IMD88 A5 e Basic PDF

Operating Instructions (Basic)
AC Servo Motor & Driver

MINAS A5-series
• Thank you for purchasing this
Panasonic product.
• Before operating this product,
please read the instructions
carefully, and save this manual for
future use.
・This product is for industrial 　
　equipment. Don't use this 　　
　product at general household.
* This product image is 1.5kW type of A5-series.
English
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.
<Contents> page page

1. Introduction.................................. B2 Wiring to the Connector, X5 . ........................ B29
On Opening the Product Package................... B2 Wiring to the Connector, X6 . ........................ B30
Check of the Driver Model............................... B2 Wiring to the Connector, X7 . ........................ B32
Check of the Motor Model............................... B3 4. Parameter................................... B33
2. Installation................................... B4 Outline / Setup / Connection.......................... B33
Driver............................................................... B4 Composition of Parameters........................... B35
Motor................................................................ B6 5. Protective Functions................. B36
3. System Configuration and Protective Function (What Is Error Code ?)....... B36
Wiring............................................ B8 6. Maintenance and Inspections..... B38
Overall Wiring (Connector type)...................... B8 7. Conformity to EC Directives
Overall Wiring (Terminal block type)..................B12 and UL Standards...................... B40
Driver and List of Applicable Peripheral Equipments..... B14 Composition of Peripheral Equipments......... B42
Wiring of the Main Circuit (Connector type)......... B16 8. Built-in Holding Brake............... B48
Wiring of the Main Circuit (Terminal block type).... B18
Wiring method to connector.............................. B19
9. Dynamic Brake.......................... B50
Wiring Diagram.............................................. B21 10. Check of the Combination of
Wiring of connector for motor and brake....... B23 the Driver and the Motor............. B51
Wiring to the Connector, X1 . ........................ B24 Incremental Specifications, 20-bit................ B51
Wiring to the Connector, X2 . ........................ B24 Absolute Specifications, 17-bit.................... B52
Wiring to the Connector, X3 . ........................ B25 11. Specifications.......................... B53
Wiring to the Connector, X4 . ........................ B26 After-Sale Service (Repair)........... B56
IMD88+A
1. Introduction
Check of the Motor Model
1. Introduction Contents of Name Plate

Model Serial Number
On Opening the Product Package Rated input e.g.) : 09 0 4 0001N
voltage/current Lot number
• Make sure that the model is what you have ordered. Rated output Month of production
• Check if the product is damaged or not during transportation. Year of production
Rated frequency (Lower 2 digits of AD year)
• Check if the Operating Instructions (safety) are included or not. Rated
rotational speed Manufacture date
• Check if the power connector, motor connectors, connector for external regenerative e.g.) : 2009 0 4 0 1
resistor connection (only E-frame) and safety by-pass plug are included or not. Manufacture year Manufacture date
(Neither the power connector nor motor connector are included to F-frame.) Manufacture month
Model Designation
1. Introduction M S M E 5 A Z S 1 S
Check of the Driver Model 1 to 4 5 to 6 7 8 9 10 11 to 12
Special specifications
Contents of Name Plate
English
Motor structure
Motor rated output Design order
Model number Serial Number Symbol Output Symbol Specifications
Type
Input/output voltage e.g.) : P09040001N 5A 50W 1 Standard
Symbol Specifications 01 100W
Number of phase Lot number Connector for encoder
Month of production MSME Low inertia
(50W to 5.0kW)
02
04
200W
400W : N/MS3102A20-29P
Rated input/output C IP65 motor
08 750W
current Year of production Middle inertia
MDME (1.0kW to 5.0kW) 09 900W (0.9 kW to 5.0 kW only selectable)
(Lower 2 digits of AD year) 10 1.0kW
Input/output frequency Voltage specifications
Manufacture date MFME Middle inertia
(1.5kW to 4.5kW)
15 1.5kW
Rated output of 20 2.0kW Symbol Specifications
e.g.) : 2009 0 4 0 1 25 2.5kW
applicable motor
Manufacture year Manufacture date MGME Middle inertia
(0.9kW to 4.5kW) 30 3.0kW 1 100 V
Manufacture month 40 4.0kW 2 200 V
High inertia
MHME (1.0kW to 5.0kW) 45 4.5kW
50 5.0kW Z 100/200 common(50W only)
Model Designation Rotary encoder specifications
M A D H T 1 5 0 5 Symbol
Format
Specifications
Pulse count Resolution Wire count
1 to 4 5 to 6 7 8 to 9 10 to 12 Special specifications
G Incremental 20bit 1,048,576 5-wire
Max. current rating (letters and numbers)
S Absolute 17bit 131,072 7-wire
Frame-size symbol of power device Current detector rating Motor structure
MSME (50W to 750W) MSME (1.0kW to 5.0kW), MDME, MFME, MGME, MHME
Symbol Frame Symbol Current Symbol Current rating
rating Power supply 05 5A Shaft Holding brake Oil seal Shaft Holding brake Oil seal
MADH A5-series, A-frame Symbol Symbol
T1 10A
MBDH A5-series, B-frame Symbol Specifications 07 7.5A Round Key way Without With Without With*1 Round Key way Without With Without With
T2 15A 10 10A
MCDH A5-series, C-frame 1 Single phase, 100V A C
T3 30A 20 20A B D
MDDH A5-series, D-frame T5 50A 3 3-phase, 200V 30 30A *2
S G
T7 70A
MEDH A5-series, E-frame 5 Single/3-phase, 40 40A T *2 H
MFDH A5-series, F-frame TA 100A 200V 64 64A
TB 150A *1 The product with oil seal is a special order product. *2 Key way with center tap
90 90A [Products are standard stock items or manufactured by order. For details, inquire the dealer.]
A2 120A
− B2 − − B3 −
2. Installation 2. Installation
Driver
Driver
Install the driver properly to avoid a breakdown or an accident. Mounting Direction and Spacing
Installation Place • Reserve enough sur-
1) Install the driver in a control panel enclosed in noncombustible material and placed indoor rounding space for Fan Fan 100mm
Control panel
where the product is not subjected to rain or direct sunlight. The products are not waterproof. effective cooling. or more
2) Where the products are not subjected to corrosive atmospheres such as hydrogen • Install fans to provide
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of inflammable gas. uniform distribution
3) Where the motor is free from grinding oil, oil mist, iron powder or chips. of temperature in the
4) Well-ventilated and low humidity and dust-free place. control panel. 40mm 10mm 10mm 10mm 40mm
5) Vibration-free place. • D/E/F frame is pro- or or or or or
more more more
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because more more
they can discolor or damage the exterior case. vided with a cooling
fan at the bottom.
Environmental Conditions • Observe the environ-
Direction of air flowing
from the internal
100mm
or more
Item Conditions *1 Extreme tempera- mental conditions of
cooling fan (D/E/F frame)
tures are permissible
Ambient temperature 0˚C to 55˚C (free from freezing) only for short period the control panel described in the previous page.
Ambient humidity 20% to 85% RH (free from condensation) such as during trans-
Note It is recommended to use the conductive paint when you make your own
English
portation.
–20˚C to 65˚C (Max.temperature guarantee: *2 Air containing water
Storage temperature*1 *2 mounting fixture, or repaint after peeling off the paint on the machine for
80˚C for 72 hours free from condensation ) vapor will become
Storage humidity 20% to 85% RH (free from condensation*2) saturated with water installing the products, in order to make noise countermeasure.
vapor as the temper-
Vibration Lower than 5.88m/s (0.6G), 10 to 60Hz
2
ature falls, causing Caution on Installation
Altitude Lower than 1000m dew.
• We have been making the best effort to ensure the highest quality, however, applica-
How to Install tion of exceptionally large external noise disturbance and static electricity, or failure
1) Rack-mount type. Install in vertical position, and reserve enough space around the in input power, wiring and components may result in unexpected action. It is highly
servo driver for ventilation. recommended that you make a fail-safe design and secure the safety in the opera-
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
tive range.
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 In- • If stranded wires are used as the cable, bunch the conductors of the cable using a
structions (Overall). rod terminals or a round terminals.
4) For the dimensions and mass of the product, which are necessary design data of If stranded wires are used as they are, unexpected accidents such as an electric
the mounting section, refer to the dimensional outline drawing on the Operating In- shock and short circuit or injury may result. (Refer to P.B19. “Wiring method to con-
structions (Overall) or the Delivery Specification.
5) In consideration of strength of the screws and the material of the mounting base, nector”.)
select appropriate fastening torque for the product mounting screws, so that the • There might be a chance of smoke generation due to the failure of these products.
screws will not be loosened or damaged. Pay an extra attention when you apply these products in a clean room environment.
Example) To tighten a steel screw into a steel base, A to F-frame: M5 2.7 to 3.3 N·m • Be sure to install a no-fuse breaker in the power supply. In addition, be sure to
A to D-frame E, F-frame ground the grounding terminal or ground wire provided.
Basemount (Standard) Frontmount Front or Basemount [Use mounting fixture]
[Rear mount] [Use mounting fixture] <E-frame> If the product is grounded insufficiently, not only the driver may not deliver its perfor-
Fastening torque of
earth screws (M4)
mance sufficiently, but also safety hazards such as a malfunction due to a electrifi-
to be 0.7 to 0.8 N • m. cation or a disturbance may be caused.
<F-frame>
Fastening torque of • If electric wires are bound and run through metal duct, they cannot carry the rated
earth screws (M5)
to be 1.4 to 1.6 N • m.
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 coeffi-
Mounting fixture
Fastening torque of (optional parts)
Mounting
fixture
cient by referring to the Operating Instructions (Overall).
earth screws (M4) to be 0.7 to 0.8 N • m. (Attachment)
− B4 − − B5 −
2. Installation 2. Installation
Motor
Motor
Install the motor properly to avoid a breakdown or an accident. 2) Vertical mounting
• Use the motor with oil seal (make-to-order in case of motor 750W or less) when
Installation Place mounting the motor with gear reducer to prevent the reducer oil/grease from enter-
Since the conditions of location affect a lot to the motor life, select a place ing to the motor.
which meets the conditions below. 3) For the dimensions and mass of the product, which are necessary design data of
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- the mounting section, refer to the dimensional outline drawing on the Operating In-
structions (Overall) or the Delivery Specification.
ucts are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen Oil/Water Protection
sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-
kaline and salt and so on, and are free from splash of inflammable gas. 1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing down- Cable Motor
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
ward.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such 3) Avoid a place where the motor is always subject-
as a furnace. ed to oil or water.
5) Easy-to-access place for inspection and cleaning Oil / Water
4) Use the motor with an oil seal when used with the
6) Vibration-free place. gear reducer, so that the oil may not enter to the motor through shaft.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Stress to Cables
English
Environmental Conditions 1) Avoid a stress application to the cable outlet and connecting portion by bending or
Item Conditions self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and
Ambient temperature*1 0˚C to 40˚C (free from freezing)
contain the extension junction cable into the bearer so that the stress by bending
Ambient humidity 20% to 85% RH (free from condensation) can be minimized.
*2 –20˚C to 65˚C (Max.temperature guarantee: 80˚C for 72 hours 3) Take the cable bending radius as large as possible. (When you use our optional
Storage temperature
free from condensation*5) cable, Minimum R20mm)
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 Permissible Load to Output Shaft
Impact Motor only Lower than 98m/s2 (10G) 1) Design the mechanical system so that the applied radial load and/or thrust load to
Enclosure Motor only IP67 (except rotating portion of output shaft and connecting pin the motor shaft at installation and at normal operation can meet the permissible
rating (Connector type) part of the motor connector and the encoder connector)*3*4 value specified to each model.
Altitude Lower than 1000m 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.)
*1 Ambient temperature to be measured at 5cm away from the motor. 3) Use a flexible coupling with high stiffness designed exclusively for servo application in order
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529, EN60034-
to make a radial thrust caused by micro misalignment smaller than the permissible value.
5). Do not use these motors in application where water proof performance is required such as
continuous wash-down operation. Notes on Installation
*4 This condition is applied when the connector mounting screw in case of motor 750W or less 1) Do not apply direct impact to the shaft by hammer
are tightened to the recommended tightening torque (Refer to P.B23, 30, 31). Be sure to use while attaching/detaching a coupling to and from
mounting screw supplied with the connector. the motor shaft. Motor
*5 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
(Or it may damage the encoder mounted on the
other side of the shaft.)
How to Install 2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
You can mount the motor either horizontally or vertically as long as you observe the followings. 3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to
1) Horizontal mounting the bearing depending on the condition of the machine and its mounting environment,
• Mount the motor with cable outlet facing downward for water/oil countermeasure. and may result in the bearing noise. Check and verification by customer is required.
− B6 − − B7 −
3. System Configuration and Wiring 3. System Configuration and Wiring
Overall Wiring (Connector type)
Connecting Example of A to D-frame : High voltage PC (to be supplied by customer)
• Wiring of Main Connector (XA) Mains • Apply the voltage designated Wiring to Connector, X7
Residual on the nameplate from the • Monitor output
Circuit Breaker (MCCB) current device power source.
To protect power supply line from Symmetric current should be 5000 Handle lever
overloading, install a wiring circuit
Arms or below. Use this for connector
If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, connection. Store this Setup support software “PANATERM”
use a current-limiting device (e.g. after connection for other Please download from our web site.
power supply. current-limiting fuse, current-limiting occasions.
circuit breaker or transformer).
Noise Filter (NF) (Refer to P.B20 Wiring to Connector, X1
Removes external noise from the power Wiring to Connector, XA for connection.) • Connection to PC or host controller
lines. And reduces an effect of the noise • Connection to input power
Wiring to Connector, X2
generated by the servo driver. L1 (Pin-5)
• Connection to RS232, RS485
L2 (Pin-4) or host controller
Magnetic Contactor (MC)
Turns on/off the main power of the L3 (Pin-3) Wiring to Connector, X3
servo driver. L1C (Pin-2) • Connection to Safety by-pass plug
English
Use coil surge suppression units L2C (Pin-1) Charg lamp (Refer to P.B25)
together with this. (Red LED)*1
• Never start nor stop the servo
Short circuit wire Wiring to Connector, X4
motor with this Magnetic Contactor. (B2-B3)
• Connection to host controller
Reactor (L) U-phase
Reduces harmonic current of the main (red) Wiring to Connector, X5
power. V-phase
• Connection to external scale
(white)
W-phase Wiring to Connector, X6
• Wiring of Motor Connector (XB) Wiring to Connector, XB (black) • Connection to encoder
* These colors Ground Ground
Pin B1 (6-pin), B2 (4-pin), and • Connection to external components are used for terminal Remarks
(earth)
B3 (5-pin) B1 (Pin-6)
optional cable.
• X1 to X7 are used for the
• B2 and B3 to be kept shorted for Junction cable for encoder secondary circuit. To connect
B2 (Pin-4)
normal operation (For C-frame these terminals to the primary
and D-frame). power supply (particularly, 24
Junction cable for motor VDC power supply for brake),
• When you connect an external Regenerative resistor (optional)
Wiring to Connector, XB insulation is required.
regenerative resistor, disconnect a Remarks Do not connect these terminals
• Connection to motor driving phase
short circuit wire between B2 and • When you use an external regenerative and ground to the same power supply.
B3 (For C-frame and D-frame), then resistor, install an external protective Junction cable
connect the external regenerative apparatus, such as thermal fuse without for brake
resistor between B1 and B2, set up fail.
Pr0.16 to 1 or 2. • Thermal fuse and thermostat are built in to
the regenerative resistor (Option). If the
Note thermal fuse is activated, it will not
DC Power supply
Note that no regenerative resistor is resume. for brake
equipped in Frame A and B type. • Mount the regenerative resistor on *1 Do not make displacement, wiring or inspection DC24V
incombustible material such as metal. while the LED is lit - cause of electric shock. (to be supplied by customer)
− B8 − − B9 −
Connecting Example of E-frame : High voltage PC (to be supplied by customer)
• Wiring of Main Connector (XA) Mains • Apply the voltage designated Wiring to Connector, X7
Residual on the nameplate from the • Monitor output
To protect power supply line from Symmetric current should be 5000 Handle lever
Arms or below. Use this for connector
overloading, install a wiring circuit If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, connection. Store this Setup support software “PANATERM”
use a current-limiting device (e.g. after connection for other Please download from our web site.
power supply. current-limiting fuse, current-limiting occasions.
Noise Filter (NF) (Refer to P.B20 Wiring to Connector, X1
Removes external noise from the power Wiring to Connector, XA for connection.) • Connection to PC or host controller
lines. And reduces an effect of the noise • Connection to input power Wiring to Connector, X2
generated by the servo driver. L1 (Pin-5)
• Connection to RS232, RS485
L2 (Pin-4) or host controller
Magnetic Contactor (MC)
Turns on/off the main power of the L3 (Pin-3) Wiring to Connector, X3
servo driver. L1C (Pin-2) • Connection to Safety by-pass plug
English
Use coil surge suppression units L2C (Pin-1)
(Refer to P.B25)
together with this.
• Never start nor stop the servo Short circuit wire
motor with this Magnetic Contactor. (B2-B3) Wiring to Connector, X4
Reactor (L) U-phase • Connection to host controller
(red)
Reduces harmonic current of the main V-phase Wiring to Connector, X5
power. (white) • Connection to external scale
W-phase
• Wiring of Motor Connector (XC) (black) Wiring to Connector, X6
Wiring to Connector, XC * These colors • Connection to encoder
Pin B1 (4-pin), B2 (2-pin), and • Connection to external components are used for
optional cable. Charg lamp
B3 (3-pin) (Red LED)*1
Remarks
B1 (Pin-6) Ground
• B2 and B3 to be kept shorted for • X1 to X7 are used for
B2 (Pin-4) terminal Ground Junction cable
normal operation. (earth) the secondary circuit.
for encoder To connect these
• When you connect an external
terminals to the primary
regenerative resistor, disconnect a Regenerative resistor (optional) power supply
Junction cable for motor
short circuit wire between B2 and Remarks (particularly, 24 VDC
B3, then connect the external Wiring to Connector, XB power supply for brake),
• When you use an external regenerative • Connection to motor driving phase
regenerative resistor between B1 insulation is required.
resistor, install an external protective and ground Do not connect these
and B2, set up Pr0.16 to 1 or 2. apparatus, such as thermal fuse without
Junction cable for brake terminals to the same
fail. power supply.
• Thermal fuse and thermostat are built in to
the regenerative resistor (Option). If the
thermal fuse is activated, it will not DC Power supply
resume. for brake
• Mount the regenerative resistor on DC24V (to be supplied by customer)
incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
− B10 − − B11 −
Overall Wiring (Terminal block type)
Overall Wiring (Terminal block type)
Connecting Example of F-frame : High voltage PC (to be supplied by customer)
• Wiring of Main Connector Mains • Apply the voltage designated

