Panasonic MINAS E-series User Manual
Instruction Manual
AC Servo Motor & Driver
MINAS E-series
Thank you very much for buying Panasonic AC Servo Motor & Driver, MINAS E-series.
Before using this driver, please read this manual especially refer the safty precautions (page 8 to 11) to ensure
proper use.
Then, keep this manual for your future use.
Contents
[Before Use] Page
Safety Precautions ................................................................................................ 8
Maintenance/Inspections .................................................................................... 12
Introduction ......................................................................................................... 14
General ....................................................................................................................................................14
After Opening the Package......................................................................................................................14
Model of Driver ........................................................................................................................................ 14
Model of Motor ......................................................................................................................................... 15
Check the Combination of Driver and Motor............................................................................................15
Parts Description ................................................................................................. 16
Driver ....................................................................................................................................................... 16
Motor........................................................................................................................................................16
Console....................................................................................................................................................17
Installation ........................................................................................................... 18
Driver ....................................................................................................................................................... 18
Motor........................................................................................................................................................20
Console....................................................................................................................................................22
[Preparations] Page
System Configuration and Wiring......................................................................24
General Wiring Diagram .......................................................................................................................... 24
List of Driver and Compatible Peripheral Equipment ............................................................................... 26
Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ................................................................ 27
Wiring of Connector CN X4 (Connection with Encoder) .......................................................................... 29
Wiring of Connector CN X5 (Connection with Host Controller) ............................................................... 30
Wiring of Connector CN X6 (Connection with Personal Computer/Console) .......................................... 31
Timing Chart ........................................................................................................ 32
Holding Brake ...................................................................................................... 35
Dynamic Brake (DB) ............................................................................................ 36
Homing Operation (Precautions) ....................................................................... 38
Setting the Parameters ....................................................................................... 39
Overview of Parameters .......................................................................................................................... 39
How to Set ............................................................................................................................................... 39
Overview of Console................................................................................................................................39
Overview of PANATERM® ........................................................................................................................ 39
How to Connect ....................................................................................................................................... 40
Parameter Groups and Listing ................................................................................................................. 41
Using the Console ............................................................................................... 47
Using the Console ................................................................................................................................... 47
The initial State of the Display (7-segment LED) ..................................................................................... 47
Structure of Each Mode ...........................................................................................................................48
Monitoring Mode ......................................................................................................................................51
2
Parameter Setting Mode .......................................................................................................................... 57
Before Use
Preparations
Connections and
Settings in Position
Control Mode
Connections and
Settings in Internal
Velocity Control Mode
Adjustment
Trouble Case
Reference
Normal Auto Gain Tuning Mode............................................................................................................... 58
Alarm Clear .............................................................................................................................................. 59
Test Run (JOG) ........................................................................................................................................ 60
Test Run Procedures ...............................................................................................................................61
Copy Function..........................................................................................................................................62
[Connections and Settings in Position Control Mode]
Page
Control Block Diagram in Position Control Mode ............................................ 66
Wiring to Connector CN X5 ................................................................................ 67
Example of Wiring in Position Control Mode ........................................................................................... 67
Interface Circuit........................................................................................................................................68
Input Signal and Pin No. of Connector CN X5 ......................................................................................... 70
Output Signal and Pin No. of Connector CN X5 ...................................................................................... 72
Example of Connection to a Host Controller............................................................................................73
Test Run in Position Control Mode .................................................................... 82
Inspection prior to Test Run ..................................................................................................................... 82
Test Run with Connector CN X5 Connected............................................................................................ 82
Real time Auto Gain Tuning................................................................................86
Outline ..................................................................................................................................................... 86
Scope.......................................................................................................................................................86
Operating Instruction ............................................................................................................................... 86
Adaptive Filter .......................................................................................................................................... 87
Parameters to be Set Automatically......................................................................................................... 87
Cautions...................................................................................................................................................87
[Connections and Settings in Internal Velocity Control Mode]
Parameter Setting ................................................................................................ 88
Parameter for Selection of Functions ...................................................................................................... 88
Parameters for Adjustment of Time Constants of Gains/Filters ............................................................... 91
Parameters for Auto Gain Tuning ............................................................................................................ 92
Parameters for Adjustment (Related to Second Gain Switching Function) ............................................. 94
Parameters for Position Control...............................................................................................................95
Parameters for Internal Velocity Control .................................................................................................. 98
Parameters for Torque Limits................................................................................................................... 99
Parameters for Sequences ...................................................................................................................... 99
Page
Control Block Diagram in Internal Velocity Control Mode ............................ 104
Wiring to Connector CN X5 .............................................................................. 105
Example of Wiring to Connector CN X5 ................................................................................................ 105
Interface Circuit...................................................................................................................................... 106
Input Signal and Pin No. of Connector CN X5 ....................................................................................... 107
Output Signal and Pin No. of Connector CN X5 .................................................................................... 109
Test Run in Internal Velocity Control Mode .................................................... 110
3
