Panasonic MSMEO41S1 Installation Manual

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Page 1

Operating Instructions (Basic)

AC Servo Motor & Driver

MINAS A5-series

• Thank you for purchasing this Panasonic product.

• Before operating this product, please read the instructions carefully, and save this manual for future use.

This product image is 1.5kW type of A5-series.

If you are the rst user of this product, please be sure to read the downloaded

Operating Instructions (Overall) from our Web Site.

[Web address of Motor Company, Panasonic Corporation]

http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

Make sure to forward these Operating Instructions for safety to the nal user.

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

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

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

Check of the Motor Model

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

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

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

3. System Conguration and

Wiring ........................................... B8

Overall Wiring (Connector type) ..................... B8

Overall Wiring (Terminal block type) Driver and List of Applicable Peripheral Equipments Wiring of the Main Circuit (Connector type) Wiring of the Main Circuit (Terminal block type) Wiring method to connector

Wiring Diagram .............................................

Wiring of connector for motor and brake ......

Wiring to the Connector, X1 .........................

Wiring to the Connector, X2 .........................

Wiring to the Connector, X3 .........................

Wiring to the Connector, X4 .........................

............................... B3

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

page page

Wiring to the Connector, X5 .........................

Wiring to the Connector, X6 .........................

Wiring to the Connector, X7 .........................

4. Parameter .................................. B31

Outline / Setup / Connection ......................... B31

Composition of Parameters ..........................

5. Protective Functions ................ B34

Protective Function (What Is Error Code ?)

Maintenance and Inspections

7. Conformity to EC Directives

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

B10

.... B12

......... B14

... B16

and UL Standards ..................... B38

Composition of Peripheral Equipments ........ B40

8. Built-in Holding Brake .............. B44

9. Dynamic Brake.......................... B46

B17

10.

B19 B21 B22 B22 B23 B24

Check of the Combination of

the Driver and the Motor

Incremental Specications, 20-bit ............... B47

Absolute Specications, 17-bit ................... B48

11. Specications ......................... B49

After-Sale Service (Repair) .......... B52

............ B47

IMD88

B27 B28 B30

B33

......

B34

.... B36

English

Page 2

−B2−

−B3−

English

M A D H T 1 5 0 5

Special specifications (letters and numbers)

Current detector rating

Power supply

Max. current rating of power device

Frame-size symbol

MADH MBDH MCDH MDDH MEDH MFDH

Frame

Symbol

A5-series, A-frame A5-series, B-frame A5-series, C-frame A5-series, D-frame A5-series, E-frame A5-series, F-frame

T1 T2 T3 T5 T7 TA TB

Current

rating

Symbol

Specifications

10A 15A 30A 50A

70A 100A 150A

Symbol

1 3

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

200V

05 07 10 20 30 40 64 90 A2

Current rating

Symbol

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

120A

1 to 4 75 to 6 10 to 128 to 9

Serial Number

e.g.) : 09 04 000 1N

Lot number

Month of production

Year of production (Lower 2 digits of AD year)

Manufacture date

e.g.) : 2009 0 4 01

Manufacture dateManufacture year

Manufacture month

Model

Rated output

Rated input

voltage/current

Rated frequency

Rated

rotational speed

M S M E 5 A Z S 1 S

1 to 4

5 to 6

11 to 12

7 8 9 10

Special specifications

Motor structure

Design order 1: Standard

Rotary encoder specifications

Voltage specifications

Specifications

Type

Symbol

Low inertia (50W to 5.0kW)

Middle inertia (1.0kW to 5.0kW)

Middle inertia (900W to 3.0kW)

High inertia (1.0kW to 5.0kW)

G S

Incremental

Absolute

Specifications

Symbol

Format

Pulse count

Output

Motor rated output

Symbol

Specifications

Symbol

Resolution

5-wire 7-wire

Wire count

Motor structure MSME

(50W to 750W)

The product with oil seal is a special order product.

*2 Key way with center tap

[

Products are standard stock items or manufactured by order. For details, inquire the dealer.]

A B S T

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

MSME

(1.0kW to 5.0kW)

, MDME, MGME, MHME

C D G H

Shaft

Holding brake

Oil seal

Without

With

Round

Key way

Without

With

Symbol

*2 *2

MSME

MDME

MGME

MHME

5A 01 02 04 08 09 10 15 20 30 40 50

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

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

1 2

100 V 200 V 100/200 common

(50W only)

20bit 17bit

1,048,576

131,072

1. Introduction

Model number

Input/output voltage

Rated output of

applicable motor

Rated input/output

current

Input/output frequency

Number of phase

Serial Number

e.g.) :

P0 9 0 4000 1 N

Lot number

Month of production

Year of production (Lower 2 digits of AD year)

Manufacture date

e.g.) : 2009 0 4 01

Manufacture dateManufacture year

Manufacture month

Check of the Motor Model

1. Introduction

On Opening the Product Package

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

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

• Check if the Operating Instructions (safety) are included or not.

• Check if the power connector, motor connectors, connector for external regenerative resistor connection (only E-frame) and safety by-pass plug are included or not.

(Neither the power connector nor motor connector are included to F-frame.)

1. Introduction

Check of the Driver Model

Contents of Name Plate

Model Designation

Contents of Name Plate

Model Designation

Page 3

−B4−

−B5−

English

2. Installation

Fan Fan

100mm or more

40mm

Direction of air flowing from the internal cooling fan (D/E/F frame)

Control panel

A to D-frame

E, F-frame

Basemount (Standard) [Rear mount]

Frontmount [Use mounting fixture]

Front or Basemount [Use mounting fixture]

Mounting fixture (optional parts)

Mounting fixture (Attachment)

Fastening torque of earth screws (M4) to be 0.7 to 0.8 N•m.

Fastening torque of earth screws (M5) to be 1.4 to 1.6 N•m.

Driver

2. Installation

Driver

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

Installation Place

Install the driver in a control panel enclosed in noncombustible material and placed indoor

where the product is not subjected to rain or direct sunlight. The products are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen

sulde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inammable gas.

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

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

5) Vibration-free place.

Environmental Conditions

Item Conditions

Ambient temperature

0˚C to 55˚C (free from freezing)

Ambient humidity 20% to 85% RH (free from condensation)

Storage temperature

–20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours)

Storage humidity 20% to 85% RH (free from condensation) Vibration Lower than 5.88m/s2 (0.6G), 10 to 60Hz Altitude Lower than 1000m

Extreme temperatures are permissible only for short period such as during transportation.

How to Install

1) Rack-mount type. Install in vertical position, and reserve enough space around the

servo driver for ventilation.

2) Base mount (rear mount) is standard for A/B/C/D-frame driver.

3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting

xture. For choosing the correct optional mounting xture, refer to the Operating In-

structions (Overall).

For the dimensions and mass of the product, which are necessary design data of the mounting section, refer to the dimensional outline drawing on the Operating Instructions (Overall) or the Delivery Specication.

Mounting Direction and Spacing

• Reserve enough surrounding space for effective cooling.

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

• D/E/F frame is provided with a cooling fan at the bottom.

Observe the environmental conditions of the control panel described in the previous page.

•

Note

It is recommended to use the conductive paint when you make your own mounting xture, 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.

•

If stranded wires are used as the cable, bunch the conductors of the cable using a ferrule. If stranded wires are used as they are, unexpected accidents such as an electric shock and short circuit or injury may result. (Refer to P.B17. “Wiring method to connector”.)

• 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.

• Be sure to ground the protective earth terminal.

If the product is grounded insufciently, not only the driver may not deliver its perfor

mance sufciently, but also safety hazards such as a malfunction due to a electri-

cation or a disturbance may be caused.

If electric wires are bound and run through metal duct, they cannot carry the rated

• current due to temperature rise. If they are forced to carry the rated current, they may

burn. When determining size of the wire, check the current decreasing coefcient by

referring to the Operating Instructions (Overall).

Page 4

−B6−

−B7−

English

2. Installation

Cable

Motor

Oil / Water

Motor

2. Installation

Motor

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

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 prod

ucts are not waterproof.

2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulde, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inammable gas.

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.

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

Environmental Conditions

Item Conditions

Ambient temperature Ambient humidity 20% to 85% RH (free from condensation) Storage temperature Storage humidity 20% to 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)

Enclosure

rating

1 Ambient temperature to be measured at 5cm away from the motor.

2 Permissible temperature for short duration such as transportation.

3 These motors conform to the test conditions specified in EN standards (EN60529,

EN60034-5). Do not use these motors in application where water proof performance is required such as continuous wash-down operation.

4 This condition is applied when the connector mounting screw in case of motor 750W or

less are tightened to the recommended tightening torque (Refer to P.B21, 28, 29). Be

sure to use mounting screw supplied with the connector.

