Panasonic MDDDT5540, MDDDT3530P, MDDDT5540P User Manual

AC Servo Motor Driver

MINAS S-series

Operating Manual

Be sure give this instruction manual to the user.

•Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series.

•Before use, read through this manual to ensure proper use. Keep this manual at an easily accessible place so as to be referred anytime as necessary.

Table of Contents

Before Use

Safety Precautions •••••4

Introduction •••••••••••••8

After Opening the Package•••••••••••••••• 8 Check the Model Number of Amplifier •••••••••••••••••• 8 Check the Model Number of Motor••••••••••••••••••• 9 Check the Combination of Amplifier and Motor ••••••••••••••••••••• 10

Parts Description •••••••••••12

Amplifier ••••••••••••••••••••••••••••••••••••• 12 Motor ••••••••••••••••••••••••••••••••••••••••• 13

Installation •••••••••••••••••14

Amplifier ••••••••••••••••••••••••••••••••••••• 14 Motor ••••••••••••••••••••••••••••••••••••••••• 16

Preparations

and Adjustments

System Configuration and Wiring••••• 1 8

General Wiring Diagram ••••••••••••••••••••••• 18 List of Available Components •••••••••••••••••• 20 Main Circuits ••••••••••••••••••••••••••••••• 22 CN SIG Connector

For Encoder ••••••••••••••••••••••••••••• 23 CN SER Connector ••••••••••••••••••••••• 24 CN I/F Connector

For Controller •••••••••••••••••••••••••••• 25 CN MON Connector ••••••••••••••••••• 35

Parameter Setting •••••••••••36

Overview •••••••••••••••••••••••••••••••••••• 36 Parameter Groups and Listing ••••••••••••••• 36 Setting the Parameters••••••••••••••••••• 41 Overview of PANATERM“ ••••••••••••••• 41 How to Connect •••••••••••••••••••••••••••• 41

Trial Run •••••••••••••••••••44

Inspections before Trial Run ••••••••••••••••••• 44 Operation with

CN I/F Connected •••••••••••••••••• 45

Adjustments •••••••••••••••50

Purposes of Gain Adjustments ••••••••••••••• 50 Types of Gain Adjustments •••••••••••••• 50 How to Adjust Gain•••••••••••••••••••••••• 52 How to Use

"Normal Auto-Gain" Tuning •••••••••• 53 How to Use "Real Time

Auto-Gain" Tuning •••••••••••••••• 54 How to Adjust Gain Manually ••••••••••••••• 55 Gain Tuning Using

Gain Adjustment Rotary Switch ••••••••• 58 To reduce the mechanincal

resonance ••••••••••••••••••••••••••• 59

- 2 -

Important Information

Protective Functions ••••••••••• 60 Maintenance and Inspections ••••••••••• 6 6

Troubleshooting

••••••••••••••••••••••••••••••68

After-Sale Service

•••••••••••••••••••••• Back cover

Appendixes

Conformance to EC Directives and UL Standards ••••••••••• App. 2 Holding Brake ••••••••••••••••••••••••• App. 6 Dynamic Brake •••••••••••••••••••••••• App. 8 Timing Chart ••••••••••••••••••••••••• App. 10 Acceptable Loads on Output Shaft ••••••••••••••• App. 14 Homing Operation (Precautions) •••••••••••••• App. 15

Details of Parameters ••••••••••••• App. 16 Optional Parts ••••••••••••••••••••••• App. 38 Recommended Parts •••••••••••••• App. 47 Dimensions •••••••••••••••••••••••••• App. 48 Characteristics •••••••••••••••••••••• App. 53 Specifications ••••••••••••••••••••••• App. 54

- 3 -

Safety Precautions

(Important)

Observe the following precautions in order to avoid injuries of operators and other persons, and mechanical damages.

The following DANGER and CAUTION symbols are used according to the level of dangers possibly occurring if you fail to observe the instructions or precautions indicated.

DANGER	Indicates a potentially hazardous situation which, if not
	avoided, will result in death or serious injury.

Indicates a potentially hazardous situation which, if not avoided, CAUTION will result in minor or moderate injury and physical damage.

The following symbols indicate what you are not allowed to do, or what you must observe.

This symbol indicates that the operation is prohibited.

This symbol indicates that the operation must be performed without fail.

DANGER

An over-current protection, earth leakage breaker, over-temperature protection and emergency stop should be installed.

Failure to observe this

instruction could result in electric shocks, injuries and/or fire.

Don't insert your hands in the amplifier.

Failure to observe this instruction could result in burns and/or electric shocks.

