Panasonic MINAS A4P User Manual

Instruction Manual

AC Servo Motor and Driver

MINAS A4P Series

•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series.

•Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8 to 11) without fail for safety purpose.

•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.

DV0P4490

Content

[Before Using the Products]

page

Safety Precautions ....................................................................	8
Maintenance and Inspection...................................................	12
Introduction..............................................................................	14
Outline ..........................................................................................................................................................	14
On Opening the Package .............................................................................................................................	14
Check of the Driver Model ............................................................................................................................	14
Check of the Motor Model ............................................................................................................................	15
Check of the Combination of the Driver and the Motor ................................................................................	16
Parts Description .....................................................................	18
Driver ............................................................................................................................................................	18
Motor.............................................................................................................................................................	20
Console.........................................................................................................................................................	21
Installation................................................................................	22
Driver ............................................................................................................................................................	22
Motor.............................................................................................................................................................	24
Console.........................................................................................................................................................	26
[Preparation]	page
System Configuration and Wiring ..........................................	28
Overall Wiring (Connecting Example of C-frame, 3-phase).........................................................................	28
Overall Wiring (Connecting Example of E-frame) ........................................................................................	30
Driver and List of Applicable Peripheral Equipments ...................................................................................	32
Wiring of the Main Circuit (A to D-frame) .....................................................................................................	34
Wiring of the Main Circuit (E and F-frame)...................................................................................................	35
Wiring to the Connector, CN X6 (Connection to Encoder) ...........................................................................	38
Wiring to the Connector, CN X3 and 4
Wiring to the Connector, CN X7 (Connection to External Scale) .................................................................	40
Wiring to the Connector, CN X5 (Connection to Host Controller) ................................................................	41
Wiring for Connector CN X5 .........................................................................................................................	42
Interface Circuit ............................................................................................................................................	43
List of Signal for Connector CN X5 ..............................................................................................................	44
Setup with the Front Panel......................................................	48
Composition of Touch Panel and Display.....................................................................................................	48
Initial Status of the Front Panel Display (7-Segment LED) ..........................................................................	48
Output Signals (Analog) and Their Functions ..............................................................................................	49
Built-in Holding Brake .............................................................	50
Dynamic Brake.........................................................................	52
[Setting]	page
Parameter Setup ......................................................................	56
Outline of Parameter ....................................................................................................................................	56
How to Set ....................................................................................................................................................	56
How to Connect ............................................................................................................................................	56
Composition of Parameters ..........................................................................................................................	57

2

List of Servo Parameter ................................................................................................................................	58
List of 16-bit Positioning Parameters ...........................................................................................................	73
List of 32-bit Positioning Parameters ...........................................................................................................	77
List of Step Parameters ................................................................................................................................	77
Setup of Torque Limit....................................................................................................................................	78
How to Use the Console..........................................................	80
Setup with the Console ................................................................................................................................	80
Initial Status of the Console Display (7 Segment LED)................................................................................	80
Mode Change ...............................................................................................................................................	81
Monitor Mode................................................................................................................................................	82
Teaching Mode .............................................................................................................................................	87
Parameter setup mode .................................................................................................................................	91
EEPROM Writing Mode ................................................................................................................................	96
Auto-Gain Tuning Mode ...............................................................................................................................	97
Auxiliary Function Mode ...............................................................................................................................	98
Copying Function (Console Only) ..............................................................................................................	101
Outline of Setup Support Software, "PANATERM®" ...........	103

Using BeforeProducts the

Preparation

Setting

Outline of PANATERM® ..............................................................................................................................	103
How to Connect ..........................................................................................................................................	103
[Operation Setting]	page
Overview of Operation Setting..............................................	106
Step Operation .......................................................................	107
Step Operation ...........................................................................................................................................	107
Example of Incremental Operation Setting ................................................................................................	108
Example of Absolute Operation Setting .....................................................................................................	109
Example of Rotary Axis Operation Setting .................................................................................................	110
Example of Dwell Timer Operation Setting ................................................................................................	111
Jog Operation ........................................................................	112
Jog Operation .............................................................................................................................................	112
Homing ...................................................................................	114
Homing Operation ......................................................................................................................................	114
Home Sensor + Z Phase (based on the front end) ....................................................................................	116
Home Sensor (based on the front end) ......................................................................................................	117
Home sensor + Z phase (based on the rear end) ......................................................................................	118
Limit Sensor + Z phase ..............................................................................................................................	120
Limit Sensor................................................................................................................................................	121
Z Phase Homing .........................................................................................................................................	122
Bumping Homing ........................................................................................................................................	122
Data Set ......................................................................................................................................................	123
Homing Offset Operation ............................................................................................................................	124
Emergency Stop Operation/Deceleration-and-Stop Operation .....	125
Temporary Stop Operation....................................................	126
Block Operation .....................................................................	127
Overview of Block Operation ......................................................................................................................	127
Continuous Block Operation.......................................................................................................................	127
Combined Block Operation ........................................................................................................................	128
Sequential Operation.............................................................	130
S-shaped Acceleration/Deceleration Function ....................	131

