[PDF] Operating Instructions (Basic) AC Servo Motor & Driver MINAS A5-series

1 Operating Instructions (Basic) AC Servo & Driver MINAS A5-series Thank you for purchasing this Panasonic product. ...

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.

If you are the first user of this product, please be sure to read the downloaded Operating Instructions (Overall) from our Web Site. [Web address of 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 final user.

page

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

page

Wiring to the Connector, X5 . ........................ B29 Wiring to the Connector, X6 . ........................ B30 Wiring to the Connector, X7 . ........................ B32

On Opening the Product Package................... B2 Check of the Driver Model............................... B2 Check of the Motor Model............................... B3

4. Parameter................................... B33

Driver............................................................... B4 Motor................................................................ B6

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

2. Installation................................... B4 3. System Configuration and Wiring............................................ B8

Overall Wiring (Connector type)...................... B8 Overall Wiring (Terminal block type)..................B12 Driver and List of Applicable Peripheral Equipments..... B14 Wiring of the Main Circuit (Connector type)......... B16 Wiring of the Main Circuit (Terminal block type).... B18 Wiring method to connector.............................. B19 Wiring Diagram.............................................. B21 Wiring of connector for motor and brake....... B23 Wiring to the Connector, X1 . ........................ B24 Wiring to the Connector, X2 . ........................ B24 Wiring to the Connector, X3 . ........................ B25 Wiring to the Connector, X4 . ........................ B26

Outline / Setup / Connection.......................... B33 Composition of Parameters........................... B35 Protective Function (What Is Error Code ?)....... B36

6. Maintenance and Inspections..... B38 7. Conformity to EC Directives and UL Standards...................... B40 Composition of Peripheral Equipments......... B42

8. Built-in Holding Brake............... B48 9. Dynamic Brake.......................... B50 10. Check of the Combination of the Driver and the Motor............. B51 Incremental Specifications, 20-bit................ B51 Absolute Specifications, 17-bit.................... B52

11. Specifications.......................... B53 After-Sale Service (Repair)........... B56 IMD88+A

English

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

1. Introduction

Check of the Motor Model

1. Introduction

Contents of Name Plate

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

Serial Number e.g.) : P09040001N

Input/output voltage

Lot number Month of production Year of production (Lower 2 digits of AD year)

Number of phase

Rated input/output current

Manufacture date e.g.) : 2009 0 4 0 1 Manufacture year Manufacture date Manufacture month

Model Designation

M A D H T 1 5 0 5

Frame-size symbol Symbol MADH MBDH MCDH MDDH MEDH MFDH

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

5 to 6

8 to 9

10 to 12

Max. current rating of power device Symbol Current rating Power supply 10A T1 Symbol Specifications 15A T2 1 Single phase, 100V 30A T3 3 3-phase, 200V 50A T5 70A T7 5 Single/3-phase, 100A TA 200V 150A TB − B2 −

Special specifications (letters and numbers)

Current detector rating Symbol Current rating 05 5A 07 7.5A 10 10A 20 20A 30 30A 40 40A 64 64A 90 90A A2 120A

5 to 6

Motor rated output

11 to 12

Special specifications Motor structure

Design order Symbol Output Symbol Specifications Type 5A 50W 1 Standard Symbol Specifications 01 100W Connector for encoder inertia 02 200W MSME Low : N/MS3102A20-29P (50W to 5.0kW) 04 400W C IP65 motor 08 750W Middle inertia (0.9 kW to 5.0 kW only selectable) MDME (1.0kW to 5.0kW) 09 900W 10 1.0kW Voltage specifications inertia 15 1.5kW MFME Middle (1.5kW to 4.5kW) 20 2.0kW Symbol Specifications 25 2.5kW inertia MGME Middle 1 100 V 30 3.0kW (0.9kW to 4.5kW) 40 4.0kW 2 200 V High inertia 45 4.5kW MHME (1.0kW to 5.0kW) Z 100/200 common(50W only) 50 5.0kW Rotary encoder specifications Specifications Symbol Format Pulse count Resolution Wire count G Incremental 5-wire 20bit 1,048,576 S Absolute 7-wire 17bit 131,072 Motor structure MSME (1.0kW to 5.0kW), MDME, MFME, MGME, MHME MSME (50W to 750W) Shaft Shaft Holding brake Oil seal Holding brake Oil seal Symbol Symbol Round Key way Without With Without With*1 Round Key way Without With Without With A C B D *2 S G *2 T H *1 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.] − B3 −

English

Model number

1 to 4

Manufacture date e.g.) : 2009 0 4 0 1 Manufacture year Manufacture date Manufacture month

Model Designation 1 to 4

Contents of Name Plate

Rated output of applicable motor

Lot number Month of production Year of production (Lower 2 digits of AD year)

M S M E 5 A Z S 1 S

Check of the Driver Model

Input/output frequency

Serial Number e.g.) : 09 0 4 0001N

Model Rated input voltage/current Rated output Rated frequency Rated rotational speed

2. Installation

2. Installation Driver

Driver

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

Mounting Direction and Spacing

Installation Place

1) 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 sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable 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. 6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case.

Environmental Conditions Item

Storage temperature*1 Storage humidity Vibration Altitude

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 fixture. For choosing the correct optional mounting fixture, refer to the Operating Instructions (Overall). 4) 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 Specification. 5) In consideration of strength of the screws and the material of the mounting base, select appropriate fastening torque for the product mounting screws, so that the screws will not be loosened or damaged. Example) To tighten a steel screw into a steel base, A to F-frame: M5 2.7 to 3.3 N·m A to D-frame

Basemount (Standard) [Rear mount]

Frontmount [Use mounting fixture]

E, F-frame

Front or Basemount [Use mounting fixture]

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

Mounting fixture (optional parts)

− B4 −

Mounting fixture (Attachment)

Note

100mm or more

40mm or more 100mm or more

It is recommended to use the conductive paint when you make your own mounting fixture, 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 rod terminals or a round terminals. 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.B19. “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 install a no-fuse breaker in the power supply. In addition, be sure to ground the grounding terminal or ground wire provided. If the product is grounded insufficiently, not only the driver may not deliver its performance sufficiently, but also safety hazards such as a malfunction due to a electrification 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 coefficient by referring to the Operating Instructions (Overall). − B5 −

English

Ambient temperature Ambient humidity

*1 Extreme temperaConditions tures are permissible 0˚C to 55˚C (free from freezing) only for short period such as during trans20% to 85% RH (free from condensation) portation. –20˚C to 65˚C (Max.temperature guarantee: *2 Air containing water *2 80˚C for 72 hours free from condensation ) vapor will become saturated with water 20% to 85% RH (free from condensation*2) vapor as the temper2 Lower than 5.88m/s (0.6G), 10 to 60Hz ature falls, causing dew. Lower than 1000m

• Reserve enough surrounding space for Fan Fan Control panel effective cooling. • Install fans to provide uniform distribution of temperature in the control panel. 40mm 10mm 10mm 10mm or or or or • D/E/F frame is promore more more more vided with a cooling fan at the bottom. Direction of air flowing • Observe the environfrom the internal cooling fan (D/E/F frame) mental conditions of the control panel described in the previous page.

2. Installation

2. Installation Motor

Motor

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

Installation Place

Environmental Conditions Item Conditions Ambient temperature*1 0˚C to 40˚C (free from freezing) Ambient humidity 20% to 85% RH (free from condensation) –20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours *2 Storage temperature free from condensation*5) Storage humidity 20% to 85% RH (free from condensation*5) 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 Motor only IP67 (except rotating portion of output shaft and connecting pin rating (Connector type) part of the motor connector and the encoder connector)*3*4 Altitude Lower than 1000m

*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, EN600345). 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.B23, 30, 31). Be sure to use mounting screw supplied with the connector. *5 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

Oil/Water Protection

1) Don't submerge the motor cable to water or oil. Cable 2) Install the motor with the cable outlet facing downward. 3) Avoid a place where the motor is always subjected to oil or water. Oil / 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.

