basic (a5 series) d-frame to f-frame (400 v) [pdf：3406kb]

Operating Instructions (Basic)AC Servo Motor & Driver

MINAS A5-series (400V)

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)... B15Wiringmethodtoconnector............................. B16WiringDiagram............................................. B18Wiringofconnectorformotorandbrake...... B19WiringtotheConnector,X1......................... B20WiringtotheConnector,X2......................... B20WiringtotheConnector,X3......................... B21WiringtotheConnector,X4......................... B22

WiringtotheConnector,X5......................... B25WiringtotheConnector,X6......................... B26WiringtotheConnector,X7......................... B28

4. Parameter .................................. B29Outline/Setup/Connection......................... B29CompositionofParameters.......................... B31

5. Protective Functions ................ B32ProtectiveFunction(WhatIsErrorCode?)...... B32

6. Maintenance and Inspections .... B347. Conformity to EC Directives and UL Standards ..................... B36

CompositionofPeripheralEquipments........ B388. Built-in Holding Brake .............. B429. Dynamic Brake.......................... B4410. Check of the Combination of the Driver and the Motor ............ B45

IncrementalSpecifications,20-bit............... B45AbsoluteSpecifications,17-bit................... B46

11. Specifications ......................... B47After-Sale Service (Repair) .......... B50

page page<Contents>

Ifyouarethefirstuserofthisproduct,pleasebesuretoreadthedownloadedOperatingInstructions(Overall)fromourWebSite.

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

* Thisproductimageis1.5kWtypeofA5-series.

IMD89+A

English

E157989

テキストボックス

・This product is for industrial 　　equipment. Don't use this 　　　product at general household.

− B3−− B2−

English

1. IntroductionCheck of the Driver Model

Contents of Name Plate

Model Designation

Model Designation

Power supply

Max. current rating of power deviceFrame-size symbol

FrameSymbol CurrentratingSymbol

SpecificationsSymbol

Current ratingSymbol

M D D H T 2 4 0 7Special specifications(letters and numbers)

Current detector rating

MDDHMEDHMFDH

A5-series, D-frameA5-series, E-frameA5-series, F-frame

T2T3T4T5TA

15A30A35A50A

100A

4

071220304064

7.5A12A20A30A40A64A

1 to 4 75 to 6 10 to 128 to 9

3-phase, 400V

Model No.INPUT 3φACRATED OUTPUTRATED FREQ.RATINGTHERMAL CLASSSER. No.

3.3 ACONT. TORQUERATED REV.CONNECTION

M a d e i n C h i n a

A C S E R V O M O T O R

1941.0250S1F

10040001N20100401

MSME104G1CVkWHz

3.183000

N . mr/minIP67 Serial Number

e.g.) : 100 4 0001NLot number

Month of productionYear of production(Lower 2 digits of AD year)

e.g.) : 20100401Manufacture dateManufacture year

Manufacture month

Model

Rated output

Rated inputvoltage/current

Rated frequency

Rated rotational speed

Manufacture date

M S M E 1 0 4 G 1 C1 to 4 5 to 6 11 to 127 8 9 10

Special specificationsMotor structure

Rotary encoder specifications

Voltage specifications

SpecificationsTypeSymbol

Low inertia(750W to 5.0kW)Middle inertia(400W to 5.0kW)Middle inertia(1.5kW to 4.5kW)Middle inertia(0.9kW to 4.5kW)High inertia(1.0kW to 5.0kW)

GS

IncrementalAbsolute

SpecificationsSymbol Format Pulse count

Motor rated output

SpecificationsSymbol

Resolution5-wire7-wire

Wire count

Motor structureMSME, MDME, MFME, MGME, MHME

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

CDGH

Shaft Holding brake Oil sealWithout WithRound Key way Without With

Symbol

MSME

MDME

MFME

MGME

MHME

4 400 V

20bit17bit

1,048,576131,072

OutputSymbol040608091015

400W600W750W0.9kW1.0kW1.5kW

OutputSymbol202530404550

2.0kW2.5kW3.0kW4.0kW4.5kW5.0kW

Design orderSpecificationsSymbol

1

C

StandardConnector for encoder : N/MS3102A20-29PIP65 motor 0.9 kW to 5.0 kW(only selectable )

1. IntroductionOn Opening the Product Package

•Makesurethatthemodeliswhatyouhaveordered.•Checkiftheproductisdamagedornotduringtransportation.•CheckiftheOperatingInstructions(safety)areincludedornot.•Checkifthepowerconnector,motorconnectors,connectorforexternalregenerativeresistorconnection(onlyDandE-frame)andsafetyby-passplugareincludedornot.

(NeitherthepowerconnectornormotorconnectorareincludedtoF-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.) : P10040001N

Lot number Month of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 20100401

Manufacture dateManufacture yearManufacture month

P10040001N

20100401

− B5−− B4−

English

2. InstallationDriver

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

Installation Place1)Install thedriver inacontrolpanelenclosed innoncombustiblematerialandplaced indoor

wheretheproductisnotsubjectedtorainordirectsunlight.Theproductsarenotwaterproof.2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen

sulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.

3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandlowhumidityanddust-freeplace. 5)Vibration-freeplace.6)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecause

theycandiscolorordamagetheexteriorcase.

Environmental ConditionsItem Conditions *1Extreme tempera-

turesarepermissibleonly for short periodsuchasduringtrans-portation.

*2Air containingwatervaporwil l becomesaturatedwithwatervaporasthetemper-ature falls, causingdew.

Ambienttemperature 0˚Cto55˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)

Storagetemperature*1 –20˚C to65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*2)

Storagehumidity 20%to85%RH(freefromcondensation*2)Vibration Lowerthan5.88m/s2(0.6G),10to60HzAltitude Lowerthan1000m

How to Install1)Rack-mounttype.Installinverticalposition,andreserveenoughspacearoundthe

servodriverforventilation.2)Basemount(rearmount)isstandardforD-framedriver.3)Tochange themountingsurfaceofD-framedriver,use theoptionalmountingfix-

ture.Forchoosing thecorrectoptionalmountingfixture, refer to theOperating In-structions(Overall).

4)Forthedimensionsandmassof theproduct,whicharenecessarydesigndataofthemountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.

5) Inconsiderationofstrengthof thescrewsand thematerialof themountingbase,select appropriate fastening torque for theproductmounting screws, so that thescrewswillnotbeloosenedordamaged.

Example) Totightenasteelscrewintoasteelbase,DtoF-frame:M52.7to3.3N·m

2. InstallationDriver

Mounting Direction and Spacing•Reserveenoughsur-rounding space foreffectivecooling.

•Installfanstoprovideuniformdistributionof temperature in thecontrolpanel.

•D/E/F frame is pro-videdwith a coolingfanatthebottom.

•Observe theenviron-mental conditionsofthecontrolpaneldescribedinthepreviouspage.

Fan Fan 100mm or more

100mm or more

40mmor

more

40mmor

more

10mmor

more10mm

ormore

10mmor

more

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

Control panel

Note Itisrecommendedtousetheconductivepaintwhenyoumakeyourownmountingfixture,orrepaintafterpeelingoffthepaintonthemachineforinstallingtheproducts,inordertomakenoisecountermeasure.

Caution on Installation•Wehavebeenmakingthebestefforttoensurethehighestquality,however,applica-tionofexceptionallylargeexternalnoisedisturbanceandstaticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction.Itishighlyrecommendedthatyoumakeafail-safedesignandsecurethesafetyintheopera-tiverange.

•Ifstrandedwiresareusedasthecable,bunchtheconductorsofthecableusingarodterminalsoraroundterminals.

If strandedwiresareusedas theyare, unexpectedaccidents suchasanelectricshockandshortcircuitorinjurymayresult.(RefertoP.B16.“Wiringmethodtocon-nector”.)

•Theremightbeachanceofsmokegenerationduetothefailureoftheseproducts.Payanextraattentionwhenyouapplytheseproductsinacleanroomenvironment.

•Be sure to install a no-fusebreaker in thepower supply. In addition, be sure togroundthegroundingterminalorgroundwireprovided.

Iftheproductisgroundedinsufficiently,notonlythedrivermaynotdeliveritsperfor-mancesufficiently,butalsosafetyhazardssuchasamalfunctionduetoaelectrifi-cationoradisturbancemaybecaused.

•Ifelectricwiresareboundandrunthroughmetalduct,theycannotcarrytheratedcurrentdue to temperature rise. If theyare forced to carry the ratedcurrent, theymayburn.Whendeterminingsizeof thewire,checkthecurrentdecreasingcoeffi-cientbyreferringtotheOperatingInstructions(Overall).

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

Frontmount [Use mounting fixture]

Front or Basemount [Use mounting fixture]

Mounting fixture

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

<E-frame> Fastening torque of earth screws (M4) to be 0.7 to 0.8 N •m.<F-frame> Fastening torque of earth screws (M5) to be 1.4 to 1.6 N •m.

Mounting fixture(optional parts)

− B7−− B6−

English

3)For thedimensionsandmassof theproduct,whicharenecessarydesigndataofthemountingsection,refertothedimensionaloutlinedrawingontheOperatingIn-structions(Overall)ortheDeliverySpecification.