Motor only

(Connector type)

Altitude Lower than 1000m

0˚C to 40˚C (free from freezing)

–20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours)

IP67 (except rotating portion of output shaft and connecting pin

part of the motor connector and the encoder connector)

*3*

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 (make-to-order in case of motor 750W or less) when mounting the motor with gear reducer to prevent the reducer oil/grease from enter-

ing to the motor.

3) For the dimensions and mass of the product, which are necessary design data of the mounting section, refer to the dimensional outline drawing on the Operating Instructions (Overall) or the Delivery Specication.

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 always sub

jected to oil or water.

4) Use the motor with an oil seal when used with

the gear reducer, so that the oil may not enter to the motor through shaft.

Stress to Cables

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

self-weight.

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

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

Permissible Load to Output Shaft

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

value specied 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.)

Use a exible 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.

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.

If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to

(incomplete alignment may cause vibration and damage the bearing.)

the bearing depending on the condition of the machine and its mounting environment,

and may result in the bearing noise. Check and verication by customer is required.

Page 5

−B8−

−B9−

English

Junction cable for brake

: High voltage

• Wiring of Main Connector (XA)

• Wiring of Motor Connector (XB)

Regenerative resistor (optional)

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

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

• Mount the regenerative resistor on incombustible material such as metal.

PC (to be supplied by customer)

Setup support software “PANATERM” Please download from our web site.

L1 (Pin-5)

L2 (Pin-4)

L3 (Pin-3)

L1C (Pin-2)

L2C (Pin-1)

Charg lamp (LED)

Ground

(earth)

Protective earth terminals

• Connection to input power

Wiring to Connector, XA

• Monitor output

Wiring to Connector, X7

• Connection to PC or host controller

Wiring to Connector, X1

• Connection to RS232, RS485 or host controller

Wiring to Connector, X2

• Connection to Safety by-pass plug (Refer to P.B23)

Wiring to Connector, X3

• Connection to host controller

Wiring to Connector, X4

• Connection to feedback scale

Wiring to Connector, X5

• Connection to encoder

Wiring to Connector, X6

• Connection to external components

Wiring to Connector, XB

• Connection to motor driving phase and ground

Wiring to Connector, XB

Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.B18 for connection.)

Remarks

Junction cable for encoder

Junction cable for motor

Circuit Breaker (MCCB)

To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.

Noise Filter (NF)

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

Magnetic Contactor (MC)

Turns on/off the main power of the servo driver. Use coil surge suppression units together with this.

• Never start nor stop the servo

motor with this Magnetic Contactor.

Reactor (L)

Reduces harmonic current of the main power.

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

Pin B1 (6-pin), B2 (4-pin), and B3 (5-pin)

• B2 and B3 to be kept shorted for normal operation.

• When you connect an external regenerative resistor, disconnect a short circuit wire between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Note that no regenerative resistor is equipped in Frame A and B type.

Short circuit wire (B2-B3)

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

B1 (Pin-6)

B2 (Pin-4)

Note

Mains

Residual

current device

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

3. System Conguration and Wiring

Overall Wiring (Connector type)

Connecting Example of A to D-frame

3. System Conguration and Wiring

Overall Wiring (Connector type)

Page 6

−

B10

−

B11

−

English

: High voltage

Setup support software “PANATERM” Please download from our web site.

Connection with input power supply

Connection to external components

Connection to motor driving phase and ground

Short bar (B2-B3)

B1 B2

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

L2C

L1C

Ground

(earth)

Charg lamp

(LED)

Junction cable for brake

DC Power supply for brake DC24V

(to be supplied by customer)

Junction cable for encoder

PC (to be supplied by customer)

• Monitor output

Wiring to Connector, X7

• Connection to PC or host controller

Wiring to Connector, X1

• Connection to RS232, RS485 or host controller

Wiring to Connector, X2

• Connection to Safety by-pass plug (Refer to P.B23)

Wiring to Connector, X3

• Connection to host controller

Wiring to Connector, X4

• Connection to feedback scale

Wiring to Connector, X5

• Connection to encoder

Wiring to Connector, X6

Regenerative resistor (optional)

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

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

• Mount the regenerative resistor on incombustible material such as metal.

Remarks

• Wiring of the Main Circuit

Pin B1, B2 and B3

• B1 and B2 to be kept shorted for normal operation.

• When you connect an external regenerative resistor, disconnect a short bar between B1 and B2, then connect the external regenerative resistor between P and B2, set up Pr0.16 to 1 or 2.

Pin NC

• Do not connect anything.

Junction cable for motor

Protective earth terminals

• Wiring of Main Connector (XA)

Circuit Breaker (MCCB)

To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.

Noise Filter (NF)

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

Magnetic Contactor (MC)

Turns on/off the main power of the servo driver. Use coil surge suppression units together with this.

• Never start nor stop the servo

motor with this Magnetic Contactor.

Reactor (L)

Reduces harmonic current of the main power.

Mains

Residual

current device

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.

3. System Conguration and Wiring

Overall Wiring (Terminal block type)

Connecting Example of F-frame

3. System Conguration and Wiring

Overall Wiring (Terminal block type)

Page 7

−

B12

−

B13

−

English

3. System Conguration and Wiring

11mm or

smaller

ø5.3

Driver and List of Applicable Peripheral Equipments

Required

Applicable

Driver

MADH

MBDH

MCDH

MDDH

MEDH

MFDH

* *

motor

MSME

MSMD

MHMD

MSME

MSMD

MHMD

MSME

MSMD

MHMD

MDME MHME

MGME

MSME

MHME

MDME

MSME

MDME

MSME

MHME

MGME

MDME

MHME

MSME

MGME

MDME

MHME

MSME

MDME

MHME

MSME

1 The model number of Magnetic contactor is the one of Panasonic Electric Works.

2 Can drive 20-bit incremental encoder type MINAS-A4 motor. (PN: M*MD***G1*)

Voltage

Single

phase,

100V

Single/

3-phase,

200V

Single

phase,

100V

Single/

3-phase,

200V

Single

phase,

100V

Single/

3-phase,

200V

Single/

3-phase,

200V

3-phase,

200V

3-phase,

200V

Rated

output

50W to

100W

50W to

200W

400W

750W

1.0kW

900W

1.0kW

1.5kW

2.0kW

3.0kW

4.0kW

5.0kW

Circuit

Power

breaker

(at the rated

(rated

load)

current)

approx.

0.4kVA

approx.

0.5kVA

approx.

10A

0.5kVA

approx.

0.9kVA

approx.

0.9kVA

approx.

1.3kVA 15A

approx.

1.8kVA

approx.

1.8kVA

approx.

1.8kVA 20A

approx.

2.3kVA

approx.

30A

3.3kVA

approx.

3.8kVA

approx.

4.5kVA

50A

approx.

6kVA

approx.

7.5kVA

Noise

lter

absorber

DV0P4170 DV0P4190

DV0P4170

DV0P4190

／

DV0PM

DV0P1450

20042

DV0P4170 DV0P4190

DV0P4170

DV0P4190

／

DV0PM

DV0P1450

20042

DV0P4190

DV0PM

20042

DV0P4190

DV0P1450

DV0P4220

DV0PM

20043

DV0P1450

DV0P3410

Surge

／

Noise

lter for

signal

DV0P1460

Magnetic contactor

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61041N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61541N

(3P+1a)

BMFT61542N

(3P+1a)

BMFT61842N

(3P+1a)

BMF6352N

(3P+2a2b)

BMF6652N

(3P+2a2b)

Cable

diameter

(main

circuit)

0.75mm2/ AWG18

2.0mm2/ AWG14

3.5mm2/ AWG12

5.3mm2/ AWG10

Cable

diameter

(control

circuit)

0.75mm2/ AWG18

3. System Conguration and Wiring

Driver and List of Applicable Peripheral Equipments

• Select peripheral equipments for single/3phase common specication according to

Connection

Connection to exclusive connector

Terminal

block

the power source.

[For details of peripheral equipments]

Noise lter .............................

Surge absover .......................

Noise lter for signal lines .....

• About circuit breaker and magnetic contactor

To comply to EC Directives, install a circuit breaker between the power and the

noise lter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).

Suitable for use on a circuit capable of delivering not more than 5,000 rms symmetri

cal amperes, below the maximum input voltage of the product.

Remarks

• Select a circuit breaker and noise lter which match to the capacity of power supply

(including a load condition).

• Terminal block and protective earth terminals

Use a copper conductor cables with temperature rating of 60˚C or higher. The screws of protective earth terminals for Frame A to D are M4 and M5 for

Frame E, F.

Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0 N·m. Application of overtorque (more than 2.0 N·m) will cause damage to terminal block. Maximum allowable torque to the screw securing terminal block cover is 0.2

N·m.

• The cable diameter of an earth cable.

Use an earth cable with the same diameter or larger as that of the main circuit

cable. If the diameter of the main circuit cable is 1.6mm a diameter of 2.0mm

•

Use the attached exclusive connector for A to E-frame, and maintain the peeled off

length of 8 to 9mm. (Refer to P.B17)

•

Tighten the screws of the connector, Connector X4 for the host controller with the

torque of 0.3 to 0.35 N·m.