Residual on the nameplate from the
To protect power supply line from Symmetric current should be 5000
Arms or below. Wiring to Connector, X7 Setup support software “PANATERM”
overloading, install a wiring circuit If the short-circuit current on the
breaker rated to the capacity of the power source exceeds this value, • Monitor output Please download from our web site.
use a current-limiting device (e.g.
power supply. current-limiting fuse, current-limiting Wiring to Connector, X1
Noise Filter (NF) • Connection to PC or host controller
Removes external noise from the Connection with input
power lines. And reduces an effect power supply Wiring to Connector, X2
of the noise generated by the servo L1 • Connection to RS232, RS485
driver. or host controller
L2
Magnetic Contactor (MC) L3 Wiring to Connector, X3
L1C • Connection to Safety by-pass plug
Turns on/off the main power of the
(Refer to P.B25)
English
servo driver. L2C
Use coil surge suppression units
Short bar Wiring to Connector, X4
together with this.
(B2-B3) • Connection to host controller
• Never start nor stop the servo
motor with this Magnetic U-phase Wiring to Connector, X5
Contactor. (red) • Connection to external scale
V-phase
Reactor (L) (white) Wiring to Connector, X6
Reduces harmonic current of the W-phase
(black) • Connection to encoder
main power.
Connection to external * These colors
components are used for Remarks
optional cable. Junction cable
• X1 to X7 are used for
for encoder
Pin B1, B2 and B3 B1 the secondary circuit.
To connect these
• B2 and B3 to be kept shorted B2 Ground Ground Charg lamp
terminal (earth) terminals to the
for normal operation. (Red LED)*1 primary power supply
• When you connect an external (particularly, 24 VDC
Regenerative resistor (optional)
regenerative resistor, disconnect Junction cable for motor power supply for
a short bar between B2 and B3, Remarks Connection to motor driving brake), insulation is
• When you use an external regenerative required.
then connect the external phase and ground
resistor, install an external protective Do not connect these
regenerative resistor between B1 Junction cable for brake terminals to the same
and B2, set up Pr0.16 to 1 or 2. apparatus, such as thermal fuse without
power supply.
fail.
Pin NC • Thermal fuse and thermostat are built in to
• Do not connect anything. the regenerative resistor (Option). If the
thermal fuse is activated, it will not DC Power supply for brake
resume. DC24V
(to be supplied by customer)
• Mount the regenerative resistor on
incombustible material such as metal. *1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
− B12 − − B13 −
Driver and List of Applicable Peripheral Equipments
Driver and List of Applicable Peripheral Equipments
Noise Surge
Rated Diameter Crimp Diameter and
Crimp
terminal
Diameter
and
Diameter Reference page Noise filter........................P.B43 “Composition of Peripheral Equipments”
Required Circuit Noise operating and terminal withstand and
for control withstand
Surge absorber................P.B45 “Composition of Peripheral Equipments”
Applicable Rated Power breaker filter absorber current of withstand for main voltage withstand
Driver Voltage filter for power voltage
load) (current) (
3-phase ) ( ) voltage of circuit of control voltage
(rated
motor output at the rated Single phase Single phase magnetic supply of motor
*1 ／／
3-phase
signal
( contactor Contact
) main circuit terminal power
terminal cable
of brake
configuration cable block supply cable
block *2
cable
Noise filter for signal........P.B46 “Composition of Peripheral Equipments”
Single
50W to approx.
phase,
100W 0.4kVA
DV0P4170 DV0P4190 Motor/brake connector.....P.B23 “Wiring of connector for motor and brake”
100V
MADH MSME
Single/
approx.
DV0P4170 DV0P4190 • About circuit breaker and magnetic contactor
50W to
To comply to EC Directives, install a circuit breaker between the power and
／
3-phase, ／
200W 0.5kVA DV0PM
200V DV0P1450
20042
Single
0.28mm2/ the noise filter without fail, and the circuit breaker should conform to IEC
approx. AWG22
phase,
100V
200W
0.5kVA
10A DV0P4170 DV0P4190
20A
0.75mm2/
AWG18
to Standards and UL recognized (Listed and marked).
MBDH MSME
Single/
DV0P4170 DV0P4190 (3P+1a) 600VAC
0.75mm2/
AWG18
Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetri-
cal amperes, below the maximum input voltage of the product.
approx. ／ or more
3-phase, 400W ／
100VAC
0.9kVA DV0PM
200V DV0P1450
Connection to exclusive connector
Connection to exclusive connector