OperationSetting

Adjustment

Whenin Trouble

Supplement

3

Timing Chart ..........................................................................	132
Operation Timing after Power-ON ..............................................................................................................	132
When an Error (Alarm) Has Occurred (at Servo-ON Command) ..............................................................	133
When an Alarm Has Been Cleared (at Servo-ON Command) ...................................................................	134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ................................................................	135
Servo-ON/OFF Action While the Motor Is in Motion ..................................................................................	135
Absolute System ...................................................................	136
Overview of Absolute System.....................................................................................................................	136
Configuration of Absolute System ..............................................................................................................	136
Battery (for Backup) Installation .................................................................................................................	136
Setup (Initialization) of Absolute Encoder ..................................................................................................	136
Outline of Full-Closed Control ..............................................	140
What Is Full-Closed Control ? ....................................................................................................................	140
[Adjustment]	page
Gain Adjustment ....................................................................	142
Real-Time Auto-Gain Tuning Mode.......................................	144
Adaptive Filter.............................................................................................................................................	147
Normal Mode Auto-Gain Tuning ...........................................	148
Release of Automatic Gain Adjusting Function ..................	151
Manual Gain Tuning (Basic) ..................................................	152
Adjustment in Position Control Mode .........................................................................................................	153
Adjustment in Full-Closed Control Mode....................................................................................................	154
Gain Switching Function.............................................................................................................................	155
Suppression of Machine Resonance .........................................................................................................	158
Manual Gain Tuning (Application) ........................................	160
Instantaneous Speed Observer..................................................................................................................	160
Damping Control.........................................................................................................................................	161

[When in Trouble]

page

When in Trouble.....................................................................	164
What to Check ? .........................................................................................................................................	164
Protective Function (What is Error Code ?) ...............................................................................................	164
Protective Function (Detail of Error Code) .................................................................................................	165
Troubleshooting ....................................................................	172
Motor Does Not Run / Motor Stops During an Operation ..........................................................................	172
Point Deviates / Positioning Accuracy is Poor ...........................................................................................	173
Home position Slips ....................................................................................................................................	173
Abnormal Motor Noise or Vibration ............................................................................................................	173
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................	174
Parameter Returns to Previous Setup .......................................................................................................	174
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the
PANATERM®. ..............................................................................................................................................	174

4

[Supplement]	page
Conformity to EC Directives and UL Standards ..................	176
Options ...................................................................................	180
Recommended components.................................................	191
Dimensions (Driver)...............................................................	192
Dimensions (Motor) ...............................................................	195
Permissible Load at Output Shaft ........................................	210
Motor Characteristics (S-T Characteristics) ........................	211
Motor with Gear Reducer ......................................................	217
Dimensions/Motor with Gear Reducer .................................	218
Permissible Load at Output Shaft/Motor with Gear Reducer ........	220
Characteristics of Motor with Gear Reducer .......................	221
Block Diagram of Driver .......................................................	222
Block Diagram by Control Mode...........................................	224
Specifications (Driver)...........................................................	226
Default Parameters (for all the models of A4P Series) ....	228

Using BeforeProducts the

Preparation

Setting

Setting

Operation

Adjustment

Whenin Trouble

Supplement

5

6

[Before Using the Products]

	page
Safety Precautions ....................................................	8
Maintenance and Inspection ..................................	12
Introduction .............................................................	14
Outline .........................................................................................	14
On Opening the Package ............................................................	14
Check of the Driver Model...........................................................	14
Check of the Motor Model ...........................................................	15
Check of the Combination of the Driver and the Motor ...............	16
Parts Description ....................................................	18
Driver ...........................................................................................	18
Motor ...........................................................................................	20
Console .......................................................................................	21
Installation ...............................................................	22
Driver ...........................................................................................	22
Motor ...........................................................................................	24
Console .......................................................................................	26

7

Safety Precautions Observe the Following Instructions Without Fail

Observe the following precautions in order to avoid damages on the machinery and injuries to the operators and other personnel during the operation.

• In this document, the following symbols are used to indicate the level of damages or injuries which might be incurred by the misoperation ignoring the precautions.

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

• The following symbols represent "MUST NOT" or "MUST" operations which you have to observe. (Note that there are other symbols as well.)

Represents "MUST NOT" operation which is inhibited.

Represents "MUST" operation which has to be executed.

DANGER

Do not subject the Product to water, corrosive or flammable gases, and combustibles.

Failure to observe this instruction could result in fire.

Do not put your hands in the servo driver.

Failure to observe this instruction could result in burn and electrical shocks.

Do not drive the motor with external power.

Failure to observe this instruction could result in fire.

Do not subject the cables to excessive force, heavy object, or pinching force, nor damage the cables.

Failure to observe this instruction could result in electrical shocks, damages and breakdowns.

Do not touch the rotating portion of the motor while it is running.

Rotating portion

Failure to observe this instruction could result in injuries.

Do not touch the motor, servo driver and external regenerative resistor of the driver, since they become very hot.

Failure to observe this instruction could result in burns.

8

Failure to observe this instruction could result in electrical shocks.

Failure to observe this instruction could result in electrical shocks, injuries and fire.

[Before Using the Products]

DANGER

Do not place combustibles near by the motor, driver and regenerative resistor.

Failure to observe this instruction could result in fire.

Do not place the console close to a heating unit such as a heater or a large wire wound resistor.

Failure to observe this instruction could result in fire and breakdowns.

Using Before Products the

Ground the earth terminal of the motor and driver without fail.

Failure to observe this instruction could result in electrical shocks.

Install an overcurrent protection, earth leakage breaker, over-tem- perature protection and emergency stop apparatus without fail.