Install the amplifier securely to prevent fire hazard and personal injury resulting from earthquake.

Failure to observe this

instruction could result in electric shocks, injuries and/or fire.

Be sure to check safety after occurrence of earthquake.

Failure to observe this

instruction could result in electric shocks, injuries and/or fire.

-4-

DANGER

Don't touch the rotating part of the motor in motion.

Rotating part

Failure to observe this instruction could result in injuries.

Don't subject the product to w a t e r s p l a s h , c o r r o s i v e gases, flammable gases and combustible things.

Failure to observe this instruction could result in fire.

Do not expose the cables to s h a r p e d g e s , e x c e s s i v e p r e s s i n g f o r c e s , h e a v y loads or pinching forces.

Failure to observe this instruction could result in electric shocks,

m a l f u n c t i o n a n d / o r damages.

Perform the transportation, wiring and inspection at least 10 minutes after the power off.

Failure to observe this instruction could result in electric shocks.

Always ask to an electrical engineer for wiring.

Ground the earth terminal of the amplifier.

Failure to observe this instruction could result in electric shocks.

Install an external emergency stop device so that you can shut off the power in any emergency cases.

Failure to observe this instruction could result in injuries, electric shocks, fire, malfunction and/or mechanical damages.

Use Before

-5-

Safety Precautions

(Important)

Caution

Use the motor and amplifier in the specified combination.

Failure to observe this instruction could result in fire.

Execute the trial operations with the motor fixed but without motor load connected. Connecting a load to the motor is possible only after successful trial operation.

Failure to observe this instruction could result in injuries.

If an error occurs,	Don't touch the motor,
remove the causes for	amplifier or its
the error and secure the	regenerative discharge
safety before restarting	resistor, since they
the operation.	become hot.

Failure to observe this instruction could result in injuries.

Failure to observe this instruction could result in burns.

Avoid extreme adjustment or change. Avoid an operation which causes unstable action.

Failure to observe this instruction could result in injuries.

Don't modify, dismantle or repair the amplifier.

Failure to observe this instruction could result in fire, electric shocks and/or injuries.

-6-

Caution

Don't	hold the cables or		After recovery from the
motor	shaft	when	power failure, the
transporting		the motor.	equipment may restart
			suddenly. Don't approach
			the equipment
			Failure to observe this
	Failure to observe this		instruction could result in
	instruction could result		injuries.
	in injuries.		*Provide appropriate settings as a preparedness against
			the accidental restart of the machine in order to ensure
			the safety of personnel.
Don't block the heat			Observe the voltage
dissipation hole or insert			specified.
foreign	matters in it.

Use Before

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Failure to observe this instruction could result in electric shocks,

injuries and/or fire.

Make sure that the wirings are made correctly.

Failure to observe this

instruction could result in

electric shocks, injuries.

This equipment should be treated as an industrial waste when it is disposed of.

Do not turn on/off the main power frequently. Failure to observe this instruction could result in malfunctions.

-7-

SER.NO. 00010001

Introduction

After Opening the Package

•Make sure that the product is what you have ordered.

•Check whether the product has been damaged or not during transportation.

If the product is not correct, or it has been damaged, contact dealer or sales agent.

Check the Model of Amplifier

Name plate

Model

Rated input voltage

Rated motor output

AC SERVO DRIVER

Model No.	MUDS3A1A1A
	INPUT	OUTPUT	ENCODER
Voltage	100-115V	32V	2500P/R
Phase	1ø	3ø
F.L.C	1.0A	1.0A
Freq.	50/60Hz	0~333.3Hz
Power		30W

60/75 Wire Only

Use Copper Conductors Only

Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

Number of pulses of the encoder(resolution)

Rated output current

Serial Number

Model Designation

		1~3			4		5~6
Symbol	Applicable motors
MUD	MUMÅiExtra low inertiaÅj

Series symbol

S: S-series

7	8	9	10
				11~12

Custom specification

Custom specification 2 (A, B, C...)

A: Standard Custom specification 1 (1, 2, 3...)

1: Standard

Rotary encoder (see Table 1-b)

Power supply

1:Single-phase, 100V

2:Single-phase, 200V

3:Three-phase, 200V

5: Three-phase/Single-phase, 200V (common phase)

Rated motor output (see Table 1-a)

-8-

Check the Model of Motor

Name plate

Type

CONT. TORQUE 0.64

Nm

Rated output

AC SERVO MOTOR

RATING

S1

Serial No

Model No. MUMS042A1A

INS. CLASS B (TÜV) A (UL)

Revolution rating

INPUT 3ØAC

92

V

IP65

00010001

RATED OUTPUT

0.2

kW

SER No.

