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Operating Instructions (Basic) AC Servo Motor & Driver MINAS A5E-series Make sure to forward these Operating Instructions for safety to the final user. • Thank you for purchasing this Panasonic product. • Before operating this product, please read the instructions carefully, and save this manual for future use. 1. Introduction ................................. B2 On Opening the Product Package .................. B2 Check of the Driver Model .............................. B2 Check of the Motor Model............................... B3 2. Installation................................... B4 Driver .............................................................. B4 Motor............................................................... B6 3. System Configuration and Wiring ........................................... B8 Overall Wiring (Connector type) ..................... B8 Overall Wiring (Terminal block type) ................. B12 Driver and List of Applicable Peripheral Equipments .... B14 Wiring of the Main Circuit (Connector type)......... B16 Wiring of the Main Circuit (Terminal block type) ... B18 Wiring method to connector ............................. B19 Wiring Diagram ............................................. B21 Wiring of connector for motor and brake ...... B23 Wiring to the Connector, X1 ......................... B24 Wiring to the Connector, X4 ......................... B25 Wiring to the Connector, X6 ......................... B27 Wiring to the Connector, X7 ......................... B28 4. Parameter .................................. B29 Outline / Setup / Connection......................... B29 Composition of Parameters .......................... B31 5. Protective Functions ................ B32 Protective Function (What Is Error Code ?) ...... B32 6. Maintenance and Inspections .... B34 7. Conformity to EC Directives and UL Standards ..................... B36 Composition of Peripheral Equipments ........ B38 8. Built-in Holding Brake .............. B43 9. Dynamic Brake.......................... B45 10. Check of the Combination of the Driver and the Motor............ B46 Incremental Specifications, 20-bit ............... B46 11. Specifications ......................... B48 After-Sale Service (Repair) .......... B50 page page <Contents> If you are the first user of this product, please be sure to read the downloaded Operating Instructions (Overall) from our Web Site. [Web address of Panasonic Corporation] http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html * This product image is 1.5kW type of A5E-series. English IME03+A

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Page 1: Operating Instructions (Basic) AC Servo Motor & … · Operating Instructions (Basic) AC Servo Motor & Driver ... 6) Do not use benzine ... Stress to Cables. 1)

Operating Instructions (Basic)AC Servo Motor & Driver

MINAS A5E-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,X4......................... B25WiringtotheConnector,X6......................... B27WiringtotheConnector,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 .............. B439. Dynamic Brake.......................... B4510. Check of the Combination of the Driver and the Motor ............ B46

IncrementalSpecifications,20-bit............... B4611. Specifications ......................... B48After-Sale Service (Repair) .......... B50

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

* Thisproductimageis1.5kWtypeofA5E-series. English

IME03+A

E157989
テキストボックス
・This product is for industrial   equipment. Don't use this    product at general household.
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1. IntroductionCheck of the Driver Model

Contents of Name Plate

Model Designation

Model Designation

M A D H T 1 5 0 5 ESpecial specifications(letters and numbers)A5E series

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 8 to 9 10 11 to 12

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

Lot numberMonth of production

Year of production(Lower 2 digits of AD year)

e.g.) : 20090401Manufacture dateManufacture year

Manufacture month

Model

Rated output

Rated inputvoltage/current

Rated frequency

Rated rotational speed

Manufacture date

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

5.7 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

1171.0167S1155(F)

09040001N20090401

MDME102G1CVkWHz

4.772000

N . mr/minIP65

Special specificationsMotor structure

Design order

Rotary encoder specifications

SpecificationsTypeSymbol

SpecificationsSymbol Format Pulse count

OutputMotor rated output

Symbol

SpecificationsSymbol

Wire count

*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.]

Symbol

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

Symbol*1

*2*2

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

Voltage specifications

Low inertia(50W to 750W)High inertia(200W to 750W)Low inertia(50W to 5.0kW)Middle inertia(1.0kW to 5.0kW)Middle inertia(1.5kW to 4.5kW)Middle inertia(900W to 4.5kW)High inertia(1.0kW to 5.0kW)

G IncrementalResolution

5-wire

ABST

Shaft Holding brake Oil sealWithout WithRound Key way Without With

CDGH

Shaft Holding brake Oil sealWithout WithRound Key way Without With

MSMD

MHMD

MSME

MDME

MFME

MGME

MHME

5A01020408091015202530404550

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

12Z

100 V200 V100/200 common (50W only)

SpecificationsSymbol1

C

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

20bit 1,048,576Motor structureMSME(50W to 750W), MSMD, MHMD

1. IntroductionOn Opening the Product Package

•Makesurethatthemodeliswhatyouhaveordered.•Checkiftheproductisdamagedornotduringtransportation.•CheckiftheOperatingInstructions(safety)areincludedornot.•Check if thepowerconnector,motorconnectorsandconnector forexternalregen-erativeresistorconnection(onlyE-frame)areincludedornot.