Inspection prior to Test Run ................................................................................................................... 110
Test Run with Connector CN X5 Connected ......................................................................................... . 111
Real time Auto Gain Tuning.............................................................................. 114
Outline ................................................................................................................................................... 114
Scope..................................................................................................................................................... 114
Operating Instruction ............................................................................................................................. 114
Parameters to be Set Automatically....................................................................................................... 115
Cautions................................................................................................................................................. 115
Parameter Setting .............................................................................................. 116
Parameter for Selection of Functions .................................................................................................... 116
Parameters for Adjustment of Time Constants of Gains/Filters ............................................................. 119
Parameters for Auto Gain Tuning .......................................................................................................... 120
Parameters for Position Control............................................................................................................. 121
Parameters for Internal Velocity Control ................................................................................................ 122
Parameters for Torque Limits ................................................................................................................. 123
Parameters for Sequences .................................................................................................................... 123
[Adjustment] Page
Gain Adjustment ................................................................................................ 128
Objective of Gain Adjustment ................................................................................................................ 128
Types of Gain Adjustment ...................................................................................................................... 128
Procedures of Gain Adjustment ............................................................................................................. 129
Real time Auto Gain Tuning.............................................................................. 130
Normal Auto Gain Tuning ................................................................................. 132
Cancellation of the Automatic Gain Tuning .................................................... 135
Manual Gain Tuning (Basic) ............................................................................. 136
Manual Gain Tuning (Application) ................................................................... 138
Gain Switching Function ........................................................................................................................138
To Reduce Mechanical Resonance ....................................................................................................... 140
Anti-Vibration Control............................................................................................................................. 142
4
Before Use
Preparations
Connections and
Settings in Position
Control Mode
Connections and
Settings in Internal
Velocity Control Mode
Adjustment
[Trouble Case] Page
Reference
Trouble Case
Protective Functions ......................................................................................... 144
What are Protective Functions?............................................................................................................. 144
Details of Protective Functions .............................................................................................................. 145
Software limit function............................................................................................................................ 148
Troubleshooting ................................................................................................ 150
[Reference] Page
Outline of “PANATERM®”, Setup Support Software ............................................................................... 156
Communications ....................................................................................................................................158
Description on Dividing/Multiplier Ratio ................................................................................................. 178
Conformance to EC Directives/UL Standards ....................................................................................... 180
Optional Parts ........................................................................................................................................184
Recommended Parts .............................................................................................................................192
Dimensional Outline Drawing (Driver) ................................................................................................... 193
Dimensional Outline Drawing (Motor) .................................................................................................... 194
Allowable Load of Output Shaft ............................................................................................................. 196
Motor Characteristics (S-T Characteristics) ........................................................................................... 197
Servo Motor with Gear ........................................................................................................................... 198
Dimensional Outline Drawing of Motor with Gear .................................................................................. 200
Allowable Load of Output Shaft of Servo Motor with Gear .................................................................... 202
Characteristics of Servo Motor with Gear (S-T Characteristics) ............................................................203
Driver Internal Block Diagram ................................................................................................................ 204
Control Block Diagram ........................................................................................................................... 205
Specifications (Driver/Motor) ................................................................................................................. 206
Hit-and-stop Initialization and Load Pressing Control ............................................................................ 207
Index ......................................................................................................................................................209
Reference .............................................................................................................................................. 214
After-Sale Service (Repair) ........................................................................................................ Back cover
5
MEMO
6
Before Use
Before Use
Page
Safety Precautions .......................................................... 8
Maintenance/Inspections ............................................. 12
Introduction ................................................................... 14
General ...................................................................................................14
After Opening the Package ..................................................................... 14
Model of Driver ........................................................................................ 14
Model of Motor ........................................................................................15
Check the Combination of Driver and Motor ........................................... 15
Parts Description .......................................................... 16
Driver ......................................................................................................16
Motor ....................................................................................................... 16
Console ................................................................................................... 17
Installation ..................................................................... 18
Driver ......................................................................................................18
Motor ....................................................................................................... 20
Console ................................................................................................... 22
7
Safety Precautions
See the following precautions in order to avoid damages on machinery and injuries among the
operators and other people during the operation.
The following symbols are used to indicate the degrees of hazard seriousness possibly occurred when
you fail to comply with the safety precautions.
Indicates a potentially hazardous situation, which if not avoided, will result in
DANGER
CAUTION
The following symbols indicate what you must do.
Indicates that the operation is prohibited to do.
Indicates that the operation must be done.
death or serious injury.
Indicates a potentially hazardous situation, which if not avoided, will result in
minor injury or physical damage.
Important
DANGER
Do not subject the product to water,
corrosive or flammable gases, and
combustibles.
The failure could result in
fire.
Do not put your hands in the servo
driver.
The failure could result in
burns, or electric shocks.
Do not expose the cables to sharp
objects, excessive pressing or
pinching forces, and heavy loads.
The failure could result in
electric shocks, damages, or
malfunction.
Do not touch the rotating part of the
motor while operating.
Rotating Part
Do not drive the motor from the
external power.
The failure could result in
fire.
The failure could result in injuries.
Do not touch the motor, driver, and
external regenerative resistor, since
they become hot.
The failure could result in
burns.
8
Before Use
DANGER
[Before Use]
Do not place inflammable matter
near the motor, driver, and
regenerative resistor.
The failure could result in
fire.
Ground the earth of the servo motor
and servo driver.
The failure could result
in electric shocks.
Install an external emergency stop
device to shut down the main power
source in any emergency.
The failure could result in
electric shocks, injuries, fire,
damages or malfunction.
Do not install the console near
sources of heat like the heater, the
resistor, or etc.
The failure could result in
fire or damages.
An over-current protection, earth leakage
breaker, over temperature protecter and
emergency stop device must be installed.
The failure could result in
electric shocks, injuries, or
fire.
