Panasonic MADDT1207, MBDDT2210, MDDDT5540, MBDDT2110, MADDT1107 Technical Reference

Technical referenc

e

AC Servo Motor & Drive

r

MINAS A4-series

If you are the first user of this product, please be sure to purchase and read the optional Engineering Material (DV0P4210), or downloaded Instruction Manual from our Web Site.

[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.] http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Thank you very much for your purchase of Panasonic AC Servo Motor & Driver, MINAS A4-series. Before use, refer this technical reference and safety instructions to ensure proper use. Keep this technical reference and read when necessary. Make sure to forward this technical reference for safety to the final user.

•

IMC54D

Z0404-6066

1. Introduction................................. B2

On Opening the Package ............................... B2

Check of the Driver Model .............................. B2

Check of the Motor Model .............................. B3

2. Installation .................................. B4

Driver .............................................................. B4

Motor .............................................................. B6

Console .......................................................... B8

3. System Configuration and

Wiring ........................................B10

Overall Wiring

(Connecting Example of C-frame, 3-

phase) ..............................................................

B10

Overall Wiring

(Connecting Example of E-frame) ....

B12 Driver and List of Applicable Peripheral

Equipments .................................................. B14

Wiring of the Main Circuit (A to D-frame) ..... B16

Wiring of the Main Circuit (E and F-frame) ... B17 Wiring method to connector (A to D-frame).. B18 Wiring to the Connector, CN X6

(Connection to Encoder) .............................. B22

Wiring for Typical Control Modes

to the Connector CN X5 ............................... B24

4. Parameter.................................. B27

Outline of Parameter .................................... B27

How to Set .................................................... B27

Setup with the Front Panel ........................... B27

Outline of PANATERM

®

.......................................................

B28

Setup with the Console ................................ B28

How to Connect ............................................ B29

Composition and List of Parameters ............ B30

5. Protective Functions................ B36

Protective Function (What Is Error Code ?) .....

B36

6. Maintenance and Inspections . B38

7. Conformity to EC Directives

and UL Standards ..................... B40

Composition of Peripheral Equipments ........ B41

Conformity to UL Standards ......................... B44

8. Built-in Holding Brake ............. B45

9. Dynamic Brake ......................... B47

10.

Check of the Combination of

the Driver and the Motor ............

B48

After-Sale Service (Repair) .......... B51

page page

R

ated input voltage/current

r)

Check of the Motor Model

Contents of Name Plate

Model Designation

s

s)

MAMA

MQMA

MSMD

MSMA

MDMA

MHMA

MFMA

MGMA

Symbol

Motor structure MSMD, MQMA MAMA

*

1 The product with oil seal is a special order

product.

*

2 Key way with center tap

A B S T

Symbol

Products are standard stock items or build to order items. For details, inquire of the dealer.

1. Introduction

On Opening the Product Package

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

• Check if the product is damaged or not during transportation.

• Check if the instruction manual is attached or not.

• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A to D-frame).

Contact to a dealer if you find any failures.

Check of the Driver Model

Contents of Name Plate

Model Designation

M A D D T 1 2 0 5

Special specification

s

(letters and numbers

)

Current detector ratin

g

Power supply

Max. current rating of power device

F

rame-size symbol

MADD MBDD MCDD MDDD MEDD MFDD

Frame

Symbol

A4-series, A-frame A4-series, B-frame A4-series, C-frame A4-series, D-frame A4-series, E-frame A4-series, F-frame

T1 T2 T3 T5 T7 TA TB

Current

rating

Symbol

Specifications

10A 15A 30A 50A

70A 100A 150A

Symbol

1 2 3

5

Single phase, 100V Single phase, 200V 3-phase, 200V Single/3-phase,

200V

05 07 10 15 20 30 40 64 90 A2

Current rating

Symbol

5A

7.5A 10A 15A 20A 30A 40A 64A 90A

120A

1 to 4 75 to 6 10 to 128 to 9

Model number

R

ated input/output voltage

Rated output of applicable motor

Rated input/output current

Serial Number

MADDT1205

e.g.) :

P04 11 0001Z

Lot number

Month of productio

n

Year of production (Lower 2 digits of AD yea

r)

50/60Hz

100W

1.3A

1ø

200-240V

Freq.

Model No.

AC SERVO

Serial No.P04110001Z

INPUT

Voltage

Phase F.L.C

Power

OUTPUT

69V 3ø

1.2A 0~333.3Hz

– B3 –– B2 –

AC SERVO MOTOR

RATING S1

MODEL No.

MSMD5AZS1S

INS. CLASS B (TÜV) A (UL)

CONT. TORQUE

0.64

Nm

A1.6

CONNECTION RATED OUTPUT RATED FREQ.

kW

0.2

SER No.

04110001

Hz

200

RATED REV.

r/min

3000

INPUT 3ØAC

92

IP65

V

Model

Rated output

R

ated input voltage/current

Rated rotational speed

Serial Number

e.g.) :

0411 0001

Lot number

Month of production

Year of production (Lower 2 digits of AD yea

r)

Check of the Motor Model

Contents of Name Plate

Model Designation

M S M D 5 A Z S 1 S

1 to 4

5 to 6

11 to 12

7

8 9 10

Special specification

s

(letters and number

s)

Motor structure Design order 1: Standard

Rotary encoder specifications

Voltage specifications

MAMA

MQMA

MSMD

MSMA

MDMA

MHMA

MFMA

MGMA

Type

Symbol

Ultra low inertia (100W to 750W)

Low inertia (100W to 400W)

Low inertia (50W to 750W)

Low inertia (1.0kW to 5.0kW)

Middle inertia (1.0kW to 5.0kW)

High inertia (500W to 5.0kW)

Middle inertia (400W to 4.5kW)

Middle inertia (900W to 4.5kW)

P S

Incremental

Absolute/Incremental common

Specifications

Symbol

Format

2500P/r

17bit

Pulse count

5A 01 02 04 05 08 09 10

Output

Motor rated output

Symbol

50W 100W 200W 400W 500W 750W 900W

1.0kW

15 20 25 30 40 45 50

Output

Symbol

1.5kW

2.0kW

2.5kW

3.0kW

4.0kW

4.5kW

5.0kW

1 2

Z

Specifications

Symbol

100 V 200 V 100/200 common

(50W only)

10,000

131,072

Resolution

5-wire 7-wire

Wire count

Motor structure MSMD, MQMA MAMA

*

1 The product with oil seal is a special order

product.

*

2 Key way with center tap

A B E F

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

A B S T

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

MSMA, MDMA, MFMA, MGMA, MHMA

C D G H

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

*

1

*

2

*

2

Products are standard stock items or build to order items. For details, inquire of the dealer.

Install the driver and the motor properly to avoid a breakdown or an accident.

Driver

Installation Place

1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.

3) Well-ventilated and low humidity and dust-free place.

4) Vibration-free place.

Environmental Conditions

Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude

ConditionsItem

0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5.9m/s

2

(0.6G), 10 to 60Hz

Lower than 1000m

Fan Fan

100mm or more

40mm

or

more

40mm

or

more

10mm

or

more

10mm

or

more

10mm

or

more

A

to D-frame e.g.) In case of C-frame

Fastening torque of earth screws (M4) to be 0.39 to 0.59N

•

m.

Mounting brack

et

(optional parts)

MADD MBDD MCDD MDDD

E

et

2. Installation

How to Install

1) Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation. Base mount type (rear mount) is standard (A to D-frame)

2) Use the optional mounting bracket when you want to change the mounting face.

Mounting Direction and Spacing

• Reserve enough surround- ing space for effective cool- ing.

• Install fans to provide uni- form distribution of tem- perature in the control panel.

• Observe the environmental conditions of the control panel described in the next page.

<Note>

It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure.

Caution on Installation

We have been making the best effort to ensure the highest quality, however, application of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. There might be a chance of smoke generation due to the failure of these products. Pay an extra attention when you apply these products in a clean room environment.

– B5 –– B4 –

Fan Fan

100mm or more

40mm

or

more

40mm

or

more

10mm

or

more

10mm

or

more

10mm

or

more

E

and F-frame

Mounting brack

et

Mounting Direction and Spacing

• Reserve enough surrounding space for effective cooling.

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

• Observe the environmental conditions of the control panel described in the next page.

<Note>

It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure.

Caution on Installation

We have been making the best effort to ensure the highest quality, however, application of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. There might be a chance of smoke generation due to the failure of these products. Pay an extra attention when you apply these products in a clean room environment.

Ambient temperature

Ambient humidity

Storage temperature

Storage humidity

Vibration

Impact

Enclosure

rating

ConditionItem

0˚C to 40˚C (free from freezing)

*1

Less than 85% RH (free from condensation) –20˚C to 80˚C (free from freezing)

*2

Less than 85% RH (free from condensation) Lower than 49m/s

2

(5G) at running, 24.5m/s2 (2.5G) at stall

Lower than 98m/s

2

(10G)

IP65 (except rotating portion of output shaft and lead wire end)

These motors conform to the test conditions specified in EN standard

s

(EN60529, EN60034-5). Do not use these motors in application wher

e

water proof performance is required such as continuous wash-dow

n

operation.

Motor only Motor only

Motor only

•

2. Installation

Motor

Installation Place

Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below.

1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.

3) Where the motor is free from grinding oil, oil mist, iron powder or chips.

4) Well-ventilated and humid and dust-free place, far apart from the heat source such as a furnace.

5) Easy-to-access place for inspection and cleaning

6) Vibration-free place.

7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

Environmental Conditions

*1 Ambient temperature to be measured at 5cm away from the motor. *2 Permissible temperature for short duration such as transportation.

How to Install

You can mount the motor either horizontally or vertically as long as you observe the followings.

1) Horizontal mounting

• Mount the motor with cable outlet facing downward for water/oil countermeasure.

2) Vertical mounting

• Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor.

3) For mounting dimensions, refer to the technical reference. (DV0P4210)

Oil/Water Protection

1) Don't submerge the motor cable to water or oil.

2) Install the motor with the cable outlet facing downward.

3) Avoid a place where the motor is subjected to oil or water.

4) Use the motor with an oil seal when used with the gear re- ducer, so that the oil may not enter to the motor through shaft.

Stress to Cables

1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.

2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension junction cable into the bearer so that the stress by bending can be minimized.

3) Take the cable bending radius as large as possible. (Minimum R20mm)

Permissible Load to Output Shaft

1) Design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model.