Motor

Stress to Cables

1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight. 2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension junction cable into the bearer so that the stress by bending can be minimized. 3) Take the cable bending radius as large as possible. (When you use our optional cable, Minimum R20mm)

Permissible Load to Output Shaft

1) Design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value specified to each model. 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.) 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value.

Notes on Installation

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.

1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from Motor the motor shaft. (Or it may damage the encoder mounted on the other side of the shaft.) 2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.) 3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Check and verification by customer is required.

− B6 −

− B7 −

How to Install

English

Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below. 1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof. 2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable 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. 7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.

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 entering 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 Specification.

3. System Configuration and Wiring Overall Wiring (Connector type)

Connecting Example of A to D-frame • Wiring of Main Connector (XA)

Noise Filter (NF) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver.

• Apply the voltage designated on the nameplate from the power source.

Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).

Wiring to Connector, XA

• Connection to input power

Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)

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

Wiring to Connector, X1

• Connection to PC or host controller

Wiring to Connector, X2

• Connection to RS232, RS485 or host controller

L3 (Pin-3)

Wiring to Connector, X3

L2C (Pin-1)

• Connection to Safety by-pass plug (Refer to P.B25)

Charg lamp (Red LED)*1 Short circuit wire (B2-B3)

Wiring to Connector, XB

• Connection to external components B1 (Pin-6) B2 (Pin-4)

Regenerative resistor (optional) Remarks • 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. − B8 −

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

* These colors are used for optional cable.

Wiring to Connector, X4

• Connection to host controller

Wiring to Connector, X5

• Connection to external scale

Wiring to Connector, X6 Ground terminal

• Connection to encoder

Ground (earth)

Junction cable for encoder Junction cable for motor Wiring to Connector, XB

• Connection to motor driving phase and ground

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. − B9 −

Remarks • X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required. Do not connect these terminals to the same power supply.

Junction cable for brake

DC Power supply for brake DC24V

(to be supplied by customer)

English

L1C (Pin-2)

• Wiring of Motor Connector (XB)

Note

Wiring to Connector, X7

• Monitor output

L2 (Pin-4)

Reactor (L) Reduces harmonic current of the main power.

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

PC (to be supplied by customer)

L1 (Pin-5)

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.

Pin B1 (6-pin), B2 (4-pin), and B3 (5-pin) • B2 and B3 to be kept shorted for normal operation (For C-frame and D-frame). • When you connect an external regenerative resistor, disconnect a short circuit wire between B2 and B3 (For C-frame and D-frame), then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Overall Wiring (Connector type)

: High voltage

Mains Residual current device

Circuit Breaker (MCCB) To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.

3. System Configuration and Wiring

3. System Configuration and Wiring Overall Wiring (Connector type)

Mains Residual current device

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.

• Apply the voltage designated on the nameplate from the power source.

Wiring to Connector, XA

• Connection to input power

Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.B20 for connection.)

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

Wiring to Connector, X1

• Connection to PC or host controller

Wiring to Connector, X2

• Connection to RS232, RS485 or host controller

L2 (Pin-4)

Wiring to Connector, X3

L3 (Pin-3)

• Connection to Safety by-pass plug (Refer to P.B25)

L1C (Pin-2) L2C (Pin-1) Short circuit wire (B2-B3)

Wiring to Connector, XC

• Connection to external components B1 (Pin-6) B2 (Pin-4)

Wiring to Connector, X7

• Monitor output

L1 (Pin-5)

Reactor (L) Reduces harmonic current of the main power.

• Wiring of Motor Connector (XC)

PC (to be supplied by customer)

Wiring to Connector, X4

• Connection to host controller

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

* These colors are used for optional cable.

Wiring to Connector, X5

• Connection to external scale

Wiring to Connector, X6

Ground terminal Ground

Charg lamp (Red LED)*1

(earth)

Junction cable for encoder

Junction cable for motor Wiring to Connector, XB

• Connection to motor driving phase and ground

Junction cable for brake

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

• Connection to encoder

*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. − B11 −

English

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.

Pin B1 (4-pin), B2 (2-pin), and B3 (3-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.

Overall Wiring (Connector type)

: High voltage

Connecting Example of E-frame • Wiring of Main Connector (XA)

3. System Configuration and Wiring

3. System Configuration and Wiring Overall Wiring (Terminal block type) Connecting Example of F-frame • Wiring of Main Connector

Circuit Breaker (MCCB) To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.

Overall Wiring (Terminal block type)

: High voltage Mains Residual current device

Noise Filter (NF) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver.

• Apply the voltage designated on the nameplate from the power source.

PC (to be supplied by customer)

Wiring to Connector, X7

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

• Monitor output

Wiring to Connector, X1

• Connection to PC or host controller

Connection with input power supply

Wiring to Connector, X2

• Connection to RS232, RS485 or host controller

L1 L2 L3 L1C L2C

Wiring to Connector, X3

• Connection to Safety by-pass plug (Refer to P.B25)

Wiring to Connector, X4

Short bar (B2-B3)

Reactor (L) Reduces harmonic current of the main power.

Connection to external components B1 B2

• Connection to host controller

Wiring to Connector, X5

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

• Connection to external scale

Wiring to Connector, X6

• Connection to encoder

* These colors are used for optional cable.

Junction cable for encoder Ground terminal

Ground (earth)

Charg lamp (Red LED)*1

Junction cable for motor Connection to motor driving phase and ground Junction cable for brake

DC Power supply for brake DC24V (to be supplied by customer) *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock. − B13 −

English

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.

Pin B1, B2 and B3 • B2 and B3 to be kept shorted for normal operation. • When you connect an external regenerative resistor, disconnect a short bar between B2 and B3, then connect the external regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2. Pin NC • Do not connect anything.

3. System Configuration and Wiring

Driver and List of Applicable Peripheral Equipments

Driver and List of Applicable Peripheral Equipments Driver

Applicable Voltage motor *1

MADH MSME

MBDH MSME

MHME

approx. 0.4kVA

Single/ 50W to 3-phase, 200W 200V

approx. 0.5kVA

200W

approx. 0.5kVA

Single/ 3-phase, 400W 200V

approx. 0.9kVA

Single phase, 100V

400W

approx. 0.9kVA

Single/ 3-phase, 750W 200V

approx. 1.3kVA

1.0kW

approx. 1.8kVA

0.9kW

approx. 1.8kVA

Single/ MDDH MSME 3-phase, 1.0kW 200V MHME

MDME MFME

／

1.5kW

approx. 1.8kVA

(

Surge absorber

Single phase ／

3-phase

)

Noise filter for signal

(

Rated operating current of magnetic contactor Contact configuration

2.0kW MSME 3-phase, MEDH MHME 200V MFME

2.5kW

MGME

2.0kＷ

MDME MHME MSME

／

DV0PM 20042 10A

／

DV0P1450

DV0P4170 DV0P4190

20A (3P+1a)

DV0P4170 DV0P4190 ／

DV0PM 20042 DV0PM 20042

／

DV0P1450 DV0P4190

DV0P1460

DV0P4190 ／

20A

DV0P4220

DV0P1450

30A (3P+1a)

30A

approx. 3.8kVA

MDME MSME MFME

MGME MDME MHME MSME

DV0PM 20043

DV0P1460 RJ8035

( component )

DV0P1450 Recommended

0.28mm2/ AWG22 to 0.75mm2/ AWG18 100VAC or more

0.75mm2/ AWG18 600VAC or more

15A

0.75mm2/ AWG18 600VAC or more

2.0mm2/ AWG14 600VAC or more

0.75mm2/ AWG18 600VAC or more

60A (3P+1a)

0.75mm2/ AWG18 100VAC or more

approx. 3.8kVA

3.0kＷ

approx. 4.5kVA

3-phase, 4.0kＷ 200V

approx. 6.0kVA

4.5kＷ

approx. 6.8kVA

5.0kＷ

approx. 7.5kVA

Reference page

11mm or smaller

DV0P1460 RJ8035 DV0P3410 DV0P1450 Recommended

3.5mm2/ AWG12 600VAC or more

( component ) *3

100A (3P+1a)

Noise filter for signal........P.B46 “Composition of Peripheral Equipments”

Motor/brake connector.....P.B23 “Wiring of connector for motor and brake”

• About circuit breaker and magnetic contactor To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and the circuit breaker should conform to IEC marked). Standards and UL recognized (Listed and Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product. Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition). • Terminal block and ground terminals • Use a copper conductor cables with temperature rating of 75˚C or higher. • Use the attached exclusive connector for A to E-frame, and maintain the peeled off length of 8 to 9mm. (Refer to P.B19) • Fastening torque list (Terminal block screw/Terminal cover fastening screw)

Remarks

Frame

Terminal name

F200V

L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W

ø5.3

Terminal block M5

ø5.3

Terminal block M5

3.5mm2/ AWG12 600VAC or more

*1 Select peripheral equipments for single/3phase common specification according to the power source. *2 The diameter of the ground cable must be equal to, or larger than that of the motor cable. *3 Use these products to suit an international standard.