Wait at least the time described on the
driver after switching off the power to
allow the capacitors to discharge before
beginning to conduct the transportation,
wiring, and inspection of the driver.
The failure could result in
electric shocks.
Install the product properly to avoid
personal accidents or fire in case of
an earthquake.
The failure could result in
electric shocks, injuries, or
fire.
Make sure to secure the safety after
the earthquake.
The failure could result in
electric shocks, injuries, or
fire.
Attach the motor, driver,
regenerative resistor to
incombustible matter such as metal.
The failure could result in
fire.
Confirm that there is no danger of an
electric shock before beginning to
conduct the transportation, wiring,
and inspection of the motor.
The failure could result in
electric shocks.
Only persons who are trained and qualified to work with or on electrical equipment are permitted to operate or maintain this equipment.
The failure could result in
electric shocks.
Arrange the phase sequense of the
motor and wiring of the encoder.
The failure could result in
injuries, damages, or
malfunction.
9
Safety Precautions
CAUTION
Important
Do not hold the cables or motor
shaft when transporting the motor.
The failure could result in
injuries.
Never start and stop the motor by
magnet contactor which is provide on
the main line.
The failure could result in
damages.
Do not give hard
pressure to the shaft.
The failure
could result
in damages.
Do not block the heat dissipation
hole.
The failure could result in
electric shocks, or fire.
Do not climb or stand on the servo
equipment.
The failure could result in
electric shocks, injuries,
damages, or malfunction.
Do not turn on or off the power
frequently.
The failure could result in
damages.
Do not shock the driver and the motor.
The failure could result in
damages.
Do not use the motor internal brake
for the purpose of controlling speed
of load.
The failure could result in
injuries, or damages.
Do not modify, dismantle or repair
the product.
The failure could result in
Avoid excessive gain adjustments, changes,
or unstable operation of the product.
The failure could result in
injuries.
Do not approach to the equipment
after recovery from the power failure
because they may restart suddenly.
Execute the personal safety setting
on the Equipment after the restart.
The failure could result in
injuries.
Do not pull the motor cable by too
much power.
electric shocks, injuries, or
fire.
The failure could result in
damages.
10
Before Use
CAUTION
[Before Use]
Use the motor and driver with the
specified combination.
The failure could result in
fire.
Use the eye-bolt of the motor only
when you carry the motor.
Do not use it when you carry the machine.
The failure could result in
injuries, or damages.
Conduct proper installation according
to product weight or rated output.
Make sure that the wirings are
correctly connected.
The failure could result in
electric shocks, or injuries.
Install the driver and the motor in the
specified direction.
The failure could result in
damages.
Use the specified voltage on the
product.
The failure could result in
The failure could result in
injuries, or damages.
Ambient temperature of installed
motor and driver should be under
permittable one.
The failure could result in
damages.
Connect a relay that stops at
emergency stop in series with the
brake control relay.
The failure could result in
injuries, or damages.
electric shocks, injuries, or
fire.
Execute the trial-operations with the
motor fixed and a load unconnected.
Connect a load to the motor after the
successful trial-operations.
The failure could result in
injuries.
If an error occurs, remove the causes
of the error and secure the safety
before restarting the operation.
The failure could result in
injuries.
This product should be treated as an
industrial waste when it is disposed.
11
Maintenance/Inspection
• Routine maintenance and inspections are essential for proper and satisfactory operation of the driver
and motor.
Notes to Maintenance/Inspections Personnel
(1) Power-on/off operations should be done by the operators themselves.
(2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a
while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished.
(3) When conducting meager test (to measure insulation resistance) on the servo driver, disconnect all the connec-
tions from the driver. Conducting the test as connected would cause trouble of the driver.
Inspection Items and Cycles
Normal (correct) operating conditions:
Ambient temperature: 30˚C (annual average) Load factor: max. 80%
Operating hours: max. 20 hours per day
Daily and periodical inspections should be done per the following instructions.
Type
Daily inspection
Periodical
inspection
<Notes>
If the operating conditions (as stated above) differ, this periodic inspection interval is subject to change.
Cycles
Daily
Every year
Inspection items
• Ambient temperature, humidity, dust, particles, foreign matters, etc.
• Abnormal sound and vibration
• Main circuit voltage
• Odor
• No yarn piece, etc. adhered to the air hole?
• How the driver front and connector are cleaned?
• Each wired cable is damage-free?
• The portions connected with the motors of equipment/plant are free
from loose and center deviation?
• No inclusion of foreign matter at the load side?
• Loosened screws
• Signs of overheat
We make the utmost effort to ensure the quality of our product. However, the product may
operate differently from your settings, due to unexpectedly high exogenous noise/applied
static electricity, or an unforeseen failure in the input power supply, wiring, components, etc.
Hence, we would like to request you to give adequate consideration to the fail-safe design and
assurance of safety within the operable range at the place of operation in your company.
12
[Before Use]
Before Use
Replacement Guidance
Parts replacement cycles depend on the actual operating conditions and how the equipment has been used.
Defective parts should be replaced or repaired immediately.
Dismantling for inspections or repairs should be done by our
company (or our sales agents).
Prohibited
Equipment
Driver
Motor
Motor with Gear
Part
Smoothing condenser
Aluminum electrolytic
capacitor on the print
board
Rush current
preventive relay
Rush current
preventive resistor
Cooling fan
Bearing
Oil seal
Encoder
Speed reducer
Standard replacement
cycles (hour)
about 5 years
about 5 years
Approx. 100,000 cycles
(The life depends on the
actual operating
conditions.)