2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.

3) Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permis- sible value.

4) For permissible load of each model, refer to the technical reference. (DV0P4210)

Notes on Installation

1) Do not apply direct impact to the shaft by hammer while attaching/detaching a cou- pling to and from the motor shaft. (Or it may damage the encoder mounted on the other side of the shaft.)

2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)

3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condi- tion of the machine and its mounting environment, and may result in the bearing noise. Check and verification by customer is required.

– B7 –– B6 –

Motor

Oil / Water

Cable

Motor

Oil/Water Protection

1) Don't submerge the motor cable to water or oil.

2) Install the motor with the cable outlet facing downward.

3) Avoid a place where the motor is subjected to oil or water.

4) Use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the motor through shaft.

Stress to Cables

1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.

2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension junction cable into the bearer so that the stress by bending can be minimized.

3) Take the cable bending radius as large as possible. (Minimum R20mm)

Permissible Load to Output Shaft

1) Design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model.

2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.

3) Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value.

4) For permissible load of each model, refer to the technical reference. (DV0P4210)

Notes on Installation

1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft. (Or it may damage the encoder mounted on the other side of the shaft.)

2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)

3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Check and verification by customer is required.

How to Connect

• Connect the console connector securely to CN X4 connector of the driver.

• Never pull the cable to plug in or plug out.

Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration

Impact

Altitude

ConditionItem

0˚C to 55˚C (free from freezing) Less than 90% RH (free from condensation) –20˚C to 80˚C (free from freezing) Less than 90% RH (free from condensation) Lower than 5.9m/s

2

(0.6G), 10 to 60Hz Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles) Lower than 1000m

2. Installation

Console

Installation Place

1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.

3) Well-ventilated and low humidity and dust-free place.

4) Easy-to-access place for inspection and cleaning

Environmental Conditions

• Do not give strong impact to the products.

• Do not drop the products.

• Do not pull the cables with excess force.

• Avoid the place near to the heat source such as a heater or a large winding resistor.

– B9 –– B8 –

How to Connect

• Connect the console connector securely to CN X4 connector of the driver.

• Never pull the cable to plug in or plug out.

MODE

SHIFT

SET

S

M

Connect to CN X4.

C

ircuit Breaker (NFB)

U

se the circuit breaker matching

c

apacity of the power source to

p

rotect the power lines.

N

oise Filter (NF)

P

revents external noise from the pow-

e

r lines. And reduces an effect of the

n

oise generated by the servo driver.

M

agnetic Contactor (MC)

T

urns on/off the main power of the

s

ervo driver.

U

se a surge absorber together

w

ith this.

•

Never start nor stop the servo mo-

tor with this Magnetic Contactor.

R

eactor (L)

R

educes harmonic current of the

m

ain power.

F

or specifications, refer to the

d

ownloaded Instruction Manual

f

rom our Web Site.

•

Wiring of the Main Circuit

Ground

(earth)

• Connection to the Connector, CN X1

(connection to input power)

• Connection to the Connector, CN X2

(connection to external components)

Short bar

Junction cable for motor

Junction cable for brake

RB1 (Pin-6)

RB2 (Pin-4)

• Wiring to Connector, CN X2

(Connection to motor driving phase and ground)

L1 (Pin-5) L2 (Pin-4) L3 (Pin-3) L1C (Pin-2) L2C (Pin-1)

P

in RB1 (6-pin), RB2 (4-pin), and

R

B3 (5-pin)

RB2 and RB3 to be kept shorted for normal operation.

When the capacity shortage of the regenerative resister is found, disconnect a shorting bar between RB2 and RB3, then connect the external regenerative resister

between RB1 and RB2. (Note that no regenerative resister is equipped in Frame A and B type.

Install an external regenerative resister on incombustible material, such as metal. Follow the same

wiring connection as the above.) When you connect an external regenerative resister, set up Parameter No. 6C to 1 or 2.

Handle lever Use this for connector connection. Store this after connection for other occasions. (see page for connection.)

Regenerative resistor (optional) <Remarks>

When you use an external

regenerative resister, install an external protective apparatus, such as thermal fuse without fail. For resistor value and capacity, refer to the downloaded Instruction Manual from our Web Site. Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.

U-phase (red) V-phase (white) W-phase (black)

3. System Configuration and Wiring

Overall Wiring (Connecting Example of C-frame, 3-phase)

– B11 –– B10 –

X3

X4

X5

X6

X7

• Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller)

• Wiring to Connector, CN X5

(Connection to host controller)

• Wiring to Connector, CN X6

(Connection to encoder)

• Wiring to Connector, CN X7

(Connection to external scale)

Junction cable for encoder

Junction cable for motor

Junction cable for brake

DC Power supply for brake DC24V (to be supplied by customer)

• Wiring to Connector, CN X2

(Connection to motor driving phase and ground)

: High voltage

X1

X2

U-phase (red) V-phase (white) W-phase (black)

PC (to be supplied by customer)

Setup support software "PANATERM

®

"

DV0P4460

Console (option) DV0P4420

3. System Configuration and Wiring

Overall Wiring (Connecting Example of E-frame)

Ground

(earth)

• Connection with input power supply

• Connection to external components

Short bar

P

B2

L1

L2

L3

r

t

P

in P, B1 and B2...

B1 and B2 to be kept shorted for normal operation.

When the capacity shortage of the regenerative resister is found, disconnect a short bar between B1 and B2, then con- nect the external regenerative resister between P and B2. Install an external regenerative resister on incombustible material, such as metal. Follow

the same wiring connection as the above. When you connect an external regenerative resister, set up Parameter No. 6C to 1 or 2.

Regenerative resistor (optional) <Remarks>

When you use an external

regenerative resister, install an external protective apparatus, such as thermal fuse without fail. For resistor value and capacity, refer to the downloaded Instruction Manual from our Web Site. Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.

C

ircuit Breaker (NFB)

U

se the circuit breaker matching

c

apacity of the power source to

p

rotect the power lines.

N

oise Filter (NF)

P

revents external noise from the pow-

e

r lines. And reduces an effect of the

n

oise generated by the servo driver.

M

agnetic Contactor (MC)

T

urns on/off the main power of the

s

ervo driver.

U

se a surge absorber together

w

ith this.

•

Never start nor stop the servo mo-

tor with this Magnetic Contactor.

R

eactor (L)

R

educes harmonic current of the

m

ain power.

F

or specifications, refer to the

d

ownloaded Instruction Manual

f

rom our Web Site.

•

Wiring of the Main Circuit

– B13 –– B12 –

: High voltage

X3

X4

X5

X7

X6

• Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller)

• Wiring to Connector, CN X5

(Connection to host controller)

Junction cable for motor

Junction cable for brake

DC Power supply for brake DC24V (to be supplied by customer)

U-phase V-phase W-phase

X1

• Wiring to Connector, CN X6

(Connection to encoder)

Junction cable for encoder

From a top

• Wiring to Connector, CN X7

(Connection to external scale)

• Connection to motor driving phase and ground

PC (to be supplied by customer)

Setup support software "PANATERM

®

"

DV0P4460

Console (option) DV0P4420

3. System Configuration and Wiring

Connection

Driver

Applicable

motor

Voltage

Rated

output

Required

Power (at the rated load)

Noise

filter for

signal

Noise

filter

Surge

absorber

Magnetic

contactor

Cable

diameter

(main circuit)

Cable

diameter

(control circuit)

MADD

MBDD

MCDD

MDDD

MEDD

MSMD

MQMA

MSMD

MQMA

MAMA

MSMD

MQMA

MSMD

MQMA

MAMA

MQMA

MSMD

MAMA

MFMA

MHMA

MAMA

MDMA

MHMA

MGMA

MSMA

MHMA

MDMA

MSMA

MFMA

MDMA

MSMA

MHMA

MFMA

Single phase,

100V

Single phase,

200V

Single phase,

100V

Single

phase,

200V

Single phase,

100V

Single/ 3- phase,

200V

Single/ 3- phase,

200V

3- phase,

200V

50W

to 100W

100W

50W

to 200W

100W

200W

100W

200W

400W

200W

400W

750W

400W

500W

750W

1.0kW

900W

1.0kW

1.5kW

2.0kW

2.5kW

approx.

0.4kVA

approx.

0.4kVA

approx.

0.5kVA

approx.

0.3kVA

approx.

0.5kVA

approx.

0.3kVA

approx.

0.5kVA

approx.

0.9kVA

approx.

0.5kVA

approx.

0.9kVA

approx.

1.3kVA

approx.

0.9kVA

approx.

1.1kVA

approx.

1.6kVA

approx.

1.8kVA

approx.

1.8kVA

approx.

1.8kVA

approx.

2.3kVA

approx.

3.3kVA

approx.

3.8kVA

Circuit breaker (rated

current)

10A

15A

20A

30A

DV0P4170

DV0P4180

DV0P4220

Connection to exclusive connector

DV0P4190

DV0P1450

DV0P1460

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61541N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61842N

(3P+1a)

BMF6352N

(3P+2 a 2b)

0.75 to

2.0mm

2

AWG

14 to 18

2.0mm

2

AWG14

2.0mm

2

AWG14

3.5mm

2

AWG12

0.75mm

2

AWG18

Termina

l

block

M5

11.0 or smaller

ø5.3

Driver

MFDD

l

Driver and List of Applicable Peripheral Equipments

• Select a single and 3-phase common specifications according to the power source.

• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works. 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). 5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the maximum current value of the circuit breaker is limited to 20A.

• For details of noise filters, refer to P.B42, "Noise Filter".

• Select and use the circuit breaker and noise filter with matching capacity to those of the power source, considering the load conditions as well.

• Terminal block and protective earth terminal Use a copper conductor cable with temperature rating of 60˚C or higher. Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame. Larger tightening torque of the screw than the max. value (M4 : 1.2 N may damage the terminal block.

• Earth cable diameter should be 2.0mm and 3.5mm for 4.5kW to 5kW model.

• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.

• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35 N at the driver side.

– B15 –– B14 –

Connection

Driver

Applicable

motor

Voltage

Rated

output

Required

Power (at the rated load)

Noise

filter for

signal

Noise

filter

Surge

absorber

Magnetic

contactor

Cable

diameter

(main circuit)

Cable

diameter

(control circuit)

Circuit

breaker (rated current)

MFDD

MGMA

MDMA

MHMA

MSMA

MGMA

MDMA

MHMA

MSMA

MFMA

MGMA

MDMA

MHMA

MSMA

3- phase,

200V

2.0kW

3.0kW

4.0kW

4.5kW

5.0kW

approx.

