operating instructions (basic) ac servo motor & driver ... · operating instructions (basic) ac...

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).................B12DriverandListofApplicablePeripheralEquipments.... B14WiringoftheMainCircuit(Connectortype)......... B16WiringoftheMainCircuit(Terminalblocktype)... B18Wiringmethodtoconnector............................. B19WiringDiagram............................................. B21Wiringofconnectorformotorandbrake...... B23WiringtotheConnector,X1......................... B24WiringtotheConnector,X2......................... B24WiringtotheConnector,X3......................... B25WiringtotheConnector,X4......................... B26

WiringtotheConnector,X5......................... B29WiringtotheConnector,X6......................... B30WiringtotheConnector,X7......................... B32

4. Parameter .................................. B33Outline/Setup/Connection......................... B33CompositionofParameters.......................... B35

5. Protective Functions ................ B36ProtectiveFunction(WhatIsErrorCode?)...... B36

6. Maintenance and Inspections .... B387. Conformity to EC Directives and UL Standards ..................... B40

CompositionofPeripheralEquipments........ B428. Built-in Holding Brake .............. B489. Dynamic Brake.......................... B5010. Check of the Combination of the Driver and the Motor ............ B51

IncrementalSpecifications,20-bit............... B51AbsoluteSpecifications,17-bit................... B52

11. Specifications ......................... B53After-Sale Service (Repair) .......... B56

page page<Contents>

Ifyouarethefirstuserofthisproduct,pleasebesuretoreadthedownloadedOperatingInstructions(Overall)fromourWebSite.

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

* Thisproductimageis1.5kWtypeofA5-series.

IMD88+A

English

− B3−− B2−

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

Symbol13

5

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 specificationsMotor structure

Rotary encoder specifications

Voltage specifications

SpecificationsTypeSymbol

Low inertia(50W to 5.0kW)Middle inertia(1.0kW 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

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 With

Symbol

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

CDGH

Shaft Holding brake Oil sealWithout WithRound Key way Without With

Symbol*1

*2*2

MSME

MDME

MFME

MGME

MHME

5A01020408091015202530404550

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

12Z

100 V200 V100/200 common(50W only)

20bit17bit

1,048,576131,072

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(onlyE-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.) : P09040001N

Lot number Month of production

Year of production(Lower 2 digits of AD year)

Manufacture datee.g.) : 20090401

Manufacture dateManufacture yearManufacture month

− B5−− B4−

English

2. InstallationDriver

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

1)Install thedriver inacontrolpanelenclosed innoncombustiblematerialandplaced indoorwheretheproductisnotsubjectedtorainordirectsunlight.Theproductsarenotwaterproof.

2)Wheretheproductsarenotsubjectedtocorrosiveatmospheressuchashydrogensulfide,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 Conditions

Item 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)isstandardforA/B/C/D-framedriver.3)TochangethemountingsurfaceofA/B/C/D-framedriver,usetheoptionalmounting

fixture.Forchoosingthecorrectoptionalmountingfixture,refertotheOperatingIn-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,AtoF-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.B19.“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).

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

Frontmount[Use mounting fixture]

Front or Basemount [Use mounting fixture]

Mountingfixture(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

2)Verticalmounting •Usethemotorwithoilseal(make-to-order incaseofmotor750Wor less)when

mountingthemotorwithgearreducertopreventthereduceroil/greasefromenter-ingtothemotor.

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

Oil/Water Protection1)Don'tsubmergethemotorcabletowateroroil.2)Installthemotorwiththecableoutletfacingdown-

ward.3)Avoidaplacewherethemotorisalwayssubject-

edtooilorwater.4)Usethemotorwithanoilsealwhenusedwiththe

gearreducer,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)Makea full alignment. (incompletealignmentmaycausevibrationanddamagethebearing.)