Approx. 20,000 cycles
(The life depends on the
actual operating
conditions.)
2 to 3 years
(10,000 to 30,000 hours)
3 to 5 years
(20,000 to 30,000 hours)
5000 hours
3 to 5 years
(20,000 to 30,000 hours)
10,000 hours
Remarks
The replacement cycles shown here
are just only for reference if any part
is found defective regardless of the
standard replacement cycles,
immediately replace it with a new
one.
13
Introduction
General
MINAS-E series is a unit of an AC servo motor and driver with downsized capability and performance that are useful
for positioning of a motor whose capacity is small from 50W to 400W.
By adopting 2500 P/r incremental encoder with velocity response frequency of approximately 400 Hz and 5 wires,
we could omit wiring.
The equipment includes real-time auto tuning and enables automatic setting of complicated gain tuning. In addition,
it has a damping control function that provides for stable stop performance and contributes to miniaturization of the
equipment and reduction of tact time.
It supports a console (available as an option) capable of monitoring such as display of rotation speed, parameter
setting, test run (JOG operation), parameter copying, etc., and pursues maximum ease for use.
This document is designed for you to properly and sufficiently use functions of MINAS-E series with such excellent
features.
Cautions
(1) No part or whole of this document may be reproduced in any form or by any means.
(2) Contents of this document are subject to change without notice.
After Opening the Package
• Make sure that the product is what you ordered.
• Check whether the product is damaged.
•
The instruction manual (Safety edition and Extracted edition) is included in a carton box.
If the product is not what you purchase, or it is, or damaged, contact dealer or sales agent.
Model of Driver
Name plate
Rated input voltage
Rated motor output
Model Designation
Outer frame symbolic characters
Symbol
MKDE
MLDE
Model
03010001
Serial Number
Ex.:
03010001
Rated output current
MKDET1310 P
1~4 5~6
Frame name
E-Series K frame
E-Series L frame
7 10
Control Mode
P: Position Control
Current rating of current detector
Power supply
1: Single-phase 100 V
2: Single-phase 200 V
3: Three-phase, 200 V
5: Single-phase/Three-phase, 200 V
Symbol
Lot Number
Month of production
Year of production
(Lower 2 digits of AD year)
11~128~9
Special specifications
Current rating of current detector
05
10
5A
10A
Maximum current rating of power element
Symbol
Maximum current rating of power element
T1
T2
14
10A
15A
Before Use
Model of Motor
)
Name plate
Rated output
Rated speed
Type
AC SERVO MOTOR
MODEL No.
MUMA022PIS
INPUT 3flAC
RATED OUTPUT
RATED FREQ.
RATED REV.
200
3000
102
CONT. TORQUE
RATING S1
INS. CLASS B (T V) A (UL)
IP65
V
A1.6
CONNECTION
kW
0.2
SER No.
Hz
r/min
0.64
03010001
Nm
Serial Number
Ex.:
03010001
Lot Number
Month of production
Year of production
(Lower 2 digits of AD year
[Before Use]
Model Designation
MUMA5AZP1S
1~4 5~6
Symbol
MUMA
Table 1a:
Motor rated output
Symbol
5A
01
02
04
Table 1-b: Rotary encoder
Symbol
P
Type
Incremental
Type
Ultra low inertia
Rated output
50W
100W
200W
400W
Specifications
No. of pulses
2500P/r
Rated output
Resolution
10000
Lead wire
5-wire
Check the Combination of Driver and Motor
78910
11~12
Motor structure
Design order
1: Standard
Type of encoder
Power supply
1: 100 V
2: 200 V
Z: 100/200 V common-used
(Limited to 50W only)
Table 1c: Motor structure
Shaft
Center tap on key-wayed shaft end
S
T
Custom specifications
Holding brake
Without
With
Oil seal
Without
With
This driver is designed for use in combination with a motor to be specified by us.
Check a name of series, rated output, voltage specifications and encoder specifications of a motor you wish to use.
Incremental specification 2500 P/r
Power Supply Motor Series Driver Type
Single-phase
100V
Single-phase
200V
MUMA
Ultra low inertia
Three-phase
200V
Rated Speed
3000r/min
<Note> You must not use any other combinations than those listed below:
Applicable Motor Applicable Driver
Motor Type
MUMA5AZP1*
MUMA011P1*
MUMA021P1*
MUMA5AZP1*
MUMA012P1*
MUMA022P1*
MUMA042P1*
MUMA5AZP1*
MUMA012P1*
MUMA022P1*
MUMA042P1*
Rated Output
50W
100W
200W
50W
100W
200W
400W
50W
100W
200W
400W
MKDET1105P
MKDET1110P
MLDET2110P
MKDET1505P
MKDET1505P
MLDET2210P
MLDET2510P
MKDET1505P
MKDET1505P
MKDET1310P
MLDET2310P
MLDET2510P
Driver
Frame
Frame K
Frame L
Frame K
Frame L
Frame K
Frame L
<Remarks>
The marking " * " in Motor Type column of Applicable Motor represents a motor specifications.