Install an emergency stop circuit externally so that you can stop the operation and shut off the power immediately.

	Failure to observe this instruction could
	result in injuries, electrical shocks, fire,
	breakdowns and damages.

Install and mount the Product and machinery securely to prevent any possible fire or accidents incurred by earthquake.

Failure to observe this instruction could result in electrical shocks, injuries and fire.

Turn off the power and wait for a longer time than the specified time, before transporting, wiring and inspecting the driver.

Failure to observe this instruction could result in electrical shocks.

Turn off the power and make it sure that there is no risk of electrical shocks before transporting, wiring and inspecting the motor.

Check and confirm the safety of the operation after the earthquake.

Failure to observe this instruction could result in electrical shocks, injuries and fire.

Mount the motor, driver and regenerative resistor on incombustible material such as metal.

Failure to observe this instruction could result in fire.

Wiring has to be carried out by the qualified and authorized specialist.

Failure to observe this instruction could result in electrical shocks.

Make the correct phase sequence of the motor and correct wiring of the encoder.

Failure to observe this instruction could result in injuries breakdowns and damages.

9

Safety Precautions Observe the Following Instructions Without Fail

CAUTION

Do not hold the motor cable or motor shaft during the transportation.

Failure to observe this instruction could result in injuries.

Never run or stop the motor with the electro-magnetic contactor installed in the main power side.

Failure to observe this instruction could result in breakdowns.

Do not give strong impact shock to

the motor shaft.

Failure to observe this instruction could result

in breakdowns.

Do not approach to the machine since it may suddenly restart after the power resumption. Design the machine to secure the safety for the operator even at a sudden restart.

Failure to observe this instruction could result in injuries.

Do not use the built-in brake as a "Braking" to stop the moving load.

Failure to observe this instruction could result in injuries and breakdowns.

Do not modify, disassemble nor repair the Product.

Failure to observe this instruction could result in fire, electrical shocks and injuries.

Do not block the heat dissipating holes or put the foreign particles into them.

Failure to observe this instruction could result in electrical shocks and fire.

Do not step on the Product nor place the heavy object on them.

Failure to observe this instruction could result in electrical shocks, injuries, breakdowns and damages.

Do not turn on and off the main power of the driver repeatedly.

Failure to observe this instruction could result in breakdowns.

Do not make an extreme gain adjustment or change of the drive. Do not keep the machine running/operating unstably.

Failure to observe this instruction could result in injuries.

Do not give strong impact shock to the Product.

Failure to observe this instruction could result in breakdowns.

Do not pull the cables with excessive force.

Failure to observe this instruction could result in breakdowns.

10

[Before Using the Products]

CAUTION

Use the motor and the driver in		Make a wiring correctly and
the specified combination.		securely.
Failure to	observe this	Failure to	observe this
instruction	could result in	instruction	could result in
fire.		fire and electrical shocks.

Using Before Products the

Use the eye bolt of the motor for transportation of the motor only, and never use this for transportation of the machine.

Failure to observe this instruction could result in injuries and breakdowns.

Make an appropriate mounting of the Product matching to its wight and output rating.

Failure to observe this instruction could result in injuries and breakdowns.

Keep the ambient temperature below the permissible temperature for the motor and driver.

Failure to observe this instruction could result in breakdowns.

Connect the brake control relay to the relay which is to shut off at emergency stop in series.

Failure to observe this instruction could result in injuries and breakdowns.

When you dispose the batteries, observe any applicable regulations or laws after insulating them with tape.

Observe the specified mounting method and direction.

Failure to observe this instruction could result in breakdowns.

Observe the specified voltage.

Failure to observe this instruction could result in electrical shocks, injuries and fire.

Execute the trial run without connecting the motor to the machine system and fix the motor. After checking the operation, connect to the machine system again.

Failure to observe this instruction could result in injuries.

When any error occurs, remove the cause and release the error after securing the safety, then restart.

Failure to observe this instruction could result in injuries.

This Product shall be treated as Industrial Waste when you dispose.

11

Maintenance and Inspection

• 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.

	Type	Cycles	Items to be inspected
			• Ambient temperature, humidity, speck, dust or foreign object
			• Abnormal vibration and noise
			• Main circuit voltage
			• Odor
	Daily	Daily	• Lint or other particles at air holes
	inspection		• 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
	Periodical
			• Trace of overheat
		Annual
	inspection
			• Damage of the terminals

<Note> Inspection cycle may change when the running conditions of the above change.

12

[Before Using the Products]

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.

Using Before Products the

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

Product	Component					Standard replacement		Note
						cycles (hour)
	Smoothing capacitor					Approx. 5 years
	Cooling fan					2 to 3 years
						(10,000 to 30,000 hours)
	Aluminum electrolytic
						Approx. 5 years
	capacitor (on PCB)
Driver						Approx. 100,000 times
	Rush current
						(depending on working
	preventive relay
						condition)
						Approx. 20,000 times	These	hours	or cycles	are
	Rush current preventive					(depending on working	reference.
	resistor
						condition)	When	you experience		any
	Bearing					3 to 5 years	error, replacement is required
						(20,000 to 30,000 hours)	even	before	this standard
	Oil seal					5000 hours	replacement cycle.
	Encoder					3 to 5 years
						(20,000 to 30,000 hours)
Motor					Life time varies depending
					on working conditions.
	Battery				Refer to the instruction
	for absolute encoder				manual attached to the
					battery for absolute
					encoder.
Motor with	Gear reducer					10,000 hours
gear reducer

13

Introduction

Outline

MINAS-A4P Series is a servo motor and driver of I/O command type. A4P Series is based on the highperformance servo driver MINAS-A4 Series, which achieved response frequency of 1kHz, real-time autogain tuning function and damping control, and contains the NC function which can perform positioning more easily.

