MINAS A5II/A5 Series Manual Datasheet by Panasonic Industrial Automation Sales

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Panasonic}:
* This product image is 200 W type of A5 series.
Operating Instructions (Overall)
AC Servo Motor & Driver
MINAS A5Ⅱ/A5 series
Thank you for purchasing this Panasonic product.
Before operating this product, please read the instructions carefully, and save this manual for future use.
This product is for industrial equipment. Don’t use this product at general household.
2
Thank you for purchasing Digital AC Servo Motor & Driver, MINAS A5 series. This
instruction manual contains information necessary to correctly and safely use the MINAS
A5
/A5 series motor and driver. By reading this instruction manual, you will learn how to
identify the model of the motor and driver that will be best suitable your application, how
to wire and set up them, how to set parameters, and how to locate possible cause of
symptom and to take corrective action.
This is the original instruction.
Caution
1) Any part or whole of this document shall not be reproduced without written permis-
sion from us.
2) Contents of this document are subject to change without notice.
Organization of this manual -m—nun-
3
1. Before Using the Products
Check of the Driver Model ... Installation
Describes how to identify and select the desired product and components, how to
read the specifications, and how to install the equipment.
2. Preparation
Operating requirements and procedure
Shows the timing chart and the list of parameters, and describes how to make
wiring and to use the front panel.
3. Connection
Wiring ... I/O settings
Shows block diagrams for each control mode and connection diagrams to the host
controllor, I/O settings.
4. Setup
Describes parameters ... JOG running
Shows describes parameters and procedure of test operation.
5. Adjustment
Gain adjustment ... Auto tuning
Describes various adjusting method including auto tuning and manual gain tuning.
6. When in Trouble
Read this section when you encounter trouble or error.
7. Supplement
Contains S-T characteristic diagram, dimensional outline drawing, supplemental
description on communications and operation.
Organization of this manual 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Contents
4
Contents
Organization of this manual ............................................................................................ 3
Safety Precautions ............................................................................................................. 6
Conformance to international standards ................................................................... 10
Maintenance and Inspections ....................................................................................... 11
1. Before Using the Products ................................................................... 1-1
1. Introduction ...............................................................................................................1-2
2. Driver ........................................................................................................................1-3
3. Motor .......................................................................................................................1-21
4. Check of the Combination of the Driver and the Motor ...........................................1-23
6. Installation ...............................................................................................................1-30
7. Permissible Load at Output Shaft ...........................................................................1-37
2. Preparation .........................................................................................................2-1
1. Conformance to international standards ................................................................... 2-2
2. System Configuration and Wiring ...........................................................................2-10
3. Wiring to the Connector, X1 .................................................................................... 2-51
4. Wiring to the Connector, X2 .................................................................................... 2-51
5. Wiring to the Connector, X3 .................................................................................... 2-53
6. Wiring to the Connector, X4 .................................................................................... 2-54
7. Wiring to the Connector, X5 .................................................................................... 2-55
8. Wiring to the Connector, X6 .................................................................................... 2-57
9. Wiring to the Connector, X7 .................................................................................... 2-60
10. Timing Chart .......................................................................................................... 2-61
11. Built-in Holding Brake ............................................................................................2-65
12. Dynamic Brake .......................................................................................................2-67
13. Setup of Parameter and Mode ..............................................................................2-72
14. Setup of command division and multiplication ratio (electronic gear ratio) ........... 2-86
15. How to Use the Front Panel ..................................................................................2-88
3. Connection .........................................................................................................3-1
1. Outline of mode .........................................................................................................3-2
2. Control Block Diagram ............................................................................................ 3-14
3. Wiring to the Connector, X4 .................................................................................... 3-20
4. Inputs and outputs on connector X4 .......................................................................3-32
5. IF Monitor Settings ..................................................................................................3-52
page
Iiinliil
5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
4. Setup ........................................................................................................................4-1
1. Describes parameters ...............................................................................................4-2
2. JOG running ............................................................................................................4-66
5. Adjustment ..........................................................................................................5-1
1. Gain Adjustment ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4
3. Adaptive Filter .........................................................................................................5-24
4. Manual Auto-Gain Tuning (Basic) ............................................................................5-27
5. Manual Auto-Gain Tuning (Application) ...................................................................5-38
6. About Homing Operation .........................................................................................5-60
6. When in Trouble .............................................................................................6-1
1. When in Trouble ........................................................................................................6-2
2. Setup of gain pre-adjustment protection ................................................................. 6-20
3. Troubleshooting ......................................................................................................6-23
7. Supplement ........................................................................................................7-1
1. Safety function ..........................................................................................................7-2
2. Absolute System .....................................................................................................7-10
3. Setup Support Software, PANATERM ..................................................................... 7-26
4. Communication ....................................................................................................... 7-27
5. Motor Characteristics (S-T Characteristics) ............................................................7-55
6. Dimensions .............................................................................................................7-73
7. Options ....................................................................................................................7-94
Warranty ...........................................................................................................................7-126
Cautions for Proper Use ................................................................................................... 7-127
After-Sale Service .................................................................................................... Back cover
page
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
b) ¢®
6
The following explanations are for things that must be observed in order to prevent harm to
people and damage to property.
Misuses that could result in harm or damage are shown as follows, classified according to the
degree of potential harm or damage.
Danger Indicates great possibility of death or serious injury.
Caution Indicates the possibility of injury or property damage.
The following indications show things that must be observed.
Indicates something that must not be done.
Indicates something that must be done.
Danger
Do not subject the Product to water, corrosive or
flammable gases, and combustibles. Failure to observe this instruc-
tion could result in fire, electrical
shocks, damages and break-
downs.
Do not place combustibles near by the motor,
driverd regenerative resistor and dynamic brake
resister..
Don't use the motor in a place subject to exces-
sive vibration or shock.
Failure to observe this instruc-
tion could result in electrical
shock, injury or fire.
Don't use cables soaked in water or oil.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
The installation area should be away from heat
generating objects such as a heater and a large
wire wound resistor.
Failure to observe this instruc-
tion could result in fire and
breakdowns.
Never connect the motor directly to the commer-
cial power supply.
Don't attempt to carry out wiring or manual opera-
tion with wet hand.
Failure to observe this instruc-
tion could result in electrical
shock, injury or fire.
Do not put your hands in the servo driver.
Failure to observe this instruc-
tion could result in burn and
electrical shocks.
Safety Precautions Please observe safety precautions fully.
Iiinliil
7
In the case of the motor with shaft end keyway, do
not touch the keyway with bare hands. Failure to observe this instruc-
tion could result in personal
injury.
Do not touch the rotating portion of the motor
while it is running.
Failure to observe this instruction could result in
damages and breakdowns.
Do not touch the motor, servo driver, heat sink,
regenerative resistor and dynamic brake resister,
since they become very hot.
Failure to observe this instruc-
tion could result in burns.
Do not drive the motor with external power. Failure to observe this instruc-
tion could result in fire.
Do not subject the cables to excessive force,
heavy object, or pinching force, nor damage the
cables.
Failure to observe this instruc-
tion could result in electrical
shocks, damages and break-
downs.
Installation area should be free from excessive
dust, and from splashing water and oil.
Failure to heed this precaution
will result in electric shock, per-
sonal injury, fire, malfunction or
damage.
Mount the motor, driver and peripheral equip-
ments on incombustible material such as metal.
Installation on a flammable ma-
terial may cause fire.
Wiring has to be carried out by the qualified and
authorized specialist.
Allowing a person with no ex-
pertise to carry out wiring will
result in electrical shocks.
Correctly run and arrange wiring.
Incorrect wiring will result in
short circuit, electric shock, per-
sonal injury, etc.
After correctly connecting cables, insulate the live
parts with insulator.
Incorrect wiring will result short
circuit, electric shock, fire or
malfunction.
Ground the earth terminal of the motor and driver
without fail.
Floating ground circuit will
cause electric shock.
Install and mount the Product and machinery
securely to prevent any possible fire or accidents
incurred by earthquake.
Failure to heed this requirement
will result in electric shock, per-
sonal injury, fire, malfunction or
damage.
Install an emergency stop circuit externally so that
you can stop the operation and shut off the power
immediately.
Install an overcurrent protection, earth leakage
breaker, over-temperature protection and emer-
gency stop apparatus without fail.
Failure to heed these require-
ments will result in electric
shock, personal injury or fire.
Check and confirm the safety of the operation
after the earthquake.
Before transporting, wiring and inspecting the
driver, turn off power and wait for a time longer
than that specified on the name plate on the side
panel of the product; and make sure that there is
no risk of electrical shock.
Energized circuit will cause
electric shock.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
8
Caution
Do not hold the motor cable or motor shaft during
the transportation.
Failure to observe this instruc-
tion could result in injuries.
Don't drop or cause topple over of something dur-
ing transportation or installation.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not step on the Product nor place the heavy
object on them.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries, breakdowns
and damages.
Don't use the equipment under direct sunshine.
Failure to heed these instruc-
tions will cause personal injury
or fire.
Do not block the heat dissipating holes or put the
foreign particles into them.
Failure to observe this instruc-
tion could result in electrical
shocks and fire.
Do not give strong impact shock to the Product. Failure to observe this instruc-
tion could result in breakdowns.
Do not give strong impact shock to the motor
shaft.
Failure to observe this instruc-
tion could result in a failure of
the detector etc.
Do not turn on and off the main power of the driv-
er repeatedly. Failure to observe this instruc-
tion could result in breakdowns.
Never run or stop the motor with the electro-mag-
netic contactor installed in the main power side.
Do not make an extreme gain adjustment or
change of the drive.
Do not keep the machine running/operating unsta-
bly.
Failure to observe this instruc-
tion could result in injuries.
Do not use the built-in brake as a "Braking" to
stop the moving load.
Failure to observe this instruc-
tion could result in injuries and
breakdowns.
Do not approach to the machine since it may sud-
denly restart after the power resumption.
Design the machine to secure the safety for the
operator even at a sudden restart.
Failure to observe this instruc-
tion could result in injuries.
Never attempt to perform modification, dismantle
or repair.
Failure to heed this instruction
will result in fire, electric shock,
personal injury or malfunction.
Safety Precautions Please observe safety precautions fully.
Iiinliil
9
Make an appropriate mounting of the Product
matching to its wight and output rating. Failure to heed these require-
ments will result in personal
injury or malfunction.
Observe the specified mounting method and di-
rection.
Use the eye bolt of the motor for transportation of
the motor only, and never use this for transporta-
tion of the machine.
Using it for transportation of the
machine will cause personal
injury or malfunction.
Don't place any obstacle object around the motor
and peripheral, which blocks air passage.
Temperature rise will cause
burn injury or fire.
Adjust the motor and driver ambient environmen-
tal condition to match the motor operating tem-
perature and humidity. Failure to heed these require-
ments will result in personal
injury or malfunction.
Create the specified clearance between the driver
and the control panel inner surface or other de-
vices.
Observe the specified voltage.
Operation from a voltage out-
side the rated voltage will cause
electric shock, personal injury
or fire.
Connect the brake control relay to the relay which
is to shut off at emergency stop in series.
Missing of one of these devices
will result in personal injury or
malfunction.
Provide protection device against idling of electro-
magnetic brake or gear head, or grease leakage
from gear head.
No protection will cause per-
sonal injury, damage, pollution
or fire.
Use the motor and the driver in the specified com-
bination.
Not using the motor and the
driver in the specified combina-
tion will result in fire.
Test-run the securely fixed motor without loading
to verify normal operation, and then connect it to
the mechanical system.
Operation using a wrong model
or wrong wiring connection will
result in personal injury.
When any error occurs, remove the cause and
release the error after securing the safety, then
restart.
Not removing the cause of the
error will result in personal in-
jury.
If the driver fails, shut off the power on the power
supply side of the driver.
Allowing a large current to con-
tinue to pass will result in fire.
Maintenance must be performed by an experi-
enced personnel.
Wrong wiring will cause person-
al injury or electric shock.
Always keep power disconnected when the power
is not necessary for a long time.
Improper operation will cause
personal injury.
When you dispose the batteries, observe any applicable regulations or laws after
insulating them with tape.
This Product shall be treated as Industrial Waste when you dispose.
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Conformance to international standards C€ nuns ”®"s LISTED A it 717] (21%? ‘H’fié‘lflflm °l 7171E fl’Ffi-(A '3) 11743-4 §7I7lifi {W11} E3 *HR‘? °t 41% 5521?}471 “WM, ”@943! xlqfll‘t 4&3th- 31-3 5-3125 tNE}. (Wklé: )
10
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
Low-Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Machinery
Directives
Functional
safety *1
ISO13849-1 (PL d) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
UL Standards UL508C (E164620) UL1004-1, UL1004-6
(E327868)
CSA Standards C22.2 No.14 C22.2 No.100
Radio Waves Act
(South Korea) (KC) *2
KN11
KN61000-4-2, 3, 4, 5, 6, 8, 11
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
• When export this product, follow statutory provisions of the destination country.
*1 A5
E and A5E series doesn’t correspond to the functional safety standards.
*2 Information related to the Radio Waves Act (South Korea)
This servo driver is a Class A commercial electromagnetic radio wave generator not
designed for home use. The user and distributor should be aware of this fact.
Servo Driver
This product is not an object of China Compulsory Certification (CCC).
(A5, A5 series) (A5E, A5E series)
Note For details on compatibility with international standard, refer to P.2-2 Conformance to
international standards.
Conformance to international standards
Maintenance and Inspections -mn—mn—
11
Routine maintenance and inspection of the driver and motor are essential for the
proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves. When es-
tablishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
2) Internal circuit of the driver is kept charged with high voltage for a while even after
power-off. Turn off the power and allow 15 minutes or longer after LED display of the
front panel has gone off, before performing maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation
resistance measurement) to the driver, otherwise it could result in breakdown of the
driver.
4) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they
can discolor or damage the exterior case.
5) The upper fan on H-frame driver is kept deactivated while servo is off, for the purpose
of energy saving. This is normal.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30 ˚C (annual average), load factor of 80 % or
lower, operating hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type Cycles Items to be inspected
Daily
inspection Daily
Ambient temperature, humidity, speck, dust or foreign object
Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connector
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
Motor
with Gear
Reducer
Annual
• Loose tightening
• Trace of overheat
• Damage to the terminal block
• Loose fasteners on terminal block
Note Inspection cycle may change when the running conditions of the above change.
Maintenance and Inspections 1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Maintenance and Inspections ®
12
Related page
• P.7-126 “Warranty”
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the ac-
tual operating conditions. Defective parts should be replaced or repaired when any error
have occurred.
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
Smoothing condenser Approx. 5 years
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Cooling fan 2 to 3 years
(10000 to 30000 hours)
Aluminum electrolytic
capacitor (on PCB) Approx. 5 years
Rush current
preventive relay
Approx. 100000 times
(depending on working
condition)
Rush current
preventive resistor
Approx. 20000 times
(depending on working
condition)
Motor
Bearing 3 to 5 years
(20000 to 30000 hours)
Oil seal 5000 hours
Encoder 3 to 5 years
(20000 to 30000 hours)
Battery
for absolute encoder
Life time varies depending
on working conditions.
Refer to the Operating
Instructions attached to the
battery for absolute
encoder.
Maintenance and Inspections
1-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Before Using the Products
1. Introduction
Outline .........................................................................................................1-2
On Opening the Product Package ...............................................................1-2
2. Driver
Check of the Model ......................................................................................1-3
Parts Description
A to E-frame..............................................................................................1-4
F-frame .....................................................................................................1-5
G-frame.....................................................................................................1-6
H-frame .....................................................................................................1-7
D to F-frame (400 V) .................................................................................1-8
G-frame (400 V) ........................................................................................1-9
H-frame (400 V) ......................................................................................1-10
Specifications.............................................................................................1-11
Block Diagram ...........................................................................................1-15
3. Motor
Check of the Model ....................................................................................1-21
Parts Description .......................................................................................1-22
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit ..............................................................1-23
Absolute Specifications, 17-bit...................................................................1-25
Special Order Product ...............................................................................1-27
Junction cable for motor ...........................................................................1-29
5. Installation
Driver .........................................................................................................1-30
Motor..........................................................................................................1-34
6. Permissible Load at Output Shaft
Motor..........................................................................................................1-37
1-2
The AC Servo Motor & Driver, MINAS A5 series is the latest servo system that meets all
demands from a variety of machines which require high speed, high precision and high
performance or which require simplified settings.
Compared with the preceding A4 series, product of A5 series offers superior performance
while requiring simple setup and adjustment by the user.
Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated
with 20-bit incremental encoder and reduced cogging torque.
(Only for position control type have range of outputs from 50 W to 5.0 kW.)
They are compatible with 2 closed controls (serial communication type and A-/B-phase
output type) and provided with various automatic adjusting functions such as real time
auto tuning with many automatic setting parameters to make complex tuning easy.
(Only for position control type do not conform to full-closed control.)
In addition to the functions of MINAS A5 series, MINAS A5
series adopted two-degree-
of-freedom control system which enables faster and more precise adjustment.
It also supports the new feature “fit gain” function of PANATERM, which provides an au-
tomatic gain adjustment in a simple and short time.
These motors assure higher stability with low stiffness machine and high-speed, high
accurate operation with high stiffness machine. They can be used in combination with a
wide variety of machines.
This manual is written as a complete guide for you so that you can fully and correctly
make use of all functions available from MINAS A5.
When describing A5
series specific functions and features, this manual distinguishes
them by using symbols and notes.
1 Before Using
the Products
1. Introduction
On Opening the Product Package
Make sure that the model is what you have ordered.
Check if the product is damaged or not during transportation.
Check if the Operating Instructions (safety) are included or not.
Check if the power connector, motor connectors, connector for external regenerative
resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are includ-
ed or not.
(Neither the power connector nor motor connector are included to F-frame to H-frame.)
(Safety bypass plug is not supplied with only for position control type because it does not use
this plug.)
Contact to a dealer if you find any failures.