Oil/Water Protection1)Don'tsubmergethemotorcabletowateroroil.2)Install themotorwith the cableoutlet facing

downward.3)Avoidaplacewhere themotor isalwayssub-

jectedtooilorwater.4)Usethemotorwithanoilsealwhenusedwith

thegearreducer,sothattheoilmaynotentertothemotorthroughshaft.

Stress to Cables1)Avoidastressapplicationtothecableoutletandconnectingportionbybendingor

self-weight.2)Especiallyinanapplicationwherethemotoritselftravels,fixtheattachedcableand

contain theextension junctioncable into thebearerso that thestressbybendingcanbeminimized.

3)Take the cable bending radiusas largeaspossible. (When youuseour optionalcable,MinimumR20mm)

Permissible Load to Output Shaft1)Designthemechanicalsystemsothattheappliedradialloadand/orthrustloadto

themotor shaft at installationandatnormaloperationcanmeet thepermissiblevaluespecifiedtoeachmodel.

2)Payanextraattentionwhenyouusea rigidcoupling. (Excessbending loadmaydamagetheshaftordeterioratethebearinglife.)

3)Useaflexiblecouplingwithhighstiffnessdesignedexclusivelyforservoapplicationinordertomakearadialthrustcausedbymicromisalignmentsmallerthanthepermissiblevalue.

Notes on Installation1)Donotapplydirect impact to theshaftbyhammer

while attaching/detachinga coupling to and fromthemotorshaft.

(Or itmaydamage theencodermountedon theothersideoftheshaft.)

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

thebearingdependingontheconditionofthemachineanditsmountingenvironment,andmayresultinthebearingnoise.Checkandverificationbycustomerisrequired.

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,wheretheproductsarenotsubjectedtorainordirectsunbeam.Theprod-

uctsarenotwaterproof.2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogen

sulfide,sulfurousacid,chlorine,ammonia,sulfur,chloricgas,sulfuricgas,acid,al-kalineandsaltandsoon,andarefreefromsplashofinflammablegas.

3)Wherethemotorisfreefromgrindingoil,oilmist,ironpowderorchips.4)Well-ventilatedandhumidanddust-freeplace,farapartfromtheheatsourcesuch

asafurnace.5)Easy-to-accessplaceforinspectionandcleaning6)Vibration-freeplace.7)Avoidenclosedplace.Motormaygetshotinthoseenclosureandshortenthemotorlife.

Environmental ConditionsItem Conditions

Ambienttemperature*1 0˚Cto40˚C(freefromfreezing)Ambienthumidity 20%to85%RH(freefromcondensation)

Storagetemperature*2 –20˚Cto65˚C(Max.temperatureguarantee:80˚Cfor72hoursfreefromcondensation*4)

Storagehumidity 20%to85%RH(freefromcondensation*4)Vibration Motoronly Lowerthan49m/s2(5G)atrunning,24.5m/s2(2.5G)atstallImpact Motoronly Lowerthan98m/s2(10G)

Enclosurerating

Motoronly(Connectortype)

IP67(exceptrotatingportionofoutputshaftandconnectingpinpartofthemotorconnectorandtheencoderconnector)*3

Altitude Lowerthan1000m*1Ambienttemperaturetobemeasuredat5cmawayfromthemotor.*2Permissibletemperatureforshortdurationsuchastransportation.*3Thesemotors conform to the test conditions specified inENstandards (EN60529,

EN60034-5).Donotusethesemotorsinapplicationwherewaterproofperformanceisrequiredsuchascontinuouswash-downoperation.

*4Aircontainingwatervaporwillbecomesaturatedwithwatervaporas the temperaturefalls,causingdew.

How to InstallYoucanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.2)Verticalmounting •Usethemotorwithoilsealwhenmountingthemotorwithgearreducertoprevent

thereduceroil/greasefromenteringtothemotor.

Cable Motor

Oil / Water

Motor

− B9−− B8−

English

• Connection to PC or host controller

Wiring to Connector, X1

• Connection to RS232, RS485 or host controller


• Connection to Safety by-pass plug (Refer to P.B21)


: High voltage

• Connection to input powerWiring to Connector, XA

• Connection to Control powerWiring to Connector, XD

• Monitor outputWiring to Connector, X7

• Connection to external componentsWiring to Connector, XC

• Wiring of Main Connector (XA)

• Wiring of Motor Connector (XC)

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

motor with this Magnetic Contactor.

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

Junction cable for encoder

PC (to be supplied by customer)

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

Pin B1 (4-pin), B2 (2-pin), andB3 (3-pin)• B2 and B3 to be kept shorted

for normal operation. • When you connect an external

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

L3 (Pin-1)L2 (Pin-2)L1 (Pin-3)

0V24V

B1 (Pin-4)B2 (Pin-2)

Connection to motor driving phase and ground

Junction cable for motor

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

Ground(earth)

Ground terminal Charg lamp

(Red LED)*1

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

Junction cable for motor

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

Handle leverUse this for connector connection. Store this after connection for other occasions. (Refer to P.B17 for connection.)

Short circuit wire (B2-B3)

* Use a power supply with 2 A or larger capacity.

24 VDC power supply for control (to be supplied by customer)

MainsResidual

current device

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

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

• Connection to host controllerWiring to Connector, X4

• Connection to external scaleWiring to Connector, X5

• Connection to encoderWiring to Connector, X6

• Connection to motorWiring to Connector, XB

• 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 control and the 24 VDC power supply for brake), insulation is required.

Do not connect these terminals to the same power supply.

Remarks

* These colors are used for optional cable.

3. System Configuration and WiringOverall Wiring (Connector type)

3. System Configuration and WiringOverall Wiring (Connector type)

Connecting Example of D, E-frame, 400 V type

− B11−− B10−

English

• Connection to RS232, RS485 or host controller


• Connection to Safety by-pass plug (Refer to P.B21)


• Connection to host controllerWiring to Connector, X4

• Connection to external scaleWiring to Connector, X5

• Connection to encoderWiring to Connector, X6

: High voltage

Connection with input power supply

Connection with control power supply

Connection to external components

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

PC (to be supplied by customer)

• Monitor outputWiring to Connector, X7

Connection to motor driving phase and ground

Junction cable for motorPin 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 B2 and B3, then connect the external regen-erative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin NC• Do not connect anything.

* Use a power supply with 2 A or larger capacity.

24 VDC power supply for control (to be supplied by customer)

MainsResidual

current device

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

Junction cablefor encoder

Short bar(B2-B3)

B1B2

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

L3L2L1

Ground(earth)

Ground terminal

Charg lamp(Red LED)*1

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

0V24V

Junction cable for brake

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

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

motor with this Magnetic Contactor.

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

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

• Connection to PC or host controllerWiring to Connector, X1

• 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 control and the 24 VDC power supply for brake), insulation is required.

Do not connect these terminals to the same power supply.

Remarks


Connecting Example of F-frame, 400 V type

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

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

− B13−− B12−

English

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

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

Reference page Noisefilter.......................P.B39“CompositionofPeripheralEquipments” Surgeabsorber...............P.B39“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B40“CompositionofPeripheralEquipments” Motor/brakeconnector....P.B19“Wiringofconnectorformotorandbrake”• About circuit breaker and magnetic contactor To comply to EC Directives, install a circuit breaker between the power and

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

Suitableforuseonacircuitcapableofdeliveringnotmorethan5,000Armssymmetri-calamperes,belowthemaximuminputvoltageoftheproduct.

Remarks Selectacircuitbreakerandnoisefilterwhichmatchtothecapacityofpow-ersupply(includingaloadcondition).

• Terminal block and ground terminals•Useacopperconductorcableswithtemperatureratingof75˚Corhigher.• Fastening torque list (Terminal block screw/Terminal cover fastening screw)

Driver Terminal block screw

Terminal cover fastening screw

Frame Terminal name Nominal size

Fastening torque

(N•m) (*1)Nominal

sizeFastening

torque(N•m) (*1)

F400V 24V、0V M3 0.4to0.6 M3 0.19to0.21L1,L2,Ｌ３,B1,B2,B3,NC,U,V,W M4 0.7to1.0

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

Driver frame

Terminal block screw

Connector to host controller (X4)

Nominal size

Fastening torque

(N•m) (*1)Nominal

sizeFastening

torque(N•m) (*1)

D,F M4 0.7to0.8M2.6 0.3to0.35

F M5 1.4to1.6

(*1)•Applyingfasteningtorquelargerthanthemaximumvaluemayresult indamagetotheproduct.

•Donotturnonpowerwithouttighteningallterminalblockscrewsproperly.•Donot turnonpowerwithout tighteningall terminal block screwsproperly, otherwise,loosecontactsmaygenerateheat(smoking,firing).

•Tocheckforlooseness,conductperiodicinspectionoffasteningtorqueonceayear.CautionBesure toconductwiringproperlyandsecurely. Insecureor improperwiringmaycausethemotor runningout of control or beingdamaged fromoverheating. In addition, payattentionnot toallowconductivematerials,suchaswirechips,entering thedriverduringtheinstallationandwiring.