1.0 to 1.7

0.19 to 0.21

Terminal block Connector to host screw controller (X4) Fastening Fastening Nominal Nominal torque torque size size (N•m) (*1) (N•m) (*1)

Driver frame

11mm or smaller

0.75mm2/ AWG18 600VAC or more

Terminal block Terminal cover screw fastening screw Fastening Fastening Nominal Nominal torque torque size size (N•m) (*1) (N•m) (*1)

• Fastening torque list (Ground terminal screw/Connector to host controller (X4))

60A (3P+1a)

50A

Noise filter........................P.B43 “Composition of Peripheral Equipments” Surge absorber................P.B45 “Composition of Peripheral Equipments”

Driver

2.0mm2/ AWG14 600VAC or more

MGME MFDH MHME

Crimp Diameter Diameter and Diameter terminal and withstand and for control withstand voltage withstand power voltage of control voltage supply of motor power of brake terminal cable supply cable cable block *2

DV0P4170 DV0P4190

approx. 2.3kVA

approx. 3.3kVA

Crimp terminal for main circuit terminal block

DV0P4170 DV0P4190

MSME

MDME

)

Diameter and withstand voltage of main circuit cable

A to E F

0.7 to 0.8

1.4 to 1.6

M2.6

0.3 to 0.35

(*1)

• Applying fastening torque larger than the maximum value may result in damage to the product. • Do not turn on power without tightening all terminal block screws properly. • Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts may generate heat (smoking, firing). • To check for looseness, conduct periodic inspection of fastening torque once a year.

Caution

Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor running out of control or being damaged from overheating. In addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring. − B14 −

− B15 −

English

MGME

Single phase at the rated (rated load) (current) ( 3-phase )

Single 50W to phase, 100W 100V

Single phase, 100V

Noise filter

Connection to exclusive connector

MDME

Required Circuit Power breaker

Connection to exclusive connector

MCDH MSME

Rated output

3. System Configuration and Wiring Wiring of the Main Circuit (Connector type)

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

3. System Configuration and Wiring Wiring of the Main Circuit (Connector type)

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. • Never touch the power connector (XA and XB) to which high voltage is applied. There is a risk of electric shock.

• Wiring should be performed by a specialist or an authorized personnel. • Do not turn on the power until the wiring is completed. • Never touch the power connector (XA, XB and XC) to which high voltage is applied. There is a risk of electric shock.

1) Wire connector (XA and XB). 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it clicks.

1) Wire connector (XA, XB and XC). 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it clicks.

• Tips on Wiring

External regenerative resistor

White Black

Green or E Green/yellow

Motor

5 4 3 2 1 6 5 4 3 2 1

Red

L1 L2 L3 L1C L2C

• 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). Shorting cable is not required for A and B frame. Disconnect this only when the external regenerative register is used. • Avoid shorting and grounding. Don't connect the main power.

B1 B3 B2 U V W

* These colors are used for optional cable.

Ground resistance: 100 Ω max. For applicable wire, refer to P.B14. DC 24V

Varistor Fuse (125 V 10 A)

DC power supply for brake

• Earth-ground this. • To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel. • The ground terminal ( ) must not be shared with other equipment. Two ground 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 holding Brake has no polarity. • For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake". • Provide a varistor. Connect a 10A fuse in series with the varistor.

− B16 −

Power RCD MCCB supply

External regenerative resistor

Red

White

5 4 3 2 1 4 3 2 1 3 2 1

L1 L2 L3 L1C L2C

B1 B3 B2 NC

U V W

• 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. • To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel. * These colors are used for • The ground terminal ( ) must not be shared with optional cable. other equipment. Two ground terminals are provided. • Don't connect the earth cable to other inserting Ground resistance: 100 Ω max. For applicable wire, refer to P.B14. slot, nor make them touch. Black

E Green

Motor

DC 24V

Varistor Fuse (125 V 10 A)

DC power supply for brake

− B17 −

English

Power RCD MCCB supply

• Tips on Wiring

3. System Configuration and Wiring Wiring of the Main Circuit (Terminal block type)

3. System Configuration and Wiring Wiring method to connector

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

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. • Never touch the terminal to which high voltage is applied. There is a risk of electric shock.

• Tips on Wiring

1) Take off the cover fixing screws, and detach the terminal cover. 2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable diameter and size, refer to “Driver and List of Applicable Peripheral Equipments” (P.B14). Tighten the terminal block screw with a torque between 1.0 and 1.7 N•m. 3) Attach the terminal cover, and fix with screws. Tighten the screw securing the cover with a torque written on P.B15.

− B18 −

1. Peel off the insulation cover of the cable. • For single wire (Please obey the length in figure.)

8 to 9 mm

• For stranded wires (ferrules must be used as illustrated below). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.) 1) Peel off the sheath so that the conducA B tor portion of the cable will protrude from ① A＞B the tip of the ferrule. (It should protrude 1 mm or more from the ferrule.) 2) Insert the cable into the ferrule and crimp 1mm or more ② it with an appropriate crimping tool. 3) After crimping, cut off the cable conductor portion protruding from the ferrule. ③ (The allowable protruding 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. Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.) Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.) 1) Peel off the sheath of the cable conduc① A≧B A≦B＋C tor portion to the length equal to that of A B sheath on the ferrule. 2) Insert the cable into the ferrule and crimp it with an appropriate crimping tool. • Part No. of the crimping tool: YNT-1614 ② Available from J.S.T. Mfg. Co., Ltd Conductor Size AWG18 to 12 Sheath Outline φ2.1 to φ4.2mm Conductor Size AWG18 Terminal Model Number AI0.75-8GY (Phoenix Contact, Ltd.) Conductor Size AWG16 to 14 Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)

Caution

• When peeling off the sheath of the cable, take care not to damage other portions. • When crimping the ferrule, sufficiently 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 fire from a short circuit may result. − B19 −

English

• 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. L1 • Provide a circuit breaker. Power RCD MCCB NF MC L L2 supply • Make sure to provide a noise filter. • Provide coil surge suppression units to the coil of the L3 Magnetic Contactor recommended by manufacturer. L1C Never start/stop the motor with this Magnetic Contactor. L2C • Provide an AC Reactor. B1 • Don't disconnect the short bar between B1 and B2. External regenerative Disconnect this only when an external regenerative B3 resistor register is used. B2 • Do not connect anything to NC. • Match the colors of the motor lead wires to those of the NC corresponding motor output terminals (U,V,W). U Red • Avoid shorting and grounding. U V Don't connect the main power. White V • Earth-ground this. W Black W • To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal E Green (ground plate) of the control panel. * These colors • The ground terminal ( ) must not be shared with other are used for equipment. optional cable. Motor Two ground terminals are provided. • Don't connect the earth cable to other inserting slot, nor make them touch. Ground resistance: 100 Ω max. For applicable wire, refer to P.B14. • Compose a duplex Brake Control Circuit so that the brake can also be activated by an external immediate DC power DC stop signal. supply 24V • The holding Brake has no polarity. for brake • For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake". Varistor • Provide a varistor. Fuse (125 V 10 A) • Connect a 10A fuse in series with the varistor.