1 Before Using
the Products
1. Introduction
Outline
umber 13040001 N HIT mum cuwommn M aclure date 2013 0 4 01 TT‘E Velocity, position, M A D T 1 5 0 5 * *Tk MADKT1505E>|<‘>I< _="" '="" y="" frame="" slze="" symbol="" max.="" current="" rali="" symbol="" frame="" of="" power="" device="" current="" detector="" rating="" mad="" a-frame="" symbol="" current="" rali="" symbol="" current="" rating="" mbd="" b-frame="" mcd="" c-lrame="" mdd="" d-lrame="" med="" e-frame="" mfd="" f-frame="" mgd="" g-lrame="" mhd="" h-lrame="" power="" supply="" symbol="" specifications="" 1="" single="" phase,="" 100="" v="" 3="" 3-phase,="" 200="" v="" ashe="" series="" 4="" 3-phase,="" 400="" v="" a5e="" series="" 5="" single/b-phase,="" 200="" v="" series="">
1-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Check of the Model
Contents of Name Plate
Model No.
MADKT1505
AC SERVO DRIVER
50/60 Hz 100 W
1.3 A
1φ/3φ
200-240 V
Freq.
Serial No.
P13040001N
20130401
INPUT
Voltage
Phase
F.L.C
Power
OUTPUT
69.4 V
3φ
1.2 A
0-500.0 Hz
Model number
Input/output voltage
Rated output of
applicable motor
Rated input/output current
Input/output frequency
Number of phase
Serial Number
e.g.) : P13040001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 2013 04 01
Manufacture dateManufacture year
Manufacture month
Model Designation
MADKT1505E
Special specifications
(letters and numbers)
Special specifications
(letters and numbers)
Only for position control type
Current detector rating
Power supply
Max. current rating
of power device
Frame-size symbol
torque and full-closed
FRQWUROW\SH
Only for position
control type
MAD
MBD
MCD
MDD
MED
MFD
MGD
MHD
Frame
Symbol
A-frame
B-frame
C-frame
D-frame
E-frame
F-frame
G-frame
H-frame
Current rating
Symbol
Specifications
Symbol
1
3
4
5
Single phase, 100 V
3-phase, 200 V
3-phase, 400 V
Single/3-phase, 200 V
Current rating
Symbol
1 to 3 4
4
7105 to 6 11 to 128 to 9
MADKT1505
1 to 4 75 to 6 10 to 128 to 9
NOTE)
Only for position control type is
SURYLGHG$)UDPHWR)IUDPH
T1
T2
T3
T4
T5
T7
TA
TB
TC
10 A
15 A
30 A
35 A
50 A
75 A
100 A
150 A
300 A
05
07
10
12
20
30
40
64
90
A2
B4
5 A
7.5 A
10 A
12 A
20 A
30 A
40 A
64 A
90 A
120 A
240 A
Series
K
H
Position control type
Symbol
A5
E series
A5E series
Velocity, Position,
Torque, Full-Closed type
A5
series
A5 series
Related page
• P.1-23 “Check of the Combination of the Driver and the Motor”
0° «Mat» 0 w h 5 In an an I‘ 0®S®
1-4
A to D-frame
E-frame
LED cover
Safety by-pass prug
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
V
U
W
Connector XA:
for main power connection
05JFAT-SAXGF (JST)
Connector XB:
for motor connection
06JFAT-SAXGF (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Screws for earth (x2)
Main power
input terminals
Control power
input terminals
Terminals for motor
connection
1 Before Using
the Products
2. Driver
Parts Description
Note • Connector XA and XB are attached in A to D-frame driver.
• Connector XA, XB and XC are attached in E-frame driver.
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
L1C
L2C
L1
L2
L3
B1
B3
B2
NC*
* NC is no connect.
U
V
W
Connector XA:
for main power connection
05JFAT-SAXGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L (JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for motor
connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
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1-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
F-frame
Terminal cover
LED cover
Safety by-pass prug
Control power
input terminals
L1
L2
L3
L1C
L2C
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
* NC is no connect.
Details of terminal block
Note
Related page
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.1-30 “Installation”
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-73 to 7-78 “Dimensions”
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1-6
2. Driver
Parts Description
G-frame
Terminal cover
LED cover
Safety by-pass prug
NC
NC
NC
L2C
L1C
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
Control power input terminals
NC*
L1C
L2C
NC*
NC*
DB1
DB2
NC*
NC*
DB3
DB4
NC*
L1
L2
L3
B1
B2
NC*
U
V
W
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Details of terminal block
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
* NC is no connect.
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.1-30 “Installation”
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-73 to 7-78 “Dimensions”
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1-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
H-frame
X1
X2
X3
X4
X5
X6
CHARGE
L1 L2 L3 B1 B2 NC
L1C L2C DB1 DB2
U V W
L1
L1C
L2C
DB1
DB2
L2 L3 B1 B2 NC*
U V W
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Control terminal for
dynamic brake resister
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor
Details of terminal block
* NC is no connect.
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.1-30 “Installation”
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-73 to 7-78 “Dimensions”
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1-8
2. Driver
Parts Description
D, E-frame (400 V)
F-frame (400 V)
LED cover
Safety by-pass prug
Screws for earth
(x2)
Charge lamp
24V
0V
L1
L2
L3
B1
B3
B2
U
V
W
Connector XA:
for main power connection
03JFAT-SAYGSA-L (JST)
Connector XB:
for motor connection
03JFAT-SAXGSA-L (JST)
Connector XD:
Control power input terminals
02MJFAT-SAGF (JST)
Connector XC:
Connector for external
regenerative resistor
04JFAT-SAXGSA-L(JST)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Terminals for
motor connection
Control power
input terminals
Main power
input terminals
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
NC*
* NC is no connect.
Control power
input terminals
L1
L2
L3
24V
0V
B1
B3
B2
NC*
U
V
W
Main power
input terminals
Terminals for motor
connection
Screws for earth (x2)
Terminals for external
regenerative resistor
(Normally short-circuit
B3 to B2)
Charge lamp
Connector X6:
for encoder
connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5:
for feedback scale
connection
Connector X7: Monitor connector
Front panel
Terminal cover
LED cover
Safety by-pass prug
* NC is no connect.
Details of terminal block
Note • Connector X1 and X2 are attached in A to D-frame driver.
• Connector XA, XB, XC and XD are attached in D and E-frame (400 V) driver.
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
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1-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Driver
Parts Description
G-frame (400 V)
Terminal cover
LED cover
Safety by-pass prug
NC*
NC*
NC*
NC*
NC*
NC*
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister
(Normally short-circuit DB3 to DB4.)
Details of terminal block
* NC is no connect.
NC*
24V
0V
DB1
DB2
DB3
DB4
L1
L2
L3
B1
B2
U
V
W
NC
NC
NC
0V
24V
NC
NC
NC
DB3
DB2
DB1
DB4
X1
X2
X3
X4
X5
X6
CHARGE
400V
Control power input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale
connection
Connector X7: Monitor connector
Front panel
Main power
input terminals
Terminals for motor
connection
Terminals for external
regenerative resistor
L1
L2
L3
B1
B2
NC
U
V
W
Terminal cover
screw
Terminal cover
screw
Terminal cover
Note
Related page
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.1-30 “Installation”
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-73 to 7-78 “Dimensions”
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1-10
2. Driver
Parts Description
H-frame (400 V)H-frame (400 V)
Control terminal for
dynamic brake resister
Details of terminal block
NC*
* NC is no connect.
L1
24V
0V
DB1
DB2
L2 L3 B1 B2 U V W
X1
X2
X3
X4
X5
X6
CHARGE
L1 L2 L3 B1 B2 NC
DB2
24V 0V
DB1
U V W
Control power
input terminals
Screws for earth (x2)
Charge lamp
Connector X6: for encoder connection
Connector X4: Parallel I/O connector
Connector X3: Safety function connector
Connector X2: for Serial bus
Connector X1: USB connector
Connector X5: for feedback scale connection
Connector X7: Monitor connector
Front panel
Main power
input terminals Terminals for motor
connection
Terminals for external
regenerative resistor
Terminal cover Terminal
cover screw
LED cover
Safety by-pass prug
Note
Related page
• The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.1-30 “Installation”
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-73 to 7-78 “Dimensions”
1-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
Basic Specifications
Input power
100 V
Main circuit Single phase, 100 V to 120 V +10 % 50 Hz/60 Hz
–15 %
Control circuit Single phase, 100 V to 120 V +10 % 50 Hz/60 Hz
–15 %
200 V
Main
circuit
A to
D-frame Single/3-phase, 200 V to 240 V +10 % 50 Hz/60 Hz
–15 %
E to
H-frame 3-phase, 200 V to 230 V +10 % 50 Hz/60 Hz
–15 %
Control
circuit
A to
D-frame Single phase, 200 V to 240 V +10 % 50 Hz/60 Hz
–15 %
E to
H-frame Single phase, 200 V to 230 V +10 % 50 Hz/60 Hz
–15 %
400 V
*1
Main circuit 3-phase, 380 V to 480 V +10 % 50 Hz/60 Hz
–15 %
Control circuit DC24 V ± 15 %
Withstand voltage
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100 V/200 V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400 V]
* 400 V control circuit is excluded.
Environment
temperature
Ambient temperature: 0˚C to 55˚C (free from freezing)
Storage temperature: –20˚C to 65˚C (Max. temperature guarantee: 80 ˚C for 72 hours
free from condensation*2)
humidity Both operating and storage : 20 % to 85 %RH or less (free from condensation*2)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale feedback
A/B phase, initialization signal defferential input.
Manufacturers that support serial communication scale:
Mitsutoyo Corp.
Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.)
Parallel I/O connector
Control signal
Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog signal Input 3 inputs (16-bit A/D : 1 input, 12-bit A/D : 2 inputs)
Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
2 inputs (Photocoupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse (EXA,
EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open
collector.
Communication
function
USB Connection with PC etc.
RS232 1 : 1 communication to a host.
RS485 1 : n communication to a host.
Safety function Used for functional safety.
Front panel (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit)
(3) Monitor connector (Analog monitor output (2 ch), Digital monitor output (1 ch))
Regeneration A, B, G and H-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A to G-frame: Built-in (external resistor is also available to G-frame)
H-frame: External only
Control mode
Switching among the following 7 mode is enabled,
(1) Position control (2) Velocity control (3) Toque control (4) Position/Velocity control
(5) Position/Torque control (6) Velocity/Torque control (7) Full-closed control
Caution
Related page
*1 The specification out of Japan.
*2
Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
• P.1-30 “Installation of Driver” • P.1-34 “Installation of Motor”
1-12
Function
Control input
(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
(4)
Positive direction over-travel inhibition input
(5)
Negative direction over-travel inhibition input
(6) Forced alarm input
(7) Inertia ratio switching input
Control output
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
(4) Speed arrival output (5) Torque in-limit signal output (6) Zero-speed detection output signal
(7) Alarm output (8) Alarm attribute output (9) Servo on status output*
Position control
Control input
(1) Deviation counter clear (2) Command pulse inhibition
(3) Command dividing gradual increase switching (4) Damping control switching
(5) Torque limit switching (6) Control mode switching
Control output (1) Positioning complete (In-position) (2)Positional command ON/OFF output
Pulse
input
Max. command pulse
frequency
Exclusive interface for Photocoupler: 500 kpps
Exclusive interface for line driver : 4 Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 230
1 to 230
)
as positional command input.
Use electronic gear ratio in the range 1/1000 times to 1000 times.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input
Torque limit command
input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input
Analog voltage can be used as torque feed forward input.
Instantaneous Speed Observer
Available
Damping Control Available
Two-degree-of-freedom control
system Only available at A5
Series
Velocity control
Control input (1) Selection of internal velocity setup (2) Speed zero clamp (3) Speed command sign input
(4)Control mode switching
Control output (1) Speed coincidence output (2)Speed command ON/OFF output
Analog
input
Velocity command
input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6 V/Rated rotational speed Default)
Torque limit command
input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input
Analog voltage can be used as torque feed forward input.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 s/1000 r/min to 10 s/1000 r/min.
Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed Observer
Available
Two-degree-of-freedom control
system Only available at A5
Series
Torque control
Control input (1) Speed zero clamp (2) Torque command sign input (3) Control mode switching
Control output (1) Speed coincidence output (2) Speed in-limit output
Analog
input
Torque command
input
Torque command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (3 V/rated torque Default)
Speed limit function Speed limit value with parameter t is enabled.
Full-closed control
Control input (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase
switching (4) Damping control switching (5) Torque limit switching
Control output (1) Full-closed positioning complete (2) Positional command ON/OFF output
Pulse
input
Max. command pulse
frequency
Exclusive interface for Photocoupler: 500 kpps
Exclusive interface for line driver : 4 Mpps
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and
B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 230
1 to 230
)
as positional command input.
Use electronic gear ratio in the range 1/1000 times to 1000 times.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input
Torque limit command
input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input
Analog voltage can be used as torque feed forward input.
Setup range of division/
multiplication of feedback scale
1/40 times to 160 times
The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 220
(numerator) to 1 to 220 (denominator), but should be set to a ratio within the range shown above.
Damping Control
Available
Common
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating according to the
command given by the controlling device and set up support software “PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback pulse
Set up of any value is enabled (encoder feedback pulses count is the max.).
Protective
function
Hard error Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.
* : Only available on A5
series.
2. Driver
Specifications (Velocity, position, torque, full-closed control type)
Related page
1-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
2. Driver
Specifications (Only for position control type)
Basic Specifications
Input power
100 V
Main circuit Single phase, 100 V to 120 V +10 % 50 Hz/60 Hz
–15 %
Control circuit Single phase, 100 V to 120 V +10 % 50 Hz/60 Hz
–15 %
200 V
Main
circuit
A to
D-frame Single/3-phase, 200 V to 240 V +10 % 50 Hz/60 Hz
–15 %
E to
F-frame 3-phase, 200 V to 230 V +10 % 50 Hz/60 Hz
–15 %
Control
circuit
A to
D-frame Single phase, 200 V to 240 V +10 % 50 Hz/60 Hz
–15 %
E to
F-frame Single phase, 200 V to 230 V +10 % 50 Hz/60 Hz
–15 %
400 V
Main
circuit
D to
F-frame 3-phase, 380 V to 480 V +10 % 50 Hz/60 Hz
–15 %
Control
circuit
D to
F-frame DC24 V ± 15 %
Withstand voltage
Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [100 V/200 V]
withstand 1960 VAC, 1 min, (sensed current: 20 mA) [400 V]
* 400 V control circuit is excluded.
Environment
temperature
Ambient temperature: 0˚C to 55˚C (free from freezing)
Storage temperature: –20˚C to 65˚C (Max. temperature guarantee: 80 ˚C for 72
hours free from condensation*2)
humidity Both operating and storage : 20 % to 85 %RH or less (free from condensation)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz (No continuous use at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial
Parallel I/O connector
Control signal
Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog signal Output 2 outputs (Analog monitor: 2 output)
Pulse signal
Input
2 inputs (Photocoupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output
4 outputs ( Line driver: 3 output, open collector: 1 output)
Feed out the encoder feedback pulse (A, B and Z-phase) or feedback scale pulse
(EXA, EXB and EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed
out in open collector.
Communication
function USB Connection with PC etc.
Front panel (1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2 ch)
Regeneration A, B-frame: no built-in regenerative resistor (external resistor only)
C to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A to F-frame: Built-in
Control mode (1) Position control (2) Internal velocity control (3) Position/ Internal velocity control
Caution
Related page
Caution
*1 The specification out of Japan.
*2 Air containing water vapor will become saturated with water vapor as the temperature falls,
causing dew.
• P.1-30 “Installation of Driver” • P.1-34 “Installation of Motor”
Only for position control type is provided A-Frame to F-frame.
1-14
2. Driver
Specifications (Only for position control type)
Function
Position control
Control input
(1) Servo-ON input (2) Alarm clear input (3) Gain switching input
(4)
Positive direction over-travel inhibition input
(5)
Negative direction over-travel inhibition input
(6) Forced alarm input
(7) Inertia ratio switching input
Control output
(1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal
(4) Speed arrival output (5) Torque in-limit signal output
(6) Zero-speed detection output signal (7) Alarm output
(8) Alarm attribute output (9) Servo on status output*
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photocoupler: 500 kpps
Exclusive interface for line driver : 4 Mpps
Input pulse signal
format
Differential input
((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
direction)
Electronic gear
(Division/
Multiplication of
command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 230
1 to 230
)
as positional
command input. Use electronic gear ratio in the range 1/1000 times to 1000 times.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Instantaneous Speed
Observer
Available
Damping Control
Available
Two-degree-of-freedom
control system Only available at A5
Series
Internal velocity control
Control input (1) Selection of internal velocity setup (2) Speed zero clamp
Control output Speed arrival
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 s/1000 r/min to
10 s/1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled.
Instantaneous Speed
Observer
Available
Two-degree-of-freedom
control system Only available at A5
Series
Common
Auto tuning
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controlling device and set up support
software “PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback
pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective
function
Hard error Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.
* : Only available on A5
series.