Driver Applicablemotor Voltage Rated

output

RequiredPowerat the(rated load)

Circuitbreaker

rated (current)

Noisefilter

(Singlephase／3-phase )Surge

absorber

(Singlephase／3-phase )Noise

filter forsignal

Rated operating current of magnetic

contactor Contact ( configuration )

Diameter and

withstand voltage of

main circuit cable

Crimp terminal for main circuit

terminal block

Diameter and

withstand voltage

of control power supply cable

Crimp terminal

for control power supply

terminal block

Diameter and

withstand voltage of motor

cable*1

Diameter and

withstand voltage of brake

cable

MDDH

MDME

3-phase,400V

400W approx.0.9kVA

10AFN258L-16-07

Recommended(component)DV0PM20050 DV0P1460 20A

(3P+1a)

2.0mm2/AWG14600VACormore

Connectiontoexclusiveconnector


Connectiontoexclusiveconnector



MDME 600W approx.1.2kVA

MSME 750W approx.1.6kVA

MSME

1.0kW approx.1.8kVA

MDME

MHME

MGME 0.9kW

MSME

1.5kW approx.2.3kVA

MDME

MFME

MHME

MEDH

MSME

3-phase,400V

2.0kW approx.3.3kVA

15AFN258L-16-07


(3P+1a)

MDME

MHME

MFME 2.5kW approx.3.8kVA

MFDH

MGME

3-phase,400V

2.0kW approx.3.8kVA

30AFN258L-30-07


(3P+1a)


10mm orsmaller

ø4.3TerminalblockM4


7mm orsmaller

ø3.2TerminalblockM3


MSME

3.0kW approx.4.5kVA

MDME

MGME

MHME

MSME

4.0kW approx.6.0kVAMDME

MHME

MFME4.5kＷ

approx.6.8kVA

MGME

approx.7.5kVA

MSME

5.0kWMDME

MHME

*1Thediameterofthegroundcablemustbeequalto,orlargerthanthatofthemotorcable.

− B15−− B14−

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

Wiring of the Main Circuit (Connector type)

D, E-frame•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XA,XB,XCandXD)towhichhighvoltageisap-plied.Thereisariskofelectricshock.

• Tips on Wiring1)Wireconnector(XA,XB,XCandXD).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.

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

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

• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.

• The ground terminal ( ) must not be shared with other equipment.

Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.

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

• The holding brake has no polarities.• For the holding brake power supply capacity and how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B43.

• Provide a varistor. Connect a 10A fuse in series with the varistor.

• Direct power supply for control circuit.• 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.• AC 3-phase power supply 400V for main circuit.

Motor

Varistor

DC 24V

U

V

W

E

Fuse (125V 10A)

Ground resistance: 100 Ω max.For applicable wire, refer to P.B12.

L3L2L1

B1B3

N

UVW

XA

XD

XC

XB

23

1

23

1

3B22

4

1

24V0V

21

DC power supply for brake

Red

Black

White

MCCBPowersupply NF MC LRCD

DC24V

Green orGreen/yellow


• Direct power supply for control circuit.• 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.• AC 3-phase power supply 400V for main circuit.• Don't disconnect the short bar between B2 and B3. Disconnect this only when an external regenerative register is used.

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

• Avoid shorting and grounding. Don't connect the main power.• Earth-ground this.• To prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (ground plate) of the control panel.

• The ground terminal ( ) must not be shared with other equipment.

Two ground terminals are provided.• Don't connect the earth cable to other inserting slot, nor make them touch.

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

• The holding brake has no polarities.• For the holding brake power supply capacity and how to use the brake, refer to “Specifications of Built-in Holding Brake” on P.B43.

• Provide a varistor. Connect a 10A fuse in series with the varistor.

Motor

Varistor

DC 24V

L1

UV

W

E

L2L3

24V0V

B1B3B2NCUVW

Ground resistance: 100 Ω max.For applicable wire, refer to P.B12.

DC powersupply for brake

Fuse (125V　10A)

Red

Black

White

MCCBPowersupply NF MC LRCD

Green orGreen/yellow

DC24V


F-frame•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.

• Tips on Wiring1)Takeoffthecoverfixingscrews,anddetachtheterminalcover.2)Makewiring Useclamptypeterminalsofroundshapewithinsulationcoverforwiringtotheter-

minalblock.Forcablediameterandsize,referto“DriverandListofApplicablePe-ripheralEquipments”(P.B12).

TightentheterminalblockscrewwithatorquewrittenonP.B13.3)Attachtheterminalcover,andfixwithscrews. TightenthescrewsecuringthecoverwithatorquewrittenonP.B13.

− B17−− B16−

English3. System Configuration and WiringWiring method to connector3. System Configuration and Wiring

Wiring method to connector

•FollowtheproceduresbelowforthewiringconnectiontotheConnector XA , XB ,XC and XD .

How to connect1.Peelofftheinsulationcoverofthecable.•Forsinglewire(Pleaseobeythelengthinfigure.)

•Forstrandedwires(ferrulesmustbeusedasillustratedbelow). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)1)Peeloffthesheathsothattheconductor

portionofthecablewillprotrudefromthetipoftheferrule.(Itshouldprotrude1mmormorefromtheferrule.)

2)Insertthecableintotheferruleandcrimpitwithanappropriatecrimpingtool.

3)Aftercrimping,cutoffthecableconductorportionprotruding from the ferrule. (Theallowableprotruding lengthafter cuttingshouldbe0to0.5mm.)•PartNo.ofthecrimpingtool:CRIMPFOXU-D66(1204436)AvailablefromPhoenixContact,Ltd.

Examples: Nylon-insulated ferrule (NTUB series, J.S.T. Mfg. Co., Ltd.)Vinyl-insulated ferrule (VTUB series, J.S.T. Mfg. Co., Ltd.)1)Peeloff thesheathof thecableconduc-

tor portion to the lengthequal to that ofsheathontheferrule.

2)Insertthecableintotheferruleandcrimpitwithanappropriatecrimpingtool.

•PartNo.ofthecrimpingtool: YNT-1614(forVTUB-2,NTUB-2) YNT-2622(forVTUB-0.5)AvailablefromJ.S.T.Mfg.Co.,Ltd

8 to 9 mm

①

②

③

AA＞B

1mm or more

B

①

②

AA≧B　A≦B＋C

B C

XD• CablesCompatiblewithConnector ConductorSize AWG24to20 SheathOutline φ1.2toφ2.6mm• RecommendedConnectorBarTerminal ConductorSize AWG24to22 TerminalModelNumber VTUB-0.5(J.S.T.Mfg.Co.,Ltd)

XA, XB, XC• CablesCompatiblewithConnector ConductorSize AWG18to12 SheathOutline φ2.1toφ4.2mm• RecommendedConnectorBarTerminal ConductorSize AWG16to14 TerminalModelNumber VTUB-2orNTUB-2(J.S.T.Mfg.Co.,Ltd)

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

•Whencrimping the ferrule, sufficientlycheck thestatusof the ferruleandcable. If theconductorsof thecablestickout fromthe insulationcoverorprotrudeexcessivelyfromthetipoftheferrule,accidentssuchasanelectricshockandfirefromashortcircuitmayresult.

2.Insertthecable(theferrule)totheconnectorinthefollowing2methods. (a)Insertthecableusingthesuppliedhandlelever. (b)Insertthecableusingaflat-bladescrewdriver(Edgewidth:3.0to3.5mm).

* 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 (the ferrule) while pressing down the lever, until it hits the insertion slot (round hole).

Release the lever.

Caution •TakeofftheconnectorfromtheServoDriverbeforemakingconnection.•Insertonlyonecableintoeachoneofcableinsertionslot.•Payattentiontoinjurybyscrewdriver.

− B19−− B18−

English

3. System Configuration and WiringWiring Diagram

Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.

In Case of 3-Phase, D, E-frame, 400 V type

In Case of 3-Phase, F-frame, 400 V type

Motor

ALM+

L2L3

0VMCCB

L1

ALM−

24V

Motor

ALM+

L2L3

MC

MCCBL1

ALM−

Noi

se fi

lter

XC

XB

XA

XD

X4

L

ON

B1B3B2N

UVW

X4

L

ON

B1B3B2NCUVW

ALMOFF

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

MC

ALMOFF

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

MC

External regenerative resistor(Remove the short wire when you connect

the external regenerative resistor.)

External regenerative resistor(Remove the short wire when you connect

the external regenerative resistor.)

Main powersupply

24V0V

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection

Power supply 3-phase, 380V to 480V–15% +10%

Power supply 3-phase, 380V to 480V–15% +10%

Noi

se fi

lter

Coil surge suppression units

Coil surge suppression units

MC

Note 1) Shielding the circuit is recommended for the purpose of noise reduction.

Note 1) Shielding the circuit is recommended for the purpose of noise reduction.

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

Insulated DC24V

+−

Note 1)

Insulated DC24V

+−

Note 1)

Note Forwiringthemotorconnector,refertonextpage.

Do not connect anything to NC.Remarks

A

B

D

C

CBA

IHG

FED

A

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

JL04V-2E24-11PE-B-R

U-phaseV-phaseW-phaseGround

PIN No.

BCD

ApplicationA NC

NCNC

U-phaseV-phaseW-phaseGroundGround

NC

PIN No.

BCDEFGHI

Application

<without Brake>

CBA

IHG

FED

JL04V-2E24-11PE-B-R

A BrakeBrake

NCU-phaseV-phaseW-phaseGroundGround

NC

PIN No.

BCDEFGHI

Application

<with Brake>

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

•When themotorsof<MSME, MDME, MFME, MGME, MHME>areused, theyareconnectedasshownbelow.

Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)

− B21−− B20−

English

3. System Configuration and WiringWiring to the connector, X1

ThisisusedforUSBconnectiontoapersonalcomputer.Itispossibletochangetheparametersettingandperformmonitoring.