A maximum of 60 setting points can be set for (1) moving distance, (2) maximum rotation speed in a moving section, (3) acceleration time and (4) deceleration time in each moving section and positioning can be performed by an external contact input. Moreover, in combination with a motor equipped with a 17-bit absolute encoder, positioning can be performed at an absolute position and a homing operation is not required. A4P Series have also improved the user-friendliness by offering some optional components, e.g., a console which enables you to monitor the rotation speed display, set up parameters, perform teaching (setup of target position) and copy parameters, and a waveform graphic display to show a operating waveform and the communication software “PANATERM®” available for frequency measurement to measure machine resonance point.

Read this document with care and exploit the versatile functions of A4P Series to full extent.

Cautions

1)Any part or whole of this document shall not be reproduced without written permission from us.

2)Contents of this document are subject to change without notice.

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 number			AC SERVO
		Model No. MADDT1205P Serial No.P05110001Z
	Rated input/output voltage	Phase	INPUT	OUTPUT
			1ø	3ø
		Voltage	200-240V	69V
		F.L.C	1.3A	1.2A
	Rated input/output current	Freq.	50/60Hz	0~333.3Hz
		Power		100W
	Rated output of applicable motor

Model Designation

Serial Number

e.g.) : P0511 0001Z

Lot number Month of production

Year of production (Lower 2 digits of AD year)

M A D D T 1 2 0 5 P

	1 to 4
Frame-size symbol
Symbol	Frame
MADD A4-series, A-frame
MBDD A4-series, B-frame
MCDD A4-series, C-frame
MDDD A4-series, D-frame
MEDD A4-series, E-frame
MFDD	A4-series, F-frame

5 to 6		7

Max. current rating of power device

Symbol Current rating

T1 10A

T2 15A

T3 30A

T5 50A

T7 70A

TA 100A

TB 150A

Special specifications

8 to 9

10

11, 12

(letters and numbers)

Interface specification

I/O command type

Current detector rating

Power supply

Current

Current

Symbol

Specifications

Symbol

rating

Symbol

rating

1

Single phase, 100V

05

5A

30

30A

2

Single phase, 200V

07

7.5A

40

40A

3

3-phase, 200V

10

10A

64

64A

Single/3-phase,

5

15

15A

90

90A

200V

20

20A

A2

120A

14

[Before Using the Products]

Check of the Motor Model

Contents of Name Plate

Model								CONT. TORQUE 0.64 Nm
				AC SERVO MOTOR				RATING	S1
Rated input voltage/current				MODELNo. MSMD5AZS1S				INS. CLASS	B (TÜV) A (UL)
				INPUT 3ØAC	92		V	IP65
					1.6		A	CONNECTION
				RATED OUTPUT 0.2			kW	SER No.	05110001
				RATED FREQ.	200		Hz
Rated output				RATED REV.	3000	r/min
Rated rotational speed

Serial Number

e.g.) : 0511 0001

Lot number Month of production

Year of production (Lower 2 digits of AD year)

Model Designation

Using Before Products the

M S M D 5 A Z S 1 S

1 to 4

5 to 6

7

8

9

10

11 to 12

Special specifications

(letters and numbers)

Motor structure

Symbol

Type

Design order

MAMA Ultra low inertia

1: Standard

(100W to 750W)

Low inertia

MQMA (100W to 400W)

Voltage specifications

Low inertia

MSMD (50W to 750W)

Motor rated output

Symbol

Specifications

Low inertia

Symbol

Output

Symbol

Output

1

100 V

MSMA (1.0kW to 5.0kW)

5A

50W

15

1.5kW

2

200 V

MDMA Middle inertia

01

100W

20

2.0kW

100/200 common

(1.0kW to 5.0kW)

02

200W

25

2.5kW

Z

(50W only)

High inertia

04

400W

30

3.0kW

MHMA (500W to 5.0kW)

05

500W

40

4.0kW

Middle inertia

MFMA

08

750W

45

4.5kW

(400W to 4.5kW)

09

900W

50

5.0kW

Middle inertia

MGMA

10

1.0kW

(900W to 4.5kW)

Rotary encoder specifications

Symbol

Specifications

Format

Pulse count

Resolution

Wire count

P

Incremental

2500P/r

10,000

5-wire

S

Absolute/Incremental common

17bit

131,072

7-wire

Motor structure

MSMD, MQMA

	Symbol	Shaft	Holding brake	Oil seal
		Round Key way Without With		*1
				Without With
	A
	B

S *2

T *2

*1 The product with oil seal is a special order product. *2 Key way with center tap.

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

MAMA

	Symbol	Shaft		Holding brake		Oil seal
		Round	Key way	Without	With	Without	With
	A
	B
	E
	F
MSMA, MDMA, MFMA, MGMA, MHMA
	Symbol	Shaft		Holding brake		Oil seal
		Round	Key way	Without	With	Without	With
	C
	D
	G
	H

15

Introduction

Check of the Combination of the Driver and the Motor

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.