1-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
A, B-frame (100 V/200 V)
B1
N
P
+
Fuse
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
X5
Feedback scale signal
processing limit
Feedback scale unit
DC/DC
X1
X2
X6
U
V
W
M
RE
X4
+±12 V
+5 V
PS for gate drive
Gate drive
PS for RE
Front panel
Alarm
signal
USB
Serial
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Division
processing
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
X3
Safety function
L 1
L 2
L 3
Fuse
Fuse
C, D-frame (100 V/200 V)
B1
B3
N
P
+
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
Feedback scale signal
processing limit
DC/DC
X6
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
Gate drive
PS for RE
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
EEPROM
Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
Fuse
Fan
(D-frame only)
Front panel
X5
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 2
L 3
L 1 Fuse
Fuse Resistor
1 Before Using
the Products
2. Driver
Block Diagram
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-16
E-frame (200 V)
B1
B3
N
P
+
Error
detection
Voltage
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
PS for RE
Fuse
Parameter control
EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1 Fuse
Fuse
L 2
L 3 Resistor
F-frame (200 V)
B1
B3
Error
detection
Sequence control
B2
L1C
L2C
Division
processing
DC/DC
X6
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
PS for RE
Fuse
Parameter control
EEPROM
Fan
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
Gate drive
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
N
P
+
Fuse
Resistor
Fuse
Voltage
detection
2. Driver
Block Diagram
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
1-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
G-frame (200 V)
H-frame (200 V)
2. Driver
Block Diagram
B1
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
±12 V
+5 V
PS for gate drive
PS for RE
Fan
B1
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
L1C
L2C
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
Fuse
Fuse
Voltage
detection
±12 V
+5 V
PS for gate drive
PS for RE
Fan
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
MM hi, 7 MI 00613 -: o
1-18
D-frame (400 V)
E-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
pm pm mam sail m
1-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
F-frame (400 V)
G-frame (400 V)
2. Driver
Block Diagram
L 2
L 3
L 1
B1
B3
N
P
+
Fuse
Resistor
Fuse
DC/DC
24V
0V
U
V
W
M
RE
+±12 V
+5 V
PS for gate drive
PS for RE
Fuse
Fan
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
Voltage
detection
Gate drive
B1
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
DB3
DB4
Fuse
Fuse
Voltage
detection
±12 V
+5 V
PS for gate drive
PS for RE
Fan
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
G-frame: Only for position control type is not provided.
m mm." “was «mew F \_‘_1 I:|
1-20
H-frame (400 V)
2. Driver
Block Diagram
B1
Error
detection
Sequence control
B2
Division
processing
X6
Parameter control
EEPROM
Front panel
Display
operation
control
Protective
curcuit
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
Division/
mulitiplication
++
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Position
deviation amp. Speed
deviation
amp. Torque
limit
Current
control PWM
circuit
Encoder signal
processing
limit
X5
Feedback scale signal
processing limit
Feedback scale unit
X1
X2
X4
USB
Serial
X3
Safety function
L 1
L 2
L 3
DC/DC
24V
0V
U
V
W
DB1
DB2
M
RE
N
P
+
Gate drive
+
Fuse
Fuse
Fuse
Voltage
detection
±12 V
+5 V
PS for gate drive
PS for RE
Fan
Note • The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided.
pm“: éf‘y‘ngmvz 2‘” N m Number A( slwnsmoinimys ;r mmzzus $11599] 31 O4 0001 N 7 :5. X gallium A w in Flzcu‘fJ a as law 7 Lot iiltilifi“ £235 TMonth 0 Year of produ Lower 2 dig pmewm "“""’ M acture date 20 1 3 04 01 T T I MSME5AZS1S§§ HM alas 7 l? 9 10 1012 Type 7 Motor rated outp al specification Symbol Specifications SyntoI Output tor structure Low inertia Design order (50 w to 750 W) High inertia (200 W to 750 W) Voltage specifications Low inertia n i 'f' r (50 w to 5.0 kW) 571:: n Specl Ica Ions Middle inertia (400 w to 15.0 kW) Middle inertia (1.5 kW to 4.5 kW) Middle inertia (0.9 kW to 6.0 kW) Rotary encoder specifications High inertia Specifications (1-0 kW to 7-5 kW) Formal Pulse count G Incremental S Absolute Motor structure MSMD, MHMD, MSME (50 W to 750 W) MSME (750 W[400 V], 1.0 le MDME, MFME, MGME, MHME OII seal Shall Holdlng brake OII seal IQUO 'Related page ,
1-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
3. Motor
Check of the Model
Contents of Name Plate
Serial Number
e.g.) : 13 04 0001N
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
Manufacture date
e.g.) : 2013 04 01
Manufacture dateManufacture year
Manufacture month
Model
Rated output
Rated input voltage/current
Rated frequency
Rated
rotational speed
13040001N
20130401
Model Designation
MSME5AZS1S
1 to 4 5 to 6 11 to 12
78 9 10
Special specifications
Motor structure
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
Low inertia
(50 W to 750 W)
High inertia
(200 W to 750 W)
Low inertia
(50 W to 5.0 kW)
Middle inertia
(400 W to 15.0 kW)
Middle inertia
(1.5 kW to 4.5 kW)
Middle inertia
(0.9 kW to 6.0 kW)
High inertia
(1.0 kW to 7.5 kW)
G
S
Incremental
Absolute
Specifications
Symbol
Format
Pulse count
Output
Motor rated output
Symbol
Specifications
Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MSMD, MHMD,
MSME (50 W to 750 W)
*3 The product with oil seal is a special order product.
*4 Key way with center tap
Products are standard stock items or manufactured
by order. For details, inquire the dealer.]
MSME (750 W[400 V], 1.0 kW to 5.0 kW),
MDME, MFME, MGME, MHME
C
D
G
H
Shaft Holding brake Oil seal
Without
With
Round
Without
With
Symbol
MSMD
MHMD
MSME
MDME
MFME
MGME
MHME
5A
01
02
04
06
08
09
10
15
20
25
30
40
45
50
60
75
C1
C5
50 W
100 W
200 W
400 W
600 W
750 W
900 W
1.0 kW
1.5 kW
2.0 kW
2.5 kW
3.0 kW
4.0 kW
4.5 kW
5.0 kW
6.0 kW
7.5 kW
11.0 kW
15.0 kW
20-bit
17-bit
1048576
131072
*1 Only for position control type is
MSME, MDME and MHME:
1.0 kW to 5.0 kW
MGME, MFME: 0.9 kW to 4.5 kW
1
2
4
Z
100 V
200 V
400 V
100/200 V common
(50 W only)
Design order
Symbol
Specifications
1
C
Standard
Connector for encoder
: N/MS3102A20-29P
IP65 motor
0.9 kW to 5.0 kW
(
only selectable
)
*2 A5E, A5
E series drivers (dedicated for position control) do not support
the 17-bit absolute specification, only 20-bit incremental type can be
used in combination.
*1
*1
*1
*1
*1
*2
Holding brake Oil seal
Symbol
*4
*4
*4
*4
*3
A
B
C
D
N
P
Q
R
S
T
U
V
Shaft
Without
With
D-cut
Key way Key way
Round
Without
With
Note
Related page
• For details of specific model, refer to the Dimensions of Supplement.
• P.1-23 “Check of the Combination of the Driver and the Motor” • P.7-79 to 7-93 “Dimensions”
1-22
1 Before Using
the Products
3. Motor
Parts Description
Motor frame
Flange
Connector for motor
Connector for encoder
Connector for motor
Connector for brake
Connector for encoder
[with Brake]
Motor frame
Flange
Mounting holes (X4)
Mounting holes (X4)
Connector for motor
Connector for encoder
Oil seal
Motor frame
Flange
Mounting holes (X4)
Note For details of specific model, refer to the Dimensions of Supplement. (P.7-79 to 7-93)
• MSME 50 W to 750 W
MSME 750 W(400 V), 1.0 kW to 5.0 kW
MDME 400 W to 15.0 kW
MFME 1.5 kW to 4.5 kW
MGMA 0.9 kW to 6.0 kW
MHME 1.0 kW to 7.5 kW
e.g.) : Low inertia type (MSME series, 50 W)
e.g.) : Middle inertia type (MDME series, 1.0 kW)
1-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
This driver is designed to be used in a combination with the motor which are specified by
us. Check the series name of the motor, rated output torque, voltage specifications and
encoder specifications.
Remarks
Do not use in other combinations than those listed below.
Motor Driver
Power
supply Type
Rated
rotational
speed
Model *1Rated
output
Model of velocity,
position, torque and
full-closed control type
*2
Model of Only for
position control
type *3
Frame
Single
phase,
100 V
MSMD
Low inertia 3000 r/min
MSMD5AZG1 *50 W MADT1105 MADT1105E A-frame
MSMD011G1 *100 W MADT1107 MADT1107E
MSMD021G1 *200 W MBDT2110 MBDT2110E B-frame
MSMD041G1 *400 W MCDT3120 MCDT3120E C-frame
Single/
3-phase,
200 V
MSMD5AZG1 *50 W MADT1505 MADT1505E A-frameMSMD012G1 *100 W
MSMD022G1 *200 W MADT1507 MADT1507E
MSMD042G1 *400 W MBDT2510 MBDT2510E B-frame
MSMD082G1 *750 W MCDT3520 MCDT3520E C-frame
Single
phase,
100 V
MSME
Low inertia 3000 r/min
MSME5AZG1 *50 W MADT1105 MADT1105E A-frame
MSME011G1 *100 W MADT1107 MADT1107E
MSME021G1 *200 W MBDT2110 MBDT2110E B-frame
MSME041G1 *400 W MCDT3120 MCDT3120E C-frame
Single/
3-phase,
200 V
MSME5AZG1 *50 W MADT1505 MADT1505E A-frameMSME012G1 *100 W
MSME022G1 *200 W MADT1507 MADT1507E
MSME042G1 *400 W MBDT2510 MBDT2510E B-frame
MSME082G1 *750 W MCDT3520 MCDT3520E C-frame
MSME102G *1.0 kW MDDT5540 MDDT5540E D-frame
MSME152G *1.5 kW
3-phase,
200 V
MSME202G *2.0 kW MEDT7364 MEDT7364E E-frame
MSME302G *3.0 kW MFDTA390 MFDTA390E
F-frameMSME402G *4.0 kW MFDTB3A2 MFDTB3A2E
MSME502G *5.0 kW
3-phase,
400 V
MSME084G1 *750 W MDDT2412 MDDT2412E
D-frameMSME104G *1.0 kW MDDT3420 MDDT3420E
MSME154G *1.5 kW MDDT3420 MDDT3420E
MSME204G *2.0 kW MEDT4430 MEDT4430E E-frame
MSME304G *3.0 kW MFDT5440 MFDT5440E
F-frameMSME404G *4.0 kW MFDTA464 MFDTA464E
MSME504G *5.0 kW
Single/
3-phase, 200 V
MDME
Middle inertia
2000 r/min
MDME102G *1.0 kW MDDT3530 MDDT3530E D-frame
MDME152G *1.5 kW MDDT5540 MDDT5540E
3-phase,
200 V
MDME202G *2.0 kW MEDT7364 MEDT7364E E-frame
MDME302G *3.0 kW MFDTA390 MFDTA390E
F-frameMDME402G *4.0 kW MFDTB3A2 MFDTB3A2E
MDME502G *5.0 kW
1500 r/min
MDME752G1 *7.5 kW MGDTC3B4
G-frame
MDMEC12G1 *11.0 kW MHDTC3B4 H-frame
MDMEC52G1 *15.0 kW
3-phase,
400 V
2000 r/min
MDME044G1 *400 W MDDT2407 MDDT2407E
D-frame
MDME064G1 *600 W
MDME104G *1.0 kW MDDT2412 MDDT2412E
MDME154G *1.5 kW MDDT3420 MDDT3420E
MDME204G *2.0 kW MEDT4430 MEDT4430E E-frame
MDME304G *3.0 kW MFDT5440 MFDT5440E
F-frameMDME404G *4.0 kW MFDTA464 MFDTA464E
MDME504G *5.0 kW
1500 r/min
MDME754G1 *7.5 kW MGDTB4A2
G-frame
MDMEC14G1 *11.0 kW MHDTB4A2 H-frame
MDMEC54G1 *15.0 kW
Note *1 Suffix of "" in the applicable motor model represents design order.
Suffix of " * " in the applicable motor model represents the motor structure.
*2 : Drivers series K: A5
series H: A5 series
*3 : Drivers series K: A5
E series H: A5E series
Note
1-24
Motor Driver
Power
supply Type
Rated
rotational
speed
Model *1Rated
output
Model of velocity,
position, torque and
full-closed control type
*2
Model of Only for
position control
type *3
Frame
Single/
3-phase,
200 V
MFME
Middle inertia 2000 r/min
MFME152G1 *1.5 kW MDDT5540 MDDT5540E D-frame
3-phase,
200 V
MFME252G1 *2.5 kW MEDT7364 MEDT7364E E-frame
MFME452G1 *4.5 kW MFDTB3A2 MFDTB3A2E F-frame
3-phase,
400 V
MFME154G1 *1.5 kW MDDT3420 MDDT3420E D-frame
MFME254G1 *2.5 kW MEDT4430 MEDT4430E E-frame
MFME454G1 *4.5 kW MFDTA464 MFDTA464E F-frame
Single/
3-phase,
200 V
MGME
Middle inertia 1000 r/min
MGME092G *0.9 kW MDDT5540 MDDT5540E D-frame
3-phase,
200 V
MGME202G *2.0 kW MFDTA390 MFDTA390E
F-frameMGME302G *3.0 kW MFDTB3A2 MFDTB3A2E
MGME452G1 *4.5 kW
MGME602G1 *6.0 kW MGDTC3B4 G-frame
3-phase,
400 V
MGME094G *0.9 kW MDDT3420 MDDT3420E D-frame
MGME204G *2.0 kW MFDT5440 MFDT5440E
F-frameMGME304G *3.0 kW MFDTA464 MFDTA464E
MGME454G1 *4.5 kW
MGME604G1 *6.0 kW MGDTB4A2 G-frame
Single
phase,
100 V MHMD
High inertia 3000 r/min
MHMD021G1 *200 W MBDT2110 MBDT2110E B-frame
MHMD041G1 *400 W MCDT3120 MCDT3120E C-frame
Single/
3-phase,
200 V
MHMD022G1 *200 W MADT1507 MADT1507E A-frame
MHMD042G1 *400 W MBDT2510 MBDT2510E B-frame
MHMD082G1 *750 W MCDT3520 MCDT3520E C-frame
Single/
3-phase,
200 V
MHME
High inertia
2000 r/min
MHME102G *1.0 kW MDDT3530 MDDT3530E
D-frame
MHME152G *1.5 kW MDDT5540 MDDT5540E
3-phase,
200 V
MHME202G *2.0 kW MEDT7364 MEDT7364E E-frame
MHME302G *3.0 kW MFDTA390 MFDTA390E
F-frameMHME402G *4.0 kW MFDTB3A2 MFDTB3A2E
MHME502G *5.0 kW
1500 r/min MHME752G1 *7.5 kW MGDTC3B4 G-frame
3-phase,
400 V
2000 r/min
MHME104G *1.0 kW MDDT2412 MDDT2412E D-frame
MHME154G *1.5 kW MDDT3420 MDDT3420E
MHME204G *2.0 kW MEDT4430 MEDT4430E E-frame
MHME304G *3.0 kW MFDT5440 MFDT5440E
F-frameMHME404G *4.0 kW MFDTA464 MFDTA464E
MHME504G *5.0 kW
1500 r/min MHME754G1 *7.5 kW MGDTB4A2 G-frame
4. Check of the Combination of the Driver and the Motor
Incremental Specifications, 20-bit
Note *1 Suffix of “” in the applicable motor model represents design order.
Suffix of “ * “ in the applicable motor model represents the motor structure.
*2 : Drivers series K: A5
series H: A5 series
*3 : Drivers series K: A5
E series H: A5E series
1-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
This driver is designed to be used in a combination with the motor which are specified by
us. Check the series name of the motor, rated output torque, voltage specifications and
encoder specifications.
Remarks
Do not use in other combinations than those listed below.
Motor Driver
Power
supply Type
Rated rotational
speed
Model *1Rated
output
Model of velocity,
position, torque and
full-closed control type *2
Frame
Single phase,
100 V
MSMD
Low inertia 3000 r/min
MSMD5AZS1 *50 W MADT1105 A-frame
MSMD011S1 *100 W MADT1107
MSMD021S1 *200 W MBDT2110 B-frame
MSMD041S1 *400 W MCDT3120 C-frame
Single/
3-phase,
200 V
MSMD5AZS1 *50 W MADT1505 A-frameMSMD012S1 *100 W
MSMD022S1 *200 W MADT1507
MSMD042S1 *400 W MBDT2510 B-frame
MSMD082S1 *750 W MCDT3520 C-frame
Single phase,
100 V
MSME
Low inertia 3000 r/min
MSME5AZS1 *50 W MADT1105 A-frame
MSME011S1 *100 W MADT1107
MSME021S1 *200 W MBDT2110 B-frame
MSME041S1 *400 W MCDT3120 C-frame
Single/
3-phase,
200 V
MSME5AZS1 *50 W MADT1505 A-frameMSME012S1 *100 W
MSME022S1 *200 W MADT1507
MSME042S1 *400 W MBDT2510 B-frame
MSME082S1 *750 W MCDT3520 C-frame
MSME102S *1.0 kW MDDT5540 D-frame
MSME152S *1.5 kW
3-phase,
200 V
MSME202S *2.0 kW MEDT7364 E-frame
MSME302S *3.0 kW MFDTA390
F-frameMSME402S *4.0 kW MFDTB3A2
MSME502S *5.0 kW
3-phase,
400 V
MSME084S1 *750 W MDDT2412
D-frameMSME104S *1.0 kW MDDT3420
MSME154S *1.5 kW MDDT3420
MSME204S *2.0 kW MEDT4430 E-frame
MSME304S *3.0 kW MFDT5440
F-frameMSME404S *4.0 kW MFDTA464
MSME504S *5.0 kW
Single/3-phase,
200 V
MDME
Middle inertia
2000 r/min
MDME102S *1.0 kW MDDT3530 D-frame
MDME152S *1.5 kW MDDT5540
3-phase,
200 V
MDME202S *2.0 kW MEDT7364 E-frame
MDME302S *3.0 kW MFDTA390
F-frameMDME402S *4.0 kW MFDTB3A2
MDME502S *5.0 kW
1500 r/min
MDME752S1 *7.5 kW MGDTC3B4 G-frame
MDMEC12S1 *11.0 kW MHDTC3B4 H-frame
MDMEC52S1 *15.0 kW
Note *1 Suffix of "" in the applicable motor model represents design order.
Suffix of " * " in the applicable motor model represents the motor structure.
*2 : Drivers series K: A5
series H: A5 series
Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b)
Switch the parameter Pr0.15 (Absolute encoder setup) from "1 (default)" to "0".
Only for position control type does not support the 17-bit absolute specification.
It supports only 20-bit incremental specification.