Application Symbol ConnectorPin No. Contents

USBsignalterminal

VBUS 1Useforcommunicationwithpersonalcomputer.D− 2

D＋ 3

— 4 Donotconnect.

GND 5 Connectedtogroundofcontrolcircuit.

Caution UsecommerciallyavailableUSBmini-Bconnectorforthedriver.


This isused for connection to thehost controllerwhen twoormoreunitsareused.RS232andRS485interfacesaresupplied.


Signalground GND 1 Connectedtogroundofcontrolcircuit.

NC – 2 Donotconnect.

RS232signalTXD 3 RS232

Thetransmission/receptionmethod.RXD 4

RS485signal

485− 5

RS485Thetransmission/receptionmethod.

485+ 6

485− 7

485+ 8

Frameground FG Shell Connectedwithprotectiveearthterminalintheservodriver.

Connector(plug):2040008-1(optional,availablefromTycoElectronicsAMP)[Connector pin assignment]

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


Asafetyby-passplugissuppliedasstandardequipment.Donotdisconnectitinnor-maltimes.When controlling the safety function from the connectedhost controller, accessoryconnectorcannotbeused.Prepareandwire theconnector (option)asspecifiedbe-low.Sincethestandardconnectorcannotbeusedwhencontrollingthesafetyfunctionfrom thehost controller, purchase theoptional connector andmake connectionasshownbelow.


NC– 1

Donotconnect.– 2

Safetyinput1SF1− 3

Thesearetwoindependentcircuitsthatturnofftheoperationsignaltothepowermoduletoshutoffthemotorcurrent.

SF1+ 4

Safetyinput2SF2− 5

SF2+ 6

EDMoutputEDM− 7 Thisisanoutputformonitoringthefailure

ofthesafetyfunction.EDM+ 8

Frameground FG Shell Connectedwithprotectiveearthterminalintheservodriver.

Connector(plug):2013595-1(optional,availablefromTycoElectronicsAMP)

8 6 4 27 5 3 1

[Connector pin assignment]

(Viewed from cable)

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply (particularly, the24VDCpowersupply forcontrol,and the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

Caution Disconnectingthisconnectorduringoperationresultsinimmediatestop.

− B23−− B22−

English


Wiring Example of Position Control Mode

The

func

tions

of t

he fo

llow

ing

pin

can

be c

hang

ed u

sing

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

O

utpu

t: 10

-11,

12,

34-

35, 3

6-37

, 38-

39, 4

0

2.2kΩ

2.2kΩ

2.2kΩ

2.2kΩ

14 15 16 17 4318 42

In c

ase

of o

pen

colle

ctor

I/F

7C

OM

+

PULS

2

SIG

N1

SIG

N2

GN

D

OA+

OA-

OB+

OB-

OZ+

OZ-

GN

D

CZ

SPR/TR

QR/SP

LG

ND

P-ATL

/TRQR

GN

DN

-ATL

SP IM

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

1kΩ

1kΩ

PULS

1

OPC

2

OPC

1IN

HC

LSR

V-O

NG

AIN

DIV

1VS

-SEL

1C-

MOD

EA-

CLR

POT

NO

T

S-RD

Y+S-

RDY-

ALM

+

INP+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

CO

M-

SIG

NH

1SI

GN

H2

PULS

H1PU

LSH2

GN

DFGIN

P-

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

14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

kΩ

20kΩ

20kΩ

+– +– –

20kΩ

2kΩ 2kΩ20k

Ω120

Ω 20kΩ

2kΩ 2kΩ20k

Ω120

Ω

220Ω

VDC

R

5SI

GN

1

6SI

GN

222

0ΩR

1O

PC1

4PU

LS2

220Ω

24VD

C

2O

PC1

6SI

GN

222

0Ω

2.2kΩ

2.2kΩ

(1) W

hen

you

use

the

exte

rnal

res

isto

r with

12V

and

24V

pow

er s

uppl

y

(2) W

hen

you

do n

ot u

se th

e

ext

erna

l res

isto

r with

24V

pow

er s

uppl

y

Posit

ive d

irect

ion

torq

ue lim

it in

put

(0

to +

10V)

Nega

tive

dire

ctio

n to

rque

lim

it in

put

(-1

0 to

+10

V)Ve

locit

y m

onito

r out

put

Torq

ue m

onito

r out

put

Com

man

d pu

lse

inpu

t A(U

se w

ith50

0 kpp

s or le

ss.)

Divider

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Com

man

d pu

lse

inpu

t B(U

se w

ith 4

Mpp

s or

less

.)

Be s

ure

to c

onne

ct.

VDC

12V

24V

Spec

ificati

ons

of R

1kΩ

1/2W

2kΩ

1/2W

VDC-1

.5R

+220

=10m

A..

Serv

o-O

N in

put

Gain

switc

hing i

nput

Elec

troni

c ge

ar

switc

hing

inpu

t 1

Con

trol m

ode

switc

hing

inpu

t

Dam

ping

con

trol

switc

hing

inpu

t 1

Alar

m cl

ear i

nput

Posi

tive

dire

ctio

nov

er-tr

avel

inhi

bitio

n in

put

Neg

ativ

e di

rect

ion

over

-trav

el in

hibi

tion

inpu

t

Serv

o-R

eady

out

put

Serv

o-Al

arm

out

put

Posit

ioning

comp

lete o

utput

Exter

nal b

rake

relea

se ou

tput

Torq

ue in

-lim

it ou

tput

Zero

spee

d dete

ction

outpu

t

Dev

iatio

n co

unte

r cl

ear i

nput

Com

man

d pu

lse

inhi

bitio

n in

put

(

:

Tw

iste

d pa

ir)

4.7kΩ

220Ω

2.2kΩ

2.2kΩ

220Ω

2.2kΩ

2.2kΩ

Wiring Example of Velocity Control Mode


The

func

tions

of t

he fo

llow

ing

pin

can

be c

hang

ed u

sing

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

O

utpu

t: 10

-11,

12,

34-

35, 3

6-37

, 38-

39, 4

0

7C

OM

+

OA+

OA -

OB+

OB-

OZ+

OZ-

GN

D

CZ

SPR/TR

QR/SP

LG

ND

P-ATL

/TRQR

GN

DN

-ATL

SP IM

21 22 48 24 25 1949 23

1kΩ

1kΩ

INTS

PD1

INTS

PD2

SRV-

ON

GAI

NIN

TSPD

3ZE

ROSP

DC-

MODE

A-C

LRPO

TN

OT

S-R

DY+

S-R

DY-

ALM

+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

CO

M-

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

14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

kΩ

20kΩ

20kΩ

X4

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Z-ph

ase o

utput

(open

colle

ctor)

Velo

city

com

man

d in

put (

0 to

± 1

0V)

Posi

tive

dire

ctio

n to

rque

lim

it in

put (

0 to

± 1

0V)

Neg

ativ

e di

rect

ion

torq

ue

limit

inpu

t (-1

0 to

0V)

Velo

city

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

Serv

o-O

N in

put

Gain

switc

hing i

nput

Alar

m c

lear

inpu

t

Spee

d zero

clam

p inp

ut

Sele

ctio

n 1

inpu

t of

inte

rnal

com

man

d sp

eed

Sele

ctio

n 2

inpu

t of

inte

rnal

com

man

d sp

eed

Sele

ctio

n 3

inpu

t of

inte

rnal

com

man

d sp

eed

Con

trol m

ode

switc

hing

in

put

Posi

tive

dire

ctio

nov

er-tr

avel

inhi

bitio

n in

put

Neg

ativ

e di

rect

ion

over

-trav

el in

hibi

tion

inpu

t

Serv

o-R

eady

out

put

Serv

o ala

rm o

utpu

t

At-s

peed

out

put

Torq

ue in

-limit o

utpu

t

Zero

spee

d de

tecti

on o

utpu

t

Divider

+– +–+–

AT-SP

EED+

AT-SP

EED-

(

:

Tw

iste

d pa

ir)

4.7kΩ

Exter

nal b

rake

relea

se ou

tput



− B25−− B24−

English

Wiring Example of Torque Control Mode


The

func

tions

of t

he fo

llow

ing

pin

can

be c

hang

ed u

sing

par

amet

ers.

In

put:

8, 9

, 26,

27,

28,

29,

30,

31,

32,

33

O

utpu

t: 10

-11,

12,

34-

35, 3

6-37

, 38-

39, 4

07C

OM

+

OA+

OA -

OB+

OB - OZ+

OZ -

GN

D

CZ

SPR/TR

QR/SP

LG

ND

P-ATL

/TRQR

GN

DN

-ATL

SP IM

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

14kΩ 10kΩ

20kΩ

20kΩ

14kΩ 10kΩ

20kΩ

20kΩ

47kΩ

47kΩ

47kΩ 47

kΩ

20kΩ

20kΩ

1kΩ

1kΩ

INH

CL

SRV-

ON

GAI

ND

IV1

ZERO

SPD

C-M

ODE

A-C

LRPO

TN

OT

S-R

DY+

S-R

DY -

ALM

+

AT-SP

EED+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

CO

M-

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

ollec

tor)

X4

Divider

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Torq

ue c

omm

and

inpu

t or

vel

ocity

lim

it in

put (

0 to

±10

V)

Velo

city

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

Wirin

g ex

ample

whe

n co

ntro

l mod

e Pr

0.01

=5 o

r Pr3

.17=

1

CCWT

L/TRQ

RG

ND

16 17N

egat

ive

dire

ctio

n to

rque

lim

it in

put (

0 to

±10

V)Se

lect

with

Pr3

.17.