	Power			Applicable motor			Applicable driver
			Motor	Rated		Rated
	supply				Model		Model	Frame
			series	rotational speed		output
	Single phase,		MAMA		MAMA012P1*	100W	MADDT1207P	A-frame
	200V				MAMA022P1*	200W	MBDDT2210P	B-frame
			Ultra low
				5000r/min
	3-phase,				MAMA042P1*	400W	MCDDT3520P	C-frame
			inertia
	200V				MAMA082P1*	750W	MDDDT5540P	D-frame
	Single phase,				MQMA011P1*	100W	MADDT1107P	A-frame
					MQMA021P1*	200W	MBDDT2110P	B-frame
	100V
			MAMA
					MQMA041P1*	400W	MCDDT3120P	C-frame
			Low	3000r/min
					MQMA012P1*	100W	MADDT1205P	A-frame
	Single phase,		inertia
					MQMA022P1*	200W	MADDT1207P	A-frame
	200V
					MQMA042P1*	400W	MBDDT2210P	B-frame
					MSMD5AZP1*	50W	MADDT1105P	A-frame
	Single phase,				MSMD011P1*	100W	MADDT1107P
	100V				MSMD021P1*	200W	MBDDT2110P
								B-frame
			MSMD		MSMD041P1*	400W	MCDDT3120P	C-frame
			Low	3000r/min	MSMD5AZP1*	50W	MADDT1205P
	Single phase,		inertia		MSMD012P1*	100W		A-frame
	200V				MSMD022P1*	200W
							MADDT1207P
					MSMD042P1*	400W	MBDDT2210P	B-frame
	Single/3-phase,				MSMD082P1*	750W	MCDDT3520P	C-frame
					MSMA102P1*	1.0kW
	200V						MDDDT5540P	D-frame
					MSMA152P1*	1.5kW
			MSMA
					MSMA202P1*	2.0kW
			Low	3000r/min			MEDDT7364P	E-frame
	3-phase,				MSMA302P1*	3.0kW	MFDDTA390P
			inertia
	200V				MSMA402P1*	4.0kW
							MFDDTB3A2P	F-frame
					MSMA502P1*	5.0kW
	Single/3-phase,				MDMA102P1*	1.0kW
							MDDDT3530P	D-frame
	200V				MDMA152P1*	1.5kW	MDDDT5540P
			MDMA
					MDMA202P1*	2.0kW	MEDDT7364P
			Middle	2000r/min				E-frame
	3-phase,				MDMA302P1*	3.0kW	MFDDTA390P
			inertia
	200V				MDMA402P1*	4.0kW		F-frame
							MFDDTB3A2P
					MDMA502P1*	5.0kW
					MHMA052P1*	500W		C-frame
	Single/3-phase,						MCDDT3520P
					MHMA102P1*	1.0kW
	200V						MDDDT3530P	D-frame
			MHMA		MHMA152P1*	1.5kW
							MDDDT5540P
			High		MHMA202P1*	2.0kW	MEDDT7364P	E-frame
				2000r/min
	3-phase,		inertia		MHMA302P1*	3.0kW	MFDDTA390P
	200V				MHMA402P1*	4.0kW	MFDDTB3A2P	F-frame
					MHMA502P1*	5.0kW
	Single/3-phase,				MFMA042P1*	400W		C-frame
							MCDDT3520P
			MFMA
	200V			2000r/min	MFMA152P1*	1.5kW	MDDDT5540P	D-frame
			Middle
	3-phase,				MFMA252P1*	2.5kW	MEDDT7364P	E-frame
			inertia
	200V				MFMA452P1*	4.5kW	MFDDTB3A2P	F-frame
	Single/3-phase, 200V				MGMA092P1*	900W	MDDDT5540P	D-frame
			MGMA
					MGMA202P1*	2.0kW	MFDDTA390P
			Middle	1000r/min
	3-phase, 200V				MGMA302P1*	3.0kW	MFDDTB3A2P	F-frame
			inertia
					MGMA452P1*	4.5kW

<Note>

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

16

[Before Using the Products]