3)If themotorshaft isnotelectricallygrounded, itmaycauseelectrolyticcorrosion tothebearingdependingontheconditionofthemachineanditsmountingenvironment,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*5)

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

Enclosurerating

Motoronly(Connectortype)

IP67(exceptrotatingportionofoutputshaftandconnectingpinpartofthemotorconnectorandtheencoderconnector)*3*4

Altitude Lowerthan1000m*1Ambienttemperaturetobemeasuredat5cmawayfromthemotor.*2Permissibletemperatureforshortdurationsuchastransportation.*3ThesemotorsconformtothetestconditionsspecifiedinENstandards(EN60529,EN60034-

5).Donotusethesemotorsinapplicationwherewaterproofperformanceisrequiredsuchascontinuouswash-downoperation.

*4Thisconditionisappliedwhentheconnectormountingscrewincaseofmotor750Worlessaretightenedtotherecommendedtighteningtorque(RefertoP.B23,30,31).Besuretousemountingscrewsuppliedwiththeconnector.

*5Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperature falls,causingdew.

How to InstallYoucanmountthemotoreitherhorizontallyorverticallyaslongasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.

Cable Motor

Oil / Water

Motor

− B9−− B8−

English

: High voltage PC (to be supplied by customer)

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

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

• Connection to input powerWiring to Connector, XA

• Monitor outputWiring to Connector, X7

• Connection to host controllerWiring to Connector, X4

• Connection to external scaleWiring to Connector, X5

• Connection to encoderWiring to Connector, X6

• Connection to motor driving phase and ground

Wiring to Connector, XBJunction cable for motor

• Wiring of Main Connector (XA)

• Wiring of Motor Connector (XB)

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.

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

normal operation (For C-frame and D-frame).

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

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

Note

Short circuit wire(B2-B3)

Ground terminal

Junction cable for brake

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

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

Charg lamp(Red LED)*1

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

Ground(earth)

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

Junction cable for encoder

* These colors are used for optional cable.

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 external componentsWiring to Connector, XB

B1 (Pin-6)B2 (Pin-4)

• X1 to X7 are used for the secondary circuit. To connect these terminals to the primary power supply (particularly, 24 VDC power supply for brake), insulation is required.

Do not connect these terminals to the same power supply.

• 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.B25)


Remarks

3. System Configuration and WiringOverall Wiring (Connector type)


Connecting Example of A to D-frame

− B11−− B10−

English



Connecting Example of E-frame

Short circuit wire(B2-B3)

Ground terminal


Ground(earth)



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

Junction cable for encoder

: High voltage PC (to be supplied by customer)


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

• Connection to input powerWiring to Connector, XA





• Connection to motor driving phase and ground

Wiring to Connector, XBJunction cable for motor

• 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.

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.


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


MainsResidual

current device






Remarks

• Connection to external componentsWiring to Connector, XC

B1 (Pin-6)B2 (Pin-4)








Remarks

− B13−− B12−

English

: High voltage

Connection with input power supply

Connection to external components

Connection to motor driving phase and ground





Remarks

Pin B1, B2 and B3• B2 and B3 to be kept shorted

for normal operation. • When you connect an external

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

Pin NC• Do not connect anything.

Junction cable for motor

• Wiring of Main ConnectorCircuit 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.

Short bar(B2-B3)

B1B2


L3L2L1

L2CL1C

Ground(earth)

Ground terminal




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

Junction cablefor encoder


MainsResidual

current device



PC (to be supplied by customer)












Remarks

Connecting Example of F-frame

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

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

− B15−− B14−

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.B43“CompositionofPeripheralEquipments” Surgeabsorber...............P.B45“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B46“CompositionofPeripheralEquipments” Motor/brakeconnector....P.B23“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.•UsetheattachedexclusiveconnectorforAtoE-frame,andmaintainthepeeledofflengthof8to9mm.(RefertoP.B19)

• 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)

F200V L1,L2,Ｌ３,L1C,L2C,B1,B2,B3,NC,U,V,W M5 1.0to1.7 M3 0.19to0.21

• 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)

AtoE 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

*1

Ratedoutput

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*2

Diameter and

withstand voltage of brake

cable

MADH MSME

Singlephase,100V

50Wto100W

approx.0.4kVA

10A

DV0P4170 DV0P4190

DV0P1460

20A(3P+1a)