+– +– +–

Serv

o-ON

inpu

tGa

in sw

itchin

g inp

ut

Alar

m cl

ear i

nput

Serv

o-Re

ady o

utpu

t

Serv

o-Al

arm

out

put

At-s

peed

out

put

Exter

nal b

rake

relea

se ou

tput

Torq

ue in

-limit o

utpu

t

Zero

spee

d de

tecti

on o

utpu

t

Spee

d ze

ro cl

amp

input

Con

trol m

ode

switc

hing

inpu

t

Posi

tive

dire

ctio

nov

er-tr

avel

inhi

bitio

n in

put

Neg

ativ

e di

rect

ion

over

-trav

el in

hibi

tion

inpu

t

(

:

Tw

iste

d pa

ir)

4.7kΩ


Connect on to External ScaleProvideapowersupplyfortheexternalscaleonyourpartorusethefollowingpoweroutput(250mAorless).


PowersupplyoutputEX5V 1 Supplythepowerofexternal

scaleorA,B,Zphaseencoder.

EX0V 2 Connectedtogroundofcontrolcircuit.

I/FofexternalscalesignalsEXPS 3 Serialsignal

Thetransmission/receptionmethod./EXPS 4

A,B,ZphaseEndodersignalinput

EXA 5

ParallelsignalreceptionCorrespondencespeed:4Mpps(afterquadruple)

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

Frameground FG Shell Connectedwithgroundterminalintheservodriver.

Connector(plug):MUF-PK10K-X(byJ.S.T.Mfg.Co.,Ltd.)• Caution1)Themanufacturersapplicableexternalscalesforthisproductareasfollows.

•MitutoyoCorp.•MagnescaleCo.,Ltd.

Forthedetailsoftheexternalscaleproduct,contacteachcompany.2) Recommended external scale ratio is 1/40 ≤ External scale ratio ≤ 160 If you set up theexternal scale ratio to smaller value than50/position loopgain

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



− B27−− B26−

English


Connection to Encoder•Incaseof20-bitincrementalencoder

MSME 750W to 5.0kWMDME 400W to 5.0kWMFME 1.5kW to 4.5kWMGME 0.9kW to 4.5kWMHME 1.0kW to 5.0kW

Shell (FG)

+5V0V

123456

41

37

Twisted pair

Encoder cable

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

Motor Driver

E5VE0V

PSPS

9

PSPSFG

E5VE0V

X6

Reg

ulat

or

Shell (FG)

+5V0V

123456

41

37

Twisted pair

Encoder cable

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

Motor Driver

E5VE0V

PSPS

9

PS

5BAT−

6BAT+

PSFG

E5VE0V

X6

battery Reg

ulat

or


•Incaseof17-bitabsoluteencoder




− B29−− B28−

English


TheconnectorX7ofthefrontpanelisformonitoroutput.　Analogueoutput:2systems　Digitaloutput :1systemsInbothcases,itispossibletoswitchtheoutputsignalbysettingparameters.


Analoguemonitoroutput1 AM1 1

•Outputtheanaloguesignalformonitor.

• Theamplitudeoftheoutputsignalis±10V.

•Outputimpedanceis1kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.

Analoguemonitoroutput2 AM2 2

Signalground GND 3 Connectedtogroundofcontrolcircuit.

Digitalmonitoroutput DM 4

•Outputthedigitalsignalformonitor.•OutputvoltageisCMOSlevelcompatible.

•Outputimpedanceis2.2kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.



Connector X7Manufacturer’s part No.: 530140610Manufacturer: Japan Molex Inc.

6 1

X7

Measuringinstrument

Output circuit11kΩ

2.2kΩ

AM1

DM 4

GND 3

1kΩ AM2 2

4. ParameterOutline / Setup / Connection

Outline of ParameterThisdriverisequippedwithvariousparameterstosetupitscharacteristicsandfunc-tions.Thissectiondescribesthefunctionandpurposeofeachparameter.Readandcomprehendverywellsothatyoucanadjustthisdriverinoptimumconditionforyourrunningrequirements.• You can refer and set up the parameter with either one of the following.1)frontpanelofthedriver2)combinationofthesetupsupportsoftware,"PANATERM"andPC.

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 Mode

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

6 1

X7


− B31−− B30−

English

Setup with the PCItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5usingaUSBcableforpersonalcomputerconnection.Downloadingthesetupsupportsoftware“PANATERM”fromourwebsiteandinstallingitonyourpersonalcomputerwillallowyoutoperformthefollowingeasily.• With the PANATERM, you can execute the followings.1)Setupandstorageofparameters,andwritingtothememory(EEPROM).2)MonitoringofI/O,pulseinputandloadfactor.3)Displayofthepresentalarmandreferenceoftheerrorhistory.4)Datameasurementofthewave-formgraphicandbringingofthestoreddata.5)Normalauto-gaintuning6)Frequencycharacteristicmeasurementofthemachinesystem.

Note Becausenoproduction software suchasCD-ROM is available, down-loadthesetupsupportsoftwarefromourwebsiteandinstall itonyourpersonalcomputer.

• How to Connect

• USB cableOnthedriver,usecommerciallyavailableUSBmini-Bconnector.The connector on thepersonal computer side shouldbe in accordancewith thespecificationsofthePC.Whenthecabledoesnothavenoisefilter,attachasignallinenoisefilter(DV0P1460)tobothendsofthecable.

4. ParameterOutline / Setup / Connection

Connect to X1(USB mini-B)

Setup support software “PANATERM”Please 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 Gainadjustment ParameterforGainadjustment

2 00to Dampingcontrol ParameterforDampingcontrol

3 00to Verocity/Torque/Full-closedcontrol ParameterforVerocity/Torque/Full-closedcontrol

4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting

5 00to Enhancingsetting ParameterforEnhancingsetting

6 00to Specialsetting ParameterforSpecialsetting

*TheParameterNo.consistsof2digits.

− B33−− B32−

English

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

•Variousprotective functionsareequipped in thedriver.When theseare triggered, themotorwillstallduetoerror,thedriverwillturntheServo-Alarmoutput(ALM)tooff(open).

•Errorstatusandtheirmeasures•During theerror status, theerror codeNo.will bedisplayedon the front panel

LED,andyoucannotturnServo-ON.•YoucancleartheerrorstatusbyAlarmclearinput(A-CLR)in120msorlonger.•Whenoverloadprotection is triggered, you can clear it byAlarmclear input(A-

CLR)in10secorlongeraftertheerroroccurs.YoucancleartheOverloadprotec-tiontimecharacteristics(refertoP.B36,37)byturningoffthecontrolpowersupplybetween24Vand0V(400V)ofthedriver.*1

•Youcancleartheaboveerrorbyoperatingthefrontpanelkeysandsetupsupportsoftwear“PANATERM”.

•Besuretoclearthealarmduringstopafterremovingthecauseoftheerrorandsecuringsafety.

• The error code No. is displayed in the form of ErrXX.Y (X: main, YY: sub).<List of error code No.>Error code Protective function AttributeMain Sub History Can be cleared Immediate stop11 0 Controlpowersupplyunder-voltageprotection ○12 0 Over-voltageprotection ○ ○

13 0 Mainpowersupplyunder-voltageprotection(betweenPtoN) ○1 Mainpowersupplyunder-voltageprotection(ACinterceptiondetection) ○

14 0 Over-currentprotection ○1 IPMerrorprotection ○

15 0 Over-heatprotection ○ ○16 0 Over-loadprotection ○ ○*1

18 0 Over-regenerationloadprotection ○ ○1 Over-regenerationTrerrorprotection ○

21 0 Encodercommunicationdisconnecterrorprotection ○1 Encodercommunicationerrorprotection ○

23 0 Encodercommunicationdataerrorprotection ○24 0 Positiondeviationexcessprotection ○ ○ ○25 0 Hybriddeviationexcesserrorprotection ○ ○

26 0 Over-speedprotection ○ ○ ○1 2ndover-speedprotection ○ ○

27 0 Commandpulseinputfrequencyerrorprotection ○ ○ ○2 Commandpulsemultipliererrorprotection ○ ○ ○

28 0 Limitofpulsereplayerrorprotection ○ ○ ○29 0 Deviationcounteroverflowprotection ○ ○30 0 Safetydetection ○

330 IFoverlapsallocationerror1protection ○1 IFoverlapsallocationerror2protection ○2 IFinputfunctionnumbererror1protection ○

Error code Protective function AttributeMain Sub History Can be cleared Immediate stop

33

3 IFinputfunctionnumbererror2protection ○4 IFoutputfunctionnumbererror1protection ○5 IFoutputfunctionnumbererror2protection ○6 CLfittingerrorprotection ○7 INHfittingerrorprotection ○

34 0 Softwarelimitprotection ○ ○36 0to2 EEPROMparametererrorprotection37 0to2 EEPROMcheckcodeerrorprotection38 0 Over-travelinhibitinputprotection ○

390 Analoginput1excessprotection ○ ○ ○1 Analoginput2excessprotection ○ ○ ○2 Analoginput3excessprotection ○ ○ ○

40 0 Absolutesystemdownerrorprotection ○ ○41 0 Absolutecounterovererrorprotection ○42 0 Absoluteover-speederrorprotection ○ ○43 0 Initializationfailure ○44 0 Absolutesingleturncountererrorprotection ○45 0 Absolutemulti-turncountererrorprotection ○47 0 Absolutestatuserrorprotection ○48 0 EncoderZ-phaseerrorprotection ○49 0 EncoderCSsignalerrorprotection ○

500 Feedbackscaleconnectionerrorprotection ○1 Feedbackscalecommunicationerrorprotection ○

51

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

550 A-phaseconnectionerrorprotection ○1 B-phaseconnectionerrorprotection ○2 Z-phaseconnectionerrorprotection ○

87 0 Compulsoryalarminputprotection ○95 0 Motorautomaticrecognitionerrorprotection

Othernumber Othererror ○

Note History...Theerrorwillbestoredintheerrorhistory.Can be cleared...Tocanceltheerror,usethealarmclearinput(A-CLR). Ifthealarmclearinputisnoteffective,turnoffpower,removethecauseofthe

errorandthenturnonpoweragain.Immediate stop...Instantaneouscontrolledstopuponoccurrenceofanerror. (Settingof“Pr.5.10Sequenceatalarm”isalsorequired.)