3.8kVA

approx.

4.5kVA

approx.

6kVA

approx.

6.8kVA approx.

7.5kVA

approx.

7.5kVA

50A

DV0P3410 DV0P1450 DV0P1460

BMF6352N

(3P+2a2b)

BMF6652N

(3P+2a2b)

3.5mm

2

AWG12

5.3mm

2

AWG10

0.75mm

2

AWG18

Termina

l

block

M5

11.0 or

smaller

ø5.3

• Select a single and 3-phase common specifications according to the power source.

• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works. 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). 5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the maximum current value of the circuit breaker is limited to 20A.

• For details of noise filters, refer to P.B42, "Noise Filter".

• Select and use the circuit breaker and noise filter with matching capacity to those of the power source, considering the load conditions as well.

• Terminal block and protective earth terminal Use a copper conductor cable with temperature rating of 60˚C or higher. Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame. Larger tightening torque of the screw than the max. value (M4 : 1.2 N

•

m, M5 : 2.0 N•m)

may damage the terminal block.

• Earth cable diameter should be 2.0mm

2

(AWG14) or larger for 50W to 2.0kW model,

and 3.5mm

2

(AWG12) or larger for 2.5kW to 4.0kW, and 5.3mm2(AWG10) or larger

for 4.5kW to 5kW model.

• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.

• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35 N

•

m. Larger tightening torque than these may damage the connector

at the driver side.

Red

Black

Green yellow

Motor

Surge absorber

DC

24V

White

NFB

Power supply

DC power supply for brake

NF MC

1 2 3 4

U V

W

E

L1C

L3

L2

L1

L2C

RB1 RB3 RB2

U V

W

2

3

4

5

1

6 5 4 3 2 1

CN X1

CN X2

L

Yellow

(X2)

Fuse (5A)

Ground resistance : 100Ω max. For applicable wire, refer to P.B14 and B15.

• Check the name plate of the driver for power specifications.

• Provide a circuit breaker, or a leakage breaker. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a noise filter without fail.

• Provide a surge absorber to a coil of the Magneti

c

Contactor. Never start/stop the motor with this

Magnetic Contactor.

Connect a fuse in series with the surge absorber

.

Ask the manufacturer of the Magnetic Contactor for the fuse rating.

• Provide an AC Reactor.

• Connect L1 and L1C, and L3 and L2C at singl

e

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 RB2 and RB3 (C and D frame type). Disconnect this only when the external regenerative register is used.

• Avoid shorting and ground fault. Don't

connect the main power.

*

Connect pin 3 of the connector on the amplifier

side with pin 1 of the connector on the motor side.

• Earth-ground this.

•

Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock.

• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two 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 emergency stop signal.

• The Electromagnetic Brake has no polarity.

• For the capacity of the electromagnetic brake and how to use it, refer to P.B45, "Specifications of Built-in Holding Brake".

• Provide a surge absorber.

•

Connect a 5A fuse in series with the surge absorber

.

3. System Configuration and Wiring

Wiring of the Main Circuit (A to D-frame)

• Wiring should be performed by a specialist or an authorized personnel.

• Do not turn on the power until the wiring is completed.

Tips on Wiring

1) Peel off the insulation cover of the cable. (Observe the dimension as the right fig. shows.)

2) Insert the cable to the connector detached from the driver.(See P.B18 for details.)

3) Connect the wired connector to the driver.

8~9mm

Power supply

r

.

d

.

Wiring of the Main Circuit (E and F-frame)

• Wiring should be performed by a specialist or an authorized personnel.

• Do not turn on the power until the wiring is completed.

Tips on Wiring

1) Take off the cover fixing screws, and detach the terminal cover.

2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the termi- nal block. For cable diameter and size, rater to "Driver and List of Applicable Periph- eral Equipments" (P.B14 and B15).

3) Attach the terminal cover, and fix with screws. Fastening torque of cover fixed screw in less than 0.2 N

– B17 –– B16 –

Surge absorber

Motor

DC

24V

Power supply

DC power supply for brake

NFB

NF MC

L1

U V

W

E

L2 L3

r t

P B1 B2

U

V

W

L

Ground resistance : 100Ω max. For applicable wire, refer to P.B14 and B15.

Red

Black

Green yellow

Yellow

(X2)

• Check the name plate of the driver for power specifications.

• Provide a circuit breaker, or a leakage breaker. The leakage breaker to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a noise filter without fail.

• Provide a surge absorber to a coil of the Magnetic Contactor. Never start/stop the moto

r

with this Magnetic Contactor.

Connect a fuse in series with the surge absorber

.

Ask the manufacturer of the Magnetic Contactor for the fuse rating.

• Provide an AC Reactor.

• Don't disconnect the short bar between B1 and B2. Disconnect this only when an external regenerative register is used.

• Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).

• Avoid shorting and ground fault.

Don't connect the main power.

• Earth-ground this.

• Connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel without fail to prevent electrical shock.

• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two 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 emergency stop signal.

• The Electromagnetic Brake has no polarity.

• For the capacity of the electromagnetic brake an

d

how to use it, refer to P.B47, "Specifications of Built-in Holding Brake".

• Provide a surge absorber.

•

Connect a 5A fuse in series with the surge absorber

.

White

Fuse (5A)

Wiring of the Main Circuit (E and F-frame)

• Wiring should be performed by a specialist or an authorized personnel.

• Do not turn on the power until the wiring is completed.

Tips on Wiring

1) Take off the cover fixing screws, and detach the terminal cover.

2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, rater to "Driver and List of Applicable Peripheral Equipments" (P.B14 and B15).

3) Attach the terminal cover, and fix with screws. Fastening torque of cover fixed screw in less than 0.2 N

•

m.

3. System Configuration and Wiring

•

Follow the procedures below for the wiring connection to the Connector CN X1 and X2

.

How to connect

1

. Peel off the insulation cover of the cable.

(see the right fig for exact length for peeling.)

2

. Insert the cable to the connecter in the following 2 methods. (a) Using the attached Handle Lever (b) Using a screw driver (blade width of 3.0 to 3.5 mm)

(a) Using handle lever

* You can pull out the cable by pushing down the spring as the above.

8 to 9mm

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

•

Peel off the cable with exact length (8 to 9 mm).

•

Take off the connector from the Servo Driver before making connection.

•

Insert one cable into each one of cable insertion slot.

•

Pay attention to injury by 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.

Wiring method to connector (A to D-frame)

Wiring Diagram

Compose the circuit so that the main circuit power will be shut off when an error occurs.

In Case of Single Phase, 100V (A and B-frame)

In Case of Single Phase, 200V (A and B-frame)

Power supply Single phase, 100V to 115V

Power supply Single phase, 200V to 240V

1 2

3

1 2 3

– B19 –– B18 –

Wiring Diagram

Compose the circuit so that the main circuit power will be shut off when an error occurs.

Noise

filter

Main power supply

Control power supply

Motor

ALM

37

ALM+

L3

L1C L2C

RB1

MC

NFB

RB3 RB2

U V W

L1

CN X2

Surge absorber

External regenerative resistor

ALM–

36

DC12 to 24V

(±5%)

Red

White

Black

Green

1 2 3 4

Motor connection

CN X5

CN X1

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

L

MC

ALMON OFF

Noise

filter

Main power supply

Control power supply

Motor

ALM

37

ALM+

L3

L1C L2C

RB1

MC

NFB

RB3 RB2

U V

W

L1

CN X2

External regenerative resistor

ALM–

36

DC12 to 24V

(±5%)

Red

White

Black

Green

1 2 3 4

Motor connection

CN X5

CN X1

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

L

MC

ALMON OFF

In Case of Single Phase, 100V (A and B-frame)

In Case of Single Phase, 200V (A and B-frame)

Power supply Single phase, 100V to 115V

+10% –15%

Power supply Single phase, 200V to 240V

+10% –15%

Use a reactor for 3-phase

Built-in thermostat of an external regenerative resistor (light yellow)

MC

Surge absorber

Built-in thermostat of an external regenerative resistor (light yellow)

MC

3. System Configuration and Wiring

PIN No. Application

External regenerative resistor

<

Remarks>

W

hen you use single

p

hase, connect the main

p

ower between L1 and

L

3 terminals.

Motor

L2

L3 L1C L2C

RB1

MC

NFB

RB3 RB2

U V W

L1

1 2 3 4

(Remove the short wire when you connect

the external regenerative resistor.)

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

L

<

Remarks>

W

hen you use single

p

hase, connect the main

p

ower between L1 and L3

t

erminals.

Motor

L2

L3 L1C L2C

RB1

MC

NFB

RB3 RB2

U V

W

L1

1 2 3 4

(Remove the short wire when you connect

the external regenerative resistor.)

*

172167-1

Tyco Electronics AMP

172159-1

Tyco Electronics AMP

L

A

B

D

C

AHG

CDE

BIF

CBA

IHG

FED

A

JL04V-2E20-4PE-B-R

JL04HV-2E22-22PE-B-R

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

U-phase V-phase

W-phase

Ground

PIN No.

B C D

Application

G

H A F

I B E D C

Brake Brake

NC U-phase V-phase

W-phase

Ground Ground

NC

A Brake

Brake

NC U-phase V-phase

W-phase

Ground Ground

NC

B C D E F

G

H

I

Do not connect anything to NC.

* When you use motor model of

MSMA, MDMA, MFMA, MHMA and MGMA, use the connections as the below table shows.

[Motor portion] Connector : by Japan Aviation Electronics In

d.

In Case of Single Phase, 200V (C and D-frame)

In Case of 3-Phase, 200V (C and D-frame)

CN X2

CN X1

ALM

37

ALM+

ALM–

36

DC12 to 24V

(±5%)

CN X5

CN X2

CN X1

CN X5

ALM

37

ALM+

ALM–

36

DC12 to 24V

(±5%)

MC

ALMON OFF

MC

ALMON OFF

Use a reactor for 3-phase

Noise

filter

Noise

filter

Main power supply

Control power supply

Motor connection

Main power supply

Control power supply

Motor connection

Power supply Single phase, 200V to 240V

+10% –15%

Power supply 3-phase, 200V to 240V

+10% –15%

Red

White

Black

Green

External regenerative resistor

Red

White

Black

Green

*

Surge absorber

Built-in thermostat of an external regenerative resistor (light yellow)

MC

Surge absorber

Built-in thermostat of an external regenerative resistor (light yellow)

MC

.