Absolute/Incremental Specifications, 17-bit

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

	Power			Applicable motor			Applicable driver
			Motor	Rated		Rated
	supply				Model		Model	Frame
			series	rotational speed		output
	Single phase,		MAMA		MAMA012S1*	100W	MADDT1207P	A-frame
	200V				MAMA022S1*	200W	MBDDT2210P	B-frame
			Ultra low
				5000r/min
	3-phase,				MAMA042S1*	400W	MCDDT3520P	C-frame
			inertia
	200V				MAMA082S1*	750W	MDDDT5540P	D-frame
	Single phase,				MQMA011S1*	100W	MADDT1107P	A-frame
					MQMA021S1*	200W	MBDDT2110P	B-frame
	100V
			MAMA
					MQMA041S1*	400W	MCDDT3120P	C-frame
			Low	3000r/min
					MQMA012S1*	100W	MADDT1205P	A-frame
	Single phase,		inertia
					MQMA022S1*	200W	MADDT1207P	A-frame
	200V
					MQMA042S1*	400W	MBDDT2210P	B-frame
					MSMD5AZS1*	50W	MADDT1105P	A-frame
	Single phase,				MSMD011S1*	100W	MADDT1107P
	100V				MSMD021S1*	200W	MBDDT2110P
								B-frame
			MSMD		MSMD041S1*	400W	MCDDT3120P	C-frame
			Low	3000r/min	MSMD5AZS1*	50W	MADDT1205P
	Single phase,		inertia		MSMD012S1*	100W		A-frame
	200V				MSMD022S1*	200W
							MADDT1207P
					MSMD042S1*	400W	MBDDT2210P	B-frame
	Single/3-phase,				MSMD082S1*	750W	MCDDT3520P	C-frame
					MSMA102S1*	1.0kW
	200V						MDDDT5540P	D-frame
					MSMA152S1*	1.5kW
			MSMA
					MSMA202S1*	2.0kW
			Low	3000r/min			MEDDT7364P	E-frame
	3-phase,				MSMA302S1*	3.0kW	MFDDTA390P
			inertia
	200V				MSMA402S1*	4.0kW
							MFDDTB3A2P	F-frame
					MSMA502S1*	5.0kW
	Single/3-phase,				MDMA102S1*	1.0kW
							MDDDT3530P	D-frame
	200V				MDMA152S1*	1.5kW	MDDDT5540P
			MDMA
					MDMA202S1*	2.0kW	MEDDT7364P
			Middle	2000r/min				E-frame
	3-phase,				MDMA302S1*	3.0kW	MFDDTA390P
			inertia
	200V				MDMA402S1*	4.0kW		F-frame
							MFDDTB3A2P
					MDMA502S1*	5.0kW
					MHMA052S1*	500W		C-frame
	Single/3-phase,						MCDDT3520P
					MHMA102S1*	1.0kW
	200V						MDDDT3530P	D-frame
			MHMA		MHMA152S1*	1.5kW
							MDDDT5540P
			High		MHMA202S1*	2.0kW	MEDDT7364P	E-frame
				2000r/min
	3-phase,		inertia		MHMA302S1*	3.0kW	MFDDTA390P
	200V				MHMA402S1*	4.0kW	MFDDTB3A2P	F-frame
					MHMA502S1*	5.0kW
	Single/3-phase,				MFMA042S1*	400W		C-frame
							MCDDT3520P
			MFMA
	200V			2000r/min	MFMA152S1*	1.5kW	MDDDT5540P	D-frame
			Middle
	3-phase,				MFMA252S1*	2.5kW	MEDDT7364P	E-frame
			inertia
	200V				MFMA452S1*	4.5kW	MFDDTB3A2P	F-frame
	Single/3-phase, 200V				MGMA092S1*	900W	MDDDT5540P	D-frame
			MGMA
					MGMA202S1*	2.0kW	MFDDTA390P
			Middle	1000r/min
	3-phase, 200V				MGMA302S1*	3.0kW	MFDDTB3A2P	F-frame
			inertia
					MGMA452S1*	4.5kW

<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. (refer to P.190, "Options" of Supplement.)

b)Switch the parameter SV.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.

Using Before Products the

17

Parts Description

Driver

• A and B-frame	Display LED (2-digit)	ID address setup
		rotary switch (MSD, LSD)
Velocity monitor check pin (SP)
Torque monitor check pin (IM)
Check pin (G : GND)

Connector
		Main power
Connector, CN X1		input terminals
for power input		(L1,L2)
connection		Control power
04JFAT-SAXGF
(JST)		input terminals
		(L1C, L2C)
		Terminals
Connector, CN X2		for external
for motor		regenerative resistor
connection		(RB1,RB2,RB3)
06JFAT-SAXGF		Terminals
(JST)		for motor connection
		(U,V,W)
		Screws for earth (x2)

	SP
	IM	X4
	G
		X3A
		X3B

X5

X6

X7

Communication connector, CN X4

Connector, CN X4A

(For manufacturers' use only: Not for individual use)

Connector, CN X4B

(For manufacturers' use only: Not for individual use)

Connector, CN X5 for host connection

Connector, CN X6 for encoder connection

Connector, CN X7

for external scale connection

e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)

• C and D-frame

Velocity monitor check pin (SP)

Torque monitor check pin (IM)

Check pin (G : GND)

Connector

		Main power
Connector, CN X1		input terminals
for power input		(L1,L2)
connection		Control power
04JFAT-SAXGF
(JST)		input terminals
		(L1C, L2C)
		Terminals
Connector, CN X2		for external
for motor		regenerative resistor
connection		(RB1,RB2,RB3)
06JFAT-SAXGF		Terminals
(JST)		for motor connection
		(U,V,W)
		Screws for earth (x2)

Display LED (2-digit)	ID address setup
	rotary switch (MSD, LSD)

	SP
	IM	X4
	G
		X3A
		X3B

X5

X6

Communication connector, CN X4

Connector, CN X4A

(For manufacturers' use only: Not for individual use)

Connector, CN X4B

(For manufacturers' use only: Not for individual use)

Connector, CN X5 for host connection

Connector, CN X6 for encoder connection

X7	Connector, CN X7
	for external scale connection

e.g.) : MCDDT3520P (Single/3-phase, 200V, 750W : C-frame)

<Note>

X1 and X2 are attached in A to D-frame driver.