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

− B35−− B34−

English

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)Internalcircuitofthedriveriskeptchargedwithhighvoltageforawhileevenafter

power-off.Turnoff thepowerandallow15minutesor longerafterLEDdisplayofthefrontpanelhasgoneoff,beforeperformingmaintenanceandinspection.

3)Disconnectalloftheconnectiontothedriverwhenperformingmeggertest(Insulationresistancemeasurement)tothedriver,otherwiseitcouldresultinbreakdownofthedriver.

4)Donotusebenzine, thinner,alcohol,acidiccleanerandalkalinecleanerbecausetheycandiscolorordamagetheexteriorcase.

Inspection Items and CyclesGeneralandnormalrunningcondition

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

Performthedailyandperiodicalinspectionaspertheitemsbelow.

Type Cycles Items to be inspected

Dailyinspection Daily

•Ambienttemperature,humidity,speck,dustorforeignobject•Abnormalvibrationandnoise•Maincircuitvoltage•Odor•Lintorotherparticlesatairholes•Cleannessatfrontportionofthedriverandconnector•Damageofthecables•Looseconnectionormisalignmentbetweenthemotorandmachineorequipment•Pinchingofforeignobjectattheload

Periodicalinspection Annual

•Loosetightening•Traceofoverheat•Damagetotheterminalblock•Loosefastenersonterminalblock

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

Guideline for Parts ReplacementUsethetablebelowforareference.Partsreplacementcyclevariesdependingontheactualoperatingconditions.Defectivepartsshouldbereplacedorrepairedwhenanyerrorhaveoccurred.

Prohibited

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

Product Component Standard replacement cycles (hour) Note

Driver

Smoothingcondenser Approx.5years

Thesehoursorcyclesarereference.Whenyouexperienceanyerror,replacementisrequiredevenbeforethisstandardreplace-mentcycle.

Coolingfan 2to3years(10,000to30,000hours)

Aluminumelectrolyticcapacitor(onPCB) Approx.5years

Rushcurrentpreventiverelay

Approx.100,000times(dependingonworking

condition)

Rushcurrentpreventiveresistor

Approx.20,000times(dependingonworking

condition)

Motor

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

Oilseal 5000hours

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

Batteryforabsoluteencoder

Lifetimevariesdependingonworkingconditions.RefertotheOperatingInstructionsattachedtothebatteryforabsoluteencoder.

6. Maintenance and InspectionsMaintenance and Inspections

− B37−− B36−

English

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

EC DirectivesTheECDirectivesapplytoallsuchelectronicproductsasthosehavingspecificfunc-tionsandhavebeenexported toEUanddirectlysold togeneralconsumers.Thoseproductsare required toconform to theEUunifiedstandardsand to furnish theCEmarkingontheproducts.

However,ourACservosmeettherelevantECDirectivesforLowVoltageEquipmentsothatthemachineorequipmentcomprisingourACservoscanmeetECDirectives.

EMC DirectivesMINASServoSystemconformstorelevantstandardunderEMCDirectivessettingupcertainmodel(condition)withcertainlocatingdistanceandwiringoftheservomotorandthedriver.Andactualworkingconditionoftendiffersfromthismodelconditiones-peciallyinwiringandgrounding.Therefore,inorderforthemachinetoconformtotheEMCDirectives,especiallyfornoiseemissionandnoiseterminalvoltage,itisneces-sarytoexaminethemachineincorporatingourservos.

Conformity to UL StandardsObservethefollowingconditionsof(1)and(2)tomakethesystemconformtoUL508C(FileNo.E164620).(1)Use thedriver in anenvironment ofPollutionDegree2or 1 prescribed in

IEC60664-1.(e.g.InstallinthecontrolboxwithIP54enclosure.)(2)Makesure to installacircuitbreakeror fusewhichareULrecognized(Listed

marked)betweenthepowersupplyandthenoisefilter. Fortheratedcurrentofthecircuitbreakerorfuse,refertoP.B12,"DriverandList

ofApplicablePeripheralEquipments"ofPreparation. Useacoppercablewithtemperatureratingof75˚Corhigher.(3)Over-loadprotectionlevel Over-loadprotectivefunctionwillbeactivatedwhentheeffectivecurrentexceeds

115%ormore than the rated current basedon the time characteristics (see thenext page).Confirm that theeffective current of thedriver doesnot exceed theratedcurrent.SetupthepeakpermissiblecurrentwithPr0.13(Setupof1sttorquelimit)andPr5.22(Setup2ndtorquelimit).

(4)Motorover-temperatureprotectionisnotprovided. Motor over-load-temperatureprotection shall beprovidedat the final installation

uponrequiredbytheNEC(NationalElectricCode).

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

Time [s]

Overload protection time characteristics

100115

0.1

1

10

100

200 300 400 500Torque [%]


Conformed StandardsDriver Motor

ECDirectives

EMCDirectives

EN55011EN61000-6-2EN61800-3

–

Low-VoltageDirectives EN61800-5-1 IEC60034-1

IEC60034-5

Functionalsafety

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

–

ULStandards UL508C(FileNo.E164620)

UL1004(FileNo.E327868)

CSAStandards C22.2No.14 C22.2No.100IEC :InternationalElectrotechnicalCommissionEN :EuropaischenNormenEMC :ElectromagneticCompatibilityUL :UnderwritersLaboratoriesCSA :CanadianStandardsAssociationPursuanttothedirective2004/108/EC,article9(2)PanasonicTestingCentrePanasonicServiceEurope,adivisionofPanasonicMarketingEuropeGmbH

Winsbergring15,22525Hamburg,F.R.Germany*PLd:ProvidedthatEDMisused.

− B39−− B38−

English

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.InstallthedriverincontrolpanelwithIP54protectionstructure.)

Caution UseoptionscorrectlyafterreadingOperatingInstructionsoftheoptionstobetterunderstandtheprecautions.Takecarenottoapplyexcessivestresstoeachoptionalpart.

Power Supply• Main power supply400Vtype:3-phase, 380V +10%to 480V +10%50/60Hz –15%

–15%

• Control power supplyDC24V±15%(1)Thisproductisdesignedtobeusedinover-voltagecategory(installationcategory)

IIIofEN61800-5-1:2007.(2)UseaninsulatedpowersupplyofDC12to24VwhichhasCEmarkingorcomplies

withEN60950.

Circuit BreakerInstallacircuitbreakerwhichcomplieswithIECStandardsandULrecognized(Listedand marked)betweenpowersupplyandnoisefilter.Integralsolidstateshortcircuitprotectiondoesnotprovidebranchcircuitprotection.BranchcircuitprotectionmustbeprovidedinaccordancewiththeNationalElectricalCodeandanyadditionallocalcodes.

Noise FilterWhenyouinstallonenoisefilteratthepowersupplyformulti-axesapplication,consultwithmanufacturerof thenoisefilter. Ifsufficientnoisemargin isrequired,connect2filtersinseries.• Recommended components

Model No. Voltage specifications for driver

Current rating (A)

Applicable driver (frame) Manufacturer

FN258L-16-073-phase400V

16 D,E-frameSCHAFFNER

FN258L-30-07 30 F-frame

Remarks •Selectanoisefilterwhosecapacity iscommensuratewith thepowersourcecapacity(inconsiderationoftheloadcondition).

•Forthedetailedspecificationsofeachnoisefilter,contactthemanufacturer.

Surge AbsorberProvideasurgeabsorberfortheprimarysideofnoisefilter.

Option part No. Voltage specifications for driver

Manufacturer’spart No. Manufacturer

DV0PM20050 3-phase400V R・A・V-801BXZ-4 OkayaElectricInd.


InsulatedDC24V

Metallic control box

Controller

Insulated power supplyfor interface

Power supply

Circuit breaker

Residualcurrent device

(RCD)

Surge absorber

Noise filter

Noise filter for signal lines




Ground (PE)

L1

U

X4

XA

XB

X6

M

RE

VW

L2L3

24V0V


Driver

Motor

Safetycontroller

X3

Circuit diagram

1

ø4.2±0.2

41±1

UL-1015 AWG16

28±1

5.5±

111

±128

.5±1

4.5±

0.520

0+30

-0

2 3

21 3

MEMO

− B40−


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

Option part No. Manufacturer’spart No. Manufacturer

DV0P1460 ZCAT3035-1330 TDKCorp.