Note
1-26
Motor Driver
Power
supply Type
Rated rotational
speed
Model *1Rated
output
Model of velocity,
position, torque and
full-closed control type *2
Frame
3-phase,
400 V
MDME
Middle inertia
2000 r/min
MDME044S1 *400 W MDDT2407
D-frame
MDME064S1 *600 W
MDME104S *1.0 kW MDDT2412
MDME154S *1.5 kW MDDT3420
MDME204S *2.0 kW MEDT4430 E-frame
MDME304S *3.0 kW MFDT5440
F-frameMDME404S *4.0 kW MFDTA464
MDME504S *5.0 kW
1500 r/min
MDME754S1 *7.5 kW MGDTB4A2 G-frame
MDMEC14S1 *11.0 kW MHDTB4A2 H-frame
MDMEC54S1 *15.0 kW
Single/3-phase,
200 V
MFME
Middle inertia 2000 r/min
MFME152S1 *1.5 kW MDDT5540 D-frame
3-phase,
200 V
MFME252S1 *2.5 kW MEDT7364 E-frame
MFME452S1 *4.5 kW MFDTB3A2 F-frame
3-phase,
400 V
MFME154S1 *1.5 kW MDDT3420 D-frame
MFME254S1 *2.5 kW MEDT4430 E-frame
MFME454S1 *4.5 kW MFDTA464 F-frame
Single/3-phase,
200 V
MGME
Middle inertia 1000 r/min
MGME092S *0.9 kW MDDT5540 D-frame
3-phase,
200 V
MGME202S *2.0 kW MFDTA390
F-frameMGME302S *3.0 kW MFDTB3A2
MGME452S1 *4.5 kW
MGME602S1 *6.0 kW MGDTC3B4 G-frame
3-phase,
400 V
MGME094S *0.9 kW MDDT3420 D-frame
MGME204S *2.0 kW MFDT5440
F-frameMGME304S *3.0 kW MFDTA464
MGME454S1 *4.5 kW
MGME604S1 *6.0 kW MGDTB4A2 G-frame
Single phase,
100 V MHMD
High inertia 3000 r/min
MHMD021S1 *200 W MBDT2110 B-frame
MHMD041S1 *400 W MCDT3120 C-frame
Single/3-phase,
200 V
MHMD022S1 *200 W MADT1507 A-frame
MHMD042S1 *400 W MBDT2510 B-frame
MHMD082S1 *750 W MCDT3520 C-frame
Single/3-phase,
200 V
MHME
High inertia
2000 r/min
MHME102S *1.0 kW MDDT3530 D-frame
MHME152S *1.5 kW MDDT5540
3-phase,
200 V
MHME202S *2.0 kW MEDT7364 E-frame
MHME302S *3.0 kW MFDTA390
F-frameMHME402S *4.0 kW MFDTB3A2
MHME502S *5.0 kW
1500 r/min MHME752S1 *7.5 kW MGDTC3B4 G-frame
3-phase,
400 V
2000 r/min
MHME104S *1.0 kW MDDT2412 D-frame
MHME154S *1.5 kW MDDT3420
MHME204S *2.0 kW MEDT4430 E-frame
MHME304S *3.0 kW MFDT5440
F-frameMHME404S *4.0 kW MFDTA464
MHME504S *5.0 kW
1500 r/min MHME754S1 *7.5 kW MGDTB4A2 G-frame
4. Check of the Combination of the Driver and the Motor
Absolute Specifications, 17-bit
Note *1 Suffix of “” in the applicable motor model represents design order.
Suffix of “ * “ in the applicable motor model represents the motor structure.
*2 : Drivers series K: A5
series H: A5 series
Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder.
b)
Switch the parameter Pr0.15 (Absolute encoder setup) from “1 (default)” to “0”.
Only for position control type does not support the 17-bit absolute specification.
It supports only 20-bit incremental specification.
MSME502GCC Hull Elna (200 w to 750 W) Low inertia (1.0 kw to 5.0 kW) Middle inertia (1.0 kw to 5.0 kW) Middle inertia (0.9 kw to 3.0 kW) Middle inertia (200 w to 750 W) High inertia (1.0 kw to 5.0 kW) Low inertia Syflfinl Output a; co M* l 10 11 12 Design order Rotary encoder specifications Specifications Voltage specifications Format Pulse count symbol Specifications G Incremental 8* Absolute Motor structure MSMJ, MHMJ Id brak OII seal MSME, MDME, MGME, MHME Shaft Holding brake OII seal IDUO
1-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Special Order Product
Note
Related page
Motors displayed at P.1-27 to P.1-28 are Special Order Products. Please contact us for more
information.
Connectors and cables of MSMJ is same as MSMD.
Connectors and cables of MHMJ is same as MHMD.
• P.7-55 to P.7-72 "Motor characteristics (S-T characteristics)", P.7-79 to P.7-93 "Dimensions"
A5
drivers can be used in combination with Special Order Products.
Model Designation
MSME502GC C M
1 to 4 5 to 6 7 8 9 10 11 12
Special specifications
MSMJ, MHMJ
Special specifications
MSME, MDME, MGME, MHME
M: Special Order Product
Motor structure
Rotary encoder specifications
Voltage specifications
Specifications
Type
Symbol
Low inertia
(200 W to 750 W)
Low inertia
(1.0 kW to 5.0 kW)
Middle inertia
(1.0 kW to 5.0 kW)
Middle inertia
(0.9 kW to 3.0 kW)
Middle inertia
(200 W to 750 W)
High inertia
(1.0 kW to 5.0 kW)
G
S*
Incremental
Absolute
Specifications
Symbol
Format
Pulse count
Output
Motor rated
output
Symbol
Specifications
Symbol
Resolution
5-wire
7-wire
Wire count
Motor structure
MSMJ, MHMJ
Please avoid the motor, or equipment containing the motor to be distributed to Japan,
or other regions through Japan.
MSME, MDME, MGME, MHME
C
D
G
H
Shaft Holding brake Oil seal
Without
With
Round
Without
With
Symbol
MSMJ
MSME
MDME
MGME
MHMJ
MHME
02
04
08
09
10
15
20
30
40
50
200 W
400 W
750 W
900 W
1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW
20-bit
17-bit
1048576
131072
2 200 V
Design order
Symbol
Specifications
C
1
IP65 motor (MSME, MDME, MGME, MHME)
IP65 motor (MSMJ, MHMJ)
* S: can be used in incremental.
Holding brake Oil seal
Symbol
A
B
C
D
S
T
U
V
Shaft
Without
With
Key-way,
center tap
Key-way
Round
Without
With
Caution
1-28
Conbination of the Driver and the Motor
Motor Driver
Power
supply Type
Rated
rotational
speed
Model Rated
output
Model of velocity,
position, torque and
full-closed control type
Model of Only for
position control
type
Frame
Single
phase/
3-phase
200 V
MSMJ
Low inertia 3000 r/min
MSMJ0221*200 W MADKT1507 MADKT1507E A-frame
MSMJ0421*400 W MBDKT2510 MBDKT2510E B-frame
MSMJ0821*750 W MCDKT3520 MCDKT3520E C-frame
MSME
Low inertia 3000 r/min
MSME102C*M 1.0 kW MDDKT5540 MDDKT5540E D-frame
MSME152C*M 1.5 kW MDDKT5540 MDDKT5540E
3-phase
200 V
MSME202C*M 2.0 kW MEDKT7364 MEDKT7364E E-frame
MSME302C*M 3.0 kW MFDKTA390 MFDKTA390E
F-frameMSME402C*M 4.0 kW MFDKTB3A2 MFDKTB3A2E
MSME502C*M 5.0 kW MFDKTB3A2 MFDKTB3A2E
Single
phase/
3-phase
200 V MDME
Middle inertia 2000 r/min
MDME102C*M 1.0 kW MDDKT3530 MDDKT3530E
D-frame
MDME152C*M 1.5 kW MDDKT5540 MDDKT5540E
3-phase
200 V
MDME202C*M 2.0 kW MEDKT7364 MEDKT7364E E-frame
MDME302C*M 3.0 kW MFDKTA390 MFDKTA390E
F-frameMDME402C*M 4.0 kW MFDKTB3A2 MFDKTB3A2E
MDME502C*M 5.0 kW MFDKTB3A2 MFDKTB3A2E
Single
phase/
3-phase
200 V MGME
High inertia 1000 r/min
MGME092C*M 0.9 kW MDDKT5540 MDDKT5540E D-frame
3-phase
200 V
MGME202C*M 2.0 kW MFDKTA390 MFDKTA390E F-frame
MGME302C*M 3.0 kW MFDKTB3A2 MFDKTB3A2E
Single
phase/
3-phase
200 V
MHMJ
High inertia 3000 r/min
MHMJ0221*200 W MADKT1507 MADKT1507E A-frame
MHMJ0421*400 W MBDKT2510 MBDKT2510E B-frame
MHMJ0821*750 W MCDKT3520 MCDKT3520E C-frame
MHME
High inertia 2000 r/min
MHME102C*M 1.0 kW MDDKT3530 MDDKT3530E D-frame
MHME152C*M 1.5 kW MDDKT5540 MDDKT5540E
3-phase
200 V
MHME202C*M 2.0 kW MEDKT7364 MEDKT7364E E-frame
MHME302C*M 3.0 kW MFDKTA390 MFDKTA390E
F-frameMHME402C*M 4.0 kW MFDKTB3A2 MFDKTB3A2E
MHME502C*M 5.0 kW MFDKTB3A2 MFDKTB3A2E
4. Check of the Combination of the Driver and the Motor
Special Order Product
1-29
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Encoder cable
Motor series Incremental Specifications, 20-bit Note)1 Absolute Specifications, 17-bit Note)1 Detail
page
MSMD 50 W to 750 W MFECA0 ** 0EAM MFECA0 ** 0EAE note)4 7-98
MSME 50 W
to 750 W (200 V)
MFECA0 ** 0MJD
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJD
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD
(Standard bendable type, Opposite direction of motor shaft)
MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKE
(Highly bendable type, Opposite direction of motor shaft)
MFECA0 ** 0TJE
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKE
(Standard bendable type, Opposite direction of motor shaft)
7-98
7-99
MSME 750 W (400 V),
1.0 kW to 5.0 kW
MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
7-99
to
7-100
MDME 400 W to 15.0 kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESEnote)2
MFECA0 ** 0ETE note)3
MFME 1.5 kW to 4.5 kW MFECA0 ** 0ETD MFECA0 ** 0ETE
MGME 0.9 kW to 6.0 kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
MHMD 200 W to 750 W MFECA0 ** 0EAM MFECA0 ** 0EAE note)4
MHME 1.0 kW to 7.5 kW MFECA0 ** 0ESD note)2
MFECA0 ** 0ETD note)3
MFECA0 ** 0ESE note)2
MFECA0 ** 0ETE note)3
Note)1 “ ** ” represents the cable length. Note)2 Design order: C (0.9 kW to 5.0 kW (MGME: to 3.0 kW)) Note)3 Design order: 1
Note)4 When you use a 17-bit absolute encoder as an incremental encoder, please use the encoder cable MFECA0**0EAD.
Motor cable/ Brake cable
Motor series Motor cable Note)1
Brake cable Note)1 Detail
page
without Brake with Brake
MSMD 50 W to 750 W MFMCA0 ** 0EED MFMCB0 ** 0GET 7-101
7-106
MSME 50 W to 750 W
MFMCA0 ** 0NJD
Highly bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0NKD
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCA0 ** 0RJD
Standard bendable type,
(
Direction of motor shaft
)
MFMCA0 ** 0RKD
Standard bendable type,
(
Opposite direction of motor shaft
)
MFMCB0 ** 0PJT
Highly bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0PKT
Highly bendable type,
(
Opposite direction of motor shaft
)
MFMCB0 ** 0SJT
Standard bendable type,
(
Direction of motor shaft
)
MFMCB0 ** 0SKT
Standard bendable type,
(
Opposite direction of motor shaft
)
7-101
7-106
MSME 1.0 kW to 2.0 kW200 VMFMCD0 ** 2ECD MFMCA0 ** 2FCD
7-102
to
7-106
MSME 750 W to 2.0 kW400 VMFMCE0 ** 2FCD
MSME 3.0 kW to 5.0 kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MDME 1.0 kW to 2.0 kW200 VMFMCD0 ** 2ECD MFMCA0 ** 2FCD
MDME 400 W to 2.0 kW400 VMFMCE0 ** 2FCD
MDME 3.0 kW to 5.0 kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MFME 1.5 kW200 VMFMCA0 ** 2ECD MFMCA0 ** 2FCD
MFME 1.5 kW400 VMFMCF0 ** 2ECD MFMCE0 ** 2FCD
MFME 2.5 kW
MFME 4.5 kW MFMCD0 ** 3ECT MFMCA0 ** 3FCT
MGME 0.9 kW200 VMFMCD0 ** 2ECD MFMCA0 ** 2FCD
MGME 0.9 kW400 VMFMCE0 ** 2FCD
MGME 2.0 kW to 4.5 kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
MHMD 200 W to 750 W MFMCA0 ** 0EED MFMCB0 ** 0GET
MHME 1.0 kW, 1.5 kW200 VMFMCD0 ** 2ECD MFMCA0 ** 2FCD
MHME 1.0 kW, 1.5 kW400 VMFMCE0 ** 2FCD
MHME 2.0 kW MFMCE0 ** 2ECD
MHME 3.0 kW to 5.0 kW MFMCA0 ** 3ECT MFMCA0 ** 3FCT
Note)1 “ ** ” represents the cable length.
1 Before Using
the Products
4.
Check of the Combination of the Driver and the Motor
Junction cable for motor
Caution
Related page
Motor cable (for MHME 7.5 kW, MGME 6.0 kW, MDME 7.5 kW to 15.0 kW) is not prepared
in option.
• For other cable, connector and connector kit, refer to P.7-100 “Options”
1-30
1 Before Using
the Products
5. Installation
Driver
Install the driver properly to avoid a breakdown or an accident.
Installation Place
1) Install the driver in a control panel enclosed in noncombustible material and placed in-
door where the product is not subjected to rain or direct sunlight. The products are not
waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-
fide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline
and salt and so on, and are free from splash of inflammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and low humidity and dust-free place.
5) Vibration-free place.
6) Do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can
discolor or damage the exterior case.
Environmental Conditions
Item Conditions
Ambient temperature 0 ˚C to 55 ˚C*1 (free from freezing)
Ambient humidity 20 % to 85 % RH (free from condensation)
Storage temperature
*2–20 ˚C to 65 ˚C
(Max. temperature guarantee: 80 ˚C for 72 hours free from condensation*3)
Storage humidity 20 % to 85 % RH (free from condensation*2)
Vibration Lower than 5.88 m/s2 (0.6 G), 10 Hz to 60 Hz
(Do not continuously use the driver for along time at the resonance point.)
Altitude Lower than 1000 m
*1 50 °C for position control only type.
*2 Extreme temperatures are permissible only for short period such as during transportation.
*3
Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the
servo driver for ventilation.
2) Base mount (rear mount) is standard for A/B/C/D-frame driver.
3)
To change the mounting surface of A/B/C/D-frame driver, use the optional mounting brack-
et. For choosing the correct optional mounting bracket, refer to P.7-119 “Mounting Bracket”.
4) In consideration of strength of the screws and the material of the mounting base, se-
lect appropriate fastening torque for the product mounting screws, so that the screws
will not be loosened or damaged.
Example) To tighten a steel screw into a steel base
A to G-frame: M5 2.7 N·m to 3.3 N·m, H-frame: M6 4.68 N·m to 5.72 N·m
A to D-frame E to G-frame
Basemount (Standard)
[Rear mount]
Frontmount
[Use mounting bracket]
Front or rearmount
[Use mounting bracket]
Mounting bracket
(optional parts)
Mounting bracket
(Attachment)
Fastening torque of ground terminal (M4)
to be 0.7 Nm to 0.8 Nm.
<E-frame> Fastening torque of ground terminal (M4)
to be 0.7 Nm to 0.8 Nm.
<F, G-frame> Fastening torque of ground terminal (M5)
to be 1.4 Nm to 1.6 Nm.
H-frame
Rearmount [Basemount]
Fastening torque of
ground terminal (M6)
to be 2.4 Nm to 2.6 Nm.
Relmd pa-e~~~}:~
1-31
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Related page
• P.1-11 “Specifications” • P.1-34 “Installation of motor”
• P.7-73 “Dimensions” • P.7-119 “Mounting bracket”
Mounting Direction and Spacing
Reserve enough surrounding space for effective cooling.
Install fans to provide uniform distribution of temperature in the control panel.
D to H-frame is provided with a cooling fan at the bottom. (On the H-frame, the cooling
fan is also installed on the upper side.)
Observe the environmental conditions of the control panel described in the previous page.
Note It is recommended to use the conductive paint when you make your own mounting brack-
et, or repaint after peeling off the paint on the machine for installing the products, in order
to make noise countermeasure.
Caution on Installation
Caution
• Whenever lifting the product (during transportation/installation of H frame servo driver), two or
more persons should hold it by metallic member, not by plastic member.
We have been making the best effort to ensure the highest quality, however, application of excep-
tionally large external noise disturbance and static electricity, or failure in input power, wiring and
components may result in unexpected action. It is highly recommended that you make a fail-safe
design and secure the safety in the operative range.
If stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or
a round terminals. If stranded wires are used as they are, unexpected accidents such as an electric
shock and short circuit or injury may result.
• There might be a chance of smoke generation due to the failure of these products. Pay an extra
attention when you apply these products in a clean room environment.
• Be sure to install a no-fuse breaker in the power supply. In addition, be sure to ground the
grounding terminal or grounding wire provided. (In order to prevent electric shock and malfunc-
tions, Class D grounding [grounding resistance of 100 Ω or less] is recommended.)
If the product is grounded insufficiently, not only the driver may not deliver its performance suf-
ficiently, but also safety hazards such as a malfunction due to a electrification or a disturbance
may be caused.
• If electric wires are bound and run through metal duct, they cannot carry the rated current due to
temperature rise. If they are forced to carry the rated current, they may burn. When determining
size of the wire.