1.6

A

CONNECTION

RATED FREQ.

200

Hz

RATED REV.

3000

r/min

MatsushitaElectric Industrial Co..Ltd.

Made in Japan

Model Designation

1~3

4

5~6

7

8

9

10

11~12

Custom specification 2

Symbol

Type

Motor structure

MUM

Super low inertia

(see Table 1-c)

Custom specification 1

1: Standard

Rotary encoder

Series symbol

(see Table 1-b)

S: S-series

Rated output

(see Table 1-a)

Voltage

1: 100V

2: 200V

Z: 100/200V

Table 1-a

Rated

Motor

Output

Table 1-b

Rotary Encoder

Symbol

Rated output

Symbol

Rated output

Symbol

Specifications

3A

30W

02

200W

Type

No. of pulses

Resolution

Lead wire

5A

50W

04

400W

A

Incremental

2500P/r

10000

11-wire

01

100W

08

750W

Table 1-c

Motor

Structure

Oil seal

Brake

Shaft

∑ Specifications with the shaft

S t r a i g h t

Key

way

provided with key way are standard.

None

None

A

E

Yes

B

F

Yes

None

C

G

Yes

D

H

Use Before

-9-

Introduction

Check the Combination of Amplifier and Motor

The amplifier has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.

-10-

With the incremental type encoder: 2500P/r

Power		Amplifier			M o t o r
supply for	Amplifier		Series				Output	Revolution	Encoder
		type		Motor type	Voltage
amplifier
			symbol				rating	rating	type
1-phase,	MUDS3A1A1A	Type1	MUMS	MUMS3AZ****			30W
100V	MUDS5A1A1A		Super	MUMS5AZ****			50W
	MUDS011A1A		Low	MUMS011A****	100V		100W
	MUDS021A1A	Type2	inertia	MUMS021A****			200W
	MUDS041A1A	Type3		MUMS041A****			400W
1-phase,	MUDS022A1A	Type2		MUMS022A****			200W
200V	MUDS042A1A	Type3		MUMS042A****			400W		Incremental
3-phase/1-	MUDS3A5A1A	Type1		MUMS3AZA****	200V		30W	3000r/min	2500P/r, 11
phase,	MUDS5A5A1A			MUMS5AZA****			50W		wires
200V	MUDS015A1A			MUMS012A****			100W
3-phase,	MUDS023A1A			MUMS022A****			200W
200V	MUDS043A1A	Type2		MUMS042A****			400W
	MUDS083A1A	Type3		MUMS082A****			750W

Use Before

-11-

Parts Description

Amplifier

Example: MUDS023A1A	Example: MUDS042A1A
(3-phase, 200V 200W: Type 1)	(1-phase, 200V 400W: Type 3)

Main power input connector (L1, L2, L3,P, B)

Motor connection (U, V, W, E)

Earth connections

MSDS STATUS

ALM CODE

GAIN

CN

SER

CN

I/F

CN

POWER

CN

SIG

CN

MOTOR

Communication connector

CN SER

Controller connection (CN I/F)

Encoder connection (CN SIG)

MSDS STATUS

ALM CODE

GAIN

CN

SER

CN

I/F

CN

POWER

CN

SIG

CN

MOTOR

CN

MON

Status LED Alarm code LED

Rotary switch for gain (GAIN) tuning

Check pins (CN MON)

CN MON

Check pins (CN MON)

<Notes>

For detailed information for each of motor types, see the drawings in the Appendix

(App.50 to 52).

-12-

Motor

Example: Super Low-Inertia Motor (MUMS Series, 400W)

Encoder cable

Motor cable

Encoder

Brake cable

(Motor with electromagFrame

netic brake only )

Mounting bolt holes (4)

Flange

<Notes>

For detailed information for each of motor types, see the drawings in the Appendix

(App.48 & 49).

Use Before

-13-

Installation

The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries.

Amplifier

Location

•Indoors, where the amplifier is not subjected to rain water and direct sun beams. Note that the amplifier is not a waterproof structure.

•Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles.

•Place in a well-ventilated, and humidand dust-free space.

•Place in a vibration-free space.

Environmental Conditions

I t e m	Conditions
Ambient temperature	0 to 55˚C (free from freezing)
Ambient humidity	Not greater than 90%RH (free from condensation)
Storage temperature	-20 to 80˚C (free from condensation)
Storage humidity	Not greater than 90%RH (free from condensation)
Vibration	Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz
Altitude	Not greater than 1000 m

How to Install

•This is a rack-mount type.