Larger torque than 0.35N·m may damage the connector at the driver side.

Caution

Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts may generate heat (smoking, ring).

(AWG14).

P.B41 P.B42 P.B43

or less, use an earth cable with

Page 8

−

B14

−

B15

−

English

3. System Conguration and Wiring

Motor

Varistor

24V

MCCB

Power

supply

NF MC

Fuse (5A)

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

• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a circuit breaker.

• Make sure to provide a noise filter.

• Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.

Never start/stop the motor with this

Magnetic Contactor.

• Provide an AC Reactor.

• Connect L1 and L1C, and L3 and L2C at

single phase use (100V and 200V), and don't use L2.

•

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

•

Don't disconnect the shorting cable between B2 and B3 (C and D frame type). Disconnect this only when the external regenerative register is used.

• Avoid shorting and grounding. Don't

connect the main power.

• Earth-ground this.

• Make sure to

connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel to prevent electrical shock.

• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two terminals are provided.

• Don't connect the earth cable to other

inserting slot, nor make them touch.

• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.

• The Electromagnetic Brake has no polarity.

• For the capacity of the electromagnetic brake and how to use it, refer to P.B44, "Specifications of Built-in Holding Brake".

• Provide a varistor.

Connect a 5A fuse in series with the varistor.

Ground resistance: 100 Ω max.

For applicable wire, refer to P.B13.

L1C

L2C

DC power supply for brake

Red

Black

Green or

Green/yellow

White

Yellow

(X2)

RCD

Motor

Varistor

24V

Fuse (5A)

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

• Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a circuit breaker.

• Make sure to provide a noise filter.

• Provide coil surge suppression units to the

coil of the Magnetic Contactor recommended by manufacturer.

Never start/stop the motor with this Magnetic Contactor.

• Provide an AC Reactor.

• Connect L1 and L1C, and L3 and L2C at

single phase use (100V and 200V), and don't use L2.

•

Don't disconnect the shorting cable between B2 and B3. Disconnect this only when the external regenerative register is used.

• Do not connect anything to NC.

•

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

• Avoid shorting and grounding. Don't connect

the main power.

• Earth-ground this.

• Make sure to

connect the protective earth terminal

( ) of the driver and the protective earth (earth

plate) of the control panel to prevent electrical shock.

•

Don't co-clamp the earth wires to the protective earth terminal ( ) . Two terminals are provided.

• Don't connect the earth cable to other

inserting slot, nor make them touch.

• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.

• The Electromagnetic Brake has no polarity.

• For the capacity of the electromagnetic brake and how to use it, refer to P.B44, "Specifications of Built-in Holding Brake".

• Provide a varistor.

Connect a 5A fuse in series with the varistor.

Ground resistance: 100 Ω max.

For applicable wire, refer to P.B13.

L1C

L2C

DC power supply for brake

Red

Black

Green

White

Yellow

(X2)

MCCB

Power supply

NF MC LRCD

Wiring of the Main Circuit (Connector type)

3. System Conguration and Wiring

Wiring of the Main Circuit (Connector type)

A to D-frame, 100 V / 200 V type

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

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

Tips on Wiring

•

1) Wire connector (XA and XB).

2) Connect the wired connector to the driver.

E-frame, 200 V type

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

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

Tips on Wiring

•

1) Wire connector (XA, XB and XC).

2) Connect the wired connector to the driver.



Page 9

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B17

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English

3. System Conguration and Wiring

Motor

Varistor

24V

L1C

L2C

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

•

Provide a residual current device. The residual current device to be the one designed for "Inverter" and is equipped with countermeasures for harmonics.

• Provide a circuit breaker.

• Make sure to provide a noise filter.

• Provide coil surge suppression units to the coil of

the Magnetic Contactor recommended by manufacturer. Never start/stop the motor with this

Magnetic Contactor.

• Provide an AC Reactor.

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

• Do not connect anything to NC.

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

• Avoid shorting and grounding.

Don't connect the main power.

• Earth-ground this.

• Make sure to connect the protective earth terminal

( ) of the driver and the protective earth (earth

plate) of the control panel to prevent electrical shock.

• Don't co-clamp the earth wires to the protective earth terminal ( ) . Two terminals are provided.

• Don't connect the earth cable to other inserting

slot, nor make them touch.

• Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate stop signal.

• The Electromagnetic Brake has no polarity.

• For the capacity of the electromagnetic brake and how to use it, refer to P.B44, "Specifications of Built-in Holding Brake".

• Provide a varistor.

•

Connect a 5A fuse in series with the varistor.

Ground resistance: 100 Ω max.

For applicable wire, refer to P.B13.

DC power supply for brake

Fuse (5A)

Red

Black

Green

White

Yellow

(X2)

MCCB

Power

supply

NF MC LRCD

8 to 9 mm

①

②

③

A＞B

1mm or more

3. System Conguration and Wiring

Wiring of the Main Circuit

(Terminal block type)

F-frame, 200 V type

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

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

Tips on Wiring

•

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

2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the

terminal block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral Equipments" (P.B12).

Tighten the terminal block screw with a torque between 1.0 and 2.0

3) Attach the terminal cover, and x with screws. Tighten the screw securing the cover with a torque between 0.1 and 0.2 N

N•m.

•

Wiring method to connector

• Follow the procedures below for the wiring connection to the Connector XA, XB

and

How to connect

1. Peel off the insulation cover of the cable.

•

For single wire (Please obey the length in gure.)

•

For stranded wires (ferrules must be used as illustrated below).

Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)

1) Peel off th e sheath so that the

conductor portion of the cable will

protrude from the tip of the ferrule. (It should protrude 1 mm or more from the ferrule.)

2) Insert the cable into the ferrule

and crimp it with an appropriate

crimping tool.

3) After crimping, cut off the cable conductor portion protruding from

the ferrule. (The allowable protrud-

ing length after cutting should be 0 to 0.5 mm.)

•

Part No. of the crimping tool:

CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd.

Caution

• When peeling off the sheath of the cable, take care not to damage other portions.

•

When crimping the ferrule, sufciently check the status of the ferrule

and cable. If the conductors of the cable stick out from the insulation

cover or protrude excessively from the tip of the ferrule, accidents such as an electric shock and re from a short circuit may result.

Page 10

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B18

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B19

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English

3. System Conguration and Wiring

(a) Using handle lever

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

Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring.

Insert the peeled cable while pressing down the lever, until it hits the insertion slot (round hole).

Release the lever.

(b) Using screw driver

Press the screw driver to the handling slot on the upper portion to push down the spring.

Insert the peeled cable while pressing down the screw driver, until it hits the insertion slot (round hole).

Release the screw driver.

Noise filterNoise filter

Motor

ALM+

L3 L1C L2C

MCCB

U V

ALM−

External regenerative resistor

(Remove the short wire when you connect

the external regenerative resistor.)

External regenerative resistor

(Remove the short wire when you connect

the external regenerative resistor.)

DC12 to 24V

(±5%)

In Case of Single Phase, A to D-frame, 100 V / 200 V type

In Case of 3-Phase, A to D-frame, 200 V type

Motor

ALM+

L3 L1C L2C

MCCB

ALM

OFF

U V

Coil surge suppression units

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

ALM−

Red

White

Black

Green or

Green/Yellow

Red

White

Black

Green or

Green/Yellow

DC12 to 24V

(±5%)

ALM

OFF

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

ALM

Main power supply

Control power supply

Motor connection

Main power supply

Control power supply

Motor connection

Power supply Single phase, 100V to 120V

+10% –15%

Single phase, 200V to 240V

+10% –15%

Power supply 3-phase, 200V to 240V

+10% –15%

Use a reactor for 3-phase

When you use single phase, connect the main power between L1 and L3 terminals.

Remarks

Coil surge suppression units

Wiring method to connector

3. System Conguration and Wiring

Wiring Diagram

2. Insert the cable to the connector in the following 2 methods.

(a) Insert the cable using the supplied handle lever.



(b) Insert the cable using a at-blade screwdriver (Edge width: 3.0 to 3.5 mm).

1 2

2 3

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

Caution

• Take off the connector from the Servo Driver before making connec-

tion.

• Insert only one cable into each one of cable insertion slot.

• Pay attention to injury by screw driver.

Note

For wiring the motor connector, refer to P.B21.

Page 11

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English

3. System Conguration and Wiring

In Case of 3-Phase, E-frame, 200 V type

In Case of 3-Phase, F-frame, 200 V type

Motor

ALM+

L3 L1C L2C

MCCB

ALM−

DC12 to 24V

(±5%)

ALM

B2 NC

Motor

ALM+

L3 L1C L2C

MCCB

ALM−

DC12 to 24V

(±5%)

ALM

B2 NC

ALM

OFF

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

ALM

OFF

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

Noise filter

External regenerative resistor

(Remove the short wire when you connect

the external regenerative resistor.)