0.75mm2/AWG18600VACormore

Connectiontoexclusiveconnector


Connectiontoexclusiveconnector


0.28mm2/AWG22

to0.75mm2/AWG18100VACormore

Single/3-phase,200V

50Wto200W

approx.0.5kVA

DV0P4170／

DV0PM20042

DV0P4190／

DV0P1450

MBDH MSME

Singlephase,100V

200W approx.0.5kVA DV0P4170 DV0P4190

Single/3-phase,200V

400W approx.0.9kVA

DV0P4170／

DV0PM20042

DV0P4190／

DV0P1450

MCDH MSME

Singlephase,100V

400W approx.0.9kVA DV0PM

20042

DV0P4190

Single/3-phase,200V

750W approx.1.3kVA

15A

DV0P4190／

DV0P1450MDDH

MDME

Single/3-phase,200V

1.0kW approx.1.8kVA

DV0P4220 30A(3P+1a)



MHME

MGME 0.9kW approx.1.8kVA

20AMSME 1.0kW approx.

1.8kVAMHME

1.5kW approx.2.3kVA

MDMEMFMEMSME

MEDH

MDME

3-phase,200V

2.0kW approx.3.3kVA

30A DV0PM20043 DV0P1450

DV0P1460RJ8035

Recommended(component)*3

60A(3P+1a)


MSMEMHME

MFME 2.5kW approx.3.8kVA

MFDH

MGME

3-phase,200V

2.0kＷ approx.3.8kVA

50A DV0P3410 DV0P1450

DV0P1460RJ8035

Recommended(component)*3

60A(3P+1a)


11mm orsmaller

ø5.3TerminalblockM5


11mm orsmaller

ø5.3TerminalblockM5


MDME


MHMEMSMEMGMEMDME


100A(3P+1a)

MHMEMSME

MFME4.5kＷ

approx.6.8kVA

MGMEapprox.7.5kVA

MDME5.0kＷMHME

MSME

*1Selectperipheralequipmentsforsingle/3phasecommonspecificationaccordingtothepowersource.

*2Thediameterofthegroundcablemustbeequalto,orlargerthanthatofthemotorcable.*3Usetheseproductstosuitaninternationalstandard.

− B17−− B16−

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 type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XAandXB)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XAandXB).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.

Motor

Varistor

DC 24V

MCCBPowersupply NF MC

U

V

W

E

L

Fuse (125 V 10 A)

• 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). Shorting cable is not required for A and B frame. Disconnect this only when the external regenerative register is used.

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

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

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

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

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

• The holding Brake has no polarity.• For the capacity of the holding brake and how to use it, refer to P.B48, "Specifications of Built-in Holding Brake".

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

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

L1CL3L2L1

L2C

B1B3B2UVW

XA

XB

2345

1

23456

1

DC power supply for brake

External regenerative resistor


Red

Black

Green orGreen/yellow

White

RCD

Motor

Varistor

DC 24V

U

V

W

E

Fuse (125 V 10 A)



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

Never start/stop the motor with this Magnetic Contactor.

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

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

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

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

• Earth-ground this.• 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.



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


L1CL3L2L1

L2C

B1B3

NC

UVW

XA

XC

XB

2345

1

23

1

3B22

4

1

DC power supply for brake

Red

Black

Green

White

MCCBPowersupply NF MC LRCD



E-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchthepowerconnector(XA,XBandXC)towhichhighvoltageisapplied. Thereisariskofelectricshock.• Tips on Wiring1)Wireconnector(XA,XBandXC).2)Connectthewiredconnectortothedriver. Fullyinserttheconnectortothebottomuntilitclicks.

− B19−− B18−

English

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

F-frame, 200 V type•Wiringshouldbeperformedbyaspecialistoranauthorizedpersonnel.•Donotturnonthepoweruntilthewiringiscompleted.•Nevertouchtheterminaltowhichhighvoltageisapplied.Thereisariskofelectricshock.