Caution Fixthesignallinenoisefilterinordertopreventexcessivestresstothecables.

Residual current deviceInstallatypeBResidualcurrentdevice(RCD)atprimarysideofthepowersupply.

Grounding(1)Topreventelectricshock,besuretoconnectthegroundterminal( )ofthedriv-

er,andthegroundterminal(PE)ofthecontrolpanel.(2)Thegroundterminal( )mustnotbesharedwithotherequipment.Twoground

terminalsareprovided.

Note Fordriverandapplicableperipheralequipments, refer toP.B12 "DriverandListofApplicablePeripheralEquipments".

39±134±1

30±113±1

Mass: 62.8g

English

− B43−− B42−

English

8. Built-in Holding BrakeOutline / Specifications

Intheapplicationswherethemotordrivestheverticalaxis,thisbrakewouldbeusedtoholdandpreventthework(movingload)fromfallingbygravitywhilethepowertotheservoisshutoff.

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 thebrake release timingat power-on, or braking timingatServo-OFF/Servo-Alarmwhilethemotorisinmotion,refertotheOperatingInstructions(Overall).

•Withtheparameter,Pr4.38(Setupofmechanicalbrakeactionwhilethemotorisinmotion),youcansetupatimebetweenwhenthemotorenterstoafree-runfromenergizedstatusandwhenBRK-OFFsignalturnsoff(brakewillbeengaged),whentheServo-OFForalarmoccurswhilethemotorisinmotion.RefertotheOperatingInstructions(Overall)forthedetails.

Note 1.Theliningsoundofthebrake(chatteringandetc.)mightbegeneratedwhilerunningthemotorwithbuilt-inbrake,howeverthisdoesnotaf-fectanyfunctionality.

2.Magnetic fluxmight begenerated through themotor shaftwhile thebrakecoil isenergized (brake isopen).Payanextraattentionwhenmagneticsensorsareusednearbythemotor.

Specifications of Built-in Holding Brake

Motorseries

Motoroutput

Staticfrictiontorque

N·m

Rotorinertia

x 10–4 kg·m2

Engagingtimems

Releasingtimems

ExcitingcurrentDC A

(at cool-off)

Releasingvoltage

Permissiblework (J) perone braking

Permissibletotal work

x 103J

Permissibleangular

accelerationrad/s2

MSME

750W 2.5ormore

0.33 50orless15orless 0.70

DC2Vormore

392 49010000

1.0kW,1.5kW,2.0kW 7.8ormore 15orless

(100) 0.813.0kW 11.8ormore 80orless

4.0kW,5.0kW 16.2ormore 1.35 110orless

50orless(130) 0.9 1470 2200

MDME

400W,600W 2.5ormore

1.35

50orless 15orless 0.70

DC2Vormore

392 490

10000

1.0kW 4.9ormore 80orless 70orless(200) 0.59 588 780

1.5kW,2.0kW 13.7ormore 100orless 50orless

(130)

0.79 1176 1500

3.0kW 16.2ormore 110orless 0.9 1470 2200

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

MFME1.5kW 7.8ormore 4.7 80orless 35orless 0.83

DC2Vormore

1372 2900100002.5kW 21.6ormore 8.75 150or

less100orless 0.75 1470 1500

4.5kW 31.4ormore 2200

MGME

0.9kW 13.7ormore 1.35 100orless

50orless(130) 0.79

DC2Vormore

1176 1500 10000

2.0kW 24.5ormore

4.7

80orless 25orless(200) 1.3

1372 2900 54403.0kW 58.8ormore 150or

less

50orless(130) 1.4

4.5kW 50orless 5000

MHME

1.0kW 4.9ormore1.35

80orless 70orless(200) 0.59

DC2Vormore

588 78010000

1.5kW 13.7ormore 100orless

50orless(130) 0.79 1176 1500

2.0kWto5.0kW 24.5ormore 4.7 80orless 25orless

(200) 1.3 1372 2900 5440

•ExcitationvoltageisDC24V±10%.•ReleasingtimevaluesrepresenttheoneswithDC-cutoffusingavaristor. Valuesin()representthosemeasuredbyusingadiode(V03CbyHitachi,Ltd.)•Abovevalues(exceptstaticfrictiontorque,releasingvoltageandexcitationcurrent)representtypicalvalues.

•Backlashofthebuilt-inholdingbrakeiskept±1˚orsmalleratex-factorypoint.•Service life of thenumber of acceleration/decelerationwith theabovepermissibleangularaccelerationismorethan10milliontimes.(Lifeendisdefinedaswhenthebrakebacklashdrasticallychanges.)

8. Built-in Holding BrakeOutline / Specifications

− B45−− B44−

English

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.

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

Motor DriverPowersupply Type

Rated rotational

speedModel Rated

output Model Frame

3-phase,400V

MSMELowinertia 3000r/min

MSME084G1* 750W MDDHT2412D-frameMSME104G□* 1.0kW MDDHT3420

MSME154G□* 1.5kW MDDHT3420MSME204G□* 2.0kW MEDHT4430 E-frameMSME304G□* 3.0kW MFDHT5440

F-frameMSME404G□* 4.0kW MFDHTA464MSME504G□* 5.0kW

3-phase,400V

MDMEMiddleinertia 2000r/min

MDME044G1* 400W MDDHT2407D-frameMDME064G1* 600W

MDME104G□* 1.0kW MDDHT2412MDME154G□* 1.5kW MDDHT3420MDME204G□* 2.0kW MEDHT4430 E-frameMDME304G□* 3.0kW MFDHT5440

F-frameMDME404G□* 4.0kW MFDHTA464MDME504G□* 5.0kW

3-phase,400V

MFMEMiddleinertia 2000r/min

MFME154G1* 1.5kW MDDHT3420 D-frameMFME254G1* 2.5kW MEDHT4430 E-frameMFME454G1* 4.5kW MFDHTA464 F-frame

3-phase,400V

MGMEMiddleinertia 1000r/min

MGME094G□* 0.9kW MDDHT3420 D-frameMGME204G□* 2.0kW MFDHT5440

F-frameMGME304G□* 3.0kW MFDHTA464MGME454G1* 4.5kW

3-phase,400V

MHMEHighinertia 2000r/min

MHME104G□* 1.0kW MDDHT2412 D-frameMHME154G□* 1.5kW MDDHT3420MHME204G□* 2.0kW MEDHT4430 E-frameMHME304G□* 3.0kW MFDHT5440

F-frameMHME404G□* 4.0kW MFDHTA464MHME504G□* 5.0kW

Note •Suffixof“□ ”intheapplicablemotormodelrepresentsdesignorder.•Suffixof“* ”intheapplicablemotormodelrepresentsthemotorstructure.

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.Dynamicbrake is a short-duration rating, anddesigned for onlyemergencystop.Allowapprox.10minutespausewhenthedynamicbrakeisactivatedduringhigh-speedrunning.

• You can activate the dynamic brake in the following cases. 1)whenthemainpoweristurnedoff2)atServo-OFF3)whenoneoftheprotectivefunctionisactivated.4)whenover-travelinhibitinput(NOT,POT)ofconnectorX4isacti-

vated Intheabovecasesfrom1)to4),youcanselecteitheractivationof

thedynamicbrakeormakingthemotorfree-runduringdecelera-tionorafterthestop,withparameter.

9. Dynamic BrakeOutline

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

− B47−− B46−

English

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.

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

Motor DriverPowersupply Type

Rated rotational

speedModel Rated

output Model Frame

3-phase,400V

MSMELowinertia 3000r/min

MSME084S1* 750W MDDHT2412D-frameMSME104S□* 1.0kW MDDHT3420

MSME154S□* 1.5kW MDDHT3420MSME204S□* 2.0kW MEDHT4430 E-frameMSME304S□* 3.0kW MFDHT5440

F-frameMSME404S□* 4.0kW MFDHTA464MSME504S□* 5.0kW

3-phase,400V

MDMEMiddleinertia 2000r/min

MDME044S1* 400W MDDHT2407D-frameMDME064S1* 600W

MDME104S□* 1.0kW MDDHT2412MDME154S□* 1.5kW MDDHT3420MDME204S□* 2.0kW MEDHT4430 E-frameMDME304S□* 3.0kW MFDHT5440

F-frameMDME404S□* 4.0kW MFDHTA464MDME504S□* 5.0kW

3-phase,400V

MFMEMiddleinertia 2000r/min

MFME154S1* 1.5kW MDDHT3420 D-frameMFME254S1* 2.5kW MEDHT4430 E-frameMFME454S1* 4.5kW MFDHTA464 F-frame

3-phase,400V

MGMEMiddleinertia 1000r/min

MGME094S□* 0.9kW MDDHT3420 D-frameMGME204S□* 2.0kW MFDHT5440

F-frameMGME304S□* 3.0kW MFDHTA464MGME454S1* 4.5kW

3-phase,400V

MHMEHighinertia 2000r/min

MHME104S□* 1.0kW MDDHT2412 D-frameMHME154S□* 1.5kW MDDHT3420MHME204S□* 2.0kW MEDHT4430 E-frameMHME304S□* 3.0kW MFDHT5440

F-frameMHME404S□* 4.0kW MFDHTA464MHME504S□* 5.0kW

Note 1)•Suffixof“□ ”intheapplicablemotormodelrepresentsdesignorder. •Suffixof“* ”intheapplicablemotormodelrepresentsthemotorstructure.2)Defaultofthedriverissetfortheincrementalencoderspecifications. Whenyouuseinabsolute,makethefollowingoperations.a)Installabatteryforabsoluteencoder.b)SwitchtheparameterPr0.15(Absoluteencodersetup)from"1(default)"to"0".