How to connect

3. System Configuration and Wiring

3. System Configuration and Wiring Wiring method to connector

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 flat-blade screwdriver (Edge width: 3.0 to 3.5 mm).

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

In Case of Single Phase, A to D-frame, 100 V / 200 V type Power supply Single phase, 100V –15% to 120V +10%

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

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

MCCB

Remove the short wire when you connect the external regenerative resistor. (C, D-Frame)

* These colors are used for optional cable.

B1 B3 B2 U V W

Red White Black Green or Green/Yellow

Motor

ALM 37

Insulated + DC12 to 24V − (±5%)

(b) Using screw driver 2

L1 L2 L3 L1C L2C

External regenerative resistor

Release the lever.

ALM+

Main power supply Control power supply XB

Motor connection

ALM−

In Case of 3-Phase, A to D-frame, 200 V type Power supply 3-phase, 200V –15% to 240V +10% ON

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

Release the screw driver.

MCCB

Noise filter

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

OFF

• Take off the connector from the Servo Driver before making connection. • Insert only one cable into each one of cable insertion slot. • Pay attention to injury by screw driver.

Remove the short wire when you connect the external regenerative resistor. (C, D-Frame)

* These colors are used for optional cable.

Red White Black Green or Green/Yellow

Motor Insulated + DC12 to 24V − (±5%)

Note − B20 −

ALM

Coil surge suppression units

External regenerative resistor

Caution

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

Coil surge suppression units

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

OFF

ALM

English

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

Remarks

Noise filter

(a) Using handle lever

Single phase, 200V –15% to 240V +10%

L1 L2 L3 L1C L2C B1 B3 B2 U V W

ALM 37 36

ALM+

Main power supply Control power supply XB

Motor connection

ALM−

For wiring the motor connector, refer to P.B23. − B21 −

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

3. System Configuration and Wiring

3. System Configuration and Wiring Wiring Diagram

Wiring of connector for motor and brake

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

In Case of 3-Phase, E-frame, 200 V type Power supply 3-phase, 200V –15% to 230V +10% ON

ALM

OFF

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

Noise filter

L1 L2 L3 L1C L2C

Remove the short wire when you connect the external regenerative resistor. Red White Black Green Motor

U V W

37 36

JN8AT04NJ1

Tightening torque of the screw (M2) 0.085 to 0.095 N·m (screwed to plastic)

JN4AT02PJ1-R

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

ALM−

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

G H A F

Power supply 3-phase, 200V –15% to 230V +10% ON

ALM

OFF

Noise filter

Coil surge suppression units MCCB

External regenerative resistor Remove the short wire when you connect the external regenerative resistor. * These colors are used for optional cable.

Red White Black Green Motor

Insulated + DC12 to 24V − (±5%)

Note

L1 L2 L3 L1C L2C B1 B3 B2 NC U V W

Main power supply Control power supply

Motor connection

ALM 37 36

ALM+

ALM−

For wiring the motor connector, refer to P.B23. − B22 −

Tightening torque of the screw (M2) 0.19 to 0.21 N·m

• When the motors of are used, they are connected as shown below.

ALM+

PIN No. Application Brake 1 Brake 2

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

Motor connection

ALM

Insulated + DC12 to 24V − (±5%)

Control power supply

PIN No. Application U-phase 1 V-phase 2 W-phase 3 Ground PE

Main power supply

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

G H A

A B C B

E D C

E G H

JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R

A B C B

E D C

JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R

PIN No. Application G NC H NC A NC U-phase F V-phase I W-phase B Ground E Ground D NC C

PIN No. Application A NC NC B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I

E G H

F I

JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R

PIN No. Application G Brake Brake H NC A U-phase F V-phase I W-phase B Ground E Ground D NC C

PIN No. Application U-phase A V-phase B W-phase C Ground D − B23 −

PIN No. Application A Brake Brake B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I

Remarks Do not connect anything to NC.

English

* These colors are used for optional cable.

B1 B3 B2 NC

External regenerative resistor

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

Coil surge suppression units MCCB

• When the motors of are used, they are connected as shown below.

3. System Configuration and Wiring

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

A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal times. When controlling the safety function from the connected host controller, accessory connector cannot be used. Prepare and wire the connector (option) as specified below. 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.

Wiring to the connector, X1

Application

USB signal terminal

Caution

Symbol Connector Pin No.

Contents

VBUS

D−

D＋

—

Do not connect.

GND

Connected to ground of control circuit.

Use for communication with personal computer.

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

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 Signal ground NC RS232 signal

RS485 signal

Frame ground

Symbol Connector Pin No.

Contents

GND

Connected to ground of control circuit.

–

Do not connect.

TXD

RXD

RS232 The transmission / reception method.

485−

485+

485−

485+

Shell

Application NC Safety input 1 Safety input 2 EDM output Frame ground

Symbol Connector Pin No. –

–

SF1−

SF1+

SF2−

SF2+

EDM−

EDM+

Shell

Contents Do not connect. These are two independent circuits that turn off the operation signal to the power module to shut off the motor current. 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) [Connector pin assignment] 8 6 4 2 7 5 3 1

(Viewed from cable)

RS485 The transmission / reception method. Connected with protective earth terminal in the servo driver.

Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP) [Connector pin assignment] 8 6 4 2 7 5 3 1

Remarks

(Viewed from cable)

X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, the 24 VDC power supply for brake), insulation is required. Do not connect these terminals to the same power supply. − B24 −

Remarks Caution

Disconnecting this connector during operation results in immediate stop. − B25 −

English

3. System Configuration and Wiring

Wiring to the connector, X3

Remarks INP+

ALM-

− B26 − Zero speed detection output ZSP

PULSH2

PULSH1

Remarks

NOT

ALM+ ALM39 AT-SPEED+ 38 AT-SPEED-

35 S-RDY+ 34 S-RDY37

32 C-MODE 31 A-CLR 9 POT

− B27 −

TLC

10kΩ

1kΩ

10kΩ

20kΩ 20kΩ 14kΩ

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

ZSP 41 COM-

Zero speed detection output 12

Torque in-limit output

47kΩ

20kΩ 20kΩ 14kΩ

20kΩ

47kΩ

20kΩ

4.7kΩ

–

220Ω

2.2kΩ

220Ω

PULS1

GND

N-ATL

GND

P-ATL/TRQR

SPR/TRQR/SPL

GND

OZ-

OZ+

OB-

OB+

OA-

OA+

–

47kΩ

1kΩ

10kΩ

20kΩ 20kΩ 14kΩ

10kΩ

20kΩ 20kΩ 14kΩ

20kΩ

47kΩ

20kΩ

Z-phase output

OPC1 1

220Ω

SIGN2 6

2.2kΩ

OPC1 2

220Ω

PULS2 4

2.2kΩ

: Twisted pair)

2.2kΩ

power supply

24VDC

(

Torque monitor output

Velocity monitor output

Negative direction torque limit input (-10 to 0V)

Positive direction torque limit input (0 to ± 10V)

Velocity command input (0 to ± 10V)

Z-phase output

B-phase output

A-phase output

: Twisted pair)

19 Z-phase output (open collector)

GND 15 16 P-ATL/TRQR 17 GND N-ATL 18

SPR/TRQR/SPL

GND

OZ-

OZ+

OB-

OB+

OA-

OA+

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

Velocity monitor output Torque monitor output

Negative direction torque limit input (-10 to +10V)

Positive direction torque limit input (0 to +10V)

(

VDC

Specifications VDC -1.5 . =10mA R+220 . of R 12V 1kΩ1/2W 24V 2kΩ1/2W

VDC

220Ω

SIGN2 6

220Ω 2.2kΩ SIGN1 5

PULS2 4

2.2kΩ PULS1 3

Z-phase (2) When you do not use the output external resistor with 24V

B-phase output

A-phase output

(Use with 500 kpps or less.)