• Do not use or store the product in a place subject to 5.88 m/s2 or more vibration or shock, for-
eign materials such as dust, metallic powder and oilmist, liquids such as water, oil and grinding
fluid, close to flammable materials, or in an atmosphere of corrosive gas (H2S, SO2, NO2, Cl2,
etc.) or inflammable gas under any circumstance.
Fan Fan 100 mm
or more
100 mm
or more
40 mm
or
more
40 mm
or
more
aa a
Direction of air flowing
from the internal
cooling fan (D to H-frame)
Control panel
5. Installation
Driver
 a
A to F-frame 10 mm or more
G, H-frame 50 mm or more
Related
1-32
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the mo-
tor running out of control or being damaged from overheating. In addition, pay attention not to al-
low conductive materials, such as wire chips, entering the driver during the installation and wiring.
• Secure the screws and earth screw on the terminal block with the torque specified in the specifi-
cation.
• When establishing a system using safety functions, completely understand the applicable safety
standards and the operating instruction manual or technical documents for the product.
• Never make an approach to the motor and the machines driven by the motor while power is ap-
plied because they may become failure or malfunction.
• Do not use servo-on signal (SRV-ON) as the start/stop signal. Doing so may damage the built-in
dynamic brake circuit in the driver.
• Pay attention to the heat dissipation. The driver will generate heat while the motor is in opera-
tion. Using the driver in a sealed control box may cause an abnormal heating of the control
box. A proper consideration should be given to cool the driver so that the ambient temperature
matches the specified operating temperature range.
• There is a possibility that the motor will be damaged by heat or emit smoke or dust due to a fault
in the motor itself or the driver coupled with it. A proper consideration should be given if the mo-
tor is used in a clean room or similar environment.
• The upper fan on the H-frame driver stops during servo OFF to save energy. This is normal.
• If the dynamic brake is applied during operation at a high speed, provide approx. 10-minute
dwell period.
Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake in-
operable.
• The capacitance of capacitor in the power supply rectifier circuit decreases its capacitance with
age.
To prevent a secondary accident due to malfunction, it should be replaced with new one after
5-year use.
Replacement should be performed by us or our authorized distributor.
• Before using the product, be sure to read the instruction manual (Safety part).
Recommended Electric Wires for Driver
For the main circuit, use electric wire that withstands at least 600 VAC with tempera-
ture rating 75 ℃ or higher.
When using bundled wires running through metallic conduit, the amounts of current
determined according to the reduction rate must be subtracted from the nominal allow-
able current.
Electric wires
<In high ambient temperature>
Use heat resistant wire.
Common polyvinyl chloride wires will deteriorate by heat at a higher rate.
<In low ambient temperature>
The surface of vinyl chloride insulation becomes hardened and brittle at low tempera-
ture and needs specific protective measure when used in cold region.
• Bend radius of the cable must be 10 times or more its finish outside diameter.
Cables cannot be used for continuous regeneration because they are not designed for
such application.
5. Installation
Driver
Related page
• P.1-29 “Junction cable for motor”
'— Ilowing arrying V, 35 m a We <>
1-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Relationship between Wire Diameter and Permissible Current
Caution
Caution
When selecting a cable, refer to the following selection guide showing relationship be-
tween cable specification and current carrying capacity.
Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30 °C
Determine the fundamental permissible current according to the
cable conductor material (example: stranded copper wire). (For the
purpose of this example, the ampere indicated by is selected from
the table right.)
Next, determine the number of conductors. (In this example, the
cable contains 4 conductors (3 + ground).) Determine the applicable
permissible current using the following formula.
Applicable permissible current
=
fundamental permissible current x current reduction coefficient x current
correction coefficient
= 37 x 0.7 x 1.414
.
=. 36.6 (A)
This permissible value is larger than 35 A to be carried though the
cable. Therefore, according to the list of recommended eco-cables,
the cable to be selected for the cable with nominal cross section 3.5
mm2 is a polyethylene-insulated heat-resistant 4-conductor power
cable having 13.5 mm finish O.D. (approx. 14.5 mm with shield).
<Supplement>
• The current correction coefficient is determined using the following formula:
(Max. permissible temp. – ambient temp.) ÷ 30
The current correction coefficient is determined according to the cable. Check the specification of the cable
used.
The current reduction coefficient is provided for the case
where the cable (4-conductor cable in the case of example),
is housed in plastic race/sheath, plastic tube, metal race/
sheath, metal tube or flexible conduit.
Because the neutral conductor is not counted as a wire, the cur-
rent reduction coefficient for “3 or less” is applied as indicated by
() in the table right.
Conductor
Insulation
thickness
(mm)
Sheath
thickness
(mm)
(Reference)
Finish O.D.
(mm)
Max.
conductor
resistance
(20 °C)
(W/km)
Test
voltage
(V/1 min.)
Minimum
insulation
resistance
(MW•km)
(Reference)
Approx.
mass
(kg/km)
Nominal
cross
section
(mm2)
Structure
or shape
(wires/mm2)
Outside
diameter
(mm)
2 7/0.6 1.8 0.8 1.5 12.0 9.42 1500 2500 170
3.5 7/0.8 2.4 0.8 1.5 13.5 5.30 1500 2500 250
5.5 7/1.0 3.0 1.0 1.5 16.0 3.40 1500 2500 360
8 7/1.2 3.6 1.0 1.5 17.0 2.36 1500 2000 475
14 Circular
compression 4.4 1.0 1.5 19.0 1.34 2000 1500 730
22 Circular
compression 5.5 1.2 1.6 23 0.849 2000 1500 1100
38 Circular
compression 7.3 1.2 1.8 28 0.491 2500 1500 1800
60 Circular
compression 9.3 1.5 2.0 35 0.311 2500 1500 2790
100 Circular
compression 12.0 2.0 2.4 44 0.187 2500 1500 4630
150 Circular
compression 14.7 2.0 2.6 51 0.124 3000 1000 6710
200 Circular
compression 17.0 2.5 2.9 60 0.0933 3000 1500 8990
Caution
Note
Recommended eco-cable
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath
(Standard: EM JIS C 3605) Maximum permissible temperature: 90 °C
Shield will increase finish outside diameter by approx. 1 mm.
• Appropriate cable should be selected to have sufficient allowance for parameters such as operating ambi-
ent temperature and current.
Current reduction coefficient, fundamental permissible current, etc., stated on this page are subject to
change due to e.g. standard revision. Consult cable manufacturers for the latest information.
5. Installation
Driver
• Current reduction coefficient
No. of wires in a tube Coefficient
Up to 3 0.70
4 0.63
5 or 6 0.56
7 to 15 0.49
16 to 40 0.43
41 to 60 0.39
61 or more 0.34
• Fundamental permissible
current
Stranded conductor
(nominal cross section: mm2)
Copper
wire
(unit: A)
2 to 3.5 (excl.) 27
3.5 to 5.5 (excl.) 37
5.5 to 8 (excl.) 49
8 to 14 (excl.) 61
14 to 22 (excl.) 88
11 to 30 (excl.) 115
30 to 38 (excl.) 139
38 to 68 (excl.) 162
60 to 100 (excl.) 217
100 to 150 (excl.) 298
150 to 200 (excl.) 395
1-34
Install the motor properly to avoid a breakdown or an accident.
Installation Place
Since the conditions of location affect a lot to the motor life, select a place which
meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products
are not waterproof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sul-
fide, sulfurous acid, chlorine, ammonia, sulfur, chloric gas, sulfuric gas, acid, alkaline
and salt and so on, and are free from splash of inflammable gas.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as
a furnace.
5) Easy-to-access place for inspection and cleaning
6) Vibration-free place.
7)
Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
Item Conditions
Ambient temperature*10 ˚C to 40 ˚C (free from freezing)
Ambient humidity 20 % to 85 % RH (free from condensation)
Storage temperature*2–20 ˚C to 65 ˚C
(Max. temperature guarantee: 80 ˚C for 72 hours free from condensation*5)
Storage humidity 20 % to 85 % RH (free from condensation*5)
Vibration Motor only Lower than 49 m/s2 (5 G) at running, 24.5 m/s2 (2.5 G) at stall
Impact Motor only Lower than 98 m/s2 (10 G)
Enclosure
rating
Motor only
(Connector type)
IP67 (except rotating portion of output shaft and connecting pin
part of the motor connector and the encoder connector)*3*4
Altitude Lower than 1000 m
*1 Ambient temperature to be measured at 5 cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
*3 These motors conform to the test conditions specified in EN standards (EN60529, EN60034-5). Do
not use these motors in application where water proof performance is required such as continuous
wash-down operation.
*4 This condition is applied when the connector mounting screw in case of motor 750 W or less are
tightened to the recommended tightening torque (Refer to P.2-11, 2-48). Be sure to use mounting
screw supplied with the connector. Correctly install and secure the gasket supplied with the cable
connector.
*5
Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
Use the motor with oil seal (make-to-order in case of motor 750 W or less) when
mounting the motor with gear reducer to prevent the reducer oil/grease from entering
to the motor.
1 Before Using
the Products
5. Installation
Motor
1-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is always subject-
ed to oil or water.
4) Use the motor with an oil seal when used with the
gear reducer, so that the oil may not enter to the
motor through shaft.
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-
weight.
2) Especially in an application where the motor itself travels, fix the junction cable into the
bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (When you use our optional cable,
Minimum R20 mm)
Permissible Load to Output Shaft
Note
1) Design the mechanical system so that the applied radial load and/or thrust load to the
motor shaft at installation and at normal operation can meet the permissible value
specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may dam-
age the shaft or deteriorate the bearing life.)
3) Use a flexible coupling with high stiffness designed exclusively for servo application in
order to make a radial thrust caused by micro misalignment smaller than the permis-
sible value.
For permissible load of each model, refer to P.1-37, “Permissible Load at Output Shaft”.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer
while attaching/detaching a coupling to and from
the motor shaft.
(Or it may damage the encoder mounted on the
other side of the shaft.)
2) Make a full alignment. (incomplete alignment may
cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the
bearing depending on the condition of the machine and its mounting environment, and
may result in the bearing noise. Check and verification by customer is required.
Cable Motor
Oil/Water
Motor
Related page
• P.1-29 “Junction cable for motor” • P.1-30 “Installation of driver”
• P.1-37 “Permissible Load at Output Shaft” • P.7-79 “Dimensions”
5. Installation
Motor
1-36
Wiring Precautions on Movable Section
When wiring cable bear, take the following precautions:
Cable bear wiring
The bend radius of the cable must be 10 times or more its finish outside diameter.
(For finish outside diameter, refer to P.1-33 How to Install, “Relationship between Wire
Diameter and Permissible Current” and associated tables.)
Do not fix or bundle wires in the cable bear.
When securing the cable, fix it only at non-movable ends of the cable bear where the
cable is free from any stress (e.g. tension). (Avoid tight lock.)
[Recommended cable bear wiring]
Caution
Do not keep the cable loosened (too long) or under tension (too short).
Otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other
cable, etc., causing unpredictable troubles.
Cable distortion
Keep the cable free from twists or kinks.
Distorted cable will cause loose connection, lowering performance and reliability.
Lamination factor of cable in cable bear
Place cables on a flat surface in parallel without bringing them into contact with each
other and measure the dimension necessary to cover these cables. Then select a ca-
ble bear which is wider than the measured dimension.
The lamination factor of cables should be lower than 60 % (recommended factor is 30 %
or below).
Do not run smaller and larger size cables in the same cable bear. Thin cables may
break under the pressure of thick cables. If it is necessary to mix cables of different
size, isolate them by using suitable separating material such as partition.
[Wiring arrangement in cable bear – example]
Cable
Cable bear
Cable end
Cable Cable Partition
Partition
Thick cable Thin cable
5. Installation
Motor
um : N (1 kgi=9.8 N) Note
1-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1 Before Using
the Products
6.
Permissible Load at Output Shaft
Motor
L
L/2
P
A
M
B
Radial load (P) direction Thrust load (A and B) direction
Unit : N (1 kgf=9.8 N)
Motor
series Motor output
At assembly During running
Radial thrust
Thrust load
Radial thrust
Thrust load A
and
B-direction
A-direction B-direction
MSMD
50 W, 100 W 147 88 117.6 68.6 58.8
200 W, 400 W 392 147 196 245 98
750 W 686 294 392 392 147
MSME
50 W, 100 W 147 88 117.6 68.6 58.8
200 W, 400 W 392 147 196 245 98
750 W (200 V) 686 294 392 392 147
750 W (400 V),
1.0 kW, 1.5 kW,
2.0 kW, 3.0 kW 980 588 686 490 196
4.0 kW, 5.0 kW 784 343
MDME
400 W to 2.0 kW 980 588 686 490 196
3.0 kW
784 3434.0 kW 1666 784 980
5.0 kW
7.5 kW 2058 980 1176 1176 490
11.0 kW, 15.0 kW 4508 1470 1764 2254 686
MGME
0.9 kW 980 588 686 686 196
2.0 kW 1666 784 980 1176
4903.0 kW
2058 980 1176 1470
4.5 kW
6.0 kW 1764 588
MFME 1.5 kW 980 588 686 490 196
2.5 kW, 4.0 kW 1862 686 784 294
MHMD 200 W, 400 W 392 147 196 245 98
750 W 686 294 392 392 147
MHME
1.0 kW, 1.5 kW 980 588 686 490 196
2.0 kW to 5.0 kW 1666 784 980 784 343
7.5 kW 2058 980 1176 1176 490
Note When the load point varies, calculate the permissible radial load, P (N) from the distance
of the load point, L (mm) from the mounting flange based on the formula of the right ta-
ble, and make it smaller than the calculated result.
1-38
L
P
Motor
series
Motor
output
Formula of Load
and load point
relation
MSMD
50 W P 3533
L+39
100 W P 4905
L+59
200 W P 14945
L+46
400 W P 19723
L+65.5
750 W P 37044
L+77
MSME
50 W P 3533
L+39
100 W P 4905
L+59
200 W P 14945
L+46
400 W P 19723
L+65.5
750 W (200 V) P 37044
L+77
750 W (400 V)
1.0 kW to 3.0 kW P 20090
L+13.5
4.0 kW
5.0 kW P 36848
L+14.5
MDME
400 W
600 W P 20090
L13.5
1.0 kW to 2.0 kW P 20580
L14.5
3.0 kW P 36848
L+14.5
4.0 kW
5.0 kW P 42336
L+19
7.5 kW P 89946
L+20
11.0 kW
15.0 kW P 200606
 
L+31
Motor
series
Motor
output
Formula of Load
and load point
relation
MGME
0.9 kW P 33957
L+14.5
2.0 kW P 69384
 
L+19
3.0 kW P 86730
 
L+19
4.5 kW
6.0 kW P 89964
 
L+20
MFME
1.5 kW P 25235
 
L+19
2.5 kW P 40376
 
L+19
4.0 kW P 42336
 
L+19
MHMD
200 W P 14945
L+46
400 W P 19723
L+65.5
750 W P 37044
L77
MHME
1.0 kW
1.5 kW P 24255
L14.5
2.0 kW to 5.0 kW P 46256
 
L+19
7.5 kW P 89964
 
L+20
6.
Permissible Load at Output Shaft
Motor
2-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. Preparation
1. Conformance to international standards
EC Directives .............................................................................................2-2
Composition of Peripheral Equipments ......................................................2-6
2. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments ...............................2-10
A to G-frame, 100 V/200 V type:
Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ..................................2-12
E-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-16
F-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-20
G-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-24
H-frame, 200 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-28
D, E-frame, 400 V type:
Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram
..2-32
F-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-36
G-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-40
H-frame, 400 V type: Overall Wiring/ Wiring of the Main Circuit/ Wiring Diagram ...2-44
Specifications of Motor connector ............................................................2-48
Wiring method to connector .....................................................................2-50
3. Wiring to the connector, X1
Connecting host computer .............................................................................. 2-51
4. Wiring to the connector, X2
Connecting communication connector ........................................................... 2-51
5. Wiring to the connector, X3
Safety function connector.........................................................................2-53
6. Wiring to the connector, X4
Connection to Host Controller ..................................................................2-54
7. Wiring to the connector, X5
Connect on to External Scale...................................................................2-55
8. Wiring to the connector, X6
Connection to Encoder.............................................................................2-57
9. Wiring to the connector, X7
Monitor output ..........................................................................................2-60
10. Timing Chart
Timing on power-up .................................................................................2-61
Alarm ........................................................................................................2-62
Servo-Lock ...............................................................................................2-63
Servo-ON/OFF .........................................................................................2-64
11. Built-in Holding Brake
Outline ......................................................................................................2-65
Specifications ...........................................................................................2-66
12. Dynamic Brake
Outline ......................................................................................................2-67
Connections of external dynamic brake resistor (Example) ........................... 2-68
Condition setting chart .................................................................................... 2-70
13. Setup of Parameter and Mode
Outline / Setup / Connection ....................................................................2-72
Composition and List of Parameters ........................................................2-73
List of Parameters ....................................................................................2-74
Setup of Torque Limit ...............................................................................2-84
14. Setup of command division and multiplication ratio
(electronic gear ratio)
Relation between Electronic Gear and Position Resolution or Traveling Speed
...2-86
15. How to Use the Front Panel
Setup ........................................................................................................2-88
Structure of Each Mode ...........................................................................2-90
Setup of front panel lock ..........................................................................2-92
Monitor Mode (SELECTION display) .......................................................2-93
Monitor Mode (EXECUTION display).......................................................2-94
Parameter Setup Mode ..........................................................................2-108
EEPROM Writing Mode .........................................................................2-109
Auxiliary Function Mode (SELECTION display) .....................................2-110
Auxiliary Function Mode (EXECUTION display) ....................................2-111
2-2
2
Preparation
1.
Conformance to international standards
EC Directives
EC Directives
The EC Directives apply to all such electronic products as those having specific functions
and have been exported to EU and directly sold to general consumers. Those products
are required to conform to the EU unified standards and to furnish the CE marking on the
products.