20042 or more
Single
approx.
0.75mm2/ Remarks Select a circuit breaker and noise filter which match to the capacity of pow-
phase, 400W DV0P4190 AWG18
100V
0.9kVA
DV0PM
DV0P1460
600VAC er supply (including a load condition).
MCDH MSME
Single/
3-phase, 750W
approx.
20042 or more 2.0mm2/
AWG14 • Terminal block and ground terminals
200V
1.3kVA
15A 600VAC
or more
• Use a copper conductor cables with temperature rating of 75˚C or higher.
MDME
MHME
1.0kW
approx.
1.8kVA • Use the attached exclusive connector for A to E-frame, and maintain the peeled off
approx. DV0P4190 length of 8 to 9mm. (Refer to P.B19)
English
MGME 0.9kW
1.8kVA
Single/ approx.
／
DV0P1450 30A
• Fastening torque list (Terminal block screw/Terminal cover fastening screw)
MDDH MSME 3-phase, 1.0kW DV0P4220
1.8kVA
200V
(3P+1a)
Terminal block Terminal cover
MHME
20A 2.0mm2/ Driver
MDME approx.
AWG14 screw fastening screw
1.5kW 600VAC
MFME 2.3kVA Fastening Fastening
or more Nominal Nominal
MSME Frame Terminal name torque torque
size size
MDME
approx. DV0P1460 0.75mm2/
(N•m) (*1) (N•m) (*1)
MSME 2.0kW RJ8035
3-phase, 3.3kVA DV0PM 60A AWG18 F200V L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W M5 1.0 to 1.7 M3 0.19 to 0.21
MEDH MHME
200V
30A
20043
DV0P1450 Recommended
( component ) (3P+1a) 600VAC
approx. or more 0.75mm2/
MFME 2.5kW
3.8kVA
*3
AWG18 • Fastening torque list (Ground terminal screw/Connector to host controller (X4))
approx. 100VAC
MGME 2.0kＷ
3.8kVA or more Terminal block Connector to host
MDME 60A screw controller (X4)
MHME approx. (3P+1a) Driver frame Fastening Fastening
3.0kＷ
4.5kVA Nominal Nominal
MSME 11mm or 11mm or
torque torque
MGME
smaller smaller
size size
MDME
DV0P1460 3.5mm2/ 0.75mm2/ 3.5mm2/ (N•m) (*1) (N•m) (*1)
approx. RJ8035 AWG12 AWG18 AWG12
3-phase,
MFDH MHME
200V
4.0kＷ
6.0kVA
50A DV0P3410 DV0P1450 Recommended
( component ) 600VAC
ø5.3
600VAC
ø5.3
600VAC
A to E M4 0.7 to 0.8
MSME or more
Terminal
or more
Terminal
or more M2.6 0.3 to 0.35
approx.
*3 block block F M5 1.4 to 1.6
MFME 100A M5 M5
4.5kＷ 6.8kVA
MGME
(3P+1a)
(*1)
MDME approx. • Applying fastening torque larger than the maximum value may result in damage to the
MHME 5.0kＷ 7.5kVA
MSME
product.
• Do not turn on power without tightening all terminal block screws properly.
*1 Select peripheral equipments for single/3phase common specification according to the power
• Do not turn on power without tightening all terminal block screws properly, otherwise,
source.
loose contacts may generate heat (smoking, firing).
*2 The diameter of the ground cable must be equal to, or larger than that of the motor cable.
• To check for looseness, conduct periodic inspection of fastening torque once a year.
*3 Use these products to suit an international standard.
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 −
Wiring of the Main Circuit (Connector type)
Wiring of the Main Circuit (Connector type)
A to D-frame, 100 V / 200 V type E-frame, 200 V type

• Wiring should be performed by a specialist or an authorized personnel. • Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed. • 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. • Never touch the power connector (XA, XB and XC) to which high voltage is applied.
There is a risk of electric shock. There is a risk of electric shock.
• Tips on Wiring • Tips on Wiring
1) Wire connector (XA and XB). 1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver. 2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks. Fully insert the connector to the bottom until it clicks.
• Check the name plate of the driver for power • Check the name plate of the driver for power
specifications. specifications.
• Provide a residual current device. The residual • Provide a residual current device. The residual
current device to be the one designed for current device to be the one designed for
"Inverter" and is equipped with countermeasures "Inverter" and is equipped with countermeasures
for harmonics. for harmonics.
• Provide a circuit breaker. Power RCD MCCB
5 L1 • Provide a circuit breaker.
5 L1
• Make sure to provide a noise filter. supply
NF MC L
4 L2 • Make sure to provide a noise filter.
• Provide coil surge suppression units to the coil of • Provide coil surge suppression units to the coil of
Power RCD MCCB 3
English
L3
supply
NF MC L
4 L2 the Magnetic Contactor recommended by the Magnetic Contactor recommended by
3 L3
manufacturer. 2 L1C manufacturer.
Never start/stop the motor with this Magnetic Never start/stop the motor with this Magnetic
2 L1C Contactor.
1 L2C
Contactor.
XA
1 L2C • Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
• Provide an AC Reactor.
• Connect L1 and L1C, and L3 and L2C at single
XA phase use (100V and 200V), and don't use L2.
4 B1
phase use (100V and 200V), and don't use L2.
External regenerative
External
regenerative • Match the colors of the motor lead wires to those of resistor 3 B3
resistor 6 B1
the corresponding motor output terminals (U,V,W). 2 B2
• Don't disconnect the shorting cable between B2 and
B3. Disconnect this only when the external
5 B3 • Don't disconnect the shorting cable between B2 and 1 NC regenerative register is used.
B3 (C and D frame type). Shorting cable is not
4 B2
required for A and B frame. Disconnect this only
XC • Do not connect anything to NC.
Red
U
3 U when the external regenerative register is used. Red
U
3 U
• Match the colors of the motor lead wires to those of
the corresponding motor output terminals (U,V,W).
White
V 2 V • Avoid shorting and grounding. Don't connect
the main power. V 2 V • Avoid shorting and grounding. Don't connect the
W
1 W
• Earth-ground this.
White
1 W main power.
Black XB W
• To prevent electric shock, be sure to connect the Black XB • Earth-ground this.
Green or E ground terminal ( ) of the driver, and the ground • To prevent electric shock, be sure to connect the
Green/yellow Green
E
terminal (ground plate) of the control panel. ground terminal ( ) of the driver, and the ground
* These colors terminal (ground plate) of the control panel.
are used for
• The ground terminal ( ) must not be shared with * These colors
optional cable. other equipment. are used for • The ground terminal ( ) must not be shared with
Motor Two ground terminals are provided. Motor
optional cable. other equipment. Two ground terminals are provided.
Ground resistance: 100 Ω max. • Don't connect the earth cable to other inserting Ground resistance: 100 Ω max. • Don't connect the earth cable to other inserting
For applicable wire, slot, nor make them touch. For applicable wire, refer to P.B14. slot, nor make them touch.
refer to P.B14.
• Compose a duplex Brake Control Circuit so that the • Compose a duplex Brake Control Circuit so that the
DC DC power supply brake can also be activated by an external brake can also be activated by an external
immediate stop signal. DC DC power supply immediate stop signal.
24V for brake 24V for brake
• The holding Brake has no polarity. • The holding Brake has no polarity.
• For the capacity of the holding brake and how to • For the capacity of the holding brake and how to use
Varistor use it, refer to P.B48, "Specifications of Built-in Varistor it, refer to P.B48, "Specifications of Built-in Holding
Holding Brake". Brake".
Fuse (125 V 10 A) Fuse (125 V 10 A)
• Provide a varistor. • Provide a varistor.
Connect a 10A fuse in series with the varistor. Connect a 10A fuse in series with the varistor.
− B16 − − B17 −
Wiring of the Main Circuit (Terminal block type) Wiring method to connector
F-frame, 200 V type • Follow the procedures below for the wiring connection to the Connector XA , XB and XC .
• Wiring should be performed by a specialist or an authorized personnel. How to connect
• 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 1. Peel off the insulation cover of the cable. 8 to 9 mm
shock. • For single wire (Please obey the length in figure.)
• Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover. • For stranded wires (ferrules must be used as illustrated below).
2) Make wiring Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)
Use clamp type terminals of round shape with insulation cover for wiring to the ter- 1) Peel off the sheath so that the conduc-
minal block. For cable diameter and size, refer to “Driver and List of Applicable Pe- tor portion of the cable will protrude from ① A＞B A B
ripheral Equipments” (P.B14). the tip of the ferrule. (It should protrude 1
Tighten the terminal block screw with a torque between 1.0 and 1.7 N•m. mm or more from the ferrule.)
3) Attach the terminal cover, and fix with screws.
2) Insert the cable into the ferrule and crimp 1mm or more
Tighten the screw securing the cover with a torque written on P.B15. ②
it with an appropriate crimping tool.
• Check the name plate of the driver for power
specifications. 3) After crimping, cut off the cable conduc-
• Provide a residual current device. The residual current tor portion protruding from the ferrule. ③
English
device to be the one designed for "Inverter" and is (The allowable protruding length after
L1 equipped with countermeasures for harmonics. cutting should be 0 to 0.5 mm.)
Power RCD MCCB NF • Provide a circuit breaker.
supply
MC L L2
• Make sure to provide a noise filter. • Part No. of the crimping tool:
L3 • Provide coil surge suppression units to the coil of the CRIMPFOX U-D66 (1204436) Available from Phoenix Contact, Ltd.
Magnetic Contactor recommended by manufacturer.
L1C Never start/stop the motor with this Magnetic Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.)
Contactor. Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.)
L2C
• Provide an AC Reactor. 1) Peel off the sheath of the cable conduc-
B1 ① A≧B A≦B＋C
• Don't disconnect the short bar between B1 and B2. tor portion to the length equal to that of A B C
External regenerative Disconnect this only when an external regenerative
resistor
B3 sheath on the ferrule.
register is used.
B2 • Do not connect anything to NC. 2) Insert the cable into the ferrule and crimp
NC • Match the colors of the motor lead wires to those of the it with an appropriate crimping tool.
U
corresponding motor output terminals (U,V,W). • Part No. of the crimping tool: YNT-1614 ②
Red U • Avoid shorting and grounding.
Available from J.S.T. Mfg. Co., Ltd
V Don't connect the main power.
White V
• Earth-ground this. <Cables Compatible with Connector>
W
Black W • To prevent electric shock, be sure to connect the ground Conductor Size AWG18 to 12
Green
E terminal ( ) of the driver, and the ground terminal Sheath Outline φ2.1 to φ4.2mm
(ground plate) of the control panel. <Recommended Connector Bar Terminal>
* These colors • The ground terminal ( ) must not be shared with other
are used for equipment. Conductor Size AWG18
Motor optional cable. Terminal Model Number AI0.75-8GY (Phoenix Contact, Ltd.)
Two ground terminals are provided.
• Don't connect the earth cable to other inserting slot, Conductor Size AWG16 to 14
Ground resistance: 100 Ω max. nor make them touch. Terminal Model Number VTUB-2 or NTUB-2 (J.S.T. Mfg. Co., Ltd)
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 Caution • When peeling off the sheath of the cable, take care not to damage
DC power
DC supply stop signal. other portions.
24V • The holding Brake has no polarity. • When crimping the ferrule, sufficiently check the status of the ferrule
for brake
• For the capacity of the holding brake and how to use it,
and cable. If the conductors of the cable stick out from the insulation
Varistor refer to P.B48, "Specifications of Built-in Holding Brake".
• Provide a varistor. cover or protrude excessively from the tip of the ferrule, accidents such
Fuse (125 V 10 A) • Connect a 10A fuse in series with the varistor. as an electric shock and fire from a short circuit may result.
− B18 − − B19 −
3. System Configuration and Wiring
Wiring method to connector 3. System Configuration and Wiring
Wiring Diagram
2. Insert the cable to the connector in the following 2 methods. Compose the circuit so that the main circuit power will be shut off when an error occurs.
(a) Insert the cable using the supplied handle lever.
In Case of Single Phase, A to D-frame, 100 V / 200 V type
(b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm).
Power supply Single phase, 100V –15% to 120V +10% Single phase, 200V –15% to 240V +10%
(a) Using handle lever Built-in thermostat of an external
Remarks regenerative resistor (light yellow)
MC
1 2 3 When you use single phase, ON OFF ALM
connect the main power Coil surge suppression units
between L1 and L3 terminals.
MCCB L XA
Noise filter
L1
Main power
L2 supply
L3
MC L1C Control power
L2C supply
XB
External regenerative resistor B1
Attach the handle lever Insert the peeled cable Release the lever. B3
Remove the short wire when you connect
to the handling slot on while pressing down the the external regenerative resistor. Red
B2
(C, D-Frame) U
the upper portion. Press lever, until it hits the * These colors
White
Black
V
Motor
connection
are used for
down the lever to push insertion slot (round optional cable. Green or Green/Yellow
W
down the spring. hole).
English
* You can pull out the cable by pushing down the spring as the above.
Motor
ALM
X4
37
Insulated + ALM+
DC12 to 24V
(b) Using screw driver (±5%) − 36
ALM−
1 2 3
In Case of 3-Phase, A to D-frame, 200 V type
Power supply 3-phase, 200V –15% to 240V +10%
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
ON OFF ALM
Coil surge suppression units
Press the screw driver Insert the peeled cable Release the screw MCCB L XA
to the handling slot on while pressing down the driver.
Noise filter
L1
Main power
the upper portion to screw driver, until it hits L2
L3
supply
push down the spring. the insertion slot (round MC L1C Control power
supply
hole). L2C
XB
B3
Caution • Take off the connector from the Servo Driver before making connec- Remove the short wire when you connect
the external regenerative resistor. Red
B2
(C, D-Frame) U
tion. * These colors
White
Black
V
Motor
connection
are used for W
• Insert only one cable into each one of cable insertion slot. optional cable. Green or Green/Yellow
• Pay attention to injury by screw driver. Motor

ALM
X4
37
Insulated + ALM+
DC12 to 24V
− 36
(±5%) ALM−
Note For wiring the motor connector, refer to P.B23.
− B20 − − B21 −
Wiring Diagram 3. System Configuration and Wiring
Wiring of connector for motor and brake
Compose the circuit so that the main circuit power will be shut off when an error occurs. • When the motors of <MSME (50 W to 750 W)> are used, they are connected as
shown below.
In Case of 3-Phase, E-frame, 200 V type
Connector: Made by Japan Aviation Electronics Industry, Ltd.
Power supply 3-phase, 200V –15% to 230V +10% (The figures below show connectors for the motor.)
regenerative resistor (light yellow)
ON OFF ALM
MC <Motor> <Brake>
Coil surge suppression units PE
PIN No. Application 2 PIN No. Application
MCCB
Noise filter
L XA
3 1 U-phase 1 Brake
L1
L2
Main power 2 2 V-phase 2 Brake
supply
L3 3 W-phase Tightening torque of
MC L1C Control power 1
L2C supply PE Ground 1 the screw (M2)
XC Tightening torque of 0.19 to 0.21 N·m
B3 JN8AT04NJ1 the screw (M2) JN4AT02PJ1-R
Remove the short wire when you connect
the external regenerative resistor. B2 0.085 to 0.095 N·m
NC
(screwed to plastic)
Red XB
* These colors White
U
V
Motor * Be sure to use only the screw supplied with the connector, to avoid damage.
Black connection
are used for
optional cable.
W
Green
• When the motors of <MSME (1.0 kW to 5.0 kW), MDME, MFME, MGME, MHME>
English
Motor ALM are used, they are connected as shown below.
X4
Connector: Made by Japan Aviation Electronics Industry, Ltd.
37
Insulated + ALM+
DC12 to 24V
(±5%) − 36
ALM− (The figures below show connectors for the motor.)
<without Brake> <with Brake>
In Case of 3-Phase, F-frame, 200 V type G H A A B C G H A A B C
F I B D E F F I B D E F
Power supply 3-phase, 200V –15% to 230V +10%
regenerative resistor (light yellow) E D C G H I E D C G H I
MC
ON ALM
OFF JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
Coil surge suppression units
PIN No. Application PIN No. Application PIN No. Application PIN No. Application
L
MCCB
G NC A NC G Brake A Brake
Noise filter
L1
Main power
L2 supply H NC B NC H Brake B Brake
L3
MC L1C Control power A NC C NC A NC C NC
supply
L2C
F U-phase D U-phase F U-phase D U-phase
B3 I V-phase E V-phase I V-phase E V-phase
Remove the short wire when you connect B2
the external regenerative resistor.
NC
B W-phase F W-phase B W-phase F W-phase
Red
White
U
Motor
E Ground G Ground E Ground G Ground
V
* These colors
are used for Black
W
connection D Ground H Ground D Ground H Ground
optional cable. Green
C NC I NC C NC I NC
Motor ALM
37
X4 D A PIN No. Application
Insulated + ALM+
DC12 to 24V
−
A U-phase
(±5%) 36
ALM−
C B B V-phase
C W-phase
Remarks
JL04V-2E20-4PE-B-R D Ground
Note For wiring the motor connector, refer to P.B23. JL04HV-2E22-22PE-B-R Do not connect anything to NC.
− B22 − − B23 −
Wiring to the connector, X1 Wiring to the connector, X3
This is used for USB connection to a personal computer. It is possible to change the A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-
parameter setting and perform monitoring. mal times.
When controlling the safety function from the connected host controller, accessory
Application Symbol Connector Contents
Pin No. connector cannot be used. Prepare and wire the connector (option) as specified be-
VBUS 1 low. Since the standard connector cannot be used when controlling the safety function
Use for communication with personal
D− 2 from the host controller, purchase the optional connector and make connection as
computer.
USB signal terminal D＋ 3 shown below.
— 4 Do not connect.
Pin No.
GND 5 Connected to ground of control circuit.
– 1
Caution Use commercially available USB mini-B connector for the driver. NC Do not connect.
– 2
SF1− 3
Safety input 1
These are two independent circuits that
SF1+ 4
turn off the operation signal to the power
SF2− 5
module to shut off the motor current.
English
Wiring to the connector, X2 Safety input 2
SF2+ 6
This is used for connection to the host controller when two or more units are used. EDM− 7 This is an output for monitoring the failure
EDM output
RS232 and RS485 interfaces are supplied. EDM+ 8 of the safety function.
Connected with protective earth terminal in
Application Symbol Connector Contents Frame ground FG Shell
Pin No. the servo driver.
Signal ground GND 1 Connected to ground of control circuit. Connector (plug): 2013595-1 (optional, available from Tyco Electronics AMP)
NC – 2 Do not connect. [Connector pin assignment]
TXD 3 RS232 8 6 4 2
RS232 signal 7 5 3 1 (Viewed from cable)
RXD 4 The transmission / reception method.
485− 5
485+ 6 RS485
RS485 signal
485− 7 The transmission / reception method.
485+ 8
Connected with protective earth terminal in
Frame ground FG Shell
the servo driver.
Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)
[Connector pin assignment]
8 6 4 2
7 5 3 1 (Viewed from cable)
Remarks 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.
Do not connect these terminals to the same power supply. Caution Disconnecting this connector during operation results in immediate stop.
− B24 − − B25 −
In case of open collector I/F (1) When you use the external
7 COM+ 2.2kΩ 1
Command pulse OPC1 resistor with 12V and 24V
Remarks
inhibition input 33 4.7kΩ 2.2kΩ 3
Deviation counter
INH PULS1 power supply
clear input 30 220Ω 4
CL PULS2 2.2kΩ PULS1 3
Servo-ON input 2.2kΩ 2 Command
29 SRV-ON OPC2
pulse PULS2 4 R
Gain switching input 27 2.2kΩ 5
GAIN SIGN1 input A 220Ω
Electronic gear 220Ω 2.2kΩ SIGN1 5
switching input 1 6 (Use with
28 DIV1 SIGN2 VDC
Damping control 500 kpps or less.)
13 SIGN2 6 R
switching input 1 GND 220Ω
26 VS-SEL1
Control mode
switching input 32 C-MODE 21
OA+ A-phase
Alarm clear input 31 A-CLR 22 output Specifications VDC -1.5 .
Positive direction OA- VDC =10mA
over-travel inhibition input 9 of R R+220 .
POT 48
Negative direction OB+ B-phase 12V 1kΩ1/2W
over-travel inhibition input 8 49 output
NOT 24V 2kΩ1/2W
OB-
Divider
Servo-Ready output 23
35 S-RDY+ OZ+ Z-phase (2) When you do not use the
24 output external resistor with 24V
Wiring to the connector, X4
34 S-RDY- OZ-
Servo-Alarm output power supply
37 ALM+
36 2.2kΩ OPC1 1
ALM- 2.2kΩ
Positioning complete output 39 25 PULS2 4
VDC INP+ GND
Z-phase output 220Ω
12 to 24V 38 INP- 2.2kΩ OPC1 2
19 (open collector)
− B26 −
External brake release output 11 CZ 2.2kΩ 24VDC
BRKOFF+ SIGN2 6
10 BRKOFF- 220Ω
Torque in-limit output 40 TLC 20kΩ
47kΩ 47kΩ
Wiring Example of Position Control Mode
–
+
Zero speed detection output ( : Twisted pair)
12 ZSP 47kΩ 47kΩ 14
SPR/TRQR/SPL
20kΩ
41 COM- 15
GND

– 20kΩ 20kΩ 14kΩ 16
44 2kΩ 20kΩ + Positive direction torque limit input
PULSH1 P-ATL/TRQR
120Ω 10kΩ 17
45 GND
(0 to +10V)
PULSH2 2kΩ 20kΩ – 20kΩ 20kΩ 14kΩ
46 2kΩ 20kΩ 18
SIGNH1 N-ATL Negative direction torque limit input
10kΩ
47 SIGNH2 120Ω (-10 to +10V)
2kΩ 20kΩ 1kΩ 43
13 GND SP Velocity monitor output
1kΩ 42
Command pulse input B 50 FG IM Torque monitor output
(Use with 4Mpps or less.)
X4 The functions of the following pin can be changed using parameters.
Be sure to connect. Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
7 COM+
Remarks
Selection 1 input of
internal command speed 33 INTSPD1 4.7kΩ
internal command speed 30 INTSPD2
Servo-ON input 29 SRV-ON
Gain switching input 27 GAIN
internal command speed 28 INTSPD3 21
Speed zero clamp input 26 OA+
ZEROSPD 22 A-phase output
Control mode switching OA-
input 32 C-MODE 48
Alarm clear input OB+
31 A-CLR
49 B-phase output
Positive direction OB-

Divider
over-travel inhibition input 9 POT 23

Negative direction OZ+
over-travel inhibition input 8 Z-phase output
NOT 24
OZ-
Servo-Ready output 35 S-RDY+
34 S-RDY-
Servo alarm output 37 25
ALM+ GND
36 ALM- 19 Z-phase output (open collector)
At-speed output CZ
VDC 39 AT-SPEED+
12 to 24V
− B27 −
38 AT-SPEED-
External brake release output 11 20kΩ

BRKOFF+ 47kΩ 47kΩ
–
10 BRKOFF- +
Torque in-limit output 47kΩ 47kΩ 14

40 SPR/TRQR/SPL Velocity command
Wiring Example of Velocity Control Mode
TLC
20kΩ input (0 to ± 10V)
GND 15
– 20kΩ 20kΩ 14kΩ
+
Zero speed detection output 12 16
ZSP P-ATL/TRQR Positive direction torque
10kΩ 17
41 COM- GND limit input (0 to ± 10V)
–
20kΩ 20kΩ 14kΩ

+
N-ATL 18 Negative direction torque
10kΩ
limit input (-10 to 0V)
1kΩ 43
SP Velocity monitor output
1kΩ 42
50 FG IM Torque monitor output
X4 ( : Twisted pair)
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
X1 to X7 are used for the secondary circuit. To connect these terminals to the primary
English
Wiring to the connector, X4 3. System Configuration and Wiring
Wiring Example of Torque Control Mode Connect on to External Scale
Wiring example when control mode Pr0.01=5 or Pr3.17=1

Provide a power supply for the external scale on your part or use the following power
Negative direction torque

velocity limit input (0 to ±10V)
limit input (0 to ±10V)

output (250mA or less).
Torque command input or
Select with Pr3.17.
: Twisted pair)
Pin No.
Supply the power of external
A-phase
B-phase
Z-phase
EX5V 1
output
output
output
scale or A, B, Z phase encoder.
Power supply output
Connected to ground of control
(
EX0V 2
Velocity monitor output

Torque monitor output
19 Z-phase output (open collector)
circuit.
16
17
EXPS 3 Serial signal
CCWTL/TRQR
GND
I/F of external scale signals The transmission / reception
/EXPS 4
method.
EXA 5
/EXA 6
21
22
48
49
23
24
25
14
15
P-ATL/TRQR 16
17
N-ATL 18
43
42
Parallel signal
English
SPR/TRQR/SPL
EXB 7 reception
GND
GND
GND
OB+
OZ+
A, B, Z phase Endoder
OA+
OA-
OZ-
OB-
SP
CZ
IM
signal input /EXB 8 Correspondence speed :
1kΩ
1kΩ
10kΩ
10kΩ
20kΩ 20kΩ 14kΩ
20kΩ 20kΩ 14kΩ

47kΩ
47kΩ
EXZ 9 4Mpps (after quadruple)

47kΩ
47kΩ
20kΩ
Divider /EXZ 10
20kΩ
+
–
+
–
X4
Connected with ground terminal
Frame ground FG Shell
in the servo driver.
The functions of the following pin can be changed using parameters.
4.7kΩ
Connector (plug): MUF-PK10K-X (by J.S.T. Mfg. Co., Ltd.)

• Caution
11 BRKOFF+
39 AT-SPEED+
10 BRKOFF-
35 S-RDY+
38 AT-SPEED-
32 C-MODE
29 SRV-ON
34 S-RDY-
26 ZEROSPD
31 A-CLR
7 COM+
41 COM-
ALM+
ALM-
27 GAIN
28 DIV1
NOT
9 POT
ZSP
TLC
INH
FG
CL
1) The manufacturers applicable external scales for this product are as follows.
• Mitutoyo Corp.
33
30
37
36
40
Zero speed detection output 12
50
Output: 10-11, 12, 34-35, 36-37, 38-39, 40

Input: 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
• Magnescale Co., Ltd.

over-travel inhibition input
over-travel inhibition input
External brake release output

Speed zero clamp
Gain switching input
Alarm clear input

Servo-ON input
For the details of the external scale product, contact each company.
Negative direction
Servo-Ready output
Torque in-limit output

Positive direction
Servo-Alarm output
switching input
At-speed output
Control mode
2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160

input
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 larg-
er scale ratio may result in larger noise.
12 to 24V
VDC
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks 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. power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.
− B28 − − B29 −
Connection to Encoder
• In case of 20-bit incremental encoder • In case of 17-bit absolute encoder
MSME 50W to 750W MSME 50W to 750W

X6 X6
+5V
E5V 6 1
E5V 6 1 +5V
Regulator
Regulator
E5V E5V
E0V 3 2
E0V
0V E0V 3 2
E0V
0V
3 5 battery 3
BAT+
4 2 4
BAT−
7 5 7 5
PS PS PS PS
4 6 4 6
PS PS PS PS
1 1
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN6FR07SM1 Connector: JN6FR07SM1
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.)
Motor Encoder cable Driver Motor Encoder cable Driver
Caution • Tighten the motor connector mounting screw (M2) [Connector pin assignment] Caution • Tighten the motor connector mounting screw (M2) [Connector pin assignment]
English
with a torque between 0.19 and 0.21 N•m. 1 with a torque between 0.19 and 0.21 N•m. 1
5 5
To avoid damage, be sure to use only the screw 2 To avoid damage, be sure to use only the screw 2
6 6
3 3
supplied with the connector. 7 supplied with the connector. 7
4 (Viewed from cable) 4 (Viewed from cable)
• Do not remove the gasket supplied with the • Do not remove the gasket supplied with the
junction cable connector. Securely install the junction cable connector. Securely install the
gasket in place. Otherwise, the degree of gasket in place. Otherwise, the degree of
protection of IP67 will not be guaranteed. protection of IP67 will not be guaranteed.
MSME 1.0kW to 5.0kW X6 MSME 1.0kW to 5.0kW X6

+5V
E5V 4 1
E5V 4 1 +5V
Regulator
Regulator
MDME 1.0kW to 5.0kW E5V MDME 1.0kW to 5.0kW E5V
E0V 1 2
E0V
0V E0V 1 2
E0V
0V
MFME 1.5kW to 4.5kW 3 MFME 1.5kW to 4.5kW 6 battery 3
BAT+
MGME 0.9kW to 4.5kW 4 MGME 0.9kW to 4.5kW 5 4
BAT−
3 5 3 5
MHME 1.0kW to 5.0kW PS PS MHME 1.0kW to 5.0kW PS PS
7 6 7 6
PS PS PS PS
9 9
FG Shell (FG) FG Shell (FG)
Twisted pair Twisted pair
Connector: JN2DS10SL1-R Connector: JN2DS10SL1-R
(by Japan Aviation Electronics Ind.) (by Japan Aviation Electronics Ind.)
Motor Encoder cable Driver Motor Encoder cable Driver
Remarks X1 to X7 are used for the secondary circuit. To connect these terminals to the primary Remarks 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. power supply (particularly, the 24 VDC power supply for brake), insulation is required.
Do not connect these terminals to the same power supply. Do not connect these terminals to the same power supply.
− B30 − − B31 −
3. System Configuration and Wiring 4. Parameter
Wiring to the connector, X7 Outline / Setup / Connection
The connector X7 of the front panel is for monitor output. Outline of Parameter
　Analogue output : 2 systems
This driver is equipped with various parameters to set up its characteristics and func-
　Digital output : 1 systems
tions. This section describes the function and purpose of each parameter. Read and
In both cases, it is possible to switch the output signal by setting parameters.
comprehend very well so that you can adjust this driver in optimum condition for your
Output circuit running requirements.
Connector X7 1kΩ AM1 1
• You can refer and set up the parameter with either one of the following.
1kΩ
Manufacturer’s part No.: AM2 2 Measuring
1) front panel of the driver
2.2kΩ instrument
6 1
530140610 DM 4
2) combination of the setup support software, "PANATERM" and PC.
GND 3
Manufacturer:
X7
Japan Molex Inc. Setup with the Front Panel
Pin No. Display LED (6-digit)
Analogue monitor • Output the analogue signal for Switch to error display screen when error
AM1 1 monitor.
output 1 occurs, and LED will flash (about 2Hz).
English
• The amplitude of the output signal is LED will flash slowly (about 1Hz) when
±10 V.
warning occurs.
Analogue monitor • Output impedance is 1 kΩ. When
AM2 2 connecting a measuring instrument, Mode switching button
output 2 6 1
check its input circuit for impedance (valid at SELECTION display)
matching. Press this to switch 4 kinds of mode.
X7 1) Monitor Mode
Signal ground GND 3 Connected to ground of control circuit.
2) Parameter Set up Mode
• Output the digital signal for monitor. 3) EEPROM Write Mode
• Output voltage is CMOS level
4) Auxiliary Function Mode
compatible.
Digital monitor output DM 4 • Output impedance is 2.2 kΩ. When SET Button (valid at any time)
connecting a measuring instrument, Press this to switch SELECTION and
check its input circuit for impedance EXECUTION display.
matching.
Press these to change display and data,
NC – 5 Do not connect. Shifting of the digit for data select parameters and execute actions.
changing to higher digit. (Change/Selection/Execution is valid to the
NC – 6 Do not connect.
digit which decimal point flashes.)
X7 Numerical value increases by pressing, ,
Output connector for monitor
decreases by pressing .
− B32 − − B33 −
4. Parameter
Outline / Setup / Connection 4. Parameter
Composition of Parameters
Setup with the PC • 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).
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 Parametr No.
Class name Group
“PANATERM” from our web site and installing it on your personal computer will allow Class No.*
you to perform the following easily.
0 00 to Basic setting Parameter for Basic setting
• With the PANATERM, you can execute the followings.
1 00 to Gain adjustment Parameter for Gain adjustment
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O, pulse input and load factor. 2 00 to Damping control Parameter for Damping control
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. Verocity/ Torque/
3 00 to Parameter for Verocity/ Torque/ Full-closed control
Full-closed control
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system. 4 00 to I/F monitor setting Parameter for I/F monitor setting
Note Because no production software such as CD-ROM is available, down- 5 00 to Enhancing setting Parameter for Enhancing setting
English
load the setup support software from our web site and install it on your
personal computer. 6 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 −
5. Protective Functions 5. Protective Functions
Protective Function (What Is Error Code ?)
Protective Function (What Is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the Error code Attribute
Protective function
motor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open). Main Sub History Can be cleared Immediate stop
• Error status and their measures 3 IF input function number error 2 protection ○
4 IF output function number error 1 protection ○
• During the error status, the error code No. will be displayed on the front panel
33 5 IF output function number error 2 protection ○
LED, and you cannot turn Servo-ON.
6 CL fitting error protection ○
• You can clear the error status by Alarm clear input(A-CLR) in 120ms or longer. 7 INH fitting error protection ○
• When overload protection is triggered, you can clear it by Alarm clear input(A- 34 0 Software limit protection ○ ○
CLR) in 10sec or longer after the error occurs. You can clear the Overload protec- 36 0 to 2 EEPROM parameter error protection
tion time characteristics (refer to P.B40, 41) by turning off the control power supply 37 0 to 2 EEPROM check code error protection
between L1C and L2C (100V, 200V) of the driver.*1 38 0 Over-travel inhibit input protection ○
• You can clear the above error by operating the front panel keys and setup support 0 Analog input1 excess protection ○ ○ ○
softwear "PANATERM". 39 1 Analog input2 excess protection ○ ○ ○
• Be sure to clear the alarm during stop after removing the cause of the error and 2 Analog input3 excess protection ○ ○ ○
40 0 Absolute system down error protection ○ ○
securing safety.
41 0 Absolute counter over error protection ○
• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).
42 0 Absolute over-speed error protection ○ ○
English
<List of error code No.> 43 0 Initialization failure ○
Error code Attribute 44 0 Absolute single turn counter error protection ○
Protective function
Main Sub History Can be cleared Immediate stop 45 0 Absolute multi-turn counter error protection ○
11 0 Control power supply under- voltage protection ○ 47 0 Absolute status error protection ○
12 0 Over-voltage protection ○ ○ 48 0 Encoder Z-phase error protection ○
0 Main power supply under-voltage protection (between P to N) ○ 49 0 Encoder CS signal error protection ○
13
1 Main power supply under-voltage protection (AC interception detection) ○
0 Feedback scale connection error protection ○
0 Over-current protection ○ 50
14 1 Feedback scale communication error protection ○
1 IPM error protection ○
0 Feedback scale status 0 error protection ○
15 0 Over-heat protection ○ ○
16 0 Over-load protection ○ ○*1
0 Over-regeneration load protection ○ ○ 51
18 3 Feedback scale status 3 error protection ○
1 Over-regeneration Tr error protection ○
0 Encoder communication disconnect error protection ○ 4 Feedback scale status 4 error protection ○
21 5 Feedback scale status 5 error protection ○
1 Encoder communication error protection ○
23 0 Encoder communication data error protection ○ 0 A-phase connection error protection ○
24 0 Position deviation excess protection ○ ○ ○ 55 1 B-phase connection error protection ○
25 0 Hybrid deviation excess error protection ○ ○ 2 Z-phase connection error protection ○
0 Over-speed protection ○ ○ ○ 87 0 Compulsory alarm input protection ○
26
1 2nd over-speed protection ○ ○ 95 0 Motor automatic recognition error protection
0 Command pulse input frequency error protection ○ ○ ○ Other number Other error ○
27
2 Command pulse multiplier error protection ○ ○ ○
Note History...The error will be stored in the error history.
28 0 Limit of pulse replay error protection ○ ○ ○
Can be cleared...To cancel the error, use the alarm clear input (A-CLR).
29 0 Deviation counter overflow protection ○ ○ If the alarm clear input is not effective, turn off power, remove the cause of the
30 0 Safety detection ○ error and then turn on power again.
0 IF overlaps allocation error 1 protection ○ Immediate stop...Instantaneous controlled stop upon occurrence of an error.
33 1 IF overlaps allocation error 2 protection ○ (Setting of “Pr.5.10 Sequence at alarm” is also required.)
2 IF input function number error 1 protection ○
− B36 − − B37 −
6. Maintenance and Inspections 6. Maintenance and Inspections
Maintenance and Inspections
Maintenance and Inspections
• Routine maintenance and inspection of the driver and motor are essential for Guideline for Parts Replacement
the proper and safe operation.
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
Notes on Maintenance and Inspection
error have occurred.
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 Disassembling for inspection and repair should be
power-off. Turn off the power and allow 15 minutes or longer after LED display of carried out only by authorized dealers or service
the front panel has gone off, before performing maintenance and inspection. Prohibited company.
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 Standard replacement
Product Component Note
driver. cycles (hour)
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because Smoothing condenser Approx. 5 years
they can discolor or damage the exterior case.
2 to 3 years
Cooling fan
(10,000 to 30,000 hours)
Inspection Items and Cycles
English
General and normal running condition Aluminum electrolytic
Approx. 5 years
capacitor (on PCB)
Ambient conditions : 30˚C (annual average), load factor of 80% or Driver
Approx. 100,000 times
lower, operating hours of 20 hours or less per day. Rush current
(depending on working
preventive relay
Perform the daily and periodical inspection as per the items below. condition)
These hours or cycles
Type Cycles Items to be inspected Approx. 20,000 times
Rush current are reference.
(depending on working
• Ambient temperature, humidity, speck, dust or foreign object preventive resistor When you experience
condition)
• Abnormal vibration and noise any error, replacement
• Main circuit voltage 3 to 5 years is required even before
Bearing
• Odor (20,000 to 30,000 hours) this standard replace-
Daily • Lint or other particles at air holes ment cycle.
Daily Oil seal 5000 hours
inspection • Cleanness at front portion of the driver and connector
• Damage of the cables 3 to 5 years
Encoder
• Loose connection or misalignment between the motor and (20,000 to 30,000 hours)
Motor
machine or equipment Life time varies depending
• Pinching of foreign object at the load on working conditions.
• Loose tightening Battery Refer to the Operating
Periodical • Trace of overheat for absolute encoder Instructions attached to
Annual the battery for absolute
inspection • Damage to the terminal block
• Loose fasteners on terminal block encoder.
Note Inspection cycle may change when the running conditions of the
above change.
− B38 − − B39 −
7. Conformity to EC Directives and UL Standards 7. Conformity to EC Directives and UL Standards
EC Directives / Conformity to 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 func- MSME 50W Time [s]
tions and have been exported to EU and directly sold to general consumers. Those MSME 100W（100V） 100
products are required to conform to the EU unified standards and to furnish the CE MSME 100W（200V）
marking on the products.
MSME 200W 10
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment MSME 400W
so that the machine or equipment comprising our AC servos can meet EC Directives. MSME 750W
1
MSME 1.0kW∼5.0kW
EMC Directives MDME 1.0kW∼5.0kW
MINAS Servo System conforms to relevant standard under EMC Directives setting up MFME 1.5kW∼4.5kW 0.1
115
certain model (condition) with certain locating distance and wiring of the servo motor MGME 0.9kW∼4.5kW 100 200 300 400 500
and the driver. And actual working condition often differs from this model condition es- Torque [%]
MHME 1.0kW∼5.0kW
pecially in wiring and grounding. Therefore, in order for the machine to conform to the
EMC Directives, especially for noise emission and noise terminal voltage, it is neces-
Conformed Standards
English
sary to examine the machine incorporating our servos.
Driver Motor
Conformity to UL Standards EMC
EN55011
EN61000-6-2 –
Observe the following conditions of (1) and (2) to make the system conform to UL508C Directives
EN61800-3
(File No. E164620). Low-Voltage IEC60034-1
EN61800-5-1
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in Directives IEC60034-5
EC Directives EN954-1 (Cat. 3)
IEC60664-1. (e.g. Install in the control box with IP54 enclosure.)
ISO13849-1 (PL c, d*)(Cat. 3)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed Functional EN61508 (SIL 2)
–
marked) between the power supply and the noise filter. safety EN62061 (SIL 2)
For the rated current of the circuit breaker or fuse, refer to P.B14, "Driver and List EN61800-5-2 (STO)
IEC61326-3-1
of Applicable Peripheral Equipments" of Preparation. UL1004-1
Use a copper cable with temperature rating of 75˚C or higher. (E327868 : 50W to 750W)
UL Standards UL508C (File No.E164620)
(3) Over-load protection level UL1004
Over-load protective function will be activated when the effective current exceeds (E327868 : 0.9kW to 5.0kW)
115% or more than the rated current based on the time characteristics (see the CSA Standards C22.2 No.14 C22.2 No.100
next page). Confirm that the effective current of the driver does not exceed the IEC : International Electrotechnical Commission
EN : Europaischen Normen
rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque EMC : Electromagnetic Compatibility
limit) and Pr5.22 (Setup 2nd torque limit). UL : Underwriters Laboratories
CSA : Canadian Standards Association
(4) Motor over-temperature protection is not provided.
Pursuant to the directive 2004/108/EC, article 9(2)
Motor over-load-temperature protection shall be provided at the final installation Panasonic Testing Centre
upon required by the NEC (National Electric Code). 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 − − B41 −
Composition of Peripheral Equipments
Composition of Peripheral Equipments
Installation Environment Noise Filter

Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC- When you install one noise filter at the power supply for multi-axes application, consult with
60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) manufacturer of the noise filter. If sufficient noise margin is required, connect 2 filters in series.
Metallic control box • Optional parts
Power Noise filter for signal lines *1 Driver Voltage specifications Manufacturer’s Applicable
supply XA Option part No. Manufacturer
Residual Noise filter for for driver part No. driver (frame)
current Circuit L1
Noise filter L2
XB signal lines Motor DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A and B-frame Okaya Electric Ind.
device breaker U
(RCD) L3
V M 100.0±2.0 Terminal cover
L1C W 88.0 (transparent)
Surge L2C RE 7.0
75.0
5.0
53.1±1.0
absorber X6
Noise filter for signal lines
X3 Circuit diagram
IN OUT
Noise filter for signal lines Noise filter for
X4 signal lines 1 L L 3
2.0 Cy
Insulated power supply
12.0
R
50.0
60.0
Cx Cx
LABEL
for interface Cy
10.0
Safety 2 4
Controller controller
English
(11.6)
2–ø4.5 x 6.75 2–ø4.5 6-M4
(13.0) [Unit: mm]
Ground (PE)
*1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines <Power supply cable> Voltage specifications Manufacturer’s Applicable
Option part No. Manufacturer
for driver part No. driver (frame)
Caution Use options correctly after reading Operating Instructions of the options
3-phase 200V A, B-frame
to better understand the precautions. DV0PM20042 Single phase 100V/200V 3SUP-HU10-ER-6
Take care not to apply excessive stress to each optional part. C-frame
3-phase 200V Okaya Electric Ind.
DV0P4220 Single/ 3-phase 200V 3SUP-HU30-ER-6 D-frame
Power Supply DV0PM20043 3-phase 200V 3SUP-HU50-ER-6 E-frame
+10% +10% <DV0PM20042, DV0P4220> <DV0PM20043>
100V type : Single phase, 100V to 120V 50/60Hz H
–15% –15% A A
Earth
(A to C-frame) B H B terminal
+10% +10% C C M4
200V type : Single/3-phase, 200V to 240V 50/60Hz
–15% –15% Earth terminal
(A to D-frame) M4
+10% +10%
F
200V type : 3-phase, 200V to 230V 50/60Hz
–15% –15%
10
F
LABEL LABEL
D
E
D
E
(E, F-frame)
(1) This product is designed to be used in over-voltage category (installation category) Screw for cover
M3
Screw for
cover
III of EN 61800-5-1:2007. M4
M5
M3
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies
Cover
with EN60950. Cover
G
G
Body Body
Circuit Breaker
[Size] [Unit: mm] Circuit IN OUT
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed 1 L1 4
A B C D E F G H diagram
and marked) between power supply and noise filter. DV0PM20042 115 105 95 70 43 10 52 5.5 2 5
Integral solid state short circuit protection does not provide branch circuit protection. DV0P4220 145 135 125 70 50 10 52 5.5 3 6
Branch circuit protection must be provided in accordance with the National Electrical DV0PM20043 165 136 165 90 80 40 54 5.5
R Cx1 Cx1
For single phase application, use 2 terminals among 3 terminals,
Code and any additional local codes. leaving the remaining terminal unconnected. Cy1
− B42 − − B43 −
Composition of Peripheral Equipments Composition of Peripheral Equipments
Option part No.

Voltage specifications Manufacturer’s Applicable
Manufacturer Surge Absorber
for driver part No. driver (frame)
DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. Provide a surge absorber for the primary side of noise filter.
Voltage specifications Manufacturer’s
286±3.0
Circuit diagram Option part No. Manufacturer
270
IN OUT for driver part No.
2-ø5.5 x 7 255±1.0 2-ø5.5
150 240 DV0P1450 3-phase 200V R・A・V-781BXZ-4 Okaya Electric Ind.
1 4
6-6M
5.5±1
2
(13) (18)
5
11±1
ø4.2±0.2 [Unit: mm] Circuit diagram
90±1.0
120
L A B E L
3 6
1 2 3
28.5±1
[Unit: mm]
• Recommended components UL-1015 AWG16
+30
200 -0
Voltage specifications Current Applicable
Model No. Manufacturer
for driver rating (A) driver (frame)
4.5±0.5
1 2 3
28±1
RTHN-5010 10 A, B, C-frame
Single phase 100V/200V
RTHN-5030 30 D-frame TDK-Lambda Corp. 41±1
3-phase 200V
English
RTHN-5050 50 E, F-frame
<RTHN-5010> <RTHN-5030> Voltage specifications Manufacturer’s

210±2
195±1
240±2
225±1 for driver part No.
DV0P4190 Single phase 100V/200V R・A・V-781BWZ-4 Okaya Electric Ind.
18.5±1 18.5±1
10±1
10±1
18.5±1 18.5±1
95±2
78±1
105±2
85±1
4.5±1
5.5±1
4.5±1
11±1
[Unit: mm]
M4 6-M4 M4 6-M4
ø4.2±0.2 Circuit diagram
4.5 4.5
50±2 55±2 1 2
28.5±1
UL-1015 AWG16
<RTHN-5050>
+30
200 -0
300±2
280±1
4.5±0.5
1 2
28±1
12.5±1
21±1 21±1
128±2
102±1
41±1
5.5±1
6-M5
M4
5.5
68±2
Remarks • 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 − − B45 −
Composition of Peripheral Equipments Composition of Peripheral Equipments
Noise Filter for Signal Lines Residual current device

Install noise filters for signal lines to all cables (power cable, motor cable, encoder Install a type B Residual current device (RCD) at primary side of the power supply.
cable and interface cable)
Grounding
• Optional parts
<24V Power cable, Encoder cable, Interface cable and USB cable> (1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driv-
Manufacturer’s
er, and the ground terminal (PE) of the control panel.
part No. (2) The ground terminal ( ) must not be shared with other equipment. Two ground
DV0P1460 ZCAT3035-1330 TDK Corp. terminals are provided.
39±1 [Unit: mm] Note For driver and applicable peripheral equipments, refer to P.B12 "Driver
34±1
Mass: 62.8g Remarks To connect the noise filter to and List of Applicable Peripheral Equipments" .
the connector XB
connection cable, adjust the
sheath length at the tip of
13±1
30±1
the cable, as required.
English
Caution Fix the signal line noise filter in order to prevent excessive stress to the
cables.
• Recommended components
<Power cable>
Manufacturer’s
Manufacturer
part No.
RJ8035 KK-CORP.CO.JP
[Unit: mm]
107
130
200
180
34
7 R3.5
− B46 − − B47 −
8. Built-in Holding Brake 8. Built-in Holding Brake
Outline / Specifications
Outline / Specifications
In the applications where the motor drives the vertical axis, this brake would be used Specifications of Built-in Holding Brake
to hold and prevent the work (moving load) from falling by gravity while the power to
Static Exciting
the servo is shut off. Rotor Engaging Releasing Permissible Permissible Permissible
Motor Motor friction current Releasing
inertia time time work (J) per total work angular
series output torque DC A voltage acceleration
Use this built-in brake for "Holding" purpose only, that is to hold the stalling x 10–4 kg·m2 ms ms one braking x 103J rad/s2
N·m (at cool-off)
status. Never use this for "Brake" purpose to stop the load in motion. 50W, 100W 0.29 or more 0.002 35 or less 20 or less 0.3
DC1V
39.2 4.9
200W, 400W 1.27 or more 0.018 50 or less 15 or less 0.36 137 44.1 30000
or more
750W 2.45 or more 0.075 70 or less 20 or less 0.42 196 147
Output Timing of BRK-OFF Signal 1.0kW, 1.5kW,
MSME 7.8 or more 50 or less 15 or less
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo- 2.0kW 0.33 0.81 392 490
(100) DC2V
3.0kW 11.8 or more 80 or less 10000
Alarm while the motor is in motion, refer to the Operating Instructions (Overall). or more
110 or 50 or less
• With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in 4.0kW, 5.0kW 16.2 or more 1.35 0.9 1470 2200
less (130)
motion), you can set up a time between when the motor enters to a free-run from 70 or less
1.0kW 4.9 or more 80 or less 0.59 588 780
energized status and when BRK-OFF signal turns off (brake will be engaged), when (200)
100 or
the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating 1.5kW, 2.0kW 13.7 or more 1.35
less 50 or less
0.79 1176 1500 10000
DC2V
Instructions (Overall) for the details. MDME
English
110 or (130) or more
3.0kW 16.2 or more 0.9 1470 2200
less
Note 1. The lining sound of the brake (chattering and etc.) might be generated 25 or less
while running the motor with built-in brake, however this does not af- 4.0kW, 5.0kW 24.5 or more 4.7 80 or less 1.3 1372 2900 5440
(200)
fect any functionality. 1.5kW 7.8 or more 4.7 80 or less 35 or less 0.83 1372 2900
DC2V
2. Magnetic flux might be generated through the motor shaft while the MFME 2.5kW 21.6 or more 150 or 100 or 1500 10000
8.75 0.75 or more 1470
4.5kW 31.4 or more less less 2200
brake coil is energized (brake is open). Pay an extra attention when
100 or 50 or less
magnetic sensors are used nearby the motor. 900W 13.7 or more 1.35 0.79 1176 1500 10000
less (130)
25 or less
2.0kW 24.5 or more 80 or less 1.3 DC2V
MGME (200)
or more 5440
4.7 50 or less 1372 2900
3.0kW 150 or
58.8 or more (130) 1.4
less
4.5kW 50 or less 5000
70 or less
1.0kW 4.9 or more 80 or less 0.59 588 780
(200)
1.35 10000
100 or 50 or less DC2V
MHME 1.5kW 13.7 or more 0.79 1176 1500
less (130) or more
2.0kW to 25 or less
24.5 or more 4.7 80 or less 1.3 1372 2900 5440
5.0kW (200)
• 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) rep-
resent 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 an-
gular acceleration is more than 10 million times. (Life end is defined as when the brake
backlash drastically changes.)
− B48 − − B49 −
9. Dynamic Brake 10. Check of the Combination of the Driver and the Motor
Outline Incremental Specifications, 20-bit
This driver is designed to be used in a combination with the motor which are specified
This driver is equipped with a dynamic brake for emergency stop.
by us. Check the series name of the motor, rated output torque, voltage specifications
Pay a special attention to the followings. and encoder specifications.
Caution 1.Dynamic brake is only for emergency stop. Caution Do not use in other combinations than those listed below.
Do not start/stop the motor by turning on/off the Servo-ON Motor Driver
signal (SRV-ON). Power Rated rotational Rated
Type Model Model Frame
supply speed output
Otherwise it may damage the dynamic brake circuit of the MSME5AZG1* 50W MADHT1105
driver. A-frame
Single phase, MSME011G1* 100W MADHT1107
100V MSME021G1* 200W MBDHT2110 B-frame
The Motor becomes a dynamo when driven externally and MSME041G1* 400W MCDHT3120 C-frame
short circuit current occurred while dynamic brake is activat- MSME5AZG1* 50W
MADHT1505
MSME012G1* 100W A-frame
ed may cause smoking or fire.
Single/ MSME022G1* 200W MADHT1507
MSME
3-phase, 3000r/min MSME042G1* 400W MBDHT2510 B-frame
2. Dynamic brake is a short-duration rating, and designed for only Low inertia
200V MSME082G1* 750W MCDHT3520 C-frame
emergency stop. Allow approx. 10 minutes pause when the dynamic
English
MSME102G□* 1.0kW
MDDHT5540 D-frame
brake is activated during high-speed running. MSME152G□* 1.5kW
(F-frame(200V) built-in dynamic brake resistor is capable of handling MSME202G□* 2.0kW MEDHT7364 E-frame
3-phase, MSME302G□* 3.0kW MFDHTA390
up to 3 continuous halts at the rated revolutions with max. permis-
200V MSME402G□* 4.0kW F-frame
sible inertia. When overheated under more critical operating condi- MFDHTB3A2
MSME502G□* 5.0kW
tions, the brake will blow out and should be replaced with a new Single/3-phase, MDME102G□* 1.0kW MDDHT3530
D-frame
one.) 200V MDME152G□* 1.5kW MDDHT5540
MDME MDME202G□* 2.0kW MEDHT7364 E-frame
2000r/min
• You can activate the dynamic brake in the following cases. 3-phase, Middle inertia MDME302G□* 3.0kW MFDHTA390
200V MDME402G□* 4.0kW F-frame
1) when the main power is turned off MFDHTB3A2
MDME502G□* 5.0kW
2) at Servo-OFF Single/3-phase,
MFME152G1* 1.5kW MDDHT5540 D-frame
3) when one of the protective function is activated. 200V MFME
2000r/min
4) when over-travel inhibit input (NOT, POT) of connector X4 is acti- 3-phase, Middle inertia MFME252G1* 2.5kW MEDHT7364 E-frame
200V MFME452G1* 4.5kW MFDHTB3A2 F-frame
vated
Single/3-phase,
In the above cases from 1) to 4), you can select either activation 200V
MGME092G□* 900W MDDHT5540 D-frame
MGME
of the dynamic brake or making the motor free-run during decel- 1000r/min MGME202G□* 2.0kW MFDHTA390
3-phase, Middle inertia
eration or after the stop, with parameter. MGME302G□* 3.0kW F-frame
200V MFDHTB3A2
MGME452G1* 4.5kW
Single/3-phase, MHME102G□* 1.0kW MDDHT3530
D-frame
200V MHME152G□* 1.5kW MDDHT5540
MHME MHME202G□* 2.0kW MEDHT7364 E-frame
2000r/min
3-phase, High inertia MHME302G□* 3.0kW MFDHTA390
200V MHME402G□* 4.0kW F-frame
MFDHTB3A2
MHME502G□* 5.0kW
Note • Suffix of “ □ ” in the applicable motor model represents design order.

• Suffix of “ * ” in the applicable motor model represents the motor structure.
− B50 − − B51 −
10. Check of the Combination of the Driver and the Motor 11. Specifications
Absolute Specifications, 17-bit Basic Specifications
This driver is designed to be used in a combination with the motor which are specified ＋ 10％
Main circuit Single phase, 100 to 120V 50/60Hz
by us. Check the series name of the motor, rated output torque, voltage specifications － 15％
100V
and encoder specifications. ＋ 10％
Control circuit Single phase, 100 to 120V 50/60Hz
Caution Do not use in other combinations than those listed below. － 15％
A to ＋ 10％
Input power
Motor Driver Single/3-phase, 200 to 240V 50/60Hz
Main D-frame － 15％
Power Rated rotational Rated
Type Model Model Frame circuit E to ＋ 10％
supply speed output 3-phase, 200 to 230V 50/60Hz
MSME5AZS1* 50W MADHT1105 F-frame － 15％
A-frame 200V
Single phase, MSME011S1* 100W MADHT1107 A to ＋ 10％
100V Single phase, 200 to 240V 50/60Hz
MSME021S1* 200W MBDHT2110 B-frame Control D-frame － 15％
MSME041S1* 400W MCDHT3120 C-frame circuit E to ＋ 10％
MSME5AZS1* 50W Single phase, 200 to 230V 50/60Hz
MADHT1505 F-frame － 15％
MSME012S1* 100W A-frame
Single/ MSME022S1* 200W MADHT1507 Control method IGBT PWM Sinusoidal wave drive
MSME
3-phase, 3000r/min MSME042S1* 400W MBDHT2510 B-frame 17-bit (131072 resolution) absolute encoder, 7-wire serial
Low inertia Encoder feedback
200V MSME082S1* 750W MCDHT3520 C-frame 20-bit (1048576 resolution) incremental encoder, 5-wire serial
MSME102S□* 1.0kW
MDDHT5540 D-frame A/B phase, initialization signal defferential input.
English
MSME152S□* 1.5kW
Manufacturers that support serial communication scale:
MSME202S□* 2.0kW MEDHT7364 E-frame External scale feedback
Mitsutoyo Corp.
3-phase, MSME302S□* 3.0kW MFDHTA390
200V
Magnescale Co., Ltd.
MSME402S□* 4.0kW F-frame
MFDHTB3A2 General purpose 10 inputs
MSME502S□* 5.0kW Input
Parallel I/O connector

Single/3-phase, MDME102S□* 1.0kW MDDHT3530 Control The function of general-purpose input is selected by parameters.
D-frame
200V MDME152S□* 1.5kW MDDHT5540 signal General purpose 6 outputs
MDME MDME202S□* 2.0kW MEDHT7364 E-frame Output
2000r/min The function of general-purpose input is selected by parameters.
3-phase, Middle inertia MDME302S□* 3.0kW MFDHTA390
Analog Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)
200V MDME402S□* 4.0kW F-frame
MFDHTB3A2 signal Output 2 outputs (Analog monitor: 2 output)
MDME502S□* 5.0kW
Single/3-phase, Pulse Input 2 inputs (Photo-coupler input, Line receiver input）
MFME152S1* 1.5kW MDDHT5540 D-frame
200V MFME signal
2000r/min Output 4 outputs ( Line driver: 3 output、open collector: 1 output)
3-phase, Middle inertia MFME252S1* 2.5kW MEDHT7364 E-frame
200V USB Connection with PC etc.
MFME452S1* 4.5kW MFDHTB3A2 F-frame Communication
Single/3-phase, RS232 1 : 1 communication
MGME092S□* 900W MDDHT5540 D-frame function
200V RS485 1 : n communication up to 31 axes to a host.
MGME
1000r/min MGME202S□* 2.0kW MFDHTA390
3-phase, Middle inertia Safety function Used for IEC61800-5-2: STO.
MGME302S□* 3.0kW F-frame
200V MFDHTB3A2 (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
MGME452S1* 4.5kW
Single/3-phase, MHME102S□* 1.0kW MDDHT3530 Front panel (3) Monitor connector (Analog monitor output (2ch), Digital
D-frame monitor output (1ch))
200V MHME152S□* 1.5kW MDDHT5540
MHME MHME202S□* 2.0kW MEDHT7364 E-frame A, B-frame:
2000r/min
3-phase, High inertia MHME302S□* 3.0kW MFDHTA390 no built-in regenerative resistor (external resistor only)
200V MHME402S□* 4.0kW F-frame Regeneration
MFDHTB3A2 C to F-frame:
MHME502S□* 5.0kW Built-in regenerative resistor (external resistor is also enabled.)
Note 1) • Suffix of “ □ ” in the applicable motor model represents design order. Dynamic brake Built-in
• Suffix of “ * “ in the applicable motor model represents the motor structure.
Switching among the following 7 mode is enabled,
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations. (1) Position control (2) Velocity control (3) Toque control
Control mode
a) Install a battery for absolute encoder. (4) Position/Velocity control (5) Position/Torque control
b) Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0". (6) Velocity/Torque control (7) Full-closed control
− B52 − − B53 −
11. Specifications 11. Specifications
Functions
Functions
(1) Deviation counter clear (2) Command pulse inhibition Control input Speed zero clamp, Torque command sign input etc.
Control input (3) Command dividing gradual increase switching Control output Speed arrival etc.
Torque control
(4) Damping control switching etc.
Torque command input can be provided by means of analog
Control output Positioning complete (In-position) etc. Analog Torque command voltage.
Max. command Exclusive interface for Photo-coupler: 500kpps input input Parameters are used for scale setting and command
pulse frequency Exclusive interface for line driver : 4Mpps polarity.
Input pulse Speed limit function Speed limit value with parameter is enabled.
Differential input
signal format (1) Deviation counter clear (2) Command pulse inhibition
Pulse
Position control
Electronic gear Control input (3) Command dividing gradual increase switching
input (Division/ (4) Damping control switching etc.
1/1000 to 1000 times
Multiplication of Control output Full-closed positioning complete etc.
command pulse)
Max. command Exclusive interface for Photo-coupler: 500kpps
Primary delay filter or FIR type filter is adaptable to the pulse frequency Exclusive interface for line driver : 4Mpps
Smoothing filter
command input
Input pulse
Torque limit Individual torque limit for both positive and negative direction Differential input
signal format
Full-closed control
Analog command input is enabled.
Pulse Electronic gear
English
input Torque feed input
Analog voltage can be used as torque feed forward input. (Division/
forward input 1/1000 to 1000 times
Multiplication of
Instantaneous Speed command pulse)
Available
Observer Primary delay filter or FIR type filter is adaptable to the
Smoothing filter
Damping Control Available command input
(1) Selection of internal velocity setup 1 Torque limit Individual torque limit for both positive and negative direction
(2) Selection of internal velocity setup 2 Analog command input is enabled.
Control input
(3) Selection of internal velocity setup 3 input Torque feed
(4) Speed zero clamp etc. Analog voltage can be used as torque feed forward input.
forward input
Control output Speed arrival etc. Setup range of division/
Speed command input can be provided by means of analog multiplication of 1/40 to 160 times
Velocity voltage. feedback scale
command input Parameters are used for scale setting and command The load inertia is identified in real time by the driving
Analog polarity. state of the motor operating according to the command
Velocity control
input Torque limit Individual torque limit for both positive and negative direction Auto tuning given by the controlling device and set up support software
command input is enabled. “PANATERM”. The gain is set automatically in accordance
Torque feed with the rigidity setting.
Analog voltage can be used as torque feed forward input. Common
forward input Division of encoder Set up of any value is enabled (encoder pulses count is the
Internal velocity command Switching the internal 8speed is enabled by command input. feedback pulse max.).
Individual setup of acceleration and deceleration is enabled, Over-voltage, under-voltage, over-speed, over-load,
Hard error
Soft-start/down function with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration Protective over-heat, over-current and encoder error etc.
is also enabled. function Excess position deviation, command pulse division error,
Soft error
Zero-speed clamp Speed zero clamp input is enabled. EEPROM error etc.
Instantaneous Speed Traceability of alarm data The alarm data history can be referred to.
Available
Observer
Velocity Control filter Available
− B54 − − B55 −
After-Sale Service (Repair)

Repair • 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
Consult to a dealer from whom you have purchased the product for details of repair.
damage to the internal parts, causing smoking and/or a fire and other trouble.
When the product is incorporated to the machine or equipment you have purchased,
• The user is responsible for matching between machine and components in terms
consult to the manufacturer or the dealer of the machine or equipment.
of configuration, dimensions, life expectancy, characteristics, when installing the
Cautions for Proper Use machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• Practical considerations for exporting the product or assembly containing the product
• The product will not be guaranteed when it is used outside its specification limits.
When the end user of the product or end use of the product is associated with mili-
• Parts are subject to minor change to improve performance.
tary 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 ex-
port formalities should be practiced.
Technical information
• This product is intended to be used with a general industrial product, but not de-
signed or manufactured to be used in a machine or system that may cause personal Technical information of this product (Operating Instructions, CAD data) can be
death when it is failed. downloaded from the following web site.
• Installation, wiring, operation, maintenance, etc., of the equipment should be done http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
English
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; under-
tightening 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 acci-
dent or loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and envi-
For your records:
ronments as nuclear energy control, aerospace, transportation, medical equipment,
The model number and serial number of this product can be found on either the back or the
various safety equipments or equipments which require a lesser air contamination.
bottom of the unit. Please note them in the space provided and keep for future reference.
• 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
Model No.
M □DH　　　　　　　　
Serial No.
electricity, or failure in input power, wiring and components may result in unexpected M □ME　　　　　　　　
action. It is highly recommended that you make a fail-safe design and secure the
Date of
safety in the operative range.
purchase
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion
to the bearing, depending on the condition of the machine and its mounting environ- Name
ment, and may result in the bearing noise. Checking and verification by customer is
required. Dealer Address
• 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 Phone ( ) -
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 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
poor contact connection. © Panasonic Corporation 2009
− B56 − − B57 −
MEMO MEMO
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212
© Panasonic Corporation 2009
Printed in China IMD88+A
Z0409-1111

IMD88 A5 e Basic PDF

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Operating Instructions (Basic)

AC Servo Motor & Driver

<Contents> page page

1. Introduction Contents of Name Plate

Connecting Example of A to D-frame : High voltage PC (to be supplied by customer)

Connecting Example of E-frame : High voltage PC (to be supplied by customer)

Connecting Example of F-frame : High voltage PC (to be supplied by customer)

• Wiring of Main Connector Mains • Apply the voltage designated

Connection to exclusive connector

Connection to exclusive connector

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

down the spring. hole).

• Pay attention to injury by screw driver. Motor

Note For wiring the motor connector, refer to P.B23.

Do not connect these terminals to the same power supply.

Positive direction OB-

over-travel inhibition input 9 POT 23

External brake release output 11 20kΩ

Torque in-limit output 47kΩ 47kΩ 14

20kΩ 20kΩ 14kΩ

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

Wiring Example of Torque Control Mode Connect on to External Scale

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

Negative direction torque

limit input (0 to ±10V)

Torque command input or

Select with Pr3.17.

Velocity monitor output

20kΩ 20kΩ 14kΩ

EXZ 9 4Mpps (after quadruple)

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

Zero speed detection output 12

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

• Magnescale Co., Ltd.

External brake release output

Alarm clear input

Torque in-limit output

2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160

MSME 50W to 750W MSME 50W to 750W

MSME 1.0kW to 5.0kW X6 MSME 1.0kW to 5.0kW X6

* The Parameter No. consists of 2 digits.

Setup support software “PANATERM”

EC Directives Overload protection time characteristics

Installation Environment Noise Filter

Option part No.

• Recommended components UL-1015 AWG16

<RTHN-5010> <RTHN-5030> Voltage specifications Manufacturer’s

Noise Filter for Signal Lines Residual current device

the cable, as required.

Note • Suffix of “ □ ” in the applicable motor model represents design order.

Parallel I/O connector

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