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

minalblock.Forcablediameterandsize,referto“DriverandListofApplicablePe-ripheralEquipments”(P.B14).

Tightentheterminalblockscrewwithatorquebetween1.0and1.7N•m.3)Attachtheterminalcover,andfixwithscrews. TightenthescrewsecuringthecoverwithatorquewrittenonP.B15.

Motor

Varistor

DC 24V

L1

UV

W

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

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

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

• Avoid shorting and grounding. Don't connect the main power.• Earth-ground this.• 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.



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


DC powersupply for brake

Fuse (125 V 10 A)

Red

Black

Green

White

MCCBPowersupply NF MC LRCD



3. System Configuration and WiringWiring method to connector

•FollowtheproceduresbelowforthewiringconnectiontotheConnector XA , XB and XC .

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

•Forstrandedwires(ferrulesmustbeusedasillustratedbelow). Example: Ferrules with plastic insulating sleeve (AI series, Phoenix Contact, Ltd.)1)Peel off the sheath so that the conduc-

torportionofthecablewillprotrudefromthetipoftheferrule.(Itshouldprotrude1mmormorefromtheferrule.)

2)Insertthecableintotheferruleandcrimpitwithanappropriatecrimpingtool.

3)Aftercrimping,cutoff thecableconduc-tor portionprotruding from the ferrule.(Theallowableprotruding lengthaftercuttingshouldbe0to0.5mm.)•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-1614AvailablefromJ.S.T.Mfg.Co.,Ltd<Cables Compatible with Connector>ConductorSize AWG18to12SheathOutline φ2.1toφ4.2mm<Recommended Connector Bar Terminal>ConductorSize AWG18TerminalModelNumber AI0.75-8GY(PhoenixContact,Ltd.)ConductorSize AWG16to14TerminalModelNumber 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.

8 to 9 mm

①

②

③

AA＞B

1mm or more

B

①

②

AA≧B　A≦B＋C

B C

− B21−− B20−

English

2.Insertthecabletotheconnectorinthefollowing2methods. (a)Insertthecableusingthesuppliedhandlelever. (b)Insertthecableusingaflat-bladescrewdriver(Edgewidth:3.0to3.5mm).

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.•Payattentiontoinjurybyscrewdriver.

3. System Configuration and WiringWiring Diagram

Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.

Noi

se fi

lter

Noi

se fi

lter

Motor

ALM+

L2L3

L1CL2C

B1

MC

MCCB

B3B2UVW

L1

ALM−


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

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


L

ON

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

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

Motor

ALM+

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

L

ON MC

ALMOFF


MC

Main powersupply

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection

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

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

XA

XB

X4

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

RemarksCoil surge suppression units



37

36

ALM

Insulated DC12 to 24V

(±5%)+−

37

36

ALM


(±5%)+−

Note Forwiringthemotorconnector,refertoP.B23.

− B23−− B22−

English

•When themotorsof<MSME (50 W to 750 W)> areused, theyareconnectedasshownbelow.

Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)

•Whenthemotorsof<MSME (1.0 kW to 5.0 kW), MDME, MFME, MGME, MHME>areused,theyareconnectedasshownbelow.

Connector:MadebyJapanAviationElectronicsIndustry,Ltd. (Thefiguresbelowshowconnectorsforthemotor.)

3. 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

ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM−

XA

X4

L

ON

B1B3B2NC

UVW

Motor

ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM−

X4

L

ON

B1B3B2NCUVW

ALMOFF


MC

ALMOFF


MC

Noi

se fi

lter


Remove the short wire when you connect the external regenerative resistor.


Remove the short wire when you connect the external regenerative resistor.

RedWhite

BlackGreen

Main powersupply

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection



Noi

se fi

lter

RedWhite

BlackGreen



37

36

ALM


(±5%)+−

37

36

ALM


(±5%)+−



Note Forwiringthemotorconnector,refertoP.B23.

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

Composethecircuitsothatthemaincircuitpowerwillbeshutoffwhenanerroroccurs.