However, our AC servos meet the relevant EC Directives for Low Voltage Equipment so
that the machine or equipment comprising our AC servos can meet EC Directives.
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up
certain model (condition) with certain locating distance and wiring of the servo motor and
the driver. And actual working condition often differs from this model condition especially
in wiring and grounding. Therefore, in order for the machine to conform to the EMC Di-
rectives, especially for noise emission and noise terminal voltage, it is necessary to ex-
amine the machine incorporating our servos.
Conformity to UL Standards
Remarks
Note
Observe the following conditions of (1) and (2) to make the system conform to UL508C
(E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1.
(e.g. Install in the control box with IP54 enclosure.)
(2) Make sure to install a circuit breaker or fuse which are UL recognized (Listed
marked) between the power supply and the noise filter.
Use a copper cable with temperature rating of 75 ˚C or higher.
For rated current of circuit breaker and fuse, refer to P.2-10 “Driver and List of Appli-
cable Peripheral Equipments”.
(3) Over-load protection level
Over-load protective function will be activated when the effective current exceeds
115 % or more than the rated current based on the time characteristics (see the next
page). Confirm that the effective current of the driver does not exceed the rated cur-
rent. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit) and
Pr5.22 (Setup 2nd torque limit).
(4) Motor over-temperature protection is not provided.
Motor over-load-temperature protection shall be provided at the final installation upon
required by the NEC (National Electric Code).
Note For Overload protection time characterstics, refer to P.6-14.
A § 7T7] (fi-‘vLS- “fié-i-d‘DIXW) °1 717IE 21%?“ %) 75111-3131 E717IE’4 {WI}!- EE ”-34% °I "51% #2331)“ 7] “WWI, 7195131 2! 119M"! *H-fiE ’)‘1% 3513: INC}. (W97lé: )
2-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
SEMI F47
Caution
Includes a function in compliance with the SEMI F47 standard for voltage sag immunity
under no load or light load.
Ideal for the semiconductor and LCD industries.
(1) Excluding the single-phase 100-V type.
(2) Please verify the actual compliance of your machine with the F47 standard for volt-
age sag immunity.
Conformed Standards
Driver Motor
EC Direc-
tives
EMC
Directives
EN55011
EN61000-6-2
EN61800-3
Low-Voltage
Directives EN61800-5-1 EN60034-1
EN60034-5
Machinery
Directives
Functional
safety *1
ISO13849-1 (PL d) (Cat. 3)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1
UL Standards UL508C (E164620) UL1004-1, UL1004-6
(E327868)
CSA Standards C22.2 No.14 C22.2 No.100
Radio Waves Act
(South Korea) (KC) *2
KN11
KN61000-4-2, 3, 4, 5, 6, 8, 11
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
Pursuant to the directive 2004/108/EC, article 9(2)
Panasonic Testing Centre
Panasonic Service Europe, a division of
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany
• When export this product, follow statutory provisions of the destination country.
*1 A5
E and A5E series doesn’t correspond to the functional safety standards.
*2 Information related to the Radio Waves Act (South Korea)
This servo driver is a Class A commercial electromagnetic radio wave generator not
designed for home use. The user and distributor should be aware of this fact.
Servo Driver
This product is not an object of China Compulsory Certification (CCC).
Caution
Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
1. Conformance to international standards
EC Directives
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2-4
Installation Environment
Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in
IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.)
*
Metaric control box
100 V/200 V
Controller
Insulated power supply
for interface
Power
supply
Surge
absorber
Noise filter
Protective earth (PE)
L1
U
X4
XA
XB
X6
X1
M
RE
V
W
L2
L3
L1C
L2C
Noise filter
for signal
lines
Driver
Motor
Noise filter
for signal
lines
A to F-frame:
Motor cable
without shield
cable
G, H-frame:
Motor cable
with shield
cable
Safety
controller
X3
X6
X3
400 V
Insulated
DC24 V
*
Metaric control box
Controller
Insulated power supply
for interface
Power
supply
Surge
absorber
Noise filter
Protective earth (PE)
L1
U
X4
XA
XB
M
RE
V
W
L2
L3
24V
0V
Driver
Motor
D to F-frame:
Motor cable
without shield
cable
G, H-frame:
Motor cable
with shield
cable
Safety
controller
Circuit
breaker
Residual
current device
(RCD)
Circuit
breaker
Residual
current device
(RCD)
PC
NF3
NF2
Noise filter
for signal lines
NF3
Noise filter
for signal lines
NF3
Noise filter
for signal lines
NF3
Noise filter
for signal lines
NF3
Noise filter for signal lines
NF3
Noise filter for signal lines
NF1
X1
PC
Noise filter
for signal
lines
Noise filter
for signal
lines
NF3
NF2
Noise filter for signal lines
NF3
Noise filter for signal lines
NF1
For to , refer to the Table “Noise Filter for Signal Line” (P.2-5).
* A5
E, A5E is not provided with X3 terminal.
NF1 NF3
For to , refer to the Table “Noise Filter for Signal Line” (P.2-5).
* A5E, A5E is not provided with X3 terminal.
NF1 NF3
1. Conformance to international standards
EC Directives
• Mandatory requirements to conform to EMC directive
Install the servo driver on the metallic casing (control board).
Install noise filter and lightning surge absorber in the power supply line.
Use braided shield cable (tin plated annealed copper wire) for I/O signal cable and
encoder cable.
Provide the noise filter, as shown in the figure, for each cable, I/O line and power
source line to be connected to the servo driver.
Shield of cables not shown on the figure should be directly grounded through PE.
Because these conditions for EMC directive are affected by status of connected de-
vices, wiring, connection and location, compliance should be checked after completing
installation.
E E Fig.1: DVOP1460(Oplion) K \ / \; / |:Ij Fig.2: RJ8035, RJ8095
2-5
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Caution
Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
1. Conformance to international standards
EC Directives
Noise Filter for Signal Lines
Symbol*1
Cable Name
100 V/200 V
Amp. frame
symbol
400 V
Amp. frame
symbol
Option
part No.
Manufacturer's
part No. Manufacturer Qty.
NF1 Power cable
A, B, C, D D, E, F DV0P1460 ZCAT3035-1330 TDK Corp. 4
E, F
Recommended
components
RJ8035 KK-CORP.CO.JP 1
G, H G, H
Recommended
components
RJ8095 KK-CORP.CO.JP 1
NF2 Motor cable
A, B, C, D, E, F D, E, F DV0P1460 ZCAT3035-1330 TDK Corp. 4
G, H G, H
Recommended
components
T400-61D MICROMETALS 1
NF3
• 24 V Power cable
• Encoder cable
• Interface cable
• USB cable
• Control power cable
Common
(to all frames) DV0P1460 ZCAT3035-1330 TDK Corp. 4
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable
and interface cable)
*1 For symbols, refer to the Block Diagram “Installation Environment” (P.2-4).
Remarks
Caution
To connect the noise filter to the connector XB connection cable, adjust the sheath length
at the tip of the cable, as required.
Fix the signal line noise filter in order to prevent excessive stress to the cables.
<Fig.2: Dimensions>
Part No. Current 100 kHz
(μH)
Size [Unit: mm]
A B C D1 D2 Core thickness E F
RJ8035 35 A 9.9±3 170 150 23 80 53 24 R3.5 7
RJ8095 95 A 7.9±3 200 180 34 130 107 35 R3.5 7
 
ø57.2
33
ø102
[Unit: mm]
39±1
34±1
30±1
11
Mass: 62.8 g
Fig.1: DV0P1460(Option) Fig.2: RJ8035, RJ8095
(Recommended components)
Fig.3: T400-61D
(Recommended components)
[Unit: mm]
B
A
C
øD1
F
E
øD2
Twisted Closely b
2-6
Power Supply
Remarks
100 V type:
(A to C-frame) Single phase, 100 V +10 %
–15 % to 120 V +10 %
–15 % 50 Hz/60 Hz
200 V type:
(A to D-frame) Single/3-phase, 200 V
+10 %
–15 % to 240 V +10 %
–15 % 50 Hz/60 Hz
200 V type:
(E to H-frame) 3-phase, 200 V
+10 %
–15 % to 230 V +10 %
–15 % 50 Hz/60 Hz
400 V type:
Main power supply
(D to H-frame)
3-phase, 380 V +10 %
–15 % to 480 V +10 %
–15 % 50 Hz/60 Hz
400 V type :
Control power supply
(D to H-frame)
DC 24 V ±15 %
(1) This product is designed to be used in over-voltage category (installation category) III
of EN 61800-5-1:2007.
(2) Use an insulated power supply of DC12 to 24 V which has CE marking or complies
with EN60950.
Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable.
Power cable and signal wires must be sufficiently isolated from each other.
Twisted
Servo driver
L1C
L2C
Closely bundled cable
United
Servo driver
L2
L3
L1
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognized (Listed
and marked) between power supply and noise filter.
The short-circuit protection circuit on the product is not for protection of branch circuit.
The branch circuit should be protected in accordance with NEC and the applicable local
regulations in your area.
2
Preparation
1.
Conformance to international standards
Composition of Peripheral Equipments
Note For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable
Peripheral Equipments".
Recommended components consideration of - For the detailed - When two or m er source, con - Do not run the r right) the input and output Iin lower left)
2-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Noise Filter
Option part No. Voltage specifications
for driver
Manufacturer’s
part No.
Applicable
driver (frame) Manufacturer
DV0P4170 Single phase 100 V/200 V SUP-EK5-ER-6 A, B-frame
Okaya Electric Ind.
DV0PM20042
3-phase 200 V
3SUP-HU10-ER-6
A, B-frame
Single phase 100 V/200 V
3-phase 200 V C-frame
DV0P4220 Single/ 3-phase 200 V 3SUP-HU30-ER-6 D-frame
DV0PM20043 3-phase 200 V 3SUP-HU50-ER-6 E-frame
DV0P3410 3-phase 200 V
3SUP-HL50-ER-6B
F-frame
Remarks
Recommended components
Model No. Voltage specifications
for driver
Rated
current
Applicable driver
(frame) Manufacturer
RTHN-5010
3-phase 200 V
10 A, B, C-frame
TDK-Lambda Corp.RTHN-5030 30 D-frame
RTHN-5050 50 E, F-frame
FS5559-60-34 60 G-frame
Schaffner
FS5559-80-34 80 H-frame
FN258L-16-07
3-phase 400 V
16 D, E-frame
FN258L-30-07 30 F-frame
FN258-42-07 42 G, H-frame
FN258-42-33 42
Select a noise filter whose capacity is commensurate with the power source capacity (in
consideration of the load condition).
For the detailed specifications of each noise filter, contact the manufacturer.
When two or more servo drivers are used with a single noise filter at the common pow-
er source, consult with the noise filter manufacturer.
Do not run the input and output wiring on the same passage: noise resistance will drop. (Figure
at lower right)
Isolate the input and output line from each other. (Figure at lower left)
1
Isolate the input and output
2
3
4
5
6
E
Noise Filter
AC input AC output
Ground
1
The effect of the noise filter is a little.
Do not place the input and output lines
in the same duct or do not tie both in a bundle.
2
3
4
5
6
E
Noise Filter
AC input
AC output
Ground
Surge Absorber
Remarks
Option part No. Voltage specifications
for driver
Manufacturer’s
part No. Manufacturer
DV0P1450 3-phase 200 V RAV-781BXZ-4
Okaya Electric Ind.DV0P4190 Single phase 100 V/200 V RAV-781BWZ-4
DV0PM20050 3-phase 400 V RAV-801BXZ-4
When performing withstand voltage test of machine and equipment, be sure to remove the
surge absorber; otherwise, it will be damaged.
1. Conformance to international standards
Composition of Peripheral Equipments
Related page
• P.2-10 “Driver and List of Applicable Peripheral Equipments” • P.7-94 “Option”
Recommended components
2-8
1. Conformance to international standards
Composition of Peripheral Equipments
Noise Filter for Signal Lines
Signal line, Encoder line, Control power line, Power line (A to D-frame: 100 V/ 200 V and
D to F-frame: 400 V) and Motor line (A to F-frame).
Option part No. Manufacturer’s
part No. Manufacturer
DV0P1460 ZCAT3035-1330 TDK Corp.
Recommended components
Option part No. Manufacturer’s
part No.
Applicable driver
(frame) Manufacturer
Power cable RJ8035 E-frame 200 V, F-frame 200 V KK-CORP.CO.JP
RJ8095 G, H-frame
Motor cable T400-61D G, H-frame MICROMETALS
<Attaching signal noise filter>
Signal wire Wind cables the number of turns required to form the signal noise filter.
Power wire If sheathed (jacketed): remove the sheath (jacket) to the length so that wires (L1, L2,
L3) can be wound on the signal noise filter (including power line dedicated filter). For
effective noise reduction capability, L1, L2 and L3 should be wound together.
If not effective, increase the number of signal noise filters (including power line
dedicated filters). (See figure below.)
Motor line When installing the signal noise filter (including motor line dedicated filter) to our
optional cable, remove the sheath (jacket) to the length so that wires can be wound
on the signal noise filter (including power line dedicated filter). For effective noise
reduction capability, U, V and W should be wound together.
If not effective, increase the number of signal noise filters (including power line
dedicated filters). (See figure below.)
Encoder line Wind cables the number of turns required to form the signal noise filter.
Sheath (jacket)
Cover
FG line
Electric wire
Sheath (jacket)
* If not effective, increase
the number of turns.
* If not effective, increase
the number of turns.
Cover
DV0P1460
FG line
Electric wire
Sheath (jacket)
*
If not effective, increase
the number of filters.
Cover
DV0P1460
FG line
Electric wire
W W. A To prevent electric shock (9 and the ground terminal )The ground terminal (9 minals are provided. O n: E 5' *H “H
2-9
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
1. Conformance to international standards
Composition of Peripheral Equipments
Note
Caution
For driver and applicable peripheral equipments, refer to P.2-10 “Driver and List of Applicable
Peripheral Equipments”.
Use options correctly after reading Operating Instructions of the options to better understand
the precautions.
Take care not to apply excessive stress to each optional part.
Residual current device
Install a residual current device (RCD) at primary side of the power supply.
Select a RCD of type.B prescribed in IEC60947-2, JISC8201-2-2
Grounding
(1) To prevent electric shock, be sure to connect the ground terminal ( ) of the driver,
and the ground terminal (PE) of the control panel.
(2) The ground terminal ( ) must not be shared with other equipment. Two ground ter-
minals are provided.
Structure of control board
If there is a gap at cable inlet/outlet, mounting hole of operation panel or a door, radio
waves will penetrate into or radiate out through the gap. To prevent unfavorable condi-
tions due to radio frequency activities, observe the following control board design and
selection instruction.
The control board should be made of metal which provides electrical continuity.
The control board should not have electrically-isolated conductor.
All units installed in the casing should be grounded to the case.
Increasing noise resistance of control I/O signal
When noise is applied to the control input/output, it causes displacement and malfunc-
tioning of I/O signal.
X1 to X7 are secondary side circuit which should be isolated from the primary power
source (24 VDC control power source, 24 VDC braking power source and 24 VDC for
regenerative resistor). Do not connect the secondary side circuit to the primary power
source and ground wire. Otherwise, I/O signal will cause error operation.
Control power source (particularly 24 VDC) should be completely isolated from external
operating power source. Never connect the ground of the control power source to that
of external power source.
The signal line should have shield, the both end of which should be connected to the
ground.
[He‘aled page '
2-10
2
Preparation
2.
System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Driver
Applicable
motor
Voltage
*1
Rated
output
Required
Power
at the
(
rated load
)
Circuit
breaker
rated
(
current
)
Noise
filter
(
Single phase
3-phase
)
Surge
absorber
(
Single phase
3-phase
)
Noise
filter for
signal
Rated
operating
current of
magnetic
contactor Contact
(
configuration
)
*2
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
*4
Diameter
and
withstand
voltage of
brake cable
MADH
MADK
MSME
MSMD
MHMD
Single
phase,
100 V
50 W to
100 W
approx.
0.4 kVA
10 A
DV0P4170 DV0P4190
DV0P1460
20 A
(3P+1a)
0.75 mm2/
AWG18
600 VAC
or more
Connection to exclusive connector
0.75 mm2/
AWG18
600 VAC
or more
Connection to exclusive connector
0.75 mm2/
AWG18
600 VAC
or more
0.28 mm2/
AWG22 to
0.75 mm2/
AWG18
100 VAC
or more
Single/
3-phase,
200 V
50 W to
200 W
approx.
0.5 kVA
DV0P4170
DV0PM20042
DV0P4190
DV0P1450
MBDH
MBDK
MSME
MSMD
MHMD
Single
100 V
200 W approx.
0.5 kVA
DV0P4170 DV0P4190
Single/
3-phase,
200 V
400 W approx.
0.9 kVA
DV0P4170
DV0PM20042
DV0P4190
DV0P1450
MCDH
MCDK
MSME
MSMD
MHMD
Single
100 V
400 W approx.
0.9 kVA
DV0PM20042
DV0P4190
Single/
3-phase,
200 V
750 W approx.
1.3 kVA 15 A
DV0P4190
DV0P1450
MDDH
MDDK
MDME
3-phase,
200 V
1.0 kW approx.
1.8 kVA
DV0P4220
30 A
(3P+1a)
2.0 mm2/
AWG14
600 VAC
or more
2.0 mm2/
AWG14
600 VAC
or more
0.75 mm2/
AWG18
100 VAC
or more
MHME
MGME 0.9 kW approx.
1.8 kVA
20 A
MSME 1.0 kW approx.
1.8 kVA
MHME
1.5 kW approx.
2.3 kVA
MDME
MFME
MSME
MSME
3-phase,
400 V
1.0 kW approx.
1.8 kVA
10 A
FN258L-16-07
Recommended
(
component
)
DV0PM20050
20 A
(3P+1a)
0.52 mm2/
AWG20
100 VAC
or more
MDME
MHME
MGME 0.9 kW
MSME
1.5 kW approx.
2.3 kVA
MDME
MFME
MHME
MEDH
MEDK
MDME
3-phase,
200 V
2.0 kW approx.