In Case of 3-Phase, 200V (E and F-frame)

(Remove the short bar when you connect

Power supply 3-phase, 200V to 230V

– B21 –– B20 –

Red

White

Black

Green

PIN No. Application

[Motor portion] Connector : by Japan Aviation Electronics Ind

.

In Case of 3-Phase, 200V (E and F-frame)

A

B

D

C

AHG

CDE

BIF

CBA

IHG

FED

A

JL04V-2E20-4PE-B-R

JL04HV-2E22-22PE-B-R

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

U-phase V-phase

W-phase

Ground

PIN No.

B C D

Application

G H

A F

I B E

D C

Brake Brake

NC U-phase V-phase

W-phase

Ground Ground

NC

A Brake

Brake

NC U-phase V-phase

W-phase

Ground Ground

NC

B C D E F

G

H

I

Motor

ALM

37

ALM+

L2 L3

r t

P

MC

NFB

ALM

ON

OFF

B1 B2

U

V

W

L1

ALM–

DC12 to 24V

(±5%)

(Remove the short bar when you connect

the external regenerative resistor.)

36

L

Do not connect anything to NC.

Power supply 3-phase, 200V to 230V

+10% –15%

Noise

filter

Main power supply

Control power supply

Motor connection

External regenerative resistor

Surge absorber

Built-in thermostat of an external regenerative resistor (light yellow)

MC

Wiring Diagram In case of 17-bit absolute/incremental encoder

Regulator

MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400W

motor

1

+5V

0V

2 3 4 5

6

4 5

2 3

6

Twisted pair

Junction cable

(by Tyco Electronics, AMP)

172160-1172168-1

(by Tyco Electronics, AMP)

Motor side Driver side

Case

CN X6

Black

Purple

White

Light Blue

Regulator

E5V

E0V

E5V E0V

PS

FG

PS

+5V

0V

motor

(by Japan Aviation Electronics Ind.)

1 2 3 4 5 6

H G

K L

Twisted pair

Pin No. of connector

Junction cable

Straight plug Cable clamp

N/MS3106B20-29S N/MS3057-12A

Motor side Driver side

E5V E0V

PS PS

J

PS PS

FG

E5V

E0V

MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 500W to 5kW

MFMA 400W to 4.5kW MGMA 900W to 4.5kW

3. System Configuration and Wiring

MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400W

MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 500W to 5kW

Wiring to the Connector, CN X6 (Connection to Encoder)

Wiring Diagram In case of 2500P/r incremental encoder

– B23 –– B22 –

Wiring Diagram In case of 17-bit absolute/incremental encoder

MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400W

motor

1

+5V

0V

+5V

0V

2 3 4 5 6

1

battery

2

7 8

4 5

3

Twisted pair

Junction cable

(by Tyco Electronics, AMP)

172161-1172169-1

(by Tyco Electronics, AMP)

Motor side Driver side

Black

Purple Yellow/Green

White

Light Blue

Pink

Red

E5V E0V

BAT+ BAT–

PS

motor

(Japan Aviation Electronics Industry, Ltd.)

1

2 3 4 5

6

H G

K L

J

T S

Twisted pair

Pin No. of connector

Junction cable

Straight plug Cable clamp

N/MS3106B20-29S N/MS3057-12A

Motor side Driver side

E5V E0V

PS PS

FG

E5V E0V

PS PS

Case

BAT+

BAT–

FG

Regulator

CN X6

MSMA 1kW to 5kW MDMA 1kW to 5kW MHMA 500W to 5kW

MFMA 400W to 4.5kW MGMA 900W to 4.5kW

Wiring Example of Velocity Control Mode

7

4.7k

Ω

COM+

OA+

OA

- OB+

OB

- OZ+

OZ

- GND

CZ

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

SP

IM

21

22

48

24

25

19

49

23

3.83k

Ω

3.83k

Ω

20k

Ω

10k

Ω

10k

Ω

1k

Ω

1k

Ω

INTSPD1

INTSPD2

SRV-ON

GAIN

INTSPD3

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

-

ALM+

AT

-SPEED

+

BRKOFF

+

BRKOFF

-

TLC

V

DC

12 to 24V

ZSP

COM

- FG

AT

-SPEED

-

ALM

-

33

30

29

27

32

31

9

8

35

34

37

36

39

38

11

10

40

12

41

50

Servo-ON input

Gain switching input

28

Divider

Alarm clear input

A-phase output

B-phase output

Z-phase output

Z-phase output (open collector)

Servo-Ready output

Servo alarm output

Positioning complete

output

Brake release output

T

orque in-limit output

(Select with Pr09)

(Select with Pr0A)

14

15

16

17

18

43

42

26

Speed zero clamp input

V

elocity command

input

(0 to

±

10V)

CCW torque limit

input

(0 to

±

10V)

CW torque limit

input

(-10 to 0V)

V

elocity monitor output

T

orque monitor output

330

Ω

330

Ω

330

Ω

CN X5

Selection 1 input of

internal command speed

Selection 2 input of

internal command speed

Slection 3 input of

internal command speed

Control mode switching

input

CCW over-travel inhibition

input

CW over-travel inhibition

input

Zero speed detection output

( represents twisted pair.)

Wiring for Typical Control Modes to the Connector CN X5

Wiring Example of Position Control Mode

3. System Configuration and Wiring

14

15

16

43

18

42

In case of open collector I/F

(1) When you use the external

resistor with 12V and 24V

power supply

(2) When you do not use the

external resistor with 24V

power supply

CCW torque limit input

(0 to +10V)

CW torque limit input

(

-

10 to +10V)

V

elocity monitor output

T

orque monitor output

( represents twisted pair.)

Command

pulse

input A

(Use with 500kpps

or less.)

7

4.7k

Ω

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OA

OB+

OB

OZ+

OZ

GND

CZ

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

SP

IM

3

2

1

4

5

6

13

21

22

48

24

25

19

49

23

3.83k

Ω

3.83k

Ω

43kΩ

2kΩ

43kΩ

220Ω

20k

Ω

220

Ω

330

Ω

330

Ω

330

Ω

220

Ω

2.2k

Ω

2.2k

Ω

10k

Ω

10k

Ω

1k

Ω

1k

Ω

PULS1

OPC2

OPC1

INH

CL

SRV-ON

GAIN

DIV

VS-SEL

C-MODE

A-CLR

CCWL

CWL

S-RD Y

+

S-RDY

-

ALM+

COIN+

BRKOFF

+

BRKOFF

-

TLC

V

DC

12 to 24V

ZSP

COM

-

SIGNH1

SIGNH2

GND

PULSH1

PULS

PULSH2

FG

COIN

-

ALM

-

33

30

29

27

28

32

31

9

8

35

34

37

36

39

38

11

10

40

12

41

44

45

13

50

Servo-ON input

Gain switching input

Electronic gear

switching input

Control mode

switching input

26

Damping control

switching input

Divider

Alarm clear input

CCW over-travel

inhibition input

A-phase

output

B-phase

output

Z-phase

output

Z-phase output (open collector)

CW over-travel

inhibition input

Servo-Ready output

Servo-Alarm output

Positioning complete output

Brake release output

T

orque in-limit output

(Select with Pr09)

Zero speed detection output

(Select with Pr0A)

Deviation counter

clear input

Command pulse

inhibition input

Command pulse input B

(Use with 2Mpps or less.)

PULS1

PULS2

SIGN1

GND

V

DC

12V

24V

pecifications

of R

1kΩ

1/2W

2kΩ

1/2W

SIGN2

220

Ω

220

Ω

V

DC

R

3

4

5

6

13

PULS2

GND

SIGN2

OPC1

OPC2

220

Ω

220

Ω

24V

DC

1

4

2

6

13

2.2k

Ω

2.2k

Ω

V

DC

-

1.5

R

+

220

=10mA

.

CN X5

SIGN

46

47

43kΩ

2kΩ

43kΩ

220Ω

– B25 –– B24 –

Wiring Example of Velocity Control Mode

7

4.7k

Ω

COM+

OA+

OA

OB+

OB

OZ+

OZ

GND

CZ

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

SP

IM

21

22

48

24

25

19

49

23

3.83k

Ω

3.83k

Ω

20k

Ω

10k

Ω

10k

Ω

1k

Ω

1k

Ω

INTSPD1

INTSPD2

SRV-ON

GAIN

INTSPD3

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

-

ALM+

AT

-SPEED

+

BRKOFF

+

BRKOFF

-

TLC

V

DC

12 to 24V

ZSP

COM

FG

AT

-SPEED

-

ALM

-

33

30

29

27

32

31

9

8

35

34

37

36

39

38

11

10

40

12

41

50

Servo-ON input

Gain switching input

28

Divider

Alarm clear input

A-phase output

B-phase output

Z-phase output

Z-phase output (open collector)

Servo-Ready output

Servo alarm output

Positioning complete

output

Brake release output

T

orque in-limit output

(Select with Pr09)

(Select with Pr0A)

14

15

16

17

18

43

42

26

Speed zero clamp input

V

elocity command

input

(0 to

±

10V)

CCW torque limit

input

(0 to

±

10V)

CW torque limit

input

(-10 to 0V)

V

elocity monitor output

T

orque monitor output

330

Ω

330

Ω

330

Ω

CN X5

Selection 1 input of

internal command speed

Selection 2 input of

internal command speed

Slection 3 input of

internal command speed

Control mode switching

input

CCW over-travel inhibition

input

CW over-travel inhibition

input

Zero speed detection output

( represents twisted pair.)