Place the amplifier vertically. Allow enough space surrounding for ventilation. Front panel mount type (recessed)

MSDS STATUS

ALM CODE

GAIN

CN

SER

CN

I/F

CN

POWER

CN

SIG

CN

MOTOR

Earth connection (M4 screw) tightening torque shall not exceed 0.39 ~ 0.59 N·mU.U

-14-

Mounting Direction and Space Requirements

•Allow enough space to ensure enough cooling.

•Install fans to provide a uniform distribution of temperature in the control box.

The airflow of fan is more than 0.43m3/min. And it should be located 10 cm away from the amplifier.

•Observe the environmental requirements for the control box, mentioned in the previous page.

		Fan				Fan			min.
									100mm
MSDS	STATUS	MSDS	STATUS	MSDS	STATUS		MSDS	STATUS
	ALM CODE		ALM CODE		ALM CODE			ALM CODE
	GAIN		GAIN		GAIN			GAIN
	CN		CN		CN			CN
	SER		SER		SER			SER
	CN		CN		CN			CN
	I/F		I/F		I/F			I/F
	CN		CN		CN			CN
	POWER		POWER		POWER			POWER
min.		min.		min.		min.			min.
40mm	CN	10mm	CN	10mm	CN	10mm		CN	40mm
	SIG		SIG		SIG			SIG
	CN		CN		CN			CN
	MOTOR		MOTOR		MOTOR			MOTOR
									min.
									100mm

Use Before

-15-

Installation

Motor

Location

•Indoors, where the amplifier is not subjected to rain water and direct sun beams.

•Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles.

•Place in a well-ventilated, and humidand dust-free space.

•Easy maintenance, inspections and cleaning is also important.

Environmental Conditions

I t e m			Conditions
Ambient temperature			0 to 40˚C (free from freezing)
Ambient humidity		Not greater than 85%RH (free from condensation)
Storage temperature			-20 to 80˚C (free from freezing)
Storage humidity		Not greater than 85%RH (free from condensation)
Vibration	Motor only		49 m/s2 (5G) or less at rotation, 24.5 m/s2 (2.5G) or less at rest
	With gear		High precision and normal type: 24 m/s2 (2G) or less
	(At rotation)		Standard type: 49 m/s2 (5G) or less
Shock	Motor only		98 m/s2 (10G) or less
	With gear		High precision and normal type: 98 m/s2 (10G) or less
			Standard type: 24 m/s2 (2G) or less

How to Install

The motor can be installed either vertically or horizontally. Observe the following notes.

•Horizontal mounting

•Place the motor with the cable outlet facing down to prevent the entry of oil and water.

•Vertical mounting

•If a motor is coupled with a reduction gear, use a motor equipped with oil seal so that oil in the reduction gear may not enter into the motor.

Oil and Water Protections

•This motor(IP65 rating) can be used where it is subjected to water and/or oil drops, but is not water - or oil - proof. Therefore, the motors should not be placed or used in such environment.

•If the motor is coupled with a reduction gear, use the motor with oil seals to prevent the reduction gear oil from entering into the motor.

•Don't use the motor with the cables being immersed in oil or water.

-16-

Cable

Motor

Oil and water

	Cable: Stress Relieving	Before
	• Make sure that the cables are not subjected to moments or vertical loads due to external
	bending forces or self-weight at the cable outlets or connections.
	• In case the motor is movable, secure the cable (proper one supplied together with the	Use
	motor) to a stationery part (e.g. floor), and it should be extended with an additional cable

which should be housed in a cable bearer so that bending stresses can be minimized.

• Make the bending radius of cables as large as possible. (Minimum bend radius: 20 mm)

Permissible Shaft Load

•Make sure that both of radial and thrust load to be applied to the motor shaft during installation and running, are within the specified value of each model.

•Pay extra attention to installing a rigid coupling (especially an excess bending load which may cause the damages and/or wear of the shaft and bearings).

•Flexible coupling is recommended in order to keep the radial load smaller than the permissible value, which is designed exclusively for servo motors with high mechanical stiffness.

•For the permissible shaft load, see "Allowable Shaft Loads Listing" in Appendix.

Installation Notes

•Don't hit the shaft with a hammer directly while attaching/detaching the coupling to the motor shaft.(otherwise the encoder at the opposite end of the shaft will be damaged).

•Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).

Motor

-17-

System Configuration and Wiring

General Wiring Diagram

• Main Circuits

Non-Fuse Breaker (NFB)

Used to protect the power lines: overcurrent will shut off the circuit.