3.3 kVA 30 A
DV0PM20043 DV0P1450
DV0P1460
RJ8035
Recommended
(
component
)
*5
60 A
(3P+1a)
0.75 mm2/
AWG18
600 VAC
or more
MSME
MHME
MFME 2.5 kW approx.
3.8 kVA
MSME
3-phase,
400 V
2.0 kW approx.
3.3 kVA 15 A
FN258L-16-07
Recommended
(
component
)
DV0PM20050 DV0P1460
30 A
(3P+1a)
0.52 mm2/
AWG20
100 VAC
or more
MDME
MHME
MFME 2.5 kW approx.
3.8 kVA
MFDH
MFDK
MGME
3-phase,
200 V
2.0 kW approx.
3.8 kVA
50 A
DV0P3410 DV0P1450
DV0P1460
RJ8035
Recommended
(
component
)
*5
60 A
(3P+1a)
3.5 mm2/
AWG12
600 VAC
or more
11 mm or
smaller
ø5.3
Terminal
block
M5
0.75 mm2/
AWG18
600 VAC
or more
11 mm or
smaller
ø5.3
Terminal
block
M5
3.5 mm2/
AWG12
600 VAC
or more
MDME
3.0 kW approx.
4.5 kVA
MHME
MSME
MGME
MDME
4.0 kW approx.
6.0 kVA
100 A
(3P+1a)
MHME
MSME
MFME 4.5 kW
approx.
6.8 kVA
MGME
approx.
7.5 kVA
MDME
5.0 kWMHME
MSME
MGME
3-phase,
400 V
2.0 kW approx.
3.8 kVA
30 A
FN258L-30-07
Recommended
(
component
)
DV0PM20050 DV0P1460
60 A
(3P+1a)
10 mm or
smaller
ø4.3
Terminal
block
M4
0.75 mm2/
AWG18
100 VAC
or more
7 mm or
smaller
ø3.2
Terminal
block
M3
MSME
3.0 kW approx.
4.5 kVA
MDME
MGME
MHME
MSME
4.0 kW approx.
6.0 kVA
MDME
MHME
MFME 4.5 kW
approx.
6.8 kVA
MGME
approx.
7.5 kVA
MSME
5.0 kWMDME
MHME
Related page
Noise filter...P.7-94 Surge absorber...P.7-98
Noise filter for signal...P.7-99 Motor/brake connector...P.2-48
*1 Select peripheral equipments for single/3phase common specification according to the power source.
*2 For the external dynamic brake resistor, use the magnetic contactor with the same rating as that for the main circuit.
*3 When use the external regenerative resistor of the option (DV0PM20058, DV0PM20059), use the cable with the same diameter as the
main circuit cable.
*4 The diameter of the ground cable and the external dynamic brake resistor cable must be equal to, or larger than that of the motor cable.
The motor cable is a shield cable, which conforms to the EC Directives and UL Standards. (G, H-frame only)
*5 Use thses products to suit an international standard.
About circuit br To comply to EC without fail, and and GD marked). Suitable for use on a circuit ca low the maximum inpul voltag Remarks Select a air supply (inc Terminal block and pr ~ Use a copper conduclor ~ Use the allached exclus 9 mm. (Refer to P.2-50) Fastening torque list (Terminal block screw/Terminal cover fastening screw) Fastening torque list (Ground terminal screw/Connector to host controller (X4))
2-11
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2. System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Driver
Applicable
motor
Voltage
*1
Rated
output
Required
Power
at the
(
rated load
)
Circuit
breaker
rated
(
current
)
Noise
filter
Surge
absorber
Noise
filter for
signal
Rated
operating
current of
magnetic
contactor Contact
(
configuration
)
*2
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
*4
Diameter
and
withstand
voltage of
brake cable
MGDH
MGDK
MDME
3-phase,
200 V
7.5 kW approx.
11 kVA
60 A FS5559-60-34
Recommended
(
component
)
DV0P1450
DV0P1460
RJ8095
Recommended
(
component
)
T400-61D
Recommended
(
component
)
*5
100 A
3P+1a
5.3 mm2/
AWG10
600 VAC
or more
11 mm or
smaller
ø5.3
Terminal
block
M5
0.75 mm2/
AWG18
600 VAC
or more
10 mm or
smaller
ø5.3
Terminal
block
M5
13.3 mm2/
AWG6
600 VAC
or more
0.75 mm2/
AWG18
100 VAC
or more
MGME 6.0 kW approx.
9.0 kVA
MHME 7.5 kW approx.
11 kVA
MDME
3-phase,
400 V
7.5 kW approx.
11 kVA
30 A
FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
60 A
3P+1a
0.75 mm2/
AWG18
100 VAC
or more
MGME 6.0 kW approx.
9.0 kVA
MHME 7.5 kW approx.
11 kVA
MHDH
MHDK MDME
3-phase,
200 V
11 kW approx.
17 kVA 100 A
FS5559-80-34
Recommended
(
component
)
DV0P1450 150 A
3P+1a
13.3 mm2/
AWG6
600 VAC
or more
*3
16 mm or
smaller
ø6.4
Terminal
block
M6
0.75 mm2/
AWG18
600 VAC
or more
10 mm or
smaller
ø4.3
Terminal
block
M4
15 kW approx.
22 kVA 125 A
21.1 mm2/
AWG4
600 VAC
or more
3-phase,
400 V
11 kW approx.
17 kVA 50 A FN258-42-07
or
FN258-42-33
Recommended
(
component
)
DV0PM20050
100 A
3P+1a
0.75 mm2/
AWG18
100 VAC
or more
13.3 mm2/
AWG6
600 VAC
or more
15 kW approx.
22 kVA 60 A
21.1 mm2/
AWG4
600 VAC
or more
Remarks
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).
Suitable for use on a circuit capable of delivering not more than 5,000 Arms symmetrical amperes, be-
low the maximum input voltage of the product.
Remarks
Select a circuit breaker and noise filter which match to the capacity of power
supply (including a load condition).
Terminal block and protective ground terminals
Use a copper conductor cables with temperature rating of 75 ˚C or higher.
Use the attached exclusive connector for A to E-frame, and maintain the peeled off length of 8 to
9 mm. (Refer to P.2-50)
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) Note 1
Nominal
size
Fastening torque
(N•m) Note 1
F200 V L1, L2,
L3 , L1C, L2C, B1, B2, B3, NC, U, V, W M5 1.0 to 1.7
M3 0.19 to 0.21F400 V 24V
0V M3 0.4 to 0.6
L1, L2,
L3 , B1, B2, B3, NC, U, V, W M4 0.7 to 1.0
GL1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC M5 1.0 to 1.7
L1, L2,
L3 , B1, B2, NC, U, V, W M5 2.0 to 2.4 M3 0.3 to 0.5
HL1C, L2C, 24V, 0V, DB1, DB2 M4 0.7 to 1.0 M5 2.0 to 2.5
L1, L2,
L3 , B1, B2, NC, U, V, W M6 2.2 to 2.5
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) Note 1
Nominal
size
Fastening torque
(N•m) Note 1
A to E M4 0.7 to 0.8
M2.6 0.3 to 0.35F, G M5 1.4 to 1.6
H M6 2.4 to 2.6
Caution
Note 1 Applying fastening torque larger than the maximum value may result in damage
to the product.
Do not turn on power without tightening all terminal block screws properly.
Do not turn on power without tightening all terminal block screws properly, other-
wise, loose contacts may generate heat (smoking, firing).
To check for looseness, conduct periodic inspection of fastening torque once a year.
Be sure to conduct wiring properly and securely. Insecure or improper wiring may cause the motor
running out of control or being damaged from overheating. In addition, pay attention not to allow
conductive materials, such as wire chips, entering the driver during the installation and wiring.
Mains Residual. current device m - Connection to input power - Connection to external components
2-12
: High voltage
Connection to input power
Wiring to Connector, XA P.2-14
Connection to external components
Ground
terminal
Junction cable
for brake
DC Power supply
for brake DC24 V
(to be supplied by customer)
U-phase(red)
V-phase(white)
W-phase(black)
* These colors are used
for optional cable.
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector are built in to
the regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
Mount the regenerative resistor on
incombustible material such as metal.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Charge lamp
(Red LED)*1
Ground
(earth)
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Junction cable for encoder
Junction cable for motor
Remarks
Note
Monitor output
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
• Wiring of Main Connector (XA)
• Wiring of Motor Connector (XB)
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
Pin B1 (6-pin), B2 (4-pin), and
B3 (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.
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection
while the LED is lit - cause of electric shock.
Wiring to Connector, XB P.2-14
Wiring to Connector, X7 P.2-60
Connection to motor driving phase
and ground
Wiring to Connector, XB P.2-14
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P.2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P.2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
B1 (Pin-6)
B2 (Pin-4)
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Short circuit wire(B2-B3)
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
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).
Connecting Example of A to D-frame
Note
Related page
This overall wiring diagram is a typical one. The pages that follow show wiring for specific
application. The wiring indicated with the broken line shall be provided only when required.
• P.7-94... “Options”
2
Preparation
2.
System Configuration and Wiring
Overall Wiring (A to D-frame, 100 V/200 V type)
|:I - Monitor output EBEEEE ®®Q® " f!) -"?E x arm-ml: :: .3. it: @I —| “E \' é - Connection to PC (PANATERM) - Connection to R8232, RS485 Connection to Safety by- pass plug -Connection to host controller m...- @— fi-flr_ - Connection to feedback scale Ground terminal Junction cable for motor - Connection to motor driving phase Jun lor l—l - Connection to encoder supply ill—« :lielated pagb
2-13
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
: High voltage
Connection to input power
Wiring to Connector, XA P.2-14
Connection to external components
Ground
terminal
Junction cable
for brake
DC Power supply
for brake DC24 V
(to be supplied by customer)
U-phase(red)
V-phase(white)
W-phase(black)
* These colors are used
for optional cable.
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector are built in to
the regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
Mount the regenerative resistor on
incombustible material such as metal.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Charge lamp
(Red LED)*1
Ground
(earth)
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Junction cable for encoder
Junction cable for motor
Remarks
Note
Monitor output
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
Wiring of Main Connector (XA)
Wiring of Motor Connector (XB)
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
Pin B1 (6-pin), B2 (4-pin), and
B3 (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.
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection
while the LED is lit - cause of electric shock.
Wiring to Connector, XB P.2-14
Wiring to Connector, X7 P.2-60
Connection to motor driving phase
and ground
Wiring to Connector, XB P.2-14
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P.2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P.2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
B1 (Pin-6)
B2 (Pin-4)
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Short circuit wire(B2-B3)
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
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).
Note
Related page
The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.2-14 “
Wiring of the Main Circuit (
A to D-frame, 100 V/200 V type
)
” • P.2-48 “Specifications of Motor connector”
URL: http://industrial.panasonic.com/jp/i/fa_motor.html
2. System Configuration and Wiring
Overall Wiring (A to D-frame, 100 V/200 V type)
ground em ele shock, \ (g) driver plate cont (9 2mm page «5+
2-14
A to D-frame, 100 V / 200 V type
Wiring should be performed by a specialist or an authorized personnel.
Do not turn on the power until the wiring is completed.
Never touch the power connector (XA and XB) to which high voltage is applied.
There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA and XB).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.
Motor
Varistor
DC
24 V
MCCB
Power
supply 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 (100 V and 200 V), 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 polarities.
For the holding brake power supply capacity and how to
use the brake, refer to “Specifications of Built-in Holding
Brake” on P.2-65.
Provide a varistor.
Connect a 10 A fuse in series with the varistor.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.2-10.
L1C
L3
L2
L1
L2C
B1
B3
B2
U
V
W
XA
XB
2
3
4
5
1
2
3
4
5
6
1
DC power supply
for brake
Red
Black
Green or
Green/yellow
White
RCD
External regenerative
resistor
* These colors
are used for
optional cable.
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector” • P.2-50 “Wiring method to connector”
• P.7-112 “Connector kit for XA” • P.7-113 “Connector kit for XB”
2
Preparation
2.
System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame, 100 V/200 V type)
Power Supply Single phase. 100 V 715 °/e to 120 V +10 °/e / 200 V 715 “/n to 240 V +10 “/a n 22 as 45 Power supply 3-phase. 200 v 715 % to 240 v +10 0/» \ \ i i i i 1 1 3 1 n } \ l ‘ 22 ‘ ‘ 33 \ ‘ \ \ i i i i i i ”ié
2-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Compose the circuit so that the main circuit power will be shut off when an error occurs.
However, if you want to use “immediate stop function” and the main circuit power turns off,
please be aware that you will no longer be able to use “immediate stop function”.
In Case of Single Phase, A to D-frame, 100 V / 200 V type
Power supply Single phase, 100 V –15 % to 120 V +10 % / 200 V –15 % to 240 V +10 %
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
ALM−
Motor
connection
172159-1
172167-1
XA
XB
X4
36
L
ON MC
ALM
Built-in thermal
protector of an
external
regenerative
resistor
(light yellow)
For single phase
wiring, L2 is not
used.
External regenerative resistor
Note.1) Short wire Note.1) Short wire
• In Case of MSMD, MHMD
1
Red
White
Black
Green
2
3
4
1
2
3
4
Noise filter
Main power
supply
Control power
supply
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
ALM−
Motor
connection
XA
XB
X4
36
L
ON MC
ALM
Built-in thermal
protector of an
external
regenerative
resistor
(light yellow)
For single phase
wiring, L2 is not
used.
External regenerative resistor
• In Case of MSME
Insulated
DC12 to 24 V
(±5 %)
+
Insulated
DC12 to 24 V
(±5 %)
+
In Case of 3-Phase, A to D-frame, 200 V type
Power supply 3-phase, 200 V –15 % to 240 V +10 %
External regenerative resistor
Noise filter
Main power
supply
Control power
supply
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
ALM−
Motor
connection
XA
XB
X4
36
L
ON MC
ALM
Built-in thermal
protector of an
external
regenerative
resistor
(light yellow)
• In Case of MSMD, MHMD
Motor
172159-1
172167-1
1
Red
White
Black
Green
2
3
4
1
2
3
4
External regenerative resistor
Noise filter
Main power
supply
Control power
supply
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
U
V
W
L1
Coil surge suppression units
ALM−
Motor
connection
XA
XB
X4
36
L
ON MC
ALM
Built-in thermal
protector of an
external
regenerative
resistor
(light yellow)
• In Case of MSME
Motor
Insulated
DC12 to 24 V
(±5 %)
+
Insulated
DC12 to 24 V
(±5 %)
+
Note.1) Short wire Note.1) Short wire
Note.1)
Frame No. Short wire
(Accessory)
Built-in
regenerative
resistor
Connection of the connector XB
In case of using
an external regenerative resistor.
In case of not using
an external regenerative resistor.
A-frame
B-frame without without Always open between B2-B3
Connect an external regenerative resistor between B1-B2 Always open between B2-B3
C-frame
D-frame with with Remove the short wire accessory from between B2-B3.
Connect an external regenerative resistor between B1-B2 Shorted between B2-B3 with an attached short wire
2
Preparation
2.
System Configuration and Wiring
Wiring Diagram (A to D-frame, 100 V/200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector” • P.2-50 “Wiring method to connector”
Mains Residual. current device m - Connecflon to Inpm power - Connection to enemal components B1 (Pin-6)
2-16
B1 (Pin-6)
B2 (Pin-4)
Brake cable
DC Power supply
for brake DC24 V
(to be supplied by customer)
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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.
• Wiring of Main Connector (XA)
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
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).
Remarks
• Wiring of Motor Connector (XC)
Pin B1 (4-pin), B2 (2-pin), and
B3 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.
: High voltage
Ground
terminal
U-phase(red)
V-phase(white)
W-phase(black)
* These colors are used
for optional cable.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Charge lamp
(Red LED)*1
Ground
(earth)
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Junction cable
for encoder
Monitor output
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Wiring to Connector, X7 P. 2-60
Connection to motor
Wiring to Connector, XB P.2-18
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
Short circuit wire(B2-B3)
Connection to input power
Wiring to Connector, XA P.2-18
Connection to external components
Wiring to Connector, XC P.2-18
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Mains
Residual
current device
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
Junction cable for motor
P.2-18
Connection to motor driving
phase and ground
Connecting Example of E-frame
2
Preparation
2.
System Configuration and Wiring
Overall Wiring (E-frame, 200 V type)
Note
Related page
This overall wiring diagram is a typical one. The pages that follow show wiring for specific
application. The wiring indicated with the broken line shall be provided only when required.
• P.7-94... “Options”
- Monikor ompm 883533 - Connecfion to mo1or U»phase(red) - Conneckion m PC (PANATERM) - Conneckion m R8232, RS485 Emil - Conneckion m Safety by-pass plug a V a @ 3: - Conneckion m hos1 comroller '31. - Conneckion m {eedback scale Junction cable for motor - Conneckion m encoder NJ W] :Helated page~
2-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
B1 (Pin-6)
B2 (Pin-4)
Brake cable
DC Power supply
for brake DC24 V
(to be supplied by customer)
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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.
Wiring of Main Connector (XA)
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
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).
Remarks
Wiring of Motor Connector (XC)
Pin B1 (4-pin), B2 (2-pin), and
B3 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.
: High voltage
Ground
terminal
U-phase(red)
V-phase(white)
W-phase(black)
* These colors are used
for optional cable.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Charge lamp
(Red LED)*1
Ground
(earth)
Handle lever
Use this for connector
connection. Store this
after connection for
other occasions.
(Refer to P.2-50 for
connection.)
Junction cable
for encoder
Monitor output
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Wiring to Connector, X7 P. 2-60
Connection to motor
Wiring to Connector, XB P.2-18
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
Short circuit wire(B2-B3)
Connection to input power
Wiring to Connector, XA P.2-18
Connection to external components
Wiring to Connector, XC P.2-18
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Mains
Residual
current device
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
Junction cable for motor
P.2-18
Connection to motor driving
phase and ground
2. System Configuration and Wiring
Overall Wiring (E-frame, 200 V type)
Note
Related page
The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.2-18 “
Wiring of the Main Circuit
(E-frame, 200 V type)” • P.2-48 “Specifications of Motor connector
URL: http://industrial.panasonic.com/jp/i/fa_motor.html
ground is. en! el shock, (g) driver, plat cont (®) 2mm page «5+
2-18
E-frame, 200 V type
Wiring should be performed by a specialist or an authorized personnel.