Command pulse input A

In case of open collector I/F (1) When you use the external resistor with 12V and 24V power supply

19 (open collector)

6 SIGN2 13 GND

SIGN1

OPC2

PULS2

OPC1

Divider

External brake release output 11 BRKOFF+ 10 BRKOFF-

At-speed output

Servo alarm output

Servo-Ready output

Positive direction over-travel inhibition input Negative direction over-travel inhibition input

Alarm clear input

Control mode switching input

ZEROSPD

28 INTSPD3

29 SRV-ON 27 GAIN

2kΩ 20kΩ

120Ω

2kΩ 20kΩ 2kΩ 20kΩ

120Ω

2kΩ 20kΩ

7 COM+ 33 INTSPD1 30 INTSPD2

Speed zero clamp input 26

Selection 3 input of internal command speed

Gain switching input

Servo-ON input

Selection 1 input of internal command speed Selection 2 input of internal command speed

Be sure to connect.

SIGNH1 47 SIGNH2 13 GND

41 COM-

38 INPExternal brake release output 11 BRKOFF+ 10 BRKOFFTorque in-limit output 40 TLC

36 Positioning complete output 39

ALM+

2.2kΩ

Wiring Example of Position Control Mode

VDC 12 to 24V

NOT

POT

35 S-RDY+ 34 S-RDY37

DIV1 26 VS-SEL1 32 C-MODE 31 A-CLR

4.7kΩ

Divider

Command pulse input B (Use with 4Mpps or less.)

VDC 12 to 24V

Servo-Alarm output

Servo-Ready output

Positive direction over-travel inhibition input Negative direction over-travel inhibition input

Alarm clear input

Electronic gear switching input 1 Damping control switching input 1 Control mode switching input

Servo-ON input

CL 29 SRV-ON Gain switching input 27 GAIN

7 COM+ 33 INH

Wiring to the connector, X4

English

Command pulse inhibition input Deviation counter clear input

3. System Configuration and Wiring 3. System Configuration and Wiring

Wiring to the connector, X4

Wiring Example of Velocity Control Mode

3. System Configuration and Wiring

3. System Configuration and Wiring Wiring to the connector, X4

Wiring to the connector, X5

: Twisted pair)

Negative direction torque limit input (0 to ±10V) Select with Pr3.17.

Provide a power supply for the external scale on your part or use the following power output (250mA or less). Application

Torque monitor output

A, B, Z phase Endoder signal input

I/F of external scale signals

1kΩ

20kΩ 20kΩ 14kΩ

Velocity monitor output

(

Power supply output

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

FG 50

41 COM-

ZSP

Zero speed detection output 12

TLC

Torque in-limit output

External brake release output

At-speed output

VDC 12 to 24V

Remarks

11 BRKOFF+ 10 BRKOFF-

39 AT-SPEED+ 38 AT-SPEED-

ALM-

ALM+

Servo-Alarm output

35 S-RDY+ 34 S-RDY-

Servo-Ready output

31 A-CLR 9 POT

Alarm clear input

Positive direction over-travel inhibition input Negative direction over-travel inhibition input

Control mode switching input

Speed zero clamp input

NOT

28 DIV1 26 ZEROSPD 32 C-MODE

29 SRV-ON 27 GAIN

Servo-ON input

Gain switching input

INH

7 COM+

4.7kΩ

–

10kΩ

17 GND

CCWTL/TRQR

P-ATL/TRQR 16 17 GND 10kΩ

20kΩ 20kΩ 14kΩ

N-ATL 18

Wiring example when control mode Pr0.01=5 or Pr3.17=1

Torque command input or velocity limit input (0 to ±10V) 15

GND

SPR/TRQR/SPL 47kΩ –

20kΩ

Divider

20kΩ

47kΩ

GND

19 Z-phase output (open collector)

Z-phase output 24 OZ-

OZ+

B-phase output 49

OB+

OB-

OA-

OA+

Connect on to External Scale

Frame ground

Symbol Connector Pin No.

Contents

EX5V

Supply the power of external scale or A, B, Z phase encoder.

EX0V

Connected to ground of control circuit.

EXPS

/EXPS

EXA

/EXA

EXB

/EXB

EXZ

/EXZ

Shell

Serial signal The transmission / reception method. Parallel signal reception Correspondence speed : 4Mpps (after quadruple) Connected with ground terminal in the servo driver.

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

• Caution

1) The manufacturers applicable external scales for this product are as follows. • Mitutoyo Corp. • Magnescale Co., Ltd. For the details of the external scale product, contact each company. 2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160 If you set up the external 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 larger scale ratio may result in larger noise.

Remarks

English

A-phase output

Wiring Example of Torque Control Mode

3. System Configuration and Wiring Wiring to the connector, X6

Connection to Encoder

Wiring to the connector, X6

E5V 2 E0V 3

+5V 0V

4 5

7 4 1

Twisted pair

MSME 50W to 750W

PS Shell (FG)

E5V 6 E0V 3 5 BAT+ 2 BAT− 7 PS 4 PS 1 FG

Connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.)

Driver

• Tighten the motor connector mounting screw (M2) [Connector pin assignment] with a torque between 0.19 and 0.21 N•m. 1 5 2 To avoid damage, be sure to use only the screw 6 3 7 supplied with the connector. 4 (Viewed from cable) • Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.

1.0kW to 5.0kW 1.0kW to 5.0kW 1.5kW to 4.5kW 0.9kW to 4.5kW 1.0kW to 5.0kW

E5V 4 E0V 1

PS PS FG

E5V 2 E0V 3

+5V 0V

4 5

3 7 9

Twisted pair

PS Shell (FG)

Caution

Encoder cable

Remarks

Twisted pair

PS Shell (FG)

MSME MDME MFME MGME MHME

Driver

1.0kW to 5.0kW 1.0kW to 5.0kW 1.5kW to 4.5kW 0.9kW to 4.5kW 1.0kW to 5.0kW

E5V 4 E0V 1 6 BAT+ 5 BAT− 3 PS 7 PS 9 FG

battery

E5V 2 E0V 3

+5V 0V

4 5

Twisted pair

PS Shell (FG)

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

Driver

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

Motor

Encoder cable

Motor

Regulator

MSME MDME MFME MGME MHME

+5V 0V

Encoder cable

Motor

Remarks

Driver

English

Caution

battery

E5V 2 E0V 3

Connector: JN6FR07SM1 (by Japan Aviation Electronics Ind.)

Encoder cable

Motor

Regulator

PS PS FG

Regulator

E5V 6 E0V 3

Regulator

• In case of 17-bit absolute encoder

• In case of 20-bit incremental encoder MSME 50W to 750W

3. System Configuration and Wiring

3. System Configuration and Wiring Wiring to the connector, X7

The connector X7 of the front panel is for monitor output. 　Analogue output : 2 systems : 1 systems 　Digital output In both cases, it is possible to switch the output signal by setting parameters. Output circuit

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

Application

Symbol Connector Pin No.

1kΩ

AM1 1

1kΩ

AM2 2

2.2kΩ

DM 4

Measuring instrument

GND 3

Outline / Setup / Connection

Outline of Parameter This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this 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 Contents

AM1

Analogue monitor output 2

AM2

Signal ground

GND

Connected to ground of control circuit.

• Output the digital signal for monitor. • Output voltage is CMOS level compatible. • Output impedance is 2.2 kΩ. When connecting a measuring instrument, check its input circuit for impedance matching.

–

Do not connect.

–

Do not connect.

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. 6

SET Button (valid at any time) Press this to switch SELECTION and EXECUTION display. Shifting of the digit for data changing to higher digit. X7 Output connector for monitor

Remarks

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

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 .

− B33 −

English

• Output the analogue signal for monitor. • The amplitude of the output signal is ±10 V. • Output impedance is 1 kΩ. When connecting a measuring instrument, check its input circuit for impedance matching.

Analogue monitor output 1

Digital monitor output

4. Parameter

Outline / Setup / Connection

Composition of Parameters

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. 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.

Parametr No.