External regenerative resistor

(Remove the short wire when you connect

the external regenerative resistor.)

Red

White

Black

Green

Main power supply

Control power supply

Motor connection

Main power supply

Control power supply

Motor connection

Power supply 3-phase, 200V to 230V

+10% –15%

Power supply 3-phase, 200V to 230V

+10% –15%

Noise filter

Red

White

Black

Green

Coil surge suppression units

AHG

CDE

BIF

CBA

IHG

FED

JL04V-2E20-4PE-B-R

JL04HV-2E22-22PE-B-R

JL04V-2E20-18PE-B-R

JL04V-2E24-11PE-B-R

U-phase V-phase

W-phase

Ground

PIN No.

B C D

Application

G H A F

I B E D C

Brake Brake

U-phase

V-phase

W-phase

Ground Ground

PIN No.

Application

A Brake

Brake

NC U-phase V-phase

W-phase

Ground Ground

PIN No.

B C D E F G H

Application

Do not connect anything to NC.

JN8AT04NJ1

U-phase V-phase

W-phase

Ground

PIN No.

2 3

Application

JN4AT02PJ1-R

Tightening torqueof the screw (M2)

0.085 to 0.095 N·m (screwed to plastic)

Tightening torqueof the screw (M2)

0.19 to 0.21 N·m

1 2

Brake Brake

PIN No.

Application

Remarks

* Be sure to use only the screw supplied with the connector, to avoid damage.

Wiring Diagram

3. System Conguration and Wiring

Wiring of connector for motor and brake

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

Note

For wiring the motor connector, refer to P.B21.

• When the motors of

are used, they are connected as

shown below.

Connector: Made by Japan Aviation Electronics Industry, Ltd. (The gures below show connectors for the motor.)

• When the motors of

they are connected as shown below.

Connector: Made by Japan Aviation Electronics Industry, Ltd. (The gures below show connectors for the motor.)

are used,

Page 12

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English

3. System Conguration and Wiring

[Connector pin assignment]

(Viewed from cable)

8 6 4 2 7 5 3 1

[Connector pin assignment]

(Viewed from cable)

3. System Conguration and Wiring

Wiring to the connector, X1

This is used for USB connection to a personal computer. It is possible to change the parameter setting and perform monitoring.

Application Symbol

USB signal terminal

Caution

Use commercially available USB mini-B connector for the driver.

VBUS 1

D− 2

GND 5 Connected to ground of control circuit.

Connector

Pin No.

Use for communication with personal

computer.

＋

— 4 Do not connect.

Contents

3. System Conguration and Wiring

Wiring to the connector, X2

This is used for connection to the host controller when two or more units are used.

RS232 and RS485 interfaces are supplied.

Application Symbol

Signal ground

GND 1 Connected to ground of control circuit.

Connector

Pin No.

Contents

Wiring to the connector, X3

A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-

mal times.

Since the standard connector cannot be used when controlling the safety function from the host controller, purchase the optional connector and make connection as shown below.

Caution

Application Symbol

Safety input 1

Safety input 2

If the connector is disconnected during operation, an immediate stop will

be caused.

Connector

Pin No.

– 1

– 2

SF1− 3

SF1+ 4

SF2− 5

SF2+ 6

Do not connect.

These are two independent circuits that turn off the operation signal to the power

module to shut off the motor current.

Contents

NC – 2 Do not connect.

RS232 signal

TXD 3

RXD 4

485− 5

485+ 6

RS485 signal

485− 7

485+ 8

Frame ground FG Shell

RS232 The transmission / reception method.

RS485 The transmission / reception method.

Connected with protective earth terminal in

the servo driver.

Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)

EDM output

Frame ground

EDM− 7

EDM+ 8

FG Shell

This is an output for monitoring the failure of the safety function.

Connected with protective earth terminal in the servo driver.

Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)

Page 13

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English

3. System Conguration and Wiring

141516

174318

In case of open collector I/F

4.7kΩ

COM+

PULS2

SIGN1

SIGN2

GND

OA+

OB+

OZ+

GND

SPR/TRQR/SPL

GND

P-ATL/TRQR

GND

N-ATL

31256

132122

1kΩ

PULS1

OPC2

OPC1

INH

SRV-ON

GAIN

DIV1

VS-SEL1

C-MODE

A-CLR

POT

NOT

S-RDY

ALM+

INP+

BRKOFF

TLC

VDC

12 to 24V

ZSP

COM

SIGNH1

SIGNH2

PULSH1

PULSH2

GND

INP

ALM

3330292728

3534373639

381110

124144

Z-phase output

(open collector)

PULS14PULS2

14kΩ

10kΩ

20kΩ20kΩ

14kΩ

10kΩ

20kΩ20kΩ

47kΩ

47kΩ47kΩ

47kΩ

20kΩ

–

The functions of the following pin can be changed using parameters.

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33

Output: 10-11, 12, 34-35, 36-37, 38-39, 40

220Ω

2.2kΩ

20kΩ

2kΩ

20kΩ

120Ω

20kΩ

2kΩ

20kΩ

120Ω

220Ω

VDC

SIGN16SIGN2

220Ω

2.2kΩ

220Ω

2.2kΩ

OPC1

PULS2

220Ω

24VDC

OPC1

SIGN2

220Ω

2.2kΩ

(1) When you use the external

resistor with 12V and 24V

power supply

(2) When you do not use the

external resistor with 24V

power supply

Positive direction torque limit input

(0 to +10V)

Negative direction

torque limit input

(

10 to +10V)

Velocity monitor output

Torque monitor output

( represents twisted pair.)

Command

pulse

input A

(Use with

500 kpps or less.)

Divider

A-phase

output

B-phase

output

Z-phase

output

Command pulse input B

(Use with 4Mpps or less.)

Be sure to connect.

12V

24V

Specifications

of R

1kW1/2W

2kW1/2W

1.5

220

=10mA

Servo-ON input

Gain switching input

Electronic gear

switching input 1

Control mode

switching input

Damping control

switching input 1

Alarm clear input

Positive direction

over-travel inhibition input

Negative direction

over-travel inhibition input

Servo-Ready output

Servo-Alarm output

Positioning complete output

External brake release output

Torque in-limit output

Zero speed detection output

Deviation counter

clear input

Command pulse

inhibition input

4.7kΩ

COM+

OA+

OB+

OZ+

GND

SPR/TRQR/SPL

GND

P-ATL/TRQR

GND

N-ATL

212248

1kΩ

INTSPD1

INTSPD2

SRV-ON

GAIN

INTSPD3

ZEROSPD

C-MODE

A-CLR

POT

NOT

S-RDY+

S-RDY

ALM+

BRKOFF

TLC

VDC

12 to 24V

ZSP

COM

ALM

333029

3534373639

381110

1415161718

14kΩ

10kΩ

20kΩ20kΩ

14kΩ

10kΩ

20kΩ20kΩ

47kΩ

47kΩ47kΩ

47kΩ

20kΩ

( represents twisted pair.)

A-phase output

B-phase output

Z-phase output

Z-phase output (open collector)

Velocity command

input (0 to ± 10V)

Positive direction torque

limit input (0 to ± 10V)

Negative direction torque

limit input (-10 to 0V)

Velocity monitor output

Torque monitor output

Servo-ON input

Gain switching input

Alarm clear input

Speed zero clamp input

Selection 1 input of

internal command speed

Selection 2 input of

internal command speed

Slection 3 input of

internal command speed

Control mode switching

input

Positive direction

over-travel inhibition input

Negative direction

over-travel inhibition input

Servo-Ready output

Servo alarm output

At-speed output

External brake release output

Torque in-limit output

Zero speed detection output

Divider

The functions of the following pin can be changed using parameters.

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33

Output: 10-11, 12, 34-35, 36-37, 38-39, 40

–

AT-SPEED

Wiring to the connector, X4

3. System Conguration and Wiring

Wiring to the connector, X4

Wiring Example of Position Control Mode

Wiring Example of Velocity Control Mode

Page 14

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B26

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B27

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English

3. System Conguration and Wiring

4.7kΩ

COM+

OA+

OB+

OZ+

GND

SPR/TRQR/SPL

GND

P-ATL/TRQR

GND

N-ATL

212248

141516

174318

14kΩ

10kΩ

20kΩ20kΩ

14kΩ

10kΩ

20kΩ20kΩ

47kΩ

47kΩ47kΩ

47kΩ

20kΩ

1kΩ

INH

SRV-ON

GAIN

DIV1

ZEROSPD

C-MODE

A-CLR

POT

NOT

S-RDY+

S-RDY

ALM+

AT-SPEED

BRKOFF

TLC

VDC

12 to 24V

ZSP

COM

AT-SPEED

ALM

33302927282632

3534373639

381110

Z-phase output (open collector)

The functions of the following pin can be changed using parameters.

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33

Output: 10-11, 12, 34-35, 36-37, 38-39, 40

Divider

A-phase

output

B-phase

output

Z-phase

output

( represents twisted pair.)