(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

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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 pe-riod suchasduringtransportation.

*2Air containingwatervaporwill becomesaturatedwithwatervaporasthetemper-ature falls, causingdew.

Ambienttemperature 0˚Cto50˚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,usetheoptionalmountingfixture.

Forchoosingthecorrectoptionalmountingfixture,refertotheOperatingInstructions(Overall).4)Forthedimensionsandmassof theproduct,whicharenecessarydesigndataof

themountingsection,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.

•Observetheenviron-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]

Mounting fixture(optional parts) 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.

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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.

*4Thisconditionisappliedwhentheconnectormountingscrewincaseofmotor750Worlessare tightened to the recommended tightening torque (Refer toP.B21, 25).Be sure to usemountingscrewsuppliedwiththeconnector.

*5Aircontainingwatervaporwillbecomesaturatedwithwatervaporasthetemperature falls,causingdew.

How to InstallYoucanmount themotoreitherhorizontallyorverticallyas longasyouobservethefollowings.1)Horizontalmounting •Mountthemotorwithcableoutletfacingdownwardforwater/oilcountermeasure.

Cable Motor

Oil / Water

Motor

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: High voltage

• Wiring of Main Connector (XA)

• Wiring of Motor Connector (XB)

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 encoderWiring to Connector, X6

• Connection to external componentsWiring to Connector, XB

• Connection to motor driving phase and ground

Wiring to Connector, XB

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

Junction cable for motor

Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression 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, 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.

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

Note

Mains

Short circuit wire(B2-B3)*2

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.*2 Short circuit wire is not attached to A and B frame.

Ground(earth)

Junction cable for encoder

* These colors are used for optional cable.

Residualcurrent 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 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, 24 VDC power supply for brake), insulation is required.

Do not connect these terminals to the same power supply.

Remarks

3. System Configuration and WiringOverall Wiring (Connector type)

3. System Configuration and WiringOverall Wiring (Connector type)

Connecting Example of A to D-frame

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: High voltage

• Wiring of Main Connector (XA)

• Wiring of Motor Connector (XC)

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 encoderWiring to Connector, X6

• Connection to external componentsWiring to Connector, XC

• Connection to motor driving phase and groundWiring to Connector, XB

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

Junction cable for motor

Circuit Breaker (MCCB)To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.Noise Filter (NF)Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. Magnetic Contactor (MC)Turns on/off the main power of the servo driver.Use coil surge suppression 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.

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

Mains

* These colors are used for optional cable.

Residualcurrent 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

• 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.

Remarks

Short circuit wire(B2-B3)

Ground terminal

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

Charg lamp(Red LED)*1

Ground(earth)

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

Junction cable for brake

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

Junction cable for encoder

• Connection to external scaleWiring to Connector, X5

• Connection to PC or host controllerWiring to Connector, X1

3. System Configuration and WiringOverall Wiring (Connector type)

3. System Configuration and WiringOverall Wiring (Connector type)

Connecting Example of E-frame

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: High voltage

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

Connection with input power supply

Connection to external components

Connection to motor driving phase and ground

PC (to be supplied by customer)

• Monitor outputWiring to Connector, X7

• Connection to host controllerWiring to Connector, X4

• Connection to encoderWiring to Connector, X6

Pin 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 regenerative resistor between B1 and B2, set up Pr0.16 to 1 or 2.

Pin NC• Do not connect anything.

Junction cable for motor

Short bar(B2-B3)

B1B2

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

L3L2L1

L2CL1C

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 brake

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

Junction cablefor encoder

• 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.

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 PC or host controllerWiring to Connector, X1

* These colors are used for optional cable.

• 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.