18

• E and F-frame

Check pin (G : GND)

Main power input terminals (L1,L2,L3)

Control power input terminals (r, t)

Terminals for external regenerative resistor

(P, B1, B2)

Terminals for motor connection (U,V,W)

[Before Using the Products]

Velocity monitor check pin (SP)

Torque monitor check pin (IM)

Display LED (2-digit)

ID address setup rotary switch (MSD, LSD)

SP
IM	X4
G
	X3A
	X3B
	X5
	X6
	X7

Communication connector, CN X4

Screw for cover M3

Connector, CN X4A

(For manufacturers' use only: Not for individual use)

Connector, CN X4B

(For manufacturers' use only: Not for individual use)

Connector, CN X5 for host connection

Connector, CN X6 for encoder connection

Connector, CN X7

for external scale connection

Screws for earth (x2)

Terminal cover

Screw for cover M3

e.g.) : MEDDT7364P (3-phase, 200V, 2.0kW : E-frame)

	Check pin (G : GND)	Velocity monitor check pin (SP)
		Torque monitor check pin (IM)
Main power		Display LED (2-digit)
input terminals		ID address setup
(L1,L2,L3)		rotary switch (MSD, LSD)

Control power input terminals (r, t)

Terminals for external regenerative resistor

(P, B1, B2)

Terminals for motor connection (U,V,W)

Screws for earth (x2)

SP
IM	X4
G
	X3A
	X3B
	X5
	X6
	X7

Communication connector, CN X4

Screw for cover M3

Connector, CN X4A

(For manufacturers' use only: Not for individual use)

Connector, CN X4B

(For manufacturers' use only: Not for individual use)

Connector, CN X5 for host connection

Connector, CN X6 for encoder connection

Connector, CN X7

for external scale connection

Terminal cover

Screw for cover M3

Using Before Products the

e.g.) : MFDDTB3A2P (3-phase, 200V, 5.0kW : F-frame)

<Note>

For details of each model, refer to "Dimensions " (P.192 to 194) of Supplement.

19

Parts Description

Motor

• MSMD 50W to 750W

•MAMA 100W to 750W

•MQMA 100W to 400W

Encoder cable

Motor cable

Rotary encoder

Connector for brake cable

(Only applicable to the motor

Motor frame

with electromagnetic brake)

Flange

Mounting holes (X4)

e.g.) : Low inertia type (MSMD series, 50W)

•MSMA 1.0kW to 5.0kW

•MDMA 1.0kW to 5.0kW

• MHMA	500W to 5.0kW
• MFMA	400W to 4.5kW
• MGMA	900W to 4.5kW

Connector for motor and brake

Connector for encoder

Oil seal

Flange

Flange

Mounting holes (X4)

e.g.) : Middle inertia type (MDMA series, 1.0kW)

<Note>

For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.

20

Console

Main Body

[Before Using the Products]

Using Before Products the

Connector

Console body

Display

(7-segment LED)

Cable

Touch panel

<Note>

Console is an option (Part No.: DV0P4420).

Display/Touch panel

Display LED (6-digit)

All of LED will flash when error occurs, and switch to error display

screen.

Display LED (in 2 digits)

Parameter No. is displayed at parameter setup mode. Point No. is

displayed at teaching mode.

SHIFT Button

Press this to shift the digit for data change.

Button

Press these to change data or execute selected action of parameter. Numerical value increases by pressing , ,

decreases by pressing .

SET Button

Press this to shift each mode which is selected by mode switching button to EXECUTION display.

Mode Switching Button Press this to switch 7 kinds of mode.

1)	Monitor mode	5)	Normal auto-gain tuning mode
2)	Teaching mode	6)	Auxiliary function mode
	• Target position settings established		• Alarm clear
	by teaching		• Absolute encoder clear
	• Test operation	7)	Copy mode
3)	Parameter setup mode		• Copying of parameters from the driver to the console.
4)	EEPROM write mode		• Copying of parameters from the console to the driver.

The data for the parameters is set after the mode has been switched to the parameter setup mode. For details on operation, refer to the instruction manual provided with the console.

21

How to Install

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

Item	Condition
Ambient temperature	0˚C to 55˚C (free from freezing)
Ambient humidity	Less than 90% RH (free from condensation)
Storage temperature	–20˚C to 80˚C (free from freezing)
Storage humidity	Less than 90% RH (free from condensation)
Vibration	Lower than 5.9m/S2 (0.6G), 10 to 60Hz
Altitude	Lower than 1000m

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.

A to D-frame	e.g.) In case of C-frame
MADD
MBDD	Mounting bracket
MCDD	(optional parts)
MDDD

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

E and F-frame

Mounting bracket

22

[Before Using the Products]

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.

Using Before Products the

										100mm
Fan						Fan
										or more

40mm

or more

10mm

or

more

10mm

or

more

	10mm	40mm
	or	or more
	more

100mm or more

<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.

23

How to Install

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

	Item			Condition
	Ambient temperature			0˚C to 40˚C (free from freezing) *1
	Ambient humidity			Less than 85% RH (free from condensation)
	Storage temperature			–20˚C to 80˚C (free from freezing) *2
	Storage humidity			Less than 85% RH (free from condensation)
	Vibration		Motor only	Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
	Impact		Motor only	Lower than 98m/s2 (10G)
				IP65 (except rotating portion of output shaft and lead wire end)
				• These motors conform to the test conditions specified in EN
Enclosure rating			Motor only	standards (EN60529, EN60034-5). Do not use these motors in
				application where water proof performance is required such as
				continuous wash-down operation.