3. System Configuration and Wiring

7

4.7k

Ω

COM+

OA+

OA

OB+

OB

OZ+

OZ

GND

CZ

SPR/TRQR

GND

CCWTL/TRQR

GND

CWTL

SP

IM

21

22

48

24

25

19

14

15

16

17

43

18

42

49

23

3.83k

Ω

3.83k

Ω

20k

Ω

10k

Ω

10k

Ω

1k

Ω

1k

Ω

INH

CL

SRV-ON

GAIN

DIV

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

S-RDY+

S-RDY

-

ALM+

AT

-SPEED

+

BRKOFF

+

BRKOFF

-

TLC

ZSP

COM

FG

AT

-SPEED

-

ALM

-

33

30

29

27

28

26

32

31

9

8

35

34

37

36

39

38

11

10

40

12

41

50

Servo-ON input

Gain switching input

Divider

Alarm clear input

T

orque command input or

velocity limit input (0 to

±

10V)

V

elocity monitor output

T

orque monitor output

Z-phase output (open collector)

Servo-Ready output

Servo-Alarm output

At-speed signal output

Brake release output

T

orque in-limit output

(Select with Pr09)

Zero speed detection output

(Select with Pr0A)

Wiring example when control mode Pr02=0 or Pr5B=1,

CCWTL/TRQR

GND

16

17

CW torque limit input

(0 to

±

10V)

330

Ω

330

Ω

330

Ω

Speed zero clamp

input

CN X5

In case Pr5B=0,

enter a speed limit value to

4th speed of speed setup (Pr56).

Control mode

switching input

CCW over-travel

inhibition input

CW over-travel

inhibition input

V

DC

12

to

24V

A-phase

output

B-phase

output

Z-phase

output

( represents twisted pair.)

Select with Pr5B.

Wiring Example of Torque Control Mode

4. Parameter

Outline of Parameter

This driver is equipped with various parameters to set up its characteristics and func- tions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this diver in optimum condition for your running requirements.

How to Set

• You can refer and set up the parameter with either one of the following.

1) front panel of the driver

2) combination of the setup support software, "PANATERM glish/Japanese version) and PC.

3) console (DV0P4420, option)

<Note>

For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM

Setup with the Front Panel

.

t

it

– B27 –– B26 –

4. Parameter

Outline of Parameter

This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this diver in optimum condition for your running requirements.

How to Set

• You can refer and set up the parameter with either one of the following.

1) front panel of the driver

2) combination of the setup support software, "PANATERM

®

" (Option, DV0P4460: En-

glish/Japanese version) and PC.

3) console (DV0P4420, option)

<Note>

For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM

®

".

Setup with the Front Panel

Mode switching button (valid at SELECTION display) Press this to switch 5 kinds of mode.

1) Monitor Mode

2) Parameter Set up Mode

3) EEPROM Write Mode

4) Auto-Gain Tuning Mode

5) Auxiliary Function Mode

Display LED (6-digit)

All of LED will flash when error occurs, and switch to error display screen. All of LED will flash slowly when warning occurs.

Shifting of the digit for data changing to higher digit

.

(Valid to the digit whose decimal point flashes.) Press these to change display and data, selec

t

parameters and execute actions. (Change/Selection/Execution is valid to the dig

it

which decimal point flashes.) Numerical value increases by pressing , , decreases by pressing .

SET Button (valid at any time) Press this to switch SELECTION and EXECUTTION display.

4. Parameter

Display LED (6-digit)

All of LED will flash when error occurs, and switch t

o

error display screen.

Displays ID No. (address) of selected driver (in 2 digits).

The value set in Pr00(address) is ID No. Parameter No

.

is displayed (2 digits) at parameter setup mode.

Press this to shift the digit for data change.

Press these to change data or execute selected actio

n

of parameter. Numerical value increases by pressing , , decreases by pressing .

SET Button Press this to shift each mode which is selected b

y

mode switching button to EXECUTION display.

M

ode Switching Button Press this to switch 6 kinds of mode.

1) Monitor mode 4) Normal auto-gain tuning mode

2) Parameter setup mode 5) Auxiliary function mode

3) EEPROM write mode 6) Copy mode

Outline of PANATERM

®

With the PANATERM®, you can execute the followings.

1) Setup and storage of parameters, and writing to the memory (EEPROM).

2) Monitoring of I/O and pulse input and load factor.

3) Display of the present alarm and reference of the error history.

4) Data measurement of the wave-form graphic and bringing of the stored data.

5) Normal auto-gain tuning

6) Frequency characteristic measurement of the machine system.

Setup with the Console

How to Connect

e,

• Connect the console connector to the connector, CN X4 of the driver securely.

• Do not pull the cable to insert/unplug.

– B29 –– B28 –

How to Connect

Connect to CN X4

RS232 connection cable (option) DV0P1960 (for DOS/V machines)

Console DV0P4420 (option)

Setup disc of setup support softwar

e,

PANATERM

®

• DV0P4460 : English/Japanese version (option)

• Connect the console connector to the connector, CN X4 of the driver securely.

• Do not pull the cable to insert/unplug.

4. Parameter

Parameters for Functional Selection

<Notes>

•

For parameters with suffix of "*1", change will be validated after the reset of the control power.

• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real- time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control.

l

Parameter

(Pr )

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F

Parameters for Adjustment of Time Constant for Gains and Filters

l

Parameter

(Pr )

10 11 12 13 14 15 16 17

Composition and List of Parameters

Group Outline

Parameter No.

(Pr )

Functional selection

Adjustment

Position (Step) Control

Velocity Control, Torque Control

Sequence

Full-Closed Control

00 to 0F

10 to 1F, 27 to 2E

20 to 26, 2F

30 to 3F

40 to 4F

50 to 5A, 74 to 77

5B to 5F

60 to 6F

70 to 73 78 to 7F

You can select a control mode, designate I/O signals and set up a baud rate. You can set up servo gains (1st and 2nd) o

f

position, velocity, integration, etc, and time constants of various filters. Parameters related to Real Time Auto-Gain Tuning. You can set up a mode and select a mechanical stiffness. You can set up parameters related to gain switching(1st 2nd) You can set up an input form, directional selection of command pulses, dividing of encoder outpu

t

pulse and set up a division multiplier ratio o

f

command pulse. You can set up an input gain of command pulse

,

reverse polarity and adjust offset. You can also se

t

up internal speeds (1 to 8th speed), acceleration

/

deceleration time. You can set an input gain, reverse polarity and se

t

up a torque limit of torque command. You can set up detecting conditions of output signals

,

such as positioning-complete and zero-speed. You can also set up a deceleration/stop action a

t

main power-off, at alarm output and at servo-off

,

and clear condition of the deviation counter. You can set up actions of protective functions. You can set up dividing of external scale.

• In this document, following symbols represent each mode.

* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd

with control mode switching input (C-MODE).

when C-MODE is open : 1st mode selection when C-Mode is closed: 2nd mode selection Do not enter the command 10ms before/after the switching.

P S T F

Symbol

0 1 2 6

Position control Velocity control Torque control Full-Closed control

Control mode

P/S P/T S/T

Symbol

3* 4* 5*

Setup valu

e

of

Pr02

Position (1st)/Velocity (2nd) control Position (1st)/Torque (2nd) control Velocity (1st)/Torque (2nd) control

Control mode

Setup value

of

Pr02

– B31 –– B30 –

Parameters for Functional Selection

<Notes>

•

For parameters with suffix of "*1", change will be validated after the reset of the control power.

• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Realtime auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control.

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

00*1 01

*

1

02

*

1 03 04

*

1 05 06 07 08 09 0A 0B

*

1

0C

*

1

0D

*

1

0E

*

1

0F

0 to 15 0 to 17

0 to 6 0 to 3 0 to 2 0 to 3 0 to 2 0 to 9

0 to 12

0 to 8 0 to 8 0 to 2 0 to 5 0 to 5 0 to 1

–

1 1 1 1 1 0 0 3 0 0 1 1 2 2 0 –

– – – – – – – – – – – – – – – –

all all all

P, S, F

all

S

S, T

all all all all all all all all

–

Address of axis Initial display of LED Setup of control mode Selection of torque limit Setup of over-travel inhibit input Switching of Internal/External speed setup Selection of ZEROSPD input Selection of speed monitor (SP) Selection of torque monitor (IM) Selection of TLO output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 Baud rate setup of RS485 Setup of front panel lock (For manufacturer's use)

Parameters for Adjustment of Time Constant for Gains and Filters

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

10 11 12 13 14 15 16 17

0 to 3000 1 to 3500 1 to 1000

0 to 5

0 to 2500

–2000 to 2000

0 to 6400

–

<63> <32> <35> <18> <16> <31>

<0>

<65>

<126>

<300>

<50>

–

1/s

Hz

ms

–

0.01ms

0.1%

0.01ms –

P, F

all all all

all P, F P, F

–

1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of velocity detection 1st time constant of torque filter Velocity feed forward Time constant of feed forward filter (For manufacturer's use)

A to

C-frame

D to

F-frame

Parameters for Adjustment (2nd Gain Switching Function)

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con- trol power.

• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real- time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

4. Parameter

Parameters for Adjustment of Time Constant for Gains and Filters

Parameters for Auto-Gain Tuning

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

18 19 1A 1B 1C 1D 1E 1F 27 28 29 2A 2B 2C 2D 2E

0 to 3000 1 to 3500 1 to 1000

0 to 5

0 to 2500

100 to 1500

0 to 4

–

0 to 1

100 to 1500

0 to 4

0 to 99

0 to 2000

–200 to 2000

0 to 2000

–200 to 2000

<73> <38> <35> <18>

<1000>

<0>

<65>

<126>

1500

2 –

<0>

1500

2 0 0 0 0 0

1/s

Hz

ms

–

0.01ms Hz

– – –

Hz

– –

0.1Hz –

P, F

all all all all all all

–

P, S

all all

all P, F P, F P, F P, F

2nd gain of position loop 2nd gain of velocity loop 2nd Time constant of velocity loop integration 2nd filter of velocity detection 2nd torque filter time constant 1st notch frequency Selection of 1st notch width (For manufacturer's use) Setup of instantaneous velocity observer 2nd notch frequency Selection of 2nd notch width Selection of 2nd notch depth 1st damping frequency Setup of 1st damping filter 2nd damping frequency Setup of 2nd damping filter

A to

C-frame

D to

F-frame

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

20 21 22 23 24 25 26 2F*2

0 to 10000

0 to 7

0 to 15

0 to 2 0 to 2 0 to 7

0 to 1000

0 to 64

<250>

1

4 1

1 0 0

10

0

%

– – – – –

0.1rev –

all all all

P, S, F

P, F

all

P, F

P, S, F

Inertia ratio Setup of real-time auto-gain tuning mode Mechanical stiffness at real-time auto-gain tuning Setup of adaptive filter mode Selection of damping filter switching Setup of action at normal mode auto-gain tuning Setup of software limit Adaptive filter frequency

Default

A to

C-frame

D to

F-frame

l

Parameter

(Pr )

30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

Parameters for Position Control

l

Parameter

(Pr )

40 41 42 43 44 45 46 47

*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23,

“Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion. Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter.