15
Parts Description
Driver
Motor
Status LED
STATUS
ALM CODE
Alarm Code LED
x
6
Connector for Serial Communications
(X6)
x
5
x
4
x
3
x
1
Interface Connector (X5)
Encoder Connector (X4)
Motor Connector (X3)
Main Power Supply Connector (X1)
MUMA 50W - 400W
Motor Cable
Encoder Cable
Encoder
Flange
Frame
Mounting Holes (in 4 locations)
Example: Super Low Inertia Type (MUMA Series 50W)
<Remarks>
For detailed information on each type, refer to a dimensional outline drawing (Pages 194 to 195) of
Reference edition.
16
Before Use
Console
Main body
[Before Use]
Connector
Console main unit
Cable
<Remarks>
The console is optionally available. (Part No.: DV0P3690)
Touch panel
Display, LED (display in 6 digits)
Display of selected Driver ID No. (2 digits)
The value set up on Pr00 (shaft name) is ID No.
Parameter No. (2 digits) is displayed under Parameter Setting
mode.
This is used to shift the digits of data.
This is used to change the data and to execute parameter selection.
The numerical value goes up and down by pressing and .
M
MODE
MINAS
DIGITAL AC SERVO
SHIFT
M
M
O
D
E
S
H
I
F
T
S
S
E
T
Touch panel
Display
(7-segment LED)
S
SET
Setting Button: This is to shift each mode, which was selected by
the mode selector button, to EXECUTE display.
Mode Selector Buttons: These buttons are used to select 6 different modes.
(1) MONITOR mode
(2) PARAMETER SETTING mode
(3) EEPROM WRITE mode
(4) NORMAL AUTO GAIN TUNING mode
(5) AUXI FUNCTION mode
Test run (JOG mode)
Alarm clear
(6) COPING FUNCTION mode
To copy parameters to the console from the servo driver.
To copy parameters to the servo driver from the console.
17
Installation
The driver and motor should be properly installed to avoid failures, mechanical damages and injuries.
Driver
Location
(1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver is not a
waterproof structure.
(2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable
gas, grinding coolant, oil mist, iron powder, chips, etc.
(3) Place in a well-ventilated, and humid-and dust-free space.
(4) Place in a vibration-free space.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Lower than 90%RH (free from condensation)
Storage temperature
Storage humidity
Vibration
Lower than 90%RH (free from condensation)
Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz
Altitude
How to Install
(1) Parallel type. Install in vertical position. Reserve a drafting
space around the driver for ventilation.
(2) For the mounting dimensions onto the wall face in the board,
refer to Page 193 of the dimensional outline drawing.
Conditions
0 to 55°C (free from freezing)
-20 to 80°C (free from freezing)
Lower than 1000 m
Base mount type
STATUS
ALM CODE
x
6
x
5
x
4
x
3
x
1
Earth connection (M4 screw) tightening
torque shall not exceed 0.39 - 0.59 N•m
(3) Installing to DIN Rail
Install the main body of the driver by using optionally available DV0P3811 (see an “optional” DIN rail mounting unit
on page 190 of Reference edition) and screws (M4 x length 8, pan-head machine screws) supplied with the
option.
Ancillary Screws
(M4 x Length 8 )
DIN rail mounting unit attached to the driver
18
Before Use
Part where DIN
rail is mounted
DIN rail
With rail stop
pushed in
Press lightly.
Ensure that the rail stop
has been pushed in.
[Before Use]
Driver mounted to DIN rail
Hook the upper side of DIN rail
mounting part on the DIN rail.
Press lightly the lower part of
the main body of driver.
(4) Removing from DIN Rail
By lifting the driver, you can remove it
from the DIN rail.
Pull out the lower part
of the driver to the
near side.
With the rail stop released, pull out the
lower part of the driver to the near side.
Mounting Direction and Space Requirements
• Allow enough space to ensure enough cooling.
• Install fans to provide a uniform distribution of temperature in the control box.
• Observe the environmental requirements for the control box, mentioned in the previous page.
min.
40 mm
Fan
Driver Exhaust
Direction
STATUS
ALM CODE
x
6
x
5
x
4
x
3
x
1
Driver Intake
Direction
min.
10 mm
Driver Exhaust
Direction
STATUS
ALM CODE
x
6
x
5
x
4
x
3
x
1
Driver Intake
Direction
min.
10 mm
Fan
Driver Exhaust
Direction
STATUS
ALM CODE
x
6
x
5
x
4
x
3
x
1
Driver Intake
Direction
min.
10 mm
Driver Exhaust
Direction
STATUS
ALM CODE
Driver Intake
Direction
min.
100 mm
x
6
x
5
x
4
min.
40 mm
x
3
x
1
min.
100 mm
This driver has a cooling fan in its bottom and a mounting face.
To install the driver, ensure that there is enough space around the inlet and outlet ports so as not to prevent
intake and exhaust of the fans.
19
Installation
Motor
Location
(1) Indoors, where the driver is not subjected to rain water and direct sun beams.
(2) The place where the motor is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable
gas, grinding coolant, oil mist, iron powder, chips, etc.
(3) Place in a well-ventilated, and humid- and dust-free space.
(4) The place where the motor can be checked and cleaned easily.
Environmental Conditions
Vibration
Shock
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Motor only
With gear (At rotation)
Motor only
With gear
0 to 40°C (free from freezing)
Lower than 85%RH (free from condensation)
-20 to 80°C (free from freezing)
Lower than 85%RH (free from condensation)
49 m/s2 (5G) or less at rotation, 24 5 m/s2 (2.5G) or less
High precision: 24.5 m/s2 (2.5G) max.
