput Speedarrivaletc.
Analoginput
Torquecommandinput
Torquecommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.
Speedlimitfunction Speedlimitvaluewithparameterisenabled.
Full-closedcontrol
Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.
Controloutput Full-closedpositioningcompleteetc.
Pulseinput
Max.commandpulsefrequency
ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps
Inputpulsesignalformat Differentialinput
Electronicgear(Division/Multiplicationofcommandpulse)
1/1000to1000times
Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput
Analoginput
Torquelimitcommandinput
Individualtorquelimitforbothpositiveandnegativedirectionisenabled.
Torquefeedforwardinput Analogvoltagecanbeusedastorquefeedforwardinput.
Setuprangeofdivision/multiplicationoffeedbackscale
1/40to160timesCom
mon
Autotuning
Theloadinertiaisidentifiedinrealtimebythedrivingstateofthemotoroperatingaccordingtothecommandgivenbythecontrollingdeviceandsetupsupportsoftware“PANATERM”.Thegainissetautomaticallyinaccordancewiththerigiditysetting.
Divisionofencoderfeedbackpulse
Setupofanyvalueisenabled(encoderpulsescountisthemax.).
Protectivefunction
Harderror Over-voltage,under-voltage,over-speed,over-load,over-heat,over-currentandencodererroretc.
Softerror Excesspositiondeviation,commandpulsedivisionerror,EEPROMerroretc.
Traceabilityofalarmdata Thealarmdatahistorycanbereferredto.
− B57−− B56−
English
After-Sale Service (Repair)
RepairConsulttoadealerfromwhomyouhavepurchasedtheproductfordetailsofrepair.Whentheproductisincorporatedtothemachineorequipmentyouhavepurchased,consulttothemanufacturerorthedealerofthemachineorequipment.
Cautions for Proper Use•PracticalconsiderationsforexportingtheproductorassemblycontainingtheproductWhentheenduseroftheproductorenduseoftheproductisassociatedwithmili-tary affair orweapon, its exportmaybe controlledby theForeignExchangeandForeignTradeControlLaw.Completereviewoftheproducttobeexportedandex-portformalitiesshouldbepracticed.
•Thisproduct is intended tobeusedwithageneral industrialproduct,butnotde-signedormanufacturedtobeusedinamachineorsystemthatmaycausepersonaldeathwhenitisfailed.
•Installation,wiring,operation,maintenance,etc.,oftheequipmentshouldbedonebyqualifiedandexperiencedpersonnel.
•Apply adequate tightening torque to theproductmounting screwby taking intoconsiderationstrengthofthescrewandthecharacteristicsofmaterialtowhichtheproduct is installed.Overtighteningcandamage thescrewand/ormaterial;under-tighteningcanresultinloosening.
Example)Steelscrew(M5)intosteelsection:2.7-3.3N·m.•Installasafetyequipmentsorapparatusinyourapplication,whenaseriousacci-dentorlossofpropertyisexpectedduetothefailureofthisproduct.
•Consultusiftheapplicationofthisproductisundersuchspecialconditionsandenvi-ronmentsasnuclearenergycontrol,aerospace,transportation,medicalequipment,varioussafetyequipmentsorequipmentswhichrequirealesseraircontamination.
•Wehavebeenmakingthebestefforttoensurethehighestqualityoftheproducts,however, applicationof exceptionally larger external noisedisturbanceand staticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction. It ishighly recommended thatyoumakea fail-safedesignandsecure thesafetyintheoperativerange.
•Ifthemotorshaftisnotelectricallygrounded,itmaycauseanelectrolyticcorrosiontothebearing,dependingontheconditionofthemachineanditsmountingenviron-ment,andmayresultinthebearingnoise.Checkingandverificationbycustomerisrequired.
•Failureofthisproductdependingonitscontent,maygeneratesmokeofaboutonecigarette.Takethisintoconsiderationwhentheapplicationofthemachineiscleanroomrelated.
•Pleasebecarefulwhenusinginanenvironmentwithhighconcentrationsofsulfurorsulfricgases,assulfurationcanleadtodisconnectionfromthechipresistororapoorcontactconnection.
7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2009
For your records:Themodelnumberandserialnumberofthisproductcanbefoundoneitherthebackorthebottomoftheunit.Pleasenotetheminthespaceprovidedandkeepforfuturereference.
Model No.M□DH M□ME
Serial No.
Date ofpurchase
Dealer
Name
Address
Phone ()-
•Takecaretoavoidinputtingasupplyvoltagewhichsignificantlyexceedstheratedrangetothepowersupplyofthisproduct.Failuretoheedthiscautionmayresultindamagetotheinternalparts,causingsmokingand/orafireandothertrouble.
•Theuser is responsible formatchingbetweenmachineandcomponents in termsof configuration, dimensions, life expectancy, characteristics,when installing themachineorchangingspecificationofthemachine.Theuserisalsoresponsibleforcomplyingwithapplicablelawsandregulations.
•Theproductwillnotbeguaranteedwhenitisusedoutsideitsspecificationlimits.•Partsaresubjecttominorchangetoimproveperformance.
Technical informationTechnicalinformationofthisproduct(OperatingInstructions,CADdata)canbedownloadedfromthefollowingwebsite.http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
MEMO MEMO
IMD88+AZ0409-1111
7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2009PrintedinChina