Noise Filter (NF)

Prevents the external noise from the power line, and reduces the effect of the noises generated by the servo motor.

Magnetic Contactor (MC)

Turns on/off the main power of the servo motor.

Used together with a surge absorber.

Reactor (L)

Reduces the harmonic current in the main power.

Terminals P and B

•In case of use under large regenerative energy, connect an external regenerative discharge resistor to P and B terminals.

<Notes>

Where residual-current-operated protective device (RCD) is used for protection in case of direct or indirect contact. Only RCD of Type B is allowed on supply side of this Electronic Equipment (EE).

Ground

Regenerative discharge resistor

-18-

					Personal computer
STATUS					Communication
					control software
ALM CODE
					P A N A T E R M “
	7	8	9	0
GAIN	6
	5			1
	4	3	2
CN
SER
					CN SER
CN					(to connect a PC or
I/F
CN					controller)
POWER
					CN I/F
					(to connect a controller)
CN
SIG					CN SIG
CN
MOTOR
					(to connect an encoder)
					Encoder cable

1234 Hazardous Voltage

Others; Low Voltage circuit

Motor cable

Power supply for motor brake (24VDC)

-19-

Adjustments and parationsPre

System Configuration and Wiring

List of Available Components

	Amplifier			Required Power	Circuit	Noise	Magnetic contactor	Maincircuitwirediameter
					breaker			(L1, L2, L3,
	Series	Voltage	Output	(at the rated load)		filter	( c o n t a c t s )
					(rated current)			U, V, W, E)
			30 ~ 50W	Approx. 0.3kVA	B K 2 5 1	D V O P 1 4 4 1	BMFT61041N
		1-phase,	1 0 0 W	Approx. 0.4kVA	(5A)		(3P+1a)
		100V	2 0 0 W	Approx. 0.5kVA
			4 0 0 W	Approx. 1.0kVA	B K 2 1 0 1	D V O P 1 4 4 2	BMFT61541N
					( 1 0 A )		(3P+1a)	0.75mm2
		*1-phase,	30 ~ 50W	Approx. 0.3kVA	B K 3 5 1	D V O P 1 4 4 1	BMFT61541N	~ 0.85mm2
		200V	1 0 0 W		(5A)		(3P+1a)	AWG 18
	MUDS	1-phase,	2 0 0 W	Approx. 0.5kVA
			4 0 0 W	Approx. 0.9kVA	B K 3 1 0 1	D V O P 1 4 4 2
		200V
					( 1 0 A )
		*3-phase,	30 ~ 50W	Approx. 0.3kVA	B K 3 5 1	D V O P 1 4 4 1	MMFT61042N
		200V	1 0 0 W		(5A)		(3P+1a)
			2 0 0 W	Approx. 0.5kVA
		3-phase,	4 0 0 W	Approx. 0.9kVA	BK3101(10A)
		200V	7 5 0 W	Approx. 1.3kVA	B K 3 1 5 1	D V O P 1 4 4 2
					( 1 5 A )

As these models with * are used for both 1-phase 200V and 3-phase 200V, make a choice

according to the power source.

•When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m.

•The model numbers of circuit breaker and magnetic contactors shown in the above list are manufactured by Matsushita Electric Works, Ltd.

•Use the circuit breaker as shown in App.3 to meet relevant EC Directives.

•The model number of noise filters (options) shown in the above are manufactured by Okaya Electric Industries Co., Ltd.

<Notes>

•CN POWER, CN MOTOR and earth terminals

Wires should be copper conductors of a temperature rating of 60˚C or above.

•Earth wire diameter should be 2.0 mm2 (AWG14) or larger.

•Please also consider the electrochemical potentials between metal conductor including closed loop terminals. The electrochemical potentials shall be less than 0.6V.

-20 -

For 3-phase 200VAC

3-phase
200V		ON
		MC	OFF			MC
	NFB	MC	L	10
		Noise filter			L1	P
				8
					L2
				6
					L3	N
				5
					P	P
172167-1	172159-1			3
					B	N
tyco Electronics AMP	tyco Electronics AMP
		5557-10R-210
Red	1			1	U
White or yellow	2			4	V
				6
Black	3				W
Green/yellow	4			3	E
		5557-06R-210
Motor
		ALM		9	ALM
		VDC

12~24V	13 COM –

For 1-phase 100V/200V

Single-phase 100V or
Single-phase 200V			ON
			MC	OFF		MC
	NFB	Noise filter	MC	L 10	L1	P
				6	L2
					L3	N
				5
					P	P
172167-1	172159-1			3
					B	N
tyco Electronics AMP	tyco Electronics AMP		5557-10R-210
Red	1			1	U
White or yellow	2			4	V
				6
Black	3				W
Green/yellow	4			3	E
			5557-06R-210
Motor
			ALM	9	ALM
		VDC

12~24V	13 COM –

<Note>

• In case that alarm occurs, construct the circuits so that the main power is switched off.