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

11. SpecificationsBasic Specifications

Inputpower

400V*1

Maincircuit

DtoF-frame 3-phase,380＋ 10％to480V＋ 10％50/60Hz − 15％ − 15％

Controlcircuit

DtoF-frame DC24V±15%

Controlmethod IGBTPWMSinusoidalwavedrive

Encoderfeedback 17-bit(131072resolution)absoluteencoder,7-wireserial20-bit(1048576resolution)incrementalencoder,5-wireserial

ExternalscalefeedbackA/Bphase,initializationsignaldefferentialinput.Manufacturersthatsupportserialcommunicationscale:MitsutoyoCorp.MagnescaleCo.,Ltd.

ParallelI/Oconnector

Controlsignal

Input Generalpurpose10inputsThefunctionofgeneral-purposeinputisselectedbyparameters.

Output Generalpurpose6outputsThefunctionofgeneral-purposeinputisselectedbyparameters.

Analogsignal

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

Output 2outputs(Analogmonitor:2output)

Pulsesignal

Input 2inputs(Photo-couplerinput,Linereceiverinput）

Output 4outputs(Linedriver:3output、opencollector:1output)

Communicationfunction

USB ConnectionwithPCetc.

RS232 1:1communication

RS485 1:ncommunicationupto31axestoahost.

Safetyfunction UsedforIEC61800-5-2:STO.

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

Regeneration DtoF-frame:Built-inregenerativeresistor(externalresistorisalsoenabled.)

Dynamicbrake Built-in

ControlmodeSwitchingamongthefollowing7modeisenabled,(1)Positioncontrol(2)Velocitycontrol(3)Toquecontrol(4)Position/Velocitycontrol(5)Position/Torquecontrol(6)Velocity/Torquecontrol(7)Full-closedcontrol

*1ThespecificationoutofJapan.

− B49−− B48−

English

11. SpecificationsFunctions

11. SpecificationsFunctions

Positioncontrol

Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.

Controloutput Positioningcomplete(In-position)etc.

Pulseinput

Max.commandpulsefrequency

ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps

Inputpulsesignalformat Differentialinput

Electronicgear(Division/Multiplicationofcommandpulse)

1/1000to1000times

Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput

Analoginput

Torquelimitcommandinput

Individualtorquelimitforbothpositiveandnegativedirectionisenabled.

Torquefeedforwardinput Analogvoltagecanbeusedastorquefeedforwardinput.

InstantaneousSpeedObserver Available

DampingControl Available

Velocitycontrol

Controlinput(1)Selectionofinternalvelocitysetup1(2)Selectionofinternalvelocitysetup2(3)Selectionofinternalvelocitysetup3(4)Speedzeroclampetc.

Controloutput Speedarrivaletc.

Analoginput

Velocitycommandinput

Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.




Internalvelocitycommand Switchingtheinternal8speedisenabledbycommandinput.

Soft-start/downfunctionIndividualsetupofaccelerationanddecelerationisenabled,with0 to10s/1000r/min.Sigmoidacceleration/decelerationisalsoenabled.

Zero-speedclamp Speedzeroclampinputisenabled.InstantaneousSpeedObserver Available

VelocityControlfilter Available

Torquecontrol

Controlinput Speedzeroclamp,Torquecommandsigninputetc.Controloutput Speedarrivaletc.

Analoginput

Torquecommandinput

Speedcommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.

Speedlimitfunction Speedlimitvaluewithparametertisenabled.

Full-closedcontrol

Controlinput(1)Deviationcounterclear(2)Commandpulseinhibition(3)Commanddividinggradualincreaseswitching(4)Dampingcontrolswitchingetc.

Controloutput Full-closedpositioningcompleteetc.

Pulseinput

Max.commandpulsefrequency

ExclusiveinterfaceforPhoto-coupler:500kppsExclusiveinterfaceforlinedriver:4Mpps

Inputpulsesignalformat Differentialinput

Electronicgear(Division/Multiplicationofcommandpulse)

1/1000to1000times

Smoothingfilter Primarydelay filterorFIR type filter isadaptable to thecommandinput

Analoginput




Setuprangeofdivision/multiplicationoffeedbackscale

1/40to160timesCom

mon

Autotuning

Theloadinertiaisidentifiedinrealtimebythedrivingstateofthemotoroperatingaccordingtothecommandgivenbythecontrollingdeviceandsetupsupportsoftware“PANATERM”.Thegainissetautomaticallyinaccordancewiththerigiditysetting.

Divisionofencoderfeedbackpulse

Setupofanyvalueisenabled(encoderpulsescountisthemax.).

Protectivefunction

Harderror Over-voltage,under-voltage,over-speed,over-load,over-heat,over-currentandencodererroretc.

Softerror Excesspositiondeviation,commandpulsedivisionerror,EEPROMerroretc.

Traceabilityofalarmdata Thealarmdatahistorycanbereferredto.

− B51−− B50−

English

After-Sale Service (Repair)

7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2009

RepairConsulttoadealerfromwhomyouhavepurchasedtheproductfordetailsofrepair.Whentheproductisincorporatedtothemachineorequipmentyouhavepurchased,consulttothemanufacturerorthedealerofthemachineorequipment.

Cautions for Proper Use•PracticalconsiderationsforexportingtheproductorassemblycontainingtheproductWhentheenduseroftheproductorenduseoftheproductisassociatedwithmili-tary affair orweapon, its exportmaybe controlledby theForeignExchangeandForeignTradeControlLaw.Completereviewoftheproducttobeexportedandex-portformalitiesshouldbepracticed.

•Thisproduct is intended tobeusedwithageneral industrialproduct,butnotde-signedormanufacturedtobeusedinamachineorsystemthatmaycausepersonaldeathwhenitisfailed.

•Installation,wiring,operation,maintenance,etc.,oftheequipmentshouldbedonebyqualifiedandexperiencedpersonnel.

•Apply adequate tightening torque to theproductmounting screwby taking intoconsiderationstrengthofthescrewandthecharacteristicsofmaterialtowhichtheproduct is installed.Overtighteningcandamage thescrewand/ormaterial;under-tighteningcanresultinloosening.

Example)Steelscrew(M5)intosteelsection:2.7-3.3N·m.•Installasafetyequipmentsorapparatusinyourapplication,whenaseriousacci-dentorlossofpropertyisexpectedduetothefailureofthisproduct.

•Consultusiftheapplicationofthisproductisundersuchspecialconditionsandenvi-ronmentsasnuclearenergycontrol,aerospace,transportation,medicalequipment,varioussafetyequipmentsorequipmentswhichrequirealesseraircontamination.

•Wehavebeenmakingthebestefforttoensurethehighestqualityoftheproducts,however, applicationof exceptionally larger external noisedisturbanceand staticelectricity,orfailureininputpower,wiringandcomponentsmayresultinunexpectedaction. It ishighly recommended thatyoumakea fail-safedesignandsecure thesafetyintheoperativerange.

•Ifthemotorshaftisnotelectricallygrounded,itmaycauseanelectrolyticcorrosiontothebearing,dependingontheconditionofthemachineanditsmountingenviron-ment,andmayresultinthebearingnoise.Checkingandverificationbycustomerisrequired.

•Failureofthisproductdependingonitscontent,maygeneratesmokeofaboutonecigarette.Takethisintoconsiderationwhentheapplicationofthemachineiscleanroomrelated.

•Pleasebecarefulwhenusinginanenvironmentwithhighconcentrationsofsulfurorsulfricgases,assulfurationcanleadtodisconnectionfromthechipresistororapoorcontactconnection.

•Takecaretoavoidinputtingasupplyvoltagewhichsignificantlyexceedstheratedrangetothepowersupplyofthisproduct.Failuretoheedthiscautionmayresultindamagetotheinternalparts,causingsmokingand/orafireandothertrouble.

•Theuser is responsible formatchingbetweenmachineandcomponents in termsof configuration, dimensions, life expectancy, characteristics,when installing themachineorchangingspecificationofthemachine.Theuserisalsoresponsibleforcomplyingwithapplicablelawsandregulations.

•Theproductwillnotbeguaranteedwhenitisusedoutsideitsspecificationlimits.•Partsaresubjecttominorchangetoimproveperformance.

Technical informationTechnicalinformationofthisproduct(OperatingInstructions,CADdata)canbedownloadedfromthefollowingwebsite.http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

For your records:Themodelnumberandserialnumberofthisproductcanbefoundoneitherthebackorthebottomoftheunit.Pleasenotetheminthespaceprovidedandkeepforfuturereference.

Model No.M□DH　　　　　　　　M□ME　　　　　　　　

Serial No.

Date ofpurchase

Dealer

Name

Address

Phone ()-

MEMO MEMO

basic (a5 series) d-frame to f-frame (400 v) [pdf：3406kb]

Documents