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control.

– B33 –– B32 –

Parameters for Adjustment (2nd Gain Switching Function)

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the control power.

• For parameters which default values are parenthesized by "< >", default value varies automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Realtime auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

0 to 1

0 to 10 0 to 10000 0 to 20000 0 to 20000 0 to 10000

0 to 5 0 to 10000 0 to 20000 0 to 20000

– – –

0 to 500

– –

<1>

<0> <30> <50> <33> <20>

<0>

0 0 0 – – –

300

– –

166µs

– –

–

166µs

– – – – –

r/min

– –

all all all all

all P, F S, T S, T S, T S, T

– – –

all

– –

Setup of 2nd gain 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Time for position gain switching 2nd mode of control switching 2nd delay time of control switching 2nd level of control switching 2nd hysteresis 0f control switching (For manufacturer's use) (For manufacturer's use) (For manufacturer's use) Setup of JOG speed (For manufacturer's use) (For manufacturer's use)

(1+Setup value)

x 166µs

Parameters for Position Control

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

40*1 41

*

1

42

*

1 43 44

*

1 45

*

1 46

*

1 47

*

1

0 to 1 0 to 1 0 to 3

0 to 1 1 to 32767 0 to 32767

0 to 3 0 to 32767

0 0 1 1

2500

0 0 0

– – – – – – – –

P, F P, F P, F P, F

all all all

F

Selection of command pulse input setup of rotational direction of command pulse setup of command pulse input mode Canceling of command pulse prohibition input Numerator of pulse output division Denominator of pulse output division Logic reversal of pulse output Setup of Z-phase of external scale

Parameters for Sequence

4. Parameter

Parameters for Velocity/Torque control

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

50 51 52 53 54 55 56 74 75 76 77 57 58 59 5A 5B 5C 5D 5E 5F

10 to 2000

0 to 1

–2047 to 2047

–20000 to 20000

–20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000 –20000 to 20000

0 to 6400 0 to 5000 0 to 5000

0 to 500

0 to 1

10 to 100

0 to 1

0 to 500 0 to 500

500

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

30

0

<500>

*

3

<500>

*

3

(r/min)/V

–

0.3mV r/min r/min r/min r/min r/min r/min r/min r/min

0.01ms

2ms

–

– % %

S, T

S

S, T

S S S

S, T

S S S S

S, T

S S S T T T

all

P, S, F

Input gain of speed command Input reversal of speed command Offset of speed command 1st speed of speed setup 2nd speed of speed setup 3rd speed of speed setup 4th speed of speed setup 5th speed of speed setup 6th speed of speed setup 7th speed of speed setup 8th speed of speed setup Setup of speed command filter Setup of acceleration time Setup of deceleration time Setup of sigmoid acceleration/deceleration time Selection of torque command Input gain of torque command Input reversal of torque command Setup of 1st torque limit Setup of 2nd torque limit

2ms/

(1000r/min)

2ms/

(1000r/min)

0.1V /

rated torque

l

Parameter

(Pr )

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the con- trol power.

*3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

48 49 4A 4B 4C 4D

*

1 4E 4F

0 to 10000 0 to 10000

0 to 17

1 to 10000

0 to 7

0 to 31

0 to 2

–

0 0 0

10000

1 0 1 –

– – – – – – – –

P, F P, F P, F P, F P, F P, F P, F

–

1st numerator of electronic gear 2nd numerator of electronic gear Multiplier for numerator of electronic gear Denominator of electronic gear Setup of smoothing filter for primary delay Setup of FIR smoothing Counter clear input mode (For manufacturer's use)

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control.

Parameters for Full-Closed Control

l

Parameter

(Pr )

78 79 7A 7B 7C 7D 7E 7F

– B35 –– B34 –

Parameters for Sequence

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

60 61 62 63 64 65 66

*

1 67 68 69 6A 6B 6C

*

1

6D

*

1 6E 6F 70 71 72 73

0 to 32767 10 to 20000 10 to 20000

0 to 3

– 0 to 1 0 to 2 0 to 9 0 to 3 0 to 9

0 to 100 0 to 100

0 to 3

35 to 1000

0 to 500

–

0 to 32767

0 to 100 0 to 500

0 to 20000

131

50

1000

0 – 1 0 0 0 0 0 0

35

0

–

25000

0 0 0

Pulse

r/min r/min

– – – – – –

– 2ms 2ms

– 2ms

–

256Pulse

0.1V %

r/min

P, F

all S, T P, F

– all all all all all all all all all all

–

P, F S, T

all all

In-position (positioning complete) range Zero speed At-speed (arrived speed) Setup of in-position output (For manufacturer's use) Selection of LV-trip at main power off Sequence at run-prohibition Sequence at main power off Sequence at alarm Sequence at servo-off Setup of mechanical brake action at stall Setup of mechanical brake action in motion Selection of external regenerative resister Detection time of main power shut-off Setup to torque at emergency stop (For manufacturer's use) Excess setup of positional deviation Excess setup of analog input Setup of over-load level Setup of over-speed level

A, B-frame : 3, C,D,E-frame : 0

<Notes>

• For parameters with suffix of "*1", change will be validated after the reset of the control power.

*3 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.

Parameters for Full-Closed Control

Set up of parameter Range Unit

Related contro

l

mode

Parameter

No.

(Pr )

Default

78*1 79*1 7A*1 7B*1 7C*1 7D 7E 7F

0 to 32767

0 to 17 1 to 32767 1 to 10000

0 to 1

– – –

0 0

10000

100

0 – – –

– – –

– – – –

F F F F F – – –

Numerator of external scale division Numerator multiplier of external scale division Denominator of external scale division Excess setup of hybrid deviation Reversal of direction of external scale (For manufacturer's use) (For manufacturer's use) (For manufacturer's use)

16 X external

scale pulses

5. Protective Functions

Protective Function (What Is Error Code ?)

• Various protective functions are equipped in the driver. When these are triggered, the motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).

• Error status ands their measures

• During the error status, the error code No. will be displayed on the front panel LED,

and you cannot turn Servo-ON.

• You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms

or longer.

• When overload protection is triggered, you can clear it by turning on the alarm clear

signal (A-CLR) 10 sec or longer after the error occurs. You can clear the time characteristics by turning off the connection between L1C and L2C or r and t of the control power supply of the driver.

• You can clear the above error by operating the front panel keys.

• You can also clear the above error by operating the "PANATERM

®

".

• When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear with alarm clear input (A-CLR). For resumption, shut off the power to remove the cause of the error and re-enter the power.

• Following errors will not be stored in the error history. Control power supply under-voltage protection (Error code No. 11) Main power supply under-voltage protection (Error code No. 13) EEPROM parameter error protection (Error code No. 36) EEPROM check code error protection (Error code No. 37) Over-travel prohibition input protection (Error code No. 38) Motor self-recognition error protection (Error code No. 95)

11

12

13

14

15

16

18

21

23

24

25

26

27

28

29

34

35

36

37

38

Error code

No.

– B37 –– B36 –

11

12

13

14

15

16

18

21

23

24

25

26

27

28

29

34

35

36

37

38

Protective function

Error code

No.

39

40

41

42

44

45

47

48

49

50

51

52

53

54

55

65

66

95

Other

No.

Protective function

Error

code

No.

Control power supply under- voltage protection

Analog input excess protection

Absolute system down error protection

*

Absolute counter over error

protection

Absolute over-speed error protection

*

Absolute single turn counter error

protection

*

Absolute multi-turn counter error

protection

Absolute status error protection

*

Encoder Z-phase error protection

*

Encoder CS signal error protection

*

External scale status 0 error

protection

*

External scale status 1 error

protection

*

External scale status 2 error

protection

*

External scale status 3 error

protection

*

External scale status 4 error

protection

*

External scale status 5 error

protection

CCWTL input excess protection

CWTL input excess protection

*

Motor automatic recognition error

protection

*

Other error

Over-voltage protection

Main power supply under-voltage protection

*

Over-current protection

*

Over-heat protection

Over-load protection

*

Over-regeneration load protection

*

Encoder communication error protection

*

Encoder communication data error protection

Position deviation excess protection

*

Hybrid deviation excess error protection

Over-speed protection

Electronic gear error protection

*

External scale communication data error protection

Deviation counter overflow protection

Software limit protection

*

External scale communication error protection

*

EEPROM parameter error protection

*

EEPROM check code error

protection

Over-travel inhibit input protection

Daily

Annual

• Ambient temperature, humidity, speck, dust or foreign object

• Abnormal vibration and noise

• Main circuit voltage

• Odor

• Lint or other particles at air holes

• Cleanness at front portion of the driver and connecter

• Damage of the cables

• Loose connection or misalignment between the motor and machine or equipment

• Pinching of foreign object at the load

• Loose tightening

• Trace of overheat

• Damage of the terminals

Type Cycles Items to be inspected

Daily inspection

Periodical inspection

Motor with

gear reducer

Product Component

6. Maintenance and Inspections

• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.

Notes on Maintenance and Inspection

1) Turn on and turn off should be done by operators or inspectors themselves.

2) Internal circuit of the driver is kept charged with high voltage for a while even after power-off. Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing maintenance and inspection.

3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver.

Inspection Items and Cycles

General and normal running condition

Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating hours of 20 hours or less per day.

Perform the daily and periodical inspection as per the items below.

<Notes>

Inspection cycle may change when the running conditions of the above change.

Guideline for Parts Replacement

Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred.

– B39 –– B38 –

Prohibited

Disassembling for inspection and repair should be carried out only by authorized dealers or service company.

Driver

Motor

Motor with

gear reducer

Smoothing condenser

Cooling fan

Aluminum electrolytic capacitor (on PCB)

Rush current preventive relay

Rush current preventive resistor

Bearing

Oil seal

Encoder

Battery for absolute encoder

Gear reducer

Approx. 5 years

2 to 3 years

(10,000 to 30,000 hours)

Approx. 5 years

Approx. 100,000 times

(depending on working

condition)

Approx. 20,000 times

(depending on working

condition)

3 to 5 years

(20,000 to 30,000 hours)

5000 hours

3 to 5 years (20,000 to 30,000 hours) Life time varies depending on working conditions. Refer to the instruction manual attached to the battery for absolute encoder.

10,000 hours

Product Component

Standard replacement

cycles (hour)

Note

These hours or cycles are reference. When you experience any error, replacement is required even before this standard replacement cycle.