Adjustments and Preparations

- 21 -

System Configuration and Wiring

Main Circuits

Always ask to an electric engineer for wiring.

Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks.

Wiring Instructions

•Make necessary connections.

For wire diameter, see List of Available Components (page 20).

•Securely insert connectors.

See the nameplate of the amplifier to check

the power specification.

Install a non-fuse breaker or leakage breaker.

The latter should be a special one intended for

inverters, i.e. with a countermeasure against

higher harmonics.

Install a noise filter without fail.

Install a surge absorber to the magnetic

Power

contactor coil.

NFB

NF

MC

L

Install an AC reactor.

supply

For three-phase 200V,connect L1(10pin), L2(8pin),

and L3(6pin).

CN

5

POWER

10

For single-phase 100V and

200V, connect

L1(10pin) and L3(6pin).

D class ground: 100Ω max.

P

L1

L2

Connect to the grounding system of the facility.

B

For wire diameter, see page 20.

Never fail to connect between the amplifier's

L3

1

6

protective earth terminal (

) and control

CN

board's protective earth terminal (ground plate)

3 MOTOR	in order to avoid electric shocks.
	6

	U			Ensure to connect matching in color between
Red		1		the motor wires and terminals (U, V, W and E).
White or	V	1	4	Don't short circuit or ground. Don't connect to
		2
yellow				the main power.
	W	3
Black
Green	E	4
yellow

Motor

							The electromagnetic brake is not polar-sensitive.
							For power capacities, see the App. 7.
						Power supply for	For use of the brake, see "Holding Brake" in App. 6.
					DC
						elector magnetic brake
					24V	(Min, 0.5A)	Install a surge absorber.

- 22 -

CN SIG Connector (For Encoder)

Wiring Instructions

	POWER
Power	ALARM
	RS232C
	GAIN
	CN
	I/F
	CN
	POWER
	CN
Motor	SIG
	Encoder min.30cm
	CN
	MOTOR
	max.20m

Wiring Diagrams

	172171-1		172163-1
	tyco Electronics AMP		tyco Electronics AMP
					CN SIG
	Yellow	Z	5	11	Z
	Orange	Z	6	12	Z
	Yellow		3	9
	Green	B			B
	Blue		4	10
		B			B
	Red		1	7
		A			A
	Pink			8
		A	2		A
	Light		11	17
	Blue	RX			RX
	Purple		12	18
		RX			RX
	White	+5V	13	3	+5V
	Black	0V	14	1	0V
				4
					+5V
				2
					0V
			15	20
		FG			FG
	Moter side		Connecting cable		Driver side

The cable length between the amplifier and motor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent.

Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

When you prepare your own connecting cables see the "Optional Parts" for connectors, and

1)Follow the wiring diagram and use the

2)Wire material: 0.18 mm2 (AWG24) or more, shielded twist-paired wire Å@with an enough bending durability,

3)Signal/power paired wires should be of a twist-paired type.

4)Shield:

•The shield at the amplifier side should be

connected to Pin 20 (FG) of CN SIG Connector.

•The shield at the motor side should be connected to: connector of 15 pins type

5)If the cable is longer than 10 m, the encoder power line (+5V and 0V) should be dual per the figure shown left.

6)Other terminals should be left unconnected.

Adjustment and Preparations

- 23 -

System Configuration and Wiring

CN SER Connector

For RC232C communications

Connect a personal computer to the amplifier with RS232C at 1:1, and use the communication control software "PANATERM“" (Option). Operate "PANATERM“" on the personal computer. Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display.

Connection

MSDS STATUS

ALM CODE

GAIN

CN

SER

CN

I/F

Exclusive						Insert and pull out connector
		Personal				after cutting power to both
connection cable
		computer				personal computer and
(Option)
						amplifier
See App. 44.						Securely tighten the fixing
						screw
CN SER						RS232C connector

- 24 -

List of Available Components

CN I/F Connector (For Controller)

Wiring Instructions

max.3 m

Controller

min.30 cm

Power supply

Motor

COM+	1
	2
	GND

VDC

Place the peripheral devices such as the controller max. 3 m away from the amplifier.

Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

Thecontrolpower(VDC)betweenCOM+andCOM-should be supplied by the customer (recommended voltage: +12VDC to +24VDC).