JN8AT04NJ1

1 U-phaseV-phaseW-phaseGround

PIN No.

23

PE

ApplicationPE321

1

2<Motor> <Brake>

JN4AT02PJ1-RTightening torque of the screw (M2) 0.085 to 0.095 N·m (screwed to plastic)

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

12

BrakeBrake

PIN No. Application

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

Do not connect anything to NC.Remarks

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

AHG

CDE

BIF

CBA

IHG

FED

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

GHAFIBEDC

NCNCNC


NC

PIN No. ApplicationA NC

NCNC


NC

PIN No.

BCDEFGHI

Application

<without Brake> <with Brake>

− B25−− B24−

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− 5RS485Thetransmission/receptionmethod.

485+ 6485− 7485+ 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− 5SF2+ 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,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.


Caution Disconnectingthisconnectorduringoperationresultsinimmediatestop.

− B27−− B26−

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



− B29−− B28−

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.



− B31−− B30−

English


Connection to Encoder•Incaseof20-bitincrementalencoder

MSME 50W to 750W

MSME 1.0kW to 5.0kWMDME 1.0kW 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

orR

egul

ator

Shell (FG)

+5V0V

123456

63

74

Twisted pair

Encoder cable

Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS

1

PSPSFG

E5VE0V

X6

• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.

To avoid damage, be sure to use only the screw supplied with the connector.

• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.


(Viewed from cable)

2 51

3 6

4 7

Caution

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

Shell (FG)

+5V0V

123456

63

725

4

Twisted pair

Encoder cable

Connector: JN6FR07SM1(by Japan Aviation Electronics Ind.)

Motor Driver

E5VE0V

PSPS

1

PSBAT−BAT+

PSFG

E5VE0V

X6

battery

battery Reg

ulat

orR

egul

ator

MSME 50W to 750W

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

• Tighten the motor connector mounting screw (M2) with a torque between 0.19 and 0.21 N•m.

To avoid damage, be sure to use only the screw supplied with the connector.

• Do not remove the gasket supplied with the junction cable connector. Securely install the gasket in place. Otherwise, the degree of protection of IP67 will not be guaranteed.


(Viewed from cable)

2 51

3 6

4 7

Caution

•Incaseof17-bitabsoluteencoder




− B33−− B32−

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.

NC – 5 Donotconnect.

NC – 6 Donotconnect.

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


− B35−− B34−

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.

− B37−− B36−

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.B40,41)byturningoffthecontrolpowersupplybetweenL1CandL2C(100V,200V)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 ○

50 0 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 ?)

− B39−− B38−

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

− B41−− B40−

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.B14,"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 characteristicsMSME 50WMSME 100W（100V）

MSME 100W（200V）

MSME 200WMSME 400W

MSME 750W

MSME 1.0kW～5.0kWMDME 1.0kW～5.0kWMFME 1.5kW～4.5kWMGME 0.9kW～4.5kWMHME 1.0kW～5.0kW

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)

UL1004-1(E327868:50Wto750W)UL1004(E327868:0.9kWto5.0kW)

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.

− B43−− B42−

English

LABEL

Terminal cover (transparent)

2–ø4.5

R Cx CxCy

L L

Cy

2–ø4.5 x 6.75

53.1±1.0

100.0±2.088.075.0 5.0

12.0

10.0

50.0

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

<DV0PM20042, DV0P4220> <DV0PM20043>

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

Circuit diagram

[Size]

[Unit: mm]

[Unit: mm]

LABEL

A

CB

H

M5

E

F

D

Earthterminal

M4

Screw forcoverM3

G

Cover

Body

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

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

Installation EnvironmentUsetheservodriverintheenvironmentofPollutionDegree1or2prescribedinIEC-60664-1(e.g.InstallthedriverincontrolpanelwithIP54protectionstructure.)

Caution UseoptionscorrectlyafterreadingOperatingInstructionsoftheoptionstobetterunderstandtheprecautions.Takecarenottoapplyexcessivestresstoeachoptionalpart.