Torque command input or

velocity limit input (0 to ±10V)

Velocity monitor output

Torque monitor output

Wiring example when control mode Pr0.01=0 or Pr3.17=1

CCWTL/TRQR

GND

Negative direction torque

limit input (0 to ±10V)

Select with Pr3.17.

–

Servo-ON input

Gain switching input

Alarm clear input

Servo-Ready output

Servo-Alarm output

At-speed output

External brake release output

Torque in-limit output

Zero speed detection output

Speed zero clamp

input

Control mode

switching input

Positive direction

over-travel inhibition input

Negative direction

over-travel inhibition input

Wiring to the connector, X4

3. System Conguration and Wiring

Wiring to the connector, X5

Wiring Example of Torque Control Mode

Connect on to Feedback Scale

Provide a power supply for the feedback scale on your part or use the following power

output (250mA or less).

Application Symbol

EX5V 1

Power supply output

EX0V 2

I/F of feedback scale signals

EXPS 3 Serial signal

/EXPS 4

EXA 5

/EXA 6

A, B, Z phase Endoder signal input

EXB 7

/EXB 8

EXZ 9

/EXZ 10

Frame ground

FG Shell

Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

•

Caution

1) The manufacturers applicable feedback scales for this product are as follows.

• Mitutoyo Corp.

• Sony Manufacturing Systems Corp.

For the details of the feedback scale product, contact each company.

Recommended feedback scale ratio is 1/40 ≤ Feedback scale ratio ≤ 160

If you set up the feedback scale ratio to smaller value than 50/position loop gain

(Pr1.00 and Pr.1.05), you may not be able to control per 1 pulse unit. Setup of larg er scale ratio may result in larger noise.

Connector

Pin No.

Contents

Supply the power of feedback

scale or A, B, Z phase encoder.

Connected to ground of control circuit.

The transmission / reception method.

Parallel signal reception

Connected with protective earth terminal in the servo driver.

Page 15

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B29

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English

3. System Conguration and Wiring

MSME 50W to 750W

MSME 1.0kW to 5.0kW MDME 1.0kW to 5.0kW MHME 1.0kW to 5.0kW MGME 900W to 3.0kW

Shell (FG)

+5V

4 1

Twisted pair

Encoder cable

Connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.)

Motor Driver

E5V

E0V

PS PS FG

E5V E0V

Regulator Regulator

Shell (FG)

+5V

6 3

Twisted pair

Encoder cable

Connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.)

Motor Driver

E5V

E0V

PS PS FG

E5V E0V

Tighten the motor connector mounting screw (M2) with a torque between 0.19 and

0.21 N•m. To avoid damage, be sure to use only the screw supplied with the connector.

[Connector pin assignment]

(Viewed from cable)

Shell (FG)

+5V

4 1

Twisted pair

Encoder cable

Connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.)

Motor Driver

E5V

E0V

BAT−

BAT+

E5V E0V

Shell (FG)

+5V

6 3

Twisted pair

Encoder cable

Connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.)

Motor Driver

E5V

E0V

BAT−

BAT+

E5V E0V

battery

Regulator Regulator

MSME 50W to 750W

MSME 1.0kW to 5.0kW MDME 1.0kW to 5.0kW MHME 1.0kW to 5.0kW MGME 900W to 3.0kW

Tighten the motor connector mounting screw (M2) with a torque between 0.19 and

0.21 N•m. To avoid damage, be sure to use only the screw supplied with the connector.

[Connector pin assignment]

(Viewed from cable)

Wiring to the connector, X6

Connection to Encoder

• In case of 20-bit incremental encoder

3. System Conguration and Wiring

Wiring to the connector, X6

• In case of 17-bit absolute encoder

Page 16

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B31

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3. System Conguration and Wiring

Connector X7 Manufacturer’s part No.: 530140610 Manufacturer: Japan Molex Inc.

6 1

Press these to change display and data, select parameters and execute actions. (Change/Selection/Execution is valid to the digit which decimal point flashes.) Numerical value increases by pressing, , decreases by pressing .

Shifting of the digit for data changing to higher digit.

X7 Output connector for monitor

Display LED (6-digit)

Switch to error display screen when error occurs, and LED will flash (about 2Hz). LED will flash slowly (about 1Hz) when warning occurs.

Mode switching button

(valid at SELECTION display) Press this to switch 4 kinds of mode.

1) Monitor Mode

2) Parameter Set up Mode

3) EEPROM Write Mode

4) Auxiliary Function Mode

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

6 1

4. Parameter

Wiring to the connector, X7

The connector X7 of the front panel is for monitor output.

Analogue output : 2 systems Digital output : 1 systems

In both cases, it is possible to switch the output signal by setting parameters.

Application Symbol

Analogue monitor output 1

Analogue monitor output 2

Signal ground

Digital monitor output

NC – 5 Do not connect.

NC – 6 Do not connect.

AM1 1

AM2 2

GND 3 Connected to ground of control circuit.

DM 4 Output the digital signal for monitor.

Connector

Pin No.

Output the analogue signal for moni tor.

Contents

Outline / Setup / Connection

Outline of Parameter

This driver is equipped with various parameters to set up its characteristics and func-

tions. This section describes the function and purpose of each parameter. Read and

comprehend very well so that you can adjust this driver in optimum condition for your

running requirements.

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

1) front panel of the driver

2) combination of the setup support software, "PANATERM" and PC.

Setup with the Front Panel

Page 17

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B32

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English

4. Parameter

Connect to X1

(USB mini-B)

Setup support software “PANATERM” Please download from our web site and use after install to the PC.

Outline / Setup / Connection

Setup with the PC

It is possible to connect your personal computer to connector X1 of MINAS A5 using a

USB cable for personal computer connection. Downloading the setup support software “PANATERM” from our web site and installing it on your personal computer will allow you to perform the following easily.

• With the PANATERM, you can execute the followings.

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

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

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

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

5) Normal auto-gain tuning

6) Frequency characteristic measurement of the machine system.

Note

Because no production software such as CD-ROM is available, download the setup support software from our web site and install it on your

personal computer.

4. Parameter

Composition of Parameters

•

The parameter No. is displayed in the form of PrX.YY (X: Classication, YY: No.).

• For the details on the parameters, refer to the Operating Instructions (Overall).

Parametr No.

Class No.*

0 00 to Basic setting Parameter for Basic setting

1 00 to Gain adjustment Parameter for Gain adjustment

2 00 to Damping control Parameter for Damping control

3 00 to

4 00 to I/F monitor setting Parameter for I/F monitor setting

5 00 to Enhancing setting Parameter for Enhancing setting

6 00 to Special setting Parameter for Special setting

Class name Group

Verocity/ Torque/

Full-closed control

Parameter for Verocity/ Torque/ Full-closed control

• How to Connect

• USB cable

On the driver, use commercially available USB mini-B connector. The connector on the personal computer side should be in accordance with the specications of the PC. When the cable does not have noise lter, attach a signal line noise lter (DV0P1460)

to both ends of the cable.

* The Parameter No. consists of 2 digits.

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5. Protective Functions

Protective Function (What Is Error Code ?)

5. Protective Functions

Protective Function (What Is Error Code ?)

•

Various protective functions are equipped in the driver. When these are triggered, the

motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).

• Error status and their measures

• During the error status, the error code No. will be displayed on the front panel LED, and you cannot turn Servo-ON.

• You can clear the error status by Alarm clear input(A-CLR) in 120ms or longer.

• When overload protection is triggered, you can clear it by Alarm clear input(A-

CLR) in 10sec or longer after the error occurs. You can clear the Overload protec

tion time characteristics (refer to P.B38, 39) by turning off the control power supply

of the driver.

• You can clear the above error by operating the front panel keys and setup support softwear "PANATERM".

•

The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).