Use a shielded twist-paired type for the wiring of pulse input, encoder signal output, etc.

Do not apply power higher than 24V or 50mA to control signal output terminal.

COM-

FG

CN I/F

If you directly activate a relay using the control signal,install a diode in parallel to the relay as shown in the left figure. Without a diode or with it but placed in the opposite direction, the amplifier will be damaged.

The Frame Ground (FG) is connected to an earth terminal in the amplifier.

• CN I/F Connector Specifications

Receptacle on the	Connector to controller side			Manufacturer
amplifier side	Part description	Part No.
1 0 2 2 6 - 5 2 A 2 J L	Solder type plug (Soldering type)	1 0 1 2 6 - 3 0 0 0 V E		Sumitomo
	Connector cover	1 0 3 2 6 - 5 2 A 0	- 0 0 8	three M

• The CN I/F pins assignment is shown in "Optional Parts" in Appendix.

- 25 -

Adjustments and Preparations

System configutration and wiring

Circuits Available for Typical Control Modes

• CN I/F Wiring for Position Control

Command pulseinput

A-phase

output

B-phase

output

Z-phase

output

anopencollectorI/F,

inpage33.

330Ω

330Ω

330Ω

Ifthisis

seeP1

22

23

24

25

14

15

16

17

18

19

20

PULS1

PULS2

SIGN1

SIGN2

GND

OA+

OA-

OB+

OB-

OZ+

OZ-

Ω220

Ω220

Ω4.7k

Scaler

COM+

SRV-ON

A-CLR

CL

GAIN

DIV

CWL

CCWL

ALM

COIN

BRKOFF

1

2

3

4

5

6

7

8

9

10

11

Servo-ON

Alarmclear

Positionerrorcounterclear

2ndgainswitching

Commandpulsescalerswitch

CWovertravelinhibit

CCWovertravelinhibit

Servoalarm

In-position

Mechanicalbrakerelease

VDC

12~24V

- 26 -

21 Z-phase output (open collector)

CZ

CN I/F

WARN	COM-	FG
12	13	26

Alarm

(Pr09)

CN MON

Velocity monitor output Torque monitor output

Monitorpin		Monitorpin
1	2	3
SPM	IM	GND
1K	1K

A-phase

output

B-phase output

Z-phase

output

330Ω

330Ω

330Ω

(opencollector)

Z-phaseoutput

22

23

24

25

14

15

16

17

18

19

20

21

CNMON

PULS1

PULS2

SIGN1

SIGN2

GND

OA+

OA-

OB+

OB-

OZ+

OZ-

CZ

Ω220

Ω220

Ω4.7k

Scaler

CNI/F

COM+

SRV-ON

A-CLR

INTSPD2

ZEROSPD

INTSPD1

CWL

CCWL

ALM

COIN

BRKOFF

WARN

COM-

FG

1

2

3

4

5

6

7

8

9

10

11

12

13

26

InternalforWiringVelocityControl

Servo-ON

Alarmclear

Internalvel.cmnd.select2

VDC

12~24V

CWovertravelinhibit

CCWovertravelinhibit

Servoalarm

At-speed

Mechanicalbrakerelease

Alarm

(Pr09)

Speedclampzero

.cmnd.selectInternalvel1

•CNI/F

- 27 -

Velocitymonitor output

Torquemonitor output

	Monitorpin	Monitorpin
1	2	3

SPM	IM	GND
1K	1K

Adjustments and Preparations

System configuration and wiring

CN I/F Connector

Input Signals (Common) and their Functions

Signal	Pin		Symbol		Function		I / F
	No.					circuit
Control signal	1		COMÅ{	• Connect to (+) of an external power supply(12VDC to 24VDC).		Å\Å\
power (+)				• Use power supply of 12V±10%Å`24V±10%
Control signal	1 3		C O M Å |	• Connect to (-) of an external power supply(12VDC to 24VDC).
power (-)				•The required capacity depends on the I/O circuit configuration.
					0.5A or larger is recommended.
Servo-ON	2		SRV-ON	• When this signal is connected to COM-, the dynamic brake will be
							SI
	<Notes>				released and the amplifier is enabled. (Servo-ON).	page 33
	1. This signal becomes effective about two seconds after power on
	(see the Timing chart).
	2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the
	motor. (See App.8)
	• Allow at least 100ms delay after the amplifier is enabled before any
	command input is entered.
	• By opening the connection to COM- , the amplifier will be disabled(Servo-OFF) and
	the	current flow to the motor will be inhibited.
	• Operation of the dynamic brake and clearing action of the position error counter can be
	selected using Pr69 (Sequence under Servo-OFF).
Alarm	3		A-CLR	• If the COMconnection is kept closed for more than 120 ms,			SI
clear					the alarm status will be cleared.	page 33
				• Some alarms cannot be cleared by this input.
					For details, see Protective Functions on page 60.
Position error	4		C L /	The function differs depending on the control mode.			SI
counter			INTSPD2			page 33
clear/Internal
			Position		• Clears the position error counter. Connect to COM-
command
			control		to clear the counter.
velocity
					• Use Pr4D to select the clear mode (0 Default: level 1: Edge)
selection 2
			Internal		• The internal velocity selection 2 (input) is valid. 4 kinds of
			velocity		velocity settings are available by combination with DIV/
			control		INTSPD1 input. See control mode setting Pr02 (APP. 16).