Power Supply100Vtype:Singlephase, 100V+10%to 120V +10%50/60Hz(AtoC-frame)

–15%

–15%

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

–15%

–15%

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

–15%

–15%

(1)Thisproductisdesignedtobeusedinover-voltagecategory(installationcategory)IIIofEN61800-5-1:2007.

(2)UseaninsulatedpowersupplyofDC12to24VwhichhasCEmarkingorcomplieswithEN60950.

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

Noise FilterWhenyouinstallonenoisefilterat thepowersupplyformulti-axesapplication,consultwithmanufacturerofthenoisefilter.Ifsufficientnoisemarginisrequired,connect2filtersinseries.• Optional parts

Option part No. Voltage specifications for driver

Manufacturer’spart No.

Applicable driver (frame) Manufacturer

DV0P4170 Singlephase100V/200V SUP-EK5-ER-6 AandB-frame OkayaElectricInd.


Metallic control box

Controller

Insulated power supply for interface

Safetycontroller

Power supply

Surge absorber

Noise filter

Noise filter for signal lines *1

Ground (PE)

L1U

X4

XAXB

X3X6

M

RE

VW

L2L3L1CL2C

Noise filter for signal lines




Driver

MotorResidualcurrentdevice(RCD)

Circuit breaker

*1 A to D-frame: Noise filter for signal lines, E, F-frame: Noise filter for signal lines <Power supply cable> Option part No. Voltage specifications for driver



DV0PM200423-phase200V

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

OkayaElectricInd.Singlephase100V/200V

3-phase200V C-frame

DV0P4220 Single/3-phase200V 3SUP-HU30-ER-6 D-frameDV0PM20043 3-phase200V 3SUP-HU50-ER-6 E-frame

− B45−− B44−

EnglishEnglish



• Recommended components

Model No. Voltage specifications for driver

Current rating (A)


RTHN-5010 Singlephase100V/200V3-phase200V

10 A,B,C-frameTDK-LambdaCorp.RTHN-5030 30 D-frame

RTHN-5050 50 E,F-frame

<RTHN-5010>195±1210±2

50±2

6-M4M44.5

10±1

18.5

±178±1

4.5±

195±2 18

.5±1

<RTHN-5030>225±1240±2

55±2

6-M4M44.5

10±1

18.5

±185±1

4.5±

1105±

2 18.5

±1

<RTHN-5050>280±1300±2

68±2

6-M5M45.5

12.5

±1

21±1102±

15.

5±112

8±2 21

±1

Remarks •Selectanoisefilterwhosecapacity iscommensuratewith thepowersourcecapacity(inconsiderationoftheloadcondition).

•Forthedetailedspecificationsofeachnoisefilter,contactthemanufacturer.




DV0P3410 3-phase200V 3SUP-HL50-ER-6B F-frame OkayaElectricInd.

Surge AbsorberProvideasurgeabsorberfortheprimarysideofnoisefilter.


Manufacturer’spart No. Manufacturer

DV0P1450 3-phase200V R・A・V-781BXZ-4 OkayaElectricInd.

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

[Unit: mm]



DV0P4190 Singlephase100V/200V R・A・V-781BWZ-4 OkayaElectricInd.

Circuit diagramø4.2±0.2

41±1

UL-1015 AWG16

28±1

5.5±

111

±128

.5±1

4.5±

0.520

0+30

-0

1 2

21

[Unit: mm]

Circuit diagramIN OUT286±3.0

1502-ø5.5 x 7 2-ø5.5

6-6M

270255±1.0

240

120

90±1

.0(18)

(13)

L A B E L

1

2

3

4

5

6

[Unit: mm]

− B47−− B46−

English

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

• Optional parts<24VPowercable,Encodercable,InterfacecableandUSBcable>

Option part No. Manufacturer’spart No. Manufacturer

DV0P1460 ZCAT3035-1330 TDKCorp.

39±134±1

30±113±1

Mass: 62.8g

[Unit: mm]

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

Caution Fixthesignallinenoisefilterinordertopreventexcessivestresstothecables.