Class name

Group

Class

No.*

00 to

Basic setting

Parameter for Basic setting

00 to

Gain adjustment

Parameter for Gain adjustment

00 to

Damping control

Parameter for Damping control

00 to

Verocity/ Torque/ Full-closed control

Parameter for Verocity/ Torque/ Full-closed control

00 to

I/F monitor setting

Parameter for I/F monitor setting

00 to

Enhancing setting

Parameter for Enhancing setting

00 to

Special setting

Parameter for Special setting

* The Parameter No. consists of 2 digits.

• How to Connect

Connect to X1 (USB mini-B) Setup support software “PANATERM” Please download from our web site and use after install to the PC.

• 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 specifications of the PC. When the cable does not have noise filter, attach a signal line noise filter (DV0P1460) to both ends of the cable.

− B34 −

− B35 −

English

Note

• The parameter No. is displayed in the form of PrX.YY (X: Classification, YY: No.). • For the details on the parameters, refer to the Operating Instructions (Overall).

5. Protective Functions

Protective Function (What Is Error Code ?)

Error code Main Sub

11 12

13 14 15 16 18 21 23 24 25 26 27 28 29 30 33

0 0 0 1 0 1 0 0 0 1 0 1 0 0 0 0 1 0 2 0 0 0 0 1 2

Protective function

Control power supply under- voltage protection Over-voltage protection Main power supply under-voltage protection (between P to N) Main power supply under-voltage protection (AC interception detection) Over-current protection IPM error protection Over-heat protection Over-load protection Over-regeneration load protection Over-regeneration Tr error protection Encoder communication disconnect error protection Encoder communication error protection Encoder communication data error protection Position deviation excess protection Hybrid deviation excess error protection Over-speed protection 2nd over-speed protection Command pulse input frequency error protection Command pulse multiplier error protection Limit of pulse replay error protection Deviation counter overflow protection Safety detection IF overlaps allocation error 1 protection IF overlaps allocation error 2 protection IF input function number error 1 protection − B36 −

History

○

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

Attribute Can be cleared Immediate stop

○ ○ ○ ○

○*1

○ ○ ○ ○ ○ ○ ○ ○

○ ○

○ ○ ○ ○ ○ ○

Error code Main Sub

3 4 33 5 6 7 34 0 36 0 to 2 37 0 to 2 38 0 0 39 1 2 40 0 41 0 42 0 43 0 44 0 45 0 47 0 48 0 49 0 0 50 1 0 1 2 51 3 4 5 0 55 1 2 87 0 95 0 Other number

Note

Protective function

IF input function number error 2 protection IF output function number error 1 protection IF output function number error 2 protection CL fitting error protection INH fitting error protection Software limit protection EEPROM parameter error protection EEPROM check code error protection Over-travel inhibit input protection Analog input1 excess protection Analog input2 excess protection Analog input3 excess protection Absolute system down error protection Absolute counter over error protection Absolute over-speed error protection Initialization failure Absolute single turn counter error protection Absolute multi-turn counter error protection Absolute status error protection Encoder Z-phase error protection Encoder CS signal error protection Feedback scale connection error protection Feedback scale communication error protection Feedback scale status 0 error protection Feedback scale status 1 error protection Feedback scale status 2 error protection Feedback scale status 3 error protection Feedback scale status 4 error protection Feedback scale status 5 error protection A-phase connection error protection B-phase connection error protection Z-phase connection error protection Compulsory alarm input protection Motor automatic recognition error protection Other error

History

○ ○ ○ ○ ○ ○

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

Attribute Can be cleared Immediate stop

○

○ ○ ○ ○ ○

○ ○ ○

○

○ ○

History...The error will be stored in the error history. Can be cleared...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.) − B37 −

English

• 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(ACLR) in 10sec or longer after the error occurs. You can clear the Overload protection time characteristics (refer to P.B40, 41) by turning off the control power supply between L1C and L2C (100V, 200V) of the driver.*1 • You can clear the above error by operating the front panel keys and setup support softwear "PANATERM". • Be sure to clear the alarm during stop after removing the cause of the error and securing safety. • The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).

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. 4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case.

6. Maintenance and Inspections Maintenance and Inspections

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.

Prohibited Product

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.

Driver

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

Daily inspection

Periodical inspection

Note

Cycles

Daily

Annual

Items to be inspected • Ambient temperature, humidity, speck, dust or foreign object • Abnormal vibration and noise • Main circuit voltage • Odor • Lint or other particles at air holes • Cleanness at front portion of the driver and 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

Component

Standard replacement cycles (hour)

Smoothing condenser

Approx. 5 years

Cooling fan

2 to 3 years (10,000 to 30,000 hours)

Aluminum electrolytic capacitor (on PCB)

Approx. 5 years

Rush current preventive relay

Approx. 100,000 times (depending on working condition)

Rush current preventive resistor

Approx. 20,000 times (depending on working condition)

Bearing

3 to 5 years (20,000 to 30,000 hours)

Oil seal

5000 hours

Encoder

3 to 5 years (20,000 to 30,000 hours)

Battery for absolute encoder

Life time varies depending on working conditions. Refer to the Operating Instructions attached to the battery for absolute encoder.

Motor

Inspection cycle may change when the running conditions of the above change. − B38 −

− B39 −

Note

English

Inspection Items and Cycles

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

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

7. Conformity to EC Directives and UL Standards EC Directives / Conformity to UL Standards

EC Directives

Overload protection time characteristics

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

EMC Directives

100

MSME 100W（200V） MSME 200W MSME 400W

MSME 750W MSME MDME MFME MGME MHME

1.0kW∼5.0kW 1.0kW∼5.0kW 1.5kW∼4.5kW 0.9kW∼4.5kW 1.0kW∼5.0kW

0.1

115 100

EMC Directives EC Directives

Low-Voltage Directives Functional safety

Driver EN55011 EN61000-6-2 EN61800-3 EN61800-5-1 EN954-1 (Cat. 3) ISO13849-1 (PL c, d*)(Cat. 3) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1

UL Standards

UL508C (File No.E164620)

CSA Standards

C22.2 No.14

IEC EN EMC UL CSA

: : : : :

International Electrotechnical Commission Europaischen Normen Electromagnetic Compatibility Underwriters Laboratories 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 * PL d: Provided that EDM is used.

− B40 −

200

300

400

500

Torque [%]

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 driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1. (e.g. Install in the control box with IP54 enclosure.) (2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed marked) between the power supply and the noise filter. For the rated current of the circuit breaker or fuse, refer to P.B14, "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). Confirm 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). (4) Motor over-temperature protection is not provided. Motor over-load-temperature protection shall be provided at the final installation upon required by the NEC (National Electric Code).

Time [s]

− B41 −

Motor – IEC60034-1 IEC60034-5 –

UL1004-1 (E327868 : 50W to 750W) UL1004 (E327868 : 0.9kW to 5.0kW)

C22.2 No.100

English

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

MSME 50W MSME 100W（100V）

7. Conformity to EC Directives and UL Standards Composition of Peripheral Equipments

Noise Filter

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

+10% +10% 100V type : Single phase, 100V to 120V 50/60Hz –15% –15% (A to C-frame) +10% +10% 200V type : Single/3-phase, 200V to 240V 50/60Hz –15% –15% (A to D-frame) +10% +10% 200V type : 3-phase, 200V to 230V 50/60Hz –15% –15% (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.

2–ø4.5 x 6.75

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

53.1±1.0

Circuit diagram

IN 1

L R

OUT 3

L Cx

2 (11.6) (13.0)

6-M4

2–ø4.5

Voltage specifications for driver

Option part No.

[Unit: mm]

Manufacturer’s Applicable part No. driver (frame)

3-phase 200V DV0PM20042 Single phase 100V/200V 3SUP-HU10-ER-6 3-phase 200V DV0P4220 Single/ 3-phase 200V 3SUP-HU30-ER-6 DV0PM20043 3-phase 200V 3SUP-HU50-ER-6

Manufacturer

A, B-frame C-frame

Okaya Electric Ind.