- 28 -

Signal

Pin

Symbol

Function

I / F

No.

circuit

Gain

5

G A I N /

The function differs depending on the control mode.

SI

s w i t c h i n g /

ZEROSPD

page 33

Speed zero

Position

• The functions depend on the value of Pr30.

clamp

control

• Gain switching input results. Input for switching PI/P

operation and No. 1/No. 2 gains.

P r 3 0

Connection

Function

Preparations

velocity

value

At Pr31 value of 2

to COM-

0

Open

Speed loop:PI(ProportionalÅEIntegration) operation

(Default)

Close

Speed loop: P (Proportion) operation

1

Open

#1 gain selection (Pr10, 11, 12, 13, 14)

Close

#2 gain selection (Pr 18, 19, 1A, 1B, 1C)

Internal

control

and

• For No.2 Gain change Funcution, see Protective Adjustments on page 57.

• Speed zero clamp input results. With COMopen, the

velocity command is considered zero.

Adjustments

0

ZEROSPD is disabled.

• This input can be made disabled using Pr06.

• Default: Contact is set. With COMopen, the velocity

command is considered zero.

Pr06 value

Meaning

1 [Default]

ZEROSPD is enabled

Command

6

D I V /

The function differs depending on the control mode.

SI

pulse scaler

INTSPD1

page 33

s w i t c h /

Position

• This is the input to switch command pulse scaler.

Internal

control

• With COMclosed, the numerator of the command scaler is changed

command

from the value stored in Pr46 (Numerator of 1st Command Scaler) to

velocity

the value stored in Pr47 (Numerator of 2nd Command Scaler).

selection 1

<Note>

Don't enter command pulses 10 ms after or before switching.

• The internal velocity selection 1 (input) is valid. 4 kinds of velocity

Internal

settings are available by the combination with CL/INTSPD2 input.

velocity

• See control mode setting Pr02 (APP. 16).

control

- 29 -

System configuration and wiring

	Signal	Pin	Symbol	Function		I / F
		No.			circuit
	CW overtravel	7	CWL	• If COMis opened when the movable part of the
						SI
	inhibit			machine has moved to CW exceeding the limit, the	page 33
				motor does not generate torque.
	CCW overtravel
		8	CCWL	• If the COMis opened when the movable part of the		SI
	inhibit			machine has moved CCW exceeding the limit, the	page 33
				motor does not generate torque.
				• When Pr04 (Overtravel Limit Input Disabled) = 1, CWL
				and CCWL inputs are disabled. The default is
				"Disabled" (1).
				• The dynamic brake can be made operable during CWL/
				CCWL inputs valid. Use Pr66 (Dynamic Brake
				Inactivation at Overtravel Limit) to make the dynamic
				brake operable. The default is to allow the dynamic
				brake to operate. (Pr66 value is 0.)

Input Signals (Position Control) and their Functions

Signal	Pin	Symbol		Function		I / F
	No.				circuit
Command	2 2	P U L S 1	• This is the input terminal for command pulses. The maximum allowable
						PI
pulse				input frequency is 500 kpps for line amplifier input and 200 kpps for	page 33
	2 3	P U L S 2		open collector input. The amplifier is the high-speed photocoupler
				of TOSHIBA TLP554 or equivalent.
Command	2 4	SIGN1	• The input impedance of PULSE and SIGN signals is 220Ω.
s i g n			• Command pulses can be input in three different ways. Use Pr42 to
	2 5	SIGN2		select one of the following. (See App.26.)
			1)	Quadrature (A and B) input
			2)	CW (PULSE)/CCW (SIGN) pulse input
			3)	Command pulse (PULS)/Sign (SIGN) input

- 30 -