Do not turn on the power until the wiring is completed.
Never touch the power connector (XA, XB and XC) to which high voltage is applied.
There is a risk of electric shock.
Tips on Wiring
1) Wire connector (XA, XB and XC).
2) Connect the wired connector to the driver.
Fully insert the connector to the bottom until it clicks.
Motor
Varistor
DC
24 V
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 (100 V and 200 V), 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 polarities.
For the holding brake power supply capacity and how to
use the brake, refer to “Specifications of Built-in Holding
Brake” on P.2-65.
Provide a varistor.
Connect a 10 A fuse in series with the varistor.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.2-10.
L1C
L3
L2
L1
L2C
B1
B3
NC
U
V
W
XA
XC
XB
2
3
4
5
1
2
3
1
3
B2
2
4
1
DC power supply
for brake
Red
Black
Green
White
MCCB
Power
supply NF MC LRCD
External regenerative
resistor
* These colors
are used for
optional cable.
2
Preparation
2.
System Configuration and Wiring
Wiring of the Main Circuit (E-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector” • P.2-50 “Wiring method to connector”
• P.7-112 “Connector kit for XA” • P.7-113 “Connector kit for XB, XC”
Power supply 3-phase, 200 V —15 "/o to 230 V +10 % {me F L10 } \External regenerauve reswslor Note.”
2-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2
Preparation
2.
System Configuration and Wiring
Wiring Diagram (E-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector” • P.2-50 “Wiring method to connector”
Compose the circuit so that the main circuit power will be shut off when an error occurs.
However, if you want to use “immediate stop function” and the main circuit power turns off,
please be aware that you will no longer be able to use “immediate stop function”.
In Case of 3-Phase, E-frame, 200 V type
Power supply 3-phase, 200 V –15 % to 230 V +10 %
Noise filter
External regenerative resistor
Motor
37
ALM+
L2
L3
L1C
L2C
B1
MC
MCCB
ALM
OFF
B3
B2
NC
U
V
W
L1
Coil surge suppression units
ALM−
XA
XC
XB
X4
36
L
ON MC
ALM
Main power
supply
Control power
supply
Motor
connection
Built-in thermal protector
of an external
regenerative resistor
(light yellow)
Insulated
DC12 to 24 V
(±5 %)
+
Note.1) Short wire
Note.1)
Frame
No.
Short wire
(Accessory)
Built-in
regenerative
resistor
Connection of the connector XC
In case of using
an external regenerative resistor.
In case of not using
an external regenerative resistor.
E-frame with with
Remove the short wire accessory from
between B2-B3.
Connect an external regenerative resistor
between B1-B2
Shorted between B2-B3 with an attached
short wire
Mains Residual. current deVIce m
2-20
• Wiring of Main Circuit
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
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).
P.2-22
Short bar (B2-B3)
B1
B2
L3
L2
L1
L2C
L1C
Ground
(earth)
Ground
terminal Charge lamp
(Red LED)*1
Junction cable
for brake
DC Power supply for brake
DC24 V
(to be supplied by customer)
Junction cable for motor
Junction cable
for encoder
: High voltage
U-phase(red)
V-phase(white)
W-phase(black)
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Monitor output
Wiring to Connector, X7 P. 2-60
PC (to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
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 regen-
erative resistor between B1 and
B2, set up Pr0.16 to 1 or 2.
Pin NC
Do not connect anything.
Connection with input
power supply
Connection to external
components
Connection to motor driving
phase and ground
P.2-22
P.2-22
* 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
2
Preparation
2.
System Configuration and Wiring
Overall Wiring (F-frame, 200 V type)
Note
Related page
This overall wiring diagram is a typical one. The pages that follow show wiring for specific
application. The wiring indicated with the broken line shall be provided only when required.
• P.7-94... “Options”
- Monitor ompm - Conneckion 10 R3232, RS485 or hos1 comroller - Conneckion to feedback scale - Conneckion to encoder '1_J 7 Ground _: kerminal Ground Charge lamp (ear‘h) (Red LED)“ M
2-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Wiring of Main Circuit
Circuit Breaker (MCCB)
To protect power supply line from overload-
ing, 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) (to be supplied by customer)
Reduces harmonic current of the main
power.
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).
P.2-22
Short bar (B2-B3)
B1
B2
L3
L2
L1
L2C
L1C
Ground
(earth)
Ground
terminal Charge lamp
(Red LED)*1
Junction cable
for brake
DC Power supply for brake
DC24 V
(to be supplied by customer)
Junction cable for motor
Junction cable
for encoder
: High voltage
U-phase(red)
V-phase(white)
W-phase(black)
Regenerative resistor (optional)
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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
Mains
Residual
current device
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Monitor output
Wiring to Connector, X7 P. 2-60
PC (to be supplied by customer)
Setup support software
“PANATERM”
Please download
from our web site.
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
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 regen-
erative resistor between B1 and
B2, set up Pr0.16 to 1 or 2.
Pin NC
Do not connect anything.
Connection with input
power supply
Connection to external
components
Connection to motor driving
phase and ground
P.2-22
P.2-22
* 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
2. System Configuration and Wiring
Overall Wiring (F-frame, 200 V type)
Note
Related page
The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided with X2, X3 and X5.
• P.2-22 “
Wiring of the Main Circuit
(F-frame, 200 V type)” • P.2-48 “Specifications of Motor connector”
URL: http://industrial.panasonic.com/jp/i/fa_motor.html
-Check the name plate of the driver lor power specifications. -grou nd en! el shock, (g) driver the pane ((9)
2-22
F-frame, 200 V type
Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the termi-
nal block. For cable diameter and size, reter to "Driver and List of Applicable Periph-
eral Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 1.0 N •m and 1.7 N•m.
3) Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with a torque written on P.2-11.
Motor
Varistor
DC
24 V
L1
U
V
W
E
L2
L3
L1C
L2C
B1
B3
B2
NC
U
V
W
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 B2 and B3.
Disconnect this only when an external regenerative register
is used.
Do not connect anything to NC.
Match the colors of the motor lead wires to those of the
corresponding motor output terminals (U,V,W).
Avoid shorting and grounding.
Don't connect the main power.
Earth-ground this.
To prevent electric shock, be sure to connect the ground
terminal ( ) of the driver, and the ground terminal (ground
plate) of the control panel.
The ground terminal ( ) must not be shared with other
equipment.
Two ground terminals are provided.
Don't connect the earth cable to other inserting slot,
nor make them touch.
Compose a duplex Brake Control Circuit so that the brake
can also be activated by an external immediate stop signal.
The holding brake has no polarities.
For the holding brake power supply capacity and how to
use the brake, refer to “Specifications of Built-in Holding
Brake” on P.2-65.
Provide a varistor.
Connect a 10 A fuse in series with the varistor.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.2-10.
DC power
supply
for brake
Fuse (125 V 10 A)
Red
Black
Green
White
MCCB
Power
supply NF MC LRCD
External regenerative
resistor
* These colors
are used for
optional cable.
2
Preparation
2.
System Configuration and Wiring
Wiring of the Main Circuit (F-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector”
Power supply 3-phase, 200 V ,15 % to 230 V +10 % MCC fl {ms t m1 q}. '31 [ Externa‘ regenerative resistor Note.” \—
2-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2
Preparation
2.
System Configuration and Wiring
Wiring Diagram (F-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector”
Compose the circuit so that the main circuit power will be shut off when an error occurs.
However, if you want to use “immediate stop function” and the main circuit power turns off,
please be aware that you will no longer be able to use “immediate stop function”.
In Case of 3-Phase, F-frame, 200 V type
Power supply 3-phase, 200 V –15 % to 230 V +10 %
Built-in thermal protector
of an external
regenerative resistor
(light yellow)
Motor
37
ALM+
L2
L3
L1C
L2C
MC
MCCB L1
ALM−
X4
Terminal block
36
L
ON
ALM
B1
B3
B2
NC
U
V
W
ALM
OFF
MC
Noise filter
External regenerative resistor
Main power
supply
Control power
supply
Motor
connection
Coil surge suppression units
Insulated
DC12 to 24 V
(±5 %)
+
Note.1) Short bar
Note.1)
Frame
No.
Short bar
(Accessory)
Built-in
regenerative
resistor
Connection of terminal block
In case of using
an external regenerative resistor.
In case of not using
an external regenerative resistor.
F-frame with with
Remove the short bar accessory from
between B2-B3.
Connect an external regenerative resistor
between B1-B2
Shorted between B2-B3 with an attached
short bar
Mains Resid ual_ current deVIce Rema
2-24
• Wiring of Main Circuit
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) (to be supplied by customer)
Reduces harmonic current of the main power.
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).
: High voltage
Connection with input
power supply P.2-26
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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.
The wiring indicated with the broken line shall be
provided only when required.
L3
L2
L1
L2C
L1C
Ground
(earth)
Ground
terminal
Short bar (DB3-DB4)
Motor cable (Shield wire)
Mains
Residual
current device
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.
B1
B2
Brake cable
DC Power supply
for brake DC24 V
(to be supplied
by customer)
Regenerative resistor (optional)
Junction cable for encoder
U
-phase
V
-phase
W
-phase
Pin B1 and B2
When you connect an external regenerative
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
Normally, leave DB3 and DB4 short-circuited.
To connect the external dynamic brake resistor,
refer to “Dynamic Brake” on P.2-67 Do not use
the external dynamic brake resistor together
with the built-in resistor.
Pin NC
Do not connect anything.
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause
of electric shock.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
Connection to feedback scale
Connection to host controller
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
Monitor output
Wiring to Connector, X7 P. 2-60
Connection to external components P.2-26
P.2-26
Connection to motor driving
phase and ground
Remarks
Remarks
Note
NC
NC
NC
L2C
L1C
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
Connecting Example of G-frame
2
Preparation
2.
System Configuration and Wiring
Overall Wiring (G-frame, 200 V type)
Note
Related page
This overall wiring diagram is a typical one. The pages that follow show wiring for specific
application. The wiring indicated with the broken line shall be provided only when required.
• P.7-94... “Options”
- Monitor oquuI - Conneckion m R8232, RS485 - Conneckion m Saieky bypass plug ~ - Connemion 10 mm comroller fi_-- - Connemion to encoder .. . .L..L..J..J...\...L. .L. Ground : terminal Ground (earth) Motor cable (Shield wire) £2 W] :Related page~
2-25
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Wiring of Main Circuit
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) (to be supplied by customer)
Reduces harmonic current of the main power.
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).
: High voltage
Connection with input
power supply P.2-26
When you use an external regenerative resistor,
install an external protective apparatus, such
as thermal fuse without fail.
Thermal fuse and thermal protector 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.
The wiring indicated with the broken line shall be
provided only when required.
L3
L2
L1
L2C
L1C
Ground
(earth)
Ground
terminal
Short bar (DB3-DB4)
Motor cable (Shield wire)
Mains
Residual
current device
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.
B1
B2
Brake cable
DC Power supply
for brake DC24 V
(to be supplied
by customer)
Regenerative resistor (optional)
Junction cable for encoder
U
-phase
V
-phase
W
-phase
Pin B1 and B2
When you connect an external regenerative
resistor, connect the external regenerative resistor
between B1 and B2, set up Pr0.16 to 1 or 2.
Pin DB1, DB2, DB3 and DB4
Normally, leave DB3 and DB4 short-circuited.
To connect the external dynamic brake resistor,
refer to “Dynamic Brake” on P.2-67 Do not use
the external dynamic brake resistor together
with the built-in resistor.
Pin NC
Do not connect anything.
Charge lamp (LED)
Do not make displacement, wiring or
inspection while the LED is lit - cause
of electric shock.
PC (to be supplied
by customer)
Setup support software “PANATERM”
Please download from our web site.
Connection to PC (PANATERM)
Connection to RS232, RS485
or host controller
Connection to Safety by-pass plug
Connection to encoder
• Connection to feedback scale
Connection to host controller
Wiring to Connector, X6 P. 2-57
Wiring to Connector, X5 P. 2-55
Wiring to Connector, X4 P. 2-54
Wiring to Connector, X3 P. 2-53
Wiring to Connector, X2 P. 2-51
Wiring to Connector, X1 P. 2-51
Monitor output
Wiring to Connector, X7 P. 2-60
Connection to external components P.2-26
P.2-26
Connection to motor driving
phase and ground
Remarks
Remarks
Note
NC
NC
NC
L2C
L1C
NC
NC
NC
DB3
DB2
DB1
DB4
L1
L2
L3
B1
B2
NC
U
V
W
X1
X2
X3
X4
X5
X6
CHARGE
2. System Configuration and Wiring
Overall Wiring (G-frame, 200 V type)
Note
Related page
The figure above shows connections on velocity, position, torque and full-closed mode driver.
Only for position control type is not provided.
• P.2-26 “
Wiring of the Main Circuit
(G-frame, 200 V type)” • P.2-48 “Specifications of Motor connector
URL: http://industrial.panasonic.com/jp/i/fa_motor.html
~Check me name plate ofi the driver lur power ground em el shock, (@) driver the pane (@I
2-26
G-frame, 200 V type
Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal
block. For cable diameter and size, reter to "Driver and List of Applicable Peripheral
Equipments" (P.2-10).
Tighten the terminal block screw with a torque between 2.0 N•m and 2.4 N•m (left
side) and 1.0 N•m and 1.7 N•m (right side).
3) Attach the terminal cover, and fix with screws.
Tighten the screw securing the cover with the torque written on P.2-11.
Motor
Varistor
DC
24 V
L1
U
V
W
E
L2
L3
B1
B2
NC
U
V
W
NC
L1C
L2C
NC
NC
DB1
DB2
NC
NC
DB3
DB4
NC
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 (to be supplied by customer).
The voltage applied across DB1 and DB2 must be 300 VAC
or below or 100 VDC or below.
Match the connector of the motor and driver “U, V, W”.
Avoid shorting and grounding.
Don't connect the main power.
For normal operation, do not disconnect the shorting bar
from DB3 and DB4: remove the bar only when the external
dynamic brake resistor is used.
Earth-ground this.
To prevent electric shock, be sure to connect the ground
terminal ( ) of the driver, and the ground terminal (ground
plate) of the control panel.
The ground terminal ( ) must not be shared with other
equipment.
Two ground terminals are provided.
Don't connect the earth cable to other inserting slot,
nor make them touch.
Compose a duplex Brake Control Circuit so that the brake
can also be activated by an external immediate stop signal.
The holding brake has no polarities.
For the holding brake power supply capacity and how to
use the brake, refer to “Specifications of Built-in Holding
Brake” on P.2-65.
Provide a varistor.
Connect a 10 A fuse in series with the varistor.
* Do not connect anything to NC.
Ground resistance: 100 Ω max.
For applicable wire, refer to P.2-11.
Left
side Right
side
DC power
supply
for brake
Fuse (125 V 10 A)
MCCB
Power
supply NF MC
L
RCD
2
Preparation
2.
System Configuration and Wiring
Wiring of the Main Circuit (G-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector”
Power supply 3-phase, 200 V ,15 % to 230 V +10 % Nme imeeij 5) Note.1 I Aboul regenerative resistor Note.2| Aboul dynamic brake resistor
2-27
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
2
Preparation
2.
System Configuration and Wiring
Wiring Diagram (G-frame, 200 V type)
Note
Related page
The wiring indicated with the broken line shall be provided only when required.
• P.2-48 “Specifications of Motor connector”
Compose the circuit so that the main circuit power will be shut off when an error occurs.
However, if you want to use “immediate stop function” and the main circuit power turns off,
please be aware that you will no longer be able to use “immediate stop function”.
In Case of 3-Phase, G-frame, 200 V type
Power supply 3-phase, 200 V –15 % to 230 V +10 %
Coil surge suppression units
Note.2)
MCCB
Motor
connection
Main power
supply
Control power
supply
Motor
37
ALM
L2
L3
L1C
L2C
MC1
MC2
Note.3)
Note.5)Note.5)Note.5)
Note.1)
Note.6)
Note.4)
L1
ALM
36
L
ON
ALM
B1
B2
NC
DB1
DB2
DB3
DB4
U
V
W
ALM
OFF
Coil surge suppression units
Thermal fuse
MC1
MC2
Dynamic Brake resistor
1.2 Ω 400 W
3 pieces
Note.2)
Power
supply
(3-phase)
External
regenerative
resistor
Noise filter
Insulated
DC12 to 24 V
(±5 %)
Turns on/off the
dynamic brake resistor.
Please use it with the
coil surge suppression
units recommended
by manufacturer of
electromagnetic contactor.
Built-in thermal protector
of an external
regenerative resistor
(light yellow)
Note.1) About regenerative resistor
Frame
No.
Short bar
(Accessory)
Built-in
regenerative
resistor
Connection of terminal block
In case of using
an external regenerative resistor.
In case of not using
an external regenerative resistor.
G-frame without without Connect an external regenerative
resistor between B1-B2 Open between B1-B2
Note.2) About dynamic brake resistor
Frame
No.
Short bar
(Accessory)
Built-in
dynamic brake
resistor.
Connection of terminal block
In case of using
an external dynamic brake resistor.
In case of not using
an external dynamic brake resistor.
G-frame with with
Remove attached short bar between
DB3-DB4.
Connect external dynamic brake
resistor as shown above.
Shorted with attached short bar
between DB3-DB4
Open between DB1-DB2
Note.3) A magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
Note.4) Servo may be turned on in the external sequence if the contact deposits: to protect the system, provide the auxiliary
contact.
Note.5) Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake
resistor.
Note.6) Reactor should be prepared by the customer.
Mains Residual_ currenl deVIce D|U
2-28
• Wiring of Main Circuit
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) (to be supplied by customer)
Reduces harmonic current of the main power.
Apply the voltage designated on the name-
plate 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