• Recommended components<Powercable>


RJ8035 KK-CORP.CO.JP

[Unit: mm]

180200

3413

0

7 R3.5

107

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".



− B49−− B48−

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

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

39.2 4.930000200W,400W 1.27ormore 0.018 50orless 15orless 0.36 137 44.1

750W 2.45ormore 0.075 70orless 20orless 0.42 196 1471.0kW,1.5kW,

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

ormore

392 490100003.0kW 11.8ormore 80orless

4.0kW,5.0kW 16.2ormore 1.35 110orless

50orless(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 16.2ormore 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

900W 13.7ormore 1.35 100orless

50orless(130) 0.79

DC2Vormore

1176 1500 10000

2.0kW 24.5ormore

4.7


1372 2900 54403.0kW 58.8ormore 150or

less

50orless(130) 1.4

4.5kW 50orless 5000

MHME

1.0kW 4.9ormore1.35


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)rep-resenttypicalvalues.

•Backlashofthebuilt-inholdingbrakeiskept±1˚orsmalleratex-factorypoint.•Service life of thenumber of acceleration/decelerationwith theabovepermissible an-gularaccelerationismorethan10milliontimes.(Lifeendisdefinedaswhenthebrakebacklashdrasticallychanges.)

8. Built-in Holding BrakeOutline / Specifications

− B51−− B50−

English

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

Singlephase,100V

MSMELowinertia 3000r/min

MSME5AZG1* 50W MADHT1105 A-frameMSME011G1* 100W MADHT1107MSME021G1* 200W MBDHT2110 B-frameMSME041G1* 400W MCDHT3120 C-frame

Single/3-phase,200V

MSME5AZG1* 50W MADHT1505 A-frameMSME012G1* 100WMSME022G1* 200W MADHT1507MSME042G1* 400W MBDHT2510 B-frameMSME082G1* 750W MCDHT3520 C-frameMSME102G□* 1.0kW MDDHT5540 D-frameMSME152G□* 1.5kW

3-phase,200V

MSME202G□* 2.0kW MEDHT7364 E-frameMSME302G□* 3.0kW MFDHTA390

F-frameMSME402G□* 4.0kW MFDHTB3A2MSME502G□* 5.0kWSingle/3-phase,

200VMDME

Middleinertia 2000r/min

MDME102G□* 1.0kW MDDHT3530 D-frameMDME152G□* 1.5kW MDDHT5540

3-phase,200V

MDME202G□* 2.0kW MEDHT7364 E-frameMDME302G□* 3.0kW MFDHTA390

F-frameMDME402G□* 4.0kW MFDHTB3A2MDME502G□* 5.0kWSingle/3-phase,

200V MFMEMiddleinertia 2000r/min

MFME152G1* 1.5kW MDDHT5540 D-frame

3-phase,200V

MFME252G1* 2.5kW MEDHT7364 E-frameMFME452G1* 4.5kW MFDHTB3A2 F-frame

Single/3-phase,200V

MGMEMiddleinertia 1000r/min

MGME092G□* 900W MDDHT5540 D-frame

3-phase,200V

MGME202G□* 2.0kW MFDHTA390F-frameMGME302G□* 3.0kW MFDHTB3A2MGME452G1* 4.5kW

Single/3-phase,200V

MHMEHighinertia 2000r/min

MHME102G□* 1.0kW MDDHT3530 D-frameMHME152G□* 1.5kW MDDHT5540

3-phase,200V

MHME202G□* 2.0kW MEDHT7364 E-frameMHME302G□* 3.0kW MFDHTA390

F-frameMHME402G□* 4.0kW MFDHTB3A2MHME502G□* 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.

(F-frame(200V)built-indynamicbrakeresistoriscapableofhandlingupto3continuoushaltsat theratedrevolutionswithmax.permis-sibleinertia.Whenoverheatedundermorecriticaloperatingcondi-tions, thebrakewill blowout and shouldbe replacedwith a newone.)