D-frame E-frame

A B C

H Earth terminal M4

A B C

H Earth terminal M4

LABEL

Screw for cover M3

Cover

Body

Circuit Breaker

− B42 −

LABEL

Safety controller

Ground (PE) *1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines

Caution

2.0

Terminal cover (transparent)

5.0

[Size]

Body

[Unit: mm]

A B C D E F G H DV0PM20042 115 105 95 70 43 10 52 5.5 DV0P4220 145 135 125 70 50 10 52 5.5 DV0PM20043 165 136 165 90 80 40 54 5.5

Circuit IN 1 diagram

For single phase application, use 2 terminals among 3 terminals, leaving the remaining terminal unconnected.

− B43 −

OUT

Cx1

Cx1 Cy1

English

Controller

Noise filter for signal lines

100.0±2.0 88.0 75.0

7.0

Insulated power supply for interface

X6 X3

Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.

D E

Noise filter for signal lines

Manufacturer

Noise filter for signal lines

DV0P4170

Motor

Manufacturer’s Applicable part No. driver (frame)

L1C L2C

XB U V W

Voltage specifications for driver

Option part No.

10.0

Surge absorber

Noise filter

Noise filter for signal lines

Circuit breaker

Driver

XA L1 L2 L3

Noise filter for signal lines

• Optional parts

Residual current device (RCD)

12.0

Metallic control box

When you install one noise filter at the power supply for multi-axes application, consult with manufacturer of the noise filter. If sufficient noise margin is required, connect 2 filters in series.

50.0 60.0

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

Composition of Peripheral Equipments

Installation Environment

7. Conformity to EC Directives and UL Standards

Composition of Peripheral Equipments

2-ø5.5

10±1

18.5±1 18.5±1 6-M4

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

+30 200 -0

Manufacturer

TDK-Lambda Corp.

DV0P4190 ø4.2±0.2

6-M4 55±2

12.5±1

5.5

UL-1015 AWG16

Single phase 100V/200V

Manufacturer’s part No.

Manufacturer

R・A・V-781BWZ-4

[Unit: mm]

Okaya Electric Ind.

Circuit diagram

UL-1015 AWG16

41±1

6-M5 68±2

• Select a noise filter whose capacity is commensurate with the power source capacity (in consideration of the load condition). • For the detailed specifications of each noise filter, contact the manufacturer.

− B44 −

Okaya Electric Ind.

Circuit diagram

[Unit: mm]

Voltage specifications for driver

+30 200 -0

300±2 280±1

R・A・V-781BXZ-4

41±1

Option part No.

240±2 225±1

4.5

21±1 21±1

128±2 102±1 5.5±1

Applicable driver (frame)

210±2 195±1

50±2

Remarks

ø4.2±0.2

Manufacturer

4.5±0.5

10 30 50

3-phase 200V

M4 4.5

5.5±1 11±1

Current rating (A)

Single phase 100V/200V

95±2 78±1 4.5±1

3-phase 200V

Manufacturer’s part No.

− B45 −

English

RTHN-5010 RTHN-5030 RTHN-5050

DV0P1450

[Unit: mm]

Voltage specifications for driver

Model No.

Voltage specifications for driver

28.5±1

• Recommended components

Option part No.

4.5±0.5

L A B E L

OUT

28.5±1

(13) (18) 90±1.0 120

6-6M

Circuit diagram

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

28±1

2-ø5.5 x 7 150

Okaya Electric Ind.

28±1

286±3.0 270 255±1.0 240

F-frame

5.5±1 11±1

3SUP-HL50-ER-6B

Surge Absorber

Manufacturer

10±1

3-phase 200V

Applicable driver (frame)

18.5±1 18.5±1

DV0P3410

Manufacturer’s part No.

Voltage specifications for driver

105±2 85±1 4.5±1

Option part No.

Composition of Peripheral Equipments

7. Conformity to EC Directives and UL Standards Composition of Peripheral Equipments

Noise Filter for Signal Lines

7. Conformity to EC Directives and UL Standards Composition of Peripheral Equipments

Residual current device

Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)

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

(1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (PE) of the control panel. (2) The ground terminal ( ) must not be shared with other equipment. Two ground terminals are provided.

• Optional parts

Manufacturer’s part No.

Option part No.

DV0P1460

ZCAT3035-1330

TDK Corp.

[Unit: mm]

39±1 34±1

13±1

Remarks

30±1

Mass: 62.8g

To connect the noise filter to the connector XB connection cable, adjust the sheath length at the tip of the cable, as required.

Note

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

English

Caution

Manufacturer

Grounding

Fix the signal line noise filter in order to prevent excessive stress to the cables.

• Recommended components

Manufacturer’s part No.

RJ8035

Manufacturer

KK-CORP.CO.JP

130

107

[Unit: mm]

200 180

R3.5

− B46 −

− B47 −

8. Built-in Holding Brake Outline / Specifications

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

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

Outline / Specifications

Specifications of Built-in Holding Brake Static Rotor friction inertia torque x 10–4 kg·m2 N·m 50W, 100W 0.29 or more 0.002 200W, 400W 1.27 or more 0.018 750W 2.45 or more 0.075 1.0kW, 1.5kW, MSME 7.8 or more 2.0kW 0.33 3.0kW 11.8 or more Motor series

Motor output

4.0kW, 5.0kW 16.2 or more 1.0kW MDME

MFME

1.5kW 2.5kW 4.5kW

7.8 or more 21.6 or more 31.4 or more

900W

13.7 or more

2.0kW

24.5 or more

3.0kW 4.5kW

MHME

1.35

16.2 or more

4.0kW, 5.0kW 24.5 or more

MGME

− B48 −

4.9 or more

1.5kW, 2.0kW 13.7 or more 3.0kW

1.35

58.8 or more

1.0kW

4.9 or more

1.5kW

13.7 or more

2.0kW to 5.0kW

24.5 or more

4.7 4.7 8.75 1.35

4.7

1.35 4.7

Exciting Engaging Releasing current time time DC A ms ms (at cool-off) 35 or less 20 or less 0.3 50 or less 15 or less 0.36 70 or less 20 or less 0.42 50 or less 15 or less (100) 80 or less 110 or 50 or less less (130) 70 or less 80 or less (200) 100 or less 50 or less (130) 110 or less 25 or less 80 or less (200) 80 or less 35 or less 150 or 100 or less less 100 or 50 or less less (130) 25 or less 80 or less (200) 50 or less 150 or (130) less 50 or less 70 or less 80 or less (200) 100 or 50 or less less (130) 25 or less 80 or less (200)

0.81 0.9

Permissible Permissible Permissible Releasing work (J) per total work angular acceleration voltage one braking x 103J rad/s2 39.2 4.9 DC1V 137 44.1 30000 or more 196 147 DC2V or more

0.59 0.79 0.9

DC2V or more

1.3 0.83 0.75

DC2V or more

0.79 1.3

DC2V or more

1.4

1.3

490

1470

2200

588

780

1176

1500

1470

2200

1372

2900

5440

1372

2900 1500 2200

10000

1176

1500

10000

1372

2900

1470

10000

5440 5000

0.59 0.79

392

DC2V or more

588

780

1176

1500

1372

2900

10000 5440

• 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 Hitachi, Ltd.) • 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 defined as when the brake backlash drastically changes.) − B49 −

English

• 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.

8. Built-in Holding Brake

9. Dynamic Brake 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 fire.

• 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 activated In the above cases from 1) to 4), you can select either activation of the dynamic brake or making the motor free-run during deceleration or after the stop, with parameter.

Incremental Specifications, 20-bit

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

Type

Motor Rated rotational speed

Single phase, 100V

Single/ 3-phase, 200V

MSME Low inertia

3000r/min

3-phase, 200V 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 − B50 −

Do not use in other combinations than those listed below.