Guideline for Parts Replacement

Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred.

Composition of Peripheral Equipments

Installation Environment

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC- 60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)

P

or

Power Supply

100V type : Single phase, 100V (A, B and C-frame) 200V type : Single phase, 200V (B, C-frame) 200V type : Single/3-phase, 200V (C, D-frame) 200V type : 3-phase, 200V

(E, F-frame) (1) This product is designed to be used at over-voltage category (Installation category) II

(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies

Circuit Breaker

Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and marked) between power supply and noise filter.

7.

Conformity to EC Directives and UL Standards

EC Directives

The EC Directives apply to all such electronic products as those having specific functions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE marking on the products. However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so

that the machine or equipment comprising our AC servos can meet EC Directives.

EMC Directives

MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos.

Conformed Standards

IEC : International Electrotechnical commission E N : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories

CSA : Canadian Standards Association

Use options correctly after reading operation manuals of the options to better understand the precautions. Take care not to apply excessive stress to each optional part.

Conforms to Low-Voltage Directives

Standards referenced by EMC Directive

s

Subject

Motor

Motor/ Motor

and

driver

Conformed Standard

IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 EN50178 UL508C

EN55011

EN61000-6-2 IEC61000-4-2 IEC61000-4-3 IEC61000-4-4 IEC61000-4-5 IEC61000-4-6 IEC61000-4-11

Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment Immunity for Industrial Environments Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-Speed Transition Phenomenon/Burst Immunity Test Lightening Surge Immunity Test High Frequency Conduction Immunity Test Instantaneous Outage Immunity Test

– B41 –– B40 –

Composition of Peripheral Equipments

Installation Environment

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)

Control box

Controller

Insulated

power supply

for interface

P

ower

supply

Circuit

breaker

Ground-fault

breaker

(RCD)

Surge

absorber

Noise filter

Noise filter for signal lines

Protective earth (PE)

L1

U

CN X5

CN X1

CN X2

CN X6

M

RE

V W

L2 L3

L1C L2C

Noise filter for signal lines

Driver

Mot

or

Power Supply

100V type : Single phase, 100V

+10%

to 115V

+10%

50/60Hz

(A, B and C-frame)

–15% –15%

200V type : Single phase, 200V

+10%

to 240V

+10%

50/60Hz

(B, C-frame)

–15% –15%

200V type : Single/3-phase, 200V

+10%

to 240V

+10%

50/60Hz

(C, D-frame)

–15% –15%

200V type : 3-phase, 200V

+10%

to 230V

+10%

50/60Hz

(E, F-frame)

–15% –15%

(1) This product is designed to be used at over-voltage category (Installation category) II

of EN 50178:1997. If you want to use this product un over-voltage category (Installation category) III, install a surge absorber which complies with EN61634-11:2002 or other relevant standards at the power input portion.

(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies

with EN60950

Circuit Breaker

Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and marked) between power supply and noise filter.

Surge Absorber

Provide a surge absorber for the primary side of noise filter.

Take off the surge absorber when you execute a dielectric test to the machine or equip- ment, or it may damage the surge absorber.

ø4.2±0.2

Option part No.

7.

Conformity to EC Directives and UL Standards

Noise Filter

When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of the noise filter.

Option part No.

DV0P4170

Single phase 100V/200V

Applicable driver (frame)

A and B-frame

Manufacturer’s part No.

SUP-EK5-ER-6

Manufacturer

Okaya Electric Ind

.

Option part No.

DV0P3410 Three-phase 200V

Applicable driver (frame)

F-frame

Manufacturer’s part No.

3SUP-HL50-ER-6B

Manufacturer

Okaya Electric Ind

.

LABEL

A B C

H

10

F

E

D

G

Earth terminal

M4

Screw for cover

M3

M4

Cover

Body

Terminal cover (transparent)

2–ø4.5

R

Cx Cx

Cy

L L

Cy

2–ø4.5 x 6.75

53.1±1.0

100.0±2.0

88.0

75.0

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 diagram

4

5

1

2

63

Circuit diagram

L1

Cx1

IN

OUT

OU

T

IN OU

T

R Cx1

Cy1

Option part No.

DV0P4180 DV0P4220

3-phase 200V

Applicable driver (frame)

C-frame

D and E-frame

Manufacturer’s part No.

3SUP-HQ10-ER-6

3SUP-HU30-ER-6

Manufacturer

Okaya Electric Ind

.

A B C D E F G H

115

DV0P4180

105 95 70 43 10 52 5.5

145

DV0P4220

135 125 70 50 10 52 5.5

K M4 M4

L M4 M4

286±3.0

150

2-ø5.5 x 7

2-ø5.5

6-6M

270

255±1.0

240

120

90±1.0

(18)(13)

L A B E L

1

2

3

4

5

6

Voltage specifications

for driver

Voltage specifications

for driver

Voltage specifications

for driver

– B43 –– B42 –

Surge Absorber

Provide a surge absorber for the primary side of noise filter.

Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber.

Circuit diagram

1

ø4.2±0.2

41±1

UL-1015 AWG16

281

5.5±1

11±128.5±1

4.5±0.5

200

+30

-

0

2 3

ø4.2±0.2

41±1

UL-1015 AWG16

281

5.5±1

11±128.5±1

4.5±0.5

200

+30

-

0

1 2

2

1

2

1

3

Option part No.

DV0P1450

3-phase 200V

Manufacturer's part No.

R . A .V-781BXZ-4

Manufacturer

Okaya Electric Ind.

Option part No.

DV0P4190

Single phase 100/200V

Manufacturer's part No.

R . A .V-781BWZ-4

Manufacturer

Okaya Electric Ind.

Voltage specifications

for driver

Voltage specifications

for driver

Fix the signal line noise filter in place to eliminate excessive stress to the cables.

Ground-Fault Breaker

Install a type B ground fault breaker (RCD) at primary side of the power supply.

Grounding

(1) Connect the protective earth terminal ( ) of the driver and the protective earth

terminal (PE) of the control box without fail to prevent electrical shocks.

(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are

provided for protective earth.

<Note>

For driver and applicable peripheral equipments, refer to P.B14 "Driver and List of Applicable Peripheral Equipments" .

Conformity to UL Standards

Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. E164620). (1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-

1. (e.g. Install in the control box with IP54 enclosure.)

(2) Install a circuit breaker or fuse which are UL recognized (Listed marked) between

the power supply and the noise filter without fail. For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of Applicable Peripheral Equipments" of Preparation. Use a copper cable with temperature rating of 60˚C or higher. Tightening torque of more than the max. values (M4:1.2N

•

m, M5: 2.0N•m) may break

the terminal block.

(3) Over-load protection level

Over-load protective function will be activated when the effective current exceeds 115% or more than the rated current based on the time characteristics. Confirm that the effective current of the driver does not exceed the rated current. Set up the peak permissible current with Pr5E (Setup of 1st torque limit) and Pr5F (Setup 2nd torque limit).

7.

Conformity to EC Directives and UL Standards

Noise Filter for Signal Lines *

Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable) * In case of D-frame, install 3 noise

filters at power line.

39±1 34±1

30±1

13

±

1

Mass: 62.8g

Option part No. Manufacturer's part No. Manufacturer

DV0P1460 ZCAT3035-1330 TDK Corp.

8. Built-in Holding Brake

In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off.

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 the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is in motion, refer to the technical reference. (DV0P4210)

• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.

<Notes>

1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-in brake, however this does not affect any functionality.

2. Magnetic flux might be generated through the motor shaft while the brake coil is ener- gized (brake is open). Pay an extra attention when magnetic sensors are used nearby the motor.

Specifications of Built-in Holding Brake

MSMD MAMA

MQMA

MSMA

e

Motor series

(Continues to next page)

– B45 –– B44 –

8. Built-in Holding Brake

In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off.

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 the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is in motion, refer to the technical reference. (DV0P4210)

• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.

<Notes>

1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-in brake, however this does not affect any functionality.

2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is open). Pay an extra attention when magnetic sensors are used nearby the motor.

Specifications of Built-in Holding Brake

4.9

44.1 147

44.1 147 196

490

2156

39.2 137 196 137 196

392

1470

DC2V

or more

DC1V

or more

DC2V

or more

0.25

0.30

0.35

0.29

0.41

0.74

0.81

0.90

10 or less

20 or less

15 or less

15 (100)

or less

50 (130)

or less

MSMD MAMA

MQMA

MSMA

50W, 100W

200W, 400W

750W 100W

200W, 400W

1.0kW

1.5kW, 2.0kW

3.0kW

4.0kW, 5.0kW

0.29 or more

1.27 or more

2.45 or more

0.29 or more

1.27 or more

4.9 or more

7.8 or more

11.8 or more

16.1 or more

0.002

0.018

0.075

0.03

0.09

0.25

0.33

1.35

35 or less 50 or less 70 or less 50 or less 60 or less

50 or less

80 or less

110 or less

Permissibl

e

total work

x 103J

Permissible work (J) per one braking

Releasing

voltage

Exciting

current

DC A

(at cool-off)

Releasing

time

ms*

Engaging

time

ms

Rotor

inertia

x 10

–4

kg•m

2

Static

friction

torque

N•m

Motor

output

Motor series

(Continues to next page)

8. Built-in Holding Brake 9. Dynamic Brake

Permissibl

e

total work

x 103J

Permissible work (J) per one braking

Releasing

voltage

Exciting

current

DC A

(at cool-off)

Releasing

time

ms*

Engaging

time

ms

Rotor

inertia

x 10

–4

kg•m

2

Static

friction

torque

N•m

Motor

output

Motor series

780

1470 2156

2450

2940

784

1470

2940

784

2940

1470 2156

1470

2940

588

1176 1470

1078

1372

588

1176

1372

588

1372

1470

1176

1372

DC2V

or more

0.59

0.79

0.90

1.10

1.30

0.59

0.79

1.30

0.59

0.83

0.75

0.79

1.3

1.4

70 (200)

or less

50 (130)

or less

35 (150)

or less

25 (200)

or less

70 (200)

or less

50 (130)

or less

25 (200)

or less

70 (200)

or less

35 (150)

or less

100 (450)

or less

50 (130)

or less

25 (200)

or less

50 (130)

or less

MDMA

MHMA

MFMA

MGMA

1.0kW

1.5kW, 2.0kW

3.0kW

4.0kW

5.0kW

500W, 1.0kW

1.5kW

2.0kW to 5.0kW

400W

1.5kW

2.5kW

4.5kW

900W

2.0kW

3.0kW, 4.5kW

4.9 or more

13.7 or more

16.1 or more

21.5 or more

24.5 or more

4.9 or more

13.7 or more

24.5 or more

4.9 or more

7.8 or more

21.6 or more

31.4 or more

13.7 or more

24.5 or more

58.8 or more

1.35

4.25

4.7

1.35

4.7

1.35

4.7

8.75

1.35

4.7

80 or less

100 or less 110 or less

90 or less

80 or less

100 or less

80 or less

150 or less

100 or less

80 or less

150 or less

• Excitation voltage is DC24V±10%.