Remarks

Connecting Example of F-frame

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

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

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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.B41“CompositionofPeripheralEquipments” Noisefilterforsignal.......P.B42“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

MADHMSMEMSMDMHMD

Singlephase,100V

50W〜100W

approx.0.4kVA

10A

DV0P4170 DV0P4190

DV0P1460

20A(3P+1a)

0.75mm2/AWG18600VACormore

Connectiontoexclusiveconnector

0.75mm2/AWG18600VACormore

Connectiontoexclusiveconnector

2.0mm2/AWG14600VACormore

0.28mm2/AWG22〜0.75mm2/AWG18100VACormore

Single/3-phase,200V

50W〜200W

approx.0.5kVA

DV0P4170/

DV0PM20042

DV0P4190/

DV0P1450

MBDHMSMEMSMDMHMD

Singlephase,100V

200W approx.0.5kVA DV0P4170 DV0P4190

Single/3-phase,200V

400W approx.0.9kVA

DV0P4170/

DV0PM20042

DV0P4190/

DV0P1450

MCDHMSMEMSMDMHMD

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)

2.0mm2/AWG14600VACormore

0.75mm2/AWG18100VACormore

MHME

MGME 0.9kW approx.1.8kVA

20A

MSME 1.0kW approx.1.8kVA

MHME

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)

0.75mm2/AWG18600VACormore

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)

3.5mm2/AWG12600VACormore

11mm orsmaller

ø5.3TerminalblockM5

0.75mm2/AWG18600VACormore

11mm orsmaller

ø5.3TerminalblockM5

3.5mm2/AWG12600VACormore

MDME

3.0kW approx.4.5kVA

MHMEMSMEMGMEMDME

4.0kW approx.6.0kVA

100A(3P+1a)

MHMEMSME

MFME4.5kW

approx.6.8kVA

MGME

approx.7.5kVA

MDME5.0kWMHME

MSME

*1Selectperipheralequipmentsforsingle/3phasecommonspecificationaccordingtothepowersource.

*2Thediameterofthegroundcablemustbeequalto,orlargerthanthatofthemotorcable.*3Usetheseproductstosuitaninternationalstandard.

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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.B43, "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

* These colors are used for optional cable.

Red

Black

Green orGreen/yellow

White

RCD

Motor

Varistor

DC 24V

U

V

W

E

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.

• 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.

• 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.B43, "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

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

External regenerative resistor

* These colors are used for optional cable.

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

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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

• 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.• 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.

• 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.B43, "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.

DC powersupply for brake

Fuse (125 V 10 A)

Red

Black

Green

White

MCCBPowersupply NF MC LRCD

External regenerative resistor

* These colors are used for optional cable.

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)Peeloffthesheathsothattheconductorportionofthecablewillprotrudefrom

thetipoftheferrule.(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-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

AA>B

1mm or more

B

AA≧B A≦B+C

B C

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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−

External regenerative resistor

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)

External regenerative resistor

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

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

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

* These colors are used for optional cable.

* These colors are used for optional cable.

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

Note Forwiringthemotorconnector,refertoP.B21.

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− B23−− B22−

English3. System Configuration and WiringWiring Diagram

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

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

XC

XB

Motor

ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM−

XA

X4

L

ON

B1B3B2NC

UVW

Motor

ALM+

L2L3

L1CL2C

MC

MCCBL1

ALM−

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

Noi

se fi

lter

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.

RedWhite

BlackGreen

Main powersupply

Control powersupply

Motorconnection

Main powersupply

Control powersupply

Motorconnection

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

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

Noi

se fi

lter

RedWhite

BlackGreen

Coil surge suppression units

Coil surge suppression units

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

37

36

ALM

Insulated DC12 to 24V

(±5%)+−

* These colors are used for optional cable.

* These colors are used for optional cable.

Note Forwiringthemotorconnector,refertoP.B21.

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

•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.)

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

U-phaseV-phaseW-phaseGroundGround

NC

PIN No. ApplicationA NC

NCNC

U-phaseV-phaseW-phaseGroundGround

NC

PIN No.

BCDEFGHI

Application

<without Brake> <with Brake>

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− B25−− B24−

English

3. System Configuration and WiringWiring to the connector, X4

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

17 43 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

GN

D

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

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

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

Velo

city

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

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

4.7kΩ

220Ω

2.2kΩ

2.2kΩ

220Ω

2.2kΩ

2.2kΩ

(

re

pres

ents

twist

ed p

air.)

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.