Error code

Main Sub

11 0 Control power supply under- voltage protection 12 0 Over-voltage protection

15 0 Over-heat protection 16 0 Over-load protection

23 0 Encoder communication data error protection 24 0 Position deviation excess protection 25 0 Hybrid deviation excess error protection

28 0 Limit of pulse replay error protection 29 0 Deviation counter overow protection

30 0 Safety detection

Main power supply under-voltage protection (between P to N)

Main power supply under-voltage protection (AC interception detection)

0 Over-current protection

1 IPM error protection

0 Over-regeneration load protection 1 Over-regeneration Tr error protection

0 Encoder communication disconnect error protection

1 Encoder communication error protection

0 Over-speed protection 1 2nd over-speed protection

0 Command pulse input frequency error protection

2 Command pulse multiplier error protection

0 IF overlaps allocation error 1 protection

1 IF overlaps allocation error 2 protection

2 IF input function number error 1 protection

Protective function

History

Attribute

Can be cleared

○ ○

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

○ ○ ○

Immediate stop

○

○ ○

○

Error code Main Sub

3 IF input function number error 2 protection

4 IF output function number error 1 protection

5 IF output function number error 2 protection 6 CL tting error protection 7 INH tting error protection

34 0 Software limit protection

0 to 2

EEPROM parameter error protection

0 to 2

EEPROM check code error protection

38 0 Over-travel inhibit input protection

0 Analog input1 excess protection

1 Analog input2 excess protection 2 Analog input3 excess protection

40 0 Absolute system down error protection

41 0 Absolute counter over error protection 42 0 Absolute over-speed error protection 43 0 Initialization failure

44 0 Absolute single turn counter error protection 45 0 Absolute multi-turn counter error protection

47 0 Absolute status error protection 48 0 Encoder Z-phase error protection

49 0 Encoder CS signal error protection

0 Feedback scale connection error protection

1 Feedback scale communication error protection

0 Feedback scale status 0 error protection

1 Feedback scale status 1 error protection

2 Feedback scale status 2 error protection

3 Feedback scale status 3 error protection

4 Feedback scale status 4 error protection

5 Feedback scale status 5 error protection 0 A-phase connection error protection

1 B-phase connection error protection 2 Z-phase connection error protection

87 0 Compulsory alarm input protection

95 0 Motor automatic recognition error protection

99 0

Note

Other error

History Can be cleared

Protective function

...The error will be stored in the error history.

...To cancel the error, use the alarm clear input (A-CLR).

If the alarm clear input is not effective, turn off power, remove the cause of the

error and then turn on power again.

Immediate stop

...Instantaneous controlled stop upon occurrence of an error.

(Setting of “Pr.5.10 Sequence at alarm” is also required.)

Attribute

History

Can be cleared

○ ○ ○ ○ ○ ○ ○

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

○

Immediate stop

○

Page 19

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6. Maintenance and Inspections

Maintenance and Inspections

6. Maintenance and Inspections

Maintenance and Inspections

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

Notes on Maintenance and Inspection

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

2) Internal circuit of the driver is kept charged with high voltage for a while even after

power-off. Turn off the power and allow 15 minutes or longer after LED display of

the front panel has gone off, before performing maintenance and inspection.

3) Disconnect all of the connection to the driver when performing megger test (Insulation

resistance measurement) to the driver, otherwise it could result in breakdown of the

driver.

Inspection Items and Cycles

General and normal running condition

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

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

Type Cycles Items to be inspected

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

• Abnormal vibration and noise

• Main circuit voltage

• Odor

Daily

inspection

Periodical

inspection

Note

Daily

Annual

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

• Lint or other particles at air holes

• Cleanness at front portion of the driver and connector

• Damage of the cables

• Loose connection or misalignment between the motor and

machine or equipment

• Pinching of foreign object at the load

• Loose tightening

• Trace of overheat

• Damage to the terminal block

• Loose fasteners on terminal block

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.

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

Prohibited

Product Component

Smoothing condenser

Aluminum electrolytic

capacitor (on PCB)

Driver

preventive relay

preventive resistor

Motor

for absolute encoder

company.

Standard replacement

cycles (hour)

Approx. 5 years

Cooling fan

Rush current

Bearing

Oil seal 5000 hours

Encoder

Battery

2 to 3 years

(10,000 to 30,000 hours)

Approx. 5 years

Approx. 100,000 times (depending on working

condition)

Approx. 20,000 times

(depending on working

condition)

3 to 5 years

(20,000 to 30,000 hours)

3 to 5 years

(20,000 to 30,000 hours)

Life time varies depending

on working conditions.

Refer to the Operating Instructions attached to the battery for absolute encoder.

Note

These hours or cycles are reference.

When you experience

any error, replacement is required even before this standard replace ment cycle.

Page 20

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7. Conformity to EC Directives and UL Standards

Time [s]

Overload protection time characteristics

MSME 50W MSME 100W（100V）

MSME 100W（200V）

MSME 200W MSME 400W

MSME 750W

MSME 1.0kW〜5.0kW MDME 1.0kW〜5.0kW MHME 1.0kW〜5.0kW MGME 900W〜3.0kW

100

115

0.1

100

200 300 400 500

Torque [%]

EC Directives / Conformity to UL Standards

EC Directives

The EC Directives apply to all such electronic products as those having specic functions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unied standards and to furnish the CE

marking on the products.

However, our AC servos meet the relevant EC Directives for Low Voltage Equipment

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

EMC Directives

MINAS Servo System conforms to relevant standard under EMC Directives setting up

certain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, in order for the machine to conform to the

EMC Directives, especially for noise emission and noise terminal voltage, it is neces

sary to examine the machine incorporating our servos.

7. Conformity to EC Directives and UL Standards

EC Directives / Conformity to UL Standards

Conformed Standards

Conformity to UL Standards

Observe the following conditions of (1) and (2) to make the system conform to UL508C

(File No. E164620). (1) Use the drive r in an envir onme nt of Po llut ion D egree 2 o r 1 p resc ribed in

IEC60664-1. (e.g. Install in the control box with IP54 enclosure.)

(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed

marked) between the power supply and the noise lter.

For the rated current of the circuit breaker or fuse, refer to P.B16, 17, "Driver and

List of Applicable Peripheral Equipments" of Preparation. Use a copper cable with temperature rating of 75˚C or higher. (3) Over-load protection level Over-load protective function will be activated when the effective current exceeds

115% or more than the rated current based on the time characteristics (see the

next page). Conrm that the effective current of the driver does not exceed the

rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque

limit) and Pr5.22 (Setup 2nd torque limit).

Driver Motor

EMC Directives

Low-Voltage

Directives

EC Directives

Functional safety

UL Standards UL508C (File No.E164620) UL1004 (File

CSA Standards C22.2 No.14 C22.2 No.100

IEC :International Electrotechnical Commission EN :Europaischen Normen EMC :Electromagnetic Compatibility UL :Underwriters Laboratories CSA :Canadian Standards Association

Pursuant to the directive 2004/108/EC, article 9(2)

Panasonic Testing Centre

Panasonic Service Europe, a division of Panasonic Marketing Europe GmbH

Winsbergring 15, 22525 Hamburg, F.R. Germany

EN55011

EN61000-6-2 EN61800-3

EN61800-5-1

EN954-1 (Cat. 3) ISO13849-1 (PL d)

EN61508 (SIL 2) EN62061 (SIL 2)

EN61800-5-2 (STO) IEC61326-3-1

IEC60034-1 IEC60034-5

–

No.E166557)

Page 21

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LABEL

Terminal cover (transparent)

2–ø4.5

Cx Cx

L L

2–ø4.5 x 6.75

53.1±1.0

100.0±2.0

88.0

75.0

5.0

12.0

10.0

50.0

60.0

7.0

2.0

(11.6)

(13.0)

6-M4

Circuit diagram

IN OUT

LABEL

A B C

Cover

Body

Cx1

IN OUT

R Cx1

Cy1

Earth terminal

Screw for cover

A B C D E F G H

115DV0PM20042

<DV0PM20042, DV0P4220> <DV0PM20043>

105 95 70 43 10 52 5.5 145DV0P4220 135 125 70 50 10 52 5.5 165DV0PM20043 136 165 90 80 40 54 5.5

Circuit diagram

[Size]

[Unit: mm]

LABEL

Earth

terminal

Screw for

cover

Cover

Body

7. Conformity to EC Directives and UL Standards

Control box

Controller

Insulated power supply

for interface

Safety

controller

Power

supply

Circuit

breaker

Residual

current device

(RCD)

Surge

absorber

Noise filter

Noise filter for signal lines

Protective earth (PE)

V W

L2 L3

L1C L2C

Noise filter for signal lines

Driver

Motor

Composition of Peripheral Equipments

7. Conformity to EC Directives and UL Standards

Composition of Peripheral Equipments

Installation Environment

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in

IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)

Caution

Use options correctly after reading Operating Instructions of the options to better understand the precautions.

Take care not to apply excessive stress to each optional part.

Power Supply

100V type : Single phase, 100V (A to C-frame) 200V type : Single/3-phase, 200V (A to D-frame) 200V type : 3-phase, 200V (E, F-frame) (1) This product is designed to be used in over-voltage category (installation category)

III of EN 61800-5-1:2007.

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

with EN60950.

Circuit Breaker

Install a circuit breaker which complies with IEC Standards and UL recognized (Listed

and marked) between power supply and noise lter. Integral solid state short circuit protection does not provide branch circuit protection.

Branch circuit protection must be provided in accordance with the National Electrical

Code and any additional local codes.

–15%

+10%

to 120V

to 240V

to 230V

+10% –15%

50/60Hz

Noise Filter

When you install one noise lter at the power supply for multi-axes application, consult with manufacturer of the noise lter. If sufcient noise margin is required, connect 2 lters in series.

• Optional parts

Option part No.

DV0P4170

Voltage specications

for driver

Single phase 100V/200V

Option part No.