*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 P.195 to 209 "Dimensions".

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.

Cable Motor

Oil, water

24

[Before Using the Products]

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)

Using Before Products the

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 Motor 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 P.210, "List of Permissible Load to Output Shaft" of Supplement.

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.

25

How to Install

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

Item	Condition
Ambient temperature	0˚C to 55˚C (free from freezing)
Ambient humidity	Less than 90% RH (free from condensation)
Storage temperature	–20˚C to 80˚C (free from freezing)
Storage humidity	Less than 90% RH (free from condensation)
Vibration	Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Impact	Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles)
Altitude	Lower than 1000m

<Cautions>

•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.

How to Connect

Connect to CN X4.

M

S

<Remarks>

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

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

26

[Preparation]
	page
System Configuration and Wiring .........................	28
Overall Wiring (Connecting Example of C-frame, 3-phase) ........	28
Overall Wiring (Connecting Example of E-frame) .......................	30
Driver and List of Applicable Peripheral Equipments ..................	32
Wiring of the Main Circuit (A to D-frame) ....................................	34
Wiring of the Main Circuit (E and F-frame)..................................	35
Wiring to the Connector, CN X6 (Connection to Encoder) ..........	38
Wiring to the Connector, CN X3 and 4
Wiring to the Connector, CN X7 (Connection to External Scale) .....	40
Wiring to the Connector, CN X5 (Connection to Host Controller).....	41
Wiring for Connector CN X5........................................................	42
Interface Circuit ...........................................................................	43
List of Signal for Connector CN X5 .............................................	44
Setup with the Front Panel .....................................	48
Composition of Touch Panel and Display....................................	48
Initial Status of the Front Panel Display (7-Segment LED) .........	48
Output Signals (Analog) and Their Functions .............................	49
Built-in Holding Brake ............................................	50
Dynamic Brake ........................................................	52

27

System Configuration and Wiring

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

• Wiring of the Main Circuit (see P.34, 35.)

(see P.32, 33 and 177.)

Circuit Breaker (NFB)

Use the circuit breaker matching capacity of the power source to protect the power lines.

(see P.177 , 178.)

Noise Filter (NF)

Prevents external noise from the power								• Connection to
lines. And reduces an effect of the noise
								the Connector, CN X1
generated by the servo driver.
								(connection to input power)
								<Remarks>
(see P.32, 33.)
Magnetic Contactor (MC)								Before turning the power
Turns on/off the main power of the servo
								supply on, check whether
driver.
								the input voltage is correct.
Use a surge absorber together with this.
								L1 (Pin-5)
• Never start nor stop the servo motor
with this Magnetic Contactor.								L2 (Pin-4)
								L3 (Pin-3)
(see P.189.)
Reactor (L)
Reduces harmonic current of the main								L1C (Pin-2)
power.								L2C (Pin-1)

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

RB3 (5-pin)

RB2 and RB3 to be kept shorted fornormal 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 SV.Pr6C to 1 or 2.

•Connection to the Connector, CN X2

(connection to external components)

RB1 (Pin-6)

RB2 (Pin-4)

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.

•Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.

28

[Preparation]

PC (to be supplied by customer)

Setup support software "PANATERM®" DV0P4460

X1

	SP
	IM	X4
	G
		X3A
		X3B

Console (option)

DV0P4420

•Wiring to Connector, CN X4 (option)

(Connection to PC or host controller)

•For manufacturers' use only, CN X3A and X3B

(Not for individual use)

		• Wiring to Connector, CN X5
X2	X5	(Connection to host controller)

	• Wiring to Connector, CN X6
X6	(Connection to encoder)

Short bar

Ground (earth)

U-phase (red)

V-phase (white)

W-phase (black)

Junction cable for motor

•Wiring to Connector, CN X2

(Connection to motor driving phase and ground)

Junction cable for brake

: High voltage

X7

• Wiring to

Connector, CN X7

(Connection to external scale)

DC Power supply for brake DC24V

(to be supplied by customer)

Junction cable for encoder

Preparation

29

System Configuration and Wiring

Overall Wiring (Connecting Example of E-frame)

• Wiring of the Main Circuit (see P.36, 37.)

(see P.32, 33 and 177.)

Circuit Breaker (NFB)

Use the circuit breaker matching capacity of the power source to protect the power lines.

(see P.177 , 178.)

Noise Filter (NF)

Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver.

(see P.32, 33.)

Magnetic Contactor (MC)

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

Use a surge absorber together with this.

• Never start nor stop the servo motor with this Magnetic Contactor.

(see P.189.)

Reactor (L)

Reduces harmonic current of the main power.

•Connection with input power supply

<Remarks>

Before turning the power supply on, check whether the input voltage is correct.

L1

L2

L3

r

t

Pin P, B1 and B2...

B1 and B2 to be kept shorted for nor-

mal operation.

•When the capacity shortage of the regenerative resister is found, disconnect a short bar between B1 and B2, then connect the external regenerative resister between P and B2.

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

ing connection as the above.

•When you connect an external regenerative resister, set up SV.Pr6C to 1 or 2.

• Connection to external components

P

B2

Ground (earth)

Regenerative resistor (optional) <Remarks>

When you use an external regenerative resister, install an external protective apparatus, such as thermal fuse without fail.

Thermal fuse and thermostat are built in to the regenerative resistor (Option). If the thermal fuse is activated, it will not resume.

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