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

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3. System Configuration and WiringWiring to the connector, X6

Connection to Encoder•Incaseof20-bitincrementalencoder

MSMD 50W to 750WMHMD 200W to 750W

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

X6

Shell (FG)

Motor

123456

45

236

E5VE0V

E5VE0V

PSPS

FGPS PS

DriverMotor

+5V0V

Junction cable

172160-1(by Tyco Electronics, AMP)

172168-1(by Tyco Electronics, AMP)

White

Twisted pair

Black

PurpleLight blue

Reg

ulat

or

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

Reg

ulat

or

MSME 50W to 750W

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.[Connector pin assignment]

(Viewed from cable)

2 51

3 6

4 7

Caution

Wiring Example of Internal Velocity Control Mode

3. System Configuration and WiringWiring to the connector, X4

SP IM

1kΩ

1kΩ

FG50

43 42

X4(

repr

esen

ts tw

isted

pai

r.)

A-ph

ase

outp

ut

B-ph

ase

outp

ut

Z-ph

ase

outp

ut

Velo

city

mon

itor o

utpu

tTo

rque

mon

itor o

utpu

t

7C

OM

+IN

HC

LSR

V-O

NG

AIN

DIV

1ZE

ROSP

DC-

MOD

EA-

CLR

POT

NO

T

S-R

DY+

S-R

DY -

ALM

+

AT-SP

EED+

BRKO

FF+

BRKO

FF-

TLC

VDC

12 to

24V

ZSP

CO

M-

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

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

4.7kΩ

OA+

OA -

OB+

OB - OZ+

OZ -

GN

D

CZ

21 22 48 24 25 1949 23

Z-pha

se ou

tput (o

pen c

ollec

tor)

GN

D17

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

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

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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

3. System Configuration and WiringWiring to the connector, X7

TheconnectorX7ofthefrontpanelisformonitoroutput. Analogueoutput:2systemsInbothcases,itispossibletoswitchtheoutputsignalbysettingparameters.

Application Symbol ConnectorPin No. Contents

Analoguemonitoroutput1 AM1 1

•Outputtheanaloguesignalformonitor.

• Theamplitudeoftheoutputsignalis±10V.

•Outputimpedanceis1kΩ.Whenconnectingameasuringinstrument,checkitsinputcircuitforimpedancematching.

Analoguemonitoroutput2 AM2 2

Signalground GND 3 Connectedtogroundofcontrolcircuit.

NC – 4 Donotconnect.

NC – 5 Donotconnect.

NC – 6 Donotconnect.

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

6 1

X7

Measuringinstrument

Output circuit11kΩ AM1

GND 3

1kΩ AM2 2

Remarks X1toX7areusedforthesecondarycircuit.Toconnecttheseterminalstotheprimarypowersupply(particularly,the24VDCpowersupplyforbrake),insulationisrequired.Donotconnecttheseterminalstothesamepowersupply.

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Setup with the PCItispossibletoconnectyourpersonalcomputertoconnectorX1ofMINASA5EusingaUSBcableforpersonalcomputerconnection.Downloadingthesetupsupportsoft-ware“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 Internalverocitycontrol ParameterforInternalverocitycontrol

4 00to I/Fmonitorsetting ParameterforI/Fmonitorsetting

5 00to Enhancingsetting ParameterforEnhancingsetting

6 00to Specialsetting ParameterforSpecialsetting

*TheParameterNo.consistsof2digits.

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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)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 ○ ○

130 Mainpowersupplyunder-voltageprotection(betweenPtoN) ○

1 Mainpowersupplyunder-voltageprotection(ACinterceptiondetection) ○

140 Over-currentprotection ○1 IPMerrorprotection ○

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

180 Over-regenerationloadprotection ○ ○1 Over-regenerationTrerrorprotection ○

210 Encodercommunicationdisconnecterrorprotection ○1 Encodercommunicationerrorprotection ○

23 0 Encodercommunicationdataerrorprotection ○24 0 Positiondeviationexcessprotection ○ ○ ○

260 Over-speedprotection ○ ○ ○1 2ndover-speedprotection ○ ○

270 Commandpulseinputfrequencyerrorprotection ○ ○ ○2 Commandpulsemultipliererrorprotection ○ ○ ○

28 0 Limitofpulsereplayerrorprotection ○ ○ ○29 0 Deviationcounteroverflowprotection ○ ○

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

33

0 IFoverlapsallocationerror1protection ○

1 IFoverlapsallocationerror2protection ○

2 IFinputfunctionnumbererror1protection ○

3 IFinputfunctionnumbererror2protection ○

4 IFoutputfunctionnumbererror1protection ○

5 IFoutputfunctionnumbererror2protection ○

6 CLfittingerrorprotection ○

7 INHfittingerrorprotection ○

34 0 Softwarelimitprotection ○ ○

36 0to2 EEPROMparametererrorprotection

37 0to2 EEPROMcheckcodeerrorprotection

38 0 Over-travelinhibitinputprotection ○

43 0 Initializationfailure ○

44 0 20-bitincrementalencodersingleturncountererrorprotection ○

45 0 20-bitincrementalencodermulti-turncountererrorprotection ○

48 0 EncoderZ-phaseerrorprotection ○

49 0 EncoderCSsignalerrorprotection ○

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 ?)