Voltage specications

for driver

3-phase 200V

DV0PM20042

Single phase 100V/200V

3-phase 200V

DV0P4220 Single/ 3-phase 200V

DV0PM20043 3-phase 200V

Manufacturer’s

part No.

Applicable

driver (frame)

Manufacturer

SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.

Manufacturer’s

part No.

Applicable

driver (frame)

Manufacturer

A, B-frame

3SUP-HU10-ER-6

3SUP-HU30-ER-6 3SUP-HU50-ER-6

C-frame

D-frame E-frame

Okaya Electric Ind.

Page 22

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7. Conformity to EC Directives and UL Standards

Circuit diagram

ø4.2±0.2

41±1

UL-1015 AWG16

281

5.5±1

11±128.5±1

4.5±0.5

200

+30

2 3

39±1 34±1

30±1

Mass: 62.8g

Circuit diagram

ø4.2±0.2

41±1

UL-1015 AWG16

281

5.5±1

11±128.5±1

4.5±0.5

200

+30

1 2

Circuit diagram

IN OUT

286±3.0

150

2-ø5.5 x 7

2-ø5.5

6-6M

270

255±1.0

240

120

90±1.0

(18)(13)

L A B E L

Composition of Peripheral Equipments

7. Conformity to EC Directives and UL Standards

Composition of Peripheral Equipments

Option part No.

Voltage specications

for driver

DV0P3410 3-phase 200V

Manufacturer’s

part No.

3SUP-HL50-ER-6B

Applicable

driver (frame)

F-frame Okaya Electric Ind.

• Recommended components

Model No.

RTHN-5010

RTHN-5050 50

Remarks

• Select a noise lter whose capacity is commensurate with the power

source capacity (in consideration of the load condition).

•

For the detailed specications of each noise lter, contact the manufacturer.

Voltage specications

for driver

Single phase 100V/200V

3-phase 200V

Current rating (A) Manufacturer

Surge Absorber

Provide a surge absorber for the primary side of noise lter.

Option part No.

DV0P1450

Voltage specications

for driver

3-phase 200V

Manufacturer’s

part No.

RAV-781BXZ-4

Manufacturer

TDK-Lambda Corp.RTHN-5030 30

Manufacturer

Okaya Electric Ind.

Option part No.

DV0P4190

Voltage specications

for driver

Single phase 100V/200V

Manufacturer’s

part No.

RAV-781BWZ-4

Manufacturer

Okaya Electric Ind.

Noise Filter for Signal Lines

Install noise lters for signal lines to all cables (power cable, motor cable, encoder

cable and interface cable)

Option part No.

DV0P1460 ZCAT3035-1330 TDK Corp.

Manufacturer’s

part No.

Manufacturer

Caution

Fix the signal line noise lter in order to prevent excessive

stress to the cables.

Residual current device

Install a type B Residual current device (RCD) at primary side of the power supply.

Grounding

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

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

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

). 2 terminals

are provided for protective earth.

Note

For driver and applicable peripheral equipments, refer to P.B12 "Driver and List of Applicable Peripheral Equipments" .

Page 23

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8. Built-in Holding Brake

Outline / Specications

8. Built-in Holding Brake

Outline / Specications

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

the servo is shut off.

Use this built-in brake for "Holding" purpose only, that is to hold the stalling status. Never use this for "Brake" purpose to stop the load in motion.

Output Timing of BRK-OFF Signal

• For the brake release timing at power-on, or braking timing at Servo-OFF/ServoAlarm while the motor is in motion, refer to the Operating Instructions (Overall).

• With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating

Instructions (Overall) for the details.

Note

1. The lining sound of the brake (chattering and etc.) might be generated

while running the motor with built-in brake, however this does not af-

fect any functionality.

2. Magnetic ux might be generated through the motor shaft while the brake coil is energized (brake is open). Pay an extra attention when

magnetic sensors are used nearby the motor.

Specications of Built-in Holding Brake

Motor

series

MSME

MDME

MHME

MGME

Motor

output

50W, 100W

200W, 400W

750W

1.0kW, 1.5kW,

2.0kW

3.0kW

4.0kW, 5.0kW

1.0kW

3.0kW

4.0kW, 5.0kW

1.0kW

1.5kW

2.0kW to

5.0kW

900W

2.0kW

3.0kW

Static

friction

torque

N·m

0.29 or more

1.27 or more

2.45 or more

7.8 or more

11.8 or more

16.2 or more

4.9 or more

13.7 or more

16.1 or more

24.5 or more

4.9 or more

13.7 or more

24.5 or more

13.7 or more

24.5 or more

58.8 or more

Rotor

inertia

–4

x 10

0.002

0.018

0.075

0.33

1.35

4.7

1.35

4.7

1.35

4.7

Engaging

time

kg·m

35 or less 20 or less

50 or less 15 or less

70 or less 20 or less

50 or less

80 or less

110 or

less

80 or less

100 or

less

110 or

less

80 or less

100 or

less

80 or less

100 or

less

80 or less

150 or

less

Releasing

15 or less

50 or less

70 or less

50 or less

25 or less

70 or less

50 or less

25 or less

50 or less

25 or less

50 or less

• Excitation voltage is DC24V±10%.

•

Releasing time values represent the ones with DC-cutoff using a varistor.

Values in ( ) represent those measured by using a diode (V03C by Renesas Tech

nology Corp.)

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

represent typical values.

•

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

•

Service life of the number of acceleration/deceleration with the above permissible angular acceleration is more than 10 million times. (Life end is dened as when the

brake backlash drastically changes.)

time

(100

(130

(200

(130

(200

(130

(200

(130

(200

(130

Exciting

current

DC A

(at cool-off)

0.3

0.36 137 44.1

0.42 196 147

0.81

)

0.9 1470 2200

)

0.59

)

0.79 1176 1500

)

0.9 1470 2200

1.3 1372 2900 5440

)

0.59

)

0.79 1176 1500

)

1.3 1372 2900 5440

)

0.79

)

1.3

)

1.4

)

Permissible

Releasing

work (J) per

voltage

one braking

DC1V

or more

DC2V

or more

DC2V

or more

DC2V

or more

DC2V

or more

Permissible

39.2 4.9

392 490

588 780

1176 1500 10000

1372 2900 5440

Permissible

total work

acceleration

x 103J

10000

100001.5kW, 2.0kW

10000

angular

rad/s

Page 24

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9. Dynamic Brake

10.

Check of the Combination of the Driver and the Motor

Outline

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

Caution

1.Dynamic brake is only for emergency stop.

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

The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activated may cause smoking or re.

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

(In the case of the F-frame driver, when the built-in dynamic brake

circuit overheats, the over current protection (Err14.0) may be acti vated.)

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

1) when the main power is turned off

2) at Servo-OFF

3) when one of the protective function is activated.

4) when over-travel inhibit input (NOT, POT) of connector X4 is acti-

vated

In the above cases from 1) to 4), you can select either activation of

the dynamic brake or making the motor free-run during deceleration or after the stop, with parameter.



Incremental Specications, 20-bit

This driver is designed to be used in a combination with the motor which are specied by us. Check the series name of the motor, rated output torque, voltage specications and encoder specications.

Caution

Power

supply

Single

phase,

100V

Single/

3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Note

Do not use in other combinations than those listed below.

Motor Driver

Type

MSME

Low inertia

MDME

Middle inertia

MGME

Middle inertia

MHME

High inertia

Rated rotational

speed

3000r/min

2000r/min

1000r/min

2000r/min

Model

MSME5AZG1*50W MADHT1105 MSME011G1*100W MADHT1107 MSME021G1*200W MBDHT2110 B-frame MSME041G1*400W MCDHT3120 C-frame MSME5AZG1*50W

MSME022G1*200W MADHT1507 MSME042G1*400W MBDHT2510 B-frame MSME082G1*750W MCDHT3520 C-frame MSME102G1*1.0kW MSME152G1*1.5kW MSME202G1*2.0kW MEDHT7364 E-frame MSME302G1*3.0kW MFDHTA390 MSME402G1*4.0kW MSME502G1*5.0kW MDME102G1*1.0kW MDDHT3530 MDME152G1*1.5kW MDDHT5540 MDME202G1*2.0kW MEDHT7364 E-frame MDME302G1*3.0kW MFDHTA390

MDME502G1*5.0kW

MGME092G1*900W MDDHT5540 D-frame

MGME202G1*2.0kW MFDHTA390 MGME302G1*3.0kW MFDHTB3A2 MHME102G1*1.0kW MDDHT3530 MHME152G1*1.5kW MDDHT5540 MHME202G1*2.0kW MEDHT7364 E-frame MHME302G1*3.0kW MFDHTA390

MHME502G1*5.0kW

Rated

output

Model Frame

A-frame

MADHT1505

MDDHT5540 D-frame

MFDHTB3A2

A-frameMSME012G1*100W

F-frame

D-frame

F-frameMDME402G1*4.0kW

F-frame

D-frame

F-frameMHME402G1*4.0kW

Sufx of " * " in the applicable motor model represents the motor structure.