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

vated Intheabovecasesfrom1)to4),youcanselecteitheractivation

ofthedynamicbrakeormakingthemotorfree-runduringdecel-erationorafterthestop,withparameter.

9. Dynamic BrakeOutline

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

− B53−− B52−

English

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use in other combinations than those listed below.

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

Singlephase,100V

MSMELowinertia 3000r/min

MSME5AZS1* 50W MADHT1105 A-frameMSME011S1* 100W MADHT1107MSME021S1* 200W MBDHT2110 B-frameMSME041S1* 400W MCDHT3120 C-frame

Single/3-phase,200V

MSME5AZS1* 50W MADHT1505 A-frameMSME012S1* 100WMSME022S1* 200W MADHT1507MSME042S1* 400W MBDHT2510 B-frameMSME082S1* 750W MCDHT3520 C-frameMSME102S□* 1.0kW MDDHT5540 D-frameMSME152S□* 1.5kW

3-phase,200V

MSME202S□* 2.0kW MEDHT7364 E-frameMSME302S□* 3.0kW MFDHTA390

F-frameMSME402S□* 4.0kW MFDHTB3A2MSME502S□* 5.0kWSingle/3-phase,

200VMDME

Middleinertia 2000r/min

MDME102S□* 1.0kW MDDHT3530 D-frameMDME152S□* 1.5kW MDDHT5540

3-phase,200V

MDME202S□* 2.0kW MEDHT7364 E-frameMDME302S□* 3.0kW MFDHTA390

F-frameMDME402S□* 4.0kW MFDHTB3A2MDME502S□* 5.0kWSingle/3-phase,

200V MFMEMiddleinertia 2000r/min

MFME152S1* 1.5kW MDDHT5540 D-frame

3-phase,200V

MFME252S1* 2.5kW MEDHT7364 E-frameMFME452S1* 4.5kW MFDHTB3A2 F-frame

Single/3-phase,200V

MGMEMiddleinertia 1000r/min

MGME092S□* 900W MDDHT5540 D-frame

3-phase,200V

MGME202S□* 2.0kW MFDHTA390F-frameMGME302S□* 3.0kW MFDHTB3A2MGME452S1* 4.5kW

Single/3-phase,200V

MHMEHighinertia 2000r/min

MHME102S□* 1.0kW MDDHT3530 D-frameMHME152S□* 1.5kW MDDHT5540

3-phase,200V

MHME202S□* 2.0kW MEDHT7364 E-frameMHME302S□* 3.0kW MFDHTA390

F-frameMHME402S□* 4.0kW MFDHTB3A2MHME502S□* 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

100VMaincircuit Singlephase,100to120V ＋ 10％50/60Hz − 15％

Controlcircuit Singlephase,100to120V ＋ 10％50/60Hz − 15％

200V

Maincircuit

AtoD-frame Single/3-phase,200to240V ＋ 10％50/60Hz − 15％Eto

F-frame 3-phase,200to230V ＋ 10％50/60Hz − 15％

Controlcircuit

AtoD-frame Singlephase,200to240V ＋ 10％50/60Hz − 15％Eto

F-frame Singlephase,200to230V ＋ 10％50/60Hz − 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 1:1communicationRS485 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))

RegenerationA,B-frame:nobuilt-inregenerativeresistor(externalresistoronly)CtoF-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

− B55−− B54−

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

Torquecommandinputcanbeprovidedbymeansofanalogvoltage.Parameters are used for scale setting and commandpolarity.

Speedlimitfunction Speedlimitvaluewithparameterisenabled.

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.

− B57−− B56−

English

After-Sale Service (Repair)

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.

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

For your records:Themodelnumberandserialnumberofthisproductcanbefoundoneitherthebackorthebottomoftheunit.Pleasenotetheminthespaceprovidedandkeepforfuturereference.

Model No.M□DH　　　　　　　　M□ME　　　　　　　　

Serial No.

Date ofpurchase

Dealer

Name

Address

Phone ()-

•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

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