98 m/s2 (10G) max.
High precision: 98 m/s2 (10G) max.
Conditions
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
(1) When installing in horizontal direction
• Mount the motor with its cable lead-out port faced downward as the countermeasure for oil and water.
(2) When installing in vertical direction
• When installing the motor with speed reducer with its output shaft upside, use the oil-sealed motor to prevent oil
inflow to the motor from the speed reducer. In this case, the oil-sealed motor is a special product.
(3) For the mounting dimensions, refer to a dimensional outline drawing (Pages 194 to 195).
Oil and Water Protections
(1) Don’t use the motor under an environment where oil and water splash over
the motor body.
(2) In combining with the speed reducer, use the oil-sealed motor to prevent oil
inflow to the motor internal through its shaft through-penetration hole. In this
case, the oil-sealed motor used is a special product.
(3) Don’t use the motor with its cable dipped in oil/water.
20
Oil and water
Cable
Motor
[Before Use]
Before Use
Cable: Stress relieving
(1) Don’t apply stress to the cable lead-out port and connections by bending and self-weight.
(2) Particularly in the case of application in which the servo motor must be movable, fix the accessory cable of the
motor and house the extension junction cable, which is connected to the terminal end of the said cable, in the
cable bearer to thereby minimize stress acting on the cable by bending.
(3) Make the cable bending radius as large as possible. (Minimum bending radius: to be 20 mm and over.)
Permissible Shaft Load
(1) Do mechanical design so both of radial load and thrust load being applied to the motor shaft during installation
and running are maintained within the permissible value specified for each model.
(2) In using the rigid coupling, take good care of mounting. (Over-bending load on it, if any, would cause damage/
wear of the shaft and shorter life of the bearings.)
(3) Use the flexible coupling of possibly high stiffness to control radial load arising from minor center deviation at the
permissible value or less.
(4) For information on allowable load of an output shaft of each type, refer to Allowable Load of Output Shafts on
Page 196 of Reference.
Installation Notes
(1) When connecting /disconnecting the coupling to/from the motor shaft end, don’t apply
direct impact to the shaft by hammering, etc. (Failure to observe this instruction would
cause damage of the encoder mounted on the counter-load side shaft end.)
(2) Do perfect centering. (Imperfect centering would result in vibration, which would cause
damage of the bearings.)
Motor
21
Installation
Console
Location
(1) Indoors, where the driver is not subjected to rain water and direct sun beams. The console is not water-
resistant.
(2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable
gas, grinding coolant, oil mist, iron powder, chips, etc.
(3) Place in a well-ventilated, and humid-and dust-free space.
(4) Place in a space to be easily accessed for inspection and cleaning.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Shock
Altitude
0 to 55°C (free from freezing)
Lower than 90%RH (free from condensation)
-20 to 70°C (free from freezing)
Lower than 90%RH (free from condensation)
Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz
Compliant with free-fall test JIS C 0044 (1-m fall with a fall guide, twice in each direction)
Conditions
Lower than 1000 m
<Note>
• Avoid strong physical shock to the product.
• Do not drop the product.
• Do not pull the cable with an excessive force.
• Do not set the product near a heat generating device such as heater and large wire wound resistor.
Method of Connection
STATUS
Connect to CN X6.
ALM CODE
x
6
x
5
M
M
O
D
E
S
H
I
F
T
S
S
E
T
x
4
x
3
x
1
<Remarks>
• Securely connect the console connector to the connector CN X6 of the driver.
• Never connect or disconnect the connector by grabbing the connector cable.
22
Preparations
Preparations
Page
System Configuration and Wiring ............................... 24
General Wiring Diagram ......................................................................... 24
List of Driver and Compatible Peripheral Equipment ..............................26
Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ...............27
Wiring of Connector CN X4 (Connection with Encoder) ......................... 29
Wiring of Connector CN X5 (Connection with Host Controller)............... 30
Wiring of Connector CN X6 (Connection with Personal Computer/Console) ......
Timing Chart .................................................................. 32
Holding Brake ................................................................ 35
Dynamic Brake (DB)...................................................... 36
Homing Operation (Precautions) ................................. 38
Setting the Parameters ................................................. 39
Overview of Parameters .........................................................................39
How to Set ..............................................................................................39
Overview of Console ............................................................................... 39
Overview of PANATERM® ....................................................................... 39
How to Connect ......................................................................................40
Parameter Groups and Listing ................................................................41
31
Using the Console......................................................... 47
Using the Console ................................................................................... 47
The initial State of the Display (7-segment LED) ....................................47
Structure of Each Mode ..........................................................................48
Monitoring Mode .....................................................................................51
Parameter Setting Mode .........................................................................57
Normal Auto Gain Tuning Mode .............................................................. 58
Alarm Clear .............................................................................................59
Test Run (JOG) .......................................................................................60
Test Run Procedures .............................................................................. 61
Copy Function ......................................................................................... 62
23
System Configuration and Wiring
p
L1
L2
L3
General Wiring Diagram
Main Circuits
Circuit Breaker (NFB)
(Refer to Page 26)
Used to protect the power lines:
overcurrent will shut off the circuit.
(Refer to Page 26, 182)
Noise Filter (NF)
Prevents the external noise from the power line,
and reduces the effect of the noises generated
by the servo motor.