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10.

Check of the Combination of the Driver and the Motor

11. Specications

Absolute Specications, 17-bit

Caution

Power

supply

Single

phase,

100V

Single/

3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Single/3-phase,

200V

3-phase,

200V

Note

Do not use in other combinations than those listed below.

Motor Driver

Type

MSME

Low inertia

MDME

Middle inertia

MGME

Middle inertia

MHME

High inertia

1) Sufx of " * " in the applicable motor model represents the motor structure.

2) Default of the driver is set for the incremental encoder specications. When you use in absolute, make the following operations.

a) Install a battery for absolute encoder. b)

Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".

Rated rotational

speed

3000r/min

2000r/min

1000r/min

2000r/min

Model

MSME5AZS1*50W MADHT1105

MSME011S1*100W MADHT1107 MSME021S1*200W MBDHT2110 B-frame MSME041S1*400W MCDHT3120 C-frame

MSME5AZS1*50W

MSME022S1*200W MADHT1507 MSME042S1*400W MBDHT2510 B-frame MSME082S1*750W MCDHT3520 C-frame MSME102S1*1.0kW MSME152S1*1.5kW MSME202S1*2.0kW MEDHT7364 E-frame MSME302S1*3.0kW MFDHTA390

MSME502S1*5.0kW MDME102S1*1.0kW MDDHT3530 MDME152S1*1.5kW MDDHT5540 MDME202S1*2.0kW MEDHT7364 E-frame MDME302S1*3.0kW MFDHTA390

MDME502S1*5.0kW

MGME092S1*900W MDDHT5540 D-frame

MGME202S1*2.0kW MFDHTA390 MGME302S1*3.0kW MFDHTB3A2 MHME102S1*1.0kW MDDHT3530 MHME152S1*1.5kW MDDHT5540 MHME202S1*2.0kW MEDHT7364 E-frame MHME302S1*3.0kW MFDHTA390

MHME502S1*5.0kW

Rated

output

Model Frame

A-frame

MADHT1505

MDDHT5540 D-frame

MFDHTB3A2

A-frameMSME012S1*100W

F-frameMSME402S1*4.0kW

D-frame

F-frameMDME402S1*4.0kW

F-frame

D-frame

F-frameMHME402S1*4.0kW

Basic Specications

Main circuit

100V

Control circuit

Input power

D-frame

Main

circuit

200V

Control

Control method

Encoder feedback

Feedback scale feedback

Control signal

Analog /Digital signal

Pulse signal

Communication function

Safety function Used for IEC61800-5-2: STO.

Front panel

Regeneration

Dynamic brake

Control mode

F-frame

D-frame

circuit

F-frame

Input

Output

Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)

Output 3 outputs (Analog monitor: 2 output, Digital monitor: 1 output)

Input 2 inputs (Photo-coupler input, Line receiver input

Output 4 outputs ( Line driver: 3 output、open collector: 1 output)

USB Connection with PC etc.

RS232 1 : 1 communication

RS485



Single phase, 100 to 120V

−15

Single phase, 100 to 120V

−15

A to

Single/3-phase, 200 to 240V

−15

E to

3-phase, 200 to 230V

−15

A to

Single phase, 200 to 240V

−15

E to

Single phase, 200 to 230V

−15

IGBT PWM Sinusoidal wave drive 17-bit (131072 resolution) absolute encoder, 7-wire serial

20-bit (1048576 resolution) incremental encoder, 5-wire serial A/B phase, initialization signal defferential input.

Manufacturers that support serial communication scale:

Mitsutoyo Corp. Sony Manufacturing Systems Corp.

General purpose 10 inputs

The function of general-purpose input is selected by parameters.

General purpose 6 outputs

The function of general-purpose input is selected by parameters.

1 : n communication up to 31 axes to a host.

(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)

(3) Analog monitor output (2ch) (4) Digital monitor output (1ch)

A, B-frame: no built-in regenerative resistor (external resistor only) C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)

Built-in Switching among the following 7 mode is enabled,

(1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control (5) Position/Torque control

(6) Velocity/Torque control (7) Full-closed control

＋10

％ ％

50/60Hz

）

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11. Specications

Functions

11. Specications

Functions

Control input

Control output

Max. command

pulse frequency

Position control

Pulse input

Analog input

Instantaneous Speed Observer

Damping Control

Control input

Control output Speed arrival etc.

Velocity control

Analog input

Internal velocity command

Soft-start/down function

Zero-speed clamp Speed zero clamp input is enabled.

Instantaneous Speed Observer

Velocity Control lter Available

Input pulse signal format

Electronic gear (Division/ Multiplication of command pulse)

Smoothing lter

Torque limit command input

Velocity command input

Torque limit command input

(1) Deviation counter clear (2) Command pulse inhibition

(3) Command dividing gradual increase switching (4) Damping control switching etc.

Positioning complete (In-position) etc.

Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps

Differential input

1/1000 to 1000 times

Primary delay filter or FIR type filter is adaptable to the command input

Individual torque limit for both positive and negative direction is enabled.

Available

(1) Selection of internal velocity setup 1 (2) Selection of internal velocity setup 2 (3) Selection of internal velocity setup 3

(4) Speed zero clamp etc.

Speed command input can be provided by means of analog voltage. Parameters are used for scal e s ett ing and comm and polarity.

Individual torque limit for both positive and negative direction is enabled.

Switching the internal 8speed is enabled by command input.

Individual setup of acceleration and deceleration is enabled,

with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration

is also enabled.

Available

Control input Speed zero clamp, Torque command sign input etc.

Torque control

Control output Speed arrival etc.

Speed command input can be provided by means of analog Analog input

Speed limit function

Control input

Control output

Full-closed control

Pulse input

Analog input

Setup range of division/ multiplication of feedback scale

Auto tuning

Common

Division of encoder feedback pulse

Protective function

Traceability of alarm data The alarm data history can be referred to.

Torque command input

Max. command

pulse frequency

Input pulse signal format

Electronic gear (Division/ Multiplication of command pulse)

Smoothing lter

Torque limit command input

Hard error

Soft error

voltage.

Parameters are used for scal e s ett ing and comm and

polarity.

Speed limit value with parameter t is enabled.

(1) Deviation counter clear (2) Command pulse inhibition

(3) Command dividing gradual increase switching

(4) Damping control switching etc.

Full-closed positioning complete etc.

Exclusive interface for Photo-coupler: 500kpps

Exclusive interface for line driver : 4Mpps

Differential input

1/1000 to 1000 times

Primary delay filter or FIR type filter is adaptable to the

command input

Individual torque limit for both positive and negative direction

is enabled.

1/40 to 160 times

The load inertia is identified in real time by the driving state

of the motor operating according to the command given by

the controlling device and internal amplifier.

The gain is set automatically in accordance with the rigidity

setting.

Set up of any value is enabled (encoder pulses count is the

max.).

Over-voltage, under-voltage, over-speed, over-load,

over-heat, over-current and encoder error etc.

Excess position deviation, command pulse division error,

EEPROM error etc.



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12. After-Sale Service (Repair)



Repair

Consult to a dealer from whom you have purchased the product for details of repair.

When the product is incorporated to the machine or equipment you have purchased, consult to the manufacturer or the dealer of the machine or equipment.

Cautions for Proper Use

• This product is intended to be used with a general industrial product, but not de-

signed or manufactured to be used in a machine or system that may cause personal

death when it is failed.

• Installation, wiring, operation, maintenance, etc., of the equipment should be done by qualied and experienced personnel.

•

Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed. Overtightening can damage the screw and/or material; under-

tightening can result in loosening.

Example) Steel screw (M5) into steel section: 2.7-3.3

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

• Consult us if the application of this product is under such special conditions and envi ronments as nuclear energy control, aerospace, transportation, medical equipment,

various safety equipments or equipments which require a lesser air contamination.

• We have been making the best effort to ensure the highest quality of the products,

however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the

safety in the operative range.

• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environ

ment, and may result in the bearing noise. Checking and verication by customer is

required.

• Failure of this product depending on its content, may generate smoke of about one

cigarette. Take this into consideration when the application of the machine is clean

room related.

• Please be careful when using in an environment with high concentrations of sulfur

or sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor contact connection.

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

•

The user is responsible for matching between machine and components in terms of configuration, dimensions, life expectancy, characteristics, when installing the machine or changing specication of the machine. The user is also responsible for complying with applicable laws and regulations.

N·m.

Technical information

Technical information of this product (Operating Instructions, CAD data) can be

downloaded from the following web site. http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

For your records:

The model number and serial number of this product can be found on either the back or the bottom of the unit. Please note them in the space provided and keep for future reference.

Model No.

Date of

purchase

Dealer

7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212

M□DH　　　　　　　　 M□ME　　　　　　　　

Name

Address

Phone ( ) -

Serial No.

Page 28

MEMO

Page 29

7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212

IMD88

Z0409-0

Panasonic MSMEO41S1 Installation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual