Panasonic a5 Operation Basic

Operating Instructions (Basic)AC Servo Motor & Driver

MINAS A5-series

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

ThankyouforpurchasingthisPanasonicproduct.

Beforeoperatingthisproduct,pleasereadtheinstructionscarefully,andsavethismanualforfutureuse.

1. Introduction ................................. B2OnOpeningtheProductPackage.................. B2CheckoftheDriverModel.............................. B2CheckoftheMotorModel............................... B3

2. Installation................................... B4Driver.............................................................. B4Motor............................................................... B6

3. System Configuration and Wiring ........................................... B8

OverallWiring(Connectortype)..................... B8OverallWiring(Terminalblocktype).................B10DriverandListofApplicablePeripheralEquipments.... B12WiringoftheMainCircuit(Connectortype)......... B14WiringoftheMainCircuit(Terminalblocktype)... B16Wiringmethodtoconnector............................. B17WiringDiagram............................................. B19Wiringofconnectorformotorandbrake...... B21WiringtotheConnector,X1......................... B22WiringtotheConnector,X2......................... B22WiringtotheConnector,X3......................... B23WiringtotheConnector,X4......................... B24

WiringtotheConnector,X5......................... B27WiringtotheConnector,X6......................... B28WiringtotheConnector,X7......................... B30

4. Parameter .................................. B31Outline/Setup/Connection......................... B31CompositionofParameters.......................... B33

5. Protective Functions ................ B34ProtectiveFunction(WhatIsErrorCode?)...... B34

6. Maintenance and Inspections .... B367. Conformity to EC Directives and UL Standards ..................... B38

CompositionofPeripheralEquipments........ B408. Built-in Holding Brake .............. B449. Dynamic Brake.......................... B4610. Check of the Combination of the Driver and the Motor ............ B47

Incremental Specifications, 20-bit............... B47 Absolute Specifications, 17-bit................... B48

11. Specifications ......................... B49After-Sale Service (Repair) .......... B52

page page

If you are the first user of this product, please be sure to read the downloaded OperatingInstructions(Overall)fromourWebSite.

[Web address of Motor Company, Panasonic Corporation]http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

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

IMD88

English

B2 B3

English

1. IntroductionCheck of the Driver Model

Contents of Name Plate

Model Designation

Model Designation

M A D H T 1 5 0 5Special specifications(letters and numbers)

Current detector rating

Power supply

Max. current rating of power deviceFrame-size symbol

MADHMBDHMCDHMDDHMEDHMFDH

FrameSymbolA5-series, A-frameA5-series, B-frameA5-series, C-frameA5-series, D-frameA5-series, E-frameA5-series, F-frame

T1T2T3T5T7TATB

CurrentratingSymbol

Specifications10A15A30A50A70A

100A150A

Symbol135

Single phase, 100V3-phase, 200VSingle/3-phase,200V

0507102030406490A2

Current ratingSymbol5A

7.5A10A20A30A40A64A90A

120A

1 to 4 75 to 6 10 to 128 to 9

Serial Numbere.g.) : 09 0 4 0001N

Lot numberMonth of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 20090401

Manufacture dateManufacture yearManufacture month

Model

Rated output

Rated inputvoltage/current

Rated frequencyRated

rotational speed

M S M E 5 A Z S 1 S1 to 4 5 to 6 11 to 127 8 9 10

Special specifications

Motor structure

Design order 1: Standard

Rotary encoder specifications

Voltage specificationsSpecifications

TypeSymbol

Low inertia(50W to 5.0kW)Middle inertia(1.0kW to 5.0kW)Middle inertia(900W to 3.0kW)High inertia(1.0kW to 5.0kW)

GS

IncrementalAbsolute

SpecificationsSymbol Format Pulse count

OutputMotor rated output Symbol

SpecificationsSymbol

Resolution5-wire7-wire

Wire count

Motor structureMSME (50W to 750W)

*1 The product with oil seal is a special order product. *2 Key way with center tap[Products are standard stock items or manufactured by order. For details, inquire the dealer.]

ABST

Shaft Holding brake Oil sealWithout WithRound Key way Without WithSymbol

MSME (1.0kW to 5.0kW), MDME, MGME, MHME

CDGH

Shaft Holding brake Oil sealWithout WithRound Key way Without WithSymbol*1

*2*2

MSME

MDME

MGME

MHME

5A0102040809101520304050

50W100W200W400W750W900W1.0kW1.5kW2.0kW3.0kW4.0kW5.0kW

12

Z

100 V200 V100/200 common(50W only)

20bit17bit

1,048,576131,072

1. IntroductionOn Opening the Product Package

Make sure that the model is what you have ordered.Checkiftheproductisdamagedornotduringtransportation.CheckiftheOperatingInstructions(safety)areincludedornot. Check if the power connector, motor connectors, connector for external regenerative

resistor connection (only E-frame) and safety by-pass plug are included or not. (Neither the power connector nor motor connector are included to F-frame.)

Contents of Name Plate

1. IntroductionCheck of the Motor Model

Model numberInput/output voltage

Rated output ofapplicable motor

Rated input/outputcurrent

Input/output frequency

Number of phase

Serial Numbere.g.) : P09040001N

Lot number Month of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 20090401

Manufacture dateManufacture yearManufacture month

B4 B5

English

2. InstallationDriver

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

Installation Place1)Install thedriver inacontrolpanelenclosed innoncombustiblematerialandplaced indoor

where the product is not subjected to rain or direct sunlight. The products are not waterproof.2) Where the products are not subjected to corrosive atmospheres such as hydrogen

sulfide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, al-kaline and salt and so on, and are free from splash of inflammable gas.

3) Where the motor is free from grinding oil, oil mist, iron powder or chips. 4) Well-ventilated and low humidity and dust-free place. 5) Vibration-free place.

Environmental ConditionsItem Conditions

Ambienttemperature 0C to 55C (free from freezing)Ambienthumidity 20%to85%RH(freefromcondensation)Storagetemperature*1 20C to 65C (Max.temperature guarantee: 80C for 72 hours)Storagehumidity 20%to85%RH(freefromcondensation)Vibration Lower than 5.88m/s2 (0.6G), 10 to 60HzAltitude Lower than 1000m

*1Extreme temperatures are permissible only for short period such as during transportation.How to Install

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

2) Base mount (rear mount) is standard for A/B/C/D-frame driver.3) To change the mounting surface of A/B/C/D-frame driver, use the optional mounting

fixture. For choosing the correct optional mounting fixture, refer to the Operating In-structions(Overall).

4)For the dimensions and mass of the product, which are necessary design data of the mounting section, refer to the dimensional outline drawing on the Operating In-structions (Overall) or the Delivery Specification.

2. InstallationDriver

Mounting Direction and SpacingReserveenoughsurroundingspaceforeffectivecooling.Installfanstoprovideuniformdistributionoftemperatureinthecontrolpanel. D/E/F frame is provided with a cooling fan at the bottom.Observetheenvironmentalconditionsofthecontrolpaneldescribedinthepreviouspage.

Fan Fan 100mmor more

100mmor more

40mmor

more40mm

ormore

10mmormore10mmormore

10mmormore

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

Control panel

Note It is recommended to use the conductive paint when you make your own mounting fixture, or repaint after peeling off the paint on the machine for installingtheproducts,inordertomakenoisecountermeasure.

Caution on InstallationWe have been making the best effort to ensure the highest quality, however, application

of exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommend-ed that you make a fail-safe design and secure the safety in the operative range.

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

Theremightbeachanceofsmokegenerationduetothefailureoftheseproducts.Pay an extra attention when you apply these products in a clean room environment.

Besuretogroundtheprotectiveearthterminal. If the product is grounded insufficiently, not only the driver may not deliver its perfor-

mance sufficiently, but also safety hazards such as a malfunction due to a electrifi-cationoradisturbancemaybecaused.

If electric wires are bound and run through metal duct, they cannot carry the rated currentduetotemperaturerise.Iftheyareforcedtocarrytheratedcurrent,theymayburn. When determining size of the wire, check the current decreasing coefficient by referringtotheOperatingInstructions(Overall).

A to D-frame E, F-frameBasemount (Standard)[Rear mount]

Frontmount[Use mounting fixture]

Front or Basemount[Use mounting fixture]

Mounting fixture(optional parts)

Mountingfixture(Attachment)Fastening torque of earth screws (M4)

to be 0.7 to 0.8 Nm. Fastening torque of earth screws (M5) to be 1.4 to 1.6 Nm.

B6 B7

English

2)Verticalmounting Use the motor with oil seal (make-to-order in case of motor 750W or less) when

mounting the motor with gear reducer to prevent the reducer oil/grease from enter-ingtothemotor.

3) For the dimensions and mass of the product, which are necessary design data of the mounting section, refer to the dimensional outline drawing on the Operating In-structions (Overall) or the Delivery Specification.

Oil/Water Protection1) Don't submerge the motor cable to water or oil.2) Install the motor with the cable outlet facing

downward.3) Avoid a place where the motor is always sub-

jected to oil or water.4) Use the motor with an oil seal when used with

thegearreducer,sothattheoilmaynotentertothemotorthroughshaft.

Stress to Cables1)Avoidastressapplicationtothecableoutletandconnectingportionbybendingor

self-weight.2) Especially in an application where the motor itself travels, fix the attached cable and

contain the extension junction cable into the bearer so that the stress by bending can be minimized.

3)Takethecablebendingradiusaslargeaspossible.(MinimumR20mm)

Permissible Load to Output Shaft1)Designthemechanicalsystemsothattheappliedradialloadand/orthrustloadto

themotor shaft at installationandatnormaloperationcanmeet thepermissiblevalue specified to each model.

2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damagetheshaftordeterioratethebearinglife.)

3)Use a flexible coupling with high stiffness designed exclusively for servo application in order tomakearadialthrustcausedbymicromisalignmentsmallerthanthepermissiblevalue.

Notes on Installation1)Donotapplydirect impact to theshaftbyhammer

while attaching/detaching a coupling to and from themotorshaft.

(Or itmaydamage theencodermountedon theothersideoftheshaft.)

2)Makeafullalignment.(incompletealignmentmaycausevibrationanddamagethebearing.)3)If themotorshaft isnotelectricallygrounded, itmaycauseelectrolyticcorrosion to

thebearingdependingontheconditionofthemachineanditsmountingenvironment,and may result in the bearing noise. Check and verification by customer is required.

2. InstallationMotor

2. InstallationMotor

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

Installation PlaceSince the conditions of location affect a lot to the motor life, select a place which meets the conditions below.1) Indoors, where the products are not subjected to rain or direct sun beam. The prod-

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

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.

3) Where the motor is free from grinding oil, oil mist, iron powder or chips.4) Well-ventilated and humid and dust-free place, far apart from the heat source such

asafurnace.5) Easy-to-access place for inspection and cleaning6) Vibration-free place.7)Avoidenclosedplace.Motormaygetshotinthoseenclosureandshortenthemotorlife.

Environmental ConditionsItem Conditions

Ambienttemperature*1 0C to 40C (free from freezing) Ambienthumidity 20%to85%RH(freefromcondensation)Storagetemperature*2 20C to 65C (Max.temperature guarantee: 80C for 72 hours)Storagehumidity 20%to85%RH(freefromcondensation)Vibration Motoronly Lower than 49m/s2(5G)atrunning,24.5m/s2(2.5G)atstallImpact Motoronly Lower than 98m/s2(10G)

Enclosurerating

Motoronly(Connectortype)

IP67 (except rotating portion of output shaft and connecting pin partofthemotorconnectorandtheencoderconnector)*3*4

Altitude Lower than 1000m *1 Ambient temperature to be measured at 5cm away from the motor.*2Permissibletemperatureforshortdurationsuchastransportation.*3Thesemotors conform to the test conditions specified inENstandards (EN60529,

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

*4 This condition is applied when the connector mounting screw in case of motor 750W or lessare tightened to the recommended tightening torque (Refer toP.B21,28,29).Besure to use mounting screw supplied with the connector.

How to InstallYou can mount the motor either horizontally or vertically as long as you observe the followings.1) Horizontal mounting Mount the motor with cable outlet facing downward for water/oil countermeasure.

Cable Motor

Oil / Water

Motor

B8 B9

English

Junction cable for brake

: High voltage

Wiring of Main Connector (XA)

Wiring of Motor Connector (XB)

Regenerative resistor (optional)

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

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

Mount the regenerative resistor on incombustible material such as metal.

PC (to be supplied by customer)

Setup support software PANATERMPlease download from our web site.

L1 (Pin-5)L2 (Pin-4)L3 (Pin-3)L1C (Pin-2)L2C (Pin-1)

Charg lamp(LED)*1

Ground(earth)

Protective earthterminals

Connection to input powerWiring to Connector, XA

Monitor outputWiring to Connector, X7

Connection to PC or host controllerWiring to Connector, X1

Connection to RS232, RS485 or host controller

Wiring to Connector, X2

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


Connection to host controllerWiring to Connector, X4

Connection to feedback scaleWiring to Connector, X5

Connection to encoderWiring to Connector, X6

Connection to external componentsWiring to Connector, XB

Connection to motor driving phase and ground

Wiring to Connector, XB

Handle leverUse this for connector connection. Store this after connection for other occa-sions. (Refer to P.B18 for connection.)

Remarks

Junction cable for encoderJunction cable for motor

Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression unitstogether with this. Never start nor stop the servo

motor with this Magnetic Contactor.

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

DC Power supply for brakeDC24V(to be supplied by customer)

Pin B1 (6-pin), B2 (4-pin), andB3 (5-pin) B2 and B3 to be kept shorted for

normal operation. When you connect an external

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

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

Short circuit wire(B2-B3)U-phase(red)V-phase(white)W-phase(black)B1 (Pin-6)

B2 (Pin-4)

Note

MainsResidual

current device

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

3. System Configuration and WiringOverall Wiring (Connector type)

3. System Configuration and WiringOverall Wiring (Connector type)

Connecting Example of A to D-frame

B10 B11

English

: High voltage

Setup support software PANATERMPlease download from our web site.

Connection with input power supply

Connection to external components

Connection to motor driving phase and ground

Short bar(B2-B3)

B1B2

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

L3L2L1

L2CL1C

Ground(earth)

Charg lamp(LED)*1

Junction cable for brake

DC Power supply for brakeDC24V (to be supplied by customer)

Junction cablefor encoder

PC (to be supplied by customer)

Monitor outputWiring to Connector, X7

Connection to PC or host controllerWiring to Connector, X1

Connection to RS232, RS485 or host controller


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


Connection to host controllerWiring to Connector, X4

Connection to feedback scaleWiring to Connector, X5

Connection to encoderWiring to Connector, X6

Regenerative resistor (optional)

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

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

Mount the regenerative resistor on incombustible material such as metal.

Remarks

Wiring of the Main CircuitPin B1, B2 and B3 B1 and B2 to be kept shorted for

normal operation. When you connect an external

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

Pin NC Do not connect anything.

Junction cable for motor

Protectiveearthterminals

Wiring of Main Connector (XA)Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression unitstogether with this. Never start nor stop the servo

motor with this Magnetic Contactor.

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

MainsResidual

current device

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

Connecting Example of F-frame

3. System Configuration and WiringOverall Wiring (Terminal block type)

3. System Configuration and WiringOverall Wiring (Terminal block type)

B12 B13

English

Driver Applicablemotor VoltageRatedoutput

RequiredPower

(at the rated load)

Circuitbreaker(rated

current)

Noisefilter

Surgeabsorber

Noisefilter forsignal

Magnetic*1contactor

Cablediameter

(main circuit)

Cablediameter(control circuit)

Connection

MADHMSMEMSMD*2MHMD*2

Singlephase,100V

50Wto100W

approx.0.4kVA

10A

DV0P4170 DV0P4190

DV0P1460

BMFT61041N(3P+1a)

0.75mm2/AWG18

0.75mm2/AWG18

Connection to exclusive connector

Single/3-phase,200V

50Wto200W

approx.0.5kVA

DV0P4170

DV0PM20042

DV0P4190

DV0P1450BMFT61542N

(3P+1a)

MBDHMSMEMSMD*2MHMD*2

Singlephase,100V

200W approx.0.5kVA DV0P4170 DV0P4190BMFT61041N

(3P+1a)

Single/3-phase,200V

400W approx.0.9kVADV0P4170

DV0PM20042

DV0P4190

DV0P1450BMFT61542N

(3P+1a)

MCDHMSMEMSMD*2MHMD*2

Singlephase,100V

400W approx.0.9kVA DV0PM20042

DV0P4190 BMFT61541N(3P+1a)Single/

3-phase,200V

750W approx.1.3kVA 15A

DV0P4190

DV0P1450

BMFT61542N(3P+1a)

MDDH

MDME

Single/3-phase,200V

1.0kW approx.1.8kVA

DV0P4220 BMFT61842N(3P+1a)2.0mm2/AWG14

MHMEMGME 900W approx.1.8kVA

20AMSME 1.0kW approx.1.8kVAMHME

1.5kW approx.2.3kVAMDMEMSME

MEDHMDME

3-phase,200V 2.0kW

approx.3.3kVA 30A

DV0PM20043

DV0P1450

BMF6352N(3P+2a2b)

MSMEMHME

MFDH

MGME

3-phase,200V

2.0kW approx.3.8kVA

50A DV0P3410

3.5mm2/AWG12

TerminalblockM5

MDME

3.0kW approx.4.5kVAMHMEMSMEMGMEMDME

4.0kW approx.6kVABMF6652N(3P+2a2b)

MHMEMSMEMDME

5.0kW approx.7.5kVA5.3mm2/AWG10MHME

MSME*1 ThemodelnumberofMagneticcontactoristheoneofPanasonicElectricWorks.*2 Can drive 20-bit incremental encoder type MINAS-A4 motor. (PN: M*MD***G1*)

3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments

3. System Configuration and WiringDriver and List of Applicable Peripheral Equipments

11mm orsmaller

5.3

Select peripheral equipments for single/3phase common specification according tothe power source.

[Fordetailsofperipheralequipments] Noise filter............................. P.B41 Surgeabsover....................... P.B42 Noise filter for signal lines..... P.B43Aboutcircuitbreakerandmagneticcontactor To comply to EC Directives, install a circuit breaker between the power and the

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

Suitableforuseonacircuitcapableofdeliveringnotmorethan5,000rmssymmetri-cal amperes, below the maximum input voltage of the product.

Remarks

Select a circuit breaker and noise filter which match to the capacity of power supply (includingaloadcondition).

TerminalblockandprotectiveearthterminalsUse a copper conductor cables with temperature rating of 60C or higher.The screws of protective earth terminals for Frame A to D are M4 and M5 for FrameE,F.Tighten the terminal block screw on frame F with a torque between 1.0 and 2.0 Nm.Applicationofovertorque(morethan2.0Nm) will cause damage to terminal block. Maximum allowable torque to the screw securing terminal block cover is 0.2 Nm.

Thecablediameterofanearthcable.Use an earth cable with the same diameter or larger as that of the main circuit cable.Ifthediameterofthemaincircuitcableis1.6mm2 or less, use an earth cable with adiameterof2.0mm2(AWG14).

Use the attached exclusive connector for A to E-frame, and maintain the peeled off lengthof8to9mm.(RefertoP.B17)

Tighten the screws of the connector, Connector X4 for the host controller with the torqueof0.3to0.35Nm.

Largertorquethan0.35Nmmaydamagetheconnectoratthedriverside.

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

B14 B15

English3. System Configuration and WiringWiring of the Main Circuit (Connector type)3. System Configuration and Wiring

Wiring of the Main Circuit (Connector type)

A to D-frame, 100 V / 200 V typeWiring should be performed by a specialist or an authorized personnel. Do not turn on the power until the wiring is completed.

Tips on Wiring1)Wireconnector(XAandXB).2) Connect the wired connector to the driver.

Motor

Varistor

DC 24V

MCCBPowersupply NF MC

U

V

W

E

L

Fuse (5A)

Check the name plate of the driver for power specifications.

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

Provide a circuit breaker. Make sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.

Never start/stop the motor with this Magnetic Contactor.

Provide an AC Reactor.Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.

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

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

Avoid shorting and grounding. Don't connect the main power.

Earth-ground this. Make sure to connect the protective earth terminal ( ) of the driver and the protective earth (earth plate) of the control panel to prevent electrical shock.

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

Don't connect the earth cable to other inserting slot, nor make them touch.

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

The Electromagnetic Brake has no polarity. For the capacity of the electromagnetic brake and how to use it, refer to P.B44, "Specifications of Built-in Holding Brake".

Provide a varistor. Connect a 5A fuse in series with the varistor.

Ground resistance: 100 max.For applicable wire, refer to P.B13.

L1CL3L2L1

L2C

B1B3B2UVW

XA

XB

2345

1

23456

1

DC power supply for brake

Red

Black

Green orGreen/yellow

White

Yellow(X2)

RCD

Motor

Varistor

DC 24V

U

V

W

E

Fuse (5A)



Provide a circuit breaker. Make sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer.Never start/stop the motor with this Magnetic Contactor.

Provide an AC Reactor.Connect L1 and L1C, and L3 and L2C at single phase use (100V and 200V), and don't use L2.

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

Do not connect anything to NC. Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).









L1CL3L2L1

L2C

B1B3

NC

UVW

XA

XC

XB

2345

1

23

1

3B22

4

1

DC power supply for brake

Red

Black

Green

White

Yellow(X2)

MCCBPowersupply NF MC LRCD

E-frame, 200 V typeWiring should be performed by a specialist or an authorized personnel. Do not turn on the power until the wiring is completed.

Tips on Wiring1)Wireconnector(XA,XBandXC).2) Connect the wired connector to the driver.

B16 B17

English

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

F-frame, 200 V type Wiring should be performed by a specialist or an authorized personnel. Do not turn on the power until the wiring is completed.

Tips on Wiring1) Take off the cover fixing screws, and detach the terminal cover.2) Make wiring Use clamp type terminals of round shape with insulation cover for wiring to the

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

Tighten the terminal block screw with a torque between 1.0 and 2.0Nm.3) Attach the terminal cover, and fix with screws. Tighten the screw securing the cover with a torque between 0.1 and 0.2 N m.

Motor

Varistor

DC 24V

L1

UVW

E

L2L3

L1CL2CB1B3B2NCUVW



Provide a circuit breaker. Make sure to provide a noise filter. Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufac-turer. Never start/stop the motor with this Magnetic Contactor.

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

Do not connect anything to NC. Match the colors of the motor lead wires to those of the corresponding motor output terminals (U,V,W).









DC powersupplyfor brake

Fuse (5A)

Red

Black

Green

White

Yellow(X2)

MCCBPowersupply NF MC LRCD

3. System Configuration and WiringWiring method to connector

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

1.Peelofftheinsulationcoverofthecable.For single wire (Please obey the length in figure.)

For stranded wires (ferrules must be used as illustrated below). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)

1)Peel off the sheath so that theconductor portion of the cable will protrudefromthetipoftheferrule.(Itshouldprotrude1mmormorefromtheferrule.)

2) Insert the cable into the ferruleand crimp it with an appropriate crimpingtool.

3)After crimping, cut off the cableconductor portionprotruding fromthe ferrule. (The allowable protrud-inglengthaftercuttingshouldbe0to0.5mm.)

Part No. of the crimping tool: CRIMPFOX U-D66 (1204436) Available from Phoenix Contact,Ltd.

Caution Whenpeelingoff the sheathof the cable, take carenot to damageotherportions.

When crimping the ferrule, sufficiently check the status of the ferrule andcable. If theconductorsof thecablestickout fromthe insulationcover or protrude excessively from the tip of the ferrule, accidents such as an electric shock and fire from a short circuit may result.

8 to 9 mm

AAB

1mm or more

B

B18 B19

English

2. Insert the cable to the connector in the following 2 methods. (a)Insertthecableusingthesuppliedhandlelever. (b) Insert the cable using a flat-blade screwdriver (Edge width: 3.0 to 3.5 mm).

3. System Configuration and WiringWiring method to connector

(a) Using handle lever

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

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

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

Release the lever.

(b) Using screw driver

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

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

Release the screw driver.

1 2

1 2 3

3

Caution Takeoff theconnector from theServoDriverbeforemakingconnec-tion.

Insertonlyonecableintoeachoneofcableinsertionslot. Pay attention to injury by screw driver.

3. System Configuration and WiringWiring Diagram

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

Noise

filte

rNo

ise fil

ter

Motor37 ALM+

L2L3

L1CL2C

B1

MC

MCCB

B3B2UVW

L1

ALM

External regenerative resistor(Remove the short wire when you connect

the external regenerative resistor.)



36

L

ON

DC12 to 24V(5%)

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

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

Motor37 ALM+

L2L3

L1CL2C

B1

MC

MCCB

ALMOFF

B3B2UVW

L1

Coil surge suppression units

Built-in thermostat of an externalregenerative resistor (light yellow)

ALM

RedWhite

BlackGreen or Green/Yellow

RedWhite

BlackGreen or Green/Yellow

XA

XB

X4

36

L

ON MC

DC12 to 24V(5%)

ALM

ALMOFF


MC

ALM

Main powersupply

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection

Power supply Single phase, 100V to 120V+10%15%+10%15% Single phase, 200V to 240V

+10%15%

+10%15%

Power supply 3-phase, 200V to 240V+10%15%+10%15%

Use a reactor for3-phase

XA

XB

X4

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

RemarksCoil surge suppression units

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

B20 B21

English3. System Configuration and WiringWiring Diagram

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

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

XC

XB

Motor

37 ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM

XA

X4

36

L

ON

DC12 to 24V(5%)

ALM

B1B3B2NC

UVW

Motor

37 ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM

X4

36

L

ON

DC12 to 24V(5%)

ALM

B1B3B2NCUVW

ALMOFF


MC

ALMOFF


MC

Noise

filte

r





RedWhite

BlackGreen

Main powersupply

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection



Noise

filte

r

RedWhite

BlackGreen



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

A

B

D

C

AHG

CDE

BIF

CBA

IHG

FED

A

JL04V-2E20-4PE-B-RJL04HV-2E22-22PE-B-R

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

U-phaseV-phaseW-phaseGround

PIN No.

BCD

Application GHAFIBEDC

BrakeBrake

NCU-phaseV-phaseW-phaseGroundGround

NC

PIN No. ApplicationA Brake

BrakeNC

U-phaseV-phaseW-phaseGroundGround

NC

PIN No.

BCDEFGHI

Application

Do not connect anything to NC.

JN8AT04NJ1

1 U-phaseV-phaseW-phaseGround

PIN No.

23

PE

Application

PE321

1

2

JN4AT02PJ1-R

Tightening torque ofthe screw (M2) 0.085 to 0.095 Nm (screwed to plastic)

Tightening torque ofthe screw (M2) 0.19 to 0.21 Nm

12

BrakeBrake

PIN No. Application

Remarks

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

3. System Configuration and WiringWiring of connector for motor and brake

When themotorsof areused, theyareconnectedasshown below.

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

Whenthemotorsofareused,they are connected as shown below.

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

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

B22 B23

English

3. System Configuration and WiringWiring to the connector, X1

ThisisusedforUSBconnectiontoapersonalcomputer.Itispossibletochangetheparametersettingandperformmonitoring.

Application Symbol ConnectorPin No. Contents

USBsignalterminal

VBUS 1Use for communication with personal computer.D 2

D 3 4 Donotconnect.

GND 5 Connectedtogroundofcontrolcircuit.

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


This is used for connection to the host controller when two or more units are used. RS232andRS485interfacesaresupplied.


Signalground GND 1 Connectedtogroundofcontrolcircuit.NC 2 Donotconnect.

RS232signalTXD 3 RS232

Thetransmission/receptionmethod.RXD 4

RS485signal

485 5

RS485Thetransmission/receptionmethod.

485+ 6485 7485+ 8

Frameground FG Shell Connected with protective earth terminal in theservodriver.Connector (plug): 2040008-1 (optional, available from Tyco Electronics AMP)

[Connector pin assignment]

(Viewed from cable)8 6 4 27 5 3 1


A safety by-pass plug is supplied as standard equipment. Do not disconnect it in nor-maltimes.Since the standard connector cannot be used when controlling the safety function from the host controller, purchase the optional connector and make connection as shown below.

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


NC 1

Donotconnect. 2

Safetyinput1SF1 3

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

SF1+ 4

Safetyinput2SF2 5

SF2+ 6

EDMoutputEDM 7 Thisisanoutputformonitoringthefailure

ofthesafetyfunction.EDM+ 8

Frameground FG Shell Connected with protectiveearthterminalintheservodriver.

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

8 6 4 27 5 3 1

[Connector pin assignment]

(Viewed from cable)

B24 B25

English


Wiring Example of Position Control Mode

14 15 16 17 4318 42

In ca

se o

f ope

n co

llecto

r I/F

74.

7k

COM

+

PULS

2

SIGN

1SI

GN2

GND

OA+

OA-

OB+

OB-

OZ+

OZ-

GND

CZ

SPR/TR

QR/SPL

GND

P-ATL/

TRQR

GND

N-AT

L

SP IM

431 2 5 6 13 21 22 48 24 25 1949 23

1k

1k

PULS

1

OPC2

OPC1

INH CL

SRV-

ONGA

INDI

V1VS

-SEL

1C-

MODE

A-CL

RPO

TNO

T

S-RD

Y+S-

RDY-

ALM

+

INP+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

COM-

SIGN

H1SI

GNH2

PULS

H1PU

LSH2

GND

FGINP-

ALM-

33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 5026

Z-ph

ase

outp

ut(o

pen

colle

ctor)

3PU

LS1

4PU

LS2

X4

46 47

14k

10k

20k

20k

14k

10k

20k

20k

47k

47k

47k 47k

20k

20k

+ +

The

func

tions

of t

he fo

llowi

ng p

in ca

n be

chan

ged

using

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

Ou

tput

: 10-

11, 1

2, 3

4-35

, 36-

37, 3

8-39

, 40

220

2.2k

2.2k

20k

2k 2k20k

120 20

k2k 2k

20k

120

220

VDC

R

5SI

GN1

6SI

GN2

220

2.2k

2.2k

220

2.2k

2.2k

R

1OP

C1

4PU

LS2

220

24VD

C

2OP

C1

6SI

GN2

220

2.2k

2.2k

2.2k

2.2k

(1) W

hen

you

use

the

exte

rnal

r

esist

or w

ith 1

2V a

nd 2

4V

p

ower

supp

ly

(2) W

hen

you

do n

ot u

se th

e

exte

rnal

resis

tor w

ith 2

4V

p

ower

supp

ly

Posit

ive di

recti

on to

rque

limit i

nput

(0 to

+10

V)

Nega

tive d

irecti

on to

rque

limit i

nput

(-10

to +

10V)

Veloc

ity m

onito

r outp

utTo

rque

mon

itor o

utput

(

rep

rese

nts tw

isted

pair.)

Com

man

dpu

lseinp

ut A

(Use

with

500 k

pps o

r less

.)

Divider

A-ph

ase

outp

utB-

phas

eou

tput

Z-ph

ase

outp

ut

Com

man

d pu

lse in

put B

(Use

with

4M

pps o

r les

s.)Be

sure

to co

nnec

t.

VDC

12V

24V

Spec

ificati

ons

of R

1kW

1/2W

2kW

1/2W

VDC-

1.5R+

220

=10m

A..

Serv

o-ON

inpu

tGa

in sw

itchin

g inp

utEl

ectro

nic g

ear

switc

hing

input

1

Cont

rol m

ode

switc

hing

input

Dam

ping

cont

rol

switc

hing

input

1

Alarm

clea

r inpu

tPo

sitive

dire

ction

over

-trav

el inh

ibitio

n inp

utNe

gativ

e dir

ectio

n ov

er-tr

avel

inhibi

tion

input

Serv

o-Re

ady o

utpu

t

Serv

o-Al

arm

out

put

Posit

ioning

comp

lete o

utput

Exter

nal b

rake r

eleas

e outp

ut

Torq

ue in

-limit o

utpu

t

Zero

spee

d dete

ction

outpu

t

Devia

tion

coun

ter

clear

inpu

t

Com

man

d pu

lse

inhibi

tion

input

Wiring Example of Velocity Control Mode


74.

7k

COM

+

OA+

OA-

OB+

OB-

OZ+

OZ-

GND

CZ

SPR/TR

QR/SPL

GND

P-ATL/

TRQR

GND

N-AT

L

SP IM

21 22 48 24 25 1949 23

1k

1k

INTS

PD1

INTS

PD2

SRV-

ONGA

ININ

TSPD

3ZE

ROSP

DC-

MODE

A-CL

RPO

TNO

T

S-RD

Y+S-

RDY-

ALM

+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

COM-

FGALM-

33 30 29 27 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 5028

14 15 16 17 18 43 42

26

14k

10k

20k

20k

14k

10k

20k

20k

47k

47k

47k 47k

20k

20k

X4(

r

epre

sents

twist

ed pa

ir.)

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Z-pha

se ou

tput (o

pen c

ollecto

r)

Veloc

ity co

mm

and

input

(0 to

1

0V)

Posit

ive d

irecti

on to

rque

lim

it inp

ut (0

to

10V

)

Nega

tive

direc

tion

torq

ue

limit i

nput

(-10

to 0

V)Ve

locity

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

Serv

o-ON

inpu

tGa

in sw

itchin

g inp

ut

Alar

m cl

ear i

nput

Spee

d zero

clamp

input

Selec

tion

1 inp

ut o

f int

erna

l com

man

d sp

eed

Selec

tion

2 inp

ut o

f int

erna

l com

man

d sp

eed

Slec

tion

3 inp

ut o

fint

erna

l com

man

d sp

eed

Cont

rol m

ode

switc

hing

input

Posit

ive d

irecti

onov

er-tr

avel

inhibi

tion

input

Nega

tive

direc

tion

over

-trav

el inh

ibitio

n inp

ut

Serv

o-Re

ady o

utpu

t

Servo

alarm

outpu

t

At-s

peed

out

put

Exter

nal b

rake r

eleas

e outp

ut

Torqu

e in-l

imit o

utput

Zero

spee

d dete

ction

outpu

t

Divider

The

func

tions

of t

he fo

llowi

ng p

in ca

n be

chan

ged

using

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

Ou

tput

: 10-

11, 1

2, 3

4-35

, 36-

37, 3

8-39

, 40

+ ++

AT-SP

EED+

AT-SP

EED-

B26 B27

English

Wiring Example of Torque Control Mode


74.

7k

COM

+

OA+

OA-

OB+

OB-

OZ+

OZ-

GND

CZ

SPR/TR

QR/SPL

GND

P-ATL/

TRQR

GND

N-AT

L

SP IM

21 22 48 24 25 19 14 15 16 17 4318 4249 23

14k

10k

20k

20k

14k

10k

20k

20k

47k

47k

47k 47k

20k

20k

1k

1k

INH CL

SRV-

ONGA

INDI

V1ZE

ROSP

DC-

MODE

A-CL

RPO

TNO

T

S-RD

Y+S-

RDY-

ALM

+

AT-SP

EED+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

COM-

FG

AT-SP

EED-

ALM-

33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 50

Z-pha

se ou

tput (o

pen c

ollecto

r)

X4

The

func

tions

of t

he fo

llowi

ng p

in ca

n be

chan

ged

using

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

Ou

tput

: 10-

11, 1

2, 3

4-35

, 36-

37, 3

8-39

, 40

Divider

A-ph

ase

outp

utB-

phas

eou

tput

Z-ph

ase

outp

ut

(

rep

rese

nts tw

isted

pair.)

Torq

ue co

mm

and

input

or

veloc

ity lim

it inp

ut (0

to

10V)

Veloc

ity m

onito

r out

put

Torq

ue m

onito

r out

put

Wirin

g exa

mple

when

contr

ol mo

de P

r0.01

=0 or

Pr3.

17=1

CCWTL/T

RQR

GND

16 17Ne

gativ

e dir

ectio

n to

rque

lim

it inp

ut(0

to

10V)

Selec

t with

Pr3

.17.

+ + +

Servo

-ON

input

Gain

switc

hing i

nput

Alarm

clea

r inpu

t

Servo

-Rea

dy ou

tput

Servo

-Alar

m ou

tput

At-s

peed

out

put

Exter

nal b

rake r

eleas

e outp

ut

Torqu

e in-l

imit o

utput

Zero

spee

d dete

ction

outpu

t

Spee

d zero

clam

p inp

utCo

ntro

l mod

e sw

itchin

g inp

ut

Posit

ive d

irecti

onov

er-tr

avel

inhibi

tion

input

Nega

tive

direc

tion

over

-trav

el inh

ibitio

n inp

ut


Connect on to Feedback ScaleProvide a power supply for the feedback scale on your part or use the following power output(250mAorless).


Power supply output

EX5V 1 Supply the power of feedback scaleorA,B,Zphaseencoder.

EX0V 2 Connectedtogroundofcontrolcircuit.

I/Foffeedbackscalesignals

EXPS 3 SerialsignalThetransmission/receptionmethod./EXPS 4

A,B,ZphaseEndodersignalinput

EXA 5

Parallelsignalreception

/EXA 6EXB 7/EXB 8EXZ 9/EXZ 10

Frameground FG Shell Connected with protectiveearthterminalintheservodriver.

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

Caution1) The manufacturers applicable feedback scales for this product are as follows.

MitutoyoCorp.SonyManufacturingSystemsCorp.

Forthedetailsofthefeedbackscaleproduct,contacteachcompany.2) Recommended feedback scale ratio is 1/40 Feedback scale ratio 160 If you set up the feedback scale ratio to smaller value than50/position loopgain

(Pr1.00andPr.1.05),youmaynotbeabletocontrolper1pulseunit.Setupoflarg-erscaleratiomayresultinlargernoise.

B28 B29

English


Connection to Encoder In case of 20-bit incremental encoder

MSME 50W to 750W

MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMHME 1.0kW to 5.0kWMGME 900W to 3.0kW

Shell (FG)

+5V0V

123456

41

37

Twisted pair

Encoder cable

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

Motor Driver

E5VE0V

PSPS9

PSPSFG

E5VE0V

X6Re

gulat

orRe

gulat

or

Shell (FG)

+5V0V

123456

63

74

Twisted pair

Encoder cable

Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS1

PSPSFG

E5VE0V

X6Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 Nm. To avoid damage, be sure to use only the screw supplied with the connector.[Connector pin assignment]

(Viewed from cable)

2 51

3 64 7

Shell (FG)

+5V0V

123456

41

37

Twisted pair

Encoder cable

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

Motor Driver

E5VE0V

PSPS9

PS

5BAT

6BAT+

PSFG

E5VE0V

X6

Shell (FG)

+5V0V

123456

63

725

4

Twisted pair

Encoder cable

Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS1

PSBATBAT+

PSFG

E5VE0V

X6

battery

battery Regu

lator

Regu

lator

MSME 50W to 750W

MSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMHME 1.0kW to 5.0kWMGME 900W to 3.0kW

Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 Nm. To avoid damage, be sure to use only the screw supplied with the connector.[Connector pin assignment]

(Viewed from cable)

2 51

3 64 7

In case of 17-bit absolute encoder


B30 B31

English


TheconnectorX7ofthefrontpanelisformonitoroutput.Analogue output : 2 systemsDigital output : 1 systemsIn both cases, it is possible to switch the output signal by setting parameters.


Analoguemonitoroutput1 AM1 1 Output theanaloguesignal formoni-

tor.Analoguemonitoroutput2 AM2 2

Signalground GND 3 Connectedtogroundofcontrolcircuit.

Digitalmonitoroutput DM 4 Outputthedigitalsignalformonitor.

NC 5 Donotconnect.

NC 6 Donotconnect.

Connector X7Manufacturers part No.: 530140610Manufacturer: Japan Molex Inc.

6 1

X7

4. ParameterOutline / Setup / Connection

Outline of ParameterThis driver is equipped with various parameters to set up its characteristics and func-tions.Thissectiondescribesthefunctionandpurposeofeachparameter.Readandcomprehend very well so that you can adjust this driver in optimum condition for your runningrequirements. You can refer and set up the parameter with either one of the following.1)frontpanelofthedriver2) combination of the setup support software, "PANATERM" and PC.

Setup with the Front Panel

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

Shifting of the digit for datachanging to higher digit.

X7Output connector for monitor

Display LED (6-digit)Switch to error display screen when error occurs, and LED will flash (about 2Hz).LED will flash slowly (about 1Hz) when warning occurs.Mode switching button(valid at SELECTION display) Press this to switch 4 kinds of mode. 1) Monitor Mode 2) Parameter Set up Mode 3) EEPROM Write Mode 4) Auxiliary Function ModeSET Button (valid at any time)Press this to switch SELECTION and EXECUTION display.

6 1

X7

B32 B33

English

Setup with the PCItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5usingaUSB cable for personal computer connection. Downloading the setup support software PANATERM from our web site and installing it on your personal computer will allow you to perform the following easily.

With the PANATERM, you can execute the followings.1) Setup and storage of parameters, and writing to the memory (EEPROM).2)MonitoringofI/O,pulseinputandloadfactor.3)Displayofthepresentalarmandreferenceoftheerrorhistory.4) Data measurement of the wave-form graphic and bringing of the stored data.5) Normal auto-gain tuning6)Frequencycharacteristicmeasurementofthemachinesystem.Note Because no production software such as CD-ROM is available, down-

load the setup support software from our web site and install it on your personalcomputer.

How to Connect

USB cableOn 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) tobothendsofthecable.

4. ParameterOutline / Setup / Connection

Connect to X1(USB mini-B)

Setup support software PANATERMPlease download from our web site anduse after install to the PC.

4. ParameterComposition of Parameters

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).

Parametr No.Class name Group

Class No.*

0 00to Basicsetting ParameterforBasicsetting

1 00to Gain adjustment Parameter for Gain adjustment

2 00to Dampingcontrol ParameterforDampingcontrol

3 00to Verocity/Torque/Full-closed control

Parameter for Verocity/ Torque/ Full-closed control

4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting

5 00to Enhancingsetting ParameterforEnhancingsetting

6 00to Specialsetting ParameterforSpecialsetting

* The Parameter No. consists of 2 digits.

B34 B35

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5. Protective FunctionsProtective Function (What Is Error Code ?)

Variousprotective functionsareequipped in thedriver.When theseare triggered, themotor will stall due to error, the driver will turn the Servo-Alarm output (ALM) to off (open).

Errorstatusandtheirmeasures During the error status, the error code No. will be displayed on the front panel

LED, and you cannot turn Servo-ON. You can clear the error status by Alarm clear input(A-CLR) in 120ms or longer. When overload protection is triggered, you can clear it by Alarm clear input(A-

CLR)in10secorlongeraftertheerroroccurs.YoucancleartheOverloadprotec-tion time characteristics (refer to P.B38, 39) by turning off the control power supply ofthedriver.*1

Youcancleartheaboveerrorbyoperatingthefrontpanelkeysandsetupsupportsoftwear "PANATERM".

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

Error code

Protective functionAttribute

Main Sub History Can be cleared Immediate stop11 0 Control power supply under- voltage protection 12 0 Over-voltage protection

13 0 Main power supply under-voltage protection (between P to N) 1 Main power supply under-voltage protection (AC interception detection)

14 0 Over-current protection 1 IPMerrorprotection 15 0 Over-heat protection 16 0 Over-load protection *1

18 0 Over-regeneration load protection 1 Over-regeneration Tr error protection

21 0 Encodercommunicationdisconnecterrorprotection 1 Encodercommunicationerrorprotection 23 0 Encodercommunicationdataerrorprotection 24 0 Position deviation excess protection 25 0 Hybrid deviation excess error protection

26 0 Over-speed protection 1 2nd over-speed protection

27 0 Commandpulseinputfrequencyerrorprotection 2 Commandpulsemultipliererrorprotection 28 0 Limitofpulsereplayerrorprotection 29 0 Deviation counter overflow protection 30 0 Safetydetection

330 IFoverlapsallocationerror1protection 1 IFoverlapsallocationerror2protection 2 IFinputfunctionnumbererror1protection

Error codeProtective function

AttributeMain Sub History Can be cleared Immediate stop

33

3 IFinputfunctionnumbererror2protection 4 IFoutputfunctionnumbererror1protection 5 IFoutputfunctionnumbererror2protection 6 CL fitting error protection 7 INH fitting error protection

34 0 Software limit protection 36 0to2 EEPROMparametererrorprotection37 0to2 EEPROMcheckcodeerrorprotection38 0 Over-travel inhibit input protection

390 Analog input1 excess protection 1 Analog input2 excess protection 2 Analog input3 excess protection

40 0 Absolute system down error protection 41 0 Absolutecounterovererrorprotection 42 0 Absolute over-speed error protection 43 0 Initialization failure 44 0 Absolutesingleturncountererrorprotection 45 0 Absolute multi-turn counter error protection 47 0 Absolutestatuserrorprotection 48 0 Encoder Z-phase error protection 49 0 EncoderCSsignalerrorprotection

50 0 Feedbackscaleconnectionerrorprotection 1 Feedbackscalecommunicationerrorprotection

51

0 Feedbackscalestatus0errorprotection 1 Feedbackscalestatus1errorprotection 2 Feedbackscalestatus2errorprotection 3 Feedbackscalestatus3errorprotection 4 Feedbackscalestatus4errorprotection 5 Feedbackscalestatus5errorprotection

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

87 0 Compulsoryalarminputprotection 95 0 Motorautomaticrecognitionerrorprotection99 0 Othererror

Note History...The error will be stored in the error history.Can be cleared...To cancel the error, use the alarm clear input (A-CLR). If the alarm clear input is not effective, turn off power, remove the cause of the

error and then turn on power again.Immediate stop...Instantaneouscontrolledstopuponoccurrenceofanerror. (Setting of Pr.5.10 Sequence at alarm is also required.)

5. Protective FunctionsProtective Function (What Is Error Code ?)

B36 B37

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6. Maintenance and InspectionsMaintenance and Inspections

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

Notes on Maintenance and Inspection1)Turnonandturnoffshouldbedonebyoperatorsorinspectorsthemselves.2) Internal circuit of the driver is kept charged with high voltage for a while even after

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

3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver.

Inspection Items and CyclesGeneralandnormalrunningcondition

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

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

Type Cycles Items to be inspected

Dailyinspection Daily

Ambient temperature, humidity, speck, dust or foreign objectAbnormalvibrationandnoiseMaincircuitvoltageOdorLintorotherparticlesatairholesCleannessatfrontportionofthedriverandconnectorDamageofthecables Loose connection or misalignment between the motor and machineorequipment Pinching of foreign object at the load

Periodicalinspection Annual

LoosetighteningTraceofoverheatDamagetotheterminalblockLoosefastenersonterminalblock

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

Guideline for Parts ReplacementUse 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 errorhaveoccurred.

Prohibited

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

Product ComponentStandard replacement

cycles (hour)Note

Driver

Smoothingcondenser Approx. 5 years

Thesehoursorcyclesarereference.When you experience anyerror,replacementisrequiredevenbeforethisstandardreplace-mentcycle.

Coolingfan 2to3years(10,000to30,000hours)Aluminumelectrolyticcapacitor(onPCB) Approx. 5 years

Rushcurrentpreventiverelay

Approx. 100,000 times(depending on working

condition)

Rushcurrentpreventiveresistor

Approx. 20,000 times(depending on working

condition)

Motor

Bearing 3to5years(20,000to30,000hours)Oilseal 5000hours

Encoder 3to5years(20,000to30,000hours)

Batteryforabsoluteencoder

Lifetimevariesdependingon working conditions. RefertotheOperatingInstructionsattachedtothebatteryforabsoluteencoder.

6. Maintenance and InspectionsMaintenance and Inspections

B38 B39

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

EC DirectivesThe EC Directives apply to all such electronic products as those having specific func-tions and have been exported to EU and directly sold to general consumers. Those products are required to conform to the EU unified standards and to furnish the CE markingontheproducts.

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

EMC DirectivesMINASServoSystemconformstorelevantstandardunderEMCDirectivessettingupcertain model (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition es-pecially in wiring and grounding. Therefore, in order for the machine to conform to the EMCDirectives,especiallyfornoiseemissionandnoiseterminalvoltage,itisneces-sary to examine the machine incorporating our servos.

Conformity to UL StandardsObserve the following conditions of (1) and (2) to make the system conform to UL508C (FileNo.E164620).(1)Use thedriver in anenvironment ofPollutionDegree2or 1 prescribed in

IEC60664-1. (e.g. Install in the control box with IP54 enclosure.)(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed

marked) between the power supply and the noise filter. For the rated current of the circuit breaker or fuse, refer to P.B16, 17, "Driver and

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

115%ormore than the rated current basedon the time characteristics (see thenext page). Confirm that the effective current of the driver does not exceed the rated current. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit)andPr5.22(Setup2ndtorquelimit).

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

Time [s]

Overload protection time characteristics

MSME 50WMSME 100W100VMSME 100W200VMSME 200WMSME 400WMSME 750WMSME 1.0kW5.0kWMDME 1.0kW5.0kWMHME 1.0kW5.0kWMGME 900W3.0kW 100115

0.1

1

10

100

200 300 400 500Torque [%]

Conformed Standards

Driver Motor

ECDirectives

EMCDirectives

EN55011EN61000-6-2EN61800-3

Low-Voltage Directives EN61800-5-1

IEC60034-1IEC60034-5

Functionalsafety

EN954-1 (Cat. 3)ISO13849-1 (PL d)EN61508(SIL2)EN62061(SIL2)EN61800-5-2 (STO)IEC61326-3-1

ULStandards UL508C(FileNo.E164620) UL1004(FileNo.E166557)CSAStandards C22.2No.14 C22.2No.100

IEC :InternationalElectrotechnicalCommissionEN :EuropaischenNormenEMC :ElectromagneticCompatibilityUL :Underwriters LaboratoriesCSA :CanadianStandardsAssociationPursuanttothedirective2004/108/EC,article9(2)PanasonicTestingCentrePanasonicServiceEurope,adivisionofPanasonicMarketingEuropeGmbH

Winsbergring15,22525Hamburg,F.R.Germany

B40 B41

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LABEL

Terminal cover (transparent)

24.5

R Cx CxCy

L L

Cy

24.5 x 6.75

53.11.0

100.02.088.075.0 5.0

12.0

10.0 5

0.0

60.0

7.0

2.0

(11.6)(13.0)6-M4

2

1 3

4

Circuit diagramIN OUT

LABEL

ABC

H

10 FEDG

M4

Cover

Body

4

5

1

2

63

L1

Cx1

IN OUT

R Cx1

Cy1

Earth terminalM4

Screw for coverM3

A B C D E F G H115DV0PM20042

105 95 70 43 10 52 5.5145DV0P4220 135 125 70 50 10 52 5.5165DV0PM20043 136 165 90 80 40 54 5.5

Circuitdiagram

[Size]

[Unit: mm]

[Unit: mm]

LABEL

A

CB

H

M5

E

F

D

Earthterminal

M4

Screw forcoverM3

G

Cover

Body

7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments

Installation EnvironmentUse the servodriver in theenvironment ofPollutionDegree1or 2 prescribed inIEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)

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

Power Supply

100V type : Single phase, 100V +10%to 120V +10% 50/60Hz(A to C-frame)

15% 15%

200V type : Single/3-phase, 200V +10%to 240V +10% 50/60Hz(A to D-frame)

15% 15%

200V type : 3-phase, 200V +10%to 230V +10% 50/60Hz(E, F-frame)

15% 15%

(1) This product is designed to be used in over-voltage category (installation category) III of EN 61800-5-1:2007.

(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950.

Circuit BreakerInstall a circuit breaker which complies with IEC Standards and UL recognized (Listed and marked) between power supply and noise filter.Integralsolidstateshortcircuitprotectiondoesnotprovidebranchcircuitprotection.Branch circuit protection must be provided in accordance with the National Electrical Codeandanyadditionallocalcodes.

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

Optional parts

Option part No. Voltage specifications for driverManufacturers

part No.Applicable

driver (frame) ManufacturerDV0P4170 Singlephase100V/200V SUP-EK5-ER-6 A and B-frame OkayaElectricInd.


Control boxController

Insulated power supply for interface

Safetycontroller

Powersupply

Circuitbreaker

Residualcurrent device

(RCD)

Surgeabsorber

Noise filter

Noise filter for signal lines

Protective earth (PE)

L1U

X4

XAXB

X3

X6

MRE

VW

L2L3L1CL2C

Noise filter for signal lines

Driver

Motor


part No.Applicable

driver (frame) Manufacturer

DV0PM200423-phase 200V

3SUP-HU10-ER-6A, B-frame

OkayaElectricInd.Singlephase100V/200V

3-phase 200V C-frame

DV0P4220 Single/ 3-phase 200V 3SUP-HU30-ER-6 D-frameDV0PM20043 3-phase 200V 3SUP-HU50-ER-6 E-frame

B42 B43

English7. Conformity to EC Directives and UL StandardsComposition of Peripheral Equipments

Circuit diagram

1

4.20.2

411

UL-1015 AWG16

281

5.5

1111

28.51

4.5

0.52

00+3

0-0

2 3

21 3

Noise Filter for Signal LinesInstall noise filters for signal lines to all cables (power cable, motor cable, encoder cableandinterfacecable)

Option part No. Manufacturerspart No. Manufacturer

DV0P1460 ZCAT3035-1330 TDK Corp.

Caution Fix the signal line noise filter in order to prevent excessive stresstothecables.

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

Grounding(1)Connecttheprotectiveearthterminal( )ofthedriverandtheprotectiveearth

terminal (PE) of the control box without fail to prevent electrical shocks.(2) Do not make a joint connection to the protective earth terminals ( ).2terminals

areprovidedforprotectiveearth.Note For driver and applicable peripheral equipments, refer to P.B12 "Driver

and List of Applicable Peripheral Equipments" .


391341

301131

Mass: 62.8g

Circuit diagram4.20.2

411

UL-1015 AWG16

281

5.5

1111

28.51

4.5

0.52

00+3

0-0

1 2

21

Recommended components

Model No. Voltage specifications for driver Current rating (A) ManufacturerRTHN-5010 Singlephase100V/200V

3-phase 200V

10TDK-Lambda Corp.RTHN-5030 30

RTHN-5050 50

Remarks Select a noise filter whose capacity is commensurate with the power sourcecapacity(inconsiderationoftheloadcondition).

For the detailed specifications of each noise filter, contact the manufacturer.

Surge AbsorberProvide a surge absorber for the primary side of noise filter.


part No. Manufacturer

DV0P1450 3-phase 200V RAV-781BXZ-4 OkayaElectricInd.


part No.Applicable

driver (frame) Manufacturer

DV0P3410 3-phase 200V 3SUP-HL50-ER-6B F-frame OkayaElectricInd.Option part No. Voltage specifications for driver

Manufacturerspart No. Manufacturer

DV0P4190 Singlephase100V/200V RAV-781BWZ-4 OkayaElectricInd.

Circuit diagramIN OUT2863.0

1502-5.5 x 7 2-5.5

6-6M

2702551.0

240

120

901

.0(18)

(13)

L A B E L

1

2

3

4

5

6

B44 B45

English

8. Built-in Holding BrakeOutline / Specifications

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

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

Output Timing of BRK-OFF Signal For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-

Alarm while the motor is in motion, refertotheOperatingInstructions(Overall). With the parameter, Pr4.38 (Setup of mechanical brake action while the motor is in

motion), you can set up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion. Refer to the Operating Instructions(Overall)forthedetails.Note 1.Theliningsoundofthebrake(chatteringandetc.)mightbegenerated

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

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

Specifications of Built-in Holding Brake

Motorseries

Motoroutput

Staticfrictiontorque

Nm

Rotorinertia

x 104 kgm2

Engagingtimems

Releasingtimems

ExcitingcurrentDC A

(at cool-off)

Releasingvoltage

Permissiblework (J) perone braking

Permissibletotal work

x 103J

Permissibleangular

accelerationrad/s2

MSME

50W,100W 0.29ormore 0.002 35orless 20orless 0.3DC1Vormore

39.2 4.9

10000

200W,400W 1.27ormore 0.018 50orless 15orless 0.36 137 44.1750W 2.45ormore 0.075 70orless 20orless 0.42 196 147

1.0kW,1.5kW,2.0kW 7.8ormore 0.33 50orless 15orless(100) 0.81 DC2V

ormore

392 4903.0kW 11.8ormore 80orless

4.0kW,5.0kW 16.2ormore 1.35 110orless50orless(130) 0.9 1470 2200

MDME

1.0kW 4.9ormore

1.35

80orless 70orless(200) 0.59

DC2Vormore

588 780

100001.5kW,2.0kW 13.7ormore 100orless 50orless(130)

0.79 1176 1500

3.0kW 16.1ormore 110orless 0.9 1470 2200

4.0kW,5.0kW 24.5ormore 4.7 80orless 25orless(200) 1.3 1372 2900 5440

MHME

1.0kW 4.9ormore1.35

80orless 70orless(200) 0.59

DC2Vormore

588 78010000

1.5kW 13.7ormore 100orless50orless(130) 0.79 1176 1500

2.0kWto5.0kW 24.5ormore 4.7 80orless

25orless(200) 1.3 1372 2900 5440

MGME

900W 13.7ormore 1.35 100orless50orless(130) 0.79

DC2Vormore

1176 1500 10000

2.0kW 24.5ormore4.7

80orless 25orless(200) 1.3 1372 2900 54403.0kW 58.8ormore 150orless

50orless(130) 1.4

Excitation voltage is DC24V10%.Releasing time values represent the ones with DC-cutoff using a varistor. Valuesin()representthosemeasuredbyusingadiode(V03CbyRenesasTech-nologyCorp.)

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

Backlash of the built-in holding brake is kept 1or smaller at ex-factory point.Service life of the number of acceleration/deceleration with the above permissible

angular acceleration is more than 10 million times. (Life end is defined as when the brakebacklashdrasticallychanges.)

8. Built-in Holding BrakeOutline / Specifications

B46 B47

English

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

Caution Do not use in other combinations than those listed below.Motor Driver

Powersupply Type

Rated rotational speed Model

Ratedoutput Model Frame

Singlephase,100V

MSMELow inertia 3000r/min

MSME5AZG1* 50W MADHT1105A-frameMSME011G1* 100W MADHT1107

MSME021G1* 200W MBDHT2110 B-frameMSME041G1* 400W MCDHT3120 C-frame

Single/3-phase,200V

MSME5AZG1* 50W MADHT1505A-frameMSME012G1* 100W

MSME022G1* 200W MADHT1507MSME042G1* 400W MBDHT2510 B-frameMSME082G1* 750W MCDHT3520 C-frameMSME102G1* 1.0kW MDDHT5540 D-frameMSME152G1* 1.5kW

3-phase,200V

MSME202G1* 2.0kW MEDHT7364 E-frameMSME302G1* 3.0kW MFDHTA390

F-frameMSME402G1* 4.0kW MFDHTB3A2MSME502G1* 5.0kWSingle/3-phase,

200VMDME

Middleinertia 2000r/min

MDME102G1* 1.0kW MDDHT3530D-frameMDME152G1* 1.5kW MDDHT5540

3-phase,200V

MDME202G1* 2.0kW MEDHT7364 E-frameMDME302G1* 3.0kW MFDHTA390

F-frameMDME402G1* 4.0kW MFDHTB3A2MDME502G1* 5.0kWSingle/3-phase,

200V MGMEMiddleinertia 1000r/min

MGME092G1* 900W MDDHT5540 D-frame3-phase,200V

MGME202G1* 2.0kW MFDHTA390F-frameMGME302G1* 3.0kW MFDHTB3A2

Single/3-phase,200V

MHMEHighinertia 2000r/min

MHME102G1* 1.0kW MDDHT3530D-frameMHME152G1* 1.5kW MDDHT5540

3-phase,200V

MHME202G1* 2.0kW MEDHT7364 E-frameMHME302G1* 3.0kW MFDHTA390

F-frameMHME402G1* 4.0kW MFDHTB3A2MHME502G1* 5.0kW

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

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

Caution 1.Dynamicbrakeisonlyforemergencystop.Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).Otherwise it may damage the dynamic brake circuit of the driver.

The Motor becomes a dynamo when driven externally and short circuit current occurred while dynamic brake is activat-ed may cause smoking or fire.

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

(In the case of the F-frame driver, when the built-in dynamic brake circuitoverheats,theovercurrentprotection(Err14.0)maybeacti-vated.)

You can activate the dynamic brake in the following cases. 1) when the main power is turned off 2) at Servo-OFF 3) when one of the protective function is activated. 4) when over-travel inhibit input (NOT, POT) of connector X4 is acti-

vated Intheabovecasesfrom1)to4),youcanselecteitheractivationof

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

9. Dynamic BrakeOutline

10. Check of the Combination of the Driver and the MotorIncremental Specifications, 20-bit

B48 B49

English

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

Caution Do not use in other combinations than those listed below.Motor Driver

Powersupply Type

Rated rotational speed Model

Ratedoutput Model Frame

Singlephase,100V

MSMELow inertia 3000r/min

MSME5AZS1* 50W MADHT1105A-frameMSME011S1* 100W MADHT1107

MSME021S1* 200W MBDHT2110 B-frameMSME041S1* 400W MCDHT3120 C-frame

Single/3-phase,200V

MSME5AZS1* 50W MADHT1505A-frameMSME012S1* 100W

MSME022S1* 200W MADHT1507MSME042S1* 400W MBDHT2510 B-frameMSME082S1* 750W MCDHT3520 C-frameMSME102S1* 1.0kW MDDHT5540 D-frameMSME152S1* 1.5kW

3-phase,200V

MSME202S1* 2.0kW MEDHT7364 E-frameMSME302S1* 3.0kW MFDHTA390

F-frameMSME402S1* 4.0kW MFDHTB3A2MSME502S1* 5.0kWSingle/3-phase,

200VMDME

Middleinertia 2000r/min

MDME102S1* 1.0kW MDDHT3530D-frameMDME152S1* 1.5kW MDDHT5540

3-phase,200V

MDME202S1* 2.0kW MEDHT7364 E-frameMDME302S1* 3.0kW MFDHTA390

F-frameMDME402S1* 4.0kW MFDHTB3A2MDME502S1* 5.0kWSingle/3-phase,

200V MGMEMiddleinertia 1000r/min

MGME092S1* 900W MDDHT5540 D-frame3-phase,200V

MGME202S1* 2.0kW MFDHTA390F-frameMGME302S1* 3.0kW MFDHTB3A2

Single/3-phase,200V

MHMEHighinertia 2000r/min

MHME102S1* 1.0kW MDDHT3530D-frameMHME152S1* 1.5kW MDDHT5540

3-phase,200V

MHME202S1* 2.0kW MEDHT7364 E-frameMHME302S1* 3.0kW MFDHTA390

F-frameMHME402S1* 4.0kW MFDHTB3A2MHME502S1* 5.0kW

Note 1) Suffix of " * " in the applicable motor model represents the motor structure. 2) Default of the driver is set for the incremental encoder specifications. When you use in absolute, make the following operations. a)Installabatteryforabsoluteencoder.b)Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".

10. Check of the Combination of the Driver and the MotorAbsolute Specifications, 17-bit

11. SpecificationsBasic Specifications

Input power

100VMaincircuit Singlephase,100to120V 1050/60Hz 15

Controlcircuit Singlephase,100to120V 1050/60Hz 15

200V

Maincircuit

AtoD-frame Single/3-phase, 200 to 240V

1050/60Hz 15

EtoF-frame 3-phase, 200 to 230V

1050/60Hz 15

Controlcircuit

AtoD-frame Singlephase,200to240V

1050/60Hz 15

EtoF-frame Singlephase,200to230V

1050/60Hz 15

Controlmethod IGBT PWM Sinusoidal wave drive

Encoderfeedback 17-bit (131072 resolution) absolute encoder, 7-wire serial20-bit (1048576 resolution) incremental encoder, 5-wire serial

FeedbackscalefeedbackA/B phase, initialization signal defferential input.Manufacturers that support serial communication scale:MitsutoyoCorp.SonyManufacturingSystemsCorp.

Controlsignal

Input Generalpurpose10inputsThe function of general-purpose input is selected by parameters.

Output Generalpurpose6outputsThe function of general-purpose input is selected by parameters.Analog/Digitalsignal

Input 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs)Output 3outputs(Analog monitor: 2 output,Digital monitor: 1 output)

Pulsesignal

Input 2 inputs (Photo-coupler input, Line receiver inputOutput 4 outputs ( Line driver: 3 outputopen collector: 1 output)

Communicationfunction

USB Connection with PC etc.RS232 1 : 1 communicationRS485 1 : n communication up to 31 axes to a host.

Safetyfunction Used for IEC61800-5-2: STO.

Frontpanel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)(3)Analogmonitoroutput(2ch)(4)Digitalmonitoroutput(1ch)

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

Dynamicbrake Built-in

ControlmodeSwitching among the following 7 mode is enabled, (1)Positioncontrol(2)Velocitycontrol(3)Toquecontrol(4)Position/Velocitycontrol(5)Position/Torquecontrol(6) Velocity/Torque control (7) Full-closed control

B50 B51

English

11. SpecificationsFunctions

11. SpecificationsFunctions

Positioncontrol

Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3) Command dividing gradual increase switching(4) Damping control switching etc.

Controloutput Positioning complete (In-position) etc.

Pulseinput

Max. command pulsefrequency

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

Inputpulsesignalformat Differentialinput

Electronicgear(Division/Multiplicationofcommandpulse)

1/1000to1000times

Smoothing filter Primarydelay filterorFIR type filter isadaptable to thecommandinputAnaloginput

Torquelimitcommandinput

Individualtorquelimitforbothpositiveandnegativedirectionisenabled.

InstantaneousSpeedObserver Available

DampingControl Available

Velocitycontrol

Controlinput(1)Selectionofinternalvelocitysetup1(2)Selectionofinternalvelocitysetup2(3)Selectionofinternalvelocitysetup3(4) Speed zero clamp etc.

Controloutput Speedarrivaletc.

Analoginput

Velocitycommandinput

Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.

Torquelimitcommandinput

Individualtorquelimitforbothpositiveandnegativedirectionisenabled.

Internalvelocitycommand Switching the internal 8speed is enabled by command input.

Soft-start/down functionIndividualsetupo

Panasonic a5 Operation Basic

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