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6. Maintenance and InspectionsMaintenance and Inspections

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

Notes on Maintenance and Inspection1)Turnonandturnoffshouldbedonebyoperatorsorinspectorsthemselves.2)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)

6. Maintenance and InspectionsMaintenance and Inspections

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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 characteristics

100115

0.1

1

10

100

200 300 400 500Torque [%]

MSME 50WMSMD 50WMSME 100W(100V)MSMD 100W(100V)MHMD 100W(100V)MSME 100W(200V)MSMD 100W(200V)MHMD 100W(200V)MSME 200WMSMD 200WMHMD 200WMSME 400WMSMD 400WMHMD 400WMSME 750WMSMD 750WMHMD 750WMSME 1.0kW to 5.0kWMDME 1.0kW to 5.0kWMFME 1.5kW to 4.5kWMGME 900W to 4.5kWMHME 1.0kW to 5.0kW

Conformed StandardsDriver Motor

ECDirectives

EMCDirectives

EN55011EN61000-6-2EN61800-3

Low-VoltageDirectives EN61800-5-1 IEC60034-1

IEC60034-5

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

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− B39−− B38−

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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.

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

Metallic control box

Controller

Insulated power supply for interface

Power supply

Surge absorber

Noise filter

Noise filter for signal lines*1

Ground (PE)

L1U

X4

XAXB

X6

M

RE

VW

L2L3L1CL2C

Noise filter for signal lines

Noise filter for signal lines

Noise filter for signal lines

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 driverManufacturer’s

part No.Applicable

driver (frame) Manufacturer

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

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

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

• Recommended components

Model No. Voltage specifications for driver

Current rating (A)

Applicable driver (frame) Manufacturer

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.

Surge AbsorberProvideasurgeabsorberfortheprimarysideofnoisefilter.

Option part No. Voltage specifications for driver

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

Option part No. Voltage specifications for driver

Manufacturer’spart No. Manufacturer

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

Option part No. Voltage specifications for driver

Manufacturer’spart No.

Applicable driver (frame) Manufacturer

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

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

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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.

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>

Manufacturer’spart No. Manufacturer

RJ8035 KK-CORP.CO.JP

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".

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

[Unit: mm]

180200

3413

0

7 R3.5

107

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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),youcanselecteitheractivationof

thedynamicbrakeormakingthemotorfree-runduringdecelera-tionorafterthestop,withparameter.

9. Dynamic BrakeOutline

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

MSME50W,100W 0.29ormore 0.002 35orless 20orless 0.3 DC1V

ormore

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

750W 2.45ormore 0.075 70orless 20orless 0.42 196 147

MSMD50W,100W 0.29ormore 0.002 35orless 20orless 0.3 DC1V

ormore

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

750W 2.45ormore 0.075 70orless 20orless 0.42 196 147

MHMD 200W,400W 1.27ormore 0.018 50orless 15orless 0.36 DC1Vormore

137 44.1 30000750W 2.45ormore 0.075 70orless 20orless 0.42 196 147

MSME

1.0kW,1.5kW,2.0kW 7.8ormore 0.33 50orless 15orless

(100) 0.81 DC2Vormore

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 DC2V

ormore

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 24.5ormore4.7

80orless 25orless(200) 1.3

1372 2900 54403.0kW 58.8ormore 150or

less50orless(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)rep-resenttypicalvalues.

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

8. Built-in Holding BrakeOutline / Specifications

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

Thisdriverisdesignedtobeusedinacombinationwiththemotorwhicharespecifiedbyus.Checktheseriesnameofthemotor,ratedoutputtorque,voltagespecificationsandencoderspecifications.Caution Do not use the driver in combination with unmatched motor.