• Values represent the ones with DC-cutoff using a surge absorber for holding brake. Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.).

• Above values (except static friction torque, releasing voltage and excitation current) represent typical values.

• Backlash of the built-in holding brake is kept ±1˚o r smaller at ex-factory point.

• Permissible angular acceleration : 30000rad/s

2

for MAMA series

10000rad/s

2

for MSMD, MQMA, MSMA MDMA,MHMA MFMA and MGMA series

• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than 10 million times.

(Life end is defined as when the brake backlash drastically changes.)

This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings.

1.Dynamic brake is only for emergency stop.

2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Al- low approx. 3 minutes pause when the dynamic brake is activated during high-speed running.

• You can activate the dynamic brake in the following cases.

1) when the main power is turned off

2) at Servo-OFF

3) when one of the protective function is activated.

4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated

– B47 –– B46 –

This driver is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings.

1.Dynamic brake is only for emergency stop.

Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON). Or it may damage the dynamic brake circuit of the driver.

The motor becomes a dynamo when driven externally, and shorting current runs while this dynamic brake is activated and might cause smoking or fire.

2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 3 minutes pause when the dynamic brake is activated during high-speed running.

• You can activate the dynamic brake in the following cases.

1) when the main power is turned off

2) at Servo-OFF

3) when one of the protective function is activated.

4) when over-travel inhibit input (CWL, CCWL) of CN X5 is activated

In the above cases from 1) to 4), you can select either activation of the dynamic brake or making the motor free-run during deceleration or after the stop, with parameter. Note that when the control power is off, the dynamic brake will be kept activated.

10.

Check of the Combination of the Driver and the Motor

Single phase,

200V

3-phase,

200V

Single phase,

100V

Single phase,

200V

Single phase,

100V

Single phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

MAMA

Ultra low

inertia

MQMA

Low

inertia

MSMD

Low

inertia

MSMA

Low

inertia

MDMA

Middle

inertia

MHMA

High

inertia

Power

supply

Motor series

Applicable motor Applicable driver

5000r/min

3000r/min

2000r/min

Rated

rotational speed

100W 200W 400W 750W 100W 200W 400W 100W 200W 400W

50W 100W 200W 400W

50W 100W 200W 400W 750W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW 500W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

Rated

output

MAMA012P1* MAMA022P1* MAMA042P1* MAMA082P1* MQMA011P1* MQMA021P1* MQMA041P1* MQMA012P1* MQMA022P1* MQMA042P1*

MSMD5AZP1*

MSMD011P1* MSMD021P1* MSMD041P1*

MSMD5AZP1*

MSMD012P1* MSMD022P1* MSMD042P1* MSMD082P1* MSMA102P1* MSMA152P1* MSMA202P1* MSMA302P1* MSMA402P1* MSMA502P1* MDMA102P1* MDMA152P1* MDMA202P1* MDMA302P1* MDMA402P1* MDMA502P1* MHMA052P1* MHMA102P1* MHMA152P1* MHMA202P1* MHMA302P1* MHMA402P1* MHMA502P1*

Model

A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame

A-frame B-frame

C-frame

A-frame

B-frame C-frame

D-frame E-frame

F-frame

D-frame E-frame

F-frame

C-frame D-frame E-frame

F-frame

Frame

MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120

MADDT1205 MADDT1207

MBDDT2210 MCDDT3520

MDDDT5540 MEDDT7364

MFDDTA390

MFDDTB3A2

MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390

MFDDTB3A2

MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390

MFDDTB3A2

Model

Single/3-phase,

Single/3-phase, 200V

3-phase, 200V

Single phase,

Single/3-phase,

This drive is designed to be used in a combination with the motor which are specified by us. Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.

Incremental Specifications, 2500P/r

<Remarks> Do not use in other combinations than those listed below.

<Note>

Suffix of " * " in the applicable motor model represents the motor structure.

Absolute/Incremental Specifications, 17-bit

<Remarks> Do not use in other combinations than those listed below.

(continues to next page)

– B49 –– B48 –

Single/3-phase,

200V

3-phase,

200V

Single/3-phase, 200V

3-phase, 200V

MFMA Middle

inertia

MGMA

Middle

inertia

Power

supply

Motor series

Applicable motor Applicable driver

2000r/min

1000r/min

Rated

rotational speed

400W

1.5kW

2.5kW

4.5kW 900W

2.0kW

3.0kW

4.5kW

Rated

output

MFMA042P1* MFMA152P1* MFMA252P1*

MFMA452P1* MGMA092P1* MGMA202P1* MGMA302P1* MGMA452P1*

Model

C-frame D-frame E-frame

F-frame

D-frame

F-frame

Frame

MCDDT3520 MDDDT5540 MEDDT7364

MFDDTB3A2

MDDDT5540 MFDDTA390

MFDDTB3A2

Model

Single phase,

200V

3-phase,

200V

Single phase,

100V

Single phase,

200V

Single phase,

100V

Single phase,

200V

Single/3-phase,

200V

3-phase,

200V

MAMA

Ultra low

inertia

MQMA

Low

inertia

MSMD

Low

inertia

MSMA

Low

inertia

Power

supply

Motor

series

Applicable motor Applicable driver

5000r/min

3000r/min

Rated

rotational speed

100W 200W 400W 750W 100W 200W 400W 100W 200W 400W

50W 100W 200W 400W

50W 100W 200W 400W 750W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

Rated

output

MAMA012S1* MAMA022S1* MAMA042S1*

MAMA082S1* MQMA011S1* MQMA021S1* MQMA041S1* MQMA012S1* MQMA022S1* MQMA042S1*

MSMD5AZS1*

MSMD011S1* MSMD021S1* MSMD041S1*

MSMD5AZS1*

MSMD012S1* MSMD022S1* MSMD042S1* MSMD082S1*

MSMA102S1*

MSMA152S1*

MSMA202S1*

MSMA302S1*

MSMA402S1*

MSMA502S1*

Model

A-frame

B-frame C-frame D-frame

A-frame

B-frame C-frame

A-frame

B-frame

A-frame

B-frame C-frame

A-frame

B-frame C-frame

D-frame

E-frame

F-frame

Frame

MADDT1207

MBDDT2210 MCDDT3520 MDDDT5540

MADDT1107

MBDDT2110 MCDDT3120

MADDT1205

MADDT1207

MBDDT2210

MADDT1105

MADDT1107

MBDDT2110 MCDDT3120

MADDT1205

MADDT1207

MBDDT2210 MCDDT3520

MDDDT5540

MEDDT7364 MFDDTA390

MFDDTB3A2

Model

<Note>

Suffix of " * " in the applicable motor model represents the motor structure.

Absolute/Incremental Specifications, 17-bit

<Remarks> Do not use in other combinations than those listed below.

(continues to next page)

– B50 –

10.

Check of the Combination of the Driver and the Motor

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase, 200V

3-phase, 200V

MDMA

Middle

inertia

MHMA

High

inertia

MFMA Middle

inertia

MGMA

Middle inertia

Power

supply

Motor series

Applicable motor Applicable driver

2000r/min

1000r/min

Rated

rotational speed

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW 500W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW 400W

1.5kW

2.5kW

4.5kW 900W

2.0kW

3.0kW

4.5kW

Rated

output

MDMA102S1* MDMA152S1* MDMA202S1* MDMA302S1* MDMA402S1* MDMA502S1* MHMA052S1* MHMA102S1* MHMA152S1* MHMA202S1* MHMA302S1* MHMA402S1* MHMA502S1*

MFMA042S1* MFMA152S1* MFMA252S1*

MFMA452S1* MGMA092S1* MGMA202S1* MGMA302S1* MGMA452S1*

Model

D-frame E-frame

F-frame

C-frame D-frame E-frame

F-frame

C-frame D-frame E-frame

F-frame

D-frame

F-frame

Frame

MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390

MFDDTB3A2

MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390

MFDDTB3A2

MCDDT3520 MDDDT5540 MEDDT7364

MFDDTB3A2

MDDDT5540 MFDDTA390

MFDDTB3A2

Model

<Notes>

1) Suffix of " * " in the applicable motor model represents the motor structure.

2) Default of the driver is set for the incremental encoder specifications. When you use in absolute, make the following operations. a) Install a battery for absolute encoder. b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0".

3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.

After-Sale Service (Repair)

Repair

Consult to a dealer from whom you have purchased the product for details of repair. When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture or the dealer of the machine or equipment.

Cautions for Proper Use

• This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed.

• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product.

• Consult us if the application of this product is under such special conditions and envi- ronments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination.

• We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static elec- tricity, or failure in input power, wiring and components may result in unexpected ac- tion. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.

• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environ- ment, and may result in the bearing noise. Checking and verification by customer is required.

• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related.

• Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a poor contact connection.

• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble.

After-Sale Service (Repair)

Repair

Consult to a dealer from whom you have purchased the product for details of repair. When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture or the dealer of the machine or equipment.

Cautions for Proper Use

• This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed.

• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product.

• Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination.

• We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.

• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is required.

• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related.

• Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a poor contact connection.

• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble.

Technical information

Technical information of this product (Instruction Manual, CAD data) can be downloaded from the following web site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Model No.

M DD M MD

Date of

purchase

Dealer

Tel : ( ) -

M MA

MEMO (Fill in the blanks for reference in case of inquiry or repair.)

Motor Company Matsushita Electric Industrial Co., Ltd.

7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212

GHV Vertriebs-GmbH Am Schammacher Feld 47

85567 Grang info@ghv.de - www.ghv.de

Panasonic MADDT1207, MBDDT2210, MDDDT5540, MBDDT2110, MADDT1107 Technical Reference

Specifications and Main Features

Frequently Asked Questions

User Manual