MDME Middle inertia

MFME Middle inertia

MGME Middle inertia

MHME High inertia

2000r/min

1000r/min

2000r/min

Driver

MSME5AZG1* MSME011G1* MSME021G1* MSME041G1* MSME5AZG1* MSME012G1* MSME022G1* MSME042G1* MSME082G1* MSME102G□* MSME152G□* MSME202G□* MSME302G□* MSME402G□* MSME502G□* MDME102G□* MDME152G□* MDME202G□* MDME302G□* MDME402G□* MDME502G□*

Rated output 50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW

MFME152G1*

1.5kW

MDDHT5540

D-frame

MFME252G1* MFME452G1*

2.5kW 4.5kW

MEDHT7364 MFDHTB3A2

E-frame F-frame

MGME092G□*

900W

MDDHT5540

D-frame

MGME202G□* MGME302G□* MGME452G1* MHME102G□* MHME152G□* MHME202G□* MHME302G□* MHME402G□* MHME502G□*

2.0kW 3.0kW 4.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW

MFDHTA390

Model

Model MADHT1105 MADHT1107 MBDHT2110 MCDHT3120 MADHT1505

Frame A-frame B-frame C-frame A-frame

MADHT1507 MBDHT2510 MCDHT3520

B-frame C-frame

MDDHT5540

D-frame

MEDHT7364 MFDHTA390

E-frame

MFDHTB3A2 MDDHT3530 MDDHT5540 MEDHT7364 MFDHTA390 MFDHTB3A2

F-frame D-frame E-frame F-frame

• Suffix of “ □ ” in the applicable motor model represents design order. • Suffix of “ * ” in the applicable motor model represents the motor structure. − B51 −

English

2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 10 minutes pause when the dynamic brake is activated during high-speed running. (F-frame(200V) built-in dynamic brake resistor is capable of handling up to 3 continuous halts at the rated revolutions with max. permissible inertia. When overheated under more critical operating conditions, the brake will blow out and should be replaced with a new one.)

10. Check of the Combination of the Driver and the Motor

11. Specifications

Absolute Specifications, 17-bit

Basic Specifications

Power supply

Do not use in other combinations than those listed below. Type

Motor Rated rotational speed

Single phase, 100V

Single/ 3-phase, 200V

MSME Low inertia

3000r/min

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

MDME Middle inertia

MFME Middle inertia

MGME Middle inertia

MHME High inertia

2000r/min

1000r/min

2000r/min

MFME152S1*

1.5kW

MDDHT5540

D-frame

MFME252S1* MFME452S1*

2.5kW 4.5kW

MEDHT7364 MFDHTB3A2

E-frame F-frame

MGME092S□*

900W

MDDHT5540

D-frame

MGME202S□* MGME302S□* MGME452S1* MHME102S□* MHME152S□* MHME202S□* MHME302S□* MHME402S□* MHME502S□*

2.0kW 3.0kW 4.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW

MFDHTA390

Model MADHT1105 MADHT1107 MBDHT2110 MCDHT3120 MADHT1505

Frame A-frame

A-frame

MADHT1507 MBDHT2510 MCDHT3520

B-frame C-frame

MDDHT5540

D-frame

MEDHT7364 MFDHTA390

E-frame

MFDHTB3A2 MDDHT3530 MDDHT5540 MEDHT7364 MFDHTA390 MFDHTB3A2

A to Main D-frame circuit E to F-frame A to Control D-frame circuit E to F-frame

Control method

Encoder feedback External scale feedback

F-frame D-frame E-frame F-frame

F-frame D-frame

Control signal Analog signal Pulse signal

Communication function Safety function Front panel

E-frame F-frame

1) • Suffix of “ □ ” in the applicable motor model represents design order. • Suffix of “ * “ in the applicable motor model represents the motor structure. 2) Default of the driver is set for the incremental encoder specifications. When you use in absolute, make the following operations. a) Install a battery for absolute encoder. b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0". − B52 −

200V

B-frame C-frame

Parallel I/O connector

Single/3-phase, 200V

MSME5AZS1* MSME011S1* MSME021S1* MSME041S1* MSME5AZS1* MSME012S1* MSME022S1* MSME042S1* MSME082S1* MSME102S□* MSME152S□* MSME202S□* MSME302S□* MSME402S□* MSME502S□* MDME102S□* MDME152S□* MDME202S□* MDME302S□* MDME402S□* MDME502S□*

Rated output 50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW

Model

Control circuit

Regeneration Dynamic brake Control mode

Input Output Input Output Input Output USB RS232 RS485

＋ 10％ 50/60Hz － 15％＋ 10％ Single phase, 100 to 120V 50/60Hz － 15％＋ 10％ Single/3-phase, 200 to 240V 50/60Hz － 15％＋ 10％ 3-phase, 200 to 230V 50/60Hz － 15％＋ 10％ Single phase, 200 to 240V 50/60Hz － 15％＋ 10％ Single phase, 200 to 230V 50/60Hz － 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. Magnescale Co., Ltd.

Single phase, 100 to 120V

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. 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs) 2 outputs (Analog monitor: 2 output) 2 inputs (Photo-coupler input, Line receiver input） 4 outputs ( Line driver: 3 output、open collector: 1 output) Connection with PC etc. 1 : 1 communication

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

Used for IEC61800-5-2: STO.

(1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit) (3) Monitor connector (Analog monitor output (2ch), 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 − B53 −

English

3-phase, 200V

Driver

Input power

Caution

100V

Main circuit

11. Specifications

11. Specifications Functions

Functions

Control output

Max. command pulse frequency

Position control

Pulse input

Input pulse signal format

Electronic gear (Division/ Multiplication of command pulse) Smoothing filter

Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps Differential input 1/1000 to 1000 times

Individual torque limit for both positive and negative direction is enabled. Analog voltage can be used as torque feed forward input. Available

Damping Control

Available

Control output

Torque limit command input Torque feed forward input

Internal velocity command Soft-start/down function Zero-speed clamp

Instantaneous Speed Observer Velocity Control filter

Speed limit value with parameter is enabled.

Control input

(1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc.

Speed command input can be provided by means of analog voltage. Parameters are used for scale setting and command polarity. Individual torque limit for both positive and negative direction is enabled. Analog voltage can be used as torque feed forward input. 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. Speed zero clamp input is enabled. Available

Pulse input

Input pulse signal format

Electronic gear (Division/ Multiplication of command pulse) Smoothing filter

Analog input

Speed arrival etc.

Speed limit function

Max. command pulse frequency

(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 zero clamp, Torque command sign input etc.

Torque command input can be provided by means of analog Torque command voltage. Parameters are used for scale setting and command input polarity.

Control output

Common

Velocity control

Analog input

Velocity command input

Analog input

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

Instantaneous Speed Observer

Control input

Control output

Torque limit command input Torque feed forward input

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. Analog voltage can be used as torque feed forward input.

Setup range of division/ multiplication of feedback scale

1/40 to 160 times

Auto tuning

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 set up support software “PANATERM”. The gain is set automatically in accordance with the rigidity setting.

Division of encoder feedback pulse Protective function

Hard error Soft error

Traceability of alarm data

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. The alarm data history can be referred to.

Available − B54 −

− B55 −

English

Torque feed forward input

Positioning complete (In-position) etc.

Control input

Full-closed control

Analog input

Torque limit command input

(1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc.

Torque control

Control input

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

− B56 −

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.

□DH　　　　　　 □ME　　　　　　

Serial No.

Date of purchase Name

Dealer

Address Phone

( ) -

− B57 −

English

• Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign Trade Control Law. Complete review of the product to be exported and export formalities should be practiced. • This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed. • Installation, wiring, operation, maintenance, etc., of the equipment should be done by qualified 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; undertightening can result in loosening. Example) Steel screw (M5) into steel section: 2.7-3.3 N·m. • Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product. • Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination. • We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. • If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is required. • Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related. • Please be careful when using in an environment with high concentrations of 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 significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble. • The user is responsible for matching between machine and components in terms of configuration, dimensions, life expectancy, characteristics, when installing the machine or changing specification of the machine. The user is also responsible for complying with applicable laws and regulations. • The product will not be guaranteed when it is used outside its specification limits. • Parts are subject to minor change to improve performance.

MEMO

IMD88+A Z0409-1111

[PDF] Operating Instructions (Basic) AC Servo Motor & Driver MINAS A5-series - Free Download PDF (2024)