(Refer to Page 26)
Magnetic Contactor (MC)
Turns on/off the main power of the servo motor.
Used together with a surge absorber.
Never start or stop the motor with the
magnetic contactor.
(Refer to Page 191)
Reactor (L)
Reduces the harmonic current in the main
power.
5 Pins - 3 Pins of CN X1 ---
When using the driver for an application of large
regenerative energy, connect an external
regenerative resistor between P (5 pins) and B
(3 pins) of connector CN X1.
Install an external regenerative resistor on
incombustible material, such as metal, and
provide the regenerative resistor with a
protective device such as temperature fuse, etc,
to prevent the resistor from being overheated.
Regenerative discharge resistor
(Optional)
Wiring connection to
Connector CN X1
(Connection with the input power su
P
B
Ground
24
[Preparations]
Preparations
L1
L2
Setup support software
"PANATERM "
STATUS
ALM CODE
x6
x5
Personal computer
Console
M
M
O
D
E
S
H
I
F
T
S
S
E
T
Wiring to Connector CN X6
(Connection with personal computers and consoles)
Wiring to Connector CN X5
(Connection with host controllers such as PLC, etc.)
ply)
MKDET1310P 200V
L1
L1
L2
L2
L3L3L3
Junction cable for motor
Junction cable for brake
x4
x3
x1
Wiring to Connector CN X4
(Connection with encoder)
Junction cable for encoder
Wiring to Connector CN X3
(Connection with each phase of motor
windings)
Motor cable
Power supply for motor brake
(24 V DC)
For connections, refer to Points in Wiring (Page 27).
25
System Configuration and Wiring
List of Driver and Compatible Peripheral Equipment
Series
MKDE
MLDE
MKDE
MLDE
MKDE
MLDE
Driver
Power
voltage
1-phase,
100V
1-phase,
200V
3-phase,
200V
Output
50W
100W
200W
50W
100W
200W
400W
50W
100W
200W
400W
Required
Power
(rated load)
0.3kVA
0.4kVA
0.5kVA
0.3kVA
0.5kVA
0.9kVA
0.3kVA
0.5kVA
0.9kVA
Circuit breaker
(rated current)
BBC25N
(5A)
BBC2101N(10A)
BBC25N
(5A)
BBC2101N(10A)
BBC35N
(5A)
BBC3101N(10A)
Noise filter
DV0P4160
Magnetic contactor
(composition of
contacts)
BMFT61041N
(3P+1a)
BMFT61542N
(3P+1a)
BMFT61042N
(3P+1a)
0.75mm
AWG18
Circuit breaker, magnetic contactor: manufactured by Matsushita Electric Industrial Co., Ltd.
For compliance with EC Directives, don’t fail to connect the circuit breaker (with LISTED, Mark), which is
authorized and certified under IEC and UL Standards, between the power supply and the noise filter.
Noise filter
For DV0P4160, refer to Page 182.
Cable
diameter
(L1, L2, L3,
U, V, W, E)
2
-
0.85mm
2
< Remarks >
• For wiring to the power connector, motor connector and earth terminal, use the copper conductors of 60°C and
over in the temperature rating.
• For the connector-side earth cable, use the cable of 0.75 mm2 - 0.85 mm2 (AWG18) in diameter.
• For the mounting screw-side earth cable, use the cable of 2.0 mm2 (AWG14) or more in diameter.
• Where two or more drivers are used and the noise filters for the drivers are mounted in set in the power unit, feel
free to consult with the noise filter manufacturer.
26
[Preparations]
Preparations
Wiring of Connectors CNX1, X3 (Wiring of Main Circuits)
• Don’t fail to request an electric wiring specialist for wiring.
• Don’t switch ON the electric power until completion of the wiring, to prevent electric shock.
Points in Wiring
(1) For the cable diameter used, refer to “List of Driver and Compatible Peripheral Equipment” (page 26).
(2) Insert securely the connectors.
CN X3
(Driver side)
Do wiring in perfect color matching between the
identification colors of the motor lead-out cable and
corresponding motor output terminal (U, V, W).
Connect U (1 pin), V (4 pins), W (6 pins) and E (3 pins)
respectively.
Avoid shorting and ground fault.
At this stage, don't connect the power supply cable.
Adopt a duplex circuit as the brake control circuit so it can
actuate even with emergency stop signal from external
device.
The magnetic brake has no polarity.
For the power capacity and operation detail of the magnetic
brake, refer to the "Holding Brake" (page 35).
Install the surge absorber (C-5A2 or Z15D151 made by
Ishizuka Electronic).
Read the driver nameplate to check the power specification.
Provide circuit breaker or leakage breaker without fail. In this
case, use a leakage breaker to which countermeasure for high
frequency is applied for "inverter application".
Motor
Red
White or
yellow
Black
Green/
yellow
36
U
1
V
W
E
DC
2
3
4
24V
14
DC power for brake use
Surge absorber
Fuse (5A)
NFB
NF MC L
Power
(Driver side)
Ground resistance: 100Ω max.
For applicable wire, see page 26.
CN X1
5
P
B
16
10
L1
L2
L3
Don't fail to provide noise filter.
Provide the magnetic contactor coil with surge absorber.
Never start/stop the motor by magnetic contactor.
Install AC reactor.
For three-phase 200V, connect L1 (10 pints), L2 (8 pins) and
L3 (6 pins).
For single-phase 100V and 200V, connect L1 (10 pins) and
L3 (6 pins).