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

Singlephase,100V

MSMELowinertia 3000r/min

MSME5AZG1* 50W MADHT1105EA-frame

MSME011G1* 100W MADHT1107EMSME021G1* 200W MBDHT2110E B-frameMSME041G1* 400W MCDHT3120E C-frame

Single/3-phase,200V

MSME5AZG1* 50W MADHT1505EA-frameMSME012G1* 100W

MSME022G1* 200W MADHT1507EMSME042G1* 400W MBDHT2510E B-frameMSME082G1* 750W MCDHT3520E C-frame

Singlephase,100V

MSMDLowinertia 3000r/min

MSMD5AZG1* 50W MADHT1105EA-frame

MSMD011G1* 100W MADHT1107EMSMD021G1* 200W MBDHT2110E B-frameMSMD041G1* 400W MCDHT3120E C-frame

Single/3-phase,200V

MSMD5AZG1* 50W MADHT1505EA-frameMSMD012G1* 100W

MSMD022G1* 200W MADHT1507EMSMD042G1* 400W MBDHT2510E B-frameMSMD082G1* 750W MCDHT3520E C-frame

Singlephase,100V

MHMDHighinertia 3000r/min

MHMD021G1* 200W MBDHT2110E B-frameMHMD041G1* 400W MCDHT3120E C-frame

Single/3-phase,200V

MHMD022G1* 200W MADHT1507E A-frameMHMD042G1* 400W MBDHT2510E B-frameMHMD082G1* 750W MCDHT3520E C-frame

Single/3-phase,200V

MSMELowinertia 3000r/min

MSME102G□* 1.0kW MDDHT5540E D-frameMSME152G□* 1.5kW

3-phase,200V

MSME202G□* 2.0kW MEDHT7364E E-frameMSME302G□* 3.0kW MFDHTA390E

F-frameMSME402G□* 4.0kW MFDHTB3A2EMSME502G□* 5.0kWSingle/3-phase,

200V

MDMEMiddleinertia 2000r/min

MDME102G□* 1.0kW MDDHT3530ED-frame

MDME152G□* 1.5kW MDDHT5540E

3-phase,200V

MDME202G□* 2.0kW MEDHT7364E E-frameMDME302G□* 3.0kW MFDHTA390E

F-frameMDME402G□* 4.0kW MFDHTB3A2EMDME502G□* 5.0kW

Motor DriverPowersupply Type Rated rotational

speed Model Ratedoutput Model Frame

Single/3-phase,200V MFME

Middleinertia 2000r/minMFME152G1* 1.5kW MDDHT5540E D-frame

3-phase,200V

MFME252G1* 2.5kW MEDHT7364E E-frameMFME452G1* 4.5kW MFDHTB3A2E F-frame

Single/3-phase,200VMGME

Middleinertia 1000r/min

MGME092G□* 900W MDDHT5540E D-frame

3-phase,200V

MGME202G□* 2.0kW MFDHTA390EF-frameMGME302G□* 3.0kW MFDHTB3A2EMGME452G1* 4.5kW

Single/3-phase,200V

MHMEHighinertia 2000r/min

MHME102G□* 1.0kW MDDHT3530ED-frame

MHME152G□* 1.5kW MDDHT5540E

3-phase,200V

MHME202G□* 2.0kW MEDHT7364E E-frameMHME302G□* 3.0kW MFDHTA390E

F-frameMHME402G□* 4.0kW MFDHTB3A2EMHME502G□* 5.0kW

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

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

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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

InstantaneousSpeedObserver Available

DampingControl Available

Velocitycontrol

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

Controloutput Speedarrivaletc.Internalvelocitycommand Switchingtheinternal8speedisenabledbycommandinput.

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

Zero-speedclamp Speedzeroclampinputisenabled.InstantaneousSpeedObserver Available

Com

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.

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 IGBTPWMSinusoidalwavedriveEncoderfeedback 20-bit(1048576resolution)incrementalencoder,5-wireserial

ParallelI/Oconnector

ControlsignalInput Generalpurpose10inputs

Thefunctionofgeneral-purposeinputisselectedbyparameters.

Output Generalpurpose6outputsThefunctionofgeneral-purposeinputisselectedbyparameters.

AnalogsignalInput noneOutput 2outputs(Analogmonitor:2output)

Pulsesignal Input 2inputs(Photo-couplerinput,Linereceiverinput)

Communicationfunction

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

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

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

Dynamicbrake Built-in

ControlmodeSwitchingamongthefollowing3modeisenabled,(1)Positioncontrol(2)Internalvelocitycontrol(3)Position/Internalvelocitycontrol

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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

•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□M□        

Serial No.

Date ofpurchase

Dealer

Name

Address

Phone ()-

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IME03+AZ0110-2111

7-1-1Morofuku,Daito,Osaka,574-0044,JapanPhone:+81-72-871-1212©PanasonicCorporation2009PrintedinChina