Connect to the grounding system of the facility.
Connect the driver protective earth terminal ( ) and the
protective earth (earth plate) of the control panel for
preventing of electric shock. In this case, don't co-clamp the
earth wires to the protective earth terminal ( ). Two
protective earth terminals are provided.
27
System Configuration and Wiring
Wiring Diagrams
Compose such a power supply as to switch OFF the power against alarm output.
For three-phase 200V
Power supply
172167-1
(Tyco Electronics
AMP K.K.)
Motor
Red
White or
yellow
Black
Green
yellow
NFB
172159-1
(Tyco Electronics
AMP K.K.)
1
2
3
4
Noise
filter
ON
MC
MC
OFF
L
5557-10R-210
(Molex Incorporated)
5557-06R-210
(Molex Incorporated)
V
ALM
DC
12~24V
10
13
8
6
5
3
1
4
6
3
9
ALM
L1
L2
L3
P
B
U
V
W
E
ALM
COM —
MC
P
N
P
N
CN X1
CN X3
CN X5
For Single-phase 100V/200V
172167-1
(Tyco Electronics
AMP K.K.)
Motor
Red
White or
yellow
Black
Green
yellow
For single-phase 200V,
use the reactor for
three-phase.
NFB
Power supply
172159-1
(Tyco Electronics
AMP K.K.)
1
2
3
4
Noise
filter
ON
MC
MC
OFF
L
5557-10R-210
(Molex Incorporated)
5557-06R-210
(Molex Incorporated)
V
ALM
DC
12~24V
10
6
5
3
1
4
6
3
9
13
ALM
L1
L2
L3
P
B
U
V
W
E
ALM
COM —
MC
P
N
P
N
CN X1
CN X3
28
CN X5
Preparations
Wiring to Connector CN X4 (Connection with Encoder)
Points in Wiring
[Preparations]
STATUS
ALM CODE
x
6
20 m max.
x
Encoder
5
x
4
x
3
x
1
30 cm min.
30 cm min.
Power
section
Motor
Cable length between the driver and the motor - 20 m max.
If this cable length exceeds 20 m, consult with the
dealer/distributor from which you have purchased the
driver.
Keep 30 cm or more spacing from the main circuit wiring.
Neither guide this wiring through the same duct, together
with the main circuit nor bundle these two together.
Wiring Diagram
¥ When you plan to make an encoder junction cable by yourself, refer to Requests on a self-made encoder junction
cable (For connectors, refer to Optional Parts (Connector Kits for Connection of Motor and Encoder) on Page
186 of Reference edition).
(1) Refer to the wiring diagram below.
(2) Cable used: Shielded twist pair cable of 0.18 mm
bending resistance.
5
0V
4
+5V
1
2
3
6
FG
172160-1172168-1
(made by Tyco Electronics AMP K.K.)
Junction cable
Servo motor
Black
White
(NC)
Light blue
Purple
Shielded
cable
(made by Tyco
Electronics AMP K.K.)
Motor side Servo driver side
TX/RX
TX/RX
2
(AWG 24) minimum in conductor diameter that is excellent in
(3) For signal/power wiring in pair,
Case
2
1
4
3
5
6
0V
+5V
0V
+5V
TX/RX
TX/RX
FG
X4CN
0V
Regulator
+5V
use twist pair cable.
(4) Shielding treatment
Driver-side shield sheath:
Connect to CNX4 connector
case (FG).
Motor-side shield sheath:
Connect to 6 pins.
(5) Where the cable length
exceeds 10 m, do double-
wiring for the encoder power
Twist pair
(+5V, 0V), as illustrated left.
(6) Connect nothing to the empty
terminal (NC) of the
connector.
(7) Don’t use a cable pair composed of the motor cable and encoder cable which were shielded in batch.
29
System Configuration and Wiring
Wiring of Connector CN X5 (Connection with Host Controller)
Points in Wiring
V
Power
Supply
Motor
DC
Unit
Controller
Within 3 m
30 cm or More
COM+
COM-
FG
CN X5
STATUS
GND
Place any peripheral equipment such as a host controller within 3 meters
ALM CODE
x
6
x
5
x
4
x
3
x
1
from the driver.
Separate the wiring at least 30 cm or more from the main circuit wires.
The wiring should neither run through a same duct as the main circuit
wires nor be bundled together with them.
A customer is requested to prepare for power supply for control signals
(V
DC
1
2
) between COM+ and —COM.
Voltage: DC +12 to 24V
For such wiring as command pulse input or encoder signal output, etc.,
use shielded twist pair cable.
Neither apply 24V or more to a control signal output terminal, nor run
50mA or higher.
If you directly activate a relay using the control signal output, install a
diode in parallel with a relay in the direction shown in the left figure.
Without a diode or with it but placed in the opposite direction, the driver
will be damaged.
The Frame Ground (FG) is connected to an earth terminal in the driver.
For detailed information on wiring of respective pins, refer to Page 65 (position control mode) and Page
103 (internal velocity control mode) of connections for each control mode.
CN X5 Connector Specifications
Connectors on Driver Side
10226-52A2JL
Connector (solder type)
Connector cover
Compatible Connectors on User Side
Part Name
10126-3000VE
10326-52A0-008
Part No.
Manufacturer
Sumitomo 3M Ltd.
<Remarks>
• For details, refer to “Optional Parts” on Page 188 of Reference edition.
30
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